JP7090615B2 - ロボットデバイス - Google Patents
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- JP7090615B2 JP7090615B2 JP2019531593A JP2019531593A JP7090615B2 JP 7090615 B2 JP7090615 B2 JP 7090615B2 JP 2019531593 A JP2019531593 A JP 2019531593A JP 2019531593 A JP2019531593 A JP 2019531593A JP 7090615 B2 JP7090615 B2 JP 7090615B2
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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
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J9/0024—Wrist motors at rear part of the upper arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Description
しかしながら、腹腔鏡手術等の既知の低侵襲技術には、一部には、1)アクセスポートから挿入される剛性器具を使用することからもたらされる可動性の制限、および2)限られた視覚的フィードバックに起因して、範囲および複雑性に制限がある。ダ・ヴィンチ(da Vinci)(登録商標)手術システム(カリフォルニア州、サニーベール(Sunnyvale,CA)に位置するインテュイティブ・サージカル・インコーポレイテッド(Intuitive Surgical,Inc.)から入手可能)等の既知のロボットシステムもまた、アクセスポートにより制限されるとともに、非常に大型であり、非常に高価であり、大部分の病院で利用不可能であり、感覚および運動の能力が制限されるというさらなる不都合がある。
例5は、第2駆動シャフトが第2駆動歯車に動作可能に結合されており、第2駆動歯車が第1肩歯車に回転可能に結合されており、第1肩歯車が、回転体の第1開口部を通して第2肩歯車に動作可能に結合されており、第2肩歯車が第3肩歯車に回転可能に結合されており、第3肩歯車が、回転体の第2開口部を通して第4肩歯車に動作可能に結合されており、第4肩歯車が出力歯車に回転可能に結合されている、例1によるロボットデバイスに関する。
例10は、第3駆動シャフトが、肩ハウジングの頂部開口部を通して配置され、かつ第3駆動歯車に動作可能に結合されており、第3駆動歯車が肩ハウジングの空洞内に配置されている、例6によるロボットデバイスに関する。
例15は、第2駆動シャフトが第2駆動歯車に動作可能に結合されており、第2駆動歯車が、少なくとも1つの肩歯車を介して出力歯車に動作可能に結合されている、例12によるロボットデバイスに関する。
例17は、第2駆動シャフトが第2駆動歯車に動作可能に結合されており、第2駆動歯車が第1肩歯車に回転可能に結合されており、第1肩歯車が回転体に動作可能に結合されている、例12によるロボットデバイスに関する。
Medical Devices and Related Systems and Methods)」)、ならびに、米国特許第7,492,116号明細書(2007年10月31日出願、名称「手術用途のためのロボット(Robot for Surgical Applications)」)、同第7,772,796号明細書(2007年4月3日出願、名称「手術用途のためのロボット(Robot for Surgical Applications)」)および同第8,179,073号明細書(2011年5月15日発行、名称「薬剤送達構成要素を備えたロボットデバイスおよび関連方法(Robotic Devices with Agent Delivery Components and Related Methods)」)に開示されている医療デバイスおよびシステムの任意のものに組み込むかまたはともに使用することができ、上記特許および特許出願のすべては、全体として参照により本明細書に援用される。
第1内側傘歯車122は第1平歯車130に動作可能に結合されており、それにより、第1内側傘歯車122の回転により平歯車130の回転がもたらされる。第1平歯車130もまた、ヨークシャフト104Bの上に位置決めされ、2つの歯車122、130は、傘歯車本体120の開口部120Aを通して互いに結合されている。一実施形態では、第1内側傘歯車122は、平歯車130と嵌合して2つの歯車122、130を互いに結合する2つの突出部128A、128Bを有する。別法として、任意の結合部品または機構を用いて、2つの歯車122、130を互いに結合することができる。第1平歯車130は、一部には、上述した第6軸受126によって支持され、さらに一部には、平歯車130の先端部内に配置された第7肩軸受132によって支持されている。軸受124、126、132はすべて、第1内側傘歯車122、傘歯車本体120および第1傘歯車130を支持するのに役立ち、それにより、3つのすべて(傘歯車122、本体120および平歯車130)が、ヨークシャフト104Bを中心に回転可能である。軸受124、126、132は、皿ねじ134によって予荷重が与えられており、皿ねじ134は、ヨークシャフト104Bの端部においてねじ切り内腔135内にねじ込まれている。
この具体的な実施態様における関節208は、2つの突出部264A、264B、関節シャフト270および関節傘歯車268によって構成されているが、これらのさまざまなアーム実施形態に、任意の既知の関節または回転結合構成もしくは機構を組み込むことができる。
図10Aに最もよく示すように、一実施態様によれば、上述した先端カバー300Cは、先端カバー300Cおよび電子回路カバー300Bを通して位置決めされた締結具360によって、本体300Aおよび電子回路カバー300Bに結合することができるため、先端カバー300Cおよび電子回路カバー300Bが本体300Aに結合される。一実施形態では、締結具360はボルト360である。別法として、任意の既知の締結具または取付機構を使用することができる。
下部駆動傘歯車504は、第2従動傘歯車528に嵌合可能に結合されており、下部駆動傘歯車504の回転により第2従動傘歯車528が回転する。上述したように、第2従動傘歯車528は、第1従動傘歯車520の開口部520Aを通して回転可能に配置されており、そのため、第2従動傘歯車528は、少なくとも部分的に第1従動傘歯車520内に配置されている。第2従動傘歯車528は第1平歯車530に結合されており、第2従動傘歯車528の回転により第1平歯車530が回転する。すなわち、第2従動傘歯車528のシャフト528Aは、傘歯車本体522の開口部522Aを通って延在し、第1平歯車530に結合されている。1つの具体的な実施形態では、第2従動傘歯車528は、幾何学的結合を介して第1平歯車530に嵌合可能に結合されている。第2従動傘歯車528は、第4軸受524および第6軸受532によって拘束されている。軸受524、526、532は、ばね534を用いて予荷重が与えられ、保持リング536により並進可能に拘束されている。一実施形態では、ばね534は皿ばね534である。
Claims (8)
- ロボットデバイスであって、
(a)長尺状デバイス本体であって、
(i)長尺状デバイス本体内に回転可能に配置された第1駆動シャフトであって、第1駆動シャフトの長さに沿って画定された第1内腔を備える第1駆動シャフトと、
(ii)前記第1内腔内に回転可能に配置された第2駆動シャフトであって、第2駆動シャフトの長さに沿って画定された第2内腔を備える第2駆動シャフトと、
(iii)前記第2内腔内に回転可能に配置された第3駆動シャフトと、を備える長尺状デバイス本体と、
(b)前記第1駆動シャフトに動作可能に結合された第1駆動傘歯車と、
(c)前記第2駆動シャフトに動作可能に結合された第2駆動傘歯車と、
(d)第1肩関節であって、
(i)前記第1駆動シャフト、前記第2駆動シャフトまたは前記第3駆動シャフトのうちの少なくとも1つに動作可能に結合された変換体と、
(ii)前記変換体に対して回転可能な回転体であって、第1開口部および第2開口部を有する回転体と、
(iii)前記回転体と変換体との間に配置されるとともに、前記第2駆動傘歯車に回転可能に結合された第1内側傘歯車と、
(iv)前記第1開口部を通して前記第1内側傘歯車に動作可能に結合された第1平歯車と、
(v)前記第1平歯車に動作可能に結合された第2平歯車と、
(vi)前記回転体と変換体との間に配置されるとともに、前記第2開口部を通して前記第2平歯車に動作可能に結合された第2内側傘歯車と、
(vii)前記第2内側傘歯車に回転可能に結合された出力歯車と、を備える第1肩関節と、
(e)前記第1肩関節に動作可能に結合された第1アームと、
を備えるロボットデバイス。 - 前記変換体がヨーク体であり、ヨーク体が、
(a)ヨーク体から延在するヨークシャフトであって、ヨークシャフトの長手方向軸が前記第1駆動シャフトの長手方向軸に対して交差する、ヨークシャフトと、
(b)前記ヨーク体に画定されたヨーク開口部と、
を備える、請求項1に記載のロボットデバイス。 - 前記第3駆動シャフトが前記ヨーク開口部を通して回転可能に配置されており、前記第3駆動シャフトが第3駆動傘歯車に動作可能に結合されている、請求項2に記載のロボットデバイス。
- 前記第1駆動傘歯車および前記第3駆動傘歯車が前記回転体に回転可能に結合されている、請求項3に記載のロボットデバイス。
- ロボットデバイスであって、
(a)長尺状デバイス本体であって、
(i)長尺状デバイス本体内に回転可能に配置された第1駆動シャフトであって、第1駆動シャフトの長さに沿って画定された第1内腔を備える第1駆動シャフトと、
(ii)前記第1内腔内に回転可能に配置された第2駆動シャフトであって、第2駆動シャフトの長さに沿って画定された第2内腔を備えるとともに、第2駆動シャフト駆動歯車に動作可能に結合された第2駆動シャフトと、
(iii)前記第2内腔内に回転可能に配置された第3駆動シャフトであって、第3駆動シャフト駆動歯車に動作可能に結合された第3駆動シャフトと、を備える長尺状デバイス本体と、
(b)第1肩関節であって、
(i)前記第1駆動シャフト、第2駆動シャフトまたは第3駆動シャフトのうちの少なくとも1つに動作可能に結合された肩ハウジングであって、
(A)前記肩ハウジングに画定された頂部開口部であって、頂部開口部を通して前記第3駆動シャフトが配置されており、前記肩ハウジングには少なくとも1つの結合機構が備わっている、頂部開口部と、
(B)前記肩ハウジングに画定された側部開口部と、
(C)前記肩ハウジングに画定された空洞であって、前記第3駆動シャフト駆動歯車が空洞内に配置されている、空洞と、を備える、肩ハウジングと、
(ii)前記肩ハウジングに対して回転可能な回転体であって、第1開口部および第2開口部を有する回転体と、
(iii)前記回転体の第1の側に配置されるとともに、前記第3駆動シャフト駆動歯車に回転可能に結合された第1従動傘歯車と、
(iv)前記回転体の第2の側に動作可能に配置されるとともに、前記第1開口部を通して前記第1従動傘歯車に結合された第1平歯車と、
(v)前記回転体の第2の側に配置されるとともに、前記第1平歯車に回転可能に結合された第2平歯車と、
(vi)前記回転体の第1の側に配置されるとともに、前記第2開口部を通して前記第2平歯車に動作可能に結合された第2従動傘歯車と、
(vii)前記第2従動傘歯車に回転可能に結合された出力歯車と、を備える第1肩関節と、
(c)前記第1肩関節に動作可能に結合された第1アームと、
を備えるロボットデバイス。 - 前記第1駆動シャフトが、前記肩ハウジングの少なくとも1つの結合機構に動作可能に結合されており、前記第1駆動シャフトが回転することで前記肩ハウジングが回転する、請求項5に記載のロボットデバイス。
- 前記第2駆動シャフトが、前記肩ハウジングの頂部開口部を通して配置されており、前記第2駆動シャフト駆動歯車が前記肩ハウジングの空洞内に配置されている、請求項5に記載のロボットデバイス。
- 前記第2駆動シャフト駆動歯車が第3従動傘歯車に回転可能に結合されており、前記第3従動傘歯車が前記回転体に動作可能に結合されている、請求項7に記載のロボットデバイス。
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JP2022095608A JP7427716B2 (ja) | 2016-08-30 | 2022-06-14 | ロボットデバイス |
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US201662381299P | 2016-08-30 | 2016-08-30 | |
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PCT/US2017/049390 WO2018045036A1 (en) | 2016-08-30 | 2017-08-30 | Robotic device with compact joint design and an additional degree of freedom and related systems and methods |
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EP (1) | EP3507065A4 (ja) |
JP (2) | JP7090615B2 (ja) |
CN (2) | CN109890580B (ja) |
CA (1) | CA3035064A1 (ja) |
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US20200330171A1 (en) | 2020-10-22 |
JP2022121470A (ja) | 2022-08-19 |
CN114872081A (zh) | 2022-08-09 |
JP7427716B2 (ja) | 2024-02-05 |
US10702347B2 (en) | 2020-07-07 |
CN109890580A (zh) | 2019-06-14 |
WO2018045036A1 (en) | 2018-03-08 |
JP2019528152A (ja) | 2019-10-10 |
US20180055584A1 (en) | 2018-03-01 |
CA3035064A1 (en) | 2018-03-08 |
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