WO2019193775A1 - アーム装置 - Google Patents

アーム装置 Download PDF

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Publication number
WO2019193775A1
WO2019193775A1 PCT/JP2018/033438 JP2018033438W WO2019193775A1 WO 2019193775 A1 WO2019193775 A1 WO 2019193775A1 JP 2018033438 W JP2018033438 W JP 2018033438W WO 2019193775 A1 WO2019193775 A1 WO 2019193775A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
arm device
gimbal
rotation
tip
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.)
Ceased
Application number
PCT/JP2018/033438
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
大輔 原口
耕太郎 只野
憲明 金澤
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.)
Riverfield Inc
Original Assignee
Riverfield Inc
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 Riverfield Inc filed Critical Riverfield Inc
Priority to CN201880092185.XA priority Critical patent/CN111936027B/zh
Priority to US17/042,678 priority patent/US12285300B2/en
Priority to EP18913303.6A priority patent/EP3777641A4/en
Publication of WO2019193775A1 publication Critical patent/WO2019193775A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • 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
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00535—Surgical instruments, devices or methods pneumatically or hydraulically operated
    • A61B2017/00544—Surgical instruments, devices or methods pneumatically or hydraulically operated pneumatically
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • A61B2090/504—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism with a counterweight
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph

Definitions

  • the present disclosure relates to an arm device.
  • the present invention relates to an arm device suitable for endoscopic surgery and endoscopy using an endoscope, and general surgery.
  • Endoscopic surgery using an endoscope is known.
  • an instrument holder that holds instruments such as an endoscope and forceps is used.
  • an instrument holder having a gimbal part and an arm part and capable of operating the instrument three-dimensionally is known.
  • the instrument holder can also hold the instrument in any position.
  • endoscopy using an endoscope and general surgery performed by, for example, laparotomy (hereinafter referred to collectively as endoscopic surgery, endoscopy and general surgery) Also described as “surgery and the like”), examinations and procedures are performed by holding the instrument using such an instrument holder.
  • an endoscope observation angle that is an angle at which an endoscope is held in endoscopic surgery is different for each target disease, and it is known that there is a suitable observation angle for each target disease.
  • An example of an endoscopic observation angle frequently used in endoscopic surgery is as follows.
  • an endoscopic observation angle that holds the endoscope obliquely downward with respect to the surgical bed is often used.
  • an endoscope observation angle that holds an endoscope in a posture close to vertical with respect to a surgical bed is frequently used.
  • an endoscope observation angle that holds an endoscope in a posture close to the horizontal with respect to a surgical bed is frequently used.
  • the treatment tool used together with the endoscope is also used while being held at an angle corresponding to the target disease and the endoscope observation angle.
  • the above-mentioned gimbal part has three rotation axes that intersect each other.
  • the gimbal portion having such a configuration can take a peculiar posture in which the two rotating shafts are aligned on the same direction plane depending on the rotational positions of the three rotating shafts.
  • the degree of freedom which should be originally three is reduced to two.
  • the posture of the gimbal portion is close to a specific posture, it becomes difficult to operate the instrument holder in a specific direction, and the operation range of the instrument is narrowed.
  • the gimbal portion can take a peculiar posture. Therefore, even if the instrument holder in which the distal end portion 15 is inclined by 90 ° is used for endoscopic surgery in respiratory surgery, the operability may be deteriorated if the medical manipulator 1 is held in a nearly vertical posture. There was a problem.
  • the microscope 12 maintains a vertical posture with respect to the parallel link 15. In ophthalmic surgery, an observation angle at which the microscope 12 is held in a vertical posture is suitable.
  • an arm device that can easily secure an operation range of instruments used in endoscopic surgery, endoscopy, general surgery, and the like.
  • the arm device of the present disclosure includes a first gimbal portion that rotatably supports the instrument around a first rotation axis that extends along the axis of the instrument, and a second rotation that extends in a direction intersecting the first rotation axis.
  • the third rotating shaft has an inclination angle larger than 0 degree and smaller than 90 degrees when the horizontal direction is 0 degree and the upper part in the vertical direction is 90 degrees.
  • the third rotation axis has an inclination angle larger than 0 degree and smaller than 90 degrees, the inclination angles of the first rotation axis and the third rotation axis coincide with each other in examination surgery or the like. There is nothing. In other words, the rotational freedom in the supported instrument does not decrease from three to two.
  • the third rotation axis has an inclination angle of 45 degrees.
  • the operability of the arm device is symmetrical when the instrument axis is horizontal and vertical. Therefore, the operating angle range of the instrument can be substantially maximized.
  • the tip is preferably supported by an arm having at least one parallel link.
  • Supporting the tip portion with the arm portion having the parallel link makes it easy to keep the tip portion in a constant posture even if the arrangement position of the tip portion is changed. In other words, it becomes easy to keep the inclination angle of the third rotation axis constant.
  • the arm device includes a link portion in which one end portion is attached to a support portion so as to be relatively rotatable, and the other end portion is attached to be relatively rotatable with respect to the tip portion. It is preferable to further include a drive unit that changes the relative position of the unit and maintains the posture of the tip part constant.
  • the arm device of the present disclosure further includes an actuator unit that moves the position of the tip by driving the parallel link, and a self-weight compensator that applies a force to the parallel link to move the tip up. It is preferable.
  • the arm device includes the actuator unit and the self-weight compensator, the driving force required when the actuator unit moves the position of the tip part supporting the instrument can be further reduced. Therefore, it is easy to reduce the size of the actuator unit.
  • the arm device As compared with a counterweight arm device provided with a counterweight that balances the weight of the distal end supporting the endoscope, it is easy to reduce the size of the rear side opposite to the direction in which the instrument extends. If the rear size can be reduced, the arm device is unlikely to obstruct the operation of the surgeon, assistant, or nurse in an inspection operation or the like.
  • the actuator unit is a pneumatic actuator unit that is driven by air supply.
  • the pneumatic actuator unit As the actuator unit, it becomes easy to increase the weight-to-output ratio, and a simple linear motion operation without using a speed reduction mechanism can be realized. As a result, the arm device can be further reduced in size.
  • the distal end portion is supported by an arm portion that extends in the left-right direction and rotates about a rotation axis that extends in the up-down direction.
  • the posture of the tip part can be kept constant even if the position of the tip part is changed. It becomes easy. In other words, it becomes easy to keep the inclination angle of the third rotation axis constant.
  • the arm device of the present disclosure further includes a grip portion that can be attached to and detached from a place where the instrument is used.
  • the arm device includes the grip portion, it is easy to fix the arm device at a predetermined position. For example, it becomes easy to fix the arm device to the surgical bed in endoscopic surgery, and the posture of the distal end portion is kept constant even when an operation such as tilting the surgical bed is performed to change the patient's position. Becomes easy. In other words, it becomes easy to keep the inclination angle of the third rotation axis constant.
  • the third rotation shaft has an inclination angle larger than 0 degree and smaller than 90 degrees, there is an effect that it is easy to secure an operation range of the instrument in examination surgery or the like.
  • FIG. 6A is a partially enlarged view illustrating the posture of the arm device when the axis of the endoscope is horizontal
  • FIG. 6B illustrates the posture of the arm device when the axis of the endoscope is vertical. It is a partial enlarged view.
  • the arm device 1 holds an endoscope 90 in endoscopic surgery.
  • the instrument held by the arm apparatus 1 includes, in addition to an endoscope, energy devices such as forceps, an electric knife, a laser knife and a hemostasis apparatus used in endoscopic surgery, endoscopy and general surgery, and a stapler.
  • a treatment tool such as a biopsy device and a scissors, robot forceps, and other instruments used in the procedure may be used, and is not particularly limited.
  • the aforementioned robot forceps includes an elongated rod-shaped shaft portion, a forceps portion provided on the distal end side of the shaft portion, and a forceps portion provided on the original side of the shaft portion and a main body portion for driving the shaft portion.
  • this robot forceps when the shaft portion is rotatable about the axis with respect to the main body portion by the operation of the user or by driving from the main body portion, such a configuration is described as “first” of the present disclosure. It can be regarded as the structure of the “gimbal part”. Further, when the forceps part and the shaft part of the robot forceps can be separated from the main body part, the main body part may be configured as a part of the arm device.
  • the arm device 1 includes a holding unit 10 that holds an endoscope 90, a gimbal mechanism unit 20, a distal end unit 30, a first arm unit (arm unit) 40, and a joint Part 50, second arm part (arm part) 60, base part 70, and grip part 80.
  • the holding unit 10 holds the endoscope 90 and is attached to the first gimbal unit 21 of the gimbal mechanism unit 20.
  • the configuration of the holding unit 10 may be any configuration that can hold the endoscope 90, and the specific configuration is not limited.
  • the gimbal mechanism unit 20 includes a first gimbal unit 21 and a second gimbal unit 22.
  • the first gimbal portion 21 supports the endoscope 90 so as to be rotatable around a first rotation shaft 101 extending along the axis of the endoscope 90.
  • the second gimbal portion 22 supports the endoscope 90 so as to be rotatable around a second rotation shaft 102 extending in a direction intersecting with the first rotation shaft 101 (more preferably, a direction orthogonal to the first rotation shaft 101).
  • the axis line of the endoscope 90 is an axis line of the visual tube 91 formed in a cylindrical shape in the endoscope 90.
  • the axis of the endoscope 90 is the central axis of a visual tube formed in a cylindrical shape or a columnar shape.
  • the first rotating shaft 101 only needs to extend along the axis of the endoscope 90, and both may coincide with each other or may be arranged side by side with an interval.
  • an example in which the first rotation shaft 101 and the axis line of the endoscope 90 coincide with each other will be described.
  • the first gimbal part 21 is disposed between the holding part 10 and the second gimbal part 22 and is formed in a columnar shape.
  • a bearing structure is provided at the first end of the first gimbal portion 21. This bearing structure supports the holding portion 10 so as to be relatively rotatable about the first rotation shaft 101.
  • the second gimbal part 22 is disposed between the first gimbal part 21 and the tip part 30, and is formed in a substantially U shape so that the first gimbal part 21 side opens in the second gimbal part 22.
  • the first gimbal portion 21 is disposed inside the second gimbal portion 22 on the opening side (the opening side in the U shape, the same applies hereinafter).
  • the first gimbal part 21 is supported between the end part on the opening side of the second gimbal part 22 and the circumferential surface of the first gimbal part 21 so as to be relatively rotatable about the second rotation shaft 102.
  • a bearing structure is provided.
  • the distal end portion 30 rotatably supports the endoscope 90 around a third rotation shaft 103 extending so as to intersect (more preferably orthogonally) a plane including the first rotation shaft 101 and the second rotation shaft 102. .
  • the attachment surface 31 to which the second gimbal portion 22 is attached at the distal end portion 30 is a surface orthogonal to the third rotation shaft 103.
  • a bearing structure that supports the second gimbal portion 22 so as to be relatively rotatable about the third rotation shaft 103 is provided.
  • the attachment surface 31 is a surface on the distal side in relation to the first arm portion 40 in the tip portion 30, and is a surface having an inclination with respect to a horizontal plane or a vertical plane.
  • the inclination ⁇ with respect to the horizontal direction of the third rotating shaft 103 orthogonal to the mounting surface 31 is 45 degrees.
  • the inclination ⁇ of the third rotation shaft 103 is 45 degrees.
  • the inclination ⁇ of the third rotation shaft 103 is within a range from the horizontal direction to the vertical direction (horizontal direction and The vertical direction may not be included).
  • the reference of the inclination ⁇ of the third rotating shaft 103 may be the horizontal direction as described above, or may be the vertical direction.
  • the first arm portion 40 forms a parallel link mechanism together with the tip portion 30 and the joint portion 50, and enables relative movement of the tip portion 30 and the joint portion 50 while maintaining the relative posture.
  • the first arm portion 40 is provided with an inner first rod 41A and an outer first rod 41B, a first pneumatic actuator portion (pneumatic actuator portion) 42, and a first self-weight compensator (self-weight compensator) 43. ing.
  • the inner first rod 41 ⁇ / b> A and the outer first rod 41 ⁇ / b> B are members formed in a rod shape, the first end portion is rotatably attached to the tip portion 30, and the second end portion is rotated to the joint portion 50. It is mounted movably.
  • the inner first rod 41A and the outer first rod 41B are arranged in parallel to each other.
  • the first pneumatic actuator part 42 moves the relative position between the tip part 30 and the joint part 50.
  • the first pneumatic actuator unit 42 is an actuator including a cylinder and a piston, and slides the piston upon receiving supply of air whose pressure has been increased.
  • the second end portion (for example, the end portion on the cylinder side) of the first pneumatic actuator portion 42 is rotatably attached to the joint portion 50 at or near the position where the inner first rod 41A is attached. .
  • the second end portion (for example, the end portion on the piston side) of the first pneumatic actuator portion 42 is attached to the middle of the outer first rod 41B so as to be rotatable.
  • the position at which the second end of the first pneumatic actuator unit 42 is attached may be the central portion of the outer first rod 41B, or the position of the outer first rod 41B close to the tip 30 from the central portion. Alternatively, a position close to the joint portion 50 from the central portion may be used.
  • the first self-weight compensator 43 exhibits a force for moving the tip 30 upward.
  • the first self-weight compensator 43 may be a tension spring.
  • the first end of the first self-weight compensator 43 is attached at or near the position where the inner first rod 41A is attached at the tip 30.
  • the second end of the first self-weight compensator 43 is attached to the middle of the outer first rod 41B.
  • the second end of the first self-weight compensator 43 is attached at or near the attachment position of the second end of the first pneumatic actuator part 42 on the outer first rod 41B. It has been.
  • the second arm part 60 forms a parallel link mechanism together with the joint part 50 and the base part 70, and enables relative movement between the joint part 50 and the base part 70 while maintaining a relative posture.
  • the second arm part 60 includes an inner second rod 61A and an outer second rod 61B, a second pneumatic actuator part (pneumatic actuator part) 62, a lower second self-weight compensator (self-weight compensator) 63A and an upper second 2 self-weight compensator (self-weight compensator) 63B.
  • the inner second rod 61 ⁇ / b> A and the outer second rod 61 ⁇ / b> B are members formed in a rod shape, the first end portion is rotatably attached to the joint portion 50, and the second end portion is turned to the base portion 70. It is mounted movably.
  • the inner second rod 61A and the outer second rod 61B are arranged in parallel to each other.
  • the second pneumatic actuator unit 62 moves the relative position between the joint unit 50 and the base unit 70.
  • the second pneumatic actuator section 62 is an actuator including a cylinder and a piston, and the piston slides upon receiving supply of air whose pressure has been increased.
  • the first end portion (for example, the end portion on the cylinder side) of the second pneumatic actuator portion 62 is rotatably attached to the position where the outer second rod 61B is attached in the base portion 70 or in the vicinity thereof.
  • a second end portion (for example, an end portion on the piston side) of the second pneumatic actuator portion 62 is rotatably attached to the middle of the inner second rod 61A.
  • the position at which the second end of the second pneumatic actuator unit 62 is attached may be the central portion of the inner second rod 61A, or a position close to the joint portion 50 from the central portion in the inner second rod 61A. Alternatively, it may be a position close to the base portion 70 from the central portion.
  • the lower second self-weight compensator 63A and the upper second self-weight compensator 63B exhibit a force that moves the second arm 60 along the vertical direction.
  • the lower second self-weight compensator 63A and the upper second self-weight compensator 63B may be tension springs.
  • the first end of the lower second self-weight compensator 63A is attached to the base portion 70 at or near the position where the outer second rod 61B is attached.
  • the second end of the second self-weight compensator 63 ⁇ / b> A is attached to the middle of the inner second rod 61.
  • the second end of the second self-weight compensator 63A is attached at or near the attachment position of the second end of the second pneumatic actuator 62.
  • the first end of the upper second self-weight compensator 63B is attached at or near the position where the outer second rod 61B is attached in the joint 50.
  • the second end of the upper second self-weight compensator 63B is attached to the middle of the inner second rod 61A.
  • the gripping unit 80 is configured to be detachable from a place (for example, a bed used in endoscopic surgery) disposed when using the endoscope 90.
  • the grip portion 80 is disposed adjacent to the base portion 70 and supports the base portion 70 so as to be relatively rotatable about a fourth rotation shaft 104 (see FIG. 2) extending in the vertical direction.
  • a well-known structure can be used for the attachment / detachment structure in the grip part 80, and is not particularly limited.
  • the endoscope 90 When the holding unit 10 rotates about the first rotation axis 101 with respect to the first gimbal part 21, the endoscope 90 also rotates about the first rotation axis 101 together with the holding unit 10. Therefore, the endoscope 90 can move in the rotation direction around the three axes of the first rotation shaft 101, the second rotation shaft 102, and the third rotation shaft 103.
  • the second pneumatic actuator unit 62 is driven by the piston when the air for driving with increased pressure is supplied.
  • the dimension in the longitudinal direction of the second pneumatic actuator portion 62 becomes longer.
  • the inner second rod 61A and the outer second rod 61B of the second arm portion 60 rotate in a direction approaching the vertical direction.
  • the joint portion 50 rotates so as to move upward.
  • the dimension in the longitudinal direction of the second pneumatic actuator 62 is shortened.
  • the inner second rod 61A and the outer second rod 61B of the second arm portion 60 rotate in a direction approaching the horizontal direction. In other words, the joint portion 50 rotates so as to move downward.
  • the first pneumatic actuator section 42 is supplied with driving air whose pressure has been increased, so that the piston protrudes or retracts from the cylinder.
  • the longitudinal dimension of the first pneumatic actuator part 42 becomes longer, the inner first rod 41A and the outer first rod 41B of the first arm part 40 rotate so that the tip part 30 moves upward.
  • the longitudinal dimension of the first pneumatic actuator portion 42 is shortened, the inner first rod 41A and the outer first rod 41B of the first arm portion 40 are rotated so that the tip portion 30 moves downward. .
  • the lower second self-weight compensator 63A and the upper second self-weight compensator 63B are attached to the second arm part 60 in a state where they are extended so that the lengthwise dimension thereof becomes longer. For this reason, the lower second self-weight compensator 63A and the upper second self-weight compensator 63B generate a biasing force in a direction in which the longitudinal dimension thereof becomes shorter. This urging force works against the weight of the endoscope 90 and the like, and acts as a force that causes the joint portion 50 to rotate upward.
  • the first self-weight compensator 43 is attached to the first arm 40 in a state where the first self-weight compensator 43 is extended so that the dimension in the longitudinal direction becomes longer. For this reason, the first self-weight compensator 43 generates an urging force in a direction in which the longitudinal dimension of the first self-weight compensator 43 is shortened. This urging force works against the weight of the endoscope 90 and the like, and acts as a force that rotates the distal end portion 30 upward.
  • the inclination ⁇ of the third rotation shaft 103 is 45 degrees, and is larger than 0 degree and smaller than 90 degrees. Therefore, in endoscopic surgery, the first rotation shaft 101 and The inclination angles of the third rotation shaft 103 do not match. In other words, the degree of freedom of rotation in the supported endoscope 90 does not decrease from three to two.
  • the posture of the arm device 1 in which the tilt angles of the first rotating shaft 101 and the third rotating shaft 103 coincide with each other is a posture in which the endoscope 90 extends obliquely upward as shown in FIG. Since the endoscope 90 is not used in the posture shown in FIG. 5 in the endoscopic surgery, the degree of freedom of rotation in the supported endoscope 90 does not decrease from three to two.
  • the arm device 1 By setting the inclination angle of the third rotation shaft 103 to 45 degrees, the arm device 1 is moved when the axis of the endoscope 90 is horizontal (see FIG. 6A) and vertical (see FIG. 6B). Operability is symmetrical. Therefore, the operation angle range of the endoscope 90 can be substantially maximized.
  • the first pneumatic actuator unit 42 and the second By providing the first self-weight compensator 43, the lower second self-weight compensator 63A and the upper second self-weight compensator 63B, the first pneumatic actuator unit 42 and the second
  • the driving force required when the 2-pneumatic actuator unit 62 moves the position of the distal end portion 30 that supports the endoscope 90 can be reduced. Therefore, the first pneumatic actuator unit 42 and the second pneumatic actuator unit 62 can be easily downsized.
  • the rear side of the side opposite to the direction in which the endoscope 90 extends can be reduced in size.
  • Cheap If the rear size can be reduced, the arm device 1 is unlikely to interfere with the operation of the operator, assistant, or nurse during endoscopic surgery.
  • the arm device 1 can be further reduced in size.
  • the arm device 1 can be easily fixed at a predetermined location. For example, it becomes easy to fix the arm device 1 to the surgical bed in endoscopic surgery, and the posture of the distal end portion 30 is kept constant even when an operation such as tilting the surgical bed is performed to change the position of the patient. It is easy to keep.
  • the first arm portion 240 in the arm device 201 of the second embodiment forms a mechanism of a belt connecting arm together with the tip portion 30 and the joint portion 50. While maintaining a relative posture, the relative movement between them is made possible.
  • the first arm part 240 is provided with a first link part (link part) 241 and a first drive part (drive part) 245.
  • the first link portion 241 is a member formed in a rod shape, and a first end portion is rotatably attached to the distal end portion 30 and a second end portion is rotatably attached to the joint portion 50. Yes.
  • the first drive unit 245 relatively moves the tip part 30 and the joint part 50 while maintaining the relative posture of the tip part 30 and the joint part 50.
  • the first drive unit 245 is provided with a first belt unit 246, a tip end side gear 247, and a first joint unit side gear 248.
  • the first belt portion 246 is a ring-shaped member, and is wound around the distal end side gear 247 and the first joint portion side gear 248.
  • the first belt portion 246 is formed with a plurality of meshing shapes that mesh with the distal end side gear 247 and the first joint side gear 248.
  • the front end side gear 247 is a member formed in a disc shape or a columnar shape disposed at the front end portion 30, and meshes with the first belt portion 246 on the circumferential surface around which the first belt portion 246 is wound. A meshing shape is formed.
  • the first joint side gear 248 is a member formed in a disc shape or a columnar shape disposed in the joint portion 50, and the first belt portion 246 is provided on a circumferential surface around which the first belt portion 246 is wound. A meshing shape is formed to mesh with.
  • the second arm part 260 forms a mechanism of a belt connecting arm together with the joint part 50 and the base part 70, and enables the relative movement of the joint part 50 and the base part 70 while maintaining a relative posture.
  • the second arm part 260 is provided with a second link part (link part) 261 and a second drive part (drive part) 265.
  • the second link portion 261 is a member formed in a rod shape, and the first end portion is rotatably attached to the joint portion 50, and the second end portion is rotatably attached to the base portion 70. Yes. In the second embodiment, there is one second link portion 261.
  • the second driving unit 265 relatively moves the joint unit 50 and the base unit 70 while maintaining the relative posture of the joint unit 50 and the base unit 70.
  • the second drive portion 265 is provided with a second belt portion 266, a base portion side gear 267, and a second joint portion side gear 268.
  • the second belt portion 266 is a member formed in an annular shape, and is wound around the base portion side gear 267 and the second joint portion side gear 268.
  • the second belt portion 266 is formed with a plurality of meshing shapes that mesh with the base portion side gear 267 and the second joint portion side gear 268.
  • the pedestal side gear 267 is a member formed in a disk shape or a cylindrical shape disposed on the pedestal portion 70, and meshes with the second belt portion 266 on the circumferential surface around which the second belt portion 266 is wound. A meshing shape is formed.
  • the second joint-side gear 268 is a member formed in a disc shape or a columnar shape disposed in the joint portion 50, and the second belt portion 266 is provided on a circumferential surface around which the second belt portion 266 is wound. A meshing shape is formed to mesh with.
  • the movement of the arm device 201 specifically, the movement of the distal end portion 30 with respect to the base portion 70, in other words, the movement of the first arm portion 40 and the second arm portion 60 will be described.
  • the movement of the gimbal mechanism 20 is the same as that in the first embodiment, and a description thereof will be omitted.
  • the joint part 50 moves relative to the base part 70
  • the joint part 50 moves relative to the base part 70 while being supported by the second link part 261.
  • the relative posture (inclination) of the second link part 261 changes while rotating relative to the base part 70 and the joint part 50.
  • the relative posture of the joint part 50 with respect to the base part 70 is kept constant as follows. That is, the second belt portion 266 is driven in accordance with the change in the relative posture of the joint portion 50 accompanying the relative movement.
  • the second joint portion side gear 268 is rotationally driven by driving the second belt portion 266, and the relative posture of the joint portion 50 is kept constant by this rotational driving.
  • the base portion side gear 267 is rotated by an electric motor such as a motor, the second belt portion 266 is driven, and the second joint portion side gear 268 fixed to the joint portion 50 is rotationally driven.
  • the 50 relative postures may be kept constant.
  • the base portion side gear 267 is fixed to the base portion 70, the second belt portion 266 is driven by the relative movement of the joint portion 50 and the fixed base portion side gear 267, and the second belt portion 266 is driven.
  • the relative posture of the joint unit 50 may be kept constant.
  • a well-known method can be used as a method of keeping the relative posture of the joint part 50 constant, and it is not specifically limited.
  • the distal end portion 30 moves relative to the joint portion 50, the distal end portion 30 moves relative to the first link portion 241 while being supported by the first link portion 241. Specifically, the relative posture (inclination) of the first link part 241 changes while rotating relative to the joint part 50 and the tip part 30.
  • the relative posture of the tip part 30 with respect to the joint part 50 is kept constant as follows. That is, the first belt portion 246 is driven in accordance with a change in the relative posture of the distal end portion 30 accompanying relative movement.
  • the first joint portion side gear 248 is rotationally driven by driving the first belt portion 246, and the relative posture of the distal end portion 30 is kept constant by this rotational driving.
  • the first joint portion side gear 248 is rotated by an electric motor such as a motor, the first belt portion 246 is driven, and the distal end portion side gear 247 fixed to the distal end portion 30 is rotationally driven.
  • the 30 relative postures may be kept constant.
  • the first joint portion side gear 248 is fixed to the joint portion 50, the first belt portion 246 is driven by the relative movement of the distal end portion 30 and the fixed first joint portion side gear 248, and the first belt portion 246 is moved.
  • the relative posture of the distal end portion 30 may be kept constant by transmitting the rotation of the distal end side gear 247 by driving to the distal end portion 30 via a gear or the like.
  • a well-known method can be used as a method of keeping the relative attitude
  • the distal end portion 30 is supported by the first link portion 241 and the first drive portion 245, and the second link portion 261 and the second drive portion 265. Even if the arrangement position is changed, it becomes easy to keep the posture of the tip portion 30 constant. In other words, it becomes easy to keep the inclination angle of the third rotation shaft 103 constant.
  • the first belt portion 246 is provided in the first drive portion 245 and the second belt portion 266 is provided in the first belt portion 246.
  • a member using a wire may be used instead of the two belt portion 266, a member using a wire may be used.
  • the arm device 301 of the third embodiment includes a holding unit 10, a gimbal mechanism unit 20, a tip unit 30, a first arm unit (arm unit) 340, and a second arm unit. (Arm part) 360 and a base part 70 are provided.
  • the first arm portion 340 is a columnar member that is disposed between the distal end portion 30 and the second arm portion 360 and extends in the horizontal direction or the horizontal direction. In the third embodiment, the first arm portion 340 extends in the horizontal direction. However, the end portion of the first arm portion 340 toward the tip portion 30 is inclined upward or downward toward the tip portion 30. It may be.
  • the second arm part 360 is a columnar member that is disposed between the first arm part 340 and the base part 70 and extends in the horizontal direction or the horizontal direction. In the third embodiment, the second arm part 360 extends in the horizontal direction, but the second arm part 360 has an end on the side of the base part 70 inclined upward or downward toward the base part 70. It may be.
  • the first arm portion 340 and the second arm portion 360 are arranged such that the end portion of the first arm portion 340 is disposed on the upper side, the end portion of the second arm portion 360 is disposed on the lower side, and both are overlapped. .
  • the bearing structure which can be rotated relatively centering on the 1st arm rotating shaft (rotating axis line) 105 extended in a perpendicular direction is provided.
  • the second arm part 360 and the base part 70 are arranged such that the end of the second arm part 360 overlaps the upper end of the base part 70.
  • a bearing structure is provided between the second arm part 360 and the base part 70 so as to be relatively rotatable about a second arm rotation axis (rotation axis) 106 extending in the vertical direction.
  • the first arm portion 340 that rotates about the first arm rotation shaft 105 extending in the left-right direction and extending in the up-down direction, and extending in the left-right direction and up-down direction.
  • the posture of the tip portion 30 can be kept constant even if the arrangement position of the tip portion 30 is changed. Becomes easy.
  • the basic configuration of the arm device of the fourth embodiment is the same as that of the first embodiment.
  • the first embodiment differs from the first embodiment in the type of instrument held by the arm device 401 and the configuration of the gimbal mechanism. Is different. Therefore, in the fourth embodiment, the configuration related to the instrument held by the arm device 401 and the gimbal mechanism are mainly described, and the description of the other components and the like is omitted.
  • the arm device 401 of the fourth embodiment holds the robot forceps 900.
  • the arm device 401 includes a gimbal mechanism portion 420, a tip portion 30, a first arm portion (arm portion) 40, a joint portion 50, a second arm portion (arm portion) 60, The base part 70 and the holding part 80 are provided.
  • the gimbal mechanism portion 420 is provided with a first gimbal portion 421 and a second gimbal portion 422.
  • the first gimbal portion 421 holds the robot forceps 900 so as to be rotatable around a first rotation shaft 101 extending along the axis of the shaft portion 901 of the robot forceps 900.
  • the second gimbal portion 422 supports the robot forceps 900 so as to be rotatable around the second rotation shaft 102 extending in a direction intersecting the first rotation shaft 101 (more preferably, a direction orthogonal to the first rotation shaft 101).
  • the robot forceps 900 held by the arm device 401 is an instrument that is inserted into a patient's body cavity during endoscopic surgery or the like, and grips the affected tissue or the like by a remote operation by the user.
  • the robot forceps 900 includes an elongated rod-shaped shaft portion 901, a forceps portion 902 provided on the front side of the shaft portion 901, a cartridge 903 provided on the original side of the shaft portion 901, and a driver to which the cartridge 903 is connected. 904.
  • the driver 904 is a drive unit that transmits power to the cartridge 903.
  • the driver 904 is connected to a control unit (not shown), and transmits predetermined power to the cartridge 903 according to a control signal from the control unit based on a user operation or the like.
  • the driver 904 is provided with a fixing mechanism (not shown) that detachably fixes the cartridge 903, and a cartridge 903 described later is detachably fixed.
  • the cartridge 903 is a mechanism for driving the forceps 902 by the power transmitted from the driver 904.
  • a shaft portion 901 extends from the surface of the cartridge 903 opposite to the driver 904 toward the direction in which the first rotation shaft 101 extends.
  • the shaft portion 901 is a cylindrical rod-shaped member, and transmits the power input from the cartridge 903 to the forceps portion 902. Specifically, the power input from the cartridge 903 is transmitted to the forceps 902 via a power transmission member such as a wire (not shown) provided inside the shaft 901.
  • the cartridge 903 may include a shaft rotation mechanism that rotates the shaft portion 901 relative to the cartridge 903 about the axis of the shaft portion 901. In this case, the cartridge 903 rotates the shaft portion 901 in a predetermined direction around the axis of the shaft portion 901 by the driving force transmitted from the driver 904.
  • the axis of the shaft portion 901 is a central axis passing through the center of an arbitrary cross section of the shaft portion 901.
  • the shaft portion 901 may be configured to be detachable from the cartridge 903.
  • the forceps unit 902 opens and closes by the driving force transmitted through the shaft unit 901 to grip tissue or the like.
  • a portion of the forceps unit 902 that grips a tissue or the like may be provided with a function as an electric knife that performs tissue incision or hemostasis.
  • the shape of the robot forceps 900 shown in FIG. 9 is an example, and other shapes may be used as long as the arm device 401 is suitable for holding.
  • the first gimbal part 421 constituting the gimbal mechanism part 420 of the fourth embodiment moves the robot forceps 900 at the position where the axis of the shaft part 901 coincides with the first rotation axis 101.
  • a rotation mechanism is provided that is rotatably held at the center.
  • the first gimbal portion 421 has a cylindrical shape with an inner diameter larger than that of the driver 904, and has a configuration for rotatably holding the driver 904 inserted inside the cylindrical shape. Specifically, the first gimbal part 421 is illustrated as an outer cylinder part 431, a cylindrical inner cylinder part 432 disposed inside the outer cylinder part 431, and an inner cylinder support part (not shown). And no driver holding part.
  • the outer cylinder part 431 has a cylindrical shape whose inner diameter is larger than the outer diameter of the driver 904 and is supported by the second gimbal part 422 so as to be rotatable about the second rotation shaft 102.
  • the inner cylinder part 432 has a cylindrical shape whose outer diameter is smaller than the inner diameter of the outer cylinder part 431 and whose inner diameter is larger than that of the driver 904, and is arranged inside the outer cylinder part 431.
  • the inner cylinder support portion is disposed between the outer cylinder portion 431 and the inner cylinder portion 432, and the central axis of the inner cylinder portion 432 disposed inside the outer cylinder portion 431 is the central axis of the outer cylinder portion 431.
  • the outer cylindrical portion 431 is supported so as to be rotatable relative to the matching position.
  • the inner cylinder support portion may be a bearing.
  • the central axis of the outer cylinder portion 431 and the inner cylinder portion 432 is the first rotation shaft 101. That is, the inner cylinder part 432 is supported so as to be rotatable relative to the outer cylinder part 431 around the same central axis (first rotation shaft 101) as the outer cylinder part 431.
  • a driver holding portion (not shown) for fixing the inserted driver 904 to the inside of the inner cylinder portion 432 is provided on the inner side surface of the inner cylinder portion 432. That is, the driver 904 held by the driver holding portion can rotate relative to the outer cylinder portion 431 together with the inner cylinder portion 432.
  • the driver holding portion holds the driver 904 so that the axis of the shaft portion 901 coincides with the first rotation shaft 101 at an arbitrary rotation position of the inner cylinder portion 432.
  • the first gimbal portion 421 according to the fourth embodiment is configured in this manner, so that the robot forceps 900 can be moved to the first rotation shaft 101 at a position where the axis of the shaft portion 901 and the first rotation shaft 101 coincide with each other. It can be held so as to be rotatable around the center.
  • the configuration of the first gimbal portion 421 is not limited to the above configuration, and may be a configuration different from the above configuration as long as it includes a rotation mechanism having the same function.
  • the second gimbal part 422 is disposed between the first gimbal part 421 and the tip part 30, and the configuration and function thereof are the same as those of the second gimbal part 22 of the first embodiment.
  • the driver holding part of the first gimbal part 421 detachably holds the driver 904 by a known method, but the shaft part 901 is centered on the first rotation shaft 101 with respect to the driver 904.
  • the driver 904 and the first gimbal portion 421 may be configured as an integral unit, for example.
  • the shaft portion 901 is configured to be detachable from the cartridge 903, the first gimbal portion 421, the cartridge 903, and the driver 904 may be integrally configured.
  • the cartridge 903 includes a shaft rotation mechanism
  • the first gimbal portion 421 may not include a rotation mechanism.
  • the first gimbal portion 421 holds the robot forceps 900 so that the axis of the shaft portion 901 and the first rotation shaft 101 coincide. For this reason, for example, even if the robot forceps 900 is rotated around the first rotation shaft 101 in order to change the direction in which the forceps unit 902 grips tissue or the like, the position of the forceps unit 902 with respect to the target tissue to be gripped is changed. The user can easily operate the robot forceps 900 without moving.
  • the cartridge 903 includes a shaft rotation mechanism
  • the user can change the direction of the forceps 902 by driving the shaft rotation mechanism.
  • the shaft rotation mechanism of the cartridge 903 has a function as the first gimbal portion in the claims.
  • the second gimbal portion may directly hold the robot forceps.
  • the gimbal mechanism 520 according to this modification will be described in detail with reference to FIG.
  • the second gimbal portion 522 of the gimbal mechanism portion 520 includes a forceps holding portion (not shown) that rotatably holds the robot forceps 900 around the second rotation shaft 102 on the end side opposite to the mounting surface 31.
  • the forceps holding portion holds the cartridge 903 or the driver 904 so as to be rotatable around the second rotation shaft 102 by being inserted in accordance with an operation by the user.
  • the forceps holding unit may hold the cartridge 903 or the driver 904 so as to be rotatable by other known methods.
  • the forceps holding portion holds the cartridge 903 or the driver 904 at a position where the axis of the shaft portion 901 intersects the second rotation shaft 102.
  • the forceps holding portion may hold the cartridge 903 or the driver 904 in a positional relationship where the axis of the shaft portion 901 and the second rotation shaft 102 do not intersect.
  • the shaft rotation mechanism of the cartridge 903 when changing the direction in which the forceps portion 902 is gripped, the user operates the shaft rotation mechanism of the cartridge 903 to rotate the shaft 901 and change the direction of the forceps portion 902.
  • the shaft rotation mechanism of the cartridge 903 has a function as the first gimbal portion in the claims.
  • the gimbal mechanism 520 configured in this way, it is possible to provide an arm device with a simple configuration.
  • the rotation of the second gimbal part 22 around the third rotation axis 103, the rotation of the first gimbal part 21 around the second rotation axis 102, and the first rotation axis 101 of the holding part 10 are performed.
  • the rotation around the first rotation axis 101 of the first gimbal portion 421 or the rotation around the second rotation axis 102 of the robot forceps 900 is manually performed. These rotational operations may be performed by actuator driving.
  • a rotation driving unit such as a motor is provided in a portion corresponding to each rotation, and each rotation operation may be performed by driving the rotation driving unit according to a control signal from the outside.
  • these rotational operations may be switched to manual operation or actuator drive according to the application, use state, or the like, or by a selection operation by the user.
  • these rotational operations may be performed both manually and by actuator drive.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
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PCT/JP2018/033438 2017-04-20 2018-09-10 アーム装置 Ceased WO2019193775A1 (ja)

Priority Applications (3)

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CN201880092185.XA CN111936027B (zh) 2017-04-20 2018-09-10 臂装置
US17/042,678 US12285300B2 (en) 2017-04-20 2018-09-10 Arm device
EP18913303.6A EP3777641A4 (en) 2017-04-20 2018-09-10 ARM DEVICE

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JP2017083784 2017-04-20
JP2018-073837 2018-04-06
JP2018073837A JP6751943B2 (ja) 2017-04-20 2018-04-06 アーム装置

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EP4151173A4 (en) * 2020-05-26 2023-06-21 RIVERFIELD Inc. HOLDING DEVICE FOR SURGICAL INSTRUMENT AND SURGICAL AUXILIARY DEVICE
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11801097B2 (en) 2012-06-21 2023-10-31 Globus Medical, Inc. Robotic fluoroscopic navigation
US11819365B2 (en) 2012-06-21 2023-11-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11819283B2 (en) 2012-06-21 2023-11-21 Globus Medical Inc. Systems and methods related to robotic guidance in surgery
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US11911225B2 (en) 2012-06-21 2024-02-27 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11950865B2 (en) 2012-06-21 2024-04-09 Globus Medical Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US12016645B2 (en) 2012-06-21 2024-06-25 Globus Medical Inc. Surgical robotic automation with tracking markers
US12133699B2 (en) 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US12453609B2 (en) 2012-06-21 2025-10-28 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
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US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12599443B2 (en) 2012-06-21 2026-04-14 Globus Medical, Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11801097B2 (en) 2012-06-21 2023-10-31 Globus Medical, Inc. Robotic fluoroscopic navigation
US11819365B2 (en) 2012-06-21 2023-11-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US12594001B2 (en) 2012-06-21 2026-04-07 Globus Medical, Inc. Apparatus for recording probe movement
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US12453609B2 (en) 2012-06-21 2025-10-28 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US12133699B2 (en) 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11819283B2 (en) 2012-06-21 2023-11-21 Globus Medical Inc. Systems and methods related to robotic guidance in surgery
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US11911225B2 (en) 2012-06-21 2024-02-27 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11950865B2 (en) 2012-06-21 2024-04-09 Globus Medical Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US12016645B2 (en) 2012-06-21 2024-06-25 Globus Medical Inc. Surgical robotic automation with tracking markers
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
EP4151173A4 (en) * 2020-05-26 2023-06-21 RIVERFIELD Inc. HOLDING DEVICE FOR SURGICAL INSTRUMENT AND SURGICAL AUXILIARY DEVICE
JP2022174744A (ja) * 2021-05-11 2022-11-24 グローバス メディカル インコーポレイティッド 多軸力及び多軸モーメントのフィードバックを使用した、外科手術ツール挿入のためのシステム及び方法
JP7366191B2 (ja) 2021-05-11 2023-10-20 グローバス メディカル インコーポレイティッド 多軸力及び多軸モーメントのフィードバックを使用した、外科手術ツール挿入のためのシステム

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JP6751943B2 (ja) 2020-09-09
JP2018175863A (ja) 2018-11-15
US12285300B2 (en) 2025-04-29
EP3777641A1 (en) 2021-02-17
CN111936027B (zh) 2024-11-29
US20210059783A1 (en) 2021-03-04
CN111936027A (zh) 2020-11-13

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