JP2021509048A - 音響ベースのモータ制御を備えた外科用器具 - Google Patents
音響ベースのモータ制御を備えた外科用器具 Download PDFInfo
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- JP2021509048A JP2021509048A JP2020536001A JP2020536001A JP2021509048A JP 2021509048 A JP2021509048 A JP 2021509048A JP 2020536001 A JP2020536001 A JP 2020536001A JP 2020536001 A JP2020536001 A JP 2020536001A JP 2021509048 A JP2021509048 A JP 2021509048A
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Abstract
Description
本出願は、2018年12月14日出願の米国非仮特許出願第16/220,301号、発明の名称「SURGICAL INSTRUMENT WITH ACOUSTIC−BASED MOTOR CONTROL」の利益を主張するものであり、この開示の全内容は、参照により本明細書に組み込まれる。本出願は、2018年12月12日出願の米国仮特許出願第62/778,571号、発明の名称「SURGICAL INSTRUMENT SYSTEMS」の利益を主張するものであり、この開示の全内容は、参照により本明細書に組み込まれる。本出願は、2018年10月25日出願の米国仮特許出願第62/750,529号、発明の名称「METHOD FOR OPERATING A POWERED ARTICULATING MULTI−CLIP APPLIER」、2018年10月25日出願の米国仮特許出願第62/750,539号、発明の名称「SURGICAL CLIP APPLIER」、及び2018年10月25日出願の米国仮特許出願第62/750,555号、発明の名称「SURGICAL CLIP APPLIER」の利益を主張するものであり、これらの開示の全内容は、参照により本明細書に組み込まれる。本出願は、2018年4月19日出願の米国仮特許出願第62/659,900号、発明の名称「METHOD OF HUB COMMUNICATION」の利益を主張するものであり、この開示の全内容は、参照により本明細書に組み込まれる。本出願は、2018年5月1日出願の米国仮特許出願第62/665,128号、発明の名称「MODULAR SURGICAL INSTRUMENTS」、2018年5月1日出願の米国仮特許出願第62/665,129号、発明の名称「SURGICAL SUTURING SYSTEMS」、2018年5月1日出願の米国仮特許出願第62/665,134号、発明の名称「SURGICAL CLIP APPLIER」、2018年5月1日出願の米国仮特許出願第62/665,139号、発明の名称「SURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS」、2018年5月1日出願の米国仮特許出願第62/665,177号、発明の名称「SURGICAL INSTRUMENTS COMPRISING HANDLE ARRANGEMENTS」、及び2018年5月1日出願の米国仮特許出願第62/665,192号、発明の名称「SURGICAL DISSECTORS」の利益を主張するものであり、これらの開示の全内容は、参照により本明細書に組み込まれる。本出願は、2018年3月28日出願の米国仮特許出願第62/649,291号、発明の名称「USE OF LASER LIGHT AND RED−GREEN−BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT」、2018年3月28日出願の米国仮特許出願第62/649,294号、発明の名称「DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD」、2018年3月28日出願の米国仮特許出願第62/649,296号、発明の名称「ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES」、2018年3月28日出願の米国仮特許出願第62/649,300号、発明の名称「SURGICAL HUB SITUATIONAL AWARENESS」、2018年3月28日出願の米国仮特許出願第62/649,302号、発明の名称「INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES」、2018年3月28日出願の米国仮特許出願第62/649,307号、発明の名称「AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、2018年3月28日出願の米国仮特許出願第62/649,309号、発明の名称「SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER」、2018年3月28日出願の米国仮特許出願第62/649,310号、発明の名称「COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS」、2018年3月28日出願の米国仮特許出願第62/649,313号、発明の名称「CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES」、2018年3月28日出願の米国仮特許出願第62/649,315号、発明の名称「DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK」、2018年3月28日出願の米国仮特許出願第62/649,320号、発明の名称「DRIVE ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、2018年3月28日出願の米国仮特許出願第62/649,323号、発明の名称「SENSING ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、2018年3月28日出願の米国仮特許出願第62/649,327号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES」、及び2018年3月28日出願の米国仮特許出願第62/649,333号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER」の利益を主張するものであり、これらの開示の全内容は、参照により本明細書に組み込まれる。本出願は、2017年12月28日出願の米国仮特許出願第62/611,339号、発明の名称「ROBOT ASSISTED SURGICAL PLATFORM」、2017年12月28日出願の米国仮特許出願第62/611,340号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS」、及び2017年12月28日出願の米国仮特許出願第62/611,341号、発明の名称「INTERACTIVE SURGICAL PLATFORM」の利益を主張するものであり、これらの開示の全内容が参照により本明細書に組み込まれる。
−米国特許出願第16/220,281号、発明の名称「SURGICAL INSTRUMENT WITH A HARDWARE−ONLY CONTROL CIRCUIT」、
−米国特許出願第16/220,313号、発明の名称「SURGICAL INSTRUMENT COMPRISING A PLURALITY OF DRIVE SYSTEMS」、
−米国特許出願第16/220,296号、発明の名称「SURGICAL INSTRUMENT COMPRISING A CONTROL CIRCUIT」、
−米国特許出願第16/220,309号、発明の名称「SURGICAL INSTRUMENTS COMPRISING BUTTON CIRCUITS」、
−米国特許出願第16/220,318号、発明の名称「SURGICAL INSTRUMENT COMPRISING A CONTROL SYSTEM THAT USES INPUT FROM A STRAIN GAGE CIRCUIT」、
−米国特許出願第16/220,273号、発明の名称「SURGICAL INSTRUMENT WITH A SENSING ARRAY」、及び
−米国特許出願第16/220,280号、発明の名称「SURGICAL INSTRUMENT WITH ENVIRONMENT SENSING」。
−米国特許仮出願第62/778,571号、発明の名称「SURGICAL INSTRUMENT SYSTEMS」、
−米国特許仮出願第62/778,572号、発明の名称「SURGICAL INSTRUMENT SYSTEMS」、
−米国特許仮出願第62/778,573号、発明の名称「SURGICAL INSTRUMENT SYSTEMS」。
−米国特許出願第16/172,130号、発明の名称「CLIP APPLIER COMPRISING INTERCHANGEABLE CLIP RELOADS」、
−米国特許出願第16/172,066号、発明の名称「CLIP APPLIER COMPRISING A MOVABLE CLIP MAGAZINE」、
−米国特許出願第16/172,078号、発明の名称「CLIP APPLIER COMPRISING A ROTATABLE CLIP MAGAZINE」、
−米国特許出願第16/172,087号、発明の名称「CLIP APPLIER COMPRISING CLIP ADVANCING SYSTEMS」、
−米国特許出願第16/172,094号、発明の名称「CLIP APPLIER COMPRISING A CLIP CRIMPING SYSTEM」、
−米国特許出願第16/172,128号、発明の名称「CLIP APPLIER COMPRISING A RECIPROCATING CLIP ADVANCING MEMBER」、
−米国特許出願第16/172,168号、発明の名称「CLIP APPLIER COMPRISING A MOTOR CONTROLLER」、
−米国特許出願第16/172,164号、発明の名称「SURGICAL SYSTEM COMPRISING A SURGICAL TOOL AND A SURGICAL HUB」、及び
−米国特許出願第16/172,303号、発明の名称「METHOD FOR OPERATING A POWERED ARTICULATING MULTI−CLIP APPLIER」。
−米国特許出願第16/172,328号、発明の名称「METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS」、
−米国特許出願第16/172,280号、発明の名称「METHOD FOR PRODUCING A SURGICAL INSTRUMENT COMPRISING A SMART ELECTRICAL SYSTEM」、
−米国特許出願第16/172,219号、発明の名称「METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS」、
−米国特許出願第16/172,248号、発明の名称「METHOD FOR COMMUNICATING WITH SURGICAL INSTRUMENT SYSTEMS」、
−米国特許出願第16/172,198号、発明の名称「METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS」、及び
−米国特許出願第16/172,155号、発明の名称「METHOD OF HUB COMMUNICATION WITH SURGICAL INSTRUMENT SYSTEMS」。
−米国特許出願第16/112,129号、発明の名称「SURGICAL SUTURING INSTRUMENT CONFIGURED TO MANIPULATE TISSUE USING MECHANICAL AND ELECTRICAL POWER」、
−米国特許出願第16/112,155号、発明の名称「SURGICAL SUTURING INSTRUMENT COMPRISING A CAPTURE WIDTH WHICH IS LARGER THAN TROCAR DIAMETER」、
−米国特許出願第16/112,168号、発明の名称「SURGICAL SUTURING INSTRUMENT COMPRISING A NON−CIRCULAR NEEDLE」、
−米国特許出願第16/112,180号、発明の名称「ELECTRICAL POWER OUTPUT CONTROL BASED ON MECHANICAL FORCES」、
−米国特許出願第16/112,193号、発明の名称「REACTIVE ALGORITHM FOR SURGICAL SYSTEM」、
−米国特許出願第16/112,099号、発明の名称「SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE ELECTRICAL SYSTEM」、
−米国特許出願第16/112,112号、発明の名称「CONTROL SYSTEM ARRANGEMENTS FOR A MODULAR SURGICAL INSTRUMENT」、
−米国特許出願第16/112,119号、発明の名称「ADAPTIVE CONTROL PROGRAMS FOR A SURGICAL SYSTEM COMPRISING MORE THAN ONE TYPE OF CARTRIDGE」、
−米国特許出願第16/112,097号、発明の名称「SURGICAL INSTRUMENT SYSTEMS COMPRISING BATTERY ARRANGEMENTS」、
−米国特許出願第16/112,109号、発明の名称「SURGICAL INSTRUMENT SYSTEMS COMPRISING HANDLE ARRANGEMENTS」、
−米国特許出願第16/112,114号、発明の名称「SURGICAL INSTRUMENT SYSTEMS COMPRISING FEEDBACK MECHANISMS」、
−米国特許出願第16/112,117号、発明の名称「SURGICAL INSTRUMENT SYSTEMS COMPRISING LOCKOUT MECHANISMS」、
−米国特許出願第16/112,095号、発明の名称「SURGICAL INSTRUMENTS COMPRISING A LOCKABLE END EFFECTOR SOCKET」、
−米国特許出願第16/112,121号、発明の名称「SURGICAL INSTRUMENTS COMPRISING A SHIFTING MECHANISM」、
−米国特許出願第16/112,151号、発明の名称「SURGICAL INSTRUMENTS COMPRISING A SYSTEM FOR ARTICULATION AND ROTATION COMPENSATION」、
−米国特許出願第16/112,154号、発明の名称「SURGICAL INSTRUMENTS COMPRISING A BIASED SHIFTING MECHANISM」、
−米国特許出願第16/112,226号、発明の名称「SURGICAL INSTRUMENTS COMPRISING AN ARTICULATION DRIVE THAT PROVIDES FOR HIGH ARTICULATION ANGLES」、
−米国特許出願第16/112,062号、発明の名称「SURGICAL DISSECTORS AND MANUFACTURING TECHNIQUES」、
−米国特許出願第16/112,098号、発明の名称「SURGICAL DISSECTORS CONFIGURED TO APPLY MECHANICAL AND ELECTRICAL ENERGY」、
−米国特許出願第16/112,237号、発明の名称「SURGICAL CLIP APPLIER CONFIGURED TO STORE CLIPS IN A STORED STATE」、
−米国特許出願第16/112,245号、発明の名称「SURGICAL CLIP APPLIER COMPRISING AN EMPTY CLIP CARTRIDGE LOCKOUT」、
−米国特許出願第16/112,249号、発明の名称「SURGICAL CLIP APPLIER COMPRISING AN AUTOMATIC CLIP FEEDING SYSTEM」、
−米国特許出願第16/112,253号、発明の名称「SURGICAL CLIP APPLIER COMPRISING ADAPTIVE FIRING CONTROL」、及び
−米国特許出願第16/112,257号、発明の名称「SURGICAL CLIP APPLIER COMPRISING ADAPTIVE CONTROL IN RESPONSE TO A STRAIN GAUGE CIRCUIT」。
−米国特許仮出願第62/665,129号、発明の名称「SURGICAL SUTURING SYSTEMS」、
−米国仮特許出願第62/665,139号、発明の名称「SURGICAL INSTRUMENTS COMPRISING CONTROL SYSTEMS」、
−米国仮特許出願第62/665,177号、発明の名称「SURGICAL INSTRUMENTS COMPRISING HANDLE ARRANGEMENTS」、
−米国仮特許出願第62/665,128号、発明の名称「MODULAR SURGICAL INSTRUMENTS」、
−米国仮特許出願第62/665,192号、発明の名称「SURGICAL DISSECTORS」、及び
−米国仮特許出願第62/665,134号、発明の名称「SURGICAL CLIP APPLIER」。
−米国特許出願第15/908,021号、発明の名称「SURGICAL INSTRUMENT WITH REMOTE RELEASE」、
−米国特許出願第15/908,012号、発明の名称「SURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENT TYPES OF END EFFECTOR MOVEMENT」、
−米国特許出願第15/908,040号、発明の名称「SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS」、
−米国特許出願第15/908,057号、発明の名称「SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS」、
−米国特許出願第15/908,058号、発明の名称「SURGICAL INSTRUMENT WITH MODULAR POWER SOURCES」、及び
−米国特許出願第15/908,143号、発明の名称「SURGICAL INSTRUMENT WITH SENSOR AND/OR CONTROL SYSTEMS」。
−米国仮特許出願第62/578,793号、発明の名称「SURGICAL INSTRUMENT WITH REMOTE RELEASE」、
−米国仮特許出願第62/578,804号、発明の名称「SURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENT TYPES OF END EFFECTOR MOVEMENT」、
−米国仮特許出願第62/578,817号、発明の名称「SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS」、
−米国仮特許出願第62/578,835号、発明の名称「SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS」、
−米国仮特許出願第62/578,844号、発明の名称「SURGICAL INSTRUMENT WITH MODULAR POWER SOURCES」、及び
−米国仮特許出願第62/578,855号、発明の名称「SURGICAL INSTRUMENT WITH SENSOR AND/OR CONTROL SYSTEMS」。
−米国仮特許出願第62/611,341号、発明の名称「INTERACTIVE SURGICAL PLATFORM」、
−米国仮特許出願第62/611,340号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS」、及び
−米国仮特許出願第62/611,339号、発明の名称「ROBOT ASSISTED SURGICAL PLATFORM」。
−米国仮特許出願第62/649,302号、発明の名称「INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES」、
−米国仮特許出願第62/649,294号、発明の名称「DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD」、
−米国仮特許出願第62/649,300号、発明の名称「SURGICAL HUB SITUATIONAL AWARENESS」、
−米国仮特許出願第62/649,309号、発明の名称「SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER」、
−米国仮特許出願第62/649,310号、発明の名称「COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS」、
−米国仮特許出願第62/649,291号、発明の名称「USE OF LASER LIGHT AND RED−GREEN−BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT」、
−米国仮特許出願第62/649,296号、発明の名称「ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES」、
−米国仮特許出願第62/649,333号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER」、
−米国仮特許出願第62/649,327号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES」、
−米国仮特許出願第62/649,315号、発明の名称「DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK」、
−米国仮特許出願第62/649,313号、発明の名称「CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES」、
−米国仮特許出願第62/649,320号、発明の名称「DRIVE ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国仮特許出願第62/649,307号、発明の名称「AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、及び
−米国仮特許出願第62/649,323号、発明の名称「SENSING ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」。
−米国特許出願第15/940,641号、発明の名称「INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES」、
−米国特許出願第15/940,648号、発明の名称「INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES」、
−米国特許出願第15/940,656号、発明の名称「SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES」、
−米国特許出願第15/940,666号、発明の名称「SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS」、
−米国特許出願第15/940,670号、発明の名称「COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS」、
−米国特許出願第15/940,677号、発明の名称「SURGICAL HUB CONTROL ARRANGEMENTS」、
−米国特許出願第15/940,632号、発明の名称「DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD」、
−米国特許出願第15/940,640号、発明の名称「COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS」、
−米国特許出願第15/940,645号、発明の名称「SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT」、
−米国特許出願第15/940,649号、発明の名称「DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME」、
−米国特許出願第15/940,654号、発明の名称「SURGICAL HUB SITUATIONAL AWARENESS」、
−米国特許出願第15/940,663号、発明の名称「SURGICAL SYSTEM DISTRIBUTED PROCESSING」、
−米国特許出願第15/940,668号、発明の名称「AGGREGATION AND REPORTING OF SURGICAL HUB DATA」、
−米国特許出願第15/940,671号、発明の名称「SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER」、
−米国特許出願第15/940,686号、発明の名称「DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE」、
−米国特許出願第15/940,700号、発明の名称「STERILE FIELD INTERACTIVE CONTROL DISPLAYS」、
−米国特許出願第15/940,629号、発明の名称「COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS」、
−米国特許出願第15/940,704号、発明の名称「USE OF LASER LIGHT AND RED−GREEN−BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT」、
−米国特許出願第15/940,722号、発明の名称「CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO−CHROMATIC LIGHT REFRACTIVITY」、及び
−米国特許出願第15/940,742号、発明の名称「DUAL CMOS ARRAY IMAGING」。
−米国特許出願第15/940,636号、発明の名称「ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES」、
−米国特許出願第15/940,653号、発明の名称「ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS」、
−米国特許出願第15/940,660号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER」、
−米国特許出願第15/940,679号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET」、
−米国特許出願第15/940,694号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION」、
−米国特許出願第15/940,634号、発明の名称「CLOUD−BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES」、
−米国特許出願第15/940,706号、発明の名称「DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK」、及び
−米国特許出願第15/940,675号、発明の名称「CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES」。
−米国特許出願第15/940,627号、発明の名称「DRIVE ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国特許出願第15/940,637号、発明の名称「COMMUNICATION ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国特許出願第15/940,642号、発明の名称「CONTROLS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国特許出願第15/940,676号、発明の名称「AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国特許出願第15/940,680号、発明の名称「CONTROLLERS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国特許出願第15/940,683号、発明の名称「COOPERATIVE SURGICAL ACTIONS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、
−米国特許出願第15/940,690号、発明の名称「DISPLAY ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」、及び
−米国特許出願第15/940,711号、発明の名称「SENSING ARRANGEMENTS FOR ROBOT−ASSISTED SURGICAL PLATFORMS」。
−米国仮特許出願第62/650,887号、発明の名称「SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES」、
−米国仮特許出願第62/650,877号、発明の名称「SURGICAL SMOKE EVACUATION SENSING AND CONTROLS」、
−米国仮特許出願第62/650,882号、発明の名称「SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM」、及び
−米国仮特許出願第62/650,898号、発明の名称「CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS」。
−米国特許仮出願第62/659,900号、発明の名称「METHOD OF HUB COMMUNICATION」。
−米国仮特許出願第62/750,529号、発明の名称「METHOD FOR OPERATING A POWERED ARTICULATING MULTI−CLIP APPLIER」、
−米国仮特許出願第62/750,539号、発明の名称「SURGICAL CLIP APPLIER」、及び
−米国仮特許出願第62/750,555号、発明の名称「SURGICAL CLIP APPLIER」。
実施例1−外科用器具を制御するための方法。電気モータ及びモータ制御回路によって駆動される駆動システムを動作させることと、モータ制御回路と通信する歪みゲージ回路を介して外科用器具内の歪みを感知することと、歪みゲージ回路からの入力に基づいてモータ制御回路を介して電気モータの速度を変化させることと、を含む、方法。
実施例1−ハンドルと、ハンドルから延在するシャフトと、シャフトから延在するエンドエフェクタと、駆動電気モータと、第1の構成、第2の構成、及び第3の構成で構成可能なシフタ電気モータと、を備える、外科用器具。外科用器具は、第1のエンドエフェクタ機能を実施するように構成された第1の駆動システムを更に備える。第1の駆動システムは、シフタ電気モータが第1の構成にあるときに、駆動電気モータによって駆動可能である。外科用器具は、第2のエンドエフェクタ機能を実施するように構成された第2の駆動システムを更に備える。第2の駆動システムは、シフタ電気モータが第2の構成にあるときに、駆動電気モータによって駆動可能である。外科用器具は、第3のエンドエフェクタ機能を実施するように構成された第3の駆動システムを更に備える。第3の駆動システムは、シフタ電気モータが第3の構成にあるときに、駆動電気モータによって駆動可能である。第2の駆動システム及び第3の駆動システムは、シフタ電気モータが第1の構成にあるときに、駆動電気モータによって駆動可能ではない。第1の駆動システム及び第3の駆動システムは、シフタ電気モータが第2の構成にあるときに、駆動電気モータによって駆動可能ではない。第1の駆動システム及び第2の駆動システムは、シフタ電気モータが第3の構成にあるときに、駆動電気モータによって駆動可能ではない。
実施例1−ハンドルと、ハンドルから延在するシャフトと、シャフトから延在するエンドエフェクタと、駆動システムと、を備える、外科用器具。駆動システムは、電気モータと、電気モータに動作可能に結合された駆動シャフトと、電気モータと通信するモータ制御システムと、駆動シャフトに埋め込まれた歪みゲージ回路と、を備える。歪みゲージ回路は、ロボット制御システムと信号通信する。モータ制御システムは、歪みゲージ回路からの信号に基づいてエンドエフェクタ機能を実施するように、電気モータの動作を制御するように構成されている。
実施例1−ハンドルと、ハンドルから延在するシャフトアセンブリと、を備える外科用器具。ハンドルは、ハウジングと、ハウジング内に位置付けられた回路基板と、ハウジング内に画定されたポートと、を備える。回路基板は、電気コネクタを備える。ポートは、封止部を備える。封止部は、自己封止開口部を備える。ポートは、電気コネクタに係合するために、自己封止開口部を通して通信プローブを挿入することを可能にするように構成されている。
実施例1−ハウジングと、ハウジング内に位置付けられた制御回路と、ボタンシェルと、ボタンシェル内に少なくとも部分的に埋め込まれたフレックス回路と、を備える、外科用器具ハンドル。フレックス回路は、制御回路と電気通信する。
実施例1−電気モータと、制御回路と、を備える外科用器具。制御回路は、複数の論理ゲートと、論理ゲートのうちの第1の論理ゲートに接続された単安定マルチバイブレータと、を備える。制御回路は、感知されたパラメータに基づいて電気モータの回転速度を制御することによって、外科用器具の機能の動作速度を変更するように構成されている。
実施例1−駆動システム及び制御回路を備える外科用器具。駆動システムは、電気モータを備える。制御回路は、音響センサを備える。制御回路は、音響センサによって測定された駆動システムのパラメータを利用して、電気モータの速度を制御するように構成されている。
実施例1−本体と、シャフトと、少なくとも1つの感知デバイスを備える制御回路と、を備える、外科用器具。制御回路は、外科手術の環境内で外科用器具に近接した別の外科用器具の存在を判定するように構成されている。
実施例1−シャフトと、シャフト内に位置付けられた感知アレイと、感知アレイに電気的に連結された検出回路と、を備える、外科用器具。検出回路は、シャフトの外部の環境から生じる流体がシャフト内に存在するときを判定するように構成されている。
−米国特許出願第11/013,924号、発明の名称「TROCAR SEAL ASSEMBLY」、現在は米国特許第7371227号、
−米国特許出願第11/162,991号、発明の名称「ELECTROACTIVE POLYMER−BASED ARTICULATION MECHANISM FOR GRASPER」、現在は米国特許第7862579号、
−米国特許出願第12/364,256号、発明の名称「SURGICAL DISSECTOR」、現在は米国特許出願公開第2010/0198248号、
−米国特許出願第13/536,386号、発明の名称「EMPTY CLIP CARTRIDGE LOCKOUT」、現在は米国特許第9282974号、
−米国特許出願第13/832,786号、発明の名称「CIRCULAR NEEDLE APPLIER WITH OFFSET NEEDLE AND CARRIER TRACKS」、現在は米国特許第9398905号、
−米国特許出願第12/592,174号、発明の名称「APPARATUS AND METHOD FOR MINIMALLY INVASIVE SUTURING」、現在は米国特許第8123764号、
−米国特許出願第12/482,049号、発明の名称「ENDOSCOPIC STITCHING DEVICES」、現在は米国特許第8628545号、
−米国特許出願第13/118,241号、発明の名称「SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS」、現在は米国特許第9,072,535号、
−米国特許出願第11/343,803号、発明の名称「SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES」、現在は米国特許第7,845,537号、
−米国特許出願第14/200,111号、発明の名称「CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS」、現在は米国特許第9629629号、
−米国特許出願第14/248,590号、発明の名称「MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS」、現在は米国特許第9,826,976号、
−米国特許出願第14/813,242号、発明の名称「SURGICAL INSTRUMENT COMPRISING SYSTEMS FOR ASSURING THE PROPER SEQUENTIAL OPERATION OF THE SURGICAL INSTRUMENT」、現在は米国特許出願公開第2017/0027571号、
−米国特許出願第14/248,587号、発明の名称「POWERED SURGICAL STAPLER」、現在は米国特許第9867612号、
−米国特許出願第12/945,748号、発明の名称「SURGICAL TOOL WITH A TWO DEGREE OF FREEDOM WRIST」、現在は米国特許第8852174号、
−米国特許出願第13/297,158号、発明の名称「METHOD FOR PASSIVELY DECOUPLING TORQUE APPLIED BY A REMOTE ACTUATOR INTO AN INDEPENDENTLY ROTATING MEMBER」、現在は米国特許第9095362号、
−国際出願PCT/US2015/023636号、発明の名称「SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION」、現在は国際公開第2015/153642(A1)号、
−国際出願PCT/US2015/051837号、発明の名称「HANDHELD ELECTROMECHANICAL SURGICAL SYSTEM」、現在は国際公開第2016/057225(A1)号、
−米国特許出願第14/657,876号、発明の名称「SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES」、現在は米国特許出願公開第2015/0182277号、
−米国特許出願第15/382,515号、発明の名称「MODULAR BATTERY POWERED HANDHELD SURGICAL INSTRUMENT AND METHODS THEREFOR」、現在は米国特許出願公開第2017/0202605号、
−米国特許出願第14/683,358号、発明の名称「SURGICAL GENERATOR SYSTEMS AND RELATED METHODS」、現在は米国特許第10,117,702号、
−米国特許出願第14/149,294号、発明の名称「HARVESTING ENERGY FROM A SURGICAL GENERATOR」、現在は米国特許第9795436号、
−米国特許出願第15/265,293号、発明の名称「TECHNIQUES FOR CIRCUIT TOPOLOGIES FOR COMBINED GENERATOR」、現在は米国特許出願公開第2017/0086910号、及び
−米国特許出願第15/265,279号、発明の名称「TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS」、現在は米国特許出願公開第2017/0086914号は、参照により本明細書に組み込まれる。
(1) 外科用器具であって、
電気モータを含む駆動システムと、
音響センサを含む制御回路であって、前記制御回路が、前記音響センサによって測定された前記駆動システムのパラメータを利用して、前記電気モータの速度を制御するように構成されている、制御回路と、を備える、外科用器具。
(2) 前記駆動システムが、歯車ボックスと、駆動トレーンと、を更に含む、実施態様1に記載の外科用器具。
(3) 前記制御回路が、
高速フーリエ変換回路と、
前記制御回路のプロセッサによって実行可能な高速フーリエ変換アルゴリズムと、のうちの少なくとも1つを更に含む、実施態様1に記載の外科用器具。
(4) 前記制御回路が、前記駆動システムの劣化を判定するように更に構成されている、実施態様1に記載の外科用器具。
(5) 前記制御回路が、前記駆動システムの判定された前記劣化に応じて、モータ制御アルゴリズムを調節するように更に構成されている、実施態様4に記載の外科用器具。
前記電気モータの速度と、
前記外科用器具のモータコントローラによって提供されるモータ速度コマンド信号と、
前記電気モータに印加される電圧と、
パルス幅変調デューティサイクルと、
前記外科用器具のモータコントローラの電流限界と、のうちの少なくとも1つを調節するように構成されている、実施態様5に記載の外科用器具。
(7) 前記制御回路が、前記外科用器具の差し迫った故障の指標を提供するように更に構成されている、実施態様1に記載の外科用器具。
(8) 外科用器具であって、
電気モータを含む駆動システムと、
音響センサを含む制御回路であって、前記制御回路が、前記音響センサによって測定された前記駆動システムのパラメータを利用して、前記電気モータによって印加されるトルクを制御するように構成されている、制御回路と、を備える、外科用器具。
(9) 前記駆動システムが、歯車ボックスと、駆動トレーンと、を更に含む、実施態様8に記載の外科用器具。
(10) 前記制御回路が、高速フーリエ変換回路を更に含む、実施態様8に記載の外科用器具。
(12) 前記制御回路が、前記駆動システムの判定された前記劣化に応じて、モータ制御アルゴリズムを調節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。
(13) 前記モータ制御アルゴリズムが、前記外科用器具によって実行されるときに、
前記電気モータの速度と、
前記外科用器具のモータコントローラによって提供されるモータ速度コマンド信号と、
前記電気モータに印加される電圧と、
パルス幅変調デューティサイクルと、
前記外科用器具のモータコントローラの電流限界と、のうちの少なくとも1つを調節するように構成されている、実施態様12に記載の外科用器具。
(14) 前記制御回路が、前記外科用器具の差し迫った故障の指標を提供するように更に構成されている、実施態様8に記載の外科用器具。
(15) 外科用システムであって、
外科用器具であって、
電気モータを含む駆動システムと、
感知デバイスを含む制御回路であって、前記制御回路が、前記感知デバイスによって感知された前記駆動システムのパラメータを利用して、前記電気モータの速度を制御するように構成されている、制御回路と、を含む、外科用器具と、
前記外科用器具と通信する外科用ハブシステムであって、前記外科用ハブシステムが、前記制御回路に第2のパラメータを供給するように構成されており、前記制御回路が、前記第2のパラメータを利用して、前記外科用器具の動作を修正するように更に構成されている、外科用ハブシステムと、を備える、外科用システム。
音響センサと、
振動センサと、
加速度計と、のうちの少なくとも1つを含む、実施態様15に記載の外科用システム。
(17) 前記制御回路が、高速フーリエ変換回路を更に含む、実施態様15に記載の外科用システム。
(18) 前記第2のパラメータが、前記患者の前記組織内の以前のステープル留めラインの存在を含む、実施態様15に記載の外科用システム。
(19) 前記第2のパラメータが、前記患者の前記組織内の胃バンドの存在を含む、実施態様15に記載の外科用システム。
(20) 前記第2のパラメータが、以前の外科手術からの瘢痕組織の存在を含む、実施態様15に記載の外科用システム。
(22) 前記外科用ハブシステムが、前記外科用器具の予測された故障の通知を提供するように更に構成されている、実施態様15に記載の外科用システム。
(23) 前記外科用ハブシステムが、前記外科用器具の予測された故障を前記外科用器具に通信するように更に構成されている、実施態様15に記載の外科用システム。
Claims (23)
- 外科用器具であって、
電気モータを含む駆動システムと、
音響センサを含む制御回路であって、前記制御回路が、前記音響センサによって測定された前記駆動システムのパラメータを利用して、前記電気モータの速度を制御するように構成されている、制御回路と、を備える、外科用器具。 - 前記駆動システムが、歯車ボックスと、駆動トレーンと、を更に含む、請求項1に記載の外科用器具。
- 前記制御回路が、
高速フーリエ変換回路と、
前記制御回路のプロセッサによって実行可能な高速フーリエ変換アルゴリズムと、のうちの少なくとも1つを更に含む、請求項1に記載の外科用器具。 - 前記制御回路が、前記駆動システムの劣化を判定するように更に構成されている、請求項1に記載の外科用器具。
- 前記制御回路が、前記駆動システムの判定された前記劣化に応じて、モータ制御アルゴリズムを調節するように更に構成されている、請求項4に記載の外科用器具。
- 前記モータ制御アルゴリズムが、前記外科用器具によって実行されるときに、
前記電気モータの速度と、
前記外科用器具のモータコントローラによって提供されるモータ速度コマンド信号と、
前記電気モータに印加される電圧と、
パルス幅変調デューティサイクルと、
前記外科用器具のモータコントローラの電流限界と、のうちの少なくとも1つを調節するように構成されている、請求項5に記載の外科用器具。 - 前記制御回路が、前記外科用器具の差し迫った故障の指標を提供するように更に構成されている、請求項1に記載の外科用器具。
- 外科用器具であって、
電気モータを含む駆動システムと、
音響センサを含む制御回路であって、前記制御回路が、前記音響センサによって測定された前記駆動システムのパラメータを利用して、前記電気モータによって印加されるトルクを制御するように構成されている、制御回路と、を備える、外科用器具。 - 前記駆動システムが、歯車ボックスと、駆動トレーンと、を更に含む、請求項8に記載の外科用器具。
- 前記制御回路が、高速フーリエ変換回路を更に含む、請求項8に記載の外科用器具。
- 前記制御回路が、前記駆動システムの劣化を判定するように更に構成されている、請求項8に記載の外科用器具。
- 前記制御回路が、前記駆動システムの判定された前記劣化に応じて、モータ制御アルゴリズムを調節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。
- 前記モータ制御アルゴリズムが、前記外科用器具によって実行されるときに、
前記電気モータの速度と、
前記外科用器具のモータコントローラによって提供されるモータ速度コマンド信号と、
前記電気モータに印加される電圧と、
パルス幅変調デューティサイクルと、
前記外科用器具のモータコントローラの電流限界と、のうちの少なくとも1つを調節するように構成されている、請求項12に記載の外科用器具。 - 前記制御回路が、前記外科用器具の差し迫った故障の指標を提供するように更に構成されている、請求項8に記載の外科用器具。
- 外科用システムであって、
外科用器具であって、
電気モータを含む駆動システムと、
感知デバイスを含む制御回路であって、前記制御回路が、前記感知デバイスによって感知された前記駆動システムのパラメータを利用して、前記電気モータの速度を制御するように構成されている、制御回路と、を含む、外科用器具と、
前記外科用器具と通信する外科用ハブシステムであって、前記外科用ハブシステムが、前記制御回路に第2のパラメータを供給するように構成されており、前記制御回路が、前記第2のパラメータを利用して、前記外科用器具の動作を修正するように更に構成されている、外科用ハブシステムと、を備える、外科用システム。 - 前記感知デバイスが、
音響センサと、
振動センサと、
加速度計と、のうちの少なくとも1つを含む、請求項15に記載の外科用システム。 - 前記制御回路が、高速フーリエ変換回路を更に含む、請求項15に記載の外科用システム。
- 前記第2のパラメータが、前記患者の前記組織内の以前のステープル留めラインの存在を含む、請求項15に記載の外科用システム。
- 前記第2のパラメータが、前記患者の前記組織内の胃バンドの存在を含む、請求項15に記載の外科用システム。
- 前記第2のパラメータが、以前の外科手術からの瘢痕組織の存在を含む、請求項15に記載の外科用システム。
- 前記外科用ハブシステムが、前記外科用器具の故障を予測するように更に構成されている、請求項15に記載の外科用システム。
- 前記外科用ハブシステムが、前記外科用器具の予測された故障の通知を提供するように更に構成されている、請求項15に記載の外科用システム。
- 前記外科用ハブシステムが、前記外科用器具の予測された故障を前記外科用器具に通信するように更に構成されている、請求項15に記載の外科用システム。
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BR112020012996A2 (pt) | 2020-12-01 |
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CN111770732A (zh) | 2020-10-13 |
JP2023090920A (ja) | 2023-06-29 |
WO2019133363A1 (en) | 2019-07-04 |
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