JP5700584B2 - 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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- JP5700584B2 JP5700584B2 JP2013010903A JP2013010903A JP5700584B2 JP 5700584 B2 JP5700584 B2 JP 5700584B2 JP 2013010903 A JP2013010903 A JP 2013010903A JP 2013010903 A JP2013010903 A JP 2013010903A JP 5700584 B2 JP5700584 B2 JP 5700584B2
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Classifications
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- A—HUMAN NECESSITIES
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-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
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-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
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- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
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
本発明は、例えば、以下を提供する。
(項目1)
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。
(項目2)
上記シャフトは、該シャフトの上記縦方向軸に沿う、上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、項目1に記載の器具。
(項目3)
上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、上記シャフトの周りで90度の間隔を置いている、項目1に記載の器具。
(項目4)
上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、上記シャフトの周りで120度の間隔を置いている、項目1に記載の器具。
(項目5)
上記複数のひずみゲージは、上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、項目1に記載の器具。
(項目6)
上記複数のひずみゲージは、上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、項目1に記載の器具。
(項目7)
各ひずみゲージは、上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、項目1に記載の器具。
(項目8)
上記複数のひずみゲージは、上記手首のピッチおよびヨーの軸の近位に配置される、項目1に記載の器具。
(項目9)
上記ひずみゲージのそれぞれのひずみ感知主方向は、上記シャフトの縦方向軸と平行に配向される、項目1に記載の器具。
(項目10)
上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、項目1に記載の器具。
(項目11)
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、項目1に記載の器具。
(項目12)
上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、項目1に記載の器具。
(項目13)
上記手首関節は、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、項目1に記載の器具。
(項目14)
上記手術器具の上記末端部分は、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、項目1に記載の器具。
(項目15)
上記筐体部分は、上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、項目1に記載の器具。
(項目16)
上記筐体部分は、上記マニピュレータアームに任意に連結する、項目1に記載の器具。
(項目17)
上記シャフトの上記縦方向軸に沿う軸力を感知するための上記筐体部分の近位に力センサをさらに含む、項目1に記載の器具。
(項目18)
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、項目1に記載の器具。
(項目19)
上記シャフトの上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、項目1に記載の器具。
(項目20)
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。
(項目21)
上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、項目20に記載のシステム。
(項目22)
上記シャフトは、該シャフトの上記縦方向軸に沿う、上記複数のひずみゲージを受容する複数の溝部を含む、項目20に記載のシステム。
(項目23)
上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、上記シャフトの周りで90度の間隔を置いている、項目20に記載のシステム。
(項目24)
上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、上記シャフトの周りで120度の間隔を置いている、項目20に記載のシステム。
(項目25)
上記複数のひずみゲージは、上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、項目20に記載のシステム。
(項目26)
上記複数のひずみゲージは、上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、項目20に記載のシステム。
(項目27)
各ひずみゲージは、上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、項目20に記載のシステム。
(項目28)
上記複数のひずみゲージは、上記手首のピッチ軸およびヨー軸の内側に配置される、項目20に記載のシステム。
(項目29)
上記ひずみゲージのそれぞれのひずみ感知主方向は、上記シャフトの縦方向軸と平行に配向される、項目20に記載のシステム。
(項目30)
上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、項目20に記載のシステム。
(項目31)
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、項目20に記載のシステム。
(項目32)
上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、項目20に記載のシステム。
(項目33)
上記手首関節は、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、項目20に記載のシステム。
(項目34)
上記手術器具の上記末端部分は、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、項目20に記載のシステム。
(項目35)
上記筐体部分は、上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、項目20に記載のシステム。
(項目36)
上記筐体部分は、上記マニピュレータアームに任意に連結する、項目20に記載のシステム。
(項目37)
上記シャフトの上記縦方向軸に沿う軸力を感知するための上記筐体部分の近位に力センサをさらに含む、項目20に記載のシステム。
(項目38)
上記シャフトの上記縦方向軸に沿う軸力を感知するための上記マニピュレータアームに上力センサをさらに含む、項目20に記載のシステム。
(項目39)
上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、項目20に記載のシステム。
(項目40)
上記手術器具は、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、項目20に記載のシステム。
(項目41)
上記手術器具は、上記シャフトの上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、項目20に記載のシステム。
(項目42)
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。
(項目43)
上記力は側力、軸力、およびトルクから成る群から選択される、項目42に記載の方法。
(項目44)
上記計算される力は、定常状態の均一な温度変化から独立している、項目42に記載の方法。
(項目45)
上記計算される力は、上記末端部分の遠位端への距離変動から独立している、項目42に記載の方法。
(項目46)
側力F x は、F x =(ε 1 −ε 2 −ε 3 +ε 4 )EI/2lrによって求められ、ε 1 、ε 2 、ε 3 、およびε 4 は、上記ひずみゲージの組からの選択信号であり、Eは、上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、項目42に記載の方法。
(項目47)
側力F y は、F y =(ε 5 −ε 6 −ε 7 +ε 8 )EI/2lrによって求められ、ε 5 、ε 6 、ε 7 、およびε 8 は、上記ひずみゲージの組からの選択信号であり、Eは、上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、項目42に記載の方法。
(項目48)
軸力F z は、F z =(ε 1 +ε 2 +ε 3 +ε 4 +ε 5 +ε 6 +ε 7 +ε 8 )EA/8によって求められ、ε 1 、ε 2 、ε 3 、ε 4 、ε 5 、ε 6 、ε 7 、およびε 8 は、上記ひずみゲージの組からの選択信号であり、Eは、上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、項目42に記載の方法。
(項目49)
トルクT y は、T y =(ε 1 +ε 2 −ε 3 −ε 4 )EI/4rによって求められ、ε 1 、ε 2 、ε 3 、およびε 4 は、上記ひずみゲージの組からの選択信号であり、Eは、上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、項目42に記載の方法。
(項目50)
トルクT x は、T x =(−ε 5 −ε 6 +ε 7 +ε 8 )EI/4rによって求められ、ε 5 、ε 6 、ε 7 、およびε 8 は、上記ひずみゲージの組からの選択信号であり、Eは、上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、項目42に記載の方法。
(項目51)
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上記器具先端部に加えることによって、上記手術器具を較正することをさらに含む、項目42に記載の方法。
(項目52)
上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、項目42に記載の方法。
(項目53)
上記筐体部分の近位の力センサを使用して、上記シャフトの上記縦方向軸に沿う軸力を感知することをさらに含む、項目42に記載の方法。
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、
σ1=σ2=Tr/I
E=σ/ε=>ε=σ/E
ε1=ε2=Tr/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 (20)
- 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ように構成された筐体部分と、
近位端と遠位端と遠位端部分と縦方向軸とを含むシャフトであって、該近位端は、該筐体部分に結合されており、該遠位端部分は、該遠位端から近位に延びており、該縦方向軸は、該近位端から該遠位端に延びている、シャフトと、
該シャフトの該遠位端に隣接している該シャフトの該遠位端部分の上に搭載され、かつ、取り付けられた複数のひずみゲージであって、該複数のひずみゲージは、該複数の溝部において搭載されており、該複数の溝部は、該シャフトの該縦方向軸に沿って延びている、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た手首関節であって、該複数のひずみゲージは、該手首関節の近位に搭載されている、手首関節と、
該手首関節に動作可能に結合された器具先端部であって、該複数のひずみゲージは、信号を生成し、該信号は、該器具先端部上に作用する少なくとも1つの力を測定するために算術的に結合される、器具先端部と
を含む、手術器具。 - 前記複数の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ている、請求項1に記載の器具。
- 前記シャフトは、該シャフトの外面に前記複数の溝部を含む、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。
- 前記複数のひずみゲージの各ひずみゲージは、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1に記載の器具。
- 前記複数のひずみゲージは、前記手首関節のピッチ軸およびヨー軸の近位に配置されている、請求項1に記載の器具。
- 前記複数のひずみゲージは、光ファイバ、箔、弾性表面波、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。
- 前記複数のひずみゲージのうちのひずみゲージは、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。
- 前記遠位端部分のグリップ軸は、前記手首関節のヨー軸と同じである、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た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。
- 前記器具は、ロボット手術システムのマニピュレータアームに動作可能に結合されている、請求項1に記載の器具。
- 前記シャフトの外面は、摩擦防止表面を含む、請求項1に記載の器具。
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2006
- 2006-09-29 US US11/537,241 patent/US8945095B2/en active Active
- 2006-12-13 EP EP06850283.0A patent/EP1965711B1/en active Active
- 2006-12-13 WO PCT/US2006/061994 patent/WO2007111737A2/en active Application Filing
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WO2007111737A2 (en) | 2007-10-04 |
US8945095B2 (en) | 2015-02-03 |
EP1965711A2 (en) | 2008-09-10 |
KR20080089582A (ko) | 2008-10-07 |
JP2013075195A (ja) | 2013-04-25 |
JP2015062751A (ja) | 2015-04-09 |
EP1965711B1 (en) | 2016-08-31 |
CN101340850A (zh) | 2009-01-07 |
JP2016083581A (ja) | 2016-05-19 |
JP2009522016A (ja) | 2009-06-11 |
US20150164598A1 (en) | 2015-06-18 |
WO2007111737A3 (en) | 2007-12-13 |
CN101340850B (zh) | 2011-06-15 |
US20070151390A1 (en) | 2007-07-05 |
JP5264505B2 (ja) | 2013-08-14 |
KR101342917B1 (ko) | 2013-12-18 |
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