JP7391852B2 - 液体中のエンドエフェクタの出現の検出 - Google Patents
液体中のエンドエフェクタの出現の検出 Download PDFInfo
- Publication number
- JP7391852B2 JP7391852B2 JP2020535630A JP2020535630A JP7391852B2 JP 7391852 B2 JP7391852 B2 JP 7391852B2 JP 2020535630 A JP2020535630 A JP 2020535630A JP 2020535630 A JP2020535630 A JP 2020535630A JP 7391852 B2 JP7391852 B2 JP 7391852B2
- Authority
- JP
- Japan
- Prior art keywords
- surgical
- generator
- surgical instrument
- tissue
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000012636 effector Substances 0.000 title claims description 310
- 239000007788 liquid Substances 0.000 title claims description 40
- 238000002604 ultrasonography Methods 0.000 claims description 491
- 230000007704 transition Effects 0.000 claims description 56
- 238000011282 treatment Methods 0.000 claims description 45
- 238000007654 immersion Methods 0.000 claims description 29
- 230000001225 therapeutic effect Effects 0.000 claims description 25
- 230000006835 compression Effects 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 230000004907 flux Effects 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 17
- 210000001519 tissue Anatomy 0.000 description 559
- 238000000034 method Methods 0.000 description 296
- 230000008569 process Effects 0.000 description 150
- 230000006854 communication Effects 0.000 description 143
- 238000004891 communication Methods 0.000 description 143
- 238000004422 calculation algorithm Methods 0.000 description 90
- 238000006073 displacement reaction Methods 0.000 description 87
- 238000010586 diagram Methods 0.000 description 83
- 230000006870 function Effects 0.000 description 72
- 230000033001 locomotion Effects 0.000 description 69
- 238000010304 firing Methods 0.000 description 53
- 238000001356 surgical procedure Methods 0.000 description 53
- 238000005259 measurement Methods 0.000 description 52
- 230000000875 corresponding effect Effects 0.000 description 51
- 230000004044 response Effects 0.000 description 49
- 239000000523 sample Substances 0.000 description 49
- 238000012545 processing Methods 0.000 description 42
- 238000003860 storage Methods 0.000 description 39
- 230000007246 mechanism Effects 0.000 description 38
- 238000003384 imaging method Methods 0.000 description 34
- 238000001514 detection method Methods 0.000 description 33
- 230000001276 controlling effect Effects 0.000 description 32
- 238000005520 cutting process Methods 0.000 description 32
- 239000012530 fluid Substances 0.000 description 32
- 230000008859 change Effects 0.000 description 30
- 239000000779 smoke Substances 0.000 description 29
- 230000000007 visual effect Effects 0.000 description 29
- 238000004804 winding Methods 0.000 description 29
- 238000003032 molecular docking Methods 0.000 description 28
- 230000000694 effects Effects 0.000 description 27
- 230000002452 interceptive effect Effects 0.000 description 27
- 238000005345 coagulation Methods 0.000 description 26
- 230000015271 coagulation Effects 0.000 description 26
- 238000007789 sealing Methods 0.000 description 25
- 230000005540 biological transmission Effects 0.000 description 24
- 230000001965 increasing effect Effects 0.000 description 24
- 230000004913 activation Effects 0.000 description 22
- 238000001994 activation Methods 0.000 description 22
- 230000003044 adaptive effect Effects 0.000 description 22
- 230000007423 decrease Effects 0.000 description 22
- 241001481789 Rupicapra Species 0.000 description 20
- 239000011162 core material Substances 0.000 description 20
- 238000012800 visualization Methods 0.000 description 20
- 238000009826 distribution Methods 0.000 description 19
- 230000005355 Hall effect Effects 0.000 description 18
- 239000000463 material Substances 0.000 description 18
- 238000012549 training Methods 0.000 description 18
- 230000015572 biosynthetic process Effects 0.000 description 17
- 210000004204 blood vessel Anatomy 0.000 description 17
- 239000003990 capacitor Substances 0.000 description 17
- 238000003786 synthesis reaction Methods 0.000 description 17
- 230000002262 irrigation Effects 0.000 description 16
- 238000003973 irrigation Methods 0.000 description 16
- 238000002955 isolation Methods 0.000 description 16
- 238000002847 impedance measurement Methods 0.000 description 15
- 230000002829 reductive effect Effects 0.000 description 15
- 238000000926 separation method Methods 0.000 description 15
- 238000001228 spectrum Methods 0.000 description 15
- 230000008901 benefit Effects 0.000 description 14
- 238000002059 diagnostic imaging Methods 0.000 description 13
- 230000003287 optical effect Effects 0.000 description 13
- 230000007958 sleep Effects 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 13
- 238000012986 modification Methods 0.000 description 12
- 230000004048 modification Effects 0.000 description 12
- 230000002093 peripheral effect Effects 0.000 description 12
- 239000007787 solid Substances 0.000 description 12
- 230000000903 blocking effect Effects 0.000 description 11
- 238000007726 management method Methods 0.000 description 11
- 238000013519 translation Methods 0.000 description 11
- 238000007600 charging Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 10
- 230000001976 improved effect Effects 0.000 description 10
- 230000001954 sterilising effect Effects 0.000 description 10
- 238000004659 sterilization and disinfection Methods 0.000 description 10
- 238000011144 upstream manufacturing Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 9
- 238000001914 filtration Methods 0.000 description 9
- 238000005070 sampling Methods 0.000 description 9
- 238000012546 transfer Methods 0.000 description 9
- 239000013598 vector Substances 0.000 description 9
- 229920006362 Teflon® Polymers 0.000 description 8
- 230000003750 conditioning effect Effects 0.000 description 8
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- 230000001939 inductive effect Effects 0.000 description 8
- 210000004072 lung Anatomy 0.000 description 8
- 238000012360 testing method Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 102000008186 Collagen Human genes 0.000 description 7
- 108010035532 Collagen Proteins 0.000 description 7
- 239000004809 Teflon Substances 0.000 description 7
- 230000006399 behavior Effects 0.000 description 7
- 229920001436 collagen Polymers 0.000 description 7
- 238000013461 design Methods 0.000 description 7
- 230000009977 dual effect Effects 0.000 description 7
- 230000005669 field effect Effects 0.000 description 7
- 230000002441 reversible effect Effects 0.000 description 7
- 208000025247 virus-associated trichodysplasia spinulosa Diseases 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 230000006378 damage Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 6
- 229910001416 lithium ion Inorganic materials 0.000 description 6
- 238000012806 monitoring device Methods 0.000 description 6
- 230000009467 reduction Effects 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000013538 segmental resection Methods 0.000 description 6
- 239000000243 solution Substances 0.000 description 6
- BFKJFAAPBSQJPD-UHFFFAOYSA-N tetrafluoroethene Chemical compound FC(F)=C(F)F BFKJFAAPBSQJPD-UHFFFAOYSA-N 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 230000000994 depressogenic effect Effects 0.000 description 5
- 238000002405 diagnostic procedure Methods 0.000 description 5
- 238000004520 electroporation Methods 0.000 description 5
- 230000002427 irreversible effect Effects 0.000 description 5
- SYHGEUNFJIGTRX-UHFFFAOYSA-N methylenedioxypyrovalerone Chemical compound C=1C=C2OCOC2=CC=1C(=O)C(CCC)N1CCCC1 SYHGEUNFJIGTRX-UHFFFAOYSA-N 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 206010002091 Anaesthesia Diseases 0.000 description 4
- 238000012935 Averaging Methods 0.000 description 4
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 4
- 229910005813 NiMH Inorganic materials 0.000 description 4
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 4
- 230000003213 activating effect Effects 0.000 description 4
- 230000037005 anaesthesia Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000008280 blood Substances 0.000 description 4
- 210000004369 blood Anatomy 0.000 description 4
- 239000000872 buffer Substances 0.000 description 4
- 239000004020 conductor Substances 0.000 description 4
- 238000001816 cooling Methods 0.000 description 4
- 238000010336 energy treatment Methods 0.000 description 4
- 230000000670 limiting effect Effects 0.000 description 4
- 238000011068 loading method Methods 0.000 description 4
- 238000002844 melting Methods 0.000 description 4
- 230000008018 melting Effects 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000011218 segmentation Effects 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 230000001953 sensory effect Effects 0.000 description 4
- 239000011780 sodium chloride Substances 0.000 description 4
- 238000004611 spectroscopical analysis Methods 0.000 description 4
- 210000000115 thoracic cavity Anatomy 0.000 description 4
- 238000007476 Maximum Likelihood Methods 0.000 description 3
- 238000002679 ablation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 3
- 230000007175 bidirectional communication Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000002224 dissection Methods 0.000 description 3
- 230000005670 electromagnetic radiation Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 238000001453 impedance spectrum Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- PWPJGUXAGUPAHP-UHFFFAOYSA-N lufenuron Chemical compound C1=C(Cl)C(OC(F)(F)C(C(F)(F)F)F)=CC(Cl)=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F PWPJGUXAGUPAHP-UHFFFAOYSA-N 0.000 description 3
- 230000013011 mating Effects 0.000 description 3
- 229910044991 metal oxide Inorganic materials 0.000 description 3
- 150000004706 metal oxides Chemical class 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 230000035515 penetration Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 229910052702 rhenium Inorganic materials 0.000 description 3
- 230000011664 signaling Effects 0.000 description 3
- 238000001429 visible spectrum Methods 0.000 description 3
- 102000016942 Elastin Human genes 0.000 description 2
- 108010014258 Elastin Proteins 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 2
- 238000009835 boiling Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000000701 chemical imaging Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010835 comparative analysis Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 150000001875 compounds Chemical group 0.000 description 2
- 230000001143 conditioned effect Effects 0.000 description 2
- 210000002808 connective tissue Anatomy 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000004925 denaturation Methods 0.000 description 2
- 230000036425 denaturation Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 229920002549 elastin Polymers 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000011049 filling Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000023597 hemostasis Effects 0.000 description 2
- 230000002439 hemostatic effect Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 229910052754 neon Inorganic materials 0.000 description 2
- GKAOGPIIYCISHV-UHFFFAOYSA-N neon atom Chemical compound [Ne] GKAOGPIIYCISHV-UHFFFAOYSA-N 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 230000000704 physical effect Effects 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000002459 sustained effect Effects 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 241000238366 Cephalopoda Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000699670 Mus sp. Species 0.000 description 1
- 208000031737 Tissue Adhesions Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010280 constant potential charging Methods 0.000 description 1
- 238000010277 constant-current charging Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013479 data entry Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000002828 effect on organs or tissue Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000000295 emission spectrum Methods 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000013632 homeostatic process Effects 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003601 intercostal effect Effects 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 208000018769 loss of vision Diseases 0.000 description 1
- 231100000864 loss of vision Toxicity 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 239000003607 modifier Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000002232 neuromuscular Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 230000010412 perfusion Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000001766 physiological effect Effects 0.000 description 1
- 239000013641 positive control Substances 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000008672 reprogramming Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 238000012502 risk assessment Methods 0.000 description 1
- 238000013349 risk mitigation Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 238000005549 size reduction Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000004393 visual impairment Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000009736 wetting Methods 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
-
- 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
- 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
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- 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
- A61B2017/00026—Conductivity or impedance, e.g. of tissue
- A61B2017/0003—Conductivity or impedance, e.g. of tissue of parts of the instruments
-
- 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
- A61B2017/00075—Motion
-
- 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
- A61B2017/00084—Temperature
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00734—Aspects not otherwise provided for battery operated
-
- 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
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/0063—Sealing
-
- 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
- A61B2018/00994—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound
-
- 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
- A61B2018/1226—Generators therefor powered by a battery
-
- 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
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
-
- 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
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Dentistry (AREA)
- Mechanical Engineering (AREA)
- Surgical Instruments (AREA)
Applications Claiming Priority (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201762611340P | 2017-12-28 | 2017-12-28 | |
| US201762611339P | 2017-12-28 | 2017-12-28 | |
| US201762611341P | 2017-12-28 | 2017-12-28 | |
| US62/611,340 | 2017-12-28 | ||
| US62/611,341 | 2017-12-28 | ||
| US62/611,339 | 2017-12-28 | ||
| US201862721998P | 2018-08-23 | 2018-08-23 | |
| US62/721,998 | 2018-08-23 | ||
| US16/115,240 | 2018-08-28 | ||
| US16/115,240 US11464535B2 (en) | 2017-12-28 | 2018-08-28 | Detection of end effector emersion in liquid |
| PCT/IB2018/057942 WO2019130110A1 (en) | 2017-12-28 | 2018-10-12 | Detection of end effector emersion in liquid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2021509046A JP2021509046A (ja) | 2021-03-18 |
| JP7391852B2 true JP7391852B2 (ja) | 2023-12-05 |
Family
ID=64109951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2020535630A Active JP7391852B2 (ja) | 2017-12-28 | 2018-10-12 | 液体中のエンドエフェクタの出現の検出 |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7391852B2 (pt) |
| CN (1) | CN111526816B (pt) |
| BR (1) | BR112020013057B1 (pt) |
| WO (1) | WO2019130110A1 (pt) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220031382A1 (en) * | 2020-07-28 | 2022-02-03 | Ethicon, Inc. | Battery operated tissue coring device |
| EP4059440A1 (en) * | 2021-03-15 | 2022-09-21 | Pulsify Medical | Ultrasound system |
| CN115846908A (zh) * | 2022-12-28 | 2023-03-28 | 深圳市汇川技术股份有限公司 | 激光切割控制方法、装置、设备及存储介质 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010535087A (ja) | 2007-07-31 | 2010-11-18 | エシコン・エンド−サージェリィ・インコーポレイテッド | 温度制御超音波外科用器具 |
| JP2013255793A (ja) | 2012-06-11 | 2013-12-26 | Covidien Lp | 周波数応答のモニタリングからの超音波ディセクターの温度推定および組織検出 |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7995045B2 (en) | 2007-04-13 | 2011-08-09 | Ethicon Endo-Surgery, Inc. | Combined SBI and conventional image processor |
| US7982776B2 (en) | 2007-07-13 | 2011-07-19 | Ethicon Endo-Surgery, Inc. | SBI motion artifact removal apparatus and method |
| US9089360B2 (en) * | 2008-08-06 | 2015-07-28 | Ethicon Endo-Surgery, Inc. | Devices and techniques for cutting and coagulating tissue |
| EP2391259A1 (en) | 2009-01-30 | 2011-12-07 | The Trustees Of Columbia University In The City Of New York | Controllable magnetic source to fixture intracorporeal apparatus |
| US8663220B2 (en) * | 2009-07-15 | 2014-03-04 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical instruments |
| US9226766B2 (en) * | 2012-04-09 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Serial communication protocol for medical device |
| US9241731B2 (en) * | 2012-04-09 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Rotatable electrical connection for ultrasonic surgical instruments |
| US9724118B2 (en) * | 2012-04-09 | 2017-08-08 | Ethicon Endo-Surgery, Llc | Techniques for cutting and coagulating tissue for ultrasonic surgical instruments |
| US10677764B2 (en) * | 2012-06-11 | 2020-06-09 | Covidien Lp | Temperature estimation and tissue detection of an ultrasonic dissector from frequency response monitoring |
| US10098527B2 (en) | 2013-02-27 | 2018-10-16 | Ethidcon Endo-Surgery, Inc. | System for performing a minimally invasive surgical procedure |
| US9345481B2 (en) | 2013-03-13 | 2016-05-24 | Ethicon Endo-Surgery, Llc | Staple cartridge tissue thickness sensor system |
| US9351726B2 (en) * | 2013-03-14 | 2016-05-31 | Ethicon Endo-Surgery, Llc | Articulation control system for articulatable surgical instruments |
| US11051873B2 (en) * | 2015-06-30 | 2021-07-06 | Cilag Gmbh International | Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters |
| US11058475B2 (en) | 2015-09-30 | 2021-07-13 | Cilag Gmbh International | Method and apparatus for selecting operations of a surgical instrument based on user intention |
| US10716615B2 (en) | 2016-01-15 | 2020-07-21 | Ethicon Llc | Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade |
| US11229471B2 (en) * | 2016-01-15 | 2022-01-25 | Cilag Gmbh International | Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization |
| US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
| US10555748B2 (en) * | 2016-05-25 | 2020-02-11 | Ethicon Llc | Features and methods to control delivery of cooling fluid to end effector of ultrasonic surgical instrument |
-
2018
- 2018-10-12 BR BR112020013057-5A patent/BR112020013057B1/pt active IP Right Grant
- 2018-10-12 JP JP2020535630A patent/JP7391852B2/ja active Active
- 2018-10-12 CN CN201880084539.6A patent/CN111526816B/zh active Active
- 2018-10-12 WO PCT/IB2018/057942 patent/WO2019130110A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010535087A (ja) | 2007-07-31 | 2010-11-18 | エシコン・エンド−サージェリィ・インコーポレイテッド | 温度制御超音波外科用器具 |
| JP2013255793A (ja) | 2012-06-11 | 2013-12-26 | Covidien Lp | 周波数応答のモニタリングからの超音波ディセクターの温度推定および組織検出 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111526816B (zh) | 2024-03-08 |
| WO2019130110A1 (en) | 2019-07-04 |
| JP2021509046A (ja) | 2021-03-18 |
| BR112020013057A2 (pt) | 2020-12-01 |
| BR112020013057B1 (pt) | 2024-02-15 |
| CN111526816A (zh) | 2020-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7305651B2 (ja) | 電気外科用システムの状況認識 | |
| US11464535B2 (en) | Detection of end effector emersion in liquid | |
| US11771487B2 (en) | Mechanisms for controlling different electromechanical systems of an electrosurgical instrument | |
| EP3505095B1 (en) | Mechanisms for controlling different electromechanical systems of an electrosurgical instrument | |
| JP7480044B2 (ja) | 超音波エンドエフェクタの状態推測、及びそのための制御システム | |
| JP7463067B2 (ja) | 超音波エンドエフェクタの温度制御、及びそのための制御システム | |
| JP7279051B2 (ja) | 超音波エンドエフェクタの状態の決定 | |
| JP7391852B2 (ja) | 液体中のエンドエフェクタの出現の検出 | |
| JP7350746B2 (ja) | 超音波エンドエフェクタの温度制御、及びそのための制御システム | |
| JP7383615B2 (ja) | 周波数シフトによる超音波電気機械システムの状態の決定 | |
| JP2023166617A (ja) | 超音波システムを介した組織組成の決定 | |
| JP7286654B2 (ja) | 組織の存在に従う超音波外科用器具の作動の制御 | |
| JP7258892B2 (ja) | 組織の位置に従った超音波外科用器具の制御 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20211012 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220922 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20221004 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20230104 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20230303 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230403 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230425 |
|
| A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20230725 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230908 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20231024 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231122 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 7391852 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |