JP2019503782A - 複数の磁気位置センサを有するモジュール電池式手持ち型外科用器具 - Google Patents
複数の磁気位置センサを有するモジュール電池式手持ち型外科用器具 Download PDFInfo
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- JP2019503782A JP2019503782A JP2018536876A JP2018536876A JP2019503782A JP 2019503782 A JP2019503782 A JP 2019503782A JP 2018536876 A JP2018536876 A JP 2018536876A JP 2018536876 A JP2018536876 A JP 2018536876A JP 2019503782 A JP2019503782 A JP 2019503782A
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Abstract
Description
本願は、2016年1月15日出願の米国仮出願第62/279,635号及び2016年5月2日出願の米国仮出願第62/330,669号の利益を主張するものであり、これらの仮出願の各々の内容は、参照によりそれら全体が本明細書に組み込まれる。
本開示は、概ね、外科用器具及び関連する外科技術に関する。より具体的には、本開示は、外科医が切断及び凝固を行い、治療される組織の種類に基づいて、そのような手技を適合、及びカスタマイズすることを可能にする超音波及び電気外科用システムに関する。
項目1.ハンドルアセンブリと、ハンドルアセンブリに連結されたシャフトと、シャフトに固定して連結された複数の磁石と、シャフトに連結された複数のセンサであって、各々は、複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている、センサと、複数のセンサに通信可能に連結されたプロセッサと、を備えた外科用器具を含むシステムであって、シャフトが、固定基準面に対する位置を変えるように構成されており、複数の磁石のうちの1つ以上が、シャフトの変化位置に対応して位置を変えるように構成されており、複数のセンサのうちの1つ以上は、1つ以上の磁石が位置を変えたときに、複数のセンサのうちの1つ以上に対する、複数の磁石のうちの1つ以上の距離の変化を決定するように更に構成されており、プロセッサが、複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、1つ以上の磁石の位置の3次元変化を算出することにより、シャフトの位置の3次元変化を決定するように構成されている、システム。
項目2.シャフトが、関節接合継手、シャフトの第1の構成要素及び第2の構成要素を含み、第1及び第2の構成要素が、関節接合継手の周囲に連結されており、シャフトの第2の構成要素が、関節接合継手を中心に関節接合するように構成されており、複数の磁石の第1の磁石が、シャフトの第2の構成要素に固定して連結されており、複数のセンサの第1のセンサが、シャフトの第1の構成要素に連結されており、第1のセンサは、シャフトの第2の構成要素が関節接合継手を中心に関節接合すると、第1の磁石から離れた距離の変化を測定するように構成されており、プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、シャフトの第2の構成要素の関節接合の位置の3次元変化を決定するように構成されている、項目1のシステム。
項目3.複数の磁石の第2の磁石は、第1の磁石が第2の構成要素に連結されている場所とは異なる位置で、シャフトの第2の構成要素に固定して連結されており、第1のセンサは、シャフトの第2の構成要素が関節接合継手を中心に関節接合すると、第2の磁石から離れた距離の変化を測定するように更に構成されており、プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化、及び第1のセンサから離れた第2の磁石の測定される距離の変化を使用して、シャフトの第2の構成要素の関節接合の位置の3次元変化を決定するように更に構成されている、項目2のシステム。
項目4.シャフトが、外部シャフト、及び外部シャフト内部に位置決めされた内部シャフトを備え、内部シャフトが、外部シャフト内で回転するように構成されており、複数の磁石の第1の磁石が、外部シャフトに固定して連結されており、複数のセンサの第1のセンサが、内部シャフトに固定して連結されており、第1のセンサは、外部シャフトが内部シャフトに対して回転すると、第1の磁石から離れた距離の変化を測定するように構成されており、プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、内部シャフトに対する、外部シャフトの回転度を決定するように構成されている、項目1〜3のいずれか1つのシステム。
項目5.複数の磁石の第2の磁石は、第1の磁石が外部シャフトに連結されている場所とは異なる位置で、外部シャフトに固定して連結されており、第1のセンサは、外部シャフトが内部シャフトに対して回転すると、第2の磁石から離れた距離の変化を測定するように更に構成されており、プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化、及び第1のセンサから離れた第2の磁石の測定される距離の変化を使用して、外部シャフトの回転度を決定するように更に構成されている、項目4のシステム。
項目6.外科用器具が、シャフトの遠位端に連結されたエンドエフェクタを更に備え、エンドエフェクタが一対の外科用ジョーを備え、シャフトが、一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、一対の外科用ジョーに連結された、クランプアームドライバを備え、複数の磁石の第1の磁石が、クランプアームドライバに固定して連結されており、複数のセンサの第1のセンサは、クランプアームドライバが並進するときに並進しないシャフトの部分に連結されており、第1のセンサは、クランプアームドライバが並進すると、第1の磁石から離れた距離の変化を測定するように構成されており、プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、クランプアームドライバの並進距離を決定するように構成されている、項目1〜5のいずれか1つに記載のシステム。
項目7.複数の磁石の第2の磁石は、第1の磁石が外部シャフトに連結されている場所とは異なる位置で、クランプアームドライバに固定して連結されており、第1のセンサは、クランプアームドライバが並進すると、第2の磁石から離れた距離の変化を測定するように更に構成されており、プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化、及び第1のセンサから離れた第2の磁石の測定される距離の変化を使用して、クランプアームドライバの並進距離を決定するように更に構成されている、項目6のシステム。
項目8.プロセッサは、複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、外科用器具のエラー条件を決定するように更に構成されている、項目1〜7のいずれか1つのシステム。
項目9.外科用器具が、シャフトの遠位端への電気的接続をもたらすよう、及びシャフトの関節接合継手を中心にして関節接合するように構成されている可撓性回路を更に備えた、項目1〜8のいずれか1つのシステム。
項目10.外科用器具が、ハンドルアセンブリに通信可能に連結されており、かつシャフトの少なくとも一部を回転させるように構成されている、回転ドライバを更に備えた、項目1〜10のいずれか1つのシステム。
項目11.複数の磁石と、複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている複数のセンサと、複数のセンサに通信可能に連結されたプロセッサと、を備えた外科用器具であって、プロセッサが、複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、1つ以上の磁石の位置の3次元変化を算出することにより、外科用器具の位置の3次元変化を決定するように構成されている、外科用器具。
項目12.プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、外科用器具の構成要素の関節接合の位置の3次元変化を決定するように構成されている、項目11の外科用器具。
項目13.プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、外科用器具の内側構成要素に対する、外科用器具の外部構成要素の回転度を決定するように構成されている、項目11又は12の外科用器具。
項目14.プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、外科用器具の構成要素の並進距離を決定するように構成されている、項目11〜13のいずれか1つの外科用器具。
項目15.プロセッサは、複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、外科用器具のエラー条件を決定するように更に構成されている、項目11〜14のいずれか1つの外科用器具。
項目16.外科用器具が、外科用器具の一部に電気的接続をもたらすように構成されている可撓性回路を更に備えた、項目11〜15のいずれか1つの外科用器具。
項目17.外科用器具が、外科用器具の少なくとも一部を回転するように構成されている回転ドライバを更に備えた、項目11〜16のいずれか1つの外科用器具。
項目18.複数の磁石、複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている複数のセンサ、及び複数のセンサに通信可能に連結されたプロセッサを備えた外科用器具を制御する方法であって、複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、プロセッサにより、1つ以上の磁石の位置の3次元変化を算出することによって外科用器具の位置の3次元変化を決定することを含む、方法。
項目19.第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、プロセッサによって、外科用器具の構成要素の関節接合の位置の3次元変化を決定することを含む、項目18に記載の方法。
項目20.第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、プロセッサにより、外科用器具の内側構成要素に対する、外科用器具の外部構成要素の回転度を決定することを含む、項目18又は19の方法。
項目21.第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、プロセッサにより、外科用器具の構成要素の並進距離を決定することを含む、項目18〜20のいずれか1つの方法。
項目22.複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、外科用器具のエラー条件を、プロセッサにより決定することを含む、項目18〜21のいずれか1つの方法。
(1) ハンドルアセンブリと、
前記ハンドルアセンブリに連結されたシャフトと、
前記シャフトに固定して連結された複数の磁石と、
前記シャフトに連結された複数のセンサであって、各々は、前記複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている、センサと、
前記複数のセンサに通信可能に連結されたプロセッサと、
を備えた外科用器具を含むシステムであって、
前記シャフトが、固定基準面に対する位置を変えるように構成されており、
前記複数の磁石のうちの1つ以上が、前記シャフトの変化位置に対応して位置を変えるように構成されており、
前記複数のセンサのうちの1つ以上は、前記1つ以上の磁石が位置を変えたときに、前記複数のセンサのうちの前記1つ以上に対する、前記複数の磁石のうちの前記1つ以上の距離の変化を決定するように更に構成されており、
前記プロセッサが、前記複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、前記1つ以上の磁石の位置の3次元変化を算出することにより、前記シャフトの位置の3次元変化を決定するように構成されている、
システム。
(2) 前記シャフトが、関節接合継手、前記シャフトの第1の構成要素及び第2の構成要素を含み、前記第1及び前記第2の構成要素が、前記関節接合継手の周囲に連結されており、
前記シャフトの前記第2の構成要素が、前記関節接合継手を中心に関節接合するように構成されており、
前記複数の磁石の第1の磁石が、前記シャフトの前記第2の構成要素に固定して連結されており、
前記複数のセンサの第1のセンサが、前記シャフトの前記第1の構成要素に連結されており、
前記第1のセンサは、前記シャフトの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記第1の磁石から離れた距離の変化を測定するように構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記シャフトの前記第2の構成要素の前記関節接合の位置の前記3次元変化を決定するように構成されている、
実施態様1に記載のシステム。
(3) 前記複数の磁石の第2の磁石は、前記第1の磁石が前記第2の構成要素に連結されている場所とは異なる位置で、前記シャフトの前記第2の構成要素に固定して連結されており、
前記第1のセンサは、前記シャフトの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記第2の磁石から離れた距離の変化を測定するように更に構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化、及び前記第1のセンサから離れた前記第2の磁石の測定される距離の変化を使用して、前記シャフトの前記第2の構成要素の前記関節接合の位置の前記3次元変化を決定するように更に構成されている、
実施態様2に記載のシステム。
(4) 前記シャフトが、外部シャフト、及び前記外部シャフト内部に位置決めされた内部シャフトを備え、
前記内部シャフトが、前記外部シャフト内で回転するように構成されており、
前記複数の磁石の第1の磁石が、前記外部シャフトに固定して連結されており、
前記複数のセンサの第1のセンサが、前記内部シャフトに固定して連結されており、
前記第1のセンサは、前記外部シャフトが前記内部シャフトに対して回転すると、前記第1の磁石から離れた距離の変化を測定するように構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記内部シャフトに対する、前記外部シャフトの回転度を決定するように構成されている、
実施態様1に記載のシステム。
(5) 前記複数の磁石の第2の磁石は、前記第1の磁石が前記外部シャフトに連結されている場所とは異なる位置で、前記外部シャフトに固定して連結されており、
前記第1のセンサは、前記外部シャフトが前記内部シャフトに対して回転すると、前記第2の磁石から離れた距離の変化を測定するように更に構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化、及び前記第1のセンサから離れた前記第2の磁石の測定される距離の変化を使用して、前記外部シャフトの前記回転度を決定するように更に構成されている、
実施態様4に記載のシステム。
前記シャフトが、前記一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、前記一対の外科用ジョーに連結された、クランプアームドライバを備え、
前記複数の磁石の第1の磁石が、前記クランプアームドライバに固定して連結されており、
前記複数のセンサの第1のセンサは、前記クランプアームドライバが並進するときに並進しない前記シャフトの部分に連結されており、
前記第1のセンサは、前記クランプアームドライバが並進すると、前記第1の磁石から離れた距離の変化を測定するように構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記クランプアームドライバの並進距離を決定するように構成されている、
実施態様1に記載のシステム。
(7) 前記複数の磁石の第2の磁石は、前記第1の磁石が前記外部シャフトに連結されている場所とは異なる位置で、前記クランプアームドライバに固定して連結されており、
前記第1のセンサは、前記クランプアームドライバが並進すると、前記第2の磁石から離れた距離の変化を測定するように更に構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化、及び前記第1のセンサから離れた前記第2の磁石の測定される距離の変化を使用して、前記クランプアームドライバの前記並進距離を決定するように更に構成されている、
実施態様6に記載のシステム。
(8) 前記プロセッサは、前記複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を決定するように更に構成されている、実施態様1に記載のシステム。
(9) 前記外科用器具が、前記シャフトの遠位端への電気的接続をもたらすよう、及び前記シャフトの関節接合継手を中心にして関節接合するように構成されている可撓性回路を更に備えた、実施態様1に記載のシステム。
(10) 前記外科用器具が、前記ハンドルアセンブリに通信可能に連結されており、かつ前記シャフトの少なくとも一部を回転させるように構成されている、回転ドライバを更に備えた、実施態様1に記載のシステム。
前記複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている複数のセンサと、
前記複数のセンサに通信可能に連結されたプロセッサと、を備えた外科用器具であって、前記プロセッサが、前記複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、前記1つ以上の磁石の位置の3次元変化を算出することにより、前記外科用器具の位置の3次元変化を決定するように構成されている、
外科用器具。
(12) 前記プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記外科用器具の構成要素の関節接合の位置の前記3次元変化を決定するように構成されている、実施態様11に記載の外科用器具。
(13) 前記プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記外科用器具の内側構成要素に対する、前記外科用器具の外側構成要素の回転度を決定するように構成されている、実施態様11に記載の外科用器具。
(14) 前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記外科用器具の構成要素の並進距離を決定するように構成されている、実施態様11に記載の外科用器具。
(15) 前記プロセッサは、前記複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を決定するように更に構成されている、実施態様11に記載の外科用器具。
(17) 前記外科用器具が、前記外科用器具の少なくとも一部を回転するように構成されている回転ドライバを更に備えた、実施態様11に記載の外科用器具。
(18) 複数の磁石、前記複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている複数のセンサ、及び前記複数のセンサに通信可能に連結されたプロセッサを備えた外科用器具を制御する方法であって、
前記複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、前記プロセッサにより、前記1つ以上の磁石の位置の3次元変化を算出することによって前記外科用器具の位置の3次元変化を決定することを含む、
方法。
(19) 第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記プロセッサにより、前記外科用器具の構成要素の関節接合の位置の前記3次元変化を決定することを含む、
実施態様18に記載の方法。
(20) 第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記プロセッサにより、前記外科用器具の内側構成要素に対する、前記外科用器具の外側構成要素の回転度を決定すること
を含む、実施態様18に記載の方法。
を含む、実施態様18に記載の方法。
(22) 前記複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を、前記プロセッサにより決定することを含む、実施態様18に記載の方法。
Claims (22)
- ハンドルアセンブリと、
前記ハンドルアセンブリに連結されたシャフトと、
前記シャフトに固定して連結された複数の磁石と、
前記シャフトに連結された複数のセンサであって、各々は、前記複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている、センサと、
前記複数のセンサに通信可能に連結されたプロセッサと、
を備えた外科用器具を含むシステムであって、
前記シャフトが、固定基準面に対する位置を変えるように構成されており、
前記複数の磁石のうちの1つ以上が、前記シャフトの変化位置に対応して位置を変えるように構成されており、
前記複数のセンサのうちの1つ以上は、前記1つ以上の磁石が位置を変えたときに、前記複数のセンサのうちの前記1つ以上に対する、前記複数の磁石のうちの前記1つ以上の距離の変化を決定するように更に構成されており、
前記プロセッサが、前記複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、前記1つ以上の磁石の位置の3次元変化を算出することにより、前記シャフトの位置の3次元変化を決定するように構成されている、
システム。 - 前記シャフトが、関節接合継手、前記シャフトの第1の構成要素及び第2の構成要素を含み、前記第1及び前記第2の構成要素が、前記関節接合継手の周囲に連結されており、
前記シャフトの前記第2の構成要素が、前記関節接合継手を中心に関節接合するように構成されており、
前記複数の磁石の第1の磁石が、前記シャフトの前記第2の構成要素に固定して連結されており、
前記複数のセンサの第1のセンサが、前記シャフトの前記第1の構成要素に連結されており、
前記第1のセンサは、前記シャフトの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記第1の磁石から離れた距離の変化を測定するように構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記シャフトの前記第2の構成要素の前記関節接合の位置の前記3次元変化を決定するように構成されている、
請求項1に記載のシステム。 - 前記複数の磁石の第2の磁石は、前記第1の磁石が前記第2の構成要素に連結されている場所とは異なる位置で、前記シャフトの前記第2の構成要素に固定して連結されており、
前記第1のセンサは、前記シャフトの前記第2の構成要素が前記関節接合継手を中心に関節接合すると、前記第2の磁石から離れた距離の変化を測定するように更に構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化、及び前記第1のセンサから離れた前記第2の磁石の測定される距離の変化を使用して、前記シャフトの前記第2の構成要素の前記関節接合の位置の前記3次元変化を決定するように更に構成されている、
請求項2に記載のシステム。 - 前記シャフトが、外部シャフト、及び前記外部シャフト内部に位置決めされた内部シャフトを備え、
前記内部シャフトが、前記外部シャフト内で回転するように構成されており、
前記複数の磁石の第1の磁石が、前記外部シャフトに固定して連結されており、
前記複数のセンサの第1のセンサが、前記内部シャフトに固定して連結されており、
前記第1のセンサは、前記外部シャフトが前記内部シャフトに対して回転すると、前記第1の磁石から離れた距離の変化を測定するように構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記内部シャフトに対する、前記外部シャフトの回転度を決定するように構成されている、
請求項1に記載のシステム。 - 前記複数の磁石の第2の磁石は、前記第1の磁石が前記外部シャフトに連結されている場所とは異なる位置で、前記外部シャフトに固定して連結されており、
前記第1のセンサは、前記外部シャフトが前記内部シャフトに対して回転すると、前記第2の磁石から離れた距離の変化を測定するように更に構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化、及び前記第1のセンサから離れた前記第2の磁石の測定される距離の変化を使用して、前記外部シャフトの前記回転度を決定するように更に構成されている、
請求項4に記載のシステム。 - 前記外科用器具が、前記シャフトの遠位端に連結されたエンドエフェクタを更に備え、前記エンドエフェクタが一対の外科用ジョーを備え、
前記シャフトが、前記一対の外科用ジョーの移動を操作するために近位及び遠位に並進するように構成されている、前記一対の外科用ジョーに連結された、クランプアームドライバを備え、
前記複数の磁石の第1の磁石が、前記クランプアームドライバに固定して連結されており、
前記複数のセンサの第1のセンサは、前記クランプアームドライバが並進するときに並進しない前記シャフトの部分に連結されており、
前記第1のセンサは、前記クランプアームドライバが並進すると、前記第1の磁石から離れた距離の変化を測定するように構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記クランプアームドライバの並進距離を決定するように構成されている、
請求項1に記載のシステム。 - 前記複数の磁石の第2の磁石は、前記第1の磁石が前記外部シャフトに連結されている場所とは異なる位置で、前記クランプアームドライバに固定して連結されており、
前記第1のセンサは、前記クランプアームドライバが並進すると、前記第2の磁石から離れた距離の変化を測定するように更に構成されており、
前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化、及び前記第1のセンサから離れた前記第2の磁石の測定される距離の変化を使用して、前記クランプアームドライバの前記並進距離を決定するように更に構成されている、
請求項6に記載のシステム。 - 前記プロセッサは、前記複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を決定するように更に構成されている、請求項1に記載のシステム。
- 前記外科用器具が、前記シャフトの遠位端への電気的接続をもたらすよう、及び前記シャフトの関節接合継手を中心にして関節接合するように構成されている可撓性回路を更に備えた、請求項1に記載のシステム。
- 前記外科用器具が、前記ハンドルアセンブリに通信可能に連結されており、かつ前記シャフトの少なくとも一部を回転させるように構成されている、回転ドライバを更に備えた、請求項1に記載のシステム。
- 複数の磁石と、
前記複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている複数のセンサと、
前記複数のセンサに通信可能に連結されたプロセッサと、を備えた外科用器具であって、前記プロセッサが、前記複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、前記1つ以上の磁石の位置の3次元変化を算出することにより、前記外科用器具の位置の3次元変化を決定するように構成されている、
外科用器具。 - 前記プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記外科用器具の構成要素の関節接合の位置の前記3次元変化を決定するように構成されている、請求項11に記載の外科用器具。
- 前記プロセッサが、第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記外科用器具の内側構成要素に対する、前記外科用器具の外側構成要素の回転度を決定するように構成されている、請求項11に記載の外科用器具。
- 前記プロセッサが、前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、前記外科用器具の構成要素の並進距離を決定するように構成されている、請求項11に記載の外科用器具。
- 前記プロセッサは、前記複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を決定するように更に構成されている、請求項11に記載の外科用器具。
- 前記外科用器具が、前記外科用器具の一部に電気的接続をもたらすように構成されている可撓性回路を更に備えた、請求項11に記載の外科用器具。
- 前記外科用器具が、前記外科用器具の少なくとも一部を回転するように構成されている回転ドライバを更に備えた、請求項11に記載の外科用器具。
- 複数の磁石、前記複数の磁石のうちの1つ以上から離れた距離を決定するように構成されている複数のセンサ、及び前記複数のセンサに通信可能に連結されたプロセッサを備えた外科用器具を制御する方法であって、
前記複数のセンサのうちの1つ以上によって決定された距離の変化を使用して、前記プロセッサにより、前記1つ以上の磁石の位置の3次元変化を算出することによって前記外科用器具の位置の3次元変化を決定することを含む、
方法。 - 第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記プロセッサにより、前記外科用器具の構成要素の関節接合の位置の前記3次元変化を決定することを含む、
請求項18に記載の方法。 - 第1のセンサから離れた第1の磁石の測定される距離の変化を使用して、前記プロセッサにより、前記外科用器具の内側構成要素に対する、前記外科用器具の外側構成要素の回転度を決定すること
を含む、請求項18に記載の方法。 - 前記第1のセンサから離れた前記第1の磁石の測定される距離の変化を使用して、プロセッサにより、前記外科用器具の構成要素の並進距離を決定すること
を含む、請求項18に記載の方法。 - 前記複数のセンサのうちの1つ以上によって決定された距離の変化が、少なくとも1つの所定の閾値を満たさないかどうかを測定することによって、前記外科用器具のエラー条件を、前記プロセッサにより決定することを含む、請求項18に記載の方法。
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