CN110785133B - 基于关节运动角度控制外科缝合和切割器械的马达速度 - Google Patents

基于关节运动角度控制外科缝合和切割器械的马达速度 Download PDF

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CN110785133B
CN110785133B CN201880041761.8A CN201880041761A CN110785133B CN 110785133 B CN110785133 B CN 110785133B CN 201880041761 A CN201880041761 A CN 201880041761A CN 110785133 B CN110785133 B CN 110785133B
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articulation
control circuit
surgical instrument
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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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Abstract

本发明公开了一种机动化外科器械。所述外科器械包括被构造成能够控制端部执行器的运动的控制电路。如果所述端部执行器移动到预先确定的期望位置之外，则所述控制电路可激活所述马达的通电状态以将所述端部执行器移回到所述期望位置。当所述端部执行器处于所述期望位置时，所述控制电路可接合所述马达的断电状态并接合电磁锁。

Description

基于关节运动角度控制外科缝合和切割器械的马达速度
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
在电动外科缝合和切割器械中，控制切割构件的速度或控制端部执行器的关节运动速度可能是有用的。位移构件的速度可通过测量在位移构件的预先确定位置间隔处的经过时间或测量位移构件在预先确定时间间隔处的位置来确定。这种控制可以是开环的或闭环的。这种测量可用于评估组织状况诸如组织厚度，并且在击发行程期间调节切割构件的速度以考虑组织状况。组织厚度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来确定。在一些情况下，以恒定的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。
在电动外科缝合和切割器械的使用期间，端部执行器可能不期望地进行关节运动或进一步进行关节运动。因此，当端部执行器不进行关节运动但端部执行器钳口打开以使马达与关节运动构件同步时，可能希望提供保持载荷以产生用于保持的动态制动。
发明内容
在一个方面，提供了一种外科器械。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。关节运动构件能够相对于端部执行器平移从近侧位置到远侧位置的距离，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。马达可包括通电状态和断电状态。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沿着该距离的至少一部分检测关节运动构件的位置。控制电路可被配置为能够从位置传感器接收指示关节运动构件的关节运动位置的位置输入。控制电路还可识别与关节运动构件的关节运动位置对应的预先确定的期望位置。控制电路还可响应于关节运动构件的不与期望位置对应的当前位置来确定马达的控制动作。在当前位置对应于期望位置时，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将马达置于断电状态。
在另一方面，外科器械可包括端部执行器和可旋转轴组件。可旋转轴组件可被构造成能够围绕纵向轴线旋转。可旋转轴组件可包括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监测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。控制电路还可识别与可旋转轴组件的旋转位置对应的预先确定的期望位置。控制电路还可响应于可旋转轴组件的不与期望位置对应的当前位置来确定马达的控制动作。在当前位置对应于期望位置时，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将马达置于断电状态。
在另一方面，外科器械可包括纵向轴组件。该纵向轴组件可包括沿纵向轴线延伸的可旋转轴部分。该纵向轴组件还可包括驱动齿轮和关节运动接头。该驱动齿轮可被构造成能够使可旋转轴部分围绕纵向轴线旋转。该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。该驱动组件可包括马达、控制电路和驱动构件。该马达可包括驱动输出部。该控制电路可被配置为能够控制马达。该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，该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，该驱动构件操作地连接到关节运动接头的关节运动齿轮。外科器械还可包括功率源。马达可包括通电状态和断电状态。当马达处于通电状态时，控制电路以串联电路配置向马达提供功率源。当控制电路处于断电状态时，控制电路将功率源与马达断开。
一个或多个具体实施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，其它特征和优点将显而易见。
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附图参考下述说明更好地理解。
图1为根据本公开的一个方面的具有操作地联接到其的可互换轴组件的外科器械的透视图。
图2为根据本公开的一个方面的图1的外科器械的一部分的分解组件视图。
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图。
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，其中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示出了时序逻辑电路，该时序逻辑电路被配置为能够控制根据本公开的一个方面的图1的外科器械的各方面。
图10为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构造，该受控马达驱动电路构造包括传感器构造。
图11为根据本公开的一个方面的绝对定位系统的传感器构造的分解透视图，示出了控制电路板组件和传感器构造的元件的相对对齐。
图12为根据本公开的一个方面的位置传感器的示意图，该位置传感器包括磁性旋转绝对定位系统。
图13为根据本公开的一个方面的图1的外科器械的端部执行器的剖视图，其示出了相对于夹持在端部执行器内的组织的击发构件行程。
图14示出了根据本公开的一个方面的被编程用于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性位移构件冲程的图。
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，为清楚起见省略了其一部分。
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，示出了处于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个顶视图，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随端部执行器的关节运动角度变化的曲线图。
图24为根据本公开的一个方面的马达占空比随外科器械的轴旋转变化的曲线图。
图25为示出根据本公开的一个方面的外科器械的马达系统的电路配置的电路图。
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动态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动态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。
图29为描绘根据本公开的一个方面的表示被动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30为描绘根据本公开的一个方面的表示被动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：
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONANGLE OF ARTICULATION”的代理人案卷号END8191USNP/170054。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“SURGICALINSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT”的代理人案卷号END8192USNP/170055。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“SYSTEMSAND METHODS FOR CONTROLLING DISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLINGAND CUTTING INSTRUMENT”的代理人案卷号END8193USNP/170056。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“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。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“SYSTEMSAND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT”的代理人案卷号END8195USNP/170058。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“SURGICALINSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY”的代理人案卷号END8196USNP/170059。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“SYSTEMSAND METHODS FOR CONTROLLING VELOCITY OF A DISPLACEMENT MEMBER OF A SURGICALSTAPLING AND CUTTING INSTRUMENT”的代理人案卷号END8197USNP/170060。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“SYSTEMSAND METHODS FOR CONTROLLING DISPLACEMENT MEMBER VELOCITY FOR A SURGICALINSTRUMENT”的代理人案卷号END8198USNP/170061。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING ANDCUTTING INSTRUMENT”的代理人案卷号END8199USNP/170062M。
2017年6月20日提交、发明人为Raymond E.Parfett等人且名称为“TECHNIQUESFOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT”的代理人案卷号END8275USNP/170185M。
2017年6月20日提交、发明人为Raymond E.Parfett等人且名称为“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。
2017年6月20日提交、发明人为Jason L.Harris等人且名称为“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。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“CLOSEDLOOP FEEDBACKCONTROL 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。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“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。
2017年6月20日提交、发明人为Jason L.Harris等人且名称为“SYSTEMS ANDMETHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT”的代理人案卷号END8269USNP/170190。
2017年6月20日提交、发明人为Jason L.Harris等人且名称为“SYSTEMS ANDMETHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICALINSTRUMENT”的代理人案卷号END8270USNP/170191。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“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。
2017年6月20日提交、发明人为Jason L.Harris等人且名称为“GRAPHICAL USERINTERFACE FOR A DISPLAY OR PORTION THEREOF”的代理人案卷号END8274USDP/170193D。
2017年6月20日提交、发明人为Jason L.Harris等人且名称为“GRAPHICAL USERINTERFACE FOR A DISPLAY OR PORTION THEREOF”的代理人案卷号END8273USDP/170194D。
2017年6月20日提交、发明人为Frederick E.Shelton,IV等人且名称为“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，并且“远侧”则是指位于更远离临床医生的部分。为了方便起见，相对于附图使用的空间术语“垂直”、“水平”、“向上”和“向下”并非旨在是限制性的和/或绝对的，因为外科器械可用于许多取向和位置。
提供示例装置和方法以用于执行腹腔镜式和微创外科手术操作。然而，此类装置和方法可用于其它外科手术和应用，包括例如开放式外科手术。外科器械可通过自然孔口或通过在组织中形成的切口或穿刺孔插入。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至图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。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构造成能够生成并施加可用于致动可互换轴组件的至少一个控制运动。术语“框架”可指手持式外科器械的一部分。术语“框架”还可表示机器人控制的外科器械的一部分和/或机器人系统的可用于操作地控制外科器械的一部分。可互换轴组件可与名称为“SURGICAL STAPLING INSTRUMENTS WITHROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”的美国专利9,072,535中公开的各种机器人系统、器械、部件和方法一起使用，该专利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可与各种可互换轴组件一起使用，包括被构造成能够将其它运动和形式的能量(诸如射频(RF)能量、超声能量和/或运动)施加到端部执行器构造的组件，该端部执行器构造适于与各种外科应用和手术结合使用。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、18，该对柄部外壳段通过螺钉、按扣特征结构、粘合剂等互连。柄部外壳段16、18配合以形成可被临床医生抓握和操纵的手枪式握持部19。柄部组件14操作地支撑多个驱动系统，该多个驱动系统被构造成能够生成并将控制运动施加到操作地附接到其的可互换轴组件的对应部分。显示器可设置在覆盖件45下方。
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可包括操作地支撑多个驱动系统的框架20。框架20操作地支撑“第一”或闭合驱动系统30，该系统可向可互换轴组件200施加闭合和打开运动。闭合驱动系统30可包括被框架20枢转地支撑的致动器诸如闭合触发器32。闭合触发器32通过枢轴销33枢转地联接到柄部组件14，以使闭合触发器32能够被临床医生操纵。当临床医生握持柄部组件14的手枪式握持部19时，闭合触发器32可从启动或“未致动”位置枢转到“致动”位置并且更具体地枢转到完全压缩或完全致动位置。
柄部组件14和框架20操作地支撑击发驱动系统80，该击发驱动系统被构造成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的有刷直流马达。在其它构造中，马达可包括无刷马达、无绳马达、同步马达、步进马达、或任何其它合适的电动马达。电动马达82可由功率源90供电，该功率源可包括可移除电源组92。可移除电源组92可包括被构造成能够附接到远侧外壳部分96的近侧外壳部分94。近侧外壳部分94和远侧外壳部分96被构造成能够操作地支撑其中的多个电池98。电池98可各自包括例如锂离子(LI)或其它合适的电池。远侧外壳部分96被构造用于以可移除方式操作地附接到同样操作地联接到电动马达82的控制电路板100。串联连接的若干电池98可为外科器械10供电。功率源90可以是可替换的和/或可再充电的。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的相应驱动齿轮86啮合接合。
在使用中，功率源90所提供的电压极性可沿顺时针方向操作电动马达82，其中由电池施加给电动马达的电压极性可被反转，以便沿逆时针方向操作电动马达82。当电动马达82在一个方向上旋转时，纵向可移动驱动构件120将在远侧方向“DD”上轴向地被驱动。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”上轴向地被驱动。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。
重新转到图1，可互换轴组件200包括端部执行器300，该端部执行器包括被构造成能够操作地支撑其中的外科钉仓304的细长通道302。端部执行器300可包括砧座306，该砧座相对于细长通道302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的构造和操作在名称为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATION LOCK”的美国专利申请公布2014/0263541中提出，该专利申请公布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可包括沿着轴轴线SA延伸的闭合管260，该闭合管可用于闭合和/或打开端部执行器300的砧座306。
重新转到图1，闭合管260向远侧(方向“DD”)平移，以例如响应于闭合触发器32的致动来闭合砧座306，该致动以前述参考文献美国专利申请公布2014/0263541中所述的方式进行。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的多个部分的另一个分解组件视图。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”或“第二轴组件”。中间击发轴222可在远侧端部中包括纵向狭槽223，该纵向狭槽被构造成能够接收刀杆280的近侧端部282上的插片284。纵向狭槽223和近侧端部282可被构造成能够允许它们之间的相对运动并且可包括滑动接头286。滑动接头286可允许击发构件220的中间击发轴222在不移动或至少基本上不移动刀杆280的情况下使端部执行器300围绕关节运动接头270进行关节运动。一旦端部执行器300已合适地取向，中间击发轴222便可向远侧推进，直到纵向狭槽223的近侧侧壁与插片284发生接触，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。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以及围绕脊210延伸的闭合管260。脊210可滑动地支撑关节运动驱动器230。
可互换轴组件200可包括离合器组件400，该离合器组件被构造成能够选择性地和可释放地将关节运动驱动器230联接到击发构件220。离合器组件400包括围绕击发构件220定位的锁定衬圈或锁定套筒402，其中锁定套筒402可在接合位置与脱离位置之间旋转，在接合位置处，锁定套筒402将关节运动驱动器230联接到击发构件220，在脱离位置处，关节运动驱动器230没有操作地联接到击发构件220。当锁定套筒402处于接合位置时，击发构件220的远侧移动可向远侧移动关节运动驱动器230；并且相应地，击发构件220的近侧移动可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的移动未被传递到关节运动驱动器230；并且因此，击发构件220可独立于关节运动驱动器230移动。喷嘴201可用于以在美国专利申请公布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/或从该端部执行器接收信号。滑环组件600可包括近侧连接器凸缘604和远侧连接器凸缘601，该远侧连接器凸缘定位在喷嘴部分202、203中限定的狭槽内。近侧连接器凸缘604可包括第一面，并且远侧连接器凸缘601可包括第二面，其中第二面与第一面相邻定位，并能够相对于第一面运动。远侧连接器凸缘601可围绕轴轴线SA-SA相对于近侧连接器凸缘604旋转(图1)。近侧连接器法兰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。这种构造在保持近侧连接器凸缘604与远侧连接器凸缘601之间电接触的同时，允许这两个凸缘之间相对旋转。例如，近侧连接器凸缘604可包括电连接器606，该电连接器可使导体602与轴电路板进行信号通信。在至少一个示例中，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可朝近侧延伸穿过被限定在底盘安装凸缘中的连接器开口。名称为“STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM”的美国专利申请公开2014/0263551的全文以引用方式并入本文。名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”的美国专利申请公开2014/0263552的全文以引用方式并入本文。有关滑环组件600的更多细节可见于美国专利申请公开2014/0263541。
可互换轴组件200可包括可固定地安装到柄部组件14的近侧部分，以及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的远侧连接器法兰601可定位在可旋转的远侧轴部分内。
图4为根据本公开的一个方面的图1的外科器械10的端部执行器300的一个方面的分解图。端部执行器300可包括砧座306和外科钉仓304。砧座306可联接到细长通道302。开孔199可限定在细长通道302中，以接收从砧座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内。击发杆172可由一个实心部分构成，或者可包括层合材料，该层合材料包括一叠钢板。击发杆172包括I形梁178和在其远侧端部处的切割边缘182。击发杆172的远侧突出端可附接到I形梁178，该I形梁在砧座306处于闭合位置时有助于将砧座306与定位在细长通道302中的外科钉仓304间隔开。I形梁178可包括锋利切割边缘182，当通过击发杆172向远侧推进I形梁178时，该切割边缘可用于切断组织。在操作中，I形梁178可击发外科钉仓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切断夹紧的组织。
I形梁178可包括在击发期间接合砧座306的上部销180。I形梁178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，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之间捕集的组织时，I形梁178可分开或限制砧座306和外科钉仓304之间的相对运动。击发杆172和I形梁178可朝近侧回缩，从而允许砧座306被打开，以释放两个缝合和切割的组织部分。
图5A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。主要参见图5A至图5B，柄部组件702可包括马达714，该马达可由马达驱动器715控制，并可由外科器械10的击发系统使用。在各种形式中，马达714可为具有大约25,000RPM的最大旋转速度的DC有刷驱动马达。在其它构造中，马达714可包括无刷马达、无绳马达、同步马达、步进马达或任何其它合适的电动马达。马达驱动器715可包括例如包括场效应晶体管(FET)719的H桥驱动器。马达714可由功率组件706供电，该功率组件可释放地安装到柄部组件200，以用于向外科器械10提供控制功率。功率组件706可包括电池，该电池可包括串联连接的、可用作功率源为外科器械10供电的多个电池单元。在某些情况下，功率组件706的电池单元可以是可更换的和/或可充电的。在至少一个示例中，电池单元可以是能够可分离地联接到功率组件706的锂离子电池。
轴组件704可包括轴组件控制器722，在轴组件704与功率组件706联接到柄部组件702时，该轴组件控制器可通过接口与安全控制器和功率管理控制器716通信。例如，接口可包括第一接口部分725和第二接口部分727，其中第一接口部分可包括一个或多个用于与对应的轴组件电连接器实现联接接合的电连接器，第二接口部分可包括一个或多个用于与对应的功率组件电连接器实现联接接合的电连接器，从而在轴组件704与功率组件706联接到柄部组件702时，允许轴组件控制器722和功率管理控制器716之间进行电通信。可通过接口传输一个或多个通信信号，以将附接的可互换轴组件704的一个或多个功率要求传送到功率管理控制器716。作为响应，功率管理控制器可依据附接轴组件704的功率要求，调节功率组件706的电池的功率输出，如下文更详细地描述。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，以允许轴组件控制器722与功率管理控制器716之间进行电通信之后被启动。
例如，接口将一个或多个通信信号路由通过位于柄部组件702内的主控制器717，由此可利于在功率管理控制器716与轴组件控制器722之间传输这类通信信号。在其它情况下，当轴组件704和功率组件706联接到柄部组件702时，接口可有利于功率管理控制器716与轴组件控制器722之间的直接通信线路穿过柄部组件702。
主控制器717可以是任何单核或多核处理器，诸如由Texas Instruments提供的商品名为ARM Cortex的那些处理器。在一个方面，主控制器717可为例如购自TexasInstruments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Stellaris
Figure BDA0002328994030000141
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)，其细节可见于产品数据表。
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)的安全控制器平台，已知同样由Texas Instruments生产且商品名为Hercules ARM 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的功率要求调节电池的功率输出。功率管理控制器716可被编程用于控制功率调制器738调节功率组件706的功率输出，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的功率输出以保持理想的输出。功率管理控制器716和/或轴组件控制器722各自可包括一个或多个可存储多个软件模块的处理器和/或存储器单元。
外科器械10(图1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成一体。在这类情况下，当轴组件704联接到柄部组件702时，输出装置742与轴组件控制器722之间的通信可通过接口实现。
控制电路700包括被配置为能够控制电动外科器械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))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，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一个或多个过程。
加速度段(段3)包括加速度计。加速度计被构造成能够检测电动外科器械10的运动或加速度。来自加速度计的输入可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成一体，并且/或者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/或任何其它合适的显示器。在一些示例中，显示器段联接到安全控制器。
轴段(段5)包括用于联接到外科器械10(图1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)包括被构造成能够控制电动外科器械10(图1至图4)的运动的马达714。马达714通过包括一个或多个H桥场效应晶体管(FET)的H桥驱动器和马达控制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一个提供区段电压。
功率段(段8)包括联接到安全控制器、主控制器717和附加电路段的电池。电池通过电池连接器和电流传感器联接到分段电路。电流传感器被配置为能够测量分段电路的总电流消耗。在一些示例中，一个或多个电压转换器被配置为能够向一个或多个电路段提供预先确定的电压值。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，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。开关可被构造成能够控制分段电路的外科器械10(图1至图4)的操作，并且/或者指示外科器械10的状态。用于应急的应急门开关和霍尔效应开关被构造成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)被构造成能够控制可互换轴组件200(图1和图3)和/或端部执行器300(图1和图4)的关节运动。左侧换向开关和右侧换向开关联接到主控制器717。左侧开关(包括左侧向左关节运动开关、左侧向右关节运动开关、左侧向中心关节运动开关和左侧换向开关)通过左挠性连接器联接到主控制器717。右侧开关(包括右侧向左关节运动开关、右侧向右关节运动开关、右侧向中心关节运动开关和右侧换向开关)通过右挠性连接器联接到主控制器717。击发开关、夹持释放开关和轴接合开关联接到主控制器717。
任何合适的机械开关、机电开关或固态开关可任意组合，用于实施所述多个开关。例如，开关可以是利用与外科器械10(图1至图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，开关可以是在磁场影响下操作的固态开关，诸如霍尔效应装置、磁阻(MR)装置、巨磁阻(GMR)装置、磁力计及其它。在其它具体实施中，开关可以是在光影响下操作的固态开关，诸如光学传感器、红外线传感器、紫外线传感器及其它。同样，开关可以是固态装置，诸如晶体管(例如，FET、结型FET、金属氧化物半导体FET(MOSFET)、双极型晶体管等)。其它开关可包括无线开关、超声开关、加速度计、惯性传感器及其它。
图6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，其中示出柄部组件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的功率要求调节电池707的功率输出。功率管理控制器716可被编程用于控制功率调制器738调节功率组件706的功率输出，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的功率输出以保持理想的输出。轴组件704包括轴处理器719，该轴处理器联接到非易失性存储器721和轴组件连接器728以将轴组件704电联接到柄部组件702。轴组件连接器726、728形成接口725。主控制器717、轴处理器719和/或功率管理控制器716可被配置为能够实现本文所述的过程中的一者或多者。
外科器械10(图1至图4)可包括向用户提供感官反馈的输出装置742。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)，本公开现在转到外科器械10(图1至图4)和控制电路700的各种构型。
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至图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。控制电路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至图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至图4)的各方面。时序逻辑电路820或组合逻辑电路822可被配置为能够实现本文所述的各种过程。电路820可包括有限状态机。时序逻辑电路820可包括例如组合逻辑电路822、至少一个存储器电路824和时钟829。至少一个存储器电路820可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现本文的各种过程。在其它方面，有限状态机可包括组合逻辑电路810和时序逻辑电路820的组合。
各方面可实现为制造制品。制造制品可包括被布置成存储用于执行一个或多个方面的各种操作的逻辑、指令和/或数据的计算机可读存储介质。例如，制造制品可包括磁盘、光盘、闪存存储器或固件，这些制造制品包括适用于由通用处理器或专用处理器执行的计算机程序指令。
图10为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构造，该受控马达驱动电路构造包括传感器构造1102。用于绝对定位系统1100的位置传感器1102提供对应于位移构件1111的位置的独特位置信号。简要参见图2至图4，在一个方面，位移构件1111表示包括用于与齿轮减速器组件84的对应传动齿轮86啮合的驱动齿122的齿条的纵向可移动驱动构件120(图2)。在其它方面，位移构件1111表示击发构件220(图3)，该击发构件可被调整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型梁178(图4)，每个均可被调整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的任何可移动构件，诸如驱动构件120、击发构件220、击发杆172、I形梁178或可被移位的任何元件。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或其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的构造可经由齿条和小齿轮构造连接至线性致动器，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表示纵向可移动的击发构件220、击发杆172、I形梁178或它们的组合。
与位置传感器1112相关联的传感器元件1126的单次旋转等同于位移构件1111的纵向线性位移d1，其中d1为在联接到位移构件1111的传感器元件1126的单次旋转之后位移构件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构造1102，该齿轮减速使得位置传感器1112针对位移构件1111的全行程仅完成一次或多次旋转。位置传感器1112可针对位移构件1111的全行程完成多次旋转。
可单独或结合齿轮减速采用一系列开关1122a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的状态被馈送回控制器1104，该控制器应用逻辑以确定对应于可移动构件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。该传感器构造1102的位置传感器1112可包括磁性传感器、模拟旋转传感器(如电位差计)、模拟霍尔效应元件的阵列，该霍尔效应元件的阵列输出位置信号或值的独特组合。
因此，绝对定位系统1100在器械上电时提供位移构件1111的绝对位置，并且不使位移构件1111回缩或推进至如常规旋转编码器可需要的复位(清零或本位)位置，这些编码器仅对马达1120采取的向前或向后的步骤数进行计数以推断装置致动器、驱动棒、刀等等的位置。
可对控制器1104进行编程以执行各种功能，诸如对刀和关节运动系统的速度和位置的精确控制。在一个方面，控制器1104包括处理器1108和存储器1106。电动马达1120可为有刷直流马达，其具有齿轮箱以及至关节运动或刀系统的机械连接。在一个方面，马达驱动器1110可为可购自Allegro Microsystems公司的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的更详细的描述在2016年4月15日提交的名称为“SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTINGINSTRUMENT”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/或者可被编程用于实现反馈控制器，诸如PID、状态反馈和自适应控制器。功率源1129将来自反馈控制器的信号转换为对系统的物理输入，在这种情况下为电压。其它示例包括电压、电流和力的脉宽调制(PWM)。除了位置传感器1112所测量的位置之外，可提供其它传感器1118以测量物理系统的物理参数。在数字信号处理系统中，绝对定位系统1100联接到数字数据采集系统，其中绝对定位系统1100的输出将具有有限分辨率和采样频率。绝对定位系统1100可包括比较和组合电路，以使用算法(诸如加权平均和理论控制环路)将计算响应与测量响应进行组合，该算法驱动计算响应朝向所测量的响应。物理系统的计算响应将特性如质量、惯性、粘性摩擦、电感电阻等考虑在内，以通过得知输入预测物理系统的状态和输出。控制器1104可以是控制电路700(图5A至图5B)。
马达驱动器1110可为可购自Allegro Microsystems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(诸如有刷直流马达)特别设计的外部N沟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的减速栅极驱动下工作。可采用自举电容器提供N沟道MOSFET所需的上述电池供电电压。高边驱动装置的内部电荷泵允许直流(100％占空比)操作。可使用二极管或同步整流在快衰减模式或慢衰减模式下驱动全桥。在慢衰减模式下，电流再循环可穿过高边或低边FET。通过电阻器可调式空载时间保护功率FET不被击穿。整体诊断指示欠压、过热和功率桥故障，并且可被构造成能够在大多数短路情况下保护功率MOSFET。其它马达驱动器可容易地取代以用于绝对定位系统1100中。
描述总体架构以用于针对传感器构造1102执行绝对定位系统1100的各方面之后，本公开现在转向图11和图12以获取绝对定位系统1100的传感器构造1102的一个方面的描述。图11为根据一个方面的绝对定位系统1100的传感器构造1102的分解透视图，其示出了电路1205和传感器构造1102的元件的相对对齐方式。绝对定位系统1100的传感器构造1102包括位置传感器1200、磁体1202传感器元件、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。简要参见图2，位移构件1111可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。返回到图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)并且被设置成邻近磁体1202。当磁体1202旋转时，位置传感器1200的磁性感测元件确定经过一次转动的磁体1202的绝对角位置。
传感器构造1102可包括任何数量的磁性感测元件，诸如例如根据它们是否测量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回缩时沿第二方向旋转。第二齿轮1210也围绕轴1214旋转，因此，第二齿轮1210围绕轴1214的旋转对应于位移构件1111的纵向平移。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支撑并且与下面在磁体保持器1204内旋转的磁体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的示意图，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，其可得自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)上的位置传感器1200的区域1230中的四个霍尔效应元件1228A、1228B、1228C、1228D。在芯片上也提供了高分辨率ADC 1232和智能型功率管理控制器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。
霍尔效应元件1228A、1228B、1228C、1228D位于旋转磁体1202(图11)正上方。霍尔效应是众所周知的效应，并且为了方便起见，这里将不对其进行详细描述，但是，霍尔效应通常会在整个导体上产生横向于导体中的电流的电压差(霍尔电压)和垂直于该电流的磁场。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，如在加电时或在控制器1104发出请求时，向控制器1104提供角度的值，其指示经过一次转动的磁体1202的位置。
AS5055位置传感器1200在连接至控制器1104时仅需要几个外部部件就可操作。使用单一电源的简单应用需要六根电线：两根电线用于电力，四根电线1240用于与控制器1104的SPI接口1234。可加入第七连接，以便向控制器1104发送中断以通知可读取新的有效角度。在通电时，AS5055位置传感器1200执行完全通电序列，包括一个角度测量。该循环的完成表示为INT输出1242，并且角度值存储在内部寄存器中。一旦设定了这一输出，AS5055位置传感器1200就暂停为休眠模式。控制器1104可通过SPI接口1234从AS5055位置传感器1200读取角度值来响应INT输出1242处的INT请求。一旦控制器1104读取了角度值，就再次清除INT输出1242。由控制器1104通过SPI接口1234向位置传感器1200发送“读取角度”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4个采样使抖动减少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，其示出了相对于夹持在端部执行器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能够沿着端部执行器2502的纵向轴线2515向远侧和向近侧平移。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。在击发杆2520的远侧部分处示出了包括切割边缘2509的I形梁2514。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接触并可切割定位在砧座2516与钉仓2518之间的组织2526。而且，I形梁2514接触楔形滑动件2513并向远侧推动它，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。
示例性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示出在行程开始位置2527的一个示例性位置处。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并开始向远侧移动。然而，在第一区域中，切割边缘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，切割边缘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，切割边缘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的力可能开始下降。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更靠近砧座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，不同区域可以沿着端部执行器纵向轴线2515在不同位置处开始，例如，基于砧座2516与钉仓2518之间的组织定位。
如上所述，现在参考图10至图13，位于外科器械10(图1至图4)的柄部组件内的电动马达1122可用于使轴组件的击发系统(包括I形梁2514)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提供的电流和/或电压的先前值和/或系统的先前状态(如速度、加速度和/或位置)来预测I形梁2514的当前速度。控制器1104可被配置为能够利用本文所述的绝对定位传感器系统感测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。
可使用各种技术来确定作用在I形梁2514上的力。可通过测量马达2504的电流来确定I形梁2514的力，其中马达2504电流基于I形梁2514在其向远侧推进时所经受的负载。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)和/或在切割边缘2509的近侧端部上来确定I形梁2514的力。I形梁2514的力可通过监测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I形梁2514的实际位置，并且在时间段T1结束时基于马达2504的当前设定速度将I形梁2514的实际位置与I形梁2514的预期位置进行比较来确定。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用于控制位移构件的远侧平移的外科器械2500的框图。在一个方面，外科器械2500被编程为控制位移构件1111诸如I形梁2514的远侧平移。外科器械2500包括端部执行器2502，该端部执行器可包括砧座2516、I形梁2514(包括锋利切割边缘2509)和可移除钉仓2518。端部执行器2502、砧座2516、I形梁2514和钉仓2518可如本文所述构造，例如，参考图1至图13。
衬件位移构件1111(诸如I形梁2514)的位置、移动、位移和/或平移可由如图10至图12中所示的绝对定位系统1100、传感器构造1102和位置传感器1200来测量，并且在图14中表示为位置传感器2534。由于I形梁2514联接到纵向可移动的驱动构件120，因此I形梁2514的位置可通过采用位置传感器2534测量纵向可移动的驱动构件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(诸如图5A和图5B中描述的控制电路700)可被编程用于控制位移构件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/计数器电路2531向控制电路2510提供输出信号，诸如耗用时间或数字计数，以将如由位置传感器2534确定的I形梁2514的位置与定时器/计数器电路2531的输出相关联，使得控制电路2510可确定I形梁2514在相对于起始位置的特定时间(t)处的位置。定时器/计数器电路2531可被配置为能够测量所耗用的时间、计数外部事件或时间外部事件。
控制电路2510可以生成马达设定点信号2522。马达设定点信号2522可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的速度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处接收功率。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可以经由传动装置2506机械联接到I形梁2514。传动装置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向远侧和向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已被指示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，诸如间隙距离与时间、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/或完全性。
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处理器实时取样，如图5A至图5B中所述。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并且参考图14所公开的器械的物理特性，控制电路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的实际驱动系统被构造成能够通过具有齿轮箱和与关节运动和/或刀系统的机械连接的有刷直流马达驱动位移构件、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，示例性方面的应用或使用并不局限于附图和具体实施方式中所示出的部件的配置和构造的细节。示例性方面可以单独实施，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实施方案进行描述所选的，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，并且当被构造用于使用时，钉仓2518定位在砧座2516的对面。临床医生可以抓住砧座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向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，该控制电路被编程用于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可被编程用于直接或间接地感测组织状况，诸如厚度，如本文所述。控制电路2510可被编程用于基于组织状况选择击发控制程序。击发控制程序可以描述位移构件的远侧运动。可以选择不同的击发控制程序以更好地处理不同的组织状况。例如，当存在较厚的组织时，控制电路2510可被编程用于以较低的速度和/或以较低的功率平移位移构件。当存在较薄的组织时，控制电路2510可被编程用于以较高的速度和/或以较高的功率平移位移构件。
在一些示例中，控制电路2510可以针对位移构件的行程的第一开环部分初始以开环构型操作马达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施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性位移构件行程的图2580。图2580包括两个轴线。水平轴线2584指示经过的时间。垂直轴线2582表示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。击发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可从行程开始位置2586横穿到位置2594。控制电路2510可以确定位置2594对应于击发控制程序，该击发控制程序使I形梁2514以选定的恒定速率(V慢)推进，由示例2592的斜率在t1之后(例如，在闭环部分中)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慢以保持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和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。控制电路可以确定位置2596对应于使位移构件以选定的恒定速率(V快)推进的击发控制程序。因为示例2590中的组织比示例2592中的组织薄，所以它可以为I形梁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。而且，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)可以对应于在初始时间段之后的较高位移构件速率。
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，显示了端部执行器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的一部分的局部透视图，显示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多个部分。图17为图16的端部执行器2300的透视图，显示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，显示了细长轴组件2200。图19为图16的端部执行器2300的顶视图，显示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，显示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，显示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可被构造成能够并被操作成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，这样的构造使得外科端部执行器2300能够相对于轴闭合套筒260旋转或进行关节运动。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运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被可运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适于枢转地接纳在形成于端部执行器安装组件2390的枢轴基础部分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BB，以促进端部执行器2300围绕关节运动轴线BB相对于轴框架2812的枢转行进(即，关节运动)。
如图18中所示，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纳在交叉连接件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可枢转地接纳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。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”或者与轴轴线SA-SA平行。远侧关节运动驱动器2820沿近侧方向PD的运动将使得交叉连接件2900将外科端部执行器2300围绕关节运动轴线B-B沿顺时针CW方向拉动，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的关节运动接头2270，即相对于示为轴轴线SA的纵向成零度角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构型的击发构件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纳销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提供侧向支撑。
外科器械可另外被构造成能够确定端部执行器2300取向的角度。在各个方面，传感器构造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(如电位差计)、模拟霍尔效应传感器阵列等，该模拟霍尔效应传感器阵列输出位置信号或值的独特组合。在一个方面，图16至图21中所示的方面的关节运动接头2270可另外包括关节运动传感器构造，该关节运动传感器构造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，并提供与其对应的唯一位置信号。
关节运动传感器构造可类似于上文描述并且在图10至图12中示出的传感器构造1102。在此方面，关节运动传感器构造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，并且被设置成邻近磁体，位于关节运动接头2270内或附近。因此，随着磁体旋转，位置传感器的磁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，当端部执行器进行关节运动时，关节运动传感器构造能够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)的绝对位置来以间接方式确定端部执行器2300所定位的角度。由于关节运动驱动器230的位置对应于端部执行器2300以已知方式取向的角度，所以可跟踪关节运动驱动器230的绝对位置，然后将其转换为端部执行器2300的角位置。在此方面，外科器械包括被构造成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唯一位置信号的关节运动传感器构造。在一些方面，关节运动传感器构造或操作地联接到该关节运动传感器构造的控制器另外地被配置为能够根据唯一位置信号转换或计算端部执行器2300的角位置。
在此方面，关节运动传感器构造可同样类似于上文描述并且在图10至图12中示出的传感器构造1102。在与图10中关于位移构件1111示出的方面类似的一个方面中，关节运动传感器构造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的每次全行程转动一次。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，并且被设置成邻近磁体。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转动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转动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构造，这使得位置传感器针对纵向可移动关节运动驱动器230的全行程仅完成一次转动。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将对应于关节运动驱动器230的绝对位置的唯一位置信号传输到控制器1104，诸如在图10所示的那些方面中。在接收到唯一位置信号时，控制器1104随后被配置为能够执行逻辑，以通过例如查询返回预先计算的端部执行器2300的角位置值的查找表，通过算法计算端部执行器2300的角位置，利用关节运动驱动器230的线性位置作为输入，或者执行本领域已知的任何其它此类方法，来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。
在各个方面，可在关节运动传感器构造上采用任何数量的磁感测元件，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。所利用的磁感测元件的数量对应于由关节运动传感器构造感测的期望分辨率。换句话讲，所使用的磁感测元件的数量越多，可通过关节运动传感器构造感测到的关节运动的程度越细。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，关节运动传感器构造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现，用于跟踪位移构件1111的位置。在一个此类方面，关节运动传感器构造可被实现为AS5055EQFT单片磁性旋转位置传感器，其可得自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。在芯片上也提供了高分辨率ADC 1232和智能型电源管理控制器1238。提供了CORDIC处理器1236(针对坐标旋转数字计算机(Coordinate Rotation Digital Computer))，也称为逐位法和Volder算法，以执行简单有效的算法来计算双曲线函数和三角函数，其仅需要加法、减法、位位移和表格查找操作。角位置、报警位和磁场信息通过诸如SPI接口1234的标准串行通信接口传输到控制器1104。位置传感器1200提供12或14位分辨率。位置传感器1200可为以小QFN 16引脚4×4×0.85mm封装提供的AS5055芯片。
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，纵向可移动的驱动构件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可实际上通过驱动构件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，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/值来精确地确定，关节运动角度θ可根据纵向位移DL来确定。
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，传感器构造1102包括位置传感器1200、磁体1202和磁体保持器1204，该磁体保持器适于感测关节运动接头2270的旋转。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)并且被设置成邻近磁体1202。在图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。该信息被提供给微控制器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，尤其是I形梁178的击发力，以及本文讨论的击发驱动系统80的其它部件的击发力。为了适应随端部执行器2300的关节运动角度变化的I形梁178的可变击发力，可将可变的马达控制电压施加到马达82，以控制马达82的速度。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。例如，可通过调节施加到马达82的电压、电流、脉宽调制(PWM)或占空比(0-100％)来改变电动马达82的速度。
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。钳口组件可代替或补充轴关节运动使用。例如，钳口组件可用于抓持、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，包括在远侧端部处的钉仓2518和砧座2516；以及I形梁2514，包括用于切断组织的切割边缘2509。该钳口组件可为可关节运动的，并且可围绕器械轴的纵向轴线枢转。该钳口组件可围绕腕部枢转轴线从钳口组件基本上平行于钉仓2518的第一位置枢转到钳口组件基本上不平行于钉仓2518的第二位置。另外，钳口组件可包括可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腕部枢转轴线。在一些方面，随着钳口组件围绕腕部枢转轴线枢转，钳口枢转轴线本身可枢转。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也可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。关节运动构件能够相对于端部执行器2502平移从近侧位置到远侧位置的距离，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可具有通电状态、断电状态和保持状态。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可被配置为能够沿着该距离的至少一部分检测关节运动构件的位置。控制电路2510可被配置为能够从位置传感器2534接收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可识别与关节运动构件的关节运动位置对应的预先确定的阈值。当马达2504处于断电状态时，响应于关节运动构件的运动超过预先确定的阈值，控制电路2510可确定马达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将马达2504接合到保持状态。
可包括以下一项或多项特征。控制电路2510可被配置为能够响应于关节运动构件的运动超过预先确定的阈值而保持关节运动位置。在保持关节运动位置时，控制电路可在保持状态下将电流(例如，马达驱动信号2514)的脉宽调制(PWM)提供给马达2504，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可被配置为能够在马达2504处于保持状态时将引线内部连接至DC有刷马达。控制电路2510可包括正向状态、滑行状态和制动状态。当控制电路2510处于正向状态时，DC马达处于通电状态。当控制电路2510处于滑行状态时，DC马达处于断电状态。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处于滑行状态时，第一开关、第二开关、第三开关和第四开关均处于打开构型。
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的信号来监视可旋转轴组件的旋转位置。控制电路2510还可识别与可旋转轴组件的旋转位置对应的预先确定的阈值。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，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。
可包括以下一项或多项特征。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向马达2504提供电流的PWM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可被配置为能够在马达2504抵抗可旋转轴组件的旋转超过预先确定的阈值时，将引线内部连接至DC有刷马达。
在一个方面，外科器械2500可包括纵向轴组件。该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和驱动齿轮以及关节运动接头。该驱动齿轮可被构造成能够围绕纵向轴线旋转。该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。该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。该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，该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，该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可包括通电状态、断电状态和动态制动状态。当控制电路2510处于通电状态时，控制电路2510以串联电路配置为马达2504供应能量源2512。当控制电路2510处于断电状态时，控制电路2510将能量源2512与马达2504断开。当控制电路2510处于动态制动状态时，控制电路2510使能量源2512与马达2504处于并联电路状态。
可包括以下一项或多项特征。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可识别与可旋转轴部分的旋转位置对应的预先确定的阈值。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，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可识别与关节运动接头的关节运动位置对应的预先确定的阈值。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，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。关节运动构件能够相对于端部执行器2502平移从近侧位置到远侧位置的距离，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可包括通电状态和断电状态。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。用户可能希望使端部执行器2502关节运动到预先确定的期望位置。为了使端部执行器2502关节运动到期望位置，控制电路2510可将马达2504置于通电状态。位置传感器2534可被配置为能够沿着该距离的至少一部分检测关节运动构件的当前位置。控制电路2510可被配置为能够从位置传感器2534接收指示关节运动构件的当前关节运动位置的位置输入。控制电路2510可识别与关节运动构件的关节运动位置对应的当前关节运动位置。控制电路2510可响应于不与期望位置对应的当前位置来确定马达2504的控制动作。在当前位置对应于期望位置时，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将马达2504置于断电状态。
可包括以下一项或多项特征。控制电路2510可被配置为能够响应于关节运动构件的与期望的关节运动位置对应的当前位置来保持关节运动位置。在保持关节运动位置时，控制电路可接合电磁锁。当将马达2504置于断电状态时，可通过使该马达短路来产生电磁锁。马达2504可包括DC有刷马达。控制电路2510可被配置为能够在马达2504处于断电状态以抵抗端部执行器2502的关节运动超过期望位置时，将引线内部连接至DC有刷马达。将引线内部连接至DC有刷马达，会在马达2504内产生内部磁阻。当端部执行器2502工作时，内部磁阻防止由外部施加的力引起的马达2504的任何意外反向驱动。使马达2504的触点短路会产生将端部执行器2502保持在其当前位置的制动，因为机械反向驱动与马达2504的自然电阻(线圈短路)相结合，以被动地保持当前的关节运动位置。
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。可旋转轴组件可被构造成能够围绕纵向轴线旋转。可旋转轴组件可包括旋转位置传感器2534和齿轮组件。旋转位置传感器2534可被配置为能够监测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还可识别与可旋转轴组件的旋转位置对应的预先确定的期望位置。控制电路2510可被配置为能够从位置传感器2534接收指示可旋转轴组件的当前旋转位置的位置输入。控制电路2510可识别与可旋转轴组件的旋转位置对应的当前旋转位置。控制电路2510可响应于不与期望位置对应的当前位置来确定马达2504的控制动作。在当前位置对应于期望位置时，控制电路2510可控制可旋转轴组件的运动，其中控制可旋转轴组件的运动包括将马达2504置于断电状态。
可包括以下一项或多项特征。控制电路2510可被配置为能够响应于可旋转轴组件的与期望的旋转位置对应的当前位置来保持旋转位置。在保持旋转位置时，控制电路可接合电磁锁。当将马达2504置于断电状态时，可通过使该马达短路来产生电磁锁。马达2504可包括DC有刷马达。控制电路2510可被配置为能够在马达2504处于断电状态以抵抗端部执行器2502的关节运动超过期望位置时，将引线内部连接至DC有刷马达。将引线内部连接至DC有刷马达，会在马达2504内产生内部磁阻。当外科器械2500工作时，内部磁阻防止由外部施加的力引起的马达2504的任何意外反向驱动。使马达2504的触点短路会产生将轴组件保持在其当前位置的制动，因为机械反向驱动与马达2504的自然电阻(线圈短路)相结合，以被动地保持当前的旋转位置。
在一个方面，外科器械2500可包括纵向轴组件。该纵向轴组件可包括沿纵向轴线延伸的可旋转轴部分。该纵向轴组件还可包括驱动齿轮和关节运动接头。该驱动齿轮可被构造成能够使可旋转轴部分围绕纵向轴线旋转。该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。该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。该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，该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，该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。马达2504可包括通电状态和断电状态。当马达2504处于通电状态时，控制电路2510以串联电路配置为马达2504供应能量源2512。当马达2504处于断电状态时，控制电路2510将能量源2512与马达2504断开。
可包括以下一项或多项特征。当控制电路2510处于旋转状态并且马达2504处于通电状态时，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当前旋转位置。控制电路2510可识别与可旋转轴部分的旋转位置对应的预先确定的期望位置。控制电路2510可响应于可旋转轴部分的不与期望位置对应的当前位置来确定马达2504的控制动作。在当前位置对应于期望位置时，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将马达置于断电状态。当控制电路2510处于关节运动状态并且马达处于通电状态时，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当前关节运动位置。控制电路2510可识别与关节运动接头的关节运动位置对应的预先确定的期望位置。控制电路2510可响应于不与期望位置对应的当前位置来确定马达2504的控制动作。在当前位置对应于期望位置时，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将马达置于断电状态。控制电路2510可被配置为能够响应于可旋转轴组件或关节运动构件的与期望的旋转或关节运动位置对应的当前位置来保持旋转位置或关节运动位置。在保持期望位置时，控制电路可接合电磁锁。当将马达2504置于断电状态时，可通过使该马达短路来产生电磁锁。马达2504可包括DC有刷马达。控制电路2510可被配置为能够在马达2504处于断电状态以抵抗可旋转轴组件或端部执行器2502的运动超过期望位置时，将引线内部连接至DC有刷马达。将引线内部连接至DC有刷马达，会在马达2504内产生内部磁阻。当外科器械2500工作时，内部磁阻防止由外部施加的力引起的马达2504的任何意外反向驱动。使马达2504的触点短路会产生将轴组件和端部执行器2502保持在其当前位置的制动，因为机械反向驱动与马达2504的自然电阻(线圈短路)相结合，以被动地保持当前的旋转/关节运动位置。
在各个方面，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，旋转外科器械2500的轴，并且平移外科器械2500的击发构件。齿轮或离合器系统允许马达2504将其动力传递给外科器械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。例如，这允许外科器械2500相对于端部执行器2502和轴的关节运动或旋转保持动态的保持或阻力状态，同时允许击发构件的击发。在另一方面，外科器械2500可包括单独的马达2504，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。
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，该端部执行器包括密封和切割元件。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/或使用方法的示例性方面。在不脱离本公开的范围的情况下，可以采用本文所示的结构和方法的另选示例性方面。
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。还参考图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。可通过致动关节运动杆/构件3008来使关节运动接头3006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，总位移度可为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。在控制外科器械2500的远侧臂3014相对于近侧臂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方式(例如，有线或无线方式)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的关节运动位置并将其传送至控制电路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至图21所讨论的。由关节运动传感器2534测量的位移可与远侧臂3014的关节运动位移有关并且被传送到控制电路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，就可通过控制电路2510将马达2504停用并置于断电状态，以允许关节运动机构3000保持其关节运动位置。在手术期间，外部阻力或外力3002可作用于外科器械的端部执行器或远侧臂3014。当马达处于断电状态时，控制电路2510可使电磁锁通电，以将端部执行器2502保持在其当前的关节运动位置中。为了产生电磁锁，控制电路2510可被配置为能够在马达2504处于断电状态以抵抗端部执行器2502的关节运动超过当前位置时，将引线内部连接至马达2504。将引线内部连接至马达2504，会在马达2504内产生内部磁阻。当端部执行器2502工作时，内部磁阻防止由外部施加的力3010a-d引起的马达2504的任何意外反向驱动。使马达2504的触点短路会产生将端部执行器2502保持在其当前位置的制动，因为机械反向驱动与马达2504的自然电阻(线圈短路)相结合，以被动地保持当前的关节运动位置。当马达处于断电状态时，控制电路2510可通过上述各种传感器继续监测端部执行器2502和远侧臂3014的关节运动角度3004。如果关节运动角度3004的变化不再对应于期望位置，则控制电路2510可激活马达2504的通电状态以使端部执行器2502关节运动回到期望位置。通过激活马达2504的通电状态，禁用电磁锁。当端部执行器2502重新定位到期望位置时，控制电路2510可再次激活马达2504的断电状态，从而使电磁锁通电以防止进一步运动。
图23示出了根据本公开的一个方面的击发杆角度和马达占空比随端部执行器的关节运动角度变化的曲线图3100。顶部曲线图3130描绘了沿垂直轴线3122的击发杆位移(δ)随沿水平轴线3120的以角度(°)为单位的关节运动角度的变化。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的允许范围。当超过预先确定的范围3108和/或允许范围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，并将远侧臂3014和关节运动杆3018保持在预先确定的/允许范围3108、3102内。
图23中的底部曲线图3132描绘了沿垂直轴线3126的马达占空比(％)随沿水平轴线3120的以角度(°)为单位的关节运动角度的变化。由于外部施加的力，远侧臂3104的关节运动角度的度数逐渐偏离关节运动角度3102的预先确定的阈值，所以马达2504施加力以在延长的持续时间内抵抗不期望的关节运动。换句话讲，马达占空比随关节运动角度逐渐偏离预先确定的阈值3102而增加。举例来说，图23中的底部曲线图3132表示具有期望关节运动角度-60°的端部执行器2502。关节运动角度的允许范围3102延伸至-55°。当端部执行器2502关节运动到落在允许范围3102内的度数时，马达占空比最小。然而，当关节运动角度超过允许范围3102的边界时，控制电路2510开始通过激活马达2504的电阻保持模式以更强有力的方式响应，从而增加了马达占空比。除了增加马达占空比之外，使端部执行器2502关节运动至偏离允许范围3102的度数可增加马达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允许范围3102的边界时马达2504所需的初始约束。阴影区域3110指示当关节运动角度继续超过允许范围3102的边界时马达2504所需的渐进约束。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，但是防止了预先确定的范围3102之外的任何额外的不期望的运动。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使端部执行器2502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随轴旋转变化的曲线图3200。曲线图3200描绘了沿垂直轴线3222的马达占空比随沿水平轴线3220的轴旋转角度(°)的变化。还参考图14，控制电路2510在激活马达2504的保持特征之前允许初始旋转阈值3202。在一个方面，保持特征包括与约束或限制轴旋转所需的电阻成比例的电流调制。随着所需的马达电阻3208随着轴旋转的位移而增加，电流3204可增加。因此，可以分步3206方式增加马达电阻。另选地，每当马达2504处于断电状态时，可将引线内部连接至马达2504。这在马达2504内产生了内部磁阻，以防止由外部施加的力对马达的任何意外反向驱动。机械反向驱动与马达的自然电阻(线圈短路)相结合，以被动地保持旋转。
在一个方面，外科器械2500的DC马达可在处于断电状态时与引线内部连接。DC马达引线的内部连接可导致在马达内产生内部磁阻，以防止由施加到端部执行器2502的外部施加的力对马达2504的意外反向驱动。可使用PWM DC马达、有刷、无刷和/或步进马达来实现动态制动和再生制动，以保持端部执行器2502所需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结合以保持端部执行器的期望的关节运动或旋转位置。除此之外或另选地，马达2504的自然电阻(线圈短路)可与机械制动器或锁组合，作为被动方法来执行关节运动或旋转系统的站保持功能。
图25示出了根据以上讨论的各方面并且根据本公开的一个方面的控制电路3300。电路3300包括功率源3306、马达3308和多个开关3301、3302、3303、3304。该电路还可包括替代开关3305。开关3301-3305各自允许电路3300被配置为能够以正向模式、反向模式以及电阻或制动模式操作马达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以串联配置工作，其中马达3308沿正向方向工作。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以串联配置工作，其中马达3308沿反向方向工作。下表1示出了本文讨论的各种电路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(静态保持载荷)
0 0 0 0 替代开关3305
表1.各种电路配置。1＝闭合；0＝打开。
在一个方面，制动模式可使用静态保持载荷来抵抗外科器械的远侧部分的关节运动或旋转上的外力。当电路3300处于提供静态保持载荷的制动模式时，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以静态配置工作，其中电路配置产生静态保持。在另一方面，制动模式可使用静态保持载荷来抵抗外科器械的远侧部分的关节运动或旋转上的外力。当电路3300处于提供静态保持载荷的制动模式时，开关3301、3302、3303、3304可处于打开状态，而开关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。在该制动模式下，马达3308处于与功率源隔离的闭环配置中，其中该电路配置产生静态保持。
图26示出了根据本公开的一个方面的外科器械的可旋转和可关节运动轴件3400。还参考图25，轴组件3400包括远侧端部执行器部分3416、近侧部分3420以及连接远侧端部执行器部分3416和近侧部分3420的关节运动机构3406。近侧部分3420限定纵向轴线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。旋转驱动轴包括与近侧部分3420的从动齿轮3418操作地接合的驱动齿轮3424。如参考图14所讨论的，控制电路2510可连接到旋转传感器2534，该旋转传感器检测轴组件3400的旋转。然而，当外力3402导致轴组件3400旋转超过期望位置时，控制电路2510可激活马达3308(2504)上的通电状态，如上文参考图22至图25所讨论的。当控制电路2510激活通电时，马达3308(2504)可施加力3410来对抗外部旋转力3402并且/或者将轴组件3400旋转到期望位置。由马达3308(2504)施加的力3410可包括被动或主动阻力，如上文参考图22至图25所讨论的。
除此之外或另选地，通过控制电路2510的有源PWM和电流阶跃电阻以及控制电路配置的动态和无源电阻，控制电路2510可抵抗外力引起的端部执行器的不期望的旋转或关节运动。控制电路2510可允许端部执行器和轴组件在外科手术期间保持在期望的位置内。
图27示出的逻辑流程图示出了可由外科器械2500(例如，控制电路2510)执行以抵抗和控制外力引起的端部执行器2502的关节运动的处理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3432初始关节运动信号。例如，临床医生可将端部执行器2502放置在期望位置，然后将组织夹持在砧座2516与钉仓2518之间，然后致动触发器32以开始击发行程。触发器32可被配置为能够在致动时将击发信号提供给控制电路2510。
一旦将端部执行器2502放置在期望位置，则控制电路2510响应于初始关节运动信号可根据关节运动信号确定3434端部执行器2502的初始关节运动位置。在确定3434初始位置之后，控制电路2510可识别3436用于端部执行器2502的允许位移的预先确定的阈值。例如，外科器械2500可经由传动装置2506从关节运动模式转换为击发模式。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当前的关节运动信号。一旦端部执行器2502处于击发模式以在击发模式期间监测端部执行器2502的位置，就可从关节运动传感器接收3438当前关节运动信号。可从关节运动传感器接收3438当前关节运动信号。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的当前关节运动位置。控制电路2510可将端部执行器2502的当前关节运动位置与端部执行器2502的初始关节运动位置和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3450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3442并且当前位置超过预先确定的阈值时，控制电路2510可将传动装置2506从击发模式切换到控制模式。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的不期望的运动。保持条件可包括如上文关于图22至图25所讨论的任何保持条件。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3442并且当前位置在预先确定的阈值内3446时，控制电路2510继续3448端部执行器功能的操作，例如，继续以击发模式工作。
在另一方面，外科器械2500可具有第二马达。原始马达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装置。在外科器械具有手动击发驱动装置的情况下，马达3308(2504)可在击发模式期间保持与关节运动机构接合。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装置时，可独立于击发模式来完成控制3450。
图28示出的逻辑流程图示出了可由外科器械2500(例如，控制电路2510)执行以抵抗和控制外力引起的轴组件200的旋转的处理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，临床医生可将轴组件200放置在期望的旋转位置，然后将组织夹持在砧座2516与钉仓2518之间，然后致动触发器32以开始击发行程。触发器32可被配置为能够在致动时将击发信号提供给控制电路2510。
一旦将轴组件200放置在期望的旋转位置，则控制电路2510响应于初始旋转信号可根据旋转信号确定3464轴组件200的初始旋转位置。在确定3464初始旋转位置之后，控制电路2510可识别3466轴组件200的允许位移的预先确定的阈值。例如，外科器械2500可经由传动装置2506从旋转模式转换为击发模式。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当前的旋转信号。一旦轴组件200处于击发模式以在击发模式期间监测轴组件200的位置，就可从旋转传感器接收3468当前旋转信号。可从旋转传感器接收3468当前旋转信号。响应于当前旋转信号，控制电路2510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的当前旋转位置与轴组件200的初始旋转位置和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可将传动装置2506从击发模式切换到控制模式。当控制电路2510切换到控制模式时，控制电路2510接合3482马达3308(2504)的保持状态以抵抗轴组件200的不期望的旋转。保持条件可包括如上文关于图22至图25所讨论并且关于端部执行器2502的关节运动的任何保持条件。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内3476时，控制电路2510继续3478端部执行器功能的操作，例如，继续以击发模式工作。
图29示出的逻辑流程图示出了可由外科器械2500(例如，控制电路2510)执行以抵抗和控制外力引起的端部执行器2502的关节运动的处理7000的一个示例。控制电路2510可确定端部执行器7002的期望关节运动位置。控制电路2510可将马达置于通电状态以控制端部执行器向期望位置7004的运动。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位置。控制电路2510可被配置为能够确定端部执行器7006的期望关节运动位置。如果当前位置不对应于期望位置7010，则控制电路2510可被配置为能够将马达置于通电状态，以控制端部执行器向期望位置7004的运动。一旦当前位置对应于期望位置7008，则控制电路2510可被配置为能够将马达置于断电状态7012。当马达处于断电状态7012时，控制电路2510可被配置为能够为电磁锁通电，以防止端部执行器7014移动。
图30示出的逻辑流程图示出了可由外科器械2500(例如，控制电路2510)执行以抵抗和控制外力引起的轴组件的旋转的处理7100的一个示例。控制电路2510可确定轴组件7102的期望旋转位置。控制电路2510可将马达置于通电状态以控制轴组件向期望位置7104的运动。一旦轴组件处于期望的旋转位置，就可从旋转位置传感器接收初始旋转位置。控制电路2510可被配置为能够确定7106轴组件的当前旋转位置。如果当前位置不对应于期望位置7110，则控制电路2510可被配置为能够将马达置于通电状态，以控制轴组件向期望位置7104的运动。一旦当前位置对应于期望位置7108，则控制电路2510可被配置为能够将马达置于断电状态7112。当马达处于断电状态时7112，控制电路2510可被配置为能够为电磁锁通电，以防止轴组件移动7114。
在另一方面，外科器械2500可具有第二马达。原始马达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3480。
在另一方面，外科器械2500可具有手动击发驱动装置。在外科器械具有手动击发驱动装置的情况下，马达3308(2504)可在击发模式期间保持与传动装置2506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装置时，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。关节运动控制和旋转控制的阻力和保持功能可以独立操作或协作以控制端部执行器2502的整体空间位置。
本文所述的功能或过程3430、3460、7000、7100可由本文所述的任何处理电路执行，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。
可在没有本文公开的具体细节的情况下实践电动外科器械的各方面。某些方面已被显示为框图而不是细节。本公开的部分可以呈现为对存储在计算机存储器中的数据进行操作的指令。算法是指导致所需结果的步骤的自相容序列，其中“步骤”是指物理量的操纵，物理量可以采用能被存储、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、元素、符号、字符、项、数字。这些和类似的术语可与适当的物理量相关联并且仅仅是应用于这些量的方便的标签。
一般来讲，可以用多种硬件、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多个方面可以被看作是由多种类型的“电子电路”组成。因此，“电子电路”包括具有至少一个离散电子电路的电子电路、具有至少一个集成电路的电子电路、具有至少一个专用集成电路的电子电路、形成由计算机程序配置的通用计算设备的电子电路(例如，至少部分地实施本文所述的过程和/或设备的由计算机程序配置的通用计算机或处理器)、形成存储器设备(例如，形成随机存取存储器)的电子电路，和/或形成通信设备(例如，调制解调器、通信开关或光电设备)的电子电路。这些方面可以模拟或数字形式或其组合来实现。
前面的描述已经通过使用框图、流程图和/或示例阐述了设备和/或过程的各方面，这些方面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/或操作可通过各种硬件、软件、固件或其实际上的任何组合来单独和/或共同地实现。在一个方面，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/或软件组件(例如，程序、子例程、逻辑)和/或硬件和软件组件、逻辑门或其它集成格式的组合来实现。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现，并且根据本发明，设计电路和/或编写软件和/或硬件的代码将在本领域技术人员的技术范围内。
本文公开的主题的机制能够作为多种形式的程序产品进行分布，并且本文所述主题的示例性方面适用，而不管用于实际进行分布的信号承载介质的具体类型是什么。信号承载介质的示例包括如下：可录式媒体，诸如软盘、硬盘驱动器、光盘(CD)、数字视频光盘(DVD)、数字磁带、计算机存储器等；和传输式介质，诸如数字和/或模拟通信介质(例如，光纤缆线、波导、有线通信链路、无线通信链路(例如，发射器、接收器、传输逻辑、接收逻辑)等)。
为了举例说明和描述的目的，已经提供了这些方面的上述说明。这些具体实施方式并非意图为详尽的或限定到本发明所公开的精确形式。可以按照上述教导内容对本发明进行修改或变型。所选择和描述的这些方面是为了示出本发明的原理和实际应用，从而使得本领域的普通技术人员能够利用多个方面，在适合设想的具体应用的情况下进行修改。与此一同提交的权利要求书旨在限定完整范围。
本文所述主题的各个方面在以下编号的实施例中陈述：
实施例1.一种外科器械，包括：马达，所述马达能够操作以使关节运动构件沿着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能够相对于端部执行器平移从近侧位置到远侧位置的距离，其中所述关节运动构件的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通电状态和断电状态；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沿着所述距离的至少一部分检测所述关节运动构件的位置；并且其中所述控制电路被配置为能够：识别与所述关节运动构件的所述关节运动位置相对应的预先确定的期望位置；从所述位置传感器接收指示所述关节运动构件的当前关节运动位置的位置输入；识别与所述关节运动构件的所述关节运动位置对应的所述当前关节运动位置；响应于所述关节运动构件的不与所述期望位置对应的当前关节运动位置来确定所述马达的控制动作；以及当所述当前关节运动位置对应于期望位置时控制关节运动构件的运动，其中控制所述关节运动构件的所述运动包括将所述马达置于所述断电状态。
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在所述马达处于所述断电状态时通过接合电磁锁来保持所述关节运动构件的所述当前位置。
实施例3.根据实施例2所述的外科器械，其中，通过使所述马达短路来产生所述电磁锁。
实施例4.根据实施例1至实施例3所述的外科器械，其中，所述马达包括直流(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在马达处于所述断电状态时将引线内部连接至直流(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、反向状态和制动状态。
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所述正向状态时，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打开构型，并且所述第三开关和所述第四开关处于闭合构型。
实施例9.根据实施例7至实施例8所述的外科器械，其中，当所述控制电路处于所述反向状态时，所述第一开关和所述第四开关处于闭合构型，并且所述第二开关和所述第三开关处于打开构型。
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被构造成能够围绕纵向轴线旋转，其中所述可旋转轴组件包括旋转位置传感器，所述旋转位置传感器被配置为能够测量可旋转轴组件围绕纵向轴线的旋转，其中所述马达被构造成能够施加旋转力来旋转齿轮组件，其中所述齿轮组件的旋转使可旋转轴组件围绕纵向轴线旋转，并且其中所述马达具有通电状态和断电状态；控制电路，所述控制电路联接到马达，其中所述控制电路被配置为能够：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；识别与所述可旋转轴组件的所述旋转位置对应的预先确定的期望位置；从所述旋转位置传感器接收指示所述可旋转轴组件的当前旋转位置的旋转输入；响应于所述可旋转轴组件的不与期望位置对应的当前旋转位置来确定所述马达的控制动作；以及当所述当前旋转位置对应于所述期望位置时，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将所述马达置于所述断电状态。
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在所述马达处于所述断电状态时通过接合电磁锁来保持所述可旋转轴组件的所述当前位置。
实施例12.根据实施例11所述的外科器械，其中，通过使所述马达短路来产生所述电磁锁。
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，所述控制电路被配置为能够在所述马达处于所述断电状态时将引线内部连接至所述直流(DC)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能够围绕纵向轴线旋转；以及关节运动接头，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马达；以及驱动构件，所述驱动构件操作地连接到驱动输出部，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；和功率源；其中所述马达具有通电状态和断电状态，其中当所述马达处于所述通电状态时，所述控制电路以串联电路配置向所述马达提供所述功率源，其中当所述马达处于所述断电状态时，所述控制电路将功率源与马达断开连接，并且其中当所述马达处于所述断电状态时，接合电磁锁。
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；识别与所述可旋转轴部分的所述旋转位置对应的预先确定的期望位置；接收来自所述旋转位置传感器的指示所述可旋转轴部分的当前旋转位置的旋转输入，以响应于所述可旋转轴部分的不与期望位置对应的当前旋转位置来确定所述马达的控制动作；当所述当前旋转位置对应于所述期望位置时，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将所述马达置于所述断电状态。
实施例17.根据实施例16所述的外科器械，其中，所述控制电路被配置为能够在所述马达处于所述断电状态时通过接合所述电磁锁来保持所述可旋转轴部分的所述当前位置。
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；识别与所述关节运动接头的关节运动位置对应的预先确定的期望位置；从所述关节运动位置传感器接收指示所述关节运动接头的当前关节运动位置的位置输入；响应于所述关节运动接头的不与期望位置对应的当前关节运动位置来确定所述马达的控制动作；当所述当前关节运动位置对应于所述期望位置时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将所述马达置于所述断电状态。
实施例19.根据实施例18所述的外科器械，其中，所述控制电路被配置为能够在所述马达处于所述断电状态时通过接合所述电磁锁来保持所述旋转轴组件的所述当前位置。
实施例20.根据实施例18至实施例19所述的外科器械，其中，所述马达包括DC有刷马达，并且其中电源包括电池。

Claims (18)

1.一种外科器械，包括：
马达，所述马达能够操作以使关节运动构件沿着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能够相对于端部执行器平移从近侧位置到远侧位置的距离，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通电状态和断电状态；
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沿着所述距离的至少一部分检测所述关节运动构件的位置；并且
其中所述控制电路被配置为能够：
识别与所述关节运动构件的关节运动位置对应的预先确定的期望位置；
从所述位置传感器接收指示所述关节运动构件的当前关节运动位置的位置输入；
识别与所述关节运动构件的所述关节运动位置对应的所述当前关节运动位置；
响应于所述关节运动构件的不与所述期望位置对应的当前关节运动位置来确定所述马达的控制动作；以及
当所述当前关节运动位置对应于所述期望位置时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将所述马达置于所述断电状态。
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在所述马达处于所述断电状态时通过接合电磁锁来保持所述关节运动构件的当前位置。
3.根据权利要求2所述的外科器械，其中，通过使所述马达短路来产生所述电磁锁。
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在所述马达处于所述断电状态时将引线内部连接至所述直流(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、反向状态和制动状态。
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所述正向状态时，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打开构型，并且所述第三开关和所述第四开关处于闭合构型。
9.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反向状态时，所述第一开关和所述第四开关处于闭合构型，并且所述第二开关和所述第三开关处于打开构型。
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被构造成能够围绕纵向轴线旋转，其中所述可旋转轴组件包括旋转位置传感器，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所述旋转，其中所述马达被构造成能够施加旋转力来旋转所述齿轮组件，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，并且其中所述马达具有通电状态和断电状态；
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；
识别与所述可旋转轴组件的所述旋转位置对应的预先确定的期望位置；
从所述旋转位置传感器接收指示所述可旋转轴组件的当前旋转位置的旋转输入；
响应于所述可旋转轴组件的不与所述期望位置对应的当前旋转位置来确定所述马达的控制动作；以及
当所述当前旋转位置对应于所述期望位置时，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将所述马达置于所述断电状态。
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在所述马达处于所述断电状态时通过接合电磁锁来保持所述可旋转轴组件的当前位置。
12.根据权利要求11所述的外科器械，其中，通过使所述马达短路来产生所述电磁锁。
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，所述控制电路被配置为能够在所述马达处于所述断电状态时将引线内部连接至所述直流(DC)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，所述驱动构件能够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；
其中所述马达具有通电状态和断电状态，其中当所述马达处于通电状态时，所述控制电路以串联电路配置向所述马达提供所述功率源，其中当所述马达处于所述断电状态时，所述控制电路将所述功率源与所述马达断开连接，并且其中当所述马达处于所述断电状态时，接合电磁锁，其中，当所述控制电路处于所述旋转状态时，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；
识别与所述可旋转轴部分的旋转位置对应的预先确定的期望位置；
从所述旋转位置传感器接收指示所述可旋转轴部分的当前旋转位置的旋转输入；
响应于所述可旋转轴部分的不与所述期望位置对应的当前旋转位置来确定所述马达的控制动作；
当所述当前旋转位置对应于所述期望位置时，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将所述马达置于所述断电状态，
其中，当所述控制电路处于所述关节运动状态时，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；
识别与所述关节运动接头的关节运动位置对应的预先确定的期望位置；
从所述关节运动位置传感器接收指示所述关节运动接头的当前关节运动位置的位置输入；
响应于所述关节运动接头的不与期望位置对应的当前关节运动位置来确定所述马达的控制动作；
当所述当前关节运动位置对应于所述期望位置时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将所述马达置于所述断电状态。
16.根据权利要求15所述的外科器械，其中，所述控制电路被配置为能够在所述马达处于所述断电状态时通过接合电磁锁来保持所述可旋转轴部分的当前位置。
17.根据权利要求15所述的外科器械，其中，所述控制电路被配置为能够在所述马达处于所述断电状态时通过接合电磁锁来保持所述关节运动接头的当前位置。
18.根据权利要求15所述的外科器械，其中，所述马达包括DC有刷马达，并且其中电源包括电池。
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