JP7257102B2 - 手術用ロボット - Google Patents
手術用ロボット Download PDFInfo
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- JP7257102B2 JP7257102B2 JP2017526785A JP2017526785A JP7257102B2 JP 7257102 B2 JP7257102 B2 JP 7257102B2 JP 2017526785 A JP2017526785 A JP 2017526785A JP 2017526785 A JP2017526785 A JP 2017526785A JP 7257102 B2 JP7257102 B2 JP 7257102B2
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- 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
- B25J9/065—Snake robots
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- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2906—Multiple forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- 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
- A61B2034/306—Wrists with multiple vertebrae
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- 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
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
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- 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
- Y10S901/27—Arm part
- Y10S901/28—Joint
- Y10S901/29—Wrist
-
- 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
- Y10S901/30—End effector
- Y10S901/41—Tool
Description
図3は、手術用ロボット1のロボット本体2の遠位端の構成例を示す斜視図である。図4は、ロボット本体2の構成例を概略的に示す図である。
図2に示すように、駆動部3は、ロボット本体2を駆動するロボット本体駆動機構51を有する。
図9は、制御器4の構成例を示すブロック図である。
次に、手術用ロボット1の使用例を説明する。
2 ロボット本体
3 駆動部
4 制御器
5 操作部
6 案内管
21 アーム
22 鉗子
23 ベース
24 駆動力伝達機構
25 可撓シャフト
26 関節部
27 第1曲げ関節
28 第2曲げ関節
29 接続部
30 手首関節
31 コマ部材
32 操作ケーブル連結部
35 第1曲げ関節駆動部
36 第2曲げ関節駆動部
37 鉗子駆動部
38 手首関節駆動部
41 第1曲げ関節操作ケーブル
42 第2曲げ関節操作ケーブル
43 鉗子操作ケーブル
44 トルク伝達チューブ
51 ロボット本体駆動機構
81 制御部
82 記憶部
100 手術用ロボットシステム
101 内視鏡
102 集束管
110 トロッカー
111 手術台
113 手術用ロボット支持台
114 表示装置
Claims (6)
- 可撓性を有しており関節を備えていない中空の筒状体からなる可撓シャフトと、近位端が前記可撓シャフトの遠位端に連なり、その軸線と直交する方向に曲げ可能である中空の曲げ関節と、前記曲げ関節の遠位端に連なり、その軸線周りに回動可能である手首関節と、前記手首関節に取り付けられたエンドエフェクタと、可撓性を有し、前記可撓シャフト及び前記曲げ関節に挿通されて遠位端が前記手首関節に取り付けられている中空のトルク伝達チューブと、遠位端が前記曲げ関節に取り付けられており、前記可撓シャフトと前記トルク伝達チューブとの間の空間に挿通されている曲げ関節操作ケーブルと、を含むロボット本体であって、前記曲げ関節は、前記曲げ関節操作ケーブルが該曲げ関節操作ケーブルの延在方向に動作することによって曲げ動作を行うように構成されているロボット本体と、
前記可撓シャフトが挿通され、可撓性を有する筒状体からなり、前記曲げ関節、前記手首関節および前記エンドエフェクタが遠位端から突出するように前記可撓シャフトを延在方向に案内する案内管と、
第1モータを含み、前記第1モータの駆動力により前記曲げ関節操作ケーブルを該曲げ関節操作ケーブルの延在方向に動作させる曲げ関節駆動部と、第2モータを含み、前記第2モータの駆動力により前記トルク伝達チューブの近位端を回動させる手首関節駆動部とを含むロボット本体駆動機構と、を備え、
前記ロボット本体は、前記可撓シャフトの近位端が取り付けられたベースを含み、前記ベースを介して前記ロボット本体駆動機構に取り付け可能に構成され、
前記ロボット本体駆動機構は、前記ロボット本体の前記ベースを取り付けるように構成され、前記曲げ関節駆動部は、前記第1モータの駆動力により前記曲げ関節操作ケーブルを動作させるように構成され、前記手首関節駆動部は、前記第2モータの駆動力により前記トルク伝達チューブの近位端を回動させるように構成されている、手術用ロボット。 - 前記案内管は、その遠位端を湾曲させる遠位端湾曲機構を有する、請求項1に記載の手術用ロボット。
- 前記案内管の曲げ方向の剛性が前記可撓シャフトの曲げ方向の剛性よりも大きく構成されている、請求項1又は2に記載の手術用ロボット。
- 前記ロボット本体は、前記トルク伝達チューブに挿通され、遠位端が前記エンドエフェクタに取り付けられているエンドエフェクタ操作ケーブルを有し、
前記エンドエフェクタは、前記エンドエフェクタ操作ケーブルが該エンドエフェクタ操作ケーブルの延在方向に動作することによって動作するように構成され、
前記ロボット本体駆動機構は、その駆動力により前記エンドエフェクタ操作ケーブルを該エンドエフェクタ操作ケーブルの延在方向に動作させるエンドエフェクタ駆動部を含む、請求項1乃至3の何れかに記載の手術用ロボット。 - 前記エンドエフェクタは鉗子である、請求項1乃至4の何れかに記載の手術用ロボット。
- 前記手術用ロボットは、複数の前記ロボット本体駆動機構と、複数の前記ロボット本体と、複数の前記案内管と、前記複数の前記案内管を集束する集束菅と、を備える、請求項1乃至5の何れかに記載の手術用ロボット。
Priority Applications (1)
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JP2021115992A JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
Applications Claiming Priority (1)
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PCT/JP2015/003486 WO2017006375A1 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
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JP2021115992A Division JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
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JPWO2017006375A1 JPWO2017006375A1 (ja) | 2018-04-19 |
JP7257102B2 true JP7257102B2 (ja) | 2023-04-13 |
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JP2017526785A Active JP7257102B2 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
JP2021115992A Active JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
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JP2021115992A Active JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
Country Status (6)
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US (1) | US20180214220A1 (ja) |
EP (1) | EP3321047A4 (ja) |
JP (2) | JP7257102B2 (ja) |
KR (1) | KR20180022944A (ja) |
CN (1) | CN107708596A (ja) |
WO (1) | WO2017006375A1 (ja) |
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US11103992B2 (en) * | 2017-02-28 | 2021-08-31 | Canon Kabushiki Kaisha | Apparatus of continuum robot |
WO2018174227A1 (ja) * | 2017-03-24 | 2018-09-27 | 株式会社メディカロイド | 把持機構 |
TWI795414B (zh) * | 2017-06-29 | 2023-03-11 | 美商美國德州系統大學評議委員會 | 手術設備及其手術工具 |
CN110269691B (zh) * | 2018-03-14 | 2020-12-22 | 深圳市精锋医疗科技有限公司 | 丝驱动连接组件、操作臂及手术机器人 |
KR101999347B1 (ko) | 2018-04-09 | 2019-07-11 | 전남대학교산학협력단 | 다자유도 가요성 로봇 |
CN108742782B (zh) * | 2018-04-09 | 2022-05-31 | 杭州康亚医疗器械有限公司 | 腹腔镜用多功能手术抓钳 |
US11458641B2 (en) * | 2018-05-23 | 2022-10-04 | General Electric Company | Robotic arm assembly construction |
EP3813634A4 (en) | 2018-09-26 | 2022-04-06 | Auris Health, Inc. | ARTICULATING MEDICAL INSTRUMENTS |
US11553939B2 (en) | 2018-10-31 | 2023-01-17 | Cilag Gmbh International | Surgical instruments with a retention feature that retains a cutting element |
US11406442B2 (en) | 2018-11-05 | 2022-08-09 | Cilag Gmbh International | Articulate wrist with flexible central member |
CN112842534B (zh) * | 2018-12-28 | 2024-03-29 | 北京术锐机器人股份有限公司 | 手术工具系统 |
JP6870010B2 (ja) * | 2019-01-21 | 2021-05-12 | 株式会社メディカロイド | 手術システムおよび支持装置 |
JP6954937B2 (ja) | 2019-01-25 | 2021-10-27 | 株式会社メディカロイド | 手術器具 |
IT201900001185A1 (it) * | 2019-01-28 | 2020-07-28 | Univ Degli Studi Di Napoli Federico Ii | Dispositivo di ausilio per interventi chirurgici, in particolare interventi a minima invasivita’ |
WO2020185815A1 (en) | 2019-03-11 | 2020-09-17 | Rhodan Marine Systems Of Florida, Llc | Stiffening shafts for marine environments |
CN110772329B (zh) * | 2019-04-25 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | 手术器械 |
CN110772331A (zh) * | 2019-04-25 | 2020-02-11 | 深圳市精锋医疗科技有限公司 | 手术器械 |
CN110772335B (zh) * | 2019-04-25 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | 手术器械 |
CN110772334B (zh) * | 2019-04-25 | 2023-11-10 | 深圳市精锋医疗科技股份有限公司 | 手术器械 |
GB2609643A (en) * | 2021-08-12 | 2023-02-15 | Rolls Royce Plc | Continuum arm robot system |
KR102581537B1 (ko) * | 2021-09-01 | 2023-09-25 | 한국과학기술원 | 보조 텐던을 구비한 수술 장치 |
CN114305591A (zh) * | 2021-12-20 | 2022-04-12 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | 一种钳类末端执行器组件及钳类外科手术器械 |
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- 2015-07-09 WO PCT/JP2015/003486 patent/WO2017006375A1/ja active Application Filing
- 2015-07-09 US US15/742,901 patent/US20180214220A1/en not_active Abandoned
- 2015-07-09 JP JP2017526785A patent/JP7257102B2/ja active Active
- 2015-07-09 EP EP15897638.1A patent/EP3321047A4/en not_active Withdrawn
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2021
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WO2017006375A1 (ja) | 2017-01-12 |
JPWO2017006375A1 (ja) | 2018-04-19 |
US20180214220A1 (en) | 2018-08-02 |
EP3321047A1 (en) | 2018-05-16 |
EP3321047A4 (en) | 2019-03-20 |
CN107708596A (zh) | 2018-02-16 |
JP2021180856A (ja) | 2021-11-25 |
KR20180022944A (ko) | 2018-03-06 |
JP7141500B2 (ja) | 2022-09-22 |
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