CN105310736B - 具有压敏电机速度控制器的动力手术器械 - Google Patents

具有压敏电机速度控制器的动力手术器械 Download PDF

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CN105310736B
CN105310736B CN201510461198.8A CN201510461198A CN105310736B CN 105310736 B CN105310736 B CN 105310736B CN 201510461198 A CN201510461198 A CN 201510461198A CN 105310736 B CN105310736 B CN 105310736B
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安东尼·卡尔德罗尼
陈兴瑞
路易斯·迪桑
约翰·潘塔齐斯
贾费特·科隆
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Abstract

本发明涉及一种具有压敏电机速度控制器的动力手术器械。还公开一种手术器械，包括驱动轴、用于旋转驱动轴的电机、以及电机速度控制器。电机速度控制器包括均与电机通信的第一开关和第二开关。第一开关布置在第二开关的上面并且与第二开关对准。第一开关具有激活状态，使得第一开关发送第一信号至电机。电机响应于第一信号而旋转驱动轴。第二开关响应于通过第一开关施加到第二开关的力而发送第二信号至电机，第二信号改变电机旋转驱动轴的速度。

Description

具有压敏电机速度控制器的动力手术器械
相关申请的交叉引用
本申请要求2014年7月31日提交的编号为62/031,340的美国临时专利申请的权益和优先权，其整个公开内容通过引用结合于此。
技术领域
本公开涉及手术器械，且更具体地，涉及用于动力手术器械的速度控制***。
背景技术
许多手术设备制造商已经开发出具有用于操作或操纵手术设备的专用驱动***的产品线。在许多实例中，所述手术设备包括可重复使用的手柄组件，和一次性末端执行器等，所述一次性末端执行器在使用前选择性地连接至手柄组件，然后在使用后与手柄组件分离，以便于被处置或在一些实例中进行灭菌以供重新使用。
与许多现有的手术设备或手柄组件一起使用的许多现有的末端执行器都线性地推进发射组件来致动末端执行器。例如，用于执行胃肠内吻合术操作、端至端吻合术操作和横向吻合术操作的末端执行器，每个典型地都需要发射组件的线性推进以便于进行操作。
现有的手柄组件以预定速度推进发射组件。此外，一些手柄组件包括反馈***，其响应于诸如组织厚度的手术状况而减小预定速度。然而，使用该手术设备的临床医生缺乏对手柄组件的发射速度的控制。
因此，需要给临床医生提供基于其观察到的手术状况来改变推进发射组件的速度的能力。
发明内容
在本公开的方案中，手术器械包括驱动轴、用于旋转驱动轴的电机、以及电机速度控制器。所述电机速度控制器包括第一开关和第二开关，其均与所述电机通信。所述第一开关布置在所述第二开关上面并与所述第二开关对准。所述第一开关具有激活状态，以使得所述第一开关发送第一信号至所述电机。所述电机响应于所述第一信号旋转所述驱动轴。所述第二开关响应于施加到所述第一开关的力而发送第二信号至所述电机，所述第二信号改变所述电机旋转所述驱动轴的速度。
在方案中，所述第二开关包括力敏电阻器，所述力敏电阻器响应于施加到所述第一开关的力而产生所述第二信号。
在一些方案中，所述电机响应于所述第一信号以第一径向速度旋转所述驱动轴并且响应于所述第二信号以第二径向速度旋转所述驱动轴，所述第二径向速度不同于所述第一径向速度。所述第二径向速度可以响应于所述第二信号的强度而改变。所述第二信号的强度可以响应于施加到所述第一开关的力而改变。所述第二信号的强度可以随着施加到所述第一开关的力成比例地或呈指数地改变。所述第二信号的强度可以随着施加到所述第一开关的力增加而增大。
在某些方案中，手术器械包括可滑动地布置在所述电机速度控制器上方的第一按钮，使得随着所述第一按钮被压下，所述第一按钮接合所述第一开关。所述第一按钮可以施加力到所述第一开关。所述第一开关和所述第二开关可以整体地形成为触觉圆顶开关。
在本公开的另一方案中，控制手术器械的末端执行器的致动速度的方法包括激活第一开关以及施加第二力到所述第一开关。激活所述第一开关包括通过施加第一力到所述第一开关来发送第一信号至电机。所述电机响应于所述第一信号以第一径向速度旋转驱动轴。所述驱动轴与手术器械的末端执行器操作性地相关联以致动所述末端执行器。施加所述第二力到所述第一开关包括所述第一开关施加压力到布置在所述第一开关下面的第二开关。第二开关发送第二信号至所述电机，所述电机响应于所述第二信号以第二径向速度旋转所述驱动轴。所述第二径向速度不同于所述第一径向速度。
在方案中，所述方法包括压下按钮，所述按钮接合所述第一开关以激活所述第一开关并施加所述第二力到所述第一开关。
在一些方案中，致动所述末端执行器包括将所述末端执行器的钳夹构件从打开位置移至夹紧位置。另外地或可替代地，致动所述末端执行器可以包括从所述末端执行器的钳夹构件弹射出吻合钉。
在某些方案中，致动所述末端执行器包括推进刀具穿过所述末端执行器的钳夹构件。
在特定的方案中，施加所述第一力到所述第一开关包括压下所述第一开关第一距离，而施加所述第二力可以包括在所述第一距离之后压下所述第一开关第二距离。
此外，为了达到一致性的程度，本文描述的任何方案均可以与本文描述的任何其他方案或全部其他方案一起使用。
附图说明
在下文参考附图描述本公开的各种方案，其并入本说明书中并构成本说明书的一部分，其中：
图1是依据本公开的实施例的手术器械和接合器的零件分离的立体图，示出其与末端执行器的连接；
图2是图1的手术器械的立体图；
图3是图1和图2的手术器械的零件分离的立体图；
图4是沿图2的剖面线4-4所截取的剖视图；
图5是图4的细节的区域的放大图；
图6是电机速度控制器的侧视图，其中按钮接合电机速度控制器；以及
图7是依据本公开的图4的电机速度控制器的示例性电路的示意图。
具体实施方式
现在将参考附图详细地描述本公开的实施例，其中在几幅附图的每幅附图中相同附图标记指代相同的或相应的元件。如本文所使用的，术语“临床医生”指的是医生、护士或任何其他护理提供者，并且可以包括支持人员。在整个说明书中，术语“近侧”指的是设备或其部件的最接近临床医生的部分，而术语“远侧”指的是设备或其部件的最远离临床医生的部分。
依据本公开的实施例的手术设备，一般指代为100，并且采用动力手持式机电器械的形式，其配置为选择性地附接到其上多个不同的末端执行器，每个末端执行器配置为通过动力手持式机电手术器械来致动和操纵。
如图1所示，手术设备100配置为选择性地与接合器200连接，并且，依次地，接合器200配置为选择性地与末端执行器或单次使用的装载单元300连接。如本文详细所述的，末端执行器300是吻合末端执行器；然而，可以预期到的是，手术设备100可以选择性地连接至多个末端执行器，所述多个末端执行器配置为对组织执行各种手术操作(例如，吻合、密封、解剖和取样)。
如图1至图3所示，手术设备100包括手柄壳体102，手柄壳体102具有下壳体部104、从下壳体部104延伸出和/或支撑在下壳体部104上的中间壳体部106，以及从中间壳体部106延伸出和/或支撑在中间壳体部106上的上壳体部108。中间壳体部106和上壳体部108被分成：远侧半段110a，其从下壳体部104延伸出并与下壳体部104整体形成；以及近侧半段110b，其通过多个紧固件能连接至远侧半段110a。当结合时，远侧半段110a和近侧半段110b限定了手柄壳体102，手柄壳体102在其中具有空腔102a，电路板150和驱动机构160位于空腔102a中。
手柄壳体102的上壳体部108提供驱动机构160位于其中的壳体。驱动机构160配置为驱动轴和/或齿轮部件，以便执行手术设备100的各种操作。特别地，驱动机构160配置为驱动轴和/或齿轮部件以便选择性地使末端执行器300的工具组件304(图1)相对于末端执行器300的近侧主体部302移动，使末端执行器300绕纵向轴线“X”(图3)相对于手柄壳体102旋转，使末端执行器300的砧座组件306相对于钉仓组件308在打开位置和夹紧位置之间移动，或发射末端执行器300的钉仓组件308内的吻合和切割用钉仓以从钉仓组件308中弹射出吻合钉(未明确示出)并推进刀具309穿过钉仓组件308。
驱动组件160包括：第一电机80，其使第一驱动轴82旋转；和第二电机90，其使第二驱动轴92旋转。第一驱动轴82与末端执行器300操作性地相关联，使得第一驱动轴82的旋转发射钉仓组件308内的吻合和切割用钉仓。第二驱动轴92与末端执行器200操作性地相关联，使得第二驱动轴的旋转使末端执行器200如下文详细所述地绕纵向轴线“X”旋转。可以预期到的是，第一驱动轴82和第二驱动轴92可以与末端执行器200的不同功能操作性地相关联。
机电手持式动力手术器械和接合器的示例性示例公开在提交于2011年12月20日的序列号为13/331,047(于2012年4月12日公开的公开号为2012/0089131的美国专利申请)，以及提交于2012年5月31日的序列号为13/484,975(于2012年10月4日公开的公开号为2012/0253329的美国专利申请)的共有的、共同未决的美国专利申请中，其中每一个专利申请的全部内容通过引用结合于此。
如图1至图3所示，手柄壳体102在中间壳体部108的远侧表面或远侧上支撑触发器壳体107。触发器壳体107，与中间壳体部108配合，支撑一对手指致动的控制按钮124、126和摇杆设备128、130。特别是，触发器壳体107限定了用于可滑动地接纳第一控制按钮124的上孔125，和用于可滑动地接纳第二控制按钮126的下孔127。控制按钮124、126中的每一个都通过临床医生来移动或致动以影响末端执行器300的运动。
另外参考图4至图6，电路板150包括被控制按钮124、126接合以影响末端执行器300的运动的电机速度控制器10、20。电机速度控制器10、20中的每一个与驱动组件160通信以影响第一驱动轴82和第二驱动轴92的旋转。电机速度控制器10与电机80通信以控制第一驱动轴82的旋转速度并且电机速度控制器20与电机90通信以控制第二驱动轴92的旋转速度。
控制按钮124、126中的每个包括接合电机速度控制器10、20中相应一个电机速度控制器的柱塞124a、126a。特别参考图5和图6，电机速度控制器10紧位于控制按钮124的近侧并且能够被控制按钮124的柱塞124a接合。
电机速度控制器10包括第一开关12、第二开关14以及控制器支架18。控制器支架18固定至电路板150并在指向柱塞124a的面向远侧的表面上支撑第一开关12和第二开关14。第二开关14在第一开关12和控制器支架18之间安装在控制器支架18上。控制按钮124可压下第一距离以使第一开关12与控制按钮124的柱塞124a接合。当柱塞124a接合第一开关12时，第一开关12施加力或压力到第二开关14。可以预期到的是，第一开关12和第二开关14可以被设置为触觉圆顶开关，使得第一开关和第二开关彼此整体地形成。
当第一开关12被柱塞124a激活时，电机速度控制器10发送第一信号S1(图7)至电机80。第一信号S1激活电机80从而使第一驱动轴82以第一径向速度旋转。第一开关12可以具有激活第一开关12所需要的阈值压力。
当第一开关12被激活时，施加到第一开关12的超出第一开关12的初始激活量的任何额外的力被传递至第二开关14(即，当第一开关在压下第一距离后再压下第二距离时)。第二开关14包括力敏电阻器15，其检测通过第一开关12施加到第二开关14的力或压力并发送控制第一电机80的旋转速度的第二信号S2(图7)。随着施加到控制按钮124的力增加，通过柱塞124a施加到第一开关12的力增加，并且因此，通过第一开关12施加到第二开关14的力也增加。随着施加到第二开关的力增加，力敏电阻器15增大第二信号S2的强度。随着第二信号S2的强度增大，第一电机80的旋转速度增加，使得第一驱动轴82以大于第一径向速度的第二径向速度旋转。应当理解的是，随着施加到力敏电阻器15的力增加，第一电机80旋转第一驱动轴82的速度增加。
可以预期到的是，第一电机80旋转第一驱动轴82的速度随着力敏电阻器15实现的力的增加而成比例地增加。可替代地，可以预期到的是，第一电机80旋转第一驱动轴82的速度随着力敏电阻器15实现的力的增加而呈指数地增加。另外，可以预期到的是，随着力敏电阻器15实现的力增加，第一电机80旋转第一驱动轴82的速度减小。
第二电机控制器20与旋转第二驱动轴92的第二电机90操作性地相关联。第二电机控制器20被第二开关126接合，并且以类似于上面详述的第一电机控制器10控制第一电机80的方式控制第二电机90。因此，出于简洁的原因，将不在此详述第二开关126和第二电机控制器20的操作。
可以预想到的是，第一电机速度控制器10和/或第二电机速度控制器20设置在手术器械100的外表面上，使得电机速度控制器10、20可以被临床医生直接接合(例如，临床医生可直接接合第一开关12并施加增加的压力至第一开关12以增加与第一电机速度控制器10相关联的电机的速度)。
参考图7，当第一开关12被激活时，从第二运算放大器86发送第一信号S1至电机控制单元81，电机控制单元81与电机80电连通以向电机80供电。第一信号S1是二进制信号(例如，开或关)，使得当通过向电机80供应能量，第一信号S1激活电机80时，从而使得电机80以第一径向速度旋转。当第二开关14被压下时，布置在第二开关14内的力敏电阻器15增大发送至第一运算放大器85的第二信号S2的强度。第二信号S2从第一运算放大器85发送至电机控制器81，电机控制器81响应于第二信号S2向电机80供应能量，使得电机80的径向速度响应于第二信号S2而变化。
在实施例中，随着第一开关12被压下，力敏电阻器15发送压力信号SP至第一运算放大器85，压力信号SP与施加到第一开关12的压力成比例。当压力信号SP高于或大于阈值(即，力敏电阻器15上的压力高于或大于阈值)时，第一运算放大器85激活第二运算放大器86以发送第一信号S1至电机控制器81。第一运算放大器85还发送第二信号S2到电机控制器81，第二信号S2与压力信号SP成比例。第二信号S2可以经过第一运算放大器85和电机控制器81之间的模数转换器。
在一些实施例中，第一信号S1是双稳态信号，其可以用于双速电机控制(例如，高速和低速)或者可以作为设定电机80处于可变低速量程或可变高速量程的量程开关(rangeswitch)使用。
虽然已经在附图中示出了本公开的若干实施例，但是本公开并不旨在限于此，因为其旨在的是，本公开的范围应该是与本领域将允许的范围一样广并且也同样理解说明书。上述实施例的任意组合均可以被设想到且均在所附权利要求书的范围内。因此，上述说明书不应该视为限制，仅仅是一些特定实施例的范例。本领域的技术人员将设想到在于此所附权利要求书的范围内的其他修改。

Claims (10)

1.一种手术器械，包括：
驱动轴；
电机，其用于旋转所述驱动轴；以及
电机速度控制器，其包括第一开关和第二开关，所述第一开关和所述第二开关中的每一个都与所述电机通信，所述第一开关布置在所述第二开关的上面并与所述第二开关对准，所述第一开关具有激活状态，其中所述第一开关发送第一信号至所述电机使得所述电机旋转所述驱动轴，所述第二开关响应于施加到所述第一开关的力而发送第二信号至所述电机，所述第二信号改变所述电机旋转所述驱动轴的速度。
2.根据权利要求1所述的手术器械，其中，所述第二开关包括力敏电阻器，所述力敏电阻器响应于施加到所述第一开关的力而产生所述第二信号。
3.根据权利要求1所述的手术器械，其中，所述电机适合于响应所述第一信号而以第一径向速度旋转所述驱动轴并且响应所述第二信号而以第二径向速度旋转所述驱动轴，所述第二径向速度不同于所述第一径向速度。
4.根据权利要求3所述的手术器械，其中，所述电机适合于响应所述第二信号的强度而改变所述第二径向速度。
5.根据权利要求4所述的手术器械，其中，所述第二信号的强度响应于施加到所述第一开关的力而改变。
6.根据权利要求5所述的手术器械，其中，所述第二信号的强度与施加到所述第一开关的所述力成比例地改变。
7.根据权利要求5所述的手术器械，其中，所述第二信号的强度随着施加到所述第一开关的所述力呈指数地改变。
8.根据权利要求5所述的手术器械，其中，所述第二信号的强度随着施加到所述第一开关的所述力增加而增大。
9.根据权利要求1所述的手术器械，进一步包括可滑动地布置在所述电机速度控制器上方的第一按钮，使得随着所述第一按钮被压下，所述第一按钮接合所述第一开关。
10.根据权利要求1所述的手术器械，其中，所述第一开关和所述第二开关整体地形成为触觉圆顶开关。
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