JP6345707B2 - ソフトストップを備えた外科用器具 - Google Patents
ソフトストップを備えた外科用器具 Download PDFInfo
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- JP6345707B2 JP6345707B2 JP2015560253A JP2015560253A JP6345707B2 JP 6345707 B2 JP6345707 B2 JP 6345707B2 JP 2015560253 A JP2015560253 A JP 2015560253A JP 2015560253 A JP2015560253 A JP 2015560253A JP 6345707 B2 JP6345707 B2 JP 6345707B2
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- end effector
- motor
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- assembly
- proximal
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- Surgical Instruments (AREA)
- Control Of Direct Current Motors (AREA)
Description
米国特許出願、名称「Rotary Powered Surgical Instruments With Multiple Degrees of Freedom」、代理人整理番号END7195USNP/120287、
米国特許出願、名称「Rotary Powered Articulation Joints For Surgical Instruments」、代理人整理番号END7188USNP/120280、
米国特許出願、名称「Articulatable Surgical Instruments With Conductive Pathways For Signal Communication」、代理人整理番号END7187USNP/120279、
米国特許出願、名称「Thumbwheel Switch Arrangements For Surgical Instruments」、代理人整理番号END7189USNP/120281、
米国特許出願、名称「Joystick Switch Assemblies For Surgical Instruments」、代理人整理番号END7192USNP/120284、
米国特許出願、名称「Electromechanical Surgical Device With Signal Relay Arrangement」、代理人整理番号END7190USNP/120282、
米国特許出願、名称「Sensor Straightened End Effector During removal Through Trocar」、代理人整理番号END7193USNP/120285、
米国特許出願、名称「Multiple Processor Motor Control For Modular Surgical Device」、代理人整理番号END7091USNP/120283、並びに、
米国特許出願、名称「Control Methods for Surgical Instruments with Removable Implement Portions」、代理人整理番号END7194USNP/120286。
図1〜図6に示されるエンドエフェクタ102は、ステープルカートリッジ130を動作可能及び取外し可能に支持するように構成されてもよい、細長いチャネル部材110を含む。ステープルカートリッジ130は、細長いスロット136の両側に互い違いの形で列状に配置された複数のステープルポケット134を含む、上面又はカートリッジデッキ132を含んでもよい。図3を参照されたい。複数の外科用ステープル140は、ステープルポケット134内で動作可能に支持される、対応するステープルドライバ138上で支持される。図3でも分かるように、1つの形態では、エンドエフェクタ102は、ステープルカートリッジ130の近位端に結合されると共に、細長いチャネル110の近位端に収まるように構成されたエンドベース150を含む。例えば、エンドベース150は、カートリッジデッキ132の対応するラッチスロット142に受け入れられるように構成された、遠位側に延在するラッチタブ152を有して形成されてもよい。加えて、エンドベース150は、エンドベース150を細長いチャネル110に取り付けるための、横方向に延在する取付け用突起154を備えてもよい。例えば、取付け用突起154は、細長いチャネル110の対応する取付け孔112に受け入れられるように構成されてもよい。
用具100の様々な形態は、結合具アセンブリ200を用いて外科用器具10に動作可能に結合されてもよい。結合具アセンブリ200の1つの形態を図7〜図14に示す。結合具アセンブリ200は、220として集合的に指定される駆動歯車アセンブリを動作可能に支持するように構成された、結合具ハウジングセグメント202を含んでもよい。少なくとも1つの形態では、駆動歯車アセンブリ220は、入力歯車222、伝達歯車228、及び出力歯車232を含む。図8を参照されたい。入力歯車222は、第1及び第2の隔壁部材204、206によって回転可能に支持される、入力軸224に装着されるか又はその上に形成される。入力軸224は、更に詳細に後述する独自の新規な発射システム500の一部分を備える、遠位側発射軸セグメント510と噛み合うように構成された近位端226を有する。例えば、近位端226は、遠位側発射軸セグメント510の遠位端に形成された六角形のソケット512に回転不能に挿入するため、六角形の断面形状で構成されてもよい。伝達歯車228は、バッフル部材204、206によって回転可能に支持される、伝達軸230に装着されるか又はその上に形成されてもよい。出力歯車232は、バッフル部材204、206によって回転可能に支持される、出力駆動軸234に装着されるか又はその上に形成されてもよい。組み立てる目的のため、出力駆動軸234の遠位端236は、遠位側エンドキャップ210を通って遠位側に突出する、出力ソケット238に回転不能に取り付けられるように構成されてもよい。1つの構成では、遠位側エンドキャップ210は、締結具208又は他の任意の好適な締結具構成によって、結合具ハウジング202に取り付けられてもよい。出力ソケット238は、出力駆動軸234の遠位端236にピン止めされてもよい。出力ソケット238は、駆動軸取付け部材184と回転不能に噛み合うように構成されてもよい。例えば、出力ソケット238は、駆動軸取付け部材184の六角形の突出部186と噛み合うことができるように、六角形の形状で構成されてもよい。加えて、用具100を結合具アセンブリ200に動作可能に取り付けられるのを容易にするため、取付け用突起がエンドキャップ210に形成されるか又は取り付けられてもよい。
図1及び図2で分かるように、細長い軸アセンブリ30は軸中心線A−Aを画定してもよい。少なくとも1つの形態では、細長い軸アセンブリ30は、軸中心線A−Aを実質的に横断する関節運動軸線B−Bを中心にしてエンドエフェクタ102を選択的に関節運動させる、関節運動システム300を含んでもよい。関節運動システム300の1つの形態を図15及び図16に示す。それらの図で分かるように、関節運動システム300は電動の関節継手310を含んでもよい。少なくとも1つの構成では、関節継手310は、遠位側ハウジング軸受314によって結合具ハウジングセグメント202の近位側に延在するハブ部分203上で回転可能に支持される、遠位側継手部分又は遠位側クレビス312を含む。図20を参照されたい。遠位側クレビス312は、関節運動軸線B−Bを画定する関節ピン332によって、近位側継手部分又は近位側クレビス330に枢動可能に取り付けられてもよい。図18を参照されたい。遠位側クレビス312は、結合具ハウジングセグメント202の近位端内に受け入れられるようにサイズ決めされた、遠位側に突出する取付けハブ316を含んでもよい。取付けハブ316は、取付けピン320をその中に受け入れるように構成された環状溝318をその中に有してもよい。図8を参照されたい。取付けピン320は、結合具ハウジングセグメント202が軸中心線A−Aを中心にして遠位側クレビス312に対して回転してもよいように、結合具ハウジングセグメント202を遠位側クレビス312に取り付ける役割を果たす。図20で分かるように、遠位側発射軸セグメント510は、結合具ハウジングセグメント202のハブ部分203を通って延在すると共に、ハブ部分203内に装着された遠位側発射軸受322によってセグメントに対して回転可能に支持される。
上述したように、エンドエフェクタ102は、遠位側発射軸セグメント510及び近位側発射軸セグメント520を含む発射システム500によって、エンドエフェクタ打込みねじ180に加えられる回転制御運動によって動作されてもよい。図23を参照されたい。近位側発射軸セグメント520は、細長い軸アセンブリ30の一部分を含み、遠位側軸受スリーブ522によって中空の近位側回転軸セグメント552内で回転可能に支持されてもよい。図20を参照されたい。図23を再び参照すると、少なくとも1つの形態では、発射システム500は、ハンドルアセンブリ20内で動作可能に支持される発射モータ530を含む。近位側発射軸セグメント520の近位端は、分離可能な駆動マウント700内で回転可能に支持されてもよく、より詳細に後述するような形で発射モータ530に結合されるように構成されてもよい。図30で分かるように、近位側発射軸セグメント520の近位端は、駆動マウント隔壁アセンブリ720の遠位側隔壁プレート722に装着されるスラスト軸受524内で回転可能に支持されてもよい。発射モータ530の作動は、最終的にエンドエフェクタ打込みねじ180の回転をもたらし、回転制御運動がエンドエフェクタ102に加えられることになる。
様々な形態では、外科用器具10はまた、軸中心線A−Aを中心にして細長い軸アセンブリ30に対してエンドエフェクタ102を選択的に回転させるための、エンドエフェクタ回転システム又は「遠位側ロールシステム」550を含んでもよい。エンドエフェクタ回転システム550は、細長い軸アセンブリ30の一部分もまた含む、近位側回転軸セグメント552を含んでもよい。図20で分かるように、近位側回転軸セグメント552は、遠位側軸受554及び近位側軸受556によって、近位側クレビス330内で回転可能に支持されてもよい。加えて、近位側回転軸セグメント552は、遠位側軸受スリーブ558及び近位側軸受559によって、近位側関節運動軸セグメント420内で回転可能に支持されてもよい。図20及び30を参照されたい。近位側回転軸セグメント552の近位端もまた、図30で分かるように、近位側軸受555によって駆動マウント隔壁アセンブリ720内で回転可能に支持されてもよい。
外科用器具10の様々な形態はまた、600として全体が指定される軸回転システムを含んでもよい。軸回転システムは、本明細書では、「近位側ロールシステム」とも呼ばれることがある。少なくとも1つの形態では、軸回転システム600は、細長い軸アセンブリ30の一部分も備える近位側外軸セグメント602を含む。近位側外軸セグメント602は、近位側クレビス330に回転不能に結合される遠位端604を有する。図19及び図26で分かるように、遠位端604は、それに対する関節運動バー426の作動を許容するクリアランスノッチ606をその中に有する。軸回転システム600は、ハンドルアセンブリ20内で動作可能に支持される、軸回転又は「近位側ロール」モータ610を含んでもよい。軸回転モータ610は、分離可能な駆動マウント700上で動作可能に支持される、軸駆動アセンブリ620に結合されてもよい。少なくとも1つの形態では、軸駆動アセンブリ620は、軸受624によって分離可能な駆動マウント700の遠位側軸ハウジング部分712内で回転可能に支持される、近位側駆動軸セグメント622を含む。図28を参照されたい。加えて、近位側駆動軸セグメント622は、軸受626によって近位側駆動軸ハウジング部分714内で回転可能に支持される。図26及び図28で分かるように、軸駆動アセンブリ620はまた、軸駆動ベルト634を駆動する役割を果たす、一対の回転駆動プーリ630、632を含んでもよい。駆動プーリ632は、駆動プーリ632の回転によって、軸中心線A−Aを中心にした近位側駆動軸セグメント602及びそれに取り付けられたエンドエフェクタ102の回転がもたらされるように、近位側駆動軸セグメント602に回転不能に取り付けられる。図28及び図30で更に分かるように、近位側駆動軸セグメント602は、一対のスリーブ軸受607及び608によって、遠位側軸ハウジング部分712内で回転可能に支持される。
より具体的には、また図28を参照すると、分離可能な駆動マウントアセンブリ700は、ハンドルアセンブリ20の一部分内で動作可能に支持される。1つの形態では、例えば、分離可能な駆動マウントアセンブリ700は、スナップ構造部、ねじ、又は他の締結具構成を用いて相互接続されてもよい、遠位側ハンドルハウジングセグメント21及び22内に装着されてもよい。共に結合されたときの遠位側ハンドルハウジングセグメント21及び22は、本明細書では、「遠位側ハンドルハウジング部分」又は「ハウジング」25と呼ばれることがある。分離可能な駆動マウントアセンブリ700は、例えば、遠位側軸ハウジング712及び近位側軸ハウジング714を備える軸ハウジングアセンブリ710を含んでもよい。分離可能な駆動マウントアセンブリ700は、遠位側隔壁プレート722及び近位側結合具隔壁プレート724を含む、駆動マウント隔壁アセンブリ720を更に備えてもよい。上述したように、少なくとも1つの形態では、分離可能な駆動マウントアセンブリ700は、関節運動駆動アセンブリ410、近位側発射軸セグメント520の近位端、回転駆動アセンブリ570、及び軸駆動アセンブリ620を動作可能に支持してもよい。発射軸セグメント520、関節運動駆動アセンブリ410、回転駆動アセンブリ570、及び軸駆動アセンブリ620をそれぞれ、発射モータ530、関節運動制御モータ402、エンドエフェクタ回転モータ560、及び軸回転モータ610に迅速に結合するのを容易にするため、独自の新規な結合具構成が用いられてもよい。
少なくとも1つの形態では、例えば、分離可能な駆動マウントアセンブリ700は、750として全体が指定されるモータ装着アセンブリに取外し可能に結合されるように構成されてもよい。モータ装着アセンブリ750は、スナップ構造部、ねじなどによって共に結合可能であって、ハンドルアセンブリ20のピストルグリップ部分26を形成する役割を果たす、ハンドルハウジングセグメント23及び24内で支持されてもよい。図1を参照されたい。ハンドルハウジングセグメント23及び24は、共に結合されたとき、本明細書では、「近位側ハンドルハウジング部分」又は「ハウジング」28と呼ばれることがある。図29〜図32を参照すると、モータ装着アセンブリ750は、ハンドルハウジングセグメント23及び24内で取外し可能に支持される、モータマウント752を備えてもよい。少なくとも1つの形態では、例えば、モータマウント752は、底部プレート754と、垂直に延在するモータ隔壁アセンブリ756とを有してもよい。底部プレート754上には、分離可能な駆動マウント700の底部プレート部分730を保定するようにそれと噛み合って受け入れるように構成された、締結具タブ758が形成されてもよい。加えて、右側ロケータピン772及び左側ロケータピン774は、モータ隔壁アセンブリ756に装着され、そこを通って近位側軸ハウジング部分714に形成された対応する右側及び左側ソケットチューブ716、718内へと遠位側に突出する。図32を参照されたい。
図100〜図103は、駆動運動をモータからそれら各軸に伝動する一群の歯車駆動装置を用いる、代替の駆動マウント5700を示す。図100で分かるように、駆動マウント5700は、複数の歯車列構成を動作可能に支持する遠位側軸ハウジング5712を含む、遠位側軸ハウジングアセンブリ5710を含んでもよい。遠位側軸ハウジング5712は、図100で分かるように、遠位側軸ハウジング5712から突出する、対応する装着用突起5713を受け入れる一対の装着ソケット5725を有する、近位側結合具隔壁プレート5724に取外し可能に装着されるように構成される。上述の構成と同様に、発射又は横切開モータ530の軸は、図103で分かるように、結合具アセンブリ5780によって近位側発射軸セグメント5520に直接結合される。エンドエフェクタ回転システム550の近位側回転軸セグメント5552は、5565として全体が示される歯車列によって回転する。少なくとも1つの形態では、例えば、歯車列5565は、近位側回転軸セグメント5552に取り付けられると共に駆動歯車5567と噛合係合した状態で支持される、被動歯車5566を含む。図103で最も詳しく分かるように、駆動歯車5567は、遠位側軸ハウジング5712内で回転可能に支持される平歯車軸5568に装着される。平歯車軸5568は、結合具アセンブリ5780によって、エンドエフェクタ回転又は遠位側ロールモータ560の軸に結合される。
様々な形態では、外科用器具10は、器具によって用いられる様々なモータを制御するため、800として全体が指定される制御システムを用いてもよい。モータ402、530、560、及び610、並びにそれらの関連する制御部品は、本明細書では、398として全体が指定される「駆動システム」とも呼ばれることがある。1つの形態では、駆動システム398は、複数の制御運動を「電気的に生成させる」役割を果たす。「電気的に生成させる」という用語は、電気信号を使用して、モータ又は他の電動デバイスを作動させることを指し、電流を使用することなく手動で又は他の方法で機械的に生成する制御運動と区別されてもよい。1つの形態では、駆動システム398は、臨床医の片手又は両手で保持されてもよい、ハンドルアセンブリ内で動作可能に支持されてもよい。他の形態では、しかしながら、駆動システム398は、ロボットシステムの一部を含むか、かつ/又はそれによって動作されるか、かつ/又はそれによって支持されてもよい。
本明細書で考察するように、外科用器具10の様々な形態は、エンドエフェクタ/用具の動作/操作に回転運動又は他の運動を要するか若しくは用いる、様々な異なるエンドエフェクタ又は外科用用具と共に有効に用いられてもよい。例えば、エンドエフェクタ102の1つの形態は、アンビルアセンブリ190を開閉し、外科用ステープルを駆動し、組織を横切開するのに回転制御運動を要する。エンドエフェクタ102の1つの形態はまた、外科用ステープルカートリッジ130に対してアンビルアセンブリ190が到達する閉鎖の程度又は量を感知する、遠位側センサ構成を備えてもよい。例えば、アンビルアセンブリ190は、その遠位端に装着される第1のアンビルセンサ890を含んでもよい。図3を参照されたい。アンビルセンサ890は、例えば、外科用ステープルカートリッジ130の遠位端内に装着された第2のステープルカートリッジセンサ(磁石)892を検出するように構成される、ホール効果センサを含んでもよい。少なくとも1つの形態では、第1のアンビルセンサ890は、図示されるようにアンビルアセンブリ190に装着される、少なくとも1つのエンドエフェクタ導体894と通信してもよい。1つの形態では、例えば、エンドエフェクタ導体894は、可撓性フック896が近位端に形成される平坦な金属ストリップを備える。本明細書で通常使用するとき、「導体」又は「導電性」という用語は、電気を通すことができる部材又は構成要素を指す。導体は、例えば、1つ又は2つ以上のワイヤ、可撓性の導電性ストリップ又は金属トレース、多チャネルの導電性リボンケーブルなどを含んでもよい。本明細書で使用するとき、「電気的に接触する」及び「〜と電気的に通信する」という用語は、構成要素同士が互いに電流又はそれらの間の信号を渡すように構成されていることを意味する。
関節継手1000の別の形態を図50〜図53に示す。かかる関節継手1000は、結合されたエンドエフェクタ又は外科用用具が、関節継手1000が取り付けられる細長い軸の軸中心線A−Aに対して関節運動及び回転するのを容易にすることができる。関節継手はまた、エンドエフェクタ又は外科用用具のかかる移動を容易にする一方で、エンドエフェクタ/用具の作動又は操作のために回転制御運動も提供してもよい。関節継手1000は、上述した細長い軸アセンブリ30に構造が類似している細長い軸アセンブリに結合されてもよく、又は他の好適な軸アセンブリに結合されてもよい。細長い軸アセンブリは、複数のモータを収容するハンドルアセンブリに結合されてもよい。1つのモータは、細長い軸アセンブリを通って延在すると共に関節継手1000に動作可能に結合される、可撓性ケーブル部材1010に制御運動を加えるのに使用されてもよい。例えば、可撓性ケーブル1010は、モータの動作によってケーブル1010が作動するように、対応するモータの軸に動作可能に取り付けられるか又はそれと通信する、シーブ又はプーリアセンブリに取り付けられてもよい。ハンドルアセンブリはまた、更に詳細に後述するように、細長い軸アセンブリを通って延びて関節継手1000とインターフェース接続する、近位側発射軸1030に動作可能に取り付けられる発射モータを含んでもよい。ハンドルアセンブリはまた、軸中心線A−Aを中心にして細長い軸に対してエンドエフェクタ又は外科用用具を回転させるのに使用されてもよい関節継手1000に回転制御運動を伝動する、エンドエフェクタ又は遠位側ロール軸1040と動作可能にインターフェース接続するモータを含んでもよい。ハンドルアセンブリはまた、上述したような方法で、軸中心線A−Aを中心にして細長い軸アセンブリを回転させるのに用いられる、近位側ロールモータを含んでもよい。
図67〜図69は、1750として全体が指定される代替のモータ装着アセンブリを示す。モータ装着アセンブリ1750は、スナップ構造部、ねじなどによって共に結合可能であって、ハンドルアセンブリ20のピストルグリップ部分26を形成する役割を果たす、ハンドルハウジングセグメント23及び24内で支持されてもよい。少なくとも1つの形態では、モータ装着アセンブリ1750は、ハンドルハウジングセグメント23及び24内で取外し可能に支持される、モータハウジング1752を備えてもよい。少なくとも1つの形態では、例えば、モータハウジング1752には、モータ隔壁アセンブリ1756が取り付けられる。モータハウジング1752は、モータ402、530、560、及び610を支持する役割を果たす。各モータには、本明細書に記載する様々な方法でそれぞれのモータの動作を制御する、モータ自体の回路制御板1780が取り付けられる。
様々な形態では、外科用器具は、駆動行程の端又はその付近で、モータ駆動要素を止めるか又は減速させるように適合された機械的停止部を用いてもよい。様々な形態によれば、機械的停止部は、モータ駆動要素の移動を急激に終了させるように構築されるハードストップ、及び/又は行程の端若しくはその付近でモータ駆動要素を減速させるように構築されるソフトストップを含んでもよい。更に詳細に後述するように、特定の形態では、かかる器具は、機械的停止部を含む電気機械的停止部と、モータ駆動要素を駆動するのに使用されるモータに提供される電流を測定及び/又は監視するように構成される制御システムとを含んでもよい。1つの形態では、制御システムは、所定のパラメータを満たす電流が発生したと判断すると、モータに対する電力を終了するか、又は別の形でモータ駆動要素の駆動運動を係脱するように構成される。
(1) 電気機械的停止部を備える外科用器具であって、
駆動モータと、
ホーム位置と行程の端との間の駆動行程を通って、前記駆動モータによって移動可能な駆動部材であって、前記行程の端が、第1の位置と第2の位置との間を延在する、駆動部材と、
行程の遠位端又はその付近に配設され、前記駆動部材が前記駆動行程を通って前記第1の位置から前記第2の位置へと移動するのに対する抵抗を増加させるように構築される、機械的停止部と、
増加した抵抗と関連付けられる電流スパイクを検出するように構成される制御システムであって、前記制御システムが前記電流スパイクを検出するときに前記駆動モータに対する電力の送達が中断される、制御システムと、を備える外科用器具。
(2) 前記機械的停止部が、
前記第1の位置から前記第2の位置へと移動可能であり、前記第1の位置で前記駆動部材に接触するように構成される、バンパーと、
前記バンパーに動作可能に結合され、前記駆動部材が前記第1の位置から前記第2の位置へと移動するのに対する抵抗を増加させるように構成される、抵抗部材と、を更に備える、実施態様1に記載の外科用器具。
(3) 前記駆動部材が前記第1の位置と前記第2の位置との間を移動するのに対する抵抗を漸進的に増加させるように、前記抵抗部材が圧縮可能であるように構築される、実施態様2に記載の外科用器具。
(4) 前記抵抗部材がばねを含む、実施態様3に記載の外科用器具。
(5) 前記バンパーが、前記第1の位置で接触する駆動部材表面の寸法を補完するように寸法決めされる接触面を備える、実施態様2に記載の外科用器具。
(7) 前記機械的停止部が、前記駆動部材が前記第2の位置を越えて移動するのを防ぐハードストップを更に含む、実施態様6に記載の外科用器具。
(8) 前記制御システムが、前記駆動モータに対する電力の送達と関連付けられる電圧を監視して、前記電流スパイクを検出する、実施態様6に記載の外科用器具。
(9) 前記電流スパイクが所定の閾値電流を含む、実施態様8に記載の外科用器具。
(10) 前記所定の閾値電流が、少なくとも1つの規定した期間にわたる少なくとも1つの所定の閾値電流差を含む、実施態様9に記載の外科用器具。
1つ又は複数のバンパーと、
1つ又は複数の抵抗部材と、を備え、
前記機械的停止部が、駆動部材の駆動行程と関連付けられる行程の端又はその付近に配設され、前記行程の端が第1の位置と第2の位置との間を延在し、
前記バンパーが、前記行程の端の前記第1の位置から前記第2の位置へと移動可能であり、前記第1の位置で前記駆動部材に接触するように構成され、
前記抵抗部材が、前記バンパーに動作可能に結合され、前記駆動部材が前記第1の位置から前記第2の位置へと移動するのに対する抵抗を増加させて、前記電流スパイクを生成するように構成され、
前記抵抗部材が、前記駆動部材が前記第2の位置へと進む前に前記駆動部材を減速させるように構成される、機械的停止部。
(12) 前記駆動部材が前記第1の位置と前記第2の位置との間で移動するのに対する抵抗を漸進的に増加させるように、前記抵抗部材の1つ又は複数が圧縮可能であるように構築される、実施態様11に記載の機械的停止部。
(13) 前記バンパーが、前記第1の位置で接触する駆動部材表面の寸法を補完するように寸法決めされる接触面を備える、実施態様12に記載の機械的停止部。
(14) 圧縮可能であるように構築される前記1つ又は複数の抵抗部材が少なくとも1つのばねを含む、実施態様11に記載の機械的停止部。
(15) 前記機械的停止部が、前記駆動部材が前記第2の位置を越えて移動するのを防ぐハードストップを更に含む、実施態様11に記載の機械的停止部。
(17) 前記少なくとも1つの閾値電流が、少なくとも1つの規定した期間にわたる電流差を含む、実施態様16に記載の機械的停止部。
Claims (5)
- 電気機械的停止部を備える外科用器具であって、
駆動モータと、
ホーム位置と行程の端との間の駆動行程を通って、前記駆動モータによって移動可能な駆動部材であって、前記行程の端が、第1の位置と第2の位置との間を延在する、駆動部材と、
行程の遠位端又はその付近に配設され、前記駆動部材が前記駆動行程を通って前記第1の位置から前記第2の位置へと移動するのに対する抵抗を増加させるように構築される、機械的停止部と、
増加した抵抗と関連付けられる電流スパイクを検出するように構成される制御システムであって、前記制御システムが前記電流スパイクを検出するときに前記駆動モータに対する電力の送達が中断される、制御システムと、を備え、
前記機械的停止部が、
前記第1の位置から前記第2の位置へと移動可能であり、前記第1の位置で前記駆動部材に接触するように構成される、バンパーと、
前記バンパーに動作可能に結合され、前記駆動部材が前記第1の位置から前記第2の位置へと移動するのに対する抵抗を増加させるように構成される、抵抗部材と、を更に備え、
前記抵抗部材が、前記駆動部材が前記第2の位置へと作動する前に前記駆動部材を減速させるように構成され、
前記制御システムが、前記駆動モータに対する電力の送達と関連付けられる電圧を監視して、前記電流スパイクを検出し、
前記電流スパイクが所定の閾値電流を含み、
前記所定の閾値電流が、少なくとも1つの規定した期間にわたる少なくとも1つの所定の閾値電流差を含む、外科用器具。 - 前記駆動部材が前記第1の位置と前記第2の位置との間を移動するのに対する抵抗を漸進的に増加させるように、前記抵抗部材が圧縮可能であるように構築される、請求項1に記載の外科用器具。
- 前記抵抗部材がばねを含む、請求項2に記載の外科用器具。
- 前記バンパーが、前記第1の位置で接触する駆動部材表面の寸法を補完するように寸法決めされる接触面を備える、請求項1に記載の外科用器具。
- 前記機械的停止部が、前記駆動部材が前記第2の位置を越えて移動するのを防ぐハードストップを更に含む、請求項1に記載の外科用器具。
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BR112015021082B1 (pt) | 2022-05-10 |
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