JP7235684B2 - 能動的ブレーキ解放制御装置を備える医療デバイス - Google Patents
能動的ブレーキ解放制御装置を備える医療デバイス Download PDFInfo
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- 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
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual 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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated 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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
Description
本開示は、2014年10月27日に出願された「System and Method for Integrated Operating Table」という名称の米国仮特許出願第62/069,245号及び2015年3月17日に出願された「System and Method for Reducing Tool Disturbances」という名称の米国仮特許出願第62/134,225号の優先権を主張し、それらの全文を本明細書中に参照として援用する。
Claims (16)
- 複数のジョイントを備える関節作動アームと、
該関節作動アームに連結される制御ユニットと、を含む、
コンピュータ支援デバイスであって、
前記制御ユニットは、
a)前記関節作動アーム内の複数のブレーキに1つ又はそれよりも多くの第1の命令を送信して、事前設定された順序で前記複数のブレーキを解放するように構成され、前記複数のブレーキのうちの各ブレーキは、前記複数のジョイントのうちの対応するジョイントを制動するように構成され、
b)各ブレーキが解放されるときに、前記複数のブレーキの各ブレーキの解放によって引き起こされる当該コンピュータ支援デバイスに対する外乱に起因する当該コンピュータ支援デバイスの関心の地点の位置の変化を検出するように構成され、
c)前記関心の地点の前記位置の前記変化に応答して、前記複数のジョイントの1つ又はそれよりも多くのアクチュエータに1つ又はそれよりも多くの第2の命令を送信して、前記関心の地点の前記位置の前記変化を補償するように構成され、前記1つ又はそれよりも多くのアクチュエータは、解放されるブレーキと関連付けられるジョイント以外の1つ又はそれよりも多くのジョイントと関連付けられる、
コンピュータ支援デバイス。 - 前記関心の地点は、前記関節作動アームに取り付けられるツールの先端、前記複数のジョイントのうちの1つ、前記関節作動アームの遠隔運動中心、器具、エンドエフェクタ、又は前記関節作動アームの運動連鎖に沿う地点の場所である、請求項1に記載のコンピュータ支援デバイス。
- 前記制御ユニットは、
基準座標フレーム内で前記関心の地点についての基準変換を決定し、
前記外乱によって引き起こされる前記関心の地点についての予測される動きを決定し、
該予測される動きに基づいて予測される変換を決定し、且つ
前記基準変換と前記予測される変換との間の差に基づいて前記複数のジョイントについてのジョイント変化を補償することを決定する、
ように更に構成される、
請求項1又は2に記載のコンピュータ支援デバイス。 - 前記事前設定された順序は、前記複数のブレーキの全てが解放される間の前記複数のブレーキの同時の解放を防止する計算された間隔で前記複数のブレーキを解放する、請求項1乃至3のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 前記1つ又はそれよりも多くの第1の命令は、
前記複数のブレーキのうちのいずれのブレーキも前記複数のブレーキのうちの別のブレーキと同時に解放されないよう、前記複数のブレーキのうちの各ブレーキを計算された間隔で解放させ、或いは、
前記複数のブレーキのうちの各ブレーキの解放のためのそれぞれの時間枠を割り当てる、
請求項1乃至4のうちのいずれか1項に記載のコンピュータ支援デバイス。 - 前記1つ又はそれよりも多くの第1の命令は、前記複数のブレーキのうちの各ブレーキを時間の経過に亘って漸進的に解放させる、請求項1乃至5のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 前記事前設定された順序は、床に対して垂直な動きを可能にする前記複数のジョイントの垂直ジョイントのブレーキが最後に解放されるような順序において、前記複数のブレーキを解放する、請求項1乃至6のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 前記事前設定された順序は、前記関心の地点の前記位置の最大の変化を引き起こすブレーキが最後に解放されるような順序において、前記複数のブレーキを解放する、請求項1乃至6のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 前記制御ユニットは、前記複数のブレーキの前記解放の間に前記関節作動アームを移動させるように更に構成される、請求項1乃至8のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 複数の機械可読指令を含む非一時的な機械可読媒体であって、
前記複数の機械可読指令は、コンピュータ支援デバイスと関連付けられる1つ又はそれよりも多くのプロセッサによって実行されるときに、前記コンピュータ支援デバイスに、
関節作動アーム内の複数のブレーキに1つ又はそれよりも多くの第1の命令を送信して、事前設定された順序で前記複数のブレーキを解放するステップであって、前記複数のブレーキのうちの各ブレーキは、前記関節作動アームの複数のジョイントのうちの対応するジョイントを制動するように構成される、解放するステップと、
各ブレーキが解放されるときに、前記複数のブレーキのうちの各ブレーキの解放によって引き起こされる前記コンピュータ支援デバイスに対する外乱に起因する前記コンピュータ支援デバイスの関心の地点の位置の変化を検出するステップと、
前記関心の地点の前記位置の前記変化に応答して、記複数のジョイントの1つ又はそれよりも多くのアクチュエータに1つ又はそれよりも多くの第2の命令を送信して、前記関心の地点の前記位置の前記変化を補償するステップであって、前記1つ又はそれよりも多くのアクチュエータは、解放されるブレーキと関連付けられるジョイント以外の1つ又はそれよりも多くのジョイントと関連付けられる、補償するステップと、を含む、
方法を実行させるように構成される、
非一時的な機械可読媒体。 - 前記関心の地点は、前記関節作動アームに取り付けられるツールの先端、前記複数のジョイントのうちの1つ、前記関節作動アームの遠隔運動中心、器具、エンドエフェクタ、又は前記関節作動アームの運動連鎖に沿う地点の場所である、請求項10に記載の非一時的な機械可読媒体。
- 前記方法は、
基準座標フレーム内で前記関心の地点についての基準変換を決定するステップと、
前記外乱によって引き起こされる前記関心の地点についての予測される動きを決定するステップと、
前記予測される動きに基づいて予測される変換を決定するステップと、
前記基準変換と前記予測される変換との間の差に基づいて前記複数のジョイントについてのジョイント変化を補償することを決定するステップと、を更に含む、
請求項10又は11に記載の非一時的な機械可読媒体。 - 前記事前設定された順序は、前記複数のブレーキの全てが解放される間の前記複数のブレーキの同時の解放を防止する計算された間隔で前記複数のブレーキを解放する、請求項10乃至12のうちのいずれか1項に記載の非一時的な機械可読媒体。
- 前記1つ又はそれよりも多くの第1の命令は、
前記複数のブレーキのうちのいずれのブレーキも前記複数のブレーキのうちの別のブレーキと同時に解放されないよう、前記複数のブレーキのうちの各ブレーキを計算された間隔で解放させ、或いは、
前記複数のブレーキのうちの各ブレーキの解放のためのそれぞれの時間枠を割り当て、或いは、
前記複数のブレーキのうちの各ブレーキを時間の経過に亘って漸進的に解放させる、
請求項10乃至13のうちのいずれか1項に記載の非一時的な機械可読媒体。 - 前記事前設定された順序は、床に対して垂直な動きを可能にする前記複数のジョイントの垂直ジョイントのブレーキが最後に解放されるような順序において、前記複数のブレーキを解放する、請求項10乃至14のうちのいずれか1項に記載の非一時的な機械可読媒体。
- 前記事前設定された順序は、前記関心の地点の前記位置の最大の変化を引き起こすブレーキが最後に解放されるような順序において、前記複数のブレーキを解放する、請求項10乃至14のうちのいずれか1項に記載の非一時的な機械可読媒体。
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US201462069245P | 2014-10-27 | 2014-10-27 | |
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US201562134225P | 2015-03-17 | 2015-03-17 | |
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