JP7455891B2 - ロボット制御駆動における細長い医療デバイスの負荷検知 - Google Patents
ロボット制御駆動における細長い医療デバイスの負荷検知 Download PDFInfo
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Description
本願は、2019年7月19日出願の米国仮出願62/876,489、発明の名称“LOAD SENSING OF ELONGATED MEDICAL DEVICE IN ROBOTIC ACTUATION”(Atty Dkt. C130-370)の利益を主張する。また、本願は、2020年4月20日出願の米国仮出願63/012,607、発明の名称“LOAD SENSING OF ELONGATED MEDICAL DEVICE IN ROBOTIC ACTUATION”(Atty Dkt. C130-394)の利益を主張する。これらの出願はここに援用される。
EMD:「細長い医療デバイス(EMD)」は、カテーテル(例えば、ガイドカテーテル、マイクロカテーテル、バルーン/ステントカテーテル)、ワイヤベースデバイス(例えば、ガイドワイヤ、エンボライゼーションコイル、ステントレトリーバーなど)、及びこれらのいずれかを組み合わせた医療デバイスを指す。ただし、これらに限定されない。
細長い円筒部分を有する機械的コンポーネントに作用する力及びトルクを検知するために、センサが細長い円筒部分と一列にして配置されるか、又は、歪みゲージが細長い円筒部分に取り付けられる。細長い円筒部分が細長い医療デバイス(EMD)であるカテーテル及びガイドワイヤインターベンションシステムの場合、センサは、患者の体外で力及びトルク(以降、負荷と呼ぶ)を測定することが望ましい場合があり、この場合、センサはEMDと一列にないか、EMDに取り付けられていない。患者の外で負荷を測定することで、血管内にセンサや関連電子機器(ケーブルなど)を配置するといった要件が排除される。直径が大きめのEMD(例えば、直径>2mmの一部のEP(電気生理学)カテーテル)のように、血管内に負荷センサを置くことが可能であることもあるが、0.2mmから2mmの直径をもつ小さめの径のEMDを、血管内配置が要求されるセンサ無しで使用する場合であっても、負荷を測定することが望ましいことがある。手動の処置では、医師は負荷の推定を指に頼って行っている。しかしながら、EMDに伝わる低い範囲の力とトルクについて、直径の小さいデバイスに加わる負荷を術者が正確に推定するのは非常に難しい。
[式1]Factual=Fsensed-Finertia-Fgravity-Ffriction-Fdrag
[式2]Tactual=Tsensed-Tinertia-Tgravity-Tfriction-Tdrag
式中、Finertia、Fgravity、Ffriction、及びFdragはそれぞれ、寄生の慣性、重力、摩擦、及び障害の力を表し、Tinertia、Tgravity、Tfriction、及びTdragはそれぞれ、寄生の慣性、重力、摩擦、及び障害のトルクを表す。FsensedとTsensedは、それぞれ、被負荷検知コンポーネントに接続された負荷センサによって測定される力とトルクを表す。
Claims (15)
- それぞれがステージ駆動機構に対して並進することの可能な第1の駆動モジュール及び第2の駆動モジュールと、プロセッサとを含む装置であって、
前記第1の駆動モジュールは、脈管系に挿入される細長い医療デバイスが取り外し可能に配置される経路を有するベベルギア駆動機構を備えた第1のオンデバイスアダプタを含み、前記ベベルギア駆動機構は、前記経路に配置された前記細長い医療デバイスを動作させるために前記細長い医療デバイスに係合する第1の状態と前記細長い医療デバイスに係合しない第2の状態とに駆動されるように構成され、
前記第1の駆動モジュールは、該第1の駆動モジュールによって前記細長い医療デバイスに印加される負荷を測定するために第1の負荷センサを含み、
前記第2の駆動モジュールは、前記第1のオンデバイスアダプタから延びる前記細長い医療デバイスが取り外し可能に配置される経路を画定する2つの係合面を有するクランプを備えた第2のオンデバイスアダプタを含み、前記クランプは、前記細長い医療デバイスに係合する第3の状態と前記細長い医療デバイスに係合しない第4の状態とに駆動されるように構成され、
リセット状態において、前記第1のオンデバイスアダプタを、前記第2の駆動モジュールに対して、延伸位置とリセット位置との間で移動させることを含み、
前記第2のオンデバイスアダプタと前記第2の駆動モジュールとの間に第2の負荷センサが接続されて、前記第2のオンデバイスアダプタに作用する負荷を測定するように構成され、
前記プロセッサは、前記第1の負荷センサからの第1の信号及び前記第2の負荷センサから第2の信号を受信し、前記第1の信号、前記第2の信号、前記第1のオンデバイスアダプタの状態、及び前記第2のオンデバイスアダプタの状態に応じて、前記細長い医療デバイスにかかる実際の負荷を判定する、装置。 - 前記第1のオンデバイスアダプタのベベルギア駆動機構は、ギアを回転させることにより前記細長い医療デバイスをピンチ及びアンピンチするように構成される、請求項1に記載の装置。
- 前記第2のオンデバイスアダプタのクランプは、前記2つの係合面を形成する一対の回転部材を有する、請求項2に記載の装置。
- 前記第1~第4の状態は、それぞれ、前記細長い医療デバイスを把持している、把持していない、回転させていない、時計方向に回転させている、及び反時計方向に回転させている、のうちの1つである、請求項1に記載の装置。
- 前記第1の駆動モジュールが第1のステージ並進モータを含み、前記第2の駆動モジュールが第2のステージ並進モータを含む、請求項1に記載の装置。
- 前記第1のステージ並進モータ及び前記第2のステージ並進モータは、独立して動作し、前記第1の駆動モジュール及び前記第2の駆動モジュールが、それぞれ、前記第1のステージ並進モータ及び前記第2のステージ並進モータにより、前記ステージ駆動機構に対して並進することが可能である、請求項5に記載の装置。
- 前記第1の駆動モジュールは、前記細長い医療デバイスを並進させ及び/又は回転させる、請求項1に記載の装置。
- 前記第1のオンデバイスアダプタは、前記第1の駆動モジュールが前記細長い医療デバイスを遠位方向に動作させるときに前記細長い医療デバイスをピンチし、
前記第1のオンデバイスアダプタは、前記第1の駆動モジュールが前記リセット位置へ近位方向に移動するときに前記リセット状態で前記細長い医療デバイスをアンピンチする、請求項1に記載の装置。 - 前記細長い医療デバイスは、前記リセット状態の間、前記第2のオンデバイスアダプタによってクランプされる、請求項8に記載の装置。
- 前記第1のオンデバイスアダプタと前記第2のオンデバイスアダプタとの間に、前記細長い医療デバイスの座屈を防止するデバイス支持体をさらに含む、請求項1に記載の装置。
- 前記第1の負荷センサは、軸力を測定する、請求項1に記載の装置。
- 前記第1の負荷センサは、トルクを測定する、請求項1に記載の装置。
- 前記第2の負荷センサは、軸力を測定する、請求項1に記載の装置。
- 前記第2の負荷センサは、トルクを測定する、請求項1に記載の装置。
- 前記細長い医療デバイスにかかる実際の負荷及び前記リセット状態の間の前記第1のオンデバイスアダプタの状態を示す負荷フィードバックシステムをさらに含む、請求項1に記載の装置。
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