JP2011189128A - 外科手術器具における直線運動のパラメータを決定する方法および装置 - Google Patents
外科手術器具における直線運動のパラメータを決定する方法および装置 Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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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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- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
Abstract
【解決手段】ハウジングと、該ハウジングから遠位に延び、第1の長手方向軸を規定する細長いシャフトと、該細長いシャフト内に配置される発射ロッドと、該細長いシャフト内に少なくとも部分的に配置される駆動機構であって、該駆動機構は該発射ロッドと機械的に協働する、駆動機構と、運動センサであって、該発射ロッドと該細長いシャフトとの間の電界における変化を感知する、運動センサと、測定ユニットであって、感知された該電界における変化に基づいて、該発射ロッドの運動のパラメータを決定する、測定ユニットとを備えている、外科手術器具。
【選択図】図1
Description
本出願は、2010年3月12日に出願された米国仮特許出願第61/313,231号の利益およびその仮特許出願に対する優先権を主張し、その内容全体が本明細書に参照によって援用される。本出願はまた、2008年8月12日に出願された米国特許出願第12/189,834号の一部継続出願であり、この特許出願は、2007年10月5日に出願された米国仮特許出願第60/997,854号の利益およびその仮出願に対する優先権を主張し、その内容全体が本明細書に参照によって援用される。
(1.技術分野)
本開示は、体組織を操作するかまたは体組織の中に外科手術ファスナを配置する方法および装置に関し、特に、発射ロッドに関係する電界に基づいて、外科手術器具における発射ロッドの運動のパラメータを決定する方法および装置に関する。
現在の外科手術器具は、体組織を締め付け、体組織に外科手術ファスナを配置するために、典型的には10〜60ポンドの手動力(manual hand force)を必要とする。これらの外科手術を繰り返し用いることは、外科医の手の疲労を引き起こし得る。理由のうちとりわけこの疲労を軽減するかまたは除去するために、動力外科手術器具が開発された。これらの動力外科手術器具は、気体動力空気ステープラを含み、この気体動力空気ステープラは、外科手術ファスナを体組織の中に埋め込む。これらの器具のある種のものは、発射機構およびトリガ機構に連結された加圧気体供給源を含む。トリガ機構は、押されたとき加圧気体を放出し、加圧気体は次に発射機構に力を加え、外科手術ファスナを体組織に配置する。
本開示は、一局面において外科手術器具を特徴とする。外科手術器具は、ハウジングと、細長いシャフトと、発射ロッドと、駆動機構と、運動センサと、測定ユニットとを含む。細長いシャフトは、ハウジングから遠位に延び、第1の長手方向軸を規定する。発射ロッドは細長いシャフト内に配置され、駆動機構はハウジング内に少なくとも部分的に配置される。駆動機構は発射ロッドと機械的に協働する。運動センサは、発射ロッドと細長いシャフトとの間の電界における変化を感知する。測定ユニットは、感知された電界における変化に基づいて、発射ロッドの運動のパラメータを決定する。従って、いくつかの実施形態において、外科手術器具は、電界を感知する、発射ロッドに電気的に連結される運動センサを単に含む。このセンサ設計は、発射ロッドと機械的に相互に作用をしないで、従って外科手術器具の構成要素の機械的な摩耗を減少させる。さらに、このセンサ設計は、単純で、外科手術処置中の最適な操作性のために外科手術器具のサイズを最小限にする。
(項目1)
ハウジングと、
該ハウジングから遠位に延び、第1の長手方向軸を規定する細長いシャフトと、
該細長いシャフト内に配置される発射ロッドと、
該ハウジング内に少なくとも部分的に配置される駆動機構であって、該駆動機構は該発射ロッドと機械的に協働する、駆動機構と、
運動センサであって、該発射ロッドと該細長いシャフトとの間の電界における変化を感知する、運動センサと、
測定ユニットであって、感知された該電界における変化に基づいて、該発射ロッドの運動のパラメータを決定する、測定ユニットと
を備えている、外科手術器具。
(項目2)
上記運動センサは、信号発生器を備え、該信号発生器は、上記発射ロッドと上記細長いシャフトとの間の上記電界における変化と共に変動するパルス信号を発生させ、上記測定ユニットは、該パルス信号に基づいて、該発射ロッドの上記運動のパラメータを決定する、上記項目のいずれかに記載の外科手術器具。
(項目3)
上記測定ユニットは、カウンタとデータプロセッサとを含み、該カウンタは、上記パルス信号内のパルスをカウントし、該データプロセッサは、パルス信号周波数を計算し、該パルス信号周波数に基づいて、上記発射ロッドの上記運動のパラメータを決定する、上記項目のいずれかに記載の外科手術器具。
(項目4)
上記発射ロッドの上記運動のパラメータは、該発射ロッドの位置である、上記項目のいずれかに記載の外科手術器具。
(項目5)
上記発射ロッドの上記運動のパラメータは、該発射ロッドの速度である、上記項目のいずれかに記載の外科手術器具。
(項目6)
上記発射ロッドの上記運動のパラメータは、該発射ロッドの運動の方向である、上記項目のいずれかに記載の外科手術器具。
(項目7)
上記駆動機構は、駆動モータであり、上記外科手術器具は、
コントローラをさらに備え、該コントローラは上記発射ロッドの上記運動の測定されたパラメータに基づいて、該駆動モータを制御する、上記項目のいずれかに記載の外科手術器具。
(項目8)
電圧を上記発射ロッドに印加する電圧源をさらに備えている、上記項目のいずれかに記載の外科手術器具。
(項目9)
経時変化の電圧を上記発射ロッドに印加する電圧源をさらに備えている、上記項目のいずれかに記載の外科手術器具。
(項目10)
外科手術器具内の発射ロッドの運動のパラメータを決定する方法であって、
外科手術器具のハウジング部分と該ハウジング部分に配置される発射ロッドとの間の電界における変化を感知することと、
該感知された該電界における変化に基づいて、該発射ロッドの該運動のパラメータを決定することと
を包含する、方法。
(項目11)
外科手術器具を操作する方法であって、
外科手術器具のハウジング部分と該ハウジング部分に配置される発射ロッドとの間の電界における変化を感知することと、
該感知された該電界における変化に基づいて、該発射ロッドの運動のパラメータを決定することと、
該発射ロッドの該決定された該運動のパラメータに基づいて、該発射ロッドの運動を制御することと
を包含する、方法。
(項目12)
上記電界における変化を感知することは、該電界における変化と共に変動するパラメータを有する信号を発生させることを包含し、上記発射ロッドの上記運動のパラメータを決定することは、該信号のパラメータに基づいて、該発射ロッドの該運動のパラメータを決定することを包含する、上記項目のいずれかに記載の方法。
(項目13)
上記信号の上記パラメータは、該信号の周波数であり、上記電界における変化を感知することは、所定の時間期間にわたり該信号のパルスをカウントすることと、該カウントされたパルスおよび該所定の時間期間に基づいて、信号周波数を計算することとをさらに包含する、上記項目のいずれかに記載の方法。
(項目14)
上記信号のパラメータは、該信号におけるパルスの幅であり、上記電界における変化を感知することは、該信号の該パルスの幅を決定することをさらに含む、上記項目のいずれかに記載の方法。
(項目15)
上記発射ロッドの上記運動のパラメータは、該発射ロッドの位置である、上記項目のいずれかに記載の方法。
(項目16)
上記発射ロッドの上記運動のパラメータは、該発射ロッドの速度である、上記項目のいずれかに記載の方法。
(項目17)
上記発射ロッドの上記運動のパラメータは、該発射ロッドの方向である、上記項目のいずれかに記載の方法。
(項目18)
上記発射ロッドの方向を決定することは、上記電界における変化と共に変動する信号の周波数の増加または減少を決定することを包含する、上記項目のいずれかに記載の方法。
(項目19)
上記発射ロッドに電位を印加することをさらに包含する、上記項目のいずれかに記載の方法。
(項目20)
上記発射ロッドに経時変化の電位を印加することをさらに包含する、上記項目のいずれかに記載の方法。
(項目21)
上記電界における変化を感知するステップは、運動センサによって行われ、
上記発射ロッドの上記運動のパラメータを決定するステップは、測定ユニットによって行われ、
該発射ロッドの該運動を制御するステップは、コントローラによって行われる、上記項目のいずれかに記載の方法。
外科手術器具を制御する外科手術器具および方法が開示される。外科手術器具は、ハウジングと、ハウジングから遠位に延び、第1の長手方向軸を規定する細長いシャフトとを含む。外科手術器具はまた、細長いシャフト内に配置される発射ロッドと、ハウジング内に少なくとも部分的に配置される駆動機構とを含む。駆動機構は、発射ロッドと機械的に協働し、発射ロッドを動かす。運動センサは、発射ロッドと細長いシャフトとの間の電界における変化(例えば、キャパシタンス、インピーダンス、またはアドミタンス)を感知する。測定ユニットは、感知された電界における変化に基づいて、発射ロッドの運動のパラメータ(発射ロッドの位置、速度、および方向など)を決定する。コントローラは、駆動機構を制御するために発射ロッドの運動の測定されたパラメータを用いる。
ここに開示される外科手術器具の実施形態は、図面を参照してここで詳細に説明され、図面において同様の参照数字は、いくつかの図の各々において同一かまたは対応する要素を示す。本明細書において用いられるように、用語「遠位」はユーザからより遠い、外科手術器具の部分または外科手術器具の構成要素をいい、一方、用語「近位」はユーザにより近い、外科手術器具の部分または外科手術器具の構成要素をいう。
図4を参照すると、外科手術器具10は、蓄電池(例えば、鉛ベース、ニッケルベース、またはリチウムイオンベースの電池)であり得る電源400を含む。電源400は、少なくとも1つの使い捨て電池を含み得る。使い捨て電池は、約9ボルト〜約30ボルトであり得る。
110 ハウジング
140 細長いシャフト
160 エンドエフェクタ
200 駆動モータ
210 駆動管
220 発射ロッド
251 運動センサ
A−A 第1の長手方向軸
B−B 第2の長手方向軸
Claims (21)
- ハウジングと、
該ハウジングから遠位に延び、第1の長手方向軸を規定する細長いシャフトと、
該細長いシャフト内に配置される発射ロッドと、
該ハウジング内に少なくとも部分的に配置される駆動機構であって、該駆動機構は該発射ロッドと機械的に協働する、駆動機構と、
運動センサであって、該発射ロッドと該細長いシャフトとの間の電界における変化を感知する、運動センサと、
測定ユニットであって、感知された該電界における変化に基づいて、該発射ロッドの運動のパラメータを決定する、測定ユニットと
を備えている、外科手術器具。 - 前記運動センサは、信号発生器を備え、該信号発生器は、前記発射ロッドと前記細長いシャフトとの間の前記電界における変化と共に変動するパルス信号を発生させ、前記測定ユニットは、該パルス信号に基づいて、該発射ロッドの前記運動のパラメータを決定する、請求項1に記載の外科手術器具。
- 前記測定ユニットは、カウンタとデータプロセッサとを含み、該カウンタは、前記パルス信号内のパルスをカウントし、該データプロセッサは、パルス信号周波数を計算し、該パルス信号周波数に基づいて、前記発射ロッドの前記運動のパラメータを決定する、請求項2に記載の外科手術器具。
- 前記発射ロッドの前記運動のパラメータは、該発射ロッドの位置である、請求項1に記載の外科手術器具。
- 前記発射ロッドの前記運動のパラメータは、該発射ロッドの速度である、請求項1に記載の外科手術器具。
- 前記発射ロッドの前記運動のパラメータは、該発射ロッドの運動の方向である、請求項1に記載の外科手術器具。
- 前記駆動機構は、駆動モータであり、前記外科手術器具は、
コントローラをさらに備え、該コントローラは前記発射ロッドの前記運動の測定されたパラメータに基づいて、該駆動モータを制御する、請求項1に記載の外科手術器具。 - 電圧を前記発射ロッドに印加する電圧源をさらに備えている、請求項1に記載の外科手術器具。
- 経時変化の電圧を前記発射ロッドに印加する電圧源をさらに備えている、請求項1に記載の外科手術器具。
- 外科手術器具内の発射ロッドの運動のパラメータを決定する方法であって、
外科手術器具のハウジング部分と該ハウジング部分に配置される発射ロッドとの間の電界における変化を感知することと、
該感知された該電界における変化に基づいて、該発射ロッドの該運動のパラメータを決定することと
を包含する、方法。 - 外科手術器具を操作する方法であって、
外科手術器具のハウジング部分と該ハウジング部分に配置される発射ロッドとの間の電界における変化を感知することと、
該感知された該電界における変化に基づいて、該発射ロッドの運動のパラメータを決定することと、
該発射ロッドの該決定された該運動のパラメータに基づいて、該発射ロッドの運動を制御することと
を包含する、方法。 - 前記電界における変化を感知することは、該電界における変化と共に変動するパラメータを有する信号を発生させることを包含し、前記発射ロッドの前記運動のパラメータを決定することは、該信号のパラメータに基づいて、該発射ロッドの該運動のパラメータを決定することを包含する、請求項11に記載の方法。
- 前記信号の前記パラメータは、該信号の周波数であり、前記電界における変化を感知することは、所定の時間期間にわたり該信号のパルスをカウントすることと、該カウントされたパルスおよび該所定の時間期間に基づいて、信号周波数を計算することとをさらに包含する、請求項12に記載の方法。
- 前記信号のパラメータは、該信号におけるパルスの幅であり、前記電界における変化を感知することは、該信号の該パルスの幅を決定することをさらに含む、請求項11に記載の方法。
- 前記発射ロッドの前記運動のパラメータは、該発射ロッドの位置である、請求項11に記載の方法。
- 前記発射ロッドの前記運動のパラメータは、該発射ロッドの速度である、請求項11に記載の方法。
- 前記発射ロッドの前記運動のパラメータは、該発射ロッドの方向である、請求項11に記載の方法。
- 前記発射ロッドの方向を決定することは、前記電界における変化と共に変動する信号の周波数の増加または減少を決定することを包含する、請求項17に記載の方法。
- 前記発射ロッドに電位を印加することをさらに包含する、請求項11に記載の方法。
- 前記発射ロッドに経時変化の電位を印加することをさらに包含する、請求項11に記載の方法。
- 前記電界における変化を感知するステップは、運動センサによって行われ、
前記発射ロッドの前記運動のパラメータを決定するステップは、測定ユニットによって行われ、
該発射ロッドの該運動を制御するステップは、コントローラによって行われる、請求項11に記載の方法。
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Also Published As
Publication number | Publication date |
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JP5770497B2 (ja) | 2015-08-26 |
AU2011200961A1 (en) | 2011-09-29 |
EP3146912A1 (en) | 2017-03-29 |
CA2733377A1 (en) | 2011-09-12 |
EP2364651A1 (en) | 2011-09-14 |
EP2364651B1 (en) | 2016-11-30 |
CN102217961A (zh) | 2011-10-19 |
CN102217961B (zh) | 2015-03-11 |
AU2011200961B2 (en) | 2014-05-29 |
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