CN111938733A - 可重复使用的手术器械的认证和信息系统 - Google Patents

可重复使用的手术器械的认证和信息系统 Download PDF

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CN111938733A
CN111938733A CN202010818805.2A CN202010818805A CN111938733A CN 111938733 A CN111938733 A CN 111938733A CN 202010818805 A CN202010818805 A CN 202010818805A CN 111938733 A CN111938733 A CN 111938733A
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assembly
loading unit
chip
controller
staple cartridge
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CN111938733B (zh
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凯利·瓦伦丁
托马斯·温加德纳
戴维·麦丘恩
迈克尔·英曼松
吉恩·施特伦
迈克尔·热姆洛克
伊桑·柯林斯
彼得·柯林斯
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Covidien LP
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Abstract

本发明涉及可重复使用的手术器械的认证和信息系统，并具体提供一种手术系统，其包括：手柄组件，其具有控制器，所述控制器具有至少一程序和存储器；接合器组件，其从所述手柄组件延伸；以及装载单元，其可释放地固定到所述接合器组件，所述装载单元具有安装为用于关节式运动的工具组件和用于致动所述工具组件的关节式运动的构件，所述工具组件包括可拆卸的且可更换的吻合钉钉仓组件，所述装载单元具有至少一个布置在所述吻合钉钉仓组件内的芯片组件，所述芯片组件具有芯片，所述芯片存储指示当所述工具组件处于完全关节式运动位置时所述构件的位置的数据，其中所述芯片从所述控制器接收信息。

Description

可重复使用的手术器械的认证和信息系统
本申请是申请号为201510313146.6、申请日为2015年6月9日、发明名称为“可重复使用的手术器械的认证和信息系统”的专利申请的分案申请。
相关申请的交叉引用
本申请要求于2014年6月9日提交的申请号为62//009,456的美国临时专利申请的权益和优先权，其全部内容通过引用结合于此。
技术领域
本公开涉及手术器械，其具有可重复使用的手柄以及可拆卸的且可更换的部件，如一次性或可更换的装载单元。本公开还涉及用于在手术吻合系统中使用的部件和/或手柄组件的认证系统。
背景技术
在内窥镜检查操作中使用动力手术器械是已知的。通常情况下，这类器械包括可重复使用的手柄组件以及可更换的和一般情况下一次性的部件，有时被称为单次使用装载单元或SULU。接合器组件将装载单元与手柄组件连接，其中，该装载单元可以包括与组织相互作用的末端执行器。对于一个手术吻合器来说，末端执行器可以包括可更换的钉仓，手术吻合器每次发射后更换钉仓。为了减少成本和缩短操作时间，手柄组件一般配置为用于与在具有不同性质(例如，厚度和密度)的组织上使用的具有各种配置的各种装载单元和/或组件一起使用。例如，不同的装载单元可以有不同尺寸的吻合钉和/或吻合钉可以不同的配置来布置。为了确保手柄组件被编程为与附接的装载单元一起操作，一些装载单元设置了集成电路，也被称为芯片，其与手柄组件通信以识别装载单元的配置。这种布置使得装载单元一连接到接合器组件，装载单元的配置就能够自动传送到手柄组件，从而消除当在具有不同配置的装载单元之间转换时可能发生的用户错误或不兼容。
手术吻合器通常用于吻合体腔内的组织，末端执行器可能在体腔内接触体液，如血液、胆汁、和/或冲洗液。如果芯片和手柄组件之间的相互连接受到损害，芯片可能出现故障或装载单元和手柄组件之间的数据通信可能被扰乱，造成手术吻合器不稳定或不能施行手术。
被配置成提高一次性装载单元和手柄组件之间的通信的可靠性的吻合器械将是受欢迎的进展。为手术系统中的部件提供认证系统也是所期望的。用于使各种部件与手术用手柄组件一起使用的系统是另一个所期望的方面。
发明内容
在本公开的方案中，手术系统包括：手柄组件，该手柄组件具有控制器，该控制器具有至少一程序和存储器；接合器组件；以及装载单元，该装载单元具有安装为用于做关节式运动的工具组件和用于致动工具组件的关节式运动的构件，该装载单元具有至少一个芯片组件，该芯片组件具有芯片，该芯片存储指示当工具组件处在完全关节式运动位置时该构件的位置的数据。
芯片可以具有指示装载单元的类型的数据，控制器的存储器具有装载单元的类型的电流曲线。该芯片能够存储指示工具组件长度的数据和/或指示工具组件是否做关节式运动的数据。控制器能够读取数据，并且，如果数据指示装载单元未做关节式运动，则控制器不驱动接合器组件和/或装载单元的关节式运动连杆。
控制器能够在装载单元操作期间监测来自马达的电流。
装载单元可以包括可拆卸的且可更换的吻合钉钉仓组件。可拆卸的且可更换的吻合钉钉仓组件具有芯片组件，该芯片组件包括芯片，该芯片存储指示吻合钉钉仓组件是否已经发射的数据。
控制器能够监测所述构件的位置并且将关于所述构件的运动的数据存储在存储器中。工具组件已经做关节式运动的次数可以保存在存储器中。存储器可以具有指示当工具组件处在完全关节式运动位置时所述构件的位置的数据。
在本公开的一些方案中，手术系统包括：手柄组件，该手柄组件具有控制器，该控制器具有存储器和至少一程序，该手柄组件具有至少一个按钮；接合器组件；以及装载单元，该控制器将功能分配到至少一个按钮。该功能可以是做关节式运动，或夹紧组织，或从夹紧组织、发射吻合钉和切割组织及其组合构成的群中选择。
分配的功能可以取决于装载单元的类型。装载单元可以是圆形吻合装载单元、线性手术吻合装载单元或其他类型的装载单元。装载单元可以包括动态夹紧构件。动态夹紧构件可以执行夹紧组织、发射吻合钉和切割组织中的至少一个。
在本公开的另一个方案中，手术系统包括：手柄组件，该手柄组件具有控制器，该控制器具有存储器和至少一程序；接合器组件；以及装载单元，控制器的存储器存储与装载单元相关的电流曲线。该控制器可以存储来自传感器、编码器、或传感器和编码器的信息。该控制器可以将电流曲线与来自传感器、编码器或传感器和编码器的信息进行比较。该控制器可以从装载单元的芯片上读取装载单元的类型。该控制器可以从存储在控制器中的多个电流曲线中选择一个电流曲线。
附图说明
当结合附图时，本公开的上述和其他方面、特征和优点将在下面的具体说明中变得更加明显。在附图中：
图1是用于与根据本公开的实施例的芯片组件一起使用的手术吻合设备的立体图；
图2是图1的手术吻合设备的立体图，其显示了处于分离构造的手柄组件、接合器组件和装载单元；
图3是如图1所示的手术吻合设备的装载单元的近侧端和接合器组件的远侧端的视图；
图4是如图3所示的装载单元的近侧端和接合器组件的远侧端的放大的视图；
图5是如图3所示的装载单元的近侧端和接合器组件的远侧端的另一个放大的视图；
图6是如图3所示的装载单元的近侧端的放大的分解图，其中装载单元和认证板分离；
图7是如图3所示的装载单元的近侧端的放大的部分分解图，其中认证板盖与装载单元分离；
图8是如图3所示的装载单元的近侧端的放大的视图；
图9是根据本公开的实施例的认证板组件的立体图；
图10是认证板接触件的立体图；
图11是如图3所示的接合器组件的远侧端的放大的分解图，其中接合器组件和接合器板分离；
图12是如图11所示的接合器板的放大的视图；
图13是如图11所示的接合器板的另一个放大的视图；
图14是如图11所示的接合器板的再一个放大的视图；
图15是如图3所示的接合器组件的侧剖视图，其显示接合器组件与装载单元分离；
图16是如图15所示的指示区域的放大的视图，其显示接合器板与认证板分离；
图17是如图3所示的接合器组件的侧剖视图，其显示接合器组件与装载单元接合；
图18是如图17所示的指示区域的放大的视图，其显示接合器板与认证板接合；
图19是如图3所示的接合器组件的轴向剖视图，其显示接合器组件与装载单元分离；
图20是如图3所示的接合器组件的轴向剖视图，其显示装载单元插入接合器组件；
图21是如图3所示的接合器组件的轴向剖视图，其显示装载单元与接合器组件接合；
图22是根据本公开的另外的实施例的手术吻合设备的立体图；
图23是根据本公开的实施例的装载单元的立体图；
图24是各部分分离的如图23所示的装载单元；
图25是板组件的详细的立体图；
图26是图25的板组件的另一个详细的立体图；
图27是芯片组件的详细的立体图；
图28是图27的芯片组件的另一个详细的立体图；
图29是依照本公开的实施例的支撑板的详细立体图；
图30是图25至图28的芯片组件和板组件的立体图；
图31是图25至图28的芯片组件和板组件的另一个立体图；
图32是依照本公开的实施例的吻合钉钉仓组件的俯视立体图；
图33是有运送楔的图32的吻合钉钉仓组件的俯视立体图；
图34是图33的运送楔的仰视立体图；
图35是依照本公开的实施例的锁定组件的详细的立体图；
图36是图23的装载单元的立体图，其显示了吻合钉钉仓组件；
图37是去除砧座和运送楔的装载单元的俯视图；
图38是吻合钉钉仓组件的支撑板的近侧部的立体图；
图39是装载单元的沟槽的近侧部的立体图；
图40是装载单元的剖视图；
图41是各部分分离的装载单元的芯片组件的立体图；
图42是装载单元的近侧部的立体图；
图43是芯片组件的立体图；
图44是装载单元的近侧部的立体图；
图45是芯片组件的另一个立体图；
图46是依照本公开的实施例的锁定组件的详细的立体图；
图47是依照本公开的实施例的锁定机构的另一个详细的立体图；
图48是通过驱动梁的剖视图；
图49是锁定机构的另一个详细的立体图；
图50是显示闩锁、滑块和安装部的各部分分离的立体图；
图51是闩锁的立体图；
图52是显示锁定机构的去除各部分的装载单元的立体图；
图53是显示驱动梁的各部分分离的锁定机构的立体图；
图54是装载单元的纵向剖视面；
图55是显示闩锁和动态夹紧构件的图54的详细的视图；
图56是驱动梁、动态夹紧构件和滑块的侧视图；
图57是驱动梁、动态夹紧构件和滑块的侧视图，其中驱动梁和动态夹紧构件被推进；
图58是圆形装载单元附接到轴的立体图；
图59是芯片组件的立体图；
图60是去除各部分的图58的装载单元的内部的剖视立体图；以及
图61是示出电流曲线的图。
具体实施方式
本公开的特别的实施例将参考附图在下文中进行描述；然而，需要清楚的是，公开的实施例只是本公开的例子，本公开能够以各种形式显示。没有对周知的和/或重复的功能和结构进行详细描述，以避免以不必要或多余的细节来模糊本公开。因此，本文公开的特定的结构性的和功能性的细节不应当解释为限制性的，而应只是作为权利要求的基础和作为指导熟悉本领域的技术人员将本公开以不同方式应用在任何实际上适当的具体结构的代表性的基础。正如本领域中所常见，术语“近侧”指的是较靠近用户或操作者也就是外科医生或内科医生的部分或部件，而术语“远侧”指的是较远离用户的部分或部件。另外，本文描述和权利要求中使用的参考方位的术语，例如，“顶”、“底”、“上”、“下”、“左”、“右”和类似的参考方向的术语参照本文显示的附图和描述的功能使用。需要清楚的是，依照本公开的实施例可无限制在任何方向实践。在本描述和附图中，类似的附图标记表示执行同样、相似或等同的功能的元件。本公开的芯片组件的实施例将参考附图进行具体说明，在附图中，多个视图中的每一个的类似的附图标记代表同样的或相应的元件。本文中使用的词“示例性”的意思是“作为例子、实例或例证”。本文中描述为“示例性”的任何实施例不必解释为首选或优于其他实施例。词“例子”可与术语“示例性”互换使用。
首先参考图1和图2，包括根据本公开的认证系统的手术吻合器械总体显示为吻合器10。吻合器10包括手柄组件12，从手柄组件12向远侧延伸的接合器组件14，以及选择性地固定到接合器组件14的远侧端的装载单元16。手柄组件12、接合器组件14以及装载单元16的详细说明由公布号为2012/0089131的共有美国专利申请提供，上述专利的全部内容通过引用结合于此。
手柄组件12包括下壳体部17，从下壳体部17延伸出和/或支撑在下壳体部17上的中间壳体部18，以及从中间壳体部18延伸出和/或支撑在中间壳体部18上的上壳体部19。中间壳体部18和上壳体部19被分离成：远侧半体20a，其与下壳体部17一体形成并从下壳体部17延伸出；以及近侧半体20b，其通过任何合适的附接方式(例如并不限于，超声波焊接和/或多个紧固件)与远侧半体20a连结。当连结时，远侧半体20a和近侧半体20b形成手柄壳体21，手柄壳体21在其内限定了空腔，空腔容纳电路板，该电路板包括控制器21a和驱动机构(未显示)。
下壳体部17包括枢转地连接在其上的门13，其用于进入形成于下壳体部17内的用于在其中保持电池(未显示)的空腔。可构思的是，吻合器10能够由任何数量的电源提供动力，例如，并不限于，燃料电池、与外部电源连接的电源线，等等。
接合器组件14包括在其近侧端的驱动联接器22和在其远侧端的装载单元联接器15。上壳体部19的远侧半体20a限定了鼻形部或连接部11，其配置为可操作地接纳接合器组件14的驱动联接器22。装载单元16包括接合器联接器27，其配置为可操作地接纳接合器组件14的装载单元联接器15。
手柄壳体21的上壳体部19封装驱动机构(未显示)，其配置为驱动轴和/或齿轮部件(未显示)以执行吻合器10的各种操作。特别地，驱动机构配置为驱动轴和/或齿轮部件以选择性地使装载单元16的工具组件或末端执行器23相对于装载单元16的近侧主体部24移动，使装载单元16关于纵向轴线“X-X”(图1)相对于手柄壳体21旋转，使砧座组件25相对于装载单元16的钉仓组件26移动，和/或发射装载单元16的钉仓组件26内的吻合和切割钉仓。
图1至图21显示的装载单位16是线性手术吻合装载单元。装载单元包括吻合砧座，吻合砧座具有用于使手术吻合钉形成的凹部，其中，通过在手术系统中装载单元的操作来抵靠吻合砧座驱动手术吻合钉。吻合钉钉仓容纳手术吻合钉以及吻合钉发射和/或驱动组件。吻合钉发射和/或驱动组件是已知的。专利号为8,256,656和7,044,353的美国专利中描述了一个这样的组件，上述专利的整个公开通过引用合并于此。驱动组件包括具有刀片的细长驱动梁。驱动梁推动致动滑块，致动滑块具有用于与推进器相互作用的楔形表面。推进器支撑吻合钉，并具有凸轮面，滑块楔形表面抵靠凸轮面滑动，在滑块以纵向方式穿过吻合钉钉仓被推进时向上驱动推进器。
可构思的是，装载单元具有分别支撑砧座和吻合钉钉仓的钳夹构件。砧座钳夹构件和吻合钉钉仓钳夹构件可以接近从而夹紧两者之间的组织。还设想到的是，末端执行器能够偏离由近侧主体部24限定的纵向轴线离轴地做关节式运动或枢转。
可构思的是，装载单元可以是圆形手术吻合单元、其他类型的吻合单元或其他类型的手术末端执行器，例如电烙器、消融器、超声波等等。
参考图3、图4和图5，接合器组件14的装载单元联接器15配置为通过推扭布置或卡口式布置来可操作地接合装载单元16的接合器联接器27。接合器联接器27包括一个或多个卡口式凸耳28，其配置为与限定在由接合器组件14的装载单元联接器15提供的卡口式卡圈48中的对应的一个或多个卡口式通道29匹配。短连杆构件44和装载连杆构件45纵向布置在接合器组件14内，并配置为在吻合器10操作期间纵向(例如，向远侧和向近侧)平移。通过弹簧49a抵靠卡口式通道29向远侧推动布置在短连杆构件44的远侧端的凸轮55。为了使装载单元16与接合器组件14接合，装载单元16的接合器联接器27插入接合器组件14的装载单元联接器15并旋转。依次地，卡口式卡圈48与接合器联接器27协同地旋转。随着卡口式卡圈48旋转，凸轮55运动而离开卡口式通道29，引起短连杆构件44向远侧平移，这接下来引起形成在短连杆构件44内的开关凸片47致动开关46。开关46与控制器21a进行可操作地电通信并配置为将装载单元16和接合器组件14之间的接合状态传送给控制器21a。
现在转到图6至图10，装载单元16的接合器联接器27包括认证板组件30，认证板组件30配置为牢固地安装在限定在接合器联接器27中的凹部31内。认证板组件30定位在接合器联接器27内，从而使得当装载单元16固定到接合器组件14时，认证板组件30与安装在接合器组件的装载单元联接器15内的接合器板组件50接合(图11)。具体地，认证板30包括电路板37、一对接触构件40a，40b(统一地称为接触构件40)和芯片36。电路板37限定了大致上平坦的细长构件，其配置为被紧固地接纳在由接合器联接器27限定的凹部31内。芯片36与接触构件40进行电通信。电路板37的远侧端37a支撑芯片36，而电路板37的近侧端37b支撑接触构件40。电路板37的远侧端37a包括限定在其内的对准凹槽33，其配置为与设置在凹部31的远侧端的相应的对准凸块32接合以确保认证板组件30在接合器联接器27内的牢固的且精确的定位。
芯片36包括任何能够存储装载单元16的规格并且能够将规格传输到手柄组件12的芯片，所述规格例如并不限于，钉仓尺寸、吻合钉布置、吻合钉长度、夹紧距离、制造日期、有效期、兼容性、唯一标识符(例如，序列号)、和/或使用数量。在一些实施例中，芯片36包括可擦可编程只读存储器(“EPROM”)芯片。以这种方式，手柄组件12能依照从从芯片36传输来的装载单元16的规格来调整其发射力、发射行程、和/或其他操作特性。进一步设想，芯片36可以包括写入能力，其允许手柄组件12向芯片36传达关联的装载单元16已使用，这能够防止已用尽的再装载组件的再装载或再使用，或任何其他未经许可的使用。
在一些实施例中，芯片36包括安全认证芯片，例如但并不限于，加利福尼亚州圣何塞市的Maxim IntegratedTM制造的具有1-Wire SHA-256和512-Bit User EEPROM的DS28E15DeepCoverTM Secure Authenticator。在这些实施例中，芯片36的内容，以及芯片36和手柄组件12之间的通信将加密以防止未经许可的访问。以这种方式，将会有效阻碍低品质仿制品、重新制造、或“假冒”装载单元的使用，反过来，通过确保在手术操作中仅使用新的、真正的装载单元16而降低对病人的风险。另外，医疗设施和/外科医生在不知情的情况下可能使用仿制的装载单元的可能性会大大降低，从而减少社会提供医疗服务的总体费用。在一些实施例中，芯片36利用单一信号导体采用的“1线(1-wire)”通信接口，和地导体，使芯片36和手柄组件12之间进行双向串行通信。
接触组件38(图9、图10)包括通过接触基座59连结的短接触臂41和长接触臂42，并具有大体上细长u型的配置。短接触臂41包括正交地布置并固定到其近侧端的上部的第一接触构件40a。长接触臂42包括正交地布置并固定到其近侧端的上部的第二接触构件40b。短接触臂41和长接触臂42各自包括正交地布置并固定到其远侧端的下部的焊片39。焊片39通过例如，焊接、导电性粘合剂、和/或其他合适的技术机电地连结到电路板37的近侧端37b。
接合器联接器27包括从其近侧端径向延伸的凸起的接触支撑件34并且包括在其内限定的一对支架35a、35b，其配置为当认证板组件30定位在接合器联接器27的凹部31内时，分别接纳第一接触构件40a和第二接触构件40b。盖43配置为将认证板组件30保持且封装在接合器联接器27的凹部31内(图7和图8)。
在一些实施例中，短接触臂41和第一接触构件40a通过接触基座59与长接触臂42和第二接触构件40b电绝缘。在这些实施例中，短接触臂41和长接触臂42中的每个承载单独的电路，例如，短接触臂41承载信号，而长接触臂42承载地线。在其它实施例中，短接触臂41和第一接触构件40a与长接触臂42和第二接触构件40b电连结。在这些实施例中，短接触臂41和长接触臂42以分叉或冗余的模式操作以运载信号电路，而接地电路通过装载单元16、接合器单元14、和/或手柄组件12的其他导电部件承载。
如上所述，认证板组件30配置为当装载单元16固定到接合器组件14时，与安装在装载单元联接器15内的接合器板组件50接合。现在参考图11至图14，装载单元联接器15包括配置浮置地安装在限定于装载单元联接器15内的凹处60内的接合器板组件50。接合器板组件50定位在装载单元联接器15内，从而，当装载单元16固定到接合器组件14时，接合器板组件50与认证板组件30接合。
接合器板组件50包括电路板51，电路板51具有一对固定到其上以及与手柄组件12可操作通信的接触构件55a、55b(统一地称为接触构件55)。在示出的实施例中，接触构件55a、55b被布置为在横向方向有效接合，以适应本文描述的装载单元16和接合器组件14的旋转联接，其中横向方向例如，横向于吻合器10的纵向轴线“X-X”。
电路板51包括上表面51a、下表面51b、近侧端51c和远侧端51d。电路板51限定大体上平面的细长的构件，其配置为弹性地或浮置地接纳在由装载单元联接器15限定的凹处60内。弹簧夹52固定到电路板51的近侧端51c，并配置为将接合器板组件50支撑在凹处60内。弹簧夹52包括一对具有翼状构造的弹簧支持件54，其配置为防止弹簧夹52过度延伸并给其提供刚度。接合器板组件50包括弹簧53，弹簧53具有设置在电路板51的上表面51a上的宽的、弯曲的u型轮廓。在一些实施例中，弹簧夹52和弹簧53可以是一体成型形成。弹簧夹52和/或弹簧53可能是正对齐和/或由电路板51的近侧端51c限定的凹槽62支撑。电路板51包括限定在其内的一个或多个通孔56，其可以用来形成电路板51的上表面51a和下表面51b之间的导电通路。
当接合器板组件50安装在凹处60内时，弹簧53抵靠接合器组件14的外管57(图15，图16)。在使用中，接合器板50是通过弹簧53和侧弹簧夹52朝着认证板组件30弹簧偏置的，从而，装载单元16和接合器组件14一连接，装载单元16和接合器组件14之间的任何制造公差将会通过凹处60内的接合器板50的浮动弹簧安装间的接合而得到补偿。可设想除弹簧53之外的可替代偏置方法。以这种方式，将坚实地实现接合器板50的接触构件55和认证板组件30的接触构件40之间的可靠连接，从而在芯片36和手柄组件12之间提供稳健的通信链路。在实施例中，接触组件38、接触件40、和/或接触件55至少部分地由导电材料形成，导电材料例如并不限于，铍铜。
现在转到图15至图21，显示了接合器板组件50和认证板组件30之间的相互作用。如图15、图16和图19所示，接合器板50通过弹簧夹52被保持在装载单元接合器15内。弹簧53抵靠外管57使得朝向孔61向内偏置接合器板50，从而，接触构件55延伸进孔61。当接合器联接器27完全插入装载单元接合器15的孔61时，接合器联接器27和装载单元联接器15的初始旋转定向使得认证板30的接触构件40和接合器板50的接触构件55大约分开45°(图20)。随着装载单元16关于接合器组件14旋转，认证板30的接触构件40将与接合器板50的接触构件55接合。有益的是，当它们与接合器板50的匹配的接触构件55接合时，装载单元16的接合器联接器27的接触支撑件34对接触构件30提供径向支撑。另外，弹簧53抵靠外管57，这使接合器板50能够关于认证板30和装载单元联接器15浮置，从而补偿各个部件之间的制造差异并在认证板30和接合器板50之间提供可靠连接。
可构思的是，像装载单元16一样的装载单元可有可拆卸的且可更换的吻合钉钉仓组件。吻合系统如图22至图57所示，根据本公开的实施例，具有与上述的手柄组件12相似的动力手柄组件112。手柄组件如上述配置并具有控制器121a。吻合系统包括接合器组件114和装载单元116，它们每个可以如上述配置。装载单元是线性吻合装载单元，但其他类型的装载单元可以考虑。装载单元116具有驱动组件，其用于将吻合钉发射到夹紧在砧座钳夹构件111和吻合钉钉仓钳夹构件113之间的组织中，如上文所述。
支撑在吻合钉钉仓钳夹构件113内的是可拆卸的且可更换的吻合钉钉仓组件115。可拆卸的且可更换的吻合钉钉仓组件公开在2011年10月25日递交的申请号为13/280,880并且公布为2013-0098965A1的美国专利中，上述专利申请的整个公开通过引用结合于此。
本公开的装载单元116配置为将多于一次使用。尤其是，装载单元具有可拆卸的吻合钉钉仓组件115，其包括上文所述的吻合钉钉仓和驱动组件。可拆卸的组件116配置为可拆卸的且可更换的(例如，从其中发射吻合钉或其他手术紧固件之后)。显示的装载单元116包括能够与接合器组件114连接的近侧主体部118。然而，本公开的装载单元的特征可以纳入如下的手术器械:该手术器械不包括器械的细长部的可拆卸部分。
装载单元500包括限定纵向轴线“A-A”的近侧主体部118。钳夹构件包括砧座钳夹构件111和钉仓钳夹构件113。钳夹构件中的一个关于另一个钳夹构件是可枢转的以能够夹紧钳夹构件之间的组织。在示出的实施例中，钉仓钳夹构件113关于砧座钳夹构件是可枢转的并可在打开或未夹紧位置和闭合或接近位置之间运动。然而，砧座钳夹构件，或钉仓钳夹构件和砧座钳夹构件两者，是能运动的。如结合图1至图21所述的，砧座钳夹构件包括具有多个吻合钉成形凹穴的砧座。
钉仓钳夹构件113包括通道或载体120，其接纳并支撑吻合钉钉仓组件115。钉仓组件具有钉仓主体140和支撑板111。钉仓主体和支撑板通过搭扣配合(如下文所述)，止动器、闩锁、或其他类型的连接，与通道或载体120连接。钉仓组件包括紧固件或吻合钉141。钉仓主体140限定多个横向间隔的吻合钉保留狭槽142，其配置作为开口(见图32)。每个狭槽配置为在其中接纳紧固件或吻合钉。钉仓组件还限定了多个凸轮楔狭槽，其容纳吻合钉推进器146以及在底部开口以允许致动滑块148在如上所述的吻合钉发射时纵向通过凸轮楔狭槽。
可拆卸的吻合钉钉仓组件115包括钉仓主体140和支撑板111。可拆卸的组件115例如在吻合钉从钉仓主体140发射后能够从通道120拆卸。另一个可拆卸的且可更换的吻合钉钉仓组件能够被装载到通道中，从而能够再次致动装载单元116以发射额外的紧固件或吻合钉。
通道120包括用于接合吻合钉钉仓组件和支撑板的一个或一对接合结构120a(例如狭槽)(见图39)，用于驱动梁的通道的中心狭槽，用于与砧座钳夹构件连接的一对近侧孔150，以及倾斜表面152。近侧孔150配置为与砧座钳夹构件上的一对相应的孔或特征件对准/机械接合。钳夹构件可以通过销连接，例如，以利于在砧座钳夹构件111和钉仓钳夹构件113之间的枢转关系。
钉仓主体140包括中心狭槽143，和布置在狭槽143的每一侧的成排的吻合钉保留狭槽(见图32)。钉仓主体还包括一对接合结构或突起，其在一些实施例中可以是邻近其近侧端的用于与支撑板111a和/或通道120连接的狭槽或开口。
特别参考图29，支撑板111a包括基部145，用于与钉仓主体和/或通道连接的接合特征件147和147a(见图38)，以及在其近侧端的安装部149(见图29)。支撑板111a设置在钉仓主体下以支撑吻合钉推进器、致动滑块、和吻合钉(或其他手术紧固件)并防止这些部件从吻合钉钉仓组件脱落。
装载单元可包括例如，安装在近侧主体部118的近侧端上的芯片组件360，如图41至图45所示。芯片组件如上文所述，与如上所述的认证板组件30连接。芯片组件360安装为用于在接合器组件114的远侧端与联接器内的板组件连接，并可为如上文结合图1至图21所述的配置。芯片组件360包括以认证和信息为目的的芯片361，并且可包括存储某些信息的存储器。信息可以包括装载单元的设备类型、设备/装载单元的版本、装载单元的名称、制造批号、序列号或其他标识号、装载单元的驱动梁能够驱动的最大力、联锁区(mm)、端区(mm)、装载单元是否能够做关节式运动、和/或使用限制(装载单元可以使用的次数)。联锁区是当驱动梁由在装载单元内的锁定件接合时，从驱动梁的开始或初始位置测得的驱动梁的位置，以毫米为单位。锁定件的例子如下文所述。端区是当驱动梁在吻合钉钉仓主体140内达到其行进的末端时，从驱动梁的开始或初始位置测得的驱动梁的位置，以毫米为单位。因为吻合钉钉仓组件115可以拆卸和更换，可以有装载单元能够重新装载新的、未发射的吻合钉钉仓的次数的预期限值。存储在芯片上的信息可以包括吻合钉线的长度和/或吻合钉钉仓的长度。
手柄组件112内的控制器121a可以被编程为读取芯片361上的信息或从其他控制器接收作为存储在芯片361中的信息的功能的指示。此信息用于手术系统的操作。期望地，部分或所有的信息被加密，这可以如上结合图1至图21所述那样来实现。控制器可以被编程为在不能识别序列号或其他数据的情形下，不对设置在手柄组件112内的马达(未显示)提供动力，以及不操作接合器组件和装载单元。可以基于任何系统芯片(包括但不限于芯片361)的认证状态来启用或禁用不同级别的功能。例如，不能成功认证的系统可以设置为允许吻合重新装载以夹紧，关节式运动，和低速旋转，但不发射。最大力信息与设置在手术系统中的载荷传感器，例如应变仪，结合使用。例如，载荷传感器可以设置在接合器组件114和/或装载单元中，例如驱动梁上的载荷传感器。控制器被编程为比较来自载荷传感器的数据和存储在芯片上的最大力数据，从而，例如，在最大力超出之前，中断或改变马达(未显示)的运转。在另一例子中，控制器可以被编程为如果测量的力达到预设的水平，或者当满足任何其他触发的度量时以“慢速模式”操作。力的预设水平可以是存储在系统内的芯片(例如芯片361)上的上文所述的最大力，或另一水平的力。慢速模式意味着，控制器以较慢的速度操作马达(未显示)，以及也推迟了组织的压缩和/或吻合钉的发射。在较厚的组织中，慢速模式可以允许组织内的流体移动离开吻合部位，利于组织的更多的压缩。可以使用载荷检测的替代方法，例如感应组织厚度的变化、厚度或压缩改变的速度、监测手柄组件的马达内的电流消耗、驱动组件的运动的速度，等等。
可设想的是，控制器可以具有用于确定手柄组件中的马达应如何运转的反馈回路。控制器可以被编程为比较力随着时间变化的曲线，或负载随着时间变化的曲线。如果对于特定的装载单元不是预期的力或负载的模式，或在达到某预定的最大值或其他限制之前，中断或改变马达(未显示)的运转。控制器也可以被编程为如上文所述的基于曲线以“慢速模式”操作。
以类似的方式，如果驱动梁设置在联锁区、端区、或其他特定感兴趣的区域，则马达的运转可以停止或在慢速模式下运转。另外，如果芯片361上的数据表明装载单元没有做关节式运动，则控制器可以中断或防止关节式运动联接件、杆或线缆的操作。相似地，如果芯片361上的数据表明装载单元是特定类型，则控制器可以中断或改变系统旋转的特性。
可构思的是，带有某些或全部上文所述的数据的芯片361可设置在本公开的任何的实施例中，其包括没有可拆卸的且可更换的吻合钉钉仓组件的装载单元，和/或不进行关节式运动的装载单元。
可构思的是，芯片361上的信息可以通过手柄组件中的控制器、系统中的另一个芯片、或手术系统里的任何其他的计算机部件来读取。
在本公开的任何的实施例中，控制器能够将信息写入到装载单元上的芯片中。例如，如上文所述的被载荷传感器测得的用于夹紧组织的最大力，用于发射吻合钉的最大力，和/或当驱动梁停止前进时驱动梁的位置，等等。可以写入芯片361的其他信息包括当设备进入慢速模式时驱动梁的位置、装载单元已经发射的次数、装载单元是否已经发射、手柄组件的类型、手柄组件的序列号、接合器组件的类型、关键事件的日期和时间、手术系统的部件的方位、温度、和/或接合器组件的序列号。在本公开的任何的实施例中，发射吻合钉的最大力可以与驱动梁的位置一起被保存。信息也可以保存到与手柄组件内的控制器连接的存储器、系统中的其他芯片、或手术系统中的其他计算机部件。
还可设想的是，在本公开的任何的实施例中，末端执行器或工具组件布置为在工具组件与纵向轴线“Y-Y”对准的第一位置和工具组件设置成关于纵向轴线“Y-Y”成角度的第二位置之间做关节式运动。例如，包括砧座钳夹构件和钉仓钳夹构件的工具组件可安装成使其关于近侧主体部118能够枢转。砧座钳夹构件和钉仓钳夹构件可以连接到安装组件2020(下文进一步讨论)，并且安装组件可以可枢转地连接到近侧主体部118。装载单元116包括一个或多个布置在近侧主体部中的线缆或联接件，从而当移动线缆或联接件移位时，工具组件关于器械枢转并且做关节式运动。提供关节式运动的进一步的内容由授予Milliman等人的专利号为6,953,139的共有美国专利进行详细描述，上述专利的全部内容通过引用结合与此。接合器组件114包括用于实现工具组件的关节式运动的联接件、杆或线缆。
如图32所示，例如，本公开的任何的实施例可以包括具有阶梯状的组织接触表面1412的钉仓主体140。在这种实施例中，可以使用不同尺寸的吻合钉，或所有都是相同尺寸的吻合钉。具有多个吻合钉尺寸的吻合钉钉仓的进一步细节包含在授予Holsten等的专利号为7,407,075的美国专利中，该专利的全部内容通过引用结合于此。砧座的吻合钉成形凹部、或吻合钉推进器、或两者，可以相应地配置为使吻合钉以需要的形状和尺寸成形。
可拆卸的且可更换的吻合钉钉仓组件115可以进一步包括芯片组件362。(见图27和图28)。相应的板组件380(图25和图26)设置在装载单元116的工具组件上，并可设置在通道120上。工具组件板组件380可配置为如上文结合接合器联接器27的接合器板组件50所述的。工具组件板组件380配置为牢固地安装在通道120的壁上。此板组件380定位成使得当钉仓组件140固定到装载单元的通道120时，芯片组件362与安装在通道上的板组件380接合。(见图29至图31)。图27和图28显示芯片组件和吻合钉钉仓主体140之间的关系，而图29显示芯片组件362和支撑板111a之间的关系。
更具体地，芯片组件包括主体337和一对连接到设置在主体内的芯片336的接触构件340a、340b(统称为接触构件340)。主体337限定了具有柔性臂的矩形构件，柔性臂在其上具有搭扣特征件337a。柔性臂配置为被牢固地接纳在限定在钉仓主体内的凹部331内。芯片336与接触构件340进行电通信。
芯片336包括能够存储关于吻合钉钉仓组件115的信息的任何芯片。芯片可以与认证板组件30的芯片相同或类似。在本公开的任何实施例中，任何芯片可以存储信息，例如并不限于，钉仓尺寸、吻合钉布置、吻合钉线长度(或钉仓长度)、制造日期、有效期、兼容性特征、唯一标识符(例如，序列号)、和/或使用次数，以及吻合钉钉仓组件是否已经使用。此类信息可以传输到手柄组件112中的控制器，或通过合适的总线、引脚连接、无线的方式等等传输到另一个计算机部件。在一些实施例中，芯片336包括可擦可编程只读存储器(“EPROM”)芯片。手柄组件中的控制器能够将信息写入到芯片336中。以这种方式，手柄组件12可以依照从芯片336传输来的关于吻合钉钉仓组件的信息而调整其发射力、发射行程、和/或其他操作特性。手柄组件112可向芯片336传达吻合钉钉仓组件已经使用，这能够防止用尽的再装载组件的再装载或再使用，或任何其他未经许可的使用。存储在手术系统中的任何部件中的信息可以利用私钥加密、公钥加密、和/或安全哈希算法进行加密或模糊化。
在本公开的任何实施例中，存储在手术系统的部件的芯片上的信息可以包括部件的类型、重新排序代码、序列号、标识码、批号、与系统的兼容性、有效期、制造日期、编程日期、设计版本、材料帐单、外科医生的偏好、性能特征、和/或部件的品牌。例如，此类信息可以存储在芯片361或芯片336上。可构思的是，可以基于存储在装载单元、吻合钉钉仓组件等等中的一个或多个芯片上的信息，基于外科医生的偏好、和/或装载单元以“慢速模式”还是“快速模式”操作，而生产专门的或定制的装载单元。
在本公开的任何实施例中，可拆卸的且可更换的吻合钉钉仓组件、装载单元、和/或控制器可以包括存储关于工具组件的关节式运动的信息的芯片或存储器。手术系统包括某些传感器和/或编码器，例如，霍尔效应传感器、径向编码器、线性编码器、电位器、加速度计、力传感器等等，其可以确定装载单元的驱动组件的位置，和/或接合器组件的相应的部件的位置。例如，工具组件包括致动工具组件的关节式运动的关节式运动联接件。控制器可以通过传感器或编码器来监测联接件的位置，并确定工具组件已经进行关节式运动的程度。另外，工具组件已进行关节式运动的次数可以存储在吻合钉钉仓组件、接合器、控制器、或其他计算机部件的芯片或存储器中。可以存储关于当工具组件已达到完全关节式运动位置时联接件的位置的信息。
板组件380(见图25和图26)也具有一对接触件380a和380b以及主体381。板组件安装为当吻合钉钉仓组件适当地安装在通道120内时，与芯片组件362接触。如图所示，接触件380a、380b、340a和340b具有L型的配置，从而它们可互相弹性接合。主体381可以限定搭扣特征件382，其设置为接合通道内的孔383以牢固地安装板组件。板组件适当地连接到总线、电线，或具有无线通讯器用于将信息从芯片组件362传输到手柄组件中的控制器，以及从控制器传输到芯片组件，或来往于任何其他的计算机设备。
在本公开的任何实施例中，锁定机构500设置在装载单元内。装载单元可如上文所述配置。另外，本公开针对具有锁定件的可拆卸的组件，或具有锁定件的装载单元。
锁定机构500包括闩锁2010和至少一个弹簧2030，并配置为防止吻合钉钉仓组件115或吻合钉钉仓26的再发射，并且还防止在吻合钉钉仓已发射之后以及另一个钉仓组件115装载之前驱动梁向远侧平移。图50中显示了锁定机构500在滑块148和安装组件2020旁侧。至少一个弹簧2030安装在朝向远侧的表面2031上。例如，凹部形成在表面2031中，用于接纳弹簧2030。相应的柱设置在闩锁2010的朝向近侧的表面上。闩锁配置为能够在装载单元内枢转，并包括至少一个叉头2012、后部2014、和支撑部2016。闩锁被配置为绕着在如图50和图51示出为两个向下悬垂的特征件的支撑部2016枢转，并通过弹簧2030偏置。滑块148具有当闩锁和驱动梁处于它们的初始位置时用于接纳至少一个叉头2012的孔或凹部。(见图52)。驱动梁2039可以与动态夹紧构件2040相互作用、或包括动态夹紧构件2040，动态夹紧构件具有上凸缘2042、下凸缘2044、和刀片2046。(见图53)。
在初始位置，闩锁2010沿向前或远侧的方向偏置，后部2014与驱动梁2039上的边缘2039a接触，防止闩锁的进一步旋转运动。随着驱动梁和动态夹紧构件沿向前或远侧的方向运动时，动态夹紧构件向远侧推动滑块。滑块的后部148a推动叉头(一个或多个)2012，使闩锁抵靠至少一个弹簧2030的偏置而倾斜。这从边缘2039a的附近区域移除后部2014，并允许驱动梁和动态夹紧构件向前运动。动态夹紧构件通过闩锁2010后，闩锁在弹簧的影响下向前旋转。(见图57)。
在动态夹紧构件和滑块从钉仓140发射吻合钉之后，动态夹紧构件向近侧运动，使滑块处在钉仓140和钉仓组件115的远侧端。随着凸轮面2041使闩锁运动而脱离行进路径，动态夹紧构件可以运动通过闩锁2010(见图57)。一旦动态夹紧构件返回到初始位置，闩锁2010将防止动态夹紧构件2040的另一向前的运动。闩锁后部2014处于与驱动梁的另一个边缘2039b接合的位置。(见图57)。如果装载单元是接受可拆卸的且可更换的吻合钉钉仓组件115的类型，则钉仓组件115可以配置为将闩锁2010返回到初始位置，从而驱动梁和动态夹紧构件可以再次向远侧运动以发射另一套吻合钉。
如上文所述，本公开的任何实施例可以在手术吻合装载单元(例如装载单元116)中包括芯片组件360，在其上具有关于锁定机构(例如上文所述的锁定机构)的信息。另外，关于锁定机构的信息可以存储在芯片361上。例如，锁定机构接合的事实可以通过手柄中的控制器记录在芯片组件360和/或芯片组件362中。手柄中的控制器可以包括存储信息的存储器，包括处理器，和其他计算机部件。控制器还可以包括电流表、或安培表，以测量手柄组件的马达内的电流。控制器可以被编程为记录在使用装载单元和/或吻合钉钉仓组件期间所达到的电流峰值，并可以在系统中的任何芯片或其他计算机部件中记录该电流峰值。发射吻合钉后所达到的电流峰值可以是新的吻合钉钉仓组件安装在装载单元中之前，装载单元试图第二次发射的指示。或者，锁定机构可以包括传感器，例如，在闩锁上。设想到的是，手术系统可以包括不具有像上文所述的锁定机构的装载单元。装载单元不具有锁定机构的事实可以存储在芯片361中。
可以包括在内的编码器的一个类型是手柄组件中的一个。可以设置如下的编码器：确定马达输出轴或系统的任何其他部分已经旋转多少次，并可以用于确定接合器组件中的驱动杆、联接件、线缆等等的位置，装载单元的发射杆的位置，或其他部件的位置。或者，其他传感器可以用于确定手术系统中的各种部件的位置。
本公开的任何实施例中的公开的接合器组件，可以如美国公告申请号2011/0174099A1公开的一样进行配置，上述专利的全部公开通过引用结合于此。手柄组件中的马达提供旋转轴上的旋转输出，且接合器被配置为将该输出变换为线性运动的联接件或杆，并且还可以为在装载单元116的近侧主体部118内的关节式运动联接件提供驱动。手柄组件和/或接合器组件可以如美国公告申请号2014/0012289A1和2014/0110453A1公开的一样进行配置，上述专利的全部公开通过引用结合于此。
在手术系统中，装载单元可以是不同类型的手术吻合装载单元，相应的接合器用于使手柄中的马达的输出适应特定的装载单元。例如，一种类型的装载单元是圆形吻合装载单元2201。见图58。与上文所述的装载单元116相比，装载单元2201的砧座2203朝向和远离吻合钉钉仓组件2205运动，同时保持其组织接触表面处于平行关系。杆前进和后退以完成砧座2203的运动。提供单独的致动器来完成吻合钉的发射和组织的切割。与此相反，上文所述的动态夹紧构件完成工具组件夹紧组织，以及吻合钉的发射。设置适当的接合器(未显示)从而装载单元2201可以与正像上文所述的手柄组件112这样的手柄组件一起使用。接合器具有可以弯曲的轴2206，和线缆、联接件、和/或杆，或其组合，以使砧座2203与吻合钉钉仓部件2205隔开，从而外科医生可以在砧座和钉仓部件/组件周围布置组织的管状部分。正如众所周知的那样，砧座可以接近钉仓组件，并且吻合钉可以发射而穿过组织。随后,圆形刀具切割吻合钉线内侧的组织。
例如，装载单元2201可以有通道2207用于杆与接合器中的致动器连接，接合器中的致动器(例如，联接件、线缆、杆等)通过手柄组件的动力(例如，马达的)输出来驱动。见图60。如上所述，杆使得砧座2203运动。装载单元还有，如图60所示，用于接纳吻合钉钉仓组件的空间2209或者，可替代地装载单元可以有永久连接的吻合钉钉仓。装载单元2201进一步具有用于发射吻合钉的吻合推进器和用于切割组织的刀具。
因此，可能期望使用手术系统的控制器来改变手柄组件上的各种致动器的功能。例如，手柄组件112可以具有推动按钮、摇杆开关、触摸屏特征、和/或另一种类型的致动器(这里通常称为“按钮”)。提供至少四个这种按钮：启动关节式运动装载单元(如装载单元116)的关节式运动；启动组织夹紧；启动吻合钉的发射；以及启动组织的切割。在某些实施例中，有用于关节式运动的第一按钮，和用于夹紧和发射的第二按钮。控制器，优选是在动力的(例如，马达的)手柄组件中，设置为当有像装载单元16或装载单元116一样的线性手术吻合再装载件时，将第二按钮的功能改变为夹紧、发射和切割。控制器可以被编程为还将第二致动器的功能改变为夹紧，允许使用第三致动器来启动发射，以及如果装载单元是像单元2201一样的圆形吻合装载单元，则允许使用第四致动器来启动切割。在某些实施例中，控制器被编程为允许或防止使用按钮启动线性吻合装载单元(如上文所述的装载单元16)的工具组件的关节式运动。在本公开的任何实施例中，手柄组件的控制器(或手术系统的另一个部件)可以被编程为更改一个或更多按钮的功能，允许使用按钮的功能，和/或防止使用按钮的功能。
如图59所示，圆形吻合装载单元2201可以包括具有芯片2221的芯片组件2220，这可以是如上文结合图1至图57所述的。此外，在某些实施例中，单元2201具有可拆卸的且可更换的有其自己的芯片组件和芯片的钉仓组件(未显示)。
期望的是，控制器程序和/或存储器包括用于潜在的装载单元的关于潜在的末端停止处，或其他重要位置的信息。例如，线性吻合装载单元可以是30毫米、45毫米和/或60毫米的吻合钉线单元，从而控制器可以被编程为存储当驱动组件位于这些位置时，关于各种传感器和/或编码器检测到的力的信息。设想到的是，在本公开的任何的实施例中，可以使用感兴趣的系统中可移动部分的任何位置。如果适当的传感器(例如脉搏血氧仪、温度计等)设置在特定的装载单元上，则关于组织和/或周围部位的状况的信息可以由控制器、各种部件中的芯片、和/或其他的计算机部件存储。因为有各种类型的手术装载单元可以考虑，例如吻合、外科透热法等，并且它们可以以各种配置设置，例如不同的吻合钉线长度或直径，吻合钉尺寸、能量的级别等，设想到的是，存在与每个相关的电流曲线。例如，可以读取和保存装载单元的使用期间由手柄组件内的电流表或安培计读取的随时间变化的电流。设想到的是，控制器保存该电流曲线以及例如标识码和装载单元的类型。此信息可以由控制器或手术系统的另一个部件与已知的电流曲线进行比较。可以做出关于吻合钉的发射、组织的状况、装载单元或系统中使用的其他部件的状况、厚的组织等的推断。在本公开的任何实施例中，电流曲线可以如前所述的在系统中使用和/或存储。例如，图61所示的曲线图代表这样的曲线。电流开始待限制在“A”；随着机械负载上升，RPM下降。一旦RPM降低至预设限值以下，“Y”，设备切换成第二模式。这种模式将电流限制升高至“B”并将所需的RPM从“X”更改到“Z”。这种RPM变化对用户提供了视觉和听觉反馈。
虽然本公开的示例性实施例已经参考附图在本文进行描述，需要明白的是，本公开并不限于那些明确的实施例，而且本领域的技术人员在不脱离本公开的范围或精神内可以实现的各种其他的变化和修改。

Claims (14)

1.一种手术系统，包括：
手柄组件，其具有控制器，所述控制器具有至少一程序和存储器；
接合器组件，其从所述手柄组件延伸；以及
装载单元，其可释放地固定到所述接合器组件，所述装载单元具有安装为用于关节式运动的工具组件和用于致动所述工具组件的关节式运动的构件，所述工具组件包括可拆卸的且可更换的吻合钉钉仓组件，所述装载单元具有至少一个布置在所述吻合钉钉仓组件内的芯片组件，所述芯片组件具有芯片，所述芯片存储指示当所述工具组件处于完全关节式运动位置时所述构件的位置的数据，其中所述芯片从所述控制器接收信息。
2.根据权利要求1所述的手术系统，其中所述芯片具有指示装载单元的类型的数据，所述控制器的所述存储器具有装载单元的类型的电流曲线。
3.根据权利要求1所述的手术系统，其中所述芯片存储指示所述工具组件的长度的数据。
4.根据权利要求1所述的手术系统，其中所述控制器在所述装载单元操作期间监测来自马达的电流。
5.根据权利要求1所述的手术系统，其中所述可拆卸的且可更换的吻合钉钉仓组件具有芯片组件，所述可拆卸的且可更换的吻合钉钉仓组件的芯片组件包括芯片，所述可拆卸的且可更换的吻合钉钉仓组件的芯片组件的芯片存储指示吻合钉钉仓组件是否已经发射的数据。
6.根据权利要求1所述的手术系统，其中所述控制器监测构件的位置，并将关于构件的运动的数据存储在存储器中。
7.根据权利要求6所述的手术系统，其中所述工具组件已做关节式运动的次数被保存在存储器中。
8.根据权利要求6所述的手术系统，其中所述存储器具有指示当工具组件处于完全关节式运动位置时所述构件的位置的数据。
9.一种手术系统，包括：
手柄组件，其具有控制器，所述控制器具有存储器和至少一程序，所述控制器的存储器存储多条电流曲线；
接合器组件，其从所述手柄组件延伸；以及
装载单元，其能够可释放地固定到所述接合器组件，所述装载单元具有包括可拆卸的且可更换的吻合钉钉仓组件的工具组件，所述可拆卸的且可更换的吻合钉钉仓组件包括芯片，其中所述控制器被配置成从所述芯片读取吻合钉钉仓组件的类型并从存储在所述控制器中的所述多条电流曲线中选择电流曲线，其中所述控制器将信息写入所述芯片。
10.根据权利要求9所述的手术系统，其中所述控制器存储来自传感器、编码器、或传感器和编码器的信息。
11.根据权利要求10所述的手术系统，其中所述控制器将所述电流曲线与来自所述传感器、编码器、或传感器和编码器的信息进行比较。
12.根据权利要求9所述的手术系统，其中所述芯片存储指示所述可拆卸的且可更换的吻合钉钉仓组件是否已经发射的数据。
13.根据权利要求9所述的手术系统，其中所述芯片存储指示所述可拆卸的且可更换的吻合钉钉仓组件的长度的数据。
14.根据权利要求9所述的手术系统，其中所述芯片存储指示所述可拆卸的且可更换的吻合钉钉仓组件的吻合钉构造的数据。
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