JP6906555B2 - 多関節器具位置決め装置およびそれを採用するシステム - Google Patents
多関節器具位置決め装置およびそれを採用するシステム Download PDFInfo
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- A61B17/28—Surgical forceps
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
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- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
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- A61B46/00—Surgical drapes
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- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
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- A—HUMAN NECESSITIES
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- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00193—Optical arrangements adapted for stereoscopic vision
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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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
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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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
- A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2906—Multiple forceps
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- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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Description
Claims (9)
- 多関節器具位置決め装置であって、
各々がそれぞれの中心開口部を有する先端部材および器具ホルダであって、前記先端部材が、前記中心開口部を中心に配置されかつ前記先端部材を通って延在する複数のガイド開口部を有する、先端部材および器具ホルダと、
前記先端部材と前記器具ホルダとの間の複数の結合ガイドであって、各々が、中心開口部と前記先端部材の前記ガイド開口部に概して位置合せされたガイド開口部とを有する、複数の結合ガイドと、
各々が第1端部および第2端部を有する複数の可撓性制御リンクであって、前記先端部材の前記ガイド開口部のそれぞれの開口部を通り、かつ前記複数の結合ガイドの対応するガイド開口部のそれぞれの開口部を通って延在し、前記それぞれの第1端部が前記器具ホルダに接続されている、複数の可撓性制御リンクと、
を備え、
前記複数の可撓性制御リンクが、前記中心開口部の両側に配置された対応する制御リンクを含み、前記複数の制御リンクの1つの制御リンクの前記第2端部を押して圧縮しながら、対応する1つの制御リンクの第2端部を引っ張って緊張させることにより、前記複数の結合ガイド及び前記器具ホルダが前記引っ張られた制御リンクに向かって湾曲する、装置。 - 各々がそれぞれの中心開口部を有するベース部材および中間部材であって、前記ベース部材が、前記中心開口部を中心に配置されかつ前記ベース部材を通って延在する第1ガイド開口部を有する、ベース部材および中間部材と、
前記ベース部材と前記中間部材との間の第1の複数の結合ガイドであって、各々が、中心開口部と、前記第1ガイド開口部と概して位置合せされたガイド開口部とを有する、第1の複数の結合ガイドと、
前記中間部材と前記先端部材との間の第2の複数の結合ガイドであって、前記中間部材が、前記中心開口部を中心に配置されかつ前記中間部材を通って延在する第2ガイド開口部を有し、前記結合ガイドが、各々、中心開口部と、前記第2ガイド開口部と概して位置合せされた複数のガイド開口部とを有する、第2の複数の結合ガイドと、
前記ベース部材の前記第1ガイド開口部のそれぞれの開口部を通って、かつ前記第1の複数の結合ガイドの対応するガイド開口部のそれぞれの開口部を通って延在して配置された第1の複数の可撓性制御リンクであって、各々が第1端部および第2端部を有し、前記それぞれの第1端部が前記中間部材に接続されている、第1の複数の可撓性制御リンクと、
各々が第1端部および第2端部を有する第2の複数の可撓性制御リンクであって、前記第1の複数の結合ガイドの対応するガイド開口部のそれぞれの開口部を通って、前記中間部材の対応する第2ガイド開口部を通って、かつ前記第2の複数の結合ガイドの対応するガイド開口部のそれぞれの開口部を通って延在し、前記それぞれの第1端部が前記先端部材に接続されている、第2の複数の可撓性制御リンクと、
を備え、
前記第1の複数の可撓性制御リンクが、前記中心開口部の両側に配置された対応する制御リンクを含み、前記第1の複数の制御リンクの1つの制御リンクを押すと同時に対応する制御リンクを引っ張ることにより、前記第1の複数の結合ガイドおよび前記中間部材が前記引っ張られた制御リンクに向かって湾曲し、前記第2の複数の制御リンクが、前記先端部材が前記ベース部材に対して実質的に同様の向きのままであるように、前記第2の複数の結合ガイドおよび前記先端部材の移動をもたらす、請求項1に記載の装置。 - 前記器具ホルダが、外科手術を行うためのエンドエフェクタを備える器具を受け入れるように動作可能に構成されている、請求項1に記載の装置。
- 前記第1の複数の制御リンクまたは前記第2の複数の制御リンクの少なくとも一方が、4つの制御リンクを含む、請求項2に記載の装置。
- 前記第1の複数の制御リンクの少なくとも1つの第1端部が、前記中間部材の凹部で該中間部材に結合されている、請求項2に記載の装置。
- 前記第2の複数の制御リンクの少なくとも1つの第1端部が、前記先端部材の凹部で該先端部材に結合されている、請求項2に記載の装置。
- 前記器具ホルダは、前記器具を器具ホルダ内に固定するために、ねじ切り締結具を受け入れるように構成されている、請求項3に記載の装置。
- 前記器具のカプラは、前記器具を器具ホルダ内でぴったりと保持するように構成されている、請求項7に記載の装置。
- 前記器具が前記器具ホルダ内で軸方向に回転可能である、請求項8に記載の装置。
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US201361837112P | 2013-06-19 | 2013-06-19 | |
US61/837,112 | 2013-06-19 | ||
JP2018000231A JP2018075432A (ja) | 2013-06-19 | 2018-01-04 | 多関節器具位置決め装置およびそれを採用するシステム |
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JP2018000231A Pending JP2018075432A (ja) | 2013-06-19 | 2018-01-04 | 多関節器具位置決め装置およびそれを採用するシステム |
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CN (2) | CN105431106B (ja) |
CA (2) | CA2913943C (ja) |
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