JP6974463B2 - ロボット手術で使用するためのユーザインターフェースデバイス - Google Patents
ロボット手術で使用するためのユーザインターフェースデバイス 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
- A61B34/74—Manipulators with manual electric input means
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- 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
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
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- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
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- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0261—Strain gauges
- A61B2562/0266—Optical strain gauges
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
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- Robotics (AREA)
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- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
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- User Interface Of Digital Computer (AREA)
Description
本出願は、2016年12月9日に出願された、米国特許出願第62/432,538号に対する優先権を主張し、その全体が参照により本明細書に組み込まれる。
ハウジング
部材
追跡センサシステム
他のセンサ
圧搾センサ
屈曲アームを有する近接センサ
静電容量センサ
ジェスチャ検出センサ
温度センサ
落下センサ
アダプタ
滅菌性及び処分性
Claims (14)
- ロボットシステムを制御するためのハンドヘルドユーザインターフェースデバイスであって、
内腔と、
内壁と外壁を有する可撓性ハウジングであって、前記内腔の周囲に少なくとも部分的に配設され、ユーザの手に保持されるように構成されている、可撓性ハウジングと、
前記内壁の変形を検出することにより、ユーザによる前記可撓性ハウジングの圧搾を検出するように構成された、少なくとも1つの近接センサと、
前記内腔内に配置され、前記可撓性ハウジングの変形時に偏向するように構成された屈曲部材と、
前記デバイスの位置及び向きのうちの少なくとも1つを検出するように構成された、追跡センサシステムと、を備え、
前記近接センサが、前記可撓性ハウジングの変形に基づいて、前記内腔と前記屈曲部材との間の距離の変化を測定することにより圧搾を検出するように構成され、
前記可撓性ハウジングの検出された圧搾、前記デバイスの検出された位置、及び前記デバイスの検出された向きのうちの少なくとも1つは、前記ロボットシステムの制御のために入力される、ハンドヘルドユーザインターフェースデバイス。 - 前記近接センサが、光学センサを備える、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記近接センサが、前記内腔上に配設されている、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記近接センサが、前記可撓性ハウジングの前記内壁の変形に基づいて、前記内腔と前記屈曲部材との間の距離の前記変化を測定することにより、圧搾を検出するように構成されている、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記圧搾が、エンドエフェクタの制御のために入力される、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記デバイスの前記検出された位置又は検出された向きが、ロボットアーム又はエンドエフェクタの制御のために入力される、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記可撓性ハウジングが、流体充填された内部容積を備える、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記追跡センサシステムが、前記内腔内に配設された電磁プローブを備える、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記可撓性ハウジングを圧搾する前記ユーザの前記手を検出するように構成された静電容量センサを更に備える、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記静電容量センサが、前記可撓性ハウジング上の前記ユーザの前記手によって実行されたジェスチャを検出するように構成された複数の別個のセンサ領域を備える、請求項9に記載のハンドヘルドユーザインターフェースデバイス。
- 前記静電容量センサが、前記可撓性ハウジングからの前記ユーザの前記手の係合解除を検出するように構成されている、請求項9に記載のハンドヘルドユーザインターフェースデバイス。
- 前記内腔が、近位端及び遠位端を有し、前記近位端及び前記遠位端のうちの少なくとも1つが、着脱可能なアダプタに連結するように構成された係合機構を備える、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記追跡センサシステムの少なくとも一部分が、前記内腔及び前記可撓性ハウジングのうちの少なくとも1つから取り外し可能である、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
- 前記内腔及び追跡センサシステムは、前記可撓性ハウジング内に取り外し可能に連結されている、請求項1に記載のハンドヘルドユーザインターフェースデバイス。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201662432538P | 2016-12-09 | 2016-12-09 | |
US62/432,538 | 2016-12-09 | ||
PCT/US2017/065372 WO2018107062A1 (en) | 2016-12-09 | 2017-12-08 | User interface devices for use in robotic surgery |
Publications (2)
Publication Number | Publication Date |
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JP2019536556A JP2019536556A (ja) | 2019-12-19 |
JP6974463B2 true JP6974463B2 (ja) | 2021-12-01 |
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JP2019528634A Active JP6974463B2 (ja) | 2016-12-09 | 2017-12-08 | ロボット手術で使用するためのユーザインターフェースデバイス |
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US (3) | US10736701B2 (ja) |
EP (1) | EP3518802A4 (ja) |
JP (1) | JP6974463B2 (ja) |
KR (1) | KR102295241B1 (ja) |
CN (1) | CN108472083B (ja) |
AU (3) | AU2017371074B2 (ja) |
BR (1) | BR112019010047B1 (ja) |
CA (1) | CA3042739C (ja) |
WO (1) | WO2018107062A1 (ja) |
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EP3265895B1 (en) * | 2015-03-01 | 2020-04-08 | Tactical Haptics | Embedded grasp sensing devices, systems, and methods |
AU2015392228B2 (en) * | 2015-04-23 | 2020-04-16 | Sri International | Hyperdexterous surgical system user interface devices |
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CN108472083A (zh) | 2018-08-31 |
KR20190086694A (ko) | 2019-07-23 |
EP3518802A4 (en) | 2020-06-24 |
BR112019010047B1 (pt) | 2023-05-09 |
US20180161108A1 (en) | 2018-06-14 |
CA3042739A1 (en) | 2018-06-14 |
JP2019536556A (ja) | 2019-12-19 |
US10736701B2 (en) | 2020-08-11 |
EP3518802A1 (en) | 2019-08-07 |
KR102295241B1 (ko) | 2021-08-30 |
AU2020250296A1 (en) | 2020-11-05 |
BR112019010047A2 (pt) | 2019-09-03 |
WO2018107062A1 (en) | 2018-06-14 |
AU2019275547A1 (en) | 2020-01-02 |
US20200289212A1 (en) | 2020-09-17 |
AU2019275547B2 (en) | 2020-09-10 |
CA3042739C (en) | 2021-03-30 |
US11690685B2 (en) | 2023-07-04 |
US11096746B2 (en) | 2021-08-24 |
US20220015839A1 (en) | 2022-01-20 |
AU2017371074A1 (en) | 2019-05-16 |
AU2020250296B2 (en) | 2021-08-12 |
CN108472083B (zh) | 2021-08-17 |
AU2017371074B2 (en) | 2019-09-12 |
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