CN110785128A - 根据端部执行器的关节运动角度控制外科缝合和切割器械的马达速度的系统和方法 - Google Patents
根据端部执行器的关节运动角度控制外科缝合和切割器械的马达速度的系统和方法 Download PDFInfo
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Abstract
本发明公开了一种机动化外科器械。该外科器械包括位移构件、马达、控制电路和位置传感器。该位移构件被构造成能够平移。该马达联接到位移构件以使该位移构件平移。该控制电路联接到该马达。该位置传感器联接到控制电路。该位置传感器被配置为能够测量位移构件的位置并且测量端部执行器相对于纵向延伸轴的关节运动角度。该控制电路被配置为能够确定端部执行器和纵向延伸轴之间的关节运动角度并且基于关节运动角度设定马达速度。
Description
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,控制切割构件的速度或控制端部执行器的关节运动速度可能是有用的。位移构件的速度可通过测量在位移构件的预先确定的位置间隔的流逝时间或者测量位移构件在预先确定的时间间隔的位置而确定。该控制可为开环或闭环的。此类测量可用于评估组织状况诸如组织厚度,并且在击发冲程期间调整切割构件的速度以考虑组织状况。可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而确定组织厚度。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能是有用的。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能是有用的。
在使用机动化外科缝合和切割器械期间,切割构件或击发构件所经历的击发力或负载可基于端部执行器的关节运动角度而变化或增加。因此,可能期望根据端部执行器的关节运动角度改变切割构件或击发构件的击发速度,以减小由于增加端部执行器关节运动角度而引起的切割构件或击发构件上的击发负载的力。
发明内容
在一个方面,本公开提供了一种外科器械。该外科器械包括位移构件,其被构造成能够平移;马达,其联接到位移构件的近侧端部以使位移构件平移;控制电路,其联接到马达;位置传感器,其联接到控制电路,该位置传感器被配置为能够测量位移构件的位置并且被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度;其中控制电路被配置为能够:确定端部执行器和纵向延伸轴之间的关节运动角度;基于关节运动角度选择力阈值;基于关节运动角度设定马达速度;确定位移构件上的力;并且当位移构件上的力大于力阈值时,调整马达速度。
在另一方面,该外科器械包括:位移构件,其被构造成能够平移;马达,其联接到位移构件以使位移构件平移;控制电路,其联接到马达;位置传感器,其联接到控制电路,该位置传感器被配置为能够测量位移构件相对于端部执行器的位置并且被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度;其中控制电路被配置为能够:确定端部执行器和纵向延伸轴之间的关节运动角度;以及基于关节运动角度设定马达速度。
在另一方面,本发明提供了一种控制外科器械中的马达速度的方法,该外科器械包括被配置为能够平移的位移构件、联接到位移构件以使位移构件平移的马达、联接到马达的控制电路,以及联接到控制电路的位置传感器,该位置传感器被配置为能够测量位移构件的位置并被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度,该方法包括:由控制电路确定端部执行器和纵向延伸轴之间的关节运动角度;以及由控制电路基于关节运动角度设定马达速度。
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可操作地联接到其上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视图。
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图。
图5A至图5B为根据本公开的一个方面的跨越两张图页的图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,示出了柄部组件和功率组件以及柄部组件和可互换轴组件之间的接口。
图7示出了根据本公开的一个方面被配置为能够控制图1的外科器械的各方面的控制电路。
图8示出了根据本公开的一个方面被配置为能够控制图1的外科器械的各方面的组合逻辑电路。
图9示出了根据本公开的一个方面被配置为能够控制图1的外科器械的各方面的顺序逻辑电路。
图10为根据本公开的一个方面的图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受控马达驱动电路布置,该受控马达驱动电路布置包括传感器布置。
图11为根据本公开的一个方面的绝对定位系统的传感器布置的分解透视图,示出了控制电路板组件,以及传感器布置的元件的相对对齐。
图12为根据本公开的一个方面的包括磁旋转绝对定位系统的位置传感器的示意图。
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,示出了相对于抓握在端部执行器内的组织的击发构件冲程。
图14示出了根据本公开的一个方面的被编程以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冲程的图。
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,示出了处于非关节运动取向的细长轴组件,其中为清楚起见省略了其一些部分。
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透视图,示出了非关节运动取向的细长轴组件。
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装透视图,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,示出了处于非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顶视图,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,示出了处于第二关节运动取向的细长轴组件。
图22为根据本公开的一个或多个方面,作为端部执行器关节运动角度的函数的位移构件速率(速度)的曲线图。
图23为根据本公开的一个或多个方面,作为位移构件的击发冲程位移的函数的位移构件力的曲线图。
图24为根据本公开的一个或多个方面,作为位移构件的击发冲程位移的函数的位移构件力的曲线图。
图25为根据本公开的一个或多个方面,作为位移构件的线性位移冲程位移的函数的位移构件速率的曲线图。
图26为根据本公开的一个或多个方面的逻辑流程图,描绘了用于基于端部执行器的关节运动角度控制位移构件(诸如I形梁构件)的速率的控制程序或逻辑配置的过程。
图27为根据本公开的一个或多个方面的逻辑流程图,描绘了用于基于端部执行器的关节运动角度控制位移构件(诸如I形梁构件)的速率的控制程序或逻辑配置的过程。
具体实施方式
本申请的申请人拥有与本申请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日提交的题为“基于关节运动角度的外科缝合和切割器械的马达速度控制(CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION)”的代理人案卷第END8191USNP/170054号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“具有可变持续时间触发布置的外科器械(SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGERARRANGEMENT)”的代理人案卷第END8192USNP/170055号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“控制外科缝合和切割器械的位移构件运动的系统和方法(SYSTEMS AND METHODS FOR CONTROLLINGDISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)”的代理人案卷第END8193USNP/170056号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“控制外科缝合和切割器械的马达速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLING MOTORVELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)”的代理人案卷第END8195USNP/170058号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“具有可控关节运动速度的外科器械(SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATIONVELOCITY)”的代理人案卷第END8196USNP/170059号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“控制外科缝合和切割器械的位移构件的速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLINGVELOCITY OF A DISPLACEMENT MEMBER OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT)”的代理人案卷第END8197USNP/170060号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“控制外科器械位移构件速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLING DISPLACEMENTMEMBER VELOCITY FOR A SURGICAL INSTRUMENT)”的代理人案卷第END8198USNP/170061号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“基于关节运动角度的外科缝合和切割器械的马达速度控制(CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE OF ARTICULATION)”的代理人案卷第END8222USNP/170125号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“控制外科缝合和切割器械的马达速度的自适应控制技术(TECHNIQUES FOR ADAPTIVE CONTROL OFMOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)”的代理人案卷第END8199USNP/170062M号。
发明人Raymond E.Parfett等人于2017年6月20日提交的题为“外科缝合和切割器械马达速度的闭环控制的技术(TECHNIQUES FOR CLOSED LOOP CONTROL OF MOTORVELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)”的代理人案卷第END8275USNP/170185M号。
发明人Raymond E.Parfett等人于2017年6月20日提交的题为“基于速度误差测量结果的外科缝合和切割器械的马达速度的闭环反馈控制(CLOSED LOOP FEEDBACK CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONMAGNITUDE OF VELOCITY ERROR MEASUREMENTS)”的代理人案卷第END8268USNP/170186号。
发明人Jason L.Harris等人于2017年6月20日提交的题为“基于在指定位移距离上测量的时间的外科缝合和切割器械的马达速度的闭环反馈控制(CLOSED LOOP FEEDBACKCONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASEDON MEASURED TIME OVER A SPECIFIED DISPLACEMENT DISTANCE)”的代理人案卷第END8276USNP/170187号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“基于在指定时间间隔上行进的测量位移距离的外科缝合和切割器械的马达速度的闭环反馈控制(CLOSED LOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING ANDCUTTING INSTRUMENT BASED ON MEASURED DISPLACEMENT DISTANCE TRAVELED OVER ASPECIFIED TIME INTERVAL)”的代理人案卷第END8266USNP/170188号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“基于指定轴旋转数上的测量时间的外科缝合和切割器械的马达速度的闭环反馈控制(CLOSED LOOPFEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED NUMBER OF SHAFTROTATIONS)”的代理人案卷第END8267USNP/170189号。
发明人Jason L.Harris等人于2017年6月20日提交的题为“控制显示外科器械的马达速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLING DISPLAYING MOTORVELOCITY FOR A SURGICAL INSTRUMENT)”的代理人案卷第END8269USNP/170190号。
发明人Jason L.Harris等人于2017年6月20日提交的题为“根据外科器械的用户输入控制马达速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLING MOTOR SPEEDACCORDING TO USER INPUT FOR A SURGICAL INSTRUMENT)”的代理人案卷第END8270USNP/170191号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“基于系统条件的外科缝合和切割器械的马达速度的闭环反馈控制(CLOSED LOOP FEEDBACK CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONSYSTEM CONDITIONS)”的代理人案卷第END8271USNP/170192号。
本申请的申请人拥有与本申请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:
发明人Jason L.Harris等人于2017年6月20日提交的题为“显示器或其部分的图形用户界面(GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF)”的代理人案卷第END8274USDP/170193D号。
发明人Jason L.Harris等人于2017年6月20日提交的题为“显示器或其部分的图形用户界面(GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION THEREOF)”的代理人案卷第END8273USDP/170194D号。
发明人Frederick E.Shelton,IV等人于2017年6月20日提交的题为“显示器或其部分的图形用户界面(GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTIONTHEREOF)”的代理人案卷第END8272USDP/170195D号。
示出并描述了某些方面以提供对本发明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”是相对于操纵外科器械的柄部的临床医生而言的,其中“近侧”是指更靠近临床医生的部分,而“远侧”是指距临床医生更远的部分。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,因为可在许多取向和位置使用外科器械。
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,例如包括开放式外科手术。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身体中或者通过进入装置插入,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至图4描绘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能够由临床医生抓握、操纵并致动的柄部组件14。外壳12被配置用于可操作地附接到可互换轴组件200,该可互换轴组件具有可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可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以可操作的方式控制外科器械的一部分。可互换轴组件可与题为“具有可旋转钉部署布置的外科缝合器械(SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS)”的美国专利第9,072,535号中公开的各种机器人系统、器械、部件和方法一起采用,该专利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可操作地联接到其上的可互换轴组件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配置为能够在其中可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采用,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/或运动施加到适于与各种外科应用和手术结合使用的端部执行器布置的组件。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可包括可通过螺钉、按扣特征结构、粘合剂等互连的一对可互连柄部外壳段16、18。柄部外壳段16、18配合以形成可被临床医生握持和操纵的手枪式握持部19。柄部组件14可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控制运动并将其施加到可操作地附接到其上的可互换轴组件的对应部分。可在覆盖件45下方设置显示器。
图2为根据本公开的一个方面的图1的外科器械10的一部分的分解组件视图。柄部组件14可包括可操作地支撑多个驱动系统的框架20。框架20可操作地支撑“第一”或闭合驱动系统30,该“第一”或闭合驱动系统30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,诸如由框架20可枢转地支撑的闭合触发器32。闭合触发器32通过枢轴销33可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可从开始或“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可以可操作地支撑击发驱动系统80,该击发驱动系统80被配置为能够将击发运动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,电动马达82可为最大旋转速度为约25,000RPM的DC有刷马达。在其它配置中,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90可包括可移除功率组92。可移除功率组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被构造成能够可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被配置用于以可移除方式可操作地附接到可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可为可替换的和/或可再充电的。位于覆盖件43下方的显示器45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可操作地交接的可旋转轴(未示出),该齿轮减速器组件84被安装成与纵向可移动驱动构件120上的一组或一齿条的驱动齿122啮合接合。纵向可移动驱动构件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。
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,该开关可被配置为能够反转由功率源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/或移动纵向可移动驱动构件120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。
回到图1,可互换轴组件200包括端部执行器300,该端部执行器300包括被构造成能够可操作地在其中支撑外科钉仓304的细长通道302。端部执行器300可包括砧座306,该砧座306相对于细长通道302被可枢转地支撑。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的构造和操作在题为“包括关节运动锁的可关节运动外科器械(ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK)”的美国专利申请公开第2014/0263541号中阐述,该专利申请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260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,响应于通过前述参考美国专利申请公开第2014/0263541号中描述的方式对闭合触发器32的致动,闭合管260向远侧平移(方向“DD”)以闭合砧座306。通过向近侧平移闭合管260来打开砧座306。在砧座打开位置,闭合管260移动至其近侧位置。
图3为根据本公开的一个方面的可互换轴组件200的部分的另一分解组装视图。可互换轴组件200可包括被支撑用于在脊210内轴向行进的击发构件220。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223被构造成能够接纳刀杆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移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的情况下绕关节运动接头270使端部执行器300进行关节运动。一旦端部执行器300已合适地取向,便可向远侧推进中间击发轴222,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中具有细长开口或窗口213,以有利于将中间击发轴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的操作的可见于美国专利申请公开第2014/0263541号。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400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可在接合位置和脱离位置之间旋转,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未可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的远侧移动可向远侧移动关节运动驱动器230,并且对应地,击发构件220的近侧移动可向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而移动。喷嘴201可用于以在美国专利申请公开第2014/0263541号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可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600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300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300接收信号。滑环组件600可包括定位在喷嘴部分202、203中限定的狭槽内的近侧连接器凸缘604和远侧连接器凸缘601。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,并相对于第一面可移动。远侧连接器凸缘601可绕轴轴线SA-SA(图1)相对于近侧连接器凸缘604旋转。近侧连接器法兰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。此类配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606可使导体602与轴电路板进行信号通信。在至少一个示例中,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可向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,以及绕纵向轴线可旋转的远侧部分。可旋转远侧轴部分可围绕滑动环组件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。孔199可限定在细长通道302中,以接纳从砧座306延伸的销152,从而允许砧座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造,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的远侧突出端部可附接到I形梁178,以当砧座306处于闭合位置时辅助将砧座306与定位在细长通道302中的外科钉仓304间隔开。I形梁178可包括锋利切割边缘182,以当通过击发杆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被I形梁178向远侧驱动,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切断被夹持的组织。
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和底脚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的底脚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之间捕集的组织时,I形梁178可分开砧座306和外科钉仓304或限制它们之间的相对移动。击发杆172和I形梁178可向近侧回缩,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至图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。主要参考图5A至图5B,柄部组件702可包括马达714,该马达714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可为最大旋转速度为约25,000RPM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706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的电池单元可为可替换的和/或可再充电的。在至少一个示例中,电池单元可为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和功率组件706联接到柄部组件702时,该轴组件控制器722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725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727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,调整功率组件706的电池的功率输出,如下文更详细地描述。连接器可包括开关,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和功率管理控制器716之间的电连通。
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和轴组件控制器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可为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)、以及易得的其它特征。
安全控制器可为包括两个基于控制器的系列(诸如TMS570和RM4x)的安全控制器平台,已知同样由德克萨斯器械公司提供且商品名为“Hercules ARM Cortex R4”。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能够基于轴组件704的功率要求调整电池的功率输出。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可调整功率组件706的功率输出以维持期望的输出。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处理器和/或可存储多个软件模块的存储器单元。
外科器械10(图1至图4)可包括输出装置742,该输出装置742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743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。作为替代,输出装置742可与功率组件706集成。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和轴组件控制器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电动外科器械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(诸如加速段、显示段、轴段、编码器段、马达段和功率段)相互作用。电路段中的每个均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。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(诸如电动外科器械10内的印刷电路板组件(PCBA))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为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可被配置为能够实施本文所述的过程中的一个或多个。
加速度段(段3)包括加速度计。加速度计被配置为能够检测电动外科器械10的移动或加速度。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、识别电动外科器械的取向,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集成,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至图4)的可互换轴组件200(图1和图3)的控件,以及/或者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(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成一体。在一些示例中,轴段包括第二轴EEPROM。第二轴EEPROM包括对应于可与电动外科器械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至图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电动外科器械10(图1至图4)的移动的马达714。马达714通过包括一个或多个H桥场效应晶体管(FET)和马达控制器的H桥驱动器联接到主微控制器处理器717。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先确定的电压值。例如,在一些示例中,分段电路可包括3.3伏的电压转换器和/或5伏的电压转换器。升压转换器被配置为能够提供最高为预先确定的量(诸如,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,并且能够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。开关可被配置为能够控制外科器械10(图1至图4)、分段电路的操作,和/或指示外科器械10的状态。应急门开关和用于应急的霍尔效应开关被配置为能够指示应急门的状态。多个关节运动开关(诸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)被配置为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以任意组合用于实施该多个开关。例如,开关可为通过与外科器械10(图1至图4)相关联的部件的运动或物体的存在而操作的限位开关。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。在其它具体实施方式中,开关可为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。在其它具体实施方式中,开关可为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,开关可为固态装置,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的框图,示出了柄部组件702和功率组件706以及柄部组件702和可互换轴组件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734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200和功率组件706联接到柄部组件702时,基于可互换轴组件704的功率要求调整电池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调整功率组件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,以为功率管理控制器716提供关于电池707的功率输出的反馈,使得功率管理控制器716可调整功率组件706的功率输出以维持期望的输出。轴组件704包括联接到非易失性存储器721和轴组件连接器728的轴处理器719,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可被配置为能够实施本文所述的过程中的一个或多个。
外科器械10(图1至图4)可包括输出装置742,以向用户提供感觉反馈。此类装置可包括视觉反馈装置(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743可包括在柄部组件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集成。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至图4)的操作的控制电路700(图5A至图5B和图6),本公开现在转向外科器械10(图1至图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800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至图4)的各方面。控制电路800可被配置为能够实施本文所述的各种过程。控制电路800可包括控制器,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执行时使得处理器802执行机器指令以实施本文所述的各种过程的机器可执行指令。处理器802可为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810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至图4)的各方面。组合逻辑电路810可被配置为能够实施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812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示出了顺序逻辑电路820,该顺序逻辑电路820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至图4)的各方面。顺序逻辑电路820或组合逻辑电路822可被配置为能够实施本文所述的各种过程。电路820可包括有限状态机。顺序逻辑电路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,顺序逻辑电路820可为同步的或异步的。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施本文的各种过程。在其它方面中,有限状态机可包括组合逻辑电路810和顺序逻辑电路820的组合。
各方面可实施为制造制品。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、闪速存储器或固件,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为根据本公开的一个方面的外科器械10(图1至图4)的绝对定位系统1100的示意图,其中绝对定位系统1100包括受控马达驱动电路布置,该受控马达驱动电路布置包括传感器布置1102。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。简要转向图2至图4,在一个方面,位移构件1111代表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代表击发构件220(图3),该击发构件220可被适配和配置成包括驱动齿的齿条。在又一方面,位移构件1111代表击发杆172(图4)或I形梁178(图4),它们中的每个均可被调整和配置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于指外科器械10(诸如驱动构件120、击发构件220、击发杆172、I形梁178或任何可被位移的元件)的任何可移动构件。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可包括可操作地与齿轮组件1114交接的可旋转轴1116,该齿轮组件1114被安装成与位移构件1111上的驱动齿的组或齿条啮合接合。传感器元件1126可以可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,或者经由正齿轮或其它连接连接至旋转致动器。功率源1129向绝对定位系统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代表纵向可移动驱动构件120,该纵向可移动驱动构件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代表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的单次旋转等价于位移构件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”移动到点“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的全冲程完成一次或多次旋转。位置传感器1112可针对位移构件1111的全冲程完成多次旋转。
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至1122n的状态被反馈到控制器1104,该控制器1104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在器械加电时提供位移构件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、驱动杆、刀等的位置。
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DC马达,其具有齿轮箱以及通往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的更详细描述在2016年4月15日提交的题为“控制外科缝合和切割器械的系统和方法(SYSTEMS AND METHODSFOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT)”的美国专利申请第15/130,590号中有所描述,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可被编程以提供对位移构件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/或者可被编程以实施反馈控制器,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,该算法朝向所测量的响应驱动计算响应。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可为控制电路700(图5A至图5B)。
驱动器1110可为可购自Allegro微系统公司的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)栅极驱动并且允许A3941在低至5.5V的降低栅极驱动下工作。自举电容器可用于提供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。集成诊断提供欠压、过热和功率桥故障的指示,并且可被配置为能够在大多数短路条件下保护功率MOSFET。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。
已经描述了用于针对传感器布置1102实施绝对定位系统1100的各方面的总体架构,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的传感器结构1102的分解透视图,其示出了电路1205和传感器结构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的每次全冲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。简要参考图2,位移构件1111代表纵向可移动驱动构件120,该纵向可移动驱动构件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。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)并且被放置在磁体1202附近。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,诸如根据它们测量磁场的总磁场还是磁场的矢量分量而分类的磁性传感器。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。
齿轮组件包括啮合接合的第一齿轮1208和第二齿轮1210,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(或图2所示的120)啮合接合,并且当位移构件1111在远侧方向D上推进时在第一方向上旋转,并且当位移构件1111在近侧方向P上回缩时在第二方向上旋转。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在远侧方向D或近侧方向P上的一个全冲程对应于第二齿轮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的每个全冲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内下方旋转的磁体1202精确对齐,所述保持器限定适于包含位置传感器1200的孔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。提供了一种轮毂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,该绝对定位系统1100包括磁性旋转绝对定位系统。位置传感器1200可被实施为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和图16)上方的位置传感器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ADC1232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(图11)的正上方。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,一般来讲,霍尔效应在与导体中的电流和垂直于电流的磁场上跨电导体产生电压差(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,其指示依据磁体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时仅需要几个外部分件就可操作。使用单一功率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。在加电时,AS5055位置传感器1200执行完全加电序列,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记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,对四个样本求平均可使抖动减少6dB(50%)。
图13为根据本公开的一个方面的外科器械10(图1至图4)的端部执行器2502的剖视图,其示出了相对于抓握在端部执行器2502内的组织2526的I形梁2514击发冲程。端部执行器2502被构造成能够与图1至图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向远侧和近侧平移。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被例示为处于击发杆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,切割边缘2509接触并可切割位于砧座2516和钉仓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2507使钉2505成形。
示例I形梁2514击发构件冲程由与端部执行器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击发构件冲程期间,I形梁2514可从冲程开始位置2527向远侧推进到冲程结束位置2528。I形梁2514被例示为处于冲程开始位置2527的一个示例位置处。I形梁2514击发构件冲程图表2529示出了五个击发构件冲程区域2517、2519、2521、2523、2525。在第一击发冲程区域2517中,I形梁2514可开始向远侧推进。在第一击发冲程区域2517中,I形梁2514可接触楔形滑动件2513并开始向远侧移动它。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的力可为基本恒定的。
在第二击发构件冲程区域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,起初遇到的组织可被压缩和/或变薄。在第三击发构件冲程区域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。通过第四击发冲程区域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中时到达组织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。在击发构件冲程结束时,I形梁2514可到达冲程结束位置2528。图18中的击发构件冲程区域2517、2519、2521、2523、2525的定位仅为一个示例。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,现在参考图10至图13,可利用定位在外科器械10(图1至图4)的柄部组件内的电动马达1122,以使轴组件(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/或切入捕集在端部执行器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供应的功率的各种参数(诸如电压和/或电流)和/或电动马达1122的其它操作参数或外部影响来预测I形梁2514的速度。控制器1104可被配置为能够基于向电动马达1122供应的电流和/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/或减小电动马达1122的功率以便减小I形梁2514的速度。名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利号8,210,411,其全文以引用方式并入本文。名称为“SURGICAL INSTRUMENT HAVINGRECORDING CAPABILITIES”的美国专利号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在I形梁2514上作用的力。可通过测量马达2504的电流来确定I形梁2514的力,其中马达2504的电流基于I形梁2514向远侧推进时所经历的负载。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)上和/或在切割边缘2509的近侧端部上来确定I形梁2514的力。可通过以下方式确定I形梁2514的力:监测I形梁1在预先确定的经过时间段T1之后基于马达2504的当前设定速度以预期速度移动的实际位置,并且基于马达2504在时间段T1结束时的当前设定速度将I形梁2514的实际位置相对于I形梁2514的预期位置进行比较。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比例。此类技术描述于代理人案卷第END8195USNP号中,该案卷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以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被编程以控制位移构件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,该端部执行器2502可包括砧座2516、I形梁2514(包括锋利切割边缘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,例如,参考图1至图13所述配置。
线性位移构件1111(例如I形梁2514)的位置、移动、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至图12所示,并且在图14中表示为位置传感器2534。由于I形梁2514联接到纵向可移动驱动构件120,因此可通过采用位置传感器2534测量纵向可移动驱动构件120的位置来确定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至图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,诸如流逝时间或数字计数,以将如由位置传感器2534确定的I形梁2514的位置与定时器/计数器电路2531的输出相关联,使得控制电路2510可确定I形梁2514在特定时间(t)相对于起始位置的位置。定时器/计数器电路2531可被配置为能够测量流逝时间、计数外部事件或时间外部事件。
控制电路2510可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可为有刷DC电动马达,诸如图1、图5B、图10所示的马达82、马达714、马达1120。例如,马达2504的速度可与马达驱动信号2524的电压成比例。在一些示例中,马达2504可为无刷直流(DC)电动马达,并且马达驱动信号2524可包括提供给马达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,可省略马达控制器2508,并且控制电路2510可直接生成马达驱动信号2524。
马达2504可从能量源2512处接收功率。能量源2512可为或包括电池、超级电容器或任何其它合适的能量源2512。马达2504可经由传动装置2506机械联接到I形梁2514。传动装置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可为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向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已被命令执行的步进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、组织压缩与时间、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。
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之间捕集的组织区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)定位在各个交互点处,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处理器实时采样,如图5A至图5B所述。控制电路2510接收实时样本测量结果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。
电流传感器2536可用于测量由马达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。
使用本文结合图1至图14所公开的器械的物理特性,并且参考图14,控制电路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的各方面之前,应当指出的是,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。示例方面可单独实施,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。
各种示例方面涉及一种外科器械2500,其包括具有马达驱动的外科缝合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的纵向轴线向远侧和向近侧驱动位移构件。端部执行器2502可包括可枢转的砧座2516,并且当配置使用时,钉仓2518定位在砧座2516的对面。临床医生可在砧座2516和钉仓2518之间抓握组织,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冲程开始位置向远侧驱动至冲程开始位置远侧的冲程结束位置。当位移构件向远侧平移时,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2510被编程以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可被编程以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可被编程以基于组织状况选择击发控制程序。击发控制程序可描述位移构件的远侧运动。可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可被编程以以较低的速度和/或以较低的功率使位移构件平移。当存在较薄的组织时,控制电路2510可被编程以以较高的速度和/或以较高的功率使位移构件平移。
在一些示例中,控制电路2510可针对位移构件的冲程的第一开环部分一开始以开环配置操作马达2504。基于在冲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可对位移构件冲程的第二部分实施所选择的击发控制程序。例如,在冲程的闭环部分期间,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冲程的图2580。图2580包括两个轴线。水平轴线2584指示流逝时间。垂直轴线2582指示I形梁2514在冲程开始位置2586和冲程结束位置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处提供初始马达设定。位移构件冲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。在位移构件冲程的开环部分期间,例如在t0和t1之间的初始时间段期间,I形梁2514可从冲程开始位置2586横穿到位置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度(Vslow)推进I形梁2514,该速度由t1之后的示例2592的斜率指示(例如,在闭合环部分中)。控制电路2510可通过监测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Vslow,以维持Vslow。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可从冲程开始位置2586横穿到位置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度(Vfast)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穿冲程的较大部分。另外,在一些示例中,较薄的组织(例如,在初始时间段期间横穿的位移构件冲程的较大部分)可对应于初始时间段之后较高的位移构件速度。
图16至图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,其示出了端部执行器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为端部执行器2300的一部分的部分透视图,其示出了处于非关节运动取向的细长轴组件2200,其中为清楚起见省略了其部分。图17为图16的端部执行器2300的透视图,其示出了处于非关节运动取向的细长轴组件2200。图18为图16的端部执行器2300的分解组装透视图,示出了细长轴组件2200。图19为图16的端部执行器2300的顶视图,示出了处于非关节运动取向的细长轴组件2200。图20为图16的端部执行器2300的顶视图,示出了处于第一关节运动取向的细长轴组件2200。图21为图16的端部执行器2300的顶视图,示出了处于第二关节运动取向的细长轴组件2200。
现在参考图16至图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,该第一钳口被构造成能够在其中可操作地支撑外科钉仓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上以相对于其移动。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可被配置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。具体参考图18,细长轴组件2200包括脊210,该脊210被构造成能够(1)可滑动地在其中支撑击发构件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272通过双枢轴闭合套筒组件271可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231被构造成能够可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适于可枢转地接纳在形成于端部执行器安装组件2390的枢轴基座部分2395中的枢轴孔2397内。端部执行器安装组件2390通过弹簧销2393或等价物附接到细长通道2302的近侧端部2303。枢轴销2818限定横贯于轴轴线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,链接销2825形成在远侧关节运动链接件2820的远侧端部2823上并且被构造成能够接纳在交叉链接件2900的近侧端部2902中的孔2904之内。交叉链接件2900跨过轴轴线SA-SA横向地延伸并且包括远侧端部部分2906。远侧链接孔2908穿过交叉链接件2900的远侧端部分2906设置,并且被构造成能够在其中可枢转地接纳从端部执行器安装组件2390的枢轴基座部分2395的底部延伸的基础销2398。基础销2395限定链接轴线LA,该链接轴线LA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。由细长通道2302限定的端部执行器轴线EA与轴轴线SA-SA对齐。术语“与…对齐”可意指与轴轴线SA-SA“同轴地对齐”或者与轴轴线SA-SA平行。远侧关节运动驱动器2820在近侧方向PD上的移动将使得交叉链接件2900围绕关节运动轴线B-B在逆时针CCW方向上拉动外科端部执行器2300,如图19所示。远侧关节运动驱动器2820在远侧方向DD上的移动将使得交叉链接件2900使外科端部执行器2300围绕关节运动轴线B-B在逆时针CCW方向上移动,如图21所示。如图21所示,交叉链接件2900具有弯曲形状,这允许当外科端部执行器2300在该方向上进行关节运动时,交叉链接件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的关节运动接头2270,即相对于被描绘为轴轴线SA的纵向方向成零度角θ0。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和端部执行器轴线EA之间的第一角度θ1在一个方向上进行关节运动。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在另一个方向上进行关节运动。
图16至图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可枢转地且可滑动地被支撑。在图18中,中间支撑构件2950包括狭槽2952,该狭槽2952适于在其中接纳销2954,该销2954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,以可枢转地接纳在设置于端部执行器安装组件2390的基座部分2395中的对应的枢轴孔2399内。中间支撑构件2950还包括用于接纳穿过其的击发构件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220提供侧向支撑。
外科器械还可被配置为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阵列,它们输出位置信号或值的独特组合。在一个方面,图16至图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至图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,该磁体可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,并且被放置在磁体附近,在关节运动接头2270之内或相邻于关节运动接头2270。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,外科器械被配置为能够通过监测关节运动驱动器230(图3)的绝对位置而以间接方式确定端部执行器2300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,并且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对应于其的独特位置信号。在一些方面,关节运动传感器布置或可操作地联接到关节运动传感器布置的控制器被附加配置成根据独特位置信号转换或计算端部执行器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至图12所示的传感器布置1102。在类似于图10中相对于位移构件1111示出的方面的一个方面,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的每一个全冲程中转动一次。位置传感器包括一个或多个磁性感测元件(诸如,霍尔效应传感器)并且被放置在磁体附近。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一旋转等价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的传感器元件的单一旋转之后纵向可移动关节运动驱动器230从点“a”向点“b”移动的纵向线性距离。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的全冲程仅完成一次旋转。换句话讲,d1可等于关节运动驱动器230的全冲程。位置传感器被配置为能够然后将对应于关节运动驱动器230的绝对位置的独特位置信号传输至控制器1104,诸如在图10中所描绘的那些方面中。在接收到独特位置信号时,控制器1104然后被配置为能够执行逻辑,以通过如下方式确定对应于关节运动驱动器230的线性位置的端部执行器的角位置:例如,查询返回端部执行器2300的预先计算的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来计算端部执行器2300的角位置,或者执行该领域中已知的任何其它此类方法。
在各个方面,可在关节运动传感器布置上采用任何数目的磁感测元件,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的分辨率。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感测到的关节运动程度越精细。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个方面的位置传感器可以类似于图12所示的定位系统的方式实施,用于跟踪位移构件1111的位置。在一个此类方面,关节运动传感器布置可被实现为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)上方的位置传感器1200的区域1230中的四个霍尔效应元件7128A、7128B、7128C、7128D。在芯片上也提供了高分辨率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。
参考图1至图4和图10至图21,可利用来自绝对定位系统1100的绝对位置反馈信号/值来确定关节运动接头2270的位置和I形梁178(图4)的位置。在一个方面,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。如上所述,纵向可移动驱动构件120(图2)的移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)可操作地联接到击发构件220(图3)时,绝对定位系统1100可实际上通过驱动构件120跟踪关节运动系统的移动。作为跟踪关节运动系统的移动的结果,外科器械的控制器可跟踪端部执行器2300(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。由于可基于绝对定位系统1100提供的绝对位置信号/值精确地确定驱动构件120的纵向位移DL,因此可根据纵向位移DL来确定关节运动角度θ。
在另一方面,可通过在关节运动接头2270上定位传感器来确定关节运动角度θ。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1204的旋转的磁体保持器2270。位置传感器1200包括一个或多个磁性感测元件(诸如,霍尔元件)并且被放置在磁体1202附近。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位于关节运动接头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,可根据端部执行器2300的关节运动角度而改变I形梁178的击发速率或速度,以降低击发驱动系统80上的击发力,并且具体地,在本文所论述的击发驱动系统178的其它部件中降低I形梁80的击发力。为了适应作为端部执行器2300关节运动角度的函数的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的速度。可通过基于端部执行器2300的关节运动角度将I形梁178的击发力与不同的最大阈值进行比较来控制马达82的速度。可通过调整例如施加到马达82的电压、电流、脉宽调制(PWM)或占空比(0%至100%)而改变电动马达82的速度。
已经描述了用于测量关节运动接头2270的关节运动角度并且并采用外科器械10(图1至图4)的击发驱动系统80驱动纵向可移动驱动构件120、击发构件220、击发杆172或I形梁178的技术,本说明书现在转向图13、图14和图22至图27,用于描述基于端部执行器2502的关节运动角度来控制I形梁2514或击发杆2520的击发速率或速度的各种技术。
图22为根据本公开的一个或多个方面,作为端部执行器2502的关节运动角度的函数的I形梁2514击发速率(速度)的曲线图4500。水平轴线4502代表例如从-65°至+65°度变化的端部执行器2502关节运动角度,并且竖直轴线4504代表从0mm/sec至1.0Y mm/sec的I形梁2514击发速率,其中Y为缩放系数。例如,当Y=20时,竖直轴线4504从0mm/sec至20mm/sec缩放。曲线4506示出,当端部执行器2502关节运动角度从-65°至+65°变化时,I形梁2514击发速率非线性变化并且关于0°对称。1.0Y的最大I形梁2514击发速率发生于0°的端部执行器2514关节运动角度,换句话讲,当端部执行器轴线EA和轴轴线SA对齐时发生。当端部执行器2502从0°至+65°或从或0°至-65°进行关节运动时,I形梁2514击发速率非线性地从1.0Y降低至0.5Y。
图23为根据本公开的一个或多个方面,作为I形梁2514的击发冲程位移的函数的I形梁2514击发力的曲线图4510。水平轴线4512代表I形梁2514从0mm(击发冲程开始)至1.0Xmm(击发冲程结束)的击发冲程位移,其中X为与钉仓的标称长度相关联的缩放系数。例如,钉仓的标称长度在10mm至60mm的范围内。竖直轴线4514代表从0N至1.00Y N(牛顿)的I形梁2514击发力,其中Y为缩放系数。在一个方面,击发构件2520的力从0N至900N(0磅力至202.328磅力)变化。曲线图4510示出了三条曲线4516、4518、4520。当I形梁2514以恒定速度向远侧推进时,第一曲线4516代表根据在0°的端部执行器2502关节运动角度(端部执行器轴线EA和轴轴线SA对齐)的I形梁2514的击发冲程位移的I形梁2514击发力。当I形梁2514以恒定速度向远侧推进时,第二曲线4518代表根据在±65°的端部执行器2502关节运动角度的I形梁2514的击发冲程位移的I形梁2514击发力。换句话讲,不根据端部执行器2502的关节运动角度改变马达2504的速度。如相对于第一曲线4516的第二曲线4520所示,当I形梁2514以恒定速度以±65°的端部执行器2502关节运动角度向远侧推进时,作为I形梁2514的击发冲程位移的函数的I形梁力更大。例如,如图22所示,第三曲线4520示出了作为I形梁2514的击发冲程位移的函数的总体较低的I形梁2514击发力,这是例如通过根据端部执行器2502的关节运动角度从±65°改变马达2504的速度来实现的。
可使用各种技术来确定在击发构件2520上作用的力。在一个方面,可通过测量马达2504电流来确定击发构件力,其中马达2504电流基于击发构件2520向远侧推进时所经历的负载。在另一方面,可通过将应变仪定位在驱动构件120(图2)、击发构件220(图2)、击发构件2520、击发杆172(图2)和/或I形梁2514、178(图4)上来确定I形梁2514击发力。在另一方面,可通过以下方式确定I形梁2514击发力:监测I形梁2514在预先确定的流逝时间段T1之后基于马达2504的当前设定速度以预期速度移动的实际位置,并且基于马达2504在时间段T1结束时的当前设定速度将I形梁2514的实际位置相对于I形梁2514的预期位置进行比较。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比例。后一种技术在同一日期提交的共同拥有的代理人案卷第END8195USNP号中有详细描述,该案卷全文以引用方式并入本文。当I形梁2514的击发力根据端部执行器2502的关节运动角度而变化时,可采用改变施加到马达2504的控制电压以通过与端部执行器2502关节运动角度相关的不同最大电流阈值来控制马达2504的速度,以大体减小I形梁2514上的击发力和击发I形梁2514的力。以下结合图23描述这种技术。
图24为根据本公开的一个或多个方面的根据I形梁2514的击发冲程位移的I形梁2514击发力的曲线图4530。水平轴线4532代表从0mm至1.0X mm的击发冲程位移,其中X是与钉仓的标称长度相关联的缩放系数。例如,钉仓的标称长度在10mm至60mm的范围内。竖直轴线4534代表从0N至1.00Y N的I形梁2514击发力,其中Y为缩放系数。在一个方面,I形梁2514击发力从0N至900N(0磅力至202.328磅力)变化。曲线图4530基于端部执行器2502关节运动角度示出了三条曲线4536、4538、4540和两个阈值4542、4544,以减小击发力和在I形梁2514上击发的力。当I形梁2514以恒定速度向远侧推进时,第一曲线4536表示根据以0°的端部执行器2502关节运动角度(端部执行器轴线EA和轴轴线SA对齐)的击发冲程位移的I形梁2514击发力。当击发构件以由关节运动角度设定的可变速度向远侧推进时,第二曲线4538表示根据以65°的端部执行器2502关节运动角度的I形梁2514的击发冲程位移的I形梁2514击发力。当I形梁2514以具有实际电池容量(V-A)限制的恒定期望速度推进时,第三曲线4540表示根据以65°的端部执行器2502关节运动角度的I形梁2514的击发冲程位移的I形梁2514击发力。
曲线图4530还示出了基于端部执行器2502的关节运动角度的可变I形梁2514击发力触发器阈值4542、4544,其在整个I形梁2514击发冲程中产生可变的I形梁2514击发速率。上限阈值4542用于65°的端部执行器2502关节运动角度,并且下限阈值4544用于0°的端部执行器2502关节运动角度。在端部执行器2502关节运动角度设定为65°的情况下,I形梁2514以可变速度推进,直到I形梁2514击发力与上限阈值4542相交,此时,一种算法将马达2504的速度调整至期望的速度,直到I形梁2514的击发力降至低于I形梁2514的击发力上限阈值4542,并且然后保持马达2054的速度恒定。然后I形梁2514以恒定的期望速度向远侧推进。在端部执行器2502的关节运动角度设定为0°的情况下,I形梁2514以可变速度推进,直到I形梁2514的击发力与下限阈值4544相交,此时,一种算法将马达2504的速度调整至恒定的期望速度。I形梁2514以恒定的期望速度向远侧推进。下文将结合图24进一步描述该操作。上限阈值4542和下限阈值4544以及基于端部执行器2502的关节运动角度而变化的其间的居间阈值在钉仓2518的击发冲程位移上是非线性的。在其它方面,阈值4542、4544可为直线常数,或者可为具有斜率的直线。无论如何确定I形梁2514的击发力,阈值4542、4544都表示I形梁2514击发力。
如上所述,I形梁2514击发力可由马达2504电流、应变仪来确定,或者通过将I形梁2514在预先确定的时间段t1上的实际位置相对于以设定的马达2514速度向远侧推进的I形梁2514的预期位置进行比较来表示。在后一种配置中,还参考图25,外科器械还包括联接到控制电路2510的定时器/计数器电路2531,其中定时器/计数器电路2531被配置为能够测量流逝时间。控制电路2510被配置为能够设置马达2504的速度,从位置传感器2534接收I形梁2514的初始位置,从定时器/计数器电路2531接收对应于I形梁2514的初始位置的参考时间t1,并且基于设定的马达2504的速度来确定I形梁2514在时间t2的预期位置。控制电路2510还被配置为能够从位置传感器2534接收I形梁2514在时间t2的实际位置,将I形梁2514在时间t2的实际位置与I形梁2514在时间t2的预期位置进行比较,并且基于I形梁2514在时间t2的实际位置与I形梁2514在时间t2的预期位置之间的差值来确定I形梁2514上的击发力。
图25为根据本公开的一个或多个方面的根据I形梁2514的击发冲程位移的I形梁2514击发速率的曲线图4550。水平轴线4552表示从0mm至1.0X mm的I形梁2514的击发冲程位移,其中X是与钉仓的标称长度相关联的缩放系数。例如,钉仓的标称长度在10mm至60mm的范围内。竖直轴线4554表示从0N至1.00Y N的I形梁2514击发速率,其中Y为缩放系数。在一个方面,I形梁2514的力从0mm/sec至20mm/sec变化。曲线图4550示出了三条曲线4556、4558、4559。第一曲线4556是在0°的端部执行器关节运动角度设定的I形梁2514速率。I形梁2514的击发速率在初始位移上增大,并且在马达2504被设定为恒定速度的情况下在整个剩余冲程中保持恒定。第二曲线4558是在65°的端部执行器2502关节运动角度设定的I形梁2514的击发速率。I形梁2514的击发速率在初始位移上增加,并且在整个剩余冲程中保持恒定,马达2504基于端部执行器2502关节运动角度被设定为可变速度。第三曲线4559是在65°的端部执行器2502关节运动角度设定的I形梁2514的击发速率。I形梁2514在初始位移上增大,并且在整个剩余冲程中变化,马达2504被设定为具有实际电池容量(V-A)限制的恒定期望速度。
图26为根据本公开的一个或多个方面的逻辑流程图,其描绘了用于基于端部执行器2502的关节运动角度控制位移构件(诸如I形梁2514)的速率的控制程序或逻辑配置的过程4560。在以下对图26中的过程4560的描述中,还应当参考图15至图25。因此,控制电路2510基于从位置传感器2534接收的信息来确定4562端部执行器2502的当前关节运动角度。控制电路2510基于关节运动角度设定4564马达2504的速度。控制电路2510将当前关节运动角度与先前关节运动角度进行比较4565。如果关节运动角度没有变化,则过程4560沿“否”分支(N)继续,并且控制电路2510确定4562关节运动角度,同时保持马达2504的速度恒定。如果端部执行器2502的关节运动角度发生变化,则过程4560沿“是”分支(Y)继续,并且控制电路2501基于新的关节运动角度调整4566马达2504的速度。控制电路2510将I形梁2514的实际位置与击发冲程位置的端部进行比较4567。如果I形梁2514在击发冲程的端部处,则过程4560沿“是”分支(Y)继续并结束4568。如果I形梁2514未到达击发冲程的端部,则过程4560沿“否”分支(N)继续并且确定4562关节运动角度。过程4560继续,直到I形梁2514的位置到达4569I形梁2514的击发冲程的端部。
图27为根据本公开的一个或多个方面的逻辑流程图,其描绘了用于基于端部执行器2502的关节运动角度控制位移构件(诸如I形梁2514)的速率的控制程序或逻辑配置的过程4570。在以下对图27中的过程4570的描述中,还应当参考图15至图25。因此,控制电路2510基于从位置传感器2534接收的信息来确定4572端部执行器2502的关节运动角度。在位移构件为I形梁2514的示例中,控制电路2510基于端部执行器2502的关节运动角度来选择4574I形梁2514的力阈值。控制电路2510向马达控制器2508提供马达设定点信号2522,该马达控制器2508提供马达驱动信号2524,以基于端部执行器2502的关节运动角度来设定4576马达2504的速度。控制电路2510确定4578I形梁2514的实际位置,并确定4580I形梁2514的击发力,并且将I形梁2514的击发力与阈值进行比较4582。如果I形梁2514的击发力超过阈值,则该过程沿“是”(Y)分支继续,并且降低4584马达2504的速度,直到I形梁2514的击发力降至低于I形梁2514的击发力阈值。如果I形梁2514的击发力小于阈值,则该过程沿“否”(N)分支继续,并且继续确定4578I形梁2514的实际位置,确定4580I形梁2514的击发力,并且将I形梁2514的击发力与阈值进行比较4582,直到I形梁2514的击发力超过阈值。马达驱动信号2524可为变化的电压或电流信号、脉宽调制(PWM)信号和/或可变占空比信号。控制电路2510将I形梁2514的实际位置与I形梁2514的击发冲程位置的端部进行比较。如果I形梁2514在击发冲程的端部处,则过程4570沿“是”分支(Y)继续并结束4588。如果I形梁2514未到达击发冲程的端部,则过程4570沿沿“否”分支(N)继续并且确定4572端部执行器2502的关节运动角度。过程4570继续,直到I形梁2514到达击发冲程的端部。
本文所述的功能或过程4560、4570可通过本文所述的任何处理电路来执行,诸如结合图5至图6描述的控制电路700、图7至图9中描述的电路800、810、820、结合图10和图12描述的微控制器1104和/或图14中描述的控制电路2510。
可在没有本文所公开的具体细节的情况下实施机动化外科器械的各方面。一些方面已显示为框图而不是详细信息。本公开的部件可依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。算法是指产生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,该物理量可采取能够被存储、转移、组合、比较和以其它方式操纵的电信号或磁信号的形式。这些信号可被称为位、值、元件、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,可由多种硬件、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这些方面可被看作是由多种类型的“电子电路”构成的。因此,“电子电路”包括具有至少一个离散电路的电子电路、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设备的电子电路(例如,由至少部分执行本文所述的过程的计算机程序和/或本文所述装置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,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它们的组合来实施。
上述描述通过使用可包含一个或多个功能和/或操作的框图、流程图和/或示例来阐述装置和/或过程的各方面。此类框图、流程图或示例内的每个功能和/或操作可通过各种硬件、软件、固件或它们的实际任意组合来单独和/或共同实施。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(PLD)、电路、寄存器和/或软件部件(例如,程序、子例程、逻辑和/或硬件和软件组件的组合、逻辑门或其它集成格式)来实施。本文公开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施,并且按照本公开,设计电子电路和/或编写软件和/或硬件的代码将完全在本领域技术人员的技术范围内。
本文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,并且不管用于实际进行分布的信号承载介质的具体类型如何,本文所述主题的示例性方面均适用。信号承载介质的示例包括如下:可录式介质,诸如软盘、硬盘驱动器、光盘(CD)、数字视频盘(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这些方面并在适合设想的具体用途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:位移构件;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测量所述位移构件的位置并且被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度;其中所述控制电路被配置为能够:确定所述端部执行器和所述轴之间的关节运动角度;基于所述关节运动角度选择力阈值;基于所述关节运动角度设定马达速度;确定所述位移构件上的力;以及当所述位移构件上的力大于所述力阈值时,调整所述马达速度。
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确定所述位移构件的实际位置。
实施例3.根据实施例1至实施例2所述的外科器械,其中,所述控制电路被配置为能够确定所述位移构件的击发冲程的结束。
实施例4.根据实施例1至实施例3所述的外科器械,其中,所述控制电路被配置为能够将所述位移构件上的所述力与所述力阈值进行比较。
实施例5.根据实施例1至实施例4所述的外科器械,还包括联接到所述控制电路的定时器/计数器电路,所述定时器/计数器电路被配置为能够测量流逝时间;其中所述控制电路被配置为能够:设定所述马达速度;从所述位置传感器接收所述位移构件的初始位置;从所述定时器/计数器电路接收对应于所述位移构件的所述初始位置的参考时间t1;以及基于所述马达速度确定所述位移构件在时间t2的预期位置。
实施例6.根据实施例5所述的外科器械,其中,所述控制电路被配置为能够:从所述位置传感器接收所述位移构件在所述时间t2的实际位置;将所述位移构件在所述时间t2的所述实际位置与所述位移构件在所述时间t2的所述预期位置进行比较;以及基于所述位移构件在所述时间t2的所述实际位置和所述位移构件在所述时间t2的所述预期位置之间的差值来确定所述位移构件上的力。
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所述降低马达速度,直到所述位移构件上的力小于所述力阈值。
实施例8.一种外科器械,包括:位移构件;马达,所述马达联接到所述位移构件的近侧端部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;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测量所述位移构件相对于端部执行器的位置并且被配置为能够测量所述端部执行器相对于纵向延伸轴的关节运动角度;其中所述控制电路被配置为能够:确定所述端部执行器和所述纵向延伸轴之间的所述关节运动角度;以及基于所述关节运动角度设定马达速度。
实施例9.根据实施例8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的实际位置。
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确定所述位移构件的击发冲程的结束。
实施例11.根据实施例8至实施例10所述的外科器械,其中,所述控制电路被配置为能够将所述关节运动角度与先前关节运动角度进行比较。
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基于新的关节运动角度调整所设定的马达速度。
实施例13.根据实施例8至实施例12所述的外科器械,还包括联接到所述控制电路的定时器/计数器电路,所述定时器/计数器电路被配置为能够测量流逝时间;其中所述控制电路被配置为能够:设定所述马达速度;从所述位置传感器接收所述位移构件的初始位置;从所述定时器/计数器电路接收对应于所述位移构件的所述初始位置的参考时间t1;以及基于所设定的马达速度确定所述位移构件在时间t2的预期位置。
实施例14.根据实施例13所述的外科器械,其中,所述控制电路被配置为能够:从所述位置传感器接收所述位移构件在所述时间t2的实际位置;将所述位移构件在所述时间t2的所述实际位置与I形梁构件在所述时间t2的所述预期位置进行比较;以及基于所述位移构件在所述时间t2的所述实际位置和所述位移构件在所述时间t2的所述预期位置之间的差值来确定所述位移构件上的力。
实施例15.一种控制外科器械中的马达速度的方法,所述外科器械包括位移构件、联接到所述位移构件以使所述位移构件平移的马达、联接到所述马达的控制电路,以及联接到所述控制电路的位置传感器,所述位置传感器被配置为能够测量所述位移构件的位置并被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度,所述方法包括:由所述控制电路确定端部执行器和纵向延伸轴之间的关节运动角度;以及由所述控制电路基于所述关节运动角度设定所述马达速度。
实施例16.根据实施例15所述的方法,还包括:由所述控制电路基于所述关节运动角度选择力阈值;由所述控制电路确定所述位移构件上的力;以及当所述位移构件上的力大于所述力阈值时,由所述控制电路调整所述马达速度。
实施例17.根据实施例15至实施例16所述的方法,还包括由所述控制电路确定所述位移构件的实际位置。
实施例18.根据实施例15至实施例17所述的方法,还包括由所述控制电路确定所述位移构件的击发冲程的结束。
实施例19.根据实施例15至实施例18所述的方法,还包括由所述控制电路将所述关节运动角度与先前关节运动角度进行比较。
实施例20.根据实施例19所述的方法,还包括由所述控制电路基于新的关节运动角度调整所述马达速度。
Claims (20)
1.一种外科器械,包括:
位移构件;
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测量所述位移构件的位置并且被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度;
其中所述控制电路被配置为能够:
确定所述端部执行器和所述轴之间的所述关节运动角度;
基于所述关节运动角度选择力阈值;
基于所述关节运动角度设定马达速度;
确定所述位移构件上的力;以及
当所述位移构件上的力大于所述力阈值时,调整所述马达速度。
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确定所述位移构件的实际位置。
3.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确定所述位移构件的击发冲程的结束。
4.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将所述位移构件上的力与所述力阈值进行比较。
5.根据权利要求1所述的外科器械,还包括联接到所述控制电路的定时器/计数器电路,所述定时器/计数器电路被配置为能够测量流逝时间;
其中所述控制电路被配置为能够:
设定所述马达速度;
从所述位置传感器接收所述位移构件的初始位置;
从所述定时器/计数器电路接收对应于所述位移构件的所述初始位置的参考时间t1;以及
基于所述马达速度确定所述位移构件在时间t2的预期位置。
6.根据权利要求5所述的外科器械,其中,所述控制电路被配置为能够:
从所述位置传感器接收所述位移构件在所述时间t2的实际位置;
将所述位移构件在所述时间t2的所述实际位置与所述位移构件在所述时间t2的所述预期位置进行比较;以及
基于所述位移构件在所述时间t2的所述实际位置和所述位移构件在所述时间t2的所述预期位置之间的差值来确定所述位移构件上的力。
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降低所述马达速度,直到所述位移构件上的力小于所述力阈值。
8.一种外科器械,包括:
位移构件;
马达,所述马达联接到所述位移构件的近侧端部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;
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测量所述位移构件相对于端部执行器的位置并且被配置为能够测量所述端部执行器相对于纵向延伸轴的关节运动角度;
其中所述控制电路被配置为能够:
确定所述端部执行器和所述纵向延伸轴之间的所述关节运动角度;以及
基于所述关节运动角度设定马达速度。
9.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确定所述位移构件的实际位置。
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确定所述位移构件的击发冲程的结束。
11.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所述关节运动角度与先前关节运动角度进行比较。
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基于新的关节运动角度调整所设定的马达速度。
13.根据权利要求8所述的外科器械,还包括联接到所述控制电路的定时器/计数器电路,所述定时器/计数器电路被配置为能够测量流逝时间;
其中所述控制电路被配置为能够:
设定所述马达速度;
从所述位置传感器接收所述位移构件的初始位置;
从所述定时器/计数器电路接收对应于所述位移构件的所述初始位置的参考时间t1;以及
基于所设定的马达速度确定所述位移构件在时间t2的预期位置。
14.根据权利要求13所述的外科器械,其中,所述控制电路被配置为能够:
从所述位置传感器接收所述位移构件在所述时间t2的实际位置;
将所述位移构件在所述时间t2的所述实际位置与I形梁构件在所述时间t2的所述预期位置进行比较;以及
基于所述位移构件在所述时间t2的所述实际位置和所述位移构件在所述时间t2的所述预期位置之间的差值来确定所述位移构件上的力。
15.一种控制外科器械中的马达速度的方法,所述外科器械包括位移构件、联接到所述位移构件以使所述位移构件平移的马达、联接到所述马达的控制电路,以及联接到所述控制电路的位置传感器,所述位置传感器被配置为能够测量所述位移构件的位置并且被配置为能够测量端部执行器相对于纵向延伸轴的关节运动角度,所述方法包括:
由所述控制电路确定端部执行器和纵向延伸轴之间的关节运动角度;以及
由所述控制电路基于所述关节运动角度设定马达速度。
16.根据权利要求15所述的方法,还包括:
由所述控制电路基于所述关节运动角度选择力阈值;
由所述控制电路确定所述位移构件上的力;以及
当所述位移构件上的力大于所述力阈值时,由所述控制电路调整所述马达速度。
17.根据权利要求15所述的方法,还包括由所述控制电路确定所述位移构件的实际位置。
18.根据权利要求15所述的方法,还包括由所述控制电路确定所述位移构件的击发冲程的结束。
19.根据权利要求15所述的方法,还包括由所述控制电路将所述关节运动角度与先前关节运动角度进行比较。
20.根据权利要求19所述的方法,还包括由所述控制电路基于新的关节运动角度调整所述马达速度。
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US15/628,050 US11653914B2 (en) | 2017-06-20 | 2017-06-20 | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector |
PCT/IB2018/053446 WO2018234888A1 (en) | 2017-06-20 | 2018-05-16 | SYSTEMS AND METHODS FOR CONTROLLING THE MOTOR SPEED OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON AN ARTICULATING ANGLE OF A TERMINAL EFFECTOR |
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