JP7361751B2 - 能動的ブレーキ解放制御装置を備える医療デバイス - Google Patents
能動的ブレーキ解放制御装置を備える医療デバイス Download PDFInfo
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Description
本開示は、2014年10月27日に出願された「System and Method for Integrated Operating Table」という名称の米国仮特許出願第62/069,245号及び2015年3月17日に出願された「System and Method for Reducing Tool Disturbances」という名称の米国仮特許出願第62/134,225号の優先権を主張し、それらの全文を本明細書中に参照として援用する。
Claims (15)
- 各関節作動アームが複数のブレーキを有する、複数の関節作動アームと、
制御ユニットと、を含み、
前記制御ユニットは、
ブレーキ解放の時間期間と、前記複数の関節作動アームを含む関節作動アームの数とに基づいて、複数のタイミング窓を決定するように構成され、該複数のタイミング窓は、前記複数の関節作動アームの各関節作動アームについてのタイミング窓を含み、
前記複数の関節作動アームの各関節作動アームについて、その関節作動アームの前記複数のブレーキのブレーキを解放する順序を決定するように構成され、且つ
前記決定される順序と、前記複数のタイミング窓とに従って、前記複数の関節作動アームの各関節作動アームの前記複数のブレーキの前記ブレーキの解放を引き起こすように構成される、
コンピュータ支援デバイス。 - 前記決定される順序と前記複数のタイミング窓とに従った前記複数の関節作動アームの各関節作動アームの前記複数のブレーキの前記ブレーキの前記解放は、別のブレーキと同じ時にブレーキを解放しない、請求項1に記載のコンピュータ支援デバイス。
- 前記決定される順序と前記複数のタイミング窓とに従った前記複数の関節作動アームの各関節作動アームの前記複数のブレーキの前記ブレーキの前記解放は、互いの所定の時間内でブレーキを解放する、請求項1又は2に記載のコンピュータ支援デバイス。
- 前記複数の関節作動アームは、第1の関節作動アームと、第2の関節作動アームとを含み、
前記第1の関節作動アームの前記複数のブレーキの各ブレーキは、前記第2の関節作動アームの前記複数のブレーキのいずれかのブレーキが解放される前に解放される、
請求項1~3のうちのいずれか1項に記載のコンピュータ支援デバイス。 - 前記複数の関節作動アームは、第1の関節作動アームと、第2の関節作動アームとを含み、
前記第1の関節作動アームの前記複数のブレーキの前記ブレーキの前記解放は、前記第2の関節作動アームの前記複数のブレーキの前記ブレーキの前記解放とインターリーブされる、請求項1~3のうちのいずれか1項に記載のコンピュータ支援デバイス。 - 前記複数の関節作動アームの第1の関節作動アームについて、前記決定される順序は、
前記第1の関節作動アームの垂直ジョイントのためのブレーキが最後に解放されるか、或いは、
解放されるときに最大量の動きを引き起こす前記第1の関節作動アームのジョイントのブレーキが最後に解放されるような、
順序において、前記第1の関節作動アームの前記複数のブレーキを解放する、
請求項1~5のうちのいずれか1項に記載のコンピュータ支援デバイス。 - 前記複数のタイミング窓の各タイミング窓を決定するために、前記制御ユニットは、前記時間期間内のクロックサイクルの数によるグローバルクロックの法を取るように構成される、請求項1~6のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 前記複数の関節作動アームの第1の関節作動アームのための前記複数のブレーキの前記ブレーキの前記解放を引き起こすために、前記制御ユニットは、前記第1の関節作動アームに命令を送信するように構成される、請求項1~7のうちのいずれか1項に記載のコンピュータ支援デバイス。
- 前記複数の関節作動アームは、第1の関節作動アームを含み、
前記第1の関節作動アームの前記複数のブレーキの第1のブレーキの解放は、漸進的なブレーキ解放を含む、
請求項1~8のうちのいずれか1項に記載のコンピュータ支援デバイス。 - 前記制御ユニットは、
ブレーキが解放されるときに前記複数の関節作動アームの第1の関節作動アームの関心の地点への外乱を検出し、且つ、
前記第1の関節作動アームの複数のジョイントを移動させて、前記外乱を補償する、
ように更に構成される、
請求項1~9のうちのいずれか1項に記載のコンピュータ支援デバイス。 - 各関節作動アームが複数のブレーキを有する複数の関節作動アームを含むデバイスの動きを制御する作動方法であって、
前記デバイスの制御ユニットが、ブレーキ解放のための時間期間と、前記複数の関節作動アームを含む関節作動アームの数とに基づいて、複数のタイミング窓を決定することであって、該複数のタイミング窓は、前記複数の関節作動アームの各関節作動アームについてのタイミング窓を含む、複数のタイミング窓を決定することと、
前記制御ユニットが、前記複数の関節作動アームの各関節作動アームについて、その関節作動アームの前記複数のブレーキのブレーキを解放するための順序を決定することと、
前記制御ユニットが、前記決定される順序と、前記複数のタイミング窓とに従って、前記複数の関節作動アームの各関節作動アームの前記複数のブレーキの前記ブレーキの解放を引き起こすことと、を含む、
作動方法。 - 前記決定される順序と前記複数のタイミング窓とに従った前記複数の関節作動アームの各関節作動アームの前記複数のブレーキの前記ブレーキの解放は、別のブレーキと同じ時にブレーキを解放しない、請求項11に記載の作動方法。
- 前記決定される順序と前記複数のタイミング窓とに従った前記複数の関節作動アームの各関節作動アームの前記複数のブレーキの各ブレーキの解放は、互いの所定の時間内にブレーキを解放する、請求項11又は12に記載の作動方法。
- 前記複数の関節作動アームは、第1の関節作動アームと、第2の関節作動アームとを含み、更に、
前記第1の関節作動アームの前記複数のブレーキの各ブレーキは、前記第2の関節作動アームの前記複数のブレーキのいずれかのブレーキが解放される前に解放され、或いは、
前記複数の関節作動アームの前記第1の関節作動アームの前記複数のブレーキの前記ブレーキの前記解放は、前記複数の関節作動アームの前記第2の関節作動アームの前記複数のブレーキの各ブレーキの前記解放とインターリーブされる、請求項11~13のうちのいずれか1項に記載の作動方法。 - 複数の機械可読指令を含む非一時的な機械可読媒体であって、前記複数の機械可読指令は、コンピュータ支援デバイスと関連付けられる1つ又はそれよりも多くのプロセッサによって実行されるときに、該1つ又はそれよりも多くのプロセッサに請求項11~14のうちのいずれか1項に記載の作動方法を行わせるように構成される、非一時的機械可読媒体。
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US201462069245P | 2014-10-27 | 2014-10-27 | |
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US201562134225P | 2015-03-17 | 2015-03-17 | |
US62/134,225 | 2015-03-17 | ||
JP2020000627A JP7235684B2 (ja) | 2014-10-27 | 2020-01-07 | 能動的ブレーキ解放制御装置を備える医療デバイス |
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KR102623373B1 (ko) | 2014-10-27 | 2024-01-11 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블 운동을 위한 시스템 및 방법 |
EP3212107A4 (en) | 2014-10-27 | 2018-06-13 | Intuitive Surgical Operations, Inc. | Medical device with active brake release control |
KR102545930B1 (ko) | 2014-10-27 | 2023-06-22 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블을 위한 시스템 및 방법 |
CN107072864B (zh) | 2014-10-27 | 2019-06-14 | 直观外科手术操作公司 | 用于配准到手术台的***及方法 |
EP3212148A4 (en) | 2014-10-27 | 2018-07-11 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table icons |
US10603135B2 (en) * | 2014-10-30 | 2020-03-31 | Intuitive Surgical Operations, Inc. | System and method for an articulated arm based tool guide |
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EP3212107A1 (en) | 2017-09-06 |
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