JP7347774B2 - 医療用把持装置 - Google Patents

医療用把持装置 Download PDF

Info

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
Authority
JP
Japan
Prior art keywords
gripping
actuator
force
section
medical
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.)
Active
Application number
JP2018129425A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020005866A (ja
JP2020005866A5 (enExample
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 NUC
Kanagawa Institute of Industrial Science and Technology
Original Assignee
Keio University
Yokohama National University NUC
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.)
Filing date
Publication date
Application filed by Keio University, Yokohama National University NUC, Kanagawa Institute of Industrial Science and Technology filed Critical Keio University
Priority to JP2018129425A priority Critical patent/JP7347774B2/ja
Priority to US17/258,075 priority patent/US20210282795A1/en
Priority to PCT/JP2019/022778 priority patent/WO2020008807A1/ja
Publication of JP2020005866A publication Critical patent/JP2020005866A/ja
Publication of JP2020005866A5 publication Critical patent/JP2020005866A5/ja
Application granted granted Critical
Publication of JP7347774B2 publication Critical patent/JP7347774B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (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
US17/258,075 US20210282795A1 (en) 2018-07-06 2019-06-07 Medical gripping device
PCT/JP2019/022778 WO2020008807A1 (ja) 2018-07-06 2019-06-07 医療用把持装置

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

ID=69060067

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 (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021145361A1 (ja) 2020-01-17 2021-07-22 三井化学株式会社 筐体、構造体および筐体の製造方法
KR102321778B1 (ko) * 2020-02-10 2021-11-05 한국과학기술연구원 원격 작동 겸자 조작 장치
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
WO2021172580A1 (ja) 2020-02-27 2021-09-02 学校法人慶應義塾 位置・力制御システム、装着ユニット、制御ユニット、位置・力制御方法及びプログラム
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
WO2024248113A1 (ja) * 2023-05-30 2024-12-05 地方独立行政法人神奈川県立産業技術総合研究所 医療機器、及び医療用プログラム
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
CA2902238A1 (en) * 2013-03-15 2014-09-18 Stryker Corporation End effector of a surgical robotic manipulator
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
JP2020005866A (ja) 2020-01-16
US20210282795A1 (en) 2021-09-16
WO2020008807A1 (ja) 2020-01-09

Similar Documents

Publication Publication Date Title
JP7347774B2 (ja) 医療用把持装置
US20240390085A1 (en) Methods, Systems, and Devices Relating to Force Control Surgical Systems
US20240307139A1 (en) End effector force feedback to master controller
US8188843B2 (en) Haptic device gravity compensation
EP3629976B1 (en) Handle assemblies for robotic surgical systems
JP2019518526A (ja) ロボット手術システム用制御アームアセンブリ
Yoneyama et al. Force-detecting gripper and force feedback system for neurosurgery applications
Hwang et al. An electrorheological spherical joint actuator for a haptic master with application to robot-assisted cutting surgery
WO2012047626A1 (en) Portable haptic force magnifier
Arata et al. Articulated minimally invasive surgical instrument based on compliant mechanism
Miyazaki et al. Pneumatically driven surgical instrument capable of estimating translational force and grasping force
Lee et al. Reaction force estimation of surgical robot instrument using perturbation observer with SMCSPO algorithm
Schäfer et al. Measuring interaction forces in surgical telemanipulation using conventional instruments
US20230233275A1 (en) Controlling a surgical instrument
Rizun et al. Mechatronic design of haptic forceps for robotic surgery
Schlaak et al. A novel laparoscopic instrument with multiple degrees of freedom and intuitive control
Sartori et al. Cutaneous feedback in teleoperated robotic hands
Dalvand et al. Force measurement capability for robotic assisted minimally invasive surgery systems
RU2716353C1 (ru) Контроллер кисти для использования в контроллере оператора роботохирургического комплекса
Riviere et al. Active handheld instrument for error compensation in microsurgery
US20240341888A1 (en) Digital handing using a flex or bend sensor
Liu et al. Viscoelastic model based force tracking control for robotic-assisted surgery
Tzemanaki et al. μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design
Dalvand et al. Soft tissue characterisation using a force feedback-enabled instrument for robotic assisted minimally invasive surgery systems
Hendrix et al. Design of a haptic master interface for robotically assisted vitreo-retinal eye surgery

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210630

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210630

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220726

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220926

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221005

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230110

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20230310

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230426

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20230808

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20230831

R150 Certificate of patent or registration of utility model

Ref document number: 7347774

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150