JP6138808B2 - カートリッジ状態及び存在を検出する方法及びシステム - Google Patents
カートリッジ状態及び存在を検出する方法及びシステム Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- 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
- A61B34/30—Surgical robots
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- 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0804—Counting number of instruments used; Instrument detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus
Description
ここから、同様な参照数字はいくつかの図面を通じて同様な部品を代表する、複数の図面を参照すると、図1は低侵襲ロボット手術システム(MIRS)10の平面図である。低侵襲ロボット手術システム10は、手術台14上に横になった患者12への低侵襲診断又は外科的処置のために典型的に使用される。システムは、処置の間外科医18によって使用されるための外科医用コンソール16を含んでもよい。一人又はそれ以上の助手20も処置に参加することができる。MIRSシステム10は、患者側カート(手術ロボット)22及び電子カート24を更に有してもよい。患者側カート22は、外科医18がコンソール6を通して術野を観察している間、患者12の体の低侵襲な切開を通じて、少なくとも一つの取り外し可能に連結されたツール組立品26(以下、単に“ツール”を呼ぶ)を操作する。術野の画像は、内視鏡28によって取得される。内視鏡28は、例えば内視鏡28の向きを変えることができる患者側カート22によって操作できる、立体視内視鏡である。電子カート24は、処理に続く外科医用コンソール16を通じた外科医18への画像表示のために、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、その他の要素の中でもとりわけ、その診断又は外科的処置及び手術室内に制約する空間に依存する。ある処置の間に、使用中の複数のツール26の一つ又はそれ以上を交換することが必要な場合は、助手20は患者側カート22からツール26を取り外し、手術室内のトレイ30からの他のツール26に交換することができる。
図6は、手術ツール70を示す。手術ツール70は、近位端側の筐体72、器具シャフト74、及び患者組織を把持するために関節接合され得る顎部78を有する遠位のエンドエフェクタ76を有する。近位端側の筐体は入力連結器を有する。入力連結器は、患者側カート22の対応する出力連結器と相互作用し、かつ駆動されるように構成される。入力連結器は、動力伝達可能にエンドエフェクタ76に連結されている。
図7は、多くの実施形態による、リニアステープリング及び切断用手術器具の着脱可能なカートリッジ100を示す。カートリッジ100は、本明細書において記述される手術ツール及び手術システム(例えば手術システム10、手術システム50)内のような、適切な手術システムで使用される適切な手術ツールにおいて使用され得る。カートリッジ100は、エンドエフェクタの顎部に取り外し可能に取り付けられるように構成される。カートリッジは、エンドエフェクタの顎部に取り付けられる近位端102及びエンドエフェクタの顎部の対応する遠位端に配置される遠位端104を有する。カートリッジ100は、6列のステープル開口106、長手方向に延びる隙間108、近位ナイフ格納部110、遠位ナイフ格納部112及び回転入力部114を有する。多くの実施形態において、ステープルはステープル開口の夫々から発射(deployment)されるために、当該開口の夫々に配置される。長手方向に延びる隙間108は、ナイフ部材(図示せず)の切断刃を収容することができる。ナイフ部材は、近位ナイフ格納部110から遠位ナイフ格納部112へナイフ部材が動くに従って、隙間108から突出するように延びる。手術の作業中、ステープルは最初カートリッジの近位端102から発射が始まり、次第にカートリッジの遠位端104に進行する。切断刃は、完全にステープル止めされた組織のみを切断することを確実にするため、組織のステープル止めの後に続くように動かされる。図8は、カートリッジ100を使用する前に取り外されるステープル保持具116が取り付けられた状態の、カートリッジ100を示す。
未使用のカートリッジ100がエンドエフェクタ118に取り付けられている場合、駆動部材144は、図9に示されるように、主ネジ134に沿ったその配置可能な位置の範囲の近位側端又はその近傍に配置される。従って、未使用のカートリッジ100の駆動部材144を近位側端102に向かって予測可能な量以上に進ませることは不可能である。それにより、対応する第二の駆動軸138の回転の量が制限される。対照的に、使用済みのカートリッジ100がエンドエフェクタ118に取り付けられている場合、駆動部材144は、主ネジ134に沿ったその配置可能な位置の範囲の遠位側端又はその近傍に配置される。従って、使用済みのカートリッジ100の駆動部材144を、近位側端に向かって、未使用のカートリッジ100が取り付けられている場合をはるかに超える量で進ませることが可能である。それにより、実質的により大きな量の、対応する第二の駆動軸138の回転が許容される。そして、カートリッジ100がエンドエフェクタ118に取り付けられていない場合、第二の駆動軸138は実質的に自由に回転され得る。未使用のカートリッジ100の駆動部材144の限定された可動範囲は、エンドエフェクタ118に取り付けられた未使用のカートリッジ100の存在を確認するために使用され得る。
多くの実施形態において、所定の作動量(例えば、回転量)は、最大量より大きくなるように選択される。この最大量は、駆動部材144を主ネジ134に沿ったその配置可能な近位側位置の端まで近位側に向かって駆動し、カートリッジ100のハウジングに係合させ、それにより、更なる主ネジ134の回転を停止するために必要とされ得る量である。必要とされ得る最大の回転量は、その主ネジ134に沿った近位側への行程の端に対する駆動部材144の初期位置となり得る範囲、生成された作動トルクの主ネジ134への伝達に使用される動力伝達装置における反発、及び伝達されたトルクに起因する動力伝達装置内のコンプライアンスに依存する。生成されるトルクの所定の強度限度を、なお動力伝達装置の摩擦特性の主要因となるためには十分に高い一方で、実際的な程度まで低く設定することによって、動力伝達装置内のコンプライアンスは低減され得る。主ネジ134に沿った近位側への行程の端に対する駆動部材144の初期位置となり得る範囲は、カートリッジ100の製造における適切な配慮によって低減され得る。この適切な配慮は、(例えば、可能な限り回転入力部114が発射時の回転方向の反対に回転するようにする課題を追加することによって)駆動部材144が、主ネジ134に沿った近位側へ移動し得る行程の端に可能な限り近く配置されることを確かにするものである。たとえ駆動部材144が主ネジ134に沿った近位側へ移動し得る行程の端に配置された場合でも、三葉連結器142の使用は、駆動部材144の主ネジ134に沿ったその近位側へ移動し得る行程の端からのある量のずれに結果し得る。これは、回転入力部114を連結器142と整列させるために用いられる発射方向での回転入力部114の回転によるものである。一つの例示的な実施形態において、必要とされ得る回転の最大量は、回転入力部114の1.5巻き分よりも小さいと推定される。
図13は、多くの実施形態による、ロボット手術システム(例えば、手術システム10、手術システム50)の手術器具に取り付けられた、未使用手術用カートリッジの存在確認の実行に関連する複数の構成要素の高レベルの概説を提供する、単純化した模式図である。ロボット手術システムは、外科医コンソール16、電子カート24、患者側カート22、器具制御ボックス(instrument control box,ICB)230、手術器具232、手術用カートリッジ100及びモータパック234を含む。
多くの実施形態において、手術用カートリッジ100は、関節ナイフを含む。所定の回転量は、使用済みの形態の手術器具に加えられた場合にナイフの露出に結果するであろう回転量よりも小さくなるように選択されてもよい。カートリッジは、カートリッジが操作された場合に、クランプされた組織に打ち込まれるステープルを含んでもよい。関節ナイフは、打ち込まれたステープルの複数の列の間でクランプされた組織を切断するように構成されてもよい。カートリッジは、血管をシールするように構成されてもよく、また、シールされた血管を切るように構成された関節ナイフを含んでもよい。
Claims (23)
- 手術器具に取り付けられた未使用の手術用カートリッジの存在を確認するための、医療用の機器の作動方法であって、該カートリッジは該カートリッジを操作するために発射方向に作動される入力部を有し、当該作動方法は、
前記機器が、所定の強度以下に制限された作動入力を発生するステップであって、該作動入力はトルク又は力の少なくとも一つを含む、発生ステップ、
前記機器が、前記手術器具の出力部に前記作動入力を伝達し、該出力部を前記発射方向と反対に所定の量だけ作動させることを試みるステップであって、前記カートリッジが前記手術器具に取り付けられた場合に、前記出力部は動力伝達可能に前記カートリッジの前記入力部に結合される、伝達ステップ、
前記機器が、結果として生じる前記出力部の作動量を測定する、測定ステップ、
前記機器が、結果として生じる前記出力部の前記作動量を閾値作動量と比較する、比較ステップ、及び
前記機器が、結果として生じる前記出力部の前記作動量が前記閾値作動量よりも小さい場合に、前記カートリッジが存在し、かつ未使用であると決定する、決定ステップ、
を含む、作動方法。 - 前記作動入力の発生ステップは、前記機器が、作動入力の発生に使用される電気モータに供給される電流を制限するサブステップを含む、請求項1記載の作動方法。
- 前記機器が、作動入力を前記手術器具の前記出力部へ伝達するために使用される駆動伝達装置の摩擦を測定するステップ、及び
前記機器が、前記所定の強度を、前記測定された摩擦よりも大きな値に設定するステップ、
を更に含む、請求項1記載の作動方法。 - 前記機器が、前記所定の強度を、前記手術器具の通常の動作限度よりも小さい値に設定するステップ、を含む、請求項1記載の作動方法。
- 前記機器が、前記所定の強度を、通常の動作限界の20%よりも小さい値に設定するステップ、を含む、請求項4記載の作動方法。
- 結果として生じる前記出力部の作動量を測定する前記測定ステップは、前記機器が、センサの出力を追跡することを含み、該センサは、前記手術器具の前記出力部への作動入力の伝達に使用される動力伝達装置の作動を追跡するように構成されている、請求項1記載の作動方法。
- 前記出力部の作動量を測定する測定ステップは、
前記機器が、前記出力部の動きを追跡するステップ、及び
前記機器が、試行された出力部の作動の停止を監視するために、前記出力部の前記追跡された動きを処理するステップ、
を含む、請求項1記載の作動方法。 - 試行された前記出力部の作動の停止が検出された場合に、前記機器が、作動入力の発生が終了されるステップ、を更に含む、請求項7記載の作動方法。
- 前記手術用カートリッジは関節ナイフを有し、
前記所定の量は、使用済みの形態の前記手術用カートリッジに加えられた場合に、前記ナイフの露出に結果する量よりも小さい、
請求項1記載の作動方法。 - ロボット手術システムであって、
マスター入力装置、
作動出力部を有する手術器具であって、当該手術器具は、手術用カートリッジを受容及び支持するように構成され、該手術用カートリッジは、該手術用カートリッジが動作する発射方向に作動される入力部を有し、該手術用カートリッジ入力部は、前記手術用カートリッジが前記手術器具に取り付けられた場合に、前記作動出力部に動力伝達可能に結合される、手術器具、
前記マスター入力装置への使用者の入力に応じて、前記手術器具を動かすように構成されたロボットアーム、
前記手術器具作動出力部と動力伝達可能に結合された駆動源、
前記手術器具作動出力部の動きを検出するように構成されたセンサ、及び
前記センサ及び前記駆動源と通信可能に結合された制御部であって、当該制御部は、プロセッサ、及び命令を含む実体的な記憶媒体を有し、該命令は、実行された場合に、前記駆動源が所定の強度以下の作動入力を発生するように前記プロセッサに前記駆動源を制御させ、
前記作動入力はトルク又は力の少なくとも一つを含み、
前記作動入力は前記手術器具作動出力部に伝達されて前記作動出力部を所定の量だけ前記発射方向と反対に作動することを試行し、
前記制御部は、結果として生じる前記作動出力部の作動量を閾値作動量と比較し、結果として生じる前記作動出力部の前記作動量が前記閾値作動量よりも小さい場合に、前記カートリッジが存在しかつ未使用であることを決定する、制御部、
を有する、ロボット手術システム。 - 前記作動入力の発生は、作動入力の発生に使用される電気モータに供給される電流の制限を含む、請求項10記載のシステム。
- 前記所定の強度は、前記手術器具の通常の動作限度よりも小さい、請求項10記載のシステム。
- 前記所定の強度は、前記手術器具の通常の動作限度の20%よりも小さい、請求項12記載のシステム。
- 前記センサは、位置センサ、速度センサ又は加速度センサの少なくとも一つを有する、請求項10記載のシステム。
- 前記位置センサは、ホールセンサ又はエンコーダの少なくとも一つを有する、請求項14記載のシステム。
- 前記速度センサは、誘導速度センサ又はタコメータの少なくとも一つを有する、請求項14記載のシステム。
- 前記加速度センサは、振動加速度センサを有する、請求項14記載のシステム。
- 前記制御部は、結果として生じる前記作動出力部の作動量が前記閾値作動量よりも小さいか否かを決定するために前記センサの出力を監視する、請求項14記載のシステム。
- 前記命令は、実行された場合に、前記制御部を、
前記作動出力部の動きを追跡させ、かつ
前記追跡された動きを処理し、前記作動出力部の前記試行された動きの停止を監視させる、
請求項10記載のシステム。 - 前記作動出力部が所定の期間内において最小量よりも小さく動いた場合に、停止が検出される、請求項19記載のシステム。
- 前記手術用カートリッジは、関節ナイフを有し、
前記所定の作動量は、使用済みの形態の手術カートリッジに加えられた場合に、前記ナイフの露出に結果する作動の量よりも小さい、
請求項10記載のシステム。 - 前記カートリッジは、
前記カートリッジが動作した場合に、クランプされた組織内へ打ち込まれる複数のステープル、及び
前記打ち込まれたステープルの間の複数の列の間でクランプされた組織を切断するように構成された関節ナイフ、
を有する、請求項10記載のシステム。 - 前記カートリッジは、血管をシールするように構成され、シールされた血管を切るように構成された関節ナイフを含む、請求項10記載のシステム。
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US61/560,213 | 2011-11-15 | ||
PCT/US2012/062299 WO2013063523A1 (en) | 2011-10-26 | 2012-10-26 | Cartridge status and presence detection |
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EP3488793A1 (en) | 2019-05-29 |
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WO2013063523A1 (en) | 2013-05-02 |
CN104066398A (zh) | 2014-09-24 |
JP2019048126A (ja) | 2019-03-28 |
CN104066398B (zh) | 2016-10-26 |
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EP3488793B1 (en) | 2023-08-23 |
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JP6439003B2 (ja) | 2018-12-19 |
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JP6719532B2 (ja) | 2020-07-08 |
KR102179204B1 (ko) | 2020-11-17 |
US20210022738A1 (en) | 2021-01-28 |
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