# US 10,117,716 B2 · Medical manipulator system

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- Number: US 10,117,716 B2
- Document ID: US10117716B2
- Status: Granted
- Kind: B2
- Application number: 15/375,374
- Filed: 2016-12-12
- Published: 2017-06-01
- Granted: 2018-11-06
- Earliest claimed: 2015-06-01
- Assignees: Olympus Corporation
- Applicants: Olympus Corporation
- Inventors: Ryohei Ogawa; Kosuke Kishi
- Web page: https://patentgrep.com/patent/US10117716B2

## CPC

- A61B 46/10: specially adapted for instruments{, e.g. microscopes}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 17/29: Forceps for use in minimally invasive surgery
- A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)}
- A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)}
- A61B 34/30: Surgical robots
- A61B 34/32: operating autonomously
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/71: {Manipulators operated by drive cable mechanisms}
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 90/03: {Automatic limiting or abutting means, e.g. for safety}
- A61B 90/06: {Measuring instruments not otherwise provided for}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61L 2/206: Ethylene oxide
- A61M 25/0012: {with embedded structures, e.g. coils, braids, meshes, strands or radiopaque coils}
- A61M 25/0015: {Making lateral openings in a catheter tube, e.g. holes, slits, ports, piercings of guidewire ports; Methods for processing the holes, e.g. smoothing the edges}
- A61M 25/005: {with embedded materials for reinforcement, e.g. wires, coils, braids}
- B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)}
- A61B 18/1482: {having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy}
- A61B 46/13: the drapes entering the patient's body
- A61B 2017/00314: {Separate linked members}
- A61B 2017/00323: {Cables or rods}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2017/00929: {isolating electrical current}
- A61B 2018/00077: {high, i.e. electrically conducting}
- A61B 2018/00083: {low, i.e. electrically insulating}
- A61B 2018/1412: {Blade}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B 2050/005: {with a lid or cover}
- A61B 2090/034: {abutting on parts of the device itself}
- A61B 2217/005: with suction drainage system
- A61B 2218/007: Aspiration
- A61M 2025/0004: {having two or more concentrically arranged tubes for forming a concentric catheter system}
- A61M 2025/0019: {Cleaning catheters or the like, e.g. for reuse of the device, for avoiding replacement}
- A61M 2039/082: {Multi-lumen tubes}
- B32B 3/266: {characterised by an apertured layer, the apertures going through the whole thickness of the layer, e.g. expanded metal, perforated layer, slit layer regular cells B32B3/12}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61L: METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES (preservation of bodies or disinfecting characterised by the agents employed A01N; preserving, e.g. sterilising, food or foodstuffs A23; preparations for medical, dental or toiletry purposes A61K)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B32B: LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM

## Abstract

A medical manipulator system including: a manipulator provided with an elongated portion, a movable portion which has one or more joints, and a driving portion which is disposed at a proximal end of the elongated portion and which drives the movable portion; a medical device having a channel that can accommodate at least a portion of the elongated portion and the movable portion; a manipulation input portion that generates an operation instruction for moving the manipulator between a treatment state in which the movable portion protrudes from a distal end of the channel and an accommodated state in which the movable portion is accommodated in the channel in accordance with a manipulation instruction input; and a notifying portion that notifies a situation in which the manipulator is shifting from the treatment state to the accommodated state.

## Claims

### Claim 1

A medical manipulator system comprising:
a manipulator that is provided with an elongated portion, a movable portion which has one or more joints and which is disposed at a distal end of the elongated portion, and a motor which is disposed at a proximal end of the elongated portion and which drives the movable portion;
a medical device having a channel that can accommodate at least a portion of the elongated portion and the movable portion so as to be movable in a longitudinal direction;
a manipulation input that generates an operation instruction for moving the manipulator in a longitudinal direction of the elongated portion between a treatment state in which the movable portion completely protrudes from a distal end of the channel and an accommodated state in which the movable portion is accommodated in the channel in accordance with a manipulation instruction input by an operator;
a notifying portion affixed to a linear motion mechanism, the notifying portion comprising a stopper, the notifying portion being configured to provide a notification to an operator when the movable portion shifts from the treatment state to the accommodated state,
wherein the manipulator further comprises a moving portion that is connected to the elongated portion to move the elongated portion and the movable portion in the longitudinal direction,
wherein the manipulation input further comprises a slider that generates the operation instruction for moving the manipulator in the longitudinal direction, and
wherein the stopper is configured to come into contact with the slider, the moving portion, the elongated portion or the medical device to stop the elongated portion and the movable portion from further moving toward a proximal end side of the elongated portion.

### Claim 2 (depends on 1)

The medical manipulator system according to claim 1, wherein the stopper is provided between the manipulator and the medical device or provided in the manipulation input, and which restricts the manipulator from being changed from the treatment state with a manner in which the restriction can be canceled.

### Claim 3 (depends on 1)

The medical manipulator system according to claim 1, wherein the notifying portion further comprises a, the sensor provided between the manipulator and the medical device or provided in the manipulation input, the notification provided to the operator on a display and/or by production of a sound.

### Claim 4 (depends on 1)

The medical manipulator system according to claim 1, further comprising a controller which judges whether or not the manipulator is in a state in which the manipulator can be shifted from the treatment state on the basis of angle information detected by angle sensors provided in the individual joints of the movable portion.

### Claim 5 (depends on 4)

The medical manipulator system according to claim 4, wherein the controller is configured to determine, based on the output from the angle sensors, that the manipulator is in a state in which the manipulator can be shifted from the treatment state when, the movable portion extends along the longitudinal direction of the elongated portion.

### Claim 6 (depends on 1)

The medical manipulator system according to claim 1, further comprising:
a request input with which a request for shift from the treatment state is input; and
a controller which controls the motor so as to relax the joints of the movable portion when the request for shift from the treatment state is input via the request input portion.

### Claim 7 (depends on 3)

The medical manipulator system according to claim 3, further comprising a controller, the controller configured to control the driving portion so as to relax the joints of the movable portion when the sensor detects the state change.

### Claim 8

A medical manipulator system comprising:
a manipulator that is provided with an elongated portion, a movable portion which has one or more joints and which is disposed at a distal end of the elongated portion, and a motor which is disposed at a proximal end of the elongated portion and which drives the movable portion;
a medical device having a channel that can accommodate at least a portion of the elongated portion and the movable portion so as to be movable in a longitudinal direction;
a manipulation input that generates an operation instruction for moving the manipulator in a longitudinal direction of the elongated portion between a treatment state in which the movable portion completely protrudes from a distal end of the channel and an accommodated state in which the movable portion is accommodated in the channel in accordance with a manipulation instruction input by an operator; and
a notifying portion,
wherein the manipulation input further comprises a slider and a crank as the notifying portion, the crank configured into a step-shape structure to guide the slider, the slider configured to abut the crank when the movable portion of the manipulator moves toward the medical device and reaches a predetermined position where the movable portion is about to be inserted into the medical device.