CN105142541B - 用于外科器械的驱动构件的控制结构 - Google Patents

用于外科器械的驱动构件的控制结构 Download PDF

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Publication number
CN105142541B
CN105142541B CN201480014894.8A CN201480014894A CN105142541B CN 105142541 B CN105142541 B CN 105142541B CN 201480014894 A CN201480014894 A CN 201480014894A CN 105142541 B CN105142541 B CN 105142541B
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axis
lock
frame
end effector
surgical instruments
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CN105142541A (zh
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R·L·莱姆巴赫
M·D·奥弗迈耶
S·R·亚当斯
B·E·斯文斯加德
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Ethicon Endo Surgery Inc
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Ethicon Endo Surgery Inc
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Abstract

本发明公开了一种外科器械。该外科器械可操作以补偿柔性刀带的展开对加电外科器械的横断长度的影响。该外科器械包括处理器和存储器。表征端部执行器的关节运动角度与关节运动接头远侧的有效横断长度之间的关系。通过处理器从外科器械的存储器访问表征数据。在外科器械的使用期间通过处理器跟踪端部执行器的关节运动角度。基于已知的关节运动角度和存储的表征数据通过处理器来调整所述目标横断长度。

Description

用于外科器械的驱动构件的控制结构
技术领域
本发明涉及一种外科器械，并且在各种实施例中，涉及被设计成用于切割和缝合组织的外科切割和缝合器械及其钉仓。
附图说明
通过结合附图来参考本发明实施例的以下说明，本发明的特征和优点以及其获取方法将会变得更加明显，并可更好地理解发明本身，其中：
图1为包括柄部、轴和可关节运动的端部执行器的外科器械的透视图；
图2为图1的外科器械的正视图；
图3为图1的外科器械的平面图；
图4为图1的外科器械的端部执行器和轴的剖视图；
图5为可旋转地连接图1的轴和端部执行器的关节运动接头的详细视图，其示出了处于中间或居中位置的端部执行器；
图6为图1的外科器械的关节运动控制器处于中间或居中位置的剖视图；
图7为图1的外科器械的端部执行器、细长轴和关节运动接头的分解图；
图8为图1的外科器械的端部执行器、细长轴和关节运动接头的剖视图；
图9为图1的外科器械的端部执行器、细长轴和关节运动接头的透视图；
图10示出了围绕关节运动接头关节运动的图1的外科器械的端部执行器；
图11为被致动以使如图12中所示的端部执行器运动的图6的关节运动控制器的剖视图；
图12为包括柄部、轴和可关节运动的端部执行器的外科器械的透视图；
图13为图12的外科器械的侧视图；
图14为定位在图12的柄部内的击发构件和小齿轮的透视图；
图15为图14的击发构件和小齿轮以及与小齿轮可操作地接合的齿轮减速器组件的透视图；
图16为图12的柄部的透视图，其部分被移除以示出图14的击发构件和小齿轮、图15的齿轮减速器组件以及电动马达，该电动马达被构造成能够根据其转动方向来朝远侧和/或朝近侧驱动击发构件；
图17为包括柄部、轴、端部执行器以及将端部执行器连接到轴的关节运动接头的外科器械的透视图，为了便于图示以柄部的部分被移除示出；
图18为图17的外科器械的剖视图；
图19为图17的外科器械的分解图；
图20为图17的外科器械的剖视详细视图，其示出为端部执行器处于打开构型，关节运动接头处于解锁构型，并且外科器械柄部的关节运动锁致动器示出为处于解锁构型；
图21为图17的外科器械的剖视详细视图，其示出了处于关节运动的打开构型的端部执行器、处于解锁构型的关节运动接头以及与图17的外科器械的击发构件接合的关节运动驱动器，其中击发构件的运动可促动关节运动驱动器并使端部执行器关节运动；
图22为图17的外科器械的剖视详细视图，其示出了处于闭合构型的端部执行器、处于解锁构型的关节运动接头以及被致动以闭合端部执行器并使关节运动锁致动器运动到锁定构型的端部执行器闭合驱动装置；
图22A为图17的外科器械的柄部的剖视详细视图，其以参照图22所述的构型示出；
图23为图17的外科器械的剖视详细视图，其示出了处于闭合构型的端部执行器、处于锁定构型的关节运动接头，其中致动的闭合驱动装置防止关节运动锁致动器被运动至图20-22中所示的其解锁构型；
图24A为以锁定构型示出的图17的外科器械的关节运动接头的平面图；
图24B为以解锁构造示出的图17的外科器械的关节运动接头的平面图；
图25为图17的外科器械的柄部的剖视详细视图，其示出了通过闭合驱动装置从击发构件断开的关节运动驱动器；
图26为图17的外科器械的剖视详细视图，其示出了处于至少部分击发位置的击发构件和通过闭合驱动装置从击发构件断开的关节运动驱动器；
图27为图17的外科器械的剖视详细视图，其示出了处于闭合构型的端部执行器、处于锁定构型的关节运动接头和关节运动接头致动器以及处于回缩位置的击发构件；
图28为图17的外科器械的剖视详细视图，其示出了处于打开构型的端部执行器、处于回缩位置的端部执行器闭合驱动装置以及处于锁定构型的关节运动接头；
图29为图17的外科器械的剖视详细视图，其示出了处于打开构型的端部执行器和处于解锁构型的关节运动接头和关节运动接头致动器，其中所述关节运动驱动器可重新连接到击发驱动装置并用于使端部执行器再次关节运动；
图30为包括另选的关节运动锁布置的外科器械的轴和端部执行器的分解图；
图31为图30的外科器械的端部执行器和轴的剖视正视图，其示出了处于解锁构型的端部执行器；
图32为图30的外科器械的端部执行器和轴的剖视正视图，其示出了处于锁定构型的端部执行器；
图33为包括外科器械和多个可互换轴组件的外科系统的一种形式的装配视图；
图34为联接到可互换轴组件的外科器械柄部的透视图；
图35为图34的外科器械柄部的分解透视图；
图36为图35的柄部的侧正视图，其中柄部外壳的一部分移除；
图37为可互换轴组件的分解透视图；
图38为图34的柄部和可互换轴组件的一部分的侧正视装配视图，其示出了那些部件在被联接在一起之前的对齐，并且为了清楚起见其部分被省略；
图39为在附接到外科器械的柄部之前的可互换轴组件的一部分的透视图；
图40为联接到柄部的可互换轴组件的一部分的侧视图，其中锁定轭处于与柄部的框架附接模块的一部分的锁定或接合位置；
图41为图40的可互换轴组件和柄部的另一个侧视图，其中锁定轭处于脱离或解锁位置；
图42为可互换轴组件和柄部的一部分在被联接在一起之前的俯视图；
图43为图42的可互换轴组件和柄部联接在一起的另一个俯视图；
图44为可互换轴组件与外科器械柄部在被联接在一起之前对齐的侧正视图；
图45为图44的可互换轴组件和外科器械柄部的前透视图，为了清楚起见其部分被移除；
图46为可互换轴组件的一部分与外科器械柄部的一部分在被联接在一起之前对齐的侧视图，并且为了清楚起见其部分被省略；
图47为图46的可互换轴组件和柄部的另一个侧正视图，其中轴组件部分地联接接合柄部；
图48为图46和47的可互换轴组件和柄部在被联接在一起之后的另一个侧正视图；
图49为可互换轴组件的一部分与柄部的一部分在开始联接过程之前对齐的另一个侧正视图；
图50另一个可互换轴组件的一部分和另一个外科器械框架布置的一部分的俯视图；
图51为图50的可互换轴组件和框架部分在被联接在一起之后的另一个俯视图；
图52为图50的可互换轴组件和框架部分的分解透视图；
图53为图52的可互换轴组件和框架部分的另一个分解透视图，其中轴组件的轴附接模块与框架部分的框架附接模块在联接之前对齐；
图54为图52的可互换轴组件和框架部分的侧正视图；
图55为图53和54的可互换轴组件和框架部分在被联接在一起之后的透视图；
图56为图55的可互换轴组件和框架部分的侧正视图；
图57为图55和56的可互换轴组件和框架部分的另一个透视图，为了清楚起见其部分被省略；
图58为外科器械的另一个可互换轴组件的一部分和框架部分在被联接在一起之前的俯视图；
图59为图58的可互换轴组件和框架部分在被联接在一起之后的另一个俯视图；
图60为图58和59的可互换轴组件和框架在被联接在一起之前的透视图；
图61为图58-60的可互换轴组件和框架部分在被联接在一起之后的另一个透视图；
图62为图58-60的可互换轴组件和框架部分在被联接在一起之后的另一个透视图，其中轴组件的部分以横截面示出；
图63为外科器械的另一个端部执行器轴组件和框架部分的分解透视装配视图；
图64为图63的端部执行器轴组件和框架部分的顶部分解装配视图；
图65为图63和64的端部执行器轴组件和框架部分的另一个分解透视装配视图；
图66为图63-65的端部执行器轴组件和框架部分在被联接在一起之后的透视图；
图67为图66的端部执行器轴组件和框架部分的侧正视图，为了清楚起见其部分被省略；
图68为另一个外科器械的另一个端部执行器轴组件和框架部分的顶部分解装配视图；
图69为图68的端部执行器轴组件和框架部分的透视分解装配视图；
图70为图68和69的端部执行器轴组件和框架部分的另一个透视装配视图，其中端部执行器轴组件在被闩锁成与框架部分联接接合之前；
图71为图70的端部执行器轴组件和框架部分的俯视图；
图72为图68-71的端部执行器轴组件和框架部分在被联接在一起之后的俯视图；
图73为图72的端部执行器轴组件和框架部分的侧正视图；
图74为图72和73的端部执行器轴组件和框架部分的透视图；
图75为可互换轴组件和对应柄部的分解装配视图，其一些部件以横截面示出；
图76为图75的端部执行器轴组件的部分和柄部的部分的局部剖视透视图；
图77为图75和76的端部执行器轴组件和柄部联接在一起的局部透视图，为了清楚起见多个部件被省略；
图78为图77的端部执行器轴组件和柄部的侧正视图；
图79为图75-78的端部执行器轴组件和柄部联接在一起的侧正视图，其中闭合驱动装置处于未致动位置并且其中一些部件以横截面示出；
图80为图79的端部执行器轴组件和柄部的另一个侧正视图，其中闭合驱动装置处于完全致动位置；
图81为可互换轴组件和对应柄部的分解装配视图，为了清楚起见一些部件被省略，并且其中闭合驱动系统处于锁定取向；
图82为图81的端部执行器轴组件和柄部联接在一起的侧视图，为了清楚起见多个部件被省略，并且其中闭合驱动系统处于解锁和未致动位置；
图83为图82的端部执行器轴组件和柄部的侧视图，为了清楚起见多个部件以横截面示出；
图84为图81-83的端部执行器轴组件和柄部联接在一起的侧视图，为了清楚起见多个部件被省略，并且其中闭合驱动系统处于致动位置；
图85为图84的端部执行器轴组件和柄部的侧视图，为了清楚起见多个部件以横截面示出；
图86为可互换轴组件的一部分和外科器械的柄部的一部分的分解透视装配视图；
图87为图86的可互换轴组件的部分和柄部的侧正视图；
图88为图86和87的可互换轴组件的部分和柄部的另一个分解透视装配视图，为了清楚起见可互换轴组件的部分以横截面示出；
图89为图86-88的可互换轴组件的部分和柄部的另一个侧正视图，为了清楚起见其部分以横截面示出；
图90为图86-89的可互换轴组件的部分和柄部在可互换轴组件已可操作地联接到柄部之后的侧正视图，并且为了清楚起见其部分以横截面示出；
图91为可互换轴组件的部分和联接到其的柄部的另一个侧正视图，其中闭合驱动系统处于完全致动位置；
图92为另一个可互换轴组件的一部分和另一个外科器械的柄部的一部分的分解透视装配视图；
图93为图92的可互换轴组件的部分和柄部在被联接在一起之前对齐的侧正视图；
图94为图92和93的可互换轴组件和柄部的另一个分解透视图，其中其一些部分以横截面示出；
图95为图92-94的可互换轴组件和柄部以可操作的接合联接在一起的另一个透视图；
图96为图95的可互换轴组件和柄部的侧正视图；
图97为图96的可互换轴组件和柄部的另一个侧正视图，其中其一些部件以横截面示出；
图98为图92-96的可互换轴组件和柄部的另一个侧正视图，其中闭合触发器处于完全致动位置；
图99为包括轴锁定组件布置的另一个可互换轴组件的一部分的透视图；
图100为图99中示出的轴锁定组件布置的透视图，其处于与可互换轴组件的击发构件的中间击发轴部分的锁定位置；
图101为轴锁定组件和中间击发构件部分的另一个透视图，其中轴锁定组件处于解锁位置；
图102为示意图，其示出了，其一，用于可操作地将外科器械的关节运动驱动装置连接到击发驱动装置的离合器组件，以及其二，被构造成能够可释放地将外科器械的关节运动驱动装置和端部执行器保持在适当位置的关节运动锁，其中图102示出了处于接合位置的离合器组件和处于锁定状况的关节运动锁；
图103为示意图，其示出了处于其接合位置的图102的离合器组件和处于第一解锁状况的图102的关节运动锁，该关节运动锁允许图102的端部执行器在第一方向上进行关节运动；
图104为示意图，其示出了处于其接合位置的图102的离合器组件和处于第二解锁状况的图102的关节运动锁，该关节运动锁允许图102的端部执行器在第二方向上进行关节运动；
图104A为图102的离合器组件和关节运动锁的分解图；
图105为包括处于其接合位置的图102的离合器组件的轴组件的局部透视图，为了便于图示轴组件的部分已移除；
图106为图105的轴组件的局部俯视平面图，其示出了处于其接合位置的图102的离合器组件；
图107为图105的轴组件的局部仰视平面图，其示出了处于其接合位置的图102的离合器组件；
图108为图105的轴组件的局部透视图，其示出了处于其接合位置的图 102的离合器组件，为了便于图示另外的部分已移除；
图109为图105的轴组件的局部透视图，其示出了处于脱离位置的图 102的离合器组件，为了便于图示另外的部分已移除；
图110为图105的轴组件的局部透视图，其示出了通过轴组件的闭合驱动装置运动至脱离位置的图102的离合器组件；
图111为图105的轴组件的局部平面图，其示出了处于其接合位置的图 102的离合器组件，为了便于图示另外的部分已移除；
图112为图105的轴组件的局部平面图，其示出了处于脱离位置的图 102的离合器组件，为了便于图示另外的部分已移除；
图113为以锁定状况示出的关节运动锁的另选的实施例的平面图；
图114为图113的关节运动锁的分解图；
图115为以锁定状况示出的关节运动锁的另一个另选的实施例的剖视图；
图116为图114的关节运动锁的分解图；
图117为以锁定状况示出的关节运动锁的另一个另选的实施例的透视图；
图118为图117的关节运动锁的分解图；
图119为图117的关节运动锁的正视图，其示出了以锁定状况示出的关节运动锁；
图120为图117的关节运动锁的正视图，其示出了处于第一解锁状况以使端部执行器沿第一方向进行关节运动的关节运动锁；
图121为图117的关节运动锁的正视图，其示出了处于第二解锁状况以使端部执行器沿第二方向进行关节运动的关节运动锁；
图122为图117的关节运动锁的另一个分解图；
图123为图117的关节运动锁的第一锁凸轮的透视图；
图124为图117的关节运动锁的第二锁凸轮的透视图；
图125为以锁定状况示出的关节运动锁的另一个另选的实施例的透视图；
图126为图125的关节运动锁的分解图；
图127为图125的关节运动锁的剖视正视图，其示出了处于第一解锁状况以用于使端部执行器沿第一方向进行关节运动的关节运动锁；
图128为图125的关节运动锁的剖视正视图，其示出了处于锁定状况的关节运动锁；
图129为图125的关节运动锁的剖视正视图，其示出了处于第二解锁状况以用于使端部执行器沿第二方向进行关节运动的关节运动锁；
图130为图125的关节运动锁的剖视正视图，其示出了处于锁定状况的关节运动锁；
图131为轴组件的透视图；
图132为图131的轴组件的分解图，其示出了用于可操作地连接轴组件的关节运动驱动装置与击发驱动装置的离合器组件的另选的实施例；
图133为图131的轴组件的另一个分解图；
图134为图131的轴组件的局部分解图，为了便于图示以部分被移除示出；
图135为图131的轴组件的端视图，为了便于图示以部分被移除示出；
图136为图131的轴组件的另一个端视图，为了便于图示以部分被移除示出；
图137为图131的轴组件的局部剖视正视图；
图138为图131的轴组件的局部剖视透视图；
图139为图131的轴组件的另一个局部剖视图；
图140为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器，而离合器套管、切换筒、近侧关节运动驱动器和闭合管未示出；
图141为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器和离合器套管，而切换筒、近侧关节运动驱动器和闭合管未示出；
图142为图131的轴组件的透视图，其示出了处于脱离位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器和离合器套管，而切换筒、近侧关节运动驱动器和闭合管未示出；
图143为图131的轴组件的透视图，其示出了处于脱离位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器、离合器套管和闭合管，而切换筒和近侧关节运动驱动器未示出；
图144为图131的轴组件的透视图，其示出了处于脱离位置的离合器组件；示出了离合器致动器、离合器套管、闭合管、切换筒和近侧关节运动驱动器；
图145为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器、离合器套管和近侧关节运动驱动器，而切换筒和闭合管未示出；
图146为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器、离合器套管、近侧关节运动驱动器和闭合管，而切换筒未示出；此外，轴组件的关节运动驱动系统以居中或未进行关节运动的状况示出；
图147为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器、离合器套管和近侧关节运动驱动器，而切换筒和闭合管未示出；此外，轴组件的关节运动驱动系统以其中轴组件的端部执行器将被关节运动到轴组件的纵向轴线左侧的状况示出；
图148为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器、离合器套管和近侧关节运动驱动器，而切换筒和闭合管未示出；此外，轴组件的关节运动驱动系统以其中轴组件的端部执行器将被关节运动到轴组件的纵向轴线右侧的状况示出；
图149为图131的轴组件的透视图，其示出了处于接合位置的离合器组件，并且为了清楚起见以部分被移除示出；具体地讲，示出了离合器致动器、离合器套管、闭合管和近侧关节运动驱动器，而切换筒未示出；
图150为根据本文所述某些实施例的外科器械的透视图；
图151为根据本文所述某些实施例的外科器械的控制系统的示意性框图；
图152为根据本文所述某些实施例的外科器械的界面的透视图；
图153为图152的界面的俯视图；
图154为根据本文所述某些实施例的处于未启动或空档构型的图152的界面的剖视图；
图155为根据本文所述某些实施例的图152的界面被启动以使端部执行器进行关节运动的剖视图；
图156为根据本文所述某些实施例的图152的界面被启动以使端部执行器返回到关节运动本位状态位置的剖视图；
图157为根据本文所述某些实施例的类似于图152的界面的处于未启动或空档构型的界面的剖视图；
图158为根据本文所述某些实施例的图152的界面被启动以使端部执行器进行关节运动的剖视图；
图159为根据本文所述某些实施例的图152的界面被启动以使端部执行器返回到关节运动本位状态位置的剖视图；
图160为概述根据本文所述某些实施例的图150的外科器械的控制器对复位输入信号的响应的示意性框图；
图161为概述根据本文所述某些实施例的图150的外科器械的控制器对本位状态输入信号的响应的示意性框图；
图162为概述根据本文所述某些实施例的图150的外科器械的控制器对本位状态输入信号的响应的示意性框图；
图163为概述根据本文所述某些实施例的图150的外科器械的控制器对击发本位状态输入信号的响应的示意性框图；
图164为根据本文所述各种实施例的包括与轴分离的柄部的外科器械的侧正视图；
图165为根据本文所述各种实施例的包括联锁开关的柄部部分和包括锁定构件的轴部分的侧正视图；
图166为图150中外科器械的局部剖视图，其示出了根据本文所述各种实施例的处于锁定构型的锁定构件和开式开关；
图167为图150中外科器械的局部剖视图，其示出了根据本文所述各种实施例的处于解锁构型的锁定构件和被锁定构件按压的闭式开关；
图167A为图150中外科器械的局部剖视图，其示出了根据本文所述各种实施例的推进的击发驱动器；
图167B为图150中外科器械的局部剖视图，其示出了根据本文所述各种实施例的处于回缩或默认位置的击发驱动装置；
图168为概述根据本文所述某些实施例的图150的外科器械的控制器对输入信号的响应的示意性框图；
图169为概述根据本文所述某些实施例的图150的外科器械的控制器对输入信号的响应的示意性框图；
图170为根据本公开各种实施例的电动马达和共振器的仰视图；
图171为图170的共振器的透视图；
图172为图170的共振器的仰视图；
图173为外科器械的柄部的局部透视图，其示出了根据本公开各种实施例的图170的电动马达和定位在柄部内的共振器；
图174为图173的电动马达和共振器的仰视图；
图175为图173的共振器的透视图；
图176为图173的共振器的仰视图；
图177为图173的柄部的局部透视图，其示出了根据本公开各种实施例的图170的电动马达和定位在柄部内的共振器；
图178为图177的电动马达和共振器的仰视图；
图179为图177的共振器的第一透视图；
图180为图177的共振器的第二透视图；
图181为图173的柄部的透视图，其示出了根据本公开各种实施例的图 170的电动马达、共振器、和定位在柄部内的保持环；
图182为根据本公开各种实施例的外科手术期间外科器械的操作的流程图；
图183为根据一个实施例的图34的外科器械柄部的分解透视图，其示出了绝对定位系统的传感器布置的一部分；
图184为根据一个实施例的柄部外壳的一部分已移除的图34和183的柄部的侧正视图，其示出了绝对定位系统的传感器布置的一部分；
图185为根据一个实施例的包括微控制器控制的马达驱动电路布置的绝对定位系统的示意图，所述马达驱动电路布置包括传感器布置；
图186为根据一个实施例的绝对定位系统的传感器布置的详细透视图；
图187为根据一个实施例的绝对定位系统的传感器布置的分解透视图，其示出了控制电路板组件和传感器布置的元件的相对对齐；
图188为根据一个实施例的绝对定位系统的传感器布置的侧透视图，其示出了控制电路板组件；
图189为根据一个实施例的绝对定位系统的传感器布置的侧透视图，其中控制电路板组件被移除以示出传感器元件保持器组件；
图190为根据一个实施例的绝对定位系统的传感器布置的侧透视图，其中控制电路板和传感器元件保持器组件被移除以示出传感器元件；
图191为根据一个实施例的绝对定位系统的传感器布置的俯视图，其以控制电路板被移除但电子部件仍然可见示出，以示出位置传感器和电路部件之间的相对位置；
图192为根据一个实施例的包括磁旋转绝对定位系统的绝对定位系统的位置传感器的一个实施例的示意图；
图193示出了根据一个实施例的处于直的位置的关节运动接头，即相对于纵向成零度角；
图194示出了根据一个实施例的图193的关节运动接头，其以限定在纵向轴线L-A和关节运动轴线A-A之间的第一角度沿一个方向进行关节运动；
图195示出了根据一个实施例的图193的关节运动接头，其以限定在纵向轴线L-A和关节运动轴线A’-A之间的第二角度沿另一个方向进行关节运动；
图196示出了补偿柔性刀带的展开对横断长度的影响的方法的逻辑图的一个实施例；
图197为用于当轴组件未联接到外科器械柄部的电连接器时使电连接器掉电的系统的示意图；
图198为示出了用于控制本文所公开的外科器械的马达的速度和/或可驱动构件的速度的系统的示意图；以及
图199为示出了用于控制本文所公开的外科器械的马达的速度和/或可驱动构件的速度的另一个系统的示意图。
在所述这些图式中，对应的参考符号表示对应的部件。本文示出的范例以一种形式示出本发明的某些实施例，并且不应将此类范例理解为以任何方式限制本发明的范围。
具体实施方式
本申请的申请人拥有提交于2013年3月1日的以下专利申请，并且所述专利申请各自全文以引用的方式并入本文：
-美国专利申请序列号13/782,295，名称为“Articulatable SurgicalInstruments With Conductive Pathways For Signal Communication”；
-美国专利申请序列号13/782,323，名称为“ROTARY POWERED ARTICULATIONJOINTS FOR SURGICAL INSTRUMENTS”；
-美国专利申请序列号13/782,338，名称为“THUMBWHEEL SWITCH ARRANGEMENTSFOR SURGICAL INSTRUMENTS”；
-美国专利申请序列号13/782,499，名称为“Electromechanical SurgicalDevice with Signal Relay Arrangement”；
-美国专利申请序列号13/782,460，名称为“MULTIPLE PROCESSOR MOTOR CONTROLFOR MODULAR SURGICAL INSTRUMENTS”；
-美国专利申请序列号13/782,358，名称为“JOYSTICK SWITCH ASSEMBLIES FORSURGICAL INSTRUMENTS”；
-美国专利申请序列号13/782,481，名称为“SENSOR STRAIGHTENED END EFFECTORDURING REMOVAL THROUGH TROCAR”；
-美国专利申请序列号13/782,518，名称为“CONTROL METHODS FOR SURGICALINSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS”；
-美国专利申请序列号13/782,375，名称为“ROTARY POWERED SURGICALINSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM”；和
-美国专利申请序列号13/782,536，名称为“Surgical Instrument Soft Stop”，全部申请均据此全文以引用方式并入。
本申请的申请人还拥有与上述申请同一天提交的以下专利申请，并且所述专利申请各自以引用的方式全文并入本文：
-名称为“INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT”的美国专利申请，代理人案卷号END7259USNP/130030；
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONLOCK”的美国专利申请，代理人案卷号END7260USNP/130031；
-名称为“SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS”的美国专利申请，代理人案卷号END7262USNP/130032；
-名称为“MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT”的美国专利申请，代理人案卷号 END7257USNP/130033；
-名称为“DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请，代理人案卷号END7254USNP/130034；
-名称为“ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS”的美国专利申请，代理人案卷号END7258USNP/130035；
-名称为“DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请，代理人案卷号END7255USNP/130036；
-名称为“METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT”的美国专利申请，代理人案卷号 END7256USNP/130037；以及
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”的美国专利申请，代理人案卷号 END7263USNP/130079。
现在将描述某些示例性实施例，以从整体上理解本文所公开的装置和方法的结构、功能、制造和用途的原理。这些实施例的一个或多个实例已在附图中示出。本领域的普通技术人员将会理解，在本文中具体描述并示出于附图中的装置和方法为非限制性的示例性实施例，并且本发明的各种实施例的范围仅由权利要求书限定。结合一个示例性实施例示出或描述的特征可与其他实施例的特征进行组合。此类修改和变型旨在包括在本发明的范围之内。
本说明书通篇提及的“各种实施例”、“一些实施例”、“一个实施例”或“实施例”等意味着结合实施例描述的具体特征、结构或特性包括在至少一个实施例中。因此，本说明书通篇出现的短语“在各种实施例中”、“在一些实施例中”、“在一个实施例中”或“在实施例中”等并不一定都指相同的实施例。此外，在一个或多个实施例中，具体特征、结构或特性可以任何合适的方式结合。因此，在无限制的情况下，结合一个实施例示出或描述的具体特征、结构或特性可全部或部分地与一个或多个其他实施例的特征、结构或特性结合。这些修改和变型旨在包括在本发明的范围之内。
本文所用术语“近侧”和“远侧”是相对于操纵外科器械的柄部的临床医生而言的。术语“近侧”是指最靠近临床医生的部分，并且术语“远侧”是指远离临床医生的部分。还应当理解，为方便和清楚起见，本文可以结合附图使用诸如“垂直”、“水平”、“上”和“下”之类的空间术语。然而，外科器械能够在许多取向和位置中使用，并且这些术语并非旨在为非限制性和/或绝对的。
提供了各种示例性装置和方法以执行腹腔镜式和微创外科手术操作。然而，本领域的普通技术人员将容易理解，本文所公开的各种方法和装置可用于许多外科手术和应用中，包括例如包括与开放式外科手术结合。继续参阅本具体实施方式，本领域中的普通技术人员将进一步理解，本文所公开的各种器械可以任何方式插入体内，诸如通过自然腔道、通过形成于组织中的切口或穿刺孔等。器械的工作部分或端部执行器部分可被直接插入患者体内或可通过具有工作通道的进入装置插入，外科器械的端部执行器和细长轴可通过所述工作通道而推进。
图1-3示出了可包括柄部103、轴104和在关节运动接头110处可枢转地连接到轴104的关节运动端部执行器102的示例性外科器械100。提供关节运动控制器112以实现端部执行器102围绕关节运动接头110的旋转。端部执行器102被示为被构造成能够充当用于夹紧、切断和缝合组织的直线切割器，然而应当理解，各种实施例可包括能够充当其他外科装置的端部执行器，所述其他外科装置包括例如抓紧器、切割器、缝合器、施夹钳、进入装置、药物/基因治疗递送装置、超声、RF和/或激光能量装置等。器械100的柄部103可包括用于致动端部执行器102的闭合触发器114和击发触发器 116。应当理解，具有涉及不同手术任务的端部执行器的器械可具有不同数量或类型的触发器或用于操作端部执行器的其他合适控制器。端部执行器 102通过轴104连接至柄部103。临床医生可通过利用关节运动控制器112 使端部执行器102相对于轴104进行关节运动，如下文更详细的描述。
应当理解，空间术语诸如竖直、平行、右、左等在本文结合附图给出，假设外科器械100的纵向轴线与轴104的中心轴线共轴，并且触发器114, 116以锐角从柄部103的底部向下延伸。然而在实际应用中，外科器械100 可以各种角度取向，并且同样地，这些空间术语相对于外科器械100自身被使用。另外，近侧用于表示在柄部103后面并将端部执行器102朝远侧或者远离他或她自身放置的医生的视角。如本文所用，短语“基本横向于纵向轴线”是指几乎垂直于纵向轴线的方向，其中“纵向轴线”是轴的轴线。然而，应当理解，与纵向轴线的垂直方向有一些偏差的方向也基本上横向于纵向轴线。
本文所公开的各种实施例是针对具有由弯曲缆线或带驱动的关节运动接头的器械。图4和5示出了细长轴104和包括带205的端部执行器102的俯视剖视图，带205机械地联接到从端部执行器102延伸的凸台206。带205 可包括沿着细长轴104从凸台206朝近侧延伸并穿过关节运动控制器112的带部分202和204。带205和带部分202,204可具有固定的长度。如图所示，可使用包括例如胶粘、焊接等任何合适的紧固方法将带205机械地联接到凸台206。在各种实施例中，每个带部分202,204可作为单独的带提供，其中每个单独的带的一个端部机械地联接到凸台206，并且另一端部延伸穿过轴104和关节运动控制器112。单独的带可如上所述机械地联接到凸台 206。
除上述之外，带部分202,204可从凸台206穿过关节运动接头110并沿着轴104延伸至关节运动控制器112，如图6所示。关节运动控制器112可包括关节运动滑动件208、框架212和壳体218。带部分202,204可通过狭槽 210或其他孔穿过关节运动滑动件208，但应当理解，带部分202,204可通过任何合适的方法联接到滑动件208。关节运动滑动件208可以是一件式的，如图6所示，或可包括两个件，其中两个件之间的界面限定狭槽210。在一个非限制性实施例中，关节运动滑动件208可例如包括多个狭槽，其中每个狭槽被构造成能够接收带部分202,204中的一个。壳体218可覆盖关节运动控制器112的各种部件，以防止碎片进入关节运动控制器112。
再次参见图6，带部分202,204可分别在位于狭槽210近侧的连接点214, 216处锚固到框架212。应当理解，带部分202,204可锚固在器械10中任何位于狭槽210近侧的地方，包括柄部103。图6的非限制性实施例示出了带部分202,204可包括在连接点214,216和位于轴104的纵向轴线附近的狭槽210 之间的弯曲构型。设想其他的实施例中带部分202,204是直的。
图7-9示出了包括图5所示的关节运动接头110的器械100的端部执行器102和细长轴104的视图。图7示出了包括各种内部部件的端部执行器 102和细长轴104的分解图。在至少一个实施例中，端部执行器框架150和轴框架154被构造成能够在关节运动接头110处接合。凸台206与端部执行器框架150成一体的，其中带205与凸台206交接，如图所示。轴框架154 可包括限定孔304的朝远侧取向的柄脚302。孔304可定位成与被包括在端部执行器框架150中的关节运动销(未示出)交接，从而允许端部执行器框架150相对于轴框架154枢转，并因此允许端部执行器102相对于轴104枢转。当组装时，各个部件可围绕关节运动接头110在图9和10中示出的关节运动轴线306处枢转。
图7还示出了砧座120。在该非限制性实施例中，砧座120联接到细长通道198。例如，孔199可被限定在细长通道198中，该细长通道可接收从砧座120延伸的销152并允许砧座120相对于细长通道198和钉仓118从打开位置枢转至闭合位置。另外，图7示出了击发杆172，其被构造成能够纵向地平移穿过轴框架154，穿过柔性闭合装置和枢转框架关节运动接头 110，并穿过远侧框架150中的击发狭槽176进入端部执行器102中。击发杆172可由一个实心部分构成，或在各种实施例中，可包括层合材料，该层合材料包括例如一叠钢板。应当理解，由层合材料制成的击发杆172可降低使端部执行器102关节运动所需的力。在各种实施例中，可将弹簧夹158安装在端部执行器框架150中，以向下偏置击发杆172。在端部执行器框架 150的顶部形成的远侧和近侧正方形孔164,168可在两者间限定夹杆170，该夹杆接收弹簧夹158的上臂162，弹簧夹158的下部、朝远侧延伸的臂 160对击发杆172的凸起部分174施加向下的力，如下所述。
击发杆172的远侧突出端可附接到E形梁178，此外，当砧座120处于闭合位置时，E形梁178可(除了其他以外)有助于将砧座120与定位在细长通道198中的钉仓118分开。E形梁178还可包括锋利切割刃182，该切割刃在E形梁178被击发杆172朝远侧推进时可用于切断组织。在操作中， E形梁178还可致动或击发钉仓118。钉仓118可包括模塑的仓体194，该仓体保持多个钉191，该钉静置在钉驱动器192上，该钉驱动器在相应向上打开的钉腔195中。楔形滑动件190通过E形梁178朝远侧驱动，从而在仓托盘196上滑动，该仓托盘将可替换钉仓118的各种部件保持在一起。楔形滑动件190使钉驱动器192向上进行凸轮运动，以将钉191挤出成与砧座 120变形接触，同时E形梁178的切割表面182切断夹紧的组织。
除上述之外，E形梁178可包括在击发期间接合砧座120的上部销 180。E形梁178还可包括中间销184和底脚186，其可接合仓体194、仓托盘196和细长通道198的各个部分。当钉仓118定位在细长通道198内时，限定在仓体194中的狭槽193可与限定在仓托盘196中的狭槽197以及限定在细长通道198中的狭槽189对准。在使用中，E形梁178可滑动穿过对准的狭槽193,197和189，如图7所示，其中E形梁178的底脚186可沿着狭槽189的长度接合沿着通道198的底表面延伸的沟槽，中间销184可沿着纵向狭槽197的长度接合仓托盘196的顶表面，并且上部销180可接合砧座 120。在这种情况下，当击发杆172朝远侧运动以从钉仓118击发钉和/或切割捕获在砧座120和钉仓118之间的组织时，E形梁178可分开或限制砧座120和钉仓118之间的相对运动。然后，击发杆172和E形梁178可朝近侧回缩，从而允许砧座120被打开，以释放两个缝合和切割的组织部分(未示出)。
图7-9还示出了根据各种实施例的双枢轴闭合套管组件121。具体参照图7，双枢轴闭合套管组件121包括轴闭合管部分128，该轴闭合管部分具有朝远侧突出的上部柄脚146和下部柄脚148。端部执行器闭合管部分126 包括用于接合砧座120上的打开插片122的马蹄形孔124和插片123。当砧座120打开时，马蹄形孔124和插片123接合插片122。闭合管部分126被示出为具有朝近侧突出的上部柄脚144和下部柄脚(未示出)。上部双枢轴连接件130包括向上突出的远侧枢轴销134和近侧136，所述远侧枢轴销和近侧枢轴销分别接合朝远侧突出的上部柄脚144中的远侧上部销孔138和朝远侧突出的上部柄脚146中的近侧上部销孔140。下部双枢轴连接件132包括向下突出的远侧枢轴销和近侧枢轴销(图7中未示出，参见图8)，所述远侧枢轴销和近侧枢轴销分别接合朝近侧突出的下部柄脚中的远侧下部销孔和朝远侧突出的下部柄脚148中的近侧下部销孔142。
在使用中，闭合套管组件121朝远侧平移，以例如响应于闭合触发器 114的致动来闭合砧座120。通过朝远侧平移闭合管部分126，并因此平移套管组件121，使套管组件121撞击在砧座120的在图9中位于插片122的左侧的近侧表面上，从而闭合砧座120。如图8和9中更清楚地显示，通过朝近侧平移管部分126，并因此平移套管组件121来打开砧座120，从而使插片123和马蹄形孔124接触并推挤插片122以提升砧座120。在砧座的打开位置，双枢轴闭合套管组件121运动到其近侧位置。
在操作中，临床医生可通过侧向推动控制器112使器械100的端部执行器102相对于轴104围绕枢轴110进行关节运动。从空档位置，临床医生可通过向控制器112的左侧提供侧向力来使端部执行器102相对于轴104关节运动到左侧。响应于力，关节运动滑动件208可至少部分地被推动至框架 212中。当将滑动件208被推动至框架212中时，狭槽210以及带部分204 可沿着横向(例如基本上横向于或垂直于轴104的纵向轴线的方向)平移穿过细长轴104。因此，力施加到带部分204上，使得带部分204弹性地弯曲和/或从其初始预弯曲位置朝轴104的相对侧运动。同时，带部分202从其初始预弯曲位置松弛。带部分204的此类运动，以及带部分202的拉直，可在凸台206处施加逆时针旋转力，这继而使凸台206和端部执行器102围绕关节运动枢轴110枢转到左侧相对于轴104的轴线所需的角度，如图12所示。带部分202的松弛减少了该带部分上的张力，从而允许带部分204使端部执行器102进行关节运动，而基本不会受到来自带部分202的干扰。应当理解，临床医生也可以通过对控制器112的右侧提供侧向力来使端部执行器 102相对于轴104关节运动到右侧。这使缆线部分202弯曲，从而在凸台 206处导致顺时针旋转力，这继而使凸台206和端部执行器围绕关节运动枢轴110枢转到右侧。与上文相似，带部分204可同时松弛以允许此类运动。
图12和13示出了马达驱动的外科切割和紧固器械310。该例示的实施例示出了内窥镜式器械，并且，一般来讲，本文所述的器械310为内窥镜式外科切割和紧固器械；然而，应该指出的是，本发明并不限于此，并且根据其他实施例，本文所公开的任何器械均可包括非内窥镜式外科切割和紧固器械。图12和13示出的外科器械310包括柄部306、轴308和连接至轴308 的端部执行器312。在各种实施例中，端部执行器312可相对于轴308围绕关节运动接头314进行关节运动。用于使端部执行器312进行关节运动的各种装置和/或用于允许端部执行器312相对于轴308进行关节运动的各种装置在公布于2010年7月13日的名称为“SURGICAL STAPLING INSTRUMENTS”的美国专利7,753,245以及公布于2010年3月2日的名称为“SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR”的美国专利7,670,334中有所公开，所述专利的公开内容全文以引用的方式并入本文。用于使端部执行器312进行关节运动的各种其他装置在下文中进行更详细的描述。与上文相似，端部执行器312被构造成能够充当用于夹紧、切断和/或缝合组织的直线切割器，但在其他实施例中，可以使用不同类型的端部执行器，诸如用于抓紧器、切割器、缝合器、施夹钳、进入装置、药物/基因治疗装置、超声、RF和/或激光装置等其他类型外科装置的端部执行器。若干RF装置可在公布于1995年4月4日的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312，以及提交于2008年2月14日的名称为“SURGICAL CUTTING AND FASTENING INSTRUMENTHAVING RF ELECTRODES”的美国专利申请序列号12/031,573中找到，所述专利申请的公开内容全文均以全文引用的方式并入。
应当理解，本文使用的术语“近侧”和“远侧”是相对于抓持器械310 的柄部306的临床医生而言的。因此，端部执行器312相对于更近侧的柄部 306是处于远侧的。还应当理解，为简洁和清楚起见，本文结合附图使用诸如“竖直”和“水平”的空间术语。然而，外科器械以许多取向和位置使用，并且这些术语并非旨在为限制性和绝对化的。
此外，端部执行器312可包括(除了其他以外)钉通道322和诸如砧座 324的能够枢转地平移的夹紧构件。器械310的柄部306可包括用于致动端部执行器312的闭合触发器318和击发触发器320。应当理解，具有针对不同手术任务的端部执行器的器械可具有用于操作端部执行器312的不同数量或类型的触发器或其他合适的控制器。柄部306可包括向下延伸的手枪式握把326，闭合触发器318被临床医生枢转地拉向手枪式握把326，以使砧座 324朝着端部执行器312的钉通道322夹紧或闭合，由此夹紧位于砧座324 和通道322之间的组织。在其他实施例中，除了砧座324之外或替代砧座 324可以使用不同类型的夹紧构件。柄部306还可包括被构造成能够将闭合触发器318可释放地保持在其闭合位置的锁。在公布于2006年2月21日的名称为“SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCTCLOSING AND FIRING SYSTEMS”的美国专利7,000,818，公布于2008年9月10日的名称为“MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITIONFEEDBACK”的美国专利7,422,139，以及公布于2008年12月16日的名称为“ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENTCOMPONENTS”的美国专利7,464,849 中提供了关于用于通过使闭合触发器318回缩来闭合(或夹紧)端部执行器 312的砧座324的示例性闭合系统的实施例的更多细节，所述专利的公开内容全文以引用的方式并入本文。
一旦临床医生对端部执行器312的定位感到满意，临床医生可将闭合触发器318拉回至其紧邻手枪式握把326的完全闭合、锁定的位置。然后，击发触发器320可被致动或击发。在至少一个此类实施例中，击发触发器320 可位于闭合触发器318的更远的外侧，其中闭合触发器318的闭合可使击发触发器320朝向手枪式握把326运动或旋转，使得击发触发器320可在各种情况下被操作者用一只手够到。然后，操作者可枢转地将击发触发器320拉向手枪式握把312，使得在端部执行器312中缝合和切割被夹紧的组织。然后，在临床医生放松或释放施加到击发触发器320的力时，击发触发器320 可返回到未致动、或未击发的位置(示于图1和2中)。当压下柄部306上的释放按钮时可释放被锁定的闭合触发器318。释放按钮可以多种形式实现，例如在已公开的提交于2006年1月31日的名称为“SURGICAL CUTTINGAND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM”的美国专利申请公布2007/0175955中公开的那样，所述专利申请的公开内容全文以全文引用的方式并入本文。
除上述之外，端部执行器312可包括切割器械，例如刀，以用于在使用者回缩击发触发器320时切割夹持在端部执行器312中的组织。另外除上述之外，端部执行器312还可包括用于紧固被切割器械切断的组织的装置，例如缝合器、RF电极和/或粘合剂。位于器械310的轴308内的能够纵向运动的驱动轴可以驱动/致动端部执行器312中的切割器械和紧固装置。位于器械310的柄部306中的电动马达可用于驱动驱动轴，如本文进一步描述。在各种实施例中，马达可为DC有刷驱动马达，最大转速为例如大约 25,000RPM。在其他实施例中，马达可包括无刷马达、无绳马达、同步马达、步进马达或任何其他合适的电动马达。诸如锂离子电池的电池(或“电源”或“电源组”)例如可设置在邻近马达的柄部6的手枪式握把部26中，其中电池可经由马达控制电路为马达供电。根据各种实施例，可以使用串联连接的多个电池单元作为电源来为马达提供动力。此外，电源可以是可更换的和/或可充电的。
如上文概述，在器械310的柄部306中的电动马达可与定位在轴308内的能够纵向运动的驱动构件可操作地接合。现在参加图14-16，电动马达 342可安装到并定位在柄部306的手枪式握把部326内。电动马达342可包括可操作地联接齿轮减速器组件370的可旋转轴，其中齿轮减速器组件370 可包括(除了其他以外)外壳374和输出小齿轮372。在某些实施例中，输出小齿轮372可直接与能够纵向运动的驱动构件382可操作地接合，或者，通过一个或多个中间齿轮386与驱动构件382可操作地接合。在至少一个此类实施例中，中间齿轮386可与限定在驱动构件382中的一组或一齿条驱动齿状物384接合。在使用中，电动马达342可朝由箭头D(图15)指示的远侧驱动驱动构件，和/或朝由箭头D(图16)指示的近侧驱动驱动构件，这取决于电动马达342旋转中间齿轮386的方向。在使用中，由电池提供的电压极性可在顺时针方向上操作电动马达342，其中由电池施加到电动马达的电压极性可以是相反的，以在逆时针方向上操作电动马达342。柄部306可包括开关，该开关可被构造成能够使由电池施加于电动马达342的极性反向。柄部306还可包括被构造成能够检测驱动构件382的位置和/或驱动构件 382运动的方向的传感器330。
如上所述，外科器械310可包括关节运动接头314，端部执行器312可围绕该关节运动接头进行关节运动。器械310还可包括关节运动锁，该关节运动锁可被构造成并操作以选择性地将端部执行器312锁定就位。在至少一个此类实施例中，关节运动锁可从轴308的近侧端部延伸至轴308的远侧端部，其中关节运动锁的远侧端部可接合端部执行器312以将端部执行器312 锁定就位。再次参见图12和13，器械310还可包括关节运动控制器316，其可与关节运动锁的近侧端部接合并被构造成能够在锁定状态和解锁状态之间操作关节运动锁。在使用中，可朝近侧牵拉关节运动控制器316，以解锁端部执行器312并允许端部执行器312围绕关节运动接头314旋转。在端部执行器312已适当地进行关节运动之后，关节运动控制器316可朝远侧运动以将端部执行器312重新锁定就位。在至少一个此类实施例中，柄部306还可包括弹簧和/或能够朝远侧偏置关节运动控制器316并被构造成能够与端部执行器312一起使关节运动锁偏置至锁定构型的其他合适的偏置元件。如果临床医生需要，临床医生可再一次向后或朝近侧牵拉关节运动控制器 316，以解锁端部执行器312，使端部执行器312进行关节运动，并且然后使关节运动控制器316向后运动至其锁定状态。在此类锁定状态中，端部执行器312可不相对于轴308进行关节运动。
如上所述，外科器械310可包括被构造成能够将端部执行器312相对于轴308保持就位的关节运动锁。另外如上所述，当关节运动锁处于其解锁状态时，端部执行器312可相对于轴308旋转或进行关节运动。在此类解锁状态中，端部执行器312可抵靠例如患者内的手术部位周围的软组织和/或骨定位和推动，以使得端部执行器312相对于轴308进行关节运动。在某些实施例中，关节运动控制器316可包括关节运动开关或被构造成能够操作关节运动开关，该关节运动开关可选择性地允许和/或防止击发触发器320操作电动马达342。例如，此类关节运动开关可放置成与电动马达342以及与击发触发器320可操作地相联的击发开关串联，其中当关节运动控制器316处于锁定状态时，关节运动开关可处于闭合状态。当关节运动控制器316运动至解锁状态时，关节运动控制器316可打开关节运动开关，从而使击发触发器320的操作和电动马达342的操作电分离。在这种情况下，器械310的击发驱动装置不可被击发，同时端部执行器312处于解锁状态并且能够相对于轴308进行关节运动。当关节运动控制器316返回其锁定状态时，关节运动控制器316可重新闭合关节运动开关，这可然后使击发触发器320的操作与电动马达342电联接。一个或多个外科缝合器械的各种细节在提交于2009 年12月24日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENTWITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY”的专利申请序列号12/647,100，以及公布于2011年6月30日的美国专利申请公布2011/0155785中有所公开，所述专利申请的公开内容全文以引用的方式并入本文。
现在转向图17-29，外科器械400可包括柄部403、从柄部403延伸的轴404、以及从轴404延伸的端部执行器402。读者将会注意到，为了举例说明，已移除了柄部403的一部分；然而，柄部403可包括例如与图1中示出的闭合触发器114和击发触发器116相似的闭合触发器和击发触发器。如将在下文中更详细地描述，击发触发器116可操作地联接包括延伸穿过轴 404的击发构件470的击发驱动装置，其中击发触发器116的操作可朝着端部执行器402朝远侧推进击发构件470。如将在下文中更详细地描述，外科器械400还可包括关节运动驱动装置，该关节运动驱动装置可选择性地与击发构件470联接，使得当击发构件470被例如击发触发器116和/或单独的关节运动触发器和/或按钮促动时，关节运动驱动装置可被击发构件470驱动，并且关节运动驱动装置可继而使端部执行器402围绕关节运动接头410 进行关节运动。
现在转向图17，读者将会注意到，外科器械400的端部执行器402以打开构型示出。更具体地，包括砧座420的端部执行器402的第一钳口相对于端部执行器402的第二钳口的通道498以打开构型示出。与上文相似，通道498被构造成能够在其中接收并固定钉仓。现在转向图20，其也示出了处于打开构型的端部执行器420，外科器械400的柄部403可包括关节运动锁致动器409，该关节运动锁致动器可在远侧或锁定位置与近侧或解锁位置之间运动，在远侧位置，端部执行器402相对于轴404锁定就位，在近侧位置，端部执行器402可相对于轴404围绕关节运动接头410进行关节运动。虽然端部执行器402和轴404在图20中示出为以直的构型对齐，但关节运动锁致动器409以其回缩的、解锁位置示出，并且因此端部执行器402可相对于轴404进行关节运动。参见图19、24A和24B，关节运动锁致动器409 (图21)可与关节运动锁443可操作地联接，其中关节运动锁致动器409可使关节运动锁443在远侧位置(图24A)和近侧位置(图24B)之间运动，在远侧位置，关节运动锁443与端部执行器402的近侧锁定构件407接合，在近侧位置，关节运动锁443与端部执行器402脱离。读者将会知道，关节运动锁致动器409的远侧锁定位置与关节运动锁443的远侧位置对应，并且关节运动锁致动器409的近侧解锁位置与关节运动锁443的近侧位置对应。现在转向图19，关节运动锁443通过关节运动锁杆440联接到关节运动锁致动器409，关节运动锁杆440包括与关节运动锁443接合的远侧端部442，如图24A更好的示出，以及与关节运动锁致动器409接合的近侧端部441，如图22更好的示出。例如，如图24A和24B所示，关节运动锁443可包括被构造成能够与限定在近侧锁定构件407的周边周围的一个或多个齿状物 446啮合接合的一个或多个齿状物445。主要参见图19，轴404还可包括偏置构件，诸如弹簧444，其被构造成能够将关节运动锁443的齿状物445偏置成与端部执行器402的近侧锁定构件407的齿状物446接合。相似地，柄部403还可包括偏置构件，该偏置构件定位在限定于关节运动锁致动器409 和框架480之间的腔488(图23)内，使得偏置构件可朝其远侧、锁定位置推动关节运动锁致动器409。
如图17所示，关节运动锁致动器409可由两个喷嘴半部或部分411a和 411b构成，其中读者应当注意到，为了举例说明，喷嘴部分411b已从图 18-27中移除。另外如图17所示，关节运动锁致动器409可包括多个指状物钩413，外科医生或其他临床医生可抓持指状物钩413以使关节运动锁致动器409回缩至其近侧解锁构型。再次参见图20，关节运动锁致动器409还可包括被构造成能够抵靠轴404的框架或柄部403的框架偏置棘爪构件457的棘爪组件452。更具体地，轴404可包括从柄部框架480延伸的轴框架 454，其中棘爪组件452被构造成能够抵靠轴框架454偏置棘爪构件457。参见图19，轴框架454可包括限定在其中的棘爪通道453，该棘爪通道可与棘爪构件457对齐，使得当关节运动锁致动器409在其上述锁定和解锁位置中滑动时，棘爪构件457可在棘爪通道453内滑动。再次参见图20，棘爪组件 452可包括固定框架部分458，该固定框架部分可限定被构造成能够接收可调节螺纹构件459的螺纹孔。可调节螺纹构件459可包括内部孔，其中棘爪构件457的至少一部分可定位在该内部孔中，并且其中可通过例如定位在棘爪构件457和内部孔的闭合端部之间的弹簧将棘爪构件457偏置到内部孔的端部。如图19所示，棘爪通道453的近侧端部可包括棘爪座455，当关节运动锁致动器409到达其近侧解锁位置时，该棘爪座被构造成能够可移除地接收棘爪构件457。在各种情况下，棘爪构件457、棘爪座455和定位在可调节螺纹构件459中的偏置弹簧的尺寸被设定成并且被构造成能够使得棘爪组件452能够可释放地将关节运动锁致动器409保持在其近侧解锁位置中。如将在下文中更详细地描述，关节运动锁致动器409可保持在其近侧解锁位置中，直至端部执行器402已适当地进行关节运动。此时，可向前推动关节运动锁致动器409以使棘爪构件457与棘爪座455分离。读者将会知道，主要参见图20，可调节螺纹构件459可朝着轴框架454向下旋转，以增加使棘爪构件457脱离棘爪座455所需的力，同时可调节螺纹构件459可远离轴框架 454向上旋转，以降低使棘爪构件457脱离棘爪座455所需的力。另外如图 20所示，关节运动锁致动器409可包括可用于使螺纹构件459进入和旋转的入口418。
如上所述，关节运动锁致动器409处于图20的回缩解锁位置，并且端部执行器402处于图24B示出的解锁构型。现在参见图19和20，外科器械 400还包括关节运动驱动器460，该关节运动驱动器可被朝远侧推动，以使端部执行器402在第一方向上围绕关节运动接头410旋转，并且可被朝近侧牵拉，以使端部执行器402在第二或相反的方向上围绕关节运动接头旋转，如图21所示。在比较图20和21时，读者将会注意到，已通过击发构件470 朝近侧牵拉关节运动驱动器460。更具体地，击发构件470的中间部分475 可包括限定在其中的凹口或狭槽476，该凹口或狭槽被构造成能够接收关节运动驱动器460的近侧端部461，使得当朝近侧牵拉击发构件470时，击发构件470也可朝近侧牵拉关节运动驱动器460。相似地，当朝远侧推动击发构件470时，击发构件470可朝远侧推动关节运动驱动器460。另外如图20和21所示，关节运动驱动器460可包括例如与从近侧锁定构件407延伸的突出414接合的远侧端部462，该远侧端部被构造成能够将关节运动驱动器 460的近侧和远侧关节运动动作传输到端部执行器102。主要参见图18-20，柄部404还可包括击发构件470的近侧击发构件部分482，其包括与击发机构470的中间部分475的近侧端部477接合的远侧端部481。与上文相似，柄部403可包括电动马达，该电动马达包括输出轴和与输出轴可操作地接合的齿轮，其中齿轮与限定在击发构件部分482的表面中的一组纵向齿状物 484可操作地接合。在使用中，除上述之外，可在第一方向上操作电动马达以朝远侧推进击发构件470，以及在第二或相反的方向上操作电动马达以朝近侧回缩击发构件470。虽然未示出，柄部403还可包括开关，该开关可定位在第一状态以在其第一方向上操作电动马达，定位在第二状态以在其第二方向上操作电动马达，和/或定位在不在任何方向上操作电动马达的空档状态。在至少一个此类实施例中，开关可包括至少一个偏置构件，例如弹簧，其被构造成能够将开关偏置到其空档状态。另外，在至少一个此类实施例中，关节运动开关的第一状态可包括空档位置的第一侧面上的拨动开关的第一位置，并且关节运动开关的第二状态可包括空档位置的第二或相对侧面上的拨动开关的第二位置。
在各种情况下，除上述之外，关节运动开关可用于在端部执行器402的位置中进行小的调整。例如，外科医生可在第一方向上运动关节运动开关，以使端部执行器402围绕关节运动接头在第一方向上旋转，然后通过在第二方向上运动关节运动开关，和/或任何其他合适的在第一方向和第二方向上的运动的组合来使端部执行器402的运动反向，直至端部执行器402被定位在所需的位置。主要参见图19、24A和24B，关节运动接头410可包括从轴框架构件451延伸的枢轴销405，以及限定在近侧锁定构件407中的孔408，该孔被构造成能够在其中紧密地接收枢轴销405，使得端部执行器402的旋转被限制成围绕关节运动轴线406旋转。主要参见图19，轴框架454的远侧端部可包括被构造成能够在其中接收轴框架构件451的凹槽456。如将在下文中更详细地描述，轴404可包括外部套管，该外部套管可相对于轴框架454 滑动以闭合砧座420。主要参见图19-21，轴410的外部套管可包括可通过关节运动连接件430和432彼此连接的近侧部分428和远侧部分426。当外部套管相对于关节运动接头410滑动时，关节运动连接件430可在端部执行器 402已进行关节运动时调节外部套管的远侧部分426和近侧部分428之间的成角度的相对运动，如图21所示。在各种情况下，关节运动连接件430和 432可在关节运动接头410处形成两个或多个自由度，以调节端部执行器402 的关节运动。读者将会注意到，关节运动接头410还可包括引导件401，该引导件被构造成能够在其中接收击发构件470的远侧切割部分472，并在远侧切割部分472在关节运动接头410内和/或相对于关节运动接头410朝远侧推进和/或朝近侧回缩时引导远侧切割部分472。
如上所述，可朝远侧推进击发构件470以朝远侧推进关节运动驱动器 460，并因此使端部执行器402在第一方向上旋转，相似地，击发构件470 可朝近侧回缩以朝近侧回缩关节运动驱动器460，并因此使端部执行器402 在相反的方向上旋转。然而，在一些情况下，当击发构件470用于使端部执行器402进行关节运动时，运动或至少基本上运动击发构件470的远侧切割部分472是不可取的。现在转向图19-21，击发构件470的中间部分475可包括限定在其远侧端部中的纵向狭槽474，该纵向狭槽被构造成能够接收远侧切割部分472的近侧端部473。纵向狭槽474和近侧端部473的尺寸设定成并且被构造成能够允许两者间的相对运动，并可包括滑动接头471。滑动接头471可允许击发驱动装置470的中间部分475运动，以使端部执行器 402进行关节运动，而无需运动或至少基本上运动远侧切割部分472。一旦端部执行器402已被适当地取向，可朝远侧推进中间部分475直至纵向狭槽 474的近侧侧壁与近侧端部473接触，从而推进远侧切割部分472并击发定位在通道498内的钉仓，如将在下文中更详细地描述。主要参见图19，轴框架454可包括限定在其中的纵向狭槽469，该纵向狭槽被构造成能够滑动地接收关节运动驱动器460，相似地，外部轴套管的近侧部分428可包括被构造成能够调节上述关节运动驱动器460和轴404的外部套管之间的相对运动的纵向开口425。
除上述之外，当关节运动锁致动器409处于其近侧解锁位置中时，关节运动锁致动器409被构造成能够朝着驱动构件470偏置关节运动驱动器460 的近侧部分461。更具体地，在至少一个此类实施例中，关节运动锁致动器 409的内表面可包括凸轮，该凸轮可接合近侧部分461的侧向侧466，并且将近侧部分461偏置成与限定在驱动构件470的中间部分475中的狭槽476 接合。当关节运动锁致动器409运动回到其远侧锁定位置时，关节运动锁致动器409可不再朝着驱动构件470向内偏置近侧部分461。在至少一个此类实施例中，柄部403和/或轴404可包括弹力构件，例如弹簧，其被构造成能够将近侧部分461远离击发构件470向外偏置，使得近侧部分461不与狭槽 476可操作地接合，除非在关节运动锁致动器409朝近侧运动至其解锁位置时，弹力构件的偏置力被关节运动锁致动器409克服，如上所述。在各种情况下，近侧部分461和狭槽476可包括力限制离合器。
一旦端部执行器402已关节运动至期望取向，除上述之外，可致动闭合触发器114以使砧座420朝其闭合位置运动，如图22所示。更具体地，闭合触发器114可朝远侧推进轴410的外部套管，使得外部套管的远侧部分426 可朝远侧并向下推动砧座420。砧座420可包括从砧座420的相对侧延伸的突出497，该突出各自被构造成能够在限定于仓通道498中的细长狭槽499内滑动并旋转。砧座420还可包括从其向上延伸的突出496，该突出可定位在限定于外部套管的远侧部分426中的孔495内，其中当远侧部分426朝远侧推进以使砧座420朝着仓通道498运动时，孔495的侧壁可接触突出496。除上述之外，闭合驱动装置的关节运动还可使关节运动锁致动器409从其近侧解锁位置(图20-22)运动到其远侧锁定位置(图23)。更具体地，闭合驱动装置被构造成能够朝远侧推进闭合驱动滑架415，该闭合驱动滑架可接触安装在关节运动致动器409内的衬圈450，如图22所示。如图19和22所示，衬圈450可包括相对的部分或半部，该相对的部分或半部可被组装在一起，使得衬圈450的相对部分可围绕轴404。衬圈450还可支撑上述棘爪组件452，并且可包括与上述关节运动锁杆440的近侧端部441接合的安装部分。在任何情况下，闭合驱动滑架415可接触衬圈450并朝远侧滑动关节运动锁致动器409，除上述之外，参见图19，使棘爪构件457从棘爪座455位移到棘爪通道453中，使得关节运动锁致动器409可被推动到其锁定位置中，并且关节运动锁443可运动成与近侧锁定位置407接合，从而将端部执行器402锁定就位，如图23所示。此时，闭合驱动滑架415可阻止端部执行器402解锁和关节运动，直至闭合驱动装置和砧座420重新打开并且闭合驱动滑架415 朝近侧运动，如将在下文中更详细地描述。
现在参见图25，经由闭合驱动致动器114的闭合驱动装置的致动以及轴410的外部套管428的远侧推进也能够将关节运动驱动器460从击发驱动装置470可操作地脱离。当再次查看图20和21时，读者将注意到，外部套管428包括限定在其中的窗口424，可旋转凸轮构件465可定位在该窗口内。凸轮构件465可包括可旋转地销接至或联接到轴框架454的第一端部和被构造成能够相对于凸轮构件465的销接端部旋转的第二端部，而在其他实施例中，凸轮构件465可包括任何合适的形状。当外部套管428处于其近侧位置并且砧座420处于其打开构型时，凸轮构件465可处于第一位置，该第一位置允许关节运动驱动器460的近侧端部461与限定在击发构件470中的狭槽476接合；然而，当外部套管428朝远侧推进时，窗口424的侧壁可以接合凸轮构件465，并且将凸轮构件465的第二端部抬离轴框架454进入第二位置。在该第二位置中，凸轮构件465可使关节运动驱动器460的近侧端部461远离击发驱动装置470运动，使得近侧端部461不再定位在限定于击发驱动装置470中的狭槽476内。因此，当闭合驱动装置已被致动以将砧座 420闭合时，闭合驱动装置可将关节运动锁致动器409推动至其远侧锁定构型，关节运动锁致动器409可将关节运动锁445推动至锁定构型，其中端部执行器402，并且另外闭合驱动装置，能够使关节运动驱动器460与击发驱动装置470可操作地分离。在操作外科器械400中的此时，击发驱动装置 470的致动将不使端部执行器402进行关节运动，并且击发驱动装置470可独立于关节运动驱动器460而运动。
现在转向图26，如上所述，击发驱动装置470可朝远侧推进，以将钉从定位在端部执行器402的通道498内的钉仓顶出并且抵靠砧座420使钉变形。如上所述，击发驱动装置470可还包括被构造成能够切断捕获在端部执行器402内的组织的切割构件。也如上所述，柄部403内的电动马达可被击发致动器116操作，以便将击发构件470朝远侧推进，其中在各种情况下，可操作电动马达，直到击发构件470的远侧切割部分472到达钉仓的远侧端部和/或钉仓内的任何其他合适的位置。在任何情况下，电动马达的旋转可被反向，以将击发构件470朝近侧回缩，如图27所示。在各种情况下，电动马达可回缩近侧驱动部分482和中间部分475，直到限定在中间部分475 中的纵向狭槽474的远侧侧壁与远侧切割构件472的近侧端部473接触。此时，近侧驱动部分482和中间部分475的进一步回缩将使远侧切割构件472 朝近侧回缩。在各种情况下，可操作电动马达，直到限定在击发构件470的中间部分475中的狭槽476与关节运动驱动器460的近侧部分461重新对齐；然而，当闭合套管428仍处于朝远侧推进位置时，凸轮构件465可仍将关节运动驱动器460偏置成与击发构件470脱离接合。为了使关节运动驱动器460与击发构件470重新接合，在这种情况下，闭合驱动装置将必须被重新打开，以使限定在外部套管部分428中的窗口424与凸轮构件465对齐，使得凸轮构件465可朝着轴框架454向内枢转到其第一位置中。在各种情况下，关节运动驱动器460可弹性偏转脱离接合击发构件470，使得当允许凸轮构件465运动回到其第一位置时，关节运动驱动器460可朝向轴框架454 向内弹性偏转，以使关节运动驱动器460的近侧部分461与限定在驱动构件 470的中间部分475中的狭槽476重新接合。在各种实施例中，外科器械 400可还包括被构造成能够将近侧部分461偏置回与中间部分475接合的偏置构件。
读者将注意到，在图27中击发构件470的中间部分475已被朝近侧回缩，使得限定在中间部分475内的狭槽476相对于关节运动驱动器460的近侧部分461朝近侧定位。在这种情况下，因此，近侧部分461可能不会可操作地重新连接至击发构件470，直到中间部分475朝远侧推进以将狭槽476 与近侧部分461对齐。此类情形可能由于击发构件470的中间部分475与切割构件部分472之间的相对滑动而出现，该相对滑动是由滑动接头471产生的，并且其可例如通过沿第一方向暂时地重新致动电动马达来解决。
再次参见图27，击发构件470可处于回缩或复位位置，然而，闭合驱动装置仍处于致动或闭合构型，该构型可阻止砧座420被再次打开并且阻止端部执行器402再次进行关节运动。当闭合驱动装置被释放时，现在参见图 28，闭合驱动滑架415可被回缩至近侧位置，在该近侧位置，包括部分426 和428的闭合套管也被朝近侧牵拉。再次参见图19，近侧套管部分428可包括可与闭合驱动滑架415接合的近侧端部417，使得近侧套管部分428和闭合驱动滑架415一起朝远侧方向和/或近侧方向运动。在任何情况下，除上述之外，远侧套管部分426的近侧运动可导致孔495的远侧侧壁与从砧座 420延伸的突出496接合，以便使砧座420枢转至其打开位置，如图29所示。此外，闭合驱动滑架415的近侧运动可使关节运动锁致动器409解锁，使得关节运动锁致动器409可运动至其近侧解锁位置，这可导致将关节运动锁443朝近侧牵拉，从而将弹簧444压缩并将端部执行器402解锁。如上所述，随后可将端部执行器402围绕关节运动接头410进行关节运动，并且可重复上述的对外科器械400的操作。主要参见图18-20，柄部404还可包括安装到柄部框架480的开关408，该开关被构造成能够检测关节运动锁致动器409是否处于其近侧解锁位置。在一些实施例中，开关408可与柄部404中的指示器(诸如光指示器)可操作地联接，该指示器例如可以向外科器械 400的操作者指示端部执行器402处于解锁状态，并且操作者可以利用关节运动开关来使端部执行器402进行关节运动。
如上结合图17的实施例所述，外科器械400可包括被构造成能够将端部执行器402锁定和解锁的关节运动锁定系统，以及被构造成能够将端部执行器402的砧座420打开和闭合的闭合驱动装置。尽管外科器械400的这两个系统在如上所述的若干方面相互作用，但是所述系统可在其他方面彼此独立地被致动。例如，关节运动锁致动器409和端部执行器锁443可被致动，而不闭合砧座420。在外科器械400的该实施例中，闭合驱动装置被独立地操作以将砧座420闭合。现在转向图30-32，外科器械400可包括其中闭合驱动装置被致动以：其一，将砧座420闭合；其二，将端部执行器402锁定就位的另选布置。主要参见图31和32，轴404可包括关节运动锁杆540，该关节运动锁杆可在近侧解锁位置(图31)和远侧锁定位置(图32)之间运动，在该近侧解锁位置，端部执行器402可围绕关节运动接头410进行关节运动，在该远侧锁定位置，端部执行器402可被锁定就位。与关节运动锁杆440类似，关节运动锁杆540可包括与关节运动锁443可操作地接合的远侧端部 542，使得当关节运动锁杆540被朝近侧牵拉时，关节运动锁443可被朝近侧牵拉。类似地，当关节运动锁杆540被朝远侧推动时，关节运动锁443也可以被朝远侧推动。与如上所述的通过关节运动锁致动器409而朝远侧推动和朝近侧牵拉的关节运动锁杆440相比，关节运动锁杆540可通过闭合套管428 而朝远侧推动和朝近侧牵拉。更具体地，关节运动锁杆540的近侧端部541 可包括钩547，当闭合套管428被朝近侧牵拉时，该钩可捕获闭合套管428的一部分并且与闭合套管428一起被朝近侧牵拉。在这种情况下，套管428可将关节运动锁杆540牵拉至解锁状态。如读者将注意到，闭合套管428可包括窗口549，关节运动锁杆540的近侧端部541可定位在该窗口中。当闭合套管428被朝远侧推动时，除上述之外，窗口549的近侧侧壁548可接触近侧端部541并且将关节运动锁杆540和关节运动锁443朝远侧推动，以便将端部执行器402锁定就位。
如本文所述，可能期望采用可包括可重复使用部分的外科系统和装置，该可重复使用部分被构造成能够与可互换外科部件一起使用。参见图33，例如，示出了通常命名为1000的外科系统，其在至少一种形式中包括可重复使用或不可重复使用的外科器械1010。外科器械1010可采用多个可互换轴组件1200,1200’,1200”。可互换轴组件1200,1200’,1200”可具有可操作地联接到其的外科端部执行器1300,1300’,1300”，该外科端部执行器被构造成能够执行一种或多种外科任务或外科手术。例如，外科端部执行器1300, 1300’,1300”中的每个可包括被构造成能够在其中可操作地支撑外科钉仓的外科切割和紧固装置。每个轴组件可采用适于支撑不同尺寸和类型的钉仓的端部执行器，并具有不同的轴长度、尺寸和类型等等。尽管本发明的附图示出了被构造成能够切割和缝合组织的端部执行器，但外科系统1000的各个方面还可有效地采用被构造成能够将其他运动和其他形式的能量(诸如射频 (RF)能量、超声能量和/或运动)施加到在各种外科应用和外科手术中使用的安装有可互换轴的端部执行器布置的外科器械。此外，端部执行器、轴组件、柄部、外科器械和/或外科器械系统可利用任何合适的一个或多个紧固件来紧固组织。例如，包括多个可移除地存储在其中的紧固件的紧固件仓能够可移除地插入轴组件的端部执行器中和/或附接到轴组件的端部执行器。在各种情况下，轴组件可被选择为附接到外科器械的柄部，并且紧固件仓可被选择为附接到轴组件。
图33中示出的外科器械1010包括外壳1040，该外壳由被构造成能够被临床医生抓握、操纵和致动的柄部1042组成。继续参阅本具体实施方式，然而，应当理解，本文公开的各种形式的可互换轴组件的各种独特和新型的布置也可以有效地与机器人控制的外科系统一起使用。因此，术语“外壳”也可涵盖机器人系统的容纳或以其他方式可操作地支撑至少一个驱动系统的外壳或类似部分，该至少一个驱动系统被构造成能够生成并施加可用于致动本文所公开的可互换轴组件及其相应的等同物的至少一种控制运动。术语“框架”可指手持式外科器械的一部分。术语“框架”还可表示机器人控制的外科器械的一部分和/或机器人系统的可用于可操作地控制外科器械的一部分。例如，本文公开的可互换轴组件可与美国专利申请公布US 2012/0298719中公开的各种机器人系统、器械、部件和方法一起使用。名称为“SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS”的美国专利申请序列号13/118,241(现为美国专利申请公布2012/0298719)全文以引用方式并入本文。
图34示出了具有可操作地联接到其的可互换轴组件1200的外科器械 1010。在示出的形式中，外科器械包括柄部1042。在至少一种形式中，柄部1042可包括一对可互连外壳片段1044,1046，其可通过螺钉、按扣特征结构、粘合剂等互连。参见图35。在示出的结构中，柄部外壳片段1044,1046 配合以形成可被临床医生抓握和操纵的手枪式握把部1048。如将在下文进一步详细地讨论，柄部1042在其中可操作地支撑多个驱动系统，该多个驱动系统被构造成能够生成各种控制运动并将该控制运动施加到可操作地附接到其的可互换轴组件的对应部分。
柄部1042还可包括可操作地支撑多个驱动系统的框架1080。例如，框架1080能够可操作地支撑通常命名为1050的第一或闭合驱动系统，该第一或闭合驱动系统可用于将闭合运动和打开运动施加到可操作地附接或联接到其的可互换轴组件1200。在至少一种形式中，闭合驱动系统1050可包括呈被框架1080可枢转地支撑的闭合触发器1052形式的致动器。更具体地，如图35所示，闭合触发器1052可被框架1080可枢转地支撑，使得当临床医生抓握柄部1042的手枪式握把部1048时，闭合触发器1052可轻松地从起始或未致动位置枢转至致动位置，并更具体地，枢转至完全压缩或完全致动的位置。闭合触发器1052可被弹簧或其他偏置结构(未示出)偏置到未致动位置。在各种形式中，闭合驱动系统1050还包括可枢转地联接到闭合触发器1052的闭合连杆组件1060。如在图35中可见，闭合连杆组件1060可包括可枢转地联接到闭合连杆1064的闭合触发器1052，该闭合连杆具有一对侧向延伸的附接耳或从其突起的部分1066。闭合连杆1064在本文中也可以称为“附接构件”。
仍参见图35，可观察到闭合触发器1052可在其上具有锁定壁1068，该锁定壁被构造成能够与可枢转地联接到框架1080的闭合释放组件1070配合。在至少一种形式中，闭合释放组件1070可包括释放按钮组件1072，该释放按钮组件具有在其上形成的朝远侧突起的凸轮从动臂1074。释放按钮组件1072可被释放弹簧1076沿逆时针方向枢转。当临床医生将闭合触发器 1052从其未致动位置朝向柄部1042的手枪式握把部1048按压时，闭合连杆1062向上枢转至某个点，在该点，凸轮从动臂1072落入与闭合连杆1062上的锁定壁1068保持接合，从而阻止闭合触发器1052返回未致动位置。因此，闭合释放组件1070有助于将闭合触发器1052锁定在完全致动位置。当临床医生期望将闭合触发器1052解锁以允许其被偏置到未致动位置时，临床医生简单地枢转闭合释放按钮组件1072，使得凸轮从动臂1074被运动成与闭合触发器1052上的锁定壁1068脱离接合。当凸轮从动臂1074已被运动成与闭合触发器1052脱离接合时，闭合触发器1052可枢转回到未致动位置。也可采用其他闭合触发器锁定和释放结构。
在至少一种形式中，柄部1042和框架1080能够可操作地支撑在本文中被称为击发驱动系统1100的另一个驱动系统，该驱动系统被构造成能够将击发运动施加到可互换轴组件的附接到其的对应部分。击发驱动系统在本文中也可称为“第二驱动系统”。击发驱动系统1100可采用位于柄部1042的手枪式握把部1048中的电动马达1102。在各种形式中，马达1102可为DC有刷驱动马达，最大转速为例如大约25,000RPM。在其他结构中，马达可包括无刷马达、无线马达、同步马达、步进马达或任何其他合适的电动马达。电池1104(或“电源”或“电源组”)，例如锂离子电池，可联接到柄部 1042，以向控制电路板组件1106并且最终向马达1102提供电力。图34示出了被构造成能够可释放地安装到柄部1042以便向外科器械1010提供控制功率的电池组外壳1104。可使用串联连接的多个电池作为电源来为马达供电。此外，电源可以是可更换的和/或可充电的。
如上面相对于其他各种形式所概述，电动马达1102可包括与齿轮减速器组件1108可操作地交接的可旋转轴(未示出)，该齿轮减速器组件与能够纵向运动的驱动构件1110上的一组或一齿条的驱动齿状物1112安装成啮合接合。在使用中，由电池提供的电压极性可在顺时针方向上操作电动马达 1102，其中由电池施加到电动马达上的电压极性可以是相反的，以在逆时针方向上操作电动马达1102。当沿一个方向旋转电动马达1102时，将沿远侧方向“D”轴向驱动驱动构件1110。当沿相反的旋转方向驱动马达1102 时，将沿近侧方向“P”轴向驱动驱动构件1110。参见例如图35。柄部 1042可包括开关，该开关被构造成能够使电池施加于电动马达1102的极性反转。与本文所述的其他形式一样，柄部1042还可包括传感器，该传感器被构造成能够检测驱动构件1110的位置和/或驱动构件1110运动的方向。
马达1102的致动可通过被可枢转地支撑在柄部1042上的击发触发器 1120进行控制。击发触发器1120可在未致动位置和致动位置之间枢转。击发触发器1120可被弹簧(未示出)或其他偏置结构偏置到未致动位置(未示出)，使得当临床医生释放击发触发器1120时，其可被弹簧或偏置结构枢转到或以其他方式返回未致动位置。在至少一种形式中，击发触发器 1120可定位在闭合触发器1052的“外侧”，如上文所讨论。在至少一种形式中，击发触发器安全按钮1122能够可枢转地安装到闭合触发器1052。如在图35和36中可见，例如，安全按钮1122可被定位在击发触发器1120和闭合触发器1052之间，并且具有从其突起的枢转臂1124。如图38所示，当闭合触发器1052处于未致动位置时，安全按钮1122被容纳在柄部外壳中，此时临床医生可无法容易地触及所述按钮并且无法使其在防止致动击发触发器1120的安全位置与其中击发触发器1120可被击发的击发位置之间运动。当临床医生按压闭合触发器1052时，安全按钮1122和击发触发器1120向下枢转，其中其随后可被临床医生操纵。
如上所述，在至少一种形式中，能够纵向运动的驱动构件1110具有在其上形成的一齿条的齿状物1112，以用于与齿轮减速器组件1108的对应驱动齿轮1114啮合接合。至少一种形式还可包括可手动致动的“救助”组件 1130，该组件被构造成能够使得临床医生在马达变得失能的情况下能够手动地回缩能够纵向运动的驱动构件1110。救助组件1130可包括被构造成能够被手动地枢转至与驱动构件1110中的齿状物1112棘轮接合的杠杆或救助柄部组件1132。因此，临床医生可通过使用救助柄部组件1132来手动地回缩驱动构件1110，以将驱动构件沿近侧方向“P”回缩。美国专利申请公布 US 2010/0089970公开了救助结构和还可与本文所公开的各种器械一起使用的其他部件、结构和系统。名称为“POWEREDSURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRINGSYSTEM”的美国专利申请序列号12/249,117(现为美国专利申请公布 2010/0089970)全文以引用方式并入。
图34和37示出了具有例如可操作地附接到其的外科端部执行器1300 的一种形式的可互换轴组件1200。如那些图中所示的端部执行器1300被构造成能够以本文所公开的各种方式切割和缝合组织。例如，端部执行器1300 可包括被构造成能够支撑外科钉仓1304的通道1302。钉仓1304可包括可移除的钉仓1304，使得其可在耗尽时被更换。然而，其他结构中的钉仓被构造成能够使得一旦被安装在通道1302内，便不旨在从通道移除。通道1032和钉仓1304可统称为端部执行器1300的“第一钳口部分”。在各种形式中，端部执行器1300可具有呈砧座1310形式的“第二钳口部分”，其以本文讨论的各种方式被可动地或可枢转地支撑在通道1302上。
可互换轴组件1200还可包括轴1210，该轴包括联接到轴附接模块或轴附接部分1220的轴框架1212。在至少一种形式中，轴框架1212的近侧端部 1214可延伸穿过中空衬圈部分1222，该中空衬圈部分在轴附接模块1220上形成并且可旋转地附接到其。例如，可在轴框架1212的近侧端部1214中提供环形沟槽1216，以与延伸穿过轴附接模块1220中的狭槽1224的U形夹持器1226接合。此类结构使得轴框架1212能够相对于轴附接模块1220旋转。
轴组件1200还可包括轴框架1212延伸穿过的中空外部套管或闭合管 1250。外部套管1250在本文中也可称为“第一轴”和/或“第一轴组件”。外部套管1250具有适于可旋转地联接到闭合管附接轭1260的近侧端部 1252。如在图37中可见，外部套管1250的近侧端部1252被构造成能够被接收在闭合管附接轭1260中的支架1262内。U形连接器1266延伸穿过闭合管附接轭1260中的狭槽1264，以被接收在外部套管1250的近侧端部 1252中的环形沟槽1254中。此类结构用于将外部套管1250可旋转地联接到闭合管附接轭1260，使得外部套管1250可相对于其旋转。
如在图38和39中可见，轴框架1214的近侧端部1214朝近侧突伸出外部套管1250的近侧端部1252，并且通过U形夹持器1226(图38中所示) 可旋转地联接到轴附接模块1220。闭合管附接轭1260被构造成能够被可滑动地接收在轴附接模块1220中的通路1268内。此类结构允许外部套管1250 沿近侧方向“P”和远侧方向“D”在轴框架1212上相对于轴附接模块1220 轴向运动，如下文将进一步详细讨论。
在至少一种形式中，可互换轴组件1200还可包括关节运动接头1350。然而，其他可互换轴组件可能无法进行关节运动。如在图37中可见，例如，关节运动接头1350包括双枢轴闭合套管组件1352。根据各种形式，双枢轴闭合套管组件1352包括具有朝远侧突出的上柄脚1356和下柄脚1358 的轴闭合套管组件1354。端部执行器闭合套管组件1354包括用于以上述方式接合砧座1310上的开口插片的马蹄形孔1360和插片1362。如上所述，当砧座1310打开时，马蹄形孔1360和插片1362接合砧座插片。上部双枢轴连杆1364包括向上突出的远侧和近侧枢轴销，所述枢轴销分别接合外部套管1250上的朝近侧突出的上柄脚1356中的上部远侧销孔以及朝远侧突出的上柄脚1256中的上部近侧销孔。下部双枢轴连杆1366包括向下突出的远侧枢轴销和近侧枢轴销，所述枢轴销分别接合朝近侧突出的下柄脚1358中的下部远侧销孔以及朝远侧突出的下柄脚1258中的下部近侧销孔。
在使用中，闭合套管组件1354朝远侧(方向“D”)平移，以例如响应于闭合触发器1052的致动来将砧座1310闭合。通过朝远侧平移外部套管 1250并且因此轴闭合套管组件1354，从而使轴闭合套管组件1354以上述方式冲击砧座1310上的近侧表面来闭合砧座1310。还如上文所述，通过朝近侧平移外部套管1250和轴闭合套管组件1354，从而导致插片1362和马蹄形孔1360接触并推压砧座插片以将砧座1310抬起来打开砧座1310。在砧座打开位置，轴闭合套管组件1352被运动至其近侧位置。
在至少一种形式中，可互换轴组件1200还包括击发构件1270，该击发构件被支撑以便在轴框架1212内轴向行进。击发构件1270包括被构造成能够附接到远侧切割部分1280的中间击发轴部分1272。击发构件1270在本文中也可称为“第二轴”和/或“第二轴组件”。如在图37中可见，中间击发轴部分1272可包括在其远侧端部中的纵向狭槽1274，该纵向狭槽被构造成能够接收远侧切割部分1280的近侧端部1282。纵向狭槽1274和近侧端部 1282的尺寸设定成并且被构造成能够允许两者间的相对运动，并且可包括滑动接头1276。滑动接头1276可允许击发驱动装置1270的中间击发轴部分 1272被运动成使端部执行器1300进行关节运动，而无需使远侧切割部分 1280运动或至少基本上运动。一旦端部执行器1300已被合适地取向，中间击发轴部分1272便可朝远侧推进，直到纵向狭槽1272的近侧侧壁与近侧端部1282接触，以便推进远侧切割部分1280并击发定位在通道1302内的钉仓，如本文所述。如在图37中进一步可见，轴框架1212在其中具有细长开口或窗口1213，以利于将中间击发轴部分1272组装和插入到轴框架1212 中。一旦中间击发轴部分1272已被插入其中，顶部框架片段1215便可与轴框架1212接合，以在其中包封中间击发轴部分1272和远侧切割部分1280。读者还将注意到，关节运动接头1350还可包括被构造成能够在其中接收击发构件1270的远侧切割部分1280并且在远侧切割部分1280在关节运动接头1350内和/或相对于关节运动接头1350朝远侧推进和/或朝近侧回缩时引导远侧切割部分1280的引导件1368。
如在图37中可见，轴附接模块1220还可包括闩锁致动器组件1230，其可通过有头螺钉(未示出)或其他合适的紧固件可移除地附接到轴附接模块。闩锁致动器组件1230被构造成能够与锁定轭1240配合，该锁定轭枢转地联接到轴附接模块1220，以便相对于其选择性地枢转行进。参见图41。参见图39，锁轭1240可包括两个朝近侧突起的锁耳1242(图37)，该锁耳被构造成能够与形成于框架1080的框架附接模块部分中的对应锁定棘爪或凹槽1086可释放地接合，如将在下文进一步详细讨论。锁定轭1240为大致 U形，并且在闩锁致动器组件1230已联接到轴附接模块1220之后被安装在闩锁致动器组件1230上方。闩锁致动器组件1230可具有弓形主体部分 1234，该弓形主体部分为锁定轭1240提供充足的空隙，以相对于其在闩锁位置和未闩锁位置之间枢转。
在各种形式中，锁定轭1240被弹簧或偏置构件(未示出)沿近侧方向偏置。换句话讲，锁定轭1240被偏置到闩锁位置(图40)并且可通过锁按钮1236枢转到未闩锁位置(图41)，该锁按钮被可动地支撑在闩锁致动器组件1230上。在至少一种结构中，例如，闩锁按钮1236被可滑动地保持在闩锁外壳部分1235中，并且被闩锁弹簧或偏置构件(未示出)沿近侧方向“P”偏置。如将在下文进一步详细地讨论，闩锁按钮1236具有朝远侧突起的释放耳1237，该释放耳被设计成接合锁定轭1240并在致动闩锁按钮1236 时将锁定轭从闩锁位置枢转至图41中所示的未闩锁位置。
可互换轴组件1200还可包括喷嘴组件1290，该喷嘴组件被可旋转地支撑在轴附接模块1220上。在至少一种形式中，例如，喷嘴组件1290可由两个喷嘴半部或部分1292,294组成，所述两个半部或部分可以通过螺钉、按扣特征结构、粘合剂等互连。当喷嘴组件1290安装在轴附接模块1220上时，其可与外部套管1250和轴框架1212交接，以使得临床医生能够选择性地将轴1210围绕轴线SA-SA相对于轴附接模块1220旋转，所述轴线SA- SA可被限定为例如击发构件组件1270的轴线。具体地讲，喷嘴组件1290 的一部分可延伸穿过外部套管中的窗口1253，以接合轴框架1212中的凹口 1218。参见图37。因此，喷嘴组件1290的旋转将导致轴框架1212和外部套管1250围绕轴线A-A相对于轴附接模块1220旋转。
现在参见图42和43，读者将观察到框架1080的框架附接模块部分 1084与两个面向内的燕尾接收狭槽1088一起形成。每个燕尾接收槽1088可以是渐缩的，或者换句话讲，可以是稍微V形的。参见例如图36和38(仅示出了狭槽1088之一)。燕尾接收狭槽1088被构造成能够可释放地接收轴附接模块1220的朝近侧延伸的连接器部分1228的对应渐缩附接或耳部分 1229。如在图37-39中进一步可见，轴附接耳1278形成在中间击发轴1272 的近侧端部1277上。如将在下文进一步详细地讨论，当可互换轴组件1200 联接到柄部1042时，轴附接耳1278被接收在形成于纵向驱动构件1110的远侧端部1111中的击发轴附接支架1113内。此外，闭合管附接轭1260包括朝近侧延伸的轭部分1265，该轭部分包括两个向下打开以捕获闭合附接杆1064上的附接耳1066的捕获狭槽1267。
现在将参照图44-48对将可互换轴组件1220附接到柄部1042进行描述。在各种形式中，框架1080或至少一个驱动系统限定致动轴线AA-AA。例如，致动轴线AA-AA可由能够纵向运动的驱动构件1110的轴线限定。因此，当中间击发轴1272可操作地联接到能够纵向运动的驱动构件1110时，致动轴线AA-AA与如图48所示的轴线SA-SA同轴。
为了开始联接过程，临床医生可将可互换轴组件1200的轴附接模块 1220定位在框架1080的框架附接模块部分1084上方或附近，使得形成在轴附接模块1220的连接器部分1228上的附接耳1229与附接模块部分1084中的燕尾狭槽1088对齐，如图45所示。临床医生随后可将轴附接模块1220 沿着大致横向于致动轴线AA-AA的安装轴线IA-IA运动。换句话说，轴附接模块1220沿着大致横向于致动轴线AA-AA的安装方向“ID”运动，直到连接器部分1228的附接耳1229坐置成与对应燕尾接收狭槽1088“可操作地接合”。参照图44和图46。图47示出了在中间击发轴1272上的轴附接耳 1278进入能够纵向运动的驱动构件1110中的支架1113并且闭合附接杆 1064上的附接耳1066进入闭合管附接轭1260的轭部分1265中的对应狭槽 1267之前，轴附接模块1220的位置。图48示出了在附接过程已完成之后轴附接模块1220的位置。如在该图中可见，耳1066(仅示出了一个)坐置成可操作地接合在闭合管附接轭1260的轭部分1265中其各自的狭槽1267 中。如本文所用，在两个部件装置的上下文中，术语“可操作地接合”是指所述两个部件彼此充分地接合，使得一旦向其施加致动运动，部件可执行其预期活动、功能和/或程序。
如上所讨论，再次参见图44-49，可互换轴组件1200的至少五个系统能够可操作地与柄部1042的至少五个对应系统联接。第一系统可包括将轴组件1200的框架与柄部1042的框架联接和/或对齐的框架系统。如上文概述，轴组件1200的连接器部分1228可接合柄部框架1080的附接模块部分 1084。第二系统可包括闭合驱动系统，该闭合驱动系统可将柄部1042的闭合触发器1052与轴组件1200的闭合管1250和砧座1310可操作地连接。如上文概述，轴组件1200的闭合管附接轭1260可接合柄部1042的附接耳 1066。第三系统可包括击发驱动系统，该击发驱动系统可将柄部1042的击发触发器1120与轴组件1200的中间击发轴1272可操作地连接。如上文概述，轴附接耳1278能够与纵向驱动构件1110的支架1113可操作地连接。第四系统可包括电气系统，该电气系统可以：其一，发送例如轴组件(诸如轴组件1200)已与柄部1042可操作地接合的信号到柄部1042中的控制器，诸如微控制器7004；和/或其二，在轴组件1200和柄部1042之间传送电力和/或通信信号。例如，轴组件1200可包括六个电触点，并且电连接器4000 也可包括六个电触点，其中轴组件1200上的每个电触点可以是成对的，并且当轴组件1200被组装到柄部1042时，与电连接器4000上的电触点配合。轴组件1200还可包括闩锁1236，该闩锁可以是第五系统的一部分，诸如可将轴组件1200可释放地锁定到柄部1042的锁定系统。在各种情况下，例如当闩锁1236与柄部1042接合时，闩锁1236可将柄部1042中的电路闭合。
除上述之外，轴组件1200的框架系统、闭合驱动系统、击发驱动系统和电气系统例如可沿横向(即，沿轴线IA-IA)组装到柄部1042的对应系统。在各种情况下，轴组件1200的框架系统、闭合驱动系统和击发驱动系统可同时联接到柄部1042的对应系统。在某些情况下，轴组件1200的框架系统、闭合驱动系统和击发驱动系统中的两者可同时联接到柄部1042的对应系统。在至少一种情况下，框架系统可在闭合驱动系统和击发驱动系统联接前至少初始地联接。在这种情况下，框架系统被构造成能够在闭合驱动系统和击发驱动系统的对应部件如上所述联接前将它们对齐。在各种情况下，外壳组件1200和柄部1042的电气系统部分被构造成能够在框架系统、闭合驱动系统和/或击发驱动系统最终或完全坐置的同时进行联接。在某些情况下，外壳组件1200和柄部1042的电气系统部分被构造成能够在框架系统、闭合驱动系统和/或击发驱动系统最终或完全坐置之前进行联接。在一些情况下，外壳组件1200和柄部1042的电气系统部分被构造成能够在框架系统已至少部分地联接之后，但是在闭合驱动系统和/或击发驱动系统已被联接之前进行联接。在各种情况下，锁定系统被构造成能够使得其为待接合的最后一个系统，即，在框架系统、闭合驱动系统、击发驱动系统和电气系统已全部接合之后。
如上文概述，再次参见图44-49，柄部1042的电连接器4000可包括多个电触点。现在转向图197，电连接器4000可包括例如第一触点4001a、第二触点4001b、第三触点4001c、第四触点4001d、第五触点4001e和第六触点4001f。尽管所示的实施例利用了六个触点，但是设想了可利用多于六个触点或少于六个触点的其他实施例。如图197所示，第一触点4001a可与晶体管4008电连通，触点4001b-4001e可与微控制器7004电连通，并且第六触点4001f可与地电连通。下文将对微控制器7004进行更为详细地讨论。在某些情况下，电触点4001b-4001e中的一个或多个可与微控制器7004的一个或多个输出通道电连通，并且当柄部1042处于加电状态时可以通电，或具有施加到其的电压电势。在一些情况下，电触点4001b-4001e中的一个或多个可与微控制器7004的一个或多个输入通道电连通，并且当柄部1042处于加电状态时，微控制器7004被构造成能够检测电压电势何时被施加到此类电触点。当轴组件诸如轴组件1200被组装到柄部1042时，电触点4001a- 4001f可不彼此连通。然而，当轴组件未组装到柄部1042时，电连接器 4000的电触点4001a-4001f可暴露，并且在一些情况下，触点4001a-4001f 中的一个或多个可意外地彼此电连通。当触点4001a-4001f中的一个或多个与例如导电材料接触时，此类情况可发生。当此情况发生时，例如，微控制器7004可接收到错误的输入和/或轴组件1200可接收到错误的输出。为解决这个问题，在各种情况下，柄部1042可在轴组件诸如轴组件1200未附接到柄部1042时不加电。在其他情况下，柄部1042可在轴组件诸如轴组件1200 未附接到柄部1042时加电。在这种情况下，微控制器7004被构造成能够忽视例如施加到与微控制器7004电连通的触点(即，触点4001b-4001e)的输入或电压电势，直到轴组件附接到柄部1042。虽然在这种情况下微控制器 7004可被供电以操作柄部1042的其他功能，但是柄部1042可处于掉电状态。在某种程度上，当施加到电触点4001b-4001e的电压电势可不影响对柄部1042的操作时，电连接器4000可处于掉电状态。读者将认识到，即便触点4001b-4001e可处于掉电状态，但是未与微控制器7004电连通的电触点 4001a和4001f可处于或可不处于掉电状态。例如，无论柄部1042是处于加电还是掉电状态，第六触点4001f均可保持与地电连通。此外，无论柄部 1042是处于如上所述的加电状态还是掉电状态，晶体管4008和/或晶体管 (诸如晶体管4010)的任何其他合适的结构和/或开关被构造成能够控制从柄部1042内的电源4004(诸如电池1104)例如到第一电触点4001a的电力供应。在各种情况下，例如，当轴组件1200的闩锁1236与柄部1042接合时，闩锁1236被构造成能够改变晶体管4008的状态。在各种情况下，如本文别处所述，当闩锁1236接合柄部1042时，其被构造成能够将电路闭合，从而影响晶体管4008的状态。在某些情况下，除下述之外，霍尔效应传感器4002被构造成能够转换晶体管4010的状态，因此可转换晶体管4008的状态，并最终将来自电源4004的电力供应给第一触点4001a。通过这种方式，除上述之外，当轴组件未安装到柄部1042时，联接到连接器4000的电源电路和信号电路可被掉电，并且当轴组件安装到柄部1042时，两者可被加电。
在各种情况下，再次参见图197，柄部1042可包括例如霍尔效应传感器4002，该霍尔效应传感器被构造成能够在例如轴组件联接到柄部1042时检测可检测元件，诸如磁性元件，例如在轴组件诸如轴组件1200上。霍尔效应传感器4002可由诸如电池的电源4006供电，例如，其实际上可放大霍尔效应传感器4002的检测信号，并经由图197所示的电路与微控制器7004 的输入通道通信。一旦微控制器7004接收到指示轴组件已至少部分地联接到柄部1042的输入，并且因此，电触点4001a-4001f不再暴露，微控制器 7004可进入其正常或加电的工作状态。在此类工作状态中，微控制器7004 将对从轴组件传输至一个或多个触点4001b-4001e的信号进行评估，和/或通过处于其正常使用状态的一个或多个触点4001b-4001e将信号传输至轴组件。在各种情况下，在霍尔效应传感器4002可检测磁性元件之前，可必须使轴组件1200完全坐置。虽然可利用霍尔效应传感器4002来检测轴组件 1200的存在，但也可利用传感器和/或开关的任何合适系统来检测轴组件是否已组装到柄部1042。通过这种方式，除上述之外，当轴组件未安装到柄部1042时，联接到连接器4000的电源电路和信号电路可被掉电，并且当轴组件安装到柄部1042时，两者可被加电。
在各种实施例中，例如，可采用任何数量的磁感测元件来检测轴组件是否已组装到柄部1042。例如，用于磁场感测的技术包括探测线圈、磁通门、光泵、核旋、超导量子干涉仪(SQUID)、霍尔效应、各向异性磁电阻、巨磁电阻、磁性隧道结、巨磁阻抗、磁致伸缩/压电复合材料、磁敏二极管、磁敏晶体管、光纤、磁光，以及基于微机电系统的磁传感器等。
在将可互换轴组件1200可操作地联接到柄部1042之后，闭合触发器 1052的致动将导致外部套管1250和联接到其上的轴闭合套管组件1354的远侧轴向推进，以通过本文所述的各种方式致动砧座1310。也可如图48所示，将可互换轴组件1200中的击发构件1270联接到柄部1042中的能够纵向运动的驱动构件1110。更具体地，形成在中间击发轴1272的近侧端部 1277上的轴附接耳1278被接收在形成于能够纵向运动的驱动构件1110的远侧端部1111中的击发轴附接支架1113内。从而，击发触发器1120的致动 (其导致马达1102加电以轴向推进能够纵向运动的驱动构件1110)也将导致击发构件1270在轴框架1212内轴向地运动。此类动作将导致以本文所公开的各种方式推进远侧切割部分1280穿过夹持在端部执行器1300中的组织。虽然未在图48中观察到，但本领域的普通技术人员仍将理解，当处于该图所示的联接位置时，轴附接模块1220的附接耳部分1229坐置在框架 1080的附接模块部分1084中的其各自的燕尾接收槽1088内。从而，轴附接模块1220联接到框架1080。此外，虽然未在图48中示出(但其在图40中可见)，当轴附接模块1220已联接到框架1080时，锁定轭1240上的锁耳 1242坐置在框架1080的附接模块部分1084中的其各自的锁定槽1086(图 40中仅示出了一个)内，以可释放地保持轴附接模块1220与框架1080处于联接的可操作地接合。
为了从框架1080上拆下可互换轴组件1220，临床医生沿远侧方向“D”推动闩锁按钮1236，以使锁定轭1240枢转，如图41所示。锁定轭 1240的此类枢转运动使得其上的锁耳1242脱离与锁槽1086的保持接合。临床医生可随后使轴附接模块1220沿分离方向“DD”远离柄部运动，如图49 所示。
本领域的普通技术人员将会理解，轴附接模块1220也可保持固定，并且柄部1042沿着基本上横向于轴线SA-SA的安装轴线IA-IA运动，以使连接器部分1228上的耳1229与燕尾狭槽1088坐置接合。还将理解到，轴附接模块1220和柄部1042可沿着基本上横向于轴线SA-SA和致动轴线AA- AA的安装轴线IA-IA同时朝向彼此运动。
如本文所用，短语“基本上横向于致动轴线和/或横向于轴线”是指几乎垂直于致动轴线和/或轴线的方向。然而，应当理解，从垂直于致动轴线和/或轴线的方向偏离一些的方向也基本上横向于这些轴线。
图50-57示出了用于将可互换轴组件1600联接到柄部(未示出)的框架1480的另一种结构，所述柄部的功能与本文详细讨论的柄部1042相同。因此，仅将进一步详细地讨论理解轴组件1600的独特和新型的联接特征所必需的那些细节。然而，本领域的普通技术人员应当了解，框架可被支撑在机器人系统的外壳内，该机器人系统以其他方式支撑或容纳多个驱动系统。在其他结构中，框架可包括机器人系统的用于将可互换轴组件可操作地附连于其上的一部分。
在至少一种形式中，轴组件1600包括轴1610，该轴可包括上述轴1210 的所有其他部件，并且可具有可操作地附接到其上的上述类型的端部执行器 (未示出)。转到图57，在所示结构中，轴组件1600包括闭合管附接轭 1660，该闭合管附接轭可以如下方式可旋转地联接到外部套管1650，在该方式中，闭合管轭组件1260可旋转地联接到外部套管1250。
在各种形式中，轴组件1600包括具有开口底部1621的轴附接模块或轴附接部分1620。通过将轴1610的近侧端部穿过轴附接模块1620中的开口 1622插入来将轴1610联接到轴附接模块1620。可将闭合管附接轭1660穿过开口底部部分1621插入轴附接模块1620中，使得外部套管1650的近侧端部1652被接收在闭合管附接轭1660中的支架1662内。在上述方式中，U 形连接器1666穿过轴附接模块1620中的狭槽1624，以接合外部套管1250 的近侧端部1652中的环形沟槽1654，并且穿过闭合管附接轭1660中的狭槽 1664以将外部套管1650附连到闭合管附接轭1660。如上所述，此类结构允许外部套管1650相对于轴附接模块1620旋转。
在至少一种形式中，闭合管附接轭1660被构造成能够被支撑在轴附接模块1620内，使得闭合管轭附接轭1660可在远侧和近侧方向上在其中轴向运动。在至少一种形式中，闭合弹簧1625设置在轴附接模块内，以在近侧方向“P”上偏置闭合管轭组件1660。参见图57。就上述轴组件1210而言，轴框架1612的近侧端部1614朝近侧突伸出外部套管1650的近侧端部 1652。如在图57中可见，可在轴框架1612的近侧端部1614上形成保持衬圈1617。U形夹持器构件1627插入穿过轴附接模块1620中的侧向狭槽 1633，以将外部套管的近侧端部1652保持在该轴向位置，同时使得外部套管1650能够相对于轴附接模块1620旋转。此类结构允许临床医生相对于轴附接模块1620围绕轴线SA-SA旋转轴1610。本领域的普通技术人员应当理解，轴1610可通过相同或类似的上述喷嘴布置进行旋转。例如，喷嘴部分 (未示出)可围绕外部套管1650组装并通过外部套管1650中的窗口1653 接合轴框架1612中的凹口1618。参见图53。
在至少一种形式中，框架1480具有形成于其上或附接到其上的框架附接模块或框架附接部分1484。框架附接模块1484可形成有相对的燕尾接收槽1488。每个燕尾接收槽1488可以是渐缩的，或者换句话讲，可以是稍微 V形的。狭槽1488能够可释放地接收从轴附接模块1620的近侧端部突起的燕尾连接器1629的对应部分。如在图52中可见，中间击发轴1672的近侧端部1677朝近侧突伸出轴附接模块1620并且具有形成于其上的轴附接耳1678。中间击发轴1672的近侧端部1677可延伸穿过框架附接模块1484的端壁1485之间的空间，以使得形成于其上的轴附接耳1678能够被接收在击发轴附接支架1513中，该击发轴附接支架形成在能够纵向运动的驱动构件 1510的远侧端部1511中。参见图57。当可互换轴组件1600联接到外科器械、装置、机器人系统等的柄部或外壳或框架时，轴附接耳1678被接收在击发轴附接支架1513中，该击发轴附接支架形成在能够纵向运动的驱动构件1510的远侧端部1511中。
如在图52-55中可见，框架附接模块1484可具有朝远侧突起的底部构件1490，该底部构件适于在轴附接模块1620可操作地联接到框架附接模块 1484时包封轴附接模块1620的开口底部1621的至少一部分。在一种形式中，闭合管附接轭1660具有从其中突起的一对朝近侧延伸的间隔的轭臂 1661。横向轭附接销1663可在其间延伸。参见图57。当使轴附接模块1620 与框架附接模块1484可操作地接合时，轭附接销1663被构造成能够通过形成于闭合驱动系统1450的闭合连接件1467上的钩1469以钩的形式接合。闭合驱动系统1450可类似于上述的闭合驱动系统1050并且包括闭合触发器 1452和闭合连杆组件1460。闭合连杆组件1460可包括可枢转地联接到闭合附接杆1464的闭合连接件1462。闭合附接杆1464可枢转地联接到闭合连接件1467。参见图54。
可结合图53和54来理解用于将轴组件1600联接到框架1480的方法。就本文所公开的其他结构而言，轴组件1600可限定轴线SA-SA，并且框架 1480可限定致动轴线AA-AA。例如，轴线SA-SA可通过击发构件1670限定，并且致动轴线AA-AA可通过能够纵向运动的驱动构件1510限定。为了开始联接过程，临床医生可将可互换轴组件1600的轴附接模块1620定位在框架1480的框架附接模块1484上方或附近，使得轴附接模块1620的燕尾连接器1629与框架附接模块1484中的燕尾狭槽1488对齐，如图53所示。临床医生可随后沿着基本上横向于致动轴线AA-AA的安装轴线IA-IA使轴附接模块1620运动。换句话讲，轴附接模块1620在基本上横向于致动轴线 AA-AA的安装方向“ID”上运动，直到燕尾连接器1629坐置在框架模块 1484中的燕尾狭槽1488中。参见图55-57。当轴附接模块1620已可操作地接合框架附接模块1484时，闭合管附接轭1665将可操作地接合闭合驱动系统1450，并且闭合触发器1452的致动将导致外部套管1650和联接到其上的轴闭合管组件的远侧轴向推进，以通过本文所述的各种方式致动砧座。同样，击发构件1270将可操作地接合能够纵向运动的驱动构件1510。参见图 57。因此，击发驱动系统1500的马达(未示出)的致动将导致能够纵向运动的驱动构件1510以及击发构件1670的轴向推进。此类动作将导致击发构件(未示出)的远侧切割部分以本文所公开的各种方式推进穿过夹持在端部执行器中的组织。
图58-62示出了用于将可互换轴组件1900联接到柄部(未示出)的框架1780的另一种结构，所述柄部的功能与本文详细讨论的柄部1042相同。因此，仅将进一步详细地讨论理解轴组件1900的独特和新型联接特征结构所必需的那些细节。然而，本领域的普通技术人员应当了解，框架可被支撑在机器人系统的外壳或其他部分内，该机器人系统以其他方式支撑或容纳多个驱动系统。在其他结构中，框架可包括机器人系统的用于将可互换轴组件可操作地附接到其上的一部分。
在至少一种形式中，轴组件1900包括轴1910，该轴可包括上述轴1210 的所有其他部件，并且可具有例如可操作地附接到其上的上述类型的端部执行器(未示出)。转到图62，在所示结构中，轴组件1900包括闭合管附接轭1960，该闭合管附接轭可以如下方式可旋转地联接到外部套管1950，在该方式中，闭合管轭组件1260可旋转地联接到外部套管1250。
在各种形式中，轴组件1900可包括具有开口底部1921的轴附接模块或轴附接部分1920。通过将轴1910的近侧端部穿过轴附接模块1920中的开口 1922来将轴1910联接到轴附接模块1920。可将闭合管附接轭1960穿过开口底部部分1921插入轴附接模块1920中，使得外部套管1950的近侧端部 1952被接收在闭合管附接轭1660中的支架1962内。在上述方式中，U形连接器1966接合外部套管1950的近侧端部1952中的环形沟槽(未示出)和闭合管附接轭1960中的狭槽1964，以将外部套管1950附连到闭合管附接轭 1960。如上所述，此类结构使得外部套管1950能够相对于轴附接模块1920 旋转。
在至少一种形式中，闭合管附接轭1960被构造成能够被支撑在轴附接模块1920内，使得闭合管轭组件1960可在远侧(“D”)和近侧(“P”) 方向上在其中轴向运动。就上述轴组件1210而言，轴框架的近侧端部朝近侧突伸出外部套管1950的近侧端部1952。如在图62中可见，可在轴框架的近侧端部上形成保持衬圈1917。U形夹持器构件1927可用于将轴框架的近侧端部保持在该轴向位置，同时使得轴框架相对于轴附接模块1920旋转。此类结构允许临床医生相对于轴附接模块1920围绕轴线SA-SA旋转轴 1910。可在本文所述的各种方式中使用喷嘴组件1990，以有利于轴1910相对于轴附接模块1920的旋转。
可互换轴组件1900还可包括喷嘴组件1990，该喷嘴组件被可旋转地支撑在轴附接模块1920上。在至少一种形式中，例如，喷嘴组件1990可由可通过螺钉、按扣特征结构、粘合剂等互连的两个喷嘴半部或部分构成。当安装在轴附接模块1920上时，喷嘴组件1990可与轴旋转适配器1995交接，该轴旋转适配器被构造成能够接合外部套管1950和轴框架1912，以使得临床医生能够选择性地相对于轴附接模块1920围绕轴线SA-SA来旋转轴 1910，该轴线SA-SA可由例如击发构件组件的轴线限定。因此，喷嘴组件 1990的旋转将导致轴框架和外部套管1950相对于轴附接模块1920围绕轴线 A-A旋转。
在至少一种形式中，框架1780具有形成于其上或附接到其上的框架附接模块或框架附接部分1784。框架附接模块1784可形成有面向外的燕尾接收槽1788。每个燕尾接收槽1788可以是渐缩的，或者换句话讲，可以是稍微V形的。参见图60。狭槽1788被构造成能够以可释放的方式可操作地接合形成在轴附接模块1920上的对应面向内的燕尾连接器部分1929。如在图 60中可见，中间击发轴1972的近侧端部1977朝近侧突伸出轴附接模块 1920并且具有形成于其上的轴附接耳1978。轴附接耳1978被构造成能够被接收在击发轴附接支架1813中，该击发轴附接支架形成在能够纵向运动的驱动构件1810的远侧端部1811中。参见图62。当可互换轴组件1900可操作地接合外科器械、装置、机器人系统等的框架或外壳时，轴附接耳1978 以可操作的接合被接收在击发轴附接支架1813中，该击发轴附接支架形成在纵向驱动构件1810的远侧端部1811中。
在至少一种形式中，闭合管附接轭1960具有从其突起的朝近侧延伸的轭臂1961，该轭臂具有形成于其上的向下开口的钩1963，以接合形成于闭合驱动系统1750的闭合附接杆1764上的附接耳1766。参见图62。当使轴附接模块1920与框架附接模块1784联接接合时，附接耳1766通过在闭合管轭臂1961上形成的钩1963以钩的形式接合。闭合驱动系统1750可类似于上述的闭合驱动系统1050并且包括闭合触发器1752和闭合连杆组件 1760。闭合连杆组件1760可包括枢转地联接到闭合附接杆1764的闭合连接件1762。参见图62。闭合触发器1752的致动将导致闭合附接杆1764在远侧方向“D”上轴向运动。
就本文所公开的其他结构而言，轴组件1900可限定轴线SA-SA，并且框架1780可限定致动轴线AA-AA。例如，轴线SA-SA可通过击发构件 1970限定，并且致动轴线AA-AA可通过由框架1780可操作地支撑的能够纵向运动的驱动构件1810限定。为了开始联接过程，临床医生可将可互换轴组件1900的轴附接模块1920定位在框架1780的框架附接模块1784上方或附近，使得轴附接模块1920的燕尾连接器部分1929各自与框架附接模块 1784中的其对应的燕尾狭槽1788对齐。临床医生可随后沿着基本上横向于致动轴线AA-AA的安装轴线使轴附接模块1920运动。换句话讲，轴附接模块1920在基本上横向于致动轴线AA-AA的安装方向上运动，直到燕尾连接器1929以可操作接合坐置在框架模块1784中的其对应的燕尾狭槽1788 中。当轴附接模块1920已附接到框架附接模块1784时，闭合管附接轭1960 将可操作地联接到闭合驱动系统1750，并且闭合触发器1752的致动将导致外部套管1950和联接到其上的轴闭合管组件的远侧轴向推进，以通过本文所述的各种方式致动砧座。同样，击发构件将以可操作接合与能够纵向运动的驱动构件1810联接。参见图62。因此，击发驱动系统1800的马达(未示出)的致动将导致能够纵向运动的驱动构件1810以及击发构件1970的轴向推进。此类动作将导致击发构件(未示出)的远侧切割部分以本文所公开的各种方式推进穿过夹持在端部执行器中的组织。
图63-66示出了用于将可互换轴组件2200联接到柄部(未示出)的框架2080的另一种结构，所述柄部的功能与本文详细讨论的柄部1042相同。因此，仅将进一步详细地讨论理解轴组件2200的独特和新型联接特征结构所必需的那些细节。然而，本领域的普通技术人员应当了解，框架可被支撑在机器人系统的外壳或其他部分内，该机器人系统以其他方式支撑或容纳多个驱动系统。在其他结构中，框架可包括机器人系统的用于将可互换的轴组件可操作地附连到其上的一部分。
在至少一种形式中，轴组件2200包括轴2210，该轴可包括上述轴1210 的所有其他部件，并且可具有可操作地附接到其上的上述类型的端部执行器 (未示出)。这些特征结构的各种构造和操作在上文有所描述。在所示结构中，轴组件2200包括闭合管附接轭2260，该闭合管附接轭可以如下方式可旋转地联接到外部套管2250，在该方式中，闭合管轭附接轭1260可旋转地联接到外部套管1250。然而，轴组件2200不包括如上所述的轴附接模块。
如在图63-65中可见，框架2080可在第一框架部分2080A和第二框架部分2080B中形成。在其中框架2080与柄部一起使用的那些应用中，第一框架部分2080A和第二框架部分2080B可各自与柄部外壳部分相联。因此，当临床医生期望附接不同的轴组件2200时，临床医生可能必须从彼此拆下柄部外壳部分。在此类结构中，例如，可通过可移除紧固件或有利于容易拆卸外壳部分的其他结构将外壳部分连接在一起。在其他实施例中，轴组件2200被构造成能够用于单次使用。在所示结构中，第一框架部分2080A 能够在其中可操作地支撑各种驱动系统，并且第二框架部分2080B可包括框架部分，该框架部分将轴组件2200的各个部件保持成与由第一框架部分 2080A支撑的其对应的驱动系统部件可操作地接合。
在至少一种形式中，闭合管附接轭2260被构造成能够被支撑在框架 2080的通道2081内，使得闭合管附接轭2260可在远侧和近侧方向上在其中轴向运动。就上述轴组件1210而言，轴框架2212的近侧端部2214朝近侧突伸出外部套管2250的近侧端部2252。如在图63中可见，保持衬圈2217 可在轴框架2212的近侧端部2214上形成。保持衬圈2217可适于被可旋转地接收在形成在框架2080中的环形沟槽2083内。此类结构用于将轴框架 2212可操作地联接到框架2080，以阻止这些部件之间的任何相对轴向运动，同时使得轴框架2212能够相对于框架2080旋转。此结构还允许临床医生相对于框架围绕轴线SA-SA旋转轴2210。本领域的普通技术人员应当了解，上述的喷嘴结构可用于相对于框架2080围绕轴线SA-SA来旋转轴 2210。例如，喷嘴部分(未示出)可围绕外部套管2250组装并通过外部套管2250中的窗口2253接合轴框架2212中的凹口2218。参见图64。
如在图64中可见，中间击发轴2272的近侧端部2277朝近侧突伸出轴框架2212的近侧端部2214并具有形成于其上的轴附接耳2278。形成在能够纵向运动的驱动构件2110的远侧端部2111中的击发轴附接支架2113被形成为使得击发轴附接耳2278能够从侧面装入。为有助于临床医生在组装期间使轴组件2220以及第一框架部分2080A和第二框架部分2080B的部件对齐，第二框架部分2080B可具有耳2090，该耳被构造成能够被接收在形成于第一框架部分2080A中的对应孔或凹坑2091中，反之亦然。在其中不期望能够使轴组件2200从框架2080上拆下的那些单次使用的应用中，凹坑 2090可被构造成能够永久地夹持或接合插入其中的耳2090。
第一框架部分2080A和/或由第一框架部分2080A可动地支撑的能够纵向运动的驱动构件2110可限定致动轴线A-A，并且轴组件2200限定轴线 SA-SA。如在图64中可见，为了开始联接过程，轴组件2200和第一框架部分2080A可相对于彼此取向，使得轴线SA-SA基本上平行于致动轴线AA- AA，并且使得衬圈2217沿着基本上横向于致动轴线的安装轴线IA侧向地对齐，其中环形沟槽2083和轴附接耳2278沿着同样基本上横向于致动轴线 AA-AA的另一条安装轴线IA-IA侧向地对齐。然后，轴组件2200在基本上横向于致动轴线AA-AA的安装方向“ID”上运动，直到闭合管附接轭2260 坐置在形成于第一框架部分2080A中的通道2081的一部分内，衬圈2217坐置在形成于第一框架部分2080A中的环形沟槽2083的一部分内，并且轴附接耳2278坐置在形成于能够纵向运动的驱动构件2110中的轴附接支架2113 中。在另一个结构中，轴组件2200和第一框架部分2080A可以类似的方式放在一起，方法是保持轴组件2200固定并朝柄部组件2200运动第一框架部分2080A，直到上述部件部分可操作地坐置在一起，或柄部组件2200和第一框架部分2080A可各自朝彼此运动，直到其坐置在一起。一旦柄部组件 2200如图63所示已可操作地坐置在第一框架部分2080A内，第二框架部分2080B便可通过以下方式与第一框架部分2080A接合：使柱2090与其对应的孔或凹坑2091对齐并将部件接合在一起。第一框架部分2080A和第二框架部分2080B可通过紧固件(例如，螺钉、螺栓等)、粘合剂和/或按扣特征结构保持在一起。在其他结构中，当第一框架部分2080A和第二框架部分 2080B的各自的外壳段接合在一起时，它们可以联接接合的方式保持在一起。
一旦第一框架部分2080A和第二框架部分2080b已如图65和66所示接合在一起，然后临床医生便可将闭合驱动系统2050联接到闭合管附接轭 2260。闭合驱动系统2050可类似于上述的闭合驱动系统1050并且包括闭合触发器2052和闭合连杆组件2060。闭合连杆组件可包括枢转地联接到闭合附接杆2064的闭合连接件2062。此外，另一闭合连接件2067枢转地联接到闭合附接杆2064。闭合连接件2067可被构造成能够用于通过销2269附接到闭合管附接轭2260的臂2261。参见图66。
图68-74示出用于将可互换轴组件2500联接到框架2380的另一结构。框架2380可与本文所述的柄部一起使用或者可与机器人系统结合使用。在至少一种形式中，轴组件2500包括轴2510，该轴可包括上述轴1210的所有其他部件，并且可具有可操作地附接到其上的上述类型的端部执行器(未示出)。这些特征结构的各种构造和操作如上所述。如在图68-74中可见，轴组件2500包括轴附接模块或轴附接部分2520，其被构造成能够枢转地接合框架2380的框架附接模块部分2384，如将在下文进一步详细地讨论。轴附接模块2520例如可具有衬圈部分2522，轴2510的近侧端部延伸穿过该衬圈部分。轴附接模块2520与框架2380的框架附接模块部分2384协作，以在其中形成通道2581以用于在其中可动地支撑闭合管附接轭2560。闭合管轭组件2560可被支撑在轴附接模块2520的一部分上并且被构造成能够被支撑在通道2581内，使得闭合管轭组件2560可在其中在远侧和近侧方向上轴向地运动。就上文所述的轴组件而言，轴框架2512的近侧端部可旋转地联接到轴附接模块2520，使得其可相对于轴附接模块2520旋转。外部套管2550 的近侧端部以上文所述的方式可旋转地联接到闭合管附接轭2560，使得其可相对于闭合管附接轭2560旋转。在各种形式中，喷嘴2590可以上文所述的方式使用，以围绕轴线SA-SA相对于框架轴附接模块2520来旋转轴2510。
如在图68-70中进一步可见，中间击发轴2572的近侧端部2577朝近侧突伸出闭合管附接轭2560并且具有形成于其上的轴附接耳2578。形成在能够纵向运动的驱动构件2410的近侧端部2411中的击发轴附接支架2413被形成为使得击发轴附接耳2578能够从侧面枢转地装载。
如在图69中可见，框架附接模块部分2384具有形成于其中的适于接收形成于轴附接模块2520上的对应枢转耳2529的一对枢转支架2385。当耳 2529被支撑在枢转支架2385内时，轴附接模块2520可枢转成与如图70所示的框架附接模块2384可操作地接合。具体地讲，耳2529可限定可基本上横向于致动轴线AA-AA的枢转轴线PA-PA。参见图73。轴附接模块2520 可具有侧向突起的闩锁销2591，该闩锁销被构造成能够以闩锁的方式接合框架附接模块2384中的对应闩锁凹坑2387。为启动联接过程，使中间击发轴2572在基本上横向于致动轴线AA-AA的方向上与能够纵向运动的驱动构件可操作地接合。
一旦轴附接模块2520已锁闭至如图72和73所示的框架附接模块 2384，然后临床医生便可将闭合驱动系统(其可类似于本文所述的闭合驱动系统)联接到闭合管附接轭2560。
本文公开的各种可互换轴布置表示对采用专用轴的先前外科器械布置的巨大改进。例如，一个轴布置可用在多个柄部布置上和/或与机器人控制的外科系统一起使用。联接轴布置的方法也不同于先前轴布置，所述先前轴布置采用卡口式连接以及在联接过程期间需要对轴和/或柄部或外壳施加旋转运动的其他结构。本文公开的轴组件所采用的联接过程的各种示例性描述包括使可互换轴组件的一部分在基本上横向于致动轴线的方向或取向上与外壳、柄部和/或框架的对应部分联接接合。这些联接过程旨在涵盖轴组件及外壳、柄部和/或框架中的任一者或两者在联接过程期间的运动。例如，一种方法可涵盖使柄部、外壳和/或框架保持固定，同时使轴组件运动成与柄部、外壳和/或框架联接接合。另一种方法可涵盖使轴组件保持固定，同时使柄部、外壳和/或框架运动成与轴组件联接接合。又另一种方法可涉及使轴组件和柄部、外壳和/或框架同时一起运动成联接接合。应当理解，联接本文所公开的各种轴组件布置所采用的联接过程可涵盖一种或多种(包括全部)此类变型。
参见图75-80，示出了可与上文所述的柄部1042基本上相同的柄部 2642，不同的是框架2680的框架附接模块或框架附接部分2684包括锁定组件2690以用于防止闭合驱动系统1750的意外致动。如在图75和76中可见，例如，近侧锁定狭槽段2692形成在框架附接模块2684中，使得在可互换轴组件1900’附接到其上之前，闭合附接杆1764上的对应附接耳1066被可滑动地接收在其中。因此，当闭合附接杆1764在该位置中时，临床医生不能致动闭合驱动系统。换句话讲，当致动耳1766被接收在近侧锁定狭槽段2692中时，临床医生不能致动闭合触发器1752。在各种形式中，仅可采用一个近侧锁定狭槽段2692。在其他形式中，提供了两个近侧锁定狭槽段 2692，使得每个附接耳1766可被接收在对应的近侧锁定狭槽段2692中。在各种形式中，可使用锁定弹簧2695来偏置连杆组件1760，使得当闭合触发器1752处于未致动位置中时，闭合附接杆1764被偏置到如下位置，在该位置，至少一个附接耳1766被接收在近侧锁定狭槽段2692中。
如在图77和78中可见，锁定组件2690还可包括远侧耳狭槽2694，该远侧耳狭槽形成在轴附接模块1920’中并且被定位成使得当轴附接模块1920’已完全附接到框架2680时，远侧耳狭槽2694打开通向如图77和78所示的近侧锁定狭槽段2692。
通过参考图76-80可理解闭合锁定组件2690的操作。图76示出在闭合触发器1752未致动时闭合附接杆1764的位置。如在该图中可见，当处于该位置时，附接耳1766被接收在近侧锁定狭槽段2692中。因此，如果临床医生试图在处于该位置时(即，在以可操作接合的方式将可互换轴组件1900’可操作地附接到框架2680之前)致动闭合触发器1752，临床医生将不能致动闭合驱动系统1750。在临床医生已将可互换轴组件1900’附接到框架 2684，使得可互换轴组件1900’以可操作接合的方式完全坐置并且完全附接之后，轴附接模块1920”中的远侧锁定狭槽段2694将打开通向如图77和78 所示的近侧锁定狭槽段2692。在轴附接模块1920”被插入成与框架附接模块 2684可操作地接合时，从闭合管附接轭1960朝近侧突起的轭臂1961将使附接耳1766捕获在向下打开的狭槽1963中并驱动附接耳1766至如图79所示的近侧锁定狭槽2692的底部。然后，当临床医生期望通过致动闭合触发器 1752来致动闭合驱动系统1750时，闭合连杆组件1760将被在远侧方向“D”上驱动。由于闭合附接杆1764朝远侧推进，因此允许附接耳1766朝远侧推进到远侧锁定狭槽2694中以获得必要的距离，例如，以导致砧座的闭合或者向可操作地联接到端部执行器轴组件1900’的端部执行器施加对应的致动运动。图80示出了当闭合驱动系统1750已被充分致动时，例如当闭合触发器1752已被充分按压时，闭合附接杆1764的位置。
图81-85示出了用于防止闭合驱动系统1750的意外致动直至可互换轴组件1900’已经以可操作接合的方式与框架2680联接的另一锁定组件 2690’。在至少一种形式中，锁定肩部2696形成在框架附接模块或框架附接部分2684’上，使得当可互换轴组件1900’未以可操作接合的方式与框架 2680联接时，通过肩部2696防止闭合附接杆1764在远侧方向“D”上运动。参见图81。由于轴附接模块1920’被插入成与框架附接模块2684’可操作地接合，因此从闭合管附接轭1960朝近侧突起的轭臂1961将使附接耳 1766捕获在闭合附接杆1764上并驱动闭合附接杆1764至如图82和83所示的“解锁”位置。如在图82中具体地可见，当处于解锁位置时，闭合附接杆1764位于框架附接模块2684’上的肩部2696下方。当闭合附接杆处于解锁位置时，其可在通过按压致动触发器1752来致动闭合驱动系统1750时朝远侧推进。
图86-91示出了另一个可互换轴组件1900”以及采用锁定组件2700来防止闭合驱动系统1750”的意外致动的柄部2642。如在图88和89中可见，一种形式的锁定组件2700包括致动器滑动构件2720，该致动器滑动构件可滑动地轴颈连接在形成于框架附接模块或框架附接部分2684”上的朝远侧延伸的锁定底脚2710中。具体地讲，在至少一种形式中，致动器滑动构件2720 具有被接收在形成于锁定底脚2710中的对应狭槽2712中的两个向侧向突起的滑动插片2722。参见图86。致动器滑动构件2720枢转地联接到闭合驱动系统1750”的闭合附接杆1764”并且具有形成于其中的适于接收闭合管附接轭1960’上的向下突起的致动器插片2702的致动器凹坑2724。就上文所述的闭合管附接轭1960而言，闭合管附接轭1960’以本文所述的各种方式可旋转地附连到外部套管1950，该外部套管在轴附接模块1920’内可轴向运动。
如在图88-89中可见，锁定组件2700还可包括被接收在形成于锁定底脚2710中的腔2714中的可动锁定构件2730。锁定构件2730具有锁定部分 2732，该锁定部分的尺寸设定成延伸到致动器凹坑2724中，使得当在“锁定”位置时，锁定构件2730防止致动器滑动构件2720相对于锁定底脚2710 的远侧运动。如在图89中最具体地可见，锁簧2734提供在腔2714中以将锁定构件2730偏置到锁定位置中。
图89示出了处于锁定位置的锁定组件2700。当处于该位置时，锁定部分2732位于致动器凹坑2724中，并且由此防止滑动构件2720的远侧运动。因此，如果临床医生试图通过按压闭合触发器1752来致动闭合驱动系统1750”，则锁定部分2732将防止滑动构件2720的推进。图90示出了在闭合管轭1960’上的致动器插片2702已被插入致动器凹坑2724中并且已将锁定构件2730偏置到腔2714的底部中的“解锁”位置之后锁定构件2370的位置，在该“解锁”位置，致动器滑动构件2720可朝远侧推进。图91示出了在闭合触发器1752已被完全按压以由此轴向地推进闭合管附接轭1960’和附接到闭合管附接轭1960’的外部套管1950之后致动器滑动构件2720的位置。
图92-98示出了另一可互换轴组件1900”以及采用锁定组件2800来防止闭合驱动系统1750”的意外致动的柄部2642”。闭合驱动系统1750”可类似于上文所述的闭合驱动系统1050和1750并且包括闭合触发器1752和闭合连杆组件1760’。闭合连杆组件1760’可包括枢转地联接到闭合附接杆1764的闭合连接件1762’。此外，致动器滑动构件2720可枢转地附接到闭合附接杆 1764并且还能够可滑动地轴颈连接在形成于框架附接模块2684”上的朝远侧延伸的锁定底脚2710中。具体地讲，在至少一种形式中，致动器滑动构件 2720具有被接收在形成于锁定底脚2710中的对应狭槽2712中的两个向侧向突起的滑动插片2722。参见图92。致动器滑动构件2720枢转地联接到闭合驱动系统1750”的闭合附接杆1764并且具有形成于其中的适于接收闭合管附接轭1960’上的向下突起的致动器插片2702的致动器凹坑2724。就上文所述的闭合管附接轭1960而言，闭合管附接轭1960’以本文所述的各种方式可旋转地附连到外部套管1950，该外部套管在轴附接模块1920”内可轴向运动。
在各种形式中，锁定组件2800还可包括枢转地附接到框架附接模块2684”的可动锁杆或锁定构件2802。例如，锁杆2802可枢转地安装到框架附接模块2684”上的侧向突起的销2804。锁杆2802还可具有从其近侧部分突起的锁销2806，该锁销被构造成能够当闭合驱动系统1750”未致动时延伸到设置在闭合连接件1762’中的锁定狭槽2808中。参见图94。锁销2806可延伸穿过设置在附接到框架2680’的侧板2810中的锁定狭槽2812。锁定狭槽 2812可用于在锁定位置(图95-98)和解锁位置(图95-98)之间引导锁销 2806。
当锁定组件处于锁定位置时，锁销2806被接收在闭合连接件1762’中的锁定狭槽2808中。当处于该位置时，锁销防止闭合连杆组件1760’运动。因此，如果临床医生试图通过按压闭合触发器1752来致动闭合驱动系统 1750”，则锁销2806将防止闭合连接件1762运动并且最终防止滑动构件 2720推进。图95-98示出了在轴附接模块1920”已经以可操作接合的方式与框架附接模块2684”联接之后锁杆2602的位置。当处于该位置时，框架附接模块2684”上的锁释放部分2820接触锁杆2802并且导致其枢转以由此将锁销2806从闭合连接件1762’中的锁定狭槽2808中移出。如还在图97和98 中可见，当轴附接模块1920”已经以可操作接合的方式与框架附接模块 2684”联接时，闭合管轭1960’上的致动器插片2702坐置在致动器滑动构件 2720中的致动器凹坑2724中。图98示出了在闭合触发器1752已被完全按压以由此在远侧方向“D”上轴向地推进闭合管附接轭1960’和附接到闭合管附接轭1960’的外部套管1950之后致动器滑动构件2720的位置。
现在参见图99-101，示出了轴锁定组件2900，该轴锁定组件被构造成能够防止击发构件1270的轴向运动，除非可互换轴组件已经以可操作接合的方式与外科器械联接。更具体地，除非击发构件已经以可操作接合的方式与能够纵向运动的驱动构件1110(能够纵向运动的驱动构件1110在图88中可见)联接，否则轴锁定组件2900可防止击发构件1270的轴向运动。在至少一种形式中，轴锁定组件2900可包括轴锁定构件或轴锁板2902，其具有穿过其中的轴间隙孔2904并且由轴附接框架或模块1920”的一部分支撑，以在基本上横向于轴线SA-SA的方向“LD”上可滑动地推进。参见图99。轴锁板2902可例如在图100所示的锁定位置之间运动，在该锁定位置，轴锁板2902延伸到附接耳1278与中间击发轴部分1272的近侧端部1277之间的凹陷区域1279中。当处于该锁定位置时，轴锁板2902防止中间击发轴部分 1272的任何轴向运动。可由锁簧2906或其他偏置结构将轴锁板2902偏置到锁定位置中。注意，为清楚起见，图99示出了处于解锁构型的锁板2902。当可互换轴组件未附接到外科器械时，锁板2902被偏置到如图100所示的锁定位置中。应当理解，当可互换轴组件未以可操作接合的方式与外科器械 (例如，手持式器械、机器人系统等)附接时，此类结构防止击发构件 1270的任何意外轴向运动。
如上文详细讨论的，在可互换轴组件联接到外科器械期间，中间击发轴部分1272的端部上的附接耳1278进入能够纵向运动的驱动构件1110的远侧端部中的支架1113。参见图88。当附接耳1278进入支架1113时，能够纵向运动的驱动构件1110的远侧端部接触轴锁板2902并且使其运动到解锁位置(图101)，在该解锁位置，能够纵向运动的驱动构件1110的远侧端部和中间击发轴部分1272的近侧端部1277可响应于施加到能够纵向运动的驱动构件1110的致动运动而在轴间隙孔2904内轴向地运动。
现在转向图102-112，外科器械，诸如外科器械10000，和/或任何其他外科器械，诸如外科器械系统1000，例如可包括轴10010和端部执行器 10020，其中端部执行器10020可相对于轴10010进行关节运动。除上述之外，外科器械10000可包括轴组件，该轴组件包括轴10010和端部执行器 10020，其中轴组件能够可移除地附接到外科器械10000的柄部。主要参见图102-104，轴10010可包括轴框架10012，并且端部执行器10020可包括端部执行器框架10022，其中端部执行器框架10022可围绕关节运动接头 10090可旋转地联接到轴框架10012。就关节运动接头10090而言，在至少一个实例中，轴框架10012可包括枢轴销10014，该枢轴销可被接收在限定于端部执行器框架10022中的枢轴孔10024内。端部执行器框架10022还可包括从其延伸的可与关节运动驱动器可操作地接合的驱动销10021。驱动销10021可被构造成能够接收对其施加的力，并且根据施加到驱动销10021的力的方向，在第一方向或第二相反方向上旋转端部执行器10020。更具体地，当由关节运动驱动器在远侧方向上对驱动销10021施加力时，关节运动驱动器可围绕枢轴销10014推动驱动销10021，并且类似地，当由关节运动驱动器在近侧方向上对驱动销10021施加力时，关节运动驱动器可围绕枢轴销10014例如在相反方向上牵拉驱动销10021。考虑到驱动销10021将放置在例如关节运动接头10090的相反侧上，因此关节运动驱动器的远侧和近侧运动将对端部执行器10020产生相反的作用。
除上述之外，再次参加图102-104，外科器械10000可包括关节运动驱动器系统，该关节运动驱动器系统包括近侧关节运动驱动装置10030和远侧关节运动驱动器10040。当驱动力被传输至近侧关节运动驱动装置10030 时，无论其在近侧方向上还是在远侧方向上，驱动力均可通过关节运动锁 10050被传输至远侧关节运动驱动器10040，如下文更详细的描述。在各种情况下，除上述之外，可利用外科器械10000的击发构件10060来将此类驱动力赋予近侧关节运动驱动器10040。例如，主要参见图102-112，外科器械10000可包括离合器系统10070，该离合器系统可被构造成能够将近侧关节运动驱动装置10030选择性地连接至击发构件10060，使得击发构件 10060的运动可被赋予近侧关节运动驱动装置10030。在使用中，离合器系统10070能够在接合状态(图102-108和111)和脱离状态(图109、110、和112)之间运动，在该接合状态，近侧关节运动驱动装置10030与击发构件10060可操作地接合，在该脱离状态，近侧关节运动驱动装置10030不与击发构件10060可操作地接合。在各种情况下，离合器系统10070可包括可被构造成能够将近侧关节运动驱动装置10030直接连接至击发构件10060的接合构件10072。接合构件10072可包括至少一个驱动齿状物10073，当离合器系统10070处于其接合状态时，该至少一个驱动齿状物可被接收在限定在击发构件10060中的驱动凹陷10062中。在某些情况下，主要参见图28 和图31，接合构件10072可包括延伸到近侧关节运动驱动装置10030的一侧的第一驱动齿状物10073和延伸到近侧关节运动驱动装置10030的另一侧的第二驱动齿状物10073，以便接合限定在击发构件10060中的驱动凹陷。
除上述之外，再次参见图102-112，离合器系统10070还可包括致动器构件10074，该致动器构件可被构造成能够围绕安装到近侧关节运动驱动装置10030的近侧端部10039(图104A)的枢轴销10071旋转或枢转接合构件 10072。致动器构件10074可包括第一或外部突出10076和第二或内部突出 10077，在这两者之间可限定被构造成能够接收限定在接合构件10072中的控制臂10079的凹陷10078。当致动器构件10074旋转远离击发构件10060时，即远离轴10010的纵向轴线时，内部突出10077可接触接合构件10072 的控制臂10079并将接合构件10072旋转远离击发构件10060，以将驱动齿 10073移出驱动凹口10062，并且因此使接合构件10072脱离击发构件 10060。同时，接合构件10072还可脱离近侧关节运动驱动装置10030。在至少一种情况下，近侧关节运动驱动装置10030可包括限定在其中的驱动凹口 10035，该驱动凹口还被构造成能够当接合构件10072处于接合位置时接收驱动齿状物10073的一部分，其中类似于上文，当接合构件10072运动到其脱离位置时，驱动齿状物10073可从驱动凹口10035移除。在某些其他情况下，主要参见图108，驱动齿状物10073可在其间限定可被接收在驱动凹口 10035中的凹陷10083。在任一情况中，在某种程度上，接合构件10072可被构造成能够，其一，当接合构件10072处于其接合位置时同时接合近侧关节运动驱动装置10030中的驱动凹口10035以及击发构件10060中的驱动凹口10062，以及其二，当接合构件10072运动到其脱离位置时同时脱离驱动凹口10035和驱动凹口10062。继续参见图102-104，致动器构件10074能够经由枢轴销10075可旋转地或可枢转地安装到至少部分地围绕轴10010的外壳。在一些情况下，枢轴销10075可安装到柄部框架10001和/或围绕柄部框架10001的柄部外壳，诸如包括，例如，如图131所示的部分11002和 11003的柄部外壳。外科器械10000还可包括至少部分地围绕枢轴销10075 的扭转弹簧10080，该扭转弹簧可被构造成能够将旋转偏置赋予致动器构件 10074，以便朝着击发构件10060偏置致动器10074和接合构件10072并且将接合构件10072偏置到其接合位置。为此，致动器构件10074的外部突出 10076可接触接合构件10072的控制臂10079并围绕枢轴销10071向内枢转接合构件10072。
当比较图108和109时，除上述之外，读者将注意到，离合器系统 10070已在其接合状态(图108)和其脱离状态(图109)之间运动。类似的比较可在图111和112之间绘制，其中读者将会知道轴10010的闭合管 10015已从近侧位置(图111)推进到远侧位置(图112)，以使离合器系统 10070在其接合状态(图111)和其脱离状态(图112)之间运动。更具体地，致动器构件10074可包括凸轮从动部分10081，该凸轮从动臂可由闭合管10015接触并且当闭合管10015朝远侧推进以闭合例如端部执行器10020 的砧座时位移到其脱离位置。闭合管与砧座的相互作用在本申请的其他地方讨论，为了简洁起见，不再重复。在各种情况下，主要参见图107，致动器构件10074的凸轮从动部分10081可被定位在限定于闭合管10015中的窗口 10016内。当离合器系统10070处于其接合状态时，窗口10016的边缘或侧壁10017可接触凸轮从动部分10081并围绕枢轴销10075枢转致动器构件 10074。实际上，窗口10016的侧壁10017可在闭合管10015运动到其远侧或闭合位置时充当凸轮。在至少一种情况下，致动器构件10074可包括从其延伸的止挡件，该止挡件可被构造成能够例如接合柄部的外壳并限制致动器构件10074的推进。在某些情况下，轴组件可包括定位在轴组件的外壳与从致动器构件10074延伸的凸部10082的中间的弹簧，该凸部可被构造成能够将致动器构件10074偏置到其接合位置。在上文所讨论的闭合管10015的远侧闭合位置中，闭合管10015可保持定位在凸轮从动部分10081下面，以将离合器系统10070保持在其脱离状态。在此类脱离状态中，击发构件10060 的运动不被传递至近侧关节运动驱动装置10030，和/或关节运动驱动器系统的任何其他部分。当闭合管10015回缩到其近侧或打开位置时，闭合管 10015可从致动器构件10074的凸轮从动部分10081下面移除，使得弹簧 10080可将致动器构件10074偏置回到窗口10016中并允许离合器系统 10070重新进入其接合状态。
当近侧关节运动驱动装置10030经由离合器系统10070与击发构件 10060操作地接合时，除上述之外，击发构件10060可使近侧关节运动驱动装置10030朝近侧和/或朝远侧运动。例如，击发构件10060的近侧运动可使近侧关节运动驱动装置10030朝近侧运动，并且类似地，击发构件10060的远侧运动可使近侧关节运动驱动装置10030朝远侧运动。主要参见图102- 104，近侧关节运动驱动装置10030的运动，无论是近侧或远侧，可解锁关节运动锁10050，如下文更详细描述。主要参见图102，关节运动锁10050 可包括与远侧关节运动驱动器10040的框架10042共同存在的框架。共同地，关节运动锁10050的框架和框架10042可在后文统称为框架10042。框架10042可包括限定在其中的第一或远侧锁定腔10044和第二或近侧锁定腔 10046，其中第一锁定腔10044和第二锁定腔10046可通过中间框架构件10045分开。关节运动锁10050还可包括被至少部分地定位在第一锁定腔 10044内的至少一个第一锁定元件10054，该至少一个第一锁定元件可被构造成能够抑制或防止远侧关节运动驱动器10040的近侧运动。就图102-104 所示的特定实施例而言，在第一锁定腔10044内定位有可全部以类似、平行的方式作用并且能够作为单个锁定元件协作地作用的三个第一锁定元件 10054。设想可利用多于三个或少于三个第一锁定元件10054的其他实施例。类似地，关节运动锁10050还可包括被至少部分地定位在第二锁定腔 10046内的至少一个第二锁定元件10056，该至少一个第二锁定元件10056 可被构造成能够抑制或防止远侧关节运动驱动器10040的远侧运动。就图 102-104所示的特定实施例而言，在第二锁定腔10046内定位有可全部以类似、平行的方式作用并且能够作为单个锁定元件协同地作用的三个第二锁定元件10056。设想可利用多于三个或少于三个第二锁定元件10056的其他实施例。
除上述之外，主要参见图104A，每个第一锁定元件10054可包括锁定孔10052和锁定柄脚10053。锁定柄脚10053可设置在第一锁定腔10044 内，并且锁定孔10052能够与安装到轴框架10012的框架导轨10011可滑动地接合。再次参见图102，框架导轨10011延伸穿过第一锁定元件10054中的孔10052。如读者将注意到，进一步参见图102，第一锁定元件10054不以与框架导轨10011垂直的结构取向；相反，第一锁定元件10054以相对于框架导轨10011不垂直的角度设置和对齐，使得锁定孔10052的边缘或侧壁与框架导轨10011接合。此外，锁定孔10052的侧壁与框架导轨10011之间的相互作用可在两者间产生抵抗力或摩擦力，该抵抗力或摩擦力可抑制第一锁定元件10054与框架导轨10011之间的相对运动，并且因此抵抗施加到远侧关节运动驱动器10040的近侧推力P。换句话讲，第一锁定元件10054可防止或至少部分地抑制端部执行器10020在箭头10002指示的方向上旋转。如果在箭头10002的方向上向端部执行器10020施加扭力，近侧推力P将从自端部执行器10024的框架10022延伸的驱动销10021传输至远侧关节运动驱动器10040的框架10042。在各种情况下，驱动销10021可被紧密地接收在限定于远侧关节运动驱动器10040的远侧端部10041中的销狭槽10043 内，使得驱动销10021可抵靠销狭槽10043的近侧侧壁并将近侧推力P传输至远侧关节运动器10040。然而，除上述之外，近侧推力P将仅用于支持第一锁定元件10054与框架导轨10011之间的锁定接合。更具体地，近侧推力 P可传输至第一锁定元件10054的柄脚10053，这可导致第一锁定元件 10054旋转并减小限定在第一锁定元件10054与框架导轨10011之间的角度，并且因此增强锁定孔10052的侧壁与框架导轨10011之间的咬合。最后，第一锁定元件10054可将远侧关节运动驱动器10040的运动锁定在一个方向上。
为了释放第一锁定元件10054并允许端部执行器10020在箭头10002指示的方向上旋转，现在参见图103，可将近侧关节运动驱动装置10030朝近侧牵拉以使第一锁定元件10054伸直或至少基本上伸直成垂直或至少基本上垂直的位置。在此位置，锁定孔10052的侧壁和框架导轨10011之间的咬合力或阻力可被充分减小或消除，使得远侧关节运动驱动器10040可朝近侧运动。为了使第一锁定元件10054伸直到图103所示的位置，可将近侧关节运动驱动装置10030朝近侧牵拉，使得近侧关节运动驱动装置10030的远侧臂 10034接触第一锁定元件10054，从而将第一锁定元件10054牵拉并旋转至其伸直位置。在各种情况下，可将近侧关节运动驱动装置10030继续朝近侧牵拉，直到从其延伸的近侧臂10036接触或邻接框架10042的近侧驱动壁 10052并将框架10042朝近侧牵拉，以使端部执行器10002进行关节运动。本质上，可将近侧拉力从近侧关节运动驱动装置10030通过近侧臂10036和近侧驱动壁10052之间的相互作用施加到远侧关节运动驱动器10040，其中此类拉力可通过框架10042传输至驱动销10021，以使端部执行器10020沿箭头10002指示的方向进行关节运动。在端部执行器10020已沿箭头10002 的方向适当地进行关节运动之后，在各种情况下，可将近侧关节运动驱动器 10040释放，以允许关节运动锁10050将远侧关节运动构件10040和端部执行器10020重新锁定就位。在各种情况下，关节运动锁10050可包括弹簧 10055，该弹簧定位在第一锁定元件10054组和第二锁定元件10056组中间，该弹簧可在第一锁定元件10054伸直以解锁远侧关节运动驱动器10040 的近侧运动时被压缩，如上所讨论。当释放近侧关节运动驱动装置10030 时，弹簧10055可弹性地重新伸展，以将第一锁定元件10054推动至其成角度位置，图102中所示。
同时，再次参见图102和103，当第一锁定元件10054如上所述锁定和解锁时，第二锁定元件10056可保持在成角度位置。读者将理解，尽管第二锁定元件10056相对于轴导轨10011以成角度位置布置和对齐，但第二锁定元件10056不被构造成能够阻碍或至少基本上阻碍远侧关节运动驱动器 10040的近侧运动。当远侧关节运动驱动器10040和关节运动锁10050如上所述朝近侧滑动时，在各种情况下，第二锁定元件10056可沿框架导轨 10011朝远侧滑动，而不改变或至少基本上不改变其相对于框架导轨10011 的成角度对齐。当第二锁定元件10056允许远侧关节运动驱动器10040和关节运动锁10050的近侧运动时，第二锁定元件10056被构造成能够选择性地阻止或至少抑制远侧关节运动驱动器10040的远侧运动，如下文更详细地讨论。
与上文相似，主要参见图104A，每个第二锁定元件10056可包括锁定孔10057和锁定柄脚10058。锁定柄脚10058可被设置在第二锁定腔10046 内，并且锁定孔10057可与安装到轴框架10012的框架导轨10011可滑动地接合。再次参见图102，框架导轨10011延伸穿过第二锁定元件10056中的孔10057。另外参见图102，读者将注意到，第二锁定元件10056不取向为与框架导轨10011垂直布置；而是第二锁定元件10056相对于框架导轨 10011以非垂直角度布置和对齐，使得锁定孔10057的边缘或侧壁与框架导轨10011接合。此外，锁定孔10057的侧壁与框架导轨10011之间的相互作用可在两者之间产生阻力或摩擦力，这可抑制第二锁定元件10056与框架导轨10011之间的相对运动，从而抵抗施加到远侧关节运动驱动器10040的远侧力D。换句话说，第二锁定元件10056可阻止或至少抑制端部执行器 10020沿箭头10003指示的方向旋转。如果沿箭头10003指示的方向向端部执行器10020施加扭力，远侧拉力D将从自端部执行器10024的框架10022 延伸的驱动销10021传输至远侧关节运动驱动器10040的框架10042。在各种情况下，驱动销10021可被紧密地接收在限定于远侧关节运动驱动器 10040的远侧端部10041中的销狭槽10043内，使得驱动销10021可抵靠销狭槽10043的远侧侧壁并将远侧拉力D传输至远侧关节运动驱动器10040。然而，除上述之外，远侧拉力D将仅用于支持第二锁定元件10056和框架导轨10011之间的锁定接合。更具体地，远侧拉力D可传输至第二锁定元件 10056的柄脚10058，这可导致第二锁定元件10056旋转并减小限定在第二锁定元件10056和框架导轨10011之间的角度，从而增强锁定孔10057的侧壁与框架导轨10011之间的咬合。最后，第二锁定元件10056可将远侧关节运动驱动器10040的运动锁定在一个方向。
为了释放第二锁定元件10056并允许端部执行器10020沿箭头10003指示的方向旋转，现在参见图104，可将近侧关节运动驱动装置10030朝远侧推动，以使第二锁定元件10056伸直或至少基本上伸直到垂直或至少基本上垂直的位置。在此位置，锁定孔10057的侧壁和框架导轨10011之间的咬合力或阻力可被充分减小或消除，使得远侧关节运动驱动器10040可朝远侧运动。为了使第二锁定元件10056伸直到图104所示的位置，可将近侧关节运动驱动装置10030朝远侧牵拉，使得近侧关节运动驱动装置10030的近侧臂 10036接触第二锁定元件10056，从而将第二锁定元件10056推动并旋转至其伸直位置。在各种情况下，可将近侧关节运动驱动装置10030继续朝远侧推动，直到从其延伸的远侧臂10034接触或邻接框架10042的远侧驱动壁 10051并将框架10042朝远侧推动，以使端部执行器10020进行关节运动。本质上，可将远侧推力从近侧关节运动驱动装置10030通过远侧臂10034和远侧驱动壁10051之间的相互作用施加到远侧关节运动驱动器10040，其中此类推力可通过框架10042传输至驱动销10021，以使端部执行器10020沿箭头10003指示的方向进行关节运动。在端部执行器10020已沿箭头10003 的方向适当地进行关节运动之后，在各种情况下，可将近侧关节运动驱动器 10040释放，以允许关节运动锁10050将远侧关节运动构件10040和端部执行器10020重新锁定就位。与上文相似，在各种情况下，定位在第一锁定元件10054组和第二锁定元件10056组中间的弹簧10055可在第二锁定元件 10056伸直以解锁远侧关节运动驱动器10040的远侧运动时被压缩，如上所讨论。当释放近侧关节运动驱动器10040时，弹簧10055可弹性地重新伸展，以将第二锁定元件10056推动至图102中所示的成角度位置。
同时，再次参见图102和104，当第二锁定元件10056如上所述锁定和解锁时，第一锁定元件10054可保持在成角度位置。读者将理解，尽管第一锁定元件10054相对于轴导轨10011以成角度位置布置和对齐，但第一锁定元件10054不被构造成能够阻碍或至少基本上阻碍远侧关节运动驱动器 10040的远侧运动。当远侧关节运动驱动器10040和关节运动锁10050如上所述朝远侧滑动时，在各种情况下，第一锁定元件10054可沿框架导轨 10011朝远侧滑动，而不改变或至少基本上不改变其相对于框架导轨10011 的成角度对齐。当第一锁定元件10054允许远侧关节运动驱动器10040和关节运动锁10050的远侧运动时，第一锁定元件10054被构造成能够选择性地阻止或至少抑制远侧关节运动驱动器10040的近侧运动，如上文所讨论。
根据上文，处于锁定状态的关节运动锁10050被构造成能够抵抗远侧关节运动驱动器10040的近侧运动和远侧运动。在阻力方面，关节运动锁 10050被构造成能够阻止或至少基本上阻止远侧关节运动驱动器10040的近侧运动和远侧运动。总的来说，当第一锁定元件10054处于其锁定取向时，远侧关节运动驱动器10040的近侧运动被第一锁定元件10054抵抗，并且当第二锁定元件10056处于其锁定取向时，远侧关节运动驱动器10040的远侧运动被第二锁定元件10056抵抗，如上所述。换句话说，第一锁定元件 10054包括第一单向锁，并且第二锁定元件10056包括沿相反方向锁定的第二单向锁。
再次参见图102和如上所讨论，当第一锁定元件10054处于锁定构型时，尝试将远侧关节运动驱动器10040朝近侧运动可能只是进一步减小第一锁定元件10054和框架导轨10011之间的角度。在各种情况下，第一锁定元件10054可偏转，而在至少一些情况下，第一锁定元件10054可邻接限定在第一锁定腔10044中的远侧肩部10047。更准确地说，最外面的第一锁定元件10054可邻接远侧肩部10047，而其他第一锁定元件10054可邻接相邻的第一锁定元件10054。在一些情况下，远侧肩部10047可阻止第一锁定元件 10054的运动。在某些情况下，远侧肩部10047可提供应变消除。例如，一旦远侧肩部10047接触第一锁定元件10054，远侧肩部10047可在邻近或至少基本上邻近锁定导轨10011的位置支撑第一锁定元件10054，使得只有小杠杆臂或扭矩臂将通过第一锁定元件10054在其不同位置处传输的相反力分离。在这种情况下，实际上通过第一锁定元件10054的柄脚10053传输的力可被减小或消除。
与上文相似，再次参见图102并如上所讨论，当第二锁定元件10056处于锁定构型时，尝试将远侧关节运动驱动器10040朝远侧运动可能只是进一步减小第二锁定元件10056和框架导轨10011之间的角度。在各种情况下，第二锁定元件10056可偏转，而在至少一些情况下，第二锁定元件10056可邻接限定在第二锁定腔10046中的近侧肩部10048。更准确地说，最外面的第二锁定元件10056可邻接近侧肩部10048，而其他第二锁定元件10056可邻接相邻的第二锁定元件10056。在一些情况下，近侧肩部10048可阻止第二锁定元件10056的运动。在某些情况下，近侧肩部10048可提供应变消除。例如，一旦近侧肩部10048接触第二锁定元件10056，近侧肩部10048 可在邻近或至少基本上邻近锁定导轨10011的位置处支撑第二锁定元件 10056，使得只有小杠杆臂或扭矩臂将通过第二锁定元件10056在其不同位置处传输的相反力分离。在这种情况下，实际上通过第二锁定元件10056的柄脚10058传输的力可被减小或消除。
结合图102-112所示的示例性实施例进行讨论，近侧关节运动驱动装置 10030的初始近侧运动可解锁远侧关节运动驱动器10040和关节运动锁 10050的近侧运动，而近侧关节运动驱动装置10030的进一步近侧运动可朝近侧驱动远侧关节运动驱动器10040和关节运动锁10050。相似地，近侧关节运动驱动装置10030的初始远侧运动可解锁远侧关节运动驱动器10040和关节运动锁10050的远侧运动，而近侧关节运动驱动装置10030的进一步远侧运动可朝远侧驱动远侧关节运动驱动器10040和关节运动锁10050。结合以下公开的多个其他示例性实施例讨论了该一般概念。根据结合图102-112 中公开的示例性实施例提供的讨论，考虑到这类讨论是重复性的或大体累积性的，为了简洁起见，不重复此类讨论。
现在转向图113和114，一种外科器械，诸如外科器械10000，和/或例如任何其他外科器械系统，可包括近侧关节运动驱动器10130、远侧关节运动驱动器10140和关节运动锁10150。关节运动锁10150可包括框架 10152，该框架可包括限定在其中的被构造成能够接收近侧关节运动驱动器 10130的至少一部分和远侧关节运动驱动器10140的至少一部分的狭槽或锁通道10151。关节运动锁10150还可包括定位在第一或远侧锁定腔10144内的第一锁定元件10154，以及定位在第二或近侧锁定腔10146内的第二锁定元件10155。与上文相似，第一锁定元件10154被构造成能够抵抗通过远侧关节运动驱动器10140传输的近侧推力P。为此，远侧关节运动驱动器 10140可包括限定在其中的锁定凹陷10145，该锁定凹陷可包括被构造成能够接合第一锁定元件10154并防止远侧关节运动驱动器10140相对于锁定框架10152运动的一个或多个锁表面。更具体地，锁定凹陷10145的侧壁可包括第一或远侧锁表面10141，该锁表面被构造成能够靠着锁通道10151的侧壁或锁壁10153楔入第一锁定元件10154，并且由于该楔入关系，远侧关节运动驱动器10140可能不能在第一锁定元件10154和锁通道10151的相对侧壁10157之间通过。读者将理解，锁定凹陷10145成轮廓，使得它的深度朝锁定凹陷10145的远侧端部逐渐减小，其中相应地，远侧关节运动驱动器 10140的厚度朝锁定凹陷10145的远侧端部逐渐增大。因此，施加到远侧关节运动驱动器10140的近侧推力P可只是用于进一步增大将远侧关节运动驱动器10140保持就位的阻力或楔入力。
为了朝近侧牵拉远侧关节运动驱动器10140，近侧关节运动驱动器 10130可被构造成能够：一，使远侧锁定元件10154朝近侧位移以在近侧方向上解锁关节运动锁10150，二，直接接合远侧关节运动驱动器10140并向其施加近侧拉力。更具体地，除上述之外，近侧关节运动驱动器10130可包括被构造成能够初始接合第一锁定元件10154的远侧臂10134，以及被构造成能够随后接合限定在锁定凹陷10145的近侧端部处的近侧驱动壁10147并将远侧关节运动驱动器10140朝近侧牵拉的近侧臂10136。与上文相似，远侧关节运动驱动器10140的近侧运动被构造成能够使外科器械的端部执行器进行关节运动。一旦端部执行器已适当地进行关节运动，在各种情况下，近侧关节运动驱动器10130可被释放，以允许定位在第一锁定元件10154和第二锁定元件10156中间的弹簧10155伸展并将第一锁定元件10154相对于第一锁表面10141充分地重新定位并将远侧关节运动驱动器10140和端部执行器重新锁定就位。
同时，第二锁定元件10156可不抵抗或至少基本上不抵抗远侧关节运动驱动器10140的近侧运动。当关节运动锁10150处于锁定状态时，第二锁定元件10156可被定位在锁定凹陷10145的第二或近侧锁表面10143与锁通道 10151的锁壁10153之间。随着远侧关节运动驱动器10140被近侧关节运动驱动器10130朝近侧牵拉，除上述之外，锁定凹陷10145的停顿部分10142 可在第二锁定元件10156上方运动。在各种情况下，锁定凹陷10145的停顿部分10142可包括凹陷10145的最宽部分，因此可在远侧关节运动驱动器 10140朝近侧牵拉时允许远侧关节运动驱动器10140和第二锁定元件10156 之间的相对滑动运动。在一些情况下，第二锁定元件10156被构造成能够在停顿部分10142内滚动，从而减小远侧关节运动驱动器10140和第二锁定元件10156之间的阻力。如读者将理解的，第二锁定元件10156可允许远侧关节运动驱动器10140的近侧运动，但被构造成能够选择性地抵抗远侧关节运动驱动器10140的远侧运动，如下文更详细地讨论。
与上文相似，第二锁定元件10156被构造成能够抵抗通过远侧关节运动构件10140传输的远侧拉力D。为此，锁定凹陷10145的第二锁表面10143 可被构造成能够靠着锁通道10151的锁壁10153楔入第二锁定元件10156，并且由于其楔入关系，远侧关节运动驱动器10140可能不能在第二锁定元件 10156和锁通道10151的相对侧壁10157之间通过。读者将理解，锁定凹陷 10145成轮廓，使得它的深度朝锁定凹陷10145的近侧端部逐渐减小，其中相应地，远侧关节运动驱动器10140的厚度朝锁定凹陷10145的近侧端部逐渐增大。因此，施加到远侧关节运动驱动器10140的远侧拉力D可能只是用于进一步增大将远侧关节运动驱动器10140保持就位的阻力或楔入力。
为了将远侧关节运动驱动器10140朝远侧推动，近侧关节运动驱动器 10130可被构造成能够：一，使第二锁定元件10156朝远侧位移以在远侧方向上解锁关节运动锁10150，二，直接接合远侧关节运动驱动器10140并向其施加远侧推力。更具体地，除上述之外，近侧关节运动驱动器10130的近侧臂10136可被构造成能够初始接合第二锁定元件10156，其中远侧臂 10134随后可接合限定在锁定凹陷10145的远侧端部处的远侧驱动壁10148 并将远侧关节运动驱动器10140朝远侧推动。与上文相似，远侧关节运动驱动器10140的远侧运动可被构造成能够使外科器械的端部执行器进行关节运动。一旦端部执行器已适当地进行关节运动，在各种情况下，近侧关节运动驱动器10130可被释放，以允许弹簧10155伸展并将第二锁定元件10156相对于第二锁表面10143充分地重新定位，以便将远侧关节运动驱动器10140 和端部执行器重新锁定就位。
同时，第一锁定元件10154可不抵抗或至少基本上不抵抗远侧关节运动驱动器10140的远侧运动。当关节运动锁10150处于锁定状态时，第一锁定元件10154可被定位在锁定凹陷10145的第一锁表面10141与锁通道10151 的锁壁10153之间。随着远侧关节运动驱动器10140被近侧关节运动驱动器 10130朝远侧推动，除上述之外，锁定凹陷10145的停顿部分10142可在第一锁定元件10154上方运动。在各种情况下，在远侧关节运动驱动器10140朝远侧推动时，停顿部分10142可允许远侧关节运动驱动器10140和第一锁定元件10154之间的相对滑动运动。在一些情况下，第一锁定元件10154可被构造成能够在停顿部分10142内滚动，从而减小远侧关节运动驱动器 10140和第一锁定元件10154之间的阻力。如读者将理解的，第一锁定元件 10154可允许远侧关节运动驱动器10140的远侧运动，但能够选择性地抵抗远侧关节运动驱动器10140的近侧运动，如上文所讨论。
除上述之外，锁定凹陷10145的第一锁表面10141、停顿部10142和第二锁表面10143可限定合适的轮廓。此类轮廓可以由分别构成第一锁表面 10141、停顿部10142和第二锁表面10143的第一、第二和第三平坦表面限定。在这种情况下，可以识别第一锁表面10141、停顿部10142和第二锁表面10143之间的确定性中断。在各种情况下，第一锁表面10141、停顿部 10142和第二锁表面10143可以构成连续表面，例如弓形表面，其中第一锁表面10141、停顿部10142和第二锁表面10143之间的确定性中断可不存在。
现在转向图115和116，外科器械，诸如外科器械10000，和/或例如任何其他外科器械系统，可包括轴10210、包括近侧关节运动驱动器10230和远侧关节运动驱动器10240的关节运动驱动系统，和被构造成能够将远侧关节运动驱动器10240可释放地保持就位的关节运动锁10250。关节运动驱动系统的一般操作与结合图113和114中公开的实施例讨论的关节运动驱动系统相同或至少基本上类似，因此，为简洁起见，本文不重复此类讨论。如读者将理解的，参见图115和116，关节运动锁10250可包括第一锁定元件 10254和第二锁定元件10256，该第一锁定元件可提供被构造成能够可释放地抑制远侧关节运动驱动器10240的近侧运动的单向锁，该第二锁定元件可提供被构造成能够可释放地抑制远侧关节运动驱动器10240的远侧运动的第二单向锁。与上文相似，第一锁定元件10254和第二锁定元件10256可定位在限定于远侧关节运动驱动器10240中的锁定凹陷10245内，并且可被偏置构件或例如弹簧10255偏置成锁定状态。为了解锁第一锁定元件10254，与上文相似，可将近侧关节运动驱动器10230朝近侧牵拉，使得远侧钩10234 接触第一锁定元件10254并将第一锁定元件10254朝近侧牵拉。然后，与上述实施例相似，可将近侧关节运动驱动器10230进一步朝近侧牵拉，直到远侧钩10234接触远侧关节运动驱动器框架10242，并且将远侧关节运动驱动器10240朝近侧牵拉并使端部执行器10020进行关节运动。为了解锁第二锁定元件10256，与上文相似，可将近侧关节运动驱动器10230朝远侧推动，使得近侧钩10236接触第二锁定元件10256并将第二锁定元件10256朝远侧推动。然后，与上述实施例相似，可将近侧关节运动驱动器10230进一步朝远侧推动，直到近侧钩10236接触远侧关节运动驱动器框架10242，并且将远侧关节运动驱动器10240朝远侧推动并使端部执行器10020进行关节运动。在各种情况下，第一锁定元件10254和第二锁定元件10256可各自包括可旋转球形元件或例如轴承，其可被构造成能够减小锁定元件10254, 10256、轴框架10212、近侧关节运动驱动器10230和/或远侧关节运动驱动器10240之间的滑动摩擦。
现在转向图125-130，外科器械，诸如外科器械10000，和/或例如任何其他外科器械系统，可包括被构造成能够可释放地将远侧关节运动驱动器 10340保持就位的关节运动锁10350，和包括近侧关节运动驱动器10330和远侧关节运动驱动器10340的关节运动驱动系统。在许多方面，关节运动驱动系统的一般操作与结合上文公开的实施例讨论的关节运动驱动系统相同或至少基本上类似，因此，为简洁起见，本文不重复这些方面。如读者将理解的，主要参见图125和126，关节运动锁10350可包括第一锁定元件10354和第二锁定元件10356，该第一锁定元件可以提供被构造成能够可释放地抑制远侧关节运动驱动器10340的近侧运动的单向锁，该第二锁定元件可以提供被构造成能够可释放地抑制远侧关节运动驱动器10340的远侧运动的第二单向锁。与上文相似，第一锁定元件10354可定位在第一或远侧锁定凹陷10344 内，并且第二锁定元件10356可定位在限定于远侧关节运动驱动器10340中的第二或近侧锁定凹陷10346内，并且可被偏置构件或例如弹簧10355偏置成锁定状态。为了解锁第一锁定元件10354，大体参见图129，可将近侧关节运动驱动器10330朝近侧牵拉，使得远侧钩10334接触第一锁定元件10354 并将第一锁定元件10354朝近侧牵拉。然后，如图129所示，与上述实施例相似，可将近侧关节运动驱动器10330进一步朝近侧牵拉，直到第一锁定元件10354接触从关节运动驱动器框架10340的框架10342延伸的中间肩部10345，并将远侧关节运动驱动器10340朝近侧牵拉以使端部执行器进行关节运动。一旦端部执行器已充分进行关节运动，近侧关节运动驱动器10330可释放，这可允许偏置弹簧10355将锁定元件10354和10356彼此移开，并将锁定元件10354和10356坐置成锁定状态，如图130所示。为了解锁第二锁定元件10356，大体参见图127，可将近侧关节运动驱动器10330朝远侧推动，使得近侧钩10336接触第二锁定元件10356并将第二锁定元件10356朝远侧推动。然后，与上述实施例相似，可将近侧关节运动驱动器10330进一步朝远侧推动，直到第二锁定元件10356接触远侧关节运动驱动器框架10342 的中间肩部10345并将远侧关节运动驱动器10340朝远侧推动，以使端部执行器沿相反方向进行关节运动。与上文相似，一旦端部执行器已充分进行关节运动，近侧关节运动驱动器10330可释放，这可允许偏置弹簧10355将锁定元件10354和10356彼此移开，并将锁定元件10354和10356坐置成锁定状态，如图128所示。
除上述之外，在各种情况下，第一锁定元件10354和第二锁定元件 10356可各自包括楔形件，该楔形件被构造成能够将远侧关节运动驱动器 10340锁定就位。再次主要参见图125和126，关节运动锁10350可包括框架10352，该框架包括限定在其中的被构造成能够接收近侧关节运动驱动器 10330的至少一部分和远侧关节运动驱动器10340的至少一部分的锁通道 10351。除上述之外，第一锁定腔10344可被限定在远侧关节运动驱动器 10340和锁通道10351的锁壁10353之间。当近侧负载P从端部执行器传输至远侧关节运动驱动器10340时，远侧关节运动驱动器10340可接合第一锁定元件10354的楔形部分10358并将第一锁定元件10354抵靠锁壁10353偏置。在这种情况下，近侧负载P可只增大将第一锁定元件10354保持就位的楔入力。实际上，第一锁定元件10354可包括单向锁，该单向锁可抑制远侧关节运动驱动器10340的近侧运动，直到第一锁定元件10354解锁，如上所述。当第一锁定元件10354解锁并且远侧关节运动驱动器10340朝近侧运动时，第二锁定元件10356可不抵抗或至少基本上不抵抗远侧关节运动驱动器 10340的近侧运动。与上文相似，除上述之外，第二锁定腔10346可被限定在远侧关节运动驱动器10340和锁壁10353之间。当远侧负载D从端部执行器传输至远侧关节运动驱动器10340时，远侧关节运动驱动器10340可接合第二锁定元件10356的楔形部分10359并将第二锁定元件10356抵靠锁壁 10353偏置。在这种情况下，远侧负载D可只增大将第二锁定元件10356保持就位的楔入力。实际上，第二锁定元件10356可包括单向锁，该单向锁可抑制远侧关节运动驱动器10340的远侧运动，直到第二锁定元件10356解锁，如上所述。当第二锁定元件10356解锁并且远侧关节运动驱动器10340 朝远侧运动时，第一锁定元件10354可不抵抗或至少基本上不抵抗远侧关节运动驱动器10340的远侧运动。
现在转向图117-124，外科器械，诸如外科器械10000，和/或例如任何其他外科器械系统，可包括被构造成能够可释放地将远侧关节运动驱动器 10440保持就位的关节运动锁10450，和包括近侧关节运动驱动器10430和远侧关节运动驱动器10440的关节运动驱动系统。如读者将理解的，主要参见图117和118，关节运动锁10450可包括第一锁凸轮10454和第二锁凸轮 10456，该第一锁凸轮可提供被构造成能够可释放地抑制远侧关节运动驱动器10440的远侧运动的单向锁，该第二锁凸轮可提供被构造成能够可释放地抑制远侧关节运动驱动器10440的近侧运动的第二单向锁。第一锁凸轮 10454能够可旋转地安装到远侧关节运动驱动器10440，并且可包括突出 10457，该突出可旋转地定位限定于远侧关节运动驱动器10440中的枢轴孔 10447内。相似地，第二锁凸轮10456能够可旋转地安装到远侧关节运动驱动器10440，并且可包括突出10458，该突出可旋转地定位在同样限定于远侧关节运动驱动器10440中的枢轴孔10448内。关节运动锁10450还可包括框架10452，该框架具有限定在其中的锁通道10451，该锁通道被构造成能够接收近侧关节运动驱动器10430的至少一部分、远侧关节运动驱动器 10440的至少一部分、第一锁凸轮10454和第二锁凸轮10456。锁通道10451 可包括第一锁壁10453和第二锁壁10459，其中当关节运动锁10450处于锁定状态时，第一锁凸轮10454可被偏置成与第一锁壁10453接合，并且第二锁凸轮10456可被偏置成与第二锁壁10459接合。当第一锁凸轮10454处于其锁定位置时，第一锁凸轮10454被构造成能够将远侧关节运动驱动器 10440的第一支承点10445抵靠第二锁壁10459偏置。相似地，当第二锁凸轮10454处于其锁定位置时，第二锁凸轮10456被构造成能够将远侧关节运动驱动器10440的第二支承点10446抵靠第一锁壁10453偏置。图119中示出了此类锁定状态。也如图119所示，关节运动锁10450可被弹簧10455偏置成锁定状态。弹簧10455被构造成能够使第一锁凸轮10454围绕其突出 10457旋转，使得第一锁凸轮10454的凸角接合第一锁壁10453，相似地，该弹簧被构造成能够使第二锁凸轮10456围绕其突出10458旋转，使得第二锁凸轮10456的凸角接合第二锁壁10459。在各种情况下，第一锁凸轮 10454和第二锁凸轮10456可各自包括限定在其中的弹簧孔10449，该弹簧孔被构造成能够接收弹簧10455的端部，使得弹簧10455可施加上述的偏置力。
为了解锁第一锁凸轮10454，大体参见图120，可将近侧关节运动驱动器10430朝远侧推动，使得近侧关节运动驱动器10430的远侧驱动肩部 10434接触第一锁凸轮10454并将第一锁凸轮10454朝远侧推动。在各种情况下，第一锁凸轮10454可包括从其延伸的驱动销10437，该驱动销可由远侧驱动肩部10434接触，使得在将近侧关节运动驱动器10430朝远侧推动时，第一锁凸轮10454和远侧关节运动驱动器10440可相对于第一锁表面10451朝远侧滑动。在一些情况下，第一锁凸轮10454可围绕其突出10447 旋转以调整此类运动。与上文相似，在任何情况下，远侧关节运动驱动器 10440的远侧运动可以使端部执行器进行关节运动。与上文相似，一旦端部执行器已充分进行关节运动，近侧关节运动驱动器10430可释放，这可允许偏置弹簧10455使锁凸轮10454和10456位移成分别与锁表面10453和 10459接合，并将关节运动锁10450放置为其锁定状态，如图119所示。为了解锁第二锁凸轮10456，大体参见图121，可将近侧关节运动驱动器 10430朝近侧牵拉，使得近侧驱动肩部10436接触第二锁凸轮10456并将第二锁凸轮10456朝近侧牵拉。在各种情况下，第二锁凸轮10456可包括从其延伸的驱动销10438，该驱动销可由近侧驱动肩部10436接触，使得在将近侧关节运动驱动器10430朝近侧牵拉时，第二锁凸轮10456和远侧关节运动驱动器10440可相对于第二锁表面10459朝近侧滑动。在一些情况下，第二锁凸轮10456可围绕其突出10458旋转以调整此类运动。与上文相似，在任何情况下，远侧关节运动驱动器10440的近侧运动可以使端部执行器沿相反方向进行关节运动。与上文相似，一旦端部执行器已充分进行关节运动，近侧关节运动驱动器10430可释放，这可允许偏置弹簧10455使锁凸轮10454 和10456位移成分别与锁表面10453和10459接合，并将关节运动锁10450 放置为其锁定状态，如图119所示。
除上述之外，当近侧负载P从端部执行器传输至远侧关节运动驱动器 10440时，当关节运动锁10450处于其锁定状态，第二锁凸轮10456将被进一步偏置成与锁壁10459接合。在这种情况下，近侧负载P可只增大将第二锁凸轮10456保持就位的楔入力。实际上，第二锁凸轮10456可包括单向锁，该单向锁可抑制远侧关节运动驱动器10440的近侧运动，直到第二锁凸轮10456解锁，如上所述。当第二锁凸轮10456解锁并且远侧关节运动驱动器10440朝近侧运动时，第一锁凸轮10454可不抵抗或至少基本上不抵抗远侧关节运动驱动器10440的近侧运动。当远侧负载D从端部执行器传输至远侧关节运动驱动器10440时，如果关节运动锁10450处于其锁定状态，第一锁凸轮10454将被进一步偏置成与锁壁10453接合。在这种情况下，远侧负载D可只增大将第一锁凸轮10454保持就位的楔入力。实际上，第一锁凸轮10454可包括单向锁，该单向锁可抑制远侧关节运动驱动器10440的远侧运动，直到第一锁凸轮10454解锁，如上所述。当第一锁凸轮10454解锁并且远侧关节运动驱动器10440朝远侧运动时，第二锁凸轮10454可以不抵抗或至少基本上不抵抗远侧关节运动驱动器10440的远侧运动。
如上所讨论，外科器械可包括：用于处理捕获在外科器械的端部执行器内的组织的击发驱动装置，用于使端部执行器围绕关节运动接头进行关节运动的关节运动驱动装置，以及可用于将关节运动驱动装置与击发驱动装置选择性地接合的离合器组件。上文讨论了示例性离合器组件10070，而下文将讨论另一个示例性离合器组件，即离合器组件11070。在各种情况下，本文公开的外科器械可以利用任一离合器组件。
现在转向图131-149，外科器械可利用轴组件11010，该轴组件可包括端部执行器10020、关节运动接头10090，以及被构造成能够将端部执行器 10020可释放地保持就位的关节运动锁10050。读者将理解，为了便于图示，端部执行器10020的部分已在图131-133中移除；然而，端部执行器 10020可包括定位在其中的钉仓和/或可旋转地联接到支撑钉仓的通道的砧座。上文已经讨论了端部执行器10020、关节运动接头10090和关节运动锁 10050的操作，为简洁起见，本文不再重复。轴组件11010还可包括由例如外壳部分11002和11003组成的近侧外壳，该近侧外壳可将轴组件11010连接至外科器械的柄部。轴组件11010还可包括闭合管11015，该闭合管可用于闭合和/或打开端部执行器10020的砧座。现在主要参见图132-134，轴组件11010可包括脊11004，该脊被构造成能够可固定地支撑轴框架部分10012，该轴框架部分已在上文结合关节运动锁10050进行了讨论。脊11004 被构造成能够：一，可滑动地支撑其中的击发构件11060，二，可滑动地支撑围绕脊11004延伸的闭合管11015。脊11004还被构造成能够可滑动地支撑近侧关节运动驱动器11030。在各种情况下，脊11004可包括由框架部分 11001支撑的近侧端部11009，该框架部分被构造成能够允许脊11004围绕其纵向轴线旋转。
除上述之外，轴组件11010可包括离合器组件11070，该离合器组件被构造成能够将近侧关节运动驱动器11030选择性地和可释放地联接到击发构件11060。离合器组件11070可包括定位在击发构件11060周围的锁衬圈或套管11072，其中锁套管11072可在接合位置和脱离位置之间旋转，在该接合位置，锁套管11072将近侧关节运动驱动器11030联接到击发构件 11060，在该脱离位置，近侧关节运动驱动器11030未可操作地联接到击发构件11060。当锁套管11072处于其接合位置时(图135、136、138、139、 141和145-149)，除上述之外，击发构件11060的远侧运动可以使近侧关节运动驱动器11030朝远侧运动，并且相应地，击发构件11060的近侧运动可以使近侧关节运动驱动器11030朝近侧运动。当锁套管11072处于其脱离位置(图142-144)时，击发构件11060的运动不传输至近侧关节运动驱动器11030，并且因此，击发构件11060可以独立于近侧关节运动驱动器 11030运动。在各种情况下，当击发构件11060没有使近侧关节运动驱动器 11030在近侧或远侧方向上运动时，近侧关节运动驱动器11030可被关节运动锁11050保持就位。
主要参见图134，锁套管11072可包括圆柱形或至少基本上圆柱形的主体，该主体包括限定于其中的被构造成能够接收击发构件11060的纵向孔。锁套管11072可包括第一面向内的锁构件11073和第二面向外的锁构件 11078。第一锁构件11073被构造成能够与击发构件11060选择性地接合。更具体地，当锁套管11072处于其接合位置时，第一锁构件11073可定位在限定于击发构件11060中的驱动凹口11062内，使得远侧推力和/或近侧拉力可以从击发构件11060传输至锁套管11072。当锁套管11072处于其接合位置时，第二锁构件11078可定位在限定于近侧关节运动驱动器11035中的驱动凹口11035内，使得施加到锁套管11072的远侧推力和/或近侧拉力可以传输至近侧关节运动驱动器11030。实际上，当锁套管11072处于其接合位置时，击发构件11060、锁套管11072和近侧关节运动驱动器11030将一起运动。另一方面，当锁套管11072处于其接合位置时，第一锁构件11073可不定位在击发构件11060的驱动凹口11062内，因此，远侧推力和/或近侧拉力可以不从击发构件11060传输至锁套管11072。相应地，远侧推力和/或近侧拉力可以不传输至近侧关节运动驱动器11030。在这种情况下，击发构件 11060可以相对于锁套管11072和近侧关节运动驱动器11030朝近侧和/或朝远侧滑动。为了调整此类相对运动，在这种情况下，击发构件11060可包括限定于其中的纵向狭槽或沟槽11061，该纵向狭槽或沟槽被构造成能够当锁套管11072处于其脱离位置时接收锁套管11072的第一锁构件11073，并且调整击发构件11060相对于锁套管11072的纵向运动。在各种情况下，第二锁构件11078可与近侧关节运动驱动器11030中的驱动凹口11035保持接合，无论锁套管11072处于其接合位置还是其脱离位置。
除上述之外，离合器组件11070还可包括可旋转的锁致动器11074，其被构造成能够使锁套管11072在其接合位置和其脱离位置之间旋转。在各种情况下，锁致动器11074可包括可围绕锁套管11072的衬圈、延伸穿过衬圈的纵向孔，以及主要参见图135，与锁套管11072接合的向内延伸驱动元件 11077。再次参见图134，锁套管11072可包括限定在其中的纵向狭槽 11079，锁致动器11074的驱动元件11077可被接收在该纵向狭槽内。与上文相似，锁致动器11074可以在接合位置与脱离位置之间运动，在接合位置，锁致动器11074可以将锁套管11072定位在其接合位置，在脱离位置，锁致动器11074可以将锁套管11072定位在其脱离位置。为了使锁套管 11072在其接合位置与脱离位置之间运动，可将锁致动器11074围绕其纵向轴线旋转，使得从其延伸的驱动元件11077接合狭槽11079的侧壁，以赋予锁套管11072旋转力。在各种情况下，可约束锁致动器11074，使得其不与锁套管11072一起纵向运动。在这种情况下，锁致动器11074可以在轴脊 11004中限定的至少部分地周向窗口11089内旋转。为了调整当锁套管 11072处于其接合位置时锁套管11072的纵向运动，锁套管11072还可包括纵向开口11079，驱动元件11077可以在该纵向开口内推进。在各种情况下，纵向开口11079可包括中央凹口11076，该中央凹口可以与端部执行器 10020的未进行关节运动的位置对应。在这种情况下，中央凹口11076可以充当被构造成能够可释放地保持或指示例如端部执行器10020的中心取向的棘爪。
除上述之外，主要参见图134，锁致动器11074还可包括从其向外延伸的凸轮从动件11081，该凸轮从动件被构造成能够接收向其施加的力，以使锁套管11072如上所述旋转。在各种情况下，轴组件11010还可包括切换筒 11075，该切换筒被构造成能够向凸轮从动件11081施加旋转力。切换筒 11075可围绕锁致动器11074延伸，并且包括限定在其中的纵向狭槽 11083，凸轮从动件11081可以设置在该纵向狭槽内。当切换筒11075旋转时，狭槽11083的侧壁可以接触凸轮从动件11081并使锁致动器11074旋转，如上所概述。参见图137，切换筒11075还可包括限定在其中的至少部分地周向开口11085，该开口被构造成能够接收从包括外壳半部11002和 11003的外壳延伸的周向底座11007，并且允许切换筒11075和轴外壳之间的相对旋转而不是相对平移。再次参见图134，切换筒11075可用于使锁致动器11074和锁套管11072在其接合位置与脱离位置之间旋转。在各种情况下，轴组件11010还可包括偏置构件，诸如弹簧11080，该偏置构件被构造成能够在将锁致动器11074和锁套管11072偏置成其接合位置的方向上偏置切换筒11075。因此，本质上，弹簧11080和切换筒11075被构造成能够将关节运动驱动系统偏置成与击发驱动系统操作地接合。也如图134所示，切换筒11075可包括滑环组件11005的部分，所述部分被构造成能够将电力传导至端部执行器10020和/或从其传导电力，和/或将信号传送至端部执行器 10020和/或从其发送信号。滑环组件11005可包括位于其相对侧上的多个同心或至少基本上同心的导体11008，该导体被构造成能够允许滑环组件 11005的半块之间的相对旋转，同时仍保持两者间的导电通路。2013年3月 13日提交的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,067全文以引用方式并入本文。 2013年3月13日提交的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”的美国专利申请序列号13/800,025全文以引用方式并入本文。
除上述之外，在各种情况下，轴组件11010的闭合机构被构造成能够将离合器组件11070偏置到其脱离状态。例如，主要参见图134和144-147，如上所述，闭合管11015可以朝远侧推进以使端部执行器10020的砧座闭合，并且这样来使锁致动器11074以及相应地锁套管11072凸轮运动至其脱离位置。为此，闭合管11015可包括凸轮窗口11016，从锁致动器11074延伸的凸轮从动件11081可以穿过该凸轮窗口延伸。凸轮从动件11081可以穿过该凸轮窗口延伸。对比图144和149之后，读者将理解，当凸轮从动件 11081和锁致动器11074凸轮运动至其脱离位置时，凸轮从动件11081可使切换筒11075旋转，并使弹簧11080在切换筒11075和轴外壳之间压缩。只要闭合管11015保持在其推进闭合位置，关节运动驱动装置将从击发驱动装置断开。为了使关节运动驱动装置重新接合击发驱动装置，闭合管11015可被回缩至其未致动位置，这还可打开端部执行器10020，并且可因此将凸轮边缘11017朝近侧牵拉并允许弹簧11080将锁致动器11074和锁套管11072 重新偏置到其接合位置。
如其他地方更详细描述的，外科器械1010可包括若干可操作系统，其至少部分地延伸穿过轴1210并且与端部执行器1300可操作地接合。例如，外科器械1010可包括可使端部执行器1300在打开构型和闭合构型之间转变的闭合组件、可使端部执行器1300相对于轴1210进行关节运动的关节运动组件、和/或可固定和/或切割由端部执行器1300捕获的组织的击发组件。此外，外科器械1010可包括外壳，例如柄部1042，其能够可分离地联接到轴1210并且可包括完整的闭合、关节运动和/或击发驱动系统，当柄部1042联接到轴1210时，所述系统可分别可操作地联接到轴1210的闭合、关节运动和击发组件。
在使用中，外科器械1010的操作者可希望使外科器械1010复位并使外科器械1010的一个或多个组件返回默认位置。例如，操作者可将端部执行器1300通过入口插入患者体内的手术部位，并且可随后使端部执行器1300 进行关节运动和/或使端部执行器闭合以捕获腔内的组织。随后操作者可选择撤消之前的一些或全部动作，并且可选择从腔移除外科器械1010。外科器械1010可包括一个或多个系统，该一个或多个系统被构造成能够促进使上述一个或多个组件在操作者的最少输入下可靠地返回本位状态，从而允许操作者从腔移除外科器械。
参见图150，外科器械1010可包括关节运动控制系统3000。手术操作者可利用关节运动控制系统3000使端部执行器1300相对于轴1210在关节运动本位状态位置和关节运动位置之间进行关节运动。此外，手术操作者可利用关节运动控制系统3000使已进行关节运动的端部执行器1300复位或返回到关节运动本位状态位置。关节运动控制系统3000可被至少部分地定位在柄部1042中。此外，如图151中的示例性示意框图所示，关节运动控制系统3000可包括控制器，例如控制器3002，该控制器被构造成能够接收输入信号，并响应以启动马达，例如马达1102，使得端部执行器1300根据此类输入信号进行关节运动。合适的控制器的实例在本文的其他地方有所描述，包括但不限于微控制器7004(参见图185)。
除上述之外，端部执行器1300可在关节运动本位状态位置(本文也称为未进行关节运动的位置)被定位成与轴1210充分对齐，使得端部执行器 1300和轴1210的至少一部分可通过入口例如定位在患者内腔的壁中的套管针被插入患者内腔或从其回缩，而不损坏轴端口。在某些实施例中，当端部执行器1300处于关节运动本位状态位置时，端部执行器1300可与穿过轴 1210的纵向轴线“LL”对齐或至少基本上对齐，如图150所示。在至少一个实施例中，关节运动本位状态位置可以在纵向轴线的任一侧上与纵向轴线成最大至5°并且包括5°的任何角度。在另一个实施例中，关节运动本位状态位置可以在纵向轴线的任一侧上与纵向轴线成最大3°并且包括3°的任何角度。在又一个实施例中，关节运动本位状态位置可以在纵向轴线的任一侧上与纵向轴线成最大7°并且包括7°的任何角度。
关节运动控制系统3000可被操作以使端部执行器1300相对于轴1210 在与纵向轴线相交的平面沿第一方向例如顺时针方向和/或与第一方向相反的第二方向例如逆时针方向进行关节运动。在至少一个实例中，关节运动控制系统3000可被操作以使端部执行器1300沿顺时针方向从关节运动本位状态位置关节运动至例如在纵向轴线右侧与纵向轴线成10°角的关节运动位置。又如，关节运动控制系统3000可被操作以使端部执行器1300沿逆时针方向从与纵向轴线成10°角的关节运动位置关节运动至关节运动本位状态位置。再如，关节运动控制系统3000可被操作以使端部执行器1300相对于轴 1210沿逆时针方向从关节运动本位状态位置关节运动至在纵向轴线左侧与纵向轴线成10°角的关节运动位置。读者将理解，端部执行器可响应于操作者的命令沿顺时针方向和/或逆时针方向关节运动至不同的角度。
参见图150，外科器械1010的柄部1042可包括界面3001，该界面可包括可由操作者利用以部分地使端部执行器1300相对于轴1210进行关节运动的多个输入，如上所述。在某些实施例中，界面3001可包括多个开关，该多个开关可通过例如电路联接到控制器3002。在图151中示出的实施例中，界面3001包括三个开关3004A-C，其中开关3004A-C中的每个分别通过三条电路3006A-C中的一条联接到控制器3002。读者将理解，开关和电路的其他组合可与界面3001一起使用。
除上述之外，控制器3002可包括处理器3008和/或一个或多个存储器单元3010。通过执行存储器3010中存储的指令码，处理器3008可控制外科器械1的各种部件，诸如马达1102和/或用户显示器。控制器3002可使用集成和/或离散硬件元件、软件元件、和/或它们的组合来实现。集成硬件元件的实例可包括处理器、微处理器、微控制器、集成电路、专用集成电路 (ASIC)、可编程逻辑器件(PLD)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)、逻辑门、寄存器、半导体器件、芯片、微芯片、芯片组、微控制器、片上系统(SoC)和/或封装系统(SIP)。离散硬件元件的实例可包括电路和/ 或电路元件(例如逻辑门、场效应晶体管、双极型晶体管、电阻器、电容器、电感器、继电器等)。在其他实施例中，控制器3002可包括混合电路，其例如在一个或多个基底上包括离散和集成电路元件或部件。
再次参见图151，外科器械1010可包括与控制器3002可操作地通信的马达控制器3005。马达控制器3005被构造成能够控制马达1102的旋转方向。例如，马达1102可由电池，例如电池1104，并且马达控制器3002可被构造成能够根据来自控制器3002的输入确定电池1104向马达1102施加的电压极性，继而确定马达1102的旋转方向。例如，当电池1104施加到马达 1102的电压极性被马达控制器3005根据来自控制器3002的输入反向时，马达1102可将其旋转方向从顺时针方向反向成逆时针方向。合适的马达控制器的实例在本文的其他地方有所描述，包括但不限于驱动器7010(图 185)。
此外，如本文其他地方更详细描述的，马达1102能够可操作地联接到关节运动驱动装置，例如近侧关节运动驱动装置10030(图37)。在使用中，马达1102可以根椐马达1102旋转的方向将近侧关节运动驱动装置 10030朝远侧或朝近侧驱动。此外，近侧关节运动驱动装置10030能够可操作地联接到端部执行器1300，使得例如近侧关节运动驱动装置10030朝近侧的轴向平移可导致端部执行器1300沿例如逆时针方向进行关节运动，和/或近侧关节运动驱动装置10030朝远侧的轴向平移可导致端部执行器1300沿例如顺时针方向进行关节运动。
除上述之外，再次参见图151，界面3001被构造成能够使得开关 3004A可专用于端部执行器1300的顺时针关节运动，并且开关3004B可专用于端部执行器1300的逆时针关节运动。例如，操作者可通过以下方式使端部执行器1300沿顺时针方向进行关节运动：闭合可向控制器3002发送信号的开关3004A来使马达1102沿顺时针方向旋转，从而因此导致近侧关节运动驱动装置10030朝远侧推进并导致端部执行器1300沿顺时针方向进行关节运动。又如，操作者可通过以下方式使端部执行器1300沿逆时针方向进行关节运动：闭合可向控制器3002发送信号的开关3004B以使马达1102 沿例如逆时针方向旋转，并使近侧关节运动驱动装置10030朝近侧回缩，以使端部执行器1300沿逆时针方向进行关节运动。
除上述以外，开关3004A-C还可包括打开偏置的圆顶开关，如图154 所示。也可采用其他类型的开关，例如电容式开关。在图154中所示的实施例中，圆顶开关3004A和3004B由摇臂3012控制。在本公开的范围内还可以设想用于控制开关3004A和3004B的其他装置。在图154中所示的空档位置中，开关3004A和3004B两者被偏置在打开位置。操作者例如可通过朝前摆动摇臂从而按压圆顶开关3004A来使端部执行器1300沿顺时针方向进行关节运动，如图155中所示。因此，电路3006A可闭合，从而向控制器 3002发送信号以启动马达1102来使端部执行器1300沿顺时针方向进行关节运动，如上所述。马达1102可继续使端部执行器1300进行关节运动，直到操作者释放摇臂3012，从而允许圆顶开关3004A返回至打开位置并且允许摇臂3012返回至空档位置。在一些情况下，控制器3002能够识别端部执行器1300何时达到预定最大程度的关节运动，并且在此时中断到马达1102的功率，而不管是否按压圆顶开关3004A。在某种程度上，当达到最大程度的安全关节运动时，控制器3002可被构造成能够忽视操作者的输入并且停止马达1102。另选地，例如，操作者可通过朝后摆动摇臂从而按压圆顶开关 3004B来使端部执行器1300沿逆时针方向进行关节运动。结果，电路3006B可闭合，从而向控制器3002发送信号以启动马达1102来使端部执行器1300沿逆时针方向进行关节运动，如上所述。马达1102可继续使端部执行器1300进行关节运动，直到操作者释放摇臂3012，从而允许圆顶开关 3004B返回至打开位置并且允许摇臂3012返回至空档位置。在一些情况下，控制器3002能够识别端部执行器1300何时达到预定最大程度的关节运动，并且在此时中断到马达1102的功率，而不管是否按压圆顶开关 3004B。在某种程度上，当达到最大程度的安全关节运动时，控制器3002可被构造成能够忽视操作者的输入并且停止马达1102。
在某些实施例中，关节运动控制系统3000可包括虚拟棘爪，该虚拟棘爪在端部执行器到达其关节运动本位状态位置时可警示操作者。例如，操作者可摆动摇臂3012以使端部执行器1300从关节运动位置关节运动至关节运动本位状态位置。在到达关节运动本位状态位置后，控制器3002可停止端部执行器1300的关节运动。为了继续经过关节运动本位状态位置，操作者可释放摇臂3012，然后再次摆动摇臂以重新开始关节运动。另选地，机械棘爪还可用于为操作者提供端部执行器已到达关节运动本位状态位置的触觉反馈。可采用其他形式的反馈，例如声频反馈。
除上述之外，关节运动控制系统3000可包括复位输入，如果端部执行器1300处于关节运动位置，复位输入可使端部执行器1300复位或返回至关节运动本位状态位置。例如，如图160所示，在接收到复位输入信号后，控制器3002可确定端部执行器1300的关节运动位置，并且如果端部执行器 1300处于关节运动本位状态位置，控制器3002可不采取动作。然而，如果端部执行器1300在接收复位输入信号时处于关节运动位置，控制器可启动马达1102以使端部执行器1300返回至关节运动本位状态位置。如图156所示，操作者可朝下按压摇臂3012以同时或至少在短时间段内使圆顶开关 3004A和3004B彼此闭合，这可向控制器3002传输复位输入信号，以使端部执行器1300复位或返回至关节运动本位状态位置。操作者然后可释放摇臂3012，从而允许摇臂3012返回至空档位置并且允许开关3004A和3004B返回至打开位置。另选地，关节运动控制系统3000的界面3001可包括单独的复位开关，例如另一个圆顶开关，其可由操作者独立地闭合以向控制器 3002传输复位输入信号。
参见图157-159，在某些实施例中，外科器械1010的界面3001可包括界面摇臂3012A，该界面摇臂可包括被构造成能够协助摇臂3012A处于其空档位置的接触构件3013，如图157所示。接触构件3013可包括弓形表面3017，该弓形表面可通过偏置构件和/或通过由圆顶开关3004A和3004B施加到其上的偏置力而偏置抵靠界面外壳3011。当操作者如图158所示朝前或朝后摆动摇臂3012A以使端部执行器1300分别沿顺时针方向或逆时针方向进行关节运动时，接触构件3013可被构造成能够摇动或旋转。当释放摇臂 3012A时，摇臂3012A的弓形表面可旋转回到其空档位置，通过施加到其上的偏置力抵靠界面外壳3011。在各种情况下，当操作者如图159所示朝下按压摇臂3012A以同时或至少、在短时间段内朝彼此按压圆顶开关3004A和 3004B而可向控制器3002传输复位输入信号以使端部执行器1300复位或返回至如上讨论的关节运动本位状态位置时，接触构件3013可远离界面外壳 3011位移。
如上文所述，控制器3002可被构造成能够确定端部执行器1300的关节运动位置。端部执行器1300的关节运动位置的了解可允许控制器3002确定马达1102是否需要启动来使端部执行器1300返回至关节运动本位状态位置，并且如果需要启动，则确定使端部执行器1300返回至关节运动本位状态位置所需的马达1102的旋转方向和旋转量。在某些实施例中，控制器 3002可跟踪端部执行器1300的关节运动并将端部执行器1300的关节运动位置存储在例如存储器3010中。例如，当马达1102用于使端部执行器1300 进行关节运动时，控制器3002可跟踪马达1102的旋转方向、旋转速度和旋转时间。在一些情况下，控制器3002可被构造成能够在击发系统用于驱动关节运动系统时评估击发系统的位移。更具体地，当关节运动驱动装置联接到击发驱动装置时，控制器3002可监控击发驱动装置，以确定关节运动驱动器的位移。处理器3008可基于这些参数计算端部执行器1300的关节运动位置并将关节运动驱动装置的位移位置存储在例如存储器3010中。读者将认识到可跟踪其他参数并且处理器3010可采用其他算法来计算端部执行器 1300的关节运动位置，所有这些均可被本公开设想到。当端部执行器1300 进行关节运动时，端部执行器1300的存储的关节运动位置可连续地更新。另选地，例如当操作者在按压圆顶开关3004A或开关3004使端部执行器1300进行关节运动之后释放所述开关时，可在离散点处更新存储的关节运动位置。
在任何情况下，在接收到复位输入信号后，处理器3008可访问存储器 3010以恢复端部执行器1300的最后存储的关节运动位置。如果最后存储的关节运动位置不是关节运动本位状态位置，则处理器3008可基于最后存储的关节运动位置来计算使端部执行器1300返回至关节运动本位状态位置所需的马达1102的旋转方向和时间。在一些情况下，处理器3008可计算击发驱动装置需要被位移的距离和方向，以将关节运动驱动装置放置在其本位状态位置。在任何一种情况下，控制器3002可启动马达1102使之相应地旋转，以使端部执行器1300返回至关节运动本位状态位置。此外，处理器 3008还可更新存储的关节运动位置以指示关节运动本位状态位置。然而，如果最后存储的关节运动位置是关节运动本位状态位置，则控制器3002可不采取动作。在一些情况下，控制器3002可通过一些形式的反馈警示使用者端部执行器和关节运动系统处于其本位状态位置。例如，控制器3002可被构造成能够启动声和/或光信号以警示操作者端部执行器1300处于关节运动本位状态位置。
在某些实施例中，外科器械1010可包括被构造成能够检测端部执行器 1300的关节运动位置并将该位置传送至控制器3002的传感器。与上述类似，所检测的端部执行器1300的关节运动位置可存储在存储器3010中，并且可在端部执行器1300进行关节运动时连续更新或可在操作者释放圆顶开关3004A时或在按压该开关以使例如端部执行器1300进行关节运动之后进行更新。
在某些实施例中，可能期望在使端部执行器1300复位或返回至关节运动本位状态位置之前包括警告步骤以使操作者有机会纠正复位开关的错误启动。例如，控制器3002可被构造成能够通过启动警示操作者摇臂3012已按压的光信号和/或声信号来对复位输入信号到控制器3002的第一传输作出反应。此外，控制器3002还可被构造成能够通过启动马达1102以使端部执行器1300返回至关节运动本位状态位置来在距第一传输的预定时间段内对复位输入信号到控制器3002的第二传输作出反应。换句话讲，摇臂3012的第一朝下按压可产生对操作者的警告，并且在距第一朝下按压的预定时间段内的摇臂3012的第二朝下按压可使控制器3002启动马达1102以使端部执行器1300返回至关节运动本位状态位置。
除上述之外，界面3001可包括显示器，响应于摇臂3012的第一朝下按压，控制器3002可使用该显示器向操作者传送警告消息。例如，响应于摇臂3012的第一朝下按压，控制器3002可通过显示器提示操作者确认操作者希望使端部执行器1300返回至关节运动本位状态位置。如果操作者通过在预定时间段内第二次按压摇臂3012来响应，控制器3012可通过启动马达 1102以使端部执行器1300返回至关节运动本位状态位置来做出反应。
如本文其他地方更详细描述的，外科器械1010的端部执行器1300可包括第一钳口和第二钳口，该第一钳口包括砧座，例如砧座1310，该第二钳口具有被构造成能够接收钉仓(例如可包括多个钉的钉仓1304)的通道。此外，端部执行器1300可在打开构型与闭合构型之间转变。另外，外科器械1010可包括闭合锁并且柄部1042可包括用于闭合锁的释放构件，例如释放构件1072，其可由操作者按压以释放闭合锁，从而使端部执行器1300返回至打开构型。此外，控制器3002可联接到传感器3014，该传感器能够检测释放构件1272释放闭合锁。另外，外科器械1010可包括击发驱动装置，例如击发驱动装置1110，其能够可操作地联接到击发构件，例如击发构件 10060。控制器3002可联接到传感器3015，该传感器被构造成能够检测击发驱动装置1110的位置。击发驱动装置1110可轴向运动以将击发构件10060 从击发本位状态位置推进到击发位置，从而从钉仓1304部署钉和/或对在端部执行器1300处于闭合构型时捕获在砧座1310与钉仓1304之间的组织进行切割。
另外，如其他地方更详细描述的，外科器械1010的近侧关节运动驱动装置10030能够与击发驱动装置1110选择性地联接，使得当击发驱动装置1110 被马达1102驱动时，近侧关节运动驱动装置10030可被击发驱动装置1110 驱动并且近侧关节运动驱动装置10030可继而使端部执行器1300相对于轴 1210进行关节运动，如上文所述。另外，当端部执行器1300处于闭合构型时，击发驱动装置1110可与近侧关节运动驱动装置10030分离。该结构允许马达1102驱动击发驱动装置1110来使击发构件10060在击发本位状态位置与击发位置之间运动，而与近侧关节运动驱动装置10030无关。
除上述之外，如本文其他地方更详细描述的，外科器械1010可包括离合器系统10070(参见图37)，其可在端部执行器1300从打开构型转变为闭合构型时接合，并且在端部执行器1300从闭合构型转变为打开构型时脱离。在接合时，离合器系统10070可将击发驱动装置1110可操作地联接到近侧驱动构件10030，并且在离合器构件脱离时，击发驱动装置1110可与近侧关节运动驱动装置分离。由于击发驱动装置1110可独立地从近侧关节运动驱动装置10030分离和运动，控制器3002可被构造成能够引导击发驱动装置1110以定位近侧关节运动驱动装置10030并再次将近侧关节运动驱动装置10030重新联接到击发驱动装置1110。当击发驱动装置1110联接到近侧关节运动驱动装置10030时，控制器3002可跟踪马达1102的旋转方向、旋转速度和旋转时间，以确定近侧关节运动驱动装置10030的位置并将该位置存储在例如存储器3010中。控制器3002可如本文其他地方所述的那样监控用于驱动关节运动系统的击发系统的位移。可采用其他参数和算法以确定近侧关节运动驱动装置10030的位置。在某些实施例中，击发驱动装置1110 可包括传感器，该传感器被构造成能够检测击发驱动装置1110何时联接到近侧关节运动驱动装置10030并将此传送至控制器3002，以确认击发驱动装置1110与近侧关节运动驱动装置10030之间的联接接合。在某些实施例中，当控制器3002不被构造成能够存储和访问端部执行器1300的关节运动位置时，控制器可启动马达1102以驱动击发驱动装置1110沿着其全运动范围行进，直到击发驱动装置1110与近侧关节运动驱动装置10030联接布置。
除上述之外，在某些实施例中，击发构件10060的击发本位状态位置可位于端部执行器1300的近侧部分处。另选地，击发构件10060的击发本位状态位置可位于端部执行器1300的远侧部分处。在某些实施例中，击发本位状态位置可限定在如下位置处，在该位置，击发构件10060相对于端部执行器1300充分回缩，使得端部执行器1300可在打开构型与闭合构型之间自由运动。在其他情况下，击发构件10060的击发本位状态位置可被识别为将关节运动驱动系统和端部执行器定位在其关节运动本位状态位置的击发构件的位置。
再次参见图151，外科器械1010的界面3001可包括本位状态输入。操作者可采用本位状态输入来将本位状态输入信号传输至控制器3002以使外科器械1010返回至本位状态，这可包括使端部执行器1300返回至关节运动本位状态位置和/或使击发构件10060返回至击发本位状态位置。如图154所示，本位状态输入可包括开关，例如开关3004C，其可经由电路3006C联接到控制器3002。如图152和153所示，本位状态输入可包括帽或覆盖件，例如覆盖件3014，其可由操作者按压以闭合开关3004C并将本位状态输入信号通过电路3006C传输至控制器3002。
再次参见图161，控制器3002在接收到本位状态输入信号后可通过传感器3015检查击发驱动装置1110的位置，并且可检查存储器3010的最后更新的关节运动位置。如果控制器3002确定端部执行器1300处于关节运动本位状态位置并且击发驱动装置1110被定位成使得其联接到近侧关节运动驱动装置10030，则控制器3002可不采取动作。另选地，控制器3002可向操作者提供外科器械1010处于本位状态的反馈。例如，控制器3002可被构造成能够启动声信号和/或光信号或通过显示器传输消息以警示操作者外科器械1010处于本位状态。然而，如果控制器3002确定端部执行器1300不处于关节运动本位状态位置并且击发驱动装置1110被定位成使得其联接到近侧关节运动驱动装置10030，则控制器3002可启动马达1102以驱动击发驱动装置1110来使近侧关节运动驱动装置10030运动，这可继而使端部执行器1300相对于轴1210关节运动回到关节运动本位状态位置。然而，如果控制器3002确定端部执行器1300处于关节运动本位状态位置但击发驱动装置1110不被定位成使得其联接到近侧关节运动驱动装置10030，则控制器 3002可启动马达1102以将击发驱动装置1110运动至适当位置，在该位置，击发驱动装置1110联接到关节运动驱动装置10030。这样，马达1102可使击发构件10060回缩至击发本位状态位置。
在某些实施例中，参见图162，控制器3002在接收到本位状态输入信号后，可通过传感器3016检查端部执行器1300是否处于打开构型。可采用用于确定端部执行器1300是否处于打开构型的其他装置。如果控制器3002 确定端部执行器1300处于打开构型，则控制器3002可如上所述继续进行。然而，如果控制器3002在接收到本位状态输入信号后，确定端部执行器 1300处于闭合构型，则控制器3002可提示操作者确认操作者希望使外科器械1010返回至本位状态。该步骤可为预防步骤以防止操作者例如在外科手术期间意外打开端部执行器1300。在某些实施例中，控制器3002可通过如下方式提示操作者：在联接到控制器3002的显示器上显示消息，例如，要求操作者通过按压释放构件1072来使端部执行器1300返回至打开构型。如果操作者不将端部执行器1300释放到打开构型，则控制器3002可不采取动作。在其他实施例中，控制器3002可通过显示错消息或启动声或光来警示操作者。然而，如果操作者将端部执行器1300释放到打开构型，则控制器 3002可复位外科器械，如上所述。
参见图163，击发构件10060可包括单独的击发复位输入，其可包括开关和将开关联接到控制器3002的电路，其中开关可被构造成能够闭合电路并将击发复位输入信号传输至控制器3002。控制器3002在接收到击发复位输入信号后可检查击发构件10060是否处于击发本位状态位置。如其他地方更详细描述的，击发构件10060能够可操作地联接到击发驱动装置1110，该击发驱动装置可包括传感器，例如传感器3015(参见图151)，其可将击发驱动装置1110的位置传输至控制器3002。因此，控制器3002可通过监控击发驱动装置1110的位置来确定击发构件10060的位置。在任何情况下，如果控制器3002确定击发构件10060位于击发本位状态位置，则控制器可不采取动作或可通过启动声和/或光来警示操作者击发构件10060已处于击发本位状态位置。在这方面，如果控制器3002确定击发构件10060不处于击发本位状态位置，则控制器3002可启动马达1102以驱动击发驱动装置1110 来使击发构件10060返回至击发本位状态位置。
如其他地方更详细描述的，外科器械1010可包括若干组件，该若干组件至少部分地延伸穿过轴1210并且能够与端部执行器1300可操作地接合。例如，外科器械1010可包括可使端部执行器1300在打开构型和闭合构型之间转变的闭合组件、可使端部执行器1300相对于轴1210进行关节运动的关节运动组件、和/或可固定和/或切割由端部执行器1300捕获的组织的击发组件。此外，外科器械1010可包括外壳，例如柄部1042，其能够可分离地联接到轴1210并且可包括完整的闭合、关节运动和/或击发驱动系统，当柄部 1042联接到轴1210时，这些系统可分别可操作地联接到轴1210的闭合、关节运动和/或击发组件。
在使用中，上述组件及其对应驱动系统能够可操作地连接。试图在外科器械1010的操作期间将柄部1042与轴1210分离可以一定方式切断组件及其对应驱动系统之间的连接，所述方式可使这些组件及其对应驱动系统中的一者或多者不对齐。在另一方面，仅阻止使用者在操作过程中将柄部1042与轴 1210分离就可导致困惑、沮丧和/或错误认为外科器械未正确操作。
外科器械1010可包括安全释放系统3080，其可被构造成能够使外科器械1010的组件和/或对应驱动系统中的一者或多者返回至本位状态，从而允许操作者将柄部1042与轴1210安全地分离。本文所用的术语本位状态可指默认状态，在该默认状态下，外科器械1010的组件和/或对应驱动系统中的一者或多者可位于或可返回至其默认位置，例如它们在柄部1042与轴1210 联接之前的位置。
参见图150，外科器械1010的安全释放系统3080可包括锁定构件，例如锁定构件3082，其可在锁定构型与未锁定构型之间运动。如图164所示和如其他地方更详细描述的，轴1210可与外科器械1010的柄部1042对齐和联接。此外，锁定构件3082可从未锁定构型运动至锁定构型，以将轴1210 与柄部锁定成联接接合。锁定构件3082可定位在轴1210的近侧部分处，如图166所示，并且可包括闩锁构件3083，当锁定构件3082运动至锁定构型并且柄部1042联接到轴1210时，闩锁构件可推进到定位在柄部1042中的接收狭槽3085中。此外，当锁定构件3082运动至未锁定构型从而允许柄部 1042与轴1210分离时，闩锁构件3083可回缩出接收狭槽3085，如图167 所示。
参见图151，安全释放系统3080还可包括联锁开关3084，该联锁开关经由电路3086联接到控制器3002，该电路可被构造成能够将本位状态输入信号传输至控制器3002。此外，联锁开关3084能够可操作地联接到锁定构件3082。例如，当锁定构件运动至未锁定构型时，开关3086可运动以闭合电路3086，如图167所示，并且当锁定构件3082运动至锁定构型时，开关可运动至以使电路3086成开路开路，如图166所示。在该实例中，控制器 3002可被构造成能够将电路3086的闭合识别为本位状态输入信号的传输。另选地，又如，当锁定构件运动至未锁定构型时，开关3086可运动以使电路3086成开路，并且当锁定构件3082运动至锁定构型时，开关可运动以闭合电路3086。在该实例中，控制器3002可被构造成能够将电路3086的开路识别为本位状态输入信号的传输。
再次参见图166和图167，锁定构件3082可包括第一表面3090和第二表面3092，它们可通过滑道3094分开，其中锁定构件3082可相对于开关 3084定位成使得当柄部1042联接到轴1210时，第一表面3090和第二表面 3092可相对于开关3084可滑动地运动。另外，如图166所示，第一表面 3090可在第一平面中延伸并且第二表面3092可在第二平面中延伸，其中相比第二平面，开关3084可更靠近第一平面。另外，如图166所示，当锁定构件3082处于锁定构型并且闩锁构件3083被接收在接收狭槽3085内时，第一表面3090可按压开关3084，从而闭合电路3086(图151)并且将本位状态输入信号传输到控制器3002。然而，当锁定构件3082运动至未锁定构型并且闩锁构件3083从接收狭槽3085回缩时，开关3084可沿着滑道3094 滑动以面向第二表面3092，该第二表面可为偏置开关3084提供足够的空间以返回至打开位置，如图166所示。
在某些实施例中，如图151和165中所示，开关3084的第一端部3084a 可定位在柄部1042中，例如在其远侧部分处，并且开关3084的第二端部 3084b可定位在轴1210中，例如在其近侧部分处，并且能够与锁定构件 3082可操作地联接。在这些实施例中，开关3084可不闭合电路3086，直到柄部1042联接到轴1210以允许锁定构件3082使开关3084的第二端部3084b与第一端部3084a接触，从而闭合电路3086并将本位状态输入信号传输至控制器3002。在其他实施例中，开关3084的锁定构件3082、第一端部 3084a和第二端部3084b可放置在柄部1042中，以在联接柄部1042之前允许闭合电路3086并将本位状态输入信号传输至控制器3002，例如以在轴 1210联接到柄部1042时使击发驱动系统返回至其默认位置，从而确保与击发组件的正确对齐。
如本文其他地方更详细描述的，外科器械1010的端部执行器1300可包括第一钳口和第二钳口，该第一钳口包括砧座，例如砧座1310，该第二钳口包括被构造成能够接收钉仓(例如可包括多个钉的钉仓1304)的通道。此外，端部执行器1300可在打开构型与闭合构型之间转变。例如，外科器械1010可包括用于将端部执行器1300锁定在闭合构型中的闭合锁并且柄部 1042可包括闭合锁的释放构件，例如释放构件1072，其可由操作者按压以释放闭合锁，从而使端部执行器1300返回至打开构型。此外，控制器3002 可联接到传感器3014，该传感器被构造成能够检测释放构件1072释放闭合锁。另外，外科器械1010可包括击发驱动装置，例如击发驱动装置1110，其能够可操作地联接到击发构件，例如击发构件10060。控制器3002可联接到传感器3015，该传感器被构造成能够检测击发驱动装置1110的位置。此外，击发驱动装置1110可轴向推进，如图167A所示，以使击发构件10060 在未击发位置与击发位置之间推进，从而部署钉仓1304的钉和/或对在端部执行器1300处于闭合构型时捕获在砧座1310与钉仓1304之间的组织进行切割。另外，当锁定构件3082从闭合构型运动至打开构型时，马达1102可使击发驱动装置从推进位置例如图167A中所示的位置回缩至如图167B所示的默认或回缩位置。
除上述之外，如其他地方更详细描述的，外科器械1010的近侧关节运动驱动装置10030可与击发驱动装置1110选择性地联接，使得当击发驱动装置1110被马达5驱动时，近侧关节运动驱动装置10030可被击发驱动装置1110驱动并且近侧关节运动驱动装置10030可继而使端部执行器1300相对于轴1210在关节运动本位状态位置与关节运动位置之间进行关节运动，如上文所述。另外，例如当端部执行器1300处于闭合构型时，击发驱动装置1110可与近侧关节运动驱动装置10030分离。该结构允许马达1102驱动击发驱动装置1110以使击发构件10060在未击发位置与击发位置之间运动，而与近侧关节运动驱动装置10030无关。由于击发驱动装置1110可独立地从近侧关节运动驱动装置10030分离和运动，控制器3002可被构造成能够引导击发驱动装置1110以定位近侧关节运动驱动装置10030并与其重新连接。在某种程度上，控制器3002可记住其在何处离开近侧关节运动驱动装置10030。更具体地，控制器3002能够：其一，评估在近侧关节运动驱动装置10030与击发驱动装置1110分离时击发驱动装置1110的位置，以及其二，记住在指示控制器3002将击发驱动装置1110与近侧关节运动驱动装置10030重新连接时近侧关节运动驱动装置10030位于何处。在这种情况下，控制器3002可将击发驱动装置1110运动至适当位置，在该位置，离合器组件10070例如可将近侧关节运动驱动装置10030重新连接至击发驱动装置1110。当击发驱动装置1110联接到近侧关节运动驱动装置10030时，控制器3002可跟踪马达1102的旋转方向、旋转速度和旋转时间，以确定近侧关节运动驱动装置10030的位置并将该位置存储在例如存储器3010中。可采用其他参数和算法以确定近侧关节运动驱动装置10030的位置。在某些实施例中，击发驱动装置1110可包括传感器，该传感器被构造成能够检测击发驱动装置1110何时联接到近侧关节运动驱动装置10030并将此传送至控制器3002，以确认击发驱动装置1110与近侧关节运动驱动装置10030之间的联接接合。在某些实施例中，当控制器3002不被构造成能够存储和访问近侧关节运动驱动装置10030时，控制器可启动马达1102以驱动击发驱动装置1110沿着其全运动范围行进，直到击发驱动装置1110与近侧关节运动驱动装置10030联接布置。
现在参见图151和165，安全释放系统3080可通过如下方式对操作者将柄部1042与轴1210分离的尝试作出反应：例如操作者一将锁定构件3082 从锁定构型运动至未锁定构型，就使外科器械1010复位至本位状态。如上所述，开关3084能够可操作地联接到锁定构件3082，使得当锁定构件3082 从锁定构型运动至未锁定构型时，开关3084可运动以使电路3086成开路，从而将本位状态输入信号传输至控制器3002。另选地，开关3084从其锁定构型运动至其未锁定构型可允许电路3086闭合，从而将本位状态输入信号传输至控制器3002。
再次参见图168，控制器3002在接收到本位状态输入信号后可通过传感器3015检查击发驱动装置1110的位置，并且可检查存储器3010的最后更新的端部执行器的关节运动位置以及相应地近侧关节运动驱动装置10030 的最后位置。如果控制器3002确定端部执行器1300处于关节运动本位状态位置并且击发驱动装置1110被定位成使得其联接到近侧关节运动驱动装置 10030，则控制器3002可不采取动作并且使用者可从柄部移除轴组件。另选地，控制器3002可向操作者提供外科器械1010处于本位状态和/或可安全地将柄部1042与轴1210分离的反馈。例如，控制器3002可被构造成能够启动声和/或光信号和/或通过联接到控制器3002的显示器(未示出)传输消息以警示操作者外科器械1010处于本位状态和/或可安全地将柄部1042与轴 1210分离。然而，如果控制器3002确定端部执行器1300不处于关节运动本位状态位置并且击发驱动装置1110被定位成使得其联接到近侧关节运动驱动装置10030，则控制器3002可启动马达1102以驱动击发驱动装置1110来使近侧关节运动驱动装置10030运动，这可继而使端部执行器1300相对于轴1210关节运动回到关节运动本位状态位置。然而，如果控制器3002确定端部执行器1300处于关节运动本位状态位置但击发驱动装置1110不被定位成使得其联接到近侧关节运动驱动装置10030，则控制器3002可启动马达 1102以将击发驱动装置1110运动至适当位置，在该位置，击发驱动装置 1110能够联接到关节运动驱动装置9。这样，击发构件9可使击发构件 10060回缩至击发本位状态位置。如上所述，控制器3002可任选地向操作者提供外科器械1010处于本位状态以及可安全地将柄部1042与轴1210分离的反馈。
在某些实施例中，参见图169，控制器3002在接收到本位状态输入信号后可通过传感器3016检查端部执行器1300是否处于打开构型。可采用用于确定端部执行器1300处于打开构型的其他装置。如果控制器3002确定端部执行器1300处于打开构型，则控制器3002可继续进行以将外科器械1010 复位至本位状态。然而，如果控制器3002在接收到本位状态输入信号后确定端部执行器1300处于闭合构型，则控制器3002可提示操作者确认操作者希望将柄部1042与轴1210分离。该步骤可为预防步骤，以便例如在端部执行器1300正在使用并夹紧组织时，若操作者意外运动锁定构件3082从而将本位状态输入信号错误地传输至控制器3002，可防止外科器械1010复位。某些实施例中，控制器3002可通过如下方式提示操作者：在联接到控制器 3002的显示器上显示消息，例如，要求操作者通过按压释放构件1072使端部执行器1300返回至打开构型。除机械锁定构件3082之外，安全释放系统 3080还可包括可由控制器3002控制的电子锁(未示出)。电子锁可被构造成能够防止操作者分离柄部1042和轴1210，直到操作者按压释放构件 1072。如果操作者不将端部执行器1300释放成打开构型，则控制器3002可不采取动作。在其他实施例中，控制器3002可通过显示出错消息或启动声信号或光信号来警示操作者。另一方面，如果操作者将端部执行器1300释放到打开构型，则控制器3002可复位外科器械1010，如上所述。如果使用电子锁，则控制器3002可释放电子锁以允许操作者将柄部1042与轴1210 分离。此外，控制器3002可进而警示操作者已可安全地将柄部1042从轴 1210移除，如上文所述。
在某些实施例中，可能期望在响应于本位状态输入信号使外科器械 1010复位至本位状态之前包括警告步骤以使操作者有机会纠正锁定构件 3082的意外解锁。例如，控制器3002可被构造成能够通过如下方式对本位状态输入信号的第一传输作出反应：要求操作者例如通过显示器确认操作者希望复位外科器械1010。在某些实施例中，操作者可通过第二次锁定和解锁锁定构件3082来在距第一本位状态输入信号的预定时间段内将第二本位状态输入信号传输至控制器3002。控制器3002可被构造成能够通过使外科器械1010复位至本位状态来对本位状态输入信号的第二传输作出反应，如果在距第一传输的预定时间段内传输的话。
本文所述的外科器械的电动马达可执行多种功能。例如，多功能电动马达可在击发序列期间推进和回缩击发元件。为了执行多种功能，多功能电动马达可在不同操作状态之间切换。电动马达可例如在第一操作状态执行第一功能，并且可例如随后切换至第二操作状态以执行第二功能。在各种情况下，电动马达可在第一操作状态(例如，推进状态)期间朝远侧驱动击发元件，并且可在第二操作状态(例如，回缩状态)期间朝近侧回缩击发元件。在某些情况下，电动马达在第一操作状态期间可沿第一方向旋转并且在第二操作状态期间可沿第二方向旋转。例如，电动马达的顺时针旋转可朝远侧推进击发元件并且电动马达的逆时针旋转可朝近侧回缩击发元件。电动马达可在第一和第二操作状态期间平衡或基本上平衡，使得电动马达生成的背景触觉反馈或“噪音”最小化。虽然触觉反馈在第一和第二操作状态期间可最小化，但在某些情况下不可完全消除。事实上，在外科器械的正常操作期间操作者可预料到此类“噪音”，因此此类“噪音”可不构成指示外科器械的具体状况的反馈信号。
在各种情况下，多功能电动马达可在附加操作状态期间执行附加功能。例如，在第三操作状态(例如，反馈状态)期间，电动马达可生成放大的触觉或触感反馈以将外科器械的具体状况传送至其操作者。换句话讲，多功能电动马达可在击发序列，例如分别在第一操作状态和第二操作状态期间朝远侧和近侧驱动击发元件，并且还可如在第三操作状态期间生成放大的触觉反馈以与外科器械的操作者通信。在第三操作状态期间生成的放大的触觉反馈可大幅超过在第一和第二操作状态期间生成的背景触觉反馈或“噪音”。在各种实施例中，在第三操作状态期间生成的放大的触觉反馈可构成对操作者的反馈信号，该信号指示外科器械的具体状况。例如，当在击发元件上检测到预定的阈值力时，电动马达可生成放大的触觉反馈。在此类实施例中，放大的触觉反馈可构成对操作者的警告信号，例如潜在过载警告。在其他实施例中，放大的触觉反馈可将状态更新传送至操作者，例如击发元件已到达最远侧位置和/或成功完成击发行程的信号。在各种实施例中，电动马达可在第三操作状态期间在顺时针旋转与逆时针旋转之间振荡。如本文所述，安装到电动马达的共振器或放大器可随电动马达而振荡以优化或放大电动马达所生成的触觉反馈。虽然共振器可在第三操作状态期间放大触觉反馈，共振器可相对于其旋转轴线平衡，例如使得在第一和第二操作状态期间背景触觉反馈或“噪音”保持最低。
在各种情况下，多功能电动马达可在不同操作状态之间切换。例如，电动马达可从第一操作状态切换至第二操作状态，以将击发元件从端部执行器的远侧位置回缩。另外，电动马达可切换至第三操作状态，以将指示外科器械的具体状况的信号传送至操作者。例如，当检测到临床重要的状况，电动马达可从第一操作状态切换至第三操作状态，以将临床重要的状况传送至操作者。在某些实施例中，电动马达可生成放大的触觉反馈，以将临床重要的状况传送至操作者。当电动马达切换至第三操作状态时，可暂停击发元件的推进。在各种实施例中，在接收到放大的触觉反馈后，操作者可决定是否(A) 恢复第一操作状态或(B)启动第二操作状态。例如，当临床重要的状况为施加在击发元件上的较高力，其可指示潜在医疗器械过载，操作者可决定(A) 恢复朝远侧推进击发元件，或(B)注意到潜在过载警告并朝近侧回缩击发元件。如果即使存在器械过载的可能，操作者也决定恢复第一操作状态，那么器械可能有故障风险。在各种实施例中，不同电动马达可生成反馈，以将临床重要的状况传送至操作者。例如，第二电动马达可生成感觉反馈，例如噪音、光和/或触感信号，例如以将临床重要的状况传送至操作者。
现在参见图170，外科器械的电动马达5002(其他地方示出)可包括马达外壳5004和从马达外壳5004延伸的轴5006。虽然电动马达5002在本文作为一个实例描述，但其他电动马达，例如马达1102，可结合本文所公开的教导内容。轴5006可固定到定位在马达外壳5004内的转子(未示出)，并且轴5006可随着转子旋转而旋转。轴5006可例如在第一操作状态期间沿一个方向旋转，并且可例如在第二操作状态期间沿第二方向旋转。另外，电动马达5002沿一个方向的旋转可执行第一外科功能，并且电动马达5002沿另一个方向的旋转可执行第二外科功能。在各种实施例中，电动马达5002 和/或其轴5006能够可操作地联接到击发元件(其他地方示出)，并且可在击发序列期间驱动击发元件。例如，电动马达5002的顺时针旋转可朝远侧驱动击发元件，并且电动马达5002的逆时针旋转可朝近侧驱动击发元件。或者，电动马达5002的逆时针旋转可朝远侧驱动击发元件，并且电动马达 5002的顺时针旋转可朝近侧驱动击发元件。换句话讲，电动马达可在第一操作状态期间推进击发元件，并且可在第二操作状态期间回缩击发元件，或反之亦然。在其他实施例中，电动马达5002能够可操作地联接到关节运动机构(其他地方示出)，并且可使端部执行器相对于外科器械的柄部进行关节运动。例如，电动马达5002的顺时针旋转可使端部执行器沿第一方向进行关节运动，并且电动马达5002的逆时针旋转可使端部执行器沿第二方向进行关节运动。
在各种实施例中，共振器或放大器5020可安装在电动马达5002的轴 5006上。垫圈5008可例如相对于轴5006固定共振器5020。另外，共振器 5020可稳定地固定至轴5006，使得共振器5020随轴5006而旋转和/或运动。在各种实施例中，共振器5020和/或其各个部分可例如紧固至轴5006和 /或可与其一体成型。
现在参见图170-172，共振器5020可包括主体5022，该主体包括用于接收轴5006(图170)的安装镗孔5040(图171和172)。例如，当共振器 5020固定至轴5006时，轴5006可延伸穿过安装镗孔5040。安装镗孔5040 和轴5006可例如同轴。在各种实施例中，共振器5020的主体5022可相对于安装镗孔5040平衡和/或对称，并且主体5022的质心可例如沿着安装镗孔 5040的中心轴线定位。在此类实施例中，主体5022的质心可沿着轴5006的旋转轴线定位，并且主体5022可例如相对于轴5006平衡。
在各种情况下，共振器5020还可包括从主体5022延伸的钟摆5030。例如，钟摆5030可包括从主体5022延伸的弹簧或杆5032以及从弹簧5032 延伸的砝码5034。在某些情况下，共振器5020和/或其钟摆5030可被设计成具有优化的自然频率。如本文所述，优化的自然频率可放大电动马达 5002在顺时针和逆时针旋转之间振荡时例如在第三操作状态期间生成的触觉反馈。在各种情况下，共振器5020还可包括从主体5022延伸的平衡物 5024。主要参见图172，钟摆5030可在第一方向X上从主体5022延伸，并且平衡物5024可在第二方向Y上从主体5022延伸。第二方向Y可与第一方向X不同和/或相反。在各种实施例中，平衡物5024可被设计成通过主体 5022相对于安装镗孔5040(图171和172)平衡钟摆5030的质量。例如，平衡物5024的几何形状和材料可被选择成使得整个共振器5020的质心5028 (图172)沿着主体5022的安装镗孔5040的中心轴线并且因此沿着轴5006 和共振器5020的旋转轴线(图170)定位。
共振器5020的质心5028(CMR)可根据下列关系式确定：
其中mR为共振器5020的总质量，CMB为主体5022的质心，CMC为平衡物 5024的质心，CMS为弹簧5032的质心，CMW为砝码5034的质心，mB为主体5022的质量，mC为平衡物5024的质量，mS为弹簧5032的质量，并且mW为砝码5034的质量。在主体5022的质心沿着安装镗孔5040的中心轴线定位并且共振器5020包括均匀厚度和均匀密度的情况下，共振器5020可根据下列简化关系式相对于安装镗孔5040的中心轴线平衡：
AC·CMC＝AS·CMS+AW·CMW，
其中AC为平衡物5024的面积，AS为弹簧5032的面积，并且AW为砝码5034 的面积。
在各种情况下，当共振器5020的质心5028沿着安装孔5040的中心轴线并且因此沿着轴5006(图170)的旋转轴线中心定位时，共振器5020可相对于其旋转轴线平衡。在此类实施例中，因为平衡了共振器5020，背景触觉反馈可在第一和第二操作状态期间最小化。在各种情况下，共振器 5020可包括附加或更少的部件。共振器5020的各种部件可平衡成使得整个共振器5020的质心5028相对于共振器5020的旋转轴线平衡。另外，在一些实施例中，共振器5020的各种部件的材料和/或密度可不同于共振器5020 的各种其他部件。可选择各种部件的材料和/或密度，以相对于旋转轴线平衡共振器5020的质量和/或以优化共振器5020和/或其钟摆5030的自然频率，如本文所述。
仍然参见图170-172，钟摆5030的弹簧5032能够偏转和/或能够变形。例如，共振器5020的旋转可使钟摆5030的弹簧5032偏转。弹簧5032可在共振器5020的初始旋转时偏转，并且可在共振器5020继续沿同一方向以相同旋转速度旋转时保持偏转。因为在共振器5020沿一个方向持续的基本上恒定旋转期间弹簧5032的偏转保持至少基本上恒定，在第一和第二操作状态期间背景触觉反馈可保持最小化。当共振器5020的旋转方向改变时，弹簧5032可在不同方向上偏转。例如，弹簧5032可在共振器5020顺时针旋转时在第一方向上偏转，并且可在共振器5020逆时针旋转时在第二方向上偏转。第二方向可例如与第一方向相反。换句话讲，当电动马达5020在顺时针旋转与逆时针旋转之间振荡时，响应于旋转方向的变化，弹簧5032可反复在不同方向上偏转。弹簧5032在不同方向上的反复偏转，即偏转振荡，可生成放大的触觉反馈。例如，由振荡共振器5020(其由振荡马达 5002(图170)驱动)生成的触觉反馈可被充分放大，使得其为操作者提供指示外科器械的具体情况的信号。振荡共振器5020和马达5002生成的放大的触觉反馈可大幅大于在共振器5020和马达5002在相同方向上的持续旋转期间生成的背景触觉反馈。
在使用中，钟摆5030的旋转可对砝码5034生成离心力，并且钟摆 5030的弹簧5032可响应于离心力而伸长。在各种实施例中，共振器5020和 /或马达5002可包括用于限制弹簧5032的径向伸长的夹持器。此类夹持器可将钟摆5030保持在预定的径向边界5050内(图170)。在各种情况下，在第三操作状态期间施加于砝码5034上的离心力可不足以使钟摆5030伸长超过重新限定的径向边界5050。
在各种情况下，共振器5020可被设计成放大电动马达5002(图170) 在第三操作状态期间生成的触觉反馈。换句话讲，共振器5020可被设计成使得共振器5020的自然频率得以优化，并且电动马达5002可一频率下振荡，该频率使共振器5020在其优化的自然频率下振荡。在各种实施例中，共振器5020的优化的自然频率可与电动马达5002的振荡频率相关。共振器 5020的优化的自然频率可例如符合和/或与电动马达5002的振荡频率对应。在某些实施例中，共振器5020的优化的自然频率可例如与电动马达5002的振荡频率偏离。
在某些实施例中，共振器5020的自然频率可接近于钟摆5030的自然频率。例如，在自然频率近似值中可忽略基本上非振荡的部件。在某些实施例中，主体5022和平衡物5024可被认为是共振器5020的基本上非振荡的部件，从而被认为对共振器5020的自然频率具有可忽略的或无关紧要的作用。因此，共振器5020的振荡部件，例如钟摆5030，可被设计成放大电动马达5002(图170)在第三操作状态期间生成的触觉反馈。在弹簧5032的质量基本上小于砝码5034的质量的情况下，钟摆5030的自然频率(fP)可接近于下列关系式：
其中kS为弹簧5032的弹簧常数并且mW为砝码5034的质量。弹簧5032 的弹簧常数(kS)可根据下列关系式确定：
其中ES为弹簧5032的弹性模量，IS为弹簧5032的二次惯性矩，并且LS为弹簧5032的长度。在各种实施例中，可选择弹簧5032的弹簧常数(kS)和/或砝码5034的质量(mW)，使得钟摆5030的自然频率(fP)第三操作状态期间电动马达5002的振荡频率相关。例如，钟摆5030的自然频率可通过改变弹簧 5032的弹簧常数和/或砝码5034的质量来优化。
仍然参见图170-172，共振器5020和/或其钟摆5030的自然频率可优化为向操作者提供最佳触觉反馈的频率。例如，共振器5020的自然频率可优化为在大约50Hz与大约300Hz之间，以增强操作者体验到的反馈。在一些实施例中，共振器5020的自然频率可优化为例如小于大约50Hz的频率，并且在其他实施例中，共振器5020可优化为例如大于大约300Hz的频率。此外，电动马达5002(图170)可在一频率下振荡，该频率驱动共振器5020 在或接近其自然频率下振荡。在某些实施例中，电动马达5002可驱动共振器5020在包括共振器5020的自然频率在内的放大频率的范围内振荡。
在各种实施例中，电动马达5002的振荡频率可符合和/或与共振器5020 的自然频率对应，以在或接近其自然频率下驱动共振器5020。在某些实施例中，电动马达5002的振荡频率可接近或处于共振器5020的自然频率，并且在其他实施例中，电动马达5002的振荡频率可偏离共振器5020的自然频率。在各种实施例中，电动马达5002的振荡频率可优化为符合共振器5020 的自然频率。另外，在某些实施例中，电动马达5002的振荡频率和共振器5020的自然频率可协同选择、设计和/或优化，以放大电动马达5002在第三操作状态期间生成的触觉反馈。
主要参见图170，当在第三操作状态期间电动马达5002在顺时针方向与逆时针方向之间振荡时，电动马达5002可生成放大的触觉反馈。另外，电动马达5002在第一和第二操作状态期间的旋转可在击发行程期间驱动击发构件(其他地方示出)。例如，电动马达5002的顺时针旋转可朝远侧推进击发元件，并且电动马达5002的逆时针旋转可朝近侧回缩击发元件。因此，当电动马达5002在顺时针方向与逆时针方向之间振荡时，击发元件的远侧端部可在稍微更远侧位置与稍微更近侧位置之间运动。然而，电动马达 5002可明显减速，使得电动马达5002在第三操作状态期间的振荡将击发元件的远侧端部运动不明显和/或难以察觉的距离。在各种实施例中，齿轮齿数比可为例如大约200:1至大约800:1。在某些实施例中，击发元件在第三操作状态期间可保持静止。例如，马达5002与击发元件的远侧端部之间的松弛可吸收电动马达5002的振荡。例如，参见图102-104，此类松弛存在于击发构件10060与刀杆10066之间。在各种情况下，刀杆10066可包括延伸到限定在击发构件10060中的驱动狭槽10064中的驱动插片10065，其中驱动狭槽10064在其远侧端部10067与其近侧端部10069之间的长度可长于驱动插片10065。在使用中，击发构件10060的充分推进必须在远侧端部 10067或近侧端部10069接触驱动插片10065之前发生。
现在参见图173-176，电动马达5002(图173和174)可被定位在外科器械5100(图173)的柄部5101(图173)内。在各种实施例中，共振器或放大器5120可安装在电动马达5002的轴5006上。轴5006可固定到定位在马达外壳5004内的转子(未示出)，并且轴5006可随着转子旋转而旋转。垫圈5008可例如相对于轴5006固定共振器5120。另外，共振器5120可固定至轴5006，使得共振器5120随轴5006而旋转和/或运动。在一些情况下，可例如采用键以将轴5006的旋转运动传输至共振器5120。在各种情况下，共振器5120和/或其各个部分可例如紧固至轴5006和/或可与其一体成型。
主要参见图175和176，与共振器5020类似，共振器5120可包括主体 5122，该主体包括用于接收电动马达5002(图173和174)的轴5006(图 173和174)的安装镗孔5140。例如，当共振器5120固定至轴5006时，轴 5006可延伸穿过安装镗孔5140。在各种实施例中，共振器5120的主体5122 可相对于安装镗孔5140平衡和对称，并且主体5122的质心可例如沿着安装镗孔5140的中心轴线定位。另外，主体5122的质心可沿着共振器5120和轴 5006的旋转轴线定位，使得主体5122可例如相对于轴5006平衡。
在各种实施例中，共振器5120还可包括从主体5122延伸的钟摆 5130。例如，钟摆5130可包括从主体5122延伸的弹簧或杆5132以及从弹簧5132延伸的砝码5134。在某些实施例中，弹簧5132可沿着在主体5122 与砝码5134之间限定至少一条轮廓线的轴线延伸。弹簧5132可例如盘绕、弯曲、扭转、转动、交叉和/或交错。弹簧5132的几何形状可例如影响其弹簧常数。在至少一个实施例中，弹簧5132可在共振器5120的第一侧向侧上形成第一环5137并且在共振器5120的第二侧向侧上形成第二环5138。弹簧 5132的中间部分5139可例如横贯第一环5137与第二环5138之间。与弹簧 5032类似，弹簧5132能够偏转，并且可响应于共振器5120的旋转和/或振荡而偏转。另外，在某些实施例中，砝码5134可包括销5136，其可例如为砝码5134提供附加质量。如本文所述，砝码5134的质量以及弹簧5132的几何形状和性质可选择为例如优化钟摆5130的自然频率，从而优化整个共振器5120的自然频率。
仍然参见图175和176，共振器5120还可包括从主体5122延伸的平衡物5124。在某些实施例中，销5126可从平衡物5124延伸，并且可例如为平衡物5124提供附加质量。钟摆5130可在第一方向X上从主体5122延伸，并且平衡物5124可在第二方向Y上从主体5122延伸。第二方向Y可例如与第一方向X不同和/或相反。在各种实施例中，平衡物5124可被设计成通过主体5120相对于安装镗孔5140平衡钟摆5130的质量。例如，平衡物 5124的几何形状和材料可选择成使得共振器5120的质心5128沿着主体 5122的安装镗孔5140的中心轴线并且因此沿着共振器5120的旋转轴线A (图173)定位。
与共振器5020类似，共振器5120可被设计成放大由电动马达5002 (图173和174)在第三操作状态期间生成的触觉反馈。换句话讲，共振器 5120可被设计成使得共振器5120的自然频率得以优化，并且电动马达5002 可在一频率下振荡，该频率驱动共振器5120在其优化的自然频率下或附近振荡。例如，电动马达5002可驱动共振器5120在包括共振器5120的自然频率在内的放大频率的范围内振荡。在某些实施例中，共振器5120的自然频率可接近于钟摆5130的自然频率。在此类实施例中，钟摆5130可被设计成放大由电动马达5002在第三操作状态期间生成的触觉反馈。例如，钟摆 5130可被设计成具有优化的自然频率，并且电动马达5002可驱动共振器 5120在或接近钟摆5130的优化的自然频率下振荡，以放大在第三操作状态期间生成的触觉反馈。
现在参见图177-180，电动马达5002(图177和178)可被定位在外科器械5100(图177)的柄部5101(图177)内。在各种实施例中，共振器或放大器5220可安装在电动马达5002的轴5006(图170)上。轴5006可固定到定位在外壳5004内的转子(未示出)，并且轴5006可随着转子旋转而旋转。垫圈5008(图170)可例如相对于轴5006固定共振器5220。另外，共振器5220可固定至轴5006，使得共振器5220随轴5006而旋转和/或运动。在各种实施例中，共振器5220和/或其各个部分可例如紧固至轴5006和 /或可与其一体成型。
主要参见图179和180，与共振器5020,5120类似，共振器5220可包括主体5222，该主体包括用于接收电动马达5002(图176和177)的轴 5006(图176和177)的安装镗孔5240。例如，当共振器5220固定至轴 5006时，轴5006可延伸穿过安装镗孔5240。在各种实施例中，共振器5220 的主体5222可相对于安装镗孔5240平衡和对称，并且主体5222的质心可例如沿着安装镗孔5240的中心轴线定位。另外，主体5222的质心可沿着轴 5006的旋转轴线定位，使得主体5222可例如相对于轴5006平衡。
在各种实施例中，共振器5220还可包括从主体5222延伸的钟摆5230。例如，钟摆5230可包括从主体5222延伸的弹簧或杆5232以及从弹簧5232 延伸的砝码5234。在各种实施例中，弹簧5232可在主体5222与砝码5234 之间弯折、盘绕、弯曲、扭转、转动、交叉和/或交错。另外，在某些实施例中，砝码5234可包括销5236，其可例如为砝码5234提供附加质量。如本文所述，砝码5234的质量以及弹簧5232的几何形状和性质可选择为例如优化钟摆5230的自然频率，从而优化整个共振器5220的自然频率。
在各种实施例中，夹持器可限制或约束弹簧5232和/或钟摆5230在旋转和/或振荡期间的径向伸长。例如，夹持器可包括围绕钟摆5230的至少一部分的阻隔件或保持壁。在第一和第二操作状态期间，例如，弹簧5232可变形并使砝码5234朝阻隔件延伸，该阻隔件可防止弹簧5232的进一步伸长。例如，主要参见图179和180，共振器5220可包括夹持器5244。夹持器5244可包括第一腿部5246，其可固定至主体5222和/或共振器5220的平衡物5224。第一腿部5246可固定至共振器5220，并且可例如与其形成为一体件和/或紧固于其上。夹持器5244还可包括第二腿部或阻隔件腿部5248，其可在弹簧5232未变形时延伸经过钟摆5230的砝码5234。阻隔件腿部 5248可限定钟摆5230不能延伸超出的径向边界5050。换句话讲，阻隔件腿部5248可阻止钟摆5230的径向延伸。例如，当弹簧5232未变形时，阻隔件腿部5248可不与钟摆5230接触，因为钟摆5230可定位在径向边界5050 内。换句话讲，当弹簧5234未变形时，间隙5249(图180)可限定在砝码 5234和阻隔件腿部5248之间。另外，当共振器5220在第三操作状态期间振荡时，阻隔件腿部5248可保持不与钟摆5230接触。例如，第三操作状态期间振荡钟摆5230上的离心力可不足以将钟摆5230的砝码5234延伸超过马达5002的预定径向边界5050。虽然在第三操作状态期间间隙5249可减小，砝码5234可例如保持不与阻隔件腿部5248接触。在此类实施例中，在第三操作状态期间，钟摆5230的自然频率可基本上不受夹持器5244的影响。
在各种实施例中，当共振器5220在第一和第二操作状态期间旋转时，钟摆5230的弹簧5232可大幅变形和/或伸长。例如，共振器5220的旋转可对弹簧5232生成离心力，并且弹簧5232可响应于离心力而伸长。在某些实施例中，钟摆5230的砝码5234可移向且移入与夹持器5244的阻隔件腿部 5248邻接接触。在此类实施例中，阻隔件5248可限制或约束弹簧5232在第一和第二操作状态期间进一步径向伸长。
在各种实施例中，夹持器5244可基本上为刚性的，使得夹持器5244抵抗变形和/或伸长。在某些实施例中，夹持器5244可与共振器5220一体成型和/或相对于其固定。在一些实施例中，夹持器5244可固定至马达5002(图 177和178)。例如，夹持器5244可相对于马达5002的转子和/或轴5006 (图177和图178)固定并且可随其旋转和/或运动。在此类实施例中，夹持器5244可例如与共振器5220一起旋转。在各种实施例中，夹持器5244可例如紧固至马达5002和/或可与其一体成型。在某些实施例中，夹持器5244 可例如相对于旋转轴5008和/或共振器5220保持静止。
仍然参见图179和180，共振器5220还可包括从主体5222延伸的平衡物5224。在某些实施例中，销5226可从平衡物5224延伸，并且可例如为平衡物5224提供附加质量。钟摆5230可在第一方向上从主体5222延伸，并且平衡物5224可在第二方向上从主体5222延伸。第二方向可例如与钟摆5230 的第一方向不同和/或相反。在各种实施例中，平衡物5224可被设计成通过共振器5220的主体5220相对于安装镗孔5240平衡钟摆5230和夹持器5244 的质量。例如，平衡物5224的几何形状和材料可选择成使得共振器5220的质心5228沿着主体5222的安装镗孔5240的中心轴线并且因此沿着轴5008 (图177和178)和共振器5220的旋转轴线A(图177)定位。
与共振器5020,5120类似，共振器5220可被设计成放大电动马达5002 在第三操作状态期间生成的触觉反馈。换句话讲，共振器5220可被设计成使得共振器5220的自然频率得以优化，并且电动马达5002可在一频率下振荡，该频率驱动共振器5220在其优化的自然频率处或附近振荡。例如，电动马达5002可驱动共振器5220在包括共振器5220的自然频率在内的放大频率的范围内振荡。在某些实施例中，共振器5220的自然频率可接近于钟摆5230的自然频率。在此类实施例中，钟摆5230可被设计成放大电动马达 5002在第三操作状态期间生成的触觉反馈。例如，钟摆5230可被设计成具有优化的自然频率，并且电动马达5002可驱动共振器5220在或接近钟摆 5230的优化的自然频率下振荡以放大在第三操作状态期间生成的触觉反馈。
现在参见图181，电动马达5002可定位在外科器械5100的柄部5101 内。在各种实施例中，类似于共振器5220，共振器或放大器5320例如可安装在电动马达5002的轴5006(图170)上。共振器5320可包括主体5322，该主体包括例如安装镗孔5340，例如包括弹簧5332、砝码5334和销5336 的钟摆5330，以及例如包括销5326的平衡物5324。在各种实施例中，共振器5320的质心可沿着旋转轴线A设置，并且共振器5230的几何形状和材料可选择成优化其自然频率。
在各种实施例中，与夹持器5244类似，保持环5344可限制或约束弹簧 5332和/或钟摆5230在旋转和/或振荡期间的径向伸长。在各种实施例中，保持环5344可包括围绕钟摆5330的至少一部分的阻隔件或保持壁。在某些实施例中，保持环5344可例如包括环绕共振器5320的环。在各种实施例中，保持环5344可例如附接到电动马达5002，例如马达外壳5004。在其他实施例中，保持环5344可例如附接到外科器械5100的柄部5101。在其他实施例中，保持环5344可附接到电动马达5002的转子和/或轴5006(图 170)，使得保持环5344例如随轴5006和/或共振器5320旋转。在各种实施例中，保持环5344可基本上为刚性的，使得其抵抗变形和/或伸长。
保持环5344可限定钟摆5330不能延伸超出的径向边界。例如，当弹簧 5332未变形时，钟摆5330可不与保持环5344接触。换句话讲，当弹簧 5334未变形时，间隙可限定在钟摆5330的砝码5334与保持环5344之间。另外，当共振器5320在第三操作状态期间振荡时，钟摆5330可保持不与保持环5344接触。例如，第三操作状态期间振荡钟摆5330上的离心力可不足以将钟摆5330的砝码5334延伸超过预定径向边界。虽然在第三操作状态期间砝码5334与保持环5344之间限定的间隙可减小，砝码5334可例如保持不与保持环5344接触。在此类实施例中，在第三操作状态期间，钟摆5330 的自然频率可基本上不受保持环5344的影响。
在各种实施例中，当共振器5320在第一和第二操作状态期间旋转时，钟摆5330的弹簧5332可大幅变形和/或伸长。例如，共振器5320的旋转可对弹簧5332生成离心力，并且弹簧5332可响应于离心力而伸长。在某些实施例中，钟摆5330的砝码5334可移向且移入与保持环5344邻接接触。在此类实施例中，保持环5344可限制或约束弹簧5332在第一和第二操作状态期间进一步径向伸长。
在各种实施例中，外科器械5100(图177)可包括控制系统(未示出)，其可控制电动马达5002。在各种实施例中，控制系统可例如包括一个或多个计算机、处理器、微处理器、电路、电路元件(例如，晶体管、电阻器、电容器、电感器等等)、集成电路、专用集成电路(ASIC)、可编程逻辑器件(PLD)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)、逻辑门、寄存器、半导体器件、芯片、微芯片和/或芯片组。控制系统可启动、暂停、恢复和/或终止电动马达5002的各种操作状态。例如，电动马达5002 可在第一操作状态过程执行第一功能，例如朝远侧推进击发元件，并且可随后切换成第二操作状态以执行第二功能，例如朝近侧回缩击发元件。击发元件可例如朝远侧推进以横断预定长度的组织，和/或顶出和/或形成预定数量的钉(其他地方所示)。在各种实施例中，当已横断预定长度的组织和/或已顶出和/或形成预定数量的钉时，控制系统可控制电动马达5002切换至第二操作状态。击发元件可在第二操作状态期间朝近侧回缩，以例如准备随后的击发行程。在某些实施例中，电动马达5002可在击发元件完成预定横断长度和/或顶出和/或形成预定数量的钉之前切换至第三操作状态。例如，电动马达5002可过早地从第一操作状态切换至第三操作状态，以将指示外科器械的状况的信号传送至操作者。在各种实施例中，电动马达5002可切换至第三操作状态，以将潜在过载警告信号传送至操作者。在其他实施例中，放大的触觉反馈可将状态更新传送至操作者，例如击发元件已到达最远侧位置和/或成功完成击发行程的信号。
在各种实施例中，外科器械5100可被设计成克服最大阈值力以横断组织。当施加到击发元件的力超过最大阈值力时，外科器械5100可不按预期那样执行。例如，当击发元件试图横断更厚和/或更坚硬的组织时，更厚和/ 或更坚硬的组织可对击发元件施加超过最大阈值力的力。因此，击发元件可能无法横断更厚和/或更坚硬的组织。在此类实施例中，电动马达5002可切换至第三操作状态，以警告操作者可能存在外科器械5100过载和/或故障。在各种实施例中，外科器械5100可包括传感器(未示出)。传感器可定位在例如端部执行器(其他地方示出)中，并且可被构造成能够检测在击发序列期间施加到击发元件的力。在某些实施例中，传感器和控制系统可进行信号通信。在此类实施例中，当传感器所检测的力超过最大阈值力时，控制系统可将电动马达5002切换至第三操作状态。在第三操作状态中，如本文所述，击发元件的推进可暂停并且电动马达可生成放大的触觉反馈，以将潜在过载警告传送至操作者。
响应于放大的触觉反馈，操作者可决定是否要恢复第一操作状态或启动第二操作状态。例如，操作者可决定恢复击发元件朝远侧的推进，即，使外科器械以警告的操作状态操作，或注意到潜在过载警告而使击发元件朝近侧回缩，即，使外科器械以修改的操作状态操作。如果操作者决定以警告的操作状态操作外科器械，那么外科器械5100可能有故障风险。在各种实施例中，外科器械5100可例如包括输入键(未示出)，例如多个杠杆和/或按钮。在各种实施例中，输入键可与控制系统进行信号通信。操作者可经由输入键键入输入来控制外科器械。例如，操作者可选择输入键的第一按钮，以恢复击发元件的推进，即，键入警告的操作状态，或可选择输入键的第二按钮，以回缩击发元件，即，键入修改的操作状态。在各种实施例中，操作者可选择另外的按钮和/或杠杆，以选择又一种不同的操作状态。
虽然外科器械5100在以警告的操作状态操作时可能出现故障，但外科器械5100的操作者可判断外科功能的必要性和/或紧迫性超过了故障风险。例如，当时间至关重要时，操作者可判断迅速完成(或试图完成)外科横断和/或缝合的关键需要超过了器械故障的风险。另外，通过允许操作者确定动作过程，操作者的全面了解可应用于外科手术，并且操作者不太可能因外科器械5100而困惑和/或沮丧。
在各种实施例中，不同马达可生成反馈以与操作者通信。例如，第一马达可在击发序列期间驱动击发构件，并且第二马达可生成反馈。在各种实施例中，第二马达可生成感觉反馈，例如噪音、光和/或触感信号以与操作者通信。另外，在某些实施例中，控制系统可控制外科器械的多个马达。
主要参见图180，操作外科系统或外科器械的方法可包括外科器械的多种操作状态。例如，外科器械可首先以初始操作状态5402操作，并且可随后以第二操作状态5412或5414之一操作。第二操作状态可为例如警告的操作状态5412，或例如修改的操作状态5414。当外科器械以初始操作状态 5402操作时，可在步骤5404处启动初始外科功能。初始外科功能可为外科器械的各种功能中的一种或多种，例如将组织夹紧在端部执行器的钳口之间，使端部执行器进行关节运动，推进击发构件，回缩击发构件，打开端部执行器钳口，以及/或者重复和/或组合各种功能。在初始外科功能启动之后，外科器械可在步骤5406处检测外科器械的状况。例如，在初始外科功能正推进击发构件的情况下，传感器可检测临床重要的状况，例如推进的击发构件上的力超过了阈值力。
仍然参见图180，响应于所检测到的状况，外科器械可在步骤5408处暂停初始外科功能。另外，在步骤5410处，外科器械可向外科器械的操作者提供反馈。反馈可为感觉反馈，例如噪音、光和/或触感信号。在某些实施例中，第一马达可暂停初始外科功能并且第二马达可生成感觉反馈。另选地，如本文所述，多功能电动马达例如电动马达5002可从第一操作状态或推进状态切换至第三操作状态或反馈状态，其中电动马达振荡以生成放大的触觉反馈。当多功能电动马达振荡以生成放大的触觉反馈时，由于电动马达与击发构件之间的高齿轮齿数比，击发元件的推进和/或回缩可暂停和/或减小至不明显和/或难以察觉的量。在此类实施例中，在多功能马达从第一操作状态切换至第三操作状态的情况下，在步骤5408处暂停初始外科功能以及在步骤5410处向操作者提供反馈可例如同时或几乎同时发生。
在某些实施例中，在外科器械已将指示特定状况的反馈传送至操作者之后，操作者可确定如何继续。例如，操作者可在多种可能的操作状态之间做出决定。在各种实施例中，操作者可决定进入警告操作状态5412或者修改的操作状态5414。例如，仍参见图180，操作者可在步骤5416处选择初始外科功能，或可在步骤5418处选择修改的外科功能。在各种实施例中，操作者可与例如键、按钮和/或杠杆交接，以选择辅助操作状态中的一者。如果操作者在步骤5416处选择初始外科功能，则外科器械可在步骤5418处恢复初始外科功能。如果操作者在步骤5420处选择修改的外科功能，则外科器械可在步骤5422处启动修改的外科功能。
图183-192示出了用于旋转或线性驱动直线切割器上的绝对位置感测的设备、系统和方法的各种实施例。微控制器控制的直线切割器需要位置和速率值以能够适当地控制关节运动、击发和其他外科功能。这在过去一直通过使用附接到驱动马达的旋转编码器来实现，其使得微控制器能够通过对马达所采取的向后和向前的步骤数进行计数来推断位置。在各种情况下，优选的是用紧凑结构替代该系统，该紧凑结构针对驱动棒或刀的每个可能位置向微控制器提供独特位置信号。现在结合图183-192对旋转或线性驱动直线切割器的此类绝对位置传感器布置的各种示例性具体实施进行详述。
图183为根据一个实施例的图34的外科器械柄部1042的分解透视图，其示出了绝对定位系统7000的传感器布置7002的一部分。已结合图34对图34的外科器械柄部1042进行了详细描述。因此，为了本公开的简洁和清楚起见，除了描述与绝对定位系统7000的传感器布置7002相关联的元件之外，图34的外科器械柄部1042的此类详述将不在此重复。因此，如图183 所示，外壳1040的外科器械柄部1042可操作地支撑击发驱动系统1100，该击发驱动系统被构造成能够向可互换轴组件的对应部分施加击发运动。击发驱动系统1100可采用电动马达1102。在各种形式中，马达1102可例如为旋转最大值为大约25,000RPM的直流有刷驱动马达。在其他结构中，马达可包括无刷马达、无线马达、同步马达、步进马达或任何其他合适的电动马达。电池1104(或“电源”或“电源组”)，例如锂离子电池，可联接到柄部1042以向控制电路板组件1106并且最终向马达1102提供功率。电源组外壳1104可被构造成能够可释放地安装到柄部1042，以用于向外科器械 1010(图33)提供控制功率。可使用串联连接的多个电池作为电源来为马达供电。此外，电源可以是可更换的和/或可充电的。
如上面相对于其他各种形式所概述，电动马达1102可包括与齿轮减速器组件1108可操作地交接的可旋转轴(未示出)，该齿轮减速器组件与一组或一齿条的驱动齿状物1112啮合接合安装在能够纵向运动的驱动构件 1110上。在使用中，由电池提供的电压极性可在顺时针方向上操作电动马达 1102，其中由电池施加到电动马达上的电压极性可以是相反的，以在逆时针方向上操作电动马达1102。当沿一个方向旋转电动马达1102时，将沿远侧方向“D”轴向驱动驱动构件1110。当沿相反的旋转方向驱动马达1102 时，将沿近侧方向“P”轴向驱动驱动构件1110。柄部1042可包括开关，该开关可被构造成能够使电池施加到电动马达1102的极性反向。与本文所述的其他形式一样，柄部1042还可包括传感器，该传感器被构造成能够检测驱动构件1110的位置和/或驱动构件1110运动的方向。
图184为根据一个实施例的图183的柄部的侧正视图，其示出了绝对定位系统7000的传感器布置7002的一部分，其中柄部外壳的一部分被移除。柄部1042的外壳1040支撑控制电路板组件1106，该控制电路板组件包括执行绝对定位系统7000所需的必要逻辑和其他电路部件。
图185为根据一个实施例的绝对定位系统7000的示意图，该绝对定位系统包括微控制器7004控制的马达驱动电路结构，该结构包括传感器布置 7002。与绝对定位系统7000和/或传感器布置7002相关联的电动和电子电路元件由控制电路板组件1106支撑。微控制器7004通常包括可操作地联接的存储器7006和微处理器7008(“处理器”)。处理器7008控制马达驱动器 7010电路以控制马达1102的位置和速率。马达1102操作地联接到传感器布置7002和绝对位置传感器7012布置，以针对外科器械1010(图33)的驱动棒或刀的每个可能位置向微控制器7004提供独特位置信号。经由反馈元件7024向微控制器7004提供独特位置信号。应当理解，独特位置信号可为基于位置传感器7012和微控制器7004之间的界面的模拟信号或数字值。在下文所述的一个实施例中，位置传感器7012和微控制器7004之间的界面为标准串联外围界面(SPI)，并且独特位置信号为数字值，该数字值表示传感器元件7026经过一次转动的位置。可将表示传感器元件7026经过一次转动的绝对位置的值存储在存储器7006中。传感器元件7026的绝对位置反馈值与关节运动元件和刀元件的位置对应。因此，传感器元件7026的绝对位置反馈值提供对关节运动元件和刀元件的位置反馈控制。
电池1104或其他能量源为绝对定位系统7000提供能量源。此外，可提供其他传感器7018以测量与绝对定位系统7000相关联的其他参数。另外可提供一个或多个显示指示器7020，其可包括发声部件。
如图185所示，传感器布置7002提供与能够纵向运动的驱动构件1110 的位置对应的独特位置信号。电动马达1102可包括与齿轮组件7014可操作地交接的可旋转轴7016，该齿轮组件与一组或一齿条的驱动齿状物1112 (图183)啮合接合安装在能够纵向运动的驱动构件1110上。传感器元件 7026能够可操作地联接到齿轮组件7104，使得传感器元件7026的单次旋转与能够纵向运动的驱动构件1110的某个线性纵向平移对应，如下文更详细所述。在一个实施例中，齿轮传动装置和传感器的结构可经由齿条和小齿轮布置连接至线性致动器，或者经由直齿齿轮或其他连接连接至旋转致动器。对于包括旋转螺杆驱动构型的实施例而言，其中将需要较大数量的转动，可在驱动构件和传感器之间采用高减速齿轮传动装置布置，如蜗杆与蜗轮。
根据本公开的一个实施例，绝对定位系统7000的传感器布置7002提供更稳固的位置传感器7012以与外科装置一起使用。通过为每个可能的致动器位置提供独特位置信号或值，此类结构无需进行归零或校正步骤并且减少以下情况下消极设计影响的可能性，其中噪音或电源掉电状况可如常规旋转编码器构型中一样产生位置感测错误。
在一个实施例中，绝对定位系统7000的传感器布置7002替换通常附接到马达转子的常规旋转编码器并且将其替换为位置传感器7012，该位置传感器在与位置传感器7012相关联的传感器元件的单次旋转中针对每个可旋转位置生成独特位置信号。因此，与位置传感器7012相关联的传感器元件的单次转动等同于能够纵向运动的驱动构件1110的纵向线性位移d1。换句话讲，d1为联接到能够纵向运动的驱动构件1110的传感器元件的单次转动之后能够纵向运动的驱动构件1110从点a向点b运动的纵向线性距离。可经由齿轮减速连接传感器布置7002，这使得位置传感器7012针对能够纵向运动的驱动构件1110的全行程仅完成单次转动。利用合适的齿轮齿数比，能够纵向运动的驱动构件1110的全行程可用位置传感器7012的一次转动表示。
可单独或结合齿轮减速采用一系列开关7022a至7022n(其中n为大于一的整数)以针对位置传感器7012的不止一次转动提供独特位置信号。开关7022a-7022n的状态被馈送回微控制器7004，该微控制器应用逻辑以确定与能够纵向运动的驱动构件1110的纵向线性位移d1+d2+…dn对应的独特位置信号。
因此，绝对定位系统7000在器械加电时提供能够纵向运动的驱动构件 1110的绝对位置，并且不使能够纵向运动的驱动构件1110回缩或推进至如常规旋转编码器可需要的复位(清零或本位)位置，所述编码器仅对马达采取的向前或向后的步骤数进行计数以推断装置致动器、驱动棒、刀等等的位置。
在各种实施例中，传感器布置7002的位置传感器7012可包括例如一个或多个磁性传感器、模拟旋转传感器(如电位差计)、模拟霍尔效应元件阵列等，该霍尔效应元件输出位置信号或值的独特组合。
在各种实施例中，可对微控制器7004进行编程以执行各种功能，例如对刀和关节运动系统的速度和位置的精确控制。使用已知的物理特性，微控制器7004可被设计成模拟实际系统在控制器7004的软件中的响应。将所模拟响应与实际系统的(嘈杂离散)所测量响应进行比较，以获得“观察到的”响应，其用于实际反馈决定。观察到的响应为有利的调谐值，该值使所模拟响应的平滑连续性质与所测量响应均衡，其可感测对系统的外部影响。
在各种实施例中，绝对定位系统7000还可包括和/或被编程为执行下列功能。反馈控制器，其可为任何反馈控制器中的一者，包括但不限于： PID、状态反馈和自适应。电源将来自反馈控制器的信号转换为对系统的物理输入，在这种情况下为电压。其他实例包括但不限于脉宽调制(PWMed)电压、电流和力。马达1102可为有刷直流马达，其具有齿轮箱以及至关节运动或刀系统的机械链接。除了位置传感器7012所测量的位置之外，可提供其他传感器7018以测量物理系统的物理参数。由于其为数字信号(或连接至数字数据采集系统)，其输出将具有有限的分辨率和取样频率。可提供比较和合并电路以使用算法(诸如，在无限制的情况下，加权平均数和理论控制回路)将所模拟响应与所测量响应合并，其使得朝所测量响应驱动所模拟响应。物理系统的模拟将比如质量、惯性、粘性摩擦、电感电阻等性能考虑在内，以通过得知输入预测物理系统的状态和输出。
在一个实施例中，微控制器7004可为例如LM 4F230H5QR，其可得自 TexasInstruments。在一个实施例中，Texas Instruments LM4F230H5QR为 ARM Cortex-M4F处理器芯，其包括：256KB的单循环快闪式存储器或其他非易失性存储器(最多至40MHZ)的片上存储器7006、用以使性能改善超过40MHz的预取缓冲器、32KB的单循环串行随机访问存储器(SRAM)、装载有StellarisWare软件的内部只读存储器(ROM)、2KB电可擦编程只读存储器(EEPROM)、两个脉宽调制(PWM)模块，包括针对运动和能量应用的16 种先进PWM输出、两种正交编码器输入(QEI)模拟、具有12个模拟输入通道的两个12位模数转换器(ADC)，以及对于产品数据表而言易得的其他特征。可容易地取代其他微控制器以用于绝对定位系统7000中。因此，本公开不应限于这一上下文。
在一个实施例中，驱动器7010可为可得自Allegro Microsystems,Inc的 A3941。A3941驱动器7010为全桥控制器，其用于与针对电感负载特别设计的外部N通道功率金属氧化物半导体场效应晶体管(MOSFET)一起使用，例如有刷直流马达。驱动器7010包括独特的电荷泵调节器，其为低至7V的电池电压提供完整的(>10V)门极驱动并且允许A3941在低至5.5V的减速门极驱动下工作。可采用自举电容器提供N通道MOSFET所需的上述电池供电电压。高边驱动装置的内部电荷泵允许直流(100％占空比)操作。可使用二极管或同步整流在快衰减模式或慢衰减模式下驱动全桥。在慢衰减模式下，电流再循环可穿过高边或低边FET。通过电阻器可调式空载时间保护功率 FET不被击穿。整体诊断指示欠压、过热和功率桥故障，并且可被构造成能够在大多数短路情况下保护功率MOSFET。其他马达驱动器可容易地取代以用于绝对定位系统7000中。因此，本公开不应限于这一上下文。
描述总体架构以用于针对传感器布置7002执行绝对定位系统7000的各种实施例之后，本公开现在转向图186-192以获取绝对定位系统7000的传感器布置的一个实施例的描述。在图186中示出的实施例中，传感器布置 7002包括磁性位置传感器7100、双极性磁体7102传感器元件、能够纵向运动的驱动构件1110(图183-185)的每次全行程转动一次的磁体保持器 7104、和提供齿轮减速的齿轮组件7106。提供了结构元件(诸如托架 7116)以支撑齿轮组件7106、磁体保持器7104和磁体7102。磁性位置传感器7100包括一个或多个磁性感测元件(诸如，霍尔元件)并且被设置成邻近磁体7102。因此，当磁体7102旋转时，磁性位置传感器7100的磁性感测元件确定经过一次转动的磁体7102的绝对角位置。
在各种实施例中，可在绝对定位系统7000上采用任何数量的磁性感测元件，例如根据其测量整个磁场还是磁场的矢量分量归类的磁性传感器。用于产生上述两种类型磁性传感器的技术涵盖物理学和电子学的多个方面。用于磁场感测的技术包括探测线圈、磁通门、光泵、核旋、超导量子干涉仪 (SQUID)、霍尔效应、各向异性磁电阻、巨磁电阻、磁性隧道结、巨磁阻抗、磁致伸缩/压电复合材料、磁敏二极管、磁敏晶体管、光纤、磁光，以及基于微机电系统的磁传感器等。
在示出的实施例中，齿轮组件7106包括第一齿轮7108和第二齿轮 7110，其啮合接合以提供3:1齿轮齿数比连接。第三齿轮7112围绕轴7114 旋转。第三齿轮与能够纵向运动的驱动构件1110啮合接合，并且当能够纵向运动的驱动构件1110沿远侧方向D(图183)推进时，第三齿轮沿第一方向旋转，并且当能够纵向运动的驱动构件1110沿近侧方向P(图183)回缩时，第三齿轮沿第二方向旋转。第二齿轮7110围绕相同轴7114旋转，因此第二齿轮7110围绕轴7114的旋转与能够纵向运动的驱动构件1110的纵向平移对应。从而，能够纵向运动的驱动构件1110沿远侧方向D或近侧方向P的一个全行程与第二齿轮7110的三次旋转和第一齿轮7108的单次旋转对应。由于磁体保持器7104联接到第一齿轮7108，磁体保持器7104随着能够纵向运动的驱动构件1110的每个全行程进行一次完整旋转。
图187为根据一个实施例的绝对定位系统7000的传感器布置7002的分解透视图，其示出了控制电路板组件1106和传感器布置7002的元件的相对对齐方式。位置传感器7100(本视图中未示出)由位置传感器保持器7118 支撑并且与下面的旋转磁体7102精确对齐，所述夹持器限定适于包含位置传感器7100的孔7120。夹具7120联接到托架7116以及控制电路板组件 1106，并且在磁体7102随磁体保持器7104旋转时保持静止。提供了一种轮毂7122以与第一齿轮7108/磁体保持器7104组件配合。
图188-190提供根据一个实施例的传感器布置7002的另外视图。具体地讲，图188示出了定位在可操作模式的整个传感器布置7002。位置传感器保持器7118位于控制电路板组件1106下方并且包封磁体保持器7104和磁体7102。图189示出了磁体7102，其位于在位置传感器保持器7118中限定的孔7120的下方。为了清楚起见，未示出位置传感器7100和控制电路板组件1106。图190示出了传感器布置7002，其中移除了控制电路板组件 1106、位置传感器保持器7118、位置传感器7100和磁体7102，以示出接收磁体7102的孔7124。
图191为根据一个实施例的传感器布置7002的俯视图，该结构示为控制电路板1106被移除但电子元件仍可见以示出位置传感器7100和电路元件 7126之间的相对位置。在结合图186-191示出的实施例中，由第一齿轮 7108和第二齿轮7110构成的齿轮组件7106具有3:1齿轮齿数比，使得第二齿轮7110的三次旋转提供第一齿轮7108并且因此提供磁体保持器7104的单次旋转。如此前所述，在磁体保持器7104/磁体7102组件旋转时，位置传感器7100保持静止。
如上所述，可利用齿轮组件来驱动磁体保持器7104和磁体7102。由于可以可靠地预测齿轮组件中的一个齿轮和齿轮组件中的另一个齿轮之间的相对旋转，因此齿轮组件可用于各种情况。在各种其他情况下，只要可以可靠地预测马达的输出和磁体7102的旋转之间的关系，就可利用任何合适的驱动装置来驱动保持器7104和磁体7102。此类装置可包括例如轮组件，该组件包括至少两个接触轮，例如塑性轮和/或弹性轮，其可在两者间传输运动。此类装置还可包括例如轮和皮带组件。
图192为根据一个实施例的绝对定位系统7000的位置传感器7100的一个实施例的示意图，所述绝对定位系统包括磁性旋转绝对定位系统。在一个实施例中，位置传感器7100可作为AS5055EQFT单片磁性旋转位置传感器实施行，其可得自austriamicrosystems,AG。位置传感器7100与微控制器 7004交接，以提供绝对定位系统7000。位置传感器7100为低电压和低功率部件，并且包括位于磁体7104(图186、187)上的位置传感器7100的区域 7130中的四个集成的霍尔效应元件7128A,7128B,7128C,7128D。在芯片上也提供了高分辨率ADC7132和智能型电源管理控制器7138。提供了 CORDIC处理器7136(针对坐标旋转数字计算机(COordinate Rotation DIgital Computer))，也称为逐位法和Volder算法，以执行简单有效的算法来计算双曲线函数和三角函数，其仅需要加法、减法、位位移和表格查找操作。经由标准SPI界面7134将角位置、报警位和磁场信息传输至宿主处理器、微控制器7004。位置传感器7100提供12或14位分辨率。在图191中示出的实施例中，位置传感器7100为在小型QFN 16-销4×4×0.85mm包装件中提供的AS5055芯片。
霍尔效应元件7128A,7128B,7128C,7128D位于旋转磁体正上方。霍尔效应为熟知效应，为了本公开简洁和清楚起见，在本文中将不进行详述。一般来讲，霍尔效应为电导体范围内的电压差值(霍尔电压)的产生，所述电导体横向于导体中的电流和垂直于电流的磁场。霍尔效应由Edwin Hall发现于1879年。霍尔系数被限定为感应电场与电流密度和所施加磁场的乘积的比率。其为从中制备导体的材料的特性，因为其值取决于构成电流的电荷载体的类型、数量和性能。在AS5055位置传感器7100中，霍尔效应元件7128A, 7128B,7128C,7128D能够产生电压信号，其指示根据磁体7104经过单次旋转之后的角度的磁体7104(图186、187)的绝对位置。由CORDIC处理器 7136计算角度的这个值(其为独特位置信号)，并且将其以机载方式存储在寄存器或存储器中的AS5055位置传感器7100上。在多种技术中，如在加电时或在宿主处理器7004发出请求时，向宿主处理器7004提供角度的值，其指示经过一次转动的磁体7104的位置。
AS5055位置传感器7100在连接至宿主微控制器7004时仅需要几个外部部件就可操作。需要六根线，以进行单一应用，使用单个电力供应：两根线用于电力，并且四根线用于具有宿主微控制器7004的SPI系列通信界面 7134。可加入第七连接，以便向宿主微控制器7004发送中断以通知可读取新的有效角度。
在加电时，AS5055位置传感器7100执行完全加电序列，包括一个角度测量。在输出销7142处将这一循环的完成指示为INT请求并且将角度值存储在内部寄存器中。一旦设定了这一输出，AS5055位置传感器7100就暂停为休眠模式。外部微控制器7004可通过经由SPI界面7134读取来自 AS5055位置传感器7100的角度值来响应7142处的INT请求。一旦微控制器7004读取了角度值，就再次清除INT输出7142。由微控制器7004通过 SPI界面7134向位置传感器7100发送“读取角度”指令也自动使芯片加电并且启动另一个角度测量。微控制器7004一完成角度值的读取，就清除 INT输出7142并且将新的结果存储在角度寄存器中。通过设定INT输出 7142和状态寄存器中的对应标志再次指示角度测量的完成。
由于AS5055位置传感器7100的测量原理，每个加电序列之后，在非常短的时间(～600μs)内仅执行单次角度测量。一个角度的测量一完成， AS5055位置传感器7100就暂停为掉电状态。未执行根据数字平均化的角度值的片上过滤，因为这将需要不止一个角度测量并且因此需要更长加电时间，这在低功率应用中是不期望的。可通过在外部微控制器7004中对数个角度样品进行平均来减少角度抖动。例如，4种样品的平均使抖动减少6dB(50％)。
如上所述，可利用定位在外科器械系统1000的柄部1042内的马达 1102使例如轴组件1200(包括击发构件1272和1280)的击发系统相对于轴组件1200的端部执行器1300推进和/或回缩，以便缝合和/或切割捕获在端部执行器1300内的组织。在各种情况下，可能期望使击发构件1272和1280 以所需速度或在所需速度范围内推进。同样，可能期望使击发构件1272和 1280以所需速度或在所需速度范围内回缩。在各种情况下，例如柄部1042 的微控制器7004和/或任何其他合适的控制器可被构造成能够控制击发构件 1272和1280的速度。在一些情况下，控制器可被构造成能够基于例如向马达1102提供的电力的各种参数(诸如电压和/或电流)和/或马达1102的其他操作参数来预测击发构件1272和1280的速度。控制器也可被构造成能够基于向马达1102提供的电流和/或电压的先前值和/或系统的先前状态(如速度、加速度和/或位置)来预测击发构件1272和1280的当前速度。此外，控制器也可被构造成能够利用例如上述的绝对定位传感器系统来感测击发构件 1272和1280的速度。在各种情况下，控制器可被构造成能够对击发构件 1272和1280的预测速度与击发构件1272和1280的感测速度进行比较，以确定是否应当增加马达1102的功率以便增加击发构件1272和1280的速度和/或减小功率以便减小击发构件1272和1280的速度。美国专利申请序列号 12/235,782，名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”，现在为美国专利8,210,411，全文以引用方式并入。美国专利申请序列号11/343,803，名称为“SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES”，全文以引用方式并入。
使用本文所公开的器械的物理特性，现在转向图198和199，例如控制器(诸如微控制器7004)可被设计成模拟器械的实际系统在控制器的软件中的响应。将所模拟响应与实际系统的(嘈杂离散)所测量响应进行比较，以获得“观察到的”响应，其用于实际反馈决定。观察到的响应为有利的调谐值，该值使所模拟响应的平滑连续性质与所测量响应均衡，其可感测对系统的外部影响。参见图198和199，可按照或接近目标速率(或速度)运动轴组件1200的端部执行器1300中的击发元件，或切割元件。可利用图198 和199中所公开的系统来以目标速率运动切割元件。系统可包括反馈控制器 4200，其可为任何反馈控制器中的一者，包括但不限于例如PID、状态反馈、LQR和/或自适应控制器。系统还可包括电源。电源可将来自反馈控制器4200的信号转换为例如系统的物理输入，在这种情况下为电压。其他实例包括但不限于例如脉宽调制(PWM)电压、频率调制电压、电流、扭矩和/ 或力。
继续参见图198和199，其中提到的物理系统为器械的被构造成能够驱动击发构件或切割构件的实际驱动系统。一个实例为有刷直流马达，其具有齿轮箱以及至关节运动和/或刀系统的机械链接。另一个实例为本文所公开的马达1102，其操作例如可互换轴组件的击发构件10060和关节运动驱动装置10030。图198和199中提到的外部影响4201例如为事物(如组织、周围物体和摩擦)对物理系统的未测量的、不可预测的影响。此类外部影响可称为阻力并且可例如由马达4202表示，该马达与马达1102行为相反。在各种情况下，外部影响(诸如阻力)为物理系统的模拟偏离实际物理系统的主要原因。图198和199中示出的以及下文进一步所述的系统可解决击发构件或切割构件的预测行为与击发构件或切割构件的实际行为之间的差异。
继续参见图198和199，其中提到的离散传感器对实际物理系统的物理参数进行测量。此类离散传感器的一个实施例可包括本文所述的绝对定位传感器7102和系统。由于此类离散传感器的输出可为数字信号(或连接至数字数据采集系统)，其输出可具有有限的分辨率和取样频率。可向例如微控制器提供离散传感器的输出，诸如微控制器7004。在各种情况下，微控制器可将所模拟或所估计响应与所测量响应合并。在某些情况下，可能有用的是使用足够所测量响应以确保将外部影响考虑在内，而不使观察到的响应无用地嘈杂。执行该操作的算法的实例包括加权平均数和/或理论控制回路，其例如朝所测量响应驱动所模拟响应。最终，除上述之外，物理系统的模拟将例如质量、惰性、粘性摩擦和/或电感电阻之类的特性考虑在内，以通过得知输入预测物理系统的状态和输出。图199示出了另外的对操作实际系统所提供的电流进行评估和测量，其为又一个参数，可对该参数进行评估以用于控制例如轴组件1200的切割构件或击发构件的速度。在某些情况下，除了测量电压之外或代替测量电压，通过测量电流，可使物理系统更精确。尽管如此，本文所公开的想法可延伸为其他物理系统的其他状态参数的测量。
对绝对定位系统7000的各种实施例进行描述以确定与关节运动和击发相关联的元件的独特绝对位置对应的传感器元件的绝对位置信号/值之后，本公开现在转向对若干技术的描述，以用于在位置反馈系统中利用绝对位置 /值来控制关节运动和刀的位置，以补偿加电的进行关节运动外科器械1010 (图33)中的刀带展开。绝对定位系统7000针对沿着钉仓长度的驱动棒或刀的每个可能位置向微控制器提供独特位置信号/值。
已结合图37对关节运动接头1350的操作进行了描述，为了本公开简洁和清楚起见，在这一部分中将不进行详细重复。已结合图102对关节运动接头10090的操作进行了描述，为了本公开简洁和清楚起见，在这一部分中将不进行详细重复。图193示出了根据一个实施例的处于竖直位置的关节运动接头8000，即相对于示为纵向轴线L-A的纵向成零度角θ0。图195示出了根据一个实施例的图193的关节运动接头8000，其以限定在纵向轴线L-A和关节运动轴线A-A之间的第一角度θ1沿一个方向进行关节运动。图195 示出了根据一个实施例的图194的关节运动接头8000，其以限定在纵向轴线 L-A和关节运动轴线A’-A之间的第二角度θ2沿另一个方向进行关节运动。
根据本公开的外科器械利用多个柔性刀带8002将压缩力传递至端部执行器1300(图37)的仓(未示出)中的刀元件。柔性刀带8002使得端部执行器1300(图33)能够通过各种角度θ进行关节运动。然而，进行关节运动的行为导致柔性刀带8002展开。柔性刀带8002的展开改变沿纵向的有效横断长度Tl。从而，当使柔性刀带8002进行关节运动经过角度θ＝0时，难以确定刀经过关节运动接头8000的精确位置。如此前所述，当关节运动角度为零度θ0(如图194所示)时，可直接使用来自绝对定位系统7000的绝对位置反馈信号/值确定关节运动和刀元件的位置。然而，当柔性刀带8002 从纵向轴线L-A偏离零度角θ0时，如果不知道关节运动角度θ，则无法基于由绝对定位系统7000向微控制器7004提供的绝对位置信号/值精确确定仓内的刀的绝对位置。
在一个实施例中，可基于外科器械的击发驱动器相当精确地确定关节运动角度θ。如上所概述，击发构件10060的运动可由绝对定位系统7000跟踪，其中当关节运动驱动器通过例如离合器系统10070可操作地联接到击发构件10060时，绝对定位系统7000可实际上通过击发构件10060跟踪关节运动系统的运动。作为跟踪关节运动系统的运动的结果，外科器械的控制器可跟踪端部执行器(例如，端部执行器10020)的关节运动角度θ在各种情况下，作为结果，可根据柔性刀带8002的纵向位移DL来确定关节运动角度θ。由于可基于绝对定位系统7000所提供的绝对位置信号/值精确确定柔性刀带8002的纵向位移DL，可采用算法以补偿刀随关节运动接头8000进行位移期间的错误。
在另一个实施例中，可通过在关节运动接头8000远侧D的柔性刀带 8002上定位传感器来确定关节运动角度θ。传感器可被构造成能够感测进行关节运动的柔性刀带8002中的张力或压缩量。向微控制器7004提供所测量的张力或压缩结果以基于在刀带8002中所测量的张力或压缩量来计算关节运动角度θ。合适的传感器，诸如微电子机械系统(MEMS)装置和应变仪可容易地适于进行此类测量。其他技术包括在关节运动接头8000中定位倾角传感器、倾斜仪、加速计或用于测量角度的任何合适装置以测量关节运动角度θ。
在各种实施例中，用于补偿加电的可关节运动外科器械1010(图33) 中的柔性刀带8002的展开的若干技术在加电的外科器械1010的背景下的下文中进行描述，所述加电的外科器械1010包括绝对定位系统7000和具有诸如存储器7006的数据存储能力的微控制器7004。
图196示出了补偿柔性刀带8002的展开对横断长度Tl的作用的方法的逻辑图8100的一个实施例。将结合图185和192-196对方法进行描述。因此，在补偿柔性刀带8002的展开对横断长度Tl的作用的方法8100的一个实施例中，端部执行器1300(图37)或端部执行器10020(图102)的关节运动角度θ与例如关节运动接头8000远侧的有效横断长度Tl之间的关系被开始表征并且表征数据存储在外科器械1010(图33)的存储器7006中。在一个实施例中，存储器7006为非易失性存储器，诸如闪存存储器、 EEPROM等等。微控制器7004的处理器7008部分对存储在存储器7006中的表征数据进行访问8102。在外科器械1010的使用期间处理器7008跟踪 8104端部执行器1300的关节运动角度。处理器7008通过外科器械1010调节8106目标横断长度Tl，其基于已知的关节运动角度θM以及表示关节运动角度θS与横断长度Tl之间的关系的存储表征数据。
在各种实施例中，对于外科器械1010(图33)的轴，表示端部执行器 1300(图37)的关节运动角度θ和有效横断长度Tl之间的关系的表征数据可在制造期间完成。在一个实施例中，表征8102过程的输出为在存储器 7006中实施的查找表。因此，在一个实施例中，处理器7008对在存储器 7006中实施的查找表的表征数据进行访问。在一个方面，查找表包括阵列，该阵列用更简单的阵列索引操作取代运行时间计算。在处理时间方面的节约可能很明显，因为处理器7008从存储器7006检索值一般要比经历“昂贵”计算或输入/输出操作快。查找表可预先计算并且存储在静态程序存储中，作为程序初始化阶段(记忆)的一部分计算(或“预取”)，或甚至存储在应用程序特定平台中的硬件中。在本专利申请中，查找表存储表征端部执行器1300(图37)的关节运动角度与有效横断长度之间关系的值。查找表将这些输出值存储在阵列中并且在一些编程语言中可包括指针函数(或至标签的偏移量)来处理匹配输入。从而，对于限定位移DL的每个独特值而言，存在对应的关节运动角度θ。使用关节运动角度θ计算例如关节运动接头 8000、关节运动接头1350或关节运动接头10090远侧的对应横断长度Tl位移。对应的横断长度Tl位移存储在查找表中，微控制器7004使用该位移确定经过关节运动接头的刀的位置。在本公开的范围内可想到其他查找表技术。
在一个实施例中，表征8102过程的输出为最佳曲线拟合公式，线性或非线性。因此，在一个实施例中，处理器7008可操作以执行计算机可读指令，从而基于表征数据执行最佳曲线拟合公式。曲线拟合为构造曲线(或与一系列数据点具有最佳拟合的数学函数)的过程，可能受到限制。曲线拟合可涉及任一内推法，其中需要对数据精确拟合。在本发明中，该曲线表示基于关节运动角度θ的进行关节运动的关节运动接头8000(图37)远侧D的柔性刀带8002的横断长度Tl位移，这取决于关节运动接头1350近侧P的柔性刀带8002的线性位移DL。可对数据点(例如邻近关节运动接头1350的柔性刀带8002的线性位移DL、进行关节运动的关节运动接头1350远侧的柔性刀带8002的位移Tl以及关节运动角度θ)进行测量并且用来生成nth次多项式形式的最佳拟合曲线(3rd次多项式将提供适合所测量数据的合适曲线)。可对微控制器7004进行编程以执行nth次多项式。在使用中，输入nth次多项式为衍生自绝对定位系统7000提供的独特绝对位置信号/值的柔性刀带8002的线性位移。
在一个实施例中，表征8102过程对关节运动角度θ和刀带8002上的压缩力作出了说明。
在一个实施例中，有效横断长度为刀片的最远侧表面对外科器械1010 的柄部中的预定基准之间的距离。
在各种实施例中，用于存储表征的存储器7006可为位于外科器械1010 (图33)的轴、柄部、或两者上的非易失性存储器。
在各种实施例中，关节运动角度θ可由位于外科器械1010(图33)的轴上的传感器跟踪。在其他实施例中，关节运动角度θ可由外科器械1010 的柄部上的传感器跟踪或关节运动角度θ可由外科器械1010的控制软件内的变量跟踪。
在一个实施例中，微控制器7004的控制软件利用表征，其与非易失性存储器7006连通以访问表征。
本文所述的各种实施例在钉的上下文中有所描述，所述钉可移除地存储在钉仓内以与外科缝合器械一起使用。在一些情况下，钉可包括线，所述线在其接触外科缝合器的砧座时变形。此类线可例如由金属构成，例如不锈钢，和/或任何其他合适的材料。此类实施例以及其教导内容可应用于包括紧固件的实施例中，所述紧固件可移除地与紧固件仓一起存储以与任何合适的紧固器械一起使用。
本文所述的各种实施例在线性端部执行器和/或线性紧固件仓的上下文中有所描述。此类实施例以及其教导内容可应用于非线性端部执行器和/或非线性紧固件仓，例如，圆形和/或波状外形端部执行器。例如，各种端部执行器，包括非线性端部执行器，在提交于2011年2月28日的名称为“SURGICAL STAPLING INSTRUMENT”的美国专利申请13/036,647(现在为美国专利申请2011/0226837)中有所公开，该专利申请据此全文引入以供参考。另外，提交于2012年9月29日的名称为“STAPLE CARTRIDGE”的美国专利申请12/893,461(现在为美国专利申请公开 2012/0074198)据此全文引入以供参考。提交于2008年2月15日的名称为“END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT”的美国专利申请序列号12/031,873(现在为美国专利 7,980,443)也据此全文引入以供参考。公布于2013年3月12日的名称为“SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE”的美国专利8,393,514也据此全文引入以供参考。
实例
用于处理组织的外科器械可包括具有触发器的柄部、从柄部延伸的轴、端部执行器和关节运动接头，其中端部执行器通过关节运动接头可旋转地联接到轴。外科器械还可包括与触发器可操作地联接的击发构件，其中触发器的操作被构造成能够朝端部执行器推进击发构件，以及与端部执行器可操作地联接的关节运动构件。关节运动构件能够与击发构件选择性地接合，使得在接合构型中关节运动构件与击发构件可操作地接合，并且使得在脱离构型中关节运动构件可操作地脱离击发构件，其中当关节运动构件和击发构件处于接合构型时，击发构件被构造成能够朝端部执行器推进关节运动构件以使端部执行器围绕关节运动接头旋转。外科器械还可包括偏置构件，例如弹簧，其可被构造成能够在端部执行器进行关节运动之后，使端部执行器重新居中并且使端部执行器沿纵向轴线与轴重新对齐。
用于处理组织的外科器械可包括电动马达、轴、端部执行器和关节运动接头，其中端部执行器通过关节运动接头可旋转地联接到轴。外科器械还可包括能够与电动马达可操作地接合的击发驱动装置，其中击发驱动装置被构造成能够通过电动马达朝端部执行器推进以及远离端部执行器回缩。外科器械还可包括可操作地联接端部执行器的关节运动驱动装置，其中关节运动驱动装置被构造成能够在关节运动驱动装置朝远侧朝端部执行器推动时使端部执行器沿第一方向旋转，其中关节运动驱动装置被构造成能够在关节运动驱动装置朝近侧远离端部执行器牵拉时使端部执行器沿第二方向旋转，其中击发驱动装置可选择性地接合关节运动驱动装置并且被构造成能够执行下述动作中的至少一个：在击发驱动装置可操作地接合关节运动驱动装置时，朝远侧朝端部执行器推动关节运动驱动装置以及远离端部执行器牵拉关节运动驱动装置，并且其中击发驱动装置可在击发驱动装置可操作地脱离关节运动驱动装置时独立于关节运动驱动装置进行操作。
用于处理组织的外科器械可包括轴、可旋转联接到轴的端部执行器和被构造成能够相对于端部执行器运动的击发构件。外科器械还可包括与端部执行器可操作地联接的关节运动构件，其中关节运动构件能够与击发构件选择性地接合，使得在接合构型中关节运动构件与击发构件可操作地接合，并且使得在脱离构型中关节运动构件可操作地脱离击发构件，并且其中击发构件被构造成能够使关节运动构件相对于端部执行器运动，以在关节运动构件和击发构件处于接合构型时旋转端部执行器。外科器械还可包括端部执行器锁，该锁被构造成能够处于锁定构型和解锁构型，其中当端部执行器锁处于解锁构型时，端部执行器锁被构造成能够使关节运动构件与击发构件可操作地接合。
可包括至少一个驱动系统的外科器械，该驱动系统被构造成能够生成控制运动并且限定致动轴线。外科器械还可包括至少一个可互换轴组件，该组件被构造成能够沿基本上横向于致动轴线的方向可移除地联接到至少一个驱动系统，并且将控制动作从至少一个驱动系统传输至可操作地联接到可互换轴组件的外科端部执行器。此外，外科器械还可包括闭锁组件，该闭锁组件与至少一个驱动系统交接以用于防止驱动系统的致动，除非所述至少一个可互换轴组件已可操作地联接到所述至少一个驱动系统。
包括轴组件的外科器械，该轴组件包括端部执行器。端部执行器可包括外科钉仓和相对于外科钉仓被可动地支撑的砧座。轴组件还可包括可动闭合轴组件，该可动闭合轴组件被构造成能够向砧座施加打开运动和闭合运动。轴附接框架能够在其上可操作地支撑可动闭合轴组件的一部分。外科器械还可包括框架构件，该框架构件被构造成能够可移除地与轴附接框架可操作地接合，以及闭合驱动系统，该闭合驱动系统由框架构件可操作地支撑并且限定致动轴线。当轴附接框架与框架构件可操作地接合时，闭合驱动系统可被构造成能够沿基本横向于致动轴线的方向与闭合轴组件可操作地接合。闭锁组件可与闭合驱动系统交接以用于防止闭合驱动系统的致动，除非闭合轴组件与闭合驱动系统可操作地接合。
可包括框架的外科系统，所述框架可操作地支撑至少一个驱动系统以用于在致动控制致动器时生成控制运动。驱动系统中的至少一者限定致动轴线。外科系统还可包括多个可互换轴组件，其中每个可互换轴组件可包括轴附接框架，该轴附接框架能够沿着基本横向于致动轴线的方向以可释放方式可操作地接合所述框架的一部分。第一轴组件可由轴附接框架可操作地支撑并且被构造成能够沿着基本横向于致动轴线的方向与所述至少一个驱动系统中的对应驱动系统可操作地接合。闭锁组件可机械地接合所述至少一个驱动系统的对应驱动系统的一部分并且与控制致动器配合以防止控制致动器的致动，直至轴附接框架与框架部分可操作地接合并且第一轴组件与所述至少一个驱动系统中的所述一个驱动系统可操作地接合。
可互换轴组件可与外科器械一起使用。在至少一种形式中，外科器械包括框架，该框架可操作地支撑多个驱动系统并且限定致动轴线。在一种形式中，轴组件包括第一轴线，该第一轴线被构造成能够向可操作地联接到其上的外科端部执行器施加第一致动运动，其中第一轴线的近侧端部能够沿着基本横向于致动轴线的方向以可释放方式可操作地联接到由框架支撑的驱动系统中的第一者。
可互换轴组件可与外科器械一起使用。在至少一种形式中，外科器械可包括框架，其限定致动轴线并且可操作地支撑多个驱动系统。轴组件的各种形式可包括轴框架，其具有附接到其近侧端部的轴附接模块并且被构造成能够沿着基本横向于致动轴线的方向可释放地联接到框架的一部分。轴组件还可包括端部执行器，其可操作地联接到轴框架的远侧端部。在至少一种形式中，端部执行器包括外科钉仓以及相对于外科钉仓可动地支撑的砧座。轴组件还可包括外部轴组件，其包括被构造成能够向砧座施加控制运动的远侧端部。外部轴组件可包括近侧端部，该近侧端部被构造成能够沿着基本横向于致动轴线的方向以可释放方式可操作地联接到由框架支撑的驱动系统中的第一者。轴组件还可包括击发轴组件，其包括远侧切割部分，所述部分被构造成能够在端部执行器内的起始位置和结束位置之间运动。击发轴组件可包括近侧端部，该近侧端部被构造成能够沿着基本横向于致动轴线的方向以可释放方式可操作地联接到由框架支撑的击发驱动系统。
外科系统可包括支撑多个驱动系统并且限定致动轴线的框架。系统还可包括多个可互换轴组件。每个可互换轴组件可包括细长轴，该细长轴被构造成能够向可操作地联接到其上的外科端部执行器施加第一致动运动，其中细长轴的近侧端部被构造成能够沿着基本横向于致动轴线的方向以可释放方式可操作地联接到由框架支撑的驱动系统中的第一者。每个可互换轴组件还可包括控制轴组件，该控制轴组件可操作地支撑在细长轴内并且被构造成能够向端部执行器施加控制运动，并且其中控制轴组件的近侧端部被构造成能够沿着基本横向于致动轴线的方向以可释放方式可操作地联接到由框架支撑的驱动系统中的第二者，并且其中外科端部执行器中的至少一者不同于外科端部执行器中的另一者。
本领域的普通技术人员将会理解，本文所公开的各种外科器械结构包括多种机制和结构，以用于对可互换轴组件与外科器械对应部分进行有效对齐以及有效锁定和解锁，无论该外科器械为手持式器械还是机器人式控制器械。例如，可能期望器械能够在器械制备期间的错误时刻或在外科手术中使用时防止驱动系统中的一者或多者(包括全部)进行关节运动。
与外科器械一起使用的外壳，其包括轴和端部执行器，其中外科器械包括被构造成能够使端部执行器相对于轴运动的关节运动组件。外壳包括由外壳可操作地支撑的马达、被构造成能够将至少一个关节运动动作传输至关节运动组件以使端部执行器在关节运动本位状态位置和关节运动位置之间运动的关节运动驱动器、与马达连通的控制器、被构造成能够将第一输入信号传输至控制器的第一输入(其中控制器被构造成能够响应于第一输入信号启动马达以生成所述至少一个关节运动动作以使端部执行器移至关节运动的位置)以及被构造成能够将复位输入信号传输至控制器的复位输入(其中控制器被构造成能够响应于复位输入信号启动马达以生成至少一个复位动作以使端部执行器移至关节运动本位状态位置)。
外科器械包括轴、从轴朝远侧延伸的端部执行器，其中端部执行器可相对于轴在关节运动本位状态位置和关节运动位置之间运动。端部执行器包括钉仓，其包括多个钉和被构造成能够击发多个钉的击发构件，其中击发构件可在击发本位状态位置和击发位置之间运动。此外，外科器械包括从轴朝近侧延伸的外壳。外壳包括由外壳可操作地支撑的马达、与马达连通的控制器以及被构造成能够将本位状态输入信号传输至控制器的本位状态输入，其中控制器被构造成能够响应于本位状态输入信号启动马达以使端部执行器返回到关节运动本位状态位置以及使击发构件返回到击发本位状态位置。
外科器械包括端部执行器、从端部执行器朝近侧延伸的轴、关节运动组件，所述关节运动组件能够使端部执行器相对于轴在未进行关节运动的位置、未进行关节运动位置的第一侧面上的第一关节运动位置以及未进行关节运动位置的第二侧面上的第二关节运动位置之间运动，其中第一侧面与第二侧面相对。此外，外科器械还包括马达、与马达连通的控制器、被构造成能够将第一输入信号传输至控制器的第一输入(其中控制器被构造成能够启动马达以使端部执行器响应于第一输入信号移至第一关节运动位置)、被构造成能够将第二输入信号传输至控制器的第二输入(其中控制器被构造成能够启动马达以使端部执行器响应于第二输入信号移至第二关节运动位置)以及被构造成能够将复位输入信号传输至控制器的复位输入(其中控制器被构造成能够启动马达以使端部执行器响应于复位输入信号移至未进行关节运动的位置)。
外科器械包括端部执行器、从端部执行器朝近侧延伸的轴、被构造成能够击发多个钉的击发组件、被构造成能够相对于轴致动端部执行器的关节运动组件、可在锁定构型和未锁定构型之间运动的锁定构件以及从轴朝近侧延伸的外壳，其中当锁定构件处于未锁定构型时外壳可移除地联接到轴。外壳包括被构造成能够驱动击发组件和关节运动组件中至少一者的马达以及与马达连通的控制器，其中控制器被构造成能够启动马达以在锁定构件在锁定构型和未锁定构型之间运动时使击发组件和关节运动组件之中的至少一者复位至本位状态。
外科器械包括端部执行器、从端部执行器朝近侧延伸的轴、被构造成能够击发多个钉的击发组件、被构造成能够相对于轴致动端部执行器的关节运动组件、可在锁定构型和未锁定构型之间运动的锁定构件以及从轴朝近侧延伸的外壳，其中当锁定构件处于未锁定构型时外壳可移除地联接到轴。外壳包括能够驱动击发组件和关节运动组件中至少一者的马达、与马达连通的控制器以及可操作地联接到锁定构件的本位状态输入信号，其中本位状态输入能够将本位状态输入信号传输至控制器，并且其中控制器被构造成能够启动马达以使击发组件和关节运动组件中的至少一者响应于本位状态输入信号复位至本位状态。
外科器械包括端部执行器、从端部执行器朝近侧延伸的轴、被构造成能够使端部执行器相对于轴在本位状态位置与关节运动位置之间进行关节运动的关节运动组件、可在锁定构型与未锁定构型之间运动的锁定构件，以及从轴朝近侧延伸的壳体，其中当锁定构件为未锁定构型时，壳体可移除地联接到轴上。壳体包括能够驱动关节运动组件的马达和与马达通信的控制器，其中当锁定构件在锁定构型与未锁定构型之间运动时，控制器能够启动马达，使端部执行器返回本位状态位置。
用于外科器械的绝对位置传感器系统可包括：其一，操作地联接到外科器械的可动驱动构件上的传感器元件，以及其二，操作地联接到传感器元件上的位置传感器，位置传感器被构造成能够感测传感器元件的绝对位置。
外科器械可包括：其一，绝对位置传感器系统，其包括操作地联接到外科器械的可动构件上的传感器元件和操作地联接到传感器元件上的位置传感器，位置传感器被构造成能够感测传感器元件的绝对位置，以及其二，操作地联接到可动驱动构件上的马达。
用于外科器械的绝对位置传感器系统可包括：其一，操作地联接到外科器械的可动构件上的传感器元件，其二，保持传感器元件的保持器，其中保持器和传感器元件旋转联接，其三，操作地联接到传感器元件上的位置传感器，位置传感器被构造成能够感测传感器元件的绝对位置，其中位置传感器相对于保持器和传感器元件的旋转是固定的。
补偿柔性刀带的展开对包括处理器和存储器的外科器械的横断长度的作用的方法，其中外科器械包括存储表示端部执行器的关节运动角度与关节运动接头远侧的有效横断长度之间的关系的表征数据的存储器，所述方法包括以下步骤：其一，通过处理器从外科器械的存储器访问表征数据，其二，通过处理器跟踪外科器械使用期间端部执行器的关节运动角度，以及其三，通过处理器根据跟踪到的关节运动角度和存储的表征数据调整外科器械的目标横断长度。
外科器械可包括微控制器和联接到微控制器上的存储器，其中微控制器包括能够执行计算机可读指令的处理器，其中处理器操作地其一，从存储器访问表示端部执行器的关节运动角度与关节运动接头远侧的有效横断长度之间的关系的表征数据，其二，跟踪外科器械使用期间端部执行器的关节运动角度，以及其三，基于跟踪到的关节运动角度和存储的表征数据调整目标横断长度。
外科器械可包括具有关节运动接头的端部执行器、被构造成能够从关节运动接头近侧的位置平移至关节运动接头远侧的位置的柔性刀带、具有操作地执行计算机可读指令的处理器的微控制器，以及联接到微控制器上的存储器。处理器操作地其一，从存储器访问表示端部执行器的关节运动角度与关节运动接头远侧的有效横断长度之间的关系的表征数据，其二，跟踪外科器械使用期间端部执行器的关节运动角度，以及其三，基于跟踪到的关节运动角度和存储的表征数据调整目标横断长度。
与外科器械一起使用的轴组件可包括轴、端部执行器、将端部执行器连接到轴上的关节运动接头、可相对于端部执行器运动的击发驱动器、被构造成能够使端部执行器围绕关节运动接头进行关节运动的关节运动驱动器，以及被构造成能够选择性地将关节运动驱动器与击发驱动器接合以使得击发驱动器向关节运动驱动器运动的离合器衬圈。
外科器械可包括柄部、定位在柄部中的电动马达、可附接到柄部上的轴、端部执行器、将端部执行器连接到轴上的关节运动接头、可朝端部执行器运动的击发驱动器(其中电动马达能够赋予击发驱动器击发运动)、被构造成能够使端部执行器围绕关节运动接头进行关节运动的关节运动驱动器，以及被构造成能够选择性地将关节运动驱动器与击发驱动器接合以赋予关节运动驱动器击发运动的可旋转离合器。
与外科器械一起使用的轴组件可包括轴、端部执行器、将端部执行器连接到轴上的关节运动接头、可相对于端部执行器运动的击发驱动器、被构造成能够使端部执行器围绕关节运动接头进行关节运动的关节运动驱动器，以及被构造成能够选择性地将关节运动驱动器与击发驱动器接合以使得击发驱动器向关节运动驱动器运动的纵向离合器。
可附接到外科器械的柄部上的轴组件，轴组件包括具有能够操作地将轴连接到柄部上的连接器部分的轴、端部执行器、将端部执行器连接到轴上的关节运动接头、在向击发驱动器施加击发运动时可相对于端部执行器运动的击发驱动器、被构造成能够在向关节运动驱动器施加关节运动动作时使端部执行器围绕关节运动接头进行关节运动的关节运动驱动器，以及被构造成能够可释放地将关节运动驱动器保持在适当位置的关节运动锁，其中关节运动动作能够将关节运动锁解锁。
可附接到外科器械的柄部上的轴组件，轴组件包括轴，其中轴包括其一，被构造成能够操作地将轴连接到柄部上的连接器部分以及其二，近侧端部；具有远侧端部的端部执行器；将端部执行器连接到轴上的关节运动接头；可通过击发运动相对于端部执行器运动的击发驱动器；被构造成能够在向关节运动驱动器施加关节运动动作时使端部执行器围绕关节运动接头进行关节运动的关节运动驱动器；以及关节运动锁，其包括其一，被构造成能够可释放地抵抗关节运动驱动器的近侧运动的第一单向锁，以及其二，被构造成能够可释放地抵抗关节运动驱动器的远侧运动的第二单向锁。
可附接到外科器械的柄部上的轴组件，轴组件包括轴，其中轴包括其一，被构造成能够操作地将轴连接到柄部上的连接器部分以及其二，近侧端部；具有远侧端部的端部执行器；将端部执行器连接到轴上的关节运动接头；可通过击发运动相对于端部执行器运动的击发驱动器；关节运动驱动器系统，其包括其一，近侧关节运动驱动器以及其二，操作地与端部执行器接合的远侧关节运动驱动器；以及被构造成能够可释放地将远侧关节运动驱动器保持在适当位置的关节运动锁，其中近侧关节运动驱动器的运动被构造成能够将关节运动锁解锁并驱动远侧关节运动驱动器。
可附接到外科器械的柄部上的轴组件，轴组件包括轴，其中轴包括其一，被构造成能够操作地将轴连接到柄部上的连接器部分以及其二，近侧端部；具有远侧端部的端部执行器；将端部执行器连接到轴上的关节运动接头；可通过击发运动相对于端部执行器运动的击发驱动器；和关节运动驱动器系统，其包括其一，第一关节运动驱动器以及其二，操作地与端部执行器接合的第二关节运动驱动器；以及被构造成能够可释放地将第二关节运动驱动器保持在适当位置的关节运动锁，其中第一关节运动驱动器的初始运动被构造成能够将第二关节运动驱动器解锁，并且第一关节运动驱动器的后续运动被构造成能够驱动第二关节运动驱动器。
外科缝合器可包括柄部、击发构件和电动马达。电动马达可在第一操作状态期间推进击发构件，在第二操作状态期间收回击发构件，并在第三操作状态期间向柄部传输反馈。此外，电动马达可包括轴和安装在轴上的共振器。共振器可包括主体，主体可包括安装孔。安装孔和轴可与共振器的中轴同轴，共振器的质心可沿着中轴定位。共振器还可包括从主体延伸的弹簧、从弹簧延伸的重物以及从主体延伸的平衡物。
用于切割和缝合组织的外科器械可包括柄部、从柄部延伸的击发构件、定位在柄部中的电动马达，以及具有质心的放大器。电动马达被构造成能够在多种状态下操作并可包括马达轴。此外，可在质心处将放大器安装到马达轴上。当电动马达处于击发状态时，放大器可以第一方向旋转，当电动马达处于反馈状态时，放大器可在第一方向与第二方向之间摆动。
用于切割和缝合组织的外科器械可包括用于保持外科器械的保持装置、击发构件和用于在多种操作状态下操作的马达装置。多种操作状态可包括击发状态和反馈状态。马达装置可在击发状态期间以第一方向旋转，并可在反馈状态期间在第一方向与第二方向之间摆动。外科器械还可包括用于生成触觉反馈的反馈生成装置。可将反馈生成装置安装到马达装置上。
用于切割和缝合组织的外科器械可包括柄部、从柄部延伸的击发构件，以及定位在柄部中的电动马达。电动马达被构造成能够在多种状态下操作，并且电动马达可包括马达轴。外科器械还可包括具有质心的共振器。可在质心处将共振器安装到马达轴上。此外，当电动马达位于推进状态时，共振器可以是平衡的，当电动马达处于反馈状态时，共振器可以是不平衡的。
用于操作外科缝合器的方法可包括启动初始操作状态。初始操作状态期间可朝远侧驱动切割元件。该方法还可包括检测切割元件处的阀值条件，将阀值条件传达给外科缝合器的操作者，以及接收来自操作者的多个输入之一。多个输入可包括第一输入和第二输入。该方法还可包括响应来自操作者的输入启动次级操作状态。可响应第一输入朝远侧驱动切割元件，并可响应第二输入朝近侧收回切割元件。
用于操作外科器械的方法可包括启动初始外科功能，检测临床重要的状况，将临床重要的状况传达给外科器械的操作者，接收来自操作者的输入，以及根据来自操作者的输入执行次级外科功能。次级外科功能可包括继续初始外科功能或启动修改的外科功能中的一种。
用于控制外科器械的系统可包括马达，马达可在击发行程期间驱动击发构件。系统还可包括用于控制马达的控制器，控制器被构造成能够在击发行程期间在多种操作状态下操作。多种操作状态可包括推进状态和回缩状态。该系统还可包括被构造成能够检测击发构件上的力的传感器，其中传感器和控制器可以信号通信。当传感器检测到击发构件上的力超过阀值力时，控制器可中止击发行程。该系统还可包括多个输入键，其中输入键和控制器可以信号通信。当第一输入键被激活时，控制器可恢复推进状态，当第二输入键被激活时，控制器可启动回缩状态。
外科器械可包括击发构件、被构造成能够驱动击发构件的马达，和用于控制马达的控制器。控制器被构造成能够在多种操作状态下操作外科器械，所述多种操作状态可包括驱动击发构件的击发状态和用于驱动击发构件的警告击发状态。外科器械还可包括用于在警告击发状态下操作外科器械的装置。
外科器械可包括柄部、从柄部延伸的轴、端部执行器和将端部执行器连接到轴上的关节运动接头。外科器械还可包括在向击发驱动器施加击发运动时可相对于端部执行器运动的击发驱动器、被构造成能够在向关节运动驱动器施加关节运动动作时使端部执行器围绕关节运动接头进行关节运动的关节运动驱动器，以及被构造成能够可释放地将关节运动驱动器保持在适当位置的关节运动锁，其中关节运动动作被构造成能够将关节运动锁解锁。
外科器械可包括至少一个被构造成能够在致动后产生控制运动并限定致动轴的驱动系统；至少一个可互换的轴组件，其被构造成能够以基本上横向于致动轴的方向可移除地联接到所述至少一个驱动系统上并将控制运动从所述至少一个驱动系统传送至操作地联接到所述可互换的轴组件上的外科端部执行器；以及锁定组件，其包括用于交接所述至少一个驱动系统的交接装置，并防止驱动系统的致动，除非所述至少一个可互换的轴组件已经操作地联接到所述至少一个驱动系统上。
包括轴组件的外科器械可包括具有外科钉仓和砧座的端部执行器，其中在施加打开运动和闭合运动时砧座和外科钉仓中的一者可相对于砧座和外科钉仓中的另一者运动。外科器械还可包括被构造成能够施加打开运动和闭合运动的可动的闭合轴组件、操作地支承其上面的可动闭合轴组件的一部分的轴附接框架；被构造成能够可移除地可操作地与轴附接框架接合的框架构件；由框架构件操作地支撑并限定致动轴的闭合驱动系统，当轴附接框架可操作地与框架构件接合时，闭合驱动系统能够以基本上横向于致动轴的方向操作地与闭合轴组件接合；以及交接闭合驱动系统的锁定组件，其用于防止闭合驱动系统的致动，除非闭合轴组件可操作地与闭合驱动系统接合。
外科器械可包括端部执行器、从端部执行器朝近侧延伸的轴，以及关节运动组件，它被构造成能够使端部执行器相对于所述轴在非关节运动位置、非关节运动位置第一侧的关节运动位置的第一范围和非关节运动位置第二侧的关节运动位置的第二范围之间运动，其中第一侧与第二侧相对。外科器械还可包括马达；与马达通信的控制器；被构造成能够将第一输入信号传送至控制器的第一输入，其中控制器被构造成能够响应第一输入信号而启动马达，使端部执行器向关节运动位置的第一范围内的关节运动位置运动；被构造成能够将第二输入信号传送至控制器的第二输入，其中控制器被构造成能够响应第二输入信号而启动马达，使端部执行器向关节运动位置的第二范围内的关节运动位置运动；以及被构造成能够将复位输入信号传送至控制器的复位输入，其中控制器能够响应复位输入信号而启动马达，使端部执行器向非关节运动位置运动。
虽然上述具体实施方式中列出了多个细节，但可以在没有这些具体细节的情况下实施多个实施例。例如，为简洁和清楚起见，以框图的形式示出了选择的方面，而不是详细地示出。本文提供的详细描述的某些部分可以呈现为对存储在计算机存储器中的数据进行操作的指令。本领域的技术人员用此类描述和表达向本领域的其他技术人员描述和传达他们的工作要旨。通常，算法是指导致所需结果的步骤的自相容序列，其中“步骤”是指物理量的操纵，物理量可以(但不一定)采用能被存储、传递、组合、比较和以其他方式操纵的电或磁信号的形式。常用于指这些信号，如位、值、元素、符号、字符、术语、数字等。这些和类似的术语可与适当的物理量相联并且仅仅是应用于这些量的方便的标签。
除非上述讨论中另外明确指明，否则可以理解的是，在上述描述中，使用术语如“处理”或“估算”或“计算”或“确定”或“显示”的讨论是指计算机系统或类似的电子计算设备的动作和处理，其操纵表示为计算机系统的寄存器和存储器内的物理(电子)量的数据并将其转换成相似地表示为计算机系统存储器或寄存器或其他此类信息存储、传送或显示设备内的物理量的其他数据。
在一般意义上，本领域的技术人员将会认识到，可以用多种硬件、软件、固件或它们的任何组合单独和/或共同实施的本文所述的多个方面可以被看作是由多种类型的“电子电路”组成。因此，如本文所用，“电子电路”包括但不限于具有至少一个离散电路的电子电路、具有至少一个集成电路的电子电路、具有至少一个专用集成电路的电子电路、形成由计算机程序配置的通用计算设备的电子电路(例如，至少部分地实施本文所述的方法和/或设备的由计算机程序配置的通用计算机，或至少部分地实施本文所述的方法和/或设备的由计算机程序配置的微处理器)、形成存储器设备(例如，形成随机存取存储器)的电子电路，和/或形成通信设备(例如，调节解调器、通信开关或光电设备)的电子电路。本领域的技术人员将会认识到，本文所述的主题可用模拟或数字形式、或它们的某种组合来实施。
上述详细说明通过使用框图、流程图、和/或实例示出该装置和/或过程的各种实施例。只要此类框图、流程图和/或示例包含一个或多个功能和/或操作，本领域的技术人员就要将其理解为此类框图、流程图或示例中的每个功能和/或操作都可以单独和/或共同地通过多种硬件、软件、固件或实际上它们的任何组合来实施。在一个实施例中，本文所述的主题的若干部分可以通过专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器 (DSP)或其他集成格式来实施。然而，本领域的技术人员将会认识到，本文所公开的实施例的一些方面可以作为在一台或多台计算机上运行的一个或多个计算机程序(例如，作为在一个或多个计算机系统上运行的一个或多个程序)，作为在一个或多个处理器上运行的一个或多个程序(例如，作为在一个或多个微处理器上运行的一个或多个程序)，作为固件，或作为实际上它们的任何组合全部或部分地在集成电路中等效地实现，并且根据本发明，设计电子电路和/或编写软件和/或硬件的代码将在本领域技术人员的技术范围内。另外，本领域的技术人员将会认识到，本文所述主题的机制能够作为多种形式的程序产品进行分布，并且本文所述主题的示例性实施例适用，而不管用于实际进行分布的信号承载介质的具体类型是什么。信号承载介质的示例包括但不限于：可录式媒体，诸如软盘、硬盘驱动器、光盘(CD)、数字视频光盘(DVD)、数字磁带、计算机存储器等；和传输式媒体，诸如数字和/或模拟通信媒体(例如，光纤缆线、波导、有线通信链路、无线通信链路(例如，发射器、接收器、传输逻辑、接收逻辑等)等)。
本领域技术人员将会认识到，本文所述的组成部分(例如，操作)、设备、对象和它们随附的讨论是为了概念清楚起见而用作示例，并且可以设想多种配置修改形式。因此，如本文所用，阐述的具体示例和随附的讨论旨在代表它们更一般的类别。通常，任何具体示例的使用旨在代表其类别，具体组成部分(例如操作)、设备和对象的未纳入部分不应采取限制。
对于本文中使用的基本上任何复数和/或单数术语，本领域技术人员可从复数转换成单数和/或从单数转换成复数，只要适合于上下文和/或应用就可以。为清楚起见，各种单数/复数置换在本文中没有明确表述。
本文所述的主题有时阐述了包含在其他不同组件中的不同组件或与其他不同组件连接的不同组件。应当理解，这样描述的结构仅是示例性的，并且事实上可以实现获得相同功能性的多种其他结构。在概念意义上，获得相同功能性的组件的任何布置方式都是有效“相联的”，从而获得所需的功能性。因此，本文中为获得特定功能性而结合在一起的任何两个组件都可被视为彼此“相联”，从而获得所需的功能性，而不论结构或中间组件如何。同样，如此相联的任何两个组件也可被视为彼此“操作地连接”或“操作地联接”，以获得所需的功能性，并且能够如此相联的任何两个组件都可被视为彼此“可操作地联接”，以获得所需的功能性。可操作地联接的具体示例包括但不限于可物理匹配的和/或物理交互组件，和/或无线交互式，和/或无线交互式组件，和/或逻辑交互式，和/或逻辑交互式组件。
在一些情况下，一个或多个组件在本文中可被称为“被构造成能够”、“能够可构造成”、“可操作地”、“适于”、“能”、“适合”等。本领域的技术人员将会认识到，除非上下文另有所指，否则“能够”通常可涵盖活动状态的组件和/或失活状态的组件和/或待机状态的组件。
对于所附的权利要求，本领域的技术人员将会理解，其中列出的操作通常可以任何顺序进行。另外，尽管以一定顺序列出了多个操作流程，但应当理解，可以不同于所示顺序的其他顺序进行所述多个操作，或者可以同时进行所述多个操作。除非上下文另有规定，否则此类替代排序的示例可包括重叠、交错、中断、重新排序、增量、预备、补充、同时、反向，或其他改变的排序。此外，除非上下文另有规定，否则像“响应于”、“相关”这样的术语或其他过去式的形容词通常不旨在排除此类变体。
虽然本文描述了多个实施例，但可以实现那些实施例的多种修改形式、变型形式、替代形式、变化形式和等同形式，这些形式是本领域技术人员将会想到的。另外，凡是公开了用于某些组件的材料的，均可使用其他材料。因此，应当理解，上述具体实施方式和所附的权利要求旨在涵盖属于本发明所公开的实施例范围内的所有此类修改形式和变型形式。以下权利要求旨在涵盖所有此类修改形式和变型形式。
2010年4月22日提交的名称为“SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR”的美国专利申请公开2010/0264194的公开内容全文以引用方式并入本文。2012年6月 15日提交的名称为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING A FIRING DRIVE”的美国专利申请序列号13/524,049的公开内容全文以引用方式并入本文。
可将本发明所公开的装置设计成单次使用后即进行处理，或者可将它们设计成是多次使用的。然而，在任一种情形下，所述装置均可进行修复，以在至少一次使用后再次使用。修复可包括拆卸装置、清洗或更换具体部件以及后续重新组装的其中任意几个步骤组合。特别是，该装置可以拆卸，并且可以任意组合选择性地置换或移除任意数目的某些部分或零件。清洗和/或置换特定部分后，该装置可以在修复设施处重新组装以便随后使用，或者在即将进行外科手术前由外科队重新组装。本领域的技术人员将会知道，装置的重新修复可利用多种用于拆卸、清洗/更换和重新组装的技术。这些技术的用途以及得到的重新修复装置均在本发明的范围内。
优选的是，在手术前处理本文所述的发明。首先，获取新的或用过的器械，并根据需要进行清洗然后对装置进行杀菌。在一种消毒技术中，将该装置放置在闭合且密封的容器中，例如塑料或TYVEK袋中。然后将容器和装置置于可穿透该容器的辐射区，例如γ辐射、x-射线或高能电子。辐射使杀死器械上和容器中的细菌。然后将灭菌后的器械存储在消毒容器中。该密封容器使器械保持无菌直到在医疗设施中打开该容器为止。
以引用方式全文或部分地并入本文的任何专利、公布或其他公开材料均仅在所并入的材料不与本公开所述的现有定义、陈述或其他公开材料相冲突的范围内并入本文。同样地并且在必要的程度下，本申请明确阐述的公开内容取代了以引证方式并入本申请的任何冲突材料。任何以引用方式并入本文但与本文所述的现有定义、陈述或其他公开材料相冲突的任何材料或其部分，仅在所并入的材料和现有的公开材料之间不产生冲突的程度下并入本文。
概括地说，已经描述了由采用本文所述的概念产生的许多有益效果。为了举例说明和描述的目的，已经提供了一个或多个实施例的上述具体实施方式。这些具体实施方式并非意图为详尽的或限定到本发明所公开的精确形式。可以按照上述教导对本发明进行修改或变型。所选择和描述的一个或多个实施例是为了示出本发明的原理和实际用途，从而允许本领域的普通技术人员能够利用多个实施例，并且在适合设想的具体应用的情况下进行各种修改。同此提交的权利要求书旨在限定全部范围。

Claims (11)

1.一种外科器械，包括：
微控制器，所述微控制器包括被构造成能够执行计算机可读指令的处理器；和
存储器，所述存储器联接到所述微控制器；
其中所述处理器操作以：
从所述存储器访问表示端部执行器的关节运动角度与关节运动接头远侧的有效横断长度之间的关系的表征数据；
在所述外科器械的使用期间跟踪所述端部执行器的关节运动角度；以及
基于跟踪到的关节运动角度和所存储的表征数据来调整目标横断长度。
2.根据权利要求1所述的外科器械，其中所述存储器为非易失性存储器。
3.根据权利要求1所述的外科器械，其中所述处理器从实施于所述存储器中的查找表访问所述表征数据。
4.根据权利要求1所述的外科器械，其中所述处理器操作以基于所述表征数据实施最佳曲线拟合公式。
5.根据权利要求1所述的外科器械，其中所述存储器位于所述外科器械的轴、柄部、或两者上。
6.一种外科器械，包括：
端部执行器，所述端部执行器包括关节运动接头；
柔性刀带，所述柔性刀带被构造成能够从所述关节运动接头近侧的位置平移至所述关节运动接头远侧的位置；
微控制器，所述微控制器包括操作以执行计算机可读指令的处理器；和
存储器，所述存储器联接到所述微控制器；
其中所述处理器操作以：
从所述存储器访问表示端部执行器的关节运动角度与所述关节运动接头远侧的有效横断长度之间的关系的表征数据；
在所述外科器械的使用期间跟踪所述端部执行器的关节运动角度；以及
基于已知的关节运动角度和所存储的表征数据来调整目标横断长度。
7.根据权利要求6所述的外科器械，其中所述存储器为非易失性存储器。
8.根据权利要求6所述的外科器械，其中所述处理器从实施于所述存储器中的查找表访问所述表征数据。
9.根据权利要求6所述的外科器械，其中所述处理器操作以基于所述表征数据实施最佳曲线拟合公式。
10.根据权利要求6所述的外科器械，其中所述存储器位于所述外科器械的轴、柄部、或两者上。
11.根据权利要求6所述的外科器械，包括传感器以测量所述柔性刀带的关节运动角度，所述传感器被构造成能够向所述处理器提供所述关节运动角度的反馈。
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US13/803,159 US9888919B2 (en) 2013-03-14 2013-03-14 Method and system for operating a surgical instrument
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US13/803,066 US9629623B2 (en) 2013-03-14 2013-03-14 Drive system lockout arrangements for modular surgical instruments
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US13/803,086 US20140263541A1 (en) 2013-03-14 2013-03-14 Articulatable surgical instrument comprising an articulation lock
US13/803,193 US9332987B2 (en) 2013-03-14 2013-03-14 Control arrangements for a drive member of a surgical instrument
US13/803,097 US9687230B2 (en) 2013-03-14 2013-03-14 Articulatable surgical instrument comprising a firing drive
US13/803,130 US9351727B2 (en) 2013-03-14 2013-03-14 Drive train control arrangements for modular surgical instruments
US13/803,053 US9883860B2 (en) 2013-03-14 2013-03-14 Interchangeable shaft assemblies for use with a surgical instrument
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