JP2015211832A - エンドエフェクタ力測定駆動回路 - Google Patents
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Abstract
【解決手段】ファスナーを付けるための外科手術用器具であって、駆動モータ;エンドエフェクタアセンブリ23を有する交換可能な装填ユニット16;および交換可能な装填ユニットを駆動モータに解放可能に連結するように構成されたアダプタ14であって、アダプタは、駆動回路が連結されたひずみゲージを備え、ひずみゲージと駆動回路とは、アダプタにおける駆動力を直接測定するように構成されている、アダプタを備える、外科手術用器具。
【選択図】図1
Description
本願は、2014年5月5日に出願された米国仮特許出願第61/988,342号の利益および優先権を主張する。この米国仮特許出願の全開示は、本明細書中に参考として援用される。
1. 技術分野
本開示は、再使用可能なハンドルアセンブリ、および取り外し可能かつ交換可能な構成要素を有する、外科手術用デバイスに関する。より特定すると、本開示は、ファスナーを付けるための外科手術用器具において使用するために適したエンドエフェクタ力測定駆動回路に関する。
内視鏡手順において使用するための動力式外科手術用器具は、公知である。代表的に、このような器具は、再使用可能なハンドルアセンブリ、および交換可能でありかつ一般的に使い捨てである構成要素(時々、単回使用装填ユニットまたはSULUと称される)を備える。アダプタアセンブリが、この装填ユニット(これは、組織と相互作用するためのエンドエフェクタを備え得る)をこのハンドルアセンブリに接続する。外科手術用ステープラーの場合、このエンドエフェクタは、交換可能なカートリッジを備え得、この交換可能なカートリッジは、この外科手術用ステープラーの発射ごとに交換される。費用を削減し、手順時間を短縮するために、これらのハンドルアセンブリは一般に、異なる特性(例えば、厚さおよび密度)を有する組織に対して使用するために、種々の装填ユニットおよび/または種々の構成のアセンブリと一緒に使用されるように構成される。例えば、異なる装填ユニットは、異なるサイズのステープルを有し得、そして/またはこれらのステープルは、異なる構成で配置され得る。このハンドルアセンブリがそれに取り付けられた装填ユニットと一緒に作動するようにプログラムされることを確実にするために、いくつかの装填ユニットは、集積回路(チップとしても公知)を備え、この回路は、このハンドルアセンブリと通信して、この装填ユニットの構成を識別する。この配置は、この装填ユニットをこのアダプタアセンブリに取り付けるときに、この装填ユニットの構成がこのハンドルアセンブリに自動的に伝えられることを可能にし、これによって、異なる構成を有する装填ユニットの間での切り替えのときに起こり得る、ユーザエラーまたは不一致を排除する。
(項目1)
ファスナーを付けるための外科手術用器具であって、
駆動モータ;
エンドエフェクタアセンブリを有する交換可能な装填ユニット;および
該交換可能な装填ユニットを該駆動モータに解放可能に連結するように構成されたアダプタであって、該アダプタは、駆動回路が連結されたひずみゲージを備え、該ひずみゲージと該駆動回路とは、該アダプタにおける駆動力を直接測定するように構成されている、アダプタ
を備える、外科手術用器具。
(項目2)
上記駆動回路は、マイクロプロセッサおよび演算増幅器を備える、上記項目に記載の外科手術用器具。
(項目3)
上記演算増幅器は、低域フィルタリングを提供するように構成されている、上記項目のいずれかに記載の外科手術用器具。
(項目4)
上記演算増幅器は二極バターワースフィルタである、上記項目のいずれかに記載の外科手術用器具。
(項目5)
上記演算増幅器は、電磁気干渉(EMI)抑制を提供するように構成されている、上記項目のいずれかに記載の外科手術用器具。
(項目6)
傾き補正因子およびオフセット補正因子を含めた工場較正力測定値が、上記マイクロプロセッサに永続的に格納されている、上記項目のいずれかに記載の外科手術用器具。
(項目7)
上記駆動回路は、3.3ボルトのDC電圧を提供するように構成された電圧調整回路をさらに備える、上記項目のいずれかに記載の外科手術用器具。
(項目8)
上記演算増幅器のアナログ出力を上記マイクロプロセッサのアナログ−デジタル入力に伝送するように構成された導体をさらに備える、上記項目のいずれかに記載の外科手術用器具。
(項目9)
上記エンドエフェクタアセンブリは、ステープルを組織に付けるように構成されている、上記項目のいずれかに記載の外科手術用器具。
(項目10)
上記エンドエフェクタアセンブリは、内視鏡外科手術手順において使用するために構成されている、上記項目のいずれかに記載の外科手術用器具。
(項目11)
外科手術用デバイスにおける駆動力を測定する方法であって、
ファスナーを付けるための外科手術用器具を提供する工程であって、該外科手術用器具は、エンドエフェクタアセンブリを有する交換可能な装填ユニットを駆動モータに解放可能に連結するように構成されたアダプタを備え、該アダプタは、駆動回路に連結された、過剰な負荷を検出することが可能なひずみゲージを備える、工程;ならびに
該ひずみゲージおよび該駆動回路を使用して、該アダプタにおける駆動力を直接測定し、力測定値を得る工程
を包含する、方法。
(項目12)
上記力測定値に基づいて、過剰な負荷が検出されたことが決定される場合、上記アダプタに対する損傷を防止するように上記駆動力を調節する工程をさらに包含する、上記項目に記載の方法。
(項目13)
上記駆動回路の演算増幅器を使用して、信号に対する低域フィルタリングを行う工程をさらに包含する、上記項目のいずれかに記載の方法。
(項目14)
上記演算増幅器のアナログ出力を上記駆動回路のマイクロプロセッサのアナログ−デジタル入力に伝送する工程をさらに包含する、上記項目のいずれかに記載の方法。
(項目15)
上記エンドエフェクタアセンブリを使用してステープルを付ける工程をさらに包含する、上記項目のいずれかに記載の方法。
(項目16)
上記エンドエフェクタアセンブリを内視鏡外科手術手順において利用する工程をさらに包含する、上記項目のいずれかに記載の方法。
(項目17)
上記駆動回路の電圧調整回路を使用して、3.3ボルトのDC電圧を提供する工程をさらに包含する、上記項目のいずれかに記載の方法。
(項目18)
傾き補正因子およびオフセット補正因子を適用する工程をさらに包含する、上記項目のいずれかに記載の方法。
(項目19)
上記傾き補正因子およびオフセット補正因子は、上記マイクロプロセッサに永続的に格納されている、上記項目のいずれかに記載の方法。
ファスナーを付けるための外科手術用器具は、駆動モータ、エンドエフェクタアセンブリを有する交換可能な装填ユニット、および交換可能な装填ユニットをこの駆動モータに解放可能に連結するように構成されたアダプタを備える。このアダプタは、駆動回路が連結されたひずみゲージを備える。このひずみゲージとこの駆動回路とは、このアダプタにおける駆動力を直接測定するように構成される。
本開示の局面によれば、ファスナーを付けるための外科手術用器具が提供され、この外科手術用器具は、駆動モータ、エンドエフェクタアセンブリを有する交換可能な装填ユニット、およびこの交換可能な装填ユニットをこの駆動モータに解放可能に連結するように構成されたアダプタを備える。このアダプタは、駆動回路が連結されたひずみゲージを備える。このひずみゲージとこの駆動回路とは、このアダプタにおける駆動力を直接測定するように構成される。
本明細書中以下で、ひずみゲージおよび駆動回路を備えて構成されたアダプタを備える本開示の外科手術用器具、ならびに外科手術用デバイスにおける駆動力を測定する方法の実施形態が、添付の図面を参照しながら記載される。同じ参照番号は、図面の説明全体にわたって、類似の要素または同一の要素をいい得る。本開示の特定の実施形態が、添付の図面を参照しながら本明細書中以下に記載されるが、開示される実施形態は、単に本開示の例であり、本開示は種々の形態で実施され得ることが、理解されるべきである。周知かつ/または繰り返しの機能および構成は、本開示を不必要または冗長な細部で曖昧にすることを回避するために、詳細に記載されない。従って、本明細書中に開示される特定の構造的細部および機能的細部は、限定であると解釈されるべきではなく、単に、特許請求の範囲の基礎として、および当業者が事実上任意の適切に詳述した構造で本開示を様々に実施するための教示の代表的な基礎として、解釈されるべきである。当該分野において一般的であるように、用語「近位」とは、ユーザまたは操作者(すなわち、外科医または医師)に近い方の部分または構成要素をいい、一方で、用語「遠位」とは、ユーザから遠い方の部分または構成要素をいう。さらに、説明および特許請求の範囲において本明細書中で使用される場合、方向に言及する用語(例えば、「頂」、「底」、「上」、「下」、「左」、および「右」など)は、本明細書中に図示および記載される図面および特徴を参照して使用される。本開示による実施形態は、制限なしで任意の配向で実施され得ることが理解されるべきである。本明細書および図面において、同じ参照番号は、同じ機能、類似の機能、または等価な機能を実施し得る要素を表す。本開示のチップアセンブリの実施形態が、ここで図面を参照しながら詳細に記載され、図面において、同じ参照番号は、数枚の図の各々において、同一の要素または対応する要素を表す。用語「例示的な」とは、本明細書中で、「実施例、実例、または説明として働くこと」を意味するように使用される。本明細書中に記載される任意の実施形態において、「例示的な」は必ずしも、他の実施形態より好ましいとも有利であるとも解釈される必要はない。用語「例」は、「例示的な」と交換可能に使用され得る。
本明細書中に開示される実施形態の任意のものは、力測定および駆動回路を備え得るか、または力測定および駆動回路を有する構成要素と一緒に使用されるように構成され得る。モータ駆動機構によってエンドエフェクタアセンブリに加えられる力がモータ電流測定によって推定される、ファスナーを付けるための外科手術用器具は、公知である。しかし、温度によって変わる、この測定スキームにおいては、エラーの元が存在し得、そしてある組み合わせのエンドエフェクタアセンブリおよびアダプタと、別の組み合わせのエンドエフェクタアセンブリおよびアダプタとの間の摩擦の差に起因する不確実性が存在し、このことは、モータ電流のみによって推定される力は、その信頼性が変わりやすいことを意味する。
Claims (16)
- ファスナーを付けるための外科手術用器具であって、
駆動モータ;
エンドエフェクタアセンブリを有する交換可能な装填ユニット;および
該交換可能な装填ユニットを該駆動モータに解放可能に連結するように構成されたアダプタであって、該アダプタは、駆動回路が連結されたひずみゲージを備え、該ひずみゲージと該駆動回路とは、該アダプタにおける駆動力を直接測定するように構成されている、アダプタ
を備える、外科手術用器具。 - 前記駆動回路は、マイクロプロセッサおよび演算増幅器を備える、請求項1に記載の外科手術用器具。
- 前記演算増幅器は、低域フィルタリングを提供するように構成されている、請求項2に記載の外科手術用器具。
- 前記演算増幅器は二極バターワースフィルタである、請求項3に記載の外科手術用器具。
- 前記演算増幅器は、電磁気干渉(EMI)抑制を提供するように構成されている、請求項2に記載の外科手術用器具。
- 傾き補正因子およびオフセット補正因子を含めた工場較正力測定値が、前記マイクロプロセッサに永続的に格納されている、請求項2に記載の外科手術用器具。
- 前記駆動回路は、3.3ボルトのDC電圧を提供するように構成された電圧調整回路をさらに備える、請求項2に記載の外科手術用器具。
- 前記演算増幅器のアナログ出力を前記マイクロプロセッサのアナログ−デジタル入力に伝送するように構成された導体をさらに備える、請求項2に記載の外科手術用器具。
- 前記エンドエフェクタアセンブリは、ステープルを組織に付けるように構成されている、請求項1に記載の外科手術用器具。
- 前記エンドエフェクタアセンブリは、内視鏡外科手術手順において使用するために構成されている、請求項9に記載の外科手術用器具。
- 外科手術用デバイスにおける駆動力を測定する方法であって、
ファスナーを付けるための外科手術用器具を提供する工程であって、該外科手術用器具は、エンドエフェクタアセンブリを有する交換可能な装填ユニットを駆動モータに解放可能に連結するように構成されたアダプタを備え、該アダプタは、駆動回路に連結された、過剰な負荷を検出することが可能なひずみゲージを備える、工程;ならびに
該ひずみゲージおよび該駆動回路を使用して、該アダプタにおける駆動力を直接測定し、力測定値を得る工程
を包含する、方法。 - 前記駆動回路の演算増幅器を使用して、信号に対する低域フィルタリングを行う工程をさらに包含する、請求項11に記載の方法。
- 前記演算増幅器のアナログ出力を前記駆動回路のマイクロプロセッサのアナログ−デジタル入力に伝送する工程をさらに包含する、請求項12に記載の方法。
- 前記駆動回路の電圧調整回路を使用して、3.3ボルトのDC電圧を提供する工程をさらに包含する、請求項11に記載の方法。
- 傾き補正因子およびオフセット補正因子を適用する工程をさらに包含する、請求項11に記載の方法。
- 前記傾き補正因子およびオフセット補正因子は、前記マイクロプロセッサに永続的に格納されている、請求項15に記載の方法。
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JP2019141593A (ja) * | 2014-05-05 | 2019-08-29 | コヴィディエン リミテッド パートナーシップ | エンドエフェクタ力測定駆動回路 |
JP7022087B2 (ja) | 2014-05-05 | 2022-02-17 | コヴィディエン リミテッド パートナーシップ | エンドエフェクタ力測定駆動回路 |
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JP2020006175A (ja) * | 2018-07-10 | 2020-01-16 | コヴィディエン リミテッド パートナーシップ | 再使用可能な医療器具のひずみゲージ精度を確保する装置 |
JP7300909B2 (ja) | 2018-07-10 | 2023-06-30 | コヴィディエン リミテッド パートナーシップ | 再使用可能な医療器具のひずみゲージ精度を確保する装置 |
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AU2015201756B2 (en) | 2019-09-26 |
US10175127B2 (en) | 2019-01-08 |
US20220412823A1 (en) | 2022-12-29 |
JP7022087B2 (ja) | 2022-02-17 |
CN105078530A (zh) | 2015-11-25 |
EP2942028A1 (en) | 2015-11-11 |
AU2015201756A1 (en) | 2015-11-19 |
ES2867073T3 (es) | 2021-10-20 |
US20150316431A1 (en) | 2015-11-05 |
EP2942028B1 (en) | 2021-04-07 |
HK1211195A1 (en) | 2016-05-20 |
JP2019141593A (ja) | 2019-08-29 |
CN105078530B (zh) | 2019-07-16 |
JP2021100640A (ja) | 2021-07-08 |
CA2887955C (en) | 2023-05-16 |
JP6671859B2 (ja) | 2020-03-25 |
CA2887955A1 (en) | 2015-11-05 |
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