JP7480152B2 - ロボット医療用システム及び方法のための経皮的シース - Google Patents
ロボット医療用システム及び方法のための経皮的シース Download PDFInfo
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- JP7480152B2 JP7480152B2 JP2021537797A JP2021537797A JP7480152B2 JP 7480152 B2 JP7480152 B2 JP 7480152B2 JP 2021537797 A JP2021537797 A JP 2021537797A JP 2021537797 A JP2021537797 A JP 2021537797A JP 7480152 B2 JP7480152 B2 JP 7480152B2
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Description
本出願は、2018年12月28日に出願された米国特許仮出願第62/786,152号に対する優先権を主張するものであり、これは参照によりその全体が組み込まれる。
本出願は、一般に、経皮支援医療処置に関し、特に、ロボット医療用システム及び関連する方法のための経皮的シースに関する。
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で使用可能な医療用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。
ロボットで使用可能な医療用システムは、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、ロボットで使用可能なカートベースのシステム10の実施形態を示す。気管支鏡検査の間、システム10は、気管支鏡検査のための処置専用気管支鏡であり得る操縦可能な内視鏡13などの医療用器具を、診断及び/又は治療用具を送達するための自然開口部アクセスポイント(すなわち、本実施例ではテーブル上に位置決めされている患者の口)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を含むことができる。示されるように、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決めすることができる。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決めするために作動させることができる。図1の配置はまた、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行うときに利用することができる。図2は、カートの例示的な実施形態をより詳細に示す。
ロボットで使用可能な医療用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、カートをなくす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、そのようなロボットで使用可能なシステムの実施形態を示す。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を含み、器具ドライバ42の線形の位置合わせ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などの細長い医療用器具を操作するように設計されている。実際には、蛍光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決めされてもよい。
システムのロボットアームのエンドエフェクタは、(i)医療用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、を含み得る。この二分法は、医療処置に使用される医療用器具を滅菌する必要性、それらの複雑な機械的アセンブリ及び繊細な電子機器により、高価な資本設備を十分に滅菌することができないことを根拠とする場合がある。したがって、医療用器具は、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)から取り外され、除去され、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、ペアの器具ドライバを備えた例示的な医療用器具を示す。ロボットシステムとともに使用するために設計された他の器具と同様に、医療用器具70は、細長いシャフト71(又は細長い本体)及び器具基部72を含む。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」とも呼ばれる器具基部72は、一般に、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、プーリー、又はスプールを含んでもよい。物理的に接続、ラッチ、及び/又は連結されるときに、器具基部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とすることができる。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含んでもよい。
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、オペレータである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、放射線への医師の暴露を低減し、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。
上述のロボット医療用システムは、経皮支援尿管鏡検査(PAU)及び経皮的腎結石摘出術(PCNL)などの経皮支援医療処置を行うために構成され得る。一般に、PAU及びPCNLは、患者の尿路から、腎臓結石などの物体を除去するために行われる処置である。PAU及びPCNL中、医師は、経皮的アクセスシースを使用して、腎臓などの処置部位への経皮的アクセスを確立する。処置中に、様々な医療用器具及びツールを、経皮的アクセスシースに通して、処置部位内へ通すことができる。このような医療用器具及びツールとしては、例えば、(例えば、医師が処置部位を可視化することを可能にするための)スコープ、(例えば、除去する結石をより小さな破片に破砕するための)リソトリプタ、(結石又は破片を捕捉及び除去するための)バスケットデバイスなどを挙げることができる。PAU処置では、尿道などの患者の開口部を通して処置部位内へ、尿管鏡などの追加の医療用器具を挿入することができる。追加の医療用器具は、経皮的に(例えば、経皮的アクセスシースを通して)挿入された医療用器具及びツールとともに使用されて、処置を行い得る。いくつかの実施形態では、追加の医療用器具、及び/又は経皮的に挿入された医療器用具並びに器具は、上述のようにロボット制御された医療用器具であり得る。
図21Aは、経皮的シース200の別の実施形態の等角図である。図示される実施形態では、経皮的シース200は、近位端202と遠位端204との間に延在する。遠位端204は、患者の処置部位内へ挿入されるように構成され得る。いくつかの実施形態では、遠位端204が、経皮的シース200が挿入され得る患者内に経皮的切断部を作成することができるように、遠位端204は鋭利にされているか、テーパ状になっているか、角度付けされているか、又は別の方法で構成されている。いくつかの実施形態では、遠位端204は、以前に形成された経皮的切断部、開口部、又はポートを通して挿入される。
図24は、経皮的シース200、吸引カテーテル250、及び流体工学システム402を含むシステム400の実施形態を概略的に示す。システム400は、経皮的シース200とともに図示されているが、いくつかの実施形態では、システム400は、経皮的シース300を使用してもよい。
図25は、本明細書に記載される経皮的シースを使用して経皮支援医療処置を行うための例示的な方法500を示すフローチャートである。図示される実施形態では、方法500は、ブロック502から開始して、シース(例えば、上述の経皮的シース200、300のいずれか)が、処置部位内へ経皮的に挿入される。いくつかの実施形態では、腎臓内へ腎臓シースを経皮的に挿入することは、腎臓内へ拡張器を経皮的に挿入すること、拡張器の上に腎臓シースを挿入すること、及び拡張器を取り外すことを含む。いくつかの実施形態では、経皮的シース200の外側導管206は、拡張器の上に挿入され、拡張器が取り外されると、内側導管208を外側導管内へ挿入することができる。
本明細書に開示される実装形態は、経皮的シースを含むシステム、方法、及び装置を提供する。
(1) 経皮支援尿管鏡検査のための方法であって、
腎臓内へ腎臓シースを経皮的に挿入することと、
前記腎臓シースデバイスの第1の導管を通して、前記腎臓内へカテーテルを挿入することと、
前記腎臓シースデバイスの第2の導管を通して、前記腎臓内へ灌注を提供することと、を含む、方法。
(2) 前記カテーテルを通して、前記腎臓からの吸引を提供することを更に含む、実施態様1に記載の方法。
(3) 前記腎臓シースの前記第1の導管を通して、前記腎臓からの受動的流出を提供することを更に含む、実施態様1に記載の方法。
(4) 前記受動的流出は、前記腎臓シースの前記第2の導管と前記カテーテルとの間に形成されたチャネルを通って流れる、実施態様3に記載の方法。
(5) 前記腎臓シースの流体入口を、流体工学システムの灌注源に接続することを更に含み、前記流体入口は、前記腎臓シースデバイスの前記第2の導管に接続されている、実施態様1に記載の方法。
(7) 前記カテーテルを流体工学システムの吸引源に接続することを更に含む、実施態様1に記載の方法。
(8) 前記腎臓シースは、弁を含み、前記腎臓シースデバイスの前記第1の導管を通して、前記腎臓内へ前記カテーテルを挿入することは、前記弁を通して前記カテーテルを挿入することを含む、実施態様1に記載の方法。
(9) 自然患者開口部を通して、前記腎臓内へ内視鏡を挿入することと、
前記内視鏡を用いて結石摘出術を行って、腎臓結石を破片に破砕することと、
前記カテーテルを通して、前記破片を吸引することと、を更に含む、実施態様1に記載の方法。
(10) 前記内視鏡は、ロボット制御される、実施態様9に記載の方法。
(12) 前記腎臓内へ前記腎臓シースを経皮的に挿入することは、
前記腎臓内へ拡張器を経皮的に挿入することと、
前記拡張器の上に前記腎臓シースを挿入することと、
前記拡張器を取り外すことと、を含む、実施態様1に記載の方法。
(13) 経皮的シースであって、
近位端と遠位端との間に延在する外側導管であって、腎臓内へ経皮的に挿入されるように十分に剛性である、外側導管と、
前記外側導管内に配置された内側導管と、
灌注源に接続するように構成された流体入口と、
前記外側導管と前記内側導管との間に画定された第1のチャネルであって、前記流体入口に接続されて、前記腎臓内へ流体の灌注を提供する、第1のチャネルと、
前記内側導管によって形成された第2のチャネルであって、カテーテルが、
前記第2のチャネルを通して、前記腎臓内へ挿入され、
前記カテーテルと前記内側導管との間の空間における前記腎臓からの前記流体の受動的流出を提供する、
ことを可能にするように構成されている、第2のチャネルと、を含む、経皮的シース。
(14) 前記流体入口は、前記第1の導管の近位端に取り付けられた第1のハブ上に位置決めされた側面ポートを含む、実施態様13に記載のシース。
(15) 前記第2の導管の近位端に取り付けられた第2のハブを更に含み、前記第2のハブは、前記第1のハブに係合して、前記第1のチャネルの近位端を封止する、実施態様14に記載のシース。
前記第2の流体導管は、前記弁を通って延在し、
前記弁は、前記第1の導管の近位端を封止する、実施態様13に記載のシース。
(17) 前記第1の導管及び前記第2の導管は、同心円状に配置されている、実施態様13に記載のシース。
(18) 前記第2の導管は、前記シースを通る開放通路を提供する、実施態様13に記載のシース。
(19) 前記第1の導管は、ステンレス鋼ハイポチューブを含む、実施態様13に記載のシース。
(20) 前記第2の導管は、ステンレス鋼ハイポチューブを含む、実施態様13に記載のシース。
前記外側導管の内径は、約21.4Frである、実施態様13に記載のシース。
(22) 前記内側導管の外径は、約19.1Frであり、
前記内側導管の内径は、約18.1Frである、実施態様21に記載のシース。
(23) 前記腎臓内の圧力を測定するための圧力センサを更に含む、実施態様13に記載のシース。
(24) 前記腎臓内への流量を測定するための流量センサを更に含む、実施態様13に記載のシース。
(25) 前記腎臓から出る流量を測定するための流量センサを更に含む、実施態様13に記載のシース。
近位端と遠位端との間に延在する導管であって、腎臓内へ経皮的に挿入されるように十分に剛性である、導管と、
前記導管の前記近位端に接続されたハブであって、
灌注源に接続するように構成された流体入口、及び
カテーテルを受容するように構成された圧力逃し弁であって、前記腎臓内の流体圧力が閾値を超えるまで、前記カテーテルの周りの前記導管の前記近位端を封止する、圧力逃し弁、を含む、ハブと、を含む、シース。
(27) 前記流体入口は、側面ポートを含む、実施態様26に記載のシース。
(28) 前記導管は、ステンレス鋼ハイポチューブを含む、実施態様26に記載のシース。
(29) 前記導管の外径は、約23Frであり、
前記導管の内径は、約21.4Frである、実施態様26に記載のシース。
(30) 経皮支援尿管鏡検査を行うためのシステムであって、
腎臓内へ吸引を提供するための第1の導管、及び前記腎臓内へカテーテルを通すための第2の導管を含む、経皮的シースと、
前記経皮的腎臓シースの前記第2の導管を通して、前記腎臓内へ挿入されるように構成された吸引カテーテルと、を含む、システム。
(32) 前記腎臓の吸引及び灌注を提供するための流体工学システムであって、
ポンプを含む灌注源、及び
真空を含む吸引源、を含む、流体工学システムを更に含む、実施態様30に記載のシステム。
(33) 前記灌注源は、前記経皮的腎臓シースの流体入口に接続され、前記流体入口は、前記第1の導管に接続され、
前記吸引源は、前記カテーテルに接続されている、実施態様32に記載のシステム。
(34) 前記流体工学システムは、灌注及び吸引を制御するように構成されたプロセッサを更に含む、実施態様32に記載のシステム。
(35) 1つ以上の圧力センサ又は流量センサを更に含み、前記プロセッサは、前記1つ以上の圧力センサ又は流量センサの前記出力に基づいて、灌注及び吸引を制御するように構成されている、実施態様34に記載のシステム。
(37) ロボット制御可能な内視鏡を更に含む、実施態様30に記載のシステム。
Claims (13)
- 経皮的シースであって、
近位端と遠位端との間に延在する外側導管であって、腎臓内へ経皮的に挿入されるように十分に剛性である、外側導管と、
前記外側導管内に配置された内側導管と、
灌注源に接続するように構成された流体入口と、
前記外側導管と前記内側導管との間に画定された第1のチャネルであって、前記流体入口に接続されて、前記第1のチャネルの遠位端から前記腎臓内へ流体の灌注を提供する、第1のチャネルと、
前記内側導管によって形成された第2のチャネルであって、カテーテルが、
前記第2のチャネルを通して、前記腎臓内へ挿入され、
前記第2のチャネルの遠位端から近位端に向けて、前記カテーテルと前記内側導管との間の空間における前記腎臓からの前記流体の受動的流出を提供する、
ことを可能にするように構成されている、第2のチャネルと、を含み、
前記外側導管の最遠位端は、前記内側導管の最遠位端よりも遠位側に位置する、経皮的シース。 - 前記流体入口は、前記外側導管の近位端に取り付けられた第1のハブ上に位置決めされた側面ポートを含む、請求項1に記載の経皮的シース。
- 前記内側導管の近位端に取り付けられた第2のハブを更に含み、前記第2のハブは、前記第1のハブに係合して、前記第1のチャネルの近位端を封止する、請求項2に記載の経皮的シース。
- 前記第1のハブは、弁を含み、
前記内側導管は、前記弁を通って延在し、
前記弁は、前記外側導管の前記近位端を封止し、
前記弁は、前記弁が所定の圧力を受けた場合に開放される圧力逃し弁である、請求項2に記載の経皮的シース。 - 前記外側導管及び前記内側導管は、同心円状に配置されている、請求項1に記載の経皮的シース。
- 前記内側導管は、前記経皮的シースを通る開放通路を提供する、請求項1に記載の経皮的シース。
- 前記外側導管は、ステンレス鋼ハイポチューブを含む、請求項1に記載の経皮的シース。
- 前記内側導管は、ステンレス鋼ハイポチューブを含む、請求項1に記載の経皮的シース。
- 前記外側導管の外径は、約23Frであり、
前記外側導管の内径は、約21.4Frである、請求項1に記載の経皮的シース。 - 前記内側導管の外径は、約19.1Frであり、
前記内側導管の内径は、約18.1Frである、請求項9に記載の経皮的シース。 - 前記腎臓内の圧力を測定するための圧力センサを更に含む、請求項1に記載の経皮的シース。
- 前記腎臓内への流量を測定するための流量センサを更に含む、請求項1に記載の経皮的シース。
- 前記腎臓から出る流量を測定するための流量センサを更に含む、請求項1に記載の経皮的シース。
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EP3866707A4 (en) | 2022-07-20 |
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