Medical tool with electromechanical control and feedback
Inventors
Frankhouser, Paul L. • Mulvihill, Maureen L. • Bagwell, Roger B. • Clement, Ryan S. • Hernandez Mesa, Gabriela • Sheehan, Ryan M. • Park, Brian M.
Assignees
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Publication Number
US-9220483-B2
Publication Date
2015-12-29
Expiration Date
Abstract
A medical device for reducing the force necessary to penetrate living being tissue using a variety of reciprocating motion actuators. The reciprocating actuator drives a penetrating member, such as a needle, through the tissue at a reduced force while the device detects the passage of the penetrating member through the tissue. Upon passage of the penetrating member through the tissue, a feedback system monitors electromechanical properties of a control signal of the device and automatically modifies control based thereon, e.g., electrical power to the reciprocating actuator is automatically terminated.
Core Innovation
The invention relates to a medical device for penetrating living being tissue that includes a penetrating member axially reciprocated relative to a body of the medical device. The axial reciprocation reduces a force necessary to penetrate the living being tissue, and the penetrating member is driven by a driving actuator that generates the axial reciprocation. Prior to penetration of the living being tissue, an interrogation is performed on the driving actuator that includes a frequency sweep.
The device includes a feedback subsystem having a processor and a memory that stores predetermined electromechanical measurement data. The memory further includes at least one comparison function executable by the processor, the comparison function including at least one measurement parameter, and the feedback subsystem detects changes of electromechanical properties related to operation of the penetrating member. At least one sensor in electronic communication with the processor generates electromechanical measurement data relative to motion of the penetrating member and is mounted in communication with at least one of the penetrating member and the driving actuator.
The processor incorporates the sensor electromechanical measurement data and the predetermined electromechanical measurement data into the comparison function and determines whether the sensor electromechanical measurement data matches at least a portion of the predetermined electromechanical measurement data. The processor selectively modifies the action of the driving actuator to achieve an optimal driving parameter, continuously modifying the action from suboptimal driving parameters to more optimal driving parameters while reciprocation occurs. The device indicates a status relating to the penetrating member to an operator, and the processor measures electromechanical property values during axial reciprocation to identify whether the penetrating member is working within the more optimal driving parameters or failing to operate within the more optimal driving parameters.
Claims Coverage
The provided material includes one independent claim. The inventive features center on force-reducing axial reciprocation, frequency-sweep actuator interrogation prior to penetration, and closed-loop comparison using predetermined electromechanical measurement data and sensor electromechanical measurement data to modify actuator drive toward resonance-based optimal driving parameters, with operator status indication.
Force-reducing axial reciprocation for living tissue penetration
A penetrating member is axially reciprocated relative to a body of the medical device, wherein axial reciprocation reduces a force necessary to penetrate living being tissue.
Frequency-sweep actuator interrogation prior to penetration
A driving actuator coupled to the penetrating member generates the axial reciprocation, and an interrogation including a frequency sweep is performed on the driving actuator prior to penetration of the living being tissue.
Predetermined electromechanical measurement data with comparison functions
A feedback subsystem including a processor and a memory stores predetermined electromechanical measurement data, where the memory includes at least one comparison function executable by the processor, the comparison function including at least one measurement parameter, and the feedback subsystem detects changes of electromechanical properties related to operation of the penetrating member.
Sensor-mounted electromechanical measurement data and comparison-driven determination
At least one sensor in electronic communication with the processor is mounted in communication with at least one of the penetrating member and the driving actuator, and generates electromechanical measurement data relative to the motion of the penetrating member, the processor incorporating sensor electromechanical measurement data and predetermined electromechanical measurement data into the comparison function and determining whether the sensor electromechanical measurement data matches at least a portion of the predetermined electromechanical measurement data according to the measurement parameter.
Continuous actuator modification toward resonance-based optimal driving parameters
The processor selectively modifies the action of the driving actuator to achieve an optimal driving parameter through a combination of input from the sensor electromechanical measurement data and the predetermined electromechanical measurement data; the processor continuously modifies the action of the driving actuator from suboptimal driving parameters while reciprocation occurs to more optimal driving parameters while reciprocation occurs, where suboptimal driving parameters drive at a frequency other than a resonance frequency and more optimal driving parameters drive at the resonance frequency.
Operator status indication and identification of optimal versus failing operation
The processor indicates a status relating to the penetrating member to an operator, where electromechanical property values of the driving actuator are measured during the axial reciprocation and compared with the predetermined electromechanical measurement data, and are identified by the processor based upon the comparison to indicate that the penetrating member is working within the more optimal driving parameters or is failing to operate within the more optimal driving parameters.
Across the independent claim, coverage is directed to a force-reducing penetrating device using axial reciprocation driven by an actuator interrogated via a frequency sweep prior to penetration, followed by a feedback subsystem that compares sensor electromechanical measurement data against predetermined electromechanical measurement data using comparison functions and measurement parameters to modify actuator drive toward resonance-based optimal driving parameters. The device measures and compares electromechanical property values during reciprocation and indicates an operator status reflecting whether operation is within optimal driving parameters or failing.
Stated Advantages
Reduces the force necessary to penetrate living being tissue.
Enables selective modification of driving actuator action to achieve optimal driving parameters by continuously shifting from suboptimal driving parameters to more optimal driving parameters.
Indicates a status relating to the penetrating member to an operator, including whether the penetrating member is working within more optimal driving parameters or is failing to operate within the more optimal driving parameters.
Documented Applications
No documented applications found
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