JP7003157B2 - ロボットアーム用のカート、並びに手術台に対してカートを位置合わせするための方法及び装置 - Google Patents
ロボットアーム用のカート、並びに手術台に対してカートを位置合わせするための方法及び装置 Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
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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
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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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V23/00—Arrangement of electric circuit elements in or on lighting devices
- F21V23/04—Arrangement of electric circuit elements in or on lighting devices the elements being switches
- F21V23/0442—Arrangement of electric circuit elements in or on lighting devices the elements being switches activated by means of a sensor, e.g. motion or photodetectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
- A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0437—Trolley or cart-type apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0456—Apparatus provided with a docking unit
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Manipulator (AREA)
Description
本出願は、参照によりその全体が本明細書に組み込まれる、2017年5月31日出願の米国仮特許出願第62/513,327号、名称「Cart for Robotic Arms and Method and Apparatus for Regising Cart to Surgical Table」に対する優先権及び利益を主張する。
Claims (15)
- システムであって、前記システムは、
第1のカプラを備えたロボットアームと、
前記ロボットアームの前記第1のカプラと解放可能に連結するための第2のカプラを備えた手術台と、
カートであって、
前記手術台から離れた第1の位置と前記手術台に隣接する第2の位置との間で支持面上を自由に移動可能である基部と、
第1の係合機構であって、前記第1の係合機構及び第2の係合機構が係合されると、前記ロボットアームの前記第1のカプラが、前記ロボットアームの前記第1のカプラが前記手術台の前記第2のカプラと係合可能な位置に配置されるように、前記第1の係合機構は前記手術台に関連する前記第2の係合機構と係合するように構成されている、第1の係合機構と、を備える、システム。 - 前記第1の係合機構は前記カートの前記基部上に配置され、前記第2の係合機構は前記手術台の基部上に配置されている、請求項1に記載のシステム。
- 前記第1の係合機構が前記第2の係合機構と係合されるとき、前記ロボットアームの前記第1のカプラは、前記手術台の前記第2のカプラに解放可能に連結される、請求項1に記載のシステム。
- 手術台の連結部位に解放可能に連結できるカプラを有するロボットアーム用のカートであって、前記カートは、
前記手術台から離れた第1の位置と前記手術台に隣接する第2の位置との間で支持面上を自由に移動可能である基部と、
第1の係合機構であって、前記第1の係合機構及び第2の係合機構が係合されると、前記ロボットアームの前記カプラは、前記ロボットアームの前記カプラが前記手術台の前記連結部位と係合可能な位置に配置されるように、前記第1の係合機構は前記手術台に関連する前記第2の係合機構と係合するように構成されている、第1の係合機構と、を備えており、
前記第1の係合機構が前記第2の係合機構と係合されるとき、前記手術台に関連するカプラは、回転されて前記ロボットアームの前記カプラと解放可能に係合され得る、カート。 - 前記カートは、前記手術台から離れた第1の位置と、前記手術台に隣接する第2の位置との間での前記カートの移動中、及び前記ロボットアームの前記第1のカプラと前記手術台の前記第2のカプラとの係合中に、前記ロボットアームが構成を維持できるように前記ロボットアームを支持できる、請求項1に記載のシステム。
- 手術台の連結部位に解放可能に連結できるカプラを有するロボットアーム用のカートであって、前記カートは、
前記手術台から離れた第1の位置と前記手術台に隣接する第2の位置との間で支持面上を自由に移動可能である基部と、
第1の係合機構であって、前記第1の係合機構及び第2の係合機構が係合されると、前記ロボットアームの前記カプラは、前記ロボットアームの前記カプラが前記手術台の前記連結部位と係合可能な位置に配置されるように、前記第1の係合機構は前記手術台に関連する前記第2の係合機構と係合するように構成されている、第1の係合機構と、を備えており、
前記第1の係合機構が前記第2の係合機構と係合するとき、前記手術台に関連するカプラは、前記手術台に関連する前記カプラが上方に並進して、前記ロボットアームに関連する前記カプラと係合し得るように前記ロボットアームに関連する前記カプラと垂直に位置合わせされる、カート。 - 手術台とカートを係合する方法であって、
前記カートを、前記手術台から離れた第1の位置から前記手術台に近接する第2の位置まで支持面上を移動させることと、
前記カートによって支持される手術用ロボットアーム上に配置された第1のカプラが、前記手術台に配置された第2のカプラと動作可能な関係で配置されるように、前記カートの第1の係合機構を前記手術台の第2の係合機構と係合させることと、
前記第1のカプラを前記第2のカプラに解放可能に連結することと、
前記手術用ロボットアームを前記カートから連結解除することと、
前記第2の位置から離れる方向に前記支持面上で前記カートを移動させることと、を含む、方法。 - 前記第1の係合機構は前記カートの基部上に配置され、前記第2の係合機構は前記手術台の基部上に配置される、請求項7に記載の方法。
- 前記カートの前記第1の係合機構を前記手術台の前記第2の係合機構と係合させることは、前記第1の係合機構の少なくとも一部を前記第2の係合機構の少なくとも一部に挿入することを含む、請求項7に記載の方法。
- 方法であって、
カートを、手術台から離れた第1の位置から前記手術台に近接する第2の位置まで支持面上を移動させることと、
前記カートによって支持される手術用ロボットアーム上に配置された第1のカプラが、前記手術台上に配置された第2のカプラと動作可能な関係で配置されるように、前記カートの第1の係合機構を前記手術台の第2の係合機構と係合させることと、
前記第1のカプラを前記第2のカプラに解放可能に連結することと、
前記手術用ロボットアームを前記カートから連結解除することと、
前記第2の位置から離れる方向に前記支持面上で前記カートを移動させることと、を含んでおり、
解放可能に連結することは、前記第2のカプラを回転させて前記第1のカプラと係合させることを含む、方法。 - 前記手術用ロボットアームの構成が、前記移動中、係合中、及び解放可能な結合中は変わらない、請求項7に記載の方法。
- 前記手術用ロボットアームの前記構成が、前記カートからの前記手術用ロボットアームの前記連結解除中は変わらないままである、請求項11に記載の方法。
- 手術台上の連結部位に解放可能に連結できるカプラを有するロボットアーム用のカートであって、前記カートは、
前記手術台から離れた第1の位置と前記手術台に隣接する第2の位置との間で支持面上を自由に移動可能である基部を備え、
前記カートは、前記手術台から発せられる光信号を受信するように構成されている光センサを有し、前記光信号は、前記光センサによって受信された前記光信号に基づいて前記ロボットアームの前記カプラを前記手術台のカプラと係合するために、前記手術台に対する前記カートの位置を伝える、カート。 - 前記光センサが前記光信号を受信すると、前記ロボットアームの前記カプラは、前記手術台のカプラと係合可能関係で配置される、請求項13に記載のカート。
- 前記カートは、前記光センサによって受信された前記光信号に基づいて、前記手術台の前記カプラに向かって移動するように構成されており、
前記カートは、前記光センサによって受信された前記光信号に基づいて、前記ロボットアームの前記カプラの軸を前記手術台の前記カプラの軸と位置合わせするように構成されている、請求項13に記載のカート。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762513327P | 2017-05-31 | 2017-05-31 | |
US62/513,327 | 2017-05-31 | ||
US15/785,331 US10856948B2 (en) | 2017-05-31 | 2017-10-16 | Cart for robotic arms and method and apparatus for registering cart to surgical table |
US15/785,331 | 2017-10-16 | ||
PCT/US2018/034229 WO2018222470A1 (en) | 2017-05-31 | 2018-05-23 | Cart for robotic arms and method and apparatus for registering cart to surgical table |
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JP2020521533A JP2020521533A (ja) | 2020-07-27 |
JP7003157B2 true JP7003157B2 (ja) | 2022-01-20 |
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US (2) | US10856948B2 (ja) |
EP (1) | EP3600122B1 (ja) |
JP (1) | JP7003157B2 (ja) |
KR (1) | KR102366888B1 (ja) |
CN (1) | CN110868956B (ja) |
AU (1) | AU2018276946B2 (ja) |
BR (1) | BR112019022105A2 (ja) |
CA (1) | CA3060359C (ja) |
WO (1) | WO2018222470A1 (ja) |
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US20210022822A1 (en) | 2021-01-28 |
US11564764B2 (en) | 2023-01-31 |
KR20190141193A (ko) | 2019-12-23 |
US20180344421A1 (en) | 2018-12-06 |
EP3600122B1 (en) | 2024-04-10 |
CA3060359A1 (en) | 2018-12-06 |
EP3600122A4 (en) | 2020-12-23 |
CN110868956B (zh) | 2023-06-13 |
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