1. A motor control method comprising the steps of;
performing a speed feedback control of a motor such that a speed of a body driven by the motor is consistent with a predetermined target speed, and
generating a deceleration directive corresponding to time elapsed since a predetermined deceleration control start timing as the target speed using a deceleration function of the elapsed time, to perform the speed feedback control based on the generated deceleration directive, during a deceleration control period in a driving period, the driving period being from when the body starts to be driven until it is stopped, the deceleration control period starting from the deceleration control start timing and ending when the driven body is stopped, wherein
the deceleration function is a function which monotonically decreases from the deceleration control start timing until the deceleration directive becomes zero (0) and of which derivative is a monotonically decreasing or increasing function or a constant.
2. The motor control method according to claim 1, wherein the deceleration function has a graph opening upward.
3. The motor control method according to claim 1, wherein the deceleration function has a graph opening downward.
4. The motor control method according to claim 1, wherein
the deceleration function is a function of which integration value obtained when integrating the deceleration function from the deceleration control start timing until the deceleration directive becomes zero (0) is consistent with a deceleration distance which is a distance from a position of the driven body at the deceleration control start timing and a predetermined target stop position.
5. The motor control method according to claim 4, further comprising the steps of:
setting an initial deceleration directive which is the deceleration directive at the deceleration control start timing,
formulating the deceleration function based on the deceleration distance and the initial deceleration directive, and
calculating the deceleration directive corresponding to the elapsed time according to the deceleration function.
6. The motor control method according to claim 1, wherein the speed feedback control based on the deceleration directive is stopped when it is detected that the driven body has reached the target stop position, and a braking control of the motor is performed to stop the driven body.
7. The motor control method according to claim 1, wherein the speed feedback control is performed based on a predetermined target constant speed as the target speed during an acceleration control period in which the driven body is accelerated and a constant speed control period in which the driven body is driven at a constant speed in the driving period.
8. The motor control method according to claim 7, further comprising the step of:
measuring an acceleration time which is a period length of the acceleration control period, wherein
the deceleration function is a function which continuously decreases from the target constant speed, of which deceleration directive time from the deceleration control start timing until the deceleration directive becomes zero (0) is consistent with the acceleration time, which monotonically decreases from the deceleration control start timing until the deceleration directive becomes zero (0), and of which derivative is a monotonically decreasing or increasing function or a constant.
9. The motor control method according to claim 8, wherein the acceleration time is from when the body starts to be driven until the speed of the driven body reaches n % (90\u2266n<100) of the target constant speed.
10. The motor control method according to claim 7, wherein the deceleration function has a graph opening downward, and the deceleration directive at the deceleration control start timing takes a maximum value of the deceleration function.
11. The motor control method according to claim 10, wherein the deceleration function is a quadratic function.
12. A motor control device comprising:
a speed detection unit that detects a speed of a body driven by a motor;
a target speed setting unit that determines a target speed of the driven body;
a speed feedback control unit that compares the target speed determined by the target speed setting unit and the speed detected by the speed detection unit, and performs a speed feedback control of the motor in order to coincide the target speed with the speed of the driven body; and
a deceleration directive generation unit that generates a deceleration directive which is the target speed of the driven body during a deceleration control period in a driving period, the driving period being from when the body starts to be driven until it is stopped, the deceleration control period starting from the deceleration control start timing and ending when the driven body is stopped, wherein
the speed feedback control unit performs the speed feedback control based on the deceleration directive generated by the deceleration directive generation unit during the deceleration control period,
the deceleration directive generation unit generates the deceleration directive corresponding to time elapsed from the deceleration control start timing using a deceleration function of the elapsed time, and
the deceleration function is a function which monotonically decreases from the deceleration control start timing until the deceleration directive becomes zero (0) and of which derivative is a monotonically decreasing or increasing function or a constant.
13. The motor control device according to claim 12, wherein the deceleration function has a graph opening upward.
14. The motor control device according to claim 12, wherein the deceleration function has a graph opening downward.
15. The motor control device according to claim 12, further comprising
a deceleration distance setting unit that sets a deceleration distance which is a distance from a position of the driven body at the deceleration control start timing and a predetermined target stop position, wherein
the deceleration function is a function of which integration value obtained by integrating the deceleration function from the deceleration control start timing until the deceleration directive becomes zero (0) is consistent with the deceleration distance.
16. The motor control device according to claim 16, further comprising:
an arrival detection unit that detects whether the driven body has reached the target stop position; and
a braking control unit that performs a braking control of the motor to stop the driven body, wherein
when the arrival detection unit detects that the driven body has reached the target stop position, the speed feedback control unit stops the speed feedback control based on the deceleration directive, and the braking control unit performs the braking control.
17. The motor control device according to claim 15, further comprising
an initial deceleration directive setting unit that determines an initial deceleration directive which is the deceleration directive at the deceleration control start timing, wherein
the deceleration directive generation unit including:
a deceleration function formulation unit that formulates the deceleration function based on the deceleration directive determined by the deceleration distance setting unit and the initial deceleration directive determined by the initial deceleration directive setting unit;
a timing unit that measures the elapsed time; and
a deceleration directive calculation unit that calculates the deceleration directive corresponding to the elapsed time measured by the timing unit according to the deceleration function formulated by the deceleration function formulation unit.
18. The motor control device according to claim 12, wherein
the motor control device is mounted on an image forming apparatus provided with a function of forming an image on a recording medium while conveying the recording medium, and
the driven body is a carriage that has a recording unit mounted thereon for forming an image on the recording medium and reciprocates in a main scanning direction orthogonal to a conveying direction of the recording medium.
19. The motor control device according to claim 12, further comprising
an acceleration time measuring unit that measures an acceleration time which is a period length of the acceleration control period,
the acceleration time measuring unit includes
a first target speed input unit that inputs a predetermined target constant speed to the speed feedback control unit as the target speed during an acceleration control period in which the driven body is accelerated and a constant speed control period in which the body is driven at a constant speed, and
a second target speed input unit that inputs the deceleration directive generated by the deceleration directive generation unit to the speed feedback control unit as the target speed during the deceleration control period, and
the deceleration directive generation unit includes a deceleration function formulation unit that formulates the deceleration function using the acceleration time measured by the acceleration time measuring unit after the acceleration control period is ended until the deceleration control start timing.
20. The motor control device according to claim 19, wherein
the acceleration time is from when the body starts to be driven until the speed of the driven body reaches n % (90\u2266n<100) of the target constant speed.
21. The motor control device according to claim 19, wherein
the deceleration function is a function which has a graph opening downward, and of which deceleration directive at the deceleration control start timing is a maximum value of the deceleration function.
22. The motor control device according to claim 21, wherein the deceleration function is a quadratic function.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An interlock release apparatus for a surgical instrument of the type having an remotely controllable extendable and retractable needle, the interlock release apparatus comprising a mechanism for selectively blocking and releasing first and second members from moving with respect to each other wherein the mechanism provides interference between the first and second members when in a blocking condition and the mechanism provides clearance between the first and second members when in a release condition.
2. The apparatus of claim 1 wherein the surgical instrument includes first and second manually graspable handles which extend the needle when the handles are moved towards each other, and which retract the needle when the handles are moved away from each other and the mechanism comprises a depressable button located on the first handle which prevents movement of the first handle towards the second handle in the blocking condition when the button is not depressed, and which permits movement of the first handle towards the second handle in the release condition when the button is depressed.
3. The apparatus of claim 2 wherein the button is resiliently biased towards the blocking condition such that the button returns to the blocking condition when the needle is fully retracted.
4. The apparatus of claim 3 wherein the first handle comprises a thumb ring carried by a slide and the second handle comprises a finger grip carried by a frame and the button is located on the slide and is adjacent an edge of the frame in the blocking condition.
5. The apparatus of claim 4 wherein the slide is free to advance the thumb ring towards the finger grip when the button is depressed to extend the needle to any one of a plurality of predetermined positions.
6. The apparatus of claim 1 wherein the surgical instrument further includes a syringe port for receiving a syringe for delivery of a fluid through the needle and still further includes first and second manually graspable handles which extend the needle when the handles are moved towards each other, and which retract the needle when the handles are moved away from each other and the mechanism comprises a lockout arm assembly having a first end located in the syringe port and engageable with the syringe, which prevents movement of the first handle towards the second handle in the blocking condition when the syringe is not received in the syringe port, and which permits movement of the first handle towards the second handle in the release condition when the syringe is received in the syringe port.
7. The apparatus of claim 6 wherein the lockout arm assembly further comprises a first lockout arm having the first end located in the syringe port, and a second lockout arm connected to the first lockout arm, with the second lockout arm having a distal end engageable with a blocking topology in one of the frame and slide preventing relative movement between the first and second handles in a blocking condition when the syringe is not present in the port and permitting relative movement between the handles in a release condition when the syringe is received in the port such that the needle is prevented from advancing in the absence of the syringe in the port in the blocking condition.
8. The apparatus of claim 7 wherein the lockout arm assembly further comprises a spring urging the lockout arm assembly to the blocking condition.
9. The apparatus of claim 7 wherein the blocking topology comprises a notch in a portion of the frame.
10. The apparatus of claim 1 wherein the mechanism comprises a positive locking ball detent with a manual access for release wherein a ball is resiliently urged out of the slide and towards the frame and rests in a recess in the frame preventing extension of the needle in a blocking condition and wherein the ball is manually displaced via a spherical recess to a release condition wherein the ball is out of positive locking with the frame and permits extension of the needle.
11. The apparatus of claim 1 wherein the mechanism comprises a stepped cam mounted on one of the first and second members and wherein a plurality of steps on the cam are engageable with the other of the first and second members to limit the distance the needle is able to be extended.
12. The apparatus of claim 11 wherein the stepped cam is mounted on a syringe port projection located on the first member and is rotatable thereabout to provide one of a plurality of steps for engagement with a portion of a finger support on the second member.
13. (canceled)
14. The method of claim 13 wherein step a further includes positioning an injection head adjacent the prostate, and step b further includes injecting echogenic bubbles along with the drug.
15. The method of claim 14 wherein the injection head has a first inlet connected to a high pressure source of a liquid chemical agent and a second inlet connected to a gas delivery tube.
16. (canceled)
17. (canceled)
18. (canceled)
19. (canceled)
20. (canceled)
21. (canceled)
22. (canceled)
23. (canceled)
24. (canceled)
25. (canceled)
26. (canceled)
27. (canceled)
28. A method of extending a needle from a surgical instrument for injecting a liquid drug into a prostate, the method comprising:
providing a link assembly at a distal end of the surgical instrument with the link assembly connected to a needle and to a housing carrying the needle; and
extending the needle generally transversely to the housing using a pusher moving longitudinally in the housing acting through the link assembly.
29. The method of claim 28 wherein step b further comprises pivoting the link assembly about a pivot connected to the housing.
30. The method of claim 28 wherein step b further comprises pivoting the needle using at least one link arm pivotally connected to the housing.
31. The method of claim 28 wherein step b further comprises moving the needle using a slot moving along a pin connected to the housing.
32. The method of claim 28 wherein step b further comprises guiding the needle through a slot in the housing.
33. A kit for injecting a liquid drug into a prostate, the kit comprising:
a cystoscope and scope sheath; and
a surgical instrument having a main body, a needle deployment port, a needle, first and second handles, and a lockout release mechanism to limit the distance the needle is extendable beyond the needle deployment port.
34. The kit of claim 33 further comprising:
a syringe for delivering the liquid drug to the prostate.
35. The kit of claim 34 further comprising:
a reservoir of ethanol; and
a syringe needle for drawing the ethanol from the reservoir into the syringe.
36. A method of visualizing placement of a therapeutically effective substance that is substantially invisible to ultrasound in the treatment of prostate tissue comprising adding an echogenic substance to the therapeutically effective substance to enable visualization during the procedure to assess penetration depth.
37. (canceled)
38. A selective coupling apparatus for a surgical instrument of the type having an remotely controllable extendable and retractable needle, the selective coupling apparatus comprising a mechanism for selectively engaging and releasing first and second members from moving with respect to each other wherein the mechanism provides a mechanical connection between the first and second members when in an operating condition and the mechanism provides clearance between the first and second members when in a de-coupled condition.