JP7021114B2 - ロボット外科手術アセンブリ - Google Patents
ロボット外科手術アセンブリ Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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Description
本出願は、2016年5月26日に出願された米国仮特許出願第62/341,714号、2016年5月26日に出願された米国仮特許出願第62/341,701号、2016年5月26日に出願された米国仮特許出願第62/341,720号、2016年5月26日に出願された米国仮特許出願第62/341,748号、2016年5月26日に出願された米国仮特許出願第62/341,761号、2016年5月26日に出願された米国仮特許出願第62/341,774号、および2016年5月26日に出願された米国仮特許出願第62/341,804号、の各々の利益およびこれらに対する優先権を主張するものであり、各出願の内容全体が、参照により本明細書に組み込まれる。
ロボット外科手術システムは、最小侵襲性医療手技において使用されている。いくつかのロボット外科手術システムは、外科手術ロボットアームを支持するコンソールと、ロボットアームに載置された、少なくとも1つのエンドエフェクタ(例えば、鉗子、または把持ツール)を有する外科手術器具とを含む。ロボットアームは、外科手術器具に、その動作および運動のための機械力を提供する。各ロボットアームは、外科手術器具に動作的に接続された器具駆動ユニットを含むことができる。
本願明細書は、例えば、以下の項目も提供する。
(項目1)
手術器具をロボット手術アセンブリに連結するための無菌インターフェースモジュールであって、前記手術器具がエンドエフェクタを含み、前記無菌インターフェースモジュールが、
前記手術器具を前記ロボット手術アセンブリに選択的に連結するように構成された本体部材と、
前記本体部材によって支持され、駆動カプラと、前記駆動カプラから延在している伝達シャフトとを含む第1の駆動伝達アセンブリであって、前記駆動カプラが、前記ロボット手術アセンブリと係合可能であり、前記伝達シャフトが、前記手術器具と係合可能であり、前記駆動カプラ及び前記伝達アセンブリが、前記手術器具の前記エンドエフェクタを動作させるためにロボット的に移動可能である、第1の駆動伝達アセンブリと、
前記本体部材上で支持され、前記第1の駆動伝達アセンブリと動作可能に関連する回転可能なカラーであって、前記回転可能なカラーが、前記手術器具の前記エンドエフェクタを手動で動作させるために前記本体部材に対して手動で移動可能である、回転可能なカラーと、を含む、無菌インターフェースモジュール。
(項目2)
前記回転可能なカラーに固定されたリングカプラ、前記第1の駆動伝達アセンブリの前記伝達シャフトに固定された駆動カプラ、及び前記駆動カプラと前記リングカプラとの間に支持されたアイドラカプラをさらに含む、項目1に記載の無菌インターフェースモジュール。
(項目3)
前記リングカプラが、前記回転可能なカラーが第1の位置にある間に前記アイドラカプラと係合され、前記回転可能なカラーが第2の位置にある間に前記アイドラカプラから離間している、項目2に記載の無菌インターフェースモジュール。
(項目4)
前記回転可能なカラーが前記本体部材の周りで回転する際、前記リングカプラが前記アイドラカプラを回転させ、前記アイドラカプラの回転が、前記駆動カプラを回転させて前記伝達シャフトを回転させる、項目2に記載の無菌インターフェースモジュール。
(項目5)
前記回転可能なカラーが前記本体部材の周りを回転する際、前記回転可能なカラーが前記本体部材に対して軸方向に移動する、項目1に記載の無菌インターフェースモジュール。
(項目6)
前記第1の駆動伝達アセンブリと併せて前記手術器具の前記エンドエフェクタを動作させるように構成された第2の駆動伝達アセンブリをさらに備え、前記回転可能なカラーが前記本体部材に対して移動する際、前記第1の駆動伝達アセンブリが、前記第2の駆動伝達アセンブリとは独立して回転可能である、項目1に記載の無菌インターフェースモジュール。
(項目7)
前記回転可能なカラーが前記本体部材に対して回転する際、前記第2の駆動伝達アセンブリが、静止したままであるように構成された、項目6に記載の無菌インターフェースモジュール。
(項目8)
前記本体部材に連結された浮動プレートと、前記駆動カプラと前記伝達シャフトとの間に配置されたスプリングとをさらに含み、前記浮動プレートが、前記本体部材に対して前記伝達シャフトと共に近位方向に移動可能であり、前記本体部材から前記手術器具の選択的に取り外しを容易にし、前記スプリングが前記浮動プレートを遠位方向に付勢するように構成された、項目1に記載の無菌インターフェースモジュール。
(項目9)
ロボット手術システムであって、
エンドエフェクタを含む手術器具と、
ロボット手術アセンブリと、
前記ロボット手術アセンブリと前記手術器具との間に配置可能であり、前記手術器具を前記ロボット手術アセンブリに連結する無菌インターフェースモジュールであって、前記無菌インターフェースモジュールが、
前記手術器具を前記ロボット手術アセンブリに選択的に連結するように構成された本体部材と、
前記本体部材によって支持され、駆動カプラと、前記駆動カプラから延在している伝達シャフトとを含む第1の駆動伝達アセンブリであって、前記駆動カプラが、前記ロボット手術アセンブリと係合可能であり、前記伝達シャフトが、前記手術器具と係合可能であり、前記駆動カプラ及び前記伝達アセンブリが、前記手術器具の前記エンドエフェクタを動作させるためにロボット的に移動可能である、第1の駆動伝達アセンブリと、
前記本体部材上で支持され、前記第1の駆動伝達アセンブリと動作可能に関連する回転可能なカラーであって、前記回転可能なカラーが、前記手術器具の前記エンドエフェクタを手動で動作させるために前記本体部材に対して移動可能である、回転可能なカラーと、を含む、無菌インターフェースモジュールと、を含む、ロボット手術システム。
(項目10)
前記回転可能なカラーに固定されたリングカプラ、前記第1の駆動伝達アセンブリの前記伝達シャフトに固定された駆動カプラ、及び前記駆動カプラと前記リングカプラとの間に支持されたアイドラカプラをさらに含む、項目9に記載のロボット手術システム。
(項目11)
前記リングカプラが、前記回転可能なカラーが第1の位置にある間に前記アイドラカプラと係合され、前記回転可能なカラーが第2の位置にある間に前記アイドラカプラから離間している、項目10に記載のロボット手術システム。
(項目12)
前記回転可能なカラーが前記本体部材に対して移動する際に前記回転可能なカラーが前記本体部材の周りで回転する際、前記リングカプラが前記アイドラカプラを回転させ、前記アイドラカプラの回転が、前記駆動カプラを回転させて前記伝達シャフトを回転させる、項目10に記載のロボット手術システム。
(項目13)
前記回転可能なカラーが前記本体部材の周りを回転する際、前記回転可能なカラーが前記本体部材に対して軸方向に移動する、項目9に記載のロボット手術システム。
(項目14)
前記第1の駆動伝達アセンブリと併せて前記手術器具の前記エンドエフェクタを動作させるように構成された第2の駆動伝達アセンブリをさらに備え、前記回転可能なカラーが前記本体部材に対して移動する際、前記第1の駆動伝達アセンブリが、前記第2の駆動伝達アセンブリとは独立して回転可能である、項目9に記載のロボット手術システム。
(項目15)
前記回転可能なカラーが前記本体部材に対して回転する際、前記第2の駆動伝達アセンブリが、静止したままであるように構成された、項目14に記載のロボット手術システム。
(項目16)
前記本体部材に連結された浮動プレートと、前記駆動カプラと前記伝達シャフトとの間に配置されたスプリングとをさらに含み、前記浮動プレートが、前記本体部材に対して前記伝達シャフトと共に近位方向に移動可能であり、前記本体部材から前記手術器具の選択的に取り外しを容易にし、前記スプリングが前記浮動プレートを遠位方向に付勢するように構成された、項目9に記載のロボット手術システム。
(項目17)
ロボット手術アセンブリに連結された手術器具のエンドエフェクタを手動で操作するための方法であって、前記方法が、
アイドラカプラに対してリングカプラを軸方向に動かすために無菌インターフェースモジュールの回転可能なカラーを回転させることと、
前記リングカプラを前記アイドラカプラと選択的に係合することと、
前記リングカプラが前記アイドラカプラと係合している間に、第1の駆動伝達アセンブリを手動で回転させるために、前記アイドラカプラを前記リングカプラで回転させることと、
前記第1の駆動伝達アセンブリの前記手動回転に応じて前記手術器具の前記エンドエフェクタを操作することと、を含む、方法。
(項目18)
前記アイドラカプラから前記リングカプラを軸方向に離間させて、前記アイドラカプラから前記リングカプラを解放することをさらに含む、項目17に記載の方法。
(項目19)
第2の駆動伝達アセンブリとは独立して前記第1の駆動伝達アセンブリを手動で回転させることをさらに含む、項目17に記載の方法。
Claims (16)
- 手術器具をロボット手術アセンブリに連結するための無菌インターフェースモジュールであって、前記手術器具は、エンドエフェクタを含み、前記無菌インターフェースモジュールは、
回転可能なカラーと、
リングカプラと、
アイドラカプラと、
前記手術器具を前記ロボット手術アセンブリに選択的に連結するように構成されている本体部材と、
前記本体部材によって支持されている第1の駆動伝達アセンブリであって、前記第1の駆動伝達アセンブリは、駆動カプラと、前記駆動カプラから延在している伝達シャフトとを含み、前記駆動カプラは、前記ロボット手術アセンブリと係合可能であり、前記伝達シャフトは、前記手術器具と係合可能であり、前記駆動カプラおよび前記伝達アセンブリは、前記手術器具の前記エンドエフェクタを動作させるためにロボット的に移動可能である、第1の駆動伝達アセンブリと
を含み、
前記リングカプラは、前記回転可能なカラーに固定されており、前記回転可能なカラーの回転が前記リングカプラの回転を引き起こし、前記回転可能なカラーの軸方向の移動が前記リングカプラの軸方向の移動を引き起こし、前記リングカプラの軸方向の移動が前記アイドラカプラとの選択的な係合を引き起こし、
前記アイドラカプラは、前記リングカプラが前記アイドラカプラと係合されている間、前記リングカプラの回転によって回転されるように構成されており、
前記第1の駆動伝達アセンブリは、前記アイドラカプラの前記回転によって回転されるように構成されており、
前記回転可能なカラーは、前記本体部材上で支持されており、前記回転可能なカラーは、前記手術器具の前記エンドエフェクタを手動で動作させるために前記本体部材に対して手動で移動可能であり、前記回転可能なカラーは、前記回転可能なカラーの回転に応答して、第1の位置と第2の位置との間で前記本体部材に対して軸方向に移動するように構成されており、前記回転可能なカラーが前記第2の位置にあるとき、前記リングカプラは、前記第1の駆動伝達アセンブリを前記ロボット手術アセンブリから係合解除するように、前記アイドラカプラから離間されており、前記回転可能なカラーが前記第1の位置にあるとき、前記リングカプラは、前記回転可能なカラーを前記第1の駆動伝達アセンブリに動作可能に連結するように、前記アイドラカプラと係合されている、無菌インターフェースモジュール。 - 前記駆動カプラは、前記第1の駆動伝達アセンブリの前記伝達シャフトに固定されており、前記アイドラカプラは、前記駆動カプラと前記リングカプラとの間に支持されている、請求項1に記載の無菌インターフェースモジュール。
- 前記回転可能なカラーが前記本体部材の周りで回転する際、前記リングカプラは、前記アイドラカプラを回転させ、前記アイドラカプラの回転は、前記駆動カプラを回転させることにより、前記伝達シャフトを回転させる、請求項2に記載の無菌インターフェースモジュール。
- 前記回転可能なカラーが前記本体部材の周りを回転する際、前記回転可能なカラーは、前記本体部材に対して軸方向に移動する、請求項1に記載の無菌インターフェースモジュール。
- 前記第1の駆動伝達アセンブリと併せて前記手術器具の前記エンドエフェクタを動作させるように構成されている第2の駆動伝達アセンブリをさらに含み、前記回転可能なカラーが前記本体部材に対して移動する際、前記第1の駆動伝達アセンブリは、前記第2の駆動伝達アセンブリとは独立して回転可能である、請求項1に記載の無菌インターフェースモジュール。
- 前記回転可能なカラーが前記本体部材に対して回転する際、前記第2の駆動伝達アセンブリは、静止したままであるように構成されている、請求項5に記載の無菌インターフェースモジュール。
- 前記本体部材に連結されている浮動プレートと、前記駆動カプラと前記伝達シャフトとの間に配置されているスプリングとをさらに含み、前記浮動プレートは、前記本体部材に対して前記伝達シャフトと共に近位方向に移動可能であることにより、前記本体部材から前記手術器具を選択的に取り外すことを容易にし、前記スプリングは、前記浮動プレートを遠位方向に付勢するように構成されている、請求項1に記載の無菌インターフェースモジュール。
- ロボット手術システムであって、前記ロボット手術システムは、
エンドエフェクタを含む手術器具と、
ロボット手術アセンブリと、
前記手術器具を前記ロボット手術アセンブリに連結するために前記ロボット手術アセンブリと前記手術器具との間に配置可能である無菌インターフェースモジュールと
を含み、
前記無菌インターフェースモジュールは、
回転可能なカラーと、
リングカプラと、
アイドラカプラと、
前記手術器具を前記ロボット手術アセンブリに選択的に連結するように構成されている本体部材と、
前記本体部材によって支持されている第1の駆動伝達アセンブリであって、前記第1の駆動伝達アセンブリは、駆動カプラと、前記駆動カプラから延在している伝達シャフトとを含み、前記駆動カプラは、前記ロボット手術アセンブリと係合可能であり、前記伝達シャフトは、前記手術器具と係合可能であり、前記駆動カプラおよび前記伝達アセンブリは、前記手術器具の前記エンドエフェクタを動作させるためにロボット的に移動可能である、第1の駆動伝達アセンブリと
を含み、
前記リングカプラは、前記回転可能なカラーに固定されており、前記回転可能なカラーの回転が前記リングカプラの回転を引き起こし、前記回転可能なカラーの軸方向の移動が前記リングカプラの軸方向の移動を引き起こし、前記リングカプラの軸方向の移動が前記アイドラカプラとの選択的な係合を引き起こし、
前記アイドラカプラは、前記リングカプラが前記アイドラカプラと係合されている間、前記リングカプラの回転によって回転されるように構成されており、
前記第1の駆動伝達アセンブリは、前記アイドラカプラの前記回転によって回転されるように構成されており、
前記回転可能なカラーは、前記本体部材上で支持されており、前記回転可能なカラーは、前記手術器具の前記エンドエフェクタを手動で動作させるために前記本体部材に対して手動で移動可能であり、前記回転可能なカラーは、前記回転可能なカラーの回転に応答して、第1の位置と第2の位置との間で前記本体部材に対して軸方向に移動するように構成されており、前記回転可能なカラーが前記第2の位置にあるとき、前記リングカプラは、前記第1の駆動伝達アセンブリを前記ロボット手術アセンブリから係合解除するように、前記アイドラカプラから離間されており、前記回転可能なカラーが前記第1の位置にあるとき、前記リングカプラは、前記回転可能なカラーを前記第1の駆動伝達アセンブリに動作可能に連結するように、前記アイドラカプラと係合されている、ロボット手術システム。 - 前記駆動カプラは、前記第1の駆動伝達アセンブリの前記伝達シャフトに固定されており、前記アイドラカプラは、前記駆動カプラと前記リングカプラとの間に支持されている、請求項8に記載のロボット手術システム。
- 前記回転可能なカラーが前記本体部材に対して移動する際に前記回転可能なカラーが前記本体部材の周りで回転する際、前記リングカプラは、前記アイドラカプラを回転させ、前記アイドラカプラの回転は、前記駆動カプラを回転させることにより、前記伝達シャフトを回転させる、請求項9に記載のロボット手術システム。
- 前記回転可能なカラーが前記本体部材の周りを回転する際、前記回転可能なカラーは、前記本体部材に対して軸方向に移動する、請求項8に記載のロボット手術システム。
- 前記第1の駆動伝達アセンブリと併せて前記手術器具の前記エンドエフェクタを動作させるように構成されている第2の駆動伝達アセンブリをさらに含み、前記回転可能なカラーが前記本体部材に対して移動する際、前記第1の駆動伝達アセンブリは、前記第2の駆動伝達アセンブリとは独立して回転可能である、請求項8に記載のロボット手術システム。
- 前記回転可能なカラーが前記本体部材に対して回転する際、前記第2の駆動伝達アセンブリは、静止したままであるように構成されている、請求項12に記載のロボット手術システム。
- 前記本体部材に連結されている浮動プレートと、前記駆動カプラと前記伝達シャフトとの間に配置されているスプリングとをさらに含み、前記浮動プレートは、前記本体部材に対して前記伝達シャフトと共に近位方向に移動可能であることにより、前記本体部材から前記手術器具を選択的に取り外すことを容易にし、前記スプリングは、前記浮動プレートを遠位方向に付勢するように構成されている、請求項8に記載のロボット手術システム。
- システムであって、前記システムは、
エンドエフェクタを含む手術器具と、
ロボット手術アセンブリと
を備え、
前記手術器具は、前記ロボット手術アセンブリに連結されており、
前記システムは、前記エンドエフェクタの手動操作のために構成されており、
前記ロボット手術アセンブリは、無菌インターフェースモジュールを含み、前記無菌インターフェースモジュールは、本体部材と、回転可能なカラーと、リングカプラと、アイドラカプラと、第1の駆動伝達アセンブリとを含み、前記第1の駆動伝達アセンブリは、前記本体部材によって支持されており、
前記リングカプラは、前記回転可能なカラーに固定されており、これにより、前記回転可能なカラーの回転は、前記リングカプラの回転を引き起こし、前記回転可能なカラーの軸方向の移動は、前記リングカプラの軸方向の移動を引き起こし、前記リングカプラの軸方向の移動は、前記アイドラカプラとの選択的な係合を引き起こし、
前記リングカプラが前記アイドラカプラと係合されている間、前記アイドラカプラは、前記リングカプラの回転によって回転されるように構成されており、
前記第1の駆動伝達アセンブリは、前記アイドラカプラの回転によって回転されるように構成されており、
前記エンドエフェクタは、前記第1の駆動伝達アセンブリの回転によって操作されるように構成されており、
前記回転可能なカラーは、術者が前記回転可能なカラーを手動回転することに応答して、第1の位置と第2の位置との間で前記本体部材に対して軸方向に移動するように構成されており、前記回転可能なカラーが前記第2の位置にあるとき、前記リングカプラは、前記第1の駆動伝達アセンブリを前記ロボット手術アセンブリから係合解除するように、前記アイドラカプラから離間されており、前記回転可能なカラーが前記第1の位置にあるとき、前記リングカプラは、前記回転可能なカラーを前記第1の駆動伝達アセンブリに動作可能に連結するように、前記アイドラカプラと係合されている、システム。 - 前記第1の駆動伝達アセンブリは、第2の駆動伝達アセンブリとは独立して手動で回転させられるように構成されている、請求項15に記載のシステム。
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