JP7297684B2 - 特定の変位距離にわたって測定された時間に基づく外科用ステープル留め及び切断器具のモータ速度の閉ループフィードバック制御 - Google Patents
特定の変位距離にわたって測定された時間に基づく外科用ステープル留め及び切断器具のモータ速度の閉ループフィードバック制御 Download PDFInfo
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Description
(1) 外科用器具であって、
前記外科用器具内で複数の既定ゾーンにわたって並進するように構成された変位部材と、
前記変位部材に連結されて前記変位部材を並進させるモータと、
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監視するように構成されている、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/カウンタ回路は、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、
前記制御回路は、
前記位置センサから、設定された変位間隔によって画定された現在のゾーン内の前記変位部材の前記位置を受信することと、
前記変位間隔の設定位置における時間を測定することであって、前記測定された時間は、前記変位部材が前記変位間隔を横断するのにかかる時間として定義される、測定することと、
現在の既定ゾーン内の前記測定された時間に基づいて、後続のゾーンに対する前記変位部材のコマンド速度を設定することと、
を行うように構成されている、外科用器具。
(2) 前記制御回路は、
前記変位部材が位置する前記設定された変位間隔を判定することであって、前記設定された変位間隔は、開始位置及び終了位置によって画定される、判定することと、
前記変位部材が前記変位間隔の前記終了位置に到達する時間を測定することと、
を行う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) 前記制御回路は、
前記測定された時間を、前記制御回路に連結されたメモリに記憶された所定の時間と比較することと、
前記比較に基づいて前記コマンド速度を調整するか、又は維持するかを判定することと、
を行うように構成されている、実施態様1に記載の外科用器具。
(4) 前記制御回路は、前記測定された時間が所定の時間の範囲内にあるときに、前記現在のゾーンの前記コマンド速度と同じ前記後続のゾーンの前記コマンド速度を維持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。
(5) 前記制御回路は、前記測定された時間が所定の時間の範囲外であるときに、前記現在のゾーンの前記コマンド速度とは異なる前記後続のゾーンに対する前記コマンド速度を設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) 前記外科用器具と共に動作するように構成されたステープルカートリッジのために複数のゾーンが画定されている、実施態様1に記載の外科用器具。
(8) 少なくとも2つのゾーンが異なる長さを有する、実施態様7に記載の外科用器具。
(9) 外科用器具であって、
前記外科用器具内で複数の既定ゾーンにわたって並進するように構成された変位部材と、
前記変位部材に連結されて前記変位部材を並進させるモータと、
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監視するように構成されている、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/カウンタ回路は、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、
前記制御回路は、
前記位置センサから、所定の変位間隔によって画定された現在のゾーン内の前記変位部材の位置を受信することと、
前記変位部材がパーク位置から目標位置へと移動する時間を測定することと、
前記測定された時間に基づいて、第1の動的ゾーンに対する前記変位部材のコマンド速度を設定することと、
を行うように構成されている、外科用器具。
(10) 前記制御回路は、前記測定された時間を、前記制御回路に連結されたメモリに記憶された所定の時間と比較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。
(12) 前記制御回路は、ロックアウト状態を判定し、前記モータを停止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。
(13) 外科用器具内のモータ速度を制御する方法であって、前記外科用器具は、前記外科用器具内で複数の既定ゾーンにわたって並進するように構成された変位部材と、前記変位部材に連結されて前記変位部材を並進させるモータと、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監視するように構成されている、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/カウンタ回路は、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、前記方法は、
前記位置センサから、設定された変位間隔によって画定された現在のゾーン内の変位部材の位置を受信することと、
前記タイマー回路によって、前記変位部材の設定位置における時間を測定することであって、前記時間は、前記変位部材が前記変位間隔を横断するのにかかる時間によって定義される、測定することと、
前記制御回路によって、前記現在のゾーン内の前記測定された時間に基づいて、後続のゾーンに対する前記変位部材のコマンド速度を設定することと、を含む、方法。
(14) 前記制御回路及び前記タイマー回路によって、前記変位部材が位置する前記設定された変位間隔を判定することであって、前記設定された変位間隔は開始位置及び終了位置によって定義される、判定することと、
前記制御回路によって、前記変位部材が前記変位間隔の前記終了位置に到達する時間を測定することと、
を更に含む、実施態様13に記載の方法。
(15) 前記制御回路によって、前記測定された時間を、前記制御回路に連結されたメモリに記憶された所定の時間と比較することと、
前記制御回路によって、前記比較に基づいて前記コマンド速度を調整するか、又は維持するかを判定することと、
を更に含む、実施態様13に記載の方法。
(17) 前記制御回路によって、前記測定された時間が所定の時間の範囲外であるとき、前記現在のゾーンの前記コマンド速度とは異なる前記後続のゾーンの前記コマンド速度を設定することを更に含む、実施態様15に記載の方法。
(18) 前記制御回路によって、前記コマンド速度が調整されたときに、前記後続のゾーンの時間測定をスキップすることを更に含む、実施態様17に記載の方法。
(19) 前記制御回路によって、前記外科用器具と共に動作するように構成されたステープルカートリッジのために複数のゾーンを画定することを更に含む、実施態様13に記載の方法。
(20) 前記制御回路によって、異なる長さを有する少なくとも2つのゾーンを画定することを更に含む、実施態様19に記載の方法。
Claims (19)
- 外科用器具であって、
前記外科用器具内で複数の既定ゾーンにわたって並進するように構成された変位部材と、
前記変位部材に連結されて前記変位部材を並進させるモータと、
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監視するように構成されている、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、前記タイマー回路は、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、
前記制御回路は、
前記位置センサから、設定された変位間隔によって画定された現在のゾーン内の前記変位部材の前記位置を受信することと、
前記変位間隔の設定位置における時間を測定することであって、前記測定された時間は、前記変位部材が前記変位間隔を横断するのにかかる時間として定義される、測定することと、
前記現在のゾーン内の前記測定された時間に基づいて、後続のゾーンに対する前記モータのコマンド速度を設定することと、
を行うように構成されており、
前記現在のゾーン内の前記測定された時間が所定の閾値よりも小さい場合、前記後続のゾーンに対する前記モータの前記コマンド速度を第1の速度に設定し、前記現在のゾーン内の前記測定された時間が前記所定の閾値よりも大きい場合、前記後続のゾーンに対する前記モータの前記コマンド速度を第2の速度に設定し、前記第1の速度は前記第2の速度よりも大きい、外科用器具。 - 前記制御回路は、
開始位置及び終了位置によって画定され、前記変位部材が位置する前記現在のゾーンを判定することと、
前記変位部材が前記現在のゾーンの前記終了位置に到達する時間を測定することと、
を行う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、
前記測定された時間を、前記制御回路に連結されたメモリに記憶された所定の時間と比較することと、
前記比較に基づいて前記コマンド速度を調整するか、又は維持するかを判定することと、
を行う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、前記測定された時間が所定の時間の範囲内にあるときに、前記現在のゾーンの前記コマンド速度と同じ前記後続のゾーンの前記コマンド速度を維持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、前記測定された時間が所定の時間の範囲外であるときに、前記現在のゾーンの前記コマンド速度とは異なる前記後続のゾーンに対する前記コマンド速度を設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、前記コマンド速度が調整されたときに、前記後続のゾーンの時間測定をスキップ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。
- 前記外科用器具と共に動作するように構成されたステープルカートリッジのために複数のゾーンが画定されている、請求項1に記載の外科用器具。
- 少なくとも2つのゾーンが異なる長さを有する、請求項7に記載の外科用器具。
- 外科用器具であって、
前記外科用器具内で複数の既定ゾーンにわたって並進するように構成された変位部材と、
前記変位部材に連結されて前記変位部材を並進させるモータと、
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監視するように構成されている、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、前記タイマー回路は、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、
前記制御回路は、
前記位置センサから、所定の変位間隔によって画定された現在のゾーン内の前記変位部材の位置を受信することと、
前記変位部材がパーク位置から目標位置へと移動する時間を測定することと、
前記測定された時間に基づいて、第1の動的ゾーンに対する前記モータのコマンド速度を設定することと、
を行うように構成されており、
前記測定された時間が所定の閾値よりも小さい場合、前記第1の動的ゾーンに対する前記モータの前記コマンド速度を第1の速度に設定し、前記測定された時間が前記所定の閾値よりも大きい場合、前記第1の動的ゾーンに対する前記モータの前記コマンド速度を第2の速度に設定し、前記第1の速度は前記第2の速度よりも大きい、外科用器具。 - 前記制御回路は、前記測定された時間を、前記制御回路に連結されたメモリに記憶された所定の時間と比較するように構成されている、請求項9に記載の外科用器具。
- 前記制御回路は、ロックアウト状態を判定し、前記モータを停止するように構成されている、請求項9に記載の外科用器具。
- 外科用器具内のモータのコマンド速度を制御する方法であって、前記外科用器具は、前記外科用器具内で複数の既定ゾーンにわたって並進するように構成された変位部材と、前記変位部材に連結されて前記変位部材を並進させる前記モータと、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監視するように構成されている、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、前記タイマー回路は、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、前記方法は、
前記位置センサから、設定された変位間隔によって画定された現在のゾーン内の前記変位部材の位置を受信することと、
前記タイマー回路によって、前記変位部材の設定位置における時間を測定することであって、前記時間は、前記変位部材が前記変位間隔を横断するのにかかる時間によって定義される、測定することと、
前記制御回路によって、前記現在のゾーン内の前記測定された時間に基づいて、後続のゾーンに対する前記モータの前記コマンド速度を設定することと、を含み、
前記現在のゾーン内の前記測定された時間が所定の閾値よりも小さい場合、前記後続のゾーンに対する前記モータの前記コマンド速度を第1の速度に設定し、前記現在のゾーン内の前記測定された時間が前記所定の閾値よりも大きい場合、前記後続のゾーンに対する前記モータの前記コマンド速度を第2の速度に設定し、前記第1の速度は前記第2の速度よりも大きい、方法。 - 前記制御回路及び前記タイマー回路によって、開始位置及び終了位置によって定義され、前記変位部材が位置する前記現在のゾーンを判定することと、
前記制御回路によって、前記変位部材が前記現在のゾーンの前記終了位置に到達する時間を測定することと、
を更に含む、請求項12に記載の方法。 - 前記制御回路によって、前記測定された時間を、前記制御回路に連結されたメモリに記憶された所定の時間と比較することと、
前記制御回路によって、前記比較に基づいて前記コマンド速度を調整するか、又は維持するかを判定することと、
を更に含む、請求項12に記載の方法。 - 前記制御回路によって、前記測定された時間が所定の時間の範囲内にあるときに、前記現在のゾーンの前記コマンド速度と同じ前記後続のゾーンの前記コマンド速度を維持することを更に含む、請求項14に記載の方法。
- 前記制御回路によって、前記測定された時間が所定の時間の範囲外であるとき、前記現在のゾーンの前記コマンド速度とは異なる前記後続のゾーンの前記コマンド速度を設定することを更に含む、請求項14に記載の方法。
- 前記制御回路によって、前記コマンド速度が調整されたときに、前記後続のゾーンの時間測定をスキップすることを更に含む、請求項16に記載の方法。
- 前記制御回路によって、前記外科用器具と共に動作するように構成されたステープルカートリッジのために複数のゾーンを画定することを更に含む、請求項12に記載の方法。
- 前記制御回路によって、異なる長さを有する少なくとも2つのゾーンを画定することを更に含む、請求項18に記載の方法。
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US15/628,060 US11382638B2 (en) | 2017-06-20 | 2017-06-20 | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
PCT/IB2018/053489 WO2018234890A1 (en) | 2017-06-20 | 2018-05-17 | CLOSED-LOOP RETROACTIVE CONTROL OF THE MOTOR SPEED OF A STAPLING AND SURGICAL CUTTING INSTRUMENT BASED ON A MEASURED TIME OVER A SPECIFIED MOVEMENT DISTANCE |
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EP3785645B1 (en) | 2024-04-03 |
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