JP6881979B2 - ロボットシステムのための光源を用いる遠隔運動中心の定義 - Google Patents
ロボットシステムのための光源を用いる遠隔運動中心の定義 Download PDFInfo
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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
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
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- 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
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/3945—Active visible markers, e.g. light emitting diodes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/23—Electric motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/50—Miscellaneous
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- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Mechanical Engineering (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Optics & Photonics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Description
a)「含む」という用語は、所与の請求項中に列挙される要素又は行為以外の他の要素又は行為の存在を排除しない。
b)ある要素に先行する不定冠詞は、そのような要素が複数存在することを排除しない。
c)請求項中のいずれの参照記号も、それらの範囲を限定しない。
d)幾つかの「手段」は、同じ品目又はハードウェア若しくはソフトウェア実現構造又は機能によって提示されてよい。
e)特別に示されない限り、行為の特定の順序が要求されることは意図されない。
Claims (21)
- 少なくとも2つの関節によって接続される1つ又はそれよりも多くのアームを含む、ロボット装置を含み、前記関節の各々は、駆動関節であり、回転の関節軸と、それぞれの関節軸と整列させられ、前記関節を駆動するモータと、それぞれの関節軸と整列させられ、前記関節の底部に配される、光源とを含み、該光源は、該光源からの光が、前記ロボット装置に装着される器具上の或る位置で交差するよう、それぞれの関節軸に沿って光を方向付け、当該交差の位置に前記ロボット装置のための遠隔運動中心(RCM)を定める、ロボットシステム。
- 前記少なくとも2つの関節は、モータ又は前記関節軸に沿って整列させられる少なくとも1つのシャフトの少なくとも一方を含む、請求項1に記載のロボットシステム。
- 前記光源は、レーザ又は発光ダイオードの一方を含む、請求項1に記載のロボットシステム。
- 前記光源は、各関節のために異なる色を含む、請求項1に記載のロボットシステム。
- 前記光源は、各関節のために異なるビーム形状を生成する、請求項1に記載のロボットシステム。
- 前記光源は、当該ロボットシステムの作業領域とのRCM整列を可能にするよう前記器具上のある位置を照らす、請求項1に記載のロボットシステム。
- 前記器具は、外科ツールを含む、請求項1に記載のロボットシステム。
- 回転の第1の軸を有し、駆動関節である、第1の関節と、
回転の第2の軸を有し、駆動関節である、第2の関節と、
前記第1の関節と前記第2の関節とによって接続される1つ又はそれよりも多くのアームと、
前記第1の軸と整列させられ、前記第1の関節を駆動する第1のモータと、
前記第2の軸と整列させられ、前記第2の関節を駆動する第2のモータと、
前記第1の関節の底部に配され、前記第1の軸に沿って光を方向付けるように前記第1の軸と整列させられる構成される、第1の光源と、
前記第2の関節の底部に配され、前記第2の軸に沿って光を方向付けるように前記第2の軸と整列させられる構成される、第2の光源とを含む、
ロボット装置と、
該ロボット装置に装着される器具とを含み、
前記第1の光源及び前記第2の光源からの光は、前記器具上の或る位置で交差して、当該交差の位置に前記ロボット装置のための遠隔運動中心(RCM)を定める、
ロボットシステム。 - 前記第1の関節は、前記第1のモータ又は前記第1の軸に沿って整列させられる少なくとも1つのシャフトの少なくとも一方を含む、請求項8に記載のロボットシステム。
- 前記第2の関節は、前記第2のモータ又は前記第2の軸に沿って整列させられる少なくとも1つのシャフトの少なくとも一方を含む、請求項8に記載のロボットシステム。
- 前記第1の光源は、レーザ又は発光ダイオードの一方を含む、請求項8に記載のロボットシステム。
- 前記第2の光源は、レーザ又は発光ダイオードの一方を含む、請求項8に記載のロボットシステム。
- 前記第1の光源は、前記第2の光源からの光と異なる色の光を含む、請求項8に記載のロボットシステム。
- 前記第1の光源は、前記第2の光源からの光ビームと異なる形状の光ビームを生成する、請求項8に記載のロボットシステム。
- 前記第1の光源及び前記第2の光源は、前記ロボット装置の作業領域とのRCM整列を可能にするよう前記器具上のある位置を照らす、請求項8に記載のロボットシステム。
- 第1の関節と第2の関節とによって接続される1つ又はそれよりも多くのアームを含むロボット装置のための遠隔運動中心を決定する方法であって、
前記第1の関節を駆動する第1のモータを前記第1の関節の回転の第1の軸と整列させること、
前記第2の関節を駆動する第2のモータを前記第2の関節の回転の第2の軸と整列させること、
前記第1の軸に沿って第1の光源を整列させること、
前記第2の軸に沿って第2の光源を整列させること、
前記ロボット装置に器具を装着すること、
前記第1の光源から前記第1の軸に沿って光を方向付けること、
前記第2の光源から前記第2の軸に沿って光を方向付けること、並びに
前記器具上の或る位置で前記第1の光源及び前記第2の光源からの光の交差点に前記ロボット装置のための遠隔運動中心(RCM)を定めることを含み、
前記第1の光源は、前記第1の軸と整列させられ、前記第1の関節の底部に配され、前記第2の光源は、前記第2の軸と整列させられ、前記第2の関節の底部に配される、
方法。 - 前記第1の光源を整列させることは、前記第1の関節を、前記第1の軸に沿って、前記第1のモータ又は少なくとも1つのシャフトの少なくとも一方と整列させることを含む、請求項16に記載の方法。
- 前記第2の光源を整列させることは、前記第2の関節を、前記第2の軸に沿って、前記第2のモータ又は少なくとも1つのシャフトの少なくとも一方と整列させることを含む、請求項16に記載の方法。
- 前記第1の光源は、前記第2の光源からの光と異なる色の光又は前記第2の光源からの光ビームと異なる形状の光ビームを含む、請求項16に記載の方法。
- 前記第1の光源及び/又は前記第2の光源の少なくとも一方は、レーザ又は発光ダイオードの一方を含む、請求項16に記載の方法。
- 前記RCMを前記ロボットシステムの作業領域と整列させることを更に含む、請求項16に記載の方法。
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US201461935657P | 2014-02-04 | 2014-02-04 | |
US61/935,657 | 2014-02-04 | ||
PCT/IB2015/050483 WO2015118422A1 (en) | 2014-02-04 | 2015-01-22 | Remote center of motion definition using light sources for robot systems |
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JP2017509375A JP2017509375A (ja) | 2017-04-06 |
JP2017509375A5 JP2017509375A5 (ja) | 2018-09-27 |
JP6881979B2 true JP6881979B2 (ja) | 2021-06-02 |
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US (2) | US10130433B2 (ja) |
EP (1) | EP3102142A1 (ja) |
JP (1) | JP6881979B2 (ja) |
CN (2) | CN105979902A (ja) |
WO (1) | WO2015118422A1 (ja) |
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-
2015
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- 2015-01-22 CN CN201580007186.6A patent/CN105979902A/zh active Pending
- 2015-01-22 CN CN202110889043.XA patent/CN113616334A/zh active Pending
- 2015-01-22 WO PCT/IB2015/050483 patent/WO2015118422A1/en active Application Filing
- 2015-01-22 US US15/115,783 patent/US10130433B2/en not_active Expired - Fee Related
- 2015-01-22 JP JP2016549451A patent/JP6881979B2/ja active Active
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US10130433B2 (en) | 2018-11-20 |
WO2015118422A1 (en) | 2015-08-13 |
JP2017509375A (ja) | 2017-04-06 |
EP3102142A1 (en) | 2016-12-14 |
CN113616334A (zh) | 2021-11-09 |
CN105979902A (zh) | 2016-09-28 |
US20190083181A1 (en) | 2019-03-21 |
US20170007335A1 (en) | 2017-01-12 |
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