CN107019533B - 手术接合器组件和手术装载单元的无线检测 - Google Patents

手术接合器组件和手术装载单元的无线检测 Download PDF

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CN107019533B
CN107019533B CN201611153429.XA CN201611153429A CN107019533B CN 107019533 B CN107019533 B CN 107019533B CN 201611153429 A CN201611153429 A CN 201611153429A CN 107019533 B CN107019533 B CN 107019533B
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安东尼·卡尔德罗尼
约翰·潘塔齐斯
路易斯·迪桑
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Abstract

本公开涉及手术接合器组件和手术装载单元的无线检测。接合器组件包括构造成联接至手柄组件和装载单元组件的细长主体。该接合器组件包括配置为输出电压信号的振荡器。传感器基于电压信号的变化来确定联接至接合器组件的装载单元组件的连接状态。电压信号包括整流电压输出和感应电压输出，并且响应于布置在装载单元组件内的绕组向振荡器的接近而变化。

Description

手术接合器组件和手术装载单元的无线检测
相关申请的交叉引用
本申请要求于2015年12月14日提交的美国临时专利申请第62/266,791号的权益和优先权，上述申请的整个公开通过引用并入本文。
技术领域
本公开涉及用于与机电手术系统一起使用的接合器组件和手术装载单元及其使用方法。更具体地，本公开涉及能够检测装载单元的存在和/或识别附接至接合器组件的装载单元的一个或多个参数的手持式机电手术器械。
背景技术
线性夹紧、切割和吻合手术装置可在手术操作中用以切除组织。常规的线性夹紧、切割和吻合装置包括手柄组件、细长轴和远侧部。远侧部包括手术装载单元，手术装载单元可以包含围绕组织夹紧的一对夹持构件。
当前存在对用于机电手术系统的手术装载单元和接合器组件之间的非接触式检测组件的需求。随着用于手术装载单元和接合器组件之间的检测的物理接触的移除，在使用和/或多个消毒过程期间，手术装载单元的暴露的识别部件的劣化降低。
发明内容
本公开涉及一种接合器组件，其包括细长主体，细长主体具有近侧部和远侧部，其中近侧部构造成联接至手柄组件，并且远侧部构造成联接至装载单元组件。该接合器组件包括布置在细长主体内并且配置为输出电压信号的振荡器。布置在接合器组件内的传感器基于电压信号的变化来确定联接至接合器的装载单元组件的连接状态。
在另外的实施例中，振荡器所输出的电压信号包括整流电压输出和感应电压输出。
在另一个实施例中，振荡器是考毕兹振荡器(Colpitts Oscillator)。
在另外的实施例中，电压信号响应于布置在装载单元内的绕组向振荡器的接近而变化或响应于与布置在装载单元内的绕组的无线相互作用而变化。
在其它实施例中，传感器还配置为基于电压信号的变化来确定装载单元组件的至少一个参数。
在其它实施例中，装载单元组件的所述至少一个参数从包括装载单元组件的序列号、装载单元组件的类型、装载单元组件的尺寸、紧固件尺寸、紧固件类型、先前使用信息和装载单元组件的最大使用次数的组中选择。
在另一个实施例中，公开了一种用于无线检测联接至接合器组件的手术装载单元的方法。所述方法包括：向布置在接合器组件内的振荡器电路施加输入电压和频率；以及测量振荡器电路的至少一个参数。所述方法还包括将包括绕组的手术装载单元插入接合器组件，从而改变所述至少一个参数并且测量改变后的至少一个参数。所述方法还包括确定至少一个参数和改变后的至少一个参数之间的差以及基于该差来确定手术装载单元的存在。
附图说明
在此参照附图描述本公开的实施例，其中：
图1是根据本公开的实施例的机电手术器械的立体图；
图2是图1的手术器械的部件分离的立体图；
图3是图1所示的手术器械的手柄组件的手柄连接器端口的立体图；
图4是图1所示的手术器械的接合器组件的接合器连接器端口的立体图；
图5是沿图1的剖面线“B-B”截取的图1的接合器组件的剖视图；
图6是图1的手术器械的各个部件的示意性连接图；以及
图7是图1的接合器组件的振荡器的电路图。
具体实施方式
参考附图详细描述本处公开的手术装置、接合器组件和手术附件的实施例，在附图中，在多个视图的每一个中，相同的附图标记指代相同或相应的元件。如本文所用，术语“远侧”是指接合器组件或手术装置或其部件的较远离用户的那部分，而术语“近侧”是指接合器组件或手术装置或其部件的较靠近用户的那部分。
参考图1，根据本公开的实施例的手术装置100是动力手持式机电手术装置，其构造成用于选择性附接有多个不同的末端执行器。末端执行器可以是各种手术附件中的任何一个，包括但不限于手术吻合器、手术切割器、手术吻合器-切割器、线性手术吻合器、线性手术吻合器-切割器、圆形手术吻合器、圆形手术吻合器-切割器、手术施夹器、手术夹子结扎器、手术夹紧装置、血管扩张装置、管腔扩张装置、手术刀、流体输送装置或任何其它合适类型的手术器械。每个手术附件构造为由动力手持式机电手术装置100致动和操纵。
如图1所示，手术器械100包括手柄组件200，手柄组件200构造成用于与接合器组件300(参见图3)选择性连接，并且依次地，接合器组件300构造成用于与构造为执行至少一个功能的手术装载单元400(例如，末端执行器、多次使用装载单元或单次使用装载单元，参见图4)选择性连接。手柄组件200构造为且适于致动接合器组件300。接合器组件300能与手术装载单元400连接，如本文所述的。手术器械100还限定纵向轴线“X”。
关于示例性机电手持式动力手术器械的构造和操作的详细描述，可以参考美国专利第7,819,896号、国际公开第WO2009/039506号和美国公开第2011/0121049号，上述公开的全部内容通过引用并入本文。
图2示出了手柄组件200、接合器组件300和手术装载单元400中的每一个及它们之间的连接。手柄组件200包括手柄壳体202，手柄壳体202具有布置在其中的控制器204和驱动机构215。控制器204配置为控制手术器械100的各种操作。手柄壳体202还在其中限定了空腔(未示出)，所述空腔用于选择性的可移除的接收诸如可再充电电池(未示出)的电源。电源配置为向手柄组件200的任何电部件供给动力，所述电部件包括用于经由接合器组件300驱动手术装载单元400的操作的电动机206。
手柄组件200还包括齿轮选择器箱(未示出)和联接至电动机206的齿轮传动机构(未示出)。控制器204配置成基于装载单元的存在来控制电动机206，所述装载单元例如通过接合器组件300联接至手柄组件200的手术装载单元400。手柄组件200还包括控制组件208，控制组件208可以包括一个或多个手指致动的控制按钮、摇杆装置、操纵杆或其它方向控制件，其输入被传递到驱动机构215以致动接合器组件300并且进而致动手术装载单元400。
具体地，驱动机构215构造成驱动轴和/或齿轮部件，从而选择性地移动手术装载单元400的末端执行器404以及使末端执行器404绕由手术器械100限定的纵向轴线“X”旋转，如图3和图4所示。
手柄组件200还包括构造成接纳接合器组件300的对应的接合器连接器端口390的鼻形部或连接部210。手柄组件200的连接部210构造成当接合器组件300与手柄组件200(参见图3)匹配时接收接合器组件300的接合器连接器端口390。
连接部210容纳与接合器组件300的对应的一个或多个输入轴330(图2和图4)交接的一个或多个驱动轴230(图3)。连接部210还包括平面的面和大致圆形构造。在一些实施例中，连接部210具有构造成用于与接合器组件300的接合器连接器端口390匹配接合的替代构造，例如诸如椭圆形、长方形、三角形、正方形、矩形、六边形、多边形或星形。手柄组件200与接合器组件300的匹配允许旋转力被独立地传递。
手柄组件200的手柄壳体202包括容纳手持式机电手术装置200的各种部件的上壳体部202a和从上壳体部202a延伸的下手握部202b。下手握部202b可以布置在上壳体部202a的最近端的远侧。在一些实施例中，下手握部202b具有各种表面特征，例如诸如滚花、光滑、粗糙和/或带纹理，以增强执业医生对下手握部202b的握持。
在一些实施例中，手柄组件200可以包括显示器(未示出)，显示器配置为显示来自从接合器组件300和手术装载单元400接收的数据信号的信息，以供手术器械100的用户使用。
继续参考图2，接合器组件300的接合器连接器端口390包括旋钮壳体302。接合器组件300还包括从旋钮壳体302的远侧端延伸的细长主体304。旋钮壳体302和细长主体304构造成且定尺寸为容纳接合器组件300的部件。细长主体304可以定尺寸成用于内窥镜检查的插入。例如，细长主体304可以能够穿过典型的套管针端口、插管或类似物。旋钮壳体302定尺寸成保持在套管针端口、插管或类似物的外部。
接合器连接器端口390构造成与手柄组件200的连接部210可匹配地连接，并且包括构造成与手柄组件200的连接部210的对应的一个或多个驱动轴230交接的一个或多个输入轴330(图3和图4)。
接合器连接器端口390配置为与连接部210连接，包括从其延伸的一个或多个输入轴330，并且限定形成在其中的凹槽370，凹槽370定尺寸且构造为接收手柄连接器端口210的突起270。一个或多个输入轴330构造成与手柄连接器端口210的一个或多个驱动轴230可旋转地交接。在一些实施例中，接合器连接器端口390还可以包括定位在凹槽370内的初级远侧线圈350和附加线圈360。
细长主体304具有构造成与手术装载单元400的近侧部402a联接的远侧部306b。细长主体304还包括圆筒形外壳体312和布置在其中的圆筒形内壳体314。
控制器320布置在圆筒形内壳体314内或在其上(图6)。另外，如本文进一步详细描述的，振荡器340位于圆筒形内壳体314内，在接合器组件300的远侧部306b处。
接合器组件300还可以包括围绕其布置的多个传感器319。接合器组件300的传感器319与控制器320耦合，并且配置成检测接合器组件300的各种状况，并以数据信号的形式向控制器320提供输入。
继续参考图2，手术装载单元400具有近侧部402a，并且构造成用于与接合器组件300的细长主体304的远侧端306b接合。手术装载单元400包括远侧部402b，远侧部402b具有从其延伸的末端执行器404。末端执行器404可枢转地附接至远侧部402b。末端执行器404可以包括砧座组件408和钉仓组件406。钉仓组件406相对于砧座组件408能枢转，并且在打开或未夹紧位置与闭合或夹紧位置之间能移动，用于通过套管针的插管插入。
手术装载单元400还包括壳体410，壳体410构造成收容用于控制末端执行器404的驱动机构、集成电路、处理器和存储器。具体地，手术装载单元400还包括布置在内壳体410b内或内壳体410b上的控制器420和位于近侧部402a的装载绕组417，如本文进一步详细描述的。
手术装载单元400还可以包括围绕其布置的传感器419。手术装载单元400的传感器419可以基本上类似于接合器300的传感器319，并且配置为检测手术装载单元400的各种条件或环境的各种条件(例如，如果末端执行器404打开，在末端执行器404内的组织厚度、手术装载单元400内的温度等)。传感器419以数据信号的形式向控制器420提供输入。
现在参考图3和图4，示出手柄组件200的连接部210的部件和接合器组件300的接合器连接器端口390的部件。
手柄组件200的连接部210包括从其向远侧延伸的突起270。在一些实施例中，近侧线圈250布置在手柄组件200的连接部210的突起270内。突起270还可以包括与近侧线圈250相邻但是与近侧线圈250电屏蔽的附加线圈260。
如本文所述，接合器连接器端口390配置为与连接端口210可匹配地连接。
现在参考图5，手术装载单元400和接合器组件300示出为处于插入和接合位置。在使用中，手术装载单元400插入到接合器组件300的细长管304的远侧端内。在一些实施例中，手术装载单元400可以沿顺时针或逆时针方向旋转，从而将手术装载单元400锁定就位。一旦插入和接合，接合器组件300的远侧部306b位于装载单元400的近侧部402a内。
当插入和接合时，手术装载单元400的装载绕组417与振荡器340的振荡器绕组342电感耦合(图6和图7)。还可以设想，一旦接合，由振荡器绕组342中的振荡电流产生的磁场激励装载绕组417，如下所述的。一旦被激励，装载绕组417(经由与集成电路430和控制器420的连接)能够无线地向手术装载单元400提供能量(图5)。
一旦手术装载单元400和接合器组件300彼此联接，就在手术装载单元400和接合器组件300之间形成无线接口500(图6)。如本文所使用的，“无线接口”表示能够将能量从接合器组件300传输到手术装载单元400并在接合器组件300和手术装载单元400之间传输数据信号的非接触式接口。还可以想到，控制信号可以经由无线接口500和600从手柄组件200经由接合器组件300传输到装载单元400。
另外并且如在图7的描述中进一步描述的，装载绕组417至振荡器绕组342的电感耦合改变振荡器绕组342的总阻抗，这还改变了正弦电压输出的幅度。本公开提供用于基于通过振荡器340的电压波形的幅度的变化来判定手术装载单元400是否插入接合器300中并且识别手术装载单元的类型。
现在参考图6，示出了手柄组件200、接合器组件300和手术装载单元400以及它们各个内部部件之间的连接的图。
如上所述，手柄组件200包括控制器204、一个或多个电动机206和驱动机构215。控制器204配置成控制一个或多个电动机206和驱动机构215。一旦手柄组件200与接合器组件300接合，无线接口600提供用于在手柄组件200和接合器组件300之间的数据信号的输入和输出传输。也可以使用感应线圈或适于无线传输数据信号和/或能量的任何其它RF收发器来创建接口(I/O)600。
接合器组件300的控制器320包括处理器320a和存储器320b。存储器320b可以是易失性介质、非易失性介质、磁介质、光介质或电介质中的一个或多个，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。存储器320b配置为存储与接合器组件300相关的一个或多个参数。处理器320a还配置为包括与接合器300内的集成电路(IC)330耦合的微控制器325的模数转换器(ADC)323。处理器320a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)，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、微处理器及其组合。
集成电路330包含振荡器340和/或与振荡器340耦合，振荡器340能够在接合器300接合时与手术装载单元400交接。在一个实施例中，振荡器340是如图7所示的考毕兹振荡器，控制振荡频率并且包括单个电感器和两个串联的电容器的电感器/电容器电路。
振荡器340包含一个或多个振荡器绕组342，振荡器绕组342布置在接合器组件300(图2)的圆筒形内壳体314内并且配置成在手术装载单元400插入接合器组件300时与布置在手术装载单元400内的一个或多个装载绕组417交接。
手术装载单元400的控制器420包括装载单元处理器420a和存储器420b。处理器420a和存储器420b可以基本上类似于如上所述的处理器320a和存储器320b。存储器420b配置为存储与手术装载单元400相关的一个或多个参数。参数可以包括装载单元组件的序列号、装载单元组件的类型、装载单元组件的尺寸、紧固件尺寸、紧固件类型、装载单元组件的先前使用信息和最大使用次数及其组合中的至少一个。存储器420b配置成在手术装载单元400与接合器组件300接合时将本文的手术装载单元400的存在和手术装载单元400的一个或多个参数传送给手柄组件200和接合器300。
装载单元处理器420a可包括将多个传感器419的数据信号转换为用于通过接口500传输的高频信号的电压-电流转换器423，如本文所详述。装载单元处理器420a还包括与手术装载单元400内的集成电路430耦合的微控制器435。装载单元处理器420a还配置为经由接口500将数据信号发送到接合器组件300。可以设想，装载单元处理器420a可以直接连线到装载绕组417。
装载绕组417配置为一旦手术装载单元400接合到接合器组件300，就与振荡器340的振荡器绕组342交接。一旦接合，装载绕组417经由与振荡器绕组342的连接而被激励并且能够为包含在其中的一个或多个集成电路430和/或控制器420供电。集成电路430可以是识别集成芯片(即，单总线芯片(1-Wire chip))、传感器419和任何其它电路。可以设想，一个或多个集成电路430可以通过装载绕组417来供电。
一旦装载绕组417和振荡器绕组342耦合，则修改通过振荡器绕组342的信号。具体地，修改信号的电压的幅度。在另外的实施例中，也可以修改信号的其它参数，例如其频率。处理器320a配置为基于信号的参数(例如其幅度和/或其频率)的变化来检测手术装载单元400的存在。此外，处理器320a能够识别手术装载单元。控制器320和/或处理器320a配置为分析信号的参数的变化，并将参数的变化与存储在存储器320b中的参数的多个变化进行比较。具体地，存储器320b包括查找表，该查找表将存储的信号的参数的变化与特定的手术装载单元400相匹配。因此，如果存在匹配，则控制器320然后可以基于检测到的信号的参数的变化来识别手术装载单元400。另外，控制器320还配置为确定手术装载单元400的其它属性。在实施例中，该信息可以经由无线接口600传输到手柄组件400。
现在参考图7，示出了使用考毕兹振荡器的振荡器340的示例电路图。尽管图7包括每个部件的特定数值，但是包括特定值是出于说明的目的。
振荡器340用于产生电压正弦波，一旦手术装载单元400与接合器组件300接合，即，一旦装载绕组417与振荡器绕组342电感耦合，电压正弦波的幅度变化。振荡器340由电感器(L1)和电容器(C1和C2)驱动，电感器(L1)和电容器(C1和C2)的值确定输出电压信号(Vout)的频率(fr)。如上所述并且如图5所示，当装载绕组417(L2)与振荡器绕组342(L1)接合时，经由互感，电感(Ltot)的总值变化，从而改变频率(fr)。公式(1)、(2)和(3)描述了总电容、振荡器电路的频率和电感的变化。
Figure BDA0001180203330000091
公式(1)描述了振荡器电路的总电容(Ctot)，并且基于串联的两个电容器(C1和C2)。总电容(Ctot)用于确定输出电压(Vout)的频率(fr)。
Figure BDA0001180203330000092
公式(2)描述了输出电压(Vout)的频率，并且基于公式(1)的Ltot和Ctot的值。在装载绕组417(L2，未示出)未与振荡器绕组342(L1)接合的情况下，总电感(Ltot)保持等于电感器(L1)的值。
Figure BDA0001180203330000093
公式(3)描述了一旦装载绕组417(L2，未示出)与振荡器绕组342(L1)接合的总电感(Ltot)。使用基于改变的装载绕组417(L2，未示出)的改变的总电感(Ltot)值引起可以由微控制器325的模数转换器(ADC)323测量的频率(fr)的变化。
在一些实施例中，设想各种类型的手术装载单元各自包括不同的装载绕组417(L2)，其一旦与振荡器绕组342(L1)接合就以如下方式变化频率(fr)：可以基于频率(fr)的变化来确定所接合的手术装载单元的类型。
在使用中，向振荡器340提供特定电压和频率的输入信号。在示例性实施例中，如图7所示，向振荡器340提供+5V的输入电压。基于该输入电压，测量输入信号的第一参数，即未改变的参数。如上所述，参数可以是信号的输出电压、频率或其组合。然后，手术装载单元400的装载绕组417与接合器组件300的振荡器340的振荡器绕组342耦合。在装载绕组417与振荡器绕组342耦合时，基于振荡器绕组342和装载绕组417之间的互感来改变信号的输出电压和输出频率中的一者或两者。一旦耦合，再次测量信号参数并与先前测量的未改变的参数进行比较，以确定它们之间的差。然后可以使用测得的差来确定手术装载单元400的存在和/或特性。
根据本公开的手术器械还可以配置为与机器人手术系统(例如远程手术系统)一起工作。这种系统采用各种机器人元件来辅助外科医生并允许手术器械的远程操作(或部分远程操作)。各种机器人臂、齿轮、凸轮、滑轮、电气式和机械式电动机等可以用于此目的，并且可以与机器人手术系统一起设计以在操作或处理过程中辅助外科医生。这样的机器人系统可以包括远程可操纵系统、自动柔性手术系统、远程柔性手术系统、远程关节式运动手术系统、无线手术系统、模块化或选择性地可配置的远程操作手术系统等。
机器人手术系统可以与靠近手术室或位于远程地点的一个或多个控制台一起使用。在这种情况下，一组外科医生或护士可以准备病人进行手术并且用本文公开的一个或多个器械配置机器人手术系统，而另一个外科医生(或外科医生组)通过机器人手术系统远程控制器械。如可以理解的，高度熟练的外科医生可以在不离开他/她的远程控制台的情况下执行在多个地点的多个操作，而这对于患者或一系列患者在经济上都是有利的和有益的。
手术系统的机器人臂通常通过控制器与一对主手柄耦合。手柄可以由外科医生移动以产生任何类型的手术器械(例如，末端执行器、抓握器、刀、剪刀等)的工作端的对应的运动，这可以补充一个或多个实施例的使用。主手柄的运动可以缩放，使得工作端具有与由外科医生的操作手执行的运动不同、更小或更大的对应运动。比例因子或传动比可以是可调节的，使得操作者能够控制手术器械的工作端的分辨率。
主手柄可以包括各种传感器，以向外科医生提供与各种组织参数或状况有关的反馈，例如由于操纵、切割或其它处理导致的组织阻力，器械对组织的压力，组织温度，组织阻抗等等。可以理解，这样的传感器为外科医生提供模拟实际操作条件的增强的触觉反馈。主手柄还可以包括各种不同的致动器，用于精细的组织操纵或处理，进一步增强外科医生模拟实际操作条件的能力。
应当理解，可以对本处公开的接合器组件的实施例进行各种修改。因此，上述描述不应解释为限制性的，而仅仅是作为实施例的示例。本领域技术人员将想到在本公开的范围和精神内的其它修改。

Claims (19)

1.一种接合器组件，包括：
细长主体，其具有近侧部和远侧部，其中所述近侧部被构造成联接至手柄组件，并且所述远侧部被构造成联接至装载单元组件；
振荡器，其布置在所述细长主体内并且被配置为输出电压信号；以及
传感器，其布置在所述细长主体内并且被配置为基于所述电压信号的变化来确定联接至所述细长主体的装载单元组件的连接状态。
2.根据权利要求1所述的接合器组件，其中所述电压信号包括整流电压输出和感应电压输出。
3.根据权利要求1所述的接合器组件，其中所述振荡器是考毕兹振荡器。
4.根据权利要求1所述的接合器组件，其中所述电压信号响应于布置在装载单元组件内的绕组向所述振荡器的接近而变化。
5.根据权利要求1所述的接合器组件，其中所述电压信号响应于与布置在装载单元内的绕组的无线相互作用而变化。
6.根据权利要求1所述的接合器组件，其中所述传感器还被配置为基于所述电压信号的变化来确定装载单元组件的至少一个参数。
7.根据权利要求6所述的接合器组件，其中所述至少一个参数从包括装载单元组件的序列号、装载单元组件的类型、装载单元组件的尺寸、紧固件尺寸、紧固件类型、先前使用信息和装载单元组件的最大使用次数的组中选择。
8.一种手术器械，包括：
手柄组件，其包括处理器和存储器，其中所述处理器被配置为控制电动机；
手术装载单元，包括：
存储器，其被配置为存储所述手术装载单元的至少一个参数；以及
绕组；以及
接合器组件，其被构造成联接至所述手柄组件和所述手术装载单元，所述接合器组件包括：
振荡器，其被配置为与所述绕组无线地耦合且输出电压信号；以及
传感器，其被配置为基于由于所述绕组和所述振荡器的无线耦合所导致的所述电压信号的变化来确定所述手术装载单元的连接状态。
9.根据权利要求8所述的手术器械，其中所述手术装载单元的至少一个参数是所述手术装载单元的标识符。
10.根据权利要求8所述的手术器械，其中所述振荡器是考毕兹振荡器。
11.根据权利要求8所述的手术器械，其中所述电压信号的变化是频率的变化。
12.根据权利要求8所述的手术器械，其中所述传感器还被配置为基于所述电压信号的变化来确定所述手术装载单元组件的至少一个参数。
13.根据权利要求12所述的手术器械，其中所述至少一个参数从包括手术装载单元组件的序列号、手术装载单元组件的类型、手术装载单元组件的尺寸、紧固件尺寸、紧固件类型、先前使用信息和手术装载单元的最大使用次数的组中选择。
14.根据权利要求8所述的手术器械，其中所述电压信号包括整流电压输出和感应电压输出。
15.一种用于无线检测联接至接合器组件的手术装载单元的方法，所述方法包括：
在布置于接合器组件内的振荡器电路处生成信号；
测量所述振荡器电路的至少一个参数；
将包括绕组的手术装载单元插入所述接合器组件，从而改变所述至少一个参数；
测量改变后的至少一个参数；
确定所述至少一个参数和改变后的至少一个参数之间的差；以及
基于所述差来确定所述手术装载单元的存在。
16.根据权利要求15所述的方法，其中所述至少一个参数是所述信号的电压或频率。
17.根据权利要求15所述的方法，其中改变振荡器参数是基于所述手术装载单元的所述绕组与所述接合器组件的所述振荡器电路之间的无线连接。
18.根据权利要求15所述的方法，还包括基于所述差来确定所述手术装载单元的至少一个操作参数。
19.根据权利要求18所述的方法，其中确定所述手术装载单元的至少一个操作参数包括识别所述手术装载单元。
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US20170168187A1 (en) 2017-06-15
US20190293828A1 (en) 2019-09-26
US10338259B2 (en) 2019-07-02
EP3181062A1 (en) 2017-06-21
US11002872B2 (en) 2021-05-11
US20210263179A1 (en) 2021-08-26
CN107019533A (zh) 2017-08-08
EP3181062B1 (en) 2020-02-12
JP2017109093A (ja) 2017-06-22

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