CN117297782A - 用于机器人外科器械的闭环速度控制技术 - Google Patents

用于机器人外科器械的闭环速度控制技术 Download PDF

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CN117297782A
CN117297782A CN202311089007.0A CN202311089007A CN117297782A CN 117297782 A CN117297782 A CN 117297782A CN 202311089007 A CN202311089007 A CN 202311089007A CN 117297782 A CN117297782 A CN 117297782A
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F·E·谢尔顿四世
J·L·哈里斯
D·C·亚特斯
G·J·巴克斯
S·A·沃辛顿
C·O·巴克斯特三世
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Abstract

本发明公开了在机器人外科系统中控制击发构件的速度的方法。一种方法检测闭合期间端部执行器条件，基于所述闭合条件来设定移位构件的命令速度，以所设定的命令速度来击发所述移位构件，检测所述击发阶段期间端部执行器条件，并且基于所述击发条件来设定命令速度。另一种方法接收闭合构件的闭合力，将所述实际闭合力与阈值进行比较，基于所述比较来确定设定点速度，并且基于所述设定点速度来控制所述闭合构件的所述实际速度。另一种方法接收闭合构件的实际闭合力，接收击发构件的实际位置，并且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实际位置来设定新的闭合力。

Description

用于机器人外科器械的闭环速度控制技术
本申请是于2019年12月30日进入中国国家阶段的题为“用于机器人外科器械的闭环速度控制技术”、且国际申请日为2018年6月13日、中国申请号为2018800442662的国际申请PCT/IB2018/054341的分案申请。
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
在电动机器人外科缝合和切割器械中，测量切割构件在初始预先确定的时间或移位中的位置和速度以控制速度可能是有用的。在初始预先确定时间或移位上测量位置或速率可用于评估组织厚度并基于与阈值的该比较来调整剩余行程的速度。
在电动机器人外科缝合和切割器械中，测量切割构件在初始预先确定的时间或移位中的位置和速度以控制速度可能是有用的。在初始预先确定的时间或移位内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节剩余行程的速度。
在电动机器人外科缝合和切割器械中，测量切割构件在初始预先确定的时间或移位中的位置和速度以控制速度可能是有用的。在初始预先确定的时间或移位内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节剩余行程的速度。
机器人外科工具可用于为外科手术提供稳定可靠的应用。各种部件可以是可互换的，使得单个支撑装置可用于附接到不同的模块化机器人外科臂。这些机器人系统中的一些采用多个马达来控制可独立运动但仍涉及一定程度的相互关系的单个部件。
发明内容
在一个方面，提供了一种控制机器人外科系统中的击发构件的速度的方法。该方法包括：由控制电路检测闭合阶段期间端部执行器处的条件；由所述控制电路基于所述闭合阶段期间在所述端部执行器处所检测到的条件来设定联接到移位构件的马达的命令速度，所述移位构件联接到所述端部执行器；由控制电路以设定的命令速度击发移位构件；由所述控制电路检测击发阶段期间所述端部执行器处的条件；并且由控制电路基于击发阶段期间在端部执行器处检测到的条件来设定马达的命令速度。
在另一方面，控制机器人外科系统中击发构件的速度的方法包括：由控制电路从联接到闭合构件和控制电路的力传感器接收闭合构件的实际闭合力；由所述控制电路比较所述实际闭合力与阈值闭合力；由所述控制电路基于所述比较来确定使所述闭合构件移位的设定点速度；并且由控制电路基于设定点速度来控制闭合构件的实际速度。
在另一方面，控制机器人外科系统中击发构件的速度的方法包括：由控制电路从联接到闭合构件和控制电路的力传感器接收闭合构件的实际闭合力；由所述控制电路从联接到击发构件和所述控制电路的位置传感器接收所述击发构件的实际位置；并且由控制电路基于施加到闭合构件的实际闭合力和击发构件的实际位置来设定新的闭合力。
在另一方面，提供了一种机器人外科系统。该机器人外科系统包括控制电路，该控制电路被构造成能够：检测闭合阶段期间端部执行器处的条件；基于闭合阶段期间在端部执行器处检测到的条件来设定联接到移位构件的马达的命令速度，该移位构件联接到端部执行器；以设定的命令速度击发移位构件；检测击发阶段期间端部执行器处的条件；并且基于击发阶段期间在端部执行器处检测到的条件来设定马达的命令速度。
在另一方面，机器人外科系统包括控制电路，该控制电路联接到马达并且被构造成能够在闭合阶段或击发阶段期间设定马达的命令速度，其中该马达被构造成能够以命令速度驱动移位构件，其中该控制电路被构造成能够：检测端部执行器处的第一条件；检测端部执行器处的第二条件；基于端部执行器处检测到的第一条件和第二条件来设定马达的命令速度；并且以设定的命令速度击发移位构件。
在另一方面，机器人外科系统包括：第一马达，用于驱动联接到切割构件的移位构件；第二马达，用于驱动联接到端部执行器的砧座部分的闭合管，其中该闭合管被构造成能够闭合或打开砧座；以及联接到第一马达和第二马达的控制电路，其中控制电路被构造成能够在闭合阶段或击发阶段期间设定第一马达的命令速度，并且设定第二马达的命令速度以向联接到砧座的闭合管施加闭合力，其中控制电路被构造成能够：检测端部执行器处的第一条件；检测端部执行器处的第二条件；基于端部执行器处检测到的第一条件和第二条件来设定马达的第一命令速度；并且以第一设定的命令速度击发移位构件。
在另一方面，提供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：确定闭合构件的实际闭合力；比较实际闭合力与阈值闭合力；基于该比较来确定使闭合构件移位的设定点速度；并且基于设定点速度来控制闭合构件的实际速度。
在另一方面，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，该力传感器被构造成能够测量施加到闭合构件的闭合力；闭环反馈控制系统，该闭环反馈控制系统包括联接到第一马达和力传感器的控制电路，其中该控制电路被构造成能够：从力传感器接收闭合构件的实际闭合力；比较实际闭合力与阈值闭合力；基于该比较来确定使闭合构件移位的第一马达的设定点速度；并且基于设定点速度来控制闭合构件的实际速度。
在另一方面，该控制系统包括：比例、积分和导数(PID)反馈控制系统，该控制电路被构造成能够：确定闭合构件的实际闭合力；比较实际闭合力与阈值闭合力；基于该比较来确定使闭合构件移位的设定点速度；并且基于设定点速度来控制闭合构件的实际速度；联接到该控制电路的力传感器，该力传感器被构造成能够测量闭合力；以及联接到控制电路并联接到闭合构件的马达，其中该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该闭合构件；其中阈值闭合力包括上限阈值和下限阈值，其中设定点速度被构造成能够在实际闭合力小于下限阈值时向远侧推进闭合构件，并且其中设定点速度被构造成能够在实际闭合力大于下限阈值时向近侧回缩闭合构件。
在另一方面，提供了一种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，该力传感器被构造成能够测量施加到闭合构件的闭合力；联接到第一马达和力传感器的控制电路，其中该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：在闭合时段期间向闭合构件施加闭合力；在闭合时段之后的等待时段期间增大闭合力；确定施加到闭合构件的闭合力；确定击发构件在击发行程期间的位置；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。
在另一方面，提供了一种用于机器人外科器械的系统。该系统可包括：控制电路；第一马达和第二马达，该第一马达和第二马达两者均通信地联接到控制电路；通信地联接到第一马达的第一关节运动臂；通信地联接到第二马达的第二关节运动臂；端部执行器，该端部执行器经由第一铰链联接到第一关节运动臂并且经由第二铰链联接到第二关节运动臂。控制电路可被构造成能够使第一马达将第一力施加到第一关节运动臂。控制电路可被构造成能够使第二马达将第二力施加到第二关节运动臂，其中第二力与第一力拮抗，使得第一力和第二力在端部执行器处施加反作用力。第一力和第二力可使得端部执行器经由第一铰链和第二铰链进行关节运动。
在另一方面，端部执行器被构造成能够基于第一力和第二力之间的大小比而关节运动到规定角度。在一些方面，该系统还包括联接到端部执行器的关节运动枢轴，其中端部执行器被进一步配置为围绕关节运动枢轴进行关节运动。在一些方面，关节运动枢轴定位在中心轴线之外，该中心轴线在第一关节运动臂和第二关节运动臂的至少一部分之间纵向延伸并且与所述至少一部分等距。
在另一方面，提供了一种机器人外科器械的方法，该方法包括控制电路、第一马达、第二马达、第一关节运动臂、第二关节运动臂和端部执行器。该方法可包括：由控制电路指示第一马达将第一力施加到第一关节运动臂；由控制电路指示第二马达将第二力施加到第二关节运动臂，其中第二力与第一力拮抗，使得第一力和第二力在端部执行器处施加反作用力；以及使得端部执行器分别基于施加到第一关节运动臂和第二关节运动臂的第一力和第二力而经由第一铰链和第二铰链进行关节运动。
附图说明
本文所述方面的新颖特征在所附权利要求书中进行了详细描述。然而，关于组织和操作方法的这些方面可结合附图参考下述说明更好地理解。
图1为根据本公开的一个方面的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构造的分解组件视图。
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图。
图8为根据本公开的一个方面的移除了工具安装外壳的图105的外科工具的后透视图。
图9为根据本公开的一个方面的移除了工具安装外壳的图6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的外科工具的局部横截面侧视图。
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一个方面。
图13B示出了根据本公开的一个方面的图13A中所示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出了嵌入端部执行器内的导体的图15A中所示的钉仓的剖面图。
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分段柔性电路的一个方面，该分段柔性电路被构造成能够固定地附接到端部执行器的钳口构件。
图18示出了根据本公开的一个方面的分段柔性电路的一个方面，该分段柔性电路被构造成能够安装到端部执行器的钳口构件。
图19示出了根据本公开的一个方面的端部执行器的一个方面，该端部执行器被构造成能够测量组织间隙GT。
图20示出了根据本公开的一个方面的端部执行器的一个方面，该端部执行器包括分段柔性电路。
图21示出了根据本公开的一个方面的图20中所示的端部执行器，其中钳口构件将组织夹持在钳口构件与钉仓之间。
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示出了控制电路，该控制电路被构造成能够控制根据本公开的一个方面的机器人外科系统的各方面。
图24示出了组合逻辑电路，该组合逻辑电路被构造成能够控制根据本公开的一个方面的机器人外科系统的各方面。
图25示出了时序逻辑电路，该时序逻辑电路被构造成能够控制根据本公开的一个方面的机器人外科系统的各方面。
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图，其中绝对定位系统包括受控马达驱动电路构造，该受控马达驱动电路构造包括传感器构造。
图28为根据本公开的一个方面的位置传感器的图，该位置传感器包括磁性旋转绝对定位系统。
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剖视图，其示出了相对于夹持在端部执行器内的组织的击发构件行程。
图30为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为示出根据本公开的一个方面的用于控制机器人外科器械的移位构件的推进或回缩速度的技术的图表。
图32为根据本公开的一个方面的闭环速度控制过程的图形描述。
图33为根据本公开的一个方面，描绘了用于确定端部执行器中的组织条件并相应地调节命令速度的控制程序或逻辑配置的过程的逻辑流程图。
图34为两条闭合力(FTC)曲线的第一曲线图，其描绘了在闭合阶段期间施加到闭合构件以闭合厚和薄组织的力，以及两条击发力(FTF)曲线的第二曲线图，其描绘了在击发阶段期间施加到击发构件以击发穿过厚和薄组织的力。
图35为根据本公开的一个方面的在同时闭合和击发阶段期间，两条闭合力曲线的第一曲线图，其描绘了施加到闭合构件以闭合厚和薄组织的力，以及两条击发力曲线的第二曲线图，其描绘了施加到击发构件以击发穿过厚和薄组织的力。
图35A为图35中所示的第一曲线图的一部分的详细视图。
图36为根据本公开的一个方面的用于厚组织以基于闭合构件上的闭合力负荷和闭合构件的实际速度来控制闭合构件速度的控制过程的曲线图。
图37为根据本公开的一个方面的在击发行程期间闭合力、移位和闭环反馈控制的闭合管速度的详细视图。
图38示出了根据本公开的一个方面的用于薄组织以基于闭合构件上的闭合力负荷和闭合构件的实际速度来控制闭合构件速度的控制过程的曲线图。
图39为根据本公开的一个方面的控制系统的曲线图，该控制系统被构造成能够在击发行程期间当击发构件向远侧推进并且联接到夹持臂中时提供闭合构件的逐渐闭合，从而以期望的速率降低闭合构件上的闭合力负荷并减小击发构件上的击发力负荷。
图40示出了根据本公开的一个方面的比例积分导数(PID)控制器反馈控制系统。
图41为根据本公开的一个方面，描绘了用于确定闭合构件的速度的控制程序或逻辑配置的过程的逻辑流程图。
图42为根据本公开的一个方面的图，描绘了闭合构件移位随时间变化的曲线的移位曲线图、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43为根据本公开的一个方面，描绘了用于确定闭合构件的速度的控制程序或逻辑配置的过程的逻辑流程图。
图44示出了根据本公开的一些方面的机器人外科臂的示例性结构部分，该机器人外科臂包括连接到端部执行器的两个关节运动臂。
图45示出了相对于关节运动臂处于中性或直线位置的砧座。
图46示出了沿第一方向向上运动的左关节运动臂，同时右关节运动臂沿相反方向向下运动。
图47示出了由关节运动臂进行的引起砧座在相反(即顺时针)方向上运动的反向运动。
图48示出了根据一些方面，端部执行器的枢转力矩实际上脱离了轴结构的中心线。
图49示出了根据一些方面的示例性曲线图，该曲线图表示由两个关节运动臂施加的力的量随头部偏离水平中心线的关节运动程度的变化。
图50示出了根据一些方面可如何将力施加到两个关节运动臂上以便使头部/端部执行器偏离中心线进行60°的关节运动的示例。
图51示出了根据一些方面可如何将力施加到两个关节运动臂上以便使头部/端部执行器偏离中心线进行30°的关节运动的另一个示例。
图52示出了根据一些方面可如何将力施加到两个关节运动臂上以便使头部/端部执行器进行关节运动回到中心位置或中性位置的第三示例。
图53示出了根据一些方面的逻辑流程图，该逻辑流程图描绘了用于基于控制两个独立关节运动臂来引起机器人外科系统的端部执行器的关节运动的控制程序或逻辑配置的过程。
具体实施方式
本申请的申请人拥有于与其同时提交且各自全文以引用方式并入本文的以下专利申请：
2017年6月29日提交、发明人为Frederick E.Shelton,IV等人且名称为“CLOSEDLOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL”的代理人案卷号END8288USNP/170197。
2017年6月29日提交、发明人为Frederick E.Shelton,IV等人且名称为“CLOSEDLOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT”的代理人案卷号END8294USNP/170198。
2017年6月29日提交、发明人为Frederick E.Shelton,IV等人且名称为“ROBOTICSURGICAL INSTRUMENT WITH CLOSED LOOP FEEDBACK TECHNIQUES FOR ADVANCEMENT OFCLOSURE MEMBER DURING FIRING”的代理人案卷号END8289USNP/170199。
2017年6月29日提交、发明人为Frederick E.Shelton,IV等人且名称为“SYSTEMFOR CONTROLLING ARTICULATION FORCES”的代理人案卷号END8295USNP/170200。
图1描绘了可结合图2中描绘的机器人臂从动车100类型使用的主机器人控制器11的一个方面。主控制器11和机器人臂从动车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观察手术的同时，该主控制器由外科医生抓持并在空中操纵。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。其他构造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，并且该力的大小为施加到切割器械或动态夹紧构件的力的大小。其他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。
如图2中所示，在一种形式中，机器人臂车100能够致动多个外科工具，一般称为200。名称为“Multi-Component Telepresence System and Method”的美国专利6,132,368中公开了采用主控制器和机器人臂车构造的各种机器人外科手术系统和方法，该专利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，在该图示方面中，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，以使外科工具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方式并入本文。平行四边形构造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还围绕轴线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。当由操纵器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运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还用于调控外科工具200。
图4为外科工具200的透视图，其适用于具有工具驱动组件的机器人外科系统10，该工具驱动组件操作性地联接到主控制器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，图4描绘了该外科工具。如该图中所示，外科工具200包括外科端部执行器1012，该端部执行器包括内镜切割器。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)可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机械地且电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，该工具安装板可操作地支撑多个(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均包括从该从动元件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构造的分解组件视图。可采用可拆卸的闩锁构造239以可释放的方式将适配器240附连到工具保持器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，如图5中所示，工具保持器270可包括第一闩锁销构造274，该第一闩锁销构造的尺寸被设定为容纳在设置在适配器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被设定为保持在适配器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可进入闩锁装置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至图6中所示，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。可采用其他机构/构造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可通过这些弹性结构的挠曲而相对于板248轴向运动。当设置在第一轴向位置(朝工具侧244)时，可旋转主体250可自由旋转而没有角度限制。然而，当可旋转主体250朝工具侧244轴向运动时，突出部252(从可旋转主体250径向延伸)横向接合位于浮动板上的止动器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推动到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有助于可旋转主体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准确对齐。如以上关于从动元件304的内侧和外侧销306所述，开口256和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，以确保不与其预期的位置成180度对齐。另外，每个开口256略微径向伸长，以适当地接收周边取向上的销306。这允许销306在开口256和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从保持器侧246上的开口256’(以虚线示出)成约90度的偏移。
图6为图4的外科工具方面的局部底部透视图。
如图6至图10中所示，根据各个方面，通过细长轴组件1008将外科端部执行器1012附接到工具安装部分300。如图示方面中所示，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。见图7。在其他方面，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枢转地连接和可操作地支撑在脊组件(一般描述为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细长通道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到其上的致动运动而在脊组件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(例如塑料)制成。砧座1024可在位于细长通道1022的近侧端部的枢轴点1025处枢转地打开和闭合。
在使用中，可能期望围绕纵向工具轴线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包括旋转的传输组件1069，该旋转的传输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被可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，旋转的传输组件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中所示，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上相应从动盘或从动元件304中的第一个。见图6。旋转齿轮组件1070还包括旋转从动齿轮1074，该旋转从动齿轮与管齿轮段1062和旋转驱动齿轮1072以啮合接合的方式可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在第一方向上的旋转，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的旋转。
在至少一个方面，通过在脊组件1049上沿远侧方向“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。如上所述，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，如图10中所示，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被配置用于与闭合齿轮组件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啮合接合。
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上对应从动盘或从动元件304中的第二个。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对应第二从动元件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以啮合接合的方式而被支撑的闭合减速齿轮组1114。如图9和图10中所示，闭合减速齿轮组1114包括与闭合正齿轮1112以啮合接合的方式而被可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啮合接合的第一闭合驱动齿轮1118，该第二闭合驱动齿轮与闭合齿条齿轮1106以啮合接合的方式可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对应第二从动元件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运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。当向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，将在近侧方向“PD”上驱动闭合滑动件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，可采用弹簧(未示出)以将砧座偏置到打开位置。在各个方面，闭合齿轮组件1110的各种齿轮的尺寸被设定为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的齿轮的尺寸可被设定为产生约70-120磅的力。
图11A为根据本公开的一个方面的图6的外科工具200的局部横截面侧视图，并且图11B为图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，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啮合接合。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上对应从动盘或从动元件304中的第三个。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施加到对应第三从动元件304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可旋转地安装到工具安装板302上，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啮合接合，该第三刀驱动齿轮与刀齿条齿轮1206以啮合接合的方式可旋转地支撑在工具安装板302上。在各个方面，刀齿轮组件1220的齿轮的尺寸被设定为产生如下所需的力：这些力驱动切割元件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的齿轮的尺寸可被设定为产生约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在远侧方向上的轴向运动，并且在相反方向上施加旋转输出运动将引起切割器械1032在近侧方向上的轴向行进。
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提供的对应通路中。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可操作地支撑在工具安装板302上。关节运动杆1250a、1250b中的每者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狭槽并且进入关节运动螺母1260中的对应弓形狭槽。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在第一横向上从纵向工具轴线LT-LT横向偏移，并且关节运动杆1250b在第二横向上从纵向工具轴线LT-LT横向偏移。因此，关节运动杆1250a和1250b在相反方向上的轴向运动将引起远侧脊部分1050以及附接到其上的外科端部执行器1012围绕关节运动轴线AA-AA的关节运动，如将在下文中进一步详细描述。
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可旋转地轴颈连接在远侧脊部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上对应从动盘或从动元件304中的第四个。因此，当接口230联接到工具保持器270时，将来自机器人系统10的另一旋转输入运动通过工具驱动组件101施加到对应第四从动元件304上将引起关节运动正齿轮1272的旋转。关节运动驱动齿轮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以啮合接合的方式可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以容纳其中的保持杆1268。将保持杆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”上的轴向运动以及关节运动杆1250b在近侧方向“PD”上的轴向运动。类似地，关节运动螺母1260在与第一方向相反的第二方向上的旋转将引起关节运动杆1250a在近侧方向“PD”上的轴向运动并引起关节运动杆1250b在远侧方向“DD”上的轴向运动。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，外科端部执行器1012可通过同时在近侧方向“PD”上运动关节运动杆1250a和在远侧方向“DD”上运动关节运动杆1250b而使外科端部执行器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构造，该交接构造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器人臂构造上，该机器人臂构造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，上述工具构造可很好地适于与由IntuitiveSurgical,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他输出运动的其他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他形式的致动运动的本发明的各个端部执行器方面。
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，以使用分段电极来确定组织位置。因此，第一传感器3008a和第二传感器3008b能够感测闭合管上的负荷、闭合管的位置、齿条处的击发构件和联接到I形梁3005的击发构件的位置、包含组织的仓的部分、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、移位、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条件期间的砧座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他合适的传感器。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的组织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。
在另一方面，端部执行器3000可包括多个第二传感器，所述多个第二传感器被构造成能够测量在夹持过程期间施加在砧座3002上的应变的幅值。
在另一方面，所述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，所述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，所述多个传感器包括多个应变仪。所述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。夹持期间的所述多个传感器的基于时间的监测允许处理器(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节端部执行器3000和/或夹持在砧座3002与钉仓3006之间的组织。
图13A示出了包括导电元件5512层的端部执行器5500的一个方面。端部执行器5500类似于上述端部执行器3000。端部执行器5500包括可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、移位、压缩、组织阻抗和组织位置。其他示例公开于美国专利US2016/0066912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个示例性方面。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的哪些区域包括组织。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。
在各个例示的示例性方面，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的控制电路连通的一个或多个线圈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。在各个例示的示例性方面，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或任何其他方便构型，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同一微处理器5520或一些其他微处理器连通。导电元件5512可用于测量端部执行器5500内的组织厚度、力、移位、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，导电元件的其他构型也是可以的，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中的导电元件电容耦合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层可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号进行差分分析来获得改善的结果。
现在转到图14A，其示出了其中砧座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可压缩组织补偿件5610和钉仓5606之间的组织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。在包封组织5618的端部执行器5600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/或一些其他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、移位、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包括可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。导电线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)连通。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、或以其他方式损坏导体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示出了端部执行器5650的一个方面，该端部执行器还包括嵌入其中的导体5662。端部执行器5650包括可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。该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与微处理器连通。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中的含水量。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。可确定的其他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。通过组合来自多个传感器的数据，可以确定其他属性，例如血流量、血型、抗体的存在等。导体5662可用于测量组织厚度、力、移位、压缩、组织阻抗和组织在端部执行器5650中的位置。
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左侧上的多个段L1至L5和位于左右分段柔性电路4600右侧上的多个段R1至R5。段L1至L5以及R1至R5中的每一个包括温度传感器和/或力传感器以在每个段L1至L5以及R1至R5内局部感测组织参数。左右分段柔性电路4600被构造成能够在每个段L1至L5和R1至R5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、移位、压缩、组织阻抗和组织位置。
图17示出了分段柔性电路6430的一个方面，该分段柔性电路被构造成能够固定地附接到端部执行器的钳口构件6434。分段柔性电路6430包括远侧段6432a和侧向段6432b、6432c，这些段包括可单独寻址的传感器以提供局部组织存在检测。段6432a、6432b、6432c可单独寻址，以检测组织并且基于位于段6432a、6432b、6432c中每者内的单独传感器测量组织参数。分段柔性电路6430的段6432a、6432b、6432c安装到钳口构件6434并且经由导电元件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限定的开孔的测量，该开孔可被称为组织间隙，如图19中具体所示。分段柔性电路6430可用于测量端部执行器内的组织厚度、力、移位、压缩、组织阻抗和组织位置。
图18示出了分段柔性电路6440的一个方面，该分段柔性电路被构造成能够安装到端部执行器的钳口构件6444。分段柔性电路6580包括远侧段6442a和侧向段6442b、6442c，这些段包括可单独寻址的传感器以用于组织控制。段6442a、6442b、6442c可单独寻址，以处理组织并且读取位于段6442a、6442b、6442c中每一个内的单独传感器。分段柔性电路6440的段6442a、6442b、6442c安装到钳口构件6444并且经由导电元件6446电联接到能量源。霍尔效应传感器6448或其他合适的磁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限定的开孔或如图19中具体所示的组织间隙的测量。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上或与其一体形成，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、移位、压缩、组织阻抗和组织位置。
图19示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中所述的柔性电路6440安装到钳口构件6444。柔性电路6440包括霍尔效应传感器6448，该霍尔效应传感器结合安装到钳口构件6462的磁体6464操作以测量组织间隙GT。该技术可用于测量限定在钳口构件6444与钳口构件6462之间的开孔。钳口构件6462可以是钉仓。
图20示出了包括如图16中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安装到钳口构件6472。设置在段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与钉仓6474之间的组织的存在并且表示组织区域1至5。在图20中所示的构型中，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与钉仓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、移位、压缩、组织阻抗和组织位置。
图21示出了图20中所示端部执行器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中所示，组织6476被定位在段1至3之间并且代表组织区域1至3。因此，组织6476由段1至3中的传感器检测，并且通过段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。该控制电路被构造成能够检测位于段1至3中的组织。应当理解，段1至5可包括测量某些段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、移位、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。该电路包括控制器961，该控制器包括处理器962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可操作地联接纵向可移动移位构件以驱动I形梁刀元件。跟踪系统980被构造成能够确定纵向可移动移位构件的位置。将位置信息提供给处理器962，该处理器可被编程或配置为确定纵向可移动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。现在参照图22，用于测量施加到由端部执行器抓持的组织的力的系统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幅值或量值，该幅值或量值可指示组织压缩。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可测量用于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来测量捕获的组织的厚度。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/或在组织上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。在一个示例中，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中所示的方面中，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，例如，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诸如负荷传感器可测量施加到机器人外科系统10(图1)的击发行程中的I形梁的击发力。I形梁被构造成能够接合楔形滑动件，该楔形滑动件被构造成能够使钉驱动器向上进行凸轮运动以将钉挤出成与砧座变形接触。I形梁还包括锋利切割边缘，该锋利切割边缘可用于当通过击发杆向远侧推进I形梁时切断组织。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示出了控制电路，该控制电路被构造成能够控制根据本公开的一个方面的机器人外科系统10的各方面。图23示出了控制电路800，该控制电路被构造成能够控制根据本公开的一个方面的机器人外科系统10的各方面。控制电路800可被构造成能够实现本文所述的各种过程。控制电路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从本公开的存储器电路804接收指令。
图24示出了组合逻辑电路810，该组合逻辑电路被构造成能够控制根据本公开的一个方面的机器人外科系统10的各方面。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示出了时序逻辑电路820，该时序逻辑电路被构造成能够控制根据本公开的一个方面的机器人外科系统10的各方面。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。在其他方面，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。在其他方面，有限状态机可包括组合逻辑电路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、闪存存储器或固件，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，所述多个马达可被激活以执行各种功能。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；第三马达可被激活以执行第三功能，第四马达可被激活以执行第四功能，以此类推。在某些情况下，机器人外科器械4400的所述多个马达可被单独地激活以引起端部执行器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产生的击发运动传输到端部执行器1012，并且具体地用于使I形梁元件移位。在某些情况下，由马达4402产生的击发运动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形梁元件的切割边缘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，并且具体地用于使闭合管1040、1042移位以闭合砧座1024并且压缩砧座1024和钉仓1034之间的组织。闭合运动可导致例如端部执行器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，所述多个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的所述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，而其他马达保持未激活。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保持未激活。另选地，击发马达4402可被激活以击发所述多个钉并且/或者推进切割边缘，而关节运动马达4406保持未激活。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形梁元件向远侧推进，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的所述多个马达。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和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的所述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中的任一者之间选择性地切换。在至少一个示例中，如图26中所示，开关4414可在多个位置和/或状态之间运动或转变。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，单独的模块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，例如如图30中所示。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中所示，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。
在某些实例中，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”)。在某些实例中，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可包括电池(或者“电池组”或“电源组”)，例如，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功率源4428。在某些情况下，功率源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可以是例如可购自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的单循环闪存存储器或其他非易失性存储器(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、负荷有软件的内部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他特征。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、闭合端部执行器1012和使其进行关节运动相关联的程序指令。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的图，其中绝对定位系统11100包括受控马达驱动电路构造，该受控马达驱动电路构造包括传感器构造11102。用于绝对定位系统11100的位置传感器11102提供对应于移位构件11111的位置的独特位置信号。在一个方面，移位构件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至图30中的I形梁2514)的纵向可移动驱动构件，该驱动构件包括与刀正齿轮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，该第三刀驱动齿轮与刀齿条齿轮1206以啮合接合的方式可旋转地支撑在工具安装板302上。在其他方面，移位构件11111表示击发构件，该击发构件联接到切割器械或刀，该切割器械或刀可被适配和构造成能够包括驱动齿的齿条。在又一方面，移位构件11111表示击发杆或I形梁3005、2514(图12、图30)，每个均可被适配和构造成能够包括驱动齿的齿条。因此，如本文所用，术语移位构件一般用来指机器人外科器械10的任何可移动构件，诸如驱动构件、击发构件、击发杆、切割器械、刀和/或I形梁或可被移位的任何元件。
因此，绝对定位系统11100实际上可通过跟踪纵向可移动驱动构件的移位来跟踪切割器械I形梁3005、2514(图12、图29至图30)的移位。在各种其他方面，移位构件11111可联接到适于测量移位的任何传感器。因此，纵向可移动驱动构件、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移位传感器。移位传感器可包括接触式移位传感器或非接触式移位传感器。移位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构造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构造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构造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构造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可包括可操作地与齿轮组件11114交接的可旋转轴11116，该齿轮组件与驱动齿的组或齿条以啮合接合的方式安装在移位构件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的单次转动对应于移位构件11111的一些线性纵向平移。传动装置和传感器11118的构造可经由齿条和小齿轮构造连接至线性致动器，或者经由直齿齿轮或其他连接连接至旋转致动器。功率源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的界面在图4至图6、图8至图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的单次转动等同于移位构件11111的纵向移位d1，其中d1为在联接到移位构件11111的传感器元件11126的单次转动之后移位构件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构造11102，该齿轮减速使得位置传感器11112针对移位构件11111的全行程仅完成一次或多次旋转。位置传感器11112可针对移位构件11111的全行程完成多次转动。
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的不止一次转动提供独特位置信号。开关11122a-11122n的状态被馈送回控制器11104，该控制器应用逻辑以确定对应于移位构件11111的纵向移位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。该传感器构造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可被容纳在主控制器11内或者可被容纳在工具安装部分外壳301内。
因此，绝对定位系统11100在机器人外科器械10上电时提供移位构件11111的绝对位置，并且不使移位构件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连接。在一个方面，马达驱动器11110可为可购自Allegro Microsystems公司的A3941。其他马达驱动器可容易地被替换以用于绝对定位系统11100中。
控制器11104可被编程为提供对移位构件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/或者可被编程用于实现反馈控制器，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。其他示例包括电压、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，可提供其他传感器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如质量、惯性、粘性摩擦、电感电阻等考虑在内，以通过得知输入预测物理系统的状态和输出。
马达驱动器11110可为可购自Allegro Microsystems公司的A3941。A3941驱动器11110为全桥控制器，其用于与针对电感负荷(诸如有刷直流马达)特别设计的外部N沟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沟道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。其他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绝对定位系统11100的位置传感器11200的图，该绝对定位系统包括磁性旋转绝对定位系统。位置传感器11200可被实现为AS5055EQFT单片磁性旋转位置传感器，其可得自Austria Microsystems,AG。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，并且包括位于磁体11202上方的位置传感器11200的区域11230中的四个霍尔效应元件11228A、11228B、11228C、11228D，该磁体定位在与移位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，使得能够精确地跟踪击发构件和/或闭合构件的移位。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(Coordinate Rotation Digital Computer))，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、移位和表格查找操作。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，这里将不对其进行详细描述，但是，霍尔效应通常会在整个导体上产生横向于导体中的电流的电压差(霍尔电压)和垂直于该电流的磁场。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经过单次转动之后的角度的磁体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4个采样使抖动减少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，其示出了相对于夹持在端部执行器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向远侧和向近侧平移。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。在击发杆2520的远侧部分处示出了包括切割边缘2509的I形梁2514。楔形滑动件2513定位在钉仓2518中。当I形梁2514向远侧平移时，切割边缘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可从行程开始位置2527向远侧推进到行程结束位置2528。I形梁2514示出在行程开始位置2527的一个示例性位置处。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可以开始向远侧推进。在第一击发行程区域2517中，I形梁2514可以接触楔形滑动件2513并开始向远侧移动。然而，在第一区域中，切割边缘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，切割边缘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，切割边缘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更靠近砧座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，切割边缘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，不同区域可以沿着端部执行器纵向轴线2515在不同位置处开始，例如，基于砧座2516与钉仓2518之间的组织定位。
如上所述，并且现在参考图27至图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使例如轴组件(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的其他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感测I形梁2514的速度。控制器可被构造成能够将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的功率以便增大I形梁2514的速度和/或减小功率以便减小I形梁2514的速度。
可使用各种技术来确定作用在I形梁2514上的力。可通过测量马达2504的电流来确定I形梁2514的力，其中马达2504电流基于I形梁2514在其向远侧推进时所经受的负荷。I形梁2514力可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/或切割边缘2509的近侧端部上来确定。I形梁2514的力可通过监测在预先确定的经过时间段T1之后基于马达11122的当前设定速度以预期速度移动的I形梁2514的实际位置，并且在时间段T1结束时基于马达11122的当前设定速度将I形梁2514的实际位置与I形梁2514的预期位置进行比较来确定。因此，如果I形梁2514的实际位置小于I形梁2514的预期位置，则I形梁2514上的力大于标称力。相反，如果I形梁2514的实际位置大于I形梁2514的预期位置，则I形梁2514上的力小于标称力。I形梁2514的实际位置和预期位置之间的差值与I形梁2514上的力与标称力的偏差成比例。
图30为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可被编程或配置为控制移位构件的远侧/近侧平移、闭合管远侧/近侧移位、轴旋转，以及具有单个或多个关节运动驱动连接件的关节运动。在一个方面，外科器械2500可被编程或配置为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通过多个马达2504a-2504e来控制砧座2516和端部执行器2502的I形梁2514(包括锋利切割边缘)部分、可移除钉仓2518、轴2540和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。其他传感器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、微处理器或其他合适的处理器。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)或I形梁2514处于相对于起始位置的特定位置时的时间(t)处的位置。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可被编程用于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移位构件的远侧运动。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可被编程用于以较低的速度和/或以较低的功率平移移位构件。当存在较薄的组织时，控制电路2510可被编程用于以较高的速度和/或以较高的功率平移移位构件。闭合控制程序可控制由砧座2516施加到组织的闭合力。其他控制程序控制轴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可以针对移位构件的行程的第一开环部分初始以开环配置操作马达2504a-2504e中的每个。基于行程的开环部分期间器械2500的响应，控制电路2510可以选择处于闭环配置的击发控制程序。器械的响应可以包括在开环部分期间移位构件的平移距离、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可以对移位构件行程的第二部分实施所选择的击发控制程序。例如，在行程的闭环部分期间，控制电路2510可以基于以闭环方式描述移位构件的位置的平移数据来调制马达2504，以使移位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功率源、电池、超级电容器或任何其他合适的能量源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和关节运动2542b。传动装置2506a-2506e可以包括一个或多个齿轮或其他连杆部件，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向远侧和向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。可使用其他合适的位置传感器，包括例如接近传感器。其他类型的位置传感器可提供指示I形梁2514的运动的其他信号。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中或器械的任何其他部分处。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和联接到I形梁2514的传动装置2506a。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运动。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。如图9和图10中所示，刀减速齿轮组1224可旋转地安装到工具安装板302上，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啮合接合，该第三刀驱动齿轮与刀齿条齿轮1206以啮合接合的方式可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位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向远侧驱动至行程开始位置远侧的行程结束位置。当击发构件向远侧平移时，具有定位在远侧端部处的切割元件的I形梁2514向远侧推进以切割位于钉仓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和联接到砧座2516的传动装置2506b。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运动。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。如图9和图10中所示，闭合减速齿轮组1114包括与闭合正齿轮1112以啮合接合的方式而被可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啮合接合的第一闭合驱动齿轮1118，该第二闭合驱动齿轮与闭合齿条齿轮1106以啮合接合的方式可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被定位成与钉仓2518相对。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推进闭合构件以抓持砧座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和联接到轴2540的传动装置2506c。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中所示，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上相应从动盘或从动元件304中的第一个。见图6。旋转齿轮组件1070还包括旋转从动齿轮1074，该旋转从动齿轮与管齿轮段1062和旋转驱动齿轮1072以啮合接合的方式可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和联接到关节运动构件2542a的传动装置2506d。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上对应从动盘或从动元件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、2542b或连接件。这些驱动构件2542a、2542b由两个马达2508d、2508e所驱动的机器人接口(齿条)上的单独的盘驱动。当提供单独的击发马达2504a时，关节运动连接件2542a、2542b中的每个可相对于另一个连接件进行拮抗驱动，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或连接件以固定的半径附接到头部。因此，当头部旋转时，推拉连接件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至图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包括在其上可操作地支撑组织切割刀片2509(图29)的刀主体。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至图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连接件。另一个示例为操作可移动机械元件诸如移位构件、关节运动连接件、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可被实现为如结合图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AS5055EQFT单片磁性旋转位置传感器，其可购自Austria Microsystems,AG。位置传感器2534可与控制器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(Coordinate Rotation DigitalComputer))的多个霍尔效应元件，也称为逐位法和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、数位移位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，诸如间隙距离与时间、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他合适的传感器。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平台上，以使用分段电极来确定组织位置。扭矩传感器2544a-2544e可被构造成能够感测力诸如击发力、闭合力、关节运动力等。因此，控制电路26510可感测：(1)远侧闭合管经历的闭合负荷及其位置；(2)在齿条处的击发构件及其位置；(3)钉仓2518的哪个部分上具有组织；以及(4)感测两个关节运动杆上的负荷和位置。
在一个方面，所述一个或多个传感器2538可包括应变仪诸如微应变仪，其被构造成能够在夹持条件期间测量砧座2516中的应变的量值。应变仪提供电信号，该电信号的幅值随着应变量值而变化。传感器2538可包括压力传感器，该压力传感器被构造成能够检测由砧座2516和钉仓2518之间的压缩组织的存在所生成的压力。传感器2538可被构造成能够检测位于砧座2516和钉仓2518之间的组织区段的阻抗，该阻抗指示位于其间的组织的厚度和/或完全性。
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。在其他具体实施中，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、红外传感器、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)。在其他具体实施中，传感器2538可包括无电导体开关、超声开关、加速度计和惯性传感器等。
在一个方面，传感器2538可被构造成能够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之间捕集的组织区段所经受的组织压缩。所述一个或多个传感器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。所述一个或多个传感器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控制电路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。可致动移位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可包括功率源，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。
基于感测到的机器人外科器械的组织参数的闭环速度控制技术
在使用中，机器人外科器械可感测并识别端部执行器中的某些组织条件，这可能会影响钉成形和组织切割过程的性能。因此，在这种情况下，用于控制击发构件速度的移位(例如，推进或回缩)过程可基于组织间隙、联接构件负荷、刀推进速率和组织压缩的感测和识别的参数。在一个方面，本公开提供了用于基于端部执行器间隙(例如，指示组织厚度)、联接构件负荷诸如闭合力(FTC)或击发力(FTF)、刀推进速率、组织阻抗、组织压缩、钉仓上的组织覆盖的感测和识别的参数以及其他参数来控制机器人外科器械的移位构件的推进或回缩速度的各种技术。
图31为示出根据本公开的一个方面的用于控制机器人外科器械的移位构件的推进或回缩速度的技术的图表12000。图表12000描绘了从砧座闭合条件或从比预期薄或比预期厚的组织的击发条件击发移位构件。第一列12002列出了速度控制所基于的变量或参数，诸如砧座和钉仓之间的端部执行器间隙、闭合力或击发力、刀的速度、组织阻抗以及钉仓上的组织覆盖率。第二列12004基于第一列12002中列出的感测和识别的参数，列出来自砧座闭合的慢速或快速的初始速度选择，或者称为设定速度或命令速度。第三列12006基于第一列12002中列出的感测和识别的参数，列出了沿着钉仓的长度(例如，不同部分中的主Xmm，其中X为钉仓的长度，诸如10mm-60mm或更大)增大或减小的击发速度更新。
因此，现在参考基于组织间隙参数在第二列12004中列出的在砧座闭合阶段期间从闭合开始的击发过程，如果端部执行器中所测量的组织间隙小于标称组织间隙并且移位构件的初始设定速度慢，则移位构件的速度增大，如++符号所示，其中“+”或“-”符号的数量分别指成比例地增大或减小设定速度。相反，如果所测量的组织间隙大于标称组织间隙，并且移位构件的初始设定速度快，则移位构件的速度会减小，如--符号所示。
现在参考基于闭合力(FTC)参数在第二列12004中列出的在砧座闭合阶段期间从闭合开始的击发过程，如果所测量的FTC小于阈值力并且移位构件的初始设定速度慢，则移位构件的速度可增大，如--符号所示。相反，如果所测量的FTC大于阈值力，并且移位构件的初始设定速度快，则移位构件的速度会减小，如--符号所示。
由于刀从闭合开始的初始速度始终为零，因此跳过了下一个变量，即刀速度参数(例如，移位构件的速度)。因此，现在转向基于组织阻抗参数在第二列12004中列出的在砧座闭合阶段期间从闭合开始的击发过程，如果所测量的组织阻抗低于预期，表明组织比预期薄，并且移位构件的初始设定速度慢，则移位构件的速度可增大，如++符号所示。相反，如果所测量的组织阻抗大于阈值组织阻抗，表明组织比预期的厚，并且移位构件的初始设定速度快，则移位构件的速度会减小，如--符号所示。
现在参考基于钉仓覆盖率参数(例如，基于部分或完全覆盖砧座和钉仓之间的空间的组织)在第二列12004中列出的在砧座闭合阶段期间从闭合开始的击发过程，如果所测量的组织没有覆盖整个钉仓并且移位构件的初始设定速度慢，则移位构件的速度可增大，如+符号所示。相反，如果所测量的组织覆盖了整个钉仓并且移位构件的初始设定速度快，则移位构件的速度会减小，如-符号所示。
现在，描述转向在第三列12006中列出的击发阶段。因此，参考组织间隙参数，如果在以当前设定的击发速度进行的击发阶段期间，端部执行器中的所测量组织间隙减小，则移位构件的速度将增大，如+符号所示。相反，如果在以当前设定的击发速度进行的击发阶段期间，端部执行器中的所测量组织间隙增大，则移位构件的速度将减小，如-符号所示。
参考FTF参数，如果在以当前设定的击发速度进行的击发阶段期间，所测量的FTF减小，则移位构件的设定速度将增大，如++符号所示。相反，如果在以当前设定的击发速度进行的击发阶段期间，所测量的FTF增大，则移位构件的设定速度将减小，如--符号所示。
参考第三列12006中所示的刀速度参数(例如，移位速度)，-符号表示设定速度的减小，而+符号表示设定速度的增大。因此，现在转向组织阻抗参数，如果在以当前设定的击发速度进行的击发阶段期间，所测量的组织阻抗减小(表明组织厚度减小)，则移位构件的设定速度增大，如+符号所示。相反，如果在以当前设定的击发速度进行的击发阶段期间，所测量的组织阻抗增大(表明组织厚度增大)，则移位构件的设定速度将减小，如-符号所示。
最后，现在参考钉仓覆盖率参数，如果在以当前设定的击发速度进行的击发阶段期间，所测量的钉仓覆盖率减小，则移位构件的设定速度将增大，如+符号所示。相反，如果在以当前设定的击发速度进行的击发阶段期间，所测量的钉仓覆盖率增大，则移位构件的设定速度将减小，如-符号所示。
在上述背景下，描述现在转向图32，其为根据本公开的一个方面的闭环速度控制过程12100的图形描述。顶部曲线图12102将组织厚度的变化描绘为沿着钉仓的位置的函数。水平轴线12142被缩放以表示钉仓的长度Xmm，例如，其中X为10-60mm。因此，对于60mm钉仓，X＝60mm。垂直轴线12144表示组织厚度T(mm)。水平轴线12142也被分成相等长度的四个区域(区域1至区域4)。如图所示，组织12110的厚度在0.25X至0.74X之间变化(对于60mm钉仓为15-45mm)。控制电路监测沿着钉仓长度的组织厚度，并将组织12110的厚度与阈值厚度12115进行比较。组织12110的厚度曲线指示组织仅位于钉仓的区域2和区域3中，而不位于区域1和区域4中。另外，组织12110的厚度在δ1和δ2之间高于阈值厚度12115，使得组织段12112、12116低于阈值厚度12115，并且组织12114的一部分的厚度高于阈值厚度12115。因此，如图31中的图表12000中所讨论的，闭环速度控制过程将基于闭合阶段和击发阶段遇到的组织条件参数来调节。
从顶部开始的第二曲线图12104将组织12110的覆盖率描绘为沿着钉仓的位置的函数，其中水平轴线12142表示钉仓的长度Xmm，垂直轴线12148表示特定区域中组织12110的存在(区域1至区域4)。钉仓覆盖率表示为二进制变量，使得如果存在组织12110，则钉仓覆盖率为1，如果不存在组织12110，则钉仓覆盖率为0。如图所示，钉仓覆盖率在区域1和区域4中为0，在区域2和区域3中为1。
从顶部开始的第三曲线图12106描绘了针对慢速和快速穿过速率以及受控速度，击发力(N)作为沿着钉仓的位置的函数。水平轴线12150表示钉仓的长度Xmm，垂直轴线12148表示击发力(N)。如图所示，慢速FTF曲线12126具有比快速曲线12130更低的力分布曲线。受控曲线12128表示当参考图33讨论的过程12200由控制电路2510(图30)执行时的力分布曲线。通常，当刀或移位构件遇到比阈值厚度12115更厚的组织12110时，控制电路减小移位构件的设定速度，如参考底部曲线图12108更详细地讨论的。
底部曲线图12108表示命令速度12118(虚线)和实际速度12120(实线)随沿着钉仓的位置变化，其中水平轴线12154表示钉仓的长度Xmm，而垂直轴线12156表示命令速度(毫米/秒)。命令速度12118是由控制电路设定的马达速度，而实际速度12120是由控制电路经由来自位置传感器和定时器/计数器电路的反馈而测量的实际速度。基于初始闭合阶段和击发阶段期间经历的组织条件来确定命令速度12118。控制电路基于参考图33描述的闭环控制过程12200来调节命令速度12118，以补偿例如组织厚度和钉仓覆盖率。然而，命令速度12118可由闭环控制过程12200基于图31中所示的图表12000的第一列12002中描述的参数或变量中的任一者来调节。
在图32的示例中，在检测到区域1中没有组织时，控制电路在区域1期间将命令速度从0mm/s增大到V高12122，直到组织12110在区域2的开始(0.25Xmm)处遇到I形梁刀，此时命令速度12118减小到速度V低12124。维持速度V低12124，直到I形梁刀离开区域3(0.75X)为止，此时控制电路将命令速度12118调节回区域4中的V高12125。实际速度12120分布曲线大致跟踪命令速度12118，但包括在控制电路设定命令速度12118的时间直到移位构件到达命令速度12118之间的响应时间延迟。例如，由于施加到组织12110的压缩力，实际速度段12132达到V高12122并在区域1中略微下降。在区域2中，当移位构件跟踪命令速度12118时，实际速度12120如段12134所示下降。在区域2中，在δ1和δ2之间，其中组织段12114的组织厚度高于组织厚度阈值12115。因此，在区域2中，由于I形梁刀遇到的较厚组织段12114，实际速度12120段12136略低于命令速度12118。在区域3中，当组织段12116下降到组织厚度阈值12115以下但保持在零以上时，实际速度12120段12138更紧密地跟踪命令速度12118V低12124。最后，在区域4(无组织区域)中，实际速度12120斜升至命令速度12125。实际速度段12140上升到略高于V高，然后在行程结束时下降到零。参考受控曲线12128，通过减小命令速度12118以及相应地降低I形梁刀的实际速度12120或推进速度，击发力分布曲线显著下降。
图33为根据本公开的一个方面，描绘了用于确定端部执行器中的组织条件并相应地调节命令速度的控制程序或逻辑配置的过程12200的逻辑流程图。根据本公开的一个方面，过程12200将参考图30中所示的机器人外科器械2500进行描述，该机器人外科器械被编程为利用单关节运动或双关节运动驱动连接件来控制移位构件的远侧平移、闭合管行进、轴旋转和关节运动。在砧座2516的闭合阶段期间，例如，当砧座2516在钉仓2518上闭合时，机器人外科器械2500的一个或多个传感器2538检测12202端部执行器2502中的组织条件。一个或多个传感器2538的输出被提供给控制电路2510。控制电路2510通过向马达控制2508a施加马达设定点来设定12204马达2504a的命令速度，该马达控制继而向马达2504a施加马达驱动信号，以设定马达2504a的命令速度，从而在闭合阶段期间以命令速度驱动或击发12206联接到I形梁2514的移位构件。马达2504a的输出轴处的扭矩传感器2544a可向附加控制电路2510提供扭矩信号，以检测I形梁2514在端部执行器2502内行进期间遇到的力。位置传感器2534被构造成能够检测I形梁2514或机器人外科系统2500的其他移位构件的位置。
过程12200在击发阶段期间继续。因此，一个或多个传感器2538检测12208I形梁2514的击发阶段期间端部执行器2502中的组织条件。控制电路2510从一个或多个传感器2538，以及另外从扭矩传感器2544a、位置传感器2534以及可选地电流传感器2536接收输入，以基于检测到的12208组织条件设定12210联接到I形梁2514的移位构件的命令速度。移位构件以设定的速度推进，直到检测到12212组织条件的变化为止。然后基于检测到12212的组织条件将命令速度调节12210到新的命令速度。参考图31中的图表12000和基于端部执行器2502中遇到的组织条件从砧座2516闭合条件或从组织的击发条件击发移位构件的相关描述。过程12200继续12214直到移位构件(例如，I形梁2514)到达行程结束12216。
根据过程12200，机器人外科系统2500的控制电路2510被构造成能够检测闭合阶段期间12202端部执行器2502处的条件。控制电路2510基于闭合阶段期间在端部执行器2502处检测到的12202条件，来设定12204马达2504a的命令速度，该马达联接到移位构件(例如，I形梁2514)，该移位构件联接到端部执行器2502。控制电路2510以设定命令速度击发12206移位构件。控制电路2510检测12208击发阶段期间端部执行器2502处的条件。控制电路基于击发阶段期间在端部执行器2502处检测到的12208条件来设定1210马达2504a的命令速度。
在闭合阶段或击发阶段期间，机器人外科系统2500的控制电路2510被构造成能够基于传感器2538检测组织厚度，并且被构造成能够基于传感器2538检测在砧座2516和端部执行器2502的钉仓2518部分之间限定的间隙，并基于该间隙和检测到该间隙时的命令速度来调节命令速度。组织厚度可由各种传感器2538检测，诸如图13至图21和相关描述中所示的那些传感器。
控制电路2510可被构造成能够检测闭合力，该闭合力被定义为由砧座2516和端部执行器2502的钉仓2518部分在位于其间的组织上闭合所经受的力，并且基于闭合力和检测到该力时的命令速度来调节命令速度。该力可由位于砧座2516或钉仓2518或端部执行器2502中的其他位置(诸如图13至图21和相关描述中所示的那些位置)中的力传感器(诸如应变仪)来检测。此外，闭合力可由联接到第二马达2508b的扭矩传感器2544b提供。
控制电路2510可被构造成能够检测击发力以使移位构件移位并基于击发力和检测到该力时的命令速度来调节命令速度。可通过联接到马达2508a的输出轴的传感器2538或扭矩传感器2544a将击发力提供给控制电路2510。
控制电路2510可被构造成能够检测位于砧座2516和端部执行器2502的钉仓2518之间的组织的电阻抗，并且基于电阻抗和检测到该阻抗时的命令速度来调节命令速度。电阻抗可使用各种传感器2538来感测，诸如图13至图21和相关描述中所示的那些传感器。驱动通过位于电极段之间的组织的电流可被控制电路2510用来测量组织阻抗。
控制电路2510可被构造成能够检测位于端部执行器的砧座和钉仓部分之间的组织的覆盖率，并且基于该覆盖率和检测到该覆盖率时的命令速度来调节命令速度。组织覆盖率可使用各种传感器检测，诸如图13至图21和相关描述中所示的那些传感器。
本文所述的功能或过程12000可由本文所述的任何处理电路执行，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)。可在没有本文公开的具体细节的情况下实践电动外科器械的各方面。某些方面已被显示为框图而不是细节。
本文所述主题的各个方面在以下编号的实施例中陈述：
实施例1：一种机器人外科系统，包括：控制电路，该控制电路被构造成能够：
检测闭合阶段期间端部执行器处的条件；基于闭合阶段期间在端部执行器处检测到的条件来设定联接到移位构件的马达的命令速度，该移位构件联接到端部执行器；以设定的命令速度击发移位构件；检测击发阶段期间端部执行器处的条件；并且基于击发阶段期间在端部执行器处检测到的条件来设定马达的命令速度。
实施例2：根据实施例1所述的机器人外科系统，其中，闭合阶段或击发阶段期间的条件为组织厚度，并且控制电路被构造成能够检测在端部执行器的砧座和钉仓部分之间限定的间隙，并且基于该间隙和在检测到该间隙时的命令速度来调节命令速度。
实施例3：根据实施例1至实施例2中任一项所述的机器人外科系统，其中，闭合阶段期间的条件为朝向钉仓施加到砧座的闭合力，并且控制电路被构造成能够检测闭合力，该闭合力被定义为端部执行器的砧座和钉仓部分在位于砧座和钉仓部分之间的组织上闭合所经受的力，并且基于闭合力和检测到该力时的命令速度来调节命令速度。
实施例4：根据实施例1至实施例3中任一项所述的机器人外科系统，其中，击发阶段期间的条件为用于使移位构件移位的击发力，并且控制电路被构造成能够检测用于使移位构件移位的击发力并且基于击发力和检测到该力时的命令速度来调节命令速度。
实施例5：根据实施例1至实施例4中任一项所述的机器人外科系统，其中，闭合阶段或击发阶段期间的条件为位于端部执行器中的砧座和钉仓之间的组织的电阻抗，并且控制电路被构造成能够检测位于端部执行器的砧座和仓之间的组织的电阻抗，并且基于电阻抗和检测到该阻抗时的命令速度来调节命令速度。
实施例6：根据实施例1至实施例5中任一项所述的机器人外科系统，其中，闭合阶段或击发阶段期间的条件为端部执行器中组织的覆盖率，并且控制电路被构造成能够检测位于端部执行器的砧座和钉仓部分之间的组织的覆盖率，并且基于该覆盖率和检测到该覆盖率时的命令速度来调节命令速度。
实施例7：根据实施例1至实施例6中任一项所述的机器人外科系统，其中，控制电路被构造成能够调节击发阶段期间的命令速度，以在击发时调节移位构件的速度。
实施例8：一种机器人外科系统，包括：控制电路，该控制电路联接到马达并且被构造成能够在闭合阶段或击发阶段期间设定马达的命令速度，其中该马达被构造成能够以命令速度驱动移位构件，其中控制电路被构造成能够：检测端部执行器处的第一条件；检测端部执行器处的第二条件；基于端部执行器处检测到的第一条件和第二条件来设定马达的命令速度；并且以设定的命令速度击发移位构件。
实施例9：根据实施例8所述的机器人外科系统，其中，第一条件为端部执行器的分段部分中的组织覆盖率，并且控制电路被构造成能够：从位于端部执行器的一部分中的传感器接收组织存在；在没有组织的端部执行器部分中，将马达的命令速度设定为第一速度；并且在组织位于端部执行器中的端部执行器部分中，将马达的命令速度设定为第二速度，其中第二速度小于第一速度。
实施例10：根据实施例8至实施例9中任一项所述的机器人外科系统，其中，第一条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的间隙传感器接收组织厚度；并且在组织厚度大于阈值厚度的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例11：根据实施例8至实施例10中任一项所述的机器人外科系统，其中，第一条件为施加到端部执行器的闭合力，并且控制电路被构造成能够：从位于端部执行器中的传感器接收闭合力；并且在闭合力大于阈值力的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例12：根据实施例8至实施例11中任一项所述的机器人外科系统，其中，第一条件为用于使移位构件移位的击发力，并且控制电路被构造成能够：从联接到马达的输出的传感器接收击发力；并且在闭合力大于阈值力的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例13：根据实施例8至实施例12中任一项所述的机器人外科系统，其中，第一条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的传感器接收组织厚度；并且在阻抗大于阈值阻抗的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例14：根据实施例8至实施例13中任一项所述的机器人外科系统，其中，第二条件为端部执行器的分段部分中的组织覆盖率，并且控制电路被构造成能够：从位于端部执行器的一部分中的传感器接收组织存在；在没有组织的端部执行器部分中，将马达的命令速度设定为第一速度；并且在组织位于端部执行器中的端部执行器部分中，将马达的命令速度设定为第二速度，其中第二速度小于第一速度。
实施例15：根据实施例8至实施例14中任一项所述的机器人外科系统，其中，第二条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的间隙传感器接收组织厚度；并且在组织厚度大于阈值厚度的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例16：根据实施例8至实施例15中任一项所述的机器人外科系统，其中，第二条件为施加到端部执行器的闭合力，并且控制电路被构造成能够：从位于端部执行器中的传感器接收闭合力；并且在闭合力大于阈值力的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例17：根据实施例8至实施例16中任一项所述的机器人外科系统，其中，第二条件为用于使移位构件移位的击发力，并且控制电路被构造成能够：从联接到马达的输出的传感器接收击发力；并且在闭合力大于阈值力的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例18：根据实施例8至实施例17中任一项所述的机器人外科系统，其中，第二条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的传感器接收组织厚度；并且在阻抗大于阈值阻抗的端部执行器部分中，将马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例19：一种机器人外科系统，包括：第一马达，用于驱动联接到切割构件的移位构件；第二马达，用于驱动联接到端部执行器的砧座部分的闭合管，其中该闭合管被构造成能够闭合或打开砧座；以及联接到第一马达和第二马达的控制电路，其中控制电路被构造成能够在闭合阶段或击发阶段期间设定第一马达的命令速度，并且设定第二马达的命令速度以向联接到砧座的闭合管施加闭合力，其中控制电路被构造成能够：检测端部执行器处的第一条件；检测端部执行器处的第二条件；基于端部执行器处检测到的第一条件和第二条件来设定马达的第一命令速度；并且以第一设定的命令速度击发移位构件。
实施例20：根据实施例19所述的机器人外科系统，其中，第一条件为端部执行器的分段部分中的组织覆盖率，并且控制电路被构造成能够：从位于端部执行器的一部分中的传感器接收组织存在；在没有组织的端部执行器部分中，将第一马达的命令速度设定为第一速度；并且在组织位于端部执行器中的端部执行器部分中，将第一马达的命令设定为第二速度；其中第二速度小于第一速度。
实施例21：根据实施例19至实施例20中任一项所述的机器人外科系统，其中，第一条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的间隙传感器接收组织厚度；并且在组织厚度大于阈值厚度的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例22：根据实施例19至实施例21中任一项所述的机器人外科系统，其中，第一条件为施加到端部执行器的闭合力，并且控制电路被构造成能够：从联接到第二马达的输出轴的传感器接收闭合力；并且在闭合力大于阈值力的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例23：根据实施例19至实施例22中任一项所述的机器人外科系统，其中，第一条件为用于使移位构件移位的击发力，并且控制电路被构造成能够：从联接到第一马达的输出轴的传感器接收击发力；并且在闭合力大于阈值力的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例24：根据实施例19至实施例23中任一项所述的机器人外科系统，其中，第一条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的传感器接收组织厚度；并且在阻抗大于阈值阻抗的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例25：根据实施例19至实施例24中任一项所述的机器人外科系统，其中，第一条件为端部执行器的分段部分中的组织覆盖率，并且控制电路被构造成能够：从位于端部执行器的一部分中的传感器接收组织存在；在没有组织的端部执行器部分中，将第一马达的命令速度设定为第一速度；并且在组织位于端部执行器中的端部执行器部分中，将第一马达的命令设定为第二速度；其中第二速度小于第一速度。
实施例26：根据实施例19至实施例25中任一项所述的机器人外科系统，其中，第一条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的间隙传感器接收组织厚度；并且在组织厚度大于阈值厚度的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例27：根据实施例19至实施例26中任一项所述的机器人外科系统，其中，第一条件为施加到端部执行器的闭合力，并且控制电路被构造成能够：从联接到第二马达的输出轴的传感器接收闭合力；并且在闭合力大于阈值力的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例28：根据实施例19至实施例27中任一项所述的机器人外科系统，其中，第一条件为用于使移位构件移位的击发力，并且控制电路被构造成能够：从联接到第一马达的输出轴的传感器接收击发力；并且在闭合力大于阈值力的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
实施例29：根据实施例19至实施例28中任一项所述的机器人外科系统，其中，第一条件为位于端部执行器处的组织厚度，并且控制电路被构造成能够：从位于端部执行器中的传感器接收组织厚度；并且在阻抗大于阈值阻抗的端部执行器部分中，将第一马达的命令速度设定为第三速度，并且其中第三速度小于第二速度。
用于机器人外科器械的闭合构件的闭环速度控制
在使用电动机器人外科缝合系统时，从击发构件联接到夹持臂中的时刻起，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，本公开提供了一种闭环反馈控制系统，该闭环反馈控制系统被构造成能够在击发构件向远侧推进的同时在击发行程期间推进闭合构件。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，本公开提供了用于自适应控制闭合构件速度的技术，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，这些参数通过可拆卸的机器人接口单元和可移除钉仓以及设置在机器人接口和钉仓中的电路来实现，该电路可识别其自身及其状态，或者提供参数或控制程序来致动装置或端部执行器并记录其使用。
在一个方面，从I形梁联接到砧座中并开始承受负荷的那一刻起，闭合管上的力急剧下降。这可通过在击发构件向远侧推进的同时推进闭合管来克服。在一个方面，机器人接口提供了单独的闭环可控闭合管和击发构件。这些闭环控制技术将在下文描述。
在转向对闭合管和击发构件的闭环控制技术的描述之前，该描述简要地转向图34。图34为描绘了两条闭合力(FTC)曲线12506、12508的曲线图12500，其描绘了在闭合阶段期间施加到闭合构件以闭合厚和薄组织的力，以及描绘了两条击发力(FTF)曲线12522、12524的曲线图12501，其描绘了在击发阶段期间施加到击发构件以击发穿过厚和薄组织的力。参见图30和图34，曲线图12500描绘了在闭合行程期间施加到厚和薄组织从而相对于被抓持在砧座2516和钉仓2518之间的组织闭合端部执行器2502的力的示例，其中闭合力被绘制为时间的函数。在两条轴线上绘制闭合力曲线12506、12508。垂直轴线12502指示以牛顿(N)为单位的端部执行器2502的闭合力(FTC)。水平轴线12504指示以秒为单位的时间，为了描述清楚，标记为t0至t13。第一闭合力曲线12506是在闭合行程期间施加到厚组织以相对于被抓持在砧座2516和钉仓2518之间的组织而闭合端部执行器2502的力的示例，并且第二曲线12508是在闭合行程期间施加到薄组织以相对于被抓持在砧座2516和钉仓2518之间的组织而闭合端部执行器2502的力的示例。第一闭合力曲线12506和第二闭合力曲线12508被分为三个阶段：闭合行程(CLOSE)、等待时间段(WAIT)和击发行程(FIRE)。在闭合行程期间，响应于闭合马达2504b对闭合行程的致动，闭合管1040、1042(图4和图6至图10)向远侧平移(方向“DD”)，以例如相对于钉仓2518移动砧座2516。在其他情况下，闭合行程包括响应于闭合马达2504b的致动相对于砧座2516移动钉仓2518，并且在其他情况下，闭合行程包括响应于闭合马达2504b的致动移动钉仓2518和砧座2516。参考第一闭合力曲线12506，在闭合行程期间，闭合力12510从时间t0至t1从0增加到最大力F1。参考第二闭合力曲线图12508，在闭合行程期间，闭合力12516在时间t0至t1从0增加到最大力F3。最大力F1和F3之间的相对差是由于厚组织相对于薄组织所需的闭合力的差异引起的，与薄组织相比，需要更大的力才能将砧座闭合到厚组织上。
第一闭合力曲线12506和第二闭合力曲线12508指示，在以时间(t1)结束的初始夹持时间段期间，端部执行器2502中的闭合力增大。闭合力在时间(t1)达到最大力(F1,F3)。初始夹持时间段例如可为大约一秒。可在开始击发行程之前应用等待时段。等待时段允许流体从由端部执行器2502压缩的组织流出，这减小了压缩组织的厚度，在砧座2516和钉仓2518之间产生较小的间隙，并且在等待时段结束时减小了闭合力。参考第一闭合力曲线12506，在t1至t4的等待时段期间，闭合力12512从F1标称下降到F2。类似地，参考第二闭合力曲线12508，在t1至t4的等待时段期间，闭合力12518从F3标称下降到F4。在一些示例中，通常采用选自约10秒至约20秒的范围内的等待时段(t1至t4)。在示例性的第一闭合力曲线12506和第二闭合力曲线12508中，采用约15秒的时间段。在等待时段之后是击发行程，该击发行程通常持续选自例如约3秒至例如约5秒的范围内的时间段。随着I形梁2514相对于端部执行器推进通过击发行程，闭合力减小。如分别由第一闭合力曲线12506和第二闭合力曲线12508的闭合力12514、12520所指示的，施加在闭合管1040、1042上的闭合力12514、12520从约时间t4急剧下降至约时间t5。时间t4表示I形梁2514联接到砧座2516中并开始接管闭合负荷的时刻。因此，闭合力随着击发力的增加而减小，如第一击发力曲线12522和第二击发力曲线12524所示。
图34还描绘了第一击发力曲线12522和第二击发力曲线12524的曲线图12501，其绘制了在外科器械2500的击发行程期间施加的用于推进I形梁2514的力。在两条轴线上绘制击发力曲线12522、12524。垂直轴线12526指示以牛顿(N)为单位的击发力，该力被施加以在击发行程期间推进I形梁2514。I形梁2514被构造成能够推进刀或切割元件并且在击发行程期间促动驱动器以部署钉。水平轴线12505以与上部曲线图12500的水平轴线12504相同的时间标度指示以秒为单位的时间。
如前所述，从时间t4至约时间t5闭合管力急剧下降，t5表示I形梁2514联接到砧座2516中并开始承受负荷的时刻，并且闭合力随着击发力的增大而减小，如第一击发力曲线12522和第二击发力曲线12524所示。当I形梁2514从时间t4时的行程开始位置推进时，对于薄组织，击发力曲线12524到t8和t9之间的行程结束位置，以及对于厚组织，击发力曲线12522到t13时的行程结束位置。当I形梁2514在击发行程期间向远侧推进时，闭合组件将对钉仓2518和砧座2516的控制交给击发组件，这导致击发力增大而闭合力减小。
在厚组织击发力曲线12522中，在击发时段(FIRE)期间，曲线12522被分成三个不同的段。第一段12528指示击发力，因为它从t4时的0增加到恰好在t5之前的峰值力F’1。第一段12528是击发行程的初始阶段期间的击发力，其中I形梁2514从闭合斜坡的顶部向远侧推进，直到I形梁2514接触组织。第二段12530指示击发行程的第二阶段期间的击发力，其中I形梁2514向远侧推进以部署钉并切割组织。在击发行程的第二阶段期间，击发力在约t12时从F’1降至F’2。第三段12532指示击发行程的第三阶段和最后阶段期间的击发力，其中I形梁2514离开组织并且在无组织区域中推进到行程结束。在击发行程的第三阶段期间，击发力在I形梁2514到达行程结束的约t13时从F’2下降到零(0)。总之，在击发行程期间，随着I形梁2514进入组织区域，击发力急剧上升并在缝合和切割操作期间在组织区域中稳定下降，而当I形梁2514退出组织区域并在行程结束时进入无组织区域时，击发力急剧下降。
薄组织击发力曲线12524遵循与厚组织击发力曲线12522类似的模式。因此，在击发行程的第一阶段期间，击发力12534从0急剧上升至约t5时的F’3。在击发行程的第二阶段期间，击发力12536从F’3稳定下降至约t8时的F’4。在击发行程的最终阶段期间，击发力12532从F’4急剧下降至约t8和t9之间时的0。
为了克服从时间t4至约时间t5闭合力的急剧下降，时间t5表示I形梁2514联接到砧座2516中并开始承受负荷的时刻，闭合力随着击发力的增大而减小，如第一击发力曲线12522和第二击发力曲线12524所示，闭合管1040、1042(图4和图6至图10)可向远侧推进，同时击发构件诸如I型梁2514向远侧推进。参见图30，闭合管1040、1042被表示为将闭合力施加到砧座2516的传动元件2506b。如本文所述，控制电路2510将马达设定点施加到马达控制2508b，该马达控制将马达控制信号施加到马达2504b以驱动传动元件2506b并将闭合管向远侧推进以向砧座2516施加闭合力。联接到马达2504b的输出轴的扭矩传感器2544b可用于测量施加到闭合管1040、1042的力。在其他方面，闭合力可用应变仪、负荷传感器或其他合适的力传感器来测量。
继续参考图30并且现在转向图35，根据本公开的一个方面的在同时闭合和击发阶段期间，示出了两条闭合力曲线12606、12608的曲线图12600，其描绘了施加到闭合构件以闭合厚和薄组织的力，以及两条击发力曲线12622、12624的曲线图12601，其描绘了施加到击发构件以击发穿过厚和薄组织的力。参见图35，曲线图12600描绘了在同时闭合和击发行程期间施加到厚和薄组织上的力的示例。因此，当I形梁2514向远侧推进时，砧座2516在钉仓2518上闭合。该动作克服了从时间t4至约时间t5闭合管力的急剧下降，t5表示I形梁2514联接到砧座2516中并开始承受负荷的时刻，并且闭合力随着击发力的增大而减小，如图34中的第一击发力曲线12522和第二击发力曲线12524所示。相比之下，图35示出了闭合力在更长的时段内减小，从而导致闭合力的逐渐减小。
在两条轴线上绘制闭合力曲线12606、12608。垂直轴线12602指示以牛顿(N)为单位的端部执行器2502的闭合力。水平轴线12604指示以秒为单位的时间，为了描述清楚，标记为t0至t9。第一闭合力曲线12506是在闭合行程期间施加到厚组织以相对于被抓持在砧座2516和钉仓2518之间的组织而闭合端部执行器2502的力的示例，并且第二曲线12608是在闭合行程期间施加到薄组织以相对于被抓持在砧座2516和钉仓2518之间的组织而闭合端部执行器2502的力的示例。第一闭合力曲线12606和第二闭合力曲线12608被分为三个阶段：闭合行程(CLOSE)、等待时间段(WAIT)和击发行程(FIRE)。在闭合行程期间，响应于闭合马达2504b对闭合行程的致动，闭合管1040、1042(图4和图6至图10)向远侧平移(方向“DD”)，以例如相对于钉仓2518移动砧座2516。在其他情况下，闭合行程包括响应于闭合马达2504b的致动相对于砧座2516移动钉仓2518，并且在其他情况下，闭合行程包括响应于闭合马达2504b的致动移动钉仓2518和砧座2516。参考第一闭合力曲线12606，在闭合行程期间，闭合力12610在时间t0至t1从0增加到最大力F1。类似地，参考第二闭合力曲线图1260，在闭合行程期间，闭合力12616在时间t0至t1从0增加到最大力F3。最大力F1和F3之间的相对差是由于厚组织相对于薄组织所需的闭合力的差异引起的，与薄组织相比，需要更大的力才能将砧座闭合到厚组织上。
第一闭合力曲线图12606和第二闭合力曲线图12608指示，在以时间(t1)结束的初始夹持时间段期间，端部执行器2502中的闭合力增大。闭合力在时间(t1)达到最大力(F1,F3)。初始夹持时间段例如可为大约一秒。可在开始击发行程之前应用等待时段。等待时段允许流体从由端部执行器2502压缩的组织流出，这减小了压缩组织的厚度，在砧座2516和钉仓2518之间产生较小的间隙，并且在等待时段结束时减小了闭合力。参考第一闭合力曲线12606，在t1至t4的等待时段期间，闭合力12612从F1标称下降到F2。类似地，参考第二闭合力曲线12608，在t1至t4的等待时段期间，闭合力12618从F3标称下降到F4。在一些示例中，通常采用选自约10秒至约20秒的范围内的等待时段(t1至t4)。在示例性的第一闭合力曲线12606和第二闭合力曲线12608中，采用约15秒的时间段。在等待时段之后是击发行程，该击发行程通常持续选自例如约3秒至例如约5秒的范围内的时间段。然而，在时间t4，闭合构件(例如，闭合管1040、10402)与击发构件(例如，I形梁2514)同时推进。通过同时推进闭合管1040、1042和I形梁2514，闭合力12614、12620通过击发行程逐渐减小，如分别在第一闭合力曲线12606和第二闭合力曲线12608中所示。
图35还描绘了第一击发力曲线12622和第二击发力曲线12624的曲线图12601，其绘制了在击发行程期间施加的用于推进I形梁2514同时在外科器械2500的击发行程的一部分期间推进闭合管1040、1042的力。在两条轴线上绘制击发力曲线12622、12624。垂直轴线12626指示以牛顿(N)为单位的击发力，该力被施加以在击发行程期间推进I形梁2514。I形梁2514被构造成能够推进刀或切割元件并且在击发行程期间促动驱动器以部署钉。水平轴线12605以与上部曲线图12600的水平轴线12604相同的标度指示以秒为单位的时间。如前所述，对于厚组织，施加在闭合管上的力在时间t4至约时间t9逐渐下降，如闭合力12614所示，对于薄组织，施加在闭合管上的力在时间t4至约时间t7逐渐下降，如闭合力12620所示。
在厚组织击发力曲线12622中，在击发时段(FIRE)曲线12622中，击发力12628从t4时的0增加到恰好在t5之前的峰值力F”1，该峰值力略低于图34中所示的峰值力F’1。击发力12628在击发行程的初始阶段期间发生，其中I形梁2514从闭合斜坡的顶部向远侧推进，同时闭合管1040、1042开始向远侧推进，直到I形梁2514接触组织。击发力12630在击发行程的第二阶段期间发生，同时I形梁2514向远侧推进以部署钉并切割组织。在击发行程的第二阶段期间，击发力12630从恰好在t5之前的F”1的力降至约t12时的F’2的力。然而，在击发行程的一部分期间，击发力曲线12622略低于图34中所示的击发力曲线12522。当I形梁2514离开组织区域并且在无组织区域中推进到行程结束时，在击发行程的第三阶段和最终阶段发生击发力12632。在击发行程的第三阶段期间，击发力12632在约t13时从F’2下降到零(0)并且表示I形梁2514到达行程结束的时刻。总之，在击发行程期间，随着I形梁2514进入组织区域，击发力12628、12634急剧上升，击发力12630、12636在缝合和切割操作期间在组织区域中稳定下降，而当I形梁2514退出组织区域并在行程结束时进入无组织区域时，击发力12632、12638急剧下降。在闭合管1040、1042和I形梁2514同时向远侧推进的阶段期间，击发力F”1和F”3比图34中所示的击发力F’1和F’3稍低。
图12600、12601中示出的闭合力12614、12620和击发力12630、12636示出了当闭合管被推进并且在击发行程的至少一部分期间受到负荷控制时，对施加在击发齿条上的击发力负荷(下部曲线图12601)和施加在闭合管上的闭合力负荷(上部曲线图12600)的影响，如上部曲线图12600中针对厚组织曲线12606的极限阈值的初始值a、a’、a”所示并在图35A中放大，由上限闭合力阈值12642、下限闭合力阈值12644以及上限闭合力阈值12642和下限闭合力阈值12644之间的标称闭合力12643表示。类似的极限阈值适用于薄组织曲线12608，如上限12646、下限12648和标称值12647所示。嵌套式PID反馈控制系统监测施加在闭合管1040、1042上的闭合力，并控制闭合管1040、1042的速度，以将闭合力保持在针对厚组织的阈值12642、12644和针对薄组织的阈值12646、12648之间。例如，在闭合管1040、1042从时间t4开始经过时段τo停止的情况下，闭合力12614下降到下限闭合力阈值12644以下。此时，控制器2510开始以预先确定的速度推进闭合管1040、1042。在嵌套式PID反馈控制下，控制电路2510测量施加在闭合管1040、1042上的力，并基于实际速度和施加在闭合管1040、1042上的力来调节闭合管1040、1042的设定点速度。因此，当闭合管1040、1042开始向远侧推进时，闭合力在下一时段τ1内开始增加，直到其过冲下限阈值12644’，此时控制电路2510停止闭合管1040、1042，并且在下一时段τ2内，闭合力开始再次下降，直到其降至低于下限闭合力阈值12644并下冲该阈值，此时控制电路2510再次开始向远侧推进闭合管1040、1042。重复该过程，直到闭合力在t8和t9之间的时间降到零。类似的过程适用于针对薄组织闭合力12620的闭合力。PID控制的反馈系统在此结合图36至图40更详细地解释。如图35中所示的上限和下限闭合力阈值12642、12644、12646、12648作为时间的函数从负斜率上的初始值a’、a”、a”’、a””线性变化至约零。应当理解，如果为查找表的形式，则可使用存储在存储器中的非线性表达式或定制设定极限来配置上限和下限闭合力阈值12642、12644、12646、12648。虽然上限和下限闭合力阈值12642、12644、12646、12648的初始值a’、a”、a”’、a””是在与击发行程开始一致的时间点给出的，但是初始值a’、a”、a”’、a””可在沿着击发行程的任何位置给出。
为了降低如图35中所示的闭合力和击发力变量，本公开提供了一种自适应闭合管速度控制算法，该算法通过可拆卸接口和可移除钉仓测量机器人轴的至少两个参数，例如，击发构件行程位置、击发构件负荷、刀推进速度、闭合管行程位置和/或闭合管负荷。可移除钉仓可进一步包括被构造成能够识别其自身及其状态或提供用于致动该装置或端部执行器并记录其使用的参数或控制程序的电路。在一个方面，闭合管1040、1042的速度可由嵌套式比例积分微分控制器(PID控制器)控制，以提供从时间t4起闭合管1040、1042(例如，闭合构件)的逐渐闭合，此时I形梁2514(例如，击发构件)向远侧推进并联接到砧座2516中，从而以期望的速率降低闭合管1040、1042上的闭合力负荷并降低I形梁2514上的击发力负荷。
图36示出了根据本公开的一个方面的用于厚组织以基于闭合管上的闭合力负荷和闭合管的实际速度来控制闭合管速度的PID控制算法的曲线图12700。嵌套式PID控制算法可由图30中所示的控制电路2510来实现。控制电路2510被构造成能够测量机器人轴的至少两个参数，例如，击发构件行程位置、击发构件负荷、刀推进速度、闭合管行程位置和/或闭合管负荷。上部曲线图12702是描绘闭合管沿着垂直轴线12706的移位δCT(mm)和沿着水平轴线12708的时间“t”(秒)的曲线。下部曲线图12704是描绘闭合管沿着垂直轴线12710的速度VCT(mm/s)和沿着水平轴线12711的时间“t”(秒)的曲线。如图34和图35中所示，上图12702和下图12704沿着水平轴线12708、12711、12604、12605、12504、12505在相同的时间标度上分为三个阶段，即闭合行程(CLOSE)、等待时段(WAIT)和击发行程(FIRE)。在闭合行程(CLOSE)期间，响应于闭合马达2504b对闭合行程的致动，闭合管1040、1042(图4和图6至图10)向远侧平移，以例如相对于钉仓2518移动砧座2516。在正常操作下，速度曲线12728对应于图34中所示的负荷曲线的闭合管1040、1042的速度。在嵌套式PID控制下，闭合管速度12730远低于标准闭合管速度12728。
参考上图12702和下图12704，在t0和t1之间的闭合阶段(CLOSE)期间，闭合管1040、1042的速度增加，如速度曲线12730分布所示，导致闭合管1040、1042向远侧推进，如移位12716至δo所示。在一个示例中，t1时的移位δo约为5.08mm(约0.200英寸)。闭合阶段的结束由t1标记，即当器械进入等待时段(WAIT)并且闭合管1040、1042的速度在时间t1至时间t4的时段期间变为零时。换句话说，闭合管1040、1042停止向远侧推进。在等待时段期间，闭合管1040、1042的移位为零，如移位12718所示。在嵌套式PID控制下，闭合管1040、1042的速度被自适应地控制以在击发阶段(FIRE)的至少一部分期间提供闭合管1040、1042的逐渐推进。PID控制器设定闭合管1040、1042的目标速度，并监测在移位时段期间施加在闭合管1040、1042上的力，并基于目标速度和在嵌套式控制系统配置中施加在闭合管1040、1042上的力来调节闭合管1040、1042的速度VCT。
现在参考图30、图36和图37，被配置为嵌套式PID反馈控制器的控制电路2510监测作用在闭合管1040、1042上的闭合力12614和闭合管1040、1042的实际速度，并基于测量的闭合力12614和闭合管1040、1042的实际速度逐渐控制闭合管1040、1042的推进。该过程开始于时间t4，此时闭合管1040、1042的速度为零，并且闭合力12614在时段τo内从点12801下降到点12802，点12801是阈值12642、12644的中点。在时段τo期间，闭合管1040、1042是静止的，并且移位保持在δo。
当闭合力12614降至低于下限阈值12644时，反馈控制系统(例如，控制电路2510)为闭合马达2504b和击发马达2508a设定命令速度以开始击发阶段。应当理解，闭合管1040、1042的闭合力可从联接到闭合马达2504b的输出轴的扭矩传感器2544b获得。同样地，I形梁2514的击发力可从联接到击发马达2504a的输出轴的扭矩传感器2544a获得。在其他方面，闭合力和击发力可例如用应变仪、负荷传感器或其他合适的力传感器来测量。因此，闭合管1040、1042和I形梁2514开始推进。闭合管1040、1042的速度12734在时段τ1内斜升至最大速度12732。随着闭合管1040、1042向远侧推进，移位12720开始在时段τ1内从δo 12719开始斜升。而且，随着闭合管1040、1042向远侧推进，闭合管1040、1042所经受的闭合力12614开始增加，直到其在点12804处越过下限阈值12644。此时，控制电路2510将闭合马达2504b的设定点设定为零，以在击发马达2504a继续推进I形梁2514时停止推进闭合管1040、1042。在时段τ1期间，闭合管1040、1042推进δ1的一段距离。
一旦闭合管速度被设定为零，在时段τ2内，闭合管1040、1042不向远侧推进，移位12721保持在(δ0+δ1)，并且闭合力12614在点12806降至低于下限阈值12644。然后，控制电路2510斜升速度12736，并且闭合管1040、1042移位12722在时段τ3内推进δ2。随着闭合力12614在点12808处增加到高于下限阈值12644，闭合管速度再次设定为零。应当指出的是，当击发力随时间连续减小，速度为非零的时段缩短，使得τ3<τ1。换句话说，随着时间的推移，嵌套式PID反馈控制器会迫使闭合力12614收敛到阈值12644。在下一时段τ4内，移位12723保持在(δ0+δ1+δ2)，直到闭合力在点12810处降至低于下限阈值12644，并且控制电路2510启动闭合马达2504b并在时段τ5内增加速度12738以便将闭合管1040、1042移位12724δ3，直到击发力在增加到高于下限阈值12644的点12812处闭合，并且闭合马达2504b关闭。同样，随着闭合力12614收敛到理想或期望的闭合力值，移位时段τ5<τ3<τ1变得越来越小。在时段τ6，移位12725保持在(δ0+δ1+δ2+δ3)，直到闭合力12614在点12814处降至低于下限阈值12644。控制电路2510启动闭合马达2504b，并在时段τ6内增加速度12740以将闭合管1040、1042移位12726δ4，直到击发力在增加到高于下限阈值12644的点12816处闭合。同样，时段τ6<τ5<τ3<τ1，并且控制电路2510停止闭合马达2504b。在时段τ7内，移位12727保持在(δ0+δ1+δ2+δ3+δ4)。最终，当闭合力12614接近零时，该过程停止。
尽管结合图35至图37的过程已在闭合力12614围绕下限阈值12644振铃直到理想闭合力由嵌套式PID控制器确定的情形中进行了描述，但是当闭合力12614增加到高于上限阈值12642时，除了一个例外，可采用类似的过程。关于图39至图40中描述的过程，当闭合力12614降至低于下限阈值12644时，闭合管10410、1042向远侧推进。然而，当闭合力12614增加到高于上限阈值12642时，闭合管1040、1042向近侧回缩而不是向远侧推进，直到闭合力12614降至低于上限阈值12642。
图38示出了根据本公开的一个方面的用于薄组织以基于闭合管上的闭合力负荷和闭合管的实际速度来控制闭合管速度的控制算法的曲线图12900。在一个方面，该控制算法可由图30中所示的控制电路2510实现为嵌套式比例积分微分(PID)控制算法。控制电路2510被构造成能够测量机器人轴的至少两个参数，例如，击发构件行程位置、击发构件负荷、刀推进速度、闭合管行程位置和/或闭合管负荷。上部曲线图12902是描绘闭合管沿着垂直轴线12906的移位δCT(mm)和沿着水平轴线12908的时间“t”(秒)的曲线。下部曲线图12904是描绘闭合管沿着垂直轴线12910的速度VCT(mm/s)和沿着水平轴线12912的时间“t”(秒)的曲线。如图34至图36中所示，上图12902和下图12904沿着水平轴线12908、12708、12711、12604、12605、12504、12505在相同的时间标度上分为三个阶段，即闭合行程(CLOSE)、等待时段(WAIT)和击发行程(FIRE)。在闭合行程(CLOSE)期间，响应于闭合马达2504b对闭合行程的致动，闭合管1040、1042(图4和图6至图10)向远侧平移，以例如相对于钉仓2518移动砧座2516。在正常操作下，速度曲线12914对应于图34中所示的负荷曲线的闭合管1040、1042的速度。在嵌套式PID控制下，闭合管速度12916远低于标准闭合管速度12914。
参考图30、图36和图38，在t4的击发行程开始时，闭合管1040、1042的速度在第一时段τ0期间为零。在此时段期间，闭合力12620(图36)减小，并且当其降至低于下限阈值12648时，闭合马达2504b打开，并且闭合管速度12918由控制电路2510升高以驱动闭合管1040、1042。在随后的时段τ1期间，闭合管1040、1042向远侧平移，直到闭合力12620增加到高于下限阈值12648，从而使控制电路停止闭合马达2504b。在时段τ1期间，闭合管1040、1042向远侧推进δ0至δ1的一段距离。控制电路2510在时段τ2期间保持闭合马达2504b关闭，直到闭合力12620降至低于下限阈值12648，此时控制电路2510打开闭合马达2504b，并且在下一时段τ3期间以速度12920驱动闭合管1040、1042。闭合管1040、1042平移δ2。在下一时段τ4，闭合管1040、1042不向远侧移动，并保持在位置(δ0+δ1+δ2)直到闭合力12620达到所需的平衡或下降到低于下限阈值12648。尽管在下限阈值12648的情形中讨论了薄组织闭合管1040、1042的速度控制过程，但是除了一个例外，类似的过程将应用于上限阈值12646的情形中。当闭合力12620增加到高于上限阈值12646时，闭合管1040、1042向近侧回缩而不是向远侧推进，直到闭合力12620降至低于上限阈值12646。
图39为根据本公开的一个方面的控制系统12950的图，该控制系统被构造成能够在击发构件(例如，I形梁2514)向远侧推进并且联接到夹持臂(例如，砧座2516)中时提供闭合构件(例如，闭合管1040、1042)的逐渐闭合，从而以期望的速率降低闭合构件上的闭合力负荷并减小击发构件上的击发力负荷。在一个方面，控制系统12950可被实现为嵌套PID反馈控制器。PID控制器是控制环路反馈机构(控制器)，其用于将误差值连续地计算期望的设定点和测量的过程变量之间的差值，并基于比例、积分和导数项(有时分别表示为P、I和D)施加校正。嵌套PID控制器反馈控制系统12950包括初级(外部)反馈环路12954中的主控制器12952和次级(内部)反馈环路12956中的次级控制器12955。主控制器12952可为如图39中所示的PID控制器12972，并且次级控制器12955也可为如图40中所示的PID控制器12972。主控制器12952控制主要过程12958，并且次级控制器12955控制次级过程12960。主要过程12958的输出12966(OUTPUT)为从主设定点SP1减去第一求和器12962。第一求和器12962产生施加到主控制器12952的单个和输出信号。主控制器12952的输出为次级设定点SP2。次级过程12960的输出12968为从次级设定点SP2减去第二求和器12964。
在控制闭合管1040、1042的移位的情形中，控制系统12950可被构造成能够使得主设定点SP1为期望的闭合力值，并且主控制器12952被构造成能够从联接到闭合马达2504b的输出的扭矩传感器2544b接收闭合力12614并且确定闭合马达2504b的设定点SP2马达速度。
在其他方面，闭合力12614可用应变仪、负荷传感器或其他合适的力传感器来测量。将闭合马达2504b速度设定点SP2与闭合管1040、1042的实际速度进行比较，该实际速度由次级控制器12954确定。闭合管1040、1042的实际速度可通过比较测量闭合管1040、1042与位置传感器2534的移位并用定时器/计数器2531测量耗用的时间来测量。可采用其他技术诸如线性编码器或旋转编码器来测量闭合管1040、1042的移位。次级过程12960的输出12968为闭合管1040、1042的实际速度。将该闭合管速度输出12968提供给初级过程12958，该初级过程确定作用于闭合管1040、1042上的力并反馈回到加法器12962，该加法器从主设定点SP1减去测量的闭合力12614。如上所述，主要设定点SP1可为上限阈值12642或下限阈值12644。基于加法器12962的输出，主控制器12952控制闭合管马达2504b的速度和方向，如本文结合图35至图37所述。次级控制器12954基于由次级过程12960测量的闭合管1040、1042的实际速度和次级设定点SP2来控制闭合马达2504b的速度，该速度基于实际击发力12614与击发力上限阈值12642和击发力下限阈值12644的比较。
图40示出了根据本公开的一个方面的PID反馈控制系统12970。主控制器12952或次级控制器12954或两者可被实现为PID控制器12972。在一个方面，PID控制器12972可包括比例元件12974(P)、积分元件12976(I)和导数元件12978(D)。P元件12974、I元件12976、D元件12978的输出由求和器12986求和，该求和器向过程1250提供控制变量u(t)。过程12950的输出为过程变量y(t)。求和器12984计算期望的设定点r(t)和测量的过程变量y(t)之间的差值。PID控制器12972连续地计算误差值e(t)(例如，闭合力阈值和测得的闭合力之间的差值)作为期望的设定点r(t)(例如，闭合力阈值)与测量的过程变量y(t)(例如，闭合管的速度和方向)之间的差值，并且基于分别由比例元件12974(P)、积分元件12976(I)和导数元件12978(D)计算出的比例、积分和导数项来施加校正。PID控制器12972尝试通过调节控制变量u(t)(例如，闭合管的速度和方向)来最小化随时间推移的误差e(t)。
根据PID算法，“P”元件12974计算误差的当前值。例如，如果误差为大的且为正的，那么控制输出也将为大的和正的。根据本公开，误差项e(t)在闭合管的期望闭合力和所测量的闭合力之间是不同的。“I”元件12976计算误差的过去值。例如，如果当前输出不够强，那么误差的积分会随着时间推移而累积，并且控制器将通过施加更强的动作进行响应。“D”元件12978根据其当前的变化率计算该误差的未来可能趋势。例如，在继续上述P示例的情况下，当大的正控制输出成功地使误差更接近于零时，它也将进程置于最近的将来的大的负误差的路径中。在这种情况下，导数变为负，并且D模块减小动作的强度以防止该过冲。
应当理解，可根据反馈控制系统12950、12970来监测和控制其它变量和设定点。例如，本文所述的自适应闭合构件速度控制算法可测量以下参数中的至少两个：击发构件行程位置、击发构件负荷、切割元件的移位、切割元件的速度、闭合管行程位置、闭合管负荷等等。
图41为根据本公开的一个方面，描绘了用于确定闭合构件的速度的控制程序或逻辑配置的过程12990的逻辑流程图。还参考图30，用于机器人外科系统的控制系统包括控制电路2510，该控制电路被构造成能够根据过程12990，控制电路2510确定12992闭合构件的实际闭合力。控制电路2510将实际闭合力与阈值闭合力进行比较12994，并基于该比较确定12996使闭合构件移位的设定点速度。控制电路2510基于设定点速度来控制12998闭合构件的实际速度。
现在还参考图39和图40，在一个方面，控制电路2510包括比例、积分和微分(PID)反馈控制系统12950、12970。PID反馈控制系统12950、12970包括主PID反馈回路12954和次级PID反馈回路12956。主反馈回路12954确定闭合构件的实际闭合力与阈值闭合力SP1之间的第一误差，并基于该第一误差设定闭合构件速度设定点SP2。次级反馈回路12956确定闭合构件的实际速度与闭合构件的设定点速度之间的第二误差，并且基于该第二误差来设定闭合构件速度。
在一个方面，阈值闭合力SP1包括上限阈值和下限阈值。设定点速度SP2被构造成能够在实际闭合力小于下限阈值时向远侧推进闭合构件，并且设定点速度被构造成能够在实际闭合力大于下限阈值时向近侧回缩闭合构件。在一个方面，设定点速度被构造成能够在实际闭合力在上限阈值和下限阈值之间时将闭合构件保持在适当位置。
在一个方面，控制系统还包括联接到该控制电路的力传感器，力传感器2538被构造成能够测量闭合力。在一个方面，该力传感器包括扭矩传感器2544b，该扭矩传感器联接到马达2504b的输出轴，该马达联接到闭合构件。在一个方面，力传感器2538包括联接到闭合构件的应变仪。在一个方面，该力传感器包括联接到闭合构件的负荷传感器。在一个方面，控制系统包括联接到闭合构件的位置传感器，其中该位置传感器被构造成能够测量闭合构件的位置。
在一个方面，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，并且控制电路构造成能够在击发行程的至少一部分期间推进闭合构件。
本文所述的功能或过程12990可由本文所述的任何处理电路执行，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)。可在没有本文公开的具体细节的情况下实践电动外科器械的各方面。某些方面已被显示为框图而不是细节。
本文所述主题的各个方面在以下编号的实施例中陈述：
实施例1：一种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：确定闭合构件的实际闭合力；比较实际闭合力与阈值闭合力；基于该比较来确定使闭合构件移位的设定点速度；并且基于设定点速度来控制闭合构件的实际速度。
实施例2：根据实施例1所述的控制系统，其中，控制电路包括比例、积分和微分(PID)反馈控制系统。
实施例3：根据实施例2所述的控制系统，其中，PID反馈控制系统包括主PID反馈回路和次级PID反馈回路，其中该主反馈回路被构造成能够确定闭合构件的实际闭合力与阈值闭合力之间的第一误差，并基于该第一误差设定设定点速度；并且其中次级反馈回路被构造成能够确定闭合构件的实际速度与设定点速度之间的第二误差，并且基于该第二误差来控制闭合构件的实际速度。
实施例4：根据实施例1至实施例3中的一项或多项所述的控制系统，其中，阈值闭合力包括上限阈值和下限阈值，其中设定点速度被构造成能够在实际闭合力小于下限阈值时向远侧推进闭合构件，并且其中设定点速度被构造成能够在实际闭合力大于下限阈值时向近侧回缩闭合构件。
实施例5：根据实施例4所述的控制系统，其中，设定点速度被构造成能够在实际闭合力在上限阈值和下限阈值之间时将闭合构件保持在适当位置。
实施例6：根据实施例1至实施例5中的一项或多项所述的控制系统，还包括联接到控制电路的力传感器，该力传感器被构造成能够测量闭合力。
实施例7：根据实施例6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马达的输出轴，该马达联接到闭合构件，其中该扭矩传感器被构造成能够测量闭合力。
实施例8：根据实施例6至实施例7中的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，其中该应变仪被构造成能够测量闭合力。
实施例9：根据实施例6至实施例8中的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，其中该负荷传感器被构造成能够测量闭合力。
实施例10：根据实施例6至实施例9中的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，其中该位置传感器被构造成能够测量闭合构件的位置。
实施例11：根据实施例1至实施例10中的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12：一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，该力传感器被构造成能够测量施加到闭合构件的闭合力；闭环反馈控制系统，该闭环反馈控制系统包括联接到第一马达和力传感器的控制电路，其中该控制电路被构造成能够：从力传感器接收闭合构件的实际闭合力；比较实际闭合力与阈值闭合力；基于该比较来确定使闭合构件移位的第一马达的设定点速度；并且基于设定点速度来控制闭合构件的实际速度。
实施例13：根据实施例12所述的控制系统，其中，闭环反馈控制系统包括比例、积分和微分(PID)反馈控制系统。
实施例14：根据实施例13所述的控制系统，其中，PID反馈控制系统包括主PID反馈回路和次级PID反馈回路，其中该主反馈回路被构造成能够确定闭合构件的实际闭合力与阈值闭合力之间的第一误差，并基于该第一误差设定设定点速度；并且其中次级反馈回路被构造成能够确定闭合构件的实际速度与闭合构件的设定点速度之间的第二误差，并且基于该第二误差来控制闭合构件的实际速度。
实施例15：根据实施例12至实施例14中的一项或多项所述的控制系统，其中，阈值闭合力包括上限阈值和下限阈值，其中设定点速度被构造成能够在实际闭合力小于下限阈值时向远侧推进闭合构件，并且其中设定点速度被构造成能够在实际闭合力大于下限阈值时向近侧回缩闭合构件。
实施例16：根据实施例15所述的控制系统，其中，设定点速度被构造成能够在实际闭合力在上限阈值和下限阈值之间时将闭合构件保持在适当位置。
实施例17：根据实施例12至实施例16中的一项或多项所述的控制系统，其中，力传感器包括联接到第一马达的输出轴的扭矩传感器，其中该扭矩传感器被构造成能够测量闭合力。
实施例18：根据实施例12至实施例17中的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，其中该应变仪被构造成能够测量闭合力。
实施例19：根据实施例12至实施例18中的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，其中该负荷传感器被构造成能够测量闭合力。
实施例20：根据实施例12至实施例19中的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，其中该位置传感器被构造成能够测量闭合构件的位置。
实施例21：根据实施例12至实施例20中的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闭合构件。
实施例22：一种用于机器人外科系统的控制系统，该控制系统包括：包括比例、积分和导数(PID)反馈控制系统的控制电路，该控制电路被构造成能够：确定闭合构件的实际闭合力；比较实际闭合力与阈值闭合力；基于该比较来确定使闭合构件移位的设定点速度；并且基于设定点速度来控制闭合构件的实际速度；联接到该控制电路的力传感器，该力传感器被构造成能够测量闭合力；以及联接到控制电路并联接到闭合构件的马达，其中该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该闭合构件；其中阈值闭合力包括上限阈值和下限阈值，其中设定点速度被构造成能够在实际闭合力小于下限阈值时向远侧推进闭合构件，并且其中设定点速度被构造成能够在实际闭合力大于下限阈值时向近侧回缩闭合构件。
实施例23：根据实施例22所述的控制系统，其中，PID反馈控制系统包括主PID反馈回路和次级PID反馈回路，其中该主反馈回路确定闭合构件的实际闭合力与阈值闭合力之间的第一误差，并基于该第一误差设定设定点速度；并且其中次级反馈回路确定闭合构件的实际速度与设定点速度之间的第二误差，并且基于该第二误差来控制闭合构件的实际速度。
实施例24：根据实施例22至实施例23中的一项或多项所述的控制系统，其中，设定点速度被构造成能够在实际闭合力在上限阈值和下限阈值之间时将闭合构件保持在适当位置。
实施例25：根据实施例22至实施例24中的一项或多项所述的控制系统，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，其中该扭矩传感器被构造成能够测量闭合力。
实施例26：根据实施例22至实施例25中的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，其中该应变仪被构造成能够测量闭合力。
实施例27：根据实施例22至实施例26中的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，其中该负荷传感器被构造成能够测量闭合力。
实施例28：根据实施例22至实施例27中的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，其中该位置传感器被构造成能够测量闭合构件的位置。
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
在使用电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时段期间，在闭合构件上的力略有下降。此外，从击发构件联接到夹持臂中的时刻起，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，本公开提供了一种闭环反馈控制系统，该闭环反馈控制系统被构造成能够在击发构件向远侧推进的同时在等待时段期间和击发行程期间推进闭合构件。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，本公开提供了用于自适应控制闭合构件速度的技术，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，这些参数通过可拆卸的机器人接口单元和可移除钉仓以及设置在机器人接口和钉仓中的电路来实现，该电路可识别其自身及其状态，或者提供参数或控制程序来致动装置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，该闭环反馈控制技术用于在等待时段期间和击发行程期间推进闭合构件。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，以便逐渐闭合击发构件正在推进的闭合构件。
可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得的力来控制闭合管推进。在一个方面，基于击发构件在其行程内的位置和测得的闭合力(FTC)两者，闭合管的推进可基于闭合管的持续推进来控制。击发时的闭合管推进提供较低的击发力(FTF)，并导致更大的可能关节运动角度、更短的关节运动长度和更好的组织容量。
图42为三个曲线图的图13000。移位曲线图13002描绘了闭合构件移位随时间变化的曲线。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。三个曲线图13002、13004、13006描绘了被称为闭合行程(CLOSE)、等待时段(WAIT)和击发行程(FIRE)的三个不同的时段或阶段内的曲线。每个曲线图13002、13004、13006包括两条单独的曲线，其中第一曲线表示闭合力仅在闭合行程期间施加的常规闭合构件，第二曲线表示超出闭合行程保持或施加闭合力的闭合构件。将参考图30描述图13000，该图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)沿着击发行程的位置、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)的位置或者闭合管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被构造成能够分别从位置传感器2534、电流传感器2536、位于整个器械2500中的其他传感器2538、定时器/计数器电路2531和/或位于马达2504a-2504e的输出处的扭矩传感器2544a-2544e中的任一个接收这些参数。基于反馈参数，控制电路2510基于测得的闭合力和I形梁2514的位置以及闭合管1040、1042上的闭合力来控制闭合构件1040、1042的移位(向前和向后)，以在击发行程期间保持期望的闭合力和/或击发力。
移位曲线图13002描绘了随时间变化的闭合构件移位的第一曲线13020和第二曲线13026，其中绘制了闭合构件沿着垂直轴线13008的移位δCT(mm)，并且绘制了沿着水平轴线13010的时间(秒)。第一曲线13020描绘了闭合构件的常规移位随时间变化，其中闭合构件行进了固定距离并停止。第二曲线13026描绘了根据本公开的一方面的闭合构件的移位随时间变化，其中闭合构件的闭合力处于反馈控制期间。
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，其中绘制了沿着垂直轴线13012的闭合力(FCT)N，并且绘制了沿着水平轴线13014的时间。第一曲线13022描绘了施加到闭合构件的闭合力随时间变化，其中闭合构件行进了固定距离并且在击发行程期间停止并施加恒定的闭合力。第二曲线13028描绘了根据本公开的一个方面的施加到闭合构件的闭合力随时间变化，其中闭合构件的力在击发行程期间处于反馈控制之下。
击发力曲线图13006描绘了击发力随时间变化曲线图的第一曲线13024和第二曲线13030，其中绘制了沿着垂直轴线13016的击发力(FTF)N，并且绘制了沿着水平轴线13018的时间(秒)。第一曲线13024描绘了施加到击发构件的常规击发力随时间变化，其中闭合构件行进了固定距离并且在击发行程期间停止并施加恒定的闭合力。第二曲线13030描绘了根据本公开的一个方面的击发力随时间变化，其中当闭合构件在击发行程期间向远侧推进时，该构件处于反馈控制之下。
闭合行程(CLOSE)时段在时间t0开始并在时间t1结束。在闭合行程期间，闭合力13038、13058被施加到闭合构件，例如闭合管1040、1042(图4和图6至图10)，从而导致闭合管1040、10402向远侧平移13032、13050，以响应于闭合马达2504b通过一个或多个传动部件2506b的致动而使砧座2516相对于钉仓2518移动。在闭合行程时段期间，击发力13044、13070基本为零。当闭合力13038、13058呈指数增加至FTC1的最大力时，闭合管1040、1042行进固定距离至δo(mm)。闭合力在时间t1达到最大力FTC1。初始夹持时间段例如可为大约一秒。
在闭合行程时段之后是等待(WAIT)时段，该时段在时间t1开始并在时间t2结束。可在开始击发行程之前应用等待时段。等待时段允许流体从由端部执行器2502压缩的组织流出，这减小了压缩组织的厚度，在砧座2516和钉仓2518之间产生较小的间隙，并且在等待时段结束时减小了闭合力。如果没有额外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降至FTC2，并且移位13034保持在δo。相反，如果恒定的闭合力13060在等待时段期间施加到闭合管1040、1042，则闭合管1040、1042经历额外的移位13052至δ1。
击发行程(FIRE)时段在时间t2开始并在时间t5结束。击发行程在等待时段结束时开始。在常规的闭合力过程中，当击发力在击发行程的初始阶段呈指数增加时，闭合力13041随着I形梁2514联接到砧座2516中而呈指数下降，并且闭合负荷从闭合管1040、1042传递到I形梁2514。在常规过程中，随着击发力13046迅速增加到FTF1，闭合力迅速减小到FTC3，并且闭合力在击发行程的剩余时间期间保持恒定，击发力13048在缝合时段结束时稳定地降至FTF3，然后在击发行程结束时降至零。在击发时段期间，闭合管的移位13036保持恒定。换句话说，在常规过程中，闭合行程期间的初始移位之后，闭合管1040、1042的移位停止。
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。一种闭环反馈控制系统，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，诸如在击发行程期间I形梁2510(击发构件)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，闭合力可在击发行程期间通过基于测得的反馈参数控制闭合管1040、1042的移位(推进或回缩)来改变，以相对于常规击发力曲线图13024降低第二击发力曲线图13030中所示的总击发力。
例如，参考闭合力曲线图13004的第二曲线13028部分和击发力曲线图13006的第二曲线13030部分，在等待时段之后，闭合管1040、1042处于在等待时段期间施加的恒定闭合力13060之下，直到击发力13072迅速增加到FTF2，并且闭合力13062随着I形梁2514联接到砧座2516中并且闭合负荷从闭合管1040、1042传递到I形梁2514而开始减小。然而，在此短暂时段期间，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和击发行程期间I形梁2514的位置，并且基于这些测得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将闭合管1040、1042移位13056推进到δ2，并且在该示例中，在击发行程的剩余时间保持在该位置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大约处于击发行程时段的三分之一(1/3)处。此时，当I形梁2514大约处于击发行程时段的三分之二(2/3)处时，控制电路2510使得闭合力13066能够从FTC1降至FTC3。在该示例中，闭合力13068在击发行程时段的剩余三分之一(1/3)内保持在FTC3不变。如第二曲线13030所示，击发力13074从低于常规过程的峰值击发力FTF1的峰值击发力FTF2降至与常规过程的击发力一致的FTF3，并且在击发行程时段的剩余时间内迅速降至零，直到到达击发行程的结束。
因此，闭合管1040、1042的推进可基于击发构件的位置诸如击发行程时段内I形梁2514的测得位置和施加到闭合管1040、1042的测得闭合力来控制，该闭合力例如由联接到闭合马达2504b的输出轴的扭矩传感器2544b测量。闭合管1040、1042可基于这些反馈参数被推进或回缩。结果产生较低的击发力(FTF)，并导致更大的可能关节运动角度、更短的关节运动长度和更好的组织容量。
因此，现在主要参考图30，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时段期间和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过程中，由于组织压缩和流体从组织流出，闭合力在等待时段期间下降。因此，在闭合和等待时段期间，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，该马达设定点信号向马达2504b施加马达驱动信号。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他连杆部件，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，当闭合力从闭合管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的位置(或击发系统的其他部件)。在I形梁2514向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接收来自扭矩传感器2544b的施加到闭合管1040、1042的闭合力和来自位置传感器2534的I形梁2514的位置，以调节闭合管1040、1042的移位，从而基于测得的闭合力和I形梁2514的测得位置来控制力。
图43为描绘控制程序或逻辑配置的过程13100的逻辑流程图，用于确定施加到闭合构件的闭合力和击发构件的位置，并基于测得的闭合力和位置信息设定闭合力。控制电路2510通过在闭合时段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为马达控制2508b设定马达设定点，该马达控制向马达250b施加马达驱动信号，使得传动装置2506b移位闭合管1040、1042并闭合砧座2516以压缩位于砧座2516和钉仓2518之间的组织。在闭合时段结束时，控制电路2510增加13104在等待时段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或其他传感器2538(诸如，位于端部执行器2502中用于测量力的应变仪，或者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。击发行程在等待时段结束后开始。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。然后，控制电路2510基于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闭合构件的闭合力。
本文所述的功能或过程13100可由本文所述的任何处理电路执行，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)。可在没有本文公开的具体细节的情况下实践电动外科器械的各方面。
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，其中该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，力传感器包括扭矩传感器，该扭矩传感器联接到马达的输出轴，该马达联接到闭合构件，其中该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中的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，其中该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中的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，其中该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中的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，其中该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中的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，该力传感器被构造成能够测量施加到闭合构件的闭合力；联接到第一马达和力传感器的控制电路，其中该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，其中该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中的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，其中该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中的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，其中该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中的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，其中该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中的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：在闭合时段期间将闭合力施加到闭合构件；在闭合时段之后的等待时段期间增大闭合力；确定施加到闭合构件的闭合力；确定击发构件在击发行程期间的位置；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，其中该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，力传感器包括扭矩传感器，该扭矩传感器联接到马达的输出轴，该马达联接到闭合构件，其中该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中的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，其中该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中的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，其中该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中的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，其中该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中的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。
用于控制关节运动力的系统
在一些方面，提供了用于操纵被构造成能够控制机器人外科器械的端部执行器的关节运动角度的一对关节运动臂的控制算法。本公开的其他方面聚焦于机器人臂系统，包括联接到端部执行器并且由独立马达例如马达2504d和2504e引导的该对关节运动臂。这两个关节运动臂被设计成施加相互竞争的拮抗力，并且其幅值根据控制算法中指定的比率进行分配。拮抗力的比率可用于确定机器人外科臂的头部或端部执行器的关节运动角度。在一个方面，本公开提供了控制算法以在存在相互关系时可靠地控制这些部件中的两个或更多个的运动。
参考图44，图示13500示出了根据本公开的一些方面的机器人外科臂的示例性结构部分，该机器人外科臂包括连接到端部执行器的两个关节运动臂。此处，端部执行器包括连接至右关节运动臂13504和左关节运动臂13506的砧座13502。右关节运动臂13504包括右关节运动连接件13508和右关节运动杆13510。这两个部件经由铰链连接，如图所示。类似地，左关节运动臂13506包括左关节运动连接件13512和左关节运动杆13514。如图所示，左关节运动臂和右关节运动臂经由邻近通道13520的铰链交叉并连接到端部执行器。左关节运动臂和右关节运动臂的牵拉或推动力可使得端部执行器围绕关节运动枢轴13518进行关节运动。偏心枢转连接件13516有助于在端部执行器进行关节运动时使其稳定，这是由于偏心枢转连接件13516被稳定地定位在关节运动臂所处的轴中，此处出于说明目的未示出。砧座13502经由砧座保持器13522联接到关节运动接头。
参考图45至图47，根据一些方面示出了关节运动臂的运动如何导致端部执行器进行关节运动的示例。在图45中，砧座13502相对于关节运动臂13504和13506处于中性或直线位置。在图46中，左关节运动臂13506沿方向B向上运动，同时右关节运动臂13504沿方向C向下运动。因为连接到端部执行器的关节运动臂的铰链定位在关节运动枢轴13518的相对侧上，所以这些描述的运动导致砧座13502在逆时针方向A上进行关节运动，如图所示。与注意到左关节运动臂13506的铰链位于枢轴13518的右侧的事实时一致，因此方向B上的向上运动与引起逆时针运动一致。类似地，由于连接右关节运动臂13504的铰链定位在枢轴13518的左侧，因此方向C上的向下运动与引起逆时针运动一致。相比之下，如图47中所示，关节运动臂的反向运动导致砧座13502在相反(即顺时针)方向上运动。即，右关节运动臂13504在向上方向B上的运动以及由左关节运动臂13506在向下方向C上的任何同时运动使砧座13502产生围绕枢轴13518的顺时针运动。
参考图48，根据一些方面，端部执行器的枢转力矩实际上脱离了轴结构的中心线。此处示出了轴13524的中心线13528，其表示与通道保持器13526的相对侧等距的点。左关节运动杆13514和右关节运动杆13510以与中心线13528等距的间距定位在通道保持器13526内。然而，关节运动枢轴13518被定位成略微偏心，诸如在偏离中心线13528的距离13530处。与右关节运动连接件13508连接到通道13520的情况相比，这继而具有远离中心线13528定位的左关节运动连接件13512，以便连接到通道13520。该设计的不对称性可具有若干目的。例如，当关节运动臂在另一个的顶部上取向，例如右关节运动杆13510在左关节运动杆13514上方时，不对称设计可产生更稳定的构型，而不是使轴旋转90°，使得关节运动臂彼此并排。重力的影响使得需要在端部执行器的顶部上具有更大的稳定性，从而表明需要不平衡的力施加到关节运动臂上。其次，不对称设计还产生具有不对称属性的控制算法。这在两个关节运动臂之间产生一组在每个点处都是唯一的强制比率，因为两个关节运动臂之间的力的比率总是不同的。该设计可有助于诊断两个关节运动臂的相互作用之间的问题和调试问题，因为已知每个点处的力比率分布都是唯一的。
参见图49，图示13600示出了根据一些方面的示例性曲线图，其表示由两个关节运动臂施加的力的量随头部偏离水平中心线的关节运动程度的变化。如图所示，曲线图13600将力显示为Y轴13602，并且将偏离水平中心线的关节运动程度表示X轴13604。最大值13606表示马达可将最大量的力施加到关节运动臂。在该示例中，曲线13608表示根据X轴线13604应施加到左关节运动臂13506的力的量随期望关节运动角度的变化，并且曲线13610表示应施加到右关节运动臂13504的力的量随同一期望关节运动角度的变化。在该示例中，关节运动的最大范围是偏离中心线+/-60°。
在一些方面，引起头部/端部执行器的关节运动涉及以拮抗关系将力施加到两个关节运动臂。例如，联接到关节运动臂的每个马达可同时将拉力施加在两个关节运动臂上。两个关节运动臂之间的拉力的量的比率可确定头部/端部执行器进行关节运动的角度。可通过曲线图13600来标测或表示该力的比率。
例如，为了使头部/端部执行器偏离中心线进行45°的关节运动，应根据曲线13610将长度E的量值的拉力施加到右关节运动臂。同时，应根据曲线13608将长度F的量值的拉力施加到左关节运动臂。通常，幅值E和F之间的比率可决定所实现的关节运动角度，而不是力本身的绝对量值。
又如，因为关节运动枢轴13518偏心定位，所以在甚至0°下稳定头部/端部执行器所需的平衡或拮抗力的量在两个关节运动臂之间不相等。这由力E'和F'例示，这些力为在曲线图13600中的0°点处将不同量的力施加到两个关节运动臂。
参考图50，示出了根据一些方面可如何将拮抗力施加到两个关节运动臂上以便使头部/端部执行器偏离中心线进行60°的关节运动的示例。此处，联接到右关节运动臂13504的马达可施加拉力，该拉力基本上大于由第二马达施加到左关节运动臂13506的拉力。两个关节运动臂之间的力的精确比率可通过图49中的示例性控制算法曲线图13600，根据该曲线图中60°线处所示的力的量来确定。与左关节运动臂13506相比，施加到右关节运动臂13504的更大量的拉力导致右关节运动臂13504在图50中被拉向右侧。因此，该力的比率导致左关节运动臂13506向左运动或被推向头部/端部执行器。然而，由于仍存在一定量的拉力被施加到左关节运动臂13506，因此拮抗力在使得头部/端部执行器偏离中心线进行60°的关节运动的点处有效地抵消或平衡，如图所示。
参考图51，示出了根据一些方面可如何将力施加到两个关节运动臂上以便使头部/端部执行器偏离中心线进行30°的关节运动的另一个示例。此处，联接到右关节运动臂13504的马达可施加拉力，该拉力大于由第二马达施加到左关节运动臂13506的拉力。在这种情况下，力的差异不如图50中描述的那样大。例如，两个关节运动臂之间的力的精确比率可通过图49中的示例性控制算法曲线图13600并根据该曲线图中的30°点处示出的力的量来确定。因此，可以看出，两种力的比率较小，这意味着施加到左关节运动臂13506的较小的反作用力的大小与施加到右关节运动臂13504的主要力的大小更接近。从图50的图示中的关节运动位置开始，施加到图51中的两个关节运动臂的力的变化导致有效力FE13706施加到图51中的头部/端部执行器。箭头13702和13704表示施加到其相应的关节运动臂的力相对于先前图50中所示的力的变化。
参考图52，示出了根据一些方面可如何将力施加到两个关节运动臂上以便使头部/端部执行器进行关节运动回到中心位置或中性位置的第三示例。此处，联接到右关节运动臂13504的马达可施加拉力，该拉力小于由第二马达施加到左关节运动臂13506的拉力。如图49的曲线图13600中所示，左关节运动臂13506的拮抗拉力实际上大于在0°点处施加到右关节运动臂13504的力。当考虑关节运动枢轴13518偏心并且更靠近左关节运动臂13506的铰链时，这是有意义的。这需要左关节运动臂13506递送相对于右关节运动臂13504更多的扭矩以便平衡力。在该示例中，与图51相比，施加到两个关节运动臂的力的量的变化导致有效力FE13806施加到头部/端部执行器的质心。
参见图53，根据一些方面的逻辑流程图描绘了用于基于控制两个独立关节运动臂来引起机器人外科系统的端部执行器的关节运动的控制程序或逻辑配置的过程13900。如图30中所示，控制电路2510可被构造成能够命令马达控制器2508d和马达控制器2508e。这些马达可联接到相应的马达2504d和2504e。这些马达可最终分别产生施加到关节运动臂13504和13506的拉或推力。两个马达的独立性质在最终用于控制单个端部执行器的关节运动的同时，允许具有更易于以精确方式进行编程并且还诊断问题和更换零件的简洁设计。
控制电路(例如，控制电路2510)可被构造成能够使13902第一关节运动马达(例如马达2504d)将第一力施加到第一关节运动臂，例如，关节运动臂2542a或关节运动臂13504和13506中的任一者。在一些方面，第一力可以是被构造成能够将第一关节运动臂向近侧拉向马达的拉力，而在其他情况下，该力可以是相对于端部执行器在相反方向上的推力。
控制电路可被构造成能够使13904第二关节运动马达(例如马达2504e)将第二力施加到第二关节运动臂，例如关节运动臂2542b或关节运动臂13504和13506中的另一个。所施加的第二力与第一力拮抗，这意味着第二力导致在第一力的相反方向上产生平衡或反作用力。如先前图中所示，该拮抗力可以是导致扭矩在相反方向上围绕端部执行器的关节运动枢轴施加的拉力。在其他方面，如果第一力是推力，则第二力也可以是推力，但是在相对于端部执行器相反的方向上施加。
联接到第一关节运动臂和第二关节运动臂的端部执行器围绕枢轴进行关节运动13906，其中关节运动的程度基于第一力和第二力的比率。如果端部执行器围绕其进行关节运动的枢轴定位在将端部执行器联接到两个关节运动臂的铰链之间，那么拮抗第二力应为与第一力类型相同的力，例如，两者均为拉力，或两者均为推力。另一方面，如果将两个关节运动臂连接到端部执行器的两个铰链均位于关节运动枢轴的同一侧，则拮抗第二力应当具有与第一力类型相反的力，例如，一个是拉力，另一个是推力。如先前示例中所示，关节运动枢轴可偏心定位成偏离中心线，从而允许在所有关节运动角度处的力的唯一比率。
本文所述的功能或过程13900可由本文所述的任何处理电路执行，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)。可在没有本文公开的具体细节的情况下实践电动外科器械的各方面。某些方面已被显示为框图而不是细节。
本文所述主题的各个方面在以下编号的实施例中陈述：
1.一种用于机器人外科器械的系统，该系统包括：控制电路；第一马达和第二马达，两者均以能够通信的方式联接到控制电路；以能够通信的方式联接到第一马达的第一关节运动臂；以能够通信的方式联接到第二马达的第二关节运动臂；以及端部执行器，该端部执行器经由第一铰链联接到第一关节运动臂并且经由第二铰链联接到第二关节运动臂；其中：控制电路被构造成能够使第一马达将第一力施加到第一关节运动臂；控制电路被构造成能够使第二马达将第二力施加到第二关节运动臂，其中第二力与第一力拮抗，使得第一力和第二力在端部执行器处施加反作用力；并且
第一力和第二力使得端部执行器经由第一铰链和第二铰链进行关节运动。
2.根据实施例1所述的系统，其中，端部执行器被构造成能够基于第一力与第二力之间的量值的比率进行关节运动至规定角度。
3.根据实施例1至实施例2中的一项或多项所述的系统，还包括联接到端部执行器的关节运动枢轴，其中端部执行器被进一步构造成能够围绕关节运动枢轴进行关节运动。
4.根据实施例3所述的系统，其中，关节运动枢轴定位在中心轴线之外，该中心轴线在第一关节运动臂和第二关节运动臂的至少一部分之间纵向延伸并且与所述至少一部分等距。
5.根据实施例3至实施例4中的一项或多项所述的系统，还包括封装第一关节运动臂和第二关节运动臂的轴。
6.根据实施例5所述的系统，还包括枢转连接件，该枢转连接件联接到关节运动枢轴并且稳定地定位在轴内，其中枢转连接件被构造成能够在端部执行器围绕关节运动枢轴进行关节运动时稳定端部执行器。
7.根据实施例6所述的系统，其中，枢转连接件和关节运动枢轴定位在中心轴线之外，该中心轴线在第一关节运动臂和第二关节运动臂的至少一部分之间纵向延伸并且与所述至少一部分等距。
8.根据实施例7所述的系统，其中，当端部执行器进行关节运动至与中心位置成零度角时，第一力大于第二力。
9.根据实施例1至实施例8中的一项或多项所述的系统，其中，控制电路被构造成能够独立于第二马达来操作第一马达。
10.根据实施例1至实施例9中的一项或多项所述的系统，其中，第一力和第二力分别为施加到第一关节运动臂和第二关节运动臂的拉力。
11.根据实施例1至实施例10中的一项或多项所述的系统，其中，第一力和第二力分别为施加到第一关节运动臂和第二关节运动臂的推力。
12.一种机器人外科器械的方法，该机器人外科器械包括控制电路、第一马达、第二马达、第一关节运动臂、第二关节运动臂和端部执行器，该方法包括：由控制电路指示第一马达将第一力施加到第一关节运动臂；由控制电路指示第二马达将第二力施加到第二关节运动臂，其中第二力与第一力拮抗，使得第一力和第二力在端部执行器处施加反作用力；以及使得端部执行器分别基于施加到第一关节运动臂和第二关节运动臂的第一力和第二力而经由第一铰链和第二铰链进行关节运动。
13.根据实施例12所述的方法，还包括使端部执行器基于第一力与第二力之间的量值的比率进行关节运动至规定角度。
14.根据实施例12至实施例13中的一项或多项所述的方法，其中，
机器人外科器械还包括联接到端部执行器的关节运动枢轴，其中
端部执行器被进一步构造成能够围绕关节运动枢轴进行关节运动。
15.根据实施例14所述的方法，其中，关节运动枢轴定位在中心轴线之外，该中心轴线在第一关节运动臂和第二关节运动臂的至少一部分之间纵向延伸并且与所述至少一部分等距。
16.根据实施例14至实施例15中的一项或多项所述的方法，其中，，机器人外科器械还包括封装第一关节运动臂和第二关节运动臂的轴。
17.根据实施例15至实施例16中的一项或多项所述的方法，其中当端部执行器进行关节运动至与中心位置成零度角时，第一力大于第二力。
18.根据实施例12至实施例17中的一项或多项所述的方法，其中，
将第一力施加到第一马达独立于将第二力施加到第二马达。
19.根据实施例1至实施例18中的一项或多项所述的方法，其中，第一力和第二力分别为施加到第一关节运动臂和第二关节运动臂的拉力。
20.根据实施例12至实施例19中的一项或多项所述的方法，其中，
第一力和第二力分别为施加到第一关节运动臂和第二关节运动臂的推力。
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、比较和以其他方式操纵的电或磁信号的形式。这些信号可被称为位、值、元素、符号、字符、项、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子电路的电子电路、具有至少一个集成电路的电子电路、具有至少一个专用集成电路的电子电路、形成由计算机程序配置的通用计算设备的电子电路(例如，至少部分地实施本文所述的过程和/或设备的由计算机程序配置的通用计算机或处理器)、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。这些方面可以模拟或数字形式或其组合来实现。
前面的描述已经通过使用框图、流程图和/或示例阐述了设备和/或过程的各方面，这些方面可包含一个或多个功能和/或操作。此类框图、流程图或示例内的每个功能和/或操作可通过各种硬件、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，本文所述的主题的若干部分可经由专用集成电路(ASIC)、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、可编程逻辑器件(PLD)、电路、寄存器和/或软件组件(例如，程序、子例程、逻辑)和/或硬件和软件组件、逻辑门或其他集成格式的组合来实现。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多个方面，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编号的实施例中陈述：
实施例1：一种控制机器人外科系统中的击发构件的速度的方法，该方法包括：由控制电路检测闭合阶段期间端部执行器处的条件；由所述控制电路基于所述闭合阶段期间在所述端部执行器处所检测到的条件来设定联接到移位构件的马达的命令速度，所述移位构件联接到所述端部执行器；由所述控制电路以所设定的命令速度击发所述移位构件；由所述控制电路检测击发阶段期间所述端部执行器处的条件；并且由控制电路基于击发阶段期间在端部执行器处检测到的条件来设定马达的命令速度。
实施例2：根据实施例1所述的方法，其中，闭合阶段或击发阶段期间的条件为组织厚度，并且该方法还包括：由控制电路检测在端部执行器的砧座和钉仓部分之间限定的间隙；并且基于该间隙和在检测到该间隙时的命令速度来调节命令速度。
实施例3：根据实施例1至实施例2中的一项或多项所述的方法，其中，闭合阶段期间的条件为朝向钉仓施加到砧座的闭合力，并且该方法还包括：由控制电路检测闭合力，该闭合力被定义为端部执行器的砧座和钉仓部分在位于砧座和钉仓部分之间的组织上闭合所经受的力；并且由控制电路基于该闭合力和在检测到该力时的命令速度来调节命令速度。
实施例4：根据实施例1至实施例3中的一项或多项所述的方法，其中，击发阶段期间的条件为用于使移位构件移位的击发力，并且该方法还包括：由控制电路检测使移位构件移位的击发力；并且由控制电路基于该击发力和在检测到该力时的命令速度来调节命令速度。
实施例5：根据实施例1至实施例4中的一项或多项所述的方法，其中，闭合阶段或击发阶段期间的条件为位于端部执行器中的砧座和仓之间的组织的电阻抗，并且该方法还包括：由控制电路检测位于端部执行器的砧座和钉仓之间的组织的电阻抗；并且由控制电路基于该电阻抗和在检测到该阻抗时的命令速度来调节命令速度。
实施例6：根据实施例1至实施例5中的一项或多项所述的方法，其中，闭合阶段或击发阶段期间的条件为端部执行器中组织的覆盖率，并且该方法还包括：由控制电路检测位于端部执行器的砧座和钉仓部分之间的组织的覆盖率，并且基于该覆盖率和检测到该覆盖率时的命令速度来调节命令速度。
实施例7：根据实施例1至实施例6中的一项或多项所述的方法，还包括由控制电路调节击发阶段期间的命令速度，以在击发时调节移位构件的速度。
实施例8：一种控制机器人外科系统中击发构件的速度的方法，该方法包括：由控制电路从联接到闭合构件和控制电路的力传感器接收闭合构件的实际闭合力；由所述控制电路比较所述实际闭合力与阈值闭合力；由所述控制电路基于所述比较来确定使所述闭合构件移位的设定点速度；并且由控制电路基于设定点速度来控制闭合构件的实际速度。
实施例9：根据实施例8所述的方法，其中，控制电路包括比例、积分和微分(PID)反馈控制系统，并且其中PID反馈控制系统包括主PID反馈回路和次级PID反馈回路，该方法还包括：由主反馈回路确定闭合构件的实际闭合力与阈值闭合力之间的第一误差，并基于该第一误差设定设定点速度；并且由次级反馈回路确定闭合构件的实际速度与设定点速度之间的第二误差，并且基于该第二误差来控制闭合构件的实际速度。
实施例10：根据实施例8至实施例9中的一项或多项所述的方法，其中，阈值闭合力包括上限阈值和下限阈值，该方法还包括：当实际闭合力小于下限阈值时，由控制电路向远侧推进闭合构件；当实际闭合力大于下限阈值时，由控制电路向近侧回缩闭合构件。
实施例11：根据实施例10所述的方法，还包括当实际闭合力在上限阈值和下限阈值之间时，由控制电路将闭合构件保持在适当位置。
实施例12：根据实施例8至实施例11中的一项或多项所述的方法，其中，由控制电路从联接到控制电路的力传感器接收闭合力包括：由控制电路从联接到马达的输出轴的扭矩传感器接收闭合力，所述马达联接到所述闭合构件，其中扭矩传感器被构造成能够测量闭合力。
实施例13：根据实施例8至实施例12中的一项或多项所述的方法，其中，由控制电路从联接到控制电路的力传感器接收闭合力包括：由控制电路从联接到闭合构件的应变仪接收闭合力，其中该应变仪被构造成能够测量闭合力。
实施例14：根据实施例8所述的方法，其中，由控制电路从联接到控制电路的力传感器接收闭合力包括：由控制电路从联接到闭合构件的负荷传感器接收闭合力，其中该负荷传感器被构造成能够测量闭合力。
实施例15：根据实施例8至实施例14中的一项或多项所述的方法，还包括联接到闭合构件并联接到控制电路的位置传感器，该方法还包括由控制电路从位置传感器接收闭合构件的位置。
实施例16：根据实施例8至实施例15中的一项或多项所述的方法控制，还包括在击发行程的至少一部分期间由控制电路推进闭合构件。
实施例17：一种控制机器人外科系统中击发构件的速度的方法，该方法包括：由控制电路从联接到闭合构件和控制电路的力传感器接收闭合构件的实际闭合力；由所述控制电路从联接到击发构件和所述控制电路的位置传感器接收所述击发构件的实际位置；并且由控制电路基于施加到闭合构件的实际闭合力和击发构件的实际位置来设定新的闭合力。
实施例18：根据实施例17所述的方法，其中，由控制电路从力传感器接收闭合构件的实际闭合力包括：由控制电路从联接到马达的输出轴的扭矩传感器接收闭合构件的实际闭合力，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19：根据实施例17至实施例18中的一项或多项所述的方法，其中，由控制电路从力传感器接收闭合构件的实际闭合力包括：由控制电路从联接到闭合构件的应变仪接收闭合构件的实际闭合力，其中该应变仪被构造成能够测量闭合力。
实施例20：根据实施例17至实施例18中的一项或多项所述的方法，其中，由控制电路从力传感器接收闭合构件的实际闭合力包括：由控制电路从联接到闭合构件的负荷传感器接收闭合构件的实际闭合力，其中该负荷传感器被构造成能够测量闭合力。
实施例21：根据实施例17至实施例18中的一项或多项所述的方法，还包括在击发行程的至少一部分期间由控制电路推进闭合构件。

Claims (14)

1.一种控制机器人外科系统中的击发构件的速度的方法，所述方法包括：
由控制电路从联接到闭合构件和所述控制电路的力传感器接收所述闭合构件的实际闭合力；
由所述控制电路比较所述实际闭合力与阈值闭合力；
由所述控制电路基于所述比较来确定使所述闭合构件移位的设定点速度；以及
由所述控制电路基于所述设定点速度来控制所述闭合构件的实际速度。
2.根据权利要求1所述的方法，其中，所述控制电路包括PID反馈控制系统，并且其中所述PID反馈控制系统包括主PID反馈回路和次级PID反馈回路，所述方法还包括：
由所述主PID反馈回路确定所述闭合构件的所述实际闭合力和阈值闭合力之间的第一误差，并基于所述第一误差来设定所述设定点速度；以及
由所述次级PID反馈回路确定所述闭合构件的所述实际速度和所述设定点速度之间的第二误差，并且基于所述第二误差来控制所述闭合构件的所述实际速度。
3.根据权利要求1所述的方法，其中，所述阈值闭合力包括上限阈值和下限阈值，所述方法还包括：
当所述实际闭合力小于所述下限阈值时，由所述控制电路向远侧推进所述闭合构件；以及
当所述实际闭合力大于所述下限阈值时，由所述控制电路向近侧回缩所述闭合构件。
4.根据权利要求3所述的方法，还包括当所述实际闭合力在所述上限阈值和所述下限阈值之间时，由所述控制电路将所述闭合构件保持在适当位置。
5.根据权利要求1所述的方法，其中，由所述控制电路从联接到所述控制电路的力传感器接收闭合力包括：由所述控制电路从联接到马达的输出轴的扭矩传感器接收闭合力，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所述闭合力。
6.根据权利要求1所述的方法，其中，由所述控制电路从联接到所述控制电路的力传感器接收闭合力包括：由所述控制电路从联接到所述闭合构件的应变仪接收闭合力，其中所述应变仪被构造成能够测量所述闭合力。
7.根据权利要求1所述的方法，其中，由所述控制电路从联接到所述控制电路的力传感器接收闭合力包括：由所述控制电路从联接到所述闭合构件的负荷传感器接收闭合力，其中所述负荷传感器被构造成能够测量所述闭合力。
8.根据权利要求1所述的方法，还包括联接到所述闭合构件并联接到所述控制电路的位置传感器，所述方法还包括由所述控制电路从所述位置传感器接收所述闭合构件的位置。
9.根据权利要求1所述的方法控制，还包括在击发行程的至少一部分期间由所述控制电路推进所述闭合构件。
10.一种控制机器人外科系统中的击发构件的速度的方法，所述方法包括：
由控制电路从联接到闭合构件和所述控制电路的力传感器接收所述闭合构件的实际闭合力；
由所述控制电路从联接到击发构件和所述控制电路的位置传感器接收所述击发构件的实际位置；以及
由所述控制电路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实际位置来设定新的闭合力。
11.根据权利要求10所述的方法，其中，由控制电路从所述力传感器接收所述闭合构件的所述实际闭合力包括：由所述控制电路从联接到马达的输出轴的扭矩传感器接收所述闭合构件的所述实际闭合力，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。
12.根据权利要求10所述的方法，其中，由控制电路从所述力传感器接收所述闭合构件的所述实际闭合力包括：由所述控制电路从联接到所述闭合构件的应变仪接收所述闭合构件的所述实际闭合力，其中所述应变仪被构造成能够测量闭合力。
13.根据权利要求10所述的方法，其中，由控制电路从所述力传感器接收所述闭合构件的所述实际闭合力包括：由所述控制电路从联接到所述闭合构件的负荷传感器接收所述闭合构件的所述实际闭合力，其中
所述负荷传感器被构造成能够测量闭合力。
14.根据权利要求10所述的方法，还包括在击发行程的至少一部分期间由所述控制电路推进所述闭合构件。
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US20210244407A1 (en) 2021-08-12
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