JP6725426B2 - シフト可能な伝動装置を備える手術器具 - Google Patents
シフト可能な伝動装置を備える手術器具 Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims description 50
- 239000012636 effector Substances 0.000 claims description 117
- 230000007246 mechanism Effects 0.000 claims description 49
- 210000000707 wrist Anatomy 0.000 claims description 20
- 230000000717 retained effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 23
- 230000033001 locomotion Effects 0.000 description 14
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000002432 robotic surgery Methods 0.000 description 6
- 238000010304 firing Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000002405 diagnostic procedure Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 210000003815 abdominal wall Anatomy 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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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
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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
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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
- 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
- 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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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Description
この出願は、2014年3月31日に出願された米国仮出願第61/973,257号の利益を主張し、それをここに参照として援用する。
Claims (17)
- 近位端と、遠位端とを有する、細長いシャフトと、
該シャフトの前記遠位端にある手術エンドエフェクタと、
前記シャフトの前記近位端にある駆動機構とを含み、
前記手術エンドエフェクタは、複数のエンドエフェクタ構成部品を含み、該複数のエンドエフェクタ構成部品は、第1のエンドエフェクタ構成部品と、第2のエンドエフェクタ構成部品とを含み、前記第1のエンドエフェクタ構成部品は、第1のエンドエフェクタ機械的自由度と関連付けられ、前記第2のエンドエフェクタ構成部品は、第2のエンドエフェクタ機械的自由度と関連付けられ、
前記駆動機構は、第1のモータインターフェースと、伝動装置とを含み、該伝動装置は、第1の状態と第2の状態との間で移動可能なシフト機構を含み、前記第1の状態において、前記第1のモータインターフェースは、前記第2のエンドエフェクタ構成部品を駆動させずに前記第1のエンドエフェクタ構成部品を駆動させるよう、前記伝動装置を介して連結され、前記第2の状態において、前記第1のモータインターフェースは、前記第1のエンドエフェクタ構成部品を駆動させずに前記第2のエンドエフェクタ構成部品を駆動させるよう、前記伝動装置を介して連結され、
前記シフト機構は、前記第1のモータインターフェースから前記第1のエンドエフェクタ機械的自由度への動力供給を制御するように動作可能なローブと前記第1のエンドエフェクタ機械的自由度の係止を制御するように動作可能なローブとからなる第1の一対のローブと、前記第1のモータインターフェースから前記第2のエンドエフェクタ機械的自由度への動力供給を制御するように動作可能なローブと前記第2のエンドエフェクタ機械的自由度の係止を制御するように動作可能なローブとからなる第2の一対のローブとを含む、回転可能なカムシャフトを含む、
手術ツール。 - 前記シフト機構を前記第1の状態と前記第2の状態との間でシフトさせるよう連結される、第2のモータインターフェースを更に含む、請求項1に記載の手術ツール。
- 前記複数のエンドエフェクタ構成部品は、第3のエンドエフェクタ構成部品を含み、
前記シフト機構は、第3の状態に移動可能であり、前記第1の状態において並びに前記第2の状態において、前記第1のモータインターフェースは、前記第3のエンドエフェクタ構成部品を駆動させず、前記第3の状態において、前記第1のモータインターフェースは、前記第1及び第2のエンドエフェクタ構成部品を駆動させずに前記第3のエンドエフェクタ構成部品を駆動させるよう、前記伝動装置を介して連結される、
請求項1に記載の手術ツール。 - 前記シフト機構を前記第1の状態、前記第2の状態、及び前記第3の状態の間でシフトさせるよう連結される、第2のモータインターフェースを更に含む、請求項3に記載の手術ツール。
- 前記シフト機構は、回転可能なカムシャフトを含み、該カムシャフトの第1の位置は、前記第1の状態に対応し、該カムシャフトの第2の位置は、前記第2の状態に対応する、請求項1に記載の手術ツール。
- 前記カムシャフトを駆動させるよう連結される、第2のモータインターフェースを更に含む、請求項5に記載の手術ツール。
- 前記駆動機構は、第3のエンドエフェクタ機械的自由度を駆動させるよう連結される第2のモータインターフェースと、第4のエンドエフェクタ機械的自由度を駆動させるよう連結される第3のモータインターフェースと、第5のエンドエフェクタ機械的自由度を駆動させるよう連結される第4のモータインターフェースとを含み、
前記手術エンドエフェクタの前記第1、第2、第3、第4、及び第5の機械的自由度は、それぞれ特異である、
請求項1に記載の手術ツール。 - 前記複数のエンドエフェクタ構成部品は、第6のエンドエフェクタ機械的自由度と関連付けられる第3のエンドエフェクタ構成部品を含み、
前記手術エンドエフェクタの前記第1、第2、第3、第4、第5、及び第6のエンドエフェクタ機械的自由度は、それぞれ特異である、
請求項7に記載の手術ツール。 - 前記駆動機構は、前記シフト機構を前記第1の状態と前記第2の状態との間でシフトさせるよう連結される第5のモータインターフェースを含む、請求項8に記載の手術ツール。
- 前記手術エンドエフェクタは、手術ツールを有する把持デバイスを含み、前記手術エンドエフェクタは、リストを含み、該リストは、遠隔制御されるアームに対して前記把持デバイスをピッチ運動させ、ヨー運動させ、且つロール運動させ得る、請求項9に記載の手術ツール。
- 前記第1のエンドエフェクタ機械的自由度は、前記リストをロール運動させ、
前記第2のエンドエフェクタ機械的自由度は、前記手術ツールを作動させ、
前記第3のエンドエフェクタ機械的自由度は、前記第6のエンドエフェクタ機械的自由度に対して低力で前記把持デバイスを作動させ、
前記第4のエンドエフェクタ機械的自由度は、前記リストをヨー運動させ、
前記第5のエンドエフェクタ機械的自由度は、前記リストをピッチ運動させ、
前記第6のエンドエフェクタ機械的自由度は、前記第3のエンドエフェクタ機械的自由度に対して高力で前記把持デバイスを作動させる、
請求項10に記載の手術ツール。 - 前記回転可能なカムシャフトは、前記第1のモータインターフェースから前記第6のエンドエフェクタ機械的自由度への動力供給を制御するように動作可能なローブと前記第6のエンドエフェクタ機械的自由度の係止を制御するように動作可能なローブとからなる第3の一対のローブを含む、請求項11に記載の手術ツール。
- 前記伝動装置は、前記第1のエンドエフェクタ機械的自由度を駆動させる第1の歯車列と、前記第2のエンドエフェクタ機械的自由度を駆動させる第2の歯車列と、前記第6のエンドエフェクタ機械的自由度を駆動させる第3の歯車列とを含む、請求項12に記載の手術ツール。
- 前記第1の歯車列は、
第1の入力歯車と、
究極的には該第1の入力歯車と連結される第1の出力歯車と、
前記第1の入力歯車を前記第1の出力歯車と係合させ且つ係合解除させるために前記カムシャフトと移動可能に係合される第1のロッカーアームと、
前記第1の出力歯車を係止し且つ係止解除するために前記カムシャフトと移動可能に係合させられる第1の係止アームとを含み、
前記第2の歯車列は、
第2の入力歯車と、
究極的には該第2の入力歯車と連結される第2の出力歯車と、
前記第2の入力歯車を前記第2の出力歯車と係合させ且つ係合解除させるために前記カムシャフトと移動可能に係合される第2のロッカーアームと、
前記第2の出力歯車を係止し且つ係止解除するために前記カムシャフトと移動可能に係合させられる第2の係止アームとを含み、
前記第3の歯車列は、
第3の入力歯車と、
究極的には該第3の入力歯車と連結される第3の出力歯車と、
前記第3の入力歯車を前記第3の出力歯車と係合させ且つ係合解除させるために前記カムシャフトと移動可能に係合される第3のロッカーアームと、
前記第3の出力歯車を係止し且つ係止解除するために前記カムシャフトと移動可能に係合させられる第3の係止アームとを含む、
請求項13に記載の手術ツール。 - 前記第1の出力歯車は、ある軸にそって延び且つ該軸について回転可能である、主シャフトに連結され、前記第2及び第3の出力歯車は、前記主シャフト内に保持され、前記軸について前記主シャフトと回転する、請求項14に記載の手術ツール。
- 前記第2の出力歯車は、前記主シャフト内に延びる第1の出力シャフトに連結され、前記第3の出力歯車は、前記主シャフト内に延びる第2の出力シャフトに連結される、請求項15に記載の手術ツール。
- 前記第1、第2、及び第3の歯車列は、前記カムシャフトと平行な共通の軸に沿って配置される、請求項14に記載の手術ツール。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461973257P | 2014-03-31 | 2014-03-31 | |
US61/973,257 | 2014-03-31 | ||
PCT/US2015/023636 WO2015153642A1 (en) | 2014-03-31 | 2015-03-31 | Surgical instrument with shiftable transmission |
Publications (3)
Publication Number | Publication Date |
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JP2017515535A JP2017515535A (ja) | 2017-06-15 |
JP2017515535A5 JP2017515535A5 (ja) | 2018-05-17 |
JP6725426B2 true JP6725426B2 (ja) | 2020-07-15 |
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US (3) | US10610313B2 (ja) |
EP (2) | EP3906880A1 (ja) |
JP (1) | JP6725426B2 (ja) |
KR (3) | KR102592615B1 (ja) |
CN (2) | CN106163445B (ja) |
WO (1) | WO2015153642A1 (ja) |
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US20220104894A1 (en) | 2022-04-07 |
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