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EP-4306063-B1 - SURGERY SYSTEM AND CONTROL DEVICE FOR OPERATING SURGERY SYSTEM

EP4306063B1EP 4306063 B1EP4306063 B1EP 4306063B1EP-4306063-B1

Inventors

  • WATANABE, KOICHIRO
  • TERAYAMA, Kazuma
  • YAJI, TSUYOSHI
  • KOBAYASHI, MISATO

Dates

Publication Date
20260506
Application Date
20210310

Claims (18)

  1. A surgical system comprising: a treatment tool device (3) configured to perform a treatment on a biological tissue in a liquid; a detector configured to detect information regarding turbidity in the liquid occurring due to the treatment tool device; a controller configured to control the surgical system (1) based on a detection result of the detector; and an endoscope device (2) including: an endoscope (21) configured to image a treatment target, characterized in that the endoscope device (2) further includes a first control device (22) configured to convert imaging data obtained from the endoscope into image data, wherein the first control device (22) includes the detector and is configured to detect the information regarding the turbidity from the imaging data of the endoscope device (2); and wherein the controller is configured to perform a control to highlight an edge in the imaging data.
  2. The surgical system according to claim 1, wherein the information regarding the turbidity is a value that is increased or decreased in correlation with an occurrence of the turbidity.
  3. The surgical system according to claim 1, wherein the information regarding the turbidity is information caused by the biological tissue.
  4. The surgical system according to claim 2, further comprising a storage configured to store imaging data of an endoscope device (2), wherein the detector is configured to: acquire first imaging data from the endoscope device (2); acquire second imaging data from the storage; calculate an amount of change in value between pixels of identical coordinates of the first imaging data and the second imaging data; and detect the turbidity according to the amount of change.
  5. The surgical system according to claim 2, further comprising a storage configured to store imaging data of an endoscope device (2), wherein the detector is configured to: acquire first imaging data from the endoscope device (2); acquire second imaging data from the storage; calculate an amount of change in contrast between the first imaging data and the second imaging data; and detect the turbidity according to the amount of change.
  6. The surgical system according to claim 2, further comprising a storage configured to store imaging data of an endoscope device (2), wherein the detector is configured to: acquire first imaging data from the endoscope device (2); acquire second imaging data from the storage; calculate an amount of change in edge between the first imaging data and the second imaging data; and detect the turbidity according to the amount of change.
  7. The surgical system according to claim 2, further comprising a storage configured to store imaging data of an endoscope device (2), wherein the detector is configured to: acquire first imaging data from the endoscope device (2); acquire second imaging data from the storage; calculate an amount of change in luminance between the first imaging data and the second imaging data; and detect the turbidity according to the amount of change.
  8. The surgical system according to claim 1, wherein the detector is configured to detect the information regarding the turbidity from the liquid.
  9. The surgical system according to claim 8, wherein the detector includes a sensor configured to detect a pH of the liquid, and the detector is configured to detect the turbidity based on a value of the pH acquired from the sensor.
  10. The surgical system according to claim 9, wherein the detector is configured to detect the turbidity when the pH detected by the sensor is higher than a predetermined value.
  11. The surgical system according to claim 8, wherein the detector is configured to: calculate an impedance of the treatment tool device (3); and predict a viscosity of the liquid based on the calculated impedance to detect the turbidity.
  12. The surgical system according to claim 1, wherein the controller is configured to reduce drive power to be supplied to the treatment tool device (3).
  13. The surgical system according to claim 1, wherein the controller is configured to increase drive power of the treatment tool device (3).
  14. The surgical system according to claim 1, further comprising a perfusion device configured to supply the liquid, wherein the controller is configured to transmit a signal for increasing a supply speed of the liquid to the perfusion device (6).
  15. The surgical system according to claim 1, further comprising a perfusion device (6) configured to suck the liquid, wherein the controller is configured to transmit a signal for increasing a suction amount of the liquid to the perfusion device (6).
  16. The surgical system according to claim 1, further comprising a perfusion device (6) configured to supply and suck the liquid, wherein the controller is configured to transmit a signal for increasing a supply amount of the liquid to the perfusion device (6), and the controller is configured to transmit a signal for increasing a suction amount of the liquid to the perfusion device (6).
  17. A surgical system comprising: an endoscope device (2); a perfusion device (6) configured to supply a perfusate to a treatment target; a treatment tool device (3) configured to perform a treatment on a biological tissue in the perfusate in the treatment target; and a control device configured to control the endoscope device (2), the treatment tool device (3), or the perfusion device (6), wherein the control device is configured to detect whether or not the perfusate is turbid, proceed to a first control when the perfusate is turbid, and proceed to a second control when the perfusate is not turbid; the endoscope device (2) including: an endoscope (21) configured to image a treatment target, characterized in that the endoscope device (2) further includes a first control device (22) configured to convert imaging data obtained from the endoscope into image data, wherein the first control device (22) includes the detector and is configured to detect the information regarding the turbidity from the imaging data of the endoscope device (2); and wherein the control device is configured to perform a control to highlight an edge in the imaging data.
  18. A control device of a surgical system configured to supply a perfusate to a treatment target and perform a treatment on a biological tissue in the perfusate, the control device comprising: a display device that is connectable to an endoscope device (2) or a treatment tool device (3); and at least one control device, wherein the control device is configured to receive information from the endoscope device or the treatment tool device via the display device, detect whether or not the perfusate is turbid based on the information, proceed to a first control when the perfusate is turbid, and proceed to a second control when the perfusate is not turbid; characterized in that the control device is configured to perform a control to highlight an edge in imaging data obtained from an endoscope.

Description

Field The present invention relates to a surgical system, and a control device for the surgical system. Background Arthroscopic surgery is surgery in which a portal is formed in a treatment target joint, an arthroscope or a treatment tool is inserted into the treatment target joint through the portal, and a treatment is performed while observing the inside of a joint cavity by using the arthroscope in a situation where the inside of the joint cavity is filled with a perfusate. WO 2018/078830 A (Patent Literature 1) is disclosed as an arthroscopic surgical system used for the arthroscopic surgery. In addition, Patent Literature 1 discloses an ultrasonic treatment tool for forming a hole in a bone. The ultrasonic treatment tool is configured in such a manner that a distal end of the treatment tool ultrasonically vibrates. When an operator brings the distal end of the treatment tool into contact with the bone and presses a switch to apply ultrasonic vibration to the treatment tool, the distal end of the treatment tool cuts the bone, and a hole is formed in the bone. When the distal end of the treatment tool cuts the bone, debris of the bone (bone powder) is generated. US 2018/0055568 A1 (Patent Literature 2) discloses a system for controlling irrigation flow of a lithotripsy system wherein an irrigation flow rate is set based on received feedback by increasing the irrigation flow rate when image processing data indicates that an image is blurry and by decreasing the irrigation flow rate when image processing data indicates that the image is clear. Citation List Patent Literature Patent Literature 1: WO 2018/078830 APatent Literature 2: US 2018/0055568 A1 Summary Technical Problem However, the bone powder generated at the time of cutting is temporarily dispersed in the perfusate, the perfusate becomes turbid, and the treatment target may be blocked from view of the arthroscope for observing the treatment target. In this case, the operator must stop his/her hand, which may impose a burden on a patient and the operator. The present invention has been made in view of the above, and an object of the present invention is to provide a surgical system and a control device, for the surgical system that reduce a burden on a patient and an operator by detecting turbidity of a perfusate and performing a predetermined control. Solution to Problem To solve the problem described above and to achieve the object, a surgical system and a control device as claimed in claims 1, 17 and 18 according to the present invention are provided. Further embodiments of the invention are defined by the dependent claims. The present disclosure provides a treatment tool device configured to perform a treatment on a biological tissue in a liquid; a detector configured to detect information regarding turbidity in the liquid occurring due to the treatment tool device; and a controller configured to control the surgical system based on a detection result of the detector. A control device according to the present disclosure is a control device of a surgical system configured to supply a perfusate to a treatment target and perform a treatment on a biological tissue in the perfusate. The control device includes: a display device that is connectable to an endoscope device or a treatment tool device; and at least one control device. The control device is configured to receive information from the endoscope device or the treatment tool device via the display device, detect whether or not the perfusate is turbid based on the information, proceed to a first control when the perfusate is turbid, and proceed to a second control when the perfusate is not turbid. An operation method for a surgical system according to the present disclosure is an operation method for a surgical system that includes an endoscope device, a perfusion device configured to supply a perfusate to a treatment target, and a treatment tool device configured to perform a treatment on a biological tissue in the perfusate in the treatment target. The operation method includes: detecting whether or not the perfusate is turbid; proceeding to a first control when the perfusate is turbid; and proceeding to a second control when the perfusate is not turbid. Advantageous Effects of Invention With the surgical system and the control device according to the present invention, it is possible to reduce the burden on the patient and the operator. Brief Description of Drawings FIG. 1 is a diagram illustrating a schematic configuration of a surgical system according to an embodiment.FIG. 2 is a diagram illustrating a treatment flow using the surgical system according to the embodiment.FIG. 3 is a diagram illustrating a cutting treatment flow using the surgical system according to the embodiment.FIG. 4A is a diagram illustrating an example of a turbidity detection flow using the surgical system according to the embodiment.FIG. 4B is a diagram illustrating an example of a turbidity detection flow using t