# US 12,594,072 B2 · Medical system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,072 B2 - Document ID: US12594072B2 - Status: Granted - Kind: B2 - Application number: 18/177,030 - Filed: 2023-03-01 - Published: 2023-09-07 - Granted: 2026-04-07 - Earliest claimed: 2022-03-04 - Assignees: Terumo Kabushiki Kaisha - Applicants: Terumo Kabushiki Kaisha - Inventors: Yuichi Tada; Yoichiro Kuwano - Web page: https://patentgrep.com/patent/US12594072B2 ## CPC - A61B 17/068: Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00}) - A61B 17/3207: Atherectomy devices {working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions (A61B17/32037 takes precedence; endoscopic cutting instruments A61B17/320016)} - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - G06N 3/006: based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO] - G06N 20/00: Machine learning - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00084: {Temperature} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/07285: {characterised by its cutter} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2217/005: with suction drainage system - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract A medical system includes a device for removing an object in a body cavity, the device including a shaft portion including a rotatable drive shaft, a motor configured to rotate the drive shaft, and a cutter attached to a distal end of the drive shaft and configured to perform a cutting operation on the object when the drive shaft is rotated by the motor. The medical system further includes one or more sensors each configured to detect a physical quantity related to the cutting operation, and a controller configured to determine one or more cutting parameters for the cutting operation based on the physical quantity detected by each of the sensors, and control the motor to rotate the drive shaft according to the determined cutting parameters. ## Claims ### Claim 1 A medical system comprising: a device for removing an object in a body cavity, the device including: a shaft portion including a rotatable drive shaft, a motor configured to rotate the drive shaft, and a cutter attached to a distal end of the drive shaft and configured to perform a cutting operation on the object when the drive shaft is rotated by the motor; one or more sensors each configured to detect a physical quantity related to the cutting operation; and a controller configured to: determine one or more cutting parameters for the cutting operation based on the physical quantity detected by each of the one or more sensors, and control the motor to rotate the drive shaft according to the determined one or more cutting parameters, wherein one of the one or more sensors is configured to detect sound produced by the cutter or the motor, the controller is configured to determine the one or more cutting parameters based on the detected sound, the controller is configured to perform a machine learning algorithm to obtain a function suitable for determining the one or more cutting parameters from the physical quantity, the algorithm including: (a) determining first cutting parameters based on a first physical quantity using the function, (b) calculating a score for the first cutting parameters based on a second physical quantity that is detected after the cutting operation is performed according to the first cutting parameters, and (c) updating the function based on the calculated score, and the controller repeats steps (a)-(c) until the calculated score reaches a particular score. ### Claim 2 (depends on 1) The medical system according to claim 1, wherein the one or more cutting parameters include a rotational speed of the motor. ### Claim 3 (depends on 1) The medical system according to claim 1, further comprising: a roller configured to move the shaft portion along an axial direction thereof, wherein the controller is further configured to control the roller to move the shaft portion according to the determined one or more cutting parameters. ### Claim 4 (depends on 3) The medical system according to claim 3, wherein the one or more cutting parameters include at least one of: a movement distance of the shaft portion along the axial direction, a movement speed of the shaft portion along the axial direction, a direction toward which the shaft portion is moved along the axial direction, and a cycle of reciprocation motion of the shaft portion along the axial direction. ### Claim 5 (depends on 1) The medical system according to claim 1, wherein one of the one or more sensors is configured to detect at least one of: a rotational speed of the cutter, a value of a current flowing in the motor, an amount of energy supplied to the motor, a temperature of the motor, and a reaction force acting on the shaft portion. ### Claim 6 (depends on 1) The medical system according to claim 1, wherein one of the one or more sensors is a microphone connectable to the controller. ### Claim 7 (depends on 1) The medical system according to claim 1, wherein the controller is further configured to: determine whether a physical quantity detected by one of the one or more sensors has changed by a predetermined amount, and upon determining that the physical quantity has changed by the predetermined amount, update the one or more cutting parameters. ### Claim 8 (depends on 1) The medical system according to claim 1, wherein the controller is further configured to: determine whether a stop condition is satisfied based on the physical quantity detected by each of the one or more sensors, and upon determining that the stop condition is satisfied, control the motor to stop. ### Claim 9 (depends on 1) The medical system according to claim 1, wherein the device further includes a pump configured to apply a suction force to a lumen of the shaft portion through which the cut object is moved, and the controller is further configured to control the pump to apply the suction force according to the determined one or more cutting parameters. ### Claim 10 A medical system comprising: a device for removing an object in a body cavity, the device including: a shaft portion including a rotatable drive shaft, a motor configured to rotate the drive shaft, and a cutter attached to a distal end of the drive shaft and configured to perform a cutting operation on the object when the drive shaft is rotated by the motor; one or more sensors each configured to detect a physical quantity related to the cutting operation; and a controller configured to: determine one or more cutting parameters for the cutting operation based on the physical quantity detected by each of the one or more sensors, and control the motor to rotate the drive shaft according to the determined one or more cutting parameters, wherein the controller is further configured to execute a machine learning algorithm to generate a function suitable for determining the one or more cutting parameters from the physical quantity, and to iteratively update the function by: (a) determining first cutting parameters based on a first physical quantity using the function, (b) calculating a score for the first cutting parameters based on a second physical quantity that is detected after the cutting operation is performed according to the first cutting parameters, and (c) updating the function based on the calculated score, and repeating steps (a)-(c) if the calculated score has not reached a particular score. ### Claim 11 (depends on 10) The medical system according to claim 10, wherein the one or more cutting parameters include a rotational speed of the motor. ### Claim 12 (depends on 10) The medical system according to claim 10, further comprising: a roller configured to move the shaft portion along an axial direction thereof, wherein the controller is further configured to control the roller to move the shaft portion according to the determined one or more cutting parameters. ### Claim 13 (depends on 12) The medical system according to claim 12, wherein the one or more cutting parameters include at least one of: a movement distance of the shaft portion along the axial direction, a movement speed of the shaft portion along the axial direction, a direction toward which the shaft portion is moved along the axial direction, and a cycle of reciprocation motion of the shaft portion along the axial direction. ### Claim 14 (depends on 10) The medical system according to claim 10, wherein one of the one or more sensors is configured to detect at least one of: a rotational speed of the cutter, a value of a current flowing in the motor, an amount of energy supplied to the motor, a temperature of the motor, and a reaction force acting on the shaft portion. ### Claim 15 (depends on 10) The medical system according to claim 10, wherein one of the one or more sensors is configured to detect at least one of: sound produced by the cutter or the motor, and vibration produced by the cutter or the motor. ### Claim 16 (depends on 10) The medical system according to claim 10, wherein the controller is further configured to: determine whether a physical quantity detected by one of the one or more sensors has changed by a predetermined amount, and upon determining that the physical quantity has changed by the predetermined amount, update the one or more cutting parameters. ### Claim 17 (depends on 10) The medical system according to claim 10, wherein the controller is further configured to: determine whether a stop condition is satisfied based on the physical quantity detected by each of the one or more sensors, and upon determining that the stop condition is satisfied, control the motor to stop. ### Claim 18 (depends on 10) The medical system according to claim 10, wherein the device further includes a pump configured to apply a suction force to a lumen of the shaft portion through which the cut object is moved, and the controller is further configured to control the pump to apply the suction force according to the determined one or more cutting parameters.