JP6778769B2 - ロボット手術システムための滅菌アダプタアセンブリ - Google Patents
ロボット手術システムための滅菌アダプタアセンブリ Download PDFInfo
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Classifications
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
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- A61B34/70—Manipulators specially adapted for use in surgery
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- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
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- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Description
滅菌アダプタアセンブリ(303)は、上面(421)及び下面(419)を有するハウジング(401)と、記憶装置(507)と、少なくとも1つの浮動プレート(423)とを含んでもよい。浮動プレート(423)は、各浮動プレート(423)上に弾性的に取り付けられた1つ以上の回転体(505)を含んでもよい。一実施形態では、4つの回転体(505a)、(505b)、(505c)、(505d)は、1つの浮動プレート(423)上に取り付けられるとともに互いに間隔をあけて設置されることで、各回転体(505a)、(505b)、(505c)、(505d)の回転が隣接する回転体の回転によって影響を受けることがない。特定の実施形態によれば、回転体(505a)、(505b)、(505c)、(505d)は、円形の輪郭を有する。
Claims (11)
- 滅菌アダプタアセンブリ(303)であって、
ハウジング(401)と、
ハウジング(401)内に配置された浮動プレート(423)と、
浮動プレート(423)に固定された周面を有し、アクチュエータアセンブリ(305)の駆動要素(413)の少なくとも1つのピンをスナップフィットで受容可能な2つの開口部(601a),(601b)と、前記2つの開口部(601a),(601b)の間に挟まれた凹部(603)とを有する少なくとも1つの回転体(505a)と、
前記少なくとも1つの回転体(505a)の内側に配置され、アクチュエータアセンブリ(305)の駆動要素(413)の前記少なくとも1つのピンを前記少なくとも1つの回転体(505a)の前記2つの開口部(601a),(601b)に位置合わせさせる圧縮機構(700)と、を含むことを特徴とする滅菌アダプタアセンブリ。 - 前記ハウジング(401)は、上面(421)及び下面(419)を含み、
前記浮動プレート(423)は、上面(421)及び下面(419)に係合するようにハウジング(401)内に固定されることを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。 - 作動時にアクチュエータアセンブリ(305)の少なくとも1つの切り込み(409)に係合するように下面(419)上に配置された少なくとも1つの係合つまみ(403)をさらに含むことを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。
- 前記下面(419)上の前記少なくとも1つの係合つまみ(403)の反対側に配置される少なくとも1つの雌ガイド(415)をさらに含み、
前記少なくとも1つの雌ガイド(415)は、作動時に前記アクチュエータアセンブリ(305)の少なくとも1つの雄ガイド(429)に係合することを特徴とする、請求項3に記載の滅菌アダプタアセンブリ。 - データを記録可能な記憶装置(507)をさらに備えることを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。
- 前記浮動プレート(423)上に固定された周面を有する少なくとも2つの回転体(505a、505b)をさらに含み、
前記少なくとも2つの回転体(505a、505b)は、互いに間隔をあけて配置されることで、前記少なくとも2つの回転体(505a、505b)のそれぞれの回転が隣接する回転体の回転によって影響を受けないことを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。 - 前記圧縮機構は、ばね(701)である、請求項1に記載の滅菌アダプタアセンブリ。
- 前記滅菌アダプタアセンブリ(303)は、滅菌ドレープと一体に形成されてロボット手術システムの一部を覆うことを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。
- 前記滅菌アダプタアセンブリ(303)は、フィルム接着材手段によって前記滅菌ドレープに永久的に取り付けられることを特徴とする、請求項8に記載の滅菌アダプタアセンブリ。
- 手術器具を前記滅菌アダプタアセンブリ(303)の上側に適切に位置合わせ、位置決め、保持することで器具マニピュレータに係合させように機能する一対の支持体をさらに含むことを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。
- 前記アクチュエータアセンブリ(305)は、上部に開口部を形成する複数の側壁を有する箱型であり、
前記アクチュエータアセンブリ(305)のコーナー部の上部には、上側に開口する少なくとも1つの凹部(405)が設けられると共に、前記凹部(405)と反対側に位置する前記側壁の内壁面上には、少なくとも1つの雄ガイド(429)が配置され、
前記ハウジング(401)の下面(419)には、下側に突出する少なくとも1つの係合つまみ(403)が、作動時に前記アクチュエータアセンブリ(305)の少なくとも1つの前記凹部(405)に係合するように配置されると共に、前記ハウジング(401)の下部における前記係合つまみ(403)と反対側には、少なくとも1つの雌ガイド(415)が、作動時に前記アクチュエータアセンブリ(305)の少なくとも1つの前記雄ガイド(429)に係合するように配置されている、
ことを特徴とする、請求項1に記載の滅菌アダプタアセンブリ。
Applications Claiming Priority (4)
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IN201811001409 | 2018-01-12 | ||
IN201811001409 | 2018-01-12 | ||
IN201812036194 | 2018-09-26 | ||
IN201812036194 | 2018-09-28 |
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JP2019130298A JP2019130298A (ja) | 2019-08-08 |
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US (1) | US20190216554A1 (ja) |
JP (1) | JP6778769B2 (ja) |
KR (1) | KR102238319B1 (ja) |
CN (1) | CN110025338B (ja) |
Cited By (1)
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JP6745306B2 (ja) * | 2018-08-28 | 2020-08-26 | 株式会社メディカロイド | アダプタおよび接続方法 |
CN113316431A (zh) | 2018-12-04 | 2021-08-27 | 马科外科公司 | 用于联接外科部件的具有无菌屏障组件的安装系统 |
US20220160346A1 (en) * | 2019-04-09 | 2022-05-26 | Biomet Manufacturing, Llc | Adapter inserter and docking station |
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CN113520596B (zh) * | 2020-04-13 | 2022-07-15 | 上海微创医疗机器人(集团)股份有限公司 | 夹持机构、持镜臂及持镜机器人 |
CN113367798A (zh) * | 2021-07-14 | 2021-09-10 | 深圳康诺思腾科技有限公司 | 无菌适配器与手术器械的传动连接结构及手术机器人的器械驱动传动机构 |
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CN109247987B (zh) * | 2013-08-15 | 2021-07-23 | 直观外科手术操作公司 | 预加载外科手术器械接口 |
WO2015023840A1 (en) * | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Instrument sterile adapter drive interface |
WO2015142795A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Signal connector for sterile barrier between surgical instrument and teleoperated actuator |
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2019
- 2019-01-11 CN CN201910026072.6A patent/CN110025338B/zh active Active
- 2019-01-11 JP JP2019003245A patent/JP6778769B2/ja active Active
- 2019-01-11 US US16/245,844 patent/US20190216554A1/en not_active Abandoned
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Cited By (1)
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KR20230028816A (ko) | 2021-08-19 | 2023-03-03 | 한국로봇융합연구원 | 복강경 장착 어뎁터와 rcm구조를 가지는 복강경 홀더 로봇 |
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US20190216554A1 (en) | 2019-07-18 |
KR20190086402A (ko) | 2019-07-22 |
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JP2019130298A (ja) | 2019-08-08 |
CN110025338A (zh) | 2019-07-19 |
KR102238319B1 (ko) | 2021-04-08 |
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