JP7391886B2 - 滑車共有を組み込んだ医療システム - Google Patents
滑車共有を組み込んだ医療システム Download PDFInfo
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Description
本出願は、2018年6月28日に出願された米国仮特許出願第62/691374号の利益を主張するものであり、当該仮特許出願は参照によりその全体が本明細書に組み込まれる。
本明細書に開示されるシステム及び方法は、ロボット医療システムに関し、具体的には、改善されたリスト構成を有するロボット医療システムに関する。
(b)外科用エフェクタは、リストを通って外科用エフェクタまで延びるN+1つのケーブルセグメントによって制御される、少なくともNの運動自由度を有する、(c)外科用エフェクタは少なくとも3の運動度を有し、外科用システムは少なくとも4つのケーブルセグメントを含む、(d)3の運動度は、外科用エフェクタの第1のヨー角、第2のヨー角、及びピッチ角を含む、(e)リストは、外科用エフェクタのピッチ軸に沿って位置合わせされた少なくとも2つの滑車を含む、(f)少なくとも2つの滑車は、互いに隣接して位置付けされる、(g)少なくとも2つの滑車は、互いに離間しており、リストの中心軸からオフセットされている、(h)少なくとも2つの滑車は、ピッチ軸と位置合わせされたリスト内の唯一の滑車である、(i)第1の滑車は、近位の滑車セットの一部である、(j)外科用器具は、近位の滑車セットに対して遠位の滑車セットを更に備える、(k)1つ以上の方向転換面は、近位の滑車セットと遠位の滑車セットとの間に形成される、(l)第1の滑車の両側に係合する少なくとも2つのケーブルセグメントは、同じケーブルの一部ではない、(m)第1の滑車の両側に係合する少なくとも2つのケーブルセグメントは、互いに独立して運動可能である、(n)第1の滑車の両側に係合する少なくとも2つのケーブルセグメントは、互いに独立して作動可能であり、及び/又は(o)1つ以上の方向転換面は静止している。
本開示の態様は、腹腔鏡などの低侵襲性、及び内視鏡などの非侵襲性の両方の処置を含む、様々な医療処置を行うことができるロボット制御可能な医療システムに統合され得る。内視鏡処置のうち、システムは、気管支鏡検査、尿管鏡検査、胃鏡検査などを行うことができる。
ロボット制御可能な医療システムは、特定の処置に応じて様々な方法で構成され得る。図1は、診断及び/又は治療用気管支鏡検査処置のために配置されたカートベースのロボット制御可能なシステム10の実施形態を示す。気管支鏡検査中、システム10は、気管支鏡検査のための処置特有の気管支鏡であり得る操縦可能な内視鏡13などの医療器具を、診断及び/又は治療用具を送達するための自然オリフィスアクセスポイント(すなわち、本実施例ではテーブル上に位置付けられた患者の口)に送達するための1つ以上のロボットアーム12を有するカート11を備えることができる。図示のように、カート11は、アクセスポイントへのアクセスを提供するために、患者の上部胴体に近接して位置付けることができる。同様に、ロボットアーム12は、アクセスポイントに対して気管支鏡を位置付けるために作動させてもよい。図1の配置は、胃腸管(GI)処置を、GI処置のための特殊な内視鏡である胃鏡を用いて実行するときにも利用してもよい。図2は、カートの例示的な実施形態をより詳細に描画する。
ロボット制御可能な医療システムの実施形態は、患者テーブルも組み込んでもよい。テーブルの組み込みは、カートを除去することによって手術室内の資本設備の量を低減し、患者へのより大きなアクセスを可能にする。図5は、気管支鏡検査処置のために配置されたこうしたロボット制御可能なシステムの一実施形態を示す。システム36は、床の上にプラットフォーム38(「テーブル」又は「ベッド」として図示)を支持するための支持構造体又はカラム37を含む。カートベースのシステムと同様に、システム36のロボットアーム39のエンドエフェクタは、器具ドライバ42の線形整列から形成された仮想レール41を通して、又はそれに沿って、図5の気管支鏡40などの細長い医療器具を操縦するように設計された器具ドライバ42を備える。実際には、X線透視撮像を提供するためのCアームは、放射器及び検出器をテーブル38の周囲に置くことによって、患者の上部腹部領域の上方に位置付けされてもよい。
システムのロボットアームのエンドエフェクタは、(i)医療器具を作動させるための電気機械的手段を組み込む器具ドライバ(代替的には、「器具駆動機構」又は「器具デバイスマニピュレータ」と呼ばれる)と、(ii)モータなどの任意の電気機械的構成要素を欠いていてもよい除去可能な又は取り外し可能な医療用器具と、を備える。この二分法は、医療処置に使用される医療器具を滅菌する必要性、及びそれらの複雑な機械的アセンブリ及び敏感な電子機器により、高価な資本設備を十分に滅菌することができないことに起因している可能性がある。したがって、医療器具は、医師又は医師のスタッフによる個々の滅菌又は廃棄のために、器具ドライバ(したがってそのシステム)から取り外し、除去、及び交換されるように設計することができる。対照的に、器具ドライバは交換又は滅菌される必要がなく、保護のために掛け布をすることができる。
図16は、対の器具ドライバを備えた例示的な医療器具を示す。ロボットシステムと共に使用するために設計された他の器具と同様に、医療器具70は、細長いシャフト71(又は細長い本体)及び器具ベース72を備える。医師による手動相互作用が意図されているその設計により「器具ハンドル」とも呼ばれる器具ベース72は、概して、ロボットアーム76の遠位端部において器具ドライバ75上の駆動インターフェースを通って延びる駆動出力部74と嵌合するように設計された、回転可能な駆動入力部73、例えば、レセプタクル、プーリ、又はスプールを備えてもよい。物理的に接続、ラッチ、及び/又は連結されるときに、器具ベース72の嵌合された駆動入力部73は、器具ドライバ75における駆動出力部74と回転軸線を共有して、駆動出力部74から駆動入力部73へのトルクの伝達を可能することができる。いくつかの実施形態では、駆動出力部74は、駆動入力部73上のレセプタクルと嵌合するように設計されたスプラインを備えてもよい。
本明細書に記載の任意のロボットシステムは、ロボットアームに取り付けられた器具を操作するための入力デバイス又はコントローラを含むことができる。いくつかの実施形態では、コントローラは、器具と連結(例えば、通信的に、電子的に、電気的に、無線的に、及び/又は機械的に)することができ、それによりコントローラの操作は、例えば、マスタースレーブ制御を介して、器具の対応する操作を引き起こす。
従来の内視鏡検査は、オペレータ医師に腔内誘導を提供するために、蛍光透視法(例えば、Cアームを通して送達され得るような)、及び他の形態の放射線ベースの撮像モダリティの使用を伴うことがある。対照的に、本開示によって企図されるロボットシステムは、放射線への医師の曝露を低減し、手術室内の機器の量を低減するために、非放射線ベースのナビゲーション及び位置特定手段を提供することができる。本明細書で使用するとき、用語「位置特定」は、基準座標系内のオブジェクトの位置を判定及び/又は監視することを指すことがある。術前マッピング、コンピュータビジョン、リアルタイムEM追跡、及びロボットコマンドデータなどの技術は、放射線を含まない動作環境を達成するために個別に又は組み合わせて使用されてもよい。放射線ベースの撮像モダリティが依然として使用されるその他の場合、術前マッピング、コンピュータビジョン、リアルタイムEM追跡、及びロボットコマンドデータは、放射線ベースの撮像モダリティによってのみ取得される情報を改善するために、個別に又は組み合わせて使用されてもよい。
図21は、外科用器具200の実施形態の側面図を示す。手術用器具200は、細長いシャフト202、ハンドル204、リスト206及びハンドルエフェクタ208を備えることができる。図22は、図21の外科用器具200などの、外科用器具の例示的な外科用エフェクタの拡大図であり、特定の構成要素は透明であるように示されている。
本明細書に開示された実施形態は、ロボット制御可能な医療システムのためのシステム、方法、及び装置を提供する。本明細書に記載された様々な実施形態は、ケーブルセグメントによって共有された1つ以上の滑車を備えるリストを有するロボット制御可能な医療システムを含む。
(1) 外科用器具であって、
複数の運動度を有する外科用エフェクタと、
前記外科用エフェクタに連結されたリストであって、少なくとも第1の滑車を含むリストと、
前記外科用エフェクタを前記複数の運動度で作動させるために、前記リストを通って前記外科用エフェクタまで延びる少なくとも2つのケーブルセグメントであって、前記第1の滑車の両側に係合し、かつ互いに独立している少なくとも2つのケーブルセグメントと、
を備える外科用器具。
(2) 前記第1の滑車の両側に係合する前記少なくとも2つのケーブルセグメントは、同じケーブルの一部ではない、実施態様1に記載の外科用器具。
(3) 前記第1の滑車の両側に係合する前記少なくとも2つのケーブルセグメントは、互いに独立して移動可能である、実施態様1に記載の外科用器具。
(4) 前記第1の滑車の両側に係合する前記少なくとも2つのケーブルセグメントは、互いに独立して作動可能である、実施態様1に記載の外科用器具。
(5) 前記外科用エフェクタの前記複数の運動度は、ピッチ軸を中心にした回転を含み、前記第1の滑車も前記ピッチ軸を中心にして回転する、実施態様1に記載の外科用器具。
(7) 前記外科用エフェクタは少なくとも3の運動度を有し、前記外科用システムは少なくとも4つのケーブルセグメントを含む、実施態様1に記載の外科用器具。
(8) 前記3の運動度は、前記外科用エフェクタの第1のヨー角、第2のヨー角、及びピッチ角を含む、実施態様7に記載の外科用器具。
(9) 前記リストは、前記外科用エフェクタのピッチ軸に沿って位置合わせされた少なくとも2つの滑車を含む、実施態様1に記載の外科用器具。
(10) 前記少なくとも2つの滑車は、互いに隣接して位置付けされている、実施態様9に記載の外科用器具。
(12) 前記少なくとも2つの滑車は、前記ピッチ軸と位置合わせされた前記リスト内の唯一の滑車である、実施態様9に記載の外科用器具。
(13) 前記第1の滑車は、近位の滑車セットの一部である、実施態様1に記載の外科用器具。
(14) 前記外科用器具は、前記近位の滑車セットに対して遠位の滑車セットを更に備える、実施態様13に記載の外科用器具。
(15) 1つ以上の方向転換面が、前記近位の滑車セットと前記遠位の滑車セットとの間に形成されている、実施態様13に記載の外科用器具。
(17) 外科用器具であって、
1つ以上の滑車を含むリストと、
Nの運動度を有する外科用エフェクタであって、前記Nの運動度のうちの少なくとも1は、前記リストを通って延びるピッチ軸を中心にした回転を含む、外科用エフェクタと、を備え、
少なくともN+1つのケーブルセグメントは、前記リストを通って延びて、前記外科用エフェクタを前記Nの運動度で作動させ、
前記N+1つのケーブルセグメントのうちの少なくとも2つが、前記リスト内の前記滑車のうちの1つを共有する、
外科用器具。
(18) 前記外科用エフェクタは少なくとも2の運動度を有し、前記外科用エフェクタは、第1の滑車と係合する少なくとも第1のケーブルセグメント及び第2のケーブルセグメントを備え、前記第1のケーブルセグメント及び前記第2のケーブルセグメントは互いに独立している、実施態様17に記載の外科用器具。
(19) 前記リストは遠位クレビス及び近位クレビスを含む、実施態様17に記載の外科用器具。
(20) 前記1つ以上の滑車は、第1の滑車セットの一部であり、前記リストは、前記第1の滑車セットの遠位に位置付けされた第2の滑車セットを含む、実施態様17に記載の外科用器具。
(22) 前記方向転換面は静止面である、実施態様21に記載の外科用器具。
(23) 外科用システムであって、
外科用器具であって、
外科用エフェクタと、
前記外科用エフェクタに連結されたリストであって、前記リストは近位クレビス及び遠位クレビスを備え、前記遠位クレビスは1つ以上の静止方向転換面を備える、リストと、
前記外科用エフェクタを作動させるために、前記リストを通って前記外科用エフェクタまで延びる少なくとも2つのケーブルセグメントであって、前記遠位クレビス内の前記1つ以上の静止方向転換面に係合する少なくとも2つのケーブルセグメントと、
を備える外科用器具、
を備える外科用システム。
(24) 前記外科用エフェクタはロボットアームに連結されており、複数の運動度を有し、
前記リストは、少なくとも第1の滑車を備え、
前記少なくとも2つのケーブルセグメントは、互いに独立しており、前記第1の滑車の両側に係合するように構成されている、
実施態様23に記載の外科用システム。
(25) 前記外科用器具は、前記近位クレビス内の1つ以上の滑車と、前記遠位クレビス内の1つ以上の滑車とを更に備える、実施態様23に記載の外科用システム。
(27) 前記遠位クレビス内の前記1つ以上の静止方向転換面は、スロットの外周を形成する1つ以上の表面の一部である、実施態様23に記載の外科用システム。
(28) 前記外科用器具は、前記近位クレビス内に1つ以上の静止方向転換面を更に備える、実施態様23に記載の外科用システム。
(29) 複数の運動度で外科用エフェクタを作動させる方法であって、
前記外科用エフェクタに連結されたリスト内の第1の滑車の第1の側の周りに延びる第1のケーブルセグメントを前進又は後退させて、前記外科用エフェクタを第1の運動度で作動させることと、
前記第1の滑車の第2の側の周りに延びる第2のケーブルセグメントを前進又は後退させて、前記外科用エフェクタを第2の運動度で作動させることと、
を含む方法。
(30) 前記第1のケーブルセグメントを前進又は後退させることによって、かつ前記第2の滑車セグメントを前進又は後退させることによって、前記第1の滑車の軸を通って延びるピッチ軸を中心にして前記外科用エフェクタを回転させることを更に含む、実施態様29に記載の方法。
Claims (13)
- 外科用器具であって、
複数の運動度を有する外科用エフェクタと、
前記外科用エフェクタに連結されたリストであって、少なくとも第1の滑車を含むリストと、
前記外科用エフェクタを前記複数の運動度で作動させるために、前記リストを通って前記外科用エフェクタまで延びる少なくとも2つのケーブルセグメントであって、前記第1の滑車の両側に係合し、かつ互いに独立している少なくとも2つのケーブルセグメントと、
を備え、
前記第1の滑車は、近位の滑車セットの一部であり、
前記外科用器具は、前記近位の滑車セットに対して遠位の滑車セットを更に備え、
前記少なくとも2つのケーブルセグメントに係合して前記少なくとも2つのケーブルセグメントを方向づけする1つ以上の方向転換面が、前記近位の滑車セットと前記遠位の滑車セットとの間に形成され、
前記近位の滑車セットは、ピッチ軸を中心にして回転し、
前記遠位の滑車セットは、ヨー軸を中心にして回転し、
前記少なくとも2つのケーブルセグメントは、互いに交差しないように構成され、前記近位の滑車セットの両側および前記遠位の滑車セットの両側に前進可能および後退可能に係合される外科用器具。 - 前記第1の滑車の両側に係合する前記少なくとも2つのケーブルセグメントは、同じケーブルの一部ではない、請求項1に記載の外科用器具。
- 前記第1の滑車の両側に係合する前記少なくとも2つのケーブルセグメントは、互いに独立して移動可能である、請求項1に記載の外科用器具。
- 前記第1の滑車の両側に係合する前記少なくとも2つのケーブルセグメントは、互いに独立して作動可能である、請求項1に記載の外科用器具。
- 前記外科用エフェクタの前記複数の運動度は、ピッチ軸を中心にした回転を含み、前記第1の滑車も前記ピッチ軸を中心にして回転する、請求項1に記載の外科用器具。
- 前記外科用エフェクタは、前記リストを通って前記外科用エフェクタまで延びるN+1つのケーブルセグメントによって制御される、少なくともNの運動自由度を有する、請求項1に記載の外科用器具。
- 前記外科用エフェクタは少なくとも3の運動度を有し、前記外科用器具は少なくとも4つのケーブルセグメントを含む、請求項1に記載の外科用器具。
- 前記3の運動度は、前記外科用エフェクタの第1のヨー角、第2のヨー角、及びピッチ角を含む、請求項7に記載の外科用器具。
- 前記リストは、前記外科用エフェクタのピッチ軸に沿って位置合わせされた少なくとも2つの滑車を前記近位の滑車セットとして含む、請求項1に記載の外科用器具。
- 前記少なくとも2つの滑車は、互いに隣接して位置付けされている、請求項9に記載の外科用器具。
- 前記少なくとも2つの滑車は、互いに離間しており、前記リストの中心軸からオフセットされている、請求項9に記載の外科用器具。
- 前記少なくとも2つの滑車は、前記ピッチ軸と位置合わせされた前記リスト内の唯一の滑車である、請求項9に記載の外科用器具。
- 前記1つ以上の方向転換面は静止している、請求項1に記載の外科用器具。
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