CN108852444B - 具有校准因子的自适应动力缝合算法 - Google Patents

具有校准因子的自适应动力缝合算法 Download PDF

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CN108852444B
CN108852444B CN201810467764.XA CN201810467764A CN108852444B CN 108852444 B CN108852444 B CN 108852444B CN 201810467764 A CN201810467764 A CN 201810467764A CN 108852444 B CN108852444 B CN 108852444B
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托马斯·温加德纳
伊丽莎白·孔帝尼
凯利·瓦伦丁
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Abstract

一种手术系统包括：适配器组件；末端执行器，所述末端执行器被配置成联接至所述适配器组件的远侧部分；以及手术装置，所述手术装置被配置成联接至所述适配器组件的近侧部分。所述手术装置包括：电源；联接至所述电源的马达，所述马达被配置成致动所述适配器组件或所述末端执行器中的至少一个；以及控制器，所述控制器可操作地被联接至所述马达并被配置成在所述适配器组件或所述末端执行器中的至少一个由所述马达致动时校准所述马达。

Description

具有校准因子的自适应动力缝合算法
相关申请的交叉引用
本申请要求于2017年5月15日提交的美国临时专利申请第62/506,180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
本发明涉及手术装置。更具体地，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手术系统。
背景技术
线性夹紧、切割和缝合装置用于外科手术中，例如用于从胃肠道切除癌性或异常组织。传统的夹紧、切割和缝合器械包括具有细长轴的枪握把式结构和末端执行器，所述末端执行器具有设置在所述轴的远端处以夹紧、切割和缝合组织的一对夹持构件。传统的缝合器械还可以包括具有圆形缝合附件的末端执行器。夹持构件的致动通常通过致动联接至手柄的触发器，对其作出响应，两个夹持构件中的一个(例如砧座部分)相对于细长轴移动或枢转，而另一个夹持构件保持固定来实现。固定的夹持构件包括钉仓和用于将钉通过夹紧组织抵靠砧座部分推出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。
许多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至动力手柄组件的一次性末端执行器。
与现有动力手术装置和/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手术，端对端吻合手术和横向吻合手术的末端执行器通过线性驱动力驱动。因此，这些末端执行器与使用旋转运动的手术装置和/或手柄组件不兼容。
因此，需要确保各种系统之间的兼容性，并且还需要基于整个系统的机械极限来确保所有驱动部件的适当功能。
发明内容
根据本发明的一个实施例，一种手术系统包括：适配器组件；末端执行器，所述末端执行器被配置成联接至适配器组件的远端部分；以及手术装置，所述手术装置被配置成联接至适配器组件的近端部分。手术装置包括：电源；联接至电源的马达，所述马达被配置成致动适配器组件或末端执行器中的至少一个；以及控制器，所述控制器可操作地联接至马达并且被配置成在适配器组件或末端执行器中的至少一个通过马达致动时校准马达。
根据上述实施例的一个方面，手术系统进一步包括：联接至适配器组件、末端执行器或马达中的至少一个的力传感器，并且所述力传感器被配置成测量施加在适配器组件、末端执行器或马达中的至少一个上的力。
根据上述实施例的另一个方面，力传感器被联接至控制器并且被配置成提供指示力的力测量信号。
根据上述实施例的另一个方面，手术装置进一步包括联接至控制器的存储器，所述存储器被配置成基于力测量信号将校准数据存储在存储器中。控制器进一步被配置成基于校准数据来操作马达。
根据上述实施例的一个方面，适配器组件包括第一存储装置，所述第一存储装置存储与适配器组件的操作对应的第一值。控制器进一步被配置为读取第一值并且基于校准数据调整第一值以获得调整的第一值并且基于调整的第一值操作马达。
根据上述实施例的另一个方面，末端执行器包括第二存储装置，所述第二存储装置存储与适配器组件的操作对应的第二值。控制器进一步被配置为读取第二值并且基于校准数据调整第二值以获得调整的第二值，并且控制器被配置为基于调整的第二值操作马达。
根据本发明的另一个实施例，一种用于控制手术系统的方法包括：将适配器组件联接至手术装置；将末端执行器联接至适配器组件；给手术装置的马达通电以致动适配器组件或末端执行器中的至少一个；测量与适配器组件或末端执行器中的至少一个的致动相关联的参数；以及基于与适配器组件或末端执行器中的至少一个的致动相关联的参数来校准马达。
根据上述实施例的一个方面，参数的测量通过联接至适配器组件、末端执行器或马达中的至少一个的力传感器执行。参数的测量包括通过力传感器测量施加在适配器组件、末端执行器或马达中的至少一个上的力。
根据上述实施例的另一个方面，所述方法进一步包括将指示力的力测量信号传输至控制器。
根据上述实施例的又一个方面，所述方法进一步包括基于力测量信号将校准数据存储在联接至控制器的存储器中；基于校准数据操作马达；从与末端执行器或适配器组件中的至少一个相关联的存储装置读取与末端执行器或适配器组件中的至少一个的操作对应的值；以及基于通过校准数据调整的值操作马达。
附图说明
文中参照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手术装置、适配器组件和圆形缝合器末端执行器的手术系统的透视图；
图2是根据本发明的另一个实施例的包括图1的手持式手术装置、适配器组件和线性缝合器末端执行器的手术系统的透视图；
图3是图1的手持式手术装置的部件分开的正面透视图；
图4是从其中分离的图3的动力组和内部后壳体的正面透视图；
图5是沿图2的剖面线“5-5”截取的图2的手持式手术装置的横截面图；
图6是根据本发明的一个实施例的从图1的手持式手术装置分离的图1的适配器组件的透视图；
图7是根据本发明的一个实施例的图1的适配器组件的部分透明的透视图；
图8是根据本发明的图1的手持式手术装置的示意图；以及
图9是根据本发明的一个实施例的用于控制图1的手持式手术装置的方法的流程图。
具体实施方式
参照附图详细描述了本发明的手术装置和与手术装置一起使用的适配器组件的实施例，其中相同的附图标记在几个视图中的每一个中表示相同或相应的元件。如本文所使用的，术语“远侧”是指适配器组件或手术装置或其部件远离用户的那部分，而术语“近侧”是指适配器组件或手术装置或其部件靠近用户的那部分。
本发明提供了一种动力手术装置，所述动力手术装置包括一个或多个马达，所述马达被配置成经由适配器组件致动联接至手术装置的手术末端执行器。更具体地说，动力手术装置被配置成联接至适配器组件，适配器组件继而联接至末端执行器。一个或多个力传感器嵌入手术装置、适配器组件和/或末端执行器中的一个或多个中，并被配置成监测施加在它们中的每一个的各种机械部件上的力。力传感器被配置成向手术装置的控制器提供力测量，然后所述手术装置的控制器利用测量的力来校准其马达的操作。
根据本发明的手术装置被配置成监测各种机械部件的位置，例如手术装置、适配器和末端执行器的那些位置。动力手术装置还被配置成相应于使用期间通过力传感器测量的力来监测和反应。特别地，动力手术装置实施可由控制器执行的自适应缝合算法，其中手术装置监测机械力并响应于此调整马达速度。所述算法的执行降低了马达速度以减小力，因此可以提供例如改进的可靠性，更好的钉形成和更强的钉线的益处以减少泄漏。所述算法还可以利用由控制器使用的关闭力值来确保手术装置的适当功能，而不超过整个系统(例如，动力手术装置、适配器组件和末端执行器)的机械极限。
根据本发明的动力手术装置还被配置成执行动力手术装置、适配器组件和/或末端执行器的力校准，其允许量化在手术系统内看到的特定于所使用的部件(例如，适配器组件和末端执行器)的内在力。测量的力在缝合过程中被马达控制算法用作δ因子。δ因子包括与系统的每个部件相关联的变量，例如末端执行器的类型、末端执行器的运动、铰接角度、组织类型以及包括支撑加固材料的再加载等。这允许动力手术装置将这些因子结合到其马达控制算法中，并基于所述因子调整可接受的力范围和/或马达运动。
如图1所示，根据本发明的手术系统2包括手术装置100，所述手术装置100被显示为动力手持式机电器械，配置成选择性地附接到具有圆形缝合器再加载器401和砧座402的多个不同类型的末端执行器400。特别地，手术装置100被配置成与适配器200选择性连接，并且继而，适配器200被配置成与末端执行器400选择性连接。
图2示出了还包括图1的手术装置100的手术系统2'的另一个实施例，但是利用适用于与例如线性缝合器末端执行器的末端执行器400'或单次使用装载单元(“SULU”)一起使用的不同类型的适配器200'。因此，手术装置100被配置成与各种类型的末端执行器400或400'以及对应的适配器200或200'一起操作。
参照图2-5，手术装置100包括动力组101(图3)和被配置成选择性地接收和封闭动力组101的外罩壳体10(图2)。外罩壳体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，使得远侧和近侧半部分10a、10b沿着穿过由适配器200限定的纵轴的平面分开。当接合时，远侧和近侧半部分10a、10b限定用于接收动力组101的罩腔10c(图3)。
参照图3，每个远端和近端半部分10a、10b包括相应的上罩部分12a、12b和相应的下罩部分14a、14b。下罩部分14a包括闭合片18a，所述闭合片18a被配置成接合下罩部分14b的闭合片18b以选择性地将远侧和近侧半部分10a、10b彼此固定并且用于将罩壳体10保持在闭合构型中。
罩壳体10的远侧半部分10a还包括连接部分20，所述连接部分20被配置成联接至适配器200的相应驱动联接组件210(图6)。具体而言，连接部分20包括凹部21，所述凹部21被配置成当适配器200与手术装置100配合时接收适配器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以及在其朝向远侧的表面中形成的伸长槽24。
罩壳体10的远侧半部分10a还包括多个按钮，例如拨动控制按钮30。在实施例中，拨动控制按钮30可以是被配置成在左，右，上和下方向上被致动的双轴控制杆。拨动控制按钮30也可以是可按压的(例如，沿着第三轴)。
罩壳体10的远侧半部分10a还可以支撑多个其它按钮，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，其全部公开内容通过引用并入本文。
参照图3，罩壳体10包括可移除地支撑在远侧半部分10a中的无菌阻挡板60。无菌阻挡板60将动力组101和适配器200互连。具体地讲，无菌阻挡板60被设置在远侧半部分10a的连接部分20之后并设置在罩壳体10的罩腔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延伸穿过罩壳体10的远侧半部分10a的连接部分20的相应孔22a、22b、22c。
板60进一步包括支撑在其上的电穿通连接器66。当无菌阻挡板60被设置在罩壳体10的罩腔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24。联接轴64a、64b、64c和穿通连接器66以电和机械的方式互连适配器200和动力组101的相应的对应特征件。
在使用期间，打开罩壳体10(即，远侧半部分10a围绕铰链16与近侧半部分10b分开)，将动力组101插入罩壳体10的罩腔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的闭合片18a接合近侧半部分10b的闭合片18b。在外科手术之后，打开罩壳体10并且将动力组101从罩壳体10的罩腔10c移除。罩壳体10可以被丢弃，然后可以对动力组101进行消毒和清洁。
参照图3-5，动力组101包括具有下壳体部分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的内手柄壳体110。内手柄壳体110还包括远侧半部分110a和近侧半部分110b，其限定了用于容纳动力组芯组件106(图4)的内壳体腔110c(图4)。动力组芯组件106被配置成控制手术装置的各种操作。
参考图4，内手柄壳体110的远侧半部分110a支撑远侧拨动控制接口130，所述远侧拨动控制接口130与罩壳体10的拨动控制按钮30可操作地接合，使得当动力组101被设置在罩壳体10内时，拨动控制按钮30的致动在拨动控制接口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罩壳体10的其它按钮的各种其它控制接口。
参照图4和5，动力组芯组件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和可充电电池144，所述可充电电池144被配置成向手术装置100的任何电气部件供电。动力组芯组件106进一步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。
动力组芯组件106进一步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5)，第二马达154(图4)和第三马达156(图5)。马达152、154、156被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由被设置在马达控制器电路143上并且联接至主控制器147的相应的马达控制器(未示出)控制。主控制器147还联接至存储器141(图8)，所述存储器141也被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，FPGA提供控制逻辑信号(例如，惯性运动，制动等和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)或任何其它合适的控制信号向其相应的马达152、154、156输出对应的供能信号。
动力组芯组件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限定用于接收从罩壳体10的板60(图3)的穿通连接器66延伸的相应电触头的多个电插槽。
每个马达152、154、156包括从其延伸的相应的马达轴152a、152b、152c。每个马达轴152a、152b、152c可以具有限定在其中的凹部，所述凹部具有用于接收罩壳体10的板60的相应联接轴64a、64b、64c的近端的三叶横截面轮廓。
由相应的马达152、154、156旋转马达轴152a、152b、152c来致动适配器200的轴和/或齿轮部件，以便执行手术装置100的各种操作。特别地，动力组芯组件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，以选择性地致动末端执行器400的部件，使末端执行器400绕纵轴旋转，并使末端执行器400绕垂直于由适配器200限定的纵轴的枢转轴线枢转。
参照图6和7，适配器200包括外旋钮壳体202和从旋钮壳体202的远端延伸的外管206。旋钮壳体202被配置成并适于经由如上所述的驱动联接组件210连接到手术装置100的罩壳体10的连接部分20。外管206被配置成与末端执行器400的选择性连接(图1)。
驱动联接组件210从旋钮壳体202向近侧延伸并且包括多个可旋转的连接器套筒218、220、222。驱动联接组件210被配置成联接至罩壳体10的连接部分20的凹部21。适配器200'被配置成以类似的方式联接至手术装置100。适配器组件200的连接器290被配置为与手术装置100的穿通连接器66配合。一旦适配器200与手术装置100配合，手术装置100的联接轴64a、64b、64c接合对应的可旋转连接器套筒218、220、222。连接器套筒218、222、220中的每一个被配置成将手术装置100的相应的第一、第二和第三联接轴64a、64b、64c与适配器200的相应的近侧驱动轴(未示出)互连。近侧驱动轴中的每一个被配置成致动适配器200，末端执行器400和/或砧座402的各种部件。
参照图7，连接器套筒218被联接至可旋转的近侧驱动轴281，所述可旋转的近侧驱动轴281继而被联接至第二可旋转的驱动轴282，所述第二可旋转的驱动轴282被联接至套针组件270。为了简洁起见，仅示出了联接至连接器套筒218的机械连接。套针组件270可选择性地被联接至套针构件274或砧座组件402。适配器200还包括被设置在支撑块294中的力传感器292，所述支撑块294被固定地联接在外管206内。力传感器292被配置成测量并监测在其伸出和缩回期间施加在套针构件274上的力。另外，力传感器292还被配置成监测施加在机械地联接至力传感器292的适配器200的任何其它可移动部件上的力。力传感器292使用有线或无线连接被联接至手术装置100的主控制器147。有线连接可以是通过连接器290和穿通连接器66的任何合适的有线接口(例如，单线)。无线连接可以被实现为任何合适的电磁波通信协议，例如
Figure BDA0001659548270000081
近场通信协议、射频识别协议等。在实施例中，力传感器292可以被设置在适配器组件200'、末端执行器400或400'和/或手术装置100内。
参照图8，示出了动力组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被联接至电池144。在实施例中，马达152可被联接至任何合适的电源，所述电源被配置成向马达152提供电能，例如AC/DC变压器。
电池144和马达152被联接至马达控制器电路143，所述马达控制器电路143控制马达152的操作，包括电能从电池144流向马达152。马达控制器电路143包括被配置成测量马达152、电池144或系统2的任何其它部件的运行状态的多个传感器408a、408b、...、408n。传感器408a-n可以包括力传感器290、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还可以测量作为每分钟转数(RPM)的角速度(例如转速)，转矩，温度，电流汲取以及马达152的其它操作特性。角速度可以通过测量马达152或联接至马达152并可通过马达152旋转的驱动轴(未示出)的旋转来确定。各种轴向可移动的驱动轴的位置也可以通过使用被设置在轴中或靠近轴的各种线性传感器来确定，或者从RPM测量值外推。在实施例中，转矩可以基于恒定RPM下的马达152的调节电流汲取来计算。在进一步的实施例中，马达控制器电路143和/或控制器147可以测量时间并处理上述值作为其函数，包括积分和/或微分，例如以确定测量值的变化率。
马达控制器电路143还被联接至控制器147，所述控制器147包括用于与马达控制器电路143接口的多个输入和输出。特定地，控制器147从马达控制器电路143接收关于马达152和电池144的操作状态的测量的传感器信号，并且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还被配置成从用户界面(例如，联接至控制器147的开关，按钮，触摸屏幕等)接受多个用户输入。
参照1，2和8，末端执行器400或400'中的每一个包括分别存储关于末端执行器400或400'的数据的存储装置404。存储装置404可以包括被配置成存储关于末端执行器400或400'的任何数据的非易失性存储介质(例如，EEPROM)，包括但不限于使用计数、识别信息、型号、序列号、钉尺寸、行程长度、最大致动力、最小致动力、工厂校准数据等。
继续参照图1和图2，适配器200和200'中的每一个还包括类似于存储装置404的存储装置304。存储装置304被配置成存储与适配器200和200'有关的任何数据，包括但不限于，指定哪个可旋转的连接器套筒218、220、222对应于末端执行器400或400'的特定功能(例如，将连接器套筒218、220、222映射到功能)、使用计数、识别信息、型号、序列号、识别信息、型号、序列号、可旋转的连接器套筒218、220、222中每一个的最大和/或最小致动力、工厂校准数据等。
存储装置304和404被配置成使用有线或无线连接与手术装置100的主控制器147通信。有线连接可以是通过连接器290和穿通连接器66的任何合适的有线接口(例如，单线)。在实施例中，存储装置304和404还可以用于认证附接的组件，例如适配器200或200'，末端执行器400或400'。
本发明提供了用于控制手术装置100或任何其它动力手术器械的设备和方法，任何其它动力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、抓紧器、电外科密封钳、旋转组织切碎装置等。特定地，手术装置100被配置成基于来自力传感器292的力测量值(包括校准)来调节马达152的速度。力反馈可以在马达152的任何操作期间被利用，例如马达152是否致动末端执行器400'的铰接，从末端执行器400或400'中推出钉，移动砧座402等。此外，为了在马达152的操作期间使用连续的力反馈，手术装置100也被配置成基于适配器200或200'和末端执行器400或400'一起校准马达152，以考虑与附接到手术装置100的每个单独部件(例如，适配器200或200'，末端执行器400或400')相关联的内在机械损失。在实施例中，手术装置100还可以利用存储在存储装置304和/或存储装置404上的校准数据。校准数据可以与通过手术装置100执行的力校准结合使用，如下面进一步详细所述。
图9示出了根据本发明的操作手术装置100的方法。所述方法在下文中关于适配器200和末端执行器400进行了描述，但是适用于适配器200'和末端执行器400'或者任何其它合适的附件。最初，适配器200被联接至手术装置100。手术装置100，即主控制器147基于存储在存储装置304上的数据来验证适配器200是可信的。在验证后，主控制器147也可以从存储装置304读取额外数据，例如校准数据、最大致动力数据等。
主控制器147开始用于适配器200的第一校准过程。这包括致动联接轴64a、64b、64c中的每一个以旋转连接器套筒218、222、220和它们对应的驱动系。当连接器套筒218、222、220中的每一个被致动时，力传感器292测量施加在驱动系上的力。校准可以包括获得参考力测量，同时沿第一方向驱动连接器套筒218、222、220，直到达到它们各自的机械极限，然后使连接器套筒218、222、220返回到其起始位置或直到达到另一个机械极限。在实施例中，连接器套筒218、222、220中的每一个或全部可以被校准。对于连接器套筒218、222、220的每个机械极限所遇到的力被存储在存储器141中。另外，主控制器147还记录在校准期间施加在适配器200的驱动系上的力，即当连接器套筒218、222、220在机械极限之间被致动时相关联的力。因为适配器200不作用于任何机械负载，例如末端执行器400和/或组织，所以测量的力对应于仅驱动适配器200的部件所需的力，将其作为第一(例如，适配器)力校准数据被存储。
在适配器200的校准后，末端执行器400被联接至适配器200。手术装置100，并且即主控制器147基于存储在存储装置404上的数据验证末端执行器400是可信的。在验证后，主控制器147还可以从存储装置404读取额外数据，例如校准数据，最大致动力数据等。
主控制器147开始用于末端执行器400和/或砧座402的第二校准过程。这包括致动联接轴64a、64b、64c中的每一个以使连接器套筒218、222、220和它们对应的驱动系旋转，同时将末端执行器400和/或砧座402附接到适配器200。当连接器套筒218、222、220中的每一个被致动时，力传感器292测量施加在驱动系上的力，同时致动末端执行器400和/或砧座402。校准可以包括获得参考力测量，同时沿第一方向驱动连接器套筒218、222、220，直到达到末端执行器400和/或砧座402的机械极限，然后使铰接轴返回到其起始位置或直到达到另一个机械极限。对于每个机械极限所遇到的力被存储在存储器141中。另外，主控制器147还记录在校准期间施加在适配器200的驱动系上的力，即当末端执行器400和/或砧座402在机械极限之间被致动时相关联的力。因为在第二校准期间，适配器200致动末端执行器400和/或砧座402，所以测量的力对应于用于驱动适配器200的各种部件以及末端执行器400和/或砧座402的那些部件的组合力，将其作为第二(例如，组合)力校准数据被存储。
在实施例中，第一和第二校准过程可以作为单个序列来执行，即，第一校准可以省略并且与第二校准组合，使得在适配器200被联接至手术装置100后发生单个校准，并将具有砧座402的末端执行器400联接至适配器200)以获得组合力校准数据。在进一步的实施例中，控制器147可以基于第一与第二校准数据之间的差异来确定末端执行器400和/或砧座402的校准数据。
控制器147还使用第一和/或第二力校准数据来调整从存储装置304和/或404加载的值。除了从存储装置304和/或404加载的值外，控制器147也使用第一和/或第二力校准数据来调整存储在存储器141中的阈值。每个单独的序列(例如，切割、缝合、铰接等)可以包括多个对应的力阈值。阈值被存储在存储器141中并被控制器147用来控制每个序列。阈值中的一个可以是最大力值，超过所述最大力值，马达152的操作可能导致手术装置100，适配器200，末端执行器400和/或砧座402的损坏。在实施例中，这些部件中的每一个可以具有其自己的单独的最大阈值力值，其可以被分别存储在存储装置304或404中，并如上所述由控制器147读取。
控制器147使用测量的第一和/或第二校准数据来调整存储器141中存储的阈值。阈值的调整可以包括使用校准数据来导出偏移值，偏移值然后用于修改阈值。然后从校准数据导出的偏移值可用以通过使用定义校准数据与阈值之间的关系的任何合适的数学函数来调整阈值。
一旦执行校准并且基于第一和/或第二校准数据更新阈值，系统2可以用于执行手术过程。基于用户的输入命令，马达152被供能以致动适配器200以及末端执行器400和/或砧座402的各种部件。在操作期间，力通过力传感器292连续地测量。所收集的力数据被用于控制手术装置100被编程以执行的缝合、切割、铰接和任何其它序列。在实施例中，力阈值可以用于执行在某些操作序列期间使用的特定功能和/或子序列，例如第一阈值可以用于确定夹紧序列是否完全，第二阈值可以用于确定订合序列是否完全，并且第三阈值可以用于确定切割序列是否完全。
在实施例中，控制器147还可以连续地比较来自力传感器290的测量的力，使得它不超过最大力阈值。基于来自力传感器292的反馈，通过控制器147连续地监测最大力阈值。这起到所谓的“监视器”功能，以确保系统2的安全功能。因此，如果超过最大阈值，控制器147通过切断对马达152的电流供应和/或向用户通知错误来终止操作序列。
应所述理解，前面的描述仅仅是对本发明的说明。本领域技术人员可以设计各种替代和修改而不脱离本发明。因此，本发明用以涵盖所有这些替代，修改和变化。给出参照附图描述的实施例仅用于说明本发明的某些实例。与上述和/或所附权利要求中描述无实质不同的其它元件，步骤，方法和技术也用于在本发明的范围内。

Claims (18)

1.一种手术系统，其包括：
适配器组件，所述适配器组件包括第一存储装置；
末端执行器，所述末端执行器包括第二存储装置，并且被配置成联接至所述适配器组件的远侧部分；以及
手术装置，所述手术装置被配置成联接至所述适配器组件的近侧部分，所述手术装置包括：
电源；
联接至所述电源的马达，所述马达被配置成致动所述适配器组件或所述末端执行器中的至少一个；
存储器；以及
控制器，所述控制器可操作地被联接至所述马达并且被配置成：
在所述适配器组件由所述马达致动而所述末端执行器不联接到所述适配器组件时，在第一校准过程期间校准所述马达；
在所述末端执行器联接到所述适配器组件并且所述末端执行器由所述马达致动时，在第二校准过程期间校准所述马达；
测量与所述适配器组件的致动相关联的第一参数以及与所述末端执行器的致动相关联的第二参数；
基于所述第一参数和所述第二参数，在所述第一校准过程和所述第二校准过程期间获得校准数据；
响应于所述马达的校准，将所述校准数据存储在所述存储器中；并且
基于所述校准数据更新所述第一存储装置和所述第二存储装置中的至少一个。
2.根据权利要求1所述的手术系统，进一步包括：
力传感器，所述力传感器被联接至所述适配器组件，所述末端执行器或所述马达中的至少一个，所述力传感器被配置成测量施加在所述适配器组件、所述末端执行器或所述马达中的至少一个上的力。
3.根据权利要求2所述的手术系统，其中所述力传感器被联接至所述控制器并且被配置成提供指示所述力的力测量信号。
4.根据权利要求3所述的手术系统，其中所述存储器联接至所述控制器，所述存储器被配置成基于所述力测量信号将所述校准数据存储在所述存储器中。
5.根据权利要求4所述的手术系统，其中所述控制器进一步被配置成基于所述校准数据来操作所述马达。
6.根据权利要求1所述的手术系统，其中所述第一存储装置存储与所述适配器组件的操作对应的第一值。
7.根据权利要求6所述的手术系统，其中所述控制器进一步被配置成读取所述第一值并且基于所述校准数据调整所述第一值以获得调整的第一值。
8.根据权利要求7所述的手术系统，其中所述控制器进一步被配置成基于所述调整的第一值操作所述马达。
9.根据权利要求1所述的手术系统，其中所述第二存储装置存储与所述末端执行器的操作对应的第二值。
10.根据权利要求9所述的手术系统，其中所述控制器进一步被配置成读取所述第二值并基于所述校准数据调整所述第二值以获得调整的第二值。
11.根据权利要求10所述的手术系统，其中所述控制器被配置成基于所述调整的第二值操作所述马达。
12.一种用于控制手术系统的方法，其包括：
将适配器组件联接至手术装置，所述适配器组件包括第一存储装置；
将末端执行器联接至所述适配器组件，所述末端执行器包括第二存储装置；
向所述手术装置的马达通电以致动所述适配器组件和所述末端执行器中的至少一个；
在所述适配器组件由所述马达致动而所述末端执行器不联接到所述适配器组件时，在第一校准过程期间校准所述马达；
在所述末端执行器联接到所述适配器组件并且所述末端执行器由所述马达致动时，在第二校准过程期间校准所述马达；
测量与所述适配器组件的致动相关联的第一参数以及与所述末端执行器的致动相关联的第二参数；
基于所述第一参数和所述第二参数，在所述第一校准过程和所述第二校准过程期间获得校准数据；
响应于所述马达的校准，将所述校准数据存储在存储器中；以及
基于所述校准数据更新所述第一存储装置和所述第二存储装置中的至少一个。
13.根据权利要求12所述的方法，其中所述参数的所述测量通过联接至所述适配器组件、所述末端执行器或所述马达中的至少一个的力传感器来执行。
14.根据权利要求13所述的方法，其中所述参数的测量包括测量施加在所述适配器组件、所述末端执行器或所述马达、所述力传感器中的至少一个上的力。
15.根据权利要求14所述的方法，进一步包括将指示所述力的力测量信号传输至控制器。
16.根据权利要求15所述的方法，所述存储器联接至所述控制器，基于所述力测量信号将所述校准数据存储在所述存储器中。
17.根据权利要求16所述的方法，进一步包括基于所述校准数据操作所述马达。
18.根据权利要求17所述的方法，进一步包括：
从与所述末端执行器或所述适配器组件中的至少一个相关联的存储装置读取与所述末端执行器或所述适配器组件中的至少一个的操作对应的值；以及
基于通过所述校准数据调整的值操作所述马达。
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