CN106456171A - 包括可旋转轴的外科器械 - Google Patents

包括可旋转轴的外科器械 Download PDF

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Publication number
CN106456171A
CN106456171A CN201580027853.7A CN201580027853A CN106456171A CN 106456171 A CN106456171 A CN 106456171A CN 201580027853 A CN201580027853 A CN 201580027853A CN 106456171 A CN106456171 A CN 106456171A
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China
Prior art keywords
power
assembly
cases
pcc
surgical instruments
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CN201580027853.7A
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CN106456171B (zh
Inventor
R·L·莱姆巴赫
A·T·贝克曼
D·L·舒尔茨
S·R·亚当斯
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Ethicon Endo Surgery Inc
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Ethicon Endo Surgery Inc
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    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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    • A61B17/0682—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
    • A61B17/0686—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil having a forming anvil staying below the tissue during stapling
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    • B25F3/00—Associations of tools for different working operations with one portable power-drive means; Adapters therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
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Abstract

本发明公开了各种电连接器和滑环连接器布置，所述电连接器和滑环连接器布置被构造成能够有利于电流和信号在可相对于彼此旋转的两个部件之间通过，诸如包括能够相对于固定安装部分旋转的部分的可互换外科轴组件。

Description

包括可旋转轴的外科器械
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实施方案的以下说明，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为外科器械的透视图，该外科器械具有能够可操作地联接到其的可互换轴组件；
图2为图1的可互换轴组件和外科器械的分解组件视图；
图3为示出图1和图2的可互换轴组件和外科器械的多个部分的另一个分解组件视图；
图4为图1至图3的外科器械的一部分的分解组件视图；
图5为图4的外科器械的一部分的横截面侧视图，其中击发触发器处于完全致动位置；
图6为图5的外科器械的一部分的另一个横截面视图，其中击发触发器处于未致动位置；
图7为可互换轴组件的一种形式的分解组件视图；
图8为图7的可互换轴组件的多个部分的另一个分解组件视图；
图9为图7和图8的可互换轴组件的多个部分的另一个分解组件视图；
图10为图7至图9的可互换轴组件的一部分的横截面视图；
图11为图7至图10的轴组件的一部分的透视图，其中为清楚起见，已省去切换筒；
图12为其上安装有切换筒的图11所示可互换轴组件部分的另一个透视图；
图13为能够可操作地联接到图1的外科器械的一部分的图11所示可互换轴组件的一部分的透视图，图中示出外科器械的闭合触发器处于未致动位置；
图14为图13的可互换轴组件和外科器械的右侧正视图；
图15为图13和图14的可互换轴组件和外科器械的左侧正视图；
图16为能够可操作地联接到图1的外科器械的一部分的图11所示可互换轴组件的一部分的透视图，图中示出外科器械的闭合触发器处于致动位置，并且其击发触发器处于未致动位置；
图17为图16的可互换轴组件和外科器械的右侧正视图；
图18为图16和图17的可互换轴组件和外科器械的左侧正视图；
图18A为能够可操作地联接到图1的外科器械的一部分的图11所示可互换轴组件的右侧正视图，图中示出外科器械的闭合触发器处于致动位置，并且其击发触发器也处于致动位置；
图19为可互换轴组件的示出电联接器构造的一部分的透视图；
图20为图19的可互换轴组件和电联接器的多个部分的分解组件视图；
图21为电路迹线组件的透视图；
图22为图21的电路迹线组件的一部分的平面图；
图23为另一个可互换轴组件的示出另一个电联接器构造的一部分的透视图；
图24为图23的可互换轴组件和电联接器的多个部分的分解组件视图；
图25为图23和图24的电联接器的滑环组件分解视图；
图26为另一个可互换轴组件的示出另一个电联接器构造的一部分的透视图；
图27为图26的可互换轴组件和电联接器的多个部分的分解组件视图；
图28为图26和图27的电联接器的滑环组件的一部分的前透视图；
图29为图28的滑环组件部分的分解组件视图；
图30为图28和图29的滑环组件部分的后透视图；
图31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32为图31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33为图31的外科器械的电路图；
图34为与图31的外科器械一起使用的可互换轴组件的框图；
图35为图31的外科器械中与柄部组件分开的功率组件的透视图；
图36为图31的外科器械的框图，其中示出柄部组件与功率组件之间、以及柄部组件与可互换轴组件之间的接口；
图37为图31的外科器械的功率管理模块；
图38为包括功率组件和与该功率组件组装在一起的可互换工作组件的外科器械的透视图；
图39为图38的外科器械的框图，其中示出可互换工作组件与功率组件之间的接口；
图40为示出图38的外科器械的模块的框图；
图41为包括功率组件和与该功率组件组装在一起的可互换工作组件的外科器械的透视图；
图42为图41的外科器械的示例性功率组件的电路图；
图43为图41的外科器械的示例性功率组件的电路图；
图44为图41的外科器械的示例性可互换工作组件的电路图；
图45为图41的外科器械的示例性可互换工作组件的电路图；
图46为示出图41的外科器械的示例性模块的框图；
图47A为电压监测机构检测到的由图41的外科器械的可互换工作组件的工作组件控制器产生的示例性通信信号的图示；
图47B为电流监测机构检测到的由图41的外科器械的可互换工作组件的工作组件控制器产生的示例性通信信号的图示；
图47C为图41的可互换工作组件的马达响应于图47A的工作组件控制器所产生的通信信号而发生的有效马达位移的图示；
图48为包括柄部组件和轴组件的外科器械的透视图，其中轴组件包括端部执行器；
图49为图48的外科器械的柄部组件的透视图；
图50为图48的外科器械的柄部组件的分解图；
图51为图48的外科器械的应急反馈系统的示意图；
图52为与图51的应急反馈系统一起使用的模块的框图；
图53为与图51的应急反馈系统一起使用的模块的框图；
图54示出了功率组件的一个实例，该功率组件包括被构造成能够生成电池组的使用循环计数的使用循环电路；
图55示出了包括电阻器-电容器定时器的使用循环电路的一个实例；
图56示出了包括计时器和可充电电池的使用循环电路的一个实例；
图57示出了被构造成能够同时为功率组件消毒并对其充电的组合式消毒充电系统的一个实例；
图58示出了被构造成能够为功率组件消毒并对其充电的组合式消毒充电系统的一个实例，该功率组件具有在其中一体形成的电池充电器；
图59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60为示出一种用于调节根据本公开各种实施方案的击发元件的速度的方法的流程图；
图61为示出一种用于调节根据本公开各种实施方案的击发元件的速度的方法的流程图；
图62为根据本公开各种实施方案的端部执行器和紧固件仓的局部透视图；
图63为根据本公开各种实施方案的端部执行器和紧固件仓的局部透视图；
图64为根据本公开各种实施方案的端部执行器和紧固件仓的横截面正视图；
图65为根据本公开各种实施方案的端部执行器和紧固件仓的横截面正视图；
图66为根据本公开各种实施方案的端部执行器(其中多个部分被移除)和紧固件仓的局部透视图；
图67为根据本公开各种实施方案的端部执行器(其中多个部分被移除)和紧固件仓的局部透视图；
图68(A)为示出根据本公开各种实施方案的集成电路的示意图；
图68(B)为示出根据本公开各种实施方案的磁阻电路的示意图；并且
图68(C)为列出根据本公开各种实施方案的磁阻传感器的各种规格的表。
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，并且其中每一个各自全文以引用的方式并入本文：
-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，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“POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEVOLTAGE PROTECTION”(代理人案卷号END7400USNP/130472)的美国专利申请序列号_______________；以及
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_______________。
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6示出了可再利用或不可再利用的马达驱动外科切割和紧固器械10。在示出的实施方案中，器械10包括外壳12，该外壳包括被构造成能够被临床医生抓握、操纵和致动的柄部14。外壳12被构造用于能够可操作地附接到可互换轴组件200，该可互换轴组件上可操作地联接有外科端部执行器300，该外科端部执行器被构造成能够执行一种或多种手术任务或外科手术。继续参阅本具体实施方式，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以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动作。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，本文所公开的可互换轴组件可与名称为“SURGICALSTAPLING 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 WITHROTATABLE 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US 2012/0298719)全文以引用方式并入本文。
图1至图3中所示的外壳12结合包括端部执行器300的可互换轴组件200示出，所述端部执行器包括被构造成能够可操作地支撑其中的外科钉仓304的外科切割和紧固装置。外壳12可被构造用于结合可互换轴组件使用，这些可互换轴组件包括能够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。此外，外壳12也可有效地与多种其他可互换轴组件一起使用，所述其他可互换轴组件包括被构造成能够将其他动作和能量形式(诸如，射频(RF)能量、超声能量和/或动作)施加到能够结合各种外科应用和外科手术使用的端部执行器构造的那些组件。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。
图1示出了可互换轴组件200能够可操作地联接到其的外科器械10。图2和图3示出可互换轴组件200附接到外壳12或柄部14。如图4中可看到的那样，柄部14可包括一对可互连的柄部外壳段16和18，这对柄部外壳段可借助螺钉、按扣特征结构、粘合剂等互连。在示出的构造中，柄部外壳段16和18配合形成可被临床医生抓握和操纵的手枪式握把部19。如将在下文进一步详细地讨论，柄部14可操作地支撑其中的多个驱动系统，这些驱动系统被构造成能够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的可互换轴组件的对应部分。
现在参见图4，柄部14还可包括可操作地支撑多个驱动系统的框架20。例如，框架20能够可操作地支撑通常标示为30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和打开动作施加到可操作地附接或联接到其的可互换轴组件200。在至少一种形式中，闭合驱动系统30可包括被框架20枢转地支撑的闭合触发器32形式的致动器。更具体地，如图4所示，闭合触发器32经由销33枢转地联接到外壳14。这种构造使闭合触发器32能够被临床医生操纵，使得临床医生抓握柄部14的手枪式握把部19时，闭合触发器32可被其轻易地从起始或“未致动”位置枢转到“致动”位置，并且更具体地，枢转到完全压缩或完全致动的位置。闭合触发器32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30还包括可枢转地联接到闭合触发器32的闭合连杆组件34。如图4中可看到的那样，闭合连杆组件34可包括由销35枢转地联接到闭合触发器32的第一闭合连杆36和第二闭合连杆38。第二闭合连杆38在本文中也可称为“附接构件”，并且其包括横向附接销37。
仍参见图4，可观察到，第一闭合连杆36可在其上具有锁定壁或锁定端39，该锁定壁或锁定端被构造成能够与枢转地联接到框架20的闭合释放组件60配合。在至少一种形式中，闭合释放组件60可包括释放按钮组件62，该释放按钮组件具有在其上形成的朝远侧突起的锁定爪64。释放按钮组件62可被释放弹簧(未示出)沿逆时针方向枢转。临床医生将闭合触发器32从其未致动位置朝向柄部14的手枪式握把部19按压时，第一闭合连杆36向上枢转至某个点，锁定爪64落入该点，与第一闭合连杆36上的锁定壁39保持接合，从而阻止闭合触发器32返回未致动位置。参见图18。因此，闭合释放组件60有助于将闭合触发器32锁定在完全致动位置。若临床医生期望将闭合触发器32解锁以允许其被偏置到未致动位置，只需枢转闭合释放按钮组件62，使锁定爪64运动，从而与第一闭合连杆36上的锁定壁39脱离接合。在锁定爪64已运动而与第一闭合连杆36脱离接合之后，闭合触发器32可枢转返回未致动位置。也可采用其他闭合触发器锁定布置和释放布置。
除上述之外，图13至图15示出了处于未致动位置的闭合触发器32，该未致动位置与轴组件200的打开或未夹紧构型相关联，轴组件200处于该打开或未夹紧构型时，组织可定位在轴组件的钳口之间。图16至图18示出了处于致动位置的闭合触发器32，该致动位置与轴组件200的闭合或夹持构型相关联，轴组件200处于该闭合或夹持构型时，组织被夹持在轴组件的钳口之间。读者在将图14与图17比较之后将会知道，闭合触发器32从其未致动位置(图14)向其致动位置(图17)运动的过程中，闭合释放按钮62在第一位置(图14)与第二位置(图17)之间枢转。闭合释放按钮62的旋转可称为向上旋转，但闭合释放按钮62的至少一部分朝向电路板100旋转。参见图4，闭合释放按钮62可包括从其延伸的臂61和安装到臂61的磁性元件63(诸如永磁体)。闭合释放按钮62从其第一位置旋转到其第二位置的过程中，磁性元件63可朝向电路板100运动。电路板100可包括被构造成能够检测磁性元件63的运动的至少一个传感器。在至少一个实施方案中，例如，霍尔效应传感器65可安装到电路板100的底部表面。霍尔效应传感器65可被构造成能够检测由磁性元件63的运动引起、在霍尔效应传感器65周围出现的磁场变化。霍尔效应传感器65可(例如)与微控制器7004(图59)进行信号通信，该微控制器可确定闭合释放按钮62是处于其第一位置、其第二位置，还是/或者第一位置与第二位置之间的任何位置，所述第一位置与闭合触发器32的未致动位置和端部执行器的打开构型相关联，所述第二位置与闭合触发器32的致动位置和端部执行器的闭合构型相关联。
在至少一种形式中，柄部14和框架20可以可操作地支撑在本文中被称为击发驱动系统80的另一个驱动系统，该驱动系统被构造成能够将击发动作施加到附接到其的可互换轴组件的对应部分。击发驱动系统80在本文中也可称作“第二驱动系统”。击发驱动系统80可以采用位于柄部14的手枪式握把部19中的电动马达82。在各种形式中，马达82可为例如具有大约25,000RPM的最大转速的直流有刷驱动马达。在其他布置中，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。马达82可由功率源90供电，在一种形式中，该功率源可包括可移除电源组92。如图4中可看到的那样，例如，电源组92可包括近侧外壳部分94，该近侧外壳部分被构造用于附接到远侧外壳部分96。近侧外壳部分94和远侧外壳部分96被构造成能够可操作地支撑其中的多个电池98。电池98各自可包括(例如)锂离子(“LI”)电池或其他合适的电池。远侧外壳部分96被构造用于以可移除方式可操作地附接到同样能够可操作地联接到马达82的控制电路板组件100。可使用可串联连接的多个电池98作为外科器械10的功率源。此外，功率源90可以是可更换的和/或可充电的。
如上文相对于其他各种形式所概述，电动马达82可包括与齿轮减速器组件84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122啮合接合地安装在可纵向运动的驱动构件120上。在使用中，功率源90所提供的电压极性可沿顺时针方向操作电动马达82，其中由电池施加给电动马达的电压极性可被反转，以便沿逆时针方向操作电动马达82。当电动马达82沿一个方向旋转时，驱动构件120将沿远侧方向“DD”被轴向地驱动。当马达82被沿相反的旋转方向驱动时，驱动构件120将沿近侧方向“PD”被轴向地驱动。柄部14可包括开关，该开关可被构造成能够使功率源90施加给电动马达82的极性反转。与本文所述的其他形式一样，柄部14还可包括传感器，该传感器被构造成能够检测驱动构件120的位置和/或驱动构件120正在运动的方向。
马达82的致动可由被枢转地支撑在柄部14上的击发触发器130控制。击发触发器130可在未致动位置和致动位置之间枢转。击发触发器130可被弹簧132或其他偏置构造偏置到未致动位置，使得临床医生释放击发触发器130时，击发触发器可被弹簧132或偏置构造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130可定位在闭合触发器32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134可由销35枢转地安装到闭合触发器32。安全按钮134可定位在击发触发器130和闭合触发器32之间，并具有从其突起的枢转臂136。参见图4。闭合触发器32处于未致动位置时，安全按钮134被容纳在柄部14中，此时临床医生可能无法轻易触及该按钮，也无法将该按钮在防止对击发触发器130致动的安全位置与击发触发器130可被击发的击发位置之间运动。临床医生按压闭合触发器32时，安全按钮134和击发触发器130向下枢转，随后可被临床医生操纵。
如上文所讨论，柄部14可包括闭合触发器32和击发触发器130。参见图14至图18A，击发触发器130能够可枢转地安装到闭合触发器32。闭合触发器32可包括从其延伸的臂31，并且击发触发器130可围绕枢轴销33可枢转地安装到臂31。如上文所概述，闭合触发器32从其未致动位置(图14)向其致动位置(图17)运动的过程中，击发触发器130可向下下降。在安全按钮134已运动到其击发位置之后，主要参见图18A，可按压击发触发器130，操作外科器械击发系统的马达。在各种情况下，柄部14可包括跟踪系统(诸如系统800)，该跟踪系统被构造成能够确定闭合触发器32的位置和/或击发触发器130的位置。主要参照图14、图17和图18A，跟踪系统800可包括磁性元件(诸如永磁体802)，该磁性元件安装到从击发触发器130延伸的臂801。跟踪系统800可包括一个或多个传感器，诸如第一霍尔效应传感器803和第二霍尔效应传感器804，这些传感器可被构造成能够跟踪磁体802的位置。读者在将图14与图17比较之后将会知道，闭合触发器32从其未致动位置向其致动位置运动的过程中，磁体802可在邻近第一霍尔效应传感器803的第一位置与邻近第二霍尔效应传感器804的第二位置之间运动。读者在将图17与图18A比较之后将进一步知道，击发触发器130从未击发位置(图17)向击发位置(图18A)运动的过程中，磁体802可相对于第二霍尔效应传感器804运动。传感器803和804可跟踪磁体802的运动，而且可与电路板100上的微控制器进行信号通信。微控制器可利用来自第一传感器803和/或第二传感器804的数据，确定磁体802沿预定义路径的位置，并且可基于该位置确定闭合触发器32是处于其未致动位置、其致动位置，还是这两个位置之间的位置。相似地，微控制器可利用来自第一传感器803和/或第二传感器804的数据，确定磁体802沿预定义路径的位置，并且可基于该位置确定击发触发器130是处于其未击发位置、其完全击发位置，还是这两个位置之间的位置。
如上所述，在至少一种形式中，可纵向运动的驱动构件120具有在其上形成的一齿条的齿122，用于与齿轮减速器组件84的对应驱动齿轮86啮合接合。至少一种形式还包括可手动致动的“应急”组件140，该组件被构造成能够允许临床医生在马达82变得失能的情况下手动地缩回可纵向运动的驱动构件120。应急组件140可包括杠杆或应急柄部组件142，该杠杆或应急柄部组件被构造成能够被手动地枢转为与同样设置在驱动构件120中的齿124棘轮接合。因此，临床医生可使用应急柄部组件142手动地缩回驱动构件120，而使驱动构件120沿近侧方向“PD”做棘轮运动。美国专利申请公布US 2010/0089970公开了应急构造，以及还可与本文公开的各种器械一起使用的其他部件、构造和系统。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)据此全文以引用方式并入本文。
现在转到图1和图7，可互换轴组件200包括外科端部执行器300，该外科端部执行器包括被构造成能够可操作地支撑其中的钉仓304的细长通道302。端部执行器300还可包括砧座306，该砧座相对于细长通道302可枢转地支撑。可互换轴组件200还可包括关节运动接头270和关节运动锁350(图8)，该关节运动锁可被构造成能够可释放地将端部执行器300相对于轴心线SA-SA保持在期望的位置。有关端部执行器300、关节运动接头270和关节运动锁350的构造和操作的细节，在2013年3月14日提交的名称为“ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK”的美国专利申请序列号13/803,086中示出。提交于2013年3月14日的名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISINGAN ARTICULATION LOCK”的美国专利申请序列号13/803,086的完整公开内容据此以引用方式并入本文。如图7和图8中可看到的那样，可互换轴组件200还可包括由喷嘴部分202和203组成的近侧外壳或喷嘴201。可互换轴组件200还可包括闭合管260，该闭合管可用于关闭和/或打开端部执行器300的砧座306。现在主要参见图8和图9，轴组件200可包括脊210，该脊可被构造成能够可固定地支撑关节运动锁350的轴框架部分212。参见图8。脊210可被构造成能够：第一，可滑动地支撑其中的击发构件220；第二，可滑动地支撑围绕脊210延伸的闭合管260。脊210还可被构造成能够可滑动地支撑近侧关节运动驱动器230。关节运动驱动器230具有远侧端部231，该远侧端部被构造成能够可操作地接合关节运动锁350。关节运动锁350与关节运动框架352交接，该关节运动框架能够可操作地接合端部执行器框架(未示出)上的驱动销(未示出)。如上所述，有关关节运动锁350和关节运动框架的操作的更多细节可见于美国专利申请序列号13/803,086。在各种情况下，脊210可包括可旋转地支撑在底座240中的近侧端部211。在一种构造中，例如，脊210的近侧端部211具有在其上形成的螺纹214，以便通过螺纹附接到被构造成能够被支撑在底座240内的脊轴承216。参见图7。这种构造有利于将脊210可旋转地附接到底座240，使得脊210可以相对于底座240有选择地围绕轴心线SA-SA旋转。
主要参见图7，可互换轴组件200包括闭合梭动件250，该闭合梭动件以可相对于底座240轴向运动的方式可滑动地支撑在该底座内。如图3和图7中可看到的那样，闭合梭动件250包括被构造用于附接到附接销37的一对朝近侧突起的钩252，所述附接销附接到第二闭合连杆38，如将在下文进一步详细地讨论。闭合管260的近侧端部261联接到闭合梭动件250，以便相对闭合梭动件旋转。例如，将U形连接器263插入闭合管260的近侧端部261中的环形狭槽262，使其保留在闭合梭动件250的竖直狭槽253内。参见图7。这种构造有助于将闭合管260附接到闭合梭动件250，以便与闭合梭动件一起轴向行进，同时使闭合管260能够围绕轴心线SA-SA相对于闭合梭动件250旋转。闭合弹簧268轴颈连接在闭合管260上，有助于沿近侧方向“PD”偏置闭合管260，在轴组件能够可操作地联接到柄部14的情况下，该闭合弹簧可有助于将闭合触发器枢转到未致动位置。
在至少一种形式中，可互换轴组件200还可包括关节运动接头270。然而，其他可互换轴组件可能无法进行关节运动。如图7中可看到的那样，例如，关节运动接头270包括双枢轴闭合套管组件271。根据各种形式，双枢轴闭合套管组件271包括具有朝远侧突出的上柄脚273和下柄脚274的端部执行器闭合套管组件272。端部执行器闭合套管组件272包括马蹄形孔275和插片276，用于按2013年3月14日提交的名称为“ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK”的美国专利申请序列号13/803,086(该专利申请以引用方式并入本文)中所述的各种方式接合砧座306上的开口插片。如本文进一步详细地描述，在砧座306打开的情况下，马蹄形孔275和插片276与砧座上的插片接合。上部双枢轴连杆277包括向上突出的远侧枢轴销和近侧枢轴销，这些枢轴销分别接合闭合管260上的朝近侧突出的上柄脚273中的上部远侧销孔以及朝远侧突出的上柄脚264中的上部近侧销孔。下部双枢轴连杆278包括向上突出的远侧枢轴销和近侧枢轴销，这些枢轴销分别接合朝近侧突出的下柄脚274中的下部远侧销孔以及朝远侧突出的下柄脚265中的下部近侧销孔。还可参见图8。
在使用中，闭合管260朝远侧(方向“DD”)平移，以便(例如)响应于闭合触发器32的致动而闭合砧座306。通过朝远侧平移闭合管260，因而平移轴闭合套管组件272，致使轴闭合套管组件按前述参考文献美国专利申请序列号13/803,086中所述的方式冲击砧座360上的近侧表面，由此闭合砧座306。还如该参考文献所详述，通过朝近侧平移闭合管260和轴闭合套管组件272，致使插片276和马蹄形孔275接触并推压砧座插片以将砧座306抬起，由此打开砧座306。在砧座打开位置，轴闭合管260移至其近侧位置。
如上所述，外科器械10还可包括其类型和构造在美国专利申请序列号13/803,086中进一步详细描述的关节运动锁350，该关节运动锁可被构造成能够操作用于有选择地将端部执行器300锁定在适当的位置。在关节运动锁350处于其解锁状态时，这种构造使端部执行器300能够相对于轴闭合管260旋转或做关节运动。在这种解锁状态下，端部执行器300可抵靠例如患者体内手术部位周围的软组织和/或骨定位和推挤，以使端部执行器300相对于闭合管260做关节运动。端部执行器300也可在关节运动驱动器230作用下，相对于闭合管260做关节运动。
同样如上所述，可互换轴组件200还包括击发构件220，该击发构件被支撑以便在轴脊210内轴向行进。击发构件220包括被构造用于附接到远侧切割部分或刀杆280的中间击发轴部分222。击发构件220在本文中也可称作“第二轴”和/或“第二轴组件”。如图8和图9中可看到的那样，中间击发轴部分222可在其远侧端部中包括纵向狭槽223，该纵向狭槽可被构造成能够接收远侧刀杆280的近侧端部282上的插片284。纵向狭槽223和近侧端部282的尺寸和构造被设计成能够允许这两者之间的相对运动，并且这两者可包括滑动接头286。滑动接头286可允许击发驱动装置220的中间击发轴部分222运动，而在不运动或至少基本上不运动刀杆280的情况下，使端部执行器300做关节运动。一旦端部执行器300已被适当地取向，中间击发轴部分222就可朝远侧推进，直到纵向狭槽223的近侧侧壁接触到插片284，以便推进刀杆280并击发定位在通道302内的钉仓。如图8和图9中可进一步看到的那样，轴脊210在其中具有细长的开口或窗口213，以利于把中间击发轴部分222组装进轴框架210以及插入该轴框架中。一旦中间击发轴部分222已被插入轴框架中，顶部框架段215就可与轴框架212接合，从而封闭其中的中间击发轴部分222与刀杆280。有关击发构件220的操作的进一步描述可见于美国专利申请序列号13/803,086。
除上述之外，轴组件200可包括离合器组件400，该离合器组件可被构造成能够有选择地和可释放地将关节运动驱动器230联接到击发构件220。在一种形式中，离合器组件400包括围绕击发构件220定位的锁衬圈或套管402，其中锁套管402可在接合位置与脱离位置之间旋转，在所述接合位置，锁套管402将关节运动驱动器360联接到击发构件220，在所述脱离位置，关节运动驱动器360不能够可操作地联接到击发构件200。锁套管402处于其接合位置时，击发构件220的远侧运动可使关节运动驱动器360朝远侧运动，相应地，击发构件220的近侧运动可使关节运动驱动器230朝近侧运动。锁套管402处于其脱离位置时，击发构件220的运动不会传递到关节运动驱动器230，因此，击发构件220可独立于关节运动驱动器230运动。在各种情况下，要是击发构件220没有使关节运动驱动器230在近侧方向或远侧方向上运动，则关节运动驱动器230可被关节运动锁350保持就位。
主要参见图9，锁套管402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、被构造成能够接收击发构件220的纵向孔403。锁套管402可包括面向内的锁突起404和面向外的锁定构件406，这两者沿直径相对。锁突起404可被构造成能够与击发构件220选择性地接合。更具体地，锁套管402处于其接合位置时，锁突起404被定位在击发构件220中限定的驱动凹口224内，使得远侧推力和/或近侧拉力可从击发构件220传递到锁套管402。锁套管402处于其接合位置时，第二锁定构件406被接收在关节运动驱动器230中限定的驱动凹口232内，使得施加到锁套管402的远侧推力和/或近侧拉力可传递到关节运动驱动器230。实际上，锁套管402处于其接合位置时，击发构件220、锁套管402和关节运动驱动器230将一起运动。另一方面，锁套管402处于其脱离位置时，锁突起404可以不定位在击发构件220的驱动凹口224内，因此，远侧推力和/或近侧拉力可以不从击发构件220传递到锁套管402。相应地，远侧推力和/或近侧拉力可以不传递到关节运动驱动器230。在这种情况下，击发构件220可相对于锁套管402和近侧关节运动驱动器230朝近侧和/或朝远侧滑动。
如图8至图12中可看到的那样，轴组件200还包括可旋转地接收在闭合管260上的切换筒500。切换筒500包括中空轴段502，该中空轴段具有在其上形成的轴凸台504，用于将向外突起的致动销410接收在其中。在各种情况下，致动销410延伸穿过狭槽267进入设置在锁套管402中的纵向狭槽408，以便在锁套管402与关节运动驱动器230接合的情况下，利于该锁套管做轴向运动。旋转扭转弹簧420被构造成能够如图10所示接合切换筒500上的凸台504以及喷嘴外壳203的一部分，以将偏置力施加到切换筒500上。参见图5和图6，切换筒500还可包括其中限定的至少部分周边的开口506，这些开口可被构造成能够接收从喷嘴半部202,203延伸的周边安装架204,205，并允许切换筒500与近侧喷嘴201之间相对旋转而不是相对平移。如这些图中可看到的那样，安装架204和205还延伸穿过将要坐置在轴脊210的凹陷部211中的闭合管260内的开口266。然而，喷嘴201旋转到某个点(在该点处，安装架204,205到达它们各自的狭槽506在切换筒500中的末端)将导致切换筒500围绕轴心线SA-SA旋转。切换筒500的旋转最终将引起致动销410旋转，并引起锁套管402在其接合位置与脱离位置之间旋转。因此，喷嘴201本质上可用于按美国专利申请序列号13/803,086中进一步详细描述的各种方式，将关节运动驱动系统与击发驱动系统可操作地接合，以及使这两个系统脱离接合。
也如图8至图12所示，轴组件200可包括滑环组件600，例如，该滑环组件可被构造成能够将电力传导至端部执行器300和/或从该端部执行器传导电力，并且/或者将信号传送至端部执行器300和/或从该端部执行器接收信号。滑环组件600可包括近侧连接器凸缘604和远侧连接器凸缘601，该近侧连接器凸缘安装到从底座240延伸的底座凸缘242，该远侧连接器凸缘定位在轴外壳202,203中限定的狭槽内。近侧连接器凸缘604可包括第一面，远侧连接器凸缘601可包括第二面，其中第二面与第一面相邻定位，并能够相对于第一面运动。远侧连接器凸缘601可围绕轴心线SA-SA相对于近侧连接器凸缘604旋转。近侧连接器凸缘604可包括限定在其第一面中的多个同心或至少基本上同心的导体602。连接器607可安装在连接器凸缘601的近侧侧面上，并可具有多个触点(未示出)，其中每个触点对应导体602之一并与其电接触。这种构造在保持近侧连接器凸缘604与远侧连接器凸缘601之间电接触的同时，允许这两个凸缘之间相对旋转。例如，近侧连接器凸缘604可包括电连接器606，该电连接器可使导体602与安装到轴底座240的轴电路板610进行信号通信。在至少一种情况下，包括多个导体的线束可在电连接器606与轴电路板610之间延伸。电连接器606可朝近侧延伸穿过底座安装凸缘242中限定的连接器开口243。参见图7。提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”的美国专利申请序列号13/800,067全文以引用方式并入本文。提交于2013年3月13日的名称为“STAPLECARTRIDGE 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。有关滑环组件600的更多细节可见于美国专利申请序列号13/803,086。
如上文所讨论，轴组件200可包括可固定地安装到柄部14的近侧部分，以及可围绕纵向轴线旋转的远侧部分。如上文所讨论，可旋转的远侧轴部分可围绕滑环组件600相对于近侧部分旋转。滑环组件600的远侧连接器凸缘601可定位在可旋转的远侧轴部分内。而且，除上述之外，切换筒500也可定位在可旋转的远侧轴部分内。可旋转的远侧轴部分旋转时，远侧连接器凸缘601和切换筒500可彼此同步地旋转。另外，切换筒500可相对于远侧连接器凸缘601在第一位置与第二位置之间旋转。切换筒500处于其第一位置时，关节运动驱动系统能够可操作地与击发驱动系统脱离接合，因此，击发驱动系统的操作可以不使轴组件200的端部执行器300做关节运动。切换筒500处于其第二位置时，关节运动驱动系统能够可操作地与击发驱动系统接合，因此，击发驱动系统的操作可以使轴组件200的端部执行器300做关节运动。切换筒500在其第一位置和其第二位置之间运动时，相对于远侧连接器凸缘601运动。在各种情况下，轴组件200可包括至少一个被构造成能够检测切换筒500的位置的传感器。现在转到图11和图12，远侧连接器凸缘601可包括例如霍尔效应传感器605，并且切换筒500可包括例如磁性元件，诸如永磁体505。霍尔效应传感器605可被构造成能够检测永磁体505的位置。切换筒500在其第一位置和其第二位置之间旋转时，永磁体505可相对霍尔效应传感器605运动。在各种情况下，霍尔效应传感器605可检测永磁体505运动时产生的磁场变化。霍尔效应传感器605可与例如轴电路板610和/或柄部电路板100进行信号通信。轴电路板610和/或柄部电路板100上的微控制器可依据来自霍尔效应传感器605的信号，确定关节运动驱动系统是与击发驱动系统接合还是脱离接合。
再次参见图3和图7，底座240包括在其上形成的至少一个、优选两个渐缩的附接部分244，这种附接部分能够被接收在对应的燕尾形狭槽702内，所述燕尾形狭槽在框架20的远侧附接凸缘部分700内形成。每个燕尾形狭槽702都可以是渐缩的，换句话讲，都可以略成V形，从而以坐置方式将附接部分244接收在其中。如图3和图7中可进一步看到的那样，轴附接耳226在中间击发轴222的近侧端部上形成。如将在下文进一步详细地讨论，可互换轴组件200联接到柄部14时，轴附接耳226被接收在纵向驱动构件120的远侧端部125中形成的击发轴附接支架126内。参见图3和图6。
各种轴组件实施方案采用闩锁系统710以可移除地将轴组件200联接到外壳12，更具体地，联接到框架20。如图7中可看到的那样，例如，在至少一种形式中，闩锁系统710包括可运动地联接到底座240的锁定构件或锁轭712。在示出的实施方案中，例如，锁轭712为U形，有两个隔开并向下延伸的支脚714。每个支脚714都有在其上形成的枢轴耳716，这些枢轴耳能够被接收在底座240中形成的对应孔245中。这种构造有利于将锁轭712枢转附接到底座240。锁轭712可包括两个朝近侧突起的锁耳714，这两个锁耳被构造用于与框架20的远侧附接凸缘700中对应的锁定棘爪或凹槽704可释放地接合。参见图3。在各种形式中，锁轭712被弹簧或偏置构件(未示出)沿近侧方向偏置。锁轭712的致动可通过闩锁按钮722实现，该闩锁按钮可滑动地安装在安装于底座240的闩锁致动器组件720上。闩锁按钮722可相对于锁轭712沿近侧方向偏置。如将在下文进一步详细地讨论，锁轭712可通过沿远侧方向偏置闩锁按钮而运动到解锁位置，这也引起锁轭712枢转，不再与框架20的远侧附接凸缘700保持接合。锁轭712与框架20的远侧附接凸缘700“保持接合”时，锁耳716保持坐置在远侧附接凸缘700中对应的锁定棘爪或凹槽704内。
在采用包括能够切割和紧固组织的本文所述类型的端部执行器以及其他类型的端部执行器的可互换轴组件的情况下，可能有利的是防止可互换轴组件在端部执行器致动的过程中不经意地从外壳脱离。例如，在使用中临床医生可致动闭合触发器32，以抓紧目标组织并操纵其到达理想的位置。一旦目标组织以期望取向定位在端部执行器300内，临床医生就可完全致动闭合触发器32，以关闭砧座306并将目标组织夹持在合适位置供切割与缝合。在这种情况下，第一驱动系统30已被完全致动。在目标组织已被夹持在端部执行器300中之后，可能有利的是防止轴组件200不经意地从外壳12脱离。闩锁系统710的一种形式被构造成能够防止这种不经意的脱离。
如图7中可最清楚地看到的那样，锁轭712包括至少一个且优选地两个锁钩718，这些锁钩能够接触闭合梭动件250上形成的对应锁耳部分256。参见图13至图15，在闭合梭动件250处于未致动位置(也就是第一驱动系统30未致动并且砧座306打开)的情况下，锁轭712可沿远侧方向枢转，以将可互换轴组件200从外壳12解锁。处于该位置时，锁钩718不接触闭合梭动件250上的锁耳部分256。但是，在闭合梭动件250运动到致动位置(即，第一驱动系统30被致动并且砧座306处于闭合位置)时，阻止锁轭712枢转到解锁位置。参见图16-18。换句话讲，如果临床医生试图将锁轭712枢转到解锁位置，或者例如，锁轭712不经意地以原本可能引起其朝远侧枢转的方式受到碰撞或发生接触，则锁轭712上的锁钩718将接触闭合梭动件250上的锁耳256，防止锁轭712运动到解锁位置。
现在将参照图3描述可互换轴组件200与柄部14附接的操作。要开始联接过程，临床医生可将可互换轴组件200的底座240定位在框架20的远侧附接凸缘700上方或附近，使得底座240上形成的渐缩附接部分244与框架20中的燕尾形狭槽702对齐。然后临床医生可沿垂直于轴心线SA-SA的安装轴线IA运动轴组件200，以安置附接部分244，使其与对应的燕尾形接收狭槽702“能够可操作地接合”。这样做时，中间击发轴222上的轴附接耳226也坐置在可纵向运动的驱动构件120的支架126中，并且第二闭合连杆38上销37的部分将坐置在闭合轭250内的对应钩252中。如本文所用，在两个部件的背景下的术语“能够可操作地接合”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动作，所述部件便可以执行其预期活动、功能和/或程序。
如上文所讨论，可互换轴组件200的至少五个系统能够可操作地与柄部14的至少五个对应系统联接。第一系统可包括将轴组件200的框架或脊与柄部14的框架20联接并/或对齐的框架系统。第二系统可包括闭合驱动系统30，该闭合驱动系统可将柄部14的闭合触发器32与轴组件200的闭合管260和砧座306可操作地连接。如上文所概述，轴组件200的闭合管附接轭250可与第二闭合连杆38上的销37接合。第三系统可包括击发驱动系统80，该击发驱动系统可将柄部14的击发触发器130与轴组件200的中间击发轴222可操作地连接。如上文所概述，轴附接耳226可与纵向驱动构件120的支架126可操作地连接。第四系统可包括电气系统，该电气系统能够：发送轴组件(诸如轴组件200)已与柄部14可操作地接合的信号到柄部14中的控制器(诸如微控制器)；并且/或者，在轴组件200与柄部14之间传导电力和/或通信信号。例如，轴组件200可包括可操作地安装到轴电路板610的电连接器4010。电连接器4010被构造用于与柄部控制板100上的对应电连接器4000配合接合。有关电路系统和控制系统的更多细节可见于美国专利申请序列号13/803,086，该专利申请的完整公开内容此前以引用方式并入本文。第五系统可由用于可释放地将轴组件200锁定到柄部14上的闩锁系统组成。
再次参见图2和图3，柄部14可包括电连接器4000，该电连接器包括多个电触点。现在转到图59，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。尽管所示的实施方案利用了六个触点，但设想了可利用多于六个触点或少于六个触点的其他实施方案。如图59所示，第一触点4001a可与晶体管4008电连通，触点4001b至4001e可与微控制器7004电连通，并且第六触点4001f可与地面电连通。在某些情况下，电触点4001b至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，并且在柄部1042处于加电状态时可通电，或具有施加到其的电压电位。在一些情况下，电触点4001b至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，并且微控制器7004可被构造成在柄部14处于加电状态时，能够检测电压电位何时被施加到此类电触点。在轴组件(诸如轴组件200)组装到柄部14的情况下，电触点4001a至4001f可能不会彼此连通。然而，在轴组件未组装到柄部14的情况下，电连接器4000的电触点4001a至4001f可能暴露，而且在一些情况下，触点4001a至4001f中的一个或多个可能意外地彼此电连通。例如，触点4001a至4001f中的一个或多个接触到导电材料时，可能出现此类情况。一旦出现此类情况，例如，微控制器7004可能接收到错误的输入并且/或者轴组件200可能接收到错误的输出。为解决这个问题，在各种情况下，柄部14可在轴组件诸如轴组件200未附接到柄部14时不加电。在其他情况下，柄部1042在轴组件(诸如轴组件200)未附接到其时可以加电。在这种情况下，例如，微控制器7004可被构造成在轴组件附接到柄部14之前，能够忽视施加到与微控制器7004电连通的触点(即，触点4001b至4001e)的输入或电压电位。虽然在这种情况下微控制器7004可被供电以操作柄部14的其他功能，但柄部14可处于掉电状态。在某种程度上，如果施加到电触点4001b至4001e的电压电位可以不影响对柄部14的操作，则电连接器4000可处于掉电状态。读者将认识到，即使触点4001b至4001e可处于掉电状态，但未与微控制器7004电连通的电触点4001a和4001f可处于、也可不处于掉电状态。例如，无论柄部14是处于加电状态还是掉电状态，第六触电4001f都可保持与地面电连通。此外，晶体管4008和/或晶体管的任何其他合适的构造(诸如晶体管4010)和/或开关可被构造成无论柄部14是处于加电状态还是掉电状态，都能够控制从柄部14内的功率源4004(诸如电池90)到第一电触点4001a的功率供应。在各种情况下，例如，轴组件200可被构造成能够在轴组件200与柄部14接合的情况下，改变晶体管4008的状态。在某些情况下，除下述之外，霍尔效应传感器4002可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，最终将来自功率源4004的功率供应给第一触点4001a。这样，在轴组件未安装到柄部14的情况下，联接到连接器4000的功率电路和信号电路都可被掉电，而且，在轴组件安装到柄部14的情况下，这两者都可被加电。
在各种情况下，再次参见图59，柄部14可包括例如霍尔效应传感器4002，该霍尔效应传感器可被构造成在轴组件联接到柄部14的情况下，能够检测位于轴组件(诸如轴组件200)上的可检测元件，诸如磁性元件4007(图3)。霍尔效应传感器4002可由诸如电池之类的功率源4006供电，该功率源实际上可放大霍尔效应传感器4002的检测信号，并经由图59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14，因而电触点4001a至4001f不再暴露的输入，微控制器7004就可进入其正常的或加电的工作状态。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，可能必须先使轴组件1200完全坐置，霍尔效应传感器4002才可检测到磁性元件4007。例如，虽然可利用霍尔效应传感器4002来检测轴组件200是否存在，但也可利用传感器和/或开关的任何合适的系统来检测轴组件是否已组装到柄部14。这样，除上述之外，在轴组件未安装到柄部14的情况下，联接到连接器4000的功率电路和信号电路都可被掉电，而且，在轴组件安装到柄部14的情况下，这两者都可被加电。
在各种实施方案中，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14。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。
参见图59，微控制器7004通常可包括微处理器(“处理器”)和可操作地联接到该处理器的一个或多个存储器单元。处理器通过执行存储器中存储的指令码，可控制外科器械的各种部件，诸如马达、各种驱动系统和/或用户显示器。微控制器7004可使用集成的和/或分立的硬件元件、软件元件和/或这些元件的组合来实现。集成硬件元件的示例可包括处理器、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)。分立硬件元件的示例可包括电路和/或电路元件，诸如逻辑门、场效应晶体管、双极型晶体管、电阻器、电容器、电感器和/或继电器。在某些情况下，例如，微控制器7004可包括混合电路，该混合电路在一个或多个基板上包括分立的和集成的电路元件或部件。
参见图59，微控制器7004可例如是可购自Texas Instruments的LM 4F230H5QR。在某些情况下，Texas Instruments出品的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)，以及易得的其他特征结构。可以很方便地换用其他微控制器，来与本公开联合使用。因此，本公开不应限于这一上下文。
如上文所讨论，柄部14和/或轴组件200可包括下述系统和结构：这些系统和结构被构造成在轴组件200未组装到或未完全组装到柄部14时，能够防止柄部电连接器4000的触点和/或轴电连接器4010的触点发生短路，或至少降低柄部电连接器4000的触点和/或轴电连接器4010的触点发生短路的可能性。参见图3，柄部电连接器4000可至少部分地陷入柄部框架20中限定的腔体4009内。电连接器4000的六个触点4001a至4001f可完全陷入腔体4009内。这种构造可降低物体意外地接触触点4001a至4001f中的一个或多个触点的可能性。相似地，轴电连接器4010可定位在轴底座240中限定的凹陷部内，这可降低物体意外地接触轴电连接器4010的触点4011a至4011f中的一个或多个触点的可能性。参照图3所示的具体实施方案，轴触点4011a至4011f可包括凸触点。在至少一个实施方案中，例如，每个轴触点4011a至4011f可包括从其延伸的柔性突出部，该柔性突出部可被构造成能够接合对应的柄部触点4001a至4001f。柄部触点4001a至4001f可包括凹触点。在至少一个实施方案中，每个柄部触点4001a至4001f可包括例如平坦表面，轴凸触点4001a至4001f可抵靠该平坦表面擦过或滑过，从而维持这两种触点之间的导电接合。在各种情况下，将轴组件200组装到柄部14的方向可平行于、或至少基本上平行于柄部触点4001a至4001f，使得在将轴组件200组装到柄部14时，轴触点4011a至4011f抵靠柄部触点4001a至4001f滑动。在各种替代实施方案中，柄部触点4001a至4001f可包括凸触点，轴触点4011a至4011f可包括凹触点。在某些替代实施方案中，柄部触点4001a至4001f和轴触点4011a至4011f可具有任何合适的触点布置方式。
在各种情况下，柄部14可包括被构造成能够至少部分地覆盖柄部电连接器4000的连接器防护件和/或被构造成能够至少部分地覆盖轴电连接器4010的连接器防护件。在轴组件未组装到、或只部分地组装到柄部的情况下，连接器防护件可防止物体意外地接触电连接器的触点，或至少降低物体意外地接触电连接器的触点的可能性。连接器防护件可以是可运动的。例如，连接器防护件可在防护位置与非防护位置之间运动，在防护位置处，该连接器防护件至少部分地保护连接器，在非防护位置处，该连接器防护件不保护连接器，或只为连接器提供较少保护。在至少一个实施方案中，将轴组件组装到柄部时，连接器防护件的位置可被移动。例如，如果柄部包括柄部连接器防护件，则在将轴组件组装到柄部时，轴组件可接触柄部连接器防护件并移动其位置。相似地，如果轴组件包括轴连接器防护件，则在将轴组件组装到柄部时，柄部可接触轴连接器防护件并移动其位置。在各种情况下，例如，连接器防护件可包括门。在至少一种情况下，该门可具有倾斜表面，在门与柄部或轴接触时，该倾斜表面可有利于门沿确定方向移动位置。在各种情况下，例如，连接器防护件可被平移和/或旋转。在某些情况下，连接器防护件可包括覆盖电连接器触点的至少一层膜。在将轴组件组装到柄部时，这层膜可能破裂。在至少一种情况下，连接器的凸触点可先刺透这层膜，再与设置在这层膜下方的对应触点接合。
如上所述，外科器械可包括能够有选择地为电连接器(诸如电连接器4000)的触点加电或启用这些触点的系统。在各种情况下，触点可在未启用状态与启用状态之间转换。在某些情况下，触点可在监测状态、停用状态与启用状态之间转换。举例来说，在轴组件尚未组装到柄部14的情况下，微控制器7004例如可监测触点4001a至4001f，确定触点4001a至4001f中的一个或多个触点是否可能已经短路。微控制器7004可被构造成能够将低电压电位施加到触点4001a至4001f中的每个触点，并能够评估每一个触点处是否只存在最小电阻。这种工作状态可包括受监测状态。如果在某个触点处检测到的电阻很高，或超过了阈值电阻，则微控制器7004可停用该触点、一个以上触点，或者全部触点。这种工作状态可包括停用状态。如上文所讨论，如果轴组件组装到柄部14，并被微控制器7004检测到，则微控制器7004可提高施加到触点4001a至4001f的电压电位。这种工作状态可包括启用状态。
本文所公开的各种轴组件可采用传感器和需要与外壳内的控制器电连通的各种其他部件。这些轴组件通常被构造成能够相对于外壳旋转，因此必须在两个或更多个可相对彼此旋转的部件之间设置有利于这种电连通的连接件。采用本文所公开类型的端部执行器时，连接器构造在本质上必须相对坚固，同时还必须略微紧凑，以便装配到轴组件的连接器部分中。
图19至图22示出了可与例如可互换轴组件1200或需要在相对彼此旋转的部件之间设置电连接件的多种其他应用一同使用的一种形式的电联接器或滑环连接器1600。轴组件1200可与本文所述的轴组件200类似，其包括闭合管或外轴1260和近侧喷嘴1201(为清楚起见，已省去喷嘴1201的上半部)。在示出的示例中，外轴1260被安装在轴脊1210上，使得外管1260可能可以有选择地在其上轴向运动。轴脊1210和外管1260的近侧端部都可以可旋转地联接到底座1240，而围绕轴心线SA-SA相对于底座旋转。如上文所讨论，近侧喷嘴1201可包括安装架或安装耳1204(图20)，该安装架或安装耳从喷嘴部分向内突起，并延伸穿过外管1260中的对应开口1266，从而坐置在轴脊1210的对应凹陷部1211内。因此，如果临床医生想要围绕轴心线SA-SA相对于底座1240旋转外轴1260和脊轴1210，以及推定已联接到这两者上的端部执行器(未示出)，则只需如图19中的箭头“R”表示的那样旋转喷嘴1201。
如果例如在端部执行器处，或者在轴组件内或轴组件上的多个位置处采用传感器，则导体(诸如线材和/或迹线(未示出))可被接收或安装在外管1260内，甚至可沿外管1260的路径从传感器布置到安装在喷嘴1201内的远侧电部件1800。因此，远侧电部件1800可与喷嘴1201一起围绕轴心线SA-SA旋转。在图20所示的实施方案中，电部件1800包括连接器、电池等，其中包括彼此侧向移位的触点1802,1804,1806和1808。
滑环连接器1600还包括安装构件1610，该安装构件包括限定环形安装表面1613的圆柱形主体部分1612。远侧凸缘1614可在圆柱形主体部分1612的至少一个端部上形成。安装构件1610的主体部分1612的尺寸被设计成能够不可旋转地安装在底座1240的安装毂1241上。在示出的实施方案中，一个远侧凸缘1614设置在主体部分1612的一个端部上。第二凸缘1243在底座1240上形成，使得在主体部分1612固定地(不可旋转地)安装到其上之后，第二凸缘1243邻接主体部分1612的近侧端部。
滑环连接器1600还采用了独特且新颖的环形电路迹线组件1620，该环形电路迹线组件以被接收在第一凸缘1614与第二凸缘1243之间的方式，卷绕在主体部分1612的环形安装表面1613周围。现在参见图21和图22，电路迹线组件1620可包括带粘合剂背衬的柔性基板1622，该柔性基板可卷绕在主体部分1612的外围(也就是环形安装表面1613)周围。柔性基板1622在被卷绕到主体部分1612周围之前可为“T形”，该形状具有第一环形部分1624和引线部分1626。如图19至图21中也可看到的那样，电路迹线组件1620还可包括电路迹线1630,1640,1650,1660，这些电路迹线可包括例如导电镀金迹线。但也可使用其他导电材料。每根导电电路迹线都包括“环形部分”，和从该环形部分横向或垂直延伸的另一部分即“引线部分”，基板卷绕在主体部分1612周围时，环形部分将形成迹线的环形部。更具体地，参见图22，第一导电电路迹线1630具有第一环形部分1632和第一引线部分1634。第二导电电路迹线1640具有第二环形部分1642，和从第二环形部分横向或垂直延伸的第二引线部分1644。第三导电电路迹线1650具有第三环形部分1652，和从第三环形部分横向或垂直延伸的第三引线部分1654。第四导电电路迹线具有第四环形部分1662，和从第四环形部分横向或垂直延伸的第四引线部分1664。当基板处于平面取向时(也就是说，在被卷绕到安装构件1610的环形主体部分1612上之前)，可采用传统的制造技术将导电电路迹线1630,1640,1650,1660施加到柔性基板1622。如图22中可看到的那样，环形部分1632,1642,1652,1662彼此侧向移位。同样，引线部分1634,1644,1654,1664也彼此侧向移位。
将电路迹线组件1620卷绕到环形安装表面1613周围，并通过粘合剂、双面胶等将其附接到环形安装表面时，基板的包含环形部分1632,1642,1652,1664在内的部分的端部对接在一起，使得环形部分1632,1642,1652,1664形成分立的分别围绕轴心线SA-SA延伸的连续环形导电路径1636,1646,1656,1666。因此，导电路径1636,1646,1656,1666沿轴心线SA-SA彼此侧向或轴向移位。引线部分1626可延伸穿过凸缘1243中的狭槽1245，并电联接到电路板(参见例如，图7中的电路板610)或其他合适的电部件。
在所示实施方案中，例如，电部件1800被安装在喷嘴1261内，以围绕安装构件1610旋转，使得：触点1802始终与第一环形导电路径1636电接触，触点1804始终与第二环形导电路径1646电接触，触点1806始终与第三环形导电路径1656电接触，触点1808始终与第四导电路径1666电接触。然而应当理解，在安装构件1610被支撑以围绕轴心线SA-SA旋转，而且电部件1800相对于该安装构件被固定安装的应用中，使用滑环连接器1600也可获得各种优势。还应当理解，滑环连接器1600可有效地结合多种不同的部件和外科领域之外的应用使用，其中，有利的是在相对彼此旋转的部件之间提供电连接件。
滑环连接器1600包括径向滑环，该径向滑环在轴旋转之后，提供将信号和功率传递到任何径向位置以及从任何径向位置传递信号和功率的导电接触装置。在电部件包括电池触点的应用中，电池触点的位置可相对于安装构件设置，以便最小化这些部件之间累积的任何公差。联接器构造可代表能以最低制造成本组装的低成本联接构造。镀金迹线也可最小化腐蚀的可能性。独特且新颖的触点布置方式在保持与对应的环形导电路径电接触的同时，有利于围绕轴心线SA-SA完全地顺时针和逆时针旋转。
图23至图25示出了可与例如可互换轴组件1200’或需要在相对彼此旋转的部件之间设置电连接件的多种其他应用一同使用的一种形式的电联接器或滑环连接器1600’。轴组件1200’可与本文所述的轴组件1200类似，其包括闭合管或外轴1260和近侧喷嘴1201(为清楚起见，已省去喷嘴1201的上半部)。在示出的示例中，外轴1260被安装在轴脊1210上，使得外管1260可能可以有选择地在其上轴向运动。轴脊1210和外管1260的近侧端部都可以可旋转地联接到底座1240’，而围绕轴心线SA-SA相对于底座旋转。如上文所讨论，近侧喷嘴1201可包括安装架或安装耳，该安装架或安装耳从喷嘴部分向内突起，并延伸穿过外管1260中的对应开口1266，从而坐置在轴脊1210的对应凹陷部1211内。因此，如果临床医生想要围绕轴心线SA-SA相对于底座1240’旋转外轴1260和脊轴1210，以及推定已联接到这两者上的端部执行器(未示出)，则只需如图23中的箭头“R”表示的那样旋转喷嘴1201。
如果例如在端部执行器处，或者在轴组件内或轴组件上的多个位置处采用传感器，则导体(诸如线材和/或迹线(未示出))可被接收或安装在外管1260内，甚至可沿外管1260的路径从传感器布置到安装在喷嘴1201内的远侧电部件1800’。因此，远侧电部件1800’可与喷嘴1201和附接到其的线材/迹线一起旋转。在图23所示的实施方案中，电部件1800包括连接器、电池等，其中包括彼此侧向移位的触点1802’,1804’,1806’,1808’。
滑环连接器1600’还包括由多个层压在一起的导电环制成的层压滑环组件1610’。更具体地，参照图25，一种形式的滑环组件1610’可包括形成滑环组件1610’的远侧端部的第一不导电凸缘1670。凸缘1670可由例如耐高热材料制成。第一导电环1680紧邻第一凸缘1670定位。第一导电环1680可包括第一铜环1681，该第一铜环在其上具有第一镀金层1682。第二不导电环1672与第一导电环1680相邻。第二导电环1684与第二不导电环1672相邻。第二导电环1684可包括第二铜环1685，该第二铜环在其上具有第二镀金层1686。第三不导电环1674与第二导电环1684相邻。第三导电环1688与第三不导电环1674相邻。第三导电环1688可包括第三铜环1689，该第三铜环在其上具有第三镀金层1690。第四不导电环1676与第三导电环1688相邻。第四导电环1692与第四不导电环1676相邻。第四导电环1692与第四不导电环1676相邻。第五不导电环1678与第四导电环1692相邻，并形成安装构件1610’的近侧端部。不导电环1670,1672,1674,1676,1678可由相同的材料制成。第一导电环1680形成第一环形导电通路1700。第二导电环1682形成第二环形导电通路1702，该第二环形导电通路与第一环形导电通路1700侧向或轴向隔开。第三导电环1688形成第三环形导电通路1704，该第三环形导电通路与第二环形导电通路1702侧向或轴向隔开。第四导电环1692形成第四环形导电通路1706，该第四环形导电通路与第三环形导电通路1704侧向或轴向隔开。滑环组件1610’包括一体模制成型的耐高温不导电材料，其中模制有用于电磁成型(EMF-电磁成型)铜环的通道。
如图24中可看到的那样，滑环连接器1600’还包括不导电的横向安装构件1720，该横向安装构件能够插入每个环1670,1680,1672,1684,1674,1688,1676,1692和1678中轴向对齐的凹口1710中。横向安装构件1720在其上具有第一电路迹线1722，在将横向安装构件1672安装到凹口1710内时，该第一电路迹线能够与第一环形导电通路1700电接触。同样地，第二电路迹线1724被印刷在横向安装构件1720上，并且被构造用于与第二环形导电通路1702电接触。第三电路迹线1726被印刷在横向安装构件1720上，并且被构造用于与第三环形导电通路1704电接触。第四电路迹线1728被印刷在横向安装构件1720上，并且被构造用于与第四环形导电通路1706电接触。
在图23至图25所示的构造中，滑环组件1610’被构造成能够被固定地(不可旋转地)接收在底座1240’上的安装毂1241’上。横向安装构件1720被接收在安装毂1241’中形成的沟槽1243’内，该沟槽充当横向安装构件1720的键槽，并有助于防止滑环组件1610’相对于安装毂1241’旋转。
在所示实施方案中，例如，电部件1800’被安装在喷嘴1201内，以围绕滑环组件1610’旋转，使得：触点1802’始终与第一环形导电路径1700电接触，触点1804’始终与第二环形导电路径1702电接触，触点1806’始终与第三环形导电路径1704电接触，并且触点1808’始终与第四导电路径1706电接触。然而应当理解，在滑环组件1610’被支撑以围绕轴心线SA-SA旋转，并且电部件1800’相对于该滑环组件被固定安装的应用中，使用滑环连接器1600’也可获得各种优势。还应当理解，滑环连接器1600’可有效地结合多种不同的部件和外科领域之外的应用使用，其中有利的是在相对彼此旋转的部件之间提供电连接件。
滑环连接器1600’包括径向滑环，该径向滑环在轴旋转之后，提供将信号和功率传递到任何径向位置以及从任何径向位置传递信号和功率的导电接触装置。在电部件包括电池触点的应用中，电池触点的位置可相对于安装构件设置，以便最小化这些部件之间累积的任何公差。滑环连接器1600’代表能以最低制造成本组装的低成本联接构造。镀金迹线也可最小化腐蚀的可能性。独特且新颖的触点布置方式在保持与对应的环形导电路径电接触的同时，有利于围绕轴心线完全地顺时针和逆时针旋转。
图26至图30示出了可与例如可互换轴组件1200”或需要在相对彼此旋转的部件之间设置电连接件的多种其他应用一同使用的另一种形式的电联接器或滑环连接器1600”。除下文示出的差异之外，轴组件1200”可与本文所述的轴组件1200和/或1200’类似。轴组件1200”可包括闭合管或外轴1260和近侧喷嘴1201(为清楚起见，已省去喷嘴1201的上半部)。在示出的示例中，外轴1260被安装在轴脊1210上，使得外管1260可能可以有选择地在其上轴向运动。轴脊1210和外管1260的近侧端部都可以可旋转地联接到底座1240”，以用于围绕轴心线SA-SA相对于底座旋转。如上文所讨论，近侧喷嘴1201可包括安装架或安装耳，该安装架或安装耳从喷嘴部分向内突起，并延伸穿过外管1260中的对应开口1266，从而坐置在轴脊1210的对应凹陷部1211内。因此，如果临床医生想要围绕轴心线SA-SA相对于底座1240”旋转外轴1260和脊轴1210，以及推定已联接到这两者上的端部执行器(未示出)，则只需旋转喷嘴1201。
如果例如在端部执行器处，或者在轴组件内或轴组件上的多个位置处采用传感器，则导体(诸如线材和/或迹线(未示出))可被接收或安装在外管1260内，甚至可沿外管1260的路径从传感器布置到安装在喷嘴1201内的远侧电部件1800”’。在示出的实施方案中，例如，电部件1800”被安装在喷嘴1201内，使得其基本上与轴心线SA-SA对齐。远侧电部件1800”可与喷嘴1201和附接到其的线材/迹线一起围绕轴心线SA-SA旋转。电部件1800”可包括连接器、电池等，其中包括四个彼此侧向移位的触点1802”,1804”,1806”,1808”。
滑环连接器1600”还包括滑环组件1610”，该滑环组件包括由不导电材料制成、并具有从中穿过的中心安装孔1902的基部环1900。安装孔1902具有平坦表面1904，并且被构造用于不旋转地附接到被支撑在底座1240”的远侧端部处的安装凸缘组件1930。基部环1900的远侧侧面1905具有附接或层压到其的一系列同心导电环1906,1908,1910,1912。环1906,1908,1910,1912可采用任何合适的方法附接到基部环1900。
基部环1900还可包括延伸穿过其中的电路迹线，该电路迹线联接到导电环1906,1908,1910,1912中的每一个。现在参见图28至图30，第一电路迹线1922延伸穿过基部环1900中的第一孔1920，并联接到第一导电环1906。第一电路迹线1922终止在基部环1900的近侧侧面1907上的第一近侧触点部分1924中。参见图30。相似地，第二电路迹线1928延伸穿过基部环1900中的第二孔1926，并联接到第二导电环1908。第二电路迹线1928终止在基部环1900的近侧侧面1907上的第二近侧触点1930处。第三电路迹线1934延伸穿过基部环中的第三孔1932，并附接到第三导电环1910。第三电路迹线1934终止在基部环的近侧侧面1907上的第三近侧触点1936处。第四电路迹线1940延伸穿过基部环1900中待附接到第四导电环1912的第四孔1938。第四电路迹线1940终止在基部环1900的近侧侧面1907上的第四近侧触点1942处。
现在参见图27，基部环1900被构造成能够借助安装凸缘1950不可旋转地支撑在喷嘴1201内，所述安装凸缘不可旋转地联接到底座1240”的安装毂部分1241”。安装毂部分1241”可与用于支撑例如上文所述类型的横向安装构件的平坦表面1243”一起形成，该横向安装构件包括可联接到例如以本文所述以及美国专利申请序列号13/803,086中所述的各种方式和构造支撑在底座上的电路板或其他对应电部件的多根(优选四根)引线。为清楚起见，图26和图27中已省去横向支撑构件。然而，如图26和图27中可看到的那样，安装凸缘1950在其中具有凹口1952，该凹口能够接合安装毂部分1241”上的平坦表面1243”的一部分。如图27中可看到的那样，安装凸缘1950还可包括凸缘毂部分1954，该凸缘毂部分包括有助于将基部环1900固定地附接到安装凸缘1950的一系列弹簧插片1956。应当理解，闭合管1260和脊1210延伸穿过凸缘毂1954，并可与喷嘴1201一起相对于该凸缘毂旋转。
在示出的实施方案中，例如，电部件1800”被安装在喷嘴1201内，以用于围绕滑环组件1610”旋转，使得(例如)甚至在喷嘴1201相对于底座1240”旋转时，部件1800”中的触点1802”始终与环1906电接触，触点1804”始终与环1908接触，触点1806”始终与环1910接触，并且触点1808”始终与环1912接触。然而应当理解，在滑环组件1610”被支撑以围绕轴心线SA-SA旋转，并且电部件1800”相对于该滑环组件被固定安装的应用中，使用滑环连接器1600”也可获得各种优势。还应当理解，滑环连接器1600”可有效地结合多种不同的部件和外科领域之外的应用使用，其中有利的是在相对彼此旋转的部件之间提供电连接件。
滑环连接器1600”包括径向滑环，该径向滑环在轴旋转之后，提供将信号和功率传递到任何径向位置以及从任何径向位置传递信号和功率的导电接触装置。在电部件包括电池触点的应用中，电池触点的位置可相对于安装构件设置，以便最小化这些部件之间累积的任何公差。滑环连接器1600”代表能以最低制造成本组装的低成本紧凑联接构造。独特且新颖的触点布置方式在保持与对应的环形导电环电接触的同时，有利于围绕轴心线完全地顺时针和逆时针旋转。
图31至图36大体示出了马达驱动的外科紧固和切割器械2000。如图31和图32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(或“功率源”或“功率组”)。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能够充当直线切割器，用来夹紧、切断并/或缝合组织，但在其他情况下，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，和2008年2月14日提交的名称为“SURGICAL FASTENING AND CUTTING INSTRUMENTHAVING RF ELECTRODES”的美国专利申请序列号12/031,573。1995年4月4日公布的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312，和2008年2月14日提交的名称为“SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES”的美国专利申请序列号12/031,573的完整公开内容全文以引用方式并入本文。
主要参见图32和图33，柄部组件2002可与多个可互换轴组件(例如，轴组件2004)一起使用。这类可互换轴组件可包括外科端部执行器，例如端部执行器2008，该端部执行器可被构造成能够执行一种或多种外科任务或外科手术。合适的可互换轴组件的示例公开于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。提交于2013年3月14日的名称为“CONTROL SYSTEM OF ASURGICAL INSTRUMENT”的美国临时专利申请序列61/782,866的完整公开内容据此全文以引用方式并入本文。
主要参见图32，柄部组件2002可包括外壳2010，该外壳由可被构造成能够由临床医生抓握、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 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)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 STAPLINGINSTRUMENTS 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)全文以引用方式并入本文。
再次参见图32，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能够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驱动系统(或称闭合驱动系统)，该第一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能够将击发动作施加到附接到其的可互换轴组件的对应部分。
主要参见图33，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FET 2019，如图33所示。马达2014可由功率组件2006(图35)供电，功率组件2006能够可释放地安装到柄部组件2002，并且被构造成能够控制供应给外科器械2000的功率。功率组件2006可包括电池2007(图36)，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。在这种构型中，功率组件2006可被称为电池组。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。
适合与外科器械2000一起使用的驱动系统和闭合系统的示例公开于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，该专利的完整公开内容全文以引用方式并入本文。例如，电动马达2014可包括与齿轮减速器组件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啮合接合地安装在能够纵向运动的驱动构件上。在使用中，电池2007(图36)所提供的电压极性可操作电动马达2014驱动能够纵向运动的驱动构件，以使端部执行器2008生效。例如，马达2014可被构造成能够驱动能够纵向运动的驱动构件，使其推进击发机构将钉从与端部执行器2008组装在一起的钉仓击发到由端部执行器2008捕集的组织中，并且/或者例如推进切割构件2011(图34)切割由端部执行器2008捕集的组织。
在某些情况下，外科器械2000可包括闭锁机构，用于防止用户联接不相容的柄部组件和功率组件。例如，如图35所示，功率组件2006可包括配合元件2011。在某些情况下，配合元件2011可为从功率组件2006延伸出的插片。在某些情况下，柄部组件2002可包括用于与配合元件2011进行配合接合的对应配合元件(未示出)。这种构造可用于防止用户联接不相容的柄部组件和功率组件。
读者将认识到，不同的可互换轴组件可能具有不同的功率需求。推进切割构件穿过端部执行器和/或击发钉的所需功率可取决于例如，切割构件行进的距离、所用的钉仓和/或受处理的组织类型。也就是说，功率组件2006可被构造成能够满足各种可互换轴组件的功率需求。例如，如图34所示，轴组件2004的切割构件2011可被构造成能够沿端部执行器2008行进距离D1。在另一方面，另一可互换轴组件2004’可包括切割构件2011’，该切割构件可被构造成能够沿可互换轴组件2004’的端部执行器2008’行进一段不同于距离D1的距离D2。功率组件2006可被构造成能够提供第一功率输出，当可互换轴组件2004联接到柄部组件2002时，该第一功率输出足以为马达2014供电以使切割构件2011推进距离D1；并可被构造成能够例如提供不同于第一功率输出的第二功率输出，当可互换轴组件2004’联接到柄部组件2002时，该第二功率输出足以为马达2014供电以使切割构件2011’推进距离D2。如图33所示，并如下文所详述，功率组件2006可包括功率管理控制器2016(图36)，该功率管理控制器可被构造成能够调节功率组件2006的功率输出，以便当可互换轴组件2004联接到柄部组件2002时，输送第一功率输出为马达2014供电，从而将切割构件2011推进距离D1，并且以便例如当可互换轴组件2004’联接到柄部组件2002时，输送第二功率输出为马达2014供电，从而将切割构件2011’推进距离D2。这种调节在避免将超出联接到柄部组件2002的可互换轴组件需求的过高功率传输到马达2014这方面可以是有利的。
再次参见图32至图36，柄部组件2002可以可释放地联接或附接到可互换轴组件(例如，轴组件2004)。在某些情况下，柄部组件2002可以可释放地联接或附接到功率组件2006。各种联接装置可用于可释放地将柄部组件2002联接到轴组件2004并且/或者联接到功率组件2006。示例性的联接机构在2013年3月14日提交的名称为“CONTROL SYSTEM OF ASURGICAL INSTRUMENT”的美国临时专利申请序列号61/782,866中有所描述。例如，轴组件2004可包括轴附接模块2018(图32)，该轴附接模块还可包括闩锁致动器组件，该闩锁致动器组件可被构造成能够与可枢转地联接到轴附接模块2018以选择性地相对其枢转行进的锁轭相配合，其中锁轭可包括朝近侧突起的锁耳，这些锁耳被构造成用于与形成在柄部组件2002的柄部组件附接模块2020中的对应锁定棘爪或凹槽可释放地接合。
现在主要参见图33至图36，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2024与功率管理控制器2016通信。例如，接口2024可包括第一接口部分2025和第二接口部分2027，其中第一接口部分可包括一个或多个用于与对应的轴组件电连接器2028实现联接接合的电连接器2026，第二接口部分可包括一个或多个用于与对应的功率组件电连接器2032实现联接接合的电连接器2030，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之间进行电通信。可通过接口2024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，功率管理控制器可依据附接轴组件2004的功率要求，调节功率组件2006的电池2007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2026,2028,2030和/或2032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2024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(图33)，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2024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，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出品的LM4F230H5QR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。
现在主要参见图36和图37，功率组件2006可包括功率管理电路2034，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2034可被构造成能够在轴组件2004与功率组件2006联接到柄部组件2002时，基于轴组件2004的功率要求调节电池2007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，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2007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，如图37所示。
值得注意的是，功率管理控制器2016和/或轴组件控制器2022各自可包括一个或多个可存储多个软件模块的处理器和/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，该输出装置可包括一个或多个用于向用户提供感官反馈的装置。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，如图36所示。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可被构造成能够将轴组件控制器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。
参见图38和图39，它们示出了外科器械2050。外科器械2050在许多方面类似于外科紧固和切割器械2000(图31)。例如，外科器械2050可包括端部执行器2052，该端部执行器在许多方面类似于端部执行器2008。例如，端部执行器2052可被构造成能够充当用于夹持、切割和/或缝合组织的直线切割器。
除上述内容之外，外科器械2050可包括可互换工作组件2054，该可互换工作组件可包括柄部组件2053和在柄部组件2053和端部执行器2052之间延伸的轴2055，如图38所示。在某些情况下，外科器械2050可包括功率组件2056，该功率组件可与多个可互换工作组件(例如可互换工作组件2054)一起使用。这类可互换工作组件可包括外科端部执行器，例如端部执行器2052，该端部执行器可被构造成能够执行一种或多种外科任务或外科手术。在某些情况下，柄部组件2053和轴2055可整合成单个单元。在其他情况下，柄部组件2053和轴2055可以彼此可分离地联接。
与外科器械2000相似，外科器械2050可以可操作地支撑多个驱动系统，当功率组件2056联接到可互换工作组件2054时，这些驱动系统可由功率组件2056供电。例如，可互换工作组件2054可以可操作地支撑闭合驱动系统，该闭合驱动系统可用于将闭合动作和打开动作施加至端部执行器2052。在至少一种形式中，可互换工作组件2054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能够将击发动作施加到端部执行器2052。适合与外科器械2050一起使用的驱动系统的示例在2013年3月14日提交的名称为“CONTROLSYSTEM OF A SURGICAL INSTRUMENT”的美国临时专利申请序列号61/782,866中有所描述，该专利的完整公开内容全文以引用方式并入本文。
参见图39，外科器械2050的功率组件2056能够可分离地联接到可互换工作组件，例如，可互换工作组件2054。各种联接装置可用于将功率组件2056可释放地联接到可互换工作组件2054。示例性的联接机构在本文有所描述，并在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中有所描述，该专利的完整公开内容全文以引用方式并入本文。
仍参见图39，功率组件2056可包括功率源2058，例如，可被构造成当联接到功率组件2056时，能够为可互换工作组件2054供电的电池。在某些情况下，功率组件2056可包括存储器2060，该存储器可被构造成能够接收和存储关于电池2058和/或可互换工作组件2054的信息，例如，电池2058荷电状态、使用电池2058进行的治疗周期的数目，和/或在电池2058的使用周期内联接到功率组件2056的可互换工作组件的标识信息。除上述内容之外，可互换工作组件2054可包括控制器2062，该控制器可被构造成能够为存储器2060提供关于电池2058和/或可互换工作组件2054的信息。
仍参见图39，功率组件2056可包括接口2064，该接口可被构造成能够有利于功率组件2056的存储器2060和联接到功率组件2056的可互换工作组件的控制器(例如，可互换工作组件2054的控制器2062)之间的电连通。例如，接口2064可包括一个或多个连接器2066，这些连接器用于与对应的工作组件连接器2068联接接合，以便当可互换工作组件2054联接到功率组件2056时，允许控制器2062和存储器2060之间发生电连通。在某些情况下，电连接器2066和/或2068中的一者或多者可包括开关，这些开关可在将可互换工作组件2054与功率组件2056联接接合之后启动，以实现控制器2062和存储器2060之间的电通信。
仍参见图39，功率组件2056可包括荷电状态监控电路2070。在某些情况下，电荷状态监控电路2070可包括库仑计。当可互换工作组件2054联接到功率组件2056时，控制器2062可与荷电状态监控电路2070通信。荷电状态监控电路2070能够操作以提供对电池2058的荷电状态的准确监控。
图40示出了与可互换工作组件的控制器(例如当联接到功率组件2056时，可互换工作组件2054的控制器2062)一起使用的示例性模块2072。例如，控制器2062可包括一个或多个处理器，和/或可存储多个软件模块(例如模块2072)的存储器单元。尽管可采用举例说明的方式描述外科器械2050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、DSP、PLD、ASIC、电路、寄存器，所述软件部件例如程序、子例程、逻辑。
在任何情况下，在将可互换工作组件2054联接到功率组件2056之后，接口2064可有利于控制器2062和存储器2060和/或荷电状态监控电路2070之间产生通信，以使模块2072生效，如图40所示。例如，可互换工作组件2054的控制器2062可利用荷电状态监控电路2070来测量电池2058的荷电状态。然后控制器2062可访问存储器2060，并确定电池2058先前的荷电状态值是否存储在存储器2060中。当检测到先前值时，控制器2060可将实测值与先前存储值进行比较。如果实测值与先前存储值不同，那么控制器2060可更新先前存储值。当未检测到先前值时，控制器2060可将实测值存储到存储器2060中。在某些情况下，控制器2060可向外科器械2050的用户提供关于电池2058的实测荷电状态的视觉反馈。例如，控制器2060可在LCD显示屏上显示电池2058荷电状态的实测值，在一些情况下，该LCD显示屏可与可互换工作组件2054整合在一起。
除上述内容之外，当将这类其他控制器的可互换工作组件联接到功率组件2056时，模块2072也可由其他控制器执行。例如，用户可使可互换工作组件2054与功率组件2056断开连接。然后用户可使包括另一控制器的另一可互换工作组件与功率组件2056连接。当可互换工作组件2054联接到功率组件2056时，这种控制器可继而利用库仑计数电路2070测量电池2058的荷电状态，然后可访问存储器2060并确定电池2058先前的荷电状态值(例如，由控制器2060输入的值)是否存储在存储器2060中。当检测到先前值时，控制器可将实测值与先前存储值进行比较。如果实测值与先前存储值不同，那么控制器可更新先前存储值。
图41示出了外科器械2090，该外科器械在许多方面类似于外科器械2000(图31)和/或外科器械2050(图38)。例如，外科器械2090可包括端部执行器2092，该端部执行器在许多方面类似于端部执行器2008和/或端部执行器2052。例如，端部执行器2092可被构造成能够充当用于夹持、切割和/或缝合组织的直线切割器。
除上述内容之外，外科器械2090可包括可互换工作组件2094，该可互换工作组件可包括柄部组件2093和可在柄部组件2093和端部执行器2092之间延伸的轴2095。在某些情况下，外科器械2090可包括功率组件2096，该功率组件可与多个可互换工作组件(例如可互换工作组件2094)一起使用。这类可互换工作组件可包括外科端部执行器，例如端部执行器2092，该端部执行器可被构造成能够执行一种或多种外科任务或外科手术。在某些情况下，柄部组件2093和轴2095可整合成单个单元。在其他情况下，柄部组件2093和轴2095能够彼此可分离地联接。
此外，外科器械2090的功率组件2096能够可分离地联接到可互换工作组件，例如，可互换工作组件2094。各种联接装置可用于将功率组件2096可释放地联接到可互换工作组件2094。与外科器械2050和/或外科器械2000相似，外科器械2090可以可操作地支撑一个或多个驱动系统，当功率组件2096联接到可互换工作组件2094时，这些驱动系统可由功率组件2096供电。例如，可互换工作组件2094可以可操作地支撑闭合驱动系统，该闭合驱动系统可用于将闭合动作和/或打开动作施加至端部执行器2092。在至少一种形式中，可互换工作组件2094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能够将击发动作施加到端部执行器2092。与外科器械2090一起使用的示例性驱动系统和联接机构在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中更详细地描述，该专利的完整公开内容全文以引用方式并入本文。
参见图41至图45，可互换工作组件2094可包括马达(例如，马达2014(图44))和马达驱动器(例如，马达驱动器2015(图44))，该马达驱动器可用于例如促动可互换工作组件2094的闭合驱动系统和/或击发驱动系统。马达2014可由电池2098(图42)供电，该电池可位于功率组件2096中。如图42和图43所示，电池2098可包括多个串联的电池单元，这些电池单元可用作为马达2014供电的功率源。在某些情况下，功率组件2096的电池单元可以是可更换的和/或可充电的。例如，电池单元可以是能够可分离地联接至功率组件2096的锂离子电池。在使用中，功率组件2096所提供的电压极性可操作马达2014驱动能够纵向运动的驱动构件，以使端部执行器2092生效。例如，马达2014可被构造成能够驱动能够纵向运动的驱动构件，以推进切割构件切割由端部执行器2092捕集的组织，并且/或者例如推进击发机构击发来自与端部执行器2092组装在一起的钉仓的钉。这些钉可被击发进入例如由端部执行器2092捕集的组织中。
现在参见图41至图45，可互换工作组件2094可包括工作组件控制器2102(图44和图45)，并且功率组件2096可包括功率组件控制器2100(图42和图43)。工作组件控制器2102可被构造成能够产生一个或多个信号，从而与功率组件控制器2100通信。在某些情况下，当功率组件2096联接到可互换工作组件2094时，工作组件控制器2102可通过调节从功率组件2096到可互换工作组件2094的功率传输，产生一个或多个信号，从而与功率组件控制器2100通信。
此外，功率组件控制器2100可被构造成能够响应于接收到由工作组件控制器2102生成的一个或多个信号，而执行一项或多项功能。例如，可互换工作组件2094可具有一种功率需求，并且工作组件控制器2102可被构造成能够产生指示功率组件控制器2100根据可互换工作组件2094的功率需求来选择电池2098的功率输出的信号；当功率组件2096联接到可互换工作组件2094时，可如上所述地通过调节从功率组件2096到可互换工作组件2094的功率传输来产生信号。响应于接收到信号，功率组件控制器2100可设定电池2098的功率输出，以适应可互换工作组件2094的功率需求。读者将认识到，可将不同的可互换工作组件与功率组件2096一起使用。不同的可互换工作组件可具有不同的功率需求，并在它们与功率组件2096联接接合期间可产生针对其功率需求的独特信号，以警示功率组件控制器2100根据上述功率需求来设定电池2098的功率输出。
现在主要参见图42和图43，功率组件2096可包括功率调制器控制装置2106，该功率调制器控制装置可包括例如一个或多个场效应晶体管(FET)、达林顿阵列、可调式放大器和/或任何其他功率调制器。当可互换工作组件2094联接到功率组件2096时，响应于由工作组件控制器2102产生的信号，功率组件控制器2100可致动功率调制器控制装置2106，从而根据可互换工作组件2094的功率需求来设定电池2098的功率输出。
仍主要参见图42和图43，当可互换工作组件2094联接到功率组件2096时，功率组件控制器2100可被构造成能够监测从功率组件2096到可互换工作组件2094的功率传输，以便检测由可互换工作组件2094的工作组件控制器2102产生的一个或多个信号。如图42所示，例如，功率组件控制器2100可利用用于监测电池2098两端的电压的电压监测机构，来检测由工作组件控制器2102产生的一个或多个信号。在某些情况下，电压调节器可用于按比例调节电池2098的电压，以使得该电压可由功率组件控制器2100的模/数转换器(ADC)读出。如图42所示，电压调节器可包括分压器2108，该分压器可生成与电池2098的电压成比例的基准电压或低电压信号，该信号可通过例如ADC测量并记录到功率组件控制器2100。
在其他情况下，如图43所示，功率组件2096可例如包括电流监测机构，该电流监测机构用于监测传输到可互换工作组件2094的电流，从而检测由工作组件控制器2102产生的一个或多个信号。在某些情况下，功率组件2096可包括电流传感器2110，该电流传感器可用于监测传输到可互换工作组件2094的电流。所监测的电流可通过例如ADC记录到功率组件控制器2100。在其他情况下，功率组件控制器2100可被构造成能够同时监测传输到可互换工作组件2094的电流和电池2098两端的对应电压，以便检测由工作组件控制器2102产生的一个或多个信号。读者将认识到，功率组件控制器2100可利用用于监测电流和/或电压的各种其他机构，来检测由工作组件控制器2102产生的一个或多个信号；本公开设想了所有这些机构。
如图44所示，工作组件控制器2102可被构造成能够通过使马达驱动器2015生效，而产生用于与功率组件控制器2100通信的一个或多个信号，从而调节从电池2098传输到马达2014的电力。因此，为马达2014供电的电池2098两端的电压和/或自电池2098消耗的电流可形成代表一个或多个信号的不连续的模式或波形。如上所述，功率组件控制器2100可被构造成能够针对由工作组件控制器2102产生的一个或多个信号，来监测电池2098两端的电压和/或自电池2098消耗的电流。
当检测信号时，功率组件控制器2100可被构造成能够执行对应于所检测信号的一项或多项功能。在至少一个示例中，当检测到第一信号时，功率组件控制器2100可被构造成能够致动功率调制器控制装置2106，从而将电池2098的功率输出设定成具有第一占空比。在至少一个示例中，当检测到第二信号时，功率组件控制器2100可被构造成能够致动功率调制器控制装置2106，从而将电池2098的功率输出设定成具有不同于第一占空比的第二占空比。
在某些情况下，如图45所示，可互换工作组件2094可包括功率调制电路2012，该功率调制电路可包括一个或多个场效应晶体管(FET)，这些场效应晶体管可由工作组件控制器2102控制，从而产生可由功率组件控制器2100识别的信号或波形。例如，在某些情况下，工作组件控制器2102可操作功率调制电路2012以放大电压，使其高于电池2098的电压，从而例如触发功率组件2096的新功率模式。
现在主要参见图42和图43，功率组件2096可包括可在打开位置和闭合位置之间转换的开关2104。例如，当功率组件2096与可互换工作组件2094联接时，开关2104可从打开位置转换到闭合位置。在某些情况下，在例如功率组件2096与可互换工作组件2094联接之后，可手动地将开关2104从打开位置转换到闭合位置。当开关2104处于打开位置时，功率组件2096的部件可消耗足够低的电力或者不消耗电力，以保持电池2098的电量用于临床应用。开关2104可为机械机构、簧片机构、霍尔机构或任何其他合适的开关机构。此外，在某些情况下，功率组件2096可包括任选的功率源2105，该功率源可被构造成能够在电池2098的使用期间，向功率组件2096的各种部件提供充足电力。相似地，可互换工作组件2094也可包括任选的功率源2107，该功率源可被构造成能够向可互换工作组件2094的各种部件提供充足电力。
在使用中，如图46所示，功率组件2096可联接到可互换工作组件2094。在某些情况下，如上所述，开关2104可转换到闭合构型，以使可互换工作组件2094电连接到功率组件2096。作为响应，可互换工作组件2094可加电，并可至少开始自电池2098消耗相对较低的电流。例如，可互换工作组件2094可消耗小于或等于1安培的电流，为可互换工作组件2094的各种部件供电。在某些情况下，当开关2014转换到闭合位置时，功率组件2096也可加电。如上文所详述，作为响应，功率组件控制器2100可通过监测例如电池2098两端的电压和/或从电池2098到可互换工作组件2094的电流传输，而开始监测自可互换工作组件2094消耗的电流。
为通过功率调制产生并传输通信信号到功率组件控制器2100，工作组件控制器2102可采用马达驱动器2015以例如功率峰值的模式或波形为马达2014脉冲供电。在某些情况下，工作组件控制器2102可被构造成能够与马达驱动器2015通信，以通过快速切换马达2014绕组两端的电压极性来快速切换马达2014的运动方向，从而限制由功率峰值产生的有效电流传输到马达2014。因此，如图47C所示，响应于功率峰值，可降低由电力峰值产生的有效马达位移，以最大限度地降低联接到马达2014的外科器械2090的驱动系统的有效位移。
除上述内容之外，工作组件控制器2102可通过采用马达驱动器2015从电池2098中以预先确定的包或组的峰值形式消耗电力，而与功率组件控制器2100通信，这些包或组可在预先确定的时间段内重复，从而形成可由功率组件控制器2100检测的起伏图。例如，如图47A和图47B所示，功率组件控制器2100可被构造成能够使用如上文所详述的电压和/或电流监测机构，来监测电池2100两端的电压的预先确定的电压起伏图(例如，电压起伏图2103(图47A))和/或预先确定的电流起伏图(例如，电流图案2109(图47B))。此外，当检测到起伏图时，功率组件控制器2100可被构造成能够执行一项或多项功能。读者将认识到，功率组件控制器2100和工作组件控制器2102之间通过调节功率传输而进行的通信，可降低在可互换工作组件2094和功率组件2096之间所需的连接线路的数目。
在某些情况下，功率组件2096可与多代的各种可互换工作组件一起使用，这些可互换工作组件可具有不同的功率需求。不同的可互换工作组件中的一些可包括上述通信系统，而其他可互换工作组件则可能不具有这类通信系统。例如，功率组件2096可与不具有上述通信系统的第一代可互换工作组件一起使用。或者，功率组件2096可与包括上述通信系统的第二代可互换工作组件(例如，可互换工作组件2094)一起使用。
除上述内容之外，第一代可互换工作组件可具有第一功率需求，并且第二代可互换工作组件可具有可不同于第一功率需求的第二功率需求。例如，第一功率需求可小于第二功率需求。为适应第一代可互换工作组件的第一功率需求和第二代可互换工作组件的第二功率需求，功率组件2096可具有用于第一代可互换工作组件的第一功率模式，以及用于第二代可互换工作组件的第二功率模式。在某些情况下，功率组件2096可被构造成能够在对应于第一代可互换工作组件的功率需求的默认第一功率模式下操作。因此，当第一代可互换工作组件连接到功率组件2096时，功率组件2096的默认第一功率模式可适应第一代可互换工作组件的第一功率需求。但是，当第二代可互换工作组件(例如，可互换工作组件2094)连接到功率组件2096时，如上所述，可互换工作组件2094的工作组件控制器2102可与功率组件2096的功率组件控制器2100通信，以将功率组件2096切换至第二功率模式，从而适应可互换工作组件2094的第二功率需求。读者将认识到，由于第一代可互换工作组件缺乏产生通信信号的能力，因此功率组件2096在连接至第一代可互换工作组件时，将保持在默认第一功率模式下。
如上所述，电池2098可以是可充电的。在某些情况下，可能有利的是在运输功率组件2096之前将电池2098电量耗尽。在准备运输功率组件2096的过程中，可启用专用排流电路来使电池2098电量耗尽。在到达最终目的地之后，可对电池2098重新充电以用于外科手术。但是，在临床使用中，排流电路可能会持续消耗电池2098的能量。在某些情况下，如上文所详述，可互换工作组件控制器2102可被构造成能够通过调节从电池2098到马达2014的功率传输，而将排流电路停用信号传输到功率组件控制器2100。响应于排流电路停用信号，功率组件控制器2100可例如被编程为停用排流电路，从而防止电池2098经由排流电路而被耗尽。读者将认识到，当功率组件2096联接到可互换工作组件2094时，工作组件控制器2102可产生各种通信信号，以指示功率组件控制器2100执行各项功能。
再次参见图42至图45，功率组件控制器2100和/或工作组件控制器2102可包括一个或多个可存储多个软件模块的处理器和/或存储器单元。尽管可采用举例说明的方式描述外科器械2050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、DSP、PLD、ASIC、电路、寄存器，所述软件部件例如程序、子例程、逻辑。
图48大体示出了马达驱动的外科器械2200。在某些情况下，外科器械2200可包括柄部组件2202、轴组件2204和功率组件2206(或“功率源”或“功率组”)。轴组件2204可包括端部执行器2208，该端部执行器在某些情况下可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，但在其他情况下，可以使用不同类型的端部执行器，例如用于抓紧器、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1995年4月4日公布的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312，和2008年2月14日提交的名称为“SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES”的美国专利申请序列号12/031,573中找到，这些专利的完整公开内容全文以引用方式并入本文。
在某些情况下，例如，柄部组件2202能够可分离地联接到轴组件2204。在此类情况下，柄部组件2202可与多个可互换轴组件一起使用，这些可互换轴组件可包括外科端部执行器(诸如端部执行器2208)，该外科端部执行器可被构造成能够执行一种或多种手术任务或外科手术。例如，一个或多个可互换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。合适的可互换轴组件的示例公开于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，该专利申请的完整公开内容据此全文以引用方式并入本文。
仍参见图48，柄部组件2202可包括外壳2210，该外壳由可被构造成能够由临床医生抓握、操纵和致动的柄部2212组成。然而，应当理解，外壳2210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，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轴组件2204及其相应等同物的至少一种控制动作。例如，本文所公开的外壳2210可与名称为“SURGICAL STAPLINGINSTRUMENTS 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、部件以及方法一起使用，该专利申请全文以引用方式并入本文。
在至少一种形式下，外科器械2200可为外科紧固和切割器械。此外，外壳2210可以可操作地支撑一个或多个驱动系统。例如，如图50所示，外壳2210可支撑驱动系统，该驱动系统在本文中被称为击发驱动系统2214，其被构造成能够将击发动作施加到端部执行器2208。击发驱动系统2214可采用电动马达2216，该电动马达可位于例如柄部2212中。在各种形式中，马达2216可为例如具有大约25,000RPM的最大转速的直流有刷驱动马达。在其他布置中，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2218(或“功率源”或“功率组”)，例如锂离子电池，可联接到柄部2212，以向控制电路板组件2220并且最终向马达2216提供电力。
在某些情况下，仍参见图50，电动马达2216可包括可以与齿轮减速器组件2222可操作地交接的可旋转轴(未示出)，该齿轮减速器组件可与一组或一齿条的驱动齿2224啮合接合地安装在能够纵向运动的驱动构件2226上。在使用中，电池2218所提供的电压极性可沿顺时针方向操作电动马达2216，其中由电池2218施加到电动马达的电压极性可被反向，以便沿逆时针方向操作电动马达2216。例如，当电动马达2216沿一个方向旋转时，驱动构件2226将沿远侧方向“D”被轴向地驱动，并且例如，当马达2216被沿相反的旋转方向驱动时，驱动构件2226将沿近侧方向“P”被轴向地驱动，如图50所示。柄部2212可包括开关，所述开关能够使由电池2218施加到电动马达2216的极性反向。与本文所述的其他形式一样，柄部2212还可包括传感器，该传感器被构造成能够检测驱动构件2226的位置和/或驱动构件2226正在运动的方向。
如上所述，在至少一种形式中，能够纵向运动的驱动构件2226可包括在其上形成的一齿条的驱动齿2224，以用于与齿轮减速器组件2222啮合接合。在某些情况下，如图50所示，外科器械2200可包括可手动致动的“应急”组件2228，该应急组件可被构造成能够在检测到应急错误时，例如，在操作外科器械2200的过程中，当马达2216出故障(这可使得由端部执行器2208捕集的组织被卡住)时，使临床医生能够手动地回缩能够纵向运动的驱动构件2226。
除上述内容之外，如图50所示，应急组件2228可包括杠杆或应急柄部2230，该杠杆或应急柄部被构造成能够被手动地运动或枢转成与驱动构件2226中的齿2224棘轮接合。在所述情况下，临床医生可例如通过使用应急柄部2230沿近侧方向“P”回缩驱动构件2226，而手动地回缩驱动构件2226，以便例如从端部执行器2208释放卡住的组织。可与本文所公开的各种器械一起使用的示例性应急布置方式和其他部件、布置方式和系统公开于名称为“POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLEFIRING 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)中，该专利申请据此全文以引用方式并入本文。
除上述内容之外，现在主要参见图48和图50，应急组件2228的应急柄部2230可位于柄部组件2202的外壳2210内。在某些情况下，可由应急门2232控制对应急柄部2230的触及。应急门2232可被可释放地锁定到外壳2210，以控制对于应急柄部2230的触及。如图48所示，应急门2232可包括锁定机构，例如，用于与外壳2210锁定接合的按扣型锁定机构2234。本公开设想了用于将应急门2232锁定到外壳2210的其他锁定机构。在使用中，临床医生可通过解锁锁定机构2234并打开应急门2232而触及应急柄部2230。在至少一个示例中，例如，应急门2232能够可分离地联接到外壳2232，并可从外壳2210脱离，从而为触及应急柄部2230提供通路。在另一个示例中，例如，应急门2232可通过铰链(未示出)可枢转地联接到外壳2210，并可相对于外壳2210枢转，从而为触及应急柄部2230提供通路。在又一个示例中，应急门2232可为滑动门，该滑动门可以相对于外壳2210可滑动地运动，从而为触及应急柄部2230提供通路。
现在参见图51，外科器械2200可包括应急反馈系统2236，该应急反馈系统可被构造成能够在如下文所详述的应急组件2228的各使用步骤中，引导临床医生和/或向其提供反馈。在某些情况下，应急反馈系统2236可包括微控制器2238和/或一个或多个应急反馈元件。与应急反馈系统2236和/或应急反馈元件相关联的电动和电子电路元件由例如控制电路板组件2220支撑。微控制器2238通常可包括存储器2240和可操作地联接到存储器2240的微处理器2242(“处理器”)。处理器2242可控制马达驱动器2244电路，该电路通常用于控制马达2216的位置和速率。在某些情况下，处理器2242向马达驱动器2244发送信号，以停止或停用马达2216，如下文所详述。在某些情况下，处理器2242可控制单独的马达超控电路，该电路可包括马达超控开关，该马达超控开关可在操作外科器械2200的过程中，响应于处理器2242的超控信号而停止和/或停用马达2216。应当理解，本文使用的术语“处理器”包括任何合适的微处理器、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，依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。
在一种情况下，处理器2242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2200可包括安全处理器，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，微控制器2238可以是例如可购自Texas Instruments的LM4F230H5QR。在至少一个示例中，Texas Instruments出品的LM4F230H5QR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2240、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。可容易地取代其他微控制器以用于应急反馈系统2236中。因此，本公开不应限于这一上下文。
再次参见图51，应急反馈系统2236可包括例如应急门反馈元件2246。在某些情况下，应急门反馈元件2246可被构造成能够警示处理器2242锁定机构2234未锁定。在至少一个示例中，应急门反馈元件2246可包括能够可操作地联接到处理器2242的开关电路(未示出)；该开关电路可被构造成能够例如当临床医生解锁锁定机构2234时转换到打开构型，并且/或者当临床医生锁定锁定机构2234时转换到闭合构型。在至少一个示例中，应急门反馈元件2246可包括至少一个能够可操作地联接到处理器2242的传感器(未示出)；该传感器可被构造成能够例如当临床医生将锁定机构2234转换到解锁和/或锁定构型时被触发。读者将认识到，应急门反馈元件2246可包括用于检测锁定机构2234被临床医生锁定和/或解锁的其他装置。
在某些情况下，应急门反馈元件2246可包括能够可操作地联接到处理器2242的开关电路(未示出)；例如，该开关电路可被构造成能够例如当移除或打开应急门2232时转换到打开构型，并且/或者例如当安装或关闭应急门2232时转换到闭合构型。在至少一个示例中，应急门反馈元件2246可包括至少一个能够可操作地联接到处理器2242的传感器(未示出)；该传感器可被构造成能够例如当移除或打开应急门2232时被触发，和/或例如当关闭或安装应急门2232时被触发。读者将认识到，应急门反馈元件2246可包括用于检测锁定机构2234被临床医生锁定和/或解锁，和/或应急门2232被临床医生打开和/或关闭的其他装置。
在某些情况下，如图51所示，应急反馈系统2236可包括一个或多个附加反馈元件2248，该附加反馈元件可包括与处理器2242可操作地通信的附加开关电路和/或传感器；处理器2242可使用附加开关电路和/或传感器来测量与应急反馈系统2236相关联的其他参数。在某些情况下，应急反馈系统2236可包括一个或多个接口，这些接口可包括用于向用户提供感官反馈的一个或多个装置。这类装置可包括例如视觉反馈装置，例如显示屏和/或LED指示器。在某些情况下，这类装置可包括听觉反馈装置，例如扬声器和/或蜂鸣器。在某些情况下，这类装置可包括触觉反馈装置，例如触觉致动器。在某些情况下，这类装置可包括视觉反馈装置、听觉反馈装置和/或触觉反馈装置的组合。在某些情况下，如图48所示，一个或多个接口可包括显示器2250，该显示器可包括在例如柄部组件2202中。在某些情况下，处理器2242可使用显示器2250来警示、引导外科器械2200的用户，并且/或者向其提供关于使用应急组件2228进行外科器械2200的手动应急的反馈。
在某些情况下，应急反馈系统2236可包括用固件、软件、硬件或它们的任意组合实现的一个或多个嵌入式应用程序。在某些情况下，应急反馈系统2236可包括各种可执行模块，例如软件、程序、数据、驱动器和/或应用程序接口(API)。图52示出了可存储在例如存储器2240中的示例性模块2252。模块2252可由处理器2242执行，例如以警示、引导外科器械2200的用户，并且/或者向其提供关于使用应急组件2228进行外科器械2200的手动应急的反馈。
如图52所示，模块2252可由处理器2242执行，以向用户提供关于如何接触到和/或使用应急组件2228以进行例如外科器械2200的手动应急的指令。在各种情况下，模块2252可包括一个或多个决策步骤，例如，关于检测到需要执行外科器械2200的手动应急的一个或多个错误的决策步骤2254。
在各种情况下，处理器2242可被构造成能够响应于一个或多个干预事件在例如外科器械2200的正常操作期间的发生率，而检测应急错误。在某些情况下，处理器2242可被构造成能够当处理器2242接收到一个或多个应急错误信号时检测应急错误；应急错误信号可由例如外科器械2200的其他处理器和/或传感器传送给处理器2242。在某些情况下，例如，当由传感器(未示出)检测的外科器械2200温度超出阈值时，应急错误可被处理器2242检测出。在某些情况下，外科器械2200可包括定位系统(未示出)，该定位系统用于感测和记录在击发驱动系统2214的击发行程期间，能够纵向运动的驱动构件2226的位置。在至少一个示例中，处理器2242可被构造成能够例如当能够纵向运动的驱动构件2226的一个或多个记录位置与预先确定的阈值不一致时检测应急错误。
再次参见图52，在任何情况下，在决策步骤2254中当处理器2242检测到应急错误时，处理器2242可通过例如关停和/或停用马达2216而作出响应。此外，在某些情况下，在检测到应急错误之后，处理器2242也可将应急状态存储在存储器2240中，如图52所示。换句话讲，处理器2242可将表明已检测到应急错误的状态存储在存储器2240中。如上所述，存储器2240可为非易失性存储器，当例如用户重新设定外科器械2200时，该存储器可保持已检测到应急错误这一存储的状态。
在各种情况下，可通过例如使电池2218与马达2216断开连接而关停和/或停用马达2216。在各种情况下，处理器2242可采用驱动器2244来关停或停用马达2216。在某些情况下，当使用了马达超控电路时，处理器2242可使用马达超控电路来关停和/或停用马达2216。在某些情况下，关停和/或停用马达2216可阻止外科器械2200的用户使用马达2216，至少直到例如进行了手动应急。读者将认识到，响应于检测到应急错误而关停和/或停用马达2216，可有利于保护由外科器械2200捕集的组织。
除上述内容之外，仍参见图52，模块2252可包括用于检测应急门2232是否移除的决策步骤2256。如上所述，处理器2242可以可操作地联接到应急门反馈元件2246，该应急门反馈元件可被构造成能够警示处理器2242关于应急门2232是否移除的信息。在某些情况下，处理器2242可被编程为例如当应急门反馈元件2246报告锁定机构2234解锁时，检测应急门2232是否被移除。在某些情况下，处理器2242被编程为例如当应急门反馈元件2246报告应急门2232打开时，检测应急门2232是否被移除。在某些情况下，处理器2242被编程为例如当应急门反馈元件2246报告锁定机构2234解锁且应急门2232打开时，检测应急门2232是否被移除。
在各种情况下，仍参见图52，在决策步骤2254中当处理器2242未检测到应急错误，并且在决策步骤2256中当处理器2242未检测到应急门2232被移除时，该处理器可能不会中断外科器械2200的正常操作，并可利用各种临床算法继续进行操作。在某些情况下，在决策步骤2254中当处理器2242未检测到应急错误，但在决策步骤2256中处理器2242检测到应急门2232被移除时，该处理器可如上文所述那样通过关停和/或停用马达2216而作出响应。此外，在某些情况下，处理器2242也可为用户提供关于重新安装应急门2232的指令，如下文所详述。在某些情况下，当处理器2242检测到应急门2232已重新安装，同时未检测到应急错误时，处理器2242可被构造成能够重新将功率源与马达2216连接，并使用户利用临床算法继续操作，如图52所示。
在某些情况下，当用户未重新安装应急门2232时，处理器2242可能不会重新将功率源与马达2216连接，而是继续为用户提供关于重新安装应急门2232的指令。在某些情况下，当用户未重新安装应急门2232时，处理器2242可向用户提供需要重新安装应急门2232以便继续正常操作外科器械2200这一警告。在某些情况下，外科器械2200可配备有超控机构(未示出)，以使用户即便在未安装应急门2216的情况下，也能够重新连接功率源和马达2216。
在各种情况下，处理器2242可被构造成能够在处理器2242检测到应急门2232被移除时，为用户提供感观反馈。在各种情况下，处理器2242可被构造成能够在处理器2242检测到应急门2232被重新安装时，为用户提供感观反馈。处理器2242可采用各种装置为用户提供感官反馈。这类装置可包括例如视觉反馈装置，例如显示屏和/或LED指示器。在某些情况下，这类装置可包括听觉反馈装置，例如扬声器和/或蜂鸣器。在某些情况下，这类装置可包括触觉反馈装置，例如触觉致动器。在某些情况下，这类装置可包括视觉反馈装置、听觉反馈装置和/或触觉反馈装置的组合。在某些情况下，处理器2242可采用显示器2250来指示用户重新安装应急门2232。例如，处理器2242可通过例如显示器2250向用户呈现应急门2232图像及其旁边的警示符号。在某些情况下，处理器2242可呈现例如应急门2232已被安装的动画图像。也可通过显示器2250显示其他图像、符号和/或词语以警示外科器械2200的用户重新安装应急门2232。
再次参见图52，当检测到应急错误时，处理器2242可信向外科器械2200的用户发出使用应急柄部2230执行手动应急的信号。在各种情况下，处理器2242可例如通过为用户提供视觉、听觉和/或触觉反馈，而向用户发出执行手动应急的信号。在某些情况下，如图52所示，处理器2242可通过使显示器2250的背光源闪烁，来向外科器械2200的用户发出执行手动应急的信号。在任何情况下，处理器2242随后可为用户提供执行手动应急的指令。在各种情况下，如图52所示，这些指令可能取决于是否已安装应急门2232；决策步骤2258可确定向用户提供的指令类型。在某些情况下，当处理器2242检测到应急门2232已安装时，处理器2242可向用户提供例如移除应急门2232的指令和操作应急柄部2230的指令。但是，当处理器2242检测到应急门2232被移除时，处理器2242可向用户提供例如操作应急柄部2230的指令，但不提供移除应急门2232的指令。
再次参见图52，在各种情况下，由处理器2242向用户提供的移除应急门2232和/或操作应急柄部2230的指令可包括一个或多个步骤；这些步骤可按时间顺序呈现给用户。在某些情况下，这些步骤可包括由用户进行的动作。在这些情况下，用户可通过进行每一步骤中所示的动作，而执行手动应急步骤。在某些情况下，一个或多个步骤中所需的动作能够例如以显示在显示器2250上的动画图像的形式呈现给用户。在某些情况下，一个或多个步骤能够以信息的形式呈现给用户，该信息可包括指导用户进行手动应急的词语、信号和/或图像。在某些情况下，可将一个或多个进行手动应急的步骤例如结合在一条或多条信息中。在某些情况下，每一信息可例如包括单独的步骤。
在某些情况下，可例如在预先确定的时间间隔内将提供了用于手动应急的指令的这些步骤和/或信息呈现给用户，从而使用户有足够长的时间来遵照这些步骤和/或信息进行操作。在某些情况下，处理器2242可被编程为持续呈现步骤和/或信息，直至处理器2242接收到已执行该步骤的反馈信息。在某些情况下，例如可由应急门反馈元件2246向处理器2242提供反馈。处理器2242也可采用其他机构和/或传感器获取已完成该步骤的反馈。在至少一个示例中，当例如通过按压警示按钮完成步骤时，用户可得到警示处理器2242的指示。在某些情况下，显示器2250可包括电容屏，该电容屏可为用户提供接口，从而在步骤完成时警示处理器2242。例如，在完成当前步骤之后，用户可按压电容屏以继续进行手动应急指令的下一步骤。
在某些情况下，如图52所示，在检测到应急门2232已安装时，处理器2242可被构造成能够使用显示器2250呈现出手正朝向应急门2232运动的动画图像2260。处理器2242可持续显示动画图像2260一段时间，例如足以让用户接触应急门2232的时间间隔。在某些情况下，处理器2242随后可例如用示出了以手指接触应急门锁定机构2234的动画图像2262来代替动画图像2260。处理器2242可持续显示动画图像2262一段时间，例如足以让用户解锁锁定机构2234的时间间隔。在某些情况下，处理器2242可持续显示动画图像2262，直至例如应急门反馈元件2246报告锁定机构2234被解锁。在某些情况下，处理器2242可持续显示动画图像2262，直至用户警示处理器2242已完成解锁锁定机构2234这一步骤。
在任何情况下，处理器2242随后可例如用示出了以手指移除应急门2232的动画图像2264来代替动画图像2262。处理器2242可持续显示动画图像2264一段时间，例如足以让用户移除应急门2232的时间间隔。在某些情况下，处理器2242可持续显示动画图像2264，直至例如应急门反馈元件2246报告应急门2232被移除。在某些情况下，处理器2242可持续显示动画图像2264，直至例如用户警示处理器2242已完成移除应急门2232这一步骤。在某些情况下，处理器2242可移除被构造成能够在处理器2242持续检测到在决策步骤2258中安装应急门时，继续以其相应顺序重复显示动画图像2260、2262和2246。
除上述内容之外，在检测到应急门2232被移除之后，处理器2242可继续指导用户进行操作应急柄部2230的步骤。在某些情况下，处理器2242可用例如示出了如上文所述那样以手指抬起应急柄部2230使其与驱动构件2226中的齿2224棘轮接合的动画图像2266来代替动画图像2264。处理器2242可持续显示动画图像2266一段时间，例如足以让用户抬起应急柄部2230的时间间隔。在某些情况下，处理器2242可持续显示动画图像2266，直至处理器接收到应急柄部2230已被抬起的反馈。例如，处理器2242可持续显示动画图像2266，直至用户警示处理器2242已完成抬起应急柄部2230这一步骤。
在某些情况下，如上所述，用户可例如通过使用应急柄部2230沿近侧方向“P”回缩驱动构件2226，而手动地回缩驱动构件2226，以便例如释放由端部执行器2208卡住的组织。在所述情况下，处理器2242可用例如示出了以手指重复地牵拉然后推挤应急柄部2230从而模拟应急柄部2230回缩的动画图像2268来代替动画图像2266。处理器2242可持续显示动画图像2268一段时间，例如足以让用户将驱动构件2226回缩至默认位置的时间间隔。在某些情况下，处理器2242可持续显示动画图像2268，直至处理器2242接收到驱动构件2226已回缩的反馈。
图53示出了模块2270，该模块在许多方面与模块2258类似。例如，模块2252也可存储在存储器2240中并且/或者由处理器2242执行，例如以警示、引导外科器械2200的用户，并且/或者向其提供关于进行外科器械2200的手动应急的反馈。在某些情况下，外科器械2200可不包括应急门。在此类情况下，处理器2242可使用模块2270向用户提供例如关于如何操作应急柄部2230的指令。
再次参见图53中所示的模块2270，在模块2270的决策步骤2254中当处理器2242未检测到应急错误时，该处理器2242可能不会中断外科器械2200的正常操作，并可利用各种临床算法继续进行操作。然而，在模块2270的决策步骤2254中当处理器2242检测到应急错误时，该处理器2242可例如通过关停和/或停用马达2216而作出响应。此外，在某些情况下，在检测到应急错误之后，处理器2242也可将应急状态存储在存储器2240中，如图53所示。不存在应急门时，处理器2242可例如通过使显示器2250的背光源闪烁，而向外科器械2200的用户发出进行手动应急的信号；然后如上文所述那样，处理器2242可直接继续为用户提供操作应急柄部2230的指令。
读者将认识到，图52和/或53中所示的步骤是可以提供给外科器械2200的用户进行手动应急的指令的示例性实施例。模块2252和/或2270可被构造成能够提供比图52和图53中所示模块更多或更少的步骤。读者也将认识到，模块2252和/或2270为示例性的模块；处理器2242也可执行各种其他模块，以向外科器械2200的用户提供进行手动应急的指令。
在各种情况下，如上所述，处理器2242可被构造成能够在预先确定的时间间隔中向外科器械2200的用户呈现进行手动应急的步骤和/或信息。根据例如由用户进行的任务的复杂性，这些时间间隔可以相同或可以不同。在某些情况下，这些时间间隔可为在例如约1秒至例如约10分钟范围内的任何时间间隔。在某些情况下，这些时间间隔可为在例如约1秒至例如约1分钟范围内的任何时间间隔。本公开可设想到其他时间间隔。
在一些情况下，功率组件(例如图31至图33中所示的功率组件2006)被构造成能够监测功率组件2006和/或联接到功率组件2006的外科器械2000的使用次数。功率组件2006保持着对应于使用次数的使用循环计数。功率组件2006和/或外科器械2000根据使用循环计数，进行一个或多个动作。例如，在一些情况下，当使用循环计数超过预先确定的使用极限时，功率组件2006和/或外科器械2000可停用功率组件2006、停用外科器械2000，这表明需要进行修复循环或保养循环，并向操作者和/或远程系统提供使用循环计数和/或进行任何其他合适的动作。使用循环计数由合适的系统确定，例如，机械限制器、使用循环电路和/或联接到电池2006和/或外科器械2000的任何其他合适的系统。
图54示出了功率组件2400的一个示例，该功率组件包括被构造成能够监测功率组件2400的使用循环计数的使用循环电路2402。动力组件2400可联接到外科器械2410。使用循环电路2402包括处理器2404和使用指示器2406。使用指示器2406被构造成能够向处理器2404提供信号，以指示电池组2400和/或联接到功率组件2400的外科器械2410的使用情况。“使用情况”可包括任何合适的动作、条件和/或参数，例如，改变外科器械2410的模块化部件、部署或击发联接到外科器械2410的一次性部件、从外科器械2410递送电外科能量、修复外科器械2410和/或功率组件2400、交换功率组件2400、为功率组件2400再充电，和/或超出外科器械2410和/或电池组2400的安全限制。
在一些情况下，使用循环或使用情况由一个或多个功率组件2400参数限定。例如，在一种情况下，使用循环包括使用大于5％的当功率组件2400处于完全充电水平时可得自功率组件2400的总能量。在另一种情况下，使用循环包括超出预先确定的时间限值的从功率组件2400的连续能量消耗。例如，使用循环可对应于从功率组件2400连续和/或总能量消耗五分钟。在一些情况下，功率组件2400包括使用循环电路2402，该使用循环电路存在连续功率消耗，以将使用循环电路2402的一个或多个部件，例如使用指示器2406和/或计数器2408保持在工作状态下。
处理器2404保持着使用循环计数。使用循环计数指示出由使用指示器2406检测到的功率组件2400和/或外科器械2410的使用次数。处理器2404可根据来自使用指示器2406的输入而递增和/或缩减使用循环计数。使用循环计数用于控制功率组件2400和/或外科器械2410的一个或多个操作。例如，在一些情况下，当使用循环计数超出预先确定的使用极限时，停用功率组件2400。尽管本文所述情况是相对于递增使用循环计数使其超出预先确定的使用极限而论述的，但本领域中的那些技术人员将认识到，使用循环计数可开始于某个预先确定的量，并可由处理器2404缩减。在这种情况下，当使用循环计数降至低于预先确定的使用极限时，处理器2404即启动和/或阻止功率组件2400的一个或多个操作。
使用循环计数由计数器2408保持。计数器2408包括任何合适的电路，例如，存储器模块、模拟计数器和/或被构造成能够保持使用循环计数的任何电路。在一些情况下，计数器2408与处理器2404一体地形成。在其他情况下，计数器2408包括单独的部件，例如固态存储器模块。在一些情况下，使用循环计数被提供给远程系统，例如中央数据库。使用循环计数由通信模块2412传输到远程系统。通信模块2412被构造成能够使用任何合适的通信媒介，例如，有线和/或无线通信。在一些情况下，通信模块2412被构造成能够在使用循环计数超出预先确定的使用极限时，接收来自远程系统的一个或多个指令，例如控制信号。
在一些情况下，使用指示器2406被构造成能够监测与联接到功率组件2400的外科器械2410一起使用的模块化部件的数目。模块化部件可包括例如，模块化轴、模块化端部执行器和/或任何其他模块化部件。在一些情况下，使用指示器2406监测一个或多个一次性部件的使用情况，例如，在联接到外科器械2410的端部执行器内插入和/或部署钉仓的情况。使用指示器2406包括一个或多个传感器，这些传感器用于检测外科器械2410的一个或多个模块化和/或一次性部件的交换。
在一些情况下，使用指示器2406被构造成能够监测在已安装功率组件2400时进行的单次患者外科手术。例如，当功率组件2400联接到外科器械2410时，使用指示器2406可被构造成能够监测外科器械2410的击发。击发可对应于钉仓的部署、电外科能量的施加和/或任何其他合适的外科事件。使用指示器2406可包括用于在已安装功率组件2400时，测量击发次数的一个或多个电路。当进行单次患者手术时，使用指示器2406向处理器2404提供信号，然后处理器2404递增使用循环计数。
在一些情况下，使用指示器2406包括被构造成能够监测功率源2414的一个或多个参数(例如，自功率源2414消耗的电流)的电路。功率源2414的一个或多个参数对应于可由外科器械2410执行的一个或多个操作，例如，切割和缝合操作。使用指示器2406向处理器2404提供一个或多个参数，当这一个或多个参数指示出手术已进行时，该处理器递增使用循环计数。
在一些情况下，使用指示器2406包括被构造成能够在预先确定的时间段后递增使用循环计数的计时电路。预先确定的时间段对应于单次患者手术时间，即操作者进行手术(例如，切割和缝合手术)所需的时间。当功率组件2400联接到外科器械2410时，处理器2404轮询使用指示器2406，以确定单次患者手术时间是否已结束。若预先确定的时间段已经过去，处理器2404则递增使用循环计数。在递增使用循环计数之后，处理器2404重新设定用户指示器2406的计时电路。
在一些情况下，使用指示器2406包括与单次患者手术时间近似的时间常数。图55示出功率组件2500的一个实例，该功率组件包括具有电阻器-电容器(RC)计时电路2506的使用循环电路2502。RC计时电路2506包括由电阻器-电容器对限定的时间常数。时间常数由电阻器2516和电容器2518的值限定。当功率组件2500安装在外科器械中时，处理器2504轮询RC计时电路2506。当RC计时电路2506的一个或多个参数低于预先确定的阈值时，处理器2504递增使用循环计数。例如，处理器2504可轮询电阻器-电容器对2506的电容器2518的电压。当电容器2518的电压低于预先确定的阈值时，处理器2504递增使用循环计数。处理器2504可通过例如A/D 2520联接到RC计时电路2506。在递增使用循环计数之后，处理器2504将晶体管2522导通，以将RC计时电路2506连接至功率源2514，从而为RC计时电路2506的电容器2518充电。当电容器2518充满电时，断开晶体管2522，并使RC计时电路2506放电(如由时间常数控制)以指示后继的单次患者手术。
图56示出了功率组件2550的一个实例，该功率组件包括具有可充电电池2564和时钟2560的使用循环电路2552。当功率组件2550安装在外科器械中时，可充电电池2564由功率源2558充电。可充电电池2564包括足够的电力以使时钟2560运行至少单次患者手术时间。时钟2560可包括实时时钟、被构造成能够实现计时功能的处理器或任何其他合适的计时电路。处理器2554接收来自时钟2560的信号，并在时钟2560指示已经超出单次患者手术时间时，递增使用循环计数。在递增使用循环计数之后，处理器2554重新设定时钟2560。例如，在一种情况下，处理器2554闭合晶体管2562，从而为可充电电池2564再充电。当可充电电池2564充满电时，处理器2554断开晶体管2562，并且当可充电电池2564放电时使时钟2560运行。
重新参见图54，在一些情况下，使用指示器2406包括传感器，该传感器被构造成能够监测功率组件2400所经受的一个或多个环境条件。例如，使用指示器2406可包括加速度计。加速度计被构造成能够监测功率组件2400的加速度。功率组件2400具有最大加速度耐受度。加速度超过预先确定的阈值表示例如功率组件2400已掉落。当使用指示器2406检测到加速度超过最大加速度耐受度时，处理器2404递增使用循环计数。在一些情况下，使用指示器2406包括水分传感器。水分传感器被构造成能够在功率组件2400已暴露于水分时进行指示。水分传感器可包括例如，被构造成能够在功率组件2400已经完全浸没到清洁液体中时进行指示的浸没式传感器、被构造成能够在使用过程中当水分与功率组件2400接触时进行指示的水分传感器，和/或任何其他合适的水分传感器。
在一些情况下，使用指示器2406包括化学品接触传感器。化学品接触传感器被构造成能够在功率组件2400已经与有害和/或危险化学品接触时进行指示。例如，在消毒过程中，可能使用了导致功率组件2400劣化的不合适化学品。当使用指示器2406检测到不合适化学品时，处理器2404递增使用循环计数。
在一些情况下，使用循环电路2402被构造成能够监测功率组件2400所历经的修复循环次数。修复循环可包括例如，清洁循环、消毒循环、充电循环、常规和/或预防性维护，和/或任何其他合适的修复循环。使用指示器2406被构造成能够检测修复循环。例如，使用指示器2406可包括水分传感器以检测清洁和/或消毒循环。在一些情况下，使用循环电路2402监测功率组件2400所历经的修复循环次数，并在修复循环次数超出预先确定的阈值之后，停用功率组件2400。
使用循环电路2402可被构造成能够监测功率组件2400交换的次数。每当交换功率组件2400时，使用循环电路2402便递增使用循环计数。当超出最大交换次数时，使用循环电路2402锁定功率组件2400和/或外科器械2410。在一些情况下，当功率组件2400联接到外科器械2410时，使用循环电路2402识别功率组件2400的序列号并锁定功率组件2400，使得功率组件2400只有在与外科器械2410联接在一起时才可使用。在一些情况下，每当功率组件2400从外科器械2410移除和/或联接到该外科器械时，使用循环电路2402递增使用循环。
在一些情况下，使用循环计数对应于功率组件2400的消毒。使用指示器2406包括被构造成能够检测消毒循环的一个或多个参数(例如，温度参数、化学参数、水分参数和/或任何其他合适的参数)的传感器。当检测到消毒参数时，处理器2404递增使用循环计数。在预先确定的消毒次数之后，使用循环电路2402停用功率组件2400。在一些情况下，使用循环电路2402在消毒循环期间、电压传感器和/或任何合适的传感器检测再充电循环期间被重新设定。当检测到修复循环时，处理器2404递增使用循环计数。当检测到消毒循环时，停用使用循环电路2402。当功率组件2400联接到外科器械2410时，重新启用和/或重新设定使用循环电路2402。在一些情况下，使用指示器包括零功率指示器。零功率指示器在消毒循环期间改变状态，并当功率组件2400联接到外科器械2410时由处理器2404检查。当零功率指示器指示已经发生消毒循环时，处理器2404递增使用循环计数。
计数器2408保持着使用循环计数。在一些情况下，计数器2408包括非易失性存储器模块。每当检测到使用循环时，处理器2404便递增存储在非易失性存储器模块中的使用循环计数。存储器模块可由处理器2404和/或控制电路(例如，控制电路1100)访问。当使用循环计数超出预先确定的阈值时，处理器2404停用功率组件2400。在一些情况下，使用循环计数由多个电路部件保持。例如，在一种情况下，计数器2408包括电阻器(或熔断器)组。在每次使用功率组件2400之后，电阻器(或熔断器)可被烧断成打开位置，从而改变电阻器组的电阻。功率组件2400和/或外科器械2410读取剩余的电阻值。当电阻器组的最后一个电阻器被烧坏时，电阻器组便具有预先确定的电阻(例如，对应于开式电路的无穷大电阻)，这表明功率组件2400已经达到其使用极限。在一些情况下，电阻器组的电阻用于推导出剩余的使用次数。
在一些情况下，当使用循环计数超出预先确定的使用极限时，使用循环电路2402便阻止功率组件2400和/或外科器械2410的进一步使用。在一种情况下，例如，利用与外科器械2410一体形成的屏幕将与功率组件2400相关的使用循环计数提供给操作者。外科器械2410向操作者提供使用循环计数已经超出功率组件2400的预先确定的限值的指示，并阻止外科器械2410的进一步操作。
在一些情况下，使用循环电路2402被构造成当达到预先确定的使用极限时能够在物理上防止其操作。例如，功率组件2400可包括护罩，该护罩被构造成能够在使用循环计数超出预先确定的使用极限时，部署在功率组件2400的触点上。该护罩通过覆盖功率组件2400的电连接件阻止再充电及使用功率组件2400。
在一些情况下，使用循环电路2402至少部分地位于外科器械2410之内，并被构造成能够保持外科器械2410的使用循环计数。图54以虚线示出了外科器械2410内的使用循环电路2402的一个或多个部件，虚线也示出使用循环电路2402的可选位置。当超出外科器械2410的预先确定的使用极限时，使用循环电路2402停用和/或阻止外科器械2410的操作。当使用指示器2406检测到特定事件和/或需求(例如，外科器械2410的击发、对应于单次患者手术时间的预先确定的时间段)时，使用循环电路2402响应于表明达到了一个或多个预先确定的阈值和/或满足了任何其他合适需求的系统诊断，而根据外科器械2410的一个或多个马达参数递增使用循环计数。如上所论述，在一些情况下，使用指示器2406包括对应于单次患者手术时间的计时电路。在其他情况下，使用指示器2406包括一个或多个传感器，这些传感器被构造成能够检测外科器械2410的特定事件和/或条件。
在一些情况下，使用循环电路2402被构造成能够防止在达到预先确定的使用极限之后使用外科器械2410。在一些情况下，外科器械2410包括可视指示器，以便当已经达到和/或超过预先确定的使用极限时给出指示。例如，标记(诸如红色标记)可从外科器械2410(诸如从柄部)弹出，从而为操作者提供外科器械2410已超出预先确定的使用极限的视觉指示。又如，使用循环电路2402可联接到与外科器械2410一体地形成的显示器。使用循环电路2402显示出指示已经超出预先确定的使用极限的信息。外科器械2410可以向操作者提供已经超出预先确定的使用极限的听觉指示。例如，在一种情况下，当超出预先确定的使用极限时，外科器械2410发出可以听见的音调，然后将功率组件2400从外科器械2410移除。可以听见的音调指示出外科器械2410的最后一次使用，并指示应该丢弃或修复外科器械2410。
在一些情况下，使用循环电路2402被构造成能够将外科器械2410的使用循环计数传输到远程位置，例如，中央数据库。使用循环电路2402包括被构造成能够将使用循环计数传输到远程位置的通信模块2412。通信模块2412可利用任何合适的通信系统，例如有线和/或无线通信系统。远程位置可包括被构造成能够保持使用信息的中央数据库。在一些情况下，当功率组件2400联接到外科器械2410时，功率组件2400记录外科器械2410的序列号。例如，当功率组件2400联接到充电器时，该序列号被传输到中央数据库。在一些情况下，中央数据库保持着对应于外科器械2410的每一次使用的计数。例如，每当使用外科器械2410时，与外科器械2410相关联的条形码便可被扫描。当使用计数超过预先确定的使用极限时，中央数据库向外科器械2410提供指示应该丢弃外科器械2410的信号。
外科器械2410可被构造成当使用循环计数超出预先确定的使用极限时，能够锁定和/或阻止操作外科器械2410。在一些情况下，外科器械2410包括一次性仪器，并且在使用循环计数超出预先确定的使用极限之后被丢弃。在其他情况下，外科器械2410包括可重复使用的外科器械，该外科器械可在使用循环计数超出预先确定的使用极限之后被修复。在达到预先确定的使用极限之后，外科器械2410引发可逆闭锁。技术人员例如利用被构造成能够重新设定使用循环电路2402的专业技术键来修复外科器械2410并释放闭锁。
在一些情况下，在使用之前为功率组件2400同时进行充电和消毒。图57示出了被构造成能够同时为电池2602充电并消毒的组合式消毒充电系统2600的一个示例；组合式消毒充电系统2600包括消毒室2604。电池2602被设置在消毒室2604内。在一些情况下，电池2602联接到外科器械。将充电缆线2606安装穿过消毒室2604的壁2608。壁2608围绕充电缆线2606密封，从而在消毒期间保持消毒室2604内的无菌环境。充电缆线2606包括第一端部和第二端部，第一端部被构造成能够联接到消毒室2604内的功率组件2602，第二端部被构造成能够联接到位于消毒室2604之外的电池充电器2610。因为在保持消毒室2604内的无菌环境时，充电缆线2606穿过消毒室2604的壁2608，因此功率组件2602可同时被充电和消毒。
由电池充电器2610施加的充电曲线被构造成能够匹配消毒室2604的消毒循环。例如，在一种情况下，消毒过程时间为约28至38分钟。电池充电器2610被构造成能够提供在消毒过程时间期间为电池充电的充电曲线。在一些情况下，充电曲线可在消毒过程之后的冷却期内延伸。充电曲线可根据来自功率组件2602和/或消毒室2604的反馈由电池充电器2610调整。例如，在一种情况下，传感器2612位于消毒室2604内。传感器2612被构造成能够监测消毒室2604的一个或多个特性，例如，存在于消毒室2604中的化学品，消毒室2604的温度和/或消毒室2604的任何其他合适的特性。传感器2612通过延伸穿过消毒室2604的壁2608的缆线2614联接到电池充电器2610。缆线2614被密封，使得消毒室2604可保持无菌环境。电池充电器2610根据来自传感器2614的反馈调整充电曲线。例如，在一种情况下，电池充电器2610接收来自传感器2612的温度数据，并在消毒室2604和/或功率组件2602的温度超出预先确定的温度时调整充电曲线。又如，电池充电器2610接收来自传感器2612的化学组成信息，并在化学品(例如，H2O2)接近爆炸限值时阻止功率组件2602充电。
图58示出了被构造用于功率组件2652的组合式消毒充电系统2650的一个实例，该功率组件具有在其内一体形成的电池充电器2660。交流电(AC)源2666位于消毒室2654之外，并通过穿过消毒室2654的壁2658安装的AC缆线2656联接电池充电器2660。AC缆线2656周围的壁2658被密封。电池充电器2660的操作类似于图57中所示的电池充电器2610。在一些情况下，电池充电器2660接收来自传感器2662的反馈，该传感器位于消毒室2654内并通过缆线2664联接到电池充电器2660。
在各种情况下，外科系统可包括磁体和传感器。经组合，磁体和传感器可配合检测紧固件仓的各种状况，诸如紧固件仓在外科器械的端部执行器中的存在、装载在端部执行器中的紧固件仓的类型和/或装载的紧固件仓的击发状态。现在参见图62，端部执行器900的钳口902可包括例如磁体910，并且紧固件仓920可包括例如传感器930。在各种情况下，磁体910可定位在尺寸和构造能够接收紧固件仓920的细长通道904的远侧端部906处。此外，传感器930可至少部分地嵌入或保持在例如紧固件仓920的鼻部924的远侧端部926中。在各种情况下，传感器924可与外科器械的微控制器进行信号通信。
在各种情况下，当紧固件仓920被定位在钳口902的细长通道904中时，传感器930可检测磁体910是否存在。传感器930可检测到例如紧固件仓920不恰当地定位在细长通道904中和/或未装载到细长通道904中的情况，并可将仓装载状态传送到例如外科系统的微控制器。在某些情况下，磁体910可定位在例如紧固件仓920中，并且传感器930可定位在例如端部执行器900中。在各种情况下，传感器930可检测装载在端部执行器900中的紧固件仓920的类型。例如，不同类型的紧固件仓可具有不同的磁性布置，例如相对于仓体或其他仓部件不同的布局、不同的极性和/或不同的磁场强度。在这类情况下，传感器930可根据检测到的磁场信号检测定位在钳口902中的仓的类型，例如仓长度、紧固件的数目和/或紧固件高度。除此之外或另选地，传感器930可检测紧固件仓920是否恰当地坐置在端部执行器900中。例如，端部执行器900和紧固件仓920可包括多个磁体和/或多个传感器，并且在某些情况下，一个或多个传感器可例如根据多个磁体相对于所述一个或多个传感器的位置检测紧固件仓920是否恰当地定位和/或对齐。
现在参见图63，在某些情况下，端部执行器3000可包括多个磁体和多个传感器。例如，钳口3002可包括定位在其远侧端部3006处的多个磁体3010,3012。此外，紧固件仓3020可包括例如定位在鼻部3024的远侧端部3026处的多个传感器3030,3032。在某些情况下，传感器3030,3032可检测钳口3002的细长通道3004中是否存在紧固件仓3020。在各种情况下，传感器3030,3032可包括例如霍尔效应传感器。各种传感器在2008年9月23日提交的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利8,210,411中有所描述。提交于2008年9月23日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利8,210,411据此全文以引用方式并入本文。另外添加一个或多个传感器可例如提供更大的宽带信号，这可为外科器械的微控制器提供另外的和/或改善的信息。除此之外或另选地，另外的传感器可确定例如紧固件仓3020是否恰当地坐置在钳口3002的细长通道中。
在各种情况下，磁体可定位在紧固件仓的可运动部件上。例如，磁体可定位在紧固件仓的在击发行程期间运动的部件上。在这类情况下，端部执行器中的传感器可检测紧固件仓的击发状态。例如，现在参见图64，磁体3130可定位在紧固件仓3120的滑动件3122上。此外，传感器1110可定位在端部执行器3100的钳口3102中。在各种情况下，滑动件3122可在击发行程期间平移。此外，在某些情况下，滑动件3120在击发行程之后可保持在紧固件仓3120的远侧端部处。换句话讲，在仓已被击发之后，滑动件3120可保持在紧固件仓3120的远侧端部处。因此，传感器3110可检测磁体3130和对应滑动件3120的位置，以确定紧固件仓3120是否呈击发状态。例如，当传感器3110检测到磁体3130在近侧位置时，紧固件仓3120可为例如未击发和准备击发的，而当传感器3110检测到磁体3130在远侧位置时，紧固件仓3120可为例如已耗尽的。现在参见图65，在各种情况下，端部执行器3200的钳口3202可包括多个传感器3210,3212。例如，近侧传感器3212可定位在钳口3202的近侧部分中，而远侧传感器3210例如可定位在钳口3202的远侧部分中。在这类情况下，例如当滑动件3122在击发行程期间运动时，传感器3210,3212可检测滑动件3122的位置。在各种情况下，传感器3210,3212可包括例如霍尔效应传感器。
除此之外或另选地，端部执行器可包括多个电接触件，这些电接触件可检测紧固件仓是否存在以及/或者是否呈击发状态。现在参见图66，端部执行器3300可包括钳口3302，该钳口限定被构造成能够接收紧固件仓3320的通道3304。在各种情况下，钳口3302和紧固件仓3320可包括电接触件。例如，细长通道3304可限定底部表面3306，并且电接触件3310可定位在底部表面3306上。在各种情况下，多个电接触件3310可限定在细长通道3304中。电接触件3310可形成击发状态电路3340的一部分，该电路可与外科系统的微控制器进行信号通信。例如，电接触件3310可电联接到功率源并/或与功率源通信，并可形成例如开式电路的电活性端部。在一些情况下，可为电接触件3310中的一个供电，使得电压电位在电接触件3310中间形成。在某些情况下，这些触点中的一个可联接到例如微处理器的输出通道，其可将电压电位施加到该触点。另一触点可联接到例如微处理器的输入通道。在某些情况下，电接触件3310可与钳口3302的框架3306绝缘。仍参见图66，紧固件仓3320也可包括例如电接触件3330或多个电接触件。在各种情况下，电接触件3330可定位在紧固件仓3320的可运动元件上。例如，电接触件3330可定位在紧固件仓3320的滑动件3322上，因此，电接触件3330可在击发行程期间在紧固件仓3320中运动。
在各种情况下，电接触件3330可包括例如滑动件3320上的金属杆或板。紧固件仓3320中的电接触件3330可与例如端部执行器3300中的一个或多个电接触件3310配合。在某些情况下，当滑动件3322被定位在紧固件仓3320中的特定位置或位置范围中时，电接触件3330可接触所述一个或多个电接触件3310。例如，当滑动件3322未击发并因此定位在紧固件仓3320的近侧位置中时，电接触件3330可接触电接触件3310。在这类情况下，电接触件3330可关闭例如电接触件3310之间的电路。此外，击发状态电路3340可将闭合电路(即，未击发的仓)指示传送到外科系统的微控制器。在这类情况下，当滑动件3322在击发行程期间朝远侧击发时，电接触件3330可例如脱离与电接触件3310的电接触。因此，击发状态电路3340可将开式电路(即，击发的仓)指示传送到外科系统的微控制器。在某些情况下，微控制器只在例如击发状态电路3340指示未耗尽的仓时引发击发行程。在各种情况下，电接触件3330可包括机电熔断器。在这类情况下，熔断器可例如在滑动件3322击发穿过击发行程时断开或短路。
除此之外或另选地，现在参见图67，端部执行器3400可包括钳口3402和仓存在电路3440。在各种情况下，钳口3402例如在其细长通道3404中可包括电接触件3410或多个电接触件3410。另外，紧固件仓3420可在紧固件仓3420的外表面上包括电接触件3430或多个电接触件3430。在各种情况下，电接触件3430可定位和/或安装于例如紧固件仓3420的固定或静止部件上。在各种情况下，紧固件仓3420的电接触件3430可例如在紧固件仓3420装载到细长通道3404中时接触端部执行器3400的电接触件3410。在将紧固件仓3420放置在细长通道3404中之前，仓存在电路3440可为例如开式电路。当紧固件仓3420恰当地坐置在钳口3402中时，电接触件3410和3430可形成闭合的仓存在电路3440。在钳口3402和/或紧固件仓3420包括多个电接触件3410、3430的情况下，仓存在电路3440可包括多个电路。此外，在某些情况下，仓存在电路3440可根据例如紧固件仓3420上电接触件3430的数目和/或布置以及例如仓存在电路3440的对应开式和/或闭合电路识别装载在钳口3402中的仓类型。
此外，钳口3402中的电接触件3410可与外科系统的微控制器进行信号通信。电接触件3410可连接到例如功率源，并且/或者可例如通过有线和/或无线连接与微控制器通信。在各种情况下，仓存在电路3440可将仓存在或不存在的信息传送到外科系统的微控制器。在各种情况下，击发行程可例如在仓存在电路3440指示端部执行器钳口3402中存在紧固件仓时被阻止。此外，当仓存在电路3440指示端部执行器钳口3402中存在紧固件仓3420时，击发行程可被允许。
如本公开通篇所述，各种传感器、程序和电路可检测并测量外科器械和/或其部件、外科使用或操作以及/或者组织和/或操作部位的多个特性。例如，外科器械可检测组织厚度、器械部件的识别、来自外科功能的使用和反馈数据以及错误或故障指示。在某些情况下，紧固件仓可包括非易失性存储器单元，该单元可例如嵌入或可移除地联接到紧固件仓。这种非易失性存储器单元可通过硬件(诸如本文所述的电接触件)、射频或各种其他合适形式的数据传输来与微控制器进行信号通信。在这种情况下，微控制器可将数据和反馈传送到紧固件仓中的非易失性存储器单元，从而紧固件仓可存储信息。在各种情况下，信息可被安全地存储，并且可将对其的访问限制为针对具体情况相配且适当的。
在某些情况下，非易失性存储器单元可包括关于紧固件仓特性和/或其与模块化外科系统的各种其他部件的相容性的信息。例如，当将紧固件仓装载到端部执行器中时，非易失性存储器单元可向外科系统的微控制器提供相容性信息。在这类情况下，微控制器可证实模块化组件的有效性或相容性。例如，微控制器可确认柄部部件可击发紧固件仓，并且/或者紧固件仓适当地配合例如端部执行器。在某些情况下，微控制器可将相容性或缺乏相容性传送给外科系统的操作者，并且/或者例如在模块化部件不相容时可阻止外科功能。
如本文所述，外科器械可包括传感器，该传感器可与磁体配合检测外科器械的各种特性、操作和手术部位。在某些情况下，传感器可包括霍尔效应传感器，并且在其他情况下，传感器可包括磁阻传感器，如例如图68(A)-68(C)所示。如本文所详述，外科端部执行器可包括第一钳口和第二钳口，其中第一钳口可被构造成能够接收紧固件仓。第一钳口和/或紧固件仓可包括例如磁性元件(诸如永磁体)，并且第二钳口可包括例如磁阻传感器。在其他情况下，第一钳口和/或紧固件仓可包括例如磁阻传感器，并且第二钳口可包括磁性元件。磁阻传感器可具有例如图68(C)的表中所列举的特性和/或例如相似规格。在某些情况下，由磁性元件相对于磁阻传感器的运动而引起的电阻变化可影响和/或改变例如图68(B)中所示磁路的特性。
在各种情况下，磁阻传感器可检测磁性元件的位置，并因此可检测夹持在例如相对的第一和第二钳口之间的组织厚度。磁阻传感器可与微控制器进行信号通信，并且磁阻传感器可将数据无线传输到例如与微控制器进行信号通信的天线。在各种情况下，无源电路可包括磁阻传感器。此外，天线可定位在端部执行器中，并且可检测例如来自磁阻传感器和/或能够可操作地联接到该传感器的微处理器的无线信号。在这类情况下，可避免例如包括天线的端部执行器和例如包括磁阻传感器的紧固件仓之间暴露的电连接。此外，在各种情况下，天线可与外科器械的微控制器进行有限和/或无线通信。
组织可包含流体，当组织被压缩时，流体可从压缩的组织中被压出。例如，当组织被夹持在外科端部执行器的相对钳口之间时，流体可流动并/或从夹持的组织中排出。流体在夹持组织中的流动或排出可取决于组织的各种特性(诸如组织的厚度和/或类型)以及例如外科手术的各种特性(诸如期望的组织压缩和/或经过的夹持时间)。在各种情况下，端部执行器的相对钳口之间的流体排出可促使相对钳口之间形成的钉发生变形。例如，流体在钉成形期间和/或之后的排出可诱导钉发生弯曲和/或其他不受控的运动，从而背离其所需或期望的成形。因此，在各种情况下，可能有利的是，基于检测到外科端部执行器的相对钳口中间有流体流动或没有流体流动而控制击发行程，例如控制击发速度。
在各种情况下，夹持组织中的流体排出可通过各种可测量和/或可检测的组织特性确定或估计。例如，组织压缩程度可对应于夹持组织中的流体排出程度。在各种情况下，例如组织压缩程度越高，可对应越多的流体流动，而例如组织压缩程度越低，可对应越少的流体流动。在各种情况下，定位在端部执行器钳口中的传感器可检测由压缩组织施加到钳口上的力。除此之外或另选地，当推进切割元件穿过并横切夹持组织时，切割元件上的或可操作地与切割元件相联的传感器可检测切割元件上的电阻。在这种情况下，检测到的切割和/或击发电阻可对应于组织压缩程度。当组织压缩程度高时，例如，切割元件电阻可较大，并且当组织压缩程度低时，例如，切割元件电阻可减小。对应地，切割元件电阻可指示流体排出量。
在某些情况下，夹持组织中的流体排出可通过击发切割元件所需的力(即击发力)确定或估计。击发力可对应于例如切割元件电阻。此外，击发力可由与驱动切割元件的电动马达进行信号通信的微控制器测量或估计。例如，在切割元件电阻较高的情况下，电动马达可需要较大电流来驱动切割元件穿过组织。相似地，若切割元件电阻较低，则电动马达可需要较小电流来驱动切割元件穿过组织。在这类情况下，微控制器可确定击发行程期间由电动马达消耗的电流量。例如，微控制器可包括电流传感器，该传感器可检测例如用于击发切割元件穿过组织的电流。
现在参见图60，外科器械组件或系统可被构造成能够检测夹持组织中的压缩力。例如，在各种情况下，电动马达可驱动击发元件，并且微控制器可与电动马达进行信号通信。当电动马达驱动击发元件时，微控制器可确定例如由电动马达消耗的电流。在这类情况下，如上所述，击发力可对应于在整个击发行程中由电动马达消耗的电流。仍参见图60，在步骤3501处，外科器械的微控制器可确定击发行程期间由电动马达消耗的电流是否增大，如果增大，则可计算电流的增量百分比。
在各种情况下，微控制器可比较击发行程期间的电流消耗增量与预定义阈值。例如，预定义阈值可为5％、10％、25％、50％和/或例如100％，微控制器可比较击发行程期间检测到的电流增量与预定义阈值。在其他情况下，阈值增量可为介于5％和100％之间的值或值范围，并且在其他情况下，阈值增量可例如小于5％或大于100％。例如，如果预定义阈值为50％，则微控制器可比较电流消耗变化百分比与例如50％。在某些情况下，微控制器可确定击发行程期间由电动马达消耗的电流是否超出最大电流或基线值的某个百分比。例如，微控制器可确定电流是否超出最大马达电流的5％、10％、25％、50％和/或100％。在其他情况下，微控制器可比较击发行程期间由电动马达消耗的电流与例如预定义基线值。
在各种情况下，微控制器可利用算法确定击发行程期间由电动马达消耗的电流变化。例如，电流传感器可检测击发行程期间在不同时刻和/或时间间隔中由电动马达消耗的电流。电流传感器可连续检测由电动马达消耗的电流，并且/或者可间歇性地检测由电动马达消耗的电流。在各种情况下，算法可比较最新的电流读数与例如紧接的电流读数。除此之外或另选地，算法可比较时间段X内的样品读数X与此前的电流读数。例如，算法可比较样品读数与例如此前的时间段X(诸如紧接的时间段X)内的样品读数。在其他情况下，算法可计算由马达消耗的电流趋势平均值。算法可计算时间段X期间消耗的平均电流(包括例如最新电流读数)，并且可比较消耗的平均电流与例如在紧接的时间段X期间消耗的平均电流。
仍参见图60，如果微控制器检测到电流增量大于阈值变化或阈值数值，则微控制器可行进到步骤3503，击发元件的击发速度可降低。例如，微控制器可与电动马达通信以减慢击发元件的击发速度。例如，击发速度可按预定义步长单位和/或预定义百分比降低。在各种情况下，微控制器可包括速度控制模块，该模块可影响切割元件速度的变化，并且/或者可保持切割元件速度。速度控制模块可包括例如电阻器、可变电阻器、脉宽调制电路和/或频率调节电路。仍参见图60，如果电流增量小于阈值，则微控制器可行进到步骤3505，其中击发元件的击发速度可例如被保持。在各种情况下，微控制器可继续监测由电动马达消耗的电流及其在击发行程的至少一部分期间发生的变化。此外，微控制器和/或其速度控制模块可根据检测到的电流消耗来调整整个击发行程中的击发元件速度。在这类情况下，根据例如夹持组织中的近似流体流动或排出控制击发速度可降低钉在夹持组织中变形的概率。
现在参见图61，在各种情况下，微控制器可通过暂停击发元件一段预定义时间来调整击发元件速度。例如，与图60所示实施方案相似，如果微控制器在步骤3511处检测到电流消耗超出预定义阈值，则微控制器可行进到步骤3513，击发元件可被暂停。例如，如果由微控制器所测量的电流增量超出阈值，则微控制器可暂停击发元件的运动和/或平移一秒钟。在其他情况下，击发行程可暂停例如不到一秒和/或一秒以上。与上文所述的过程相似，如果电流消耗增量小于阈值，则微控制器可行进到步骤3515，击发元件可继续前进经过击发行程而无需调整击发元件的速度。在某些情况下，微控制器可被构造成能够在击发行程期间暂停和减慢击发元件。例如，对于电流消耗的第一增量，可暂停击发元件，而对于电流消耗的第二不同增量，可减小击发元件的速度。在其他情况下，如果电流消耗降低到例如阈值之下，则微控制器可命令提高击发元件速度。
以下专利的完整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。
处理器可被构造成能够执行操作逻辑。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能够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能够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。在各种实施例中，操作逻辑可以被构造成能够执行初始处理，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。对于这些实施例，操作逻辑可以被进一步构造成能够从托管计算机接收信息并且向其提供反馈。在另选实施例中，操作逻辑可以被构造成能够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能够控制反馈并向使用者提供反馈。
在各种实施例中，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能够以多任务方式和/或多线程方式来执行。在其他实施例中，操作逻辑可在硬件(诸如门阵列)中实施。
在各种实施例中，通信接口可以被构造成能够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运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。在各种实施例中，通信接口可为有线或无线通信接口。有线通信接口的例子可包括但不限于通用串行总线(USB)接口。无线通信接口的例子可包括但不限于蓝牙接口。
对于各种实施例，处理器可与操作逻辑封装在一起。在各种实施例中，处理器可与操作逻辑封装在一起以形成系统级封装(SiP)。在各种实施例中，处理器可在相同裸片上与操作逻辑一起集成。在各种实施例中，处理器可与操作逻辑封装在一起以形成片上系统(SoC)。
各种实施例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。一些实施例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例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。在其他实施例中，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。确定实施例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，各种实施例可实现为制造制品。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例的各种操作的逻辑、指令和/或数据的计算机可读存储介质。在各种实施例中，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，实施例并不仅限于此。
结合本文所公开的实施例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。一些实施例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，本文所述的实施例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例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例中的每一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“一个实施例”或“实施例”的提及均意指结合实施例所述的特定特征、结构或特性包括在至少一个实施例中。在说明书中各处出现的短语“在一个实施例中”或“在一个方面”并不一定全部是指相同的实施例。
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，一些实施例可使用表达“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，一些实施例可使用术语“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，并且在必要的程度下，本文明确阐述的公开内容取代以引用方式并入本文的任何冲突材料。任何据称以引用方式并入本文但与本文所述的现有定义、陈述或其它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例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例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，都可对这些实施例进行修复，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例，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，所述装置的实施例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例进行处理。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进行消毒，所述技术包括但不限于β或γ辐射、环氧乙烷或蒸汽。
本领域技术人员将会认识到，本文所述的部件(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，并且具体部件(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例子，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，如此相关联的任何两个部件也可被视为彼此“可操作地连接”或“可操作地联接”，以获得所需的功能性，并且能够如此相关联的任何两个部件都可被视为彼此“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/或物理交互式部件，和/或可无线交互的和/或无线交互式部件，和/或可逻辑交互的和/或逻辑交互式部件。
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。在另一个例子中，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“被构造成能够”、“可被构造成能够”、“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“被构造成能够”通常可涵盖活动状态的部件和/或失活状态的部件和/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例子可包括重叠、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。
总之，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方案的上述说明。所述说明并非意图为详尽的或限定到本发明所公开的精确形式。可以按照上述教导内容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方案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方案，并且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全部范围。

Claims (20)

1.一种滑环连接器，包括：
安装构件，所述安装构件包括围绕轴线完整延伸的环形安装表面；
电路迹线组件，所述电路迹线组件包括围绕所述环形安装表面卷绕并附接到该环形安装表面上的柔性基板，所述电路迹线组件上包括多根导电电路迹线，使得当所述柔性基板围绕所述环形安装表面卷绕时，每根导电电路迹线形成分立的围绕所述轴线延伸的连续环形导电路径；以及
电部件，所述电部件包括对应于所述连续环形导电路径中的每一条的触点，并且其中所述环形安装构件和所述电部件中的一者能够围绕所述轴线旋转，使得每个所述触点与同该触点对应的所述连续环形导电路径在所述环形安装构件和电部件中的一者围绕所述轴线进行所述旋转期间电接触。
2.根据权利要求1所述的滑环连接器，其中，每根所述导电电路迹线包括环形电路迹线部分和从所述环形电路迹线部分横向延伸的引线电路迹线部分。
3.根据权利要求2所述的滑环连接器，其中，所述柔性基板在被围绕所述安装构件的所述环形安装表面卷绕之前是T形的。
4.根据权利要求1所述的滑环连接器，其中，所述安装构件具有圆柱形主体部分，所述圆柱形主体部分限定所述环形安装表面并且包括从所述圆柱形主体部分的至少一个端部突起的凸缘部分。
5.根据权利要求4所述的滑环连接器，其中，所述安装构件被构造成能够被固定地接收在固定毂上，所述固定毂被接收在所述圆柱形主体部分内。
6.根据权利要求1所述的滑环连接器，其中，所述柔性基板上具有粘合介质，所述粘合介质用于将所述柔性基板附接到所述安装构件。
7.根据权利要求1所述的滑环连接器，其中，所述多根导电电路迹线包括：
第一导电电路迹线；
与所述第一导电电路迹线沿所述轴线侧向隔开的第二导电电路迹线；
与所述第二导电电路迹线沿所述轴线侧向隔开的第三导电电路迹线；以及
与所述第三导电电路迹线沿所述轴线隔开的第四导电电路迹线。
8.根据权利要求7所述的滑环连接器，其中：
所述第一导电电路迹线包括第一环形部分和从所述第一环形部分横向延伸的第一引线部分；
所述第二导电电路迹线包括与所述第一环形部分侧向隔开的第二环形部分、和从所述第二环形部分横向延伸并与所述第一引线部分隔开的第二引线部分；
所述第三导电电路迹线包括与所述第二环形部分侧向隔开的第三环形部分、和从所述第三环形部分横向延伸并与所述第二引线部分隔开的第三引线部分；并且
所述第四导电电路迹线包括与所述第三环形部分侧向隔开的第四环形部分、和从所述第四环形部分横向延伸并与所述第三引线部分隔开的第四引线部分。
9.根据权利要求5所述的滑环连接器，其中，所述固定毂包括外科器械的一部分。
10.一种电联接器，包括：
滑环组件，所述滑环组件包括至少一条连续导电环形路径，其中每条连续导电环形路径对应于被层压在两个非导电环之间的环形导电环；
横向安装构件，所述横向安装构件与所述滑环组件能够可操作地接合，并在该横向安装构件上包括对应于每条连续导电环形路径的横向电路迹线；和
电部件，所述电部件包括对应于所述连续导电环形路径中的每一条的触点，并且其中所述滑环组件和所述电部件中的一者能够围绕轴线旋转，使得每个所述触点与同该触点对应的所述连续导电环形路径在所述滑环组件和电部件中的一者围绕所述轴线旋转期间电接触。
11.根据权利要求10所述的电联接器，其中，所述滑环组件被固定地安装到第一部件，并且所述电部件被固定地安装到能够选择性地相对于所述第一部件旋转的第二部件。
12.根据权利要求11所述的电联接器，其中，所述第二部件能够选择性地相对于所述第一部件沿第一旋转方向和与所述第一旋转方向相反的第二旋转方向以360度路径旋转。
13.根据权利要求10所述的电联接器，其中，所述滑环组件包括四条连续导电环形路径，并且所述横向安装构件包括四根导电迹线，其中每根所述导电迹线能够可操作地联接到所述连续导电环形路径中的对应的一条。
14.根据权利要求11所述的电联接器，其中，所述第一部件包括可互换外科工具的安装部分，并且其中所述第二部分包括可旋转轴组件，所述可旋转轴组件包括能够可操作地联接到该可旋转轴组件的外科端部执行器。
15.一种电联接器，包括：
滑环组件，所述滑环组件包括：
限定轴线的不导电基部构件；
不导电基部上的、相对彼此隔开且同心布置的多个导电环；和
延伸穿过所述不导电基部构件的导电电路迹线，所述不导电基部构件对应于所述导电环中的每一个并电联接到其上，并且其中所述电联接还包括电部件，所述电部件沿所述轴线安装并包括对应于所述导电环中的每一个的触点，并且其中所述滑环组件和所述电部件中的一者能够围绕所述轴线旋转，使得每个所述触点与同该触点对应的所述导电环在所述滑环组件和电部件中的一者围绕所述轴线旋转期间电接触。
16.根据权利要求15所述的电联接器，其中，所述不导电基部构件不可旋转地联接到可互换外科轴组件的底座部分，并且其中所述电部件被固定地附接到喷嘴组件，所述喷嘴组件被安装成相对于所述底座部分选择性地旋转。
17.根据权利要求15所述的电联接器，其中，所述多个导电环包括以同心布置支撑在所述不导电基部构件上的四个导电环。
18.根据权利要求16所述的电联接器，还包括被固定地支撑在底座上的安装凸缘，所述安装凸缘包括安装毂，所述安装毂包括用于将所述基部构件固定地保持到该安装毂的至少一种装置。
19.根据权利要求16所述的电联接器，其中，所述可互换外科轴组件还包括被构造成能够切割和紧固组织的外科端部执行器。
20.根据权利要求15所述的电联接器，其中，所述不导电基部构件包括环形不导电环，所述环形不导电环具有在其上支撑所述多个导电环的远侧表面、和支撑对应于所述导电迹线中的每一个的导电触点的近侧表面。
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US14/226,075 US9743929B2 (en) 2014-03-26 2014-03-26 Modular powered surgical instrument with detachable shaft assemblies
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US14/226,111 US9750499B2 (en) 2014-03-26 2014-03-26 Surgical stapling instrument system
US14/226,125 US10201364B2 (en) 2014-03-26 2014-03-26 Surgical instrument comprising a rotatable shaft
US14/226,106 US20150272582A1 (en) 2014-03-26 2014-03-26 Power management control systems for surgical instruments
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