CN102652005A - 用于超声乳化白内障吸除系统的热管理算法 - Google Patents
用于超声乳化白内障吸除系统的热管理算法 Download PDFInfo
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Abstract
一种用于管理施加至超声乳化白内障吸除机头的功率的控制系统,包括向机头提供功率的电源,以及控制电源的控制器。该控制器基于冲洗流体流量和功率水平而计算热值,并且当算出的热值超过阈值热值时,与算出的热值成比例地减少功率水平。可以根据冲洗流体压力计算冲洗流体流量。
Description
优先权声明
本申请要求享有2009年12月9日提交的美国专利申请序列号No.12/634283的权益。
发明背景
本发明涉及超声乳化白内障吸除手术,尤其涉及一种其中施加至超声乳化白内障吸除机头的能量幅度该与温度呈比例改变的热管理算法。
人眼是通过透射光通过被称为角膜的透明外部并且借助于晶状体将像聚焦在视网膜上而起到提供视力的作用的。所聚焦的像的质量取决于许多因素,包括眼部的尺寸和形状,以及角膜和晶状体的透明度。当年龄或疾病使得晶状体变得不那么透明时,视力会由于能透射至视网膜的光的减少而劣化。眼晶状体内的这一缺陷在医学上称为白内障。针对该病况的可接受疗法是手术移除晶状体并用人工晶体(IOL)替换晶状体的功能。
在美国,大部分的白内障晶状体是通过被称为超声乳化白内障吸除术的手术技术而移除的。适用于超声乳化白内障吸除程序的典型手术机头包括超声驱动的超声乳化白内障吸除机头、由冲洗套筒包围的附连的中空切割针,以及电子控制台。机头组件通过电缆和挠性管附连至控制台。通过电缆,控制台改变由机头传递至附连的切割针的能级。挠性管将冲洗流体提供至手术部位,并且通过机头组件从眼内抽出吸入流体。
典型机头内的手术零件是中心定位的中空共振杆或者触角,其直接附连至一组压电晶体。该晶体在超声乳化白内障吸除术期间提供驱动触角以附连的切割针两者所需的超声振动,并且由控制台控制。晶体/触角组件通过挠性底座而在悬挂在机头的中空主体或外壳内。机头主体以直径减少的部分或者位于主体远端的头锥体为结束。典型地,头锥体具有外螺纹以接纳中空冲洗套筒,后者围绕切割针的大部分长度。类似地,触角孔在其远端具有内螺纹,以接纳切割尖端的外螺纹。冲洗套筒还具有内螺纹孔,其在头锥体的外螺纹上拧紧。调整切割针,从而其尖端仅超过冲洗套筒开口端突出预定量。
在超声乳化白内障吸除程序期间,切割针的尖端和冲洗套筒的末端通过眼外部组织中的切口插入眼前囊。外科医生使切割针的尖端接触眼晶状体,从而振动尖端使晶状体碎裂。所得的碎片随在程序期间提供至眼部的冲洗溶液一起通过切割针的内部孔而被抽吸出眼外,并进入废物容器。
贯穿该程序,冲洗流体被泵入眼内,在冲洗套筒和切割针之间通过,并且在冲洗套筒的尖端和/或从冲洗套筒末端处切开的一个或多个端口或开口离开而进入眼部。冲洗流体保护眼组织免受超声切割针振动所产生的热量的影响。此外,冲洗流体悬浮乳化的晶状体的碎片以将其从眼内吸出。
向机头提供功率以振动切割针。通常,针移动(或振动)的幅度与所提供的功率成比例。在常规的超声乳化白内障吸除系统中,针来回振动以产生纵向针冲程。在改进的系统中,可以使得针以扭曲或扭转运动振动。不考虑振动的类型,振动的幅度(或者针冲程的幅度)随所施加的功率而改变。
在程序期间可能出现的一种并发症是在切口部位处的角膜烧伤。这些角膜烧伤由在角膜切口处加热针(以及周围的套筒)而引起。发明人已经发现,该热量取决于三个基本因素:施加至机头的功率的量(其则确定针振动的量值和针冲程的幅度);流经眼部的流体的量(因为流体带走热量);以及在该切口处针和周围套筒之间的摩擦的量(正如会认识到的,套筒和针之间的配合越紧密,随着针振动而产生的摩擦和热就越多)。
换句话说,热量随着切割针摩擦周围的冲洗套筒而在角膜切口处产生。该热量通常通过流体流经冲洗套筒、流入眼前房并且通过吸出腔而流出眼部而消散。在角膜切口部位处切割针和套筒之间的摩擦会取决于切口的特征而改变。一般地,较小的切口(这从手术的观点来看是期望的)会导致针与套筒之间更大的摩擦力,这是因为切口的壁使套筒压靠针。在此情况下,热量在针振动时产生。如果流经眼部的流体不足(或者如果产生了过多的热量),那么导致形成角膜烧伤。角膜烧伤由于会扭曲角膜而导致扭曲的视觉,应而是成问题的。由于白内障手术已经趋于越来越小的切口,角膜烧伤的风险看起来会增加。
发明内容
在与本发明原理相符的一个实施例中,本发明是一种用于管理提供至超声乳化白内障吸除机头的功率的控制系统。该控制系统包括冲洗压力传感器、将功率提供至机头的电源、以及控制电源的控制器。控制器基于冲洗压力和功率水平而计算热值,并且当算出的热值超过阈值热值时,与算出的热值成比例地降低功率水平。
在与本发明原理相符的另一实施例中,本发明是一种用于管理提供至超声乳化白内障吸除机头的功率的控制系统。该控制系统包括将功率提供至机头的电源、以及控制电源的控制器。控制器基于冲洗流体流量而计算热值,并且当算出的热值超过阈值热值时,与算出的热值成比例地降低功率水平。冲洗流体流量可以从冲洗压力算出。
应当理解的是,前述的一般描述和随后的详细描述均仅是示意且解释性的,并且旨在提供对所声明的本发明的进一步说明。下列描述以及对本发明的实践阐明并且建议了本发明的附加优点和目的。
附图说明
并入本说明书并构成其一部分的附图例示了本发明的若干实施例,并且与描述一并用于解释本发明的原理。
图1是超声乳化白内障吸除系统的流体路径中的部件的图示。
图2是超声乳化白内障吸除针和冲洗套筒的远端的透视图。
图3是根据本发明原理的局部系统的视图。
图4是根据本发明原理的控制系统的一个实施例的框图。
图5是根据本发明原理的控制系统的另一实施例的框图。
图6是示出根据本发明原理的热管理算法在持续模式中的示例性操作的图表。
图7是描绘了根据本发明原理的热管理算法在脉冲模式中的示例性操作的图表。
图8是描绘了根据本发明原理的热管理算法在脉冲模式中的示例性操作的图表。
图9是描绘了根据本发明原理的热管理算法在突发串模式中的示例性操作的图表。
图10是描绘了根据本发明原理的热管理算法在突发串模式中的示例性操作的图表。
具体实施方式
现在详细参考本发明示例性实施例,在附图中示出了其示例。只要可能,贯穿附图使用相同的参考标记来指代相同或类似部分。
在本发明的一个实施例中,图1是超声乳化白内障吸除系统的流体路径中部件的图示。图1描绘了在白内障手术期间通过眼1145的流体通路。部件包括冲洗流体源1105、冲洗压力传感器1130、冲洗阀1135、冲洗线1140、机头1150、抽吸线1155、抽吸压力传感器1160、通气阀1165、泵1170、储液器1175和排液袋1180。冲洗线1140在白内障手术期间向眼1145提供冲洗流体。抽吸线1155在白内障手术期间从眼部移除流体和乳化的晶状体微粒。
当冲洗流体离开冲洗流体源1105时,其行进通过冲洗线1140并进入眼1145内。冲洗压力传感器1130测量冲洗线1140内的冲洗流体压力。还可以提供可选的冲洗阀1135,用于对冲洗进行开/关控制。冲洗压力传感器1130通过任意数量的商业可获得流体压力传感器而实现,并且其可以位于冲洗流体路径中的任意位置处(冲洗源1105和眼1145之间的任意位置)。
在超声乳化白内障吸除程序期间,机头1150位于眼1145内。机头1150具有中空针(如图2中所见),其可在眼内超声振动,以打碎患病的晶状体。位于针周围的套筒提供来自冲洗线1140的冲洗流体。冲洗流体通过针外侧和套筒内侧之间的空间(如图12和13中更清楚示出的)。流体和晶状体微粒通过中空针被抽吸。以此方式,中空针的内部通道流体耦合至抽吸线1155。泵1170从眼1145抽出所抽吸的流体。抽吸压力传感器1150测量抽吸线中的压力。可以使用可任选的通气阀以排放由泵1170创建的真空。所抽吸的流体通过储液器1175进入排液袋1180。
图2是现有技术超声乳化白内障吸除机头的远端的透视图。在图2中,超声乳化白内障吸除针1210被冲洗套筒1230围绕。超声乳化白内障吸除针1210具有开口端1220,在白内障手术期间,晶状体微粒通过该开口端从眼中抽出。抽吸套管1230具有可任选的开口1240,冲洗流体通过该开口流入眼内。在白内障手术期间,针1210和套筒1230均插入眼前房。当向机头施加功率时,针1210超声振动。针1210和套筒1230之间的摩擦会引起热量的产生——尤其在切口部位。张紧的切口使套筒1230压靠针1210,这会导致加热及潜在的角膜烧伤。
图3是根据本发明原理的局部系统的图示。在图3中,冲洗流体源向机头1150提供冲洗流体。冲洗压力传感器测量冲洗流体的压力。电源120向机头1150提供功率。如前所述,电源120向振动超声乳化白内障吸除针的机头1150提供超声功率。
图4是根据本发明原理的控制系统的一个实施例的框图。在图4中,CPU 116耦合至电源120和冲洗压力传感器1130。以此方式,CPU 116接收来自冲洗压力传感器1130的压力信息。CPU 116还与电源对接并控制其操作——由此控制发送至机头的功率。如前所述,CPU 116可以是任何合适的控制器。
如前所述,当向机头施加的功率过多并且流经眼部的冲洗流体过少时,会在切口部位出现不想要的发热。由于冲洗流体带走热量,当冲洗流体的流经减少时(例如,当发生堵塞时),会出现发热。一般地,产生的热量是施加至机头的功率量以及流经眼部的冲洗流体量的函数。冲洗套筒和超声乳化白内障吸除针之间的摩擦是主要热源。在针摩擦套筒时会产生热量。施加至机头的功率量与针的冲程(或针行进的距离)线性相关。施加的功率越多,针的行进也越大(而针摩擦套筒越多)。
数学上,如果ΔT是热值的增量,则ΔT=T-T0,(其中T0是眼部的热值,而T是作为时间函数的针周围实际热值。假设热响应于在时间t=0时发生的超声脉冲,那么总能量A由下列公式给出:
ΔT(t)=AG(t)
其中G(t)是系统的响应函数。则作为热值增量的ΔT如下由在时间Q(t)内的热生成给出:
上式中的热量Q计及由超声功率生成的热量和由流体流动带走的热量。因而,Q与超声功率和流体流量成比例。
经验性的研究已经发现响应函数G(t)是如下所示的指数函数。
G(t)=G0e-αt
可以确定系数‘G0’和‘α’以最佳匹配摩擦系数(在套筒和针之间)和各种流动和功率情况下关于ΔT的实验数据。
以此方式,算出的热值(T)是如下的函数:施加至机头的功率(P)、通过眼部的流体流量(F),以及针和套筒之间的摩擦(Fr)。根据冲洗压力计算通过眼部的流体流量(因为冲洗路径的横截面积已知,基于从冲洗压力传感器读取的冲洗流体压力计算通过冲洗线的流量)。因而,T=F(P,F,Fr)。这一算出的热值提供了对切口部位(此处最可能发生烧伤)所经历的实际温度的良好估计。
使用该算出的热值以实施热观察算法。由于算出的热值提供了对实际温度的良好估计,可以设置阈值热值以触发该算法。换句话说,当算出的热值超出所述阈值热值时,该算法可以实施以减少发热的可能性(通过降低功率)。
如图4中可见,CPU 116从冲洗压力传感器1130读取冲洗压力。由于CPU 116控制电源120,CPU 116还具有施加于机头的功率水平的值。CPU 116使用这两个值(结合摩擦系数)计算用以估计切割部位实际温度的温度。以此方式,CPU 116持续地或者周期性地计算T=f(P,F,Fr)。持续地或者周期性地将算出的热值与阈值热值相比较。当算出的热值超过阈值热值时,则减少施加至机头的功率。
在本发明的一个实施例中,使用算出的热值作为输入,以控制提供至机头的功率的量。以此方式,当算出的热值超出阈值热值时,施加至机头的实际功率跟随算出的热值的倒数。这在如下参考附图6-10的情况下更清楚可见。
如上所述,阈值热值(或者在其上执行算法的值)可以由系统用户设置,或者可被预设。可以选择阈值热值的范围——每一个均提供了避免不想要的角膜烧伤的一个保护水平。例如,可以将该范围内的最高阈值热值设置为在角膜烧伤的温度和阈值之间提供较小差别(例如华氏1度)的值。可以设置一个较低的阈值热值使得角膜烧伤的温度和阈值之间的差更大(华氏10度等)。
不考虑所选的阈值,算法在算出的热值大于该阈值热值时被执行。当算出的热值低于该阈值时,停止算法执行。以此方式,算法随着算出的热值超过或低于阈值热值而打开和关闭。
图5是根据本发明原理的控制系统的另一实施例的框图。图5更清楚地示出了运行中的算法。CPU 116基于来自冲洗压力传感器1130的读数、来自电源120的功率以及所估计的摩擦来计算所述算出的热值。在图5中,CPU 116类似PID控制器(并且代替CPU 116,可以使用PID控制器或其他类似类型的控制器)动作。从功率中减去定标的算出热值的倒数,以减少施加至机头的功率。以此方式,CPU116以与算出的热值成反比(或者以与超出阈值的热值成反比)的量——由xT指示,其中x可以是标量或函数——减少由电源120输出的功率的量,由此控制电源120的输出。
以此方式,当算出的热值超过阈值热值,与超出阈值热值的量成比例地减少提供至机头的功率。当算出的热值低于阈值热值时,恢复正常操作。
热观察算法的这一实施可被设置以在白内障手术期间自动运行。在手术期间,医生控制功率对机头(通常经由脚踏开关)的施加。当算出的热值超过阈值热值时,热观察算法不考虑医生对功率的控制。当算出的热值低于阈值热值时,恢复医生对功率的控制。
图6是描绘了根据本发明原理的在持续模式中的热管理算法的示例性操作的图表。在图6中,上部视图指示算出的热值,而下部视图则指示施加至机头的功率。当算出的热值低于阈值热值时,外科医生可以向机头施加持续功率。在此情况下,外科医生向机头施加100%的功率。然而,外科医生可以通过压下脚踏开关而施加任何功率水平。在持续模式中,在压下脚踏开关时向机头持续地施加功率。压下脚踏开关的程度(或者脚踏开关的位置)决定了所施加的功率的量或功率水平。当算出的热值超过阈值热值时,热观察算法不考虑医生对功率的控制。以此方式,热观察算法动作从而与超出阈值热值的温度上升成比例地降低功率。换句话说,超出阈值热值的增量的温度升高导致施加至机头的功率的量的成比例下降。功率的下降可以如图6中所示是平滑的。以此方式,功率的平滑下降仍可使得功率被平滑地施加至机头的切割尖端。当功率降低时,算出的热值将也趋于降低。当算出的热值小于阈值热值时,恢复外科医生对功率的控制——在该情况下,所施加的功率返回100%。
图7是示出根据本发明原理的在脉冲模式中的热管理算法的示例性操作的图表。在图7中,上部视图指示算出的热值,而下部视图则指示施加至机头的功率。在脉冲模式中,将一系列固定宽度的脉冲施加至机头。外科医生使用脚踏开关控制脉冲的幅度(或功率水平)。以此方式,脚踏开关的位置决定了脉冲的功率水平。当算出的热值低于阈值热值时,外科医生可以向机头施加任意所需的功率。在此情况下,外科医生向机头施加100%的功率。当算出的热值超过阈值热值时,热观察算法不考虑医生对功率的控制。以此方式,热观察算法动作从而与超出阈值热值的温度上升成比例地降低功率。换句话说,超出阈值热值的增量的温度升高导致施加至机头的功率的量的成比例下降。功率的下降可以如图7中所示是平滑的。以此方式,功率的平滑下降仍可使得功率被平滑地施加至机头的切割尖端。当功率降低时,算出的热值将也趋于降低。当算出的热值小于阈值热值时,恢复外科医生对功率的控制——在该情况下,所施加的功率返回100%。如图7中所示,热观察算法运行以非线性地减少任意给定脉冲的功率。以此方式,热观察算法对独立脉冲进行操作(或者如该情况下可以是一系列脉冲)。
图8是示出根据本发明原理的在脉冲模式中的热管理算法的示例性操作的图表。在图8中,上部视图指示算出的热值,而下部视图则指示施加至机头的功率。在脉冲模式中,将一系列固定宽度的脉冲施加至机头。外科医生使用脚踏开关控制脉冲的幅度(或功率水平)。以此方式,脚踏开关的位置决定了脉冲的功率水平。当算出的热值低于阈值热值时,外科医生可以向机头施加任意所需的功率。在此情况下,外科医生向机头施加100%的功率。当算出的热值超过阈值热值时,热观察算法不考虑医生对功率的控制。以此方式,热观察算法动作从而与超出阈值热值的温度上升成比例地降低功率。换句话说,超出阈值热值的增量的温度升高导致施加至机头的功率的量的成比例下降。功率的下降可以如图8中所示地递增。以此方式,功率的增量下降仍将使得功率施加至机头的切割尖端。当功率下降时,所算出的热值将也趋于降低。当所算出的热值小于阈值热值时,恢复外科医生对功率的控制——在该情况下,所施加的功率返回100%。如图8中所示,热观察算法运行以在维持恒定的脉冲水平的同时减少下一脉冲的功率。以此方式,热观察算法对下一脉冲进行操作,并且用于将所述下一脉冲的功率水平限制在恒定的功率水平。
图9是示出根据本发明原理的在突发串模式中的热管理算法的示例性操作的图表。在图9中,上部视图指示算出的热值,而下部视图则指示施加至机头的功率。在突发串模式中,将一系列脉冲施加至机头。外科医生使用脚踏开关控制脉冲间的休止时间。以此方式,脚踏开关的位置决定了脉冲间的休止时间。当算出的热值低于阈值热值时,外科医生可以向机头施加任意所需的功率。在此情况下,外科医生向机头施加100%的功率。当算出的热值超过阈值热值时,热观察算法不考虑医生对功率的控制。以此方式,热观察算法动作从而与超出阈值热值的温度上升成比例地降低功率。换句话说,超出阈值热值的增量的温度升高导致施加至机头的功率的量的成比例下降。功率的下降可以如图9中所示是平滑的。以此方式,功率的平滑下降仍可使得功率被平滑地施加至机头的切割尖端。当功率降低时,算出的热值将也趋于降低。当算出的热值小于阈值热值时,恢复外科医生对功率的控制——在该情况下,所施加的功率返回100%。如图9中所示,热观察算法运行以非线性地减少任意给定脉冲的功率。以此方式,热观察算法对独立脉冲进行操作(或者如该情况下可以是一系列脉冲)。
图10是示出根据本发明原理的在突发串模式中的热管理算法的示例性操作的图表。在图10中,上部视图指示算出的热值,而下部视图则指示施加至机头的功率。在突发串模式中,一系列脉冲被施加至机头。外科医生使用脚踏开关控制脉冲间的休止时间。以此方式,脚踏开关的位置决定了脉冲间的休止时间。当算出的热值低于阈值热值时,外科医生可以向机头施加任意所需的功率。在此情况下,外科医生向机头施加100%的功率。当算出的热值超过阈值热值时,热观察算法不考虑医生对功率的控制。以此方式,热观察算法动作从而与超出阈值热值的温度上升成比例地降低功率。换句话说,超出阈值热值的增量的温度升高导致施加至机头的功率的量的成比例下降。功率的下降可以如图10中所示地递增。以此方式,功率的增量下降将功率施加至机头的切割尖端。当功率减少时,所算出的热值将也趋于降低。当算出的热值小于阈值热值时,恢复外科医生对功率的控制——在该情况下,所施加的功率返回100%。如图10中所示,热观察算法运行以在维持恒定的脉冲水平的同时减少下一脉冲的功率。以此方式,热观察算法对下一脉冲进行操作,并且用于将所述下一脉冲的功率水平限制在恒定的功率水平。
还可以实现所述算法的多种变化方案。在一种变化方案中,与温度增加的标量因子成比例地减少功率。在另一变化方案中,与温度增加的函数成比例的减少功率。在再一变化方案中,可以设置最小功率水平。在此情况下,功率将决不低于最小功率水平,因而导致将功率持续的(虽然较低)地施加至机头。在又一变化方案中,可以改变功率下降的速率。在该情况下,可以使得功率下降如所期望的那样平滑。功率的平滑下降形成更有效的切割(因为施加被持续功率而并未关闭)以及使得外科医生有更好的感觉。
根据上述内容,可以理解,本发明提供了一种用于超声乳化白内障吸除手术的热管理算法。本发明提供了一种控制系统,其计算热值,将热值与阈值热值比较,并且在算出的热值超过阈值热值时减少提供至机头的功率。本文通过实例说明了本发明,并且本领域普通技术人员可以进行各种修改。
对于本领域技术人员而言,在考虑了本文公开的说明书以及本发明的实践,本发明的其他实施例将是显见的。旨在将说明书和实例考虑为仅是示意性的,而本发明的真实范围和精神由所附权利要求指示。
Claims (21)
1.一种用于管理施加至超声乳化白内障吸除机头的功率的控制系统,所述控制系统包括:
冲洗压力传感器,用于测量冲洗压力;
电源,用于将超声功率提供至机头;以及
控制器,用于控制电源;
其中控制器基于冲洗压力和功率水平来计算热值,并且在算出的热值超过阈值热值时,与算出的热值成比例地降低功率水平。
2.根据权利要求1所述的控制系统,其中算出的热值是控制器的输入。
3.根据权利要求1所述的控制系统,其中控制器操作以使得功率水平跟随算出的热值超过阈值热值的部分的倒数。
4.根据权利要求1所述的控制系统,其中控制器平滑地减少功率水平。
5.根据权利要求1所述的控制系统,其中控制器还基于表示冲洗套筒和超声乳化白内障吸除针之间的摩擦的值来计算所述热值。
6.根据权利要求1所述的控制系统,其中控制器还将算出的热值与阈值热值比较。
7.根据权利要求1所述的控制系统,其中当控制器与算出的热值成比例地降低功率水平时,控制器不考虑外科医生对电源的控制。
8.根据权利要求1所述的控制系统,其中当控制器与算出的热值成比例地降低功率水平时,控制器不将功率水平降至零。
9.根据权利要求1所述的控制系统,其中电源向机头提供脉冲功率,并且当控制器与算出的热值成比例地降低功率水平时,控制器降低脉冲幅度。
10.根据权利要求1所述的控制系统,其中当算出的热值小于阈值热值时,恢复外科医生对电源的控制。
11.一种用于管理施加至超声乳化白内障吸除机头的功率的控制系统,所述控制系统包括:
电源,用于将功率提供至机头;以及
控制器,用于控制电源;
其中控制器基于冲洗流体流量和功率水平来计算热值,并且在算出的热值超过阈值热值时,与算出的热值成比例地降低功率水平。
12.根据权利要求11所述的控制系统,其中算出的热值是控制器的输入。
13.根据权利要求11所述的控制系统,其中控制器操作以使得功率水平跟随算出的热值超过阈值热值的部分的倒数。
14.根据权利要求11所述的控制系统,其中控制器平滑地减少功率水平。
15.根据权利要求11所述的控制系统,其中控制器还基于表示冲洗套筒和超声乳化白内障吸除针之间的摩擦的值来计算所述热值。
16.根据权利要求11所述的控制系统,其中控制器还将算出的热值与阈值热值比较。
17.根据权利要求11所述的控制系统,还包括:
冲洗压力传感器,用于测量由控制器使用以计算冲洗流体流量的冲洗压力。
18.根据权利要求11所述的控制系统,其中当控制器与算出的热值成比例地降低功率水平时,控制器不考虑外科医生对电源的控制。
19.根据权利要求11所述的控制系统,其中当控制器与算出的热值成比例地降低功率水平时,控制器不将功率水平降至零。
20.根据权利要求11所述的控制系统,其中电源向机头提供脉冲功率,并且当控制器与算出的热值成比例地降低功率水平时,控制器降低脉冲幅度。
21.根据权利要求11所述的控制系统,其中当算出的热值小于阈值热值时,恢复外科医生对电源的控制。
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CN107708592A (zh) * | 2015-06-30 | 2018-02-16 | 伊西康有限责任公司 | 具有基于组织类型的用户自适应技术的外科系统 |
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CN113262015A (zh) * | 2016-01-28 | 2021-08-17 | 捷锐士阿希迈公司(以奥林巴斯美国外科技术名义) | 医疗装置和用于在医疗操作期间去除体内结石的系统 |
CN109152657A (zh) * | 2016-05-17 | 2019-01-04 | 诺华股份有限公司 | 玻璃体视网膜手术中的自动化粘性流体控制 |
CN109152657B (zh) * | 2016-05-17 | 2024-02-27 | 爱尔康公司 | 玻璃体视网膜手术中的自动化粘性流体控制 |
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CA2781141A1 (en) | 2011-06-16 |
ES2606210T3 (es) | 2017-03-23 |
CA2781141C (en) | 2017-08-01 |
AU2010328494B2 (en) | 2015-06-11 |
CN102652005B (zh) | 2014-06-18 |
US20110137232A1 (en) | 2011-06-09 |
EP2509550B1 (en) | 2016-09-21 |
WO2011071744A1 (en) | 2011-06-16 |
EP2509550A1 (en) | 2012-10-17 |
AU2010328494A1 (en) | 2012-06-14 |
JP2013513427A (ja) | 2013-04-22 |
JP5767241B2 (ja) | 2015-08-19 |
US8070711B2 (en) | 2011-12-06 |
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