CN106963433B - 动力手术器械的个性化 - Google Patents

动力手术器械的个性化 Download PDF

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CN106963433B
CN106963433B CN201611193530.8A CN201611193530A CN106963433B CN 106963433 B CN106963433 B CN 106963433B CN 201611193530 A CN201611193530 A CN 201611193530A CN 106963433 B CN106963433 B CN 106963433B
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handle assembly
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surgical instrument
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彼得·科林斯
杰茜卡·布莱克
凯利·瓦伦丁
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Abstract

本发明提供了一种动力手术器械的个性化。该手术器械包括：电动机，其被配置为致动末端执行器；通信接口，其被配置为联接到配置装置；和控制器，其联接到所述电动机和所述通信接口，所述控制器包括存储器，所述存储器被配置为存储用于操作所述电动机的操作参数，所述控制器被配置为基于从所述配置装置接收的配置数据来修改所述操作参数。

Description

动力手术器械的个性化
相关申请的交叉引用
本申请要求于2015年12月22日提交的美国临时专利申请第62/271,044号的权益和优先权，其全部公开内容通过引用并入本文。
技术领域
本公开涉及机电手术系统及其使用方法。更具体地，本公开涉及可重新编程和/或可重新配置的机电手术器械。
背景技术
线性夹紧、切割和吻合手术装置可用于手术操作中以切除组织。常规的线性夹紧、切割和吻合装置包括手柄组件、从手柄组件延伸的接合器组件以及可拆卸地联接到接合器组件的手术加载单元。手术加载单元包括夹紧组织的一对相对的夹持钳夹构件。在该装置中，诸如砧座部的两个夹持构件中的一个或两个相对于整体结构运动或枢转。手术装置的致动可以由保持在手柄组件中的夹持扳机控制。
除了夹持构件之外，手术加载单元还可以包括吻合机构。手术加载单元的夹持构件中的一个包括吻合钉钉仓接收区域和用于驱动吻合钉穿过组织的被夹紧端而抵靠砧座部分的机构，以由此来密封组织。夹持构件可以与接合器组件一体地形成，或者可以是可拆卸的，使得各种夹持和吻合元件可以是可替换的。
对于常规的机械吻合装置，临床医生具有以期望的速度致动该装置的能力。然而，随着通过致动开关和/或按钮来操作的动力手术吻合装置的引进，临床医生不再具有定制这些器械的发射速度的能力。因而，存在对于可以基于临床医生的特定偏好来重新配置和/或重新编程的动力手术吻合装置的需求。
发明内容
本公开涉及动力手术器械，其可以在使用之前和/或期间由临床医生重新编程和/或重新配置。
根据本公开的一个实施方式，提供了一种手术器械。所述手术器械包括：电动机，其被配置为致动末端执行器；通信接口，其被配置为联接到配置装置；和控制器，其联接到所述电动机和所述通信接口，所述控制器包括存储器，所述存储器被配置为存储用于操作所述电动机的操作参数，所述控制器被配置为基于从所述配置装置接收的配置数据来修改所述操作参数。
根据上述实施方式的一个方案，所述手术器械还包括联接到所述控制器的用户界面。
根据上述实施方式的另一个方案，所述存储器存储用于配置所述用户界面的界面参数，并且所述控制器还被配置为基于从所述配置装置接收的所述配置数据来修改所述用户界面参数。
根据本公开的另一个实施方式，公开了一种手术器械。所述手术器械包括：手术加载单元；细长主体，其包括被配置为联接到所述手术加载单元的远端；和手柄组件，其包括被配置为联接到所述细长主体的近端的远端。所述手柄组件包括：电动机，其被配置为致动所述手术加载单元；通信接口，被配置为联接到配置装置；和控制器，其联接到所述电动机和所述通信接口。所述控制器包括存储器，所述存储器被配置为存储用于操作所述电动机的操作参数，所述控制器被配置为基于从所述配置装置接收的配置数据来修改所述操作参数。
根据上述实施方式的一个方案，所述手柄组件还包括联接到所述控制器的用户界面。所述用户界面包括多个按钮。
根据上述实施方式的另一个方案，所述存储器存储用于配置所述用户界面的界面参数，并且所述控制器还被配置为基于从所述配置装置接收的所述配置数据来修改所述用户界面参数。
根据上述实施方式的再一个方案，所述控制器还被配置为基于从所述配置装置接收的配置数据来重新映射所述多个按钮的按钮赋值。
本公开还设想了一种用于配置手术装置的方法。所述方法包括：将手术装置的通信接口联接到配置装置；从所述配置装置接收配置数据；和基于所述配置数据来修改存储在所述手术装置的存储器中的用于操作所述手术装置的操作参数。
根据上述实施方式的一个方案，所述方法还包括：基于所述配置数据来修改用户界面的用户界面参数。
根据上述实施方式的另一个方案，修改所述用户界面参数包括重新映射所述用户界面的多个按钮的按钮赋值。
根据任意上述实施方式的再一个方案，所述配置装置是计算装置、闪存驱动器、存储卡、或RFID中的一种。
根据任意上述实施方式的方案，所述操作参数是夹紧速度、松开速度、发射速率、缩回速率、旋转速度、或关节式运动速度中的一种。
根据任意上述实施方式的又一个方案，所述通信接口是无线收发器或有线端口中的一种。
下面参照附图更详细地描述本公开的示例性实施例的进一步细节和方案。
附图说明
文中参照附图描述了本公开的实施方式，其中：
图1A是根据本公开的实施方式的手持式机电手术器械的部件的立体图；
图1B是根据本公开的实施方式的图1A的手术器械的接合器组件的实施方式的立体图；
图1C是根据本公开的实施方式的包括图1A的手术器械的末端执行器的手术加载单元的侧视图；并且
图2是根据本公开的实施方式的图1A的手术器械的示意图。
具体实施方式
如文中所使用的，术语平行和垂直被理解为包括与实际平行和实际垂直成约+10度或-10度的大致平行和大致垂直的相对构造。
参照附图来详细描述本公开的手术器械的实施方式，手术器械包括手柄组件、接合器组件及其手术加载单元，其中在若干视图中的每个中，相同的附图标记表示相同或对应的元件。如文中所使用的，术语“远”是指手术器械、接合器组件、手柄组件、加载单元或其部件的远离用户的那部分，而术语“近”是指手术器械、接合器组件、手柄组件、加载单元或其部件的靠近用户的那部分。
本公开提供了一种手术器械，其包括手柄组件、手术加载单元和将手术加载单元与手柄组件互连的接合器组件。手术器械包括由控制器控制的电动机，控制器可以由临床医生重新编程和/或重新配置以定制手术器械的操作特性。
参照图1A至图1C，根据本公开的实施方式的手术器械10作为动力手持式机电手术器械示出。手术器械10包括手柄组件100，手柄组件100被配置为让若干接合器组件200中的任一个与其选择性地附接，进而，每个独特的接合器组件200被配置为与任意数目的手术加载单元300选择性地连接。加载单元300和接合器组件200被配置为通过手柄组件100来致动和操纵。
可以参考国际公开第WO 2009/039506号和美国专利申请公开第2011/0121049号，上述所有的全部内容通过引用并入本文，用于详细描述示例性的机电手持式动力手术器械的构造和操作。
手术器械10的加载单元300具有近侧部302a，近侧部302a被配置为与接合器组件200的细长主体204的远端206b接合。加载单元300包括远侧部302b，远侧部302b具有从其延伸的末端执行器304。末端执行器304枢转地附接到远侧部302b。末端执行器304包括砧座组件306和钉仓组件308。钉仓组件308可相对于砧座组件306枢转，并且可在打开或松开位置与闭合或夹紧位置之间运动，以插入穿过套管针的插管。
可以参考2009年8月31日提交的名称为“用于手术吻合装置的工具组件(TOOLASSEMBLY FOR A SURGICAL STAPLING DEVICE)”的美国专利第7,819,896号，其全部内容通过引用并入本文，用于详细论述示例性的末端执行器的构造和操作。
手柄组件100还包括控制组件108。控制组件108可以包括一个或多个手指致动的控制按钮、摇杆装置、操纵杆或其它控制装置，其输入被传输到驱动机构以致动接合器组件200和加载单元300。特别地，手柄组件100的驱动机构被配置为致动驱动轴、齿轮部件和/或其它机械联动装置，以便选择地使加载单元300的末端执行器304运动以绕由手术器械10关于手柄组件100界定的纵向轴线“X”旋转、使钉仓组件308相对于末端执行器304的砧座组件306运动、和/或在末端执行器304的钉仓组件308内发射吻合钉和切割钉仓。
参照图1A，手柄组件100界定了被配置为接纳接合器组件200的对应的驱动联接组件210的前端部(nose)或连接部110。手柄组件100的连接部110具有圆柱形的凹部(未示出)，该凹部在接合器组件200配合至手柄组件100时接收接合器组件200的驱动联接组件210。连接部110容置与接合器组件200的对应的可旋转的连接器套筒接合的一个或多个可旋转的驱动连接器(未示出)。
当接合器组件200配合至手柄组件100时，手柄组件100的每个可旋转的驱动连接器(未示出)与接合器组件200的对应的可旋转的连接器套筒联接。在这方面，手柄组件100的多个连接器和接合器组件200的多个对应的连接器套筒之间的接合是键合的(keyed)，使得手柄组件100的每个驱动连接器的旋转引起接合器组件200的对应的连接器套筒的旋转。
手柄组件100的驱动连接器与接合器组件200的连接器套筒的配合允许旋转力经由三个相应的连接器接口中的每个而独立地传递。手柄组件100的驱动连接器被配置为由手柄组件100的驱动机构独立地旋转。
由于当接合器组件200联接到手柄组件100时，手柄组件100的每个驱动连接器具有与接合器组件200的相应的连接器套筒的键合接合和/或大致不可旋转的接合，因此(一个或多个)旋转力选择性地从手柄组件100的驱动机构传递到接合器组件200。
手柄组件100的(一个或多个)驱动连接器的选择性旋转允许手术器械10选择性地致动末端执行器304的不同功能。手柄组件100的第一驱动连接器的选择性且独立的旋转对应于末端执行器304的选择性且独立的打开和闭合以及末端执行器304的吻合/切割部件的驱动。手柄组件100的第二驱动连接器的选择性且独立的旋转对应于末端执行器304绕关节式运动轴线(横向于纵向轴线“X”)选择性且独立的关节式运动。特别地，末端执行器304界定了第二纵向轴线或相应的纵向轴线，并且可从第一位置至少运动到第二位置，在第一位置，第二纵向轴线或相应的纵向轴线大致与纵向轴线“X”对齐，在第二位置，第二纵向轴线相对于纵向轴线“X”成非零度角布置。此外，手柄组件100的第三驱动连接器的选择性且独立的旋转对应于加载单元300绕关于手术器械10的手柄组件100的纵向轴线“X”的选择性且独立的旋转。
继续参照图1A至图1C，接合器组件200包括旋钮壳体202和从旋钮壳体202的远端延伸的细长主体204。旋钮壳体202和细长主体204被构造成并且尺寸设定为容置接合器组件200的部件。细长主体204可以尺寸设定成用于内窥镜插入。在实施方式中，细长主体204可以穿过典型的套管针端口、插管等。旋钮壳体202可以尺寸设定为不能进入套管针端口、插管等。细长主体204具有附接到旋钮壳体202的近侧部206a，近侧部206a被构造为附接到手柄组件100。细长主体204还包括被配置为联接到加载单元300的近侧部302a的远侧部206b。细长主体204还包括从远侧部206b向远侧延伸的远侧盖208。细长主体204另外包括圆柱形的外壳体212(图1B)和布置在其中的圆柱形的内壳体。
参照1A，示出了包括用户界面120的手柄组件100。用户界面120包括屏幕122和多个按钮124。用户界面120可以显示器械10的各种类型的操作参数，诸如可以经由传感器传送到用户界面120的“模式”(例如，旋转、关节式运动、或致动)，“状态”(例如，关节式运动的角度、旋转速度、或致动类型)，和“反馈”，“反馈”诸如是否已经基于由布置在器械10中的传感器所报告的信息而发射了吻合钉。
屏幕122可以是任何合适的显示装置，诸如LCD屏幕、OLED屏幕、电致发光屏幕等。在一个实施方式中，屏幕122可以是代替按钮124和/或对按钮124补充的触摸屏。该触摸屏可以包括电阻的、表面波的、电容的、红外的、应变仪的、光学的、色散的信号或声脉冲识别触摸屏技术。该触摸屏可以用于允许用户在观看操作反馈的同时来提供输入。这种方法可以使得便于密封屏幕部件以帮助消毒器械10以及防止颗粒和/或流体污染。在某些实施方式中，屏幕可以可枢转地或可旋转地(例如，经由铰链或球窝式装配)安装至器械10，用于在使用或准备期间观察屏幕的灵活性。
按钮124可以用作输入装置，所述输入装置用于导航和从显示在屏幕122上的图形用户界面来选择选项，诸如在导航用户界面菜单和选择各种设置的同时响应于提示，允许用户输入不同的组织类型、以及吻合钉钉仓的各种尺寸和长度。在实施方式中，按钮124可以用于控制器械10，包括开始和/或停止器械10的运动以及选择枢转方向、速度和/或转矩。还可以想到，至少一个按钮124可以用于选择超驰各种设置的紧急模式。
按钮124可以由各种形状和尺寸的微电子触觉或非触觉膜、聚酯膜、弹性体、塑料或金属键来形成。另外，开关可以彼此位于不同的高度处和/或可以包括凸起标记或其它纹理特征(例如，凹部或凸部)，以允许用户按下恰当的开关而不需要查看用户界面120。
参照图2，手柄组件100包括控制器402、电动机驱动电路404、电源406和具有一个或多个电动机408的驱动机构、齿轮选择器箱(未示出)、齿轮传动机构(未示出)等。控制器402可以包括处理器和存储器，存储器可以是易失性的、非易失性的、磁性的、光学的、或电气的介质，诸如只读存储器(ROM)、随机存取存储器(RAM)、电可擦除可编程ROM(EEPROM)、非易失性RAM(NVRAM)或闪存。处理器可以是适于执行本公开中描述的操作、计算和/或指令集的任何合适的逻辑单元(例如，控制电路)，其包括但不限于硬件处理器、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、中央处理单元(CPU)、专用集成电路(ASIC)、或离散逻辑电路、微处理器，以及其组合。
电动机驱动器电路404控制电动机408的操作，包括从电源406到电动机408的电能的流动。电动机驱动器电路404包括被配置为测量电动机408和电源406的工作状态的多个传感器404a、404b、...、404n。传感器404a至传感器404n可以包括电压传感器、电流传感器、温度传感器、遥测传感器、光学传感器及其组合。传感器404a至传感器404n可以测量由电源406供应的电能的电压、电流和其它电学特性。传感器404a至传感器404n还可以测量电动机408的作为每分钟转数(RPM)的转速、转矩、温度、电流牵引和其它特性。可以通过测量电动机408的旋转来确定RPM。各种驱动轴的位置可以通过利用设置在所述轴中或附近的各种线性传感器来确定，或者从RPM测量结果来推算。在实施方式中，可以基于电动机408在恒定RPM下的经调整的电流牵引来计算转矩。
控制器402包括用于与驱动器电路404交互的多个输入和输出。特别地，控制器402从驱动器电路404接收关于电动机408和电源406的工作状态的所测量的传感器信号，进而向驱动器电路404输出控制信号以基于传感器读数和特定算法指令以及用户配置来控制电动机406的工作。
手柄组件100还包括联接到控制器402的通信接口410。通信接口410可以包括通信端口，诸如通用串行总线(“USB”)端口、和/或无线接口，无线接口包括但不限于
Figure BDA0001187624770000071
Figure BDA0001187624770000072
近场通信、感应通信、或任何其它合适的无线通信协议。
根据本公开的手柄组件100提供了一个或多个操作参数和/或算法指令的调整、修改和/或重新配置。在实施方式中，重新配置数据可以存储在配置装置500上。配置装置500可以是能够存储数据并将数据传送到控制器406的任何合适的装置。合适的配置装置500包括但不限于计算机、移动计算装置、闪存驱动器、存储卡、RFID等。配置数据可以包括存储在控制器406的存储器中的用于修改电动机控制算法的参数。
除了所述参数之外或代替所述参数，配置装置500还可以包括可以由控制器406执行的软件指令。在进一步的实施方式中，配置数据可以存储在控制器406的存储器内，控制器406基于从配置装置500接收的标识符来选择期望的配置数据。还可以通过用户界面120来选择配置数据参数。
在使用期间，配置装置500通过通信接口410连接到手柄组件100的控制器406。配置装置500与手柄组件100之间的连接取决于它们之间的通信接口。因而，如果RFID被用于传输配置数据，则手柄组件100可以利用RFID查询器。一旦配置数据被控制器406处理，则控制器406修改手柄组件100的设置。在实施方式中，例如，如果配置数据包括多种配置，则临床医生可以基于可用配置数据来从多个配置中选择一个。配置数据可以包括各种参数，诸如夹紧和松开速度、发射速率、缩回速率、旋转和关节式运动速度。在实施方式中，参数可以包括用于按钮124和控制组件108的按钮的按钮映射。这允许修改输入配置以适合临床医生。还可以根据每个手术情况设定所述参数。每种个性化控制可以具有多个设置，这取决于正在执行的手术情况和临床医生的个人偏好。
应当理解，可以对本公开的接合器组件的实施方式进行各种变型。因此，上述描述不应当被解释为限制，而仅仅是作为实施方式的示例。本领域技术人员会想到在本公开的范围和精神内的其它变型。

Claims (18)

1.一种手柄组件，包括：
电动机，其被配置为致动至少一个末端执行器；
通信接口，其被配置为联接到配置装置；和
控制器，其联接到所述电动机和所述通信接口，所述控制器包括存储器，所述存储器被配置为存储用于操作所述电动机的至少一个操作参数，所述控制器被配置为基于从所述配置装置接收的配置数据来修改所述至少一个操作参数。
2.根据权利要求1所述的手柄组件，还包括联接到所述控制器的用户界面。
3.根据权利要求2所述的手柄组件，其中所述存储器存储用于配置所述用户界面的至少一个界面参数，并且所述控制器还被配置为基于从所述配置装置接收的所述配置数据来修改所述至少一个用户界面参数。
4.根据权利要求1所述的手柄组件，其中所述配置装置从由计算装置、闪存驱动器、存储卡和RFID组成的组中选择。
5.根据权利要求1所述的手柄组件，其中所述至少一个操作参数从由夹紧速度、松开速度、发射速率、缩回速率、旋转速度和关节式运动速度组成的组中选择。
6.根据权利要求1所述的手柄组件，其中所述通信接口是无线收发器或有线端口中的至少一种。
7.一种手术器械，包括：
手术加载单元；
细长主体，其包括被配置为联接到所述手术加载单元的远端；和
手柄组件，其包括被配置为联接到所述细长主体的近端的远端，所述手柄组件包括：
电动机，其被配置为致动所述手术加载单元；
通信接口，其被配置为联接到配置装置；和
控制器，其联接到所述电动机和所述通信接口，所述控制器包括存储器，所述存储器被配置为存储用于操作所述电动机的至少一个操作参数，所述控制器被配置为基于从所述配置装置接收的配置数据来修改所述至少一个操作参数。
8.根据权利要求7所述的手术器械，其中所述手柄组件还包括联接到所述控制器的用户界面。
9.根据权利要求8所述的手术器械，其中所述用户界面包括多个按钮。
10.根据权利要求9所述的手术器械，其中所述存储器存储用于配置所述用户界面的至少一个界面参数，并且所述控制器还被配置为基于从所述配置装置接收的所述配置数据来修改所述至少一个用户界面参数。
11.根据权利要求10所述的手术器械，其中所述控制器还被配置为基于从所述配置装置接收的所述配置数据来重新映射所述多个按钮的按钮赋值。
12.根据权利要求7所述的手术器械，其中所述配置装置从由计算装置、闪存驱动器、存储卡和RFID组成的组中选择。
13.根据权利要求7所述的手术器械，其中所述至少一个操作参数从由夹紧速度、松开速度、发射速率、缩回速率、旋转速度和关节式运动速度组成的组中选择。
14.根据权利要求7所述的手术器械，其中所述通信接口是无线收发器或有线端口中的至少一种。
15.一种用于配置手柄组件的方法，包括：
将手柄组件的通信接口联接到配置装置；
从所述配置装置接收配置数据；并且
基于所述配置数据来修改存储在所述手柄组件的存储器中的用于操作所述手柄组件的至少一个操作参数。
16.根据权利要求15所述的方法，还包括：
基于所述配置数据来修改用户界面的至少一个用户界面参数。
17.根据权利要求16所述的方法，其中修改所述至少一个用户界面参数包括重新映射所述用户界面的多个按钮的按钮赋值。
18.根据权利要求16所述的方法，其中所述至少一个操作参数从由夹紧速度、松开速度、发射速率、缩回速率、旋转速度和关节式运动速度组成的组中选择。
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