JP6321550B2 - 手術ロボット - Google Patents
手術ロボット Download PDFInfo
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- JP6321550B2 JP6321550B2 JP2014554490A JP2014554490A JP6321550B2 JP 6321550 B2 JP6321550 B2 JP 6321550B2 JP 2014554490 A JP2014554490 A JP 2014554490A JP 2014554490 A JP2014554490 A JP 2014554490A JP 6321550 B2 JP6321550 B2 JP 6321550B2
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- 238000001356 surgical procedure Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004048 modification Effects 0.000 description 10
- 238000012986 modification Methods 0.000 description 10
- 230000004913 activation Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000034 method 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
- 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
- A61B34/25—User interfaces for surgical systems
-
- 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
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
-
- 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
- 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
- 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
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39468—Changeable hand, tool, code carrier, detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45117—Medical, radio surgery manipulator
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
Description
2、2A、2B、2C 医療器具
3 ロボットアーム
4 ロボット本体
5 操作盤
6、6A、6B、6C 入力手段
7 制御手段
8、8A、8B、8C ディスプレイ
9 表示手段
10(10A、10B、10C) 選択スイッチ(操作部)
11 ジョイスティック(操作部または可動操作部)
12(12A、12B、12C、12D) 起動スイッチ(操作部)
13 接触/近接センサ(***作状態検出手段)
14、15 マーク
16 文字
17 ポインタ
18 子画面
19 操作ボタン
P 患者
Claims (14)
- 複数の医療器具を選択的に操作するロボット本体と、
前記ロボット本体の制御情報を入力するための、前記複数の医療器具について共通の入力手段と、
患者の手術部位の映像を表示するための表示手段であって、前記複数の医療器具についての選択状況を表示する選択状況表示機能を有する、表示手段と、を備え、
前記選択状況表示機能は、選択されている前記医療器具を特定するためのマークおよび/または文字を前記表示手段の画面上に表示するものであり、
前記マークおよび/または文字は、少なくとも部分的に前記医療器具に重ねて表示される、手術ロボット。 - 前記選択状況表示機能は、前記表示手段の画面上に前記複数の医療器具についての選択状況を表示した後、所定時間経過後に前記選択状況の表示を消すものである、請求項1に記載の手術ロボット。
- 前記表示手段は、前記選択状況表示機能を無効化する機能を有する、請求項1または2に記載の手術ロボット。
- 前記入力手段は、前記医療器具の複数の動作内容に対応する複数の操作部を有し、
前記複数の操作部には、各操作部の***作状態を検出するための***作状態検出手段が設けられており、
前記表示手段は、前記***作状態検出手段により前記***作状態が検出された前記操作部に対応する前記医療器具の動作内容を表示する動作内容表示機能を有する、請求項1乃至3のいずれか一項に記載の手術ロボット。 - 前記動作内容表示機能は、前記動作内容を連想させるマークを表示するものである、請求項4記載の手術ロボット。
- 前記動作内容を連想させるマークは、少なくとも部分的に前記医療器具に重ねて表示される、請求項5記載の手術ロボット。
- 前記動作内容表示機能は、前記表示手段の画面上に前記動作内容を表示した後、所定時間経過後に前記動作内容の表示を消すものである、請求項4乃至6のいずれか一項に記載の手術ロボット。
- 前記表示手段は、前記動作内容表示機能を無効化する機能を有する、請求項4乃至7のいずれか一項に記載の手術ロボット。
- 前記***作状態検出手段は、接触および/または近接センサである、請求項4乃至8のいずれか一項に記載の手術ロボット。
- 前記操作部は、第一操作状態と、前記第一操作状態から更に操作が進行した第二操作状態とを有し、
前記動作内容表示機能は、前記第一操作状態において前記医療器具の動作内容を表示するものである、請求項4乃至9のいずれか一項に記載の手術ロボット。 - 前記操作部は、プッシュボタン式スイッチを含み、
前記第一操作状態は、前記プッシュボタン式スイッチの半押し状態であり、前記第二操作状態は、前記プッシュボタン式スイッチを前記半押し状態から更に押し込んだ状態である、請求項10記載の手術ロボット。 - 前記表示手段は、各種スイッチを表示するスイッチ表示機能をさらに有し、
前記入力手段は、前記各種スイッチのうちの所望のスイッチを作動させるための操作部を有する、請求項1乃至11のいずれか一項に記載の手術ロボット。 - 前記入力手段を複数備え、前記表示手段は、複数の前記入力手段のそれぞれに対応する複数のディスプレイを備えている、請求項1乃至12のいずれか一項に記載の手術ロボット。
- 前記入力手段は、前記複数の医療器具の少なくとも1つを移動させるための可動操作部を有し、
前記表示手段は、前記可動操作部の動作量に対する前記医療器具の動作量の倍率を、前記医療器具の表示倍率の逆数とする、請求項1乃至13のいずれか一項に記載の手術ロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012281613 | 2012-12-25 | ||
JP2012281613 | 2012-12-25 | ||
PCT/JP2013/084647 WO2014104088A1 (ja) | 2012-12-25 | 2013-12-25 | 手術ロボット |
Publications (2)
Publication Number | Publication Date |
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JPWO2014104088A1 JPWO2014104088A1 (ja) | 2017-01-12 |
JP6321550B2 true JP6321550B2 (ja) | 2018-05-09 |
Family
ID=51021166
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2014554490A Active JP6321550B2 (ja) | 2012-12-25 | 2013-12-25 | 手術ロボット |
Country Status (5)
Country | Link |
---|---|
US (1) | US10932871B2 (ja) |
EP (1) | EP2939632B1 (ja) |
JP (1) | JP6321550B2 (ja) |
KR (1) | KR101740168B1 (ja) |
WO (1) | WO2014104088A1 (ja) |
Families Citing this family (16)
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KR102501099B1 (ko) | 2015-03-17 | 2023-02-17 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 원격조작 의료 시스템에서 기구의 스크린상 식별정보를 렌더링하기 위한 시스템 및 방법 |
KR20230003408A (ko) | 2015-03-17 | 2023-01-05 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 원격조작 의료 시스템에서 기구의 스크린상 식별을 위한 시스템 및 방법 |
JP6886968B2 (ja) * | 2015-10-09 | 2021-06-16 | コヴィディエン リミテッド パートナーシップ | ロボット外科用システムを用いて体腔を可視化するための角度付き内視鏡の使用方法 |
WO2017098259A1 (en) * | 2015-12-10 | 2017-06-15 | Cambridge Medical Robotics Limited | Robotic system |
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-
2013
- 2013-12-25 KR KR1020157018184A patent/KR101740168B1/ko active IP Right Grant
- 2013-12-25 EP EP13868654.8A patent/EP2939632B1/en active Active
- 2013-12-25 US US14/655,443 patent/US10932871B2/en active Active
- 2013-12-25 JP JP2014554490A patent/JP6321550B2/ja active Active
- 2013-12-25 WO PCT/JP2013/084647 patent/WO2014104088A1/ja active Application Filing
Also Published As
Publication number | Publication date |
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US10932871B2 (en) | 2021-03-02 |
JPWO2014104088A1 (ja) | 2017-01-12 |
US20150351864A1 (en) | 2015-12-10 |
KR101740168B1 (ko) | 2017-05-25 |
EP2939632A4 (en) | 2016-08-10 |
KR20150093787A (ko) | 2015-08-18 |
EP2939632A1 (en) | 2015-11-04 |
EP2939632B1 (en) | 2021-10-13 |
WO2014104088A1 (ja) | 2014-07-03 |
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