CN101953703A - 利用机械特性的末端执行器识别 - Google Patents

利用机械特性的末端执行器识别 Download PDF

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CN101953703A
CN101953703A CN2010102302510A CN201010230251A CN101953703A CN 101953703 A CN101953703 A CN 101953703A CN 2010102302510 A CN2010102302510 A CN 2010102302510A CN 201010230251 A CN201010230251 A CN 201010230251A CN 101953703 A CN101953703 A CN 101953703A
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loading unit
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sensor tube
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operating theater
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亚当·罗斯
迈克尔·热姆洛克
斯坦尼斯瓦夫·马尔奇克
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Covidien LP
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Abstract

根据本发明的一个方案，公开了一种手术器械。该器械包括手柄部、从所述手柄部向远侧延伸并限定第一纵轴的主体部以及加载单元。所述加载单元包括工具组件，该加载单元适于连接到所述主体部上。该器械还包括可移动地位于所述主体部内的传感器管，该传感器管适于接合所述加载单元与连接到微控制器上的负载开关。当所述传感器管被插入到所述主体部中的所述加载单元接合时，所述负载开关适于由传感器管致动。

Description

利用机械特性的末端执行器识别
相关申请的交叉引用
本申请要求2009年7月14日提交的序列号为61/225,377的美国临时申请的利益和优先权，序列号为61/225,377的美国临时申请是2008年12月28日提交的序列号为12/345,167的美国申请的部分持续申请，序列号为12/345,167的美国申请是2006年10月6日提交并发布为第7,481,348号美国专利的序列号为11/544,203的美国申请和2008年8月12日提交的序列号为12/189,834的美国申请的持续申请，而序列号为12/189,834的美国申请要求2007年10月5日提交的序列号为60/997,854的美国临时申请的优先权；这些专利申请的全部内容通过引用合并于此。
技术领域
本公开涉及一种适合连接到具有不同末端执行器的可移除加载单元上的手术器械。本公开尤其涉及一种包括用于识别安装到所述加载单元上的末端执行器的类型的机构的手术器械。
背景技术
包括安装在所述手术器械的主体部的远端用于关节式运动(articulation)的工具组件的手术器械是公知的。通常，这样的手术器械包括关节式运动控制机构，该关节式运动控制机构允许操作者从远处使工具组件相对于手术器械的主体部作关节式运动，从而允许操作者更容易地进入组织、在组织上手术和/或操作组织。
这样的关节式运动工具组件已成为所需，尤其是在内窥镜手术过程中。在内窥镜手术过程中，手术器械的远端通过身体中的小切口插入，从而到达手术位置。通常，例如5mm、10mm等尺寸适当的套管通过身体上的切口被插入，从而提供用于进入手术位置的导向通道。
目前公知的设备通常需要有10至60磅的手动力以便夹紧组织并在组织上布置和形成手术用紧固件，这在反复使用时可能使外科医生的手变得疲劳。将手术用紧固件植入组织中的由气体提供动力的气动式吻合器在本领域中是公知的。这些设备中的一些使用连接到触发机构上的压缩气源。所述触发机构在受压时简单地释放压缩气体，从而将紧固件植入到组织中。
由电机提供动力的手术吻合器在本领域中也是公知的。这些手术吻合器包括动力手术吻合器，该动力手术吻合器具有致动缝合钉发射机构的电机。但是，这些由电机提供动力的设备对于吻合过程仅提供了有限的用户控制。用户仅能拨动单个开关和/或按钮以致动电机并将相应的扭矩施加到吻合器的发射机构上。在一些其他设备中，采用控制器来控制吻合器。
不断地需要包括各种传感器的新颖的和改进的动力手术吻合器。传感器为反馈控制器提供相关的反馈，所述反馈控制器响应于感知到的体现吻合器操作(包括工具组件的关节式运动与致动)的反馈信号自动地调节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、从所述手柄部向远侧延伸并限定了第一纵轴的主体部以及加载单元。所述加载单元包括工具组件，该加载单元适于连接到所述主体部上。该器械还包括可移动地位于所述主体部内的传感器管，该传感器管适于接合所述加载单元和连接到微控制器上的负载开关。当所述传感器管被插入到所述主体部中的所述加载单元接合时，所述负载开关适于由传感器管致动。
根据本公开的另一个方案，公开了一种手术器械。该器械包括手柄部和从所述手柄部向远侧延伸并限定了第一纵轴的主体部。所述主体部包括远侧端，该远侧端适于可释放地接合关节式运动加载单元类型和非关节式运动加载单元类型二者。该器械还包括关节式运动机构和传感器管，所述关节式运动机构被配置为使连接到关节式运动加载单元上的关节式运动工具组件作关节式运动，所述传感器管可移动地位于所述主体部内。所述传感器管适于接合所述关节式运动加载单元。该器械进一步包括负载开关，该负载开关连接在微控制器上并适于在所述传感器管被所述关节式运动加载单元接合时由所述传感器管致动，其中，所述负载开关在致动时向所述微控制器发信号以激活所述关节式运动机构。
根据本公开的另一实施例，公开了一种手术器械。该器械包括手柄部和从所述手柄部向远侧延伸并限定了第一纵轴的主体部。所述主体部包括远侧端，该远侧端适于可释放地接合多个加载单元类型。该器械还包括：可移动地位于所述主体部内的传感器管，所述传感器管适于接合所述多个加载单元类型中的每一种类型并适于响应于所述每一种类型移动预定距离；可变加载单元传感器，其适于基于所述传感器管已被移位的预定距离来判定与所述主体部接合的加载单元的类型。
附图说明
在此，参考附图阐述本主题器械的不同实施例，其中：
图1是根据本公开的一个实施例的动力手术器械的立体图；
图2是根据本公开的实施例的图1的动力手术器械的局部放大立体图；
图3是根据本公开的实施例的图1的动力手术器械的局部放大平面图；
图4是根据本公开的一个实施例的图1的动力手术器械的内部组件的局部剖视图；
图5是根据本公开的一个实施例的加载单元的立体图；
图6是根据本公开的实施例的图1的动力手术器械和加载单元的内部组件的局部剖视图；
图7是根据本公开的实施例的图1的动力手术器械和加载单元的内部组件的局部剖视图；以及
图8是根据本公开的实施例的可变加载单元传感器的局部立体剖视图。
具体实施方式
现在将参照附图详细描述本公开的动力手术器械的实施例，在各个示图中，相似的附图标记表示相同或相应的元件。在此使用的术语“远侧”是指动力手术器械的远离使用者的部分或其组件，而术语“近侧”则指动力手术器械的靠近使用者的部分或其组件。
根据本公开的动力手术器械例如手术吻合器在附图中以附图标记10标识。首先参考图1，动力手术器械10包括：壳体110；内窥镜部140，其限定贯穿其中的第一纵轴A-A；以及关节式运动工具组件(例如末端执行器160)，其限定贯穿其中的第二纵轴B-B。内窥镜部140从壳体110向远侧延伸，末端执行器160邻近内窥镜部140的远侧部分布置。在一个实施例中，壳体110的组件被密封以阻止微粒和/或流体污染物的渗入，并有助于防止组件在消毒过程中受损。
根据本公开的一个实施例，末端执行器160包括：第一钳夹构件(例如钉仓组件164)，其具有一个以上手术用紧固件；以及第二对置钳夹构件(例如砧座组件162)，其包括用于布置和形成手术用紧固件的砧座部分。在一些实施例中，缝合钉容纳在钉仓组件164中，以便同时地或连续地将直排的缝合钉施加到身体组织上。砧座组件162与钉仓组件164中的一个或两个能够在打开位置与接近或夹紧位置之间关于彼此移动，在所述打开位置中，砧座组件162与钉仓组件164分离开，而在接近或夹紧位置中，砧座组件162与钉仓组件164并列对齐。
还可想到的是，末端执行器160连接到安装部166上，该安装部166可枢转地连接到主体部168上。主体部168可与动力手术器械10的内窥镜部140成为一体，或者主体部168可移除地连接到器械10上以便提供可更换和可废弃的加载单元(DLU)或一次性加载单元(SULU)(例如加载单元169)。在一些实施例中，可重复使用的部分可被配置成能够加以消毒并在后续的手术过程中重新使用。
加载单元169可以是能够通过卡口连接而与内窥镜部140连接在一起。可以想到的是，加载单元169具有连接在加载单元169的安装部166上的关节式运动连接件(articulation link)，而且该关节式运动连接件被连接到连杆(linkage rod)上，这样，就像下面将要具体讨论的那样，在连杆沿着第一纵轴A-A从远侧朝着近侧方向上被平移时，末端执行器160作关节式运动。也可采用其他的方式将末端执行器160连接到内窥镜部140上以允许关节式运动，例如可采用柔性管或包含多个可枢转构件的管子。
加载单元169可并入或被配置为并入不同的末端执行器，例如脉管密封装置、线性吻合装置、环形吻合装置、切割器、抓紧器等。这样的末端执行器可连接在动力手术器械10的内窥镜部140上。在手柄部112与加载单元之间可包括中间柔性轴。可以想到的是，柔性轴的并入可以方便接近和/或进入身体的一定区域。
参考图1和图2，根据本公开的一个实施例图示了壳体110的放大视图。在图示的实施例中，壳体110包括手柄部112，该手柄部112具有布置于其上的主驱动开关114。开关114可包括一起形成为拨动开关的第一开关114a和第二开关114b。限定手柄轴H-H的手柄部112被配置成能够被使用者的手指抓住。手柄部112具有符合人体工程学的形状，其设置有大量的星形杠杆(palm grip leverage)，这有助于防止手柄部112在操作期间从使用者的手中挤出。每一开关114a和114b被显示为布置在手柄部112的合适位置上，从而方便由使用者的一个或多个手指对其下压。
另外，参考图1和图2，开关114a、114b可用于起动和/或停止驱动电机200(见图4)的运动。在一个实施例中，开关114a被配置为沿第一方向致动驱动电机200，以使发射杆(未明确示出)沿远侧方向前进从而使砧座组件162和钉仓组件164接近。相反地，开关114b可被配置为通过沿反方向致动驱动电机200而使发射杆回退，以便打开砧座组件162和钉仓组件164。回退模式起动机械闭锁(mechanical lock out)，阻止加载单元169进一步的吻合与切割进程。触发器(toggle)具有用于激活开关114a的第一位置、用于激活开关114b的第二位置以及位于所述第一与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117b。开关护罩117a和117b可具有分别围绕开关114a的底部和开关114b的顶部的肋状。开关护罩117a和117b防止了开关114的意外激活。另外，开关114a和114b具有需要增加激活压力的高的触觉反馈。
在一个实施例中，开关114a和114b被配置成多速(例如2级以上)、增速或变速开关，从而以非线性的方式控制驱动电机200和发射杆的速度。例如，开关114a、114b可以是压敏式开关。这种类型的控制接口允许驱动部件的速率从较慢且更精确的模式逐步增加为更快的运行。为防止回退的意外激活，开关114b可以断开电连接，直到按下故障保险开关114c。
开关114a和114b被连接到非线性速度控制电路上，该控制电路可被实施为电压调节电路、可变电阻电路或者微电子脉宽调制电路。开关114a和144b可通过移位或致动可变控制设备而与控制电路连接，所述可变控制设备可以是例如变阻型设备、多位开关电路、线性和/或旋转可变位移变换器、线性和/或旋转电位计、光学编码器、铁磁传感器以及霍尔效应传感器。这允许开关114a和114b基于开关114a和114b的下压以多级速度模式运行驱动电机200，例如，根据所采用的控制电路的类型以增量或渐进地方式逐渐提高驱动电机200的速度。
图2至图4示出了关节式运动机构170，该关节式运动机构170包括关节式运动壳体172、动力关节式运动开关174、关节式运动电机132以及手动关节式运动旋钮176。动力关节式运动开关174的平移激活所述关节式运动电机132，之后关节式运动电机132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。手动关节式运动旋钮176的枢转绕过所述关节式运动电机132而致动关节式运动机构170。手动关节式运动旋钮176还提供末端执行器160相对于纵轴A-A的角度的指示。关节式运动机构170的致动使得末端执行器160从纵轴B-B与纵轴A-A基本对齐的其第一位置向纵轴B-B与纵轴A-A布置成一角度的位置移动。动力关节式运动开关174也可并入类似的非线性速度控制器作为夹紧机构。它们均可由开关114a和114b控制。
参考图2和图3，壳体110包括开关护罩169，该开关护罩169具有翼状并且在开关174上方从所述壳体110的顶面延伸。开关护罩169防止开关174的意外激活并需要使用者到达护罩169下方以激活关节式运动机构170。
另外，关节式运动壳体172和手动关节式运动旋钮176被安装到旋转壳体组件180上。旋转旋钮182绕第一纵轴A-A的旋转使得壳体组件180以及关节式运动壳体172和手动关节式运动旋钮176绕第一纵轴A-A旋转，因而导致发射杆220的远侧部224和末端执行器160绕第一纵轴A-A的相应旋转。关节式运动机构170机电地连接到布置在壳体鼻状组件155上的一个以上导电环上(见图4)。所述导电环可以焊接和/或夹持到鼻状组件155上并与电源300电接触，从而将电能提供给关节式运动机构170。鼻状组件155可以是标准组件并且可以在组装时连接到壳体110上以允许更加容易地焊接和/或夹持所述环。关节式运动机构170可包括与所述导电环接触的一个以上电刷和/或弹簧加载触点，从而当所述壳体组件180与关节式运动壳体172一起旋转时，关节式运动机构170与所述导电环持续接触以便从电源300接收电能。
在于2007年3月15日提交的序列号为11/724,733的共有的美国专利申请中详细描述了关节式运动壳体172、动力关节式运动开关174、手动关节式运动旋钮176以及为末端执行器160提供关节式运动的进一步细节，其全部内容通过引用合并于此。可以想到的是，可布置在壳体110中的限位开关、接近传感器(例如光学的和/或铁磁的)、线性可变位移变换器与轴编码器的任意组合均可用于控制和/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。
如在图4中所示的那样，器械10还包括电连接到电机200上的微控制器400以及布置在器械10中的各种传感器。所述传感器探测器械10的各种运行参数(例如，线速度、旋转速度、关节式运动位置、温度、电池电量等)，这些参数随后被报告给微控制器400。然后，微控制器400可以根据测量到的运行参数作出响应(例如调节电机200的速度、控制关节式运动角度、关闭电源、报告误差条件等)。
继续参考图4，负载开关230布置在关节式运动壳体172中。开关230与开关114串联连接，以防止器械10在加载单元169没有被合适地加载到所述器械10中时激活。如果加载单元169没有加载到器械10中，则主电源开关(例如开关114)是断开的，因而防止了器械10的任何电子或电元件的使用。这也防止了从电源300中引出任何可能的电流，从而使电源300能在其特定的保存寿命内维持最大电位。
因此，开关230起到了所谓的“锁定(lock-out)”开关的作用，由于开关230无法从外部操作，而仅能通过插入加载单元169来激活，因而防止了器械10的误激活。当加载单元169被插入到内窥镜部140中时，开关230由柱塞或传感器管360的移位而激活。一旦开关230被激活，来自电源300的电能就被供给到器械10的电子元件(例如传感器、微控制器400等)，从而使得使用者能够访问用户接口与其他输入/输出端。
如图5至图7所示，内窥镜部140包括其中绕发射杆220布置的传感器管360(见图6)。发射杆220穿过传感器盖364的远侧端处的开口368(见图7)。传感器盖364包括弹簧365，并与开关230毗邻。传感器盖364被偏置向传感器管360，所述传感器管360与传感器盖364的远侧端相接触。
如图5和图6所示，当加载单元169被加载到内窥镜部140中时，近侧部171与传感器管360毗邻，这使得传感器管360沿近侧方向移位。参考图7，传感器管360之后沿近侧方向推动传感器盖364，这之后压缩弹簧365并激活开关230，这意味着加载单元169已被适当地插入。
一旦加载单元169被插入到内窥镜部中，开关230也会基于其位置判定是否正确地加载了加载单元169。如果不适当地加载了加载单元169，则不会激活开关114并将错误代码传送给使用者。
在另一实施例中，开关230可适于感知与内窥镜部140接合的可废弃的加载单元169的类型(例如关节式运动型或非关节式运动型)。当采用非关节式运动型加载单元时，传感器管360没有被接合，并且传感器盖364不会激活开关230。开关230可仍然允许器械10的运行，但是阻止关节式运动机构170的运行。当采用关节式运动型加载单元169时，传感器管360被接合，并且传感器盖364激活开关230。开关230允许包括关节式运动机构170的器械10的运行。关节式运动加载单元和非关节式运动加载单元可通过突出部173(见图5)或者延伸的插入尖端(未明确示出)来区分，所述突出部173或者延伸的插入尖端在存在时被配置为接合传感器管360。换言之，非关节式运动加载单元不具有用于接合传感器管360的突出部173，因此不会激活开关230，而关节式运动加载单元169包括突出部173，因而能够使得关节式运动机构169运行。因此，响应于与非关节式运动加载单元的接合，传感器管360能够移动到第一位置或者完全不移动；响应于所述关节式运动加载单元169的接合，传感器360能够移动到第二位置，并与此相应地，传感器管360致动开关230。开关230被连接到微控制器400上，并被配置为传输反映传感器管360被关节式运动加载单元169接合的传感器信号。然后，微控制器400判定加载单元169正作关节式运动，并激活关节式运动机构170。在专利号为5,865,361，名称为“手术吻合装置(Surgical StaplingApparatus)”的共有美国专利中描述了感知机构的其他类型，该专利的全部内容通过引用合并于此。
参考图6，器械10还可包括可变加载单元传感器370。加载单元传感器370包括布置在内窥镜部140中的线性电位计290。线性电位计290电连接到布置在传感器管360上的触点292上。当加载单元169被插入到内窥镜部140中时，传感器管360沿着近侧方向被移动。作为传感器管360移动的结果，触点292沿着线性电位计290的表面滑动。
在图8所示的另一实施例中，可变加载单元传感器370还可包括绕传感器管360布置的线性可变差动式变换器(LVDT)291。LVDT 291包括具有绕传感器管360布置的三个线管线圈的变压器293，其中中央线圈295是主线圈，而外部线圈296和297是副线圈。圆柱形铁磁芯299可连接到传感器管360上。为测量传感器管360的位移，通过中央线圈295驱动交流电流，从而在每一副线圈中感应出电压。当传感器管360移动时，这些互感由于磁芯299所带来的磁场变换而发生变化，从而导致在外部线圈296和297中感应出的电压发生变化。线圈295、296和297可以反向串联连接，从而使输出电压为两个外部线圈296和297之间的电压差。当磁芯299在其中间位置(例如在外部线圈296与297之间等距)时，在外部线圈296和297中感应出相等但却反向的电压，因而输出电压为0。
可变加载单元传感器370连接到微控制器400上，所述微控制器400被配置为基于来自所述可变加载单元传感器370的信号来判定连接到器械10的加载单元169的类型。如果传感器管360没有被接合，比如在加载单元169未被合适地插入时，则可变加载单元传感器370不会被致动并且微控制器400不会激活器械10。可以想到的是，不同类型的加载单元169可包括用于接合传感器管360的突出部173和/或延伸的插入尖端。非关节式运动加载单元可包括第一类型的突出部173，而关节式运动加载单元169可具有与第一类型的突出部173尺寸不同的第二类型的突出部173。换言之，一种加载单元169的突出部173比另一类型的加载单元169的突出部173更长或更短。结果，在插入时，每一类型的加载单元169均以预定距离接合传感器管360。结果，可变加载单元传感器370将与传感器管360的位移对应的相应传感器信号传输给微控制器400，然后，所述微控制器400基于该信号判定加载单元169的类型。然后，在加载单元169为关节式运动类型时，微控制器400可激活关节式运动机构170。
之后，微控制器400可基于传感器管360的位移调节器械10的运行参数，以便与插入的加载单元169相匹配。可调节的参数可包括发射行程长度、发射速度、关节式运动程度等。就像前面已讨论的那样，微控制器还可防止器械10在加载单元169被加载到器械10之前被致动。在另一实施例中，可变加载单元传感器370可沿着移动的传感器部件中的任一个布置，例如传感器管360和传感器盖364。
应该理解的是，可对于此示出的实施例作各种不同的修改。因此，上述说明不应被构成为限制性的，而只是作为优选实施例的范例。尽管在一些附图中示出了动力手术器械的明确特性而在另一些附图中没有示出，但这仅是出于方便的原因，因为每一特性皆可与根据本公开的方案的任意或者全部其他特性相结合。本领域的技术人员将能够想到其他的实施例并且这些实施例在所附的权利要求的范围之中。

Claims (16)

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轴；
加载单元，所述加载单元包括工具组件，所述加载单元适于连接到所述主体部上；
传感器管，其可移动地位于所述主体部内，所述传感器管适于接合所述加载单元；以及
负载开关，其连接到微控制器上，其中，当所述传感器管被插入到所述主体部中的所述加载单元接合时，所述负载开关适于由所述传感器管致动。
2.根据权利要求1所述的手术器械，其中，所述负载开关在致动时向所述微处理器发信号以激活所述手术器械。
3.根据权利要求1所述的手术器械，其中，所述传感器管可仅被包括关节式运动工具组件的加载单元接合。
4.根据权利要求3所述的手术器械，进一步包括：
关节式运动机构，其被配置为使关节式运动工具组件作关节式运动。
5.根据权利要求4所述的手术器械，其中，在被包括所述关节式运动工具组件的加载单元接合时，所述传感器管致动所述负载开关，从而使关节式运动机构激活。
6.一种手术器械，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轴，所述主体部具有远侧端，所述远侧端适于可释放地接合关节式运动加载单元类型和非关节式运动加载单元类型二者；
关节式运动机构，其被配置为使连接到关节式运动加载单元上的关节式运动工具组件作关节式运动；
传感器管，其可移动地位于所述主体部中，所述传感器管适于接合所述关节式运动加载单元；以及
负载开关，其连接到微控制器上，并适于在所述传感器管被所述关节式运动加载单元接合时由所述传感器管致动，其中，所述负载开关在致动时向所述微处理器发信号以激活所述关节式运动机构。
7.根据权利要求6所述的手术器械，响应于非关节式运动加载单元与所述主体部的接合，所述传感器管能够移动到第一位置；响应于所述关节式运动加载单元与所述主体部的接合，所述传感器管能够移动到第二位置。
8.根据权利要求7所述的手术器械，其中，所述传感器管到所述第二位置的移动接合所述负载开关。
9.根据权利要求7所述的手术器械，其中，所述传感器管到所述第一位置的移动向微处理器发信号以在不激活所述关节式运动机构的情况下激活所述手术器械。
10.一种手术器械，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轴，该主体部具有适于可释放地接合多个加载单元类型的远侧端；
传感器管，其可移动地位于所述主体部内，所述传感器管适于接合所述多个加载单元类型中的每一种类型，并适于响应于所述每一种类型移动预定距离；以及
可变加载单元传感器，其适于基于所述传感器管已被移位的预定距离来判定与所述主体部接合的加载单元的类型。
11.根据权利要求10所述的手术器械，其中，所述可变加载单元传感器包括电位计，该电位计电连接到一连接到所述传感器管上的触点上，所述电位计被配置为测量反映所述预定距离的传感器信号并将所述传感器信号发送给微控制器，所述微控制器被配置为基于所述传感器管已被移位的预定距离来判定与所述主体部接合的加载单元的类型。
12.根据权利要求10所述的手术器械，其中，所述可变加载单元传感器包括绕所述传感器管布置的线性可变差动式变换器，所述线性可变差动式变换器被配置为测量反映所述预定距离的传感器信号并将所述传感器信号发送给微控制器，所述微控制器被配置为基于所述传感器管已被移位的预定距离来判定与所述主体部接合的加载单元的类型。
13.根据权利要求10所述的手术器械，进一步包括：
关节式运动机构，其被配置为使连接到关节式运动加载单元上的关节式运动工具组件作关节式运动，所述关节式运动工具组件限定第二纵轴并具有近侧端，所述关节式运动工具组件能够从第一位置移动至至少第二位置，在所述第一位置中，所述第二纵轴与所述第一纵轴基本对齐，在所述第二位置中，所述第二纵轴与所述第一纵轴成角度布置。
14.根据权利要求13所述的手术器械，进一步包括：
微控制器，其连接到可变加载单元传感器上，其中所述微控制器被配置为基于与所述主体部接合的加载单元的类型来调节所述器械的至少一个运行参数。
15.根据权利要求14所述的手术器械，其中，所述至少一个运行参数选自包括发射行程长度、发射速度和关节式运动程度的群组。
16.根据权利要求14所述的手术器械，其中，所述微控制器进一步被配置为在加载单元为关节式运动类型时激活所述关节式运动机构。
CN201010230251.0A 2009-07-14 2010-07-14 利用机械特性的末端执行器识别 Active CN101953703B (zh)

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