CN110074755A - 具有磁性传感器的手术器械 - Google Patents

具有磁性传感器的手术器械 Download PDF

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CN110074755A
CN110074755A CN201811533578.8A CN201811533578A CN110074755A CN 110074755 A CN110074755 A CN 110074755A CN 201811533578 A CN201811533578 A CN 201811533578A CN 110074755 A CN110074755 A CN 110074755A
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magnetic field
tissue
contact surface
field sensor
surgical instrument
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阿列克谢·沙罗诺夫
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Covidien LP
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Abstract

一种手术器械包括末端执行器、磁场传感器组件和处理器。末端执行器包括第一组织接触表面和第二组织接触表面，所述第一组织接触表面和所述第二组织接触表面构造成接收组织在它们之间。所述第一组织接触表面相对于所述第二组织接触表面在间隔开的位置与接近位置之间能移动。磁场传感器组件包括布置在所述第一组织接触表面上的第一磁场传感器和布置在所述第二组织接触表面上的第一磁体，并且进一步包括第二磁场传感器和第二磁体。处理器连接至所述第一磁场传感器。所述处理器基于从所述第一磁场传感器和所述第二磁场传感器接收的可检测信号来确定所述第一组织接触表面和所述第二组织接触表面之间的距离。

Description

具有磁性传感器的手术器械
本申请是申请号为201480053283.4(国际申请号为PCT/US2014/050825)、申请日为2014年8月13日、发明名称为“具有磁性传感器的手术器械”的专利申请的分案申请。
技术领域
本公开涉及一种手术器械，并且更具体地，涉及一种包括用于确定组织厚度的磁场传感器组件的手术器械。
背景技术
各种手术操作采用微创方式来执行。这包括形成穿过患者的体壁(例如，在腹部中)的小开口，以及将手术器械穿过该小开口插入来执行手术操作。由于在内窥镜操作中使用的进入装置的相对小的内部尺寸，只有细长的、小直径的器械可以用来进入内部的体腔和器官。通常，在操作期间这种器械的感测和/或控制状态和/或参数的能力受到限制，例如，所述状态和/或参数诸如为定位在手术器械的末端执行器的组织接触表面之间的组织的厚度。
因此，存在对以下这种手术器械的需要：该手术器械能够感测定位在手术器械的末端执行器的组织接触表面之间的组织的量并且在该手术器械操作之前将该信息提供给用户。
发明内容
根据本公开的实施例，提供有一种手术器械，其包括末端执行器、磁场传感器组件和处理器。末端执行器包括第一组织接触表面和第二组织接触表面，所述第一组织接触表面和所述第二组织接触表面构造成接收组织在它们之间。所述第一组织接触表面相对于所述第二组织接触表面在间隔开的位置与接近位置之间能移动。磁场传感器组件包括布置在所述第一组织接触表面上的第一磁场传感器和布置在所述第二组织接触表面上的第一磁体。可选地，所述第一磁场传感器可以布置在所述第二组织接触表面上并且所述第一磁体可以布置在所述第一组织接触表面上。处理器连接至所述第一磁场传感器。所述处理器基于从所述第一磁场传感器接收到的可检测信号来确定所述第一组织接触表面和所述第二组织接触表面之间的距离。
在实施例中，所述手术器械可以进一步包括布置在所述第一组织接触表面上的接触传感器。所述接触传感器可以在所述第一组织接触表面朝向所述第二组织接触表面接近期间监视组织与所述第一组织接触表面之间的接触。
在另一实施例中，所述第一组织接触表面可以绕着枢轴与所述第二组织接触表面枢转地联接。具体地，所述第一磁场传感器可以邻近所述枢轴布置。所述磁场传感器组件可以进一步包括布置在所述第一磁场传感器的远侧的第二磁场传感器和布置在所述第一磁体的远侧的第二磁体，使得在所述第一组织接触表面朝向所述第二组织接触表面接近期间，所述第一磁场传感器接触组织，而所述第二磁场传感器与组织间隔开。
在实施例中，所述第一磁体和所述第一磁场传感器可以在接近位置处于重叠关系。所述第一磁场传感器可以是霍尔效应传感器。可替代的，所述第一磁场传感器可以包括磁阻膜。
在根据本公开的另一方案，提供有一种确定组织厚度的方法。所述方法包括：将组织放置在手术器械的末端执行器的第一组织接触表面和第二组织接触表面之间；使所述第一组织接触表面与所述第二组织接触表面接近；产生可检测信号；以及基于所述可检测信号来计算所述第一组织接触表面与所述第二组织接触表面之间的距离。所述可检测信号由所述第一组织接触表面上的磁场传感器响应于所述第二组织接触表面上的磁体的磁场而产生。
在实施例中，所述方法可以进一步包括确定组织与所述第一组织接触表面之间的初始接触。而且，产生可检测信号可以包括在组织与所述第一组织接触表面之间初始接触时产生所述可检测信号。
根据本公开的另一实施例，提供有一种确定组织厚度的方法。所述方法包括：将磁体放置在组织的第一侧；将安装在手术器械上的磁场传感器放置在组织的第二侧；产生可检测信号；以及基于所述可检测信号来计算所述磁体与所述磁场传感器之间的距离。所述第二侧与所述第一侧相对。所述可检测信号通过所述磁场传感器响应于所述磁体的磁场而产生。
附图说明
此后参照附图描述本公开的各种实施例，其中：
图1是根据本公开的实施例的手术器械的立体图；
图2是在第一未接近状态下示出的图1的手术器械的主体的侧视剖视图；
图3是在第一未接近状态下示出的图1和图2的手术器械的工具组件的放大侧视剖面图；
图4是在第二接近状态下示出的图1和图2的手术器械的工具组件的放大侧视剖面图；
图5是在完成发射行程之后示出的图1和图2的手术器械的工具组件的放大侧视剖面图；
图6是根据本公开的另一实施例的手术器械的立体图；
图7是在手柄部的一部分从其移除时的图6的手术器械的手柄组件的俯视立体图；
图8是在第一状态下示出的图6和图7的手术器械的远侧端的侧视剖面图；
图9是在第二状态下示出的图6和图7的手术器械的远侧端的侧视剖面图；
图10是根据本公开的另一实施例的手术器械的立体图；
图11是图10的手术器械的侧视剖面图；以及
图12是用于和图10的手术器械一起使用的磁体组件的部分立体图。
具体实施方式
现在将参照附图详细描述本公开的实施例，其中在若干视图的每个中相同参考标号指代相同或者对应的元件。正如在此使用的，传统上讲，术语“远侧”将指代器械、设备、装置或其部件的远离用户的部分，而术语“近侧”将指代器械、设备、装置或其部件的靠近用户的部分。在后面的描述中，众所周知的功能或构造未详细描述以避免不必要的细节使得本公开费解。
现在参照图1和图2，图示出了根据本公开的实施例的包括磁场传感器组件3000(图2)的手术器械300。手术器械300包括手柄组件312和细长主体314。手柄组件312包括固定手柄构件326、活动手柄或扳机328和筒状部330。一次性装载单元或DLU 316被可释放地稳固至细长主体314的远侧端。DLU 316包括近侧主体部318以及远侧工具组件或末端执行器320，其中，近侧主体部318形成细长主体314的延伸，远侧工具组件或末端执行器320包括钉仓组件322和砧座组件324。工具组件320绕与细长主体314的纵轴线基本上垂直的轴线可枢转地连接至主体部318。对于手术器械300的结构和操作的更详细的论述，可参考序列号为8,281,937的美国专利，其全部内容通过参考合并于此。
现在具体参照图2至图4，手术器械300包括布置在工具组件320中的磁场传感器组件3000。磁场传感器组件3000包括布置在钉仓组件322的组织接触表面322a(图3)上的多个磁体362a、362b、362c、362d以及布置在砧座组件324的组织接触表面324a(图3)上的多个磁场传感器360a、360b、360c、360d。磁体362a、362b、362c、362d可以是永磁体或电磁体。
磁场传感器360a、360b、360c、360d可以是能够响应于磁场的存在而产生可检测信号的任意类型的传感器。在实施例中，由传感器产生的可检测信号的大小随着检测到的磁场的强度而改变。合适的磁场传感器包括例如霍尔效应传感器。正如本领域技术人员应当理解的，霍尔效应传感器是响应于磁场而改变其输出电压(可检测信号)的换能器。磁阻膜可以在制造磁场传感器中使用。例如，由薄膜巨磁阻(GMR)材料制成的磁场传感器可以邻近用于产生磁场的源放置。在实施例中，GMR材料和用于产生磁场的源可以放置在手术器械300的相应的组织接触表面322a、324a上。因此，从GMR材料至用于产生磁场的源的距离随着组织的厚度的变化而改变。从GMR材料至用于产生磁场的源的距离可以在任意给定的时间处基于由GMR材料根据磁场的强度所产生的可检测信号的大小来计算。
针对磁体362a、362b、362c、362d，预先校准磁场传感器360a、360b、360c、360d。对于任意的特定磁体362a、362b、362c、362d以及传感器360a、360b、360c、360d相对于该磁体的方位，传感器360a、360b、360c、360d与相应的磁体362a、362b、362c、362d之间的距离能够通过预校准值的插值来确定。与磁场成正比的传感器读数通过插值或查找表而转换成距离测量结果，在该查找表中，磁场测量结果的每个值均被转变成组织的厚度。
材料的磁导率由以下等式来给出
μ＝μ0(1+χm)…………………………………………………..(等式1)
其中，μ0是自由空间的磁导率且χm是材料的磁化率。对于抗磁材料和顺磁材料而言，磁化率是极小的(χm＜＜1)(例如，水的χm是-9.035×10-6)。人体组织以及其他非铁的和亚铁磁的材料与自由空间在磁场传播方面基本上没有不同。由此，抗磁材料和顺磁材料的磁导率与自由空间的磁导率基本上没有不同，并且插入到磁体和磁强计之间的这些材料对距离测量结果基本上没有影响。
现在具体参照图3和图4，磁体362a、362b、362c、362d以及对应的磁性传感器360a、360b、360c、360d安放在相应的组织接触表面322a、324a上，使得在砧座组件324处于接近位置(图4)以将组织“T”夹紧在组织接触表面322a、324a之间时磁体362a、362b、362c、362d以及对应的磁性传感器360a、360b、360c、360d形成对并且处于重叠关系。
传感器360a、360b、360c、360d可以选择性地连接至处理器或中央处理单元(CPU)(图1)，用于在手术操作之前、期间和/或之后监视、控制、处理和/或存储观察到的、测量出的、感测到的和/或从手术器械的部件的任意元件传送而来的信息。传感器360a、360b、360c、360d可以经由电线7(图3)电连接至CPU或者是无线连接至CPU。由传感器360a、360b、360c、360d收集的数据被发送至CPU。数据借助插值而转换成距离测量结果，在插值中，磁场测量结果的每个值被转变成组织厚度。组织厚度可以以长度(厚度)单位显示在指示器(未示出)上，或者可替代地，在任何特定的情况下图形地呈现用于该装置的潜在使用，例如，该装置是否被恰当地定尺寸来用于该操作。可以想到，显示器可以是图像从腹腔镜检查手术期间所使用的照相机所显示到的监控器。还可以想到，显示器可以在器械自身上，例如是在手术器械300的筒状部330上，或者是手术器械300的在手术期间容易由用户观察的任意其他部分。
工具组件320可以进一步包括连接至CPU的接触传感器77a、79a，以检测组织“T”与砧座组件324的组织接触表面324a之间的初始接触。例如，接触传感器77a、79a可包括压力传感器、电触头和感测电路、测力传感器、压电元件、压敏电阻元件、金属膜应变仪、半导体应变仪、感应式压力传感器、电容式压力传感器以及电位压力传感器。
接触传感器77a、79a可分别邻近传感器360a和磁体362a布置。具体地，接触传感器77a在砧座组件324接近期间检测组织接触表面324a与组织“T”之间的初始接触。通过这种方式，当组织“T”初始地与砧座组件324的组织接触表面324a接触时，磁场传感器360a能够测量组织厚度，这转而使得外科医生能够测量组织“T”的基本上未压缩的厚度。随着手术器械300正在夹紧到组织“T”上，接触传感器77a、79a可以向用户提供关于组织“T”何时初始地与砧座组件324的组织接触表面324a相接触的指示(例如，听觉的、视觉的、触觉的，等等)。
在使用时，通过处于彼此间隔关系的钉仓组件322和砧座组件324，目标组织“T”被放置在它们之间。在目标组织“T”安置在钉仓组件322与砧座组件324之间的情况下，砧座组件324朝钉仓组件322接近。接触传感器77a、79a可以检测组织“T”与组织接触表面324a之间的初始接触。此时，磁场传感器360a可以测量磁场并将数据发送至CPU，该CPU确定组织“T”的基本上未压缩的厚度。测量和/或记录处于未压缩状态的组织厚度。此后，钉仓组件322和砧座组件324进一步接近，直到所有的传感器360a、360b、360c、360d都与相应的磁体362a、362b、362c、362d处于重叠关系。然后，测量和/或记录处于压缩状态的组织厚度。
参照图1和图5，砧座组件324相对于钉仓组件322是能够在与钉仓组件322间隔开的打开位置(图3)和处于并置对齐于钉仓组件322的接近或夹紧位置(图4)之间移动的。为了使钉仓组件322与砧座组件324接近，在整个致动行程中，活动手柄328朝向固定手柄326移动。活动手柄328在整个致动行程中的后续移动引起致动轴和发射杆(未示出)的推进。随着致动轴被推进，发射杆也被推进。
发射杆在其远侧端连接至轴向的驱动组件312a(图4)，使得发射杆的推进引起驱动组件312a的推进。随着驱动组件312a被推进，凸轮滚柱386移动到与砧座组件324的凸轮表面309接合以将砧座组件324朝向钉仓组件322促动，从而使钉仓组件322与砧座组件324接近并且将组织“T”夹紧在它们之间。
为了发射手术器械300，活动手柄328在整个第二致动行程中移动以进一步将致动轴和发射杆向远侧推进。随着发射杆被向远侧推进，驱动组件312a(图4)被向远侧推进以推进致动滑块334穿过吻合钉钉仓组件322，从而同时用刀具380切断组织“T”并驱动推动器348以从钉仓组件322顺序地射出吻合钉“S”。
手术器械300适于接收具有如下吻合钉钉仓的DLU：吻合钉处于具有从大约30mm至大约60mm的长度的线性排中。例如，活动手柄328的在手术器械300的发射期间的每个致动行程可以将致动轴推进大约15mm，然而也能想到其他长度。因此，在发射具有45mm的吻合钉排的钉仓组件的实施例中，活动手柄328必须在活动手柄328的接近或夹紧行程之后的整个三个致动行程中移动。
现在参照图6至图9，包括根据本公开的另一实施例的磁场传感器组件1000(图8)的手术器械被总体表示为100。手术器械100包括近侧手柄组件112、包括弯曲细长外管114a的细长中央主体部114以及远侧头部116。可选地，在一些手术操作中，例如，在痔疮的治疗中，期望具有基本上直的、优选短的中央主体部。主体部114和头部116的长度、形状和/或直径还可以针对所执行的特定手术操作来调整。
继续参照图6，手柄组件122包括固定手柄118、发射扳机120、可旋转式接近旋钮122和指示器124。头部116包括砧座组件130和外壳组件131。对于手术器械100的结构和操作的更详细的论述，可参照序列号为7,802,712的美国专利，其全部内容通过引用方式合并于此。
另外参照图6、图8和图9，磁场传感器组件1000包括布置在外壳组件131的组织接触表面131a上的多个磁体162和布置在砧座组件130的组织接触表面130a上的多个磁场传感器160。磁体162和磁场传感器160可以如上结合图1至图5的实施例所述的那样构成。
继续参照图8和图9，磁体162和对应的磁场传感器160安置在相应的组织接触表面130a、131a上，使得在砧座组件130处于接近位置(图9)以将组织“T1”、“T2”夹紧在组织接触表面130、131a之间时磁体162和对应的磁场传感器160成对并且处于重叠关系。来自磁场传感器160的磁场读数或可检测信号被发送至处理器(CPU)(图6)。该数据通过插值而转换成距离测量结果，在该插值中，磁场测量结果的值变换成组织厚度。组织厚度能够以任何合适的方式进行显示，诸如，例如以长度(厚度)单位显示在指示器124(图6)上，或者可替代地，在任何特定的情况下图形地呈现用于该装置的潜在使用，例如，装置口径是否适合于特定操作。
头部116可进一步包括连接至CPU的接触传感器177、179，以提供关于介于砧座组件130和外壳组件131之间的组织何时初始地与组织接触表面130a接触的指示。因此，当组织初始地与组织接触表面130a接触时，可以通过监视磁场传感器160来测量组织的基本上未压缩的厚度。
现在参照图7和图8，接近机构包括接近旋钮122、传动螺杆132、可旋转套筒170和用于支撑砧座组件130的砧座保持器138(图8)。可旋转套筒170包括基本上圆筒状的中空主体部和基本上圆筒状的卡圈142，这两者一起限定中央孔。卡圈142具有绕其形成的环形的沟槽144，所述沟槽144定尺寸成接收在手柄组件118的内壁上形成的朝内延伸的凸缘。沟槽144与凸缘之间的接合将套筒170轴向地固定在手柄组件118内，而同时允许套筒170相对于手柄组件118旋转。一对完全对置的细长的肋148安置在或形成在主体部的外表面上。接近旋钮122包括安置成接收套筒170的肋148以将套筒170旋转地固定至旋钮122的一对内狭槽(未示出)，使得旋钮122的旋转引起套筒170的伴随旋转。
螺杆132的近侧半部包括螺旋状槽150并且定尺寸成滑动地安置在可旋转套筒170的中央孔内。因为套筒170相对于手柄组件118轴向地固定，所以套筒170绕螺杆132的旋转引起销(未示出)沿着螺杆132的槽150移动以引起螺杆132在手柄组件118内的轴向移动。
在使用时，当接近旋钮122被手动旋转时，可旋转套筒170绕螺杆132的近侧端旋转以使销沿着螺杆132的螺旋状槽150移动。因为套筒170被轴向地固定至手柄组件118，所以随着销移动穿过槽150，螺杆132在手柄组件118内被推进或缩回。结果，紧固至螺杆132的远侧端和砧座保持器138的顶螺杆延伸部和底螺杆延伸部(未示出)在细长主体部114内轴向地移动。因为砧座组件130被稳固至砧座保持器138的远侧端，所以接近旋钮122的旋转将引起砧座组件130相对于外壳组件131在间隔开的位置与接近位置之间的移动。
在外壳组件131和砧座组件130处于彼此间隔开的关系的情况下，目标组织被放置在它们之间。在目标组织安置在外壳组件131和砧座组件130之间的情况下，砧座组件130朝向外壳组件131接近，直到目标组织与接触传感器177、179形成接触。此时，磁场传感器160可以测量磁场并且将数据发送至CPU，该CPU确定基本上未压缩的组织的厚度。显示和/或记录处于未压缩状态的组织厚度。此后，外壳组件131和砧座组件130进一步接近，直到在外壳组件131和砧座组件130之间获得期望的间隙。在外壳组件131和砧座组件130接近期间或之后，可以通过磁场传感器160测量压缩后组织的厚度。
在操作中，在将第一组织“T1”荷包式缝合到砧座组件130并将第二组织“T2”荷包式缝合到外壳组件131(图8)之后，接近旋钮122被旋转以使砧座组件130朝向外壳组件131接近。随着砧座组件130和外壳组件131朝向彼此接近，第一组织“T1”和第二组织“T2”被朝向彼此拉伸并张紧。随着第一组织“T1”和第二组织“T2”张紧，第一组织“T1”和第二组织“T2”趋于分别环绕着外壳组件131和砧座组件130收紧。这种收紧在每个相应的力测量传感器164、166上施加力。由每个力测量传感器164、166测得的力可以使用已知算法转变成施加在每个组织“T1”、“T2”上的张紧力的值。手术器械100可以包括支撑在手柄组件112的固定手柄118上的计量器140(图6)。每个传感器160可以操作性地连接至计量器140。计量器140用以实时地显示所选择的操作参数，例如，该操作参数诸如为组织接触、组织压缩、组织张紧等。
在手术吻合操作期间，可以监视第一组织“T1”和第二组织“T2”上的张力以将施加在其上的张力维持在预定的阈值水平或低于预定的阈值水平。例如，如果施加在每个组织“T1”、“T2”上的张力单独地或组合地超过预定的阈值水平，那么升高的张力作用在吻合线上并且会导致过度的应变施加在吻合钉和/或吻合线上。
现在参照图10和图11，包括根据本公开的实施例的磁场传感器560的手术器械被总体表示为500。手术器械500构造成连续地部署至少一个手术锚固件510处以在组织中的缺陷(诸如腹股沟疝)的修复中将修复体固定就位。手术器械500包括手柄组件520和从手柄组件520向远侧延伸的输送管530。手柄组件520包括固定手柄521和发射扳机522。对于手术器械500和手术锚固件510的结构和操作的更详细地讨论，可参考序列号为7,758,612的美国专利，其全部内容通过引用方式合并于此。
现在参照图10和图12，磁场传感器560布置在输送管530的远侧部处。磁场传感器560例如在输送管530的最远侧部分处的放置利于其与磁体组件600结合使用。磁体组件600包括磁体605和从磁体605伸出的细长支撑件607。磁体605和磁场传感器560可以结合图1至图9的实施例如上所述地构成。
磁体605可以安置在待测量的组织的一侧并且磁场传感器560可以放置在组织的相对侧。磁场传感器560响应于磁体605的磁场而产生可检测信号。磁场传感器560可以连接至处理器(未示出)。该处理器可以基于可检测信号来计算磁体605和磁场传感器560之间的距离，即组织的厚度。
参照图11，在确定组织的厚度时，外科医生可以随后通过将扳机522朝向固定手柄521拉动来将手术锚固件510施加至组织。当外科医生将扳机522朝向固定手柄521拉动时，操作杆524逆时针方向旋转以使得操作杆524的凸轮表面531接触活塞525，活塞525将锚固件承载杆526向远侧驱动。随着操作杆524逆时针方向旋转，扭力弹簧527被压缩。锚固件承载器526在辫式弹簧(queuing spring)528内被向远侧推动，辫式弹簧528转而推动最远侧锚固件510经过输送管530的远侧端。通过这种方式，锚固件510穿透修复体和组织。
尽管已经参照附图对本公开的示意性实施例进行了描述，但上面的描述、公开和图不应理解为限定，而是仅仅作为特定实施例的范例。例如，在结合图1至图5描述的实施例中，可以想到，多个磁体362a至362d可以布置在砧座组件324的组织接触表面324a上，并且多个磁场传感器360a至360d可以布置在钉仓组件322的组织接触表面322a上。类似地，关于结合图6至图9描述的实施例，可以想到，多个磁体162可以布置在砧座组件130的组织接触表面130a上，并且多个磁场传感器160可以布置在外壳组件131的组织接触表面131a上。另外，可以想到，磁体605可以放置在输送管530的远侧部上，并且磁场传感器560可以设置为与手术器械500分离的元件。因此，应当理解，本公开不局限于那些精确的实施例，而是在不偏离本公开的范围或精神的情况下可以在此由本领域技术人员实施各种其它变化和变型。

Claims (7)

1.一种手术器械(300)，包括：
末端执行器(320)，其包括第一组织接触表面(130a)和第二组织接触表面(131a)，所述第一组织接触表面和所述第二组织接触表面构造成接收组织在它们之间，所述第一组织接触表面相对于所述第二组织接触表面在间隔开的位置与接近位置之间能移动；以及
磁场传感器组件(1000)，其包括布置在所述第一组织接触表面上的第一磁场传感器(160)和布置在所述第二组织接触表面上的第一磁体(162)，并且进一步包括布置在所述第一磁场传感器(160)的远侧的第二磁场传感器和布置在所述第一磁体(162)的远侧的第二磁体，使得在所述第一组织接触表面朝向所述第二组织接触表面接近期间，所述第一磁场传感器接触组织，而所述第二磁场传感器与组织间隔开；以及
处理器，其连接至所述第一磁场传感器，其中所述处理器基于从所述第一磁场传感器和所述第二磁场传感器接收的可检测信号来确定所述第一组织接触表面和所述第二组织接触表面之间的距离。
2.根据权利要求1所述的手术器械(300)，进一步包括布置在所述第一组织接触表面(130a)上的接触传感器(177，179)，所述接触传感器监视组织与所述第一组织接触表面之间的接触。
3.根据权利要求1或权利要求2所述的手术器械(300)，其中，所述第一组织接触表面(130a)绕着枢轴与所述第二组织接触表面(131a)枢转地联接。
4.根据权利要求3所述的手术器械(300)，其中，所述第一磁场传感器(160)邻近所述枢轴布置。
5.根据前面权利要求中的任一项所述的手术器械(300)，其中，所述第一磁体(162)和所述第一磁场传感器(160)在接近位置处于重叠关系。
6.根据前面权利要求中的任一项所述的手术器械(300)，其中，所述第一磁场传感器(160)和/或所述第二磁场传感器是霍尔效应传感器。
7.根据前面权利要求中的任一项所述的手术器械(300)，其中，所述第一磁场传感器(160)和/或所述第二磁场传感器包括磁阻膜。
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