JP2020078581A - トルク補償 - Google Patents
トルク補償 Download PDFInfo
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Abstract
Description
本出願は、2013年1月14日に出願された、米国仮出願第61/752,402号、及び2014年1月13日に出願された、米国非仮出願第14/154,075号の優先権を主張し、当該出願はそれらの全体が参照により本出願に援用される。
図1は、低侵襲ロボット手術(MIRS)システム10の平面図を示し、典型的には、手術台14の上に横になっている患者12に低侵襲診断又は外科的処置を行うために使用される。システムは、手術中の外科医18による使用のための外科医用コンソール16を含むことができる。1又は複数の助手20もまた手術に参加し得る。MIRSシステム10はさらに、患者側カート22(手術ロボット)及び電子装置カート24を含むことができる。患者側カート22は、外科医18がコンソール16を通して手術野を見ながら、患者12の体の低侵襲切開部を通って少なくとも1つの取り外し可能に結合されるツール組立体26(以下単純に「ツール」と称される)を操作することができる。手術野の画像は、立体内視鏡のような、内視鏡28によって得られることができ、この内視鏡は内視鏡28をある方向に向けるために患者側カート22によって操作されることができる。電子装置カート24は、外科医用コンソール16を通じた外科医18へのその後の表示のために手術野の画像を処理するために使用されることができる。一度に使用される手術ツール26の数は一般的に、他の要因の中で、診断又は手術及び手術室内のスペースの制約に依存する。手術中に使用されているツール26の1又は複数を交換する必要がある場合、助手20は、患者側カート22からツール26を取り外し得るとともに、それを手術室のトレイ30から他のツール26に交換し得る。
手術システム10で用いられることができる手術ツール26は、ステープラ及び電気血管シーラのようなクランプ器具を含むことができる。このような装置は、例えば消化管から、癌性の又は異常な組織を切除するために使用されることができる。図6Aは、ステープラ600の例を示す。ステープラ600は、ステープラエンドエフェクタ602、手首部604、器具シャフト606及びシャシ608を含む。
カートリッジ614は、様々な長さ、例えば、30、45、又は60mmであり得る。単一のステープラ600は、1回発射されるそれぞれのカートリッジを伴って、多くの再装填を発射することができる。カートリッジ614は、例えば、カートリッジシリアルナンバ、カートリッジタイプ、部品番号、スタイル、発射の方向、発射の長さ、カートリッジの色、発射トルク、最大たわみ及び他のデータを保持するデータストレージを含み得る。幾つかの実施形態では、ナイフブレード616及びスレッド618は、カートリッジ614の一部であり、各再装填で入れ替えられる。
上述のように、(再装填とも称される)ステープルカートリッジは、色によって識別される様々なサイズが利用可能である。それぞれの色のカートリッジは、特定のステープル脚長さに対応する。一般的なカートリッジは、緑(4.3mm脚長さ)、青(2.5mm脚長さ)、及び白(1.5mm脚長さ)カートリッジ614を含む。ステープルを適切に形成するために、アンビル610及びジョー612は、ステープル652がアンビル610のポケット654に衝突し且つ所望の“B”形状(図6B)を形成することを確実にするように、極めて近接した範囲内に位置決めされる必要がある。ステープラ600は、「片持ち梁」スタイルのクランプを利用し、上述のように、制限クランプトルクが高過ぎる場合、アンビル610及びジョー612の先端は、互いに離れて、発射プロセスの間にステープル652がカートリッジ614から押し出されるときステープル652が適切に形成しないポイントにたわむことが可能である。この状態は、高過ぎるトルクでのクランプの間にジョーの中に多過ぎる組織がある場合、現れ得る。これを防ぎ且つ適切な先端の隙間が維持されることを確実にするために、クランプトルクは制限される。
ステープラ600を較正すること及び初期化することに加えて、モータ組立体702もまた、製造上のばらつきを調整するために較正及び初期化されることができる。クランプモータ804及び発射モータ802並びに機械的コンバータ714の製造上のばらつきは、モータ組立体の間のばらつきをもたらす。モータ組立体の較正の間、クランプモータ804及び発射モータ802のそれぞれに対するモータ速度対無負荷電流の関係INL及びトルク定数KTが決定される。
図8に戻って参照すると、ステープラ600は、ステープラ600が完全なクランプ状態に達するときにのみ発射することを許される。完全なクランプ状態に達するためにモータ804によって提供されるトルクの量はソフトウェアによって制限される。この制限トルクは、概して、制限電流として設定され、この制限電流は、モータ804がクランプ工程の間に引き込むことが許容される電流の限界である。制限電流は、上述のように、ステープラ600に対する較正データの関数である。言い換えると、最初に制限トルクが上述のようにτcalに設定され、カートリッジ614の色に従って調整される。
τcom=F({Parameters})
によって与えられることができ、ここで関数Fは、クランプ600及びモータ組立体702の寿命に渡ってクランプ600及びモータ組立体702の挙動に最も良く適合するモデルを定める。関数Fは、時間に渡る摩耗特性を正確に表すように、ステープラ600及びモータ組立体702の大きいセットに関して経験的に決定されることができる。幾つかの場合には、様々なパラメータに関連するファクタは、モデルの中でスカラーであり得るが、他の場合には、より良いモデルは、他のファクタはスカラーでありながら加法的である幾つかのファクタを有する。例えば、最大制限トルクを計算するためのモデルは、
τcom=F({Parameters})=
f(T)*g(LMP)*h(Linst)*y(θ)+z(T)+k(LMP)+x(Linst)+p(θ)+C
によって与えられ、ここでf、g、h、y、z、k、x、及びpは示されたパラメータの特定の関数を表し、Cは一般的なオフセット項を表す。上の方程式に示されるように、修正は、パラメータセットのパラメータのそれぞれに関してスカラー構成成分及び加法的構成成分を含むことができる。幾つかのモデルでは、関数f、g、h、及びyの幾つかは、対応するパラメータが加法的構成成分ではない場合に関数z、k、x、及びpが0に設定されながらパラメータがスカラー構成成分ではない場合に、1に設定されることができる。F{Parameters}の上の例は、限定するものではなく、他の関数がモデリングにおいて利用されることができる。幾つかの特定の例示のモデルは、以下にさらに詳細に示される。
によって与えられることができ、ここでIlimitはモータ804に供給される制限電流であり、INLは較正時におけるモータ804に対する無負荷電流であり、KTはモータ組立体ドライブトレインの特徴を示すトルク定数であり、τcomは上述のように、クランプにおける誤差を最小にするように供給されるモデル化され且つ補償された制限トルクを示す。INLは、モータ組立体に対する摩擦補償を表し、速度の関数であることができる。パラメータKTは、モータ804におけるトルクの電流での変換に関連する。基準温度Trefでの初期KTは、上述のようにモータ組立体702の較正中に決定され得る。幾つかのモデルでは、KTは、
によって与えられることができ、ここでIcalは、速度に応じたモータ組立体702での損失を表す較正された無負荷電流引き込みであり、μは温度係数、Tは(電子装置810によって測定される)モータ組立体702の温度、Trefは基準温度、κはモータ組立体寿命係数、及びLMPは、モータ組立体702がステープラを発射した回数である。基準温度Trefは、例えば、モータ組立体702が較正されるときの温度であることができ、メモリ812に格納されることができる。このモデルの上記方程式から見ることができるように、T=Trefでのステープラ600に対する較正された制限電流は、Ilimit=Ical+τcal/KTcalによって与えられ、これはIcal及びKTcalの両方を決定するために初期較正段階で使用されることができる。Ical及びKTcalの値は、幾つかの実施形態では、メモリ812に格納されることができる。
によって与えられることができ、ここでαは温度係数、βはモータ組立体702の寿命係数、γはステープラ600の寿命係数、δは一定オフセット温度係数及びεは一定オフセットである。τdesは、上述のように、τcal及びカートリッジ調整値の和によって与えられることができる。
によって与えられることができ、θは図8に示されるように手首部604の手首角度であり、ξは制限トルクへの手首角度の影響を決定するパラメータである。説明されるように、θ=0度で、W(θ)は1である。しかし、角度が増加するにつれて、手首部604の摩擦は増加し、W(θ)によるτcomの乗法的増加をもたらす。幾つかの実施形態では、関数W(θ)はルックアップテーブルとして実装されることができる。制限トルク手首調整値W(θ)は、手首部及び手首部を通して力を伝達する必要を持つ任意の手術器具に対して利用されることができる。
本発明の幾つかの実施形態では、ホーミング(homing)手順が、制限トルクをさらに調整するために提供されることができる。ホーミング手順は、ステープラ600及びモータ組立体702が患者側カート22に最初に取り付けられるとき、実行される。幾つかの実施形態では、システム800は、動作の予め設定された範囲でステープラ600を駆動することができ、ステープラ600及びモータ組立体702の対応するパフォーマンスをモニタしながらテストする。モータ804及び802の電流、位置、及びトルクが電子装置810によってモニタされ且つプロセッサ800に伝達されることができる。プロセッサ800は、ホーミングの間のステープラ600及びモータ組立体702の測定された挙動を補正するために係数及びパラメータを調整することができる。これらの補正された係数及びパラメータは、上述のようにモータ組立体702を持つステープラ600を操作する間に利用されることができる。
(付記1) クランプ器具を使用する方法であって:
前記クランプ器具に対する初期制限トルクを取得するステップ;
調整された制限トルクを取得するためにパラメータのセットを利用するモデルにしたがって前記制限トルクを調整するステップ;及び
前記調整された制限トルクにしたがって前記クランプ器具をクランプさせるステップ;を含む、
方法。
(付記2) 前記初期制限トルクを取得するステップは、前記クランプ器具から前記初期制限トルクを読み込むステップを含む、
付記1に記載の方法。
(付記3) 前記パラメータのセットは、モータ組立体温度、モータ組立体寿命、クランプ器具寿命、及び手首部角度の1又は複数を含む、
付記1に記載の方法。
(付記4) 前記モータ組立体寿命及び前記クランプ器具寿命を読み込むステップをさらに含み、
前記制限トルクを調整するステップは、前記モータ組立体温度、前記モータ組立体寿命、前記クランプ器具寿命、及び前記手首部角度の関数によって前記初期制限トルクを増減させるステップを含む、
付記3に記載の方法。
(付記5) 前記モータ組立体寿命及び前記クランプ器具寿命を読み込むステップをさらに含み、
前記制限トルクを調整するステップは、前記初期制限トルクに、前記モータ組立体温度、前記モータ組立体寿命、前記クランプ器具寿命、及び前記手首部角度の関数を加えるステップを含む、
付記3に記載の方法。
(付記6) 前記制限トルクを調整するステップは、
によって達成され、τcomは前記調整された制限トルク、τdesは所望の制限トルク、W(θ)は前記手首部角度に対するスケーリング調整、Tは前記モータ組立体温度、LMPは前記モータ組立体寿命、Linsは前記クランプ器具寿命、Trefは基準温度、並びに、α、β、γ、δ及びεは係数である、
付記3に記載の方法。
(付記7) 前記クランプ器具はステープラであり、前記所望の制限トルクτdesは、カートリッジ調整にしたがって調整される前記クランプ器具に対する較正された制限トルクである、
付記6に記載の方法。
(付記8) 前記W(θ)は
によって与えられ、θは前記手首部角度でありξは係数である、
付記6に記載の方法。
(付記9) 前記調整された制限トルクにしたがって前記クランプ器具をクランプさせるステップは、
クランプモータに対する制限電流を計算するステップ;及び
電流を前記制限電流に制限しながら前記クランプモータをクランプ位置に駆動するステップ、を含む、
付記3に記載の方法。
(付記10) 前記制限電流を計算するステップは、
によって提供され、Ilimitは前記制限電流であり、INLは無負荷電流であり、τcomは前記調整された制限トルクであり、KTは前記クランプモータに対する電流からトルクへの変換パラメータである、
付記9に記載の方法。
(付記11) 前記INL及び前記KTは、温度及びモータ組立体寿命に対して調整される、
付記10に記載の方法。
(付記12) 前記INLは、モータ速度及び方向の関数である、
付記10に記載の方法。
(付記13) 前記クランプ器具を発射するステップ;
前記モータ組立体寿命及び前記クランプ器具寿命を更新するステップ;及び
前記モータ組立体寿命及び前記クランプ器具寿命を格納するステップ;をさらに含む、
付記9に記載の方法。
(付記14) 前記クランプ器具をホーミングするステップ;及び
前記ホーミングの間に取得されるデータにしたがって前記パラメータのセットを調整するステップ;をさらに含む、
付記1に記載の方法。
(付記15) クランプ装置を使用するシステムであって:
前記クランプ器具に結合されるモータ組立体のモータからデータを受信し且つ前記モータを制御するように結合されるプロセッサを有し、前記プロセッサは、
前記クランプ器具に対する初期制限トルクを取得するための;
調整された制限トルクを取得するためにパラメータのセットを利用するモデルにしたがって前記制限トルクを調整するための;及び
前記調整された制限トルクにしたがって前記クランプ器具をクランプさせるための;命令を実行する、
システム。
(付記16) 前記初期制限トルクを取得することは、前記クランプ器具から前記初期制限トルクを読み込むことを含む、
請求項15に記載のシステム。
(付記17) 前記パラメータのセットは、モータ組立体温度、モータ組立体寿命、クランプ器具寿命、及び手首部角度の1又は複数を含む、
付記15に記載のシステム。
(付記18) 前記クランプ器具から前記モータ組立体寿命及び前記クランプ器具寿命を読み込むことをさらに含み、
前記制限トルクを調整することは、前記モータ組立体温度、前記モータ組立体寿命、前記クランプ器具寿命、及び前記手首部角度の関数によって前記初期制限トルクを増減させることを含む、
付記17に記載のシステム。
(付記19) 前記モータ組立体寿命及び前記クランプ器具寿命を読み込むことをさらに含み、
前記制限トルクを調整することは、前記初期制限トルクに、前記モータ組立体温度、前記モータ組立体寿命、前記クランプ器具寿命、及び前記手首部角度の関数を加えることを含む、
付記17に記載のシステム。
(付記20) 前記制限トルクを調整することは、
によって達成され、τcomは前記調整された制限トルク、τdesは所望の制限トルク、W(θ)は前記手首部角度に対するスケーリング調整、Tは前記モータ組立体の温度、LMPは前記モータ組立体の寿命、Linsは前記クランプ器具の寿命、Trefは基準温度、並びに、α、β、γ、δ及びεは係数である、
付記17に記載のシステム。
(付記21) 前記クランプ器具はステープラであり、前記所望の制限トルクτdesは、カートリッジ調整にしたがって調整される前記クランプ器具に対する較正された制限トルクである、
付記20に記載のシステム。
(付記22) 前記W(θ)は
によって与えられ、θは前記手首部角度でありξは係数である、
付記20に記載のシステム。
(付記23) 前記調整された制限トルクにしたがって前記クランプ器具をクランプさせることは、
クランプモータに対する制限電流を計算すること;及び
電流を前記制限電流に制限しながら前記クランプモータをクランプ位置に駆動すること;を含む、
付記15に記載のシステム。
(付記24) 前記制限電流を計算することは、
によって提供され、Ilimitは前記制限電流であり、INLは無負荷電流であり、τcomは前記調整された制限トルクであり、KTは前記クランプモータに対する電流変換パラメータである、
付記23に記載のシステム。
(付記25) 前記INL及び前記KTは、温度及びモータ組立体寿命に対して調整される、
付記24に記載のシステム。
(付記26) 前記INLは、モータ速度及び方向の関数である、
付記24に記載のシステム。
(付記27) 前記クランプ器具を発射すること;
モータ組立体寿命及びクランプ器具寿命を更新すること;及び
前記モータ組立体寿命及び前記クランプ器具寿命を格納すること;をさらに含む、
付記15に記載のシステム。
(付記28) 前記クランプ器具をホーミングすること;及び
前記ホーミングの間に取得されるデータにしたがって前記パラメータのセットを調整すること;をさらに含む、
付記15に記載のシステム。
Claims (15)
- 組織をクランプするために低侵襲手術で用いられるクランプ器具の作動方法であって、前記クランプ器具は制御電子装置を有し、前記方法は:
前記制御電子装置が、前記クランプ器具に対する初期トルク限度を取得するステップ;
前記制御電子装置が、前記クランプ器具の手首部角度、モータ組立体の温度、前記モータ組立体の寿命、及び前記クランプ器具の寿命に基づいて、調整されたトルク限度を取得するために前記初期トルク限度を調整するステップ;及び
前記制御電子装置が、前記モータ組立体に、前記組織をクランプするように前記調整されたトルク限度にしたがって前記クランプ器具をクランプさせるステップであって、前記調整されたトルク限度は、クランプを行うために前記クランプ器具によって加えられることができる最大トルクに対応する、ステップ;を含み、
前記調整されたトルク限度にしたがって前記クランプ器具をクランプさせるステップは:
前記モータ組立体のモータに対する電流限度を計算するステップ;及び
電流を前記電流限度に制限しながら前記モータをクランプ位置に駆動し、前記クランプ器具をクランプさせるステップ、を含む、
方法。 - 前記初期トルク限度を取得するステップは、前記クランプ器具から前記初期トルク限度を読み込むステップを含む、
請求項1に記載の方法。 - 前記制御電子装置が、前記モータ組立体から前記モータ組立体の前記寿命を読み込むステップをさらに含む、
請求項1又は2に記載の方法。 - 前記制御電子装置が、前記クランプ器具から前記クランプ器具の前記寿命を読み込むステップをさらに含む、
請求項1乃至3のいずれか1項に記載の方法。 - 前記初期トルク限度を調整するステップは、前記モータ組立体の前記温度、前記モータ組立体の前記寿命、前記クランプ器具の前記寿命、及び前記手首部角度の関数によって前記初期トルク限度をスケーリングするステップを含む、
請求項1乃至4のいずれか1項に記載の方法。 - 前記初期トルク限度を調整するステップは、前記初期トルク限度に、前記モータ組立体の前記温度、前記モータ組立体の前記寿命、前記クランプ器具の前記寿命、及び前記手首部角度の関数を追加するステップを含む、
請求項1乃至5のいずれか1項に記載の方法。 - 前記クランプ器具はステープラであり、前記所望のトルク限度τdesは、前記ステープラに挿入されるステープラカートリッジのタイプにしたがって調整される前記クランプ器具に対する較正されたトルク限度である、
請求項1乃至8のいずれか1項に記載の方法。 - 前記制御電子装置が、動作範囲で前記クランプ器具を駆動するステップ;
前記制御電子装置が、前記駆動するステップの間に前記クランプ器具を監視するステップ;及び
前記制御電子装置が、さらに前記監視するステップに基づいて、前記調整されたトルク限度を得るように前記初期トルク限度を調整するステップ;をさらに含む、
請求項1乃至9のいずれか1項に記載の方法。 - INL及びKTは、前記モータ組立体の前記温度及び前記モータ組立体の前記寿命に対して調整される、
請求項11に記載の方法。 - INLは、前記モータの速度および前記モータの方向の関数である、
請求項11に記載の方法。 - 前記クランプ器具はステープラであり、
前記方法はさらに:
前記制御電子装置が、前記クランプ器具を発射させるステップ;
前記制御電子装置が、前記モータ組立体の前記寿命及び前記クランプ器具の前記寿命を更新するステップ;及び
前記制御電子装置が、更新された前記モータ組立体の前記寿命及び更新された前記クランプ器具の前記寿命を格納するステップ;を含む、
請求項1乃至13のいずれか1項に記載の方法。 - 最適化されたトルク限度にしたがって組織をクランプするために低侵襲手術で利用されるクランプ器具を使用するシステムであって:
モータ組立体に結合されるプロセッサであって、請求項1乃至14のいずれか1項に記載の方法を実行する命令を実行する、を有する
システム。
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CN104918566A (zh) | 2015-09-16 |
US10751051B2 (en) | 2020-08-25 |
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JP7072594B2 (ja) | 2022-05-20 |
JP2019034154A (ja) | 2019-03-07 |
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CN108433759A (zh) | 2018-08-24 |
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EP2943136A4 (en) | 2016-08-31 |
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KR20150107772A (ko) | 2015-09-23 |
US20200337704A1 (en) | 2020-10-29 |
KR102253470B1 (ko) | 2021-05-18 |
US9675354B2 (en) | 2017-06-13 |
JP6396326B2 (ja) | 2018-09-26 |
EP2943136A1 (en) | 2015-11-18 |
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