CN106413585B - 通过分段电路和可变电压保护来进行功率管理 - Google Patents
通过分段电路和可变电压保护来进行功率管理 Download PDFInfo
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Abstract
本公开提供了一种外科器械控制电路。所述控制电路包括主处理器、安全处理器和分段电路。所述分段电路包括与所述主处理器信号通信的多个电路段。所述多个电路段包括功率段,所述功率段被构造成向所述主处理器、所述安全处理器和所述多个电路段中的每个电路段提供区段电压。所述功率段被构造成提供每个区段的可变电压保护。
Description
背景技术
本发明涉及外科器械,并且在各种情况下,涉及被设计成用于缝合和切割组织的外科缝合和切割器械及其钉仓。
附图说明
通过结合附图来参考本发明情况的以下说明,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为包括功率组件、柄部组件和可互换轴组件的外科器械的透视图;
图2为图1的外科器械的透视图,其中可互换轴组件与柄部组件分开;
图3为图1的外科器械的电路图;
图4示出了分段电路的一个实施方案,该分段电路包括被构造成控制动力式外科器械的多个电路段;
图5示出了分段电路,该分段电路包括被构造成实施看门狗功能的安全处理器;
图6示出了分段电路的一个实施方案的框图,该分段电路包括被构造成监视外科器械的第一性质和第二性质并将这两种性质进行比较的安全处理器;
图7示出了框图,该框图示出了被构造成由安全处理器实施的安全过程;
图8示出了包括四个输入/输出引脚的4×4开关组的一个实施方案;
图9示出了包括一个输入/输出引脚的4×4组电路的一个实施方案;
图10示出了分段电路的一个实施方案,该分段电路包括联接到主处理器的4×4开关组;
图11示出了用于顺序地为分段电路通电的过程的一个实施方案;
图12示出了功率段的一个实施方案,该功率段包括多个雏菊链式功率转换器;
图13示出了分段电路的一个实施方案,该分段电路被构造成最大化可用于关键功能和/或功率密集功能的功率;
图14示出了功率系统的一个实施方案,该功率系统包括被构造成被顺序通电的多个雏菊链式功率转换器;
图15示出了包括隔离控制节段的分段电路的一个实施方案;
图16示出了包括加速度计的分段电路的一个实施方案;
图17示出了用于顺序地启动分段电路的过程的一个实施方案;
图18示出了用于控制外科器械的方法1950的一个实施方案,该外科器械包括分段电路,诸如图12中所示的分段控制电路1602。
具体实施方式
本申请的申请人拥有2013年3月1日提交的下列专利申请,这些专利申请各自全文以引用方式并入本文:
-名称为“Articulatable Surgical Instruments With Conductive PathwaysFor Signal Communication”的美国专利申请序列号13/782,295;
-名称为“ROTARY POWERED Articulation JOINTS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号13/782,323;
-名称为“THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号13/782,338;
-名称为“ELECTROMECHANICAL Surgical DEVICE WITH SIGNAL RELAYARRANGEMENT”的美国专利申请序列号13/782,499;
-名称为“MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/782,460;
-名称为“Joystick SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS”的美国专利申请序列号13/782,358;
-名称为“SENSOR Straightened END EFFECTOR DURING REMOVAL THROUGHTROCAR”的美国专利申请序列号13/782,481;
-名称为“CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLEImplement PORTIONS”的美国专利申请序列号13/782,518;
-名称为“ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES ofFREEDOM”的美国专利申请序列号13/782,375;以及
-名称为“SURGICAL Instrument SOFT STOP”的美国专利申请序列号13/782,536,这些申请均据此全文以引用方式并入。
本申请的申请人还拥有提交于2013年3月14日的以下专利申请,并且其中各自全文以引用方式并入本文:
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”的美国专利申请序列号13/803,097;
-名称为“CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT”的美国专利申请序列号13/803,193;
-名称为“INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT”的美国专利申请序列号13/803,053;
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONLOCK”的美国专利申请序列号13/803,086;
-名称为“SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS”的美国专利申请序列号13/803,210;
-名称为“MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT”的美国专利申请序列号13/803,148;
-名称为“DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/803,066;
-名称为“ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS”的美国专利申请序列号13/803,117;
-名称为“DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/803,130;以及
-名称为“METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT”的美国专利申请序列号13/803,159。
本申请的申请人还拥有下列专利申请,这些专利申请与本申请同日提交,并且各自全文以引用方式并入本文:
名称为“SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM”(代理人案卷号END7386USNP/130458)的美国专利申请序列号_______________;
名称为“POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”(代理人案卷号END7387USNP/130459)的美国专利申请序列号_______________;
名称为“STERILIZATION VERIFICATION CIRCUIT”(代理人案卷号END7388USNP/130460)的美国专利申请序列号_______________;
名称为“VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT”(代理人案卷号END7389USNP/130461)的美国专利申请序列号_______________;
名称为“POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITAND WAKE UP CONTROL”(代理人案卷号END7390USNP/130462)的美国专利申请序列号_______________;
名称为“MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES”(代理人案卷号END7391USNP/130463)的美国专利申请序列号_______________;
名称为“FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS”(代理人案卷号END7392USNP/130464)的美国专利申请序列号_______________;
名称为“SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION”(代理人案卷号END7393USNP/130465)的美国专利申请序列号_______________;
名称为“SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR”(代理人案卷号END7394USNP/130466)的美国专利申请序列号_______________;
名称为“SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS”(代理人案卷号END7395USNP/130467)的美国专利申请序列号_______________;
名称为“INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS”(代理人案卷号END7396USNP/130468)的美国专利申请序列号_______________;
名称为“MODULAR SURGICAL INSTRUMENT SYSTEM”(代理人案卷号END7397USNP/130469)的美国专利申请序列号_______________;
名称为“SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT”(代理人案卷号END7399USNP/130471)的美国专利申请序列号_______________;
名称为“SURGICAL STAPLING INSTRUMENT SYSTEM”(代理人案卷号END7401USNP/130473)的美国专利申请序列号_______________;
名称为“SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT”(代理人案卷号END7402USNP/130474)的美国专利申请序列号_______________。
现在将描述某些示例性实施方案,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。这些实施方案的一个或多个示例已在附图中示出。本领域普通技术人员应当理解,本文具体描述并用附图示出的装置与方法均为非限制性的示例性实施方案。结合一个示例性实施方案进行图解说明或描述的特征可与其他实施方案的特征进行组合。这些修改和变型旨在涵盖于本发明的范围之内。
本说明书通篇提及的“各种实施方案”、“一些实施方案”或“一个实施方案”等,意味着结合该实施方案描述的具体特征、结构或特性包括在至少一个实施方案中。因此,本说明书通篇出现的短语“在各种实施方案中”、“在一些实施方案中”或“在一个实施方案中”等,并不一定都指同一个实施方案。此外,在一个或多个实施方案中,具体特征、结构或特性可按任何合适的方式组合。因此,在无限制的情形下,结合一个实施方案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方案的特征、结构或特性组合。这些修改和变型旨在涵盖于本发明的范围之内。
本文所用术语“近侧”和“远侧”是相对于操纵外科器械的柄部部分的临床医生而言的。术语“近侧”是指最靠近临床医生的部分,术语“远侧”则是指位于远离临床医生的位置的部分。还应当理解,为简洁和清楚起见,本文可以结合附图使用空间术语诸如“竖直”、“水平”、“上”和“下”。然而,外科器械在许多方向和位置中使用,并且这些术语并非限制性的和/或绝对的。
提供各种示例性装置和方法以执行腹腔镜式外科手术和微创外科手术。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,包括例如与开放式外科手术相结合。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及细长轴可通过所述工作通道而推进。
图1至图3大体示出了马达驱动的外科紧固和切割器械2000。如图1和图2所示,外科器械2000可包括柄部组件2002、轴组件2004和功率组件2006(“功率源”、“功率组”或“电池组”)。轴组件2004可包括端部执行器2008,该端部执行器在某些情况下可被构造成充当直线切割器,用来夹紧、切断并/或缝合组织,但在其他实施方案中,可采用不同类型的端部执行器,诸如用于其他类型的外科器械的端部执行器,例如抓紧器、切割器、缝合器、施夹器、进入装置、药物/基因治疗装置、超声装置、射频装置和/或激光装置。若干种射频装置可见于1995年4月4日公布的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312,以及2008年2月14日提交的名称为“SURGICAL FASTENING AND CUTTINGINSTRUMENT HAVING RF ELECTRODES”的美国专利申请序列号12/031,573,所述专利的全部公开内容均全文以引用方式并入本文。
主要参见图2和图3,柄部组件2002可与多种可互换轴组件(诸如轴组件2004)一起使用。此类可互换轴组件可包括外科端部执行器(诸如端部执行器2008),该外科端部执行器可被构造成执行一种或多种手术任务或外科手术。合适的可互换轴组件的示例在2013年3月14日提交的名称为“CONTROL SYSTEM OF A SURGICAL INSTRUMENT”的美国临时专利申请序列号61/782,866中公开,该专利申请的全部公开内容据此全文以引用方式并入本文。
主要参见图2,柄部组件2002可包括外壳2010,该外壳由可被构造成由临床医生抓握、操纵和致动的柄部2012组成。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且新颖的构造也可有效地与机器人控制的外科系统结合使用。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,所述至少一个驱动系统被构造成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动作。例如,本文所公开的可互换轴组件可与名称为“SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”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)中公开的各种机器人系统、器械、部件和方法一起使用,该专利申请全文以引用方式并入本文。
再次参见图2,柄部组件2002可在其中可操作地支撑多个驱动系统,所述多个驱动系统可被构造成生成各种控制动作并将这些控制动作施加到可操作地附接到其上的可互换轴组件的对应部分。例如,柄部组件2002能够可操作地支撑第一或闭合驱动系统,该驱动系统可用于将闭合动作和打开动作施加到可操作地附接或联接到柄部组件2002的轴组件2004。在至少一种形式中,柄部组件2002可以可操作地支撑击发驱动系统,该击发驱动系统可被构造成将击发动作施加到附接到其上的可互换轴组件的对应部分。
主要参见图3,柄部组件2002可包括马达2014,该马达可由马达驱动器2015控制,并可由外科器械2000的击发系统使用。在各种形式中,马达2014可为例如具有大约25,000RPM的最大转速的直流有刷驱动马达。在其他构造中,马达2014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。在某些情况下,马达驱动器2015可包括例如H桥场效应晶体管(FET)2019,如图3所示。马达2014可由功率组件2006(图3)提供动力,该功率组件能够可释放地安装到柄部组件2002,从而向外科器械2000提供控制功率。功率组件2006可包括电池,该电池可包括串联连接的、可用作功率源为外科器械2000提供动力的多个电池单元。在某些情况下,功率组件2006的电池单元可以是可更换的和/或可充电的。在至少一个示例中,电池单元可以是能够可分离地联接到功率组件2006的锂离子电池。
轴组件2004可包括轴组件控制器2022,该轴组件控制器在轴组件2004与功率组件2006联接到柄部组件2002时,可通过接口与功率管理控制器2016通信。例如,接口可包括第一接口部分2025和第二接口部分2027,该第一接口部分可包括用于与对应的轴组件电连接器实现联接接合的一个或多个电连接器,该第二接口部分可包括用于与对应的功率组件电连接器实现联接接合的一个或多个电连接器,从而在轴组件2004与功率组件2006联接到柄部组件2002时,允许轴组件控制器2022和功率管理控制器2016之间电通信。可通过接口传输一个或多个通信信号,以将附接的可互换轴组件2004的一个或多个功率要求传送到功率管理控制器2016。作为响应,功率管理控制器可根据附接轴组件2004的功率要求来调节功率组件2006的电池的功率输出,如下文更详细地描述。在某些情况下,一个或多个电连接器可包括开关,这些开关可在柄部组件2002机械联接接合到轴组件2004和/或功率组件2006,以允许轴组件控制器2022与功率管理控制器2016之间进行电通信之后被启动。
在某些情况下,例如,接口将一个或多个通信信号路由通过位于柄部组件2002内的主控制器2017,由此可利于在功率管理控制器2016与轴组件控制器2022之间传输这类通信信号。在其他情况下,当轴组件2004和功率组件2006联接到柄部组件2002时,接口可利于引导功率管理控制器2016与轴组件控制器2022之间的通信线穿过柄部组件2002。
在一种情况下,主微控制器2017可以是任一种单核或多核处理器,诸如已知的商品名为ARM Cortex,购自Texas Instruments的那些。在一种情况下,外科器械2000可包括功率管理控制器2016,例如包括两个基于微控制器的系列(诸如TMS570和RM4x)的安全微控制器平台(已知其商品名为Hercules ARM Cortex R4,同样购自Texas Instruments)。然而,可不受限制地采用微控制器和安全处理器的其他合适的替代物。在一种情况下,安全处理器可明确地被配置用于IEC 61508和ISO 26262安全性关键应用及其他,以提供先进的集成安全特性,同时提供可扩展的性能、连接性与内存选项。
在某些情况下,微控制器2017可以是例如可购自Texas Instruments的LM4F230H5QR。在至少一个示例中,Texas Instruments的LM 4F230H5QR为ARM Cortex-M4F处理器芯,其包括:256KB单循环闪存存储器或其他非易失性存储器(最多至40MHZ)的片上存储器、用于改善性能使其超过40MHz的预取缓冲器、32KB单循环串行随机访问存储器(SRAM)、装载有软件的内部只读存储器(ROM)、2KB电可擦可编程只读存储器(EEPROM)、一个或多个脉宽调制(PWM)模块、一种或多种正交编码器输入(QEI)模拟、具有12个模拟输入通道的一个或多个12位模数转换器(ADC),以及对于产品数据手册来说易得的其他特征结构。本公开不应限于这一上下文。
功率组件2006可包括功率管理电路,该功率管理电路可包括功率管理控制器2016、功率调制器2038和电流感测电路2036。功率管理电路可被构造成在轴组件2004与功率组件2006联接到柄部组件2002时,基于轴组件2004的功率要求来调节电池的功率输出。例如,功率管理控制器2016可被编程以控制功率调制器2038调节功率组件2006的功率输出,并且电流感测电路2036可用于监视功率组件2006的功率输出,以便为功率管理控制器2016提供与电池的功率输出有关的反馈,使得功率管理控制器2016可调节功率组件2006的功率输出以维持理想的输出。
值得注意的是,功率管理控制器2016和/或轴组件控制器2022各自可包括可存储多个软件模块的一个或多个处理器和/或存储器单元。尽管可采用举例说明的方式描述外科器械2000的某些模块和/或块,但可以理解,可使用数目更多或更少的模块和/或块。另外,虽然各种情况可按照模块和/或块的形式描述以便于说明,但这些模块和/或块可通过一个或多个硬件部件和/或软件部件和/或硬件部件与软件部件的组合加以实施,所述硬件部件例如处理器、数字信号处理器(DSP)、可编程逻辑装置(PLD)、专用集成电路(ASIC)、电路、寄存器,所述软件部件例如程序、子例程、逻辑。
在某些情况下,外科器械2000可包括输出装置2042,该输出装置可包括用于向用户提供感官反馈的一个或多个装置。此类装置可包括例如视觉反馈装置(例如,LCD显示屏、LED指示器)、听觉反馈装置(例如,扬声器、蜂鸣器)或触觉反馈装置(例如,触觉致动器)。在某些情况下,输出装置2042可包括显示器2043,该显示器可包括在柄部组件2002中。轴组件控制器2022和/或功率管理控制器2016可通过输出装置2042向外科器械2000的用户提供反馈。接口2024可被构造成将轴组件控制器2022和/或功率管理控制器2016连接到输出装置2042。读者将会知道,作为替代,输出装置2042可与功率组件2006集成。在这类情况下,当轴组件2004联接到柄部组件2002时,输出装置2042与轴组件控制器2022之间的通信可通过接口2024实现。
现已概括地描述了外科器械2000,下面将详细描述外科器械2000的各种电力/电子部件。为方便起见,下文任何位置提及外科器械2000,都应当理解为指涉结合图1至图3所示的外科器械2000。现在转到图4,其中示出了包括多个电路段1002a至1002g的分段电路1000的一个实施方案。分段电路1000包括多个电路段1002a至1002g,该分段电路被构造成控制动力式外科器械,诸如但不限于图1至图3中所示的外科器械2000。多个电路段1002a至1002g被构造成控制动力式外科器械2000的一种或多种操作。安全处理器段1002a(第1段)包括安全处理器1004。主处理器段1002b(第2段)包括主处理器1006。安全处理器1004和/或主处理器1006被构造成与一个或多个另外的电路段1002c至1002g进行交互,以控制动力式外科器械2000的操作。主处理器1006包括联接到例如一个或多个电路段1002c至1002g、电池1008和/或多个开关1058a至1070的多个输入装置。分段电路1000可通过任何合适的电路(诸如动力式外科器械2000内的印刷电路板组件(PCBA))来实施。应当理解,本文使用的术语“处理器”包括任一种微处理器、微控制器,或者将计算机的中央处理单元(CPU)的功能结合到一个集成电路或最多几个集成电路上的其他基础计算装置。处理器是多用途的可编程装置,该装置接收数字数据作为输入,根据其存储器中存储的指令来处理输入,然后提供结果作为输出。处理器具有内部存储器,所以是顺序数字逻辑的示例。处理器的操作对象是以二进制数字系统表示的数字和符号。
在一个实施方案中,主处理器1006可以是任一种单核或多核处理器,诸如已知的商品名为ARM Cortex,购自Texas Instruments的那些。在一个实施方案中,安全处理器1004可以是包括两个基于微控制器的系列(诸如TMS570和RM4x)的安全微控制器平台,已知其商品名为Hercules ARM Cortex R4,同样购自Texas Instruments。然而,可不受限制地采用微控制器和安全处理器的其他合适的替代物。在一个实施方案中,安全处理器1004可明确地被配置用于IEC 61508和ISO 26262安全性关键应用及其他,以提供先进的集成安全特性,同时提供可扩展的性能、连接性与内存选项。
在某些情况下,主处理器1006可以是例如可购自Texas Instruments的LM4F230H5QR。在至少一个示例中,Texas Instruments品的LM 4F230H5QR为ARM Cortex-M4F处理器芯,其包括:256KB单循环闪存存储器或其他非易失性存储器(最多至40MHZ)的片上存储器、用于改善性能使其超过40MHz的预取缓冲器、32KB单循环串行随机访问存储器(SRAM)、装载有软件的内部只读存储器(ROM)、2KB电可擦可编程只读存储器(EEPROM)、一个或多个脉宽调制(PWM)模块、一种或多种正交编码器输入(QEI)模拟、具有12个模拟输入通道的一个或多个12位模数转换器(ADC),以及对于产品数据手册来说易得的其他特征结构。可以很方便地换用其他处理器,因此,本公开不应限于这一上下文。
在一个实施方案中,分段电路1000包括加速度段1002c(第3段)。加速度段1002c包括加速度传感器1022。加速度传感器1022可包括例如加速度计。加速度传感器1022被构造成检测动力式外科器械2000的运动或加速度。在一些实施方案中,来自加速度传感器1022的输入用于例如转变到休眠模式和从休眠模式转变到其他模式、识别动力式外科器械的取向,并且/或者识别外科器械何时已被放下。在一些实施方案中,加速度段1002c联接到安全处理器1004和/或主处理器1006。
在一个实施方案中,分段电路1000包括显示器段1002d(第4段)。显示器段1002d包括联接到主处理器1006的显示器连接器1024。显示器连接器1024通过一个或多个显示器驱动器集成电路1026将主处理器1006联接到显示器1028。显示器驱动器集成电路1026可与显示器1028集成,并且/或者可与显示器1028分开定位。显示器1028可包括任一种合适的显示器,诸如有机发光二极管(OLED)显示器、液晶显示器(LCD)和/或其他任何合适的显示器。在一些实施方案中,显示器段1002c联接到安全处理器1004。
在一些实施方案中,分段电路1000包括轴段1002e(第5段)。轴段1002e包括用于联接到外科器械2000的轴2004的一个或多个控件,以及/或者用于联接到轴2004的端部执行器2006的一个或多个控件。轴段1002e包括轴连接器1030,该轴连接器被构造成将主处理器1006联接到轴PCBA 1031。轴PCBA 1031包括第一关节运动开关1036、第二关节运动开关1032和轴PCBA电可擦可编程只读存储器(EEPROM)1034。在一些实施方案中,轴PCBA EEPROM1034包括特定于轴2004和/或轴PCBA 1031的一个或多个参数、例程和/或程序。轴PCBA1031可联接到轴2004并/或与外科器械2000一体成型。在一些实施方案中,轴段1002e包括第二轴EEPROM 1038。第二轴EEPROM 1038包括多个算法、例程、参数,和/或对应于可与动力式外科器械2000交接的一个或多个轴2004和/或端部执行器2006的其他数据。
在一些实施方案中,分段电路1000包括位置编码器段1002f(第6段)。位置编码器段1002f包括一个或多个磁性旋转位置编码器1040a至1040b。一个或多个磁性旋转位置编码器1040a至1040b被构造成识别外科器械2000的马达1048、轴2004和/或端部执行器2006的旋转位置。在一些实施方案中,磁性旋转位置编码器1040a至1040b可联接到安全处理器1004和/或主处理器1006。
在一些实施方案中,分段电路1000包括马达段1002g(第7段)。马达段1002g包括马达1048,该马达被构造成控制动力式外科器械2000的一种或多种运动。马达1048通过H桥驱动器1042和一个或多个H桥场效应晶体管(FET)1044联接到主处理器1006。H桥FET 1044联接到安全处理器1004。马达电流传感器1046与马达1048串联联接,以测量马达1048的电流汲取。马达电流传感器1046与主处理器1006和/或安全处理器1004信号通信。在一些实施方案中,马达1048联接到马达电磁干扰(EMI)滤波器1050。
分段电路1000包括功率段1002h(第8段)。电池1008联接到安全处理器1004、主处理器1006,以及另外的电路段1002c至1002g中的一个或多个。电池1008通过电池连接器1010和电流传感器1012联接到分段电路1000。电流传感器1012被构造成测量分段电路1000的总电流汲取。在一些实施方案中,一个或多个电压转换器1014a,1014b,1016被构造成向一个或多个电路段1002a至1002g提供预先确定的电压值。例如,在一些实施方案中,分段电路1000可包括3.3V的电压转换器1014a至1014b和/或5V的电压转换器1016。升压转换器1018被构造成提供最高为预先确定的量(诸如,最高为13V)的升高电压。升压转换器1018被构造成在功率密集操作期间提供附加的电压和/或电流,并且防止电压降低条件或低功率条件。
在一些实施方案中,安全段1002a包括马达功率中断件1020。马达功率中断件1020联接在功率段1002h与马达段1002g之间。安全段1002a被构造成在安全处理器1004和/或主处理器1006检测到错误或故障条件时中断到马达段1002g的功率,如本文更详细地讨论。尽管电路段1002a至1002g被示出为具有电路段1002a至1002h中物理位置接近的所有部件,但本领域的技术人员将认识到,电路段1002a至1002h可包括在物理上和/或在电学上与相同电路段1002a至1002g的部件分开的其他部件。在一些实施方案中,一个或多个部件可由两个或更多个电路段1002a至1002g共享。
在一些实施方案中,多个开关1056至1070联接到安全处理器1004和/或主处理器1006。多个开关1056至1070可被构造成控制外科器械2000的一种或多种操作、控制分段电路1100的一种或多种操作,并且/或者指示外科器械2000的状态。例如,救助门开关1056被构造成指示救助门的状态。多个关节运动开关(诸如左侧向左关节运动开关1058a、左侧向右关节运动开关1060a、左侧向中心关节运动开关1062a、右侧向左关节运动开关1058b、右侧向右关节运动开关1060b和右侧向中心关节运动开关1062b)被构造成控制轴2004和/或端部执行器2006的关节运动。左侧换向开关1064a和右侧换向开关1064b联接到主处理器1006。在一些实施方案中,左侧开关(包括左侧向左关节运动开关1058a、左侧向右关节运动开关1060a、左侧向中心关节运动开关1062a和左侧换向开关1064a)通过左边的挠性连接器1072a联接到主处理器1006。右侧开关(包括右侧向左关节运动开关1058b、右侧向右关节运动开关1060b、右侧向中心关节运动开关1062b和右侧换向开关1064b)通过右边的挠性连接器1072b联接到主处理器1006。在一些实施方案中,击发开关1066、夹持释放开关1068和轴接合开关1070联接到主处理器1006。
多个开关1056至1070可包括例如安装到外科器械2000的柄部的多个柄部控件、多个指示器开关,和/或它们的任意组合。在各种实施方案中,多个开关1056至1070允许外科医生操纵外科器械,向分段电路1000提供有关外科器械的位置和/或操作的反馈,并且/或者指示外科器械2000的操作不安全。在一些实施方案中,附加的开关或较少的开关可联接到分段电路1000,开关1056至1070中的一个或多个可组合成单个开关,并/或扩展成多个开关。例如,在一个实施方案中,左侧关节运动开关和/或右侧关节运动开关1058a至1064b中的一个或多个可组合成单个多位置开关。
图5示出了分段电路1100,该分段电路包括被构造成实施看门狗功能及其他安全操作的安全处理器1104的一个实施方案。分段电路1100的安全处理器1004和主处理器1106信号通信。多个电路段1102c至1102h联接到主处理器1106,并且被构造成控制外科器械(诸如图1至图3所示的外科器械2000)的一种或多种操作。例如,在所示实施方案中,分段电路1100包括加速度段1102c、显示器段1102d、轴段1102e、编码器段1102f、马达段1102g和功率段1102h。电路段1102c至1102g中的每个都可联接到安全处理器1104和/或主处理器1106。主处理器还联接到闪速存储器1186。微处理器活心跳信号在输出端1196处提供。
加速度段1102c包括加速度计1122,该加速度计被构造成监视外科器械2000的运动。在各种实施方案中,加速度计1122可以是单轴、双轴或三轴加速度计。加速度计1122可用于测量适当的加速度,该加速度不一定是坐标加速度(速度改变的速率)。作为替代,加速度计观察到在加速度计1122的参照系静止时,与测试质量经受的重量现象相关联的加速度。例如,由于其重量,加速度计1122在地球表面上静止时将测得竖直向上的(重力)加速度g为9.8m/s2。加速度计1122可测量的另一类加速度是重力加速度。在各种其他实施方案中,加速度计1122可包括单轴、双轴或三轴加速度计。此外,加速度段1102c可包括一个或多个惯性传感器,以检测和测量加速度、倾斜、冲击、振动、旋转和多自由度(DoF)。合适的惯性传感器可包括加速度计(单轴、双轴或三轴)、用于测量空间磁场(诸如地球磁场)的磁力计和/或用于测量角速度的陀螺仪。
显示器段1102d包括嵌入外科器械2000的显示器,诸如OLED显示器。在某些实施方案中,外科器械2000可包括输出装置,该输出装置可包括用于向用户提供感官反馈的一个或多个装置。此类装置可包括例如视觉反馈装置(例如,LCD显示屏、LED指示器)、听觉反馈装置(例如,扬声器、蜂鸣器)或触觉反馈装置(例如,触觉致动器)。在某些方面,输出装置可包括显示器,该显示器可包括在柄部组件2002中,如图1所示。轴组件控制器和/或功率管理控制器可通过输出装置向外科器械2000的用户提供反馈。接口可被构造成将轴组件控制器和/或功率管理控制器连接到输出装置。
轴段1102e包括轴电路板1131(诸如轴PCB)和用于指示轴已接合的霍尔效应开关1170,该轴电路板被构造成控制轴2004和/或联接到轴2004的端部执行器2006的一种或多种操作。轴电路板1131还包括具有铁电随机存取存储器(FRAM)技术的低功率微处理器1190、机械关节运动开关1192、轴释放霍尔效应开关1194和闪速存储器1134。编码器段1102f包括被构造成提供马达1048、轴2004和/或端部执行器2006的旋转位置信息的多个马达编码器1140a,1140b。
马达段1102g包括马达1048,诸如有刷直流马达。马达1048通过多个H桥驱动器1142和一个马达控制器1143联接到主处理器1106。马达控制器1143控制第一马达标记1174a和第二马达标记1174b,以向主处理器1106指示马达1048的状态和位置。主处理器1106通过缓冲器1184向马达控制器1143提供脉宽调制(PWM)高信号1176a、PWM低信号1176b、方向信号1178、同步信号1180和马达复位信号1182。功率段1102h被构造成向电路段1102a至1102g中的每个电路段提供区段电压。
在一个实施方案中,安全处理器1104被构造成针对一个或多个电路段1102c至1102h(诸如马达段1102g)实施看门狗功能。就这一点来说,安全处理器1104采用看门狗功能来检测主处理器1006的故障并从主处理器10006的故障中恢复。在正常操作期间,安全处理器1104监视主处理器1104的硬件故障或程序错误,并发起一种或多种纠正动作。纠正动作可包括将主处理器10006置于安全状态,并恢复正常的系统操作。在一个实施方案中,安全处理器1104至少联接到第一传感器。第一传感器测量外科器械2000的第一性质。在一些实施方案中,安全处理器1104被构造成将外科器械2000的所测量性质与预先确定的值进行比较。例如,在一个实施方案中,马达传感器1140a联接到安全处理器1104。马达传感器1140a向安全处理器1104提供马达的速度和位置信息。安全处理器1104监视马达传感器1140a并将值与最大速度和/或位置值进行比较,并且在值高于预先确定的值时,阻止马达1048的操作。在一些实施方案中,预先确定的值基于马达1048的实时速度和/或位置计算、由与主处理器1106通信的第二马达传感器1140b提供的值计算,并且/或者从例如联接到安全处理器1104的存储器模块提供给安全处理器1104。
在一些实施方案中,第二传感器联接到主处理器1106。第二传感器被构造成测量第一物理性质。安全处理器1104和主处理器1106被构造成提供分别表示第一传感器的值和第二传感器的值的信号。当安全处理器1104或主处理器1106指示值超出可接受范围时,分段电路1100阻止电路段1102c至1102h中的至少一个电路段(诸如马达段1102g)的操作。例如,在图5所示的实施方案中,安全处理器1104联接到第一马达位置传感器1140a,并且主处理器1106联接到第二马达位置传感器1140b。马达位置传感器1140a,1140b可包括任何合适的马达位置传感器,诸如,包括正弦和余弦输出的磁性角度旋转输入装置。马达位置传感器1140a,1140b分别向安全处理器1104和主处理器1106提供指示马达1048的位置的信号。
当第一马达传感器1140a的值和第二马达传感器1140b的值都处于预先确定的范围内时,安全处理器1104和主处理器1106生成启动信号。当主处理器1106或安全处理器1104检测到值超出预先确定的范围时,则终止启动信号,随即中断并/或阻止电路段1102c至1102h中的至少一个电路段(诸如马达段1102g)的操作。例如,在一些实施方案中,来自主处理器1106的启动信号和来自安全处理器1104的启动信号联接到AND栅极。AND栅极联接到马达功率开关1120。当来自安全处理器1104和主处理器1106这两者的启动信号都较高(指示马达传感器1140a,1140b的值在预先确定的范围内),AND栅极便将马达功率开关1120保持在闭合或断开位置。当马达传感器1140a,1140b中的任一者检测到值超出预先确定的范围时,来自马达传感器1140a,1140b的启动信号被设定为低,并且AND栅极的输出也被设定为低,从而打开马达功率开关1120。在一些实施方案中,比较了第一传感器1140a的值与第二传感器1140b的值,例如通过将安全处理器1104和/或主处理器1106进行比较。如果第一传感器的值与第二传感器的值不同,安全处理器1104和/或主处理器1106可阻止马达段1102g的操作。
在一些实施方案中,安全处理器1104接收表示第二传感器1140b的值的信号,并且将第二传感器的值与第一传感器的值进行比较。例如,在一个实施方案中,安全处理器1104直接联接到第一马达传感器1140a。第二马达传感器1140b联接到主处理器1106,由主处理器将第二马达传感器1140b的值提供给安全处理器1104,并且/或者直接联接到安全处理器1104。安全处理器1104将第一马达传感器1140的值与第二马达传感器1140b的值进行比较。当安全处理器1104检测到第一马达传感器1140a与第二马达传感器1140b之间存在失配时,安全处理器1104可中断马达段1102g的操作,例如通过切断到马达段1102g的功率而中断。
在一些实施方案中,安全处理器1104和/或主处理器1106联接到被构造成测量外科器械的第一性质的第一传感器1140a和被构造成测量外科器械的第二性质的第二传感器1140b。第一性质和第二性质包括外科器械正常操作时的预先确定的关系。安全处理器1104监视第一性质和第二性质。当检测到第一性质的值和/或第二性质的值与预先确定的关系不一致时,发生故障。发生故障时,安全处理器1104至少采取一种动作,诸如,阻止至少一个电路段的操作、执行预先确定的操作,以及/或者重置主处理器1106。例如,安全处理器1104在检测到故障时可断开马达功率开关1120,以切断到马达电路段1102g的功率。
图6示出了分段电路1200的一个实施方案的框图,该分段电路包括被构造成监视外科器械(诸如图1至图3所示的外科器械2000)的第一性质和第二性质并能够将这两种性质进行比较的安全处理器1204。安全处理器1204联接到第一传感器1246和第二传感器1266。第一传感器1246被构造成监视外科器械2000的第一物理性质。第二传感器1266被构造成监视外科器械2000的第二物理性质。第一性质和第二性质包括外科器械2000正常操作时的预先确定的关系。例如,在一个实施方案中,第一传感器1246包括被构造成监视马达从功率源汲取的电流的马达电流传感器。马达汲取的电流可表示马达的速度。第二传感器包括线性霍尔传感器,线性霍尔传感器被构造成监视端部执行器(例如联接到外科器械2000的端部执行器2006)内的切割构件的位置。切割构件的位置用于计算端部执行器2006内的切割构件速度。外科器械2000正常操作时,切割构件速度与马达速度具有预先确定的关系。
安全处理器1204向主处理器1206提供信号,指示第一传感器1246和第二传感器1266产生的值与预先确定的关系一致。在安全处理器1204检测到第一传感器1246和/或第二传感器1266的值与预先确定的关系不一致时,主处理器1206向主处理器1206指示不安全的条件。主处理器1206中断并/或阻止至少一个电路段的操作。在一些实施方案中,安全处理器1204直接联接到开关,该开关被构造成控制一个或多个电路段的操作。例如,结合图5,在一个实施方案中,安全处理器1104直接联接到马达功率开关1120。安全处理器1104在检测到故障时断开马达功率开关1120,以阻止马达段1102g的操作。
重新参见图5,在一个实施方案中,安全处理器1104被构造成执行独立的控制算法。在操作中,安全处理器1104监视分段电路1100,并且被构造成独立地控制并/或覆写来自其他电路部件(诸如主处理器1106)的信号。安全处理器1104可执行预先编程的算法并且/或者在操作期间可基于外科器械2000的一种或多种动作和/或位置进行联机更新或联机编程。例如,在一个实施方案中,每当新的轴和/或端部执行器联接到外科器械2000时,便使用新的参数和/或安全算法对安全处理器1104进行重新编程。在一些实施方案中,安全处理器1104存储的一个或多个安全值由主处理器1106复制。执行双向错误检测,以确保处理器1104或1106存储的值和/或参数是正确的。
在一些实施方案中,安全处理器1104和主处理器1106实施冗余的安全检查。安全处理器1104和主处理器1106提供周期性信号,用于指示操作正常。例如,在操作期间,安全处理器1104可向主处理器1106指示安全处理器1104正在执行代码并且操作正常。主处理器1106同样可向安全处理器1104指示主处理器1106正在执行代码并且操作正常。在一些实施方案中,安全处理器1104和主处理器1106以预先确定的间隔通信。预先确定的间隔可以是常数,或者可能可以根据电路状态和/或外科器械2000的操作而改变。
图7为框图,该框图示出了被构造成由安全处理器(诸如图5所示的安全处理器1104)实施的安全过程1250。在一个实施方案中,将对应于外科器械2000的多种性质的值提供给安全处理器1104。所述多种性质由多个独立的传感器和/或系统监视。例如,在示出的实施方案中,测得的切割构件速度1252、建议的马达速度1254和马达信号1256的预期方向被提供给安全处理器1104。切割构件速度1252和建议的马达速度1254可分别由独立的传感器(诸如,线性霍尔传感器和电流传感器)提供。马达信号1256的预期方向可由主处理器(例如,图5示出的主处理器1106)提供。安全处理器1104比较1258所述多种性质,并确定这些性质何时与预先确定的关系一致。如果所述多种性质的值与预先确定的关系1260a一致,则不采取动作1262。而如果所述多个性质的值与预先确定的关系1260b不一致,安全处理器1104则执行一种或多种动作,诸如,阻止某项功能、执行某项功能以及/或者重置处理器。例如,在图7示出的过程1250中,安全处理器1104中断一个或多个电路段的操作,诸如通过中断到马达段的功率1264而中断其操作。
重新参见图5,分段电路1100包括被构造成控制外科器械2000的一种或多种操作的多个开关1156至1170。例如,在示出的实施方案中,分段电路1100包括夹持释放开关1168、击发触发器1166和多个开关1158a至1164b,所述多个开关被构造成控制轴2004和/或联接到外科器械2000的端部执行器2006的关节运动。夹持释放开关1168、击发触发器1166和多个关节运动开关1158a至1164b可包括模拟开关和/或数字开关。特别地,开关1156指示机械开关升降位置,开关1158a,1158b指示向左关节运动(1)和(2),开关1160a,1160b指示向右关节运动(1)和(2),开关1162a,1162b指示向中心关节运动(1)和(2),并且开关1164a,1164b指示向左换向和向右换向。
例如,图8示出了开关组1300的一个实施方案,该开关组包括被构造成控制外科器械的一种或多种操作的多个开关SW1至SW16。开关组1300可联接到主处理器(诸如主处理器1106)。在一些实施方案中,一个或多个二极管D1至D8联接到多个开关SW1至SW16。任何合适的机械开关、机电开关或固态开关可任意组合,以实施所述多个开关1156至1170。例如,开关1156至1170可以是利用与外科器械2000相关联的部件的动作或存在某个物体来操作的限位开关。此类开关可用于控制与外科器械2000相关联的各种功能。限位开关是由机械地连接到一组触点的致动器构成的机电装置。当某个物体与致动器接触时,该装置操作触点以形成或断开电连接。限位开关因其耐用、安装简便且操作可靠而用于多种应用和环境。限位开关可确定物体是否存在、是否正在经过、是否正在定位,以及物体的行进是否结束。在其他具体实施中,开关1156至1170可以是在磁场影响下操作的固态开关,诸如霍尔效应装置、磁阻(MR)装置、巨磁阻(GMR)装置、磁力计及其他。在其他具体实施中,开关1156至1170可以是在光影响下操作的固态开关,诸如光学传感器、红外线传感器、紫外线传感器及其他。同样,开关1156至1170可以是固态装置,诸如晶体管(例如,FET、结型FET、金属氧化物半导体FET(MOSFET)、双极型晶体管等)。其他开关可包括无线开关、超声开关、加速度计、惯性传感器及其他。
图9示出了包括多个开关的开关组1350的一个实施方案。在各种实施方案中,一个或多个开关被构造成控制外科器械(诸如图1至图3所示的外科器械2000)的一种或多种操作。多个关节运动开关SW1至SW16被构造成控制轴2004和/或联接到外科器械2000的端部执行器2006的关节运动。击发触发器1366被构造成击发外科器械2000,例如,用于部署多个钉、平移端部执行器2006内的切割构件,以及/或者向端部执行器2006递送电外科能量。在一些实施方案中,开关组1350包括被构造成阻止外科器械2000的操作的一个或多个安全开关。例如,救助开关1356联接到救助门,并且在救助门处于打开位置时阻止外科器械2000操作。
图10示出了分段电路1400的一个实施方案,该分段电路包括联接到主处理器1406的开关组1450。开关组1450与图9所示的开关组1350类似。开关组1450包括多个开关SW1至SW16,所述多个开关被构造成控制外科器械(诸如图1至图3所示的外科器械2000)的一种或多种操作。开关组1450联接到主处理器1406的模拟输入端。开关组1450内的每个开关进一步联接到输入/输出扩展器1463,该扩展器联接到主处理器1406的数字输入端。主处理器1406接收来自开关组1450的输入,并响应于对开关组1450中的一个或多个开关的操作而控制分段电路1400的一个或多个附加区段(诸如马达段1402g)。
在一些实施方案中,电位计1469联接到主处理器1406,以提供表示联接到外科器械2000的端部执行器2006的夹持位置的信号。电位计1469可通过提供表示夹持打开/关闭位置的信号来替换和/或补充安全处理器(未示出),主处理器1106使用该信号控制一个或多个电路段(诸如马达段1102g)的操作。例如,当电位计1469指示端部执行器处于完全夹紧位置和/或完全打开位置时,主处理器1406可断开马达功率开关1420,并且阻止马达段1402g沿特定方向进一步操作。在一些实施方案中,主处理器1406响应于从电位计1469接收的信号而控制递送到马达段1402g的电流。例如,当电位计1469指示端部执行器超出预先确定的位置关闭时,主处理器1406可限制能够递送到马达段1402g的能量。
重新参见图5,分段电路1100包括加速度段1102c。该加速度段包括加速度计1122。加速度计1122可联接到安全处理器1104和/或主处理器1106。加速度计1122被构造成监视外科器械2000的运动。加速度计1122被构造成生成表示沿一个或多个方向的运动的一个或多个信号。例如,在一些实施方案中,加速度计1122被构造成监视外科器械2000沿三个方向的运动。在其他实施方案中,加速度段1102c包括多个加速度计1122,每个加速度计被构造成监视沿信号方向的运动。
在一些实施方案中,加速度计1122被构造成引发转变到休眠模式和/或从休眠模式转变到其他模式,例如,从介于休眠模式和唤醒模式之间转变到休眠模式,反之亦然。休眠模式可包括低功率模式,在该模式下,电路段1102a至1102g中的一个或多个被停用或被置于低功率状态。例如,在一个实施方案中,加速度计1122在休眠模式下保持活动,并且安全处理器1104被置于低功率模式,在该模式下,安全处理器1104监视加速度计1122,但并不执行任何功能。剩余电路段1102b至1102g处于功率关闭状态。在各种实施方案中,主处理器1104和/或安全处理器1106被构造成监视加速度计1122,并且能够将分段电路1100转变到休眠模式,例如,在预先确定的时间段内未检测到运动的情况下。尽管上文结合安全处理器1104监视加速度计1122来描述休眠模式/唤醒模式,但休眠模式/唤醒模式可通过安全处理器1104监视传感器、开关或如本文所述与外科器械2000相关联的其他指示器中的任一者来实现。例如,安全处理器1104可监视惯性传感器,或者一个或多个开关。
在一些实施方案中,分段电路1100在预先确定的非活动时间段之后转变到休眠模式。定时器与安全处理器1104和/或主处理器1106信号通信。定时器可与安全处理器1104、主处理器1106一体成型,并且/或者可以是独立的电路部件。定时器被构造成监视自从加速度计1122检测到外科器械2000最后一次运动以后到目前时刻的时间段。当计数器超出预先确定的阈值时,安全处理器1104和/或主处理器1106就将分段电路1100转变到休眠模式。在一些实施方案中,每当加速度计1122检测到运动,就重置定时器。
在一些实施方案中,除加速度计1122之外的所有电路段,或其他指定的传感器和/或开关,以及安全处理器1104都在休眠模式下停用。安全处理器1104监视加速度计1122,或者其他指定的传感器和/或开关。当加速度计1122指示外科器械2000的运动时,安全处理器1104引发从休眠模式到操作模式的转变。在操作模式下,所有电路段1102a至1102h完全通电,外科器械2000已准备好投入使用。在一些实施方案中,安全处理器1104通过向主处理器1106提供信号来将主处理器1106从休眠模式转变到全功率模式,以将分段电路1100转变到操作模式。主处理器1106然后将剩余电路段1102d至1102h中的每个电路段转变到操作模式。
转变到休眠模式和/或从休眠模式转变到其他模式可包括多个阶段。例如,在一个实施方案中,分段电路1100以四个阶段从操作模式转变到休眠模式。第一阶段在加速度计1122在第一预先确定的时间段内未检测到外科器械的运动之后发起。在第一预先确定的时间段之后,分段电路1100减弱显示器段1102d的背光源的亮度。如果在第二预先确定的时间段内未检测到运动,安全处理器1104就转变到第二阶段,其中显示器段1102d的背光源是关闭的。如果在第三预先确定的时间段内未检测到运动,安全处理器1104就转变到第三阶段,其中加速度计1122的轮询速率降低。如果在第四预先确定的时间段内未检测到运动,则显示器段1102d被停用,并且分段电路1100进入休眠模式。在休眠模式下,除加速度计1122之外的所有电路段和安全处理器1104都被停用。安全处理器1104进入低功率模式,在该模式下,安全处理器1104只轮询加速度计1122。安全处理器1104监视加速度计1122,直到加速度计1122检测到运动为止,此时,安全处理器1104将分段电路1100从休眠模式转变到操作模式。
在一些实施方案中,只有在加速度计1122检测到外科器械2000的运动超过预先确定的阈值的情况下,安全处理器1104才将分段电路1100转变到操作模式。由于安全处理器1104只对超过预先确定的阈值的运动作出响应,所以,在用户存放外科器械2000时碰撞到或移动了外科器械的情况下,该安全处理器防止分段电路1100无意间转变到操作模式。在一些实施方案中,加速度计1122被构造成监视多个方向上的运动。例如,加速度计1122可被构造成检测第一方向和第二方向上的运动。安全处理器1104监视加速度计1122,当检测到运动在第一方向和第二方向上都超过预先确定的阈值时,将分段电路1100从休眠模式转变到操作模式。由于要求运动至少在两个方向上都超过预先确定的阈值,所以安全处理器1104被构造成防止由于存放过程中附带运动而造成分段电路1100意外地从休眠模式转变到其他模式。
在一些实施方案中,加速度计1122被构造成检测第一方向、第二方向和第三方向上的运动。安全处理器1104监视加速度计1122,并且被构造成只有当加速度计1122在第一方向、第二方向和第三方向上都检测到振荡运动时,才将分段电路1100从休眠模式转变到其他模式。在一些实施方案中,分别沿第一方向、第二方向和第三方向的振荡运动对应于由操作者对外科器械2000做出的运动,因此当加速度计1122沿三个方向检测振荡运动时,转变到操作模式是期望的。
在一些实施方案中,当从最后一次检测到运动开始的时间增大时,将分段电路1100从休眠模式进行转变所需的运动的预先确定的阈值也增大。例如,在一些实施方案中,定时器在休眠模式期间继续运行。当定时器计数增大时,安全处理器1104增大将分段电路1100转变到操作模式所需运动的预先确定的阈值。安全处理器1104可将预先确定的阈值增大至上限。例如,在一些实施方案中,安全处理器1104将分段电路1100转变到休眠模式,并且重置定时器。运动的预先确定的阈值最初设定为较低的值,仅需要外科器械2000进行微小运动以将分段电路1100从休眠模式进行转变。当自转变到休眠模式开始的时间(如通过定时器测得的)增加时,安全处理器1104增加运动的预先确定的阈值。在T时刻,安全处理器1104已将预先确定的阈值增大至上限。对于T之后的所有时间,预先确定的阈值保持恒定上限值。
在一些实施方案中,一个或多个附加和/或另选传感器用于将分段电路1100在休眠模式和操作模式之间进行转变。例如,在一个实施方案中,触摸传感器位于外科器械2000上。该触摸传感器联接到安全处理器1104和/或主处理器1106。该触摸传感器被构造成检测用户与外科器械2000的接触。例如,该触摸传感器可位于外科器械2000的柄部,以便在操作者拾起外科器械2000时进行检测。在已超过预先确定的周期而加速度计1122未检测运动的情况下,安全处理器1104将分段电路1100转变到休眠模式。安全处理器1104监视触摸传感器,并且在触摸传感器检测到用户与外科器械2000的接触时将分段电路1100转变到操作模式。触摸传感器可包括,例如,电容触摸传感器、温度传感器,和/或任何其他合适的触摸传感器。在一些实施方案中,触摸传感器和加速度计1122可用于将装置在休眠模式和操作模式之间进行转变。例如,当加速度计1122未在预先确定的阈值周期内检测到运动并且触摸传感器未指示用户与外科器械2000接触时,安全处理器1104可仅将装置转变到休眠模式。本领域的技术人员将认识到,一个或多个附加传感器可用于将分段电路1100在休眠模式和操作模式之间进行转变。在一些实施方案中,当分段电路1100处于休眠模式时,触摸传感器仅由安全处理器1104进行监视。
在一些实施方案中,安全处理器1104被构造成在一个或多个柄部控件被致动时将分段电路1100从休眠模式转变到操作模式。转变到休眠模式之后,例如,因加速度计1122未在预先确定的周期内检测到运动而转变到休眠模式之后,安全处理器1104监视一个或多个柄部控件,例如,多个关节运动开关1158a至1164b。在其他实施方案中,一个或多个柄部控件包括,例如,夹持控件1166、释放按钮1168,和/或任何其他合适的柄部控件。外科器械2000的操作者可致动一个或多个柄部控件,从而将分段电路1100转变到操作模式。当安全处理器1104检测到柄部控件的致动时,安全处理器1104使分段电路1100开始转变到操作模式。由于当柄部控件被致动时,主处理器1106是不活动的,因此操作者可致动柄部控件而不引起外科器械2000的对应动作。
图16示出了分段电路1900的一个实施方案,该分段电路包括被构造成监视外科器械(例如,图1至图3中所示的外科器械2000)的运动的加速度计1922。功率段1902将来自电池1908的功率提供给一个或多个电路段,例如,加速度计1922。加速度计1922联接到处理器1906。加速度计1922被构造成监视外科器械2000的运动。加速度计1922被构造成生成表示沿一个或多个方向的运动的一个或多个信号。例如,在一些实施方案中,加速度计1922被构造成监视外科器械2000沿三个方向的运动。
在某些情况下,处理器1906可为例如LM 4F230H5QR,其可购自TexasInstruments。处理器1906被构造成监视加速度计1922,并且将分段电路1900转变到休眠模式,例如,在预先确定的时间段内未检测到运动时。在一些实施方案中,分段电路1900在预先确定的非活动时间段之后转变到休眠模式。例如,在已超过预先确定周期而加速度计1922未检测运动的情况下,安全处理器1904将分段电路1900转变到休眠模式。在某些情况下,加速度计1922可为例如LIS331DLM,其可购自STMicroelectronics。定时器与处理器1906信号通信。定时器可与处理器1906一体成型,并且/或者可以是独立的电路部件。定时器被构造成对自从加速度计1922检测到外科器械2000最后一次运动以后到目前时刻的时间进行计数。当计数器超过预先确定的阈值时,处理器1906将分段电路1900转变到休眠模式。在一些实施方案中,每当加速度计1922检测到运动,就重置定时器。
在一些实施方案中,加速度计1922被构造成检测撞击事件。例如,当外科器械2000掉落时,加速度计1922将检测在第一方向上的由重力引起的加速度,然后检测在第二方向的(由与地板和/或其他表面撞击引起的)加速度变化。又如,当外科器械2000撞击墙壁,加速度计1922将检测在一个或多个方向上的加速度峰值。由于撞击事件可使机械和/或电气部件变松,因此当加速度计1922检测到撞击事件时,处理器1906可阻止外科器械2000的操作。在一些实施方案中,仅当撞击在预先确定的阈值之上时,外科器械的操作才会受到阻止。在一些实施方案中,所有撞击都受到监视,并且当累积撞击在预先确定的阈值之上时,外科器械2000的操作可得到阻止。
再次参见图5,在一个实施方案中,分段电路1100包括功率段1102h。功率段1102h被构造成向电路段1102a至1102g中的每个电路段提供区段电压。功率段1102h包括电池1108。电池1108被构造成提供预先确定的电压,例如,经由电池连接器1110而提供12伏的电压。一个或多个功率转换器1114a,1114b,1116联接到电池1108,以提供特定的电压。例如,在示出的实施方案中,功率段1102h包括辅助开关转换器1114a、开关转换器1114b和低压差(LDO)转换器1116。开关转换器1114a,1114b被构造成向一个或多个电路部件提供3.3伏电压。LOD转换器1116被构造成向一个或多个电路部件提供5.0伏电压。在一些实施方案中,功率段1102h包括升压转换器1118。晶体管开关(如,N通道MOSFET)1115联接到功率转换器1114b,1116。升压转换器1118被构造成提供大于由电池1108所提供电压(例如13伏)的增大电压。升压转换器1118可包括例如电容器、电感器、电池、可充电电池,和/或用于提供增大电压的任何其他合适的转换器。升压转换器1118提供升高电压,从而防止在外科器械2000的功率密集操作过程中发生一个或多个电路段1102a至1102g电压降低或低功率条件。然而,这些实施方案不限于本说明书的上下文中所述的电压范围。
在一些实施方案中,分段电路1100被配置用于顺序地启动。在对下一个顺序电路段1102a至1102g通电之前,由每个电路段1102a至1102g执行错误检查。图11示出了用于对分段电路1270,例如分段电路1100顺序地通电的过程的一个实施方案。当电池1108联接到分段电路1100时,安全处理器1104得到供电(步骤1272)。安全处理器1104执行错误自检(步骤1274)。当检测到错误时(步骤1276a),安全处理器停止对分段电路1100供电并生成错误代码(步骤1278a)。当未检测到错误时(步骤1276b),安全处理器1104开始对主处理器1106通电(步骤1278b)。主处理器1106执行错误自检。当未检测到错误时,主处理器1106开始对每个剩余的电路段顺序地通电(步骤1278b)。每个电路段被供电,并由主处理器1106进行错误检查。当未检测到错误时,对下一个电路段供电(步骤1278b)。当检测到错误时,安全处理器1104和/或主处理器停止对电流段通电,并生成错误代码(步骤1278a)。继续顺序地启动,直至电路段1102a至1102g已全部通电。在一些实施方案中,分段电路1100在类似的顺序通电流程1250之后从休眠模式进行转变。
图12示出了功率段1502的一个实施方案,该功率段包括多个雏菊链式功率转换器1514,1516,1518。功率段1502包括电池1508。电池1508被构造成提供源电压,诸如12V的电压。电流传感器1512联接到电池1508,以监视分段电路和/或一个或多个电路段的电流汲取。电流传感器1512联接到FET开关1513。电池1508联接到一个或多个电压转换器1509,1514,1516。始终接通的转换器1509向一个或多个电路部件,例如运动传感器1522提供恒定的电压。始终接通的转换器1509包括,例如,3.3V转换器。始终接通的转换器1509可向附加电路部件,例如安全处理器(未示出)提供恒定的电压。电池1508联接到升压转换器1518。升压转换器1518被构造成提供大于由电池1508所提供电压的升高电压。例如,在所示实施方案中,电池1508提供了12V的电压。升压转换器1518被构造成将该电压升高至13V。升压转换器1518被构造成在外科器械(例如,图1至图3中示出的外科器械2000)的操作过程中维持最小的电压。马达的操作可引起提供给主处理器1506的功率降到低于最小阈值,并且在主处理器1506中产生电压降低或重置条件。升压转换器1518确保在外科器械2000的操作期间有足够的功率可用于主处理器1506和/或其他电路部件,诸如马达控制器1543。在一些实施方案中,升压转换器1518直接联接到一个或多个电路部件,例如,OLED显示器1588。
升压转换器1518联接到一个或多个降压转换器,以提供低于升高电压水平的电压。第一电压转换器1516联接到升压转换器1518,并且向一个或多个电路部件提供降低的电压。在所示实施方案中,第一电压转换器1516提供5V的电压。第一电压转换器1516联接到旋转位置编码器1540。FET开关1517联接在第一电压转换器1516和旋转位置编码器1540之间。FET开关1517由处理器1506进行控制。处理器1506例如在功率密集操作期间断开FET开关1517,从而停用位置编码器1540。第一电压转换器1516联接到第二电压转换器1514,该第二降压转换器被构造成提供第二降低的电压。第二降低的电压包括,例如,3.3V的电压。第二电压转换器1514联接到处理器1506。在一些实施方案中,升压转换器1518、第一电压转换器1516和第二电压转换器1514以雏菊链式构型联接。雏菊链式构型允许使用更小且更高效的转换器来使所生成的电压水平低于前述升高电压水平。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
图13示出了分段电路1600的一个实施方案,该分段电路被构造成最大化可用于电路和/或功率密集功能的功率。分段电路1600包括电池1608。电池1608被构造成提供源电压,例如12V的电压。源电压被提供给多个电压转换器1609,1618。始终接通的电压转换器1609向一个或多个电路部件,例如,运动传感器1622和安全处理器1604提供恒定的电压。始终接通的电压转换器1609直接联接到电池1608。始终接通的电压转换器1609提供例如3.3V的电压。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
分段电路1600包括升压转换器1618。升压转换器1618提供大于由电池1608所提供源电压(例如13V)的升高电压。升压转换器1618直接向一个或多个电路部件,例如,OLED显示器1688和马达控制器1643提供升高电压。通过将OLED显示器1688直接联接到升压转换器1618,分段电路1600不再需要专门用于OLED显示器1688的功率转换器。升压转换器1618在马达1648的一个或多个功率密集操作例如切割操作过程中,向马达控制器1643和马达1648提供升高电压。升压转换器1618联接到降压转换器1616。降压转换器1616被构造成将低于所述升高电压的电压(例如5V)提供给一个或多个电路部件。降压转换器1616联接到例如FET开关1651和位置编码器1640。FET开关1651联接到主处理器1606。当分段电路1600转变到休眠模式时,并且/或者在需要将附加的电压传送给马达1648的功率密集功能期间,主处理器1606断开FET开关1651。断开FET开关1651使位置编码器1640停用,并且消除了位置编码器1640的功率汲取。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
降压转换器1616联接到线性转换器1614。线性转换器1614被构造成提供例如3.3V的电压。线性转换器1614联接到主处理器1606。线性转换器1614向主处理器1606提供操作电压。线性转换器1614可联接到一个或多个附加的电路部件。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
分段电路1600包括救助开关1656。救助开关1656联接到外科器械2000的救助门上。救助开关1656和安全处理器1604联接到与门1619。与门1619向FET开关1613提供输入。当救助开关1656检测到电压降低的条件时,救助开关1656向与门1619提供救助关闭信号。当安全处理器1604检测到例如由于传感器失配而引起的不安全条件时,安全处理器1604向与门1619提供关闭信号。在一些实施方案中,救助关闭信号和关闭信号两者在正常操作过程中都较高,并且当检测到电压降低条件或不安全条件时都较低。当与门1619的输出较低时,FET开关1613是断开的,并且马达1648的操作受到阻止。在一些实施方案中,安全处理器1604利用关闭信号将马达1648转变到休眠模式下的关闭状态。由联接到电池1608的电流传感器1612向FET开关1613提供第三输入。电流传感器1612监视由电路1600汲取的电流,并且当检测到电流大于预先确定的阈值时,断开FET开关1613从而关闭马达1648的电源。FET开关1613和马达控制器1643联接到一组被构造成控制马达1648操作的FET开关1645。
马达电流传感器1646与马达1648串联联接,从而向电流监视器1647提供马达电流传感器读数。电流监视器1647联接到主处理器1606。电流监视器1647提供了指示马达1648电流汲取的信号。主处理器1606可利用来自马达电流1647的信号来控制马达的操作,例如,用以确保马达1648的电流汲取在可接受的范围内、用以将马达1648的电流汲取与电路1600(例如位置编码器1640)的一个或多个参数进行比较,并且/或者用以确定治疗部位的一个或多个参数。在一些实施方案中,电流监视器1647可联接到安全处理器1604。
在一些实施方案中,一个或多个柄部控件,例如击发触发器的致动,引起主处理器1606在柄部控件被致动时降低供给一个或多个部件的功率。例如,在一个实施方案中,击发触发器控制切割构件的击发行程。切割构件由马达1648驱动。击发触发器的致动引起马达1648的向前操作和切割构件的推进。在击发期间,主处理器1606闭合FET开关1651,从位置编码器1640移除功率。一个或多个电路部件的停用允许更高的功率传送至马达1648。当击发触发器被释放时,全功率恢复至停用的部件,例如,通过闭合FET开关1651并且停用位置编码器1640。
在一些实施方案中,安全处理器1604控制分段电路1600的操作。例如,安全处理器1604可引发分段电路1600的顺序通电、将分段电路1600转变到休眠模式并从休眠模式发生转变,并且/或者可覆盖来自主处理器1606的一个或多个控制信号。例如,在所示实施方案中,安全处理器1604联接到降压转换器1616。安全处理器1604通过启动或停用降压转换器1616来控制分段电路1600的操作,以向分段电路1600的其余部分提供功率。
图14示出了功率系统1700的一个实施方案,该功率系统包括被构造成被顺序通电的多个雏菊链式功率转换器1714,1716,1718;多个雏菊链式功率转换器1714,1716,1718可在初始通电和/或转变自休眠模式期间通过例如安全处理器而顺序地启用。安全处理器可由独立的功率转换器(未示出)供电。例如,在一个实施方案中,当电池电压VBATT联接到功率系统1700并且/或者加速度计检测到休眠模式下的运动时,安全处理器引发雏菊链式功率转换器1714,1716,1718的顺序启动。安全处理器启用13V升压段1718。升压段1718通电并执行自检。在一些实施方案中,升压段1718包括集成电路1720,该集成电路被构造成升高源电压并执行自检。二极管D阻止5V供电段1716通电,直至升压段1718已完成自检并且已向二极管D提供了指示升压段1718未识别到任何错误的信号。在一些实施方案中,由安全处理器提供该信号。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
5V供电段1716被顺序地在升压段1718之后通电。5V供电段1716在通电期间执行自检,以识别5V供电段1716中的任何错误。5V供电段1716包括集成电路1715,该集成电路被构造成提供降低电压(其来自升高电压),并且能够执行错误检查。当未检测到错误时,5V供电段1716完成顺序通电,并且向3.3V供电段1714提供启动信号。在一些实施方案中,安全处理器向3.3V供电段1714提供启动信号。3.3V供电段包括集成电路1713,该集成电路被构造成提供来自5V供电段1716的降低电压,并且能够在通电过程中执行错误自检。当在自检过程中未检测到错误时,3.3V供电段1714向主处理器提供功率。主处理器被构造成顺序地对每个剩余的电路段供电。通过顺序地对功率系统1700和/或分段电路的剩余部分供电,功率系统1700降低了错误风险,在施加负荷之前实现电压水平的稳定性,并防止所有硬件以不可控的方式同时被接通而产生较大的电流汲取。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
在一个实施方案中,功率系统1700包括过压识别及消减电路。过压识别及消减电路被构造成检测外科器械中的单极返回电流,并且在检测到单极返回电流时中断来自功率段的功率。过压识别及消减电路被构造成识别功率系统的接地浮动。过压识别及消减电路包括金属氧化物变阻器。过压识别及消减电路至少包括一个瞬时电压抑制二极管。
图15示出了包括隔离控制节段1802的分段电路1800的一个实施方案。隔离控制节段1802将分段电路1800的控制硬件与分段电路1800的功率节段(未示出)隔离。控制节段1802包括,例如,主处理器1806、安全处理器(未示出),和/或附加的控制硬件,例如FET开关1817。功率节段包括,例如,马达、马达驱动器,和/或多个马达MOSFET。隔离控制节段1802包括充电电路1803和联接到5V功率转换器1816的可充电电池1808。充电电路1803和可充电电池1808将主处理器1806与功率节段隔离。在一些实施方案中,可充电电池1808联接到安全处理器和任一附加的支持硬件。将控制节段1802与功率节段隔离使得控制节段1802(例如,主处理器1806)即使在主功率被移除时也保持活动,并经由可充电电池1808提供了过滤器,从而避免控制节段1802受到噪声影响,还将控制节段1802与电池电压中的大幅波动隔离,以确保即使存在较重马达负荷时也正常运行,并且/或者允许了分段电路1800使用实时操作系统(RTOS)。在一些实施方案中,可充电电池1808向主处理器提供降低电压,例如,3.3V的电压。然而,这些实施方案不限于本说明书的上下文中所述的特定电压范围。
图17示出了用于分段电路,例如图5中所示的分段电路1100的顺序启动流程的一个实施方案。当一个或多个传感器引发了从休眠模式到操作模式的转变时,顺序启动流程1820即开始。当一个或多个传感器停止检测状态变化时(步骤1822),定时器启动(步骤1824)。定时器对一个或多个传感器检测到最近一次运动/最近一次与外科器械2000的相互作用的时刻至当前时刻的时间进行计数。由例如安全处理器1104将定时器计数与休眠模式阶段的表格进行比较(步骤1826)。当定时器计数超过用于转变到休眠模式阶段的一个或多个计数时(步骤1828a),安全处理器1104停止对分段电路1100供电(步骤1830),并且将分段电路1100转变到对应的休眠模式阶段。当定时器计数低于任一休眠模式阶段的阈值时(步骤1828b),分段电路1100继续顺序地对下一个电路段供电(步骤1832)。
再次参见图5,在一些实施方案中,分段电路1100包括一个或多个环境传感器,以检测外科器械的不适当存储和/或处理。例如,在一个实施方案中,分段电路1100包括温度传感器。温度传感器被构造成检测分段电路1100所暴露于的最大和/或最小温度。外科器械2000和分段电路1100包括最大和/或最小温度暴露设计极限。当外科器械2000暴露于超过限值的温度时,例如在消毒技术过程中超过最大极限的温度,温度传感器检测到过暴露并阻止装置的操作。温度传感器可包括,例如,双金属条带、固态温度传感器和/或任何其他合适的温度传感器,其中双金属条带被构造成在暴露于大于预先确定的阈值的温度时停用外科器械2000,而固态温度传感器被构造成存储温度数据并且向安全处理器1104提供温度数据。
在一些实施方案中,加速度计1122被构造成环境安全传感器。加速度计1122记录外科器械2000经受的加速度。大于预先确定的阈值的加速度可指示,例如,外科器械已经掉落。外科器械包括最大加速度公差。当加速度计1122检测到加速度大于最大加速度公差时,安全处理器1104阻止外科器械2000的操作。
在一个实施方案中,分段电路1100包括湿度传感器。湿度传感器被构造成在分段电路1100暴露于水分时进行指示。湿度传感器可包括,例如,被构造成在外科器械2000已经完全浸没到清洁液体中时进行指示的浸没式传感器,被构造成在分段电路1100通电的情况下当水分与分段电路1100接触时进行指示的湿度传感器,和/或其他任何合适的湿度传感器。
在一个实施方案中,分段电路1100包括化学暴露传感器。化学暴露传感器被构造成指示外科器械2000何时已经与有害性和/或危险化学品接触。例如,在消毒步骤过程中,可能使用了导致外科器械2000劣化的不合适化学品。化学暴露传感器可指示接触安全处理器1104的不合适化学品,从而可阻止外科器械2000的操作。
分段电路1100被构造成监视多个使用周期。例如,在一个实施方案中,电池1108包括被构造成监视使用周期计数的电路。在一些实施方案中,安全处理器1104被构造成监视使用周期计数。使用周期可包括由外科器械引发的外科事件,例如,与外科器械2000一起使用的轴2004的数量,由插入外科器械2000中的仓的数量和/或由该外科器械部署的仓的数量,和/或外科器械2000的击发次数。在一些实施方案中,使用周期可包括环境事件,例如,撞击事件、暴露于不合适的存储条件和/或不合适的化学品、消毒流程、清洁流程,和/或修复流程。在一些实施方案中,使用周期可包括功率组件(如,电池包)的更换和/或充电周期。
分段电路1100可针对所有限定的使用周期维持总使用周期计数,并且/或者可针对一个或多个限定的使用周期维持其各自的使用周期计数。例如,在一个实施方案中,分段电路1100可针对由外科器械2000引发的所有外科事件维持单个使用周期计数,并针对由外科器械2000经受的每个环境事件维持其各自的使用周期计数。使用周期计数用于约束分段电路1100的一个或多个行为。例如,当检测到使用周期数量超过预先确定的阈值或暴露于不合适的环境事件时,使用周期计数可用于禁用分段电路1100,例如,通过禁用电池1108。在一些实施方案中,使用周期计数用于在有必要执行外科器械2000的建议服务和/或强制服务时进行指示。
图18示出了用于控制外科器械的方法1950的一个实施方案,该外科器械包括分段电路,诸如图12中所示的分段控制电路1602。在步骤1952处,功率组件1608联接到外科器械。功率组件1608可包括任何合适的电池,例如,图1至图3中示出的功率组件2006。功率组件1608被构造成向分段控制电路1602提供源电压。源电压可包括任何合适的电压,例如,12V的电压。在步骤1954处,功率组件1608对升压转换器1618供电。升压转换器1618被构造成提供设定电压。设定电压包括大于由功率组件1608所提供的源电压的电压。例如,在一些实施方案中,设定电压包括13V的电压。在第三步骤1956中,升压转换器1618对一个或多个调压器供电,从而向一个或多个电路部件提供一个或多个操作电压。操作电压包括小于由升压转换器所提供的设定电压的电压。
在一些实施方案中,升压转换器1618联接到被构造成提供第一操作电压的第一调压器1616。由第一调压器1616提供的第一操作电压小于由升压转换器提供的设定电压。例如,在一些实施方案中,第一操作电压包括5V的电压。在一个实施方案中,升压转换器联接到第二调压器1614。第二调压器1614被构造成提供第二操作电压。第二操作电压包括小于设定电压和第一操作电压的电压。例如,在一些实施方案中,第二操作电压包括3.3V的电压。在一些实施方案中,电池1608、升压转换器1618、第一调压器1616和第二电压转换器1614被构造成雏菊链式构型。电池1608向升压转换器1618提供源电压。升压转换器1618将源电压升高至设定电压。升压转换器1618向第一调压器1616提供设定电压。第一调压器1616产生第一操作电压,并且向第二调压器1614提供第一操作电压。第二调压器1614生成第二操作电压。
在一些实施方案中,一个或多个电路部件直接由升压转换器1618供电。例如,在一些实施方案中,OLED显示器1688直接联接到升压转换器1618。升压转换器1618向OLED显示器1688提供设定电压,而无需要求OLED在其内具有一体式功率发生器。在一些实施方案中,处理器,例如,图5中示出的安全处理器1604验证由升压转换器1618和/或一个或多个调压器1616,1614提供的电压。安全处理器1604被构造成验证由每个升压转换器1618和调压器1616,1614提供的电压。在一些实施方案中,安全处理器1604验证设定电压。当设定电压等于或大于第一预先确定的值时,安全处理器1604对第一调压器1616供电。安全处理器1604验证由第一调压器1616提供的第一操作电压。当第一操作电压等于或大于第二预先确定的值时,安全处理器1604对第二调压器1614供电。然后,安全处理器1604验证第二操作电压。当第二操作电压等于或大于第三预先确定的值时,安全处理器1604对分段电路1600剩余的每个电路部件供电。
本文所述主题的各个方面涉及通过分段电路和可变电压保护来控制外科器械的功率管理的方法。在一个实施方案中,提供了控制外科器械(该外科器械包括主处理器、安全处理器和分段电路,该分段电路包括与主处理处理器信号通信的多个电路段,多个电路段包括功率段)中功率管理的方法,该方法包括由功率段提供每个区段的可变电压控制。在一个实施方案中,该方法包括由包括升压转换器的功率段为至少一个区段电压提供功率稳定性。该方法也包括由升压转换器向主处理器和安全处理器提供功率稳定性。该方法也包括独立于多个电路段的功率汲取,由升压转换器向主处理器和安全处理器提供大于预先确定的阈值的恒定电压。该方法也包括由过压识别及消减电路检测外科器械中的单极返回电流,并且在检测到单极返回电流时中断来自功率段的功率。该方法也包括由过压识别及消减电路识别功率系统的接地浮动。
在另一个实施方案中,该方法也包括由功率段对多个电路段中的每个电路段顺序地供电,并且在对顺序电路段供电之前对每个电路段进行错误检查。该方法也包括由联接到功率段的功率源来对安全处理器供电,当安全处理器通电时由安全处理器执行错误检查,并且当在错误检查期间未检测到错误时执行操作并对安全处理器、主处理器供电。该方法也包括当主处理器通电时由主处理器执行错误检查,并且其中当在错误检查期间未检测到错误时,由主处理器对多个电路段中的每个电路段顺序地供电。该方法也包括由主处理器对多个电路段中的每个电路段进行错误检查。
在另一个实施方案中,该方法包括当功率源连接到功率段时由升压转换器对安全处理器供电,由安全处理器执行错误检查,并且当在错误检查期间未检测到错误时,由安全处理器对主处理器供电。该方法也包括由主处理器执行错误检查,并且当在错误检查期间未检测到错误时,由主处理器顺序地对多个电路段中的每个电路段供电。该方法也包括由主处理器对多个电路段中的每个电路段进行错误检查。
在另一个实施方案中,该方法也包括由功率段向主处理器提供区段电压,提供每个区段的可变电压保护,由升压转换器向区段电压、过压识别及消减电路中的至少一者提供功率稳定性,由功率段对多个电路段中的每个电路段顺序地供电,以及在对顺序电路段供电之前对每个电路段进行错误检查。
本文所述主题的各个方面涉及控制具有安全处理器的外科器械控制电路的方法。在一个实施方案中,提供了控制外科器械(该外科器械包括控制电路,该控制电路包括主处理器、与主处理器信号通信的安全处理器,以及分段电路,该分段电路包括与主处理器信号通信的多个电路段)的方法,该方法包括由安全处理器监视多个电路段的一个或多个参数。该方法也包括由安全处理器验证多个电路段的一个或多个参数,并且独立于由主处理器产生的一个或多个控制信号而验证所述一个或多个参数。该方法还包括由安全处理器验证切割元件的速度。该方法也包括由第一传感器监视外科器械的第一性质,由第二传感器监视外科器械的第二性质,其中第一性质和第二性质包括预先确定的关系,并且其中第一传感器和第二传感器与安全处理器信号通信。该方法也包括当检测到故障时,由安全处理器阻止多个电路段中至少一者的操作,其中故障包括具有与预先确定的关系不一致的值的第一性质和第二性质。该方法也包括由霍尔效应传感器监视切割构件位置,并且由马达电流传感器监视马达电流。
在另一个实施方案中,该方法包括当检测到一个或多个参数的验证与由主处理器产生的一个或多个控制信号失配时,由安全处理器禁用多个电路段中的至少一个电路段。该方法也包括由安全处理器阻止马达段的操作,并且中断从功率段至马达段的功率流。该方法也包括由安全处理器阻止马达段的向前操作,并且当检测到故障时允许由安全处理器对马达段的操作进行换向。
在另一个实施方案中,分段电路包括马达段和功率段,该方法包括由马达段控制外科器械的一个或多个机械操作,并且由安全处理器监视多个电路段的一个或多个参数。该方法也包括由安全处理器验证多个电路段的一个或多个参数,并且独立于由主处理器产生的一个或多个控制信号,由安全处理器独立地验证所述一个或多个参数。
在另一个实施方案中,该方法也包括由安全处理器独立地验证切割元件的速度。该方法也包括由第一传感器监视外科器械的第一性质,由第二传感器监视外科器械的第二性质,其中第一性质和第二性质包括预先确定的关系,并且其中第一传感器和第二传感器与安全处理器信号通信,其中故障包括具有与预先确定的关系不一致的值的第一性质和第二性质,并且当安全处理器检测到故障时,由安全处理器阻止多个电路段中的至少一个电路段的操作。该方法也包括由霍尔效应传感器监视切割构件位置,并且由马达电流传感器监视马达电流。
在另一个实施方案中,该方法包括当检测到一个或多个参数的验证与由主处理器产生的一个或多个控制信号失配时,由安全处理器禁用多个电路段中的至少一个电路段。该方法也包括由安全处理器阻止马达段的操作,并且中断从功率段至马达段的功率流。该方法也包括由安全处理器阻止马达段的向前操作,并且当检测到故障时,允许由安全处理器对马达段的操作进行换向。
在另一个实施方案中,该方法包括由安全处理器监视多个电路段的一个或多个参数,由安全处理器验证多个电路段的一个或多个参数,由安全处理器独立于由主处理器产生的一个或多个控制信号而验证所述一个或多个参数,并且当检测到一个或多个参数的验证与由主处理器产生的一个或多个控制信号失配时,由安全处理器禁用多个电路中的至少一者。该方法也包括由第一传感器监视外科器械的第一性质,由第二传感器监视外科器械的第二性质,其中第一性质和第二性质包括预先确定的关系,并且其中第一传感器和第二传感器与安全处理器信号通信,其中故障包括具有与预先确定的关系不一致的值的第一性质和第二性质,并且其中当检测到故障时,由安全处理器阻止多个电路段中的至少一个电路段的操作。该方法也包括当检测到故障时,通过中断从功率段传送至马达段的功率流,从而由安全处理器阻止马达段的操作。
本文所述主题的各个方面涉及通过分段电路的休眠选项和唤醒控制来控制外科器械的功率管理的方法,该外科器械包括控制电路,该控制电路包括主处理器、与主处理器信号通信的安全处理器,以及分段电路,该分段电路包括与主处理器信号通信的多个电路段,多个电路段包括功率段,该方法包括由安全处理器将主处理器和多个电路段中的至少一个电路段从活动模式转变到休眠模式,并且从休眠模式转变到活动模式。该方法也包括由定时器追踪自从最后一个由用户引发的事件结束到目前时刻的时间,并且其中当所述自从最后一个由用户引发的事件结束到目前时刻的时间超过预先确定的阈值时,由安全处理器将主处理器和多个电路中的至少一者转变到休眠模式。该方法也包括由加速度段(包括加速度计)检测外科器械的一个或多个运动。该方法包括由定时器追踪自从加速度段检测到最后一次运动结束到目前时刻的时间。该方法也包括当多个电路段转变到休眠模式时,由安全处理器将加速度段维持在活动模式下。
在另一个实施方案中,该方法也包括在多个阶段转变到休眠模式。该方法也包括在第一预先确定的周期之后将分段电路转变到第一阶段并使显示器段的背光源变暗,在第二预先确定的周期之后将分段电路转变到第二阶段并关闭背光源,在第三预先确定的周期之后将分段电路转变到第三阶段并降低加速度计的轮询速率,在第四预先确定的周期之后将分段电路转变到第四阶段并关闭显示器,并且将外科器械转变到休眠模式。
在另一个实施方案中,该方法包括由触摸传感器检测用户与外科器械的接触,并且当触摸传感器检测到用户与外科器械的接触时,由安全处理器将主处理器和多个电路段从休眠模式转变到活动模式。该方法也包括由安全处理器监视至少一个柄部控件,并且当至少一个柄部控件被致动时,由安全处理器将主处理器和多个电路段从休眠模式转变到活动模式。
在另一个实施方案中,该方法包括当加速度计检测到外科器械的运动大于预先确定的阈值时,由安全处理器将外科装置转变到活动模式。该方法也包括由安全处理器监视加速度计在至少第一方向和第二方向的运动,并且当在至少第一方向和第二方向检测到运动大于预先确定的阈值时,由安全处理器将外科器械从休眠模式转变到操作模式。该方法也包括由安全处理器监视加速度计在第一方向、第二方向和第三方向大于预先确定的阈值的振荡运动,并且当在第一方向、第二方向和第三方向检测到振荡运动大于预先确定的阈值时,由安全处理器将外科器械从休眠模式转变到操作模式。该方法也包括当自从前一次运动结束到目前时刻的时间增加时,增加预先确定的阈值。
在另一个实施方案中,该方法包括当自从最后一个由用户引发的事件结束到目前时刻的时间超过预先确定的阈值时,由安全处理器将主处理器和多个电路段中的至少一个电路段从活动模式转变到休眠模式,并从休眠模式转变到活动模式,并且通过定时器追踪自从加速度段检测到最后一次运动结束到目前时刻的时间,当加速度段检测到外科器械的运动大于预先确定的阈值时,由安全处理器将外科装置转变到活动模式。
在另一个实施方案中,控制外科器械的方法包括追踪自从最后一个由用户引发的事件结束到目前时刻的时间,并且当自从最后一个由用户引发的事件结束到目前时刻的时间超过预先确定的阈值时,由安全处理器禁用显示器的背光源。该方法也包括由安全处理器使显示器的背光源闪烁以提示用户观看显示器。
本文所述主题的各个方面涉及通过消毒验证电路来验证外科器械的消毒状况的方法,该外科器械包括控制电路,该控制电路包括主处理器、与主处理器信号通信的安全处理器,以及分段电路,该分段电路包括与主处理器信号通信的多个电路段,多个电路段包括存储验证段,该方法包括在外科器械已被正确存储和消毒后进行指示。该方法也包括由至少一个传感器检测一个或多个不正确的存储或消毒参数。该方法也包括由防掉落传感器在仪器已掉落时进行感测,并且当防掉落传感器检测到外科器械已掉落时,由安全处理器阻止多个电路段中的至少一个电路段的操作。该方法也包括当温度传感器检测到温度大于预先确定的阈值时,由安全处理器阻止多个电路段中的至少一个电路段的操作。该方法也包括当温度传感器检测到温度大于预先确定的阈值时,由安全处理器阻止多个电路段中的至少一个电路段的操作。
在另一个实施方案中,该方法包括当湿度检测传感器检测到水分时,由安全处理器控制多个电路段中的至少一个电路段的操作。该方法也包括由湿度检测传感器检测高压釜循环,并且在未检测到高压釜循环的情况下,由安全处理器阻止外科器械的操作。该方法也包括当在分级电路启动过程中检测到水分时,由安全处理器阻止多个电路段中的至少一个电路段的操作。
在一个实施方案中,该方法包括当外科器械已被正确消毒时,由多个电路段(包括消毒验证段)进行指示。该方法也包括由消毒验证段的至少一个传感器检测外科器械的消毒状况。该方法也包括当外科器械已经被正确存储时,由存储验证段进行指示。该方法也包括由存储验证段的至少一个传感器检测外科器械的不正确存储状况。
以下专利的全部公开内容据此以引用方式并入本文中:
公布于1995年4月4日的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312;
公布于2006年2月21日的名称为“SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS”的美国专利7,000,818;
公布于2008年9月9日的名称为“MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK”的美国专利7,422,139;
公布于2008年12月16日的名称为“ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS”的美国专利7,464,849;
公布于2010年3月2日的名称为“SURGICAL INSTRUMENT HAVING AN ARTICULATINGEND EFFECTOR”的美国专利7,670,334;
公布于2010年7月13日的名称为“SURGICAL STAPLING INSTRUMENTS”的美国专利7,753,245;
公布于2013年3月12日的名称为“SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE”的美国专利8,393,514;
名称为“SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES”的美国专利申请序列号11/343,803;
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;
提交于2008年2月15日的名称为“END EFFECTORS FOR A SURGICAL CUTTING ANDSTAPLING INSTRUMENT”的美国专利申请序列号12/031,873(现为美国专利7,980,443);
名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利申请序列号12/235,782(现为美国专利8,210,411);
名称为“POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM”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);
提交于2009年12月24日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENTWITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY”的美国专利申请序列号12/647,100;
提交于2012年9月29日的名称为“STAPLE CARTRIDGE”的美国专利申请序列号12/893,461(现为美国专利申请公布2012/0074198);
提交于2011年2月28日的名称为“SURGICAL STAPLING INSTRUMENT”的美国专利申请序列号13/036,647(现为美国专利申请公布2011/0226837);
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);
提交于2012年6月15日的名称为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING A FIRING DRIVE”的美国专利申请序列号13/524,049;
提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,025;
提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,067;
提交于2006年1月31日的名称为“SURGICAL CUTTING AND FASTENING INSTRUMENTWITH CLOSURE TRIGGER LOCKING MECHANISM”的美国专利申请公布2007/0175955;以及
提交于2010年4月22日的名称为“SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR”的美国专利申请公布2010/0264194。
根据各种实施方案,本文所述的外科器械可包括联接到各种传感器的一个或多个处理器(例如,微处理器、微控制器)。此外,存储(具有操作逻辑)和通信接口与一个或多个处理器彼此联接。
如前所述,传感器可以被构造成检测和收集与外科装置相关联的数据。处理器处理从传感器接收的传感器数据。
处理器可被构造成执行操作逻辑。处理器可为本领域中已知的多个单核或多核处理器中的任一个。存储装置可包括被构造成存储操作逻辑的永久和临时(工作)拷贝的易失性和非易失性存储介质。
在各种实施方案中,操作逻辑可被构造成处理所收集的与用户的运动数据相关联的生物计量数据,如上所述。在各种实施方案中,操作逻辑可以被构造成执行初始处理,并且将数据传送到托管应用程序的计算机以确定和产生指令。对于这些实施方案,操作逻辑可以被进一步构造成从托管计算机接收信息并且向其提供反馈。在另选实施方案中,操作逻辑可以被构造成在接收信息和确定反馈中扮演更重要的角色。在任一种情况下,无论是其独立确定还是响应于来自托管计算机的指令,操作逻辑可以被进一步构造成控制反馈并向使用者提供反馈。
在各种实施方案中,操作逻辑可以由处理器的指令集架构(ISA)所支持的指令来实施,或者以更高级语言来实施,并且编译成受支持的ISA。操作逻辑可包括一个或多个逻辑单元或模块。操作逻辑可以面向对象的方式来实施。操作逻辑可以被构造成以多任务方式和/或多线程方式来执行。在其他实施方案中,操作逻辑可在硬件(诸如门阵列)中实施。
在各种实施方案中,通信接口可以被构造成有利于外围设备与计算系统之间的通信。该通信可包括将所收集的与位置、姿势相关联的生物计量数据和/或使用者身体部分的移动数据传送到托管计算机,以及将与触觉反馈相关联的数据从主计算机传送到外围设备。在各种实施方案中,通信接口可为有线或无线通信接口。有线通信接口的示例可包括但不限于通用串行总线(USB)接口。无线通信接口的示例可包括但不限于蓝牙接口。
对于各种实施方案,处理器可与操作逻辑封装在一起。在各种实施方案中,处理器可与操作逻辑封装在一起以形成系统级封装(SiP)。在各种实施方案中,处理器可在相同裸片上与操作逻辑一起集成。在各种实施方案中,处理器可与操作逻辑封装在一起以形成片上系统(SoC)。
各种实施方案可在本文中于计算机可执行指令的一般背景中进行描述,所述计算机可执行指令诸如软件、程序模块、和/或正由处理器执行的引擎。一般来讲,软件、程序模块、和/或引擎包括被布置成执行特定操作或实现特定抽象数据类型的任何软件元件。软件、程序模块、和/或引擎可包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、部件、数据结构等。软件、程序模块、和/或引擎部件和技术的具体实施可存储在某种形式的计算机可读介质上并且/或者通过某种形式的计算机可读介质传输。就此而言,计算机可读介质可以是可用于存储信息且可由计算设备访问的任何可用介质。一些实施方案还可以在分布式计算环境中实践,在所述分布式计算环境中,操作由通过通信网络链接的一个或多个远程处理设备执行。在分布式计算环境中,软件、程序模块、和/或引擎可位于包括存储器存储设备在内的本地和远程计算机存储介质中。可采用存储器(诸如随机存取存储器(RAM)或其他动态存储装置)来存储信息以及待由处理器执行的指令。存储器还可用于在执行待由处理器执行的指令期间存储临时变量或其他中间信息。
虽然可以将一些实施方案例示和描述为包括功能部件、软件、引擎、和/或执行各种操作的模块,但是应当理解,此类部件或模块可以由一个或多个硬件部件、软件部件、和/或它们的组合实现。功能部件、软件、引擎、和/或模块可由(例如)待被逻辑设备(例如,处理器)执行的逻辑(例如,指令、数据、和/或代码)实现。这种逻辑可存储在位于一种或多种类型的计算机可读存储介质上的逻辑设备内部或外部。在其他实施方案中,功能部件诸如软件、引擎、和/或模块可由硬件元件实现,所述硬件元件可包括处理器、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)、集成电路、专用集成电路(ASIC)、可编程逻辑设备(PLD)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)、逻辑门、寄存器、半导体设备、芯片、微芯片、芯片组,等等。
软件、引擎、和/或模块的示例可包括软件部件、程序、应用、计算机程序、应用程序、系统程序、机器程序、操作系统软件、中间件、固件、软件模块、例程、子例程、函数、方法、过程、软件接合部、应用程序接合部(API)、指令集、计算代码、计算机代码、代码片段、计算机代码片段、字、值、符号、或它们的任何组合。确定实施方案是否使用硬件元件和/或软件元件来实现可以根据任何数量的因素改变,这些因素诸如期望的计算速率、功率电平、热容差、处理循环预算、输入数据速率、输出数据速率、存储器资源、数据总线速度以及其他设计或性能约束。
本文所述的模块中的一个或多个可包括实施为固件、软件、硬件或它们的任意组合的一个或多个嵌入式应用程序。本文所述的模块中的一个或多个可包括各种可执行模块,诸如软件、程序、数据、驱动器、应用程序接口(API)等。固件可存储在控制器2016和/或控制器2022的可包括非易失性存储器(NVM)的存储器中,诸如位屏蔽只读存储器(ROM)或闪速存储器中。在各种具体实施中,将固件存储在ROM中可保护闪速存储器。非易失性存储器(NVM)可包括其他类型的存储器,包括例如可编程ROM(PROM)、可擦除可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或电池支持的随机存取存储器(RAM),诸如动态RAM(DRAM)、双数据率DRAM(DDRAM)和/或同步DRAM(SDRAM)。
在一些情况下,各种实施方案可实现为制造制品。所述制造制品可以包括被布置为存储用于执行一个或多个实施方案的各种操作的逻辑、指令和/或数据的计算机可读存储介质。在各种实施方案中,例如,所述制品可包括磁盘、光盘、闪存存储器或固件,这些制品均含有适于由通用处理器或专用处理器执行的计算机程序指令。然而,实施方案并不仅限于此。
结合本文所公开的实施方案描述的各种功能性元件、逻辑块、模块、和电路元件的功能可在计算机可执行指令的一般环境中实施,诸如由处理单元执行的软件、控制模块、逻辑、和/或逻辑模块。一般而言,软件、控制模块、逻辑、和/或逻辑模块包括布置成执行特定操作的任何软件元件。软件、控制模块、逻辑、和/或逻辑模块可包括执行特定任务或实施特定抽象数据类型的例程、程序、对象、部件、数据结构等。软件、控制模块、逻辑、和/或逻辑模块和技术的具体实施可存储在某种形式的计算机可读介质上并且/或者通过某种形式的计算机可读介质传输。就此而言,计算机可读介质可以是可用于存储信息且可由计算设备访问的任何可用介质。一些实施方案还可以在分布式计算环境中实践,在所述分布式计算环境中,操作由通过通信网络链接的一个或多个远程处理设备执行。在分布式计算环境中,软件、控制模块、逻辑、和/或逻辑模块可位于包括存储器存储设备在内的本地和远程计算机存储介质中。
此外,应当理解,本文所述的实施方案阐明了示例性具体实施,并且功能性元件、逻辑块、模块、和电路元件可以与所述实施方案一致的各种其他方式来实施。此外,由此类功能性元件、逻辑块、模块、和电路元件执行的操作可组合和/或分离以用于给定的具体实施,并且可由更多数量或更少数量的部件或模块来执行。如本领域技术人员在阅读本公开之后所显而易见的,本文所述和所示的单独实施方案中的每个具有分立部件和特征,在不背离本公开的范围的前提下,所述部件和特征可容易地与其他若干方面中任意方面的特征分离或组合。可按所述事件的顺序或按任何其他在逻辑上可能的顺序来执行任何所述方法。
值得注意的是,任何对“一个实施方案”或“实施方案”的提及均意指结合实施方案所述的特定特征、结构或特性包括在至少一个实施方案中。在说明书中各处出现的短语“在一个实施方案中”或“在一个方面”并不一定全部是指相同的实施方案。
除非另外特别说明,否则应当理解,术语诸如“处理”、“运算”、“计算”、“确定”等是指计算机或计算系统、或类似电子计算装置的动作和/或过程,所述电子计算装置诸如通用处理器、DSP、ASIC、FPGA或其他可编程逻辑装置、分立门或晶体管逻辑、分立硬件部件,或它们的任何组合,其被设计以执行本文所述的功能,其操纵表示为寄存器和/或存储器内的物理量(例如,电子)的数据并且/或者将其转换成相似地表示为存储器、寄存器或其他此类信息存储装置、传送装置或显示装置内的物理量的其他数据。
值得注意的是,一些实施方案可使用表达“联接”和“连接”以及它们的衍生词来描述。并不希望这些术语是彼此同义的。例如,一些实施方案可使用术语“连接”和/或“联接”来描述,以表示两个或更多个元件彼此直接物理接触或电接触。然而,术语“联接”还可以指两个或更多个元件彼此不是直接接触,而是彼此配合或相互作用。就软件元件而言,例如,术语“联接”可指接口、消息接口、应用程序接口(API)、交换消息等。
应当理解,所述以引用的方式并入本文中的任何专利、出版物或其他公开材料,无论是全文或部分,仅在所并入的材料与本公开中给出的定义、陈述或者其他公开材料不冲突的范围内并入本文。因此,在必要的程度下,本文明确阐述的公开内容替代以引用方式并入本文的任何冲突材料。据称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。
本发明所公开的实施方案应用于常规的内窥镜检查和开放式外科器械以及应用于机器人辅助的手术。
本文所公开的装置的实施方案可设计为使用单次后丢弃,也可设计为供多次使用。在上述任一或两种情况下,都可对这些实施方案进行修复,以便在使用至少一次后再使用。修复可包括以下步骤的任意组合:拆卸装置、然后清洗或更换特定零件和随后进行重新组装。具体地讲,可以拆卸装置的实施方案,并且可选择性地以任何组合形式来更换或移除装置的任意数量的特定零件或部件。在清洁和/或更换特定部件时,所述装置的实施方案可在修复设施中重新组装或在即将进行外科手术前由外科手术团队重新组装以供随后使用。本领域的技术人员将会了解,装置修复可以利用多种技术进行拆卸、清洗/更换以及重新组装。这些技术的使用和所得重新修复的装置均在本申请的范围内。
仅以举例的方式,可在外科手术之前对本文所述的实施方案进行处理。首先,可以获得新的或用过的器械,并且根据需要进行清洁。然后,可对器械进行消毒。在一种消毒技术中,将该器械放置在闭合且密封的容器中,例如塑料或TYVEK袋中。然后可将容器和器械置于可穿透该容器的辐射场,例如γ辐射、X射线或高能电子。辐射可以杀死器械上和容器中的细菌。消毒后的器械随后可被存放在无菌容器中。密封容器可将器械保持处于无菌状态,直至在医疗设施中将该容器打开。还可使用本领域已知的任何其他技术对装置消毒,包括但不限于β辐射或γ辐射、环氧乙烷或蒸汽。
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)、装置、对象和它们随附的讨论是为了概念清楚起见而用作示例,并且可以设想多种构型修改形式。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,并且具体组成部分(例如,操作)、装置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部件中的不同部件或与其他不同部件连接的不同部件。应当理解,这样描述的架构仅是示例,并且事实上可以实施实现获得相同功能性的许多其他架构。在概念意义上,获得相同功能性的部件的任何布置方式都是有效“相关联的”,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“相关联”,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。
一些方面可以使用表达“联接”和“连接”以及它们的衍生词来描述。应当理解,并不希望这些术语是彼此同义的。例如,某些方面可以利用术语“连接”来描述,以表示两个或更多个元件彼此直接物理接触或电接触。在另一个示例中,一些方面可使用术语“联接”来描述,以表示两个或更多个元件直接物理接触或电接触。然而,术语“联接”还可以指两个或更多个元件彼此不是直接接触,而是彼此配合或相互作用。
在一些情况下,一个或多个部件在本文中可被称为“被构造成”、“可被构造成”、“可操作/可操作地”、“适合/适于”、“能够”、“适应/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“被构造成”通常可涵盖活动状态的部件和/或不活动状态的部件和/或待机状态的部件。
虽然已经示出并描述了本文所述的本发明主题的特定方面,但是对本领域的技术人员将显而易见的是,基于本文的教导,可在不脱离本文所述的主题的情况下作出改变和变型,并且如在本文所述的主题的真实范围内,其更广泛的方面并因此所附权利要求将所有此类改变和变型包括在其范围内。本领域的技术人员应当理解,一般而言,本文特别是随附权利要求(例如,随附权利要求的正文)中所使用的术语通常旨在为“开放”术语(例如,术语“包括”应解释为“包括但不限于”,术语“具有”应解释为“至少具有”,术语“包含”应解释为“包含但不限于”等)。本领域的技术人员还应当理解,当所引入权利要求叙述的具体数目为预期的时,则这样的意图将在权利要求中明确叙述,并且在不存在这样的叙述的情况下,不存在这样的意图。例如,为帮助理解,下述随附权利要求可含有对介绍性短语“至少一个”和“一个或多个”的使用以引入权利要求叙述。然而,对此类短语的使用不应被视为暗示通过不定冠词“一个”或“一种”引入权利要求叙述将含有此类引入权利要求叙述的任何特定权利要求限制在含有仅一个这样的叙述的权利要求中,甚至当同一权利要求包括介绍性短语“一个或多个”或“至少一个”和诸如“一个”或“一种”(例如,“一个”和/或“一种”通常应解释为意指“至少一个”或“一个或多个”)的不定冠词时;这也适用于对用于引入权利要求叙述的定冠词的使用。
另外,即使在明确叙述引入权利要求叙述的特定数目时,本领域的技术人员应当认识到,这种叙述通常应解释为意指至少所叙述的数目(例如,在没有其他修饰语的情况下,对“两个叙述”的裸叙述通常意指至少两个叙述、或两个或更多个叙述)。此外,在其中使用类似于“A、B和C中的至少一者等”的惯例的那些情况下,一般而言,这种结构意在具有本领域的技术人员将理解所述惯例的意义(例如,“具有A、B和C中的至少一者的系统”将包括但不限于具有仅A、仅B、仅C、A和B一起、A和C一起、B和C一起和/或A、B和C一起等的系统)。在其中使用类似于“A、B或C中的至少一者等”的惯例的那些情况下,一般而言,这种结构意在具有本领域的技术人员将理解所述惯例的意义(例如,“具有A、B或C中的至少一者的系统”将包括但不限于具有仅A、仅B、仅C、A和B一起、A和C一起、B和C一起和/或A、B和C一起等的系统)。本领域的技术人员还应当理解,通常,除非上下文另有指示,否则无论在具体实施方式、权利要求或附图中呈现两个或更多个替代术语的转折性词语和/或短语应理解为涵盖包括所述术语中的一者、所述术语中的任一个或这两个术语的可能性。例如,短语“A或B”通常将被理解为包括“A”或“B”或“A和B”的可能性。
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种操作,或者可以同时进行所述多种操作。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。
总而言之,已描述了由采用本文所述的概念产生的许多有益效果。出于举例说明和描述的目的,已提供了对一个或多个实施方案的前述说明。所述说明并非意图为详尽的,也并非意图限于本发明所公开的精确形式。可按照上述教导内容对本发明进行修改或变更。所选择和描述的一个或多个实施方案是为了示出本发明的原理和实际应用,从而允许本领域的普通技术人员利用多个实施方案,在适合设想的具体应用的情况下进行各种修改。与此一同提交的权利要求书旨在限定完整范围。
Claims (16)
1.一种外科器械控制电路,包括:
主处理器;
安全处理器;和
分段电路,所述分段电路包括与所述主处理器信号通信的多个电路段,所述多个电路段包括:
功率段,所述功率段被构造成向所述主处理器、所述安全处理器和所述多个电路段中的每个电路段提供区段电压,并且其中所述功率段被构造成提供每个区段的可变电压保护;
其中所述安全处理器被构造成由联接到所述功率段的功率源来供电,其中当所述安全处理器通电时,所述安全处理器被构造成执行错误自检,并且其中当在所述错误自检期间未检测到错误时,所述安全处理器被构造成对所述主处理器供电;并且
其中当所述主处理器通电时,所述主处理器被构造成执行错误自检,并且其中当在所述错误自检期间未检测到错误时,所述主处理器对所述多个电路段中的每个电路段顺序地供电。
2.根据权利要求1所述的控制电路,其中所述功率段包括升压转换器,所述升压转换器被构造成为所述区段电压中的至少一个区段电压提供功率稳定性。
3.根据权利要求2所述的控制电路,其中所述升压转换器被构造成向所述主处理器和所述安全处理器提供功率稳定性。
4.根据权利要求3所述的控制电路,其中所述升压转换器被构造成独立于所述多个电路段的功率汲取而向所述主处理器和所述安全处理器提供大于预先确定的阈值的恒定电压。
5.根据权利要求2所述的控制电路,其中所述升压转换器包括电容器、电感器、电池或其任何组合中的至少一者。
6.根据权利要求5所述的控制电路,其中所述升压转换器包括可充电电池。
7.根据权利要求1所述的控制电路,其中所述功率系统包括过压识别及消减电路。
8.根据权利要求7所述的控制电路,其中所述过压识别及消减电路被构造成检测所述外科器械中的单极返回电流,并且在检测到所述单极返回电流时中断来自所述功率段的功率。
9.根据权利要求7所述的控制电路,其中所述过压识别及消减电路被构造成识别所述功率系统的接地浮动。
10.根据权利要求7所述的控制电路,其中所述过压识别及消减电路包括金属氧化物变阻器。
11.根据权利要求7所述的控制电路,其中所述过压识别及消减电路包括至少一个瞬时电压抑制二极管。
12.根据权利要求1所述的控制电路,其中所述功率段被构造成对所述多个电路段中的每个电路段顺序地供电,并且在对顺序电路段供电之前对每个电路段进行错误检查。
13.根据权利要求1所述的控制电路,其中所述主处理器被构造成对所述多个电路段中的每个电路段进行错误检查。
14.一种外科器械控制电路,包括:
主处理器;
安全处理器;和
分段电路,所述分段电路包括与所述主处理器信号通信的多个电路段,所述多个电路段包括:
功率段,所述功率段被构造成向所述主处理器、所述安全处理器和所述多个电路段中的每个电路段提供区段电压,所述功率段包括升压转换器;
其中所述安全处理器被构造成在功率源连接到所述功率段时由所述升压转换器供电,其中当所述安全处理器通电时,所述安全处理器执行错误自检,并且其中当在所述错误自检期间未检测到错误时,所述安全处理器对所述主处理器供电;并且
其中当所述主处理器通电时,所述主处理器被构造成执行错误自检,并且其中当在所述错误自检期间未检测到错误时,所述主处理器被构造成对所述多个电路段中的每个电路段顺序地供电。
15.根据权利要求14所述的控制电路,其中所述主处理器被构造成对所述多个电路段中的每个电路段进行错误检查。
16.一种外科器械控制电路,包括:
主处理器;
安全处理器;和
分段电路,所述分段电路包括与所述主处理器信号通信的多个电路段,所述多个电路段包括:
功率段,所述功率段被构造成向所述主处理器、所述安全处理器和所述多个电路段中的每个电路段提供区段电压,并且其中所述功率段被构造成提供每个区段的可变电压保护,其中所述功率段包括:
升压转换器,所述升压转换器被构造成为所述区段电压中的至少一个区段电压提供功率稳定性;以及
过压识别及消减电路;
其中所述功率段被构造成对所述多个电路段中的每个电路段顺序地供电,并且其中在对顺序电路段供电之前对每个电路段进行错误检查;
其中所述安全处理器被构造成由联接到所述功率段的功率源来供电,其中当所述安全处理器通电时,所述安全处理器被构造成执行错误自检,并且其中当在所述错误自检期间未检测到错误时,所述安全处理器被构造成对所述主处理器供电;并且
其中当所述主处理器通电时,所述主处理器被构造成执行错误自检,并且其中当在所述错误自检期间未检测到错误时,所述主处理器对所述多个电路段中的每个电路段顺序地供电。
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