JP7112224B2 - 追跡マーカを用いた外科用ロボット自動化 - Google Patents
追跡マーカを用いた外科用ロボット自動化 Download PDFInfo
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Description
本出願は、2016年5月18日に出願された米国特許出願第15/157,444号の一部継続であり、その米国特許出願は、2016年4月11日に出願された米国特許出願第15/095,883号の一部継続であり、その米国特許出願は、2013年10月24日に出願された米国特許出願第14/062,707号の一部継続であり、その米国特許出願は、2013年6月21日に出願された米国特許出願第13/924,505号の一部継続出願であり、その米国特許出願は、2012年6月21日に出願された仮出願第61/662,702号に対する優先権を主張し、及び2013年3月15日に出願された仮出願第61/800,527号に対する優先権を主張し、それらの全ては、全ての目的のためにその全体が参照により本明細書に組み込まれる。
Claims (19)
- 外科用ロボットシステムであって、
ロボット基部、前記ロボット基部に連結されたロボットアーム、及び前記ロボットアームに連結されたエンドエフェクタを有するロボットであって、前記エンドエフェクタが、誘導管を有し、前記誘導管が、そこを通る湾曲通路を画定し、前記湾曲通路が、一定の曲率半径に沿って延在する中心軸を有し、前記エンドエフェクタ及び/または前記誘導管が、複数の追跡マーカを有する、ロボットと、
中心線を有する湾曲コネクタロッドであって、前記中心線は、前記湾曲コネクタロッドが前記誘導管を通って延在可能であるように、前記誘導管の中心軸の前記一定の曲率半径に等しい一定の曲率半径に沿って延在する、湾曲コネクタロッドと、
前記エンドエフェクタ及び/または前記誘導管上の前記複数の追跡マーカを検出することができる少なくとも1つのカメラと、を備え、
前記ロボットは、前記誘導管の前記中心軸が少なくとも2つのスクリューヘッドを通る湾曲経路に沿って延在するように前記エンドエフェクタを位置付けるように構成され、
前記湾曲コネクタロッドは、前記湾曲経路に沿って前記少なくとも2つのスクリューヘッドに結合されている、外科用ロボットシステム。 - 前記湾曲通路が、前記誘導管を通って延在する湾曲貫通穴によって画定される、請求項1に記載の外科用ロボットシステム。
- 前記湾曲貫通穴が、前記湾曲コネクタロッドの断面形状を補完する、請求項2に記載の外科用ロボットシステム。
- 前記湾曲通路が、前記誘導管内に位置付けられた複数のリニア軸受によって画定される、請求項1に記載の外科用ロボットシステム。
- 前記外科用ロボットシステムが、前記少なくとも2つのスクリューヘッドを通って延在する前記湾曲経路を計算するように構成される、請求項1に記載の外科用ロボットシステム。
- 前記カメラが、標的スクリューヘッドに一時的に取設された追跡マーカアレイを追跡し、追跡された前記追跡マーカアレイに基づいて前記湾曲経路を計算するように構成される、請求項5に記載の外科用ロボットシステム。
- 前記外科用ロボットシステムが前記標的スクリューヘッドのうちの1つ以上の調節を指示するように構成され、これにより、その前記少なくとも2つのスクリューヘッドが前記湾曲経路と一致するようになる、請求項6に記載の外科用ロボットシステム。
- 前記誘導管が、延在する前記誘導管の中心軸を前記湾曲経路と整列させる際に追加の自由度をもたらすように、前記エンドエフェクタに対して回転可能に調節可能である、請求項1に記載の外科用ロボットシステム。
- 外科用ロボットシステムであって、
ロボット基部、前記ロボット基部に連結されたロボットアーム、及び前記ロボットアームに連結されたエンドエフェクタを有するロボットであって、前記エンドエフェクタが、長手方向の中心軸を有する誘導管を有し、前記エンドエフェクタ及び/または前記誘導管が、複数の追跡マーカを有する、ロボットと、
一定の曲率半径に沿って延在する中心線を有する湾曲コネクタロッドと、
ハブ及びコネクタアームを備える円弧挿入器ツールであって、前記ハブは、前記円弧挿入器ツールが前記エンドエフェクタに対して回転可能に固定されるように、前記誘導管に対して位置付け可能であり、前記コネクタアームが、前記ハブから、前記湾曲コネクタロッドと接続するように構成された遠位端まで延在する、円弧挿入器ツールと、
前記エンドエフェクタ及び/または前記誘導管上の前記複数の追跡マーカを検出することができる少なくとも1つのカメラと、を備え、
前記ロボットが、前記誘導管の前記中心軸が所望の場所にある状態で、前記エンドエフェクタを位置付けるように構成され、前記円弧挿入器ツールの回転が、前記湾曲コネクタロッドを径方向経路上で移動させ、
前記ロボットは、前記誘導管の前記中心軸が少なくとも2つのスクリューヘッドを通る湾曲経路に沿って延在するように前記エンドエフェクタを位置付けるように構成され、
前記湾曲コネクタロッドは、前記湾曲経路に沿って前記少なくとも2つのスクリューヘッドに結合されている、外科用ロボットシステム。 - 前記コネクタアームは、前記径方向経路が前記一定の曲率半径の半径に等しい第1の半径を有するように構成される、請求項9に記載の外科用ロボットシステム。
- 前記所望の場所が、前記第1の半径に等しい距離だけ標的スクリュー経路から離間している、請求項10に記載の外科用ロボットシステム。
- 前記円弧挿入器ツールが、前記エンドエフェクタに対して手動で回転するように構成される、請求項9に記載の外科用ロボットシステム。
- 前記ロボットが、前記エンドエフェクタに対する前記円弧挿入器ツールの回転を制御するように構成される、請求項9に記載の外科用ロボットシステム。
- 外科用ロボットシステムであって、
ロボット基部、前記ロボット基部に連結されたロボットアーム、及び前記ロボットアームに連結されたエンドエフェクタを有するロボットであって、前記エンドエフェクタが、一定の曲率半径に沿って延在する中心軸を有する誘導管を有し、前記エンドエフェクタ及び/または前記誘導管が、少なくとも1つの追跡マーカを有する、ロボットと、
器具であって、前記誘導管の中心軸の前記一定の曲率半径に等しい一定の曲率半径に沿って延在する中心線を有する少なくとも一部分、及び複数の追跡マーカが取設された前記器具から延在する少なくとも1つのアレイを有する、器具と、
前記器具上、かつ前記エンドエフェクタ及び/または前記誘導管上の前記複数の追跡マーカを検出することができる少なくとも1つのカメラと、を備え、
前記ロボットは、前記誘導管の前記中心軸が少なくとも2つのスクリューヘッドを通る湾曲経路に沿って延在するように前記エンドエフェクタを位置付けるように構成され、
湾曲コネクタロッドは、前記湾曲経路に沿って前記少なくとも2つのスクリューヘッドに結合されている、外科用ロボットシステム。 - 前記ロボットが、前記誘導管に対する前記器具の位置を判定する、請求項14に記載の外科用ロボットシステム。
- 前記ロボットは、前記誘導管が非線形経路上での前記器具の移動を誘導するように前記エンドエフェクタを位置付ける、請求項14に記載の外科用ロボットシステム。
- 前記器具が、前記器具から延在する2つのアレイを有し、各アレイが異なる平面で延在する、請求項14に記載の外科用ロボットシステム。
- 前記誘導管が、前記エンドエフェクタに対して取り外し可能に支持される、請求項14に記載の外科用ロボットシステム。
- 各々が異なる一定の曲率半径を有する複数の誘導管と、各誘導管のための補完的な器具と、を含む、請求項18に記載の外科用ロボットシステム。
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US11786324B2 (en) | 2023-10-17 |
EP3391848A3 (en) | 2019-02-27 |
EP3391848B1 (en) | 2021-05-12 |
CN108652743B (zh) | 2022-03-22 |
US20170252114A1 (en) | 2017-09-07 |
CN108652743A (zh) | 2018-10-16 |
EP3391848A2 (en) | 2018-10-24 |
JP2018161477A (ja) | 2018-10-18 |
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