JP5474008B2 - 触覚フィードバックを有する電気外科用器具 - Google Patents
触覚フィードバックを有する電気外科用器具 Download PDFInfo
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- JP5474008B2 JP5474008B2 JP2011176680A JP2011176680A JP5474008B2 JP 5474008 B2 JP5474008 B2 JP 5474008B2 JP 2011176680 A JP2011176680 A JP 2011176680A JP 2011176680 A JP2011176680 A JP 2011176680A JP 5474008 B2 JP5474008 B2 JP 5474008B2
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- Prior art keywords
- feedback
- surgical instrument
- haptic
- body tissue
- impedance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00053—Mechanical features of the instrument of device
- A61B2018/00297—Means for providing haptic feedback
- A61B2018/00303—Means for providing haptic feedback active, e.g. with a motor creating vibrations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00684—Sensing and controlling the application of energy using lookup tables
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00875—Resistance or impedance
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Otolaryngology (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Description
本願は、2010年8月12日に出願された米国特許出願第61/373,009号(その全体が参照により本明細書に援用される)の利益を主張する。
ハンドルと、
該器具の遠位部に取り付けられた、体内組織を切除するように動作可能な電気的な体内組織接触要素であって、前記遠位部はシャフトを介してハンドルに接続されている、電気的な体内組織接触要素と、
体内組織接触要素に電気的に接続されている電源と、
体内組織接触要素に電気的に接続されているインピーダンスアナライザーであって、体内組織接触要素からインピーダンス測定信号を受け取り、体内組織インピーダンスを算出する、インピーダンスアナライザーと、
インピーダンスアナライザーに電気的に接続されている触覚マッピングロジックであって、インピーダンスアナライザーから算出されたインピーダンス情報を受け取り、該情報を処理して信号コマンドにする、触覚マッピングロジックと、
ハンドルに連結されていると共に触覚マッピングロジックに電気的に接続されている1つ又は複数の触覚アクチュエーターを含むフィードバックシステムであって、触覚マッピングロジックは前記信号コマンドをフィードバックシステムに伝達し、フィードバックシステムは前記信号コマンドを用いて、前記算出されたインピーダンス情報に関する触覚フィードバックをハンドルに生成する、フィードバックシステムと、
を含む、外科用器具が提供される。
外科用器具の遠位部に取り付けられた高周波電極を介して、切除外科処置時に体内組織のインピーダンスを監視するステップ、
インピーダンス情報を処理し、貫壁性の傷の形成を判断するステップ、及び
触覚フィードバックを前記外科用器具のハンドルに伝達するステップであって、該触覚フィードバックは前記貫壁性の傷の形成をユーザーに知らせる、伝達するステップ、
を含む。
遠位部に体内組織接触要素が取り付けられている外科用器具と、
体内組織接触要素に電気的に接続されている制御システムであって、体内組織接触要素からインピーダンス測定信号を受け取り、体内組織インピーダンスを算出し、かつ、該算出したインピーダンス情報を処理して信号コマンドにする、制御システムと、
前記外科用器具のハンドルに連結されると共にコントローラーに電気的に接続されている1つ又は複数の触覚アクチュエーターを含むフィードバックシステムであって、前記制御システムは、前記信号コマンドを該フィードバックシステムに伝達し、該フィードバックシステムは前記信号コマンドを用いて、触覚フィードバックを前記ハンドルに生成する、フィードバックシステムと、
を含む、外科用装置が提供される。
Claims (15)
- 外科用器具システムであって、該外科用器具システムは、
外科用器具
を備えており、
該外科用器具は、
ハンドルと、
該器具の遠位部に取り付けられた、体内組織を切除するように動作可能な電気的な体内組織接触要素であって、前記遠位部はシャフトを介して前記ハンドルに接続されている、電気的な体内組織接触要素と、
を備えており、
前記外科用器具システムは、
前記体内組織接触要素に電気的に接続されている電源と、
前記体内組織接触要素に電気的に接続されているインピーダンスアナライザーであって、前記体内組織接触要素からインピーダンス測定信号を受け取り、体内組織インピーダンスを算出する、インピーダンスアナライザーと、
前記インピーダンスアナライザーに電気的に接続されている触覚マッピングロジックであって、前記インピーダンスアナライザーから算出されたインピーダンス情報を受け取り、該情報を処理して信号コマンドにする、触覚マッピングロジックと、
前記ハンドルに連結されていると共に前記触覚マッピングロジックに電気的に接続されている1つ又は複数の触覚アクチュエーターを含むフィードバックシステムであって、前記触覚マッピングロジックは前記信号コマンドを該フィードバックシステムに伝達し、該フィードバックシステムは前記信号コマンドを用いて、前記算出されたインピーダンス情報に関する触覚フィードバックを前記ハンドルに生成する、フィードバックシステムと、
を備えており、
前記フィードバックシステムが生成する前記触覚フィードバックは、前記電源の動作パラメーターをユーザーに知らせ、且つ
前記動作パラメーターは、周波数設定及び振幅設定の少なくとも一方を含む、外科用器具システム。
- 前記フィードバックシステムが生成する前記触覚フィードバックは、貫壁性の傷の形成をユーザーに知らせる、請求項1に記載の外科用器具システム。
- 前記貫壁性の傷の形成は、10オームの体内組織インピーダンス変化に関連付けることができる、請求項2に記載の外科用器具システム。
- 前記フィードバックシステムは、前記貫壁性の傷の形成時に、振動触覚又は運動感覚の警告を発生させる、請求項2に記載の外科用器具システム。
- 前記触覚マッピングロジックは、信号コマンドを前記電源にさらに伝達する、請求項1に記載の外科用器具システム。
- 前記触覚マッピングロジックは、貫壁性の傷の形成時に、前記信号コマンドを出力して前記電源を遮断する、請求項5に記載の外科用器具システム。
- 前記フィードバックシステムが生成する前記触覚フィードバックは、振動フィードバック、運動感覚フィードバック、テクスチャーフィードバック及び熱フィードバックの少なくとも1つを含む、請求項1に記載の外科用器具システム。
- 前記フィードバックシステムは前記信号コマンドを用いて、前記算出されたインピーダンス情報に関する聴覚フィードバック又は視覚フィードバックをさらに生成する、請求項1に記載の外科用器具システム。
- 前記フィードバックシステムは、フィードバックを連続的に与えるように動作可能である、請求項1に記載の外科用器具システム。
- 前記フィードバックシステムは、特定の条件が満たされると前記ユーザーに知らせる警告としてフィードバックを与えるように動作可能である、請求項1に記載の外科用器具システム。
- 前記体内組織接触要素は高周波電極であり、前記電源は高周波発生器である、請求項1に記載の外科用器具システム。
- 前記電源、前記インピーダンスアナライザー及び前記触覚マッピングロジックを組み合わせて、前記外科用器具から離隔した一体の外部構成部材にする、請求項1に記載の外科用器具システム。
- 前記電源、前記インピーダンスアナライザー及び前記触覚マッピングロジックのうちの少なくとも1つは、前記ハンドル内又は前記ハンドルに取り付けられる、請求項1に記載の外科用器具システム。
- 前記触覚マッピングロジックはルックアップテーブルを用い、前記算出されたインピーダンス情報を処理して信号コマンドにする、請求項1に記載の外科用器具システム。
- 前記触覚マッピングロジックはアルゴリズムを用い、前記算出されたインピーダンス情報を処理して信号コマンドにする、請求項1に記載の外科用器具システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US37300910P | 2010-08-12 | 2010-08-12 | |
US61/373,009 | 2010-08-12 |
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Publication Number | Publication Date |
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JP2012040384A JP2012040384A (ja) | 2012-03-01 |
JP5474008B2 true JP5474008B2 (ja) | 2014-04-16 |
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JP2011176680A Expired - Fee Related JP5474008B2 (ja) | 2010-08-12 | 2011-08-12 | 触覚フィードバックを有する電気外科用器具 |
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US (1) | US9579143B2 (ja) |
EP (1) | EP2417925B1 (ja) |
JP (1) | JP5474008B2 (ja) |
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-
2011
- 2011-08-09 EP EP11176993.1A patent/EP2417925B1/en not_active Not-in-force
- 2011-08-10 US US13/206,955 patent/US9579143B2/en not_active Expired - Fee Related
- 2011-08-12 JP JP2011176680A patent/JP5474008B2/ja not_active Expired - Fee Related
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EP2417925A1 (en) | 2012-02-15 |
JP2012040384A (ja) | 2012-03-01 |
US20120041436A1 (en) | 2012-02-16 |
EP2417925B1 (en) | 2016-12-07 |
US9579143B2 (en) | 2017-02-28 |
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