JP7005080B2 - 医療用スキャフォールドの生体内ロボット撮像、感知、及び留置装置及び方法 - Google Patents
医療用スキャフォールドの生体内ロボット撮像、感知、及び留置装置及び方法 Download PDFInfo
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- JP7005080B2 JP7005080B2 JP2021526714A JP2021526714A JP7005080B2 JP 7005080 B2 JP7005080 B2 JP 7005080B2 JP 2021526714 A JP2021526714 A JP 2021526714A JP 2021526714 A JP2021526714 A JP 2021526714A JP 7005080 B2 JP7005080 B2 JP 7005080B2
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
- A61F2002/4633—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4635—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using minimally invasive surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
- B22F10/28—Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
- B22F12/50—Means for feeding of material, e.g. heads
- B22F12/53—Nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F2999/00—Aspects linked to processes or compositions used in powder metallurgy
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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- Orthopedic Medicine & Surgery (AREA)
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- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Transplantation (AREA)
- Robotics (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Pathology (AREA)
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- Automation & Control Theory (AREA)
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Description
本出願は、2018年9月25日に出願された米国特許仮出願第62/736,232号のPCT出願であり、該出願に基づく優先権を主張するものであり、その全体が参照により本明細書に組み込まれる。
Claims (29)
- 生体内手技を行うための多機能ロボットシステムであって、前記ロボットシステムは、
コンピュータプロセッサを備える制御ユニットと、
多軸運動のために制御ユニットと通信するロボットアームであって、前記ロボットアームは、内部に複数の通路を有するケーシングを備える、ロボットアームと、
前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能であるプリンタヘッドであって、前記プリンタヘッドは、少なくとも1つの多次元オブジェクトを作製するように構成される、プリンタヘッドと、
前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能である、測定システムと、
を備え、
前記コンピュータプロセッサは、前記プリンタヘッド及び前記測定システムと通信し、前記コンピュータプロセッサは、前記測定システムから信号を受信するように構成された実行可能ソフトウェアを備え、前記実行可能ソフトウェアは、前記測定システムからの信号に基づいて、オブジェクトを生体内の場所に位置決めするべく前記プリンタヘッド及び前記測定システムを制御するように構成される、ロボットシステム。 - 前記測定システムが、オブジェクトを受け入れるための空洞を生体内で測定し、前記空洞の受入面をマッピングするように構成された撮像システムを備える、請求項1に記載のロボットシステム。
- 前記測定システムが、前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能である、センサシステムを備え、前記センサシステムは、前記受入面及びその近傍の領域の特性を確かめるように構成される、請求項1又は2に記載のロボットシステム。
- 前記オブジェクトを位置決めすることが、オブジェクトを生体内で形成することを含む、請求項1~3のいずれか一項に記載のロボットシステム。
- 前記オブジェクトを位置決めすることが、オブジェクトを生体外で形成することを含む、請求項1~4のいずれか一項に記載のロボットシステム。
- 前記ロボットシステムが、前記オブジェクトの少なくとも1つの生体外で形成されたセグメントをさらに備え、前記通路のうちの少なくとも1つが、前記セグメントを前記空洞に移送するためのコンベヤシステムを備える、請求項1~5のいずれか一項に記載のロボットシステム。
- 前記ケーシングが、体の内腔に収まるように構成される、請求項1~6のいずれか一項に記載のロボットシステム。
- 前記撮像システムが、磁気共鳴画像システム、スペクトル撮像システム、及びコンピュータ断層撮影システムのうちの少なくとも1つを含む、請求項2に記載のロボットシステム。
- 前記ロボットシステムが、前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能である、コーティング適用システムをさらに備え、前記コーティング適用システムは、オブジェクト及び受入面のうちの少なくとも1つに生物学的に操作された物質を生体内で適用するように構成される、請求項1~8のいずれか一項に記載のロボットシステム。
- 生物学的に操作された物質をさらに備える、請求項1~9のいずれか一項に記載のロボットシステム。
- 前記生物学的に操作された物質は、
(a)オブジェクトに生体内で適用される、
(b)オブジェクトに生体外で適用される、
(c)流動可能である、
(d)注射可能である、
(e)パテ、
(f)ペースト、
(g)粉末、
(h)オブジェクトの近傍の領域に適用される、
(i)オブジェクトの少なくとも一部を形成する、
(j)プリンタヘッドによりプリント可能である、及び
(k)生体内及び生体外で硬化可能である、
のうちの少なくとも1つである、請求項10に記載のロボットシステム。 - 前記生物学的に操作された物質は、
(a)血管新生促進物質、
(b)成長因子物質、
(c)免疫反応抑制物質、
(d)骨再生物質、及び
(e)組織再生物質、
のうちの少なくとも1つを含み、
前記生物学的に操作された物質は、前記コーティング適用システム内に配置され、そこから適用される、請求項10又は11に記載のロボットシステム。 - 前記プリンタヘッドが、オブジェクトを生体内で造形するべく材料を生体内で吐出するための材料吐出ポートを備える、請求項1~12のいずれか一項に記載のロボットシステム。
- 前記オブジェクトが、受入面及びその近傍の領域の特性に基づいてオブジェクトの所定のサイズを確立するべく互いに付加的に形成された材料の複数の層を備える、請求項1~13のいずれか一項に記載のロボットシステム。
- 前記ロボットシステムが、前記複数の通路のうちの少なくとも1つに配置された材料除去システムをさらに備え、前記材料除去システムは、受入面及びその近傍の領域の特性に基づいてオブジェクトの所定のサイズを確立するように構成される、請求項1~14のいずれか一項に記載のロボットシステム。
- 前記通路のうちの少なくとも1つが組立システムを備え、前記オブジェクトは、それぞれ相互係止システムを有する複数のセグメントを備え、前記組立システムは、前記セグメントを互いに生体内で組み立て、前記隣接するセグメントの相互係止システムを互いに係止するように構成される、請求項1~15のいずれか一項に記載のロボットシステム。
- 前記ロボットシステムが、前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能である、光学装置をさらに備え、前記光学装置は、生体内画像をコンピュータプロセッサに送信するべくコンピュータプロセッサと通信する、請求項1~16のいずれか一項に記載のロボットシステム。
- 前記ロボットシステムが、前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能である、硬化装置をさらに備え、前記硬化装置は、体腔内に堆積された材料を生体内で硬化するように構成される、請求項1~17のいずれか一項に記載のロボットシステム。
- 前記硬化装置が、レーザ、熱源、及び化学反応体のうちの少なくとも1つを含む、請求項18に記載のロボットシステム。
- 前記ロボットシステムが、前記複数の通路のうちの少なくとも1つに配置され、そこから動作可能である、多軸ポジショナをさらに備え、前記多軸ポジショナは、生体内のプリンタヘッドの動的位置を制御するべくプリンタヘッド及びコンピュータプロセッサと通信する、請求項1~19のいずれか一項に記載のロボットシステム。
- 前記通路のうちの少なくとも1つが、ヒートシンク、材料排出システム、冷却液適用システム、及び断熱システムを備える、請求項1~20のいずれか一項に記載のロボットシステム。
- 前記ロボットアームが、オブジェクトの生体内留置によって引き起こされる感染を軽減するための滅菌境界を備える、請求項1~21のいずれか一項に記載のロボットシステム。
- 前記センサシステムが、密度、硬度、及び化学組成のうちの少なくとも1つを確かめるように構成される、請求項3~22のいずれか一項に記載のロボットシステム。
- 前記コンピュータプロセッサと通信する少なくとも1つの生体内小型医療機器をさらに備える、請求項1~23のいずれか一項に記載のロボットシステム。
- 前記コンピュータプロセッサと通信する生体内小型医療機器のインタラクティブなグループをさらに備える、請求項1~24のいずれか一項に記載のロボットシステム。
- 前記ロボットシステムが、それぞれ前記コンピュータプロセッサと通信する、位置決め後監視システム及び位置決め後変更システムのうちの少なくとも1つをさらに備え、前記位置決め後監視システムは、受入面に対するオブジェクトの位置を監視するように構成され、前記位置決め後変更システムは、オブジェクトを再配置及び変更するように構成される、請求項1~25のいずれか一項に記載のロボットシステム。
- 前記撮像システム、前記センサシステム、前記位置決め後監視システム、及び前記位置決め後変更システムのうちの少なくとも1つが、オブジェクト内に配置される、請求項26に記載のロボットシステム。
- 前記プリンタヘッド、前記撮像システム、前記センサシステム、前記位置決め後監視システム、及び前記位置決め後変更システムのうちの少なくとも1つが、生体内構成で少なくとも1つの小型医療機器内に配置される、請求項26に記載のロボットシステム。
- 前記システムが内視鏡により配置される、請求項1~28のいずれか一項に記載のロボットシステム。
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KR20220038806A (ko) | 2022-03-29 |
JP2021528220A (ja) | 2021-10-21 |
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JP2022037187A (ja) | 2022-03-08 |
AU2019346458B2 (en) | 2021-12-09 |
IL281756A (en) | 2021-05-31 |
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US20220079691A1 (en) | 2022-03-17 |
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