JP7010914B2 - 封止された光学構成要素を有する手術用ロボットシステムのためのエンドエフェクタ - Google Patents
封止された光学構成要素を有する手術用ロボットシステムのためのエンドエフェクタ Download PDFInfo
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- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
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- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
- A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
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- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
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Description
したがって、これらの手術システムは、位置フィードバックを利用して、患者の手術部位に対するロボットアームおよびツールの動きを正確に誘導することができる。
Claims (19)
- 手術用ロボットシステムのためのエンドエフェクタであって、
外科用器具を誘導するように構成され、手術用ロボットアームを取り付けられるように適用されたエンドエフェクタ本体と;
複数の圧縮可能なOリングは、前記エンドエフェクタ本体に配置されている対応するOリングシートに着座するように構成され;
取付けカラーは前記エンドエフェクタ本体に固定されるように構成され、前記手術用ロボットアームを取り付けられるように適用され、
前記エンドエフェクタ本体に結合された光学サブアセンブリであって、前記光学サブアセンブリが、
前記エンドエフェクタ本体に結合されたハウジングであって、係合部分を含むハウジングと、
所定の範囲の光放射波長を透過する窓であって、前記ハウジングおよび前記窓がくぼみを形成する窓と、
前記ハウジングと前記窓との間に配置されたガスケットであって、
前記窓の上に配置され、前記ハウジングの前記係合部分を係合するカバー部分であって、前記カバー部分が前記窓と前記ハウジングの間の前記ガスケットを圧縮して、前記窓と前記ハウジングとの間にシールを形成し、前記カバー部分が通るカバー穴を画定する、カバー部分と、
前記くぼみ内に配置された発光体であって、前記ガスケット、前記窓、前記カバー穴を通る前記所定の範囲の光放射波長の光を放射するように構成された発光体と、を備える光学サブアセンブリとを備えており、
前記光学サブアセンブリは、前記エンドエフェクタ及び前記手術用ロボットシステムを誘導するためにIR光または可視光を放射するように構成された追跡マーカーであり、
前記エンドエフェクタ本体の内部部分は埋込み材料なしの電子構成要素を含み、
前記取付けカラーは、前記エンドエフェクタ本体に固定されているとき、前記複数の圧縮可能なOリングを前記対応するOリングシート内に圧縮して、前記埋込み材料なしの前記電子構成要素および前記光学サブアセンブリを保護するように構成される、
エンドエフェクタ。 - 前記窓がサファイア窓である、請求項1に記載のエンドエフェクタ。
- 前記発光体が赤外線(IR)エミッタであり、前記所定の範囲の光放射波長が700ナノメートルから1ミリメートルの波長範囲内である、請求項1に記載のエンドエフェクタ。
- 前記光学サブアセンブリが、複数の光学サブアセンブリを備える、請求項1に記載のエンドエフェクタ。
- 前記カバー部分が前記窓と前記ハウジングとの間で前記ガスケットを圧縮することによって形成される前記シールが防湿シールである、請求項1に記載のエンドエフェクタ。
- 前記カバー部分が前記窓と前記ハウジングとの間で前記ガスケットを圧縮することによって形成される前記シールが、前記エンドエフェクタの外側の外気から前記くぼみを気体的に隔離するくぼみシールを形成する、請求項1に記載のエンドエフェクタ。
- 前記ハウジングの前記係合部分が、内向きねじ山を備え、
前記カバー部分が、前記ハウジングの前記ねじ山付き部分の前記内向きねじ山を補完する外向きねじ山を備える、請求項1に記載のエンドエフェクタ。 - 前記カバー部分が内向きねじ山を備え、
前記ハウジングの前記係合部分が、ねじ山付きリングの前記内向きねじ山を補完する外向きねじ山を備える、請求項1に記載のエンドエフェクタ。 - 前記ハウジングが前記エンドエフェクタ本体と一体的に形成される、請求項1に記載のエンドエフェクタ。
- 前記くぼみが埋込み材料を欠いている、請求項1に記載のエンドエフェクタ。
- 前記光学サブアセンブリが、複数の光学サブアセンブリを備え、前記複数の光学サブアセンブリの各光学サブアセンブリのために、
前記ガスケットが圧縮可能なOリングを備え、
前記窓がサファイア窓であり、
前記発光体が、赤外線(IR)エミッタであり、
前記所定の範囲の光放射波長が、700ナノメートルから1ミリメートルの波長範囲内であり、
前記カバー部分が前記窓と前記ハウジングとの間で前記ガスケットを圧縮することによって形成される前記シールが防湿シールであり、前記エンドエフェクタの外側の外気から前記くぼみを気体的に隔離するくぼみシールを形成し、
前記ハウジングの前記係合部分が、内向きねじ山を備え、
前記カバー部分が、前記ハウジングの前記ねじ山付き部分の前記内向きねじ山を補完する、外向きねじ山を備える、請求項1に記載のエンドエフェクタ。 - 手術用ロボットシステムであって、
ロボットベースと、
前記ロボットベースに結合された関節動作可能なロボットアームと、
前記ロボットアームに結合されたエンドエフェクタであって、前記ロボットアームが前記エンドエフェクタを複数のエンドエフェクタ位置に選択的に位置付けるように構成されるエンドエフェクタと、を備え、前記エンドエフェクタが、
外科用器具を誘導するように構成されたエンドエフェクタ本体と、
前記エンドエフェクタ本体に結合された光学サブアセンブリであって、前記光学サブアセンブリが、
前記エンドエフェクタ本体に結合されたハウジングであって、内部ねじを含むハウジングと、
所定の範囲の光放射波長を透過する窓であって、前記ハウジングおよび前記窓がくぼみを形成する窓と、
前記ハウジングと前記窓との間に配置されたガスケットであって、
前記窓の上に配置され、前記ハウジングの前記内部ねじにねじ止めされた外部ねじを有するカバー部分であって、前記カバー部分が前記窓と前記ハウジングの間の前記ガスケットを圧縮して、前記窓と前記ハウジングとの間にシールを形成し、前記カバー部分が通るカバー穴を画定する、カバー部分と、
前記くぼみ内に配置された発光体であって、前記ガスケット、前記窓、前記カバー穴を通る前記所定の範囲の光放射波長の光を放射するように構成された発光体と、を備える光学サブアセンブリと、
前記光学サブアセンブリの前記発光体によって放射される前記光に基づいて、前記エンドエフェクタ位置の現在の位置に対応する、前記複数のエンドエフェクタ位置のうちの特定の一つを決定するプロセッサ回路と、を備えており、
前記光学サブアセンブリは、前記エンドエフェクタ及び前記手術用ロボットシステムを誘導するためにIR光または可視光を放射するように構成された追跡マーカーであり、
前記エンドエフェクタ本体の内部部分は電子構成要素を含み、
取付けカラーは、前記エンドエフェクタ本体に固定されているとき、複数の圧縮可能なOリングを対応するOリングシート内に圧縮して、前記電子構成要素および前記光学サブアセンブリを保護するように構成される、
手術用ロボットシステム。 - エンドエフェクタセンサであって、
前記発光体によって放射された前記光を検出し、
前記発光体の位置情報を含む位置信号を生成するよう構成されたエンドエフェクタセンサをさらに備え、前記プロセッサ回路が、前記位置信号に基づいて前記複数のエンドエフェクタ位置のうちの前記特定の一つを決定するように構成される、請求項12に記載の手術用ロボットシステム。 - 前記ガスケットが圧縮可能なOリングを備える、請求項12に記載の手術用ロボットシステム。
- 前記発光体が赤外線(IR)エミッタであり、前記所定の範囲の光放射波長が700ナノメートルから1ミリメートルの波長範囲内である、請求項12に記載の手術用ロボットシステム。
- 前記カバー部分が前記窓と前記ハウジングとの間で前記ガスケットを圧縮することによって形成される前記シールが、前記エンドエフェクタの外側の外気から前記くぼみを気体的に隔離するくぼみシールを形成する、請求項12に記載の手術用ロボットシステム。
- 前記くぼみが埋込み材料を欠いている、請求項12に記載の手術用ロボットシステム。
- 前記光学サブアセンブリが、複数の光学サブアセンブリを備え、前記複数の光学サブアセンブリの各光学サブアセンブリのために、
前記ガスケットが圧縮可能なOリングを備え、
前記窓がサファイア窓であり、
前記発光体が、赤外線(IR)エミッタであり、
前記所定の範囲の光放射波長が、700ナノメートルから1ミリメートルの波長範囲内であり、
前記カバー部分が前記窓と前記ハウジングとの間で前記ガスケットを圧縮することによって形成される前記シールが防湿シールであり、前記エンドエフェクタの外側の外気から前記くぼみを気体的に隔離するくぼみシールを形成し、
前記ハウジングの前記内部ねじが、内向きねじ山を備え、
前記カバー部分が、前記ハウジングの前記ねじ山付き部分の前記内向きねじ山を補完する、外向きねじ山を備える、請求項12に記載の手術用ロボットシステム。 - 手術用ロボットシステムのためのエンドエフェクタであって、
外科用器具を誘導するように構成されたエンドエフェクタ本体と、
前記エンドエフェクタ本体に配置されている対応するOリングシートに着座するように構成された複数の圧縮可能なOリングと、
前記エンドエフェクタ本体に固定されるように構成された取付けカラーと、
前記エンドエフェクタ本体に結合された光学サブアセンブリであって、前記光学サブアセンブリが、
前記エンドエフェクタ本体に結合されたハウジングであって、前記ハウジングがねじ山付き部分を備えるハウジングと、
前記ハウジングの前記ねじ山付き部分を係合するねじ山付きリングと、
前記ハウジングと前記ねじ山付きリングとの間に配置されたガスケットであって、前記ねじ山付きリングが前記ねじ山付きリングと前記ハウジングとの間の前記ガスケットを圧縮して、前記ねじ山付きリングと前記ハウジングとの間にシールを形成し、前記ねじ山付きリングがそれを通るカバー穴を画定するガスケットと、
くぼみ内に配置された発光体であって、前記ガスケットおよび前記カバー穴を通る所定の範囲の光放射波長の光を放射するように構成された発光体と、を備える光学サブアセンブリとを備えており、
前記光学サブアセンブリは、前記エンドエフェクタ及び前記手術用ロボットシステムを誘導するためにIR光または可視光を放射するように構成された追跡マーカーであり、
前記エンドエフェクタ本体の内部部分は電子構成要素を含み、
前記取付けカラーは、前記エンドエフェクタ本体に固定されているとき、前記複数の圧縮可能なOリングを前記対応するOリングシート内に圧縮して、前記電子構成要素および前記光学サブアセンブリを保護するように構成される、
エンドエフェクタ。
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