WO1998014129A1 - Instruments chirurgicaux a fonctionnement electrique et unite de commande - Google Patents

Instruments chirurgicaux a fonctionnement electrique et unite de commande Download PDF

Info

Publication number
WO1998014129A1
WO1998014129A1 PCT/US1997/008997 US9708997W WO9814129A1 WO 1998014129 A1 WO1998014129 A1 WO 1998014129A1 US 9708997 W US9708997 W US 9708997W WO 9814129 A1 WO9814129 A1 WO 9814129A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
signal
speed
console
surgical tool
Prior art date
Application number
PCT/US1997/008997
Other languages
English (en)
Inventor
James F. Pitzen
Tim J. Durst
Steven R. Bartingale
Noreen A. Chowdhery
Kathy L. Hagen
Original Assignee
Minnesota Mining And Manufacturing Company
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Minnesota Mining And Manufacturing Company filed Critical Minnesota Mining And Manufacturing Company
Priority to JP10516488A priority Critical patent/JP2001501514A/ja
Priority to EP97927779A priority patent/EP0961584A1/fr
Publication of WO1998014129A1 publication Critical patent/WO1998014129A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/14—Surgical saws ; Accessories therefor
    • A61B17/142—Surgical saws ; Accessories therefor with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A61B2017/00482—Coupling with a code

Definitions

  • This invention relates to powered surgical instruments. More specifically, the present invention relates to powered surgical instruments and the power and motor control circuitry for the instruments.
  • a large class of electrically powered orthopedic instruments receives power and control commands from a dedicated console.
  • a console is typically connected to the tool it serves by a specialized cable.
  • the cable conveys power from the console to the tool.
  • the cable also conveys information about the tool to the console, such as speed request information (typically indicated by the degree to which the surgeon is depressing the tool's trigger).
  • the console is also connected to the house current, and during use it converts energy from the house current to a form suitable to drive its dedicated tool in the appropriate manner.
  • console designs are not particularly interchangeable. Different tools usually require different voltage or power to be delivered at various parts of their speed ranges. Different tools may also have different current requirements and limitations.
  • the use of a dedicated console for each different orthopedic instrument is not without its drawbacks. If several tools (and hence several consoles) are required for a procedure, countertop surface must be provided for them in the crowded operating theater. Also, when tools and cables are returned to the surgical floor after being sterilized, they must be matched up with their corresponding consoles. Further, the console is a significant part of the expense of providing the tool to the surgeon. Thus, this arrangement increases the cost associated with the procedures.
  • the present invention arises, in part, from the realization that the art requires a design for instruments which allows a single console to properly control a wide range of tools of different sizes, speed ranges, and power requirements.
  • the present invention addresses the discussed limitations in the art by providing an electrically powered : surgical instrument system wherein a single universal console is capable of serving a wide range of surgical tools.
  • a single universal console is capable of serving a wide range of surgical tools.
  • Each tool when connected to the console, communicates its own individual limitations and requirements to the console, and the console acts to power the tool within those limitations and requirements under the direction of the surgeon's commands.
  • a first aspect of the present invention includes a surgical instrument system including a console and a plurality of tools connectable to the console.
  • Each tool includes a motor
  • the console includes a motor controller connectable to a power supply.
  • the motor controller receives inputs from the tool indicative of operating parameters of the tool and provides tool control outputs which are adapted based on the inputs received from the tool.
  • the tool includes a current limit identification circuit which provides a current limit signal to the console.
  • the motor controller controls the current actually being delivered to the tool based on the current limit signal from the tool to keep the current being delivered by the motor controller within the current limit.
  • the tool detects an overspeed condition based on a tool-specific overspeed limit indicative of a maximum speed at which the tool's motor should operate.
  • the tool provides the console with a signal indicative of the overspeed condition.
  • the motor controller in the console controls the outputs to the tool to turn off the motor.
  • Another feature of the present invention includes providing the tool with finger actuated triggers so the surgeon can exert control over the tool's speed by the degree to which the surgeon depresses the trigger.
  • the motor controller detects whether the tool is attached to the console.
  • the motor controller is constructed to deactivate the motor control outputs if the cable is attached to the tool while the trigger is depressed. The outputs are reactivated once the trigger is released and depressed again.
  • the tool includes a direction switch so that the surgeon can operate the motor on the tool in a forward or reverse direction. Based on inputs from the tool, the motor controller detects when the direction switch is actuated and prohibits the change of direction until the speed of the motor has slowed below a desired level.
  • FIG. 1 is a perspective view of an exemplary surgical instrument system according to the present invention
  • FIG. 2 is a block diagram of the surgical instrument system of FIG.
  • FIG. 2 A is a more detailed block diagram of a tool shown in FIGS. 1 and 2;
  • FIG. 2B is a more detailed block diagram of a portion of a console shown in FIGS. 1 and 2;
  • FIG. 3 is an exemplary schematic diagram of a commutation circuit provided as a part of each tool in the surgical instrument system
  • FIGS. 4 A and 4B are portions of an exemplary schematic diagram of a sensor circuit provided as a part of each tool in the surgical instrument system
  • FIGS. 5 A and 5B are portions of an exemplary schematic diagram of power conditioning and indicator light control circuit blocks of a motor control circuit according to the present invention
  • FIGS. 6 A and 6B are portions of an exemplary schematic diagram of additional portions of the motor control circuit according to the present invention, beyond the circuit blocks illustrated in FIGS. 5 A and 5B.
  • FIG. 1 illustrates a surgical instrument system 20 in accordance with the present invention.
  • the surgical instrument system 20 includes a console 22, first tool 34 connected to console 22 by a cable 30, and second tool 34' which is connectable to console 22 by a cable 30'.
  • cables 30 and 301 are substantially identical.
  • Console 22 is provided with a power cord 24 for connection to the house current.
  • Console 22 also includes switch 50 and READY indicator light 35 which indicates when console 22 and tool 34 are in a "ready" operating condition.
  • a console cable connector 26 is provided on the console 22 to permit the console to be connected to the first end 28 of one of cables 30 and 30'. Second ends 32 and 32' of the cables 30 and 30' are adapted to connect to tool cable connectors 33 and 33'.
  • the depicted tool 34 is an oscillating saw suitable for the removal of bone to prepare for the attachment of joint replacement implants.
  • Tool 34' is a bone drill. However, any number of suitable tools could be included in system 20 and the remainder of this description proceeds only with respect to tool 34, for the sake of clarity.
  • Tool 34 includes saw blade 36, tool mount 38, trigger 40 and direction switch 41.
  • the surgeon controls the speed of the oscillating motion of saw blade 36 on tool mount 38 by variable pressure on the trigger 40. Some tools are required by their function to reverse direction at times, and direction control is accomplished on such tools by manipulation of direction switch 41.
  • Console 22 receives motor speed information and direction information from tool 34 and other information regarding the operating parameters of tool 34 via cable 30, and provides motor control signals and power signals to tool 34 via cable 30.
  • Tool 34 is operated according to the present invention in a closed loop fashion. Therefore, if the load on blade 36 increases, more power is fed to the motor in tool 34 to maintain output speed.
  • FIG. 2 is a block diagram of the overall schematic for surgical instrument system 20 according to the present invention.
  • Console 22 includes a power supply 42, AC power input module 43 and motor controller 44 connected to the power supply by lines 46 and 48. Master power switch So is associated with the power supply 42.
  • the motor controller 44 has motor control outputs 52, 54, and 56, which will be labeled herein 58 collectively, and sensor inputs 60, 62, 64, 66, 68, 70, and 72, which will be labeled herein 76 collectively. All the motor control outputs 58 and the sensor inputs 76 are connected to the console cable connector 26 so that they can be connected via the cable 30 to the tool 34.
  • shields 90 and 92 are provided to prevent electric fields in the motor control outputs 58 from inducing spurious signals in the sensor inputs 76.
  • a motor 78 which is conveniently a 3-phase DC brushless motor configured to receive motor control outputs 58 from motor controller 44.
  • a tool control circuit 80 adapted to provide the sensor inputs 76 to the motor controller 44 via the cable 30.
  • the tool control circuit 80 includes a commutation circuit 82 and a sensor circuit 84. These circuits receive operating power from motor controller 44 via the cable 30 through conductors 86 and 88.
  • Motor controller 44 also provides a TACH signal indicative of the speed to which motor 78 is being controlled. This is provided to tool control circuit 80 as well, and will be described in greater detail with respect to FIGS. 2 A and 2B.
  • Conductors 94 and 96 transmit operating power to the commutation circuit 82, and signals 98 and 100 communicate the status of the direction switch 41 (which is sensed on commutation circuit 82) to sensor circuit 84.
  • Signals 60, 62, and 64 are provided by the commutation circuit 82 and provide information to the motor controller 44 which is indicative of the commutation state of the motor 78. These signals are preferably generated in part by Hall effect sensors positioned adjacent the motor 78.
  • Signal 66 is an analog signal created by the sensor circuit 84 indicative of the maximum current the particular tool 34 can tolerate.
  • Signals 68 and 70 encode the position of the direction switch 41 (provided by signals 98 and 100 from commutation circuit 82) as two binary digits.
  • Signals 68 and 70 also encode certain fault conditions, (such as overspeed) and a stop condition. The stop condition is, in one instance, based on a signal received from a sensor which indicates that the trigger 40 is completely undepressed.
  • Signal 72 is an analog signal created by the sensor circuit 84 which is indicative of the power necessary to drive the particular tool 34 appropriately.
  • FIG. 2 A is a more detailed block diagram of commutation circuit 82 and sensor circuit 84 in tool 34.
  • Commutation circuit 82 includes Hall sensors 102,
  • Hall sensors 102, 104 and 106 are arranged about the rotor of motor 78 and provide commutation state signals 60, 62 and 64, back to motor controller 44, which are indicative of the commutation state of motor 78.
  • Hall sensor 106 also provides its output to sensor circuit 84, which will be described in detail below.
  • Hall sensors 108 and 110 are arranged relative to direction switch 41 on hand tool 34 to provide signals indicative of the position of direction switch 41.
  • the outputs from Hall sensors 108 and 110 are provided on conductors 98 and 100 to sensor circuit 84. Based on the signals provided by Hall sensors 108 and 110, the forward or reverse setting of direction switch 41 is obtained.
  • Sensor circuit 84 includes power conditioner 111, current limit identification circuit 113, voltage reduction circuit 115, frequency-to-voltage converter 117, temperature compensator 119, trigger sensor 121, speed com ⁇ rand circuit 123, overspeed detector 125, direction and overspeed control circuit -127, and trigger release Hall sensor 134.
  • Sensor circuit 84 receives the plurality of inputs from the sensors on commutation circuit 82 and provides outputs to motor control circuit 44 indicative of a motor speed requested by hand tool 34, the state of various detectors (such as an overspeed detector) and a current limit signal which indicates the current limit for the specific hand tool 34 being used.
  • power conditioner 111 and voltage reduction circuit 115 receive power along conductors 86 and 88 from motor control circuit 44.
  • Power conditioner 111 conditions the power (such as by filtering) and voltage reduction circuit 124 reduces the voltage levels received by power conditioner 111 to the various voltage levels required on sensor circuit 84.
  • the power is supplied to the remainder of the circuitry in sensor circuit 84, and is also provided to commutation circuit 82 to power the circuitry therein.
  • Current limit identification circuit 113 is specific to each type of hand tool 34.
  • Current limit identification circuit 113 provides a current limit signal along conductor 66 to motor controller 44.
  • the current limit signal provides an identification of the current limit of the particular hand tool 34 which is being plugged into motor control circuit 44 in console 22. This causes motor control circuit 44 to modify the current level provided to the specific hand tool 34 in response to the current limit signal received.
  • the TACH signal 74 is provided from motor controller 44' to frequency-to-voltage converter 117 in sensor circuit 84.
  • the TACH signal is -an indication of the present speed of motor 78.
  • Frequency-to- voltage converter 117 converts the pulse train which comprises TACH signal 74 into a voltage output and provides that voltage output to overspeed detector 125 and temperature compensator 119.
  • temperature compensator 119 compensates the voltage received from frequency-to- voltage converter 117 based on the temperature in the environment of sensor circuit 84.
  • the compensated voltage is provided to speed command circuit 123.
  • Speed command circuit 123 compares the compensated voltage signal, which is indicative of the actual speed of motor 78, with a signal received from trigger sensor 121.
  • Trigger sensor 121 senses the position of the trigger relative to its fully depressed and fully released states. If the trigger is fully depressed, the surgeon operating hand tool 34 desires full output speed.
  • trigger sensor 121 provides an output to speed command circuit 123 indicative of that position. The signal is thus indicative of the speed requested by the physician.
  • Speed command circuit 123 compares this signal with the compensated voltage signal from temperature compensator 119 to determine whether the speed of motor 78 should be increased or decreased. Based on this determination, speed command circuit 123 provides a speed command output to motor controller 44.
  • Overspeed detector 125 is tool specific and determines whether the speed of motor 78 is in excess of the desired maximum speed of motor 78 for the particular hand tool 34 being used. Overspeed detector 125 outputs a signal indicative of that determination to direction and overspeed control circuit 127.
  • Direction and overspeed control circuit 127 also receives the TACH signal 74 from motor controller 44, and the Hall sensor signals from Hall sensors 108 and 110 which indicate the position of the direction switch 41.
  • trigger release Hall sensor 134 is arranged relative to trigger 40 to sense when it is in a completely undepressed position. Sensor 134 provides a trigger released signal to direction and overspeed control circuit 137 based on the position of trigger 40.
  • Direction and overspeed control circuit 127 provides, at its output, a pair of code signals 68 and 70 which are used to encode the position of direction switch 41. This indicates whether motor 78 is to be operated in a forward or reverse direction. Also, direction and overspeed control circuit 127 receives the output from overspeed detector 125 and encodes a FAULT signal on outputs 68 and 70 which indicate to motor control circuit 44 that motor 78 should be stopped in response to an overspeed detection.
  • Further direction and overspeed control circuit 127 encodes a STOPMOTOR signal on outputs 68 and 70 when trigger release Hall sensor 134 indicates that trigger 40 is totally undepressed. This indicates that the surgeon has completely released trigger 40.
  • Direction and overspeed control circuit 127 also performs another function. If the TACH signal 74 becomes somehow disconnected from motor controller 44, or becomes somehow disabled, it would be inte ⁇ reted by speed command circuit 123 as if motor 78 had stopped. This would cause speed command circuit 123 to provide a speed command signal to motor controller 44 requesting additional speed. If, in actuality, motor 78 was running, and the TACH signal 74 was simply disabled, this would result in an overspeed condition which would not be detected by overspeed detector 125. Therefore, direction and overspeed control circuit 127 receives TACH signal 74 and also receives an input signal from Hall sensor 106. A pulse train on both signals indicates that motor 78 is operating.
  • TACH signal 74 is not toggling (indicating no motor activity) and Hall sensor signal 64 from Hall sensor 106 is toggling then direction and overspeed control circuit 127 inte ⁇ rets the incongruousness of the signals as a fault condition and encodes a FAULT signal on the code signals 68 and 70 provided to motor controller 44.
  • circuit 127 Before issuing a FAULT signal, circuit 127 preferably allows a short time period to elapse to see whether the two signals reconcile, in order to accommodate for circuit delays. If they do not reconcile after the short time period, the FAULT signal is issued.
  • FIG. 2B is a more detailed block diagram of motor controller 44.
  • Motor controller 44 includes scaling circuit 129, motor control logic 131, current limiter 133, command logic 135, power control circuit 137, condition and ready indicator 139, and power conditioner 141.
  • FIG. 2B also shows switch 50 and switch ON indicator 51.
  • Motor control circuit 44 receives power on lines 46 and 48 from power supply 42 shown in F-IG 2. The power is conditioned by power conditioner 141 and provided to the remainder of the circuit.
  • ON switch 50 is coupled to power conditioner 141 and, when switched ON, provides a signal to switch ON indicator 51 indicating to the physician that the motor controller 44 has been energized.
  • the speed command signal 72 provided by sensor circuit 84 is provided to scaling circuit 129 where it is scaled to an appropriate level for motor control logic 131.
  • the scaled speed command signal is provided to motor control logic 131, along with the commutation state signals from Hall sensors 102, 101 and 106 via lines 60, 62 and 64.
  • Motor control logic 131 also receives a STOP signal and a FORWARD/REVERSE signal from command logic 135. These signals are decoded from code signals 68 and 70.
  • Motor control logic 131 provides control signals to power control circuit 137 which actually provides the commutation signals 52, 54 and 56 to motor 78.
  • Motor control logic 131 provides the control signals to power control circuit 137 based on the commutation state signals 60, 62 and 64, based on the STOP signal, based on the FORWARD/REVERSE signal, and based on the scaled speed signal from scaling circuit 129.
  • Motor control logic 131 also receives an input from current limiter 133.
  • Current limiter 133 receives the current limit identification signal 66 from sensor circuit 84 indicating the maximum allowed current associated with the particular hand tool 34 being used by the physician.
  • Current limiter 133 also receives a current signal from power control circuit 137 which is indicative of the current being provided to motor 78.
  • Current limiter 133 determines whether the current being provided has reached the current limit identified by current limit identification signal 66 and provides an output signal to motor control logic 131 indicative of that determination. If the current being provided to motor 78 exceeds the current limit for the particular hand tool 34 being used, motor control logic 131 reduces the current being supplied to motor 78.
  • Motor control logic 131 also provides power control signals 143, and a tachometer pulse signal 145 to command logic 135.
  • Control signals 143 are used in indirectly controlling power control circuit 137, while tachometer pulse signal 145 forms the basis of TACH signal 74.
  • Command logic 135 also receives the commutation state signals 60, 62 and 64 from Hall sensors 102, 104 and 106. In addition, command logic 135 receives the code signals from direction and overspeed control circuit 127 in sensor circuit 84. Command logic 135 senses the states of commutation state signals 60, 62 and 64. One of the signals will be in a low logic state as long as power tool 34 is connected to motor control circuit 44. If all of the lines are in a high logic state, command logic 135 inte ⁇ rets this condition as an indication that no tool is connected to motor controller 44.
  • Command logic 135 will then not allow power to be provided to motor 78 until a hand tool has been plugged into motor controller 44, and until code signals 68 and 70 provide a STOPMOTOR signal, which indicates that the physician has completely released the trigger. This prevents the hand tool 34 from being plugged into motor 44 and having motor 78 immediately start running, such as when the physician accidentally has the trigger partially depressed at the time the tool is plugged in.
  • Command logic 135 also monitors the speed of motor 78 when the direction of motor 78 is to be reversed. Command logic 135 does not allow reverse commutation signals to be provided to motor 78 until the speed of motor 78 has been reduced to a safe level. Therefore, upon receiving the code signals 68 and 70 which indicate that the direction of motor 78 is to be reversed, command logic 135 turns off power to motor 78 until tachometer pulse signal 145, provided by motor control logic 131, has reached a sufficiently low level indicating that motor 78 is running at a slow speed. Only then will command logic 135 provide control signals to power control circuit 137 allowing reverse commutation signals to be sent to motor 78.
  • Command logic 135 also provides signals back to motor control logic 131 for use in controlling power control circuit 137.
  • command logic 135 provides outputs to condition and ready indicator 139 which contains a set of indicator lights and READY indicator light 35.
  • the outputs provided by command logic 135 are indicative of the various fault conditions or running states of motor control circuit 44.
  • Condition and ready indicator 139 may also be other visual or audible indicia observable by the operating physician or by a technician.
  • FIG. 3 illustrates an exemplary schematic diagram of a commutation circuit 82 provided as a part of each tool 34 in the surgical instrument system 20.
  • Hall effect sensors 102, 104, and 106 are positioned about the rotor of motor 78 so as to detect the commutation state (or the position) of the motor 78 (shown in FIG. 2A)
  • the Hall effect sensors are arranged in such a way relative to the rotor that at least one of them is always active, regardless of the position of the rotor.
  • FIG. 3 also shows a plurality of extra Hall sensor locations 107 and 10 9. These locations are provided so they can be populated to accommodate various rotor configurations.
  • Hall effect sensors 108 and 110 monitor the position of the direction switch 41. Sensors 108 and 110 provide signals indicative of the forward or reverse positions of switch 41, respectively. "T" filters 112, 114, and 116 are provided to dampen electromagnetic (EM) interference on signals 60, 62 and 64, respectively. 2. Sensor Circuit 84
  • FIGS. 4 A and 4B are portions of an exemplary schematic diagram of a sensor circuit 84 provided as a part of each tool 34 in the surgical instrument system 20. It is to be noted that the sensor circuit 84 is likely to be slightly different for each tool 34 provided as a part of the surgical instrument system 20. Console 22 is configured to receive the particular requirements communicated by each different sensor circuit 84 and to adapt its outputs to meet those requirements.
  • power conditioning circuit block ill receives +12 volts of DC power via conductors 86 and 88 when the tool 34 is connected to the console 22 via the cable 30.
  • Capacitors 120 and 122 condition this voltage before providing it to voltage reduction circuit 115 which uses a voltage control chip 300 such as the LT1121ACS8-5 commercially available from Linear Technology Co ⁇ ., located in Milpitas, CA, to provide +5 volts DC. This lower voltage is used elsewhere in the sensor circuit 84, and is also transmitted for use in the commutation circuit 82 by conductors 94 and 96.
  • Current limit identification circuit 113 is provided, including a voltage divider 126 which is tool-specific.
  • the voltage that voltage divider 126 places on line 66 is indicative of the maximum current the motor 78 in the specific tool 34 can withstand, and is inte ⁇ reted by the motor control circuit 44 as will be described below with respect to FIGS. 6 A and 6B.
  • the direction and overspeed control circuit 127 has several inputs, and two outputs and includes logic chip 138, Hall sensor 134 and EMI filters (or T filters) 140 and 142.
  • Commutation state signals 60, 62, and 64 are routed, in the embodiment shown in FIG. 4A, through the direction and overspeed control circuit 127 before being routed to the tool cable connector 33.
  • Signal 64 is tapped at line 130 to deliver information to the circuit indicative of whether motor 78 is running.
  • Signals 98 and 100 are provided from commutation circuit 82 and indicate the position of the direction control switch 41.
  • Line 132 conveys the TACH signal 74 which is provided from the motor control circuit 44.
  • Trigger release Hall effect sensor 134 is active only upon total trigger release, and conveys information about its state via line 136 to logic chip 138.
  • Logic chip 138 is preferably an ATF 16V8BQL chip commercially available from Atmel Co ⁇ ., located in San Jose, CA.
  • the primary task of logic chip 138 is to encode the conditions of STARTMOTOR/STOPMOTOR, and FORWARD REVERSE direction onto two binary code signals 68 and 70 which are provided to the motor control circuit 44.
  • the STARTMOTOR/STOPMOTOR conditions are encoded on signals 68 and 70 based on the state of the signal provided by Hall sensor 134 which indicates whether the trigger is depressed.
  • the FORWARD/REVERSE conditions are encoded on signals 68 and 70 based on signals 98 and 100 which indicate the position of switch 41.
  • "T" filters 140 and 142 are provided to suppress EM interference on signals 68 and 70.
  • Another task is also performed by logic chip 138.
  • Signal 64 on line 130 which is indicative of the presence or absence of actual motor activity, is crosschecked against the TACH signal 74 provided on line 132, which is indicative of the presence or absence of motor-driving power from the motor control circuit 44. Incongruous signals appearing on these two lines indicate a fault, such as a disconnection of the TACH signal 74.
  • This causes a FAULT state to be generated by logic chip 138 until the fault is corrected. In one preferred embodiment, generation of the FAULT state is maintained and causes motor 78 to be stopped until the power is cycled.
  • Logic chip 138 also sets the FAULT state if an overspeed condition is reached.
  • the overspeed signal on line 144 indicates that the motor 78 is being driven at the threshold of its overspeed limit.
  • the resultant FAULT state generated by logic chip 138 haltzs the driving energy coming to the motor 78 and forces the motor 78 to coast to a stop.
  • frequency-to- voltage converter circuit 117 is provided to convert the digital TACH signal 74 indicative of motor drive tach into a voltage on line 148. This is accomplished by a frequency-to-voltage converter chip
  • resistor 152 is tool-specific. The value chosen for this resistor adjusts the output voltage achieved for a given frequency, and thus adjusts the amount of motor speed variation corresponding to the amount of depression of the tool's trigger 40.
  • Overspeed detection circuit 125 is provided with the analog voltage via line 148, which line is directed to the negative input of op amp 156.
  • the positive input of op amp 156 is connected to a voltage divider network 158 and to a feedback signal on line 160.
  • the voltage divider network 158 is tool-specific.
  • the voltage that it generates on line 162 is indicative of the overspeed limit for the specific tool 34 in which it is implemented.
  • the op amp 156 saturates to a logic high level and the overspeed signal on line 144 indicates to logic chip 138 that an overspeed condition is not present.
  • the overspeed signal (the output of op amp 156 on line 144) goes to a logic low level and logic chip 138 reacts to the overspeed condition by causing motor 78 to coast as discussed above.
  • frequency-to-voltage converter 117 can, in some embodiments, be temperature sensitive. As the temperature increases, the output of converter 117 also increases. This sensitivity causes its output to vary with temperature, variation in the output of converter 117 causes variation in motor speed, which is undesirable. Therefore, temperature compensation circuit 119 is provided in order to compensate for the temperature sensitive nature of the frequency-to-voltage converter 117.
  • a temperature sensor 168 which is preferably a LM 45 chip commercially available from National Semiconductor, is used to sense the ambient temperature in the tool 34.
  • An op amp 170 provides isolation and signal matching for the output of temperature sensor 168 and sums that output with the voltage on line 148 to present a temperature compensated motor tach signal on line 172 to speed command circuit 123.
  • Speed command circuit 123 also receives an input indicative of speed requested by the surgeon.
  • Trigger sensor circuit 121 is present to set up the operating conditions for a linear Hall effect sensor 166.
  • Sensor 166 senses the degree to which the trigger is depressed and provides an output signal indicative thereof.
  • the maximum voltage which represents a fully squeezed trigger is set by op amp 176. It is difficult to control the consistency in the strength of the magnets used with the Hall sensor 166, from magnet-to-magnet. Also, it has been observed that the outputs of different Hall sensors 166 can vary (from sensor-to-sensor) with the same magnetic inputs.
  • the output of op amp 176 is clamped by chip 178, which chip is preferably a SSM2220 commercially available from Analog Devices, located in Norwood, MA. This clamping provides a consistent maximum voltage which represents a fully squeezed trigger.
  • the linear Hall effect sensor 166 is preferably a SS495A1 sensor commercially available from Allegro Microsystems, Inc., located in Worcester, MA.
  • Hall sensor 166 in FIG. 4 introduces an offset voltage. Therefore an op amp 180 is provided to compensate for this offset.
  • the output of the linear Hall effect sensor 166 on line 182 (which indicates what speed level the surgeon is requesting), and the temperature compensated motor tach signal on line 172 (which indicates actual motor speed) are both inputs to speed-command circuit 123. There, the two signals are compared with one another by op amp 186 to generate a speed command signal on line 188.
  • a feedback network 190 is provided to fine tune the closed loop response provided to the motor control circuit 44.
  • a unity gain op amp 192 is provided to improve the output impedance of the signal on line 188, and a "T" filter 194 is provided to suppress EM interference.
  • the error signal (or speed command signal) 72 is then provided to the motor control circuit 44.
  • FIGS. 5 A and 5B show portions of an exemplary schematic diagram of a portion of the motor control circuit 44 according to the present invention.
  • the power conditioning circuit 141 receives 34 volts DC on lines 46 and 48 from power supply 42 (shown in FIG. 2) and includes voltage converters 198, 200 and 202.
  • Power supply 42 is preferably a 34 volt, 11 amp supply commercially available from Condor DC Power Supplies, Inc., located in Oxnard, CA.
  • Voltage converter chips 198, 200, and 202 which are preferably LM 2574 HUM-ADJ chips from National Semiconductor, convert the input voltage to the levels needed by the remainder of motor controller 44.
  • Lines 204, 206, and 208 indicate the points where +12V, +5V, and -12V are connected to various points on the schematic of FIG. 6.
  • Lines 210 and 212 are connected to a switch indicator on the front panel of the console 22.
  • Condition and ready indicator 139 receives a STOP signal 214, a FAULT signal 216, FORWARD signal 218, and a REVERSE signal 220 from command logic 135 shown in FIG. 2B which is described in greater detail with respect to FIGS. 6 A and 6B. Those signals activate condition indicating LEDs 214a, 216a, 218a, and 220a respectively, and will be discussed with more particularity in connection with FIGS. 6 A and 6B. Ready signal 222 is also provided from command logic 135 and drives connector 224, which in connection with ground line 226 operates READY condition indicator 35 on the front or top panel of the console 22.
  • FIGS. 5 A and 5B are portions of an exemplary schematic diagram of the remaining portion of the motor control circuit 44 except for the circuit blocks shown in FIGS. 5 A and 5B.
  • the speed command signal 72 from sensor circuit 84 is provided to scaling circuit 129.
  • Speed command signal 72 is scaled for use in motor control circuit 44 by scaling circuit block 129.
  • Voltage divider 230 and op amp 232 provide these functions.
  • the scaled speed command signal enters motor control logic circuit 131 on line 236.
  • Motor control logic circuit 131 includes a motor control chip 238.
  • the motor control chip 238 is preferably a UC3625 device, commercially available from Unitrode Corp., located in Merrimack, NH.
  • the motor control chip 238 receives commutation information from commutation state signals 60, 62, and 64 via the cable 30.
  • the motor control chip 238 has three high side output signals provided on lines 240a, 240b, and 240c, and has three low side output signals provided on lines 242a, 242b, and 242c.
  • the low side output lines 242a, 242b, and 242c are connected directly to the power control circuit 137.
  • Power control circuit 137 includes power transistors 246a, 246b,
  • the low side output lines 242a, 242b, and 242c operate the gates of the three low side power transistors 246a, 246b, and 246c.
  • the gates of the three high side power transistors 248a, 248b, and 248c are driven indirectly, via either high side driver 250a, or high side drivers 250b, and 250c, respectively, in an arrangement known to those skilled in the art.
  • the three high side drivers 250a, 250b, and 250c are controlled only indirectly by the three high side output lines 240a, 240b, and 240c because the information on these lines must first be manipulated so as to conform to the particular drivers (either 250a or 250b and 250c) are being used in tool 34. This manipulation is performed by command logic 135 and typically consists of either inverting or buffering the signals.
  • Command logic 135 includes programmable logic device 252, clock 248 and reset circuit 262.
  • the programmable logic device 252 is preferably a ATV2500 chip commercially available from Atmel Co ⁇ ., and requires a clock signal for its operation.
  • a clock signal on line 256 is provided by clock chip 258, preferably a LMC555 chip commercially available from National Semiconductor.
  • the programmable logic device 252 has a reset pin, which is connected on line 260 to power on/reset chip 262, which is preferably a DS1232LP chip commercially available from Dallas Semiconductor Co ⁇ ., located in Dallas, TX.
  • Command logic 135 performs a number of checks prior to allowing motor- 78 to be energized.
  • Three of the pins of programmable logic device 252 are connected to commutation state signals 60, 62 and 64. Because of the physical arrangement of the Hall effect sensors 102, 104 or 106 near the motor 78, at least one of these lines is pulled to a logic low level by the Hall sensors 102, 104 and 106 so long as the tool 34 is connected to the console 22 by the cable 30. If all of signals 60, 62, and 64 are high, the programmable logic device 252 inte ⁇ rets this as a TOOL NOT CONNECTED condition and takes several precautionary steps.
  • the programmable logic device 252 determines whether the STARTMOTOR condition is encoded on lines 68 and 70. If so, this means that tool 34 was plugged in while the trigger was depressed. In order to prevent motor 78 from immediately beginning to run, the programmable logic device 252 sets a lockout condition by activating the STOP signal motor control chip 238 in motor control logic 131 and does not deactivate the STOP signal to motor control chip 238 until the STOPMOTOR condition is received by signals 68 and 70. Thus, if the surgeon connects the energized cable 30 to the tool 34 while inadvertently pulling the trigger, the tool 34 will not begin moving until the trigger is first released and then pulled again. The programmable logic device 252 also decodes the
  • the programmable logic device 252 detects a change of state from FORWARD to REVERSE or vice versa, it first checks the frequency of the TACH PULSE signal received from motor control logic 131 on line 143. If the frequency is above a predetermined level, the programmable logic device 252 sets a lockout condition and does not allow the change of direction until the frequency is below the predetermined level. Thus if the surgeon changes switch 41 while the motor 78 is running, the direction does not actually reverse until the motor has slowed to a speed which permits the reversal to be accomplished without damage to the tool 34.
  • the programmable logic device 252 also has output pins which provide STOP signal 214, FAULT signal 216, FORWARD signal 218, and REVERSE signal 220 to activate condition indicating LEDS 214a, 216a, 218a, and 220a in condition and ready indicator 139 as discussed above.
  • a signal representative of the frequency of the output on lines 262a, 262b, and 262c is sent on line 264 to op amp 266, where it undergoes a level shift.
  • the signal is then sent to the sensor circuit 84 as TACH signal 74.
  • Current limit circuit 133 includes resistor network 270, op amp 272, op amp 278 and differential op amp 280.
  • Current limit circuit 133 is provided to prevent the power control circuit 137 from sending the motor 78 more current than that tool can tolerate.
  • the resistor network 270 is connected into the main energy flow through power transistors 246 and 248 by line 271. The voltage drop across these resistors is representative of the current sent to the motor 78 on motor control outputs (commutation signals) 52, 54 and 56 and can be measured by connecting the two sides of resistor network 270 to differential op amp 272 via lines 274 and 276.
  • the tool-specific voltage on line 66 (which identifies the maximum current allowed by the specific tool 34) is connected to op amp 278 for isolation and buffering, and is then provided to differential op amp 280.
  • the output of op amp 272 is directed to the other input of op amp 280, and hence the output of op amp 280 is a comparison of the delivered current to the current limit of the tool 34 presently attached to the cable 30. If the delivered current rises to the current limit, a signal on line 282 signals the motor control chip 238 to reduce the delivered current.
  • the present invention provides significant advantages over the prior art systems.
  • the present invention provides a universal console 22 which can be used with a plurality of different tools 34.
  • Console 22 adapts and configures its outputs to accommodate the specific operating parameters, such as current limit, power requirements, speed control, and any other desirable power requirements, to the specific tool to which it is connected. Further, console 22 takes measures to ensure that the tool 34 is not erroneously powered up in a running state, to ensure that the TACH signal has not become disconnected, and to ensure that certain speed parameters are met prior to reversing the direction of operation of the tool.
  • the present invention also provides closed loop control and temperature compensation to avoid undesirable variations in output speed.

Abstract

Cette invention se rapporte à un système d'instruments chirurgicaux à fonctionnement électrique qui comprend une seule console universelle capable de desservir une large palette d'instruments chirurgicaux de façon interchangeable. Lorsqu'il est connecté à la console, chaque instrument communique ses propres paramètres de fonctionnement individuels à la console, et celle-ci agit de façon à faire fonctionner l'instrument à l'intérieur de ces paramètres sous la direction des instructions du chirurgien.
PCT/US1997/008997 1996-09-30 1997-05-28 Instruments chirurgicaux a fonctionnement electrique et unite de commande WO1998014129A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP10516488A JP2001501514A (ja) 1996-09-30 1997-05-28 電動外科用器械および制御ユニット
EP97927779A EP0961584A1 (fr) 1996-09-30 1997-05-28 Instruments chirurgicaux a fonctionnement electrique et unite de commande

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US72380096A 1996-09-30 1996-09-30
US08/723,800 1996-09-30

Publications (1)

Publication Number Publication Date
WO1998014129A1 true WO1998014129A1 (fr) 1998-04-09

Family

ID=24907744

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1997/008997 WO1998014129A1 (fr) 1996-09-30 1997-05-28 Instruments chirurgicaux a fonctionnement electrique et unite de commande

Country Status (3)

Country Link
EP (1) EP0961584A1 (fr)
JP (1) JP2001501514A (fr)
WO (1) WO1998014129A1 (fr)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003000138A3 (fr) * 1999-06-02 2003-04-24 Power Med Interventions Inc Dispositif chirurgical electromecanique a unite de memoire de donnees
WO2004107989A1 (fr) * 2003-06-03 2004-12-16 Senorx, Inc. Console de commande universelle d'un dispositif medical
WO2005037124A1 (fr) * 2003-10-10 2005-04-28 Dassym Sa Dispositif chirurgical, notamment dentaire, comportant un instrument et un module d'asservissement
CN100337596C (zh) * 2001-06-22 2007-09-19 机能医疗干预公司 电动机械式手术装置
US8231615B2 (en) 2000-12-28 2012-07-31 Senorx, Inc. Electrosurgical medical system and method
US8396806B2 (en) 2007-10-30 2013-03-12 Red Hat, Inc. End user license agreements associated with messages
US8622907B2 (en) 2006-06-05 2014-01-07 Senorx, Inc. Biopsy system with integrated imaging
US8740932B2 (en) 2001-11-30 2014-06-03 Covidien Lp Surgical device
US8764741B2 (en) 2000-12-28 2014-07-01 Senorx, Inc. High frequency power source
US8795195B2 (en) 2004-11-29 2014-08-05 Senorx, Inc. Graphical user interface for tissue biopsy system
US8858589B2 (en) 2002-01-08 2014-10-14 Covidien Lp Surgical device
US9017371B2 (en) 2007-09-21 2015-04-28 Covidien Lp Surgical device having multiple drivers
US9033868B2 (en) 1999-06-02 2015-05-19 Covidien Lp Couplings for interconnecting components of an electro-mechanical surgical device
US9113847B2 (en) 1999-06-02 2015-08-25 Covidien Lp Electro-mechanical surgical device
US9113878B2 (en) 2002-01-08 2015-08-25 Covidien Lp Pinion clip for right angle linear cutter
US9204877B2 (en) 2007-09-21 2015-12-08 Covidien Lp Surgical device having a rotatable jaw portion
US20170056119A1 (en) * 1999-06-02 2017-03-02 Covidien Lp Shaft, e.g., for an electro-mechanical surgical device
EP2165720B1 (fr) 2008-09-19 2017-11-22 Arthrex, Inc. Système de gestion de fluides
US9861362B2 (en) 2002-06-14 2018-01-09 Covidien Lp Surgical device
US10314563B2 (en) 2014-11-26 2019-06-11 Devicor Medical Products, Inc. Graphical user interface for biopsy device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101340568B1 (ko) 2013-06-04 2013-12-11 사이언스메딕 주식회사 외과수술용 쏘 및 드릴의 모터속도 제어가 가능한 트리거장치 및 방법
KR102232399B1 (ko) * 2019-04-18 2021-03-26 다이나메딕(주) 의료용 핸드피스 장치 및 의료용 핸드피스의 동작

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4768496A (en) * 1986-04-09 1988-09-06 Cooper Lasersonics, Inc. Handpiece interlock and logic control for ultrasonic surgical system
US5217478A (en) * 1987-02-18 1993-06-08 Linvatec Corporation Arthroscopic surgical instrument drive system
WO1994014129A1 (fr) * 1992-12-08 1994-06-23 Hemostatix Corporation Memoire interne locale destinee a un equipement medical electrique
WO1996026696A1 (fr) * 1995-02-28 1996-09-06 Photogenesis, Incorporated Actuateur medical lineaire pour des operations d'introduction, de manipulations et d'extraction en chirurgie

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4768496A (en) * 1986-04-09 1988-09-06 Cooper Lasersonics, Inc. Handpiece interlock and logic control for ultrasonic surgical system
US5217478A (en) * 1987-02-18 1993-06-08 Linvatec Corporation Arthroscopic surgical instrument drive system
WO1994014129A1 (fr) * 1992-12-08 1994-06-23 Hemostatix Corporation Memoire interne locale destinee a un equipement medical electrique
WO1996026696A1 (fr) * 1995-02-28 1996-09-06 Photogenesis, Incorporated Actuateur medical lineaire pour des operations d'introduction, de manipulations et d'extraction en chirurgie

Cited By (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9033868B2 (en) 1999-06-02 2015-05-19 Covidien Lp Couplings for interconnecting components of an electro-mechanical surgical device
US10314659B2 (en) 1999-06-02 2019-06-11 Covidien Lp Electro-mechanical surgical device
US20170056119A1 (en) * 1999-06-02 2017-03-02 Covidien Lp Shaft, e.g., for an electro-mechanical surgical device
US9364200B2 (en) 1999-06-02 2016-06-14 Covidien Lp Electro-mechanical surgical device
US10582978B2 (en) * 1999-06-02 2020-03-10 Covidien Lp Shaft, E.G., for an electro-mechanical surgical device
WO2003000138A3 (fr) * 1999-06-02 2003-04-24 Power Med Interventions Inc Dispositif chirurgical electromecanique a unite de memoire de donnees
US9113847B2 (en) 1999-06-02 2015-08-25 Covidien Lp Electro-mechanical surgical device
US9078654B2 (en) 1999-06-02 2015-07-14 Covidien Lp Surgical device
US8475446B2 (en) 2000-12-28 2013-07-02 Senorx, Inc. Electrosurgical medical system and method
US10172664B2 (en) 2000-12-28 2019-01-08 Senorx, Inc. Electrosurgical medical system and method
US10517663B2 (en) 2000-12-28 2019-12-31 Senorx, Inc. Electrosurgical medical system and method
US8764741B2 (en) 2000-12-28 2014-07-01 Senorx, Inc. High frequency power source
US9750558B2 (en) 2000-12-28 2017-09-05 Senorx, Inc. Electrosurgical medical system and method
US9750557B2 (en) 2000-12-28 2017-09-05 Senorx, Inc. High frequency power source
US8882760B2 (en) 2000-12-28 2014-11-11 Senorx, Inc. Electrosurgical medical system and method
US9517104B2 (en) 2000-12-28 2016-12-13 Senorx, Inc. Electrosurgical medical system and method
US10278763B2 (en) 2000-12-28 2019-05-07 Senorx, Inc. Electrosurgical medical system and method
US9408664B2 (en) 2000-12-28 2016-08-09 Senorx, Inc. Electrosurgical medical system and method
US8231615B2 (en) 2000-12-28 2012-07-31 Senorx, Inc. Electrosurgical medical system and method
CN100337596C (zh) * 2001-06-22 2007-09-19 机能医疗干预公司 电动机械式手术装置
US8740932B2 (en) 2001-11-30 2014-06-03 Covidien Lp Surgical device
US8858589B2 (en) 2002-01-08 2014-10-14 Covidien Lp Surgical device
US9113878B2 (en) 2002-01-08 2015-08-25 Covidien Lp Pinion clip for right angle linear cutter
US9861362B2 (en) 2002-06-14 2018-01-09 Covidien Lp Surgical device
US8696650B2 (en) 2003-06-03 2014-04-15 Senorx, Inc. Universal medical device control console
AU2004244989B2 (en) * 2003-06-03 2011-05-26 Senorx, Inc. Universal medical device control console
US8652121B2 (en) 2003-06-03 2014-02-18 Senorx, Inc. Universal medical device control console
US10912541B2 (en) 2003-06-03 2021-02-09 Senorx, Inc. Universal medical device control console
WO2004107989A1 (fr) * 2003-06-03 2004-12-16 Senorx, Inc. Console de commande universelle d'un dispositif medical
WO2005037124A1 (fr) * 2003-10-10 2005-04-28 Dassym Sa Dispositif chirurgical, notamment dentaire, comportant un instrument et un module d'asservissement
US8021151B2 (en) 2003-10-10 2011-09-20 Dassym Sa Surgical device, in particular a dental device, comprising an instrument and a servo-control module
US8795195B2 (en) 2004-11-29 2014-08-05 Senorx, Inc. Graphical user interface for tissue biopsy system
US10687733B2 (en) 2004-11-29 2020-06-23 Senorx, Inc. Graphical user interface for tissue biopsy system
US8622907B2 (en) 2006-06-05 2014-01-07 Senorx, Inc. Biopsy system with integrated imaging
US9375204B2 (en) 2006-06-05 2016-06-28 Senorx, Inc. Biopsy system with integrated imaging
US9204877B2 (en) 2007-09-21 2015-12-08 Covidien Lp Surgical device having a rotatable jaw portion
US10117651B2 (en) 2007-09-21 2018-11-06 Covidien Lp Surgical device having a rotatable jaw portion
US10420548B2 (en) 2007-09-21 2019-09-24 Covidien Lp Surgical device having multiple drivers
US9282961B2 (en) 2007-09-21 2016-03-15 Covidien Lp Surgical device having multiple drivers
US9017371B2 (en) 2007-09-21 2015-04-28 Covidien Lp Surgical device having multiple drivers
US10881397B2 (en) 2007-09-21 2021-01-05 Covidien Lp Surgical device having a rotatable jaw portion
US11317909B2 (en) 2007-09-21 2022-05-03 Covidien Lp Surgical device having multiple drivers
US8396806B2 (en) 2007-10-30 2013-03-12 Red Hat, Inc. End user license agreements associated with messages
EP2165720B1 (fr) 2008-09-19 2017-11-22 Arthrex, Inc. Système de gestion de fluides
US10314563B2 (en) 2014-11-26 2019-06-11 Devicor Medical Products, Inc. Graphical user interface for biopsy device

Also Published As

Publication number Publication date
JP2001501514A (ja) 2001-02-06
EP0961584A1 (fr) 1999-12-08

Similar Documents

Publication Publication Date Title
EP0961584A1 (fr) Instruments chirurgicaux a fonctionnement electrique et unite de commande
USRE34556E (en) Surgical system for powered instruments
US4705038A (en) Surgical system for powered instruments
US7998157B2 (en) Surgical tool system with a powred handpiece and a console, the console able to provide energization signals to the handpiece in either a motor drive mode or a direct drive mode
KR101406657B1 (ko) 모터를 구비한 수술 핸드피스 및 모터 로터 위치의 인덕턴스 감지된 판정에 의거하여 핸드피스 모터를 조절하는 컨트롤러
US5077506A (en) Microprocessor controlled arthroscopic surgical system
US7167537B2 (en) 4-20 mA interface circuit
US4902277A (en) Circulating a liquid through a joint
US6037724A (en) Electronic controlled surgical power tool
KR100653065B1 (ko) 전자기기 시스템 및 그 제어방법
US20070173802A1 (en) Method and system for transmitting data across patient isolation barrier
JPH0347249A (ja) 外科用手術装置
WO2002099663A8 (fr) Systeme de bus de terrain a securite intrinseque
KR102315495B1 (ko) 어태치먼트의 자동인식을 통한 의료용 핸드피스의 구동방법
CN217159579U (zh) 手术动力系统
EP0993808B1 (fr) Unité de contrôle des fonctions de pièces à main dentaires
CN215734075U (zh) 扭力控制电路及电动工具
CN220692820U (zh) 过载保护电路和手术机器人系统
CN110801262A (zh) 一种带监测功能的自停电动骨钻
WO2023137013A1 (fr) Systèmes d'identification, de réglage de mode et/ou de suivi d'instruments chirurgicaux
KR0184196B1 (ko) 자동 보드 삽입 지시 장치
KR100219438B1 (ko) 모터의 브레이크 동작시간 가변 제어장치
JPH06350553A (ja) 多重通信システム
JPS61125338A (ja) 医療用機器の駆動力供給システム

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
ENP Entry into the national phase

Ref country code: JP

Ref document number: 1998 516488

Kind code of ref document: A

Format of ref document f/p: F

WWE Wipo information: entry into national phase

Ref document number: 1997927779

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1997927779

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 1997927779

Country of ref document: EP