JP6659798B2 - 可変器具予荷重機構コントローラ - Google Patents
可変器具予荷重機構コントローラ Download PDFInfo
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- JP6659798B2 JP6659798B2 JP2018199912A JP2018199912A JP6659798B2 JP 6659798 B2 JP6659798 B2 JP 6659798B2 JP 2018199912 A JP2018199912 A JP 2018199912A JP 2018199912 A JP2018199912 A JP 2018199912A JP 6659798 B2 JP6659798 B2 JP 6659798B2
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2003—Screw mechanisms with arrangements for taking up backlash
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41032—Backlash
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Orthopedic Medicine & Surgery (AREA)
Description
この出願は、以下の出願、即ち、
(Thomas G. Cooper et al.によって2013年8月15日に出願された「PRELOADED SURGICAL INSTRUMENT INTERFACE」という名称の米国特許出願第61/866,115号、
(Todd R. Solomon et al.によって2013年8月15日に出願された「VARIABLE INSTRUMENT PRELOAD MECHANISM CONTROLLER」という名称の米国特許出願第61/866,117号、
(Thomas G. Cooper et al.によって2013年8月15日に出願された「ACTUALTOR INTERFACE TO INSTRUMENT STERILE ADAPTER」という名称の米国特許出願第61/866,118号、
(Thomas G. Cooper et al.によって2013年8月15日に出願された「INSTRUMENT STERILE ADAPTER DRIVE FEATURES」という名称の米国特許出願第61/866,120号、
(Robert E. Holop et al.によって2013年8月15日に出願された「INSTRUMENT STERILE ADAPTER DRIVE INTERFACE」という名称の米国特許出願第61/866,124号、及び
(Thomas G. Cooper et al.によって2013年8月15日に出願された「ROBOTIC INSTRUMENT DRIVEN ELEMENT」という名称の米国特許出願第61/866,125号
の優先権及び利益を主張し、それらの各々の全文を参照としてここに援用する。
Claims (8)
- 外科器具マニピュレータアセンブリと、
挿入アセンブリと、
予荷重アセンブリとを含み、
前記外科器具マニピュレータアセンブリは、ハウジングと、モータパックとを含み、該モータパックは、前記ハウジング内に可動に取り付けられ、
前記挿入アセンブリは、遠位端と、予荷重トラックとを含み、前記外科器具マニピュレータアセンブリのハウジングは、前記挿入アセンブリの前記遠位端に取り付けられ、
前記予荷重アセンブリは、カムフォロワアセンブリと、アームと、予荷重リセット機構とを含み、
前記アームは、第1の端と、第2の端とを含み、
前記アームの前記第1の端は、前記カムフォロワアセンブリに回転可能に接続され、
前記アームの前記第2の端は、前記モータパックに連結され、
前記モータパックは、前記カムフォロワアセンブリが前記予荷重トラックの上に乗るように、前記予荷重アセンブリを介して前記挿入アセンブリに可動に連結され、
前記予荷重リセット機構は、前記予荷重アセンブリを前記予荷重トラック上の第1の場所に位置付けるように構成され、
前記予荷重トラック上の前記第1の場所で、前記予荷重アセンブリは、前記モータパックを前記外科器具マニピュレータアセンブリの前記ハウジングに対して遠位の位置に移動させるよう、長手方向において力を加える、
装置。 - 前記予荷重リセット機構は、前記予荷重アセンブリを前記予荷重トラック上の前記第1の場所に自動的に位置付けるように構成される、請求項1に記載の装置。
- モータと、
コントローラとを更に含み、
前記コントローラが前記外科器具マニピュレータアセンブリに取り付けられた減菌アダプタアセンブリの存在を示す信号を受信するならば、前記コントローラは、前記モータをアクティブ化させて、前記外科器具マニピュレータアセンブリを近位に移動させる、
請求項1又は2に記載の装置。 - 前記外科器具マニピュレータアセンブリからの前記減菌アダプタアセンブリの取外しを抑止する解放ラッチ抑止ストップを更に含み、
前記モータが前記外科器具マニピュレータアセンブリを近位に移動させるならば、前記解放ラッチ抑止ストップは遠位に移動する、
請求項3に記載の装置。 - ラッチピンと、
解放ラッチ抑止ストップと、
バネとを含み、
前記ラッチピンは、減菌アダプタ解放ラッチの近位部分に枢動的に接続され、
前記解放ラッチ抑止ストップと前記ラッチピンとの間の接触が起こるときに、前記ラッチピンは元の位置から離れる方向に枢動し、
前記バネは、前記ラッチピンを付勢して、前記元の位置に戻す、
請求項1又は2に記載の装置。 - 前記外科器具マニピュレータアセンブリからの減菌アダプタアセンブリの取外しを抑止する解放ラッチ抑止ストップを更に含み、
前記モータパックが前記外科器具マニピュレータアセンブリを近位に移動させるならば、前記解放ラッチ抑止ストップは遠位に移動する、
請求項1又は2に記載の装置。 - 前記外科器具マニピュレータアセンブリの前記ハウジングは、壁を含み、
解放ラッチが、前記外科器具マニピュレータアセンブリの前記ハウジングの前記壁に取り付けられる、
請求項6に記載の装置。 - 前記予荷重アセンブリは、ホイールと、本体とを含み、
前記ホイールは、前記予荷重トラックの上に乗るように構成され、
前記本体は、前記外科器具マニピュレータアセンブリの前記ハウジングに回転可能に連結され、
前記本体は、第1の端と、第2の端とを含み、
前記本体の前記第1の端は、前記予荷重アセンブリの前記ホイールに回転可能に連結され、
前記本体の前記第2の端は、前記予荷重アセンブリの前記アームの前記第2の端に回転可能に連結される、
請求項1に記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361866117P | 2013-08-15 | 2013-08-15 | |
US61/866,117 | 2013-08-15 |
Related Parent Applications (1)
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JP2016534824A Division JP6426181B2 (ja) | 2013-08-15 | 2014-08-13 | 可変器具予荷重機構コントローラ |
Publications (2)
Publication Number | Publication Date |
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JP2019063536A JP2019063536A (ja) | 2019-04-25 |
JP6659798B2 true JP6659798B2 (ja) | 2020-03-04 |
Family
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JP2016534824A Active JP6426181B2 (ja) | 2013-08-15 | 2014-08-13 | 可変器具予荷重機構コントローラ |
JP2018199912A Active JP6659798B2 (ja) | 2013-08-15 | 2018-10-24 | 可変器具予荷重機構コントローラ |
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JP2016534824A Active JP6426181B2 (ja) | 2013-08-15 | 2014-08-13 | 可変器具予荷重機構コントローラ |
Country Status (6)
Country | Link |
---|---|
US (1) | US10932868B2 (ja) |
EP (2) | EP3033032B1 (ja) |
JP (2) | JP6426181B2 (ja) |
KR (1) | KR102312950B1 (ja) |
CN (2) | CN105611891B (ja) |
WO (1) | WO2015023793A1 (ja) |
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