JP7405432B2 - 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法 - Google Patents
追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法 Download PDFInfo
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Description
しかしながら、腹腔鏡検査法などの既知の低侵襲技術は、1)アクセスポートを通して挿入される剛性のツールを用いることにより生じる可動性制約と、2)限られた視覚フィードバックとに部分的に起因して、範囲が限られており、複雑である。ダヴィンチ(登録商標)手術システム(カリフォルニア州サニーベールに所在のインテュイティブサージカル社から入手可能)などの既知のロボットシステムも、アクセスポートによって制限され、また、非常に大型で非常に高価であり、大半の病院において利用できず、感覚性能および可動性能が限定されるといった、さらなる欠点を有する。
請求項1の例について、例3では、前記プロセッサは、前記第1ロボット手術アームおよび前記第2ロボット手術アームの位置決めのための制御アルゴリズムを実行するように構築および構成されている。
請求項4の例について、例5では、前記プロセッサは、前記カメラ参照フレームを前記ロボット参照フレームに位置整合し前記位置決め可能カメラを再配置するように構成されている。
請求項4の例について、例7では、前記カメラ座標フレームは、直交単位ベクトルxC、yCおよびzCにより定義される。
請求項9の例について、例10では、前記カメラ参照フレームは原点を有し、前記プロセッサは、前記中点PLPRを位置整合し前記位置決め可能カメラを再配置するように構成されている。
請求項11の例について、例13では、前記カメラ座標フレームは、直交単位ベクトルxC、yCおよびzCにより定義される。
請求項16の例について、例18では、前記ロボットクランプは、解放ボタンと洗濯ばさみ部材とをさらに備える。
請求項16の例について、例20では、インジケータ灯をさらに備える。
これらの例の他の実装は、対応するコンピュータシステム、装置、および1つまたは複数のコンピュータ記憶デバイスに記録されたコンピュータプログラムを備え、各々は方法の作用を行うように構成されている。
1つの実装によれば、ロボット補助手術デバイス(RASD)システム1は、いくつかの部品を有する。1つのそうした実装では、図1Aおよび図1Bに示されるように、手術ロボットデバイス10であって、手術ロボットデバイス10に配置されたロボット関節を有するカメラ12と外部外科医制御コンソール100とを有する手術ロボットデバイス10が提供される。図1Aの実装では、1つの実装に従って、ロボットデバイス10およびカメラ12は、ロボット支持アーム4を用いて手術台2に取付けられて示されている。システム1は、特定の実装では、外科医および1名の外科助手によって操作されることが可能である。
アルゴリズム運動学は
入力:カメラが目指す地点,pos
出力:posにてカメラを向けるカメラ角度,シータ1,シータ2,...
カメラ運動学およびposに基づいてシータ1,シータ2,...を設定
シータ1,シータ2,...を返す
アルゴリズムカメラ追跡は
入力:左右のエンドエフェクタの位置,posLおよびposR
出力:カメラ作動角度,シータ1,シータ2,...
固定サイズのFIFO配列,配列LへとposLを加える
avgLを配列Lの平均に設定
diffLをavgLとposLとの差に設定
固定サイズのFIFO配列,配列RへとposRを加える
avgRを配列Rの平均に設定
diffRをavgRとposRとの差に設定
diffLが動きの閾値よりも大きい場合
移動Lを真に設定
そうでない場合
移動Lを偽に設定
diffRが動きの閾値よりも大きい場合
移動Rを真に設定
そうでない場合
移動Rを偽に設定
移動Rが真かつ移動Lが偽の場合
運動学(posR)を返す
そうでなく 移動Lが真かつ移動Rが偽の場合
運動学(posL)を返す
そうでなく 移動Lが真かつ移動Rが真の場合
posRおよびposLの平均にmidPosを設定
運動学(midPos)を返す
これに代えて、他の臨床およびロボット因子がカメラの位置を決定するように用いられることが可能である。例えば、速度/位置および/または速度/位置の履歴が、命令されたカメラ位置において考えられることが可能である。システムの構築および構成において、素早く、度々もしくは絶えず移動するツールまたは他の因子が、カメラをそのツールに向かって「引く」ことが可能であることと、より静止したチップがカメラを近傍に保持しなくてよいこととが理解される。
図12は、様々な手術ツール(上にてエンドエフェクタ18,20とも呼ばれる)の図を示し、これらはシステムの「手」であり、一般に130にて示される。4つのツールが図12に示され、バイポーラ焼灼が可能な有窓グラスパ132、モノポーラ焼灼を果たすはさみ134、モノポーラ焼灼を果たすフック136、および左右の持針器セット138を含む。これに代えて、他のエンドエフェクタが本明細書において開示または想定される実装とともに用いられることが可能である。
1つのクランプ150の実装が、図16に示される。これらの実装に係るデバイス10は、図16に示されるように、ロボットクランプ150を通じて支持アーム4とインタフェースする。クランプ150は、デバイスをクランプするかクランプを外す前に押下される必要がある、安全解放ボタン152を有する。ロボット本体10Aには、クランプ150とデバイス10との間のインタフェースを提供するように、ハウジング11に形成されたロボットクランプインタフェースリング154を有する。解放ボタン152が押下された後、ロボットデバイス10は、挿入されるか、解放レバー156を用いてクランプ150から取り除かれることが可能である。
本発明は好ましい実装を参照して記載されている、当業者は、本発明の趣旨および範囲から逸脱することなく、形態および詳細に変更がなされ得ることを認識する。
Claims (15)
- ロボット手術システムであって、
a.切開部を通じて少なくとも部分的には患者の体腔内に位置決めされるように構築および構成されたデバイス本体であって、
i.前記デバイス本体に対し動作可能に結合され、第1エンドエフェクタを備える、第1ロボット手術アームと、
ii.前記デバイス本体に対し動作可能に結合され、第2エンドエフェクタを備える、第2ロボット手術アームと、
iii.前記デバイス本体に形成されたカメラルーメンと、を備える、デバイス本体と、
b.有関節チップを有し、前記体腔内における前記第1エンドエフェクタおよび前記第2エンドエフェクタの視界を提供するべく前記カメラルーメンから延びるように構築および構成された位置決め可能カメラと、
c.前記位置決め可能カメラを位置決めするためのアルゴリズムを実行するように構築および構成されたプロセッサを備える手術コンソールと、を備え、
前記プロセッサは、ロボット参照フレームとカメラ参照フレームとを確立するように構築および構成されており、
前記ロボット参照フレームは、前記デバイス本体に対し確立され、直交単位ベクトルx R 、y R およびz R により定義され、
前記カメラ参照フレームは、前記有関節チップに対し確立され、直交単位ベクトルx C 、y C およびz C により定義され、
前記カメラ参照フレームは、前記カメラ参照フレームの直交単位ベクトルx C により定義される原点を有し、
前記プロセッサは、前記第1エンドエフェクタの位置PLおよび前記第2エンドエフェクタの位置PRを定義するように構成されており、
前記プロセッサは、前記位置PLと前記位置PRとの間の中点に中点PLPRを確立するようにさらに構成されており、
前記アルゴリズムは、実行時、前記カメラ参照フレームの前記原点を前記中点PLPRに位置整合させるように前記位置決め可能カメラを位置決めする、ロボット手術システム。 - 前記位置決め可能カメラの前記有関節チップは、ピッチとヨーとの両方が可能であるように構築および構成されている、請求項1に記載のロボット手術システム。
- 前記プロセッサは、前記第1ロボット手術アームおよび前記第2ロボット手術アームの位置決めのための制御アルゴリズムを実行するように構築および構成されている、請求項1に記載のロボット手術システム。
- 前記プロセッサは、前記カメラ参照フレームを前記ロボット参照フレームに位置整合させ前記位置決め可能カメラを再配置するように構成されている、請求項1に記載のロボット手術システム。
- ロボット手術システムであって、
a.ロボット手術デバイスであって、
i.デバイス本体に対し動作可能に結合され、第1エンドエフェクタを備える、第1ロボット手術アームと、
ii.前記デバイス本体に対し動作可能に結合され、第2エンドエフェクタを備える、第2ロボット手術アームと、
iii.前記デバイス本体に形成されたカメラルーメンと、を備える、ロボット手術デバイスと、
b.有関節チップを備えており、前記第1エンドエフェクタおよび前記第2エンドエフェクタを観察するべく前記チップが配向するように、前記ロボット手術デバイスの前記カメラルーメンへと挿入されるよう構築および構成された、位置決め可能カメラと、
c.前記位置決め可能カメラを位置決めするための制御アルゴリズムを実行するように構築および構成されたプロセッサと、を備え、
前記制御アルゴリズムは、
a.直交単位ベクトルxC、yCおよびzCにより定義される、カメラ参照フレームを確立することと、
b.前記デバイス本体に対し確立されるとともに直交単位ベクトルxR、yRおよびzRにより定義されるロボット参照フレームを確立することと、
c.前記ロボット参照フレームに対し前記カメラの前記有関節チップを位置決めすることと、を行うように構築および構成されており、
前記プロセッサは、前記第1エンドエフェクタについての位置PLおよび前記第2エンドエフェクタについての位置PRを定義するように構成されており、
前記プロセッサは、前記位置PLと前記位置PRとの間の中点に中点PLPRを確立するように構成されており、
前記カメラ参照フレームは原点を有し、
前記プロセッサは、前記カメラ参照フレームの前記原点を前記中点PLPRに位置整合させるべく前記位置決め可能カメラを再配置するように構成されている、ロボット手術システム。 - 前記ロボット手術デバイスを回転可能に支持アームに対し結合するように構築および構成されたロボットクランプをさらに備える、請求項5に記載のロボット手術システム。
- 前記ロボットクランプは、解放ボタンと洗濯ばさみ部材とをさらに備える、請求項6に記載のロボット手術システム。
- インタフェースポッドをさらに備える、請求項5に記載のロボット手術システム。
- インジケータ灯をさらに備える、請求項5に記載のロボット手術システム。
- 前記位置決め可能カメラの運動を減衰させるように構成されている、請求項1に記載のロボット手術システム。
- 前記プロセッサは、前記カメラ参照フレームの前記原点を前記中点PLPRに位置整合させるとき、前記位置決め可能カメラの前記運動を減衰させるように構成されている、請求項10に記載のロボット手術システム。
- 前記プロセッサは、前記有関節チップの前記運動を前記有関節チップの速度に比例して減少させることによって前記位置決め可能カメラの前記運動を減衰させるように構成されている、請求項11に記載のロボット手術システム。
- 前記プロセッサは、前記第1ロボット手術アームおよび前記第2ロボット手術アームの位置決めのための制御アルゴリズムを実行するように構築および構成されており、
前記プロセッサは、前記第1エンドエフェクタの移動平均位置および前記第2エンドエフェクタの移動平均位置を決定し、
前記位置決め可能カメラを位置決めするための前記アルゴリズムは、前記第1エンドエフェクタの前記移動平均位置および前記第2エンドエフェクタの前記移動平均位置を用いて前記有関節チップを位置整合させる、請求項1に記載のロボット手術システム。 - 前記プロセッサは、前記第1エンドエフェクタの前記移動平均位置が閾値量を超えて変化することに基づいて、前記第1エンドエフェクタが移動しているか否かを判定し、
前記プロセッサは、前記第2エンドエフェクタの前記移動平均位置が前記閾値量を超えて変化することに基づいて、前記第2エンドエフェクタが移動しているか否かを判定し、
前記位置決め可能カメラを位置決めするための前記アルゴリズムは、前記第1エンドエフェクタと前記第2エンドエフェクタとの一方または両方が移動しているとの判定時にのみ実行される、請求項13に記載のロボット手術システム。 - 前記プロセッサは、前記第1エンドエフェクタの前記移動平均位置が閾値量を超えて変化することに基づいて、前記第1エンドエフェクタが移動しているか否かを判定し、
前記プロセッサは、前記第2エンドエフェクタの前記移動平均位置が前記閾値量を超えて変化することに基づいて、前記第2エンドエフェクタが移動しているか否かを判定し、
前記位置決め可能カメラを位置決めするための前記アルゴリズムは、前記第1エンドエフェクタも前記第2エンドエフェクタも移動していないとの判定時にのみ実行される、請求項13に記載のロボット手術システム。
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