CN117794466A - 具有应变仪漂移检测的手持式机电手术装置 - Google Patents

具有应变仪漂移检测的手持式机电手术装置 Download PDF

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CN117794466A
CN117794466A CN202280053527.3A CN202280053527A CN117794466A CN 117794466 A CN117794466 A CN 117794466A CN 202280053527 A CN202280053527 A CN 202280053527A CN 117794466 A CN117794466 A CN 117794466A
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A·J·哈特
J·P·德尔博
C·R·科拉尔
H·E·施特拉斯纳
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Abstract

根据本披露内容的一个实施例，披露了一种手术装置。该手术装置包括电机和可通过该电机移动的传动组件。该手术装置还包括力传感器，该力传感器被配置为测量施加在传动组件上的力。该装置还可以包括控制器，该控制器被配置为：控制电机以将传动组件移动到起始位置，询问力传感器以接收传感器信号，将传感器信号与阈值进行比较，并基于传感器信号与阈值的比较来确定力传感器是否有故障。

Description

具有应变仪漂移检测的手持式机电手术装置
背景技术
圆形缝合器用在重新附接先前被横切的直肠部分的外科手术或用在类似的手术。传统的圆形夹持、切割和缝合器械包括手枪式或线性握柄式结构，该手枪式或线性握柄式结构具有从其延伸的细长轴和被支撑在该细长轴的远端上的钉仓。在这种情况下，医生可以将圆形缝合器械的钉砧组件穿过切口并朝向被横切的直肠部分插入。然后，医生可以将圆形缝合器械的剩余部分(包括仓组件)引入患者的直肠中，并沿着患者的结肠道朝向被横切的直肠部分操纵该装置。将钉砧组件和仓组件朝向彼此靠近，并且将钉从仓组件朝着钉砧组件排出以将钉形成在组织中，从而实现端对端吻合，并且推进环形刀以对被夹持的组织部分的一部分进行取芯。在完成端对端吻合后，将圆形缝合设备从手术部位移除。
包括电池电源的电动机电手术缝合器在吻合手术的夹持、缝合和切割部分期间利用电机来致动电动手术缝合器的各个部件。这样的缝合器利用各种传感器(包括应变仪)，这些传感器可能会超时失效并输出错误的读数。因此，需要一种用于检测和处理传感器漂移的系统和方法。
发明内容
本披露提供了一种电动手术缝合器，该电动手术缝合器被配置为夹持、缝合和切割组织。该电动手术缝合器包括用于提供力反馈的力传感器(比如应变仪)。因此，传感器数据允许每个阶段的安全操作，即夹持、缝合和切割。因为传感器(比如应变仪)是模拟传感器，所以信号输出非常弱，因此很容易受到环境因素的影响，比如进水、清洁剂沉积和手术室内的湿度。因此，不规则传感器信号的早期预警检测有助于在手术前最小化患者风险。
该电动手术缝合器包括控制器，该控制器被配置为执行监测算法，该算法可以体现为软件指令。该算法监测传感器数据中任何意外的高值，这些意外的高值可能是由应变仪在高压釜循环中的漂移造成的。如果检测到这样的值，则控制器将该值标记为错误，并防止潜在有缺陷的应变仪发生钉的击发。当预计不会测量力时，比如当套管针完全缩回时，可以进行错误监测。监测算法预计由于空载条件而没有传感器信号，并且如果在成功校准后满足设定值的绝对值阈值，则评估传入的传感器信号。在漂移大于指定阈值的情况下，可以经由听觉和/或视觉警报来通知用户，并且阻止电动手术缝合器的进一步操作。
根据本披露内容的一个实施例，披露了一种手术装置。该手术装置包括电机和可通过该电机移动的传动组件。该手术装置还包括力传感器，该力传感器被配置为测量施加在传动组件上的力。该装置还可以包括控制器，该控制器被配置为：控制电机以将传动组件移动到起始位置，询问力传感器以接收传感器信号，将传感器信号与阈值进行比较，并基于传感器信号与阈值的比较来确定力传感器是否有故障。
上述实施例的实施方式可以包括以下特征中的一个或多个特征。根据上述实施例的一个方面，该力传感器可以是应变仪。该控制器可以进一步被配置为确定应变仪是否具有应变仪漂移。该起始位置可以是传动组件不承受机械载荷的位置。该控制器可以进一步被配置为获得传感器信号的绝对值，并将该绝对值与阈值进行比较。该手术装置可以包括显示器。该控制器可以进一步被配置为在显示器上输出力传感器有故障的指示。该控制器可以进一步被配置为响应于力传感器有故障而阻止电机的运行。该手术装置还可以包括耦合到传动组件的套管针组件，并且再装载器可以包括多个钉。
根据本披露内容的另一个实施例，披露了一种手术装置。该手术装置包括适配器组件，该适配器组件具有传动组件和力传感器，该力传感器被配置为测量施加在被传动组件上的力。该手术装置还可以包括手柄组件，该手柄组件具有电机和控制器，该电机被配置为移动传动组件，该控制器可以被配置为：控制电机以将传动组件移动到起始位置，询问力传感器以接收传感器信号，将传感器信号与阈值进行比较，并基于传感器信号与阈值的比较来确定力传感器是否有故障。
上述实施例的实施方式可以包括以下特征中的一个或多个特征。根据上述实施例的一个方面，该力传感器可以是应变仪。该控制器可以进一步被配置为确定应变仪是否具有应变仪漂移。该起始位置可以是传动组件不承受机械载荷的位置。该控制器可以进一步被配置为获得传感器信号的绝对值，并将该绝对值与阈值进行比较。该手术装置可以包括显示器。该控制器可以进一步被配置为在显示器上输出力传感器有故障的指示。该控制器可以进一步被配置为响应于力传感器有故障而阻止电机的运行。该手术装置还可以包括耦合到传动组件的套管针组件，并且再装载器可以包括多个钉。该适配器组件还可以包括存储装置，并且该控制器可以被配置为在该存储装置上存储与力传感器发生故障有关的故障代码。
附图说明
本文参考附图描述本披露内容的实施例，在附图中：
图1是根据本披露内容的实施例的手持式手术器械的立体图，该手持式手术器械包括手柄组件、适配器组件和末端执行器；
图2是图1的手柄组件、适配器组件和末端执行器的示意图；
图3是根据本披露内容的实施例的附接到图1的适配器组件的适配器组件和末端执行器、环形再装载器和钉砧组件的侧视立体图；
图4是设置在图1的适配器组件内的夹持传动组件的立体图，部分以虚线示出；
图5是设置在图1的适配器组件内的缝合传动组件的立体图，部分以虚线示出；
图6是图1的端部执行器的再装载器的截面视图；
图7是带有应变仪组件的适配器组件的立体图，适配器组件被示出为部分地拆卸；以及
图8是根据本披露内容的实施例的用于监测图1的手术器械的应变仪的方法。
具体实施方式
参考附图详细描述了当前披露的手术装置和用于手术装置的适配器组件、和/或手柄组件的实施例，在附图中，相似的附图标记表示若干视图中的每个视图中的相同或对应的要素。如本文所使用的，术语“远侧”是指手术器械或其部件更远离用户的那部分，而术语“近侧”是指手术器械或其部件更靠近用户的那部分。
本披露内容提供了一种电动手术缝合器10，该电动手术缝合器具有手柄组件、耦合到手柄组件的适配器组件、以及耦合到适配器组件的端部执行器。缝合器允许对三个功能进行完全、独立的控制：夹持、缝合和切割。这允许缝合器的某些部分在组织呈现非理想情况时进行适应。
图1展示了手术装置，比如用于形成端对端吻合(“EEA”)的电动手术缝合器10，该电动手术缝合器包括手柄组件100，该手柄组件被配置为选择性地与适配器组件200连接。适配器组件200被配置为选择性地与末端执行器300连接，该端部执行器包括再装载器400和钉砧组件500。端部执行器300被配置为对患者的组织产生手术效果，即，通过夹持、缝合和切割被抓持在端部执行器300内的组织来连接结构(例如，肠、结肠等)的两个部分而形成吻合。
手柄组件100包括动力手柄101和外罩壳体11，该外罩壳体被配置为选择性地接收和围封动力手柄101。罩壳体11包括远侧半段10a和可枢转地连接到远侧半段10a的近侧半段10b。远侧半段10a和近侧半段10b当被接合时在其中限定罩空腔，动力手柄101设置在该罩空腔中。
罩壳体11的远侧半段10a和近侧半段10b沿着横穿适配器组件200的纵向轴线“X”的平面分开。罩壳体11的远侧半段10a限定连接部分20，该连接部分配置为接纳适配器组件200的相应驱动耦合组件210(图3)。罩壳体11的远侧半段10a支撑拨动式控制按钮30。拨动式控制按钮30能够沿四个方向(例如，左、右、上和下)被致动。
参考图1和图2，动力手柄101包括主控制器电路板142、被配置为向手柄组件100的任何电气部件供电的可再充电电池144、以及耦合到电池144的多个电机152。动力手柄101还包括显示器146。在实施例中，电机152可以耦合到被配置为向电机152提供电能的任何合适的电源(比如AC/DC变压器)。每个电机152耦合到电机控制器143，该电机控制器控制相应电机152的运行(包括电能从电池144流到电机152)。设置主控制器147，该主控制器控制动力手柄101。主控制器147被配置为执行体现本文披露的算法(比如控制动力手柄101的操作的夹持算法、缝合算法和切割算法)的软件指令。
电机控制器143包括多个传感器408a、…、408n，该多个传感器被配置为测量电机152和电池144的运行状态。传感器408a-n包括应变仪408b，并且还可以包括电压传感器、电流传感器、温度传感器、遥测传感器、光学传感器及其组合。传感器408a-408n可以测量由电池144供应的电能的电压、电流和其他电特性。传感器408a-408n还可以测量电机152的按每分钟旋转数(RPM)的角速度(例如，旋转速度)、扭矩、温度、电流消耗和其他运行特性。传感器408a还包括编码器，该编码器被配置为对电机152的旋转数或其他指标进行计数，主控制器147随后使用该编码器来计算可通过电机152移动的部件的线性移动。角速度可以通过测量电机152或耦合到该电机并且可通过电机152旋转的驱动轴(未示出)的旋转来确定。各种轴向上可移动驱动轴的位置也可以通过使用设置在轴中或靠近轴的各种线性传感器来确定，或者根据RPM测量结果外推。在实施例中，可以基于处于恒定RPM的电机152的经调整的电流消耗来计算扭矩。在进一步的实施例中，电机控制器143和/或主控制器147可以测量时间，并将上述值作为时间的函数(包括积分和/或微分)进行处理，例如以确定测得的值的变化率。主控制器147还被配置为通过对电机152的旋转数进行计数来确定适配器组件200和/或端部执行器300的各种部件的行进的距离。
电机控制器143耦合到主控制器147，该主控制器包括用于与电机控制器143进行交互的多个输入端和输出端。特别地，主控制器147从电机控制器143接收关于电机152和电池144的运行状态的测得的传感器信号，并且进而向电机控制器143输出控制信号，以基于传感器读数和特定算法指令来控制电机152的运行。主控制器147还被配置为接受来自用户接口(例如，耦合到主控制器147的开关、按钮、触摸屏等)的多个用户输入。
主控制器147还耦合到存储器141。存储器141可以包括易失性存储器(例如，RAM)和非易失性存储器，该易失性和非易失性存储器被配置为存储数据(包括用于操作动力手柄101的软件指令)。主控制器147还使用有线或无线连接耦合到适配器组件200的应变仪408b，并且被配置为接收来自应变仪408b的应变测量结果，这些应变测量结果在动力手柄101的操作期间被使用。
动力手柄101包括多个电机152，该多个电机各自包括从其延伸并被配置为驱动相应传动组件的相应电机轴(未明确示出)。由相应电机引起的电机轴的旋转起到驱动适配器组件200的轴和/或齿轮部件的作用，以便执行手柄组件100的各种操作。特别地，动力手柄101的电机152被配置为驱动适配器组件200的轴和/或齿轮部件，以便选择性地使适配器组件200的套管针组件270的套管针构件274(图4)延伸/缩回。套管针构件274的延伸/缩回打开/关闭端部执行器300(当钉砧组件500连接到套管针组件270的套管针构件274时)、击发再装载器400的环形阵列的钉423、以及使再装载器400的环形刀(未明确示出)移动。
再装载器400包括存储装置402，该存储装置被配置为存储再装载器400的运行参数，包括起始夹持力、最大夹持力、力因子等。每种类型的再装载器400可以具有对应的起始夹持力，主控制器147可以通过从存储装置402读取起始夹持力值来自动获得该对应的起始夹持力，和/或该对应的起始夹持力由用户通过选择再装载器400的类型或直接选择夹持力来手动设置。起始夹持力可以是从约100磅到约200磅的任何合适的阈值，在实施例中，目标夹持力可以是大约150磅。在实施例中，33mm大小的再装载器400可以具有约150磅的夹持力。
现在转到图3和图4，适配器组件200包括外部旋钮壳体202和从旋钮壳体202的远端延伸的外管206。旋钮壳体202和外管206被配置并且尺寸被确定为容纳适配器组件200的部件。旋钮壳体202包括电连接器312和耦合到该电连接器的存储装置310。存储装置310被配置为存储与适配器组件200有关的各种运行参数。适配器组件200被配置为将手柄组件100的耦合轴(未明确示出)的旋转转换成可用于使适配器组件200的套管针组件270、钉砧组件500、和/或再装载器400的钉驱动器430或刀组件(未明确示出)运行的轴向平移。
适配器组件200进一步包括套管针组件270，该套管针组件被可移除地支撑在外管206的远端处。套管针组件270包括套管针构件274和驱动螺杆276，该驱动螺杆被可操作地接收在套管针构件274内，以用于使套管针构件274相对于外管206轴向移动。套管针构件274的远端274b被配置为选择性地接合钉砧组件500，使得通过驱动螺杆276的旋转，套管针构件274的轴向移动引起钉砧组件500的伴随轴向移动。
参考图4，夹持传动组件240包括：耦合到电机152之一的第一可旋转近侧驱动轴212、第二可旋转近侧驱动轴281、可旋转远端驱动轴282、以及耦合构件286，其中的每一个被支撑在适配器组件200的外管206内。夹持传动组件240起到以下作用：使适配器组件200的套管针组件270的套管针构件274延伸/缩回；以及当钉砧组件510连接到套管针构件274时，打开/关闭钉砧组件510。
参考图5，适配器组件200包括缝合传动组件250，该缝合传动组件用于将电机152之一和再装载器400的第二轴向可平移的驱动构件互连，其中，缝合传动组件250将电机152之一的旋转转换并传递为适配器组件200的外部柔性带组件255的轴向平移并进而转换并传递为再装载器400的钉驱动器430的轴向平移，以从再装载器400击发钉423并抵靠钉砧组件510。
适配器组件200的缝合传动组件250包括外部柔性带组件255，该外部柔性带组件固定到钉驱动器耦合器254。第二可旋转近侧驱动轴220耦合到电机152之一，并被配置为致动该钉驱动器耦合器254，该钉驱动器耦合器将旋转移动转换为纵向移动。外部柔性带组件255包括第一柔性带255a和第二柔性带255b，该第一柔性带和该第二柔性带横向地间隔开、并且在第一柔性带和第二柔性带的近端处连接到支撑环255c、并且在第一柔性带和第二柔性带的远端处连接到远侧推动器255d的近端。第一柔性带255a和第二柔性带255b中的每一个附接到支撑环255c和远侧推动器255d。外部柔性带组件255进一步包括从支撑环255c向近侧延伸的第一连接延伸部255e和第二连接延伸部255f。第一连接延伸部255e和第二连接延伸部255f被配置为可操作地将外部柔性带组件255连接到缝合传动组件250的钉驱动器耦合器254。
参考图6，再装载器400的钉驱动器430包括钉仓420，该钉仓具有驱动器适配器432和驱动器434。驱动器适配器432的近端432a被配置为与适配器组件200的缝合传动组件250的外部柔性带组件255的远侧推动器255d选择性接触和邻接。在操作中，在外部柔性带组件255的远侧前进期间，如上所述，外部柔性带组件255的远侧推动器255d接触驱动器适配器432的近端432a，以使驱动器适配器432和驱动器434从第一或近侧位置前进到第二或远侧位置。驱动器434包括多个驱动器构件436，该多个驱动器构件与钉仓420的钉坑(staplepocket)421对准以便于与钉423接触。因此，驱动器434相对于钉仓420的前进使得钉423从钉仓420排出。
可以通过应变仪408b测量在套管针构件274的致动、端部执行器300的关闭(例如，钉砧组件500相对于再装载器400的缩回)和从再装载器400排出钉423以及刀组件440的前进期间的力，以便监测和控制各种过程(比如从再装载器400击发钉423)；监测在正从再装载器400排出钉423时钉423的击发和形成期间的力；针对不同的组织适应症优化在正从再装载器400排出钉423时钉423的形成(例如，钉卷曲高度)；以及监测并控制再装载器400的环形刀的击发。
参考图7，适配器组件200的应变仪408b设置在应变仪壳体320内。应变仪408b测量并监测套管针构件274的缩回以及钉423从再装载器400的排出和形成。在端部执行器300的关闭期间，当钉砧组件500接触组织、障碍物、再装载器400的组织接触表面、钉排出等时，反作用力施加在钉砧组件500上，该反作用力通常在远侧方向上。该远侧定向的反作用力从钉砧组件500传递到应变仪408b。然后，应变仪408b将信号传递到手柄组件100的动力手柄101的主控制器电路板142。然后，在手柄组件100的显示器146上显示图形以向用户提供实时状态信息，如图10所示。
套管针组件270轴向地且旋转地固定在适配器组件200的外管206内。参考图6，适配器组件200包括支撑块292，该支撑块固定地设置在外管206内。应变仪壳体320设置在支撑块292与连接器套管290之间。再装载器400可移除地耦合到连接器套管290。
在操作中，适配器组件200的应变仪408b测量并监测套管针构件274的缩回，该套管针构件穿过应变仪408b。由于第一柔性带255a和第二柔性带255b也穿过应变仪408b，因此适配器组件200的应变仪408b还测量并监测钉423从再装载器400的排出。在夹持、缝合和切割期间，反作用力施加在钉砧组件500和再装载器400上，该反作用力被传递到支撑块292，该支撑块然后将该反作用力传递到应变仪408b的应变传感器。
应变仪408b的应变传感器可以是被配置为测量其所附着的对象(例如，支撑块292)上的应变(无量纲量)的任何装置，使得当对象变形时，应变传感器的金属箔也变形从而导致其电阻变化，该电阻变化然后被用于计算套管针组件270所承受的载荷。应变仪408b向由第一力、第二力和第三力/旋转传递/转换组件呈现的击发/夹持载荷提供闭环反馈。
应变仪408b的应变传感器随后将信号传递到主控制器电路板142。然后在手柄组件100的显示器146上显示图形，以向用户提供与手柄组件100的击发状态相关的实时信息。应变仪408b还经由近侧线束组件314和远侧线束组件316电连接到电连接器312(图3)。
关于圆形缝合器及其部件的构造和操作的进一步细节，可以参考2019年7月3日提交的国际申请公开号PCT/US2019/040440，该申请的全部内容通过援引并入本文。
参考图8，首先校准电动手术缝合器10。这可以包括单独用适配器组件200以及用附接到适配器组件200的再装载器400来校准动力手柄101。在执行校准之后，在用电动手术缝合器10开始外科手术之前，套管针组件270、特别是夹持传动组件240缩回到起始位置。在起始位置，套管针组件270停止并处于“空载”配置，在此期间套管针组件170不承受机械载荷，例如，不与通常会对套管针组件270施加应变或力的组织接合。在“空载”配置期间，应变仪408b将输出零或最小的传感器信号。相反，故障的应变仪408b，比如由于环境暴露或其他因素而遭受传感器漂移的应变仪，将输出错误的传感器信号。因此，当套管针组件170被设置在“空载配置”时，主控制器147询问应变仪408b。主控制器147将传感器信号与指示应变仪408b中的故障的阈值进行比较。主控制器147可以获得传感器信号的绝对值，并将传感器信号的绝对值与该阈值进行比较。
如果传感器信号或其绝对值没有超过该阈值，则电动手术缝合器10可以用于开始外科手术，这可以包括将电动手术缝合器10引入患者体内并执行夹持、缝合、切割过程。然而，如果传感器信号或其绝对值超过该阈值，这指示应变仪408b中的故障，则主控制器147在显示器146上输出指示应变仪408b有故障的错误。此外，主控制器147阻止电动手术缝合器10的进一步操作(包括电机152的运行)，直到新的适配器组件200附接到动力手柄101。主控制器147可以向存储装置310写入错误或故障代码，该错误或故障代码将在使用适配器组件200之前由主控制器147读取，从而防止对适配器组件的任何后续使用。
应当理解，可以对当前披露的电动手术缝合器的实施例进行各种修改。因此，上面的描述不应被解释为限制性的，而仅仅是实施例的范例。本领域技术人员能够设想在本披露内容的范围和精神内的其他修改。
在一个或多个示例中，可以在硬件、软件、固件或其任何组合中实施所描述的技术。如果是在软件中实施，那么这些功能可以作为一个或多个指令或代码被存储在计算机可读介质上并且由基于硬件的处理单元执行。计算机可读介质可以包括非暂态计算机可读介质，非暂态计算机可读介质对应于比如数据存储介质(例如，RAM、ROM、EEPROM、闪速存储器或可以用于存储指令或数据结构形式的所需程序代码并可以被计算机访问的任何其他介质)等有形介质。
指令可以由一个或多个处理器执行，比如一个或多个数字信号处理器(DSP)、通用微处理器、专用集成电路(ASIC)、现场可编程逻辑阵列(FPGA)、或其他等效集成或离散逻辑电路。相应地，如本文中所使用的术语“处理器”可以指上述结构或适合于实施所描述的技术的任何其他物理结构中的任何结构。此外，这些技术可以在一个或多个电路或逻辑元件中完全实施。

Claims (20)

1.一种手术装置，包括：
电机；
传动组件，所述传动组件可通过所述电机移动；
力传感器，所述力传感器被配置为测量施加在所述传动组件上的力；以及
控制器，所述控制器被配置为：
控制所述电机以将所述传动组件移动到起始位置；
询问所述力传感器以接收传感器信号；
将所述传感器信号与阈值进行比较；并且
基于所述传感器信号与所述阈值的所述比较来确定所述力传感器是否有故障。
2.根据权利要求1所述的手术装置，其中，所述力传感器是应变仪。
3.根据权利要求2所述的手术装置，其中，所述控制器进一步被配置为确定所述应变仪是否具有应变仪漂移。
4.根据权利要求2所述的手术装置，其中，所述起始位置是所述传动组件不承受机械载荷的位置。
5.根据权利要求1所述的手术装置，其中，所述控制器进一步被配置为获得所述传感器信号的绝对值，并将所述绝对值与所述阈值进行比较。
6.根据权利要求1所述的手术装置，进一步包括显示器。
7.根据权利要求6所述的手术装置，其中，所述控制器进一步被配置为在所述显示器上输出所述力传感器有故障的指示。
8.根据权利要求1所述的手术装置，其中，所述控制器进一步被配置为响应于所述力传感器有故障而阻止所述电机的运行。
9.根据权利要求1所述的手术装置，进一步包括：
套管针组件，所述套管针组件耦合到所述传动组件。
10.根据权利要求1所述的手术装置，进一步包括：
再装载器，所述再装载器包括多个钉。
11.一种手术装置，包括：
适配器组件，所述适配器组件包括：
传动组件；以及
力传感器，所述力传感器被配置为测量施加在所述传动组件上的力；
手柄组件，所述手柄组件包括：
电机，所述电机被配置为移动所述传动组件；以及
控制器，所述控制器被配置为：
控制所述电机以将所述传动组件移动到起始位置；
询问所述力传感器以接收传感器信号；
将所述传感器信号与阈值进行比较；并且
基于所述传感器信号与所述阈值的所述比较来确定所述力传感器是否有故障。
12.根据权利要求11所述的手术装置，其中，所述力传感器是应变仪。
13.根据权利要求12所述的手术装置，其中，所述控制器进一步被配置为确定所述应变仪是否具有应变仪漂移。
14.根据权利要求12所述的手术装置，其中，所述起始位置是所述传动组件不承受机械载荷的位置。
15.根据权利要求11所述的手术装置，其中，所述控制器进一步被配置为获得所述传感器信号的绝对值，并将所述绝对值与所述阈值进行比较。
16.根据权利要求11所述的手术装置，进一步包括显示器，并且其中，所述控制器进一步被配置为在所述显示器上输出所述力传感器有故障的指示。
17.根据权利要求11所述的手术装置，其中，所述控制器进一步被配置为响应于所述力传感器有故障而阻止所述适配器组件的运行。
18.根据权利要求11所述的手术装置，其中，所述适配器组件进一步包括存储装置，并且所述控制器被配置为在所述存储装置上存储与力传感器发生故障有关的故障代码。
19.根据权利要求11所述的手术装置，进一步包括：
套管针组件，所述套管针组件耦合到所述传动组件。
20.根据权利要求11所述的手术装置，进一步包括：
再装载器，所述再装载器包括多个钉。
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