CN106132344B - 确定操纵器上的外科器械和适配器的存在的检测针脚 - Google Patents
确定操纵器上的外科器械和适配器的存在的检测针脚 Download PDFInfo
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Abstract
本申请公开一种对外科器械提供控制的器械滑架,该外科器械耦接至该器械滑架。该器械滑架包括控制平面,该控制平面耦接至外科器械以提供控制。具有从控制表面延伸的第一远端的检测针脚耦接至该器械滑架。磁体被固定于该检测针脚的近端。滑架控制器提供当该检测针脚的移动导致霍尔效应传感器的输出信号超过存在阈值时该外科器械存在于器械滑架上的指示,该存在阈值在该器械滑架的组装过程中作为校准程序的一部分被存储在滑架控制器中。当检测针脚的移动导致输出信号小于移除阈值且移除阈值小于存在阈值时,可以指示移除该外科器械。
Description
本申请要求以下在先提交的申请的优先权:
美国61/954,497 2014年3月17日(17-03-2014)
美国61/954,502 2014年3月17日(17-03-2014)
美国61/954,557 2014年3月17日(17-03-2014)
美国61/954,571 2014年3月17日(17-03-2014)
美国61/954,595 2014年3月17日(17-03-2014)
美国62/019,318 2014年6月30日(30-06-2014)
美国62/103,991 2015年1月15日(15-01-2015)
美国62/104,306 2015年1月16日(16-01-2015)
这些申请中的每一个以所允许的最大程度具体地并入本文。
技术领域
本发明的实施例涉及外科器械适配器的领域;并且更具体地涉及用于确定远程操作操纵器上的外科器械和器械适配器的存在的检测针脚。
背景技术
微创医疗技术已经被用来减少诊断或外科手术程序期间可能被损坏的外部组织的量,从而减少患者恢复时间、不舒适感以及有害的副作用。微创外科手术的传统形式包括内窥镜检查。内窥镜检查的更常见形式之一是腹腔镜检查,其为腹腔内的微创检查或外科手术。在传统的腹腔镜外科手术中,患者的腹腔被吹入气体,并且插管套筒穿过患者腹部的肌肉组织中的小(大约12mm)切口以提供入口端,通过该入口端能够以密封的方式传递腹腔镜外科器械。
腹腔镜外科器械通常包括用于观察手术区域的腹腔镜以及具有末端执行器的外科器械。典型的外科末端执行器包括例如夹钳、抓紧器、剪刀、缝合器和持针器。外科器械类似于传统的(开放的)外科手术中使用的器械,除了每个外科器械的工作端或末端执行器通过例如大约30cm长的延伸管与其把手分开,以便允许操作者将末端执行器引到手术部位并且从患者的身体外面控制末端执行器相对于手术部位的移动。
为了提供对末端执行器的改善的控制,可能希望使用远程操作致动器来控制外科器械。外科医生可以操作控制台上的控件来间接操纵连接到远程操作致动器的器械。该外科器械可拆卸地耦接到远程操作致动器,使得该外科器械可以被独立地消毒并且被选择用作待进行的外科手术程序的所需器械。在手术过程中,该外科器械可以被改变。
使用远程操作外科器械进行手术产生新的挑战。一个挑战是需要将与患者相邻的区域保持在无菌条件下。但是,控制外科器械所必需的马达、传感器、编码器和电连接件通常不能使用传统方法(例如蒸汽、热量、压力或化学品)来灭菌,因为它们可能在灭菌过程中被损坏或破坏。
使用远程操作外科手术系统的另一个挑战是在外科器械与远程操作致动器及其控制器之间需要许多连接件。需要连接件来传送致动器力、电信号和数据。这使得外科器械与远程操作致动器及其控制器的附接复杂化。
远程操作致动的远程操作外科手术系统的又一个挑战是手术室不是准备精密机械组件的理想环境。
可能期望的是提供一种确定无菌适配器和/或外科器械是否存在于远程操作操纵器上的途径。
发明内容
一种远程操作致动的外科系统包括外科器械、远程操作致动的外科器械操纵器以及器械无菌适配器(ISA)。该器械无菌适配器(ISA)被放置在该外科器械和该远程操作致动的外科器械操纵器的耦接之间,以便当需要将一个外科器械换成另一个外科器械时提供无菌耦接点。该远程操作致动的外科器械操纵器的滑架部分包括多个检测针脚,这些检测针脚被用来检测ISA和外科器械的存在。
在此,本公开提供了涉及可靠地检测ISA与远程操作致动的外科器械操纵器的接合以及外科器械与ISA的接合的实施例。此外,一个或多个实施例使用一种机构(例如,多个检测针脚和对应的传感器)实现了对两种接合的可靠检测。在一个实施例中,第一组一个或多个检测针脚可以被用于检测ISA的存在,同时第二组一个或多个检测针脚可以被用于检测外科器械的存在。可替代地,该第一组一个或多个检测针脚可以被用于检测ISA和外科器械两者的存在。
在一个实施例中,对ISA的存在的检测可以通过确定模拟霍尔效应传感器和附接于检测针脚的近端的磁体之间的距离来实现。当该模拟霍尔效应传感器与磁体面之间的距离在第一范围内时,该模拟霍尔效应传感器可以输出识别ISA的存在的第一预定电压。此外,该第一预定电压的输出可以表示ISA和远程操作致动的外科器械操纵器的滑架的接合。当该模拟霍尔效应传感器和磁体面之间的距离在小于第一范围的第二范围内时,该模拟霍尔效应传感器可以输出识别外科器械的存在的第二预定电压。此外,第二预定电压的输出可以表示外科器械与ISA的接合。本发明的其他特征和优点可以从下面的附图和详细描述中变得显而易见。
根据下面的附图和附图后面的详细描述,本发明的其它特征和优点将是显而易见的。
附图说明
通过参考用来以举例方式而不是限制方式说明本发明实施例的以下描述和附图,可以最佳地理解本发明。在附图中,其中类似的附图标记指示类似的元件:
图1是具有远程操作控制的外科器械的远程操作致动的外科系统的简化透视图,该远程操作控制的外科器械穿过开口插入患者的腹部。
图2是用于与远程操作致动器一起使用的外科器械的平面视图。
图3A是外科器械、远程操作致动的外科手术操纵器的滑架和器械无菌适配器(ISA)的耦接的示例性实施例的图示。
图3B是零件分离的图3A中的耦接器系统的图示。
图4是从顶向下视角的图1的滑架的控制表面的示例性实施例的图示,该滑架包括多个检测针脚。
图5是相对于电路板561和传感器的检测针脚的示例性实施例的图示。
图6A是沿图4中的剖面线6A-6A截取的图4中相对于外科器械、ISA和电路板在ISA与滑架接合之前的滑架的多个检测针脚的截面图。
图6B是沿图4中的剖面线6A-6A截取的图4中相对于ISA和电路板在ISA与滑架接合时的滑架的多个检测针脚的截面图。
图6C是沿图4中的剖面线6A-6A截取的图4中相对于外科器械、ISA和电路板在外科器械与ISA接合时的滑架的多个检测针脚的截面图。
图7是将示例性模拟霍尔效应传感器的数字输出示出为磁体与模拟霍尔效应传感器之间的距离的图表。
图8A-8D示出了检测针脚的示例性实施例的多个下压状态。
具体实施方式
在下面的说明书中,阐述许多具体的细节。但是,应当理解,可以在没有这些具体细节的情况下实施本发明的实施例。在其它情况下,没有详细示出已知的电路、结构和技术,以便不模糊对本说明书的理解。
在下面的说明书中,参考示出本发明的几个实施例的附图。应当理解,可以利用其它实施例,并且在不偏离本公开的精神和范围的情况下,可以进行机械成分、结构、电气以及操作的改变。下面的详细说明书不应被视为是限制意义的,并且本发明的实施例的范围仅由授予专利权的权利要求限定。
在本文所用的术语仅仅是为了描述具体实施例,而并非旨在限制本发明。为了便于描述,本文可能使用空间相对术语,诸如“在……之下”、“在……下面”、“下部”、“在……上方”、“上部”等等,以描述附图中示出的一个元件或特征部与另外(多个)元件或(多个)特征部的关系。应当理解,空间相对术语旨在涵盖除了附图中示出的取向之外的使用或操作中的设备的不同取向。例如,如果附图中的设备被翻转,那么被描述为在其它元件或特征部“下面”或“之下”的元件将被取向为在其它元件或特征部“之上”。因此,示例性术语“在……下面”可以涵盖上面和下面的取向。设备可能以其它方式被取向(例如,旋转90度或处于其它取向),并且本文使用的空间相对描述符被相应地解释。
如本文所用,除非上下文指出了其它情况,否则单数形式“一”、“一个”以及“该”旨在包括复数形式。还应当理解,术语“包括”和/或“包含”指定所述特征、步骤、操作、元件和/或部件的存在,但并非排除存在或添加一个或多个其它特征、步骤、操作、元件、部件和/或其群组。
术语“物体”通常指代部件或一组部件。例如,物体可以在说明书或权利要求中指代圆盘的内凹部或凸出部。贯穿说明书和权利要求,术语“物体”、“部件”、“部分”、“零件”以及“工件”可以互换地使用。
最后,本文使用的术语“或”和“和/或”被解释为广义包括的或意味着任何一个或任何组合。因此,“A、B或C”或“A、B和/或C”意指下列各项中任何一个:A;B;C;A和B;A和C;B和C;A、B和C。仅当元件、功能、步骤或动作的组合以某种方式内在地相互排斥时出现此定义的例外。
图1是根据本发明的实施例的远程操作外科系统的例示性患者侧部分100的视图。患者侧部分100包括支撑组件110以及在每个支撑组件的端部处的一个或多个外科器械操纵器112。这些支撑组件可选地包括一个或多个无动力的、可锁定的装配接头,这些装配接头用来相对于进行外科手术的患者定位(多个)外科器械操纵器112。如所示,患者侧部分100搁置在地板上。在其它实施例中,患者侧部分可以被安装到墙壁、安装到天花板、安装到也支撑患者的身体122的手术台126或者安装到其它手术室设备。此外,虽然患者侧部分100被显示为包括四个操纵器112,但是可以使用更多或更少的操纵器112。此外,患者侧部分100可以由如图所示的单个组件组成,或者其可以包括两个或更多独立的组件,每个组件以各种可能的方式被可选地安装。
每个外科器械操纵器112支撑在患者身体122内的手术部位处进行操作的一个或多个外科器械120。可以以允许相关联的外科器械以一个或多个机械自由度(例如,全部六个笛卡尔自由度、五个或更少的笛卡尔自由度等等)移动的各种形式来提供每个操纵器112。通常,机械或控制约束限制每个操纵器112,从而围绕相对于患者保持静止的器械上的运动中心移动其相关联的外科器械,并且该运动中心通常位于该器械进入身体的位置。
术语“外科器械”在本文被用以描述医疗设备,其被配置为插入患者的身体并且被用以进行外科手术或诊断程序。该外科器械通常包括与一个或多个外科手术任务相关联的末端执行器,诸如手术钳、针驱动器、剪刀、双极烧灼器、组织稳定器或牵引器、施夹器、吻合设备、成像设备(例如,内窥镜或超声探头)等等。与本发明的实施例一起使用的一些外科器械还提供用于末端执行器的铰接式支撑件(有时被称为“腕部/肘节(wrist)”),因此可以相对于器械的轴以一个或多个机械自由度操纵末端执行器的位置和取向。此外,许多外科末端执行器包括功能性机械自由度,诸如打开或关闭的钳口或沿路径平移的刀。外科器械也可以包含存储的信息(例如,存储在器械内的半导体存储器上),该信息可以是永久的或者可以通过外科系统更新。因此,该系统可以提供器械与一个或多个系统部件之间的单向或双向信息通信。
功能性远程操作外科系统通常将包括使操作者能够从患者的身体122外面观察手术部位的视觉系统部分(未示出)。该视觉系统通常包括具有视频图像捕获功能128的外科器械(“摄像器械”)以及用于显示所捕获的图像的一个或多个视频显示器。在一些外科系统配置中,摄像器械128包括光学部件,该光学部件将来自摄像器械128的近端的图像传输到患者身体122外面的一个或多个成像传感器(例如,CCD或CMOS传感器)。可替代地,(多个)成像传感器可以被定位在摄像器械128的近端,并且由(这些)传感器产生的信号可以沿引线或无线地传送用于处理并显示在视频显示器上。例示性的视频显示器是从加利福利亚州Sunnyvale市的直观外科手术公司(Intuitive Surgical,Inc.)购得的外科系统中的外科医生控制台上的立体显示器。
功能性远程操作外科系统还将包括用于当器械在患者体内时控制外科器械120的移动的控制系统部分(未示出)。该控制系统部分可以处于外科系统中的单个位置,或者其可以被分布在系统中的两个或更多个位置(例如,控制系统部分部件可以在系统的患者侧部分100中,在专用的系统控制台中,或者在单独的设备架中)。根据期望的控制程度、受控的外科组件的尺寸以及其它因素,可以以各种方式进行远程操作主/从控制。在一些实施例中,该控制系统部分包括一个或多个手动操作的输入设备,诸如操纵杆、骨骼式手套、机动的和重力补偿的操纵器等等。这些输入设备控制远程操作马达,这些远程操作马达进而控制外科器械的移动。
由远程操作马达产生的力经由动力传动系机构来传输,所述动力传动系机构将来自远程操作马达的力传送到外科器械120。在一些远程手术实施例中,控制(多个)操纵器的输入设备可以被提供在远离患者的位置,其在安置患者的房间内或房间外。然后,来自输入设备的输入信号被传输到控制系统部分。熟悉远程操纵、远程操作以及远程呈现外科手术的人员将了解这些系统和它们的部件,诸如从Intuitive Surgical,Inc.购得的da外科系统和初始由Computer Motion,Inc.制造的外科系统以及这些系统的各种例示性部件。
如所示,外科器械120和可选的进入导向器124(例如,患者的腹腔中的插管)都可移除地耦接到操纵器112的近端,同时外科器械120穿过进入导向器124插入。操纵器112中的远程操作致动器将外科器械120作为一个整体移动。操纵器112还包括器械滑架130。外科器械120可拆卸地连接到滑架130。容纳在滑架130中的远程操作致动器提供许多控制器运动,外科器械120将这些控制器运动转化成外科器械上的末端执行器的各种移动。因此,滑架130中的远程操作致动器仅移动外科器械120的一个或多个部件,而不是将该器械作为整体移动。用于将器械作为一个整体来控制或用于控制器械的部件的输入使得由外科医生提供到控制系统部分的输入(“主控”命令)通过外科器械被转化成对应的动作(“从动”响应)。
图2是外科器械120的例示性实施例的侧视图,该外科器械120包括通过细长管210耦接的近端部分250和远端控制机构240。外科器械120的近端部分250可以提供各种末端执行器中的任何一种,诸如所示的手术钳254、针驱动器、烧灼设备、切削工具、成像设备(例如,内窥镜或超声探头)或者包括两个或更多各种工具和成像设备的组合的组合设备。在所示的实施例中,末端执行器254通过“肘节/腕部”252耦接到细长管210,“肘节/腕部”252允许末端执行器的取向相对于器械管210被操纵。
参照图3A,其示出了以耦接状态图示的外科器械120、远程操作致动的外科器械滑架130的控制表面310以及器械无菌适配器(ISA)300的示例性实施例。该控制表面310被耦接至该外科器械120以提供对该外科器械的控制。该ISA 300延长器械滑架130的控制表面310以提供该控制表面的与外科器械120直接接触的一次性无菌等效物。
参照图3B,提供了图3A的耦接器系统的示例性实施例。在该耦接过程的第一阶段中,ISA300的下侧与滑架130的顶侧上的控制表面310耦接。具体地,滑架驱动器320与对应的ISA耦接器330的下侧匹配。接下来,外科器械120与ISA300的顶侧耦接。ISA耦接器330的顶侧与对应的器械驱动器(未示出)匹配。
但是,在外科器械120与远程操作致动的外科器械滑架130的耦接之间添加ISA300导致需要确定器械无菌适配器是否存在并且与远程操作致动的外科器械滑架130合适地接合。类似地,需要确定外科器械120是否存在并且与器械无菌适配器300合适地接合。
器械无菌适配器和外科器械的安装
参照图4,从顶部视角示出了包括检测针脚410A-410D的滑架130的控制表面310的示例性实施例。在一种配置中示出了检测针脚410A-410D;但是,如本领域普通技术人员将认识到的,在其他实施例中,检测针脚410A-410D可以以其他配置提供。
参照图5,示出了相对于电路板561和传感器560A-560D的检测针脚410A-410D的示例性实施例的图示。检测针脚410A包括带有感测尖端510A的远端411A、近端412A、轴520A、轴520A的肩台521A、弹簧530A、上限位块(upstop)540A和磁体外壳550A。磁体外壳550A包括具有磁体面551A的磁体,该磁体面面朝传感器560A。每个检测针脚410B-410D包括与410A相同的部件。
轴520A和磁体外壳550A作为单个组件在上限位块540A和远端411A衬套内移动。上限位块540A在轴520A在近端412A处的较大直径不能通过该上限位块的点处限制轴520A和磁体壳550A的向上行程。
弹簧530A被限制在上限位块540A与轴520A的肩台521A之间。因此,弹簧530A向上朝向远端411A推动轴520A。可以将向下的力施加到轴520A的远端411A以朝向传感器560A移动该轴和附接的磁体外壳550A。检测针脚410C-410D的远端411C-411D可以被完全地或部分地包含在滑架阱部420C-420D中(在图6A中可更好地看到),该滑架阱部保护检测针脚免受施加可能会损坏检测针脚的侧向力的影响。
如在图6A-6C中所示,其为沿着图4的剖面线6A-6A截取的截面图,一些检测针脚410A-410B可能在长度上短于其他的检测针脚410C-410D。例如,在一个实施例中,较短的检测针脚410A-410B可以比较长的检测针脚410C-410D短大约1.25毫米(0.050英寸)。
机械地固定于器械滑架130的电路板561包括模拟霍尔效应传感器560A-560D(以下称为“传感器”),这些传感器提供响应于磁体与传感器560A-560D之间的距离的信号。霍尔效应传感器560A-560D可以包括电路系统,该电路系统基于由霍尔效应产生的模拟信号提供数字信号。在一个实施例中,每个检测针脚410A-410B的磁体之间的距离使得能够确定ISA300是否存在并与滑架130接合。例如,传感器560A可以感测由磁体生成的磁场的振幅并且可以响应于检测针脚410A的磁体面与传感器560A之间的距离而提供输出电压或数字值。随着该距离的减少,该输出电压或数字值可以增加。
在这样的示例中,当传感器560A-560B的输出阈值都超过第一预定阈值时,ISA300可以被认为存在并且与滑架130完全接合。
在这样的示例中,传感器560C-560D可以确定磁体与传感器560C-560D之间的距离。每个检测针脚410C-410D的磁体之间的距离使得能够确定外科器械120是否存在并与ISA300接合。
在一个实施例中,在器械滑架130的组装过程中,传感器560A-560D可以作为校准过程的一部分被校准。作为一个实例,在组装过程中,校准块可以被放置在器械滑架130的控制表面310上以将检测针脚410A-410D下压已知的量。然后,在应用校准块之后由传感器560A-560D提供的输出电压或数字值可以被储存在滑架控制器340中,并且被用作阈值以决定ISA 300或外科器械120是否存在并被接合。
参照图6A,示出了在ISA300与滑架130的控制表面310接合之前相对于外科器械120、ISA300和电路板561的图4中的滑架130的多个检测针脚410A-410D的示例性实施例。检测针脚410A-410D与器械滑架130耦接,该器械滑架130提供了检测针脚的运动所参照的机械接地。电路板561和附接的霍尔效应传感器560A-560D也被机械地固定到器械滑架130,从而允许传感器参照检测针脚的运动。检测针脚410A的远端411A从控制表面310延伸至感测尖端510A。在图6A的实施例中,滑架130包括检测针脚410A-410D,尽管仅检测针脚410A和410C-410D是可见的。在一个实施例中,检测针脚410A-410B可以被用于检测ISA300的存在和接合,并且检测针脚410C-410D可以被用于检测外科器械120的存在和接合。
在图6A-6C中,示出了固定到器械滑架130上的上限位块540A-540D。因此,上限位块540A-540D提供了固定的参照点,该参照点将磁体面551A远离传感器560A的向上行程限制到已知距离。
参照图6B,示出了在ISA300和滑架130的控制表面310接合时相对于ISA 300和电路板561的图4的滑架130的多个检测针脚410A-410D的示例性实施例。ISA 300包括平坦表面610A,在ISA 300与滑架130的控制表面310接合时,该平坦表面与检测针脚410A的感测尖端510A接触。由于该ISA 300与滑架130的控制表面310接合,ISA 300的表面下压检测针脚410A-410B进入滑架阱部420A-420B。如上所述,检测针脚410A-410B在长度上可以短于检测针脚410C-410D以适应与ISA 300接触的表面的高度。
ISA 300也包括存在针脚610C-610D,这些存在阵脚被配置为在ISA 300接合时接触检测针脚410C-410D。如在图6A中所见,当ISA 300不与滑架130的控制表面310接合时,存在针脚610C-610D处于其最低位置。如在图6B中所见,接合ISA 300提升了在ISA内的存在针脚610C-610D。
除非另外指出,由于检测针脚410A-410B以同样的方式操作,图6B的以下讨论为了简洁起见将参考检测针脚410A的操作。由于从轴520A的肩台521A施加的力朝向检测针脚410A的近端412A施加压力,检测针脚410A的下压导致弹簧530A压缩。弹簧530A挤压如上所述被固定到滑架130上的上限位块540A。当检测针脚410A被ISA 300的接合下压时,随着检测针脚410A的近端412A接近传感器560A,检测针脚410A滑动通过上限位块540A。随着检测针脚410A的近端412A接近传感器560A,由容纳于磁体外壳550A中的磁体产生的磁场导致传感器560A的输出电压或数字值增加。当分别对应于检测针脚410A-410B的传感器560A-560B的输出电压或数值超过第一预定阈值时,ISA 300被认为存在并且与滑架130的控制表面310完全接合,该第一阈值可以是由上面描述的校准过程设定的阈值。
现在参照图6C,示出了在外科器械120和ISA300接合时相对于外科器械120、ISA300和电路板561的图4的滑架130多个检测针脚410A-410D的实施例的示意图。随着外科器械120与ISA300接合,该外科器械120接触并下压存在针脚610C-610D。下压存在针脚610C-610D进而下压滑架130的控制表面310上的检测针脚410C-410D。在与检测针脚410C-410D接触时,存在针脚610C-610D下压存在针脚410C-410D进入滑架阱部420C-420D。
随着检测针脚410C-410D被外科器械120与ISA300的接合下压,检测针脚410C-410D分别滑动穿过上限位块540C-540D。随后,每个检测针脚410C-410D的近端412C-412D接近传感器560C-560D中对应的传感器。随着检测针脚410C-410D的近端412C-412D接近传感器560C-560D,由磁体面551C-551D产生的磁场导致传感器560C-560D的输出电压或数字值增加。当传感器560C-560D的输出电压超过第二预定阈值时,外科器械120被认为存在并且与ISA300完全接合,该第二预定阈值可以是由上面描述的校准过程设定的阈值。
应理解的是,可以通过单个检测针脚或传感器来检测ISA或外科器械的存在。可以使用两个检测针脚或传感器,使得可以检测到与接收表面处于一个角度的ISA或外科器械的部分接合。也可以使用两个检测针脚或传感器来检测两个传感器的非一致输出,这些非一致的输出可以表明需要系统服务。
图7示出来自霍尔效应传感器的一个实施例的数字输出的响应。随着磁体移动得更靠近传感器,模拟霍尔效应传感器的敏感度增加。随着磁体面551A与传感器560A之间的距离减小,例如ISA300与滑架130的控制表面310接合,带有数字输出值的传感器的每微米行程的分辨率的比特数量增加。例如,对于示出的传感器的实施例,当磁体面551A和传感器560A之间的距离大于2mm时,数字输出值中的1比特变化表示大于1微米的行程。当磁体面551A和传感器560A之间的距离小于1mm时,1微米的行程将产生数字输出值中的多于1比特的变化。
参照图8A-8D,示出检测针脚的多个状态。图8A示出检测针脚的感测尖端510处于最高状态,例如第一状态801。第一状态801可以表示检测针脚的感测尖端510处于其最高位置,该最高位置可以被称为第一下压点。图8B示出检测针脚的感测尖端510处于第二下压点,例如第二状态802。图8C示出检测针脚的感测尖端510处于第三下压点,例如第三状态803。图8D示出检测针脚的感测尖端510处于第四下压点,例如第四状态804。将会看到,随着磁体面551A接近传感器560A,四种下压状态逐渐更靠近在一起,并且输出值的分辨率增加。可以选择四种下压状态使得输出值的差异在每对相邻下压状态之间近似相等。
基于多种状态的检测,可以使用两个而非四个检测针脚来实施本发明以检测ISA300和外科器械120两者。多种状态的检测可以进一步允许检测不同的器械或器械适配器类型,例如区别外科器械与内窥摄像机。
第二至第四状态802-804可以表示以下各项中的一个或多个:(i)与ISA300的接合的一部分已经完成,(ii)ISA 300与滑架130的控制表面310完全接合,(iii)外科器械120与ISA 300之间的接合过程的一部分已经完成,(iv)外科器械120与ISA 300之间的接合过程已经完成,(v)不同于外科器械120的第二外科器械已经完成与ISA 300的接合过程的一部分,和/或(vi)该第二外科器械已经完成与ISA 300的接合过程。此外,一个或多个状态可以表示该第二外科器械、外科器械120和/或ISA 300正在脱离或已经完全脱离滑架130的控制表面310。
作为示例性实例,其仅使用两个检测针脚,则第一状态801可以表示已经不与滑架130的控制表面310接触。在一个实施例中,在与检测针脚410C-410D接触时,存在针脚610C-610D上升至ISA300内的最高位置。随着ISA 300与滑架130的控制表面310接合,存在针脚610C-610D可以到达其在ISA内的行程的向上限位处并且下压检测针脚410A-410B至第二状态802。当检测针脚都处于第二状态802时,ISA 300可以存在并且与滑架130的控制表面310完全接合。
随着外科器械120与ISA 300接合,该外科器械120接触并下压存在针脚610C-610D。下压存在针脚610C-610D进而下压滑架130的控制表面310上的检测针脚410C-410D。当检测针脚都处于第三状态803时,外科器械120可以存在并且与ISA 300完全接合。当检测针脚都处于第四状态804时,第二种类型的外科器械可以存在并且与ISA 300完全接合。
此外,在一个实施例中,该外科器械120可以包括射频识别(RFID)标签。在这一实施例中,在开始接合过程后,该RFID标签可以提供带有外科器械120的识别信息的远程操作致动的外科器械操纵器。可以使用这样的识别信息来确定检测针脚为何种状态,如上所述,需要考虑该外科器械120与ISA300完全接合。例如,远程操作致动的外科器械操纵器可以读取外科器械120的RFID标签以需要将检测引脚410C-410D在第三状态803下压至少第一预定时间量,从而得出外科器械120与ISA 300接合的结论。可替代地,远程操作致动的外科器械操纵器可以读取第二外科器械的RFID标签以需要将检测引脚410C-410D在第四状态804下压至少第二预定时间量,从而得出第二外科器械与ISA 300接合的结论。在此,第一预定时间量和第二预定时间量在长度上可以等效或可以不等效。
外科器械和器械无菌适配器的移除
对于外科器械120的安装,当移除外科器械120时,可以从检测针脚410C-410D两者中提取读数。在一个实施例中,需要传感器560C-560D以提供低于第三阈值的输出电压以确定外科器械已经被移除。第三阈值可以被设定为小于第二阈值的预定量,该第二阈值被用来确定外科器械的存在。第二阈值和第三阈值之间的差异可以提供滞后效应,其中已经检测到存在外科器械的检测针脚在检测该外科器械的移除之前必须向上移动明显的距离。
在一个实施例中,可以通过使用三相系统的远程操作致动的外科器械操纵器来检测外科器械120的移除。第一,远程操作致动的外科器械操纵器检测来自传感器560C-560D的输出电压的变化。第二,外科器械120可以包括如上所述的RFID标签。随着外科器械120从滑架130的控制表面310脱离并且移动远离远程操作致动的外科器械操纵器,该远程操作致动的外科器械操纵器最终将不再能够检测RFID标签。第三,外科器械120可以包括磁体。在远程操作致动的外科器械操纵器未能检测到RFID标签之后,随着外科器械120移动远离滑架130的控制表面310,该远程操作致动的外科器械操纵器最终将不在能够检测磁体。因此,在采用三相检测系统的实施例中,仅当检测到(i)传感器560C-560D两者的输出电压的变化低于第三阈值,(ii)不能读出外科器械120的RFID标签,(iii)不能检测到外科器械120的磁体的时候,远程操作致动的外科器械操纵器才将确定外科器械120已经被从外科器械操纵器中移除。
此外,以类似的方式执行ISA 300的移除的检测。远程操作致动的外科器械操纵器检测传感器560A-560B的输出电压的变化。当传感器560A-560B都提供低于第四阈值的输出电压时,远程操作致动的外科器械操纵器可以确定ISA 300已经完全脱离滑架130的控制表面310并从其中移除。如结合外科器械检测的第二阈值和第三阈值所讨论,第一阈值和第四阈值之间的差异可能在检测ISA的存在和移除时提供滞后。如上所述,外科器械120可以在检测移除的过程中使用RFID标签。类似地,ISA300也可以包括用于在移除过程中使用的RFID标签。
上述多个阈值既不必都是等效的,多个阈值中的一个或多个也不必是等效的。但是,所有的阈值在一个实施例中可以是等效的,一个或多个阈值可以在第二实施例中是等效的,并且所有的阈值可以在第三实施例中是不同的。
虽然已经在附图中描述和示出某些示例性实施例,但是应当理解,这些实施例仅仅是对宽泛的发明的例示,而不是限制,并且本发明并不局限于所示出和所描述的具体的构造和布置,因为本领域技术人员可想出各种其它的修改。因此,本说明书被认为是例示性的,而不是限制性的。
Claims (12)
1.一种用于对外科器械提供控制的器械滑架,所述外科器械附接至所述器械滑架,所述器械滑架包括:
控制表面,其附接至所述外科器械以提供对所述外科器械的控制;
第一检测针脚,其耦接至所述器械滑架,所述第一检测针脚具有从所述控制表面延伸的第一远端;
第一磁体,其固定于所述第一检测针脚的第一近端;
滑架控制器;
电路板,其固定于所述器械滑架;
第一霍尔效应传感器,其面向所述第一磁体固定于所述电路板,所述第一霍尔效应传感器提供与所述滑架控制器通信地耦接的第一输出信号,所述滑架控制器提供当所述第一检测针脚的移动导致所述第一输出信号超过第一器械存在阈值时所述外科器械存在于所述器械滑架上的指示,所述第一器械存在阈值在所述器械滑架的组装过程中作为校准程序的一部分被存储在所述滑架控制器中。
2.如权利要求1所述的器械滑架,其中所述滑架控制器提供当所述第一检测针脚的移动导致所述第一输出信号超过第一器械无菌适配器阈值即第一ISA阈值时器械无菌适配器即ISA存在于所述器械滑架上的指示,所述第一ISA阈值在所述器械滑架的组装过程中作为所述校准程序的一部分被存储在所述滑架控制器中。
3.如权利要求1所述的器械滑架,其中器械无菌适配器附接至所述器械滑架,并且所述外科器械通过所述器械无菌适配器附接至所述器械滑架,所述器械无菌适配器包括第一存在针脚以延长所述第一检测针脚的所述第一远端。
4.如权利要求1所述的器械滑架,其中所述滑架控制器提供当所述第一检测针脚的移动导致所述第一输出信号小于第一器械移除阈值且所述第一器械移除阈值小于所述第一器械存在阈值时所述外科器械从所述器械滑架上移除的指示。
5.如权利要求1所述的器械滑架,其中所述控制表面包括阱部并且所述第一远端位于所述阱部内以保护所述第一检测针脚免受水平力。
6.如权利要求1所述的器械滑架,进一步包括:
第二检测针脚,其耦接至所述器械滑架,所述第二检测针脚具有与所述第一远端分开从所述控制表面延伸的第二远端;
第二磁体,其固定于所述第二检测针脚的第二近端;
第二霍尔效应传感器,其面向所述第二磁体固定于所述电路板,所述第二霍尔效应传感器提供与所述滑架控制器通信地耦接的第二输出信号,所述滑架控制器提供所述外科器械存在于所述器械滑架上的指示,该指示进一步需要所述第二检测针脚的移动导致所述第二输出信号超过第二器械存在阈值,所述第二器械存在阈值在所述器械滑架的组装过程中作为所述校准程序的一部分被存储在所述滑架控制器中。
7.一种用于检测耦接至器械滑架的外科器械的存在的方法,该方法包括:
提供与所述器械滑架耦接的第一检测针脚,所述第一检测针脚具有第一远端和第一近端,所述第一远端从附接至所述外科器械的控制表面延伸以提供对所述外科器械的控制,所述第一近端包括第一磁体;
接收来自第一霍尔效应传感器的第一输出信号,所述第一霍尔效应传感器被固定在电路板上,所述电路板进而被固定在所述器械滑架上,随着所述第一远端由于所述外科器械的存在而被按下并且所述第一磁体朝向所述第一霍尔效应传感器移动,所述第一输出信号对所述第一检测针脚的运动作出响应;
通过将所述第一检测针脚按下第一已知距离来校准所述第一霍尔效应传感器并且根据所产生的第一输出信号存储第一器械存在阈值;以及
当所述第一检测针脚的移动导致所述第一输出信号超过所述第一器械存在阈值时,指示所述外科器械存在于所述器械滑架上。
8.如权利要求7所述的方法,进一步包括:
存储小于所述第一器械存在阈值的第一ISA阈值;以及
当所述第一检测针脚的移动导致所述第一输出信号超过所述第一ISA阈值时,指示器械无菌适配器即ISA存在于所述器械滑架上。
9.如权利要求7所述的方法,进一步包括:
将器械无菌适配器附接于所述器械滑架以接收所述外科器械;以及
使用第一存在针脚延长所述第一检测针脚的所述第一远端,所述第一存在针脚被松弛地保持在所述器械无菌适配器内。
10.如权利要求7所述的方法,进一步包括指示当所述第一检测针脚的移动导致所述第一输出信号小于第一器械移除阈值且所述第一器械移除阈值小于所述第一器械存在阈值时所述外科器械被从所述器械滑架上移除。
11.如权利要求7所述的方法,进一步包括将所述第一远端定位于所述控制表面中的阱部内以保护所述第一检测针脚免受水平力。
12.如权利要求7所述的方法,进一步包括:
提供与所述器械滑架耦接的第二检测针脚,所述第二检测针脚具有第二远端和第二近端,所述第二远端从所述控制表面延伸,所述第二近端包括第二磁体;
接收来自固定在所述电路板上的第二霍尔效应传感器的第二输出信号,随着所述第二远端由于所述外科器械的存在而被按下并且所述第二磁体朝向所述第二霍尔效应传感器移动,所述第二输出信号对所述第二检测针脚的运动作出响应;
通过将所述第二检测针脚按下第二已知距离来校准所述第二霍尔效应传感器并且根据所产生的第二输出信号存储第二器械存在阈值;以及
仅当所述第二检测针脚的移动导致所述第二输出信号超过所述第二器械存在阈值并且所述第一输出信号超过所述第一器械存在阈值时,指示所述外科器械存在于所述器械滑架上。
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