JP2008104856A - 医療用マニピュレータ - Google Patents
医療用マニピュレータ Download PDFInfo
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- JP2008104856A JP2008104856A JP2007216638A JP2007216638A JP2008104856A JP 2008104856 A JP2008104856 A JP 2008104856A JP 2007216638 A JP2007216638 A JP 2007216638A JP 2007216638 A JP2007216638 A JP 2007216638A JP 2008104856 A JP2008104856 A JP 2008104856A
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- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 abstract 3
- 239000012636 effector Substances 0.000 description 24
- 239000002131 composite material Substances 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00455—Orientation indicators, e.g. recess on the handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- 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
- A61B2034/742—Joysticks
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
Abstract
【解決手段】マニピュレータ1102は、中空のシャフト108と、シャフト108に設けられたワイヤ52、54、56と、シャフト108の一端に設けられ、ワイヤ52、54、56の少なくとも1本によって動作し、先端を指向する軸Orを中心に回転するロール回転機構を含む先端動作部1118を備える作業部1106とを有する。ロール回転機構で相対的に回転をする基端側部材の先端側面1108aと先端側部材のカバー160のうち、カバー160には、先端側面1108aの相対的な回転の程度を示す回転程度認識手段1208を有する。先端側面1108aは、カバー160の初期の位置を示すアライメントインジケータ1210を有する。
【選択図】図3
Description
1104…コントロール装置 1106…作業部
1107、1204…第1端部 1108…シャフト
1109、1206…第2端部 1118…先端動作部
1200…本体
1208、1300、1400、1500…回転程度認識手段
1210、1210a、1308…アライメントインジケータ
1302、1304、1306、1402、1404、1406…二等辺三角形
1303、1305、1307…認識手段
1408、1502、1504、1506、1508…直角三角形
1503、1505、1507、1509…認識指標
1600…切欠(回転程度認識手段) 1610…模様(回転程度認識手段)
Claims (10)
- 中空のシャフトと、
前記シャフトに設けられた動力伝達部材と、
前記シャフトの一端に設けられ、前記動力伝達部材によって動作し、先端を指向する軸を中心に回転するロール回転機構を含む先端動作部を備える作業部と、
を有し、
前記ロール回転機構で相対的に回転をする基端側部材と先端側部材の少なくとも一方の部材に、他方の部材の回転の程度を示す回転程度認識手段を有することを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記他方の部材は、前記一方の部材の初期の位置を示すアライメントインジケータを有することを特徴とする医療用マニピュレータ。 - 請求項1又は2記載の医療用マニピュレータにおいて、
前記回転程度認識手段は三角形を含むことを特徴とする医療用マニピュレータ。 - 請求項3記載の医療用マニピュレータにおいて、
前記三角形は複数設けられ、
前記三角形は、回転の方向にそれぞれの辺が沿うように配列されていることを特徴とする医療用マニピュレータ。 - 請求項3記載の医療用マニピュレータにおいて、
前記三角形は複数設けられ、
複数の前記三角形は回転の方向に連続して接していることを特徴とする医療用マニピュレータ。 - 請求項5記載の医療用マニピュレータにおいて、
複数の前記三角形のそれぞれは回転の方向に同一の間隔で配置されていることを特徴とする医療用マニピュレータ。 - 請求項5記載の医療用マニピュレータにおいて、
複数の前記三角形の形状は異なっていることを特徴とする医療用マニピュレータ。 - 請求項5記載の医療用マニピュレータにおいて、
複数の前記三角形は、それぞれを識別可能な認識指標を有することを特徴とする医療用マニピュレータ。 - 請求項1又は2記載の医療用マニピュレータにおいて、
前記回転程度認識手段は切欠又は突起であることを特徴とする医療用マニピュレータ。 - 請求項1又は2記載の医療用マニピュレータにおいて、
前記回転程度認識手段は色彩又は模様であることを特徴とする医療用マニピュレータ。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007216638A JP5198014B2 (ja) | 2006-10-25 | 2007-08-23 | 医療用マニピュレータ |
EP07119217.3A EP1915957B1 (en) | 2006-10-25 | 2007-10-24 | Manipulator for medical use |
US11/923,159 US10245058B2 (en) | 2006-10-25 | 2007-10-24 | Manipulator for medical use |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US86282106P | 2006-10-25 | 2006-10-25 | |
US60/862821 | 2006-10-25 | ||
JP2007216638A JP5198014B2 (ja) | 2006-10-25 | 2007-08-23 | 医療用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008104856A true JP2008104856A (ja) | 2008-05-08 |
JP5198014B2 JP5198014B2 (ja) | 2013-05-15 |
Family
ID=39671758
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007216638A Active JP5198014B2 (ja) | 2006-10-25 | 2007-08-23 | 医療用マニピュレータ |
Country Status (3)
Country | Link |
---|---|
US (1) | US10245058B2 (ja) |
EP (1) | EP1915957B1 (ja) |
JP (1) | JP5198014B2 (ja) |
Cited By (7)
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KR101026931B1 (ko) | 2008-09-10 | 2011-04-04 | 이재경 | 뜸 기구용 스탠드 |
JP2011183164A (ja) * | 2010-03-08 | 2011-09-22 | Tyco Healthcare Group Lp | 外科用デバイスの配置および配向を決定、調節するためのシステムおよび方法 |
JP2016506272A (ja) * | 2012-12-19 | 2016-03-03 | メリット・メディカル・システムズ・インコーポレーテッド | 生検装置及び使用方法 |
JP2016520334A (ja) * | 2013-02-26 | 2016-07-14 | アーメット・シナン・カバクチュAhmet Sinan KABAKCI | ロボットマニュピレータシステム |
KR101830390B1 (ko) * | 2011-09-06 | 2018-02-22 | 주식회사 미래컴퍼니 | 수술용 인스트루먼트의 구동부 구조 |
US10507011B2 (en) | 2013-01-18 | 2019-12-17 | Merit Medical Systems, Inc. | Impact biopsy device and method of use |
US10568611B2 (en) | 2014-01-17 | 2020-02-25 | Merit Medical Systems, Inc. | Flush cut biopsy needle assembly and method of use |
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US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | Surgical stapling instrument incorporating a two-piece E-beam firing mechanism |
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Also Published As
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EP1915957A2 (en) | 2008-04-30 |
US10245058B2 (en) | 2019-04-02 |
US20080183193A1 (en) | 2008-07-31 |
EP1915957B1 (en) | 2016-08-10 |
EP1915957A3 (en) | 2011-03-30 |
JP5198014B2 (ja) | 2013-05-15 |
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