JP4058113B2 - 多構成テレプレゼンスシステム - Google Patents
多構成テレプレゼンスシステム Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
- A61B46/13—Surgical drapes specially adapted for instruments, e.g. microscopes the drapes entering the patient's body
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- 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
- A61B34/35—Surgical robots for telesurgery
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- 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
- A61B34/37—Master-slave robots
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- 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
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- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B2017/00477—Coupling
- A61B2017/00482—Coupling with a code
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- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- 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
- A61B2090/0803—Counting the number of times an instrument is used
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- 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
- A61B2090/0814—Preventing re-use
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- 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
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- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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Description
この出願は、1996年12月12日に出願された、米国暫定特許出願番号第60/033,321号の継続であり、かつそれからの優先権の特権を主張し、その十分な開示は、本明細書中で参考により援用される。
発明の背景
本発明は、ロボット支援式外科手術マニピュレータに関するものであり、より特定すると、外科手術部位に物理的に存在しているような知覚を外科医に与えながら、患者に遠隔ロボット外科手術手順を実施するシステムおよび方法に関連する。
ロボット支援式外科手術すなわち遠隔ロボット外科手術では、外科医はマスタコントローラを作動させて、患者から遠隔にある場所から(例えば、手術室の反対側で、患者とは異なる部屋で、または、異なる建物で)、外科手術部位の外科手術機器の運動を遠隔制御する。マスタコントローラは通常、サーボモータと外科手術機器を連結させて、外科手術部位で同機器を連接する、ジョイスティック、外骨格グラブなどのような1つ以上の手入力装置を含む。サーボモータは、典型例では、開放外科手術部位に直接的に、または患者腹部のような人体空洞内へ外套針スリーブを通して導入された外科手術機器を支持および制御する、電子機械装置または外科手術マニピュレータの一部である。手術中は、外科手術マニピュレータは、組織把握器、ニードル駆動装置、電子外科手術焼灼プローブなどのような、ニードルを保持または駆動し、血管を把持しまたは解剖し、組織を焼灼または凝固させる、多様な外科手術機器の機械的連接および制御を提供する。
遠隔操作を介する遠隔ロボット外科手術を実施するこの新規な方法は、もちろん、多くの新たな難題を生んだ。1つのかかる難題は、電子機械外科手術マニピュレータの一部は外科手術機器と直接接触する、または手術部位に隣接して配置されるという事実から生じる。従って、外科手術マニピュレータは、外科手術中に汚染されることがあり、各手術の合間に廃棄処理または滅菌処理されるのが典型的である。もちろん、コスト的観点から、装置を滅菌するのが好ましい。しかし、モータをロボット制御するのに必要なサーボモータ、センサー、エンコーダ、および電気接続機器は、蒸気、熱、および圧力または化学物質のような従来の方法を利用して滅菌することが不可能なのが典型的であり、というのも、滅菌処理工程中に破損または破壊されるからである。
遠隔ロボット外科手術システムに関わるまた別な難題は、処理期間中に、多数の異なる外科手術機器を採用するのが典型的であることである。機器ホルダーの数は空間的制約とコストのために制限されるので、これら外科手術機器の大半は、手術中に何度も同一機器ホルダーに装着およびそこから離脱させられる。たとえば腹腔鏡検査手順では、患者の腹部への導入ポートの数は、空間的制約のためと不必要な患者の切開を回避するのに望ましいことから、手術中に制限されるのが普通である。したがって、多数の異なる外科手術機器は、手術中に同一外套針スリーブを通して導入されるのが典型的である。同様に、開放性手術では、1個または2個を越える外科手術マニピュレータの位置決めを行うのに、外科手術部位の周囲に十分な空間が無いのが典型的であり、従って、外科医の助手はホルダーから機器を頻繁に除去すること、および機器を他の外科手術機材と交換することを強いられる。
それ故、必要とされるのは、患者の外科手術部位で外科手術機器を遠隔制御する改良型遠隔ロボットシステムおよびその方法である。これらシステムおよび方法は、構成要素が手術中に汚染された後でも再利用できるように、容易な滅菌処理のために構築されるべきである。これに加えて、これらシステムおよび方法は、外科手術手順の期間中に機器の交換時間を最小限にするように設計されるべきである。
発明の要旨
本発明は、外科手術部位に物理的に存在している知覚(すなわち、遠隔存在感)を外科医に与えながら、患者に遠隔ロボット支援外科手術処置手順を実施するためのシステムおよびその方法を提供する。特に、非滅菌の駆動および制御構成要素、滅菌可能端部作動体または外科手術機材、および、駆動および制御構成要素と外科手術機材を連結するための、かつ駆動構成要素から外科手術機材へ運動を伝達するための中間コネクタ構成要素を含む、3構成要素外科手術システムが提供される。駆動および制御構成要素は無菌外科手術部位から遮断され、外科手術機材は滅菌処理可能および廃棄処理可能で、中間コネクタは滅菌可能および再使用可能である。この態様で、中間コネクタは、ロボットシステムの駆動および制御構成要素内部のモータまたは電気接続機器に損傷を与えることなく、外科手術処置手順後に滅菌できる。
本発明の駆動および制御構成要素は、モータ、ギアまたはプーリなどの駆動アクチュエータ、および外科手術部位で外科手術機材を連接するのに必要な位置決め装置を含むのが一般的である。これに加えて、駆動および制御構成要素は通常は、エンコーダ、および、構成要素をサーボ機構に接続するのに必要とされる電気コネクタを含み、マスター/スレーブ式遠隔ロボット外科手術システムを形成する。本発明の特殊構成では、この構成要素は、駆動アッセンブリおよびマニピュレータアームの複数自由度を有するマニピュレータアッセンブリを備える。手術中に無菌外科手術フィールドからこれら構成要素を効果的に遮断するために、滅菌ドレープにより、アームおよび駆動アッセンブリは被覆される。このようにして、モータ、エンコーダ、および壊れやすいエレクトロニクスを含むシステムの一部は、外科手術部位を包囲する無菌フィールドから分離されるので、滅菌される必要がない。
中間コネクタは、滅菌外科手術機材をマニピュレータアームと連結するために、滅菌ドレープの開口部を通して延在する滅菌アダプタを含む。アダプタは、外科手術機材を連接するための、かつ、力およびトルクのフィードバック信号などのような電気信号を機材との間で送受するための、複数の運動および電気フィードスルーを含む。一構成例では、中間構成要素は、カメラ台およびカメラに連結された内視鏡のような画像スコープをマニピュレータアームに連結させるスコープアダプタを含む。別な構成例では、中間コネクタは、滅菌アダプタに連結される外科手術機器アッセンブリを含む。外科手術機器アッセンブリは通常は外科手術機材を含み、これは、顎挟み(jaws)、ハサミ、把持器、ニードルホルダー、マイクロ切開器、ステープル付与器、粘着用機材(tackers)、吸引潅注機、クリップ付与器などのような端部作動体を備えた多様な連接型機材、または、切断用刃、焼灼プローブ、潅注器、カテーテル、または吸引オリフィスのような非連接型機材を備え得る。
好ましい構成例では、外科手術機器アッセンブリは、マニピュレータアッセンブリ上のアダプタに外科手術機材を着脱自在に連結するためのリストユニットを更に備える。リストユニットは、外科手術機材に連結される遠位リストを備えた長手のシャフトを備え、遠位リストの周囲に機材の連接を提供する。外科手術処置手順の期間中は、遠隔ロボットシステムは通常は、多様な外科手術機器アッセンブリを含み、各々に異なる外科手術機材が装着される。リストユニットは迅速かつ容易にマニピュレータアッセンブリに連結され、かつそこから連結解除され、処置手順期間中に機器の取り替えを促進する。或る具体的実施態様では、リストユニットは休止可能で、同ユニットのそれ以上の使用を阻止するように、リストユニットが使用された回数を計数する機構を含む。
マニピュレータアッセンブリは、リストを中心とした機材のピッチおよびヨー運動(pitch and yaw movement)、リストシャフト軸を中心とした回転、外科手術機材上の端部作動体の軸方向運動および連接を含め、リストユニットおよび外科手術機材に多数の自由度を供与する。これに加えて、マニピュレータアッセンブリは、リストシャフトに直交する軸を中心とした、リストユニットおよび外科手術機材のピッチ運動およびヨー運動を供与するのが好ましい。駆動アッセンブリのモータは、アームおよび中間構成要素から近位端方向に配置され、これは洗浄を容易にし、同アッセンブリの製造コストを低減し、さらに、外科手術機材およびリストユニットの慣性を低減する。好ましい構成例では、平行四辺形リンケージのような遠隔芯位置決め装置(a remote center positioning device)を含み、所望の所定回転芯の周囲のリストユニットおよび/または外科手術機材の運動を抑制する。この所定回転芯は、遠位リストのリストユニットシャフトに配置され、または内視鏡処置手順では、患者体内の導入切開(entry ihcision)と一致すえばよい。
或る具体的実施態様においては、本発明の3構成要素外科手術マニピュレータは遠隔ロボットシステムの一部であり、医師が患者から遠隔にある位置から、入力制御装置を操作して、表示画像を介して手術を観る。同システムは、1つ以上のマニピュレータアッセンブリに連結されるサーボ機構を含み、外科医の入力制御装置操作に応答して、リストユニットおよび外科手術機材を制御する。位置、力、および触覚フィードバックセンサー(図示せず)は、外科医が遠隔ロボットシステムを作動させると、外科手術機材から外科医の手元まで、位置、力、および触覚感を伝送するように採用され得る。モニタは、外科手術部位の表示画像が外科医の手元に隣接して提供されるように、画像スコープに連結される。自分が手術部位を現実に直接見ていると外科医が感じるように、画像が配向されるのが好ましい。この構成は外科医に遠隔存在感、すなわち、入力制御装置が外科手術機材と統合された知覚を与える。
【図面の簡単な説明】
図1は、本発明に従った遠隔ロボット外科手術システムおよびその方法を例示する、手術室の概略図である。
図2は、本発明に従って第1対の搭載ジョイントが手術台に連結されているのを例示する、図1の手術室の拡大図である。
図3Aは、無菌ドレープにより部分的に覆われた、本発明に従ったロボット外科手術マニピュレータの斜視図である。
図3Bは、複数自由度アームが駆動アッセンブリをリストユニットおよび外科手術機材と連結しているのを例示する、無菌ドレープ無しのロボット外科手術マニピュレータの斜視図である。
図4は、外科手術部位を見るためにカメラおよび内視鏡を組み入れた、図3Aから図3Bのロボット外科手術マニピュレータを例示する図である。
図5は、アームとリストユニットの間の機械的、電気的接続を例示する、図3Aから図3Bのロボットマニピュレータの部分図である。
図6は、図3Aおよび図3Bのマニピュレータの前方アームおよびキャリッジの部分切断断面図である。
図7は、本発明に従ったリストユニットの斜視図である。
図8は、アームおよび駆動アッセンブリを例示する、ロボットマニピュレータの一部の側部断面図である。
好ましい実施態様の詳細な説明
本発明は、特に、開放性外科手術処置手順(open surgical procedures)、定位脳手術のような神経外科手術処置手順、および、腹腔鏡検査、関節鏡検査、胸腔検査などのような内視鏡処置手順を含め、患者にロボット支援式外科手術処置手順を実施する複数構成要素システムおよびその方法を提供する。本発明のシステムおよび方法は、患者から遠隔にある位置からサーボ機構を介して外科手術機器を外科医が操作することを可能にする遠隔ロボット外科手術システムの一部として、特に有用である。そのため、本発明のマニピュレータ装置すなわちスレーブは、力反射を備えた遠隔検知システムを形成するように、運動学的に同等なマスターにより駆動されるのが普通である。好適なスレーブ/マスターシステムは、1995年8月21日に出願された、同時係属特許出願番号第08/517,053号(弁護士事件記録第287-004810)中に見られるが、この完全な開示内容は、本明細書中に参考として援用される。
図面を詳細に参照すると、同一参照番号が同一要素を示すが、遠隔外科手術システム2が本発明に従って例示される。図1に例示されるように、遠隔ロボットシステム2は一般に、手術台Oに、またはその付近に搭載される1つ以上の外科手術マニピュレータアッセンブリ4、および、外科医Sが外科手術部位を観たり、マニピュレータアッセンブリ4を制御したりできるようにするための制御アッセンブリ6を含む。システム2はまた、1つ以上の画像スコープアッセンブリ10、および、マニピュレータアッセンブリ4(以下に詳細に論じる)に着脱自在に連結されるのに適した、複数の外科手術機器アッセンブリ20を含む。遠隔ロボットシステム2は通常、少なくとも2つのマニピュレータアッセンブリ、および好ましくは3つのマニピュレータアッセンブリ4を含む。もちろん、厳密な数のマニピュレータアッセンブリ4は、他の要因の中でも、手術室内での外科手術処置手順および空間的制約で決まる。以下に詳細に論じるように、アッセンブリ4のうちの1つは、外科手術部位を観るための画像スコープアッセンブリ19(内視鏡検査法処置手順で)を作動するのが典型的であるが、他のマニピュレータアッセンブリ4は、患者Pに多様な処置手順を実施するための外科手術機器20を作動させる。
手術台Oと同一室内に配置されるのが普通である外科医のコンソールCに制御アッセンブリ6が配置され、外科医が自分の助手Aに話しかけ、手術処置手順を直接モニターできるようにする。しかし、外科医Sは患者Pとは別の部屋または全く別の建物に配置され得ることが分かる。制御アッセンブリ6は一般に、支持体8、外科医Sに外科手術部位の画像を表示するためのモニタ10、および、マニピュレータアッセンブリ4を制御するための1つ以上のコントローラ12を含む。コントローラ12は、ジョイスティック、グローブ、トリガーガン、手動操作コントローラ、音声認識装置などのような多様な入力装置を含み得る。コントローラ12には関連する外科手術機器アッセンブリと同一自由度が供与されて、遠隔感、すなわちコントローラ12が機器20と統合されているという感覚を外科医に提供し、機器20を直接制御しているという強い認識を外科医が有するようにするのが好ましい。位置、力、および触覚フィードバックセンサー(図示せず)がまた機器アッセンブリ20に採用され得て、外科医が遠隔ロボットシステムを作動させている時に、外科医の手元に外科手術機器からの位置、力、および触覚感を逆伝送できる。操作者に遠隔存在感を供与する1つの好適なシステムおよび方法は、1995年8月21日に出願された同時係属特許出願番号第08/517,053号(弁護士事件記録第0287S-004810号)に記載され、これは先に参考として本明細書中に援用されている。
モニター10は、外科手術部位の画像が外科医用コンソール6に着いた外科医の手元に隣接して設けられるように、画像スコープアッセンブリ19に好適に連結される。モニター10は、自分が手術部位を現実に直接見下ろしていると外科医が感じるように配向された表示装置18で、好ましくは反転画像を表示する。そのためには、観察点(すなわち、内視鏡または視覚カメラ)が画像の視点からではなくとも、外科手術機器20の画像は、操作者の手が置かれている場所に実質的に配置されているように見える。これに加えて、リアルタイム画像は、実質的に真に存在している作業空間を観ているかのように、操作者が端部作動体および手動コントローラを操作できるように、知覚画像に変換されるのが好ましい。真の存在という用語により意味するところは、画像の提示によって、外科手術機器20を物理的に操作している操作者の視点をシミュレートする真の知覚画像を得る、ということである。従って、コントローラ(図示せず)は、外科手術機器20の座標を知覚された位置へ変換し、知覚画像が、カメラまたは内視鏡が外科手術機器20の直ぐ背後に配置されているかのように見える画像になるようにする。この仮想画像を提供するための好適な座標変換システムは、1994年5月5日に出願された特許出願番号第08/239,086号(弁護士事件要件第0287S-003300号)に記載され、その完全な開示内容な、本明細書中に参考として援用される。
図1に示されるように、サーボ機構16はコントローラ12の機械的運動をマニピュレータアッセンブリ4に転送するために設けられる。サーボ機構16はマニピュレータアッセンブリ4から分離され、またはそれと統合され得る。サーボ機構16は通常は、外科手術機器20から手動作動コントローラ12に、力およびトルクフィードバックを供与する。これに加えて、サーボ機構16は、認知された状況(例えば、患者への過剰力の行使、マニピュレータアッセンブリ4の「逃避」など)に応答して、あらゆるロボット運動を凍結させる、または少なくとも抑止し得る、安全監視コントローラ(図示せず)を含む。サーボ機構は少なくとも10Hzの3dBカットオフ周波数を備えたサーボ帯域幅を有し、同システムが外科医により使用される急速な手の運動に迅速かつ正確に応答し得るようにするのが好ましい。このシステムと共に効果的に作動するように、マニピュレータアッセンブリ4は比較的低慣性を有し、駆動モータ170(図8を参照のこと)は比較的低い比のギア結合またはプーリ結合を有する。どのような好適な従来型または特殊サーボ機構が本発明の実施に際して使用されてもよいが、上述の力およびトルクフィードバック処理は、組み込まれたものが同システムの遠隔検知動作に特に好ましい。
図7を参照すると、外科手術機器アッセンブリ20は各々、リストユニット22、およびリストユニット22に着脱自在に装着される外科手術機材24を含む。以下に詳細に論じるように、各リストユニット22は一般に、基部キャップ58、および外科手術機材24に旋回自在に連結される遠位リスト60を有する、長手のシャフト56を含む。各リストユニット22は実質的に同一であり、外科手術処置手順の要件次第で、異なるまたは同一外科手術機材24がそこに装着される。代替例として、リストユニット11は、個々の外科手術機材24について設計された特殊リスト60を有し、リストユニット22が従来型機材24と共に使用され得るようにする。図1に示されるように、機器アッセンブリ20は通常は、テーブルTまたは手術台Oに隣接する他の好適な支持体上に組み立てられる。本発明の方法によれば(以下に説明する)、リストユニット22およびそれらの関連外科手術機材24は、マニピュレータアッセンブリ4にリストユニットシャフト56を連結し、かつそこから連結解除することにより、外科手術処置手順の期間中に迅速に交換できる。
図2を参照すると、各マニピュレータアッセンブリ4は、搭載ジョイント30により、手術台Oに搭載されるのが好ましい。搭載ジョイント30はアッセンブリ4に多自由度(少なくとも5であるのが好ましい)を提供し、アッセンブリ4が患者に相対して好適な位置および配向で固定され得るように、制動器(図示せず)を含む。ジョイント30は、ジョイント30を手術台Oに搭載するための、かつ各マニピュレータアッセンブリ4をサーボ機構16に接続するための受容体32に搭載される。これに加えて、受容体32はジョイント30をRF電源、吸引潅注システムなどのような他のシステムに接続し得る。受容体32は、手術台Oの外側レール36に沿ってスライド自在に配置される搭載アーム34を含む。もちろん、マニピュレータアッセンブリ4は他の機構と共に、手術台O上に位置決めされればよい。例えば、同システムは、患者の上で1つ以上のマニピュレータアッセンブリ4を移動させかつ保持する、支持システム(手術室の天井または壁に連結される)を組み入れ得る。
ここで図3から図8を参照すると、マニピュレータアッセンブリ4が更に詳細に記載される。マニピュレータアッセンブリ4は、非無菌の駆動制御構成要素、滅菌可能端部作動体または外科手術機材(すなわち、外科手術機器アッセンブリ20)、および中間コネクタ構成要素を含む、3構成要素装置である。中間コネクタは、外科手術機材24を駆動制御構成要素と連結するための、かつ駆動構成要素から外科手術機材24に運動を伝達するための機械的要素を含む。図3Bに示されるように、駆動制御構成要素は一般に、駆動アッセンブリ40、および搭載ジョイント30(図2)上に搭載するのに適した搭載ブラケット44に連結される複数自由度ロボットアーム42を含む。駆動アッセンブリ40およびロボットアーム42はX軸を中心にブラケット44に旋回自在に連結されるのが好ましく、これは遠隔球状回転芯45を通して延在する(図8を参照して、以下により詳細に論じる)。マニピュレータアッセンブリ4は、アーム42の遠位端48に固定された前方アッセンブリ46、および、前方アームアッセンブリ46に連結されて、マニピュレータアッセンブリ4に対してリストユニット22および外科手術機材24を搭載するためのリストユニットアダプタ52を更に含む。
内視鏡処置手順については、マニピュレータアッセンブリ4は、マニピュレータアッセンブリ4に対してカニューレ66を搭載するための、前方アーム46の下部に装着されたカニューレアダプタ64を追加的に含む。代替例として、カニューレ66は、前方アームアッセンブリ46に内蔵された(すなわち、取り外し不能)一体型カニューレ(図示せず)であればよい。カニューレ66は、ひずみゲージまたは力検知抵抗器(force-sensing resistor)のような、カニューレ66内部の環状ベアリングに搭載された力検知要素(図示せず)を含み得る。力検知ベアリングは外科手術中は外科手術機材24を支持し、同機材がベアリングの中央孔を通して軸方向に回転および移動できるようにする。これに加えて、ベアリングは力検知要素に対して外科手術機材24が及ぼす横方向力を伝達するが、同力検知要素はサーボ機構16に接続されて、これら力をコントローラ12に伝達する。この態様で、外科手術機材24に作用する力は、外科手術切開部を包囲する組織のような、カニューレ66に作用する力からの妨害無しに、またはマニピュレータアッセンブリ4に作用する重力および内部力による妨害無しに、検出できる。これはロボットシステムにおけるマニピュレータアッセンブリの使用を促進するが、それは、外科手術機材24に対して作用する力を、外科医が直接検知するからである。
図3Aに示されるように、マニピュレータアッセンブリ4は、マニピュレータアッセンブリ4全体を実質的に覆うような寸法にされた無菌ドレープ70を更に含む。ドレープ70は1対の穴72および74を有するが、同各穴72および74、マニピュレータアッセンブリ4にリストユニット22およびカニューレ66を搭載するために、リストユニットアダプタ52およびカニューレアダプタ64が穴(72,74)を通って延在し得るような寸法および配置にされる。無菌ドレープ70は、外科手術部位からマニピュレータアッセンブリ4を効果的に遮断するような構成にされた材料を備えるため、アッセンブリ4の構成要素の大半(すなわち、アーム42、駆動アッセンブリ40、および前方アームアッセンブリ46)が、外科手術処置手順の前に、またはその後で滅菌処理される必要がない。
図3Aに示されるように、リストユニットアダプタ52およびカニューレアダプタ64はドレープ70の穴72および74を通って延在し、前方アームアッセンブリ46およびマニピュレータアッセンブリ4の残余部分が、処置手順期間中は患者から遮断された状態に留まるようにする。リストユニットアダプタ52およびカニューレアダプタ64は、滅菌処理される再使用可能構成要素として製造されるのが好ましく、というのも、これら構成要素は外科手術部位の無菌フィールド内に延在するからである。リストユニットおよびカニューレアダプタ52および64は、正規の方法、すなわち蒸気、熱および圧力、ならびに化学物質などにより滅菌されればよい。図3Bを再び参照すると、リストユニットアダプタ52は、リストユニット22のシャフト56を受容するための開口部80を含む。以下に詳細に論じるように、シャフト56は、リストユニットアダプタ52の非露出部が無菌状態に留まる(すなわち、無菌フィールドの反対側で、ドレープ70の無菌側に留まる)ように、開口部80を通って長手方向に付勢され、アダプタ52内にスナップフィットする。リストユニットアダプタ52はまたラッチ(図示せず)を含み、リストユニット22をそこに固着させる。同様に、カニューレアダプタ64はそこにカニューレ66をスナップフィットさせるための開口部82を含み、外科手術処置手順期間中にアダプタ64の非露出部が無菌状態に留まるようにする。
図4に示されるように、リストユニットアダプタ52はまた、外科手術部位を見るための画像スコープ100を受容するように構成されればよい。内視鏡検査処置手順については、画像スコープ100は従来型内視鏡であればよく、これは剛性の長手管102を含むのが典型的であるが、レンズシステム(図示せず)およびカメラ台104が管102の近位端に設けられる。小型ビデオカメラ106はカメラ台104に装着され、ビデオモニター10に接続され、処置手順のビデオ画像を提供するのが好ましい。画像スコープ100は、管102に相対して長手方向に見ること、または或る角度から見ることを可能にするように構成された遠位端(図示せず)を有する。画像スコープはまた、管102の近位端上のアクチュエータを操作することにより偏向または回転させられ得る、誘導可能先端(a guidable tip)を有し得る。このタイプの画像スコープは、Illinois州DeerfieldのBaxter Healthcare Corp.またはCalifornia州Menlo ParkのOrigin Medsystemsから購入できる。
図4に示されるように、画像スコープ100は、画像スコープ100をリストユニットアダプタ52に連結するためのスコープアダプタ110を更に含む。スコープアダプタ110は滅菌可能であり、ETOおよび蒸気滅菌可能(autoclavable)であり、駆動アッセンブリ40から画像スコープ100まで運動を伝達するための複数の運動フィードスルー(motion feed-throughs)(図示せず)を含む。好ましい構成例では、同運動はピッチおよびヨー運動、Z軸を中心とした回転、およびZ軸に沿った移動を含む。
図5および図6をここで参照すると、前方アームアッセンブリ46は更に詳細に説明される。図5に示されるように、前方アームアッセンブリ46は、ハウジング120がアーム42に固定され、可動キャリッジ122がスライド自在にハウジング120に連結される。キャリッジ122は、リストユニットアダプタ52およびリストユニット20をZ方向に移動させるためのハウジング120にリストユニットアダプタ52を、スライド自在に搭載する。これに加えて、キャリッジ122は、前方アームアッセンブリ46からリストユニットアダプタ52に運動および電気信号を伝達するための多数の開口部123を規定する。図6に示されるように、複数の回転可能シャフト124がハウジング120内部に搭載され、アーム42から開口部123を通して、リストユニットアダプタ52およびリストユニット22に運動を伝達する。回転シャフト124は、リストユニット22のリスト60を中心とした外科手術機材62のヨーおよびピッチ運動、Z軸を中心としたリストユニット22の回転、および機材62の作動を含め、リストユニット22の少なくとも4自由度を供与するのが好ましい。勿論、同システムは、望まれれば、これより多くのまたはこれより少ない自由度を提供するように構成され得る。機材62の作動は、顎ハサミ、把持器または鋏、付与クリップまたはステープラーなどの開閉運動のような、多様な運動を含み得る。リストユニット22および機材62のZ方向への運動は、前方アームハウジング120の両端の各回転可能プーリ128および129の間で延びる、1対のキャリッジケーブルドライブ126により提供される。ケーブルドライブ126は、前方アームハウジング120に相対してZ方向にキャリッジ122およびリストユニット22を移動させるように機能する。
図6に示されるように、アーム42の遠位端48は、アーム42から前方アームアッセンブリ46まで運動を伝達するための複数の運動フィードスルー132を有する、連結アッセンブリ130を含む。これに加えて、連結アッセンブリ130は、アーム42からリストユニット22まで電気信号を伝達するための多数の電気コネクタ(図示せず)を含む。同様に、リストユニットアダプタ52は、運動を伝達するための、かつリストユニット22へ、かつそこから電気信号を送受するための(例えば、外科手術部位からコントローラ12へ力およびトルクフィードバック信号を送受するための)複数の運動フィードスルー(図示せず)および電気接続(図示せず)を含む。連結アッセンブリ130の両側の構成要素およびリストユニットアダプタ52は、有限範囲の運動を有する。通常は、この範囲の運動は少なくとも1回転、好ましくは1回転より多い。これらの範囲の運動は、前方アームアッセンブリ46が機械的に連結アッセンブリ130に連結された場合に、また、リストユニットアダプタ52が機械的に前方アーム46に連結された場合に、互いに整列する。
図7を参照すると、リストユニット22はここで更に詳細に説明される。図示のように、リストユニット22は、キャップ58がその近位端に装着され、リスト60がその遠位端に装着された、中空シャフト56を含む。リスト60は、多様な外科手術機材62をシャフト56に着脱自在に連結するための連結部(図示せず)を含む。シャフト56は、シャフト56の長手方向軸(すなわちZ軸)を中心としたシャフト56および機材62の回転を提供するために、キャップ58に回転自在に連結される。キャップ58は、シャフト56の内部の駆動ケーブル(図示せず)を駆動するために、リストユニットアダプタ52から運動を伝達するための機構(図示せず)を収納する。駆動ケーブルはシャフト56の内部でプーリを駆動するように好適に連結され、リスト60を中心に機材62を旋回させ、機材62上の端部作動体140を作動させる。リスト60はまた、差動ギア、プッシュロッドなどのような他の機構により作動させ得る。
機材62はリストユニット22のリスト60に着脱自在に連結される。機材62は、外科医に触覚フィードバックを提供するための触覚センサー配列(図示せず)を有する端部作動体65を含むのが好ましい。機材62は、顎ハサミ、鋏、把持器、ニードルホルダー、マイクロ切開用器、ステープラー付与器、粘着用機材、吸引潅注機材、クリップ付与器などのような、ワイヤリンク、電子カム、プッシュロッド、または他の機構により駆動される端部作動体を有する多様な連接型機材を含み得る。これに加えて、機材62は、切断用刃、プローブ、潅注器、カテーテル、または吸引オリフィスのような、非連接型機器を備えていればよい。代替例として、機材62は、組織を切除、切離、切断、または凝固させるための電子外科手術プローブを備えていればよい。後者の実施態様では、リストユニット22は、シャフト56を通して機材62まで延びるリードワイヤまたはロッドに連結される基部バナナプラグのような導電素子を含む。
図4および図8を参照すると、本発明の駆動制御構成要素(すなわち、ロボットアーム42および駆動アッセンブリ40)の特殊構造が、更に詳細に記載される。上述のように、アーム42および駆動アッセンブリ40は、搭載ブラケット44から延びる1対のピン150の周囲に回転自在に連結される。アーム42は、前方アームアッセンブリ48に連結される遠位端48およびピッチおよびヨーまたはX軸およびY軸を中心とした回転のための駆動アッセンブリ40およびブラケット44(Y軸はページに直交し、かつ点45を通って延びることに留意し、図8を参照されたい)に旋回自在に連結される近位端154と共に、長手の、実質的に剛性の本体152を備えているのが好ましい。もちろん、アーム40は、エルボーアーム(人体の腕に類似する)、角柱アーム(真っ直ぐ伸張可能)などのような他の形状を有し得る。固定ヨーモータ156は搭載ブラケット44に搭載され、X軸を中心にアーム42および駆動アッセンブリ40を回転させる。駆動アッセンブリ40はまた、Y軸を中心としてアームを回転させるために、アーム42に連結されるピッチモータ158をも含む。1対の実質的に剛性のリンケージ要素160および162はブラケット44からロボットアーム42まで延びて、Y軸を中心として旋回自在にアーム42をブラケット44に連結させる。リンケージ要素160の1つはアーム42に旋回自在に連結され、他方のリンケージ要素162は、アーム42に平行に延びる第3のリンケージ要素164に旋回自在に連結される。ロボットアーム42は、少なくとも部分的に第3の連結要素164を収容する、チャネル形状の剛性要素であるのが好ましい。連結要素160、162、および164、ならびにアーム42は平行四辺形リンケージを形成し、そこで、各部材は、同部材により形成される平面でのみの相対運動のために、平行四辺形状に一緒に接続される。
アーム42の遠位端48で保持されるリストユニット22のZ軸は、上述の平行四辺形リンケージのX軸と交差する。リストユニット22は、図8の参照番号45により示される位置を中心とした遠隔球状回転芯を有する。したがって、リストユニット22の遠位端は、それ自体の軸またはX軸およびY軸を中心に回転させられ得るが、回転の遠隔芯45は同一位置に留まる。遠隔芯位置決め装置のより完全な説明は、1995年7月20日に出願された、同時係属出願番号第08/504,301号(弁護士事件要項番号287-002940号)に見られるが、その完全な開示内容は、本明細書中に参考として援用される。アーム42および駆動アッセンブリ40は、立体定位方式位置決め装置、固定式ジンバルなどのような、上述の図8に示された装置以外の、広範な位置決め装置と一緒に使用され得る。
再び図8を参照すると、駆動アッセンブリ40は、複数の駆動モータ170がアーム42に連結され、ともに回転する。ピッチモータ156およびヨーモータ158は、X軸およびY軸を中心としたアーム42(および駆動モータ170)の運動を制御し、各駆動モータ170は、リストユニット22および外科手術機材24の運動を制御する。好ましくは、少なくとも5つの駆動モータ170は、少なくとも5自由度をリストユニット24に供与するために、アーム42に連結される。駆動モータ170は、サーボ機構16に応答するためのエンコーダ(図示せず)と、外科医Sに力およびトルクフィードバックを伝達するための力センサー(図示せず)とを含むのが好ましい。上述のように、5自由度は、Z方向へのキャリッジ122およびリストユニット22の移動、Z軸を中心としたリストユニット22の回転、リスト60を中心とした外科手術機材62のピッチおよびヨー回転、および機材62の作動を含むのが好ましい。
図示のように、ケーブル172は、アーム42内部で各モータ170からモータ駆動プーリ174およびアイドラープーリ176の周囲を回り、比較的大型のポットキャプスタン(pot capstan)178に沿って延び、ケーブル第172上の摩擦トルクの影響を最小限に押さえる。ケーブル172の各々は、アーム42の遠位端48で別なアイドラープーリ180の周りを回って、更に連結駆動プーリ182の周囲を回ってモータ170まで逆に延びる。ケーブル172はモータ駆動プーリ174でピンと張られ、そこで連結駆動プーリ182とで固定されるのが好ましい。図8に示されるように、連結駆動プーリ182は、連結アッセンブリ130の内部で複数のケーブル186を介して複数のより小型のプーリ184に接続され、モータ170からの運動をリストユニットアダプタ52に伝達する。
本発明に従って患者に外科手術処置手順を実施する方法は、ここで図1から図9を参照しながら説明される。図2に示されるように、搭載ジョイント30は受容体32に装着されるが、これはレール36に沿う滑り搭載アーム34により、手術台Oに装着される。次に、各マニピュレータアッセンブリ4は、そのそれぞれの搭載ジョイント30に装着され、患者Pと相対して適切な位置および配向に連接される。次いで、受容体32は、サーボ機構16と、RF電源、吸引/潅注システムなどのような、外科手術処置手順期間中に必要となる他のシステムとに連結される。患者に麻酔をかける前、その間またはその後、無菌ドレープ70はマニピュレータアッセンブリ4を覆って設置される(図3A)。外科手術処置手順に備えるために、マニピュレータアッセンブリ4は、ドレープ70で覆う前に、化学的に洗浄されてもよいし、そうでなくてもよい。リストユニットアダプタ52、カニューレアダプタ64、およびスコープアダプタ110は、マニピュレータアッセンブリ4の前方アッセンブリ46上にスナップされる(図3Bおよび図5を参照のこと)。スコープアダプタ110およびリストユニットアダプタ52の数と相対位置は、勿論、個別の外科手術処置手順によって決まる(例えば、カニューレアダプタ64は、開放性外科手術処置手順には必要ではないことがある)。
外科手術処置手順期間中は、外科手術機器アッセンブリ20は、リストユニットアダプタ52の開口部80を通るそれぞれのリストユニットシャフト56を横方向に付勢する(urging)ことにより、それぞれのマニピュレータアッセンブリ4に連結される。各リストユニット22は好適な同定手段(図示せず)を有し、いかなるタイプの機材24がリスト22に接続されたかを迅速かつ容易に示す。外科医が外科手術機材24を交換したいと希望すると、外科医は自分でコントローラ12を操作して、キャリッジ122が前方アームアッセンブリ46に沿って、頂端または基部位置まで移動するようにする(図3Bを参照のこと)。この位置で、外科手術機材24はカニューレ66の内部にあり、或いは、開放性処置手順の期間中は、外科手術部位から除去される。次に、助手A(単数または複数)はリストキャップ58を上方へ引っ張ってラッチ(図示せず)を解放し、それにより、リストユニット22がそれより上方にスライドしてカニューレ66から出られるようにする。次いで助手A(単数または複数)はリストユニット22を横方向に引っ張り、それをリストユニットアダプタ52から取り外す。リストユニット22がアダプタ52にもはや連結されていない時は、制御機構はシステムが「機材取り替えモード」にあることを理解し、キャリッジ122が外科医により既にそこまで移動させられていない場合は、キャリッジ122を基部位置まで駆動する。
別な外科手術機器アッセンブリ20をマニピュレータアッセンブリ4に連結するためには、助手A(単数または複数)はテーブルTから別なアッセンブリ20を掴み、リストユニットシャフト56をリストユニットアダプタ52の開口部80の中へ横方向に付勢し、次いで、リストユニット22を下方向に移動させ、外科手術機材62がカニューレ66の内部に載置されるようにする(図1および図3Bを参照のこと)。リストユニット22のこの下方向への移動は、リストキャップ58およびリストユニットアダプタ52の内部で電気的カップリングと運動フィードスルー(図示せず)とを自動的に嵌合させる。同システムは、カップリングが嵌合し、リストユニット22がもはや下方向に移動しなくなるまで、たとえばブレーキ(図示せず)を作動させることにより、頂端または基部位置でキャリッジ122の移動をロックさせるように構成される制御機構を含んでいてもよい。この点で、外科医Sは、外科手術処置手順を継続してもよい。
本発明のシステムおよび方法は、リストユニット22がリストユニットアダプタ52から連結解除され、またそこに連結された回数を計数するための機構を含んでいることが好ましい。この態様でメーカーは、リストユニット22が使用され得る回数を制限し得る。特定の構成例では、集積回路チップ(図示せず)はリストキャップ58内部に収容される。回路チップは、20回といったような、リストユニット22がリストユニットアダプタ52に連結される回数を計数し、外科医のコンソールC上に、警告が現れる。すると、制御システムは、それが搬送できる負荷が低減し、または目に見えるバックラッシュを増大させることになり、システムの性能が低下する。
Claims (19)
- 無菌フィールド内で処置手順を実施するためのロボット外科手術システムであって、
外科手術機材と、
近位端部および遠位端部を有するマニピュレータアームを含むマニピュレータアッセンブリと、
該マニピュレータアッセンブリの少なくとも該マニピュレータアームを覆い、該無菌フィールドから該マニピュレータアームを遮断する無菌ドレープと、
該マニピュレータアームの該遠位端部を該外科手術機材と連結させ、かつ、該マニピュレータアッセンブリから該機材まで、少なくとも2次の運動を伝達するためのアダプタであって、該アダプタが該無菌ドレープを通って延び、該マニピュレータアームから該外科手術機材までおよび該外科手術機材から該マニピュレータアームまで電気信号を伝送するための1つ以上の電気コネクタを含む、アダプタとを備える、システム。 - 前記外科手術機材は、治療部位を見るための内視鏡を備える、請求項1に記載のシステム。
- 前記アダプタは、滅菌可能であり、前記マニピュレータアームと反対側の前記ドレープの側に露出部を含み、前記アダプタは、該露出部が無菌状態に留まるように、前記マニピュレータアームに装着される、請求項1に記載のシステム。
- 前記機材が外科手術機器を備え、該機器が、該機器に連結される遠位リストと、前記アダプタに着脱自在に連結される近位端とを備えるシャフトを有するリストユニットとを備える、請求項1に記載のシステム。
- 前記リストユニットシャフトおよび前記機器は、前記アダプタと相対して前記シャフトの長手方向軸を中心とした回転のために、前記アダプタに回動自在に連結される、請求項4に記載のシステム。
- 前記アダプタは、前記マニピュレータアッセンブリから前記機器まで運動を伝達するために、1つ以上の運動フィードスルーを含む、請求項4に記載のシステム。
- 前記運動フィードスルーの1つは、前記リストユニットの前記遠位リストを中心とした前記機器の回転を提供する、請求項6に記載のシステム。
- 前記外科手術機材は端部作動体を含み、前記運動フィードスルーの1つは、該端部作動体の連接を提供する、請求項6に記載のシステム。
- 前記リストユニットが外科手術処置手順で使用され得る回数を制限するための手段を更に備える、請求項4に記載のシステム。
- 前記制限手段は、前記リストユニットが前記アダプタに連結され、または、そこから取り外される度ごとに計数するための手段を含む、請求項9に記載のシステム。
- 前記マニピュレータアームは、前記リストユニットシャフトの横方向の運動を、該リストユニットシャフトに沿った点における固定球状回転芯の周囲の回転運動に制限するための遠隔芯位置決め器を含む、請求項4に記載のシステム。
- 前記マニピュレータアッセンブリは、前記外科手術機材に少なくとも2自由度を提供するために、前記マニピュレータアームの前記近位端部に連結される駆動アッセンブリを更に含み、前記無菌ドレープは前記マニピュレータアームと前記駆動アッセンブリの両方を被覆して、前記無菌フィールドから前記アームおよび駆動アッセンブリを遮断する、請求項1に記載のシステム。
- コントローラと、前記外科手術機材と患者との間の接触から生じる触覚感を検知する手段と、前記外科手術機材上の該触覚感に対応して、該コントローラに触覚フィードバックを提供する手段とを更に備える、請求項1に記載のシステム。
- 無菌フィールド内の外科手術部位で外科手術機材を操作するための遠隔ロボットシステムであって、
近位端部および遠位端部を有するマニピュレータアームを含むマニピュレータアッセンブリと、
該マニピュレータアッセンブリの少なくとも該マニピュレータアームを覆い、該無菌フィールドから該マニピュレータアームを遮断する無菌ドレープと、
該マニピュレータアームの該遠位端部を該外科手術機材と連結し、かつ該マニピュレータアッセンブリから該機材まで少なくとも2次の運動を伝達するアダプタであって、該アダプタは該無菌ドレープを通して延びる、アダプタと、
コントローラと該外科手術機材との間の電気データ信号を該ドレープを通して伝送するための1つ以上の電気コネクタと、
前記マニピュレータアッセンブリから遠隔の位置に配置されるコントローラと、
該マニピュレータアームの遠隔制御のために、該コントローラを該マニピュレータアームに連結するサーボ機構とを備える、遠隔ロボットシステム。 - 前記外科手術部位を見るための画像スコープと、該画像スコープに操作的に連結されて、前記コントローラに隣接する前記外科手術部位の画像を生成するためのビデオディスプレイとを更に備える、請求項14に記載の遠隔ロボットシステム。
- 前記外科手術機材と患者との間の接触から生じる触覚感を検知する手段と、前記外科手術機材上の該触覚感に対応して、前記コントローラに触覚フィードバックを提供する手段とを更に備える、請求項14に記載のシステム。
- 前記アダプタは滅菌可能で、かつ前記マニピュレータアッセンブリから前記機器まで運動を伝達するために、1つ以上の運動フィードスルーを含み、前記アダプタは、前記マニピュレータアームの反対側で、前記ドレープの側に露出部を更に含み、前記アダプタは、該露出部が無菌状態に留まるように、前記マニピュレータアームに装着される、請求項14に記載のシステム。
- 前記機器に連結する遠位リストと、前記アダプタに着脱自在に連結される近位端とを備えるシャフトを有するリストユニットを更に備え、該リストユニットシャフトおよび前記機器は、前記アダプタと相対して、該シャフトの長手方向軸を中心とした回転のために、前記アダプタに回転自在に連結される、請求項14に記載のシステム。
- 前記マニピュレータアッセンブリは、前記マニピュレータアームの前記近位端部および前記サーボ機構に連結され、前記外科手術機材に少なくとも2自由度を提供するための駆動アッセンブリを更に含み、前記無菌ドレープは、前記マニピュレータアームおよび前記駆動アッセンブリの両方を覆い、前記無菌フィールドから前記アームおよび該駆動アッセンブリを遮断する、請求項14に記載のシステム。
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