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WO2017014075A1 - Système de traitement par ultrasons et dispositif de commande d'énergie - Google Patents

Système de traitement par ultrasons et dispositif de commande d'énergie Download PDF

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Publication number
WO2017014075A1
WO2017014075A1 PCT/JP2016/070309 JP2016070309W WO2017014075A1 WO 2017014075 A1 WO2017014075 A1 WO 2017014075A1 JP 2016070309 W JP2016070309 W JP 2016070309W WO 2017014075 A1 WO2017014075 A1 WO 2017014075A1
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WIPO (PCT)
Prior art keywords
end effector
drive current
current
unit
time
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PCT/JP2016/070309
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English (en)
Japanese (ja)
Inventor
洋人 中村
鈴木　啓子
賢二 松本
宏治 木本
遼 宮坂
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オリンパス株式会社
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Priority to JP2017503631A priority Critical patent/JPWO2017014075A1/ja
Publication of WO2017014075A1 publication Critical patent/WO2017014075A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor

Definitions

  • the present invention relates to an ultrasonic treatment system including an ultrasonic treatment instrument that treats bone or cartilage as a treatment target using ultrasonic vibration, and driving the vibration generator to a vibration generation unit in the ultrasonic treatment system.
  • the present invention relates to an energy control device that controls supply of current.
  • Japanese Patent Application Laid-Open No. 2005-152098 discloses an ultrasonic treatment tool for cutting bone (or cartilage) as a treatment target using ultrasonic vibration.
  • the ultrasonic vibration generated in the vibration generating part is transmitted to the female part (end effector), and the female part is vibrated.
  • the treatment object is cut by vibrating the knife part in a state where the knife part is in contact with the treatment object.
  • an end effector is caught on a treatment target in a state where bone or cartilage is cut as the treatment target using ultrasonic vibration. Sometimes. If the end effector is pressed against the treatment target in a state where the end effector is caught on the treatment target, the treatment target may be excessively cut (more than necessary).
  • the present invention has been made paying attention to the above-mentioned problems, and the purpose thereof is an ultrasonic treatment system that can effectively prevent excessive treatment of a treatment target (bone or cartilage), and An object of the present invention is to provide an energy control device provided in the ultrasonic treatment system.
  • an ultrasonic treatment system includes a vibration generation unit that generates ultrasonic vibrations when a drive current is supplied, and the ultrasonic vibration generated in the vibration generation unit.
  • An end effector that cuts bone or cartilage as a treatment target using the transmitted ultrasonic vibration, an energy output unit that outputs the drive current supplied to the vibration generating unit, and the end effector includes the When it is determined whether the end effector is in a state of being caught on the treatment target in a state of being in contact with the treatment target, and when it is determined that the end effector is being hooked on the treatment target, And a determination unit that generates a signal indicating that the end effector is engaged.
  • Another aspect of the present invention includes a vibration generating unit that generates ultrasonic vibrations when a driving current is supplied, the ultrasonic vibrations generated by the vibration generating unit being transmitted, and the transmitted ultrasonic vibrations.
  • An end effector that cuts bone or cartilage as a treatment target using an energy control device that controls the supply of the drive current to the vibration generating unit, wherein the vibration generating unit Determining whether the end effector is in a state of being caught on the treatment target in a state where the end effector is in contact with the treatment target, and an energy output unit that outputs the supplied drive current; When it is determined that the end effector is engaged with the treatment target, a signal indicating that the end effector is engaged is generated. Comprising a determining unit for, a.
  • FIG. 1 is a schematic view showing an ultrasonic treatment system according to the first embodiment of the present invention.
  • FIG. 2 is a flowchart showing processing in the energy control apparatus when performing treatment using the ultrasonic treatment system according to the first embodiment.
  • FIG. 3 is a flowchart illustrating determination processing for catching a treatment target of the end effector performed by the energy control apparatus according to the first embodiment.
  • FIG. 4 is a schematic diagram illustrating an example of changes in impedance over time.
  • FIG. 5 is a schematic diagram for explaining the control of the drive current and the drive voltage based on the determination process of the catch by the control unit according to the first embodiment.
  • FIG. 6 is a flowchart illustrating determination processing for catching a treatment target of the end effector performed by the energy control apparatus according to the second embodiment.
  • FIG. 7 is a schematic diagram illustrating an example of a change in drive voltage over time.
  • FIG. 8 is a schematic diagram illustrating a configuration of a vibrating body according to the third embodiment.
  • FIG. 9 is a flowchart illustrating a determination process for catching a treatment target of an end effector performed by the energy control apparatus according to the third embodiment.
  • FIG. 10 is a flowchart showing processing in the energy control apparatus when performing treatment using the ultrasonic treatment system according to the first modification of the first to third embodiments.
  • FIG. 11 is a flowchart showing processing in the energy control device when performing treatment using the ultrasonic treatment system according to the second modification of the first to third embodiments.
  • FIG. 12 is a schematic diagram illustrating an example different from FIG. 4 of the change in impedance over time.
  • FIG. 1 is a diagram showing an ultrasonic treatment system 1.
  • the ultrasonic treatment system 1 includes an ultrasonic treatment instrument 2 and an energy control device 3 that controls supply of energy to the ultrasonic treatment instrument 2.
  • the ultrasonic treatment instrument 2 has a longitudinal axis C.
  • one side in the direction along the longitudinal axis C is defined as the distal end side (arrow C1 side in FIG. 1), and the side opposite to the distal end side is defined as the proximal end side (direction of arrow C2 in FIG. 1).
  • the ultrasonic treatment instrument 2 includes a holdable housing 5 that extends along the longitudinal axis C.
  • One end of a cable 7 is connected to the housing 5.
  • the other end of the cable 7 is connected to the energy control device 3.
  • a sheath 8 extending along the longitudinal axis C is connected to the housing 5.
  • the sheath 8 is connected to the housing 5 while being inserted into the housing 5 from the distal end side.
  • the vibration transmitting member 11 extends along the longitudinal axis C (centering on the longitudinal axis C) toward the distal end side through the inside of the sheath 8.
  • An end effector (treatment section) 12 is formed at the distal end of the vibration transmitting member 11.
  • the vibration transmitting member 11 is inserted through the sheath 8 so that the end effector 12 protrudes from the distal end of the sheath 8 to the distal end side.
  • the end effector 12 is formed in a hook shape, but the end effector 12 may be formed in a shape other than a hook shape such as a spatula shape or a blade shape.
  • a vibration generating part (ultrasonic transducer) 15 is provided inside the housing 5, inside the vibration transmission member 11 is connected to the distal end side of the vibration generating unit 15.
  • the vibration generator 15 includes (in this embodiment, four) piezoelectric elements 16A to 16D and ultrasonic electrodes 17A and 17B.
  • the energy control device 3 includes a power source 21 and a drive circuit (energy output unit) 22.
  • the ultrasonic electrode 17A is electrically connected to the drive circuit 22 via an electric path 18A extending through the inside of the cable 7, and the ultrasonic electrode 17B is extended through the inside of the cable 7. It is electrically connected to the drive circuit 22 via the electrical path 18B.
  • the power source 21 is a battery or an outlet, and the drive circuit 22 converts the power from the power source 21 into ultrasonic electric energy (AC power). By outputting the converted ultrasonic electric energy from the drive circuit 22, the ultrasonic electric energy is supplied to the vibration generating unit 15 through the electric paths 18A and 18B. As a result, a drive voltage (alternating voltage) V is applied to the piezoelectric elements 16A to 16D between the ultrasonic electrodes 17A and 17B, and a driving current (alternating current) I flows through the piezoelectric elements 16A to 16B. That is, the drive current I output from the drive circuit (energy output unit) 22 is supplied to the piezoelectric elements 16A to 16D of the vibration generating unit 15.
  • alternating voltage alternating voltage
  • the drive current I When the drive current I is supplied to the vibration generator 15, the drive current I is converted into ultrasonic vibration by the piezoelectric elements 16A to 16D, and ultrasonic vibration is generated.
  • the generated ultrasonic vibration is transmitted from the vibration generating unit 15 to the vibration transmitting member 11, and is transmitted from the proximal end side to the distal end side in the vibration transmitting member 11.
  • ultrasonic vibration is transmitted to the end effector 12, and the end effector 12 cuts bone or cartilage as a treatment target using the ultrasonic vibration.
  • the vibrating body 10 is formed in the vibration generating unit 15 and the vibration transmitting member 11.
  • a predetermined frequency range for example, a range of 46 kHz to 48 kHz.
  • a current detection unit 25 such as an ammeter that detects the drive current I output from the drive circuit (energy output unit) 22 (supplied to the vibration generation unit 15) over time is provided. ing.
  • the current detection unit 25 detects the drive current I flowing in the electrical path (18A or 18B).
  • a voltage detection unit 26 such as a voltmeter for detection is provided. The voltage detector 26 detects a drive voltage V (potential difference) between the electrical paths 18A and 18B.
  • the energy control device 3 includes a control unit 30 and a storage medium 31 such as a memory.
  • the control unit 30 includes, for example, a processor or an integrated circuit including a CPU (Central Processing Unit) or an ASIC (application specific integrated circuit), can store information in the storage medium 31, and is stored in the storage medium 31. Information etc. can be read.
  • the control part 30 may be comprised from a single processor, and the control part 30 may be comprised by the some processor.
  • the control unit 30 detects whether or not an energy operation is input with the energy operation button 27 by detecting the open / closed state of the switch 28.
  • the control unit 30 controls the output of the drive current I (ultrasonic electric energy) from the drive circuit 22 based on the input of the energy operation with the energy operation button 27.
  • the control unit 30 includes an impedance detection unit 33, a calculation unit 35, and a determination unit 36.
  • the impedance detection unit 33, the calculation unit 35, and the determination unit 36 perform, for example, part of the processing performed by the processor that configures the control unit 30.
  • the impedance detection unit 33 Based on the detection results of the current detection unit 25 and the voltage detection unit 26, the impedance detection unit 33 calculates the impedance (ultrasonic impedance) Z of the ultrasonic electric energy (that is, the faith generation unit (ultrasonic transducer) 15) over time. Are detected.
  • the impedance Z is calculated as shown in the equation (1) based on the drive current I and the drive voltage V.
  • the impedance Z may be calculated as shown in equation (2) instead of equation (1).
  • the peak peak value Ipp of the drive current (alternating current) I is the current value
  • the peak peak value Vpp of the drive voltage (alternating voltage) V is the current value
  • the impedance Z is calculated using.
  • the impedance Z may be calculated using the peak value (maximum value) Im of the drive current I as the current value and the peak value (maximum value) Vm of the drive voltage V as the voltage value.
  • the impedance Z may be calculated using the value Ie as a current value and the effective value Ve of the drive voltage V as a voltage value.
  • the calculation unit 35 performs calculation processing based on detection results of the drive current I, the drive voltage V, and the impedance Z. Further, the determination unit 36 detects the drive current I, the drive voltage V, and the impedance Z in a state where the drive current I is output from the drive circuit 22 (a state in which the vibrating body 10 transmits ultrasonic vibration). And based on the calculation result in the calculating part 35, it is judged whether the end effector 12 is the state caught on the treatment object (bone or cartilage). When it is determined that the end effector 12 is in a state of being caught by the treatment target, the determination unit 36 generates a signal indicating that the end effector 12 is in a state of being caught.
  • the control unit 30 determines the drive current I (ultrasonic wave) from the drive circuit (energy output unit) 22 based on the determination result in the determination unit 36 (whether or not the end effector 12 is in a state of being caught by the treatment target). The output of electrical energy is controlled.
  • the energy control device 3 is provided with a warning unit 37 whose operation is controlled by the control unit 30.
  • the warning unit 37 is a lamp, a buzzer, a monitor, or the like, and gives a warning when activated.
  • the end effector 12 When cutting bone or cartilage as a treatment target using the ultrasonic treatment system 1 (ultrasonic treatment tool 2), the end effector 12 is inserted into a body cavity such as the abdominal cavity. At this time, the treatment object and its vicinity are observed using a rigid endoscope (not shown), and a liquid such as physiological saline is supplied to the treatment object and its vicinity using a liquid delivery tube (not shown). Has been. When the end effector 12 is inserted into the body cavity, the operator inputs an energy operation with the energy operation button 27.
  • the drive current I (ultrasonic electric energy) is output from the drive circuit 22 by the control unit 30, and ultrasonic vibration is generated from the drive current I supplied in the vibration generating unit 15.
  • the generated ultrasonic vibration is transmitted to the end effector 12.
  • the treatment target bone or cartilage
  • the treatment target is cut in the liquid by bringing the end effector 12 into contact with the treatment target while the end effector 12 is longitudinally vibrated by ultrasonic vibration.
  • FIG. 2 is a flowchart showing processing in the energy control device 3 when performing treatment using the ultrasonic treatment system 1.
  • the control unit 30 detects whether or not an energy operation is input with the energy operation button 27 (step S ⁇ b> 101). Unless the input of the energy operation is detected (step S101—No), the process returns to step S101.
  • the control unit 30 starts output of the drive current I (ultrasonic electric energy) from the drive circuit (energy output unit) 22 (step S102). Thereby, the ultrasonic vibration is transmitted to the end effector 12 as described above, and the end effector 12 cuts the treatment target using the ultrasonic vibration.
  • the drive current I ultrasonic electric energy
  • the control unit 30 controls the output of the drive current I so that the current value of the drive current I is maintained at a constant reference current value Iref over time (step S103). ).
  • the current detection unit 25 detects the drive current I with time and the voltage detection unit 26 detects the drive voltage V with time (step S104).
  • the impedance detection unit 33 detects the impedance Z over time (step S105).
  • the impedance Z is calculated using the above-described formula (1) or formula (2). For example, the impedance Z is periodically calculated every one cycle or half cycle of the drive current I and the drive voltage V.
  • constant current control in which the drive current I is kept constant at the reference current value Iref over time, when the impedance Z increases, the voltage value of the drive voltage V is increased and the current value of the drive current I is kept constant. Conversely, when the impedance Z decreases, the voltage value of the drive voltage V is decreased and the current value of the drive current I is kept constant.
  • constant current control is performed in which the peak value Ipp of the drive current (alternating current) I is used as a current value, and the current value is kept constant at a reference current value Iref over time.
  • the value of the reference current value Iref is different from the case where the peak peak value Ipp is the current value, even if the above-described constant current control is performed using the peak value (maximum value) Im of the drive current I as the current value.
  • the constant current control described above may be performed using the effective value Ie of the drive current I as a current value.
  • FIG. 3 is a flowchart showing the determination process for catching the treatment target of the end effector 12 performed by the energy control device 3.
  • the determination unit 36 determines whether the impedance Z (t) at the time t detected by the impedance detection unit 33 is greater than or equal to the impedance threshold (first impedance threshold) Zth1. It is determined whether or not (step S121).
  • the time t is a variable based on the output start of the drive current I.
  • the impedance threshold Zth1 may be set by an operator or the like, or may be stored in the storage medium 31. If the impedance Z (t) is equal to or greater than the impedance threshold Zth1 (step S121—Yes), the determination unit 36 sets the determination parameter ⁇ to 1 (step S122). On the other hand, when the impedance Z (t) is smaller than the impedance threshold Zth1 (step S122-No), the determination unit 36 sets the determination parameter ⁇ to 0 (step S123).
  • the determination unit 36 determines whether or not the end effector 12 has been engaged with the treatment target based on the determination parameter ⁇ set in the determination process (step S ⁇ b> 106). Is determined (step S107). When the determination parameter ⁇ is set to 0, the determination unit 36 determines that the end effector 12 is not in the state of being caught by the treatment target (No in step S107). On the other hand, when the determination parameter ⁇ is set to 1, the determination unit 36 determines that the end effector 12 is in the state of being caught by the treatment target (step S107—Yes).
  • the end effector 12 it is determined whether or not the end effector 12 is caught by the treatment target based on whether or not the impedance Z is equal to or greater than the impedance threshold (first impedance threshold) Zth1. .
  • the impedance threshold first impedance threshold
  • Zth1 the impedance threshold
  • Step S107—No the control unit 30 detects whether the energy operation button 27 continues to input energy operation. (Step S108). When the input of the energy operation is stopped (step S108—Yes), the control unit 30 stops the output of the drive current I from the drive circuit 22 (step S109). When the input of the energy operation is continued (No at Step S108), the process returns to Step S103, and the processes after Step S103 described above are sequentially performed.
  • step S107 If it is determined in step S107 that the end effector 12 has been engaged (step S107—Yes), the determination unit 36 generates a signal indicating that the end effector 12 has been engaged.
  • the control unit 30 outputs the current value of the drive current I output from the drive circuit (energy output unit) 22 (peak peak in the present embodiment).
  • the value Ipp) is decreased from the reference current value Iref (step S110). As a result, the drive current I output from the drive circuit 22 is reduced compared to before the time point when the end effector 12 is determined to be engaged.
  • Step S111 when it is determined that the impedance Z (t) is equal to or greater than the impedance threshold Zth1 at time t, it is determined that the end effector 12 is in a state of being caught on the treatment target at or after time t. Therefore, when it is determined that the impedance Z (t) becomes equal to or greater than the impedance threshold Zth1 at time t, the time T starts to be counted from time t or immediately thereafter.
  • step S110 When the drive current I is made smaller than the reference current value Iref (step S110) and the time T is started to be counted (step S111), the control unit 30 continues the energy operation input with the energy operation button 27. Whether or not is detected (step S112). When the input of the energy operation is stopped (step S112—Yes), the control unit 30 stops the output of the drive current I from the drive circuit 22 (step S113).
  • step S112 the control unit 30 determines whether or not the counted time T is equal to or greater than the reference time Tref (step S114). . That is, whether or not the reference time Tref has elapsed from the time when it is determined that the end effector 12 is in a state of being caught by the treatment target (when the impedance Z (t) becomes equal to or greater than the impedance threshold Zth1). To be judged.
  • the time T is smaller than the reference time Tref (No at Step S114)
  • the process returns to Step S110, and the processes after Step S110 described above are sequentially performed.
  • the current value of the drive current I is the reference current value Iref. Keep smaller.
  • the time T is continuously counted.
  • step S114 when the time T is equal to or longer than the reference time Tref (step S114-Yes), the process returns to step S103, and the control unit 30 uses the current value of the drive current I (the peak peak value Ipp in this embodiment) as the reference current.
  • the value is set to Iref (step S103). That is, after the reference time Tref has elapsed from the time when it is determined that the end effector 12 is engaged, the drive current I is output from the drive circuit (energy output unit) 22 at a reference current value Iref that is constant over time. It becomes a state to be.
  • the constant current control of the drive current I at the reference current value Iref is performed by the control unit 30 after the reference time Tref has elapsed from the time when it is determined that the end effector 12 is engaged.
  • the processing after step S104 is performed again.
  • the reference time Tref may be set by an operator or the like, or may be stored in the storage medium 32.
  • step S107 If it is determined in step S107 that the end effector 12 is engaged (step S107—Yes), the control unit 30 makes the current value of the drive current I smaller than the reference current value Iref (step S107). In addition to S110), the warning unit 37 may warn that a catch has occurred. The warning unit 37 issues a warning by, for example, lighting, transmitting a sound, or displaying the warning on a monitor.
  • FIG. 4 is a diagram showing an example of the change in impedance Z with time.
  • the horizontal axis indicates time t based on the output start of the drive current I
  • the vertical axis indicates impedance Z.
  • a catch occurs at time t2 or in the vicinity thereof.
  • the determination unit 36 determines that the impedance Z (t2) becomes equal to or greater than the impedance threshold value Zth1 at time t2 by continuously performing the processes of steps S104 to S107 described above. Then, at time t2 or immediately after that, it is determined that the end effector 12 has been engaged with the treatment target, and a signal indicating that the end effector 12 has been engaged is generated.
  • the surgeon By performing a warning, for example, based on a signal indicating that the end effector 12 has been engaged, the surgeon recognizes that the end effector 12 has been engaged with the treatment target. This prevents the treatment target from being excessively (unnecessarily) cut by the surgeon separating the end effector 12 from the treatment target or stopping the input of the energy operation.
  • FIG. 5 shows the drive current I and the drive voltage V at and near the time when the end effector 17 is determined to be engaged when the impedance Z changes with time as shown in FIG. It is a figure which shows a time-dependent change.
  • the horizontal axis indicates the time t based on the output start of the drive current I
  • the vertical axis indicates the drive current I and the drive voltage V.
  • a change with time of the drive current I is indicated by a broken line
  • a change with time of the drive voltage V is indicated by a solid line.
  • FIG. 5 illustrates control of the drive current I and the drive voltage V based on the catch determination process. As shown in FIG.
  • the control unit 30 Performs the constant current control in which the current value of the drive current I (the peak peak value Ipp in the present embodiment) is made constant over time by continuously performing the process of step S103 described above. Yes.
  • the current value of the drive current I may be smaller than the reference current value Iref.
  • the drive voltage V is increased in response to the increase in the impedance Z, so that the current value of the drive current I is temporarily smaller than the reference current value Iref.
  • the control unit 30 When it is detected that the impedance Z (t2) becomes equal to or greater than the impedance threshold Zth1 at time t2, and it is determined that the end effector 12 is caught immediately after time t2 and time t2, the control unit 30 By performing the process of step S110 described above, the current value of the drive current I is made smaller than the reference current value Iref. In the example shown in FIG. 5, the current value is reduced to the reduced current value Ilow that is smaller than the reference current value Iref by determining that the end effector 12 is in the hooked state or immediately after time t2.
  • step S103 is performed, and the current value of the drive current I is changed to the reference current value Iref. become.
  • the process of step S103 described above is continuously performed, so that the current value of the drive current I is kept constant over time at the reference current value Iref.
  • the current value of the drive current I is kept smaller than the reference current value Iref before the reference time Tref elapses from the time when it is determined that the end effector 12 is engaged. .
  • the amplitude and vibration speed of vibration (longitudinal vibration) due to ultrasonic vibration in the vibrator 10 including the end effector 12 are reduced. Thereby, even if the end effector 12 is caught on the treatment target, it is more effectively prevented that the treatment target is excessively cut (unnecessarily).
  • the determination process for catching may be performed using the voltage threshold (first voltage threshold) Vth1 instead of the impedance threshold Zth1. In this case, it is determined whether or not the end effector 12 is engaged based on whether or not the voltage value of the drive voltage V (t) at the time t is equal to or greater than the voltage threshold value Vth1.
  • the determination unit 36 sets the determination parameter ⁇ to 1, and the end effector 12 is hooked to the treatment target in step S107.
  • the state is determined (step S107—Yes).
  • the determination unit 36 sets the determination parameter ⁇ to 0, and the end effector 12 is hooked to the treatment target in step S107. (Step S107-No).
  • the control unit 30 increases the voltage value of the drive voltage V in accordance with the increase in the impedance Z. . Therefore, based on whether or not the voltage value of the drive voltage V (t) at time t is equal to or higher than the voltage threshold value (first voltage threshold value) Vth1, it is determined whether or not the end effector 12 is in a hooked state. Judged appropriately.
  • a peak peak value Vpp As the voltage value of the drive voltage (AC voltage) V, a peak peak value Vpp, a peak value (maximum value) Vm, or an effective value Ve is used.
  • the value of the voltage threshold Vth1 varies depending on which of the peak peak value Vpp, the peak value Vm, and the effective value Ve is used as the voltage value.
  • the determination process for catching may be performed using the current threshold (first current threshold) Ith1 instead of the impedance threshold Zth1.
  • the determination unit 36 sets the determination parameter ⁇ to 1, and the end effector 12 is caught by the treatment target in step S107. The state is determined (step S107—Yes).
  • Step S107-No when it is determined that the current state is caught, the control unit 30 reduces the current value of the drive current I to the reduced current value Ilow.
  • the reduced current value Ilow is a current threshold value. (First current threshold) It is set to a value smaller than Ith1.
  • the above-described constant current control is performed in which the current value of the drive current I is constant over time (with the reference current value Iref).
  • the constant current control when the impedance Z increases rapidly due to the end effector 12 being caught by the bone or cartilage, the drive voltage V is increased with respect to the timing when the impedance Z increases. The timing is delayed and the current value of the drive current I is temporarily smaller than the reference current value Iref. Therefore, based on whether or not the current value of the drive current I (t) at the time t is equal to or less than the current threshold value (first current threshold value) Ith1, it is determined whether or not the end effector 12 is engaged. Judged appropriately.
  • the drive voltage V is increased in response to an increase in the impedance Z. Therefore, when a certain amount of time has elapsed since the decrease in the current value of the drive current I, the current of the drive current I The value becomes constant over time at the reference current value Iref. For this reason, in this modification, it is necessary to shorten the time interval of the timing for detecting the current value of the drive current I and determine whether or not the end effector 12 is engaged.
  • a peak peak value Ipp, a peak value (maximum value) Im, or an effective value Ie is used as the current value of the drive current (alternating current) I.
  • the value of the current threshold Ith1 differs depending on which of the peak peak value Ipp, the peak value Im, and the effective value Ie is used as the current value.
  • step S105 in FIG. 2 detection of impedance Z over time
  • FIG. 6 is a flowchart showing a process for determining whether the end effector 12 is caught by the energy control device 3 (the process in step S106 in FIG. 2).
  • the voltage detection unit 26 and the calculation unit 35 based on the detected drive voltage V, have a peak value (maximum value) Vm ( t) is detected (step S131).
  • the peak value Vm (t) of the drive voltage V is periodically detected (calculated) every one cycle or half cycle of the drive voltage V. Therefore, when the time point (t ⁇ 1) that is the detection target one time before the time t is defined, the drive voltage V becomes the peak value Vm (t) from the time point when the drive voltage V reaches the peak value Vm (t ⁇ 1).
  • the detected peak value Vm (t) of the drive voltage V is stored in the storage medium 31.
  • the peak value Vm (t) is detected only from the peak or the valley of the drive voltage (AC voltage) V.
  • the peak value Vm (t) is detected in both the peak and valley of the drive voltage V.
  • the calculation unit 35 determines that the detection target is one time before the time t from the peak value Vm (t) of the drive voltage V at time t.
  • a change rate (amount of change) ⁇ (t) obtained by subtracting the peak value Vm (t ⁇ 1) of the drive voltage V at the time point (t ⁇ 1) is calculated (step S132).
  • the determination unit 36 determines whether or not the calculated change rate ⁇ (t) is positive (step S133).
  • the rate of change ⁇ (t) is positive
  • the peak value Vm (t) of the drive voltage V increases with time at time t, and the rate of change ⁇ (t) is driven at time t.
  • the increase rate (increase amount) of the peak value Vm (t) of the voltage V is shown.
  • the determination unit 36 determines the rate of change (increase rate) ⁇ (from time (t ⁇ 1) to time t) at time t. It is determined whether or not t) is equal to or greater than a reference increase rate (reference increase amount) ⁇ ref (step S134). Therefore, in the present embodiment, the increase rate (change rate) ⁇ (t) of the peak value Vm (t) of the drive voltage V is increased in a state where the peak value Vm (t) of the drive voltage V increases with time. It is determined whether or not the calculated increase rate ⁇ (t) is equal to or greater than the reference increase rate ⁇ ref.
  • the reference increase rate ⁇ ref may be set by an operator or the like, or may be stored in the storage medium 31.
  • the count number M (t) at time t is specified.
  • the calculation unit 35 becomes a detection target one time before the time t (t ⁇ )
  • the count number M (t) at time t is calculated by adding 1 to the count number M (t ⁇ 1) at 1) (step S135).
  • the count number M (t ⁇ 1) at time (t ⁇ 1) is 1, the count number M (t) at time t is 2.
  • the calculated count number M (t) is stored in the storage medium 31. Note that the count number M (t) is set to 0 when the output of the drive current I from the drive circuit 22 is started.
  • the determination unit 36 determines whether or not the calculated count number M (t) is equal to or greater than the reference count number Mref (step S136).
  • the reference count number Mref may be set by an operator or the like, or may be stored in the storage medium 31.
  • step S137 the determination unit 36 sets the determination parameter ⁇ to 1 (step S137). Then, in step S107 of FIG. 2, the determination unit 36 determines that the end effector 12 is in a state of being caught by the treatment target (step S107—Yes). On the other hand, when the count number M (t) is smaller than the reference count number Mref (step S136—No), the determination unit 36 sets the determination parameter ⁇ to 0 (step S138). Then, in step S107 of FIG. 2, the determination unit 36 determines that the end effector 12 is not in a state of being caught on the treatment target (No in step S107). However, in this case, a value obtained by adding 1 from the count number M (t ⁇ 1) at time (t ⁇ 1) is stored as the count number M (t) at time t.
  • step S133 If it is determined in step S133 that the rate of change ⁇ (t) of the peak value Vm (t) at time t (from time (t ⁇ 1) to time t) is 0 or negative (step S133). -No), and when it is determined in step S134 that the increase rate (change rate) ⁇ (t) of the peak value Vm (t) at time t is smaller than the reference increase rate ⁇ ref (step S134-No), The calculator 35 resets the count number M (t) at time t to 0 (step S139). Then, the determination unit 36 sets the determination parameter ⁇ to 0 (step S140), and in step S107 in FIG.
  • the determination unit 36 determines that the end effector 12 is not in a state of being caught on the treatment target (step S107). -No). At this time, the reset value (that is, 0) is stored as the count number M (t) at time t.
  • the crest value Vm (t) of the drive voltage V has an increase rate ⁇ (t) equal to or higher than the reference increase rate ⁇ ref for a predetermined time. Only in the case of a continuous increase during this period, the determination parameter ⁇ is set to 1 in step S137.
  • the determination unit 36 determines that the peak value Vm (t) of the drive voltage V is an increase rate ⁇ (t) equal to or higher than the reference increase rate ⁇ ref for a predetermined time (the count number M (t) is changed from 0 to the reference count number Mref It is determined that the end effector 12 is in a state of being caught on the treatment target based on the continuous increase.
  • the control unit 30 causes the drive current output from the drive circuit (energy output unit) 22 as described above in the first embodiment.
  • the current value of I is made smaller than the reference current value Iref, and the warning unit 37 is warned.
  • FIG. 7 is a diagram showing an example of the change over time of the drive voltage V.
  • the horizontal axis indicates the time t based on the output start of the drive current I
  • the vertical axis indicates the drive voltage V.
  • Vm (t) also increases with time. In the example illustrated in FIG. 7, at or near time t4, the end effector 12 starts to contact the treatment target, and the treatment target starts to be cut.
  • the peak value Vm (t) of the drive voltage V increases with time from Vm4 to Vm5 from time t4 to time t5.
  • the crest value Vm (t) does not increase abruptly, and the increase rate ⁇ ( t) is smaller than the reference increase rate ⁇ ref. Therefore, during the period from time t4 to time t5, the determination parameter ⁇ is continuously set to 0 by the process of step S140 in FIG. 6, and it is determined that the end effector 12 is not in a state of being caught on the treatment target.
  • the impedance Z becomes substantially constant with time, and the peak value Vm (t) of the drive voltage V also changes with time. Becomes substantially constant.
  • the treatment target is cut by the end effector 12 without being caught by the end effector 12 from time t5 to time t6, and the peak value Vm (t) of the drive voltage V is Vm5. Is kept almost constant. Therefore, during the period from time t4 to time t5, the determination parameter ⁇ is continuously set to 0 by the process of step S140 in FIG. 6, and it is determined that the end effector 12 is not in a state of being caught on the treatment target.
  • the impedance Z increases rapidly with time, and the peak value Vm of the drive voltage V also increases suddenly for some time.
  • the end effector 12 is caught at or near time t6.
  • the peak value Vm (t) of the drive voltage V increases rapidly with time from Vm5 to Vm7 from time t6 to time t7.
  • the increase rate ⁇ (t) of the crest value Vm (t) is set to the reference increase rate by the process of step S134.
  • the count number M (t) continues to increase by the process of step S135.
  • the determination parameter ⁇ is continuously set to 0 by the process of step S138.
  • the count number M (t) since the count number M (t) continuously increases from time t6 to time t7, the count number M (t) becomes equal to or greater than the reference count number Mref by the process of step S136 at or before time t7. It is judged that it became.
  • the determination parameter ⁇ is set to 1 by the process of step S137, and it is determined that the end effector 12 is in a state of being caught by the treatment target. As a result, a signal indicating that the end effector 12 is engaged is generated at or before time t7.
  • the end effector 12 is caught based on the fact that the peak value Vm (t) of the drive voltage V has increased for a predetermined time at an increase rate ⁇ (t) greater than or equal to the reference increase rate ⁇ ref. It is judged that. Therefore, for example, when the voltage value of the drive voltage V instantaneously becomes a large value due to noise or the like, it is properly determined that the end effector 12 is not in a hooked state, and the end effector 12 is hooked appropriately. It is determined whether or not.
  • FIG. 8 is a diagram illustrating a configuration of the vibrating body 20 of the present embodiment. Further, FIG. 8 shows the relationship between the position X and the amplitude A of the longitudinal vibration in the direction along the longitudinal axis C when the vibrating body 20 vibrates (in a state of longitudinal vibration) by ultrasonic vibration.
  • the horizontal axis indicates the position X in the direction along the longitudinal axis C
  • the vertical axis indicates the amplitude A.
  • vibration (longitudinal vibration) vibration antinodes in a direction along the longitudinal axis C.
  • the most proximal vibration belly B1 in the vibration antinode Bi is located at the proximal end of the vibration generating unit 15 (the proximal end of the vibration body 10), and the most distal vibration antinode Bk in the vibration antinode Bi. Is located at the tip of the vibration transmitting member 11 (tip of the vibrating body 10).
  • the vibration generator 15 is provided with an amplitude detector 41 such as a vibration sensor.
  • the vibration antinode B2 In a state where the vibrating body vibrates longitudinally within a predetermined frequency range, the vibration antinode B2 is located at a position where the amplitude detector 41 is attached.
  • the vibration antinode B2 is secondly located on the base end side in the vibration antinode Bi.
  • the amplitude detector 41 detects the amplitude A (B2, t) at the vibration antinode B2 over time.
  • the detection result of the amplitude detection unit 41 is transmitted to the control unit 30 of the energy control device 3 by wire or wireless.
  • the amplitude A (X, t) indicates the amplitude A of the longitudinal vibration at the time t at the position X in the direction along the longitudinal axis C.
  • step S104 detection of drive current I and drive voltage V
  • step S105 detection of impedance Z with time
  • the amplitude detector 41 instead of these processes or in addition to these processes, the amplitude detector 41 detects the amplitude A (B2, t) at the vibration antinode B2.
  • FIG. 9 is a flowchart showing a process for determining whether the end effector 12 is caught by the energy control device 3 (the process in step S106 in FIG. 2).
  • the determination unit 36 has the amplitude A (B2, t) at the vibration antinode B2 at the time t detected by the amplitude detection unit 41 is equal to or less than the amplitude threshold Ath. It is determined whether or not (step S141).
  • the amplitude threshold Ath may be set by an operator or the like, and may be stored in the storage medium 31.
  • the determination unit 36 sets the determination parameter ⁇ to 1 (step S142). In step S107 in FIG. 2, the determination unit 36 determines that the end effector 12 is in a state of being caught on the treatment target. On the other hand, when the amplitude A (B2, t) at the vibration antinode B2 is larger than the amplitude threshold Ath (step S142-No), the determination unit 36 sets the determination parameter ⁇ to 0 (step S143). In step S107 of FIG. 2, the determination unit 36 determines that the end effector 12 is not in a state of being caught on the treatment target.
  • the vibration body 10 reduces the amplitude A (X, t) of longitudinal vibration at a position other than the vibration node Ni. Therefore, whether or not the end effector 12 is caught is appropriately determined based on whether or not the amplitude A (B2, t) of the vibration antinode B2 at the time t is equal to or less than the amplitude threshold Ath. .
  • the cutting of the treatment target is performed in a state where the end effector 12 is not caught at time t8, and the end effector 12 is caught near time t9 after time t8.
  • the amplitude A (X, t8) of the vibrating body 10 at time t8 is indicated by a solid line
  • the amplitude A (X, t9) of the vibrating body 10 at time t9 is indicated by a broken line.
  • the amplitude A (B2, t8) at the vibration antinode B2 is larger than the amplitude threshold Ath.
  • the end effector 12 In the vicinity of time t9, the end effector 12 is caught on the treatment target, and the end effector 12 is caught. Accordingly, at time t9, the amplitude A (B2, t9) at the vibration antinode B2 becomes equal to or less than the amplitude threshold Ath. At this time, the determination unit 36 determines that the amplitude A (B2, t9) at the vibration antinode B2 is equal to or less than the amplitude threshold Ath at the time t9 by performing the above-described processing of steps S141 and S142. Then, at or after time t9, it is determined that the end effector 12 has been engaged with the treatment target, and a signal indicating that the end effector 12 has been engaged is generated.
  • the vibration antinode Bi including the vibration antinode B2 is a place where the amplitude A (X, t) is maximized in the direction along the longitudinal axis C. For this reason, in each of the vibration antinodes Bi, the difference in amplitude A (X, t) increases between the state where the end effector 12 is not hooked and the state where the end effector 12 is hooked. For this reason, the determination process of the catch of the end effector 12 is performed based on the amplitude A (B2, t) at the vibration antinode B2, so that it is further appropriately determined whether or not the catch is in the caught state.
  • the amplitude detection unit 41 is disposed on the vibration antinode B2.
  • the amplitude detection unit 41 is one of the vibration antinodes B2 other than the vibration antinode B2. (Bk here) may be arranged. In this case, whether or not the end effector 12 is caught based on whether or not the amplitude A (Bk, t) at the time t of the vibration antinode Bk where the amplitude detector 41 is disposed is equal to or smaller than the amplitude threshold Ath. It is determined whether or not.
  • the amplitude A (Bk, t) at each of the vibration antinodes B3 to Bn is larger than the amplitude A (B2, t) at the vibration antinode B2.
  • the value of the amplitude threshold Ath is different when the amplitude detector 41 is arranged in any of the vibration antinodes B3 to Bn, compared to the case where the amplitude detector 41 is arranged in the vibration antinode B2.
  • the amplitude detector 41 may be arranged at a position Xk between a certain vibration antinode (any of Bi) and a certain vibration node (any of Ni). Even at the position Xk, the amount of decrease is smaller than the amplitude A (Bi, t) at the vibration antinode Bi, but when the end effector 12 is caught by bone or cartilage, the amplitude A (Xk, t) of the longitudinal vibration is increased. Decrease. Also in this case, whether or not the end effector 12 is caught based on whether or not the amplitude A (Xk, t) at the time t at the position Xk where the amplitude detector 41 is disposed is equal to or less than the amplitude threshold Ath.
  • the amplitude threshold Ath is different from the case where the amplitude detection unit 41 is arranged in any of the vibration antinodes Bi. As described above, the amplitude detector 41 only needs to be disposed at a place other than the vibration node Ni.
  • a speed detection unit such as a motion sensor may be attached to the vibrating body 10 instead of the amplitude detection unit 41.
  • an average vibration speed (for example, ⁇ (B2, t)) at a time t at a position where the speed detection unit is disposed (for example, vibration antinode B2) is detected over time.
  • the average vibration speed (for example, ⁇ (B2, t)) is detected, for example, every one cycle or half cycle of the longitudinal vibration.
  • the end is determined based on whether or not the average vibration speed (for example, ⁇ (B2, t)) at the position (for example, vibration antinode B2) at the time t is equal to or less than the speed threshold ⁇ th. It is determined whether or not the effector 12 is caught. That is, when the average vibration speed (for example, ⁇ (B2, t)) is equal to or less than the speed threshold value ⁇ th, the determination unit 36 sets the determination parameter ⁇ to 1, and the end effector 12 sets the treatment target in step S107. It is determined that the state has been caught (step S107—Yes).
  • the average vibration speed for example, ⁇ (B2, t)
  • the determination unit 36 sets the determination parameter ⁇ to 0, and the end effector 12 is hooked to the treatment target in step S107. It is determined that it is not in the state (step S107-No).
  • the end effector 12 determines whether the average vibration speed (for example, ⁇ (B2, t)) at the position (for example, the vibration antinode B2) at the time t is equal to or less than the speed threshold value ⁇ th. It is appropriately determined whether or not the state has been caught.
  • a process of adjusting the frequency of longitudinal vibration to a certain resonance frequency within a predetermined frequency range is performed by, for example, PLL (Phase Lock Loop) control.
  • PLL Phase Lock Loop
  • the control unit 30 determines whether or not the process of adjusting the frequency of the longitudinal vibration is completed, and controls the amplitude detection unit 41 or the speed detection unit based on the determination result. Yes.
  • the amplitude for example, A (Bi, t)
  • the average vibration speed is determined.
  • ⁇ (Bi, t) is not detected.
  • Whether or not the process of adjusting the frequency of longitudinal vibration has been completed is determined based on, for example, a change with time in the impedance Z.
  • step S107 if it is determined in step S107 that the end effector 12 is hooked (step S107—Yes), The control unit 30 stops the output of the drive current I from the drive circuit (energy output unit) 22 or causes the warning unit 37 to warn (step S145). In this case, even if it is determined that the end effector 12 is engaged, the process of making the current value of the drive current I smaller than the reference current value Iref is not performed.
  • the control unit 30 stops the output of the drive current I from the drive circuit (energy output unit) 22, and Both warnings by the warning unit 37 may be performed.
  • the impedance threshold (first impedance threshold) Zth1 used for the hook determination process (step S106).
  • an impedance threshold (second impedance threshold) Zth2 larger than the impedance threshold Zth1 is set.
  • the determination unit 36 performs a hook determination process (step S106), and the end effector 12 is hooked to the treatment target based on the set determination parameter ⁇ . It is determined whether or not it is in the state (step S107).
  • the control unit 30 displays the current of the drive current I output from the drive circuit (energy output unit) 22.
  • the value is decreased from the reference current value Iref (step S110), and the time T when the end effector 12 is determined to be engaged is counted as 0 (step S111).
  • the current detection unit 25 detects the drive current I over time and the voltage detection unit 26 detects the drive voltage after the time point when the end effector 12 is determined to be engaged. V is detected over time (step S151). Based on the detected drive current I and drive voltage V, the impedance detector 33 detects the impedance Z over time (step S152).
  • step S112 determination of step S112 is performed similarly to 1st Embodiment.
  • the determination unit 36 detects the impedance Z () at time t detected by the impedance detection unit 33 in the process of step S152. It is determined whether or not t) is equal to or greater than the impedance threshold (second impedance threshold) Zth2 (step S153). As described above, the impedance threshold value Zth2 is larger than the impedance threshold value Zth1. If the impedance Z (t) is greater than or equal to the impedance threshold Zth2 (step S153-Yes), the control unit 30 stops outputting the drive current I from the drive circuit 22 (step S154).
  • step S153-No the control unit 30 determines that the counted time T is equal to or greater than the reference time Tref as in the first embodiment. Is determined (step S114). When the time T is smaller than the reference time Tref (step S114—No), the process returns to step S110. If the time T is equal to or longer than the reference time Tref (step S114—Yes), the process returns to step S103, and the control unit 30 sets the current value of the drive current I to the reference current value Iref (step S103).
  • the impedance threshold value Zth1 and the impedance threshold value Zth2 larger than the impedance threshold value Zth1 are set, and the determination in step S153 is performed based on the impedance threshold value Zth2.
  • the control unit 30 stops outputting the drive current I from the drive circuit 22 based on the fact that the impedance Z (t) is equal to or greater than the impedance threshold Zth2. Further, when the impedance Z (t) is kept smaller than the impedance threshold Zth2 from the time when it is determined that the end effector 12 is engaged until the reference time Tref elapses, the reference current value is maintained during the reference time Tref. The drive current I is continuously output with a current value smaller than Iref.
  • FIG. 12 is a diagram illustrating an example different from FIG. In FIG. 12, the horizontal axis indicates time t with reference to the output start of the drive current I, and the vertical axis indicates impedance Z. In the example shown in FIG. 12, a catch occurs at time t10 or in the vicinity thereof.
  • the determination unit 36 determines that the impedance Z (t10) becomes equal to or greater than the impedance threshold (first impedance threshold) Zth1 at time t10 by continuously performing the processes of steps S104 to S107 described above. to decide. Then, at or after time t10, it is determined that the end effector 12 has been engaged with the treatment target, and a signal indicating that the end effector 12 has been engaged is generated. By generating a signal indicating that the end effector 12 is caught, the current value of the drive current I is kept smaller than the reference current value Iref by the process of step S110.
  • the impedance Z is continuously increased and it is determined that the end effector 12 is in a hooked state (t10). Or, immediately after that, at time t11 before the reference time Tref elapses, the impedance Z becomes equal to or greater than the impedance threshold (second impedance threshold) Zth2.
  • the impedance Z is detected over time by the processing of steps S151 and S152 even after it is determined that the end effector 12 is caught. For this reason, the impedance Z is detected even after it is determined that the end effector 12 is in a state of being caught by the treatment target at or after the time t10.
  • step S153 it is determined that the impedance Z has become equal to or greater than the impedance threshold Zth2 at time t11. Thereby, the output of the drive current I is stopped by the process of step S154 at or immediately after the time t11.
  • impedance threshold values Zth1 and Zth2 are used.
  • a voltage threshold value (first voltage threshold value) Vth1 and a voltage threshold value Vth1 are used instead of the impedance threshold values Zth1 and Zth2.
  • a larger voltage threshold (second voltage threshold) Vth2 may be used.
  • the voltage value of the drive voltage V (for example, the peak peak value Vpp) also continues to increase.
  • the drive voltage V is detected over time even after it is determined that the end effector 12 is engaged.
  • the determination unit 36 determines whether or not the voltage value of the drive voltage V (t) at the time t is equal to or higher than the voltage threshold value (second voltage threshold value) Vth2.
  • the output of the drive current I is stopped. Is done.
  • the reference voltage Tth is the reference time Tref.
  • the drive current I is continuously output at a current value smaller than the current value Iref. Therefore, also in this modification, it is determined that the end effector 12 is in a state of being caught, and after the current value of the drive current I is reduced from the reference current value Iref, the catch is not eliminated and the drive voltage V ( When the impedance Z) continues to rise, the output of the drive current I is appropriately stopped.
  • the voltage threshold values Vth1 and Vth2 differ depending on which of the peak peak value Vpp, peak value Vm, and effective value Ve is used as the voltage value.
  • a current threshold (first current threshold) Ith1 and a current threshold (second current threshold) Ith2 smaller than the current threshold Ith1 may be used instead of the impedance thresholds Zth1 and Zth2.
  • the determination unit 36 determines in step S107 that the end effector 12 is in a state of being caught by the treatment target (step S107). -Yes).
  • the control unit 30 reduces the current value of the drive current I to the reduced current value Ilow.
  • the reduced current value Ilow is a current threshold value. (First current threshold value) is set to a value smaller than Ith1 and larger than a current threshold value (second current threshold value) Ith2.
  • the current value (for example, peak peak value Ipp) of the drive current I continuously decreases.
  • the drive current I is detected over time even after it is determined that the end effector 12 is engaged.
  • the determination unit 36 determines whether or not the current value of the drive current I (t) at the time t is equal to or less than the current threshold value (second current threshold value) Ith2.
  • the output of the drive current I is stopped.
  • the current threshold value Ith2 When the current value of the drive current I is kept larger than the current threshold value Ith2 from the time when it is determined that the end effector 12 is engaged until the reference time Tref elapses, during the reference time Tref (current threshold value Ith2 The drive current I is continuously output at a current value that is larger and smaller than the reference current value Iref. Therefore, also in this modified example, it is determined that the end effector 12 is in a state of being caught, and after the current value of the drive current I is reduced from the reference current value Iref, the catch is not eliminated and the drive current I is not reduced. When the voltage continuously decreases (when the impedance Z increases continuously), the output of the drive current I is appropriately stopped.
  • the current threshold values Ith1 and Ith2 differ depending on which of the peak peak value Ipp, the peak value Im, and the effective value Ie is used as the current value.
  • the energy control device 3 can output high-frequency electric energy (high-frequency power) in addition to ultrasonic electric energy (driving current I), and ultrasonic vibration is transmitted to the end effector 12.
  • High frequency electrical energy may be supplied from the energy control device 3 to the end effector 12.
  • the ultrasonic treatment system (1) is generated by the vibration generating unit (15) that generates ultrasonic vibrations when the drive current (I) is supplied, and the vibration generating unit (15).
  • the ultrasonic vibration is transmitted, and an end effector (12) that cuts bone or cartilage as a treatment target using the transmitted ultrasonic vibration, and a drive current (I) supplied to the vibration generation unit (15) are output.
  • the determination unit (36) determines whether or not the end effector (12) is caught by the treatment target in a state where the end effector (12) is in contact with the treatment target, and the end effector (12) By determining that the treatment target is caught, a signal indicating that the end effector (12) is caught is generated.

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Abstract

L'invention concerne un système de traitement par ultrasons, qui comprend : un effecteur final qui coupe un os ou un cartilage en tant qu'objet à traiter à l'aide de vibrations ultrasonores transmises depuis une unité de génération de vibration ; et une unité de sortie d'énergie qui délivre un courant d'entraînement qui est fourni à l'unité de génération de vibration. Une unité de détermination détermine si l'effecteur final est verrouillé sur l'objet à traiter et, lorsque l'unité de détermination détermine que l'effecteur final est verrouillé sur l'objet à traiter, l'unité de détermination génère un signal indiquant que l'effecteur final est verrouillé sur l'objet à traiter.
PCT/JP2016/070309 2015-07-23 2016-07-08 Système de traitement par ultrasons et dispositif de commande d'énergie WO2017014075A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0751281A (ja) * 1993-05-12 1995-02-28 Ethicon Inc 鈍端の超音波套管針
JP2001161706A (ja) * 1999-12-09 2001-06-19 Olympus Optical Co Ltd 超音波手術装置
JP2001238893A (ja) * 2000-02-29 2001-09-04 Olympus Optical Co Ltd 超音波手術装置
WO2015021216A1 (fr) * 2013-08-07 2015-02-12 Stryker Corporation Système et procédé d'entraînement d'une pièce à main à ultrasons en tant que fonction de l'impédance mécanique de la pièce à main

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8858439B2 (en) * 2009-06-03 2014-10-14 Olympus Medical Systems Corp. Ultrasound operation apparatus, ultrasound operation system, and cavitation suppression method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0751281A (ja) * 1993-05-12 1995-02-28 Ethicon Inc 鈍端の超音波套管針
JP2001161706A (ja) * 1999-12-09 2001-06-19 Olympus Optical Co Ltd 超音波手術装置
JP2001238893A (ja) * 2000-02-29 2001-09-04 Olympus Optical Co Ltd 超音波手術装置
WO2015021216A1 (fr) * 2013-08-07 2015-02-12 Stryker Corporation Système et procédé d'entraînement d'une pièce à main à ultrasons en tant que fonction de l'impédance mécanique de la pièce à main

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