JP7347774B2 - 医療用把持装置 - Google Patents

医療用把持装置 Download PDF

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Publication number
JP7347774B2
JP7347774B2 JP2018129425A JP2018129425A JP7347774B2 JP 7347774 B2 JP7347774 B2 JP 7347774B2 JP 2018129425 A JP2018129425 A JP 2018129425A JP 2018129425 A JP2018129425 A JP 2018129425A JP 7347774 B2 JP7347774 B2 JP 7347774B2
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JP
Japan
Prior art keywords
gripping
actuator
force
section
medical
Prior art date
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Active
Application number
JP2018129425A
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English (en)
Japanese (ja)
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JP2020005866A5 (enExample
JP2020005866A (ja
Inventor
誠通 下野
光 佐々木
公平 大西
俊輔 柴尾
貴弘 溝口
卓也 松永
恵理子 安彦
真章 西本
美夏 青木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Keio University
Yokohama National University
Kanagawa Institute of Industrial Science and Technology
Original Assignee
Keio University
Yokohama National University
Kanagawa Institute of Industrial Science and Technology
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Keio University, Yokohama National University, Kanagawa Institute of Industrial Science and Technology filed Critical Keio University
Priority to JP2018129425A priority Critical patent/JP7347774B2/ja
Priority to PCT/JP2019/022778 priority patent/WO2020008807A1/ja
Priority to US17/258,075 priority patent/US20210282795A1/en
Publication of JP2020005866A publication Critical patent/JP2020005866A/ja
Publication of JP2020005866A5 publication Critical patent/JP2020005866A5/ja
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B17/30—Surgical pincettes, i.e. surgical tweezers without pivotal connections
    • 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
    • A61B34/74—Manipulators with manual electric input 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00738—Aspects not otherwise provided for part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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—Leader-follower robots

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
JP2018129425A 2018-07-06 2018-07-06 医療用把持装置 Active JP7347774B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018129425A JP7347774B2 (ja) 2018-07-06 2018-07-06 医療用把持装置
PCT/JP2019/022778 WO2020008807A1 (ja) 2018-07-06 2019-06-07 医療用把持装置
US17/258,075 US20210282795A1 (en) 2018-07-06 2019-06-07 Medical gripping device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018129425A JP7347774B2 (ja) 2018-07-06 2018-07-06 医療用把持装置

Publications (3)

Publication Number Publication Date
JP2020005866A JP2020005866A (ja) 2020-01-16
JP2020005866A5 JP2020005866A5 (enExample) 2021-08-12
JP7347774B2 true JP7347774B2 (ja) 2023-09-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018129425A Active JP7347774B2 (ja) 2018-07-06 2018-07-06 医療用把持装置

Country Status (3)

Country Link
US (1) US20210282795A1 (enExample)
JP (1) JP7347774B2 (enExample)
WO (1) WO2020008807A1 (enExample)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114788435A (zh) 2020-01-17 2022-07-22 三井化学株式会社 壳体、结构体及壳体的制造方法
KR102321778B1 (ko) * 2020-02-10 2021-11-05 한국과학기술연구원 원격 작동 겸자 조작 장치
JP6875690B1 (ja) 2020-02-12 2021-05-26 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
JP6807122B1 (ja) * 2020-02-12 2021-01-06 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
US12562076B2 (en) 2020-02-27 2026-02-24 Keio University Learning assistance system, learning assistance method, and learning assistance storage medium
US12111966B2 (en) 2020-02-27 2024-10-08 Keio University Position/force control system, worn unit, control unit, position/force control method, and storage medium
JP7679178B2 (ja) * 2020-03-31 2025-05-19 地方独立行政法人神奈川県立産業技術総合研究所 医療用ドリル、及び医療用プログラム
WO2022230594A1 (ja) 2021-04-26 2022-11-03 学校法人慶應義塾 機能管理システム、機能管理方法、及びプログラム
WO2022270319A1 (ja) 2021-06-25 2022-12-29 慶應義塾 動作データ管理システム、動作データ管理方法、及びプログラム
JPWO2024248113A1 (enExample) * 2023-05-30 2024-12-05
KR102577846B1 (ko) * 2023-06-07 2023-09-13 주식회사 에이플러스엑스 케이블 홀더

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015006722A (ja) 2013-05-27 2015-01-15 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブロボット
US20160030240A1 (en) 2014-07-29 2016-02-04 The Johns Hopkins University Micromanipulation systems and methods

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3230615B2 (ja) * 1992-11-30 2001-11-19 オリンパス光学工業株式会社 触診装置
US6493608B1 (en) * 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
JP2005109139A (ja) * 2003-09-30 2005-04-21 Matsushita Electric Ind Co Ltd 半導体素子およびそれを用いたディスプレイ装置
JP5364255B2 (ja) * 2007-10-31 2013-12-11 テルモ株式会社 医療用マニピュレータ
JP5011067B2 (ja) * 2007-10-31 2012-08-29 株式会社東芝 マニピュレータシステム
CN118717295A (zh) * 2013-03-15 2024-10-01 史赛克公司 手术机器人臂的端部执行器
WO2015041046A1 (ja) * 2013-09-19 2015-03-26 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム
US11026751B2 (en) * 2017-12-28 2021-06-08 Cilag Gmbh International Display of alignment of staple cartridge to prior linear staple line

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015006722A (ja) 2013-05-27 2015-01-15 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブロボット
US20160030240A1 (en) 2014-07-29 2016-02-04 The Johns Hopkins University Micromanipulation systems and methods

Also Published As

Publication number Publication date
US20210282795A1 (en) 2021-09-16
WO2020008807A1 (ja) 2020-01-09
JP2020005866A (ja) 2020-01-16

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