JP2004329930A5 - - Google Patents

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JP2004329930A5
JP2004329930A5 JP2004134914A JP2004134914A JP2004329930A5 JP 2004329930 A5 JP2004329930 A5 JP 2004329930A5 JP 2004134914 A JP2004134914 A JP 2004134914A JP 2004134914 A JP2004134914 A JP 2004134914A JP 2004329930 A5 JP2004329930 A5 JP 2004329930A5
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ＲＦ医療用発生器の出力を制御するための方法およびシステム
（関連出願に対する相互照合）
本願は、Ｗｈａｍらによる、表題「ＶＥＳＳＥＬ ＳＥＡＬＩＮＧ ＳＹＳＴＥＭ」の米国出願番号１０／０７３，７６１（２００２年２月１１日出願）の一部継続出願であり、これは、Ｂｕｙｓｓｅらによる、表題「ＶＥＳＳＥＬ ＳＥＡＬＩＮＧ ＳＹＳＴＥＭ」（現在、米国特許第６，７９６，９８１号）の米国出願番号０９／４０８，９４４（１９９９年９月３０日出願）（現在、米国特許第６，３９８，７７９号）の一部継続出願である。この米国出願番号０９／４０８，９４４は、１９９８年１０月２３日出願の、仮特許出願番号６０／１０５，４１７に対する優先日の利益を主張する。これらの出願全ての内容全体は、その全体が本明細書中で参考として援用される。
（背景）
本発明は、電気外科的な外科手術に関し、特に、電気外科的発生器のための閉ループ制御システムに関する。
（技術分野）
電気外科的発生器は、患者の組織を切除、凝固、乾燥（ｄｅｓｓｉｃａｔｅ）および／または封止するための電気外科用器具と組み合わせて、外科医によって使用される。高周波電気エネルギー（例えば、無線周波数（ＲＦ）エネルギー）は、電気外科的発生器によって発生され、そして電気外科的ツールによって組織に付与される。単極構成と双極構成の両方が、電気外科的手順中に通常使用される。
電気外科的技術および電気外科用器具は、直径の小さい血管を凝固するためにかまたは直径の大きい脈管もしくは組織（例えば、肺、脳および腸のような軟組織構造）を封止するために使用され得る。外科医は、電極間および組織を通して付与される電気外科エネルギーの強度、周波数および継続時間を制御することによって、焼灼、凝固／乾燥のいずれかを行い得、そして／または単に出血を減少させるかもしくは遅くさせ得る。本明細書中の目的のために、用語「焼灼」は、組織を破壊するための熱の使用として定義される（「ジアテルミー」または「電気ジアテルミー」とも呼ばれる）。用語「凝固」は、組織（ここで、この組織細胞は、破裂しているかまたは乾燥している）を乾燥するプロセスとして定義される。「脈管封止」は、組織中にコラーゲンおよびエラスチンを溶かし、その結果この組織は、融合された塊に再形成され、対向した組織構造（管腔の対向壁）間の境界は、有意に縮小されるプロセスとして定義される。小脈管の凝固は、通常この脈管を永久に閉鎖するのに十分である。より大きい脈管または組織は、永久的な閉鎖を確実にするように封止される必要がある。
外科的部位における組織の望まれない焦げ付きも隣接組織への側副損傷（例えば、熱拡散）も引き起こすことなく、上記の所望の外科的効果のうちの１つを達成するために、電気外科的発生器からの出力（例えば、電力、波形、電圧、電流、パルス繰返し数（ｐｕｌｓｅ ｒａｔｅ）など）を制御することが必要である。
外科的部位において組織を横切る電気インピーダンスおよびその電気インピーダンスの変化を測定することは、組織の乾燥（ｄｅｓｉｃｃａｔｉｏｎ）状態または乾燥（ｄｒｙｉｎｇ）状態の良好な指標を提供し、例えば、組織が乾燥しているかまたは水分が緩和している場合、この組織を横切るインピーダンスは上昇する。この観察は、組織インピーダンスの測定に基づいて電気外科電力を調節するために、いくつかの電気外科的発生器において利用されている。例えば、共有に係る特許文献１は、組織インピーダンスを自動的に測定し、そして組織を横切る測定されたインピーダンスに基づいて電気外科的発生器の出力を変更するためのシステムおよび方法に関する。この特許の内容全体は、本明細書中に参考として援用される。
電気外科的エネルギーの特定の波形は、所望の外科的効果（例えば、切除、凝固、封止、混合など）を増強するために作られ得る（ｔａｉｌｏｒｅ）ことが決定されている。例えば、「切除」モードは、代表的には、１．４〜２．０の範囲の波高因子で、１００ｋＨｚ〜４ＭＨｚの周波数範囲の連続したシヌソイド波形の発生を伴う。「混合」モードは、代表的には、２５％〜７５％の範囲の衝撃係数および２．０〜５．０の範囲の波高因子を有する、連続した切除波形の発生を伴う。「凝固」モードは、代表的には、約１０％以下の衝撃係数および５．０〜１２．０の範囲の波高因子を有する連続した波形の発生を伴う。脈管または組織を効果的かつしっかりと封止するために、パルス様波形が好ましい。エネルギーの入力／出力が、フィードバックコントロールを介して組織水和／組織容量に対して応答する場合、組織中の脈管を封止するために連続様式でエネルギーが付与され得る。パルスでの電気外科的エネルギーの送達は、組織を冷却しそしてまた、いくらかの水分を、封止プロセスを増強することが知られている両パルス間の組織に戻すことを可能にする。
電子なだれデバイス（例えば、ダイオード、ツェナーダイオードおよび電圧サプレッサ（ｔｒａｎｓｏｒｂ））の使用によって、電気外科的発生器からの過剰な電圧出力をクランピングまたはクリッピングすることが、さらに知られており、熱形態の過剰なエネルギーの吸収および散逸を生じる。
共有に係る特許文献２は、較正パルスを用いて初期組織インピーダンスを測定し、次いで、コンピューターデータベースに保存される照合表に基づいて種々の電気パラメータを設定する、センサーを開示している。作動中に測定された各パルスに関連した一過性パルス幅を使用して、次のパルスの衝撃係数および振幅を設定する。電気外科的電力の発生は、組織を横切る組織インピーダンスの所定値に基づいて、自動的に終了される。
米国特許第６，２１０，４０３号 米国特許第６，３９８，７７９号
従って、改良された制御回路を有し、そして／または組織インピーダンス、組織インピーダンスの変化、組織温度、組織温度の変化、外科的目的（例えば、切除、凝固、封止）、組織型、漏れ電流、印加電圧、付与電流、組織水和レベル、組織コンプライアンス、および／もしくは組織光伝送に関連する、外科的部位から得られる感知情報に基づいて、電気外科的発生器の種々の電気パラメータ（例えば、パルス周波数およびパルス強度、電圧、電流、電力）の連続制御を提供するように処理する電気外科的発生器を開発する必要性が存在する。
（要旨）
本発明は、以下の項目１〜１６に記載の電気外科的エネルギーを発生する電気外科的発生器とともに使用するための閉ループ制御システム、項目１７〜２３に記載の電気外科的手順を実施するための方法、項目２４に記載の電気外科的に組織を封止するためのシステム、項目２５〜３３に記載の電気外科的エネルギーを発生する電気外科的発生器とともに使用するための制御システムを開示する。
１．少なくとも１つのパルスを含む電気外科的エネルギーを発生する電気外科的発生器とともに使用するための閉ループ制御システムであって、該閉ループ制御システムは、以下：
ユーザーが少なくとも１つの外科手術前パラメータを選択することを可能にするユーザーインターフェースであって、該少なくとも１つの外科手術前パラメータが、該発生器に作動可能に連結された外科用器具の型、組織の型および所望の外科的効果のうちの少なくとも１つを含む、ユーザーインターフェース；
センサーモジュールであって、外科的部位に近位の電気的特性および物理的特性のうちの少なくとも１つを連続的に感知し、かつ該特性に関連する少なくとも１つの信号を発生する、センサーモジュール；ならびに
該ユーザーインターフェースからの選択された少なくとも１つの外科手術前パラメータおよび該センサーモジュールからの各々の信号を連続的に受信し、かつ少なくとも１つのマイクロプロセッサ、コンピューターアルゴリズムおよびマッピングを用い、該少なくとも１つの外科手術前パラメータに従って該各々の信号を処理するための制御モジュールであって、該制御モジュールは、該センサーモジュールからの各々の信号に関連する少なくとも１つの対応する制御信号を発生し、かつ該発生器を制御するために、該電気外科的発生器に少なくとも１つの制御信号を提供する、制御モジュール、
を備える、閉ループ制御システム。
２．上記ユーザーインターフェースが、上記少なくとも１つの外科手術前パラメータの外科手術前パラメータを自動的に選択するための少なくとも１つのさらなるセンサーを備える、項目１に記載の閉ループ制御システム。
３．上記少なくとも１つの制御信号が、上記発生器を制御し、上記制御モジュールから受信した信号に応答して発生された電気外科的エネルギーの少なくとも１つのパラメータを調節する、項目１に記載の閉ループ制御システム。
４．上記少なくとも１つの制御信号が、上記発生器を制御し、電圧、電流、パルス幅、パルス周波数、振幅、波高因子、衝撃係数、繰返し数、および波形を調節し得る、項目３に記載の閉ループ制御システム。
５．上記発生器が電源を備え、ここで、上記少なくとも１つの制御信号が、少なくとも１つのパルスの個々のパルスの電気的特性の大きさを調節するために、該電源を制御するための電力制御信号を含む、項目１に記載の閉ループ制御システム。
６．上記少なくとも１つの制御信号が、上記少なくとも１つのパルスの個々のパルスの波形パラメータを調節する、項目１に記載の閉ループ制御システム。
７．上記少なくとも１つの制御信号が、上記少なくとも１つのパルスの少なくとも１つの繰返し数および衝撃係数を制御する、項目１に記載の電気外科的発生器。
８．項目１に記載の閉ループ制御システムであって、上記センサーモジュールが、少なくとも１つの電圧センサー、電流センサー、温度センサー、ＲＭＳ電圧センサー、ＲＭＳ電流センサーおよび漏れ電流センサーを備え、上記マイクロプロセッサは、ＲＭＳ電圧、ＲＭＳ電流および漏れ電流のそれぞれに対応する値を導出するために、該ＲＭＳ電圧センサー、該ＲＭＳ電流センサーおよび該漏れ電流センサーによって出力された信号を処理する、閉ループ制御システム。
９．項目１に記載の閉ループ制御システムであって、上記センサーモジュールが、電圧、電流、温度、ＲＭＳ電圧、ＲＭＳ電流および漏れ電流を感知し得、そして上記マイクロプロセッサが、ＲＭＳ電圧、ＲＭＳ電流および漏れ電流のそれぞれに対応する値を導出するために、上記ＲＭＳ電圧センサー、上記ＲＭＳ電流センサーおよび上記漏れ電流センサーによって出力された信号を処理する、閉ループ制御システム。
１０．上記センサーモジュールが、上記外科的部位から戻った電圧を感知するための電圧センサーをさらに備える、項目１に記載の閉ループ制御システム。
１１．上記センサーモジュールが、上記外科的部位から戻った電流を感知するための電流センサーをさらに備える、項目１に記載の閉ループ制御システム。
１２．上記センサーモジュールが、電気インピーダンスを測定するための手段をさらに備える、項目１に記載の閉ループ制御システム。
１３．上記閉ループ制御システムが、感知した温度の変化を測定するための手段をさらに備える、項目１に記載の閉ループ制御システム。
１４．上記閉ループ制御システムが、上記外科的部位での電気インピーダンスを決定するために、上記センサーモジュールからの情報を処理するための手段をさらに備える、項目１に記載の閉ループ制御システム。
１５．上記処理手段が、上記電気インピーダンスの変化を測定する、項目１４に記載の閉ループ制御システム。
１６．項目１に記載の閉ループ制御システムであって、上記ユーザーインターフェースがさらに、上記電気外科的発生器を制御するために、上記制御モジュールによって処理するためのコマンドをユーザーが入力することを可能にし、電圧、電流、電力、周波数および振幅のうちの少なくとも１つを含む標的電気的パラメータ；パルス幅、衝撃係数、波高因子および繰返し数のうちの少なくとも１つを含むパルスパラメータ；ならびに感知された物理的特性および電気的特性のうちの少なくとも１つの変化に応答する電気パラメータ変化のうちの少なくとも１つを有するエネルギーを発生する、項目１に記載の閉ループ制御システム。
１７．患者に対して外科的部位において電気外科的手順を実施するためのシステムであって、該システムは、以下：
該外科的部位に少なくとも１つの電気パルスを適用するための手段；
該外科的部位に近位の電気的特性および物理的特性を連続的に感知するための手段；ならびに
該連続的に感知した特性に従って、該少なくとも１つのパルスの個々のパルスのパルスパラメータを変化させるための手段、
を包含する、システム。
１８．項目１７に記載のシステムであって、上記感知した特性を連続的に処理するための手段をさらに包含し；ここで、上記変化させる手段が、上記処理された感知した特性に従って上記パルスパラメータを変化させるための手段を包含する、システム。
１９．上記変化させる手段が、上記連続的に感知した特性に従って、上記少なくとも１つのパルスの個々のパルスの大きさを制御するための電源制御信号を連続的に発生させるための手段を包含する、項目１７に記載のシステム。
２０．上記変化させる手段が、上記連続的に感知した特性に従って、上記少なくとも１つのパルスの個々のパルスのパルスパラメータを制御するための出力ステージ制御信号を連続的に発生するための手段を包含する、項目１７に記載のシステム。
２１．項目１７に記載のシステムであって、該システムは、以下：
オペレーター初期化入力設定を受信するための手段；
該オペレーター入力設定を処理するための手段；ならびに
該処理した入力設定に従って、初期電源制御信号および出力ステージ制御信号を発生するための手段、
をさらに包含する、システム。
２２．上記連続的に感知するための手段が、上記外科的部位から戻った電圧および電流のうちの少なくとも１つを連続的に感知するための手段を包含する、項目１７に記載のシステム。
２３．項目１７に記載のシステムであって、上記少なくとも１つのパルスの個々のパルスのパルスパラメータを変化させ、該それぞれのパルスに応答して上記外科的部位における選択された電圧、電流および電力のうちの少なくとも１つを維持するための手段をさらに包含する、システム。
２４．組織を電気外科的に封止するためのシステムであって、該システムは、ＲＦエネルギー供給源および電気外科的発生器の操作を制御するための制御器を備える電気外科的発生器を備え、該電気外科的発生器は、該電気外科的発生器によって発生されるＲＦエネルギーを、封止されるべき組織に結合するための電極を備える外科用器具に結合するための出力を有し；該制御器は、該電気外科的発生器が、該組織にＲＦエネルギーの初期パルスを適用するようにさせ、かつ該適用された初期パルスに応答して該組織の電気的特性の値を測定するために作動可能であり、該制御器は、次のパルスに対するパルスパラメータの初期セットを決定し、次いで該組織の電気的特性の変化に従って、さらに続くＲＦエネルギーパルスの個々のパルスのパルスパラメータを変化させるために、該測定された電気的特性に対して応答し、
ここで、該制御器は、該個々のパルスに応答して該組織の電気的特性および物理的特性を測定し、次いで該組織の電気的特性および物理的特性に従って、次の個々のパルスのパルスパラメータを変化させるために、さらに作動可能である、システム。
２５．少なくとも１つのパルスを含む電気外科的エネルギーを発生する電気外科的発生器とともに使用するための制御システムであって、該制御システムは、以下：
外科的部位に近位の電気的特性および物理的特性のうちの少なくとも１つを感知し、かつ該特性に関連する少なくとも１つの信号を発生するためのセンサーモジュールであって、該外科的部位に近位の電気的特性および物理的特性が、電力、電流および電圧のうちの少なくとも１つを含む、センサーモジュール；
該感知された特性に関連する少なくとも１つの信号に応答する内部制御ループを制御するための第１の制御モジュールであって、該電気外科的発生器によって発生された電気外科的エネルギーの少なくとも１つの電気的特性を制御するための、該第１の制御モジュール；ならびに
該電気的特性および該物理的特性に関連する該センサーモジュールからの少なくとも１つの信号に応答する外部制御ループを制御するための第２の制御モジュールであって、該第２の制御モジュールを制御するための該電気的特性および物理的特性が、温度、インピーダンスおよびエネルギーのうちの少なくとも１つを含む、第２の制御モジュール、
を備える、制御システム。
２６．少なくとも１つのパルスを含む電気外科的エネルギーを発生する電気外科的発生器とともに使用するための制御システムであって、該制御システムは、以下：
センサーモジュールであって、外科手術前の状態、外科手術と同時の状態または外科手術後の状態のうちの１つとして、外科的部位に関連する少なくとも１つの特性を感知し、かつ該特性に関連する少なくとも１つの信号を発生するための、センサーモジュール；および
制御モジュールであって、該センサーモジュールからの該少なくとも１つの信号を受信し、かつコンピューターアルゴリズムおよびマッピングのうちの少なくとも１つを用いて該信号の各々を処理し、そして該処理に従って、少なくとも１つの制御信号を発生するためのプロセッサに対して実行可能である制御モジュールであって、該制御モジュールは、該発生器を制御するために、該電気外科的発生器に少なくとも１つの制御信号を提供する、制御モジュール、
を備える、制御システム。
２７．上記センサーモジュールが、上記外科手術前の状態、上記外科手術と同時の状態または上記外科手術後の状態のうちの少なくとも２つの状態の間で、少なくとも１つの特性を感知する、項目２６に記載の制御システム。
２８．上記外科手術前の状態の間に感知された上記少なくとも１つの特性が、上記外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；および組織の厚さのうちの少なくとも１つを含む、項目２６に記載の制御システム。
２９．上記処理工程が、組織の型を決定する工程を包含する、項目２６に記載の制御システム。
３０．項目２６に記載の制御システムであって、上記外科手術の状態の間に同時に感知された上記少なくとも１つの特性が、上記外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；組織の厚さ；組織の温度；組織のインピーダンス；組織を横切る電流；組織を横切る電圧；組織を横切る電力；組織の不透明性の程度の変化；組織の水分含有レベルの変化；組織の厚さの変化；組織の温度の変化；組織のインピーダンスの変化；組織を横切る電流の変化；組織を横切る電圧の変化；および組織を横切る電力の変化のうちの少なくとも１つを含む、制御システム。
３１．上記外科手術後の状態の間に感知された上記少なくとも１つの特性が、上記外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；組織の厚さ；組織の温度；および組織のインピーダンスのうちの少なくとも１つを含む、項目２６に記載の制御システム。
３２．上記外科手術後の状態の間に感知された上記少なくとも１つの特性が、上記外科的手順の間に形成された、得られた組織封止の質を示す、項目２６に記載の制御システム。
３３．項目２６に記載の制御システムであって、上記センサーモジュールが、光源によって発生され、かつ上記外科的部位に近位の組織を通って伝送された光を検出するための光検出器、ならびに感知素子の間の距離を感知するために、該感知素子が組織の反対表面に配置されている近接センサーのうちの少なくとも１つを備える、制御システム。
電気外科的エネルギーを発生する電気外科的発生器とともに使用するための閉ループ制御システムが、開示されている。この閉ループ制御システムは、ユーザーが少なくとも１つの外科手術前パラメータ（例えば、この発生器に作動可能に連結された外科用器具の型、組織の型および／または所望の外科的効果）を選択することを可能にするユーザーインターフェースを備える。外科手術部位の近位の電気的特性および物理的特性のうちの少なくとも１つを連続的に感知し、かつそれに関連する少なくとも１つの信号を発生させるセンサーモジュールもまた、備えられる。閉ループ制御システムは、ユーザーインターフェースからの選択された少なくとも１つの外科手術前パラメータおよびセンサーモジュールからの少なくとも１つの信号を連続的に受信し、かつマイクロプロセッサ、コンピューターアルゴリズムおよび／またはマッピング（例えば、照合表、連続マッピングおよび等価物）を使用して、少なくとも１つの外科手術前パラメータに従って少なくとも１つの信号を処理するための制御モジュールもまた、備える。この制御モジュールは、センサーモジュールからの少なくとも１つの信号に関連する少なくとも１つの対応する制御信号を発生させ、そしてこの発生器を制御するために制御信号を電気外科的発生器に供給する。
患者に対して外科的部位において電気外科的手順を実施するための方法もまた、開示されている。この方法は、以下の工程を包含する：少なくとも１つの電気パルスを含む電気外科エネルギーを生成する工程；該電気外科エネルギーを外科的部位に付与する工程；外科的部位の近位の少なくとも１つの電気的特性および物理的特性のうちの少なくとも１つを連続的に感知する工程；ならびに、連続的に感知した少なくとも１つの特性に従って、該電気外科エネルギーの少なくとも１つのパラメータを変化させるためにこの生成する工程を制御する工程。
別の実施形態において、制御システムが備えられる。この制御システムは、外科的手順の前（外科手術前）、外科的手順の間および／または外科的手順の後（外科手術後）の外科的部位に関連する少なくとも１つの特性を感知するためのセンサーモジュールを備える。このセンサーモジュールは、制御モジュールに戻る特性に関連する少なくとも１つの信号を発生させる。プロセッサに対して実行可能な制御モジュールは、少なくとも１つの信号を受信し、コンピューターアルゴリズムおよび／またはマッピングを使用してこの少なくとも１つの信号を処理し、そしてそれに関連する１つ以上の制御信号を発生させる。次いで、この制御信号は、電気外科的発生器を制御するために、この発生器と連絡する。
（詳細な説明）
電気外科的エネルギーを発生する電気外科的発生器ともに使用するための閉ループ制御システムが、開示される。この閉ループ制御システムは、例えば、発生器に作動可能に連結された外科用器具の型、組織の型および所望の外科的効果のような、少なくとも１つの外科手術前パラメータをユーザーが選択することを可能にするユーザーインターフェースを備える。外科的部位に近位の電気的特性および物理的特性のうちの少なくとも１つを連続的に感知し、かつこれらの特性に関連する少なくとも１つの信号を発生するためのセンサーモジュールもまた、備えられる。このシステムはまた、ユーザーインターフェースからの少なくとも１つの選択された外科手術前パラメータおよびセンサーモジュールからの各々の信号を連続的に受信し、かつ、マイクロプロセッサ、コンピューターアルゴリズムおよびマッピングのうちの少なくとも１つを用いて、少なくとも１つの外科手術前パラメータに従って各々の信号を処理するための制御モジュールを備える。この制御モジュールは、センサーモジュールからの各々の信号に関連する少なくとも１つの対応する制御信号を発生し、そして電気外科的発生器を制御するために、この電気外科的発生器に制御信号を送る。患者に対して外科的部位において電気外科的手順を実施するための方法もまた、開示される。この方法は、外科的部位に少なくとも１つの電気パルスを適用する工程；外科的部位に近位の電気的特性および物理的特性を連続的に感知する工程；ならびに連続的に感知した特性に従って、少なくとも１つのパルスの個々のパルスのパルスパラメータを変化させる工程を包含する。
図面に対して照合がなされるべきであり、ここで、種々の図面全体を通して、同じ照合番号は、同様の構成要素をいう。図１を照合すると、電気外科的発生器１０１とともに使用するための、本発明で開示された閉ループ制御システム１００の１つの実施形態の概略図が示されている。制御システム１００は、制御モジュール１０２、ユーザーインターフェース１０８およびセンサーモジュール１１０を備える。この制御モジュール１０２は、電気外科的発生器１０１に作動可能に連結されている。この電気外科的発生器１０１は、好ましくは、電気外科的エネルギー出力ステージ１０４および電源１０６を備え、ここで、この出力ステージ１０４は、電源１０６からの電力を受容し、そして少なくとも１つの電極（図示せず）を介して、ＲＦエネルギーを患者１１２に伝達する。理解され得るように、１つ以上の電極は、単極外科手術または双極外科手術を行うための電気外科用器具とともに使用され得る。
センサーモジュール１１０は、操作部位における種々の電気的パラメータおよび物理的パラメータまたは電気的特性および物理的特性を感知し、かつ制御モジュール１０２と連絡して、出力ステージ１０４からの電気外科的出力を調節する。センサーモジュール１１０は、操作部位における種々の電気的条件または電気機械的条件（例えば、組織インピーダンス、組織インピーダンスの変化、組織温度、組織温度の変化、漏れ電流、印加電圧および付与電流）を測定または「感知」するように構成され得ることが認識される。好ましくは、このセンサーモジュール１１０は、これらの条件のうちの１つ以上を、連続的にかまたは「実時間」で測定し、その結果、この制御モジュール１０２は、特定の目的または所望の外科的目的に従って、電気外科的出力を連続的に調節し得る。より詳細には、センサーモジュール１１０によって提供されるアナログ信号は、アナログ・デジタル変換器（ＡＤＣ）１１４を介してデジタル信号に変換され、次いで、制御モジュール１０２に提供される。
その後、制御モジュール１０２は、センサーモジュール１１０から得られる情報に従って、電源１０６および／または出力ステージ１０４を調節する。ユーザーインターフェース１０８は、制御モジュール１０２に電気的に接続されて、ユーザーが、送達される増幅ＲＦエネルギーの１つ以上の電気的パラメータ（例えば、電圧、電流、電力、周波数、振幅）および／または特定の目的に依存するかもしくは外科的目的を変更するためのパルスパラメータ（例えば、パルス幅、衝撃係数、波高因子、および／または繰返し数）を手動で設定し、調節しそして／または制御する外科手術の間に、患者１１４に対する電気外科的エネルギー出力の種々のパラメータを制御することを可能にする。
制御モジュール１０２は、ユーザーインターフェース１０８によって受信された処理データに対するソフトウェア指示を実行し得る少なくとも１つのマイクロプロセッサならびに、それに従って、出力ステージ１０４および／または電源１０６に対して制御信号を出力するためのセンサーモジュール１１０を備える。制御モジュールによって実行可能なソフトウェア指示は、制御モジュール１０２および／または外部メモリー（例えば、外部ハードドライブ、フロッピー（登録商標）ディスク、ＣＤ−ＲＯＭなど）によってアクセス可能な、制御モジュール１０２内の内部メモリー、内部メモリーバンクおよび外部メモリーバンク内に保存される。制御モジュール１０２から電気外科的発生器１０１への制御信号は、デジタルアナログ変換器（ＤＡＣ）１１６によってアナログ信号に変換され得る。
電源１０６は、好ましくは、電気外科電流（例えば、無線周波数（ＲＦ）電流）を発生するための高電圧ＤＣ電源である。制御モジュール１０２から受信した信号は、ＤＣ電源による電圧出力および電流出力の大きさを制御する。出力ステージ１０４は、ＤＣ電源からの出力電流を受信し、波形発生器（示さず）によって１つ以上のパルスを発生する。理解されるように、パルスパラメーター（例えば、パルス幅、衝撃係数、波高因子および繰返し数）は、制御モジュール１０２から受信される信号に応答して調節される。あるいは、電源１０６は、ＡＣ電源であり得、出力ステージ１０４は、電源１０６から受信した信号の波形を、所望の波形を達成するように変形し得る。
上記されるように、ユーザーインターフェース１０８は、制御モジュール１０２に局所的であっても遠く離れていても良い。ユーザーは、使用される電気外科用器具の型、実施される電気外科手順の型、および／またはこの電気外科手順が実施される組織型のようなデータを入力し得る。閉ループ制御システム１００（特に、センサーモジュール）は、１つ以上のこれらの物理的パラメーターに関して外科医に対してフィードバックを提供する１つ以上のスマートセンサーを備え得ることが予想される。さらに、ユーザーは、コマンド（例えば、維持されるべき標的有効電圧、標的有効電流もしくは標的有効電力レベル、または標的応答（例えば、電源１０６および／または出力ステージ１０４の感知される値（例えば、変化の関数としての電圧、電流および／または電力レベルの実効変化）に対する制御の変化）を入力し得る。好ましくは、ユーザーは、上記されるような、電気外科的発生器１０１によって送達される、ＲＦエネルギーの電気的パラメーターを制御するためのコマンドをまた、入力し得る。デフォルト値が、標的レベルおよび標的応答より上に提供されることが予想される。
センサーモジュール１１０は、点「Ａ」および点「Ｂ」に、またはこれらの近位に、種々の特徴または条件を感知するために戦略的に配置される複数のセンサー（示さず）を備える。点「Ａ」に、またはこれらの近位に（本明細書中以後、点「Ａ」という）、位置決めされるセンサーは、出力ステージ１０４からの電気外科出力の特徴および／またはパラメーターを感知し、そして／あるいは外科手順の間に現在電気外科的に付与されるエネルギーの外科効果の前の、特徴、パラメーターまたは状態を感知する。例えば、点「Ａ」に位置決めされたセンサーは、発生器１０１に提供されても、その近位に取り付けられてもよい。
点「Ｂ」に、またはこれらの近位に（本明細書中以後、点「Ｂ」という）、位置決めされるセンサーは、外科手順の前に、そして／もしくは外科手順の間の外科効果に応答する、手術部位でのまたは手術位置全体での、パラメーター、特徴および／または状態を感知する。好ましくは、１つ以上のこれらのセンサーは、電気外科用器具に（例えば、１つのエンドエフェクターまたは向かい合ったエンドエフェクターに）取り付けられても、操作部位の近位に取り付けられてもよい。例えば、光学的センサー、近接センサー、温度センサーは、特定の組織の特徴を検出するために使用され、電気的センサーは、組織の他のパラメーターまたは操作効果を感知するために使用され得る。点「Ａ」が、発生器１０１によって出力される信号が、これらの信号が適用される前に、またはこれらが外科部位「Ｂ」に適用されたほぼそのときに、伝播される位置の外科部位「Ｂ」の近位に、配置され得ることは注目すべきである。
センサーは、情報を制御モジュールに伝播するためのリード線手段またはワイヤレス手段を備え、ここで、この情報は、制御モジュール１０２に直接提供され、そして／またはセンサーモジュール１１０および／またはＡＤＣ１１４を介して制御モジュール１０２に提供される。センサーモジュール１１０は、複数のセンサーからの情報を受信し、この情報およびこの情報の源（例えば、情報を提供する特定のセンサー）を制御モジュール１０２に提供するための手段を備え得る。
図２を参照すると、センサーモジュール１１０の内部作動要素が、より詳細に示される。より具体的には、センサーモジュール１１０は、好ましくは、外科部位「Ｂ」での実時間の印加電圧値および電流値を感知するための、実時間電圧感知システム２０２および実時間電流感知システム２０４を備える。センサーモジュール１１０はまた、好ましくは、点「Ａ」での患者から戻ってきた信号の実時間値を感知するための、実時間電圧感知システム２０６および実時間電流感知システム２０８を備える。ＲＭＳ電圧感知システム２１０およびＲＭＳ電流感知システム２１２はまた、外科部位「Ｂ」での印加電圧および電流を感知し、これらに対してＲＭＳ値を誘導するために備え付けられ、ＲＭＳ電圧感知システム２１４およびＲＭＳ電流感知システム２１６は、点「Ａ」での信号を検出し、そのＲＭＳ値を導出するために備え付けられる。温度感知システム２１８は、好ましくは、外科部位「Ｂ」での組織の温度を感知するために備え付けられる。実時間電流感知システムおよび電圧感知システムならびにＲＭＳ電流感知システムおよびＲＭＳ電圧感知システムは、当該分野で公知である。センサーモジュール１１０は、発生器による電圧出力および電流出力を感知するためのセンサー（示さず）をさらに備え得る。
測定値または感知された値は、センサーモジュール１１０中の回路および／もしくはプロセッサ（示さず）のいずれかによって、そして／または感知された値の変化および外科部位「Ｂ」での組織インピーダンスを誘導するための制御モジュール１０２によって、さらに処理される。組織インピーダンスおよび組織インピーダンスの変化は、組織を横断する電圧および／もしくは電流を測定することによって、そして／またはその経時変化を計算することによって決定され、電圧値および電流値を、制御システム１００による使用についての種々の組織型に関連する公知の値および／または所望の値と比較し、所望のインピーダンスおよび／またはインピーダンス値の変化を達成するために電気出力を駆動する。理解され得るように、これらの公知の値および／または所望の値、組織型ならびに範囲は、内部照合表（「連続値マップ」）または外部の検索可能なメモリー内に保存され得る。共有に係る米国特許第６，３９８，７７９号、同第６，２０３，５４１号、同第５，８２７，２７１号および米国特許出願第１０，０７３，７６１号は、組織インピーダンスを測定する方法を開示し、そしてその全体を本明細書中に参考として援用する。
実時間値から組織インピーダンス（または他の物理的パラメーターおよび電気的パラメーター）を誘導することは、実時間組織インピーダンスおよび／または組織インピーダンスの変化のモニタリングの利点を提供することが予想される。外科手順が進むにつれて、組織インピーダンスは、外科部位「Ｂ」での組織からの液体の除去および修復に応答して変動すると考えられる。制御モジュール１０２が、組織インピーダンスおよび組織インピーダンス（または他の物理的パラメーターおよび電気的パラメーター）の変化をモニターする間、制御モジュール１０２は、それに従って、所望かつ最適な電気外科効果を達成するように、電源１０６および出力ステージ１０４を調節する。
電気外科手順を開始する前に、電気外科用器具の操作者は、ユーザーインターフェース１０８によって情報を入力する。入力される情報としては、例えば、使用される電気外科用器具の型、実施される手順の型（すなわち、所望される外科効果）、組織型、関連する患者の情報、および制御モード設定が挙げられる。制御モード設定は、制御モジュール１０２が提供する制御の量および型を決定する。上記されるように、１つ以上のセンサー（示さず）はまた、組織型、初期組織厚、初期組織インピーダンスなどに関連する制御モジュール１０２に対する情報を自動的に提供するように備え付けられ得る。
例示的な様式としては、以下の様式の１つまたは１つ以上の組み合わせが挙げられるがこれらに限定されない：制御モジュール１０２が、部位「Ａ」で、選択された出力値、電流値および／または電圧値を安定に維持する、第１の様式；制御モジュール１０２が、部位「Ｂ」で、選択された出力値、電流値および／または電圧値を安定に維持する、第２の様式；制御モジュール１０２が、部位「Ａ」で、手順の間の、時間値および／または感知されたパラメーターもしくは感知されたパラメーターの変化に依存する（すなわちこれらの関数である）、選択された出力電力値、電流値および／または電圧値の変動を維持する、第３の様式；制御モジュール１０２が、部位「Ｂ」で、手順の間の、時間値および／または感知されたパラメーターもしくは感知されたパラメーターの変化に依存する（すなわちこれらの関数である）、選択された出力電力値、電流値および／または電圧値の変動を維持する、第４の様式。時間値および感知された特徴に対して実行される機能は、制御モジュール１０２によって保存されるかまたはアクセス可能な、表またはマップを使用する計算および／または照合操作のような操作を備える。制御モジュール１０２は、選択された出力電力値、電流値および電圧値を、例えば、計算または表照合操作を実施することによって、処理し、電力制御信号値および出力制御値を決定する。
制御モジュール１０２は、オペレーター入力データもしくは設定を、使用および／または処理し、計算を実施し、そして／または制御モジュール１０２によって保存されるかもしくはアクセス可能な照合表にアクセスすることによって、電源１０６および出力ステージ１０４に対する制御信号についての所期設定値を決定することもまた予想される。一旦、電気外科手順が開始されると、センサーモジュール１１０のセンサーは、種々の物理的特徴および電気的特徴を感知し、そして必要に応じて、ＡＤＣ１１４を介して、制御モジュール１０２にフィードバックを提供する。制御モジュール１０２は、前もって選択された様式および手順の間に入力された任意のさらなるオペレーター入力コマンドに従って、フィードバック情報を処理する。次いで、制御モジュールは、制御情報を、電源１０６および出力ステージ１０４に送信する。発生器１０１が、オーバーライド制御で提供され得、必要な場合、例えば、ユーザーインターフェース１０８を介してオーバーライドコマンドを入力することによって、オペレーターが、制御モジュール１０２によって提供される制御信号を無効にすることを可能にすることが企図される。
図３は、本発明の開示の実施形態に従う電気外科手順の間に、閉ループ制御システム１００の操作を制御するための方法を示すフローチャートを示す。工程３０２では、本方法は、外科部位で、種々の物理的特徴および電気的特徴を連続的に感知する工程を包含する。工程３０４では、感知された特徴は、連続的に処理される。工程３０６では、電源制御信号は、電気外科的発生器による信号出力の大きさを制御するように連続的に発生され、出力ステージ制御信号は、連続的に処理された感知特徴に従う出力信号のパルスパラメーターを制御するように、連続的に発生される。
センサーモジュール１１０は、外科部位「Ｂ」の近位の組織厚を感知（測定）し、組織厚値を発生するように近位のセンサーにさらに備えることが企図される。初期組織厚値は、外科前パラメーターとして、制御モジュール１０２に提供され得る。実時間感知組織厚値および／または組織厚値の経時変化（Δ［差］厚さ／Δ［差］時間）はさらに、外科手順の間に制御モジュール１０２に提供され得、ここで、制御モジュール１０２は、実時間感知組織厚値および／または組織厚値の経時変化に従って電気外科出力を調節する。
センサーモジュール１１０は、組織水分（これは、しばしば組織型を示す）を感知（測定）し、ならびに水分含量値を生成し、そして／または組織型を決定するためのさらなるセンサーモジュール（またはさらなる能力を備える同じセンサーモジュール１１０）をさらに備えることが、さらに企図される。水分含量は、組織コンプライアンスデータまたは光学的透明性から決定されることが予想される。さらなるセンサーモジュールは、源（例えば、赤外光源または他の光源）によって生成され、組織を通って伝送されるかまたは反射される、光またはエネルギーを感知（測定）するための赤外線センサーまたは光学的センサーを備え得、ここで、感知された値は、外科部位「Ｂ」の組織近位の、組織水分含量および／または組織型を示す。初期組織水分含量値および／または組織型は、外科前パラメーターとして制御モジュール１０２に提供され得る。実時間感知水分含量値および／または水分含量値の経時変化（Δ［差］水分含量／Δ［差］時間）はさらに、外科手順の間に制御モジュール１０２に提供され得、ここで、制御モジュール１０２は、実時間感知水分含量値および／または水分含量値の経時変化に従って電気外科出力を調節する。
従って、本開示は、手術部位および／または出力ステージの近位において「感知」された物理的または電気的特性に応答して、電源１０６および出力ステージ１０４の連続的制御を提供するための、閉ループ制御システム１００を提供する。
本開示に従うさらなる実施形態および特に図４を参照して、２つの制御ループ（内側ループ制御モジュール４０２によって制御される内側ループおよび外側ループ制御モジュール４０４によって制御される外側ループ）を有する制御モジュール１０２が提供される。好ましくは、内側ループ制御モジュール４０２および外側ループ制御モジュール４０４は、制御モジュール１０２のプロセッサによって実行可能なソフトウェアモジュールである。内側ループ制御モジュール４０２および外側ループ制御モジュール４０４の両方は、センサーモジュール１１０によって発生される信号を受信する。
内側ループ制御モジュール４０２は、所望の事象が生じる（迅速なｄｚ／ｄｔまたはインピーダンス上昇が達成される）（例えば、インピーダンス値が、好ましくは、約２００オーム〜約４００オームの範囲に達する）まで、組織において感知され、そして／または感知された値から計算された変数（例えば、Ｉ、ＶまたはＰ）を制御するために組織に送達される電流、電圧および／または電力の量を制御する。制御変数は、発生器の制限（電力、電流、電圧）および外科的制限（組織に対するエネルギーの適用についての最大の限界）によって決定されるインピーダンス値（または他の感知された値および／または導出された値）に従って、封止サイクルの過程の間、変化するように制御される。
内側ループ制御モジュール４０２は、センサーモジュール１１０から実時間で感知された値（例えば、電流Ｉおよび電圧Ｖ）を連続的に受信し、そしてさらなる実時間値（例えば、電力ＰおよびインピーダンスＺ）を導出するために受信した値に対して計算を実行し得る。Ｉ、Ｖ、および／またはＰについての所望の内側ループ値は、連続的値４０８、照合表または等価物の少なくとも１つの保存された内側マッピングにアクセスすることによって得られ、ここで、好ましくは、内側マッピング４０８は、インピーダンスの関数に従う。好ましくは、内側ループ制御モジュール４０２は、現在感知され、そして導出されるインピーダンスについての所望の内側ループ値を得るために、内側マッピング４０８を調べる。
アルゴリズムを使用して、Ｉ、Ｖおよび／またはＰの実時間の値を、それぞれの所望の内側ループ値と比較し、所望の内側ループ値を超えなることなく、所望の内側ループ値を達成するために、従って、電気外科的発生器１０１にＲＦコマンドを出力する。例えば、ＲＦコマンドは、Ｉ、Ｖおよび／またはＰについての実時間の値が、Ｉ、Ｖおよび／またはＰについてのそれぞれの所望の内側ループ値よりも低い場合、電気外科的発生器１０１によって、標的電流、電圧および／または電圧出力を上昇させ、その逆もまた行われる。ＲＦコマンドは、電気外科的発生器１０１によって電気外科的エネルギー出力の波形パラメータ（電流、電力、電圧、衝撃係数、周波数、波形などが挙げられる）を制御することが企図される。内側ループが、所望の組織効果を達成するための外側ループを伴うことなく使用されることがさらに企図される。
外側ループ制御モジュール４０４（内側ループ制御モジュール４０２の上に積み重ねられる）は、所望の出力値または効果を達成するための変数のさらなる制御を提供する。例えば、変数の制御は、（感知および計算される）組織のインピーダンスの変化の速度をモニター／調節し得る。異なる実施形態において、制御される変数としては、温度、温度の変化速度、および／または組織へのエネルギーの入力が挙げられ得る。外側ループ制御モジュール４０４は、時間「ｔ」に、センサーモジュール１１０から感知された値（例えば、Ｉ、Ｖおよび温度Ｔ）を連続的に受信し、そして感知された値、好ましくは、インピーダンスの変化の速度および／または温度の変化の速度のような値を導出するために保存された値についての計算を実施する。例えば、インピーダンスの変化についての値（ｄｚ／ｄｔ）は、以下に従って、得られる：
（１）ｄｚ／ｄｔ＝（Ｚ−Ｚ ＯＬＤ）／（ｔ−ｔ ＯＬＤ）；
Ｚ ＯＬＤ＝Ｚ；
ここで、Ｚは、時間ｔにおいて測定された値に従うインピーダンスであり、そして
Ｚ ＯＬＤは、時間ｔ ＯＬＤにおいて先の時間間隔で測定された値に従って保存されたインピーダンスである。
制御変数についての外側ループの所望の値は、連続値４０６の保存された外側マッピングまたは表あるいは等価物にアクセスすることによって、得られる。外側マッピング４０６に従う所望の変化速度は、定常であり得るか、または時間にわたって、封止サイクルおよび変化のステージに依存し得る。組織は、封止手順の間、動的状態にあり、そして外側ループは、手順全体を通して、変化の速度をモニターし、所望の変化速度が達成される程度を決定する。制御変数が温度である場合、温度マップは、所望の温度が時間に対してプロットされる外側マッピング４０６について使用され得る。制御変数が温度の変化の速度である場合、温度マップの変化の速度は、所望の温度が時間に対してプロットされる外側マッピング４０６について使用され得る。エネルギーが、類似の様式で適用され得、ここで、エネルギー関数が、特定の組織型について導出された式を使用して、または感知された値を使用して、計算され得る。
アルゴリズムを使用して、所望の外側値が適合するか否かを決定するため、そして適合しない場合、所望の外側値に対する、実時間値と所望の外側値との間の違いの比を決定するため、時間「ｔ」におけるインピーダンスの変化速度、温度、温度の変化速度および／またはエネルギーの実時間で感知された／計算された値を、外側マッピング４０６から得られた時間「ｔ」におけるそれぞれの所望の外側値と比較する。所望の外側値が適合しない場合、外側ループモジュール４０６は、内側ループモジュール４０２に提供される設定値を発生させる。インピーダンスの変化速度、温度、および／または温度の変化速度についての実時間値が、インピーダンスの変化速度、温度、および／または温度の変化速度についてのそれぞれの所望の外側値よりも低い場合、設定値は上げられ、その逆も行われる。
設定値は、好ましくは、ｙ軸に沿って内側マッピング４０８のプロットされた曲線を上昇または低下させることによって、内側マッピング４０８を変化させるための比信号である。好ましくは、比信号は、当該分野で公知なように、比例積分偏差（ＰＩＤ）制御信号である。内側ループ制御モジュール４０２は、外側ループからの所望の内側値を得るために変化した内側マッピング４０８にアクセスし、制御変数の実時間値を比較し、所望の内側値を超えることなく、所望の内側値を達成するためにＲＦコマンドを発生し、そして従って、所望の組織効果をもたらすために必要とされる電圧、電流および／または電力を制御するために電気外科的発生器１０１にＲＦコマンドを出力することによって、即時に応答する。
好ましくは、外側ループ制御モジュール４０４は、インピーダンスの変化速度、温度、温度の変化速度、および／または送達される全エネルギーの実時間値を使用して、封止の完了を示す所望の外側値に達するか否かを決定する。封止完了の決定の際に、停止信号は、封止プロセスを停止するために発生される。そうでなければ、外側ループは、センサーモジュール１１０からの感知された値をモニターし、受信し、そして処理し続ける。
内側ループ制御モジュール４０２によるＩ、Ｖおよび／またはＰの制御は、特に、システム制御の振動および欠如を誘導する低端インピーダンス区切り点を避けることによって、低いインピーダンス範囲（例えば、０〜２０オーム）（これは、封止開始のために重要である）でシステム安定性を改善し、そして可能出力を制御する。外側ループ制御は、制御モジュールの、所望の傾向または事象に従って封止を制御する能力、インピーダンスの変化速度を変化させることによって封止強度を変化させる能力、および組織の均一な封止を増強する能力（すなわち、可変性（組織水和、容積および組成を含む）の点で、組織を正常化する能力）を向上する。組織状態のフィードバック制御および連続的な感知を用いて、制御変数（すなわち、低／高端区切り点）を切り換える必要が無く、上で説明されるシステムの安定性を改善する。
制御モジュール１０２が、電気外科的出力ステージ１０４および／または電源１０６を制御する代わりに、またはこれらを制御する事に加えて、所望の効果を達成するために、組織に適用される熱を調節するための抵抗熱を生成するためのモジュールを制御することが企図される。制御モジュール１０２は、感知された組織温度または組織温度を示す他の感知された特性に応答し、所望の出力電流値または抵抗値を得るために感知された値を使用して、少なくとも１つのマッピング、データテーブルまたは等価物にアクセスし、そして出力熱抵抗値を制御するためのコマンド信号を出力する。好ましくは、抵抗熱を生成するためのモジュールは、それぞれ、所望の電流を出力するため、または所望の抵抗を提供するために、コマンド信号に応答する電流源および／または可変抵抗器を備える。
本発明の別の実施形態において、制御システムは、外科的手順の前の外科手術前時間、外科的手順、および外科的手順に続く外科手術後時間のうちの少なくとも１つの間に、外科的部位に関連する少なくとも１つの信号を発生させるために、外科的部位に関連する少なくとも１つの特性を感知するためのセンサーモジュール；ならびに少なくとも１つの信号を受信し、そしてコンピュータアルゴリズムおよびマッピングのうちの少なくとも１つを使用して少なくとも１つのこの信号を処理し、そしてこの処理に従って少なくとも１つの制御信号を発生させ、そして発生器を制御するために電気外科的発生器に少なくとも１つの制御信号を提供するためのプロセッサに対し実行可能な制御モジュールを備えることが想定される。好ましくは、処理は、外科的部位に近位の組織の組織型を決定することを包含する。
さらなる好ましい実施形態において、センサーモジュール１１０（またはさらなるセンサーモジュール（示さず））は、外科手術前の状態、同時発生の外科的状態および／または外科手術後の状態として少なくとも１つの特性を感知する。好ましくは、センサーモジュール１１０は、外科手術前の状態、同時発生の外科的状態および外科手術後の状態から選択される少なくとも２つの外科的状態（または時間にわたる外科的状態の変化）を感知する。外科手術前の状態としては、以下が挙げられる：外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；および／または組織の厚さ。同時発生の状態としては、以下が挙げられる：外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；組織の厚さ；組織の温度；組織のインピーダンス；組織を横切る電流；組織を横切る電圧；組織を横切る電力；組織の不透明性の程度の変化；組織の水分含有レベルの変化；組織の厚さの変化；組織の温度の変化；組織のインピーダンスの変化；組織を横切る電流の変化；組織を横切る電圧の変化；および組織を横切る電力の変化。外科手術後の状態としては、以下が挙げられる：外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；組織の厚さ；組織の温度；および組織のインピーダンス。
好ましくは、外科手術後の状態の間に感知される少なくとも１つの特性は、外科的手順の間に形成される組織封止の質の表示である。好ましい実施形態において、センサーモジュール１１０は、光源によって発生され、そして外科的部位に近位の組織を通って（または組織から反射して）伝送された光を検出するための光検出器を備える。組織の反対表面に配置される感知素子を有する近接センサーはまた、組織の厚さの表示である要素間の距離を感知するために含まれ得る。
本開示は、好ましい実施形態に関して記載したが、本開示に関連する変化および改変が、本開示の精神または範囲を逸脱することなくそれらに対してなされ得ることは、当業者に対して容易に明らかである。例えば、制御モジュール１０２は、感知された値を処理し、そして制御信号を決定して電源１０６および出力ステージ１０４に送るためのマイクロプロセッサによって実行されるプログラム可能な指示以外に、またはそれと組み合わせて、回路および他のハードウェアを備え得ることが意図される。
本開示の幾つかの実施形態は、図面において示されたが、本開示がそれらに限定されることは意図せず、本開示を、当該分野が可能にする広い範囲とならしめ、そして本明細書が同様に読まれることが意図される。それゆえに、上記の説明は、限定としてではなく、好ましい実施形態の単なる例示として解釈されるべきである。
種々の実施形態が、図面を照合して本明細書中以下に記載されている。
図１は、本開示に従う電気外科的発生器とともに使用するための閉ループ制御システムの概略図である。 図２は、図１の閉ループ制御システムとともに使用するためのセンサーモジュールの概略図である。 図３は、本開示に従う閉ループ制御システムの操作方法を例示したフローチャートである。 図４は、本発明の別の実施形態に従う二重ループ制御システムのブロック図である。

Claims (25)

  1. 少なくとも１つのパルスを含む電気外科的エネルギーを発生する電気外科的発生器とともに使用するための閉ループ制御システムであって、該閉ループ制御システムは、以下：
    ユーザーが少なくとも１つの外科手術前パラメータを選択することを可能にするユーザーインターフェースであって、該少なくとも１つの外科手術前パラメータが、該発生器に作動可能に連結された外科用器具の型、組織の型および所望の外科的効果のうちの少なくとも１つを含む、ユーザーインターフェース；
    センサーモジュールであって、外科的部位に近位の電気的特性および物理的特性のうちの少なくとも１つを連続的に感知し、かつ該特性に関連する少なくとも１つの信号を発生する、センサーモジュール；ならびに
    該ユーザーインターフェースからの選択された少なくとも１つの外科手術前パラメータおよび該センサーモジュールからの少なくとも１つの信号を連続的に受信し、かつ少なくとも１つのマイクロプロセッサ、コンピューターアルゴリズムおよびマッピングを用い、該少なくとも１つの外科手術前パラメータに従って該少なくとも１つの信号を処理する制御モジュールであって、該制御モジュールは、該センサーモジュールからの該少なくとも１つの信号に関連する少なくとも１つの対応する制御信号を発生し、かつ該発生器を制御するために、該電気外科的発生器に少なくとも１つの制御信号を提供する、制御モジュール、
    を備え、
    ここで、該制御モジュールが、複数のループ制御モジュールを備え、該複数のループ制御モジュールの少なくとも第１のループ制御モジュールが、実時間のパラメーター値と所望のパラメータ値との間の比を提供し、
    該実時間のパラメーター値が、該センサーモジュールからの少なくとも１つの信号に由来し、該第１のループ制御モジュールが、該比に一部基づいて、該複数のループ制御モジュールの別のものを調節して、該発生器を制御する、
    閉ループ制御システム。
  2. 前記ユーザーインターフェースが、前記少なくとも１つの外科手術前パラメータの外科手術前パラメータを自動的に選択する少なくとも１つのさらなるセンサーを備える、請求項１に記載の閉ループ制御システム。
  3. 前記少なくとも１つの制御信号が、前記発生器を制御し、前記発生された電気外科的エネルギーの少なくとも１つのパラメータを調節する、請求項１に記載の閉ループ制御システム。
  4. 前記少なくとも１つの制御信号が、前記発生器を制御し、電気外科的エネルギーの電圧、電流、電力、パルス幅、周波数、振幅、波高因子、衝撃係数、繰返し数、および波形のうちの少なくとも１を調節し得る、請求項３に記載の閉ループ制御システム。
  5. 前記発生器が電源を備え、ここで、前記少なくとも１つの制御信号が、少なくとも１つのパルスの個々のパルスの電気的特性の大きさを調節するために、該電源を制御する電力制御信号を含む、請求項１に記載の閉ループ制御システム。
  6. 前記少なくとも１つの制御信号が、前記少なくとも１つのパルスの個々のパルスの波形パラメータを調節する、請求項１に記載の閉ループ制御システム。
  7. 前記少なくとも１つの制御信号が、前記少なくとも１つのパルスの繰返し数および衝撃係数の少なくとも１つを制御する、請求項１に記載の電気外科的発生器。
  8. 請求項１に記載の閉ループ制御システムであって、前記センサーモジュールが、電圧センサー、電流センサー、温度センサー、ＲＭＳ電圧センサー、ＲＭＳ電流センサーおよび漏れ電流センサーの少なくとも１つを備え、前記マイクロプロセッサは、ＲＭＳ電圧、ＲＭＳ電流および漏れ電流のそれぞれに対応する値を導出するために構成された、該ＲＭＳ電圧センサー、該ＲＭＳ電流センサーおよび該漏れ電流センサーによって出力された信号を処理する、閉ループ制御システム。
  9. 請求項１に記載の閉ループ制御システムであって、前記センサーモジュールが、電圧、電流、温度、ＲＭＳ電圧、ＲＭＳ電流および漏れ電流のうちの少なくとも１つを感知し得、そして前記マイクロプロセッサが、ＲＭＳ電圧、ＲＭＳ電流および漏れ電流のそれぞれに対応する値を導出するために、前記ＲＭＳ電圧センサー、前記ＲＭＳ電流センサーおよび前記漏れ電流センサーのうちの少なくとも１つによって出力された信号を処理する、閉ループ制御システム。
  10. 前記センサーモジュールが、前記外科的部位を横切る電圧を感知する電圧センサーをさらに備える、請求項１に記載の閉ループ制御システム。
  11. 前記センサーモジュールが、前記外科的部位を横切る電流を感知する電流センサーをさらに備える、請求項１に記載の閉ループ制御システム。
  12. 前記センサーモジュールが、電気インピーダンスを測定するための手段をさらに備える、請求項１に記載の閉ループ制御システム。
  13. 前記閉ループ制御システムが、感知した温度の変化を測定するための手段をさらに備える、請求項１に記載の閉ループ制御システム。
  14. 前記閉ループ制御システムが、前記外科的部位での電気インピーダンスを決定するために、前記センサーモジュールからの情報を処理するための手段をさらに備える、請求項１に記載の閉ループ制御システム。
  15. 前記処理手段が、前記電気インピーダンスの変化を測定する、請求項１４に記載の閉ループ制御システム。
  16. 請求項１に記載の閉ループ制御システムであって、前記ユーザーインターフェースがさらに、前記制御モジュールによって処理するためのコマンドをユーザーが入力することを可能にし、該制御モジュールが、前記電気外科的発生器を制御して、
    電圧、電流、電力、周波数および振幅のうちの少なくとも１つを含む標的電気的パラメータ；
    パルス幅、衝撃係数、波高因子および繰返し数のうちの少なくとも１つを含むパルスパラメータ；ならびに
    感知された物理的特性および電気的特性のうちの少なくとも１つを変化させる電気パラメータ
    のうちの少なくとも１つを有するエネルギーを発生する、請求項１に記載の閉ループ制御システム。
  17. 組織を電気外科的に封止するためのシステムであって、該システムは、ＲＦエネルギー供給源を備える電気外科的発生器および電気外科的発生器の操作を制御する制御器を備え、該電気外科的発生器は、該電気外科的発生器によって発生されるＲＦエネルギーを、封止されるべき組織に結合するための電極を備える外科用器具に結合するための出力も有し；該制御器は、該電気外科的発生器が、該組織にＲＦエネルギーの初期パルスを適用するようにさせ、かつ該適用された初期パルスに応答して該組織の電気的特性の値を測定するために作動可能であり、該制御器は、次のパルスに対するパルスパラメータの初期セットを決定し、次いで該組織の電気的特性の変化に従って、さらに続くＲＦエネルギーパルスの個々のパルスのパルスパラメータを変化させるために、該測定された電気的特性に対して応答し、
    ここで、該制御器は、該個々のパルスに応答して該組織の電気的特性および物理的特性を測定し、次いで該組織の電気的特性および物理的特性に従って、次の個々のパルスのパルスパラメータを変化させるために、さらに作動可能である、システム。
  18. 少なくとも１つのパルスを含む電気外科的エネルギーを発生する電気外科的発生器を制御するための制御システムであって、該制御システムは、以下：
    センサーモジュールであって、外科手術前の状態、外科手術と同時の状態および外科手術後の状態のうちの少なくとも１つとして、外科的部位に関連する少なくとも１つの特性を感知し、かつ該特性に関連する少なくとも１つの信号を発生する、センサーモジュール；および
    制御モジュールであって、該センサーモジュールからの該少なくとも１つの信号を受信し、かつコンピューターアルゴリズムおよびマッピングのうちの少なくとも１つを用いて少なくとも１つの該信号を処理し、そして該処理に従って、少なくとも１つの制御信号を発生するプロセッサに対して実行可能である制御モジュールであって、該制御モジュールは、該電気外科的発生器に少なくとも１つの制御信号を提供し、該発生器を制御するように構成されており、該該制御モジュールが、複数のループ制御モジュールを備え、該複数のループ制御モジュールの少なくとも第１のループ制御モジュールが、実時間のパラメーター値と所望のパラメータ値との間の比を提供する、制御モジュール、
    を備え、
    該実時間のパラメーター値が、該センサーモジュールからの少なくとも１つの信号に由来し、該第１のループ制御モジュールが、該比に一部基づいて、該複数のループ制御モジュールの別のものを調節して、該発生器を制御する、
    制御システム。
  19. 前記センサーモジュールが、前記外科手術前の状態、前記外科手術と同時の状態または前記外科手術後の状態のうちの少なくとも２つの状態の間で、少なくとも１つの特性を感知する、請求項１８に記載の制御システム。
  20. 前記外科手術前の状態の間に感知された前記少なくとも１つの特性が、前記外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；および組織の厚さのうちの少なくとも１つを含む、請求項１８に記載の制御システム。
  21. 前記処理工程が、組織の型を決定する工程を包含する、請求項１８に記載の制御システム。
  22. 請求項１８に記載の制御システムであって、前記外科手術と同時の状態の間に同時に感知された前記少なくとも１つの特性が、
    前記外科的部位に近位の組織の不透明性の程度；
    組織の水分含有レベル；
    組織の厚さ；
    組織の温度；
    組織を横切るインピーダンス；
    組織を横切る電流；
    組織を横切る電圧；
    組織を横切る電力；
    組織の不透明性の程度の変化；
    組織の水分含有レベルの変化；
    組織の厚さの変化；
    組織の温度の変化；
    組織を横切るインピーダンスの変化；
    組織を横切る電流の変化；
    組織を横切る電圧の変化；および
    組織を横切る電力の変化
    のうちの少なくとも１つを含む、制御システム。
  23. 前記外科手術後の状態の間に感知された前記少なくとも１つの特性が、前記外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；組織の厚さ；組織の温度；および組織を横切るインピーダンスのうちの少なくとも１つを含む、請求項１８に記載の制御システム。
  24. 請求項１８に記載の制御システムであって、前記制御モジュールが、前記少なくとも１つの信号の処理に従って、前記外科手術の間に形成される組織の封止の質を決定し、前記処理される少なくとも１つの信号が、前記外科的部位に近位の組織の不透明性の程度；組織の水分含有レベル；組織の厚さ；組織の温度；組織を横切るインピーダンス；組織の温度の変化の速度；組織を横切るインピーダンスの変化の速度；および組織に送達される全エネルギーのうちの１つに関連する、制御システム。
  25. 請求項１８に記載の制御システムであって、前記センサーモジュールが、光源によって発生され、かつ前記外科的部位に近位の組織を通って伝送された光を検出するように構成された光検出器、ならびに感知素子を有する近接センサーを備え、該感知素子が、組織の第１の位置と第２の位置との間にあり、該第１の位置および第２の位置が、一定距離離れており、該感知素子が、該感知素子間の該距離を感知するように構成されている、制御システム。
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