JP5085996B2 - マニピュレータシステム - Google Patents
マニピュレータシステム Download PDFInfo
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- JP5085996B2 JP5085996B2 JP2007206850A JP2007206850A JP5085996B2 JP 5085996 B2 JP5085996 B2 JP 5085996B2 JP 2007206850 A JP2007206850 A JP 2007206850A JP 2007206850 A JP2007206850 A JP 2007206850A JP 5085996 B2 JP5085996 B2 JP 5085996B2
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- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
- A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A61B34/72—Micromanipulators
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- 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
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- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- 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
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0803—Counting the number of times an instrument is used
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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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0804—Counting number of instruments used; Instrument detectors
- A61B2090/0805—Counting number of instruments used; Instrument detectors automatically, e.g. by means of magnetic, optical or photoelectric detectors
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- A—HUMAN NECESSITIES
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- 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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
- A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
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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
- A61B90/361—Image-producing devices, e.g. surgical cameras
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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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
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Description
マニピュレータ1102(a)、コントロールユニット1104(b)、外科器具1106(c)、外科器具コントロールユニット1112(d)、動作部コントローラ1107(e)、動作部1122(f)、シャフト1116(g)、ハンドル1110(h)、ボタン1114(i)、送信機1210(j)、モータ1212(k)、交信回路1216(l)、ドライブアセンブリ1204(m)、個体識別子1300(n)、個体信号読取器1302(o)は、順に前記のマニピュレータシステム500における次の構成要素、
マニピュレータ10(a)、コントローラ541(b)、作業部16(c)、アクチュエータブロック30(d)、接続部15(e)、先端動作部12(f)、連結シャフト48(g)、グリップハンドル26(h)、トリガーレバー32(i)、RFID610(j)、モータ41〜42(k)、送受信器612(l)、プーリ50a〜50c(m)、バーコード104(n)、カメラ106(o)に対応する。なお、括弧付きの符号は対比が容易となるように参考に付したものである。
14、14a〜14d…操作部 15…接続部
16、16a〜16d…作業部 30…アクチュエータブロック
37…カバー 40、41、42、1212…モータ
48…連結シャフト 104…バーコード(ID保持部)
105…LED(投光手段) 106…カメラ(ID認識部)
107…作業部検出手段 107a…投光器
107b…受光器 109…被検出片
300…プーリ格納体 500、1100…マニピュレータシステム
514…コントローラ 600…LAN
602…ホストコンピュータ 604…使用履歴テーブル
606…接続情報テーブル 610…RFID(ID保持部)
612…送受信器(ID認識部) 700…手術用ロボットシステム
1104…コントロールユニット 1106…外科器具(作業部)
1107…動作部コントローラ(接続部)
1108…外科器具コントロール機構(操作部)
1112…外科器具コントロールユニット(アクチュエータ部)
1116…シャフト 1122…動作部
1210…送信機(ID保持部) 1216…交信回路(ID認識部)
1300…個体識別子(ID保持部)
1302…個体信号読取器(ID認識部)
Claims (14)
- マニピュレータ及び該マニピュレータを制御する制御部とを備えるマニピュレータシステムにおいて、
前記マニピュレータは、
アクチュエータが備えられたアクチュエータ部と、
前記アクチュエータ部に対して着脱自在で、シャフトの先端に前記アクチュエータに連動して前記シャフトの軸と非平行な軸を基準として回動する先端動作部を備える作業部と、
を有し、
前記作業部は、固体識別用の個体信号を保持するID保持部を備え、
前記アクチュエータ部は、前記ID保持部に対して非接触で、該ID保持部の前記個体信号を認識し前記制御部へ供給するID認識部を備え、
前記制御部は、供給された前記個体信号に基づいて前記作業部の制御をし、
前記アクチュエータ部は、前記作業部の有無を検出する作業部検出手段を有し、
前記作業部検出手段は、前記ID認識部とは独立した構成として設けられ、
前記制御部は、前記作業部検出手段から得られる信号に基づいて、前記作業部が前記アクチュエータ部に装着されているか否かを認識し、前記作業部が前記アクチュエータ部に装着されていないときには、前記ID認識部の動作を停止するよう制御し、前記作業部が前記アクチュエータ部に装着されたときに、前記作業部検出手段から得られる信号に基づいて、前記ID認識部を制御して前記ID保持部の前記個体信号を取得することを特徴とするマニピュレータシステム。 - 請求項1記載のマニピュレータシステムにおいて、
前記ID保持部は、電波を用いて前記個体信号を送信する送信機であり、
前記ID認識部は、前記保持部が送信する前記個体信号を受信する受信機であることを特徴とするマニピュレータシステム。 - 請求項2記載のマニピュレータシステムにおいて、
前記ID保持部は、RFIDであることを特徴とするマニピュレータシステム。 - 請求項3記載のマニピュレータシステムにおいて、
前記RFIDは、13.56MHz帯、2.45GHz帯又は5GHz帯の仕様であり、電波の指向性の最も強いメインローブのビーム幅で電力パターンが−3dBの範囲が前記ID認識部を指向していることを特徴とするマニピュレータシステム。 - 請求項3記載のマニピュレータシステムにおいて、
前記アクチュエータ部は、マニピュレータシステムに係る使用履歴データを電波で送信するデータ送信部を有し、
前記RFIDは、前記使用履歴データを受信して記録手段に記録することを特徴とするマニピュレータシステム。 - 請求項1記載のマニピュレータシステムにおいて、
前記ID保持部は、前記個体信号を画像情報として保持する表示手段であり、
前記ID認識部は、前記表示手段を撮像する撮像手段であることを特徴とするマニピュレータシステム。 - 請求項6記載のマニピュレータシステムにおいて、
前記表示手段は、バーコードであることを特徴とするマニピュレータシステム。 - 請求項6記載のマニピュレータシステムにおいて、
前記作業部及び(又は)前記アクチュエータ部は、前記作業部と前記アクチュエータ部とが接続されたときに前記表示手段及び前記撮像手段が略閉空間内となるように前記ID保持部及び前記撮像手段を覆うカバーを有することを特徴とするマニピュレータシステム。 - 請求項6記載のマニピュレータシステムにおいて、
前記撮像手段は、赤外線を検出する手段であることを特徴とするマニピュレータシステム。 - 請求項6記載のマニピュレータシステムにおいて、
前記アクチュエータ部は、前記表示手段を照明する投光手段を有することを特徴とするマニピュレータシステム。 - 請求項1記載のマニピュレータシステムにおいて、
前記作業部検出手段は、対向する位置に設けられた投光器と受光器とからなり、該投光器と該受光器との間に前記作業部の一部が挿入されて遮光することにより該作業部が装着されたことを検出することを特徴とするマニピュレータシステム。 - 請求項1記載のマニピュレータシステムにおいて、
複数の前記制御部と通信可能な使用履歴管理手段を有し、
前記アクチュエータ部は、前記作業部の有無を検出する作業部検出手段を有し、
前記制御部は、前記作業部検出手段から得られる信号に基づいて、前記作業部が前記アクチュエータ部に装着されたときに前記ID認識部を制御して前記ID保持部の前記個体信号を取得し、該個体信号に対応した使用履歴データを前記使用履歴管理手段から取得し、前記作業部が前記アクチュエータ部から取り外された後に前記使用履歴データを更新して前記使用履歴管理手段に供給し、該使用履歴管理手段は取得した使用履歴データを前記個体信号に応じて記録手段に記録することを特徴とするマニピュレータシステム。 - 請求項12記載のマニピュレータシステムにおいて、
前記使用履歴管理手段は、複数の前記制御部のうちいずれか1つ、若しくは全部に備えられていることを特徴とするマニピュレータシステム。 - 請求項1記載のマニピュレータシステムにおいて、
前記作業部は、前記先端動作部と前記アクチュエータ部に接続される接続部とが前記シャフトにより連結され、
前記ID保持部は前記接続部に設けられていることを特徴とするマニピュレータシステム。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007206850A JP5085996B2 (ja) | 2006-10-25 | 2007-08-08 | マニピュレータシステム |
EP09150318A EP2042120B1 (en) | 2006-10-25 | 2007-10-24 | Manipulator system |
US11/923,124 US20080262654A1 (en) | 2006-10-25 | 2007-10-24 | Manipulator system |
EP07119215A EP1915967B1 (en) | 2006-10-25 | 2007-10-24 | Manipulator system |
AT09150318T ATE555738T1 (de) | 2006-10-25 | 2007-10-24 | Manipulatorsystem |
DE602007005200T DE602007005200D1 (de) | 2006-10-25 | 2007-10-24 | Manipulatorsystem |
AT07119215T ATE460128T1 (de) | 2006-10-25 | 2007-10-24 | Manipulatorsystem |
CN2007101674711A CN101167658B (zh) | 2006-10-25 | 2007-10-25 | 操纵器系统 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US86282306P | 2006-10-25 | 2006-10-25 | |
US60/862823 | 2006-10-25 | ||
JP2007206850A JP5085996B2 (ja) | 2006-10-25 | 2007-08-08 | マニピュレータシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008104855A JP2008104855A (ja) | 2008-05-08 |
JP5085996B2 true JP5085996B2 (ja) | 2012-11-28 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2007206850A Active JP5085996B2 (ja) | 2006-10-25 | 2007-08-08 | マニピュレータシステム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20080262654A1 (ja) |
EP (2) | EP1915967B1 (ja) |
JP (1) | JP5085996B2 (ja) |
CN (1) | CN101167658B (ja) |
AT (2) | ATE460128T1 (ja) |
DE (1) | DE602007005200D1 (ja) |
Families Citing this family (841)
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US10588629B2 (en) * | 2009-11-20 | 2020-03-17 | Covidien Lp | Surgical console and hand-held surgical device |
US10041822B2 (en) | 2007-10-05 | 2018-08-07 | Covidien Lp | Methods to shorten calibration times for powered devices |
US10105140B2 (en) * | 2009-11-20 | 2018-10-23 | Covidien Lp | Surgical console and hand-held surgical device |
US10022123B2 (en) | 2012-07-09 | 2018-07-17 | Covidien Lp | Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | Surgical stapling instrument incorporating a two-piece E-beam firing mechanism |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US11890012B2 (en) | 2004-07-28 | 2024-02-06 | Cilag Gmbh International | Staple cartridge comprising cartridge body and attached support |
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EP2042120A2 (en) | 2009-04-01 |
CN101167658A (zh) | 2008-04-30 |
DE602007005200D1 (de) | 2010-04-22 |
EP1915967A1 (en) | 2008-04-30 |
EP2042120B1 (en) | 2012-05-02 |
ATE460128T1 (de) | 2010-03-15 |
EP2042120A3 (en) | 2009-04-22 |
CN101167658B (zh) | 2011-05-11 |
ATE555738T1 (de) | 2012-05-15 |
US20080262654A1 (en) | 2008-10-23 |
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