JP7372934B2 - 医療装置のための制御ユニット - Google Patents
医療装置のための制御ユニット Download PDFInfo
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Description
本出願は、2018年3月29日に出願された米国仮特許出願第62/649,634号の優先権の利益を主張するものであり、その内容は、全体が参照により本明細書に組み込まれる。
(i)装置のシャフトは、手および腕の動き(主に手首、肘および/または肩関節の周り)によって、組織アクセス部位に対して、上下、左右に動かされ、左右に回転される。(手首、肘、および/または肩の動きによってもたらされるような)回転は、本発明の制御ユニットのハウジング内に配置された感知ユニットによってスケーリングされる(例えば、回転角度の増加)。
(ii)シャフトの関節は、手の動きによって(主に手首関節の小さな動きと組み合わされた指の動きによって)制御される。これは、フィンガインタフェースを傾斜させることによって達成される。
(iii)遠位に取り付けられた器具は、(主に指節間関節および中手骨-指節関節の周りの)指の動きを介して作動される。
ここで、以下の実施例を参照するが、これは上記の説明と共に、本発明を非限定的な様式で例示する。
Claims (11)
- 関節運動するシャフトを有する医療装置のための制御ユニットであって、
ユーザの手によって係合可能であり、前記制御ユニットのハウジングに不動に取り付けられるインタフェースであって、前記ハウジングは前記医療装置に取り付け可能である、インタフェースと、
前記制御ユニットの空間的位置および配向、および前記医療装置のエフェクタ端部の空間的位置および配向を測定し、制御ユニットが組織に対して操作されるときに、組織に対する前記エフェクタ端部の前記空間的位置および配向を維持するために、駆動ユニットを介して前記医療装置の前記関節運動するシャフトを操作するための情報を前記制御ユニットに提供するための感知ユニットと、を備え、
前記感知ユニットは、前記制御ユニットが、前記医療装置の位置にかかわらず前記エフェクタ端部を同じ空間的配向に維持する、ホバリングモードを可能にする、制御ユニット。 - 前記ハウジングの回転角度は、前記シャフトの関節運動領域の異なる回転角度に拡大または縮小される、
請求項1に記載の制御ユニット。 - 前記インタフェースは、前記手のパームを介して操作可能なパームインタフェースである、
請求項1に記載の制御ユニット。 - 前記ハウジングに枢動可能に取り付けられ、前記手の1つまたは複数の指によって係合可能であるフィンガインタフェースをさらに備える、
請求項1に記載の制御ユニット。 - パームインタフェースに枢動可能に取り付けられ、パームが前記パームインタフェースと係合したときに手の背面(甲)に拘束力を加えるように弾性変形することができる要素を有する拘束具をさらに備える、
請求項2に記載の制御ユニット。 - 前記フィンガインタフェースは、親指および人差し指を介して同時に操作可能なレバーを含む、
請求項4に記載の制御ユニット。 - フィンガインタフェースは、前記医療装置の前記シャフトの関節運動を操作し、前記医療装置のエフェクタ端部を操作するように構成される、
請求項4に記載の制御ユニット。 - 前記駆動ユニットは、前記医療装置の前記シャフトを制御するための少なくとも1つのモータを含む、
請求項1に記載の制御ユニット。 - 前記感知ユニットは慣性測定ユニットを含む、
請求項8に記載の制御ユニット。 - 前記慣性測定ユニットからの信号は、前記少なくとも1つのモータを動作させて前記シャフトを回転させる、
請求項9に記載の制御ユニット。 - 関節運動可能なシャフトを有する最小侵襲性医療装置に取り付けられた、
請求項1に記載の制御ユニットを備えるシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201862649634P | 2018-03-29 | 2018-03-29 | |
US62/649,634 | 2018-03-29 | ||
PCT/IL2019/050361 WO2019186563A1 (en) | 2018-03-29 | 2019-03-28 | Control unit for a medical device |
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JP2021519629A JP2021519629A (ja) | 2021-08-12 |
JP7372934B2 true JP7372934B2 (ja) | 2023-11-01 |
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JP2020552330A Active JP7372934B2 (ja) | 2018-03-29 | 2019-03-28 | 医療装置のための制御ユニット |
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US (1) | US20210045764A1 (ja) |
EP (1) | EP3773244A4 (ja) |
JP (1) | JP7372934B2 (ja) |
CN (1) | CN112040879B (ja) |
CA (1) | CA3094797A1 (ja) |
WO (1) | WO2019186563A1 (ja) |
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US20240138944A1 (en) * | 2021-03-15 | 2024-05-02 | Human Xtensions Ltd. | Robotic surgery system |
Citations (1)
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JP2016533241A (ja) | 2013-09-01 | 2016-10-27 | ヒューマン エクステンションズ リミテッド | 医療装置のための制御ユニット |
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- 2019-03-28 WO PCT/IL2019/050361 patent/WO2019186563A1/en active Application Filing
- 2019-03-28 US US17/041,509 patent/US20210045764A1/en active Pending
- 2019-03-28 CN CN201980028972.2A patent/CN112040879B/zh active Active
- 2019-03-28 JP JP2020552330A patent/JP7372934B2/ja active Active
- 2019-03-28 CA CA3094797A patent/CA3094797A1/en active Pending
- 2019-03-28 EP EP19778317.8A patent/EP3773244A4/en active Pending
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JP2016533241A (ja) | 2013-09-01 | 2016-10-27 | ヒューマン エクステンションズ リミテッド | 医療装置のための制御ユニット |
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EP3773244A4 (en) | 2021-12-15 |
EP3773244A1 (en) | 2021-02-17 |
JP2021519629A (ja) | 2021-08-12 |
CN112040879B (zh) | 2024-07-09 |
US20210045764A1 (en) | 2021-02-18 |
CN112040879A (zh) | 2020-12-04 |
WO2019186563A1 (en) | 2019-10-03 |
CA3094797A1 (en) | 2019-10-03 |
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