JP7323489B2 - 誘導された生検針の軌道をロボットによりガイダンスするためのシステムと、関連する方法および装置 - Google Patents
誘導された生検針の軌道をロボットによりガイダンスするためのシステムと、関連する方法および装置 Download PDFInfo
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Description
本出願は、2019年3月22日に出願された米国特許出願第16/361,863号の一部継続出願であり、その全体がすべて参照により本明細書に組み込まれる。
Claims (5)
- 患者の標的エリア内に生検針を挿入するための外科手術ロボットシステムであって、
コンピュータを含むロボット基部と、
前記ロボット基部に連結されたロボットアームと、
前記ロボットアームに連結され、開口部を含むエンドエフェクタと、
手動で調整可能な深さ停止部を有し、カメラで確認できる第二の複数の追跡マーカーを含み、組織のサンプルを吸引するために前記エンドエフェクタの前記開口部に挿入可能である生検針と、を備え、
前記コンピュータは、前記ロボットアームを制御して前記エンドエフェクタを計画された軌道に沿って自動的に配置し、
前記ロボットアームの位置は、前記エンドエフェクタに配置された第一の複数の追跡マーカーの追跡位置により決定され、
前記ロボットアームは、円錐形の入力点の周りを患者の解剖学的特徴内に旋回するように構成され、前記円錐形の入力点は、単一の入力穴から到達可能な軌道の範囲を表し、
前記開口部は、
計画された軌道に沿って穴をあけるために外科用ドリルが挿入されるように適合され、
前記生検針の遠位端が最大許容深さに達するように、前記深さ停止部が前記開口部の上部入口に接触するまで、前記生検針が自由にスライドできるような大きさである、
外科手術ロボットシステム。 - 前記生検針を受けるように構成され、かつ、前記生検針上の前記深さ停止部の位置を決定するように構成されたルーラーをさらに有する、請求項1に記載の外科手術ロボットシステム。
- 前記深さ停止部が、前記生検針が前記エンドエフェクタに連結されると、前記エンドエフェクタの一部分に接触する、請求項2に記載の外科手術ロボットシステム。
- 前記生検針が、前記患者の脳内の組織を吸引するように構成された、請求項1に記載の外科手術ロボットシステム。
- 前記コンピュータが、前記標的エリアへの前記生検針の軌道を計画するために使用される、請求項1に記載の外科手術ロボットシステム。
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