CN100522096C - 用于校准外科器械的系统和方法 - Google Patents

用于校准外科器械的系统和方法 Download PDF

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CN100522096C
CN100522096C CNB028241142A CN02824114A CN100522096C CN 100522096 C CN100522096 C CN 100522096C CN B028241142 A CNB028241142 A CN B028241142A CN 02824114 A CN02824114 A CN 02824114A CN 100522096 C CN100522096 C CN 100522096C
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迈克尔·P·惠特曼
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Abstract

一种用于外科器械的校准系统。该校准系统包括诸如电机系统和挠性轴之类的执行机构，还包括可用执行机构操纵的外科器械。该校准系统还包括与外科器械相对应的校准数据。设置一处理器处理用来确定外科器械位置的校准数据。校准系统可以包括设置用来提供与执行机构的运动相对应的信号的传感器，该处理器进一步用来处理用于确定外科器械的位置的信号。

Description

用于校准外科器械的系统和方法
优先权要求
本申请要求于2001年12月4日申请的美国专利申请第60/337,544号的优先权。其全部内容通过引用明确地结合于此。
相关申请的交叉引用
本申请通过引用结合下列申请的全部内容：2000年11月28日申请的美国专利申请第09/723,715号、2001年4月17日申请的美国专利申请第09/836,781号、2001年6月22日申请的美国专利申请第09/887,789号、2002年11月13日作为美国专利第6,315,184号公告的1999年6月2日申请的美国专利申请第09/324,451号、2002年9月3日作为美国专利第6,443,973号公告的1999年6月2日申请的美国专利申请第09/324,452号、2001年7月24日作为美国专利第6,264,087号公告的1999年7月12日申请的美国专利申请第09/351,534号、2000年2月22日申请的美国专利申请第09/510,923号、2000年2月22日申请的美国专利申请第09/510,927号、2000年2月22日申请的美国专利申请第09/510,932号、2000年2月22日申请的美国专利申请第09/510,926号、2000年2月22日申请的美国专利申请第09/510,931号、2000年2月22日申请的美国专利申请第09/510,933号、2002年3月15日申请的美国专利申请第09/9996342号、以及2001年4月17日申请的美国专利申请第09/836,781号。
技术领域
本发明涉及一种用于校准外科器械的系统和方法。更具体地说，本发明涉及用于校准外科器械的各个部件的运动的系统和方法。
背景技术
外科医生利用各种不同的外科器械完成外科手术过程。一种常用的外科器械是外科线性夹持和缝合(stapling)器械。这样的缝合器(stapler)通常用来缝合和修复组织。另一种类型的外科器械是用来完成圆形吻合的圆形固定器。这些缝合器和许多其它类型的外科器械通常包括彼此相对移动的部件。例如，缝合器可以具有储藏缝合件(staples)的本体部和一个砧座(anvil)。在固定过程中，使砧座向本体部移动，以夹紧一部分组织。当该部分组织被完全夹在本体部和砧座之间的时候，储存在本体部中的缝合件被推入组织，并抵在砧座上而闭合。为了确保那部分组织被充分夹紧，并确保缝合件被完全闭合，该缝合器装置的使用者应该知道缝合器的部件(例如，本体部和砧座)的相对位置。
其内容全部结合于此供参考的于2000年11月28日申请的美国专利申请第09/723,715号中，描述了一种包括电机系统、控制系统和远程控制单元的电子机械的外科系统。外科器械(例如，诸如外科缝合器之类的外科附件)固定地或可分离地连接到挠性轴的远端上。挠性轴的近端连接到装有电机系统的壳体上。可旋转的驱动轴与挠性轴一起设置，并由电机系统旋转。远程控制单元使使用者能够根据与被连接到挠性轴上的外科器械相对应的软件控制电机系统。
诸如外科缝合器之类的外科器械可以结合各种不同的控制机构，以保证圆形外科缝合器的适当定位和启动(firing)，参见授权给Viola等人的美国专利第5,915,616号和授权给Grant等人的美国专利第5,609,285号。与外科器械一起使用的其它传统的控制和感测机构包括激光器、邻近传感器和内视镜，参见授权给Hooven的美国专利第5,518,164号和授权给Akopov等人的美国专利第5,573,543号。所描述的辅助控制特征可以帮助外科医生保证缝合器的启动对应于砧座向本体部逼近。多个附接在轴上的传统的圆形外科缝合器是使用手持控制器操纵和驱动的，参见授权给Sjostrem的美国专利第4,705,038号、授权给Ams等人的美国专利第4,995,877号、授权给Mallaby的美国专利第5,249,583号、授权给Hooven的美国专利第5,383,880号、以及授权给Byrne等人的美国专利第5,395,033号。
当外科器械(例如，外科缝合器)被连接到如上所述的外科系统的驱动轴上的时候，外科器械的部件(例如，砧座、砧座杆和本体部)被适当地校准以保证适当地连同控制系统一起发挥作用是很重要的。如果部件未被适当地校准，在外科器械的操作中就可能发生误差，因此控制系统可能失去其效能。此外，各种不同类型的外科器械可能与前面描述的电子机械装置一起使用。
因此，需要提供一种能在校准外科器械的部件方面提供得到改善的效能的校准系统和方法。
所以，本发明的目的在于提供一种能在校准外科器械的部件方面提供得到改善的效能的校准系统和方法。
本发明的另一个目的在于提供一种能使不同类型的外科器械附接到要被校准的电子机械外科系统上的校准系统和方法。
发明概述
根据本发明的一个示范实施例，提供了一种用于外科器械的校准系统。该校准系统可以包括诸如电机系统和挠性轴之类的执行机构。校准系统还可以包括具有可用执行机构操纵的第一部件和第二部件的外科器械，第一部件设置在相对于第二部件的第一位置。校准系统还可以包括设置用来提供与执行机构的运动相对应的信号的传感器，和与外科器械相对应的校准数据。此外，校准系统包括为处理校准数据和来自传感器用来在执行机构动作时确定第一部件相对于第二部件的第二位置的信号而配置的处理器。
在本发明的一个示范实施例中，传感器是霍耳效应传感器，而处理器设置用来根据可旋转的驱动轴的旋转圈数确定第一部件相对于第二部件的第二位置。校准数据可以包括与在第一位置中第一部件与第二部件之间的相对距离(例如，当外科器械处于完全张开或完全闭合的位置时两个部件之间的距离)相对应的数据。此外，校准数据可以包括使执行机构的运动与第一部件对第二部件的相对位置的变化相关联(例如，使可旋转的驱动轴的旋转圈数与外科器械的各部件之间的距离变化相关联)的数据。校准数据还可以包括储存在外科器械的存储单元中的校正因子，使得处理器能配置用来根据校正因子确定第一部件相对于第二部件的第二位置。校正因子可以对应于驱使第一部件相对于第二部件从第一位置到第二位置所需的实际的运动量(例如，驱动轴的实际旋转圈数)和预期的运动量(例如，驱动轴的预期旋转圈数)之间的差值。
附图简要说明
图1是根据本发明的一个示范实施例的一种电子机械外科系统的透视图；
图2是一个示意图，示出根据本发明的一个实施例的一种电子机械外科系统；
图3(a)是一个示意图，示出根据本发明的一个实施例的外科器械中的存储单元；
图3(b)是一个示意图，示出根据本发明的一个实施例的在远程功率控制台中的存储单元；
图4是根据本发明的一个实施例的编码器的示意图，该编码器包括霍耳效应器件；
图5是一个流程图，示出根据本发明的一个示范实施例的一种用于校准外科器械的方法；
图6是一个流程图，示出根据本发明的另一个示范实施例的一种用于校准外科器械的方法；
图7是一个流程图，示出根据本发明的一个实施例的一种使用校正因子校准外科器械的方法；以及
图8是一个示意图，示出根据本发明的一个实施例的一种具有应变仪的食道扩张器外科器械。
具体实施方式
图1是根据本发明的一个示范实施例的电子机械外科系统10的透视图。例如，电子机械外科系统10可以包括一个远程功率控制台12，该控制台包括一个具有前面板15的壳体14。装在前面板15上的是一个显示装置16和指示器18a、18b。挠性轴20可以从壳体14伸出而且可以通过第一接合器22可分离地固定到壳体上。挠性轴20的远端24可以包括适合将外科器械100(例如，外科附件)可分离地固定到挠性轴20的远端24上的第二接合器26。可选地，挠性轴20的远端24可以适合将外科器械100固定不变地固定到挠性轴20的远端24上。举例来说，外科器械100可以是外科缝合器、外科切割器、外科缝合器-切割器、线性外科缝合器、线性外科缝合器-切割器、圆形外科缝合器、圆形外科缝合器-切割器、外科施夹钳、外科夹子结扎器(clip ligator)、外科夹紧装置(clampingdevice)、脉管扩张装置、内腔扩张装置、解剖刀、流体递送装置(fluiddelivery device)或任何其它类型的外科器械。作为举例，这样的外科器械见诸于标题为“A Stapling Device for Use with anElectromechanical Driver Device for Use with Anastomosing，Stapling，and Resecting Instruments(供与吻合、缝合、和切除器械一起使用的机电驱动装置使用的缝合装置)”的美国专利第6,315,184号、标题为“Electromechanical Driver Device for Use with Anastomosing，Stapling，and Resecting Instruments(供与吻合、缝合、和切除器械一起使用的机电驱动装置)”的美国专利第6,443,973号、标题为“Automated Surgical Stapling System(自动外科缝合系统)”的美国专利第6,264,087号、标题为“A Vessel and Lumen ExpanderAttachment for Use with an Electromechanical Driver Device(供与机电驱动装置一起使用的脉管和内腔扩张器附件)”的美国专利申请第09/510,926号、标题为“Electromechanical Driver and RemoteSurgical Instruments Attachment Having Computer Assisted ControlCapabilities(有计算机辅助控制能力的机电驱动器和远程外科器械附件)”的美国专利申请第09/510,927号、标题为“A Tissue StaplingAttachment for Use with an Electromechanical Driver Device(供与机电驱动装置一起使用的组织固定附件)”的美国专利申请第09/510,931号、标题为“A Fluid Delivery Mechanism for Use withAnastomosing，Stapling，and Resecting Instruments(供与吻合、缝合、和切除器械一起使用的流体递送机构)”的美国专利申请第09/510,932号、和标题为“A Fluid Delivery Device for Use withAnastomosing，Stapling，and Resecting Instruments(供与吻合、缝合、和切除器械一起使用的流体递送装置)”的美国专利申请第09/510,933号中的描述，在此通过引用将每份文献的全部内容明确地结合于本申请中。
远程功率控制台12还包括用来驱动外科器械100的电机1010。在一个示范实施例中，电机1010通过在挠性轴20内的可旋转的驱动轴630与外科器械100接合。当驱动轴630旋转时，外科器械100的第一部件100a相对于外科器械100的第二部件100b移动。例如，根据所用的外科器械的类型，第一部件100a通过可旋转的驱动轴630相对于第二部件100b的动作可以包括张开或闭合夹钳、移动刀刃和/或激发缝合器(firing staples)或任何其它类型的运动。这样的远程功率控制台12的例子在标题为“Electro-Mechanical SurgicalDevice(电子机械外科装置)”的美国专利申请第09/723,715号和标题为“Electro-Mechanical Surgical Device(电子机械外科装置)”的美国专利申请第09/836,781号中有描述，在此通过引用将每份文献的全部内容明确地并入本申请中。功率控制台12还可以包括处理器1020。
图2是一示意图，示出根据本发明的一个实施例的电子机械外科系统10。处理器1020可以配置在远程功率控制台12中，而且是为控制电子机械外科系统10的各种不同的功能和操作而配置的。为储存处理器1020使用的程序或算法，设置了一个存储单元130，其可以包括诸如ROM部件132和/或RAM部件134之类的存储装置。ROM部件132通过线路136与处理器1020进行电连接和逻辑通信，而RAM部件134通过线路138与处理器1020进行电连接和逻辑通信。RAM部件134可以包括任何类型的随机存取存储器，例如，象磁性存储装置、光存储装置、磁-光存储装置、电子存储装置等。同样，ROM部件132可以包括任何类型的只读存储器，例如，象PC卡或PCMCIA型装置之类可移动的存储装置。可以理解，ROM部件132和RAM部件134可以体现为单一的单元，或者可以是分开的单元，而且ROM部件132和/或RAM部件134可以是以PC卡或PCMCIA型装置的形式提供的。
处理器1020进一步经由线路154连接到显示装置16上，而且分别经由线路156、158连接到指示器18a、18b上。线路124将处理器1020在电和逻辑上连接到电机1010上。电机1010通过可旋转的驱动轴630与外科器械100耦合。可以包括编码器1106的传感器1030经由线路152与处理器1020电连接和逻辑连接。传感器1030可以设置在挠性轴20的第二接合器26中，设置用来经由线路152，把与驱动轴630的运动相对应的信号提供给处理器1020。外科器械100可以包括存储单元1741，其一个实例在图3(a)中示出而且在下面将予以更详细的描述，该存储单元通过线路1749与处理器1020电连接和逻辑连接。处理器1020还可以包括附加的存储单元1742，其一个实例在图3(b)中示出而且在下面将予以更详细的描述，该存储单元设置在远程功率控制台12内而且通过线路278与处理器1020电连接和逻辑连接。
如上所述，根据本发明的一个实施例，外科器械100可以包括存储单元，例如在图3(a)中示出的存储单元1741。例如，存储单元1741可以储存信息，如在2000年11月28日申请的美国专利申请第09/723,715号、2001年4月17日申请的美国专利申请第09/836,781号、2001年6月22日申请的美国专利申请第09/887,789号、和2002年3月15日申请的美国专利申请第10/099,634号中所描述的那样，在此通过引用将其全部内容明确地并入。例如，如图3(a)所示，存储单元1741可以包括数据连接器2721，后者包括多个触点2761，每个触点经由各自的线路1749与存储单元1741电连接和逻辑连接。例如，存储单元1741可以是为储存序号数据1801、附件类型标识符数据1821和校准数据1841而设置的。存储单元1741还可以储存其它数据。序号数据1801和附件类型标识数据1821两者都可以设定为只读数据。在本示范实施例中，序号数据1801是唯一地识别特定的外科器械100的数据，而附件类型标识数据1821是识别外科器械100的类型(例如，圆形缝合器)的数据。校准数据1841可以是任何类型的用来校准外科器械100的数据。例如，校准数据1841可以包括校准执行机构的运动的数据，例如，可旋转的驱动轴630的转数，以改变外科器械100的第一部件100a与第二部件100b之间的距离。此外，校准数据1841可以包括与外科器械的第一和第二部件彼此的相对位置相对应的数据，例如，当处于某个特定位置(例如，完全张开的或完全闭合的位置)时外科器械100的第一部件100a相对于第二部件100b的距离。此外，为了考虑特定类型的外科器械100的传动装置间隙或其它类型的机械变量，校准数据1841可以如同下面更全面地描述的那样包括校正因子。通常，校准数据1841可以提供与对特定的外科器械100具体给出的任何机械变量相对应的任何类型的数据。
如上所述，根据本发明的一个实施例，远程功率控制台12例如处理器1020也可以包括一个存储单元，如在图3(b)中示出的存储单元1742。应该理解，尽管存储单元1742被示成不连续的，但是借此储存的一些或全部数据可以选择性地储存在存储单元130中。参见图3(b)，存储单元1742可以包括数据连接器2722，后者包括触点2762，每个触点都经由各自的线路278与存储单元1742电连接和逻辑连接。存储单元1742可以设置用来为许多不同的外科附件存储序号数据1802、附件类型标识数据1822和校准数据1842。存储单元1742还可以储存其它的数据。序号数据1802和附件类型标识数据1822两者都可以设置成只读数据。在示范实施例中，序号数据1802是唯一识别特定的外科器械的数据，而附件类型标识符数据1822是识别各种不同类型的外科器械(例如，圆形缝合器)的数据。校准数据1842可以是用来校准外科器械的任何类型的数据。例如，校准数据1842可以包括使执行机构的运动(例如，可旋转的驱动轴630的转数)与外科器械100的第一部件100a与第二部件100b之间的距离变化相关联的数据。此外，校准数据1842可以包括与外科器械的第一和第二部件的彼此相对位置相对应的数据，例如，当处于某个特定位置(例如，完全张开的或完全闭合的位置)时，外科器械100的第一部件100a相对于第二部件100b的距离。如同前面关于校准数据1841的陈述，校准数据1842可以提供与对外科器械100具体相对的任何机械变量相对应的任何类型的数据。
参见图2，电子机械外科系统10还可以包括传感器1030。传感器1030经由线路152被连接到处理器1020上。传感器1030可以提供与执行机构的运动(例如，在挠性轴20内驱动轴630的旋转)有关的信号。在一个实施例中，传感器1030被设置在挠性轴20的远端24。例如，根据本发明的一个示范实施例，传感器1030包括一个第一编码器1106，该编码器设置在第二接合器26内，配置用来为响应和根据第一驱动轴630的旋转输出信号。编码器1106输出的信号可以表示可旋转的驱动轴630的旋转位置及其旋转方向。例如，编码器1106可以是霍耳效应器件、光学器件等。虽然编码器1106被描述为配置在第二接合器26内，但是应该理解到，编码器1106可以是设置在电机1010与外科器械100之间的任何位置。可以理解，在第二接合器26内或在挠性轴20的远端24提供编码器1106将精确地确定驱动轴的旋转。如果编码器1106设置在挠性轴20的近端，可旋转的驱动轴630的扭曲可能造成测量误差。
图4是包括霍耳效应器件的编码器1106的示意图。有北极1242和南极1244的磁铁1240不可旋转地安装在驱动轴630上。编码器1106进一步包括第一传感器1246和第二传感器1248，它们相对于驱动轴630的纵向即旋转轴线以大约90°分开来设置。传感器1246、1248的输出是持续的而且在传感器的检测范围内随着磁场极性的变化改变它的状态。因此，基于编码器1106的输出信号，驱动轴630的角位置可以在四分之一圈之内被确定，而且驱动轴630的旋转方向可以被确定。编码器1106的输出经由相应的线路152被传输到处理器1020。处理器1020基于来自编码器1106的输出信号通过跟踪驱动轴630的角位置和旋转方向，从而能够确定外科器械100的第一部件100a相对于第二部件100b的位置和/或状态。换言之，通过计算驱动轴630的旋转圈数，处理器1020能确定外科器械的第一部件100a相对于第二部件100b的位置和/或状态。
图5是根据本发明的一个示范实施例举例说明用来校准外科器械100的方法的流程图。在步骤200，使用者将外科器械100装到挠性轴20的远端24上。在步骤210，处理器1020读出与外科器械100相对应的校准数据。与外科器械100相对应的校准数据可以是储存在外科器械100的存储单元1741中的校准数据1841，而且可以是在外科器械100附接到挠性轴20上之后经由线路1749提供给处理器1020的。可选地，校准数据可以是储存在远程功率控制台12的存储单元1742中的或储存在任何其它数据存储位置的校准数据1842。在另一个实施例中，与外科器械100相对应的附件类型标识数据1821被储存在外科器械100的存储单元1741中，而与一个以上不同类型的外科器械相对应的校准数据可以在外科器械100安装到挠性轴20上之后，作为校准数据1842被储存在远程功率控制台12的存储单元1742中，处理器1020设置用来读出外科器械100的附件类型标识符数据1822，以便识别已被安装的外科器械的类型，和从存储单元1742的校准数据1842中选择与在用的特定外科器械相对应的校准数据。
在步骤220，处理器1020确定外科器械100的第一位置，例如，外科器械100的第一部件100a相对于第二部件100b的第一位置。例如，处理器1020可以确定在第一位置第一部件100a与第二部件100b之间的距离。这个第一位置可以是，举例来说，在运送外科器械100期间使用的位置，例如，完全张开的或完全闭合的位置。在一个实施例中，与外科器械100相对应的校准数据1841、1842之一或两者都包括与外科器械100处在第一位置时第一和第二部件100a、100b之间的距离相对应的数据，借此使处理器1020能够通过仅仅读出与外科器械100相对应的校准数据1841、1842之一或两者都读出，就可以确定外科器械100的第一部件100a相对于第二部件100b的第一位置。
在步骤230，外科器械100的第一部件100a被驱动，以便相对于第二部件100b移动。在步骤230第一部件100a的动作可以是为了夹紧一部分组织、驱动缝合器等，取决于在用的外科器械的类型。在一个实施例中，外科器械100的第一部件100a是通过电机1010旋转挠性轴20中的可旋转的驱动轴630相对于第二部件100b动作的。
在步骤240，传感器1030把与执行机构的运动相对应的信号提供给处理器1020。例如，如同前面更全面地描述的那样，传感器1030可以是提供与可旋转的驱动轴630已旋转的圈数相对应的信号的霍耳效应传感器。在步骤250，处理器1020可以处理与第一部件100a相对于第二部件100b的第一位置相对应的数据、从传感器1030收到的信号、和与外科器械100相对应的校准数据1841、1842之一或两者都处理，以便确定外科器械100的第一部件100a相对于第二部件100b的第二位置。例如，如果校准数据1841、1842中的任何一个包括使可旋转的驱动轴630的旋转圈数与外科器械100的第一部件100a与第二部件100b之间的距离改变相关联的数据，那么处理器1020可以根据霍耳效应传感器1030提供的信号确定第一部件100a相对于第二部件100b行进的距离。如果校准数据1841、1842中的任何一个还包括在第一位置第一和第二部件100a、100b之间的初始距离，那么处理器1020可以确定在第一和第二部件100a、100b之间的初始距离与在步骤230期间第一部件100a的行进距离之间的差值，以便确定在第一部件100a动作之后在第一和第二部件100a、100b之间的实际距离。因此，外科器械100可以借此被校准，从而保证第一和第二部件100a、100b的相对位置在外科器械100操作期间是已知的，以及外科器械100的位置，例如第一部件100a相对于第二部件100b的位置，可以在操作期间监控。
图6是根据本发明的另一个示范实施例举例说明用来校准外科器械100(例如，55mm线性缝合器/切割器外科附件)的方法的流程图。在步骤300，使用者将外科器械100装到挠性轴20的远端24上。在步骤310，处理器1020读出与外科器械100相对应的校准数据。如上所述，与外科器械100相对应的校准数据可以是储存在外科器械100的存储单元1741中的校准数据1841，并且可以在外科器械100被装到挠性轴20上时经由线路120提供给处理器1020，或者可以是储存在远程功率控制台12的存储单元1742中或任何其它数据存储位置中的校准数据1842。
在步骤320，第一部件100a在外科器械100被接到挠性轴20上时，要么自动地要么有选择地相对于第二部件100b被驱动进入第一位置。例如，在外科器械100被接到挠性轴20上时，第一部件100a可以相对于第二部件100b被驱动进入完全张开的或完全闭合的位置。此完全张开的或完全闭合的位置可以是“急停(hard-stop)”位置，例如，第一部件100a在机械上不能越过它行进的位置。处理器1020可以检测到外科器械100的第一部件100a何时到达第一位置，例如，当驱动轴630不能进一步旋转的时候或者在预定的时间周期期满之后。
在步骤330，处理器1020确定外科器械100的第一部件100a相对于第二部件100b的第一位置。例如，处理器1020可以确定在第一位置第一和第二部件100a、100b之间的距离。如同先前提到的那样，与外科器械100相对应的校准数据1841、1842之一或两者都可以包括处在第一位置的时候与外科器械100的第一和第二部件100a、100b之间的距离相对应的数据，借此使处理器1020能够通过仅仅读出与外科器械100相对应的校准数据1841、1842之一或两者都读出，来确定外科器械100的第一部件100a相对于第二部件100b的第一位置。
在步骤340，外科器械100的第一部件100a再一次被驱动，以便使之相对于第二部件100b移动。在步骤340第一部件100a的动作可以是为了夹紧一部分组织、为了启动缝合器等，取决于在用的外科器械的类型。在一个实施例中，外科器械100的第一部件100a是通过电机1010旋转挠性轴20的可旋转的驱动轴630相对第二部件100b动作的。
在步骤350，传感器1030把与执行机构的运动相对应的信号(例如，与驱动轴630已旋转的圈数相对应的信号)提供给处理器1020，如同前面更全面地描述的那样。在步骤360，处理器1020可以处理与相对于第二部件100b第一部件100a的第一位置相对应的数据、从传感器1030收到的信号、和与外科器械100相对应的校准数据1841、1842之一或两者都处理，以便确定外科器械100的第一部件100a相对于第二部件100b的第二位置。例如，处理器1020可以根据霍耳效应传感器1030提供的信号确定在步骤340期间第一部件100a相对于第二部件100b行进的距离，而且可以进一步确定在第一位置中第一和第二部件100a、100b之间的初始距离之间的差值。因此，处理器1020也可以确定在步骤340期间第一部件100a的行进距离，为的是确定在第一部件100a动作之后第一和第二部件100a、100b之间的实际距离。
图6的流程图描述的方法甚至可以被用在包装和运输之前外科器械100被校准(例如，被移动到完全张开或完全闭合的位置)的时候。例如，虽然外科器械100在包装和运输之前被校准，但是外科器械100可能在使用之前受到震动或碰撞，从而使外科器械的各个部件偏离其原始的校准位置。图6的方法可以用来确保处理器1020可以精确地确定外科器械100的各个部件的相对位置，即使这些部件在使用之前已被意外地移动。
在本发明的一个实施例中，在校准外科器械100的时候，使用校正因子。校正因子可以是与外科器械相对应的任何类型的校准数据。例如，校正因子可以对应于典型的外科器械的预期的校准数据与那个类型的特定的外科器械的实际的校准数据之间的差值。这样的校正因子可以被用来估计对特定的外科器械可能截然不同的传动装置间隙或任何其它的机械变量。
例如，外科器械100可以与第一部件100a(例如，砧座)一起包装，与一个固态机械缓冲件接触，限定一个完全张开的第一位置。在外科器械100完全张开的该第一位置，第一部件100a可以被放置在距离第二部件100b的一个距离上，例如16毫米。外科器械100还可以有完全闭合的第二位置，在该位置第一部件100a被放置在距离第二部件100b的一个距离上，例如1毫米。远程功率控制台12的存储单元1742可以包括使预期的执行机构的运动与部件100a、100b的相对运动相关联的校准数据1842。例如，远程功率控制台12的存储单元1742可以包括使预期的驱动轴630的旋转圈数与在外科器械100的第一和第二部件之间的直线距离变化相关联的校准数据1842。在这个例子中，远程功率控制台12的存储单元1742可以包括使驱动轴630的550转与在外科器械100的第一和第二部件100a、100b之间的直线距离上15毫米的变化相关联的校准数据1842。因此，校准数据1842在被处理器1020读出的时候可以指令处理器1020将可旋转的驱动轴630旋转总共550次，以使外科器械100的钳夹合拢，从完全张开的第一位置转变成完全闭合的第二位置。然而，校正因子考虑这样一种情况，在这种情况下虽然550转可能是对于使这个类型的典型的外科器械的部件100a、100b完全闭合必不可少的，但是为了使部件100a、100b完全闭合，特定的外科器械可能需要驱动轴630旋转不同的圈数。
图7是根据本发明的一个实施例举例说明使用校正因子校准外科器械100的方法的流程图。在步骤400，特定的外科器械100被放在测试夹具之中，例如在制造期间，而且张开到完全张开的第一位置。外科器械100可以通过测试夹具，以与外科器械100接在远程功率控制台12的挠性轴20上时被驱动的速度和扭矩等同的速度和扭矩打开。在步骤410，测试夹具将外科器械100驱动到完全闭合的第二位置。然而，不同于这个类型的典型的外科器械的部件100a、100b完全闭合必不可少的550转，这个特定的外科器械100为了使部件100a、100b完全合拢可能需要驱动轴630旋转不同的圈数，例如562转。
在步骤420，与在典型的外科器械中使部件100a、100b完全闭合所需的预期转数和在特定的外科器械100中使部件100a、100b完全闭合所需的实际转数之间的差值相等的校正因子，被作为校准数据1841中的校正因子储存在外科器械100的存储单元1741中。在步骤430，外科器械100被装到挠性轴20上。在步骤440，处理器1020从外科器械100中的存储单元1741读出校正因子。此外，处理器1020可以读取储存在远程电源控制台12中的存储单元1742中的校准数据1842，该存储单元可以储存与外科器械100相同类型的典型的外科器械所要求的预期转数。
在步骤450，处理器1020根据储存在远程功率控制台12的存储单元1742中的校准数据1842，和作为校准数据1841储存在外科器械100中的存储单元1741中的校正因子，确定正确的动作量，例如，第一和第二部件100a、100b彼此相对移动预期的距离所需要的正确的驱动轴630的转数。例如，在上述的例子中，为了使第一和第二部件100a、100b从完全张开的第一位置移动到完全闭合的第二位置，处理器1020可以把储存在远程功率控制台12的存储单元1742中的预期的校准数据1842(例如，550转)与储存在外科器械100的存储单元1741中的校正因子(例如，12转)相加，从而确定使第一和第二部件100a、100b在完全张开的位置和完全闭合的位置之间移动所需的正确的转数是562转。当然，处理器1020也可以使用校准数据1842和校正因子确定使第一和第二部件100a、100b彼此相对移动任何距离所需要的正确转数。此外，可以理解储存在其它的数据存储位置中的其它类型的校正因子也可以被系统10使用。
在步骤460，第一部件100a被移动到相对于第二部件100b完全张开的第一位置，以便准备操作。可选地，在第一部件100a相对于第二部件100b处于完全张开位置时外科器械100可以被装运。在步骤470，通过将驱动轴630旋转在步骤450中确定的转数，第一部件100a被驱使从完全张开的位置到完全闭合的位置，或者相对于第二部件100b被驱使到任何预期的位置。
上述方法也可以与一种食道扩张器外科器械一起使用，这种扩张器可以使用应变仪来测量食道压力。图8是一个示意图，示出一个具有应变仪202的食道扩张器外科器械200。被安装的应变仪需要进行校准(例如，增益和偏移量的校准)。与增益和偏移量相关联的校正因子在食道扩张器外科器械的最后组装过程中可以推导出来，而且可以用电子方式储存在装在食道扩张器外科器械200中的存储装置204中。应变仪202也可以使用信号调节放大器206。信号调节放大器206可以位于挠性轴210的适配器208之中或位于功率控制台212之中。信号调节放大器206也可能需要校准，例如，增益和偏移量的校准。信号调节放大器206可以包括存储装置214，以便储存它相应的校正因子。因此，当食道扩张器外科器械200与挠性驱动轴210接合时，远程功率控制台212中的处理器216可以从食道扩张器外科器械200和信号调节放大器206中的存储装置204、214分别读出储存的校准数据，并使用校正因子在操作之前校准食道扩张器外科器械200。
尽管本发明已经参照附图和优选实施例进行了说明，但显然，对于本领域的技术人员来说，在不背离本发明的精神和范围的前提下，可以对本发明作出各种更改和变化。因此，本发明的各种更改、变化由所附的权利要求书及其等同物的内容涵盖。

Claims (29)

1.一种用于校准外科器械的系统，包括：
电子机械执行机构；
可由所述电子机械执行机构操纵的外科器械，所述外科器械具有可相对于彼此运动的第一部件与第二部件；
与所述外科器械相对应的校准数据，所述校准数据包括表示所述外科器械的第一位置的数据，所述外科器械的所述第一位置是所述第一和第二部件相对于彼此的第一位置；以及
设置用来根据所述校准数据确定所述外科器械的第二位置的处理器。
2.根据权利要求1所述的系统，进一步包括：
设置用来提供与所述执行机构的运动相对应的信号的传感器，
其中所述处理器进一步设置用来处理来自所述传感器的用来确定所述外科器械的所述第二位置的所述信号。
3.根据权利要求2所述的系统，其中所述传感器是霍耳效应传感器。
4.根据权利要求1所述的系统，其中执行机构包括：
电机；以及
能与所述外科器械和所述电机耦合的可旋转的驱动轴，
其中所述处理器是设置用来根据所述可旋转的驱动轴的旋转圈数确定所述外科器械的所述第二位置。
5.根据权利要求1所述的系统，其中所述校准数据包括使所述执行机构的运动与所述外科器械的位置变化相关联的数据。
6.根据权利要求1所述的系统，其中所述外科器械包括存储单元，所述校准数据被储存在所述外科器械的所述存储单元中。
7.根据权利要求1所述的系统，其中所述处理器包括存储单元，所述校准数据被储存在所述处理器的所述存储单元中。
8.根据权利要求1所述的系统，其中所述处理器包括存储单元，所述处理器的存储单元设置用来储存与多个外科器械相对应的校准数据。
9.根据权利要求8所述的系统，其中所述外科器械包括储存识别数据的存储单元，所述处理器设置用来在收到与所述外科器械相对应的所述识别数据时，选择与所述外科器械相对应的所述校准数据。
10.根据权利要求1所述的系统，其中所述外科器械是在与所述执行机构连接时被自动地和有选择地驱动到所述第一位置。
11.根据权利要求1所述的系统，其中储存在所述外科器械的存储单元中的所述校准数据包括校正因子。
12.根据权利要求11所述的系统，其中所述处理器是设置用来根据所述校正因子确定所述外科器械的所述第二位置。
13.根据权利要求11所述的系统，其中所述校正因子对应于驱使所述外科器械从所述第一位置到所述第二位置所需的实际运动量与驱使所述外科器械从所述第一位置到所述第二位置所需的预期运动量之间的差值。
14.根据权利要求11所述的系统，其中所述执行机构包括电机和能与外科器械和所述电机耦合的可旋转的驱动轴；以及
其中所述校正因子对应于驱使所述外科器械从所述第一位置到所述第二位置所需的驱动轴的实际的旋转圈数与驱使所述外科器械从所述第一位置到所述第二位置所需的驱动轴的预期的旋转圈数之间的差值。
15.一种用来校准可与执行机构连接的外科器械的方法，包括下述步骤：
把与所述外科器械相对应的校准数据提供给处理器，所述外科器械具有可相对于彼此运动的第一部件与第二部件；
所述校准数据包括表示所述外科器械的第一位置的数据，所述外科器械的所述第一位置是所述第一部件与所述第二部件相对于彼此的第一位置；以及
通过所述处理器确定所述外科器械的第二位置。
16.根据权利要求15所述的方法，进一步包括下述步骤：
把与所述执行机构的运动相对应的信号提供给所述处理器；
通过所述处理器根据所述信号确定所述外科器械的所述第二位置。
17.根据权利要求15所述的方法，进一步包括将所述外科器械置于全部张开的位置和全部关闭的位置之一的步骤。
18.根据权利要求17所述的方法，其中将所述外科器械置于全部张开的位置和全部关闭的位置之一的所述步骤是在所述外科器械与所述执行机构连接之前完成的。
19.根据权利要求17所述的方法，其中将所述外科器械置于全部张开的位置和全部关闭的位置之一的所述步骤是在所述外科器械与所述执行机构连接之后完成的。
20.根据权利要求15所述的方法，进一步包括如下步骤：
通过传感器提供与所述执行机构的运动相对应的信号。
21.根据权利要求15所述的方法，进一步包括如下步骤：
通过能与所述外科器械和所述电机耦合的可旋转的驱动轴用所述电机驱动所述外科器械。
22.根据权利要求15所述的方法，进一步包括如下步骤：
通过传感器提供与所述可旋转的驱动轴的旋转圈数相对应的信号。
23.根据权利要求22所述的方法，其中所述传感器是霍耳效应传感器。
24.根据权利要求15所述的方法，其中所述提供校准数据的步骤包括提供使所述执行机构的运动与所述外科器械的位置变化相关联的数据。
25.根据权利要求15所述的方法，其中所述提供校准数据的步骤包括提供储存在所述外科器械的存储单元中的校准数据。
26.根据权利要求25所述的方法，其中所述提供储存在所述外科器械的存储单元中的校准数据的步骤包括提供校正因子。
27.根据权利要求26所述的方法，进一步包括如下步骤：通过确定驱使所述外科器械从所述第一位置到所述第二位置所需的实际运动量与驱使所述外科器械从所述第一位置到所述第二位置所需的预期运动量之间的差值来确定所述校正因子。
28.根据权利要求26所述的方法，进一步包括如下步骤：
通过能与所述外科器械和所述电机耦合的可旋转的驱动轴，利用所述电机驱动所述外科器械，
其中确定所述校正因子的所述步骤包括确定驱使所述外科器械从所述第一位置到所述第二位置所需的驱动轴的实际的旋转圈数与驱使所述外科器械从所述第一位置到所述第二位置所需的驱动轴的预期的旋转圈数之间的差值。
29.根据权利要求15所述的方法，其中所述提供校准数据的步骤包括提供储存在所述处理器的存储单元中的校准数据。
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US20030125717A1 (en) 2003-07-03
JP4458464B2 (ja) 2010-04-28
US7803151B2 (en) 2010-09-28
WO2003047450A2 (en) 2003-06-12
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AU2002365604A8 (en) 2003-06-17
JP2005511137A (ja) 2005-04-28
US9743927B2 (en) 2017-08-29
WO2003047450A3 (en) 2003-11-13
US20100324541A1 (en) 2010-12-23
CN1630493A (zh) 2005-06-22
CN101584607A (zh) 2009-11-25
CA2466812A1 (en) 2003-06-12
EP1453432A2 (en) 2004-09-08
US20170354410A1 (en) 2017-12-14
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US10758225B2 (en) 2020-09-01
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