CN110799123B - 关节运动状态检测机制 - Google Patents

关节运动状态检测机制 Download PDF

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CN110799123B
CN110799123B CN201880043753.7A CN201880043753A CN110799123B CN 110799123 B CN110799123 B CN 110799123B CN 201880043753 A CN201880043753 A CN 201880043753A CN 110799123 B CN110799123 B CN 110799123B
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shaft assembly
assembly
sensor
shaft
distal
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CN110799123A (zh
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B·D·辛格斯
B·E·斯文斯加德
R·E·帕费特
J·L·哈里斯
F·E·谢尔顿四世
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Ethicon LLC
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Abstract

本发明公开了外科轴组件，该外科轴组件包括近侧轴部分、远侧轴部分和控制电路。近侧轴部分包括生成第一信号的第一传感器和生成第二信号的第二传感器。远侧轴部分包括离合器组件，该离合器组件能够与远侧轴部分一起围绕纵向轴线并且相对于近侧轴部分旋转。离合器组件还能够相对于远侧轴部分旋转，以使轴组件在两个关节运动状态之间转变。离合器组件与远侧轴部分一起旋转改变第一信号，并且离合器组件相对于远侧轴部分的旋转改变第二信号。控制电路被配置成检测在第一信号中没有对应变化的情况下第二信号发生的变化。所检测到的变化指示两种关节运动状态之间的转变。

Description

关节运动状态检测机制
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，在初始预定时间或位移中测量切割构件的位置和速度以控制速度可以是有用的。在初始预定时间或位移上的位置或速度的测量可用于评估组织厚度并基于与阈值的该比较来调节剩余行程的速度。
尽管已研制和使用了若干装置，但据信在本发明人之前还无人研制出或使用所附权利要求中描述的装置。
发明内容
轴组件可与外科器械一起使用。轴组件限定纵向轴线，该纵向轴线纵向延伸穿过轴组件。轴组件包括近侧轴部分，该近侧轴部分包括第一传感器和第二传感器。轴组件还包括能够围绕纵向轴线并且相对于近侧轴部分旋转的远侧轴部分。远侧轴部分包括外壳，能够与外壳一起旋转的第一磁体，能够相对于外壳旋转以使轴组件在关节运动接合状态和关节运动脱离接合状态之间转变的离合器组件，以及能够与离合器组件一起旋转的第二磁体。轴组件还包括控制电路，该控制电路被配置成基于来自第一传感器和第二传感器的输出信号来检测从关节运动接合状态到关节运动脱离接合状态的转变。
轴组件可与外科器械一起使用。轴组件限定纵向轴线，该纵向轴线纵向延伸穿过轴组件。轴组件包括近侧轴部分，该近侧轴部分包括第一传感器和第二传感器。轴组件还包括能够围绕纵向轴线并且相对于近侧轴部分旋转的远侧轴部分。远侧轴部分包括外壳，能够与外壳一起旋转的第一磁体，能够相对于外壳旋转以使轴组件在关节运动接合状态和关节运动脱离接合状态之间转变的离合器组件，以及能够与离合器组件一起旋转的第二磁体。轴组件还包括控制电路，该控制电路被配置成基于轴组件的远侧轴部分和离合器组件的相对旋转位置来检测从关节运动接合状态到关节运动脱离接合状态的转变。
轴组件可与外科器械一起使用。轴组件限定纵向轴线，该纵向轴线纵向延伸穿过轴组件。轴组件包括近侧轴部分，该近侧轴部分包括被配置成生成第一输出信号的第一传感器和被配置成生成第二输出信号的第二传感器。轴组件还包括远侧轴部分。远侧轴部分包括离合器组件，该离合器组件能够与远侧轴部分一起围绕纵向轴线并且相对于近侧轴部分旋转。离合器组件还能够相对于远侧轴部分旋转，以使轴组件在关节运动接合状态和关节运动脱离接合状态之间转变。离合器组件与远侧轴部分一起旋转改变第一输出信号。离合器组件相对于远侧轴部分的旋转改变第二输出信号。轴组件还包括控制电路，该控制电路与第一传感器和第二传感器电连通，其中控制电路被配置成检测在第一输出信号中没有对应变化的情况下第二输出信号发生的变化，并且其中检测到的所述变化指示关节运动接合状态和关节运动脱离接合状态之间的转变。
附图说明
本文所述的各个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各个方面可结合如下附图参考下述说明更好地理解。
图1为根据本公开的一个或多个方面的具有轴组件和端部执行器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图。
图3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4为根据本公开的一个方面的RF仓和适于与RF仓一起使用的细长通道的透视图。
图5为根据本公开的一个方面的图1的外科器械的可互换轴组件的部分的分解组装图。
图6为根据本公开的一个方面的图1的可互换轴组件的部分的另一个分解组装图。
图7为根据本公开一个方面的图1的可互换轴组件的一部分的剖视图。
图8为图1的轴组件的一部分的透视图，其中为清楚起见，已省去切换筒。
图9为其上安装有切换筒的图1的可互换轴组件部分的另一个透视图。
图10为根据本公开一个方面的轴组件的局部透视图。
图11为指示图10的轴组件的若干部件在用户控制轴旋转期间以及在图10的轴组件的关节运动接合状态变化期间的运动或其不足的表。
图12-14为图10的轴组件的局部透视图，其示出了接合的关节运动接合状态(图12)、中间关节运动接合状态(图13))和脱离接合的关节运动接合状态(图14)。
图15-17为图10的轴组件的局部剖视图，其示出了接合的关节运动接合状态(图15)、中间关节运动接合状态(图16))和脱离接合的关节运动接合状态(图17)。
图18为根据本公开一个方面的轴组件的局部分解图。
图19为图18的轴组件的局部剖视图。
图20示出了处于关节运动接合状态的图18的轴组件的两个永磁体的相对旋转位置。
图21示出了处于关节运动脱离接合状态的图18的轴组件的两个永磁体的相对旋转位置。
图22为示出根据本公开的一个方面的与图18的轴组件一起使用的控制电路的电路图。
图23为根据本公开一个方面的轴组件的局部透视图。
图24为图23的轴组件的另一个部分透视图。
图25为示出根据本公开的一个方面的与图23的轴组件一起使用的控制电路的电路图。
说明书
本申请的申请人拥有与本申请于同一日期提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“SURGICAL SHAFT ASSEMBLIES WITH INCREASED CONTACT PRESSURE”的美国专利申请序列号__________；代理人案卷号END8177USNP/170050；
-名称为“SURGICAL SHAFT ASSEMBLIES WITH SLIP RING ASSEMBLIES FORMINGCAPACITIVE CHANNELS”的美国专利申请序列号__________；代理人案卷号END8178USNP/170051；
-名称为“METHOD OF COATING SLIP RINGS”的美国专利申请序列号__________；代理人案卷号END8179USNP/170052M；
-名称为“SURGICAL SHAFT ASSEMBLIES WITH WATERTIGHT HOUSINGS”的美国专利申请序列号__________；代理人案卷号END8180USNP/170053；和
-名称为“SURGICAL SHAFT ASSEMBLIES WITH FLEXIBLE INTERFACES”的美国专利申请序列号__________；代理人案卷号END8223USNP/170126。
示出并描述了某些方面以提供对本发明所公开的装置和方法的结构、功能、制造和使用的理解。在一个示例中示出或描述的特征可与其它示例的特征组合，并且修改和变型在本公开的范围内。
术语“近侧”和“远侧”是相对于操纵外科器械的柄部的临床医生而言的，其中“近侧”是指比较靠近临床医生的部分，并且“远侧”是指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。
术语“包括(comprise)”(以及“包括(comprise)”的任何形式，诸如“包括(comprises)”和“包括(comprising)”)、“具有(have)”(以及“具有(have)”的任何形式，诸如“具有(has)”和“具有(having)”)、“包含(include)”(以及“包含(include)”的任何形式，诸如“包含(includes)”和“包含(including)”)、以及“含有(contain)”(以及“含有(contain)”的任何形式，诸如“含有(contains)”和“含有(containing)”)为开放式系动词。因此，“包括”、“具有”、“包含”或“含有”一个或多个元件的外科系统、装置、或设备具有这些一个或多个元件，但不限于仅具有这些一个或多个元件。同样，“包括”、“具有”、“包含”或“含有”一个或多个特征部的系统、装置、或设备的元件具有那些一个或多个特征部，但不限于仅具有那些一个或多个特征部。
提供各种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。外科器械可穿过自然孔口或穿过形成于组织中的切口或穿孔插入到其中。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穿过进入装置，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1-9示出了用于切割和紧固的马达驱动的外科器械10，其可重复使用或不重复使用。在所示示例中，外科器械10包括外壳12，该外壳包括被构造成能够由临床医生抓握、操纵并致动的柄部组件14。外壳12被构造成能够可操作地附接到可互换轴组件200，该可互换轴组件具有可操作地联接到其上的端部执行器300，该端部执行器被构造成能够执行一种或多种手术任务或外科手术。根据本公开，可结合机器人控制的外科系统有效地采用各种形式的可互换轴组件。术语“外壳”可涵盖容纳或以其它方式操作地支撑至少一个驱动系统的机器人系统的外壳或类似部分，该至少一个驱动系统被构造成能够生成并施加可用于致动可互换轴组件的至少一个控制运动。术语“框架”可指手持式外科器械的一部分。术语“框架”还可表示机器人控制的外科器械的一部分和/或机器人系统的可用于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”的美国专利号9,072,535中公开的各种机器人系统、器械、部件和方法一起使用，该专利申请据此全文以引用方式并入本文。
图1为根据本公开的一个方面的具有能够操作地与其联接的可互换轴组件200的外科器械10的透视图。外壳12包括端部执行器300，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可操作地支撑外科钉仓304。外壳12可被构造成与可互换轴组件结合使用，该可互换轴组件包括端部执行器，该端部执行器适于支撑不同尺寸和类型的钉仓，具有不同的轴长度、尺寸和类型。外壳12可与多种可互换轴组件一起使用，包括被构造成能够将其它运动和形式的能量诸如射频(射频)能量、超声能量和/或运动施加到适于结合各种外科应用和手术使用的端部执行器构造的组件。端部执行器、轴组件、柄部、外科器械和/或外科器械系统可利用任何合适的一种或多种紧固件来紧固组织。例如，包括可移除地被存储在其中的多个紧固件的紧固件仓能够可移除地插入轴组件的端部执行器中和/或附接到轴组件的端部执行器。
柄部组件14可包括可通过螺钉、按扣特征结构、粘合剂等互连的一对可互连柄部外壳段16、18。柄部外壳段16、18配合以形成可被临床医生抓握和操纵的手枪式握把部19。柄部组件14操作地支撑多个驱动系统，该多个驱动系统被构造成能够生成并将控制运动施加到操作地与其附接的可互换轴组件的对应部分。
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可操作地支撑“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可包括致动器诸如被框架20枢转地支撑的闭合触发器32。闭合触发器32通过枢轴销33枢转地联接到柄部组件14，以使得闭合触发器32能够由临床医生操纵。当临床医生握持柄部组件14的手枪式握持部部19时，闭合触发器32可从启动或“未致动”位置枢转到“致动”位置并且更具体地枢转到完全压缩或完全致动位置。
柄部组件14和框架20可操作地支撑击发驱动系统80，该击发驱动系统被构造成能够将击发动作施加到附接到其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的手枪式握持部部19中的电动马达82。例如，电动马达82可为最大旋转速度为约25,000RPM的DC有刷马达。在其它构造中，马达可包括无刷马达、无绳马达、同步马达、步进马达、或任何其它合适的电动马达。电动马达82可由功率源90供电，该功率源可包括可移除电源组92。可移除的电源组92可包括近侧外壳部分94，其被配置成附接到远侧外壳部分96。近侧外壳部分94和远侧外壳部分96被构造成能够可操作地支撑其中的多个电池98。电池98可各自包括例如锂离子(LI)或其它合适的电池。远侧外壳部分96被构造用于以可移除方式可操作地附接到可操作地联接到电动马达82的控制电路板100。串联连接的若干电池98可为外科器械10供电。功率源90可以是可替换的和/或可再充电的。
电动马达82可包括与齿轮减速器组件84可操作地交接的可旋转轴(未示出)，该齿轮减速器组件被安装成与纵向可动驱动构件120上的一组或一齿条的驱动齿122啮合接合。可纵向运动的驱动构件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。
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，纵向可动驱动构件120将在远侧方向“DD”上轴向地驱动。当电动马达82在相反的旋转方向上被驱动时，纵向可动驱动构件120将在近侧方向“PD”上轴向地驱动。柄部组件14可包括开关，该开关可被构造成能够逆转由功率源90施加到电动马达82的极性。柄部组件14可包括被配置成检测可纵向运动的驱动构件120的位置和/或可纵向运动的驱动构件120正在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。击发触发器(130)可在未致动位置和致动位置之间枢转。
现在转回到图1，可互换轴组件200包括端部执行器300，端部执行器30包括被构造成能够可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，砧座306相对于细长通道302被可枢转地支撑。可互换的轴组件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的构造和操作的细节在名称为“ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK”的美国专利申请公布2014/0263541中进行阐述，该专利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，其可用于闭合和/或打开端部执行器300的砧座306。
转回到图1，闭合管260朝远侧(方向“DD”)平移以例如响应于闭合触发器32的致动而以前述参考文献美国专利申请公布2014/0263541中所述的方式闭合砧座306。通过朝近侧平移闭合管260来打开砧座306。在砧座打开位置，闭合管260运动至其近侧位置。
图3为根据本公开的一个或多个方面的图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。在该非限制性示例中，砧座306联接到细长通道302。例如，孔199可限定在细长通道302中，该孔可接收从砧座306延伸的销152并允许砧座306相对于细长通道302和外科钉仓304从打开位置枢转到闭合位置。击发杆172被构造成能够纵向平移到端部执行器300中。击发杆172可由一个实心部分构成，或在各种示例中，可包括层合材料，该层合材料包括例如一叠钢板。击发杆172包括E形横梁178和在其远侧端部处的切割边缘182。在各个方面，E形横梁可被称为I形横梁。击发杆172的远侧突出端可以任何合适的方式附接到E形横梁178元件，并且可(除了其它以外)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。E形横梁178还可包括锋利切割边缘182，当通过击发杆172向远侧推进E形横梁178时，该切割边缘可用于切断组织。在操作中，E形横梁178还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E形横梁178朝远侧驱动，从而在仓托盘196上滑动，该仓托盘将外科钉仓304的各种部件保持在一起。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E形横梁178的切割边缘182切断夹紧的组织。
E形横梁178可包括在击发期间接合砧座306的上部销180。E形横梁178还可包括中间销184和底脚186，其可接合仓体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，E形横梁178可滑动穿过对齐的纵向狭槽193、197和189，如图3所示，其中E形横梁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。在这种情况下，当击发杆172向远侧运动以从外科钉仓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，E形横梁178可分开或限制砧座306和外科钉仓304之间的相对运动。然后，击发杆172和E形横梁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。
参考图4，在至少一种布置中，可互换的轴组件可与RF钉仓1700以及外科缝合钉/紧固件钉仓结合使用。
RF外科仓1700包括仓体1710，仓体1710的尺寸和形状设计成被可移除地接收并支撑在细长通道1602中。例如，仓体1710可被构造成能够可移除地保持与细长通道1602按扣接合。在至少一个方面，仓体1710包括居中设置的细长狭槽1712，细长狭槽1712纵向延伸穿过仓体以适应刀穿过其中的纵向行程。
仓体1710形成有居中设置的凸起的电极焊盘1720。细长狭槽1712延伸穿过电极焊盘1720的中心，并且用于将焊盘1720划分为左焊盘段1720L和右焊盘段1720R。右柔性电路组件1730R附接到右焊盘段1720R，并且左柔性电路组件1730L附接到左焊盘段1720L。例如，在至少一种布置中，右柔性电路1730R包括多条电线1732R，多条电线1732R可包括例如用于RF目的的较宽的电线/导体以及用于常规缝合目的的较细的电线，其被支撑或附接或嵌入附接到右焊盘1720R的右绝缘体护套/构件1734R。另外，右柔性电路组件1730R包括“第一相”(近侧右电极1736R)和“第二相”(远侧右电极1738R)。同样地，左柔性电路组件1730L包括多条电线1732L，多条电线1732L可包括例如用于RF目的的较宽的电线/导体以及用于常规缝合目的的较细的电线，其被支撑或附接或嵌入附接到左焊盘1720L的左绝缘体护套/构件1734L。另外，左柔性电路组件1730L包括“第一相”(近侧左电极1736L)和“第二相”(远侧左电极1738L)。左电线1732L和右电线1732R附接到安装到仓体1710的远侧端部部分的远侧微芯片1740。
细长通道1602包括支撑在凹陷部1621中的通道电路1670，凹陷部1621从细长通道1602的近侧端部延伸到细长通道底部部分1620中的远侧位置1623。通道电路1670包括近侧接触部分1672，近侧接触部分1672接触柔性轴电路带的远侧接触部分1169以与其电接触。通道电路1670的远侧端部1674被接收在形成在通道壁1622中的一个的对应壁凹陷部1625内，并且被折叠在通道壁1622的上边缘1627上并附接到通道壁1622的上边缘1627。在通道电路1670的远侧端部1674中提供了一系列对应的裸露触点1676。柔性仓电路1750的端部附接到远侧微芯片1740，并且固定到仓体1710的远侧端部部分。另一个端部折叠在仓台表面1711的边缘上方，并且包括被配置成与通道电路1670的裸露触点1676电接触的裸露触点。因此，当RF仓1700安装在细长通道1602中时，电极以及远侧微芯片1740被供电并且通过柔性仓电路1750、柔性通道电路1670、柔性轴电路和滑环组件之间的接触与板载电路板通信。
图5为根据本公开的一个方面的可互换轴组件200的部分的另一个分解组装图。可互换轴组件200包括被支撑用于在轴脊210内轴向行进的击发构件220。击发构件220包括被构造成能够附接到远侧部分或杆280的中间击发轴部分222。中间击发轴部分222可在其远侧端部中包括纵向狭槽223，该纵向狭槽可被构造成能够接收远侧杆280的近侧端部282上的突片284。纵向狭槽223和近侧端部282可被设定尺寸并被构造成能够允许它们之间的相对运动并且可包括滑动接头286。滑动接头286可允许击发构件220的中间击发轴部分222移动，以在不移动或至少基本上不移动杆280的情况下，使端部执行器300做关节运动。一旦端部执行器300已合适地取向，中间击发轴部分222便可朝远侧推进，直到纵向狭槽223的近侧侧壁与突片284发生接触，以便推进远侧杆280。远侧杆280的推进导致E形横梁178被朝远侧推进以击发定位在通道302内的钉仓。
除上述之外，轴组件200包括离合器组件400，该离合器组件可被构造成能够选择性地且可释放地将关节运动驱动器230联接到击发构件220。在一种形式中，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接合位置之间旋转，在所述接合位置，锁定套筒402将关节运动驱动器230联接到击发构件220，在所述脱离接合位置，关节运动驱动器230没有可操作地联接到击发构件220。当锁定套筒402处于其接合位置时，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处于其脱离接合位置时，击发构件220的移动未被传输至关节运动驱动器230，并且因此，击发构件220可独立于关节运动驱动器230移动。
锁定套筒402可包括圆柱形的或至少基本上圆柱形的主体，该主体包括限定于其中的被构造成能够接收击发构件220的纵向孔403。锁定套筒402可包括沿直径相对的、面朝内的锁定突起404和面朝外的锁定构件406。锁定突起404可被构造成能够与击发构件220选择性地接合。更具体地，当锁定套筒402处于其接合位置时，锁定突起404被定位在限定于击发构件220中的驱动凹口224内，使得远侧推力和/或近侧推力可从击发构件220传输至锁定套筒402。当锁定套管402处于其接合位置时，第二锁定构件406被接收在关节运动驱动器230中限定的驱动凹口232内，使得施加到锁定套管402的远侧推力和/或近侧拉力可传递到关节运动驱动器230。实际上，当锁定套管402处于其接合位置时，击发构件220、锁定套管402和关节运动驱动器230将一起移动。另一方面，当锁定套筒402处于其脱离接合位置时，锁定突起部404可不位于击发构件220的驱动凹口224内；并且因此，远侧推力和/或近侧推力可不从击发构件220传输至锁定套筒402。相应地，远侧推力和/或近侧推力可不传输至关节运动驱动器230。在此类情况下，击发构件220可相对于锁定套筒402和近侧关节运动驱动器230朝近侧和/或朝远侧滑动。
轴组件200还包括可旋转地接收在闭合管260上的切换筒500。切换筒500包括中空轴段502，该中空轴段具有在其上形成的轴凸台504，以用于将向外突出的致动销410接收在其中。在各种情况下，致动销410延伸穿过狭槽267进入被提供在锁定套筒402中的纵向狭槽408，以有利于锁定套筒402在其与关节运动驱动器230接合时的轴向移动。旋转扭转弹簧420被构造成能够如图5所示接合切换筒500上的凸台504以及喷嘴外壳203的一部分，以将偏置力施加到切换筒500。参见图5和图6，切换筒500还可包括其中限定的至少部分周向的开口506，这些开口可被构造成能够接收从喷嘴半部202、203延伸的周向安装架，并允许切换筒500与近侧喷嘴201之间相对旋转而不是相对平移。安装座还延伸穿过待安置在轴脊210中的凹陷部211中的闭合管260中的开口266。然而，喷嘴201至其中安装座到达其在切换筒500中的相应开口506的端部的点的旋转将导致切换筒500围绕轴轴线SA-SA的旋转。切换筒500的旋转最终将导致致动销410和锁定套筒402在其接合位置和脱离接合位置之间的旋转。因此，喷嘴201本质上可用于按美国专利申请序列号13/803,086中进一步详细描述的各种方式，将关节运动驱动系统与击发驱动系统可操作地接合和脱离接合。
轴组件200可包括滑环组件600，所述滑环组件可被构造成能够例如将电力传导至端部执行器300和/或从其传导电力，和/或将信号发送至端部执行器300和/或从其发送信号。滑环组件600可包括近侧连接器凸缘604和远侧连接器凸缘601，该近侧连接器凸缘安装到从底座240延伸的底座凸缘242，该远侧连接器凸缘定位在喷嘴半部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。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可安装在连接器凸缘601的近侧侧面上，并可具有多个触点，其中每个触点对应于导体602中的一个并与其电接触。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与安装到轴底座240的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和电路板之间延伸。2013年3月13日提交的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,067全文以引用方式并入本文。2013年3月13日提交的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”的美国专利申请序列号13/800,025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序列号13/803,086。
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。而且，除上述之外，切换筒500也可定位在可旋转的远侧轴部分内。当可旋转的远侧轴部分旋转时，远侧连接器凸缘601和切换筒500可彼此同步地旋转。另外，切换筒500可相对于远侧连接器凸缘601在第一位置与第二位置之间旋转。当切换筒500处于其第一位置时，关节运动驱动系统可与击发驱动系统可操作地脱离接合，因此，击发驱动系统的操作可不使轴组件200的端部执行器300进行关节运动。当切换筒500处于其第二位置时，关节运动驱动系统能够可操作地与击发驱动系统接合，因此，击发驱动系统的操作可以使轴组件200的端部执行器300做关节运动。当切换筒500在其第一位置和其第二位置之间运动时，切换筒5500相对于远侧连接器凸缘601运动。
在各种示例中，轴组件200可包括被构造成能够检测切换筒500的位置的至少一个传感器。远侧连接器凸缘601可包括例如霍尔效应传感器605，并且切换筒500可包括例如磁性元件诸如永磁体505。霍尔效应传感器605可被构造成能够检测永磁体505的位置。当切换筒500在其第一位置和其第二位置之间旋转时，永磁体505可相对霍尔效应传感器605运动。在各种示例中，霍尔效应传感器605可检测当永磁体505运动时产生的磁场变化。霍尔效应传感器605可例如与控制电路进行信号通信。基于来自霍尔效应传感器605的信号，控制电路上的微控制器可确定关节运动驱动系统是否与击发驱动系统接合或脱离接合。
参考图10，轴组件900在许多方面类似于轴组件200。例如，轴组件900可释放地联接到柄部组件14。另外，轴组件900例如包括端部执行器300。轴组件900还包括闭合管260，其可轴向平移以使端部执行器300在打开构造和闭合构造之间转变。轴组件900还包括击发构件220和关节运动驱动器230(图6)。在各个方面，轴组件900可在接合关节运动状态(图12、图15)、脱离接合关节运动状态(图14、图17)以及接合关节运动状态和脱离接合关节运动状态之间的中间关节运动状态(图13、图16)之间转变，在所述接合关节运动状态中，关节运动驱动器230和击发构件220可操作地联接，在所述脱离接合关节运动状态中，关节运动驱动器230(图6)和击发构件220未可操作地联接。
在各个方面，闭合管260的远侧平移可引起从接合关节运动状态到脱离接合关节运动状态的转变，而闭合管260的近侧平移可引起从脱离接合关节运动状态到接合关节运动状态的转变。在美国专利申请序列号13/803,086中描述了用于使轴组件900在接合关节运动状态和脱离接合关节运动状态之间转变的各种机构，该专利申请的全部内容以引用方式并入本文。
像轴组件200一样，轴组件900可包括滑环组件600，所述滑环组件可被构造成能够例如将电力传导至端部执行器300和/或从其传导电力，和/或将信号发送至端部执行器300和/或从其发送信号。滑环组件600可包括近侧连接器凸缘604和远侧连接器凸缘601，近侧连接器凸缘604安装在底座凸缘242和垫圈907之间，远侧连接器凸缘601定位在喷嘴部分202、203中限定的狭槽内。远侧连接器凸缘601可围绕纵向轴线912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。如以上更详细地描述的，导体602、607在它们之间保持电接触，同时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。
轴组件900还包括离合器组件905，离合器组件905包括可旋转地接收在闭合管260上的切换套环或筒903。闭合管260和切换筒903之间的交接使切换筒903响应于闭合管260的轴向运动而旋转。旋转扭转弹簧920被构造成能够接合切换筒903上的凸台904和喷嘴外壳203的一部分，以将偏压力施加到切换筒903。允许切换筒903在切换筒903和近侧喷嘴201之间旋转但不能平移。闭合管260的轴向平移引起切换筒500的旋转，这最终将导致轴组件900从接合关节运动状态转变到脱离接合关节运动状态。因此，闭合管260本质上可用于以美国专利申请序列号13/803,086中进一步详细描述的各种方式将关节运动驱动系统与击发驱动系统可操作地接合和脱离接合。
轴组件900可包括可固定地安装到柄部组件14的近侧轴部分和能够围绕纵向轴线912旋转的远侧轴部分。可旋转远侧轴部分可围绕滑动环组件600相对于近侧轴部分旋转。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。而且，除上述之外，切换筒903也可定位在可旋转的远侧轴部分内。当可旋转的远侧轴部分旋转时，远侧连接器凸缘601、闭合管260、切换筒903和喷嘴201可彼此同步地旋转，如图11的表909中概述。底座凸缘242、近侧连接器凸缘604和垫圈907在远侧轴部分的旋转期间不旋转。
除上述之外，切换筒903可相对于底座凸缘242、近侧连接器凸缘604、垫圈907、闭合管260和远侧连接器凸缘601在第一位置、(图12、图15)、第二位置(图13、图16)和第三位置(图14、图17)之间旋转。闭合管260的轴向平移可影响切换筒903在第一位置、第二位置和第三位置之间的旋转。当切换筒903处于其第一位置时，关节运动驱动系统与击发驱动系统可操作地接合，因此，击发驱动系统的操作可使轴组件900的端部执行器300进行关节运动。第一位置限定轴组件900的关节运动接合状态。当切换筒903处于其第三位置时，关节运动驱动系统可与击发驱动系统可操作地脱离接合，因此，击发驱动系统的操作可不使轴组件900的端部执行器300进行关节运动。第三位置限定轴组件900的关节运动脱离接合状态。此外，切换筒903可从其第一位置或第三位置移动到其第二位置。第二位置是限定在第一位置和第三位置之间的中间位置。第二位置表示在关节运动接合状态和关节运动脱离接合状态之间的暂时状态。
在各种实例中，轴组件900可包括被构造成能够检测切换筒903的位置的至少一个传感器。远侧连接器凸缘601可包括例如包括霍尔效应传感器910的印刷电路板(PCB)908，并且切换筒903可包括磁性元件诸如永磁体911。霍尔效应传感器910可被构造成能够检测永磁体911的位置。当切换筒903在其第一位置、其第二位置和其第三位置之间旋转时，永磁体911相对于霍尔效应传感器910移动。在各种实例中，霍尔效应传感器910可检测当永磁体911运动时产生的磁场变化。霍尔效应传感器910可响应于由永磁体911的运动引起的磁场变化而改变其输出信号。在各种示例中，输出信号可以是电压输出信号或电流输出信号。
参考图18，轴组件1000在许多方面类似于轴组件200、900。在一些示例中，轴组件1000可释放地联接到外壳12(图1)。轴组件1000的类似于结合轴组件200和/或轴组件900示出的部件的几个部件被移除，以更好地示出轴组件1000独有的部件。例如，与轴组件200、900一样，轴组件1000包括滑环组件，该滑环组件在图18中未示出。
轴组件1000包括可固定安装到柄部组件14的近侧轴部分和能够围绕纵向轴线1012旋转的远侧轴部分。可旋转的远侧轴部分可围绕滑环组件相对于近侧轴部分旋转。离合器组件1002包括切换套环或筒1003，其在许多方面类似于切换筒903(图10)，也可定位在可旋转的远侧轴部分内。当可旋转远侧轴部分旋转时，闭合管260、切换筒1003和喷嘴201可彼此同步旋转。
此外，切换筒1003可相对于闭合管260旋转。闭合管260的轴向平移可影响切换筒1003的旋转。像切换筒903一样，切换筒1003可响应于闭合管260的轴向平移而旋转，这使轴组件1000在关节运动接合状态和关节运动脱离接合状态之间转变。如上所述，在关节运动接合状态下，关节运动驱动系统与击发驱动系统可操作地接合，因此，击发驱动系统的操作可使轴组件1000的端部执行器300进行关节运动。在关节运动脱离接合状态下，关节运动驱动系统可与击发驱动系统可操作地脱离接合，因此，击发驱动系统的操作可不使轴组件1000的端部执行器300进行关节运动。
参考图18，轴组件1000包括旋转检测组件1004，旋转检测组件1004被构造成确定由旋转程度和方向限定的轴组件1000的远侧轴部分的一个或多个部件的旋转位置。旋转检测组件1004包括第一霍尔效应传感器1005、第二霍尔效应传感器1006、第一永磁体1007、第二永磁体1008以及与霍尔效应传感器1005、1006电通信的控制电路1010。
参考图19，霍尔效应传感器1005、1006定位在支撑部分1011的同一侧上。霍尔效应传感器1005、1006朝向支撑部分1011的相对的两端部定位。控制电路1010至少部分地容纳在喷嘴201中。在一些示例中，霍尔效应传感器1005、1006被容纳在喷嘴201中，但是控制电路1010被容纳在外科器械10(图1)的其它地方，例如外壳12中。在图18的实施方案中，霍尔效应传感器1005、1006定位在横切控制电路1010、支撑部分1011和闭合管260的平面的相对两侧上。霍尔效应传感器1005、1006在第一永磁体1007沿着正Y轴的起始位置处与第一永磁体1007等距或者至少基本等距，如图20所示。
如上结合图11的表909所述，在用户控制的轴旋转期间，闭合管260、切换筒1003和喷嘴201彼此同步旋转，但是在关节运动接合状态的变化期间，只有切换筒1003旋转。旋转检测组件1004可例如通过跟踪喷嘴201的旋转来跟踪用户控制的轴旋转。此外，旋转检测组件1004可通过跟踪切换筒1003的旋转来跟踪轴组件1000的关节运动接合状态。控制电路1010被配置成确定由旋转程度和方向限定的喷嘴201和/或切换筒1003的旋转位置。
参考图18-21，第一永磁体1007附接到喷嘴201。喷嘴201的旋转导致第一永磁体1007围绕纵向延伸穿过闭合管260的纵向轴线1012旋转。第一永磁体1007的每个旋转位置可分别基于第一永磁体1007和霍尔效应传感器1005、1006之间的距离(a)和(b)来确定。尽管可使用一个霍尔效应传感器来确定轴组件1000的远侧轴部分的旋转程度，但是使用两个霍尔效应传感器可进一步提供关于轴组件1000的远侧轴部分的旋转方向的信息。霍尔效应传感器1005检测到的第一永磁体1007的磁场强度对应于第一永磁体1007和霍尔效应传感器1005之间的距离(a)，并且霍尔效应传感器1006检测到的第一永磁体1007的磁场强度对应于第一永磁体1007和霍尔效应传感器1006之间的距离(b)。霍尔效应传感器1005、1006的输出信号对应于霍尔效应传感器1005、1006检测到的第一永磁体1007的磁场强度。
因此，霍尔效应传感器1005、1006的输出信号与它们离第一永磁体1007的相应距离(a)、(b)之间存在相关性。控制电路1010可被配置成基于霍尔效应传感器1005、1006的输出信号来确定轴组件1000的远侧轴部分在用户控制的轴旋转中的旋转位置。在各种示例中，霍尔效应传感器1005和霍尔效应传感器1006的输出信号的比对应于轴组件1000的远侧轴部分的旋转位置。输出信号比将具有轴组件1000的远侧轴部分的每个旋转位置唯一的值，除了沿着正Y轴的起始位置处的比和沿着负Y轴的位置处的比都等于1。在0°和180°的旋转位置中的每一个处，距离(a)和(b)相同，或者至少基本上相同，这使得输出信号比等于1。
为了区分0°和180°的旋转位置，可考虑霍尔效应传感器1005、1006中的一个的输出信号的幅度。由于沿着负Y轴处于180°的位置处的距离(a)和(b)大于沿着正Y轴处于0°的位置处的距离(a)和(b)，等于1的输出信号比和大于预定电压阈值的输出信号可指示轴组件1000的远侧轴部分的旋转位置沿着负Y轴处于180°。然而，等于1的输出信号比和小于预定电压阈值的输出信号可指示轴组件1000的远侧轴部分的旋转位置沿着正Y轴处于0°。此外，任何两个相对的旋转位置具有彼此相反的输出信号比。例如，处于90°的旋转位置具有处于270°的旋转位置的反向输出信号比。
在一些示例中，控制电路1010可采用等式和/或查找表来基于霍尔效应传感器1005、1006的输出信号来确定轴组件1000的远侧轴部分的旋转位置。查找表可列出轴组件1000的远侧轴部分的旋转位置和霍尔效应传感器1005、1006的输出信号的对应输出信号比。
本公开考虑了用于基于霍尔效应传感器1005、1006的输出信号来确定轴组件1000的远侧轴部分的旋转位置的其它算法。在一些示例中，霍尔效应传感器1005、1006的输出信号之间的差异可与轴组件1000的远侧轴部分的旋转位置相关联。控制电路1010可被配置成从霍尔效应传感器1006的输出信号中减去霍尔效应传感器1005的输出信号，并且基于计算的电压差确定轴组件1000的远侧轴部分的旋转位置。控制电路1010可采用例如查找表，该查找表列出了轴组件1000的远侧轴部分的旋转位置及其对应的电压差。如上所述，通过进一步采用预定的电压阈值，可在0°和180°处的旋转位置之间进行区分。
另选地，在一些示例中，轴组件1000的远侧轴部分的旋转位置可从查找表确定，该查找表在第一列中存储轴组件1000的远侧轴部分的旋转位置，在第二列中存储霍尔效应传感器1005的对应输出信号，在第三列中存储对应的输出信号1006。控制电路1010可被配置成通过查找与来自第二列和第三列的值相对应的来自第一列的值来确定轴组件1000的远侧轴部分的目前旋转位置，来自第二列和第三列的值匹配霍尔效应传感器1005、1006的目前输出信号。
参考图20、21，第一永磁体1007的旋转位置在逆时针方向上处于角度θ1。接收霍尔效应传感器1005、1006的输出信号的控制电路1010可通过查找表来确定轴组件1000的远侧轴部分的旋转位置，该查找表包括轴组件1000的远侧轴部分的旋转位置和输出信号的对应值、输出信号的比和/或输出信号之间的差异。在一些示例中，控制电路1010联接到显示器93(图1)，显示器93被配置成显示轴组件1000的远侧轴部分的旋转位置。尽管上述示例采用查找表，但是应当理解，可采用其它机制来实现相同的结果，诸如例如，可由控制电路1010访问的存储单元1122(图22)。
除了与轴组件1000的远侧轴部分一起旋转之外，切换筒1003可响应于闭合管260的轴向平移而围绕纵向轴线1012相对于轴组件1000旋转。切换筒1003从如图20所示的第一旋转位置旋转到如图21所示的第二旋转位置。当切换筒1003处于第一旋转位置时，轴组件1000处于关节运动接合状态。当切换筒1003处于第二旋转位置时，轴组件1000处于关节运动脱离接合状态。因为永磁体1008附接到切换筒1003，永磁体1008的旋转位置可指示轴组件1000的关节运动状态。
因为永磁体1008和切换筒1003与轴组件1000一起旋转，所以需要两个霍尔效应传感器来辨别切换筒1003和轴组件1000之间的相对旋转运动，以便确定轴组件1000的关节运动状态。对应于关节运动接合状态的切换筒1003的第一旋转位置和对应于关节运动脱离接合状态的第二位置将根据轴组件1000的远侧轴部分的旋转位置而变化。
控制电路1010被配置成通过确定切换筒1003相对于轴组件1000的远侧轴部分的旋转位置的旋转位置来确定轴组件1000的关节运动状态。换句话说，控制电路1010被配置成通过确定永磁体1008相对于永磁体1007的旋转位置的旋转位置来确定轴组件1000的关节运动状态。永磁体1007和1008包括相反的取向，以允许霍尔效应传感器1005、1006在它们之间进行区分。在图18所示的实施方案中，第一永磁体1007包括负取向，而第二永磁体1008包括负取向。
如上结合第一永磁体1007所述，第二永磁体1008的旋转程度和方向可基于霍尔效应传感器1005、1006的输出信号来确定。霍尔效应传感器1005检测到的第二永磁体1008的磁场强度对应于第二永磁体1008和霍尔效应传感器1005之间的距离(c)，并且霍尔效应传感器1006检测到的第二永磁体1008的磁场强度对应于第二永磁体1008和霍尔效应传感器1006之间的距离(d)。霍尔效应传感器1005、1006的输出信号对应于霍尔效应传感器1005、1006检测到的第二永磁体1008的磁场强度。因此，霍尔效应传感器1005、1006的输出信号和它们离第二永磁体1008的相应距离(c)、(d)之间存在相关性。
控制电路1010可被配置成基于霍尔效应传感器1005、1006的输出信号来确定切换筒1003的旋转位置，如上文结合轴组件1000的旋转位置所述。如图20、图21所示，永磁体1008的旋转位置在逆时针方向上处于角度β1。接收霍尔效应传感器1005、1006的输出信号的控制电路1010可通过查找表来确定切换筒1003的旋转位置，该查找表包括切换筒1003的旋转位置和输出信号的对应值、输出信号的比和/或输出信号之间的差异，如上面结合确定轴组件1000的远侧轴部分的旋转位置所述。
为了确定轴组件1000的关节运动状态，控制电路1010被配置成检测轴组件1000和切换筒1003之间的相对运动。换句话说，控制电路1010被配置成检测附接到喷嘴201的第一永磁体1007和附接到切换筒1003的永磁体1008之间的相对运动。在图20、图21的示例中，轴组件1000的远侧轴部分的旋转位置保持在角度θ1。然而，切换筒1003的旋转位置从角度β1变化到角度β2指示轴组件1000的关节运动状态的变化。因此，由于导致轴组件1000的关节运动状态的变化的切换筒1003的旋转，永磁体1008的旋转位置已经相对于第一永磁体1007的旋转位置移动。
在一些示例中，如以上更详细地描述的，切换筒诸如例如切换筒1003可在对应于关节运动接合状态的第一旋转位置和对应于关节运动脱离接合状态的第二旋转位置之间移动。在第一旋转位置处，在第一永磁体1007和永磁体1008之间测量第一角度Γ1(图20)，而不管轴组件1000的远侧轴部分的旋转位置如何。在第二旋转位置处，在第一永磁体1007和永磁体1008之间测量不同于第一角度Γ1的第一角度Γ2(图21)。
因此，控制电路1010可被配置成通过确定第一永磁体1007和永磁体1008之间的角度并将此类角度与预定值进行比较来确定轴组件1000的关节运动状态。在各种示例中，通过从永磁体1008的旋转位置减去第一永磁体1007的旋转位置，第一永磁体1007和永磁体1008之间的角度。在一些示例中，控制电路1010联接到显示器93(图1)，显示器93被配置成显示轴组件1000的检测到的关节运动状态。
在一些示例中，控制电路1010被配置成通过检测离合器组件1002的旋转位置的变化来确定轴组件1000的关节运动状态的变化，离合器组件1002的旋转位置的变化发生在轴组件1000的远侧轴部分的旋转位置没有对应变化的情况下。换句话说，在此类示例中，没有伴随第一永磁体1007的旋转位置的变化的第二永磁体1008的旋转位置的变化可被控制电路1010解释为轴组件1000的关节运动状态的变化。这是因为轴组件1000和离合器组件1002在轴组件1000的远侧轴部分的用户控制旋转期间同步旋转，但是在轴组件1000的关节运动状态期间只有离合器组件1002旋转。
图22示出了控制电路1010的示例。控制电路1010可包括控制器1020(“微控制器”)，该控制器可包括处理器1021(“微处理器”)和一个或多个计算机可读介质或存储器1022单元(“存储器”)。在某些实例中，存储器1022可存储各种程序指令，该各种程序指令在被执行时可使处理器1021执行本文所述的多个功能和/或计算。在某些实例中，存储器1022可联接到例如处理器1021。电源98(图2)可被配置成向控制器1020供电。在某些实例中，控制器1020可操作地联接到反馈指示器或显示器93。
在各种示例中，控制电路1010可存储轴组件1000的当前关节运动状态。一旦检测到轴组件1000的关节运动状态的变化，控制电路1010可更新存储的关节运动状态，并在显示器93上显示新的关节运动状态。
基于轴组件的远侧轴部分及其离合器组件的相对旋转位置，可采用其它类型的传感器来确定轴组件的关节运动状态。在一些布置中，光学传感器、电磁传感器、机械密封接触开关或其任意组合可用于基于轴组件的远侧轴部分及其离合器组件的相对旋转位置来确定轴组件的关节运动状态。图23示出了包括离合器组件1102的轴组件1100的局部透视图。轴组件1100的旋转检测组件1104采用光学传感器1105、1106以基于轴组件1100的远侧轴部分和离合器组件1102的相对旋转位置来确定轴组件1100的关节运动状态。
旋转检测组件1104包括控制电路1110，其被配置成例如通过跟踪喷嘴201的圆柱形部分1107的旋转位置来跟踪用户控制的轴旋转。此外，控制电路1110还被配置成通过跟踪离合器组件1102的切换筒1103的圆柱形部分1108的旋转来跟踪离合器组件1102的旋转位置。轴组件1100的关节运动状态可由控制电路1110基于圆柱形部分1107、1108的相对旋转位置来确定。
轴组件1100在许多方面类似于轴组件1000。例如，轴组件1100包括喷嘴201和闭合管260。闭合管260沿着纵向轴线1112的轴向运动导致离合器组件1102围绕纵向轴线1112旋转，从而使轴组件1100在切换筒1103的第一旋转位置处的关节运动接合状态和切换筒1103的第二旋转位置处的关节运动脱离接合状态之间转变。如上所述，在关节运动接合状态下，关节运动驱动系统与击发驱动系统可操作地接合，因此，击发驱动系统的操作可使轴组件1100的端部执行器300进行关节运动。在关节运动脱离接合状态下，关节运动驱动系统可与击发驱动系统可操作地脱离接合，因此，击发驱动系统的操作可不使轴组件1100的端部执行器300进行关节运动。
参考图23、图24，旋转检测组件1104包括在圆柱形部分1107、1108之间延伸的支撑凸缘1111。光学传感器1105、1106定位在支撑凸缘1111的相对两侧上，使得光学传感器1105面向或指向圆柱形部分1107的内表面。光学传感器1106面向或指向圆柱形部分1108的外表面。尽管图23的示例示出了相对于圆柱形部分1108处于外部位置的圆柱形部分1107。然而，在一些示例中，圆柱形部分1107可相对于圆柱形部分1108处于内部位置。
如图23所示，圆柱形部分1107、1108是同心的，并且可围绕纵向轴线1112旋转。圆柱形部分1107附接到喷嘴201，并且包括多个纵向狭缝1125，每个狭缝1125与纵向轴线1112平行或至少基本上平行地纵向延伸。狭缝1125通过进行以预定距离间隔开的纵向彻底切割形成在圆柱形部分1107中。在一些示例中，预定距离可相同，或者至少基本上相同。另选地，在其它示例中，预定距离可不同。
在图24中，圆柱形部分1107被移除，以更好地暴露轴组件1100的其它部件。圆柱形部分1108从切换筒1103朝近侧延伸，并且包括多个纵向狭缝1126，每个狭缝1126与纵向轴线1112平行或至少基本上平行地纵向延伸。狭缝1126通过进行以预定距离间隔开的纵向彻底切割形成在圆柱形部分1108中。
在一些示例中，预定距离可相同，或者至少基本上相同。另选地，在其它示例中，预定距离可不同。在一些示例中，狭缝1125、1126等距间隔开。另选地，狭缝1125可以不同于狭缝1126的预定距离的预定距离间隔开。
光学传感器1105、1106将光线转换成指示检测到的光的物理量的输出信号。控制电路1110被配置成基于光学传感器1105、1106的输出信号来确定轴组件1100的关节运动状态。圆柱形部分1107、1108的旋转分别引起光学传感器1105、1106检测到的入射光的变化。当入射光发生变化时，光学传感器1105、1106以对应于入射光变化的方式改变它们的输出信号。光学传感器1105、1106的输出信号可以是输出电压、输出电流或输出电阻。
如上文结合控制电路1010所述，控制电路1110可采用各种算法、等式和/或查找表，以基于光学传感器1105、1106和/或其衍生物的输出信号来确定轴组件1100的关节运动状态。控制电路1110可被配置成使用光学传感器1105的输出信号来计数在圆柱部分1107旋转期间相对于光学传感器1105通过的狭缝1125的数量。控制电路1110还可被配置成使用光学传感器1106的输出信号来计数在圆柱部分1108旋转期间相对于光学传感器1106通过的狭缝1126的数量。在轴组件1100的远侧轴部分的用户控制的旋转期间，轴组件1100和离合器组件1102同步旋转。因此，狭缝1125的计数和狭缝1126的计数保持恒定或基本上恒定的狭缝比，只要狭缝1125等间距隔开并且狭缝1126也等间距隔开。然而，在轴组件1100的关节运动状态变化期间，离合器组件1102相对于轴组件1100旋转，从而导致狭缝比变化。控制电路1110可被配置成跟踪狭缝比并且响应于狭缝比的变化检测轴组件1100的关节运动状态的变化。
在一些示例中，控制电路1110被配置成通过检测离合器组件1102的旋转位置的变化来确定轴组件1100的关节运动状态的变化，离合器组件1002的旋转位置的变化发生在轴组件1100的远侧轴部分的旋转位置没有对应变化的情况下。换句话说，没有伴随圆柱形部分1107的旋转位置的变化的圆柱形部分1108的旋转位置的变化可被控制电路1110解释为轴组件1100的关节运动状态的变化。换句话说，没有伴随光学传感器1105的输出信号的变化的光学传感器1106的输出信号的变化可被控制电路1110解释为轴组件1100的关节运动状态的变化。这是因为轴组件1100和离合器组件1102在轴组件1100的远侧轴部分的用户控制旋转期间同步旋转，但是在轴组件1000的关节运动状态期间只有离合器组件1102旋转。
图25示出了控制电路1110的示例。控制电路1110可包括控制器1020(“微控制器”)，该控制器可包括处理器1021(“微处理器”)和一个或多个计算机可读介质或存储单元1022(“存储器”)。在某些实例中，存储器1022可存储各种程序指令，该各种程序指令在被执行时可使处理器1021执行本文所述的多个功能和/或计算。在某些实例中，存储器1022可联接到例如处理器1021。电源98(图2)可被配置成向控制器1020供电。在某些实例中，控制器1020可操作地联接到反馈指示器或显示器93。
在各种示例中，控制电路1110可存储轴组件1100的当前关节运动状态。一旦检测到轴组件1100的关节运动状态的变化，控制电路1110可更新存储的关节运动状态，并在显示器93上显示新的关节运动状态。
在一些示例中，光学传感器1105、1106中的一个或两个可以是直通光束传感器。直通波束传感器采用两个独立的部件，发射器和接收器，它们彼此相对放置。发射器将光束投射到接收器上。接收器将光束的中断解释为开关信号。在光学传感器1105、1106是直通光束传感器的示例中，发射器和接收器可定位在圆柱形部分1107、1108中的每一个的相对两侧上。光学传感器1105、1106的发射器的光束可分别穿过狭缝1125、1126到达接收器。圆柱形部分1107、1108的旋转可中断光束。控制电路1110可跟踪这种中断，以确定轴组件1100的远侧轴部分和切换筒1103的旋转位置。
在其它示例中，光学传感器1105、1106可以是逆反射传感器，其中发射器和接收器在圆柱形部分的同一侧上。发射的光束通过反射器被引导回到接收器。在其它示例中，光学传感器1105、1106可以是漫反射传感器，其中发射器和接收器都在圆柱形部分的同一侧上。透射光被待检测的圆柱形部分反射。
由于离合器组件与其各自的轴组件同步旋转，检测关节运动状态的变化需要跟踪离合器组件相对于轴组件的旋转。然而，另一种方法可包括跟踪离合器组件的轴向平移，除了旋转之外，该平移在关节运动状态的变化期间发生。开关板可包括与离合器组件的切换筒接合的斜面或突片，当切换筒在关节运动状态变化期间相对于轴组件旋转时，该斜面或突片导致切换筒被轴向提升或平移。例如，切换筒的轴向运动可由位置传感器检测。控制电路可被配置成将切换筒的轴向平移解释为轴组件的关节运动状态的变化。切换筒可被弹簧偏压在开关板上，以在相反方向上旋转期间将切换筒返回到其起始位置。开关板可包括狭缝，该狭缝被配置成接收喷嘴上的肋或突片，以确保开关板和喷嘴的旋转对齐。
在某些实例中，在离合器组件旋转期间，切换筒的轴向平移也可通过在切换筒的外表面上形成外螺纹来实现，该外螺纹与开关螺母的内螺纹接合。切换筒的旋转运动导致开关螺母的线性运动。合适的传感器可被配置成检测开关螺母的位置。控制电路可被配置成基于开关螺母的位置来确定关节运动状态。
在某些实例中，轴组件的关节运动状态的检测可通过将导电板簧附接到切换筒的外径来实现。导电板簧检测离合器组件的旋转，这指示关节运动状态的变化。导电板簧可以是可在离合器组件处于关节运动接合状态时的打开配置和离合器组件处于关节运动脱离接合状态时的闭合配置之间转变的电路的部件。另选地，导电板簧可以是可在离合器组件处于关节运动脱离接合状态时的打开配置和离合器组件处于关节运动接合状态时的闭合配置之间转变的电路的部件。
在某些实例中，条形码扫描器部件可用于检测轴组件的关节运动状态的变化。例如，条形码扫描器通过感测白色背景上黑色的数量来工作。离合器组件的切换筒和喷嘴可被配置成向条形码扫描器呈现处于关节运动接合状态的第一图案和处于关节运动脱离接合状态的不同于第一图案的第二图案。离合器组件相对于喷嘴的旋转可导致从第一图案到第二图案的转变。
在一般意义上，本领域的技术人员将会认识到，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，如本文所用，“电子电路”包括但不限于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，至少部分地实施本文描述的方法和/或设备的由计算机程序配置的通用计算机，或至少部分地实施本文描述的方法和/或设备的由计算机程序配置的处理器)、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。本领域的技术人员将会认识到，可以模拟或数字方式或它们的一些组合实施本文所述的主题。
上述具体实施方式已通过使用框图、流程图和/或示例阐述了装置和/或方法的各种方面。只要此类框图、流程图和/或示例包含一个或多个功能和/或操作，本领域的技术人员就要将其理解为此类框图、流程图或示例中的每个功能和/或操作都可以单独和/或共同地通过多种硬件、软件、固件或实际上它们的任何组合来实施。在一个方面，本文所述的主题的若干部分可通过专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)或其他集成格式来实施。然而，本领域的技术人员将会认识到，本文公开的方面中的一些方面可作为在一台或多台计算机上运行的一个或多个计算机程序(如，作为在一个或多个计算机系统上运行的一个或多个程序)，作为在一个或多个处理器上运行的一个或多个程序(如，作为在一个或多个微处理器上运行的一个或多个程序)，作为固件，或作为实际上它们的任何组合全部或部分地在集成电路中等效地实现，并且根据本发明，设计电子电路和/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。
另外，本领域的技术人员将会认识到，本文所述主题的机制能够作为多种形式的程序产品进行分布，并且本文所述主题的示例性方面适用，而不管用于实际进行分布的信号承载介质的具体类型是什么。信号承载介质的示例包括但不限于如下：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)。
概括地说，已经描述了由采用本文所述的概念产生的许多有益效果。为了举例说明和描述的目的，已经提供了一个或多个方面的上述说明。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。所选择和描述的一个或多个方面是为了示出本发明的原理和实际应用，从而使得本领域的普通技术人员能够利用多个方面，在适合设想的具体应用的情况下进行各种修改。与此一同提交的权利要求书旨在限定完整范围。
本文所述主题的各个方面在以下编号的实施例中陈述：
实施例1-一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件。所述轴组件包括近侧轴部分、远侧轴部分和控制电路。近侧轴部分包括第一传感器和第二传感器。所述远侧轴部分能够围绕所述纵向轴线并且相对于所述近侧轴部分旋转。远侧轴部分包括外壳、能够与所述外壳一起旋转的第一磁体、离合器组件和能够与所述离合器组件一起旋转的第二磁体。所述离合器组件能够相对于所述外壳旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变。所述控制电路被配置成基于来自所述第一传感器和所述第二传感器的输出信号来检测从所述关节运动接合状态到所述关节运动脱离接合状态的转变。
实施例2-根据实施例1所述的轴组件，其中所述第一传感器和所述第二传感器为霍尔效应传感器。
实施例3-根据实施例1至实施例2中一项或多项所述的轴组件，其中所述第一传感器和所述第二传感器的所述输出信号限定所述轴组件的旋转位置。
实施例4-根据实施例1至实施例3中一项或多项所述的轴组件，其中所述第一磁体和所述第二磁体包括相反的取向。
实施例5-根据实施例1至实施例4中一项或多项所述的轴组件，其中所述第一传感器和所述第二传感器的所述输出信号限定所述离合器组件的旋转位置。
实施例6-根据实施例1至实施例5中一项或多项所述的轴组件，其中所述轴组件还包括从所述轴组件延伸的端部执行器。
实施例7-一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件。所述轴组件包括近侧轴部分、远侧轴部分和控制电路。近侧轴部分包括第一传感器和第二传感器。所述远侧轴部分能够围绕所述纵向轴线并且相对于所述近侧轴部分旋转。远侧轴部分包括外壳、能够与所述外壳一起旋转的第一磁体、离合器组件和能够与所述离合器组件一起旋转的第二磁体。所述离合器组件能够相对于所述外壳旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变。所述控制电路被配置成基于所述轴组件的所述远侧轴部分和所述离合器组件的相对旋转位置来检测从所述关节运动接合状态到所述关节运动脱离接合状态的转变。
实施例8-根据实施例7所述的轴组件，其中所述第一传感器和所述第二传感器为霍尔效应传感器。
实施例9-根据实施例7至实施例8中一项或多项所述的轴组件，其中所述第一传感器和所述第二传感器的所述输出信号限定所述轴组件的所述旋转位置。
实施例10-根据实施例7至实施例9中一项或多项所述的轴组件，其中所述第一传感器和所述第二传感器的输出信号限定所述离合器组件的所述旋转位置。
实施例11-根据实施例7至实施例10中一项或多项所述的轴组件，其中所述第一磁体和所述第二磁体包括相反的取向。
实施例12-根据实施例7至实施例11中一项或多项所述的轴组件，其中所述轴组件还包括从所述轴组件延伸的端部执行器。
实施例13-一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件。所述轴组件包括近侧轴部分、远侧轴部分和控制电路。所述近侧轴部分包括被配置成生成第一输出信号的第一传感器和被配置成生成第二输出信号的第二传感器。所述远侧轴部分包括离合器组件，所述离合器组件能够与所述远侧轴部分一起围绕所述纵向轴线并且相对于所述近侧轴部分旋转，其中所述离合器组件与所述远侧轴部分一起旋转改变所述第一输出信号。所述离合器组件还能够相对于所述远侧轴部分旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变，其中所述离合器组件相对于所述远侧轴部分的旋转改变所述第二输出信号。所述控制电路与所述第一传感器和所述第二传感器电连通，其中所述控制电路被配置成检测在所述第一输出信号中没有对应变化的情况下所述第二输出信号发生的变化，并且其中检测到的所述变化指示所述关节运动接合状态和所述关节运动脱离接合状态之间的转变。
实施例14-根据实施例13所述的轴组件，其中所述第一传感器和所述第二传感器为光学传感器。
实施例15-根据实施例13至实施例14中的一项或多项所述的轴组件，其中所述远侧轴部分包括具有第一狭缝的第一圆柱形部分，其中所述第一狭缝在所述远侧轴部分的旋转期间越过所述第一传感器，并且其中所述第一狭缝越过所述第一传感器改变所述第一输出信号。
实施例16-根据实施例13至实施例15中的一项或多项所述的轴组件，其中所述离合器组件包括具有第二狭缝的第二圆柱形部分，其中所述第二狭缝在所述离合器组件相对于所述远侧轴部分的旋转期间越过所述第二传感器，并且其中所述第二狭缝越过所述第二传感器改变所述第二输出信号。
实施例17-根据实施例13至实施例16中的一项或多项所述的轴组件，其中所述第一传感器和所述第二传感器设置在支撑构件的相对两侧上。
实施例18-根据实施例13至实施例17中的一项或多项所述的轴组件，其中所述支撑构件在所述第一圆柱形部分和所述第二圆柱形部分之间延伸。
实施例19-根据实施例13至实施例18中的一项或多项所述的轴组件，其中所述第一传感器指向所述第一圆柱形部分的内表面。
实施例20-根据实施例13至实施例19中的一项或多项所述的轴组件，其中所述第二传感器指向所述第二圆柱形部分的外表面。
实施例21-一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件。所述轴组件包括近侧轴部分和远侧轴部分。所述近侧轴部分包括被配置成生成第一输出信号的第一传感器和被配置成生成第二输出信号的第二传感器。所述远侧轴部分包括能够与所述远侧轴部分一起围绕所述纵向轴线并且相对于所述近侧轴部分旋转的切换部件，其中所述切换部件还能够相对于所述远侧轴部分旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变。基于所述第一输出信号来确定所述远侧轴部分相对于所述近侧轴部分的旋转，并且基于所述第一输出信号和所述第二输出信号的组合来确定所述切换部件相对于所述远侧轴部分的旋转。

Claims (21)

1.一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件，其中所述轴组件包括：
近侧轴部分，所述近侧轴部分包括：
第一传感器；和
第二传感器；
远侧轴部分，所述远侧轴部分能够围绕所述纵向轴线并且相对于所述近侧轴部分旋转，其中所述远侧轴部分包括：
外壳；
第一磁体，所述第一磁体能够与所述外壳一起旋转；
离合器组件，所述离合器组件能够相对于所述外壳旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变；和
第二磁体，所述第二磁体能够与所述离合器组件一起旋转；和
控制电路，所述控制电路被配置成基于来自所述第一传感器和所述第二传感器的输出信号来检测从所述关节运动接合状态到所述关节运动脱离接合状态的转变，
其中，所述第一传感器和所述第二传感器被配置成能够检测所述第一磁体引起的磁场强度和所述第二磁体引起的磁场强度。
2.根据权利要求1所述的轴组件，其中所述第一传感器和所述第二传感器为霍尔效应传感器。
3.根据权利要求1所述的轴组件，其中所述第一传感器和所述第二传感器的所述输出信号限定所述轴组件的旋转位置。
4.根据权利要求1所述的轴组件，其中所述第一磁体和所述第二磁体包括相反的取向。
5.根据权利要求1所述的轴组件，其中所述第一传感器和所述第二传感器的所述输出信号限定所述离合器组件的旋转位置。
6.根据权利要求1所述的轴组件，其中所述轴组件还包括从所述轴组件延伸的端部执行器。
7.一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件，其中所述轴组件包括：
近侧轴部分，所述近侧轴部分包括：
第一传感器；和
第二传感器；
远侧轴部分，所述远侧轴部分能够围绕所述纵向轴线并且相对于所述近侧轴部分旋转，其中所述远侧轴部分包括：
外壳；
第一磁体，所述第一磁体能够与所述外壳一起旋转；
离合器组件，所述离合器组件能够相对于所述外壳旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变；和
第二磁体，所述第二磁体能够与所述离合器组件一起旋转；和
控制电路，所述控制电路被配置成基于所述轴组件的所述远侧轴部分和所述离合器组件的相对旋转位置来检测从所述关节运动接合状态到所述关节运动脱离接合状态的转变，
其中，所述第一传感器和所述第二传感器被配置成能够检测所述第一磁体引起的磁场强度和所述第二磁体引起的磁场强度。
8.根据权利要求7所述的轴组件，其中所述第一传感器和所述第二传感器为霍尔效应传感器。
9.根据权利要求7所述的轴组件，其中所述第一传感器和所述第二传感器的输出信号限定所述轴组件的所述旋转位置。
10.根据权利要求7所述的轴组件，其中所述第一传感器和所述第二传感器的输出信号限定所述离合器组件的所述旋转位置。
11.根据权利要求7所述的轴组件，其中所述第一磁体和所述第二磁体包括相反的取向。
12.根据权利要求7所述的轴组件，其中所述轴组件还包括从所述轴组件延伸的端部执行器。
13.一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件，其中所述轴组件包括：
近侧轴部分，所述近侧轴部分包括：
第一传感器，所述第一传感器被配置成生成第一输出信号；和
第二传感器，所述第二传感器被配置成生成第二输出信号；
远侧轴部分，所述远侧轴部分包括离合器组件，所述离合器组件能够与所述远侧轴部分一起围绕所述纵向轴线并且相对于所述近侧轴部分旋转，其中所述离合器组件还能够相对于所述远侧轴部分旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变，其中所述离合器组件与所述远侧轴部分的所述旋转改变所述第一输出信号，并且其中所述离合器组件相对于所述远侧轴部分的所述旋转改变所述第二输出信号；和
控制电路，所述控制电路与所述第一传感器和所述第二传感器电连通，其中所述控制电路被配置成检测在所述第一输出信号中没有对应变化的情况下所述第二输出信号发生的变化，并且其中检测到的所述变化指示所述关节运动接合状态和所述关节运动脱离接合状态之间的转变。
14.根据权利要求13所述的轴组件，其中所述第一传感器和所述第二传感器为光学传感器。
15.根据权利要求14所述的轴组件，其中所述远侧轴部分包括具有第一狭缝的第一圆柱形部分，其中所述第一狭缝在所述远侧轴部分的旋转期间越过所述第一传感器，并且其中所述第一狭缝越过所述第一传感器改变所述第一输出信号。
16.根据权利要求15所述的轴组件，其中所述离合器组件包括具有第二狭缝的第二圆柱形部分，其中所述第二狭缝在所述离合器组件相对于所述远侧轴部分的旋转期间越过所述第二传感器，并且其中所述第二狭缝越过所述第二传感器改变所述第二输出信号。
17.根据权利要求16所述的轴组件，其中所述第一传感器和所述第二传感器设置在支撑构件的相对两侧上。
18.根据权利要求17所述的轴组件，其中所述支撑构件在所述第一圆柱形部分和所述第二圆柱形部分之间延伸。
19.根据权利要求18所述的轴组件，其中所述第一传感器指向所述第一圆柱形部分的内表面。
20.根据权利要求19所述的轴组件，其中所述第二传感器指向所述第二圆柱形部分的外表面。
21.一种与外科器械一起使用的轴组件，所述轴组件限定纵向轴线，所述纵向轴线纵向延伸穿过所述轴组件，其中所述轴组件包括：
近侧轴部分，所述近侧轴部分包括：
第一传感器，所述第一传感器被配置成生成第一输出信号；和
第二传感器，所述第二传感器被配置成生成第二输出信号；和
远侧轴部分，所述远侧轴部分包括能够围绕所述纵向轴线并且相对于所述近侧轴部分与所述远侧轴部分一起旋转的切换部件，其中所述切换部件还能够相对于所述远侧轴部分旋转，以使所述轴组件在关节运动接合状态和关节运动脱离接合状态之间转变；
其中基于所述第一输出信号来确定所述远侧轴部分相对于所述近侧轴部分的旋转，并且其中基于所述第一输出信号和所述第二输出信号的组合来确定所述切换部件相对于所述远侧轴部分的旋转。
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