CN108498127A - 车可高压灭菌的负荷感测装置 - Google Patents

车可高压灭菌的负荷感测装置 Download PDF

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CN108498127A
CN108498127A CN201810159822.2A CN201810159822A CN108498127A CN 108498127 A CN108498127 A CN 108498127A CN 201810159822 A CN201810159822 A CN 201810159822A CN 108498127 A CN108498127 A CN 108498127A
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马修·埃施巴赫
拉塞尔·普里巴尼奇
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Abstract

一种用于将手术末端执行器互连到手术装置的适配器包含：驱动轴；以及围绕所述通风轴安置的负荷感测装置，所述负荷感测装置被配置成测量施加于所述驱动轴上的应变。负荷感测装置包含壳体，所述壳体具有：具有第一端和第二端且在其间限定空腔的管状部分；安置在第一端处的第一端盖，第一端盖具有第一开口；以及安置在第二端处的第二端盖，第二端盖具有第二开口。负荷感测装置还包含围绕管状部分至少部分地卷绕的导电元件。

Description

车可高压灭菌的负荷感测装置
相关申请的交叉引用
本申请要求2017年2月28日提交的第62/464,707号美国临时专利申请的权益和优先权，所述美国临时专利申请的全部公开内容以引用的方式并入本文中。
技术领域
本公开涉及手术装置。更具体地说，本公开涉及具有可重复使用组件和负荷感测装置的用于执行外科手术程序的手持电机式手术系统。
背景技术
在外科手术中使用直线夹紧、切割和缝合装置以从胃肠道切除癌组织或异常组织。常规的直线夹紧、切割和缝合器械包含具有细长轴的手枪握把型结构和具有一对夹持部件的末端执行器，所述夹持部件安置在轴的远端处以夹紧、切割并缝合组织。通常通过响应于两个夹持部件中的一个(例如砧座部分)相对于细长轴移动或枢转同时另一夹持元件保持固定而致动连接到手柄的触发器来实现夹持部件的致动。固定夹持部件包含钉仓和用于抵靠砧座部分使钉弹出穿过夹紧组织进而缝合组织的机构。末端执行器可与轴一体地形成，或可拆卸，从而允许互换各种夹持和缝合部件。
许多手术装置制造商也已经发展出用于操作及/或操纵末端执行器的专有动力驱动系统。动力驱动系统可包含可重复使用的动力手柄总成和以可去除方式连接到动力手柄总成的一次性末端执行器。
供与现有动力手术装置和/或手柄总成一起使用的许多现有末端执行器是由线性驱动力驱动的。举例来说，用于执行内胃肠道吻合术、端端吻合术和横向吻合术的末端执行器是由线性驱动力致动的。由此，这些末端执行器与使用旋转运动的手术装置和/或手柄总成不兼容。
为了使线性驱动的末端执行器与使用旋转运动来递送电力的动力手术装置兼容，需要适配器以将线性驱动的末端执行器与动力旋转驱动的手术装置互连。这些适配器还可重复使用，并且由此，需要能够承受多次杀菌循环。
随着这些适配器变得更加复杂并且包含各种电子组件，需要安置在适配器内的可承受多次高压灭菌循环的电子组件。
发明内容
动力手术装置可包含用于在操作期间提供反馈的各种传感器。然而，在手术室的无菌环境中使用的电子件和传感器的一个限制在于，其需要被设计成承受多次清洁和高压灭菌循环。为了搜集由动力手术装置施加的机械力的信息，例如具有应变计的测压元件等负荷感测装置安置在动力手术装置和/或连接到其的适配器的一个或多个机械组件上。常规的应变计包含安置在衬底上的导线，其中导线从衬底退出。另外，应变计还包含在导线与衬底之间的多个焊点和衬底接口。因此，常规的应变计可能在经受可包含暴露于刺激性化学物质和/或高温下的杀菌过程时发生故障。确切地说，常规应变计中的衬底接口和焊点可能由于材料属性改变而在应变计暴露于高温下时剥离或出现边界应力。边界应力可能切断电连接器和/或允许液体进入电路并导致短路。本公开提供一种不具有结合的衬底接口进而避免与常规应变计测压元件相关联的故障模式的负荷感测装置。另外，所有电路组件安置在负荷感测装置外部。
根据本公开的一个实施例，公开一种用于将手术末端执行器互连到手术装置的适配器。适配器包含：驱动轴；以及围绕通风轴安置的负荷感测装置，负荷感测装置被配置成测量施加于驱动轴上的应变。负荷感测装置包含壳体，所述壳体具有：具有第一端和第二端且在其间限定空腔的管状部分；安置在第一端处的第一端盖，第一端盖具有第一开口；以及安置在第二端处的第二端盖，第二端盖具有第二开口。负荷感测装置还包含围绕管状部分至少部分地卷绕的导电元件。
根据本公开的另一实施例，公开一种手术系统。手术系统包含：手持式手术装置，所述手持式手术装置包含电动机、连接到电动机的电源和被配置成控制电动机的控制器；以及被配置成连接到手术装置的适配器。适配器包含：被配置成连接到电动机且可由电动机移动的驱动轴；以及围绕通风轴安置的负荷感测装置，负荷感测装置被配置成测量施加于驱动轴上的应变。负荷感测装置包含壳体，所述壳体具有：具有第一端和第二端且在其间限定空腔的管状部分；安置在第一端处的第一端盖，第一端盖具有第一开口；以及安置在第二端处的第二端盖，第二端盖具有第二开口。负荷感测装置还包含围绕管状部分至少部分地卷绕的导电元件。
根据以上实施例中的任一个的一个方面，适配器包含连接到导电元件的应变传感器电路，应变传感器电路被配置成输出对应于施加于驱动轴上的应变的电信号。应变传感器电路可包含具有多个电阻臂的电阻器网络，并且导电元件可以是多个电阻臂中的一个。
根据本公开的另一实施例，一种负荷感测装置包含壳体，所述壳体具有：具有第一端和第二端且在其间限定空腔的管状部分；安置在第一端处的第一端盖，第一端盖具有第一开口；以及安置在第二端处的第二端盖，第二端盖具有第二开口。负荷感测装置还包含围绕管状部分至少部分地卷绕的导电元件。
根据以上实施例中的任一个的一个方面，第一端盖和第二端盖中的每一个都具有截头圆锥形状。
根据以上实施例中的任一个的另一方面，管状部分可包含一对径向延伸的凸缘，所述凸缘在其间限定环状凹槽。
根据以上实施例中的任一个的另一方面，导电元件可安置在环状凹槽内。导电元件可包含绝缘护套。
根据以上实施例中的任一个的一个方面，灌封材料安置在环状凹槽内。
附图说明
在本文中参考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包含手持式手术装置、适配器总成和末端执行器的手术系统的透视图；
图2是图1的手持式手术装置在部件分离的情况下的前透视图；
图3是电源组和与其分离的内部后壳体的前透视图；
图4是沿着剖面线“4-4”截取的图2的手持式手术装置的横截面图；
图5是说明图1的适配器总成与手持式手术装置的连接的透视图；
图6是图1的适配器总成的前透视图和后透视图；并且
图7是图1的适配器总成在部件分离的情况下的后透视图；
图8是根据本公开的实施例的可高压灭菌的负荷感测装置的透视图；
图9是沿着剖面线“9-9”截取的图8的可高压灭菌的负荷感测装置的横截面图；并且
图10是根据本公开的实施例的应变传感器电路的示意性电气图。
具体实施方式
参考图式详细地描述当前公开的手术装置和用于手术装置和/或手柄总成的适配器总成的实施例，在图式中，相似参考数字表示各图中的每一个中的相同或对应元件。如本文中所使用，术语“远侧”指代适配器总成或手术装置或其组件的更远离用户的部分，而术语“近侧”指代适配器总成或手术装置或其组件的更接近于用户的部分。
本公开提供一种可安置在手术装置的任何可移动组件(例如轴)上方的可高压灭菌的负荷感测装置。负荷感测装置被配置成测量可移动组件上的应变并将反馈提供到手术装置的控制器。负荷感测装置包含壳体和安置在壳体上方的绝缘导电元件，例如绝缘电线。壳体可由在其变形期间保持在其弹性范围内(例如从而避免永久偏转)同时允许测量应变的任何合适的顺应性材料形成。这允许负荷感测装置将通过轴施加到其的负荷转换成径向偏转。径向偏转使导电元件伸长，进而改变导电元件的电阻。导电元件可由在通过负荷感测装置变形时能够保持在其弹性范围内的任何导电材料形成。
壳体包含具有一对相对端盖的管状部分，所述对置端盖安置在其每一端处。端盖中的每一个都具有截头圆锥形状，所述端盖在其顶端处具有开口，从而允许轴穿过开口中的每一个。由于应变导致的轴偏转将力施加到负荷感测装置。负荷感测装置的管状设计将此力转换成管状部分的径向偏转。当管状部分径向偏转时，环绕限定在管状部分中的环状凹槽卷绕的导电元件也变形，并且其电阻增大，所述电阻接着由传感器电路感测到。传感器电路可包含惠斯通电桥，所述惠斯通电桥包含两个并联的分压器电路，其中导电元件形成惠斯通电桥的电阻器中的一个。
可将粘合剂或灌封材料(例如环氧树脂)施加到导电元件以将导电元件紧固在管状部分的环状凹槽内。粘合剂可作为环绕导电元件的层来施加，以将导电元件紧固到负荷感测装置。然而，即使由粘合剂形成的密封件破损，负荷感测装置的功能性也不会受影响，这是因为导电元件是绝缘的。
如图1中所说明，根据本公开的手术系统2包含手术装置100，手术装置100展示为动力手持电机式器械，其被配置成用于选择性地附接到多个不同的末端执行器或一次性使用的装载单元(“SULU's”)，例如末端执行器400。确切地说，手术装置100被配置成用于与适配器200选择性地连接，并且，适配器200又被配置成用于与末端执行器400选择性地连接。
参考图1到4，手术装置100包含电源组101(图2)和被配置成选择性地收纳并封围电源组101的外部壳层壳体10。外部壳层壳体10包含远侧半部分10a和近侧半部分10b。近侧半部分10b通过沿着远侧半部分10a和近侧半部分10b的上边缘定位的铰链16以可枢转方式连接到远侧半部分10a，使得沿着横穿由适配器200(图6)限定的纵向轴线“X”的平面划分远侧半部分10a和近侧半部分10b。当远侧半部分10a和近侧半部分10b结合时，这两者限定用于将电源组101收纳在内部的壳层空腔10c。
参考图2，远侧半部分10a和近侧半部分10b中的每一个包含相应的上壳层部分12a、12b和相应的下壳层部分14a、14b。下壳层部分14a包含闭合片18a，所述闭合片18a被配置成接合下壳层部分14b的闭合片18b以将远侧半部分10a和近侧半部分10b选择性地紧固到彼此并且用于将壳层壳体10维持在闭合配置中。
壳层壳体10的远侧半部分10a还包含被配置成连接到适配器200(图5和6)的对应驱动连接总成210的连接部分20。具体来说，连接部分20包含凹进部分21，所述凹进部分21被配置成在适配器200与手术装置100配合时收纳适配器200的驱动连接总成210的一部分。远侧半部分10a的连接部分20还限定三个孔口22a、22b、22c和形成于连接部分20的面向远侧的表面中的细长插槽24。
壳层壳体10的远侧半部分10a还包含多个按钮，例如触发控制按钮30。在实施例中，触发控制按钮30可以是被配置成在左、右、上和下方向上致动的双轴操纵杆。触发控制按钮30还可以是可按压的。
壳层壳体10的远侧半部分10a还可支撑多个其它按钮，例如右侧的一对控制按钮和左侧的一对控制按钮。这些按钮和其它组件详细地描述于第2016/0310134号美国专利申请公开案中，所述美国专利申请公开案的全部公开内容以引用的方式并入本文中。
参考图2，壳层壳体10包含以可去除方式支撑在远侧半部分10a中的无菌屏障板60。无菌屏障板60将电源组101与适配器200互连。具体来说，无菌屏障板60安置在远侧半部分10a的连接部分20后方，且安置在壳层壳体10的壳层空腔10c内。板60包含以可旋转方式支撑在其中的三个连接轴64a、64b、64c。每个连接轴64a、64b、64c延伸穿过壳层壳体10的远侧半部分10a的连接部分20的相应孔口22a、22b、22c。
板60进一步包含支撑于其上的电穿通连接器66。当无菌屏障板60安置在壳层壳体10的壳层空腔10c内时，穿通连接器66延伸穿过远侧半部分10a的连接部分20的孔口24。连接轴64a、64b、64c和穿通连接器66将适配器200的相应对应特征与电源组101以电气和机械方式互连。
在使用期间，开放壳层壳体10(即，使远侧半部分10a围绕铰链16与近侧半部分10b分离)，将电源组101插入壳层壳体10的壳层空腔10c中，且使远侧半部分10a围绕铰链16枢转成闭合配置。在闭合配置中，远侧半部分10a的下壳层部分14a的闭合片18a接合近侧半部分10b的下壳层部分14b的闭合片18b。在外科手术之后，开放壳层壳体10，并且从壳层壳体10的壳层空腔10c去除电源组101。可丢弃壳层壳体10，且可接着对电源组101进行杀菌和清洁。
参看图2到4，电源组101包含内部手柄壳体110，所述内部手柄壳体110具有下壳体部分104和从下壳体部分104延伸和/或支撑在下壳体部分104上的上壳体部分108。内部手柄壳体110还包含远侧半部分110a和近侧半部分110b，所述远侧半部分110a和近侧半部分110b限定用于容纳电源组核心总成106(图3)的内部壳体空腔110c(图3)。电源组核心总成106被配置成控制手术装置的各种操作。
参考图3，内部手柄壳体110的远侧半部分110a支撑远侧触发控制接口130，所述远侧触发控制接口130与壳层壳体10的触发控制按钮30以可操作方式接合，使得当电源组101安置在壳层壳体10内时，触发控制按钮30的致动对触发控制接口130施加力。内部手柄壳体110的远侧半部分110a还支撑以可操作方式接合壳层壳体10的其它按钮的各种其它控制接口。
参考图3和4，电源组核心总成106包含电池电路140、控制器电路板142和被配置成将电力供应到手术装置100的电组件中的任一个的可充电电池144。控制器电路板142包含电动机控制器电路板142a、主控制器142b和将电动机控制器电路板142a与主控制器142b互连的第一带状电缆(未图示)。
电源组核心总成106进一步包含支撑在主控制器142b上的显示屏幕146。显示屏幕146透过安置于内部手柄壳体110的近侧半部分110b中的透光或透明窗口110d可见。
电源组核心总成106进一步包含各自电连接到控制器电路板142和电池144的第一电动机152(图4)、第二电动机154(图3)和第三电动机156(图4)。电动机152、154、156安置在电动机控制器电路板142a与主控制器142b之间。每个电动机152、154、156由安置在电动机控制器电路板142a上且连接到主控制器142b的相应电动机控制器(未图示)控制。主控制器142b还连接到存储器(未图示)，所述存储器也安置在主控制器142b上。主控制器通过FPGA与电动机控制器通信，所述FPGA提供控制逻辑信号(例如惯性滑行、制动等等和任何其它合适的控制信号)。电动机控制器使用固定频率脉冲宽度调制(PWM)将对应激励信号输出到其相应的电动机152、154、156。
电源组核心总成106还包含电插座149。电插座149通过第二带状电缆(未图示)与主控制器142b电连接。电插座149限定多个电插槽以用于收纳从壳层壳体10的板60(图2)的穿通连接器66延伸的相应电触头。
每个电动机152、154、156包含从其延伸的相应电动机轴(未图示)。每个电动机轴可具有限定在其中的凹进部分，所述凹进部分具有三叶横向横截面轮廓以用于收纳壳层壳体10的板60的相应连接轴64a、64b、64c的近端。
通过相应电动机152、154、156使电动机轴旋转致动了适配器200的轴和/或齿轮组件以便执行手术装置100的各种操作。确切地说，电源组核心总成106的电动机152、154、156被配置成致动适配器200的轴和/或齿轮组件，以便选择性地致动末端执行器400的组件，围绕纵向轴线“X-X”(图6)旋转末端执行器400，且围绕垂直于纵向轴线“X-X”的枢轴线枢转末端执行器400。
参考图5，当适配器200配合到手术装置100时，手术装置100的壳层壳体10的板60的连接轴64a、64b、64c中的每一个与适配器200的对应可旋转连接器套筒218、220、222连接。因此，手术装置100的连接轴64a、64b、64c中的每一个的旋转导致适配器200的对应连接器套筒218、220、222对应地旋转。
参考图5和6，适配器200包含外部旋钮壳体202和从旋钮壳体202的远端延伸的外管206。旋钮壳体202被配置成且适于连接到手术装置100的壳层壳体10的连接部分20。外管206被配置成用于与末端执行器400(图1)选择性地连接。外管206的尺寸被设定成用于内窥镜插入，例如可通过典型的套管针端口、插管等等，而旋钮壳体202的尺寸被设定成保持在外管206外部。
如图7中所说明，适配器200包含近侧内部壳体总成204，所述近侧内部壳体总成204将第一可旋转近侧驱动轴212、第二可旋转近侧驱动轴214和第三可旋转近侧驱动轴216以可旋转方式支撑在其中。每个近侧驱动轴212、214、216传递来自手术装置100的相应连接轴64a、64b和64c(图5)的旋转力，如下文更详细地描述。
适配器200的驱动连接总成210还被配置成分别以可旋转方式支撑彼此布置在共同平面或线中的第一连接器套筒218、第二连接器套筒222和第三连接器套筒220。连接器套筒218、222、220中的每一个被配置成将手术装置100的相应第一连接轴64a、第二连接轴64b和第三连接轴64c与适配器200的第一近侧驱动轴212、第二近侧驱动轴214和第三近侧驱动轴216互连。
适配器200的驱动连接总成210还包含向相应第一连接器套筒218、第二连接器套筒220和第三连接器套筒222的远侧安置的第一偏置部件224、第二偏置部件226和第三偏置部件228。偏置部件224、226、228中的每一个围绕相应第一可旋转近侧驱动轴212、第二可旋转近侧驱动轴214和第三可旋转近侧驱动轴216安置。当适配器200连接到手术装置100时，偏置部件224、226、228作用于相应连接器套筒218、222、220，并维持连接器套筒218、222、220与手术装置100的相应连接轴64a、64c、64b(图5)的远端接合。
适配器200还包含分别安置在内部壳体总成204和外管206内的第一旋转转换总成240、第二旋转转换总成250和第三旋转转换总成260。第一旋转转换总成240将手术装置100的第一连接轴64a的旋转转换成适配器200的铰接条258的轴向平移，以实现末端执行器400的铰接。第一旋转转换总成240包含以可旋转方式支撑在内部壳体总成204内的第一可旋转近侧驱动轴212。第一可旋转近侧驱动轴212包含被配置成用于与第一连接器218连接的近端部分，所述第一连接器218连接到手术装置100的相应第一连接轴64a。第一可旋转近侧驱动轴212还包含具有带螺纹的外部轮廓或表面的远端部分212b。
第一旋转转换总成240进一步包含驱动连接螺母244，所述驱动连接螺母244以可旋转方式连接到第一可旋转近侧驱动轴212的带螺纹远端部分212b，且以可滑动方式安置在外管206(图6)内。驱动连接螺母244以可滑动方式键连接(key)在外管206的近侧部分内，以免随着可旋转近侧驱动轴212旋转而旋转。因此，当第一可旋转近侧驱动轴212旋转时，驱动连接螺母244沿着第一可旋转近侧驱动轴212的带螺纹远端部分212b平移，并且转而通过和/或沿着外管206平移。
第一旋转转换总成240进一步包含远侧驱动部件248，所述远侧驱动部件248与驱动连接螺母244以机械方式接合，使得驱动连接螺母244的轴向移动导致远侧驱动部件248的对应量的轴向移动，从而实现关闭、开启和启动末端执行器400。远侧驱动部件248的远端部分支撑连接部件247，所述连接部件247的配置和尺寸被设定成用于与末端执行器400的驱动部件(未图示)选择性地接合。驱动连接螺母244和/或远侧驱动部件248充当将部件传递到末端执行器400的组件的力。
第二转换总成250将手术装置100的第二连接轴64b的旋转转换成适配器200的铰接条258的轴向平移，以实现末端执行器400的铰接。适配器200的第二驱动转换器总成250包含以可旋转方式支撑在内部壳体总成204内的第二近侧驱动轴214。第二可旋转近侧驱动轴214包含被配置成用于与第二连接器222(图5)连接的近端部分，所述第二连接器222连接到手术装置100的第二连接轴64c。第二可旋转近侧驱动轴214进一步包含具有带螺纹的外部轮廓或表面的远端部分214a。
近侧驱动轴214的远端部分214a与铰接轴承总成252的铰接轴承壳体252a螺纹接合。铰接轴承总成252可旋转且可在外管206内纵向平移。铰接轴承总成252包含支撑铰接轴承253的壳体252a。铰接轴承壳体252a具有非圆形外部轮廓，例如泪滴形状，所述铰接轴承壳体252a以可滑动且不可旋转方式安置在内部壳体总成204的互补孔(未图示)内。
适配器200的第二驱动转换器总成250进一步包含铰接条258，所述铰接条258具有紧固到铰接轴承253的近侧部分258a。铰接杆258的远侧部分258b包含在其中的插槽258c，插槽258c被配置成连接到末端执行器400的铰接杆(未图示)。
第三转换总成260将手术装置100的第三连接轴64c(图5)的旋转转换成适配器200的旋转环形齿轮266的旋转，以实现适配器200的旋转。旋转环形齿轮266固定地支撑在外部旋钮壳体202(图5和6)中且连接到外部旋钮壳体202。环形齿轮266限定齿轮齿266a和从外部边缘突起的一对直径相对的径向延伸突起部266b的内部阵列。突起部266b安置在限定于外部旋钮壳体202中的凹进部分(未图示)内，使得环形齿轮266的旋转导致外部旋钮壳体202的旋转，且反之亦然。
第三旋转转换总成260进一步包含以可旋转方式支撑在内部壳体总成204内的第三可旋转近侧驱动轴216。第三可旋转近侧驱动轴216包含被配置成用于与第三连接器220一起连接到第三可旋转近侧驱动轴216的近端部分，所述第三可旋转近侧驱动轴216包含键连接到其远端的正齿轮216a。换向正齿轮264将第三可旋转近侧驱动轴216的正齿轮216a啮合到环形齿轮266。
当第三可旋转近侧驱动轴216通过手术装置100的第三连接轴64b旋转时，第三可旋转近侧驱动轴216的正齿轮216a啮合换向齿轮264，从而致使换向齿轮264旋转。当换向齿轮264旋转时，环形齿轮266也旋转，进而致使外部旋钮壳体202旋转，因此使外管206连同末端执行器400围绕纵向轴线“X-X”旋转。
参考图8和9，根据本公开的负荷感测装置500安置在轴502上方，轴502可以是适配器200的驱动轴212、214、216中的任一个。确切地说，轴502通过负荷感测装置500，此类负荷感测装置500被配置成测量轴502上的应变。
负荷感测装置500包含具有管状部分506和一对相对端盖的壳体504，所述相对端盖是第一端盖508和第二端盖510。第一端盖部分508和第二端盖部分510中的每一个包含在其相应底座508b和510b(图9)与相应顶端部分508c和510c之间延伸的截头圆锥形壁508a和510a。如本文中所使用，术语“截头圆锥形”表示顶端已被平行于圆锥底座的平面截断的锥体。第一端盖部分508和第二端盖部分510中的每一个还包含通过相应顶端部分508c和510c限定的开口508d和510d。壳体504限定安置在顶端部分508c与510c之间的空腔507，空腔507可进入开口508d和510d。轴502通过开口508d和510d以及空腔507(图9)。
可通过例如超声波焊接、激光焊接或粘合剂等任何合适的方法将负荷感测装置500紧固到轴502。在实施例中，顶端部分508c和510c可包含平坦部分508e和510e，所述平坦部分508e和510e在连接到轴502时充当垫圈，使得可使用安置在每个平坦部分508e和510e处的一对相对固定部件(例如螺帽)将负荷感测装置500紧固到轴。负荷感测装置500固定到轴502确保了施加于轴502上的应变被施加于负荷感测装置500上，从而允许测量轴502上的应变。
在实施例中，负荷感测装置500可形成为一体式部分(例如射出成型、3D打印、机械加工等等)，或可通过将分开形成的组件结合在一起来形成，所述组件例如管状部分506、第一端盖508、第二盖510。可通过例如超声波焊接、激光焊接或粘合剂等任何合适的方法结合组件。负荷感测装置500可由保持在弹性范围内(例如从而避免在其偏转期间永久偏转)同时允许测量应变的任何合适材料形成。合适的材料包含热塑性塑料，例如丙烯酸树脂、赛璐珞、醋酸纤维素、环烯烃共聚物、乙烯-乙酸乙烯酯、氟聚合物(例如聚四氟乙烯)、离聚物、聚甲醛、聚丙烯酸酯、聚丙烯腈、聚酰胺、聚酰胺-酰亚胺、聚芳醚酮、聚丁二烯、聚丁烯、聚对苯二甲酸丁二醇酯、聚己内酯、聚氯三氟乙烯、聚对苯二甲酸乙二酯、聚对苯二甲酸环己二甲醇酯、聚碳酸酯、聚羟基烷酸酯、聚酮、聚酯、聚乙烯、聚醚醚酮、聚醚酮酮、聚醚酰亚胺、聚醚砜、氯化聚乙烯、聚酰亚胺、聚乳酸、聚甲基戊烯、聚苯醚、聚苯硫醚、聚邻苯二甲酰胺、聚丙烯、聚苯乙烯、聚砜、聚对苯二甲酸丙二酯、聚胺酯、聚乙酸乙烯酯、聚氯乙烯、聚偏二氯乙烯、苯乙烯-丙烯腈，和其组合。
管状部分506包含环绕管状部分506且限定环状凹槽516的一对径向延伸的凸缘512和514。负荷感测装置500还包含安置在环状凹槽516内的导电元件518。导电元件518可以是由在通过负荷感测装置500变形期间同样保持在其弹性范围内的任何合适导电金属形成的导线，所述导电金属例如铜、铝、钨、金、银，和其组合。导电元件518可围绕环状凹槽516的周界部分地(例如四分之一匝、半匝，等等)卷绕或卷绕任何匝数。可在相同的方向上卷绕导电元件518的匝数，或可交替。导电元件518可包覆在覆盖导电元件的绝缘护套(未图示)中。以此方式，可使用灌封材料(例如环氧树脂)或粘合剂来填充环状凹槽516，进而将导电元件518紧固在其中。
导电元件518包含第一端518a和第二端518b(图8)，所述第一端518a和第二端518b连接到如图10中所展示的应变传感器电路600。应变传感器电路600包含电阻器网络602(例如惠斯通电桥)，所述电阻器网络602具有两个并联的分压器电路，即具有电阻臂604和606的第一分压器电路603以及具有电阻臂608和610的第二分压器电路605。第一分压器电路603和第二分压器电路605连接到将电流供应到电阻器网络602的电压源612。在实施例中，电压源612可以是可充电电池144(图3和4)。导电元件518可以是四个电阻臂604、606、608或610中的任一个，且在示范性实施例中展示为电阻臂604，其中第一端518a和第二端518b连接在电阻器网络602的节点618a和618b处。电阻器网络602还包含连接到控制器电路板142(图3)，且确切地说连接到主控制器142b(图3)的一对输出端子620a和620b。
在使用期间，当导电元件518由于负荷感测装置500上的应变而变形时，导电元件518(例如电阻臂604)的电阻也会改变。校准电阻器网络602以在第一分压器网络603和第二分压器网络605的电阻相同时输出零电压。然而，一旦第一分压器网络603的电阻因为导电元件518(例如电阻臂604)的电阻改变而被修改，电阻器网络602的输出也会改变。因此，导电元件518的电阻的任何变化产生来自输出端子620a和620b的非零输出电压，所述非零输出电压是由轴502施加于负荷感测装置500上的应变的函数。输出通过连接器290(图5)传递到主控制器142b(图3和4)，主控制器142b接着基于电阻器网络602的输出而转换和/或以其它方式计算应变。连接器290还将应变传感器电路600连接到电池144，从而允许电池144将电流供应到应变传感器电路600。
应理解，可对当前公开的适配器总成的实施例进行各种修改。因此，以上描述不应解释为限制性的，而仅仅是作为实施例的例证。所属领域的技术人员将设想在本公开的范围和精神内的其它修改。

Claims (20)

1.一种负荷感测装置，包括：
壳体，所述壳体包含：
具有第一端和第二端且在其间限定空腔的管状部分；
安置在所述第一端处的第一端盖，所述第一端盖具有第一开口；以及
安置在所述第二端处的第二端盖，所述第二端盖具有第二开口；以及
围绕所述管状部分至少部分地卷绕的导电元件。
2.根据权利要求1所述的负荷感测装置，其中所述第一端盖和所述第二端盖中的每一个都具有截头圆锥形状。
3.根据权利要求1所述的负荷感测装置，其中所述管状部分包含一对径向延伸的凸缘，所述凸缘在其间限定环状凹槽。
4.根据权利要求3所述的负荷感测装置，其中所述导电元件安置在所述环状凹槽内。
5.根据权利要求4所述的负荷感测装置，进一步包括安置在所述环状凹槽内的灌封材料。
6.根据权利要求4所述的负荷感测装置，其中所述导电元件包含绝缘护套。
7.一种用于将手术末端执行器互连到手术装置的适配器，所述适配器包含：
驱动轴；以及
围绕所述通风轴安置的负荷感测装置，所述负荷感测装置被配置成测量施加于所述驱动轴上的应变，所述负荷感测装置包含：
壳体，所述壳体具有：
具有第一端和第二端且在其间限定空腔的管状部分；
安置在所述第一端处的第一端盖，所述第一端盖具有第一开口；以及
安置在所述第二端处的第二端盖，所述第二端盖具有第二开口；以及
围绕所述管状部分至少部分地卷绕的导电元件。
8.根据权利要求7所述的适配器，其中所述第一端盖和所述第二端盖中的每一个都具有截头圆锥形状。
9.根据权利要求7所述的适配器，其中所述管状部分包含一对径向延伸的凸缘，所述凸缘在其间限定环状凹槽。
10.根据权利要求9所述的适配器，其中所述导电元件安置在所述环状凹槽内。
11.根据权利要求9所述的适配器，进一步包括安置在所述环状凹槽内的灌封材料。
12.根据权利要求11所述的适配器，其中所述导电元件包含绝缘护套。
13.根据权利要求7所述的适配器，进一步包括：
连接到所述导电元件的应变传感器电路，所述应变传感器电路被配置成输出对应于施加于所述驱动轴上的应变的电信号。
14.根据权利要求13所述的适配器，其中所述应变传感器电路包含具有多个电阻臂的电阻器网络。
15.根据权利要求14所述的适配器，其中所述导电元件是所述多个电阻臂中的一个。
16.一种手术系统，包括：
手持式手术装置，所述手持式手术装置包含电动机、连接到所述电动机的电源和被配置成控制所述电动机的控制器；以及
被配置成连接到所述手术装置的适配器，所述适配器包含：
被配置成连接到所述电动机且能够由所述电动机移动的驱动轴；以及
围绕所述通风轴安置的负荷感测装置，所述负荷感测装置被配置成测量施加于所述驱动轴上的应变，所述负荷感测装置包含：
壳体，所述壳体具有：
具有第一端和第二端且在其间限定空腔的管状部分；
安置在所述第一端处的第一端盖，所述第一端盖具有第一开口；以及
安置在所述第二端处的第二端盖，所述第二端盖具有第二开口；以及
围绕所述管状部分至少部分地卷绕的导电元件。
17.根据权利要求16所述的手术系统，其中所述适配器进一步包含：
连接到所述导电元件的应变传感器电路，所述应变传感器电路被配置成输出对应于施加于所述驱动轴上的应变的电信号。
18.根据权利要求17所述的手术系统，其中所述应变传感器电路包含具有多个电阻臂的电阻器网络。
19.根据权利要求18所述的手术系统，其中所述导电元件是所述多个电阻臂中的一个。
20.根据权利要求17所述的手术系统，其中所述应变传感器电路被配置成连接到所述电源。
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US20180243042A1 (en) 2018-08-30

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