JP6811281B2 - 締付け予測を表示するためのシステム - Google Patents
締付け予測を表示するためのシステム Download PDFInfo
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Description
本出願は2011年2月15日に出願された米国仮特許出願第61/443,159号の非仮出願であり、その利益を主張し、その全文を参照としてここに援用する。
12 患者
14 手術テーブル
16 外科医コンソール
18 外科医
20 補助者
22 患者側方カート
24 電子機器カート
25 エンドエフェクタ
26 工具組立体
27 プロセッサ
28 内視鏡(画像化装置)
32 左目用ディスプレイ
34 右目用ディスプレイ
36 入力制御装置
50 ロボット手術システム
52 外科医コンソール
54 患者側方カート(手術ロボット)
56 電子機器カート
58 プロセッサ
60 ディスプレイ
62 手術工具
70 エンドエフェクタ
72 関節作動ジョー
74 エンドエフェクタベース
76 静止ジョー
78 第1の駆動シャフト
80 第2の駆動シャフト
82 親ネジ
84 被駆動カム
86 カムスロット
88 旋回ピン
94 適合カム表面
96 遠位支承表面
98 近位軸受
100 第1の近位側部
102 第2の近位側部
110 ケーブル作動機構
112 プルケーブル
114 プルケーブル
116 第1のリンケージ
118 第2のリンケージ
120 回転リンク
124 接続リンク
126 旋回ピン
128 旋回ピン
130 回転リンク
134 接続リンク
138 旋回ピン
140 ケーブル作動機構
142 第1のプルケーブル
144 第2のプルケーブル
146 第1のプーリ
170 工具組立体
172 近位作動機構
174 細長いシャフト
176 工具本体
178 移動可能なジョー
180 ロボット工具
182 近位工具シャーシ
184 駆動モータ
186 器具シャフト
188 遠位エンドエフェクタ
189 エンドエフェクタ
190 第1の作動機構部分
192 第2の作動機構部分
194 関節作動ジョー
196 ロボット工具マニピュレータ
198 第1の駆動装置
200 部分
250 予測表示器
300 方法
302 ステップ
304 ステップ
310 方法
312 ステップ
314 ステップ
316 ステップ
318 ステップ
320 方法
332 ステップ
334 ステップ
Claims (12)
- 材料を把持するエンドエフェクタと、
該エンドエフェクタに連結される駆動システムと、
プロセッサとを含み、該プロセッサは、
第1の力で前記エンドエフェクタを使用して材料を把持するために前記駆動システムを使用し、
前記エンドエフェクタの把持分離パラメータを測定し、
該把持分離パラメータが所望の把持分離よりも大きいか否かを決定し、且つ
前記把持分離パラメータが前記所望の把持分離よりも大きいときに前記決定に基づいて前記第1の力よりも大きい第2の力での前記材料の締付けを防止する、
ように構成される、
装置。 - 前記エンドエフェクタは、前記材料を把持するための第1のジョーと第2のジョーとを含み、
前記把持分離パラメータは、前記第1のジョーと前記第2のジョーとの間の距離又は前記第1のジョーと前記第2のジョーとの間の角度である、
請求項1に記載の装置。 - 前記所望の把持分離は、前記エンドエフェクタの関節作動の角度、前記材料の厚さ、前記材料の種類、前記材料の特性、前記エンドエフェクタによって適用されるステープルの長さ、及び該ステープルの大きさのうちの1つ又はそれよりも多くに基づいて決定される、請求項1又は2に記載の装置。
- 前記プロセッサは、前記材料の締付け後に所定の時間期間に亘ってステープルの発射を遅延させるように更に構成される、請求項1乃至3のうちのいずれか1項に記載の装置。
- 前記所定の時間期間は、前記エンドエフェクタの種類、前記材料の厚さ、前記材料の種類、前記ステープルの長さ、及び前記ステープルの大きさのうちの1つ又はそれよりも多くに基づいて決定される、請求項4に記載の装置。
- 前記プロセッサは、前記把持分離パラメータが前記所望の把持分離よりも大きいか否かの決定及び/又は前記所定の時間期間の決定に基づいてインジケータを出力し、表示するように更に構成される、請求項1乃至5のうちのいずれか1項に記載の装置。
- エンドエフェクタと、駆動システムと、プロセッサとを含むデバイスの作動方法であって、
前記プロセッサが、第1の力で前記エンドエフェクタを使用して材料を把持するために前記駆動システムを制御するステップと、
前記プロセッサが、前記エンドエフェクタの把持分離パラメータを測定するステップと、
前記プロセッサが、前記測定される把持分離パラメータが所望の把持分離よりも大きいか否かを決定するステップと、
前記プロセッサが、前記把持分離パラメータが前記所望の把持分離よりも大きいときに前記決定に基づいて前記第1の力よりも大きい第2の力での前記材料の締付けを防止するステップとを含む、
作動方法。 - 前記エンドエフェクタは、前記材料を把持するための第1のジョーと第2のジョーとを含み、
前記把持分離パラメータは、前記第1のジョーと前記第2のジョーとの間の距離又は前記第1のジョーと前記第2のジョーとの間の角度である、
請求項7に記載の作動方法。 - 前記所望の把持分離は、前記エンドエフェクタの関節作動の角度、前記材料の厚さ、前記材料の種類、前記材料の特性、前記エンドエフェクタによって適用されるステープルの長さ、及び該ステープルの大きさのうちの1つ又はそれよりも多くに基づいて決定される、請求項7又は8に記載の作動方法。
- 前記プロセッサは、前記材料の締付け後に所定の時間期間に亘ってステープルの発射を遅延させるステップを更に含む、請求項7乃至9のうちのいずれか1項に記載の作動方法。
- 前記所定の時間期間は、前記エンドエフェクタの種類、前記材料の厚さ、前記材料の種類、前記ステープルの長さ、及び前記ステープルの大きさのうちの1つ又はそれよりも多くに基づいて決定される、請求項10に記載の作動方法。
- 前記プロセッサは、前記把持分離パラメータが前記所望の把持分離よりも大きいか否かの決定及び/又は前記所定の時間期間の決定に基づいてインジケータを出力し、表示するステップを更に含む、請求項7乃至11のうちのいずれか1項に記載の作動方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161443159P | 2011-02-15 | 2011-02-15 | |
US61/443,159 | 2011-02-15 |
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