CN102090907A - 非接触式电子关节式运动感测的系统和方法 - Google Patents
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Abstract
本发明公开了一种非接触式电子关节式运动感测的方法和系统。本发明公开的手术器械包括手柄部、从手柄部向远侧延伸并且限定了第一纵向轴线的主体部和限定了第二纵向轴线并且具有近端的关节式运动工具组件。所述关节式运动工具组件被设置于所述主体部的远端处，并且能够从第二纵向轴线与所述第一纵向轴线基本对准的第一位置至少移动到第二纵向轴线被配置为与所述第一纵向轴线成一角度的第二位置。所述器械还包括被配置为使所述关节式运动工具组件做关节式运动的关节式运动机构，所述关节式运动机构包括关节式运动传感器组件，所述关节式运动传感器组件被配置为向微控制器发送传感器信号，微控制器被配置为确定关节式运动工具组件的关节式运动角度。
Description
相关申请的引用
本申请要求于2009年12月9日提交的申请号为61/285,014的美国临时申请的权益和优先权，并且为2008年12月28日提交的申请号为12/345,167的美国申请的部分继续申请，而申请号为12/345,167的美国申请是2006年10月6日提交的申请号为11/544,203、美国专利号为7,481,348的美国申请的继续申请，以及是2008年8月12日提交的申请号为12/189,834的继续申请，而申请号为12/189,834的美国申请要求于2007年10月5日提交的申请号为60/997,854的美国临时申请的优先权，因此所有这些申请的全部内容都在本文中通过参考合并于此。
技术领域
本公开涉及具有关节式运动工具组件的手术器械。更特别地，本公开涉及一种包括用于从非关节式运动位置致动诸如直线吻合器关节式运动手术器械的机构的手术器械，其中该机构包括关节式运动传感器组件。
背景技术
已知的手术器械包括安装于用于做关节式运动的手术器械主体部的远端上的工具组件。典型地，这种手术器械包括关节式运动控制机构，该机构允许操作者远距离地使工具组件相对于手术器械的主体部做关节式运动，以使操作者能够更容易地接近、操作和/或处理组织。
这种关节式运动工具组件已经变得必要，尤其在内窥镜手术程序中。在内窥镜手术程序中，手术器械的远端通过小切口插入身体内以接近手术部位。典型地，适当尺寸的诸如5mm、10mm等的插管通过身体切口被插入以便为接近手术部位提供导向通道。
当前已知的装置典型地需要10磅至60磅的手动手腕力来夹紧组织，并且在组织中展开和形成紧固件，反复使用会导致外科医生的手变得疲劳。将手术紧固件移植到组织中的气体动力的气动吻合器是本领域已知的。这些器械中的某些利用连接到触发机构的增压气体供给源。当触发机构被压下时，触发机构只是释放增压气体以将紧固件移植到组织中。
电动机供给动力的手术吻合器在本领域也是已知的。这些包括具有用来启动吻合发射机构的电动机的动力手术吻合器。然而，这些电动机供给动力的装置仅仅为用户提供对吻合过程的有限控制。用户仅能够触发单个开关和/或按钮来启动电动机并且向吻合器的发射机构施加相应的扭矩。在某些其它装置中，控制器被用来控制吻合器。
这对包括各种传感器的新型以及改进的动力手术吻合器有了连续需求。传感器提供相关的反馈到反馈控制器，这些反馈控制器响应表示包括工具组件的关节式运动和致动的吻合器操作的感测的反馈信号而自动地调整动力吻合器的各种参数。
发明内容
根据本公开的一个方案，公开了一种手术器械。该器械包括手柄部、从手柄部向远侧延伸并且限定了第一纵向轴线的主体部，以及限定了第二纵向轴线并且具有近端的关节式运动工具组件。该关节式运动工具组件被设置于所述主体部的远端处，并且能够从所述第二纵向轴线与所述第一纵向轴线基本对准的第一位置至少移动到所述第二纵向轴线被设置为与所述第一纵向轴线成一角度的第二位置。所述器械还包括被配置为使所述关节式运动工具组件做关节式运动的关节式运动机构，所述关节式运动机构包括关节式运动传感器组件，该关节式运动传感器组件被配置为向微控制器发送传感器信号，所述微控制器被配置为确定关节式运动工具组件的关节式运动角度。
根据本公开的另一方案，公开了一种手术器械。该器械包括手柄部、从手柄部向远侧延伸并且限定了第一纵向轴线的主体部，以及限定了第二纵向轴线并且具有近端的关节式运动工具组件。该关节式运动工具组件被设置于所述主体部的远端处，并且能够从所述第二纵向轴线与所述第一纵向轴线基本对准的第一位置至少移动到所述第二纵向轴线被配置为与所述第一纵向轴线成一角度的第二位置。该器械还包括被配置为使所述关节式运动工具组件做关节式运动的关节式运动机构。所述关节式运动机构包括：壳体块，其被配置为接收可旋转地容纳在其中的关节式运动主轴；关节式运动连接件，其可操作地连结到所述关节式运动主轴上；关节式运动旋钮，其连结到所述关节式运动主轴上用来旋转所述关节式运动主轴，其中关节式运动旋钮的旋转运动被转换为关节式运动连接件的轴向运动，从而使所述关节式运动工具组件做关节式运动；以及关节式运动传感器组件，其被配置为向微控制器发送传感器信号，所述微控制器被配置为用来确定所述关节式运动工具组件的关节式运动角度。
根据本公开的又一方案，公开了一种配置为使关节式运动工具组件做关节式运动的关节式运动机构。所述关节式运动工具组件被设置于主体部的远端处，并且能够从所述第二纵向轴线与所述第一纵向轴线基本对准的第一位置至少移动到所述第二纵向轴线被配置为与所述第一纵向轴线成一角度的第二位置。所述关节式运动机构包括：壳体块，其被配置为接收可旋转地容纳在其中的关节式运动主轴；关节式运动连接件，其可操作地连结到所述关节式运动主轴上；以及关节式运动旋钮，其连结到所述关节式运动主轴上用来旋转所述关节式运动主轴，其中，关节式运动旋钮的旋转运动被转换为关节式运动连接件的轴向运动，从而使所述关节式运动工具组件做关节式运动。所述关节式运动机构还包括关节式运动传感器组件，所述关节式运动传感器组件被配置为向微控制器发送传感器信号，所述微控制器被配置为用来确定所述关节式运动工具组件的关节式运动角度。
附图说明
这里参考附图说明主题器械的各种实施例，其中：
图1为根据本公开的实施例的动力手术器械的立体图；
图2为根据图1中的本公开的实施例的动力手术器械的局部放大立体图；
图3为根据图1中的本公开的实施例的动力手术器械的局部放大平面图；
图4为根据本公开的实施例的图1的动力手术器械的内部部件的局部立体剖视图；
图5为根据本公开的实施例的图1的动力手术器械的关节式运动机构的局部立体图；
图6为根据本公开的实施例的图5的关节式运动机构的局部立体剖视图；
图7为根据本公开的实施例的图5的关节式运动机构的局部侧视剖视图；
图8为根据本公开的实施例的图5的关节式运动机构的局部俯视剖视图；
图9为根据本公开的实施例的图5的关节式运动结构的局部仰视剖视图；
图10为根据本公开的实施例的图5的关节式运动机构的局部侧视剖视图；以及
图11为根据本公开的实施例的图5的关节式运动机构的局部侧视剖视图。
具体实施方式
现在参考附图详细地说明当前公开的动力手术器械的实施例，在附图的各个视图中相同的附图标记指代相同或相应的部件。这里使用的术语“远侧”是指动力手术器械的距离使用者较远的部分或其部件，而术语“近侧”是指动力手术器械的距离使用者较近的部分或其部件。
根据本公开的诸如手术吻合器的动力手术器械在图中表示为附图标记10。先来参考图1，动力手术器械10包括壳体110、限定了延伸通过其中的第一纵向轴线A-A的内窥镜部140和限定了延伸通过其中的第二纵向轴线B-B的关节式运动工具组件(例如，末端执行器160)。内窥镜部140从壳体110向远侧延伸，并且所述末端执行器160被设置为与内窥镜部140的远侧部邻接。在一个实施例中，所述壳体110的部件被密封以防止微粒和/或液体污染物的渗透并且通过消毒过程有助于防止部件损坏。
根据本公开的实施例，末端执行器160包括具有一个以上手术紧固件(例如，钉仓组件164)的第一钳夹构件和包括用来展开和形成手术紧固件的砧座部分(例如，砧座组件162)的第二相对钳夹构件。在某些实施例中，吻合钉被容纳在钉仓组件164中，以或者同时或者连续的方式将直线型行的吻合钉施加到身体组织上。砧座组件162和钉仓组件164中的其中一个或者两者能在打开位置与接近或夹紧位置之间相对于彼此移动，在所述打开位置处砧座组件162与钉仓组件164被隔开，并且在所述接近或夹紧位置处所述砧座组件162与钉仓组件164并列对齐。
可以进一步预想到，末端执行器160联接到安装部166上，该安装部166可枢转地联接到主体部168上。主体部168可以与动力手术器械10的内窥镜部140结合为整体或者可以可拆除地联接到器械10上以提供可替代的、一次性的装载单元(DLU)或单次使用的装载单元(SULU)(例如，装载单元169)。在某些实施例中，可重复利用部分可以被配置为用来消毒并且在随后的手术过程中再次使用。
装载单元169可通过卡扣连接器连接到内窥镜部140上。可以预想到，装载单元169具有连接到装载单元169的安装部166上的关节式运动连接件，并且该关节式运动连接件被连接到联动杆，以便当联动杆沿着第一纵向轴线A-A在远侧-近侧方向上平移时末端执行器160做关节式运动，这将在下面进行更加详细的论述。可以使用使末端执行器160连接到内窥镜部140上以允许做关节式运动的其他装置，例如，软管或者包括多个可枢转构件的管。
装载单元169可以合并或被配置为并入各种末端执行器，诸如容器密封装置、直线吻合装置、圆形吻合装置、切割器、抓紧器等。这样的末端执行器可以被连结到动力手术器械10的内窥镜部140上。中间挠性轴可以被包括在手柄部112和装载单元之间。可以预想到，挠性轴的并入可以便于接近和/或进入身体的特定区域内。
参考图1和图2，根据本公开的一个实施例的壳体110的放大视图被图示。在该图示的实施例中，壳体110包括具有设置于其上的主驱动开关114的手柄部112。开关114可以包括形成在一起作为扳钮开关的第一开关114a和第二开关114b。限定了手柄轴线H-H的手柄部112被配置为由使用者的手指来抓紧。手柄部112具有为在手术操作期间帮助防止手柄部112从使用者的手中被挤出而提供的足够的手掌抓紧杠杆作用的人体功效学的形状。开关114a和开关114b中的每一个如图所示那样被设置于手柄部112上的合适位置处，以方便使用者的一个或多个手指按压。
另外，参考图1和图2，开关114a、114b可以用来启动和/或停止驱动电动机200(图4)的运动。在一个实施例中，开关114a被配置为在第一方向上启动驱动电动机200以在远侧方向上推进发射杆(未明确显示)，从而使砧座组件162和钉仓组件164接近。相反地，开关114b被配置为通过在相反方向上启动驱动电动机200来缩回发射杆以使砧座组件162和钉仓组件164打开。缩回模式起动了机械锁定，阻止装载单元169的吻合和切割进一步进行。扳钮具有用来启动开关114a的第一位置、用来启动开关114b的第二位置和在第一位置和第二位置之间的中间位置。
壳体110，特别是手柄部112，包括开关护罩117a和开关护罩117b。开关护罩117a和开关护罩117b具有分别围绕开关114a的底部和开关114b的顶部的类肋状。开关护罩117a和开关护罩117b防止开关114的意外启动。另外，开关114a和开关114b具有需要增加压力以启动的高触觉反馈。
在一个实施例中，开关114a和开关114b被配置为以非线性方式控制驱动电动机200的速度和发射杆的多种速度(例如，两种以上)、增量或变速开关。例如，开关114a、114b可以是压敏开关。这种类型的控制接口允许驱动部件的速率从较慢和较精确的模式逐步增加到较快的操作。为了防止缩回的意外启动，直到故障安全开关114c被按下，开关114b才可以电子方式被断开。
开关114a和开关114b被连结到能够作为电压调节电路、可变电阻电路或微电子脉冲宽度调制电路来执行的非线性速度控制电路上。开关114a和开关114b可以通过移置或致动变量控制装置来与控制电路交互，这些变量控制装置例如变阻器装置、多档位开关电路(multiple position switch circuit)、线性和/或旋转可变位移传感器、线性和/或旋转电位计(potentiometer)、光学编码器、铁磁传感器和霍耳效应传感器。这允许开关114a和开关114b基于开关114a和开关114b的按压以多种速度模式操作驱动电动机200，这些速度模式例如取决于所使用的控制电路的类型递增或逐步地逐渐增加驱动电动机200的速度。
图2至图4显示了关节式运动机构170，其包括关节式运动壳体172、动力关节式运动开关174、关节式运动电动机132和手动关节式运动旋钮176。动力关节式运动开关174的转换或手动关节式运动旋钮176的枢转启动关节式运动电动机132，关节式运动电动机132随后致动如图4所示的关节式运动机构170的关节式运动齿轮233。关节式运动机构170的动作致使末端执行器160从纵向轴线B-B与纵向轴线A-A基本对齐的第一位置向纵向轴线B-B被设置为与纵向轴线A-A成一定角度的位置移动。动力关节式运动开关174还可以并入相似的非线性速度控制装置作为夹紧机构。这些能够由开关114a和开关114b来控制。
参考图2和图3，壳体110包括具有翼状的并且从开关174上的壳体110的顶部表面延伸的开关护罩169。开关护罩169防止开关174的意外启动和需要使用者触碰到壳体169的下面以启动关节式运动机构170。
另外，关节式运动壳体172和动力关节式运动开关174被安装在旋转壳体组件180上。旋转旋钮182围绕第一纵向轴线A-A的旋转使得壳体组件180以及关节式运动壳体172和动力关节式运动开关174也围绕第一纵向轴线A-A旋转，从而使得发射杆200的远侧部224和末端执行器160相应地绕第一纵向轴线A-A旋转。关节式运动机构170机电连结到设置于壳体前端组件155(图4)上的一个以上导电环上。该导电环可以被焊接和/或压接(crimp)到前端组件155上并且与电源300电接触，从而给关节式运动机构170提供电力。在组装以使得更易于焊接和/或压接导电环的过程中，前端组件155可以模块化并且可以联接到壳体110上。关节式运动机构170可以包括与导电环接触的一个以上刷和/或弹簧加载触头，以便当壳体组件180连同关节式运动壳体172一起旋转时，关节式运动机构170可以与导电环连续接触，从而接收来自电源300的电力。
关节式运动壳体172、动力关节式运动开关174、手动关节式运动旋钮176以及向末端执行器160提供关节式运动的进一步的详述已经在于2007年3月15日提交的申请号为11/724,733中的共有的美国专利申请中被详细描述，该申请的内容通过引用被全部合并到本文中。可以预想到，可设置于壳体110中的限位开关、接近传感器(例如，光学的和/或铁磁的)、线性可变位移传感器和轴角编码器的任何组合可以被用来控制和/或记录末端执行器160的关节式运动角度和/或发射杆220的位置。
如图4所示，器械10还包括电连结到电动机200和设置于器械10中的各种传感器上的微控制器400。传感器检测器械10的各种操作参数(例如，线速度、旋转速度、关节式运动位置、温度、电池电荷等类似参数)，这些参数之后会被报告给所述微控制器400。微控制器400然后可以对测量的操作参数作出相应的反应(例如，调整电动机200的速度、控制关节式运动角度、关闭电源、报告错误状态等)。
参考图4至图6，容纳在关节式运动壳体172中的关节式运动机构170被显示，其包括关节式运动旋钮176、关节式运动主轴250和关节式运动连接件252(图6)。关节式运动主轴250可旋转地容纳在关节式运动壳体172中，并且在关节式运动旋钮176和关节式运动连接件252之间设置有机械接口，其向末端执行器160传递关节式运动。关节式运动主轴250包括圆柱形构件254和设置于圆柱形构件254顶部的凸缘260(见图6)。凸缘260包括关节式运动齿轮233，并且从圆柱形构件254横向延伸，并且具有比圆柱形构件254的直径大的直径。关节式运动齿轮233被连结到给末端执行器160提供动力关节式运动或辅助关节式运动的关节式运动电动机132上。
关节式运动旋钮176安装在关节式运动主轴250的顶部。这允许关节式运动旋钮176的旋转运动被转换为关节式运动主轴250的旋转运动。关节式运动连接件252的纵向运动经由关节式运动主轴250的旋转运动被传输。关节式运动连接件252经由从关节式运动主轴250的底面向下延伸的连接件接口构件262与关节式运动主轴250机械地配合。关节式运动连接件252包括穿过关节式运动连接件252横向延伸的关节式运动凹槽264。接口构件262偏心地设置在圆柱形构件的底面上，并且容纳在凹槽264中。在关节式运动主轴250旋转期间，接口构件262围绕其中心旋转。因为凹槽264在宽度上的尺寸被设计为围绕接口构件262大致配合，接口构件262仅仅在其中的横向方向上行进，并且接口构件262的旋转运动的纵轴分量被转换到关节式运动连接件252。
参考图7至图9，器械10包括具有设置于关节式运动连接件252上(例如，面向)的光传感器268的关节式运动传感器组件302。光传感器268向关节式运动连接件252发射光并且测量反射光的性质。关节式运动连接件252包括指示器270(图9)，其可以是非反射指示(例如，凹槽)或者高反射指示(例如，镜面、抛光的金属等)。如图9所示，当关节式运动连接件252处于非关节式运动位置时，指示器270位于关节式运动连接件252上以便指示器270被布置为与光传感器268相对。非关节式运动位置对应于末端执行器160处于0°角的位置(例如，与主体部168对准)。当关节式运动连接件252在远侧方向上移动时，光传感器268连续地测量从关节式运动连接件252反射的光；当关节式运动连接件252退回到非关节式运动位置时，反射光被指示器270调整(例如，几乎完全被反射或通过其中)。这允许光传感器268测量0°位置。光传感器268被连结到微控制器400并且被配置为向微控制器400发送与由于做关节式运动而反射的光的变化相对应的感测信号。由于测量值与关节式运动连接件252的位移相对应，微控制器400然后基于由光传感器268发送的光测量值来确定关节式运动角度。
在另一个实施例中，如图7所示，关节式运动传感器组件302包括在关节式运动连接件252相反的两侧彼此相对设置的光发射器272和光接收器274。当末端执行器160处于0°位置时，光发射器272通过指示器270向光接收器274提供光束。当关节式运动连接件252在远侧方向上移动时，指示器270远离光发射器272和光接收器274而移动，从而关节式运动连接件252中断了二者之间的光束。光传感器268和光发射器272可以发射任何合适波长的光(例如，可见光谱、红外线等)。
图10示出了关节式运动传感器组件302的另一个实施例，该关节式运动传感器组件包括设置于关节式运动壳体172内的磁性传感器276(例如，霍耳效应传感器)。传感器276被设置为与磁体278相对，该磁体被封装或联接在关节式运动旋钮176上。当关节式运动旋钮176处于中心位置并且末端执行器160处于0°位置时，传感器276和磁体278相对于彼此对准。当关节式运动旋钮176被旋转以使末端执行器160做关节式运动时，磁体278从传感器276移动，该传感器将在磁场的不存在和/或下降与末端执行器160的关节式运动相关联。当关节式运动旋钮176返回到中心位置时，磁体278和传感器276重新对准，并且传感器276确定末端执行器160在0°位置。传感器276被连结到微控制器400并且被配置为向微控制器400发送反映由于关节式运动引起磁场的变化的传感器信号。由于测量值反映的是末端执行器160的关节式运动，微控制器400然后基于由传感器276发送的磁场变化来确定关节式运动角度。
图10还示出了关节式运动传感器组件302的另一个实施例，其包括设置于关节式运动壳体282上的传感器开关280。该开关280被设置为与联接到关节式运动旋钮176上的凸起282相对。当关节式运动旋钮176处于中心位置并且末端执行器160处于0°位置时，该开关280和凸起282关于彼此对准。当关节式运动旋钮176被旋转以使末端执行器160做关节式运动时，凸起282从开关280移动，并且开关280被释放。当关节式运动旋钮176返回到中心位置时，凸起282和开关280被重新对准并且开关280被激活，这指示末端执行器160处于0°位置。开关280被连结到微控制器400并且被配置为发送反映关节式运动旋钮176处于0°位置的传感器信号。微控制器400然后确定末端执行器160处于非关节式运动位置。
图10示出了具有设置于关节式运动连接件252上的电位计290的关节式运动传感器组件302的另一个实施例。电位计290电连结到触头292。当关节式运动连接件252由于关节式运动旋钮176的旋转在远侧方向上移动时，触头292沿着电位计290的表面滑动。当触头292滑动通过电位计290时，触头292沿着电位计290的位置相应地调整。触头292沿着电位计290移动的距离与末端执行器160的关节式运动程度成比例。触头292的初始位置对应于末端执行器160的0°位置。电位计290还允许跟踪关节式运动的确切角度。
电位计290还可以设置在绕主轴254旋转的配置中，以允许触头292跟踪主轴254的旋转位置。触头292在相对于与末端执行器160的0°位置对应的电位计290的预定位置处对准，允许触头292确定末端执行器160的关节式运动角度。在一个实施例中，电位计290可以被设置为经由例如齿轮装置与关节式运动连接件252和/或关节式运动主轴254间接接触。电位计290被连结到微控制器400和被配置为向微控制器400发送反映由于主轴254的旋转或关节式运动连接件252的位移导致的电流变化的传感器信号。由于测量值反映末端执行器160的关节式运动，微控制器400然后基于由电位计290发送的电流变化来确定关节式运动角度。
如图11所示，在另一个实施例中，关节式运动传感器组件302包括光编码器传感器293。编码器传感器293包括线性或回转式编码器294和彼此相对地设置在编码器294的相反侧上的光发射器296和光接收器298的组合。光发射器296和光接收器298被配置为确定在它们之间连续提供的光束中断的次数。当编码器294随着末端执行器160的关节式运动线性地平移或旋转时，光发射器296和光接收器298测量光束中断的次数和发生率，这允许基于关节式运动连接件252或关节式运动主轴254的位移来确定末端执行器160的关节式运动角度。编码器传感器293将运动转换为数字脉冲序列。通过计算单个比特或通过对一组比特进行解码，脉冲能够被转换为相对的或绝对的位置测量值。编码器传感器293被连结到微控制器400和被配置为向微控制器400发送反映主轴254或关节式运动连接件252的运动的传感器信号。由于测量值反映末端执行器160的关节式运动，微控制器400然后基于电位计290发送的电流变化来确定关节式运动角度。
应当理解到，可以对这里所示的实施例进行各种改进。因此，以上的描述不应当解释为限制，而仅仅是优选实施例的示例。尽管在某些附图中示出了动力手术器械的具体特征件，而在其他附图中没有示出，这仅仅是为了方便，因为每一个特征件都可以与根据本公开的方案的任一其他特征件或全部其他特征件组合。其他实施例将对本领域技术人员来说能想到并且包含在所附权利要求中。
Claims (9)
1.一种手术器械，包括：
手柄部；
主体部，其从所述手柄部向远侧延伸并且限定了第一纵向轴线；
关节式运动工具组件，其限定了第二纵向轴线并且具有近端，所述关节式运动工具组件被设置于所述主体部的远端处，并且能够从所述第二纵向轴线与所述第一纵向轴线基本对准的第一位置至少移动到所述第二纵向轴线被设置为与所述第一纵向轴线成一角度的第二位置；和
关节式运动机构，其被配置为使所述关节式运动工具组件做关节式运动，所述关节式运动机构包括关节式运动传感器组件，所述关节式运动传感器组件被配置为向微控制器发送传感器信号，所述微控制器被配置为确定所述关节式运动工具组件的关节式运动角度。
2.根据权利要求1所述的手术器械，其中，所述关节式运动机构包括：
壳体块，其被配置为接收可旋转地容纳在其中的关节式运动主轴；
关节式运动连接件，其可操作地连结到所述关节式运动主轴上；和
关节式运动旋钮，其连结到所述关节式运动主轴上以用来旋转所述关节式运动主轴，其中所述关节式运动旋钮的旋转运动被转换为所述关节式运动连接件的轴向运动，从而使所述关节式运动工具组件做关节式运动。
3.根据权利要求2所述的手术器械，其中，所述关节式运动传感器组件包括与所述关节式运动连接件间隔设置的光传感器，所述光传感器被配置为照亮所述关节式运动连接件并且测量从所述关节式运动连接件反射的光，并且向所述微控制器发送与测量的反射光对应的传感器信号，所述微控制器被配置为基于测量的反射光来确定作为关节式运动连接件的位移的函数的所述关节式运动角度。
4.根据权利要求3所述的手术器械，其中，所述关节式运动连接件包括指示器，当所述指示器被设置于所述光传感器上时，所述指示器处于与所述关节式运动工具组件的非关节式运动位置对应的位置处。
5.根据权利要求2所述的手术器械，其中，所述关节式运动传感器组件包括连结到所述关节式运动旋钮上的磁体和连结到所述壳体块上的磁性传感器，所述磁体和所述磁性传感器被配置为用来测量所述磁体的磁场并且向所述微控制器发送与测量的磁场相对应的传感器信号，所述微控制器被配置为基于测量的磁场来确定作为所述关节式运动旋钮的位移的函数的所述关节式运动角度。
6.根据权利要求2所述的手术器械，其中，所述关节式运动传感器组件包括连结到所述壳体块上并被配置为与连结到所述关节式运动旋钮上的凸起相配合的传感器开关，以便当所述关节式运动旋钮处于中心位置时，所述凸起致动所述传感器开关，并且所述传感器开关向所述微控制器发送传感器信号，其中所述微控制器被配置为判定所述关节式运动工具组件是否处于所述第一位置。
7.根据权利要求2所述的手术器械，其中，所述关节式运动传感器组件包括电连结到触头上的电位计，所述触头被连结到所述关节式运动连接件和所述关节式运动主轴中的至少一个上，其中，所述电位计被配置为测量反映所述关节式运动主轴的旋转和所述关节式运动连接件的位移中的至少一个的传感器信号并且向所述微控制器发送所述传感器信号，所述微控制器被配置为确定作为所述传感器信号的函数的所述关节式运动角度。
8.根据权利要求2所述的手术器械，其中，所述关节式运动传感器组件包括连结到所述关节式运动连接件和所述关节式运动主轴中的至少一个上的光编码器传感器，其中，所述光编码器传感器被配置为测量反映所述关节式运动主轴的旋转和所述关节式运动连接件的位移中的至少一个的传感器信号并且向微控制器发送所述传感器信号，所述微控制器被配置为确定作为所述传感器信号的函数的所述关节式运动角度。
9.根据权利要求2所述的手术器械，其中，所述关节式运动传感器组件包括设置为面向所述关节式运动连接件的光传感器，所述光传感器被配置为照亮所述关节式运动连接件并且测量从所述关节式运动连接件反射的光，并且向所述微控制器发送与测量的反射光对应的传感器信号，所述微控制器被配置为基于测量的反射光来确定作为关节式运动连接件的位移的函数的所述关节式运动角度。
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- 2010-12-08 JP JP2010274126A patent/JP2011120911A/ja active Pending
- 2010-12-08 EP EP10252080A patent/EP2332472A1/en not_active Withdrawn
- 2010-12-09 CN CN2010105892435A patent/CN102090907A/zh active Pending
-
2014
- 2014-08-13 US US14/459,008 patent/US9351714B2/en active Active
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2016
- 2016-05-25 US US15/164,038 patent/US10136879B2/en active Active
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2018
- 2018-10-26 US US16/172,284 patent/US11406368B2/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105142490A (zh) * | 2013-02-01 | 2015-12-09 | 德卡产品有限公司 | 具有可摇摄相机的内窥镜 |
| CN105142490B (zh) * | 2013-02-01 | 2018-02-23 | 德卡产品有限公司 | 具有可摇摄相机的内窥镜 |
| CN108324230A (zh) * | 2013-02-01 | 2018-07-27 | 德卡产品有限公司 | 具有可摇摄相机的内窥镜 |
| CN105142541A (zh) * | 2013-03-14 | 2015-12-09 | 伊西康内外科公司 | 用于外科器械的驱动构件的控制结构 |
Also Published As
| Publication number | Publication date |
|---|---|
| US11406368B2 (en) | 2022-08-09 |
| CA2721882A1 (en) | 2011-06-09 |
| JP2011120911A (ja) | 2011-06-23 |
| US20160262736A1 (en) | 2016-09-15 |
| US8807414B2 (en) | 2014-08-19 |
| EP2332472A1 (en) | 2011-06-15 |
| US10136879B2 (en) | 2018-11-27 |
| AU2010246326A1 (en) | 2011-06-23 |
| US20190076135A1 (en) | 2019-03-14 |
| US20110062211A1 (en) | 2011-03-17 |
| US20140350530A1 (en) | 2014-11-27 |
| US9351714B2 (en) | 2016-05-31 |
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Application publication date: 20110615 |