JP7167068B2 - 外科用ステープル留め及び切断器具のモータ速度を制御するためのシステム及び方法 - Google Patents
外科用ステープル留め及び切断器具のモータ速度を制御するためのシステム及び方法 Download PDFInfo
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- A61B17/1114—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis of the digestive tract, e.g. bowels or oesophagus
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- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
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Description
A1=Ao+VEXP(t2-t1)
初期位置Aoと予測位置A1との差は、以下のとおりである。
A1-Ao=δ=VEXP(t2-t1)
組織厚さに応じて実際の変位B1又はB2が予測される変位A1又はA2’から外れる場合、制御回路2510は、モータ速度調節係数を判定して、モータ2504を減速又は減速させる。モータコントローラ2508は、調節されたモータ駆動信号2524を印加して、モータ2504を減速又は減速させる。現在のプログラムされた速度VEXPの値は、Iビーム2514が遠位方向に前進するにつれて、組織厚さに基づいて変化する。
B1(t2)<A1(t2)である場合、組織は予期されるよりも大きい。
B1(t2)-δ1に比例する量でモータ電流(I)を減少させる。
B2(t2)>A2(t2)である場合、組織は予期されるよりも大きい。
B2(t2)-δ2に比例する量でモータ電流(I)を増加させる。
(1) 外科用器具であって、
前記外科用器具内で並進するように構成された変位部材と、
前記変位部材を並進させるように、前記変位部材に連結されたモータと、
前記モータに連結された制御回路と、
前記制御回路に連結された位置センサであって、前記変位部材の位置を測定するように構成された、位置センサと、
前記制御回路に連結されたタイマー回路であって、前記タイマー/カウンタ回路が、経過時間を測定するように構成されている、タイマー回路と、を備え、
前記制御回路が、
前記位置センサから前記変位部材の前記位置を受信し、
前記タイマー回路から経過時間を受信し、かつ
前記変位部材の前記位置及び前記経過時間に基づいて、前記モータの速度を制御するように構成されている、外科用器具。
(2) 前記制御回路が、
前記モータの前記速度を第1の速度に設定し、
前記位置センサから前記変位部材の初期位置A0を受信し、
前記タイマー回路から前記変位部材の前記初期位置A0に対応する基準時間t1を受信し、かつ
前記第1の速度に基づいて、時刻t2における前記変位部材の予測位置A1を判定するように構成されている、実施態様1に記載の外科用器具。
(3) 前記制御回路が、
前記位置センサから前記時刻t2における前記変位部材の実際の位置B1を受信し、
前記時刻t2における前記変位部材の前記実際の位置B1を、前記時刻t2における前記直線変位センサの前記予測位置A1と比較し、かつ
前記時刻t2における前記変位部材の前記実際の位置B1と前記時刻t2における前記変位部材の前記予測位置A1との差に基づいて、前記モータの前記速度を第2の速度に調節するように構成されている、実施態様2に記載の外科用器具。
(4) 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも大きいときに、前記モータの前記速度を増加させるように構成されている、実施態様3に記載の外科用器具。
(5) 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記モータの前記速度を減少させるように構成されている、実施態様3に記載の外科用器具。
前記時刻t2における前記変位部材の前記実際の位置B1と前記時刻t2における前記変位部材の前記予測位置A1との差に基づいて、実際の組織厚さ調節を判定するように構成されている、実施態様3に記載の外科用器具。
(7) 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも大きいときに、前記実際の組織厚さが予想よりも小さいと判定するように構成されている、実施態様6に記載の外科用器具。
(8) 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記実際の組織厚さが予想よりも大きいと判定するように構成されている、実施態様6に記載の外科用器具。
(9) 外科用器具であって、
前記外科用器具のエンドエフェクタ内で並進するように構成されたIビーム部材と、
前記エンドエフェクタ内で前記Iビーム部材を並進させるように、前記Iビーム部材に連結されたモータと、
前記モータに連結された制御回路と、
前記制御回路に連結された位置センサであって、前記Iビーム部材の位置を測定するように構成された、位置センサと、
前記制御回路に連結されたタイマー回路であって、前記タイマー/カウンタ回路が、経過時間を測定するように構成されている、タイマー回路と、を備え、
前記制御回路が、
前記位置センサから前記Iビーム部材の前記位置を受信し、
前記タイマー回路から経過時間を受信し、かつ
前記Iビーム部材の前記位置及び前記経過時間に基づいて、前記モータの速度を制御するように構成されている、外科用器具。
(10) 前記制御回路が、
前記モータの前記速度を第1の速度に設定し、
前記位置センサから前記Iビーム部材の初期位置A0を受信し、
前記タイマー回路から前記Iビーム部材の前記初期位置A0に対応する基準時間t1を受信し、かつ
前記第1の速度に基づいて、時刻t2における前記Iビーム部材の予測位置A1を判定するように構成されている、実施態様9に記載の外科用器具。
前記位置センサから前記時刻t2における前記Iビーム部材の実際の位置B1を受信し、
前記時刻t2における前記Iビーム部材の前記実際の位置B1を、前記時刻t2における前記Iビーム部材の前記予測位置A1と比較し、
前記時刻t2における前記Iビーム部材の前記実際の位置B1と前記時刻t2における前記Iビーム部材の前記予測位置A1との差に基づいて、前記モータの前記速度を第2の速度に調節するように構成されている、実施態様10に記載の外科用器具。
(12) 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも大きいときに、前記モータの前記速度を増加させ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) 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも小さいときに、前記モータの前記速度を減少させ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) 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1と前記時刻t2における前記Iビーム部材の前記予測位置A1との差に基づいて、実際の組織厚さ調節を判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) 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも大きいときに、前記実際の組織厚さが予想よりも小さいと判定するように構成されている、実施態様14に記載の外科用器具。
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも小さいときに、前記実際の組織厚さが予想よりも大きいと判定するように構成されている、実施態様14に記載の外科用器具。
(17) 外科用器具内のモータ速度を制御する方法であって、前記外科用器具が、並進するように構成された変位部材と、前記変位部材を並進させるように、前記変位部材に連結されたモータと、前記モータに連結された制御回路と、前記制御回路に連結された位置センサであって、前記変位部材の位置を測定するように構成された位置センサと、前記制御回路に連結されたタイマー回路であって、前記タイマー/カウンタ回路が、経過時間を測定するように構成されている、タイマー回路と、を備え、前記方法が、
制御回路によって、位置センサから変位部材の位置を受信することと、
前記制御回路によって、タイマー回路から経過時間を受信することと、
前記制御回路によって、前記変位部材の前記位置及び前記経過時間に基づいてモータの速度を制御することと、を含む、方法。
(18) 前記制御回路によって、前記モータの前記速度を第1の速度に設定することと、
前記制御回路によって、前記位置センサから前記変位部材の初期位置A0を受信することと、
前記制御回路によって、前記タイマー回路から前記変位部材の前記初期位置A0に対応する基準時間t1を受信することと、
前記制御回路によって、前記第1の速度に基づいて、時刻t2における前記変位部材の予測位置A1を判定することと、を含む、実施態様17に記載の方法。
(19) 前記制御回路によって、前記位置センサから前記時刻t2における前記変位部材の実際の位置B1を受信することと、
前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1を、前記時刻t2における前記変位部材の前記予測位置A1と比較することと、
前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1と前記時刻t2における前記変位部材の前記予測位置A1との差に基づいて、前記モータの前記速度を第2の速度に調節することと、を含む、実施態様18に記載の方法。
(20) 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも大きいときに、前記モータの前記速度を増加させることを含む、実施態様19に記載の方法。
(22) 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1と前記時刻t2における前記変位部材の前記予測位置A1との差に基づいて、実際の組織厚さ調節を判定することを含む、実施態様19に記載の方法。
(23) 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも大きいときに、前記実際の組織厚さが予想よりも小さいと判定することを含む、実施態様22に記載の方法。
(24) 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記実際の組織厚さが予想よりも大きいと判定することを含む、実施態様22に記載の方法。
Claims (15)
- 外科用器具であって、
前記外科用器具内で並進するように構成された変位部材と、
前記変位部材を並進させるように、前記変位部材に連結されたモータと、
前記モータに連結された制御回路と、
前記制御回路に連結された位置センサであって、前記変位部材の位置を測定するように構成された、位置センサと、
前記制御回路に連結されたタイマー回路であって、前記タイマー回路が、経過時間を測定するように構成されている、タイマー回路と、を備え、
前記制御回路が、
前記位置センサから前記変位部材の前記位置を受信し、
前記タイマー回路から経過時間を受信し、かつ
前記変位部材の前記位置及び前記経過時間に基づいて、前記モータの速度を制御するように構成され、
前記制御回路が、
前記モータの前記速度を第1の速度に設定し、
前記位置センサから前記変位部材の初期位置A 0 を受信し、
前記タイマー回路から前記変位部材の前記初期位置A 0 に対応する基準時間t 1 を受信し、かつ
前記第1の速度に基づいて、時刻t 2 における前記変位部材の予測位置A 1 を判定するように構成され、
前記制御回路が、
前記位置センサから前記時刻t 2 における前記変位部材の実際の位置B 1 を受信し、
前記時刻t 2 における前記変位部材の前記実際の位置B 1 を、前記時刻t 2 における直線変位センサの前記予測位置A 1 と比較し、かつ
前記時刻t 2 における前記変位部材の前記実際の位置B 1 と前記時刻t 2 における前記変位部材の前記予測位置A 1 との差に基づいて、前記モータの前記速度を第2の速度に調節するように構成され、
前記制御回路は、
前記時刻t 2 における前記変位部材の前記実際の位置B 1 が、前記時刻t 2 における前記変位部材の前記予測位置A 1 よりも大きいときに、前記モータの前記速度を増加させるように構成されている、外科用器具。 - 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記モータの前記速度を減少させるように構成されている、請求項1に記載の外科用器具。 - 前記制御回路が、
前記時刻t2における前記変位部材の前記実際の位置B1と前記時刻t2における前記変位部材の前記予測位置A1との差に基づいて、実際の組織厚さを判定するように構成されている、請求項1に記載の外科用器具。 - 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも大きいときに、前記実際の組織厚さが予想よりも小さいと判定するように構成されている、請求項3に記載の外科用器具。 - 前記制御回路は、
前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記実際の組織厚さが予想よりも大きいと判定するように構成されている、請求項3に記載の外科用器具。 - 外科用器具であって、
前記外科用器具のエンドエフェクタ内で並進するように構成されたIビーム部材と、
前記エンドエフェクタ内で前記Iビーム部材を並進させるように、前記Iビーム部材に連結されたモータと、
前記モータに連結された制御回路と、
前記制御回路に連結された位置センサであって、前記Iビーム部材の位置を測定するように構成された、位置センサと、
前記制御回路に連結されたタイマー回路であって、前記タイマー回路が、経過時間を測定するように構成されている、タイマー回路と、を備え、
前記制御回路が、
前記位置センサから前記Iビーム部材の前記位置を受信し、
前記タイマー回路から経過時間を受信し、かつ
前記Iビーム部材の前記位置及び前記経過時間に基づいて、前記モータの速度を制御するように構成され、
前記制御回路が、
前記モータの前記速度を第1の速度に設定し、
前記位置センサから前記Iビーム部材の初期位置A 0 を受信し、
前記タイマー回路から前記Iビーム部材の前記初期位置A 0 に対応する基準時間t 1 を受信し、かつ
前記第1の速度に基づいて、時刻t 2 における前記Iビーム部材の予測位置A 1 を判定するように構成され、
前記制御回路が、
前記位置センサから前記時刻t 2 における前記Iビーム部材の実際の位置B 1 を受信し、
前記時刻t 2 における前記Iビーム部材の前記実際の位置B 1 を、前記時刻t 2 における前記Iビーム部材の前記予測位置A 1 と比較し、
前記時刻t 2 における前記Iビーム部材の前記実際の位置B 1 と前記時刻t 2 における前記Iビーム部材の前記予測位置A 1 との差に基づいて、前記モータの前記速度を第2の速度に調節するように構成され、
前記制御回路は、
前記時刻t 2 における前記Iビーム部材の前記実際の位置B 1 が、前記時刻t 2 における前記Iビーム部材の前記予測位置A 1 よりも大きいときに、前記モータの前記速度を増加させるように構成されている、外科用器具。 - 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも小さいときに、前記モータの前記速度を減少させるように構成されている、請求項6に記載の外科用器具。 - 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1と前記時刻t2における前記Iビーム部材の前記予測位置A1との差に基づいて、実際の組織厚さを判定するように構成されている、請求項6に記載の外科用器具。 - 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも大きいときに、前記実際の組織厚さが予想よりも小さいと判定するように構成されている、請求項8に記載の外科用器具。 - 前記制御回路は、
前記時刻t2における前記Iビーム部材の前記実際の位置B1が、前記時刻t2における前記Iビーム部材の前記予測位置A1よりも小さいときに、前記実際の組織厚さが予想よりも大きいと判定するように構成されている、請求項8に記載の外科用器具。 - 外科用器具内のモータ速度を制御する方法であって、前記外科用器具が、並進するように構成された変位部材と、前記変位部材を並進させるように、前記変位部材に連結されたモータと、前記モータに連結された制御回路と、前記制御回路に連結された位置センサであって、前記変位部材の位置を測定するように構成された位置センサと、前記制御回路に連結されたタイマー回路であって、前記タイマー回路が、経過時間を測定するように構成されている、タイマー回路と、を備え、前記方法が、
前記制御回路によって、前記位置センサから前記変位部材の位置を受信することと、
前記制御回路によって、前記タイマー回路から前記経過時間を受信することと、
前記制御回路によって、前記変位部材の前記位置及び前記経過時間に基づいて前記モータ速度を制御することと、を含み、
前記制御回路によって、前記モータの前記速度を第1の速度に設定することと、
前記制御回路によって、前記位置センサから前記変位部材の初期位置A 0 を受信することと、
前記制御回路によって、前記タイマー回路から前記変位部材の前記初期位置A 0 に対応する基準時間t 1 を受信することと、
前記制御回路によって、前記第1の速度に基づいて、時刻t 2 における前記変位部材の予測位置A 1 を判定することと、を含み、
前記制御回路によって、前記位置センサから前記時刻t 2 における前記変位部材の実際の位置B 1 を受信することと、
前記制御回路によって、前記時刻t 2 における前記変位部材の前記実際の位置B 1 を、前記時刻t 2 における前記変位部材の前記予測位置A 1 と比較することと、
前記制御回路によって、前記時刻t 2 における前記変位部材の前記実際の位置B 1 と前記時刻t 2 における前記変位部材の前記予測位置A 1 との差に基づいて、前記モータの前記速度を第2の速度に調節することと、を含み、
前記制御回路によって、前記時刻t 2 における前記変位部材の前記実際の位置B 1 が、前記時刻t 2 における前記変位部材の前記予測位置A 1 よりも大きいときに、前記モータの前記速度を増加させることを含む、方法。 - 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記モータの前記速度を減少させることを含む、請求項11に記載の方法。
- 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1と前記時刻t2における前記変位部材の前記予測位置A1との差に基づいて、実際の組織厚さを判定することを含む、請求項11に記載の方法。
- 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも大きいときに、前記実際の組織厚さが予想よりも小さいと判定することを含む、請求項13に記載の方法。
- 前記制御回路によって、前記時刻t2における前記変位部材の前記実際の位置B1が、前記時刻t2における前記変位部材の前記予測位置A1よりも小さいときに、前記実際の組織厚さが予想よりも大きいと判定することを含む、請求項13に記載の方法。
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CN110785129A (zh) | 2020-02-11 |
EP3417795C0 (en) | 2023-09-13 |
JP2020524048A (ja) | 2020-08-13 |
BR112019027332A2 (pt) | 2020-07-07 |
EP3417795A1 (en) | 2018-12-26 |
US10624633B2 (en) | 2020-04-21 |
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