JP7125191B2 - 術具退避機構 - Google Patents
術具退避機構 Download PDFInfo
- Publication number
- JP7125191B2 JP7125191B2 JP2022500756A JP2022500756A JP7125191B2 JP 7125191 B2 JP7125191 B2 JP 7125191B2 JP 2022500756 A JP2022500756 A JP 2022500756A JP 2022500756 A JP2022500756 A JP 2022500756A JP 7125191 B2 JP7125191 B2 JP 7125191B2
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- Japan
- Prior art keywords
- force
- surgical tool
- eyeball
- locked state
- locking portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000005252 bulbus oculi Anatomy 0.000 claims description 34
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 230000004424 eye movement Effects 0.000 claims description 3
- 230000004886 head movement Effects 0.000 claims description 3
- 210000003128 head Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000001508 eye Anatomy 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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
- A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Surgical Instruments (AREA)
Description
Claims (7)
- 術具を保持する保持部と、
前記保持部を直線的に進退可能にガイドするガイド部と、
術具が手術部位に挿入された状態で前記保持部を係止する係止部と、
外部からの信号に基づいて前記係止部による係止状態を解除し、前記保持部を退避させる退避ユニットと、
を備え、
前記退避ユニットは、
前記保持部が係止されている状態で該保持部を退避させる方向に第1の力を発生させる第1の力発生部と、
前記係止部による係止状態を解除するための第2の力を発生させる第2の力発生部と、
前記第2の力に抗って前記係止部による係止状態を維持するための第3の力を発生させる第3の力発生部と、
を有し、
前記係止部は、支点を中心に回動する回動部材であり、
前記回動部材は、係止状態において一方の端部が前記保持部と当接し、他方の端部に前記第3の力がかかるように構成されていることを特徴とする術具退避機構。 - 前記第2の力発生部は、圧縮ばねであり、
前記第3の力発生部は、通電時に前記回動部材の他方の端部を引っ張るプル型ソレノイドであることを特徴とする請求項1に記載の術具退避機構。 - 前記退避ユニットは、前記プル型ソレノイドへの通電がオフの状態で前記係止部の係止状態が解除されるように、前記圧縮ばねのばね定数が設定されていることを特徴とする請求項2に記載の術具退避機構。
- 前記第1の力発生部は、引っ張りばねであることを特徴とする請求項1乃至3のいずれか1項に記載の術具退避機構。
- 前記術具は、眼球に挿入される内視鏡であることを特徴とする請求項1乃至4のいずれか1項に記載の術具退避機構。
- 眼球の動き又は頭の動きを検知するセンサを更に備え、
前記退避ユニットは、前記センサが検知した眼球の動き又は頭の動きに応じた信号に基づいて前記係止部による係止状態を解除するように構成されていることを特徴とする請求項1乃至5のいずれか1項に記載の術具退避機構。 - 前記退避ユニットは、前記眼球から前記術具を残さず退避させることを特徴とする請求項5又は6に記載の術具退避機構。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2020/020201 WO2021234930A1 (ja) | 2020-05-21 | 2020-05-21 | 術具退避機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2021234930A1 JPWO2021234930A1 (ja) | 2021-11-25 |
JP7125191B2 true JP7125191B2 (ja) | 2022-08-24 |
Family
ID=78708313
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022500756A Active JP7125191B2 (ja) | 2020-05-21 | 2020-05-21 | 術具退避機構 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230078683A1 (ja) |
EP (1) | EP4154852B1 (ja) |
JP (1) | JP7125191B2 (ja) |
CN (1) | CN115551438A (ja) |
WO (1) | WO2021234930A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11723528B1 (en) | 2022-02-02 | 2023-08-15 | Mazor Robotics Ltd. | Retraction systems, assemblies, and devices |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120211006A1 (en) | 2009-08-24 | 2012-08-23 | Board Of Regents The University Of Texas System | Automated Needle Insertion Mechanism |
JP2014514016A (ja) | 2011-03-09 | 2014-06-19 | ノッティンガム トレント ユニバーシティ | 脈管連通装置 |
WO2018101265A1 (ja) | 2016-12-02 | 2018-06-07 | 株式会社デンソー | 医療支援装置、医療支援方法、及び支持装置 |
JP2019147052A (ja) | 2014-02-12 | 2019-09-05 | オービット・バイオメディカル・リミテッドOrbit Biomedical Limited | 治療薬の脈絡膜上投与のための装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2796716B2 (ja) * | 1988-07-25 | 1998-09-10 | 株式会社トプコン | 被吸引物の収容部を有する吸引装置 |
WO2015039256A1 (en) * | 2013-09-23 | 2015-03-26 | Topping Ronald | Emergency tracheotomy device |
US9549781B2 (en) * | 2014-05-30 | 2017-01-24 | The Johns Hopkins University | Multi-force sensing surgical instrument and method of use for robotic surgical systems |
US12023454B2 (en) * | 2018-10-17 | 2024-07-02 | Board Of Supervisors Of Louisiana State University And Agricultural And Mechanical College | Central venous cannulation device and method |
-
2020
- 2020-05-21 EP EP20936340.7A patent/EP4154852B1/en active Active
- 2020-05-21 CN CN202080100716.2A patent/CN115551438A/zh active Pending
- 2020-05-21 JP JP2022500756A patent/JP7125191B2/ja active Active
- 2020-05-21 WO PCT/JP2020/020201 patent/WO2021234930A1/ja unknown
-
2022
- 2022-11-18 US US17/990,138 patent/US20230078683A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120211006A1 (en) | 2009-08-24 | 2012-08-23 | Board Of Regents The University Of Texas System | Automated Needle Insertion Mechanism |
JP2014514016A (ja) | 2011-03-09 | 2014-06-19 | ノッティンガム トレント ユニバーシティ | 脈管連通装置 |
JP2019147052A (ja) | 2014-02-12 | 2019-09-05 | オービット・バイオメディカル・リミテッドOrbit Biomedical Limited | 治療薬の脈絡膜上投与のための装置 |
WO2018101265A1 (ja) | 2016-12-02 | 2018-06-07 | 株式会社デンソー | 医療支援装置、医療支援方法、及び支持装置 |
Non-Patent Citations (1)
Title |
---|
木村晋太朗ら,眼内内視鏡操作ロボットアームの開発,ロボティクスメカトロニクス講演会2018講演会論文集 2018 JSME Conference on Robotics and Mechatronics,日本,一般社団法人日本機械学会,2018年 |
Also Published As
Publication number | Publication date |
---|---|
US20230078683A1 (en) | 2023-03-16 |
JPWO2021234930A1 (ja) | 2021-11-25 |
EP4154852A1 (en) | 2023-03-29 |
EP4154852A4 (en) | 2023-06-21 |
WO2021234930A1 (ja) | 2021-11-25 |
CN115551438A (zh) | 2022-12-30 |
EP4154852B1 (en) | 2024-07-10 |
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