JP2015523119A - 配向感知を伴う外科用器具 - Google Patents
配向感知を伴う外科用器具 Download PDFInfo
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Abstract
Description
図1は、ハンドルアセンブリ(12)と、取り外し可能なエンドエフェクタ(90)とを含む例示的な外科用器具(10)を示す。当然ながら、一部の変形例では、エンドエフェクタ(90)がハンドルアセンブリ(12)に、又は、シャフト(22)に固定的に結合することができることを理解されたい。本実施例では、ハンドルアセンブリ(12)は、エネルギー構成部品(20)と、第1のセンサー(30)と、制御モジュール(40)と、記憶装置(50)と、ユーザインターフェース(60)と、電源(70)と、第2のセンサー(80)と、第1のコネクタ(88)とを含むケーシング(14)を含む。本実施例では、エネルギー構成部品(20)は、電源(70)に結合され、かつ、エンドエフェクタ(90)を起動させるように動作可能である。あくまで一例として、エネルギー構成部品(20)は、エンドエフェクタ(90)がシャフト(22)及び/又はハンドルアセンブリ(12)に結合されるときにあくまで一例としてエンドエフェクタ(90)の刃に超音波運動を伝達するように動作可能なシャフト(22)を有する超音波トランスデューサを含むことができる。2011年1月20日発行の米国特許公開第2011/0015660号(この特許の開示は参照により本明細書に組み込まれる)の発明の名称「Rotating Transducer Mount for Ultrasonic Surgical Instruments」に一例が説明される。他の変形例では、エネルギー構成部品(20)は、シャフト(22)及び/又はその他を介して運動をエンドエフェクタ(90)のうちの1つ以上の構成部品に伝達するように動作可能なモータ又は他の構成部品を含むことができる。1つの単に例示的な電動外科用器具が、2008年8月26日発行の米国特許第7,416,101号(その開示内容は参照によって本明細書に組み入れられる)の発明の名称「Motor−Driven Surgical Cutting and Fastening Instrument with Loading Force Feedback」に開示されている。当然ながら、一部の変形例では、エネルギー構成部品(20)及び/又はシャフト(22)は、完全に省略することができ、電源(70)は、エンドエフェクタ(90)の1つ以上の特徴部を直接に起動させるように動作可能とすることができる。例えば、電源(70)は、発明の名称「Electrosurgical Systems and Techniques for Sealing Tissue」、2002年12月31日発行の米国特許第6,500,176号(その開示内容は参照によって本明細書に組み入れられる)に開示されているものなどのエンドエフェクタ(90)にRFエネルギーを伝達するように動作可能とすることができる。電源(70)はハンドルアセンブリ(12)内に(例えば、1つ以上の充電式電池として)含まれるように本実施例では図示されているが、電源(70)は、ハンドルアセンブリ(12)(図2に示すジェネレータ(120)などの)の外部とすることができることを理解されたい。当然ながら、エネルギー構成部品(20)及び/又は電源(70)に関する、更なる構成が、本明細書の教示を考慮することで、当業者には明らかとなるであろう。
前述のブロック概略図は概ねエンドエフェクタ(90)に結合可能な外科用器具(10)を説明し、かつ、制御モジュール(40)にフィードバックを供給するために様々な構成部品を含むが、外科用器具(10)及び/又は外科手術用システムのための様々な構成をここで説明する。
図2は、上述の構成部品の1つ以上を組み込むことができる例示的な超音波外科手術用システム(100)を示す。本実施例では、システム(100)は、超音波外科用器具(150)と、ジェネレータ(120)と、外科用器具(150)にジェネレータ(120)を連結するように操作可能なケーブル(130)と、を含む。好適なジェネレータ(120)は、GEN 300 Cincinnati,OhioのEthicon Endo−Surgery,Inc.により販売されている。単に例として、発電機(120)は、2011年4月14日発行の米国公開第2011/0087212号(その開示が参照により本明細書に組み込まれる)の発明の名称「Surgical Generator for Ultrasonic and Electrosurgical Devices」の教示に従って構成することができる。発生器(120)は、制御モジュール(40)、記憶装置(50)、ユーザインターフェース(60)及び/又は上述の電源(70)のうちの1つ以上を含むことができるが、これらは、単に任意選択的である。外科用器具(150)は超音波外科器具を参照して記載されるが、以下に記載する技術は、本明細書の教示を考慮することで当業者には明かとなるように、エンドカッター、把持具、カッター、ステープラー、クリップ適用器具、アクセス装置、薬物/遺伝子治療送達装置、及び超音波、無線周波数、レーザ等を使用するエネルギー送達装置、及び/又はこれらの任意の組み合わせを含むが、これらに限定されない多様な外科器具と共に使用できることに留意するべきである。更には、本実施例は、ケーブル接続式の外科用器具(150)を参照して説明されるが、外科用器具(150)は、その開示が参照により本明細書に組み込まれる、2009年6月4日発行の米国特許公開第2009/0143797号の発明の名称「Cordless Hand−held Ultrasonic Cautery Cutting Device」で開示されるものなどの、コードレス操作に関して適合させることができる点を、理解するべきである。更に、手術装置(150)は、2004年8月31日発行の「Robotic Surgical Tool with Ultrasound Cauterizing and Cutting Instrument」と題する米国特許第6,783,524号に開示されたようなロボット支援手術環境で使用されるか、或は使用するように適応されてもよい。
図3は、ペン又は鉛筆と類似のものであるユーザの手に保持されるように構成された代替外科用器具(200)を示す。外科用器具(200)は、上述の外科用器具(10)の別の例示的な変形例として見ることができる。本実施例に示すように、器具(200)は、ケーシング(202)と、回転可能なトランスデューサ(210)と、エンドエフェクタ(220)と、配向センサーアセンブリ(230)と、を含む。ケーシング(202)は、トランスデューサ(210)及び配向センサーアセンブリ(230)をその中に収容するように寸法決定及び構成される。本明細書の教示を考慮すれば当業者に明らかなように、ケーシング(202)は、耐久性プラスチック(ポリカーボネート及び/又は液晶ポリマーなど)、セラミック及び/若しくは金属、又は任意の他の適切な材料から構築されてもよい。トランスデューサ(210)は、マウント(204)を介して回転可能にケーシング(202)に取り付けられる。トランスデューサ(210)は、ケーシング(202)及びケーブル(206)の近位端を通って延在するワイヤ(214)を介して、ジェネレータ(120)など、ジェネレータ(図示せず)に電気的に結合される。トランスデューサ(210)は、エンドエフェクタ(220)まで遠位に延在する導波管(212)も含む。トランスデューサ(210)は、上記及び/又は他で記載されているトランスデューサ(190)の教示の少なくとも一部に従って構築され得る。
上記では前出の器具(10、150、200)の配向を感知するように操作可能である第1のセンサー(30)及びジャイロスコープ(232)を説明しているが、他の配向センサーを器具(10、150、200、400、500、600)と共に使用することができることを理解されたい。更に、一部の実例では、器具(10、150、200、400、500、600)は、オートクレーブによって再滅菌を介して再使用可能であるように構成することができる。そのような場合、従来の電子部品は、再滅菌加工を耐え抜くことができない。したがって、再滅菌プロセスを耐え抜くことができる様々な代替配向センサーが、好ましいであろう。以下に記す例示的なセンサーの一部は、様々な再滅菌プロセスを耐え抜くことができるが、そのような機能性は、そのようなセンサーの全ての変形例に必ずしも組み込まれる必要があるというわけではない。
図7は、例示的な外科用器具(500)及び例示的な取り外し可能なエンドエフェクタ(550)の端部を示す。外科用器具(500)は上述の外科用器具(10)の別の例示的な変形例を表すことを理解されたい。図示する実施例では、器具(500)は、ケーシング(502)と、ケーシング(502)から延在するトランスデューサシャフト(510)と、ケーシング(502)上の複数の電気接点(520)と、を含む。トランスデューサシャフト(510)は、器具(500)内のトランスデューサからの超音波振動をエンドエフェクタ(550)の刃(図示せず)に伝達することができるようにエンドエフェクタ(550)の導波管(560)に螺合可能に結合するように構成される。図示する実施例では、トランスデューサシャフト(510)は、ケーシング(502)の最遠位点から離れて距離dにて始まるねじ付き部分(512)を含む。距離dは、キーブロック(570)がケーシング(502)に結合されたときにねじ付き部分(512)がエンドエフェクタ(550)の回転スリーブ(580)内に位置するようにキーブロック(570)の長手方向の長さに相当する。したがって、導波管(560)は、キーブロック(570)がケーシング(502)で係合されている間にトランスデューサシャフト(510)に螺号可能に結合することができる。接点(520)は、エンドエフェクタ(550)の1つ以上の構成部品が器具(500)に電気的に結合されるように、エンドエフェクタ(550)上の補完的接点(図示せず)に当接する金属的な部材である。一部の変形例では、接点(520)は、更に、制御モジュール(40)など、制御モジュールに電気的に結合される。当然ながら、エンドエフェクタ(550)と器具(500)との間の他の電気結合特徴部は、本明細書の教示を考慮すると当業者に明らかになるであろう。本実施例では、接点(520)は、エンドエフェクタ(550)が単一の配向にのみケーシング(502)に結合することができるようにケーシング(502)のキー溝部分(504)内に配置される。したがって、キー溝部(504)は、確実に、接点(520)がエンドエフェクタ(550)の補完的接点と整合されるようにすることができる。器具(500)に関する尚も更なる構成が、本明細書の教示を考慮することで、当業者には明らかとなるであろう。
先述したように、一部の変形例では、ユーザにフィードバックを供給し、及び/又は、制御モジュール(40)と連動するセンサー(30、80、98、232、234、300、410)の出力に基づいて、及び/又は、構成データ内に含まれた1つ以上のジェスチャープロファイルとの比較に基づいて、外科用器具(10、150、200、400、500、600)の設定を調整することが好ましいであろう。そのようなフィードバック及び/又は調整は、ユーザが各ジェスチャープロファイルについて外科用器具(10、150、200、400、500、600)のエネルギー設定を手作業で調整する必要性をなくすことによってユーザの難易度を減少させる及び/又は処置の性能を迅速に処理することができる。更に、器具(10、150、200、400、500、600)が想定外の動きに遭遇した場合、制御モジュール(40)は、様々なセンサー(30、80、98、232、234、300、410)からの入力に基づいて器具(10、150、200、400、500、600)の設定を調整するように構成することができる。したがって、器具(10、150、200、400、500、600)を適応制御する例示的な方法をここで説明する。
上述したように、記憶装置は、本明細書で言及する様々な種類の外科用器具に関連した操作パラメータ、他のデータ及び/又は制御アルゴリズムなどを記憶するために使用することができる。そのような情報は、プレロードし、及び/又は、後で更新することができ、かつ、外科用器具の性能特性を決定づける場合がある。例えば、記憶装置上のソフトウェア/ファームウェア/情報は、ジェネレータ又は他の電源から電力送給に影響を及ぼす恐れがあり、かつ、延いては電源によって駆動されるようなエンドエフェクタの性能に影響を与える恐れがある。一部のシステムでは、ジェネレータ、電源、制御モジュール及び/又は他の構成部品は、外科用器具の基線の機能性をもたらし、一方、記憶装置上のソフトウェア/ファームウェア/情報は、高度な機能性(例えば、能動ダンピング、外科医ジェスチャー認識、高度なユーザフィードバック、など)をもたらす。記憶装置は、本明細書の教示を考慮すると当業者に明らかになるように、チップ、カード、又は他の形式の記憶媒体を含むがこれに限らず、任意の適切な形態を取ることができることを理解されたい。記憶装置がシステム内の任意の適切な場所に位置することができることも理解されたい。あくまでも一例として、記憶装置は、2012年3月22日に出願された、米国特許出願継続第13/426,760号(その開示内容は参照によって本明細書に組み入れられる)の発明の名称「Method and Apparatus for Programming Modular Surgical Instrument」で説明されている様々な取り外し式カートリッジなど、取り外し式カートリッジ内に位置することができる。別の単に例示的な実施例として、記憶装置は、2012年3月22日に出願された米国特許出願継続第13/426,792号(その開示内容は参照によって本明細書に組み入れられる)の発明の名称「Surgical Instrument Usage Data Management」で説明されているシステムにおいてなど、外科用器具及び/又はジェネレータなどと通信するオンラインリモートサーバにおいて実施することができる。更に別の単に例示的な実施例として、記憶装置は、外科用器具の、エンドエフェクタ、シャフト、ハンドピース、ケーブルの一体構成部品、又は、取り外し可能な構成部品のどちらか、及び/又は、他の部品として含めることができる。本明細書の教示を考慮することで、記憶装置の様々な他の好適な場所が、当業者に明らかになるであろう。記憶装置は、記憶装置が外科用器具の使用中に更なるデータを受信することができるように、本明細書で説明するように外科医使用法データ、患者データ、及び/又は他の種類のデータを記憶することができることも理解されたい。
(1) 装置であって、
(a)本体アセンブリであって、
i.複数のエネルギー設定にて動作可能であるエネルギー構成部品と、
ii.前記エネルギー構成部品のエネルギー設定を設定するように動作可能である制御モジュールと、
iii.前記制御モジュールに通信上結合される配向センサーと、を含む本体アセンブリと、
(b)前記エネルギー構成部品に結合されるエンドエフェクタと、
(c)前記制御モジュールに通信上結合される、構成データを含む記憶装置であって、前記構成データは、第1のジェスチャープロファイルと、第1の対応するエネルギー設定とを含む、記憶装置と、を備え、
前記制御モジュールは、前記構成データを前記記憶装置から受信するように構成され、前記制御モジュールは、出力を前記配向センサーから受信するように構成され、前記制御モジュールは、前記配向センサーからの前記出力を前記第1のジェスチャープロファイルと比較するように構成され、前記制御モジュールは、前記配向センサーからの前記出力と前記第1のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品の前記エネルギー設定を前記第1の対応するエネルギー設定に設定するように構成される、装置。
(2) 前記構成データは、第2のジェスチャープロファイルと、第2の対応するエネルギー設定とを更に含み、前記制御モジュールは、前記配向センサーからの前記出力を前記第1のジェスチャープロファイル及び前記第2のジェスチャープロファイルと比較するように構成され、前記制御モジュールは、前記配向センサーからの前記出力と前記第2のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品の前記エネルギー設定を前記第2の対応するエネルギー設定に設定するように構成される、実施態様1に記載の装置。
(3) 前記エンドエフェクタは、前記本体アセンブリに分離可能に結合される、実施態様1に記載の装置。
(4) 前記記憶装置は、前記エンドエフェクタに関連している、実施態様3に記載の装置。
(5) 前記記憶装置は、前記エンドエフェクタが前記本体アセンブリに結合されるとき、前記制御モジュールに選択的に通信上結合するように構成される、実施態様4に記載の装置。
(7) 前記配向センサーは、加速度計を更に含む、実施態様6に記載の装置。
(8) 前記配向センサーは、環状経路と、球と、前記経路内に配置された複数の力センサーとを含み、前記複数の力センサーは、前記環状経路内の前記球の位置に応じて前記本体アセンブリの配向を示すように動作可能である、実施態様1に記載の装置。
(9) 前記エネルギー構成部品は、超音波トランスデューサを含む、実施態様1に記載の装置。
(10) 前記エネルギー構成部品は、RFジェネレータを含む、実施態様1に記載の装置。
(12) 前記配向センサーは、ケーシング内に配置された球体を含み、前記球体は、導電路を含み、前記ケーシングは、前記導電路に選択的に電気的に結合するように構成された電極を含み、前記電極は、前記電極が前記路に電気的に結合されるときに前記ケーシング内の前記球体の位置に応じて前記本体アセンブリの配向を示すように動作可能である、実施態様1に記載の装置。
(13) ユーザインターフェースを更に含み、前記ユーザインターフェースは、前記制御モジュールに通信上結合され、前記記憶装置は、複数の構成データを含み、前記ユーザインターフェースは、前記複数の構成データのうちのある構成データを選択するように動作可能である、実施態様1に記載の装置。
(14) ユーザインターフェースを更に含み、前記ユーザインターフェースは、前記制御モジュールに通信上結合され、前記ユーザインターフェースは、可聴フィードバックをユーザに供給するように動作可能である、実施態様1に記載の装置。
(15) ユーザインターフェースを更に含み、前記ユーザインターフェースは、前記制御モジュールに通信上結合され、前記ユーザインターフェースは、視覚フィードバックをユーザに供給するように動作可能である、実施態様1に記載の装置。
(a)前記制御モジュールによって前記配向センサーの出力を受信する工程と、
(b)前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を前記制御モジュールによって前記記憶装置から受信する工程と、
(c)前記配向センサーの出力を前記複数のジェスチャープロファイルのうちの第1のジェスチャープロファイルと比較する工程と、
(d)前記配向センサーの前記出力と前記第1のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品を前記第1のジェスチャープロファイルに関連した第1の対応するエネルギー設定に設定する工程と、
を含む、方法。
(17) (a)前記配向センサーの前記出力を前記複数のジェスチャープロファイルのうちの第2のジェスチャープロファイルと比較する工程と、
(b)前記配向センサーの前記出力と前記第2のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品を前記第2のジェスチャープロファイルに関連した第2の対応するエネルギー設定に設定する工程と、
を含む、実施態様16に記載の方法。
(18) 前記本体アセンブリは、更に、前記エンドエフェクタに適用された力を検出するように動作可能な力センサーを含み、前記方法は、
(a)前記制御モジュールによって前記力センサーの出力を受信する工程と、
(b)前記力センサーの前記出力に基づいて前記第1の対応するエネルギー設定を調整する工程と、を更に含む、実施態様16に記載の方法。
(19) 前記本体アセンブリは、更に加速度計を含み、前記方法は、
(a)前記加速度計により示された変則的な加速度又は減速度に応じて前記第1の対応するエネルギー設定を減少させる工程を更に含む、実施態様16に記載の方法。
(20) 外科用器具を制御する方法であって、前記外科用器具は、本体アセンブリと、エンドエフェクタと、記憶装置とを備え、前記本体アセンブリは、エネルギー構成部品と、制御モジュールと、配向センサーとを含み、前記エネルギー構成部品は、複数のエネルギー設定にて動作可能であり、前記制御モジュールは、前記エネルギー構成部品のエネルギー設定を設定するように動作可能であり、前記配向センサーは、前記制御モジュールに通信上結合され、前記エンドエフェクタは、前記エネルギー構成部品に分離可能に結合され、前記記憶装置は、前記エンドエフェクタに関連しており、前記記憶装置は、複数のジェスチャープロファイルと、複数の対応するエネルギー設定とを含み、前記複数のジェスチャープロファイルのうちのそれぞれのジェスチャープロファイルは、前記複数のエネルギー設定のうちの対応するエネルギー設定に関連しており、前記制御モジュールは、データを前記配向センサーから受信するように構成され、前記制御モジュールは、前記記憶装置から前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を受信するように構成され、前記方法は、
(a)前記制御モジュールによって前記配向センサーの出力を受信する工程と、
(b)前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を前記制御モジュールによって前記記憶装置から受信する工程と、
(c)前記配向センサーの出力を前記複数のジェスチャープロファイルのうちの第1のジェスチャープロファイルと比較する工程と、
(d)前記配向センサーの出力を前記複数のジェスチャープロファイルのうちの第2のジェスチャープロファイルと比較する工程と、
(e)前記配向センサーの前記出力を前記第1及び第2のジェスチャープロファイルと比較する前記工程に基づいて装置ジェスチャーを判断する工程と、
(f)前記装置ジェスチャーに基づいて対応するエネルギー設定を選択する工程と、を含む、方法。
(a)複数のエネルギー設定にて動作可能であるエネルギー構成部品と、
(b)前記エネルギー構成部品に結合されるエンドエフェクタであって、前記エネルギー構成部品は、前記エンドエフェクタの少なくとも一部を起動させるように動作可能である、エンドエフェクタと、
(c)前記エネルギー構成部品と通信する、前記複数のエネルギー設定にて前記エネルギー構成部品を駆動するように動作可能である電源と、
(d)制御設定を含む記憶装置と、を備え、前記電源は、前記記憶装置の前記制御設定に従って、1つ又はそれ以上のエネルギー設定にて前記エネルギー構成部品を駆動するように動作可能であり、前記記憶装置は、予め定められた設計寿命の満了に基づいて前記エネルギー構成部品が利用可能な制御設定を低減するように構成される、装置。
Claims (21)
- 装置であって、
(a)本体アセンブリであって、
i.複数のエネルギー設定にて動作可能であるエネルギー構成部品と、
ii.前記エネルギー構成部品のエネルギー設定を設定するように動作可能である制御モジュールと、
iii.前記制御モジュールに通信上結合される配向センサーと、を含む本体アセンブリと、
(b)前記エネルギー構成部品に結合されるエンドエフェクタと、
(c)前記制御モジュールに通信上結合される、構成データを含む記憶装置であって、前記構成データは、第1のジェスチャープロファイルと、第1の対応するエネルギー設定とを含む、記憶装置と、を備え、
前記制御モジュールは、前記構成データを前記記憶装置から受信するように構成され、前記制御モジュールは、出力を前記配向センサーから受信するように構成され、前記制御モジュールは、前記配向センサーからの前記出力を前記第1のジェスチャープロファイルと比較するように構成され、前記制御モジュールは、前記配向センサーからの前記出力と前記第1のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品の前記エネルギー設定を前記第1の対応するエネルギー設定に設定するように構成される、装置。 - 前記構成データは、第2のジェスチャープロファイルと、第2の対応するエネルギー設定とを更に含み、前記制御モジュールは、前記配向センサーからの前記出力を前記第1のジェスチャープロファイル及び前記第2のジェスチャープロファイルと比較するように構成され、前記制御モジュールは、前記配向センサーからの前記出力と前記第2のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品の前記エネルギー設定を前記第2の対応するエネルギー設定に設定するように構成される、請求項1に記載の装置。
- 前記エンドエフェクタは、前記本体アセンブリに分離可能に結合される、請求項1に記載の装置。
- 前記記憶装置は、前記エンドエフェクタに関連している、請求項3に記載の装置。
- 前記記憶装置は、前記エンドエフェクタが前記本体アセンブリに結合されるとき、前記制御モジュールに選択的に通信上結合するように構成される、請求項4に記載の装置。
- 前記配向センサーは、ジャイロスコープを含む、請求項1に記載の装置。
- 前記配向センサーは、加速度計を更に含む、請求項6に記載の装置。
- 前記配向センサーは、環状経路と、球と、前記経路内に配置された複数の力センサーとを含み、前記複数の力センサーは、前記環状経路内の前記球の位置に応じて前記本体アセンブリの配向を示すように動作可能である、請求項1に記載の装置。
- 前記エネルギー構成部品は、超音波トランスデューサを含む、請求項1に記載の装置。
- 前記エネルギー構成部品は、RFジェネレータを含む、請求項1に記載の装置。
- 前記記憶装置は、前記本体アセンブリに関連している、請求項1に記載の装置。
- 前記配向センサーは、ケーシング内に配置された球体を含み、前記球体は、導電路を含み、前記ケーシングは、前記導電路に選択的に電気的に結合するように構成された電極を含み、前記電極は、前記電極が前記路に電気的に結合されるときに前記ケーシング内の前記球体の位置に応じて前記本体アセンブリの配向を示すように動作可能である、請求項1に記載の装置。
- ユーザインターフェースを更に含み、前記ユーザインターフェースは、前記制御モジュールに通信上結合され、前記記憶装置は、複数の構成データを含み、前記ユーザインターフェースは、前記複数の構成データのうちのある構成データを選択するように動作可能である、請求項1に記載の装置。
- ユーザインターフェースを更に含み、前記ユーザインターフェースは、前記制御モジュールに通信上結合され、前記ユーザインターフェースは、可聴フィードバックをユーザに供給するように動作可能である、請求項1に記載の装置。
- ユーザインターフェースを更に含み、前記ユーザインターフェースは、前記制御モジュールに通信上結合され、前記ユーザインターフェースは、視覚フィードバックをユーザに供給するように動作可能である、請求項1に記載の装置。
- 外科用器具を制御する方法であって、前記外科用器具は、本体アセンブリと、エンドエフェクタと、記憶装置とを備え、前記本体アセンブリは、エネルギー構成部品と、制御モジュールと、配向センサーとを含み、前記エネルギー構成部品は、複数のエネルギー設定にて動作可能であり、前記制御モジュールは、前記エネルギー構成部品のエネルギー設定を設定するように動作可能であり、前記配向センサーは、前記制御モジュールに通信上結合され、前記エンドエフェクタは、前記エネルギー構成部品に結合され、前記記憶装置は、複数のジェスチャープロファイルと、複数の対応するエネルギー設定とを含み、前記複数のジェスチャープロファイルのうちのそれぞれのジェスチャープロファイルは、前記複数のエネルギー設定のうちの対応するエネルギー設定に関連しており、前記制御モジュールは、データを前記配向センサーから受信するように構成され、前記制御モジュールは、前記記憶装置から前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を受信するように構成され、前記方法は、
(a)前記制御モジュールによって前記配向センサーの出力を受信する工程と、
(b)前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を前記制御モジュールによって前記記憶装置から受信する工程と、
(c)前記配向センサーの出力を前記複数のジェスチャープロファイルのうちの第1のジェスチャープロファイルと比較する工程と、
(d)前記配向センサーの前記出力と前記第1のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品を前記第1のジェスチャープロファイルに関連した第1の対応するエネルギー設定に設定する工程と、
を含む、方法。 - (a)前記配向センサーの前記出力を前記複数のジェスチャープロファイルのうちの第2のジェスチャープロファイルと比較する工程と、
(b)前記配向センサーの前記出力と前記第2のジェスチャープロファイルとの間の相関に応じて前記エネルギー構成部品を前記第2のジェスチャープロファイルに関連した第2の対応するエネルギー設定に設定する工程と、
を含む、請求項16に記載の方法。 - 前記本体アセンブリは、更に、前記エンドエフェクタに適用された力を検出するように動作可能な力センサーを含み、前記方法は、
(a)前記制御モジュールによって前記力センサーの出力を受信する工程と、
(b)前記力センサーの前記出力に基づいて前記第1の対応するエネルギー設定を調整する工程と、を更に含む、請求項16に記載の方法。 - 前記本体アセンブリは、更に加速度計を含み、前記方法は、
(a)前記加速度計により示された変則的な加速度又は減速度に応じて前記第1の対応するエネルギー設定を減少させる工程を更に含む、請求項16に記載の方法。 - 外科用器具を制御する方法であって、前記外科用器具は、本体アセンブリと、エンドエフェクタと、記憶装置とを備え、前記本体アセンブリは、エネルギー構成部品と、制御モジュールと、配向センサーとを含み、前記エネルギー構成部品は、複数のエネルギー設定にて動作可能であり、前記制御モジュールは、前記エネルギー構成部品のエネルギー設定を設定するように動作可能であり、前記配向センサーは、前記制御モジュールに通信上結合され、前記エンドエフェクタは、前記エネルギー構成部品に分離可能に結合され、前記記憶装置は、前記エンドエフェクタに関連しており、前記記憶装置は、複数のジェスチャープロファイルと、複数の対応するエネルギー設定とを含み、前記複数のジェスチャープロファイルのうちのそれぞれのジェスチャープロファイルは、前記複数のエネルギー設定のうちの対応するエネルギー設定に関連しており、前記制御モジュールは、データを前記配向センサーから受信するように構成され、前記制御モジュールは、前記記憶装置から前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を受信するように構成され、前記方法は、
(a)前記制御モジュールによって前記配向センサーの出力を受信する工程と、
(b)前記複数のジェスチャープロファイル及び前記複数の対応するエネルギー設定を前記制御モジュールによって前記記憶装置から受信する工程と、
(c)前記配向センサーの出力を前記複数のジェスチャープロファイルのうちの第1のジェスチャープロファイルと比較する工程と、
(d)前記配向センサーの出力を前記複数のジェスチャープロファイルのうちの第2のジェスチャープロファイルと比較する工程と、
(e)前記配向センサーの前記出力を前記第1及び第2のジェスチャープロファイルと比較する前記工程に基づいて装置ジェスチャーを判断する工程と、
(f)前記装置ジェスチャーに基づいて対応するエネルギー設定を選択する工程と、を含む、方法。 - 装置であって、
(a)複数のエネルギー設定にて動作可能であるエネルギー構成部品と、
(b)前記エネルギー構成部品に結合されるエンドエフェクタであって、前記エネルギー構成部品は、前記エンドエフェクタの少なくとも一部を起動させるように動作可能である、エンドエフェクタと、
(c)前記エネルギー構成部品と通信する、前記複数のエネルギー設定にて前記エネルギー構成部品を駆動するように動作可能である電源と、
(d)制御設定を含む記憶装置と、を備え、前記電源は、前記記憶装置の前記制御設定に従って、1つ又はそれ以上のエネルギー設定にて前記エネルギー構成部品を駆動するように動作可能であり、前記記憶装置は、予め定められた設計寿命の満了に基づいて前記エネルギー構成部品が利用可能な制御設定を低減するように構成される、装置。
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US9572592B2 (en) | 2017-02-21 |
WO2013181098A2 (en) | 2013-12-05 |
JP6262213B2 (ja) | 2018-01-17 |
EP2854665B1 (en) | 2019-01-09 |
BR112014030047B1 (pt) | 2021-07-27 |
CN104349731B (zh) | 2017-07-25 |
US20130324999A1 (en) | 2013-12-05 |
US10327798B2 (en) | 2019-06-25 |
US20190239918A1 (en) | 2019-08-08 |
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EP2854665A2 (en) | 2015-04-08 |
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US11278306B2 (en) | 2022-03-22 |
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BR112014030047A2 (pt) | 2017-06-27 |
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