CN110785134B - 用于外科缝合和切割器械的马达速度的闭环控制技术 - Google Patents

用于外科缝合和切割器械的马达速度的闭环控制技术 Download PDF

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CN110785134B
CN110785134B CN201880041763.7A CN201880041763A CN110785134B CN 110785134 B CN110785134 B CN 110785134B CN 201880041763 A CN201880041763 A CN 201880041763A CN 110785134 B CN110785134 B CN 110785134B
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R·E·帕费特
S·R·亚当斯
F·E·谢尔顿四世
J·L·哈里斯
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Abstract

本发明提供了一种在机动化外科器械中调节速度的方法。所述外科器械包括：位移构件，所述位移构件被构造成能够在所述外科器械内在多个预定义区域上平移；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；以及定时器电路，所述定时器电路联接到所述控制电路，所述定时器电路被配置为能够测量实耗时间。所述方法包括设定所述位移构件的定向速度；确定所述位移构件的实际速度；确定所述位移构件的所述定向速度与所述位移构件的所述实际速度之间的误差；以及基于所述误差的大小控制所述位移构件的所述实际速度。

Description

用于外科缝合和切割器械的马达速度的闭环控制技术
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位置间隔处的实耗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。
在使用机动化外科缝合和切割器械期间，速度控制系统误差可能出现在命令或定向速度与切割构件或击发构件的实际测量速度之间。因此，可能期望提供一种闭环反馈方法，该方法基于一个或多个误差项的大小来调节击发速度，所述一个或多个误差项基于在指定的时间/距离增量内的实际速度和命令或定向速度之间的差异。
发明内容
本发明提供了一种在机动化外科器械中调节速度的方法。外科器械包括被构造成能够在该外科器械内在多个预定义区域上平移的位移构件、联接到该位移构件以使该位移构件平移的马达，以及联接到该马达的控制电路。外科器械还包括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，以及联接到控制电路的定时器电路，该定时器电路被配置为能够测量实耗时间。该方法包括由控制电路设定位移构件的定向速度；由控制电路确定位移构件的实际速度；由控制电路确定位移构件的定向速度与位移构件的实际速度之间的误差；以及由控制电路基于误差的大小控制位移构件的实际速度。
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能够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为描绘了根据本公开的一个方面的位移构件的速度(v)随位移构件的位移(δ)变化的曲线图。
图17为描绘了根据本公开的一个方面的位移构件的速度(v)随位移构件的位移(δ)变化的曲线图。
图18为根据本公开的一个方面的位移构件的速度(v)随位移构件的位移(δ)变化的曲线图，该曲线图描绘了定向速度的阈值变化的条件。
图19为示出根据本公开的一个方面的用于改变位移构件的定向速度8506的条件的曲线图。
图20为根据本公开的一个方面的过程的逻辑流程图，该逻辑流程图描绘了用于基于位移构件的定向速度和位移构件的实际速度之间的测量误差来控制位移构件的速度的控制程序或逻辑配置。
图21为根据本公开的一个方面的过程的逻辑流程图，该逻辑流程图描绘了用于基于位移构件的定向速度和位移构件的实际速度之间的测量误差来控制位移构件的速度的控制程序或逻辑配置。
图22为根据本公开的一个方面的过程的逻辑流程图，该逻辑流程图描绘了用于基于位移构件的定向速度和位移构件的实际速度之间的测量误差来控制位移构件的速度的控制程序或逻辑配置。
图23A示出了根据本公开的一个方面的包括击发构件的端部执行器，该击发构件联接到包括切割边缘的I形梁。
图23B示出了根据本公开的一个方面的端部执行器，其中I形梁位于斜坡顶部处的目标位置中，并且顶部销接合在T形槽中。
图24根据本公开的一个方面示出了，通过与端部执行器对齐的图表示出了I形梁击发行程。
图25为根据本公开的一个方面，比较随时间变化的I形梁行程位移(顶部曲线图)和随时间变化的预期击发力(底部曲线图)的图形描绘。
图26为根据本公开的一个方面，比较随I形梁行程的设定位移间隔变化的组织厚度(顶部曲线图)、随I形梁行程的设定位移间隔变化的击发力(从顶部起的第二曲线图)、随I形梁行程的设定位移间隔变化的动态时间检查(从顶部起的第三曲线图)以及随I形梁行程的设定位移间隔变化的I形梁的设定速度(底部曲线图)的图形描述。
图27为根据本公开的一个方面的击发力随时间变化的图形描述，比较慢、中等和快I形梁位移速度。
图28为描绘根据本公开的一个方面的用于控制初始击发阶段的命令速度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用于控制动态击发阶段的命令速度的控制程序或逻辑配置的过程的逻辑流程图。
图30A示出了根据本公开的一个方面的包括击发构件的端部执行器，该击发构件联接到包括切割边缘的I形梁。
图30B示出了根据本公开的一个方面的端部执行器，其中I形梁位于斜坡顶部处的目标位置中，并且顶部销接合在T形槽中。
图31根据本公开的一个方面示出了，通过与端部执行器对齐的图表示出了I形梁击发行程。
图32为根据本公开的一个方面，比较随I形梁行程的设定时间间隔变化的组织厚度(顶部曲线图)、随I形梁行程的设定时间间隔变化的击发力(从顶部起的第二曲线图)、随I形梁行程的设定时间间隔变化的动态时间检查(从顶部起的第三曲线图)以及随I形梁行程的设定时间间隔变化的I形梁的设定速度(底部曲线图)的图形描述。
图33为根据本公开的一个方面的击发力随时间变化的图形描述，比较慢、中等和快I形梁位移速度。
图34为描绘根据本公开的一个方面的用于控制初始击发阶段的命令速度的控制程序或逻辑配置的过程的逻辑流程图。
图35为描绘根据本公开的一个方面的用于控制动态击发阶段的命令速度的控制程序或逻辑配置的过程的逻辑流程图。
图36A示出了根据本公开的一个方面的包括击发构件的端部执行器，该击发构件联接到包括切割边缘的I形梁。
图36B示出了根据本公开的一个方面的端部执行器，其中I形梁位于斜坡顶部处的目标位置中，并且顶部销接合在T形槽中。
图37示出了螺杆驱动系统10470，该螺杆驱动系统可用于根据本公开的一个方面的外科器械10(图1)。
图38根据本公开的一个方面示出了，通过与端部执行器对齐的图表示出了I形梁击发行程。
图39为根据本公开的一个方面，比较随时间变化的I形梁行程位移(顶部曲线图)和随时间变化的预期击发力(底部曲线图)的图形描绘。
图40为根据本公开的一个方面，比较随I形梁行程的设定旋转间隔变化的组织厚度(顶部曲线图)、随I形梁行程的设定旋转间隔变化的击发力(从顶部起的第二曲线图)、随I形梁行程的设定旋转间隔变化的动态时间检查(从顶部起的第三曲线图)以及随I形梁行程的设定旋转间隔变化的I形梁的设定速度(底部曲线图)的图形描述。
图41为根据本公开的一个方面的击发力随时间变化的图形描述，比较慢、中等和快I形梁位移速度。
图42为描绘根据本公开的一个方面的用于控制初始击发阶段的命令速度的控制程序或逻辑配置的过程的逻辑流程图。
图43为描绘根据本公开的一个方面的用于控制动态击发阶段的命令速度的控制程序或逻辑配置的过程的逻辑流程图。
图44为根据本公开的一个方面的外科器械的透视图。
图45为根据本公开的一个方面的图44所示的外科器械的显示器部分的详细视图。
图46为描绘根据本公开的一个方面的用于控制显示器的控制程序或逻辑配置的过程的逻辑流程图。
图47为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图48为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图49为描绘根据本公开的一个方面的指示自动模式的速度反馈屏幕的显示器。
图50为描绘根据本公开的一个方面的指示自动模式的速度反馈屏幕的显示器。
图51为描绘根据本公开的一个方面的指示自动模式的速度反馈屏幕的显示器。
图52为描绘根据本公开的一个方面的指示自动模式的速度反馈屏幕的显示器。
图53为描绘根据本公开的一个方面的指示手动模式的速度反馈屏幕的显示器。
图54为描绘根据本公开的一个方面的指示手动模式的速度反馈屏幕的显示器。
图55为描绘根据本公开的一个方面的指示自动模式的速度反馈屏幕的显示器。
图56为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图57为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图58为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图59为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图60为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图61为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图62为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图63为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图64为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图65为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图66为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图67为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图68为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图69为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图70为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图71为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图72为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图73为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图74为描绘根据本公开的一个方面的指示命令速度和实际速度的速度反馈屏幕的显示器。
图75为描绘根据本公开的一个方面的指示命令速度和实际速度的速度反馈屏幕的显示器。
图76为描绘根据本公开的一个方面的指示命令速度和实际速度的速度反馈屏幕的显示器。
图77为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图78为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图79为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图80为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图81为描绘根据本公开的一个方面的温度反馈屏幕的显示器。
图82为根据本公开的一个方面的外科器械的透视图。
图83为根据本公开的一个方面的图82所示的外科器械的显示器部分的详细视图。
图84为描绘根据本公开的一个方面的用于控制显示器的控制程序或逻辑配置的过程的逻辑流程图。
图85为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图86为描绘根据本公开的一个方面的速度反馈屏幕的显示器。
图87为位于图82所示的外科器械的外壳上的开关。
图88为表示显示器如何突出显示选择菜单选项的各种方式的图表。
图89为描绘根据本公开的一个方面的指示手动快速模式的速度反馈屏幕的显示器。
图90为描绘根据本公开的一个方面的指示手动快速模式的速度反馈屏幕的显示器。
图91为描绘根据本公开的一个方面的指示手动快速模式的速度反馈屏幕的显示器。
图92为描绘根据本公开的一个方面的用于基于电池状况控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图93为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图94为描绘根据本公开的一个方面的用于在手动模式下控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图95为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度并在击发周期中实施强制暂停的控制程序或逻辑配置的过程的逻辑流程图。
图96为描绘根据本公开的一个方面的用于基于正常击发期间的失速状况控制马达速度并且一旦击发周期重新开始就将速度降低一级的控制程序或逻辑配置的过程的逻辑流程图。
图97为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况以手动模式控制马达速度并且一旦击发周期重新开始就将速度降低一级的控制程序或逻辑配置的过程的逻辑流程图。
图98为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度并暂停击发周期直到用户释放击发触发器的控制程序或逻辑配置的过程的逻辑流程图。
图99为描绘根据本公开的一个方面的用于在速度之间的转变期间控制马达速度的控制程序或逻辑配置的过程的逻辑流程图。
图100为描绘根据本公开的一个方面的控制程序或逻辑配置的过程的逻辑流程图，该控制程序或逻辑配置用于基于一个或多个误差项的大小来调节位移构件的速度，所述一个或多个误差项基于位移构件的实际速度与位移构件在特定的时间或距离增量内的命令或定向速度之间的差异。
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“CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONANGLE OF ARTICULATION”的代理人案卷号END8222USNP/170125。
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“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 FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED DISPLACEMENT DISTANCE TRAVELED OVER A SPECIFIEDTIME INTERVAL”的代理人案卷号END8266USNP/170188。
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。
本申请的申请人拥有于与其同时提交且各自全文以引用方式并入本文的以下美国设计专利申请：
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，该端部执行器被配置为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。可互换轴组件可与名称为“SURGICAL STAPLING INSTRUMENTSWITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”的美国专利9,072,535中公开的各种机器人系统、器械、部件和方法一起使用，该专利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可被配置为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可与各种可互换的轴组件一起使用，包括被配置为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，该多个驱动系统被配置为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。该闭合触发器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可从起始或“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操作地支撑击发驱动系统80，该击发驱动系统被配置为能够将击发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。该可移除电源组92可包括被配置为能够附接到远侧外壳部分96的近侧外壳部分94。该近侧外壳部分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，该开关可被配置为能够逆转由功率源90施加到电动马达82的极性。柄部组件14可包括被配置为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。该滑动接头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，该滑环组件可被配置为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)。近侧连接器凸缘604可包括限定在其第一面中的多个同心或至少基本上同心的导体602。连接器607可安装在远侧连接器凸缘601的近侧面上，并可具有多个触点，其中每个触点与导体602中的一者对应并与其电接触。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和底脚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的底脚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替换的和/或可再充电的。在至少一个示例中，电池单元可以是能够可分离地联接到功率组件706的锂离子电池。
轴组件704可包括轴组件控制器722，在轴组件704与功率组件706联接到柄部组件702时，该轴组件控制器可通过接口与安全控制器和功率管理控制器716通信。例如，接口可包括第一接口部分725和第二接口部分727，其中第一接口部分可包括一个或多个用于与对应的轴组件电连接器实现联接接合的电连接器，第二接口部分可包括一个或多个用于与对应的功率组件电连接器实现联接接合的电连接器，从而在轴组件704与功率组件706联接到柄部组件702时，允许轴组件控制器722和功率管理控制器716之间进行电通信。可通过接口传输一个或多个通信信号，以将附接的可互换轴组件704的一个或多个功率要求传送到功率管理控制器716。作为响应，功率管理控制器可依据附接轴组件704的功率要求，调节功率组件706的电池的功率输出，如下文更详细地描述。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致动。
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
Figure BDA0002328998980000181
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可用于监视功率组件706的功率输出，以便为功率管理控制器716提供与电池的功率输出有关的反馈，使得功率管理控制器716可调节功率组件706的功率输出以维持理想的输出。功率管理控制器716和/或轴组件控制器722各自可包括一个或多个可存储多个软件模块的处理器和/或存储器单元。
外科器械10(图1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集成。在这类情况下，当轴组件704联接到柄部组件702时，输出设备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(诸如加电外科器械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。加速度计被配置为能够检测加电外科器械10的运动或加速度。来自加速度计的输入可用于例如转变到休眠模式和从休眠模式转变到其它模式、识别加电外科器械的取向，并且/或者识别外科器械何时已被放下。在一些示例中，加速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，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，该轴连接器被配置为能够将主控制器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包括对应于可与加电外科器械10交接的一个或多个轴组件200和/或端部执行器300的多个算法、例程、参数和/或其它数据。
位置编码器段(段6)包括一个或多个磁性角旋转位置编码器。一个或多个磁性角旋转位置编码器被配置为能够识别外科器械10(图1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加电外科器械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、同步信号和马达重置信号。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。开关可被配置为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可用于监视功率组件706的功率输出，以便为功率管理控制器716提供与电池707的功率输出有关的反馈，使得功率管理控制器716可调节功率组件706的功率输出以维持理想的输出。轴组件704包括轴处理器719，该轴处理器联接到非易失性存储器721和轴组件连接器728以将轴组件704电联接到柄部组件702。轴组件连接器726、728形成接口725。主控制器717、轴处理器719和/或功率管理控制器716可被配置为能够实现本文所述的过程中的一者或多者。
外科器械10(图1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可被构造成能够将轴组件控制器722和/或功率管理控制器716连接到输出装置742。输出装置742可与功率组件706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电路812，该组合逻辑电路被配置为能够在输入814处接收与外科器械10相关联的数据，通过组合逻辑812处理数据并提供输出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啮合接合的驱动齿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能够包括驱动齿的齿条。在又一方面，位移构件1111表示击发杆172(图4)或I形梁178(图4)，每个均可被调整和构造成能够包括驱动齿的齿条。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的位移来跟踪I形梁178的位移。在各种其它方面，位移构件1111可联接到适于测量位移的任何传感器。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位移传感器。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。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以啮合接合的方式安装在位移构件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的单次转动对应于位移构件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的单次转动等同于位移构件1111的纵向位移d1，其中d1为在联接到位移构件1111的传感器元件1126的单次转动之后位移构件1111从点“a”移动到点“b”的纵向距离。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转动。位置传感器1112可针对位移构件1111的全行程完成多次转动。
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的不止一次转动提供独特位置信号。开关1122a-1122n的状态被馈送回控制器1104，该控制器应用逻辑以确定对应于位移构件1111的纵向位移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重置(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。电源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，并且可被配置为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的三次转动和第一齿轮1208的单次转动。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 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经过单次转动之后的角度的磁体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，该值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被配置为能够与图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13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”的美国专利号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耗用时间段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，诸如实耗时间或数字计数，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处接收电力。能量源2512可以是或包括电池、超级电容器或任何其它合适的能量源2512。马达2504可以经由传输装置2506机械联接到I形梁2514。传输装置2506可以包括一个或多个齿轮或其它连杆部件，以将马达2504联接到I形梁2514。位置传感器2534可以感测I形梁2514的位置。位置传感器2534可以是或包括能够生成指示I形梁2514的位置的位置数据的任何类型的传感器。在一些示例中，位置传感器2534可包括编码器，该编码器被配置为能够在I形梁2514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/或刀系统的机械连接的有刷DC马达驱动位移构件、切割构件或I形梁2514。另一个示例为操作例如可互换轴组件的位移构件和关节运动驱动器的电动马达2504。外部影响是事物如组织、周围身体和摩擦对物理系统的未测量的、不可预测的影响。此类外部影响可被称为相对电动马达2504作用的曳力。外部影响诸如曳力可导致物理系统的操作偏离物理系统的期望操作。
在详细说明外科器械2500的各方面之前，应该指出的是，示例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的纵向轴线朝远侧和朝近侧驱动位移构件。端部执行器2502可包括可枢转的砧座2516，并且当被构造用于使用时，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状况控制位移构件(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处提供初始马达设定。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慢以维持V慢。第二示例2590示出了当薄组织定位在砧座2516与钉仓2518之间时外科器械2500的响应。
在t0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。
基于速度误差测量大小的外科缝合和切割器械的马达速度的闭环反馈控制
在使用电动外科缝合和切割器械期间，速度控制系统误差可能出现在命令速度与切割构件或击发构件的实际测量速度之间。因此，可能期望提供一种闭环反馈系统，该系统基于一个或多个误差项的大小来调节切割构件或击发构件的速度，所述一个或多个误差项基于在指定的时间/距离增量内的实际速度和命令速度之间的差异来确定。
图16至图22示出了用于确定位移构件的定向速度和位移构件的实际速度之间的误差并基于该误差调节位移构件的定向速度的各种图形表示和过程。在图16至图22所示的各方面中，位移构件是I形梁2514。然而，在其它方面，位移构件可以是驱动构件120(图2)，击发构件220、2509(图3、图13)，击发杆172(图4)，I形梁178、2514(图4、图13、图14)，或其任何组合。
现在转到图16，示出了曲线图8500，其描绘了根据本公开的一个方面的位移构件的速度(v)随位移构件的位移(δ)变化。在所示的方面中，沿水平轴线8502示出了I形梁2514的位移(δ)，并且沿垂直轴线8504示出了I形梁2514的速度(v)。应当理解，可沿着垂直轴线8504示出马达2504的速度，而不是I形梁2514的速度。虚线所示的函数表示I形梁2514的定向速度8506，并且实线所示的函数表示I形梁2514的实际速度8508。定向速度8506基于由控制电路2510施加到马达控制2508电路的马达设定点2522速度。作为响应，马达控制2508将具有预定占空比的对应马达驱动信号2524施加到马达2504，以设定马达2504的速度，从而实现I形梁2514的定向速度8506，如图14所示。定向速度8506也可称为命令速度。基于马达设定点2522的速度，I形梁2514的位移由定向速度8506给出。但是，由于外界的影响，I形梁2514的实际位移由实际速度8508给出。如可根据曲线图8500所确定的，I形梁2514的定向速度8506与实际速度8508之间存在明显差异。定向速度8506与实际速度8508之间的差异在本文中称为速度误差项，诸如短期误差(S)、累积误差(C)、变化率误差(R)和过冲数误差(N)。短期误差S表示位移δ1时实际速度8508离定向速度8506有多远。累积误差C，显示为随时间推移的交叉阴影面积(mm2/s)，表示随时间推移累积的实际速度8508和定向速度8506之间的误差偏差。由斜率b/a给出的变化率R表示实际速度8508接近定向速度8506的速率。最终，过冲数N表示实际速度8508过冲或欠冲定向速度8506的次数。
图17为描绘了根据本公开的一个方面的位移构件的速度(v)随位移构件的位移(δ)变化的曲线图8510。在所示的方面中，沿水平轴线8512示出了I形梁2514的位移(δ)(mm)，并且沿垂直轴线8514示出了I形梁2514的速度(v)(mm/s)。水平轴线8512被缩放以表示I形梁2514在钉仓2518的长度X(诸如10-60mm钉仓)上的位移。在一个方面，对于60mm的仓2518，I形梁2514的位移为60mm，并且I形梁2514的速度在0-30mm/s之间变化。虚线形式所示的函数表示I形梁2514的定向速度8506，并且实线所示的函数表示I形梁2514的实际速度8508。如曲线图8510所示，I形梁2514沿钉仓2518行程的位移分为三个区域8516、8518、8520。在第一区域8516(0至δ2mm)中时，在行程开始(0mm)时，控制电路2510将马达驱动信号2524设定为第一占空比(DS1)。在第二区域8518(δ2mm至δ3mm)中时，控制电路2510将马达驱动信号2524设定为第二占空比(DS2)。在第三区域8520(δ3mm至行程结束)中时，控制电路2510将马达驱动信号2524设定为第三占空比(DS3)。根据该方面，基于击发行程期间I形梁2514的位置来调节定向速度8506。尽管曲线图8510示出了被划分为三个区域8516、8518、8520的击发行程，但是应当理解，击发行程可被划分为更多或更少的区域。外科器械2500包括闭环反馈系统，该闭环反馈系统基于误差项S、C、R和N中的一个或多个的大小来调节或控制马达驱动信号2524的占空比，以在I形梁2514穿过钉仓2518时调节I形梁2514的速度，所述一个或多个误差项基于在特定的时间或距离增量内的定向速度8506和实际速度8508之间的差异。在一个方面，控制系统2500采用PID误差控制来控制马达2504在I形梁2514行程的离散时间/距离位置δn处的速度，并且采用PID误差来控制I形梁2514在离散时间/位移检查之间的恒定速度。
参考第一区域8516，在行程开始时，控制电路2510向马达控制2508提供马达设定点2522，该马达控制向马达2504施加具有第一占空比(DS1)的马达驱动信号2524，以将I形梁2514的定向速度8506设定为V2。随着I形梁2514向远侧推进，位置传感器2534和定时器/计数器2531电路分别跟踪I形梁2514的位置和时间，以确定I形梁2514的实际位置和实际速度8508。随着I形梁2514的位置接近δ1，实际速度8508开始朝向定向速度8506正向转变。如图所示，实际速度8508滞后于定向速度8506达S1，并且已在一段时间内使定向速度8506滞后了累积误差C1。在δ1，实际速度8508的变化率为R1。随着I形梁2514朝向δ2向远侧推进，实际速度8508过冲定向速度8506达N11,N12…N1n，并最终稳定在定向速度8506。
现在转到第二区域8518，在δ2处，控制电路2510向马达控制2508提供新的马达设定点2522，该马达控制向马达2504施加具有第二占空比(DS2)的新的马达驱动信号2524，以将I形梁2514的定向速度8506降至V1。在δ2，I形梁2514的实际速度8508开始向较低定向速度8506的负转变。随着I形梁2514向远侧推进，实际速度8508滞后于定向速度8506达S2，并且已在一段时间内使定向速度8506滞后了累积误差C2，并且实际速度8508的变化率为R2。随着I形梁2514朝向δ3向远侧推进，实际速度8508下冲定向速度8506达N21,N22…N2n，并最终稳定在定向速度8506。
现在转到第三区域8520，在δ3处，控制电路2510向马达控制2508提供新的马达设定点2522，该马达控制向马达2504施加具有第三占空比(DS3)的新的马达驱动信号2524，以将I形梁2514的定向速度8506增加至V3。在δ3，I形梁2514的实际速度8508开始向较高定向速度8506的正转变。随着I形梁2514向远侧推进，实际速度8508滞后于定向速度8506达S31，并且已在一段时间内使定向速度8506滞后了累积误差C31，并且实际速度8508的变化率为R31。随着I形梁2514向远侧推进，实际速度8508以R32的速率接近定向速度8506，从而将滞后误差减小到S32，并将在一段时间内的累积误差增加C32。随着I形梁2514朝向行程结束推进，实际速度8508过冲定向速度8506达N31,N32,N33…N3n，并最终稳定在定向速度8506。
在另一方面，外科器械2500的控制系统采用PID控制误差以基于I形梁2514行程上的PID误差项S、C、R、N的大小来控制马达速度。随着I形梁2514穿过钉仓2528，定向速度8506的变化可基于实际速度8508和定向速度8506之间的测量误差。例如，在外科器械2500的速度控制系统中，在定向速度8506和实际测量速度8508之间产生误差项。这些误差项的大小可用于设定新的定向速度8506。感兴趣的误差项可包括例如短期、稳态和累积的。不同的误差项可用于不同的区域8516、8518、8520(例如，爬坡、中间、最终)。不同的误差项可基于它们在算法中的重要性被不同地放大。
图18为根据本公开的一个方面的位移构件的速度(v)随位移构件的位移(δ)变化的曲线图8530，该曲线图描绘了定向速度8506-1的阈值变化的条件。在所示的方面中，沿水平轴线8532示出了I形梁2514的位移(δ)(mm)，并且沿垂直轴线8534示出了I形梁2514的速度(v)(mm/s)。根据图18，外科器械2500的速度控制系统可被配置为能够测量I形梁2514的定向速度和I形梁2514的实际速度8508之间的误差，并基于误差的大小来调节定向速度8506。如图18所示，在δ0处，定向速度8506-1和实际速度8508大致相同。然而，由于I形梁2514由于外部组织的影响而向远侧推进，所以实际速度偏离定向速度8506-1。外科器械2500的速度控制系统使用位置传感器2534和定时器/计数器2531测量I形梁2514的位置和定时，以确定I形梁2514的位置和实际速度8508，并且在每个预定位置处，速度控制系统确定I形梁2514的定向速度和I形梁2514的实际速度8508之间的误差，并将该误差与阈值进行比较。例如，在δ1处，控制电路2510进行第一误差测量并且确定实际速度8508和定向速度8506-1之间的滞后S21、累积误差C21和变化率R21。基于在δ1处的误差测量，控制电路2510确定误差的大小在误差阈值8536之内并且维持电流定向速度8506-1。在δ2处，控制电路2510进行另一误差测量并且确定实际速度8508和定向速度8506-1之间的滞后S22、累积误差C22和变化率R22。基于在δ2处的误差测量，控制电路2510确定误差的大小超过误差阈值8536并且将定向速度降至新的定向速度8506-2。重复该过程，直到所测量的误差下降到阈值8536，并且定向速度可被调节回原始定向速度8506-1或新的定向速度8506-n。应当理解，在击发行程期间，可在不同的I形梁2514位移位置处采用多个误差阈值。
在一个方面，位移构件(例如，I形梁2514)的实际速度8508和定向速度8506之间的速度误差VDM可由公式1表示：
Figure BDA0002328998980000391
其中A、B和D为系数，S为短期误差，C为累积误差，R为变化率误差。参考图18，如果误差之和小于误差阈值Z，则如公式2所表示：
S21+C21+R21＜Z 公式2
控制电路2510确定误差在阈值Z内而不在定向速度8506内。因此，保持定向速度8506-1直到I形梁2514的下一个预先确定的位置。如果误差之和大于误差阈值Z，则如公式3所表示：
S22+C22+R22＞Z 公式3
控制电路2510确定误差在阈值Z之外，并且将定向速度8506调节为较低的定向速度8506-2。
图19为示出根据本公开的一个方面的用于改变位移构件的定向速度8506的条件的曲线图8540。在所示的方面中，沿水平轴线8541示出了I形梁2514的位移，并且沿垂直轴线8544示出了累积误差(S+C+R)。误差曲线8546表示累积误差随I形梁2514位移的变化。沿着垂直轴线8544标记的是各种误差阈值-Y、-Z、0、+Z、+Y。当误差曲线8546遍历各种误差阈值-Y、-Z、0、+Z、+Y时，外科器械2500的速度控制系统的控制电路2510以不同的速率移位到新的定向速度，或者不移位并保持当前定向速度。沿着水平轴线8542的累积误差为0表示在I形梁2514的定向速度和实际速度之间没有差异的情况。当累积误差在±Z误差阈值之内时，速度控制系统的控制电路2510不对定向速度进行调节。如果累积误差在Z阈值和Y阈值之间或在-Z阈值和-Y阈值之间，则速度控制系统的控制电路2510移位到曲线图8540中表示为移位率1的第一移位率下的新定向速度。如果累积误差超过±Y误差阈值，则控制电路2510移位到曲线图8540中表示为移位率2的第二移位率下的新定向速度，其中例如移位率2大于移位率1。
仍然参考图19中的曲线图8540，外科器械2500的速度控制系统的控制电路2510在I形梁2514在δ0和δ1之间的初始位移期间不采取任何动作。因此，在初始位移(δ1-δ0)期间，当实际速度接近定向速度时，累积误差8548回到零，并保持在零附近，直到δ2。在δ2之后，累积误差8550偏离零，直到在δ3处超过-Z阈值。当超过-Z阈值时，控制电路2510将I形梁2514的速度调节到移位率1下的新定向速度。累积误差8552最终回到零，并保持在零附近，直到δ4。在δ4和δ5之间，累积误差8554偏离零并超过+Y误差阈值，并且在δ5处，控制电路2510将I形梁2514的速度调节到移位率2下的新定向速度，该移位率大于移位率1。在调节移位率2的定向速度后，累积误差8556回到零。不同的误差项(S、C、R)可基于它们在算法中的重要性被不同地放大，并且不同的误差项(S、C、R)可用于不同的区域，例如图17中的区域8516、8518、8520(例如，爬坡、中间、最终)。
图20为根据本公开的一个方面的过程8600的逻辑流程图，该逻辑流程图描绘了用于基于位移构件的位置和位移构件的实际速度来控制位移构件的速度的控制程序或逻辑配置。还参考图14所示的外科器械2500的速度控制系统，控制电路2510利用位置传感器2534和定时器/计数器2531电路来确定8602位移构件诸如I形梁2514的位置。如结合图17所讨论的，控制电路2510将位移构件的位置与多个区域8516、8518、8520之一进行比较。区域8516、8518、8520可存储在存储器中。控制电路2510基于先前确定8602的位移构件的位置来确定8604位移构件位于哪个区域8516、8518、8520中。然后，控制电路2510设定8606马达设定点2522的速度，并且马达控制2508设定马达驱动信号2524以设定马达254的速度，从而基于该区域实现位移构件的期望定向速度。在一个方面，马达控制2508基于位移构件位于哪个区域8516、8518、8520而将马达驱动信号2524设定为占空比。控制电路2510确定8608位移构件是否处于行程结束。如果位移构件不处于行程结束，则过程8600沿着“否”分支继续并且确定8602位移构件的新位置。过程8600继续直到位移构件到达行程结束，并且沿着“是”分支前进并结束8610。
图21为根据本公开的一个方面的过程8600的逻辑流程图，该逻辑流程图描绘了用于基于位移构件的定向速度和位移构件的实际速度之间的测量误差来控制位移构件的速度的控制程序或逻辑配置。还参考图14所示的外科器械2500的速度控制系统，控制电路2510利用位置传感器2534和定时器/计数器2531电路来确定8702位移构件诸如I形梁2514的位置。然后，控制电路2510基于从位置传感器2534和定时器/计数器2531电路接收的位置信息来确定8704位移构件的实际速度。在确定8704位移构件的实际速度时，控制电路2510比较8706位移构件的定向速度与位移构件的实际速度。基于比较8706，控制电路2510确定8708位移构件的定向速度与位移构件的实际速度之间的误差，并比较8710该误差与误差阈值。
可基于以上的公式1计算误差。控制电路2510确定8712误差是否在误差阈值内。如果误差在误差阈值(公式2)内，则过程8700沿着“是”分支继续并且将定向速度保持8714在其当前值。然后，控制电路2510确定8718位移构件是否处于行程结束。如果位移构件处于行程结束，则过程8700沿着“是”分支继续并结束8720。如果位移构件不处于行程结束，则过程8700沿着“否”分支继续并且确定8702位移构件的新位置。过程8700继续直到位移构件到达行程结束。
如果误差超过误差阈值(公式3)，则过程8700沿着“否”分支继续并且将定向速度调节8716为新值。新的定向速度可高于或低于位移构件的当前定向速度。然后，控制电路2510确定8718位移构件是否处于行程结束。如果位移构件处于行程结束，则过程8700沿着“是”分支继续并结束8720。如果位移构件不处于行程结束，则过程8700沿着“否”分支继续并且确定8702位移构件的新位置。过程8700继续直到位移构件到达行程结束。
图22为根据本公开的一个方面的过程8700的逻辑流程图，该逻辑流程图描绘了用于基于位移构件的定向速度和位移构件的实际速度之间的测量误差来控制位移构件的速度的控制程序或逻辑配置。还参考图14所示的外科器械2500的速度控制系统，控制电路2510利用位置传感器2534和定时器/计数器2531电路来确定8802位移构件诸如I形梁2514的位置。然后，控制电路2510基于从位置传感器2534和定时器/计数器2531电路接收的位置信息来确定8804位移构件的实际速度。在确定8804位移构件的实际速度时，控制电路2510比较8806位移构件的定向速度与位移构件的实际速度。基于比较8806，控制电路2510确定8808位移构件的定向速度与位移构件的实际速度之间的误差，并比较8810该误差与多个误差阈值。例如，在例示的示例中，将误差与结合图19所述的两个误差阈值进行比较。
控制电路2510确定8812误差是否在如图19所示的第一误差阈值(±Z)内。如果误差在第一误差阈值(±Z)内，则过程沿着“是”分支继续并且控制电路2510保持8814定向速度而没有任何移位变化。控制电路2510确定8816位移构件是否处于行程结束。如果位移构件处于行程结束，则过程8800沿着“是”分支继续并结束8824。如果位移构件不处于行程结束，则过程8800沿着“否”分支继续，并且控制电路2510确定8802位移构件的新位置，并且过程8800继续直到位移构件到达行程结束。
如果误差在第一误差阈值(±Z)之外，则过程8800沿着“否”分支继续并且控制电路2510确定8818误差是否超过第二误差阈值(±Y)。如果误差不超过第二误差阈值，则控制电路2510确定误差在-Z和-Y误差阈值之间还是在+Z和+Y误差阈值之间并沿着“否”分支前进，并且控制电路2510以第一变化率调节8820定向速度。控制电路2510确定8816行程结束，并且继续确定8802位移构件的新位置。过程8800继续直到位移构件到达行程结束。如果误差超过第二误差阈值，则控制电路2510确定误差超过第二误差阈值(±Y)并沿着“是”分支前进，并且控制电路2510以高于第一变化率的第二变化率调节8822定向速度。在一个方面，第二变化率是第一变化率的两倍。应当理解，第二变化率可大于或小于第一变化率。控制电路2510确定8816行程结束，并且继续确定8802位移构件的新位置。过程8800继续直到位移构件到达行程结束。应当理解，可实现附加的误差阈值和对应的变化率。
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，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够测量位移构件的位置；以及定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：确定位移构件的位置；确定位移构件所处的区域；以及基于位移构件所处的区域设定位移构件的定向速度。
实施例2.根据实施例1所述的外科器械，其中，控制电路被配置为能够：从位置传感器接收位移构件的位置；从定时器电路接收实耗时间；以及基于位移构件所处的区域设定马达的占空比。
实施例3.根据实施例2所述的外科器械，其中，控制电路被配置为能够确定位移构件的实际速度。
实施例4.根据实施例3所述的外科器械，其中，控制电路被配置为能够确定位移构件的定向速度与位移构件的实际速度之间的误差。
实施例5.根据实施例4所述的外科器械，其中，控制电路被配置为能够基于该误差设定位移构件的新定向速度。
实施例6.根据实施例4所述的外科器械，其中，该误差基于短期误差(S)、累积误差(C)、变化率误差(R)和过冲数误差(N)中的至少一者。
实施例7.根据实施例1至实施例6所述的外科器械，包括端部执行器，其中位移构件被构造成能够在端部执行器内平移。
实施例8.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够测量位移构件的位置；以及定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：设定位移构件的定向速度；确定位移构件的位置；确定位移构件的实际速度；比较位移构件的定向速度与位移构件的实际速度；确定位移构件与位移构件的实际速度之间的误差；以及基于该误差调节位移构件的定向速度。
实施例9.根据实施例8所述的外科器械，其中，控制电路被配置为能够比较该误差与误差阈值。
实施例10.根据实施例9所述的外科器械，其中，控制电路被配置为能够在该误差在误差阈值内时保持位移构件的定向速度。
实施例11.根据实施例9至实施例10所述的外科器械，其中，控制电路被配置为能够在该误差超过误差阈值时，调节位移构件的定向速度以改变定向速度。
实施例12.根据实施例8至实施例11所述的外科器械，其中，位移构件的实际速度由以下表达式给出：
Figure BDA0002328998980000441
其中A、B和D为系数，S为短期误差，C为累积误差，并且R为变化率误差。
实施例13.根据实施例8至实施例12所述的外科器械，包括端部执行器，其中位移构件被构造成能够在端部执行器内平移。
实施例14.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够测量位移构件的位置；以及定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：设定位移构件的定向速度；确定位移构件的位置；确定位移构件的实际速度；比较位移构件的定向速度与位移构件的实际速度；确定位移构件与位移构件的实际速度之间的误差；以及以基于该误差的变化率调节位移构件的定向速度。
实施例15.根据实施例14所述的外科器械，其中，控制电路被配置为能够比较该误差与多个误差阈值。
实施例16.根据实施例15所述的外科器械，其中，控制电路被配置为能够以基于该误差的多个变化率调节位移构件的定向速度。
实施例17.根据实施例15至实施例16所述的外科器械，其中，控制电路被配置为能够：比较该误差与第一误差阈值；并且当该误差在第一误差阈值内时保持定向速度。
实施例18.根据实施例17所述的外科器械，其中，控制电路被配置为能够：比较该误差与第二误差阈值；当误差超过第一误差阈值并且在第二误差阈值内时，以第一变化率调节定向速度。
实施例19.根据实施例17至实施例18所述的外科器械，其中，控制电路被配置为能够：比较该误差与第二误差阈值；当误差超过第一误差阈值和第二误差阈值两者时，以第二变化率调节定向速度。
实施例20.根据实施例14至实施例19所述的外科器械，其中，该误差基于短期误差(S)、累积误差(C)、变化率误差(R)和过冲数误差(N)中的至少一者。
基于特定位移距离内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
在使用电动外科缝合和切割器械期间，可能需要测量和调节切割构件或击发构件的速度以补偿组织状况。在厚组织中，如果切割构件或击发构件所经历的击发力大于阈值力，则可减小速度以降低切割构件或击发构件所经历的击发力。在薄组织中，如果切割构件或击发构件所经历的击发力小于阈值，则可增大速度。因此，可能期望提供一种闭环反馈系统，该系统基于在特定距离内的时间测量来测量和调节切割构件或击发构件的速度。可能期望通过以固定的设定位移间隔测量时间来测量切割构件的速度。
现在，本公开转向用于提供位移构件的速度控制的闭环反馈系统。闭环反馈系统基于在位移构件的特定距离或位移间隔内的实际时间测量来调节位移构件的速度。在一个方面，闭环反馈系统包括两个阶段。定义为击发行程的开始的开始阶段，随后是I形梁2514在击发行程期间向远侧推进的动态击发阶段。图23A和图23B示出了处于击发行程的开始阶段的I形梁2514。图23A示出了包括击发构件2520的端部执行器2502，该击发构件联接到包括切割边缘2509的I形梁2514。砧座2516处于闭合位置，并且I形梁2514位于闭合斜坡9006底部的近侧或停放位置9002。停放位置9002是I形梁2514在沿着砧座2516的闭合斜坡9006向上行进到斜坡9006的顶部并到达T形槽9008之前的位置。顶部销9080被构造成能够接合T形槽9008，并且锁定销9082被构造成能够接合闩锁特征部9084。
在图23B中，I形梁2514位于斜坡9006顶部处的目标位置9004中，其中顶部销2580接合在T形槽9008中。如图23A至图23B所示，在从停放位置9002行进至目标位置9004的过程中，I形梁2514沿水平的远侧方向行进了表示为Xo的距离。在开始阶段期间，I形梁2514的速度设定为预先确定的初始速度Vo。控制电路2510测量I形梁2514以初始速度Vo从停放位置9002沿着斜坡9006向上行进到目标位置9004所需的实际时间to。在一个方面，水平距离为4.1mm，初始速度Vo为12mm/s。如下文更详细描述的，当I形梁2514向远侧推进时，实际时间to用于将I形梁2514的命令速度在后续钉仓区域Z中设定为慢、中等或快。区域的数量可取决于钉仓的长度/尺寸(例如，35mm、40mm、45mm、50mm、55mm、60mm、>60mm)。命令速度或设定速度是通过控制电路2510和马达控制2508施加到马达2504以便实现I形梁2514的期望速度的马达2504的速度。I形梁2514的实际速度由控制电路2510通过用定时器/计数器2531电路测量I形梁2514穿过由位置传感器2534提供的特定或固定距离所花费的实际时间to确定。根据本公开的一个方面，外科器械的闭环反馈控制系统测量I形梁2514或位移构件行进预先确定的固定距离或位移间隔Xn所花费的实际时间tn。为每个区域(例如，Z1,Z2,Z3…Zn)定义预先确定的固定距离或位移间隔Xn。
图24根据本公开的一个方面示出了通过与端部执行器2502对齐的图表9009示出了I形梁2514击发行程。如图所示，初始区域(Zo)或基础区域被定义为I形梁2514从停放位置9002到目标位置9004行进的距离。所测量的时间To是I形梁2514以初始设定速度Vo沿闭合斜坡9006向上行进到目标位置9004所花费的时间。所测量的时间T1-T5分别是穿过对应区域Z1-Z5的参考时间段。I形梁2514在区域Zo中的位移为Xo。时间段To(I形梁2514行进一段距离Xo所花费的时间)用于设定后续区域Z1中的命令速度。
现在参考图14至图15和图23A至图24，在开始阶段，例如，在击发行程的开始，控制电路2510被配置为能够以预先确定的速度Vo(例如，12mm/s)开始击发位移构件，诸如I形梁2514。在开始阶段期间，控制电路2510被配置为能够监视I形梁2514的位置，并测量I形梁2514从I形梁2514停放位置9002行进到I形梁2514目标位置9004(或到砧座2516闭合斜坡9006的顶部，或在低功率操作模式结束时)所花费的时间to(s)。控制电路2510使用初始区域9010中的时间to来确定I形梁2514通过第一区域Z1的击发速度。例如，在一个方面，如果时间to<0.9s，则速度V1可被设定为快，并且如果时间to≥0.9s，则速度可被设定为中等。可基于钉仓2518的长度选择更快或更慢的时间。在对应的设定位移δ1-δ5处测量I形梁2514穿过对应区域Z1至Z5所花费的实际时间t1-t5，并将其与对应的参考时间段T1-T5进行比较。在各个方面，如果遇到锁定条件，则马达2504将在I形梁2514到达目标位置9004之前失速。出现这种情况时，外科器械显示器指示器械状态，并可能发出失速警告。显示器还可指示速度选择。
在动态击发阶段期间，外科器械进入动态击发阶段，其中控制电路2510被配置为能够监视I形梁2514的位移间隔δn，并测量I形梁2514从区域的开始行进到区域的结束(例如，5mm或10mm的总距离)所花费的时间tn。在图24中，参考时间T1是由I形梁2514从区域Z1的开始以设定的速度V1行进到区域Z1的结束所花费的时间。同样，参考时间T2是由I形梁2514从区域Z2的开始以设定的速度V2行进到区域Z2的结束所花费的时间，以此类推。表1示出了可针对各种尺寸的钉仓2518的限定区域。
表1-针对各种尺寸的钉仓的限定区域
Figure BDA0002328998980000471
对于超过60mm的钉仓2518，该模式继续，但是最后的10-15mm以前一个区域的命令或指示速度继续，以等待其它干预结束行程，等等。在每个区域的末端，将I形梁2514通过该区域所花费的实际时间tn与其它表(例如，下面的表2-5)中的值进行比较，以确定如何为下一个区域设定命令速度。将为下一个区域更新命令速度，然后该过程继续。每当命令速度更新时，将不评估下一个区域。根据外科器械的预定协议/算法(包括限位开关、受控减速度等)来处理行程结束。在行程结束时，I形梁2514以快速度返回到初始I形梁停放位置9002。根据外科器械的协议/算法处理返回行程的结束(返回到停放位置9002)。可以无限制地限定其它区域。
表2-针对各种动态击发区域以指定命令速度行进穿过区域的时间
Figure BDA0002328998980000472
表3-针对各种动态击发区域以指定命令速度行进穿过区域的时间的非限制性示 例
Figure BDA0002328998980000473
表4-基于上坡时间设定速度的算法
Figure BDA0002328998980000474
Figure BDA0002328998980000481
表5-基于上坡时间设定速度的算法的非限制性示例
算法 ta(s) tb(s)
如果I形梁上坡的时间t(s)为… 0.0<t<0.9 t>0.9至1.8
那么，T形槽中I形梁的初始速度为… 30mm/s 12mm/s
并且自动速度被设定为… 快 中等
在一个方面，表1-5可存储在外科器械的存储器中。表1-5可以查找表(LUT)的形式存储在存储器中，使得控制电路2510可基于存储在LUT中的值来检索值并控制每个区域中的I形梁2514的命令速度。
图25为根据本公开的一个方面，比较随时间9102变化的I形梁2514行程位移间隔δn(顶部曲线图)和随时间9104变化的I形梁2514的预期击发力(底部曲线图)的图形描绘9100。参考顶部曲线图9102，水平轴线9106表示以秒(s)为单位的从0到1.00X的时间(t)，其中X为比例因子。例如，在一个方面，X＝6，并且水平轴线9106表示从0到6秒的时间。垂直轴线9108表示以毫米(mm)为单位的I形梁2514的位移(δ)。位移间隔δ1表示对于薄组织和中厚组织，I形梁2615行程9114或斜坡9006顶部的位移(图23A、图23B)。对于薄组织，I形梁2514到达斜坡行程9114顶部的时间为t1，对于中厚组织，I形梁2514到达斜坡行程9114顶部的时间为t2。如图所示，t1<t2，使得I形梁2514到达斜坡行程9114的顶部对于薄组织所花费的时间少于对于中厚或厚组织所花费的时间。在一个示例中，斜坡行程9114顶部的位移间隔δ1为约4.1mm(0.160英寸)，并且时间t1小于0.9s(t1<0.9s)，时间t2大于0.9s但小于1.8s(0.9s<t2<1.8s)。因此，还参考表5，到达斜坡行程9114顶部的速度对于薄组织是快速的，对于中厚组织是中速的。
现在转向底部曲线图9104，水平轴线9110表示以秒(s)为单位的时间(t)，并且具有与顶部曲线图9102的水平轴线9106相同的比例。然而，垂直轴线9112表示以牛顿(N)为单位的I形梁2514的预期击发力(F)，对于薄组织为击发力曲线图9116，并且对于中厚组织为击发力曲线图9118。薄组织击发力曲线图9116低于中厚组织击发力曲线图9118。薄组织击发力曲线图9116的峰值力F1低于中厚组织击发力曲线图9118的峰值力F2。另外，参考顶部曲线图9102和底部曲线图9104，可基于估计的组织厚度确定在区域Zo中I形梁2514的初始速度。如薄组织击发力曲线图9116所示，I形梁2514以快的初始速度(例如，30mm/s)达到斜坡行程9114顶部的峰值力F1，并且如中厚组织击发力曲线图9118所示，I形梁2514以中等初始速度(例如，12mm/s)达到斜坡行程9114顶部的峰值力F2。一旦在区域Zo中的初始速度被确定，控制电路2510便可设定I形梁2514在区域Z1中的估计速度，以此类推。
图26为根据本公开的一个方面，比较随I形梁行程9202的设定位移间隔变化的组织厚度(顶部曲线图)、随I形梁行程9204的设定位移间隔变化的击发力(从顶部起的第二曲线图)、随I形梁行程9206的设定位移间隔变化的动态时间检查(从顶部起的第三曲线图)以及随I形梁行程9208的设定位移间隔变化的I形梁的设定速度(底部曲线图)的图形描述9200。曲线图9202、9204、9206、9208的每一个的水平轴线9210表示例如用于60mm钉仓的I形梁2514行程的设定位移间隔。还参考表1，水平轴线9210已被标记以识别针对60mm钉仓的限定区域Z1-Z6。如表1所示，可针对各种尺寸的钉仓标记限定区域。还参考图14，根据本公开，在击发行程期间，控制电路2510在设定的I形梁2514或其它位移构件沿钉仓2518的位移间隔处采样或测量来自定时器/计数器电路2531的实耗时间。在从位置传感器2534接收的设定位移间隔δn处，控制电路2510采样或测量I形梁2514行进固定位移间隔δn所花费的实耗时间tn。以这种方式，控制电路2510可确定I形梁2514的实际速度，并将实际速度与估计速度进行比较，并对马达2504的速度进行任何必要的调整。
组织厚度曲线图9202示出了沿着钉仓2518的组织厚度轮廓9220和水平虚线所示的指示厚度9221。击发力曲线图9204示出了沿着钉仓2518的击发力轮廓9228。当I形梁2514穿过区域Z1和Z2时，击发力9230保持相对恒定，而组织厚度9222保持在指示厚度9221以下。当I形梁2514进入区域Z3时，组织厚度9224增加，击发力也增加，同时I形梁2514穿过区域Z3、Z4和Z5中的较厚组织。当I形梁2514离开区域Z5并进入区域Z6时，组织厚度9226减小，并且击发力9234也减小。
现在参考图14、图24至图26和表2至表3，将区域Z1中的速度V1设定为由控制电路2510在区域Zo中确定的命令速度Vo，该命令速度基于I形梁2514行进到区域Zo中的斜坡9006顶部所花费的时间，如参考图23A、图23B和图25所讨论的。还转向图26中的曲线图9206、9208，初始设定速度Vo被设定为中速，因此区域Z1中的设定速度V1被设定为中速，使得V1＝Vo。
在设定位移位置δ1(例如，对于60mm钉仓为5mm)，当I形梁2514退出区域Z1并进入区域Z2时，控制电路2510测量I形梁2514穿过设定位移间隔X1(5mm长)所花费的实际时间t1，并确定I形梁2514的实际速度。参考图26中的曲线图9206和9208，在设定位移位置δ1处，I形梁2514行进设定位移间隔X1所花费的实际时间t1为t1＝0.55s。根据表3，区域Z1中的实际行进时间t1＝0.55s，需要将区域Z2中的命令或设定速度V2设定为中速。因此，控制电路2510不重置区域Z2的命令速度，而是将其维持在中速。
在设定位移位置δ2(例如，对于60mm钉仓为15mm)，当I形梁2514退出区域Z2并进入区域Z3时，控制电路2510测量I形梁2514穿过设定位移间隔X2(10mm长)所花费的实际时间t2，并确定I形梁2514的实际速度。参考图26中的曲线图9606和9608，在设定位移位置δ2处，I形梁2514行进设定位移间隔X2所花费的实际时间t2为t2＝0.95s。根据表3，区域Z2中的实际行进时间t2＝0.95s，需要将区域Z3中的命令或设定速度V3设定为中速。因此，控制电路2510不重置区域Z3的命令速度，而是将其维持在中速。
在设定位移位置δ3(例如，对于60mm钉仓为25mm)，当I形梁2514退出区域Z3并进入区域Z4时，控制电路2510测量I形梁2514穿过设定位移间隔X3(10mm长)所花费的实际时间t3，并确定I形梁2514的实际速度。参考图26中的曲线图9606和9608，在设定位移位置δ3处，I形梁2514行进设定位移间隔X3所花费的实际时间t3为t3＝1.30s。根据表3，区域Z3中的实际行进时间t3＝1.30s，需要将区域Z4中的命令或设定速度V4设定为慢。这是因为1.3s的实际行进时间大于1.10s，并且超出了先前的范围。因此，控制电路2510确定区域Z3中的实际I形梁2514的速度比预期的慢，这是由于外部影响，诸如比预期厚的组织，如曲线图9202中的组织区域9224所示。因此，控制电路2510将区域Z4中的命令速度V4从中等重置为慢。
在一个方面，控制电路2510可被配置为能够在速度被重置的区域之后的区域中禁用速度重置。换句话说，无论何时在当前区域中更新速度，都不会评估后续区域。由于速度是在区域Z4中更新的，因此在设定位移距离δ4(例如，对于60mm钉仓为35mm)的区域Z4的末端，将不会测量I形梁2514穿过区域Z4所花费的时间。因此，区域Z5中的速度将保持与区域Z4中的速度相同，并且动态时间测量在设定位移位置δ5(例如，对于60mm钉仓为45mm)处恢复。
在设定位移位置δ5(例如，对于60mm钉仓为45mm)，当I形梁2514退出区域Z5并进入区域Z6时，控制电路2510测量I形梁2514穿过设定位移间隔X5(10mm长)所花费的实际时间t5，并确定I形梁2514的实际速度。参考图26中的曲线图9606和9608，在设定位移位置δ5处，I形梁2514穿过设定位移间隔X5所花费的实际时间t5为t5＝0.95s。根据表3，区域Z5中的实际行进时间t5＝0.95s，需要将区域Z6中的命令或设定速度V6设定为高。这是因为0.95s的实际行进时间小于1.00s，并且超出了先前的范围。因此，控制电路2510确定区域Z5中的I形梁2514的实际速度比预期的快，这是由于外部影响，诸如比预期薄的组织，如曲线图9602中的组织区域9626所示。因此，控制电路2510将区域Z6中的命令速度V6从慢重置为高。
图27为根据本公开的一个方面的击发力随时间变化的图形描述9300，比较慢、中和快I形梁2514位移速度。水平轴线9302表示I形梁穿过钉仓所花费的时间t(s)。垂直轴线9304表示击发力F(N)。该图形描述显示了三条独立的击发力随时间变化的曲线。第一击发力曲线9312表示以快的速度穿过薄组织9306并在t1处在斜坡9006的顶部(图23B)达到最大击发力F1的I形梁2514(图14)。在一个示例中，I形梁2514的快速穿过速度约为30mm/s。第二击发力曲线9314表示以中等速度穿过中厚组织9308并在大于t1的t2处在斜坡9006的顶部达到最大击发力F2的I形梁2514。在一个示例中，I形梁2514的中等穿过速度约为12mm/s。第三击发力曲线9316表示以慢的速度穿过厚组织9310并在大于t2的t3处在斜坡9006的顶部达到最大击发力F3的I形梁2514。在一个示例中，I形梁2514的慢的穿过速度约为9mm/s。
图28为描绘根据本公开的一个方面的用于控制初始击发阶段的命令速度的控制程序或逻辑配置的过程9400的逻辑流程图。还参考图14和图23A至图27，控制电路2510例如基于位置传感器2534提供的位置信息来确定9402位移构件诸如I形梁2514的参考位置。在I形梁2514的示例中，参考位置为在闭合斜坡9006的底部处的近侧或停放位置9002，如图23B所示。一旦确定9402参考位置，控制电路2510和马达控制2508就将马达2504的命令速度设定为预先确定的命令速度Vo，并以针对初始或基本区域Zo的预先确定的命令速度Vo开始9404击发位移构件(例如，I形梁2514)。在一个示例中，初始预先确定的命令速度Vo约为12mm/s，但是可采用其它初始预先确定的命令速度Vo。控制电路2510利用从位置传感器2534接收到的位置信息来监视9406位移构件的位置，直到I形梁2514到达如图23B所示的斜坡9006的顶部处的目标位置为止。预先确定的位移时间段To是以当前设定的命令速度Vo行进的位移构件的预期位移时间段。实际位移时间段Tn与预先确定的位移时间段To之间的偏差至少部分是由于作用在位移构件上的外部影响，例如作用在I形梁2514的切割边缘2509上的组织厚度。
利用从定时器/计数器电路2531接收到的定时信息和从位置传感器2534接收到的位置信息，控制电路2510测量9408位移构件从参考位置9002行进到目标位置9004所花费的时间to。控制电路210基于测量的时间to设定9410第一区域Z1的命令速度V1。如表1所示，可针对各种尺寸的钉仓限定各种限定区域。然而，也可限定其它区域。控制电路2510通过将所测量的时间to与存储在存储器中(例如，存储在查找表(LUT)中)的值进行比较9412来设定9410第一区域Z1的命令速度V1。在一个示例中，如通常在表4中以及通过特定示例的方式在表5中所示，如果I形梁2514从参考位置9002沿斜坡9006向上行进到目标位置9004所花费的时间to在0.0s和0.9s之间(0.0s<t-o<0.9s)，则将第一区域Z1的命令速度设定9414为快速(例如，30mm/s)。否则，如果I形梁2514从参考位置9002沿斜坡9006向上行进到目标位置9004所花费的时间to大于0.9s至1.8s(to>0.9s至1.8s)，则将第一区域Z1的命令速度设定9416为中速(例如，12mm/s)。随后，控制电路2510检查9418是否锁定，并且如果存在锁定条件则停止9420马达2504。否则，控制电路进入9422动态击发阶段，如下文参考图29中的过程9450所述。
图29为描绘根据本公开的一个方面的用于控制动态击发阶段的命令速度的控制程序或逻辑配置的过程9450的逻辑流程图。还参考图14和图23A至图27，控制电路2510基于初始时间to设定9452第一区域Z1的马达2504的初始命令速度，如参考图28中的过程9400所述。当位移构件穿过钉仓2518时，控制电路2510接收来自位置传感器2534的位移构件的位置和来自定时器/计数器2531电路的定时信息，并监视9454位移构件在预定义区域Zn上的位置。在区域Zn的末端，控制电路2510测量9456位移构件从区域Zn的起点行进到区域Zn的末端所花费的实际时间tn，并比较9458该实际时间tn与特定区域的预先确定的时间，如通常在表2中以及通过特定示例的方式在表3中所示。预先确定的位移时间段Tn是以当前设定的命令速度Vn行进的位移构件的预期位移时间段。实际位移时间段tn与预先确定的位移时间段Tn之间的偏差至少部分是由于作用在位移构件上的外部影响，例如作用在I形梁2514的切割边缘2509上的组织厚度。
例如，参考表3，针对各种动态击发区域提供了以指定命令速度行进穿过区域的时间。例如，如果动态击发区域为区域Z1(5mm长)并且tn<0.5s，则将下一个区域Z2的命令速度设定为快速；如果0.5s<tn<0.6s，则将下一个区域Z2的命令速度设定为中速；并且如果tn>0.6s，则将下一个区域Z2的命令速度设定为慢速。
但是，如果动态击发区域为例如位于第一区域Z1和最后一个区域Z6之间的中间区域Z2-Z5(10mm长)，并且如果tn<0.9s，则将下一个区域Z2的命令速度设定为快速；如果0.9s<tn<1.1s，则将下一个区域Z3-Z5的命令速度设定为中速；并且如果tn>1.1s，则将下一个区域Z3-Z5的命令速度设定为慢速。
最后，如果动态击发区域为最后测量区域Z5(10mm长)并且tn<1.0s，则将最后区域Z6的命令速度设定为快速；如果1.0s<tn<1.3s，则将最后区域Z6的命令速度设定为中速；并且如果tn>1.3s，则将最后区域Z6的命令速度设定为慢速。其它参数不仅可用于限定动态击发区域，还可用于针对各种动态击发区域限定以指定命令速度穿过区域的时间。
基于比较9458算法的结果，控制电路2510将继续过程9450。例如，如果比较9458的结果表明前一个区域Zn中的实际速度(快速、中速、慢速)与前一命令速度V1(快速、中速、慢速)相同，则控制电路2510保持9460下一个区域Zn+1的命令速度V1与前一命令速度V1相同。过程9450继续监视9454位移构件在下一预定义区域Zn+1上的位置。在下一个区域Zn+1的末端，控制电路2510测量9456位移构件从下一个区域Zn+1的起点行进到下一个区域Zn+1的末端所花费的时间tn+1，并比较9458实际时间tn+1与特定区域的预先确定的时间，如通常在表2中以及通过特定示例的方式在表3中所示。如果命令速度不需要改变，则过程9450一直进行到位移构件(例如，I形梁2514)到达行程结束9466，并且将位移构件返回9468到参考位置9002。
如果比较9458的结果表明前一个区域Zn中的实际速度(快速、中速、慢速)与前一命令速度V1(快速、中速、慢速)不同，则控制电路2510根据表2和表3中总结的算法将下一个区域Zn+1的命令速度重置9462或更新为V新。如果命令速度被重置9462或更新，则控制电路2510保持9464附加区域Zn+2的命令速度V新。换句话说，在下一个区域Zn+1的末端，控制电路2510不评估或测量时间。过程9450继续监视9454位移构件在下一预定义区域Zn+1上的位置，直到位移构件(例如，I形梁2514)到达行程结束9466并将位移构件返回9468到参考位置9002。
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，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：从位置传感器接收位移构件在由设定位移间隔限定的当前区域中的位置；在位移间隔的设定位置处测量时间，其中该测量时间被定义为位移构件穿过该位移间隔所花费的时间；并且基于在当前预定义区域中的所测量时间，设定随后区域的位移构件的命令速度。
实施例2.根据实施例1所述的外科器械，其中该控制电路被配置为能够：确定位移构件所处的设定位移间隔，其中该设定位移间隔由开始位置和结束位置限定；并且测量位移构件到达位移间隔的结束位置的时间。
实施例3.根据实施例1至实施例2所述的外科器械，其中控制电路被配置为能够：将所测量的时间与存储在与控制电路联接的存储器中的预先确定的时间进行比较；并且基于该比较确定是调节还是保持命令速度。
实施例4.根据实施例3所述的外科器械，其中控制电路被配置为能够：当所测量的时间在预先确定的时间范围内时，将后续区域的命令速度与当前区域的命令速度保持相同。
实施例5.根据实施例3至实施例4所述的外科器械，其中控制电路被配置为能够：当所测量的时间在预先确定的时间范围之外时，将后续区域的命令速度设定为与当前区域的命令速度不同。
实施例6.根据实施例5所述的外科器械，其中控制电路被配置为能够在调节命令速度时跳过对随后区域的时间测量。
实施例7.根据实施例1至实施例6所述的外科器械，其中，为钉仓限定了多个区域，该钉仓被构造成能够与该外科器械一起操作。
实施例8.根据实施例7所述的外科器械，其中至少两个区域具有不同的长度。
实施例9.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：从位置传感器接收位移构件在由预先确定的位移间隔限定的当前区域中的位置；测量位移构件从停放位置移动到目标位置的时间；并且基于所测量时间设定第一动态区域的位移构件的命令速度。
实施例10.根据实施例9所述的外科器械，其中控制电路被配置为能够：将所测量的时间与存储在与控制电路联接的存储器中的预先确定的时间进行比较。
实施例11.根据实施例10所述的外科器械，其中控制电路被配置为能够：当所测量的时间在第一时间范围内时将初始区域的命令速度设定为第一速度，并且当所测量的时间在第二时间范围内时将初始区域的命令速度设定为第二速度。
实施例12.根据实施例9至实施例11所述的外科器械，其中，控制电路被配置为能够确定锁定条件并停止马达。
实施例13.一种控制外科器械中的马达速度的方法，该外科器械包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到该马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间，该方法包括：从位置传感器接收位移构件在由设定位移间隔限定的当前区域内的位置；由定时器电路在位移构件的设定位置处测量时间，其中该时间被定义为位移构件穿过该位移间隔所花费的时间；以及并且由控制电路基于在当前区域中的所测量时间，设定随后区域的位移构件的命令速度。
实施例14.根据实施例13所述的方法，还包括：由控制电路和定时器电路确定位移构件所处的设定位移间隔，其中该设定位移间隔由开始位置和结束位置限定；并且由控制电路测量位移构件到达位移间隔的结束位置的时间。
实施例15.根据实施例13至实施例14所述的方法，还包括：由控制电路将所测量的时间与存储在与控制电路联接的存储器中的预先确定的时间进行比较；以及由控制电路基于该比较确定是调节还是保持命令速度。
实施例16.根据实施例15所述的方法，还包括：当所测量的时间在预先确定的时间范围内时，由控制电路将后续区域的命令速度与当前区域的命令速度保持相同。
实施例17.根据实施例15至实施例16所述的方法，还包括：当所测量的时间在预先确定的时间范围之外时，由控制电路将后续区域的命令速度设定为与当前区域的命令速度不同。
实施例18.根据实施例17所述的方法，还包括当调节命令速度时，由控制电路跳过对随后区域的时间测量。
实施例19.根据实施例13至实施例18所述的方法，还包括由控制电路为钉仓限定多个区域，该钉仓被构造成能够与该外科器械一起操作。
实施例20.根据实施例19所述的方法，还包括由控制电路限定具有不同长度的至少两个区域。
基于测量的在特定时间间隔内行进的位移距离，外科缝合和切割器械的马达速度 的闭环反馈控制
在使用电动外科缝合和切割器械期间，可能需要测量和调节切割构件或击发构件的速度以补偿组织状况。在厚组织中，如果切割构件或击发构件所经历的击发力大于阈值力，则可减小速度以降低切割构件或击发构件所经历的击发力。在薄组织中，如果切割构件或击发构件所经历的击发力小于阈值，则可增大速度。因此，可能期望提供一种闭环反馈系统，该系统基于在特定时间增量内行进的距离测量来测量和调节切割构件或击发构件的速度。可能期望通过以固定的设定时间间隔测量距离来测量切割构件或击发构件的速度。
现在，本公开转向用于提供位移构件的速度控制的闭环反馈系统。闭环反馈系统基于在位移构件的特定距离或位移内的时间测量来调节位移构件的速度。在一个方面，闭环反馈系统包括两个阶段。定义为击发行程的开始的开始阶段，随后是I形梁2514在击发行程期间向远侧推进的动态击发阶段。图30A和图30B示出了处于击发行程的开始阶段的I形梁2514。图30A示出了包括击发构件2520的端部执行器2502，该击发构件联接到包括切割边缘2509的I形梁2514。砧座2516处于闭合位置，并且I形梁2514位于闭合斜坡9506底部的近侧或停放位置9502。停放位置9502是I形梁2514在沿着砧座2516的闭合斜坡9506向上行进到斜坡9506的顶部并进入T形槽9508之前的位置，并且行进了可能为超过预先确定的固定初始时间间隔To的距离，该时间间隔是测量位移构件的位移的固定时间段。顶部销9580被构造成能够接合T形槽9508，并且锁定销9582被构造成能够接合闩锁特征部9584。
在图30B中，I形梁2514在时间间隔To结束时位于远侧位置9504中，而顶部销2580接合在T形槽9508和底部销中。如图30A至图30B所示，在时间间隔To期间从停放位置9502行进至远侧位置9504的过程中，I形梁2514沿水平的远侧方向行进了表示为实际测量位移δo的距离。在开始阶段期间，I形梁2514的速度设定为预先确定的初始速度Vo。控制电路2510以初始速度Vo测量I形梁2514在预先确定的固定时间间隔To内从停放位置9502到远侧位置9504行进的实际位移δo。在一个方面，在12mm/s的初始命令速度Vo下，由于作用在I形梁2514的切割边缘2509上的外部影响，I形梁2512在固定时间间隔To＝0.8秒内的实际测量水平位移δo可以是δo＝10.16mm。如下文更详细描述的，时间间隔To是固定的，并且测量I形梁2514在固定时间间隔To内的实际位移，该实际位移用于在I形梁2514向远侧推进时，将I形梁2514的命令速度在后续钉仓区域Z1,Z2,Z3…Zn中设定为慢速、中速或快速。区域的数量可取决于钉仓的长度/尺寸(例如，35mm、40mm、45mm、50mm、55mm、60mm、>60mm)。区域Z1-Zn根据固定的时间间隔T1-Tn来限定，在该时间间隔期间，控制电路2510测量位移构件的实际位移。
命令速度或设定速度是通过控制电路2510和马达控制2508施加到马达2504以便实现I形梁2514的期望速度的马达2504的速度。控制电路2510通过用位置传感器2534在由定时器/计数器2531确定的固定时间间隔Tn测量I形梁2514的位置，来确定I形梁2514的实际速度。根据本公开的一个方面，外科器械的闭环反馈控制系统测量I形梁2514或位移构件在预先确定的固定时间间隔Tn内的实际位移δn。每个区域Zn可由预先确定的固定时间间隔Tn限定，在该预先确定的固定时间间隔期间，控制电路2510测量位移构件(例如，I形梁2514)的实际位移δn。
图31根据本公开的一个方面示出了，通过与端部执行器2502对齐的图表9509示出了I形梁2514击发行程。如图所示，初始区域Zo或基础区域是固定时间间隔To的长度，在该固定时间间隔期间，I形梁2514从停放位置9502行进到远侧位置9504，这可基于作用在I形梁2514上的外部影响诸如组织厚度而变化。初始时间间隔To是I形梁2514能够以初始设定速度Vo沿闭合斜坡9506向上行进到远侧位置9504的设定固定时间。在固定时间段To期间，I形梁2514在区域Zo中的实际位移δo用于设定后续区域Z1中的命令速度。
现在参考图14至图15和图30A至图31，在开始阶段，例如，在击发行程的开始，控制电路2510被配置为能够以预先确定的速度Vo(例如，12mm/s)开始击发位移构件，诸如I形梁2514。在开始阶段期间，控制电路2510被配置为能够监视I形梁2514的位置并测量I形梁2514在从停放位置9502开始的固定时间间隔To内或者在低功率操作模式结束时的实际位移δo。控制电路2510使用位移构件在固定时间间隔To内的实际位移δo来确定I形梁2514通过第一区域Z1的击发速度。例如，在一个方面，如果实际位移为δo>10.0mm则速度可被设定为快速，并且如果实际位移为δo≤10.0mm则速度可被设定为中速。可基于钉仓2518的长度选择更快或更慢的时间间隔Tn。在各个方面，如果遇到锁定条件，则马达2504将在I形梁2514到达初始时间间隔To结束之前失速。出现这种情况时，外科器械的显示器指示器械状态，并可能发出失速警告。该显示器还可指示速度选择。
在动态击发阶段期间，外科器械采用位移构件的动态击发控制，其中控制电路2510被配置为能够监视I形梁2514的位置，并测量I形梁2514在时间间隔Tn期间的实际位移δn，例如，从区域的开始到区域的结束，其中时间间隔Tn可为例如0.4s或0.8s。在图31中，δ1表示I形梁2514从区域Z1的开始到区域Z1的结束的实际位移。同样，δ2表示I形梁2514从区域Z2的开始行进到区域Z2的结束行进的距离。表1示出了可针对各种尺寸的钉仓2518的限定区域。
表1-针对各种尺寸的钉仓的限定区域
Figure BDA0002328998980000581
Figure BDA0002328998980000591
对于超过60mm的钉仓2518，该模式继续，但是在最后的10-15mm期间以前一个区域的命令或指示速度继续，以等待其它干预结束行程，等等。在每个区域Zn的末端，将I形梁2514的实际位移δn与存储在查找表(例如，如下表2-5中所示)中的值进行比较，以确定如何设定下一个区域Zn+1的命令速度Vn+1。将为下一个区域更新命令速度，然后该过程继续。每当在区域Zn中更新命令速度时，将不会在时间间隔Tn内评估下一个区域Zn+1。根据外科器械的预定协议/算法(包括限位开关、受控减速度等)来处理行程结束。在行程结束时，I形梁2514以快速返回到初始I形梁停放位置9502。根据外科器械的协议/算法处理返回行程的结束(返回到停放位置9502)。可以无限制地限定其它区域。
表2-针对各种动态击发区域以指定命令速度行进穿过区域的距离
Figure BDA0002328998980000592
表3-针对各种动态击发区域以指定命令速度行进穿过区域的距离的非限制性示 例
Figure BDA0002328998980000593
表4-基于在固定时间间隔内行进的距离设定速度的算法
Figure BDA0002328998980000594
Figure BDA0002328998980000601
表5-基于在固定时间间隔内行进的距离设定速度的算法的非限制性示例
算法 δa δ2
如果I形梁在固定时间间隔内行进的距离(mm)为… δ>10mm δ≤10mm
那么，T形槽中I形梁的初始速度为… 30mm/s 12mm/s
并且自动速度被设定为… 快 中等
在一个方面，表1-5可存储在外科器械的存储器中。表1-5可以查找表(LUT)的形式存储在存储器中，使得控制电路2510可基于存储在LUT中的值来检索值并控制每个区域中的I形梁2514的命令速度。
图32为根据本公开的一个方面，比较随I形梁行程9202的设定时间间隔Tn变化的组织厚度(顶部曲线图)、随I形梁行程9604的设定时间间隔Tn变化的击发力(从顶部起的第二曲线图)、随I形梁行程9606的设定时间间隔Tn变化的动态时间检查(从顶部起的第三曲线图)以及随I形梁行程9608的设定时间间隔Tn变化的I形梁的设定速度(底部曲线图)的图形描述9600。曲线图9602、9604、9606、9608的每一个的水平轴线9610表示例如用于60mm钉仓的I形梁2514行程的设定时间间隔Tn。不同长度的钉仓可被轻松替换。还参考表1，水平轴线9610已被标记以识别针对60mm钉仓的限定区域Z1-Z6。如表1所示，可针对各种尺寸的钉仓标记限定区域。还参考图14，根据本公开，随着I形梁2514在击发行程期间沿着钉仓2518向远侧推进，控制电路2510以从定时器/计数器电路2531接收的设定时间间隔对I形梁2514的位移进行采样。在设定的时间间隔，控制电路2510对来自位置传感器2534的I形梁2514的位置进行采样，并且确定I形梁2514在该时间间隔Tn期间的实际位移δn。以这种方式，控制电路2510可确定I形梁2514的实际速度，并将实际速度与估计速度进行比较，并对马达2504的速度进行任何必要的调整。
组织厚度曲线图9602示出了沿着钉仓2518的组织厚度轮廓9620和水平虚线所示的组织区域9621中的指示厚度。击发力曲线图9604示出了沿着钉仓2518的击发力轮廓9628。当I形梁2514穿过区域Z1和Z2时，击发力9630保持相对恒定，而组织区域9622中的组织厚度保持在组织区域9621中的指示厚度以下。当I形梁2514进入区域Z3时，组织区域9624中的组织厚度增加，击发力也增加，同时I形梁2514穿过时间区域Z3、Z4和Z5中的较厚组织。当I形梁2514离开区域Z5并进入区域Z6时，组织厚度9226减小，并且击发力9234也减小。
现在参考图14、图31至图32和表2至表3，将区域Z1中的速度V1设定为由控制电路2510在区域Zo中确定的速度Vo，该速度基于I形梁2514在初始设定时间间隔To期间的位移δo，如参考图30A、图30B所讨论的。还转向图32中的曲线图9606、9608，初始设定速度Vo被设定为中速，因此区域Z1中的设定速度V1被设定为中速，使得V1＝Vo。
在设定时间t1(例如，对于60mm钉仓为0.4秒)，当I形梁2514退出区域Z1并进入区域Z2时，控制电路2510测量I形梁2514在设定时间间隔T1(0.4秒长)内的实际位移δ1，并确定I形梁2514的实际速度。参考图32中的曲线图9606和9608，在设定时间t1，I形梁2514在设定时间间隔T1内的实际位移δ1为δ1＝4.5mm。根据表3，区域Z1中的4.5mm实际位移要求区域Z2中的命令或设定速度V2设定为中速。因此，控制电路2510不重置区域Z2的命令速度，而是将其维持在中速。
在设定时间t2(例如，对于60mm钉仓为0.8秒)，当I形梁2514退出区域Z2并进入区域Z3时，控制电路2510测量I形梁2514在设定时间间隔T2(0.8秒长)内的实际位移δ2，并确定I形梁2514的实际速度。参考图32中的曲线图9606和9608，在设定时间t2，I形梁2514在设定时间间隔T2内的实际位移δ2为δ2＝9.0mm。根据表3，区域Z2中的9.0mm实际位移要求区域Z3中的命令或设定速度V3设定为中速。因此，控制电路2510不重置区域Z3的命令速度，而是将其维持在中速。
在设定时间t3(例如，对于60mm钉仓为2.0秒)，当I形梁2514退出区域Z3并进入区域Z4时，控制电路2510测量I形梁2514在设定时间间隔T3(0.8秒长)内的实际位移δ3，并确定I形梁2514的实际速度。参考图32中的曲线图9606和9608，在设定时间t3，I形梁2514在设定时间间隔T3内的实际位移δ3为δ3＝7.5mm。根据表3，区域Z3中的7.5mm实际位移要求区域Z4中的命令或设定速度V4设定为慢。这是因为7.5mm的实际位移小于8.0mm，并且超出了先前的范围。因此，控制电路2510确定区域Z3中的实际I形梁2514的速度比预期的慢，这是由于外部影响，诸如比预期厚的组织，如曲线图9602中的组织区域9624所示。因此，控制电路2510将区域Z4中的命令速度V4从中等重置为慢。
在一个方面，控制电路2510可被配置为能够在速度被重置的区域之后的区域中禁用速度重置。换句话说，无论何时在当前区域中更新速度，都不会评估后续区域。由于速度是在区域Z4中更新的，因此在设定时间t4(例如，对于60mm钉仓为2.8秒)的区域Z4的末端，将不会测量I形梁所行进的距离。因此，区域Z5中的速度将保持与区域Z4中的速度相同，并且动态位移测量在设定时间t5(例如，对于60mm钉仓为3.6秒)处恢复。
在设定时间t5，当I形梁2514退出区域Z5并进入区域Z6时，控制电路2510测量I形梁2514在设定时间间隔T5(0.8秒长)内的实际位移δ5，并确定I形梁2514的实际速度。参考图32中的曲线图9606和9608，在设定时间t5，I形梁2514在设定时间间隔T5内的实际位移δ5为δ5＝9.5mm。根据表3，区域Z5中的9.5mm实际位移要求区域Z6中的命令或设定速度V6设定为高。这是因为9.5mm的实际位移大于9.0mm并且在先前范围之外，所以控制电路2510确定区域Z5中的I形梁2514的实际速度比预期的快，这是由于外部影响，诸如比预期薄的组织，如曲线图9602中的组织区域9626所示。因此，控制电路2510将区域Z6中的命令速度V6从慢重置为高。
图33为根据本公开的一个方面的击发力随时间变化的图形描述9700，比较慢、中和快I形梁2514位移速度。水平轴线9702表示I形梁穿过钉仓所花费的时间t(秒)。垂直轴线9704表示击发力F(N)。该图形描述显示了三条独立的击发力随时间变化的曲线。第一击发力曲线9712表示以快的速度穿过薄组织9706并在t1处在斜坡9506的顶部(图30B)达到最大击发力F1的I形梁2514(图14)。在一个示例中，I形梁2514的快速穿过速度约为30mm/s。第二击发力曲线9714表示以中等速度穿过中厚组织9708并在大于t1的t2处在斜坡9506的顶部达到最大击发力F2的I形梁2514。在一个示例中，I形梁2514的中等穿过速度约为12mm/s。第三击发力曲线9716表示以慢的速度穿过厚组织9710并在大于t2的t3处在斜坡9706的顶部达到最大击发力F3的I形梁2514。在一个示例中，I形梁2514的慢的穿过速度约为9mm/s。
图34为描绘根据本公开的一个方面的用于控制初始击发阶段的命令速度的控制程序或逻辑配置的过程9800的逻辑流程图。还参考图14和图30A至图34，控制电路2510例如基于位置传感器2534提供的位置信息来确定9802位移构件诸如I形梁2514的参考位置。在I形梁2514的示例中，参考位置为在闭合斜坡9506的底部处的近侧或停放位置9502，如图30B所示。一旦已确定9802参考位置，控制电路2510和马达控制2508就将马达2504的命令速度设定为预先确定的命令速度Vo，并以针对初始或基本区域Zo的预先确定的命令速度Vo开始9804击发位移构件(例如，I形梁2514)。在一个示例中，初始预先确定的命令速度Vo约为12mm/s，但是可采用其它初始预先确定的命令速度Vo。如图30B所示，控制电路2510利用在预先确定的时间间隔To内从位置传感器2534接收的位置信息监视9806位移构件的位置，并记录在时间间隔To结束时位移构件的实际位移δo。预先确定的位移Xo是以当前设定的命令速度Vo行进的位移构件的预期位移。实际位移δo与预先确定的位移Xo之间的偏差至少部分是由于作用在位移构件上的外部影响，例如作用在I形梁2514的切割边缘2509上的组织厚度。
利用从定时器/计数器电路2531接收到的定时信息和从位置传感器2534接收到的位置信息，控制电路2510测量9808位移构件在时间间隔To内的实际位移δo。基于实际位移δo和设定时间间隔To，控制电路210设定9810第一区域Z1的命令速度V1。如表1所示，可针对各种尺寸的钉仓限定各种区域。然而，也可限定其它区域。控制电路2510通过将实际位移δo与存储在存储器中(例如，存储在查找表(LUT)中)的值进行比较9812来设定9810第一区域Z1的命令速度V1。在一个示例中，如通常在表4中以及通过特定示例的方式在表5中所示，如果位移构件在0.8秒的固定时间间隔To(秒)内行进的实际位移δo大于10mm，则第一区域Z1的命令速度被设定9814为快(例如，30mm/s)。否则，如果位移构件在0.8秒的固定时间间隔To(秒)内行进的实际位移δo小于或等于10mm，则第一区域Z1的命令速度被设定9816为中速(例如，12mm/s)。随后，控制电路2510检查9818是否锁定，并且如果存在锁定条件则停止9820马达2504。否则，控制电路进入9822动态击发阶段，如下文参考图35中的过程9850所述。
图35为描绘根据本公开的一个方面的用于控制动态击发阶段的命令速度的控制程序或逻辑配置的过程9850的逻辑流程图。还参考图14和图30A至图34，控制电路2510基于位移构件在初始设定时间间隔To内的位移δo设定9852第一区域Z1的马达2504的初始命令速度V1，如参考图34中的过程9800所述。当位移构件穿过钉仓2518时，控制电路2510接收来自位置传感器2534的位移构件的位置和来自定时器/计数器2531的定时信息，并监视9854位移构件在预定义设定时间间隔Tn内在区域Zn中的位置。在区域Zn的末端，控制电路2510测量9856在位移构件2514从区域Zn的起点移到区域Zn的末端时在预定义的时间间隔Tn内位移构件的实际位移δn，并比较9858该实际位移δn与特定区域的预先确定的位移Xn，如通常在表2中以及通过特定示例的方式在表3中所示。预先确定的位移Xn是以当前设定的命令速度Vn行进的位移构件的预期位移。实际位移δn与预先确定的位移Xn之间的偏差至少部分是由于作用在位移构件上的外部影响，例如作用在I形梁2514的切割边缘2509上的组织厚度。
例如，参考表3，针对各种动态击发区域提供了位移构件在设定时间间隔Tn内以指定命令速度穿过区域的行进距离。例如，如果动态击发区域为Z1(T1＝0.4秒长)并且实际位移δn<4mm，则将下一个区域Z2的命令速度设定为快速；如果实际位移4mm<δn<5mm，则将下一个区域Z2的命令速度设定为中速；并且如果实际位移δn>5mm，则将下一个区域Z2的命令速度设定为慢速。
但是，如果动态击发区域为例如位于第一区域Z1和最后一个区域Z6之间的中间区域Z2-Z5(T＝0.8秒长)，并且如果实际位移δn<8mm，则将下一个区域Z2的命令速度设定为快速；如果实际位移8mm<δn<10mm，则将下一个区域Z3-Z5的命令速度设定为中速；并且如果实际位移δn>10mm，则将下一个区域Z3-Z5的命令速度设定为慢速。
最后，如果动态击发区域为最后测量区域Z5(T＝0.8秒长)并且实际位移δn<7mm，则将最后区域Z6的命令速度设定为快速；如果实际位移7mm<δn<9mm，则将最后区域Z6的命令速度设定为中速；并且如果实际位移δn>9mm，则将最后区域Z6的命令速度设定为慢速。其它参数不仅可用于限定动态击发区域，还可用于针对各种动态击发区域限定以指定命令速度穿过区域的时间。
基于比较9858算法的结果，控制电路2510将继续过程9850。例如，如果比较9858的结果表明前一个区域Zn中的实际速度(快速、中速、慢速)与前一命令速度V1(快速、中速、慢速)相同，则控制电路2510保持9860下一个区域Zn+1的命令速度与前一命令速度相同。过程9850继续监视9854位移构件在下一预定义区域Zn+1上的位置。在下一个区域Zn+1的末端，控制电路2510测量9856在从下一个区域Zn+1的起点移到下一个区域Zn+1的末端时位移构件在预定义的时间间隔Tn+1内的实际位移δn+1，并比较9858该实际位移δn+1与特定区域的预先确定的位移Xn+1，如通常在表2中以及通过特定示例的方式在表3中所示。如果命令速度不需要改变，则过程9850一直进行到位移构件(例如，I形梁2514)到达行程结束9866，并且将位移构件返回9868到参考位置9502。
如果比较9858的结果表明前一个区域Zn中的实际速度(快速、中速、慢速)与前一命令速度V1(快速、中速、慢速)不同，则控制电路2510根据表2和表3中总结的算法将下一个区域Zn+1的命令速度重置9862或更新为V新。如果命令速度被重置9862或更新，则控制电路2510保持9864附加区域Zn+2的命令速度V新。换句话说，在下一个区域Zn+1的末端，控制电路2510不评估或测量位移。过程9850继续监视9854位移构件在下一预定义区域Zn+1上的位置，直到位移构件(例如，I形梁2514)到达行程结束9866并将位移构件返回9868到参考位置9502。
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，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；定时器电路，该定时器电路联接到该控制电路，该定时器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：在设定时间间隔期间从位置传感器接收位移构件在当前区域中的位置；在设定的时间间隔结束时，在设定的时间测量位移构件的位移，其中所测得的位移被定义为位移构件在设定的时间间隔期间以当前区域的设定命令速度行进的距离；并且基于位移构件在当前区域内的所测量位移，设定随后区域的位移构件的命令速度。
实施例2.根据实施例1所述的外科器械，其中，控制电路被配置为能够：确定位移构件所处的设定时间间隔，其中该设定时间间隔由开始时间和结束时间限定；并且在设定时间间隔的结束时间测量位移构件的位移。
实施例3.根据实施例1至实施例2所述的外科器械，其中，控制电路被配置为能够：将所测量的位移与存储在与控制电路联接的存储器中的预先确定的位移进行比较；并且基于该比较确定是调节还是保持当前区域的命令速度。
实施例4.根据实施例3所述的外科器械，其中，控制电路被配置为能够：当所测量的位移在预先确定的位移范围内时，将后续区域的命令速度设定为与当前区域的命令速度相等。
实施例5.根据实施例3至实施例4所述的外科器械，其中，控制电路被配置为能够：当所测量的位移在预先确定的位移范围之外时，将后续区域的命令速度设定为与当前区域的命令速度不同。
实施例6.根据实施例5所述的外科器械，其中，控制电路被配置为能够在调节命令速度时跳过对随后区域的位移测量。
实施例7.根据实施例1至实施例6所述的外科器械，其中，为钉仓限定了多个区域，该钉仓被构造成能够与该外科器械一起操作。
实施例8.根据实施例7所述的外科器械，其中，至少两个区域具有不同的长度。
实施例9.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：在初始设定时间间隔期间从位置传感器接收位移构件在当前区域中的位置；在初始设定时间间隔期间测量位移构件从停放位置到远侧位置的位移；并且基于从停放位置到远侧位置的所测量位移，设定第一动态区域的位移构件的命令速度。
实施例10.根据实施例9所述的外科器械，其中，控制电路被配置为能够：将所测量的位移与存储在与控制电路联接的存储器中的预先确定的位移进行比较。
实施例11.根据实施例10所述的外科器械，其中，控制电路被配置为能够：当所测量的位移在第一位移范围内时将初始区域的命令速度设定为第一速度，并且当所测量的位移在第二位移范围内时将初始区域的命令速度设定为第二速度。
实施例12.根据实施例9至实施例11所述的外科器械，其中，控制电路被配置为能够确定锁定条件并停止马达。
实施例13.一种控制外科器械中的马达速度的方法，该外科器械包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到该马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；定时器电路，该定时器电路联接到该控制电路，该定时器电路被配置为能够测量实耗时间，该方法包括：通过位置传感器接收位移构件在由设定距离限定的当前预定义区域内的位置；在设定的时间间隔结束时，由控制电路在设定的时间测量位移构件的位移，其中所测得的位移被定义为位移构件在设定的时间间隔期间以当前区域的设定命令速度行进的距离；以及由控制电路基于在当前区域内的所测量位移，设定随后区域的位移构件的命令速度。
实施例14.根据实施例13所述的方法，还包括：由控制电路和定时器电路确定位移构件所处的设定时间间隔，其中该设定时间间隔由开始时间和结束时间限定；由定时器电路在设定时间间隔的结束时间测量位移构件的位移。
实施例15.根据实施例13至实施例14所述的方法，还包括：由控制电路将所测量的位移与存储在与控制电路联接的存储器中的预先确定的位移进行比较；并且由控制电路基于该比较确定是调节还是保持当前区域的命令速度。
实施例16.根据实施例15所述的方法，还包括：当所测量的位移在预先确定的位移范围内时，由控制电路将后续区域的命令速度设定为与当前区域的命令速度相等。
实施例17.根据实施例15至实施例16所述的方法，还包括：当所测量的位移在预先确定的位移范围之外时，由控制电路将后续区域的命令速度设定为与当前区域的命令速度不同。
实施例18.根据实施例17所述的方法，还包括当调节命令速度时，由控制电路跳过对随后区域的位移测量。
实施例19.根据实施例13至实施例18所述的方法，还包括由控制电路为钉仓限定多个预定义区域，该钉仓被构造成能够与该外科器械一起操作。
实施例20.根据实施例19所述的方法，还包括由控制电路限定具有不同长度的至少两个预定义区域。
基于特定轴旋转数内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
在使用电动外科缝合和切割器械期间，可能需要测量和调节切割构件或击发构件的速度以补偿组织状况。在厚组织中，如果切割构件或击发构件所经历的击发力大于阈值力，则可减小速度以降低切割构件或击发构件所经历的击发力。在薄组织中，如果切割构件或击发构件所经历的击发力小于阈值，则可增大速度。因此，可能期望提供一种闭环反馈系统，该系统基于在特定轴旋转数内的时间测量来测量和调节切割构件或击发构件的速度。可能期望在固定时间测量轴旋转数。
现在，本公开转向用于提供位移构件的速度控制的闭环反馈系统。该闭环反馈系统基于特定轴旋转数内的实际时间测量来调节位移构件的速度。在一个方面，闭环反馈系统包括两个阶段。定义为击发行程的开始的开始阶段，随后是I形梁2514在击发行程期间向远侧推进的动态击发阶段。图36A和图36B示出了处于击发行程的开始阶段的I形梁2514。图36A示出了包括击发构件2520的端部执行器2502，该击发构件联接到包括切割边缘2509的I形梁2514。砧座2516处于闭合位置，并且I形梁2514位于闭合斜坡10006底部的近侧或停放位置10002。停放位置10002是在预先确定次数的轴旋转之后，I形梁2514在沿着砧座2516的闭合斜坡10006向上行进到斜坡10006的顶部并到达T形槽10008之前的位置。顶部销10080被构造成能够接合T形槽10008，并且锁定销10082被构造成能够接合闩锁特征部10084。
在图36B中，I形梁2514位于斜坡10006顶部处的目标位置10004中，其中顶部销10080接合在T形槽10008中。如图14、图36A和图36B所示，并且在从停放位置10002行进至目标位置10004的过程中，I形梁2514在预先确定次数的轴旋转之后沿水平的远侧方向行进了表示为Xo的距离。在开始阶段期间，I形梁2514的速度设定为预先确定的初始速度Φo转每秒。控制电路2510测量I形梁2514以初始速度Φo转每秒从停放位置10002沿着斜坡10006向上行进到目标位置10004所需的实际时间to。在一个方面，水平距离在5mm至10mm的范围内并且在一个示例中为7.4mm，并且初始速度Φo＝5转每秒。如下文更详细描述的，当I形梁2514向远侧推进时，实际时间to用于将I形梁2514的命令速度(以轴的每秒旋转数为单位)在后续钉仓区域Z中设定为慢速、中速或快速。区域的数量可取决于钉仓的长度/尺寸(例如，35mm、40mm、45mm、50mm、55mm、60mm、>60mm)。命令速度或设定速度是通过控制电路2510和马达控制2508施加到马达2504以便实现I形梁2514的期望速度的马达2504的速度。在一个方面，基于马达2504的轴的旋转(以每秒旋转数为单位)来确定速度。I形梁2514的实际速度由控制电路2510通过用定时器/计数器2531电路测量I形梁2514穿过由位置传感器2534基于设定旋转间隔(在一个示例中，假定为每英寸60个螺纹)提供的特定或固定距离所花费的实际时间to确定。根据本公开的一个方面，外科器械的闭环反馈控制系统测量I形梁2514或位移构件在马达轴的一组预先确定的旋转间隔(假定为每英寸60个螺纹)之后，行进预先确定的固定距离或旋转间隔Xn所花费的实际时间tn。为每个区域(例如，Z1,Z2,Z3…Zn)定义预先确定的固定距离或旋转间隔Xn。
图37示出了螺杆驱动系统10470，该螺杆驱动系统可用于根据本公开的一个方面的外科器械10(图1)。在一个方面，纵向可移动驱动构件120(图2)可用螺杆驱动(有时称为螺母驱动)系统10470代替。螺杆驱动系统10470包括导螺杆10472、滚珠螺杆或其它机械线性致动器，其适于并且被构造成能够经由驱动齿轮10478联接到马达82(图2)的轴10474，以将旋转运动转换成线性运动。导螺杆10472经由螺母1476联接到击发构件220。击发构件220联接到击发杆172，该击发杆联接到I形梁178，如图2至图4所示和所述。由马达82的轴1474驱动的驱动齿轮10478适于使螺杆驱动系统10470旋转。
螺杆驱动系统10470包括导螺杆10472和螺母10476，也称为动力螺杆或平移螺杆，并且适于经由驱动齿轮10478联接到马达82的轴10474，以将马达82的轴10474的转动运动转换成位移构件诸如I形梁2514的线性运动，该位移构件例如联接到螺母10476。导螺杆10472的螺纹与其在螺母10476内的对应部分滑动接触，使得当导螺杆10472旋转时，螺母10476根据所示的驱动齿轮10478的旋转而向前和向后平移。滚珠螺杆也可用于低摩擦应用。在滚珠螺杆中，螺纹轴为用作精密螺钉的滚珠轴承提供了螺旋滚道。除了能够施加或承受高推力载荷外，它们还能以最小的内摩擦来实现。紧密的公差使其适用于高精度应用。滚珠组件充当螺母，而螺纹轴是螺钉。螺杆驱动系统10470，诸如导螺杆10472和螺母10476，或滚珠螺杆驱动器，可包括具有每英寸60个螺纹的螺纹轴，使得可在马达轴的大约142转中穿过60mm的钉仓。例如，导螺杆10472的螺纹轴旋转一转将螺母10476和位移构件推进1英寸(25.4mm)。60mm仓的长度为2.36英寸，并且如果轴10474的旋转数与导螺杆10472的旋转数之间的比率为1:1，则导螺杆10472需旋转约142转，以将螺母10476和位移构件推进到整个60mm行程。使用齿轮减速组件的其它比率可以无限制地进行调整。轴10474的旋转可通过包括一个或多个磁体和一个或多个霍尔效应传感器的位置传感器构造来测量，以测量轴104747的旋转并将轴旋转信号提供给控制电路。
在一个方面，参考图37以及图2至图4和图10至图12，可通过使用绝对定位系统1100(图10和图12)和位置传感器1200(图11、图12)测量联接到驱动齿轮86(图2)的轴1214(图11)的旋转，来测量马达82(图2)或1116(图10)的轴10474的旋转。参考图12，用于包括磁性旋转绝对定位系统的绝对定位系统1100的位置传感器1200可用于测量马达的轴的磁性旋转位置。位置传感器1200与控制器1104交接，以提供绝对定位系统1100。绝对定位系统1100和位置传感器1200的附加细节在上文参考图12进行了描述，为方便起见，此处不再赘述。
现在转向图38，根据本公开的一个方面，I形梁2514击发行程示出为与端部执行器2502对齐的图表9009。如图所示，初始区域(Zo)或基础区域被定义为I形梁2514从停放位置10002到目标位置10004行进的距离。所测量的时间To是I形梁2514以初始设定速度Φo转/秒沿闭合斜坡10006向上行进到目标位置10004所花费的时间。所测量的时间T1-T5分别是穿过对应区域Z1-Z5的参考时间段。I形梁2514在区域Zo中的位移为Θo转。时间段To(I形梁2514行进一段距离Θo所花费的时间)用于设定后续区域Z1中的命令速度。
现在参考图14至图15和图36A至图38，在开始阶段，例如，在击发行程的开始，控制电路2510被配置为能够以预先确定的速度Φo(例如，5转/秒)开始击发位移构件，诸如I形梁2514。在开始阶段期间，控制电路2510被配置为能够监视I形梁2514的位置，并测量I形梁2514从I形梁2514停放位置10002行进到I形梁2514目标位置10004(或到砧座2516闭合斜坡10006的顶部，或在低功率操作模式结束时)所花费的时间to(秒)。控制电路2510使用初始区域10010中的时间to来确定I形梁2514通过第一区域Z1的击发速度。例如，在一个方面，如果时间to<0.9秒，则速度Φ1可被设定为快速，并且如果时间to≥0.9秒，则速度Φ1可被设定为中速。可基于钉仓2518的长度选择更快或更慢的时间。在对应的设定旋转位移δ1-δ5处测量I形梁2514穿过对应区域Z1至Z5所花费的实际时间t1-t5，并将其与对应的参考时间段T1-T5进行比较。在各个方面，如果遇到锁定条件，则马达2504将在I形梁2514到达目标位置10004之前失速。出现这种情况时，外科器械显示器指示器械状态，并可能发出失速警告。该显示器还可指示速度选择。
在动态击发阶段期间，外科器械进入动态击发阶段，其中控制电路2510被配置为能够监视I形梁2514的旋转间隔δn，并测量I形梁2514从区域的开始行进到区域的结束(例如，12转或23转的总距离)所花费的时间tn。在图37中，参考时间T1是由I形梁2514从区域Z1的开始以设定的速度Φ1行进到区域Z1的结束所花费的时间。同样，参考时间T2是由I形梁2514从区域Z2的开始以设定的速度Φ2行进到区域Z2的结束所花费的时间，以此类推。表1示出了可针对各种尺寸的钉仓2518的限定区域。
表1-针对各种尺寸的钉仓的限定区域
Figure BDA0002328998980000711
对于超过60mm的钉仓2518，该模式继续，但是最后的10-15mm以前一个区域的命令或指示速度继续，以等待其它干预结束行程，等等。在每个区域的末端，将I形梁2514通过该区域所花费的实际时间tn与其它表(例如，下面的表2-5)中的值进行比较，以确定如何为下一个区域设定命令速度。将为下一个区域更新命令速度，然后该过程继续。每当命令速度更新时，将不评估下一个区域。根据外科器械的预定协议/算法(包括限位开关、受控减速度等)来处理行程结束。在行程结束时，I形梁2514以快速返回到初始I形梁停放位置10002。根据外科器械的协议/算法处理返回行程的结束(返回到停放位置10002)。可以无限制地限定其它区域。
表2-针对各种动态击发区域以指定命令速度行进穿过区域的时间
Figure BDA0002328998980000712
表3-针对各种动态击发区域以指定命令速度行进穿过区域的时间的非限制性示 例
Figure BDA0002328998980000721
表4-基于上坡时间设定速度的算法
算法 ta(s) tb(s)
如果I形梁上坡的时间t(s)为… t1<t<t2 t>t2至t3
那么，T形槽中I形梁的初始速度V为… V1(mm/s) V2(mm/s)
并且自动速度被设定为… 快 中等
表5-基于上坡时间设定速度的算法的非限制性示例
算法 ta(s) tb(s)
如果I形梁上坡的时间t(s)为… t<0.9 t≥0.9
那么，T形槽中I形梁的初始速度为… 30mm/s 12mm/s
并且自动速度被设定为… 快 中等
在一个方面，表1-5可存储在外科器械的存储器中。表1-5可以查找表(LUT)的形式存储在存储器中，使得控制电路2510可基于存储在LUT中的值来检索值并控制每个区域中的I形梁2514的命令速度。
图39为根据本公开的一个方面，比较随时间10102变化的I形梁2514行程旋转间隔δn(顶部曲线图)和随时间10104变化的I形梁2514的预期击发力(底部曲线图)的图形描绘10100。参考顶部曲线图10102，水平轴线10106表示以秒(s)为单位的从0到1.00X的时间(t)，其中X为比例因子。例如，在一个方面，X＝6，并且水平轴线10106表示从0到6秒的时间。垂直轴线10108表示以毫米(mm)为单位的I形梁2514的位移(δ)。旋转间隔δ1表示对于薄组织和中厚组织，I形梁2615行程10114或斜坡10006顶部的位移(图36A、图36B)。对于薄组织，I形梁2514到达斜坡行程10114顶部的时间为t1，对于中厚组织，I形梁2514到达斜坡行程10114顶部的时间为t2。如图所示，t1<t2，使得I形梁2514到达斜坡行程10114的顶部对于薄组织所花费的时间少于对于中厚或厚组织所花费的时间。在一个示例中，斜坡行程10114顶部的旋转间隔δ1为约4.1mm(0.160英寸)，并且时间t1小于0.9秒(t1<0.9秒)，时间t2大于0.9秒但小于1.8秒(0.9<t2<1.8秒)。因此，还参考表5，到达斜坡行程10114顶部的速度对于薄组织是快速的，对于中厚组织是中速的。
现在转向底部曲线图10104，水平轴线10110表示以秒(s)为单位的时间(t)，并且具有与顶部曲线图10102的水平轴线10106相同的比例。然而，垂直轴线10112表示以牛顿(N)为单位的I形梁2514的预期击发力(F)，对于薄组织为击发力曲线图10116，并且对于中厚组织为击发力曲线图10118。薄组织击发力曲线图10116低于中厚组织击发力曲线图10118。薄组织击发力曲线图10116的峰值力F1低于中厚组织击发力曲线图10118的峰值力F2。另外，参考顶部曲线图10102和底部曲线图10104，可基于估计的组织厚度确定在区域Zo中I形梁2514的初始速度。如薄组织击发力曲线图10116所示，I形梁2514以快的初始速度(例如，30mm/s)达到斜坡行程10114顶部的峰值力F1，并且如中厚组织击发力曲线图10118所示，I形梁2514以中等初始速度(例如，12mm/s)达到斜坡行程10114顶部的峰值力F2。一旦在区域Zo中的初始速度被确定，控制电路2510便可设定I形梁2514在区域Z1中的估计速度，以此类推。
图40为根据本公开的一个方面，比较随I形梁行程10202的设定旋转间隔变化的组织厚度(顶部曲线图)、随I形梁行程10204的设定旋转间隔变化的击发力(从顶部起的第二曲线图)、随I形梁行程10206的设定旋转间隔变化的动态时间检查(从顶部起的第三曲线图)以及随I形梁行程10208的设定旋转间隔变化的I形梁的设定速度(底部曲线图)的图形描述10200。曲线图10202、10204、10206、10208的每一个的水平轴线10210表示例如用于60mm钉仓的马达2504的轴的设定旋转间隔。例如，马达2504的轴旋转对应于位移构件诸如I形梁2514的位移。在一个示例中，I形梁2514可在采用每英寸60个螺纹的螺杆驱动器的马达2504轴的约142转中穿过60mm仓2518。还参考表1，水平轴线10210已被标记以识别针对60mm钉仓的限定区域Z1-Z6。如表1所示，可针对各种尺寸的钉仓标记限定区域。对于60mm仓和每英寸60个螺纹的导螺杆驱动器，水平轴线10210被标记为0至142转。还参考图14，根据本公开，对于与击发行程期间穿过钉仓2518的I形梁2514的位移对应的多个马达2504轴旋转间隔，控制电路2510采样或测量来自定时器/计数器电路2531的实耗时间。在从位置传感器2534接收的设定旋转间隔δn，例如12转、23转或其它合适的轴旋转数下，控制电路2510采样或测量I形梁2514行进与固定旋转间隔δn对应的距离所花费的实耗时间tn。例如，每英寸有60个螺纹的导螺杆对应于0.42毫米/转。因此，例如，马达2504轴的12转对应于5.04mm(约5mm)的线性位移，马达2504轴的23转对应于9.66mm(约10mm)的位移。以这种方式，控制电路2510可确定I形梁2514的实际速度，并将实际速度与估计速度进行比较，并对马达2504的速度进行任何必要的调整。
组织厚度曲线图10202示出了沿着钉仓2518的组织厚度轮廓10220和水平虚线所示的指示厚度10221。击发力曲线图10204示出了沿着钉仓2518的击发力轮廓10228。当I形梁2514穿过区域Z1和Z2时，击发力10230保持相对恒定，而组织厚度10222保持在指示厚度10221以下。当I形梁2514进入区域Z3时，组织厚度10224增加，击发力也增加，同时I形梁2514穿过区域Z3、Z4和Z5中的较厚组织。当I形梁2514离开区域Z5并进入区域Z6时，组织厚度10226减小，并且击发力10234也减小。
现在参考图14、图36A至图40和表2至表3，将区域Z1中的速度Φ1设定为由控制电路2510在区域Zo中确定的命令速度Φo(以每秒旋转数为单位)，该命令速度基于I形梁2514行进到区域Zo中的斜坡10006顶部所花费的时间，如参考图36A、图36B和图38所讨论的。还转向图39中的曲线图10206、10208，初始设定速度Φo被设定为中速，因此区域Z1中的设定速度Φ1被设定为中速，使得Φ1＝Φo。
在设定旋转位置δ1(例如，对于60mm钉仓和每英寸60个螺纹的导螺杆为12转[5.04mm])，当I形梁2514退出区域Z1并进入区域Z2时，控制电路2510测量I形梁2514在设定旋转间隔Θ1(12转，5.04mm)期间行进设定距离所花费的实际时间t1，并确定I形梁2514的实际速度。参考图39中的曲线图10206和10208，在设定旋转位置δ1处，I形梁2514在设定旋转间隔Θ1期间行进设定距离所花费的实际时间t1为t1＝0.55秒。根据表3，区域Z1中的实际行进时间t1＝0.55秒，需要将区域Z2中的命令或设定速度Φ2设定为中速。因此，控制电路2510不重置区域Z2的命令速度，而是将其维持在中速。
在设定旋转位置δ2(例如，对于60mm钉仓和每英寸60个螺纹的导螺杆为35转[14.7mm])，当I形梁2514退出区域Z2并进入区域Z3时，控制电路2510测量I形梁2514在设定旋转间隔Θ2(23转，9.66mm)期间行进设定距离所花费的实际时间t2，并确定I形梁2514的实际速度。参考图39中的曲线图10606和10608，在设定旋转位置δ2处，I形梁2514在设定旋转间隔Θ2期间行进设定距离所花费的实际时间t2为t2＝0.95秒。根据表3，区域Z2中的实际行进时间t2＝0.95秒，需要将区域Z3中的命令或设定速度Φ3设定为中速。因此，控制电路2510不重置区域Z3的命令速度，而是将其维持在中速。
在设定旋转位置δ3(例如，对于60mm钉仓和每英寸60个螺纹的导螺杆为59转[24.78mm])，当I形梁2514退出区域Z3并进入区域Z4时，控制电路2510测量I形梁2514在设定旋转间隔Θ3(23转，9.66mm)期间行进设定距离所花费的实际时间t3，并确定I形梁2514的实际速度。参考图39中的曲线图10606和10608，在设定旋转位置δ3处，I形梁2514在设定旋转间隔Θ3期间行进设定距离所花费的实际时间t3为t3＝1.30秒。根据表3，区域Z3中的实际行进时间t3＝1.30秒，需要将区域Z4中的命令或设定速度Φ4设定为慢。这是因为1.3秒的实际行进时间大于1.10秒，并且超出了先前的范围。因此，控制电路2510确定区域Z3中的实际I形梁2514的速度比预期的慢，这是由于外部影响，诸如比预期厚的组织，如曲线图10202中的组织区域10224所示。因此，控制电路2510将区域Z4中的命令速度Φ4从中速重置为慢速。
在一个方面，控制电路2510可被配置为能够在速度被重置的区域之后的区域中禁用速度重置。换句话说，无论何时在当前区域中更新速度，都不会评估后续区域。由于速度是在区域Z4中更新的，因此在设定旋转距离δ4(例如，对于60mm钉仓为82转[34.44mm])的区域Z4的末端，将不会测量I形梁2514穿过区域Z4所花费的时间。因此，区域Z5中的速度将保持与区域Z4中的速度相同，并且动态时间测量在设定旋转位置δ5(例如，对于60mm钉仓和每英寸60个螺纹的导螺杆为106转[44.52mm])处恢复。
在设定旋转位置δ5(例如，对于60mm钉仓和每英寸60个螺纹的导螺杆为106转[44.52mm])，当I形梁2514退出区域Z5并进入区域Z6时，控制电路2510测量I形梁2514在设定旋转间隔Θ5(23转，9.75mm)期间行进设定距离所花费的实际时间t5，并确定I形梁2514的实际速度。参考图39中的曲线图10606和10608，在设定旋转位置δ5处，I形梁2514在设定旋转间隔Θ5期间行进设定距离所花费的实际时间t5为t5＝0.95秒。根据表3，区域Z5中的实际行进时间t5＝0.95秒，需要将区域Z6中的命令或设定速度Φ6设定为高。这是因为0.95秒的实际行进时间小于1.00秒，并且超出了先前的范围。因此，控制电路2510确定区域Z5中的I形梁2514的实际速度比预期的快，这是由于外部影响，诸如比预期薄的组织，如曲线图10602中的组织区域10626所示。因此，控制电路2510将区域Z6中的命令速度Φ6从慢重置为高。
图41为根据本公开的一个方面的击发力随时间变化的图形描述10300，比较慢、中和快I形梁2514位移速度。水平轴线10302表示I形梁穿过钉仓所花费的时间t(秒)。垂直轴线10304表示击发力F(N)。该图形描述显示了三条独立的击发力随时间变化的曲线。第一击发力曲线10312表示以快的速度穿过薄组织10306并在t1处在斜坡10006的顶部(图36B)达到最大击发力F1的I形梁2514(图14)。在一个示例中，I形梁2514的快速穿过速度约为30mm/s(约71转/秒)。第二击发力曲线10314表示以中等速度穿过中厚组织10308并在大于t1的t2处在斜坡10006的顶部达到最大击发力F2的I形梁2514。在一个示例中，I形梁2514的中等穿过速度约为12mm/s(约29转/秒)。第三击发力曲线10316表示以慢的速度穿过厚组织10310并在大于t2的t3处在斜坡9006的顶部达到最大击发力F3的I形梁2514。在一个示例中，I形梁2514的慢的穿过速度约为9mm/s(约21转/秒)。
图42为描绘根据本公开的一个方面的用于控制初始击发阶段的命令速度的控制程序或逻辑配置的过程10400的逻辑流程图。还参考图14和图36A至图40，控制电路2510基于马达2504轴的转数和每mm或英寸导螺杆的螺纹数来确定10402位移构件诸如I形梁2514的参考位置。如前所述，每英寸60个螺纹的导螺杆使轴的每次旋转将位移构件推进0.42mm。基于轴旋转信息的位置信息由位置传感器2534提供。在I形梁2514的示例中，参考位置为在闭合斜坡10006的底部处的近侧或停放位置10002，如图36B所示。一旦确定10402参考位置，控制电路2510和马达控制2508就将马达2504的命令速度设定为预先确定的命令速度Φo，并以针对初始或基本区域Zo的预先确定的命令速度Φo开始10404击发位移构件(例如，I形梁2514)。在一个示例中，初始预先确定的命令速度Φo约为12mm/s(29转/秒)，但是可采用其它初始预先确定的命令速度Φo。控制电路2510监视10406从位置传感器2534接收到的轴旋转信息，直到I形梁2514到达如图36B所示的斜坡10006的顶部处的目标位置为止。预先确定的旋转间隔时间段To是位移构件在以当前设定命令速度Φo行进时行进预先确定的距离所花费的期望时间段。实际旋转时间段Tn与预先确定的旋转时间段To之间的偏差至少部分是由于作用在位移构件上的外部影响，例如作用在I形梁2514的切割边缘2509上的组织厚度。
利用从定时器/计数器电路2531接收到的定时信息和从位置传感器2534接收到的轴旋转信息，控制电路2510测量10408位移构件在特定轴旋转数(例如，12转或24转)后从参考位置10002行进到目标位置10004所花费的时间to。控制电路210基于测量的时间to设定10410第一区域Z1的命令速度Φ1。如表1所示，可针对各种尺寸的钉仓限定各种限定区域。然而，也可限定其它区域。控制电路2510通过将所测量的时间to与存储在存储器中(例如，存储在查找表(LUT)中)的值进行比较9412来设定10410第一区域Z1的命令速度Φ1。在一个示例中，如通常在表4中以及通过特定示例的方式在表5中所示，如果I形梁2514以5转/秒从参考位置10002沿斜坡10006向上行进到目标位置10004所花费的时间to小于0.9秒(t-o<0.9秒)，则将第一区域Z1的命令速度设定10414为快速(例如，30mm/s，71转/秒)。否则，如果I形梁2514以5转/秒从参考位置10002沿斜坡10006向上行进到目标位置10004所花费的时间to(秒)大于或等于0.9秒(to≥0.9)，则将第一区域Z1的命令速度设定10416为中速(例如，12mm/s，29转/秒)。随后，控制电路2510检查10418是否锁定，并且如果存在锁定条件则停止10420马达2504。否则，控制电路进入10422动态击发阶段，如下文参考图42中的过程10450所述。
图43为描绘根据本公开的一个方面的用于控制动态击发阶段的命令速度的控制程序或逻辑配置的过程10450的逻辑流程图。还参考图14和图36A至图40，控制电路2510基于初始时间to设定10452第一区域Z1的马达2504的初始命令速度(以每秒旋转数为单位)，如参考图41中的过程10400所述。当位移构件穿过钉仓2518时，控制电路2510接收来自位置传感器2534的轴旋转信息和来自定时器/计数器2531电路的定时信息，并监视10454代表位移构件在预定义区域Zn上的位置的轴旋转数。在区域Zn的末端，控制电路2510基于预先确定的轴旋转数测量10456位移构件从区域Zn的起点行进到区域Zn的末端所花费的实际时间tn，并比较10458该实际时间tn与特定区域的预先确定的时间，如通常在表2中以及通过特定示例的方式在表3中所示。预先确定的旋转时间段Tn是以当前设定的命令速度Φn转/秒行进的位移构件的预期旋转时间段。实际旋转时间段Tn与预先确定的旋转时间段To之间的偏差至少部分是由于作用在位移构件上的外部影响，例如作用在I形梁2514的切割边缘2509上的组织厚度。
例如，参考表3，针对各种动态击发区域提供了以指定命令速度行进穿过区域的时间。例如，如果动态击发区域为区域Z1(12转)并且tn<0.5秒，则将下一个区域Z2的命令速度设定为快速；如果0.5秒<tn<0.6秒，则将下一个区域Z2的命令速度设定为中速；并且如果tn>0.6秒，则将下一个区域Z2的命令速度设定为慢速。
但是，如果动态击发区域为例如位于第一区域Z1和最后一个区域Z6之间的中间区域Z2-Z5(24转)，并且如果tn<0.9秒，则将下一个区域Z2的命令速度设定为快速；如果0.9秒<tn<1.1秒，则将下一个区域Z3-Z5的命令速度设定为中速；并且如果tn>1.1秒，则将下一个区域Z3-Z5的命令速度设定为慢速。
最后，如果动态击发区域为最后测量区域Z5(24转)并且tn<1.0秒，则将最后区域Z6的命令速度设定为快速；如果1.0秒<tn<1.3秒，则将最后区域Z6的命令速度设定为中速；并且如果tn>1.3秒，则将最后区域Z6的命令速度设定为慢速。其它参数不仅可用于限定动态击发区域，还可用于针对各种动态击发区域限定以指定命令速度穿过区域的时间。
基于比较10458算法的结果，控制电路2510将继续过程10450。例如，如果比较10458的结果表明前一个区域Zn中的实际速度(快速、中速、慢速)与前一命令速度V1(快速、中速、慢速)相同，则控制电路2510保持10460下一个区域Zn+1的命令速度与前一命令速度相同。过程10450继续监视10454在下一预定义区域Zn+1上的轴旋转数。在下一个区域Zn+1的末端，控制电路2510测量10456位移构件在预先确定的轴旋转数期间从下一个区域Zn+1的起点行进到下一个区域Zn+1的末端所花费的时间tn+1，并比较10458实际时间tn+1与特定区域的预先确定的时间，如通常在表2中以及通过特定示例的方式在表3中所示。如果命令速度不需要改变，则过程10450一直进行到指示位移构件(例如，I形梁2514)到达行程结束10466，并且将位移构件返回10468到参考位置10002的旋转数。
如果比较10458的结果表明前一个区域Zn中的实际速度(快速、中速、慢速)与前一命令速度Φ1(快速、中速、慢速)不同，则控制电路2510根据表2和表3中总结的算法将下一个区域Zn+1的命令速度重置10462或更新。如果命令速度被重置10462或更新为Φ新，则控制电路2510保持10464附加区域Zn+2的命令速度Φ新。换句话说，在下一个区域Zn+1的末端，控制电路2510不评估或测量时间。过程10450继续监视10454代表位移构件在下一预定义区域Zn+1上的位置的轴旋转数，直到指示位移构件(例如，I形梁2514)到达行程结束10466并将位移构件返回10468到参考位置10002的旋转数。
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，该位移构件被构造成能够在外科器械内在多个预定义区域上平移的位移构件；马达，该马达包括轴，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视轴的旋转；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：从位置传感器接收由设定旋转间隔限定的当前区域中的轴的旋转；在旋转间隔的设定位置处测量时间，其中该测量时间被定义为位移构件基于预先确定的轴旋转数穿过该旋转间隔所花费的时间；并且基于在当前预定义区域中的所测量时间，设定随后区域的位移构件的命令速度。
实施例2.根据实施例1所述的外科器械，其中，控制电路被配置为能够：确定位移构件所处的设定旋转间隔，其中该设定旋转间隔由导致位移构件从开始位置向结束位置线性平移的轴旋转数限定；以及测量位移构件到达旋转间隔的结束位置的时间。
实施例3.根据实施例1所述的外科器械，其中，控制电路被配置为能够：将所测量的时间与存储在与控制电路联接的存储器中的预先确定的时间进行比较；并且基于该比较确定是调节还是保持命令速度。
实施例4.根据实施例3所述的外科器械，其中，控制电路被配置为能够：当所测量的时间在预先确定的时间范围内时，将后续区域的命令速度与当前区域的命令速度保持相同。
实施例5.根据实施例3所述的外科器械，其中，控制电路被配置为能够：当所测量的时间在预先确定的时间范围之外时，将后续区域的命令速度设定为与当前区域的命令速度不同。
实施例6.根据实施例5所述的外科器械，其中，控制电路被配置为能够在调节命令速度时跳过对随后区域的时间测量。
实施例7.根据实施例1所述的外科器械，其中，为钉仓限定了多个区域，该钉仓被构造成能够与该外科器械一起操作。
实施例8.根据实施例7所述的外科器械，其中，至少两个区域具有不同的长度。
实施例9.根据实施例1所述的外科器械，还包括联接到马达的轴的螺杆驱动系统，该螺杆驱动系统包括联接到螺母的导螺杆，其中该螺母联接到位移构件。
实施例10.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移的位移构件；马达，该马达包括轴，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视轴的旋转；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间；其中该控制电路被配置为能够：从位置传感器接收由预先确定的旋转间隔限定的当前区域中的轴的旋转；基于预先确定的轴旋转数，测量位移构件从停放位置移动到目标位置的时间；并且基于所测量时间设定第一动态区域的位移构件的命令速度。
实施例11.根据实施例10所述的外科器械，其中，控制电路被配置为能够：将所测量的时间与存储在与控制电路联接的存储器中的预先确定的时间进行比较。
实施例12.根据实施例11所述的外科器械，其中，控制电路被配置为能够：当所测量的时间在第一时间范围内时将初始区域的命令速度设定为第一速度，并且当所测量的时间在第二时间范围内时将初始区域的命令速度设定为第二速度。
实施例13.根据实施例10所述的外科器械，其中，控制电路被配置为能够确定锁定条件并停止马达。
实施例14.根据实施例10所述的外科器械，还包括联接到马达的轴的螺杆驱动系统，该螺杆驱动系统包括联接到螺母的导螺杆，其中该螺母联接到位移构件。
实施例15.一种控制外科器械中的马达速度的方法，该外科器械包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达包括轴，该马达联接到该位移构件以平移该位移构件；控制电路，该控制电路联接到该马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视轴的旋转；定时器电路，该定时器电路联接到该控制电路，该定时器/计数器电路被配置为能够测量实耗时间，该方法包括：从位置传感器接收由设定旋转间隔限定的当前区域中的轴的旋转；由定时器电路在旋转间隔的设定位置处测量时间，其中该测量时间被定义为位移构件基于预先确定的轴旋转数穿过该旋转间隔所花费的时间；以及并且由控制电路基于在当前区域中的所测量时间，设定随后区域的位移构件的命令速度。
实施例16.根据实施例15所述的方法，还包括：由控制电路和定时器电路确定位移构件所处的设定旋转间隔，其中该设定旋转间隔由导致位移构件从开始位置向结束位置线性平移的轴旋转数限定；以及由控制电路测量位移构件到达旋转间隔的结束位置的时间。
实施例17.根据实施例15所述的方法，还包括：由控制电路将所测量的时间与存储在与控制电路联接的存储器中的预先确定的时间进行比较；以及由控制电路基于该比较确定是调节还是保持命令速度。
实施例18.根据实施例17所述的方法，还包括：当所测量的时间在预先确定的时间范围内时，由控制电路将后续区域的命令速度与当前区域的命令速度保持相同。
实施例19.根据实施例17所述的方法，还包括：当所测量的时间在预先确定的时间范围之外时，由控制电路将后续区域的命令速度设定为与当前区域的命令速度不同。
实施例20.根据实施例19所述的方法，还包括当调节命令速度时，由控制电路跳过对随后区域的时间测量。
实施例21.根据实施例15所述的方法，还包括由控制电路为钉仓限定多个区域，该钉仓被构造成能够与该外科器械一起操作。
实施例22.根据实施例21所述的方法，还包括由控制电路限定具有不同长度的至少两个区域。
用于控制外科器械的显示马达速度的系统和方法
在使用电动外科缝合和切割器械期间，用户可能不知道切割构件或击发构件的命令速度或实际速度。因此，可能期望通过显示屏将信息传送给用户，以提供关于切割构件或击发构件的击发速度的信息，其中该速度与显示屏上指示的区域的大小有关。可能期望传送速度控制，以显示命令速度以及击发模式是否处于闭环反馈自动模式或手动选择模式。
现在，本公开转向用于基于各种条件来控制马达速度的闭环反馈系统。由控制电路2510执行的闭环反馈系统可被配置为能够实现默认的(例如，预先编程的)击发条件或用户选择的击发条件。可在开环部分期间或换句话讲在位移行程的闭环部分之前选择用户选择的击发条件。在一个方面，用户选择的击发条件被配置为能够覆盖默认或预先编程的击发条件的执行。
现在转向图44，其示出了根据本公开的一个方面的外科器械10500的透视图。在一个方面，包括经由轴10503连接到柄部组件10502的端部执行器10504的外科器械10500还包括显示器10506。外科器械10500包括主按钮10508、关节运动切换开关10510、击发触发器和安全释放装置10512以及闭合触发器10514。
在以下讨论中，还应当参考图14。显示器10506操作地联接到控制电路2510，使得控制电路2510可使显示器10506显示与器械10500的操作相关的各种信息，诸如由或根据位置传感器2534、电流传感器2536和/或其它传感器2538确定的信息。在一个方面，显示器10506可被配置为能够显示I形梁2514被设定为由马达2504平移的速度(即，命令速度)和/或I形梁2514被平移的实际速度。命令速度是设定、目标或期望的速度。I形梁2514将被平移的命令速度可通过接收马达设定点来确定，该马达设定点指示马达2504驱动I形梁2514的速度，该速度由来自马达控制2508的马达驱动信号2524指示，或者将提供给马达控制2508的马达驱动信号2524存储在存储器中以用于随后的检索。可通过在一段时间内监测I形梁2514的位置来确定I形梁2514或击发驱动系统的其它部件平移的实际速度，该速度可由控制电路2510经由来自定时器/计数器2531的输入来跟踪。
在各种方面，外科器械10500的显示器10506可直接定位在柄部组件10502的外壳或壳体上，或者以其它方式与外科器械10500整体关联。在其它方面，显示器10506可以可移除地连接或附接到外科器械10500。在其它方面，显示器10506可与外科器械10500分开或以其它方式不同。显示器10506可通过有线连接或无线连接可通信地联接到控制电路2510。
图45为根据本公开的一个方面的图44所示的外科器械10500的显示器10506部分的详细视图。显示器10506包括LCD显示器10516，以用于传送速度控制，该速度控制包括显示命令速度以及击发模式是否处于闭环反馈(自动)模式或手动选择模式。显示器10506通过显示端部执行器钉仓10518的图形图像来提供横切反馈，该端部执行器钉仓具有刀10520和钉排10522。左侧图形标签10524指示刀10520已向远侧行进的距离10528(例如，10mm)，而右侧图形标签10526指示刀10520在其向远侧行进时的速度，其中电流速度被圈出(例如，3)，其中1为快速，2为中速，并且3为慢速。速度可基于组织的状况手动地或自动地选择。
图46为描绘根据本公开的一个方面的用于控制显示器的控制程序或逻辑配置的过程10550的逻辑流程图。还应参考图14和图44。因此，控制电路2510首先从器械输入接收10552命令速度，并将马达2504的速度设定10554为命令速度。控制电路2510从位置传感器2534接收10556位移构件(例如，I形梁2514)的位置信息，并从定时器/计数器电路2531接收10558定时信息，并确定10560位移构件的速度。I形梁2514的速度可包括I形梁2514平移的实际速度或者I形梁2514被设定为平移的命令速度。控制电路2510然后使显示器10506显示10562指示位移构件的实际速度和/或根据器械10500的配置的命令速度的标记。在一个方面，控制电路2510确定10560I形梁2514的实际速度和命令速度，然后使显示器10506显示10562针对实际速度和命令速度中的每一个的标记。然后，控制电路2510将位移构件的速度与命令速度进行比较10564，并且使显示器10506显示10566关于该比较的标记。例如，控制电路2510可使显示器10506显示指示位移构件的实际速度是等于、大于还是小于命令速度的标记。在一些方面，控制电路2510使显示器10506显示位移构件相对于命令速度的范围的实际速度，该命令速度例如是低速或慢速(例如，0-7mm/s)、中速(例如，7-12mm/s)或者高速或快速(例如，12-30mm/s)。此外，控制电路2510从能量源2512接收10568电池的操作状态，诸如电压、电流、阻抗、容量、温度等，并使显示器10506显示10570电池的状态。
一个或多个速度的标记可包括指示以例如mm/s呈现的速度的数字，指示相对于最大值或最小值的速度值的数字，根据速度改变的形状，用根据速度的颜色填充或加阴影的形状，根据速度闪烁的形状或字母数字字符，根据速度改变颜色的形状或字母数字字符，指示绝对或相对速度的刻度盘，指示速度下降的区域的形状或字母数字字符，表示指示速度的动物的一个或一系列图标，被配置为表示速度的各种其它标记，及其组合。例如，参考图47至图81，这些标记在下文以显示反馈屏幕的描述的形式举例说明和描述。
图47至图49示出了描绘根据本公开的一个方面的速度反馈屏幕的各种显示器10600。显示器10600示出了端部执行器钉仓10618的图形图像。显示器10600包括速度标记10602，以指示位移构件(例如，I形梁2514)的命令或实际速度。在一个方面，速度标记10602包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图47至图49中所描绘的。速度标记10602的一个或多个形状可包括例如三角形截头圆锥体或任何其它合适的几何形状。在一个方面，速度标记10602可包括指示速度的相对值的多个区域。在一个这样的方面，速度标记10602包括分别对应于慢速、中速和快速的第一区域10604、第二区域10606和第三区域10608。如上所述，控制电路2510使显示器10600指示速度下降的区域，如由控制电路2510所确定的。区域10604、10606、10608中的每一个可包括刻度10610或记号，以提供I形梁2514元件的命令速度的附加分辨率。另外，速度标记10602可包括表示慢速的图形，例如在第一区域10604下方的乌龟10612的轮廓，以及表示快速的图形，例如在第三区域10608上方的野兔10614的轮廓。如图47所示，命令速度被设定为中速，如由第一区域10604和第二区域10606被填充或加阴影而第三区域16008未被填充或未加阴影所指示的。如图48所示，命令速度被设定为低，如由仅第一区域10604被填充或加阴影而第二区域10606和第三区域16008未被填充或未加阴影所指示的。如图49所示，命令速度被设定为高，如由全部三个区域10604、10606、10608被完全填充或加阴影所指示的。显示器10600底部的状态栏10620将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图47至图49所示的示例中，状态栏10620指示正常操作。
在一些方面，显示器10600还包括模式标记，该模式标记指示外科器械10500被设定成的模式。这种模式可包括例如自动模式10616或手动模式10622。在美国专利申请代理人案卷号END8270USNP/170191中描述了用于控制电路2510控制I型梁2514被驱动的速度并相应地使显示器10600指示外科器械10500的模式的这种模式和过程，该申请全文以引用方式并入本文。在一些方面，自动模式10616或手动模式10622可以是闪存10624。
速度标记10602可另外包括被配置为指示速度的各种字母数字字符。字母数字字符可单独呈现，也可与其它标记诸如区域组合呈现。
在一个方面，显示器10600的由速度标记10602占据的尺寸或相对部分对应于速度。例如，速度标记10602可根据相对于最大速度的速度来填充或加阴影，如图47至图55所描绘。在其中速度标记10602包括字母数字字符的另一方面，字母数字字符的大小可根据由控制电路2510确定的速度而增大大小。
图50至图52示出了描绘根据本公开的一个方面的速度反馈屏幕的各种显示器10630。显示器10630示出了端部执行器钉仓10642的图形图像。显示器10630包括速度标记10632，以指示位移构件(例如，I形梁2514)的命令或实际速度。在一个方面，速度标记10632包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图50至图52中所描绘的。速度标记10632的一个或多个形状可包括例如三角形截头圆锥体或任何其它合适的几何形状。在一个方面，速度标记10632可包括指示速度的相对值的多个区域。在一个这样的方面，速度标记10632包括分别对应于慢速、中速和快速的第一区域10634、第二区域10636和第三区域10638。如上所述，控制电路2510使显示器10630指示速度下降的区域，如由控制电路2510所确定的。区域10634、10636、10638中的每一个可包括刻度10640或记号，以提供I形梁2514元件的命令速度的附加分辨率。另外，速度标记10632可包括字母数字字符10644，以指示自动或手动操作模式。在例示的示例中，该模式设定为AUTO(自动)。显示器10630底部的状态栏10646将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图50至图52所示的示例中，状态栏10646指示正常操作。
如图50所示，命令速度被设定为中速，如由被填充或加阴影的第一区域10634和第二区域10636和未被填充或未加阴影的第三区域16038所指示的。如图51所示，命令速度被设定为低速，如由被填充或加阴影的第一区域10634和未被填充或未加阴影的第二区域10636和第三区域16038所指示的。如图52所示，命令速度被设定为高速，如由全部三个区域10634、10636、10638被填充或加阴影所指示的。
图53至图55示出了描绘根据本公开的一个方面的速度反馈屏幕的各种显示器10650。显示器10650示出了端部执行器钉仓10662的图形图像。显示器10650包括速度标记10652，以指示位移构件(例如，I形梁2514)的命令速度以及实际速度。在一个方面，速度标记10652包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图53至图55中所描绘的。速度标记10652的一个或多个形状可包括例如三角形截头圆锥体或任何其它合适的几何形状。在一个方面，速度标记10652可包括指示速度的相对值的多个区域。在一个这样的方面，速度标记10652包括分别对应于慢速、中速和快速的实际速度的第一区域10654、第二区域10656和第三区域10658。如上所述，控制电路2510使显示器10650指示速度下降的区域，如由控制电路2510所确定的。区域10654、10656、10658中的每一个可包括刻度10660或记号，以提供I形梁2514元件的命令速度的附加分辨率。此外，速度标记10652可包括图标，该图标包括位于几何元素内的字母数字字符，以表示低、中和高的速度。在图53至图55所示的示例中，速度标记10652可包括附加的字母数字字符，诸如指示命令速度的圆圈“H”图标10653、圆圈“M”图标10655和圆圈“L”图标10657。根据命令速度，将填充、加阴影或点亮“H”图标10653、“M”图标10655或“L”图标10657，以指示命令速度设定。另外，速度标记10652可包括字母数字字符10664，以指示自动或手动操作模式。在例示的示例中，该模式设定为MANUAL(手动)。显示器10650底部的状态栏10666将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图53至图55所示的示例中，状态栏10666指示正常操作。在一个方面，“H”图标10653、“M”图标图形10655和“L”图标10657的填充或阴影颜色可与状态栏10666的填充或阴影颜色相同，以指示正常或警告操作模式。
如图53所示，实际速度被设定为中速，如由被填充或加阴影的第一区域10654和第二区域10656以及未被填充或未加阴影的第三区域10658所指示的，并且命令速度被设定为中速，如由被填充或加阴影的“M”图标10655(以及未被填充或未加阴影的“H”图标10653和“L”图标10657)所指示的。如图54所示，实际速度为慢速，如由被填充或加阴影的第一区域10654(以及未被填充或未加阴影的第二区域10656和第三区域10658)所指示的，并且命令速度被设定为低，如由填充的“L”图标10657(以及未被填充或未加阴影的“H”图标10653和“M”图标10655)所进一步指示的。如图55所示，实际速度为快速，如由全部三个区域10654、10656、10658被完全填充或加阴影所指示的，并且命令速度被设定为高，如由被填充或加阴影的“H”图标10653(以及未被填充或未加阴影的圆圈“M”图形10655和圆圈“L”图形10657)所进一步指示的。
图56至图58示出了描绘根据本公开的一个方面的各种速度反馈屏幕的各种显示器10670、10670’。显示器10670、10670’示出了端部执行器钉仓10682的图形图像。显示器10670、10670’包括速度标记10672、10672’，以指示位移构件(例如，I形梁2514)在击发周期期间的命令速度以及实际速度。在一个方面，速度标记10672、10672’包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图56至图58中所描绘的。速度标记10672、10672’的一个或多个形状可包括例如弧形或任何其它合适的几何形状。在一个方面，速度标记10672、10672’可包括弧形图形10678、10678’，该弧形图形包括多个刻度10680，以指示例如位移构件的0-30mm/s的实际速度。字母数字字符10684(0、7、12和30)围绕弧形图形10678、10678’的周边设置，以通过填充区域或阴影区域10686来指示实际速度。图56所示的显示器10670是图57和图58所示的显示器10670’的稍微修改的型式。例如，图62所示的显示器10670的弧形图形10678包括例如字母数字字符10684(7和12)周围的切口。
此外，速度标记10672、10672’还包括填充或加阴影圆圈图标10676，其具有一个或多个白色箭头以指示命令速度，使得例如一个箭头表示低速或慢速，两个箭头表示中等速度，三个箭头表示高速或快速。另外的字母数字字符10674指示速度的单位，例如，mm/s。随着速度增大或减小，阴影区域10686相应地增大和减小。显示器10670底部的状态栏10688将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图56至图58所示的示例中，状态栏10688指示正常操作。在一个方面，速度区域10686的填充或阴影颜色可与状态栏10688的填充或阴影颜色相同，以指示正常或警告操作模式。
如图56所示，实际速度为快速(约12mm/s)，如阴影区域10686所示，并且命令速度被设定为高，如圆圈图标10676中的三个箭头所示。如前所述，字母数字字符10684“7”和“12”包括切口。如图57所示，实际速度也为快速(约30mm/s)，如阴影区域10686所示，并且命令速度被设定为高，如圆圈图标10676中的三个箭头所示。如图58所示，命令速度为中速(约10mm/s)，如阴影区域10686所示，并且命令速度被设定为中速，如圆圈图标10676中的两个箭头所示。
图59至图61示出了描绘根据本公开的一个方面的各种速度反馈屏幕的显示器10690、10690’、10690”。显示器10690、10690’、10690”描绘了端部执行器钉仓10702、10702’、10702”的图形图像。显示器10690、10690’、10690”包括速度标记10692、10692’、10692”，用于指示命令速度以及在击发周期期间位移构件(例如，I形梁2514)的实际速度。在一个方面，速度标记10692、10692’、10692”包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图59至图61中所描绘的。速度标记10692、10692’、10692”的一个形状或多个形状可包括例如弧形或任何其它合适的几何形状。在一个方面，速度标记10692、10692’、10692”可包括弧形图形10698、10698’、10698”，该弧形图形包括多个刻度10700、10700’、10700”，以指示例如0mm/s至30mm/s的实际速度。字母数字字符10704、10704’、10704”(0、7、12和30)围绕弧形图形10698、10698’、10698”的周边设置，以通过填充或阴影区域10706、10706’、10706”来指示实际速度。显示器10690、10690’、10690”基本上类似，但包括一些细微变化。例如，图59中所描绘的显示器10690的弧形图形10678包括例如在字母数字字符10704(7和12)周围的切口，而图60和图61中所描绘的显示器10690’、10690”的弧形图形10678’、10678”则不包括此类切口。此外，图59和图61中所描绘的显示器10690、10690”的速度标记10692、10692”在显示器10690、10690”的底部部分处包括用于指示速度单位(例如，mm/s)的字母数字字符10694、10694”，而图60中所描绘的显示器10690’则在显示器10690’的顶部部分处包括用于指示速度单位(例如，mm/s)的字母数字字符10694’。
此外，速度标记10692、10692’、10692”还包括填充或阴影圆圈图标10696、10696’、10696”，其具有一个或多个白色箭头以指示命令速度，使得例如一个箭头表示低速度或慢速，两个箭头表示中等速度，三个箭头表示高速度或快速。随着速度增大或降低，填充或阴影区域10706、10706’、10706”相应地增大和减小。显示器10690、10690’、10690”底部的状态栏10708、10708’、10708”将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图59所示的示例中，状态栏10708指示警告操作。在图60至图61所示的示例中，状态栏10708’、10708”指示正常操作。在一个方面，速度区域10706、10706’、10706”的填充或阴影颜色可与状态栏10708、10708’、10708”的填充或阴影颜色相同，以指示正常或警告操作模式。
如图59所示，实际速度为中速(约12mm/s)，如阴影区域10706所示，但命令速度被设定为快速，如圆圈图标10696中的三个箭头所示。如前所述，字母数字字符10704“7”和“12”包括切口。如图60所示，实际速度为慢速(约7mm/s)，如阴影区域10706’所示，并且命令速度被设定为低速，如圆圈图标10696’中的单个箭头所示。如图61所示，实际速度还为慢速(约2mm/s)，如阴影区域10706”所示，并且命令速度被设定为低速，如圆圈图标10696”中的单个箭头所示。
图62至图64示出了描绘根据本公开的一个方面的各种速度反馈屏幕的各种显示器10720、10720’。显示器10720、10720’示出了端部执行器钉仓10732的图形图像。显示器10720、10720’包括速度标记10722、10722’，以指示位移构件(例如，I形梁2514)在击发周期期间的命令速度以及实际速度。在一个方面，速度标记10722、10722’包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图62至图64中所描绘的。速度标记10722、10722’的一个或多个形状可包括例如弧形或任何其它合适的几何形状。在一个方面，速度标记10722、10722’可包括弧形图形10728、10728’，该弧形图形包括多个刻度10736，以指示例如0mm/s至30mm/s的实际速度。字母数字字符10734(0、7、12和30)围绕弧形图形10728、10728’的周边设置，以通过填充区域或阴影区域10736来指示实际速度。图62所示的显示器10720是图63和图64所示的显示器10720’的稍微修改的型式。例如，图62所示的显示器10720的弧形图形10728包括例如字母数字字符10734(7和12)周围的切口。
此外，速度标记10722、10722’还包括透明或白色圆圈图标10726，其具有一个或多个黑色或阴影箭头以指示命令速度，使得例如一个箭头表示低速或慢速，两个箭头表示中等速度，三个箭头表示高速或快速。另外的字母数字字符10724指示速度的单位，例如，mm/s。随着速度增大或减小，阴影区域10736相应地增大和减小。显示器10720、1072’底部的状态栏10738将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图62至图64所示的示例中，状态栏10738指示正常操作。在一个方面，速度区域10736的填充或阴影颜色与状态栏10738的填充或阴影颜色相同，以指示正常或警告操作模式。
如图62所示，实际速度为中速至快速(约12mm/s)，如阴影区域10736所示，并且命令速度被设定为高，如圆圈图标10726中的三个箭头所示。如前所述，字母数字字符10734“7”和“12”包括切口。如图63所示，实际速度为快速(约30mm/s)，如阴影区域10736所示，并且命令速度被设定为高，如圆圈图标10726中的三个箭头所示。如图64所示，实际速度为中速(约10mm/s)，如阴影区域10736所示，并且命令速度被设定为中速，如圆圈图标10726中的两个箭头所示。
图65至图67示出了描绘根据本公开的一个方面的各种速度反馈屏幕的显示器10740、10740’、10740”。显示器10740、10740’、10740”描绘了端部执行器钉仓10752、10752’、10752”的图形图像。显示器10740、10740’、10740”包括速度标记10742、10742’、10742”，用于指示命令速度以及在击发周期期间位移构件(例如，I形梁2514)的实际速度。在一个方面，速度标记10742、10742’、10742”包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图65至图67中所描绘的。速度标记10742、10742’、10742”的一个形状或多个形状可包括例如弧形或任何其它合适的几何形状。在一个方面，速度标记10742、10742’、10742”可包括弧形图形10748、10748’、10748”，该弧形图形包括多个刻度10750、10750’、10750”，以指示例如0mm/s至30mm/s的实际速度。字母数字字符10704、10704’、10704”(0、7、12和30)围绕弧形图形10748、10748’、10748”的周边设置，以通过填充或阴影区域10756、10756’、10756”来指示实际速度。显示器10740、10740’、10740”基本上类似，但包括一些细微变化。例如，图65中所描绘的显示器10740的弧形图形10748包括例如在字母数字字符10754(7和12)周围的切口，而图66和图67中所描绘的显示器10740’、10740”的弧形图形10748’、10748”则不包括此类切口。此外，图65和图67中所描绘的显示器10740、10740”的速度标记10742、10742”在显示器10740、10740”的底部部分处包括用于指示速度单位(例如，mm/s)的字母数字字符10744、10744”，而图66中所描绘的显示器10740’则在显示器10740’的顶部部分处包括用于指示速度单位(例如，mm/s)的字母数字字符10744’。
此外，速度标记10742、10742’、10742”还包括透明或白色圆圈图标10746、10746’、10746”，其具有一个或多个黑色或阴影箭头以指示命令速度，使得例如一个箭头表示低速或慢速，两个箭头表示中等速度，三个箭头表示高速或快速。随着速度增大或降低，填充或阴影区域10756、10756’、10756”相应地增大和减小。显示器10740、10740’、10740”底部的状态栏10758、10758’、10758”将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图65所示的示例中，状态栏10758指示警告操作。在图66至图67所示的示例中，状态栏10758’、10758”指示正常操作。在一个方面，速度区域10756、10756’、10756”的填充或阴影颜色可与状态栏10758、10758’、10758”的填充或阴影颜色相同，以指示正常或警告操作模式。
如图65所示，实际速度为中速(约12mm/s)，如阴影区域10756所示，并且命令速度被设定为高速，如圆圈图标10726中的三个箭头所示。如前所述，字母数字字符10734“7”和“12”包括切口。如图66所示，实际速度为慢速(约7mm/s)，如阴影区域10756’所示，并且命令速度被设定为低速，如圆圈图标10746’中的单个箭头所示。如图67所示，实际速度为慢速(约2mm/s)，如阴影区域10756”所示，并且命令速度被设定为低速，如圆圈图标10746”中的单个箭头所示。
图68至图70示出了描绘根据本公开的一个方面的速度反馈屏幕的显示器10760。显示器10760示出了端部执行器钉仓10772的图形图像。显示器10760包括速度标记10762，以指示位移构件(例如，I形梁2514)的命令速度以及实际速度。在一个方面，速度标记10762包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图68至图70中所描绘的。速度标记10762的一个或多个形状可包括例如矩形形状或任何其它合适的几何形状。在一个方面，速度标记10762可包括矩形区域10778，其被填充或加阴影以指示实际速度的值。如上所述，控制电路2510使显示器10760指示速度下降的区域，如由控制电路2510所确定的。矩形区域10778可以包括刻度或记号，以提供I形梁2514元件的命令速度的附加分辨率。此外，速度标记10762可以包括图标10766，该图标包括位于几何元素内的字母数字字符以表示自动或手动操作模式。在例示的示例中，该模式被设定为自动“A”，并且命令速度被设定为7mm/s至12mm/s的范围。因此，自动图标10766位于实际速度可在其间变化的范围之间。填充或阴影区域10770指示实际速度可在其间变化的范围，例如，7mm/s至12mm/s。条形图元素10764指示位移构件的实际速度。显示器10760底部的状态栏10776将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图68至图70所示的示例中，状态栏10776指示正常操作。在一个方面，填充或阴影区域10770的填充或阴影颜色可与状态栏10776的填充或阴影颜色相同，以指示正常或警告操作模式。另外的字母数字字符10762指示速度的单位，例如，mm/s。附加字母数字字符10768指示命令速度范围(例如，0至7、7至12、12至30)。
如图68所示，自动“A”命令速度图标10766位于7mm/s至12mm/s之间，并且如条形图元素10764所指示的实际速度位于设定范围的上端。如图69所示，实际速度位于如条形图元素10764所指示的7mm/s至12mm/s的设定范围的底部。如图70所示，实际速度为低速，如条形图元素10764所示，并且自动范围为0mm/s至7mm/s，如图标10766的位置所示。
图71至图73示出了描绘根据本公开的一个方面的速度反馈屏幕的显示器10780。显示器10780示出了端部执行器钉仓10792的图形图像。显示器10780包括速度标记10782，以指示位移构件(例如，I形梁2514)的命令速度以及实际速度。在一个方面，速度标记10782包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图71至图73中所描绘的。速度标记10782的一个或多个形状可包括例如矩形形状或任何其它合适的几何形状。在一个方面，速度标记10782可包括矩形元素10798，其被填充或加阴影以指示实际速度的值。如上所述，控制电路2510使显示器10780指示速度下降的区域，如由控制电路2510所确定的。矩形元素10798可以包括刻度或记号，以提供I形梁2514元件的命令速度的附加分辨率。此外，速度标记10782可以包括图标10786，该图标包括位于几何元素内的字母数字字符以表示自动或手动操作模式。在例示的示例中，该模式被设定为手动“M”，并且命令速度被设定为7mm/s至12mm/s的范围。图标10786连接到指示矩形元素10798上范围的中点的状态栏10792。因此，自动图标10786位于实际速度可在其间变化的范围之间。填充或阴影区域10790指示实际速度可在其间变化的范围，例如，7mm/s至12mm/s。条形图元素10784指示位移构件的实际速度。显示器10780底部的状态栏10796将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图71至图72所示的示例中，状态栏10796指示正常操作，并且如图73所示，状态栏10796将该状态指示为警告。在一个示例中，可因条形图元素10784所指示的实际速度远远低于设定范围12mm/s至30mm/s而设定警告状态，这可指示切割元件遇到的组织比预期的要厚。在一个方面，填充或阴影区域10790的填充或阴影颜色可与状态栏10796的填充或阴影颜色相同，以指示正常或警告操作模式。另外的字母数字字符10794指示速度的单位，例如，mm/s。附加字母数字字符10788指示命令速度范围(例如，0至7、7至12、12至30)。
如图71所示，手动“M”命令速度范围图标10786位于7mm/s至12mm/s之间，并且实际速度由条形图元素10784指示为位于略微超过状态栏10792的设定范围之间。如图72所示，实际速度在条形图元素10784所指示的12mm/s至30mm/s的设定范围内，并且略微低于状态栏10792。如图73所示，实际速度位于条形图10784和状态栏10792所指示的12mm/s至30mm/s的设定范围下方。
图74至图76示出了描绘根据本公开的一个方面的速度反馈屏幕的显示器10800。显示器10800示出了端部执行器钉仓10812的图形图像。显示器10800包括速度标记10802，以指示位移构件(例如，I形梁2514)的命令速度以及实际速度。在一个方面，速度标记10802包括与速度成比例地填充或加阴影的形状或一系列形状，例如图74至图76所示。速度标记10802的一个或多个形状可以包括例如矩形形状或任何其它合适的几何形状。在一个方面，速度标记10802可包括被划分为两个较小的矩形元素10804、10806的矩形元素10814。底部元素10804指示命令或“设定”速度(例如，30mm/s)，并且顶部元素10806指示实际速度(例如，25mm/s)。另外的字母数字字符10808指示速度的单位，例如，mm/s。显示器10800底部的状态栏10810将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图74至图75所示的示例中，状态栏10810指示正常操作，并且如图76所示，状态栏10810将该状态指示为警告。在一个示例中，可因顶部矩形元素10806所指示的实际速度6mm/s远远低于设定命令速度12mm/s而设定警告状态，这可指示切割元件遇到的组织比预期的要厚。
如图74所示，命令速度被设定为如底部矩形元素1084所指示的30mm/s，并且实际速度为如顶部矩形元素10806所指示的25mm/s。如图75所示，命令速度被设定为如底部矩形元素1084所指示的12mm/s，并且实际速度为如顶部矩形元素10806所指示的11mm/s。如图76所示，命令速度被设定为如底部矩形元素1084所指示的12mm/s，并且实际速度为如顶部矩形元素10806所指示的6mm/s。
图77至图80示出了描绘根据本公开的一个方面的速度反馈屏幕的显示器10820。显示器10820示出了端部执行器钉仓10832的图形图像。显示器10820包括速度标记10822，以指示位移构件(例如，I形梁2514)的命令速度以及实际速度。在一个方面，速度标记10822包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图77至图80中所描绘的。速度标记10822的一个或多个形状可包括例如弧形形状或任何其它合适的几何形状。在一个方面，速度标记10822可包括被划分为三个较小的元素10836a、10836b、10836c的弧形元素10828。较小的元素10836a、10836b、10836c在被填充或加阴影时表示命令速度范围。包括几何形状包围的字母数字元素的图标10826表示自动“A”或手动“M”操作模式。指针10840连接到图标10826并且指示实际速度，其非常像速度计，包括用于增大的分辨率的刻度10830。如图77所示，第一元素10836a被加阴影并且表示介于0mm/s至7mm/s(低)之间的命令速度。如图78所示，第二元素10836b被加阴影并且表示介于7mm/s至12mm/s(中)之间的命令速度。如图79所示，第三元素10836c被加阴影并且表示介于12mm/s至30mm/s(高)之间的命令速度。另外的字母数字字符10824指示速度的单位，例如，mm/s。显示器10820底部的状态栏10838将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图77至图79所示的示例中，状态栏10838指示正常操作，并且如图80所示，状态栏10838将该状态指示为警告。在一个示例中，可因由指针10840所指示的实际速度高于第一元素10836a中所指示的命令速度范围而设定警告状态，这可指示切割元件遇到的组织比预期的要薄。
如图77所示，命令速度被设定为如第一元素10836a所指示的0mm/s至7mm/s的低范围，并且实际速度为如指针10840所指示的约3.5mm/s。如图78所示，命令速度被设定为如第二元素10836b所指示的7mm/s至12mm/s的中等范围，并且实际速度为如指针10840所指示的约9.5mm/s。如图79所示，命令速度被设定为如第三元素10836c所指示的12mm/s至30mm/s的高范围，并且实际速度为如指针10840所指示的约21mm/s。在图77至图79所示的每个示例中，操作正常，并且状态栏10838指示正常操作。现在转向图80，命令速度被设定为如第一元素10836a所指示的0mm/s至7mm/s的低范围，并且实际速度为如指针10840所指示的约9.5mm/s，该速度超出命令速度范围。因此，状态栏10838被设定为指示警告。如先前所讨论的，因如指针10840所指示的实际速度高于命令速度范围的上限而指示警告操作，从而指示切割元件可能遇到比预期的要薄的组织。
图81示出了描绘根据本公开的一个方面的电池反馈屏幕的显示器10860。显示器10860描绘了传达电池10864过热的电池10864的图形图像。如果电池10864处于过热状态，则其可能不具有按要求完成击发的能力，这指示电池过热状态。显示器10860包括例如表示热量10868诸如太阳的图标。温度计10866的图标也可指示电池10864的实际温度。显示警告图标10870和警告状态栏10872以指示电池10864过热状态。
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，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件以使该位移构件平移；显示器；控制电路，该控制电路联接到马达和显示器；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；并且其中控制电路被配置为能够：经由位置传感器来确定位移构件的速度；使显示器呈现指示外科器械的模式的模式标记，其中该模式包括自动模式和手动模式；并且使显示器呈现指示位移构件的速度的标记，其中显示器的由该标记占据的部分与位移构件的速度对应。
实施例2.根据实施例1所述的外科器械，其中，标记是第一标记，控制电路被进一步配置为能够：向马达提供设定点速度，该马达设定点被配置为能够使马达以马达速度驱动位移构件；并且使显示器呈现指示马达设定点速度的第二标记。
实施例3.根据实施例1至实施例2所述的外科器械，其中，标记包括多个区域，该多个区域中的每个区域均指示速度水平。
实施例4.根据实施例3所述的外科器械，其中，该多个区域包括指示低速的第一区域、指示中等速度的第二区域和指示快速的第三区域。
实施例5.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件以使该位移构件平移；显示器；控制电路，该控制电路联接到马达和显示器；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；并且其中控制电路被配置为能够：向马达提供马达设定点，该马达设定点被配置为能够使马达以一定速度驱动位移构件；在显示器上显示指示位移构件的速度的标记，其中显示器的由该标记占据的部分与位移构件的速度对应，以及在显示器上显示指示马达设定点速度的第二标记。
实施例6.根据实施例5所述的外科器械，其中，控制电路被进一步配置为能够使显示器呈现指示外科器械的模式的模式标记。
实施例7.根据实施例6的外科器械，其中，该模式包括自动模式和手动模式。
实施例8.根据实施例5所述的外科器械，其中控制电路被进一步配置为能够：显示表示位移构件的图像；以及随着位移构件朝远侧推进，显示表示位移构件的图像的进度。
实施例9.根据实施例5至实施例8所述的外科器械，其中，控制电路被进一步配置为能够使显示器呈现指示马达设定点速度的第二标记，其中第二标记表示马达设定点速度的范围。
实施例10.根据实施例5至实施例9所述的外科器械，其中，控制电路被进一步配置为能够显示表示外科器械的操作状态的状态栏。
实施例11.根据实施例10所述的外科器械，其中，当位移构件的速度在马达设定点速度的范围内时，状态栏表示正常操作。
实施例12.根据实施例10至实施例11所述的外科器械，其中，当位移构件的速度在马达设定点速度的范围之外时，状态栏表示警告操作。
实施例13.根据实施例5至实施例12所述的外科器械，其中，控制电路被进一步配置为能够：监视电池的状况；以及使显示器呈现指示电池状况的电池的图像。
实施例14.一种操作外科器械的方法，该外科器械包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到位移构件以使位移构件平移；显示器；控制电路，该控制电路联接到马达和显示器；位置传感器，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监视位移构件的位置，该方法包括：由控制电路经由位置传感器确定位移构件的速度；以及由控制电路在显示器上呈现指示位移构件的速度的标记，其中显示器的由该标记占据的部分与位移构件的速度对应，并且其中表示较高速度的标记大于表示较低速度的标记。
实施例15.根据实施例14所述的方法，其中，标记是第一标记，该方法还包括：由控制电路向马达提供设定点速度，该马达设定点被配置为能够使马达以马达速度驱动位移构件；以及由控制电路在显示器上呈现指示马达设定点速度的第二标记。
实施例16.根据实施例14至实施例15所述的方法，还包括由控制电路在显示器上呈现指示外科器械的模式的模式标记。
实施例17.根据实施例16所述的方法，还包括由控制电路在显示器上呈现包括自动模式和手动模式的模式。
实施例18.根据实施例14至实施例17所述的方法，还包括由控制电路在显示器上呈现包括多个区域的标记，该多个区域中的每个区域指示速度水平。
实施例19.根据实施例18所述的方法，还包括由控制电路在显示器上呈现多个区域，该多个区域包括指示低速的第一区域、指示中等速度的第二区域和指示快速的第三区域。
实施例20.根据实施例14至实施例19所述的方法，还包括：由控制电路监视电池的状况；以及由控制电路在显示器上呈现指示电池状况的电池的图像。
用于根据外科器械的用户输入来控制马达速度的系统和方法
在使用电动外科缝合和切割器械期间，用户可能不知道切割构件或击发构件的命令速度或实际速度。因此，可能期望为用户提供通过手动选择来控制击发速度的能力。可能期望提供具有第一击发条件的外科器械，该第一击发条件由外科器械基于切割构件或击发构件行进的距离的量度以及由用户预先确定的时间元件和第二击发条件来设定。
现在，本公开转向用于基于各种条件来控制马达速度的闭环反馈系统。由控制电路2510执行的闭环反馈系统可被配置为能够实现默认的(例如，预先编程的)击发条件或用户选择的击发条件。可在开环部分期间或换句话讲在位移行程的闭环部分之前选择用户选择的击发条件。在一个方面，用户选择的击发条件被配置为能够覆盖默认或预先编程的击发条件的执行。
现在转向图82，其示出了根据本公开的一个方面的外科器械10500的透视图。在一个方面，包括经由轴10503连接到柄部组件10502的端部执行器10504的外科器械10500还包括显示器10506。外科器械10500包括主按钮10508、关节运动切换开关10510、击发触发器和安全释放装置10512以及闭合触发器10514。
在以下讨论中，还应当参考图14。显示器10506操作地联接到控制电路2510，使得控制电路2510可使显示器10506显示与器械10500的操作相关的各种信息，诸如由或根据位置传感器2534、电流传感器2536和/或其它传感器2538确定的信息。在一个方面，显示器10506可被配置为能够显示I形梁2514被设定为由马达2504平移的速度(即，命令速度)和/或I形梁2514被平移的实际速度。命令速度是设定、目标或期望的速度。I形梁2514将被平移的命令速度可通过接收马达设定点来确定，该马达设定点指示马达2504驱动I形梁2514的速度，该速度由来自马达控制2508的马达驱动信号2524指示，或者将提供给马达控制2508的马达驱动信号2524存储在存储器中以用于随后的检索。可通过在一段时间内监测I形梁2514的位置来确定I形梁2514或击发驱动系统的其它部件平移的实际速度，该速度可由控制电路2510经由来自定时器/计数器2531的输入来跟踪。
在各种方面，外科器械10500的显示器10506可直接定位在柄部组件10502的外壳或壳体上，或者以其它方式与外科器械10500整体关联。在其它方面，显示器10506可以可移除地连接或附接到外科器械10500。在其它方面，显示器10506可与外科器械10500分开或以其它方式不同。显示器10506可通过有线连接或无线连接可通信地联接到控制电路2510。
图83是根据本公开的一个方面的图82所示的外科器械10500的显示器10506部分的详细视图。显示器10506包括LCD显示器10516，以用于传送速度控制，该速度控制包括显示命令速度以及击发模式是否处于闭环反馈(自动)模式或手动选择模式。显示器10506通过显示端部执行器钉仓10518的图形图像来提供横切反馈，该端部执行器钉仓具有刀10520和钉排10522。左侧图形标签10524指示刀10520已向远侧行进的距离10528(例如，10mm)，而右侧图形标签10526指示刀10520在其向远侧行进时的速度，其中电流速度被圈出(例如，3)，其中1为快速，2为中等，并且3为慢速。速度可基于组织的状况手动地或自动地选择。
图84是描绘根据本公开的一个方面的用于控制显示器的控制程序或逻辑配置的过程11000的逻辑流程图。还应参考图14和图82。图82中描绘的过程11000涉及用户选择击发行程的速度的能力。为了开始过程11000，控制电路2510启动击发行程11010。通过将位移构件平移第一距离来启动击发行程11010。当位移构件移动第一距离时，控制电路被配置为能够测量位移构件平移第一距离所需的持续时间。测量位移构件的此类平移预先确定的第一距离允许控制电路能够计算例如由外科器械切割和/或缝合的组织的厚度。在通过例如将图83的刀10520向远侧平移通过外科器械10500进行击发之前，用户能够通过从下文更详细讨论的各种速度中选择速度选择来手动选择击发速度。基于从第一距离和持续时间对组织的厚度的计算，用户可能仅能够从适合于该过程的各种速度中进行选择。另选地，用户可以从所有各种速度中手动选择速度选择。在启动击发冲程11010之后，控制电路2510评估到第一时间为止用户是否已做出速度选择11020。如果用户尚未进行速度选择11020，则控制电路2510被配置为能够在此时确定位移构件的位置11022。通过确定位移构件或刀10520的位置，控制电路2510可相应地设定马达速度11024。因此，在不存在用户输入的情况下，控制电路2510自动设定马达速度从而以对应的速度执行击发行程。另选地，如果到第一时间为止用户确实进行了速度选择11020，则控制电路2510被配置为能够通过将马达速度设定为对应于用户选择来控制马达11026。在用户手动选择击发速度或者控制电路2510自动设定击发速度之后，用于设定击发行程速度的过程结束11028，并且外科器械可继续或者开始另一功能。
图85和图86示出了根据本公开的一个方面示出用户选择菜单屏幕的各种显示器11100。在外科手术期间，在显示器11100上呈现的信息可在整个手术室中传送至另外的屏幕，诸如连接到腹腔镜相机的主屏幕。显示器11100示出了端部执行器钉仓11132的图形图像。字母数字字符11104指示速度的单位，例如，mm/s。显示器11100包括选择菜单标记11102以指示击发行程期间位移构件(例如，I形梁2514)的可用速度。在一个此类方面，选择菜单标记10602可包括圆形形状的四个菜单选项11112、11114、11116、11118。选择菜单标记11102的形状不必为圆形的，因为可设想出多种形状。选择菜单标记11102的一个或多个形状可包括例如三角形、任何其它合适的几何形状。第一菜单选项11112指示外科器械10500的自动模式。自动模式在第一菜单选项11112中用大写字母“A”表示。自动模式可以另选的方式表示，包括例如由缩短的单词“auto”或小写字母“a”表示。第二菜单选项11114指示外科器械10500的慢速模式。慢速模式在第二菜单选项11114中由圆圈内的单个箭头表示。慢速模式可以另选的方式来表示，例如由单词“慢速”表示，或通过指示位移构件在慢速模式期间的速度的数值来表示。第三菜单选项11116指示外科器械10500的中等模式。中等模式在第三菜单选项11114中由圆圈内的双箭头表示。中等模式可以另选的方式来表示，例如由单词“中等”表示，或通过指示位移构件在中等模式期间的速度的数值来表示。第四菜单选项11118指示外科器械10500的快速模式。快速模式在第四菜单选项11118中由圆圈内的三箭头表示。快速模式可以另选的方式来表示，例如由单词“快速”表示，或通过指示位移构件在快速模式期间的速度的数值来表示。在击发行程期间，显示器11100底部的状态栏11138将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。由于位移构件在图85和图86中还没有被平移，所以状态栏11138为空。
图85表示显示器11100的一个实施方案，该显示器将自身呈现给用户以选择位移构件的击发速度。为了触发控制电路2510呈现该显示器11100，用户可闭合端部执行器的钳口(图82中的10504)。在没有任何用户输入的情况下，马达2504以自动模式操作。为了从自动模式切换到手动模式，外科医生可将按钮诸如图87所示的关节运动切换开关10510按压一段短暂的时间段。该短暂的时间段可以持续例如大约两秒。在经过这一短暂的时间段之后，控制电路使得显示器显示与选择击发速度作为图85中所示的交互式选择菜单的一部分相关联的各种信息。例如，显示器可显示与速度模式相关的四个菜单选项：自动模式、慢速模式、中等模式和快速模式。除此之外或另选地，显示器11100可为触摸屏，其中用户可简单地触摸屏幕以到达交互式选择菜单。
当用户选择自动模式时，控制电路2510可响应于各种条件来控制马达2504的输出，并且因此控制I形梁2514或位移构件的速度。当用户选择慢速模式时，控制电路2510减慢马达2504的速度。减小马达2504的输出导致I形梁2514的平移变慢，从而导致较慢的击发速度。当用户选择快速模式时，控制电路2510增加马达2504的速度。增加马达2504的输出导致I形梁2514的平移变快，从而导致较快的击发速度。当用户期望在从慢速模式和快速模式提供的击发速度之间的击发速度时，用户可选择中等模式。在中等模式下，控制电路2510将马达2504的速度增加至大于马达2504在慢速模式下的速度但小于马达2504在快速模式下的速度的点。马达2504在中等模式下的输出导致I形梁2514的中等平移，从而导致中等的击发速度。
图86表示在用户选择过程期间显示器11100的一个实施方案。例如，当用户在关节运动切换开关10510上施加力F时，用户能够循环通过与速度模式相关的各种菜单选项11112、11114、11116、11118。图87中位于关节运动切换开关10510上方的向上箭头11150指示，如果用户按下关节运动切换开关10510的上半部分，用户将滚动到当前突出显示的选项上方的菜单选项11112、11114、11116、11118。菜单选项可被构造成是连续的，其中当再次按下关节运动切换开关10510时，滚动超过顶部选项11112将导致下一个突出显示的选项为底部选项11118。另选地，用户在到达顶部或底部菜单选项后可能无法滚动超出该菜单选项。如果显示器11100具有上述触摸屏能力，则用户可简单地触摸菜单选项11112、11114、11116、11118来代替或者结合关节运动切换开关10510突出显示期望的速度模式。
当用户滚动通过菜单选项11112、11114、11116、11118时，菜单选项改变尺寸。例如，在图86中，随着第二菜单选项11124变大，用户已突出显示慢速模式。读者还将认识到，其它三个菜单选项11122、11126、11128已缩小以试图进一步强调所选择的模式。在通过滚动菜单选择时，所选择的模式可另外用诸如绿色的颜色突出显示和/或照明。
图88显示了指示各种方式的图表11200，其中可在上文讨论的选择过程期间突出显示菜单选项11112、11114、11116、11118。当菜单选项圈的背景在白色和黑色阴影11210之间交替时，菜单选项可被突出显示。例如，当菜单选项闪烁和/或闪光11212时，将突出显示菜单选项。闪光11212可被用户识别，因为菜单选项的第一背景11214没有颜色或者是白色，并且菜单选项的第二背景11216是黑色。闪光11212在第一背景11214和第二背景11216之间交替。此外，当菜单选项圈的背景在白色和有色阴影11230之间交替时，菜单选项可被突出显示。例如，当菜单选项闪烁和/或闪光11212时，将突出显示菜单选项。闪光11212可被用户识别，因为菜单选项的第一背景11214没有颜色或者是白色，并且菜单选项的第二背景11232是有色的诸如绿色。闪光11212在第一背景11214和第二背景11232之间交替。菜单选项可被突出显示的第三示例性方式是通过尺寸差异11220。例如，尽管菜单选项可以全部具有相同的颜色背景11222，但是未选择的菜单选项11224的尺寸可减小，而突出显示的菜单选项11226可放大。这些突出显示方法并非旨在为限制性的，而是可组合使用或单独使用。
为了设定和/或激活突出显示的菜单选项，用户可轻微触摸击发触发器。另选地，用户可在没有任何附加用户输入的情况下等待很短的一段时间，并且控制电路2510将自动激活突出显示的菜单选项。一旦选择了菜单选项，控制电路2510可使屏幕改变为速度反馈系统，以使用户能够在使用期间监测击发行程的速度。
图89至图91示出了描绘根据本公开的一个方面的各种速度反馈屏幕的显示器11300。显示器11300示出了端部执行器钉仓11312的图形图像。显示器11300包括速度标记11302，以指示选择的菜单选项以及在击发循环期间位移构件(例如，I形梁2514)的实际速度。在一个方面，速度标记11302包括与速度成比例地填充或加阴影的一个形状或一系列形状，诸如在图89至图91中所描绘的。速度标记11302的一个或多个形状可包括例如弧形或任何其它合适的几何形状。在一个方面，速度标记11302可包括弧形图形11308，该弧形图形包括多个刻度11310，以指示例如位移构件的0-30mm/s的实际速度。字母数字字符11314(0、7、12和30)围绕弧形图形11308的周边设置，以通过填充区域或阴影区域11316来指示实际速度。图89所示的显示器11300是图90和图91所示的显示器11300’、11300”的稍微修改的型式。显示器11300的弧形图形11308可包括例如字母数字字符11314“12”周围的切口。
此外，速度标记11302还包括填充或阴影圆圈图标11306，其具有一个或多个白色箭头以指示命令速度，使得例如一个箭头表示低速或慢速，两个箭头表示中等速度，三个箭头表示高速或快速。在图89至图91所示的显示器上，用户已如上所述从另选的用户选择屏幕手动选择快速模式。另外的字母数字字符11304指示速度的单位，例如，mm/s。随着位移构件的速度增大或减小，阴影区域11316相应地增大和减小。显示器11300底部的状态栏11318将操作状态指示为正常(例如，绿色)或警告(例如，黄色)。在图89和图90所示的示例中，状态栏11318指示正常操作。在图91所示的示例中，状态栏11318指示警告操作。在一个方面，速度区域11316、11316’、11316”的填充或阴影颜色可与状态栏11318、11318’的填充或阴影颜色相同，以指示正常或警告操作模式。
如图89所示，位移构件的实际速度很快，大约为20mm/s，如由阴影区域11316所指示。命令速度或选择的菜单选项被设定为高，如圆圈图标11306中的三个箭头所示。至少由于命令速度和实际速度彼此对应的原因，状态栏11318用绿色阴影显示，指示正常操作。如图90所示，实际速度也很快，大约为14mm/s，如阴影区域11316’所示，并且命令速度被设定为高，如圆圈图标11306中的三个箭头所示。至少由于命令速度和实际速度彼此对应的原因，状态栏11318也用绿色阴影显示，指示正常操作。转向图91，命令速度被设定为快速模式，如圆圈图标11306中的三个箭头所示，但是实际速度大约为10mm/s，如阴影区域11316”所示。至少由于命令速度与实际速度之间的这种差异，状态栏11318’用黄色阴影显示，指示警告操作。指示警告操作的状态栏11318’可例如提醒用户改变击发行程的速度，因为选择的速度由于例如组织厚度而不合适。另外，警告操作的指示可提醒用户外科器械有缺陷。
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，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件，其中该马达被配置为能够以一定速度平移位移构件，并且其中该速度由速度模式设定；显示器；以及控制电路，该控制电路联接到马达和显示器，其中该控制电路被配置为能够：使得位移构件平移第一距离；确定位移构件平移第一距离所需的第一时间段；使显示器呈现指示速度模式的选择菜单标记，其中所显示的选择菜单标记受到第一距离和第一时间段的限制；接收对应于速度模式的用户输入；以及基于用户输入来设定马达速度。
实施例2.根据实施例1所述的外科器械，其中，控制电路被进一步配置为能够使显示器呈现指示位移构件的速度的速度标记。
实施例3.根据实施例1至实施例2所述的外科器械，其中，速度模式包括自动模式、慢速模式、中等模式和快速模式。
实施例4.根据实施例3所述的外科器械，其中，在不存在用户输入的情况下将速度模式设定为自动模式。
实施例5.根据实施例1至实施例4所述的外科器械，其中，外科器械还包括联接到控制电路的位置传感器。
实施例6.根据实施例5所述的外科器械，其中，位置传感器被配置为能够监测位移构件的位置。
实施例7.根据实施例5至实施例6所述的外科器械，其中，控制电路被进一步配置为能够经由位置传感器来确定位移构件的速度。
实施例8.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件，其中该马达被配置为能够以一定速度平移位移构件，其中该速度由速度模式限定；显示器；以及控制电路，该控制电路联接到马达和显示器，其中该控制电路被配置为能够：使得位移构件平移第一距离；确定位移构件平移第一距离所需的第一时间段；接收第一用户输入；使显示器响应于第一用户输入呈现指示速度模式的选择菜单标记，其中所显示的选择菜单标记受到第一距离和第一时间段的限制；接收对应于速度模式的第二用户输入；以及基于第二用户输入来设定马达速度。
实施例9.根据实施例8所述的外科器械，其中，控制电路被进一步配置为能够使显示器呈现指示位移构件的速度的速度标记。
实施例10.根据实施例9所述的外科器械，其中，显示器在第一时间段期间呈现选择菜单标记，并且在第二时间段期间呈现速度标记。
实施例11.根据权利要求10所述的外科器械，其中，第一时间段不同于第二时间段。
实施例12.根据实施例10至实施例11所述的外科器械，其中，第一时间段与第二时间段相同。
实施例13.根据实施例8至实施例12所述的外科器械，其中，速度模式包括自动模式、慢速模式、中等模式和快速模式。
实施例14.根据实施例13所述的外科器械，其中，在默认情况下将速度模式设定为自动模式。
实施例15.一种操作外科器械的方法，该外科器械包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达联接到该位移构件从而以一定速度平移位移构件；显示器；以及控制电路，该控制电路联接到马达和显示器，该方法包括：由控制电路使得位移构件行进第一距离；由控制电路测量位移构件平移第一距离所需的第一时间段；由控制电路在显示器上呈现指示位移构件的速度模式的标记，其中所显示的标记受第一距离和第一时间段的限制；由控制电路接收对应于速度模式的用户输入；以及由控制电路基于用户输入来设定马达速度。
实施例16.根据实施例15所述的方法，还包括由控制电路在显示器上呈现指示位移构件的速度的速度标记。
实施例17.根据实施例15至实施例16所述的方法，还包括由控制电路在显示器上呈现速度模式，其中该速度模式包括自动模式、慢速模式、中等模式和快速模式。
实施例18.根据实施例16至实施例17所述的方法，还包括在不存在用户输入的情况下，由控制电路控制马达处于自动模式。
实施例19.根据实施例16至实施例18所述的方法，还包括在不存在用户输入的情况下，由控制电路在显示器上呈现被设定为自动模式的速度模式。
实施例20.根据实施例15至实施例19所述的方法，还包括由控制电路监测位移构件的速度。
基于系统状况的外科缝合和切割器械的马达速度的闭环反馈控制
在使用电动外科缝合和切割器械期间，电池可能会因外部施加的负载而过热并导致马达失速。因此，可能期望在加载系统时在击发行程的一部分期间查询电池上的电压，以评估电池能力并基于该反馈来调节切割构件或击发构件的击发速度。
现在，本公开转向用于基于各种条件来控制马达速度的闭环反馈系统。在一个方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于基于电池状况控制马达速度。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于基于正常击发周期期间的失速状况控制马达速度。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于在手动模式下控制马达速度。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于基于正常击发周期期间的失速状况控制马达速度并在击发周期中实施强制暂停。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于基于正常击发期间的失速状况控制马达速度并且一旦击发周期重新开始就将速度降低一级。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于基于正常击发周期期间的失速状况以手动模式控制马达速度并且一旦击发周期重新开始就将速度降低一级。在另一方面，提供了描绘控制程序或逻辑配置的过程的逻辑流程图，用于基于正常击发周期期间的失速状况控制马达速度并暂停击发周期直到用户释放击发触发器。在另一方面，提供了控制程序或逻辑配置的过程的逻辑流程图，用于在速度之间的转变期间控制马达速度。下文参考图92至图99更详细地描述了这些方面。
马达失速状况是指马达的旋转输出降至零时的状况。失速转矩是输出旋转速度为零时马达产生的转矩。其也可意指导致马达的输出旋转速度变为零(即，引起失速)的转矩负载。失速是马达停止旋转时的状况。当负载转矩大于马达轴转矩时，会发生这种状况，即，分解转矩状况。在这种状况下，马达会消耗最大电流，但马达轴不会旋转。将该电流称为失速电流。电动马达在失速时继续提供转矩。然而，处于失速状况下的电动马达易于过热并可能造成损坏，因为在这种状况下电流最大。将电动马达在长期失速时可产生的最大转矩称为最大连续失速转矩。
参考图14，可使用多种技术来检测马达失速状况。在一个方面，可通过监视用于马达2504的能量源2512来检测马达失速。如果电压下降到低于预先确定的阈值，则器可能指示马达失速状况。在另一方面，可通过经由电流传感器2536监视通过马达2504的电流来检测马达失速状况。如果由电流传感器2536感测到的电流增大到高于预先确定的阈值，成为大于失速电流的值，则电动机2504可被动失速或主动失速。在另一方面，电流传感器2536可与马达2504的接地引脚串联放置。在另一方面，可通过监视相对于由位置传感器2534监视的位移构件(诸如I形梁2514)的实际位移施加到马达2504的电流来检测马达失速状况。如果马达电流大于预期值、接近或大于失速电流，并且实际速度低于命令速度，则马达可主动失速或被动失速。如果未及时纠正马达失速状况，则马达2504可能会因过热而损坏。
因此，现在转向图92，其示出了描绘根据本公开的一个方面的用于基于电池状况控制马达速度的控制程序或逻辑配置的过程11500的逻辑流程图。还参考图1至图15，并且特别是参考图14，在一个方面，控制电路2510被配置为能够在加载外科器械2500时在击发周期的一部分期间查询能量源2512以确定电池上的电压，从而评估电池能力并基于该反馈调节位移构件(例如，驱动构件120、击发构件220、击发杆172、I形梁2514等)的击发速度。如先前所讨论的，位移构件的击发速度由控制电路2510基于各种反馈状况来控制。控制电路2510确定位移构件的新速度，并且将马达设定点2522施加到马达控制2508，该马达控制继而将马达驱动信号2524施加到马达2504。将马达2504的设定速度或命令速度施加到变速器2506。基于来自位置传感器2534、能量源2512、电流传感器2536、定时器/计数器2531或传感器2538中的单个部件或它们的组合的反馈来确定位移构件的实际速度。如先前所讨论的，可能影响位移构件的实际速度的因素包括外部影响，诸如组织厚度、组织类型或系统状况。电池状况(诸如电池过热状况)的确定向控制电路2510通知击发速度。例如，控制电路2510在位移构件的第一0.080”至0.12”(2mm至3mm)行程以及在一个示例中的0.09”(2.286mm)行进期间(例如，在加载系统时)测量电池中/通过电池的电压、内部电阻和/或电流。如果12V电池的电压Vb<9V，电池的内部电阻Rb高于阈值，或者电流Ib低于阈值，则电池可能处于过热状态。控制电路2510立即针对整个击发周期将击发速度设定为最低设定。
现在参考图14和图92，根据过程11500，控制电路2510启动11502位移构件的击发周期，并在初始击发阶段期间(例如，在由位置传感器2534确定的第一0.090”行进期间)持续对能量源2512进行采样11504。将采样电压与阈值电压进行比较11506。在一个示例中，对于12V能量源2512，将阈值设定为9V。可调节阈值以适应系统电压要求。如果采样电压大于或等于阈值电压，则控制电路2510沿“否”分支继续并且继续11508击发周期直到采样电压小于阈值电压，控制电路2510沿“是”分支继续并且控制电路2510经由状态指示器诸如显示器43、743(图2、图5B、图6)来传达11510电池电量不足状况。状态指示器可以是LED、显示器、蜂鸣器等等。在传达11510电池电量不足状况时，控制电路2510确定11512外科器械2500装置是否处于自动模式。如果外科器械2500处于自动模式，则控制电路2510沿“是”分支继续，并且控制电路2510将外科器械2500转换11514为手动模式并将马达2504的命令速度降低11516为慢速。如果外科器械2500未处于自动模式，则控制电路2510沿“否”分支继续，并且控制电路2510将马达2504的命令速度降低11516为慢速。在一些方面，慢命令速度可小于10mm/s，并且在一些方面可小于5mm/s。
图93是描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度的控制程序或逻辑配置的过程11520的逻辑流程图。一般来讲，如果马达在正常击发周期期间失速，则过程11520迫使马达在剩余的击发周期期间以最慢模式操作。因此，如果马达失速，则以慢速执行剩余的行程。
现在参考图14和图93，根据过程11520，控制电路2510以中等命令速度诸如12mm/s启动11522位移构件的击发周期。在击发周期期间，控制电路2510检查11524马达失速状况，并且如果确定11526马达未失速，则控制电路2510沿“否”分支继续并继续11532击发周期直到马达2504失速。此时，控制电路2510沿“是”分支继续并将命令速度降低11528为慢速，并且通过警告灯或其它指示器(诸如显示器43、743；图2、图5B、图6)来指示11530状态。在将命令速度降低11528为慢速时，控制电路2510继续11532击发周期，并检查11524失速状况，直到马达2504失速或位移构件到达行程终点。如先前所讨论的，慢命令马达速度可小于10mm/s，并且在一些方面可小于5mm/s。在该示例中，命令速度被设定为9mm/s。
图94是描绘根据本公开的一个方面的用于在手动模式下控制马达速度的控制程序或逻辑配置的过程11540的逻辑流程图。一般来讲，当外科器械2500处于手动模式下时，马达有失速的风险，并且控制电路显示警告。如果用户未暂停或降低马达的命令速度，则在剩余的击发周期期间，设备将自动进入低速状态。因此，当外科器械处于手动模式并且控制电路检测到失速风险时，为用户提供了手动调节命令速度以避免马达失速的机会。
现在参考图14和图94，根据过程11540，控制电路2510在接收到来自用户的请求时选择11542手动模式，并启动11544位移构件的击发周期。在击发周期期间，控制电路2510检查11546马达失速，并且如果控制电路2510未检测到11548低速，则控制电路2510沿“否”分支前进，并且控制电路2510继续11550击发周期直到检测到11548低速。当检测到11548低速时，控制电路2510沿“是”分支继续，并且控制电路通过显示器43、743(图2、图5B、图6)、警告灯来指示11552低速状态，并且显示倒计时定时器以为用户提供一些时间来手动降低马达速度。例如，该时间段可以是几秒，并且可以例如高达10秒。在倒计时定时器超时之后，控制电路2510确定11554用户是否已选择手动调节马达2504的速度或暂停马达2504。如果用户选择了手动调节马达2504的速度或暂停马达2504，则控制电路2510沿“是”分支继续，并且控制电路2510检测11548低速，并且过程11540继续直到用户选择不手动调节马达2504的速度或暂停马达2504。此时，控制电路2510沿“否”分支继续，并将马达2504的速度降低11556至慢速并继续击发周期。过程继续直到位移构件到达行程终点。如先前所讨论的，慢命令马达速度可小于10mm/s，并且在一些方面可小于5mm/s。在该示例中，命令速度降低11556至9mm/s。
图95是描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度并在击发周期中实施强制暂停的控制程序或逻辑配置的过程11560的逻辑流程图。一般来讲，当在正常击发周期期间马达失速时，控制电路使马达停止，并在击发周期中强制暂停。暂停的持续时间取决于失速时马达的命令速度。较快的马达速度可能需要较长的暂停持续时间等。因此，如果马达失速，则控制电路在允许马达以失速时的相同速度重新开始之前使马达停止并强制暂停。
现在参考图14和图95，根据过程11560，控制电路2510启动11562位移构件的击发周期并存储11564马达的当前速度(例如，慢速：0mm/s<V<10mm/s；中等速度：10mm/s≤V≤12.5mm/s；快速：12.5mm/s<V<15mm/s)，并检查11566马达失速状况。然后，控制电路2510确定11568马达2504是否失速。如果马达2504失速，则控制电路沿“否”分支继续，并且控制电路2510继续11570击发周期，并检查11566马达失速状况直到马达2504失速。然后，控制电路2510沿“是”分支前进并评估三个状况。第一评估确定11572马达2504的先前速度是否为快速，并且如果是，则控制电路2510将延迟设定11574为大于或等于2秒且小于或等于5秒，并以存储的速度继续11576击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术诸如显示器43、743(图2、图5B、图6)来指示11578外科器械2500的状态。第二评估确定11580马达2504的先前速度是否为中等速度，并且如果是，则控制电路2510将延迟设定11582为大于或等于1秒且小于2秒，并以存储的速度继续11584击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术诸如显示器43、743来指示11586该状态。第三评估确定11588马达2504的先前速度是否为慢速，并且如果是，则控制电路2510设定11590 0秒至1秒的延迟并且优选0秒至0.25秒的延迟，并以存储的速度继续11592击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术诸如显示器43、743来指示11594该状态。过程11560继续直到位移构件到达行程结束。
图96为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度并且一旦击发周期重新开始就将速度降低一级的控制程序或逻辑配置的过程11600的逻辑流程图。一般来讲，当在正常击发周期期间马达失速时，一旦击发周期重新开始，则将马达的速度降低一级以低于当前马达速度。如果马达速度已经处于最慢速度，则在再次以最慢速度重新开始击发周期之前，需要预先确定持续时间的强制暂停。因此，如果马达失速，则控制电路将马达速度减慢一级，以低于存储的速度。
现在参考图14和图96，根据过程11600，控制电路2510启动11602位移构件的击发周期并存储11604马达的当前速度(例如，慢速：V<10mm/s；中等速度：10mm/s≤V≤12.5mm/s；快速：V>12.5mm/s)，并检查11606马达失速状况。然后，控制电路2510确定11608马达2504是否失速。如果马达2504失速，则控制电路2510沿“否”分支继续，并且控制电路2510继续11610击发周期，并检查11606马达失速状况直到马达2504失速。然后，控制电路2510沿“是”分支前进并评估三个状况。第一评估确定11612马达2504的先前速度是否为快速，并且如果是，则控制电路2510自动将马达2504的速度调节11614为中等速度，并以新的中等速度重新启动11602击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术诸如显示器43、743(图2、图5B、图6)来指示11616外科器械2500的状态。第二评估确定11618马达2504的先前速度是否为中等速度，并且如果是，则控制电路2510自动将马达2504的速度调节11620为慢速，并以新的慢速重新启动11602击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术诸如显示器43、743来指示11622该状态。第三评估确定11624马达2504的先前速度是否为慢速，并且如果是，则控制电路2510强制实现预先确定持续时间的暂停11626。在预先确定的暂停之后，控制电路2510以慢速重新启动11602击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术诸如显示器43、743来指示11628该状态。过程11600继续直到位移构件到达行程结束。
图97为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况以手动模式控制马达速度并且一旦击发周期重新开始就将速度降低一级的控制程序或逻辑配置的过程11630的逻辑流程图。通常，当在手动模式下在正常击发周期期间马达失速时，一旦击发周期重新开始，则控制电路将马达的速度降低一级。如果已经处于最慢速度，则控制电路在再次以最慢速度重新开始击发周期之前强制暂停预先确定的持续时间。用户只能为剩余的击发周期选择比发生失速时的速度慢的速度。因此，如果在手动模式下时马达失速，则控制电路将马达的速度降低一级，并避免先前较高的马达速度。
现在参考图14和图97，根据过程11630，控制电路2510启动11632位移构件的击发周期并存储11634马达的当前速度(例如，慢速：V<10mm/s；中等速度：10mm/s≤V≤12.5mm/s；快速：V>12.5mm/s)，并检查11636马达失速状况。然后，控制电路2510确定11638马达2504是否失速。如果马达2504失速，则控制电路2510沿“否”分支继续，并且控制电路2510继续11640击发周期，并检查11636马达失速状况直到马达2504失速。然后，控制电路2510沿“是”分支前进并评估三个状况。第一评估确定11642马达2504的先前速度是否为快速，并且如果是，则控制电路2510将速度降低11644至中等速度，并禁用、禁止或阻止快速。控制电路2510在阻止快速的同时以新的中等速度重新启动11632击发周期。控制电路2510可通过显示或示出警告灯以及其它反馈技术来指示外科器械2500的状态。第二评估确定11646马达2504的先前速度是否为中速，并且如果是，则控制电路2510将马达2504的速度降低11648至慢速，并禁用、禁止或阻止中速和快速。控制电路2510在阻止中速和快速的同时以新的慢速重新启动11632击发周期。控制电路2510可通过显示或示出警告灯以及其它反馈技术来指示状态。第三评估确定11650马达2504的先前速度是否为慢速，并且如果是，则控制电路2510强制实现预先确定持续时间的暂停11652。在预先确定的暂停之后，控制电路2510针对剩余的击发周期以比在发生马达失速时的慢速更慢的速度重新启动11632击发周期。同时，控制电路2510通过显示或示出警告灯以及其它反馈技术来指示11628该状态。过程11600继续直到位移构件到达行程结束。
图98为描绘根据本公开的一个方面的用于基于正常击发周期期间的失速状况控制马达速度并暂停击发周期直到用户释放击发触发器的控制程序或逻辑配置的过程的逻辑流程图11660。一般来讲，当在正常击发周期期间马达失速时，控制电路暂停直到用户(例如，外科医生)释放触发器。在重新启动击发周期时，控制电路以发生马达失速时的相同命令速度重新开始。
现在参考图14和图98，根据过程11660，控制电路2510启动11622位移构件的击发周期并检查11664马达失速。如果马达未失速11666，则控制电路2510沿“否”分支继续，并且检查11664马达失速直到马达2504失速。如果存在马达失速，则控制电路2510沿“是”分支前进，并且使马达2504暂停11668并停止击发周期。控制电路2510在显示器43、743(图2、图5B、图6)上指示11674状态并且警告马达失速状况，并且指示用户(例如，外科医生)释放触发器。然后，控制电路2510确定11672触发器是否被释放，并且沿“否”分支继续直到触发器被释放。然后，控制电路2510沿“是”分支前进，并继续11670击发周期，直到马达2504失速或位移构件到达行程终点。
图99为描绘根据本公开的一个方面的用于在速度之间的转变期间控制马达速度的控制程序或逻辑配置的过程11680的逻辑流程图。一般来讲，在基于时间、距离或速度的控制方案期间，从一种速度到另一种速度的转变可能会影响用于下一次比较的目标值。为了避免主要由命令速度变化而触发的恒定速度变化，将紧跟最近的速度变化之后的一个区域(或多个区域)排除在考虑范围之外。在一个方面，返回速度总是处于最快速度。
现在参考图14和图99，根据过程11680，控制电路2510启动11682位移构件的击发周期，并基于位置传感器2534监视11684位移构件的位置，直到位移构件达到用于比较速度变化的目标位置。当位移构件到达目标比较位置时，控制电路2510确定11686先前区域是否启动了速度变化。如果先前的区域启动了速度变化，则控制电路2510沿“是”分支继续并且以当前的命令速度继续击发11688，并且监视11684位移构件是否已经达到用于比较的目标位置。该过程继续，直到控制电路2510确定11686先前的区域未引发速度变化。控制电路2510沿“否”分支前进，并将位移构件的期望速度值与位移构件的实际速度值进行比较11690。控制电路2510基于比较11690的结果为下一个区域设定11692马达2504的新命令速度。在设定11692马达2504的新命令速度之后，控制电路确定11694位移构件是否位于最后区域中。如果位移构件没有位于最后区域中，则控制电路2510沿“否”分支继续并且以新的命令速度继续击发，并且该过程继续直到位移构件位于最后区域中。此时，控制电路2514继续击发11696直到位移构件到达行程的终点。否则，控制电路2510继续11688以当前命令速度击发位移构件。
本文所述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，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；能量源；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到能量源和马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；其中控制电路被配置为能够：以能量源上的预先确定的电负载启动位移构件的击发，其中将预先确定的电负载施加到马达以致动位移构件；经由位置传感器监视位移构件的位置；在位移构件的第一行进间隔期间对能量源的电压进行连续采样；将采样电压与阈值电压进行比较；以及当采样电压大于或等于阈值电压时，继续以第一速度击发位移；或者在采样电压小于阈值电压时调节第一速度。
实施例2.根据实施例1所述的外科器械，其中，当采样电压小于阈值电压时，控制电路被进一步配置为能够确定外科器械是处于自动模式还是处于手动模式。
实施例3.根据实施例2所述的外科器械，其中，当外科器械处于自动模式时，控制电路被进一步配置为能够将外科器械的操作转换为手动模式。
实施例4.根据实施例3所述的外科器械，其中，控制电路被进一步配置为能够将命令速度降低为第二速度，其中第二速度比第一速度慢。
实施例5.根据实施例4所述的外科器械，其中，第二速度大于零且小于10mm/s。
实施例6.根据实施例1至实施例5所述的外科器械，其中，第一间隔介于2mm至3mm之间。
实施例7.根据实施例1至实施例6所述的外科器械，其中，控制电路被配置为能够在采样电压小于阈值电压时传达能量源的状态。
实施例8.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内平移；马达，该马达包括轴，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到马达；其中控制电路被配置为能够：以被设定为第一速度的命令速度来启动位移构件的击发，其中命令速度是施加到马达的速度；检查马达失速状况；以及当马达未失速时，继续以第一速度击发位移；或将命令速度降低为第二速度，其中第二速度比第一速度慢。
实施例9.根据实施例8的外科器械，其中，第一速度介于10mm/s至12mm/s之间，并且第二速度小于9mm/s。
实施例10.根据实施例8至实施例9所述的外科器械，其中，控制电路被配置为能够指示马达失速警告。
实施例11.根据实施例10所述的外科器械，其中，控制电路被配置为能够：基于所接收到的输入将外科器械设定为手动模式；检测低马达速度状况；指示预先确定的时间段内的低马达速度状况；以及监视手动命令速度调节或暂停；并且在未检测到手动命令速度调节或暂停时降低命令速度。
实施例12.根据实施例8至实施例11所述的外科器械，其中，控制电路被配置为能够：将当前命令速度作为快速度、中等速度或慢速度存储在存储器中，其中快速度大于中等速度，并且中等速度大于慢速度；并且当检测到马达失速状况时，控制电路被配置为能够：在存储的命令速度是快速度时使马达暂停第一延迟，并继续以快速度击发位移构件；当存储的命令速度为中等速度时使马达暂停一秒，并继续以中等速度击发位移构件；或当存储的命令速度为慢速度时使马达暂停第三延迟，并继续以慢速度击发位移构件；其中第一延迟大于第二延迟，并且第二延迟大于第三延迟。
实施例13.根据实施例12所述的外科器械，其中：慢速度大于零且小于10mm/s；中等速度大于或等于10mm/s且小于或等于12.5mm/s；并且快速度大于12.5mm/s且小于15mm/s。
实施例14.根据实施例12至实施例13所述的外科器械，其中：第一延迟大于或等于2秒且小于5秒；第二延迟大于或等于1秒且小于两秒；并且第三延迟大于0且小于1秒。
实施例15.根据实施例8至实施例14所述的外科器械，其中，控制电路被配置为能够：将当前命令速度作为快速度、中等速度或慢速度存储在存储器中，其中快速度大于中等速度，并且中等速度大于慢速度；并且当检测到马达失速状况时，控制电路被配置为能够：在存储的命令速度为快速度时，将命令速度自动调节为中等速度；当存储的命令速度为中等速度时，将命令速度自动调节为慢速度；以及当存储的命令速度为慢速度时，暂停马达。
实施例16.根据实施例8至实施例15所述的外科器械，其中，控制电路被配置为能够：暂停击发，将当前命令速度作为快速度、中等速度或慢速度存储在存储器中，其中快速度大于中等速度，并且中等速度大于慢速度；并且当检测到马达失速状况时，控制电路被配置为能够：在存储的命令速度为快速速度时，将命令速度降低为中等速度并禁止快速度；在存储的命令速度为中等速度时，将命令速度降低为慢速度并禁止中等速度和快速度；以及当存储的命令速度为慢速度时，暂停马达。
实施例17.根据实施例8至实施例16所述的外科器械，其中，当检测到马达失速状况时，控制电路被配置为能够：暂停马达；指示马达失速的警告并指示用户释放触发器；监视触发器的释放；以及在释放触发器时继续击发位移构件。
实施例18.一种外科器械，包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；能量源；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到能量源和马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够监视位移构件的位置；其中控制电路被配置为能够：以被设定为第一速度的命令速度来启动位移构件的击发，其中命令速度是施加到马达的速度；监视位移构件在当前区域中的位置，直到位移构件到达用于比较的目标位置；在位移构件到达目标位置时，确定在当前区域之前的先前区域中是否启动了命令速度的变化；以及当在先前区域中启动命令速度的变化时，继续以命令速度击发位移构件。
实施例19.根据实施例18所述的外科器械，其中，当在先前区域中未启动命令速度的变化时，控制电路被配置为能够：将位移构件的期望速度与位移构件的实际速度进行比较；以及基于比较的结果调节命令速度。
实施例20.根据实施例19所述的外科器械，其中，控制电路被配置为能够：确定位移何时处于最后区域中；以及继续击发位移构件直到行程结束。
实施例21.根据实施例19至实施例20所述的外科器械，其中，控制电路被配置为能够在位移构件未处于最后区域中时以当前命令速度继续击发位移构件。
用于外科缝合和切割器械的马达速度的闭环控制技术
图100为描绘根据本公开的一个方面的控制程序或逻辑配置的过程8000的逻辑流程图，该控制程序或逻辑配置用于基于一个或多个误差项的大小来调节位移构件的速度，所述一个或多个误差项基于位移构件的实际速度与位移构件在特定的时间或距离增量内的命令或定向速度之间的差异。可由外科器械2500(例如，控制电路2510)执行过程8000。因此，还参考图14，控制电路2510设定8002位移构件(诸如，I形梁2514)的定向速度。该定向速度与控制电路2510设定的命令速度相同。例如，为了设定位移构件的命令或定向速度，控制电路2510将马达设定点2522施加到马达控制2508，该马达控制将马达驱动信号2524施加到马达2504以推进位移构件(例如，I形梁2514)穿过变速器2506。控制电路2510利用来自位置传感器2534和定时器/计数器电路2531的反馈信号来确定8004位移构件的实际速度。控制电路2510确定8006位移构件的定向速度和实际速度之间的差异，并基于误差的大小来控制8008位移构件的速度。
根据过程8000，误差可基于短期误差(S)、累积误差(C)、变化率误差(R)和过冲数误差(N)中的至少一者，如上文结合图16至图22所描述的。在一个方面，外科器械2500还包括端部执行器2502，其中位移构件(例如，I形梁2514)被构造成能够在端部执行器2502内平移。此外，在各个方面，可根据预先确定的距离或时间增量确定误差。在一个方面，控制电路2510被配置为能够确定位移构件位于其中的区域。
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1.一种调节电动外科器械中的速度的方法，该外科器械包括：位移构件，该位移构件被构造成能够在外科器械内在多个预定义区域上平移；马达，该马达联接到该位移构件以使该位移构件平移；控制电路，该控制电路联接到该马达；位置传感器，该位置传感器联接到该控制电路，该位置传感器被配置为能够测量位移构件的位置；以及定时器电路，该定时器电路联接到该控制电路，该定时器电路被配置为能够测量实耗时间，该方法包括：由控制电路设定位移构件的定向速度；由控制电路确定位移构件的实际速度；由控制电路确定位移构件的定向速度与位移构件的实际速度之间的误差；并由控制电路基于误差的大小控制位移构件的实际速度。
实施例2.根据实施例1所述的方法，其中，误差基于短期误差(S)、累积误差(C)、变化率误差(R)和过冲数误差(N)中的至少一者。
实施例3.根据实施例1至实施例2所述的方法，其中，外科器械还包括端部执行器，其中位移构件被构造成能够在端部执行器内平移。
实施例4.根据实施例1至实施例3所述的方法，其中，根据预先确定的时间增量确定误差。
实施例5.根据实施例1至实施例4所述的方法，其中，根据预先确定的距离增量确定误差。
实施例6.根据实施例1至实施例5所述的方法，还包括由控制电路确定位移构件位于其中的区域。
本文所述的功能或过程8000、8600、8700、8800、9400、9450、9800、9850、10400、10450、10550、11000、11500、11520、11540、11560、11600、11630、11660、11680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；以及传输式介质，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。

Claims (5)

1.一种调节电动外科器械中的速度的方法，所述电动外科器械包括：位移构件，所述位移构件被构造成能够在所述电动外科器械内在多个预定义区域上平移；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；以及定时器电路，所述定时器电路联接到所述控制电路，所述定时器电路被配置为能够测量实耗时间，所述方法包括：
由所述控制电路确定所述位移构件在多个预定义区域中的其中一个内的位置；
由所述控制电路基于所述位移构件所在区域设定所述位移构件的定向速度；
由所述控制电路确定所述位移构件的实际速度；
由所述控制电路确定所述位移构件的所述定向速度与所述位移构件的所述实际速度之间的误差；以及
由所述控制电路基于所述误差的大小和所述位移构件所在区域控制所述位移构件的所述实际速度，其中不同的误差被分配给不同的区域；
其中，在多个预定义区域中的至少一个中的误差基于短期误差(S)、累积误差(C)、变化率误差(R)和过冲数误差(N)中的至少一者。
2.根据权利要求1所述的方法，其中，所述电动外科器械还包括端部执行器，其中所述位移构件被构造成能够在所述端部执行器内平移。
3.根据权利要求1所述的方法，其中，根据预先确定的时间增量确定所述误差。
4.根据权利要求1所述的方法，其中，根据预先确定的距离增量确定所述误差。
5.根据权利要求1所述的方法，还包括由所述控制电路确定所述位移构件位于其中的区域。
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