JP6927650B2 - コンパクトなロボット手首部 - Google Patents
コンパクトなロボット手首部 Download PDFInfo
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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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
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
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- A—HUMAN NECESSITIES
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- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2938—Independently actuatable jaw members, e.g. two actuating rods
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
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- Mechanical Engineering (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
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Description
本出願は、合衆国法典第35巻第119条(e)項の下で、2013年3月14日に出願された米国仮特許出願第61/781092号、および2013年3月15日に出願された米国仮特許出願第61/791248号の優先権利益を主張し、これらの仮出願は、参照することによりその全体が本出願に組み込まれ、本明細書の一部と見なすものとする。
[分野]
ロボットのエンドエフェクタは、ロボットが対象体を操作することを可能にする。本出願は、ロボットツール、該ツールのエンドエフェクタ、およびそれらを動作させる方法に関する。
ロボットは、工業、研究、医療、および医療外用途を含め、様々な用途に使われる。それぞれの異なる種類のロボットは、ほとんどのロボットの間に共通な特徴および特性に加え、それ自体の独自の特徴および特性のセットを有し得る。ほとんどのロボットに共通な1つの特性は、ツールの使用である。ロボットに制御されるツールは、様々なタスクを実施するために使われる。ロボットに制御される各ツールは、実施対象のタスクのために特別に設計され得る。通常、ロボットのツールは、細長い形状で、エンドエフェクタ(例えば、捕捉具(grasper))を有する。
Claims (14)
- 最小侵襲性の手術ツールであって、
ツールシャフトと、
エンドエフェクタと、
前記ツールシャフトと前記エンドエフェクタとの間に配された多軸型手首部であって、前記手首部は、プーリの3つ以上のセットを含み、プーリの前記3つ以上のセットは、回転軸に沿って配置されるプーリの第1セットおよびプーリの第2セット、および異なる回転軸に沿って配置されるプーリの第3セットを含み、プーリの前記第3セットは前記エンドエフェクタに連結される、手首部と、
前記多軸型手首部および前記エンドエフェクタの1つまたは両方の動作をもたらすように構成された複数のモータを含む駆動メカニズムであって、前記駆動メカニズムは、複数のケーブルの4つのケーブル端を制御するように構成され、前記複数のケーブルは、プーリの前記第1セットの1つのプーリの周りに少なくとも部分的に、プーリの前記第2セットの1つのプーリの周りに少なくとも部分的に、およびプーリの前記第3セットの1つのプーリの周りに少なくとも部分的に巻き付く第1のケーブルと、プーリの前記第1セットの別のプーリの周りに少なくとも部分的に、プーリの前記第2セットの別のプーリの周りに少なくとも部分的に、およびプーリの前記第3セットの別のプーリの周りに少なくとも部分的に巻き付く第2のケーブルとを含み、ヨーまたはピッチ運動をもたらすために前記4つのケーブル端の間の相対的な張力を変化させるように、プーリの1セットは1つ以上のプーリを含み、前記複数のモータのうちの3つのモータだけが必要とされることを特徴とする、駆動メカニズムと、を含み、
プーリの前記第1セットおよびプーリの前記第2セットに対して角度を付けられるプーリの第4セットおよびプーリの第5セットをさらに含み、プーリの前記第4セットおよびプーリの前記第5セットの各々は、角度付きくさび具(426A)によって維持される、
手術ツール。 - プーリの前記第3セットは、プーリの前記第3セットがプーリの前記第1セットに対して角度を付けられる、請求項1に記載の手術ツール。
- プーリの前記第3セットの回転軸は、プーリの前記第1セットおよびプーリの前記第2セットの回転軸に対して角度を付けられる、請求項1に記載の手術ツール。
- プーリの前記第2セットからのケーブルがプーリの前記第3セットまで真っすぐな経路を延びて、これにより前記ケーブルとプーリとの間の摩擦が最小になるように、プーリの前記第3セットは配置される、請求項1に記載の手術ツール。
- プーリの前記第1セットはプーリの第4セットと直列に配置され、プーリの前記第2セットはプーリの第5セットと直列に配置され、プーリの前記第4セットおよびプーリの前記第5セットは回転軸に沿って配置され、プーリの前記第3セットの前記回転軸は、プーリの前記第4セットおよびプーリの前記第5セットの前記回転軸に対して角度を付けられる、請求項1に記載の手術ツール。
- プーリの前記第4セットの1つのプーリ上およびプーリの前記第5セットの1つのプーリ上の溝は、プーリの前記第3セット上の溝と整列される、請求項5に記載の手術ツール。
- プーリの前記第3セット(320A、320B)がプーリの前記第1セットに直交するように、プーリの前記第3セットは配置される、請求項1に記載の手術ツール。
- 前記角度付きくさび具は相互に角度付けされた2つの軸棒を含む、請求項1に記載の手術ツール。
- 前記駆動メカニズムは4つの電気モータを含み、前記4つのモータの各々は、前記4つのケーブル端のうちの1つを別々に制御するように構成される、請求項1に記載の手術ツール。
- モータパックに着脱可能に連結可能な結合ユニットをさらに含み、前記モータパックが非殺菌でありえるように、前記結合ユニットは無菌バリヤを提供する、請求項1に記載の手術ツール。
- 前記駆動メカニズムは、前記4つの独立したケーブルの各々の長さを変化させるように構成された撚り紐の伝動媒体を含む、請求項1に記載の手術ツール。
- 前記手術ツールの長手軸に対してプーリの位置を変化させるように構成されたロッカーメカニズムをさらに含む、請求項1に記載の手術ツール。
- 前記手術ツールの長手軸に沿って前後に直線的にスライドするように構成されたシャトルメカニズムをさらに含み、前記シャトルメカニズムは、1つのケーブルの張力を増大し、別のケーブルの張力を減少または緩める、請求項1に記載の手術ツール。
- プーリの前記第1セットおよびプーリの前記第2セットが延長軸棒の軸に沿って配置されるように、プーリの前記第1セットおよびプーリの前記第2セットと連結されたヨークの前記延長軸棒をさらに含み、プーリの前記第1セットは前記ヨークの一側上にあり、プーリの前記第2セットは前記ヨークの他側上にある、請求項1に記載の手術ツール。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361781092P | 2013-03-14 | 2013-03-14 | |
US61/781,092 | 2013-03-14 | ||
US201361791248P | 2013-03-15 | 2013-03-15 | |
US61/791,248 | 2013-03-15 | ||
JP2018109960A JP6664435B2 (ja) | 2013-03-14 | 2018-06-08 | コンパクトなロボット手首部 |
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JP2018109960A Division JP6664435B2 (ja) | 2013-03-14 | 2018-06-08 | コンパクトなロボット手首部 |
Publications (2)
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JP2020072976A JP2020072976A (ja) | 2020-05-14 |
JP6927650B2 true JP6927650B2 (ja) | 2021-09-01 |
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JP2016502224A Active JP6616281B2 (ja) | 2013-03-14 | 2014-03-13 | コンパクトなロボット手首部 |
JP2018109960A Active JP6664435B2 (ja) | 2013-03-14 | 2018-06-08 | コンパクトなロボット手首部 |
JP2020008040A Active JP6927650B2 (ja) | 2013-03-14 | 2020-01-22 | コンパクトなロボット手首部 |
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JP2016502224A Active JP6616281B2 (ja) | 2013-03-14 | 2014-03-13 | コンパクトなロボット手首部 |
JP2018109960A Active JP6664435B2 (ja) | 2013-03-14 | 2018-06-08 | コンパクトなロボット手首部 |
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US (2) | US9889568B2 (ja) |
EP (2) | EP2967623B1 (ja) |
JP (3) | JP6616281B2 (ja) |
KR (1) | KR20160008169A (ja) |
CN (1) | CN105163679B (ja) |
AU (1) | AU2014236718B2 (ja) |
BR (1) | BR112015022187A2 (ja) |
CA (1) | CA2905048A1 (ja) |
WO (1) | WO2014151952A1 (ja) |
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KR20160008169A (ko) | 2016-01-21 |
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JP6616281B2 (ja) | 2019-12-04 |
CN105163679B (zh) | 2018-04-06 |
EP3900641A1 (en) | 2021-10-27 |
CN105163679A (zh) | 2015-12-16 |
US9889568B2 (en) | 2018-02-13 |
JP2016518160A (ja) | 2016-06-23 |
EP2967623B1 (en) | 2021-07-21 |
AU2014236718B2 (en) | 2018-07-05 |
US20150150635A1 (en) | 2015-06-04 |
AU2014236718A1 (en) | 2015-09-17 |
JP2018167045A (ja) | 2018-11-01 |
CA2905048A1 (en) | 2014-09-25 |
EP2967623A4 (en) | 2016-04-06 |
JP6664435B2 (ja) | 2020-03-13 |
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