WO2017094063A1 - Surgery system, surgical instrument, method for controlling surgical instrument, and program for controlling surgical instrument - Google Patents

Surgery system, surgical instrument, method for controlling surgical instrument, and program for controlling surgical instrument Download PDF

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Publication number
WO2017094063A1
WO2017094063A1 PCT/JP2015/083573 JP2015083573W WO2017094063A1 WO 2017094063 A1 WO2017094063 A1 WO 2017094063A1 JP 2015083573 W JP2015083573 W JP 2015083573W WO 2017094063 A1 WO2017094063 A1 WO 2017094063A1
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WO
WIPO (PCT)
Prior art keywords
surgical instrument
power supply
unit
power
control
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PCT/JP2015/083573
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French (fr)
Japanese (ja)
Inventor
敏文 桂木
本田　吉隆
禎嘉 高見
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オリンパス株式会社
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Priority to PCT/JP2015/083573 priority Critical patent/WO2017094063A1/en
Publication of WO2017094063A1 publication Critical patent/WO2017094063A1/en

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    • 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

Definitions

  • the present invention relates to a surgical system, a surgical instrument, a surgical instrument control method, and a surgical instrument control program.
  • Surgical instruments for treating a living tissue by receiving power from a power supply device and applying energy to the living tissue to be treated are known.
  • International Publication No. WO2013 / 086045 discloses a technique related to a surgical instrument for performing an electrosurgical operation or a thermal surgical operation.
  • a surgical instrument is provided with a chip that generates heat when electric power is supplied.
  • the power supply device that supplies power to the surgical instrument adjusts the supplied power so as to prevent the chip from overheating.
  • a surgical system including a surgical instrument as described above and a power supply device that supplies power thereto
  • the power supply device is repeatedly used over a long period of time.
  • various types of surgical instruments and they are used while being replaced.
  • the power supply to the surgical instrument is controlled by the controller provided in the power supply device as in the surgical system disclosed in the above-mentioned International Publication WO2013 / 086045
  • the power supply is used in order to use a new method related to the power supply. It is necessary to update the control program of the device. However, labor is required to update the power supply program owned by the user and used for a long time in a timely manner.
  • An object of the present invention is to provide a surgical system, a surgical instrument, a surgical instrument control method, and a surgical instrument control program capable of easily introducing a new surgical instrument control method.
  • a surgical system includes a surgical instrument for performing a treatment and a power supply device for supplying power to the surgical instrument, and the surgical instrument and the power supply device cooperate with each other.
  • the power supply apparatus controls the operation of the power source, a drive unit that supplies power to the surgical instrument using power supplied from the power source, and the drive unit.
  • a power control unit that cooperates with the surgical instrument, the surgical instrument outputs an energy related to the electric power supplied from the drive unit as energy used for the treatment, and the power source
  • a surgical instrument control unit that calculates control information related to control of the operation of the drive unit in cooperation with the control unit;
  • the surgical instrument is a surgical instrument for performing a treatment, and a power source and a drive unit that supplies power to the surgical instrument using power supplied from the power source,
  • a surgical instrument used with a power supply device including a power supply control unit that cooperates with the surgical instrument to control the drive unit, wherein energy related to the power supplied from the drive unit is used for the treatment
  • a surgical instrument control unit that calculates control information related to control of the operation of the drive unit in cooperation with the power supply control unit.
  • a surgical instrument control method is a surgical instrument that performs treatment by receiving power supplied from a power supply device, and relates to a surgical instrument control unit and the power supplied from the power supply device.
  • a surgical instrument control method including an instrument function unit that outputs energy as energy used for the treatment, wherein the surgical instrument control unit acquires an output target value from a power supply control unit provided in the power supply device And the power supply device that obtains power input to the appliance function unit as an output detection value and outputs power to the appliance function unit based on the output target value and the output detection value Calculating control information related to the control of the operation of the drive unit provided in the control unit, and outputting the control information to the power supply apparatus.
  • a surgical instrument control program is a surgical instrument that performs treatment by receiving power supplied from a power supply device, and relates to a surgical instrument control unit and the power supplied from the power supply device.
  • a surgical instrument control program comprising an instrument function unit that outputs energy as energy used for the treatment, and the surgical instrument control unit acquires an output target value from a power supply control unit provided in the power supply device And the power supply device that obtains power input to the appliance function unit as an output detection value and outputs power to the appliance function unit based on the output target value and the output detection value
  • the control information related to the control of the operation of the drive unit provided in the control unit is calculated, and the control information is output to the power supply device.
  • FIG. 1 is a figure showing an outline of an example of the appearance of the operation system concerning one embodiment.
  • FIG. 2 is a block diagram illustrating an outline of a configuration example of the surgical operation system according to the first embodiment.
  • FIG. 3 is a flowchart illustrating an outline of an example of power control in the surgical operation system according to the embodiment.
  • FIG. 4 is a flowchart illustrating an outline of an example of surgical instrument control in the surgical system according to the embodiment.
  • FIG. 5 is a block diagram illustrating an outline of a configuration example of the surgical operation system according to the first modification of the first embodiment.
  • FIG. 6 is a block diagram illustrating an outline of a configuration example of a surgical operation system according to a second modification of the first embodiment.
  • FIG. 7 is a block diagram illustrating an outline of a configuration example of a surgical operation system according to the second embodiment.
  • FIG. 8 is a perspective view showing an example of the configuration around the heater.
  • FIG. 1 A schematic diagram of the appearance of the surgical system 1 according to the present embodiment is shown in FIG.
  • the surgical system 1 is a device used for treatment of a living tissue, and is used, for example, for a procedure for sealing, hemostasis, separating, or incising a tissue.
  • the surgical system 1 performs treatment by applying energy to living tissue.
  • the surgical system 1 includes a surgical instrument 100 for performing a treatment and a power supply device 200 for supplying power to the surgical instrument 100.
  • the surgical instrument 100 and the power supply device 200 operate in cooperation.
  • the surgical instrument 100 is a linear type surgical treatment instrument for performing treatment by, for example, penetrating the abdominal wall.
  • the surgical instrument 100 includes a handle 120, a shaft 116 attached to the handle 120, and a grip 110 that is an end effector provided at the tip of the shaft 116.
  • the gripping part 110 has a first gripping member 112 and a second gripping member 114.
  • the grasping unit 110 is configured to grasp a biological tissue that is a treatment target between the first grasping member 112 and the second grasping member 114.
  • the grasping unit 110 is a treatment unit that grasps a living tissue as a treatment target and performs a treatment such as coagulating or incising the living tissue.
  • the handle 120 includes a plurality of operation knobs 122 for operating the grip portion 110.
  • the grip 110 side is referred to as the distal end side
  • the handle 120 side is referred to as the proximal end side.
  • the shape of the surgical instrument 100 shown here is an example, and other shapes may be used as long as they have similar functions.
  • the shaft may be curved.
  • the technology according to the present embodiment is not limited to the treatment apparatus used in the rigid endoscope operation as shown in FIG. 1 but is also applied to the treatment apparatus used in the endoscopic operation using the flexible endoscope. obtain.
  • the surgical instrument 100 is connected to the power supply device 200 via the cable 190.
  • the cable 190 and the power supply apparatus 200 are connected by a connector 195, and this connection is detachable. That is, the surgical system 1 is configured so that the surgical instrument 100 used for each treatment can be replaced.
  • a foot switch 290 is connected to the power supply device 200.
  • the foot switch 290 operated with a foot may be replaced with a hand switch operated with a hand or other switches.
  • the pedal of the foot switch 290 When the operator operates the pedal of the foot switch 290, the supply of energy from the power supply device 200 to the surgical instrument 100 is switched on / off.
  • the surgical instrument 100 includes a surgical instrument control unit 130, an instrument storage unit 150, an instrument function unit 160, an output detection unit 170, and an operation input unit 180.
  • the appliance function unit 160 functions when supplied with the power output from the power supply device 200.
  • the instrument function part 160 outputs the energy which concerns on the electric power (electric energy) output from the power supply device 200 as energy used for a treatment.
  • the instrument function unit 160 converts the power output from the power supply apparatus 200 into an energy form used for the treatment and outputs it, or causes it to act on the living tissue that is the treatment target.
  • the energy transmitted from the instrument function unit 160 acts on the living tissue grasped by the grasping unit 110, so that the living tissue is treated.
  • the appliance function unit 160 may be, for example, a heater that converts electric power into heat.
  • the heater is disposed, for example, in the vicinity of a portion that contacts at least one of the first grasping member 112 and the second grasping member 114 with the living tissue.
  • the heat generated by the heater is transmitted to the living tissue.
  • a living tissue is treated by this heat.
  • the instrument function unit 160 can be, for example, an ultrasonic transducer that converts electric power into ultrasonic vibration.
  • the ultrasonic transducer is connected to the second gripping member 114, for example.
  • the second grasping member 114 is vibrated by the ultrasonic transducer, and frictional heat is generated between the second grasping member 114 and the living tissue in contact with the second grasping member 114.
  • the living tissue that comes into contact with the second grasping member 114 is treated by this frictional heat.
  • the instrument function unit 160 may be, for example, an electrode that contacts a living tissue and allows a high-frequency current to flow through the living tissue.
  • the electrodes are provided, for example, at portions of the first grasping member 112 and the second grasping member 114 that are in contact with the living tissue.
  • the living tissue When an electric current flows through the electrode to the living tissue, the living tissue generates heat due to the electrical resistance of the living tissue. A living tissue is treated by this heat.
  • the instrument function unit 160 may be a motor that moves a cutter for cutting biological tissue with a sharp blade, a motor that operates a mechanism for taking out a staple of a stapler, or the like.
  • the output detection unit 170 functions to acquire information related to power output from the power supply apparatus 200 and input to the appliance function unit 160.
  • the output detection unit 170 transmits the acquired information to the surgical instrument control unit 130.
  • the surgical instrument control unit 130 performs various calculations related to the operation of the surgical instrument 100. For example, the surgical instrument control unit 130 performs a calculation to obtain control information for controlling the output of the power supply device 200 that is input to the instrument function unit 160. This calculation may include a calculation specific to the surgical instrument 100 according to the model of the surgical instrument 100 or the like. In addition, information acquired from the output detection unit 170 is used for this calculation.
  • the surgical instrument control unit 130 outputs control information for controlling the output of the power supply device 200 to the power supply device 200.
  • the surgical instrument control unit 130 functions in cooperation with a power supply control unit 210 of the power supply device 200 described later in order to control the output of the power supply device 200.
  • the instrument storage unit 150 stores various programs, parameters, tables, and the like including a control program used for calculation by the surgical instrument control unit 130. Information stored in the instrument storage unit 150 is read by the surgical instrument control unit 130 as necessary. In addition, information is written into the instrument storage unit 150 by the surgical instrument control unit 130 as necessary.
  • the operation input unit 180 is an input device or the like provided in the surgical instrument 100.
  • the operation input unit 180 can include, for example, a button switch for switching on or off the energy output of the surgical instrument 100. Input to the operation input unit 180 is detected by the power supply device 200.
  • the power supply apparatus 200 includes a power control unit 210, a power storage unit 230, a power source 240, a drive unit 250, a power input unit 272, a display unit 274, and an input receiving unit 280.
  • the power source 240 is a power source that supplies power to each part of the surgery system 1.
  • the drive unit 250 drives the instrument function unit 160 of the surgical instrument 100 under the control of the power supply control unit 210. That is, the drive unit 250 supplies power to the appliance function unit 160 according to an instruction from the power control unit 210 using the power supplied from the power source 240.
  • the drive unit 250 may include an amplifier (amplifier), a regulator, and the like.
  • the input reception unit 280 is an interface through which an input signal to the power supply control unit 210 is input.
  • the input receiving unit 280 can include, for example, a terminal and an A / D converter.
  • an input to the operation input unit 180 of the surgical instrument 100 is transmitted to the power supply control unit 210 via the input receiving unit 280.
  • an input to the foot switch 290 is transmitted to the power control unit 210 via the input receiving unit 280.
  • the input to the power input unit 272 is transmitted to the power control unit 210 via the input receiving unit 280.
  • the power supply control unit 210 controls the operation of each unit of the power supply device 200. In addition, the power control unit 210 transmits and receives information to and from the surgical instrument control unit 130. In addition, information related to the input to the foot switch 290 is input to the power control unit 210 via the input receiving unit 280. The power supply control unit 210 controls the operation of the drive unit 250 based on input to the foot switch 290, control information for controlling the output of the power supply device 200 acquired from the surgical instrument control unit 130, and the like.
  • the control signal output from the power supply control unit 210 to the drive unit 250 may be a control signal corresponding to the control information acquired from the surgical instrument control unit 130 on a one-to-one basis.
  • the control signal may be a control signal created by performing a predetermined process on the control information acquired from the surgical instrument control unit 130.
  • the calculation performed by the power supply control unit 210 to control the operation of the drive unit 250 is a predetermined calculation that does not change depending on the type of the surgical instrument 100, for example.
  • the power storage unit 230 stores various programs, parameters, tables, and the like used for computations by the power control unit 210. Information stored in the power storage unit 230 is read by the power control unit 210 as necessary. Information is written in the power storage unit 230 by the power control unit 210 as necessary.
  • the display unit 274 includes a display for displaying various information such as the power supply device 200.
  • the display unit 274 displays various types of information under the control of the power supply control unit 210.
  • the display unit 274 displays information such as the type of the surgical instrument 100 connected to the power supply apparatus 200, the currently set target value, the current output value, and the like.
  • the power input unit 272 is an input device or the like provided in the power supply device 200.
  • the power input unit 272 may include, for example, a button switch, a dial, a touch panel provided on the display unit 274, and the like.
  • An instruction from the user is input to the power input unit 272.
  • An input to the power input unit 272 is transmitted to the power control unit 210 via the input receiving unit 280.
  • the surgical instrument control unit 130 and the power supply control unit 210 include integrated circuits such as a central processing unit (CPU), an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA).
  • the surgical instrument control unit 130 and the power supply control unit 210 may each be configured by one integrated circuit or the like, or may be configured by combining a plurality of integrated circuits. The operation of these integrated circuits is performed in accordance with, for example, a program recorded in the instrument storage unit 150 or the power storage unit 230 or a recording area in the integrated circuit.
  • step S ⁇ b> 101 the power control unit 210 acquires information on the surgical instrument 100 connected to the power supply device 200.
  • the power supply control unit 210 communicates with, for example, the surgical instrument control unit 130 and acquires the model information of the surgical instrument 100 and the like.
  • the surgical instrument 100 is provided with a sign indicating the type information, and the power control unit 210 may acquire the type information of the surgical instrument 100 based on the sign.
  • step S102 the power supply control unit 210 sets a target for the output of the surgical instrument 100.
  • This target is based on, for example, a value input by the user using the power input unit 272.
  • the information input from the user includes, for example, the type of treatment such as whether the tissue is cut or hemostasis, a value selected from output levels 1 to 3 prepared in advance, and the like. Further, the target value set here is transmitted to the surgical instrument control unit 130 of the surgical instrument 100.
  • step S103 the power supply control unit 210 determines whether or not to turn on the output of the surgical instrument 100. For example, when the foot switch 290 is stepped on, the power supply control unit 210 detects this via the input receiving unit 280 and determines to turn on the output. When the switch of the operation input unit 180 is turned on, the power supply control unit 210 detects this via the input reception unit 280 and determines to turn on the output. When the output is turned on, the process proceeds to step S104.
  • step S104 the power supply controller 210 acquires control information from the surgical instrument controller 130.
  • This control information includes information related to control of power output from the drive unit 250 of the power supply apparatus 200.
  • This control information may be, for example, an instruction signal that has a one-to-one correspondence with a control signal output from the power supply control unit 210 to the drive unit 250.
  • the control information may be, for example, an instruction signal immediately preceding the control signal output from the power supply control unit 210 to the drive unit 250. That is, a control signal output from the power supply control unit 210 to the drive unit 250 may be created by performing predetermined processing commonly applied to the instruction signal.
  • the instruction signal is output from the power supply control unit 210 to the drive unit 250 by performing predetermined processing corresponding to, for example, the model of the surgical instrument 100.
  • a control signal may be generated.
  • step S105 the power supply control unit 210 sets an output value related to the power output from the drive unit 250 using the control information acquired from the surgical instrument control unit 130.
  • a predetermined initial value is set for the first output.
  • an output for detecting an initial state is performed for the first output.
  • step S106 the power supply control unit 210 causes the drive unit 250 to perform output based on the set output value. Thereafter, the process returns to step S102.
  • step S107 the power supply control unit 210 stops the output of the drive unit 250.
  • step S108 the power control unit 210 determines whether or not the main power is turned off. When it is determined that the main power is not turned off, that is, when it is determined that the main power is still on, the process returns to step S102. On the other hand, when it is determined that the main power supply has been turned off, the power supply process ends.
  • Surgical instrument control starts when the surgical instrument 100 is connected to the power supply apparatus 200 and the power supply apparatus 200 is turned on.
  • step S ⁇ b> 201 the surgical instrument control unit 130 acquires an output target value from the power supply control unit 210.
  • the output target value is the value set in step S102 of the power supply control.
  • the output target value may be any value as long as it is a value related to the output of the instrument function unit 160.
  • step S202 the surgical instrument control unit 130 determines whether or not the output of the surgical instrument 100 is turned on.
  • the surgical instrument control unit 130 can make this determination by acquiring information on whether or not to turn on the output obtained by the determination in step S103 from the power supply control unit 210, for example.
  • the process proceeds to step S203.
  • step S ⁇ b> 203 the surgical instrument control unit 130 acquires an output detection value related to power input from the output detection unit 170 to the instrument function unit 160.
  • step S ⁇ b> 204 the surgical instrument control unit 130 calculates control information that is information related to control of power output from the drive unit 250 using the acquired output detection value.
  • the calculation of the control information can include, for example, a calculation related to general feedback control performed so that the output of the surgical instrument 100 matches the target.
  • the calculation performed in step S204 differs depending on the type of surgical instrument 100.
  • the surgical instrument 100 is of a type in which a heater is provided and a living tissue is treated with heat
  • the power input to the heater is controlled based on the output power value, output phase, heater impedance, etc.
  • the operation for this is performed.
  • the surgical instrument 100 is of a type in which a high-frequency current is passed through the living tissue and the living tissue is treated with heat generated by the current flowing, the output power value, the output phase, the impedance of the living tissue, etc. Based on the above, an operation for controlling the high-frequency power input to the circuit is performed.
  • the surgical instrument 100 when the surgical instrument 100 is of a type that treats a living tissue by frictional heat generated between the first grasping member 112 and the living tissue due to ultrasonic vibration, the output power value, phase, or Based on the frequency, the impedance of the circuit, etc., an operation for controlling the electric power supplied to the ultrasonic transducer is performed.
  • step S204 the surgical instrument control unit 130 outputs the calculated control information to the power supply control unit 210 in step S205. Thereafter, the process returns to step S201.
  • the control information is repeatedly calculated by the surgical instrument control unit 130 based on the value detected by the output detection unit 170.
  • This control information is transmitted to the power supply control unit 210.
  • the power supply control unit 210 operates the drive unit 250 based on the control information
  • the drive unit 250 outputs power based on the control information calculated by the surgical instrument control unit 130.
  • step S202 When it is determined in step S202 that the output is not on, the process proceeds to step S206.
  • step S206 the surgical instrument control unit 130 determines whether or not the main power supply is turned off. When it is determined that the main power source is not turned off, that is, when it is determined that the main power source is still on, the processing returns to step S201. On the other hand, when it is determined that the main power supply has been turned off, the surgical instrument control ends.
  • the surgical instrument 100 is replaced and used, for example, every time surgery is performed.
  • various types of surgical instruments 100 there are various types of surgical instruments 100, and new types are successively available.
  • the power supply apparatus 200 is used repeatedly over a long period of time. For this reason, for example, considering that all calculations related to the control of the power supply apparatus 200 are performed inside the power supply apparatus 200, each time a new type of surgical instrument 100 is provided, a new control method is provided, etc. Therefore, it is necessary to update a program or the like in the power supply apparatus 200.
  • the control information used for the power output from the power supply device 200 is calculated by the surgical instrument control unit 130 of the surgical instrument 100. For this reason, when a new type of surgical instrument 100 is provided, when a new control method is provided, a newly required program or the like can be provided in the surgical instrument 100. As a result, the surgical instrument control unit 130 calculates control information, so that updating of a program or the like in the power supply apparatus 200 is not required.
  • the surgical system 1 when a new type of surgical instrument 100, a new control method, and the like are provided, the user can use them quickly and easily.
  • FIG. 5 shows an outline of a configuration example of the surgery system 1 according to this modification.
  • the surgical instrument 100 is provided with an output detection unit 170 that detects a value related to the output of the drive unit 250.
  • the power supply device 200 is provided with an output detection unit 260 that detects a value related to the output of the drive unit 250.
  • the output detection value detected by the output detection unit 260 provided in the power supply apparatus 200 is transmitted to the surgical instrument control unit 130 via the power supply control unit 210.
  • the surgical instrument control unit 130 calculates control information using the output detection value acquired via the power supply control unit 210.
  • the surgical system 1 can obtain the same effects as those of the first embodiment.
  • the circuit configuration in the surgical instrument 100 can be simplified.
  • FIG. 6 shows an outline of a configuration example of the surgery system 1 according to this modification.
  • the output of the drive unit 250 is controlled by the power supply control unit 210 based on the control information calculated by the surgical instrument control unit 130.
  • the surgical instrument control unit 130 directly controls the output of the drive unit 250.
  • information related to the on / off of the foot switch and information related to the target value of the output are transmitted from the power supply control unit 210 to the surgical instrument control unit 130.
  • the surgical instrument control unit 130 generates a control signal for controlling the drive unit 250 based on the information and the output detection value acquired from the output detection unit 170, and outputs the control signal to the drive unit 250. .
  • the processes in steps S104 to S106 are different from those in the first embodiment.
  • the processes in steps S104 to S106 according to the first embodiment are not performed. Instead, the power supply control unit 210 only transmits information related to turning on or off the foot switch to the surgical instrument control unit 130.
  • the surgical system 1 can obtain the same effects as those of the first embodiment.
  • the drive unit 250 is controlled without going through the power supply control unit 210, the degree of freedom of the control method is higher than in the case of the first embodiment, and it can easily cope with a large change in the surgical instrument 100. obtain.
  • the instruction from the user indicating whether the output is turned on or off may be input to the foot switch 290 or may be input to the operation input unit 180 such as a hand switch of a surgical instrument. Whether input to the foot switch 290 or the operation input unit 180, the power supply control unit 210 detects the input via the input receiving unit 280 and transmits the information to the surgical instrument control unit 130. By centrally managing the on / off detection of the output by the power supply control unit 210, there is an advantage that information can be easily managed.
  • the present invention is not limited to this.
  • the surgical instrument control unit 130 may detect input to the operation input unit 180 of the surgical instrument 100 and transmit the information to the power supply control unit 210.
  • the power control unit 210 of the power supply apparatus 200 detects the input and transmits the information to the surgical instrument control unit 130.
  • the surgical instrument control unit 130 detects the input and transmits the information to the power supply control unit 210.
  • FIG. 7 shows an outline of a configuration example of the surgery system 2 according to the present embodiment.
  • the surgical system 2 includes a surgical instrument 101 and a power supply device 201.
  • the surgical instrument 101 includes a surgical instrument control circuit 131 and an instrument storage device 151 corresponding to the surgical instrument control unit 130 and the instrument storage unit 150 according to the first embodiment.
  • the surgical instrument control circuit 131 is an integrated circuit such as a CPU, ASIC, or FPGA.
  • the surgical instrument control circuit 131 performs various calculations.
  • the instrument storage device 151 is, for example, a semiconductor memory.
  • the instrument storage device 151 stores various types of information necessary for calculation by the surgical instrument control circuit 131.
  • the surgical instrument 101 includes a heater 161 corresponding to the instrument function unit 160 according to the first embodiment.
  • the heater 161 is provided on the first holding member 112 and the second holding member 114.
  • a heat transfer member 310 made of, for example, copper is provided on the surfaces of the first grasping member 112 and the second grasping member 114 that come into contact with the living tissue.
  • the heater 161 has a structure in which a heat generating member 324 is provided on a substrate 322.
  • the substrate 322 is, for example, a polyimide substrate.
  • the substrate 322 is slightly smaller than the heat transfer member 310 and has the same shape as the heat transfer member 310.
  • the heat generating member 324 is, for example, a stainless (SUS) resistance pattern formed on the substrate 322.
  • the heat generating member 324 has both ends provided on the base end side, and has a substantially U-shaped pattern. This pattern is formed in a wave shape so as to cover a wide area of the substrate while reducing the line width in order to increase the electrical resistance value.
  • One end of a conducting wire 330 is connected to each end of the heat generating member 324.
  • the other end of the conducting wire 330 is electrically connected to a driving circuit 251 of the power supply device 201 described later.
  • the heat generating member 324 When electric power is supplied to the heat generating member 324, the heat generating member 324 generates heat by converting electric power into heat. Heat generated by the heat generating member 324 is transmitted to the heat transfer member 310 through the substrate 322. This heat is transmitted to the living tissue in contact with the heat transfer member 310, and the living tissue is heated.
  • the surgical instrument 101 includes a voltage acquisition circuit 171 and a current acquisition circuit 172 corresponding to the output detection unit 170 of the first embodiment.
  • the voltage acquisition circuit 171 takes out a signal related to the voltage applied to the heater 161.
  • the signal acquired by the voltage acquisition circuit 171 is transmitted to the surgical instrument control circuit 131. Based on this signal, the surgical instrument control circuit 131 calculates the voltage value applied to the heater 161.
  • the current acquisition circuit 172 extracts a signal related to the current applied to the heater 161.
  • the signal acquired by the current acquisition circuit 172 is transmitted to the surgical instrument control circuit 131. Based on this signal, the surgical instrument control circuit 131 calculates the current value applied to the heater 161.
  • the surgical instrument 101 includes a type recording circuit 191.
  • the type recording circuit 191 has information regarding the type of the surgical instrument 101 that can be recognized by the power supply device 201 to which the surgical instrument 101 is connected.
  • the type recording circuit 191 may include a resistance element corresponding to the type. That is, the power supply control circuit 211 of the power supply device 201 described later reads the resistance value of the model recording circuit 191 when the surgical instrument 101 is connected to the power supply device 201 and determines the type of the surgical instrument 101.
  • the power supply device 201 corresponds to the power control unit 210, the power storage unit 230, the power supply 240, the drive unit 250, the power input unit 272, the display unit 274, and the input reception unit 280 according to the first embodiment.
  • a circuit 211, a power storage device 231, a power supply 240, a drive circuit 251, an input device 273, a display panel 275, and an input reception circuit 281 are provided.
  • the power supply control circuit 211 is an integrated circuit such as a CPU, an ASIC, or an FPGA.
  • the power supply control circuit 211 performs various calculations.
  • the power storage device 231 is a semiconductor memory, for example.
  • the power storage device 231 stores various types of information necessary for calculation by the power control circuit 211.
  • the input reception circuit 281 includes, for example, an A / D converter.
  • the input reception circuit 281 transmits input signals from the foot switch 290, the input device 273, and the like to the power supply control circuit 211.
  • the drive circuit 251 supplies power to the heater 161 of the surgical instrument 101 based on the power supplied from the power supply 240 under the control of the power supply control circuit 211.
  • the heater 161 generates heat according to the electric power supplied from the drive circuit 251.
  • the display panel 275 is a liquid crystal display panel provided on the front panel of the power supply device 201, for example.
  • the display panel 275 displays characters, graphics, and the like under the control of the power supply control circuit 211.
  • the input device 273 includes a button switch, a touch panel disposed on the display panel 275, and the like.
  • step S101 the power supply control circuit 211 reads the resistance value of the model recording circuit 191, and acquires the model of the surgical instrument 101 connected to the power supply device 201 from the resistance value. This type of information can be used for various later settings.
  • step S102 the power supply control circuit 211 sets a target temperature for heating the living tissue to be treated by the surgical instrument 101 based on the input to the input device 273.
  • the power supply control circuit 211 transmits the set target temperature to the surgical instrument control circuit 131.
  • the surgical instrument control circuit 131 acquires the target temperature from the power supply control circuit 211 in step S201.
  • step S103 the power supply control circuit 211 acquires an input to the foot switch 290, and determines whether or not it is turned on. When the foot switch is turned on, the fact is transmitted to the surgical instrument control circuit 131.
  • the surgical instrument control circuit 131 acquires that the foot switch 290 is turned on. As a result, it is determined that the power is turned on in step S202, and the process proceeds to step S203.
  • step S203 the surgical instrument control circuit 131 acquires a value relating to the voltage applied to the heater 161 from the voltage acquisition circuit 171. Based on this value, the surgical instrument control circuit 131 calculates the voltage value applied to the heater 161. In addition, the surgical instrument control circuit 131 acquires a value relating to the current applied to the heater 161 from the current acquisition circuit 172. Based on this value, the surgical instrument control circuit 131 calculates a current value applied to the heater 161.
  • step S204 the surgical instrument control circuit 131 acquires the resistance value of the heat generating member 324 included in the heater 161 based on the voltage value and the current value applied to the heater 161.
  • the resistance value of the heat generating member 324 has a correlation with the temperature of the heat generating member 324. Therefore, the surgical instrument control circuit 131 generates heat based on the resistance value of the heat generating member 324 by referring to the table indicating the correlation between the resistance value of the heat generating member 324 and the temperature stored in the instrument storage device 151.
  • the temperature of the member 324 can be calculated.
  • the surgical instrument control circuit 131 controls how much power input to the heater 161 should be increased or decreased based on the difference between the calculated temperature of the heat generating member 324 and the set target temperature. Is calculated based on a predetermined calculation formula. By this calculation, the operation of each part is adjusted so that the temperature related to the heater 161 such as the heat generating member 324 or the heat transfer member 310 is maintained at the target temperature.
  • step S205 the surgical instrument control circuit 131 outputs the calculated control information to the power supply control circuit 211.
  • step S104 the power supply control circuit 211 acquires control information from the surgical instrument control circuit 131.
  • step S105 the power supply control circuit 211 sets the output value of the drive circuit 251 based on the acquired control information. For example, the power supply control circuit 211 calculates a new output setting value by causing the control information acquired with respect to the current output setting value of the driving circuit 251 to act by a predetermined calculation method. The power supply control circuit 211 creates a control signal to the drive circuit 251 corresponding to the calculated output setting value.
  • step S106 the power supply control circuit 211 outputs a control signal based on the new output setting value to the drive circuit 251, and causes the drive circuit 251 to output power.
  • the temperature of the living tissue that is the treatment target is adjusted to the set target temperature. In this way, the living tissue grasped by the grasping unit 110 is treated at the target temperature.

Abstract

This surgical system (1) includes a surgical instrument (100) for performing treatments and a power device (200) for supplying power to the surgical instrument. The power device (200) includes a power source (240), a drive unit (250) that supplies power to the surgical instrument (100) using the power supplied from the power source, and a power source control unit (210) that cooperates with the surgical instrument to control operation of the drive unit. The surgical instrument (100) includes an instrument function unit (160) that outputs energy of the power supplied from the drive unit (250) as energy used for the treatments, and a surgical instrument control unit (130) that cooperates with the power source control unit (210) to calculate control information for control of operation of the drive unit.

Description

手術システム、手術器具、手術器具の制御方法、及び手術器具の制御プログラムSurgical system, surgical instrument, surgical instrument control method, and surgical instrument control program
　本発明は、手術システム、手術器具、手術器具の制御方法、及び手術器具の制御プログラムに関する。 The present invention relates to a surgical system, a surgical instrument, a surgical instrument control method, and a surgical instrument control program.
　電源装置から電力の供給を受けて、処置対象である生体組織にエネルギーを作用させることで当該生体組織を処置する手術器具が知られている。例えば、国際公開ＷＯ２０１３／０８６０４５号には、電気外科的手術又は熱的外科手術を行うための外科手術器具に係る技術が開示されている。この技術において、手術器具には、電力が供給されることにより発熱するチップが設けられている。手術器具に電力を供給する電源装置は、チップが過熱することを防止するように、供給する電力を調整する。 Surgical instruments for treating a living tissue by receiving power from a power supply device and applying energy to the living tissue to be treated are known. For example, International Publication No. WO2013 / 086045 discloses a technique related to a surgical instrument for performing an electrosurgical operation or a thermal surgical operation. In this technique, a surgical instrument is provided with a chip that generates heat when electric power is supplied. The power supply device that supplies power to the surgical instrument adjusts the supplied power so as to prevent the chip from overheating.
　上述のような手術器具とそれに電力を供給する電源装置とを含む手術システムにおいて、電源装置は、繰り返し長期間に渡って使用される。一方で、手術器具にはさまざまな型式のものがあり、交換されながら使用される。各々の手術器具を最適な状態で機能させるためには、手術器具への電力供給の制御方法を最適化する必要がある。また、同じ型式の手術器具が用いられる場合でも、手術器具への電力供給の制御方法を異ならせるものとすることがある。 In a surgical system including a surgical instrument as described above and a power supply device that supplies power thereto, the power supply device is repeatedly used over a long period of time. On the other hand, there are various types of surgical instruments, and they are used while being replaced. In order for each surgical instrument to function in an optimal state, it is necessary to optimize the method for controlling the power supply to the surgical instrument. Even when the same type of surgical instrument is used, the method for controlling the power supply to the surgical instrument may be different.
　上述の国際公開ＷＯ２０１３／０８６０４５号に開示されている手術システムのように、電源装置に設けられたコントローラによって手術器具への電力供給を制御する場合、電力供給に係る新しい方法を用いるには、電源装置の制御プログラム等の更新が必要である。しかしながら、ユーザーが所有し長期間使用される電源装置のプログラム等を適時に更新するには労力が必要である。 When the power supply to the surgical instrument is controlled by the controller provided in the power supply device as in the surgical system disclosed in the above-mentioned International Publication WO2013 / 086045, the power supply is used in order to use a new method related to the power supply. It is necessary to update the control program of the device. However, labor is required to update the power supply program owned by the user and used for a long time in a timely manner.
　本発明は、手術器具の新しい制御方法を簡便に導入することができる手術システム、手術器具、手術器具の制御方法、及び手術器具の制御プログラムを提供することを目的とする。 An object of the present invention is to provide a surgical system, a surgical instrument, a surgical instrument control method, and a surgical instrument control program capable of easily introducing a new surgical instrument control method.
　本発明の一態様によれば、手術システムは、処置を行うための手術器具と、前記手術器具に対して電力を供給するための電源装置とを備え、前記手術器具と前記電源装置とが連携して動作する手術システムであって、前記電源装置は、電源と、前記電源から供給された電力を利用して前記手術器具へと電力を供給する駆動部と、前記駆動部の動作を制御するために前記手術器具と協働する電源制御部とを備え、前記手術器具は、前記駆動部から供給された前記電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部と、前記電源制御部と協働して前記駆動部の動作の制御に係る制御情報を算出する手術器具制御部とを備える。 According to one aspect of the present invention, a surgical system includes a surgical instrument for performing a treatment and a power supply device for supplying power to the surgical instrument, and the surgical instrument and the power supply device cooperate with each other. The power supply apparatus controls the operation of the power source, a drive unit that supplies power to the surgical instrument using power supplied from the power source, and the drive unit. A power control unit that cooperates with the surgical instrument, the surgical instrument outputs an energy related to the electric power supplied from the drive unit as energy used for the treatment, and the power source A surgical instrument control unit that calculates control information related to control of the operation of the drive unit in cooperation with the control unit;
　本発明の一態様によれば、手術器具は、処置を行うための手術器具であり、電源と、前記電源から供給された電力を利用して前記手術器具へと電力を供給する駆動部と、前記駆動部を制御するために前記手術器具と協働する電源制御部とを備える電源装置と共に用いられる手術器具であって、前記駆動部から供給された電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部と、前記電源制御部と協働して前記駆動部の動作の制御に係る制御情報を算出する手術器具制御部とを備える。 According to one aspect of the present invention, the surgical instrument is a surgical instrument for performing a treatment, and a power source and a drive unit that supplies power to the surgical instrument using power supplied from the power source, A surgical instrument used with a power supply device including a power supply control unit that cooperates with the surgical instrument to control the drive unit, wherein energy related to the power supplied from the drive unit is used for the treatment And a surgical instrument control unit that calculates control information related to control of the operation of the drive unit in cooperation with the power supply control unit.
　本発明の一態様によれば、手術器具の制御方法は、電源装置から電力の供給を受けて処置を行う手術器具であり、手術器具制御部と、前記電源装置から供給された前記電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部とを備える手術器具の制御方法であって、前記手術器具制御部が、前記電源装置に設けられた電源制御部から出力目標値を取得することと、前記器具機能部に入力される電力を、出力検出値として取得することと、前記出力目標値と前記出力検出値とに基づいて、前記器具機能部へと電力を出力する前記電源装置に設けられた駆動部の動作の制御に係る制御情報を算出することと、前記制御情報を前記電源装置へと出力することとを含む。 According to one aspect of the present invention, a surgical instrument control method is a surgical instrument that performs treatment by receiving power supplied from a power supply device, and relates to a surgical instrument control unit and the power supplied from the power supply device. A surgical instrument control method including an instrument function unit that outputs energy as energy used for the treatment, wherein the surgical instrument control unit acquires an output target value from a power supply control unit provided in the power supply device And the power supply device that obtains power input to the appliance function unit as an output detection value and outputs power to the appliance function unit based on the output target value and the output detection value Calculating control information related to the control of the operation of the drive unit provided in the control unit, and outputting the control information to the power supply apparatus.
　本発明の一態様によれば、手術器具の制御プログラムは、電源装置から電力の供給を受けて処置を行う手術器具であり、手術器具制御部と、前記電源装置から供給された前記電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部とを備える手術器具の制御プログラムであって、前記手術器具制御部に、前記電源装置に設けられた電源制御部から出力目標値を取得することと、前記器具機能部に入力される電力を、出力検出値として取得することと、前記出力目標値と前記出力検出値とに基づいて、前記器具機能部へと電力を出力する前記電源装置に設けられた駆動部の動作の制御に係る制御情報を算出することと、前記制御情報を前記電源装置へと出力することとを実行させる。 According to one aspect of the present invention, a surgical instrument control program is a surgical instrument that performs treatment by receiving power supplied from a power supply device, and relates to a surgical instrument control unit and the power supplied from the power supply device. A surgical instrument control program comprising an instrument function unit that outputs energy as energy used for the treatment, and the surgical instrument control unit acquires an output target value from a power supply control unit provided in the power supply device And the power supply device that obtains power input to the appliance function unit as an output detection value and outputs power to the appliance function unit based on the output target value and the output detection value The control information related to the control of the operation of the drive unit provided in the control unit is calculated, and the control information is output to the power supply device.
　本発明によれば、手術器具の新しい制御方法を簡便に導入することができる手術システム、手術器具、手術器具の制御方法、及び手術器具の制御プログラムを提供できる。 According to the present invention, it is possible to provide a surgical system, a surgical instrument, a surgical instrument control method, and a surgical instrument control program capable of easily introducing a new surgical instrument control method.
図１は、一実施形態に係る手術システムの外観の一例の概略を示す図である。Drawing 1 is a figure showing an outline of an example of the appearance of the operation system concerning one embodiment. 図２は、第１の実施形態に係る手術システムの構成例の概略を示すブロック図である。FIG. 2 is a block diagram illustrating an outline of a configuration example of the surgical operation system according to the first embodiment. 図３は、一実施形態に係る手術システムにおける電源制御の一例の概略を示すフローチャートである。FIG. 3 is a flowchart illustrating an outline of an example of power control in the surgical operation system according to the embodiment. 図４は、一実施形態に係る手術システムにおける手術器具制御の一例の概略を示すフローチャートである。FIG. 4 is a flowchart illustrating an outline of an example of surgical instrument control in the surgical system according to the embodiment. 図５は、第１の実施形態の第１の変形例に係る手術システムの構成例の概略を示すブロック図である。FIG. 5 is a block diagram illustrating an outline of a configuration example of the surgical operation system according to the first modification of the first embodiment. 図６は、第１の実施形態の第２の変形例に係る手術システムの構成例の概略を示すブロック図である。FIG. 6 is a block diagram illustrating an outline of a configuration example of a surgical operation system according to a second modification of the first embodiment. 図７は、第２の実施形態に係る手術システムの構成例の概略を示すブロック図である。FIG. 7 is a block diagram illustrating an outline of a configuration example of a surgical operation system according to the second embodiment. 図８は、ヒーターの周辺の構成の一例を示す斜視図である。FIG. 8 is a perspective view showing an example of the configuration around the heater.
　［第１の実施形態］
　本発明の第１の実施形態について図面を参照して説明する。本実施形態に係る手術システム１の外観の概略図を図１に示す。手術システム１は、生体組織の治療に用いられる装置であり、例えば、組織を封止したり、止血したり、切離したり、切開したりする処置に用いられる。手術システム１は、生体組織にエネルギーを作用させることで処置を行う。 [First Embodiment]
A first embodiment of the present invention will be described with reference to the drawings. A schematic diagram of the appearance of the surgical system 1 according to the present embodiment is shown in FIG. The surgical system 1 is a device used for treatment of a living tissue, and is used, for example, for a procedure for sealing, hemostasis, separating, or incising a tissue. The surgical system 1 performs treatment by applying energy to living tissue.
　〈手術システムの構成〉
　図１に示すように、手術システム１は、処置を行うための手術器具１００と手術器具１００に対して電力を供給するための電源装置２００とを備える。手術システム１において、手術器具１００と電源装置２００とは連携して動作する。 <Surgery system configuration>
As shown in FIG. 1, the surgical system 1 includes a surgical instrument 100 for performing a treatment and a power supply device 200 for supplying power to the surgical instrument 100. In the surgical system 1, the surgical instrument 100 and the power supply device 200 operate in cooperation.
　手術器具１００は、例えば腹壁を貫通させて処置を行うための、リニアタイプの外科治療用処置具である。手術器具１００は、ハンドル１２０と、ハンドル１２０に取り付けられたシャフト１１６と、シャフト１１６の先端に設けられたエンドエフェクタである把持部１１０とを有する。 The surgical instrument 100 is a linear type surgical treatment instrument for performing treatment by, for example, penetrating the abdominal wall. The surgical instrument 100 includes a handle 120, a shaft 116 attached to the handle 120, and a grip 110 that is an end effector provided at the tip of the shaft 116.
　把持部１１０は、第１の把持部材１１２と第２の把持部材１１４とを有する。第１の把持部材１１２が第２の把持部材１１４に対して変位することで、把持部１１０は開閉する。把持部１１０は、第１の把持部材１１２と第２の把持部材１１４との間に処置対象である生体組織を把持するように構成されている。把持部１１０は、処置対象である生体組織を把持して、生体組織を凝固させたり、切開したり等の処置を行う処置部である。ハンドル１２０は、把持部１１０を操作するための複数の操作ノブ１２２を備えている。 The gripping part 110 has a first gripping member 112 and a second gripping member 114. When the first holding member 112 is displaced with respect to the second holding member 114, the holding unit 110 is opened and closed. The grasping unit 110 is configured to grasp a biological tissue that is a treatment target between the first grasping member 112 and the second grasping member 114. The grasping unit 110 is a treatment unit that grasps a living tissue as a treatment target and performs a treatment such as coagulating or incising the living tissue. The handle 120 includes a plurality of operation knobs 122 for operating the grip portion 110.
　以降説明のため、手術器具１００において、把持部１１０側を先端側と称し、ハンドル１２０側を基端側と称する。 Hereinafter, for the sake of explanation, in the surgical instrument 100, the grip 110 side is referred to as the distal end side, and the handle 120 side is referred to as the proximal end side.
　なお、ここで示した手術器具１００の形状は、もちろん一例であり、同様の機能を有していれば、他の形状でもよい。例えば、シャフトは湾曲していてもよい。また、本実施形態に係る技術は、図１に示すような硬性鏡手術に用いられる処置装置に限らず、軟性内視鏡を用いた内視鏡手術に用いられるような処置装置にも適用され得る。 Note that the shape of the surgical instrument 100 shown here is an example, and other shapes may be used as long as they have similar functions. For example, the shaft may be curved. Further, the technology according to the present embodiment is not limited to the treatment apparatus used in the rigid endoscope operation as shown in FIG. 1 but is also applied to the treatment apparatus used in the endoscopic operation using the flexible endoscope. obtain.
　手術器具１００は、ケーブル１９０を介して電源装置２００に接続されている。ここで、ケーブル１９０と電源装置２００とは、コネクタ１９５によって接続されており、この接続は着脱自在となっている。すなわち、この手術システム１は、処置毎に使用する手術器具１００を交換することができるように構成されている。 The surgical instrument 100 is connected to the power supply device 200 via the cable 190. Here, the cable 190 and the power supply apparatus 200 are connected by a connector 195, and this connection is detachable. That is, the surgical system 1 is configured so that the surgical instrument 100 used for each treatment can be replaced.
　電源装置２００には、フットスイッチ２９０が接続されている。足で操作されるフットスイッチ２９０は、手で操作されるハンドスイッチやその他のスイッチに置き換えられてもよい。フットスイッチ２９０のペダルを術者が操作することにより、電源装置２００から手術器具１００へのエネルギーの供給のオン／オフが切り換えられる。 A foot switch 290 is connected to the power supply device 200. The foot switch 290 operated with a foot may be replaced with a hand switch operated with a hand or other switches. When the operator operates the pedal of the foot switch 290, the supply of energy from the power supply device 200 to the surgical instrument 100 is switched on / off.
　手術システム１の機能構成の一例を図２を参照して説明する。手術器具１００は、手術器具制御部１３０と、器具記憶部１５０と、器具機能部１６０と、出力検出部１７０と、操作入力部１８０とを備える。 An example of the functional configuration of the surgery system 1 will be described with reference to FIG. The surgical instrument 100 includes a surgical instrument control unit 130, an instrument storage unit 150, an instrument function unit 160, an output detection unit 170, and an operation input unit 180.
　器具機能部１６０は、電源装置２００から出力された電力が供給されることにより機能する。器具機能部１６０は、電源装置２００から出力された電力（電気エネルギー）に係るエネルギーを、処置に用いられるエネルギーとして出力する。すなわち、器具機能部１６０は、電源装置２００から出力された電力を、処置に用いられるエネルギー形態に変換して出力したり、処置対象である生体組織に作用させたりする。器具機能部１６０から伝達されるエネルギーが把持部１１０に把持された生体組織に作用することで、当該生体組織は処置される。 The appliance function unit 160 functions when supplied with the power output from the power supply device 200. The instrument function part 160 outputs the energy which concerns on the electric power (electric energy) output from the power supply device 200 as energy used for a treatment. In other words, the instrument function unit 160 converts the power output from the power supply apparatus 200 into an energy form used for the treatment and outputs it, or causes it to act on the living tissue that is the treatment target. The energy transmitted from the instrument function unit 160 acts on the living tissue grasped by the grasping unit 110, so that the living tissue is treated.
　器具機能部１６０は、例えば、電力を熱に変換するヒーターであり得る。ヒーターは、例えば第１の把持部材１１２及び第２の把持部材１１４の少なくとも一方の生体組織と接触する部位の近傍に配置される。ヒーターで発生した熱は、生体組織に伝達される。この熱によって生体組織は処置される。 The appliance function unit 160 may be, for example, a heater that converts electric power into heat. The heater is disposed, for example, in the vicinity of a portion that contacts at least one of the first grasping member 112 and the second grasping member 114 with the living tissue. The heat generated by the heater is transmitted to the living tissue. A living tissue is treated by this heat.
　また、器具機能部１６０は、例えば、電力を超音波振動に変換する超音波トランスデューサであり得る。超音波トランスデューサは、例えば第２の把持部材１１４に接続される。超音波トランスデューサによって第２の把持部材１１４は振動し、当該第２の把持部材１１４と接触する生体組織との間で摩擦熱が発生する。この摩擦熱によって第２の把持部材１１４と接触する生体組織は処置される。 Also, the instrument function unit 160 can be, for example, an ultrasonic transducer that converts electric power into ultrasonic vibration. The ultrasonic transducer is connected to the second gripping member 114, for example. The second grasping member 114 is vibrated by the ultrasonic transducer, and frictional heat is generated between the second grasping member 114 and the living tissue in contact with the second grasping member 114. The living tissue that comes into contact with the second grasping member 114 is treated by this frictional heat.
　また、器具機能部１６０は、例えば、生体組織と接触し、当該生体組織に高周波電流を流す電極であり得る。電極は、例えば第１の把持部材１１２及び第２の把持部材１１４の生体組織と接触する部位に設けられる。電極を介して生体組織に電流が流れると、生体組織の電気抵抗によって生体組織が発熱する。この熱により生体組織は処置される。 The instrument function unit 160 may be, for example, an electrode that contacts a living tissue and allows a high-frequency current to flow through the living tissue. The electrodes are provided, for example, at portions of the first grasping member 112 and the second grasping member 114 that are in contact with the living tissue. When an electric current flows through the electrode to the living tissue, the living tissue generates heat due to the electrical resistance of the living tissue. A living tissue is treated by this heat.
　また、器具機能部１６０は、生体組織を鋭利な刃で切断するためのカッターを移動させるモーターや、ステープラーの針を出すための機構を動作させるモーター等であってもよい。 Also, the instrument function unit 160 may be a motor that moves a cutter for cutting biological tissue with a sharp blade, a motor that operates a mechanism for taking out a staple of a stapler, or the like.
　出力検出部１７０は、電源装置２００から出力され器具機能部１６０に入力される電力に係る情報を取得するために機能する。出力検出部１７０は、取得した情報を手術器具制御部１３０へと伝達する。 The output detection unit 170 functions to acquire information related to power output from the power supply apparatus 200 and input to the appliance function unit 160. The output detection unit 170 transmits the acquired information to the surgical instrument control unit 130.
　手術器具制御部１３０は、手術器具１００の動作に係る各種演算を行う。例えば、手術器具制御部１３０は、器具機能部１６０へと入力される電源装置２００の出力を制御するための制御情報を得るための演算を行う。この演算には、手術器具１００の型式等に応じた手術器具１００に固有の演算が含まれ得る。また、この演算には、出力検出部１７０から取得した情報が用いられる。手術器具制御部１３０は、電源装置２００の出力を制御するための制御情報を、電源装置２００へと出力する。手術器具制御部１３０は、電源装置２００の出力を制御するために、後述する電源装置２００の電源制御部２１０と協働して機能する。 The surgical instrument control unit 130 performs various calculations related to the operation of the surgical instrument 100. For example, the surgical instrument control unit 130 performs a calculation to obtain control information for controlling the output of the power supply device 200 that is input to the instrument function unit 160. This calculation may include a calculation specific to the surgical instrument 100 according to the model of the surgical instrument 100 or the like. In addition, information acquired from the output detection unit 170 is used for this calculation. The surgical instrument control unit 130 outputs control information for controlling the output of the power supply device 200 to the power supply device 200. The surgical instrument control unit 130 functions in cooperation with a power supply control unit 210 of the power supply device 200 described later in order to control the output of the power supply device 200.
　器具記憶部１５０は、手術器具制御部１３０による演算に用いられる制御プログラムを含む各種のプログラム、パラメータ、テーブル等を記憶している。器具記憶部１５０に記憶された情報は、必要に応じて手術器具制御部１３０によって読み出される。また、器具記憶部１５０には、必要に応じて手術器具制御部１３０によって情報が書き込まれる。 The instrument storage unit 150 stores various programs, parameters, tables, and the like including a control program used for calculation by the surgical instrument control unit 130. Information stored in the instrument storage unit 150 is read by the surgical instrument control unit 130 as necessary. In addition, information is written into the instrument storage unit 150 by the surgical instrument control unit 130 as necessary.
　操作入力部１８０は、手術器具１００に設けられた入力装置等である。操作入力部１８０は、例えば手術器具１００のエネルギー出力のオン又はオフを切り替えるためのボタンスイッチ等を含み得る。操作入力部１８０への入力は、電源装置２００で検出される。 The operation input unit 180 is an input device or the like provided in the surgical instrument 100. The operation input unit 180 can include, for example, a button switch for switching on or off the energy output of the surgical instrument 100. Input to the operation input unit 180 is detected by the power supply device 200.
　電源装置２００は、電源制御部２１０と、電源記憶部２３０と、電源２４０と、駆動部２５０と、電源入力部２７２と、表示部２７４と、入力受付部２８０とを備える。 The power supply apparatus 200 includes a power control unit 210, a power storage unit 230, a power source 240, a drive unit 250, a power input unit 272, a display unit 274, and an input receiving unit 280.
　電源２４０は、手術システム１の各部に電力を供給する電源である。駆動部２５０は、電源制御部２１０の制御下で、手術器具１００の器具機能部１６０を駆動する。すなわち、駆動部２５０は、電源２４０から供給を受けた電力を利用して、電源制御部２１０からの指示に従って、器具機能部１６０へと電力を供給する。駆動部２５０は、アンプ（増幅器）、レギュレータ等を含み得る。 The power source 240 is a power source that supplies power to each part of the surgery system 1. The drive unit 250 drives the instrument function unit 160 of the surgical instrument 100 under the control of the power supply control unit 210. That is, the drive unit 250 supplies power to the appliance function unit 160 according to an instruction from the power control unit 210 using the power supplied from the power source 240. The drive unit 250 may include an amplifier (amplifier), a regulator, and the like.
　入力受付部２８０は、電源制御部２１０への入力信号が入力されるインターフェースである。入力受付部２８０は、例えば端子やＡ／Ｄ変換器等を含み得る。例えば手術器具１００の操作入力部１８０への入力は、入力受付部２８０を介して電源制御部２１０へと伝達される。また、フットスイッチ２９０への入力は、入力受付部２８０を介して電源制御部２１０へと伝達される。また、電源入力部２７２への入力は、入力受付部２８０を介して電源制御部２１０へと伝達される。 The input reception unit 280 is an interface through which an input signal to the power supply control unit 210 is input. The input receiving unit 280 can include, for example, a terminal and an A / D converter. For example, an input to the operation input unit 180 of the surgical instrument 100 is transmitted to the power supply control unit 210 via the input receiving unit 280. In addition, an input to the foot switch 290 is transmitted to the power control unit 210 via the input receiving unit 280. Also, the input to the power input unit 272 is transmitted to the power control unit 210 via the input receiving unit 280.
　電源制御部２１０は、電源装置２００の各部の動作を制御する。また、電源制御部２１０は、手術器具制御部１３０との間で情報の送受信を行う。また、電源制御部２１０には、入力受付部２８０を介してフットスイッチ２９０への入力に係る情報が入力される。電源制御部２１０は、フットスイッチ２９０への入力、手術器具制御部１３０から取得した電源装置２００の出力を制御するための制御情報等に基づいて、駆動部２５０の動作を制御する。電源制御部２１０から駆動部２５０へと出力される制御信号は、手術器具制御部１３０から取得した制御情報と一対一に対応する制御信号でもよい。また、制御信号は、手術器具制御部１３０から取得した制御情報に対して所定の処理を施すことで作成される制御信号でもよい。駆動部２５０の動作を制御するために電源制御部２１０で行われる演算は、例えば手術器具１００の型式等によって変化しない所定の演算である。 The power supply control unit 210 controls the operation of each unit of the power supply device 200. In addition, the power control unit 210 transmits and receives information to and from the surgical instrument control unit 130. In addition, information related to the input to the foot switch 290 is input to the power control unit 210 via the input receiving unit 280. The power supply control unit 210 controls the operation of the drive unit 250 based on input to the foot switch 290, control information for controlling the output of the power supply device 200 acquired from the surgical instrument control unit 130, and the like. The control signal output from the power supply control unit 210 to the drive unit 250 may be a control signal corresponding to the control information acquired from the surgical instrument control unit 130 on a one-to-one basis. The control signal may be a control signal created by performing a predetermined process on the control information acquired from the surgical instrument control unit 130. The calculation performed by the power supply control unit 210 to control the operation of the drive unit 250 is a predetermined calculation that does not change depending on the type of the surgical instrument 100, for example.
　電源記憶部２３０は、電源制御部２１０による演算に用いられる各種のプログラム、パラメータ、テーブル等を記憶している。電源記憶部２３０に記憶された情報は、必要に応じて電源制御部２１０によって読み出される。また、電源記憶部２３０には、必要に応じて電源制御部２１０によって情報が書き込まれる。 The power storage unit 230 stores various programs, parameters, tables, and the like used for computations by the power control unit 210. Information stored in the power storage unit 230 is read by the power control unit 210 as necessary. Information is written in the power storage unit 230 by the power control unit 210 as necessary.
　表示部２７４は、電源装置２００等の各種情報を表示するためのディスプレイを含む。表示部２７４は、電源制御部２１０の制御下で、各種情報を表示する。表示部２７４には、例えば、電源装置２００に接続されている手術器具１００の型式、現在設定されている目標値、現在の出力値等の情報が表示される。 The display unit 274 includes a display for displaying various information such as the power supply device 200. The display unit 274 displays various types of information under the control of the power supply control unit 210. For example, the display unit 274 displays information such as the type of the surgical instrument 100 connected to the power supply apparatus 200, the currently set target value, the current output value, and the like.
　電源入力部２７２は、電源装置２００に設けられた入力装置等である。電源入力部２７２は、例えば、ボタンスイッチ、ダイヤル、表示部２７４上に設けられたタッチパネル等を含み得る。電源入力部２７２には、ユーザーからの指示が入力される。電源入力部２７２への入力は、入力受付部２８０を介して電源制御部２１０へと伝達される。 The power input unit 272 is an input device or the like provided in the power supply device 200. The power input unit 272 may include, for example, a button switch, a dial, a touch panel provided on the display unit 274, and the like. An instruction from the user is input to the power input unit 272. An input to the power input unit 272 is transmitted to the power control unit 210 via the input receiving unit 280.
　手術器具制御部１３０及び電源制御部２１０は、Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ（ＣＰＵ）、Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ（ＡＳＩＣ）、又はＦｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ（ＦＰＧＡ）等の集積回路等を含む。手術器具制御部１３０及び電源制御部２１０は、それぞれ１つの集積回路等で構成されてもよいし、複数の集積回路等が組み合わされて構成されてもよい。これら集積回路の動作は、例えば器具記憶部１５０又は電源記憶部２３０や集積回路内の記録領域に記録されたプログラムに従って行われる。 The surgical instrument control unit 130 and the power supply control unit 210 include integrated circuits such as a central processing unit (CPU), an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA). The surgical instrument control unit 130 and the power supply control unit 210 may each be configured by one integrated circuit or the like, or may be configured by combining a plurality of integrated circuits. The operation of these integrated circuits is performed in accordance with, for example, a program recorded in the instrument storage unit 150 or the power storage unit 230 or a recording area in the integrated circuit.
　〈手術システムの動作〉
　手術システム１の動作について、図３及び図４に示すフローチャートを参照して説明する。まず、電源装置２００に係る電源制御について、図３に示すフローチャートを参照して説明する。電源制御は、例えば、電源装置２００の主電源がオンにされたときに開始し、主電源がオンである期間継続する。 <Operation of the surgical system>
The operation of the surgical system 1 will be described with reference to the flowcharts shown in FIGS. First, power control according to the power supply apparatus 200 will be described with reference to a flowchart shown in FIG. The power control starts, for example, when the main power supply of the power supply apparatus 200 is turned on and continues for a period during which the main power supply is on.
　ステップＳ１０１において、電源制御部２１０は、電源装置２００に接続された手術器具１００の情報を取得する。電源制御部２１０は、例えば手術器具制御部１３０と通信を行って手術器具１００の型式情報等を取得する。また、手術器具１００には、型式情報を示す標識が設けられており、電源制御部２１０は、この標識に基づいて手術器具１００の型式情報を取得してもよい。 In step S <b> 101, the power control unit 210 acquires information on the surgical instrument 100 connected to the power supply device 200. The power supply control unit 210 communicates with, for example, the surgical instrument control unit 130 and acquires the model information of the surgical instrument 100 and the like. In addition, the surgical instrument 100 is provided with a sign indicating the type information, and the power control unit 210 may acquire the type information of the surgical instrument 100 based on the sign.
　ステップＳ１０２において、電源制御部２１０は、手術器具１００の出力の目標を設定する。この目標は、例えば、ユーザーが電源入力部２７２を用いて入力した値等に基づく。ここで、ユーザーから入力される情報には、例えば組織を切断するのか止血を行うのかといった処置の種類や、予め用意されたレベル１乃至３の出力レベルから選択された値等が含まれる。また、ここで設定された目標値は、手術器具１００の手術器具制御部１３０へと伝達される。 In step S102, the power supply control unit 210 sets a target for the output of the surgical instrument 100. This target is based on, for example, a value input by the user using the power input unit 272. Here, the information input from the user includes, for example, the type of treatment such as whether the tissue is cut or hemostasis, a value selected from output levels 1 to 3 prepared in advance, and the like. Further, the target value set here is transmitted to the surgical instrument control unit 130 of the surgical instrument 100.
　ステップＳ１０３において、電源制御部２１０は、手術器具１００の出力をオンにするか否かを判定する。例えば、フットスイッチ２９０が踏まれているとき、電源制御部２１０は、このことを入力受付部２８０を介して検出し、出力をオンにすると判定する。また、操作入力部１８０のスイッチがオンになっているとき、電源制御部２１０は、このことを入力受付部２８０を介して検出し、出力をオンにすると判定する。出力をオンにするとき、処理はステップＳ１０４に進む。 In step S103, the power supply control unit 210 determines whether or not to turn on the output of the surgical instrument 100. For example, when the foot switch 290 is stepped on, the power supply control unit 210 detects this via the input receiving unit 280 and determines to turn on the output. When the switch of the operation input unit 180 is turned on, the power supply control unit 210 detects this via the input reception unit 280 and determines to turn on the output. When the output is turned on, the process proceeds to step S104.
　ステップＳ１０４において、電源制御部２１０は、手術器具制御部１３０から、制御情報を取得する。この制御情報は、電源装置２００の駆動部２５０から出力される電力の制御に係る情報を含む。この制御情報は、例えば電源制御部２１０から駆動部２５０へと出力される制御信号と一対一に対応する指示信号でもよい。また、制御情報は、例えば電源制御部２１０から駆動部２５０へと出力される制御信号の一段前の指示信号でもよい。すなわち、この指示信号に対して共通して適用される所定の処理を施すことで電源制御部２１０から駆動部２５０へと出力される制御信号が作成されてもよい。また、ステップＳ１０１で取得された手術器具１００の型式情報等に基づいて、指示信号に手術器具１００の例えば型式に応じた所定の処理を施すことで電源制御部２１０から駆動部２５０へと出力される制御信号が作成されてもよい。 In step S104, the power supply controller 210 acquires control information from the surgical instrument controller 130. This control information includes information related to control of power output from the drive unit 250 of the power supply apparatus 200. This control information may be, for example, an instruction signal that has a one-to-one correspondence with a control signal output from the power supply control unit 210 to the drive unit 250. Further, the control information may be, for example, an instruction signal immediately preceding the control signal output from the power supply control unit 210 to the drive unit 250. That is, a control signal output from the power supply control unit 210 to the drive unit 250 may be created by performing predetermined processing commonly applied to the instruction signal. Further, based on the model information of the surgical instrument 100 acquired in step S101, the instruction signal is output from the power supply control unit 210 to the drive unit 250 by performing predetermined processing corresponding to, for example, the model of the surgical instrument 100. A control signal may be generated.
　ステップＳ１０５において、電源制御部２１０は、手術器具制御部１３０から取得した制御情報を用いて駆動部２５０から出力される電力に係る出力値を設定する。なお、初回の出力については、所定の初期値が設定される。後述するように、本実施形態ではフィードバック制御が行われるので、初回の出力については初期状態を検出するための出力が行われる。ステップＳ１０６において、電源制御部２１０は、設定した出力値に基づいて、駆動部２５０に出力を行わせる。その後、処理はステップＳ１０２に戻る。 In step S105, the power supply control unit 210 sets an output value related to the power output from the drive unit 250 using the control information acquired from the surgical instrument control unit 130. A predetermined initial value is set for the first output. As will be described later, since feedback control is performed in the present embodiment, an output for detecting an initial state is performed for the first output. In step S106, the power supply control unit 210 causes the drive unit 250 to perform output based on the set output value. Thereafter, the process returns to step S102.
　このように、出力がオンにされている間、手術器具制御部１３０から取得した制御情報に基づいて繰り返し設定された出力値を有する電力が、駆動部２５０から出力される。 Thus, while the output is turned on, electric power having an output value repeatedly set based on the control information acquired from the surgical instrument control unit 130 is output from the drive unit 250.
　ステップＳ１０３において、出力をオンにしないと判定されたとき、処理はステップＳ１０７に進む。ステップＳ１０７において、電源制御部２１０は、駆動部２５０の出力を停止させる。ステップＳ１０８において、電源制御部２１０は、主電源がオフになったか否かを判定する。主電源がオフになっていないと判定されたとき、すなわち引き続き主電源がオンであると判定されたとき、処理はステップＳ１０２に戻る。一方、主電源がオフになったと判定されたとき、電源処理は終了する。 If it is determined in step S103 that the output is not turned on, the process proceeds to step S107. In step S107, the power supply control unit 210 stops the output of the drive unit 250. In step S108, the power control unit 210 determines whether or not the main power is turned off. When it is determined that the main power is not turned off, that is, when it is determined that the main power is still on, the process returns to step S102. On the other hand, when it is determined that the main power supply has been turned off, the power supply process ends.
　次に電源制御と並行して手術器具１００で行われる手術器具制御について、図４に示すフローチャートを参照して説明する。手術器具制御は、手術器具１００が電源装置２００に接続されて、電源装置２００がオンにされたときに開始する。 Next, surgical instrument control performed by the surgical instrument 100 in parallel with power supply control will be described with reference to the flowchart shown in FIG. Surgical instrument control starts when the surgical instrument 100 is connected to the power supply apparatus 200 and the power supply apparatus 200 is turned on.
　ステップＳ２０１において、手術器具制御部１３０は、電源制御部２１０から出力目標値を取得する。ここで、出力目標値は、電源制御のステップＳ１０２で設定された値である。出力目標値は、器具機能部１６０の出力に係る値であればどのような値でもよい。 In step S <b> 201, the surgical instrument control unit 130 acquires an output target value from the power supply control unit 210. Here, the output target value is the value set in step S102 of the power supply control. The output target value may be any value as long as it is a value related to the output of the instrument function unit 160.
　ステップＳ２０２において、手術器具制御部１３０は、手術器具１００の出力がオンにされたか否かを判定する。手術器具制御部１３０は、例えば電源制御部２１０からステップＳ１０３の判定で得られた出力をオンにするか否かの情報を取得することで、この判定を行うことができる。手術器具１００の出力がオンにされたと判定されたとき、処理はステップＳ２０３に進む。 In step S202, the surgical instrument control unit 130 determines whether or not the output of the surgical instrument 100 is turned on. The surgical instrument control unit 130 can make this determination by acquiring information on whether or not to turn on the output obtained by the determination in step S103 from the power supply control unit 210, for example. When it is determined that the output of the surgical instrument 100 is turned on, the process proceeds to step S203.
　ステップＳ２０３において、手術器具制御部１３０は、出力検出部１７０から器具機能部１６０へと入力される電力に係る出力検出値を取得する。ステップＳ２０４において、手術器具制御部１３０は、取得した出力検出値を用いて、駆動部２５０から出力される電力の制御に係る情報である制御情報を算出する。制御情報の算出には、例えば、手術器具１００の出力が目標と一致するように行われる一般的なフィードバック制御に係る演算が含まれ得る。 In step S <b> 203, the surgical instrument control unit 130 acquires an output detection value related to power input from the output detection unit 170 to the instrument function unit 160. In step S <b> 204, the surgical instrument control unit 130 calculates control information that is information related to control of power output from the drive unit 250 using the acquired output detection value. The calculation of the control information can include, for example, a calculation related to general feedback control performed so that the output of the surgical instrument 100 matches the target.
　ステップＳ２０４で行われる演算は、手術器具１００のタイプによっても異なるものとなる。例えば手術器具１００がヒーターが設けられて熱によって生体組織を処置するタイプのものであるとき、出力の電力値、出力の位相、ヒーターのインピーダンス等に基づいて、ヒーターに投入される電力を制御するための演算が行われる。また、例えば手術器具１００が生体組織に高周波電流を流して、当該電流が流れることによる発熱で生体組織を処置するタイプのものであるとき、出力の電力値、出力の位相、生体組織のインピーダンス等に基づいて、回路に投入される高周波電力を制御するための演算が行われる。また、例えば手術器具１００が第１の把持部材１１２が超音波振動することで生体組織との間に発生する摩擦熱によって生体組織を処置するタイプのものであるとき、出力の電力値、位相又は周波数、回路のインピーダンス等に基づいて、超音波トランスデューサに投入される電力を制御するための演算が行われる。 The calculation performed in step S204 differs depending on the type of surgical instrument 100. For example, when the surgical instrument 100 is of a type in which a heater is provided and a living tissue is treated with heat, the power input to the heater is controlled based on the output power value, output phase, heater impedance, etc. The operation for this is performed. Further, for example, when the surgical instrument 100 is of a type in which a high-frequency current is passed through the living tissue and the living tissue is treated with heat generated by the current flowing, the output power value, the output phase, the impedance of the living tissue, etc. Based on the above, an operation for controlling the high-frequency power input to the circuit is performed. For example, when the surgical instrument 100 is of a type that treats a living tissue by frictional heat generated between the first grasping member 112 and the living tissue due to ultrasonic vibration, the output power value, phase, or Based on the frequency, the impedance of the circuit, etc., an operation for controlling the electric power supplied to the ultrasonic transducer is performed.
　ステップＳ２０４の処理の後、ステップＳ２０５において、手術器具制御部１３０は、算出した制御情報を電源制御部２１０へと出力する。その後、処理はステップＳ２０１に戻る。 After step S204, the surgical instrument control unit 130 outputs the calculated control information to the power supply control unit 210 in step S205. Thereafter, the process returns to step S201.
　このように、出力がオンにされている間、手術器具制御部１３０によって、出力検出部１７０で検出された値に基づいて、制御情報が繰り返し算出される。この制御情報は、電源制御部２１０に伝達される。電源制御部２１０がこの制御情報に基づいて駆動部２５０を動作させることで、駆動部２５０からは手術器具制御部１３０が算出した制御情報に基づく電力が出力されることになる。 Thus, while the output is turned on, the control information is repeatedly calculated by the surgical instrument control unit 130 based on the value detected by the output detection unit 170. This control information is transmitted to the power supply control unit 210. When the power supply control unit 210 operates the drive unit 250 based on the control information, the drive unit 250 outputs power based on the control information calculated by the surgical instrument control unit 130.
　ステップＳ２０２において、出力がオンでないと判定されたとき、処理はステップＳ２０６に進む。ステップＳ２０６において、手術器具制御部１３０は、主電源がオフになったか否かを判定する。主電源がオフになっていないと判定されたとき、すなわち引き続き主電源がオンであると判定されたとき、処理はステップＳ２０１に戻る。一方、主電源がオフになったと判定されたとき、手術器具制御は終了する。 When it is determined in step S202 that the output is not on, the process proceeds to step S206. In step S206, the surgical instrument control unit 130 determines whether or not the main power supply is turned off. When it is determined that the main power source is not turned off, that is, when it is determined that the main power source is still on, the processing returns to step S201. On the other hand, when it is determined that the main power supply has been turned off, the surgical instrument control ends.
　〈手術システムの利点〉
　一般に手術器具１００は、例えば手術の都度に交換されて用いられる。また、手術器具１００は種々のタイプのものが存在し、さらに新しいタイプのものも次々と利用可能になる。一方で、電源装置２００は、繰り返し長期間に渡って使用される。このため、例えば電源装置２００の制御に関する演算を全て電源装置２００の内部で行うことを考えると、新しいタイプの手術器具１００が提供された場合、新しい制御方法が提供された場合等に、その都度、電源装置２００内のプログラム等を更新する必要が生じる。 <Advantages of surgical system>
In general, the surgical instrument 100 is replaced and used, for example, every time surgery is performed. In addition, there are various types of surgical instruments 100, and new types are successively available. On the other hand, the power supply apparatus 200 is used repeatedly over a long period of time. For this reason, for example, considering that all calculations related to the control of the power supply apparatus 200 are performed inside the power supply apparatus 200, each time a new type of surgical instrument 100 is provided, a new control method is provided, etc. Therefore, it is necessary to update a program or the like in the power supply apparatus 200.
　一方、本実施形態に係る手術システム１によれば、電源装置２００から出力される電力に用いられる制御情報が手術器具１００の手術器具制御部１３０によって算出される。このため、新しいタイプの手術器具１００が提供された場合、新しい制御方法が提供された場合等に、新しく必要とするプログラム等は手術器具１００に備えさせることができる。その結果、手術器具制御部１３０が制御情報の演算を行うことで、電源装置２００内のプログラム等の更新は必要とされない。 On the other hand, according to the surgical system 1 according to the present embodiment, the control information used for the power output from the power supply device 200 is calculated by the surgical instrument control unit 130 of the surgical instrument 100. For this reason, when a new type of surgical instrument 100 is provided, when a new control method is provided, a newly required program or the like can be provided in the surgical instrument 100. As a result, the surgical instrument control unit 130 calculates control information, so that updating of a program or the like in the power supply apparatus 200 is not required.
　このように、本実施形態に係る手術システム１によれば、ユーザーは新しいタイプの手術器具１００、新しい制御方法等が提供されたときに、迅速かつ簡便にそれらを使用することが可能になる。 As described above, according to the surgical system 1 according to the present embodiment, when a new type of surgical instrument 100, a new control method, and the like are provided, the user can use them quickly and easily.
　［第１の実施形態の第１の変形例］
　第１の実施形態の第１の変形例について説明する。ここでは、第１の実施形態との相違点について説明し、同一の部分については、同一の符号を付してその説明を省略する。 [First Modification of First Embodiment]
A first modification of the first embodiment will be described. Here, differences from the first embodiment will be described, and the same portions will be denoted by the same reference numerals and description thereof will be omitted.
　本変形例に係る手術システム１の構成例の概略を図５に示す。第１の実施形態に係る手術システム１では、駆動部２５０の出力に係る値を検出する出力検出部１７０が手術器具１００に設けられている。これに対して、本変形例では、駆動部２５０の出力に係る値を検出する出力検出部２６０が電源装置２００に設けられている。 FIG. 5 shows an outline of a configuration example of the surgery system 1 according to this modification. In the surgical system 1 according to the first embodiment, the surgical instrument 100 is provided with an output detection unit 170 that detects a value related to the output of the drive unit 250. On the other hand, in the present modification, the power supply device 200 is provided with an output detection unit 260 that detects a value related to the output of the drive unit 250.
　本変形例では、電源装置２００に設けられた出力検出部２６０で検出された出力検出値は、電源制御部２１０を介して手術器具制御部１３０へと伝達される。手術器具制御部１３０は、電源制御部２１０を介して取得した出力検出値を用いて制御情報を算出する。 In this modification, the output detection value detected by the output detection unit 260 provided in the power supply apparatus 200 is transmitted to the surgical instrument control unit 130 via the power supply control unit 210. The surgical instrument control unit 130 calculates control information using the output detection value acquired via the power supply control unit 210.
　本変形例によっても、手術システム１は、第１の実施形態の場合と同様の効果が得られる。また、手術器具１００内の回路構成を簡略化することができる。 Also according to this modification, the surgical system 1 can obtain the same effects as those of the first embodiment. In addition, the circuit configuration in the surgical instrument 100 can be simplified.
　［第１の実施形態の第２の変形例］
　第１の実施形態の第２の変形例について説明する。ここでは、第１の実施形態との相違点について説明し、同一の部分については、同一の符号を付してその説明を省略する。 [Second Modification of First Embodiment]
A second modification of the first embodiment will be described. Here, differences from the first embodiment will be described, and the same portions will be denoted by the same reference numerals and description thereof will be omitted.
　本変形例に係る手術システム１の構成例の概略を図６に示す。第１の実施形態に係る手術システム１では、駆動部２５０の出力は、手術器具制御部１３０が算出した制御情報に基づいて、電源制御部２１０によって制御されている。これに対して、本変形例では、手術器具制御部１３０が直接駆動部２５０の出力を制御する。 FIG. 6 shows an outline of a configuration example of the surgery system 1 according to this modification. In the surgical system 1 according to the first embodiment, the output of the drive unit 250 is controlled by the power supply control unit 210 based on the control information calculated by the surgical instrument control unit 130. On the other hand, in this modification, the surgical instrument control unit 130 directly controls the output of the drive unit 250.
　本変形例では、フットスイッチのオン又はオフに係る情報や、出力の目標値に係る情報は、電源制御部２１０から手術器具制御部１３０へと伝達される。手術器具制御部１３０は、これらの情報や出力検出部１７０から取得した出力検出値に基づいて、駆動部２５０を制御するための制御信号を生成し、この制御信号を駆動部２５０へと出力する。 In this modification, information related to the on / off of the foot switch and information related to the target value of the output are transmitted from the power supply control unit 210 to the surgical instrument control unit 130. The surgical instrument control unit 130 generates a control signal for controlling the drive unit 250 based on the information and the output detection value acquired from the output detection unit 170, and outputs the control signal to the drive unit 250. .
　すなわち、本変形例では、図３を参照して説明した電源制御において、ステップＳ１０４乃至ステップＳ１０６の処理が第１の実施形態と異なることになる。本変形例では、第１の実施形態に係るステップＳ１０４乃至ステップＳ１０６の処理が行われない。代わりに、電源制御部２１０は、フットスイッチのオン又はオフに係る情報を手術器具制御部１３０に伝達すること等のみを行う。 That is, in this modification, in the power supply control described with reference to FIG. 3, the processes in steps S104 to S106 are different from those in the first embodiment. In the present modification, the processes in steps S104 to S106 according to the first embodiment are not performed. Instead, the power supply control unit 210 only transmits information related to turning on or off the foot switch to the surgical instrument control unit 130.
　本変形例によっても、手術システム１は、第１の実施形態の場合と同様の効果が得られる。また、電源制御部２１０を介することなく駆動部２５０が制御されるので、制御方法の自由度は第１の実施形態の場合よりもさらに高くなり、手術器具１００の大幅変更にも容易に対応し得る。 Also according to this modification, the surgical system 1 can obtain the same effects as those of the first embodiment. In addition, since the drive unit 250 is controlled without going through the power supply control unit 210, the degree of freedom of the control method is higher than in the case of the first embodiment, and it can easily cope with a large change in the surgical instrument 100. obtain.
　［第１の実施形態のその他の変形例］
　第１及び第２の変形例の他、上述の実施形態は適宜に変更され得る。例えばフローチャートを参照して説明した処理は一例であり、適宜に変更され得る。他の処理が追加されてもよいし、一部が削除されてもよいし、順番が入れ替えられてもよい。例えば、電源制御又は手術器具制御に機器の異常を検知するための処理が挿入されてもよい。 [Other Modifications of First Embodiment]
In addition to the first and second modifications, the above-described embodiment can be modified as appropriate. For example, the processing described with reference to the flowchart is an example, and can be changed as appropriate. Other processes may be added, some may be deleted, and the order may be changed. For example, a process for detecting a device abnormality may be inserted into the power supply control or the surgical instrument control.
　出力をオンにするかオフにするかを示すユーザーからの指示は、フットスイッチ２９０に入力されてもよいし、手術器具のハンドスイッチといった操作入力部１８０に入力されてもよい。フットスイッチ２９０に入力される場合も操作入力部１８０に入力される場合も、入力受付部２８０を介して電源制御部２１０が入力を検知し、その情報を手術器具制御部１３０へと送信する。出力のオン／オフの検知を電源制御部２１０で一元管理することで、情報の管理が行いやすいという利点が得られる。しかしながら、これに限らない。例えば、手術器具１００の操作入力部１８０への入力を手術器具制御部１３０が検知し、その情報を電源制御部２１０へと送信してもよい。この場合、フットスイッチ２９０に入力される場合は、電源装置２００の電源制御部２１０が入力を検知し、その情報を手術器具制御部１３０へと送信することになる。一方、手術器具１００の操作入力部１８０に入力される場合は、手術器具制御部１３０が入力を検知し、その情報を電源制御部２１０へと送信することになる。 The instruction from the user indicating whether the output is turned on or off may be input to the foot switch 290 or may be input to the operation input unit 180 such as a hand switch of a surgical instrument. Whether input to the foot switch 290 or the operation input unit 180, the power supply control unit 210 detects the input via the input receiving unit 280 and transmits the information to the surgical instrument control unit 130. By centrally managing the on / off detection of the output by the power supply control unit 210, there is an advantage that information can be easily managed. However, the present invention is not limited to this. For example, the surgical instrument control unit 130 may detect input to the operation input unit 180 of the surgical instrument 100 and transmit the information to the power supply control unit 210. In this case, when input is made to the foot switch 290, the power control unit 210 of the power supply apparatus 200 detects the input and transmits the information to the surgical instrument control unit 130. On the other hand, when input to the operation input unit 180 of the surgical instrument 100, the surgical instrument control unit 130 detects the input and transmits the information to the power supply control unit 210.
　［第２の実施形態］
　本発明の第２の実施形態について説明する。ここでは、第１の実施形態との相違点について説明し、同一の部分については、同一の符号を付してその説明を省略する。本実施形態は、第１の実施形態に係る器具機能部が、電力を熱に変換するヒーターを含む場合の例である。 [Second Embodiment]
A second embodiment of the present invention will be described. Here, differences from the first embodiment will be described, and the same portions will be denoted by the same reference numerals and description thereof will be omitted. This embodiment is an example in the case where the appliance function unit according to the first embodiment includes a heater that converts electric power into heat.
　〈手術システムの構成〉
　本実施形態に係る手術システム２の構成例の概略を図７に示す。手術システム２は、手術器具１０１と、電源装置２０１とを備える。 <Surgery system configuration>
FIG. 7 shows an outline of a configuration example of the surgery system 2 according to the present embodiment. The surgical system 2 includes a surgical instrument 101 and a power supply device 201.
　手術器具１０１は、第１の実施形態に係る手術器具制御部１３０及び器具記憶部１５０にそれぞれ相当する、手術器具制御回路１３１と、器具記憶装置１５１とを備える。手術器具制御回路１３１は、例えばＣＰＵ、ＡＳＩＣ又はＦＰＧＡ等の集積回路である。手術器具制御回路１３１は、各種演算を行う。また、器具記憶装置１５１は、例えば半導体メモリである。器具記憶装置１５１は、手術器具制御回路１３１による演算に必要な各種情報を記憶している。 The surgical instrument 101 includes a surgical instrument control circuit 131 and an instrument storage device 151 corresponding to the surgical instrument control unit 130 and the instrument storage unit 150 according to the first embodiment. The surgical instrument control circuit 131 is an integrated circuit such as a CPU, ASIC, or FPGA. The surgical instrument control circuit 131 performs various calculations. The instrument storage device 151 is, for example, a semiconductor memory. The instrument storage device 151 stores various types of information necessary for calculation by the surgical instrument control circuit 131.
　また、手術器具１０１は、第１の実施形態に係る器具機能部１６０に相当するヒーター１６１を備える。ヒーター１６１は、第１の把持部材１１２及び第２の把持部材１１４に設けられている。 Also, the surgical instrument 101 includes a heater 161 corresponding to the instrument function unit 160 according to the first embodiment. The heater 161 is provided on the first holding member 112 and the second holding member 114.
　ヒーター１６１及びその周辺の構造を、図８を参照して説明する。第１の把持部材１１２及び第２の把持部材１１４の生体組織と接触する面には、例えば銅で形成された伝熱部材３１０が設けられている。ヒーター１６１は、基板３２２の上に発熱部材３２４が設けられた構造を有する。基板３２２は、例えばポリイミドの基板である。基板３２２は、伝熱部材３１０よりも一回り小さく、伝熱部材３１０と同様の形状をしている。発熱部材３２４は、例えば基板３２２上に形成されたステンレス（ＳＵＳ）の抵抗パターンである。発熱部材３２４は、両端が基端側に設けられており、おおよそＵ字形状をしたパターンを有している。このパターンは、電気的な抵抗値を増やすために線幅を細くしつつ、基板の広い範囲を覆うために波型に形成されている。発熱部材３２４の端部には、それぞれ導線３３０の一端が接続されている。 The heater 161 and the surrounding structure will be described with reference to FIG. A heat transfer member 310 made of, for example, copper is provided on the surfaces of the first grasping member 112 and the second grasping member 114 that come into contact with the living tissue. The heater 161 has a structure in which a heat generating member 324 is provided on a substrate 322. The substrate 322 is, for example, a polyimide substrate. The substrate 322 is slightly smaller than the heat transfer member 310 and has the same shape as the heat transfer member 310. The heat generating member 324 is, for example, a stainless (SUS) resistance pattern formed on the substrate 322. The heat generating member 324 has both ends provided on the base end side, and has a substantially U-shaped pattern. This pattern is formed in a wave shape so as to cover a wide area of the substrate while reducing the line width in order to increase the electrical resistance value. One end of a conducting wire 330 is connected to each end of the heat generating member 324.
　この導線３３０の他端は、後述する電源装置２０１の駆動回路２５１へと電気的に接続されている。発熱部材３２４に電力が供給されると、発熱部材３２４は電力を熱に変換して発熱する。発熱部材３２４で発生した熱は、基板３２２を介して、伝熱部材３１０に伝達される。この熱は、伝熱部材３１０と接触する生体組織に伝達され、当該生体組織は加熱処置される。 The other end of the conducting wire 330 is electrically connected to a driving circuit 251 of the power supply device 201 described later. When electric power is supplied to the heat generating member 324, the heat generating member 324 generates heat by converting electric power into heat. Heat generated by the heat generating member 324 is transmitted to the heat transfer member 310 through the substrate 322. This heat is transmitted to the living tissue in contact with the heat transfer member 310, and the living tissue is heated.
　図７に戻って説明を続ける。手術器具１０１は、第１の実施形態の出力検出部１７０に相当する電圧取得回路１７１と電流取得回路１７２とを備える。電圧取得回路１７１は、ヒーター１６１に印加される電圧に係る信号を取り出す。電圧取得回路１７１で取得された信号は、手術器具制御回路１３１へと伝達される。この信号に基づいて、手術器具制御回路１３１では、ヒーター１６１に印加されている電圧値が算出される。また、電流取得回路１７２は、ヒーター１６１に印加される電流に係る信号を取り出す。電流取得回路１７２で取得された信号は、手術器具制御回路１３１へと伝達される。この信号に基づいて、手術器具制御回路１３１では、ヒーター１６１に印加されている電流値が算出される。 Referring back to FIG. The surgical instrument 101 includes a voltage acquisition circuit 171 and a current acquisition circuit 172 corresponding to the output detection unit 170 of the first embodiment. The voltage acquisition circuit 171 takes out a signal related to the voltage applied to the heater 161. The signal acquired by the voltage acquisition circuit 171 is transmitted to the surgical instrument control circuit 131. Based on this signal, the surgical instrument control circuit 131 calculates the voltage value applied to the heater 161. In addition, the current acquisition circuit 172 extracts a signal related to the current applied to the heater 161. The signal acquired by the current acquisition circuit 172 is transmitted to the surgical instrument control circuit 131. Based on this signal, the surgical instrument control circuit 131 calculates the current value applied to the heater 161.
　さらに、手術器具１０１は、型式記録回路１９１を備える。型式記録回路１９１は、手術器具１０１が接続された電源装置２０１によって認識され得る手術器具１０１の型式に関する情報を有する。例えば、型式記録回路１９１は、型式に応じた抵抗素子を含んでいてもよい。すなわち、後述する電源装置２０１の電源制御回路２１１は、手術器具１０１が電源装置２０１に接続されたときに、型式記録回路１９１の抵抗値を読み取り、手術器具１０１の型式を判別する。 Furthermore, the surgical instrument 101 includes a type recording circuit 191. The type recording circuit 191 has information regarding the type of the surgical instrument 101 that can be recognized by the power supply device 201 to which the surgical instrument 101 is connected. For example, the type recording circuit 191 may include a resistance element corresponding to the type. That is, the power supply control circuit 211 of the power supply device 201 described later reads the resistance value of the model recording circuit 191 when the surgical instrument 101 is connected to the power supply device 201 and determines the type of the surgical instrument 101.
　電源装置２０１は、第１の実施形態に係る電源制御部２１０、電源記憶部２３０、電源２４０、駆動部２５０、電源入力部２７２、表示部２７４、及び入力受付部２８０にそれぞれ相当する、電源制御回路２１１、電源記憶装置２３１、電源２４０、駆動回路２５１、入力装置２７３、表示パネル２７５、入力受付回路２８１を備える。 The power supply device 201 corresponds to the power control unit 210, the power storage unit 230, the power supply 240, the drive unit 250, the power input unit 272, the display unit 274, and the input reception unit 280 according to the first embodiment. A circuit 211, a power storage device 231, a power supply 240, a drive circuit 251, an input device 273, a display panel 275, and an input reception circuit 281 are provided.
　電源制御回路２１１は、例えばＣＰＵ、ＡＳＩＣ又はＦＰＧＡ等の集積回路である。電源制御回路２１１は、各種演算を行う。また、電源記憶装置２３１は、例えば半導体メモリである。電源記憶装置２３１は、電源制御回路２１１による演算に必要な各種情報を記憶している。入力受付回路２８１は、例えばＡ／Ｄ変換器を含む。入力受付回路２８１は、フットスイッチ２９０、入力装置２７３等からの入力信号を電源制御回路２１１へと伝達する。 The power supply control circuit 211 is an integrated circuit such as a CPU, an ASIC, or an FPGA. The power supply control circuit 211 performs various calculations. The power storage device 231 is a semiconductor memory, for example. The power storage device 231 stores various types of information necessary for calculation by the power control circuit 211. The input reception circuit 281 includes, for example, an A / D converter. The input reception circuit 281 transmits input signals from the foot switch 290, the input device 273, and the like to the power supply control circuit 211.
　駆動回路２５１は、電源制御回路２１１の制御下で、電源２４０から供給された電力に基づいて、手術器具１０１のヒーター１６１に電力を供給する。ヒーター１６１は、駆動回路２５１から供給された電力に応じた発熱をする。 The drive circuit 251 supplies power to the heater 161 of the surgical instrument 101 based on the power supplied from the power supply 240 under the control of the power supply control circuit 211. The heater 161 generates heat according to the electric power supplied from the drive circuit 251.
　表示パネル２７５は、例えば電源装置２０１のフロントパネルに設けられた液晶表示パネルである。表示パネル２７５は、電源制御回路２１１の制御下で文字、図形等を表示する。入力装置２７３は、ボタンスイッチ、表示パネル２７５の上に配置されたタッチパネル等を含む。 The display panel 275 is a liquid crystal display panel provided on the front panel of the power supply device 201, for example. The display panel 275 displays characters, graphics, and the like under the control of the power supply control circuit 211. The input device 273 includes a button switch, a touch panel disposed on the display panel 275, and the like.
　〈手術システムの動作〉
　本実施形態に係る手術システム２の動作について説明する。この動作は、基本的に図３及び図４を参照して説明した第１の実施形態と同様である。 <Operation of the surgical system>
Operation | movement of the surgery system 2 which concerns on this embodiment is demonstrated. This operation is basically the same as that of the first embodiment described with reference to FIGS.
　ステップＳ１０１において、電源制御回路２１１は、型式記録回路１９１の抵抗値を読み取り、当該抵抗値から電源装置２０１に接続されている手術器具１０１の型式を取得する。この型式の情報は、後の各種設定に用いられ得る。 In step S101, the power supply control circuit 211 reads the resistance value of the model recording circuit 191, and acquires the model of the surgical instrument 101 connected to the power supply device 201 from the resistance value. This type of information can be used for various later settings.
　ステップＳ１０２において、電源制御回路２１１は、入力装置２７３への入力に基づいて、手術器具１０１によって処置対象である生体組織を加熱する際の目標温度を設定する。電源制御回路２１１は、設定した目標温度を手術器具制御回路１３１へと送信する。 In step S102, the power supply control circuit 211 sets a target temperature for heating the living tissue to be treated by the surgical instrument 101 based on the input to the input device 273. The power supply control circuit 211 transmits the set target temperature to the surgical instrument control circuit 131.
　このとき、ステップＳ２０１において、手術器具制御回路１３１は、目標温度を電源制御回路２１１から取得する。 At this time, the surgical instrument control circuit 131 acquires the target temperature from the power supply control circuit 211 in step S201.
　ステップＳ１０３において、電源制御回路２１１は、フットスイッチ２９０への入力を取得し、オンになったか否かを判定する。フットスイッチがオンになったとき、その旨を手術器具制御回路１３１へと伝達する。 In step S103, the power supply control circuit 211 acquires an input to the foot switch 290, and determines whether or not it is turned on. When the foot switch is turned on, the fact is transmitted to the surgical instrument control circuit 131.
　このとき、手術器具制御回路１３１は、フットスイッチ２９０がオンになった旨を取得する。その結果、ステップＳ２０２においてオンになったと判定され、処理はステップＳ２０３に進む。 At this time, the surgical instrument control circuit 131 acquires that the foot switch 290 is turned on. As a result, it is determined that the power is turned on in step S202, and the process proceeds to step S203.
　ステップＳ２０３において、手術器具制御回路１３１は、電圧取得回路１７１から、ヒーター１６１に印加されている電圧に係る値を取得する。この値に基づいて、手術器具制御回路１３１は、ヒーター１６１に印加されている電圧値を算出する。また、手術器具制御回路１３１は、電流取得回路１７２から、ヒーター１６１に印加されている電流に係る値を取得する。この値に基づいて、手術器具制御回路１３１は、ヒーター１６１に印加されている電流値を算出する。 In step S203, the surgical instrument control circuit 131 acquires a value relating to the voltage applied to the heater 161 from the voltage acquisition circuit 171. Based on this value, the surgical instrument control circuit 131 calculates the voltage value applied to the heater 161. In addition, the surgical instrument control circuit 131 acquires a value relating to the current applied to the heater 161 from the current acquisition circuit 172. Based on this value, the surgical instrument control circuit 131 calculates a current value applied to the heater 161.
　ステップＳ２０４において、手術器具制御回路１３１は、ヒーター１６１に印加される電圧値及び電流値に基づいて、ヒーター１６１に含まれる発熱部材３２４の抵抗値を取得する。発熱部材３２４の抵抗値は、当該発熱部材３２４の温度と相関関係を有する。したがって、器具記憶装置１５１に記憶されている発熱部材３２４の抵抗値と温度との相関関係を示すテーブルを参照することで、手術器具制御回路１３１は、発熱部材３２４の抵抗値に基づいて、発熱部材３２４の温度を算出できる。手術器具制御回路１３１は、算出された発熱部材３２４の温度と、設定されている目標温度との差異に基づいて、ヒーター１６１に入力される電力をどの程度上昇させるべき又は低下させるべきといった制御情報を、所定の計算式に基づいて算出する。この演算によって、発熱部材３２４又は伝熱部材３１０等のヒーター１６１に係る温度が目標温度に維持されるように各部の動作が調整されることになる。 In step S204, the surgical instrument control circuit 131 acquires the resistance value of the heat generating member 324 included in the heater 161 based on the voltage value and the current value applied to the heater 161. The resistance value of the heat generating member 324 has a correlation with the temperature of the heat generating member 324. Therefore, the surgical instrument control circuit 131 generates heat based on the resistance value of the heat generating member 324 by referring to the table indicating the correlation between the resistance value of the heat generating member 324 and the temperature stored in the instrument storage device 151. The temperature of the member 324 can be calculated. The surgical instrument control circuit 131 controls how much power input to the heater 161 should be increased or decreased based on the difference between the calculated temperature of the heat generating member 324 and the set target temperature. Is calculated based on a predetermined calculation formula. By this calculation, the operation of each part is adjusted so that the temperature related to the heater 161 such as the heat generating member 324 or the heat transfer member 310 is maintained at the target temperature.
　ステップＳ２０５において、手術器具制御回路１３１は、算出した制御情報を電源制御回路２１１へと出力する。 In step S205, the surgical instrument control circuit 131 outputs the calculated control information to the power supply control circuit 211.
　このとき、ステップＳ１０４において、電源制御回路２１１は、手術器具制御回路１３１から制御情報を取得する。 At this time, in step S104, the power supply control circuit 211 acquires control information from the surgical instrument control circuit 131.
　ステップＳ１０５において、電源制御回路２１１は、取得した制御情報に基づいて、駆動回路２５１の出力値を設定する。例えば電源制御回路２１１は、現在の駆動回路２５１の出力設定値に対して取得した制御情報を所定の演算方法で作用させることで、新たな出力設定値を算出する。電源制御回路２１１は、算出した出力設定値に対応する駆動回路２５１への制御信号を作成する。 In step S105, the power supply control circuit 211 sets the output value of the drive circuit 251 based on the acquired control information. For example, the power supply control circuit 211 calculates a new output setting value by causing the control information acquired with respect to the current output setting value of the driving circuit 251 to act by a predetermined calculation method. The power supply control circuit 211 creates a control signal to the drive circuit 251 corresponding to the calculated output setting value.
　ステップＳ１０６において、電源制御回路２１１は、新たな出力設定値に基づく制御信号を駆動回路２５１へと出力し、駆動回路２５１に電力の出力を行わせる。 In step S106, the power supply control circuit 211 outputs a control signal based on the new output setting value to the drive circuit 251, and causes the drive circuit 251 to output power.
　以上の処理により、処置対象である生体組織の温度は、設定された目標温度となるように調整される。このようにして、把持部１１０に把持された生体組織は、目標温度で処置されることになる。 Through the above processing, the temperature of the living tissue that is the treatment target is adjusted to the set target temperature. In this way, the living tissue grasped by the grasping unit 110 is treated at the target temperature.
　本実施形態によっても第１の実施形態と同様の効果が得られる。 The same effect as the first embodiment can be obtained by this embodiment.

Claims (10)

  1. 　処置を行うための手術器具と、
    　前記手術器具に対して電力を供給するための電源装置と
    を備え、前記手術器具と前記電源装置とが連携して動作する手術システムであって、
    　前記電源装置は、
    　　電源と、
    　　前記電源から供給された電力を利用して前記手術器具へと電力を供給する駆動部と、
    　　前記駆動部の動作を制御するために前記手術器具と協働する電源制御部と
    　を備え、
    　前記手術器具は、
    　　前記駆動部から供給された前記電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部と、
    　　前記電源制御部と協働して前記駆動部の動作の制御に係る制御情報を算出する手術器具制御部と
    　を備える
    手術システム。     A surgical instrument for performing the procedure;
    A power supply device for supplying electric power to the surgical instrument, and the surgical instrument and the power supply device operate in cooperation with each other,
    The power supply device
    Power supply,
    A drive unit for supplying power to the surgical instrument using the power supplied from the power source;
    A power control unit cooperating with the surgical instrument to control the operation of the drive unit,
    The surgical instrument is:
    An instrument function unit that outputs energy related to the electric power supplied from the drive unit as energy used for the treatment;
    A surgical system comprising: a surgical instrument control unit that calculates control information related to operation control of the drive unit in cooperation with the power supply control unit.
  2. 　前記電源制御部は、前記手術器具制御部から前記制御情報を取得し、前記制御情報に基づいて前記駆動部の動作を制御する、請求項１に記載の手術システム。 The surgical power system according to claim 1, wherein the power supply control unit acquires the control information from the surgical instrument control unit, and controls the operation of the drive unit based on the control information.
  3. 　前記制御情報は、前記駆動部を動作させるための制御信号であり、
    　前記手術器具制御部は、前記駆動部の動作を制御する、
    　請求項１に記載の手術システム。     The control information is a control signal for operating the drive unit,
    The surgical instrument control unit controls the operation of the drive unit,
    The surgical system according to claim 1.
  4. 　前記駆動部は増幅器を有する、請求項１に記載の手術システム。 The surgical system according to claim 1, wherein the driving unit includes an amplifier.
  5. 　前記手術器具又は前記電源装置に設けられた、前記駆動部の出力を検出する出力検出部をさらに備え、
    　前記手術器具制御部は、前記出力検出部によって検出された出力に基づいて、前記制御情報を算出する、
    　請求項１に記載の手術システム。     Further comprising an output detection unit provided in the surgical instrument or the power supply device for detecting the output of the drive unit;
    The surgical instrument control unit calculates the control information based on the output detected by the output detection unit,
    The surgical system according to claim 1.
  6. 　前記器具機能部は、前記電力を熱に変換するヒーターを含む、請求項１に記載の手術システム。 The surgical instrument system according to claim 1, wherein the instrument function unit includes a heater that converts the electric power into heat.
  7. 　前記手術器具制御部が算出する前記制御情報は、前記ヒーターに係る温度を目標温度に維持するための情報である、請求項６に記載の手術システム。 The surgical system according to claim 6, wherein the control information calculated by the surgical instrument control unit is information for maintaining a temperature related to the heater at a target temperature.
  8. 　処置を行うための手術器具であり、電源と、前記電源から供給された電力を利用して前記手術器具へと電力を供給する駆動部と、前記駆動部を制御するために前記手術器具と協働する電源制御部とを備える電源装置と共に用いられる手術器具であって、
    　前記駆動部から供給された電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部と、
    　前記電源制御部と協働して前記駆動部の動作の制御に係る制御情報を算出する手術器具制御部と
    　を備える手術器具。     A surgical instrument for performing a treatment, and a power source, a drive unit that supplies power to the surgical instrument using power supplied from the power source, and a surgical unit for controlling the drive unit. A surgical instrument used together with a power supply device including a power control unit that operates,
    An instrument function unit that outputs energy related to the power supplied from the drive unit as energy used in the treatment;
    A surgical instrument comprising: a surgical instrument control unit that calculates control information related to control of the operation of the drive unit in cooperation with the power supply control unit.
  9. 　電源装置から電力の供給を受けて処置を行う手術器具であり、手術器具制御部と、前記電源装置から供給された前記電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部とを備える手術器具の制御方法であって、
    　前記手術器具制御部が、
    　　前記電源装置に設けられた電源制御部から出力目標値を取得することと、
    　　前記器具機能部に入力される電力を、出力検出値として取得することと、
    　　前記出力目標値と前記出力検出値とに基づいて、前記器具機能部へと電力を出力する前記電源装置に設けられた駆動部の動作の制御に係る制御情報を算出することと、
    　　前記制御情報を前記電源装置へと出力することと
    　を含む手術器具の制御方法。     A surgical instrument that performs treatment by receiving power supply from a power supply device, a surgical instrument control unit, and an instrument function unit that outputs energy relating to the power supplied from the power supply device as energy used for the treatment A surgical instrument control method comprising:
    The surgical instrument controller is
    Obtaining an output target value from a power supply control unit provided in the power supply device;
    Obtaining the power input to the instrument function unit as an output detection value;
    Based on the output target value and the output detection value, calculating control information related to the control of the operation of the drive unit provided in the power supply device that outputs power to the instrument function unit;
    Outputting the control information to the power supply device.
  10. 　電源装置から電力の供給を受けて処置を行う手術器具であり、手術器具制御部と、前記電源装置から供給された前記電力に係るエネルギーを前記処置に用いられるエネルギーとして出力する器具機能部とを備える手術器具の制御プログラムであって、
    　前記手術器具制御部に、
    　　前記電源装置に設けられた電源制御部から出力目標値を取得することと、
    　　前記器具機能部に入力される電力を、出力検出値として取得することと、
    　　前記出力目標値と前記出力検出値とに基づいて、前記器具機能部へと電力を出力する前記電源装置に設けられた駆動部の動作の制御に係る制御情報を算出することと、
    　　前記制御情報を前記電源装置へと出力することと
    　を実行させるためのプログラム。     A surgical instrument that performs treatment by receiving power supply from a power supply device, a surgical instrument control unit, and an instrument function unit that outputs energy relating to the power supplied from the power supply device as energy used for the treatment A surgical instrument control program comprising:
    In the surgical instrument controller,
    Obtaining an output target value from a power supply control unit provided in the power supply device;
    Obtaining the power input to the instrument function unit as an output detection value;
    Based on the output target value and the output detection value, calculating control information related to the control of the operation of the drive unit provided in the power supply device that outputs power to the instrument function unit;
    A program for causing the control information to be output to the power supply device.
PCT/JP2015/083573 2015-11-30 2015-11-30 Surgery system, surgical instrument, method for controlling surgical instrument, and program for controlling surgical instrument WO2017094063A1 (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2010046482A (en) * 2008-08-21 2010-03-04 Tyco Healthcare Group Lp Electrosurgical instrument including sensor
JP2012024583A (en) * 2010-07-23 2012-02-09 Conmed Corp Tissue fusion system, and method of performing functional verification test
JP2012161566A (en) * 2011-02-09 2012-08-30 Olympus Medical Systems Corp Therapeutical treatment device and method for controlling the same
JP2014133125A (en) * 2007-12-12 2014-07-24 Erbe Elektromedizin Gmbh Device for contactless communication and use method of memory device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014133125A (en) * 2007-12-12 2014-07-24 Erbe Elektromedizin Gmbh Device for contactless communication and use method of memory device
JP2010046482A (en) * 2008-08-21 2010-03-04 Tyco Healthcare Group Lp Electrosurgical instrument including sensor
JP2012024583A (en) * 2010-07-23 2012-02-09 Conmed Corp Tissue fusion system, and method of performing functional verification test
JP2012161566A (en) * 2011-02-09 2012-08-30 Olympus Medical Systems Corp Therapeutical treatment device and method for controlling the same

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