CN110913774B - 具有用于在击发期间推进闭合构件的闭环反馈技术的机器人外科器械 - Google Patents
具有用于在击发期间推进闭合构件的闭环反馈技术的机器人外科器械 Download PDFInfo
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Abstract
本发明公开了一种用于机器人外科系统的控制系统。该控制系统包括控制电路,该控制电路被构造成能够确定施加到闭合构件的闭合力,确定击发构件的位置,并且基于施加到闭合构件的闭合力和击发构件的位置来设定新的闭合力。
Description
技术领域
本公开涉及机器人外科器械,并且在各种情况下,涉及被设计成用于缝合和切割组织的机器人外科缝合和切割器械及其钉仓。
背景技术
在机动机器人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能是有用的。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这种比较来调整剩余行程的速度。
发明内容
在一个方面,提供了用于机器人外科系统的控制系统。用于机器人外科系统的控制系统,该控制系统包括:控制电路,该控制电路被构造成能够:确定施加到闭合构件的闭合力;确定击发构件的位置;并且基于施加到闭合构件的闭合力和击发构件的位置来设定新的闭合力。
在另一个方面,用于机器人外科系统的控制系统包括第一马达,该第一马达被构造成能够联接到闭合构件;力传感器,所述力传感器被构造成能够测量施加到所述闭合构件的闭合力;控制电路,该控制电路联接到第一马达和力传感器,其中控制电路被构造成能够:从力传感器接收施加到闭合构件的实际闭合力;从所述位置传感器接收击发构件的位置;并且基于施加到闭合构件的实际闭合力和击发构件的位置来设定新的闭合力。
在另一个方面,用于机器人外科系统的控制系统包括控制电路,该控制电路被构造成能够:在闭合周期期间向闭合构件施加闭合力;在所述闭合周期之后的等待周期期间增加所述闭合力;确定施加到所述闭合构件的闭合力;在击发行程期间确定击发构件的位置;并且基于闭合力和击发构件的位置来设定闭合构件的新的闭合力。
附图说明
图1为根据本公开的一个方面的一个机器人控制器的透视图。
图2为根据本公开的一个方面的可操作地支撑多个外科工具的机器人外科系统的一个机器人外科臂车/操纵器的透视图。
图3为根据本公开的一个方面的图2中描绘的机器人外科臂车/操纵器的侧视图。
图4为根据本公开的一个方面的外科工具的透视图。
图5为根据本公开的一个方面的用于附接各种外科工具的适配器和工具保持器布置的分解组件视图。
图6为根据本公开的一个方面的图4的外科工具方面的局部底部透视图。
图7为根据本公开的一个方面的可关节运动的外科端部执行器的一部分的局部分解视图。
图8为根据本公开的一个方面的图105的工具安装外壳去除的外科工具的后透视图。
图9为根据本公开的一个方面的图6的工具安装外壳去除的外科工具的前透视图。
图10为根据本公开的一个方面的图6的外科工具的局部分解透视图。
图11A为根据本公开的一个方面的图6的外科工具的局部剖面侧视图。
图11B为根据本公开的一个方面的图11A中描绘的外科工具的一部分的放大剖视图。
图12示出了根据本公开的一个方面的包括第一传感器和第二传感器的端部执行器的一个方面。
图13A示出了根据本公开的一个方面的其中组织补偿件能够移除地附接到端部执行器的砧座部分的方面。
图13B示出了根据本公开的一个方面的示于图13A中的组织补偿件的一部分的细部图。
图13C示出了根据本公开的一个方面的使用导电元件层和钉仓中的导电元件来检测砧座与钉仓的上表面之间的距离的各种示例性方面。
图14A示出了根据本公开的一个方面的包括嵌入其中的导体的端部执行器。
图14B示出了根据本公开的一个方面的包括嵌入其中的导体的端部执行器。
图15A示出了根据本公开的一个方面的钉仓的剖面图。
图15B示出了根据本公开的一个方面的示于图15A中的钉仓的剖面图,示出嵌入端部执行器中的导体。
图16示出了根据本公开的一个方面的用于端部执行器的左右分段柔性电路的一个方面。
图17示出了根据本公开的一个方面的被构造成能够固定地附接至端部执行器的钳口构件的分段柔性电路的一个方面。
图18示出了根据本公开的一个方面的被构造成能够安装到端部执行器的钳口构件的分段柔性电路的一个方面。
图19示出了根据本公开的一个方面的被构造成能够测量组织间隙GT的端部执行器的一个方面。
图20示出了根据本公开的一个方面的包括分段柔性电路的端部执行器的一个方面。
图21示出了根据本公开的一个方面的示于图20中的端部执行器,其中钳口构件将组织夹持在钳口构件和钉仓之间。
图22示出了根据本公开的一个方面的反馈系统的一个方面的逻辑图。
图23示出了根据本公开的一个方面的被构造成能够控制机器人外科系统的各方面的控制电路。
图24示出了根据本公开的一个方面的被构造成能够控制机器人外科系统的各方面的组合逻辑电路。
图25示出了根据本公开的一个方面的被构造成能够控制机器人外科系统的各方面的时序逻辑电路。
图26示出了根据本公开的一个方面的与机器人外科器械的多个马达一起使用的公共控制模块的逻辑图。
图27为根据本公开的一个方面的图1的外科器械的绝对定位系统的示意图,其中绝对定位系统包括受控马达驱动电路布置,该受控马达驱动电路布置包括传感器布置。
图28为根据本公开的一个方面的包括磁力旋转绝对定位系统的位置传感器的示意图。
图29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,示出相对于抓持在端部执行器内的组织的击发构件行程。
图30是根据本公开的一个方面的被构造成能够操作本文所述的外科工具的机器人外科器械的示意图。
图31为根据本公开的一个方面的以下各项的示意图:描绘了闭合构件位移随时间变化的曲线的位移曲线图,描绘了闭合力(FTC)随时间变化的曲线的闭合构件闭合力曲线图,以及描绘了击发力(FTF)随时间变化的曲线的击发构件击发力曲线图。
图32为根据本公开的一个方面的逻辑流程图,描绘了用于确定闭合构件的速度的控制程序或逻辑构型的方法。
说明书
本申请的申请人拥有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:
发明人Frederick E.Shelton,IV等人在2017年6月29日提交的标题为“CLOSEDLOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL”的代理人案卷号END8288USNP/170197。
发明人Frederick E.Shelton,IV等人在2017年6月29日提交的标题为“CLOSEDLOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT”的代理人案卷号END8294USNP/170198。
发明人Frederick E.Shelton,IV等人在2017年6月29日提交的标题为“SYSTEMFOR CONTROLLING ARTICULATION FORCES”的代理人案卷号END8295USNP/170200。
发明人Frederick E.Shelton,IV等人在2017年6月29日提交的标题为“CLOSEDLOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT”的代理人案卷号END8293USNP/170196M。
图1描绘了可结合图2中示出的从属机器人臂车100类型使用的机器人主控制器11的一个方面。主控制器11和从属机器人臂车100以及它们各自的部件和控制系统在本文中统称为机器人外科系统10。此类系统和装置的示例公开于美国专利7,524,320中,该专利以引用方式并入本文。主控制器11通常包括如下主控制器(在图1中一般表示为13):在外科医生通过立体显示器12观察手术时,该主控制器由外科医生抓持并在空间中操控。主控制器11通常包括手动输入装置,该手动输入装置优选地以多个自由度移动并通常还具有用于致动工具(例如,用于闭合抓持锯、施加电势到电极等)的可致动柄部。其它布置可为外科医生提供反馈计15并为外科医生提供力的大小的视觉指示,该反馈计可通过显示器12观察,并且力的大小为施加到切割器械或动态夹紧构件的力的大小。附加示例公开于美国专利9,237,891中,该专利以引用方式并入本文。
如在图2中可见,在一种形式中,机器人臂车100被构造成能够致动多个外科工具,一般称为200。标题为“Multi-Component Telepresence System and Method”的美国专利6,132,368中公开了使用主控制器和机器人臂车布置的各种机器人外科系统和方法,该专利申请的全部公开内容以引用方式并入本文。在各种形式中,机器人臂车100包括基座102,在图示方面中,该基座支撑有三个外科工具200。在各种形式中,外科工具200均由一系列手动关节运动的连杆(一般称为装置接头104)和机器人操纵器106支撑。
现在参见图3,在至少一种形式中,机器人操纵器106可包括限制外科工具200的运动的连杆108。在各个方面,连杆108包括由旋转接头以平行四边形构造联接在一起的刚性连接件,使得外科工具200围绕空间110中的某一点旋转,如在公布的美国专利5,817,084中更完整地描述,该专利的全部公开内容以引用的方式并入本文。平行四边形布置方式将旋转约束为围绕轴线112a(有时称为俯仰轴)枢转。支撑平行四边形连杆的连接件以枢转方式安装到装置接头104(图2),使得外科工具200进一步围绕轴线112b(有时称为偏航轴)旋转。俯仰轴112a和偏航轴112b在远程中心114处相交,该远程中心沿外科工具200的轴208对齐。当操纵器106支撑时,外科工具200可具有另外的从动自由度,包括外科工具200沿纵向工具轴线“LT-LT”的滑动运动。当外科工具200相对于操纵器106(箭头112c)沿工具轴线LT-LT滑动时,远程中心114相对于操纵器106的基座116保持固定。从而,使整个操纵器总体上移动以重新定位远程中心114。操纵器106的连杆108由一系列马达120驱动。这些马达响应于控制系统处理器的命令而主动地使连杆108运动。如将在下文中进一步详细描述,马达120还用于操纵外科工具200。
图4为外科工具200的透视图,该外科工具适用于具有工具驱动组件的机器人外科系统10,该工具驱动组件能够操作地联接到主控制器11,该主控制器能够通过来自操作者(即,外科医生)的输入而进行操作,这在图4中描绘。如在图中可见,外科工具200包括外科端部执行器1012,该端部执行器包括直线切割器。在至少一种形式中,外科工具200通常包括伸长轴组件1008,该伸长轴组件具有通过关节运动接头1011联接在一起的近侧闭合管1040和远侧闭合管1042。外科工具200通过工具安装部分(一般称为300)能够操作地联接到操纵器。外科工具200还包括将工具安装部分300以机械的方式和电的方式联接到操纵器的接口230。在各个方面,工具安装部分300包括工具安装板302,该工具安装板操作地支撑多个(图6中示出了四个)可旋转主体部分、从动盘或从动元件304,每个从动盘或从动元件包括从该从动元件304的表面延伸的一对销306。一个销306比同一个从动元件304上的另一个销306更靠近每个从动元件304的旋转轴线,这有助于确保从动元件304的正向角对齐。接口230包括被构造成能够与安装板302以安装方式接合的适配器部分240,如将在下文中进一步描述。适配器部分240可包括一系列电连接销,这些电连接销可通过工具安装部分300内的电路板而联接到存储器结构。虽然参考机械联接元件、电联接元件和磁力联接元件在本文中描述了接口230,但是应当理解,可以使用多种遥测形式,包括红外、电感联接等。
图5为根据本公开的一个方面的用于附接各种外科工具的适配器和工具保持器布置的分解组件视图。可使用可拆卸的闩锁布置239以可释放的方式将适配器240附连至工具保持器270。如本文所用,术语“工具驱动组件”在用于机器人外科系统10的上下文中时至少涵盖适配器240和工具保持器270的各个方面,并且其在图5中一般称为101。例如,如在图5中可见,工具保持器270可包括第一闩锁销布置274,该第一闩锁销布置的尺寸设定成接收在设置于适配器240中的对应连接叉狭槽241中。另外,工具保持器270还可包括第二闩锁销276,该第二闩锁销的尺寸设定成保持在适配器240中的对应闩锁连接叉中。在至少一种形式中,闩锁组件245被活动地支撑在适配器240上,并且能够在第一闩锁位置和未闩锁位置之间偏置,在第一闩锁位置中,闩锁销276保持在它们各自的闩锁连接叉中,在未闩锁位置中,第二闩锁销276可进入闩锁连接叉或从闩锁连接叉中移除。采用一个或多个弹簧(未示出)来将闩锁组件偏置到闩锁位置。适配器240的工具侧244上的凸缘可滑动地接收工具安装外壳301的横向延伸的突出部。适配器部分240可包括一系列电连接销242,这些电连接销可通过工具安装部分300内的电路板而联接到存储器结构。虽然参考机械联接元件、电联接元件和磁力联接元件在本文中描述了接口230,但是应当理解,可以使用多种遥测形式,包括红外、电感联接等。
如图4-图6所示,适配器部分240通常包括工具侧244和保持器侧246。在各种形式中,将多个可旋转主体250安装到浮动板248,该浮动板相对于垂直于适配器240主表面的周围适配器结构具有限定的运动范围。当沿着工具安装部分外壳301的侧面致动杠杆303时,浮动板248的轴向运动有助于使可旋转主体250从工具安装部分300脱离。可采用其它机构/布置以可释放的方式将工具安装部分300联接到适配器240。在至少一种形式中,通过弹性径向构件将可旋转主体250弹性地安装到浮动板248,该弹性径向构件围绕可旋转主体250延伸到周边凹痕中。可旋转主体250可通过偏转这些弹性结构而相对于板248轴向运动。当设置在第一轴向位置(朝向工具侧244)时,可旋转主体250自由旋转而没有角度限制。然而,当可旋转主体250朝向工具侧244轴向运动时,突出部252(从可旋转主体250径向延伸)横向接合浮动板上的棘爪以便限制可旋转主体250围绕其轴线的角旋转。当驱动销272将可旋转主体250推动至受限的旋转位置直到销11234与开口256′对齐(并滑动到其中)时,可使用该受限的旋转以协助可旋转主体250与机器人系统10的对应工具保持器部分270的驱动销272驱动地接合。可旋转主体250的工具侧244上的开口256以及保持器侧246上的开口256′被构造成能够将工具安装部分300的从动元件304与工具保持器270的驱动元件271准确对准。如以上关于从动元件304的内侧和外侧销306所述,开口256,256′位于距其各自的可旋转主体250的旋转轴线不同的距离处,以遍确保不与其预期的位置成180度对齐。另外,开口256中的每个略微径向伸长,以便适当地接收周边取向上的销306。这允许销306在开口256,256′内径向滑动并适应工具200和工具保持器270之间的一些轴向偏差,同时使驱动元件和从动元件之间的任何角偏差和角侧隙最小化。工具侧244上的开口256与保持器侧246上的开口256′(以虚线示出)成约90度的偏置。
图6为图4的外科工具方面的局部底部透视图。
如图6-图10所示,根据各个方面,通过伸长轴组件1008将外科端部执行器1012附接到工具安装部分300。如图示方面所示,轴组件1008包括关节运动接头(通常表示为1011),该关节运动接头使外科端部执行器1012能够选择性地围绕关节运动轴线AA-AA进行关节运动,该关节运动轴线AA-AA基本上横向于纵向工具轴线LT-LT。参见图7。在其它方面,省略了关节运动接头。在各个方面,轴组件1008可包括闭合管组件1009,该闭合管组件包括通过枢转连接件1044枢转地连接和能够操作地支撑在脊组件(一般描绘为1049)上的近侧闭合管1040和远侧闭合管1042。在图示方面,脊组件1049包括远侧脊部分1050,该远侧脊部分附接到伸长通道1022并且可枢转地联接到近侧脊部分1052。闭合管组件1009被构造成能够响应于施加至其上的致动运动在脊组件1049上轴向滑动。远侧闭合管1042包括开口1045,砧座1024上的突出部1027插入到该开口中以当远侧闭合管1042在近侧方向“PD”上轴向运动时有利于砧座1024的打开。闭合管1040,1042可以由导电材料(例如金属)制成,使得其可以用作天线的一部分,如上所述。主驱动轴组件(如,驱动轴1048,1050)的部件可以由非导电材料(诸如塑料)制成。砧座1024可在位于伸长通道1022的近侧端部的枢轴点1025处枢转地打开和闭合。
在使用中,可能有利的是,围绕纵向工具轴线LT-LT旋转外科端部执行器1012。在至少一个方面,工具安装部分300包括旋转的传动装置组件1069,该旋转传动装置组件被构造成能够接收来自机器人外科系统10的工具驱动组件101的对应的旋转输出运动,并将此旋转输出运动转化成旋转控制运动以使细长轴组件1008(和外科端部执行器1012)围绕纵向工具轴线LT-LT旋转。在各个方面,例如,近侧闭合管1040的近侧端部1060通过向前的支撑支架309和同样可活动地支撑在工具安装板302上的闭合滑动件1100被旋转地支撑在工具安装部分300的工具安装板302上。在至少一种形式中,旋转的传动装置组件1069包括管齿轮段1062,该管齿轮段形成于(或附接到)近侧闭合管1040的近侧端部1060上,以通过操作地支撑在工具安装板302上的旋转齿轮组件1070操作地接合。如图8所示,在至少一个方面,旋转齿轮组件1070包括旋转驱动齿轮1072,当工具安装部分300联接到工具驱动组件101时,该旋转驱动齿轮联接到工具安装板302的适配器侧307上相应的从动盘或从动元件304中的第一个。参见图6。旋转齿轮组件1070还包括旋转从动齿轮1074,该旋转驱动齿轮与管齿轮段1062和旋转驱动齿轮1072以啮合的方式而被旋转地支撑在工具安装板302上。将来自机器人外科系统10的工具驱动组件101的第一旋转输出运动施加到对应的从动元件304将从而引起旋转驱动齿轮1072的旋转。旋转驱动齿轮1072的旋转最终引起细长轴组件1008(和外科端部执行器1012)围绕纵向工具轴线LT-LT(图8中由箭头“R”表示)旋转。应当理解,在一个方向上施加来自工具驱动组件101的旋转输出运动将引起伸长轴组件1008和外科端部执行器1012围绕纵向工具轴线LT-LT在第一方向上旋转,并且在相反方向上施加旋转输出运动将引起伸长轴组件1008和外科端部执行器1012在与第一方向相反的第二方向上旋转。
在至少一个方面,通过在脊组件1049上沿着远侧方向“DD”使闭合管组件1009轴向移动来实现砧座1024相对于钉仓1034的闭合。如上所指示,在各个方面,近侧闭合管1040的近侧端部1060由闭合滑动件1100支撑,该闭合滑动件包括闭合传动装置(一般描述为1099)的一部分。在至少一种形式中,闭合滑动件1100被构造成能够将闭合管1009支撑在工具安装板320上,使得近侧闭合管1040可相对于闭合滑动件1100旋转并且随闭合滑动件1100轴向行进。具体地讲,闭合滑动件1100具有直立的突出部1101,该直立的突出部延伸到近侧闭合管1040的近侧端部部分中的径向凹槽1063中。另外,如在图10中可见,闭合滑动件1100具有延伸穿过工具安装板302中的狭槽305的突出部部分1102。突出部部分1102被构造成能够保持闭合滑动件1100与工具安装板302滑动接合。在各个方面,闭合滑动件1100具有直立部分1104,该直立部分具有在其上形成的闭合齿条齿轮1106。闭合齿条齿轮1106被构造成能够与闭合齿轮组件1110驱动接合。刀齿条齿轮1106可滑动地支撑在附接到工具安装板302的齿条外壳1210内,使得刀齿条齿轮1106保持与刀齿轮组件1220啮合。
在各种形式中,闭合齿轮组件1110包括闭合正齿轮1112,该闭合正齿轮联接到工具安装板302的适配器侧307上相应的从动盘或从动元件304中的第二个。参见图6。因此,当工具安装部分300联接到工具驱动组件101时,将来自机器人外科系统10的工具驱动组件101的第二旋转输出运动施加到相应的第二从动元件304上将引起闭合正齿轮1112的旋转。闭合齿轮组件1110还包括与闭合正齿轮1112以接合的方式而被支撑的闭合减速齿轮组1114。如在图9和图10中可见,闭合减速齿轮组1114包括与闭合正齿轮1112以啮合的方式而被旋转地支撑的从动齿轮1116。闭合减速齿轮组1114还包括与第二闭合驱动齿轮1120啮合的第一闭合驱动齿轮1118,该第二闭合驱动齿轮以与闭合齿条齿轮1106啮合的方式而被旋转地支撑在工具安装板302上。因此,将来自机器人外科系统10的工具驱动组件101的第二旋转输出运动施加到相应的第二从动元件11304将引起闭合正齿轮1112和闭合传动装置1110的旋转,并且最终轴向驱动闭合滑动件1100和闭合管组件1009。闭合管组件1009移动的轴向最终取决于第二从动元件304旋转的方向。例如,响应于从机器人外科系统10的工具驱动组件101接收的一个旋转输出运动,将在远侧方向“DD”上驱动闭合滑动件1100并且最终在远侧方向上驱动闭合管组件101。当朝远侧驱动远侧闭合管1042时,闭合管段1042的端部将接合砧座1024的一部分并使砧座1024枢转到闭合位置。当施加来自机器人外科系统10的工具驱动组件101的“开口”输出运动时,将沿着近侧方向“PD”驱动闭合滑动件1100和轴组件1008。当在近侧方向上驱动远侧闭合管1042时,其中的开口1045与砧座1024上的突出部1027相互作用以利于其打开。在各个方面,当将远侧闭合管1042移动至其起始位置时,可使用弹簧(未示出)以将砧座偏置至打开位置。在各个方面,闭合齿轮组件1110的各种齿轮的尺寸设定成产生所需的必要的闭合力,该闭合力令人满意地在待由外科端部执行器1012切割和缝合的组织上闭合砧座1024。例如,闭合传动装置1110的齿轮的尺寸可设定成产生大约70-120磅的力。
图11A为图6的外科工具200的局部剖面侧视图,并且图11B为根据本公开的一个方面的图11A中描绘的外科工具的一部分的放大剖视图。参考图11A和图11B,将刀杆1200的远侧端部1202附接到切割器械1032。刀杆1200的近侧端部1204可旋转地附连到刀齿条齿轮1206,使得刀杆1200相对于刀齿条齿轮1206自由旋转。刀齿条齿轮1206可滑动地支撑在附接到工具安装板302的齿条外壳1210内,使得刀齿条齿轮1206保持与刀齿轮组件1220啮合。更具体地讲并参考图10,在至少一个方面,刀齿轮组件1220包括刀正齿轮1222,该刀正齿轮联接到工具安装板302的适配器侧307上相应的从动盘或从动元件304中的第三个。参见图6。因此,将来自机器人系统10的另一旋转输出运动通过工具驱动组件101施加到相应的第三从动元件304,从而将引起刀正齿轮1222的旋转。刀齿轮组件1220还包括刀减速齿轮组1224,该刀减速齿轮组包括第一刀驱动齿轮1226和第二刀驱动齿轮1228。刀减速齿轮组1224可旋转地安装至工具安装板302,使得第一刀驱动齿轮1226与刀正齿轮1222啮合。同样,第二刀驱动齿轮1228与第三刀驱动齿轮1230啮合,该第三刀驱动齿轮以与刀齿条齿轮1206啮合的方式而被旋转地支撑在工具安装板302上。在各个方面,刀齿轮组件1220的齿轮的尺寸设定成产生如下所需的力:该力驱动切割元件1032穿过夹持在外科端部执行器1012中的组织并致动其中的钉。例如,刀驱动组件1230的齿轮的尺寸可设定成产生大约40至100磅的力。应当理解,在一个方向上施加来自工具驱动组件101的旋转输出运动将引起切割器械1032在远侧方向上轴向运动,并且在相反方向上施加旋转输出运动将引起切割器械1032在近侧方向上轴向行进。
在各个方面,外科工具200采用包括关节运动接头12011的关节运动系统,该关节运动接头使外科端部执行器1012能够围绕关节运动轴线AA-AA进行关节运动,该关节运动轴线AA-AA基本上横向于纵向工具轴线LT-LT。在至少一个方面,外科工具200包括第一关节运动杆1250a和第二关节运动杆1250b,该第一关节运动杆和第二关节运动杆可滑动地支撑在穿过近侧脊部分1052提供的相应通路中。在至少一种形式中,通过关节运动传动装置致动第一关节运动杆1250a和第二关节运动杆1250b,该关节运动传动装置操作地支撑在工具安装板302上。关节运动杆1250a,1250b中的每一个均具有从中突起的导向杆的近侧端部,该导向杆横向延伸穿过近侧脊部分的近侧端部部分中的对应的狭槽并且进入关节运动螺母1260中的对应的弓形狭槽,该关节运动螺母包括关节运动传动装置的一部分。关节运动杆1250a具有导向杆1254,该导向杆横向延伸穿过远侧脊部分1050的近侧端部部分中的对应的狭槽并且进入关节运动螺母1260中的对应的弓形狭槽。另外,关节运动杆1250a具有通过例如销可枢转地联接到远侧脊部分1050的远侧端部,并且关节运动杆1250b具有通过例如销可枢转地联接到远侧脊部分1050的远侧端部。具体地讲,关节运动杆1250a在第一横向上与纵向工具轴线LT-LT横向偏移,并且关节运动杆1250b在第二横向上与纵向工具轴线LT-LT横向偏移。因此,关节运动杆1250a,1250b在相反方向上的轴向运动将使远侧脊部分1050以及附接到其上的外科端部执行器1012能够围绕关节运动轴线AA-AA进行关节运动,如将在下文中进一步详细地描述。
通过围绕纵向工具轴线LT-LT旋转关节运动螺母1260来控制外科端部执行器1012的关节运动。关节运动螺母1260可旋转地接合在远侧脊部分1050的近侧端部部分,并且通过关节运动齿轮组件1270可旋转地在该远侧脊部分的近侧端部部分上驱动。更具体地讲并参考图8,在至少一个方面,关节运动齿轮组件1270包括关节运动正齿轮1272,该关节运动正齿轮联接到工具安装板302的适配器侧307上相应的从动盘或从动元件304中的第四个。因此,当接口230联接到工具保持器270时,穿过工具驱动组件101将来自机器人系统10的另一旋转输入运动施加到相应的第四从动元件304上,从而将引起关节运动正齿轮1272的旋转。关节运动传动齿轮1274与关节运动正齿轮1272和如图所示的关节运动螺母1260的齿轮部分1264以啮合的方式旋转地支撑在工具安装板302上。关节运动螺母1260具有在其上形成的肩部1266,该肩部限定环形沟槽1267以容纳其中的保持柱1268。将保持柱1268附接到工具安装板302上,并用于防止关节运动螺母1260在近侧脊部分1052上轴向运动,同时保持相对于其的旋转能力。因此,由于导向杆1254与关节运动齿轮1260中螺旋狭槽的相互作用,在第一方向上旋转关节运动螺母1260将引起关节运动杆1250a在远侧方向“DD”上轴向运动以及关节运动杆1250b在近侧方向“PD”上轴向运动。相似地,在与第一方向相反的第二方向上旋转关节运动螺母1260将导致关节运动杆1250a在近侧方向“PD”上轴向运动并引起关节运动杆1250b在远侧方向“DD”上轴向运动。因此,可以通过同时在远侧方向“DD”上移动关节运动杆1250a和在近侧方向“PD”上移动关节运动杆1250b而使外科端部执行器1012选择性地在第一方向“FD”上围绕关节运动轴线“AA-AA”进行关节运动。同样,可通过同时在近侧方向“PD”上移动关节运动杆1250a和在远侧方向“DD”上移动关节运动杆1250b而使外科端部执行器1012选择性地在第二方向“SD”上围绕关节运动轴线“AA-AA”进行关节运动。
上述工具方面采用了交接布置,该交接布置尤其适于将机器人控制的医疗工具安装到至少一种形式的机械臂布置上,该机械臂装置产生至少四种不同的旋转控制运动。本领域的普通技术人员将会知道可通过机器人系统/控制器经由可编程控制系统来选择性地控制此类旋转输出运动。例如,上述工具布置可很好地适于与由Intuitive Surgical,Inc.(Sunnyvale,Calif.,U.S.A.)制造的那些机器人系统一起使用,其中许多可以在以引用的方式并入本文的各种专利中详细描述。本发明的各个方面的独特的和新型的方面用来利用由机器人系统提供的旋转输出运动以产生特定的控制运动,该控制运动具有使端部执行器切割和缝合组织的足够量级。因此,本发明的各个方面的独特结构和原则可以使本文所公开和受权利要求保护的多种不同形式的工具系统结合提供程序化的旋转或其它输出运动的其它类型和形式的机器人系统有效地使用。另外,随着继续参阅本具体实施方式将变得更加明显,利用由机器人系统产生的一种或多种控制运动还可以有效地致动需要其它形式的致动运动的本发明的各种端部执行器方面。
图12示出了包括第一传感器3008a和第二传感器3008b的端部执行器3000的一个方面。第一传感器3008a和第二传感器3008b设置在仓平台上,以使用分段电极确定组织位置。因此,第一传感器3008a和第二传感器3008b使得能够感测闭合管上的负荷、闭合管的位置、齿条处的击发构件以及联接到I形梁3005的击发构件的位置、仓的包含组织的部分、关节运动杆上的负荷和位置。端部执行器3000包括能够枢转地联接到第二钳口构件3004的第一钳口构件或砧座3002。第二钳口构件3004被构造成能够在其中接收钉仓3006。钉仓3006包括多个钉。多个钉能够在外科操作期间从钉仓3006部署。端部执行器3000包括第一传感器3008a。第一传感器3008a被构造成能够测量端部执行器3000的一个或多个参数。例如,在一个方面,第一传感器3008a被构造成能够测量砧座3002与第二钳口构件3004之间的间隙3010。第一传感器3008a可包括例如霍尔效应传感器,该霍尔效应传感器被构造成能够检测由嵌入第二钳口构件3004和/或钉仓3006中的磁体3012产生的磁场。又如,在一个方面,第一传感器3008a被构造成能够测量由第二钳口构件3004和/或夹持在砧座3002和第二钳口构件3004之间的组织施加到砧座3002上的一个或多个力。传感器3008a,3008b可用于测量端部执行器3000内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
端部执行器3000包括第二传感器3008b。第二传感器3008b被构造成能够测量端部执行器3000的一个或多个参数。例如,在各个方面,第二传感器3008b可包括应变仪,该应变仪被构造成能够测量夹持状态期间的砧座3002中的应变量值。应变仪提供电信号,该电信号的幅值随着应变量值而变化。在各个方面,第一传感器3008a和/或第二传感器3008b可包括例如磁传感器(诸如霍尔效应传感器)、应变仪、压力传感器、力传感器、电感传感器(诸如涡流传感器)、电阻传感器、电容传感器、光学传感器、和/或用于测量端部执行器3000的一个或多个参数的任何其它合适的传感器。第一传感器3008a和第二传感器3008b可被布置成串联构型和/或并联构型。在串联构型中,第二传感器3008b可被构造成能够直接影响第一传感器3008a的输出。在并联构型中,第二传感器3008b可被构造成能够间接影响第一传感器3008a的输出。
在一个方面,第一传感器3008a可被构造成能够测量砧座3002与第二钳口构件3004之间的间隙3010。间隙3010表示夹持在砧座3002和钉仓3006之间的组织节段的厚度和/或可压缩性。第一传感器3008a可包括例如霍尔效应传感器,该霍尔效应传感器被构造成能够检测由联接到第二钳口构件3004和/或钉仓3006的磁体3012产生的磁场。单个位置处的精确测量可描述经校正的组织的完全咬合的压缩组织厚度,但在组织的部分咬合设置在砧座3002与第二钳口构件3004之间时可提供不精确的结果。组织的部分咬合(近侧部分咬合或远侧部分咬合)改变砧座3002的夹持几何形状。
在一些方面,第二传感器3008b可被构造成能够检测指示组织咬合类型(例如,完全咬合、部分近侧咬合、和/或部分远侧咬合)的一个或多个参数。在一些方面,可将第一传感器3008a的厚度测量结果提供给联接到端部执行器3000的机器人外科系统10的输出装置。例如,在一个方面,端部执行器3000联接到包括显示器的机器人外科系统10。将第一传感器3008a的测量结果提供给处理器。
在另一个方面,端部执行器3000可包括多个第二传感器,这些第二传感器被构造成能够测量夹持程序期间施加到砧座3002上的应变的幅值。在另一个方面,多个传感器允许实现鲁棒性组织厚度感测方法。通过检测沿砧座3202的长度的各个参数,多个传感器允许外科器械(例如,外科器械10)计算钳口中的组织厚度,而无论咬合如何,例如,部分咬合或完全咬合。在一些方面,多个传感器包括多个应变仪。多个应变仪被构造成能够测量砧座3002上的各个点处的应变。砧座3002上的各个点中的每个处的应变的幅值和/或斜率可用于确定砧座3002与钉仓3006之间的组织的厚度。多个应变仪可被构造成能够基于夹持动力学来优化最大幅值和/或斜率差,以确定厚度、组织布置、和/或组织的材料特性。夹持期间的多个传感器的基于时间的检测允许处理器(例如,主处理器)利用算法和查找表来识别组织特性和夹持位置并且动态地调整端部执行器3000和/或夹持在砧座3002与钉仓3006之间的组织。
图13A示出了包括一层导电元件5512的端部执行器5500的方面。端部执行器5500类似于上述端部执行器3000。端部执行器5500包括能够枢转地联接到第二钳口构件5504的第一钳口构件或砧座5502。第二钳口构件5504被构造成能够在其中接收钉仓5506。图13B示出了图13A中所示的组织补偿件的一部分的细部图。导电元件5512可包括具有任何种类的构型的导电材料的任何组合,例如,线圈、线网或线栅、导电条、导电板、电路、微处理器、或它们的任何组合。包含导电元件5512的层可定位在组织补偿件5510的砧座面向表面5514上。另选地或除此之外,导电元件5512层可定位在组织补偿件5510的钉仓面向表面5516上。导电元件5512可用于测量端部执行器5500内的组织厚度、力、位移、压缩、组织阻抗和组织位置。附加示例公开于专利申请US 2016/0066912中,该专利以引用方式并入本文。
图13C示出了使用导电元件5512层和钉仓5506中的导电元件5524、5526、和5528来检测砧座5502与钉仓5506的上表面之间的距离的各种示例性方面。砧座5502与钉仓5506之间的距离指示压缩在两者间的组织5518的量和/或密度。除此之外或另选地,此距离可指示端部执行器5500的哪些区域包含组织。可将组织5518厚度、密度、和/或位置传送给外科器械10的操作者。
在图示的示例性方面,导电元件5512层定位在组织补偿件5510的砧座面向表面5514上,并且包括与包括微处理器5520的控制电路通信的一个或多个线圈5522。微处理器5500可定位在端部执行器5500或其任何部件中,或者可定位在器械的工具安装外壳301中,或者可包括此前描述的任何微处理器或微控制器。在图示的示例性方面,钉仓5506还包括导电元件,该导电元件可为下述元件中的任一者:一个或多个线圈5524、一个或多个导电板5526、线网5528、或任何其它方便构型、或者它们的任何组合。钉仓5506的导电元件可与机器人外科器械中的相同微处理器5520或一些其它微处理器通信。导电元件5512可用于测量端部执行器5500内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
当砧座5502处于闭合位置并且因而正抵靠钉仓5506压缩组织5518时,组织补偿件5510的导电元件5512层可与钉仓5506中的导体电容耦合。导电元件5512层与钉仓5506的导电元件之间的电容场的强度可用于确定正被压缩的组织5518的量。另选地,钉仓5506可包括与微处理器5520连通的涡流传感器,其中涡流传感器可操作以利用涡流感测砧座5502与钉仓5506的上表面之间的距离。
应当理解,导电元件的其它构型也是可以的,并且图13C的方面仅为示例而非作为限制。例如,在一些方面,导电元件5512的层可定位在组织补偿件5510的钉仓面向表面5516上。另外,在一些方面,导电元件5524、5526、和/或5528可定位在砧座5502上或内部。因此,在一些方面,导电元件5512层可与砧座5502中的导电元件电容联接并且由此感测包封在端部执行器内的组织5518的特性。
还可认识到,导电元件5512的层可以设置在砧座面向表面5514和仓面向表面5516两者上。用以检测由砧座5502抵靠钉仓5506压缩的组织5518的量、密度、和/或位置的系统可包括位于砧座5502、钉仓5506、或这两者中的导体或传感器。包括位于砧座5502和钉仓5506两者中的导体或传感器的方面可任选地通过允许对可由此构型获得信息进行差分分析来获得改善的结果。
现在转到图14A,示出了其中砧座5602处于闭合位置的端部执行器5600的近距离剖面图。图14B示出了根据本公开的一个方面的包括嵌入其中的电导体5620的端部执行器5600。在闭合位置中,砧座5602能够在组织补偿件5610和钉仓5606之间压缩组织5618。在一些情况下,端部执行器5600的仅一部分可正包封组织5618。在端部执行器5600的包围组织5618的区域中,在较大压缩的区域5624中,一系列导体5620也将被压缩,而在未压缩的区域5626中,一系列导体5620将较远地间隔开。因此,一系列导体5620之间的导电性、电阻、电容、和/或一些其它电特性可指示端部执行器5600的哪些区域包括组织。一系列导体5620可用于测量端部执行器5600内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
参考图14A和图14B,端部执行器5600包括组织补偿件5610,该组织补偿件还包括嵌入其中的导体5620。端部执行器5600包括能够枢转地联接到第二钳口构件5604的第一钳口构件或砧座5602。第二钳口构件5604被构造成能够在其中接收钉仓5606。在一些方面,端部执行器5600还包括能够移除地定位在砧座5602或钉仓5606上的组织补偿件5610。
一系列导体5620嵌入在构成组织补偿件5610的材料内。一系列导体5620可布置成相对构型,并且相对元件可由绝缘材料隔开。一系列导体5620各自联接到一根或多根传导线5622。传导线5622允许一系列导体5620与微处理器或控制电路961(图22)、800(图23)、810(图24)、820(图25)、4420(图26)、2510(图30)通信。一系列导体5620可横跨组织补偿件5610的宽度,使得它们将位于切割构件或刀杆280的路径中。当刀杆280推进时,其将切断、破坏、或以其它方式损坏导体5620,并且由此指示其在端部执行器5600内的位置。一系列导体5610可包括导电元件、电子电路、微处理器、或它们的任何组合。
图15A和图15B示出了还包括嵌入其中的导体5662的端部执行器5650的方面。端部执行器5650包括能够枢转地联接到第二钳口构件5654的第一钳口构件或砧座5652。第二钳口构件5654被构造成能够在其中接收钉仓5656。图15A示出了钉仓5656的剖面图。剖面图示出了嵌入端部执行器内的导体5670。导体5672中的每个联接到传导线5672。传导线5672允许一系列导体5672与微处理器通信。导体5672可包括导电元件、电子电路、微处理器、或它们的任何组合。图15B示出了其中砧座5652处于闭合位置的端部执行器5650的近距离侧视图。在闭合位置中,砧座5652可抵靠钉仓5656压缩组织5658。嵌入在组织补偿件5660内的导体5672可操作以将预定频率的电流脉冲5674施加到组织5658。相同的或另外的导体5672可检测组织5658的响应并且将此响应传输到定位在器械中的微处理器或微控制器。组织5658对电脉冲5674的响应可用于确定组织5658的特性。例如,组织5658的流电响应指示组织5658中的水分含量。又如,组织5658中的电阻抗的测量结果可用于确定组织5648的导电性,该导电性为组织类型的指示因素。可确定的其它特性以举例的方式包括并且并不限于:氧含量、盐度、密度、和/或某些化学物的存在。通过组合来自若干传感器的数据,可以确定其它特性,诸如血流量、血型、抗体的存在等。导体5662可用于测量端部执行器5650内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
图16示出了左右分段柔性电路4600的一个方面。左右分段柔性电路4600包括位于左右分段柔性电路4600左侧上的多个片段L1至L5和位于左右分段柔性电路4600右侧上的多个片段R1至R5。每个片段L1至L5和R1至R5包括在每个片段L1至L5和R1至R5内局部感测组织参数的温度传感器和/或力传感器。左右分段柔性电路4600被构造成能够基于在片段L1至L5和R1至R5中的每个内局部感测组织参数。柔性电路4600可用于测量端部执行器内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
图17示出了被构造成能够固定地附接至端部执行器的钳口构件6434的分段柔性电路6430的一个方面。分段柔性电路6430包括远侧段6432a和侧向段6432b,6432c,其包括可单独寻址的传感器以提供局部组织存在检测。片段6432a,6432b,6432c可单独寻址以检测组织并且可基于位于每个片段6432a,6432b,6432c内的各个传感器测量组织参数。分段柔性电路6430的片段6432a,6432b,6432c被安装到钳口构件6434并且通过导电元件6436电联接到能量源诸如电路。霍尔效应传感器6438或任何合适的磁性传感器位于钳口构件6434的远侧端部。霍尔效应传感器6438结合磁体操作,以提供对由钳口构件6434限定的孔径的测量,该孔径可被称为组织间隙,如图19中特别示出的那样。分段柔性电路6430可用于测量端部执行器内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
图18示出了被构造成能够安装到端部执行器的钳口构件6444的分段柔性电路6440的一个方面。分段柔性电路6580包括远侧段6442a和侧向段6442b,6442c,其包括可单独寻址的传感器以用于组织控制。片段6442a,6442b,6442c可单独寻址以处理组织并且读取位于片段6442a,6442b,6442c中的每个内的各个传感器。分段柔性电路6440的片段6442a,6442b,6442c被安装到钳口构件6444并且通过导电元件6446电联接到能量源。霍尔效应传感器6448或其它合适的磁性传感器设置在钳口构件6444的远侧端部上。霍尔效应传感器6448结合磁体操作,以提供对由端部执行器的钳口构件6444限定的孔径或组织间隙的测量,如图19中特别示出的那样。另外,多个侧向非对称温度传感器6450a,6450b安装在分段柔性电路6440上或与其整体地形成,以向控制电路提供组织温度反馈。分段柔性电路6440可用于测量端部执行器内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
图19出了被构造成能够测量组织间隙GT的端部执行器6460的一个方面。端部执行器6460包括钳口构件6462和钳口构件6444。图18中所描述的柔性电路6440被安装到钳口构件6444。柔性电路6440包括霍尔效应传感器6448,该霍尔效应传感器与安装到钳口构件6462的磁体6464一起操作以测量组织间隙GT。该技术可用于测量限定于钳口构件6444和钳口构件6462之间的孔径。钳口构件6462可以是钉仓。
图20示出了包括如图16所示的分段柔性电路6468的端部执行器6470的一个方面。端部执行器6470包括钳口构件6472和钉仓6474。分段柔性电路6468被安装到钳口构件6472。设置在片段1至5内的每个传感器被构造成能够检测定位在钳口构件6472和钉仓6474之间的组织的存在并且表示组织区域1至5。在图20所示的构型中,端部执行器6470被示出为处于准备好接收或抓持钳口构件6472和钉仓6474之间的组织的打开位置。分段柔性电路6468可用于测量端部执行器6470内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
图21示出了示于图20中的端部执行器6470,其中钳口构件6472将组织6476夹持在钳口构件6472(例如,砧座)和钉仓之间。如图21所示,组织6476被定位在片段1至3之间并且代表组织区域1至3。因此,组织6476由片段1至3中的传感器检测,并且通过片段4至5在节段6478中检测组织的不存在(空)。与分别定位于某些片段1至3和4至5内的组织6476的存在和不存在有关的信息经由例如接口电路被传送到如本文所述的控制电路。控制电路被构造成能够检测位于片段1至3中的组织。应当理解,片段1至5可包括测量某些片段1至5内的组织的组织参数的任何合适的温度、力/压力和/或霍尔效应磁性传感器以及将能量递送到位于某些片段1至5中的组织的电极。分段柔性电路6468可用于测量端部执行器6470内的组织厚度、力、位移、压缩、组织阻抗和组织位置。
图22示出了根据本公开的一个或多个方面的图1的机器人外科系统10的反馈系统970的逻辑图。系统970包括电路。电路包括具有处理器962的控制器961和存储器968。例如,传感器972,974,976中的一个或多个向处理器962提供实时反馈。由马达驱动器992驱动的马达982能够操作地联接纵向可移动的位移构件以驱动I形梁刀元件。跟踪系统980被构造成能够确定纵向可移动的位移构件的位置。将位置信息提供给处理器962,该处理器可被编程为或被构造成能够确定可纵向可移动的驱动构件的位置以及击发构件、击发杆和I形梁刀元件的位置。可以在工具驱动器接口处提供附加马达,以控制I形梁击发、闭合管行进、轴旋转和关节运动。
在一种形式中,应变仪可用于测量由端部执行器施加到组织的力。应变计可耦接到端部执行器以测量被端部执行器处理的组织上的力。参考图22,用于测量施加到由端部执行器抓握的组织的力的系统970包括应变仪传感器972,诸如微应变仪,其被构造成能够测量例如端部执行器的一个或多个参数。在一个方面,应变仪传感器972可测量在夹持操作期间施加到端部执行器的钳口构件上的应变的振幅或量值,这可指示组织压缩。将测得的应变转换成数字信号并将其提供到微控制器961的处理器962。负荷传感器974可测量用以操作刀元件例如以切割被捕获在砧座和钉仓之间的组织的力。可采用磁场传感器976来测量捕集的组织的厚度。磁场传感器976的测量也可被转换成数字信号并提供给处理器962。
微控制器961可使用分别由传感器972,974,976测量的组织压缩、组织厚度和/或闭合端部执行器所需的力的测量来表征击发构件的所选择的位置和/或击发构件的速度的对应值。在一种情况下,存储器968可存储可由微控制器961在评估中所采用的技术、公式和/或查找表。
在图22所示的方面中,传感器972(诸如,应变仪或微应变仪)被构造成能够测量端部执行器912的一个或多个参数,诸如,在夹持操作期间施加在砧座914上的应变的幅值,该幅值可以指示施加到砧座914的闭合力。将测得的应变转换成数字信号并将其提供给处理器962。另选地或除了传感器972之外,传感器974(诸如负荷传感器)可以测量由闭合驱动系统施加到砧座914的闭合力。传感器976(诸如负荷传感器)可以测量在机器人外科系统10(图1)的击发行程中施加到I形梁的击发力。I形梁被构造成能够与楔形滑动件接合,该楔形滑动件被构造成能够使钉驱动器向上凸轮运动,以将钉推出,使其与砧座变形接触。I形梁还包括锋利切割刃,当通过击发杆向远侧推进I形梁时,该切割刃可用于切断组织。另选地,可以采用电流传感器978来测量由马达982消耗的电流。推进击发构件220所需的力可对应于例如由马达982消耗的电流。将测得的力转换成数字信号并将其提供给处理器962。
图23示出了根据本公开的一个方面的被构造成能够控制机器人外科系统10的各方面的控制电路。图23示出了根据本公开的一个方面的被构造成能够控制机器人外科系统10的各方面的控制电路800。控制电路800可被构造成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。指令处理单元可被构造成能够为从本公开的存储器电路804接收指令。
图24示出了根据本公开的一个方面的被构造成能够控制机器人外科系统10的各方面的组合逻辑电路810。组合逻辑电路810可被构造成能够实现本文所述的各种过程。电路810可包括有限状态机,该有限状态机包括组合逻辑电路812,该组合逻辑电路被构造成能够在输入814处接收与机器人外科系统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25示出了根据本公开的一个方面的被构造成能够控制机器人外科系统10的各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可被构造成能够实现本文所述的各种过程。电路820可包括有限状态机。时序逻辑电路820可包括例如组合逻辑电路822、至少一个存储器电路824和时钟829。至少一个存储器电路820可以存储有限状态机的当前状态。在某些情况下,时序逻辑电路820可以是同步的或异步的。组合逻辑电路822被构造成能够在输入826处接收与机器人外科系统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,有限状态机可以包括组合逻辑电路810和时序逻辑电路820的组合。
各方面可实现为制造制品。制造制品可包括被布置成存储用于执行一个或多个方面的各种操作的逻辑、指令和/或数据的计算机可读存储介质。例如,制造制品可包括磁盘、光盘、闪速存储器或固件,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。
主要参见图26,机器人外科系统10可包括多个马达,这些马达可被启动以执行各种功能。在某些情况下,可以启动第一马达以执行第一功能;可以启动第二马达以执行第二功能;可以启动第三马达以执行第三功能,可以启动第四马达以执行第四功能,依此类推。在某些情况下,机器人外科器械4400的多个马达可被单独地启动以导致端部执行器1012中的击发运动、闭合运动、和/或关节运动。击发运动、闭合运动和/或关节运动可例如通过轴组件200传输到端部执行器1012。
在某些情况下,机器人外科系统10可包括击发马达4402。击发马达4402可操作地联接到击发驱动组件4404,该击发驱动组件可被构造成能够将由马达4402产生的击发动作传输到端部执行器1012,并且具体地用于移置I形梁元件。在某些情况下,由马达4402产生的击发动作可导致例如钉从钉仓部署到由端部执行器捕获的组织内并且/或者导致I形梁元件的切割刃被推进以切割所捕获组织。I形梁元件可通过反转马达4402的方向而回缩。
在某些情况下,机器人外科系统10可包括闭合马达4403。闭合马达4403可以可操作地联接到闭合驱动组件4405,该闭合驱动组件可被构造成能够将由马达4403生成的闭合运动传输到端部执行器1012,并且具体地用于移置闭合管1040,1042以闭合砧座1024并且压缩砧座1024和钉仓1034之间的组织。闭合运动可使例如端部执行器1012从打开构型转变成接近构型以捕获组织。端部执行器102可通过反转马达4403的方向而转变到打开位置。
在某些情况下,机器人外科器械10可包括例如一个或多个关节运动马达4406a,4406b。马达4406a,4406b可以可操作地联接到相应的关节运动驱动组件4408a,4408b,该关节运动驱动组件可被构造成能够将由马达4406a,4406b生成的关节运动传输到端部执行器1012。在某些情况下,关节运动可使端部执行器相对于轴进行关节运动,例如。
如上所述,机器人外科器械10可包括多个马达,这些马达可被构造成能够执行各种独立功能。在某些情况下,机器人外科器械10的多个马达可被单独地或独立地激活以执行一个或多个功能,而其它马达保持非活动的。例如,关节运动马达4406a,4406b可被激活以使端部执行器进行关节运动,而击发马达4402保持非活动的。另选地,击发马达4402可被激活以击发多个钉并且/或者推进切割刃,而关节运动马达4406保持非活动的。此外,闭合马达4403可与击发马达4402同时激活,以使闭合管1040,1042和I形梁元件朝远侧推进,如下文更详细地描述。
在某些情况下,机器人外科系统10可包括公共控制模块4410,该公共控制模块可与机器人外科器械10的多个马达一起使用。在某些情况下,公共控制模块4410每次可调节多个马达中的一个。例如,公共控制模块4410可分别单独地联接到机器人外科器械10的多个马达。在某些情况下,机器人外科器械10的多个马达可共用一个或多个公共控制模块,诸如模块4410。在某些情况下,机器人外科器械10的多个马达可独立地或选择性地接合公共控制模块4410。在某些情况下,模块4410可从接合机器人外科器械10的多个马达中的一个切换到接合机器人外科器械10的多个马达中的另一个。
在至少一个示例中,模块4410可在可操作地接合关节运动马达4406a,4406b与可操作地接合击发马达4402或闭合马达4403之间选择性地切换。在至少一个示例中,如图26中所示,开关4414可在多个位置和/或状态之间移动或转变。在第一位置4416中,开关4414可以将模块4410电联接到击发马达4402;在第二位置4417中,开关4414可以将模块4410电联接到闭合马达4403;在第三位置4418a中,开关4414可以将模块4410电联接到第一关节运动马达4406a;并且在第四位置4418b中,开关4414可以将模块4410电联接到例如第二关节运动马达4406b。在某些情况下,单独模块4410可同时电联接到击发马达4402、闭合马达4403和关节运动马达4406a,4406b,如例如图30所示。在某些情况下,开关4414可为机械开关、机电开关、固态开关、或任何合适的开关机构。
马达4402,4403,4406a,4406b中的每个可包括扭矩传感器以测量马达的轴上的输出扭矩。可以任何常规方式感测端部执行器上的力,诸如通过钳口的外侧上的力传感器或通过用于致动钳口的马达的扭矩传感器来感测端部执行器上的力。
在各种情况下,如图26所示,公共控制模块4410可包括马达驱动器4426,该马达驱动器可包括一个或多个H桥场效应晶体管(FET)。马达驱动器4426可例如基于得自微控制器4420(“控制器”)的输入来调节从电源4428传输到联接至模块4410的马达的电力。在某些情况下,当马达联接到模块4410时,可例如采用控制器4420来确定由马达消耗的电流,如上所述。
在某些情况下,控制器4420可包括微处理器4422(“处理器”)和一个或多个计算机可读介质或存储器单元4424(“存储器”)。在某些情况下,存储器4424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4422执行本文所述的多个功能和/或计算。在某些情况下,存储器单元4424中的一个或多个可例如联接到处理器4422。
在某些情况下,电源4428可例如用于将电力提供给控制器4420。在某些情况下,电源4428可包括例如电池(或者“电池组”或“电源组”),诸如锂离子电池。在某些情况下,电池组可被构造成能够可释放地安装到柄部14以用于将功率供应给外科器械4400。可将多个串联的电池单元用作电源4428。在某些情况下,电源4428可为例如可替换的和/或可再充电的。
在各种情况下,处理器4422可控制马达驱动器4426以控制联接到模块4410的马达的位置、旋转方向、和/或速度。在某些情况下,处理器4422可发信号通知马达驱动器4426,以停止和/或停用联接到模块4410的马达。应当理解,如本文所用的术语处理器包括任何合适的微处理器、微控制器,或者将计算机的中央处理单元(CPU)的功能结合在一个集成电路或至多几个集成电路上的其它基础计算装置。处理器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。处理器的操作对象是以二进制数字系统表示的数字和符号。
在一种情况下,处理器4422可以是任一种单核或多核处理器,诸如已知的由TexasInstruments生产的商品名为ARM Cortex的那些。在某些情况下,微控制器4420可为例如购自Texas Instruments的LM 4F230H5QR。在至少一个示例中,Texas InstrumentsLM4F230H5QR为ARM Cortex-M4F处理器芯,其包括:256KB的单循环闪速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SRAM、装载有软件的内部ROM、2KB的EEPROM、一个或多个PWM模块、一个或多个QEI模拟、具有12个模拟输入通道的一个或多个12位ADC,以及对于产品数据表而言易得的其它特征。可容易地换用其它微控制器,以与模块4410一起使用。因此,本公开不应限于这一上下文。
在某些情况下,存储器4424可包括用于控制可联接到模块4410的外科器械4400的马达中的每个的程序指令。例如,存储器4424可包括用于控制击发马达4402、闭合马达4403和关节运动马达4406a,4406b的程序指令。此类程序指令可使得处理器4422根据来自机器人外科系统10的算法或控制程序的输入来控制击发、闭合和关节运动功能。
在某些情况下,一个或多个机构和/或传感器(诸如传感器4430)可用于警示处理器4422应当在特定设定中使用的程序指令。例如,传感器4430可警示处理器4422使用与击发、闭合和关节运动端部执行器1012相关联的程序指令。在某些情况下,传感器4430可包括例如可用于感测开关4414的位置的位置传感器。因此,处理器4422可以在例如通过传感器4430检测到开关4414处于第一位置4416时使用与击发端部执行器1012的I形梁相关联的程序指令;处理器4422可以在例如通过传感器4430检测到开关4414处于第二位置4417时使用与闭合砧座相关联的程序指令;并且处理器4422可以在例如通过传感器4430检测到开关4418a,4418b处于第三位置4418a或第四位置4418b时使用与使端部执行器1012进行关节运动相关联的程序指令。
图27为根据本公开的一个方面的机器人外科器械10的绝对定位系统11100的示意图,其中绝对定位系统11100包括受控马达驱动电路布置,该受控马达驱动电路布置包括传感器布置11102。用于绝对定位系统11100的传感器布置11102提供对应于位移构件11111的位置的独特位置信号。在一个方面,位移构件11111表示联接到切割器械或刀(例如,图11A中的切割器械1032、图12中的I形梁3005、和/或图29-图30中的I形梁2514)的可纵向移动的驱动构件,该切割器械或刀包括与刀正齿轮1222啮合接合的第一刀从动齿轮1226,与第三刀驱动齿轮1230啮合接合的第二刀驱动齿轮1228,该第三刀驱动齿轮可旋转地支撑在与刀齿条齿轮1206啮合接合的工具安装板302上。在其它方面,位移构件11111表示联接到切割器械或刀的击发构件,该击发构件可被适配成并且被构造成能够包括驱动齿的齿条。在又一方面,位移构件11111表示击发杆或I形梁3005,2514(图12、图30),其中每个可被适配成并且被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机器人外科器械10(诸如驱动构件、击发构件、击发杆、切割器械、刀和/或I形梁、或可被位移的任何元件)的任何可移动构件。
因此,绝对定位系统11100实际上可通过跟踪纵向可移动的驱动构件的位移来跟踪切割器械I形梁3005,2514(图12、图29-图30)的位移。在各种其它方面,位移构件11111可联接到适用于测量位移的任何传感器。因此,纵向可移动的驱动构件、击发构件、击发杆或I形梁或它们的组合可联接到任何合适的位移传感器。位移传感器可包括接触式位移传感器或非接触式位移传感器。位移传感器可包括线性可变差分变压器(LVDT)、差分可变磁阻换能器(DVRT)、滑动电位计、包括可移动磁体和一系列线性布置的霍尔效应传感器的磁感测系统、包括固定磁体和一系列可移动的线性布置的霍尔效应传感器的磁感测系统、包括可移动光源和一系列线性布置的光电二极管或光电检测器的光学感测系统、包括固定光源和一系列可移动的线性布置的光电二极管或光电检测器的光学感测系统、或它们的任何组合。
电动马达11120可包括能够操作地与齿轮组件11114交接的可旋转轴11116,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11111上。传感器元件11126可以可操作地联接到齿轮组件11114,使得传感器元件11126的单次旋转对应于位移构件11111的一些线性纵向平移。齿轮传动装置和传感器11118的布置可经由齿条和小齿轮布置方式连接至线性致动器,或者经由直齿齿轮或其它连接连接至旋转致动器。电源11129为绝对定位系统11100供电,并且输出指示器11128可显示绝对定位系统11100的输出。用于适配马达11120的接口在图4-图6、图8-图10、以及图11A、图11B中示出。
与位置传感器11112相关联的传感器元件11126的单次旋转等同于位移构件11111的纵向位移d1,其中d1为在联接到位移构件11111的传感器元件11126的单次旋转之后位移构件11111从点“a”移动到点“b”的纵向距离。可经由齿轮减速连接传感器布置11102,该齿轮减速使得位置传感器11112针对位移构件11111的全行程仅完成一次或多次旋转。位置传感器11112可针对位移构件11111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11122a-11122n(其中n为大于一的整数)以针对位置传感器11112的不止一次旋转提供独特位置信号。开关11122a-11122n的状态被馈送回控制器11104,该微控制器应用逻辑以确定对应于位移构件11111的纵向位移d1+d2+…dn的独特位置信号。位置传感器11112的输出11124被提供给控制器11104。传感器布置11102的位置传感器11112可包括磁性传感器、模拟旋转传感器(如电位差计)、模拟霍尔效应元件的阵列,该霍尔效应元件的阵列输出位置信号或值的独特组合。控制器11104可以包含在主控制器11内,或者可以包含在工具安装部分外壳301内。
绝对定位系统11100在机器人外科器械10上电时提供位移构件11111的绝对位置,并且不使位移构件11111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11120采取的向前或向后的步骤数进行计数以推断装置致动器、驱动棒、刀等等的位置。
可对控制器11104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11104包括处理器11108和存储器11106。电动马达11120可为有刷直流马达,其具有齿轮箱以及至关节运动或刀系统的机械链接。在一个方面,马达驱动器11110可为可购自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11100。
控制器11104可被编程为提供对位移构件11111和关节运动系统的速度和位置的精确控制。控制器11104可被构造成能够计算控制器11104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11100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11129将来自反馈控制器的信号转换为对系统的物理输入,在这种情况下为电压。其它示例包括电压、电流和力的脉宽调制(PWM)。除了位置传感器11112所测量的位置之外,可提供一个或多个其它传感器11118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11100的输出将具有有限分辨率和采样频率。绝对定位系统11100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比如质量、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。
马达驱动器11110可为可购自Allegro Microsystems,Inc的A3941。A3941驱动器11110为全桥控制器,其用于与针对电感负荷(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11110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11100中。
图28为根据本公开的一个方面的用于包括磁力旋转绝对定位系统绝对定位系统11100的位置传感器11200的示意图。位置传感器11200可被实现为可购自AustriaMicrosystems,AG的AS5055EQFT单片磁性旋转位置传感器。位置传感器11200与控制器11104交接,以提供绝对定位系统11100。位置传感器11200是低电压和低功率部件,并且在位置传感器11200的区域11230中包括四个霍尔效应元件11228A,11228B,11228C,11228D,该区域在磁体11202上方,该磁体定位在与位移构件(诸如刀驱动齿轮1228,1230和/或闭合驱动齿轮1118,1120)相关联的旋转元件上,使得可以精确地跟踪击发构件和/或闭合构件的位移。在芯片上也提供了高分辨率ADC 11232和智能型电源管理控制器11238。提供了CORDIC处理器11236(针对坐标旋转数字计算机),也称为逐位法和Volder算法,以执行简单有效的算法来计算双曲线函数和三角函数,其仅需要加法、减法、位位移和表格查找操作。角位置、报警位和磁场信息通过诸如SPI接口11234的标准串行通信接口传输到控制器11104。位置传感器11200提供12或14位分辨率。位置传感器11200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11228A,11228B,11228C,11228D位于旋转磁体11202正上方。霍尔效应是众所周知的效应,并且为了方便起见,本文将不对其进行详细描述,但是,一般来讲,霍尔效应会在电导体两端产生与导体中的电流成横向的电压差(霍尔电压)和垂直于电流的磁场。霍尔系数被限定为感应电场与电流密度和所施加磁场的乘积的比率。其为从中制备导体的材料的特性,因为其值取决于构成电流的电荷载体的类型、数目和性能。在AS5055位置传感器11200中,霍尔效应元件11228A,11228B,11228C,11228D能够产生电压信号,其指示根据磁体11202经过单次旋转之后的角度的磁体11202的绝对位置。由CORDIC处理器11236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11200上。在多种技术中,如在加电时或在控制器11104发出请求时,向控制器11104提供角度的值,其指示经过一次转动的磁体11202的位置。
AS5055位置传感器11200在连接至控制器11104时仅需要几个外部部件就可操作。使用单一电源的简单应用需要六根电线:两根电线用于电力,四根电线11240用于与控制器11104的SPI接口11234。可加入第七连接,以便向控制器11104发送中断以通知可读取新的有效角度。在通电时,AS5055位置传感器11200执行完全通电序列,包括一个角度测量。该循环的完成表示为INT输出11242,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11200就暂停为休眠模式。控制器11104可通过SPI接口11234从AS5055位置传感器11200读取角度值来响应INT输出11242处的INT请求。一旦控制器11104读取了角度值,就再次清除INT输出11242。由控制器11104通过SPI接口11234向位置传感器11200发送“读取角度”指令也自动使芯片加电并且启动另一个角度测量。控制器11104一完成角度值的读取,就清除INT输出11242并且将新的结果存储在角度寄存器中。通过设定INT输出11242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11200的测量原理,每个加电序列之后,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11200就暂停为掉电状态。未执行根据数字平均化的角度值的片上过滤,因为这将需要不止一个角度测量并且因此需要更长加电时间,这在低功率应用中是不期望的。可通过在控制器11104中对数个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29为根据本公开的一个方面的机器人外科器械10的端部执行器2502的截面图,示出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被构造成能够与外科器械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在击发杆2520的远侧部分处示出。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接触并可切割定位在砧座2516与钉仓2518之间的组织2526。而且,I形梁2514接触楔形滑动件2513并向远侧推动它,从而使得楔形滑动件2513接触钉驱动器2511。钉驱动器2511可以被向上驱动到钉2505中,从而使得钉2505推进穿过组织并进入限定在砧座2516中的凹坑2507中,该凹坑使钉2505成形。
示例性I形梁2514击发行程由与端部执行器2502对齐的图表2529示出。还示出了示例性组织2526与端部执行器2502对齐。击发构件行程可包括行程开始位置2527和行程结束位置2528。在I形梁2514击发行程期间,I形梁2514可以从行程开始位置2527朝远侧推进到行程结束位置2528。I形梁2514示出在行程开始位置2527的一个示例性位置处。I形梁2514击发构件行程图表2529示出了五个击发构件行程区域2517,2519,2521,2523,2525。在第一击发行程区域2517中,I形梁2514可以开始朝远侧推进。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并开始朝远侧移动。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的力可能开始下降。例如,端部执行器2502的对应于第四击发区域2523的部分中的组织可以比靠近砧座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29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,基于砧座2516和钉仓2518之间的组织的定位,不同的区域可以沿着端部执行器纵向轴线2515在不同的位置开始。
如上所述并且现在参考图27-图29,可利用定位在外科器械10的主控制器13内的电动马达11122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/或切割捕集在端部执行器2502内的组织。I形梁2514可以以期望的速度或在期望的速度范围内推进或回缩。控制器1104可被构造成能够控制I形梁2514的速度。控制器11104可被构造成能够基于例如向电动马达11122提供的电力的各种参数(诸如电压和/或电流)和/或电动马达11122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11104可被构造成能够基于向电动马达11122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11104可被构造成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。控制器可被构造成能够对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11122的电力以便增加I形梁2514的速度和/或减小电力以便减小I形梁2514的速度。
可以使用各种技术来确定作用在I形梁2514上的力。可以通过测量马达2504电流来确定I形梁2514力,其中马达2504电流基于I形梁2514在其朝远侧推进时所经受的负荷。可以通过将应变仪定位在驱动构件、击发构件、I形梁2514、击发杆和/或切割刃2509的近侧端部上来确定I形梁2514力。I形梁2514力可通过以下方式来确定:在预定的经过周期T1之后,基于马达11122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,以及在周期T1结束时,基于马达11122的当前设定速度,比较I形梁2514的实际位置与I形梁2514的预期位置。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异与I形梁2514上的力与标称力的偏差成比例。
图30是根据本公开的一个方面的被构造成能够操作本文所述的外科工具的机器人外科器械2500的示意图。机器人外科器械2500可被编程为或者被构造成能够控制位移构件的远侧/近侧平移、闭合管远侧/近侧位移、轴旋转、以及具有单个或多个关节运动驱动连杆的关节运动。在一个方面,外科器械2500可被编程为或者被构造成能够单独地控制击发构件、闭合构件、轴构件和/或一个或多个关节运动构件。外科器械2500包括控制电路2510,该控制电路被构造成能够控制马达驱动的击发构件、闭合构件、轴构件和/或一个或多个关节运动构件。
在一个方面,机器人外科器械2500包括控制电路2510,该控制电路被构造成能够控制端部执行器2502的砧座2516和I形梁2514(包括锋利的切割刃)部分、可移除钉仓2518、轴2540、以及经由多个马达2504a-2504e的一个或多个关节运动构件2542a,2542b。位置传感器2534可被构造成能够向控制电路2510提供I形梁2514的位置反馈。其它传感器2538可被构造成能够向控制电路2510提供反馈。定时器/计数器2531向控制电路2510提供定时和计数信息。可提供能量源2512以操作马达2504a-2504e,并且电流传感器2536向控制电路2510提供马达电流反馈。马达2504a-2504e可通过控制电路2510在开环或闭环反馈控制中单独操作。
在一个方面,控制电路2510可包括用于执行使得一个或多个处理器执行一个或多个任务的指令的一个或多个微控制器、微处理器或其它合适的处理器。控制电路2510可被实现为控制电路961(图22)、800(图23)、810(图24)、820(图25)、4420(图26)。在一个方面,定时器/计数器电路2531向控制电路2510提供输出信号,诸如耗用时间或数字计数,以将如由位置传感器2534确定的I形梁2514的位置与定时器/计数器电路2531的输出相关联,使得控制电路2510可确定I形梁2514在相对于起始位置的特定时间(t)处的位置或I形梁2514相对于起始位置处于特定位置的时间(t)。定时器/计数器电路2531可被构造成能够测量所耗用的时间、计数外部事件或时间外部事件。
在一个方面,控制电路2510可被编程为基于一个或多个组织条件来控制端部执行器2502的功能。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或闭合控制程序。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度和/或以较低的功率平移位移构件。当存在较薄的组织时,控制电路2510可以被编程为以较高的速度和/或以较高的功率平移位移构件。闭合控制程序可控制由砧座2516施加到组织的闭合力。其它控制程序控制轴2540和关节运动构件2542a,2542b的旋转。
在一个方面,控制电路2510可生成马达设定点信号。马达设定点信号可以被提供给各种马达控制器2508a-2508e。马达控制器2508a-2508e可以包括一个或多个电路,这些电路被构造成能够向马达2504a-2504e提供马达驱动信号,以驱动马达2504a-2504e,如本文所述。在一些示例中,马达2504a-2504e可为有刷DC电动马达。例如,马达2504a-2504e的速度可与相应的马达驱动信号成比例。在一些示例中,马达2504a-2540e可以是无刷直流(DC)电动马达,并且相应的马达驱动信号2524a-2524e可以包括提供给马达2504a-2504e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2508a-2508e,并且控制电路2510可以直接生成马达驱动信号2524a-2524e。
在一些示例中,控制电路2510可以针对位移构件的行程的第一开环部分初始以开环构型操作马达2504a-2504e中的每个。基于在行程的开环部分期间器械2500的响应,控制电路2510可以选择处于闭环构型的击发控制程序。器械的响应可以包括在开环部分期间位移构件的平移距离、在开环部分期间耗用的时间、在开环部分期间提供给马达2504的能量、马达驱动信号的脉冲宽度之和等。在开环部分之后,控制电路2510可以对位移构件行程的第二部分实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可以基于以闭环方式描述位移构件的位置的平移数据来调制马达2504,以使位移构件以恒定速度平移。
在一个方面,马达2504a-2504e可从能量源2512接收电力。能量源2512可为由主AC电源、电池、超级电容器或任何其它合适的能量源2512驱动的DC功率源。马达2504a-2504e可经由相应的传动装置2506a-2506e机械地联接到单独的可移动机械元件,诸如I形梁2514、砧座2516、轴2540、关节运动2542a、关节运动2542b。传动装置2506a-2506e可以包括一个或多个齿轮或其它连杆器件,以将马达2504a-2504e联接到可移动机械元件。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,该编码器被构造成能够在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2504a-2504e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。马达2504a-2504e中的每个的输出包括用于感测力的扭矩传感器2544a-2544e,并且具有用于感测驱动轴的旋转的编码器。
在一个方面,控制电路2510被构造成能够驱动击发构件诸如端部执行器2502的I形梁2514部分。控制电路2510向马达控制2508a提供马达设定点,该马达控制向马达2504a提供驱动信号。马达2504a的输出轴联接到扭矩传感器2544a和传动装置2506a,该传动装置联接到I形梁2514。传动装置2506a包括可移动的机械元件诸如旋转元件和击发构件,以控制I形梁2514沿端部执行器2502的纵向轴线向远侧和近侧的移动。在一个方面,马达2504a可联接到刀齿轮组件1220,该刀齿轮组件包括刀齿轮减速组1224,该刀齿轮减速组包括第一刀驱动齿轮1226和第二刀驱动齿轮1228。如在图9和图10中可见,刀减速齿轮组1224可旋转地安装至工具安装板302,使得第一刀驱动齿轮1226与刀正齿轮1222啮合接合。同样,第二刀驱动齿轮1228与第三刀驱动齿轮1230啮合,该第三刀驱动齿轮以与刀齿条齿轮1206啮合的方式而被旋转地支撑在工具安装板302上。扭矩传感器2544a向控制电路2510提供击发力反馈信号。击发力信号表示击发或移置I形梁2514所需的力。位置传感器2534可被构造成能够将I形梁2514沿击发行程的位置或击发构件的位置作为反馈信号提供给控制电路2510。端部执行器2502可包括被构造成能够向控制电路2510提供反馈信号的附加传感器2538。当准备好使用时,控制电路2510可向马达控制2508a提供击发信号。响应于击发信号,马达2504a可沿端部执行器2502的纵向轴线将击发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。当击发构件朝远侧平移时,具有定位在远侧端部处的切割元件的I形梁2514朝远侧推进以切割定位在钉仓2518和砧座2516之间的组织。
在一个方面,控制电路2510被构造成能够驱动闭合构件,诸如端部执行器2502的砧座2516部分。控制电路2510向马达控制2508b提供马达设定点,该马达控制向马达2504b提供驱动信号。马达2504b的输出轴联接到扭矩传感器2544b和传动装置2506b,该传动装置联接到砧座2516。传动装置2506b包括可移动机械元件诸如旋转元件和闭合构件,以控制砧座2516从打开位置和闭合位置的移动。在一个方面,马达2504b联接到闭合齿轮组件1110,该闭合齿轮组件包括被支撑成与闭合正齿轮1112啮合接合的闭合减速齿轮组1114。如在图9和图10中可见,闭合减速齿轮组1114包括与闭合正齿轮1112以啮合的方式而被旋转地支撑的从动齿轮1116。闭合减速齿轮组1114还包括与第二闭合驱动齿轮1120啮合的第一闭合驱动齿轮1118,该第二闭合驱动齿轮以与闭合齿条齿轮1106啮合的方式而被旋转地支撑在工具安装板302上。扭矩传感器2544b向控制电路2510提供闭合力反馈信号。闭合力反馈信号表示施加到砧座2516的闭合力。位置传感器2534可被构造成能够将闭合构件的位置作为反馈信号提供给控制电路2510。端部执行器2502中的附加传感器2538可向控制电路2510提供闭合力反馈信号。可枢转砧座2516与钉仓2518相对地定位。当准备好使用时,控制电路2510可向马达控制2508b提供闭合信号。响应于闭合信号,马达2504b推进闭合构件以抓握砧座2516和钉仓2518之间的组织。
在一个方面,控制电路2510被构造成能够使轴构件诸如轴2540旋转,以使端部执行器2502旋转。控制电路2510向马达控制2508c提供马达设定点,该马达控制向马达2504c提供驱动信号。马达2504c的输出轴联接到扭矩传感器2544c和传动装置2506c,该传动装置联接到轴2540。传动装置2506c包括可移动机械元件诸如旋转元件,以控制轴2540顺时针或逆时针旋转360°以上。在一个方面,马达2504c联接到旋转传动装置组件1069,该旋转传动装置组件包括管齿轮区段1062,该管齿轮区段形成于(或附接到)近侧闭合管1040的近侧端部1060上,以通过可操作地支撑在工具安装板302上的旋转齿轮组件1070可操作地接合。如图8所示,在至少一个方面,旋转齿轮组件1070包括旋转驱动齿轮1072,当工具安装部分300联接到工具驱动组件101时,该旋转驱动齿轮联接到工具安装板302的适配器侧307上相应的从动盘或从动元件304中的第一个。参见图6。旋转齿轮组件1070还包括旋转从动齿轮1074,该旋转驱动齿轮与管齿轮段1062和旋转驱动齿轮1072以啮合的方式而被旋转地支撑在工具安装板302上。扭矩传感器2544c向控制电路2510提供旋转力反馈信号。旋转力反馈信号表示施加到轴2540上的旋转力。位置传感器2534可被构造成能够将闭合构件的位置作为反馈信号提供给控制电路2510。附加的传感器2538诸如轴编码器可向控制电路2510提供轴2540的旋转位置。
在一个方面,控制电路2510被构造成能够使端部执行器2502进行关节运动。控制电路2510向马达控制2508d提供马达设定点,该马达控制向马达2504d提供驱动信号。马达2504d的输出轴联接到扭矩传感器2544d和传动装置2506d,该传动装置联接到关节运动构件2542a。传动装置2506d包括可移动的机械元件诸如关节运动元件,以控制端部执行器2502±65°的关节运动。在一个方面,马达2504d联接到关节运动螺母1260,该关节运动螺母可旋转地轴颈连接在远侧脊部分1050的近侧端部部分上并且通过关节运动齿轮组件1270在其上可旋转地驱动。更具体地讲并参考图8,在至少一个方面,关节运动齿轮组件1270包括关节运动正齿轮1272,该关节运动正齿轮联接到工具安装板302的适配器侧307上相应的从动盘或从动元件304中的第四个。扭矩传感器2544d向控制电路2510提供关节运动力反馈信号。关节运动力反馈信号表示施加到端部执行器2502的关节运动力。传感器2538(诸如关节运动编码器)可向控制电路2510提供端部执行器2502的关节运动位置。
在另一方面,机器人外科系统10的关节运动功能可包括两个驱动构件2542a,2542或连杆。这些驱动构件2542a,2542b由由两个马达2508d,2508e驱动的机器人接口(齿条)上的单独的盘驱动。当提供单独的击发马达2504a时,关节运动连杆2542a,2542b中的每个可相对于另一个连杆进行拮抗驱动,以便在头部未运动时向头部提供阻力保持运动和负荷,并且在头部进行关节运动时提供关节运动。当头部旋转时,驱动构件2542a,2542b或连杆以固定的半径附接到头部。因此,当头部旋转时,推拉连杆的机械优点发生变化。机械优点的该变化对于其它关节运动连杆驱动系统可更明显。
在一个方面,端部执行器2502可被实现为结合图4、图6、图8-图12、图15A、图15B、图19、图20和图21所示和所述的外科端部执行器1012,3000,5650,6460,6470。在一个方面,端部执行器2502的I形梁2514部分可被实现为结合图11A、图12、图29所示和所述的刀构件1032,3005,2514。I形梁2514包括刀主体,该刀主体能够操作地在其上支撑组织切割刀片2509(图29)。在一个方面,端部执行器2502的砧座2516部分可被实现为结合图4、图6-图14、图20和图21所示和所述的砧座1024,3002,5502,5602,6472。
在一个方面,一个或多个马达2504a-2504e可包括具有齿轮箱的有刷DC马达和与击发构件、闭合构件或关节运动构件的机械链路。另一个示例为操作可移动机械元件诸如位移构件、关节运动连杆、闭合管和轴的电动马达2504a-2504e。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曳力,其相对电动马达2504a-2504e作用。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。
在一个方面,位置传感器2534可被实现为结合图27和图28所示和所述的绝对定位系统。在一个方面,位置传感器2534可包括磁性旋转绝对定位系统,该磁性旋转绝对定位系统被实现为可购自Austria Microsystems,AG的AS5055EQFT单片磁性旋转位置传感器。位置传感器2534与控制器2510交接,以提供绝对定位系统。位置可包括位于磁体上方并联接到CORDIC处理器(针对坐标旋转数字计算机)的霍尔效应元件,该CORDIC处理器也被已知为逐位方法和Volder算法,提供该CORDIC处理器以实现用于计算双曲线函数和三角函数的简单有效的算法,双曲线函数和三角函数仅需要加法操作、减法操作、数位位移操作和表格查找操作。
在一个方面,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、组织压缩与时间、以及砧座应变与时间、。传感器2538可包括磁性传感器、磁场传感器、应变仪、负荷传感器、压力传感器、力传感器、扭矩传感器、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。传感器2538可位于钉仓2518上,以使用分段电极来确定组织位置。扭矩传感器2544a-2544e可被配置为感测力诸如击发力、闭合力、关节运动力等。因此,控制电路26510可以感测:(1)由远侧闭合管承受的闭合负荷及其位置;(2)齿条处的击发构件及其位置;(3)钉仓2518的哪些部分上具有组织;以及(4)感测两个关节运动杆的负荷和位置。
在一个方面,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/或填充度。
在一个方面,传感器2538可实现为一个或多个限位开关、机电装置、固态开关、霍尔效应装置、磁阻(MR)装置、巨磁电阻(GMR)装置、磁力计等等。在其它具体实施中,传感器2538可被实现为在光的影响下操作的固态开关,诸如光学传感器、IR传感器、紫外线传感器等等。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)。在其它具体实施中,传感器2538可包括无电导体开关、超声开关、加速度计、惯性传感器等等。
在一个方面,传感器2538可被配置为测量由闭合驱动系统施加在砧座2516上的力。例如,一个或多个传感器2538可位于闭合管和砧座2516之间的交互点处,以检测由闭合管施加到砧座2516的闭合力。施加在砧座2516上的力可表示在砧座2516和钉仓2518之间捕集的组织节段所经受的组织压缩。一个或多个传感器2538可沿闭合驱动系统定位在各种交互点处,以检测由闭合驱动系统施加到砧座2516的闭合力。一个或多个传感器2538可在夹持操作期间由控制电路2510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和分析基于时间的信息,并实时评估施加到砧座2516的闭合力。
在一个方面,电流传感器2536可用于测量由马达2504a-2504e中的每个所消耗的电流。推进可移动的机械元件(诸如I形梁2514)中的任一者所需的力对应于由马达2504a-2504e所消耗的电流。将力转换成数字信号并将其提供给处理器2510。控制电路2510可被构造成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。机器人外科器械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。机器人外科器械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。
在使用机动机器人外科缝合系统时,由于在组织上的压缩和流体流出,在夹持组织之后的等待期间,在闭合构件上的力略微下降。另外,从击发构件联接到夹持臂的时刻起,在闭合构件上的力急剧下降,并且闭合力从闭合构件传递到击发构件。因此,本公开提供了闭环反馈控制系统,该闭环反馈控制系统能够在击发构件朝远侧推进的同时在等待周期期间以及在击发行程期间使闭合构件推进。本公开还提供了被构造成能够联接到机器人外科器械接口的可单独控制的闭合和击发构件。
在一个方面,本公开提供了用于自适应控制闭合构件速度的各种技术。在一个方面,本公开提供了用于闭合构件速度的自适应控制的技术,该技术测量机器人轴的至少两个参数。与机器人轴相关联的参数包括但不限于击发构件行程位置、击发构件负荷、刀推进速度、闭合管行程位置、闭合管负荷等等,通过可拆卸的机器人接口单元和可移除仓以及设置在机器人接口和仓中的电路,可以识别自身及其状态或者提供参数或控制程序,以用于致动设备或端部执行器并记录其使用。
在一个方面,本公开提供了闭环反馈控制技术,用于在等待周期期间以及在击发行程期间使闭合构件推进。闭环反馈控制系统可被构造成能够接收至少两个参数,诸如击发构件行程位置、击发构件负荷、刀推进速度、闭合管行程位置或闭合管负荷,以便逐渐闭合闭合构件,击发构件正在推进。
可以基于击发构件在其行程内的位置以及在闭合管致动器上测量的力来控制闭合管推进。在一个方面,可以基于击发构件在其行程内的位置和所测量的闭合力(FTC)两者来基于闭合管的连续推进控制闭合管推进。闭合管推进在击发时提供较低的击发力(FTF),并导致更大的可能的关节运动角度,更短的关节长度和更好的组织容量。
图31是三个图的示意图13000。位移曲线图13002描绘了闭合构件位移随时间变化的曲线。闭合力曲线图13004描绘了闭合构件闭合力(FTC)随时间变化的曲线。击发力曲线图13006描绘了击发构件击发力(FTF)随时间变化的曲线。这三个曲线图13002,13004,13006描绘了称为闭合行程(CLOSE)、等待周期(WAIT)和击发行程(FIRE)的三个不同的周期或阶段的曲线。每个曲线图13002,13004,13006包括两个单独的曲线,其中第一曲线表示常规闭合构件,其中仅在闭合行程期间施加闭合力,第二曲线表示闭合构件,其中在闭合行程之外,保持或施加闭合力。将参考图27描述示意图13000,该图27是反馈控制系统的示意图,该反馈控制系统被构造成能够接收至少两个参数,诸如击发构件(例如,I形梁2514)沿击发行程的位置、击发构件上的负荷、击发构件的推进速度、闭合管(例如,闭合管1040,1042)的位置、或闭合管1040,1042上的负荷,并且在击发行程期间逐渐闭合砧座2516。控制电路2510被构造成能够从位置传感器2534、电流传感器2536、定位在整个器械2500中的其它传感器2538、定时器/计数器电路2531、和/或分别定位在马达2504a-2504e的输出处的扭矩传感器2544a-2544e中的任一个接收此类参数。基于反馈参数,控制电路2510基于测量的闭合力和I形梁2514的位置、以及闭合管1040,1042上的闭合力来控制闭合管1040,1042的位移(向前和向后),以在击发行程周期期间保持期望的闭合力和/或击发力。
位移曲线图13002描绘了闭合构件位移随时间变化的第一曲线13020和第二曲线13026,其中闭合构件的位移δCT(mm)沿着竖直轴线13008被绘制,并且时间(秒)沿着水平轴线13010被绘制。第一曲线图13020描绘了闭合构件随时间变化的常规位移,其中闭合构件行进固定距离并停止。第二曲线图13026描绘了根据本公开的一个方面的闭合构件随时间变化的位移,其中闭合构件的闭合力在反馈控制期间。
闭合力曲线图13004描绘了闭合力随时间变化的第一曲线13022和第二曲线13028,其中闭合力(FCT)N沿着竖直轴线13012被绘制,并且时间沿着水平轴线13014被绘制。第一曲线13022描绘了随时间变化的施加到闭合构件的闭合力,其中闭合构件在击发行程期间行进固定距离并停止并且施加恒定闭合力。第二曲线13028描绘了根据本公开的一个方面的随时间变化的施加到闭合构件的闭合力,其中闭合构件力在击发行程期间受到反馈控制。
击发力曲线图13006描绘了闭合力随时间变化的第一曲线13024和第二曲线13030,其中击发力(FTF)N沿着竖直轴线13016被绘制,并且时间(秒)沿着水平轴线13018被绘制。第一曲线13024描绘了随时间变化的施加到击发构件的常规击发力,其中闭合构件在击发行程期间行进固定距离并停止并且施加恒定闭合力。第二曲线13030描绘了根据本公开的一个方面的随时间变化的击发力,其中在构件在击发行程期间朝远侧推进时,闭合构件受到反馈控制。
闭合行程(CLOSE)周期在时间t0处开始,并且在时间t1处结束。在闭合行程期间,将闭合力13038,13058施加到闭合构件,例如闭合管1040,1042(图4和图6-图10),从而使闭合管1040,10402朝远侧平移13032,13050以响应于闭合马达2504b通过一个或多个传动部件2506b的致动来使砧座2516相对于钉仓2518移动。在闭合行程周期期间,击发力13044,13070基本上为零。当闭合力13038,13058成指数增加至最大力FTC1时,闭合管1040,1042行进固定距离至δo(mm)。闭合力在时间t1处达到最大力FTC1。初始夹持时间段可例如为约一秒。
在闭合行程周期之后是等待(WAIT)周期,该等待周期在时间t1处开始,并且在时间t2处结束。可以在启动击发行程之前施加等待周期。等待周期允许流体从被端部执行器2502压缩的组织流出,这减小了压缩组织的厚度,从而在砧座2516和钉仓2518之间产生了较小的间隙,并且在等待周期结束时减小了闭合力。如果没有附加的闭合力施加到闭合管1040,1042,则闭合力13040由于组织厚度的减小和流体的损失而下降至FTC2,并且位移13034保持在δo。相反,如果在等待周期期间将恒定闭合力13060施加到闭合管1040,1042,则闭合管1040,1042经受附加位移13052至δ1。
击发行程(FIRE)周期在时间t2处开始,并且在时间t5处结束。击发行程在等待周期结束时开始。在常规的闭合力方法中,当击发力在击发行程的初始阶段呈指数增加时,随着I形梁2514联接到砧座2516中,闭合力13041呈指数下降,并且闭合负荷从闭合管1040,1042传递到I形梁2514。在常规方法中,当击发力13046迅速增加至FTF1时,闭合力迅速减小至FTC3,并且在其余击发行程期间,闭合力保持恒定,并且击发力13048在缝合周期结束时平稳下降至FTF3,并且然后在击发行程结束时降至零。在击发周期期间,闭合管的位移13036保持恒定。换句话说,在常规过方法中,在闭合行程期间的初始位移之后,闭合管1040,1042的位移停止。
在一个方面,本公开提供了闭环反馈控制系统,用于在击发行程期间推进闭合管1040,1042。闭环反馈控制系统包括控制电路2510,该控制电路被构造成能够接收至少两个参数,诸如I形梁2510(击发构件)在击发行程期间的位置、I形梁2514(击发构件)上的负荷、(击发构件)的推进速度、闭合管1040,1042(闭合构件)的位置和/或闭合管1040,1042(闭合构件)上的负荷,并且在击发行程期间逐渐闭合砧座2516。因此,可以在击发行程期间通过以下方式来改变闭合力:基于测量的反馈参数来控制闭合管1040,1042的位移(推进或回缩),以相对于常规击发力曲线图13024降低如在第二击发力曲线图13030中所示的总击发力。
例如,参见闭合力曲线图13004的第二曲线13028部分以及击发力曲线图13006的第二曲线13030部分,在等待周期之后,闭合管1040,1042在等待周期期间施加的恒定闭合力13060下,直到击发力13072迅速增加到FTF2,并且随着I形梁2514联接到砧座2516中,闭合力13062开始减小,并且闭合负荷从闭合管1040,1042传递到I形梁2514。然而,在该短暂周期期间,闭环反馈的控制电路2510接收来自联接到闭合马达2504b的输出轴的扭矩传感器2544b的闭合力13062,以及I形梁2514在击发行程期间的位置,并且基于这些测量的参数增加在闭合管1040,1042上的闭合力13064。为了增加闭合力13064,控制电路2510使闭合管1040,1042位移13056推进至δ2,并且在该示例中,在其余的击发行程内保持在该位置13054。因此,在闭合力13062短暂下降之后,闭合力13064恢复到FTC1并保持恒定,直到I形梁2514大致在击发行程周期的三分之一(1/3)处。此时,当I形梁2514大致在击发行程周期的三分之二(2/3)处时,控制电路2510使闭合力13066能够从FTC1减小到FTC3。在该示例中,闭合力13068在击发行程周期的剩余的三分之一(1/3)内保持在FTC3下恒定。如第二曲线13030所示,击发力13074从峰值击发力FTF2减小到FTF3,该FTF2低于常规方法的峰值击发力FTF1,该FTF3与常规方法的击发力一致,并且在击发行程周期的剩余时间内迅速降至零,直到达到击发行程的终点。
因此,闭合管1040,1042推进可以基于击发构件的位置(诸如I形梁2514在击发行程周期内的测量位置)以及施加至闭合管1040,1042的测量闭合力(如例如由联接到闭合马达2504b的输出轴的扭矩传感器2544b所测量)来控制。闭合管1040,1042可基于这些反馈参数来推进或回缩。结果产生较低的击发力(FTF),并提供更大的可能的关节运动角度,更短的关节长度和更好的组织容量。
因此,现在主要参考图27,在一个方面,控制电路2510被构造成能够根据本公开的一个方面在等待周期期间以及在击发行程期间提供闭合构件(例如,闭合管1040,1042)的逐渐闭合。如前所述,在常规的夹持和击发方法中,由于组织压缩和流体从组织流出,在等待周期期间闭合力下降。因此,在闭合周期和等待周期期间,控制电路2510通过向马达控制2508b电路提供马达设定点信号来监测闭合管1040,1042上的闭合力,并推进闭合管1040,1042前进,该马达设定点信号将马达驱动信号施加到马达2504b。马达2504b驱动传动装置2506b,该传动装置包括一个或多个齿轮或其它连杆部件,以将马达2504b的输出联接到闭合管1040,1042。因此,闭合管1040,1042向砧座2516施加闭合力。联接到马达2504b的输出的扭矩传感器2444b向控制电路2510提供闭合力。
此外,在击发行程开始时,在闭合力从闭合管1040,1042传递到I形梁2514时,控制电路2510从位置传感器2534接收I形梁2514(或击发系统的其它部件)的位置。在I形梁2514朝远侧推进并联接到砧座2516中之后,在击发行程期间,控制电路2510从扭矩传感器2544b接收施加到闭合管1040,1042的闭合力,并且从位置传感器2534接收I形梁2514的位置,以调整闭合管1040,1042的位移,并且因此基于测量的闭合力和I形梁2514的测量位置来控制力。
图32为逻辑流程图,描绘了用于确定施加到闭合构件的闭合力和击发构件的位置,并基于测量的闭合力和位置信息来设定闭合力的控制程序或逻辑构型的方法13100。控制电路2510通过在闭合周期期间向闭合构件施加13102闭合力来启动闭合行程。为了向闭合构件施加13102闭合力,控制电路2510将马达设定点设定到马达控制2508b,该马达设定点向马达250b施加马达驱动信号,从而使传动装置2506b将闭合管1040,1042移位并闭合砧座2516,以压缩定位在砧座2516和钉仓2518之间的组织。在闭合周期结束时,控制电路2510增加13104在等待周期期间施加到闭合构件的闭合力,以补偿组织压缩和流体流出。控制电路2510确定13106施加到闭合构件的闭合力。例如,控制电路2510从扭矩传感器2544b或其它传感器2538(诸如位于端部执行器2502中的用以测量力的应变仪,或被构造成能够测量闭合管1040,1042上的负荷的负荷传感器)接收闭合力。击发行程在等待周期结束后开始。在击发行程期间,控制电路2510确定13108击发构件的位置。例如,控制电路2510从位置传感器2534接收位置信号。控制电路2510然后基于在击发行程期间施加到闭合构件的闭合力和击发构件的位置来设定13110闭合力。
本文所述的功能或过程13100可以由本文描述的处理电路中的任一个来执行,诸如控制电路961(图22)、800(图23)、810(图24)、820(图25)、4420(图26)和/或控制电路2510(图30)。可以在没有本文公开的具体细节的情况下实践机动外科器械的各方面。
本公开的部分可以呈现为对存储在计算机存储器中的数据进行操作的指令。算法是指导致所需结果的步骤的自相容序列,其中“步骤”是指物理量的操纵,物理量可以采用能被存储、转移、组合、比较和以其它方式操纵的电或磁信号的形式。这些信号可以称为位、值、元素、符号、字符、条款、数字。这些和类似的术语可与适当的物理量相关联并且仅仅是应用于这些量的方便的标签。
一般来讲,可以用多种硬件、软件、固件或它们的任何组合单独和/或共同实施的本文所述的多个方面可以被看作是由多种类型的“电子电路”组成。因此,“电子电路”包括具有至少一个离散电路的电子电路、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。这些方面可以以模拟或数字形式或其组合来实现。
前面的描述通过使用框图、流程图和/或示例阐述了设备和/或方法的各方面,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、流程图或示例中的每个功能和/或操作可以通过广泛的硬件、软件、固件或其实际上的任何组合来单独和/或共同地实现。在一个方面,可以通过专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、可编程逻辑设备(PLD)、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,以逻辑门或其它集成格式来实现本文所述主题的若干部分。本文公开的一些方面可作为在一台或多台计算机上运行的一个或多个计算机程序(如,作为在一个或多个计算机系统上运行的一个或多个程序),作为在一个或多个处理器上运行的一个或多个程序(如,作为在一个或多个微处理器上运行的一个或多个程序),作为固件,或作为实际上它们的任何组合全部或部分地在集成电路中等效地实现,并且根据本发明,设计电子电路和/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。
本文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)。
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实施例中陈述:
实施例1:一种用于机器人外科系统的控制系统,该控制系统包括:控制电路,该控制电路被构造成能够:确定施加到闭合构件的闭合力;确定击发构件的位置;并且基于施加到闭合构件的闭合力和击发构件的位置来设定新的闭合力。
实施例2:根据实施例1所述的控制系统,还包括联接到控制电路的力传感器,其中力传感器被构造成能够测量闭合力。
实施例3:根据实施例2所述的控制系统,其中,力传感器包括联接到马达的输出轴的扭矩传感器,该马达联接到闭合构件,其中扭矩传感器被构造成能够测量闭合力。
实施例4:根据实施例2至实施例3中一项或多项所述的控制系统,其中,力传感器包括联接到闭合构件的应变仪,其中应变仪被构造成能够测量闭合力。
实施例5:根据实施例2至实施例4中一项或多项所述的控制系统,其中,力传感器包括联接到闭合构件的负荷传感器,其中负荷传感器被构造成能够测量闭合力。
实施例6:根据实施例2至实施例5中一项或多项所述的控制系统,还包括联接到击发构件的位置传感器,其中位置传感器被构造成能够测量击发构件的位置。
实施例7:根据实施例1至实施例6中一项或多项所述的控制系统,其中,控制电路被构造成能够在击发行程的至少一部分期间推进闭合构件。
实施例8:一种用于机器人外科系统的控制系统,该控制系统包括:第一马达,该第一马达被构造成能够联接到闭合构件;力传感器,所述力传感器被构造成能够测量施加到所述闭合构件的闭合力;控制电路,该控制电路联接到第一马达和力传感器,其中控制电路被构造成能够:从力传感器接收施加到闭合构件的实际闭合力;从所述位置传感器接收击发构件的位置;并且基于施加到闭合构件的实际闭合力和击发构件的位置来设定新的闭合力。
实施例9:根据实施例8所述的控制系统,其中,力传感器包括扭矩传感器,该扭矩传感器联接到第一马达的输出轴,其中扭矩传感器被构造成能够测量闭合力。
实施例10:根据实施例8至实施例9中一项或多项所述的控制系统,其中,力传感器包括联接到闭合构件的应变仪,其中应变仪被构造成能够测量闭合力。
实施例11:根据实施例8至实施例10中一项或多项所述的控制系统,其中,力传感器包括联接到闭合构件的负荷传感器,其中负荷传感器被构造成能够测量闭合力。
实施例12:根据实施例8至实施例11中一项或多项所述的控制系统,还包括联接到闭合构件的位置传感器,其中位置传感器被构造成能够测量闭合构件的位置。
实施例13:根据实施例8至实施例12中一项或多项所述的控制系统,还包括联接到击发构件的第二马达,其中控制电路被构造成能够在击发构件的击发行程的至少一部分期间推进击发构件。
实施例14:一种用于机器人外科系统的控制系统,该控制系统包括:控制电路,该控制电路被构造成能够:在闭合周期期间向闭合构件施加闭合力;在所述闭合周期之后的等待周期期间增加所述闭合力;确定施加到所述闭合构件的闭合力;在击发行程期间确定击发构件的位置;并且基于闭合力和击发构件的位置来设定闭合构件的新的闭合力。
实施例15:根据实施例14所述的控制系统,还包括联接到控制电路的力传感器,其中力传感器被构造成能够测量闭合力。
实施例16:根据实施例15所述的控制系统,其中,力传感器包括联接到马达的输出轴的扭矩传感器,该马达联接到闭合构件,其中扭矩传感器被构造成能够测量闭合力。
实施例17:根据实施例15至实施例16中一项或多项所述的控制系统,其中,力传感器包括联接到闭合构件的应变仪,其中应变仪被构造成能够测量闭合力。
实施例18:根据实施例15至实施例17中一项或多项所述的控制系统,其中,力传感器包括联接到闭合构件的负荷传感器,其中负荷传感器被构造成能够测量闭合力。
实施例19:根据实施例15至实施例18中一项或多项所述的控制系统,还包括联接到击发构件的位置传感器,其中位置传感器被构造成能够测量击发构件的位置。
实施例20:根据实施例14至实施例19中一项或多项所述的控制系统,其中,控制电路被构造成能够在击发行程的至少一部分期间推进闭合构件。
Claims (20)
1.一种用于机器人外科系统的控制系统,所述控制系统包括:
控制电路,所述控制电路被构造成能够:
确定施加到闭合构件的闭合力;
确定击发构件的位置;并且
在没有用户干预下,基于施加到所述闭合构件的所述闭合力和所述击发构件的所述位置来设定新的闭合力。
2.根据权利要求1所述的控制系统,还包括联接到所述控制电路的力传感器,其中所述力传感器被构造成能够测量所述闭合力。
3.根据权利要求2所述的控制系统,其中,所述力传感器包括联接到马达的输出轴的扭矩传感器,所述马达联接到所述闭合构件,其中所述扭矩传感器被构造成能够测量闭合力。
4.根据权利要求2所述的控制系统,其中,所述力传感器包括联接到所述闭合构件的应变仪,其中所述应变仪被构造成能够测量闭合力。
5.根据权利要求2所述的控制系统,其中,所述力传感器包括联接到所述闭合构件的负荷传感器,其中所述负荷传感器被构造成能够测量闭合力。
6.根据权利要求2所述的控制系统,还包括联接到所述击发构件的位置传感器,其中所述位置传感器被构造成能够测量所述击发构件的所述位置。
7.根据权利要求1所述的控制系统,其中,所述控制电路被构造成能够在所述击发构件的击发行程的至少一部分期间推进所述闭合构件。
8.一种用于机器人外科系统的控制系统,所述控制系统包括:
第一马达,所述第一马达被构造成能够联接到闭合构件;
力传感器,所述力传感器被构造成能够测量施加到所述闭合构件的闭合力;
位置传感器,所述位置传感器用于测量击发构件的位置;
控制电路,所述控制电路联接到所述第一马达和所述力传感器,其中所述控制电路被构造成能够:
从所述力传感器接收施加到所述闭合构件的实际闭合力;
从所述位置传感器接收击发构件的位置;并且
在没有用户干预下,基于施加到所述闭合构件的所述实际闭合力和所述击发构件的所述位置来设定新的闭合力。
9.根据权利要求8所述的控制系统,其中,所述力传感器包括扭矩传感器,所述扭矩传感器联接到所述第一马达的输出轴,其中所述扭矩传感器被构造成能够测量闭合力。
10.根据权利要求8所述的控制系统,其中,所述力传感器包括联接到所述闭合构件的应变仪,其中所述应变仪被构造成能够测量闭合力。
11.根据权利要求8所述的控制系统,其中,所述力传感器包括联接到所述闭合构件的负荷传感器,其中所述负荷传感器被构造成能够测量闭合力。
12.根据权利要求8所述的控制系统,还包括联接到所述闭合构件的位置传感器,其中所述位置传感器被构造成能够测量所述闭合构件的所述位置。
13.根据权利要求8所述的控制系统,还包括联接到所述击发构件的第二马达,其中所述控制电路被构造成能够在所述击发构件的击发行程的至少一部分期间推进所述击发构件。
14.一种用于机器人外科系统的控制系统,所述控制系统包括:
控制电路,所述控制电路被构造成能够:
在闭合周期期间向闭合构件施加闭合力;
在所述闭合周期之后的等待周期期间增大所述闭合力;
确定施加到所述闭合构件的闭合力;
在击发行程期间确定击发构件的位置;并且
在没有用户干预下,基于所述闭合力和所述击发构件的所述位置来设定所述闭合构件的新的闭合力。
15.根据权利要求14所述的控制系统,还包括联接到所述控制电路的力传感器,其中所述力传感器被构造成能够测量所述闭合力。
16.根据权利要求15所述的控制系统,其中,所述力传感器包括联接到马达的输出轴的扭矩传感器,所述马达联接到所述闭合构件,其中所述扭矩传感器被构造成能够测量闭合力。
17.根据权利要求15所述的控制系统,其中,所述力传感器包括联接到所述闭合构件的应变仪,其中所述应变仪被构造成能够测量闭合力。
18.根据权利要求15所述的控制系统,其中,所述力传感器包括联接到所述闭合构件的负荷传感器,其中所述负荷传感器被构造成能够测量闭合力。
19.根据权利要求15所述的控制系统,还包括联接到所述击发构件的位置传感器,其中所述位置传感器被构造成能够测量所述击发构件的所述位置。
20.根据权利要求14所述的控制系统,其中,所述控制电路被构造成能够在所述击发行程的至少一部分期间推进所述闭合构件。
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CN105307579A (zh) * | 2013-04-16 | 2016-02-03 | 伊西康内外科公司 | 动力线性外科缝合器 |
CN105682566A (zh) * | 2013-08-23 | 2016-06-15 | 伊西康内外科有限责任公司 | 马达动力的能够关节运动的外科器械 |
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