CN110769759A - 基于系统状况的外科缝合和切割器械的马达速度的闭环反馈控制 - Google Patents

基于系统状况的外科缝合和切割器械的马达速度的闭环反馈控制 Download PDF

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CN110769759A
CN110769759A CN201880041749.7A CN201880041749A CN110769759A CN 110769759 A CN110769759 A CN 110769759A CN 201880041749 A CN201880041749 A CN 201880041749A CN 110769759 A CN110769759 A CN 110769759A
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speed
motor
displacement member
surgical instrument
control circuit
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CN110769759B (zh
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F·E·谢尔顿四世
D·C·耶茨
J·L·哈里斯
S·R·亚当斯
B·D·辛格斯
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00137—Details of operation mode
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00734—Aspects not otherwise provided for battery operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07285—Stapler heads characterised by its cutter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft

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Abstract

本发明公开了一种机动化外科器械。外科器械包括位移构件、能量源、马达、控制电路和位置传感器。控制电路被配置为能够以能量源上的预定电负载开始击发位移构件，其中将预定的电负载施加到马达以致动位移构件，经由位置传感器监测位移构件的位置，在位移构件的第一行进间隔期间连续采样能量源的电压，比较采样电压和阈值电压，并且当采样电压大于或等于阈值电压时，继续以第一速度击发位移构件，或者当采样电压小于阈值电压时，调节第一速度。本发明还公开了用于处理马达失速状况和速度之间的转变的技术。

Description

基于系统状况的外科缝合和切割器械的马达速度的闭环反馈 控制
技术领域
本公开涉及外科器械，并且在各种情况下，涉及被设计成用于缝合和切割组织的外科缝合和切割器械及其钉仓。
背景技术
在机动外科缝合和切割器械中，控制切割构件的速度或控制端部执行器的关节运动速度可以是有用的。通过测量在位移构件的预定位置间隔处的经过时间或测量位移构件在预定时间间隔处的位置可确定位移构件的速度。该控件可为开环或闭环。此类测量可用于评估组织状况诸如组织厚度，并且在击发行程期间调节切割构件的速度以说明组织状况。通过将切割构件的预期速度与切割构件的实际速度进行比较可确定组织厚度。在一些情况下，以恒定关节运动速度使端部执行器进行关节运动可以是有用的。在其它情况下，以与端部执行器的扫描范围内的一个或多个区域处的默认关节运动速度不同的关节运动速度驱动端部执行器可以是有用的。
在使用机动外科缝合和切割器械期间，电池可能由于外部施加的负载而过热并导致马达失速。因此，当系统加载以评估电池容量并基于该反馈调节切割构件或击发构件的击发速度时，可希望在击发行程的一部分期间询问电池上的电压。
发明内容
在一个方面，本公开提供了一种外科器械。外科器械包括位移构件，所述位移构件被构造成能够在外科器械内在多个预定义区域上平移；能量源；马达，所述马达联接到位移构件以使位移构件平移；控制电路，所述控制电路联接到能量源和马达；位置传感器，所述位置传感器联接到所述控制电路，所述位置传感器被配置为能够监测所述位移构件的所述位置；其中所述控制电路被配置为能够：以所述能量源上的预定电负载开始击发所述位移构件，其中将所述预定电负载施加到所述马达以致动所述位移构件；由所述位置传感器监测所述位移构件的所述位置；在位移构件的第一行进间隔期间对能量源的电压进行连续采样；将采样电压与阈值电压进行比较；并且当采样电压大于或等于阈值电压时，继续以第一速度击发位移构件；或者当采样电压小于阈值电压时，调节第一速度。
在另一方面，外科器械包括被构造成能够在外科器械内平移的位移构件；马达，所述马达包括轴，所述马达联接到位移构件以使位移构件平移；控制电路，所述控制电路联接到马达；其中所述控制电路被配置为能够：以设定为第一速度的命令速度开始击发所述位移构件，其中所述命令速度为施加到所述马达的速度；检查是否存在马达失速状况；并且当马达未失速时，继续以第一速度击发位移构件；或者将命令速度降低至第二速度，其中第二速度比第一速度慢。
在另一方面，外科器械包括被构造成能够在外科器械内在多个预定义区域上平移的位移构件；能量源；马达，所述马达联接到位移构件以使位移构件平移；控制电路，所述控制电路联接到能量源和马达；位置传感器，所述位置传感器联接到所述控制电路，所述位置传感器被配置为能够监测所述位移构件的所述位置；其中所述控制电路被配置为能够：以设定为第一速度的命令速度开始击发所述位移构件，其中所述命令速度为施加到所述马达的速度；监测位移构件在当前区域中的位置，直到位移构件到达用于比较的目标位置；当位移构件到达目标位置时，确定在当前区域之前的先前区域中是否开始了命令速度的变化；以及当在先前区域中开始命令速度的变化时，继续以命令速度击发位移构件。
附图说明
本文所述方面的新颖特征在所附权利要求书中进行了详细描述。然而，关于组织和操作方法的这些方面可结合附图参考下述说明更好地理解。
图1为根据本公开的一个方面的具有操作地联接到其的可互换轴组件的外科器械的透视图。
图2为根据本公开的一个方面的图1的外科器械的一部分的分解组装图。
图3为根据本公开的一个方面的可互换轴组件的部分的分解组装图。
图4为根据本公开的一个方面的图1的外科器械的端部执行器的分解图。
图5A-5B为根据本公开的一个方面的跨越两个图纸的图1的外科器械的控制电路的框图。
图6为图1的外科器械的控制电路的框图，其示出了根据本公开的一个方面的柄部组件、功率组件以及柄部组件和可互换轴组件之间的接口。
图7示出了控制电路，该控制电路被配置为能够控制根据本公开的一个方面的图1的外科器械的各方面。
图8示出了组合逻辑电路，该组合逻辑电路被配置为能够控制根据本公开的一个方面的图1的外科器械的各方面。
图9示出了时序逻辑电路，该时序逻辑电路被配置为能够控制根据本公开的一个方面的图1的外科器械的各方面。
图10为图1的外科器械的绝对定位系统的示意图，其中绝对定位系统包括根据本公开的一个方面的包括传感器构造的受控马达驱动电路构造。
图11为根据本公开的一个方面的绝对定位系统的传感器构造的分解透视图，其示出了控制电路板组件和传感器构造元件的相对对齐。
图12为根据本公开的一个方面的位置传感器的示意图，该位置传感器包括磁性旋转绝对定位系统。
图13为根据本公开的一个方面的图1的外科器械的端部执行器的剖视图，其示出了相对于抓持在端部执行器内的组织的击发构件行程。
图14示出了根据本公开的一个方面的被编程为控制位移构件的远侧平移的外科器械的框图。
图15示出了绘制根据本公开的一个方面执行的两个示例位移构件行程的示意图。
图16为描述根据本公开的一个方面的用于基于电池状况来控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图17为描述根据本公开的一个方面的用于在正常击发循环期间基于失速状况来控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图18为描述根据本公开的一个方面的用于在手动模式下时控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图19为描述根据本公开的一个方面的控制程序或逻辑配置的过程的逻辑流程图，该控制程序或逻辑配置用于在正常击发循环期间基于失速状况控制马达速速并且在击发循环中实现强制暂停。
图20为根据本公开的一个方面的描述控制程序或逻辑配置的过程的逻辑流程图，该控制程序或逻辑配置用于在正常击发期间基于失速状况控制马达速度，并且一旦重新启动击发循环，就将速度降低一级。
图21为根据本公开的一个方面的描述控制程序或逻辑配置的过程的逻辑流程图，该控制程序或逻辑配置用于在手动模式下的正常击发期间基于失速状况控制马达速度，并且一旦重新启动击发循环，就将速度降低一级。
图22为描述根据本公开的一个方面的控制程序或逻辑配置的过程的逻辑流程图，该控制程序或逻辑配置用于在正常击发循环期间基于失速状况控制马达速度，并且暂停击发循环，直到用户释放击发触发器。
图23为描述根据本公开的一个方面的用于在速度之间的转换期间控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
说明书
本申请的申请人拥有于与其同时提交且各自全文以引用方式并入本文的以下专利申请：
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8191USNP/170054，标题为“CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLINGAND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8192USNP/170055，标题为“SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGERARRANGEMENT”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8193USNP/170056，标题为“SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENTMEMBER MOTION OF A SURGICAL STAPLING AND CUTTING INSTRUMENT”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8194USNP/170057，标题为“SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITYOF A SURGICAL STAPLING AND CUTTING INSTRUMENT ACCORDING TO ARTICULATION ANGLEOF END EFFECTOR”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8195USNP/170058，标题为“SYSTEMS AND METHODS FOR CONTROLLING MOTOR VELOCITYOF A SURGICAL STAPLING AND CUTTING INSTRUMENT”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8196USNP/170059，标题为“SURGICAL INSTRUMENT HAVING CONTROLLABLEARTICULATION VELOCITY”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8197USNP/170060，标题为“SYSTEMS AND METHODS FOR CONTROLLING VELOCITY OF ADISPLACEMENT MEMBER OF A SURGICAL STAPLING AND CUTTING INSTRUMENT”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8198USNP/170061，标题为“SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENTMEMBER VELOCITY FOR A SURGICAL INSTRUMENT”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8222USNP/170125，标题为“CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLINGAND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION”。
发明人Frederick E.Shelton，IV等人于2017年6月20日提交的代理人案卷号END8199USNP/170062M，标题为“TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITYOF A SURGICAL STAPLING AND CUTTING INSTRUMENT”。
发明人Raymond E.Parfett等人于2017年6月20日提交的代理人案卷号END8275USNP/170185M，标题为“TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTORVELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT”。
发明人Raymond E.Parfett等人于2017年6月20日提交的代理人案卷号END8268USNP/170186，标题为“CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MAGNITUDE OF VELOCITY ERRORMEASUREMENTS”。
发明人Jason L.Harris等人于2017年6月20日提交的代理人案卷号END8276USNP/170187，标题为“CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICALSTAPLING AND CUTTING INSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIEDDISPLACEMENT DISTANCE”。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的代理人案卷号END8266USNP/170188，标题为“CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED DISPLACEMENTDISTANCE TRAVELED OVER A SPECIFIED TIME INTERVAL”。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的代理人案卷号END8267USNP/170189，标题为“CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON MEASURED TIME OVER ASPECIFIED NUMBER OF SHAFT ROTATIONS”。
发明人Jason L.Harris等人于2017年6月20日提交的代理人案卷号END8269USNP/170190，标题为“SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITYFOR A SURGICAL INSTRUMENT”。
发明人Jason L.Harris等人于2017年6月20日提交的代理人案卷号END8270USNP/170191，标题为“SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEED ACCORDING TOUSER INPUT FOR A SURGICAL INSTRUMENT”。
本申请的申请人拥有于与其同时提交且各自全文以引用方式并入本文的以下美国外观设计专利申请：
发明人Jason L.Harris等人于2017年6月20日提交的代理人案卷号END8274USDP/170193D，标题为“GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF”。
发明人Jason L.Harris等人于2017年6月20日提交的代理人案卷号END8273USDP/170194D，标题为“GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF”。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的代理人案卷号END8272USDP/170195D，标题为“GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTIONTHEREOF”。
示出并描述了某些方面以提供对所公开的装置和方法的结构、功能、制造和使用的理解。在一个示例中示出或描述的特征可与其它示例的特征组合，并且修改和变型在本公开的范围内。
术语“近侧”和“远侧”相对于操纵外科器械的柄部的临床医生，其中“近侧”是指更靠近临床医生的部分，而“远侧”是指定位成更远离临床医生的部分。为了方便起见，相对于附图使用的空间术语“竖直”、“水平”、“向上”和“向下”并非旨在是限制性的和/或绝对的，因为外科器械可用于许多取向和位置。
提供示例装置和方法以用于执行腹腔镜式和微创外科手术操作。然而，此类装置和方法可用于其它外科手术操作和应用，包括例如开放式外科手术。外科器械可插入穿过自然孔口或穿过形成于组织中的切口或穿孔。器械的工作部分或端部执行器部分可直接插入到身体中或者穿过进入装置，该进入装置具有外科器械的端部执行器和细长轴可推进穿过的工作通道。
图1-4示出了用于切割和紧固的马达驱动的外科器械10，其可重复使用或不重复使用。在所示示例中，外科器械10包括外壳12，该外壳包括被构造成能够由临床医生抓握、操纵和致动的柄部组件14。外壳12被构造成能够操作地附接到可互换轴组件200，该可互换轴组件具有操作地联接到其上的端部执行器300，该端部执行器被构造成能够执行一种或多种手术任务或外科手术。根据本公开，可结合机器人控制的外科系统有效地采用各种形式的可互换轴组件。术语“外壳”可涵盖容纳或以其它方式操作地支撑至少一个驱动系统的机器人系统的外壳或类似部分，该至少一个驱动系统被构造成能够生成并施加可用于致动可互换轴组件的至少一个控制运动。术语“框架”可指手持式外科器械的一部分。术语“框架”还可表示机器人控制的外科器械的一部分和/或机器人系统的可用于操作地控制外科器械的一部分。可互换轴组件可与名称为“SURGICAL STAPLING INSTRUMENTS WITHROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”的美国专利9,072,535中公开的各种机器人系统、器械、部件和方法一起使用，该专利申请据此全文以引用方式并入本文。
图1为根据本公开的一个方面的具有操作地联接到其的可互换轴组件200的外科器械10的透视图。外壳12包括端部执行器300，该端部执行器300包括外科切割和紧固装置，该外科切割和紧固装置被构造成能够在其中操作地支撑外科钉仓304。外壳12可被构造成能够与可互换轴组件结合使用，该可互换轴组件包括端部执行器，该端部执行器适于支撑不同尺寸和类型的钉仓，具有不同的轴长度、尺寸和类型。外壳12可与多种可互换轴组件一起使用，包括被构造成能够将其它运动和形式的能量诸如射频(RF)能量、超声能量和/或运动施加到适于结合各种外科应用和手术使用的端部执行器构造的组件。端部执行器、轴组件、柄部、外科器械和/或外科器械系统可利用任何合适的一种或多种紧固件来紧固组织。例如，包括可移除地被存储在其中的多个紧固件的紧固件仓能够可移除地插入轴组件的端部执行器中和/或附接到轴组件的端部执行器。
柄部组件14可包括一对可互连柄部外壳段16、18，该对柄部外壳段可通过螺钉、按扣特征结构、粘合剂等互连。柄部外壳段16、18配合以形成可被临床医生抓握和操纵的手枪式握持部19。柄部组件14操作地支撑多个驱动系统，该多个驱动系统被构造成能够生成并将控制运动施加到操作地附接到其的可互换轴组件的对应部分。
图2为根据本公开的一个方面的图1的外科器械10的一部分的分解组装图。柄部组件14可包括操作地支撑多个驱动系统的框架20。框架20操作地支撑“第一”或闭合驱动系统30，该系统可向可互换轴组件200施加闭合和打开运动。闭合驱动系统30可包括致动器，诸如被框架20枢转地支撑的闭合触发器32。闭合触发器32通过枢轴销33枢转地联接到柄部组件14，以使得闭合触发器32能够由临床医生操纵。当临床医生握持柄部组件14的手枪式握持部19时，闭合触发器32可从启动或“未致动”位置枢转到“致动”位置并且更具体地枢转到完全压缩或完全致动位置。
柄部组件14和框架20操作地支撑击发驱动系统80，该击发驱动系统80被构造成能够向附接到其的可互换轴组件的对应部分施加击发运动。击发驱动系统80可采用位于柄部组件14的手枪式握持部19中的电动马达82。例如，电动马达82可为最大旋转速度为约25,000RPM的DC有刷驱动马达。在其它构造中，马达可包括无刷马达、无绳马达、同步马达、步进马达、或任何其它合适的电动马达。电动马达82可由功率源90供电，该功率源可包括可移除电源组92。可移除电源组92可包括被构造成能够附接到远侧外壳部分96的近侧外壳部分94。近侧外壳部分94和远侧外壳部分96被构造成能够操作地支撑其中的多个电池98。电池98可各自包括例如锂离子(LI)或其它合适的电池。远侧外壳部分96被构造用于以可移除方式操作地附接到操作地联接到电动马达82的控制电路板100。串联连接的若干电池98可为外科器械10供电。功率源90可以是可替换的和/或可再充电的。
电动马达82可包括与齿轮减速器组件84操作地交接的可旋转轴(未示出)，该齿轮减速器组件被安装成与可纵向运动的驱动构件120上的一组或一齿条的驱动齿122啮合接合。可纵向运动的驱动构件120具有在其上形成的一齿条的驱动齿122，以用于与齿轮减速器组件84的对应驱动齿轮86啮合接合。
在使用中，功率源90所提供的电压极性可沿顺时针方向操作电动马达82，其中由电池施加给电动马达的电压极性可被反转，以便沿逆时针方向操作电动马达82。当电动马达82在一个方向上旋转时，可纵向运动的驱动构件120将在远侧方向“DD”上轴向地驱动。当电动马达82在相反的旋转方向上被驱动时，可纵向运动的驱动构件120将在近侧方向“PD”上轴向地驱动。柄部组件14可包括开关，该开关可被构造成能够逆转由功率源90施加到电动马达82的极性。柄部组件14可包括被构造成能够检测可纵向运动的驱动构件120的位置和/或可纵向运动的驱动构件120正在运动的方向的传感器。
电动马达82的致动由被枢转地支撑在柄部组件14上的击发触发器130控制。击发触发器130可在未致动位置和致动位置之间枢转。
转到图1，可互换轴组件200包括端部执行器300，该端部执行器包括被构造成能够操作地支撑其中的外科钉仓304的细长通道302。端部执行器300可包括砧座306，该砧座相对于细长通道302枢转地支撑。可互换轴组件200还可包括关节运动接头270。端部执行器300和关节运动接口270的构造和操作在名称为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATION LOCK”的美国专利申请公开2014/0263541中提出，该文献全文以引用方式并入本文。可互换轴组件200可包括由喷嘴部分202、203构成的近侧外壳或喷嘴201。可互换轴组件200可包括沿轴轴线SA延伸的闭合管260，该闭合管可用于闭合和/或打开端部执行器300的砧座306。
回到图1，例如，响应于以上述参考美国专利申请公开2014/0263541中描述的方式致动闭合触发器32，闭合管260朝远侧平移(方向“DD”)以闭合砧座306。通过朝近侧平移闭合管260来打开砧座306。在砧座打开位置，闭合管260运动至其近侧位置。
图3为根据本公开的一个方面的可互换轴组件200的部分的另一个分解组装图。可互换轴组件200可包括击发构件220，该击发构件被支撑以在脊210内轴向行进。击发构件220包括被构造成能够附接到远侧切割部分或刀杆280的中间击发轴222。击发构件220可被称为“第二轴”或“第二轴组件”。中间击发轴222可在远侧端部中包括纵向狭槽223，该纵向狭槽被构造成能够接收刀杆280的近侧端部282上的突片284。纵向狭槽223和近侧端部282可被构造成能够允许它们之间的相对运动并且可包括滑动接头286。滑动接头286可允许击发构件220的中间击发轴222在不移动或至少基本上不移动刀杆280的情况下使端部执行器300围绕关节运动接头270进行关节运动。一旦端部执行器300已合适地取向，中间击发轴222便可朝远侧推进，直到纵向狭槽223的近侧侧壁接触突片284，以推进刀杆280并击发定位在通道302内的钉仓。脊210在其中具有细长的开口或窗口213，以利于将中间击发轴222组装和插入到脊210中。一旦中间击发轴222已被插入轴框架中，顶部框架段215就可与轴框架212接合，以封闭其中的中间击发轴222与刀杆280。击发构件220的操作可见于美国专利申请公开2014/0263541。脊210可被构造成能够可滑动地支撑击发构件220和围绕脊210延伸的闭合管260。脊210可滑动地支撑关节运动驱动器230。
可互换轴组件200可包括离合器组件400，该离合器组件被构造成能够选择性地和可释放地将关节运动驱动器230联接到击发构件220。离合器组件400包括围绕击发构件220定位的锁定衬圈或锁定套筒402，其中锁定套筒402可在接合位置与脱离位置之间旋转，在接合位置处，锁定套筒402将关节运动驱动器230联接到击发构件220，在脱离位置处，关节运动驱动器230没有操作地联接到击发构件220。当锁定套筒402处于接合位置时，击发构件220的远侧移动可朝远侧移动关节运动驱动器230；并且相应地，击发构件220的近侧移动可朝近侧移动关节运动驱动器230。当锁定套筒402处于脱离位置时，击发构件220的移动未被传输至关节运动驱动器230；并且因此，击发构件220可独立于关节运动驱动器230移动。喷嘴201可用于以在美国专利申请公开2014/0263541中描述的各种方式来使关节运动驱动系统与击发驱动系统操作地接合和脱离接合。
可互换轴组件200可包括滑环组件600，例如，该滑环组件可被构造成能够将电力传导至端部执行器300和/或从该端部执行器传导电力，并且/或者将信号传送至端部执行器300和/或从该端部执行器接收信号。滑环组件600可包括近侧连接器凸缘604和远侧连接器凸缘601，该远侧连接器凸缘定位在喷嘴部分202、203中限定的狭槽内。近侧连接器凸缘604可包括第一面，并且远侧连接器凸缘601可包括第二面，该第二面与第一面相邻定位，并能够相对于第一面运动。远侧连接器凸缘601可围绕轴轴线SA-SA相对于近侧连接器凸缘604旋转(图1)。近侧连接器凸缘604可包括限定在其第一面中的多个同心或至少基本上同心的导体602。连接器607可安装在远侧连接器凸缘601的近侧面上，并可具有多个触点，其中每个触点与导体602中的一个对应并与其电接触。这种构造在保持近侧连接器凸缘604与远侧连接器凸缘601之间电接触的同时，允许这两个凸缘之间相对旋转。例如，近侧连接器凸缘604可包括电连接器606，该电连接器可使导体602与轴电路板进行信号通信。在至少一个实例中，包括多个导体的线束可在电连接器606和轴电路板之间延伸。电连接器606可朝近侧延伸穿过被限定在底盘安装凸缘中的连接器开口。名称为“STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM”的美国专利申请公开2014/0263551的全文以引用方式并入本文。名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”的美国专利申请公开2014/0263552的全文以引用方式并入本文。有关滑环组件600的更多细节可见于美国专利申请公开2014/0263541。
可互换轴组件200可包括可固定地安装到柄部组件14的近侧部分，以及能够围绕纵向轴线旋转的远侧部分。可旋转远侧轴部分能够围绕滑动环组件600相对于近侧部分旋转。滑环组件600的远侧连接器凸缘601可定位在可旋转的远侧轴部分内。
图4为根据本公开的一个方面的图1的外科器械10的端部执行器300的一个方面的分解图。端部执行器300可包括砧座306和外科钉仓304。砧座306可联接到细长通道302。开孔199可限定在细长通道302中，其可接收从砧座306延伸的销152并允许砧座306相对于细长通道302和外科钉仓304从打开位置枢转到闭合位置。击发杆172被构造成能够纵向平移到端部执行器300中。击发杆172可由一个实心部分构成，或者可包括层合材料，该层合材料包括一叠钢板。击发杆172包括I形梁178和在其远侧端部处的切割边缘182。击发杆172的远侧突出端可附接到I形梁178，该I形梁在砧座306处于闭合位置时有助于将砧座306与定位在细长通道302中的外科钉仓304间隔开。I形梁178还可包括锋利切割边缘182，以在通过击发杆172朝远侧推进I形梁178时切断组织。在操作中，I形梁178可或击发外科钉仓304。外科钉仓304可包括模塑的仓体194，该仓体保持多个钉191，这些多个钉安置在钉驱动器192上，这些钉驱动器位于分别向上打开的钉腔195中。楔形滑动件190由I形梁178朝远侧驱动，从而在外科钉仓304的仓托盘196上滑动。楔形滑动件190使钉驱动器192向上进行凸轮运动，以将钉191挤出成与砧座306变形接触，同时I形梁178的切割边缘182切断夹紧的组织。
I形梁178可包括在击发期间接合砧座306的上部销180。I形梁178还可包括中间销184和底部基座186，以接合仓体194、仓托盘196和细长通道302的部分。当外科钉仓304定位在细长通道302内时，限定在仓体194中的狭槽193可与限定在仓托盘196中的纵向狭槽197以及限定在细长通道302中的狭槽189对齐。在使用中，I形梁178可滑动穿过对齐的纵向狭槽193、197和189，如图4所示，其中I形梁178的底部基座186可沿狭槽189的长度接合沿细长通道302的底面延伸的沟槽，中间销184可沿纵向狭槽197的长度接合仓托盘196的顶部表面，并且上部销180可接合砧座306。当击发杆172朝远侧推进以从外科钉仓304击发钉和/或切入砧座306和外科钉仓304之间捕集的组织时，I形梁178可分开或限制砧座306和外科钉仓304之间的相对运动。击发杆172和I形梁178可朝近侧回缩，从而允许砧座306被打开，以释放两个缝合和切割的组织部分。
图5A-5B为根据本公开的一个方面的跨越两个图纸的图1的外科器械10的控制电路700的框图。主要参见图6A-6B，柄部组件702可包括马达714，该马达可由马达驱动器715控制，并可由外科器械10的击发系统使用。在各种形式中，马达714可为具有大约25,000RPM的最大旋转速度的DC有刷驱动马达。在其它构造中，马达714可包括无刷马达、无绳马达、同步马达、步进马达、或任何其它合适的电动马达。马达驱动器715可包括例如包括场效应晶体管(FET)719的H桥驱动器。马达714可由功率组件706供电，该功率组件可释放地安装到柄部组件200，以用于向外科器械10提供控制功率。功率组件706可包括电池，该电池可包括串联连接的、可用作功率源为外科器械10供电的多个电池单元。在某些情况下，功率组件706的电池单元可以是可替换的和/或可再充电的。在至少一个示例中，电池单元可以是能够可分离地联接到功率组件706的锂离子电池。
轴组件704可包括轴组件控制器722，在轴组件704与功率组件706联接到柄部组件702时，该轴组件控制器可通过接口与安全控制器和功率管理控制器716通信。例如，接口可包括第一接口部分725和第二接口部分727，其中第一接口部分可包括一个或多个用于与对应的轴组件电连接器实现联接接合的电连接器，第二接口部分可包括一个或多个用于与对应的功率组件电连接器实现联接接合的电连接器，从而在轴组件704与功率组件706联接到柄部组件702时，允许轴组件控制器722和功率管理控制器716之间进行电通信。可通过接口传输一个或多个通信信号，以将附接的可互换轴组件704的一个或多个功率要求传送到功率管理控制器716。作为响应，功率管理控制器可依据附接轴组件704的功率要求，调节功率组件706的电池的功率输出，如下文更详细地描述。电连接器包括开关，这些开关可在柄部组件702机械联接接合到轴组件704和/或功率组件706，以允许轴组件控制器722与功率管理控制器716之间进行电通信之后被启动。
例如，通过将一个或多个通信信号路由通过位于柄部组件702中的主控制器717，接口可有利于在功率管理控制器716与轴组件控制器722之间传输这类通信信号。在其它情况下，当轴组件704和功率组件706联接到柄部组件702时，接口可有利于通过柄部组件702的功率管理控制器716和轴组件控制器722之间的直接通信线路。
主控制器717可以是任何单核或多核处理器，诸如由Texas Instruments提供的商品名为ARM Cortex的那些处理器。在一个方面，主控制器717可为例如购自德克萨斯器械公司(Texas Instruments)的LM4F230H5QR ARM Cortex-M4F处理器内核，其包括：256KB的单循环闪存或其它非易失性存储器(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的单循环串行随机存取存储器(SRAM)、装载有
Figure BDA0002328981950000131
软件的内部只读存储器(ROM)、2KB的电可擦除可编程只读存储器(EEPROM)、一个或多个脉宽调制(PWM)模块、一个或多个正交编码器输入(QEI)模拟、具有12个模拟输入信道的一个或多个12位模数转换器(ADC)，详细信息可参见产品数据表。
安全控制器可以是包括两个基于微控制器的系列(诸如已知同样由TexasInstruments生产且商品名为Hercules ARM Cortex R4的TMS570和RM4x)的安全控制器平台。安全控制器可被配置为能够专门用于IEC 61508和ISO 26262安全关键应用等等，以提供先进的集成安全特征件，同时递送可定标的性能、连接性和存储器选项。
功率组件706可包括功率管理电路，该功率管理电路可包括功率管理控制器716、功率调制器738和电流感测电路736。在轴组件704与功率组件706联接到柄部组件702时，功率管理电路可被配置为能够基于轴组件704的功率要求调节电池的功率输出。功率管理控制器716可被编程以控制功率调制器738调节功率组件706的功率输出，并且电流感测电路736可用于监测功率组件706的功率输出，以便为功率管理控制器716提供与电池的功率输出有关的反馈，使得功率管理控制器716可调节功率组件706的功率输出以维持理想的输出。功率管理控制器716和/或轴组件控制器722各自可包括一个或多个可存储多个软件模块的处理器和/或存储器单元。
外科器械10(图1-4)可包括输出装置742，该输出装置可包括用于向用户提供感官反馈的装置。此类装置可包括例如视觉反馈装置(例如，LCD显示屏、LED指示器)、音频反馈装置(例如，扬声器、蜂鸣器)或触觉反馈装置(例如，触觉致动器)。在某些情况下，输出装置742可包括显示器743，该显示器可包含在柄部组件702中。轴组件控制器722和/或功率管理控制器716可通过输出装置742向外科器械2000的用户提供反馈。接口可被构造成能够将轴组件控制器722和/或功率管理控制器716联接到输出装置742。作为替代，输出装置742可与功率组件706成一体。在此类情况下，当轴组件704联接到柄部组件702时，输出装置742与轴组件控制器722之间的通信可通过接口实现。
控制电路700包括被配置为能够控制加电外科器械10的操作的电路段。安全控制器段(段1)包括安全控制器和主控制器717段(段2)。安全控制器和/或主控制器717被配置为能够与一个或多个附加电路段(诸如加速段、显示段、轴段、编码器段、马达段和功率段)进行交互。电路段中的每一个可联接到安全控制器和/或主控制器717。主控制器717还联接至闪存存储器。主控制器717还包括串行通信接口。主控制器717包括联接到例如一个或多个电路段、电池和/或多个开关的多个输入装置。分段电路可通过任何合适的电路(诸如例如加电外科器械10内的印刷电路板组件(PCBA))来实现。应当理解，本文使用的术语“处理器”包括任一种微处理器、处理器、微控制器、控制器，或者将计算机的中央处理单元(CPU)的功能结合到一个集成电路或最多几个集成电路上的其它基础计算装置。主控制器717是多用途的可编程装置，该装置接收数字数据作为输入，根据其存储器中存储的指令来处理输入，并且提供结果作为输出。因为处理器具有内部存储器，所以是顺序数字逻辑的示例。控制电路700可被配置为能够实现本文所述的过程中的一个或多个。
加速段(段3)包括加速度计。加速度计被构造成能够检测加电外科器械10的运动或加速度。来自加速度计的输入可用于转变到休眠模式和从休眠模式转变到其它模式、识别加电外科器械的取向，并且/或者识别外科器械何时已被放下。在一些示例中，加速段联接到安全控制器和/或主控制器717。
显示段(段4)包括联接到主控制器717的显示连接器。显示器连接器通过显示器的一个或多个集成电路驱动器将主控制器717联接到显示器。显示器的集成电路驱动器可与显示器成一体，和/或可与显示器分开定位。显示器可包括任一种合适的显示器，诸如例如有机发光二极管(OLED)显示器、液晶显示器(LCD)和/或任何其它合适的显示器。在一些示例中，显示器段联接到安全控制器。
轴段(段5)包括用于联接到外科器械10(图1-4)的可互换轴组件200(图1和图3)的控件和/或用于联接到可互换轴组件200的端部执行器300的一个或多个控件。轴段包括轴连接器，该轴连接器被构造成能够将主控制器717联接到轴PCBA。轴PCBA包括具有铁电随机存取存储器(框架)、关节运动开关、轴释放霍尔效应开关和轴PCBA EEPROM的低功率微控制器。轴PCBA EEPROM包括特定于可互换轴组件200和/或轴PCBA的一个或多个参数、例程和/或程序。轴PCBA可联接到可互换轴组件200并且/或者与外科器械10一体成型。在一些示例中，轴段包括第二轴EEPROM。第二轴EEPROM包括对应于可与加电外科器械10交接的一个或多个轴组件200和/或端部执行器300的多个算法、例程、参数和/或其它数据。
位置编码器段(段6)包括一个或多个磁性角旋转位置编码器。一个或多个磁性角旋转位置编码器被配置为能够识别外科器械10(图1-4)的马达714、可互换轴组件200(图1和图3)和/或端部执行器300的旋转位置。在一些示例中，磁性角旋转位置编码器可联接到安全控制器和/或主控制器717。
马达电路段(区段7)包括被配置为能够控制机动外科器械10的运动的马达714(图1-4)。马达714通过H桥驱动器联接到主微控制器处理器717，该H桥驱动器包括一个或多个H桥场效应晶体管(FET)和马达控制器。H桥驱动器也联接到安全控制器。马达电流传感器与马达串联联接，用于测量马达的电流消耗。马达电流传感器与主控制器717和/或安全控制器进行信号通信。在一些示例中，马达714联接到马达电磁干扰(EMI)滤波器。
马达控制器控制第一马达标记和第二马达标记，以向主控制器717指示马达714的状态和位置。主控制器717通过缓冲器向马达控制器提供脉宽调制(PWM)高信号、PWM低信号、方向信号、同步信号和马达复位信号。功率段被配置为能够向电路段中的每一个提供区段电压。
功率段(段8)包括联接到安全控制器、主控制器717和附加电路段的电池。电池通过电池连接器和电流传感器联接到分段电路。电流传感器被配置为能够测量分段电路的总电流消耗。在一些示例中，一个或多个电压转换器被配置为能够向一个或多个电路段提供预定的电压值。例如，在一些示例中，分段电路可包括3.3V的电压转换器和/或5V的电压转换器。升压转换器被配置为能够提供最高为预定的量(诸如，例如最高至13V)的升压电压。升压转换器被配置为能够在功率密集操作期间提供附加的电压和/或电流，并且防止电压降低状况或低功率状况。
多个开关联接到安全控制器和/或主控制器717。开关可被构造成能够控制外科器械10(图1-4)、分段电路的操作，和/或指示外科器械10的状态。用于紧急救助的紧急救助门开关和霍尔效应开关被构造成能够指示紧急救助门的状态。多个关节运动开关(诸如例如左侧向左关节运动开关、左侧向右关节运动开关、左侧向中心关节运动开关、右侧向左关节运动开关、右侧向右关节运动开关和右侧向中心关节运动开关)被构造成能够控制可互换轴组件200(图1和图3)和/或端部执行器300(图1和图4)的关节运动。左侧换向开关和右侧换向开关联接到主控制器717。左侧开关(包括左侧向左关节运动开关、左侧向右关节运动开关、左侧向中心关节运动开关和左侧换向开关)通过左挠性连接器联接到主控制器717。右侧开关(包括右侧向左关节运动开关、右侧向右关节运动开关、右侧向中心关节运动开关和右侧换向开关)通过右挠性连接器联接到主控制器717。击发开关、夹持释放开关和轴接合开关联接到主控制器717。
任何合适的机械开关、机电开关或固态开关可任意组合，用于实现多个开关。例如，开关可以是通过与外科器械10(图1-4)相关联的部件的动作或存在某个物体来操作的限位开关。此类开关可用于控制与外科器械10相关联的各种功能。限位开关是由机械地连接到一组触点的致动器构成的机电装置。当某个物体与致动器接触时，该装置操作触点以形成或断开电连接。限位开关不仅耐用、安装简便，还操作可靠，故适用于多种应用和环境。限位开关可确定物体的存在或不存在、经过、定位、以及物体行程的结束。在其它具体实施中，开关可以是在磁场影响下操作的固态开关，诸如霍尔效应装置、磁阻(MR)装置、巨磁阻(GMR)装置、磁力计及其它。在其它具体实施中，开关可以是在光影响下操作的固态开关，诸如光学传感器、红外线传感器、紫外线传感器及其它。同样，开关可以是固态装置，诸如晶体管(例如，FET、结型FET、金属氧化物半导体FET(MOSFET)、双极型晶体管等)。其它开关可包括无线开关、超声开关、加速度计、惯性传感器及其它。
图6是图1的外科器械的控制电路700的另一个框图，其示出了根据本公开的一个方面的柄部组件702与功率组件706之间以及柄部组件702与可互换轴组件704之间的接口。柄部组件702可包括主控制器717、轴组件连接器726和功率组件连接器730。功率组件706可包括功率组件连接器732、功率管理电路734，该功率管理电路可包括功率管理控制器716、功率调制器738和电流感测电路736。轴组件连接器730、732形成接口727。功率管理电路734可被配置为能够在可互换轴组件704与功率组件706联接到柄部组件702时基于可互换轴组件704的功率要求调节电池707的功率输出。功率管理控制器716可被编程以控制功率调制器738调节功率组件706的功率输出，并且电流感测电路736可用于监测功率组件706的功率输出，以便为功率管理控制器716提供与电池707的功率输出有关的反馈，使得功率管理控制器716可调节功率组件706的功率输出以维持理想的输出。轴组件704包括轴处理器719，该轴处理器联接到非易失性存储器721和轴组件连接器728以将轴组件704电联接到柄部组件702。轴组件连接器726、728形成接口725。主控制器717、轴处理器719和/或功率管理控制器716可被配置为能够实现本文所述的过程中的一者或多者。
外科器械10(图1-4)可包括输出装置742，以向用户提供感觉反馈。此类装置可以包括视觉反馈装置(例如，LCD显示屏、LED指示器)、听觉反馈装置(例如，扬声器、蜂鸣器)或触觉反馈装置(例如，触觉致动器)。在某些情况下，输出装置742可包括显示器743，该显示器可包含在柄部组件702中。轴组件控制器722和/或功率管理控制器716可通过输出装置742向外科器械10的用户提供反馈。接口727可被构造成能够将轴组件控制器722和/或功率管理控制器716连接到输出装置742。输出装置742可与功率组件706成一体。当可互换轴组件704联接到柄部组件702时，输出装置742与轴组件控制器722之间的通信可通过接口725实现。已经描述了用于控制外科器械10(图1-4)的操作的控制电路700(图5A-5B和图6)，现在本公开转向外科器械10(图1-4)的各种配置和控制电路700。
图7示出了控制电路800，该控制电路被配置为能够控制根据本公开的一个方面的外科器械10(图1-4)的各方面。控制电路800可被配置为能够实现本文所述的各种过程。电路800可以包括控制器，该控制器包括联接接到至少一个存储器电路804的一个或多个处理器802(例如，微处理器、微控制器)。存储器电路804存储在由处理器802执行时使处理器802执行机器指令以实现本文所述的各种过程的机器可执行指令。处理器802可以是本领域中已知的多种单核或多核处理器中的任一种。存储器电路804可包括易失性存储介质和非易失性存储介质。处理器802可包括指令处理单元806和运算单元808。指令处理单元可被配置为能够从存储器电路804接收指令。
图8示出了组合逻辑电路810，该组合逻辑电路被配置为能够控制根据本公开的一个方面的外科器械10(图1-4)的各方面。组合逻辑电路810可被配置为能够实现本文所述的各种过程。电路810可包括有限状态机，该有限状态机包括组合逻辑电路812，该组合逻辑电路被配置为能够在输入814处接收与外科器械10相关联的数据，通过组合逻辑812处理数据，并且提供输出816。
图9示出了时序逻辑电路820，该时序逻辑电路被配置为能够控制根据本公开的一个方面的外科器械10(图1-4)的各方面。时序逻辑电路820或组合逻辑电路822可被配置为能够实现本文所述的各种过程。电路820可包括有限状态机。时序逻辑电路820可包括例如组合逻辑电路822、至少一个存储器电路824和时钟829。至少一个存储器电路820可存储有限状态机的当前状态。在某些情况下，时序逻辑电路820可以是同步的或异步的。组合逻辑电路822被配置为能够从输入826接收与外科器械10相关联的数据，通过组合逻辑电路822处理数据，并且提供输出828。在其它方面，电路可包括处理器802和有限状态机的组合以实现本文的各种过程。在其它方面，有限状态机可包括组合逻辑电路810和时序逻辑电路820的组合。
各种方面可实现为制造制品。制造制品可包括被布置成存储用于执行一个或多个方面的各种操作的逻辑、指令和/或数据的计算机可读存储介质。例如，制造制品可包括磁盘、光盘、闪存存储器或固件，这些制造制品包括适用于由通用处理器或专用处理器执行的计算机程序指令。
图10为外科器械10(图1-4)的绝对定位系统1100的示意图，其中绝对定位系统1100包括根据本公开的一个方面的包括传感器构造1102的受控马达驱动电路构造。用于绝对定位系统1100的传感器构造1102提供对应于位移构件1111的位置的独特位置信号。简要地转向图2-4，在一个方面，位移构件1111表示纵向可运动的驱动构件120(图2)，驱动构件120包括驱动齿122的齿条，用于与齿轮减速器组件84的对应的驱动齿轮86啮合接合。在其它方面，位移构件1111表示击发构件220(图3)，该击发构件可被适配和构造成包括驱动齿的齿条。在另一方面，位移构件1111表示击发杆172(图4)或I形梁178(图4)，其中每一个均可被适配和构造成包括驱动齿的齿条。因此，如本文所用，术语位移构件一般用来指外科器械10(诸如驱动构件120、击发构件220、击发杆172、I形梁178)的任何可移动构件，或可置换的任何元件。在一个方面，可纵向运动的驱动构件120联接到击发构件220、击发杆172和I形梁178。因此，绝对定位系统1100实际上可通过跟踪可纵向运动的驱动构件120的线性位移来跟踪I形梁178的线性位移。在各种其它方面，位移构件1111可联接到适于测量线性位移的任何传感器。因此，可纵向运动的驱动构件120、击发构件220、击发杆172或I形梁178或它们的组合可联接到任何合适的线性位移传感器。线性位移传感器可包括接触式位移传感器或非接触式位移传感器。线性位移传感器可包括线性可变差分变压器(LVDT)、差分可变磁阻换能器(DVRT)、滑动电位计、包括可移动磁体和一系列线性布置的霍尔效应传感器的磁感测系统、包括固定磁体和一系列可移动的线性布置的霍尔效应传感器的磁感测系统、包括可移动光源和一系列线性布置的光电二极管或光电检测器的光学感测系统、或包括固定光源和一系列可移动的线性布置的光电二极管或光电检测器的光学感测系统、或它们的任何组合。
电动马达1120可包括操作地与齿轮组件1114交接的可旋转轴1116，齿轮组件1114与位移构件1111上的一组或一齿条的驱动齿安装成啮合接合。传感器元件1126操作地联接到齿轮组件1114，使得传感器元件1126的单次旋转对应于位移构件1111的一些线性纵向平移。传动装置和传感器1118的构造可经由齿条和小齿轮构造连接到线性致动器，或者经由直齿齿轮或其它连接连接到旋转致动器。功率源1129为绝对定位系统1100供电，并且输出指示器1128可显示绝对定位系统1100的输出。在图2中，位移构件1111表示可纵向运动驱动构件120，可纵向运动驱动构件120包括形成于其上的驱动齿122的齿条，以用于与齿轮减速器组件84的对应驱动齿轮86啮合接合。位移构件1111表示可纵向运动的击发构件220、击发杆172、I形梁178或它们的组合。
与位置传感器1112相关联的传感器元件1126的单次旋转等同于位移构件1111的纵向线性位移d1，其中d1为在联接到位移构件1111的传感器元件1126的单次旋转之后位移构1111件从点“a”移动到点“b”的纵向线性距离。可经由齿轮减速连接传感器构造1102，该齿轮减速使得位置传感器1112针对位移构件1111的全行程仅完成一次或多次旋转。位置传感器1112可针对位移构件1111的全行程完成多次旋转。
可单独或结合齿轮减速采用一系列开关1122a-1122n(其中n为大于一的整数)以针对位置传感器1112的多于一次旋转提供独特位置信号。开关1122a-1122n的状态被馈送回控制器1104，该微控制器应用逻辑以确定对应于位移构件1111的纵向线性位移d1+d2+…dn的独特位置信号。位置传感器1112的输出1124被提供给控制器1104。传感器构造1102的位置传感器1112可包括磁性传感器、模拟旋转传感器(如电位差计)、模拟霍尔效应元件的阵列，该霍尔效应元件的阵列输出位置信号或值的独特组合。
因此，绝对定位系统1100在器械上电时提供位移构件1111的绝对位置，并且不使位移构件1111回缩或推进至如常规旋转编码器可需要的复位(清零或本位)位置，这些编码器仅对马达1120采取的向前或向后的步骤数进行计数以推断装置致动器、驱动棒、刀等等的位置。
可对控制器1104进行编程以执行各种功能，诸如对刀和关节运动系统的速度和位置的精确控制。在一个方面，控制器1104包括处理器1108和存储器1106。电动马达1120可为有刷直流马达，其具有齿轮箱以及至关节运动或刀系统的机械链接。在一个方面，马达驱动器1110可为可购自Allegro微系统公司(Allegro Microsystems,Inc)的A3941。其它马达驱动器可容易地被替换以用于绝对定位系统1100中。绝对定位系统1100的更详细地描述于2016年4月15日提交的名称为“SYSTEMS AND METHODS FOR CONTROLLING A SURGICALSTAPLING AND CUTTING INSTRUMENT”的美国专利申请15/130,590中，该专利申请的全部公开内容以引用方式并入本文。
控制器1104可被编程为提供对位移构件1111和关节运动系统的速度和位置的精确控制。控制器1104可被配置为能够计算控制器1104的软件中的响应。将计算的响应与实际系统的所测量响应进行比较，以获得“观察到的”响应，其用于实际反馈决定。观察到的响应为有利的调谐值，该值使所模拟响应的平滑连续性质与所测量响应均衡，其可检测对系统的外部影响。
绝对定位系统1100可包括并且/或者可被编程以实现反馈控制器，诸如PID、状态反馈和自适应控制器。功率源1129将来自反馈控制器的信号转换为对系统的物理输入，在这种情况下为电压。其它示例包括电压、电流和力的脉宽调制(PWM)。除了位置传感器1112所测量的位置之外，可提供其它传感器1118以测量物理系统的物理参数。在数字信号处理系统中，绝对定位系统1100联接到数字数据采集系统，其中绝对定位系统1100的输出将具有有限分辨率和采样频率。绝对定位系统1100可包括比较和组合电路，以使用算法(诸如加权平均和理论控制环路)将计算响应与测量响应进行组合，该算法驱动计算响应朝向所测量的响应。物理系统的计算响应将特性如质量、惯性、粘性摩擦、电感电阻等考虑在内，以通过得知输入预测物理系统的状态和输出。控制器1104可以是控制电路700(图5A-5B)。
马达驱动器1110可为可购自Allegro Microsystems,Inc的A3941。A3941驱动器1110为全桥控制器，其用于与针对电感负载特别设计的外部N-通道功率金属氧化物半导体场效应晶体管(MOSFET)一起使用，诸如有刷DC马达。驱动器1110包括独特的电荷泵稳压器，其为低至7V的电池电压提供完整的(>10V)门极驱动并且允许A3941在低至5.5V的减速门极驱动下工作。可采用自举电容器提供N-通道MOSFET所需的上述电池供电电压。高边驱动装置的内部电荷泵允许直流(100％占空比)操作。可使用二极管或同步整流在快衰减模式或慢衰减模式下驱动全桥。在慢衰减模式下，电流再循环可穿过高边或低边FET。通过电阻器可调式空载时间保护功率FET不被击穿。整体诊断指示欠压、过热和功率桥故障，并且可被构造成能够在大多数短路情况下保护功率MOSFET。其它马达驱动器可容易地取代以用于绝对定位系统1100中。
描述总体架构以用于针对传感器构造1102执行绝对定位系统1100的各方面之后，本公开现在转向图11和图12以获取绝对定位系统1100的传感器构造1102的一个方面的描述。图11为根据一个方面的绝对定位系统1100的传感器布置1102的分解透视图，其示出了电路1205和传感器布置1102的元件的相对对齐方式。绝对定位系统1100的传感器构造1102包括位置传感器1200、磁体1202传感器元件，在位移构件1111的每个完整行程旋转一次的磁体保持器1204以及提供齿轮减速的齿轮组件1206。简要地参考图2，位移构件1111可表示可纵向运动驱动构件120，可纵向运动驱动构件120包括驱动齿122的齿条，以用于与齿轮减速器组件84的对应驱动齿轮86啮合接合。转向图11，提供了结构元件(诸如托架1216)以支撑齿轮组件1206、磁体保持器1204和磁体1202。位置传感器1200包括磁性感测元件(诸如霍尔元件)并且被设置成邻近磁体1202。当磁体1202旋转时，位置传感器1200的磁性感测元件确定经过一次转动的磁体1202的绝对角位置。
传感器构造1102可包括任何数量的磁性感测元件，诸如例如根据它们是否测量磁场的总磁场或矢量分量而被分类的磁性传感器。用于产生上述两种类型磁性传感器的技术涵盖物理学和电子学的多个方面。用于磁场感测的技术包括探测线圈、磁通门、光泵、核旋、超导量子干涉仪(SQUID)、霍尔效应、各向异性磁电阻、巨磁电阻、磁性隧道结、巨磁阻抗、磁致伸缩/压电复合材料、磁敏二极管、磁敏晶体管、光纤、磁光，以及基于微机电系统的磁传感器等。
齿轮组件包括第一齿轮1208和第二齿轮1210，其啮合接合以提供3:1齿轮齿数比连接。第三齿轮1212围绕轴1214旋转。第三齿轮1212与位移构件1111(或如图2所示的120)啮合接合，并且当位移1111沿远侧方向D前进时沿第一方向旋转，并且当位移构件1111沿近侧方向P回缩时沿第二方向旋转。第二齿轮1210也围绕轴1214旋转，因此，第二齿轮1210围绕轴1214的旋转对应于位移构件1111的纵向平移。因此，位移构件1111沿远侧方向D或近侧方向P的一个全行程对应于第二齿轮1210的三次旋转和第一齿轮1208的单次旋转。由于磁体保持器1204联接到第一齿轮1208，磁体保持器1204随着位移构件1111的每个全行程进行一次完整旋转。
位置传感器1200由位置传感器保持器1218支撑，位置传感器保持器1218限定孔1220，开孔1220适于容纳与在磁体保持器1204内下方旋转的磁体1202精确对齐的位置传感器1200。夹具联接到托架1216以及电路1205，并且在磁体1202随磁体保持器1204旋转时保持静止。提供了轮毂1222以与第一齿轮1208和磁体保持器1204配合。还示出了联接到轴1214的第二齿轮1210和第三齿轮1212。
图12为根据本公开的一个方面的用于绝对定位系统1100的位置传感器1200的图示，绝对定位系统1100包括磁性旋转绝对定位系统。位置传感器1200可被实现为AS5055EQFT单片磁性旋转位置传感器，其可购自奥地利微系统公司(AustriaMicrosystems,AG)。位置传感器1200与控制器1104交接，以提供绝对定位系统1100。位置传感器1200为低电压和低功率部件，并且包括位于磁体1202(图15、图16)上的位置传感器1200的区域1230中的四个霍尔效应元件1228A、1228B、1228C、1228D。在芯片上也提供了高分辨率ADC 1232和智能型电源管理控制器1238。提供了CORDIC处理器1236(针对坐标旋转数字计算机(COordinate Rotation DIgital Computer))，也称为逐位法和Volder算法，以执行简单有效的算法来计算双曲线函数和三角函数，其仅需要加法、减法、位位移和表格查找操作。角位置、报警位和磁场信息通过诸如SPI接口1234的标准串行通信接口传输到控制器1104。位置传感器1200提供12或14位分辨率。位置传感器1200可为以小QFN 16引脚4×4×0.85mm封装提供的AS5055芯片。
霍尔效应元件1228A、1228B、1228C、1228D位于旋转磁体1202正上方。霍尔效应是众所周知的效应，并且为了方便起见，本文将不详细描述，然而，霍尔效应横跨导体中与电流成横向的电导体和垂直于电流的磁场产生电压差(霍尔电压)。霍尔系数被限定为感应电场与电流密度和所施加磁场的乘积的比率。其为从中制备导体的材料的特性，因为其值取决于构成电流的电荷载体的类型、数目和性能。在AS5055位置传感器1200中，霍尔效应元件1228A、1228B、1228C、1228D能够产生电压信号，其以磁体1202单次旋转的角度来指示磁体1202的绝对位置。由CORDIC处理器1236计算角度的这个值(其为独特位置信号)，并且将其以机载方式存储在寄存器或存储器中的AS5055位置传感器1200上。在多种技术中，如在加电时或在控制器1104发出请求时，向控制器1104提供角度的值，其指示经过一次转动的磁体1202的位置。
AS5055位置传感器1200在连接至控制器1104时仅需要几个外部部件就可操作。使用单一电源的简单应用需要六根电线：两根电线用于电力，四根电线1240用于与控制器1104的SPI接口1234。可加入第七连接，以便向控制器1104发送中断以通知可读取新的有效角度。在通电时，AS5055位置传感器1200执行完全通电序列，包括一个角度测量。该循环的完成表示为INT输出1242，并且角度值存储在内部寄存器中。一旦设定了这一输出，AS5055位置传感器1200就暂停为休眠模式。控制器1104可通过SPI接口1234从AS5055位置传感器1200读取角度值来响应INT输出1242处的INT请求。一旦控制器1104读取了角度值，就再次清除INT输出1242。由控制器1104通过SPI接口1234向位置传感器1200发送“读取角度”指令也自动使芯片加电并且启动另一个角度测量。控制器1104一完成角度值的读取，就清除INT输出1242并且将新的结果存储在角度寄存器中。通过设定INT输出1242和状态寄存器中的对应标志再次指示角度测量的完成。
由于AS5055位置传感器1200的测量原理，每个加电序列之后，在非常短的时间(-600μs)内仅执行单次角度测量。一个角度的测量一完成，AS5055位置传感器1200就暂停为掉电状态。未执行根据数字平均化的角度值的片上过滤，因为这将需要多于一个角度测量并且因此需要更长加电时间，这在低功率应用中是不期望的。可通过在控制器1104中对数个角度样品进行平均来减少角度抖动。例如，平均四个采样可使抖动减少6dB(50％)。
图13为根据本公开的一个方面的外科器械10(图1-4)的端部执行器2502的剖视图，其示出了相对于抓持在端部执行器2502内的组织2526的I形梁2514击发行程。端部执行器2502被构造成能够与图1-4所示的外科器械10一起操作。端部执行器2502包括砧座2516和细长通道2503，其中钉仓2518定位在细长通道2503中。击发杆2520可沿端部执行器2502的纵向轴线2515朝远侧和近侧平移。当端部执行器2502未进行关节运动时，端部执行器2502与器械的轴成一直线。包括切割边缘2509的I形梁2514示出在击发杆2520的远侧部分处。楔形滑动件2513定位在钉仓2518中。当I形梁2514朝远侧平移时，切割边缘2509接触并可切割定位在砧座2516与钉仓2518之间的组织2526。而且，I形梁2514接触楔形滑动件2513并朝远侧推动它，从而使得楔形滑动件2513接触钉驱动器2511。钉驱动器2511可以被向上驱动到钉2505中，从而使得钉2505推进穿过组织并进入限定在砧座2516中的凹坑2507中，该凹坑使钉2505成形。
示例I性梁2514击发行程由与端部执行器2502对齐的图表2529示出。还示出了示例性组织2526与端部执行器2502对齐。击发构件行程可包括行程开始位置2527和行程结束位置2528。在I形梁2514击发行程期间，I形梁2514可从行程开始位置2527朝远侧推进到行程结束位置2528。I形梁2514示出在行程开始位置2527的一个示例位置处。I形梁2514击发构件行程图表2529示出了五个击发构件行程区域2517、2519、2521、2523、2525。在第一击发行程区域2517中，I形梁2514可开始朝远侧推进。在第一击发行程区域2517中，I形梁2514可接触楔形滑动件2513并开始使其朝远侧移动。然而，在第一区域中，切割边缘2509可不接触组织，并且楔形滑动件2513可不接触钉驱动器2511。在克服静摩擦力之后，在第一区域2517中驱动I形梁2514的力可以是基本恒定的。
在第二击发构件行程区域2519中，切割边缘2509可开始接触并切割组织2526。而且，楔形滑动件2513可以开始接触钉驱动器2511以驱动钉2505。驱动I形梁2514的力可开始上升。如图所示，由于砧座2516相对于钉仓2518枢转的方式，起初遇到的组织可以被压缩和/或变薄。在第三击发构件行程区域2521中，切割边缘2509可连续地接触并切割组织2526，并且楔形滑动件2513可重复地接触钉驱动器2511。驱动I形梁2514的力可在第三区域2521中平稳。通过第四击发行程区域2523，驱动I形梁2514的力可开始下降。例如，端部执行器2502的对应于第四击发区域2523的部分中的组织可比靠近砧座2516的枢转点的组织压缩得更少，从而需要更少的切割力。而且，切割边缘2509和楔形滑动件2513可在第四区域2523中到达组织2526的端部。当I形梁2514到达第五区域2525时，组织2526可被完全切断。楔形滑动件2513可以在组织的端部处或附近接触一个或多个钉驱动器2511。可减小使I形梁2514推进通过第五区域2525的力，并且在一些示例中，可类似于在第一区域2517中驱动I形梁2514的力。在击发构件行程结束时，I形梁2514可到达行程结束位置2528。图18中的击发构件行程区域2517、2519、2521、2523、2525的定位仅是一个示例。在一些示例中，例如，基于砧座2516和钉仓2518之间的组织的定位，不同的区域可沿端部执行器纵向轴线2515在不同的位置处开始。
如上所述并且现在参考图10-13，定位在外科器械10(图1-4)的柄部组件内的电动马达1122可用于相对于轴组件的端部执行器2502推进和/或回缩包括I形梁2514的轴组件的击发系统，以便缝合和/或切割捕集在端部执行器2502内的组织。I形梁2514可以期望的速度或在期望的速度范围内前进或回缩。控制器1104可被配置为能够控制I形梁2514的速度。控制器1104可被配置为能够基于供应给电动马达1122的功率的各种参数诸如例如电压和/或电流和/或电动马达1122的其它操作参数或外部影响来预测I形梁2514的速度。控制器1104也可被配置为能够基于向电动马达1122提供的电流和/或电压的先前值和/或系统的先前状态(如速度、加速度和/或位置)来预测I形梁2514的当前速度。控制器1104可被配置为能够利用本文描述的绝对定位传感器系统来感测I形梁2514的速度。控制器可被配置为能够将I形梁2514的预测速度与I形梁2514的感测速度进行比较，以确定是否应该增加到电动马达1122的功率以增加I形梁2514的速度和/或减小以降低I形梁2514的速度。名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利8,210,411，其全文以引用方式并入本文。名称为“SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES”的美国专利7,845,537，其全文以引用方式并入本文。
可使用各种技术来确定作用在I形梁2514上的力。可通过测量马达2504电流来确定I形梁2514的力，其中马达2504电流基于I形梁2514在朝远侧前进时所经受的负载。通过将应变仪定位在驱动构件120(图2)、击发构件220(图2)、I形梁2514(I形梁178，图20)、击发构件172(图2)上和/或切割边缘2509的近侧端部上，可确定I形梁2514的力。通过在预定的经过时间段T1之后基于马达2504的当前设定速度监测以期望速度移动的I形梁2514的实际位置并且在周期T1结束时基于马达2504的当前设定速度比较I形梁2514的实际位置与I形梁2514的预期位置，可确定I形梁2514的力。因此，如果I形梁2514的实际位置小于I形梁2514的预期位置，则I形梁2514上的力大于标称力。相反，如果I形梁2514的实际位置大于I形梁2514的预期位置，则I形梁2514上的力小于标称力。I形梁2514的实际位置和预期位置之间的差异与I形梁2514上的力与标称力的偏差成正比。代理人案卷号END8195USNP中描述了此类技术，该文件全文以引用方式并入本文。
图14示出了根据本公开的一个方面的被编程为控制位移构件的远侧平移的外科器械2500的框图。在一个方面，外科器械2500被编程为控制位移构件1111诸如I形梁2514的远侧平移。外科器械2500包括端部执行器2502，端部执行器2502可包括砧座2516、I形梁2514(包括锋利的切割边缘2509)和可移除钉仓2518。端部执行器2502、砧座2516、击发构件2514和钉仓2518可如本文所述构造，例如，参考图1-13。
衬套位移构件1111诸如I形梁2514的位置、运动、位移和/或平移可通过绝对定位系统1100、传感器构造1102和如图10-12中所示并且在图14中表示为位置传感器2534的位置传感器1200来测量。因为I形梁2514联接到可纵向运动驱动构件120，所以通过使用位置传感器2534测量可纵向运动驱动构件120的位置可确定I形梁2514的位置。因此，在以下描述中，I形梁2514的位置、位移和/或平移可通过本文所述的位置传感器2534来实现。控制电路2510诸如在图5A和图5B中描述的控制电路700可被编程为控制位移构件1111诸如I形梁2514的平移，如结合10-12所述。在一些示例中，控制电路2510可包括一个或多个微控制器、微处理器或其它合适的处理器，以用于执行使一个或多个处理器以所述方式控制位移构件(例如，I形梁2514)的指令。在一个方面，定时器/计数器电路2531向控制电路2510提供输出信号诸如耗用时间或数字计数，以将如由位置传感器2534确定的I形梁2514的位置与定时器/计数器2531的输出相关联，使得控制电路2510可确定I形梁2514在相对于起始位置的特定时间(t)处的位置。定时器/计数器电路2531可被配置为能够测量所耗用的时间、计数外部事件或时间外部事件。
控制电路2510可以生成马达设定点信号2522。马达设定点信号2522可被提供给马达控制器2508。马达控制器2508可包括一个或多个电路，这些电路被配置为能够向马达2504提供马达驱动信号2524，以驱动马达2504，如本文所述。在一些示例中，马达2504可以是有刷DC电动马达，诸如图1、图5B、图10所示的马达82、714、1120。例如，马达2504的速度可与马达驱动信号2524成比例。在一些示例中，马达2504可以是无刷直流(DC)电动马达，并且马达驱动信号2524可以包括提供给马达2504的一个或多个定子绕组的脉宽调制(PWM)信号。而且，在一些示例中，可以省略马达控制器2508，并且控制电路2510可以直接生成马达驱动信号2524。
马达2504可从能量源2512处接收电力。能量源2512可以是或包括电池、超级电容器或任何其它合适的能量源2512。马达2504可经由传输装置2506机械联接到I形梁2514。传输装置2506可包括一个或多个齿轮或其它连杆部件，以将马达2504联接到I形梁2514。位置传感器2534可感测I形梁2514的位置。位置传感器2534可以是或包括能够生成指示I形梁2514的位置的位置数据的任何类型的传感器。在一些示例中，位置传感器2534可包括编码器，该编码器被配置为能够在I形梁2514朝远侧和近侧平移时向控制电路2510提供一系列脉冲。控制电路2510可跟踪脉冲以确定I形梁2514的位置。可使用其它合适的位置传感器，包括例如接近传感器。其它类型的位置传感器可提供指示I形梁2514的运动的其它信号。而且，在一些示例中，可省略位置传感器2534。在马达2504是步进马达的情况下，控制电路2510可通过聚合马达2504已被命令执行的步骤的数量和方向来跟踪I形梁2514的位置。位置传感器2534可位于端部执行器2502中或器械的任何其它部分处。
控制电路2510可与一个或多个传感器2538通信。传感器2538可定位在端部执行器2502上并且适于与外科器械2500一起操作以测量各种衍生参数，诸如间隙距离对时间、组织压缩对时间、以及砧座应变对时间。传感器2538可包括例如磁性传感器、磁场传感器、应变仪、压力传感器、力传感器、电感式传感器(诸如涡流传感器)、电阻式传感器、电容式传感器、光学传感器、和/或用于测量端部执行器2502的一个或多个参数的任何其它合适的传感器。传感器2538可包括一个或多个传感器。
一个或多个传感器2538可包括应变仪，诸如微应变仪，其被配置为能够在夹持条件期间测量砧座2516中的应变的量值。应变仪提供电信号，该电信号的幅值随着应变量值而变化。传感器2538可包括压力传感器，该压力传感器被配置为能够检测由砧座2516和钉仓2518之间的压缩组织的存在所生成的压力。传感器2538可被配置为能够检测位于砧座2516和钉仓2518之间的组织节段的阻抗，该阻抗指示位于其间的组织的厚度和/或填充度。
传感器2538可被配置为能够测量由闭合驱动系统30施加在砧座2516上的力。例如，一个或多个传感器2538可位于闭合管260(图3)和砧座2516之间的交互点处，以检测由闭合管260施加到砧座2516的闭合力。施加在砧座2516上的力可表示在砧座2516和钉仓2518之间捕集的组织节段所经受的组织压缩。一个或多个传感器2538可沿闭合驱动系统30(图2)定位在各种交互点处，以检测由闭合驱动系统30施加到砧座2516的闭合力。一个或多个传感器2538可在夹持操作期间由图5A-5B中所述的处理器实时取样。处理器2510接收实时样本测量值以提供基于分析时间的信息并实时评估施加到砧座2516的闭合力。
可采用电流传感器2536来测量由马达2504消耗的电流。推进I形梁2514所需的力可对应于例如由马达2504消耗的电流。将力转换成数字信号并将其提供给控制电路2510。
使用结合图1-14并在本文参考图14所公开的器械的物理特性，控制器2510可被配置为能够在控制器的软件中模拟器械的实际系统的响应。可致动位移构件以使端部执行器2502中的I形梁2514以目标速度或接近目标速度移动。外科器械2500可包括反馈控制器，该反馈控制器可为任何反馈控制器中的一者，包括但不限于例如PID、状态反馈、LQR和/或自适应控制器。外科器械2500可包括功率源，以例如将来自反馈控制器的信号转换为物理输入，诸如外壳电压、脉宽调制(PWM)电压、频率调制电压、电流、扭矩和/或力。
外科器械2500的实际驱动系统被配置为能够通过具有齿轮箱和与关节运动和/或刀系统的机械链路的有刷DC马达驱动位移构件、切割构件或I形梁2514。另一个示例为操作例如可互换轴组件的位移构件和关节运动驱动器的电动马达2504。外部影响是事物如组织、周围身体和摩擦对物理系统的未测量的、不可预测的影响。此类外部影响可被称为相对电动马达2504作用的曳力。外部影响诸如曳力可导致物理系统的操作偏离物理系统的期望操作。
在详细说明外科器械2500的各个方面之前，应该指出的是，示例方面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配置和布置的细节。示例方面可单独实现，也可与其它方面、变更形式和修改形式结合在一起实施，并可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方面进行描述而所选的，并非为了限制性的目的。而且，应当理解，以下描述的方面中的一个或多个、方面和/或示例的表达可与以下描述的其它方面、方面和/或示例的表达中的任何一个或多个组合。
各种示例方面涉及外科器械2500，其包括具有马达驱动的外科缝合和切割工具的端部执行器2502。例如，马达2504可沿端部执行器2502的纵向轴线朝远侧和朝近侧驱动位移构件。端部执行器2502可包括可枢转的砧座2516，并且当被构造使用时，钉仓2518定位在砧座2516的对面。临床医生可抓持砧座2516与钉仓2518之间的组织，如本文所述。当准备好使用器械2500时，临床医生可提供击发信号，例如通过按下器械2500的触发器。响应于击发信号，马达2504可沿端部执行器2502的纵向轴线将位移构件从近侧行程开始位置朝远侧驱动至行程开始位置远侧的行程结束位置。当位移构件朝远侧平移时，具有定位在远侧端部处的切割元件的I形梁2514可切割钉仓2518和砧座2516之间的组织。
在各种示例中，外科器械2500可包括控制电路2510，该控制电路被编程为基于一个或多个组织条件控制位移构件诸如I形梁2514的远侧平移。控制电路2510可被编程为直接或间接地感测组织条件，诸如厚度，如本文所述。控制电路2510可被编程为基于组织状况选择击发控制程序。击发控制程序可以描述位移构件的远侧运动。可以选择不同的击发控制程序以更好地处理不同的组织状况。例如，当存在较厚的组织时，控制电路2510可被编程为以较低的速度和/或以较低的功率平移位移构件。当存在较薄的组织时，控制电路2510可被编程为以较高的速度和/或以较高的功率平移位移构件。
在一些示例中，控制电路2510可针对位移构件的行程的第一开环部分初始以开环配置操作马达2504。基于在行程的开环部分期间器械2500的响应，控制电路2510可选择击发控制程序。器械的响应可包括在开环部分期间位移构件的平移距离、在开环部分期间耗用的时间、在开环部分期间提供给马达2504的能量、马达驱动信号的脉冲宽度之和等。在开环部分之后，控制电路2510可对位移构件行程的第二部分实现所选择的击发控制程序。例如，在行程的闭环部分期间，控制电路2510可基于以闭环方式描述位移构件的位置的平移数据来调制马达2504，以使位移构件以恒定速度平移。
图15示出了绘制根据本公开的一个方面执行的两个示例位移构件行程的示意图2580。图2580包括两个轴线。水平轴线2584指示经过的时间。垂直轴线2582指示I形梁2514在行程开始位置2586与行程结束位置2588之间的位置。在水平轴线2584上，控制电路2510可接收击发信号并开始在t0处提供初始马达设置。位移构件行程的开环部分是可在t0和t1之间经过的初始时间段。
第一示例2592示出了当厚组织定位在砧座2516与钉仓2518之间时外科器械2500的响应。在位移构件行程的开环部分期间，例如在t0与t1之间的初始时间段期间，I形梁2514可从行程开始位置2586横越到位置2594。控制电路2510可确定位置2594对应于击发控制程序，该击发控制程序以选择的恒定速度(V慢)使I形梁2514前进，该速度由示例2592在t1之后的斜率指示(例如，在闭环部分中)。控制电路2510可通过监测I形梁2514的位置并调制马达设定点2522和/或马达驱动信号2524以维持V慢来将I形梁2514驱动到速度V慢。第二示例2590示出了当薄组织定位在砧座2516与钉仓2518之间时外科器械2500的响应。
在t0和t1之间的初始时间段(例如，开环时间段)期间，I形梁2514可从行程开始位置2586横越到位置2596。控制电路可确定位置2596对应于击发控制程序，该击发控制程序使位移构件以选择的恒定速度(V快)前进。因为示例2590中的组织比示例2592中的组织薄，所以它可为I形梁2514的运动提供较小的阻力。结果，I形梁2514可在初始时间段期间横越行程的较大部分。而且，在一些示例中，较薄的组织(例如，在初始时间段期间横越的位移构件行程的较大部分)可对应于初始时间段之后的较高的位移构件速度。
现在，本公开转向用于基于各种条件来控制马达速度的闭环反馈系统。在一个方面，提供了用于基于电池状况控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。在另一方面，提供了用于基于在正常击发循环期间的失速状况来控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。在另一方面，提供了用于在手动模式下控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，其用于基于在正常击发循环期间的失速状况来控制马达速度并且在击发循环中实现强制暂停。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，其用于基于在正常击发循环期间的失速状况来控制马达速度，并且一旦重新启动击发循环就将速度降低一个水平。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，其用于在手动模式下的正常击发循环期间基于失速状况来控制马达速度，并且一旦重新启动击发循环就将速度降低一个水平。在另一方面，提供了描述控制程序或逻辑配置的过程的逻辑流程图，其用于基于在正常击发循环期间的失速状况来控制马达速度，并且暂停击发循环，直到用户释放击发触发器。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，其用于在速度之间的过渡期间控制马达速度。这些方面在下文中参考图16-23更详细地描述。
马达失速状况是指马达的旋转输出降至零时。失速扭矩是输出旋转速度为零时马达产生的扭矩。也可意味着扭矩负载，该扭矩负载导致马达的输出旋转速度为零，即引起失速。失速是马达停止旋转时的状况。当负载扭矩大于马达轴扭矩时，即发生分解扭矩状况时，就会发生这种状况。在这种状况下，马达会消耗最大电流，但马达轴不会旋转。该电流称为失速电流。马达在失速时继续提供扭矩。但是，处于失速状况的电动马达容易过热，并可能造成损坏，因为电流在这些状况下最大。电动马达在不导致损坏的情况下在失速时长期可产生的最大扭矩称为最大连续失速扭矩。
参考图14，可使用多种技术来检测马达失速状况。在一个方面，通过监测到马达2504的能量源2512可检测马达失速。如果电压下降到预定阈值以下，则可指示马达失速状况。在另一方面，通过经由电流传感器2536监测通过马达2504的电流来检测马达失速状况。如果由电流传感器2536感测到的电流增加到预定阈值以上至大于失速电流的值，则马达2504可失速或正在失速。在另一方面，电流传感器2536可与马达2504的接地腿部串联放置。在另一方面，通过监测由位置传感器2534监测的相对于位移构件诸如I形梁2514的实际位移施加到马达2504的电流可检测马达失速状况。如果马达电流大于预期值，接近或大于失速电流，并且实际速度低于命令速度，则马达可失速或正在失速。如果未及时校正马达失速状况，马达2504可因过热而损坏。
因此，现在转到图16，示出了过程11500的逻辑流程图，该过程11500描述根据本公开的一个方面的用于基于电池状况来控制马达速度的控制程序或逻辑配置。还参考图1-15并且具体为图14，在一个方面，控制电路2510被配置为能够当外科器械2500被加载以评估电池容量时询问能量源2512以确定在击发循环的一部分期间电池上的电压，并且基于该反馈调节位移构件(例如，驱动构件120、击发构件220、击发杆172、I形梁2514等)的击发速度。如先前所讨论的，位移构件的击发速度由控制电路2510基于各种反馈状况来控制。控制电路2510确定位移构件的新速度，并且将马达设定点2522施加到马达控制器2508，其又将马达驱动信号2524施加到马达2504。马达2504的设定速度或命令速度被施加到变速器2506。位移构件的实际速度是基于来自位置传感器2534、能量源2512、电流传感器2536、计时器/计数器2531或传感器2538的反馈而单独或组合确定的。如先前所讨论的，可影响位移构件的实际速度的因素包括外部影响诸如组织厚度、组织、类型或系统状况。电池状况诸如电池过热状况的确定将击发速度通知给控制电路2510。作为示例，控制电路2510在位移构件的行程的最初的0.080"至0.12"(2mm至3mm)并且在一个示例中为0.09"(2.286mm)的期间(例如，在系统加载时)测量在电池中/通过电池的电压、内部电阻和/或电流。如果12V电池的电压Vb<9V，电池的内部电阻Rb高于阈值，或者电流Ib低于阈值，则电池可能处于过热状态。控制电路2510立即将击发速度设置为整个击发循环的最低设置。
参考图14和图16，根据过程11500，控制电路2510开始11502位移构件的击发循环，并且在初始击发阶段期间(例如，在位置传感器2534确定的行程的最初0.090”期间))继续对能量源2512进行连续采样11504。将采样电压与阈值电压进行比较11506。在一个示例中，对于12V能量源2512，阈值被设定为9V。可调节阈值以适应系统电压要求。如果采样电压大于或等于阈值电压，则控制电路2510沿否分支继续并且继续11508击发循环，直到采样电压小于阈值电压，控制电路2510沿是分支继续并且控制电路2510通过状态指示器诸如显示器43、743(图2、图5B、图6)来传达11510弱电池状况。状态指示器可以是LED、显示器、蜂鸣器等等。在传达11510弱电池状况时，控制电路2510确定11512外科器械2500装置是否处于自动模式。如果外科器械2500处于自动模式，则控制电路2510沿是分支继续，并且控制电路2510将外科器械2500转换11514为手动模式，并且将马达2504的命令速度降低11516为慢的。如果外科器械2500未处于自动模式，则控制电路2510沿否分支继续，并且控制电路2510将马达2504的命令速度降低11516为慢的。在一些方面，慢命令速度可小于10mm/s，并且在一些方面可小于5mm/s。
图17为描述根据本公开的一个方面的用于在正常击发循环期间基于失速状况来控制马达速度的控制程序或逻辑配置的过程11520的逻辑流程图。通常，如果马达在正常击发循环期间失速，则过程11520迫使马达在其余的击发循环中以最慢的模式操作。因此，如果马达失速，则以慢速度执行剩余行程。
现在参考图14和图17，根据过程11520，控制电路2510以诸如12mm/s的中等命令速度开始11522位移构件的击发循环。在击发循环期间，控制电路2510检查11524是否为马达失速状况，并且如果确定11526马达未失速，则控制电路2510沿否分支继续，并且继续11532击发循环，直到马达2504失速。此时，控制电路2510沿是分支继续，并且将命令速度降低11528为慢的，并且通过警告灯或其它指示器诸例如显示器43、743来指示11530状态(图2、图5B、图6)。在将命令速度降低11528为慢的时，控制电路2510继续11532击发循环，并且检查11524是否失速，直到马达2504失速或位移构件到达行程的末端。如先前所讨论的，慢命令速度可小于10mm/s，并且在一些方面可小于5mm/s。在该示例中，命令速度设置为9mm/s。
图18为描述根据本公开的一个方面的用于在手动模式下时控制马达速度的控制程序或逻辑配置的过程11540的逻辑流程图。通常，当外科器械2500处于手动模式时，马达有失速的风险，并且控制电路显示警告。如果用户未暂停或降低马达的命令速度，则在击发循环的其余时间内，装置将自动进入低速状态。因此，当外科外科器械处于手动模式并且通过控制电路检测到失速的风险时，用户有机会手动调节命令速度，以避免马达失速。
现在参考图14和图18，根据过程11540，控制电路2510在接收到来自用户的请求时选择11542手动模式，并且开始11544位移构件的击发循环。在击发循环期间，控制电路2510检查11546是否有马达失速，并且如果控制电路2510未检测到11548低速度，则控制电路2510沿否分支前进，并且控制电路2510继续11550击发循环，直到检测到11548低速度。当检测到11548低速时，控制电路2510沿是分支继续，并且控制电路通过显示器43、743(图2、图5B、图6)、警告灯指示11552低速状态，并且显示倒数计时器以为用户提供一些时间来手动降低马达速度。例如，该时间段可以是几秒钟且最多至10秒。在倒数计时器超时之后，控制电路2510确定11554用户是否已选择手动调节马达2504的速度或暂停马达2504。如果用户选择手动调节马达2504的速度或暂停马达2504，则控制电路2510沿是分支继续，并且控制电路2510检测到11548低速，并且过程11540继续，直到用户选择不手动调节马达2504的速度或暂停马达2504。此时，控制电路2510沿否分支继续，并且将马达2504的速度降低11556至慢速度并继续击发循环。该过程继续，直到位移构件到达行程的末端。如先前所讨论的，慢命令马达速度可小于10mm/s，并且在一些方面可小于5mm/s。在该示例中，命令速度降低11556至9mm/s。
图19为描述根据本公开的一个方面的控制程序或逻辑配置的过程11560的逻辑流程图，该控制程序或逻辑配置用于在正常击发循环期间基于失速状况控制马达速速并且在击发循环中实现强制暂停。通常，当马达在正常击发循环期间失速时，控制电路会停止马达，并在击发循环中强制暂停。暂停的持续时间取决于失速时马达的命令速度。较快的马达速度可需要较长的暂停等。因此，如果马达失速，则控制电路会在允许马达在失速时以相同速度重新启动之前停止马达并强制暂停。
现在参考图14和图19，根据过程11560，控制电路2510开始11562位移构件的击发循环并存储11564马达的当前速度(例如，慢速度：0<V<10mm/s；中等速度：10mm/s≤V≤12.5mm/s；快速度：12.5mm/s<V<15mm/s)并检查11566是否为马达失速状况。然后，控制电路2510确定11568马达2504是否失速。如果马达2504失速，则控制电路沿否分支继续，并且控制电路2510继续11570击发循环，并检查11566是否为马达失速状况，直到马达2504失速。然后，控制电路2510沿是分支前进并评估三个状况。第一评估确定11572马达2504的先前速度是否为快速度，如果为真的，则控制电路2510将延迟设置11574为大于或等于2秒且小于或等于5秒，并以存储的速度继续11576击发循环。同时，在诸如显示器43、743的其它反馈技术中，控制电路2510通过显示或示出警告灯来指示11578外科器械2500的状态(图2、图5B、图6)。第二评估确定11580马达2504的先前速度是否为中等速度，如果为真的，则控制电路2510将延迟设置11582为大于或等于1秒且小于2秒，并以存储的速度继续11584击发循环。同时，在诸如显示器43、743的其它反馈技术中，控制电路2510通过显示或示出警告灯来指示11586状态。第三评估确定11588马达2504的先前速度是否为慢速度，并且如果为真的，则控制电路2510将设置11590为0到1秒的延迟，并且优选地为0到0.25秒的延迟，并且以存储的速度继续11592击发循环。同时，在诸如显示器43、743的其它反馈技术中，控制电路2510通过显示或示出警告灯来指示11594状态。过程11560继续，直到位移构件到达行程的末端。
图20为根据本公开的一个方面的描述控制程序或逻辑配置的过程11600的逻辑流程图，该控制程序或逻辑配置用于在正常击发循环期间基于失速状况控制马达速度，并且一旦重新启动击发循环，就将速度降低一级。通常，当马达在正常击发循环期间失速时，一旦重新启动击发循环，马达的速度就会降低到当前马达速度以下的一级。如果马达速度已经处于最低速度，则在再次以最低速度重新启动击发循环之前，需要强制暂停预定持续时间。因此，如果马达失速，则控制电路将马达速度减慢到存储的速度以下的一级。
现在参考图14和图20，根据过程11600，控制电路2510开始11602位移构件的击发循环并存储11604马达的当前速度(例如，慢速度：V<10mm/s；中等速度：10mm/s≤V≤12.5mm/s；快速度：V>12.5mm/s)并检查11606是否为马达失速状况。然后，控制电路2510确定11608马达2504是否失速。如果马达2504失速，则控制电路2510沿否分支继续，并且控制电路2510继续11610击发循环，并检查11606是否为马达失速状况，直到马达2504失速。然后，控制电路2510沿是分支前进并评估三个状况。第一评估确定11612马达2504的先前速度是否为快速度，并且如果为真的，则控制电路2510将马达2504的速度自动调节11614为中等速度，并以新的中等速度重新开始11602击发循环。同时，在诸如显示器43、743的其它反馈技术中，控制电路2510通过显示或示出警告灯来指示11616外科器械2500的状态(图2、图5B、图6)。第二评估确定11618如果马达2504的先前速度是否为中等速度，并且如果为真的，则控制电路2510将马达2504的速度自动调节11620为慢速度，并且以新的慢速度重新开始11602击发循环。同时，在诸如显示器43、743的其它反馈技术中，控制电路2510通过显示或示出警告灯来指示11622状态。第三评估确定11624马达2504的先前速度是否为慢速度，并且如果为真的，则控制电路2510强制预定持续时间的暂停11626。在预定的暂停之后，控制电路2510以慢速度重新开始11602击发循环。同时，在诸如显示器43、743的其它反馈技术中，控制电路2510通过显示或示出警告灯来指示11628状态。过程11600继续，直到位移构件到达行程的末端。
图21为根据本公开的一个方面的描述控制程序或逻辑配置的过程11630的逻辑流程图，该控制程序或逻辑配置用于在手动模式下的正常击发循环期间基于失速状况控制马达速度，并且一旦重新启动击发循环，就将速度降低一级。通常，当马达在手动模式下时在正常击发循环期间失速时，一旦重启击发循环，控制电路会将马达的速度降低一级。如果已经处于最低速度，则控制电路在再次以最低速度重新启动击发循环之前强制预定的持续时间的暂停。用户只能选择一个比在其余击发循环内失速发生的速度慢的速度。因此，如果马达在手动模式下时失速，则控制电路会将马达的速度降低一级，并且锁定先前较高的马达速度。
现在参考图14和图21，根据过程11630，控制电路2510开始11632位移构件的击发循环并存储11634马达的当前速度(例如，慢速度：V<10mm/s；中等速度：10mm/s≤V≤12.5mm/s；快速度：V>12.5mm/s)并检查11636是否为马达失速状况。然后，控制电路2510确定11638马达2504是否失速。如果马达2504失速，则控制电路2510沿否分支继续，并且控制电路2510继续11640击发循环，并检查11636是否为马达失速状况，直到马达2504失速。然后，控制电路2510沿是分支前进并评估三个状况。第一评估确定11642马达2504的先前速度是否为快速度，并且如果为真的，则控制电路2510将速度降低11644至中等速度，并禁用、禁止或阻止快速度。控制电路2510在阻止快速度的同时以新的中等速度重新开始11632击发循环。在其它反馈技术中，控制电路2510可通过显示或示出警告灯来指示外科器械2500的状态。第二评估确定11646马达2504的先前速度是否为中等速度，并且如果为真的，则控制电路2510将马达2504的速度降低11648至慢速度，并且禁用、禁止或阻止中等速度和快速度。控制电路2510以新的慢速度重新开始11632击发循环，同时阻止中等速度和快速度。除其它反馈技术外，控制电路2510可通过显示或示出警告灯来指示状态。第三评估确定11650马达2504的先前速度是否为慢速度，并且如果为真的，则控制电路2510强制预定持续时间的暂停11652。在预定的暂停之后，控制电路2510以比在剩余的击发循环中马达失速发生的慢速度慢的速度重新开始11632击发循环。同时，除其它反馈技术外，控制电路2510还通过显示或示出警告灯来指示11628状态。过程11600继续，直到位移构件到达行程的末端。
图22为描述根据本公开的一个方面的控制程序或逻辑配置的过程11660的逻辑流程图，该控制程序或逻辑配置用于在正常击发循环期间基于失速状况控制马达速度，并且暂停击发循环，直到用户释放击发触发器。通常，当马达在正常击发循环期间失速时，控制电路暂停，直到用户(例如，外科医生)释放触发器。当重新开始击发循环时，控制电路以发生马达失速的相同命令速度重新启动。
现在参考图14和图22，根据过程11660，控制电路2510开始11622位移构件的击发循环并检查11664是否存在马达失速。如果马达未失速11666，则控制电路2510沿否分支继续并且检查11664是否存在马达失速，直到马达2504失速。如果存在马达失速，则控制电路2510沿是分支前进，并且暂停11668马达2504并停止击发循环。控制电路2510在显示器43、743(图2、图5B、图6)上指示11674状态并警告马达失速状况，并指示用户(例如，外科医生)释放触发器。然后，控制电路2510确定11672触发器是否被释放并且沿否分支继续，直到触发器被释放。然后，控制电路2510沿是分支前进，并继续11670击发循环，直到马达2504失速或位移构件到达行程的末端。
图23为描述根据本公开的一个方面的用于在速度之间的转换期间控制马达速度的控制程序或逻辑配置的过程11680的逻辑流程图。通常，在基于时间、距离或速度的控制方案中，从一种速度到另一种速度的过渡可能会影响下一次比较的目标值。为了避免主要由于命令速度的变化而触发的恒定速度变化，将最近的速度变化之后紧接的一个或多个区域排除在考虑范围之外。在一个方面，返回速度总是处于最快速度。
现在参考图14和图23，根据过程11680，控制电路2510开始11682位移构件的击发循环，并基于位置传感器2534监测11684位移构件的位置，直到位移构件到达用于比较速度的变化的目标为止。当位移构件到达目标比较位置时，控制电路2510确定11686先前区域是否开始速度的变化。如果先前的区域开始速度的变化，则控制电路2510沿是分支继续并且以当前的命令速度继续击发11688，并且监测11684位移构件是否已经到达用于比较的目标。该过程继续，直到控制电路2510确定11686先前的区域没有开始速度的变化。控制电路2510沿否分支前进，并且将位移构件的期望速度值与位移构件的实际速度值进行比较11690。控制电路2510基于比较结果11690为下一区域设置11692马达2504的新命令速度。在将马达2504的新命令速度设置为11692之后，控制电路确定11694位移构件是否位于最终区域中。如果位移构件没有位于最终区域中，则控制电路2510沿否分支继续并且以新的命令速度继续击发，并且过程继续，直到位移构件位于最终区域中。此时，控制电路2514继续击发11696，直到位移构件到达行程的末端。否则，控制电路2510继续11688以当前命令速度击发位移构件。
本文所述的功能或过程11500、11520、11540、11560、11600、11630、11660、11680可由本文所述的处理电路中的任一个执行，诸如图5-6中描述的控制电路700，图7-9中描述的电路800、810、820，图10和图12中描述的微控制器1104和/或图14中描述的控制电路2510。
可在没有本文公开的具体细节的情况下实践机动外科器械的各个方面。一些方面已显示为框图而不是细节。可根据对存储在计算机存储器中的数据进行操作的指令来呈现本公开的各部分。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。这些信号可称为位、值、元素、符号、字符、项、数字。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。
一般来讲，可用多种硬件、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各方面可被看作是由多种类型的“电子电路”组成。因此，“电子电路”包括具有至少一个分立电子电路的电子电路、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装置的电子电路(例如，由计算机程序配置的通用计算机或处理器，该计算机程序至少部分地执行本文所述的过程和/或设备)、形成存储器装置(例如，形成随机存取存储器)的电子电路，和/或形成通信装置(例如，调制解调器、通信开关或光电设备)的电子电路。这些方面可以模拟或数字形式或其组合来实现。
前面的描述通过使用框图、流程图和/或示例阐述了装置和/或过程的各方面，这些框图、流程图和/或示例可包含一个或多个功能和/或操作。此类框图、流程图或示例中的每个功能和/或操作可通过广泛的硬件、软件、固件或其实际上的任何组合来单独和/或共同地实现。在一个方面，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)、可编程逻辑装置(PLD)、电路，寄存器和/或软件部件(例如程序、子例程、逻辑和/或硬件和软件部件的组合)、逻辑门或其它集成格式可实现本文所述的主题的几个部分。本文公开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，并且根据本公开，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。
所公开的主题的机制能够作为多种形式的程序产品进行分布，并且本文所述主题的示例性方面适用，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)。
为了举例说明和描述的目的，已经提供了这些方面的上述说明。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。所选择和描述的这些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各个方面，在适合设想的具体应用的情况下进行修改。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实施例中陈述：
实施例1.一种外科器械，包括：位移构件，所述位移构件被构造成能够在外科器械内在多个预定义区域上平移；能量源；马达，所述马达联接到所述位移构件以使所述位移构件平移；控制电路，所述控制电路联接到所述能量源和所述马达；位置传感器，所述位置传感器联接到所述控制电路，所述位置传感器被配置为能够监测所述位移构件的所述位置；其中所述控制电路被配置为能够：以所述能量源上的预定电负载开始击发所述位移构件，其中将所述预定电负载施加到所述马达以致动所述位移构件；由所述位置传感器监测所述位移构件的所述位置；在所述位移构件的第一行进间隔期间对所述能量源的电压进行连续采样；将所述采样电压与阈值电压进行比较；并且当所述采样电压大于或等于所述阈值电压时，继续以第一速度击发所述位移构件；或者当所述采样电压小于所述阈值电压时，调节所述第一速度。
实施例2.根据实施例1所述的外科器械，其中，当所述采样电压小于所述阈值电压时，所述控制电路被进一步配置为能够确定所述外科器械是处于自动模式还是手动模式。
实施例3.根据实施例2所述的外科器械，其中，当所述外科器械处于自动模式时，所述控制电路被进一步配置为能够将所述外科器械的操作转换为手动模式。
实施例4.根据实施例3所述的外科器械，其中，所述控制电路被进一步配置为能够将命令速度降低至第二速度，其中所述第二速度比所述第一速度慢。
实施例5.根据实施例4所述的外科器械，其中，所述第二速度大于零且小于10mm/s。
实施例6.根据实施例1至实施例5所述的外科器械，其中，所述第一行进间隔在2mm至3mm之间。
实施例7.根据实施例1至实施例6所述的外科器械，其中，所述控制电路被配置为能够在所述采样电压小于所述阈值电压时传送能量源的状态。
实施例8.一种外科器械，包括：被构造成能够在所述外科器械内平移的位移构件；马达，所述马达包括轴，所述马达联接到所述位移构件以使所述位移构件平移；控制电路，所述控制电路联接到所述马达；其中所述控制电路被配置为能够：以设定为第一速度的命令速度开始击发所述位移构件，其中所述命令速度为施加到所述马达的速度；检查是否存在马达失速状况；并且当所述马达未失速时，继续以所述第一速度击发所述位移构件；或者将所述命令速度降低至第二速度，其中所述第二速度比所述第一速度慢。
实施例9.根据实施例8所述的外科器械，其中，所述第一速度在10mm/s和12mm/s之间，并且所述第二速度小于9mm/s。
实施例10.根据实施例8至实施例9所述的外科器械，其中，所述控制电路被配置为能够指示马达失速警告。
实施例11.根据实施例10所述的外科器械，其中，所述控制电路被配置为能够基于所接收的输入将所述外科器械设置为手动模式；检测低马达速度状况；在预定的时间段内指示所述低马达速度状况；以及监测手动命令速度调节或暂停；并且当未检测到所述手动命令速度调节或暂停时，减小所述命令速度。
实施例12.根据实施例8至实施例11所述的外科器械，其中，所述控制电路被配置为能够将当前命令速度以快速度、中等速度或慢速度存储在存储器中，其中所述快速度大于所述中等速度并且所述中等速度大于所述慢速度；并且当检测到马达失速状况时，所述控制电路被配置为能够当所述存储的命令速度为快速度时将所述马达暂停第一延迟，并继续以所述快速度击发所述位移构件；当所述存储的命令速度为中等速度时将所述马达暂停第二延迟，并且继续以所述中等速度击发所述位移构件；或者当所述存储的命令速度为慢速度时将所述马达暂停第三延迟，并且继续以所述慢速度击发所述位移构件；其中所述第一延迟大于第二延迟，并且所述第二延迟大于所述第三延迟。
实施例13.根据实施例12所述的外科器械，其中：所述慢速度大于零且小于10mm/s；所述中等速度大于或等于10mm/s并且小于或等于12.5mm/s；并且所述快速度大于12.5mm/s且小于15mm/s。
实施例14.根据实施例12至实施例13所述的外科器械，其中：所述第一延迟大于或等于2秒且小于五秒；所述第二延迟大于或等于1秒且小于两秒；并且所述第三延迟大于0且小于1秒。
实施例15.根据实施例8至实施例14所述的外科器械，其中，所述控制电路被配置为能够将当前命令速度以快速度、中等速度或慢速度存储在存储器中，其中所述快速度大于所述中等速度并且所述中等速度大于所述慢速度；并且当检测到马达失速状况时，所述控制电路被配置为能够：当所述存储的命令速度为快速度时，将所述命令速度自动调节至中等速度；当所述存储的命令速度为中等速度时，将所述命令速度自动调节至慢速度；并且当所述存储的命令速度为慢速度时，暂停所述马达。
实施例16.根据实施例8至实施例15所述的外科器械，其中，所述控制电路被配置为能够：暂停所述击发，将当前命令速度以快速度、中等速度或慢速度存储在存储器中，其中所述快速度大于所述中等速度并且所述中等速度大于所述慢速度；并且当检测到马达失速状况时，所述控制电路被配置为能够：当所述存储的命令速度为快速度时，将所述命令速度降低至中等速度并抑制快速度；当所述存储的命令速度为中等速度时，将所述命令速度降低至慢速度，并且抑制中等速度和快速度；并且当所述存储的命令速度为慢速度时，暂停所述马达。
实施例17.根据实施例8至实施例16所述的外科器械，其中，当检测到马达失速状况时，所述控制电路被配置为能够：暂停所述马达；指示马达失速的警告并且指示用户释放触发器；监测所述触发器的释放；并且当所述触发器被释放时，继续击发所述位移构件。
实施例18.一种外科器械，包括：位移构件，所述位移构件被构造成能够在外科器械内在多个预定义区域上平移；能量源；马达，所述马达联接到所述位移构件以使所述位移构件平移；控制电路，所述控制电路联接到所述能量源和所述马达；位置传感器，所述位置传感器联接到所述控制电路，所述位置传感器被配置为能够监测所述位移构件的所述位置；其中所述控制电路被配置为能够：以设定为第一速度的命令速度开始击发所述位移构件，其中所述命令速度为施加到所述马达的速度；监测所述位移构件在当前区域中的所述位置，直到位移构件到达用于比较的目标位置；当位移构件到达所述目标位置时，确定在所述当前区域之前的先前区域中是否开始了命令速度的变化；并且当在所述先前区域中开始命令速度的变化时，继续以所述命令速度击发所述位移构件。
实施例19.根据实施例18所述的外科器械，其中，当在所述先前区域中未开始命令速度的变化时，所述控制电路被配置为能够：将所述位移构件的预期速度与所述位移构件的实际速度进行比较；并且基于所述比较的结果来调节所述命令速度。
实施例20.根据实施例19所述的外科器械，其中，所述控制电路被配置为能够：确定所述位移构件何时处于最终区域中；并且继续击发所述位移构件，直到到达行程的末端。
实施例21.根据实施例19至实施例20所述的外科器械，其中，所述控制电路被配置为能够在所述位移构件不在所述最终区域中时以所述当前命令速度继续击发所述位移构件。

Claims (21)

1.一种外科器械，包括：
位移构件，所述位移构件被构造成能够在所述外科器械内在多个预定义区域上平移；
能量源；
马达，所述马达联接到所述位移构件以使所述位移构件平移；
控制电路，所述控制电路联接到所述能量源和所述马达；
位置传感器，所述位置传感器联接到所述控制电路，所述位置传感器被配置为能够监测所述位移构件的位置；
其中所述控制电路被配置为能够：
以所述能量源上的预定电负载开始击发所述位移构件，其中将所述预定电负载施加到所述马达以致动所述位移构件；
由所述位置传感器监测所述位移构件的所述位置；
在所述位移构件的第一行进间隔期间对所述能量源的电压进行连续采样；
将所述采样电压与阈值电压进行比较；并且
当所述采样电压大于或等于所述阈值电压时，继续以第一速度击发所述位移构件；或者
当所述采样电压小于所述阈值电压时调节所述第一速度。
2.根据权利要求1所述的外科器械，其中，当所述采样电压小于所述阈值电压时，所述控制电路被进一步配置为能够确定所述外科器械是处于自动模式还是手动模式。
3.根据权利要求2所述的外科器械，其中，当所述外科器械处于自动模式时，所述控制电路被进一步配置为能够将所述外科器械的操作转换为手动模式。
4.根据权利要求3所述的外科器械，其中，所述控制电路被进一步配置为能够将命令速度降低至第二速度，其中所述第二速度比所述第一速度慢。
5.根据权利要求4所述的外科器械，其中，所述第二速度大于零且小于10mm/s。
6.根据权利要求1所述的外科器械，其中，所述第一行进间隔在2mm和3mm之间。
7.根据权利要求1所述的外科器械，其中，所述控制电路被配置为能够在所述采样电压小于所述阈值电压时传送能量源的状态。
8.一种外科器械，包括：
位移构件，所述位移构件被构造成能够在所述外科器械内平移；
马达，所述马达包括轴，所述马达联接到所述位移构件以使所述位移构件平移；
控制电路，所述控制电路联接到所述马达；
其中所述控制电路被配置为能够：
以设定为第一速度的命令速度开始击发所述位移构件，其中所述命令速度为施加到所述马达的所述速度；
检查是否存在马达失速状况；并且
当所述马达未失速时，继续以所述第一速度击发所述位移构件；或者
将所述命令速度降低至第二速度，其中所述第二速度比所述第一速度慢。
9.根据权利要求8所述的外科器械，其中，所述第一速度在10mm/s和12mm/s之间，并且所述第二速度小于9mm/s。
10.根据权利要求8所述的外科器械，其中，所述控制电路被配置为能够指示马达失速警告。
11.根据权利要求10所述的外科器械，其中，所述控制电路被配置为能够：
基于所接收的输入将所述外科器械设定为手动模式；
检测低马达速度状况；
在预定的时间段内指示所述低马达速度状况；以及
监测手动命令速度调节或暂停；并且
当未检测到所述手动命令速度调节或暂停时，降低所述命令速度。
12.根据权利要求8所述的外科器械，其中，所述控制电路被配置为能够：
将当前命令速度以快速度、中等速度或慢速度存储在存储器中，其中所述快速度大于所述中等速度并且所述中等速度大于所述慢速度；并且
当检测到马达失速状况时，所述控制电路被配置为能够：
当所述存储的命令速度为快速度时将所述马达暂停第一延迟，并且继续以所述快速度击发所述位移构件；
当所述存储的命令速度为中等速度时将所述马达暂停第二延迟，并且继续以所述中等速度击发所述位移构件；或者
当所述存储的命令速度为慢速度时将所述马达暂停第三延迟，并且继续以所述慢速度击发所述位移构件；
其中所述第一延迟大于第二延迟，并且所述第二延迟大于所述第三延迟。
13.根据权利要求12所述的外科器械，其中：
所述慢速度大于零且小于10mm/s；
所述中等速度大于或等于10mm/s并且小于或等于12.5mm/s；并且
所述快速度大于12.5mm/s并且小于15mm/s。
14.根据权利要求12所述的外科器械，其中：
所述第一延迟大于或等于2秒且小于五秒；
所述第二延迟大于或等于1秒且小于两秒；并且
所述第三延迟大于0且小于1秒。
15.根据权利要求8所述的外科器械，其中，所述控制电路被配置为能够：
将当前命令速度以快速度、中等速度或慢速度存储在存储器中，其中所述快速度大于所述中等速度并且所述中等速度大于所述慢速度；并且
当检测到马达失速状况时，所述控制电路被配置为能够：
当所述存储的命令速度为快速度时，将所述命令速度自动调节至中等速度；
当所述存储的命令速度为中等速度时，将所述命令速度自动调节至慢速度；以及
当所述存储的命令速度为慢速度时，暂停所述马达。
16.根据权利要求8所述的外科器械，其中，所述控制电路被配置为能够：
暂停所述击发，将当前命令速度以快速度、中等速度或慢速度存储在存储器中，其中所述快速度大于所述中等速度并且所述中等速度大于所述慢速度；并且
当检测到马达失速状况时，所述控制电路被配置为能够：
当所述存储的命令速度为快速度时，将所述命令速度降低至中等速度并且抑制快速度；
当所述存储的命令速度为中等速度时，将所述命令速度降低至慢速度，并且抑制中等速度和快速度；以及
当所述存储的命令速度为慢速度时，暂停所述马达。
17.根据权利要求8所述的外科器械，其中，当检测到马达失速状况时，所述控制电路被配置为能够：
暂停所述马达；
指示马达失速的警告并且指示用户释放触发器；
监测所述触发器的释放；并且
当所述触发器被释放时，继续击发所述位移构件。
18.一种外科器械，包括：
位移构件，所述位移构件被构造成能够在所述外科器械内在多个预定义区域上平移；
能量源；
马达，所述马达联接到所述位移构件以使所述位移构件平移；
控制电路，所述控制电路联接到所述能量源和所述马达；
位置传感器，所述位置传感器联接到所述控制电路，所述位置传感器被配置为能够监测所述位移构件的所述位置；
其中所述控制电路被配置为能够：
以设定为第一速度的命令速度开始击发所述位移构件，其中所述命令速度为施加到所述马达的所述速度；
监测所述位移构件在当前区域中的所述位置，直到所述位移构件到达用于比较的目标位置；
当所述位移构件到达所述目标位置时，确定在所述当前区域之前的先前区域中是否开始了命令速度的变化；以及
当在所述先前区域中开始命令速度的变化时，继续以所述命令速度击发所述位移构件。
19.根据权利要求18所述的外科器械，其中，当在所述先前区域中未开始命令速度的变化时，所述控制电路被配置为能够：
将所述位移构件的预期速度与所述位移构件的实际速度进行比较；以及
基于所述比较的结果来调节所述命令速度。
20.根据权利要求19所述的外科器械，其中，所述控制电路被配置为能够：
确定所述位移构件何时处于最终区域中；以及
继续击发所述位移构件，直到到达行程的末端。
21.根据权利要求19所述的外科器械，其中，所述控制电路被配置为能够在所述位移构件不在所述最终区域中时以所述当前命令速度继续击发所述位移构件。
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