BR112019027043A2 - conjuntos de eixo de acionamento cirúrgicos com conjuntos de anel deslizante que formam canaletas capacitivas - Google Patents
conjuntos de eixo de acionamento cirúrgicos com conjuntos de anel deslizante que formam canaletas capacitivas Download PDFInfo
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- drive shaft
- conductor
- connector
- dielectric layer
- surgical
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/05—Circuit arrangements or systems for wireless supply or distribution of electric power using capacitive coupling
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- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
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- H04B—TRANSMISSION
- H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
- H04B5/20—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by the transmission technique; characterised by the transmission medium
- H04B5/22—Capacitive coupling
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- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
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- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
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- A—HUMAN NECESSITIES
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Abstract
A presente invenção refere-se a um conjunto de eixo de acionamento cirúrgico que inclui um conjunto de anel deslizante. O conjunto de anel deslizante tem um primeiro conector, um primeiro condutor montado sobre o primeiro conector, e uma primeira camada isolante impermeável à água sobre o primeiro condutor. O conjunto de anel deslizante tem um segundo conector giratório em relação ao primeiro conector, um segundo condutor montado no segundo conector, e uma segunda camada isolante impermeável à água sobre o segundo condutor. O conjunto de anel deslizante também tem uma camada dielétrica situada entre a primeira camada isolante impermeável à água e a segunda camada isolante impermeável à água. O primeiro condutor e o segundo condutor são configurados para formar uma canaleta capacitiva entre os mesmos.
Description
Relatório Descritivo da Patente de Invenção para "CON- JUNTOS DE EIXO DE ACIONAMENTO CIRÚRGICOS COM CON- JUNTOS DE ANEL DESLIZANTE QUE FORMAM CANALETAS CA- PACITIVAS".
[0001] A presente invenção se refere a instrumentos cirúrgicos e, em várias circunstâncias, a instrumentos cirúrgicos de grampeamento e corte, e a cartuchos de grampos para os mesmos, que são projeta- dos para grampear e cortar tecidos.
[0002] Em um instrumento de grampeamento e corte cirúrgico mo- torizado, pode ser útil medir a posição e a velocidade de um membro de corte em um tempo ou deslocamento predeterminado inicial para controlar a velocidade. A medição da posição ou da velocidade ao lon- go de um primeiro tempo ou deslocamento predeterminado pode ser útil para avaliar a espessura do tecido e ajustar a velocidade do curso restante com base em tal comparação em relação a um limite.
[0003] Embora vários dispositivos tenham sido produzidos e usa- dos, acredita-se que ninguém antes dos inventores fez ou usou o dis- positivo descrito nas reivindicações em anexo.
[0004] Um conjunto de eixo de acionamento é útil com um instru- mento cirúrgico. O conjunto de eixo de acionamento define um eixo geométrico longitudinal que se estende longitudinalmente através do conjunto de eixo de acionamento. O conjunto de eixo de acionamento inclui uma porção de eixo de acionamento proximal que inclui um pri- meiro sensor e um segundo sensor. O conjunto de eixo de acionamen- to inclui também uma porção de eixo de acionamento distal que gira em torno do eixo geométrico longitudinal e em relação à porção de ei- xo de acionamento proximal. A porção de eixo de acionamento distal inclui um compartimento, um primeiro ímã giratório com o comparti- mento, um conjunto de embreagem giratório em relação ao comparti- mento para fazer a transição do conjunto de eixo de acionamento en- tre um estado engatado e um estado desengatado de articulação, e um segundo ímã giratório com o conjunto de embreagem. O conjunto de eixo de acionamento inclui adicionalmente um circuito de controle configurado para detectar uma transição do estado engatado de articu- lação ao estado desengatado de articulação com base em sinais de saída do primeiro sensor e do segundo sensor.
[0005] Um conjunto de eixo de acionamento é útil com um instru- mento cirúrgico. O conjunto de eixo de acionamento define um eixo geométrico longitudinal que se estende longitudinalmente através do conjunto de eixo de acionamento. O conjunto de eixo de acionamento inclui uma porção de eixo de acionamento proximal que inclui um pri- meiro sensor e um segundo sensor. O conjunto de eixo de acionamen- to inclui também uma porção de eixo de acionamento distal que gira em torno do eixo geométrico longitudinal e em relação à porção de ei- xo de acionamento proximal. A porção de eixo de acionamento distal inclui um compartimento, um primeiro ímã giratório com o comparti- mento, um conjunto de embreagem giratório em relação ao comparti- mento para fazer a transição do conjunto de eixo de acionamento en- tre um estado engatado e um estado desengatado de articulação, e um segundo ímã giratório com o conjunto de embreagem. O conjunto de eixo de acionamento inclui adicionalmente um circuito de controle configurado para detectar uma transição do estado engatado de articu- lação ao estado desengatado de articulação com base em posições rotacionais relativas da porção de eixo de acionamento distal do con- junto de eixo de acionamento e do conjunto de embreagem.
[0006] Um conjunto de eixo de acionamento é útil com um instru- mento cirúrgico. O conjunto de eixo de acionamento define um eixo geométrico longitudinal que se estende longitudinalmente através do conjunto de eixo de acionamento. O conjunto de eixo de acionamento inclui uma porção de eixo de acionamento proximal que inclui um pri- meiro sensor configurado para gerar um primeiro sinal de saída e um segundo sensor configurado para gerar um segundo sinal de saída. O conjunto de eixo de acionamento inclui também uma porção de eixo de acionamento distal. A porção de eixo de acionamento distal inclui um conjunto de embreagem giratório com a porção de eixo de acionamen- to distal em torno do eixo longitudinal e em relação à porção de eixo de acionamento proximal. O conjunto de embreagem é adicionalmente giratório em relação à porção de eixo de acionamento distal para fazer a transição do conjunto de eixo de acionamento entre um estado enga- tado de articulação e um estado desengatado de articulação. A rota- ção do conjunto de embreagem com a porção de eixo de acionamento distal altera o primeiro sinal de saída. A rotação do conjunto de em- breagem em relação à porção de eixo de acionamento distal altera o segundo sinal de saída. O conjunto de eixo de acionamento inclui também um circuito de controle em comunicação elétrica com o pri- meiro sensor e o segundo sensor, em que o circuito de controle é con- figurado para detectar uma alteração no segundo sinal de saída ocor- rendo sem uma alteração correspondente no primeiro sinal de saída, e em que a alteração detectada indica uma transição entre o estado en- gatado de articulação e o estado desengatado de articulação.
[0007] Um instrumento cirúrgico inclui um atuador de extremidade cirúrgico, um circuito de controle e um conjunto de conectores. O con- junto de conectores inclui um primeiro conector que compreende um primeiro condutor acoplado eletricamente ao atuador de extremidade cirúrgico, e um segundo conector que compreende um segundo con- dutor separado do primeiro condutor, em que o segundo condutor é acoplado eletricamente ao circuito de controle, em que o primeiro co-
nector é giratório em relação ao segundo conector, em que o primeiro condutor é capacitivamente acoplado ao segundo condutor, definindo uma canaleta capacitiva entre os mesmos para transmitir um sinal elé- trico entre o atuador de extremidade e o circuito de controle.
[0008] Um instrumento cirúrgico inclui um atuador de extremidade cirúrgico, uma fonte de energia e um conjunto de conectores. O con- junto de conectores inclui um primeiro conector que compreende um primeiro condutor acoplado eletricamente ao atuador de extremidade cirúrgico, e um segundo conector que compreende um segundo con- dutor separado do primeiro condutor, em que o segundo condutor é acoplado eletricamente a uma fonte de energia, em que o primeiro co- nector é giratório em relação ao segundo conector, em que o primeiro condutor é capacitivamente acoplado ao segundo condutor, definindo uma canaleta capacitiva entre os mesmos para transmitir energia da fonte de energia ao atuador de extremidade.
[0009] As características inovadoras dos vários aspectos aqui descritos são apresentadas com particularidade nas reivindicações em anexo. Vários aspectos, entretanto, tanto com relação à organização quanto aos métodos de operação, podem ser mais bem compreendi- dos por referência à descrição a seguir, tomada em conjunto com os desenhos em anexo da seguinte forma:
[0010] A Figura 1 é uma vista em perspectiva de um instrumento cirúrgico que tem um conjunto de eixo de acionamento e um atuador de extremidade de acordo com um ou mais aspectos da presente re- velação.
[0011] A Figura 2 é uma vista do conjunto explodida de uma por- ção do instrumento cirúrgico da Figura 1, de acordo com um aspecto desta revelação.
[0012] A Figura 3 é uma vista em perspectiva explodida de um atuador de extremidade do instrumento cirúrgico da Figura 1, de acor- do com um aspecto desta revelação.
[0013] A Figura 4 é vista em perspectiva de um cartucho de RF e uma canaleta alongada adaptada para uso com o cartucho de RF de acordo com um aspecto da presente revelação.
[0014] A Figura 5 é uma vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável do instrumento cirúr- gico da Figura 1, de acordo com um aspecto desta revelação.
[0015] A Figura 6 é outra vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável da Figura 1, de acordo com um aspecto desta revelação.
[0016] A Figura 7 é uma vista em corte transversal de uma porção do conjunto de eixo de acionamento intercambiável da Figura 1, de acordo com um aspecto desta revelação.
[0017] A Figura 8 é uma vista em perspectiva de uma porção do conjunto de eixo de acionamento da Figura 1, com o cilindro de comu- tação omitido para fins de clareza.
[0018] A Figura 9 é outra vista em perspectiva da porção do con- junto de eixo de acionamento intercambiável da Figura 1, com o cilin- dro de comutação montado na mesma.
[0019] A Figura 10 é uma vista em perspectiva em corte parcial de um conjunto de anel deslizante de acordo com um aspecto desta reve- lação.
[0020] A Figura 11 é uma vista em corte transversal de uma por- ção do conjunto de anel deslizante da Figura 10, de acordo com um aspecto desta revelação.
[0021] A Figura 12 é uma vista em corte transversal de uma por- ção do conjunto de anel deslizante de acordo com um aspecto desta revelação.
[0022] A Figura 13 é um diagrama de blocos de um circuito de um instrumento cirúrgico, que ilustra as interfaces entre um circuito de controle, uma fonte de alimentação, um conjunto de anel deslizante e um atuador de extremidade de acordo com um aspecto desta revela- ção.
[0023] O requerente do presente pedido detém os seguintes pedi- dos de patente US, que foram depositados na mesma data do presen- te pedido e que estão, cada um, aqui incorporados por referência em suas respectivas totalidades: - Pedido de patente US nº de série , intitulado ARTICULATION STATE DETECTION MECHANISMS; nº do documen- to do procurador END8176USNP/170049; - Pedido de patente US nº de série , intitulado
SURGICAL SHAFT ASSEMBLIES WITH INCREASED CONTACT PRESSURE; nº do documento do procurador END8177USNP/170050; - Pedido de patente US nº de série , intitulado METHOD OF COATING SLIP RINGS; nº do documento do procurador END8179USNP/170052M; - Pedido de patente US nº de série , intitulado SURGICAL SHAFT ASSEMBLIES WITH WATERTIGHT HOUSINGS; nº do documento do procurador END8180USNP/170053; e - Pedido de patente US nº de série , intitulado SURGICAL SHAFT ASSEMBLIES WITH FLEXIBLE INTERFACES; nº do documento do procurador END8223USNP/170126.
[0024] Certos aspectos são mostrados e descritos para fornecer um entendimento da estrutura, função, fabricação e uso dos dispositi- vos e métodos revelados. Os recursos mostrados ou descritos em um exemplo podem ser combinados com os recursos de outros exemplos e as modificações e variações estão dentro do escopo desta revela- ção.
[0025] Os termos "proximal" e "distal" são com referência a um médico que manipula o cabo do instrumento cirúrgico, em que termo "proximal" se refere à porção mais próxima ao médico e o termo "dis- tal" se refere à porção localizada mais distante do médico. Para con- veniência, os termos espaciais "vertical", "horizontal", "para acima" e "para baixo" usados com relação aos desenhos não se destinam a ser limitadores e/ou absolutos, porque os instrumentos cirúrgicos podem ser usados em muitas orientações e posições.
[0026] Os termos "compreende" (e qualquer forma de compreen- de, como "compreende" e "que compreende"), "tem" (e qualquer forma de tem, como "tem" e "que tem"), "inclui" (e qualquer forma de inclui, como "inclui" e "que inclui") e "contém" (e qualquer forma de contém, como "contém" e "que contém") são verbos de ligação irrestritos. Co- mo resultado, um sistema, dispositivo ou aparelho cirúrgico que "com- preende", "tem", "inclui" ou "contém" um ou mais elementos possui aqueles um ou mais elementos, mas não é limitado a possuir somente aqueles um ou mais elementos. Da mesma forma, um elemento de um sistema, dispositivo ou aparelho cirúrgico que "compreende", "tem", "inclui" ou "contém" um ou mais recursos possui aqueles um ou mais recurso, mas não é limitado a possuir somente aqueles um ou mais recursos.
[0027] São fornecidos dispositivos e métodos exemplificadores para realização de procedimentos cirúrgicos laparoscópicos e mini- mamente invasivos. Tais dispositivos e métodos, entretanto, podem ser usados em outros procedimentos e aplicações cirúrgicas incluindo procedimentos cirúrgicos abertos, por exemplo. Os instrumentos cirúr- gicos podem ser inseridos através de um orifício natural ou um através de uma incisão ou perfuração formada no tecido. As porções funcio- nais ou porções do atuador de extremidade dos instrumentos podem ser inseridas diretamente no corpo ou através de um dispositivo de acesso que tem uma canaleta funcional através do qual podem ser avançados o atuador de extremidade e o eixo de acionamento alonga- do do instrumento cirúrgico.
[0028] As Figuras 1 a 9 representam um instrumento cirúrgico aci- onado por motor 10 para corte e fixação que pode ou não ser reutiliza- do. Nos exemplos ilustrados, o instrumento cirúrgico 10 inclui um com- partimento 12 que compreende um conjunto de empunhadura 14 que é configurado para ser pego, manipulado e atuado pelo médico. O compartimento 12 é configurado para fixação operacional a um conjun- to de eixo de acionamento intercambiável 200 que tem um atuador de extremidade 300 operacionalmente acoplado ao mesmo que é configu- rado para executar uma ou mais tarefas ou procedimentos cirúrgicos. De acordo com a presente descrição, várias formas de conjuntos de eixo de acionamento intercambiáveis podem ser eficazmente usadas em conexão com sistemas cirúrgicos roboticamente controlados. O termo "compartimento" pode abranger um compartimento ou porção similar de um sistema robótico que aloja ou de outro modo suporta operacionalmente ao menos um sistema de acionamento configurado para gerar e aplicar ao menos um movimento de controle que possa ser usado para acionar os conjuntos de eixo de acionamento. O termo "estrutura" pode referir-se a uma porção de um instrumento cirúrgico de mão. O termo "estrutura" também pode representar uma porção de um instrumento cirúrgico controlado roboticamente e/ou uma porção do sistema robótico que pode ser usado para controlar operacional- mente o instrumento cirúrgico. Os conjuntos de eixo de acionamento intercambiáveis aqui revelados podem ser usados com vários sistemas robóticos, instrumentos, componentes e métodos revelados na patente US nº 9.072.535, intitulada SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMERNTS, a qual está aqui incorporada a título de referência, em sua totalidade.
[0029] A Figura 1 é uma vista em perspectiva de um instrumento cirúrgico 10 que tem um conjunto de eixo de acionamento intercambi- ável 200 operacionalmente acoplado ao mesmo, de acordo com um aspeto desta revelação. O compartimento 12 inclui um atuador de ex- tremidade 300 que compreende um dispositivo cirúrgico de corte e fi- xação configurado para suportar operacionalmente um cartucho de grampos cirúrgicos 304 no mesmo. O compartimento 12 pode ser con- figurado para uso em conexão com os conjuntos de eixo de aciona- mento intercambiáveis que incluem os atuadores de extremidade que são adaptados para sustentar diferentes tamanhos e tipos de cartu- chos de grampos, e que têm diferentes comprimentos, tamanhos e ti- pos de eixo de acionamento. O compartimento 12 pode ser usado efi- cazmente com uma variedade de conjuntos de eixo de acionamento intercambiáveis incluindo conjuntos configurados para aplicar outros movimentos e formas de energia como, por exemplo, energia de radio- frequência (RF), energia ultrassônica e/ou movimento a disposições de atuadores de extremidade adaptados para uso em várias aplicações e procedimentos cirúrgicos. Os atuadores de extremidade, os conjuntos de eixo de acionamento, os cabos, os instrumentos cirúrgicos e/ou os sistemas de instrumento cirúrgico podem utilizar qualquer prendedor adequado, ou prendedores, para prender tecido. Por exemplo, um car- tucho de prendedores que compreende uma pluralidade de prendedo- res nele armazenados de modo removível pode ser inserido de manei- ra removível dentro e/ou fixado ao atuador de extremidade de um con- junto de eixo de acionamento.
[0030] O conjunto de empunhadura 14 pode compreender um par de segmentos interconectáveis de compartimento de cabo 16 e 18 in- terconectados por parafusos, elementos de encaixe por pressão, ade- sivo, etc. Os segmentos de compartimento de cabo 16, 18 cooperam para formar uma porção da empunhadura da pistola 19 que pode ser empunhada e manipulada pelo médico. O conjunto de empunhadura 14 suporta operacionalmente uma pluralidade de sistemas de aciona- mento configurados para gerar e aplicar movimentos de controle às porções correspondentes do conjunto de eixo de acionamento inter- cambiável que está operacionalmente fixado ao mesmo.
[0031] A Figura 2 ilustra uma vista do conjunto explodida de uma porção do instrumento cirúrgico ultrassônico 10 da Figura 1, de acordo com um aspecto desta revelação. O conjunto de empunhadura 14 po- de incluir uma estrutura 20 que suporta operacionalmente uma plurali- dade de sistemas de acionamento. A estrutura 20 pode suportar ope- racionalmente um "primeiro" sistema de acionamento ou sistema de acionamento de fechamento 30, que pode aplicar movimentos de fe- chamento e abertura ao conjunto de eixo de acionamento intercambiá- vel 200. O sistema de acionamento de fechamento 30 pode incluir um atuador como um gatilho de fechamento 32 suportado de modo pivo- tante pela estrutura 20. O gatilho de fechamento 32 é acoplado de modo pivotante ao conjunto de empunhadura 14 por um pino de pivô 33 para permitir que o gatilho de fechamento 32 seja manipulado por um médico. Quando o médico segura a porção de empunhadura da pistola 19 do conjunto de empunhadura 14, o gatilho de fechamento 32 pode pivotar de uma posição inicial ou "não atuada" para uma posição "atuada" e, mais particularmente, para uma posição completamente comprimida ou completamente atuada.
[0032] O conjunto de empunhadura 14 e a estrutura 20 podem su- portar operacionalmente um sistema de acionamento de disparo 80 configurado para aplicar movimentos de disparo às porções corres- pondentes do conjunto de eixo de acionamento intercambiável fixado ao mesmo. O sistema de acionamento de disparo 80 pode empregar um motor elétrico 82 situado na porção da empunhadura da pistola 19 do conjunto de empunhadura 14. O motor elétrico 82 pode ser um mo-
tor de corrente contínua (CC) com escovas tendo uma rotação máxima de aproximadamente 25.000 rpm, por exemplo. Em outras disposi- ções, o motor pode incluir um motor sem escovas, um motor sem fio, um motor síncrono, um motor de passo ou qualquer outro motor elétri- co adequado. O motor elétrico 82 pode ser alimentado por uma fonte de alimentação 90 que pode compreender uma fonte de energia remo- vível 92. A fonte de energia removível 92 pode compreender uma por- ção do compartimento proximal 94 que é configurada para fixação a uma porção do compartimento distal 96. A porção do compartimento proximal 94 e a porção do compartimento distal 96 são configuradas para suportar operacionalmente uma pluralidade de baterias 98. Cada uma das baterias 98 pode compreender, por exemplo, uma bateria de íons de lítio ("LI") ou outra bateria adequada. A porção de comparti- mento distal 96 está configurada para fixação operacional removível a uma placa de circuito de controle 100 que está operacionalmente aco- plada ao motor elétrico 82. Várias baterias 98 conectadas em série podem alimentar o instrumento cirúrgico 10. A fonte de alimentação 90 pode ser substituível e/ou recarregável.
[0033] O motor elétrico 82 pode incluir um eixo de acionamento giratório (não mostrado), que, de modo operacional, faz interface com um conjunto redutor de engrenagem 84 montado em engate de aco- plamento com um conjunto ou cremalheira, de dentes de acionamento 122 em um membro de acionamento longitudinalmente móvel 120. O membro de acionamento longitudinalmente móvel 120 tem uma cre- malheira de dentes de acionamento 122 formada no mesmo para en- gate de acoplamento com uma engrenagem de acionamento corres- pondente 86 do conjunto redutor de engrenagem 84.
[0034] Em uso, uma polaridade de tensão fornecida pela fonte de alimentação 90 pode operar o motor elétrico 82 no sentido horário, em que a polaridade de tensão aplicada ao motor elétrico pela bateria po-
de ser revertida de modo a operar o motor elétrico 82 no sentido anti- horário. Quando o motor elétrico 82 é girado em uma direção, o mem- bro de acionamento longitudinalmente móvel 120 será axialmente ati- vado na direção distal "DD". Quando o motor elétrico 82 é acionado na direção giratória oposta, o membro de acionamento longitudinalmente móvel 120 será axialmente conduzido na direção proximal "DP". O conjunto de empunhadura 14 pode incluir uma chave que pode ser configurada para reverter a polaridade aplicada ao motor elétrico 82 pela fonte de alimentação 90. O conjunto de empunhadura 14 pode incluir um sensor configurado para detectar a posição do membro de acionamento longitudinalmente móvel 120 e/ou a direção em que o membro de acionamento longitudinalmente móvel 120 está sendo mo- vido.
[0035] O acionamento do motor elétrico 82 pode ser controlado por um gatilho de disparo 130 que é suportado de modo pivotante so- bre o conjunto de empunhadura 14. O gatilho de disparo 130 pode ser pivotado entre uma posição não atuada e uma posição atuada.
[0036] Retornando para a Figura 1, o conjunto de eixo de aciona- mento intercambiável 200 inclui um atuador de extremidade 300 que compreende uma canaleta alongada 302 configurada para suportar operacionalmente no seu interior um cartucho de grampos cirúrgicos
304. O atuador de extremidade 300 pode incluir uma bigorna 306 que é sustentada de modo pivotante em relação à canaleta alongada 302. O conjunto de eixo de acionamento intercambiável 200 pode incluir uma junta de articulação 270. A construção e a operação do atuador de extremidade 300 e da junta articulação 270 são apresentadas na publicação de pedido de patente US nº 2014/0263541, intitulada AR- TICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTI- CULATION LOCK, a qual está aqui incorporada a título de referência em sua totalidade. O conjunto de eixo de acionamento intercambiável
200 pode incluir um compartimento ou bocal proximal 201 compreen- dido de porções de bocal 202, 203. O conjunto de eixo de acionamen- to intercambiável 200 pode incluir um tubo de fechamento 260 que se estende ao longo de um eixo geométrico SA do eixo de acionamento que pode ser usado para fechar e/ou abrir a bigorna 306 do atuador de extremidade 300.
[0037] Voltando para a Figura 1, o tubo de fechamento 260 é transladado distalmente (direção "DD") para fechar a bigorna 306, por exemplo, em resposta à atuação do gatilho de fechamento 32 na ma- neira descrita na referência anteriormente mencionada da publicação de pedido de patente nº 2014/0263541. A bigorna 306 é aberta medi- ante a translação proximal do tubo de fechamento 260. Na posição aberta da bigorna, o tubo de fechamento 260 do eixo de acionamento é movido para sua posição proximal.
[0038] A Figura 3 é uma vista explodida de um aspecto de um atu- ador de extremidade 300 do instrumento cirúrgico 10 da Figura 1, de acordo com um ou mais aspectos da presente revelação. O atuador de extremidade 300 pode incluir a bigorna 306 e o cartucho de grampos cirúrgicos 304. Nesse exemplo não limitador, a bigorna 306 é acoplada a uma canaleta alongada 302. Por exemplo, aberturas 199 podem ser definidas na canaleta alongada 302, a qual pode receber pinos 152 que se estendem a partir da bigorna 306 e possibilitar que a bigorna 306 pivote de uma posição aberta para uma posição fechada em rela- ção à canaleta alongada 302 e ao cartucho de grampos cirúrgicos 304. Uma barra de disparo 172 é configurada para se transladar longitudi- nalmente para o interior do atuador de extremidade 300. A barra de disparo 172 pode ser construída em uma seção sólida ou, em vários exemplos, pode incluir um material laminado compreendendo, por exemplo, uma pilha de placas de aço. A barra de disparo 172 compre- ende uma haste com perfil em E 178 e um gume cortante 182 em uma extremidade distal da mesma. Em vários aspectos, a haste com perfil em E pode ser chamada de haste com perfil em |. Uma extremidade distalmente projetada da barra de disparo 172 pode ser fixada ao ele- mento de haste com perfil em E 178 de qualquer maneira adequada e pode, dentre outras coisas, auxiliar no espaçamento da bigorna 306 a partir de um cartucho de grampos cirúrgicos 304 posicionado na cana- leta alongada 302, quando a bigorna 306 estiver em posição fechada. A haste com perfil em E 178 também pode incluir um gume cortante afiado 182, que pode ser usado para separar tecido, conforme a haste com perfil em E 178 é avançada distalmente pela barra de disparo
172. Em operação, a haste com perfil em E 178 pode atuar, ou dispa- rar, o cartucho de grampos cirúrgicos 304. O cartucho de grampos ci- rúrgicos 304 pode incluir um corpo de cartucho moldado 194 que man- tém uma pluralidade de grampos 191 que repousam sobre os aciona- dores de grampo 192 no interior das respectivas cavidades de gram- pos abertas para cima 195. Um deslizador em cunha 190 é acionado distalmente pela haste com perfil em E 178, deslizando sobre uma bandeja do cartucho 196 que prende, juntos, os diversos componentes do cartucho de grampos cirúrgicos 304. O deslizador em cunha 190 desloca para cima, por came, os acionadores de grampo 192, para expelir os grampos 191 em contato de deformação com a bigorna 306, enquanto o gume cortante 182 da haste com perfil em E 178 corta o tecido comprimido.
[0039] A haste com perfil em E 178 pode incluir pinos superiores 180 que engatam a bigorna 306 durante o disparo. A haste com perfil em E 178 pode incluir pinos médios 184 e uma base 186 que pode engatar diversas porções do corpo do cartucho 194, da bandeja do cartucho 196 e da canaleta alongada 302. Quando um cartucho de grampos cirúrgicos 304 está posicionado no interior da canaleta alon- gada 302, uma fenda 193 definida no corpo de cartucho 194 pode ser alinhada com uma fenda longitudinal 197 definida na bandeja do car- tucho 196 e uma fenda 189 definida na canaleta alongada 302. Duran- te o uso, a haste com perfil em E 178 pode deslizar através das fendas longitudinais alinhadas 193, 197 e 189, em que, como indicado na Fi- gura 3, a base de fundo 186 da haste com perfil em E 178 pode enga- tar um sulco que se estende pela superfície de fundo da canaleta alongada 302 ao longo do comprimento da fenda 189, em que os pi- nos médios 184 podem engatar as superfícies de topo da bandeja do cartucho 196 ao longo do comprimento da fenda longitudinal 197, e os pinos superiores 180 podem engatar na bigorna 306. Nessas circuns- tâncias, a haste com perfil em E 178 pode espaçar ou limitar o movi- mento relativo entre a bigorna 306 e o cartucho de grampos cirúrgicos 304, enquanto a barra de disparo 172 é movida distalmente de forma a disparar os grampos do cartucho de grampos cirúrgicos 304 e/ou fazer uma incisão no tecido capturado entre a bigorna 306 e o cartucho de grampos cirúrgicos 304. Portanto, a barra de disparo 172 e a haste com perfil em E 178 podem ser retraídas proximalmente permitindo que a bigorna 306 seja aberta para liberar as duas porções de tecido, grampeadas e cortadas.
[0040] Com referência à Figura 4, em pelo menos uma disposição, um conjunto de eixo de acionamento intercambiável pode ser usado em conexão com um cartucho de RF 1700, bem como um grampo ci- rúrgico/cartucho de prendedores.
[0041] O cartucho cirúrgico de RF 1700 inclui um corpo de cartu- cho 1710 que é dimensionado e conformado para ser recebido de mo- do removível e suportado na canaleta alongada 1602. Por exemplo, o corpo de cartucho 1710 pode ser configurado para ser removível retido em engate por pressão com a canaleta alongada 1602. Em ao menos um aspecto, o corpo de cartucho 1710 inclui uma fenda alongada dis- posta centralmente 1712 que se estende longitudinalmente através do corpo de cartucho para acomodar o curso longitudinal de uma faca através da mesma.
[0042] O corpo de cartucho 1710 é formado com um coxim de ele- trodo elevado disposto centralmente 1720. A fenda alongada 1712 se estende através do centro do coxim de eletrodo 1720 e serve para di- vidir o coxim 1720 em um segmento de coxim esquerdo 1720L e um segmento de coxim direito 1720R. Um conjunto de circuito flexível di- reito 1730R é fixado ao segmento de coxim direito 1720R e um conjun- to de circuito flexível esquerdo 1730L é fixado ao segmento de coxim esquerdo 1720L. Em ao menos uma disposição, por exemplo, o circui- to flexível direito 1730R compreende uma pluralidade de fios 1732R que pode incluir, por exemplo, fios/condutores mais largos para propó- sitos de RF e fios mais finos para propósitos de grampeamento con- vencional que são suportados ou fixados ou embutidos em um mem- bro/bainha isolante direito 1734R que é fixado ao coxim direito 1720R. Além disso, o conjunto de circuito flexível direito 1730R inclui um ele- trodo direito proximal de "primeira fase" 1736R e um eletrodo direito distal de "segunda fase" 1738R. Da mesma forma, o conjunto de cir- cuito flexível esquerdo 1730L compreende uma pluralidade de fios 1732L que pode incluir, por exemplo, fios/condutores mais largos para propósitos de RF e fios mais finos para propósitos de grampeamento convencional que são suportados ou fixados ou embutidos em um membro/bainha isolante esquerdo 1734L que é fixado ao coxim es- querdo 1720L. Além disso, o conjunto de circuito flexível esquerdo 1730L inclui um eletrodo esquerdo proximal de "primeira fase" 1736L e um eletrodo esquerdo distal de "segunda fase" 1738L. Os fios esquer- do e direito 1732L, 1732R são fixados a um microcircuito integrado dis- tal 1740 montado na porção de extremidade distal do corpo de cartu- cho 1710.
[0043] A canaleta alongada 1602 inclui um circuito de canaleta
1670 que é suportado em uma reentrância 1621 que se estende da extremidade proximal da canaleta alongada 1602 até um local distal 1623 na porção de fundo de canaleta alongada 1620. O circuito de ca- naleta 1670 inclui uma porção de contato proximal 1672 que entra em contato com uma porção de contato distal 1169 de uma tira de circuito de eixo de acionamento flexível para contato elétrico entre si. Uma ex- tremidade distal 1674 do circuito de canaleta 1670 é recebida dentro de uma reentrância de parede correspondente 1625 formada em uma das paredes da canaleta 1622 e é dobrada sobre e fixada a uma borda superior 1627 da parede da canaleta 1622. Uma série de contatos ex- postos correspondentes 1676 é fornecida na extremidade distal 1674 do circuito de canaleta 1670. Uma extremidade de um circuito de car- tucho flexível 1750 é fixada ao microcircuito integrado distal 1740 e é fixada à porção de extremidade distal do corpo de cartucho 1710. Ou- tra extremidade é dobrada sobre a borda da superfície de plataforma de cartucho 1711 e inclui contatos expostos configurados para fazer contato elétrico com os contatos expostos 1676 do circuito de canaleta
1670. Dessa forma, quando o cartucho RF 1700 é instalado na canale- ta alongada 1602, os eletrodos e o microcircuito integrado distal 1740 são alimentados e se comunicam com uma placa de circuito integrado através do contato entre o circuito de cartucho flexível 1750, o circuito de canaleta flexível 1670, um circuito de eixo de acionamento flexível e o conjunto de anel deslizante.
[0044] A Figura 5 é outra vista do conjunto explodida de porções do conjunto de eixo de acionamento intercambiável 200, de acordo com um aspecto desta revelação. O conjunto de eixo de acionamento intercambiável 200 inclui um membro de disparo 220 que é sustentado para realizar um deslocamento axial no interior de uma coluna central
210. O membro de disparo 220 inclui uma porção intermediária de eixo de acionamento de disparo 222, que é configurada para fixação a uma porção ou barra distal 280. A porção de eixo de acionamento de dispa- ro intermediário 222 pode incluir uma fenda longitudinal 223 em sua extremidade distal, que pode ser configurada para receber uma aba 284 na extremidade proximal 282 da barra distal 280. A fenda longitu- dinal 223 e a extremidade proximal 282 podem ser dimensionadas e configuradas para permitir o movimento relativo entre as mesmas e podem compreender uma junta deslizante 286. A junta deslizante 286 pode permitir que a porção intermediária de eixo de acionamento de disparo 222 do membro de disparo 220 seja movida para articular o atuador de extremidade 300 sem mover, ou ao menos sem mover substancialmente, a barra 280. Depois que o atuador de extremidade 300 é adequadamente orientado, a porção de eixo de acionamento de disparo intermediário 222 pode ser avançada distalmente até uma pa- rede lateral proximal da fenda longitudinal 223 entrar em contato com a aba 284 a fim de avançar a barra distal 280. O avanço da barra distal 280 faz com que a haste com perfil em E 178 seja avançada distal- mente para disparar o cartucho de grampo posicionado dentro da ca- naleta 302.
[0045] Em adição ao exposto acima, o conjunto de eixo de acio- namento 200 inclui um conjunto de embreagem 400 que pode ser con- figurado para acoplar de modo seletivo e liberável o acionador de arti- culação 230 ao membro de disparo 220. Em uma forma, o conjunto de embreagem 400 compreende um colar ou luva de travamento 402 po- sicionado em torno do membro de disparo 220, em que a luva de tra- vamento 402 pode ser girada entre uma posição engatada, na qual a luva de travamento 402 acopla o acionador de articulação 230 ao membro de disparo 220, e uma posição desengatada, na qual o acio- nador de articulação 230 não está acoplado de modo operável ao membro de disparo 220. Quando a luva de travamento 402 está em sua posição engatada, o movimento distal do membro de disparo 220 pode mover o acionador de articulação 230 em sentido distal e, de modo correspondente, o movimento proximal do membro de disparo 220 pode mover o acionador de articulação 230 proximalmente. Quan- do a luva de travamento 402 está em sua posição desengatada, o mo- vimento do membro de disparo 220 não é transmitido para o acionador de articulação 230 e, como resultado, o membro de disparo 220 pode se mover independentemente do acionador de articulação 230.
[0046] A luva de travamento 402 pode compreender um corpo ci- líndrico, ou ao menos substancialmente cilíndrico, que inclui uma aber- tura longitudinal 403 definida no mesmo, configurada para receber o membro de disparo 220. A luva de travamento 402 pode compreender protuberâncias de travamento diametralmente opostas voltadas para dentro 404 e um membro de travamento voltado para fora 406. As pro- tuberâncias de travamento 404 podem ser configuradas para serem seletivamente engatadas ao membro de disparo 220. Mais particular- mente, quando a luva de travamento 402 está em sua posição engata- da, as protuberâncias de travamento 404 estão posicionadas no interi- or de um entalhe de acionamento 224 definido no membro de disparo 220, de modo que uma força de impulsão distal e/ou uma força de pu- xamento proximal possam ser transmitidas do membro de disparo 220 para a luva de travamento 402. Quando a luva de travamento 402 está em sua posição engatada, o segundo membro de travamento 406 é recebido no interior de um entalhe de acionamento 232 definido no acionador de articulação 230, de modo que a força de impulsão distal e/ou a força de tração proximal aplicada à luva de travamento 402 possa ser transmitida ao acionador de articulação 230. Com efeito, o membro de disparo 220, a luva de travamento 402 e o acionador de articulação 230 se moverão em conjunto quando a luva de travamento 402 estiver em sua posição engatada. Por outro lado, quando a luva de travamento 402 estiver em sua posição desengatada, as protube-
râncias de travamento 404 podem não estar posicionadas no interior do entalhe de acionamento 224 do membro de disparo 220 e, como resultado, uma força de impulsão distal e/ou uma força de puxamento proximal podem não ser transmitidas do membro de disparo 220 para a luva de travamento 402. De modo correspondente, a força de impul- são distal e/ou a força de tração proximal podem não ser transmitidas ao acionador de articulação 230. Nessas circunstâncias, o membro de disparo 220 pode ser deslizado proximalmente e/ou distalmente em relação à luva de travamento 402 e ao acionador de articulação proxi- mal 230.
[0047] O conjunto de eixo de acionamento 200 inclui adicional- mente um cilindro de comutação 500 que é recebido de modo giratório no tubo de fechamento 260. O cilindro de comutação 500 compreende um segmento de eixo de acionamento oco 502 que tem uma saliência de eixo de acionamento 504 formada no mesmo, destinada a receber em seu interior um pino de atuação 410 que se projeta para fora. Em várias circunstâncias, o pino de atuação 410 estende-se através de uma fenda 267 para dentro de uma fenda longitudinal 408 fornecida na luva de travamento 402 para facilitar o movimento axial da luva de tra- vamento 402 quando ela está engatada com o acionador de articula- ção 230. Uma mola de torção giratória 420 está configurada para en- gatar a saliência 504 no cilindro de comutação 500 e em uma porção do compartimento do bocal 203, conforme mostrado na Figura 5, para aplicar uma força de deslocamento ao cilindro de comutação 500. O cilindro de comutação 500 pode compreender ainda, ao menos parci- almente, aberturas circunferenciais 506 definidas em seu interior, as quais, com referência às Figuras 5 e 6, podem ser configuradas para receber engastes circunferenciais que se estendem a partir das meta- des de bocal 202, 203, e permitem uma rotação relativa, mas não a translação, entre o cilindro de comutação 500 e o bocal proximal 201.
Os engastes também se estendem através das aberturas 266 no tubo de fechamento 260 para serem assentados em reentrâncias 211 na coluna central do eixo de acionamento 210. Entretanto, a rotação do bocal 201 até um ponto em que os engastes atingem a extremidade de suas respectivas aberturas 506 no cilindro de comutação 500 resultará na rotação do cilindro de comutação 500 ao redor do eixo geométrico SA-SA do eixo de acionamento. A rotação do cilindro de comutação 500 resultará, por fim, na rotação do pino de atuação 410 e da luva de travamento 402 entre suas posições engatada e desengatada. Dessa forma, em essência, o bocal 201 pode ser empregado para engatar e desengatar, de modo operável, o sistema de acionamento de articula- ção com o sistema de acionamento de disparo nas várias maneiras descritas mais detalhadamente no pedido de patente U.S. nº de série 13/803.086.
[0048] O conjunto de eixo de acionamento 200 pode compreender um conjunto de anel deslizante 600 que pode ser configurado para conduzir energia elétrica ao atuador de extremidade 300 e/ou a partir do mesmo e/ou comunicar sinais ao atuador de extremidade 300 e/ou a partir do mesmo, por exemplo. O conjunto de anel deslizante 600 pode compreender um flange de conector proximal 604 montado em um flange de chassi 242 que se estende a partir do chassi 240 e um flange de conector distal 601 posicionado no interior de uma fenda de- finida nas metades de bocal 202 e 203. O flange de conector proximal 604 pode compreender uma primeira face e o flange de conector distal 601 pode compreender uma segunda face que está posicionada adja- cente a e que é móvel em relação à primeira face. O flange de conec- tor distal 601 pode girar em relação ao flange de conector proximal 604 ao redor do eixo geométrico SA-SA do eixo de acionamento. O flange de conector proximal 604 pode compreender uma pluralidade de condutores concêntricos ou ao menos substancialmente concêntri-
cos 602, definidos na sua primeira face. Um conector 607 pode ser montado no lado proximal do flange de conector 601 e pode ter uma pluralidade de contatos, em que cada contato corresponde e está em contato elétrico com um dos condutores 602. Essa disposição permite a rotação relativa entre o flange de conector proximal 604 e o flange de conector distal 601, enquanto o contato elétrico é mantido entre os mesmos. O flange de conector proximal 604 pode incluir um conector elétrico 606 que pode colocar os condutores 602 em comunicação de sinal com uma placa de circuito 610 montada no chassi de eixo de aci- onamento 240, por exemplo. Em ao menos um caso, um chicote elétri- co que compreende uma pluralidade de condutores pode se estender entre o conector elétrico 606 e a placa de circuito. O pedido de patente US nº de série 13/800.067, intitulado STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, depositado em 13 de março de 2013, está aqui incorporado na íntegra, a título de referência. O Pedido de patente US nº de série 13/800.067, intitulado STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, depositado em 13 de março de 2013, está aqui incorporado na íntegra, a título de referência. Deta- lhes adicionais referentes ao conjunto do anel deslizante 600 podem ser encontrados no pedido de patente US nº de série 13/803.086.
[0049] O conjunto de eixo de acionamento 200 pode incluir uma porção proximal que é montada de forma fixável ao conjunto de empu- nhadura 14, e uma porção distal que é giratória em torno de um eixo geométrico longitudinal. A porção giratória distal do eixo de aciona- mento pode ser girada em relação à porção proximal ao redor do con- junto de anel deslizante 600. O flange de conector distal 601 do con- junto de anel deslizante 600 pode ser posicionado na porção de eixo de acionamento giratório distal. Além disso, além do exposto acima, o cilindro de comutação 500 também pode ser posicionado dentro da porção giratória distal do eixo de acionamento. Quando a porção de eixo de acionamento giratório distal é girada, o flange de conector dis- tal 601 e o cilindro de comutação 500 podem ser girados sincronica- mente um ao outro. Além disso, o cilindro de comutação 500 pode ser girado entre uma primeira posição e uma segunda posição em relação ao flange do conector distal 601. Quando o cilindro de comutação 500 está na sua primeira posição, o sistema de acionamento de articulação pode ser desengatado operacionalmente do sistema de acionamento de disparo e, dessa forma, o funcionamento do sistema de acionamen- to de disparo pode não articular o atuador de extremidade 300 do con- junto de eixo de acionamento 200. Quando o cilindro de comutação 500 está na sua segunda posição, o sistema de acionamento de arti- culação pode ser engatado operacionalmente com o sistema de acio- namento de disparo e, dessa forma, o funcionamento do sistema de acionamento de disparo pode articular o atuador de extremidade 300 do conjunto de eixo de acionamento 200. Quando o cilindro de comu- tação 500 é movido entre sua primeira posição e sua segunda posi- ção, o cilindro de comutação 500 é movido em relação ao flange do conector distal 601.
[0050] Em vários exemplos, o conjunto de eixo de acionamento 200 pode compreender ao menos um sensor configurado para detec- tar a posição do cilindro de comutação 500. O flange de conector distal 601 pode compreender um sensor de efeito Hall 605, por exemplo, e o cilindro de comutação 500 pode compreender um elemento magnético, como um ímã permanente 505, por exemplo. O sensor de efeito Hall 605 pode ser configurado para detectar a posição do ímã permanente
505. Quando o cilindro de comutação 500 é girado entre sua primeira posição e sua segunda posição, o ímã permanente 505 pode se mover em relação ao sensor de efeito Hall 605. Em vários exemplos, o sen- sor de efeito Hall 605 pode detectar alterações em um campo magné- tico que é criado quando o ímã permanente 505 é movido. O sensor de Efeito Hall 605 pode estar em comunicação de sinal com um circui- to de controle, por exemplo. Com base no sinal do sensor de efeito Hall 605, um microcontrolador no circuito de controle pode determinar se o sistema de acionamento de articulação está engatado ou desen- gatado do sistema de acionamento de disparo.
[0051] Um instrumento cirúrgico pode não ter capacidade de usar um conjunto de eixo de acionamento giratório de modo eficaz com o uso de fios gerais para comunicar potência e sinais entre uma porção de eixo de acionamento fixa e uma porção de eixo de acionamento giratório do conjunto de eixo de acionamento devido ao fato de que os fios podem ser torcidos ou mesmo podem ficar danificados devido à rotação repetida do conjunto de eixo de acionamento. Uma forma de superar essa deficiência pode ser o uso de um conjunto de anel em vez de fios para comunicar potência e sinais à porção de eixo de acio- namento giratório. Por exemplo, um primeiro flange com eletrodos po- de ser fixado à porção de eixo de acionamento fixado e um segundo flange com eletrodos pode girar em relação aos eletrodos do primeiro flange. Uma lacuna é necessariamente formada entre o primeiro flange e o segundo flange para permitir a rotação do segundo flange em rela- ção ao primeiro flange. Para manter uma conexão elétrica durante a rotação da porção de eixo de acionamento giratório, os eletrodos do primeiro e do segundo flanges podem ser expostos em uma interface entre os mesmos. A lacuna pode permitir que a água e/ou outro fluido corporal penetre na área entre o primeiro e o segundo flanges onde a interface de eletrodo reside. Consequentemente, a interface de eletro- do pode ficar exposta à água e outros fluidos corporais durante a ci- rurgia. Ao tocar os eletrodos expostos, a água e/ou fluidos corporais podem causar ruído de sinal ou mesmo a perda de potência/sinais.
[0052] Aspectos da presente revelação melhoram conjuntos de anel deslizante em instrumentos cirúrgicos que são expostos à água e/ou fluidos corporais durante sua operação. Em uma disposição, um conjunto de eixo de acionamento pode incluir uma porção de eixo de acionamento proximal que pode ser fixamente conectada ao corpo de um instrumento cirúrgico e uma porção de eixo de acionamento distal girada em relação à porção de eixo de acionamento proximal. O con- junto de anel deslizante pode incluir um anel deslizante proximal na porção de eixo de acionamento proximal e um anel deslizante distal na porção distal de eixo de acionamento. Cada um dentre o anel deslizan- te proximal e o anel deslizante distal pode incluir um ou mais conduto- res montados em cada um dos anéis deslizantes proximal e distal. Os condutores sobre os anéis deslizantes proximal e distal podem ser re- vestidos com uma camada isolante impermeável à água para fornecer uma barreira impermeável para evitar que água ou fluidos que podem ser gerados durante a cirurgia atinjam os condutores. Uma camada dielétrica (por exemplo, dielétrica de k alta, como PZT) pode estar si- tuada entre os condutores nos anéis deslizantes proximal e distal, e os condutores do anel deslizante proximal e os condutores do anel desli- zante distal podem formar canaletas capacitivas entre os mesmos. Es- Sas canaletas capacitivas podem ser usadas para comunicar potência e sinais a partir da porção de corpo fixo para a porção de conjunto de eixo de acionamento giratório (por exemplo, um atuador de extremida- de) com o uso de acoplamento caparcitivo.
[0053] Dessa maneira, aspectos da presente revelação podem vantajosamente permitir que os condutores sejam cobertos com uma camada isolante impermeável à água pela formação de uma canaleta capacitiva entre os condutores nos anéis deslizantes distal e proximal em vez de uma conexão direta, que pode necessariamente expor al- gumas porções dos eletrodos para o exterior. Consequentemente, as- pectos da presente revelação podem evitar ruído de sinal e perda de potência e sinais ao fornecer uma barreira isolante para evitar que água ou fluidos alcancem os eletrodos.
[0054] A Figura 10 mostra uma vista em perspectiva em recorte parcial de um conjunto de anel deslizante 2000 de acordo com um as- pecto da presente revelação, e a Figura 11 mostra uma vista em seção transversal de uma porção do conjunto de anel deslizante 2000 da Fi- gura 10 de acordo com um aspecto da presente revelação. O conjunto de anel deslizante 2000 pode ser incluído em um conjunto de eixo de acionamento (por exemplo, o conjunto de eixo de acionamento 200). O conjunto de anel deslizante 2000 pode ser configurado para conduzir a energia elétrica para e/ou a partir de um atuador de extremidade (por exemplo, o atuador de extremidade 300) e/ou comunicar sinais para e/ou a partir do atuador de extremidade. O conjunto de anel deslizante pode incluir uma porção proximal 2172 e uma porção distal 2174. À porção proximal 2172 pode ser fixamente conectada a um corpo (por exemplo, o conjunto de empunhadura 14 ou um flange de chassi 242 de uma porção de eixo de acionamento proximal de um conjunto de eixo de acionamento) de um instrumento cirúrgico (por exemplo, o ins- trumento cirúrgico 10). A porção distal 2174 pode ser conectada de maneira fixa a uma porção de eixo de acionamento distal de um con- junto de eixo de acionamento. A porção distal 2174 pode ser giratória em relação à porção proximal 2172, por exemplo, em torno de um eixo geométrico longitudinal. Conforme ilustrado nas Figuras 10 e 11, o conjunto de anel deslizante 2000 pode incluir um anel deslizante pro- ximal 2010 e um ou mais condutores 2020 montados no anel deslizan- te proximal 2010. A porção proximal de anel deslizante 2010 e os con- dutores 2020 na porção proximal 2172 podem ser revestidos com uma primeira camada isolante impermeável à água 2030 para fornecer uma barreira impermeável para evitar que água ou fluidos que podem ser gerados durante a cirurgia atinjam os condutores 2020. Em um aspec- to exemplificador, a primeira camada isolante impermeável à água
2030 pode cobrir completamente os condutores 2020.
[0055] Na porção distal 2174, o conjunto de anel deslizante 2000 também pode incluir um anel deslizante distal 2110 e um ou mais con- dutores 2120 montados no anel deslizante distal 2110. O anel desli- zante distal 2110 e os condutores 2120 na porção distal 2174 podem ser revestidos com uma segunda camada isolante impermeável à água 2130 para fornecer uma barreira impermeável para evitar que água ou fluidos alcancem os condutores 2120. Em um aspecto exem- plificador, a segunda camada isolante impermeável à água 2130 pode cobrir completamente os condutores 2120. Em um aspecto exemplifi- cador, a primeira e a segunda camadas isolantes impermeáveis à água 2030, 2130 podem compreender um material eletricamente iso- lante e resistente à água. Em um aspecto exemplificador, a primeira e a segunda camadas isolantes impermeáveis à água 2030, 2130 tam- bém podem compreender um material escorregadio.
[0056] Os anéis deslizantes proximal e distal 2010, 2110 podem ser posicionados no interior de uma fenda definida nas metades de bocal (por exemplo, as metades de bocal 202, 203). Em um aspecto exemplificador, os anéis deslizantes proximal e distal 2010, 2110 po- dem ser fabricados a partir de ou revestidos com um material eletrica- mente não condutivo. O anel deslizante distal 2110 pode girar em rela- ção ao anel deslizante proximal 2010 ao redor do eixo geométrico SA- SA do eixo de acionamento.
[0057] Em um aspecto exemplificador, uma camada dielétrica 2050 pode estar situada entre a primeira camada isolante impermeável à água 2030 e a segunda camada isolante impermeável à água 2130. Em um aspecto exemplificador, a camada dielétrica 2050 pode ser fi- xamente conectada à primeira camada isolante impermeável à água 2030 na porção proximal 2172. Em um aspecto exemplificador, a ca- mada dielétrica 2050 pode estar em contato direto com a segunda ca-
mada isolante impermeável à água 2130 e a segunda camada isolante impermeável à água 2130 pode compreender um material escorrega- dio de modo que a porção distal 2174 (por exemplo, o anel deslizante distal 2110 e a segunda camada isolante impermeável à água 2130) gire em relação à camada dielétrica 2050 suavemente com menos atri- to com a superfície de contato da camada dielétrica 2050. Em outro aspecto exemplificador, pode haver uma lacuna de ar entre a camada dielétrica 2050 e a segunda camada isolante impermeável à água
2130.
[0058] Em outro aspecto exemplificador, a camada dielétrica 2050 pode ser fixamente conectada à segunda camada isolante impermeá- vel à água 2130 na porção distal 2174. Nesse caso, em um aspecto exemplificador, a camada dielétrica 2050 pode estar em contato direto com a primeira camada isolante impermeável à água 2030 e a primeira camada isolante impermeável à água 2030 pode compreender um ma- terial escorregadio de modo que a porção distal 2174 (por exemplo, o anel deslizante distal 2110 e a camada dielétrica 2050) gire em relação à primeira camada isolante impermeável à água 2030 suavemente com menos atrito com a superfície de contato da primeira camada iso- lante impermeável à água 2030. Em outro aspecto exemplificador, po- de haver uma lacuna de ar entre a camada dielétrica 2050 e a primeira camada isolante impermeável à água 2030.
[0059] Em um outro aspecto exemplificador, a camada dielétrica 2050 pode ser desprovida tanto da primeira camada isolante imper- meável à água 2030 como da segunda camada isolante impermeável à água 2130, por exemplo, por ser fixamente conectada a outro com- ponente (por exemplo, as metades do bocal 202, 203) do instrumento cirúrgico. Nesse caso, a camada dielétrica 2050 pode estar em contato direto com pelo menos uma dentre a primeira camada isolante imper- meável à água 2030 e a segunda camada isolante impermeável à água 2130, e ao menos uma dentre a primeira camada isolante im- permeável à água 2030 e a segunda camada isolante impermeável à água 2130 pode compreender um material escorregadio de modo que a porção distal 2174 (por exemplo, o anel deslizante distal 2110 e a segunda camada isolante impermeável à água 2130) gire em relação à camada dielétrica 2050 suavemente com menos atrito. Em outro as- pecto exemplificador, pode haver uma lacuna de ar entre a camada dielétrica 2050 e a primeira camada isolante impermeável à água 2030 e/ou entre a camada dielétrica 2050 e a segunda camada isolante im- permeável à água 2130.
[0060] Em um aspecto exemplificador, a espessura 2025 dos con- dutores 2020 (ou condutores 2120) pode estar na faixa de cerca de 0,03 milímetro (0,001 polegada) a cerca de 0,25 milímetro (0,01 pole- gada), de preferência, na faixa de cerca de 0,08 milímetro (0,003 pole- gada) a cerca de 0,2 milímetro (0,008 polegada), com mais preferên- cia, na faixa de cerca de 0,1 milímetro (0,004 polegada) a cerca de 0,15 milímetro (0,006 polegada). Em outro aspecto exemplificador, os condutores 2020, 2120 podem ter qualquer outra espessura adequa- da. Em um aspecto exemplificador, a distância vertical 2035 entre os condutores 2020 e a camada dielétrica 2050 pode ser muito pequena, por exemplo, na faixa de cerca de 0,01 milímetro (0,0005 polegada) a cerca de 0,04 milímetro (0,0015 polegada), de preferência, na faixa de cerca de 0,02 milímetro (0,0007 polegada) a cerca de 0,03 milímetro (0,0013 polegada), com mais preferência, na faixa de cerca de 0,02 milímetro (0,0009 polegada) a cerca de 0,03 milímetro (0,0011 polega- da). Em outro aspecto exemplificador, os condutores 2020 e a camada dielétrica 2050 podem ter qualquer outra distância adequada. Em um aspecto exemplificador, uma distância vertical entre os condutores 2120 e a camada dielétrica 2050 pode ser similar à distância vertical
2035. Em um aspecto exemplificador, a espessura 2055 da camada dielétrica 2050 pode ser muitos fina, por exemplo, na faixa de cerca de 0,03 milímetro (0,001 polegada) a cerca de 1,27 milímetro (0,05 pole- gada), de preferência, na faixa de cerca de 0,13 milímetro (0,005 pole- gada) a cerca de 0,76 milímetro (0,03 polegada), com mais preferên- cia, na faixa de cerca de 0,25 milímetro (0,01 polegada) a cerca de 0,51 milímetro (0,02 polegada). Em outro aspecto exemplificador, a camada dielétrica 2050 pode ter qualquer outra espessura adequada.
[0061] O anel deslizante proximal 2010 pode ser fixamente conec- tado ao corpo do instrumento cirúrgico. Por exemplo, o anel deslizante proximal 2010 e os condutores 2020 do anel deslizante proximal 2010 podem ser conectados a uma placa de circuito de eixo de acionamento 2070 (por exemplo, a placa de circuito de eixo de acionamento 610), através de um primeiro conector elétrico 2060 (por exemplo, o conec- tor elétrico 606) conforme ilustrado na Figura 10. A placa de circuito 2070 pode incluir um circuito de controle 2080 (por exemplo, um mi- crocircuito integrado ou um microprocessador) configurado para con- trolar a potência e sinais distribuídos a um atuador de extremidade (por exemplo, o atuador de extremidade 300). O anel deslizante distal 2110 e os condutores 2120 do anel deslizante distal 2110 podem ser conectados ao atuador de extremidade através de um segundo conec- tor elétrico 2160.
[0062] Os condutores 2020 do anel deslizante proximal 2010 e os condutores 2120 do anel deslizante distal 2110 podem formar canale- tas capacitivas entre os mesmos. O circuito de controle 2080 pode ser configurado para comunicar a potência e sinais (por exemplo, dados ou quaisquer outros sinais) ao atuador de extremidade que é eletrica- mente conectado ao anel deslizante distal 2110 com o uso de acopla- mento capacitivo distal através das canaletas capacitivas. O circuito de controle pode usar a corrente CA para comunicar potência e sinais pa- ra e/ou a partir do atuador de extremidade.
[0063] Em um aspecto exemplificador, o primeiro e o segundo anéis deslizantes 2010, 2110 podem ter um formato de anel, como ilustrado na Figura 10. Em outro aspecto exemplificador, o primeiro e o segundo anéis deslizantes 2010, 2110 podem ter qualquer outro for- mato adequado. Em um aspecto exemplificador, os condutores 2020, 2120 podem compreender um eletrodo metálico. Em outro aspecto exemplificador, os condutores 2020, 2120 podem compreender qual- quer outro material eletricamente condutivo. Em um aspecto exemplifi- cador, cada um dos condutores 2020 no anel deslizante proximal 2010 pode ser casado com um dos condutores 2120 no anel deslizante dis- tal 2110 e os condutores casados podem estar voltados uns para os outros. Por exemplo, conforme ilustrado na Figura 11, um condutor 2020A é casado com um condutor 2120A, e um condutor 2020B é ca- sado com um condutor 2120B. Em um aspecto exemplificador, os condutores 2020, 2120 podem ter um formato de círculo concêntrico, conforme ilustrado na Figura 10, de modo que os condutores casados (por exemplo, 2020A-2120A; 2020B-2120B) possam continuar a volta- dos uns para os outros enquanto a porção distal 2174 do conjunto de anel deslizante 2000 está girando, mantendo continuamente as cana- letas capacitivas formadas entre os mesmos. Em outro aspecto exem- plificador, os condutores 2020, 2120 podem ter qualquer outro formato adequado.
[0064] Em um aspecto exemplificador, a camada dielétrica 2050 pode compreender um material dielétrico de alto k, como PZT de (tita- nato zirconato de chumbo), óxido de titânio (TiO2), óxido de tântalo (Ta2Os), óxido de césio (CeO>), e óxido de alumínio (Al203). Os mate- rials podem ser usados sozinhos ou em qualquer combinação dos mesmos. Como usado aqui, um material dielétrico de k alto pode se referir a um material dielétrico que tem um alto valor de constante di- elétrica k (por exemplo, maior que o valor k de dióxido de silício que é cerca de 3,9). Em um aspecto exemplificador, a camada dielétrica 2050 pode compreender um material dielétrico com uma constante di- elétrica muito alta (por exemplo, maior que cerca de 100 a cerca de 300), como PZT. Com o uso de um material dielétrico com uma cons- tante dielétrica muito alta, as canaletas capacitivas formadas no con- junto de anel deslizante 2000 podem ter capacitância suficiente e ao mesmo tempo manter a espessura da camada dielétrica 2050 muito fina (por exemplo, menor que de 0,76 a 1,27 milímetros (0,03 a 0,05 polegada) sem sofrer com níveis inaceitáveis de corrente de fuga ou falha catastrófica. Em um outro aspecto exemplificador, a camada di- elétrica 2050 pode compreender qualquer outro material dielétrico adequado (por exemplo, materiais de constante dielétrica média a bai- xa, como dióxido de silício). Em um exemplo, a camada dielétrica 2050 pode ser depositada sobre um dos anéis deslizantes acima da primeira camada isolante impermeável à água 2030 ou da segunda camada isolante impermeável à água 2130 (por exemplo, deposição de vapor). Em um exemplo, a camada dielétrica 2050 pode ser fornecida como um disco ou camada de pastilha.
[0065] Em um aspecto exemplificador, apenas um dos anéis desli- zantes 2010, 2110 pode incluir uma camada isolante impermeável à água. Por exemplo, se o anel deslizante distal 2110 e os condutores 2120 no anel deslizante distal 2110 forem revestidos com uma camada isolante impermeável à água, o anel deslizante proximal 2010 e os condutores 2020 no anel deslizante proximal 2010 podem ser revesti- dos com a camada dielétrica 2050 (por exemplo, deposição de vapor de um material dielétrico) diretamente sem uma camada isolante sepa- rada impermeável à água entre os mesmos. Nesse caso, a camada dielétrica 2050 pode ser resistente à água e impedir que água ou flui- dos alcancem os condutores 2020. Em outro aspecto exemplificador, se o anel deslizante proximal 2010 e os condutores 2020 no anel des-
lizante proximal 2010 forem revestidos com uma camada isolante im- permeável à água, o anel deslizante distal 2110 e os condutores 2120 no anel deslizante distal 2110 podem ser revestidos com a camada dielétrica 2050 (por exemplo, deposição de vapor de um material dielé- trico) diretamente sem uma camada isolante separada impermeável a água entre os mesmos.
[0066] A Figura 12 mostra uma vista em corte transversal de uma porção do conjunto de anel deslizante 2200 de acordo com outro as- pecto desta revelação. O conjunto de anel deslizante 2200 pode ser incluído em um conjunto de eixo de acionamento (por exemplo, o con- junto de eixo de acionamento 200). O conjunto de anel deslizante 2200 pode ter uma porção proximal 2372 e uma porção distal 2374. A por- ção proximal 2372 pode ser fixamente conectada a um corpo (por exemplo, o conjunto de empunhadura 14) de um instrumento cirúrgico (por exemplo, o instrumento cirúrgico 10). A porção distal 2374 pode ser giratória em relação à porção proximal 2372. Conforme ilustrado na Figura 12, o conjunto de anel deslizante 2200 pode incluir um anel deslizante proximal 2210 e um ou mais condutores 2220 montados no anel deslizante proximal 2210 na porção proximal 2372. O anel desli- zante proximal 2210 e os condutores 2220 podem ser revestidos com uma primeira camada dielétrica 2230. Em um aspecto exemplificador, a primeira camada dielétrica pode cobrir completamente os condutores
2220. A primeira camada dielétrica 2230 pode fornecer uma barreira impermeável para evitar que água ou fluidos que podem ser gerados durante a cirurgia atinjam os condutores 2220.
[0067] Em um aspecto exemplificador, o conjunto de anel deslizan- te 2200 também pode incluir um anel deslizante distal 2310 e um ou mais condutores 2320 montados no anel deslizante distal 2310 na por- ção distal 2374. O anel deslizante distal 2310 e os condutores 2320 podem ser revestidos com uma segunda camada dielétrica 2350. Em um aspecto exemplificador, a segunda camada dielétrica 2350 pode cobrir completamente os condutores 2320. A segunda camada dielétri- ca 2350 pode fornecer uma barreira impermeável para evitar que água ou fluidos que podem ser gerados durante a cirurgia atinjam os condu- tores 2320. Os condutores 2220, 2320 podem formar canaletas capa- citivas entre os mesmos.
[0068] Em um aspecto exemplificador, a primeira e a segunda ca- madas dielétricas 2230, 2350 podem compreender um material dielé- trico de alto k, como PZT de (titanato zirconato de chumbo), óxido de titânio (TiO2), óxido de tântalo (Ta2Os), óxido de césio (CeO>2), óxido de Alumínio (Al2O03), epóxi ou um material com um alto valor de k (por exemplo, que tem uma constante dielétrica maior que 3,9). Os materi- ais podem ser usados sozinhos ou em qualquer combinação dos mesmos. Em um aspecto exemplificador, ao menos uma dentre a pri- meira e a segunda camadas dielétricas 2230, 2350 pode compreender um material dielétrico com uma constante dielétrica muito alta (por exemplo, maior que cerca de 100 a cerca de 300), como PZT. Em ou- tro aspecto exemplificador, a primeira e a segunda camadas dielétricas 2230, 2350 podem compreender qualquer outro material dielétrico adequado (por exemplo, materiais de constante dielétrica média a bai- xa, como dióxido de silício).
[0069] Em um aspecto exemplificador, a primeira camada dielétri- ca 2230 pode compreender um material dielétrico diferente daquele da segunda camada dielétrica 2350. Por exemplo, a primeira camada di- elétrica 2230 pode compreender um material de epóxi, enquanto a se- gunda camada dielétrica 2350 compreende óxido de titânio ou PZT (por exemplo, camada dielétrica depositada por vapor). Em outro as- pecto exemplificador, a primeira camada dielétrica 2230 pode compre- ender um material dielétrico que é igual ao da segunda camada dielé- trica 2350.
[0070] Em um aspecto exemplificador, o conjunto de anel deslizan- te 2200 pode incluir uma terceira camada dielétrica 2250 aplicada de modo fixo à primeira camada dielétrica 2230. Por exemplo, um dis- co/pastilha dielétrica pode ser colada à primeira camada dielétrica 2230 ou uma camada dielétrica é depositada por vapor sobre a primei- ra camada dielétrica 2230. Nesse caso, em um exemplo, pode haver uma lacuna de ar 2360 entre a segunda camada dielétrica 2350 e a terceira camada dielétrica 2250 para facilitar uma rotação suave da porção distal 2374 em relação à terceira camada dielétrica 2250. Em outro aspecto exemplificador, pode não haver lacuna de ar entre a se- gunda camada dielétrica 2350 e a terceira camada dielétrica 2250, e uma camada isolante escorregadia pode ser revestida na segunda camada dielétrica 2350 ou na terceira camada dielétrica 2250.
[0071] Em outro aspecto exemplificador, a terceira camada dielé- trica 2250 pode ser aplicada de modo fixo à segunda camada dielétri- ca 2350. Nesse caso, em um exemplo, pode haver uma lacuna de ar entre a primeira camada dielétrica 2230 e a terceira camada dielétrica 2250 para facilitar uma rotação suave da porção distal 2374, que inclui a terceira camada dielétrica 2250, em relação à primeira camada dielé- trica 2230. Em outro aspecto exemplificador, pode não haver lacuna de ar entre a primeira camada dielétrica 2230 e a terceira camada di- elétrica 2250, e uma camada isolante escorregadia pode ser revestida na primeira camada dielétrica 2230 ou na terceira camada dielétrica
2250.
[0072] Em outro aspecto exemplificador, a terceira camada dielé- trica 2250 pode ser desprovida tanto da primeira camada dielétrica 2230 quanto da segunda camada dielétrica 2350, por exemplo, por ser fixamente conectada a outro componente (por exemplo, metades de bocal 202, 203) do instrumento cirúrgico. Nesse caso, em um exemplo, pode haver uma lacuna de ar entre a terceira camada dielétrica 2250 e pelo menos uma dentre a primeira e a segunda camadas dielétricas 2230, 2350. Em outro aspecto exemplificador, pode não haver uma lacuna de ar, mas em vez disso, pode haver uma camada isolante es- corregadia entre a terceira camada dielétrica 2250 e pelo menos uma dentre a primeira e a segunda camadas dielétricas 2230, 2350.
[0073] Em um aspecto exemplificador, a terceira camada dielétrica 2250 pode compreender um material dielétrico de alto k, como PZT de (titanato zirconato de chumbo), óxido de titânio (TiO>2), óxido de tântalo (Ta2Os), óxido de césio (CeO>2), óxido de Alumínio (Al2O3), epóxi ou um material com um alto valor de k (por exemplo, que tem uma constante dielétrica maior que 3,9). Os materiais podem ser usados sozinhos ou em qualquer combinação dos mesmos. Em um aspecto exemplifica- dor, a terceira camada dielétrica 2250 pode compreender um material dielétrico com uma constante dielétrica muito alta (por exemplo, maior que cerca de 100 a cerca de 300), como PZT. Em um outro aspecto exemplificador, a terceira camada dielétrica 2250 pode compreender qualquer outro material dielétrico adequado (por exemplo, materiais de constante dielétrica média a baixa, como dióxido de silício).
[0074] Em um aspecto exemplificador, a constante dielétrica da segunda camada dielétrica 2350 e/ou da terceira camada dielétrica 2250 pode ser maior que a constante dielétrica da primeira camada dielétrica 2230. Em um outro aspecto exemplificador, a constante di- elétrica da primeira camada dielétrica 2230 pode ser maior que a cons- tante dielétrica da segunda camada dielétrica 2350 e/ou da terceira camada dielétrica 2250. Em um aspecto exemplificador, a terceira ca- mada dielétrica 2250 pode compreender um material dielétrico diferen- te daquele da segunda camada dielétrica 2350. Em outro aspecto exemplificador, a terceira camada dielétrica 2250 pode compreender um material dielétrico que é igual ao da segunda camada dielétrica
2350.
[0075] Em um aspecto exemplificador, a espessura 2225 dos con- dutores 2220 e/ou a espessura 2325 dos condutores 2320 pode estar na faixa de cerca de 0,03 milímetro (0,001 polegada) a cerca de 0,25 milímetro (0,01 polegada), de preferência, na faixa de cerca de 0,08 milímetro (0,003 polegada) a cerca de 0,2 milímetro (0,008 polegada), com mais preferência, na faixa de cerca de 0,1 milímetro (0,004 pole- gada) a cerca de 0,15 milímetro (0,006 polegada). Em outro aspecto exemplificador, os condutores 2220, 2320 podem ter qualquer outra espessura adequada. Em um aspecto exemplificador, a espessura 2355 da segunda camada dielétrica 2350 pode estar na faixa de cerca de 0,03 milímetro (0,001 polegada) a cerca de 0,25 milímetro (0,01 po- legada), de preferência, na faixa de cerca de 0,05 milímetro (0,002 po- legada) a cerca de 0,13 milímetro (0,005 polegada), com mais prefe- rência, na faixa de cerca de 0,08 milímetro (0,003 polegada) a cerca de 0,1 milímetro (0,004 polegada). Em outro aspecto exemplificador, a segunda camada dielétrica 2350 pode ter qualquer outra espessura adequada. Em um aspecto exemplificador, a lacuna de ar 2260 entre a terceira camada dielétrica 2250 e a segunda camada dielétrica 2350 (ou qualquer outra lacuna de ar aqui discutida) pode ser muito fina, por exemplo, menor que 0,25 milímetro (0,01 polegada), de preferência, menor que 0,13 milímetro (0,005 polegada), com mais preferência, menor que 0,03 milímetro (0,001 polegada). Em outro aspecto exem- plificador, a lacuna de ar 2260 pode ter qualquer outra distância ade- quada.
[0076] Em um aspecto exemplificador, a distância vertical 2235 entre os condutores 2220 e a terceira camada dielétrica 2250 pode ser muito pequena, por exemplo, na faixa de cerca de 0,01 milímetro (0,0005 polegada) a cerca de 0,04 milímetro (0,0015 polegada), de preferência, na faixa de cerca de 0,02 milímetro (0,0007 polegada) a cerca de 0,03 milímetro (0,0013 polegada), com mais preferência, na faixa de cerca de 0,02 milímetro (0,0009 polegada) a cerca de 0,03 milímetro (0,0011 polegada). Em outro aspecto exemplificador, os condutores 2220 e a terceira camada dielétrica 2250 podem ter qual- quer outra distância adequada. Em um aspecto exemplificador, a es- pessura 2255 da terceira camada dielétrica 2250 pode ser muito fina, por exemplo, na faixa de cerca de 0,3 milímetro (0,001 polegada) a cerca de 0,25 milímetro (0,01 polegada), de preferência, na faixa de cerca de 0,05 milímetro (0,002 polegada) a cerca de 0,18 milímetro (0,007 polegada), com mais preferência, na faixa de cerca de 0,8 milí- metro (0,003 polegada) a cerca de 0,13 milímetro (0,005 polegada). Em outro aspecto exemplificador, a terceira camada dielétrica 2250 pode ter qualquer outra espessura adequada.
[0077] Os demais recursos e características do conjunto de anel deslizante 2200 ilustrado e descrito em relação à Figura 12 na qual os condutores 2220, 2320 são montados sobre os anéis deslizantes 2210, 2310 podem ser, de outro modo, similares ou iguais aos descri- tos com as modalidades representadas nas Figuras 10 a 11, incluindo, porém, sem limitação, componentes, disposições, e formatos de qual- quer um dos anéis deslizantes 2210, 2310 2220 ou os condutores, 2320, bem como a possível presença de conectores elétricos 2060, 2160, da placa de circuito de eixo de acionamento 2070, do circuito de controle 2080, conforme descritos e ilustrados no presente documento.
[0078] A Figura 13 mostra um diagrama de blocos do circuito de um instrumento cirúrgico, ilustrando as interfaces entre um circuito de controle 2410 (por exemplo, o circuito de controle 2080), uma fonte de alimentação 2420 (por exemplo, a fonte de alimentação 90), um con- junto de anel deslizante 2450 (por exemplo, os conjuntos de anel des- lizante 2000, 2200) e um atuador de extremidade 2430 (por exemplo, o atuador de extremidade 300) de acordo com um aspecto da presente revelação. Conforme ilustrado na Figura 13, o conjunto de anel desli-
zante 2450 pode incluir uma ou mais canaletas capacitivas 2440A-C formadas pelos condutores nos anéis deslizantes proximal e distal. O circuito de controle 2410 pode ser configurado para comunicar potên- cia e sinais ao atuador de extremidade 2430 com o uso de acoplamen- to capacitivo através das canaletas capacitivas 2440A-C.
[0079] Em um aspecto exemplificador, cada canaleta capacitiva 2440A-C pode receber/transmitir diferentes tipos de sinais/potência. Por exemplo, o circuito de controle 2410 pode usar uma primeira cana- leta capacitiva 2440A para um primeiro sinal ou dados, uma segunda canaleta capacitiva 2440B para um segundo sinal ou dados, e uma terceira canaleta capacitiva 2440C para potência. Em outra modalida- de exemplificadora, o circuito de controle 2410 pode receber/transmitir diferentes tipos de sinais/potência usando a mesma canaleta capaciti- va. Por exemplo, a primeira canaleta capacitiva 2440A pode ser usada para receber/transmitir tanto a potência quanto sinais.
[0080] A descrição anteriormente mencionada apresentou aspec- tos dos dispositivos e/ou processos por meio do uso de diagramas de blocos, fluxogramas, e/ou exemplos, que pode conter uma ou mais funções e/ou operação. Cada função e/ou operação dentro de tais dia- gramas de blocos, fluxogramas ou exemplos pode ser implementada, individualmente e/ou coletivamente, por uma ampla gama de hardwa- re, software, firmware ou virtualmente qualquer combinação dos mes- mos. Em um aspecto, várias porções da matéria aqui descrita podem ser implementadas por meio de circuitos integrados de aplicação es- pecífica (ASICs), arranjos de portas programáveis em campo (FPGAs), processadores de sinais digitais (DSPs), dispositivos lógicos progra- máveis (PLDs), circuitos, registradores e/ou componentes de software, por exemplo, programas, sub-rotinas, lógica e/ou combinações de componentes de hardware e software, portas lógicas, ou outros forma- tos integrados. Alguns aspectos aqui revelados, no todo ou em parte,
podem ser implementados de modo equivalente em circuitos integra- dos, como um ou mais programas de computador executando em um ou mais computadores (por exemplo, como um ou mais programas operando em um ou mais sistemas de computador), como um ou mais programas operando em um ou mais processadores (por exemplo, como um ou mais programas operando em um ou mais microproces- sadores), como firmware, ou virtualmente como qualquer combinação dos mesmos, e que projetar o conjunto de circuitos e/ou escrever o código para o software e firmware estaria dentro do âmbito de prática de uma pessoa versada na técnica à luz desta revelação.
[0081] Os mecanismos do assunto revelado podem ser distribuí- dos como um produto de programa em uma variedade de formas, e um aspecto ilustrativo do assunto aqui descrito é aplicável indepen- dentemente do tipo específico da mídia de transmissão de sinais usa- do para efetivamente executar a distribuição. Exemplos de uma mídia de transmissão de sinais incluem, mas não se limitam aos seguintes: uma mídia do tipo gravável como um disquete, uma unidade de disco rígido, um disco compacto (CD), um disco de vídeo digital (DVD), uma fita digital, uma memória de computador, etc.; e uma mídia do tipo de transmissão, como uma mídia de comunicação digital e/ou analógica (por exemplo, um cabo de fibra óptica, um guia de onda, um enlace de comunicação com fio, um enlace de comunicação sem fio (por exem- plo, transmissor, receptor, lógica de transmissão, lógica de recepção, etc.).
[0082] A descrição anteriormente mencionada de um ou mais as- pectos foi apresentada para propósitos de ilustração e descrição. Essa descrição não pretende ser exaustiva nem limitar a invenção à forma precisa revelada. Modificações ou variações são possíveis à luz dos ensinamentos acima. Esses aspectos foram escolhidos e descritos com a finalidade de ilustrar os princípios e a aplicação prática para,
assim, permitir que a pessoa versada na técnica use os vários aspec- tos e com várias modificações, conforme sejam convenientes ao uso específico contemplado. Pretende-se que as reivindicações apresen- tadas em anexo definam o escopo global.
[0083] Vários aspectos da matéria descrita no presente documento são definidos nos seguintes exemplos:
[0084] Exemplo 1 - Um conjunto de eixo de acionamento cirúrgico que compreende um conjunto de anel deslizante. O conjunto de anel deslizante compreende um primeiro conector, um primeiro condutor montado sobre o primeiro conector, e uma primeira camada isolante impermeável à água sobre o primeiro condutor. O conjunto de anel deslizante compreende adicionalmente um segundo conector giratório em relação ao primeiro conector, um segundo condutor montado no segundo conector, e uma segunda camada isolante impermeável à água no segundo condutor. O conjunto de anel deslizante compreende adicionalmente uma camada dielétrica situada entre a primeira cama- da isolante impermeável à água e a segunda camada isolante imper- meável à água, em que o primeiro condutor e o segundo condutor são configurados para formar uma canaleta capacitiva entre os mesmos.
[0085] Exemplo 2 - O conjunto de eixo de acionamento cirúrgico, de acordo com o Exemplo 1, em que ao menos um dentre o primeiro conector e o segundo conector compreende um anel deslizante.
[0086] Exemplo 3 - O conjunto de eixo de acionamento cirúrgico, de acordo com os Exemplos 1 a 2, em que a camada dielétrica é fixa- mente conectada à primeira camada isolante impermeável à água.
[0087] Exemplo 4 - O conjunto de eixo de acionamento cirúrgico, de acordo com um ou mais dos Exemplos 1 a 3, em que a camada di- elétrica compreende um PZT.
[0088] Exemplo 5 - O conjunto de eixo de acionamento cirúrgico, de acordo com um ou mais dos Exemplos 1 a 4, em que ao menos uma dentre a primeira camada isolante impermeável à água e a se- gunda camada isolante impermeável à água compreende um material escorregadio.
[0089] Exemplo 6 - O conjunto de eixo de acionamento cirúrgico, de acordo com um ou mais dos Exemplos 1 a 5, que compreende adi- cionalmente um circuito de controle eletricamente conectado ao pri- meiro condutor.
[0090] Exemplo 7 - O conjunto de eixo de acionamento cirúrgico, de acordo com o Exemplo 6, que compreende adicionalmente um atu- ador de extremidade eletricamente conectado ao segundo condutor, em que o circuito de controle é configurado para comunicar potência e sinais ao atuador de extremidade através da canaleta capacitiva.
[0091] Exemplo 8 - Um conjunto de anel deslizante para uso com um conjunto de eixo de acionamento cirúrgico. O conjunto de anel des- lizante compreende um primeiro conector, um primeiro condutor mon- tado sobre o primeiro conector, e uma primeira camada dielétrica so- bre o primeiro condutor. O conjunto de anel deslizante compreende adicionalmente um segundo conector giratório em relação ao primeiro conector, um segundo condutor montado sobre o segundo conector, e uma segunda camada dielétrica sobre o segundo condutor, em que o primeiro condutor e o segundo condutor são configurados para formar uma canaleta capacitiva entre os mesmos.
[0092] Exemplo 9 - O conjunto de anel deslizante, de acordo com o Exemplo 8, que compreende adicionalmente uma terceira camada dielétrica sobre a primeira camada dielétrica.
[0093] Exemplo 10 - O conjunto de anel deslizante, de acordo com o exemplo 9, em que a segunda camada dielétrica e a terceira camada dielétrica são separadas uma da outra de modo a formar uma lacuna entre si.
[0094] Exemplo 11 - O conjunto de anel deslizante, de acordo com um ou mais dos Exemplos 8 a 10, em que a segunda camada dielétri- ca compreende um PZT depositado por vapor.
[0095] Exemplo 12 - O conjunto de anel deslizante, de acordo com um ou mais dos Exemplos 8 a 11, em que a primeira camada dielétrica compreende um material de epóxi.
[0096] Exemplo 13 - O conjunto de anel deslizante, de acordo com um ou mais dos Exemplos 9 a 12, em que a terceira camada dielétrica compreende uma pastilha de PZT.
[0097] Exemplo 14 - O conjunto de anel deslizante, de acordo com um ou mais dos Exemplos 8 a 13, que compreende adicionalmente um circuito de controle eletricamente conectado ao primeiro condutor.
[0098] Exemplo 15 - Um conjunto de eixo de acionamento cirúrgi- co que compreende uma primeira porção de eixo de acionamento e uma segunda porção de eixo de acionamento giratório em relação à primeira porção de eixo de acionamento. A primeira porção de eixo de acionamento compreende um primeiro anel deslizante, uma primeira pluralidade de condutores montados no primeiro anel deslizante, e uma primeira camada isolante impermeável à água no primeiro anel deslizante. A segunda porção de eixo de acionamento compreende um anel deslizante, uma segunda pluralidade de condutores montados sobre o segundo anel deslizante, uma segunda camada isolante im- permeável à água no segundo anel deslizante, e uma camada dielétri- ca situada entre a primeira camada isolante impermeável à água da segunda camada isolante impermeável à água, em que a primeira plu- ralidade de condutores e a segunda pluralidade de condutores são configuradas para formar uma pluralidade de canaletas capacitivas entre si.
[0099] Exemplo 16 - O conjunto de eixo de acionamento cirúrgico, de acordo com o Exemplo 15, que compreende adicionalmente um circuito de controle eletricamente conectado à primeira pluralidade de condutores.
[0100] Exemplo 17 - O conjunto de eixo de acionamento cirúrgico, de acordo com o Exemplo 16, que compreende adicionalmente um atuador de extremidade que é eletricamente conectado à segunda plu- ralidade de condutores, em que o circuito de controle é configurado para comunicar potência e sinais ao atuador de extremidade através da pluralidade de canaletas capacitivas.
[0101] Exemplo 18 - O conjunto de eixo de acionamento cirúrgico, de acordo com os Exemplos 15 a 17, em que a camada dielétrica é fixamente conectada à primeira camada isolante impermeável à água.
[0102] Exemplo 19 - O conjunto de eixo de acionamento cirúrgico, de acordo com um ou mais dos Exemplos 15 a 18, em que a camada dielétrica compreende um PZT.
[0103] Exemplo 20 - O conjunto de eixo de acionamento cirúrgico, de acordo com um ou mais dos Exemplos 15 a 19, em que ao menos uma dentre a primeira camada isolante impermeável à água e a se- gunda camada isolante impermeável à água compreende um material escorregadio.
[0104] Exemplo 21 - Um instrumento cirúrgico que compreende um atuador de extremidade cirúrgico, um circuito de controle e um conjunto de conectores. O conjunto de conectores compreende um primeiro conector que compreende um primeiro condutor acoplado ele- tricamente ao atuador de extremidade cirúrgico, e um segundo conec- tor que compreende um segundo condutor separado do primeiro con- dutor, em que o segundo condutor é acoplado eletricamente ao circuito de controle, em que o primeiro conector é giratório em relação ao se- gundo conector, em que o primeiro condutor é capacitivamente aco- plado ao segundo condutor, definindo uma canaleta capacitiva entre os mesmos para transmitir um sinal elétrico entre o atuador de extre- midade e o circuito de controle.
[0105] Exemplo 22 - Um instrumento cirúrgico que compreende um atuador de extremidade cirúrgico, um circuito de controle e um conjunto de conectores.
O conjunto de conectores compreende um primeiro conector que compreende um primeiro condutor acoplado ele- tricamente ao atuador de extremidade cirúrgico, e um segundo conec- tor que compreende um segundo condutor separado do primeiro con- dutor, em que o segundo condutor é acoplado eletricamente a uma fonte de energia, em que o primeiro conector é giratório em relação ao segundo conector, em que o primeiro condutor é capacitivamente aco- plado ao segundo condutor, definindo uma canaleta capacitiva entre os mesmos para transmitir energia da fonte de energia ao atuador de extremidade.
Claims (22)
1. Conjunto de eixo de acionamento cirúrgico caracterizado por compreender um conjunto de anel deslizante, em que o conjunto de anel deslizante compreende: um primeiro conector; um primeiro condutor montado no primeiro conector; uma primeira camada isolante impermeável à água sobre o primeiro condutor; um segundo conector giratório em relação ao primeiro co- nector; um segundo condutor montado sobre o segundo conector; uma segunda camada isolante impermeável à água sobre o segundo condutor; uma camada dielétrica situada entre a primeira camada iso- lante impermeável à água e a segunda camada isolante impermeável à água; e em que o primeiro condutor e o segundo condutor são con- figurados para formar uma canaleta capacitiva entre os mesmos.
2. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 1, caracterizado por ao menos um dentre o primei- ro conector e o segundo conector compreenderem um anel deslizante.
3. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 1, caracterizado por a camada dielétrica ser fixa- mente conectada à primeira camada isolante impermeável à água.
4. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 1, caracterizado por a camada dielétrica compre- ender um PZT.
5. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 1, caracterizado por ao menos uma dentre a pri- meira camada isolante impermeável à água e a segunda camada iso-
lante impermeável à água compreender um material escorregadio.
6. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 1, caracterizado por compreender adicionalmente um circuito de controle eletricamente conectado ao primeiro condutor.
7. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 6, caracterizado por compreender adicionalmente um atuador de extremidade eletricamente conectado ao segundo con- dutor, em que o circuito de controle é configurado para comunicar po- tência e sinais ao atuador de extremidade através da canaleta capaci- tiva.
8. Conjunto de anel deslizante para uso com um conjunto de eixo de acionamento cirúrgico, em que o conjunto de anel deslizan- te é caracterizado por compreender: um primeiro conector; um primeiro condutor montado no primeiro conector; uma primeira camada dielétrica sobre o primeiro condutor; um segundo conector giratório em relação ao primeiro co- nector; um segundo condutor montado sobre o segundo conector; uma segunda camada dielétrica sobre o segundo condutor; e em que o primeiro condutor e o segundo condutor são con- figurados para formar uma canaleta capacitiva entre os mesmos.
9. Conjunto de anel deslizante, de acordo com a reivindica- ção 8, caracterizado por compreender adicionalmente uma terceira camada dielétrica sobre a primeira camada dielétrica.
10. Conjunto de anel deslizante, de acordo com a reivindi- cação 9, caracterizado por a segunda camada dielétrica e pela terceira camada dielétrica serem separadas uma da outra de modo a formar uma lacuna entre si.
11. Conjunto de anel deslizante, de acordo com a reivindi- cação 10, caracterizado por a segunda camada dielétrica compreender um PZT depositado por vapor.
12. Conjunto de anel deslizante, de acordo com a reivindi- cação 11, caracterizado por a primeira camada dielétrica compreender um material de epóxi.
13. Conjunto de anel deslizante, de acordo com a reivindi- cação 12, caracterizado por a terceira camada dielétrica compreender uma pastilha de PZT.
14. Conjunto de anel deslizante, de acordo com a reivindi- cação 8, caracterizado por compreender adicionalmente um circuito de controle eletricamente conectado ao primeiro condutor.
15. Conjunto de eixo de acionamento cirúrgico caracteriza- do por compreender: uma primeira porção de eixo de acionamento que compre- ende: um primeiro anel deslizante; uma primeira pluralidade de condutores montados sobre o primeiro anel deslizante; e uma primeira camada isolante impermeável à água sobre o primeiro anel deslizante; uma segunda porção de eixo de acionamento giratório em relação à primeira porção de eixo de acionamento, em que a segunda porção de eixo de acionamento compreende: um segundo anel deslizante; uma segunda pluralidade de condutores montados sobre o segundo anel deslizante; uma segunda camada isolante impermeável à água sobre o segundo anel deslizante; e uma camada dielétrica situada entre a primeira camada iso-
lante impermeável à água e a segunda camada isolante impermeável à água; e em que a primeira pluralidade de condutores e a segunda pluralidade de condutores são configuradas para formar uma plurali- dade de canaletas capacitivas entre si.
16. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 15, caracterizado por compreender adicionalmen- te um circuito de controle eletricamente conectado à primeira plurali- dade de condutores.
17. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 16, caracterizado por compreender adicionalmen- te um atuador de extremidade que é eletricamente conectado à se- gunda pluralidade de condutores, em que o circuito de controle é con- figurado para comunicar potência e sinais ao atuador de extremidade através da pluralidade de canaletas capacitivas.
18. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 15, caracterizado por a camada dielétrica ser fi- xamente conectada à primeira camada isolante impermeável à água.
19. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 15, caracterizado por a camada dielétrica com- preender um PZT.
20. Conjunto de eixo de acionamento cirúrgico, de acordo com a reivindicação 15, caracterizado por ao menos uma dentre a pri- meira camada isolante impermeável à água e a segunda camada iso- lante impermeável à água compreender um material escorregadio.
21. Instrumento cirúrgico caracterizado por compreender: um atuador de extremidade cirúrgico; um circuito de controle; e um conjunto de conectores que compreende: um primeiro conector que compreende um primeiro condu-
tor acoplado eletricamente ao atuador de extremidade cirúrgico; e um segundo conector que compreende um segundo condu- tor separado do primeiro condutor, em que o segundo condutor é aco- plado eletricamente ao circuito de controle, em que o primeiro conector é giratório em relação ao segundo conector, em que o primeiro condu- tor é capacitivamente acoplado ao segundo condutor, definindo uma canaleta capacitiva entre os mesmos para transmitir um sinal elétrico entre o atuador de extremidade cirúrgico e o circuito de controle.
22. Instrumento cirúrgico, caracterizado por compreender: um atuador de extremidade cirúrgico; uma fonte de energia; e um conjunto de conectores que compreende: um primeiro conector que compreende um primeiro condu- tor acoplado eletricamente ao atuador de extremidade cirúrgico; e um segundo conector que compreende um segundo condu- tor separado do primeiro condutor, em que o segundo condutor é aco- plado eletricamente à fonte de energia, em que o primeiro conector é giratório em relação ao segundo conector, em que o primeiro condutor é capacitivamente acoplado ao segundo condutor, definindo uma ca- naleta capacitiva entre os mesmos para transmitir energia da fonte de energia ao atuador de extremidade cirúrgico.
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