System, method and computer-readable storage device for controlling laser light source of lithotripsy device

Abstract

To provide a system for controlling a laser light source of a lithotripsy device to fragment or break a target object.SOLUTION: There is provided a controller: performing one or more iterations of a first process, the first process including: selecting at least one variable operating parameter of a laser light source of a lithotripsy device; determining a value of each of a plurality of base settings of the at least one variable operating parameter selected; and performing, in order, for each of the plurality of base settings: setting the at least one variable operating parameter selected to the value of each of the plurality of base settings; and controlling the laser light source to output laser light on the basis of the value of each of the plurality of base settings set; selecting one of the plurality of base settings; and performing one or more iterations of a second process, the second process including controlling the laser light source on the basis of the one of the plurality of base settings selected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application claims the benefit of U.S. Provisional Application No. 62 / 628,513, filed February 9, 2018, the entire contents of which are incorporated herein by reference.

[0002] The present invention generally relates to systems, methods and computer readable storage devices storing instructions for controlling a laser light source of a lithotripsy device to fragment or break up target objects such as calculi or stones. [Background technology]

[0003] Calculi or stones are hard masses that form in the urinary tract and can cause pain, bleeding, and deflection and / or obstruction of the flow of urine. Smaller calculi or stones may not cause symptoms and may pass on their own from the kidneys through the urinary tract into the urine. Larger calculi or stones that do not pass on their own can be removed using lithotripsy.

[0004] Lithotripsy can involve the use of an endoscope, such as a ureteroscope. The endoscope may be inserted through the urethra, into the bladder, up the ureters, and into the renal collecting system to reach the concretion or stone. The endoscope can include an imaging device to provide images to guide the insertion of the endoscope and visualize the concretion or stone. In some cases, the endoscope can be used with a device inserted through the working channel of the endoscope and out of the distal opening of the working channel to fragment or break up larger concretions or stones into smaller pieces that can be removed using the endoscope or passed into urine. One such device includes an optical fiber for outputting laser light as an energy source to fragment or break up the concretion or stone.

[0005] Calculi or stones may be made up of minerals in urine that form crystals. Calculi or stones may be composed primarily of calcium. However, calculi or stones may also be composed of other substances, such as uric acid, cystine, or struvite (a mixture of magnesium, ammonium, and phosphate).

[0006] The mechanism by which a concretion or stone is formed may result in a concretion or stone having a uniform or heterogeneous composition. A concretion or stone having a uniform composition is more likely to have substantially consistent mechanical properties throughout the concretion or stone. Such a concretion or stone may be more easily fragmented or broken down using laser light having a single set of operating parameters (e.g., energy, peak power, pulse width, average power, and frequency). In contrast, a concretion or stone having a heterogeneous composition is more likely to have a variety of mechanical properties. Such a concretion or stone may be more difficult to fragment or break down using laser light having a single set of operating parameters. Summary of the Invention [Problem to be solved by the invention]

[0007] Therefore, a need exists for techniques to more effectively and efficiently fragment or break up stones or calculi having different mechanical properties. [Means for solving the problem]

[0008] One embodiment of the present invention provides a system including a controller configured to perform one or more iterations of a first process, in which the controller is configured to select at least one variable operating parameter of a laser light source of a lithotripsy device, determine a value for each of a plurality of base settings for the selected at least one variable operating parameter, set the selected at least one variable operating parameter to the value of each of the plurality of base settings in turn for each of the plurality of base settings, and control the laser light source to output laser light based on the set value for each of the plurality of base settings; and the controller is configured to select one of the plurality of base settings for the selected at least one variable operating parameter and perform one or more iterations of a second process, in which the controller is configured to control the laser light source based on the one of the plurality of base settings for the selected at least one variable operating parameter.

[0009] Another embodiment of the present invention provides a method comprising: performing one or more iterations of a first process, the first process comprising selecting at least one variable operating parameter of a laser light source of a lithotripsy device; determining a value for each of a plurality of base settings of the selected at least one variable operating parameter; and, for each of the plurality of base settings in turn, setting the selected at least one variable operating parameter to the value of each of the plurality of base settings; and controlling the laser light source to output laser light based on the value of each of the plurality of base settings; and selecting one of the plurality of base settings for the selected at least one variable operating parameter; and performing one or more iterations of a second process, the second process comprising controlling the laser light source based on the one of the plurality of base settings of the selected at least one variable operating parameter.

[0010] Another embodiment of the present invention provides a computer-readable storage device storing instructions that cause a controller computer to perform one or more iterations of a first process, in which the computer is configured to select at least one variable operating parameter of a laser light source of a lithotripsy device, determine a value for each of a plurality of base settings for the selected at least one variable operating parameter, set the selected at least one variable operating parameter to the value of each of the plurality of base settings in turn for each of the plurality of base settings, and control the laser light source to output laser light based on the set value for each of the plurality of base settings; and the instructions that cause the controller computer to select one of the plurality of base settings for the selected at least one variable operating parameter and perform one or more iterations of a second process, in which the computer is configured to control the laser light source based on the one of the plurality of base settings for the selected at least one variable operating parameter. [Additional note 1] A system comprising a controller, The controller is configured to execute a first process one or more times, wherein in the first process, the controller: selecting at least one variable operating parameter of a laser light source of the lithotripsy device; determining a value for each of a plurality of base settings for the selected at least one variable operating parameter; for each of the plurality of base settings in turn, setting the selected at least one variable operating parameter to a value for each of the plurality of base settings; and controlling the laser light source to output laser light based on the values ​​of each of the plurality of base settings that have been set; Run the controller selecting one of the plurality of base settings for the selected at least one variable operating parameter; a system configured to execute a second process one or more times, wherein in the second process, the controller controls the laser light source based on the one of the plurality of base settings of the selected at least one variable operating parameter; In the second process, the controller: determining a value for each of a plurality of optimized settings for the selected at least one variable operating parameter based on the one of the plurality of base settings for the selected at least one variable operating parameter; for each of said plurality of optimization settings in turn, setting the selected at least one variable operating parameter to a value for each of the plurality of optimized settings; and controlling the laser light source to output laser light based on the values ​​of each of the plurality of optimization settings that have been set; To execute wherein the system is configured to control the laser light source based on the one of the plurality of base settings of the at least one variable operating parameter selected. [Additional note 2] In the first process, the controller is configured to determine a value for each of the plurality of base settings of the at least one variable operating parameter to be within a first predetermined range; The system described in Appendix 1, wherein in the second process, the controller is configured to determine values ​​for each of the plurality of optimized settings of the at least one variable operating parameter that should be within a second predetermined range that is smaller than the first predetermined range. [Additional note 3] In the first process, the controller is configured to determine a value for each of the plurality of base settings of the selected at least one variable operating parameter such that an absolute value of a difference between a value of one base setting and an adjacent base setting in order of size is a first predetermined constant; In the second process, the controller: The system of claim 1, configured to determine the value of each of the plurality of optimized settings of the selected at least one variable operating parameter so that the absolute value of the difference between the values ​​of one optimized setting and an adjacent optimized setting in order of size is a second predetermined constant that is smaller than the first predetermined constant. [Additional note 4] The controller detecting a feature of a target object to be illuminated by the laser light prior to one or more executions of the second process; detecting the feature of the target object after performing the at least one or more iterations of the second process. Control the sensors to determining a change in the characteristic of the target object from before one or more executions of the second process to after one or more executions of the second process; selecting one of the plurality of optimized settings of the at least one variable operating parameter selected based on the determined change in the characteristic of the target object; controlling the laser light source based on one of the plurality of optimized settings of the selected at least one variable operating parameter. The system described in Appendix 1, configured as follows. [Additional note 5] In the first process, the controller sets as the at least one variable operating parameter: the energy (E) of the laser light output by the laser light source; the peak power (Ppeak) of the laser light output by the laser light source; the pulse width (PW) of the laser light output by the laser light source; the average power (P) of the laser light output by the laser light source; and 10. The system of claim 1, wherein the system is configured to select at least one of: a frequency (F) of the laser light output by the laser light source, thereby selecting the at least one variable operating parameter of the laser light source of the lithotripsy device. [Additional note 6] In the first process, the controller: selecting as the at least one variable operating parameter a peak power (Ppeak) of the laser light output by the laser light source and a pulse width (PW) of the laser light output by the laser light source, wherein an energy (E) of the laser light output by the laser light source is related to Ppeak and PW according to equation 1: E=Ppeak*PW; or selecting as the at least one variable operating parameter a PW and a frequency (F) of the laser light output by the laser light source, wherein an average power (P) of the laser light output by the laser light source is related to P, P, and F according to Equation 2: P=P*P*F; wherein the at least one variable operating parameter of the laser light source of the lithotripsy device is configured to perform In the first process, the controller: responsive to selecting Ppeak and PW as the at least one variable operating parameter, determining the plurality of combinations of values ​​of Ppeak and PW such that E in Equation 1 is constant across the plurality of combinations of values ​​of Ppeak and PW; determining the plurality of combinations of values ​​of PW and F such that P and P in Equation 2 are constant across the plurality of combinations of values ​​of PW and F in response to selecting PW and F as the at least one variable operating parameter; 2. The system of claim 1, wherein the system is configured to determine the value of each of the plurality of base settings of the at least one selected variable operating parameter by configuring the system as follows: [Additional note 7] The system described in Appendix 1, wherein in the first process, the controller is configured to determine values ​​for each of the plurality of base settings of the at least one variable operating parameter that should be within a first predetermined range. [Additional note 8] The system described in Appendix 1, wherein in the first process, the controller is configured to determine the value of each of the multiple base settings of the selected at least one variable operating parameter so that the absolute value of the difference between the values ​​of one base setting and an adjacent base setting in order of size is a first predetermined constant. [Additional note 9] 10. The system of claim 1, wherein the controller is configured to select one of the plurality of base settings for the selected at least one variable operating parameter based on a received user selection. [Additional Note 10] The controller controlling a sensor to detect a feature of a target object prior to one or more executions of the first process; and performing the first process one or more times to select the at least one variable operating parameter of the laser light source, determine a value for each of the plurality of base settings for the selected at least one variable operating parameter, or both select the at least one variable operating parameter and determine a value for each of the plurality of base settings based on a characteristic of the target object detected by the sensor. The system described in Appendix 1, configured as follows. [Additional Note 11] The controller detecting a feature of a target object to be illuminated by the laser light prior to one or more executions of the first process; detecting the feature of the target object after one or more executions of the first process; Control the sensors to determining a change in a characteristic of the target object from before one or more executions of the first process to after one or more executions of the first process; selecting one of the plurality of base settings for the at least one variable operating parameter selected based on the determined change in the target object characteristic. The system described in Appendix 1, configured as follows. [Additional Note 12] 2. The system of claim 1, further comprising the lithotripsy device. [Additional Note 13] a computer-readable storage device storing instructions, The instructions cause a controller computer to execute a first process one or more times, wherein in the first process, the computer: selecting at least one variable operating parameter of a laser light source of the lithotripsy device; determining a value for each of a plurality of base settings for the selected at least one variable operating parameter; for each of the plurality of base settings in turn, setting the selected at least one variable operating parameter to the value of each of the plurality of base settings; and controlling the laser light source to output laser light based on the value of each of the plurality of base settings that have been set; To execute It is configured as follows: The instructions cause the computer of the controller to select one of the plurality of base settings for the selected at least one variable operating parameter; and a computer-readable storage device configured to execute a second process one or more times, wherein in the second process, the computer controls the laser light source based on one of the plurality of base settings of the at least one variable operating parameter selected, The instruction: In the second process, determining a value for each of a plurality of optimized settings for the selected at least one variable operating parameter based on one of the plurality of base settings for the selected at least one variable operating parameter; and for each of the plurality of optimization settings in turn: setting the selected at least one variable operating parameter to a value for each of the plurality of optimized settings; and controlling the laser light source to output laser light based on the values ​​of each of the plurality of optimization settings that have been set; controlling the laser light source based on one of the plurality of base settings of the at least one variable operating parameter selected by performing at least A computer-readable storage device that causes the computer to execute the [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram of a system including an endoscopic device, a lithotripsy device, and a control device for fragmenting a stone in a body lumen, according to one embodiment of the present system. [Figure 2] 4 is a flow diagram of steps performed by a controller according to one embodiment of the present invention. [Figure 3] 10 is a flow diagram of additional steps performed by a controller according to one embodiment of the present invention. [Figure 4] 10 is a graph illustrating the determination of values ​​for each of a plurality of base settings of at least one selected variable operating parameter according to one embodiment of the present invention. [Figure 5] 10 is a graph illustrating the determination of values ​​for each of a plurality of optimized settings of at least one selected variable operating parameter according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] A system 1 according to one embodiment of the present invention will now be described with reference to the drawings.

[0013] As shown in FIG. 1, the system 1 may include an endoscopic device 10, a lithotripsy device 20, and a control device 30, each of which will be described in detail below.

[0014] System 1 can be used in a medical procedure on a human body cavity of a subject to fragment or break up stones (or stones) within the body cavity. By way of example, the human body cavity can be the bladder, ureter, or kidney collection system. However, System 1 can be used to fragment or break up stones from virtually any human or non-human body cavity.

[0015] The endoscopic device 10 may include an insertion portion 12 having a distal end, wherein the insertion portion 12 may be sized and provided with sufficient flexibility to be inserted through the urethra, into the bladder, up the ureter, and into the renal collecting system to reach the calculus C (or stones). The insertion portion 12 may define a working channel 14 that extends through at least a portion of the insertion portion 12 to an opening at the distal end of the insertion portion 12. The working channel 14 may be shaped to allow a structure, such as a treatment instrument or a portion of a lithotripsy device 20 (as described in more detail below), to pass therethrough and beyond the opening.

[0016] The endoscopic device 10 may include a light source (not shown) and an image sensor 16. The light source of the endoscopic device 10 may output light, such as visible light, to illuminate the interior of the body lumen and the stone C. The image sensor 16 may photoconvert returning light incident on an imaging plane of the image sensor 16 into an image signal that is image-processed into an image by the control device 30. By this means, the image sensor 16 and the control device 30 may generate multiple images (or videos) over time.

[0017] The lithotripsy device 20 may include a laser light source 22 capable of outputting laser light under the control of the control device 30. The laser light source 22 may be, for example, a holmium (Ho) laser light source, a holmium:YAG (Ho:YAG) laser light source, a neodymium-doped:YAG (Nd:YAG) laser light source, a semiconductor laser diode, a potassium titanate phosphate crystal (KTP) laser light source, a carbon dioxide (CO2) laser light source, an argon laser light source, an excimer laser light source, a diode laser light source, or another suitable laser light source.

[0018] The laser source 22 can be controlled by a control device 30 to vary one or more operating parameters of the laser beam. The operating parameters of the laser beam include the energy (E) of the laser beam, the peak power (P peak ), the pulse width of the laser beam (PW), the average power of the laser beam (P avg ), and the frequency of the laser light (F).

[0019] The operating parameters are related by at least the following equations: Equation 1: E=P peak *PW Equation 2: P avg =E*F=P peak *PW*F

[0020] The lithotripsy device 20 may further include an optical fiber 24 that may be inserted through the working channel 14 of the endoscopic device 10 to extend beyond the opening of the working channel 14. The optical fiber 24 may transmit laser light generated by the laser light source 22 for irradiating the concretion C. Energy absorbed from the laser light may cause the concretion C to fragment or break up.

[0021] The control device 30 may include a controller 32 , an input device 34 and a display 36 .

[0022] The controller 32 may include a processor comprising hardware and a storage device comprising hardware (e.g., memory). The functions of the processor may be implemented, for example, by individual pieces of hardware or by integrated pieces of hardware. The hardware may include, for example, one or more circuit devices (e.g., integrated circuits (ICs)) or one or more circuit elements (e.g., resistors, capacitors, etc.) on a circuit board. The processor may be, for example, one or more central processing units (CPUs), but this should not be construed in a limiting sense; various types of processors may be used, including graphics processing units (GPUs) and digital signal processors (DSPs). The processor may also be a hardware circuit having an application-specific integrated circuit (ASIC). The storage device comprising hardware may be semiconductor memory such as static random access memory (SRAM) and dynamic random access memory (DRAM), registers, magnetic storage devices such as hard disk devices, and optical storage devices such as optical disk devices. The storage device stores, for example, computer-readable instructions. When the instructions are executed by the processor, the functions of the controller 32 described herein are performed.

[0023] The controller 32 may control the imaging device 20 and the lithotripsy device 20 according to techniques described in detail below.

[0024] The input devices 34 may include devices capable of receiving input from a user, and may include pointing devices, touch screens, keyboards, and non-tactile entities such as voice control.

[0025] The processes that can be performed by the controller 32 in cooperation with the input device 34, the display 36, the endoscope device 10 and the lithotripsy device 20 are described in detail below with reference to FIGS.

[0026] As shown in FIG. 2, the controller 32 may perform one or more iterations of the first process.

[0027] Each iteration of the first process may include steps S12 to S16.

[0028] In step S12, the controller 32 can select at least one variable operating parameter of the laser light source 22 of the lithotripsy device 20. The at least one variable operating parameter of the laser light source 22 can be, for example, the energy (E) of the laser light output by the laser light source 22, the peak power (P peak ), the pulse width (PW) of the laser light output by the laser light source 22, the average power (P avg ), and the frequency (F) of the laser light output by the laser light source 22.

[0029] In step S14, the controller 32 may determine a value for each of a plurality of base settings for the selected at least one variable operating parameter.

[0030] In step S16, the controller 32 can sequentially set at least one selected variable operating parameter to the value of each of the plurality of base settings for each of the plurality of base settings, and control the laser light source 22 to output laser light to the stone C based on the value of each of the plurality of base settings that have been set.

[0031] After performing one or more iterations of the first process, the controller 32 may select one of a plurality of base settings for the selected at least one variable operating parameter in step S18.

[0032] Next, as shown in FIG. 3, the controller 32 can perform one or more iterations of the second process.

[0033] Each iteration of the second process may include steps S22 and S24.

[0034] In step S22, the controller 32 may determine a value for each of a plurality of optimized settings for the selected at least one variable operating parameter based on one of a plurality of base settings for the selected at least one variable operating parameter.

[0035] In step S24, the controller 32 can sequentially set at least one selected variable operating parameter to the value of each of the plurality of optimization settings for each of the plurality of optimization settings, and control the laser light source 22 to output laser light to the stone C based on the value of each of the plurality of optimization settings that have been set.

[0036] After performing one or more iterations of the second process, the controller 32 may select, in step 26, one of a plurality of optimized settings of at least one variable operating parameter selected based on the determined change in the characteristics of the target object.

[0037] Next, in step S28, the controller 32 may control the laser light source 22 to output laser light to the stone C based on one of a plurality of optimized settings of the selected at least one variable operating parameter.

[0038] Following step S28, the controller 32, together with the image sensor 16, can generate one or more images of the concretion C treated with the laser light having the operating parameters optimized by the first and second processes. The controller 32 can control the display 36 to display the one or more images to enable a user viewing the one or more images to determine whether one layer of the concretion C having one mechanical property has been removed by fragmenting or fragmenting to reveal another layer of the concretion C having different mechanical properties that may be more efficiently fragmented or fragmented under different optimization settings.

[0039] Following step S28, the input device 34 may receive one or more inputs from the user and output one or more instructions to the controller 32 based on the one or more inputs. Furthermore, the controller 32 may determine, based on the one or more instructions, whether the user has instructed the controller 32 to return to steps S12 to S16 to determine values ​​for each of the plurality of base settings that are more suitable for fragmenting or breaking up another layer of the stone C. If returning to steps S12 to S16 is instructed, the controller 32 may execute steps S12 to S16 again. If returning to steps S12 to S16 is not desired, the above-described process ends.

[0040] Next, the details of steps S12 to S28 will be described as an example.

[0041] (First Example) Details of steps S12 to S28 will be described below as a first example.

[0042] In step S12, the input device 34 can receive one or more inputs from a user and output one or more instructions corresponding to the one or more inputs to the controller 32. In steps S12 and S14, the controller 32 receives one or more instructions from the input device 34 and determines the peak power P of the laser light output by the laser light source 22 as a variable operating parameter based on the one or more instructions received from the input device 34. peak (or pulse width PW) and the peak power P peak (or pulse width PW) can be determined.

[0043] The controller 32 adjusts the peak power P of the laser light based on one or more instructions received from the input device 34. peak A value for each of a plurality of base settings of can be determined.

[0044] The one or more commands received from the input device 34 may include a peak power P peak The controller 32 may then determine the peak power P of the laser light as indicated by one or more commands. peak The peak power P of the laser light falling within the first range of values peak In addition, the controller 32 can determine the value of each of a plurality of base settings of the peak power P peak The peak power P should be evenly distributed within a first range of values peak A value for each of a plurality of base settings of can be determined.

[0045] In a variation of the first embodiment, the input device 34 receives the peak power P peak and output one or more instructions corresponding to the one or more inputs to the controller 32. The controller 32 then adjusts the peak power P of the laser light based on the one or more instructions received from the input device 34. peakA value for each of a plurality of base settings of can be determined.

[0046] In step S16, the controller 32 sequentially calculates the peak power P of the laser beam for each of the plurality of base settings. peak to each of a plurality of base settings, and a peak power P set to each of the plurality of base settings to attempt to fragment or break up the stone C or to begin fragmenting or breaking up the stone C. peak The laser light source 22 can be controlled to output a laser beam having the following characteristics toward the stone C.

[0047] After performing the first iteration of the first process (including steps S12 to S16), the controller 32 may perform a second or subsequent iteration of the first process. In the second or subsequent iteration of the first process, the controller 32 may select another variable operating parameter, such as the frequency F of the laser light output by the laser light source 22, and proceed with steps S14 and S16 based on the selection of the frequency F of the laser light as the variable operating parameter of the laser light.

[0048] In step S18, the controller 32, together with the image sensor 16, controls the peak power P peak The controller 32 may control the display 36 to display the one or more images generated to allow a user to judge the effectiveness of each of the different laser lights to fragment or break up the stone C.

[0049] Further, in step S18, the input device 34 can receive one or more inputs from the user (who has viewed one or more images of the stone C displayed on the display 36) and output one or more instructions corresponding to the one or more inputs to the controller 32. The controller 32 can then adjust the peak power Ppeak of the laser light in accordance with the one or more user inputs. You can select one of several base settings for the selected peak power Ppeak. One of the multiple base settings of the peak power Ppeak indicates a user's determination, based on one or more images of the stone C displayed on the display 36, that one of the multiple base settings of the peak power Ppeak is the most effective of the multiple base settings for fragmenting or breaking up the stone C.

[0050] In step S22, the controller 32 can determine the value of each of a plurality of optimized settings for the peak power Ppeak of the laser light based on one of the plurality of base settings selected in step S18.

[0051] Here, the controller 32 can set a second range (i.e., upper and lower limits) for the peak power Ppeak of the laser light, where the second range is smaller than the first range established in step S14. The controller 32 can then determine values ​​for each of a plurality of optimized settings for the peak power Ppeak of the laser light that fall within the second range of the peak power Ppeak of the laser light. Moreover, the controller 32 can determine values ​​for each of the plurality of optimized settings for the peak power Ppeak to be evenly distributed within the second range of the peak power Ppeak.

[0052] In step S24, the controller 32 can sequentially set the peak power Ppeak of the laser light to the value of each of the plurality of optimization settings of the peak power Ppeak for each of the plurality of optimization settings, and control the laser light source 22 to output the laser light based on the value of each of the plurality of optimization settings that have been set.

[0053] In step S26, the controller 32, together with the image sensor 16, can generate one or more images of the stone C treated with the different laser lights having peak powers P set to each of the multiple optimization settings. The controller 32 can control the display 36 to display the generated one or more images to allow a user to judge the effectiveness of the different laser lights to fragment or break up the stone C.

[0054] Further, in step S26, the input device 34 can receive one or more inputs from the user (who has viewed one or more images of the stone C displayed on the display 36) and output one or more instructions corresponding to the one or more inputs to the controller 32. The controller 32 can then adjust the peak power Ppe of the laser light according to the one or more user inputs. You can select one of several optimized settings for ak. The selected peak power Ppe One of the multiple optimization settings for ak indicates a user's determination, based on one or more images of the stone C displayed on the display 36, that one of the multiple optimization settings for the peak power Ppeak is the most effective of the multiple optimization settings for fragmenting or breaking up the stone C.

[0055] In step S28, the controller 32 may further control the laser light source 22 based on one of a plurality of optimized settings of the peak power Ppeak of the selected laser light in order to more effectively and efficiently fragment or break up the stone C.

[0056] [Second Example] Details of steps S12 to S28 will be described below as a second example.

[0057] The second embodiment differs from the first embodiment in that in steps S12 and S14, the controller 32 can receive one or more instructions from the input device 34, select multiple variable operating parameters (instead of a single variable operating parameter as in the first embodiment) based on the one or more instructions received from the input device 34, and determine values ​​for each of multiple base settings of the multiple operating parameters of the laser light.

[0058] Referring to Equation 1 discussed above, the controller 32 controls the peak power P of the laser light as a plurality of variable operating parameters. peak and pulse width PW can be selected.

[0059] Furthermore, as shown in FIG. 4, the controller 32 controls the peak power P peak Specifically, the controller 32 determines the value of each of a plurality of base settings of the peak power P and the pulse width PW that will allow the energy E of the laser light to be constant. peak For example, the controller 32 may determine a combination of values ​​for the peak power P and the pulse width P for the first base setting. peak The value of P peak1 and the value of the pulse width PW can be determined to be PW1, where P peak1 The peak power P peak The laser light output under the operating parameters of the pulse width PW having the value of PW1 will have a predetermined energy Energy1.

[0060] The controller 32 further calculates the peak power P peak The value of P peak2 and the value of the pulse width PW can be determined to be PW2, where P peak2 is P peak1 PW2 is smaller than PW1, and P peak2 The peak power P peakLaser light output under operating parameters of pulse width PW having values ​​of PW1 and PW2 will have the same predetermined energy Energy1.

[0061] The controller 32 further controls the peak power P peak The value of P peak3 and the value of the pulse width PW can be determined to be PW3, where P peak3 is P peak1 PW3 is larger than PW1, and P peak3 The peak power P peak Laser light output under operating parameters of pulse width PW having values ​​of PW1 and PW2 will have the same predetermined energy Energy1.

[0062] In a second or subsequent iteration of the first process, the controller 32 determines the peak power P of the laser light that will enable the laser light to have a predetermined energy Energy2. peak and pulse width PW, where Energy2 is different from Energy1.

[0063] In a second or subsequent iteration of the first process, the controller 32 may also select other variable operating parameters. For example, the controller 32 may select the frequency F and the pulse width PW as the variable operating parameters with reference to Equation 2 discussed above.

[0064] Further, with reference to Equation 2, the controller 32 can determine values ​​for each of a plurality of base settings for the frequency F and pulse width PW of the laser light. Specifically, the controller 32 determines the average power P of the laser light. avg, can be determined. In this example, referring to Equation 2, the controller 32 determines a combination of values ​​for the frequency F and pulse width PW that will allow the peak power P of the laser light to be constant based on evidence that high peak powers are more effective at fragmenting or breaking up the stone C. peak Keep constant.

[0065] The second embodiment is similar to the first embodiment in that the controller 32 can determine the value of each of a plurality of base settings of a plurality of operating parameters to be within a first range. peak1 , P peak2 and P peak3 may be determined to be peak power values ​​within the first range, and PW1, PW2 and PW3 may be determined to be pulse width values ​​within the first range.

[0066] The second embodiment further differs from the first embodiment in that in step S22, the controller 32 can determine values ​​for each of a plurality of optimized settings of a plurality of operating parameters of the laser light.

[0067] Further, as shown in FIG. 5, the controller 32 determines the value P in step S18 by reference to Equation 1 discussed above. peak2 and PW2, based on the selection of the base setting, the peak power P of the laser light. peak and pulse width PW. Specifically, the controller 32 determines the peak power P that will allow the energy E of the laser light to be constant. peak For example, the controller 32 may determine a combination of values ​​for the peak power P and the pulse width P for the first optimization setting. peak The value of P peak2 and the value of the pulse width PW can be determined to be PW2, where P peak2 The peak power P peakThe laser light output under the operating parameters of pulse width PW having values ​​of PW1 and PW2 will have a predetermined energy Energy1.

[0068] The controller 32 further adjusts the peak power P peak The value of P peak2´ and the value of the pulse width PW can be determined to be PW2', where P peak2´ is P peak2 PW2' is larger than PW2, and P peak2´ The peak power P peak The laser light output under the operating parameters of pulse width PW having values ​​of PW1 and PW2' will have the same predetermined energy Energy1.

[0069] The controller 32 further adjusts the peak power P peak The value of P peak2´´ and the value of the pulse width PW can be determined to be PW2', where P peak2´´ is P peak2 PW2´´ is smaller than PW2, and P peak2´´ The peak power P peak and PW2''. The laser light output under the operating parameters of pulse width PW having values ​​of PW1 and PW2'' will have the same predetermined energy Energy1.

[0070] [Third Example] Details of steps S12 to S28 will be described below as a third embodiment.

[0071] The third embodiment differs from the second embodiment in that one or more of steps S12, S14, S18, S22 and S26 may be performed according to the characteristics of the stone C detected by the sensor.

[0072] In steps S12 and S14, the controller 32, together with the image sensor 16, can generate one or more images of the concretion C. The controller 32 can further process the one or more images of the concretion C to detect one or more characteristics of the concretion C. The one or more characteristics of the concretion C can include, but are not limited to, the size of the concretion C, the color of the concretion C, and the external geometry of the concretion C. Furthermore, the controller 32 can select at least one variable operating parameter of the laser light based on the one or more characteristics of the detected concretion C. Furthermore, the controller 32 can determine values ​​for each of a plurality of base settings of the at least one variable operating parameter selected based on the one or more characteristics of the detected concretion C. For example, in step S12, the controller 32 can set the energy E to a higher predetermined value and the peak power P to a higher predetermined value in response to determining that the size of the concretion C exceeds a predetermined size. peak and pulse width PW may be selected as the at least one variable operating parameter, and values ​​for each of a plurality of base settings that satisfy Equation 1 may be determined.

[0073] The memory of the controller 32 may also store a predetermined relationship between one or more characteristics and at least one corresponding variable operating parameter of the laser light. The controller 32 may then select at least one variable operating parameter in step S12 and consider one or more characteristics of the detected stone C in light of the stored predetermined relationship to determine values ​​for each of a plurality of base settings of the selected at least one variable operating parameter in step S14.

[0074] In step S18, the controller 32, together with the image sensor 16, can generate one or more images of the concretion C after treating the concretion C with the laser light according to steps S12 to S16. The controller 32 can further process the one or more images of the concretion C to detect one or more characteristics of the concretion C. The one or more characteristics of the concretion C can include, but are not limited to, a change in size of the concretion C, a change in color of the concretion C, and a change in the external geometry of the concretion C. The controller 32 can further select one of a plurality of base settings based on the detected one or more characteristics of the concretion C. For example, in step S18, the controller 32 can determine an image showing a maximum reduction in size of the concretion C, determine one of a plurality of base settings that results in a maximum reduction in size of the concretion C, and select one of the determined plurality of base settings.

[0075] In step S22, the controller 32, together with the image sensor 16, can generate one or more images of the concretion C. The controller 32 can further process the one or more images of the concretion C to detect one or more characteristics of the concretion C. The one or more characteristics of the concretion C can include, but are not limited to, the size of the concretion C, the color of the concretion C, and the external geometry of the concretion C. Furthermore, the controller 32 can determine values ​​for each of a plurality of optimized settings of at least one variable operating parameter selected based on the one or more characteristics of the detected concretion C.

[0076] In step S26, the controller 32, together with the image sensor 16, can generate one or more images of the concretion C after treating the concretion C with the laser light according to steps S22 and S24. The controller 32 can further process the one or more images of the concretion C to detect one or more characteristics of the concretion C. The one or more characteristics of the concretion C can include, but are not limited to, a change in size of the concretion C, a change in color of the concretion C, and a change in the external geometry of the concretion C. The controller 32 can further select one of a plurality of optimization settings based on the detected one or more characteristics of the concretion C. For example, in step S26, the controller 32 can determine an image showing a maximum reduction in size of the concretion C, determine one of a plurality of optimization settings that results in a maximum reduction in size of the concretion C, and select one of the determined plurality of optimization settings.

[0077] After step S28, the controller 32, together with the image sensor 16, may generate one or more images of the concretion C after treating the concretion C with the laser light according to step S28. The controller 32 may further process the one or more images of the concretion C to detect one or more characteristics of the concretion C. The controller 32 may further determine whether to return to steps S12 to S16 based on the detected one or more characteristics of the concretion C. For example, the controller 32 may further determine to return to steps S12 to S16 based on determining that the change in size of the concretion C is equal to or less than a predetermined threshold or that the change in color of the concretion C is equal to or less than a predetermined amount.

[0078] In the description provided above, the functions of generating and processing images and controlling laser light source 22 are described as being performed by controller 32. However, it is understood that the functions of generating and processing images and controlling laser light source 22 may be performed by separate controllers that communicate with each other.

[0079] Another embodiment of the present invention includes a method performed by the controller 32 described above.

[0080] It should be noted that another embodiment of the present invention includes a computer-readable storage device storing instructions that can cause a processor comprising the hardware of controller 32 to perform the functions described above.

[0081] In the technique described above, after step S18, the peak power P of the laser light output by the laser light source 22 is set to a value that is more effective for fragmenting or breaking up stones C having particular mechanical properties corresponding to one of the plurality of base settings. peak One of a plurality of base settings (or another variable operating parameter) is selected to more effectively fragment or break up stone C having particular mechanical properties. Such a selection in step S18 represents an improvement over conventional lithotripsy techniques. Furthermore, after step S28, selecting one of a plurality of optimized settings allows for even more effective fragmentation or breakup of stone C. Such a selection in step S28 represents an additional improvement over conventional lithotripsy techniques.

[0082] While embodiments of the present invention have been described, it will, of course, be understood that various modifications and changes in form or detail may be readily made therein without departing from the spirit of the invention. It is therefore intended that the present invention not be limited to the exact form described and illustrated, but should be constructed to cover all modifications that may fall within the scope of the appended claims. [Explanation of symbols]

[0083] 1 System 10 Endoscopic Devices 12 Insertion 14 Working Channel 16 Image Sensor 20 Lithotripsy Device 22 Laser light source 24 Optical Fiber 30 Control Device 32 Controller 34 Input Devices 36 Display C stone

Claims

[Claim 1] A system comprising a controller, The controller is configured to execute a first process one or more times, wherein in the first process, the controller: selecting at least one variable operating parameter of a laser light source of the lithotripsy device; determining a value for each of a plurality of base settings for the selected at least one variable operating parameter; for each of the plurality of base settings in turn, setting the at least one selected variable operating parameter to a value for each of the plurality of base settings; and controlling the laser light source to output laser light based on the values ​​of each of the plurality of base settings that have been set; Run the controller selecting one of the plurality of base settings for the selected at least one variable operating parameter; a second process configured to be executed one or more times, wherein in the second process, the controller is configured to control the laser light source based on the one of the plurality of base settings of the selected at least one variable operating parameter; In the second process, the controller: determining a value for each of a plurality of optimized settings for the selected at least one variable operating parameter based on the one of the plurality of base settings for the selected at least one variable operating parameter; for each of said plurality of optimization settings in turn, setting the selected at least one variable operating parameter to a value for each of the plurality of optimized settings; and controlling the laser light source to output laser light based on the values ​​of each of the plurality of optimization settings that have been set; To execute wherein the system is configured to control the laser light source based on the one of the plurality of base settings of the at least one variable operating parameter selected.

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