JP6804877B2 - ロボット支援手術のための装置 - Google Patents
ロボット支援手術のための装置 Download PDFInfo
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- JP6804877B2 JP6804877B2 JP2016116442A JP2016116442A JP6804877B2 JP 6804877 B2 JP6804877 B2 JP 6804877B2 JP 2016116442 A JP2016116442 A JP 2016116442A JP 2016116442 A JP2016116442 A JP 2016116442A JP 6804877 B2 JP6804877 B2 JP 6804877B2
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- A61B34/32—Surgical robots operating autonomously
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
- A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
-
- 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
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0204—Acoustic sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2576/00—Medical imaging apparatus involving image processing or analysis
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Description
12 マニプレータ
14 マウント
16,16a乃至16d マニプレータアーム
17 トロカールホルダ
18 患者
19 接続エレメント
20 マウントヘッド
24 マウントベース
28 マウントアーム
30 目標手術領域
31 目標手術領域の中央
32 手術台支柱
34 手術台
36 手術台の制御ユニット
38 患者支持面
40 装置の中央制御ユニット
41 出力ユニット
42 制御パネル
44 ディスプレイユニット
46 マニプレータの制御ユニット
47 出力ユニット
59 カップリングギア
60 伸縮自在配置
62,64,66 伸縮自在配置の部分
68 駆動ユニット
100,100a乃至100d 連結ユニット
102 第1の伝達手段
104 電気的伝達手段
106,108 電気接点
109 光学的伝達手段
110 第1の直進駆動エレメント
112 第2の直進駆動エレメント
114 第1の回転駆動エレメント
116 第2の回転駆動エレメント
120 連結センサ
121 RFID読書ユニット
122,124 ガイド溝
123,125 ガイド溝の前方端
126 スナップインノーズ
128 スナップインエレメント
134 アンロックボタン
200 殺菌ロック
201 殺菌フォイル
202 接続リム
204,206 ガイドピン
208,210 ロックフラップ
300,300a乃至300d 器具ユニット
400,400a乃至400d,400’,400” 殺菌ユニット
438,440 スナップイン及び作動エレメント
494 RFIDトランスポンダ
500,500a乃至500d 手術器具
510,510’,510” 長手軸
512 器具軸
514 エンドエフェクタ
800 トロカール
802 身体オリフィス
810 トロカール
812 身体オリフィス
900 ロッド内視鏡
910 頭部
912 ロッド
914 レイパス
916 焦点
A1乃至A3 移動の方向
P1乃至P3 位置
T1乃至T4 意図された身体オリフィス
V,V’ 距離ベクトル
xZ,yZ,zZ 装置の座標系における目標領域の座標
X,Y,Z 装置の座標系
X’,Y’,Z’ 患者の座標系
x’Z,y’Z,z’Z 患者の座標系における目標領域の座標
Claims (7)
- ロボット支援手術のための装置であって、
器具軸(512)を備える手術器具(500)を有する器具ユニット(300)であって、前記器具軸(512)の近位端が患者(18)の身体オリフィス(802)を通じて前記装置の座標系(X,Y,Z)の座標(xZ,yZ,zZ)によって定義された目標領域(30,31,916)に通過可能である器具ユニット(300)と、
マニプレータアーム(16)の少なくとも1つの連結ユニット(100)であって、前記連結ユニット(100)に前記器具ユニット(300)を任意に接続可能である連結ユニット(100)と、
前記器具ユニット(300)が前記連結ユニット(100)に接続された時に、前記手術器具(500)の前記器具軸(512)の長手軸(510)に垂直であり、前記長手軸(510)と前記座標(xZ,yZ,zZ)によって定義された前記目標領域(30,31,916)との間の距離ベクトル(V)を測定し、測定された前記距離ベクトル(V)の量が、第1の設定値を有するか、及び/又は前記第1の設定値未満に下がる時に、第1の制御情報を生成する制御ユニット(40,46)であって、前記第1の制御情報に依存して信号を出力する出力ユニット(41,47)を含む制御ユニット(40,46)と、
を含むことを特徴とする装置。 - 前記制御ユニット(40,46)は、測定された前記距離ベクトル(V)の量が、第2の設定値を有するか、及び/又は前記第2の設定値未満に下がる時に、少なくとも第2の制御情報を生成し、
前記出力ユニット(41,47)は、信号を出力する
請求項1に記載の装置。 - 前記出力ユニット(41,47)は、前記第1の制御情報に基づいて第1の音響信号及び/又は第1の光信号を出力するか、及び/又は前記第2の制御情報に基づいて第2の音響信号及び/又は第2の光信号を出力する
請求項2に記載の装置。 - 前記第1の音響信号は、上昇トーン及び下降トーン又は第1の反復率を備えるトーンシーケンスであり、
前記第2の音響信号は、連続トーンである
請求項3に記載の装置。 - 前記第1の光信号は、第1の点滅率を備える点滅光信号であり、
前記第2の光信号は、第2の点滅率(例えば、ゼロ)を備える光信号である
請求項3又は4に記載の装置。 - 前記目標領域は、目標手術領域(30)、目標手術領域(30)の中央(31)、又は別の手術器具(900)の位置によって定義される
請求項1乃至5の何れか一項に記載の装置。 - 前記目標領域は、前記患者(18)の身体に少なくとも部分的に挿入された内視鏡(900)又は少なくとも目標手術領域(30)の詳細な画像を取り込むための別の画像処理システムの画像化光学系の光軸及び/又は焦点(916)によって定義される
請求項1乃至5の何れか一項に記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015109371.5 | 2015-06-12 | ||
DE102015109371.5A DE102015109371A1 (de) | 2015-06-12 | 2015-06-12 | Vorrichtung und Verfahren zur robotergestützten Chirurgie |
Publications (2)
Publication Number | Publication Date |
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JP2017000772A JP2017000772A (ja) | 2017-01-05 |
JP6804877B2 true JP6804877B2 (ja) | 2020-12-23 |
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Application Number | Title | Priority Date | Filing Date |
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JP2016116442A Active JP6804877B2 (ja) | 2015-06-12 | 2016-06-10 | ロボット支援手術のための装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10092365B2 (ja) |
EP (1) | EP3103410B1 (ja) |
JP (1) | JP6804877B2 (ja) |
CN (1) | CN106236266B (ja) |
BR (1) | BR102016013379B1 (ja) |
DE (1) | DE102015109371A1 (ja) |
RU (1) | RU2719919C2 (ja) |
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EP3103410A1 (de) | 2016-12-14 |
DE102015109371A1 (de) | 2016-12-15 |
US20160361122A1 (en) | 2016-12-15 |
JP2017000772A (ja) | 2017-01-05 |
CN106236266B (zh) | 2021-07-20 |
RU2016122866A (ru) | 2017-12-14 |
BR102016013379A2 (pt) | 2016-12-27 |
RU2016122866A3 (ja) | 2019-10-15 |
BR102016013379B1 (pt) | 2022-08-02 |
RU2719919C2 (ru) | 2020-04-23 |
CN106236266A (zh) | 2016-12-21 |
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