CN102188270B - 用于确定手术器械中的线性运动的参数的方法和装置 - Google Patents

用于确定手术器械中的线性运动的参数的方法和装置 Download PDF

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CN102188270B
CN102188270B CN201110070456.1A CN201110070456A CN102188270B CN 102188270 B CN102188270 B CN 102188270B CN 201110070456 A CN201110070456 A CN 201110070456A CN 102188270 B CN102188270 B CN 102188270B
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戴维·M·麦丘恩
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Abstract

本发明公开了一种手术器械和控制该手术器械的方法，尤其公开了一种用于确定手术器械中的线性运动的参数的方法和装置。手术器械包括壳体和从壳体向远侧延伸并且限定第一纵向轴线的细长轴。手术器械还包括发射杆和驱动机构，发射杆设置在细长轴内，驱动机构至少部分地设置在壳体内。驱动机构与发射杆机械地协作以移动发射杆。传感器感测从发射杆的表面反射的光的参数，发射杆包括改变发射杆的反射率的标记。测量单元基于感测到的从发射杆的表面反射的光的参数确定诸如发射杆的位置和速度等的发射杆的运动参数。

Description

用于确定手术器械中的线性运动的参数的方法和装置
相关申请的交叉引用
本申请要求于2010年3月16日提交的、序列号为61/314,189的美国临时专利申请的优先权，其全部内容合并于此。本公开还是2008年8月12日提交的、序列号为12/189,834的美国专利申请的部分延续案，其要求于2007年10月5日提交的、序列号为60/997,854的美国临时专利申请的优先权，其全部内容合并于此。
技术领域
本公开涉及用于操作身体组织或者将手术紧固件展开进身体组织的方法和装置。特别地，涉及基于从发射杆的表面反射的光的变化来确定手术器械中的发射杆的运动参数的方法和装置。
背景技术
当前的手术器械通常需要10-60磅手动力夹紧身体组织和将手术紧固件展开进身体组织中。这些手术器械的重复使用可能导致外科医生的手部疲劳。除了其他原因以外，开发了动力手术器械来减少或者消除这种疲劳。这些动力手术器械包括气体动力的气压钉合器，其将手术紧固件插入身体组织中。某些这种器械具有加压气体供给器，该供给器联接到发射机构和扳机机构上。扳机机构当被按下时释放出加压气体，这依次会施加力到发射机构上以将手术紧固件展开进身体组织中。
动力手术器械还包括电动机动力手术器械。这些手术器械包括具有用来驱动吻合钉发射机构的电动机的动力手术钉合器。典型地，电动机是机械地联接到导螺杆上的回转电动机以使得电动机能够引起导螺杆旋转。导螺杆具有沿着其长度加工在其外表面上的连续的螺旋状螺纹(类似于螺钉上的螺纹)。具有相应的螺旋状螺纹的螺母穿到导螺杆上。但是，螺母不随导螺杆旋转。在这个构造中，当电动机使导螺杆旋转时，螺母在线性方向上被驱动。依次地，螺母驱动用于操作身体组织或者将手术紧固件展开进入身体组织的机构。可选地，导螺杆由以在其外表面上具有螺旋状螺纹的发射杆代替，螺母由在其外表面上具有相应的螺纹的驱动管代替(如下文所述)。在这个构造中，电动机使驱动管旋转，并且驱动管依次地在线性方向上驱动发射杆。依次地，发射杆驱动用于操作身体组织或者将手术紧固件展开进入身体组织的机构。
在某些手术器械中，控制器基于来自感测发射机构的线性运动参数(例如，速率)的传感器的反馈来控制发射机构(例如，螺母或者发射杆)的运动。常规的感测与发射杆的运动相关联的参数的方法是使用机械地联接到回转电动机或者驱动发射杆的驱动管的旋转传感器。
典型的旋转传感器包括编码器轮盘，编码器轮盘联接到回转电动机(或者驱动管)的传动轴、光发生器和光学读出器(例如，光电遮断器)上。编码器轮盘包括围绕其外边缘设置的多个狭缝并且与传动轴一起旋转。编码器轮盘的外边缘设置在光发生器和光学读出器之间以使得光发生器通过狭缝将光束发射到光学读出器上。也即是说，随着传动轴旋转，编码器轮盘遮断光束。光学读出器确定光束遮断的次数和遮断的速率并将这些测量值发送给处理器，处理器确定传动轴的速度。然后处理器使用传动轴的速度计算机械地联接到传动轴上的致动器(例如，发射杆)的线速率。
但是，旋转传感器和其他现有类型的传感器以显著的方式有助于手术器械的尺寸、长度、直径、重量和复杂性。此外，因为传感器与手术器械的部件机械地相互作用或者重复地与手术器械的部件物理接触，所以这些传感器中的多数增加了手术器械内的机械磨损。因此，存在对于具有如下传感器的手术器械的持续的需求：其可减小机械磨损(以增强可靠性)、减小手术器械的设计的复杂性(以减小制作成本)、以及减小手术器械的尺寸、长度、直径和重量(以增强腹腔镜和内窥镜程序中的可操作性)。
发明内容
在一个方案中，本发明以手术器械为特征。手术器械包括壳体、细长轴、发射杆、驱动机构、运动传感器和测量单元。细长轴从壳体向远侧延伸并且限定第一纵向轴线。发射杆设置在细长轴内，驱动机构至少部分地设置在壳体内。驱动机构与发射杆机械地协作。运动传感器感测从所述发射杆的表面反射的光(例如，可见光)的参数。测量单元基于感测出的从发射杆的表面反射的光的参数的变化确定发射杆的运动参数。这种传感器设计不会与发射杆机械地相互作用，因此减小了手术器械的部件的机械磨损。此外，这种传感器设计是简单的并且使得手术器械的尺寸最小化以实现手术程序期间最佳的操作性。
在某些实施例中，运动传感器包括产生和发射光到发射杆的表面上并且感测从发射杆的表面反射的光的参数的光发射器和检测器单元。在某些实施例中，光发射器和检测器单元产生具有的参数随着从发射杆的表面反射的光的参数的变化而改变的脉冲信号。此外，测量单元基于脉冲信号的参数的变化确定发射杆的运动参数。在某些实施例中，脉冲信号的参数是脉冲信号的频率或者脉冲信号的脉冲宽度。
在某些实施例中，测量单元包括对脉冲信号中的脉冲进行计数的计数器。在这些实施例中，测量单元还包括对脉冲信号进行计算的数据处理器。在某些实施例中，发射杆的表面包括改变发射杆的表面的反射特性的多个标记。在这些实施例中，测量单元包括计数器，计数器基于感测到的从发射杆的表面反射的光的参数的变化对暴露于从光发射器和检测器单元发射的光的标记的数量进行计数。在某些实施例中，测量单元基于脉冲信号频率确定发射杆的运动参数。
在其他实施例中，发射杆的运动参数是发射杆的位置或者速率(velocity)，并且光的参数是相位、频率、强度或者偏振。在另外的实施例中，手术器械进一步包括基于测量出的由测量单元确定的发射杆的运动参数控制驱动机构的控制单元。
在另一个方案中，本公开以确定手术器械中的发射杆的运动参数的方法为特征。方法包括；发射光到手术器械中的发射杆的表面上；感测从发射杆的表面反射的光的参数的变化；以及基于感测到的从发射杆的表面反射的光的参数的变化确定发射杆的运动参数。
在又一个方案中，本公开以操作手术器械的方法为特征。这个方法包括；发射光到手术器械中的发射杆的表面上；感测从发射杆的表面反射的光的参数的变化；基于感测到的从发射杆的表面反射的光的参数的变化确定发射杆的运动参数；以及基于确定出的发射杆的运动参数控制发射杆的运动。
在某些实施例中，感测从发射杆的表面反射的光的参数的变化包括产生具有的参数随着从发射杆的表面反射的光的参数的变化而改变的脉冲信号，并且确定发射杆的运动参数包括基于脉冲信号的参数的变化确定发射杆的运动参数。在其他实施例中，感测从发射杆的表面反射的光的参数的变化包括对发射杆上的暴露于光中的标记的数量进行计数。
在某些实施例中，发射杆的运动参数包括发射杆的位置或者速率，而且光的参数是相位、频率、强度或者偏振。
附图说明
在此将参考附图对主题器械的各种实施例进行描述，其中：
图1为根据本公开的实施例的包括运动传感器的手术器械的立体图，运动传感器包括光发射器和检测单元；
图2为图1的动力手术器械的局部立体图；
图3为图2的动力手术器械的俯视平面图；
图4为根据本公开的实施例的图2的动力手术器械的立体剖视图；
图5为根据本公开的实施例的图1中动力手术器械的关节式运动机构的立体图；
图6为图1的动力手术器械的局部剖视图；
图7为根据本公开的另一个实施例的图1的动力手术器械的壳体的局部剖视图；
图8为图1的动力手术器械的零件分离的装载单元的安装组件和近侧本体部的分解立体图；
图9为图1的动力手术器械的末端执行器的侧视剖视图；
图10为示出图1的动力手术器械的离合器的局部侧视图；
图11为图1的动力手术器械的单向离合器盘的立体图；
图12为根据本公开的实施例的控制系统的示意图；
图13为根据本公开的实施例的反馈控制系统的示意图；
图14至图15为根据本公开的实施例的反馈控制系统的反馈控制器的立体正视图和后视图；
图16为根据本公开的实施例的反馈控制器的示意图；
图17为根据本公开的实施例的用于控制发射杆的运动的反馈控制系统的框图；
图18A和图18B为图示出根据本公开的实施例由光发射器和检测器单元输出的脉冲信号如何响应于由发射杆相对于细长轴的运动产生的从发射杆的表面反射的光的变化的图；
图19为根据本公开的实施例的用于确定手术器械中的发射杆的运动参数的处理的流程图；
图20为根据本公开的实施例的用于操作手术器械的处理的流程图；以及
图21和图22为根据本公开的实施例的用于确定手术器械中的发射杆的运动参数的处理的流程图。
具体实施方式
现在将参考附图详细描述目前公开的手术器械的实施例，其中相同的附图标记指代多幅视图中的每一幅图的相同或相应元件。如本文所使用的，术语“远侧”指的是手术器械较远离用户的部分或其部件，而术语“近侧”指的是手术器械较靠近用户的部分或其部件。
根据本公开的手术器械(诸如动力手术钉合器)在图中用附图标记10指代。先参考图1，动力手术器械10包括壳体110、限定了第一纵向轴线A-A的细长轴140，以及限定了第二纵向轴线B-B的末端执行器160。细长轴140从壳体110向远侧延伸，并且末端执行器160邻近细长轴140的远侧部设置。在一些实施例中，细长轴140构造为用于微创手术程序。
壳体110包括驱动电动机200、驱动管210和发射杆220、和运动传感器251(以虚线示出)。驱动电动机200可以是在径向上驱动驱动管210的回转电动机。如在下文将详细描述的，驱动管210在其内表面上包括与发射杆220的外表面上的螺纹相对应的螺纹，以使得驱动管210的旋转引起发射杆220在线性方向上的移动。发射杆220依次致动末端执行器160。
在某些手术程序中，必须精确地控制发射杆220和末端执行器160。根据本公开的实施例，基于由运动传感器251(其包括以下描述的光发射器和检测器单元)感测到的发射杆220的实际运动对发射杆220的运动进行精确的控制。运动传感器251通过发射光到发射杆220的表面上以及检测从发射杆220的表面反射的光的参数来感测发射杆220的实际运动。运动传感器251可以通过电耦连(252)至运动传感器251的发射杆220感测发射杆220和细长轴140之间电容的变化来感测电场的变化。
根据本公开的实施例，末端执行器160包括：具有一个或多个手术紧固件的第一钳夹构件(例如，钉仓组件164)；以及包括用来成形手术紧固件的砧座部的与第一钳夹构件对置的第二钳夹构件(例如，砧座组件162)。在某些实施例中，吻合钉被容纳在钉仓组件164中以同时或连续的方式将吻合钉的线性排列施加到身体组织。砧座组件162和钉仓组件164中的一个或两个相对于彼此能够在砧座组件162与钉仓组件164隔开的打开位置和砧座组件162与钉仓组件164并列对准的接近或夹紧位置之间移动。在其他实施例中，末端执行器160可以构造为展开任何类型的用于使身体组织结合的手术部件，包括紧固件、夹子、吻合钉、线圈或者缝合线。在另外的实施例中，末端执行器160可以构造为可旋转、做关节式运动、伸展、缩回、夹紧或者切割。
将末端执行器160枢转地附连到安装部166上，安装部166依次附连到主体部168上。主体部168可以与手术器械10的细长轴140构成整体，或可以可拆卸地附连到手术器械10上以提供可替换的一次性装载单元(DLU)、或单次使用的装载单元(SULU)(例如，装载单元169)。在某些实施例中，可重复利用部分可以被构造为用来消毒并且在随后的手术程序中再次使用。
装载单元169可以通过卡扣连接器连接到细长轴140上。装载单元169可以包括将末端执行器160连接到发射杆220上的关节式运动连杆，以使末端执行器160随着发射杆220沿第一纵向轴线A-A在远近方向上平移而作关节式运动。可以使用其它部件将末端执行器160连接到细长轴140以实现关节式运动，例如柔性管或包括多个可枢转构件的管。
装载单元169可以并入或被构造为并入各种末端执行器，例如脉管密封装置、直线吻合装置、环形吻合装置、切割器等。这些末端执行器可以被联接到动力手术器械10的细长轴140上。装载单元169可以包括不做关节式运动的直线吻合末端执行器。中间柔性轴可以被包括在手柄部112和装载单元169之间。柔性轴可便于接近和/或进入身体的特定区域。
如图1和图2所示，壳体110包括手柄部112，手柄部112上设置有主驱动开关114。开关114可以包括第一开关114a和第二开关114b，二者一起形成扳钮开关。限定了手柄轴线H-H的手柄部112被构造为由用户的手指来抓取。手柄部112具有提供了宽裕的手掌紧握杠杆机构的人体工程学的形状，该形状有助于防止手柄部112在操作中被挤出用户的手。每一个开关114a和114b被示为设置到手柄部112上合适的位置以便于由用户的一个或多个手指按压。在另一个实施例中，手术器械10包括由肋元件分隔开的两个独立开关114a和114b。
另外，开关114a、114b可以用来起动和/或停止驱动电动机200(图1、图4和图6)的移动。在一个实施例中，开关114a被构造为在第一方向上启动驱动电动机200以使发射杆220沿远侧方向推进(图1和图6)，从而夹紧砧座组件162与钉仓组件164。与之相反，开关114b可以被构造为通过在与第一方向相反的第二方向上启动驱动电动机200来缩回发射杆220以打开砧座组件162与钉仓组件164。缩回模式起动机械闭锁件(lock out)，阻止装载单元169的吻合和切割的进一步进行。扳钮具有用来启动开关114a的第一位置，启动开关114b的第二位置，以及在第一位置和第二位置之间的中间位置。
壳体110，尤其是手柄部112，包括开关护罩117a、117b。开关护罩117a、117b可以具有分别围绕开关114a的底部和开关114b的顶部的类肋状。开关护罩117a、117b使得开关114a、114b的意外启动最小化。此外，开关114a、开关114b具有需要增加压力以启动的高触觉反馈。
在一个实施例中，开关114a、开关114b被构造为多速(例如两个或更多个速度)开关、增量开关或变速开关，所述开关以非线性方式控制驱动电动机200和发射杆220的速度。例如，开关114a、114b能够对压力敏感。这种控制接口允许驱动部件的速率从较慢和较精确的模式逐渐增加到较快的操作。为了使得缩回的意外启动最小化，在故障安全开关被按压之前开关114b可以是非电子接通的。另外，第三开关114c也可以用于该目的。另外或可选择地，故障安全能够通过在从大约100毫秒到2秒的预定时间段内按压并且保持开关114b而得到克服。然后，发射杆220将自动缩回至其初始位置，除非开关114c在缩回模式期间被启动(例如，按压或释放)以停止缩回。随后按压开关114b使得发射杆220的缩回重新进行。可选择地，在其它实施例中，即使开关114b被释放，发射杆220的缩回能够继续直到完全缩回。其它实施例包括发射杆220的自动缩回模式，在该模式下，即使释放了开关114b，仍然全部缩回该发射杆220。如果开关114a或开关114b中的一个被启动，缩回模式可在任意时间被中断。
开关114a、开关114b耦连到非线性速度控制电路115中，电路115能够实施为电压调节电路、可变电阻电路或微电子脉冲宽度调制电路。开关114a、114b可以通过移置或驱动可变控制装置与控制电路115(图4)相接，所述可变控制装置例如为变阻器、多档位开关电路(multiple position switchcircuit)、线性和/或旋转可变位移传感器、线性和/或旋转电位计(potentiometer)、光学编码器、铁磁传感器和霍尔效应传感器。这就允许开关114a、114b基于按压开关114a、114b以多种速度模式操作驱动电动机200，速度模式例如取决于所使用的控制电路115的类型递增或逐步地逐渐增加驱动电动机200的速度。
在一个特定实施例中，可以致动开关114c以机械地和/或电气地改变从夹紧到发射的操作模式。开关114c凹入在壳体110中并且具有高触觉反馈以防止错误致动。提供单独的控制开关以初始化发射模式，这允许末端执行器的钳夹重复地打开和关闭，因此手术器械10在按压开关114c前用作抓取器，以启动吻合和/或切割。开关114可以包括一个或多个微电子薄膜开关。这种微电子薄膜开关包括相对低的致动力、小的封装尺寸、人体工程学的尺寸和外形、薄轮廓、将字模制在开关上的能力、符号、描绘和/或指示的能力以及低材料成本。另外，可以密封开关114a、114b(例如微电子薄膜开关)以便于手术器械10的消毒并且有助于防止颗粒和/或流体污染。
作为替代，或除了开关114a、114b之外，其它输入装置可以包括声音输入技术，该输入装置可以包括并入控制系统(未示出)中的硬件和/或软件，或者单独的数字模块。声音输入技术可以包括声音识别、声音启动、声音校正和/或嵌入语音。用户可以通过声音命令来整体或部分地控制器械的操作，因此解放出用户的一只或两只手以操作其它器械。也可以用声音或其它音响输出向用户提供反馈。
参考图3，壳体110的近侧区118包括用户接口120。用户接口120包括屏幕122和多个开关124。用户接口120可以显示手术器械10的各种类型操作参数，例如：“模式”(例如，旋转、关节式运动或致动)。操作参数通过传感器可以传递至用户接口120。操作参数可以包括“状态”(例如，旋转速度、关节式运动角度或致动类型)；和“反馈”，“反馈”例如吻合钉是否已经基于手术器械10中设置的传感器所报告的信息被发射。错误代码和其他代码(例如，不正确载入、更换电池、电池水平和估计剩余发射次数)也可以传递至用户接口120。
屏幕122可以为LCD屏、等离子屏、电致发光屏等。在一个实施例中，排除开关124的需要，屏幕122可以为触摸屏。触摸屏可以结合电阻的、表面声波、电容的、红外的、应变仪式的、光学的、分散信号的或声音脉冲识别触摸屏的技术。触摸屏可以允许用户在观察操作反馈的同时提供输入。该方法可能够便于密封屏部件从而有助于对手术器械10进行消毒，并且可以防止颗粒和/或流体污染。在某些实施例中，屏幕122被可枢转或可旋转地安装到手术器械10上以用来在使用或准备期间灵活地观察屏幕122(例如，通过铰链或球窝式安装件)。
开关124可以用来起动和/或停止手术器械10的移动以及选择枢轴方向、速度和/或扭矩。而且至少一个开关124可以被用来选择各设定值被超越的紧急模式。开关124还可以用来选择屏幕122上的各种选项，例如在导航用户接口菜单和选择各种设置的同时对提示作出响应，允许用户输入不同的身体组织类型以及吻合钉钉仓的各种尺寸和长度。
开关124可以由各种形状和尺寸的微电子触觉或非触觉薄膜、聚酯薄膜、合成橡胶、塑料或金属键形成。另外，可以将开关定位在相互不同的高度和/或可以包括凸起的标记或其它织构特征(例如凹陷或凸起)以使得用户不需要查看用户接口120就能够按压适当的开关。
除了屏幕122之外，用户接口120可以包括一个或多个可视化输出123，可视化输出123可以包括一个或多个彩色可见光源(colored visible light)或发光二极管(“LED”)以向用户提供反馈。可视化输出123可以包括各种形状、尺寸和颜色的相应的指示器，指示器具有识别可视化输出123的数字和/或文字。可视化输出123设置在壳体110的顶部以使输出123被抬起并相对于壳体110突出以提供可视化输出123的更好的可见度。
可视化输出123可以特定的组合显示以向用户指示特定的操作模式。在一个实施例中，可视化输出123包括第一光源(例如黄色)123a、第二光源(例如绿色)123b和第三光源(例如红色)123c。这些光源以与特定的操作模式有关的特定的组合操作。诸如第一光源打开以及第二光源和第三光源关闭可以指示：装载单元169和吻合钉钉仓被装载而电源被启动，允许末端执行器160作为抓取器夹紧以及进行关节式运动。在另一个实施例中，可视化输出123可以包括显示与特定的操作模式有关的特定颜色的一个多色LED。
用户接口120还包括音响输出125(例如乐音、钟、蜂鸣器、和集成扬声器等)以将的各种状态变化传达给用户(例如电池能量不足、钉仓为空等)。音响反馈可以与可视化输出123结合使用或可以替代可视化输出123。音响反馈可以按单个或多个脉冲顺序的嘀嗒声、劈啪声、嘟嘟声、敲钟声和嗡嗡声的形式被提供。在一个实施例中，模拟的机械声音可以被预先录制，模拟的机械声音由复制机械闭锁件和传统的无动力器械机构产生的嘀嗒声和/或劈啪声而预先录制。这样不再需要通过手术器械10的真实部件来产生这些机械声音，并且也避免了嘟嘟声和其它通常与其它手术室设备有关的电子声音的使用，从而使得无关的音响反馈造成的混乱最小化或者消除这种混乱。
手术器械10还可以通过壳体110内的触觉机构(未明确示出)来提供触觉或振动反馈。触觉反馈可以与听觉和视觉反馈结合使用或可以替代它们以避免与依赖于音响和视觉反馈的手术室设备发生混乱。触觉机构可以为以脉动的方式振动的异步电动机。在一个实施例中，振动处于大约30Hz或以上的频率，这提供了具有1.5毫米或更低振幅的位移，以将振动效果限制为不会到达装载单元169。
用户接口120还可以包括在屏幕122和/或开关124上的不同颜色和/或亮度的文字以进一步区别显示项目。视觉、听觉或触觉反馈的强度能够增加或降低。例如，反馈强度可以用来指示器械上的力正变得过大。
图1至图5图示了关节式运动机构170，其包括关节式运动壳体172、动力关节式运动开关174、关节式运动电动机132以及手动关节式运动旋钮176。该关节式运动开关174可以为在壳体110各侧具有臂174a和174b的摇杆和/或滑动开关，以允许左手或右手使用关节式运动开关174。动力关节式运动开关174的平移或者手动关节式运动旋钮176的枢转会启动关节式运动电动机132，然后关节式运动电动机132致动如图5中显示的关节式运动机构170的关节式运动齿轮233。致动关节式运动机构170会引起末端执行器160从其纵向轴线B-B大体与纵向轴线A-A成一直线的第一位置朝向纵向轴线B-B设置为相对于纵向轴线A-A有一角度的位置移动。优选地，可以到达多个关节式运动位置。动力关节式运动开关174还可以与由开关114a、开关114b控制的夹紧机构类似并入非线性速度控制器。
此外，壳体110包括具有翼状外形并且从壳体110的顶面延伸至开关174上面的开关护罩167。开关护罩167使得当手术器械10被放倒时开关174的意外启动最小化，或者防止在使用时碰到物理障碍物，并且要求用户触到罩167下面以启动关节式运动机构170。
此外，关节式运动壳体172和动力关节式运动开关174被安装在旋转壳体组件180上，旋转旋钮182围绕第一纵向轴线A-A的旋转引起壳体组件180以及关节式运动壳体172和动力关节式运动开关174围绕第一纵向轴线A-A旋转，从而引起发射杆220的远侧部224(图6)和末端执行器160围绕第一纵向轴线A-A的相应旋转。关节式运动机构170机电耦连至设置在壳体前端组件155上的第一导电圆环157和第二导电圆环159，如图4所示。导电圆环157和导电圆环159可以被焊接和/或卷曲到前端组件155上并且与电源400电接触，从而向关节式运动机构170提供电力。前端组件155可以是模块化的(例如，独立于壳体110)并且可以在组装期间附连到壳体110以允许更容易地进行圆环的焊接和/或卷曲。关节式运动机构170包括与导电圆环157和导电圆环159接触的一个或多个刷子和/或弹簧负载触头，以使随着壳体组件180(图3)连同关节式运动壳体172一起旋转，关节式运动机构170与导电圆环157和导电圆环159连续接触，从而从电源400接收电力。
关节式运动壳体172、动力关节式运动开关174、手动关节式运动旋钮176的更多细节以及向末端执行器160提供关节式运动在于2007年3月15日提交的、申请序列号为11/724,733的共有美国专利申请中有详细的描述，其全部内容通过引用合并于此作为参考。
如图4和图6所示，手术器械10的实施例包括电耦连(252)至发射杆220的运动传感器251。运动传感器251可以感测发射杆220相对于细长轴140的位置。运动传感器251可以单独使用或者与设置在壳体110内的诸如限位开关、近侧传感器(例如，光学的和/或铁磁的)，线性可变位移传感器和转轴编码器等的其他传感器组合使用，从而控制和/或测量末端执行器160的关节式运动角度和/或发射杆220的位置。
图4至图8图示了手术器械10的各种内部部件，包括驱动电动机200、驱动管210以及具有近侧部222和远侧部224的发射杆220。驱动管210能够围绕驱动管轴线C-C旋转。驱动电动机200设置为与驱动管210机械协作并且被构造为使驱动管210围绕驱动齿轮轴线C-C旋转。在一个实施例中，驱动电动机200可以为电动机或齿轮电动机，其可以包括并入其壳体内的齿轮装置。
发射杆联轴器190提供了发射杆220的近侧部222和远侧部224之间的连接。具体地，发射杆联轴器190使发射杆220的远侧部224能相对于发射杆220的近侧部222旋转。因此，参考下面对关于对准板350的讨论，发射杆联轴器190使得发射杆220的近侧部222能够保持不旋转，同时允许发射杆220的远侧部224的旋转(例如，当旋转旋钮182旋转时)。
参考图6和图7，发射杆220的近侧部222包括贯通驱动管210的内螺纹部212的螺纹部226。发射杆220和驱动管210之间的这种关系引起：在驱动管210响应驱动电动机200的旋转而旋转时，发射杆220在箭头D和箭头E的方向上沿驱动管210的螺纹部212向远侧和/或近侧移动。随着驱动管210在第一方向(例如，顺时针方向)上旋转，发射杆220向近侧移动(即，在箭头E的方向上)。如图6所示，发射杆220位于其最近侧位置。随着驱动管210在第二方向(例如，逆时针方向)上旋转，发射杆220向远侧移动(即，在箭头D的方向上)。如图7所示，发射杆220位于其最远侧位置。
发射杆220能在特定的限度内向远侧和近侧平移。具体地，发射杆220的近侧部222的第一末端222a与对准板350结合来作为机械停止装置。也就是说，在缩回时，当发射杆220向近侧平移时，第一末端222a接触对准板350的远侧表面351，从而阻止发射杆220继续向近侧平移，如图6所示。另外，近侧部222的螺纹部226与对准板350结合而作为机械停止装置。也就是说，当发射杆220向远侧平移时，螺纹部226接触对准板350的近侧表面353，从而阻止发射杆220进一步向远侧平移，如图7所示。
对准板350包括具有非圆形横截面的孔。所述孔的非圆形横截面阻止发射杆220的近侧部222的旋转，从而限制了发射杆220的近侧部222通过孔的轴向平移。此外，近侧轴承354和远侧轴承356至少部分地设置在驱动管210周围以便于驱动管210的旋转，同时有助于驱动管210在壳体110内定位。驱动管210在其两端包括远侧径向凸缘(flange)210a和近侧径向凸缘210b，它们分别用于保持驱动管210使其位于远侧轴承356和近侧轴承354之间。
驱动管210在第一方向(例如，逆时针方向)上的旋转对应于发射杆220向远侧平移，发射杆220向远侧平移会致动末端执行器160的钳夹构件162、164以抓取或夹紧组织。发射杆220追加的远侧平移可通过致动凸轮杆和/或致动滑块74(图9)把手术紧固件从末端执行器160中弹射出以紧固组织。此外，发射杆220还可以被构造为致动刀具(未明确示出)以切断组织。发射杆220的近侧平移对应于驱动管210在第二方向(例如，顺时针方向)上的旋转，发射杆220的近侧平移致动砧座组件162与钉仓组件164(图9)和/或刀具使其缩回或恢复到相应的发射前位置。发射或其它的致动末端执行器160的进一步细节在由米利曼(Milliman)等人共有的专利号为6,953,139的美国专利(即139号专利)中有详细的描述，其全部公开通过引用合并于此作为参考。
图8所示为装载单元169的分解图。可以通过具有驱动梁或驱动构件266的轴向驱动组件213来致动末端执行器160。驱动梁213的远侧端可以包括刀片。另外，驱动梁213包括具有一对凸轮构件40a的固定凸缘40，凸轮构件40a在驱动梁213纵向前进期间啮合砧座组件162、钉仓组件164。驱动梁213使致动滑块74纵向前进穿过吻合钉钉仓164。如图9中所示，滑块74具有凸轮楔，随着滑块74前进所述凸轮楔用来啮合设置在钉仓组件164的狭槽内的推钉器68。设置在狭槽内的吻合钉66通过推钉器68被驱动穿过组织并且抵靠砧座组件162。
参考图10，示出了驱动电动机轴202从附连到驱动电动机200上的行星齿轮204处延伸出。驱动电动机轴202与离合器300机械协作。驱动电动机轴202由驱动电动机200旋转，从而引起离合器300的旋转。离合器300包括离合器盘700和弹簧304，并且显示为具有设置在离合器盘302上的楔形部702，楔形部702被构造为与设置在驱动管210的近侧面216上的接口件(例如，楔214)匹配。
弹簧304图示为位于行星齿轮204和驱动管210之间。具体地，根据图10所示的实施例，弹簧304图示为位于离合器盘700和离合器垫圈308之间。另外，驱动电动机200和行星齿轮204安装在电动机支架310上。如图10所示，通过设置在电动机支架310内的狭槽312以及设置在壳体110上的突起314，电动机架310关于壳体110能够被向近侧或远侧调节。
在本公开的一个实施例中，离合器300被实施为滑动单向离合器以限制驱动部件上的扭矩和高惯性负载。离合器300的楔形部702被构造并且布置为相对驱动管210的近侧面216的楔214滑动，除非临界力通过离合器弹簧304施加到离合器盘700上。此外，当弹簧304施加使楔形部702和楔214在不滑动的情况下啮合所需的上述临界力时，驱动管210将在驱动电动机200旋转时旋转。楔形部702和/或楔214可以被构造为当发射杆220上获得发射力时在一个和/或两个方向(例如，顺时针方向和/或逆时针方向)上相对彼此滑动。
如图10和图11所示，示出了带单向离合器盘700的离合器300。离合器盘700包括具有滑动面704和夹紧面706的多个楔形部702。滑动面704具有弯曲边缘，该弯曲边缘啮合驱动管210的楔214直至达到预定负载。夹紧面706具有完全啮合驱动管210并且阻止滑动的扁平边缘。
当离合器盘700在第一方向(例如，顺时针方向)旋转时，楔形部702的夹紧面706无滑动地啮合楔214，从驱动电动机200供给完全扭矩。当离合器盘700反向(例如，逆时针方向)旋转时，楔形部702的滑动面704啮合楔214并且限制向驱动管210传递扭矩。因此，如果施加到滑动面704上的负载超过限值，则离合器300滑动并且驱动管210不旋转。这防止了由于驱动部件的冲量和动摩擦可能产生的对末端执行器160或组织的高负载损伤。更特别地，手术器械10的驱动机构能够以比反向驱动时较小的扭矩正向驱动发射杆220。单向离合器的使用消除了这个问题。另外，在缩回期间还可以用电子离合器来增加电动机势能(例如，连同驱动电动机200、驱动管210、离合器组件300、对准板350和发射杆220的任意部分一起驱动发射杆220向后)，下面将对此进行更加详细的讨论。
驱动电动机轴202包括D形横截面708，横截面708可以包括大体上的扁平部710和圆形部712。因此，尽管驱动电动机轴202能够相对于离合器盘700平移，在驱动电动机轴202旋转时，驱动电动机轴202不会相对于离合器盘700“滑动”。也就是说，驱动电动机轴202的旋转将引起离合器盘700的无滑动旋转。
在根据本公开的某些实施例中，装载单元包括轴向驱动组件，轴向驱动组件与发射杆220协作以使末端执行器160的砧座组件162和钉仓组件164接近，并且从吻合钉钉仓发射吻合钉。正如上述讨论的139号米利曼专利的特定实施例中所公开的，该轴向驱动组件可以包括穿过吻合钉钉仓向远侧行进并且可以在吻合钉发射后缩回的梁。
参考图4，手术器械10包括电源400，电源400可以是可再充电池(例如，铅电池、镍电池或者锂离子电池)。电源400可以包括至少一个一次性电池。该一次性电池可以介于约9伏和约30伏之间。
取决于手术器械10的电流负载需要，电源400包括一个或多个电池单元401。此外，电源400包括一个或多个超级电容器402，由于其比传统电容器更高的能量密度而用作补充储能器件。在高能提取期间，超级电容器402能够与电池单元401结合使用。因为电池单元401为不能使快速引出电流的典型慢流装置，当所要求/所需的能量比电池单元401自身所能提供的更快时(例如，在夹紧厚组织、快速发射和夹紧等时)，能够利用超级电容器402来产生电力冲击。该配置能够降低电池上的电流负载从而减少电池单元401的数量和/或延长电池单元401的寿命。可以将电池单元401连接到超级电容器402上以对电容器充电。
电源400可以连同驱动电动机200一起被移除以提供这些部件的循环使用以及手术器械10的重复使用。在另一个实施例中，电源400可以是在使用中由用户佩戴在束带和/或挽带上并且用导线连接到手术器械10的外部电池组。
电源400封装在绝缘罩404中，绝缘罩404可以由吸收性的、耐火的和阻燃材料形成。罩404将该手术器械10的组件与电源400电绝缘和热绝缘。更具体地，罩404防止由电源400产生的热使手术器械10的其它部件变热。另外，罩404还可以被构造为在过度使用和/或损伤期间吸收从电池402中泄漏的任何化学物质或流体。
电源400联接到被构造为连接到外部电源(例如，DC变压器)的电源适配器406。外部电源可以用来为电源400再充电或供给另外的电力需求。电源适配器406还可以被构造为与电手术发电机相接，该电手术发电机可以随后为手术器械10供应电力。在该配置中，手术器械10还包括交直流电源，该电源转换来自电手术发电机的RF能量并且为手术器械10供电。
在另一个实施例中，电源400利用感应充电接口再次充电。电源400耦连到设置在壳体110的近侧部内的感应线圈(未明确示出)。感应线圈在被放置到电磁场内后把能量转换为电流，然后电流用来为电源400充电。电磁场可以由基站(未明确示出)产生，该基站被构造为与壳体110的近侧部相接，以使感应线圈被电磁场包围。该配置消除了外部接触器的需要并且允许壳体110的近侧部将电源400和感应线圈密封在防止暴露在流体和污染物下的防水环境内。
参考图6，手术器械10还包括一个或多个安全电路，例如放电电路410以及电动机和电池操作模块412。为了显示清晰，使手术器械10的各种电子部件相互连接的导线和其它电路元件并未示出，但是本公开考虑到了该导线和其它电路元件。手术器械10的某些部件无线地连通。
放电电路410耦连到开关414和电阻负载417，并且开关414和电阻负载417依次耦连到电源400。开关414可以为用户启动或自动(例如，定时器、计数器)开关，其在为了安全和低温处理而对电源400完全放电时(例如，在手术程序的最后)被启动。一旦开关414被启动，负载417电连接到电源400以使电源400的势能被导向负载417。自动开关可以为定时器或计数器，其在预定操作时间段或使用数量过后自动启动以为电源400放电。负载417具有足够的预定电阻以完全和安全地为所有电池单元401放电。
电动机和电池操作模块412耦连到一个或多个热传感器413，该热传感器413确定驱动电动机200和电源400内的温度以确保手术器械10的安全操作。所述传感器可以为用来确定在电源400、电热调节器、热电堆、热电耦、热红外传感器等内的引出电流(current draw)的电流表。监测这些部件的温度以确定置于这些部件上的负载。流过这些部件的电流的增加引起这些部件的温度的升高。温度和/或引出电流数据可以随后用来以有效的方式控制电力消耗或保证操作的安全水平。
为了确保手术器械10的安全和可靠操作，理想的是保证电源400是可靠的和/或有效的(例如，遵照严格的质量和安全标准)以及在预定温度范围内的操作。对电源400有效性的鉴定使得病人和/或用户由于质量不佳可能受到伤害的危险降至最低。
再次参考图4和图6，除了运动传感器251之外，手术器械的一些实施例可以包括用来提供与手术器械10的功能有关的反馈信息的多个传感器。传感器的任意组合可以设置在手术器械10内以确定其操作阶段，例如，吻合钉钉仓负载检测以及其状态、关节式运动、夹紧、旋转、吻合、切割和缩回等。传感器能够通过手术器械10的各种内部部件(例如，发射杆220和驱动电动机200)的接近、位移或接触来启动。
在图示的实施例中，传感器能够为可变电阻器(例如，可变电阻装置)、电流监测器、电导传感器、电容传感器、感应传感器、热基传感器、限制启动开关、多位开关电路、压力传感器、线性和/或旋转可变位移传感器、线性和/或旋转电位计、光学编码器、铁磁传感器、霍尔效应传感器以及近程开关。传感器测量旋转、速率、加速度、减速度、线性和/或角位移、机械限制的检测(例如，停止)等。上述测量可以通过实施以线性或旋转的阵列安置在手术器械10的机械驱动部件上的多个指示器来实现。传感器随后将测量值传送给确定手术器械10的操作状态的微控制器500。另外，微控制器500还基于测量的反馈来调节手术器械10的电动机速度或扭矩。
如图11和图12所示，在离合器300实施为滑动离合器的实施例中，线性位移传感器(例如，图4和图6中的运动传感器251)位于离合器300的远侧以提供精确测量。在该配置中，离合器300的滑动量不会影响传感器所记录的位置、速率和加速度测量值。
参考图4，负载开关230设置在关节式运功壳体172内。开关230与开关114串连，阻止手术器械10的启动，除非装载单元169(图1)正确装载到手术器械10内。如果装载单元169没有装载到手术器械10内，则主电源开关(例如，开关114)断开，从而阻止手术器械10的任意的电子部件或电气部件的使用。这还阻止从电源400引出任何可能的引出电流，使得电源400在其特定的储存寿命期间维持最大势能。
由于开关难以从外部操纵并且仅能够通过装载单元169的插入来启动，因此开关230作为阻止手术器械10的错误启动的所谓“闭锁(lock-on)”开关。随着装载单元169插入到细长轴140内通过柱塞或者传感管的移动启动开关230。一旦开关230启动，来自电源400的电力供给到手术器械10的电子部件(例如，传感器、微控制器500等)以提供用户进入用户接口120和其它输入/输出设备的通路。这还启动可视化输出123以使其根据表示装载单元169正确装载的光源组合来照亮。
一旦装载单元169被插入到细长轴中，开关230还基于装载单元169的位置来确定装载单元169是否正确装载。如果装载单元169没有正确装载，则开关114不会被启动并且错误代码通过用户接口120向用户传达。如果装载单元169已经被发射，任意的机械闭锁件已经在之前被启动或吻合钉仓已经被使用，手术器械10通过用户接口120传达错误，例如，第一光源123a闪烁。
在一个实施例中，耦连到主开关114的第二闭锁开关259(图4)可以在手术器械10中实施为设置在被构造为在用户抓取手术器械10时被启动的手柄部112的顶面上的生物电阻抗(bioimpedance)传感器、电容传感器或压力传感器。因此，除非手术器械10被正确抓取，否则开关114的操作被禁用。
参考图6，手术器械10包括用来确定和输出发射杆220的当前线性位置的位置计算器416。该位置计算器416电耦连到运动传感器251，在某些实施例中运动传感器251使用光发射器和检测器单元感测发射杆220上的标记。位置计算器416基于运动传感器251输出的传感器信号来计算发射杆220的当前线性位置。
在某些实施例中，位置计算器416可以被电耦连到其他补充传感器，其他补充传感器包括线性位移传感器237和耦连至驱动电动机200的转速检测装置418。转度检测装置418包括编码器420，该编码器420联接到电动机以产生两个或多个响应于驱动电动机200的旋转的编码器脉冲信号。编码器420将该脉冲信号发送给装置418，然后装置418确定驱动电动机200的转速。由于驱动电动机200的转速与发射杆220的线速度(linear speed)成正比，位置计算器416随后基于驱动电动机200的转速来确定发射杆的线速度和位置。位置计算器416和速度计算器422与微控制器500通信，微控制器500响应于来自位置和速度计算器416、422的传感反馈来控制驱动电动机200。
手术器械10可以包括设置在发射杆220上的第一指示器320a和第二指示器320b，这些指示器确定发射杆220的速度(speed)和发射杆220相对驱动管210和/或壳体110的位置。例如，限位开关(例如，轴开始位置传感器231和夹紧位置传感器232)可以通过感应第一和第二指示器320a和/或320b(例如，凸起、凹槽、锯齿痕等)经过而被启动，以确定发射杆220的位置、发射杆220的速度和手术器械10的模式(例如，夹紧、抓取、发射、密封、切割、缩回)。此外，取决于附连在其上的特定装载单元的尺寸，从第一指示器320a和第二指示器320b接收到的反馈可以用来确定发射杆220应该在何时停止其轴向移动(例如，驱动电动机200应该何时中止)。
更特别地，随着发射杆220从其静止位置(例如，初始位置)在远侧方向上移动，位置传感器231的第一致动由指示手术器械10的操作已经开始的第一指示器320a来启动。随着操作的继续，发射杆220向更远侧移动以开始夹紧，从而移动第一指示器320a使其与夹紧位置传感器232相接(interface)。发射杆220的进一步前进使第二指示器320b移动以与指示手术器械10已经发射的位置传感器232相接。
如上所述，位置计算器416耦连到邻近发射杆220设置的线性位移传感器237。在一个实施例中，线性位置传感器237可以为磁传感器。发射杆220可以被磁化或者可以在其中包括磁性材料。磁传感器可以为被构造为检测磁场变化的铁磁传感器或霍尔效应传感器。随着发射杆220由于驱动电动机200的旋转而直线平移，由磁传感器记录磁场响应于上述平移运动的磁场变化。磁传感器将与磁场变化相关的数据传输给位置计算器416，位置计算器416随后确定作为磁场数据的函数的发射杆220的位置。
在一个实施例中，发射杆220中的一部分可以被磁化。例如，设置在发射杆220上的内螺纹部212的螺纹或其它凹槽(例如，指示器320a和/或指示器320b)可以包括磁性材料或由磁性材料制成。这使得随着发射杆220的磁化部直线平移，磁场内的周期变化与螺纹的每一次非连续平移相关。位置计算器416随后通过对磁场内的周期变化的数量求和来确定发射杆220的距离和位置，并且将该和与螺纹之间的预定距离(例如，螺距)和/或凹槽之间的预定距离相乘。
在一个实施例中，位置计算器416耦连到一个或多个开关421，随着发射杆220和发射杆联轴器190在远侧方向上移动，开关421由内螺纹部212的螺纹或指示器320a和/或指示器320b启动。位置计算器416计算启动开关421的螺纹的数量并且随后将该数量与螺纹之间的预定距离(例如，螺距)或指示器320a和/或指示器320b之间的预定距离相乘。
手术器械10还包括速度计算器422，该速度计算器422确定线性移动的发射杆220的当前速度和/或由驱动电动机200提供的扭矩。速度计算器422耦连到运动传感器251，运动传感器251使得速度计算器422基于发射杆220的位移的变化率来确定发射杆220的速度。
在一个实施例中，速度计算器422被进一步耦连到包括编码器426的转速检测装置424。编码器426传输与驱动电动机200的旋转相关的脉冲，速度计算器422随后使用所述脉冲来计算发射杆220的线速度。在另一个实施例中，速度计算器422耦连到旋转传感器239，该旋转传感器239检测驱动管210的旋转，从而测量驱动管210的转速，使得可以确定发射杆220的线速率(linear velocity)。
速度计算器422还耦连到测量在驱动电动机200内感应的反电动势(“EMF”)的电压传感器428。驱动电动机200的反电动势电压与驱动电动机200的转速成正比，如上所述，驱动电动机200的转速用来确定发射杆220的线速度。
监测驱动电动机200的速度还能够通过在恒定电流条件下测量穿过其端子的电压来实现。驱动电动机200的负载的增加造成施加在电动机端子上的电压的降低，而电动机端子上电压的降低与电动机的速度的减小直接相关。因此，测量穿过驱动电动机200的电压提供了用于确定其上施加的负载。另外，通过监测电压随时间的变化(dV/dt)，微控制器500能够检测与负载的大变化或驱动电动机200和/或电源400的温度增加相关的电压的快速下降。
在另一实施例中，速度计算器422耦连到电流传感器430(例如，电流表)。电流传感器430与耦连到驱动电动机200的分流电阻器432电连通。电流传感器430通过测量经过电阻器432的电压降来测量驱动电动机200引出的电流。由于用来驱动电动机200的电流与驱动电动机200的转速成比例因而与发射杆220的线速度成比例，所以速度计算器422基于驱动电动机200的引出电流来确定发射杆220的速度。
电流传感器430还可以耦连到电源400来确定引出电流，引出电流可以用于分析在末端执行器160上的负载。这可指示被吻合的组织的类型，因为不同的组织具有不同的拉伸特性，其影响施加在手术器械10和电源400和/或电动机200上的负载。
速度计算器422还可以耦连到第二电压传感器(未明确示出)以确定电源400内的电压，从而计算从电源直接输出的功率。另外，电流随时间的变化(dI/dt)能够被监测以检测与通过驱动电动机200所施加的扭矩的大幅增加对应的测量中的快速尖峰脉冲。因此，电流传感器430用来确定驱动电动机200的速度和负载。
另外，由速度计算器422测量的发射杆220的速率随后可以与驱动电动机200的引出电流比较，以确定驱动电动机200是否正确操作。也就是说，如果引出电流与发射杆220的速率(例如，低)不相称(例如，大)，则电动机200处于故障中(例如，锁定、停转等)。如果检测到停转的情况，或引出电流超过了预定的极限值，则位置计算器416确定发射杆220是否处于机械停止状态。如果发射杆处于机械停止状态，则微控制器500能够切断驱动电动机200或进入脉冲和/或暂停模式(例如，对驱动电动机200非连续供电)，以将手术器械10解锁并且缩回发射杆220。
在一个实施例中，速度计算器422将由旋转传感器239检测到的驱动管210的转速和基于转速检测装置424的测量值的驱动电动机200的转速进行比较。如果在离合器300的旋转和驱动管210的旋转之间存在偏差，则所述对比使得速度计算器422可以确定是否存在离合器启动问题(例如，滑动)。如果检测到滑动，则位置计算器416确定发射杆220是否处于机械停止状态。如果发射杆处于机械停止状态，则微控制器500能够切断手术器械10或进入脉冲和/或暂停模式(例如，对驱动电动机200非连续供电)，或者缩回发射杆220。
除发射杆220和其它驱动部件的线性和/或旋转位移之外，手术器械10还包括适于检测末端执行器160的关节式运动的传感器。参考图4，手术器械10包括旋转传感器241，旋转传感器241适于在由轴开始位置传感器231检测的程序开始时指示旋转壳体组件180的开始位置、旋转方向和角位移。指示器设置在旋转旋钮182的内表面上，旋转传感器241通过计算使旋转旋钮182发生了旋转的这些指示器的数量来操作。
参考图1，本公开提供了装载单元识别系统440，其允许手术器械10识别装载单元169及确定装载单元169的操作状态。识别系统440向手术器械10提供关于吻合钉尺寸、钉仓长度、装载单元169的类型、钉仓的状态、正确接合等的信息。该信息允许器械调节夹紧力、夹紧及发射速度和用于不同长度吻合钉钉仓的行程的结束(end of stroke)。
装载单元识别系统440也可以适于确定及向手术器械10(例如，图12所示的控制系统501)传达各种信息，包括用于操作特定末端执行器160的速度、功率、扭矩、夹紧、行进长度及强度限制。控制系统501也可以确定操作模式以及调节用于部件的行进的电压、离合器弹簧负荷和停止点。更具体地说，识别系统可以包括设置在末端执行器160中的部件(例如，微芯片、发射机或发射器)，该部件与控制系统501或位于控制系统501内的接收器通信(例如，无线的、经由红外线信号等)。可以通过发射杆220发送信号，以使发射杆220作为用于在控制系统501与末端执行器160之间通信的管道。在另一实施例中，能够通过诸如反馈控制器603(图14-图16)的中间接口来发送该信号。
通过示例的方式，以上讨论的包括运动传感器251的传感器可以用于确定吻合钉是否已经从吻合钉钉仓中发射、吻合钉是否被全部发射、是否梁已经通过吻合钉钉仓向近侧缩回以及梁向近侧缩回的程度以及与装载单元的操作有关的其他信息。在本公开的特定实施例中，装载单元上装有用于识别装载单元的类型和/或装在手术器械10上的吻合钉钉仓的类型的部件，包括红外线、细胞或射频识别芯片。装载单元和/或吻合钉钉仓的类型可以由控制系统501中的相关接收器来接收，或由用于提供反馈、控制和/或库存分析的操作室中的外部设备来接收。
信息能够经由装载单元169与手术器械10之间的各种通信协议传输(例如，有线传输或无线传输)到手术器械10。所述信息能够存储在装载单元169内的微控制器、微处理器、非易失性存储器、射频识别标签及如光学、颜色、位移、磁、电、二进编码和格雷编码的各种类型的识别器中(例如，电导、电阻、电容、阻抗)。
在一实施例中，装载单元169和手术器械10分别包括对应的无线收发器、识别器442和询问机444(图1)。识别器442包括存储器或识别器442可以耦连到用于存储与装载单元169有关的各种识别和状态信息的微控制器(例如，微控制器500)。一旦装载单元169联接到手术器械10，手术器械10经由询问机444向识别器442询问识别码。响应该询问，识别器442答复与装载单元169对应的识别码。在操作期间，一旦已发生识别，识别器442被构造为向手术器械10提供关于装载单元169的状态(例如，机械和/或电气故障、位置、关节式运动等)的更新。
识别器442和询问机444被构造为使用下列通信协议中的一个或多个来彼此通信，如蓝牙ANT3KNXZWaveX10无线USBIrDANanonetTiny OSZigBee802.11 IEEE和其他无线电、红外线、UHF、VHF通信等。在一实施例中，根据收发器402的询问能力，收发器400可以是主动或被动的射频识别(RFID)标签。
图12示出了包括微控制器500的控制系统501，微控制器500耦连到位置计算器416、速度计算器422、装载单元识别系统440、用户接口120、驱动电动机200和数据存储模块502。另外，微控制器500可以直接耦连运动传感器251和各种其他传感器(例如，第一组织传感器177、第二组织传感器179、负载开关230、轴开始位置传感器231、夹紧位置传感器232、关节式运动传感器235、线性位移传感器237、旋转传感器239、发射杆旋转传感器241、电动机和电池操作模块412、转速检测装置418、开关421、电压传感器428、电流传感器430和询问机444)。
微控制器500包括存储用于控制手术器械10的操作和功能的一个或多个应用软件(例如，固件程序)的内置存储器。微控制器500处理来自用户接口120的输入数据并且响应该输入来调节手术器械10的操作。手术器械10的调节可以包括手术器械10的通电或断电、依靠电压调节或电压脉冲宽度调制来进行速度控制、通过减少占空比或脉冲式开启或关断电压以限制在预定时间段期间的平均传输电流来进行扭矩限制。
微控制器500经由用户反馈模块504耦连到用户接口120，用户反馈模块504被构造为将手术器械10的操作参数通知用户。用户反馈模块504指示用户接口120在屏幕122上输出操作数据。特别地，来自各传感器的输出被传输到微控制器500，微控制器500然后响应该输出向用户发送反馈来指示用户为手术器械10选择特定的模式、速度或功能。
装载单元识别系统440指示微控制器500哪个末端执行器位于装载单元上。在一实施例中，控制系统501能够存储与施加到发射杆220和/或末端执行器160上的力有关的信息，以使当装载单元169被识别时微控制器500自动为手术器械10选择操作参数。这使得能控制施加到发射杆220上的力，以便发射杆220能够驱动位于当时在使用中的装载单元上的特定末端执行器160。
微控制器500也分析来自位置计算器416和速度计算器422以及其他传感器的计算结果，以确定发射杆220的实际位置、运动方向和/或速度以及手术器械10的部件的操作状态。该分析可以包括对来自计算器416和计算器422的传感反馈信号的解析，以响应该感应信号来控制发射杆220和手术器械10的其他部件的移动。微控制器500被构造为当位置计算器416报告发射杆220已经移动超过预定点时限制发射杆220的行进。可以由微控制器500使用来控制手术器械10的另外的参数包括电动机和/或电池温度、剩余循环以及已用循环的次数、剩余电池寿命、组织厚度、末端执行器的当前状态、传输和接收、和外部设备连接状态。
在一实施例中，手术器械10包括各种传感器，它们被构造为测量电流(例如安培计)、电压(例如电压计)、接近度(例如光学传感器)、温度(例如热电耦和热敏电阻)和力(例如应变计和测力传感器)以确定装载单元169上的负载状态。在手术器械10的操作期间，期望知道在接近处理期间和发射处理期间由手术器械10施加到目标组织上的力。对异常负载(例如超出预定负载范围)的检测指示出手术器械10和/或被夹紧组织遇到的问题，该问题被传达给用户。
负载状态的监测可以通过以下方法中的一个或多个来执行：监测驱动电动机200的速度、监测由驱动电动机200施加的扭矩、钳夹构件162、164的接近度、监测手术器械10的部件的温度、经由应变传感器185(图4)来测量发射杆220和/或手术器械10的其他负载承受部件上的负载。以上结合图6及速度计算器422讨论了速度和扭矩的监测。
在另一实施例中，发射杆220或其他负载承受部件包括设置在其上的一个或多个应变计和/或负载传感器。在高应变条件下，施加在手术器械10和/或末端执行器160上的压力被转移到发射杆220使得发射杆220偏转，导致其上的应变增加。然后，应变计向微控制器500报告应力测量结果。在另一实施例中，可以在离合器盘700上设置位置、应变或力传感器。
在接近处理期间，当末端执行器160夹紧组织时，设置在手术器械10和/或末端执行器160中的传感器向微控制器500指示末端执行器160围绕异常组织(例如，低或高负载条件)布置。低负载条件指示末端执行器160抓取少量组织，高负载条件指示抓取过量组织和/或外来物体(例如管、吻合线、夹子等)。此后，微控制器500经由用户接口120向用户指示应该选择更合适的装载单元169和/或手术器械10。
在发射处理期间，传感器能够警告用户各种错误。传感器可以向微控制器500传达吻合钉钉仓或手术器械10的一部分有错误。另外，传感器能够检测施加在刀具上的力的突发尖峰脉冲，这指示出碰到了外来物体。力的尖峰脉冲的监测能够用于检测发射行程的结束，例如，当发射杆220碰到吻合钉仓的末端并且进入硬停止时。硬停止产生比在手术器械10的正常操作期间观察到的力的尖峰脉冲相对更大的力的尖峰脉冲，并且能够用于向微控制器指示发射杆220已经到达装载单元169的末端。力的尖峰脉冲的测量可以与关于位置计算器416及速度计算器422讨论的位置反馈测量结果(例如来自运动传感器251的测量结果)相组合。这使得手术器械10不更改末端执行器160就可以使用各种类型的吻合钉钉仓(例如，多种长度)。
当遇到力的尖峰脉冲时，手术器械10通知用户该状态并进入所谓的“脉冲”，或电子离合模式。在该模式期间，驱动电动机200被控制为仅在短脉冲时运行，以使抓取的组织与末端执行器160之间的压力均衡。电子离合限制由驱动电动机200施加的扭矩并避免从电源400流出大量电流的情况。这依次限制了由于伴随着过载和高引出电流情况而产生的过热引起的对电子部件和机械部件的损坏。
微控制器500可以经由脉冲宽度调制控制信号来通过电动机驱动器控制驱动电动机200。电动机驱动器被构造为在顺时针方向或逆时针方向上调节驱动电动机200的速度。电动机驱动器还被构造为在多个操作模式之间切换，多个操作模式包括电动机电子制动模式、恒速模式、电子离合模式和受控电流启动模式。在电子制动模式中，虑及紧固件停止以及调节发射杆220的线性位置有更高的位置精度，驱动电动机200的两个端子被缩短，产生的反电动势抵消驱动电动机200的旋转。
在恒速模式中，速度计算器422与微控制器500和/或电动机驱动器联合来调节驱动电动机200的转速，以保证发射杆220的恒定线速度。电子离合模式涉及响应来自位置计算器416和速度计算器422的传感反馈信号使离合器300与驱动电动机200的反复接合和/或分离。在受控电流启动模式中，电流以斜线上升或下降以限制当在静态模式与动态模式之间转变时出现的破坏电流和扭矩尖峰脉冲以提供所谓的“软启动”和“软停止”。
数据存储模块502记录来自与微控制器500耦连的传感器的数据。另外，数据存储模块502可以记录在手术过程期间装载单元169的识别码、末端执行器100的状态、吻合循环的次数和关于手术器械10的部件的状态的其他信息。数据存储模块502还被构造为通过无线或有线数据端口503连接到外部设备，如个人计算机、PDA、智能手机、或者存储装置(例如，Secure DigitalTMcard，Compact Flashcard或者Memory StickTM)。这使得数据存储模块502传输执行数据到外部设备用于随后的分析和/或存储。数据端口503也允许微控制器500的固件的“在场中(in the field)”的升级。
如图13-图16所示本公开的实施例可以包括反馈控制系统601。该系统包括反馈控制器603。手术器械10经由有线(例如FireWire、USB、SerialRS232、Serial RS485、USART、Ethernet等)或无线(例如，蓝牙、ANT3、KNX、Z-Wave、X10、无线USB、Wi-Fi、IrDA、nanoNET、Tiny OSZigBee802.11 IEEE和其他无线、红外线、UHF、VHF通信等)的数据端口502连接到反馈控制器603。
参考图13，反馈控制器603被构造为存储由手术器械10传输到其的数据以及处理和分析所述数据。反馈控制器603还连接到其他设备，如视频显示器604、视频处理器605和计算装置606(例如，个人计算机、PDA、智能手机、存储装置等)。视频处理器605用于处理由反馈控制器603生成的输出数据以用于向视频显示器604输出。计算装置606用于另外处理反馈数据。在一实施例中，由微控制器600执行的传感器反馈分析的结果可以内部存储用于由计算装置606以后提取。
反馈控制器603包括耦连到微控制器600的数据端口607(图15)，数据端口607使得反馈控制器603连接到计算装置606。数据端口607可以提供与计算装置606的有线和/或无线通信，从而提供在计算装置606与反馈控制器603之间的接口，用于提取存储的反馈数据、反馈控制器603的操作参数的构造和反馈控制器603的固件和/或其他软件的升级。
在图14-图15中进一步示出了反馈控制器603。反馈控制器603包括壳体610和诸如视频输入614、视频输出616和平视(“HUD”)显示输出618的多个输入和输出端口。反馈控制器603还包括用于显示关于反馈控制器603的状态信息的屏幕620。
图16示出了反馈控制器603的部件。反馈控制器603包括微控制器600和数据存储模块602。微控制器600和数据存储模块602提供与手术器械10的微控制器500和数据存储模块502类似的功能。将这些部件设置在呈反馈控制器603形式的独立模块中，这减轻了在手术器械10中具有这些部件的需要。
数据存储模块602可包括一个或多个内部和/或外部存储设备，如磁性硬盘驱动器、闪存(例如Secure Digitalcard、Compact flashcard或Memorystick)。反馈控制器603使用数据存储模块602以存储来自手术器械10的反馈数据，用于由计算装置606进行的随后的数据分析。反馈数据可以包括由设置在手术器械10内的运动传感器251和其他传感器供给的信息。
微控制器600可以代替、补足(complement)或补充(supplement)手术器械10的控制电路系统。微控制器600包括存储用于控制手术器械10的操作和功能的一个或多个应用软件(例如，固件)的内置存储器。微控制器600处理来自用户接口120的输入数据并响应该输入来调节手术器械10的操作。微控制器600经由用户反馈模块504耦连到用户接口120，用户反馈模块504被构造为通知用户手术器械10的操作参数。更具体地，手术器械10被构造为经由数据端口407(图6)无线地或通过有线连接连接到反馈控制器603。
在公开的实施例中，微控制器600连接到驱动电动机200，并被构造和设置为监控电池阻抗、电压、温度和/或引出电流并且控制手术器械10的操作。确定电池400、行星齿轮、驱动电动机200和手术器械10的驱动部件上的负载，如果所述负载指示达到或接近损坏限制则控制电动机速度。例如，可以确定电池400中剩余的能量、剩余发射次数、是否必须替换电池400或为电池400充电、和/或手术器械10的势能负载限制的接近。微控制器600还可以连接到手术器械10的上述一个或多个传感器上(包括运动传感器251(图6))。
微控制器600还被构造为响应监控到的信息来控制驱动电动机200的操作。脉冲调制控制系统可以用于控制手术器械10，脉冲调整控制系统可以包括电子离合器。例如，微控制器600能够调节驱动电动机200的电压供给，或向驱动电动机200供给脉冲调制信号来调节功率和/或扭矩输出以限制系统损坏或优化能量使用。
在一实施例中，电力制动电路可以用于控制驱动电动机200，其使用旋转的驱动电动机200的现有的反电动势来抵消和大致减少驱动管210的动量。电力制动电路可以改善驱动电动机200和/或驱动管210的控制得到良好的停止精度和/或动力手术器械10的转移位置。用于监控动力手术器械10的部件以有助于防止动力手术器械10的过载的传感器可以包括热型传感器(诸如热传感器、热敏电阻器、热电堆、热电偶和/或热红外线成像)，并且向微控制器600提供反馈。在达到或接近限制的情况下，微控制器600可控制动力手术器械10的部件，这种控制可以包括切断来自电源400的电力、暂时中断电力或进入暂停模式和/或脉冲调制以限制使用的能量。微控制器600也能够监控部件的温度以确定何时能够恢复操作。微控制器600的上述使用可以单独使用或以电流、电压、温度和/或阻抗测量值为因素来使用。
由微控制器600分析和处理的数据的结果被输出到视频显示器604和/或HUD显示器622。视频显示器604可以是如LCD屏幕、等离子屏幕、电发光屏幕等的任何类型的显示器。在一实施例中，视频显示器604可包括触摸屏，并且可结合电阻的、表面波纹、电容的、红外的、应变计、光学的、离散信号或声音脉冲识别触摸屏的技术。该触摸屏可以用于使得用户在观看操作反馈的同时提供输入。HUD显示器622可以突设在手术过程期间用户可以看到的任何表面上，如一副眼镜和/或护目镜的透镜、面罩等。这使得用户不用失去对程序的关注就可以看到来自反馈控制器603的重要反馈信息。
反馈控制器603包括屏幕显示模块(on-screen display module)624和HUD模块626。模块626处理微控制器600的输出用于分别显示在显示器604和显示器622上。更具体地，OSD模块624将来自反馈控制器603的文本和/或图形信息覆盖在从手术位置经由设置在其中的摄像头接收到的其他视频图像上。具有覆盖文本的修正后的视频信号被传输到视频显示器604，使得用户在仍然观察手术位置的同时看到来自手术器械10和/或反馈控制器603的有用的反馈信息。
图17为根据某些实施例的用于控制发射杆220的运动参数(包括发射杆220的位置和速率/速度)的反馈控制系统1700的框图。反馈控制系统1700的部件可以实施在图12的控制系统501或者图16的反馈控制器603中。反馈控制系统1700包括运动传感器251、测量单元470和微控制器500，运动传感器251在某些实施例中包括光发射器和检测器单元460。光发射器和检测器单元460可以包括用于发射光的激光二极管和用于检测经反射的光的光敏晶体管。在其他实施例中，用发射电磁光谱的光的光发射器和检测器单元代替光发射器和检测器单元460。光发射器和检测器单元460将光束461集中在发射杆220的表面上并且检测从发射杆220的表面反射的光462。光发射器和检测器单元460产生脉冲信号465，脉冲信号465具有的频率或者脉冲宽度随着横向于发射杆220表面的运动方向的划线或者其他标记464(见图18)的运动而改变。
运动传感器251经由有线或者无线的通信通道将脉冲信号465传输给测量单元470。例如，在某些实施例中，运动传感器251可以物理地附着到发射杆220上，而且运动传感器251可以包括配置为经由无线通信链路将脉冲信号465传输给测量单元470的无线通信电路系统。
测量单元470包括计数器472和数据处理器474。计数器472对脉冲信号465中的脉冲进行计数，数据处理器474基于经计数的脉冲的重复率(rate)计算脉冲信号465的频率。然后使用计数值(count)和/或计算出的频率确定发射杆220的位置和速率。可选地，在其他实施例中，测量单元470可以包括用于确定脉冲信号465中的脉冲的宽度的电路系统。然后可以使用测量出的脉冲信号465的脉冲宽度确定诸如行程的结束点或者中点等的发射杆220的运动参数。例如，标记464之间的长度和/或距离可以变化以指示诸如行程结束点等的特定状态。
数据处理器474可以基于脉冲信号465的计数值、频率或者脉冲宽度确定发射杆220的许多运动参数。例如，数据处理器474(或者图12的位置计算器416)可以确定力所施加到发射杆220上的位置。数据处理器474还可以确定发射杆220在预定时间段内移动的距离。数据处理器474还可以确定发射杆220的运动方向(即数据处理器474可以确定发射杆220是否正插入细长轴140或者是否正缩回而退出细长轴140)。数据处理器474(或者图12的速度计算器422)还可以确定发射杆220的速率。
在一实施例中，光发射器和检测器单元460产生具有的光频率随着从发射杆220的表面反射的光462的参数的变化而改变的脉冲信号465。例如，在发射杆220的第一位置，当光发射器和检测器单元460检测到从发射杆220的露面466反射的具有第一波长的光时，光发射器和检测器单元460可以产生具有第一频率的脉冲信号465。在第二位置，当光发射器和检测器单元460检测到从发射杆220上的反射标记反射的具有与第一波长不同的第二波长的光时，光发射器和检测器单元460可以产生具有第二光频率的脉冲信号465。然后能够使用脉冲信号465信息来确定发射杆220从第一位置到第二位置的运动。在某些实施例中，光发射器和检测器单元460可以感测从发射杆220反射的光462的其他参数的变化，包括光462的强度、偏振或者相位，并且其产生脉冲信号465的频率或者脉冲宽度的相应变化，能够根据脉冲信号465的频率或者脉冲宽度的相应变化计算出发射杆220的运动参数(例如，发射杆220的速率)。在其他实施例中，光发射器460可以发射不同频率的光以产生不同的反射光频率，该不同的反射光频率是通过使用对所发射的频率具有不同反射光响应的标记464生成的。
图18A和图18B是图示出从光发射器和检测器单元460输出的脉冲信号465如何响应于从相对于细长轴140的发射杆220的表面反射的光的参数变化的图。在这个实施例中，光发射器和检测器单元460相对于细长轴140是固定的。发射杆220包括能够由光发射器和检测器单元460检测到的一系列标记464。在某些实施例中，通过分析从标记464反射的光的参数来检测标记464。标记464由发射杆220的露面466隔开预定的距离。例如，标记464可以间隔1mm至5mm。在某些实施例中，标记464包括具有与发射杆220的露面466的反射特性不同的反射特性的物质。在其他的实施例中，标记464可以由覆盖发射杆220的表面的第二物质隔开。第二物质具有与标记464的反射特性不同的反射特性。物质的反射特性之间的差别可以被构造为改善标记464的检测或者使得标记464的检测最优。
如图18A所图示的，发射杆220在第一位置上设置在细长轴140内。在这个第一位置，发射器和检测器单元460发射光束461到以第一速率V1移动的发射杆220上的多个标记464之一上。然后发射器和检测器单元460检测对应于标记464的反射特性的反射光束的参数(例如，光束的计数值、持续时间或者波长)。通过检测反射光束的参数，发射器和检测器单元460产生具有第一计数值、第一脉冲宽度或者第一频率的第一脉冲信号467。从这些参数可以确定发射杆220的位置和速率(速度)。
如图18B所示，当发射杆220以第二速率V2沿近侧方向移出细长轴140到第二位置时，光发射器和检测器单元460可以发射光束到发射杆220的露面466或者覆盖发射杆220的露面466的物质(不同于标记464的物质)上。在这个情形中，由于相对较高的速率，所以光发射器和检测器单元460产生具有比图18A中的第一脉冲信号467更高的脉冲频率的第二脉冲信号468。也即是说，光发射器和检测器单元460产生第二脉冲信号468，第二脉冲信号468包括具有比第一脉冲信号467中的脉冲更窄的脉冲宽度的脉冲。因此，随着发射杆220移动，光发射器和检测器单元460检测从标记464到发射杆466的露面466的多次转换(transition)并且产生持续时间更短的第二脉冲信号468。图17的计数器472可以对第二脉冲信号468进行计数。然后图17的数据处理器474可以基于计数出的转换的次数计算发射杆220的位置变化。例如，如果计数器472计数到三个第二脉冲信号468并且假设发射杆上的标记464是1mm间隔的，那么数据处理器474计算出3mm的位置变化(即，3次转换×标记464之间的1mm)。
在某些实施例中，测量单元470基于从发射杆的表面反射的光来计算发射杆220的位置和/或速率，并且将位置和/或速率信息提供给微控制器500。微控制器500实施控制算法(例如，比例控制算法或者比例-积分-微分(PID)控制算法)以产生电压命令，控制算法利用了计算出的发射杆220的位置和/或速率。电压命令被反馈回476到动力驱动机构455(例如，回转电动机200)以形成闭环反馈系统。在这个构造中，能够精确地控制发射杆220的位置和/或速率。
图19是根据实施例的用于确定手术器械中的发射杆的运动参数的处理1900的流程图。在处理1900于步骤1901开始后，在步骤1902中将光发射到手术器械中的发射杆的表面上。在各个实施例中，光可以包括红外线、可见光或者紫外线。接下来，在步骤1904中感测从发射杆的表面反射的光的参数的变化。在处理1900于步骤1907结束之前，在步骤1906中基于感测到的变化确定发射杆的运动参数。
图20是根据另一个实施例的用于操作手术器械的处理2000的流程图。在处理2000于步骤2001开始后，在步骤2002中将光发射在手术器械中的发射杆的表面上。然后，在步骤2004中感测从发射杆的表面反射的光的参数的变化。接下来，在步骤2006中基于感测到的反射光的参数的变化确定发射杆的运动参数。然后，在处理2000于步骤2009回到将光发射在发射杆的表面上的步骤2002之前，在步骤2008中基于确定出的发射杆的运动参数对发射杆的运动进行控制(例如，通过物理地移动发射杆的传动机构来控制发射杆的运动)。
图21是根据另一个实施例的用于确定手术器械中的发射杆的运动参数的处理2100的流程图。在处理2100于步骤2101开始后，在步骤2102中将光发射到发射杆的表面上，发射杆的表面包括改变反射光的强度的一系列标记。然后，在步骤2103中感测从发射杆的表面反射的光的强度。在步骤2104中产生具有的频率(或者脉冲宽度)随着从发射杆的表面反射的光的强度的变化而改变的脉冲信号，以及在步骤2106中对脉冲信号频率之间的转换次数进行计数。然后，在处理2100于步骤2111结束之前，在步骤2108中基于脉冲信号频率(或者脉冲信号的脉冲宽度)之间的转换次数确定发射杆的位置。
图22是根据另一个实施例的用于确定手术器械中的发射杆的运动参数的处理2200的流程图。在处理2200于步骤2201开始后，在步骤2202中在发射杆的参考位置(例如，在发射杆完全缩回的位置)重置计数器(例如，图17的计数器472)。在重置计数器之后，在步骤2204中监控脉冲信号(例如，由光发射器和检测器单元460产生的脉冲信号465)的脉冲计数值和持续时间。
如果在步骤2206中光发射器和检测器单元检测到脉冲信号持续时间增加了预定量(例如，脉冲信号的脉冲宽度尺寸加倍)并且在步骤2208中发射杆在向远侧的方向上移动，那么在步骤2210中计数器(例如，图17的计数器472)加一(increment)并且计算发射杆的位置和速率(速度)。例如，在某些实施例中，发射杆上的标记之间的距离可以是1mm。如果计数器在一秒内加一了十次(对应于检测到发射杆上的十个标记)，那么发射杆相对于发射杆的参考位置(在重置计数器的时间)的位置是10mm(1cm)并且速率是0.01m/s。在某些示例中，特定的标记是以较大的间隔布置的以提供对发射杆行进的结束点或者行进方向的指示。
另一方面，如果在步骤2206中光发射器和检测器单元检测到脉冲信号持续时间增加了预定量(例如，脉冲信号的脉冲宽度尺寸加倍)并且在步骤2208中发射杆不是在向远侧的方向上移动而是在向近侧的方向上移动，那么在步骤2212中计数器减一(decrement)并且计算发射杆的位置和速率。例如，在某些实施例中，发射杆上的标记之间的距离可以是1mm。如果计数器在一秒内加一了十次(对应于当发射杆在向远侧方向上移动时检测到发射杆上的十个标记)并且减一了五次(对应于当发射杆在向近侧方向上移动时检测到发射杆上的五个标记)，那么发射杆相对于发射杆的参考位置(在重置计数器的时间)的位置是5mm(即，向远侧方向的10mm-(减去)向近侧方向的5mm＝相对于参考位置5mm)。
在步骤2210计数器加一或者步骤2212减一并且计算发射杆的位置和速率之后，在步骤2204中处理2200继续监控由光发射器和检测器单元产生的脉冲信号的脉冲持续时间。
应该理解的是，之前的描述仅仅是本公开示意性的描述。在不脱离本公开的情况下，所属领域技术人员可设计多种替换和修改。因此，本公开旨在包含所有这些替换、修改和变化。参考随附的附图描述的实施例仅仅展示了本公开的特定实例。其它非实质性不同于以上描述和/或随附的权利要求中的部件、步骤、方法和技术也希望包括在本公开的范围内。

Claims (15)

1.一种手术器械，包括：
壳体；
细长轴，其从所述壳体向远侧延伸并且限定第一纵向轴线；
发射杆，其设置在所述细长轴内，所述发射杆的表面包括改变所述发射杆的表面的反射特性的多个标记；
驱动机构，其至少部分地设置在所述壳体内，所述驱动机构与所述发射杆机械地协作；
传感器，其感测从所述发射杆的表面反射的光的参数，所述传感器具有产生和发射光到所述发射杆的表面上并且感测从所述发射杆的表面反射的光的参数的光发射器和检测器单元；
测量单元，其基于感测到的从所述发射杆的表面反射的光的参数确定所述发射杆的运动参数。
2.根据权利要求1所述的手术器械，其中，所述光发射器和检测器单元产生具有的参数随着感测到的从所述发射杆的表面反射的光的参数的变化而改变的脉冲信号，并且所述测量单元基于所述脉冲信号的参数的变化确定所述发射杆的运动参数。
3.根据权利要求2所述的手术器械，其中，所述脉冲信号的参数是所述脉冲信号的频率。
4.根据权利要求2所述的手术器械，其中，所述脉冲信号的参数是所述脉冲信号的脉冲持续时间。
5.根据权利要求1所述的手术器械，其中，所述测量单元包括计数器，所述计数器基于感测到的从所述发射杆的表面反射的光的参数的变化对所述多个标记中的暴露于从所述光发射器和检测器单元发射的光的标记的数量进行计数。
6.根据权利要求1所述的手术器械，其中，所述发射杆的运动参数是所述发射杆的位置。
7.根据权利要求1所述的手术器械，其中，所述发射杆的运动参数是所述发射杆的速率。
8.根据权利要求1所述的手术器械，其中，感测到的所述光的参数是相位、频率、强度或者偏振。
9.根据权利要求1所述的手术器械，进一步包括：
控制单元，其基于由所述测量单元确定出的所述发射杆的运动参数控制所述驱动机构。
10.一种确定手术器械中的发射杆的运动参数的方法，包括：
发射光到所述手术器械中的所述发射杆的表面上，其中所述发射杆的所述表面包括改变所述发射杆的所述表面的反射特性的多个标记；
感测从所述发射杆的表面反射的光的参数的变化；以及
基于感测到的从所述发射杆的表面反射的光的参数的变化确定所述发射杆的所述运动参数。
11.一种操作手术器械的方法，包括：
发射光到所述手术器械中的发射杆的表面上，其中所述发射杆的所述表面包括改变所述发射杆的所述表面的反射特性的多个标记；
感测从所述发射杆的表面反射的光的参数的变化，包括对所述发射杆上的所述多个标记中的反射所述光的标记的数量进行计数；
基于感测到的从所述发射杆的表面反射的光的参数的变化确定所述发射杆的运动参数；以及
基于确定出的所述发射杆的所述运动参数控制所述发射杆的运动。
12.根据权利要求11所述的方法，其中，感测从所述发射杆的表面反射的光的参数的变化包括产生具有的参数随着从所述发射杆的表面反射的光的参数的变化而改变的脉冲信号，并且其中，确定所述发射杆的所述运动参数包括基于所述脉冲信号的参数的变化确定所述发射杆的所述运动参数。
13.根据权利要求11所述的方法，其中，所述发射杆的所述运动参数是所述发射杆的位置。
14.根据权利要求11所述的方法，其中，所述发射杆的所述运动参数是所述发射杆的速率。
15.根据权利要求11所述的方法，其中，所述光的参数是相位、频率、强度或者偏振。
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CN104706396A (zh) 2015-06-17
CN102188270A (zh) 2011-09-21
US20110139851A1 (en) 2011-06-16
AU2011200995A1 (en) 2011-10-06
US8967443B2 (en) 2015-03-03
AU2011200995B2 (en) 2014-08-07
US20150182221A1 (en) 2015-07-02
EP2366342B1 (en) 2017-10-11
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JP2011189136A (ja) 2011-09-29
US9913644B2 (en) 2018-03-13

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