CN110831507B - 用于控制外科缝合和切割器械的位移构件运动的系统和方法 - Google Patents
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Abstract
公开了一种机动化外科器械。该外科器械包括被构造成能够在外科器械内平移的位移构件、联接到位移构件以使位移构件平移的马达、被配置为能够感测由端部执行器抓握的组织的厚度的传感器以及联接到马达和传感器的控制电路。该控制电路被配置为能够检索组织的预期厚度,经由传感器确定组织的厚度,以及设定用于驱动马达的占空比。占空比对应于组织的厚度与组织的预期厚度的对比。
Description
技术领域
本公开涉及外科器械,并且在各种情况下,涉及被设计成用于缝合和切割组织的外科缝合和切割器械及其钉仓。
背景技术
在机动化外科缝合和切割器械中,控制切割构件的速度或控制端部执行器的关节运动速度可为有用的。位移构件的速度可通过测量在位移构件的预定位置间隔处的流逝时间或测量位移构件在预定时间间隔处的位置来确定。该控件可为开环或闭环。此类测量可用于评估组织条件诸如组织厚度,并且在击发行程期间调节切割构件的速度以考虑组织条件。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,以恒定关节运动速度使端部执行器进行关节运动可为有用的。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为有用的。
在机动化外科缝合和切割器械的使用期间,可以基于击发过程期间切割构件的行程位置、切割构件遇到的组织厚度和切割构件的击发行程的总体长度而改变切割构件和击发构件上的击发力。因此,可为有利的是,基于切割构件的行程位置来提供可变的击发暂停。因此,可为有利的是提供具有可变的自动暂停的机动击发致动,其中暂停次数、暂停持续时间和行程位置基于击发系统的力和行程位置。
发明内容
在一个方面,本公开提供一种外科器械,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;传感器,该传感器被配置为能够感测由端部执行器抓握的组织的厚度;以及控制电路,该控制电路联接到马达和传感器,该控制电路被配置为能够:检索组织的预期厚度;经由传感器确所述组织的厚度;以及设定用于驱动马达的占空比,其中占空比对应于组织的厚度与组织的预期厚度的对比。
在另一方面,本公开提供一种外科器械,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;以及控制电路,该控制电路联接到马达,该控制电路被配置为能够:确定位移构件上的力;以及根据力是否大于阈值力来暂停马达。
在另一方面,本公开提供一种控制外科器械中的马达的方法,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平移;马达,该马达联接到位移构件以使位移构件平移;传感器,该传感器被配置为能够感测由端部执行器抓握的组织的厚度;以及控制电路,该控制电路联接到马达,该方法包括:由控制电路来检索组织的预期厚度;由控制电路经由传感器确定组织的所述厚度;以及由控制电路设定用于驱动马达的占空比,其中占空比对应于组织的厚度与组织的预期厚度的对比。
在另一方面,本公开提供一种控制外科器械中的马达的方法,外科器械包括被构造成能够在外科器械内平移的位移构件、联接到位移构件以使位移构件平移的马达以及联接到马达的控制电路,该方法包括:由控制电路确定位移构件上的力;以及由控制电路根据力是否大于阈值力来暂停马达。
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是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各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视图。
图5A-5B为根据本公开的一个方面的跨越两个拉延片材的图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为图1的外科器械的绝对定位系统的图示,其中绝对定位系统包括根据本公开的一个方面的包括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用于绝对定位系统的传感器布置构的分解透视图,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位置传感器的图示,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截面图,其示出了相对于抓握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为控制位移构件的远侧平移的外科器械的框图。
图15示出了绘制根据本公开的一个方面执行的两个示例位移构件行程的图示。
图16示出了根据本公开的一个或多个方面的外科器械的端部执行器的剖视图。
图17是描绘根据本公开的一个或多个方面的用于控制马达的占空比的控制程序或逻辑配置的过程的逻辑流程图。
图18为绘制了根据本公开的一个或多个方面的根据图17的过程执行的三个示例击发构件行程的图示。
图19为描绘根据本公开的一个或多个方面的用于控制位移构件的位移的控制程序或逻辑配置的过程的逻辑流程图。
图20为绘制了根据本公开的一个或多个方面的根据图19的过程执行的三个示例击发构件行程的图示。
图21为图20的图示,其包括根据本公开的一个或多个方面的三个示例中的每个的马达激活的波形。
具体实施方式
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:
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为基于关节运动的对外科缝合和切割器械的马达速率的控制 (CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE 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日提交的标题为具有可变的持续时间触发器布置的外科器械(SURGICAL INSTRUMENT WITH VARIABLE DURATIONTRIGGER 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日提交的名称为用于根据端部执行器的关节运动角度控制外科缝合和切割器械的马达速率的系统和方法(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日提交的名称为用于控制外科缝合和切割器械的马达速率的系统和方法 (SYSTEMS AND METHODS FOR CONTROLLINGMOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)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日提交的名称为具有可控关节运动速率的外科器械(SURGICAL INSTRUMENT HAVING CONTROLLABLE ARTICULATIONVELOCITY)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日提交的名称为用于控制外科缝合和切割器械的位移构件的速率的系统和方法(SYSTEMS AND METHODS FORCONTROLLING VELOCITY OF A DISPLACEMENT MEMBER OF A SURGICAL STAPLING ANDCUTTING 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日提交的名称为用于控制外科器械的位移构件速率的系统和方法 (SYSTEMS AND METHODS FOR CONTROLLINGDISPLACEMENT MEMBER VELOCITY FOR A SURGICAL INSTRUMENT)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日提交的名称为基于关节运动的角度控制外科缝合和切割器械的马达速率 (CONTROL OF MOTOR VELOCITY OF ASURGICAL STAPLING AND CUTTING INSTRUMENT BASED ON ANGLE 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日提交的名称为用于外科缝合和切割器械的马达速率的适应性控制 (TECHNIQUES FOR ADAPTIVE CONTROL OFMOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)的代理人案卷号END8199USNP/170062M。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为用于外科缝合和切割器械的马达速率的闭环控制的技术 (TECHNIQUES FOR CLOSED LOOP CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT)的代理人案卷号END8275USNP/170185M。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为基于速度误差测量的量值对外科缝合和切割器械的马达速率的闭环反馈控制(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Frederick E.Shelton,IV等人于2017年6月20日提交的名称为基于在规定的位移距离内测量的时间的对外科缝合和切割器械的马达速率的闭环反馈控制(CLOSEDLOOP FEEDBACK 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日提交的名称为基于规定的时间间隔内测量的位移的对外科缝合和切割器械的马达速率的闭环反馈控制(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。
由发明人Frederick E.Shelton,IV等人于2017年6月20日提交的名称为基于规定的轴旋转次数内测量的时间对外科缝合和切割器械的马达速率的闭环反馈控制(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日提交的名称为用于控制外科器械的显示马达速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLING DISPLAYINGMOTOR 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日提交的名称为“用于根据外科器械的用户输入控制马达速度的系统和方法(SYSTEMS AND METHODS FOR CONTROLLINGMOTOR SPEED ACCORDING TO USER INPUT FOR A SURGICAL INSTRUMENT)”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日提交的名称为基于系统条件对外科缝合和切割器械的马达速率的闭环反馈控制(CLOSED LOOP FEEDBACK CONTROLOF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT BASED ONSYSTEM CONDITIONS)的代理人案卷号END8271USNP/170192。
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:
由发明人Jason L.Harris等人于2017年6月20日提交的名称为用于显示器或其一部分的图形用户界面(GRAPHICAL USER INTERFACE 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日提交的名称为用于显示器或其一部分的图形用户界面(GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTION)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日提交的名称为用于显示器或其一部分的图形用户界面(GRAPHICAL USER INTERFACE FOR A DISPLAY OR PORTIONTHEREOF)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、制造和用途的理解。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,其中术语“近侧”是指较靠近临床医生的部分,并且术语“远侧”则是指位于距临床医生较远的部分。为了方便起见,相对于附图使用的空间术语“竖直”、“水平”、“向上”和“向下”并非旨在是限制性的和/或绝对的,因为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穿过形成于组织中的切口或穿孔插入其中。该器械的工作部分或端部执行器部分可直接插入到身体中或者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1-4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不重复使用。在所示示例中,外科器械10包括外壳12,该外壳包括被构造成能够由临床医生抓握、操纵并致动的柄部组件14。外壳12被构造成能够操作地附接到可互换轴组件200,该可互换轴组件具有操作地联接到其上的端部执行器300,该端部执行器被构造成能够执行一种或多种手术任务或外科手术。根据本公开,可结合机器人控制的外科系统有效地采用各种形式的可互换轴组件。术语“外壳”也可涵盖容纳或以其它方式操作地支撑至少一个驱动系统的机器人系统的外壳或类似部分,该至少一个驱动系统被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“具有可选择钉部署布置的外科缝合器械(SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS)”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操作地联接到其的可互换轴组件200的外科器械10的透视图。外壳12包括端部执行器300,该端部执行器包括外科切割和紧固装置,该外科切割和紧固装置被构造成能够在其中操作地支撑外科钉仓304。外壳12可被构造成能够用于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具有不同的轴长度、尺寸和类型的不同尺寸和类型的钉仓。外壳12可与多种可互换轴组件一起使用,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/或运动施加到适于结合各种外科应用和手术使用的端部执行器布置的组件。此外,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和18,该对柄部外壳段可通过螺钉、按扣特征件、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。可在覆盖件45下方提供显示器。
图2是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可以操作地支撑“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可枢转地支撑的闭合触发器32。闭合触发器 32通过枢轴销33可枢转地联接到柄部组件14,以使得闭合触发器 32能够由临床医生操纵。当临床医生抓握柄部组件14的手枪式握持部19时,闭合触发器32可从启动或“未致动”位置枢转到“致动”位置并且更具体地枢转到完全压缩或完全致动位置。
柄部组件14和框架20可以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能够将击发动作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可为具有约 25,000RPM的旋转最大值的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。例如,电源组92可包括被构造成能够附接到远侧外壳部分96的近侧外壳部分94。近侧外壳部分94和远侧外壳部分96 被构造成能够操作地支撑其中的多个电池98。电池98可各自包括例如锂离子(LI)电池或其它合适的电池。远侧外壳部分96被构造成能够用于以可移除方式操作地附接到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。除此之外,电源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以将显示器43暴露。
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上的驱动齿122的组或齿条啮合接合。可纵向移动的驱动构件 120具有在其上形成的驱动齿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。
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,可纵向移动驱动构件 120将在近侧方向“PD”上轴向地驱动。柄部组件14可包括开关,该开关可被配置为能够逆转由电源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、关节运动接口270的构造和操作在美国专利申请公布 2014/0263541中提出,其名称为“包括关节运动锁的可关节运动外科器械(ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATION LOCK)”,该文献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组成的近侧外壳或喷嘴201。可互换轴组件200可包括可用于闭合和/或打开端部执行器300的砧座306的闭合管260,该闭合管沿轴轴线SA 延伸。
重新参见图1,闭合管260朝远侧平移(方向“DD”)以例如响应于闭合触发器32的致动而闭合砧座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的各部分的另一分解组件视图。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在本文中可被称为“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,该纵向狭槽可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运动并且可包括滑动接头286。滑动接头286可允许击发构件220的中间击发轴222在不移动或至少基本上不移动刀杆280的情况下,使端部执行器300围绕关节运动接头270进行关节运动。一旦端部执行器300已合适地取向,中间击发轴222便可朝远侧推进,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。有关击发构件220的操作可见于美国专利申请公开2014/0263541。脊210可被构造成能够可滑动地支撑击发构件220,并且可滑动地支撑围绕脊210延伸的闭合管260。脊210 可以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,该离合器组件可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。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/或从该端部执行器传送信号。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,并可相对于第一面移动。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,并可具有多个触点,其中每个触点与导体602中的一者对应并与其电接触。此布置在保持近侧连接器凸缘604与远侧连接器凸缘601之间电接触的同时,允许这两个凸缘之间相对旋转。例如,近侧连接器凸缘604可包括电连接器 606,该电连接器可使导体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盘安装凸缘中的连接器开口。名称为“STAPLE CARTRIDGETISSUE THICKNESS 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,以及能够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的一个方面的分解视图。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。例如,开孔199可限定在细长通道302中,以接收从砧座306延伸的销152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可由一个实心区段构造,或者可包括层合材料,该层合材料包括例如一叠钢板。击发杆172包括I形梁178和在其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 形梁可在砧座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,以在通过击发杆172向远侧推进I形梁178时切断组织。在操作中,I形梁178可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的切割边缘 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的底部表面延伸的沟槽,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之间捕获的组织时,I形梁178可间隔开或限制砧座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,以释放两个缝合且切断的组织部分。
图5A-5B为根据本公开的一个方面的跨越两个拉幅片材的图1 的外科器械10的控制电路700的框图。主要参见图5A -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。在其它布置方式中,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,该功率组件能够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、可用作电源为外科器械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,功率管理控制器可依据附接轴组件704的功率要求,调制功率组件 706的电池的功率输出,如下文更详细地描述。连接器包括开关,该开关可在柄部组件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激活。
例如,通过将一个或多个通信信号路由通过驻留在柄部组件702 中的主控制器717,接口可有利于在功率管理控制器716与轴组件控制器722之间传送此类通信信号。在其它情况下,当轴组件704和功率组件706联接到柄部组件702时,接口可有利于通过柄部组件702的功率管理控制器716和轴组件控制器722之间的直接通信线路。
主控制器717可以是任何单核或多核处理器,诸如由德克萨斯器械公司(TexasInstruments)提供的商品名为ARM Cortex的那些处理器。在一个方面,主控制器717可为例如购自德克萨斯器械公司 (Texas Instruments)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(至多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),其细节可得自产品数据表。
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,已知同样由德克萨斯器械公司(Texas Instruments)生产且商品名为HerculesARM 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的功率要求调制电池的功率输出。功率管理控制器716可被编程以控制功率功率组件706的功率输出的调制器 738,并且电流感测电路736可用于监测功率组件706的功率输出,以便为功率管理控制器716提供与电池的功率输出有关的反馈,使得功率管理控制器716可调节功率组件706的功率输出以维持期望的输出。功率管理控制器716和/或轴组件控制器722各自可包括一个或多个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。在此类情况下,当轴组件704联接到柄部组件702时,输出装置742与轴组件控制器 722之间的通信可通过接口实现。
控制电路700包括被配置为能够控制机动外科器械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还联接至闪存。主控制器717还包括串行通信接口。主控制器717包括联接到例如一个或多个电路段、电池和/ 或多个开关的多个输入。分段电路可通过任何合适的电路(诸如例如机动外科器械10内的印刷电路板组件(PCBA))来实施。应当理解,本文使用的术语“处理器”包括任一种微处理器、处理器、微控制器、控制器,或者将计算机的中央处理单元(CPU)的功能结合到一个集成电路或最多几个集成电路上的其它基础计算装置。主控制器717是多用途的可编程装置,该装置接收数字数据作为输入,根据其存储器中存储的指令来处理输入,并且然后提供结果作为输出。因为处理器具有内部存储器,所以是顺序数字逻辑的示例。控制电路700可被配置为能够实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。加速度计被配置为能够检测机动外科器械10的移动或加速度。在一些示例中,来自加速度计的输入可用于转变到休眠模式和从休眠模式转变到其它模式、识别机动外科器械的取向,并且/或者识别外科器械何时已被放下。在一些示例中,加速度段联接到安全控制器和/或主控制器717。
显示器段(段4)包括联接到主控制器717的显示器连接器。显示器连接器通过显示器的一个或多个集成电路驱动器将主控制器 717联接到显示器。显示器的集成电路驱动器可与显示器集成,并且 /或者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1-4)的可互换轴组件200(图1和图3)的控件,和/或用于联接到可互换轴组件200 的端部执行器300的一个或多个控件。轴段包括轴连接器,该轴连接器被构造成能够将主控制器717联接到轴PCBA。轴PCBA包括具有铁电随机存取存储器(FRAM)、关节运动开关、轴释放霍尔效应开关和轴PCBA EEPROM的低功率微控制器。轴PCBA EEPROM 包括特定于可互换轴组件200和/或轴PCBA的一个或多个参数、例程和/或程序。轴PCBA可联接到可互换轴组件200和/或与外科器械 10一体成型。在一些示例中,轴段包括第二轴EEPROM。第二轴 EEPROM包括对应于可与机动外科器械10交接的一个或多个轴组件200和/或端部执行器300的多个算法、例程、参数、和/或其它数据。
位置编码器段(段6)包括一个或多个磁性角旋转位置编码器。一个或多个磁性角旋转位置编码器被配置为能够识别外科器械10 (图1-4)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机动外科器械10的移动的马达714(图1-4)。马达714通过H桥驱动器和一个或多个 H桥场效应晶体管(FET)联接到主控制器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,以测量马达的电流消耗。马达电流传感器与主控制器717和/或安全控制器进行信号通信。在一些示例中,马达714联接到马达电磁干扰(EMI)滤波器。
马达控制器控制第一马达标记和第二马达标记,以向主控制器 717指示马达714的状态和位置。主控制器717通过缓冲器向马达控制器提供脉宽调制(PWM)高信号、PWM低信号、方向信号、同步信号和马达复位信号。功率段被配置为能够向电路段中的每一个提供区段电压。
功率段(段8)包括联接到安全控制器、主控制器717和附加电路段的电池。电池通过电池连接器和电流传感器联接到分段电路。电流传感器被配置为能够测量分段电路的总电流消耗。在一些示例中,一个或多个电压转换器被配置为能够向一个或多个电路段提供预先确定的电压值。例如,在一些示例中,分段电路可包括3.3V的电压转换器和/或5V的电压转换器。升压转换器被配置为能够提供至多为预先确定的量(诸如例如,至多达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,并且防止电压降低条件或低功率条件。
多个开关联接到安全控制器和/或主控制器717。多个开关可被配置为能够控制外科器械10(图1-4)的一种或多种操作、控制分段电路的一种或多种操作,并且/或者指示外科器械10的状态。用于紧急救助的救援门开关和霍尔效应开关被配置为能够指示救援门的状态。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)被配置为能够控制轴组件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。在一些示例中,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)通过左挠曲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)通过右挠曲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1-4) 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,开关可以是在磁场的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。在其它具体实施中,开关可以是在光的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。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 的另一框图,其示出柄部组件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的功率要求调制电池707的功率输出。例如,功率管理控制器716可被编程以控制功率组件706的功率输出的功率调制器738,并且电流感测电路736可用于监测功率组件706的功率输出,以便为功率管理控制器716提供与电池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的功率输出以维持期望的输出。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1-4)可包括输出装置742,以向用户提供感觉反馈。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1-4)的操作的控制电路700(图5A-5B 和图6),本公开现在转到外科器械10(图1-4)的各种配置和控制电路700。
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1-4)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。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。指令处理单元可以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1-4)的各方面。组合逻辑电路810可被配置为能够实现本文所述的各种过程。电路810可包括有限状态机,该有限状态机包括组合逻辑812,该组合逻辑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1-4)的各个方面的时序逻辑电路820。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。时序逻辑电路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。在其它方面中,有限状态机可以包括组合逻辑电路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、闪速存储器或固件,这些制造制品包括适用于由通用处理器或专用处理器执行的计算机程序指令。
图10是外科器械10(图1-4)的绝对定位系统1100的图示,其中绝对定位系统1100包括根据本公开的一个方面的包括传感器布置 1102的受控马达驱动电路布置。用于绝对定位系统1100的位置布置 1102提供对应于位移构件1111的位置的独特位置信号。暂时参见图 2-4,在一个方面,位移构件1111表示纵向可移动的驱动构件120(图2),其包括用于与齿轮减速器组件84的对应驱动齿轮86啮合接合的驱动齿122的齿条。在其它方面,位移构件1111表示击发构件220 (图3),该击发构件可被适配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),其中每个均可被适配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或任何可被位移的任何元件)。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实际上可通过跟踪纵向可移动的驱动构件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的差分变压器(LVDT)、差分可变的磁阻换能器(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线性布置的霍尔效应传感器的磁感测系统、包括可移动光源和一系列线性布置的光电二极管或光电检测器的光学感测系统、包括固定光源和一系列可移动的线性布置的光电二极管或光电检测器的光学感测系统或它们的任何组合。
电动马达1120可包括操作地与齿轮组件1114交接的可旋转轴 1116,该齿轮组件与驱动齿的组或齿条啮合接合安装在位移构件 1111上。传感器元件1126可以操作地联接到齿轮组件1114,使得传感器元件1126的单次旋转对应于位移构件1111的一些线性纵向平移。传动装置和传感器1118的布置可经由齿条和小齿轮布置连接至线性致动器,或者经由直齿齿轮或其它连接连接至旋转致动器。电源1129为绝对定位系统1100供电,并且输出指示器1128可显示绝对定位系统1100的输出。在图2中,位移构件1111表示纵向可移动驱动构件120,该纵向可移动驱动构件包括形成于其上的驱动齿 122的齿条,以用于与齿轮减速器组件84的对应驱动齿轮86啮合接合。位移构件1111表示纵向可移动的击发构件220、击发杆172、I 形梁178或它们的组合。
与位置传感器1112相关联的传感器元件1126的单次旋转等同于位移构件1111的纵向线性位移d1,其中d1为在联接到位移构件 1111的传感器元件1126的单次旋转之后位移构件1111从点“a”移动到点“b”的纵向线性距离。可经由齿轮减速连接传感器布置1102,该齿轮减速使得位置传感器1112针对位移构件1111的全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,而不使位移构件1111回缩或推进至如常规旋转编码器可需要的复位(清零或本位)位置,这些编码器仅对马达1120采取的向前或向后的步骤数进行计数以推断装置致动器、驱动杆、刀等等的位置。
在各个方面,可对控制器1104进行编程以执行各种功能,诸如对刀和关节运动系统的速度和位置的精确控制。在一个方面,控制器1104包括处理器1108和存储器1106。电动马达1120可为有刷 DC马达,其具有齿轮箱以及至关节运动或刀系统的机械链接。在一个方面,马达驱动器1110可为可购自Allegro微系统公司(Allegro Microsystems,Inc)的A3941。其它马达驱动器可容易地被替换以用于绝对定位系统1100中。绝对定位系统1100的更详细描述在于2016 年4月15日提交的名称为“用于控制外科缝合和切割器械的系统和方法(SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTINGINSTRUMENT)”美国专利申请15/130,590中有所描述,该专利申请的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微控制器1104的软件中的响应。将计算的响应与实际系统的所测量响应进行比较,以获得“观察到的”响应,其用于实际反馈决定。观察到的响应为有利的调谐值,该值使所模拟响应的平滑连续性质与所测量响应均衡,其可感测对系统的外部影响。
绝对定位系统1100可包括并且/或者可被编程以实现反馈控制器,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)。除了由位置传感器 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-5B)。
马达驱动器1110可为可购自Allegro微系统公司(Allegro Microsystems,Inc)的A3941。A3941驱动器1110为全桥控制器,其用于与针对电感负载(诸如有刷DC马达)特别设计的外部N信道功率金属氧化物半导体场效应晶体管(MOSFET)一起使用。驱动器1110包括独特的电荷泵调整器,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,并且可被构造成能够在大多数短路情况下保护功率MOSFET。其它马达驱动器可容易地取代以用于绝对定位系统 1100中。
已描述总体架构以用于针对传感器布置1102实现绝对定位系统 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的传感器布置1102的一个方面的描述。图11为根据一个方面的绝对定位系统1100的传感器布置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、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。暂时参见图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。转到图11,提供了结构元件(诸如托架1216)以支撑齿轮组件1206、磁体保持器1204和磁体1202。位置传感器1200包括磁性感测元件 (诸如,霍尔元件)并且被放置成邻近磁体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否测量磁场的总磁场或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120,如图2所示)啮合接合,并且当位移构件1111沿远侧方向D前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,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,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,该保持器限定适于包含与磁体保持器1204内在下方旋转的磁体1202精确对齐的位置传感器1200的开孔1220。夹具联接到托架1216以及电路 1205,并且在磁体1202随磁体保持器1204旋转时保持静止。提供了轮毂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用于绝对定位系统1100的位置传感器1200的图示,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,其可购自奥地利微系统公司(Austria Microsystems,AG)。位置传感器1200与控制器1104交接,以提供绝对定位系统1100。位置传感器1200为低电压和低功率部件,并且包括位于磁体1202(图15、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 和智能型功率管理控制器1238。提供了CORDIC处理器1236(针对坐标旋转数字计算机(COordinate Rotation DIgital Computer)),也称为逐位法和Volder算法,以实现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、位移位和表格查找操作。角位置、报警位和磁场信息通过标准串行通信接口诸如SPI接口1234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,本文将不详细描述,然而,霍尔效应通常在横切于导体中的电流的电导体和垂直于电流的磁场中产生横跨电导体的电压差(霍尔电压)。霍尔系数被定义为感应电场与电流密度和所施加磁场的乘积的比率。其为从中制备导体的材料的特性,因为其值取决于构成电流的电荷载体的类型、数目和性能。在AS5055位置传感器1200中,霍尔效应元件1228A、1228B、1228C、1228D能够产生电压信号,其指示根据磁体1202经过单次旋转之后的角度的磁体1202的绝对位置。由CORDIC处理器1236计算角度的这个值(其为独特位置信号),并且将其以机载方式存储在寄存器或存储器中的AS5055位置传感器1200上。在多种技术中,例如在加电时或在控制器1104发出请求时,向控制器1104提供角度的值,其指示经过一次转动的磁体1202的位置。
AS5055位置传感器1200在连接至控制器1104时仅需要几个外部部件就可操作。使用单个电源的简单应用需要六根线材:两根线材用于电力,四根线材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。在加电时,AS5055位置传感器1200执行完全加电序列,包括一个角度测量。该循环的完成被指示为INT输出1242,并且角度值存储在内部寄存器中。一旦设定了该输出,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。未实现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中对若干角度样品进行平均来减少角度抖动。例如,平均四个采样可使抖动减少6dB(50%)。
图13为根据本公开的一个方面的外科器械10(图1-4)的端部执行器2502的截面图,其示出了相对于抓握在端部执行器2502内的组织2526的I形梁2514击发行程。端部执行器2502被构造成能够与图1-4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朝远侧和近侧平移。当端部执行器2502未进行关节运动时,端部执行器2502与器械的轴成一直线。包括切割刃2509的I形梁2514示出在击发杆 2520的远侧部分处。楔形滑动件2513定位在钉仓2518中。当I形梁2514向远侧平移时,切割刃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I形梁2514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行程期间,I形梁2514可以从行程开始位置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的一个示例位置处。I形梁2514行程图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,切割刃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,切割刃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,切割刃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可以在第四区域2523中到达组织2526的端部。当I形梁2514到达第五区域2525 时,组织2526可以被完全切断。楔形滑动件2513可以在组织的端部处或附近接触一个或多个钉驱动器2511。可以减小使I形梁2514 推进通过第五区域2525的力,并且在一些示例中,可以类似于在第一区域2517中驱动I形梁2514的力。在击发构件行程结束时,I形梁2514可以到达行程结束位置2528。图18中的击发构件行程区域2517、2519、2521、2523、2525的定位仅是一个示例。在一些示例中,不同区域可例如基于组织在砧座2516和钉仓2518之间的定位而沿端部执行器纵向轴线2515在不同位置处开始。
如上所述并且现在参考图10-13,可利用定位在外科器械系统10 (图1-4)的柄部组件内的电动马达1122使轴组件(包括I形梁2514) 的击发系统相对于轴组件的端部执行器2502推进和/或回缩,以便缝合和/或切割捕获在端部执行器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来感测I形梁2514的速度。控制器可被配置为能够对I形梁2514的预测速度与I形梁2514的感测速度进行比较,以确定是否应当增加电动马达1122的功率以便增加 I形梁2514的速度和/或减小功率以便减小I形梁2514的速度。名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利8,210,411,其全文以引用方式并入本文。名称为“SURGICAL INSTRUMENT HAVING RECORDINGCAPABILITIES”的美国专利 7,845,537,其全文以引用方式并入本文。
作用在I形梁2514上的力可使用各种技术来确定。I形梁2514 力可通过测量马达2504电流来确定,其中马达2504电流基于I形梁 2514在远侧推进时所经历的负载。I形梁2514力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/或在切割刃2509的近侧端部上。I形梁2514力可通过监测在预定流逝周期T1之后基于马达 2504的当前设定速率以预期速率移动的I形梁2514的实际位置,并且基于在周期T1结束时马达2504的当前设定速率来比较I形梁2514 相对于I形梁2514的预期位置的位置来确定。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与I形梁2514上的力与标称力的偏差成正比。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可如本文所述配置,例如,参考图1-13。
衬垫位移构件1111(例如I形梁2514)的位置、移动、位移和/ 或平移可由绝对定位系统1100、传感器布置1102和位置传感器1200 测量,如图10-12所示,并且表示为图14中的位置传感器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/ 或平移可通过本文所述的位置传感器2534来实现。控制电路2510,诸如在图5A和图5B中描述的控制电路700,可被编程以控制位移构件1111(诸如I形梁2514)的平移,如结合图10-12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,诸如流逝时间或数字计数,以将如由位置传感器2534确定的I形梁2514的位置与定时器/计数器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流逝时间、计数外部事件或定时外部事件。
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DC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的速率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朝远侧和近侧平移时向控制电路2510提供一系列脉冲。控制电路2510可以跟踪脉冲以确定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之间捕获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-5B所述。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所需的力可对应于由马达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1-14所公开的器械的物理特性,现在转向图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可包括电源,以例如将来自反馈控制器的信号转换为物理输入,诸如外壳电压、脉宽调制(PWM)电压、频率调制电压、电流、扭矩和/或力。
外科器械2500的实际驱动系统被配置为能够通过具有齿轮箱和与关节运动和/或刀系统的机械链路的有刷直流马达驱动位移构件、切割构件或I形梁2514。另一个示例为操作例如可互换轴组件的位移构件和关节运动驱动器的电动马达2504。外部影响是事物如组织、周围身体和摩擦对物理系统的未测量的、不可预测的影响。此类外部影响可被称为相对电动马达2504作用的曳力。外部影响诸如曳力可导致物理系统的操作偏离物理系统的期望操作。
在详细说明外科器械2500的各方面之前,应该指出的是,示例方面的应用或用途并不局限于附图和具体实施方式中所示出的部件的构造和布置的细节。示例方面可以单独实施,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,并且当被配置为能够用于使用时,钉仓2518定位在砧座2516的对面。临床医生可以抓握砧座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,该控制电路被编程为基于一个或多个组织条件控制位移构件(诸如I形梁 2514)的远侧平移。控制电路2510可以被编程为直接或间接地感测组织条件,诸如厚度,如本文所述。控制电路2510可以被编程为基于组织条件选择击发控制程序。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可以被编程为以较低的速率和/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可以被编程为以较高的速率和/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配置操作马达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、在开环部分期间流逝的时间、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率平移。
图15示出了绘制根据本公开的一个方面执行的两个示例位移构件行程的图示2580。图2580包括两个轴线。水平轴线2584指示经过的时间。垂直轴线2582表示I形梁2514在行程开始位置2586与行程结束位置2588之间的位置。在水平轴线2584上,控制电路2510可以接收击发信号并开始在t0处提供初始马达设置。位移构件行程的开环部分是可以在t0与t1之间流逝的初始时间段。
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可以从行程开始位置 2586遍历到位置2594。控制电路2510可确定位置2594对应于击发控制程序,该击发控制程序以选定的恒定速率(V慢)推进I形梁 2514,该速率由示例2592在t1之后(例如,在闭合回路部分中)的斜率指示。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驱动到速率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与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。控制电路可确定位置 2596对应于击发控制程序,该击发控制程序以选定的恒定速率(V 快)推进位移构件。因为示例2590中的组织比示例2592中的组织薄,所以它可以为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。另外,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)可对应于初始时间段之后较高的位移构件速率。
图16示出了根据本公开的一个方面的外科器械的端部执行器 912的剖视图。端部执行器912是端部执行器300(图1和图4)的一个方面,其可以适配以与外科器械10(图1)一起操作,以测量各个衍生参数,诸如间隙距离对时间、组织压缩对时间和砧座应变对时间。因此,端部执行器912可包括一个或多个传感器,该一个或多个传感器被配置为能够测量与端部执行器912和/或由端部执行器912捕获的组织区段相关联的一个或多个参数或特性。端部执行器912可包括第一传感器920和第二传感器926。在各种示例中,第一传感器920和/或第二传感器926可包括例如磁传感器(诸如例如磁场传感器)、应变仪、压力传感器、力传感器、电感式传感器(诸如例如涡流传感器)、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912的一个或多个参数的任何其它合适的传感器。尽管所示的端部执行器912包括两个传感器,但也可采用另外的或更少的传感器。
第一传感器920和/或第二传感器926可以包括例如嵌入砧座914 中的磁场传感器,并且该磁场传感器被配置为能够检测由嵌入在钳口构件916和/或钉仓918中的磁体924产生的磁场。砧座914可在打开和闭合位置之间可枢转地旋转。检测到的磁场的强度可对应于例如位于砧座914和钳口构件916之间的组织的厚度和/或咬合完全性。在某些情况下,第一传感器920和/或第二传感器926可包括应变仪,诸如例如微应变仪,其被配置为能够在夹持条件期间测量砧座914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。
在一些方面,端部执行器912的一个或多个传感器(诸如例如,第一传感器920和/或第二传感器926)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914与钳口构件916之间的压缩组织的存在而产生的压力。在一些示例中,端部执行器912的一个或多个传感器(诸如例如,第一传感器920和/或第二传感器926)被配置为能够检测位于砧座914与钳口构件916之间的组织区段的阻抗。检测到的阻抗可指示位于砧座914与钳口构件916之间的组织的厚度和/或完全性。
端部执行器912的传感器(诸如例如,第一传感器920)可被配置为能够测量砧座914与钳口构件916之间的间隙922。在某些情况下,间隙922可以表示夹持在砧座914和钳口构件916之间的组织区段的厚度和/或可压缩性。间隙922可代表施加到砧座914以压缩组织的力。在一个方面,砧座914与钳口构件916之间的间隙922 可以通过将磁场传感器定位在砧座914上并将磁体定位在钳口构件916上以使得间隙922与由磁场传感器检测到的信号成比例、并且信号与磁铁与磁场传感器之间的距离成比例来测量。应当理解,可以交换磁场传感器和磁体的位置,使得磁场传感器定位在钳口构件916 上,并且磁体放置在砧座914上。
端部执行器912的传感器(诸如例如,第一传感器920)可被配置为能够测量由闭合驱动系统30施加在砧座914上的一个或多个力。例如,第一传感器920可位于闭合管260(图3)和砧座914之间的交互点处,以检测由闭合管260施加到砧座914的闭合力。施加在砧座914上的力可表示由在砧座914和钳口构件916之间捕获的组织区段所经受的组织压缩。在某些方面,第一传感器920和/或其它传感器可沿闭合驱动系统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914的闭合力。第一传感器920 和/或第二传感器926可在夹持操作期间由处理器实时取样,如例如图5-10所述,并且更具体地,由系统970实时取样。处理器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914的闭合力。
图17为描绘根据本公开的一个或多个方面的用于控制马达2504 的占空比的控制程序或逻辑配置的过程4070的逻辑流程图。在对图 15中过程4070的以下描述中,还应当参考图14和图15。因此,控制电路2510检索4072在使用外科器械2500时被抓握或待抓握的组织的预期组织厚度TCe。预期的组织厚度TCe可例如存储在外科器械2500的存储器中。预期的组织厚度TCe可另外由外科器械2500 的操作者输入或预先编程,或者可在使用之前由外科器械2500从外部源下载或以其它方式接收。一个此类外部源可包括钉仓2518,该钉仓被配置为能够存储预期用于使用钉仓2518的预期组织厚度 TCe,并且然后在钉仓2518与外科器械2500接合时将预期的组织厚度传输至控制电路2510。
然后,控制电路2510确定4074由外科器械2500在端部执行器 2502处或通过该端部执行器抓握的组织的实际厚度TCa。在各种方面,可直接或经由外科器械2500在操作之前或期间执行的一个或多个取代物测量来确定4074实际组织厚度。在一个方面,外科器械2500包括设置在端部执行器2502的远侧端部处的组织厚度传感器。组织厚度传感器可包括霍尔效应传感器、磁簧开关传感器、光学传感器、磁感传感器、力传感器、压力传感器、压阻膜传感器、超声传感器、电涡流传感器、加速度计、脉搏血氧传感器、温度传感器、被配置为能够检测组织通路的电特征(诸如电容或电阻)的传感器或它们的任何组合。组织厚度传感器可被配置为能够测量位于砧座 2516和钉仓2518之间的组织的厚度、砧座2516与钉仓2518之间的间隙或距离、外科器械2500的钳口构件之间的间隙或距离以及指示被抓握的组织的厚度的多种其它参数。
在另一方面,外科器械2500可另选地被配置为能够在启动击发行程之前或在击发行程的初始部分期间测量组织厚度的取代物。一个此类取代物可包括位移构件上的力,诸如驱动构件120(图2);击发构件220(图3)、2520(图13);I形梁2514、178(图4);击发杆172(图4);和/或在切割刃182(图4)、2509(图13)的近侧端部上。为了简明和清晰起见,将结合I形梁2514所经历的力来描述用于组织厚度的取代物。因此,组织厚度的取代物可由I形梁2514力确定,该力可使用各种技术来确定。在一个方面,I形梁2514 力可通过测量马达2504电流来确定,其中马达2504电流基于I形梁 2514在远侧前进时所经历的负载。在另一方面,I形梁2514力可通过定位在位移构件上的应变仪来确定,诸如驱动构件120(图2);击发构件220(图3)、2520(图13);I形梁2514、178(图4);击发杆172(图4);和/或在切割刃182(图4)、2509(图13)的近侧端部上。在又一方面,I形梁2514力可通过监测在预定流逝时间t1之后基于马达2504的设定速度以预期速率移动的I形梁2514 的实际位置,并且基于马达2504在时间t1处的设定速率来比较I形梁2514相对于I形梁2514的预期位置的实际位置。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 经历大于标称的力。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力与标称力的偏差成正比。后一种技术在同日提交的共同拥有的代理人案卷号END8195USNP 中详细描述,该专利全文以引用方式并入本文。
然后,控制电路2510向马达控制器2508提供马达设定点2522,该马达控制器提供马达驱动信号2524,以将马达2504的初始占空比设定4076为对应于实际组织厚度与预期组织厚度的对比。如果实际组织厚度TCa大于预期的组织厚度TCe,则初始占空比将被设定为比默认占空比更低的值。实际组织厚度TCa大于预期组织厚度TCe 的相对程度可另外影响设定初始占空比的值。在一些方面,实际组织厚度TCa相对于期望的组织厚度TCe越厚,将设定越低的初始占空比。因此,对于越来越厚的组织,I形梁2514将初始推进得越来越慢。如果实际组织厚度TCa不大于期望的组织厚度TCe,则初始占空比将被设定为默认占空比。例如,默认占空比可以为100%。
在一个方面,由控制电路2510执行的过程4070被配置为能够建立覆盖一定范围的组织厚度值的一个或多个离散区,然后根据实际组织厚度TCa落在哪个区域来设定4076马达2504的初始占空比。例如,如果预期的组织厚度TCe为2mm,则第一区可包括0-2mm的组织厚度,第二区可包括2-4mm的组织厚度,并且第三区可包括大于4mm的组织厚度。在该示例中,如果实际组织厚度TCa落在第一区内,则马达2504占空比被设定为默认或第一占空比。如果实际组织厚度TCa在第二区内,则马达2504占空比被设定为低于第一占空比的第二占空比。最后,如果实际组织厚度TCa在第三区内,则马达2504占空比被设定为低于第二占空比的第三占空比。区可根据值的明确范围、与预期的组织厚度TCe的比率或根据各方面以任何其它此类方式来定义。此类区的数量和范围可根据各方面同样各不相同。在另一方面,由控制电路2510执行的过程4070被配置为能够根据实际组织厚度TCa、预期的组织厚度TCe和它们之间的比率来计算初始占空比。在该方面,由控制电路2510设定的初始占空比是根据输入的唯一值,而不是对于一系列输入具有设定值。
一旦设定4076初始占空比,控制电路2510便通过向远侧推进位移构件(诸如例如I形梁2514)而使马达2504启动4078击发行程。在位移构件为I形梁2514的示例中,在击发行程期间,控制电路2510根据所确定4080的I形梁2514位置来确定4080I形梁2514 的位置并更新4082马达2504的占空比。I形梁2514的位置可经由多种不同的技术确定4080。在一个方面,外科器械2500可包括位置传感器1112(图10),该位置传感器被配置为能够跟踪I形梁2514 的纵向位移,如上所述。马达2504的占空比可根据由控制电路2510 执行的算法、存储在由控制电路2510访问的存储器中的查找表或根据一个或多个输入来检索或计算更新值的任何其它此类技术来更新。在一个方面,马达2504的占空比被更新4082,使得其在I形梁2514的行程的过程中增加,即占空比直接对应于I形梁2514的线性位移的量值。控制电路2510接着确定4084I形梁2514的行程是否已完成。如果击发行程完成,则过程4070沿“是”分支继续并且过程4070完成4086。如果击发行程未完成,则过程4070沿着“否”分支继续,并且继续进行确定4080I形梁2514的位置并将马达2504 的占空比更新4082的循环,如上所述。换句话说,当I形梁2514 的位置在其整个击发行程中改变时,过程4070继续更新马达2504的占空比。在一个方面,过程4070可另外被配置为能够在占空比达到100%的情况下退出确定4080I形梁2514位置和更新4082占空比的循环,因为占空比不能超过该值。
图18为绘制了根据本公开的一个或多个方面的根据图17的过程4070执行的三个示例击发构件行程的第一图示4030。第一图示 4030包括水平轴线4034,该水平轴线表示位移构件例如I形梁2514 在行程开始位置4006和行程结束位置4008之间的行程上的位移或位置,以及表示马达2504的占空比的竖直轴线4032。行程结束位置 4008部分地取决于外科器械2500所利用的钉仓2518的类型,因为钉仓2518的长度可有变化。在一个示例性方面,行程结束位置4008 距0mm的行程开始位置4006为60mm。
第一示例4022示出当由端部执行器2502抓握的组织不大于预期厚度TCe时外科器械2500的响应。当实际组织厚度TCa不大于预期的组织厚度TCe时,马达2504在默认占空比DC0下在时间t1内将I形梁2514从行程开始位置4006驱动至行程结束位置4008。在例示的方面,默认占空比DC0等于100%。应当指出的是,在另选的方面,默认占空比DC0可小于100%。由于在第一示例4022中的 I形梁2514的整个行程中占空比DC0为100%,因此不存在其中马达 2504处于不活动状态的周期;因此,在第一示例4022中不存在从行程开始位置4006到行程结束位置4008的暂停,如第二示例4024和第三示例4026中所示。
第二示例4024示出当由端部执行器2502抓握的组织大于预期厚度TCe时外科器械2500的响应。当实际组织厚度TCa大于预期的组织厚度TCe时,控制电路2510使马达控件2508在小于默认占空比DC0的初始占空比DC3下驱动马达2504。初始占空比可为实际厚度TCa大于预期厚度TCe的程度的函数。当马达控件2508在小于100%的占空比下驱动马达2504时,I形梁2514以相对较低的速度平移。在设定初始占空比并且I形梁2514开始其行程之后,控制电路2510更新或调节马达控件2508在I形梁2514行程过程中驱动马达2504的占空比。在一个方面,控制电路2510被配置为能够在行程过程中增加马达2504占空比。在第二示例4024的情况下,控制电路2510使得马达2504的占空比从初始值DC3增大到结束值 DC1,如第一图示4030所示。当I形梁2514的速率对应于马达2504 的占空比时,I形梁2514的速率因此在击发行程的过程中增加。
与第二示例4024一样,第三示例4026示出当由端部执行器2502 抓握的组织大于预期厚度TCe时外科器械2500的响应。第三示例 4026中的差异在于,抓握的组织的实际厚度TCa相对于预期厚度 TCe大于第二示例4024中的实际厚度TCa。换句话讲,在第三示例4026中,组织比第二示例4024更厚。由于初始占空比是实际厚度 TCa大于预期厚度TCe的程度的函数,并且第三示例4026中的组织比第二示例4024中的组织厚,因此控制电路2510使得马达控件2508 在小于第二示例4024的初始占空比DC3的初始占空比DC4下驱动马达2504。
因为与第一示例4022相比,在第二示例2024和第三示例2026 的击发行程的过程中,平均马达2504占空比较低,所以第二示例 4024和第三示例4026中的击发行程上的I形梁2514的平均速率同样相对较低。当组织的实际厚度TCa大于预期厚度TCe时,可为有利的是以减小的速率平移I形梁2514,以确保组织中正确的钉成形。此外,以较低速率平移I形梁2514可为正在被切割和/或缝合的组织中的流体逸出手术部位以及组织自身弹性响应夹紧、缝合和/或切割操作提供时间,这两者均可改善外科器械2500的性能和钉成形的质量。另外,可为有利的是,在I形梁2514的行程过程中增加马达2504 的占空比,因为从被夹持的组织遇到的阻力随着组织被切割和/或通过I形梁2514在组织中形成钉而减小。随着来自组织的阻力减小,I 形梁2514可以相应地增大的速率平移,而不会对钉成形产生负面影响。
应当指出的是,图18中所描绘的各种占空比值仅旨在用于示例性目的,并且不应暗示除了本文所述的值之间的任何关系。例如,尽管第三示例4026的结束占空比DC2被描述为大于第二示例4024 的初始占空比DC3,但不旨在或暗示此类特定关系。又如,尽管第一示例4022和第二示例4024的结束值DC1和DC2分别被描绘为小于默认占空比DC0,但是这并非旨在暗示在其中实际组织厚度大于预期组织厚度的任何情况下,马达2504的占空比在击发行程的过程中将决不达到默认占空比DC0。此外,尽管击发行程位移和马达占空比之间的关系在图20中被描绘为大体上指数的,但是另选地,它们的关系可以是线性的,或者可以经由任何其它类型的数学函数来描述。
图19为描述根据本公开的一个或多个方面的用于控制位移构件的位移的控制程序或逻辑配置的过程4200的逻辑流程图。在对图15 中的过程4200的以下描述中,还应当参考图14和图15。因此,控制电路2510启动4202位移构件的行程。如上所述,位移构件可包括驱动构件120(图2);击发构件220(图3)、2520(图13);I 形梁2514、178(图4);击发杆172(图4);和/或在切割刃182 (图4)、2509(图13)的近侧端部上。为了简明和清晰起见,过程4200中的位移构件将主要根据I形梁2514来讨论。在一个方面,设定马达2504的初始速率或占空比可根据检测到的组织厚度或另一种此类组织参数而变化,如上文相对于过程4070所述(图17)。在另一方面,在位移构件行程的开始4202时马达2504设定的初始速率或占空比可为固定值或默认值。
在开始4202位移构件行程之后,控制电路2510监测穿过击发行程的I形梁2514的力,并且确定4204该力是否大于或等于阈值力。如上所述,I形梁2514力可在不同方面以若干不同的方式来确定。在一个方面,I形梁2514力可通过测量马达2504电流来确定,其中马达2504电流基于I形梁2514在远侧推进时所经历的负载。在另一方面,I形梁2514力可通过定位在击发驱动系统的一个或多个部件上的应变仪来确定。在又一方面,I形梁2514力可通过监测I形梁 2514与预期位置相比的实际位置来确定。在该方面,当I形梁2514 的实际位置小于预期位置时,则I形梁2514经历大于预期的力。
阈值力可为例如存储在外科器械2500的存储器中的固定值。阈值力可另外由外科器械2500的操作者输入或预先编程,或者可在使用之前由外科器械2500从外部源下载或以其它方式接收。
如果控制电路2510确定4204I形梁2514力超过阈值力,则过程4200沿着YES分支前进,并且控制电路2510将I形梁2514暂停 4206一段时间。在一个方面,控制电路2510通过停用马达2504来暂停4206I形梁2514。I形梁2514被暂停4206的时间长度可为固定的或可变的。在一个方面,暂停长度为固定值,其被存储在外科器械2500的存储器中、由外科器械2500的操作者输入或预先编程,或者在使用之前由外科器械2500从外部源接收。在另一方面,暂停长度可根据I形梁2514的位置而变化。例如,暂停长度可随着I形梁2514从击发行程的开始位置4006到结束位置4008的位置而减小。在另一方面,暂停长度可根据例如通过端部执行器2502处的传感器 920、926(图16)测量的与端部执行器912和/或由端部执行器2502 捕获的组织区段相关联的一个或多个参数或特性而变化。例如,暂停长度可随由传感器920、926检测到的组织的厚度而增大。在又一方面,暂停长度可根据多个变量的组合而变化。
控制电路2510接着确定4208I形梁2514的行程是否已完成。如果击发行程完成,则过程4070沿“是”分支继续并且过程4200 完成4210。如果击发行程未完成,则过程4200沿着“否”分支继续,并且继续进行确定4204I形梁2514力是否超过阈值力并相应地暂停 4206I形梁2514的平移的循环,如上所述。换句话说,过程4200 在其整个击发行程期间继续监测I形梁2514的力。如果控制电路 2510确定4204I形梁2514力小于阈值力,则过程4200向下进行“否”分支,其跳过对I形梁2514的平移的暂停4206,并且直接前进到确定4208I形梁2514的行程是否已完成,然后如上所述进行。
图20为绘制了根据本公开的一个或多个方面的根据图19的过程4200执行的I形梁2514击发行程位移的三个示例的第二图示 4300。为清楚起见,图21中的第三图示4400还包括图20中的三个示例中的每一个的马达激活状态4402的波形。第二图示4300包括表示流逝时间的水平轴线4002和表示I形梁2514在行程开始位置 4006和行程结束位置4008之间的行程上的位移或位置的竖直轴线 4004。当马达2504被激活4404时,控制电路2510可导致马达控件 2508向马达2504施加电压或电流。当马达2504被停用4406时,控制电路2510可导致马达控制器2508不向马达2504施加电压或电流。
第一示例4302示出当I形梁2514力在I形梁2514的击发行程的整个长度上不超过阈值力时外科器械2500的响应。因此,由控制电路2510执行的过程4200不会在任何点处暂停I形梁2514,并且因此驱动I形梁2514的马达2504在击发行程的整个长度期间被激活4404,该击发行程在时间t1处结束。
第二示例4304示出当I形梁2514力超过各点处的阈值力时外科器械2500的响应。这可通过以下事实来显现:第二示例4304的初始斜率4322小于第一示例4302的斜率4320。换句话讲,在第二示例4304中,I形梁2514以低于第一示例4302的速率推进。当所有其它因素保持恒定时,当I形梁2514以低于预期的速率推进时,I 形梁2514可相应地经历大于预期的力。因此,当I形梁2514力超过阈值时,由控制电路2510执行的过程4200暂停I形梁2514。因此,马达2504在激活4404和停用4406之间交替,这由第一暂停p1和第二暂停p2分开。需注意,马达激活4404的周期对应于I形梁2514 的平移,并且马达停用4406的周期对应于I形梁2514未平移,即暂停。第二示例4304示出了一个方面,其中暂停的长度是I形梁2514 的位移位置的函数。具体地,暂停的长度随着I形梁2514从击发行程的第一或开始位置4006平移至第二位置或结束位置4008而减小,使得p2<p1。将暂停引入到击发行程中降低了I形梁2514在击发行程过程中的平均速率,从而导致击发行程在大于t1的时间t2处结束。
第三示例4306同样示出当I形梁2514力超过各点处的阈值力时外科器械2500的响应。因此,由控制电路2510执行的过程4200暂停I形梁2514,并且因此马达2504在激活4404和停用4406之间交替,这由第一暂停p1、第二暂停p2和第三暂停p3分开。第三示例4306 表示其中I形梁2514力超过阈值力至比第二示例4304中的程度更大的程度的情况。这可通过以下事实来显现:第三示例4306的初始斜率4324小于第二示例4304的对应初始斜率4322。因此,在第三示例4306中,I形梁2514以低于第二示例4304的速率推进,这可被I 形梁2514切割的组织的厚度在第三示例4306中更大指示。第三示例4306示出了一个方面,其中暂停的长度是I形梁2514的组织厚度和位移位置两者的函数。具体地,暂停次数增加,并且暂停长度随着组织厚度的增加而增大,使得p1>p1。此外,当I形梁2514从击发行程的第一或开始位置4006平移至第二或结束位置4008时,暂停长度减小,使得p3<p2<p1。将暂停引入到击发行程中降低了I形梁 2514在击发行程过程中的平均速率,导致击发行程在大于t1的时间 t3处结束。由于暂停的长度较大,并且暂停比第二示例4304中的暂停次数更多,因此t3同样大于t2。
本文所述的功能或过程4070、4200可通过本文所述的任何处理电路来执行,诸如与图5-6描述的控制电路700、图7-9中所描述的电路800、810、820、图10和图12中描述的微控制器1104和/或图 14中描述的控制电路2510。
本文所述的功能或过程4070、4200可通过本文所述的任何处理电路来执行,诸如与图5-6描述的控制电路700、图7-9中所描述的电路800、810、820、图10和图12中描述的微控制器1104和/或图 14中描述的控制电路2510。
机动化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。某些方面已显示为框图而不是详细信息。本公开的部件可根据对存储在计算机存储器中的数据进行操作的指令来呈现。通常,算法是指导致期望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(但不一定)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、要素、符号、字符、术语、数字。这些和类似的术语可与适当的物理量相关联并且仅仅是应用于这些量的方便的标签。
在一般意义上,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“电子电路系统”组成。因此,“电子电路系统”包括具有至少一个离散电路的电子电路系统、具有至少一个集成电路的电子电路系统、具有至少一个专用集成电路的电子电路系统、形成由计算机程序配置的通用计算装置的电子电路系统(例如,至少部分地实施本文描述的过程和/或装置的由计算机程序配置的通用计算机或处理器)、形成存储器装置(例如,形成随机存取存储器)的电子电路系统和/或形成通信装置(例如,调制解调器、通信开关或光电设备)的电子电路系统。这些方面可采用模拟或数字形式或它们的组合来实现。
上述描述通过使用框图、流程图和/或示例来阐述装置和/或过程的方面,这些框图、流程图和/或示例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/或操作可单独地和/ 或集体地由范围广泛的硬件、软件、固件或它们的任何组合来实现。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)、可编程逻辑器件(DSP)、电路、寄存器和/或软件部件(例如,程序、子例程、逻辑和/或硬件和软件部件的组合、逻辑门或其它集成格式)来实现。本文公开的形式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,设计电子电路系统和/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各种修改。与此一同提交的权利要求书旨在限定完整范围。
本文所述主题的各个方面在以下编号的实施例中陈述:
实施例1.一种外科器械,包括:位移构件,所述位移构件被构造成能够在所述外科器械内平移;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;传感器,所述传感器被配置为能够感测由端部执行器抓握的组织的厚度;以及控制电路,所述控制电路联接到所述马达和所述传感器,所述控制电路被配置为能够:检索所述组织的预期厚度;经由所述传感器确定所述组织的所述厚度;以及设定用于驱动所述马达的占空比,其中所述占空比对应于所述组织的所述厚度与所述组织的所述预期厚度的对比。
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基于所述位移构件的位置来更新所述占空比。
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随着所述位移构件的平移而增大所述占空比。
实施例4.根据实施例1至实施例3所述的外科器械,其中,所述控制电路被配置为能够当所述组织的所述厚度小于或等于所述组织的所述预期厚度时将所述占空比设定为默认占空比。
实施例5.根据实施例4所述的外科器械,其中,所述控制电路被配置为能够将所述默认占空比设定为100%。
实施例6.根据实施例1至实施例5所述的外科器械,其中,所述控制电路被配置为能够从存储器检索所述组织的所述预期厚度。
实施例7.一种外科器械,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;以及控制电路,所述控制电路联接到所述马达,所述控制电路被配置为能够:确定所述位移构件上的力;以及根据所述力是否大于阈值力来暂停所述马达。
实施例8.根据实施例7所述的外科器械,其中,所述控制电路被配置为能够将所述马达暂停固定时间长度。
实施例9.根据实施例7至实施例8所述的外科器械,其中,所述控制电路被配置为能够将所述马达暂停可变的时间长度。
实施例10.根据实施例9所述的外科器械,其中,所述可变的时间长度对应于所述位移构件的位置。
实施例11.根据实施例9至实施例10所述的外科器械,其中,所述可变的时间长度对应于所述力与所述阈值力的对比。
实施例12.根据实施例9至实施例11所述的外科器械,还包括:传感器,所述传感器被配置为能够检测组织参数,所述传感器操作地联接到所述控制电路;其中所述可变的时间长度对应于所述组织参数。
实施例13.根据实施例12所述的外科器械,其中,所述传感器包括组织厚度传感器。
实施例14.根据实施例7至实施例13所述的外科器械,其中,所述控制电路根据由所述马达消耗的电流来确定所述位移构件上的力。
实施例15.一种控制外科器械中的马达的方法,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;传感器,所述传感器被配置为能够感测由端部执行器抓握的组织的厚度;以及控制电路,所述控制电路联接到所述马达,所述方法包括:由所述控制电路来检索所述组织的预期厚度;由所述控制电路经由所述传感器确定所述组织的所述厚度;以及由所述控制电路设定用于驱动所述马达的占空比,其中所述占空比对应于所述组织的所述厚度与所述组织的所述预期厚度的对比。
实施例16.根据实施例15所述的方法,还包括由所述控制电路基于所述位移构件的位置更新所述占空比。
实施例17.根据实施例15至实施例16所述的方法,还包括当所述组织的所述厚度小于或等于所述组织的所述预期厚度时,由所述控制电路将所述占空比设定为默认占空比。
实施例18.根据实施例17所述的方法,还包括由所述控制电路将所述默认占空比设定为100%。
实施例19.根据实施例15至实施例18所述的方法,还包括由所述控制电路从存储器检索所述组织的所述预期厚度。
实施例20.根据实施例15至实施例19所述的方法,还包括由所述控制电路通过另一个传感器检测所述位移构件的位置。
Claims (5)
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;传感器,所述传感器被配置为能够感测由端部执行器抓握的组织的厚度;和
控制电路,所述控制电路联接到所述马达和所述传感器,所述控制电路被配置为能够:
检索所述组织的预期厚度;
经由所述传感器确定所述组织的所述厚度;以及
设定用于驱动所述马达的占空比,其中所述占空比取决于所述组织的所述厚度与所述组织的所述预期厚度的对比;
其中,所述控制电路被配置为能够当所述组织的所述厚度小于或等于所述组织的所述预期厚度时将所述占空比设定为默认占空比;
其中,如果所述组织的所述厚度大于所述预期厚度,所述占空比被设置成使得所述组织的所述厚度相对于所述预期厚度越厚,则所述位移构件平移得越慢。
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基于所述位移构件的位置来更新所述占空比。
3.根据权利要求1所述的外科器械,其中,所述控制电路被配置为能够随着所述位移构件的平移而增大所述占空比。
4.根据权利要求1所述的外科器械,其中,所述控制电路被配置为能够将所述默认占空比设定为100%。
5.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从存储器检索所述组织的所述预期厚度。
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