JP2009522016A - 手術器具のための力およびトルクセンサー - Google Patents
手術器具のための力およびトルクセンサー Download PDFInfo
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Abstract
Description
F.Cepolina and R.C.Michelini、「Review of Fixtures for Low−Invasiveness Surgery」、Int’l Journal of Medica1 Robotics and Computer Assisted Surgery、Vol.l、Issue 1、page 58
E=σ/ε
A=π(ro 2−ri 2)
I=(π/4)(ro 4−ri 4)
σ=(F/A)+(Mr/I)
ε=[ε1 ε2 ε3 ε4 ε5 ε6 ε7 ε8]
A=π(ro 2−ri 2)
I=(π/4)(ro 4−ri 4)
σ=Mr/I
σ1=FLr/I
σ2=F(L+1)r/I
E=σ/ε=>ε=σ/E
ε1=−FxLr/EI
ε2=−Fx(L+1)r/EI
ε2−ε1=−Fxlr/EI
ε4−ε3=Fxlr/EI
(ε4−ε3)−(ε2−ε1)=2Fxlr/EI
したがって、
圧縮ひずみ<0
ε7=−Fz/EA+Mxr/EI+FyLr/EI
ε5=−Fz/EA−Mxr/EI−FyLr/EI
ε8=−Fz/EA+Mxr/EI+Fy(1+L)r/EI
ε6=−Fz/EA−Mxr/EI−Fy(1+L)r/EI
[(ε8−ε6)−(ε7−ε5)]=−Fz/EA[(1−l)−(l−1)]
+Mxr/EI[(1−(−l))−(l−(−1))]
+Fyr/EI{[(l+L)−(−(l+L))]−[L−(−L)]}
=2lFyr/EI
したがって、
Claims (53)
- ロボット手術システムのマニピュレータアームと動作可能に接合するための筐体部分と、
縦方向軸を含むシャフトと、
該シャフトの遠位端の上の複数のひずみゲージと、
該シャフトの該遠位端に動作可能に結合される手首関節と、
該手首関節に動作可能に結合される末端部分と
を含む、手術器具。 - 前記シャフトは、該シャフトの前記縦方向軸に沿う、前記複数のひずみゲージを受容するための複数の溝部を含む、請求項1に記載の器具。
- 前記複数のひずみゲージは、各4個の2つのグループから成る8個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで90度の間隔を置いている、請求項1に記載の器具。
- 前記複数のひずみゲージは、各3個の2つのグループから成る6個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで120度の間隔を置いている、請求項1に記載の器具。
- 前記複数のひずみゲージは、前記シャフトの周りで90度の間隔を置いている4個のひずみゲージを含む、請求項1に記載の器具。
- 前記複数のひずみゲージは、前記シャフトの周りで120度の間隔を置いている3個のひずみゲージを含む、請求項1に記載の器具。
- 各ひずみゲージは、前記シャフトの縦方向軸と平行な軸に沿う1個の別のひずみゲージと整列させられる、請求項1に記載の器具。
- 前記複数のひずみゲージは、前記手首のピッチおよびヨーの軸の近位に配置される、請求項1に記載の器具。
- 前記ひずみゲージのそれぞれのひずみ感知主方向は、前記シャフトの縦方向軸と平行に配向される、請求項1に記載の器具。
- 前記複数のひずみゲージは、光ファイバ、箔、弾性表面波、および半導体型ひずみゲージより成る群から選択される、請求項1に記載の器具。
- ひずみゲージは、ファブリ・ペロー型ひずみゲージおよびファイバブラッググレーティング型ひずみゲージより成る群から選択される、請求項1に記載の器具。
- 前記複数のひずみゲージは、1つのファイバに沿う少なくとも2つのファイバブラッググレーティングを含む、請求項1に記載の器具。
- 前記手首関節は、ヨー軸およびグリップ軸のための共通の旋回軸を共有する、請求項1に記載の器具。
- 前記手術器具の前記末端部分は、ジョー、鋏、把持器、持針器、マイクロダイセクタ、ステープル留め器、鋲打ち器、吸引洗浄具、クリップ留め器、切断刃、焼灼プローブ、洗浄器、カテーテル、および吸引オリフィスより成る群から選択される、請求項1に記載の器具。
- 前記筐体部分は、前記マニピュレータアームを覆う無菌ドレープの無菌アダプタと接合する、請求項1に記載の器具。
- 前記筐体部分は、前記マニピュレータアームに任意に連結する、請求項1に記載の器具。
- 前記シャフトの前記縦方向軸に沿う軸力を感知するための前記筐体部分の近位に力センサをさらに含む、請求項1に記載の器具。
- 手術器具の力センサのための較正データを格納する集積回路をさらに含む、請求項1に記載の器具。
- 前記シャフトの前記縦方向軸からある角度で該シャフトから離れる複数のファイバを配線するために、該シャフトの近位端に動作可能に結合される回転可能なひずみ緩和体をさらに含む、請求項1に記載の器具。
- マニピュレータアームを含むマニピュレータアセンブリと、
該マニピュレータアームに動作可能に結合される手術器具と
を含むロボット手術システムであって、
該手術器具は、
該マニピュレータアームに動作可能に接合する筐体部分と、
縦方向軸を含むシャフトと、
該シャフトの遠位端の上に複数のひずみゲージと、
該シャフトの該遠位端に動作可能に結合される手首関節と、
該手首関節に動作可能に結合される末端部分と
を含む、ロボット手術システム。 - 前記マニピュレータアームは、患者側マニピュレータアームまたは内視鏡カメラマニピュレータアームである、請求項20に記載のシステム。
- 前記シャフトは、該シャフトの前記縦方向軸に沿う、前記複数のひずみゲージを受容する複数の溝部を含む、請求項20に記載のシステム。
- 前記複数のひずみゲージは、各4個の2つのグループから成る8個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで90度の間隔を置いている、請求項20に記載のシステム。
- 前記複数のひずみゲージは、各3個の2つのグループから成る6個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで120度の間隔を置いている、請求項20に記載のシステム。
- 前記複数のひずみゲージは、前記シャフトの周りで90度の間隔を置いている4個のひずみゲージを含む、請求項20に記載のシステム。
- 前記複数のひずみゲージは、前記シャフトの周りで120度の間隔を置いている3個のひずみゲージを含む、請求項20に記載のシステム。
- 各ひずみゲージは、前記シャフトの縦方向軸と平行な軸に沿って、1個の別のひずみゲージと整列させられる、請求項20に記載のシステム。
- 前記複数のひずみゲージは、前記手首のピッチ軸およびヨー軸の内側に配置される、請求項20に記載のシステム。
- 前記ひずみゲージのそれぞれのひずみ感知主方向は、前記シャフトの縦方向軸と平行に配向される、請求項20に記載のシステム。
- 前記複数のひずみゲージは、光ファイバ、箔、弾性表面波、および半導体型ひずみゲージより成る群から選択される、請求項20に記載のシステム。
- ひずみゲージは、ファブリ・ペロー型ひずみゲージおよびファイバブラッググレーティング型ひずみゲージより成る群から選択される、請求項20に記載のシステム。
- 前記複数のひずみゲージは、1つのファイバに沿う少なくとも2つのファイバブラッググレーティングを含む、請求項20に記載のシステム。
- 前記手首関節は、ヨー軸およびグリップ軸のための共通の旋回軸を共有する、請求項20に記載のシステム。
- 前記手術器具の前記末端部分は、ジョー、鋏、把持器、持針器、マイクロダイセクタ、ステープル留め器、鋲打ち器、吸引洗浄具、クリップ留め器、切断刃、焼灼プローブ、洗浄器、カテーテル、および吸引オリフィスより成る群から選択される、請求項20に記載のシステム。
- 前記筐体部分は、前記マニピュレータアームを覆う無菌ドレープの無菌アダプタと接合する、請求項20に記載のシステム。
- 前記筐体部分は、前記マニピュレータアームに任意に連結する、請求項20に記載のシステム。
- 前記シャフトの前記縦方向軸に沿う軸力を感知するための前記筐体部分の近位に力センサをさらに含む、請求項20に記載のシステム。
- 前記シャフトの前記縦方向軸に沿う軸力を感知するための前記マニピュレータアームに上力センサをさらに含む、請求項20に記載のシステム。
- 前記ひずみゲージの組からの選択信号の少なくとも和および差に基づいて、力を計算するプロセッサをさらに含む、請求項20に記載のシステム。
- 前記手術器具は、手術器具力センサのための較正データを格納する集積回路をさらに含む、請求項20に記載のシステム。
- 前記手術器具は、前記シャフトの前記縦方向軸からある角度で該シャフトから離れる複数のファイバを配線するために、該シャフトの近位端に動作可能に結合される回転可能なひずみ緩和体をさらに含む、請求項20に記載のシステム。
- マニピュレータアームに動作可能に接合するための筐体部分と、縦方向軸を含むシャフトと、該シャフトの遠位端の上の1組のひずみゲージと、該シャフトの該遠位端に動作可能に結合される手首関節と、該手首関節に動作可能に結合される末端部分とを含む、ロボット手術器具の先端部における力を感知する方法であって、
該手術器具の該筐体部分を該マニピュレータアームに動作可能に結合することと、
該ひずみゲージの組からの選択信号の少なくとも和および差に基づいて、力を計算することと、
該計算された力をユーザに伝送することと
を含む、方法。 - 前記力は側力、軸力、およびトルクから成る群から選択される、請求項42に記載の方法。
- 前記計算される力は、定常状態の均一な温度変化から独立している、請求項42に記載の方法。
- 前記計算される力は、前記末端部分の遠位端への距離変動から独立している、請求項42に記載の方法。
- 側力Fxは、Fx=(ε1−ε2−ε3+ε4)EI/2lrによって求められ、ε1、ε2、ε3、およびε4は、前記ひずみゲージの組からの選択信号であり、Eは、前記シャフトの材料の軸方向弾性係数であり、Iは、該シャフトの断面の慣性モーメントであり、lは、2つの一列のひずみゲージ間の距離であり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項42に記載の方法。
- 側力Fyは、Fy=(ε5−ε6−ε7+ε8)EI/2lrによって求められ、ε5、ε6、ε7、およびε8は、前記ひずみゲージの組からの選択信号であり、Eは、前記シャフトの材料の軸方向弾性係数、Iは、該シャフトの断面の慣性モーメントであり、lは、2つの一列のひずみゲージ間の距離であり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項42に記載の方法。
- 軸力Fzは、Fz=(ε1+ε2+ε3+ε4+ε5+ε6+ε7+ε8)EA/8によって求められ、ε1、ε2、ε3、ε4、ε5、ε6、ε7、およびε8は、前記ひずみゲージの組からの選択信号であり、Eは、前記シャフトの材料の軸方向弾性係数、およびAは、該シャフトの断面積である、請求項42に記載の方法。
- トルクTyは、Ty=(ε1+ε2−ε3−ε4)EI/4rによって求められ、ε1、ε2、ε3、およびε4は、前記ひずみゲージの組からの選択信号であり、Eは、前記シャフトの材料の軸方向弾性係数、Iは、該シャフトの断面の慣性モーメントであり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項42に記載の方法。
- トルクTxは、Tx=(−ε5−ε6+ε7+ε8)EI/4rによって求められ、ε5、ε6、ε7、およびε8は、前記ひずみゲージの組からの選択信号であり、Eは、前記シャフトの材料の軸方向弾性係数、Iは、該シャフトの断面の慣性モーメントであり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項42に記載の方法。
- 補正係数およびオフセットが決定されながら、力とトルクとの組み合わせを連続して、同時に、または組み合わせて前記器具先端部に加えることによって、前記手術器具を較正することをさらに含む、請求項42に記載の方法。
- 前記補正係数およびオフセットは、直接的にまたはニューラルネットワークを介して決定される、請求項42に記載の方法。
- 前記筐体部分の近位の力センサを使用して、前記シャフトの前記縦方向軸に沿う軸力を感知することをさらに含む、請求項42に記載の方法。
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CN101340850B (zh) | 2011-06-15 |
WO2007111737A3 (en) | 2007-12-13 |
US8945095B2 (en) | 2015-02-03 |
JP2016083581A (ja) | 2016-05-19 |
JP2015062751A (ja) | 2015-04-09 |
KR20080089582A (ko) | 2008-10-07 |
CN101340850A (zh) | 2009-01-07 |
EP1965711B1 (en) | 2016-08-31 |
KR101342917B1 (ko) | 2013-12-18 |
WO2007111737A2 (en) | 2007-10-04 |
JP2013075195A (ja) | 2013-04-25 |
EP1965711A2 (en) | 2008-09-10 |
JP5700584B2 (ja) | 2015-04-15 |
JP5264505B2 (ja) | 2013-08-14 |
US20150164598A1 (en) | 2015-06-18 |
US20070151390A1 (en) | 2007-07-05 |
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