CN108852441A - 速度和电流导出马达切断的动力外科手术装置 - Google Patents

速度和电流导出马达切断的动力外科手术装置 Download PDF

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CN108852441A
CN108852441A CN201810400108.8A CN201810400108A CN108852441A CN 108852441 A CN108852441 A CN 108852441A CN 201810400108 A CN201810400108 A CN 201810400108A CN 108852441 A CN108852441 A CN 108852441A
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克里斯托弗·凯利·埃文斯
安东尼·卡尔德罗尼
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Abstract

一种外科手术器械包括：末端执行器；电源；联接到电源的马达，该马达被配置成致动末端执行器；以及控制器，其可操作地联接到马达并且被配置成基于马达的电流消耗和马达的角速度来控制马达。

Description

速度和电流导出马达切断的动力外科手术装置
相关申请的交叉引用
本申请要求于2017年5月2日提交的美国临时专利申请第62/500,236号的权益和优先权，其全部公开内容以引用方式并入本文中。
技术领域
本发明涉及外科手术装置。更具体而言，本发明涉及具有可重复使用部件的用于执行外科手术的手持式机电外科手术系统。
背景技术
线性夹持、切割和缝合装置用于外科手术中以从胃肠道切除癌性或异常组织。常规的线性夹持、切割和缝合器械包括具有细长轴的手枪握持式结构以及末端执行器，该末端执行器具有设置在轴的远端以夹持、切割和缝合组织的一对握持构件。握持构件的致动通常通过致动联接到手柄的触发器来实现，两个握持构件中的一个(诸如砧座部分)响应于该致动而相对于细长轴移动或枢转，而另一个握持元件保持固定。固定的握持构件包括钉仓和用于抵靠砧座部分将缝合钉弹出穿过夹紧组织从而缝合组织的机构。末端执行器可以与轴一体地形成，或者可以是可拆卸的，以允许各种夹持和缝合构件的互换性。
许多外科手术装置制造商还开发了用于操作和/或操纵末端执行器的专有动力驱动系统。动力驱动系统可以包括可重复使用的动力手柄组件和可移除地连接到动力手柄组件的一次性末端执行器。
与现有动力外科手术装置和/或手柄组件一起使用的许多现有末端执行器由线性驱动力驱动。例如，用于执行胃肠内吻合术、端对端吻合术和横肌吻合术的末端执行器由线性驱动力致动。因此，这些末端执行器与使用旋转运动的外科手术装置和/或手柄组件不兼容。
这些机电外科手术装置中的许多包括复杂的驱动部件。为了防止驱动机构的致动超过机械极限，使用各种开关和传感器来检测外科手术装置的操作状态。包括多个开关和/或传感器增加了外科手术装置的成本和复杂性。因此，需要具有安全机构的系统和装置，该安全机构可以检测机械极限而不依赖于设置在外科手术装置上的多个机械极限传感器和/或开关。
发明内容
根据本发明的一个实施例，提供了一种外科手术器械。外科手术器械包括：末端执行器；电源；联接到电源的马达，该马达被配置成致动末端执行器；以及控制器，其可操作地联接到马达并且被配置成基于马达的电流消耗和马达的角速度来控制马达。
根据上述实施例的一个方面，外科手术器械还包括配置成测量马达的电流消耗和马达的角速度的马达控制电路。
根据上述实施例的另一方面，控制器可以被配置成计算马达的电流消耗和马达的角速度中的每一个的瞬时变化率。
根据上述实施例的另一方面，控制器还可以被配置成基于马达的电流消耗的瞬时变化率是正的并且马达的角速度的瞬时变化率是负的来确定马达达到机械极限。控制器还可以被配置成基于马达的电流消耗的瞬时变化率超过第一阈值同时或者另外马达的角速度的瞬时变化率超过第二阈值来确定马达达到机械极限。
根据上述实施例的一个方面，控制器被配置成基于机械极限来校准马达。控制器还可以被配置成响应于检测到机械极限而终止从电源向马达供应电流。
根据本发明的另一实施例，提供了一种用于控制外科手术装置的方法。该方法包括：使马达通电以致动末端执行器；测量马达的电流消耗；测量马达的角速度；以及基于马达的电流消耗和马达的角速度来控制马达。
根据上述实施例的一个方面，该方法包括基于机械极限来校准马达。
根据上述实施例的另一方面，该方法还包括响应于检测到机械极限而终止从电源向马达供应电流。
根据本发明的另一实施例，公开了一种用于校准外科手术器械的方法。该方法包括：使马达通电以致动末端执行器；测量马达的电流消耗；测量马达的角速度；基于马达的电流消耗和马达的角速度来检测马达达到机械极限；以及将对应于机械极限的马达的角位置指定为用于校准马达的零位置。
根据以上方法实施例中的任一个的一个方面，该方法可以包括计算马达的电流消耗和马达的角速度中的每一个的瞬时变化率。该方法还可以包括基于马达的电流消耗的瞬时变化率是正的并且马达的角速度的瞬时变化率是负的来确定马达达到机械极限。
根据上述实施例中的任一个的另一方面，该方法可以包括基于马达的电流消耗的瞬时变化率超过第一阈值同时或者另外马达的角速度的瞬时变化率超过第二阈值来确定马达达到机械极限。
附图说明
本文参考附图描述本发明的实施例，其中：
图1是根据本发明的实施例的包括手持式外科手术装置、适配器组件和末端执行器的外科手术系统的透视图；
图2是图1的手持式外科手术装置正面透视图，其中各部分开；
图3是与其分开的图2的动力单元和内后部壳体的正面透视图；
图4是沿着截面线“4-4”截取的图2的手持式外科手术装置的横截面图；
图5是根据本发明的图1的手持式外科手术装置的示意图；
图6是如通过本发明的方法所控制的图1的手持式外科手术装置的马达电流和马达平均角速度的曲线图；以及
图7是根据本发明的另一实施例的用于控制图1的手持式外科手术装置的方法的流程图。
具体实施方式
参考附图详细描述目前公开的外科手术装置以及用于外科手术装置的适配器组件和/或手柄组件的实施例，其中在若干视图中的每一个视图中，相同的附图标记表示相同或相应的元件。如本文所使用，术语“远侧”是指远离用户的适配器组件或外科手术装置的那部分或其部件，而术语“近侧”是指更接近用户的适配器组件或外科手术装置的那部分或其部件。
本发明提供了一种动力外科手术装置，该动力外科手术装置包括配置成致动外科手术末端执行器的一个或多个马达以及配置成监测马达操作(诸如电流消耗和角速度)的一个或多个传感器。动力外科手术装置还包括控制器，该控制器联接到马达并且被配置成基于来自传感器的反馈来控制马达。控制器被配置成在发生碰撞时切断马达，这是基于马达的角速度和电流消耗的变化率来确定的。角速度和电流消耗可以绘制为时间的函数，然后可以使用导函数来计算每个曲线的斜率，以确定角速度和马达电流中每一个的变化率。可以同时跟踪马达运动的这两个输出。在发生碰撞时，马达速度降低，从而产生负斜率或变化率，并且马达电流随着负载增加而增加，从而引起正斜率或变化率。一旦负马达速度导数和正电流导数同时超过相应的预设阈值，控制器就会关闭马达。在实施例中，外科手术装置的灵敏度可通过改变导数阈值来调节，以消除错误检测并防止对从动机构的损坏。
根据本发明的系统和方法允许在外科手术装置的机械部件实际遇到机械极限之前(例如，约40毫秒)检测即将发生的碰撞。早期检测允许控制器减速或关闭马达，从而减小施加到外科手术装置的机械部件的力。这将防止对机械部件的损坏以及节省电力并且减小外科装置的电源(例如，电池)上的应力，因为在碰撞期间电流消耗降低。在实施例中，本发明的碰撞检测也可用于有意碰撞(例如试图达到机械极限)以校准马达。
如图1中所示，根据本发明的外科手术系统2包括外科手术装置100，该外科手术装置被示出为动力手持式机电器械，其被配置成选择性地附接到多个不同的末端执行器或单次使用的装载单元(“SULU”)，诸如末端执行器400。具体而言，外科手术装置100被配置用于与适配器200选择性地连接，继而适配器200被配置用于与末端执行器400选择性地连接。
参考图1到图4，外科手术装置100包括动力单元101(图2)以及构造成选择性地容纳和封闭动力单元101的外壳壳体10。外壳壳体10包括远侧半部分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可枢转地连接到远侧半部分10a，使得远侧半部分10a和近侧半部分10b沿着横穿由适配器200限定的纵向轴线的平面分开。当接合时，远侧半部分10a和近侧半部分10b限定用于容纳动力单元101的外壳空腔10c。
参考图2，远侧半部分10a和近侧半部分10b中的每一个包括相应的上外壳部分12a、12b和相应的下外壳部分14a、14b。下外壳部分14a包括闭合突片18a，该闭合突片被构造成接合下外壳部分14b的闭合突片18b以选择性地将远侧半部分10a和近侧半部分10b彼此固定并且用于将外壳壳体10保持在闭合构型。
外壳壳体10的远侧半部分10a还包括连接部分20，该连接部分被构造成联接到适配器200的对应驱动联接组件210。具体而言，连接部分20包括凹部21，该凹部被构造成当适配器200与外科手术装置100配合时容纳适配器200的驱动联接组件210的一部分。远侧半部分10a的连接部分20还限定三个孔22a、22b、22c以及形成在其面向远侧的表面中的细长狭槽24。
外壳壳体10的远侧半部分10a还包括多个按钮，诸如套扣控制按钮30。在实施例中，套扣控制按钮30可以是被构造成在向左、向右、向上和向下方向上被致动的双轴线控制杆。套扣控制按钮30也可以是可压下的。
外壳壳体10的远侧半部分10a还可以支撑多个其它按钮，诸如右侧的一对控制按钮和左侧的一对控制按钮。这些按钮和其它部件在美国专利申请公开第2016/0310134号中详细描述，其全部公开内容以引用方式并入本文中。
参考图2，外壳壳体10包括可移除地支撑在远侧半部分10a中的无菌屏障板60。无菌屏障板60将动力单元101和适配器200互连。具体而言，无菌屏障板60设置在远侧半部分10a的连接部分20之后并在外壳壳体10的外壳空腔10c内。板60包括可旋转地支撑在其中的三个联接轴64a、64b、64c。每个联接轴64a、64b、64c延伸穿过外壳壳体10的远侧半部分10a的连接部分20的相应的孔22a、22b、22c。
板60还包括支撑在其上的电直通连接器66。当无菌屏障板60设置在外壳壳体10的外壳空腔10c内时，直通连接器66延伸穿过远侧半部分10a的连接部分20的孔24。联接轴64a、64b、64c和直通连接器66将适配器200和动力单元101的相应的对应特征部电互连和机械地互连。
在使用期间，外壳壳体10打开(即，远侧半部分10a围绕铰链16与近侧半部分10b分开)，动力单元101插入外壳壳体10的外壳空腔10c中，并且远侧半部分10a围绕铰链16枢转到闭合构型。在闭合构型中，远侧半部分10a的下外壳部分14a的闭合突片18a接合近侧半部分10b的下外壳部分14b的闭合突片18b。在外科手术之后，打开外壳壳体10并且将动力单元101从外壳壳体10的壳体空腔10c移除。外壳壳体10可以被丢弃，然后可以对动力单元101进行消毒和清洁。
参考图2到图4，动力单元101包括内手柄壳体110，该内手柄壳体具有下外壳部分104以及从下外壳部分104延伸和/或支撑在其上的上外壳部分108。内手柄壳体110还包括远侧半部分110a和近侧半部分110b，其限定用于容纳动力单元芯组件106(图3)的内部壳体空腔110c(图3)。动力单元芯组件106被配置成控制外科手术装置的各种操作。
参考图3，内手柄壳体110的远侧半部分110a支撑远侧套扣控制接口130，该远侧套扣控制接口与外壳壳体10的套扣控制按钮30可操作地接合，使得当动力单元101设置在外壳壳体10内时，套扣控制按钮30的致动在套扣控制接口130上施加力。内手柄壳体110的远侧半部分110a还支撑可操作地接合外壳壳体10的其它按钮的各种其它控制接口。
参考图3和图4，动力单元芯组件106包括电池电路140、马达控制器电路143、主控制器电路145、主控制器147和可再充电电池144，其被配置成向外科手术装置100的任何电部件供应电力。
动力单元包芯组件106还包括支撑在主控制器电路145上的显示屏幕146。显示屏幕146通过设置在内手柄壳体110的近侧半部分110b中的透亮或透明窗口110d可见。
动力单元芯组件106还包括各自电连接到控制器电路143和电池144的第一马达152(图4)、第二马达154(图3)和第三马达156(图4)。马达152、154、156设置在马达控制器电路143与主控制器电路145之间。每个马达152、154、156由设置在马达控制器电路143上的相应的马达控制器(未示出)控制并且联接到主控制器147。主控制器147还联接到存储器141(图5)，该存储器141也设置在马达控制器电路143上。主控制器147通过FPGA与马达控制器通信，该FPGA提供控制逻辑信号(例如，滑行、制动等等，以及任何其它合适的控制信号)。马达控制器使用固定频率脉宽调制(PWM)向其相应的马达152、154、156输出对应的通电信号。
动力装置包芯组件106还包括电插座149。电插座149经由第二带状电缆(未示出)与主控制器板145电连接。电插座149限定了多个电插槽，其用于容纳从外壳壳体10的板60(图2)的直通连接器66延伸的相应电触头。
每个马达152、154、156包括从其延伸的相应的马达轴(未示出)。每个马达轴可以具有限定在其中的凹部，该凹部具有三叶横截面轮廓，其用于容纳外壳壳体10的板60的相应联接轴64a、64b、64c的近端。
由相应的马达152、154、156旋转马达轴致动适配器200的轴和/或齿轮部件，以便执行外科手术装置100的各种操作。具体而言，动力单元芯组件106的马达152、154、156被配置成致动适配器200的轴和/或齿轮部件，以便选择性地致动末端执行器400的部件，使末端执行器400围绕纵向轴线旋转，并且使末端执行器400围绕垂直于由适配器200限定的纵向轴线的枢转轴线进行枢转。
参考图5，示出了动力单元101的示意图。为简洁起见，仅示出了马达152、154、156中的一个，即马达152。马达152联接到电池144。在实施例中，马达152可联接到被配置成向马达152提供电能的任何合适的电源，诸如AC/DC变压器。
电池144和马达152联接到马达控制器电路143，该马达控制器电路控制马达152的操作，包括从电池144到马达152的电能流动。马达控制器电路143包括多个传感器408a、408b、…、408n，其被配置成测量马达152和电池144的操作状态。传感器408a-n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408a-408n可以测量由电池144供应的电能的电压、电流和其它电特性。传感器408a-408n还可以测量角速度(例如，转速)作为每分钟转数(RPM)，扭矩、温度、电流消耗，以及马达152的其它操作特性。角速度可以通过测量马达152或联接到马达152并可由马达152旋转的驱动轴(未示出)的旋转来确定。各种轴向可移动驱动轴的位置也可以通过使用设置在轴中或靠近轴的各种线性传感器来确定，或者从RPM测量结果推算。在实施例中，可以基于恒定RPM下的马达152的经调节电流消耗来计算扭矩。在另外实施例中，马达控制器电路143和/或控制器147可以测量时间并作为其函数(包括积分和/或微分)处理上述值例如以确定测量值的变化率。
马达控制器电路143还联接到控制器147，该控制器包括用于与马达控制器电路143连接的多个输入端和输出端。具体而言，控制器147从马达控制器电路143接收关于马达152和电池144的操作状态的经测量的传感器信号，继而将控制信号输出到马达控制器电路143，以基于传感器读数和特定算法指令来控制马达152的操作，这将在下面更详细地讨论。控制器147还被配置成接受来自用户界面(例如，联接到控制器147的开关、按钮、触摸屏等)的多个用户输入。
本发明提供了用于控制外科手术装置100或任何其它动力外科手术器械的设备和方法，该外科手术器械包括但不限于线性动力缝合器、圆形或弓形动力缝合器、抓握器、电外科密封钳、旋转组织更细化装置等。具体而言，外科手术装置100的驱动轴的扭矩、RPM、位置和加速度可以与马达特性(例如，电流消耗)相关联。由于由马达152汲取的电流及其角速度响应于马达152遇到的机械负载而变化，因此由马达152汲取的电流可用于检测机械极限。因此，分析电流消耗和角速度的变化量(例如，变化率)允许区分不同类型的负载状况，例如，由组织施加的负载与由机械止动件施加的负载。
根据本发明的用于检测机械极限的方法可以用于检测外科手术系统2的机械部件(例如，末端执行器400和适配器200)的碰撞，该碰撞可能是由于达到行程终点位置或者在外科手术期间末端执行器400遇到障碍物而发生的。在另外实施例中，在外科手术装置100需要重新校准(例如，附接新的适配器200或末端执行器400)时的启动或其它时间，可以使用有意碰撞来校准马达152、154、156。在校准期间，马达152在一个方向上被驱动，以在已知的机械位置例如硬停止处引起碰撞。一旦由控制器147检测到碰撞，则马达152停止，并且通过控制器147将所得马达角位置指定为零位置。在实施例中，可以通过监测马达152的电流消耗并且检测如图6中所示的曲线502的电流消耗尖峰502a来检测碰撞。具体参考图6，可以使用达到大约4,000毫安的电流尖峰来表示马达152已经遇到其机械极限并且检测到硬停止。
参考图6，电流尖峰502a在大约1,390毫秒处开始发展，而尖峰502a在大约1,430毫秒处达到其峰值，导致约40毫秒的滞后时间，在此期间马达152继续致动机械部件。马达152的这种过度运动可能会损坏机械部件和/或不必要地从电池144汲取功率。另外，随着马达152的可用寿命效率降低，马达152使用更多电流来执行相同量的机械功。虽然用于确定约4,000毫安的机械极限的电流滤波器或阈值可足以在当马达152相对较新时(例如，少于10小时的操作)确定已经发生实际碰撞，但相同的阈值可能不适合较旧的马达152(例如，20小时或更久的操作)。具体而言，马达在其使用寿命结束时可能会在实际遇到机械极限之前越过4,000阈值，因此由控制器147产生用于硬停止的错误位置。由于零位置的错误识别，所以控制器147可能不正确地校准马达152。为了处理这种偶然性，可以将电流消耗阈值设定得足够高以防止在马达152的寿命期间的错误碰撞保护。然而，这种过度补偿导致马达停止电流极限高于所需值。如图6中所示，碰撞前约40毫秒处的电流消耗约为电流消耗阈值的1/10。
参考图7，公开了一种根据本发明的用于确定机械极限和/或碰撞的方法。该方法可用于确定诸如在校准期间的有意碰撞以及诸如在使用外科手术装置100期间的无意碰撞。该方法利用两个值，即电流消耗和角速度，该方法计算这些参数的瞬时变化率，而不是简单地将所测量的参数与预定阈值进行比较。然后将计算出的瞬时变化率与各自的变化率阈值进行比较。在实施例中，比起简单地将所测量的马达参数与阈值进行比较，根据本发明的方法允许外科手术装置100更早地检测机械极限和/或碰撞。
该方法可以具体实施为由控制器147可执行的算法和计算机可读指令。控制器147联接到存储器141或用于存储软件指令的任何其它合适的计算机可读非暂时性介质(例如，算法)，用于基于所测量的电流消耗和角速度来检测外科手术装置100的机械极限。如本文所使用，术语“机械极限”表示达到行程终点位置的任何机电部件。
最初，在步骤600中，控制器147基于期望的用户输入向马达控制器电路143发信号以操作马达152，诸如例如以控制马达152、154、156来铰接、致动或发射末端执行器400或使适配器200围绕其纵向轴线旋转。控制器147向马达控制器电路143提供期望的命令，该马达控制器电路然后向马达152输出对应的通电信号以实现从控制器147接收的命令。当马达152被操作时，马达控制器电路143连续地监测马达152的操作参数，包括马达152在旋转时的角速度和马达152的电流消耗。
在步骤602a和602b中，马达控制器电路143然后分别测量并向控制器147提供角速度和电流消耗信号。在实施例中，控制器147可以基于从马达控制器电路143接收到的测量数据来生成角速度曲线500和电流消耗曲线502，如图7中所示。曲线500和502可以是由马达控制器电路143收集的测量结果的数据点的集合。在另外实施例中，曲线500和502可以不可视化或由控制器147绘制(例如，在显示装置上输出)并且可以简单地存储在存储器141中以供控制器147使用。
在步骤604a和604b中，控制器147被配置成分别连续地处理角速度和电流消耗的测量数据，其包括连续地计算这些值中的每一个的导数。控制器147确定角速度和电流消耗的瞬时变化率。在实施例中，控制器147被配置成跟踪曲线500和502中的每一个的斜率，其也使用导函数来计算以获得瞬时变化率值。
在步骤606中，控制器147然后将计算出的马达152的角速度和电流消耗中的每一个的瞬时变化率与其相应的阈值进行比较。关于角速度，阈值对应于负斜率或瞬时变化率，这是因为在遇到机械极限之后，马达152的角速度急剧减小，如图6的曲线500的尖峰500a所示。关于电流消耗，阈值对应于正斜率或瞬时变化率，这是因为在遇到机械极限之后，马达的电流消耗增加，如图6的曲线502的尖峰502a所示。可以调节角速度和电流消耗变化率阈值以消除机械极限检测的错误检测。
当角速度和电流消耗的瞬时变化速率两者同时超过其相应的预定阈值时，控制器147确定达到了机械极限。如果情况如此，则控制器147确认已经到达机械停止。
然后控制器147可以基于使用该算法来利用碰撞检测。在校准期间，控制器147在步骤608中关闭马达154，然后将马达152的位置分配到零位置。然后控制器147使用零位置来计算由马达152致动的机械部件行进的纵向距离。
在使用期间，控制器147可以使用碰撞检测来向马达控制器电路143发信号以在步骤608中停止马达152，然后向马达152发出对应的制动命令。另外，控制器147可以向用户发出音频和/或视觉警报称外科手术装置100由于意外碰撞和/或达到机械极限而遇到问题。
应该理解，前面的描述仅仅是对本发明的说明。在不脱离本发明的情况下，本领域技术人员可以设计各种替代和修改。因此，本发明旨在涵盖所有这些替代、修改和变化。提供参考附图描述的实施例仅用于论证本发明的某些示例。与上述和/或所附权利要求书中描述的非实质上不同的其它元件、步骤、方法和技术也旨在本发明的范围内。

Claims (20)

1.一种外科手术器械，包括：
末端执行器；
电源；
联接到所述电源的马达，所述马达被配置成致动所述末端执行器；以及控制器，其可操作地联接到所述马达并且被配置成基于所述马达的电流消耗和所述马达的角速度来控制所述马达。
2.根据权利要求1所述的外科手术器械，还包括：
马达控制电路，其被配置成测量所述马达的所述电流消耗和所述马达的所述角速度。
3.根据权利要求2所述的外科手术器械，其中所述控制器被配置成计算所述马达的所述电流消耗和所述马达的所述角速度中的每一个的瞬时变化率。
4.根据权利要求3所述的外科手术器械，其中所述控制器被配置成基于所述马达的所述电流消耗的所述瞬时变化率是正的并且所述马达的所述角速度的所述瞬时变化率是负的来确定所述马达达到机械极限。
5.根据权利要求3所述的外科手术器械，其中所述控制器被配置成基于所述马达的所述电流消耗的所述瞬时变化率超过第一阈值并且所述马达的所述角速度的所述瞬时变化率超过第二阈值来确定所述马达达到机械极限。
6.根据权利要求5所述的外科手术器械，其中所述控制器被配置成基于所述马达的所述电流消耗的所述瞬时变化率超过第一阈值同时所述马达的所述角速度的所述瞬时变化率超过第二阈值来确定所述马达达到所述机械极限。
7.根据权利要求6所述的外科手术器械，其中所述控制器被配置成基于所述机械极限来校准所述马达。
8.根据权利要求1所述的外科手术器械，其中所述控制器被配置成响应于检测到所述机械极限而终止从所述电源向所述马达供应电流。
9.一种用于控制外科手术装置的方法，所述方法包括：
使马达通电以致动末端执行器；
测量所述马达的电流消耗；
测量所述马达的角速度；以及
基于所述马达的所述电流消耗和所述马达的所述角速度来控制所述马达。
10.根据权利要求9所述的方法，还包括：
计算所述马达的所述电流消耗和所述马达的所述角速度中的每一个的瞬时变化率。
11.根据权利要求10所述的方法，还包括：
基于所述马达的所述电流消耗的所述瞬时变化率是正的并且所述马达的所述角速度的所述瞬时变化率是负的来确定所述马达达到机械极限。
12.根据权利要求10所述的方法，还包括：
基于所述马达的所述电流消耗的所述瞬时变化率超过第一阈值并且所述马达的所述角速度的所述瞬时变化率超过第二阈值来确定所述马达达到机械极限。
13.根据权利要求12所述的方法，还包括：
基于所述马达的所述电流消耗的所述瞬时变化率超过第一阈值同时所述马达的所述角速度的所述瞬时变化率超过第二阈值来确定所述马达达到所述机械极限。
14.根据权利要求13所述的方法，还包括：
基于所述机械极限来校准所述马达。
15.根据权利要求9所述的方法，还包括：
响应于检测到所述机械极限而终止从所述电源向所述马达供应电流。
16.一种用于校准外科手术器械的方法，所述方法包括：
使马达通电以致动末端执行器；
测量所述马达的电流消耗；
测量所述马达的角速度；
基于所述马达的所述电流消耗和所述马达的所述角速度来检测所述马达达到机械极限；以及
将对应于所述机械极限的所述马达的角位置指定为用于校准所述马达的零位置。
17.根据权利要求16所述的方法，还包括：
计算所述马达的所述电流消耗和所述马达的所述角速度中的每一个的瞬时变化率。
18.根据权利要求17所述的方法，还包括：
基于所述马达的所述电流消耗的所述瞬时变化率是正的并且所述马达的所述角速度的所述瞬时变化率是负的来确定所述马达达到所述机械极限。
19.根据权利要求17所述的方法，还包括：
基于所述马达的所述电流消耗的所述瞬时变化率超过第一阈值并且所述马达的所述角速度的所述瞬时变化率超过第二阈值来确定所述马达达到所述机械极限。
20.根据权利要求17所述的方法，还包括：
基于所述马达的所述电流消耗的所述瞬时变化率超过第一阈值同时所述马达的所述角速度的所述瞬时变化率超过第二阈值来确定所述马达达到所述机械极限。
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