CN114224403A - 用于可变速度手术器械的系统和方法 - Google Patents

用于可变速度手术器械的系统和方法 Download PDF

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CN114224403A
CN114224403A CN202111656705.5A CN202111656705A CN114224403A CN 114224403 A CN114224403 A CN 114224403A CN 202111656705 A CN202111656705 A CN 202111656705A CN 114224403 A CN114224403 A CN 114224403A
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torque
threshold
actuator
speed
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M·A·威克西
G·F·布里森
W·A·伯班克
P·弗拉纳根
P·辛格维
D·W·威尔
D·F·小威尔逊
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Intuitive Surgical Operations Inc
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Abstract

本申请涉及用于可变速度手术器械的系统和方法，并公开一种计算机辅助医疗设备中的手术器械的可变速度控制的系统和方法，该手术器械包含位于器械的远端处的末端执行器、致动器，以及用于将来自所述致动器的力或扭矩耦合到末端执行器的驱动机构。为了用器械执行操作，计算机辅助医疗设备将致动器的速度设定点设定为初始速度、监测通过致动器施加的力或扭矩、在所施加的力或扭矩在第一阈值之上时减小速度设定点、在所施加的力或扭矩在第二阈值之下时增加速度设定点、在所施加的力或扭矩在最大阈值之上时将速度设定点减小至零，并且基于速度设定点来驱动致动器。第一阈值和第二阈值低于最大阈值。

Description

用于可变速度手术器械的系统和方法
本申请是于2017年1月27日提交的名称为“用于可变速度手术器械的系统和方法”的中国专利申请201780005448.4的分案申请。
相关申请案
本公开主张于2016年1月29日提交的标题为“System and Method for VariableVelocity Surgical Instrument”的美国临时专利申请第62/288,784号和于2016年10月14日提交的标题为“I-Beam Stapler Controls Supplement”的美国临时专利申请第62/408,283号的优先权，这两个申请案通过引用以其全文结合在此。
技术领域
本公开总体涉及具有铰接臂和末端执行器的设备的操作，且更具体涉及具有可变速度控制的微创手术器械的操作。
背景技术
越来越多的设备被自主和半自主电子设备替代。在现今的医院中尤为如此，其中大量的自主和半自主电子设备在手术室、介入室、重症监护病房、急症室及类似者中被找到。例如，传统的手动手术器械被计算机辅助医疗设备替代。
使用计算机辅助医疗设备的微创手术技术通常试图执行手术和/或其它例程，同时使对健康组织的损害最小化。一些微创例程可以通过使用计算机辅助医疗设备与手术器械来远程地执行。利用许多计算机辅助医疗设备，外科医生和/或其它医务人员通常可以使用在操作员控制台上的一个或多个控件来操纵输入设备。当外科医生和/或其它医务人员在操作员控制台处操作各种控件时，将命令从操作员控制台转发到患者侧设备，一个或多个末端执行器和/或手术器械安装到所述患者侧设备。以此方式，外科医生和/或其它医务人员能够使用末端执行器和/或手术器械来对患者执行一个或多个例程。取决于期望的例程和/或所使用的手术器械，期望的例程可以部分或完全地在外科医生和/或医务人员的控制下使用远程操作来执行和/或在半自主控制下执行，在半自主控制中，手术器械可以基于通过外科医生和/或其它医务人员进行的一个或多个激活动作来执行一系列操作。
无论是手动致动地、远程操作地还是半自主地，微创手术器械都可以用于多种手术和/或例程中且可以具有各种配置。许多此类器械包含安装在轴的远端处的末端执行器，所述轴可以安装到铰接臂的远端。在许多手术情境中，轴可以经配置以通过开口(例如，体壁切口、自然孔口和/或类似者)插入(例如，以腹腔镜检查方式、以胸腔镜检查方式和/或类似者)以到达远程手术部位。
不同的设计和/或配置的末端执行器可以用于执行不同的任务、例程以及功能，以便允许外科医生和/或其它医务人员执行多种手术例程中的任何手术例程。示例包含但不限于，烧灼、切除、缝合、切割、吻合、融合、密封等，和/或其组合。因此，末端执行器可以包含各种组件和/或组件的组合以执行这些手术例程。
根据微创例程的目标，末端执行器的大小通常保持为小。将末端执行器的大小保持为小的一种方法为通过在手术器械的近端处的一个或多个输入的使用来实现末端执行器的致动，其中近端通常位于患者体外。各种传动组件(例如齿轮、杠杆、皮带轮、线缆、棒、皮带、带子和/或类似者)随后可以用于沿着手术器械的轴传输来自一个或多个输入的动作并致动末端执行器。在具有合适的手术器械的计算机辅助远程操作医疗设备的情况下，在器械的近端处的传动机构直接地或通过其它传动组件而间接地与设置在患者侧设备或患者侧推车的铰接臂上的一个或多个致动器连接，所述致动器例如各种电机、螺线管、伺服器、活动致动器、液压装置、气动装置和/或类似者。(多个)致动器接收响应于通过主控制器提供的用户命令而产生的控制信号，并将包括在传动机构的近端处的力和/或扭矩的输入提供到器械；各种传动元件最终传动以致动在传动机构的远端处的末端执行器。
因为末端执行器的大小通常为小，所以末端执行器可能具有有限的刚度，这可能使得末端执行器在一些抓取、夹持和/或吻合操作期间易经受弯曲和/或伸展。以服从对施加到传动机构的所施加扭矩和/或力的量的简单限制的目标速度操作器械通常可以引起具有失败的操作的抓取、夹持和/或吻合操作，或由于在空间或时间上的组织变化导致的参差不齐的速度分布，以及不同的操作步骤，例如不同的施力阶段在吻合操作中吻合组织。
因此，期望用于手术器械的操作的改进的方法和系统，所述操作例如抓取、夹持和/或吻合器械。在一些示例中，可以期望在不会不可接受地减慢器械的使用的情况下减少器械的弯曲和/或伸展的量。
发明内容
根据一些实施例，一种与计算机辅助医疗设备一起使用的手术器械包含位于器械的远端处的末端执行器、致动器，以及用于将来自致动器的力或扭矩耦合到末端执行器的一个或多个驱动机构。为了用器械执行操作，计算机辅助医疗设备经配置以将致动器的速度设定点设定为初始速度、监测通过致动器施加的力或扭矩、在所施加的力或扭矩在第一阈值之上时减小速度设定点、在所施加的力或扭矩在第二阈值之下时增加速度设定点、在所施加的力或扭矩在最大阈值之上时将速度设定点减小至零，并且基于速度设定点来驱动致动器。第一阈值和第二阈值低于最大阈值。
根据一些实施例，一种与计算机辅助医疗设备一起使用的手术器械包含位于器械的远端处的末端执行器、致动器，以及用于将来自致动器的力或扭矩耦合到末端执行器的一个或多个驱动机构。为了用所述器械执行操作，计算机辅助医疗设备经配置以通过根据速度设定点驱动致动器来根据状态机操作末端执行器。状态机包含第一夹持状态、第二夹持状态以及等待状态。在第一夹持状态中，致动器的速度设定点设定为第一速度。在第二夹持状态中，致动器的速度设定点设定为低于第一速度的第二速度。在等待状态中，速度设定点设定为零。当通过致动器施加的力或扭矩在第一阈值之上时，状态机从第一夹持状态转变至第二夹持状态。当通过致动器施加的力或扭矩在高于第一阈值的最大阈值之上时，状态机从第二夹持状态转变至等待状态。当通过致动器施加的力或扭矩在第二阈值之下时，状态机从第二夹持状态转变至第一夹持状态。
根据一些实施例，一种操作与计算机辅助医疗设备一起使用的手术器械的方法包含使用一个或多个处理器来执行操作。所述操作包含将致动器的速度设定点设定为初始速度、测量通过致动器施加的力或扭矩、在所施加的力或扭矩在第一阈值之上时减小速度设定点、在所施加的力或扭矩在第二阈值之下时增加速度设定点、在所施加的力或扭矩在最大阈值之上时将速度设定点减小至零，以及使用致动器来驱动手术器械的末端执行器的一个或多个自由度。第一阈值和第二阈值低于最大阈值。
根据一些实施例，一种非暂时性机器可读介质包含多个机器可读指令，所述指令在通过与计算机辅助医疗设备相关联的一个或多个处理器执行时适于使得一个或多个处理器执行一种方法。所述方法包含将致动器的速度设定点设定为初始速度并测量通过致动器施加的力或扭矩。当所施加的力或扭矩在第一阈值之上时，所述方法进一步包含减小速度设定点。当所施加的力或扭矩在第二阈值之下时，所述方法进一步包含增加速度设定点。当所施加的力或扭矩在最大阈值之上时，所述方法进一步包含将速度设定点减小至零。并且所述方法进一步包含使用致动器来驱动手术器械的末端执行器的一个或多个自由度。第一阈值和第二阈值低于最大阈值。
附图说明
图1为根据一些实施例的计算机辅助系统的简化图。
图2为示出根据一些实施例的微创手术器械的简化图。
图3A至图3D为根据一些实施例的图2的末端执行器的简化图。
图4为根据一些实施例的用于操作末端执行器的状态机的简化图。
图5为根据一些实施例的末端执行器的速度-扭矩分布的简化图。
图6为根据一些实施例的用于执行吻合和切割操作的方法的简化图。
在附图中，具有相同标号的元件具有相同或相似的功能。
具体实施方式
在以下描述中，阐述描述根据本公开的一些实施例的具体细节。然而，所属领域的技术人员应清楚，一些实施例可以在没有这些具体细节中的一些或全部的情况下实践。本文中所公开的具体实施例意图为说明性的而非限制性的。所属领域的技术人员可以意识到，尽管未具体地在此处描述，但其它元件也可以在本公开的范围和精神内。另外，为了避免不必要的重复，除非另外具体描述或如果结合一个实施例示出和描述的一个或多个特征将使其他实施例不起作用，否则所述一个或多个特征可以并入到其它实施例中。
尽管以下描述主要地集中于组合的抓取、吻合以及切割手术器械的实施例，但所属领域的技术人员应理解，本公开的可变速度方法和机构可以应用到其它医疗器械，包含手术和非手术器械。并且，尽管以下描述通常论述具有用于保持并致动医疗器械的机器铰接臂(也称为“操纵器”)的医疗设备，但所属领域的技术人员应理解，本公开的方法和机构还可以与和机器臂或铰接臂分离的计算机辅助医疗器械一起使用，所述医疗器械包含设计为手持式或附接到非铰接固定装置的医疗器械。
图1为根据一些实施例的计算机辅助系统100的简化图。如图1中示出，计算机辅助系统100包含具有一个或多个可移动或铰接臂120的计算机辅助设备110。一个或多个铰接臂120中的每一个可以支持一个或多个器械130。在一些示例中，计算机辅助设备110可以与计算机辅助手术设备一致。一个或多个铰接臂120可以各自为医疗器械130提供支撑，所述医疗器械例如手术器械、成像设备和/或类似者。医疗器械130的示例包含用于与组织相互作用的手术器械、成像或感测设备，和/或类似者。在一些示例中，器械130可以包含末端执行器，所述末端执行器能够但不限于执行抓取、缩回、烧灼、切除、缝合、切割、吻合、融合、密封等，和/或其组合。
计算机辅助设备110可以另外耦合到操作员工作站(未示出)，所述操作员工作站可以包含一个或多个主控件，所述主控件用于操作计算机辅助设备110、一个或多个铰接臂120和/或器械130。在一些示例中，一个或多个主控件可以包含主操纵器、杠杆、踏板、开关、键、旋钮、触发器和/或类似者。在一些实施例中，计算机辅助设备110和操作员工作站可以对应于由加利福尼亚州森尼维耳市(Sunnyvale)的直觉外科公司(Intuitive Surgical,Inc.)销售的达芬奇@手术系统(da
Figure BDA0003446134630000051
Surgical System)。在一些实施例中，具有其它配置、更少或更多铰接臂和/或类似者的计算机辅助手术设备可以与计算机辅助系统100一起使用。
计算机辅助设备110经由接口耦合到控制单元140。接口可以为有线的和/或无线的，且可以包含一个或多个线缆、光纤、连接器和/或总线，且可以另外包含具有一个或多个网络切换和/或路由设备的一个或多个网络。控制单元140的操作通过处理器150控制。并且尽管控制单元140示出为具有仅一个处理器150，但应理解，处理器150可以表示一个或多个中央处理单元、多核处理器、微处理器、微控制器、数字信号处理器、现场可编程门阵列(FPGA)、专用集成电路(ASIC)和/或控制单元140中的类似者。控制单元140可以实施为独立的子系统和/或附加到计算设备的板，或实施为虚拟机。在一些实施例中，控制单元140可以被包含作为操作员工作站的一部分，和/或与操作员工作站分开操作但与操作员工作站协作。
存储器160可以用于存储通过控制单元140执行的软件和/或在控制单元140的操作期间使用的一个或多个数据结构。存储器160可以包含一种或多种类型的机器可读介质。一些常用的机器可读介质形式可以包含软盘、柔性磁盘、硬盘、磁带、任何其它磁性介质、CD-ROM、任何其它光学介质、穿孔卡、纸带、具有孔的图案的任何其它物理介质、RAM、PROM、EPROM、FLASH-EPROM、任何其它存储器芯片或盒式磁盘，和/或处理器或计算器适于从其进行读取的任何其它介质。
如图1中所示，存储器160包含控制应用程序170，所述控制应用程序可以用于支持对计算机辅助设备110的自主、半自主和/或远程操作控制。控制应用程序170可以包含一个或多个应用程序设计接口(API)，所述应用程序设计接口用于从计算机辅助设备110、铰接臂120和/或器械130接收位置、运动、力、扭矩和/或其它传感器信息，用于与关于其它设备的其它控制单元交换位置、运动、力、扭矩和/或冲突避免信息，和/或用于规划和/或辅助规划计算机辅助设备110、铰接臂120和/或器械130的运动。在一些示例中，控制应用程序170另外支持在手术例程期间对器械130的自主、半自主和/或远程操作控制。并且尽管控制应用程序170被描绘为软件应用程序，但控制应用程序170可以可选地使用硬件、软件和/或硬件和软件的组合来实施。
在一些实施例中，计算机辅助系统100可以在手术室和/或介入室中被找到。并且尽管计算机辅助系统100仅包含具有两个铰接臂120和对应的器械130的一个计算机辅助设备110，但所属领域的技术人员应理解，计算机辅助系统100可以包含具有与计算机辅助设备110相似和/或不同设计的铰接臂和/或器械的任何数目的计算机辅助设备。在一些示例中，计算机辅助设备中的每一个可以包含更少或更多的铰接臂和/或器械。
图2为示出根据一些实施例的微创手术器械200的简化图。在一些实施例中，手术器械200可以与图1的器械130中的任何器械一致。如图2中所描绘且如本文中所使用的方向“近侧”和“远侧”帮助描述手术器械200的组件的相对取向和方位。远侧通常是指在沿着运动链远离固持器械200的用户或机器、用于固持器械200的计算机辅助设备(诸如，计算机辅助设备110)的底座的方向上的元件，和/或最靠近在手术器械200的既定操作用途中的手术工作部位的元件。近侧通常是指沿着运动链较靠近计算机辅助设备的底座、固持器械200的用户或机器，和/或用于固持器械200的计算机辅助设备的铰接臂中的一个的方向上的元件。
如图2中所示，手术器械200包含长轴210，所述长轴将位于轴210的远端处的末端执行器220耦合到手术器械200在轴210的近端处安装到铰接臂和/或计算机辅助设备的位置。取决于使用手术器械200的特定例程，轴210可以通过患者体内的开口(例如，体壁切口、自然孔口和/或类似者)插入，以便将末端执行器220放置成靠近位于患者的解剖结构内的远程手术部位。如图2中另外示出，末端执行器220通常与双爪夹钳式末端执行器一致，所述双爪夹钳式末端执行器在一些实施例中可以另外包含切割和/或吻合机构，如下文参考图3A至图3D另外详细描述。然而，所属领域的技术人员应理解，具有不同的末端执行器220(例如具有紧固件而非吻合钉的末端执行器)的不同的手术器械200是可能的，且可以与如本文中的其它地方描述的手术器械200的实施例一致。
手术器械(例如具有末端执行器220的手术器械200)通常在其操作期间使用多个自由度(DOF)。取决于手术器械200和铰接臂和/或所述铰接臂安装到的计算机辅助设备的配置，可以用于定位、定向和/或操作末端执行器220的各种DOF是可能的。在一些示例中，轴210可以在远侧方向上插入和/或在近侧方向上后撤以提供插入DOF，所述插入DOF可以用于控制末端执行器220置于患者的解剖结构内的深度。在一些示例中，轴210能够围绕其纵向轴线旋转以提供滚转DOF，所述滚转DOF用于使末端执行器220旋转。在一些示例中，末端执行器220的位置和/或取向的额外的灵活性可以通过定位成接近于轴210和手术器械200的一个或多个接头和/或连杆提供，例如铰接臂120的接头和连杆。在一些示例中，可选的铰接腕230可以用于将末端执行器220耦合到轴210的远端。在一些示例中，铰接腕230可以可选地包含一个或多个旋转接头，例如可以分别提供一个或多个“滚转”、“俯仰”以及“偏转”DOF的一个或多个滚转、俯仰或偏转接头，所述旋转接头可以用于控制末端执行器220相对于轴210的纵向轴线的取向。在一些示例中，一个或多个旋转接头可以包含俯仰和偏转接头；滚转、俯仰以及偏转接头；滚转、俯仰以及滚转接头；和/或类似者。在一些示例中，末端执行器220另外包含用于控制末端执行器220的钳口的打开和闭合的夹持DOF，和/或用于控制吻合和切割机构的伸展、收缩和/或操作的激活DOF，如下文更详细描述。
手术器械200另外包含位于轴210的近端处的驱动系统240。驱动系统240包含用于将力和/或扭矩引入到手术器械200的一个或多个组件，所述力和/或扭矩可以用于操纵由手术器械200支持的各种DOF。在一些示例中，驱动系统240可以可选地包含基于从控制单元接收到的信号来操作的一个或多个电机、螺线管、伺服器、激活致动器、液压装置、气动装置，和/或类似者，所述控制单元例如图1的控制单元140。在一些示例中，信号可以包含一个或多个电流、电压、脉宽调制的波形，和/或类似者。在一些示例中，驱动系统240可以可选地包含一个或多个轴、齿轮、皮带轮、棒、带，和/或类似者，这些装置可以耦合到作为其上安装有手术器械200的铰接臂的一部分的对应的电机、螺线管、伺服器、激活致动器、液压装置、气动装置，和/或类似者，所述铰接臂例如铰接臂120中的任何铰接臂。在一些示例中，一个或多个驱动输入(例如轴、齿轮、皮带轮、棒、带，和或类似者)用于从电机、螺线管、伺服器、激活致动器、液压装置、气动装置，和/或类似者接收力和/或扭矩，并施加那些力和/或扭矩以调整手术器械200的各种DOF。在此论述中，在适用时，“力”和“扭矩”两者有时单独地用于指示线性力、旋转扭矩和/或两者。
在一些实施例中，使用一个或多个驱动机构250将通过驱动系统240产生和/或通过驱动系统接收的力和/或扭矩沿着轴210从驱动系统240传递到定位成远离驱动系统240的手术器械200的各种接头和/或元件。在一些示例中，一个或多个驱动机构250可以可选地包含一个或多个齿轮、杠杆、皮带轮、线缆、棒、带，和/或类似者。在一些示例中，轴210为中空的，且驱动机构250沿着轴210的内侧从驱动系统240传到在末端执行器220和/或铰接腕230中的对应的DOF。在一些示例中，驱动机构250中的每一个可以可选地为以鲍登(Bowden)线状配置安置在中空护套或管腔内侧的线缆。在一些示例中，线缆和/或管腔的内侧可以可选地涂覆有低摩擦涂层，例如聚四氟乙烯(PTFE)和/或类似者。在一些示例中，当例如通过围绕绞盘或轴缠绕和/或解缠绕来在驱动系统240内侧拉动和/或推动线缆中的每一个的近端时，线缆的远端相应地移动并施加合适的力和/或扭矩以调整末端执行器220、铰接腕230和/或手术器械200的DOF中的一个或多个。
图3A至图3D为根据一些实施例的末端执行器220的简化图。如图3A至图3D中示出，手术器械200的远端或末端执行器220包含用于钳口闭合、组织吻合以及组织切割的机构。并且尽管末端执行器220示出且描述为具有一个固定和一个可移动的钳口，但所属领域的技术人员应理解，手术器械200的远端可以经修改以使用两个可移动钳口。应进一步理解，尽管以下描述是在同时抓取、吻合以及切割组织的抓取、吻合和切割器械的背景中，但如此描述的这些方面可以适用于具有或没有切割特征的器械、支持融合而非吻合的器械，和/或类似者。
图3A示出在致动之前的末端执行器220的切开侧视图，使得末端执行器220的钳口示出在打开位置中。如图所示，末端执行器包含大体上固定的第一钳口310。钳口310经设计以接纳可替换钉仓320，所述钉仓固持多个吻合钉330和多个吻合钉推进器335。钉仓320被设计成可替换的，使得末端执行器220可以通过在吻合钉330中的一个或多个被使用之后移除第一钉仓320并用第二钉仓320替换所述第一钉仓来再使用，所述第二钉仓320具有可以用于另外执行手术例程的一组新的吻合钉330。图3B示出钉仓320的俯视图。如图3B中所描绘，钉仓包含六行钉槽340，吻合钉330可以在末端执行器220的致动后通过所述钉槽施加至抓取的组织。钉槽340的行在切槽350的每一侧上包含三行，所述切槽在下文进一步详细描述。将吻合钉330置于切槽350的两侧上允许将吻合钉330施加至期望的切割线的两侧，以便闭合在切割线的两侧上的组织。钉槽340的行还相对于彼此偏移以提供沿着切割线的两侧的更加完整的组织闭合。并且尽管钉仓320示出为具有六行偏移钉槽340，每一行具有均匀大小的六个钉槽340，但所属领域的技术人员应理解，更少或更多行具有更少或更多吻合钉的钉槽、变化大小的钉槽以及变化模式的钉槽是可能的。
如图3A中进一步示出，末端执行器220另外包含围绕靠近其近端的枢转点(未示出)可移动的第二钳口360。在吻合器械的背景下，第二钳口360可替代地被称为钉砧(anvil)360。在图3A中示出的实施例中，钉砧360包含过渡边缘370，所述过渡边缘经配置使得在末端执行器220的初始致动后，在钉砧360与钳口310之间的间隙快速地减小，直到组织被抓取在钉砧360与钳口310之间。末端执行器220的致动通过往复元件380从末端执行器220的近端到末端执行器220的远端的移动实现。往复元件380耦合到驱动机构250中的一个或多个的远端。
往复元件380包含滑轨(sled)382和凸缘384，其中切割刀片386耦合在滑轨382和凸缘384之间。往复元件380具有一般的工形横梁式横截面形状，如在图3D中示出的末端执行器220的切开端视图中示出。当末端执行器220被致动用于吻合时，滑轨382随着往复元件380被驱动机构250推动而沿着钳口310和钉仓320在其内推进。滑轨382包含楔形前端或远端，使得当前端遇到吻合钉推进器335中的每一个时，前端抵着对应的吻合钉330推动吻合钉推进器335。此动作导致吻合钉330中的每一个射出通过钉槽340中的相应钉槽。尽管滑轨382示出为在其前沿处具有单个楔子，但滑轨382可以可选地包含用于钉仓320中的吻合钉330的行中的每一个和吻合钉推进器335的单独的楔子。另外，单独的楔子中的每一个可以可选地在滑轨382移动的方向上相对于彼此交错。在一些实施例中，吻合钉推进器335为可选的且滑轨382的前沿直接推动吻合钉330。当滑轨382沿着钳口310和钉仓320在其内推进时，凸缘384沿着钉砧360在其内推进。当凸缘384的前远端遇到过渡边缘370时，凸缘384造成在钉砧360与钳口310之间的间隙的初始快速闭合。切割刀片386定位成略微接近于滑轨382和凸缘384的远端，使得任何抓取的组织的切割落后于吻合钉330沿着切割线的两侧的射出。当往复元件380被致动时，切割刀片386沿着切槽350以及位于钉砧360中的对应的切槽355行进。
图3C和3D分别示出在末端执行器220已被完全致动之后所述末端执行器的切开侧视图和切开端视图。如图所示，往复元件380连同滑轨382、凸缘384以及切割刀片386位于末端执行器220的远端处。当滑轨382的前沿遇到吻合钉推进器335中的每一个时，所述滑轨推动吻合钉推进器335，所述吻合钉推进器继而将吻合钉330向上推动经过相应的钉槽340，其中所述吻合钉被按压经过任何抓取的组织而进入到钉砧360的面中，其中所述吻合钉弯曲成如图3C中示出的最终形状。在钉砧360与钳口310之间的间隙通过凸缘384在钉砧360中的存在来维持。以此方式，往复元件380、滑轨382、凸缘384以及切割刀片386均为末端执行器220的组件，所述组件响应于通过致动器控制往复元件380的移动而提供的所施加的力或扭矩而移动。
末端执行器220的操作在末端执行器被致动时经受若干实际考量。首先，往复元件380可以以高速度水平在远侧移动，其中极少的力或扭矩必须被施加到用于推进往复元件380的驱动机构250。然而，当凸缘384开始遇到前沿370且在钉砧360与钳口310之间的间隙开始快速闭合时，抓取在钉砧360与钳口310之间的任何组织开始抵抗往复元件380的进一步移动。为补偿此情况，驱动系统240对驱动机构250施加额外的力和/或扭矩以维持往复元件380的速度。进行对力和/或扭矩的监测以确保将所施加的力和/或扭矩维持在合理的上限以避免钳口310和/或钉砧360的不可接受的弯曲和/或伸展；对末端执行器220、驱动系统240和/或驱动机构250的损害；和/或对抓取的组织的损害。其次，当组织被抓取在钉砧360与钳口310之间时，所述组织通常开始变干，因为流体由于抓取的压力而被推出组织。只要往复元件380的速度得到适当控制，用以继续推进往复元件380的力和/或扭矩的量就可以大体上被管理在柔顺组织的合理极限内。第三，通常需要额外的力和/或扭矩，使得滑轨382可以推动抵靠吻合钉330的吻合钉推进器335中的每一个，使得吻合钉330被推动经过抓取的组织和/或切割刀片386可以切割抓取的组织，同时维持往复元件380的期望速度。此额外的力和/或扭矩可以随被吻合的组织的性质改变、先前应用的吻合线被交叉和/或类似者而明显地变化。
为了实现末端执行器220的平稳操作，通常期望在与组织的初始接触、吻合钉330的射出以及对抓取并吻合的组织的切割的整个过程中以恒定速度致动往复元件380。在一些实施例中，这用以下操作进行：监测和/或限制所施加的力和/或扭矩，以便减少和/或避免钳口310和/或钉砧305的不可接受的弯曲和/或伸展；对末端执行器220、驱动系统240和/或驱动机构250的损害；和/或对抓取的组织的损害。一种方法为使用经受对驱动系统240的最大力和/或扭矩极限的恒定速度设定点来操作末端执行器220。恒定速度设定点可以经选择以在操作的速度与遇到力和/或扭矩极限的风险之间提供平衡。在一些示例中，恒定速度设定点可以可选地为基于被抓取、吻合以及夹持的组织的类型(例如通过操作员)可调整的。在一些实施例中和/或在某些工况下，特定的速度设定点和/或速度设定点的范围可能由于太低的恒定速度设定点而引起末端执行器220的非最佳操作；由于不断遇到力和/或扭矩极限而引起参差不齐的操作，所述不断遇到力和/或扭矩限制导致往复元件380以可能不稳定的方式减速和加速；和/或类似者。
通过使用往复元件380的速度分布，末端执行器220的改进的性能和较平稳的操作是可能的，所述速度分布基于通过驱动系统240和驱动机构250施加的力和/或扭矩来调适。例如，当力和/或扭矩开始增加时，往复元件380的速度以受控方式减小，且当力和/或扭矩开始减小时，往复元件380的速度以受控方式增加。相比于依赖于单个力和/或扭矩极限来间接地减缓往复元件380的速度，以此方式获得末端执行器220的操作更平稳。例如，在力和/或扭矩阈值低于最大力和/或扭矩极限时减速可以产生具有较少启动和停止的操作，因为往复元件380在最大力和/或扭矩极限处停顿。
根据一些实施例，其它技术可以用于调整速度。例如，当力和/或扭矩经过阈值量时，往复元件380的速度可以设定为当前检测到的往复元件380的速度和/或略低于当前检测到的速度的速度设定点。
返回参考图3A，还示出的是箭头390，所述箭头指示在示例吻合过程的致动期间往复元件380的行进方向。一组虚线392、394、396、398指示滑轨382的远端在吻合操作期间到达的特定位置。当滑轨382的远端位于通过虚线392与394指示的位置之间时，吻合器处于“抓取”状态(也称为“抓取阶段”)，其中第一钳口310和第二钳口360闭合至粗略平行的姿势且可以轻轻地抓取患者组织。当滑轨382的远端到达通过虚线394指示的位置时，吻合器从抓取状态转变成“夹持但未射出”状态(也称为“夹持但未射出阶段”)，其中第一钳口310和第二钳口360固持成足够密切靠近，以便对患者组织施加充足的夹持力。此夹持但未射出状态可以提供对患者组织的某一预吻合压缩，并帮助使组织变平以提高成功的吻合操作的机会。
当滑轨382的远端到达通过虚线396指示的位置时，吻合器已从夹持但未射出状态转变成“射出”状态(也称为“射出阶段”)，其中滑轨382推动抵靠对应的吻合钉330的吻合钉推进器335中的各种吻合钉推进器并将这些吻合钉330射出经过钉槽340。当滑轨382的远端已到达在通过虚线398指示的位置处的其目标时，吻合过程结束。此射出状态还可以被称为“夹持”状态，所述“夹持”状态与夹持但未射出状态分开。
根据一些实施例，所施加的力或扭矩可以在射出状态、夹持但未射出状态、抓取状态和/或这些状态中的任何两个或三个的组合期间被监测。在一些示例中，在射出状态下，所施加的力或扭矩可以被监测，并且执行例如本公开中论述的那些过程。在一些示例中，在射出状态和全部或部分夹持但未射出状态下，所施加的力或扭矩可以被监测，并且执行例如本发明中论述的那些过程。在一些示例中，不同的力或扭矩极限阈值和/或使用其它参数可以用于射出状态和夹持但未射出状态。
根据一些实施例，在吻合操作期间可以将反馈提供到外科医生和/或其它医务人员。在一些示例中，计算机辅助系统(例如，计算机辅助系统100)中的控制单元可以估计在夹持但未射出状态下的成功的吻合过程的可能性，并通过任何适合的方法将此估计提供给用户，所述适合的方法包含通过视觉显示、听觉反馈和/或类似者。在一些示例中，在吻合过程可以容易反向时可以提供此反馈，使得在某一例程期间不花费吻合钉且可以不在任何其它地方使用吻合钉。在一些实施例中，计算机辅助系统将禁止射出状态的开始，直到成功吻合的可能性被测量为足够高。
在一些实施例中，手术器械200和/或相关联的计算机辅助系统(例如，计算机辅助系统100)配置有用户接口，所述用户接口使这三个状态对于操作员为区分开的。例如，一些实施例通过旋钮、按钮、开关、踏板以及其它输入装置的不同组合来为改变状态提供不同的控制。在一些示例中，对于远程操作计算机辅助系统，此计算机辅助系统可以经配置以进行以下操作：(1)响应于感测到在与激活的吻合器器械相关联的主操纵器输入设备上的挤压输入而命令进入抓取状态，例如通过命令滑轨382以抓取速度移动到对应于虚线392的方位，(2)以响应于第一踏板的下压而命令进入夹持但未射出状态，例如通过命令滑轨382以夹持但未射出速度移动到对应于虚线394的方位，(3)命令进入射出状态并持续处于射出状态，例如通过命令滑轨382以射出速度移动到超过虚线396的方位、移动到在末端执行器220的远端处的虚线398。一些实施例还可以配置有超时设定(timeouts)，使得通过挤压运动、第一踏板下压和/或第二踏板下压已经过相关联的预定时间段之后，挤压运动、第一踏板的下压和/或第二踏板的下压产生针对相关联的状态的命令。在一些实施例中，手术器械200或相关联的计算机辅助系统(例如，计算机辅助系统100)配置有用户接口，所述用户接口从用户控制角度来组合“抓取”状态和“夹持但未射出”状态，或“夹持但未射出”和“射出”状态。在一些实施例中，为操作员提供单个开关或踏板以指示进入抓取状态和转变至夹持但未射出状态。在一些实施例中，为操作员提供单个开关或踏板以指示进入夹持但未射出状态和转变至射出状态。
图4为根据一些实施例的用于操作末端执行器的状态机400的简化图。状态机400的状态410至490中的一个或多个可以至少部分以存储在非暂时性有形机器可读介质上的可执行代码的形式实施，所述可执行代码在通过一个或多个处理器(例如，控制单元140中的处理器150)运行时，可以使得一个或多个处理器实施状态410至490中的一个或多个。在一些实施例中，状态机400可以通过应用程序实施，例如控制应用程序170。在一些实施例中，状态机400可以用于基于通过致动器施加的扭矩来约束和/或限制致动器的速度设定点，所述致动器例如控制往复元件380的移动的致动器。在一些实施例中，当状态机400在操作时，致动器的扭矩被监测。在一些实施例中，在状态410至490之间的状态转变可以在所指示的状态转变发生时发生，或可以可选地基于实施状态机400的控制环的执行以周期性间隔发生。
状态机400以起始状态410开始。基于例如外科医生等操作员经由一个或多个控件的激活、输入和/或类似者进行的指导和/或命令，末端执行器的操作转变至预夹持状态420。在预夹持状态420中，致动器(例如推进往复元件380的致动器的速度设定点)的速度设定点设定为初始速度v0。在一些示例中，速度v0可以可选地与致动器的最大允许速度一致。在一些实施例中，末端执行器的操作保持处于预夹持状态420，直到致动器已移动了最小距离或到达初始位置(例如，对应于虚线394的位置)。在一些示例中，最小距离可以对应于其中组织的初始抓取发生的位置，例如在凸缘384的远端遇到过渡边缘370且在钉砧360与钳口310之间的间隙开始闭合之前一会儿和/或之后一会儿。在一些实施例中，组织的此初始抓取与结合图3A论述的“抓取”状态和/或刚好在抓取状态之前可以适用的抓取前状态相关联。在一些实施例中，组织的此初始抓取与结合图3A论述的“抓取”状态和“夹持但未射出”状态中的部分或全部相关联。当在到达最小距离之前致动器的扭矩超出最大扭矩τmax时，状态机400转变至失败状态490。状态机400可以以视觉方式、以听觉方式或经由某一其它反馈方法向人类操作员指示失败状态490。当致动器的扭矩未超出最大扭矩时，状态机400转变至初始夹持状态430。
在初始夹持状态430中，致动器的速度设定点设定为初始夹持速度v1。致动器的控制随后以速度v1继续，直到到达目标位置(例如当往复元件380已被推进到末端执行器220的远端时)或达到扭矩阈值τ1。扭矩τ1低于最大扭矩τmax。在一些示例中，速度v1可以可选地为与初始速度v0相同的速度。状态机400可以以视觉方式、以听觉方式和/或经由某一其它反馈方法向人类操作员指示成功状态480。当到达目标位置时，状态机400转变至成功状态480。当在到达目标位置之前致动器的扭矩超出扭矩τ1时，状态机400转变至第一慢夹持状态440。
在第一慢夹持状态440中，致动器的速度设定点设定为低于速度v1的速度v2。致动器的控制随后以速度v2继续。当处于第一慢夹持状态440中时，致动器的扭矩被另外监测以查看所述扭矩是增加还是减小。当致动器的扭矩减小至小于扭矩τ1(例如比τ1低5％至20％和/或在τ1之下1-3N-m范围)的扭矩τ2时，状态机400转变回到初始夹持状态430，其中致动器的速度设定点增加回到速度v1。扭矩τ2比扭矩τ1低的量可以经设定以在致动器的速度控制中引入迟滞，以避免致动器的速度设定点的过度抖动。当致动器的扭矩增加至扭矩τ3时，状态机400转变至第二慢夹持状态450。扭矩τ3低于最大扭矩τmax，但通常高于扭矩τ1，使得增加的扭矩继续导致致动器的较低速度设定点。当到达目标位置时，状态机400转变至成功状态480。
在第二慢夹持状态450中，致动器的速度设定点设定为低于速度v2的速度v3。致动器的控制随后以速度v3继续。当处于第二慢夹持状态450中时，致动器的扭矩被另外监测以查看所述扭矩是增加还是减小。当致动器的扭矩减小至低于扭矩τ3的扭矩τ4时，状态机400转变回到第一慢夹持状态440，其中致动器的速度增加。扭矩τ4比扭矩τ3低的量可以经设定以在致动器的速度控制中引入迟滞，以避免致动器的速度设定点的过度抖动。当致动器的扭矩增加至扭矩τ5时，状态机400转变至等待状态460。扭矩τ5可以可选地与最大扭矩τmax相同或低于最大扭矩，但通常高于扭矩τ3，使得增加的扭矩继续导致致动器的较低速度设定点。当到达目标位置时，状态机400转变至成功状态480。
在等待状态460中，状态机400暂停操作达预定时间段(也称为“暂停时段”)。为了在等待状态460中暂停操作，状态机400可以通过将致动器的速度设定点设定为零以停止致动器的移动来暂停致动器。在一些示例中，将致动器的速度设定点设定为零允许额外的时间，其中抓取的组织可以进一步变干。在一些示例中，状态机400保持等待状态达预定时间段，以提供从吻合器致动起的临时暂停。在一些示例中，预定时间段可以可选地使用硬件和/或软件定时器来实施。在预定时间段到时(times out)之后，状态机400自动地转变至尝试状态470。
在尝试状态470中，试图移动致动器。每一次试图尝试时，尝试计数器增加。在一些示例中，试图可以可选地包含将致动器的速度设定点设定回到速度v3或另一速度值。当致动器的移动为可能的且致动器的扭矩保持在低于扭矩τ5的扭矩τ6之下时，尝试计数器重置为零且状态机400转变回到第二慢夹持状态450，其中致动器的速度设定点增加回到速度v3。扭矩τ6比扭矩τ5低的量可以经设定以在致动器的速度控制中引入迟滞，以避免致动器的速度设定点的过度抖动。当在尝试状态460期间致动器的扭矩保持在扭矩τ6之上时，状态机400返回到等待状态460以等待额外的时间量。状态机400可以经配置使得所述状态机可以仅在已经过尝试时间段、已实现最小尝试距离和/或两者之后才转变至等待状态460。当尝试计数器超出尝试的最大数目时，状态机400转变至失败状态490。
在成功状态480中，检测到成功的吻合和切割，且致动器的控制可选地反向，使得末端执行器的钳口打开，伴随抓取的组织的对应的释放。在图3A至图3D的示例中，使致动器反向包含沿近侧方向拉动往复元件380，使得滑轨382被拉出钳口310和钉仓320，凸缘384被拉出钉砧360从而允许钉砧360枢转打开，且切割刀片386被拉回到安全位置，例如入库位置。在一些示例中，吻合和切割操作的成功可以可选地使用声音和/或视觉警报报告给操作员。
在失败状态490中，检测到未能完成吻合和切割操作，因为致动器不能够到达目标位置。在图3A至图3D的示例中，这发生在往复元件380不能够推进到钳口310和钉砧360的远端时。当在失败状态490中时，将指示吻合和切割操作的失败的声音和/或视觉警报报告给操作员。在一些示例中，致动器的反向可以可选地通过状态机自动地尝试或在操作员的明确命令下尝试。
如上文所论述且在此处进一步强调的，图4仅为示例，所述示例不应不适当地限制权利要求的范围。所属领域的技术人员应认识到许多变化、替代方案以及修改。在一些实施例中，末端执行器和致动器的除了扭矩之外的性质可以替代地被监测并引起上文描述的状态转变。在一些示例中，可以监测通过致动器施加的力而非扭矩。在一些实施例中，初始夹持状态430和预夹持状态420可以可选地组合成单个状态。在一些实施例中，第二慢夹持状态450可以被去除，使得状态机400在致动器的扭矩高于扭矩τ3时从第一慢夹持状态400转变至等待状态460。在一些实施例中，第一慢夹持状态440和第二慢夹持状态450被去除，使得所述过程在致动器的扭矩高于扭矩τ1时从初始夹持状态430转变至等待状态460。在一些实施例中，取决于在末端执行器的速度-扭矩分布中期望多少步骤，可以可选地将额外的慢夹持状态添加在第二慢夹持状态450与等待状态460之间。
在一些实施例中，一种或多种技术可以可选地用于减小在扭矩阈值的施加中的暂时性瞬变的影响。在一些示例中，状态机400的状态转变发生在所施加的扭矩保持在对应的扭矩阈值之上或之下达预定时间段时。在一些示例中，预定时间段可以可选地对于减小速度设定点的扭矩阈值和增加速度设定点的扭矩阈值不同。在一些示例中，状态机400的状态转变发生在所施加的扭矩的平均值在对应的扭矩阈值之上或之下时。在一些示例中，使用指数平滑来计算平均值。在一些示例中，对所施加的扭矩进行低通滤波。
图5为根据一些实施例的图3的末端执行器的速度-扭矩分布500的简化图。如图5中所示，速度-扭矩分布500包含基于所监测的扭矩变化的多个速度设定值。在一些示例中，速度-扭矩分布500与通过状态机400实施的速度设定点一致。在速度-扭矩分布500中，致动器(例如末端执行器220的致动器)的速度设定点设定为速度v1，直到通过致动器施加的扭矩超出扭矩τ1。一旦超出扭矩τ1，速度设定点就减小到速度v2。致动器的速度随后控制在速度v2处，直到通过致动器施加的扭矩超出扭矩τ3。一旦超出扭矩τ3，速度设定点就减小到速度v3。致动器的速度随后控制在速度v3处，直到通过致动器施加的扭矩超出扭矩τ5。一旦超出扭矩τ5，速度设定点就减小到零。速度-扭矩分布500另外使用迟滞来实施，使得直到致动器的扭矩分别下降到扭矩τ6、τ4以及τ2之下，致动器的速度设定点才增加回到速度v3、v2以及v1。其中扭矩τ6、τ4以及τ2分别设定在扭矩τ5、τ3以及τ1之下。
如上文所论述且在此处进一步强调，图5仅为示例，所述示例不应不适当地限制权利要求的范围。所属领域的技术人员应认识到许多变化、替代方案以及修改。在一些实施例中，末端执行器和致动器的除了扭矩之外的性质可以用于速度分布中。在一些示例中，可以使用通过致动器实际的力而非扭矩。在一些实施例中，少于和/或多于三个阶梯可以可选地用于速度-扭矩分布中。在一些实施例中，速度-扭矩分布500可以可选地通过设定τ2等于τ1、设定τ4等于τ3并且设定τ6等于τ5而在没有迟滞的情况下实施。在一些实施例中，可以可选地使用具有滞后或没有滞后的平滑的速度-扭矩分布替代图5的阶梯分布。在一些示例中，速度-扭矩分布可以可选地为线性的，包含一系列s形平滑阶梯，和/或其它单调分布，其中速度设定点被计算作为扭矩的函数。在一些实施例中，用于确定速度设定点的扭矩可以可选地为平均扭矩、经低通滤波的扭矩和/或类似者。
图6为根据一些实施例的用于执行吻合和切割操作的方法600的简化图。方法600的过程605至650中的一个或多个可以至少部分以存储在非暂时性有形机器可读介质上的可执行代码的形式实施。此可执行代码在通过一个或多个处理器(例如，控制单元140中的处理器150)运行时，使得一个或多个处理器执行过程605至650中的一个或多个。在一些实施例中，方法600可以通过应用程序执行，例如控制应用程序170。在一些实施例中，方法600可以用于基于通过致动器施加的扭矩来限制用于致动往复元件(例如往复元件380)的致动器的速度。在一些实施例中，方法600的吻合和切割操作可以根据状态机400和/或速度-扭矩分布500来执行。在一些实施例中，过程615、620以及630的测试可以同时进行和/或以任何次序进行。
在过程605处，末端执行器被致动(也称为“启动(fired)”)。末端执行器(例如末端执行器220)通过使得致动器(例如驱动系统240中的致动器)施加用于控制末端执行器的至少一个DOF的扭矩来启动。在一些示例中，通过将一个或多个信号(例如电流、电压、经脉宽调制的信号和/或类似者)发送到致动器来控制致动器。末端执行器的启动的实际效果取决于末端执行器的设计、用途以及目的。在一些示例中，末端执行器的启动通过设定致动器的速度设定点来开始，例如在预夹持状态420期间将速度设定点设定为速度v0。使用图2和图3A至图3D的示例，致动器对驱动机构250施加力，所述力使得往复元件380朝向末端执行器220的远端移动。这继而造成在钉砧360与钳口310之间的间隙的减小，使得组织被抓取，通过作用在吻合钉推进器335上的滑轨382来迫使吻合钉330经过抓取的组织，且切割刀片386切割抓取的组织。末端执行器的启动继续，直到确定启动的成功或失败和/或所述启动被操作员中断。
在过程610处，监测所施加的扭矩。使用一个或多个传感器和/或控制算法，在末端执行器被启动时监测通过致动器施加的扭矩。例如，当致动器为电机时，施加到电机的电流可以被监测并用于确定通过电机施加的扭矩。
在过程615处，确定末端执行器是否在目标位置处。使用一个或多个传感器，监测致动器的位置和/或末端执行器上的可检测方位的位置。在一些示例中，传感器可以测量致动器的驱动轴的旋转角度。在一些示例中，一个或多个传感器可以包含轴编码器、霍尔效应传感器和/或类似者。在图3A至图3D的示例中，目标位置对应于往复元件380到末端执行器220的远端的移动，使得所有吻合钉330已被射出经过抓取的组织且切割刀片386已切穿抓取的组织。当到达目标位置时，末端执行器的操作被认为是成功的，且速度设定点设定为零。在一些示例中，还经由声音和/或视觉警报通知系统的操作员。在一些示例中，成功与成功状态480一致。当尚未到达目标位置时，以过程620开始，将所监测的扭矩与一个或多个扭矩阈值相比。
在过程620处，确定所施加的扭矩是否在第一扭矩阈值之上。将在过程610期间监测的所施加的扭矩与第一扭矩阈值比较，以确定致动器是否正在将比所期望的更多的扭矩施加到末端执行器。在一些示例中，第一扭矩阈值可选地取决于当前速度设定点而变化。在图4和图5的示例中，第一扭矩阈值对应于扭矩τ1、τ3和/或τ5中的一个或多个。当所施加的扭矩在第一扭矩阈值之上时，使用过程625减小速度设定点。当所施加的扭矩不在第一阈值之上时，使用过程630将所述扭矩与第二扭矩阈值相比。
在过程625处，减小速度设定点。当所施加的扭矩在第一阈值之上时，减小致动器的速度设定点以允许额外的时间以用于抓取的组织进一步变干、减缓一个或多个吻合钉的射出和/或类似者。在一些示例中，速度设定点可以减小固定的量、百分比量、根据速度-扭矩分布减小和/或类似者。在图4和图5的示例中，取决于先前的速度设定点和/或在过程620期间使用的第一扭矩阈值，速度设定点减小至v2、v3或零。在一些示例中，速度设定点的减小与从初始夹持状态430到第一慢夹持状态440的状态转变、从第一慢夹持状态440到第二慢夹持状态450的状态转变和/或从第二慢夹持状态450到等待状态460的状态转变一致。在速度设定点减小之后，测试速度设定点以使用过程640来以确定速度设定点是否减小至零。
在过程630处，确定所施加的扭矩是否在第二阈值之下。将在过程610期间监测的所施加的扭矩与第二扭矩阈值比较，以确定致动器是否可以加速。在一些示例中，第二扭矩阈值设定为低于第一扭矩阈值以便在速度设定点中提供迟滞。在一些示例中，第二扭矩阈值可选地取决于当前速度设定点而变化。在图4和图5的示例中，第二扭矩阈值对应于扭矩τ2、τ4和/或τ6中的一个或多个。当所施加的扭矩在第二扭矩阈值之下时，使用过程635增加速度设定点。当所施加的扭矩不在第二阈值之下时，使用过程610再次监测扭矩。
在过程635处，增加速度设定点。当所施加的扭矩在第二阈值之下时，致动器的速度设定点被增加以允许末端执行器的较快操作。在一些示例中，速度设定点可以增加固定的量(例如，0.1至2毫米/秒)、百分比量(例如，5％至25％)、根据速度-扭矩分布增加和/或类似者。在一些示例中，当速度在最大设定点处时，速度设定点在过程635期间不进一步增加。在图4和图5的示例中，取决于先前的速度设定点和/或在过程630期间使用的第二扭矩阈值，将速度设定点增加至v1、v2或v3。在一些示例中，速度设定点的增加与从尝试状态470到第二慢夹持状态450的状态转变、从第二慢夹持状态450到第一慢夹持状态440的状态转变和/或从第一慢夹持状态440到初始夹持状态430的状态转变一致。在速度设定点增加之后，使用过程610再次监测扭矩。
在过程640处，确定速度设定点是否为零。当速度设定点到达零时，使用过程645引入延迟。当速度设定点尚未为零时，使用过程610再次监测扭矩。
在过程645处，等待(也称为“暂停”)发生。当速度设定点到达零时，末端执行器的启动延迟预定时间段(例如，1至10秒)。在一些示例中，预定时间段使用硬件和/或软件定时器来跟踪。在图4的示例中，过程645对应于等待状态460。在延迟到时之后，使用过程650测试末端执行器的操作。
在过程650处，确定末端执行器的操作是否可以继续。速度设定点设定为非零值，例如在上一次执行过程625之前的速度设定点值，且监测通过致动器施加的扭矩。在图4的示例中，过程650对应于尝试状态470。当通过致动器施加的扭矩继续处于最大扭矩阈值(例如上一次执行过程620所使用的第一扭矩阈值)之上时，末端执行器的启动被认为失败且速度设定点设定为零。在一些示例中，末端执行器的启动可以可选地反向，和/或一个或多个声音和/或视觉警报可选地提供给操作员。当在没有检测到过量施加的扭矩的情况下发生以非零速度设定点的移动时，速度设定点保持且通过过程610继续扭矩的监测。
如上文所论述且在此处进一步强调，图6仅为示例，所述示例不应不适当地限制权利要求的范围。所属领域的技术人员应认识到许多变化、替代方案以及修改。在一些实施例中，末端执行器和致动器的除扭矩之外的性质可以在过程610期间被监测并在过程620和630期间被测试。在一些实施例中，过程645的等待和/或过程650的测试可以在断定失败之前重复一次、两次或更多次。以此方式，方法600可以暂停致动器多次并在已发生预定数目的致动器暂停之后指示失败。在一些示例中，重复的次数使用硬件和/或软件计数器来跟踪。
在一些实施例中，一种或多种技术可以可选地用于减小在扭矩阈值的施加中的暂时性瞬变的影响。在一些示例中，在过程620和630中所施加的扭矩分别与第一扭矩阈值和第二扭矩阈值的比较确定所施加的扭矩是否保持在第一扭矩阈值和第二扭矩阈值之上或之下达预定时间段。在一些示例中，预定时间段可以可选地对于第一扭矩阈值和第二扭矩阈值不同。在一些示例中，在过程610中对所施加的扭矩的监测包含对所施加的扭矩求平均值。在一些示例中，求平均值包含使用指数平滑。在一些示例中，在过程610中对所施加的扭矩的监测包含对所施加的扭矩进行低通滤波。
控制单元(例如控制单元140)的一些示例可以包含非暂时性有形机器可读介质，所述介质包含可执行代码，所述可执行代码在通过一个或多个处理器(例如，处理器150)运行时，可以使得一个或多个处理器实施状态机400的状态、实施速度-扭矩分布500的实施和/或执行方法600的过程。可以包含状态机400的实施、速度-扭矩分布500的实施和/或方法600的过程的一些常用的机器可读介质形式为例如，软盘、柔性磁盘、硬盘、磁带、任何其它磁性介质、CD-ROM、任何其它光学介质、穿孔卡、纸带、具有孔的图案的任何其它物理介质、RAM、PROM、EPROM、FLASH-EPROM、任何其它存储器芯片或盒式磁盘，和/或处理器或计算器适合于从其进行读取的任何其它介质。
尽管已示出和描述说明性实施例，但在前述公开内容中考虑宽范围的修改、改变以及替换，且在一些实例中，实施例的一些特征可以在没有其它特征的对应的使用的情况下被采用。所属领域的技术人员应认识到许多变化、替代方案以及修改。因此，本发明的范围应仅通过随附权利要求书限制，且权利要求书适合于广泛地以与本文中所公开的实施例的范围一致的方式理解。

Claims (25)

1.一种计算机辅助设备，其包括：
致动器；
器械，所述器械包括：
末端执行器，所述末端执行器位于所述器械的远端处；以及
一个或多个驱动机构，所述一个或多个驱动机构用于将来自所述致动器的力或扭矩耦合到所述末端执行器；以及
一个或多个处理器，其中为了用所述器械执行操作，所述一个或多个处理器经配置以根据状态机操作所述末端执行器；
其中：
所述状态机包括第一夹持状态和第二夹持状态；
在所述第一夹持状态中，所述致动器的速度设定点设定为第一速度；
在所述第二夹持状态中，所述致动器的所述速度设定点设定为低于所述第一速度的第二速度；
当通过所述致动器施加的力或扭矩在第一阈值之上时，所述状态机从所述第一夹持状态转变至所述第二夹持状态；以及
当通过所述致动器施加的所述力或扭矩在第二阈值之下时，所述状态机从所述第二夹持状态转变至所述第一夹持状态。
2.根据权利要求1所述的计算机辅助设备，其中：
所述状态机还包括等待状态；并且
当通过所述致动器施加的所述力或扭矩在高于所述第一阈值的最大阈值之上时，所述状态机从所述第二夹持状态转变至所述等待状态。
3.根据权利要求1所述的计算机辅助设备，其中所述操作包括抓取、吻合以及切割中的一个或多个。
4.根据权利要求1所述的计算机辅助设备，其中所述第二阈值等于或低于所述第一阈值。
5.根据权利要求1所述的计算机辅助设备，其中所述第一速度和所述第二速度根据速度分布来确定。
6.根据权利要求5所述的计算机辅助设备，其中所述速度分布为单调的。
7.根据权利要求1-6中任一项所述的计算机辅助设备，其中所述第一速度和所述第二速度基于所施加的力或扭矩来确定。
8.根据权利要求1-6中任一项所述的计算机辅助设备，其中所述第一阈值和所述第二阈值基于所施加的力或扭矩而变化。
9.根据权利要求1-6中任一项所述的计算机辅助设备，其中所述一个或多个处理器进一步经配置以在到达目标位置时指示成功。
10.一种非暂时性机器可读介质，所述非暂时性机器可读介质包括多个机器可读指令，所述多个机器可读指令在通过与计算机辅助设备相关联的一个或多个处理器执行时适于使得所述一个或多个处理器执行包括以下操作的方法：
根据状态机操作末端执行器，所述状态机包括第一夹持状态和第二夹持状态，其中在所述第一夹持状态中，致动器的速度设定点设定为第一速度，并且在所述第二夹持状态中，所述致动器的所述速度设定点设定为低于所述第一速度的第二速度；
当通过所述致动器施加的力或扭矩在第一阈值之上时，将所述状态机从所述第一夹持状态转变至所述第二夹持状态；以及
当通过所述致动器施加的所述力或扭矩在第二阈值之下时，将所述状态机从所述第二夹持状态转变至所述第一夹持状态。
11.根据权利要求10所述的非暂时性机器可读介质，其中：
所述状态机还包括等待状态；并且
所述方法还包括当通过所述致动器施加的所述力或扭矩在高于所述第一阈值的最大阈值之上时，将所述状态机从所述第二夹持状态转变至所述等待状态。
12.根据权利要求10所述的非暂时性机器可读介质，其中所述第二阈值等于或低于所述第一阈值。
13.根据权利要求10所述的非暂时性机器可读介质，其中所述第一速度和所述第二速度根据速度分布来确定。
14.根据权利要求10-13中任一项所述的非暂时性机器可读介质，其中：
所述第一速度和所述第二速度基于所施加的力或扭矩来确定；或者
所述第一阈值和所述第二阈值基于所施加的力或扭矩而变化。
15.一种计算机辅助设备，其包括：
致动器；
器械，所述器械包括：
末端执行器，所述末端执行器位于所述器械的远端处；以及
一个或多个驱动机构，所述一个或多个驱动机构用于将来自所述致动器的力或扭矩耦合到所述末端执行器；以及
一个或多个处理器，其中为了用所述器械执行操作，所述一个或多个处理器经配置以：
将所述致动器的速度设定点设定为初始速度；
基于所述速度设定点来驱动所述致动器；
监测通过所述致动器施加的力或扭矩；
当所施加的力或扭矩在第一阈值之上时：
减小所述速度设定点，并且
基于减小的速度设定点来驱动所述致动器；以及
当所述所施加的力或扭矩在最大阈值之上时：
将所述速度设定点减小至零，
等待预定时间段，
将所述速度设定点设定为非零值，并且
基于所述非零速度设定点来驱动所述致动器；
其中所述第一阈值低于所述最大阈值。
16.根据权利要求15所述的计算机辅助设备，其中：
所述一个或多个处理器进一步经配置以，当所述所施加的力或扭矩在第二阈值之下时，增加所述速度设定点；并且
所述第二阈值低于所述第一阈值。
17.根据权利要求15或16所述的计算机辅助设备，其中在所述等待之后，所述一个或多个处理器进一步经配置以：
确定所述所施加的力或扭矩是否继续处于所述最大阈值之上；以及
在所述所施加的力或扭矩继续处于所述最大阈值之上时指示失败。
18.根据权利要求15或16所述的计算机辅助设备，其中在所述等待之后，所述一个或多个处理器进一步经配置以：
确定所述所施加的力或扭矩是否继续处于所述最大阈值之上；以及
在所述所施加的力或扭矩继续处于所述最大阈值之上时将所述速度设定点设定回零并再次等待。
19.根据权利要求18所述的计算机辅助设备，其中所述一个或多个处理器进一步经配置以，在预定数量的等待周期之后在所述所施加的力或扭矩继续处于所述最大阈值之上时指示失败。
20.根据权利要求15或16所述的计算机辅助设备，其中在所述等待之后，所述一个或多个处理器进一步经配置以，在所述所施加的力或扭矩继续处于所述最大阈值之上时使所述末端执行器的驱动反向。
21.一种非暂时性机器可读介质，所述非暂时性机器可读介质包括多个机器可读指令，所述多个机器可读指令在通过与计算机辅助设备相关联的一个或多个处理器执行时适于使得所述一个或多个处理器执行包括以下操作的方法：
将致动器的速度设定点设定为初始速度；
基于所述速度设定点来驱动所述致动器；
监测通过所述致动器施加的力或扭矩；
当所施加的力或扭矩在第一阈值之上时：
减小所述速度设定点，并且
基于减小的速度设定点来驱动所述致动器；以及
当所述所施加的力或扭矩在最大阈值之上时：
将所述速度设定点减小至零，
等待预定时间段，
将所述速度设定点设定为非零值，并且
基于所述非零速度设定点来驱动所述致动器；
其中所述第一阈值低于所述最大阈值。
22.根据权利要求21所述的非暂时性机器可读介质，其中：
所述方法还包括，当所述所施加的力或扭矩在第二阈值之下时，增加所述速度设定点；并且
所述第二阈值低于所述第一阈值。
23.根据权利要求21或22所述的非暂时性机器可读介质，其中所述方法还包括，在所述等待之后，
确定所述所施加的力或扭矩是否继续处于所述最大阈值之上；以及
在所述所施加的力或扭矩继续处于所述最大阈值之上时指示失败。
24.根据权利要求21或22所述的非暂时性机器可读介质，其中所述方法还包括，在所述等待之后，
确定所述所施加的力或扭矩是否继续处于所述最大阈值之上；以及
在所述所施加的力或扭矩继续处于所述最大阈值之上时将所述速度设定点设定回零并再次等待。
25.根据权利要求21或22所述的非暂时性机器可读介质，其中所述方法还包括，在所述等待之后，在所述所施加的力或扭矩继续处于所述最大阈值之上时使所述末端执行器的驱动反向。
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