CN110693556A - 包含预测性电机控制的电动手术装置 - Google Patents

包含预测性电机控制的电动手术装置 Download PDF

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CN110693556A
CN110693556A CN201910607486.8A CN201910607486A CN110693556A CN 110693556 A CN110693556 A CN 110693556A CN 201910607486 A CN201910607486 A CN 201910607486A CN 110693556 A CN110693556 A CN 110693556A
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克里斯托弗·凯利·埃文斯
托马斯·温加德纳
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Abstract

本发明涉及一种包含预测性电机控制的电动手术装置。一种电动手持式机电手术装置包含：马达，其被配置成驱动驱动组件的延伸和缩回；传感器，其被配置成感测在所述驱动组件的延伸期间施加在所述驱动组件上的力；以及控制器，其包含处理器和存储指令的非暂时性计算机可读存储介质，所述指令在由所述处理器执行时致使所述处理器从所述传感器接收所述感测的力，根据所述感测的力控制在所述驱动组件的延伸期间所述马达的速度，确定在所述驱动组件的延伸期间的速度曲线或力曲线，且根据所述速度曲线或所述力曲线控制在所述驱动组件的缩回期间所述马达的速度。

Description

包含预测性电机控制的电动手术装置
技术领域
本公开大体上涉及手术装置。更确切地说，本公开涉及电动手持式机电手术装置。
背景技术
许多制造商已经开发出带有电动驱动系统的手术装置，所述驱动系统用于操作和/或操纵装置的远端处的末端执行器。在许多情况下，手术装置包含可再用的电动手柄组合件以及末端执行器，所述末端执行器在使用之前选择性地连接到电动手柄组合件，并且接着在使用之后与其断开连接以便弃置或在一些情况下进行除菌以用于再使用。
例如机电手术钉合器等电动手术装置的使用在过去的几十年中已经极大地增长。在这些智能装置内的高级技术和信息科学提供了搜集临床和操作性数据的能力，所述数据可以用于改善性能，推动设计改进，并且最终改善患者结果。
发明内容
如本文中详述和附图中示出，按传统当参考在手术器械上相对定位时，术语“近侧”是指更靠近用户的设备的末端或其组件，并且术语“远侧”是指更远离用户的设备的末端或其组件。此外，在某种程度上一致，本文详述的方面和特征中的任一者或全部可以与本文详述的另一方面和特征中的任一者或全部结合使用。
根据本公开的方面提供一种电动手持式机电手术装置，其包含：马达，其被配置成驱动驱动组件的延伸和缩回；传感器，其被配置成感测在驱动组件的延伸期间施加在驱动组件上的力；以及控制器，其包含处理器和非暂时性计算机可读存储介质。所述存储介质存储指令，所述指令在由所述处理器执行时致使所述处理器从传感器接收感测的力，根据感测的力控制在驱动组件的延伸期间马达的速度，确定在驱动组件的延伸期间的速度曲线和/或力曲线，且根据所述速度曲线和/或力曲线控制在驱动组件的缩回期间马达的速度。
在本公开的一方面中，所述电动手持式机电手术装置相应地还包含：手柄组合件，其包含安置于其中的马达和控制器；以及适配器组合件，其与手柄组合件以可释放方式接合且包含安置于其中的驱动组件和传感器。
在本公开的另一方面中，所述电动手持式机电手术装置还包含与适配器组合件以可释放方式接合的末端执行器。在此些方面中，驱动组件的延伸达成关闭或发动末端执行器中的至少一种情况，且驱动组件的缩回打开末端执行器。
在本公开的又一方面中，传感器是应变计。
在本公开的再一方面中，马达提供旋转输出。所述旋转输出被转换为驱动组件的平移以延伸和缩回驱动组件。
根据本公开的方面提供的控制电动手持式机电手术装置的方法包含：激活马达以驱动驱动组件的延伸，感测在驱动组件的延伸期间施加在驱动组件上的力，根据感测的力控制在驱动组件的延伸期间马达的速度，确定在驱动组件的延伸期间的速度曲线或在驱动组件的延伸期间的力曲线中的一个，且根据所述速度曲线或力曲线控制在驱动组件的缩回期间马达的速度。
附图说明
参考附图详细描述本公开的方面和特征，其中类似的附图标号表示相似或相同的结构元件，并且：
图1是被配置成根据本公开使用且包含手柄组合件、适配器组合件和末端执行器的手术装置的透视图；
图2是具有分离的零件的图1的手术装置的手柄组合件的透视图；
图3是图1的手术装置的适配器组合件的透视图；
图4是图1的手术装置的末端执行器的透视图；
图5A是示出在图1的手术装置的关闭和发动期间的示例性力和马达速度曲线的图；以及
图5B是示出在图1的手术装置的缩回期间的示例性马达速度曲线的图。
具体实施方式
转向图1，示出例示本公开的方面和特征的电动手持式机电手术装置，大体上由附图标记10标识。手术装置10包含手柄组合件100、适配器组合件200和末端执行器300。手柄组合件100被配置成用于与适配器组合件200选择性连接，并且适配器组合件200又被配置成用于与末端执行器300选择性连接。虽然本文关于手术装置10进行详细说明，但是应了解，本公开的方面和特征同等地适用于任何合适的电动手持式机电手术装置。因此，本文仅在例示本公开的方面和特征所必要的程度上详细说明手术装置10。手术装置10的更详细描述可参见共同拥有的美国专利申请公开案第2016/0310134号，该案的全部内容特此以引用方式并入。
还参见图2，手柄组合件100大体上包含外部外壳壳体112、安置于外部外壳壳体112内的内部手柄外壳114，以及安置于内部手柄外壳114内以用于供电和控制手术装置10的各种操作的电源组120。安置于外部外壳壳体112上的多个致动器116(例如，手指致动的控制按钮、旋钮、双态开关、滑件、接口及类似物)与电源组120连通以实现电源组120的用户控制的激活来执行手术装置10的各种操作。
电源组120包含被配置成对手术装置10供应电力的可再充电电池122、电池电路板124(包含至少一个处理器和相关联存储器)，和控制器电路板126。控制器电路板126包含彼此可操作地联接的马达控制器电路板126a(包含至少一个处理器和相关联存储器)和主控制器电路板126b(包含至少一个处理器和相关联存储器)。马达控制器电路板126a与电池电路板124可操作地联接，从而实现其间的通信以及电池电路板124与主控制器电路板126b之间的通信。
电源组120还包含一个或多个马达128，每一马达电连接到控制器电路板126和电池122。每一马达128包含从其延伸的用于传递旋转力的相应马达轴杆(未图示)，且受到安置于马达控制器电路板126a上的相应马达控制器控制以实现对每一马达128的独立控制。每一马达轴杆通过其相应马达128的旋转用以驱动适配器组合件200的对应组件，以便执行手术装置10的各种操作，如下详述。更具体地，每一马达128的马达轴杆被配置成与手柄组合件100的板组合件140的输出轴杆142协作以提供从手柄组合件100到适配器组合件200的旋转输出。
与图1和2结合参考图3，适配器组合件200包含连接器外壳202和从连接器外壳202向远侧延伸的外管204。连接器外壳202被配置成用于可操作地连接到手柄组合件100，且外管204的远侧末端部分被配置成用于可操作地连接到末端执行器300。适配器组合件200还包含一个或多个可旋转连接器210，每一可旋转连接器从连接器外壳202向近侧延伸且被配置成借助于手柄组合件100的板组合件140的对应输出轴杆142可操作地联接到手柄组合件100的对应马达轴杆，以实现每一连接器210通过相应马达128的独立旋转，以使得旋转力可以从手柄组合件100的马达128选择性地传送到适配器组合件200。适配器组合件200还包含一个或多个力/旋转传递/转换组合件(未图示)，每一所述组合件延伸穿过连接器外壳202和外管204且可操作地联接到连接器210中的一个。举例来说，可以提供第一力/旋转传递/转换组合件以将从马达128中的第一个到第一连接器210的旋转输入转换成适配器组合件200的关节杆(未图示)的轴向平移以实现末端执行器300的关节运动，可以提供第二力/旋转传递/转换组合件以将从马达128中的第二个到第二连接器210的旋转输入转换成适配器组合件200的环形齿轮(未图示)的旋转以实现适配器组合件200的旋转，且因此实现末端执行器300的旋转，且可以提供第三力/旋转传递/转换组合件以将从马达128中的第三个到第三连接器210的旋转输入210转换成驱动组件的轴向平移，例如适配器组合件200的远侧驱动部件250的轴向平移，以实现末端执行器300的关闭、打开和发动。
适配器组合件200的电组合件220由连接器外壳202支撑，且包含从电路板224延伸的用于电连接到手柄组合件100的多个电触点222。电组合件220还包含电连接到电路板224(例如，至少一个处理器及其相关联存储器)的应变计226，用于由适配器组合件200展现的关闭/发动负载的反馈，例如关于适配器组合件200的远侧驱动部件250关闭和发动末端执行器300的远侧平移的力反馈。此力反馈又传送到电源组120，例如，主控制器电路板126b的处理器和相关联存储器，从而又引导马达控制器电路板126a的适当马达控制器设定适当马达128上的速度当前限值，以确保关闭和发动力维持在可接受限值内。电路板224还包含存储器，所述存储器被配置成存储与适配器组合件200相关的数据，例如识别信息、寿命周期信息、系统信息、力信息，所述数据可以同样传送到电源组120。
参看图4，末端执行器300呈线性钉合单次使用加载单元的形式。然而，应理解，还可使用其它类型的末端执行器，其中本公开的手术装置10包含例如端对端吻合加载单元、多次使用加载单元、横向加载单元和弯曲加载单元。与手术装置10一起使用的特定末端执行器300由手柄组合件100的电源组120辨识以实现其适当操作。
末端执行器300包含近侧主体部分310和工具组合件320。近侧主体部分310被配置成以可释放方式附接到适配器组合件200的远侧末端部分，且工具组合件320可枢转地附接到近侧主体部分310。工具组合件320包含砧座组合件330和仓组合件340。砧座组合件330和仓组合件340相对于彼此枢转，使得工具组合件320在打开或未夹持位置与关闭或夹持位置之间可移动。
砧座组合件330包含砧座板332，所述砧座板限定组织接触表面(未图示)，所述组织接触表面具有多个钉形成凹穴(未图示)和限定于其中的纵向狭槽(未图示)。仓组合件340包含钉仓342和仓载体344。钉仓342限定组织接触表面，所述组织接触表面具有形成于其中以用于接纳多个钉(未图示)的钉凹穴以及形成于钉仓342中且沿着其实质长度延伸的纵向狭槽。仓载体344限定被配置成在其中选择性地接纳钉仓342的细长支撑通道。
末端执行器300的近侧主体部分310包含驱动组合件315，所述驱动组合件与砧座组合件330和仓组合件340可操作地相关联且可滑动地安置于这两者之间。驱动组合件315包含驱动组件，例如，延伸到包含刀的I形梁的细长驱动梁。I形梁被配置成接合砧座组合件330和仓组合件340，并且在相对于它们进行远侧平移时使砧座组合件330和仓组合件340相对于彼此枢转以关闭末端执行器300，从而将组织夹持在砧座组合件330和仓组合件340的组织接触表面之间。I形梁还被配置成平移通过砧座组合件330和仓组合件340的纵向通道以驱动滑板(未图示)，所述滑板从钉仓342推动钉通过被夹持的组织进入砧座组合件330的钉形成凹穴，以发动末端执行器300且围绕被夹持的组织形成钉。I形梁的刀行进通过穿过砧座组合件330和仓组合件340限定的纵向狭槽，以在末端执行器300的发动期间纵向切割被夹持且钉合的组织。驱动组合件315与适配器组合件200的远侧驱动部件250可操作地相关联，以使得远侧驱动部件250的远侧平移(由从电源组120的马达128中的一个接收的第一旋转输出实现)被赋予驱动组合件315以驱动I形梁关闭且发动末端执行器300。另一方面，远侧驱动部件250的近侧平移(由从电源组120的马达128中的一个接收的第二相反旋转输出实现)用以向近侧缩回驱动组合件315以使I形梁返回到其初始位置且打开末端执行器300以释放被钉合且切割的组织。
对于末端执行器300的构造和操作的较详细讨论，如图1和4中所图示，可以参考2009年8月31日提交的标题为《用于手术钉合装置的工具组合件(TOOL ASSEMBLY FOR ASURGICAL STAPLING DEVICE)》的第7,819,896号美国专利，其全部内容以引用的方式并入本文中。
大体上参见图1-4，如上所述，适配器组合件200的远侧驱动部件250的远侧平移(延伸)被赋予末端执行器300的驱动组合件315以关闭且发动末端执行器300。还如上文提到，电源组120控制马达128中的一个以提供旋转输出到适配器组合件200，所述旋转输出又被转换(经由适配器组合件200的对应力/旋转传递/转换组合件)成远侧驱动部件250的远侧平移并且因此驱动末端执行器300的关闭和发动。更具体地，电源组120，例如主控制器电路板126b的处理器和相关联存储器，从适配器组合件200的应变计226接收力反馈(经由电路板224)以设定对应马达128上的速度当前限值以确保夹持和发动力维持在可接受限值内。因此，实现基于反馈的控制，由此可以基于如应变计226报告的所遇到的夹持和发动力而在夹持和发动操作期间的不同点增加、减小或维持马达128的速度。
一旦发动完成且期望缩回驱动组合件315并打开末端执行器300以释放被钉合且切割的组织，电源组120就驱动马达128中的一个以提供旋转输出到适配器组合件200，所述旋转输出又被转换(经由适配器组合件200的对应力/旋转传递/转换组合件)成远侧驱动部件250的近侧平移(缩回)。如上所述，远侧驱动部件250的此近侧平移驱动驱动组合件315的缩回和末端执行器300的打开。然而，应变计226或者末端执行器300或适配器组合件200的任何其它组件在驱动组合件315的缩回期间都不提供力反馈到电源组120，并且因此在末端执行器300的关闭和发动期间提供的基于反馈的控制在缩回期间不可用。
已发现，控制驱动组合件315的缩回对于管理缩回力且进而防止系统损坏或故障是重要的。另一方面，期望最小化缩回时间以减小手术程序的时长并且因此减小患者需要保持麻醉的时间。然而，如上所述，在关闭和发动期间提供的基于反馈的控制在缩回期间不可用。
为了控制缩回以管理缩回力，同时最小化缩回时间，在缩回期间利用用以控制关闭/发动的来自应变计226的力反馈，因此避免对缩回力反馈的需要。更具体地，与电源组120的主控制器电路板126b的处理器相关联的存储器(或与电源组120相关联的其它合适的存储器)被配置成在关闭和发动期间存储力曲线(基于从应变计226接收的信息)和/或马达速度曲线(基于根据来自应变计226的力反馈对适当马达128的控制)以使得所述曲线可用于控制缩回。
另外参考图5A，提供用于关闭/发动的样本力和马达速度曲线(出于说明性目的)。如所说明，针对关闭/发动的初始第一部分“F1”以第一速度“S1”初始地驱动马达128。响应于减小的力，在关闭/发动的第二部分“F2”期间将马达128的速度增加到第二速度“S2”。后续的力增加造成在关闭/发动的第三部分“F3”期间马达128从第二速度“S2”减小到第三速度“S3”。再进一步的力增加造成在关闭/发动的第四部分“F4”期间马达128减小到第四速度“S4”。最终，力的减小造成在关闭/发动的第五且最终部分“F5”期间马达128的速度从第四速度“S4”增加到第五速度“S5”。
还参见图5B，提供基于关闭/发动的样本力和/或马达速度曲线(见图5A)的针对缩回的样本马达速度曲线。如图5B中所说明，基于关闭/发动力曲线和/或关闭/发动马达速度曲线(见图5A)，在缩回期间控制马达速度以考虑其中可能将满足增加的力和/或其中可能将需要减小的马达速度的缩回部分。如所理解，在与关闭/发动相反的方向上实现缩回，并且因此缩回马达速度曲线与关闭/发动马达速度曲线相反地相关。类似地，缩回马达速度曲线可以与关闭/发动力曲线相反地相关。更具体地，在对应于关闭/发动的最终第五部分“F5”的缩回的初始第一部分“R1”期间，马达被设定成速度“S5”。在对应于关闭/发动的第四部分“F4”的缩回的第二部分“R2”期间，马达被设定成速度“S4”。在对应于关闭/发动的第三部分“F3”的缩回的第三部分“R3”期间，马达被设定成速度“S3”。在对应于关闭/发动的第二部分“F2”的缩回的第四部分“R4”期间，马达被设定成速度“S2”。在对应于关闭/发动的初始第一部分“F1”的缩回的最终第五部分“R5”期间，马达被设定成速度“S1”。因此，调整马达速度以考虑其中由于在关闭/发动的对应部分中感测到增加的力而可能遇到增加的力的缩回部分，而不需要在缩回期间的力反馈。
虽然示出为在图5A和5B中具有直接对应的马达速度，但缩回曲线的马达速度与关闭/发动曲线的马达速度不需要成1:1对应。举例来说，可以引入比例因数以与关闭/发动相比在缩回(或其部分)期间增加或减小马达速度；可以提供阻尼或加强系数以与关闭/发动相比在缩回(或其部分)期间减轻或夸大马达速度的改变；无论在关闭发动期间的对应马达速度如何都可以强加缩回速度的上限和/或下限；和/或可以实施其它超越规则。另外或替代地，在关闭/发动期间和/或在缩回期间的发动速度可以在两个或更多个增量设定(例如，高和低；高、中和低；等)(在关闭/发动与缩回之间可以相同或不同)之间调整，或者可以在关闭/发动期间和/或在缩回期间在上限与下限(在关闭/发动与缩回之间可以相同或不同)之间连续地调整。
应理解，前面的描述仅是对本公开的说明。所属领域的技术人员可在不脱离本公开的情况下设计各种替代方案和修改。因此，本公开旨在涵盖所有这类替代、修改和变化。呈现参照附图所描述的实施例仅为了展现本公开的某些实例。与上文所描述和/或所附权利要求书中的元件、步骤、方法和技术无实质不同的其它元件、步骤、方法和技术也希望在本公开的范围内。

Claims (11)

1.一种电动手持式机电手术装置，包括：
马达，其被配置成驱动驱动组件的延伸和缩回；
传感器，其被配置成感测在所述驱动组件的延伸期间施加在所述驱动组件上的力；以及
控制器，其包含处理器和存储指令的非暂时性计算机可读存储介质，所述指令在由所述处理器执行时致使所述处理器：
从所述传感器接收所述感测的力；
根据所述感测的力控制在所述驱动组件的延伸期间所述马达的速度；
确定在所述驱动组件的延伸期间的速度曲线；以及
根据所述速度曲线控制在所述驱动组件的缩回期间所述马达的速度。
2.根据权利要求1所述的电动手持式机电手术装置，还包括：
手柄组合件，其包含安置于其中的所述马达和控制器；以及
适配器组合件，其与所述手柄组合件以可释放方式接合且包含安置于其中的所述驱动组件和传感器。
3.根据权利要求2所述的电动手持式机电手术装置，还包括与所述适配器组合件以可释放方式接合的末端执行器，其中所述驱动组件的延伸达成关闭或发动所述末端执行器中的至少一种情况，且其中所述驱动组件的缩回打开所述末端执行器。
4.根据权利要求1所述的电动手持式机电手术装置，其中所述传感器是应变计。
5.根据权利要求1所述的电动手持式机电手术装置，其中所述马达提供旋转输出，且其中所述旋转输出被转换为所述驱动组件的平移以延伸和缩回所述驱动组件。
6.一种电动手持式机电手术装置，包括：
马达，其被配置成驱动驱动组件的延伸和缩回；
传感器，其被配置成感测在所述驱动组件的延伸期间施加在所述驱动组件上的力；以及
控制器，其包含处理器和存储指令的非暂时性计算机可读存储介质，所述指令在由所述处理器执行时致使所述处理器：
从所述传感器接收所述感测的力；
根据所述感测的力控制在所述驱动组件的延伸期间所述马达的速度；
确定在所述驱动组件的延伸期间的力曲线；以及
根据所述力曲线控制在所述驱动组件的缩回期间所述马达的速度。
7.根据权利要求6所述的电动手持式机电手术装置，还包括：
手柄组合件，其包含安置于其中的所述马达和控制器；以及
适配器组合件，其与所述手柄组合件以可释放方式接合且包含安置于其中的所述驱动组件和传感器。
8.根据权利要求7所述的电动手持式机电手术装置，还包括与所述适配器组合件以可释放方式接合的末端执行器，其中所述驱动组件的延伸达成关闭或发动所述末端执行器中的至少一种情况，且其中所述驱动组件的缩回打开所述末端执行器。
9.根据权利要求6所述的电动手持式机电手术装置，其中所述传感器是应变计。
10.根据权利要求6所述的电动手持式机电手术装置，其中所述马达提供旋转输出，且其中所述旋转输出被转换为所述驱动组件的平移以延伸和缩回所述驱动组件。
11.一种控制电动手持式机电手术装置的方法，包括：
激活马达以驱动驱动组件的延伸；
感测在所述驱动组件的延伸期间施加在所述驱动组件上的力；
根据所述感测的力控制在所述驱动组件的延伸期间所述马达的速度；
确定在所述驱动组件的延伸期间的速度曲线或在所述驱动组件的延伸期间的力曲线中的一个；以及
根据所述速度曲线或所述力曲线控制在所述驱动组件的缩回期间所述马达的速度。
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