JP5921943B2 - 医療用マニピュレータ - Google Patents
医療用マニピュレータ Download PDFInfo
- Publication number
- JP5921943B2 JP5921943B2 JP2012090797A JP2012090797A JP5921943B2 JP 5921943 B2 JP5921943 B2 JP 5921943B2 JP 2012090797 A JP2012090797 A JP 2012090797A JP 2012090797 A JP2012090797 A JP 2012090797A JP 5921943 B2 JP5921943 B2 JP 5921943B2
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- shaft
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- roll
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims description 91
- 239000012636 effector Substances 0.000 claims description 53
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 49
- 230000006835 compression Effects 0.000 description 19
- 238000007906 compression Methods 0.000 description 19
- 230000002093 peripheral effect Effects 0.000 description 15
- 230000009471 action Effects 0.000 description 11
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000002265 prevention Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000002350 laparotomy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Images
Classifications
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- 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
-
- 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
- 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
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- 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
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2936—Pins in guiding slots
-
- 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
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
-
- 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
- A61B2017/2946—Locking means
-
- 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
- A61B2017/2947—Pivots
-
- 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
- A61B2034/715—Cable tensioning mechanisms for removing slack
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Description
14…先端動作部 16…ハンドル
18…シャフト 19…シャフト本体
20…ハンドル本体 22…駆動ユニット
23…胴体部 24…レバー
26…傾動用ホイール 28…ロール用スイッチ
38…モータ 40…駆動歯車
56…回転スリーブ 70…プルワイヤ
73、74…関節ピン 80…開閉駆動伝達部
82…ガイド部 83…ガイドローラ
86…傘歯車 88…歯車部材
90…従動プーリ 91…プルロッド
96…レバーロッド 98…圧縮スプリング
100…荷重制御機構 104…可動部
105、120…弾性部材 108…固定部
110…調整ナット 114…ロック機構
118…フック部材 122…保持部
124…解除部 128…従動歯車
130…ロール駆動伝達管 144…ウォームギア
147…ウォームホイール 148…駆動プーリ
150…ワイヤ 152…第1中間プーリ
154…第2中間プーリ 158…第1テンション機構
159…第1テンション用プーリ 160…第1保持部
161…第1調節部 164…第2テンション機構
165…第2テンション用プーリ 166…第2保持部
167…第2調節部 176…一方向動力伝達機構
Claims (4)
- ハンドルと、
前記ハンドルから延出したシャフトと、
開閉動作が可能なエンドエフェクタを有し、前記シャフトに対して傾動動作が可能に連結され、且つロール動作が可能な先端動作部と、
前記ハンドル側から前記先端動作部へ前記開閉動作のための駆動力を伝達する開閉駆動伝達部と、
前記ハンドルから前記先端動作部へ前記ロール動作のための回転力を伝達する回転駆動伝達部と、を備え、
前記回転駆動伝達部は、前記シャフトの延在方向に沿って延在し且つ前記シャフト内に回転可能に配置されたロール駆動伝達管と、前記シャフトと前記先端動作部との間の関節部に設けられ前記ロール駆動伝達管と噛み合い且つ前記先端動作部の傾動軸線を中心に回転可能な中間部材と、前記先端動作部に設けられ前記中間部材と噛み合い且つロール軸線を中心に回転可能な先端側回転体とを有し、
前記開閉駆動伝達部は、前記ロール駆動伝達管の内側に配置され、少なくとも前記関節部に挿通された部分が可撓性を有する、
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、
前記開閉駆動伝達部は、前記シャフトに対して進退移動可能であり、進退移動により前記エンドエフェクタが開閉動作し、
前記先端動作部の前記シャフトに対する前記傾動軸線の近傍であって、前記開閉駆動伝達部の、前記先端動作部の傾動方向の両側に、前記開閉駆動伝達部をガイドするガイド部が設けられる、
ことを特徴とする医療用マニピュレータ。 - 請求項2記載の医療用マニピュレータにおいて、
前記ガイド部は、ガイドローラである、
ことを特徴とする医療用マニピュレータ。 - 請求項1〜3のいずれか1項に記載の医療用マニピュレータにおいて、
前記関節部は、前記傾動軸線上に配置された一対の関節ピンを有し、
前記開閉駆動伝達部は、前記一対の関節ピンの間に設けられた隙間を、前記関節ピンの軸線方向と交差する方向に進退移動可能である、
ことを特徴とする医療用マニピュレータ。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012090797A JP5921943B2 (ja) | 2012-04-12 | 2012-04-12 | 医療用マニピュレータ |
EP13774991.7A EP2837340B1 (en) | 2012-04-12 | 2013-04-11 | Medical manipulator |
PCT/JP2013/060947 WO2013154158A1 (ja) | 2012-04-12 | 2013-04-11 | 医療用マニピュレータ |
US14/511,944 US10383647B2 (en) | 2012-04-12 | 2014-10-10 | Medical manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012090797A JP5921943B2 (ja) | 2012-04-12 | 2012-04-12 | 医療用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013215505A JP2013215505A (ja) | 2013-10-24 |
JP5921943B2 true JP5921943B2 (ja) | 2016-05-24 |
Family
ID=49327716
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012090797A Active JP5921943B2 (ja) | 2012-04-12 | 2012-04-12 | 医療用マニピュレータ |
Country Status (4)
Country | Link |
---|---|
US (1) | US10383647B2 (ja) |
EP (1) | EP2837340B1 (ja) |
JP (1) | JP5921943B2 (ja) |
WO (1) | WO2013154158A1 (ja) |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2012049623A1 (en) | 2010-10-11 | 2012-04-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
JP5715304B2 (ja) | 2011-07-27 | 2015-05-07 | エコール ポリテクニーク フェデラル デ ローザンヌ (イーピーエフエル) | 遠隔操作のための機械的遠隔操作装置 |
JP6554794B2 (ja) * | 2014-01-29 | 2019-08-07 | 住友ベークライト株式会社 | 医療機器 |
WO2015113933A1 (en) | 2014-02-03 | 2015-08-06 | Distalmotion Sa | Mechanical teleoperated device comprising an interchangeable distal instrument |
JP6138071B2 (ja) * | 2014-02-26 | 2017-05-31 | オリンパス株式会社 | 弛み補正機構、マニピュレータ及びマニピュレータシステム |
US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
EP3185808B1 (en) | 2014-08-27 | 2022-02-23 | DistalMotion SA | Surgical system for microsurgical techniques |
DE102014016790A1 (de) | 2014-11-14 | 2016-05-19 | Karl Storz Gmbh & Co. Kg | Medizinisches Instrument |
DK3232951T3 (da) | 2014-12-19 | 2024-01-15 | Distalmotion Sa | Kirurgisk instrument med leddelt ende-effektor |
EP4342412A3 (en) | 2014-12-19 | 2024-06-05 | DistalMotion SA | Reusable surgical instrument for minimally invasive procedures |
US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
EP3232973B1 (en) | 2014-12-19 | 2020-04-01 | DistalMotion SA | Sterile interface for articulated surgical instruments |
WO2016097871A1 (en) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Docking system for mechanical telemanipulator |
US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
EP3280343A1 (en) | 2015-04-09 | 2018-02-14 | DistalMotion SA | Mechanical teleoperated device for remote manipulation |
WO2016162751A1 (en) | 2015-04-09 | 2016-10-13 | Distalmotion Sa | Articulated hand-held instrument |
DE102015010970A1 (de) | 2015-08-26 | 2017-03-02 | Karl Storz Gmbh & Co. Kg | Arbeitseinsatz für ein mikrochirurgisches Instrument, mikrochirurgisches Instrument und Kraft- und Drehmomentübertragungsschlauch |
US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
DE102015115559A1 (de) * | 2015-09-15 | 2017-03-16 | Karl Storz Gmbh & Co. Kg | Manipulationssystem sowie Handhabungsvorrichtung für chirurgische Instrumente |
DE102015013923A1 (de) | 2015-10-21 | 2017-04-27 | Karl Storz Gmbh & Co. Kg | Mikrochirurgisches Instrument, Handhabe und Motorblock für ein mikrochirurgisches Instrument |
JPWO2018069988A1 (ja) * | 2016-10-12 | 2019-06-27 | オリンパス株式会社 | 処置具用回転機構 |
CN108235681B (zh) * | 2016-10-21 | 2021-02-12 | 奥林巴斯株式会社 | 处置器具用旋转机构 |
EP3348213A1 (en) * | 2017-01-13 | 2018-07-18 | Spinal Stabilization Technologies Ltd | Articulating surgical instruments such as rongeurs |
JP6653044B2 (ja) * | 2017-03-24 | 2020-02-26 | 株式会社メディカロイド | 手術器具および手術システム |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
GB2563234B (en) | 2017-06-06 | 2021-12-08 | Cmr Surgical Ltd | Securing an interface element rail of a robotic surgical instrument interface |
US10413374B2 (en) | 2018-02-07 | 2019-09-17 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
EP3865083A4 (en) * | 2019-12-20 | 2021-11-24 | Riverfield Inc. | MEDICAL ROBOT, SURGICAL INSTRUMENT AND ASSEMBLY PART |
JP7171669B2 (ja) | 2020-10-14 | 2022-11-15 | 川崎重工業株式会社 | 手術支援システム、患者側装置および手術支援システムの制御方法 |
CN112603465B (zh) * | 2020-12-18 | 2021-12-17 | 江苏省人民医院 | 一种腹腔镜手术钳 |
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JP5364255B2 (ja) * | 2007-10-31 | 2013-12-11 | テルモ株式会社 | 医療用マニピュレータ |
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-
2012
- 2012-04-12 JP JP2012090797A patent/JP5921943B2/ja active Active
-
2013
- 2013-04-11 EP EP13774991.7A patent/EP2837340B1/en active Active
- 2013-04-11 WO PCT/JP2013/060947 patent/WO2013154158A1/ja active Application Filing
-
2014
- 2014-10-10 US US14/511,944 patent/US10383647B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20150032151A1 (en) | 2015-01-29 |
EP2837340A4 (en) | 2015-09-16 |
US10383647B2 (en) | 2019-08-20 |
JP2013215505A (ja) | 2013-10-24 |
EP2837340B1 (en) | 2016-10-05 |
EP2837340A1 (en) | 2015-02-18 |
WO2013154158A1 (ja) | 2013-10-17 |
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