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WO2018101265A1 - Dispositif d'assistance médicale, procédé d'assistance médicale et dispositif de support - Google Patents

Dispositif d'assistance médicale, procédé d'assistance médicale et dispositif de support Download PDF

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Publication number
WO2018101265A1
WO2018101265A1 PCT/JP2017/042635 JP2017042635W WO2018101265A1 WO 2018101265 A1 WO2018101265 A1 WO 2018101265A1 JP 2017042635 W JP2017042635 W JP 2017042635W WO 2018101265 A1 WO2018101265 A1 WO 2018101265A1
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WO
WIPO (PCT)
Prior art keywords
surgical
support
medical
surgical instrument
unit
Prior art date
Application number
PCT/JP2017/042635
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English (en)
Japanese (ja)
Inventor
誠生 稲田
池上　達也
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2018101265A1 publication Critical patent/WO2018101265A1/fr

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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
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/24—Stands
    • A61B50/26—Stands floor-based

Definitions

  • the present disclosure relates to a medical support apparatus that supports the handling of a surgical instrument, which is a tool for performing a medical action on a patient or acquiring information for the medical action.
  • a surgical instrument which is a tool for performing a medical action on a patient or acquiring information for the medical action.
  • the term “patient” is not limited to a person who is actually afflicted, but also includes a subject who is examined whether or not he / she is afflicted.
  • an operation device such as an endoscope is attached to the distal end of an arm (for example, a so-called multi-joint arm) that has a joint and can be bent by the joint, and performs the surgery.
  • an arm for example, a so-called multi-joint arm
  • Techniques have been proposed for supporting an industrial device at a desired position.
  • the treatment position is a position that is a target of medical practice by the surgical instrument or a position that is a target of information acquisition by the surgical instrument in the patient's body.
  • a medical support device as one aspect of the present disclosure includes an arm, a support unit, a prediction unit, and a contact suppression unit.
  • the arm includes at least one joint and is bendable at the at least one joint.
  • the support unit is configured to support a surgical instrument, which is a tool for performing a medical action on a patient or acquiring information for the medical action, on the arm.
  • the prediction unit is configured to predict in advance that the treatment position of the surgical instrument on the body of the patient moves beyond a preset allowable range.
  • the contact suppression unit isolates the surgical device from the surgical position or moves the surgical device to follow the surgical position, thereby moving the surgical device and the surgical device. It is comprised so that a contact with the said treatment position may be suppressed. Moreover, the said prediction part is comprised so that the said prediction may be performed based on the electrical signal obtained from the said patient's body.
  • the prediction unit predicts in advance based on an electrical signal obtained from the patient's body that the patient's treatment position moves beyond a preset allowable range.
  • the unit isolates or moves the surgical instrument from the treatment position. For this reason, when a patient's body moves exceeding the preset tolerance, it is possible to suppress the surgical device from coming into contact with the treatment position.
  • the prediction unit predicts the movement of the treatment position based on the electric signal, the prediction can be performed well before the treatment position actually moves. For this reason, it can suppress more satisfactorily that a surgical instrument contacts a treatment position.
  • the support unit and the contact suppression unit are replaced with each other regardless of whether the prediction unit performs the prediction based on the electrical signal. It may be configured as follows.
  • the support unit is configured to support the surgical device so as to be movable from a proximity position where the medical practice or information acquisition is performed to an isolation position isolated from the treatment position rather than the proximity position.
  • the contact suppression unit is configured to control contact between the surgical instrument and the treatment position by controlling the support unit and moving the surgical instrument from the proximity position to the isolation position. Yes.
  • the contact suppression unit isolates the surgical instrument from the surgical position. For this reason, when a patient's body moves exceeding the preset tolerance, it is possible to suppress the surgical device from coming into contact with the treatment position.
  • the contact suppression unit controls the support unit to move the surgical instrument from the proximity position to the isolation position, the contact between the surgical instrument and the surgical position is suppressed. It is possible to more favorably suppress contact with.
  • the medical support device is configured so that the support unit and the contact suppression unit are for surgery regardless of whether the prediction unit performs the prediction based on the electrical signal.
  • the arm and the contact suppression unit may be configured as follows instead.
  • the arm includes at least one brake that suppresses bending at the at least one joint.
  • the contact suppression unit controls the at least one brake to permit the bending, thereby moving the surgical instrument to follow the surgical position and suppressing contact between the surgical instrument and the surgical position. It is configured as follows.
  • the contact suppression unit controls a brake provided in advance in the medical support device, thereby moving the surgical device to follow the surgical position and suppressing the surgical device from contacting the surgical position. You may be able to. Therefore, there are cases where the configuration of the apparatus can be further simplified and the manufacturing cost of the apparatus can be further reduced.
  • a medical action on a patient or information acquisition for the medical action is performed on an arm that includes at least one joint and can be bent by the at least one joint.
  • the surgical device is well suppressed from contacting the surgical position. can do.
  • the support device is a tool for performing a medical action on a patient or acquiring information for the medical action on an arm that includes at least one joint and is bendable by the at least one joint.
  • a support device that supports the surgical instrument and includes a support portion and an actuator.
  • the support unit is configured to support the surgical device so as to be movable from a proximity position where the medical practice or information acquisition is performed to an isolation position isolated from the treatment position rather than the proximity position.
  • the actuator is configured to move the surgical instrument supported by the support portion from the proximity position to the isolation position within one second.
  • the support device configured in this way is a machine that can be used directly in the implementation of the medical support method. That is, if the surgical device is supported by the support device, the surgical device and the treatment position are moved by moving the surgical device supported by the support device from the proximity position to the isolation position within one second. Can be satisfactorily suppressed.
  • the support tracking system 1 shown in FIG. 1 includes a support tracking device 4 and a connection mechanism 9.
  • the support follow-up device 4 is a device that supports the surgical instrument unit 80 as shown in FIG. 1 or supports the arm of a doctor who performs a medical practice.
  • the support follow-up device 4 includes a placement unit 10, an arm 12, and a control device 14.
  • the medical practice is an action performed based on medicine for the treatment, diagnosis, or prevention of a patient's injury or illness.
  • Medical practice includes surgery and endoscopic surgery.
  • a doctor is a person who performs medical practice, for example, a surgeon.
  • the surgical instrument unit 80 is a unit including a surgical instrument 81 and a support device 83 that supports the surgical instrument 81, as will be described in detail later.
  • the surgical device 81 is a tool (that is, a device) that performs a medical action on a patient or information acquisition for the medical action.
  • the surgical device 81 can include various devices such as an endoscope, an electric knife, forceps, and an inspection electrode. However, in the following description, the case where the surgical device 81 is an endoscope will be mainly described. To do.
  • connection mechanism 9 is a mechanism that fixes the mounting portion 83 ⁇ / b> C of the support device 83 while being placed on the placement portion 10.
  • the connection mechanism 9 has a known structure such as a connecting wire or a hook.
  • the mounting unit 10 is a table on which a doctor's arm or the mounting unit 83C of the support device 83 is mounted.
  • the mounting portion 10 is configured in a shape (for example, a U-shaped cross section) that is open upward. As a specific example of a doctor's arm, a forearm is considered.
  • the arm 12 is a multi-joint multi-joint arm.
  • the arm 12 includes a plurality of joints 31, 32, 33, 34, 35, a base portion 41, a shoulder portion 42, a first arm portion 43, a second arm portion 44, springs 46 and 47, and a counterweight. 48 and a force sensor 50 are provided.
  • the base part 41 is disposed on the floor F and supports the entire arm 12. As shown in FIG. 1, the base portion 41 has casters 41 ⁇ / b> A and is configured to be easily movable on the floor F.
  • the shoulder 42, the first arm 43, and the second arm 44 are links that constitute a link mechanism.
  • the joints 31, 32, 33, 34, and 35 are rotary joints that rotate about the rotation axis.
  • a shoulder portion 42 is connected to the upper end of the base portion 41 via a joint 31 so as to be rotatable about a vertical axis.
  • a first end portion of the first arm portion 43 is connected to the upper end of the shoulder portion 42 via a joint 32 so as to be rotatable about a horizontal axis.
  • the first end portion of the second arm portion 44 is connected to the second end portion of the first arm portion 43 so as to be rotatable around the horizontal axis via the joint 33.
  • the mounting portion 10 is connected to the second end portion of the second arm portion 44 via a joint 34 that can rotate about a horizontal axis and a joint 35 that has a rotation axis orthogonal to the joint 34. .
  • a spring 46 is provided between the first arm portion 43 and the joint 33.
  • a spring 47 is provided between the second arm portion 44 and the joint 33.
  • the first arm portion 43 extends through the joint 32, and a counterweight 48 is provided at a tip portion thereof.
  • the springs 46 and 47 and the counterweight 48 apply a biasing force upward in the vertical direction to the placement unit 10, and when the doctor's arm is placed on the placement unit 10, it is applied to the placement unit 10 and the arm 12. Balance power.
  • the urging force applied from the springs 46 and 47 and the counterweight 48 is balanced with the sum of the weight of the arm 12, the weight of the placement portion 10, and the weight of the arm, thereby supporting the placement portion 10.
  • the springs 46 and 47 may be omitted when a balance can be obtained only by the counterweight 48. Further, instead of the springs 46 and 47, another counterweight may be used.
  • Each joint 31, 32, 33 is provided with brakes 31A, 32A, 33A for restricting the operation of the joints 31, 32, 33.
  • the movements of the joints 31, 32, and 33 are rotational movements about the axis. Further, the term “restriction” refers to applying a braking force against rotational motion, and includes locking the rotation of each joint 31, 32, 33.
  • electromagnetic brakes are used as the brakes 31A, 32A, 33A.
  • the wait mode is an operation mode in which the movement of the placement unit 10 is restricted in a state where the object is not placed on the placement unit 10.
  • the lock mode is an operation mode that restricts movement of the placement unit 10 in a state where an object is placed on the placement unit 10.
  • the free mode is an operation mode in which the restriction on movement of the placement unit 10 is released.
  • the wait mode is an operation mode that assumes a state where the doctor does not place the arm on the placement unit 10.
  • the joints 31, 32, and 33 are fixed by the brakes 31A, 32A, and 33A, the movement of the placement unit 10 is prohibited, and the position is fixed.
  • the lock mode is an operation mode in which it is assumed that the doctor places his / her arm on the fixed placement unit 10.
  • the joints 31, 32, and 33 are fixed by the brakes 31A, 32A, and 33A, the movement of the placement unit 10 is prohibited, and the position is fixed.
  • the joints 34 and 35 have no brake, the angle of the placement unit 10 can be adjusted freely.
  • the free mode is an operation mode assuming a state in which the doctor moves the placement unit 10 to follow the arm.
  • the joints 31, 32, and 33 are released from being fixed by the brakes 31A, 32A, and 33A, and the placement unit 10 can be moved freely.
  • the force applied to the arm from the placement unit 10 is extremely small, and the sliding resistance of the brakes 31A, 32A, 33A is also small. Therefore, the doctor places the placement unit 10 on the arm without applying much force to the arm. It can be moved following.
  • each of the joints 31, 32, 33 is provided with encoders 31B, 32B, 33B for detecting the rotation angles of the joints 31, 32, 33.
  • a force sensor 50 is provided at the joint 35 that connects the placement unit 10 and the arm 12. The force sensor 50 detects the weight and torque applied to the placement unit 10.
  • the control device 14 is mainly configured by a known microcomputer having a CPU (not shown) and a semiconductor memory (hereinafter referred to as a memory 14A) such as a RAM, a ROM, and a flash memory.
  • a memory 14A such as a RAM, a ROM, and a flash memory.
  • Various functions of the control device 14 are realized by the CPU executing a program stored in a non-transitional physical recording medium.
  • the memory 14A corresponds to a non-transitional tangible recording medium that stores a program. Further, by executing this program, a method corresponding to the program is executed.
  • the number of microcomputers constituting the control device 14 may be one or plural.
  • control device 14 includes a mode switching unit 15, a prediction unit 16, a contact suppression unit 17, a prohibition unit 18, and a function configuration realized by the CPU executing the program.
  • An endoscope processing unit 19 The method of realizing these elements constituting the control device 14 is not limited to software, and some or all of the elements may be realized using hardware that combines a logic circuit, an analog circuit, and the like.
  • the mode switching unit 15 executes a process of switching the operation mode to any one of the wait mode, the free mode, and the lock mode by controlling the brakes 31A, 32A, and 33A. That is, the mode switching unit 15 switches the operation mode to any one of the wait mode, the free mode, and the lock mode by controlling the brakes 31A, 32A, and 33A.
  • Such a process is well known from the applicants' previous published applications and will not be described in detail here.
  • the prediction unit 16 determines whether or not the body of the patient into which the surgical instrument 81 is inserted moves due to the patient's seizure or the like in the biological signal input from the seizure measurement sensor 61 connected to the control device 14. Predict based on. For example, when the seizure measurement sensor 61 is a camera that captures the movement of a part (for example, an affected part) in which the surgical instrument 81 is inserted, or the movement of a part linked to the movement of the part, the prediction unit 16 The prediction may be performed by inputting the speed of movement as a biological signal.
  • the seizure measurement sensor 61 detects an electrical signal corresponding to an action potential when the muscle of the part into which the surgical instrument 81 is inserted or the muscle linked to the movement of the part contracts
  • the prediction is performed.
  • the unit 16 may perform the prediction by inputting the electrical signal as a biological signal. For example, when an electrical signal is obtained that suggests that the muscle moves beyond a general range, it may be predicted that the region will move due to a seizure or the like.
  • the predicting unit 16 receives the electroencephalogram as a biological signal, so that the prediction is based on whether the electroencephalogram is a waveform specific to epileptic seizures or the like. May be performed. Further, when the seizure measurement sensor 61 is an electrocardiogram measuring device or the like, whether or not a heart or nervous system seizure occurs when the predicting unit 16 receives the waveform or heart rate of the electrocardiogram as a biological signal. Such prediction may be performed. When the seizure measurement sensor 61 is a sensor that applies an electrical stimulus to the nervous system and detects the response signal, the prediction unit 16 receives the response signal as a biological signal, so that the response signal is the nervous system. The prediction may be made based on whether or not it suggests seizures.
  • the seizure measurement sensor 61 may be a sheet sensor placed under the patient, may be a sensor that measures a patient's movement in a non-contact manner using a laser, and is another sensor. May be. Furthermore, the seizure measurement sensor 61 is not limited to seizures, and may detect other unexpected body movements, such as an unexpected movement of a patient in a partial anesthesia operation.
  • the contact suppressing unit 17 drives the mechanism described later to drive the surgical device 81. Evacuate from patient's body.
  • the prohibition unit 18 prohibits the operation of the contact suppression unit 17 according to conditions, thereby suppressing the surgical device 81 from being retracted due to a malfunction of the contact suppression unit 17 due to noise, or retracting the surgical device 81.
  • the operation of the contact suppressing unit 17 is prohibited when it is not necessary to do so.
  • the endoscope processing unit 19 when the surgical instrument 81 is an endoscope, displays a captured image by the endoscope on a monitor 63 connected to the control device 14. Execute.
  • the surgical instrument unit 80 includes a long surgical instrument 81 and a support device 83 that supports it.
  • the surgical instrument 81 is configured such that the proximal end portion 81A has a larger diameter than the distal end portion 81B inserted into the patient's body.
  • the support device 83 includes a support portion 83B having a hollow portion 83A.
  • the support portion 83B is configured in a cylinder shape in which the base end portion 81A of the surgical instrument 81 is slidably inserted into the hollow portion 83A.
  • a mounting portion 83C protrudes from the outer peripheral surface of the support portion 83B in a direction orthogonal to the axial direction of the hollow portion 83A (that is, the sliding direction of the base end portion 81A).
  • the mounting portion 83C is fixed on the placement portion 10 by the connection mechanism 9 as described above.
  • a solenoid 83E for projecting or retracting the stopper 83D toward the radial center is provided inside the hollow portion 83A.
  • the solenoid 83E may be configured to project the stopper 83D when energized and retract the stopper 83D when deenergized, or retract the stopper 83D when energized and project the stopper 83D when deenergized.
  • the solenoid 83E may be configured to project or retract the stopper 83D according to the energization direction.
  • a spring 83F is inserted into the hollow portion 83A.
  • the spring 83F is configured as a so-called tension coil spring, and is attached between the base end portion 81A and the bottom surface 83G so as to pull the base end portion 81A of the surgical instrument 81 toward the bottom surface 83G of the hollow portion 83A. .
  • the surgical instrument 81 When the surgical instrument 81 is used, the surgical instrument 81 is pulled out in a direction protruding from the hollow portion 83A against the biasing force of the spring 83F.
  • the stopper 83D protrudes toward the radial center of the hollow portion 83A in a state where the proximal end portion 81A is pulled out from the stopper 83D in the distal direction, the proximal end portion 81A is stopped as shown in FIG. Engage with 83D. Accordingly, the surgical instrument 81 is maintained in a state of protruding from the support device 83 against the urging force of the spring 83F.
  • the surgical device 81 is arranged at a position close to the affected part 92.
  • the surgical instrument 81 is an endoscope
  • a camera provided at the distal end portion 81B can be brought close to the affected area 92 and the affected area 92 can be photographed in detail.
  • the surgical instrument 81 rapidly moves in the direction of the support device 83 due to the urging force of the spring 83 ⁇ / b> F and moves to a position retracted from the narrowed portion 91 (that is, an isolation position).
  • the rapid movement means a speed at which the movement from the proximity position to the isolation position is completed within at least one second. Therefore, in the first embodiment, the contact between the human body 90 and the surgical instrument 81 is suppressed by the following processing.
  • the process proceeds to S3 as a process by the prediction unit 16, and it is determined whether or not the biological signal input in S2 exceeds the seizure determination threshold. Even if the seizure measurement sensor 61 acquires any of the above-described biological signals, whether or not the patient's body moves due to the seizure or the like of the patient is determined by quantifying the biological signal and using a threshold value ( That is, it is made by comparing with the seizure determination threshold). If it is determined in S3 that the biological signal does not exceed the seizure determination threshold (ie, No), the patient's body is considered not to move due to the patient's seizure, and the processing is as described above. The process proceeds to S1.
  • the process proceeds to S4 as processing by the prohibition unit 18, and noise is superimposed on the biological signal. It is determined whether or not there is a possibility. If there is a possibility that noise is superimposed, it is determined Yes in S4, and the process proceeds to S1 described above. If it is determined in S4 that there is no possibility that noise is superimposed (ie, No), the process proceeds to S5, and after the endoscope retract command is output, the process is temporarily terminated.
  • S5 is a process as the contact suppression unit 17, and when the endoscope retract command is output in this way, the solenoid 83E is driven and the stopper 83D is retracted from the hollow portion 83A. Then, the surgical instrument 81 (that is, the endoscope) moves rapidly in the direction of the support device 83. For example, in the example of FIG. 5, the surgical instrument 81 moves from the narrow portion 91 to a position retracted.
  • the surgical instrument 81 is formed in a long shape as shown in FIG. 3, and the direction from the proximity position to the isolation position is the long direction of the surgical instrument 81 supported by the support device 83. Match. For this reason, it is possible to satisfactorily suppress the surgical device 81 coming into contact with the treatment position such as the narrow portion 91 while moving from the proximity position to the isolation position.
  • the surgical instrument 81 moves (that is, retracts) from the proximity position set in advance to the support device 83 to the isolation position, and the retraction is completed within one second. For this reason, in this 1st Embodiment, it can suppress more favorably that the operation equipment 81 contacts a treatment position.
  • the support follow-up system 1 and the support device 83 correspond to the medical support device, and the narrowed portion 91 and the affected portion 92 correspond to the treatment position.
  • S3 corresponds to the prediction unit
  • S5 corresponds to the contact suppression unit
  • S1 and S4 correspond to the prohibition unit.
  • the second embodiment is different from the first embodiment in that the following joint fixation release command is output.
  • the medical support apparatus of the second embodiment is similar in mechanical configuration to that of the first embodiment, and is different in that S5 of the saving process by the control apparatus 14 is changed to S5A shown in FIG.
  • the support device 83 does not necessarily support the surgical device 81 so as to be able to protrude / retract.
  • the surgical device 81 may be directly fixed to the placement unit 10.
  • the process proceeds to S5A.
  • S5A a command for controlling the brakes 31A to 33A in the arm 12 and releasing the fixation of the joints 31 to 33 is output. Then, even if the narrow part 91 and the affected part 92 are moved, the surgical instrument 81 moves to follow them, and the surgical instrument 81 is prevented from strongly contacting the narrow part 91 and the affected part 92. it can.
  • the surgical instrument 81 when the patient's body moves due to a seizure or the like, the surgical instrument 81 can be retracted or followed, but the present invention is not limited to this.
  • the patient's body moves due to the patient's backing (that is, coughing), an earthquake, or the like
  • the same processing as S5 or S5A may be executed.
  • the former backing can be predicted based on an electrical signal obtained from the patient's body when an image obtained by photographing the treatment position or the like changes unintentionally.
  • the latter earthquake can be predicted when an image obtained by imaging the treatment position or the like changes unintentionally or based on an earthquake forecast such as an emergency earthquake warning.
  • the support device 83 retracts the surgical instrument 81 using the biasing force of the spring 83F configured as a tension coil spring, but is not limited thereto.
  • Various actuators such as a compression coil spring, an electromagnetic actuator, and a small motor can be used for retracting the surgical instrument 81.
  • the surgical instrument 81 may be retracted by moving or deforming the arm 12 with a small motor or the like.
  • the surgical instrument 81 is retracted when the patient's body moves due to a seizure or the like, but the present invention is not limited to this.
  • a support device to which the present disclosure is applied includes a device that retracts the surgical instrument 81 when a doctor performs a switch operation or the like.
  • the support device 83 linearly retracts the surgical instrument 81 along the longitudinal direction of the surgical instrument 81, but is not limited thereto.
  • the surgical instrument when it is curved in an arc shape, it may be retracted in a direction along the arc. That is, the surgical instrument may be retracted along the shape of the narrow portion.
  • the surgical instrument 81 may be retracted while drawing an arc toward the direction in which the narrow part 91 is largely opened on the body surface, and the direction is independent of the shape of the narrow part 91 and the shape of the surgical instrument 81. May be evacuated.
  • the surgical instrument 81 is moved following the treatment position by allowing the arm 12 to bend, but the present invention is not limited to this.
  • the surgical instrument 81 may be moved to follow the surgical position by changing the connection state of the surgical instrument 81 to the placement unit 10 so that the surgical instrument 81 can be freely displaced as if connected by a single thread. .
  • the endoscope retract command or the joint fixation release command is not output. It is not limited. Such noise countermeasures do not necessarily need to be implemented, and whether or not to output an endoscope retraction command or a joint fixation release command (that is, the process of S5 or S5A) is switched according to a switch operation by a doctor. May be. Further, whether or not to output an endoscope retraction command or a joint fixation release command (that is, the process of S5 or S5A) may be switched according to other conditions.
  • the surgical device 81 is inserted into the narrow portion 91 of the human body 90.
  • the surgical device 81 is a tool that performs medical practice or information acquisition in the vicinity of the body surface. It may be. In that case, when the patient's body moves, the surgical instrument 81 is isolated from the body surface or moves following the body surface.
  • a plurality of functions of one constituent element in the embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate
  • a system including the medical support device as a constituent element, a program for causing a computer to function as the medical support device, and a non-transitional actual recording such as a semiconductor memory storing the program
  • the present disclosure can also be realized in various forms such as a medium and a medical support method.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Dans le dispositif d'assistance médicale selon la présente invention, un bras (12) est pourvu d'au moins une articulation. Une partie de support (83B) supporte un équipement chirurgical (81) sur le bras. Une unité de prédiction prédit à l'avance le déplacement d'un site chirurgical, au niveau duquel une chirurgie est effectuée sur le corps d'un patient par l'équipement chirurgical, au-delà d'une plage admissible prédéterminée et, lorsque cette prédiction est effectuée, une unité d'inhibition de contact amène l'équipement chirurgical à s'éloigner du site chirurgical ou à se déplacer pour suivre le site chirurgical de façon à empêcher une entrée en contact de l'équipement chirurgical et du site chirurgical. De plus, l'unité de prédiction effectue la prédiction sur la base d'un signal électrique obtenu à partir du corps du patient.
PCT/JP2017/042635 2016-12-02 2017-11-28 Dispositif d'assistance médicale, procédé d'assistance médicale et dispositif de support WO2018101265A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016235295A JP2018089114A (ja) 2016-12-02 2016-12-02 医療支援装置、医療支援方法、及び支持装置
JP2016-235295 2016-12-02

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WO2018101265A1 true WO2018101265A1 (fr) 2018-06-07

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112007286A (zh) * 2020-08-28 2020-12-01 朱格红 一种妇科肿瘤后装手术辅助装置的制作方法
JPWO2021234930A1 (fr) * 2020-05-21 2021-11-25
WO2023148717A1 (fr) * 2022-02-02 2023-08-10 Mazor Robotics Ltd. Systèmes, ensembles et dispositifs de rétraction

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JP2009233240A (ja) * 2008-03-28 2009-10-15 Univ Waseda 手術支援システム、接近状態検出装置及びそのプログラム
US20150057675A1 (en) * 2013-08-21 2015-02-26 Brachium Labs, LLC System and method for automating medical procedures
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