CN108697422A - 用于补偿电动外科器械中传动系故障的机构 - Google Patents
用于补偿电动外科器械中传动系故障的机构 Download PDFInfo
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Abstract
本发明提供了一种外科设备,所述外科设备包括端部执行器,所述端部执行器被构造成能够在多个操作区期间与组织相互作用。所述外科设备还包括至少一个驱动机构,所述至少一个驱动机构能够操作以在所述操作区中的每个操作区期间实现所述端部执行器中的至少一个动作。所述外科设备还包括一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录在所述操作区期间由所述至少一个驱动机构产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动生成输出信号,并且其中所述输出信号被采用以基于对每个操作区来说唯一的预先确定的阈值来确定所述外科设备的状态。
Description
相关申请的交叉引用
本申请涉及共同拥有且同时提交的所引用的代理人案卷号为END7793USNP/150507且标题为“MECHANISMS FOR DETECTING DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”的美国专利申请,所引用的代理人案卷号为END7794USNP/150508且标题为“MECHANISMS FOR DETECTING DRIVETRAIN FAILURE IN POWERED SURGICALINSTRUMENTS”的美国专利申请,所引用的代理人案卷号为END7795USNP/150510且标题为“MECHANISMS FOR DETECTING DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”的美国专利申请,所述文献中的每一份文献全文以引用方式并入本文。
共同拥有的标题为“MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILUREIN POWERED SURGICAL INSTRUMENTS”的美国专利申请序列号14/984,488,标题为“SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS”的美国专利申请序列号14/984,552,以及标题为“MECHANISMS FOR COMPENSATING FORDRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”的美国专利申请序列号14/984,525也通过引用方式整体并入本文。
背景技术
本发明涉及外科器械,并且在各种布置中,涉及被设计成缝合和切割组织的外科缝合和切割器械及与其一起使用的钉仓。
附图说明
各种方面的特征在所附权利要求书中进行了详细描述。然而,通过结合如下附图参考以下说明可最好地理解关于操作的组织和方法的各种方面及其优点:
图1是根据本公开的包括外科器械、适配器和端部执行器的机电外科系统的透视分解视图;
图2是根据本公开的至少一个方面的图1的外科器械的透视图;
图3为根据本公开的至少一个方面的图1的外科器械的分解透视图;
图4是根据本公开的至少一个方面的图1的外科器械的电池的透视图;
图5为根据本公开的至少一个方面的图1的外科器械的顶部部分拆卸视图;
图6为根据本公开的至少一个方面的具有从其分离的适配器的图1的外科器械的前透视图;
图7是根据本公开的至少一个方面的沿着图2的7-7截取的图1的外科器械的侧面剖视图;
图8是根据本公开的至少一个方面的沿着图2的8-8截取的图1的外科器械的顶部剖视图;
图9是根据本公开的至少一个方面的图1的端部执行器的分解透视图;
图10A是根据本公开的至少一个方面的锁定构件的俯视图;
图10B是根据本公开的至少一个方面的图10A的锁定构件的透视图;
图11为根据本公开的至少一个方面的图1的外科器械的示意图;
图12为根据本公开的至少一个方面的机电外科系统的透视图,其中部件分离;
图13为根据本公开的至少一个方面的图12的机电外科系统的轴组件和电动外科器械的后透视图,示出了它们之间的连接;
图14是根据本发明的至少一个方面的图13的轴组件的透视图,其中部件分开;
图15为根据本公开的至少一个方面的图13的轴组件的传动装置外壳的透视图,其中部件分离;
图16为根据本公开的至少一个方面的支撑在图15的传动装置外壳中的第一齿轮系系统的透视图;
图17为根据本公开的至少一个方面的支撑在图15的传动装置外壳中的第二齿轮系系统的透视图;
图18为根据本公开的至少一个方面的支撑在图15的传动装置外壳中的第三驱动轴的透视图;
图19是根据本公开的至少一个方面的外科器械的透视图;
图20为根据本公开的至少一个方面的图19的各种部件的电路图;
图21为根据本公开的至少一个方面的包括与联接多个逻辑门的多个滤波器通信的麦克风的电路图;
图22是根据本公开的至少一个方面的以伏特为单位的麦克风输出和以秒为单位的时间之间关系的曲线图,该曲线图表示在操作外科器械期间由麦克风记录图19所示正常运行的外科器械的振动响应;
图22A是根据本公开的至少一个方面的图22的麦克风输出的滤波信号;
图23是根据本公开的至少一个方面的以伏特为单位的麦克风输出和以秒为单位的时间之间关系的曲线图,该曲线图表示在操作外科器械期间由麦克风记录图19所示故障外科器械的振动响应;
图23A是根据本公开的至少一个方面的图23的麦克风输出的滤波信号;
图24是根据本公开的至少一个方面的包括联接至多个滤波器的图19的外科器械的传感器的电路图,其中所述传感器经由多路复用器和模数转换器与微控制器通信;
图24A是根据本公开的至少一个方面的包括联接至多个滤波器的图19的外科器械的传感器的电路图,其中所述传感器经由多路复用器和模数转换器与微控制器通信;
图24B至图24D示出了根据本公开的至少一个方面的图19的外科器械的带通滤波器的结构和操作特性;
图25是根据本公开的至少一个方面的表示图19的外科器械的传感器输出的滤波信号的曲线图;
图26是根据本公开的至少一个方面的表示图19的外科器械的传感器输出的处理信号的曲线图;
图27是根据本公开的至少一个方面的表示击发(FTF)图19的外科器械所需的力与外科器械的驱动组件从起始位置的位移位置之间的关系曲线图;
图28是根据本公开的至少一个方面的表示在击发冲程期间,图19的外科器械的驱动组件的速度与驱动组件从起始位置的位移位置之间的关系曲线图;
图29是根据本公开的至少一个方面的表示在图19的外科器械的击发冲程期间,基于冲程位置区域的可接受的限值修改的曲线图;
图30是根据本公开的至少一个方面的表示图19的外科器械的传感器的输出的处理信号的曲线图,示出了由于在击发冲程期间驱动组件经历的负载和速度变化所引起的处理信号的频率响应的移位;
图31是根据本公开的至少一个方面的表示在操作区期间由图19的外科器械的传感器捕获的振动的处理信号的曲线图,该曲线图示出了操作区内的可接受的限值、边际限值和临界限值;
图32是根据本公开的至少一个方面的图19的外科器械的逻辑图;
图33是根据本公开的至少一个方面的表示由图19的外科器械的传感器捕获的振动的处理信号的曲线图;
图34是根据本公开的至少一个方面的表示由图19的外科器械的传感器捕获的振动的处理信号的曲线图;以及
图35是根据本公开的至少一个方面的表示由图19的外科器械的传感器捕获的振动的处理信号的曲线图;
具体实施方式
在详细解释电动外科器械中用于补偿传动系故障的各种形式的机构之前,应当指出的是,示例性形式的应用或使用并不局限于附图和具体实施方式中所示出的部件的构造和布置的细节。示例性形式可以单独实施,也可以与其它形式、变型和修改结合在一起实施,并可以通过多种方式实践或执行。此外,除非另外指明,否则本文所用的术语和表达是为了方便读者而对示例性形式进行描述目的所选的,并非为了限制性的目的。
此外,应当理解,下述形式、形式表达、示例中的任何一个或多个可与下述其它形式、形式表达和示例中的任何一个或多个组合。
各种形式涉及用于补偿电动外科器械中的传动系故障的机构。在一种形式中,用于补偿电动外科器械中的传动系故障的机构可被构造用于开放式外科手术,但也可应用于其他类型的手术中,诸如腹腔镜式、内窥镜式和机器人辅助手术。
图1至图18描绘了外科系统的各个方面,该外科系统被整体指定为10,并且采用电动手持式机电器械的形式,其被构造用于选择性地附接到多个不同的端部执行器,每个端部执行器被构造用于通过电动手持式机电外科器械进行致动和操纵。图1至图18的方面在2012年10月23日提交的标题为“SURGICAL INSTRUMENT WITH RAPID POST EVENTDETECTION”美国专利申请公布No.2014/0110453、2013年6月19日提交的标题为“APPARATUSFOR ENDOSCOPIC PROCEDURES”的美国专利申请公布No.2013/0282052、以及2013年5月10日提交的标题为“APPARATUS FOR ENDOSCOPIC PROCEDURES”的美国专利申请公布No.2013/0274722中予以公开。
参照图1至图3,外科器械100被构造用于与适配器200选择性地连接,并且适配器200继而被构造用于与端部执行器或单次使用的加载单元或再加载装置300选择性地连接。如图1至图3所示,外科器械100包括柄部外壳102,柄部外壳具有下部外壳部分104,从下部外壳部分104延伸并且/或者支撑在下部外壳部分上的中间外壳部分106,以及从中间外壳部分106延伸并且/或者支撑在中间外壳部分上的上部外壳部分108。中间外壳部分106和上部外壳部分108分成远侧半节段110a和近侧半节段110b,远侧半节段与下部部分104一体形成并且从下部部分延伸,近侧半节段可通过多个紧固件连接到远侧半节段110a。当接合时,远侧半节段110a和近侧半节段110b限定其中具有腔102a的柄部外壳102,电路板150和驱动机构160位于腔中。
远侧半节段110a和近侧半节段110b沿着横穿上部外壳部分108的纵向轴线“X”的平面分开,如图2和图3所示。柄部外壳102包括垫圈112,垫圈完全围绕远侧半节段110a和/或近侧半节段110b的边缘延伸,并被插置在远侧半节段110a和近侧半节段110b之间。垫圈112密封远侧半节段110a和近侧半节段110b的周边。垫圈112用于在远侧半节段110a和近侧半节段110b之间建立气密密封,使得电路板150和驱动机构160免受消毒和/或清洁程序的影响。
这样,柄部外壳102的腔102a沿着远侧半节段110a和近侧半节段110b的周边密封,但仍被构造成使电路板150和驱动机构160能够更容易、更有效地组装在柄部外壳中102。
柄部外壳102的中间外壳部分106提供其中设置有电路板150的外壳。电路板150被构造成能够为控制外科器械100的各种操作。
外科器械100的下部外壳部分104限定形成在其上表面中的孔(未示出),该孔位于中间外壳部分106的下方或内部。下部外壳部分104的孔提供通路,导线152穿过该通路以将位于下部外壳部分104中的电气部件(电池156,如图4所示;电路板154,如图3所示等)与位于中间外壳部分106和/或上部外壳部分108中的电气部件(电路板150、驱动机构160等)电气互连。
柄部外壳102包括垫圈103,垫圈设置在下部外壳部分104(未示出)的孔内,从而插入或密封下部外壳部分104的孔,同时允许导线152穿过。垫圈103用于在下部外壳部分106和中间外壳部分108之间建立气密密封,使得电路板150和驱动机构160免受消毒和/或清洁程序的影响。
如图所示,柄部外壳102的下部外壳部分104提供可充电电池156可移除地设置在其中的外壳。电池156被构造成能够向外科器械100的任何电部件供电。下部外壳部分104限定了插入电池156的腔(未示出)。下部外壳部分104包括门105,其可枢转地连接到下部外壳部分104,用于封闭下部外壳部分104的腔并且将电池156保持在该腔中。
参考图3和图5,上部外壳部分108的远侧半节段110a限定了鼻部或连接部分108a。鼻锥114支撑在上部外壳部分108的鼻部部分108a上。鼻锥114由透明材料制成。反馈指示器诸如照明构件116设置在鼻锥114内,使得照明构件116通过其可见。照明构件116可以是发光二极管印刷电路板(LED PCB)。照明构件116被构造成能够照射多种颜色,其中特定颜色图案与唯一的离散事件相关联。
柄部外壳102的上部外壳部分108提供其中设置驱动机构160的外壳。如图5所示,驱动机构160被构造成能够驱动轴和/或齿轮部件,以执行外科器械100的各种操作。具体地讲,驱动机构160被构造成能够驱动轴和/或齿轮部件,以相对于端部执行器300的近侧主体部分302选择性地移动端部执行器300的工具组件304(参见图1和图9),以相对于柄部外壳102围绕纵向轴线“X”旋转端部执行器300(参见图2),以相对于端部执行器300的仓组件308移动砧座组件306,并且/或者在端部执行器300的仓组件308内击发缝合和切割仓。
驱动机构160包括位于相对于适配器200的近侧的选择器齿轮箱组件162。在选择器齿轮箱组件162的近侧是具有第一马达164的功能选择模块163,第一马达用于选择性地将选择器齿轮箱组件162内的齿轮元件移动成与具有第二马达166的输入驱动部件165接合。
如图1至图4所示并且如上所述,上部外壳部分108的远侧半节段110a限定了连接部分108a,该连接部分被构造成能够接纳适配器200的对应的驱动联接组件210。
如图6至图8所示,外科器械100的连接部分108a具有圆柱形凹陷部108b,当适配器200与外科器械100配合时,该凹陷部接收适配器200的驱动联接组件210。连接部分108a容纳三个可旋转的驱动连接器118、120、122。
当适配器200与外科器械100配合时,外科器械100的可旋转驱动连接器118、120、122中的每一者与适配器200的对应可旋转连接器套管218、220、222联接,如图6所示。在这方面,对应的第一驱动连接器118和第一连接器套管218之间的接合、对应的第二驱动连接器120和第二连接器套管220之间的接合、以及对应的第三驱动连接器122和第三连接器套管222之间的接合是键合的,使得外科器械100的驱动连接器118、120、122中的每一者的旋转引起适配器200的对应连接器套管218、220、222的对应旋转。
外科器械100的驱动连接器118、120、122与适配器200的连接器套管218、220、222的配合允许旋转力经由三个对应连接器接口中的每一个独立地传输。外科器械100的驱动连接器118、120、122被构造成能够通过驱动机构160独立地旋转。在这方面,驱动机构160的功能选择模块163选择由驱动机构160的输入驱动部件165驱动外科器械100的驱动连接器118、120、122中的哪个或哪些。
由于外科器械100的驱动连接器118、120、122中的每一者具有与适配器200的相应连接器套管218、220、222的键合和/或基本上不可旋转的接口,当适配器200联接到外科器械100时,旋转力从外科器械100的驱动机构160选择性地传输到适配器200。
外科器械100的驱动连接器118、120和/或122的选择性旋转允许外科器械100选择性地致动端部执行器300的不同功能。外科器械100的第一驱动连接器118的选择性和独立旋转对应于端部执行器300的工具组件304的选择性和独立的打开和闭合,以及端部执行器300的工具组件304的缝合/切割部件的驱动。而且,外科器械100的第二驱动连接器120的选择性和独立旋转对应于横向于纵向轴线“X”(参见图2)的端部执行器300的工具组件304的选择性和独立关节运动。另外,外科器械100的第三驱动连接器122的选择性和独立旋转对应于端部执行器300相对于外科器械100的柄部外壳102围绕纵向轴线“X”(参见图2)的选择性和独立旋转。
如上所述并如图5和图8所示,驱动机构160包括选择器齿轮箱组件162;以及功能选择模块163,该模块位于选择器齿轮箱组件162的近侧,用于选择性地移动选择器齿轮箱组件162内的齿轮元件与第二马达166接合。因此,驱动机构160在给定时间选择性地驱动外科器械100的驱动连接器118、120、122中的一者。
如图1至图3所示,柄部外壳102在中间外壳部分108的远侧表面或侧面上支撑控制组件107。控制组件107是全功能机械子组件,其可在联接到器械100之前与器械的其余部分分开组装和测试。
控制组件107与中间外壳部分108配合,在壳体107a内支撑一对手指致动的控制按钮124、126和一对摇臂装置128、130。控制按钮124、126分别联接到延伸轴125、127。具体地讲,控制组件107限定用于可滑动地接收延伸轴125的上孔124a,以及用于可滑动地接收延伸轴127的下孔126a。
控制组件107及其部件(例如,控制按钮124、126和摇臂装置128、130)由低摩擦、自润滑、光滑塑料或覆盖移动部件的材料或涂层形成,以减小致动力、减小关键部件磨损、消除擦伤、平稳驱动,改进部件和组件可靠性并减小间隙,用以实现更紧密的贴合和手感一致性。这包括在衬套、摇臂轴颈、柱塞衬套、弹簧座、保持环和滑块部件中使用塑料材料。在塑料中模制部件还提供具有所有这些性能属性的网状或网眼状部件。与类似金属部件相比,塑料部件消除了电解条件诸如高压灭菌、蒸汽灭菌下的腐蚀和双金属阳极反应,并且与光滑塑料和材料的清洁压力配合也以对部件的最小应变或功能损失消除了间隙。
用于形成控制组件107的部件的合适材料包括但不限于多胺、聚苯硫醚、聚邻苯二甲酰胺、聚苯砜、聚醚酮、聚四氟乙烯及其组合。这些组分可以在润滑剂存在或不存在下使用,并且还可以包括用于减少磨损和摩擦力的添加剂。
可以参考美国专利申请序列号13/331,047,现美国专利8,968,276,其全部内容通过引用并入本文,用于详细讨论外科器械100的构造和操作。
外科器械100包括击发组件,该击发组件被构造成能够将多个钉部署或射出到由端部执行器300捕获的组织中。击发组件包括驱动组件360,如图9所示。驱动组件360包括具有固定到动态夹紧构件365的远侧端部的柔性驱动梁364以及近侧接合节段368。接合节段368包括限定肩部370的台阶部分。接合节段368的近侧端部包括沿直径相对的向内延伸的指状物372。指状物372接合中空驱动构件374以将驱动构件374固定地固定到梁364的近侧端部。驱动构件374限定近侧孔口376a,当端部执行器300附接到适配器200的远侧联接件230时,该近侧孔口接收适配器200的驱动管246(图1)的连接构件。
当驱动组件360在工具组件304内向远侧推进时,夹紧构件365的上梁365a在砧座板312和砧座盖310之间限定的通道内移动,并且下梁365b在载体316的外表面上方移动以闭合工具组件304并从其中的击发钉。
端部执行器300的近侧主体部分302包括包封上部外壳部分301a和下部外壳部分301b的护套或外管301。外壳部分301a和301b包封关节运动连接件366,该连接件具有从端部执行器300的近侧端部延伸的钩状近侧端部366a。当端部执行器300固定到适配器200的远侧外壳232时,关节运动连接件366的钩状近侧端部366a接合适配器200的联接钩(未示出)。当适配器200的驱动棒258如上所述推进或回缩时,端部执行器300的关节运动连件366在端部执行器300内推进或回缩,以使工具组件304相对于近侧主体部分302的远侧端部枢转。
如图9所示,工具组件304的仓组件308包括可支撑在载体316中的钉仓305。仓能够永久地安装在端部执行器300中,或者能够布置成可移除和可更换。钉仓305限定中央纵向狭槽305a,以及位于纵向狭槽305a的每侧上的三行直线的钉保持狭槽305b。钉保持狭槽305b中的每个钉保持狭槽接收单个钉307和钉推动器309的一部分。在器械100的操作期间,驱动组件360抵靠致动滑动件并推动致动滑动件穿过仓305。随着致动滑动件移动通过仓305,致动滑动件的凸轮楔形件顺序地接合钉推动器309,以在钉保持狭槽305b内垂直移动钉推动器309,并且从其中顺序地射出钉307以抵靠砧座板312形成。
中空驱动构件374包括用于防止先前击发的端部执行器300击发的锁定机构373。锁定机构373包括经由销377枢转地联接在远侧孔口376b内的锁定构件371,使得锁定构件371相对于驱动构件374围绕销377枢转。
参照图10A和图10B,锁定构件371限定形成在细长滑动件381和383之间的通道379。腹板385接合滑动件381和383的上表面的一部分。腹板385被构造成能够并且尺寸被设计成配合在驱动构件374的孔口376b内。水平凸缘389和391分别从滑动件381和383延伸。如图9中最佳所示,弹簧393设置在驱动构件374内并与水平凸缘389和/或水平凸缘391接合,以向下偏置锁定构件371。
在操作中,锁定构件371在外壳部分301a和301b的近侧端部处初始设置在预击发位置,水平凸缘389和391坐放在形成于外壳部分301b的侧壁中的突出部303a、303b的顶部上。在该位置,锁定构件371被抬升并与形成在外壳部分301b的底表面中远离突出部303a、303b的突出部303c不对准,并且腹板385与驱动梁364中限定的肩部370纵向并置。该构型允许砧座306打开并重新定位到待缝合的组织上,直到外科医生对该位置感到满意而无需启用锁定构件371以禁用一次性端部执行器300。
当驱动管246向远侧移动驱动梁364时,锁定构件371从突出部303a、303b移开,并且通过突出部303c远侧的弹簧393偏置成与外壳部分301b接合。在装置的整个击发过程中,锁定构件371保持该构型。
在驱动梁364回缩时,在至少部分击发之后,锁定构件371在突出部303a、303b下方通过并且骑在外壳部分301b的突出部303c上方,直到锁定构件371的最远侧部分靠近突出部303c。弹簧393将锁定构件371偏置成与突出部303c并置对准,从而有效地禁用一次性端部执行器。当试图重新致动加载现有端部执行器300的装置时,锁定构件371将抵靠外壳部分301b的突出部303c并且将阻止驱动梁364的远侧移动。
器械100的另一个方面如图11所示。器械100包括马达164。马达164可以是被构造成能够致动一个或多个驱动器(例如,图6的可旋转驱动连接器118、120、122)的任何电动马达。马达164联接至可以是DC电池(例如,可充电的铅基、镍基、锂离子基电池等)的电池156、AC/DC换能器或者用于向马达164提供电能任何其他电源。
电池156和马达164联接至设置在电路板154上的马达驱动电路404,该电路板控制马达164的操作包括从电池156到马达164的电能流。驱动电路404包括多个传感器408a、408b...408n,所述传感器被构造成能够测量马达164和电池156的操作状态。传感器408a至408n可包括电压传感器、电流传感器、温度传感器、压力传感器、遥测传感器、光学传感器及其组合。传感器408a至408n可以测量由电池156供应的电能的电压、电流和其他电特性。传感器408a至408n还可以测量旋转速度即每分钟转数(RPM)、扭矩、温度、电流消耗和马达164的其他操作特性。可以通过测量马达164的旋转来确定RPM。各种驱动轴(例如,图6的可旋转驱动连接器118、120、122)的位置可以通过使用设置在轴中或轴附近的各种线性传感器确定,或者从RPM测量值进行推导。在一些方面,可以基于以恒定RPM运行的马达164的调节的电流消耗计算扭矩。在另外的方面,驱动电路404和/或控制器406可以测量时间并且以时间为函数处理上述值,包括积分和/或微分,例如,以确定测量值的变化率等。
驱动电路404还联接到控制器406,控制器可以是适于根据一组指令执行计算并且/或者进行操作的任何合适的逻辑控制电路。控制器406可以包括可操作地连接到存储器的中央处理单元,该存储器可以包括暂态型存储器(例如,RAM)和/或非暂态型存储器(例如,闪存介质、磁盘介质等)。控制器406包括用于与驱动电路404进行交互的多个输入和输出。具体地讲,控制器406从驱动电路404接收关于马达164和电池156的操作状态的测量的传感器信号,并且接着将控制信号输出到驱动电路404以基于传感器读数和特定算法指令控制马达164的操作。控制器406还被构造成能够为从用户界面接受多个用户输入(例如,联接到控制器406的控制组件107的开关、按钮、触摸屏等)。可以提供可移动内存卡或芯片,或者可以无线地下载数据。
参见图12至图18,示出了外科系统10’。外科系统10’在许多方面类似于外科系统10。例如,外科系统10’包括外科器械100。器械外壳102的上部外壳部分108限定了鼻部或连接部分108a,所述鼻部或连接部分被构造成能够接纳轴组件500(在许多方面类似于轴组件200)的传动装置外壳512的对应联轴器组件514。
轴组件500具有力传递组件,用于将外科器械的至少一个驱动构件互连到端部执行器的至少一个旋转接收构件。力传递组件具有可连接到至少一个可旋转驱动构件的第一端部,以及可连接到端部执行器的至少一个旋转接收构件的第二端部。当轴组件500与外科器械100配合时,外科器械100的可旋转驱动构件或连接器118、120、122的每一者与轴组件500的对应可旋转连接器套管518、520、522联接(参见图13和图15)在这方面,对应的第一驱动构件或连接器118和第一连接器套管518之间的接合,对应的第二驱动构件或连接器120和第二连接器套管520之间的接合,以及对应的第三驱动构件或连接器122和第三连接器套管522之间的接合是键合的,使得外科器械100的驱动构件或连接器118、120、122中的每一者的旋转引起轴组件500的对应连接器套管518、520、522的对应旋转。
外科器械100的驱动构件或连接器118,120和/或122的选择性旋转允许外科器械100选择性地致动端部执行器400的不同功能。
参照图12和图14,轴组件500包括具有近侧端部510a和远侧端部510b的细长、基本上刚性的外部管状主体510,以及连接到管状主体510的近侧端部210a并被构造用于选择性地连接到外科器械100的传动装置外壳212。另外,轴组件500还包括连接到细长主体部分510的远侧端部510b的进行关节运动的颈杆组件530。
传动装置外壳512被构造成能够在其中容纳一对齿轮系系统,用于改变(例如,增大或减小)外科器械100的第一、第二和/或第三可旋转驱动构件或连接器118、120和/或122的旋转速度/旋转力,然后再将这种旋转速度/旋转力传递到端部执行器501。如图15所示,传动装置外壳512和联轴器组件514可旋转地支撑第一近侧或输入驱动轴524a、第二近侧或输入驱动轴526a和第三驱动轴528。
轴驱动联接组件514包括设置在相应的第一、第二和第三连接器套管518、520、522的远侧的第一、第二和第三偏压构件518a、520a和522a。偏压构件518a、520a和522a的每一者围绕相应的第一近侧驱动轴524a、第二近侧驱动轴526a和第三驱动轴228设置。当轴组件500连接到外科器械100时,偏压构件518a、520a和522a作用在相应的连接器套管518、520和522上,以帮助将连接器套管218、220和222与外科器械100的相应驱动可旋转驱动构件或连接器118、120、122的远侧端部保持接合。
轴组件500包括分别设置在传动装置外壳512和管状主体510内的第一齿轮系系统540和第二齿轮系系统550,以及相邻的联接组件514。如上所述,齿轮系系统540、550的每一者被构造成并适于改变(例如,增大或减小)外科器械100的第一可旋转驱动连接器118和第二可旋转驱动连接器120的旋转速度/旋转力,然后将此类旋转速度/旋转力传递到端部执行器501。
如图15和图16所示,第一齿轮系系统540包括第一输入驱动轴524a,以及键合到第一输入驱动轴524a的第一输入驱动轴正齿轮542a。第一齿轮系系统540还包括可旋转地支撑在传动装置外壳512中的第一传动轴544,键合到第一传动轴544并且与第一输入驱动轴正齿轮542a接合的第一输入传动正齿轮544,以及键合到第一传动轴544的第一输出传动正齿轮544b。第一齿轮系系统540还包括可旋转地支撑在传动装置外壳512和管状主体510中的第一输出驱动轴546a,以及键合到第一输出驱动轴546a并且与第一输出传动正齿轮544b接合的第一输出驱动轴正齿轮546b。
在至少一种情况中,第一输入驱动轴正齿轮542a包括10个齿;第一输入传动正齿轮544a包括18个齿;第一输出传动正齿轮544b包括13个齿;第一输出驱动轴正齿轮546b包括15个齿。如此构造,第一输入驱动轴524a的输入旋转以1:2.08的比率转换为第一输出驱动轴546a的输出旋转。
在操作中,当第一输入驱动轴正齿轮542a由于第一连接器套管558和第一输入驱动轴524a的旋转(由于外科器械100的第一相应驱动连接器118的旋转)而旋转时,第一输入驱动轴正齿轮542a与第一输入传动正齿轮544a接合,使得第一输入传动正齿轮544a旋转。当第一输入传动正齿轮544a旋转时,第一传动轴544旋转并且因此使得键合到第一传动轴544的第一输出驱动轴正齿轮546b旋转。当第一输出驱动轴正齿轮546b旋转时,由于第一输出驱动轴正齿轮546b与其接合,所以第一输出驱动轴正齿轮546b同样旋转。当第一输出驱动轴正齿轮546b旋转时,由于第一输出驱动轴正齿轮546b键合到第一输出驱动轴546a,所以第一输出驱动轴546a旋转。
包括第一齿轮系统540的轴组件500用于将操作力从外科器械100传递到端部执行器501,以操作、致动和/或击发端部执行器501。
如图15和图17所示,第二齿轮系系统550包括第二输入驱动轴526a,以及键合到第二输入驱动轴526a的第二输入驱动轴正齿轮552a。第二齿轮系系统550还包括可旋转地支撑在传动装置外壳512中的第一传动轴554,键合到第一传动轴554并且与第二输入驱动轴正齿轮552a接合的第一输入传动正齿轮554a,以及键合到第一传动轴554的第一输出传动正齿轮554b。
第二齿轮系系统550还包括可旋转地支撑在传动装置外壳512中的第二传动轴556,键合到第二传动轴556并且与(键合到第一传动轴554的)第一输出传动正齿轮554b接合的第二输入传动正齿轮556a,以及键合到第二传动轴556的第二输出传动正齿轮556b。
第二齿轮系系统550还包括可旋转地支撑在传动装置外壳512和管状主体510中的第二输出驱动轴558a,以及键合到第二输出驱动轴558a并且与第二输出传动正齿轮556b接合的第二输出驱动轴正齿轮558b。
在至少一种情况中,第二输入驱动轴正齿轮552a包括10个齿;第一输入传动正齿轮554a包括20个齿;第一输出传动正齿轮554b包括10个齿;第二输入传动正齿轮556a包括20个齿;第二输出传动正齿轮556b包括10个齿;第二输出驱动轴正齿轮558b包括15个齿。如此构造,第二输入驱动轴526a的输入旋转以1:6的比率转换为第二输出驱动轴558a的输出旋转。
在操作中,当第二输入驱动轴正齿轮552a由于第二连接器套管560和第二输入驱动轴526a的旋转(由于外科器械100的第二相应驱动连接器120的旋转)而旋转时,第二输入驱动轴正齿轮552a与第一输入传动正齿轮554a接合,使得第二输入传动正齿轮554a旋转。当第一输入传动正齿轮554a旋转时,第一传动轴554旋转并且因此使得键合到第一传动轴554的第一输出传动正齿轮554b旋转。当第一输出传动正齿轮554b旋转时,由于第二输入传动正齿轮556a与其接合,第二输入传动正齿轮556a也旋转。当第二输入传动正齿轮556a旋转时,第二传动轴256旋转并且因此使得键合到第二传动轴556的第二输出传动正齿轮256b旋转。当第二输出传动正齿轮556b旋转时,由于第二输出驱动轴正齿轮558b与其接合,所以第二输出驱动轴正齿轮558b旋转。当第二输出驱动轴正齿轮558b旋转时,由于第二输出驱动轴正齿轮558b键合到第二输出驱动轴558a,所以第二输出驱动轴558a旋转。
包括第二齿轮系系统550的轴组件500用于将操作力从外科器械100传递到端部执行器501,以使轴组件500和/或端部执行器501相对于外科器械100旋转。
如图15和图18所示,传动装置外壳512和联轴器组件514可旋转地支撑第三驱动轴528。第三驱动轴528包括被构造成能够支撑第三连接器套管522的近侧端部528a,以及延伸到关节运动组件570并且可操作地连接到该关节运动组件的远侧端部528b。
如图14所示,轴组件500的细长、外部管状主体510包括第一半节段511a和第二半节段511b,当半节段511a,511b彼此配合时,限定了穿过外部管状主体510的至少三个纵向延伸的通道。通道被构造成并且尺寸被设计成当第一输出驱动轴546a、第二输出驱动轴558a和第三驱动轴528从传动装置外壳512延伸到进行关节运动的的颈杆组件530时,可旋转地接收和支撑第一输出驱动轴546a、第二输出驱动轴558a和第三驱动轴528。第一输出驱动轴546a、第二输出驱动轴558a和第三驱动轴528的每一者是细长的并且具有足够的刚性,以将旋转力从传动装置外壳520传递到进行关节运动的颈杆组件530。
转到图14,轴组件500还包括进行关节运动的颈杆组件530。进行关节运动的颈杆组件530包括近侧颈杆外壳532、多个连接件534,所述多个连接件连接到近侧颈杆外壳532并且从近侧颈部外壳串联延伸;以及连接到所述多个连接件534的最远侧连接件并且从其延伸的远侧颈杆外壳536。可以设想,在本文公开的任何方面中,轴组件可以具有单个连接件或枢轴构件,以允许端部执行器的关节运动。可以设想,在本文公开的任何方面中,远侧颈部外壳可以与最远侧连接件结合。
下述专利的全部公开内容据此以引用方式并入本文:
2012年10月23日提交的标题为“SURGICAL INSTRUMENT WITH RAPID POST EVENTDETECTION”的美国专利申请公布No.2014/0110453;
2013年6月19日提交的标题为“APPARATUS FOR ENDOSCOPIC PROCEDURES”的美国专利申请公布No.2013/0282052;以及
2013年5月10日提交的标题为“APPARATUS FOR ENDOSCOPIC PROCEDURES”的美国专利申请公布No.2013/0274722,所述专利申请以引入方式并入本文作为参考。
参见图19至图20,示出了外科器械10。外科器械10在许多方面类似于外科器械100。例如,外科器械10被构造成经由适配器200选择性地与端部执行器或单次使用的加载单元或再加载装置300连接。而且,外科器械10包括柄部外壳102,该柄部外壳包括下部外壳部分104、中间外壳部分106和上部外壳部分108。
与外科器械100类似,外科器械10包括驱动机构160,该驱动机构被构造成能够驱动轴和/或齿轮部件,以执行外科器械10的各种操作。在至少一种情况中,驱动机构160包括旋转传动系12(参见图20),该旋转传动系被构造成能够相对于柄部外壳102围绕纵向轴线“X”(参见图2)旋转端部执行器300。驱动机构160还包括闭合传动系14(参见图20),该闭合传动系被构造成能够使砧座组件306相对于端部执行器300的仓组件308移动,以将组织捕获在它们之间。另外,驱动机构160包括击发传动系16(参见图20),该击发传动系被构造成能够在端部执行器300的仓组件308内击发缝合和切割仓。
如上所述,主要参照图7、图8和图20,驱动机构160包括能够相对于适配器200直接定位在近侧的选择器齿轮箱组件162。功能选择模块163位于选择器齿轮箱组件162的近侧,该功能选择模块包括第一马达164,用于选择性地移动选择器齿轮箱组件162内的齿轮元件,以选择性地将传动系12、14和16中的一者定位成与第二马达166的输入驱动部件165接合。
参考图20,马达164和166分别联接到马达控制电路18和18’,这些马达控制电路被构造成能够控制马达164和66的操作,包括电能从电源156到马达164和166的流动。电源156可以是DC电池(例如,可充电铅基、镍基、锂离子基电池等)、AC/DC换能器或适用于向外科器械10提供电能的任何其他电源。
外科器械10还包括微控制器20(“控制器”)。在某些情况下,控制器20可包括微处理器36(“处理器”)和一个或多个计算机可读介质或存储单元38(“存储器”)。在某些情况下,存储器38可存储各种程序指令,所述各种程序指令在执行时可使处理器36执行本文所述的多个功能和/或计算。电源156可被构造成能够例如将电力供应给控制器20。
处理器36可与马达控制电路18通信。另外,存储器38可存储程序指令,这些程序指令在由处理器36响应于用户输入34执行时可使马达控制电路18促动马达164产生至少一种旋转运动,以选择性地移动选择器齿轮箱组件162内的齿轮元件,从而选择性地将传动系12、14和16中的一者定位成与第二马达166的输入驱动部件165接合。此外,处理器36可与马达控制电路18’通信。存储器38可存储程序指令,这些程序指令在由处理器36响应于用户输入34执行时可使马达控制电路18’促动马达166产生至少一种旋转运动,以驱动例如与第二马达166的输入驱动部件165接合的传动系。
控制器20和/或本公开的其他控制器可使用集成的和/或分立的硬件元件、软件元件和/或该硬件元件和软件元件两者的组合来被实现。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、ASIC、PLD、DSP、FPGA、逻辑门、寄存器、半导体器件、芯片、微芯片、芯片组、微控制器、SoC、和/或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,控制器20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。
在某些情况下,控制器20和/或本公开的其他控制器可为例如购自TexasInstruments的LM 4F230H5QR。在某些情况下,Texas Instruments LM4F230H5QR为ARMCortex-M4F处理器芯,其包括:256KB的单循环闪速存储器或其他非易失性存储器(最多至40MHZ)的片上存储器、用于使性能改善超过40MHz的预取缓冲器、32KB的单循环SRAM、装载有软件的内部ROM、2KB的EEPROM、一个或多个PWM模块、一个或多个QEI模拟、具有12个模拟输入通道的一个或多个12位ADC,以及易得的其他特征。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。
在各种情况下,本文所述的各个步骤中的一个或多个可由包括组合逻辑电路或时序逻辑电路的有限状态机执行,其中组合逻辑电路或时序逻辑电路联接到至少一个存储器电路。至少一个存储器电路存储有限状态机的当前状态。组合或时序逻辑电路被构造成能够使有限状态机到达各个步骤。时序逻辑电路可以是同步的或异步的。在其他情况下,例如可通过包括处理器36和有限状态机的组合的电路来执行本文所述的各个步骤中的一个或多个步骤。
在各种情况下,能够评估外科器械的功能状态以确保其正常功能可能是有利的。这对于例如如上所述的驱动机构(被构造成能够包括各种马达、传动系和/或齿轮部件,以便执行外科器械10的各种操作)随着时间推移被磨损是可能的。这可通过正常使用发生,并且在一些情况下,由于滥用状况,驱动机构可能磨损得更快。在某些情况下,外科器械10可被构造成能够执行自我评估,以确定驱动机构及其各种部件的状态,例如健康状况。
例如,自我评估可用于确定外科器械10在再次灭菌之前何时能够执行其功能或何时应当更换和/或修复一些部件。可以各种方式实现对驱动机构及其部件(包括但不限于旋转传动系12、闭合传动系14和/或击发传动系16)的评估。偏离预测性能的大小可用于确定所感测的故障的可能性和这种故障的严重性。可使用多个度量,包括:可重复预测事件的周期性分析、超出预期阈值的峰值或降值以及故障的宽度。
在各种情况下,可采用正常运行的驱动机构或者其一个或多个部件的特征波形来评估驱动机构或者其一个或多个部件的状态。一个或多个振动传感器可相对于正常运行的驱动机构或者其一个或多个部件布置,以记录在正常运行的驱动机构或者其一个或多个部件的操作期间发生的各种振动。所记录的振动可用于创建特征波形。可将未来波形与特征波形进行比较,以评估驱动机构及其部件的状态。
在至少一个方面,可以采用声学原理来评估驱动机构及其部件的状态。如本文所用,术语声学通常是指气体、液体和固体中的所有机械波,包括振动、声音、超声(频率高于人类听觉上限的声波)和次声(低频声音,频率低于20Hz[赫兹]或每秒周期,因此低于人类听觉的“正常”极限)。因此,可以利用声学传感器来检测来自驱动机构及其部件的声发射,包括振动、声音、超声和次声。在一个方面,可以分析驱动机构160的振动频率特征以确定传动系12、14和/或16的一个或多个的状态。一个或多个振动传感器可以联接到传动系12、14和/或16的一个或多个,以便在使用时记录传动系的声学输出。
再次参考图20,外科器械10包括传动系故障检测模块40,该模块被构造成能够记录和分析传动系12、14和/或16的一个或多个的一个或多个声学输出。处理器36可与模块40通信或以其他方式控制该模块。如下文更详细地描述,模块40可被实施为各种装置,诸如电路、硬件、计算机程序产品(其包括计算机可读介质(例如,存储器38),该计算机可读介质存储可由处理装置(例如,处理器36)执行的计算机可读程序指令)或其某种组合。在一些方面,处理器36可包括模块40或以其他方式控制该模块。
模块40可包括模块40可采用的一个或多个传感器42,以检测外科器械10的传动系故障。在至少一种情况下,如图21所示,传感器42可包括例如一个或多个声传感器或麦克风。在至少一种情况下,如图24所示,传感器42可包括一个或多个加速度计。
可以在传感器42的输出上使用各种类型的滤波器和变换,以生成表示例如外科器械10的传动系的操作状态的波形。如图21所示,多个带通滤波器可被构造成能够与传感器42通信以便处理其输出。在图21所示的实施例中,有四个带通滤波器BPF1、BPF2、BPF3和BPF4,用于对传感器42的输出进行滤波。例如,这些滤波器用于确定用于评估外科器械10的健康状况的各种阈值,包括可接受的限值、边际限值和临界限值。在一个示例中,如图24所示的一系列低通滤波器可在传感器42的输出上使用。
在一个方面,如图21所示,逻辑门可与滤波器一起使用以处理传感器42的输出。或者,处理器(例如,处理器36)可与滤波器一起使用以处理如图24和图24A所示的传感器42的输出。图24B、图24C和图24D描绘了用于对传感器42的输出进行滤波的带通滤波器的示例性结构和操作细节。在至少一种情况下,用于对传感器42的输出进行滤波的一个或多个滤波器是双低噪声JFET输入通用运算放大器。
虽然可以使用各种频率,但是图21所示的滤波器的示例性频率为5kHz、1kHz、200Hz和50Hz。每个滤波器的输出如图25所示,其示出了在每个滤波器的频率处的电压振幅。每个滤波器的输出的峰值振幅如图26所示。例如,通过与存储在存储器38中的阈值进行比较,这些值可用于确定外科器械10的健康状况。如图24所示,可以采用多路复用器44和模数转换器46将滤波器的输出传送到处理器36。
在至少一种情况下,当马达在具有可重复运动的已知功能期间运行时,可记录传感器42的输出。例如,可以在马达166运行时记录输出,以将传动系(例如,击发传动系16)回缩或重置到原始位置或起始位置。传感器42的记录输出可用于形成该运动的特征波形。在一个示例中,传感器42的记录输出通过快速傅里叶变换进行以形成特征波形。
除上述以外,例如,可将所得的特征波形的关键区域的振幅与存储在存储器38中的预先确定的值进行比较。在至少一种情况下,存储器38可包括程序指令,该程序指令当由处理器36执行时可使处理器36将关键区域的振幅与存储在存储器38中的预先确定的值进行比较。当振幅超过那些存储值时,处理器36确定外科器械10的一个或多个部件不再正常运行并且/或者外科器械10已达到其使用寿命的终点。
图22示出了来自正常运行的传动系的振动响应。记录来自定位在传动系上或靠近传动系的麦克风的伏特输出随时间的变化。使用快速傅立叶变换确定该输出的频率响应,如图22A所示,以形成正常运行的传动系的特征波形。正常运行的传动系的特征波形可用于检测同一传动系或其他类似传动系中的任何故障。例如,图23示出了来自非正常运行的传动系的振动响应。麦克风输出用于确定故障传动系的频率响应,如图23A所示。故障传动系的频率响应与正常运行的传动系的特征波形的偏差表明传动系中的故障。
在至少一种情况下,将正常运行传动系的频率响应的关键区域的存储值(如图22A所示)与所检查传动系的频率响应的对应区域的记录值(图23A所示)进行比较。如果记录值超过存储值,则可以断定在所检查传动系中检测到故障。作为响应,可采取各种安全和补救步骤,如在2015年12月30日提交的名称为“MECHANISMS FOR COMPENSATING FORDRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”的共同拥有的美国申请14/984,525中更详细地描述,该申请全文以引用方式并入本文。
当移动部件以在外科器械10的端部执行器处执行功能,例如捕获组织、将钉击发进入所捕获的组织中以及/或者切割所捕获的组织时,可存在外科器械10的各种操作阶段。由外科器械10的驱动机构160生成的振动可根据外科器械10的操作阶段而变化。某些振动可与外科器械10的某些操作阶段唯一地相关联。因此,应考虑到外科器械10的操作阶段或操作区允许选择性地分析与该操作阶段或操作区相关联的振动,同时忽略与该操作阶段或操作区无关的其他振动。处理器36可采用各种传感器,例如位置传感器,以确定外科器械10的操作阶段。
在一个示例中,器械10的各个操作阶段在图27的图表中表示,其示出了在外科器械10的击发序列或冲程期间击发外科器械10所需的力(FTF)与驱动组件360从起始位置或原始位置起的位移位置的关系。在区1中,外科器械10的端部执行器300已经夹在组织上,如上所述,但是没有影响组织。在区2中,施加负载以移动外科器械10的致动滑动件,从而允许端部执行器300通过例如切割并缝合组织来影响组织。在区3中,组织已被外科器械10的端部执行器300切割并缝合。取决于在捕获并处理由各种传动系产生的振动期间外科器械10所处的区,可将振动与阈值频率值进行比较,或者可忽视或不考虑振动。对于在图27的块48和块50中由传感器42捕获的振动,出于确定外科器械10的健康状况的目的,可以忽略或不考虑所捕获的振动的某些部分。
在至少一种情况下,可忽略或不考虑所捕获的在阈值线52下方的任何振动。在至少一种情况下,在外科器械10的击发序列或冲程期间最小阈值52与最大FTF的比率是选自例如约0.001至约0.30的范围内的任何值。在至少一种情况下,该比例是选自例如约0.01至约0.20的范围中的任何值。在至少一种情况下,该比例是选自例如约0.01至约0.10的范围中的任何值。
另外,只要这些块内的事件不是灾难性事件,也可以忽略或不考虑在块48和块50内捕获的任何振动。在发生灾难性故障的情况下,使驱动机构160不可操作,除此之外还采取某些救助步骤以确保外科器械10与被处理组织的安全分离。或者,如果发生急剧的传动系故障,则仍可操作传动系以完成手术步骤或重置外科器械10;然而,可采取某些预防和/或安全步骤以避免或最小化对传动系和/或外科器械10的其他部件的额外损坏。
再次参见图27,在至少一种情况下,为了评估外科器械10的损坏/功能状态,忽略或不考虑在外科器械10的击发冲程的开始和/或结束时检测到的振动。在一个示例中,为了评估外科器械10的损坏/功能状态,仅考虑在外科器械10的击发冲程的中心段处检测到的振动。在至少一种情况下,为了评估外科器械10的损坏/功能状态,忽略或不考虑如图27所示的在外科器械10的击发冲程的区1的开始和/或区2的结束时检测到的振动。
例如,噪音的有限增加可能表明齿轮部件的磨损增加或非灾难性故障。噪声大小以慢性方式显著增加可能表明传输装置的持续侵蚀,但可用于预测器械10的寿命,并且其性能降低允许例如完成某些工作。例如,峰的大小或数量的急剧大幅增加可能表明实质性或灾难性的故障导致器械启动更直接和最终的反应选择。
图28示出了外科器械10的驱动组件360的速度与驱动组件360从起始位置或原始位置起的位移位置的关系。点A,如图27和图28所示,表示与组织的初始接触,增加了推进外科器械10的驱动组件360的力,如图27所示,并且降低了驱动组件360的速度,如图28所示。点B,也如图27和图28所示,表示在缝合和切割期间与组织的最厚部分的接触。因此,点B处的FTF最大,如图27所示,并且点B处的速度处于其最低点,如图28所示。一个或多个传感器诸如力传感器可被构造成能够在驱动组件360被推进时测量FTF。另外,一个或多个位置传感器可被构造成能够在外科器械10的击发序列期间检测驱动组件360的位置。
在至少一种情况下,存储器38包括程序指令,该程序指令当由处理器36执行时使处理器36采用位于外科器械10的驱动机构160的一个或多个部件附近的一个或多个传感器42,以在击发序列的预先确定部分期间选择性地捕获或记录由驱动机构160的一个或多个部件生成的振动。在至少一种情况下,传感器42由处理器36在预先确定部分的起点处启用,并且在击发序列或冲程的预先确定部分的终点处停用,使得传感器42可以仅捕获或记录在预先确定部分期间生成的振动。
预先确定部分可具有在击发序列开始之后的起点并且具有在击发序列完成之前的终点。换句话讲,处理器36被构造成能够使传感器42仅记录在击发序列的中心部分处的振动。如图28所示,处理器36可被构造成能够使得传感器42在驱动组件360的速度的向下斜率期间开始捕获或记录振动,并且在驱动组件360的速度的向上斜率期间停止记录振动。或者,传感器42可以在外科器械10的整个击发序列期间起作用,而处理器36忽略或排除在击发序列或冲程的预先确定部分之外记录的振动。
图29示出了基于冲程位置区的可接受的限值修改。显示了区1和区2的限值分布。由于外科器械10上的组织负载,区2的阈值限值高于区1。随着器械从区1移动到区2,器械的速度降低,功率谱将在频率上向下移动。如图30所示,其代表在由图24中所示的滤波器表示的各种带宽处针对图27和图28的点A和点B的电压振幅与频率的关系,对于每个滤波器带宽,与点B相关联的频率线低于与点A相关联的频率线,这是由于器械10上来自点B处的组织的负载和由于冲程区引起的速度变化。
因此,这些限值可用于评估对外科器械10的潜在损坏。使用所捕获的来自外科器械10的各种传动系的振动,可以使用如图21所示的处理器36来处理振动,以确定振动的频率何时高于存储在存储器38中的与处理器36相关联的某些阈值,同时在捕获振动期间考虑外科器械10的操作区。当以某种方式确定外科器械10有缺陷时,可以在消毒或随后使用之前修复或更换器械10。还可采取各种其他安全和/或补救步骤。
在另一方面,可以将由外科器械10产生的噪声的大小与预先确定的系统谐波进行比较,以评估对外科器械10的潜在损坏以及该损坏的严重程度。如图31所示,来自传感器42的由外科器械10的一个或多个传动系引起的输出被呈现为例如区1的电压信号。如在通过滤波器处理信号期间捕获的每个频率,诸如图24所示的频率,可具有其自身的阈值分布。
例如,如图31所示,对于外科器械10的每个操作区,每个频率可具有其自身的可接受限值54、边际限值56和临界限值58。基于图31所示的实例,除了由A'表示的频率之外,所有频率都是可接受的并且代表正常运行的外科器械10。在至少一种情况下,这使处理器诸如图24所示的处理器36断定:发生了急剧而非灾难性的传动系故障。
除上述以外,在至少一种情况下,处理器36被构造成能够断定:当任何一个频率等于或超过临界限值58时,发生了灾难性传动系故障。或者,处理器36可被构造成能够断定:例如,仅在多个频率等于或超过临界限值58时才发生灾难性传动系故障。或者,处理器36可被构造成能够断定:例如,仅在通过滤波器处理信号期间捕获的所有频率等于或超过临界限值58时才发生灾难性传动系故障。
除上述之外,在至少一种情况下,处理器36被构造成能够断定:当任何一个频率等于或超过边际限值56但是低于临界限值58(如图31所示)时,发生了急剧的传动系故障。或者,处理器36可被构造成能够断定:例如,仅在多个频率等于或超过边际限值56但是低于临界限值58时才发生急剧的传动系故障。或者,处理器36可被构造成能够断定:例如,仅在通过滤波器处理信号期间捕获的所有频率等于或超过边际限值56但低于临界限值58时才发生急剧的传动系故障。
参见图32,逻辑图21代表可由外科器械10响应于检测到的传动系故障而实施的可能操作。存储器38可包括程序指令,该程序指令当由处理器36执行时可使处理器36基于来自传感器42的输入评估传动系故障的严重程度,并根据所确定的严重程度启用适当的响应。存储器38可包括程序指令,该程序指令当由处理器36执行时可使处理器36通过启用例如操作的安全模式22来响应于检测到的23急剧的传动系故障。另外,存储器38可包括程序指令,该程序指令当由处理器36执行时可使处理器36通过启用恢复或救助模式22来响应于检测到的灾难性传动系故障。当没有检测到任何传动系故障时,处理器36可允许外科器械10继续27正常操作直到检测到传动系故障。
再次参见图32,安全模式22可包括一个或多个步骤诸如马达调节步骤,处理器36可采用所述一个或多个步骤来限制有源传动系的速度。例如,当在击发序列期间由马达166有源驱动击发传动系16时,模块40检测到急剧的传动系故障可使处理器36向马达驱动电路18'传送使马达166的机械输出降低的指令(图20)。马达166的机械输出的降低减小了有源传动系16的速度,这确保了安全完成击发序列以及/或者将有源传动系16重置为原始位置或起始位置。
在另一方面,使用累积噪声大小与预先确定的最小和/或最大阈值的频率比较来评估对外科器械10的潜在损坏。在至少一种情况下,最小阈值限定可接受的限值54。低于最小阈值的累积噪声大小由处理器36解释为可接受的限值54。另外,可采用最大阈值来限定临界限值58。高于最小阈值的累积噪声大小由处理器36解释为临界限值58。边际限值56可由最小阈值和最大阈值限定。在一个示例中,高于最小阈值但低于最大阈值的累积噪声大小由处理器36解释为边际限值56。
图33是传感器42的输出由四个带通滤波器BPF1、BPF2、BPF3和BPF4进行滤波的经处理的信号的表示。经处理的信号在频率带宽a1、a2、a3和a4内表示,所述频率带宽对应于四个带通滤波器BPF1、BPF2、BPF3和BPF4的带宽。
图33示出了电压振幅与经处理的信号的频率的曲线图。带通滤波器BPF1、BPF2、BPF3和BPF4的中心频率处的经处理的信号的峰值电压振幅分别由竖直实线A、A'、A”和A”'表示。另外,基线阈值60用于允许忽略或不考虑可预测量的噪声。可以考虑或忽略额外的噪声,这取决于它在频谱中的位置。
在图33所示的实例中,电压振幅Z2不被考虑,因为它低于代表可接受的噪声水平的基线阈值60,并且Z4不被考虑,因为它落在预先确定的带宽a1、a2、a3和a4之外。当Z、Z1和Z3落在基线阈值60之上并且在预先确定的带宽a1、a2、a3和a4内时,这些电压振幅被认为与A、A'、A”和A”'一起限定累积噪声大小,进而确定对器械10的潜在损坏。
在至少一种情况下,将中心频率A、A'、A”和A”'处的电压振幅值相加以生成累积噪声大小,如由电压振幅所表示的,然后该累积噪声大小用于评估是否发生了故障、何时发生故障以及该故障的严重程度。在另一种情况下,将中心频率A、A'、A”和A”'处的电压振幅值和预先确定的带宽a1、a2、a3和a4内的任何电压振幅相加以生成累积噪声大小,如由电压振幅所表示的,然后该累积噪声大小用于评估是否发生了故障、何时发生故障以及该故障的严重程度。在另一种情况下,将中心频率A、A'、A”和A”'处的电压振幅值和大于基线阈值60并且在预先确定的带宽a1、a2、a3和a4内的任何电压振幅值相加以生成累积噪声大小,如由电压振幅所表示的,然后该累积噪声大小用于评估是否发生了故障、何时发生故障以及该故障的严重程度。
在各种情况下,处理器36可以采用当前噪声信号和可存储在存储器38中的先前记录的噪声信号之间的比较来确定外科器械10的损坏/功能状态。在外科器械10的正常操作期间由传感器42记录的噪声信号可由处理器36进行滤波并处理,以生成存储在存储器38中的正常的经处理的信号。由传感器42记录的任何新的噪声信号可以与正常噪声信号相同的方式进行滤波并处理,以生成当前的经处理的信号,该信号可与存储在存储器38中正常的经处理的信号进行比较。
当前的经处理的信号和正常的经处理的信号之间的偏差超过预先确定的阈值可被解释为对外科器械10的潜在损坏。例如,可在第一次使用器械时设置正常的经处理的信号。或者,当前的经处理的信号成为针对下一个当前的经处理的信号的正常的经处理的信号。
图34是传感器42的输出由四个带通滤波器BPF1、BPF2、BPF3和BPF4进行滤波的两个经处理的信号的表示。经处理的信号在频率带宽a1、a2、a3和a4内表示,所述频率带宽对应于四个带通滤波器BPF1、BPF2、BPF3和BPF4的带宽。图34示出了电压振幅与经处理的信号的频率的曲线图。
正常的经处理的信号和当前的经处理的信号的电压振幅由竖直实线表示。正常的经处理的信号由实线表示,而当前的经处理的信号由虚线表示,如上所述。存在基线阈值60,其用于允许忽略可预测量的噪声,类似于图33的基线阈值60。计算两次迭代之间的差值,并在图34中显示为δ1、δ2和δ3。存在与各种δ值比较的各种阈值以确定外科器械10的损坏,指示可接受的δ、边际δ或临界δ,临界δ将指示需要更换或修复器械10。
在至少一种情况下,将一个或多个电压振幅与先前记录的噪声模式中的对应电压振幅进行比较,以评估外科器械10的任何损坏。可将当前电压振幅和先前存储的电压振幅之间的差值与一个或多个预先确定的阈值进行比较,所述一个或多个预先确定的阈值可存储在存储器38中,以选择可接受状态、边际状态或临界状态的输出。
在至少一种情况下,将当前电压振幅与先前存储的电压振幅之间的差值相加并与存储在存储器38中的一个或多个预先确定的阈值进行比较,例如,以选择可接受状态、边际状态或临界状态的输出。偏差的大小可在范围与范围之间进行比较,以指示局部事件中的剪切变化。
在各种情况下,处理器36可以采用可存储在存储器38中的一种或多种算法,以基于传感器42的输出的经处理的信号确定外科器械10的损坏/功能状态。由传感器42记录的不同噪声信号可被解释为表示外科器械10的不同损坏/功能状态。在正常操作期间,传感器42记录正常或预期的噪声信号。当传感器42记录到异常噪声信号时,处理器36可使用存储在存储器38中的一种或多种算法进一步评估异常噪声信号,以确定外科器械10的损坏/功能状态。异常信号可包括可用于评估对外科器械10的损坏的性质的唯一特征。例如,异常信号的唯一特征可以指示对外科器械10的特定部件的损坏,该特定部件可以容易地更换。
在某些情况下,一种或多种算法被构造成能够基于传感器42的输出的经处理的信号来评估外科器械10的一个或多个部件中的正常磨损。例如,可通过识别指示潜在碎片的噪声信号来检测正常磨损。例如,当通过其记录的噪声征兆测量的碎片达到或超过存储在存储器38中的预先确定的阈值时,处理器36可被构造成能够例如发出外科器械10接近其寿命终点或需要维护的警告。
此外,一种或多种算法可被构造成能够基于传感器42的输出的经处理的信号确定对一个或多个齿轮机构(例如,驱动机构160内的行星齿轮机构)的潜在损坏。在正常操作期间,行星齿轮可产生由传感器42记录的正常噪声信号。例如,当行星齿轮由于断齿而损坏时,传感器42记录异常噪声信号。例如,异常信号可包括指示损坏的行星齿轮的唯一特征。
图35是传感器42的输出由四个带通滤波器BPF1、BPF2、BPF3和BPF4进行滤波的经处理的信号的表示。经处理的信号在频率带宽a1、a2、a3和a4内表示,所述频率带宽对应于四个带通滤波器BPF1、BPF2、BPF3和BPF4的带宽。如上所述的各种算法可应用于图35的经处理的信号,以确定外科器械10的损坏/功能状态。
与图33一样,图35示出了电压振幅与经处理的信号的频率的曲线图。经处理的信号的电压振幅由竖直实线表示。在带宽a1、a2、a3和a4中的每一个内,在由振幅阈值和子带宽阈值限定的预期范围内评估经处理的信号。预期范围E1、E2、E3和E4分别对应于带宽a1、a2、a3和a4。
在图35所示的实例中,观察到指示潜在行星齿轮损坏的第一事件。观察到的第一事件包括经处理的信号,该经处理的信号包括指示潜在行星齿轮损坏的两个电压振幅读数。所述两个电压振幅读数是超过在带宽a1的中心频率处的预期范围E1的第一电压振幅读数,以及在落在带宽a1和a2之间但在所述带宽之外的频率处的第二电压振幅读数。第一算法可被构造成能够将观察到的事件识别为指示潜在行星齿轮损坏。处理器36可采用第一算法来断定检测到潜在的行星齿轮损坏。
而且,在图35所示的实例中,观察到指示与外科器械10的中心部分相关的唯一潜在损坏的第二事件。第二事件包括经处理的信号,该经处理的信号包括在带宽a2的中心频率处低于预期电压振幅阈值的电压振幅读数。另外,经处理的信号包括电压振幅读数Z1和Z2,所述电压振幅读数超过基线阈值60并且在带宽a2内,但是落在预期范围E2的子带宽阈值之外。第二算法可被构造成能够将观察到的第二事件识别为指示唯一潜在损坏。处理器36可采用第二算法来断定检测到与外科器械10的中心部分相关的潜在损坏。
而且,在图35所示的实例中,观察到指示与外科器械10的一个或多个部件相关的指示磨损的潜在碎片的第三事件。第三事件包括经处理的信号,该经处理的信号包括在带宽a4的中心频率处超过预期电压振幅阈值的电压振幅读数。第三算法可被构造成能够将观察到的第三事件识别为指示潜在碎片。例如,处理器36可采用第三算法并基于观察到的电压振幅和预期电压振幅阈值之间的差值来评估潜在碎片的严重程度。
虽然上文说明已列举了各种细节,但应当理解,用于补偿电动外科器械中的传动系故障的机构的各个方面可在没有这些具体细节的情况下实施。例如,为简洁和清楚起见,以框图的形式示出了选择的方面,而不是详细地示出。本文提供的详细描述的某些部分可以呈现为对存储在计算机存储器中的数据进行操作的指令。本领域的技术人员用此类描述和表达向本领域的其它技术人员描述和传达他们的工作要旨。通常,算法是指导致所需结果的步骤的自相容序列,其中“步骤”是指物理量的操纵,物理量可以(但不一定)采用能被存储、转移、组合、比较和以其它方式操纵的电或磁信号的形式。常用于指这些信号,如位、值、元素、符号、字符、术语、数字等。这些和类似的术语可与适当的物理量相关联并且仅仅是应用于这些量的方便的标签。
除非上述讨论中另外明确指明,否则可以理解的是,在上述描述中,使用术语如“处理”或“估算”或“计算”或“确定”或“显示”的讨论是指计算机系统或类似的电子计算设备的动作和处理,其操纵表示为计算机系统的寄存器和存储器内的物理(电子)量的数据并将其转换成相似地表示为计算机系统存储器或寄存器或其它此类信息存储、传输或显示设备内的物理量的其它数据。
值得注意的是,任何对“一个方面”或“方面”的提及均意指结合方面所述的特定特征、结构或特性包括在至少一个方面中。因此,在整个说明书中出现的短语“在一个方面中”或“在方面中”不一定都指同一方面。此外,具体特征、结构或特性可在一个或多个方面中以任何合适的方式组合。
尽管本文已描述了各种方面,但可以实施并且本领域的技术人员将会想到这些方面的许多修改形式、变型形式、替换形式、改变形式和等效形式。另外,在公开了用于某些部件的材料的情况下,也可使用其它材料。因此,应当理解,上述具体实施方式和所附的权利要求旨在涵盖属于本发明所公开的方面的范围内的所有此类修改形式和变型形式。以下权利要求旨在涵盖所有此类修改形式和变型形式。
本文所述的一些或所有方面通常可包括用于补偿电动外科器械的传动系故障的机构的技术,或以其他方式根据本文所述的技术。在一般意义上,本领域的技术人员将会认识到,可以用多种硬件、软件、固件或它们的任何组合单独和/或共同实施的本文所述的多个方面可以被看作是由多种类型的“电子电路”组成。因此,如本文所用,“电子电路”包括但不限于具有至少一个离散电路的电子电路、具有至少一个集成电路的电子电路、具有至少一个专用集成电路的电子电路、形成由计算机程序配置的通用计算设备的电子电路(如,至少部分地实施本文所述的方法和/或设备的由计算机程序配置的通用计算机,或至少部分地实施本文所述的方法和/或设备的由计算机程序配置的微处理器)、形成存储器设备(如,形成随机存取存储器)的电子电路,和/或形成通信设备(如,调制解调器、通信开关或光电设备)的电子电路。本领域的技术人员将会认识到,可以模拟或数字方式或它们的一些组合实施本文所述的主题。
上述具体实施方式已通过使用框图、流程图和/或示例阐述了装置和/或方法的各种方面。只要此类框图、流程图和/或示例包含一个或多个功能和/或操作,本领域的技术人员就要将其理解为此类框图、流程图或示例中的每个功能和/或操作都可以单独和/或共同地通过多种硬件、软件、固件或实际上它们的任何组合来实施。在一种方面中,本文所述的主题的若干部分可以通过专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)或其他集成格式来实施。然而,本领域的技术人员将会认识到,本文所公开的方面的一些方面可作为在一台或多台计算机上运行的一个或多个计算机程序(如,作为在一个或多个计算机系统上运行的一个或多个程序),作为在一个或多个处理器上运行的一个或多个程序(如,作为在一个或多个微处理器上运行的一个或多个程序),作为固件,或作为实际上它们的任何组合全部或部分地在集成电路中等效地实现,并且根据本发明,设计电子电路和/或编写软件和/或硬件的代码将在本领域技术人员的技术范围内。另外,本领域的技术人员将会认识到,本文所述主题的机制能够作为多种方面的程序产品进行分布,并且本文所述主题的示例性形式适用,而不管用于实际进行分布的信号承载介质的具体类型是什么。信号承载介质的示例包括但不限于如下:可录式媒体,诸如软盘、硬盘驱动器、光盘(CD)、数字视频光盘(DVD)、数字磁带、计算机存储器等;和传输式介质,诸如数字和/或模拟通信介质(例如,光纤缆线、波导、有线通信链路、无线通信链路(例如,发射器、接收器、传输逻辑、接收逻辑等)等)。
上述美国专利、美国专利申请公开、美国专利申请、国外专利、国外专利申请、本说明书中所提及和/或任何应用数据表中所列出的非专利申请或任何其它公开材料均在不与其相抵触的程度上以引用方式并入本文。因此,并且在必要的程度下,本文明确列出的公开内容代替以引用方式并入本文的任何冲突材料。据称以引用方式并入本文但与本文列出的现有定义、陈述或其它公开材料相冲突的任何材料或其部分,将仅在所并入的材料与现有的公开材料之间不产生冲突的程度下并入。
本领域技术人员将会认识到,本文所述的组成部分(例如,操作)、装置、对象和它们随附的论述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论述旨在代表它们更一般的类别。通常,任何具体示例的使用旨在代表其类别,并且具体组成部分(例如,操作)、装置和对象的未纳入部分不应采取限制。
对于本文中使用的基本上任何复数和/或单数术语,本领域技术人员可从复数转换成单数和/或从单数转换成复数,只要适合于上下文和/或应用即可。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它不同部件中的不同部件或与其它不同部件连接的不同部件。应当理解,这样描述的结构仅是示例性的,并且事实上可以实现获得相同功能性的多种其它结构。在概念意义上,获得相同功能性的组件的任何布置结构方式都是有效“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组件也可被视为彼此“以可操作的方式连接”或“以可操作的方式联接”,以获得所需的功能性,并且能够如此相关联的任何两个组件都可被视为彼此“以可操作的方式联接”,以获得所需的功能性。以可操作的方式联接的具体示例包括但不限于可物理匹配的和/或物理交互组件,和/或无线交互式,和/或无线交互式组件,和/或逻辑交互式,和/或逻辑交互式组件。
一些方面可使用表达“联接”和“连接”连同其衍生词来描述。应当理解,并不希望这些术语彼此同义。例如,某些方面可使用术语“连接”来描述,以表示两个或更多个元件彼此直接物理接触或电接触。在另一个示例中,一些方面可使用术语“联接”来描述,以表示两个或更多个元件直接物理接触或电接触。然而,术语“联接”还可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/或未活动状态的部件和/或待机状态的部件。
虽然已经示出并描述了本文所述的本发明主题的特定方面,但是对本领域的技术人员将显而易见的是,基于本文的教导,可在不脱离本文所述的主题的情况下作出改变和变型,并且如在本文所述的主题的真实实质和范围内,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、以及特别是所附权利要求(例如,所附权利要求的正文)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,当所引入权利要求表述的具体数目为预期数目时,则这样的意图将在权利要求中明确表述,并且在不存在这样的表述的情况下,不存在这样的意图。例如,为有助于理解,下述所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。然而,对此类短语的使用不应视为暗示通过不定冠词“一个”或“一种”引入权利要求表述将含有此类引入权利要求表述的任何特定权利要求限制在含有仅一个这样的表述的权利要求中,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表述的定冠词的使用。
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”应当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,其中表述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它顺序进行所述多个操作,或者可以同时进行所述多个操作。除非上下文另有规定,否则此类替代排序的示例可包括重叠、交错、中断、重新排序、增量、预备、补充、同时、反向,或其它改变的排序。此外,除非上下文另有规定,否则像“响应于”、“相关”这样的术语或其它过去式的形容词通常不旨在排除此类变体。
在某些情况下,对系统或方法的使用可发生在一个地区中,即使部件位于所述地区外部。例如,在分布式计算上下文中,对分布式计算系统的使用可发生在一个地区中,即使所述系统的部件可能位于所述地区外部(例如,位于所述地区外部的继电器、服务器、处理器、信号承载介质、传输计算机、接收计算机等)。
系统或方法的销售同样可发生一个地区中,即使所述系统或方法的部件位于和/或用于所述地区外部。此外,在一个地区中实施用于执行方法的系统的至少一部分不排除在另一个地区中使用所述系统。
尽管本文已描述了各种方面,但可以实施并且本领域的技术人员将会想到这些方面的许多修改形式、变型形式、替换形式、改变形式和等效形式。另外,在公开了用于某些部件的材料的情况下,也可使用其它材料。因此,应当理解,上述具体实施方式和所附的权利要求旨在涵盖属于本发明所公开的方面的范围内的所有此类修改形式和变型形式。以下权利要求旨在涵盖所有此类修改形式和变型形式。
概括地说,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方面的上述说明。这些具体实施方式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方面是为了示出本发明的原理和实际应用,从而使得本领域的普通技术人员能够利用多个方面,在适合设想的具体应用的情况下进行各种修改。与此一同提交的权利要求书旨在限定完整范围。
本文所述主题的各个方面在以下编号的条款中陈述:
1.一种外科设备,包括端部执行器,所述端部执行器被构造成能够在多个操作区期间与组织相互作用;至少一个驱动机构,所述至少一个驱动机构可操作以在所述操作区中的每一者期间实现所述端部执行器中的至少一个动作;和一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录在所述操作区期间由所述至少一个驱动机构产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动生成输出信号,并且其中所述输出信号被采用以基于对每个操作区来说唯一的预先确定的阈值来确定所述外科设备的状态。
2.根据条款1所述的外科设备,还包括至少一个频率滤波器,所述至少一个频率滤波器被构造成能够接收所述一个或多个振动传感器的所述输出信号,其中所述至少一个频率滤波器被构造成能够基于所接收的输出信号生成经滤波的信号。
3.根据条款1至2中任一项所述的外科设备,还包括存储所述预先确定的阈值的存储器;以及处理器,所述处理器与所述至少一个频率滤波器通信。
4.根据条款1至3中任一项所述的外科设备,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器基于所述经滤波的信号生成经处理的信号。
5.根据条款1至4中任一项所述的外科设备,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器采用快速傅立叶变换来产生所述经处理的信号。
6.根据条款1至4中任一项所述的外科设备,其中所述程序指令在由所述处理器执行时,使所述处理器将与每个操作区相关联的所述预先确定的阈值与所述经处理的信号的对应值进行比较。
7.根据条款1至4或6中任一项所述的设备,其中所述程序指令在由所述处理器执行时,使所述处理器在所述预先确定的阈值等于或小于所述经处理的信号的对应值时检测所述外科器械的故障。
8.根据条款1至3中任一项所述的设备,其中所述预先确定的阈值从所述一个或多个振动传感器的测试输出信号生成。
9.根据条款1至3或8中任一项所述的设备,其中所述测试输出信号基于在所述外科器械的测试过程期间由所述一个或多个振动传感器记录的测试振动信息。
10.根据条款1至3中任一项所述的设备,其中所述预先确定的阈值从先前处理的信号生成。
11.根据条款1所述的设备,其中所述操作区包括组织夹持操作区。
12.根据条款1至3或10中任一项所述的设备,其中所述操作区包括组织缝合和切割操作区。
13.一种外科设备,包括端部执行器,所述端部执行器能够在第一操作区中操作以夹持组织,并且能够在第二操作区中操作以缝合和切割组织;至少一个驱动机构,所述至少一个驱动机构可操作以在所述第一操作区和所述第二操作区中实现所述端部执行器中的至少一个动作;和一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录所述第一操作区和所述第二操作区中由所述至少一个驱动机构产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动产生输出信号,其中所述输出信号用于确定所述外科设备的状态,并且其中为了确定所述外科器械的所述状态忽略所述振动的子集。
14.根据条款13所述的外科设备,其中所忽略的振动的子集位于所述第一操作区的初始片段中。
15.根据条款13所述的外科设备,其中所述至少一个驱动机构能够操作以在所述第二操作区之后的第三操作区中实现所述端部执行器中的至少一个动作,并且其中所忽略的振动的子集在所述第三操作区的结尾片段。
16.一种外科设备,包括端部执行器,所述端部执行器被构造成能够在所述外科设备的击发序列期间与组织相互作用;以及至少一个驱动组件,所述至少一个驱动组件能够在第一位置和第二位置之间移动,以在所述击发序列期间实现所述端部执行器中的至少一个动作;一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录当所述驱动组件在所述第一位置和所述第二位置之间转换时由所述至少一个驱动组件产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动生成输出信号,并且其中所述输出信号用于确定所述外科设备的状态。
17.根据条款16所述的外科设备,还包括至少一个频率滤波器,所述至少一个频率滤波器被构造成能够接收所述一个或多个振动传感器的所述输出信号,其中所述至少一个频率滤波器被构造成能够基于所接收的输出信号生成经滤波的信号。
18.根据条款16所述的外科设备,还包括存储器;和处理器,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器基于所述经滤波的信号生成经处理的信号。
19.根据条款16或18中任一项所述的外科设备,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器采用快速傅立叶变换来产生所述经处理的信号。
20.根据条款16所述的外科设备,其中所述一个或多个振动传感器为麦克风。
Claims (20)
1.一种外科设备,包括:
端部执行器,所述端部执行器被构造成能够在多个操作区期间与组织相互作用;
至少一个驱动机构,所述至少一个驱动机构能够操作以在所述操作区中的每个操作区期间实现所述端部执行器中的至少一个动作;和
一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录在所述操作区期间由所述至少一个驱动机构产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动生成输出信号,并且其中所述输出信号被采用以基于对每个操作区来说唯一的预先确定的阈值来确定所述外科设备的状态。
2.根据权利要求1所述的外科设备,还包括至少一个频率滤波器,所述至少一个频率滤波器被构造成能够接收所述一个或多个振动传感器的所述输出信号,其中所述至少一个频率滤波器被构造成能够基于所接收的输出信号来生成经滤波的信号。
3.根据权利要求2所述的外科设备,还包括:
存储器,所述存储器存储所述预先确定的阈值;和
处理器,所述处理器与所述至少一个频率滤波器通信。
4.根据权利要求3所述的外科设备,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器基于所述经滤波的信号生成经处理的信号。
5.根据权利要求4所述的外科设备,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器采用快速傅立叶变换来产生所述经处理的信号。
6.根据权利要求4所述的外科设备,其中所述程序指令在由所述处理器执行时,使所述处理器将与所述操作区中的每个操作区相关联的所述预先确定的阈值与所述经处理的信号的对应值进行比较。
7.根据权利要求6所述的设备,其中所述程序指令在由所述处理器执行时,使所述处理器在所述预先确定的阈值等于或小于所述经处理的信号的对应值时检测所述外科器械的故障。
8.根据权利要求3所述的设备,其中所述预先确定的阈值从所述一个或多个振动传感器的测试输出信号生成。
9.根据权利要求8所述的设备,其中所述测试输出信号基于在所述外科器械的测试过程期间由所述一个或多个振动传感器记录的测试振动信息。
10.根据权利要求3所述的设备,其中所述预先确定的阈值从先前处理的信号生成。
11.根据权利要求1所述的设备,其中所述操作区包括组织夹持操作区。
12.根据权利要求10所述的设备,其中所述操作区包括组织缝合和切割操作区。
13.一种外科设备,包括:
端部执行器,所述端部执行器能够在第一操作区中操作以夹持组织,并能够在第二操作区中操作以缝合和切割组织;
至少一个驱动机构,所述至少一个驱动机构能够操作以在所述第一操作区和所述第二操作区中实现所述端部执行器中的至少一个动作;和一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录所述第一操作区和所述第二操作区中由所述至少一个驱动机构产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动产生输出信号,其中所述输出信号被采用来确定所述外科设备的状态,并且其中为了确定所述外科器械的所述状态而忽略所述振动的子集。
14.根据权利要求13所述的外科设备,其中所忽略的所述振动的子集位于所述第一操作区的初始片段中。
15.根据权利要求13所述的外科设备,其中所述至少一个驱动机构能够操作以在所述第二操作区之后的第三操作区中实现所述端部执行器中的至少一个动作,并且其中所忽略的所述振动的子集位于所述第三操作区的结尾片段中。
16.一种外科设备,包括:
端部执行器,所述端部执行器被构造成能够在所述外科设备的击发序列期间与组织相互作用;和
至少一个驱动组件,所述至少一个驱动组件能够在第一位置和第二位置之间移动,以在所述击发序列期间实现所述端部执行器中的至少一个动作;和
一个或多个振动传感器,所述一个或多个振动传感器被构造成能够记录当所述驱动组件在所述第一位置和所述第二位置之间转换时由所述至少一个驱动组件产生的振动,其中所述一个或多个振动传感器被构造成能够基于所感测的振动生成输出信号,并且其中所述输出信号被采用来确定所述外科设备的状态。
17.根据权利要求16所述的外科设备,还包括至少一个频率滤波器,所述至少一个频率滤波器被构造成能够接收所述一个或多个振动传感器的输出信号,其中所述至少一个频率滤波器被构造成能够基于所接收的输出信号生成经滤波的信号。
18.根据权利要求16所述的外科设备,还包括
存储器;和
处理器,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器基于所述经滤波的信号生成经处理的信号。
19.根据权利要求18所述的外科设备,其中所述存储器包括程序指令,所述程序指令在由所述处理器执行时,使所述处理器采用快速傅立叶变换来产生所述经处理的信号。
20.根据权利要求16所述的外科设备,其中所述一个或多个振动传感器为麦克风。
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EP (1) | EP3205285B1 (zh) |
JP (1) | JP6938525B2 (zh) |
CN (1) | CN108697422B (zh) |
BR (1) | BR112018016411B1 (zh) |
WO (1) | WO2017139307A1 (zh) |
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BR112018016411B1 (pt) | 2023-03-07 |
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