JP6959264B2 - ロボット手術システム用制御アームアセンブリ - Google Patents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B34/74—Manipulators with manual electric input means
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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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
- A61B34/37—Master-slave 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
- F16H21/54—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for conveying or interconverting oscillating or reciprocating motions
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- 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
- A61B17/2909—Handles
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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
- A61B2017/00477—Coupling
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
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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
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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Description
本出願は、2016年6月3日に出願された米国仮特許出願第62/345,505号の利益を主張し、優先権を主張し、その全開示は参照により本明細書に組み込まれる。
ロボット手術システムは、低侵襲医療処置において使用されている。このような医療処置の間、ロボット手術システムは、ユーザーインタフェースで接続された外科医によって制御される。ユーザーインタフェースは、外科医が患者に作用するロボットシステムのエンドエフェクタを操作することを可能にする。ユーザーインタフェースは、ロボット手術システムを制御するために外科医が動かすことが可能な制御アームアセンブリを含む。
本発明は、例えば、以下を提供する。
(項目1)
ロボットシステムを制御するための制御アームアセンブリであって、
移動可能、かつ3つの軸を中心として回転可能なジンバルと、
前記ジンバルに結合されているハンドルアセンブリとを備え、前記ハンドルアセンブリは、内部に配置されたコントローラと、上部に配置された第1のアクチュエータとを有する本体部分を含み、前記第1のアクチュエータは、前記第1のアクチュエータの作動が、前記コントローラによって電気信号に変換される、前記コントローラの構成要素の機械的な動きを引き起こすように、4バーリンケージを介して前記コントローラに機械的に結合されている、制御アームアセンブリ。
(項目2)
前記第1のアクチュエータは、近位部分と遠位部分とを含み、前記第1のアクチュエータは、前記遠位部分が前記本体部分から横方向に離間するように伸びる付勢位置を有し、前記本体部分に向かう方向への、前記遠位部分への加力が、前記第1のアクチュエータを、前記近位部分が前記本体部分から横方向に離間するように動かされる作動位置に動かす、項目1に記載の制御アームアセンブリ。
(項目3)
前記4バーリンケージの第1のリンクが、前記第1のアクチュエータの前記近位部分に固定されている、項目2に記載の制御アームアセンブリ。
(項目4)
前記4バーリンケージは、前記ハンドルアセンブリの前記本体部分内に固定配置され、前記コントローラに動作可能に接続された第2のリンクと、前記第1および第2のリンクに旋回可能に結合されている第3および第4のリンクとをさらに含む、項目3に記載の制御アームアセンブリ。
(項目5)
前記コントローラの前記構成要素が第1の歯車であり、前記4バーリンケージの前記第2のリンクが、前記第2のリンク内に回転可能に配置されたシャフトに取り付けられた第2の歯車を含み、前記第2のリンクの前記第2の歯車は、前記コントローラの前記第1の歯車と噛み合って係合し、前記第4のリンクの動きは、前記コントローラの前記第1の歯車の回転運動を引き起こす前記第2のリンクの前記第2の歯車の回転運動を引き起こす、項目4に記載の制御アームアセンブリ。
(項目6)
前記第4のリンクの端部は、前記第2のリンクの前記第2の歯車に回転不能に結合されている、項目5に記載の制御アームアセンブリ。
(項目7)
前記第1のアクチュエータは、前記ハンドルアセンブリの前記本体部分の外面に配置されている、項目2に記載の制御アームアセンブリ。
(項目8)
前記ハンドルアセンブリは、前記第1のアクチュエータの前記遠位部分の上に伸びるストラップを含む、項目7に記載の制御アームアセンブリ。
(項目9)
前記ジンバルは、前記ハンドルアセンブリの遠位端部に解放可能に結合されているコネクタを含む、項目1に記載の制御アームアセンブリ。
(項目10)
前記コネクタは、前記ハンドルアセンブリの前記遠位端部と解放可能に係合するための、フランジ付き外縁部と、前記フランジ付き外縁部の終端部に画定された対向する戻り止め部とを含む、項目9に記載の制御アームアセンブリ。
(項目11)
ロボットシステムを制御するためのハンドルアセンブリであって、
本体部分と、
前記本体部分内に配置されたコントローラと、
前記本体部分上に配置された第1のアクチュエータと、
前記第1のアクチュエータの作動が、前記コントローラによって電気信号に変換される、前記コントローラの構成要素の機械的な動きを引き起こすように、前記コントローラと前記第1のアクチュエータとを機械的に結合している4バーリンケージとを備える、ハンドルアセンブリ。
(項目12)
前記第1のアクチュエータは、近位部分と遠位部分とを含み、前記第1のアクチュエータは、前記遠位部分が前記本体部分から横方向に伸びる付勢位置を有し、前記本体部分に向かう方向への、前記遠位部分への加力が、前記第1のアクチュエータを、前記近位部分が前記本体部分から横方向に離間するように動かされる作動位置に動かす、項目11に記載のハンドルアセンブリ。
(項目13)
前記4バーリンケージの第1のリンクが、前記第1のアクチュエータの前記近位部分に固定されている、項目12に記載のハンドルアセンブリ。
(項目14)
前記4バーリンケージは、前記本体部分内に固定配置され、前記コントローラに動作可能に接続された第2のリンクと、前記第1および第2のリンクに旋回可能に結合されている第3および第4のリンクとをさらに含む、項目13に記載のハンドルアセンブリ。
(項目15)
前記コントローラの前記構成要素が第1の歯車であり、前記4バーリンケージの前記第2のリンクが、前記第2のリンク内に回転可能に配置されたシャフトに取り付けられた第2の歯車を含み、前記第2のリンクの前記第2の歯車が、前記コントローラの前記第1の歯車と噛み合って係合し、前記第4のリンクの動きは、前記コントローラの前記第1の歯車の回転運動を引き起こす前記第2のリンクの前記第2の歯車の回転運動を引き起こす、項目14に記載のハンドルアセンブリ。
(項目16)
前記第4のリンクの端部は、前記第2のリンクの前記第2の歯車に回転不能に結合されている、項目15に記載のハンドルアセンブリ。
(項目17)
前記第1のアクチュエータは、前記本体部分の外面に配置されている、項目12に記載のハンドルアセンブリ。
(項目18)
前記第1のアクチュエータの前記遠位部分の上に伸びるストラップをさらに備える、項目17に記載のハンドルアセンブリ。
Claims (12)
- ロボットシステムを制御するための制御アームアセンブリであって、
移動可能、かつ3つの軸を中心として回転可能なジンバルと、
前記ジンバルに結合されているハンドルアセンブリと
を備え、前記ハンドルアセンブリは、内部に配置されたコントローラを有する本体部分を含み、前記本体部分は、ハウジングと、第1のアクチュエータとを備え、
前記第1のアクチュエータは、前記ハウジング上に配置され、前記第1のアクチュエータは、前記第1のアクチュエータの作動が、前記コントローラによって電気信号に変換される、前記コントローラの構成要素の機械的な動きを引き起こすように、4バーリンケージを介して前記コントローラに機械的に結合され、
前記第1のアクチュエータは、近位部分と遠位部分とを含み、前記第1のアクチュエータは、前記遠位部分が前記ハウジングから横方向に離間するように延びる付勢位置を有し、前記本体部分に向かう方向への、前記遠位部分への加力が、前記近位部分が前記ハウジングから横方向に離間するように動かされる作動位置に前記第1のアクチュエータを動かす、制御アームアセンブリ。 - 前記4バーリンケージの第1のリンクが、前記第1のアクチュエータの前記近位部分に固定されている、請求項1に記載の制御アームアセンブリ。
- 前記4バーリンケージは、前記ハンドルアセンブリの前記本体部分内に固定配置され、前記コントローラに動作可能に接続された第2のリンクと、前記第1および第2のリンクに旋回可能に結合されている第3および第4のリンクとをさらに含む、請求項2に記載の制御アームアセンブリ。
- 前記第1のアクチュエータは、前記ハンドルアセンブリの前記本体部分の外面に配置されている、請求項1に記載の制御アームアセンブリ。
- 前記ハンドルアセンブリは、前記第1のアクチュエータの前記遠位部分の上に延びるストラップを含む、請求項4に記載の制御アームアセンブリ。
- 前記ジンバルは、前記ハンドルアセンブリの遠位端部に解放可能に結合されているコネクタを含む、請求項1に記載の制御アームアセンブリ。
- 前記コネクタは、フランジ付き外縁部を含む、請求項6に記載の制御アームアセンブリ。
- ロボットシステムを制御するためのハンドルアセンブリであって、
ハウジングと第1のアクチュエータとを備える本体部分であって、前記第1のアクチュエータは、前記ハウジング上に配置されている、本体部分と、
前記本体部分内に配置されたコントローラと、
前記第1のアクチュエータの作動が、前記コントローラによって電気信号に変換される、前記コントローラの構成要素の機械的な動きを引き起こすように、前記コントローラと前記第1のアクチュエータとを機械的に結合している4バーリンケージとを備え、
前記第1のアクチュエータは、近位部分と遠位部分とを含み、前記第1のアクチュエータは、前記遠位部分が前記ハウジングから横方向に離間するように延びる付勢位置を有し、前記本体部分に向かう方向への、前記遠位部分への加力が、前記近位部分が前記ハウジングから横方向に離間するように動かされる作動位置に前記第1のアクチュエータを動かす、ハンドルアセンブリ。 - 前記4バーリンケージの第1のリンクが、前記第1のアクチュエータの前記近位部分に固定されている、請求項8に記載のハンドルアセンブリ。
- 前記4バーリンケージは、前記本体部分内に固定配置され、前記コントローラに動作可能に接続された第2のリンクと、前記第1および第2のリンクに旋回可能に結合されている第3および第4のリンクとをさらに含む、請求項9に記載のハンドルアセンブリ。
- 前記第1のアクチュエータは、前記本体部分の外面に配置されている、請求項8に記載のハンドルアセンブリ。
- 前記第1のアクチュエータの前記遠位部分の上に延びるストラップをさらに備える、請求項11に記載のハンドルアセンブリ。
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Application Number | Priority Date | Filing Date | Title |
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US201662345505P | 2016-06-03 | 2016-06-03 | |
US62/345,505 | 2016-06-03 | ||
PCT/US2017/035583 WO2017210501A1 (en) | 2016-06-03 | 2017-06-02 | Control arm assemblies for robotic surgical systems |
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JP2019518526A JP2019518526A (ja) | 2019-07-04 |
JP6959264B2 true JP6959264B2 (ja) | 2021-11-02 |
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US (2) | US11058504B2 (ja) |
EP (1) | EP3463151B1 (ja) |
JP (1) | JP6959264B2 (ja) |
CN (2) | CN107708594B (ja) |
AU (2) | AU2017275595B2 (ja) |
CA (1) | CA3023272A1 (ja) |
WO (1) | WO2017210501A1 (ja) |
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Publication number | Priority date | Publication date | Assignee | Title |
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US8332072B1 (en) | 2008-08-22 | 2012-12-11 | Titan Medical Inc. | Robotic hand controller |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
US20140005640A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Surgical end effector jaw and electrode configurations |
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US20210322120A1 (en) | 2021-10-21 |
AU2021205041A1 (en) | 2021-08-12 |
EP3463151B1 (en) | 2023-10-11 |
US20200315729A1 (en) | 2020-10-08 |
EP3463151A4 (en) | 2020-02-19 |
AU2017275595A1 (en) | 2018-11-22 |
CN112754655A (zh) | 2021-05-07 |
JP2019518526A (ja) | 2019-07-04 |
US11653991B2 (en) | 2023-05-23 |
WO2017210501A1 (en) | 2017-12-07 |
EP3463151A1 (en) | 2019-04-10 |
AU2017275595B2 (en) | 2021-04-29 |
US11058504B2 (en) | 2021-07-13 |
CN107708594B (zh) | 2021-03-05 |
CA3023272A1 (en) | 2017-12-07 |
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