CN110785135B - 基于指定时间间隔上行进的测量位移距离的对外科缝合和切割器械的马达速度的闭环反馈控制 - Google Patents
基于指定时间间隔上行进的测量位移距离的对外科缝合和切割器械的马达速度的闭环反馈控制 Download PDFInfo
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Abstract
本发明公开了一种机动外科器械。外科器械包括位移构件(1111)、联接到位移构件(1111)的马达(1120)、联接到马达(1120)的控制电路、联接到控制电路的位置传感器(1112)、以及联接到控制电路的定时器电路。定时器电路被配置为能够测量实耗时间;并且从位置传感器(1112)接收设定时间间隔期间位移构件(1111)在当前区域中的位置;测量在设定时间间隔结束时位移构件(1111)在设定时间处的位移,其中所测量位移被限定为设定时间间隔期间位移构件(1111)以当前区域的设定命令速度所行进的距离;并且基于位移构件(1111)在当前区域内的所测量位移来对后续区域设定位移构件(1111)的命令速度。
Description
技术领域
本公开涉及外科器械,并且在各种情况下,涉及被设计成用于缝合和切割组织的外科缝合和切割器械及其钉仓。
背景技术
在机动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。可通过测量位移构件在预先确定的位置间隔处的实耗时间或测量位移构件在预先确定的时间间隔处的位置来确定位移构件的速度。控制可为开环或闭环。此类测量可用于评估组织状况诸如组织厚度,并调整切割构件在击发行程期间的速度以说明组织状况。可通过比较切割构件的预期速度与切割构件的实际速度来确定组织厚度。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,在端部执行器的扫描范围内的一个或多个区域处以与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。
在机动外科缝合和切割器械的使用期间,可能需要测量和调整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受的击发力大于阈值力,则可降低速度以减小切割构件或击发构件所经受的击发力。在薄组织中,如果切割构件或击发构件所经受的击发力小于阈值,则可增加速度。因此,期望提供一种闭环反馈系统,该闭环反馈系统基于在指定时间增量上行进的距离的测量来测量和调整切割构件或击发构件的速度。期望通过在固定的设定时间间隔处测量距离来测量切割构件或击发构件的速度。
发明内容
在一个方面,本公开提供了一种外科器械。外科器械包括:位移构件,该位移构件被构造成能够在外科器械内在多个预先限定的区域上平移;马达,该马达联接到位移构件以使位移构件平移;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控制电路,该位置传感器被配置为能够监测位移构件的位置;定时器电路,公司定时器电路联接到控制电路,该定时器电路被配置为能够测量实耗时间;其中控制电路被配置为能够:从位置传感器接收设定时间间隔期间位移构件在当前区域中的位置;测量在设定时间间隔结束时位移构件在设定时间处的位移,其中所测量位移被限定为设定时间间隔期间位移构件以当前区域的设定命令速度所行进的距离;并且基于位移构件在当前区域内的所测量位移来对后续区域设定位移构件的命令速度。
在另一方面,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先限定的区域上平移;马达,该马达联接到位移构件以使位移构件平移;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控制电路,该位置传感器被配置为能够监测位移构件的位置;定时器电路,该定时器电路联接到控制电路,该定时器/计数器电路被配置为能够测量实耗时间;其中控制电路被配置为能够:从位置传感器接收初始设定时间间隔期间位移构件在当前区域中的位置;测量初始设定时间间隔期间位移构件从目标位置到远侧位置的位移;并且基于从目标位置到远侧位置的所测量位移来对第一动态区域设定位移构件的命令速度。
在另一方面,本公开提供了一种控制外科器械中的马达速度的方法,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先限定的区域上平移;马达,该马达联接到位移构件以使位移构件平移;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控制电路,该位置传感器被配置为能够监测位移构件的位置;定时器电路,该定时器电路联接到控制电路,该定时器电路被配置为能够测量实耗时间;该方法包括:由位置传感器接收位移构件在由预先确定的距离限定的当前预先限定的区域内的位置;由控制电路测量在设定时间间隔结束时位移构件在设定时间处的位移,其中所测量位移被限定为设定时间间隔期间位移构件以当前区域的设定命令速度所行进的距离;以及由控制电路基于当前区域内的所测量位移来对后续区域设定位移构件的命令速度。
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操作地联接到其的可互换轴组件的外科器械的透视图。
图2为根据本公开的一个方面的图1的外科器械的一部分的分解组装视图。
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装视图。
图4为根据本公开的一个方面的图1的外科器械的端部执行器的分解图。
图5A至图5B为根据本公开的一个方面的跨越两个拉制片材的图1的外科器械的控制电路的框图。
图6为根据本公开的一个方面的图1的外科器械的控制电路的框图,其示出了柄部组件和功率组件之间、以及柄部组件与可互换轴组件之间的接口。
图7示出了根据本公开的一个方面的被配置为能够控制图1的外科器械的各方面的控制电路。
图8示出了根据本公开的一个方面的被配置为能够控制图1的外科器械的各方面的组合逻辑电路。
图9示出了根据本公开的一个方面的被配置为能够控制图1的外科器械的各方面的时序逻辑电路。
图10为根据本公开的一个方面的图1的外科器械的绝对定位系统的图,其中该绝对定位系统包括具有传感器布置的受控马达驱动电路布置。
图11为根据本公开的一个方面的绝对定位系统的传感器布置的分解透视图,其示出了控制电路板组件和传感器布置的元件的相对对齐。
图12为根据本公开的一个方面的包括磁性旋转绝对定位系统的位置传感器的图。
图13为根据本公开的一个方面的图1的外科器械的端部执行器的截面图,其示出了相对于抓持在端部执行器内的组织的击发构件行程。
图14示出了根据本公开的一个方面的被编程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行程的图。
图16A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刃的I形梁。
图16B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,并且顶部销接合位于T形狭槽中。
图17示出了根据本公开的一个方面的通过与端部执行器对齐的图表示出的I形梁击发行程。
图18为根据本公开的一个方面的比较随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形梁击发行程的设定时间间隔变化的击发力(自上至下的第二个曲线图)、随I形梁击发行程的设定时间间隔变化的动态时间检查(自上至下的第三个曲线图)、以及随I形梁击发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)的图形描绘。
图19为根据本公开的一个方面的随时间变化的击发力的图形描绘,其比较了慢速、中速和快速I形梁位移。
图20为根据本公开的一个方面的过程的逻辑流程图,其描绘了用于在初始击发阶段中控制命令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,其描绘了用于在动态击发阶段中控制命令速度的控制程序或逻辑配置。
说明书
本申请的申请人拥有与本文同时提交且各自全文以引用方式并入本文的以下专利申请:
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONANGLE OF ARTICULATION的代理人案卷号END8191USNP/170054。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为SURGICAL INSTRUMENT WITH VARIABLE DURATION TRIGGER ARRANGEMENT的代理人案卷号END8192USNP/170055。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 SYSTEMSAND METHODS FOR CONTROLLING DISPLACEMENT MEMBER MOTION OF A SURGICAL STAPLINGAND CUTTING INSTRUMENT的代理人案卷号END8193USNP/170056。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 SYSTEMSAND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT ACCORDING TO ARTICULATION ANGLE OF END EFFECTOR的代理人案卷号END8194USNP/170057。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 SYSTEMSAND METHODS FOR CONTROLLING MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT的代理人案卷号 END8195USNP/170058。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATION VELOCITY的代理人案卷号END8196USNP/170059。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 SYSTEMSAND METHODS FOR CONTROLLING VELOCITY OF A DISPLACEMENT MEMBER OF A SURGICALSTAPLING AND CUTTING INSTRUMENT的代理人案卷号END8197USNP/170060。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 SYSTEMSAND METHODS FOR CONTROLLING DISPLACEMENT MEMBER VELOCITY FOR A SURGICALINSTRUMENT的代理人案卷号 END8198USNP/170061。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONANGLE OF ARTICULATION的代理人案卷号END8222USNP/170125。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING ANDCUTTING INSTRUMENT的代理人案卷号 END8199USNP/170062M。
由发明人Raymond E.Parfett等人于2017年6月20日提交的标题为 TECHNIQUESFOR CLOSED LOOP CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT的代理人案卷号 END8275USNP/170185M。
由发明人Raymond E.Parfett等人于2017年6月20日提交的标题为 CLOSED LOOPFEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MAGNITUDE OF VELOCITY ERROR MEASUREMENTS的代理人案卷号END8268USNP/170186。
由发明人Jason L.Harris等人于2017年6月20日提交的名称为CLOSED LOOPFEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED DISPLACEMENT DISTANCE的代理人案卷号 END8276USNP/170187。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 CLOSEDLOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON MEASURED TIME OVER A SPECIFIED NUMBER OF SHAFT ROTATIONS的代理人案卷号END8267USNP/170189。
由发明人Jason L.Harris等人于2017年6月20日提交的标题为 SYSTEMS ANDMETHODS FOR CONTROLLING DISPLAYING MOTOR VELOCITY FOR A SURGICAL INSTRUMENT的代理人案卷号 END8269USNP/170190。
由发明人Jason L.Harris等人于2017年6月20日提交的标题为 SYSTEMS ANDMETHODS FOR CONTROLLING MOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICALINSTRUMENT的代理人案卷号END8270USNP/170191。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为 CLOSEDLOOP FEEDBACK CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTINGINSTRUMENT BASED ON SYSTEM CONDITIONS的代理人案卷号END8271USNP/170192。
本申请的申请人拥有与本文同时提交且各自全文以引用方式并入本文的以下美国设计专利申请:
由发明人Jason L.Harris等人于2017年6月20日提交的标题为 GRAPHICAL USERINTERFACE FOR A DISPLAY OR PORTION THEREOF 的代理人案卷号END8274USDP/170193D。
由发明人Jason L.Harris等人于2017年6月20日提交的标题为GRAPHICAL USERINTERFACE FOR A DISPLAY OR PORTION THEREOF 的代理人案卷号END8273USDP/170194D。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的标题为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本发明所公开的装置和方法的结构、功能、制造和使用的理解。在一个实施例中示出或描述的特征可与其它实施例的特征组合,并且修改和变型均在本公开的范围内。
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”是指被定位成更远离临床医生的部分。为了方便起见,相对于附图使用的空间术语“竖直”、“水平”、“向上”和“向下”并非意图是限制性的和/或绝对的,因为外科器械可在许多取向和位置上使用。
提供示例性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形成于组织中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通过进入装置插入,该进入装置具有外科器械的端部执行器和细长轴可推进穿过的工作通道。
图1至图4描绘了用于切割和紧固的马达驱动的外科器械10,其可以重复使用或者可以不重复使用。在所示示例中,外科器械10包括外壳12,该外壳12包括被构造成能够由临床医生抓持、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200具有操作地联接到其上的端部执行器300,该端部执行器300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,各种形式的可互换轴组件可与机器人控制的外科系统有效地结合使用。术语“外壳”可涵盖容纳或以其它方式操作地支撑至少一个驱动系统的机器人系统的外壳或类似部分,该至少一个驱动系统被配置为能够生成并施加能够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SURGICALSTAPLING INSTRUMENTS WITH 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 300包括外科切割和紧固装置,该外科切割和紧固装置被构造成能够在其中操作地支撑外科钉仓304。外壳12可被构造成能够与可互换轴组件结合使用,这些可互换轴组件包括适于支撑不同尺寸和类型的钉仓、具有不同的轴长度、尺寸和类型的端部执行器。外壳12可与多种可互换轴组件一起使用,包括被构造成能够将其它运动和其它形式的能量诸如射频(RF)能量、超声能量和 /或运动施加到适于与各种外科应用和手术结合使用的端部执行器布置的组件。端部执行器、轴组件、柄部、外科器械和/或外科器械系统可利用任何合适的一种或多种紧固件来紧固组织。例如,包括可移除地被存储在其中的多个紧固件的紧固件仓能够可移除地插入轴组件的端部执行器中和/或附接到轴组件的端部执行器。
柄部组件14可包括通过螺杆、按扣特征结构、粘合剂等互连的一对可互连柄部外壳段16、18。柄部外壳段16、18配合以形成可由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,这些驱动系统被配置为能够生成控制运动并将其施加到操作地附接到其的可互换轴组件的对应部分。可在覆盖件45下方提供显示器。
图2为根据本公开的一个方面的图1的外科器械10的一部分的分解组装视图。柄部组件14可包括操作地支撑多个驱动系统的框架20。该框架20 能够操作地支撑“第一”或闭合驱动系统30,该“第一”或闭合驱动系统30 能够将闭合和打开运动施加到可互换轴组件200。闭合驱动系统30可包括致动器,诸如被框架20枢转地支撑的闭合触发器32。该闭合触发器32通过枢轴销33枢转地联接到柄部组件14,使得闭合触发器32能够由临床医生操纵。当临床医生抓握柄部组件14的手枪式握持部19时,闭合触发器32可从起始或“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 80被配置为能够将击发运动施加到附接到其上的可互换轴组件的对应部分。击发驱动系统80可采用位于柄部组件14的手枪式握持部19中的电动马达 82。例如,电动马达82可为具有大约25,000RPM的最大旋转速度的直流有刷马达。在其它布置中,马达可包括无刷马达、无绳马达、同步马达、步进马达、或任何其它合适的电动马达。电动马达82可由功率源90供电,该功率源90可包括可移除电源组92。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。近侧外壳部分94和远侧外壳部分96 被构造成能够在其中操作地支撑多个电池98。电池98可各自包括例如锂离子(LI)或其它合适的电池。远侧外壳部分96被构造成能够能够以可移除方式操作地附接到控制电路板100,该控制电路板100操作地联接到电动马达 82。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84被安装成与可纵向移动的驱动构件120上的一组或一齿条的驱动齿122啮合接合。可纵向移动的驱动构件120具有形成于其上用于与齿轮减速器组件84的对应驱动齿轮86啮合接合的一齿条的驱动齿 122。
在使用中,功率源90所提供的电压极性可沿顺时针方向操作电动马达 82,其中由电池施加给电动马达的电压极性可被反转,以便沿逆时针方向操作电动马达82。当电动马达82在一个方向上旋转时,可纵向移动的驱动构件120将在远侧方向“DD”上轴向地驱动。当电动马达82在相反的旋转方向上被驱动时,可纵向移动的驱动构件120将在近侧方向“PD”上轴向地驱动。柄部组件14可包括可被构造成能够反转由功率源90施加到电动马达82 的极性的开关。柄部组件14可包括被构造成能够检测可纵向移动的驱动构件 120的位置和/或可纵向移动的驱动构件120移动的方向的传感器。
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。该击发触发器130可在未致动位置和致动位置之间枢转。
回到图1,可互换轴组件200包括端部执行器300,该端部执行器300 包括被构造成能够在其中操作地支撑外科钉仓304的细长通道302。端部执行器300可包括相对于细长通道302被可枢转地支撑的砧座306。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的配置和操作在名称为ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATION LOCK的美国专利申请公布 2014/0263541中进行了阐述,该专利申请全文以引用方式并入本文。可互换轴组件200可包括由喷嘴部分202、203构成的近侧外壳或喷嘴201。可互换轴组件200可包括沿轴轴线SA延伸的闭合管260,该闭合管260可用于闭合和/或打开端部执行器300的砧座306。
回到图1,例如响应于以在前述参考美国专利申请公布2014/0263541中描述的方式致动闭合触发器32,闭合管260被朝远侧(方向“DD”)平移以闭合砧座306。砧座306通过使闭合管260朝近侧平移来打开。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装视图。可互换轴组件200可包括被支撑以便在脊210内轴向行进的击发构件220。该击发构件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可称为“第二轴”和/或“第二轴组件”。中间击发轴222可在远侧端部中包括纵向狭槽223,该纵向狭槽223 被构造成能够接收刀杆280的近侧端部282上的突片284。纵向狭槽223和近侧端部282可被构造成能够允许它们之间的相对移动并且可包括滑动接头 286。该滑动接口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已适当地取向,中间击发轴222便可朝远侧推进,直到纵向狭槽223的近侧侧壁接触突片284为止,以便推进刀杆280 并击发定位在通道302内的钉仓。脊210在其中具有细长开口或窗口213,以便于将中间击发轴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和围绕脊 210延伸的闭合管260。脊210能够可滑动地支撑关节运动驱动器230。
可互换轴组件200可包括离合器组件400,该离合器组件400被构造成能够选择性地和可释放地将关节运动驱动器230联接到击发构件220。离合器组件400包括围绕击发构件220定位的锁定衬圈或锁定套筒402,其中锁定套筒402可在接合位置和脱离位置之间旋转,在接合位置处,锁定套筒402 将关节运动驱动器230联接到击发构件220,在脱离位置处,关节运动驱动器230未操作地联接到击发构件220。当锁定套筒402处于接合位置时,击发构件220的远侧移动可朝远侧移动关节运动驱动器230,并且相应地,击发构件220的近侧移动可朝近侧移动关节运动驱动器230。当锁定套筒402 处于脱离位置时,击发构件220的移动未被传输到关节运动驱动器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。
可互换轴组件200可包括滑环组件600,该滑环组件600例如可被构造成能够将电力传导到端部执行器300和/或从该端部执行器300传导电力,并且/或者将信号传送到端部执行器300和/或从该端部执行器300接收信号。滑环组件600可包括定位在限定在喷嘴部分202、203中的狭槽内的近侧连接器凸缘604和远侧连接器凸缘601。近侧连接器凸缘604可包括第一面,并且远侧连接器凸缘601可包括邻近第一面定位并且能够相对于第一面移动的第二面。远侧连接器凸缘601可围绕轴轴线SA-SA(图1)相对于近侧连接器凸缘604旋转。近侧连接器凸缘604可包括限定在其第一面中的多个同心或至少基本上同心的导体602。连接器607可安装在远侧连接器凸缘601的近侧侧面上,并且可具有多个触点,其中每个触点与导体602中的一个对应并与其电接触。这种布置允许近侧连接器凸缘604和远侧连接器凸缘601之间的相对旋转,同时保持它们之间的电接触。近侧连接器凸缘604可包括电连接器606,该电连接器606可使导体602与轴电路板进行信号通信。在至少一个实例中,包括多个导体的线束可在电连接器606和轴电路板之间延伸。电连接器606可朝近侧延伸穿过被限定在底座安装凸缘中的连接器开口。名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”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“STAPLECARTRIDGE 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的近侧部分和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。该砧座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,以允许砧座306相对于细长通道302和外科钉仓304 从打开位置枢转到闭合位置。击发杆172被构造成能够纵向平移到端部执行器300中。该击发杆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I形梁178的远侧端部处的切割刃182。击发杆172的远侧突出端可附接到I形梁178,该I形梁178在砧座306处于闭合位置时帮助将砧座306与定位在细长通道302中的外科钉仓304间隔开。I形梁178可包括锋利的切割刃182,当通过击发杆 172朝远侧推进I形梁178时,该切割刃182用于切断组织。在操作中,I形梁178可致动或击发外科钉仓304。外科钉仓304可包括模塑的仓体194,该仓体保持多个钉191,这些多个钉安置在钉驱动器192上,这些钉驱动器位于分别向上打开的钉腔195中。楔形滑动件190通过I形梁178朝远侧驱动,从而在外科钉仓304的仓托盘196上滑动。楔形滑动件190使钉驱动器192 向上进行凸轮运动,以将钉191挤出成与砧座306变形接触,同时I形梁178 的切割刃182切断夹持的组织。
I形梁178可包括在击发期间接合砧座306的上部销180。I形梁178可包括接合仓体194、仓托盘196和细长通道302的多个部分的中间销184和底脚186。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所指示,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的底部表面延伸的沟槽,中间销184可沿纵向狭槽 197的长度接合仓托盘196的顶部表面,并且上部销180可接合砧座306。当击发杆172朝远侧推进以从外科钉仓304击发钉和/或切入捕集在砧座306和外科钉仓304之间的组织时,I形梁178可分开或限制砧座306和外科钉仓 304之间的相对移动。击发杆172和I形梁178可朝近侧回缩,从而允许砧座 306被打开,以释放两个缝合和切断的组织部分(未示出)。
图5A至图5B为根据本公开的一个方面的跨越两个拉制片材的图1的外科器械10的控制电路700的框图。主要参考图5A至图5B,柄部组件702 可包括马达714,该马达714可由马达驱动器715控制,并且可由外科器械 10的击发系统使用。在各种形式中,马达714可以是具有大约25,000RPM的最大旋转速度的直流有刷驱动马达。在其它布置中,马达714可包括无刷马达、无绳马达、同步马达、步进马达、或任何其它合适的电动马达。马达驱动器715可包括例如包括场效应晶体管(FET)719的H桥驱动器。马达714 可由功率组件706供电,该功率组件706可释放地安装到柄部组件200以用于向外科器械10供应控制功率。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722可通过接口与安全控制器和功率管理控制器716通信。例如,该接口可包括第一接口部分725和第二接口部分727,其中第一接口部分725可包括用于与对应的轴组件电连接器联接接合的一个或多个电连接器,第二接口部分727可包括用于与对应的功率组件电连接器联接接合的一个或多个电连接器,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之间的电通信。可通过接口传输一个或多个通信信号,以将附接的可互换轴组件 704的功率要求中的一个或多个传送到功率管理控制器716。作为响应,功率管理控制器可根据附接的轴组件704的功率要求来调制功率组件706的电池的功率输出,如下文更详细地描述。这些连接器可包括开关,这些开关可在柄部组件702机械联接接合到轴组件704和/或功率组件706之后被启动,以允许轴组件控制器722和功率管理控制器716之间的电通信。
例如,通过将一个或多个通信信号路由通过位于柄部组件702中的主控制器717,接口可有利于在功率管理控制器716和轴组件控制器722之间传输此类通信信号。在其它情况下,当轴组件704与功率组件706联接到柄部组件702时,接口可有利于引导功率管理控制器716和轴组件控制器722之间的通信线路通过柄部组件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的那些已知处理器。在一个方面,主控制器717 可以是例如购自TexasInstruments的LM4F230H5QR ARM Cortex-M4F处理器内核,其包括:256KB的单循环闪存存储器或其它非易失性存储器(最多至40MHZ)的片上存储器、用于使性能改善超过40MHz的预取缓冲器、32KB 的单循环串行随机存取存储器(SRAM)、装载有软件的内部只读存储器(ROM)、2KB的电可擦除可编程只读存储器(EEPROM)、一个或多个脉宽调制(PWM)模块、一个或多个正交编码器输入(QEI)模拟、具有12个模拟输入信道的一个或多个12位模数转换器(ADC),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提供的商品名为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。功率管理电路可被配置为能够在轴组件704与功率组件706联接到柄部组件702时,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调制功率组件706的功率输出,并且电流感测电路736可用于监测功率组件706的功率输出,以便为功率管理控制器716提供关于电池的功率输出的反馈,使得功率管理控制器716可调整功率组件706的功率输出以保持期望的输出。功率管理控制器716和/或轴组件控制器722各自可包括可存储多个软件模块的一个或多个处理器和/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742可包括用于向用户提供感官反馈的装置。此类装置可包括例如视觉反馈装置(例如,LCD显示屏、LED指示器)、音频反馈装置(例如,扬声器、蜂鸣器) 或触觉反馈装置(例如,触觉致动器)。在某些情况下,输出装置742可包括显示器743,该显示器743可包括在柄部组件702中。轴组件控制器722和/或功率管理控制器716可通过输出装置742向外科器械10的用户提供反馈。接口可被构造成能够将轴组件控制器722和/或功率管理控制器716连接到输出装置742。作为替代,输出装置742可与功率组件706集成。在此类情况下,当轴组件704联接到柄部组件702时,输出装置742和轴组件控制器722之间的通信可通过接口来实现。
控制电路700包括被配置为能够控制动力外科器械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。电路段中的每一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端。分段电路可通过任何合适的电路诸如动力外科器械10内的印刷电路板组件(PCBA)来实现。应当理解,本文使用的术语“处理器”包括任一种微处理器、处理器、微控制器、控制器,或者将计算机的中央处理单元(CPU)的功能结合到一个集成电路或最多几个集成电路上的其它基础计算装置。主控制器717是多用途的可编程装置,该装置接收数字数据作为输入,根据其存储器中存储的指令来处理输入,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过程中的一个或多个。
加速度段(区段3)包括加速度计。该加速度计被配置为能够检测动力外科器械10的移动或加速度。来自加速度计的输入可用于转变到休眠模式和从休眠模式转变、识别动力外科器械的取向,并且/或者识别外科器械何时已被放下。在一些示例中,加速度段联接到安全控制器和/或主控制器717。
显示器段(段4)包括联接到主控制器717的显示器连接器。显示器连接器通过显示器的一个或多个集成电路驱动器将主控制器717联接到显示器。显示器的集成电路驱动器可与显示器集成,和/或可与显示器分开定位。显示器可包括任何合适的显示器,诸如例如有机发光二极管(OLED)显示器、液晶显示器(LCD)和/或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/或者用于联接到该可互换轴组件200的端部执行器300的一个或多个控件。轴段包括被构造成能够将主控制器717联接到轴PCBA的轴连接器。该轴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。该轴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集成。在一些示例中,轴段包括第二轴EEPROM。该第二轴EEPROM包括与可与动力外科器械10交接的一个或多个轴组件 200和/或端部执行器300相对应的多个算法、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。该一个或多个磁性角旋转位置编码器被配置为能够识别外科器械10(图1至图4) 的马达714、可互换轴组件200(图1和图3)和/或端部执行器300的旋转位置。在一些示例中,磁性角旋转位置编码器可联接到安全控制器和/或主控制器717。
马达电路段(段7)包括被构造成能够控制动力外科器械10(图1至图 4)的移动的马达714。马达714通过包括一个或多个H桥场效应晶体管(FET) 的H桥驱动器以及马达控制器联接到主微控制器717。H桥驱动器还联接到安全控制器。马达电流传感器与马达串联联接,用于测量马达的电流消耗。马达电流传感器与主控制器717和/或安全控制器进行信号通信。在一些示例中,马达714联接到马达电磁干扰(EMI)滤波器。
马达控制器控制第一马达标记和第二马达标记,以向主控制器717指示马达714的状态和位置。主控制器717通过缓冲器向马达控制器提供脉宽调制(PWM)高信号、PWM低信号、方向信号、同步信号和马达复位信号。功率段被构造成能够向电路段中的每一个提供段电压。
功率段(段8)包括联接到安全控制器、主控制器717和附加电路段的电池。电池通过电池连接器和电流传感器联接到分段电路。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。这些开关可被构造成能够控制外科器械10(图1至图4)、分段电路的操作,并且/或者指示外科器械10的状态。用于紧急援助的紧急援助门开关和霍尔效应开关被构造成能够指示紧急援助门的状态。多个关节运动开关诸如例如左侧向左关节运动开关、左侧向右关节运动开关、左侧向中心关节运动开关、右侧向左关节运动开关、右侧向右关节运动开关和右侧向中心关节运动开关被构造成能够控制轴组件 200(图1和图3)和/或端部执行器300(图1和图4)的关节运动。左侧换向开关和右侧换向开关联接到主控制器717。左侧开关(包括左侧向左关节运动开关、左侧向右关节运动开关、左侧向中心关节运动开关和左侧换向开关)通过左挠性连接器联接到主控制器717。右侧开关(包括右侧向左关节运动开关、右侧向右关节运动开关、右侧向中心关节运动开关和右侧换向开关)通过右挠性连接器联接到主控制器717。击发开关、夹持释放开关和轴接合开关联接到主控制器717。
任何合适的机械开关、机电开关或固态开关可任意组合,用于实现这些多个开关。例如,开关可以是通过与外科器械10(图1至图4)相关联的部件的运动或某个物体的存在来操作的限位开关。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、磁力计等等。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、紫外线传感器等等。同样地,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、惯性传感器等等。
图6为根据本公开的一个方面的图1的外科器械的控制电路700的另一个框图,其示出了柄部组件702和功率组件706之间、以及柄部组件702和可互换轴组件704之间的接口。柄部组件702可包括主控制器717、轴组件连接器726和功率组件连接器730。功率组件706可包括功率组件连接器732、功率管理电路734,该功率管理电路734可包括功率管理控制器716、功率调制器738和电流感测电路736。轴组件连接器730、732形成接口727。功率管理电路734可被配置为能够在可互换轴组件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的功率要求来调制电池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调制功率组件706 的功率输出,并且电流感测电路736可用于监测功率组件706的功率输出,以便为功率管理控制器716提供关于电池707的功率输出的反馈,使得功率管理控制器716可调整功率组件706的功率输出以保持期望的输出。轴组件 704包括联接到非易失性存储器721和轴组件连接器728的轴处理器719,用于将轴组件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个或多个。
外科器械10(图1至图4)可包括用于向用户提供感官反馈的输出装置 742。此类装置可包括视觉反馈装置(例如,LCD显示屏、LED指示器)、听觉反馈装置(例如,扬声器、蜂鸣器)或触觉反馈装置(例如,触觉致动器)。在某些情况下,输出装置742可包括显示器743,该显示器743可包括在柄部组件702中。轴组件控制器722和/或功率管理控制器716可通过输出装置742向外科器械10的用户提供反馈。接口727可被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和轴组件控制器722之间的通信可通过接口725来实现。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以及图6),本公开内容现在转向外科器械10(图1至图4)和控制电路 700的各种配置。
图7示出了根据本公开的一个方面的被配置为能够控制外科器械10(图 1至图4)的各方面的控制电路800。该控制电路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可包括易失性存储介质和非易失性存储介质。处理器802可包括指令处理单元806和运算单元 808。该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示出了根据本公开的一个方面的被配置为能够控制外科器械10(图 1至图4)的各方面的组合逻辑电路810。该组合逻辑电路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812被配置为能够在输入814处接收与外科器械10相关联的数据,通过组合逻辑812处理数据并提供输出816。
图9示出了根据本公开的一个方面的被配置为能够控制外科器械10(图 1至图4)的各方面的时序逻辑电路820。该时序逻辑电路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。该至少一个存储器电路820可存储有限状态机的当前状态。在某些情况下,时序逻辑电路820可以是同步的或异步的。组合逻辑电路822 被配置为能够在输入826处接收与外科器械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。
各种方面可实现为制造制品。该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,它们包含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的图,其中该绝对定位系统1100包括具有传感器布置1102的受控马达驱动电路布置。用于绝对定位系统1100的传感器布置1102提供对应于位移构件1111的位置的独特位置信号。暂时转到图2至图4,在一个方面,位移构件1111表示可纵向移动的驱动构件120(图2),该可纵向移动的驱动构件120包括用于与齿轮减速器组件84的对应驱动齿轮86啮合接合的一齿条的驱动齿122。在其它方面,位移构件1111表示击发构件220(图3),该击发构件220可被适配和配置成包括一齿条的驱动齿。在又一方面,位移构件1111表示击发杆172(图4)或I形梁178(图4),其中的每一者可被适配和配置成包括一齿条的驱动齿。因此,如本文所用,术语位移构件一般用来指外科器械10诸如驱动构件120、击发构件220、击发杆172、I形梁178 或任何可被位移的元件的任何可动构件。在一个方面,可纵向移动的驱动构件120联接到击发构件220、击发杆172和I形梁178。因此,绝对定位系统 1100实际上可通过跟踪可纵向移动的驱动构件120的线性位移来跟踪I形梁 178的线性位移。在各种其它方面,位移构件1111可联接到适用于测量线性位移的任何传感器。因此,可纵向移动的驱动构件120、击发构件220、击发杆172、或I形梁178或它们的组合可联接到任何合适的线性位移传感器。线性位移传感器可包括接触式位移传感器或非接触式位移传感器。线性位移传感器可包括线性可变差分变压器(LVDT)、差分可变磁阻换能器(DVRT)、滑动电位计、包括可移动磁体和一系列线性布置的霍尔效应传感器的磁感测系统、包括固定磁体和一系列可线性移动地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线性移动地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可包括与齿轮组件1114操作地交接的可旋转轴1116,该齿轮组件1114被安装成与位移构件1111上的一组或一齿条的驱动齿啮合接合。传感器元件1126能够操作地联接到齿轮组件1114,使得传感器元件1126 的单次旋转对应于位移构件1111的一些线性纵向平移。传动装置和传感器 1118的布置可经由齿条和小齿轮布置连接到线性致动器,或者经由正齿轮或其它连接连接到旋转致动器。功率源1129向绝对定位系统1100供电,并且输出指示器1128可显示绝对定位系统1100的输出。在图2中,位移构件1111 表示可纵向移动的驱动构件120,该可纵向移动的驱动构件120包括形成于其上用于与齿轮减速器组件84的对应驱动齿轮86啮合接合的一齿条的驱动齿122。位移构件1111表示可纵向移动的击发构件220、击发杆172、I形梁 178、或它们的组合。
与位置传感器1112相关联的传感器元件1126的单次旋转等同于位移构件1111的纵向线性位移d1,其中d1为在联接到位移构件1111的传感器元件1126的单次旋转之后位移构件1111从点“a”移动到点“b”的纵向线性距离。传感器布置1102可经由齿轮减速连接,这使得位置传感器1112针对位移构件1111的全行程完成一次或多次旋转。位置传感器1112可针对位移构件1111的全行程完成多次旋转。
可单独或结合齿轮减速采用一系列开关1122a-1122n(其中n为大于一的整数)以针对位置传感器1112的多于一次旋转提供独特位置信号。开关 1122a-1122n的状态被馈送回控制器1104,该控制器1104应用逻辑以确定对应于位移构件1111的纵向线性位移d1+d2+…dn的独特位置信号。位置传感器1112的输出1124被提供给控制器1104。传感器布置1102的位置传感器1112可包括磁性传感器、模拟旋转传感器(如电位差计)、模拟霍尔效应元件的阵列,该模拟霍尔效应元件输出位置信号或值的独特组合。
绝对定位系统1100在器械上电时提供位移构件1111的绝对位置,而不使位移构件1111回缩或推进到如常规旋转编码器可需要的复位(清零或本位)位置,这些旋转编码器仅对马达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。
控制器1104可被编程用于执行各种功能,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可以是有刷直流马达,其具有齿轮箱以及到关节运动或刀系统的机械链接。在一个方面,马达驱动器1110可以是购自Allegro Microsystems,Inc.的A3941。其它马达驱动器可容易地被取代以用于绝对定位系统1100中。绝对定位系统1100的更详细描述在2016年4月15日提交的名称为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可被编程用于提供对位移构件1111和关节运动系统的速度和位置的精确控制。控制器1104可被配置为能够计算控制器1104的软件中的响应。将计算的响应与实际系统的所测量响应进行比较,以获得“观察到的”响应,其用于实际反馈决定。观察到的响应为有利的调谐值,该值使所模拟响应的平滑连续性质与所测量响应均衡,其可感测对系统的外部影响。
绝对定位系统1100可包括并且/或者可被编程用于实现反馈控制器,诸如PID、状态反馈和自适应控制器。功率源1129将来自反馈控制器的信号转换成对系统的物理输入,在这种情况下为电压。其它示例包括电压、电流和力的脉宽调制(PWM)。除了位置传感器1112所测量的位置之外,可提供一个或多个其它传感器1118以测量物理系统的物理参数。在数字信号处理系统中,绝对定位系统1100联接到数字数据采集系统,其中绝对定位系统1100 的输出将具有有限分辨率和采样频率。绝对定位系统1100可包括比较和组合电路,以使用算法诸如加权平均和理论控制环路将计算响应与测量响应进行组合,该算法驱动计算响应朝向所测量的响应。物理系统的计算响应将特性如质量、惯性、粘性摩擦、电感电阻考虑在内,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可以是购自Allegro Microsystems,Inc.的A3941。A3941 驱动器1110是全桥控制器,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-通道功率金属氧化物半导体场效应晶体管(MOSFET)一起使用。驱动器1110包括独特的电荷泵稳压器,其为低至7V的电池电压提供完整的 (>10V)门极驱动并且允许A3941在低至5.5V的减速门极驱动下工作。可采用自举电容器提供N-通道MOSFET所需的上述电池供电电压。高边驱动装置的内部电荷泵允许直流(100%占空比)操作。可使用二极管或同步整流在快衰减模式或慢衰减模式下驱动全桥。在慢衰减模式下,电流再循环可穿过高边或低边FET。通过电阻器可调式空载时间保护功率FET不被击穿。整体诊断指示欠压、过热和功率桥故障,并且可被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被取代以用于绝对定位系统1100中。
描述用于针对传感器布置1102实现绝对定位系统1100的各个方面的总体架构之后,本公开现在转向图11和图12以描述绝对定位系统1100的传感器布置1102的一个方面。图11为根据一个方面的绝对定位系统1100的传感器布置1102的分解透视图,其示出了电路1205和传感器布置1102的元件的相对对齐。绝对定位系统1100的传感器布置1102包括位置传感器1200、磁体1202传感器元件、每个位移构件1111的全行程转动一次的磁体保持器1204、以及提供齿轮减速的齿轮组件1206。暂时参考图2,位移构件1111 可表示可纵向移动的驱动构件120,该可纵向移动的驱动构件120包括用于与齿轮减速器组件84的对应驱动齿轮86啮合接合的一齿条的驱动齿122。返回图11,结构元件诸如托架1216被提供以支撑齿轮组件1206、磁体保持器1204和磁体1202。位置传感器1200包括磁性感测元件诸如霍尔元件,并且被放置成接近磁体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旋转的磁体1202的绝对角位置。
传感器布置1102可包括任何数量的磁性感测元件,诸如例如根据它们是测量整个磁场还是磁场的矢量分量而分类的磁性传感器。用于产生上述两种类型磁性传感器的技术涵盖物理学和电子学的多个方面。用于磁场感测的技术包括探测线圈、磁通门、光泵、核旋、超导量子干涉仪(SQUID)、霍尔效应、各向异性磁电阻、巨磁电阻、磁性隧道结、巨磁阻抗、磁致伸缩/压电复合材料、磁敏二极管、磁敏晶体管、光纤、磁光,以及基于微机电系统的磁传感器等。
齿轮组件包括第一齿轮1208和第二齿轮1210,它们啮合接合以提供3:1 齿轮齿数比连接。第三齿轮1212围绕轴1214旋转。第三齿轮1212与位移构件1111(或如图2所示的120)啮合接合,并且在位移构件1111沿远侧方向 D推进时沿第一方向旋转,并且在位移驱动构件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,并且因此,第二齿轮1210 围绕轴1214的旋转对应于位移构件1111的纵向平移。从而,位移构件1111 沿远侧方向D或近侧方向P的一个全行程对应于第二齿轮1210的三次旋转和第一齿轮1208的单次旋转。由于磁体保持器1204联接到第一齿轮1208,因此磁体保持器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由限定适于包含位置传感器1200的孔1220的位置传感器保持器1218支撑、与下面的在磁体保持器1204内旋转的磁体1202精确对齐。夹具联接到托架1216和电路1205,并且在磁体1202随着磁体保持器 1204旋转时保持静止。轮毂1222被提供来与第一齿轮1208和磁体保持器 1204配合。还示出了联接到轴1214的第二齿轮1210和第三齿轮1212。
图12为根据本公开的一个方面的用于绝对定位系统1100的包括磁性旋转绝对定位系统的位置传感器1200的图。位置传感器1200可实现为购自 Austria Microsystems,AG的AS5055EQFT单片磁性旋转位置传感器。位置传感器1200与控制器1104交接,以提供绝对定位系统1100。位置传感器1200 为低电压和低功率部件,并且包括位于磁体1202(图15和图16)上方的位置传感器1200的区域1230中的四个霍尔效应元件1228A、1228B、1228C、1228D。在芯片上还提供了高分辨率ADC 1232和智能型电源管理控制器 1238。提供了CORDIC处理器1236(用于坐标旋转数字计算机(Coordinate Rotation DigitalComputer)),也称为逐位法和Volder算法,以实现简单且有效的算法,其仅需要加法、减法、位位移和表格查找操作就可计算双曲线函数和三角函数。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位或14位分辨率。位置传感器1200可以是以小型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,本文将不详细描述,然而,霍尔效应通常在横向于电导体中的电流以及垂直于电流的磁场的导体上产生电压差(霍尔电压)。霍尔系数被限定为感应电场与电流密度和所施加磁场的乘积的比率。其为从中制备导体的材料的特性,因为其值取决于构成电流的电荷载体的类型、数目和性能。在AS5055位置传感器1200中,霍尔效应元件1228A、1228B、1228C、1228D能够产生电压信号,其指示根据磁体1202经过单次旋转的角度的磁体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),并且将该值以机载方式存储在寄存器或存储器中的AS5055位置传感器1200上。在多种技术中,例如在上电时或在控制器1104发出请求时,向控制器1104提供角度的值,该值指示经过一次旋转的磁体1202的位置。
AS5055位置传感器1200在连接到控制器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。可添加第七连接,以便向控制器1104发送中断以通知可读取新的有效角度。在上电时,AS5055位置传感器1200执行全上电序列,包括一个角度测量。该循环的完成被指示为INT 输出1242,并且角度值存储在内部寄存器中。一旦设定了这一输出,AS5055位置传感器1200就暂停为休眠模式。控制器1104可通过SPI接口1234从 AS5055位置传感器1200读取角度值来响应INT输出1242处的INT请求。一旦控制器1104读取了角度值,就再次清除INT输出1242。由控制器1104 通过SPI接口1234向位置传感器1200发送“读取角度”命令还自动地使芯片上电并且启动另一角度测量。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,因此在每个上电序列之后,在非常短的时间(约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就暂停为下电状态。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上电时间,这在低功率应用中是不期望的。可通过在控制器1104中对数个角度样本进行求平均来减少角度抖动。例如,对四个样本进行平均可使抖动减少6dB (50%)。
图13为根据本公开的一个方面的外科器械10(图1至图4)的端部执行器2502的截面图,其示出了相对于抓持在端部执行器2502内的组织2526 的I形梁2514击发行程。端部执行器2502被配置为能够与图1至图4中所示的外科器械10一起操作。端部执行器2502包括砧座2516和细长通道2503,其中钉仓2518定位在细长通道2503中。击发杆2520能够沿端部执行器2502 的纵向轴线2515朝远侧和朝近侧平移。当端部执行器2502不进行关节运动时,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刃2509的I形梁2514。楔形滑动件2513定位在钉仓2518中。当I形梁2514朝远侧平移时,切割刃2509接触并且可切割定位在砧座2516 和钉仓2518之间的组织2526。而且,I形梁2514接触楔形滑动件2513并朝远侧推动它,从而使得楔形滑动件2513接触钉驱动器2511。钉驱动器2511可以被向上驱动到钉2505中,从而使得钉2505推进穿过组织并进入限定在砧座2516中的凹坑2507中,该凹坑使钉2505成形。
示例性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朝远侧推进到行程结束位置2528。在行程开始位置2527的一个示例性位置处示出了I形梁2514。I形梁2514击发行程图表2529示出了五个击发构件行程区域2517、2519、2521、2523、2525。在第一击发行程区域2517中,I形梁2514可开始朝远侧推进。在第一击发行程区域2517中,I形梁2514可接触楔形滑动件2513并开始朝远侧移动。然而,在第一区域中时,切割刃2509可不接触组织,并且楔形滑动件2513可不接触钉驱动器2511。在克服静摩擦力之后,在第一区域2517中驱动I形梁 2514的力可以是基本上恒定的。
在第二击发构件行程区域2519中,切割刃2509可开始接触并切割组织 2526。而且,楔形滑动件2513可以开始接触钉驱动器2511以驱动钉2505。驱动I形梁2514的力可开始上升。如图所示,由于砧座2516相对于钉仓2518 枢转的方式,起初遇到的组织可以被压缩和/或变薄。在第三击发构件行程区域2521中,切割刃2509可连续地接触并切割组织2526,并且楔形滑动件2513 可重复地接触钉驱动器2511。驱动I形梁2514的力可在第三区域2521中达到稳定。通过第四击发行程区域2523,驱动I形梁2514的力可开始下降。例如,端部执行器2502的对应于第四击发区域2523的部分中的组织可比靠近砧座2516的枢转点的组织压缩得更少,从而需要更少的切割力。而且,切割刃2509和楔形滑动件2513可在第四区域2523中到达组织2526的端部。当 I形梁2514到达第五区域2525时,组织2526可被完全切断。楔形滑动件2513 可以在组织的端部处或附近接触一个或多个钉驱动器2511。可减小推进I形梁2514通过第五区域2525的力,并且在一些示例中,该力可类似于在第一区域2517中驱动I形梁2514的力。在击发构件行程结束时,I形梁2514可到达行程结束位置2528。图18中的击发构件行程区域2517、2519、2521、 2523、2525的定位仅是一个示例。在一些示例中,例如基于组织在砧座2516 和钉仓2518之间的定位,不同区域可在沿端部执行器纵向轴线2515的不同位置处开始。
如上所讨论,并且现在参考图10至图13,可利用定位在外科器械10(图 1至图4)的柄部组件内的电动马达1122来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/或切入捕获在端部执行器2502内的组织。I形梁2514可以期望速度或在期望速度的范围内推进或回缩。控制器1104可被配置为能够控制I形梁2514的速度。控制器1104可被配置为能够基于例如向电动马达1122供应的电力的各种参数(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 供应的电流和/或电压的先前值和/或系统的先前状态(如速度、加速度和/或位置)来预测I形梁2514的当前速度。控制器1104可被配置为能够利用本文所述的绝对定位传感器系统来感测I形梁2514的速度。控制器可被配置为能够比较I形梁2514的预测速度与I形梁2514的感测速度,以确定是否应当增大通向电动马达1122的电力以便增大I形梁2514的速度,和/或是否应当减小通向电动马达1122的电力以便减小I形梁2514的速度。名称为“MOTOR-DRIVEN SURGICAL CUTTINGINSTRUMENT”的美国专利号 8,210,411,其全文以引用方式并入本文。名称为“SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES”的美国专利号7,845,537,其全文以引用方式并入本文。
作用于I形梁2514上的力可使用各种技术来确定。可通过测量马达2504 的电流来确定I形梁2514的力,其中马达2504的电流是基于I形梁2514朝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) 上和/或在切割刃2509的近侧端部上来确定I形梁2514的力。可通过以下方式来确定I形梁2514的力:在预先确定的实耗时段T1之后,基于马达2504 的当前设定速度,监测以预期速度移动的I形梁2514的实际位置,并在时段 T1结束时,基于马达2504的当前设定速度,比较相对于I形梁2514的预期速度的I形梁2514的实际位置。因此,如果I形梁2514的实际位置小于I 形梁2514的预期位置,则I形梁2514上的力大于标称力。相反,如果I形梁2514的实际位置大于I形梁2514的预期位置,则I形梁2514上的力小于标称力。I形梁2514的实际位置和预期位置之间的差值和I形梁2514上的力与标称力的偏差是成比例的。此类技术在代理人案卷号END8195USNP中有所描述,其全文以引用方式并入本文。
图14示出了根据本公开的一个方面的被编程为控制位移构件的远侧平移的外科器械2500的框图。在一个方面,外科器械2500被编程用于控制位移构件1111诸如I形梁2514的远侧平移。外科器械2500包括端部执行器 2502,该端部执行器2502可包括砧座2516、I形梁2514(包括锋利的切割刃 2509)和可移除的钉仓2518。端部执行器2502、砧座2516、I形梁2514和钉仓2518可如本文例如参考图1至图13所述的那样进行配置。
线性位移构件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所示的绝对定位系统1100、传感器布置1102和位置传感器 1200来测量,并且位置传感器1200在图14中被表示为位置传感器2534。由于I形梁2514联接到可纵向移动的驱动构件120,因此I形梁2514的位置可通过采用位置传感器2534测量可纵向移动的驱动构件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中所述的控制电路700可被编程用于控制位移构件1111诸如I形梁2514的平移,如关于图 10至图12所述。在一些示例中,控制电路2510可包括一个或多个微控制器、微处理器或其它合适的处理器,以用于执行使一个或多个处理器以所述方式控制位移构件(例如,I形梁2514)的指令。在一个方面,定时器/计数器电路2531向控制电路2510提供输出信号诸如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)的位置。定时器/计数器电路2531可被配置为能够测量实耗时间、计数外部事件或时间外部事件。
控制电路2510可以生成马达设定点信号2522。马达设定点信号2522可被提供给马达控制器2508。马达控制器2508可包括一个或多个电路,这些电路被配置为能够向马达2504提供马达驱动信号2524以驱动马达2504,如本文所述。在一些示例中,马达2504可以是有刷直流电动马达,诸如图1、图5B、图10中所示的马达82、714、1120。例如,马达2504的速度可与马达驱动信号2524成比例。在一些示例中,马达2504可以是无刷直流(DC) 电动马达,并且马达驱动信号2524可以包括提供给马达2504的一个或多个定子绕组的脉宽调制(PWM)信号。而且,在一些示例中,可以省略马达控制器2508,并且控制电路2510可以直接生成马达驱动信号2524。
马达2504可从能量源2512处接收电力。能量源2512可以是或者可包括电池、超级电容器或任何其它合适的能量源2512。马达2504可经由传动装置2506机械联接到I形梁2514。传动装置2506可包括一个或多个齿轮或其它连杆部件,以将马达2504联接到I形梁2514。位置传感器2534可感测 I形梁2514的位置。位置传感器2534可以是或者可包括能够生成指示I形梁 2514的位置的位置数据的任何类型的传感器。在一些示例中,位置传感器2534可包括编码器,该编码器被配置为能够在I形梁2514朝远侧和朝近侧平移时向控制电路2510提供一系列脉冲。控制电路2510可跟踪脉冲以确定I 形梁2514的位置。可使用其它合适的位置传感器,包括例如接近传感器。其它类型的位置传感器可提供指示I形梁2514的运动的其它信号。而且,在一些示例中,可以省略位置传感器2534。在马达2504是步进马达的情况下,控制电路2510可通过聚合马达2504已被命令执行的步骤的数量和方向来跟踪I形梁2514的位置。位置传感器2534可位于端部执行器2502中或器械的任何其它部分处。
控制电路2510可与一个或多个传感器2538通信。传感器2538可定位在端部执行器2502上并且适于与外科器械2500一起操作以测量各种衍生参数,诸如间隙距离对时间、组织压缩对时间、以及砧座应变对时间。传感器 2538可包括例如磁性传感器、磁场传感器、应变仪、压力传感器、力传感器、电感式传感器(诸如涡流传感器)、电阻式传感器、电容式传感器、光学传感器、和/或用于测量端部执行器2502的一个或多个参数的任何其它合适的传感器。传感器2538可包括一个或多个传感器。
一个或多个传感器2538可包括应变仪,诸如微应变仪,其被配置为能够在夹持条件期间测量砧座2516中的应变的大小。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之间的组织段的阻抗,该阻抗指示位于其间的组织的厚度和/或填充度。
传感器2538可被配置为能够测量由闭合驱动系统30施加在砧座2516 上的力。例如,一个或多个传感器2538可位于闭合管260(图3)和砧座2516 之间的交互点处,以检测由闭合管260施加到砧座2516的闭合力。施加在砧座2516上的力可表示捕集在砧座2516和钉仓2518之间的组织段所经受的组织压缩。一个或多个传感器2538可沿闭合驱动系统30(图2)定位在各种交互点处,以检测由闭合驱动系统30施加到砧座2516的闭合力。一个或多个传感器2538可在夹持操作期间由如图5A至图5B所述的处理器实时取样。控制电路2510接收实时样本测量值以提供、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 所需的力对应于由马达2504消耗的电流。将力转换成数字信号并将其提供给控制电路2510。
使用本文结合图1至图14所公开的器械的物理特性,并且参考图14,控制电路2510可被配置为能够模拟器械的实际系统在控制器的软件中的响应。可致动位移构件以使端部执行器2502中的I形梁2514以目标速度或接近目标速度移动。外科器械2500可包括反馈控制器,该反馈控制器可为任何反馈控制器中的一者,包括但不限于例如PID、状态反馈、LQR和/或自适应控制器。外科器械2500可包括功率源,以例如将来自反馈控制器的信号转换成物理输入,诸如外壳电压、脉宽调制(PWM)电压、频率调制电压、电流、扭矩和/或力。
外科器械2500的实际驱动系统被配置为能够通过具有齿轮箱和与关节运动和/或刀系统的机械链路的有刷DC马达驱动位移构件、切割构件或I形梁2514。另一个示例为操作例如可互换轴组件的位移构件和关节运动驱动器的电动马达2504。外部影响是事物如组织、周围身体和摩擦对物理系统的未测量的、不可预测的影响。此类外部影响可称为相对电动马达2504作用的曳力。外部影响诸如曳力可导致物理系统的操作偏离物理系统的期望操作。
在详细说明外科器械2500的各个方面之前,应当指出的是,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布置的细节。示例性方面可以单独实施,也或与其它方面、变型和修改结合在一起实施,并且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性方面进行描述而所选的,并非为了限制性的目的。而且,应当理解,以下描述的方面中的一个或多个、方面和/或示例的表达可以与以下描述的其它方面、方面和/或示例的表达中的任何一个或多个组合。
各种示例性方面涉及外科器械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,并且当被配置用于使用时,钉仓2518定位在砧座2516的对面。临床医生可抓持砧座2516和钉仓2518之间的组织,如本文所述。当准备好使用器械2500时,临床医生可提供击发信号,例如通过按下器械2500的触发器。响应于击发信号,马达2504可沿端部执行器2502的纵向轴线将位移构件从近侧行程开始位置朝远侧驱动至行程开始位置远侧的行程结束位置。当位移构件朝远侧平移时,具有定位在远侧端部处的切割元件的I形梁2514可切割钉仓2518和砧座2516之间的组织。
在各种示例中,外科器械2500可包括控制电路2510,该控制电路2510 被编程用于例如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/或以较低的功率使位移构件平移。当存在较薄的组织时,控制电路2510可被编程用于以较高的速度和/或以较高的功率使位移构件平移。
在一些示例中,控制电路2510可针对位移构件的行程的第一开环部分初始以开环配置操作马达2504。基于行程的开环部分期间器械2500的响应,控制电路2510可选择击发控制程序。器械的响应可包括在开环部分期间位移构件的平移距离、在开环部分期间耗用的时间、在开环部分期间提供给马达 2504的能量、马达驱动信号的脉冲宽度之和等。在开环部分之后,控制电路 2510可对位移构件行程的第二部分实现所选择的击发控制程序。例如,在行程的闭环部分期间,控制电路2510可基于以闭环方式描述位移构件的位置的平移数据来调制马达2504,以使位移构件以恒定速度平移。
图15示出了绘制根据本公开的一个方面执行的两个示例性位移构件行程的图2580。图2580包括两个轴。水平轴2584指示实耗时间。竖直轴2582 指示I形梁2514在行程开始位置2586和行程结束位置2588之间的位置。在水平轴2584上,控制电路2510可接收击发信号并开始在t0提供初始马达设定。位移构件行程的开环部分是可能在t0和t1之间经过的初始时间段。
第一示例2592示出了当厚组织定位在砧座2516与钉仓2518之间时外科器械2500的响应。在击发构件行程的开环部分期间,例如在t0和t1之间的初始时间段期间,I形梁2514可从行程开始位置2586遍历到位置2594。控制电路2510可确定位置2594对应于以由在t1之后的示例2592的斜坡(例如,在闭环部分中)指示的选定恒定速度(V慢)推进I形梁2514的击发控制程序。控制电路2510可通过监测I形梁2514的位置并且调制马达设定点2522 和/或马达驱动信号2524来将I形梁2514驱动到速度V慢以保持V慢。第二示例2590示出了当薄组织定位在砧座2516与钉仓2518之间时外科器械2500 的响应。
在t0和t1之间的初始时间段(例如,开环段)期间,I形梁2514可从行程开始位置2586遍历到位置2596。控制电路可确定位置2596对应于以选定恒定速度(V快)推进位移构件的击发控制程序。由于示例2590中的组织比示例2592中的组织薄,因此它可为I形梁2514的运动提供较小的阻力。结果,I形梁2514可在初始时间段期间遍历较大部分的行程。并且,在一些示例中,较薄组织(例如,在初始时间段期间遍历的较大部分的位移构件行程) 可对应于初始时间段之后的较高位移构件速度。
本公开现在转向用于提供对位移构件的速度控制的闭环反馈系统。闭环反馈系统基于位移构件的指定距离或位移上的时间的测量来调整位移构件的速度。在一个方面,闭环反馈系统包括两个阶段。被限定为击发行程的开始的开始阶段,之后是击发行程期间I形梁2514朝远侧推进时的动态击发阶段。图16A和图16B示出了定位在击发行程的开始阶段处的I形梁2514。图16A 示出了包括击发构件2520的端部执行器2502,该击发构件2520联接到包括切割刃2509的I形梁2514。在闭合斜坡9506的底部处,砧座2516处于闭合位置并且I形梁2514位于近侧或停止位置9502。停止位置9502是I形梁2514 在沿砧座2516闭合斜坡9506向上行进到斜坡9506顶部并进入T形狭槽9508 中之前的位置,并且可能是超过预先确定的固定初始时间间隔T0的距离,该预先确定的固定初始时间间隔T0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形狭槽9508,并且闭锁销9582被构造成能够接合闩锁特征9584。
在图16B中,在时间间隔T0的结束处,I形梁2514位于远侧位置9504,其中顶部销2580已接合在T形狭槽9508和底部销中。如图16A至图16B所示,在时间间隔T0期间从停止位置9502行进到远侧位置9504时,I形梁2514 在水平的远侧方向上行进以实际测量位移δ0指示的距离。在开始阶段期间, I形梁2514的速度被设定为预先确定的初始速度V0。控制电路2510测量在预先确定的固定时间间隔T0上I形梁2514以初始速度V0从停止位置9502 到远侧位置9504所行进的实际位移δ0。在一个方面,由于作用在I形梁2514 的切割刃2509上的外部影响,在12mm/s的初始命令速度V0下,I形梁2512 在固定时间间隔T0=0.8s上的实际测量水平位移δ0可为δ0=10.16mm。如下文更详细地描述,时间间隔T0是固定的,并且I形梁2514的实际位移是在固定时间间隔T0上测量的,并用于将后续钉仓区域Z1、Z2、Z3…Zn中I形梁2514朝远侧推进时的I形梁2514的命令速度设定为慢、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)。区域Z1-Zn根据在此期间控制电路2510测量位移构件的实际位移的固定时间间隔T1-Tn来限定。
命令速度或设定速度是由控制电路2510和马达控制器2508施加到马达 2504以实现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通过利用位置传感器2534在由定时器/计数器2531确定的固定时间间隔Tn处测量I形梁2514的位置来确定。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或位移构件在预先确定的固定时间间隔Tn上的实际位移δn。每个区域Zn可通过在此期间控制电路2510测量位移构件例如I形梁2514的实际位移δn的预先确定的固定时间间隔Tn来限定。
图17示出了根据本公开的一个方面的通过与端部执行器2502对齐的图表90 09示出的I形梁2514击发行程。如图所示,初始区域Z0或基础区域是在此期间I形梁2514从停止位置9502行进到远侧位置9504的固定时间间隔 T0的长度,该长度可基于作用在I形梁2514上的外部影响诸如组织厚度而改变。初始时间间隔T0是I形梁2514以初始设定速度V0沿闭合斜坡9506向上行进并到达远侧位置9504的设定固定时间。固定时段T0期间区域Z0中的I 形梁2514的实际位移δ0用于设定后续区域Z1中的命令速度。
现在参考图14至图17,在开始阶段时,例如在击发行程开始时,控制电路2510被配置为能够发起以预先确定的速度V0(例如,12mm/s)击发位移构件诸如I形梁2514。在开始阶段期间,控制电路2510被配置为能够监测 I形梁2514的位置,并测量I形梁2514在固定时间间隔T0上距停止位置9502 的或在低功率操作模式结束时的实际位移δ0。固定时间间隔T0上位移构件的实际位移δ0由控制电路2510用来确定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δ0>10.0mm,则可将速度设定为快,并且如果实际位移δ0≤10.0mm,则可将速度设定为中等。较快或较慢的时间间隔Tn可基于钉仓2518的长度来选择。在各个方面,如果遇到闭锁状况,则马达2504将在I形梁2514到达初始时间间隔T0的结束之前失速。当发生这种状况时,外科器械的显示器指示器械状态,并且可发出失速警告。显示器还可指示速度选择。
在动态击发阶段期间,外科器械对位移构件采用动态击发控制,在动态击发控制中,控制电路2510被配置为能够监测I形梁2514的位置,并测量I 形梁2514在时间间隔Tn期间例如从区域的开始到达区域的结束的实际位移δn,其中时间间隔Tn可为例如0.4s或0.8s。在图17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。同样地,δ2表示I形梁2514 从区域Z2的开始到区域Z2的结束所行进的距离,以此类推。表1示出可被限定用于各种尺寸的钉仓2518的区域。
表1-用于各种尺寸的钉仓的限定区域
对于超过60mm的钉仓2518,继续该模式,但除其它事项之外,在最后的10-15mm期间在其它干预以前以先前区域的命令或指示速度继续,直到行程结束。在每个区域Zn结束时,将I形梁2514的实际位移δn与存储在查找表中的值(例如,如下文表2至表5所示)进行比较,以确定如何设定下一区域Zn+1的命令速度Vn+1。针对下一区域更新命令速度,并且过程继续。无论何时在区域Zn中更新命令速度,都将不在时间间隔Tn上评估下一区域Zn+1。根据外科器械的预先确定的协议/算法(包括限位开关、受控减速等)来处理行程的结束。在行程结束时,I形梁2514以快的速度返回到初始I形梁停止位置9502。根据外科器械的协议/算法来处理返回行程的结束(返回到停止位置9502)。可限定其它区域,而没有限制。
表2-各个动态击发区域的以指定命令速度行进穿过各区域的距离
表3-各个动态击发区域的以指定命令速度行进穿过各区域的距离的非限制性示
例
表4-用于基于固定时间间隔上的所行进距离来设定速度的算法
表5-用于基于固定时间间隔上的所行进距离来设定速度的算法的非限制性示例
在一个方面,表1至表5可存储在外科器械的存储器中。表1至表5可以查找表(LUT)的形式存储在存储器中,使得控制电路2510可检索值,并基于存储在LUT中的值来控制每个区域中I形梁2514的命令速度。
图18为根据本公开的一个方面的比较组织厚度随I形梁行程的设定时间间隔Tn变化9202(顶部曲线图)、击发力随I形梁击发行程的设定时间间隔 Tn变化9604(自上至下的第二个曲线图)、动态时间检查随I形梁击发行程的设定时间间隔Tn变化9606(自上至下的第三个曲线图)、以及I形梁的设定速度随I形梁击发行程的设定时间间隔Tn变化9608(底部曲线图)的图形描绘9600。曲线图9602、9604、9606、9608中的每一个的水平轴9610表示例如对于60mm钉仓的I形梁2514行程的设定时间间隔Tn。可容易地以不同长度的钉仓代替。还参考表1,水平轴9610已被标记以识别用于60mm钉仓的限定区域Z1-Z6。如表1所指示,这些限定区域可被标记用于各种尺寸的钉仓。还参考图14,根据本公开,控制电路2510对在击发行程期间I形梁2514 沿钉仓2518朝远侧推进时从定时器/计数器电路2531接收的I形梁2514在设定时间间隔处的位移进行采样。在设定时间间隔处,控制电路2510对来自位置传感器2534的I形梁2514位置进行采样,并确定时间间隔Tn期间I形梁 2514的实际位移δn。以此方式,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,并且对马达2504速度进行任何必要的调整。
组织厚度曲线图9602示出了沿钉仓2518的组织厚度轮廓9620以及如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示出了沿钉仓2518的击发力轮廓9628。当I形梁2514遍历区域Z1和Z2时,击发力 9630保持相对恒定,而组织区域9622中的组织厚度保持低于组织区域9621 中的指示厚度。当I形梁2514进入区域Z3时,组织区域9624中的组织厚度增加,并且I形梁2514遍历时间区域Z3、Z4和Z5中的较厚组织时的击发力也增加。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17至图18以及表2至表3,区域Z1中的速度V1被设定为由控制电路2510确定的速度V0,该速度V0基于初始设定时间间隔T0期间I形梁2514的位移δ0,如参考图16A、图16B所讨论。还转向图18中的曲线图9606、9608,初始设定速度V0被设定为中等,并且因此,区域Z1中的设定速度V1被设定为中等,使得V1=V0。
在设定时间t1(例如,对于60mm钉仓为0.4s),当I形梁2514离开区域Z1并进入Z2时,控制电路2510测量I形梁2514在设定时间间隔T1(0.4s 长)上的实际位移δ1,并确定I形梁2514的实际速度。参考图18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上的实际位移δ1为δ1=4.5mm。根据表3,区域Z1中的4.5mm实际位移要求将Z2区域中的命令或设定速度V2设定为“中等”。因此,控制电路2510不重置区域 Z2的命令速度并且将其保持处于中等。
在设定时间t2(例如,对于60mm钉仓为0.8s),当I形梁2514离开区域Z2并进入Z3时,控制电路2510测量I形梁2514在设定时间间隔T2(0.8s 长)上的实际位移δ2,并确定I形梁2514的实际速度。参考图18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上的实际位移δ2为δ2=9.0mm。根据表3,区域Z2中的9.0mm实际位移要求将Z3区域中的命令或设定速度V3设定为“中等”。因此,控制电路2510不重置区域 Z3的命令速度并且将其保持处于中等。
在设定时间t3(例如,对于60mm钉仓为2.0s),当I形梁2514离开区域Z3并进入Z4时,控制电路2510测量I形梁2514在设定时间间隔T3(0.8s 长)上的实际位移δ3,并确定I形梁2514的实际速度。参考图18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上的实际位移δ3为δ3=7.5mm。根据表3,区域Z3中的7.5mm实际位移要求将Z4区域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 并且在先前范围之外。因此,控制电路2510确定区域Z3中的实际I形梁2514 速度比预期的慢,这是由于外部影响诸如比预期的厚的组织所致,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。除非另外陈述,否则无论何时在当前区域中更新速度,都将不评估后续区域。由于速度是在区域Z4中被更新,因此在区域Z4结束时,将不在设定时间t4(例如,对于60mm钉仓为2.8s)测量I形梁所行进的距离。因此,区域Z5中的速度将与区域Z4中的速度保持相同,并且在设定时间t5(例如,对于60mm钉仓为3.6s)恢复动态时间测量。
在设定时间t5,当I形梁2514离开区域Z5并进入Z6时,控制电路2510 测量I形梁2514在设定时间间隔T5(0.8s长)上的实际位移δ5,并确定I形梁2514的实际速度。参考图18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上的实际位移δ5为δ5=9.5mm。根据表3,区域Z5中的9.5mm实际位移要求将Z6区域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。控制电路2510 确定区域Z5中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的薄的组织所致,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19为根据本公开的一个方面的击发力随时间变化的图形描绘9700,其比较了慢速、中速和快速I形梁2514位移。水平轴9702表示I形梁遍历钉仓所花的时间t(s)。竖直轴9704表示击发力F(N)。该图形描绘三个单独的击发力曲线对时间。第一击发力曲线9712表示I形梁2514(图14) 以快的速度遍历通过薄组织9706并在t1达到斜坡9506顶部处(图16B)的最大击发力F1。在一个示例中,I形梁2514的快遍历速度为约30mm/s。第二击发力曲线9714表示I形梁2514以中等速度遍历通过中厚组织9708并在大于t1的t2达到斜坡9506顶部处的最大击发力F2。在一个示例中,I形梁2514 的中等遍历速度为约12mm/s。第三击发力曲线9716表示I形梁2514以慢的速度遍历通过厚组织9710并在大于t2的t达到斜坡9706顶部处的最大击发力F3。在一个示例中,I形梁2514的慢遍历速度为约9mm/s。
图20为根据本公开的一个方面的过程的逻辑流程图9800,其描绘了用于在初始击发阶段中控制指令速度的控制程序或逻辑配置。还参考图14以及图16至图20,控制电路2510基于由位置传感器2534提供的位置信息来确定9802位移构件诸如I形梁2514的基准位置。在I形梁2514示例中,基准位置是如图16B所示的在闭合斜坡9506的底部处的近侧或停止位置9502。一旦已经确定9802基准位置,控制电路2510和马达控制器2508就将马达 2504的命令速度设定为预先确定的命令速度V0,并发起9804针对初始或基本区域Z0的以预先确定的命令速度V0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V0为约12mm/s,然而,可采用其它初始预先确定的命令速度V0。控制电路2510利用从位置传感器2534接收的预先确定的时间间隔T0上的位置信息来监测9806位移构件的位置,并且在时间间隔T0结束时记录位移构件的实际位移δ0,如图16B所示。预先确定的位移X0是位移构件以当前设定命令速度V0行进的预期位移。实际位移δ0和预先确定的位移X0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诸如作用在I形梁2514的切割刃2509上的组织厚度所致。
利用从定时器/计数器电路2531接收的定时信息和从位置传感器2534接收的位置信息,控制电路2510测量9808位移构件在时间间隔T0上的实际位移δ0。基于实际位移δ0和设定时间间隔T0,控制电路210设定9810第一区域Z1的命令速度V1。如表1所指示,可对各种尺寸的钉仓限定各种区域。然而,可限定其它区域。控制电路2510通过比较9812实际位移δ0与存储在存储器中诸如例如存储在查找表(LUT)中的值来设定9810第一区域Z1的命令速度V1。在一个示例中,如通常在表4和表5中通过具体示例所指示,如果位移构件在0.8s的固定时间间隔T0(s)上行进的实际位移δ0大于10mm,则将第一区域Z1的命令速度设定9814为快(例如30mm/s)。否则,如果位移构件在0.8s的固定时间间隔T0(s)上的实际位移δ0小于或等于10mm,则将第一区域Z1的命令速度设定9816为中等(例如12mm/s)。随后,控制电路2510针对闭锁进行检查9818,并且如果存在闭锁状况,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21中的过程9850所述。
图21为根据本公开的一个方面的过程的逻辑流程图9850,其描绘了用于在动态击发阶段中控制命令速度的控制程序或逻辑配置。参考图14以及图 16至图20,控制电路2510基于位移构件在初始设定时间T0上的位移δ0来对第一区域Z1设定9852马达2504的命令速度V1,如参考图20中的过程9800 所述。当位移构件遍历钉仓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,并且监测9854区域Zn中位移构件在预先限定的设定时间间隔Tn上的位置。在区域Zn结束时,控制电路2510测量9856位移构件2514从区域Zn的开始遍历到区域Zn的结束时位移构件在预先限定的时间间隔Tn上的实际位移δn,并且比较9858特定区域的实际位移δn与预先确定的位移Xn,如通常在表2中以及在表3中通过具体示例所示。预先确定的位移Xn是位移构件以当前设定命令速度行进的预期位移。实际位移δn和预先确定的位移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诸如作用在I形梁2514的切割刃2509上的组织厚度所致。
例如,参考表3,针对各个动态击发区域提供位移构件在设定时间间隔 Tn上以指定的命令速度行进通过区域的距离。例如,如果动态击发区域是区域Z1(T1=0.4s长)并且实际位移δn<4mm,则将下一区域Z2的命令速度设定为快;如果实际位移为4mm<δn<5mm,则将下一区域Z2的命令速度设定为中等;并且如果实际位移为δn>5mm,则将下一区域Z2的命令速度设定为慢;
然而,如果动态击发区域是例如位于第一区域Z1和最后区域Z6之间的中间区域Z2-Z5(T=0.8s长),并且如果实际位移为δn<8mm,则将下一区域Z2的命令速度设定为快;如果实际位移为8mm<δn<10mm,则将下一区域Z3-Z5的命令速度设定为中等;并且如果实际位移为δn>10mm,则将下一区域Z3-Z5的命令速度设定为慢;
最后,如果动态击发区域是最后测量区域Z5(T=0.8s长)并且实际位移δn<7mm,则将最终区域Z6的命令速度设定为快;如果实际位移为7mm< δn<9mm,则将最终区域Z6的命令速度设定为中等;并且如果实际位移为δn >9mm,则将最终区域Z6的命令速度设定为慢。可采用其它参数来不仅限定动态击发区域,而且针对各个动态击发区域限定以指定的命令速度行进通过区域的时间。
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的结果指示先前区域Zn中的实际速度(快、中等、慢)与先前命令速度V1(快、中等、慢)相同,则控制电路2510保持9860下一区域 Zn+1的命令速度与先前命令速度相同。过程9850继续以监测9854位移构件在下一预先限定的区域Zn+1上的位置。在下一区域Zn+1结束时,控制电路2510 测量9856位移构件在从下一区域Zn+1的开始遍历到下一区域Zn+1的结束时在预先限定的时间间隔Tn+1上的实际位移δn+1,并且比较9858特定区域的实际位移δn+1与预先确定的位移Xn+1,如通常在表2中以及在表3中通过具体示例所示。如果不需要对命令速度进行任何改变,则过程9850继续,直到位移构件例如I形梁2514到达行程9866的结束并使位移构件9868返回到基准位置9502为止。
如果比较9858的结果指示先前区域Zn中的实际速度(快、中等、慢) 与先前命令速度V1(快、中等、慢)不同,则控制电路2510根据表2和表3 中总结的算法针对下一区域Zn+1将命令速度重置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对附加区域Zn+2保持9864命令速度V新。换句话讲,在下一区域Zn+1结束时,控制电路2510不评估或不测量位移。过程9850继续以监测9854移位构件在下一预先限定的区域Zn+1上的位置,直到位移构件例如I形梁2514到达行程9866的结束并使位移构件返回9868到基准位置9502为止。
本文所述的功能或过程9800、9850可由本文所述的处理电路中的任一者执行,诸如关于图5至图6所述的控制电路700,在图7至图9中所述的电路800、810、820,关于图10和图12所述的微控制器1104,和/或在图14 中所述的控制电路2510。
机动外科器械的各方面可在没有本文所公开的具体细节的情况下实施。某些方面已被示出为框图而不是详情。本公开的各部分可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。
通常,可以用多种硬件、软件、固件或它们的任何组合单独和/或共同实施的本文所述的各方面可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,通用计算机,或至少部分地实施本文所述的方法和/或装置的由计算机程序配置的处理器)、形成存储器装置(例如,形成随机存取存储器)的电子电路,和/或形成通信装置(例如,调制解调器、通信开关或光电设备)的电子电路。这些方面可模拟或数字或其组合实现。
上述描述经由使用可包含一个或多个功能和/或操作的框图、流程图和/ 或示例来阐述装置和/或过程的各方面。此类框图、流程图或示例内的每个功能和/或操作可由多种硬件、软件、固件或或它们的几乎任何组合单独地和/ 或共同地来实现。在一个方面,本文所述的主题的若干部分可经由专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、可编程逻辑装置(DSP)、电路、寄存器和/或软件组件(例如,程序、子例程、逻辑和/或硬件和软件组件的组合)、逻辑门或其它集成格式来实现。本文所公开的一些方面全部或部分地可作为在一台或多台计算机上运行的一个或多个计算机程序(如,作为在一个或多个计算机系统上运行的一个或多个程序),作为在一个或多个处理器上运行的一个或多个程序(如,作为在一个或多个微处理器上运行的一个或多个程序),作为固件,或作为实际上它们的任何组合全部或部分地在集成电路中等效地实现,并且根据本发明,设计电子电路和/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。
本发明所公开的主题的机制能够作为多种形式的程序产品进行分布,并且本文所述主题的示例性方面适用,而不管用于实际进行分布的信号承载介质的具体类型是什么。信号承载介质的示例包括如下:可录式媒体,诸如软盘、硬盘驱动器、光盘(CD)、数字视频光盘(DVD)、数字磁带、计算机存储器等;和传输式介质,诸如数字和/或模拟通信介质(例如,光纤缆线、波导、有线通信链路、无线通信链路(例如,发射器、接收器、传输逻辑、接收逻辑)等)。
已经出于说明和描述的目的而呈现了这些方面的上述描述。这些具体实施方式并非意图为详尽的或限定到本发明所公开的精确形式。可以按照上述教导内容对本发明进行修改或变型。所选择和描述的这些方面是为了示出本发明的原理和实际应用,从而使得本领域的普通技术人员能够利用各方面,在适合设想的具体应用的情况下进行修改。与此一同提交的权利要求书旨在限定完整范围。
本文所述主题的各个方面在以下编号的实施例中陈述:
实施例1.一种外科器械,包括:位移构件,所述位移构件被构造成能够在所述外科器械内在多个预先限定的区域上平移;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监测所述位移构件的位置;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;其中所述控制电路被配置为能够:从所述位置传感器接收设定时间间隔期间所述位移构件在当前区域中的位置;测量在所述设定时间间隔结束时所述位移构件在设定时间处的位移,其中所测量位移被限定为所述设定时间间隔期间所述位移构件以所述当前区域的设定命令速度所行进的距离;并且基于所述位移构件在所述当前区域内的所测量位移来对后续区域设定所述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,所述控制电路被配置为能够:确定所述位移构件位于其中的所述设定时间间隔,其中所述设定时间间隔由开始时间和结束时间限定;并且测量所述位移构件在所述设定时间间隔的所述结束时间处的所述位移。
实施例3.根据实施例1至实施例2所述的外科器械,其中,所述控制电路被配置为能够:将所测量位移与存储在联接到所述控制电路的存储器中的预先确定的位移进行比较;并且基于所述比较来确定是调整还是保持所述当前区域的所述命令速度。
实施例4.根据实施例3所述的外科器械,其中,所述控制电路被配置为能够当所测量位移在预先确定的位移范围之内时,将所述后续区域的所述命令速度设定为与所述当前区域的所述命令速度相等。
实施例5.根据实施例3至实施例4所述的外科器械,其中,所述控制电路被配置为能够当所测量位移在预先确定的位移范围之外时,将所述后续区域的所述命令速度设定为与所述当前区域的所述命令速度不同。
实施例6.根据实施例5所述的外科器械,其中,所述控制电路被配置为能够在调整所述命令速度时跳过针对后续区域的位移测量。
实施例7.根据实施例1至实施例6所述的外科器械,其中,多个区域被限定用于被构造成能够与所述外科器械一起操作的钉仓。
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,所述位移构件被构造成能够在所述外科器械内在多个预先限定的区域上平移;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监测所述位移构件的位置;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/计数器电路被配置为能够测量实耗时间;其中所述控制电路被配置为能够:从所述位置传感器接收初始设定时间间隔期间所述位移构件在当前区域中的位置;测量所述初始设定时间间隔期间所述位移构件从停止位置到远侧位置的位移;以及基于从所述停止位置到所述远侧位置的所测量位移来对第一动态区域设定所述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,所述控制电路被配置为能够将所测量位移与存储在联接到所述控制电路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,所述控制电路被配置为能够当所测量位移在第一位移范围之内时将所述初始区域的所述命令速度设定为第一速度,并且当所测量时间在第二位移范围之内时将所述初始区域的所述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,所述控制电路被配置为能够确定闭锁状况并停止所述马达。
实施例13.一种控制外科器械中的马达速度的方法,所述外科器械包括:位移构件,所述位移构件被构造成能够在所述外科器械内在多个预先限定的区域上平移;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监测所述位移构件的位置;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:由位置传感器接收位移构件在由预先确定的距离限定的当前预先限定的区域内的位置;由所述控制电路测量在设定时间间隔结束时所述位移构件在设定时间处的位移,其中所测量位移被限定为所述设定时间间隔期间所述位移构件以当前区域的设定命令速度所行进的距离;以及由所述控制电路基于所述当前区域内的所测量位移来对后续区域设定所述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:由所述控制电路和所述定时器电路确定所述位移构件位于其中的所述设定时间间隔,其中所述设定时间间隔由开始时间和结束时间限定;由所述定时器电路测量所述位移构件在所述设定时间间隔的所述结束时间处的所述位移。
实施例15.根据实施例13至实施例14所述的方法,还包括:由所述控制电路将所测量位移与存储在联接到所述控制电路的存储器中的预先确定的位移进行比较;以及由所述控制电路基于所述比较来确定是调整还是保持所述当前区域的所述命令速度。
实施例16.根据权利要求15所述的方法,还包括:当所测量位移在预先确定的位移范围之内时,由所述控制电路将所述后续区域的所述命令速度设定为与所述当前区域的所述命令速度相等。
实施例17.根据实施例15至实施例16所述的方法,还包括:当所测量位移在预先确定的位移范围之外时,由所述控制电路将所述后续区域的所述命令速度设定为与所述当前区域的所述命令速度不同。
实施例18.根据实施例17所述的方法,还包括:在调整所述命令速度时,由所述控制电路跳过针对后续区域的位移测量。
实施例19.根据实施例13至实施例18所述的方法,还包括:由所述控制电路限定用于被构造成能够与所述外科器械一起操作的钉仓的多个预先限定的区域。
实施例20.根据实施例19所述的方法,还包括:由所述控制电路限定具有不同长度的至少两个预先限定的区域。
Claims (11)
1.一种外科器械,包括:
位移构件,所述位移构件被构造成能够在所述外科器械内在多个预先限定的区域上平移;
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监测所述位移构件的位置;
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;
其中所述控制电路被配置为能够:
从所述位置传感器接收设定时间间隔期间所述位移构件在多个区域的当前区域中的位置;
测量在所述设定时间间隔结束时所述位移构件在设定时间处的位移,其中所测量位移被限定为所述设定时间间隔期间所述位移构件以所述当前区域的设定命令速度所行进的距离;
其中所述控制电路被配置为能够:
将所测量位移与存储在联接到所述控制电路的存储器中的预先确定的位移进行比较;
基于所述比较来确定是调整还是保持所述位移构件对多个区域的后续区域的命令速度;以及
基于所述位移构件在所述当前区域内的所测量位移来对后续区域设定所述位移构件的命令速度。
2.根据权利要求1所述的外科器械,其中,所述控制电路被配置为能够:确定所述位移构件位于其中的所述设定时间间隔,其中所述设定时间间隔由开始时间和结束时间限定;以及
测量所述位移构件在所述设定时间间隔的所述结束时间处的所述位移。
3.根据权利要求2所述的外科器械,其中,所述控制电路被配置为能够当所测量位移在预先确定的位移范围之内时,将所述后续区域的所述命令速度设定为与所述当前区域的所述命令速度相等。
4.根据权利要求2所述的外科器械,其中,所述控制电路被配置为能够当所测量位移在预先确定的位移范围之外时,将所述后续区域的所述命令速度设定为与所述当前区域的所述命令速度不同。
5.根据权利要求4所述的外科器械,其中,所述控制电路被配置为能够在调整所述命令速度时跳过针对后续区域的位移测量。
6.根据权利要求1所述的外科器械,其中,多个区域被限定用于被构造成能够与所述外科器械一起操作的钉仓。
7.根据权利要求6所述的外科器械,其中,至少两个区域具有不同的长度。
8.一种外科器械,包括:
位移构件,所述位移构件被构造成能够在所述外科器械内在多个预先限定的区域上平移;
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监测所述位移构件的位置;
定时器/计数器电路,所述定时器/计数器电路联接到所述控制电路,所述定时器/计数器电路被配置为能够测量实耗时间;
其中所述控制电路被配置为能够:
从所述位置传感器接收初始设定时间间隔期间所述位移构件在多个区域的当前区域中的位置;
测量所述初始设定时间间隔期间所述位移构件从停止位置到远侧位置的位移;
其中所述控制电路被配置为能够:
将所测量位移与存储在联接到所述控制电路的存储器中的预先确定的位移进行比较;
基于所述比较来确定是调整还是保持所述位移构件对多个区域的后续区域的命令速度;以及
基于从所述停止位置到所述远侧位置的所测量位移来对第一动态区域设定所述位移构件的命令速度。
9.根据权利要求8所述的外科器械,其中,所述控制电路被配置为能够将所测量位移与存储在联接到所述控制电路的存储器中的预先确定的位移进行比较。
10.根据权利要求9所述的外科器械,其中,所述控制电路被配置为能够当所测量位移在第一位移范围之内时将初始区域的所述命令速度设定为第一速度,并且当所测量时间在第二位移范围之内时将所述初始区域的所述命令速度设定为第二速度。
11.根据权利要求8所述的外科器械,其中,所述控制电路被配置为能够确定闭锁状况并停止所述马达。
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CN110785135A (zh) | 2020-02-11 |
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BR112019027201B1 (pt) | 2024-03-12 |
EP3417799A1 (en) | 2018-12-26 |
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