CN110769762A - 基于关节运动的角度控制外科缝合和切割器械的马达速率 - Google Patents

基于关节运动的角度控制外科缝合和切割器械的马达速率 Download PDF

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CN110769762A
CN110769762A CN201880041813.1A CN201880041813A CN110769762A CN 110769762 A CN110769762 A CN 110769762A CN 201880041813 A CN201880041813 A CN 201880041813A CN 110769762 A CN110769762 A CN 110769762A
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articulation
motor
control circuit
surgical instrument
state
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CN110769762B (zh
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F·E·谢尔顿四世
D·C·耶茨
J·L·哈里斯
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Ethicon LLC
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
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    • 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
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    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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    • H—ELECTRICITY
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    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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    • A61B90/06—Measuring instruments not otherwise provided for
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Abstract

本发明公开了一种机动化外科器械。外科器械包括被配置为能够控制端部执行器的运动的控制电路。如果端部执行器在预先确定的可接受范围之外运动，则控制电路可产生动态制动以抵抗端部执行器的非期望的运动。控制电路可施加脉宽调制(PWM)电流以抵抗端部执行器在预先确定的可接受范围之外的非期望的运动。

Description

基于关节运动的角度控制外科缝合和切割器械的马达速率
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
在机动化外科缝合和切割器械中，控制切割构件的速率或控制端部执行器的关节运动速率可为有用的。位移构件的速率可通过测量在位移构件的预先确定的位置间隔处的经过时间或测量位移构件在预先确定的时间间隔处的位置来确定。该控件可为开环或闭环。此类测量可用于评估组织状态诸如组织厚度，并且在击发行程期间调节切割构件的速率以考虑组织状态。组织厚度可通过将切割构件的预期速率与切割构件的实际速率进行比较来确定。在一些情况下，以恒定关节运动速率使端部执行器进行关节运动可为有用的。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率不同的关节运动速率驱动端部执行器可为有用的。
在使用机动化外科缝合和切割器械期间，端部执行器可由于外部施加的负载而不期望地进行关节运动或进一步关节运动。因此，可为有利的是保持端部执行器的关节运动静止，并且由于外部施加的负载而防止端部执行器的关节运动或进一步关节运动。
发明内容
在一个方面，提供了一种外科器械。该外科器械可包括端部执行器、关节运动接头和关节运动构件。关节运动构件可相对于端部执行器从近侧位置到远侧位置的距离平移，其中关节运动构件的平移导致关节运动接头进行关节运动。外科器械还可包括马达，该马达能够操作以沿着从近侧位置到远侧位置的距离平移关节运动构件。马达可包括接合状态、脱离状态和保持状态。外科器械还可包括联接到马达的控制电路和联接到控制电路的位置传感器。位置传感器可被配置为能够检测关节运动构件沿该距离的至少一部分的位置。控制电路可被配置为能够接收来自位置传感器的指示关节运动构件的关节运动位置的位置输入。控制电路还可识别对应于关节运动构件的关节运动位置的预先确定的阈值。当马达处于脱离状态时，控制电路还可响应于关节运动构件的超过预先确定的阈值的运动来确定马达的控制动作。控制电路可控制关节运动构件的运动，其中控制关节运动构件的运动包括使马达处于保持状态。
在另一方面，外科器械可包括端部执行器和可旋转轴组件。可旋转轴组件可包括纵向轴线、旋转位置传感器和齿轮组件。旋转位置传感器可被配置为能够测量可旋转轴组件围绕纵向轴线的旋转。外科器械还可包括操作地连接到可旋转轴组件的齿轮组件的马达。马达可被构造成能够施加旋转力以旋转齿轮组件。齿轮组件的旋转使可旋转轴组件围绕纵向轴线旋转。外科器械还可包括联接到马达的控制电路。控制电路可被配置为能够基于来自旋转位置传感器的信号来监测可旋转轴组件的旋转位置。控制电路还可识别对应于可旋转轴组件的旋转位置的预先确定的阈值。控制电路还可响应于可旋转轴组件超过预先确定的阈值的旋转运动而确定马达的控制动作。控制电路还可控制可旋转轴组件的旋转，其中控制可旋转轴组件的旋转可包括抵抗可旋转轴组件围绕纵向轴线的旋转。
在另一方面，外科器械可包括纵向轴组件。纵向轴组件可包括沿着纵向轴线延伸的可旋转轴部分。纵向轴组件还包括驱动齿轮和关节运动接头。驱动齿轮可被构造成能够围绕纵向轴线旋转可旋转轴部分。关节运动接头可包括关节运动齿轮。外科器械还可包括驱动组件。驱动组件可包括马达、控制电路和驱动构件。马达可包括驱动输出部。控制电路可被配置为能够控制马达。驱动构件可以操作地连接到驱动输出部。当控制电路处于旋转状态时，驱动构件操作地连接到可旋转轴部分的驱动齿轮。当控制电路处于关节运动状态时，驱动构件操作地连接到关节运动接头的关节运动齿轮。外科系统还可包括功率源。控制电路可包括接合状态、脱离状态和动态制动状态。当控制电路处于接合状态时，控制电路以串联电路配置向马达提供功率源。当控制电路处于脱离状态时，控制电路断开功率源与马达的连接。当控制电路处于动态制动状态时，控制电路使功率源处于与马达并联电路状态。
一个或多个实施方式的细节在以下附图和具体实施方式中示出。通过说明书、附图和权利要求书，本发明的其它特征、目的和优点将显而易见。
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如下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是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件视图。
图3为根据本公开的一个方面的可互换轴组件的多个部分的分解组件视图。
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视图。
图5A-5B为根据本公开的一个方面的跨越两个拉幅片的图1的外科器械的控制电路的框图。
图6为根据本公开的一个方面的图1的外科器械的控制电路的框图，其示出柄部组件与功率组件之间、以及柄部组件与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示出了根据本公开的一个方面的被配置为能够控制图1的外科器械的各个方面的时序逻辑电路。
图10为图1的外科器械的绝对定位系统的图示，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布置的受控马达驱动电路布置。
图11为根据本公开的一个方面的用于绝对定位系统的传感器布置的分解透视图，其示出了控制电路板组件和传感器布置的元件的相对对齐。
图12是根据本公开的一个方面的位置传感器的图示，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截面图，其示出了相对于抓握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图示。
图16为根据本公开的一个方面的外科器械的端部执行器的一部分的局部透视图，其示出了处于未关节运动取向的细长轴组件，其中为清楚起见省略了其多个部分。
图17为根据本公开的一个方面的图16的端部执行器的另一个透视图，其示出了细长轴组件的未关节运动取向。
图18为根据本公开的一个方面的图16的端部执行器的分解组件透视图，其示出了细长轴组件方面。
图19为根据本公开的一个方面的图16的端部执行器的顶视图，其示出了处于未关节运动取向的细长轴组件。
图20为根据本公开的一个方面的图16的端部执行器的另一个顶视图，其示出了处于第一关节运动取向的细长轴组件。
图21为根据本公开的一个方面的图16的端部执行器的另一个顶视图，其示出了处于第二关节运动取向的细长轴组件。
图22描绘了根据本公开的一个方面的用于使外科器械的端部执行器进行关节运动的关节运动机构的示例。
图23为根据本公开的一个方面的击发杆角度和马达占空比作为端部执行器的关节运动角度的函数的图。
图24为根据本公开的一个方面的马达占空比作为外科器械的轴旋转的函数的图。
图25是示出根据本公开的一个方面的外科器械的动态马达制动系统的电路配置的电路图和图表。
图26描绘了根据本公开的一个方面的用于使外科器械的端部执行器进行关节运动的关节运动机构的示例。
图27为描绘根据本公开的一个方面的表示关节运动控制程序的控制程序或逻辑配置的过程的逻辑流程图。
图28为描绘根据本公开的一个方面的表示旋转控制程序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：
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SURGICALINSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT的代理人案卷号END8192USNP/170055。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SYSTEMSAND METHODS FOR CONTROLLING DISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLINGAND CUTTING INSTRUMENT的代理人案卷号END8193USNP/170056。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SYSTEMSAND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT ACCORDING TO ARTICULATION ANGLE OF END EFFECTOR的代理人案卷号END8194USNP/170057。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SYSTEMSAND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT的代理人案卷号END8195USNP/170058。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SURGICALINSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY的代理人案卷号END8196USNP/170059。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SYSTEMSAND METHODS FOR CONTROLLING VELOCITY OF A DISPLACEMENT MEMBER OF A SURGICALSTAPLING AND CUTTING INSTRUMENT的代理人案卷号END8197USNP/170060。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为SYSTEMSAND METHODS FOR CONTROLLING DISPLACEMENT MEMBER VELOCITY FOR A SURGICALINSTRUMENT的代理人案卷号END8198USNP/170061。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONANGLE OF ARTICULATION的代理人案卷号END8222USNP/170125。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING ANDCUTTING INSTRUMENT的代理人案卷号END8199USNP/170062M。
由发明人Raymond E.Parfett等人于2017年6月20日提交的名称为TECHNIQUESFOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT的代理人案卷号END8275USNP/170185M。
由发明人Raymond E.Parfett等人于2017年6月20日提交的名称为CLOSED LOOPFEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MAGNITUDE OF VELOCITY ERROR MEASUREMENTS的代理人案卷号END8268USNP/170186。
由发明人Jason L.Harris等人于2017年6月20日提交的名称为CLOSED LOOPFEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED DISPLACEMENT DISTANCE的代理人案卷号END8276USNP/170187。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为CLOSEDLOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED DISPLACEMENT DISTANCE TRAVELED OVER A SPECIFIEDTIME INTERVAL的代理人案卷号END8266USNP/170188。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为CLOSEDLOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED NUMBER OF SHAFT ROTATIONS的代理人案卷号END8267USNP/170189。
由发明人Jason L.Harris等人于2017年6月20日提交的名称为SYSTEMS ANDMETHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT的代理人案卷号END8269USNP/170190。
由发明人Jason L.Harris等人于2017年6月20日提交的名称为SYSTEMS ANDMETHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICALINSTRUMENT的代理人案卷号END8270USNP/170191。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为CLOSEDLOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON SYSTEM CONDITIONS的代理人案卷号END8271USNP/170192。
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设计专利申请：
由发明人Jason L.Harris等人于2017年6月20日提交的名称为GRAPHICAL USERINTERFACE FOR A DISPLAY OR PORTION THEREOF的代理人案卷号END8274USDP/170193D。
由发明人Jason L.Harris等人于2017年6月20日提交的名称为GRAPHICAL USERINTERFACE FOR A DISPLAY OR PORTION THEREOF的代理人案卷号END8273USDP/170194D。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF的代理人案卷号END8272USDP/170195D。
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、制造和用途的理解。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”是相对于操纵外科器械的柄部的临床医生而言的，其中术语“近侧”是指更靠近临床医生的部分，并且术语“远侧”则是指位于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。然而，此类装置和方法可用于其它外科手术和应用，包括例如开放式外科手术。外科器械可通过自然孔口或穿过形成于组织中的切口或穿孔插入其中。该器械的工作部分或端部执行器部分可直接插入到患者的身体中或者可通过进入装置插入，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，其可以重复使用或者可不重复使用。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、操纵并致动的柄部组件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。因此，术语“外壳”也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配置为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 INSTRUMENTSWITH ROTATABLE 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具有不同的轴长度、尺寸和类型的不同尺寸和类型的钉仓。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能量形式诸如射频(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布置的组件。此外，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可以包括一对可互连柄部外壳段16和18，该对柄部外壳段可通过螺钉、按扣特征、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，该多个驱动系统被配置为能够生成并将各种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。可在覆盖件45下方提供显示器。
图2为根据本公开的一个方面的图1的外科器械10的分解组件视图。柄部组件14还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施加闭合运动和打开运动。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。当临床医生抓握柄部组件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可以操作地支撑击发驱动系统80，该击发驱动系统被配置为能够将击发动作施加到附接到其上的可互换轴组件的对应部分。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，马达82可为具有约25,000RPM的旋转最大速度的DC有刷马达。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。例如，电源组92可包括被配置成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被构造成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。除此之外，功率源90可以是可替换的和/或可再充电的。位于覆盖件45下方的显示器43电联接到控制电路板100。可移除覆盖件45以暴露显示器43。
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纵向可移动驱动构件120上的驱动齿122的组或齿条啮合接合。纵向可移动驱动构件120具有在其上形成的驱动齿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。
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，纵向可移动驱动构件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，纵向可移动驱动构件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纵向可移动驱动构件120的位置和/或纵向可移动驱动构件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。
现在转到图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还可包括砧座306，该砧座相对于细长通道302枢转地支撑。可互换轴组件200可包括关节运动接头270。端部执行器300和关节运动接头270的构造和操作在美国专利申请公布2014/0263541中提出，其名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK”，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可包括可用于闭合和/或打开端部执行器300的砧座306的沿轴轴线SA延伸的闭合管260。
回到图1，闭合管260朝远侧(方向“DD”)平移以例如响应于闭合触发器32的致动而以前述参考文献美国专利申请公布2014/0263541中所述的方式闭合砧座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的多个部分的另一分解组件视图。可互换轴组件200可包括击发构件220，该击发构件被支撑以便在脊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”和/或“第二轴组件”。中间击发轴222可在其远侧端部中包括纵向狭槽223，该纵向狭槽可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可允许击发驱动构件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的近侧侧壁与突片284接触，以便推进刀杆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。有关击发构件220的操作可见于美国专利申请公布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可以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，该离合器组件可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的远侧运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的近侧运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的运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运动。喷嘴201可用于以在美国专利申请公布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/或从该端部执行器传送信号。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(图1)相对于近侧连接器凸缘604旋转。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中的一者对应并与其电接触。此布置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。
如上文所讨论，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，以及可围绕纵向轴线旋转的远侧部分。可旋转远侧轴部分可围绕滑环组件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的一个方面的分解视图。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。例如，开孔199可限定在细长通道302中，以可接收从砧座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可由一个实心区段构成，或在各种示例中，可包含层合材料，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刃182。击发杆172的远侧突出端可附接到I形梁178，以在砧座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可包括锋利切割刃182，以在通过击发杆172向远侧推进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通过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的切割刃182切断夹持的组织。
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的各个部分。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，其中，如图4所示，其中I形梁178的底部基座186可沿着狭槽189的长度接合沿着细长通道302的底面延伸的沟槽，中间销184可沿着纵向狭槽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向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之间捕获的组织时，I形梁178可间隔开或限制砧座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断的组织部分。
图5A-5B是根据本公开的一个方面的跨越两个拉幅片的图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的击发系统采用。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。在其它布置中，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的功率要求中的一个或多个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，调制功率组件706的电池的功率输出，如下文更详细地描述。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之后被激活，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。
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之间传输此类通信信号。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，诸如由德克萨斯器械公司(TexasInstruments)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(至多至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 BDA0002329400370000141
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)，其细节可得自产品数据表。
安全控制器可以是包括两个基于控制器的系列(诸如TMS570和RM4x)的安全微控制器平台，已知同样由德克萨斯器械公司(Texas Instruments)生产且商品名为HerculesARM Cortex R4。安全控制器可被配置为专门用于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的功率要求调制电池的功率输出。功率管理控制器716可被编程以控制功率组件706的功率输出的功率调制器738，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的功率输出以维持期望的输出。值得注意的是，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至图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。接口可被配置为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。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包括被配置为控制机动外科器械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(诸如加速度段、显示器段、轴段、编码器段、马达段和功率段)进行交互。电路段中的每个都可联接到安全控制器和/或主控制器717。主控制器717还联接到闪存存储器。主控制器717还包括串行通信接口。主处理器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。分段电路可通过任何合适的电路(诸如例如机动外科器械10内的印刷电路板组件(PCBA))来实施。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，并且然后提供结果作为输出。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各种过程。
加速度段(段3)包括加速度计。加速度计被配置为能够检测机动外科器械10的运动或加速度。在一些示例中，来自加速度计的输入用于例如转变到休眠模式和从休眠模式转变到其它模式、识别机动外科器械的取向，并且/或者识别外科器械何时已被放下。在一些示例中，加速度段联接到安全控制器和/或主控制器717。
显示器段(段4)包括联接到主控制器717的显示器连接器。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，并且/或者可与显示器分开定位。显示器可包括任何合适的显示器，诸如例如有机发光二极管(OLED)显示器、液晶显示器(LCD)和/或其它任何合适的显示器。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(FRAM)、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和/或与外科器械10一体成型。在一些示例中，轴段包括第二轴EEPROM。第二轴EEPROM包括对应于可与机动外科器械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(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桥驱动器联接到主控制器717，该H桥驱动器包括一个或多个H桥场效应晶体管(FET)。H桥驱动器还联接到安全控制器。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，以向主处理器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先确定的电压值。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先确定的量(诸如，至多至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态或低功率状态。
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)的操作、控制分段电路的操作，并且/或者指示外科器械10的状态。用于紧急救助的救援门开关和霍尔效应开关被构造成能够指示救援门的状态。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，用于实施多个开关。例如，开关可以是利用与外科器械10(图1-4)相关联的部件的运动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，开关可以是在磁场的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，开关可以是在光的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为根据本公开的一个方面的图1的外科器械的控制电路700的另一个框图，其示出柄部组件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的功率要求调制电池707的功率输出。例如，功率管理控制器716可被编程以控制功率组件706的功率输出的功率调制器738，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的功率输出以维持期望的输出。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可被配置为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)，本公开现在转到外科器械10(图1-4)和控制电路700的各种配置。
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可以包括易失性存储介质和非易失性存储介质。处理器802可以包括指令处理单元806和运算单元808。指令处理单元可以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812，该组合逻辑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可以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822处理数据并提供输出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。在其它实施方案中，有限状态机可以包括组合逻辑电路810和时序逻辑电路820的组合。
各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是外科器械10(图1-4)的绝对定位系统1100的图示，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布置1102的受控马达驱动电路布置。用于绝对定位系统1100的传感器布置1102提供对应于位移构件1111的位置的独特位置信号。暂时转到图2-4，在一个方面，位移构件1111表示纵向可移动驱动构件120(图2)，其包括用于与齿轮减速器组件84的对应驱动齿轮86啮合接合的驱动齿122的齿条。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。在又一方面，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或任何可被移位的元件)的任何可运动构件。在一个方面，纵向可移动驱动构件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实际上可通过跟踪纵向可移动驱动构件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，纵向可移动驱动构件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、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，该齿轮组件与驱动齿的组或齿条啮合接合安装在位移构件1111上。传感器元件1126可以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的布置可经由齿条和小齿轮布置连接至线性致动器，或者经由直齿齿轮或其它连接连接至旋转致动器。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表示纵向可移动驱动构件120，该纵向可移动驱动构件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表示纵向可移动击发构件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件1111从点“a”运动到点“b”的纵向线性距离。可经由齿轮减速连接传感器布置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至1122n(其中n为大于一的整数)以针对位置传感器1112的不止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。该传感器布置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。
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已采取的向前或向后的步骤数进行计数以推断装置致动器、驱动杆、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路。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系统1100中。绝对定位系统1100的更详细描述在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中有所描述，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，其可感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(一个或多个)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)。
驱动器1110可为可购自Allegro微系统公司(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(诸如有刷DC马达)特别设计的外部N信道功率金属氧化物半导体场效应晶体管(MOSFET)一起使用。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-信道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。
已描述总体架构以用于针对传感器布置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至图12以获取绝对定位系统1100的传感器布置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。绝对定位系统1100的传感器布置1102包括位置传感器1200、磁体1202传感器元件、位移构件1111的每次全行程转动一次的磁体保持器1204和提供齿轮减速的齿轮组件1206。暂时参考图2，位移构件1111表示纵向可移动驱动构件120，该纵向可移动驱动构件包括驱动齿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。回到图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)并且被放置成邻近磁体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。
传感器布置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总磁场或磁场的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，并且当位移构件1111沿远侧方向D推进时沿第一方向旋转，并且当位移构件1111沿近侧方向P缩回时沿第二方向旋转。第二齿轮1210也围绕轴1214旋转，并且因此，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。从而，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支撑并且与磁体保持器1204内下面旋转的磁体1202精确对齐，该保持器限定适于包含位置传感器1200的开孔1220。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绝对定位系统1100的位置传感器1200的图示，该绝对定位系统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(Austria Microsystems,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。在芯片上还提供了高分辨率ADC 1232和智能型功率管理控制器1238。提供了CORDIC处理器1236(针对坐标旋转数字计算机(CoordinateRotation DIgital Computer))，也称为逐位法和Volder算法，以执行简单且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标准串行通信接口诸如SPI接口1234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(图11)。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，霍尔效应通常在横切于导体中的电流的电导体和垂直于电流的磁场中产生横跨电导体的电压差(霍尔电压)。霍尔系数被定义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，其指示根据磁体1202经过单次旋转之后的角度的磁体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，例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线材：两根线材用于电力，四根线材1240用于与控制器1104的SPI接口1234。可添加第七连接，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。该循环的完成被指示为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”命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，因为这将需要不止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的截面图，其示出了相对于握持在端部执行器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中所示的外科器械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可沿着端部执行器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。包括切割刃2509的I形梁2514被示出在击发杆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向远侧平移时，切割刃2509接触并可切割砧座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并向远侧推动它，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形梁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可以从行程开始位置2527向远侧推进到行程结束位置2528。I形梁2514被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可以开始向远侧推进。在第一击发行程区域2517中，I形梁2514可以接触楔形滑动件2513并开始向远侧运动。然而，在第一区域中，切割刃2509可以不接触组织，并且楔形滑动件2513可以不接触钉驱动器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，切割刃2509可以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的力可以开始上升。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，切割刃2509可以连续地接触并切割组织2526，并且楔形滑动件2513可以重复地接触钉驱动器2511。驱动I形梁2514的力可以在第三区域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的部分中的组织可以比靠近砧座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，切割刃2509和楔形滑动件2513可以在第四区域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可以被完全切断。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。可以减小使I形梁2514推进通过第五区域2525的力，并且在一些示例中，可以类似于在第一区域2517中驱动I形梁2514的力。在击发构件行程结束时，I形梁2514可以到达行程结束位置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，不同区域可例如基于组织在砧座2516和钉仓2518之间的定位而沿端部执行器纵向轴线2515在不同位置处开始。
如上所述并且现在参照图10-13，可利用定位在外科器械系统10(图1-4)的柄部组件内的电动马达1122使轴组件(包括I形梁2514)的击发系统相对于轴组件的端部执行器2502推进和/或回缩，以便缝合和/或切割捕获在端部执行器2502内的组织。I形梁2514可以期望的速度或在期望速度的范围内推进或回缩。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例如向电动马达1122提供的电力的各种参数(诸如电压和/或电流)和/或电动马达1122的其它操作参数来预测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(如速率、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所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对I形梁2514的预测速度与I形梁2514的感测速度进行比较，以确定是否应当增加电动马达1122的功率以便增加I形梁2514的速度和/或减小功率以便减小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。
在I形梁2514上作用的力可使用各种技术来确定。I形梁2514力可通过测量马达2504电流来确定，其中马达2504电流基于I形梁2514在远侧前进时所经历的负载。I形梁2514力可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)、击发杆172(图2)和/或在切割刃2509的近侧端部上。I形梁2514力可通过监测在预先确定的经过周期T1之后基于马达2504的电流设定速率以预期速率运动的I形梁2514的实际位置，并且基于在周期T1结束时马达2504的当前设定速率来比较I形梁2514相对于I形梁2514的预期位置的实际位置。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值与I形梁2514上的力与标称力的偏差成正比。此类技术描述于代理人案卷号END8195USNP中，该专利申请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。器械2500包括端部执行器2502，该端部执行器可包括砧座2516、I形梁2514(包括锋利的切割刃2509)和可移除的钉仓2518。端部执行器2502、砧座2516、I形梁2514和钉仓2518可如本文所述(例如，参考图1至图13)配置。
衬垫位移构件1111(诸如I形梁2514)的位置、运动、位移和/或平移可由绝对定位系统1100、传感器布置1102和位置传感器1200测量，如图10-12所示并且表示为图14中的位置传感器2534。由于I形梁2514联接到纵向可移动驱动构件120，因此I形梁2514的位置可通过采用位置传感器2534测量纵向可运动驱动构件120的位置来确定。因此，在以下描述中，I形梁2514的位置、位移和/或平移可通过如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，可被编程以控制位移构件1111诸如I形梁2514的平移，如结合图10-12所述。在一些示例中，控制电路2510可以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可以被提供给马达控制器2508。马达控制器2508可以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可以是有刷直流电动马达，诸如图1、图5B、图10所示的马达82、714、1120。例如，马达2504的速率可以与马达驱动信号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可以从能量源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可以经由传输装置2506机械联接到I形梁2514。传输装置2506可以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可以感测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可以跟踪脉冲以确定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，可以省略位置传感器2534。在马达2504是步进马达的情况下，控制电路2510可以通过聚合马达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可以位于端部执行器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、以及砧座应变与时间。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。
在某些情况下，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状态期间测量砧座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之间的组织区段的阻抗，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之间捕获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如图5A-5B所述的处理器实时取样。控制电路2510接收实时样本测量值以提供和分析基于时间的信息，并实时评估施加到砧座2516的闭合力。
可以采用电流传感器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处理器2510。
使用本文结合图1-14所公开的器械的物理特性，现在转向图14，控制器2510可被配置为能够模拟器械的实际系统在控制器的软件中的响应。可致动位移构件以将端部执行器2502中的I形梁2514以目标速度或接近目标速度运动。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，例如。
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构造和布置的细节。示例方面可以单独实施，也可以与其它方面、变更形式和修改形式结合在一起实施，并可以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/或示例的表达可以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密封和切割具体实施的端部执行器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还可包括可枢转的砧座2516，并且当配置使用时，钉仓2518定位在砧座2516的对面。临床医生可以握持砧座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，临床医生可以提供击发信号，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I形梁2518和I形梁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状态控制位移构件(诸如I形梁2514)的远侧平移。控制电路2510可以被编程为直接或间接地感测组织状态，诸如厚度，如本文所述。控制电路2510可以被编程为基于组织状态选择击发控制程序。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可以被编程为以较低的速率和/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可以被编程为以较高的速率和/或以较高的功率平移位移构件。
在一些示例中，控制电路2510可以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可以选择击发控制程序。器械的响应可以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可以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可以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率平移。
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图示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可以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以在t0与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可以从行程开始位置2586遍历到位置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定的恒定速率(V慢)推进I形梁2514，该速率由实例2592在t1之后的斜率(例如，在闭合回路部分中)指示。控制电路2510可以通过监测I形梁2514的位置并且调制马达设定点2522和/或马达驱动信号2524来将I形梁2514驱动到速度V慢以维持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与t1之间的初始时间段(例如，开环段)期间，I形梁2514可以从行程开始位置2586遍历到位置2596。控制电路可确定位置2596对应于击发控制程序，该击发控制程序以选定的恒定速率(V快)推进位移构件。因为示例2590中的组织比示例2592中的组织薄，所以它可以为击发构件2514的运动提供较小的阻力。结果，I形梁2514可以在初始时间段期间遍历行程的较大部分。另外，在一些示例中，较薄的组织(例如，在初始时间段期间遍历的位移构件行程的较大部分)可对应于初始时间段之后较高的位移构件速率。
图16-21示出了根据本公开的一个方面的外科器械2010的端部执行器2300，其示出端部执行器2300可如何相对于细长轴组件2200围绕关节运动接头2270进行关节运动。图16为示出处于非关节运动取向的细长轴组件2200的端部执行器2300的一部分的局部透视图，其中为清楚起见省略了其多个部分。图17为示出处于非关节运动取向的细长轴组件2200的图16的端部执行器2300的透视图。图18为示出细长轴组件2200的图16的端部执行器2300的分解组件透视图。图19为示出处于非关节运动取向的细长轴组件2200的图16的端部执行器2300的顶视图。图20为示出处于第一关节运动取向的细长轴组件2200的图16的端部执行器2300的顶视图。图21为示出处于第二关节运动取向的细长轴组件2200的图16的端部执行器2300的顶视图。
现在参照图16-21，端部执行器2300适于切割并缝合组织并且包括细长通道2302形式的第一钳口，该第一钳口被配置构造成能够操作地支撑其中的外科钉仓2304。端部执行器2300还包括砧座2310形式的第二钳口，该第二钳口被支撑在细长通道2302上以相对于其运动。细长轴组件2200包括采用关节运动锁2810的关节运动系统2800。关节运动锁2810可被构造成并操作以选择性地将外科端部执行器2300锁定在各种关节运动位置。当关节运动锁2810处于其解锁状态时，此类布置使得外科端部执行器2300能够相对于轴闭合套筒260旋转或做关节运动。具体参见图18，细长轴组件2200包括脊210，该脊被构造成能够(1)可滑动地支撑其中的击发构件220，以及(2)可滑动地支撑围绕脊210延伸的闭合套筒260(图16)。轴闭合套筒260附接到端部执行器闭合套筒272，该端部执行器闭合套筒通过双枢轴闭合套筒组件271枢转地附接到闭合套筒260。
脊210还可滑动地支撑近侧关节运动驱动器230。近侧关节运动驱动器230具有远侧端部231，该远侧端部被构造成能够操作地接合关节运动锁2810。关节运动锁2810还包括以本文公开的各种方式附接到脊210的轴框架2812。轴框架2812被构造成能够在其中可移动地支撑远侧关节运动驱动器2820的近侧部分2821。远侧关节运动驱动器2820被可移动地支撑在细长轴组件2200内，以响应于对其施加的关节运动控制动作而沿从轴轴线SA-SA侧向地偏移且平行于轴轴线SA-SA的关节运动致动轴线AAA在远侧方向DD和近侧方向PD上选择性纵向行进。
在图17和图18中，轴框架2812包括其上形成有枢轴销2818的远侧端部部分2814。枢轴销2818适于枢转地接收在形成于端部执行器安装组件2390的枢轴基部2395中的枢轴孔2397内。端部执行器安装组件2390通过弹簧销2393或等同物附接到细长通道2302的近侧端部2303。枢轴销2818限定横向于轴轴线SA-SA的关节运动轴线B-B，以有利于端部执行器2300围绕关节运动轴线B-B相对于轴框架2812的枢转行进(即，关节运动)。
如图18所示，连接销2825形成在远侧关节运动连接件2820的远侧端部2823上并且被构造成能够接收在交叉连接件2900的近侧端部2902中的孔2904内。交叉连接件2900跨过轴轴线SA-SA横向地延伸并且包括远侧端部部分2906。远侧连接孔2908穿过交叉连接件2900的远侧端部部分2906设置，并且被构造成能够在其中枢转地接收从端部执行器安装组件2390的枢轴基部2395的底部延伸的基础销2398。基础销2395限定连接轴线LA，该连接轴线平行于关节运动轴线B-B。图17和图20示出了处于非关节运动位置的外科端部执行器2300。换句话讲，由细长通道2302限定的端部执行器轴线EA与轴轴线SA-SA对准。术语“与...对准”可表示与轴轴线SA-SA“同轴地对准”或者仅与轴轴线SA-SA平行。远侧关节运动驱动器2820沿远侧方向DD的运动将使得交叉连接件2900使外科端部执行器2300围绕关节运动轴线B-B沿顺时针CW方向运动，如图19所示。远侧关节运动驱动器2820沿远侧方向DD的运动将使得交叉连接件2900使外科端部执行器2300围绕关节运动轴线B-B沿逆时针CCW方向运动，如图21所示。如图21所示，交叉连接件2900具有弯曲形状，这允许当外科端部执行器2300沿该方向进行关节运动时，交叉连接件2900围绕关节运动销2818弯曲。当外科端部执行器2300在轴轴线SA-SA的任一侧上处于完全关节运动位置时，端部执行器轴线EA与轴轴线SA-SA之间的关节运动角度2700为约六十五度(65°)。因此，在轴轴线的任一个上的关节运动范围为一度(1°)至六十五度(65°)。
图19示出了根据一个方面的处于竖直位置(即相对于示为轴线SA的纵向成零度角θ0)的关节运动接头2270。图20示出了根据一个方面的图19的关节运动接头2270，其以限定在轴轴线SA和端部执行器EA之间的第一角度θ1沿一个方向进行关节运动。图21示出了图19的关节运动接头2270，其以限定在轴轴线SA和端部执行器轴线EA之间的第二角度θ2沿另一个方向进行关节运动。
图16-21中的外科端部执行器2300包括外科切割和缝合装置，该外科切割和缝合装置采用本文所述的各种类型和配置的击发构件220。然而，外科端部执行器2300可包括不切割和/或缝合组织的其它形式的外科端部执行器。中间支撑构件2950相对于脊210枢转地且可滑动地支撑。在图18中，中间支撑构件2950包括狭槽2952，该狭槽适于在其中接收销2954，该销从脊210突出。当外科端部执行器2300进行关节运动时，这使得中间支撑构件2950能够相对于销2954枢转和平移。枢轴销2958从中间支撑构件2950的下侧突出，以枢转地接收在设置于端部执行器安装组件2390的基部2395中的对应的枢轴孔2399内。中间支撑构件2950还包括用于接收穿过其的击发构件220的狭槽2960。中间支撑构件2950用于在击发构件220挠曲以适应外科端部执行器2300的关节运动时为击发构件提供侧向支撑。
外科器械还可被构造成能够确定端部执行器2300取向的角度。在各个方面，传感器布置1102的位置传感器1112可包括例如一个或多个磁性传感器、模拟旋转传感器(诸如电位差计)、模拟霍尔效应传感器的阵列等，该霍尔效应传感器输出位置信号或值等的独特组合。在一个方面，图16-21所示的方面的关节运动接头2270还可包括关节运动传感器布置，该关节运动传感器布置被配置为能够确定端部执行器2300的角位置(即，关节运动角度)并提供与其对应的独特位置信号。
关节运动传感器布置可类似于上文所述和图10-12所示的传感器布置1102。在该方面，关节运动传感器布置可包括位置传感器和磁体，该磁体操作地联接到关节运动接头2270，使得其以与关节运动接头2270的旋转一致的方式旋转。磁体可例如联接到枢轴销2818。位置传感器包括一个或多个磁感测元件，诸如霍尔效应传感器，并且邻近磁体放置在关节运动接头2270内或附近。因此，当磁体旋转时，位置传感器的磁性感测元件确定磁体的绝对角位置。当磁体联接到关节运动接头2270时，磁体相对于位置传感器的角位置对应于端部执行器2300的角位置。因此，关节运动传感器布置能够在端部执行器进行关节运动时确定端部执行器的角位置。
在另一方面，外科器械被构造成能够通过监测关节运动驱动器230(图3)的绝对位置来确定端部执行器2300以间接方式定位的角度。当关节运动驱动器230的位置对应于端部执行器2300以已知方式取向的角度时，可跟踪关节运动驱动器230的绝对位置，然后将其平移至端部执行器2300的角位置。在该方面，外科器械包括关节运动传感器布置，该关节运动传感器布置被配置为能够确定关节运动驱动器230的绝对线性位置并提供与其对应的独特位置信号。在一些方面，操作地联接到关节运动传感器布置的关节运动传感器布置或控制器被另外配置为能够平移或通过独特位置信号计算端部执行器2300的角位置。
在该方面，关节运动传感器布置同样可类似于上文所述和图10-12所示的传感器布置1102。在与图10中相对于位移构件1111所示的方面类似的一个方面，关节运动传感器布置包括位置传感器和磁体，该磁体在纵向可移动关节运动驱动器230的每一整个行程中转动一次。位置传感器包括一个或多个磁性感测元件(诸如，霍尔元件)并且被放置成邻近磁体。因此，当磁体旋转时，位置传感器的磁性感测元件确定经过一次转动的磁体的绝对角位置。
在一个方面，与位置传感器相关联的传感器元件的单次旋转等同于纵向可移动关节运动驱动器230的纵向线性位移d1。换句话讲，d1为联接到纵向可移动关节运动驱动器230的传感器元件的单次旋转之后纵向可移动关节运动驱动器230从点“a”向点“b”运动的纵向线性距离。可经由齿轮减速连接关节运动传感器布置，这使得位置传感器针对纵向可移动关节运动驱动器230的全行程仅完成单次转动。换句话讲，d1可等于关节运动驱动器230的全行程。位置传感器被配置为能够随后向控制器1104发射对应于关节运动驱动器230的绝对位置的独特位置信号，诸如在图10中所描绘的那些方面。在接收到独特位置信号时，控制器1104然后被配置成执行逻辑，以通过例如查询返回端部执行器2300的预计算角位置的值的查找表，利用关节运动驱动器230的线性位置作为输入经由算法计算端部执行器2300的角位置或执行如本领域已知的任何其它此类方法，来确定端部执行器对应于关节运动驱动器230的线性位置的角位置。
在各个方面，可在关节运动传感器布置采用任何数目的磁感测元件，诸如例如根据其测量整个磁场还是磁场的矢量分量归类的磁传感器。所利用的磁性感测元件的数量对应于由关节运动传感器布置感测的期望分辨率。换句话讲，所使用的磁性感测元件的数量越大，关节运动传感器布置可以感测到的更精细的关节运动程度。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。
在一个方面，关节运动传感器布置的各方面的位置传感器可以与图12所示的用于跟踪位移构件1111的位置的定位系统类似的方式来实现。在一个此类方面，关节运动传感器布置可作为AS5055EQFT单片磁性旋转位置传感器施行，其可购自奥地利微系统公司(Austria Microsystems,AG)。位置传感器与控制器交接以提供用于直接或间接地确定端部执行器2300的绝对角位置的绝对定位系统。位置传感器为低电压和低功率部件，并且包括位于磁体1202(图11)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。在芯片上还提供了高分辨率ADC 1232和智能型功率管理控制器1238。提供了CORDIC处理器1236(针对坐标旋转数字计算机(Coordinate Rotation DIgitalComputer))，也称为逐位法和Volder算法，以执行简单且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。
参照图1-4和图10-21，关节运动接头2270的位置和I形梁178(图4)的位置可利用来自绝对定位系统1100的绝对位置反馈信号/值来确定。在一个方面中，可基于外科器械10的驱动构件120相当精确地确定关节运动角度θ。如上所概述，纵向可移动驱动构件120(图2)的运动可由绝对定位系统1100跟踪，其中当关节运动驱动器通过例如离合器组件400(图3)操作地联接到击发构件220(图3)时，绝对定位系统1100可实际上经由驱动构件120跟踪关节运动系统的运动。作为跟踪关节运动系统的运动的结果，外科器械的控制器可跟踪端部执行器2300(诸如例如，端部执行器2300)的关节运动角度θ。在各种情况下，作为结果，可根据驱动构件120的纵向位移DL来确定关节运动角度θ。由于驱动构件120的纵向位移DL可基于由绝对定位系统1100提供的绝对位置信号/值精确地确定，因此关节运动角度θ可根据纵向位移DL来确定。
在另一方面，关节运动角度θ可通过在关节运动接头2270上定位传感器来确定。传感器可被配置为能够使用适于测量关节运动接头2270的绝对旋转的绝对定位系统1100来感测关节运动接头2270的旋转。例如，传感器布置1102包括位置传感器1200、磁体1202和适于感测关节运动接头2270的旋转的磁体保持器1204。位置传感器1200包括一个或多于一个磁性感测元件(诸如，霍尔元件)并且被放置成邻近磁体1202。图12中描述的位置传感器1200可适于测量关节运动接头2270的旋转角度。因此，当磁体1202旋转时，位置传感器1200的磁性感测元件确定定位在关节运动接头2270上的磁体1202的绝对角位置。将该信息提供给微控制器1104以计算关节运动接头2270的关节运动角度。因此，端部执行器2300的关节运动角度可由适于测量关节运动接头2270的绝对旋转的绝对定位系统1100来确定。
在一个方面，I形梁178的击发速率或速度可根据端部执行器2300的关节运动角度而变化，以降低击发驱动系统80上的击发力，并且具体地讲，在本文所讨论的击发驱动系统80的其它部件中减小I形梁178的击发力。为了适应根据端部执行器2300关节运动角度的I形梁178的可变击发力，可将可变马达控制电压施加到马达82以控制马达82的速率。马达82的速率可通过将I形梁178击发力与基于端部执行器2300的关节运动角度的不同最大阈值进行比较来控制。电动马达82的速度可通过调节例如施加到马达82的电压、电流、脉宽调制(PWM)或占空比(0-100％)而改变。
本文所述的各个方面涉及包括远侧定位的、可旋转的和可关节运动的钳口组件的外科器械。钳口组件可用于代替或补充轴关节运动。例如，钳口组件可用于握持、缝合和切割组织。
参考图13和图14，在一个方面，外科器械2500可包括端部执行器2502，该端部执行器包括在远侧端部处的钉仓2518和砧座2516以及包括用于切断组织的切割刃2509的I形梁2514。钳口组件可以是可关节运动的并且可围绕器械轴的纵向轴线枢转。钳口组件可围绕手腕枢转轴线从其中钳口组件基本上平行于钉仓2518的第一位置枢转至其中钳口组件基本上不平行于钉仓2518的第二位置。此外，钳口组件可包括能够围绕第二轴线或钳口枢转轴线枢转的第一钳口构件和第二钳口构件。钳口枢转轴线可基本上垂直于手腕枢转轴线。在一些方面，当钳口组件围绕手腕枢转轴线枢转时，钳口枢转轴线自身可枢转。第一钳口构件和第二钳口构件可围绕钳口枢转轴线相对于彼此枢转，使得第一钳口构件和第二钳口构件可“打开”和“闭合”。另外，在一些方面，第一钳口构件和第二钳口构件还能够围绕钳口枢转轴线一起枢转，使得第一钳口构件和第二钳口构件的方向可改变。
在一个方面，外科器械2500可包括端部执行器2502、关节运动接头和关节运动构件。关节运动构件可相对于端部执行器2502从近侧位置到远侧位置平移一定距离，其中关节运动构件的平移导致关节运动接头进行关节运动。外科器械2500可包括马达2504，该马达能够操作以沿着从近侧位置到远侧位置的距离平移关节运动构件。马达2504可包括接合状态、脱离状态和保持状态。外科器械2500还可包括联接到马达2504的控制电路2510和联接到控制电路2510的位置传感器2534。位置传感器2534可被配置为能够检测关节运动构件沿该距离的至少一部分的位置。控制电路2510可被配置为能够接收来自位置传感器2534的指示关节运动构件的关节运动位置的位置输入。控制电路2510可识别对应于关节运动构件的关节运动位置的预先确定的阈值。当马达2504处于脱离状态时，控制电路2510可响应于关节运动构件的超过预先确定的阈值的运动来确定马达2504的控制动作。控制电路2510可控制关节运动构件的运动，其中控制关节运动构件的运动包括使马达2504处于保持状态。
可包括下列特征中的一者或多者。控制电路2510可被配置为能够响应于关节运动构件的超过预先确定的阈值的运动而保持关节运动位置。在保持关节运动位置时，控制电路可向处于保持状态的马达2504提供电流的脉冲宽度调制(PWM)(例如，马达驱动信号2514)，以抵抗关节运动构件的运动。马达2504可包括DC有刷马达。控制电路2510可被配置为能够当马达2504处于保持状态时将导线内部连接到DC有刷马达。控制电路2510可包括正向状态、惯性状态(coast condition)和制动状态。当控制电路2510处于正向状态时，DC马达处于接合状态。当控制电路2510处于惯性状态时，DC马达处于脱离状态。当控制电路2510处于制动状态时，DC马达处于保持状态。控制电路2510可包括第一开关、第二开关、第三开关和第四开关。当控制电路2510处于正向状态时，第二开关和第三开关处于闭合构型，并且第一开关和第四开关处于打开构型。当控制电路处于制动状态时，第一开关和第二开关处于闭合构型，并且第三开关和第四开关处于打开构型。当控制电路2510处于惯性状态时，第一开关、第二开关、第三开关和第四开关处于打开构型。
在一个方面，外科器械2500可包括端部执行器2502和可旋转轴组件。可旋转轴组件可包括纵向轴线、旋转位置传感器2534和齿轮组件。旋转位置传感器2534可被配置为能够测量可旋转轴组件围绕纵向轴线的旋转。外科器械2500可包括操作地连接到可旋转轴组件的齿轮组件的马达2504。马达2504可被构造成能够施加旋转力以旋转齿轮组件。齿轮组件的旋转使可旋转轴组件围绕纵向轴线旋转。外科器械2500还可包括联接到马达2504的控制电路2510。控制电路2510可被配置为能够基于来自旋转位置传感器2534的信号来监测可旋转轴组件的旋转位置。控制电路2510还可识别对应于可旋转轴组件的旋转位置的预先确定的阈值。控制电路2510还可响应于可旋转轴组件的旋转运动超过预先确定的阈值而确定马达2504的控制动作。控制电路2510可控制可旋转轴组件的旋转，其中控制可旋转轴组件的旋转可包括抵抗可旋转轴组件围绕纵向轴线的旋转。
可包括以下特征中的一个或多个。控制电路可被配置为能够响应于可旋转轴组件围绕纵向轴线的旋转超过预先确定的阈值而保持可旋转轴组件的旋转位置。保持旋转位置可包括将电流的PWM提供给马达2504以抵抗可旋转轴组件的旋转。马达2504可包括DC有刷马达。控制电路2510可被配置为能够当马达2504抵抗可旋转轴组件的旋转超过预先确定的阈值时将引线内部连接到DC有刷马达。
在一个方面，外科器械2500可包括纵向轴组件。纵向轴组件可包括可旋转轴部分，该可旋转轴部分包括纵向轴线以及驱动齿轮和关节运动接头。传动齿轮可被构造成能够围绕纵向轴线旋转。关节运动接头可包括关节运动齿轮。外科器械2500还可包括驱动组件。驱动组件可包括马达2504、控制电路2510和驱动构件。马达2504可包括驱动输出部。控制电路2510可被配置为能够控制马达2504。驱动构件可以操作地连接到驱动输出部。当控制电路2510处于旋转状态时，驱动构件操作地连接到可旋转轴部分的驱动齿轮。当控制电路2510处于关节运动状态时，驱动构件操作地连接到关节运动接头的关节运动齿轮。外科器械2500还可包括能量源2512。控制电路2510可包括接合状态、脱离状态和动态制动状态。当控制电路2510处于接合状态时，控制电路2510以串联电路配置向马达2504提供能量源2512。当控制电路2510处于脱离状态时，控制电路2510断开能量源2512与马达2504的连接。当控制电路2510处于动态制动状态时，控制电路2510将能量源2512置于与马达2504平行的电路状态。
可包括以下特征中的一个或多个。当控制电路2510处于旋转状态和动态制动状态时，控制电路2510可被配置为能够基于来自旋转位置传感器2534的信号来监测可旋转轴部分的旋转位置。控制电路2510可识别对应于可旋转轴部分的旋转位置的预先确定的阈值。控制电路2510可响应于可旋转轴部分的旋转运动超过预先确定的阈值而确定马达2504的控制动作。控制电路2510可控制可旋转轴部分的旋转，其中控制可旋转轴部分的旋转包括抵抗可旋转轴部分围绕纵向轴线的旋转。当控制电路2510处于关节运动状态和动态制动状态时，控制电路可被配置为能够基于来自关节运动位置传感器2534的信号来监测关节运动接头的关节运动位置。控制电路2510可识别对应于关节运动接头的关节运动位置的预先确定的阈值。控制电路2510可响应于关节运动接头的关节运动超过预先确定的阈值而确定马达2504的控制动作。控制电路2510可控制关节运动接头的关节运动，其中控制关节运动接头的关节运动包括抵抗关节运动接头的关节运动。马达2504可包括DC有刷马达，并且能量源2512可包括电池。
在各种方面，外科器械2500可包括单个马达2504和离合器或齿轮组件。单个马达2504可被构造成能够使端部执行器2502进行关节运动，使外科器械2500的轴旋转，以及平移外科器械2500的击发构件。齿轮或离合器系统允许马达2504将其功率传递到外科器械2500的各种功能。在一个方面，马达2504和离合器组件可被构造成能够同时接合多个外科器械2500的功能。这允许例如外科器械2500保持关于端部执行器2502和轴的关节运动或旋转的动态保持或抵抗状态，同时允许击发构件击发。在另一方面，外科器械2500可包括用于端部执行器2502的关节运动、轴的旋转和端部执行器2502的击发的独立马达2504。
现在将详细提及若干方面，包括显示具有端部执行器2502的手动和机器人外科器械2500的示例性具体实施的方面，该端部执行器包括缝合和切割元件。只要可行，相似或相同的参考标号可用于附图并且可表示相似或相同的功能。附图仅出于举例说明的目的描绘了本发明所公开的外科器械和/或使用方法的示例方面。在不脱离本公开的范围的情况下，可采用本文所示的结构和方法的另选示例方面。
图22描绘了根据本公开的一个方面的用于使外科器械的端部执行器进行关节运动的关节运动机构3000的示例。还参见图14，关节运动机构3000包括关节运动接头3006，该关节运动接头允许外科器械2500的远侧臂3014相对于外科器械2500的近侧臂3016进行关节运动或枢转。关节运动接头3006可通过关节运动杆/构件3008的致动进行关节运动。关节运动杆/构件3008可具有位移度3012。在一个方面，总体位移程度可为0.304"。然而，在其它方面，位移度3012可以更大或更小。关节运动杆/构件3008可以操作地联接到由控制电路2510控制的马达2504或致动器。在控制远侧臂3014相对于外科器械2500的近侧臂3016的期望关节运动时，外科器械2500可包括传感器2534以检测关节运动。在一个方面，远侧臂传感器可检测远侧臂3014相对于外科器械2500的近侧臂3016的关节运动角度。远侧臂传感器可通过各种通信装置(例如，有线或无线装置)将远侧臂3014相对于外科器械2500的近侧臂3016的位置传送至控制电路2510。除此之外或另选地，外科器械2500可包括关节运动接头传感器2534，该关节运动接头传感器检测远侧臂3014相对于近侧臂3016的关节运动位置并与控制电路2510通信。另外或另选地，外科器械2500可包括关节运动杆传感器，该关节运动杆传感器测量并检测关节运动构件3008的位移，如参考图16-21所述。由关节运动传感器2534测量的位移可与远侧臂3014的关节运动位移相关并传送至控制电路2510。
在操作中，外科器械2500的关节运动机构3000可由技术人员进行关节运动以允许外科器械2500的端部执行器2502到达患者体内的期望位置。一旦实现了期望的关节运动，马达2504就可被停用并被控制电路2510置于保持状态，以允许关节运动机构3000保持其关节运动位置。在外科手术期间，外部阻力或力3002可作用于外科器械的端部执行器或远侧臂3014。在马达处于保持状态时，控制电路2510可经由上述各种传感器来监测端部执行器2502和远侧臂3014的关节运动角度3004。如果关节运动角度3004的变化超过关节运动预先确定的阈值，则控制电路2510可激活马达2504的保持结构，以按比例抵抗作用于外科器械2500上的平移力3010a-d。
图23示出了根据本公开的一个方面的击发连杆角度和马达占空比作为端部执行器的关节运动角度的函数的图3100。顶部图3130描绘了沿着竖直轴线3122的击发杆位移(δ)，其为沿水平轴线3120的关节运动角度(以度(°)计)的函数。还参考图14，当关节运动杆/构件3008在预先确定的位移范围3108内时，控制电路2510触发马达2504的停用状态。关节运动杆3008的预先确定的位移范围3108对应于用于远侧臂3014的关节运动的关节运动角度3102的可允许范围。当超过预先确定的范围3108和/或可允许范围3102时，控制电路2510激活马达2504的电阻保持模式以抵抗或抵消施加到远侧臂3014的力并且将远侧臂3014和关节运动杆3018保持在预先确定的/可允许范围3108、3102内。
图23中的底图3132描绘了沿着竖直轴线3126的马达占空比(％)，其为沿水平轴线3120的关节运动角度(以度(°)计)的函数。由于由于外部施加的力，远侧臂3104的关节运动角度的程度越来越偏离关节运动角度3102的预先确定的阈值，因此马达2504施加力以抵抗不期望的关节运动持续延长的持续时间。换句话讲，马达占空比随着关节运动角度越来越偏离预先确定的阈值3102而增大。以举例的方式，图23中的底图3132表示具有-60°的期望关节运动角度的端部执行器2502。关节运动角度的可允许范围3102延伸至-55°。当端部执行器2502被关节运动至落入可允许范围3102内的程度时，马达占空比最小。然而，当关节运动角度超过可允许范围3102的边界时，控制电路2510通过激活马达2504的电阻保持模式以更剧烈的方式开始响应，从而增加马达占空比。除了增加马达占空比之外，使端部执行器2502进行关节运动至偏离可允许范围3102的程度可増加马达2504的驱动力或扭矩。阴影区域3112指示当关节运动角度开始超过可允许范围3102的边界时马达2504所需的初始限制。阴影区域3110指示当关节运动角度继续超过可允许范围3102的边界时马达2504所需的渐进式限制。在一个方面，施加到马达2504以抵抗外部施加的力的能量不会引起端部执行器2502的进一步关节运动和/或运动，而是防止在预先确定的范围3102之外的任何附加非期望的运动。在本公开的其它方面，施加到马达2504以抵抗外部施加的力的能量可导致端部执行器2502进行关节运动或旋转回到先前设置的位置。
图24示出了根据本公开的一个方面的马达占空比作为轴旋转的函数的图3200。图3200描绘了沿竖直轴线3222的马达占空比作为沿水平轴线3220的轴旋转(以度(°)表示)的函数。还参考图14，控制电路2510在激活马达3202的保持特征之前允许初始旋转阈值2504。在一个方面，保持特征包括与约束或限制轴旋转所需的阻力成比例的电流调制。随着所需的马达阻力3208随着轴旋转的位移而增大，电流3204可增大。因此，马达阻力可以逐步3206的方式增大。
在一个方面，当处于脱离状态时，通向外科器械2500的DC马达的引线可为内连接的。DC马达引线的内部连接可导致马达内的内部磁阻，以防止通过施加到端部执行器2502的外部施加的力而无意后驱动马达2504。动态和再生制动可用PWM DC马达、有刷马达、无刷马达和/或步进马达来实现，以保持端部执行器2502的期望位置的关节运动的部分。除此之外或另选地，各种动态制动机构可与机械锁组合以保持端部执行器的期望关节运动或旋转位置。除此之外或另选地，具有短路线圈的马达2504的自然阻力可与机械制动器或锁组合作为被动方法，以执行关节运动的或旋转的系统的工位保持功能。
图25示出了根据本公开的一个方面的根据上述各方面的控制电路3300。电路3300包括功率源3306、马达3308和多个开关3301、3302、3303、3304。电路还可包括另选的开关3305。开关3301-3305各自允许电路3300被配置为能够以正向模式、反向模式、电阻或制动模式和惯性模式操作马达3308。当电路3300处于正向模式时，开关3301、3304和3305可处于打开状态，而开关3302和3303可处于闭合状态。正向模式允许马达3308和功率源3306以串联配置操作，其中马达3308在正向方向上操作。当电路3300处于反向模式时，开关3302、3303和3305可处于打开状态，而开关3301和3304可处于闭合状态。反向模式允许马达3308和功率源3306以串联配置操作，其中马达3308在反向方向上操作。下面的表1示出了本文所讨论的各种电路3300配置。
1 2 3 4
0 1 1 0 正向
1 0 0 1 反向
0 0 1 1 制动(静态保持负载)
0 0 0 0 制动(开关3305闭合)
1 1 0 0 制动
0 0 0 0 惯性(开关3305打开)
表1.各种电路的配置。1＝闭合；0＝打开。
在一个方面，制动模式可使用静态保持负载以在外科器械的远侧部分的关节运动或旋转时提供对外力的阻力。当电路3300处于提供静态保持负载的制动模式时，开关3301、3302和3305可处于打开状态，而开关3303和3304可处于闭合状态。该制动模式允许马达3308和功率源3306以静态配置操作，其中电路配置形成静态保持。在另一方面，制动模式可使用静态保持负载以在外科器械的远侧部分的关节运动或旋转时提供对外力的阻力。当电路3300处于提供静态保持负载的制动模式时，开关3301、3302、3303、3305可处于打开状态，同时开关3305可处于闭合状态。该制动模式允许马达3308与功率源3306隔离。在处于该制动模式时，马达3308处于与功率源隔离的闭环配置，其中电路配置形成静态保持。
在另一方面，制动模式可使用动态保持负载以在外科器械的远侧部分的关节运动或旋转时提供对外力的阻力。当电路3300处于动态制动模式时，开关3303、3304和3305可处于打开状态，而开关3301和3302可处于闭合状态。该动态制动模式允许马达3308和功率源3306以平行配置操作，其中电路配置产生动态保持。当在处于动态制动模式时力作用于马达时，电路的平行构型在马达的输出中产生阻力，以抵抗在马达上操作的任何外力。在另一方面，惯性模式可允许马达在没有来自电路的任何阻力的情况下自由旋转。当电路3300处于惯性模式时，开关3301、3302、3303、3304、3305可处于打开状态。该惯性模式允许马达3308和功率源3306完全彼此断开，而不在马达3308中产生任何阻力。
图26示出了根据本公开的一个方面的外科器械的可旋转且可关节运动的轴组件3400。还参见图25，轴组件3400包括远侧端部执行器部分3416、近侧部分3420和连接远端执行器部分3416和近侧部分3420的关节运动机构3406。近侧部分3420限定中心轴线3422。近侧部分3420被构造成能够围绕纵向轴线3422旋转。外科器械的马达3308的输出被构造成能够旋转旋转驱动轴3408。旋转驱动轴包括驱动齿轮3424，该驱动齿轮与近侧部分3420的从动齿轮3418操作地交接。如结合图14所讨论的，控制电路2510可连接到检测轴组件3400的旋转的旋转传感器2534。轴组件3400可被允许在浮动或间隙阈值3412内旋转。然而，当外力3402导致轴组件3400旋转超过旋转阈值3414时，控制电路2510可激活马达3308(2504)上的阻力或保持状态，如上文关于图22-25所讨论的。当控制电路2510激活保持状态时，马达3308(2504)可通电并施加力3410以对抗外部旋转力3402。由马达3308(2504)施加的力3410可包括无源或有源电阻力，如上文关于图22-25所讨论的。
通过控制电路2510的有源PWM和电流步进电阻以及控制电路配置的动态和无源电阻，控制电路2510可抵抗端部执行器由于外部力的不需要的旋转或关节运动。控制电路2510的这些保持状态允许端部执行器在外科手术期间保持在期望位置内。
图27示出了逻辑流程图，其示出了可由外科器械2500(例如，控制电路2510)执行以抵抗和控制端部执行器2502由于外部力的关节运动的过程3430的一个示例。控制电路2510可接收3432初始关节运动信号。一旦端部执行器2502处于期望的关节运动位置，就可从关节运动传感器接收初始关节运动信号3432。例如，临床医生可以将端部执行器2502放置在期望位置，并且然后将组织夹持在砧座2516与钉仓2518之间，并且然后致动触发器32以开始击发行程。触发器32可以被配置为能够在致动时将击发信号提供给控制电路2510。
一旦端部执行器2502被放置在期望位置，控制电路2510就可响应于初始关节运动信号根据关节运动信号来确定3434端部执行器2502的初始关节运动位置。在确定3434初始位置时，控制电路2510可识别3436端部执行器2502的可允许位移的预先确定的阈值。例如，外科器械2500可经由传输装置2506从关节运动模式过渡到击发模式。当处于击发模式时，控制电路2510可监测端部执行器2502的关节运动位置。
控制电路2510可接收3438当前关节运动信号。一旦端部执行器2502处于击发模式，就可从关节运动传感器接收3438当前关节运动信号，以在击发模式期间监测端部执行器2502的位置。当前关节运动信号可从关节运动传感器接收3438。响应于当前关节运动信号，控制电路2510可根据当前关节运动信号确定3440端部执行器2502当前关节运动位置。控制电路2510可将端部执行器2502的当前关节运动位置与初始关节运动位置和用于端部执行器2502的可允许位移的预先确定的阈值进行比较3442。如果当前位置超过预先确定的阈值3444，则控制电路2510通过接合3452马达3308(2504)的保持状态来控制3452端部执行器2502的运动。例如，当控制电路将端部执行器2502的当前位置与预先确定的阈值进行比较3512并且当前位置超过预先确定的阈值时，控制电路2510可将传输装置2506从击发模式切换至控制模式。当控制电路2510切换到控制模式时，控制电路2510接合3452马达3308(2504)的保持状态以抵抗端部执行器2502的不需要的运动。保持状态可包括如上文关于图22-25所讨论的任何保持状态。当控制电路2502将端部执行器2502的当前位置与预先确定的阈值进行比较3512并且当前位置在预先确定的阈值3446内时，控制电路2510继续3448执行端部执行器功能的操作，例如，继续在击发模式下操作。
在另一方面，外科器械2500可具有第二马达。初始马达3308(2504)可被构造成能够操作端部执行器2502的关节运动。第二马达可被构造成能够操作端部执行器2502的击发驱动装置。当外科器械包括两个马达时，可独立于击发模式来完成控制3450。
在另一方面，外科器械2500可具有手动击发驱动。在外科器械具有手动击发驱动的情况下，马达3308(2504)可在击发模式期间与关节运动机构保持接合。马达3308(2504)可被构造成能够操作端部执行器2502的关节运动。当外科器械包括手动击发驱动时，可独立于击发模式来完成控制3450。
图28示出了逻辑流程图，其示出可由外科器械2500(例如，控制电路2510)执行以抵抗和控制轴组件200由于外部力的旋转的过程3460的一个示例。控制电路2510可接收初始旋转信号3462。一旦轴组件200处于期望的旋转位置，就可从旋转传感器接收3462初始旋转信号。例如，临床医生可以将端部执行器200放置在期望旋转位置，并且然后将组织夹持在砧座2516与钉仓2518之间，并且然后致动触发器32以开始击发构件行程。触发器32可以被配置为能够在致动时将击发信号提供给控制电路2510。
一旦轴组件200被放置在期望旋转位置，控制电路2510就可响应于初始旋转信号根据旋转信号来确定3464轴组件200的初始旋转位置。在确定3464初始旋转位置时，控制电路2510可识别3466轴组件200的可允许位移的预先确定的阈值。例如，外科器械2500可经由传输装置2506从旋转模式过渡到击发模式。当处于击发模式时，控制电路2510可监测轴组件200的旋转位置。
控制电路2510可接收3468当前旋转信号。一旦轴组件200处于击发模式，就可从旋转传感器接收3468当前旋转信号，以在击发模式期间监测轴组件200的位置。当前旋转信号可从旋转传感器接收3468。控制电路2510响应于当前旋转信号，可根据当前旋转信号确定3470轴组件200的当前旋转位置。控制电路2510可将轴组件200的当前旋转位置与初始旋转位置和轴组件200的可允许旋转位移的预先确定的阈值进行比较3472。如果轴组件200的当前旋转位置超过预先确定的阈值3474，则控制电路2510将通过接合3482马达3308(2504)的保持状态来控制3480轴组件200的旋转。例如，当控制电路将轴组件200的当前位置与预先确定的阈值进行比较3472并且当前位置超过预先确定的阈值的边界时，控制电路2510可将传输装置2506从击发模式切换至控制模式。当控制电路2510切换到控制模式时，控制电路2510然后接合3482马达3308(2504)的保持状态以抵抗轴组件200的不需要的旋转。保持状态可包括如上文关于图22-25所讨论的和关于端部执行器2502的关节运动的保持状态中的任一者。当控制电路2510将轴组件200的当前旋转位置与预先确定的阈值进行比较3472并且当前旋转位置在预先确定的阈值3476内时，控制电路2510继续执行3478端部执行器功能的操作，例如，继续在击发模式下操作。
在另一方面，外科器械2500可具有第二马达。初始马达3308(2504)可被构造成能够操作轴组件200的旋转。第二马达可被构造成能够操作端部执行器2502的击发驱动。当外科器械包括两个马达时，可独立于击发模式来完成控制3480。
在另一方面，外科器械2500可具有手动击发驱动。在外科器械具有手动击发驱动的情况下，马达3308(2504)可在击发模式期间与传动装置2506保持接合。马达3308(2504)可被构造成能够操作轴组件200的旋转。当外科器械包括手动击发驱动时，可独立于击发模式来完成控制3480。
在另一方面，外科器械2500的控制电路2510可被构造成能够抵抗和控制关节运动机构的关节运动并且抵抗和控制轴组件200的旋转。关节运动控件和旋转控件的电阻和保持功能可独立地操作或配合以控制端部执行器2502的总体空间位置。
本文所述的功能或过程3430、3460可通过本文所述的任何处理电路中的任一者来执行，诸如图5-6中描述的控制电路700、图7-9中所描述的电路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。
机动外科器械的各方面可在没有本文所公开的具体细节的情况下实施。某些方面已显示为框图而不是详细信息。本公开的部件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。算法是指导致期望结果的步骤的自相容序列，其中“步骤”是指物理量的操纵，物理量可以采用能被存储、转移、组合、比较和以其它方式操纵的电或磁信号的形式。这些信号可被称为位、值、要素、符号、字符、术语、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，可以用多种硬件、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以被看作是由各种类型的“电子电路”组成。因此，“电子电路系统”包括具有至少一个分立电路的电子电路系统、具有至少一个集成电路的电子电路系统、具有至少一个专用集成电路的电子电路系统、形成由计算机程序配置的通用计算装置的电子电路系统(例如，至少部分地实施本文描述的过程和/或装置的由计算机程序配置的通用计算机或处理器)、形成存储器装置(例如，形成随机存取存储器)的电子电路系统和/或形成通信装置(例如，调制解调器、通信开关或光电设备)的电子电路系统。这些方面可采用模拟或数字形式或它们的组合来实现。
上述描述通过使用框图、流程图和/或示例来阐述装置和/或过程的方面，所述框图、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、流程图或示例内的每个功能和/或操作可单独地和/或集体地由范围广泛的硬件、软件、固件或它们的任何组合来实现。在一个方面，本文所述的主题的若干部分可经由专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、可编程逻辑器件(DSP)、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)来实现。本文公开的形式中的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，并且根据本发明，设计电子电路系统和/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。
本文所述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多个方面，在适合设想的具体应用的情况下进行各种修改。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：马达，所述马达能够操作以沿着从近侧位置到远侧位置的距离平移关节运动构件，其中所述关节运动构件能够相对于端部执行器从近侧位置到远侧位置的距离平移，其中所述关节运动构件的所述平移导致关节运动接头进行关节运动，并且其中所述马达具有接合状态、脱离状态和保持状态；控制电路，所述控制电路联接到所述马达；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检测所述关节运动构件沿所述距离的至少一部分的位置；并且其中所述控制电路被配置为能够：接收来自所述位置传感器的指示所述关节运动构件的关节运动位置的位置输入；识别对应于所述关节运动构件的所述关节运动位置的预先确定的阈值；响应于所述关节运动构件的超过所述预先确定的阈值的运动，确定所述马达处于所述脱离状态时所述马达的控制动作；以及控制所述关节运动构件的所述运动，其中控制所述关节运动构件的所述运动包括使所述马达处于所述保持状态。
实施例2.根据实施例1所述的外科器械，其中，所述控制电路被配置为能够响应于所述关节运动构件的超过所述预先确定的阈值的所述运动而保持所述关节运动位置。
实施例3.根据实施例2所述的外科器械，其中，所述控制电路被配置为能够在所述保持状态下向所述马达施加脉宽调制(PWM)电流，以抵抗所述关节运动构件的所述运动。
实施例4.根据实施例1至实施例3所述的外科器械，其中，所述马达包括DC有刷马达。
实施例5.根据实施例4所述的外科器械，其中，所述控制电路被配置为能够当所述马达处于所述保持状态时将引线内部连接到所述直流(DC)有刷马达。
实施例6.根据实施例4至实施例5所述的外科器械，其中，所述控制电路包括正向状态、惯性状态和制动状态，其中当所述控制电路处于所述正向状态时，所述直流马达处于所述接合状态，其中当所述控制电路处于所述惯性状态时，所述直流马达处于所述脱离状态，并且其中当所述控制电路处于所述制动状态时，所述直流马达处于所述保持状态。
实施例7.根据实施例6所述的外科器械，其中，所述控制电路包括第一开关、第二开关、第三开关和第四开关，其中当所述控制电路处于正向状态时，所述第二开关和所述第三开关处于闭合构型，并且所述第一开关和所述第四开关处于打开构型。
实施例8.根据实施例7所述的外科器械，其中，当所述控制电路处于所述制动状态时，所述第一开关和所述第二开关处于闭合构型，并且所述第三开关和所述第四开关处于打开构型。
实施例9.根据实施例8所述的外科器械，其中，当所述控制电路处于所述惯性状态时，所述第一开关、所述第二开关、所述第三开关和所述第四开关处于打开构型。
实施例10.一种外科器械，包括：马达，所述马达被构造成能够联接到可旋转轴组件的齿轮组件，其中所述可旋转轴组件包括纵向轴线、旋转位置传感器，所述旋转位置传感器被配置为能够测量所述可旋转轴组件围绕所述纵向轴线的旋转，其中所述马达被构造成能够施加旋转力以旋转所述齿轮组件，并且其中所述齿轮组件的所述旋转使所述可旋转轴组件围绕所述纵向轴线旋转；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：基于来自所述旋转位置传感器的信号来监测所述可旋转轴组件的旋转位置；识别对应于所述可旋转轴组件的所述旋转位置的预先确定的阈值；响应于所述可旋转轴组件的旋转运动超过所述预先确定的阈值来确定所述马达的控制动作；以及控制所述可旋转轴组件的所述旋转，其中控制所述可旋转轴组件的所述旋转包括抵抗所述可旋转轴组件围绕所述纵向轴线的所述旋转。
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响应于所述可旋转轴组件围绕所述纵向轴线的旋转超过所述预先确定的阈值而保持所述可旋转轴组件的旋转位置。
实施例12.根据实施例11所述的外科器械，其中，所述控制电路被配置为能够向所述马达施加脉宽调制(PWM)电流以抵抗所述可旋转轴组件的所述旋转。
实施例13.根据实施例10至实施例12所述的外科器械，其中，所述马达包括直流(DC)有刷马达。
实施例14.根据实施例13所述的外科器械，其中，当所述马达抵抗所述可旋转轴组件的所述旋转超过所述预先确定的阈值时，所述控制电路被配置为能够将引线内部连接到所述直流有刷马达。
实施例15.一种外科器械，包括：纵向轴组件，所述纵向轴组件包括：可旋转轴部分，所述可旋转轴部分包括纵向轴线和驱动齿轮，其中所述可旋转轴部分被构造成成能够围绕所述纵向轴线旋转；和关节运动接头，所述关节运动接头包括关节运动齿轮；驱动组件，所述驱动组件包括：马达，所述马达包括驱动输出部；控制电路，所述控制电路被配置为能够控制所述马达；以及驱动构件，所述驱动构件操作地连接到所述驱动输出部，其中当所述控制电路处于旋转状态时，所述驱动构件操作地连接到所述可旋转轴部分的所述驱动齿轮，并且其中当所述控制电路处于关节运动状态时，所述驱动构件操作地连接到所述关节运动接头的所述关节运动齿轮；以及功率源；其中所述控制电路包括接合状态、脱离状态和动态制动状态，其中当所述控制电路处于所述接合状态时，所述控制电路以串联电路配置将所述功率源供应至所述马达，其中当所述控制电路处于所述脱离状态时，所述控制电路将所述功率源与所述马达断开连接，并且其中当所述控制电路处于所述动态制动状态时，所述控制电路将所述功率源置于与所述马达处于并联电路状态下。
实施例16.根据实施例15所述的外科器械，其中，当所述控制电路处于所述旋转状态和所述动态制动状态时，所述控制电路被配置为能够：基于来自旋转位置传感器的信号来监测所述可旋转轴部分的旋转位置；识别对应于所述可旋转轴部分的旋转位置的预先确定的阈值；响应于所述可旋转轴部分的旋转运动超过所述预先确定的阈值来确定所述马达的控制动作；控制所述可旋转轴部分的所述旋转，其中控制所述可旋转轴部分的所述旋转包括抵抗所述可旋转轴部分围绕所述纵向轴线的所述旋转。
实施例17.根据实施例16所述的外科器械，其中，所述马达包括直流有刷马达，并且其中所述电源包括电池。
实施例18.根据实施例15至实施例17所述的外科器械，其中，当所述控制电路处于所述关节运动状态和所述动态制动状态时，所述控制电路被配置为能够：基于来自关节运动位置传感器的信号来监测所述关节运动接头的关节运动位置；识别对应于所述关节运动接头的关节运动位置的预先确定的阈值；响应于所述关节运动接头的关节运动超过所述预先确定的阈值来确定所述马达的控制动作；控制所述关节运动接头的所述关节运动，其中控制所述关节运动接头的所述关节运动包括抵抗所述关节运动接头的所述关节运动。
实施例19.根据实施例18所述的外科器械，其中，所述马达包括直流有刷马达，并且其中所述电源包括电池。
实施例20.根据实施例16至实施例19所述的外科器械，其中，当所述控制电路处于所述关节运动状态和所述动态制动状态时，所述控制电路被配置为能够：基于来自关节运动位置传感器的信号来监测所述关节运动接头的关节运动位置；识别对应于所述关节运动接头的关节运动位置的预先确定的阈值；响应于所述关节运动接头的关节运动超过所述预先确定的阈值来确定所述马达的控制动作；控制所述关节运动接头的所述关节运动，其中控制所述关节运动接头的所述关节运动包括抵抗所述关节运动接头的所述关节运动。

Claims (20)

1.一种外科器械，包括：
马达，所述马达能够操作以沿着从近侧位置到远侧位置的距离平移关节运动构件，其中所述关节运动构件能够相对于端部执行器从近侧位置到远侧位置的距离平移，其中所述关节运动构件的所述平移导致关节运动接头进行关节运动，并且其中所述马达具有接合状态、脱离状态和保持状态；
控制电路，所述控制电路联接到所述马达；
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检测所述关节运动构件沿所述距离的至少一部分的位置；并且
其中所述控制电路被配置为能够：
接收来自所述位置传感器的指示所述关节运动构件的关节运动位置的位置输入；
识别对应于所述关节运动构件的所述关节运动位置的预先确定的阈值；
响应于所述关节运动构件的超过所述预先确定的阈值的运动，确定所述马达处于所述脱离状态时所述马达的控制动作；以及
控制所述关节运动构件的所述运动，其中控制所述关节运动构件的所述运动包括使所述马达处于所述保持状态。
2.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响应于所述关节运动构件的所述运动超过所述预先确定的阈值而保持所述关节运动位置。
3.根据权利要求2所述的外科器械，其中，所述控制电路被配置为能够在所述保持状态下向所述马达施加脉宽调制(PWM)电流，以抵抗所述关节运动构件的所述运动。
4.根据权利要求1所述的外科器械，其中，所述马达包括直流(DC)有刷马达。
5.根据权利要求4所述的外科器械，其中，所述控制电路被配置为能够当所述马达处于所述保持状态时将引线内部连接到所述直流(DC)有刷马达。
6.根据权利要求4所述的外科器械，其中，所述控制电路包括正向状态、惯性状态(coast condition)和制动状态，其中当所述控制电路处于所述正向状态时，所述直流马达处于所述接合状态，其中当所述控制电路处于所述惯性状态时，所述直流马达处于所述脱离状态，并且其中当所述控制电路处于所述制动状态时，所述直流马达处于所述保持状态。
7.根据权利要求6所述的外科器械，其中，所述控制电路包括第一开关、第二开关、第三开关和第四开关，其中当所述控制电路处于正向状态时，所述第二开关和所述第三开关处于闭合构型，并且所述第一开关和所述第四开关处于打开构型。
8.根据权利要求7所述的外科器械，其中，当所述控制电路处于所述制动状态时，所述第一开关和所述第二开关处于闭合构型，并且所述第三开关和所述第四开关处于打开构型。
9.根据权利要求8所述的外科器械，其中，当所述控制电路处于所述惯性状态时，所述第一开关、所述第二开关、所述第三开关和所述第四开关处于打开构型。
10.一种外科器械，包括：
马达，所述马达被构造成能够联接到可旋转轴组件的齿轮组件，其中所述可旋转轴组件包括纵向轴线、旋转位置传感器，所述旋转位置传感器被配置为能够测量所述可旋转轴组件围绕所述纵向轴线的旋转，其中所述马达被构造成能够施加旋转力以旋转所述齿轮组件，并且其中所述齿轮组件的所述旋转使所述可旋转轴组件围绕所述纵向轴线旋转；
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：
基于来自所述旋转位置传感器的信号来监测所述可旋转轴组件的旋转位置；
识别对应于所述可旋转轴组件的所述旋转位置的预先确定的阈值；
响应于所述可旋转轴组件的旋转运动超过所述预先确定的阈值来确定所述马达的控制动作；以及
控制所述可旋转轴组件的所述旋转，其中控制所述可旋转轴组件的所述旋转包括抵抗所述可旋转轴组件围绕所述纵向轴线的所述旋转。
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响应于所述可旋转轴组件围绕所述纵向轴线的旋转超过所述预先确定的阈值而保持所述可旋转轴组件的旋转位置。
12.根据权利要求11所述的外科器械，其中，所述控制电路被配置为能够向所述马达施加脉宽调制(PWM)电流以抵抗所述可旋转轴组件的所述旋转。
13.根据权利要求10所述的外科器械，其中，所述马达包括直流(DC)有刷马达。
14.根据权利要求13所述的外科器械，其中，当所述马达抵抗所述可旋转轴组件的所述旋转超过所述预先确定的阈值时，所述控制电路被配置为能够将引线内部连接到所述直流有刷马达。
15.一种外科器械，包括：
纵向轴组件，所述纵向轴组件包括：
可旋转轴部分，所述可旋转轴部分包括纵向轴线和驱动齿轮，其中所述可旋转轴部分被构造成能够围绕所述纵向轴线旋转；和
关节运动接头，所述关节运动接头包括关节运动齿轮；
驱动组件，所述驱动组件包括：
马达，所述马达包括驱动输出部；
控制电路，所述控制电路被配置为能够控制所述马达；和
驱动构件，所述驱动构件操作地连接到所述驱动输出部，其中当所述控制电路处于旋转状态时，所述驱动构件操作地连接到所述可旋转轴部分的所述驱动齿轮，并且其中当所述控制电路处于关节运动状态时，所述驱动构件操作地连接到所述关节运动接头的所述关节运动齿轮；和
功率源；
其中所述控制电路包括接合状态、脱离状态和动态制动状态，其中当所述控制电路处于所述接合状态时，所述控制电路以串联电路配置将所述功率源供应至所述马达，其中当所述控制电路处于所述脱离状态时，所述控制电路将所述功率源与所述马达断开连接，并且其中当所述控制电路处于所述动态制动状态时，所述控制电路将所述功率源置于与所述马达处于并联电路状态下。
16.根据权利要求15所述的外科器械，其中，当所述控制电路处于所述旋转状态和所述动态制动状态时，所述控制电路被配置为能够：
基于来自旋转位置传感器的信号来监测所述可旋转轴部分的旋转位置；
识别对应于所述可旋转轴部分的旋转位置的预先确定的阈值；
响应于所述可旋转轴部分的旋转运动超过所述预先确定的阈值来确定所述马达的控制动作；
控制所述可旋转轴部分的所述旋转，其中控制所述可旋转轴部分的所述旋转包括抵抗所述可旋转轴部分围绕所述纵向轴线的所述旋转。
17.根据权利要求16所述的外科器械，其中，所述马达包括直流有刷马达，并且其中所述电源包括电池。
18.根据权利要求15所述的外科器械，其中，当所述控制电路处于所述关节运动状态和所述动态制动状态时，所述控制电路被配置为能够：
基于来自关节运动位置传感器的信号来监测所述关节运动接头的关节运动位置；
识别对应于所述关节运动接头的关节运动位置的预先确定的阈值；
响应于所述关节运动接头的关节运动超过所述预先确定的阈值来确定所述马达的控制动作；
控制所述关节运动接头的所述关节运动，其中控制所述关节运动接头的所述关节运动包括抵抗所述关节运动接头的所述关节运动。
19.根据权利要求18所述的外科器械，其中，所述马达包括直流有刷马达，并且其中所述电源包括电池。
20.根据权利要求16所述的外科器械，其中，当所述控制电路处于所述关节运动状态和所述动态制动状态时，所述控制电路被配置为能够：
基于来自关节运动位置传感器的信号来监测所述关节运动接头的关节运动位置；
识别对应于所述关节运动接头的关节运动位置的预先确定的阈值；
响应于所述关节运动接头的关节运动超过所述预先确定的阈值来确定所述马达的控制动作；
控制所述关节运动接头的所述关节运动，其中控制所述关节运动接头的所述关节运动包括抵抗所述关节运动接头的所述关节运动。
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