JP7459317B2 - 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 (20)
- 負荷センサを較正する装置であって、
駆動モジュールと、該駆動モジュールに取り外し可能に連結されるカセットとを含み、
前記駆動モジュールは、駆動モジュール基部部品と、被負荷検知部品と、負荷センサと、既知の剛性を有する弾性部品とを含み、
前記被負荷検知部品が、前記駆動モジュール基部部品に対し可動であるように構成され、
前記負荷センサが、前記被負荷検知部品と前記弾性部品との間にあって、前記被負荷検知部品に作用する負荷を検知するように構成され、
前記弾性部品が、前記負荷センサと前記駆動モジュール基部部品との間にあり、
前記カセットは、ハウジングと、該ハウジング内で可動とされ、前記被負荷検知部品に連結される隔離部品とを含み、該隔離部品が、細長い医療デバイスを受け入れるように構成される、装置。 - 前記弾性部品が弾性変形したときに前記被負荷検知部品と接触する機械的ストップをさらに含み、
該機械的ストップは、前記弾性部品の変形方向において前記ハウジング及び前記駆動モジュール基部部品のどちらかに対する前記隔離部品の動作を制限し、前記弾性部品の最大変形量を前記機械的ストップと前記被負荷検知部品との間の既知の距離に制限する、請求項1に記載の装置。 - 前記機械的ストップと前記被負荷検知部品との間の距離が、前記負荷センサを過負荷から保護するように、前記負荷センサに加えられる前記弾性部品に起因する負荷の最大負荷を制限するように予め定められる、請求項2に記載の装置。
- 第2のセンサが、前記被負荷検知部品と前記機械的ストップとの間の接触を検出する、請求項2に記載の装置。
- プロセッサが、前記負荷センサの測定値からゼロオフセットを決定し、該オフセットを補正するために使用される、請求項2に記載の装置。
- プロセッサが、前記負荷センサにより測定される負荷と既知の負荷とを比較することによって較正係数を補正するために使用される、請求項2に記載の装置。
- 前記負荷センサにより測定される負荷は、前記機械的ストップに接触するまで前記被負荷検知部品を前記機械的ストップに向かって手動で押し、前記弾性部品を弾性変形させることによって取得し、
前記既知の負荷は、前記弾性部品の既知の剛性、及び、前記機械的ストップと前記被負荷検知部品との間の既知の距離に基づいて取得する、請求項6に記載の装置。 - 前記隔離部品から延出している細長い医療デバイスをクランプするための機構が使用され、
該機構により前記細長い医療デバイスをクランプした状態でステージ駆動機構により前記駆動モジュール基部部品を作動させ、前記弾性部品を弾性変形させることによって前記負荷センサにより測定される負荷を取得し、
前記既知の負荷は、前記弾性部品の既知の剛性、及び、前記機械的ストップと前記被負荷検知部品との間の既知の距離に基づいて取得する、請求項6に記載の装置。 - 前記隔離部品から延出している細長い医療デバイスは、デバイス支持体によって支持される、請求項8に記載の装置。
- ロック機構が、較正係数を自動補正するために、前記駆動モジュール基部部品とは関係なく前記被負荷検知部品を適所に固定する、請求項6に記載の装置。
- 前記機械的ストップが、前記隔離部品に収容された細長い医療デバイスにかかる軸力を測定する前記負荷センサの過負荷保護として機能し、
前記プロセッサが、前記負荷センサの自動化較正を実行する、請求項6に記載の装置。 - 前記機械的ストップが、前記隔離部品に収容された細長い医療デバイスの縦軸のまわりのトルクを測定する前記負荷センサの過負荷保護として機能し、
前記プロセッサが、前記負荷センサの自動化較正を実行する、請求項6に記載の装置。 - 前記機械的ストップが、前記隔離部品に収容された細長い医療デバイスに作用する軸力及びトルクを測定する前記負荷センサの過負荷保護として機能し、
前記プロセッサが、前記負荷センサの自動化較正を実行する、請求項6に記載の装置。 - 前記隔離部品は、細長い医療デバイスを動作させるオンデバイスアダプタを収容する、請求項1に記載の装置。
- 前記オンデバイスアダプタが、コレットを含む、請求項14に記載の装置。
- 前記オンデバイスアダプタが、リリース可能に構成されたクランプを含む、請求項14に記載の装置。
- 前記オンデバイスアダプタが、リリース可能に構成されたタイヤ駆動機構を含む、請求項16に記載の装置。
- 前記オンデバイスアダプタを駆動するために、前記駆動モジュール基部部品に取り付けられた駆動アクチュエータをさらに含む、請求項17に記載の装置。
- 前記オンデバイスアダプタを駆動するために、前記被負荷検知部品に取り付けられた駆動アクチュエータをさらに含む、請求項17に記載の装置。
- ステージ並進モータによりステージ駆動機構に沿って前記駆動モジュール基部部品が並進するときに、前記ステージ駆動機構に対する前記被負荷検知部品の相対的な縦方向位置を解除可能に固定する係止部材を、さらに含む、請求項1に記載の装置。
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CN116115883A (zh) | 2023-05-16 |
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