CN100453052C - 具有变速前进切割器的活组织检查装置 - Google Patents
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Abstract
公开了一种活组织检查装置(20),其具有设置在外部插管(80)内的平移和旋转切割器(104)。所述切割器(104)的平移速度通过使用可变节距构件(142)而变化。所述的可变节距构件(142)可以包括具有用于使切割器快速前进的相对粗的螺纹部分(146)和用于在组织切割期间使切割器前进的相对较细螺纹部分(148)的轴。
Description
本发明要求于2003年2月25日提交的序列号为60/449,970的美国临时专利申请的优先权。
技术领域
本发明总的涉及活组织检查装置,并且更具体地说是涉及用于使活组织检查装置内的切割器前进和驱动的方法和装置。
背景技术
恶性肿瘤患者的诊断和治疗是一个发展中的研究领域。用于获得后续样本检验的组织样本的医疗装置在本领域是公知的。例如,可以购买到目前市场上以商标名MAMMOTOME出售的活组织检查器械用来获得乳房活组织样本。
下面的专利文献公开了各种活组织检查装置并且这些文献的全部内容在此引用以供参考:2001年8月14日授权的US6,273,862;2001年5月15日授权的US6,231,522;2001年5月8日授权的US6,228,055;2000年9月19日授权的US6,120,462;2000年7月11日授权的US6,086,544;2000年6月20日授权的US6,077,230;2000年1月25日授权的US6,017,316;1999年12月28日授权的US6,007,497;1999年11月9日授权的US5,980,469;1999年10月12日授权的US5,964,716;1999年7月27日授权的US5,928,164;1998年7月7日授权的US5,775,333;1998年6月23日授权的US5,769,086;1997年7月22日授权的US5,649,547;1996年6月18日授权的US5,526,822;2003年10月23日公开的US2003/0199785;2003年10月23日公开的US2003/0199754;2003年10月23日公开的US2003/0199754。
发明内容
可能希望改变活组织检查装置中旋转和平移切割器的平移速度。例如,可能希望使切割器以不同的速度平移。举例来说,美国专利US6,120,462公开了用于控制活组织检查装置的方法。
当电动马达速度可以对应于所需的切割器平移速度的变化而变化时,可能不希望有需要以显著不同的速度来运行马达,或者不希望引入复杂的控制来改变马达速度。可以采用具有传动机构的平移组件来改变切割器平移速度,但是这种方法可能给活组织检查装置增加不希望的复杂性或者重量。
在一个实施例中,本发明提供了一种活组织检查装置,其包括:具有组织容纳口的插管;与该插管同轴设置的组织切割器,该切割器适于相对于插管平移;以及可操作地与所述组织切割器相关联的可变节距构件,其用于提供组织切割器平移速度的变化。该组织切割器能够适于在一部分切割器行程内在所述的插管内平移和旋转。可以采用马达(如电动马达)来旋转所述的可变节距构件。所述的马达可以以所需的速度提供旋转,并且可以采用该可变节距构件来与马达的旋转速度无关地改变切割器的平移速度。
可变节距构件可以为可变节距旋转轴的形式,所述可变节距旋转轴具有用于提供可变节距凸轮表面的可变节距螺纹部分。该活组织检查装置可以为手持式装置,其包括用于提供可变节距构件的旋转的第一马达和用于提供切割器的旋转的第二马达。该可变节距旋转轴可以包括用于使切割器在组织切割之前以相对快的速度前行的相对粗的节距部分,以及用于使切割器在组织切割期间以相对较慢的速度前行的相对细的节距部分。
可变节距旋转轴的可变节距凸轮表面可以为形成于所述轴的外表面上的凸轮槽的形式。凸轮帽(cam nut)可以支撑于所述旋转轴上,并且可以沿轴的长度以一定速度平移,该速度是所述轴上凸轮槽节距的函数。取决于所述轴的旋转方向,马轮帽的平移可以将切割器沿向前(远侧)或相反(近侧)方向平移。
附图说明
尽管说明书以权利要求作为总结该权利要求具体地指明并且清楚地阐述了本发明请求保护的范围,然而相信通过结合附图参考下面的说明,会更好地理解本发明,其中:
图1是依据本发明一个实施例的活组织检查装置的等轴测视图,其包括用于收集软组织的手持件;
图2是图1中手持件的等轴测图,示出了连接到机架上之前的探头组件;
图3是机架和探头组件外壳的下部的等轴测图,其中,机架下部外壳包括用于可动地连接到位于探头组件下部外壳上的闩上的狭槽;
图4是类似于图3的等轴测图,示出了机架和探头组件下部外壳的可动连接;
图5是图2中所示探头组件的分解的等轴测图;
图6是图2所示的探头组件的等轴测图,为了显示内部组成元件将上部外壳移走;
图7是旋转驱动轴和探头组件下部外壳的分解视图;
图8是平移轴组件的部分等轴测图,示出了凸轮轨道和凸轮帽;
图9是切割器旋转和平移轴组件的俯视图;
图10A是凸轮帽随动件和平移轴的俯视图;
图10B是沿图10A中的截面A-A截取的截面图;
图11是平移轴组件的分解的等轴测图;
图12A是邻近平移轴近端的凸轮帽的俯视图;
图12B是沿图12A中的截面A-A截取的截面图;
图13A是位于平移轴最近侧位置的凸轮帽的俯视图;
图13B是沿图13A中的截面A-A截取的截面图;
图14A是探头组件的俯视图,为了显示处于第一、完全缩回位置的切割器将上部外壳去除;
图14B是探头组件的俯视图,为了显示处于第三位置的切割器将上部外壳去除,其中切割器的远端刚好处于所述口的近侧;
图14C是探头组件的俯视图,为了显示处于第四、完全展开位置的切割器将上部外壳去除;
图15是机架的分解的等轴测图,示出了本发明的第一、双马达实施例;
图16是图15的机架组件的等轴测后视图,其中为了显示双马达组件将所述机架上部外壳拆下;
图17是图16中的双马达组件的分解的等轴测图;
图18是机架的分解的等轴测图,示出了本发明的第二、单马达实施例;
图19是图18的机架的等轴测后视图,其中为了显示单马达组件将所述机架上部外壳拆下;
图20是图19中单马达组件的分解的等轴测图;
图21是用于第二、单马达实施例中的探头组件的分解的等轴测图;
图22是图21中的探头组件的等轴测图,为了显示内部组成元件将上部外壳去除;
图23是依据本发明的真空系统的示意图;
图24A是有关切割器操作的流程图的第一部分,示出了当切割器从第一位置向第二位置平移时的控制单元逻辑程序;
图24B是有关切割器操作的流程图的第二部分,示出了当切割器从第二位置向第三位置平移时的控制单元逻辑程序;
图24C是有关切割器操作的流程图的第三部分,示出了当切割器从第二位置向第三位置平移时附加的控制单元逻辑程序;
图24D是有关切割器操作的流程图的第四部分,示出了当切割器从第三位置向第四位置平移时的控制单元逻辑程序;
图24E是有关切割器操作的流程图的第五部分,示出了在切割器已经到达第四位置后用于中止切割器操作的控制单元逻辑程序;以及
图25是平移马达的示例性电流轮廓图的图式表示。
具体实施方式
本发明涉及一种用于从身体内获得组织部分的活组织检查装置,具体地说是涉及切割器械在针芯活组织检查装置中的速度控制。在Hibner等人的美国专利NO.6,086,544中公开了一种针芯活组织检查装置的例子,其全部内容在此引入以供参考。图1示出了依据本发明的一种针芯取样活组织检查器械,其包括通常由附图标记20表示的手持件、真空系统22、控制单元24以及电源26。手持件20优选是轻便的并且根据人机工程学形成,以便容易通过操作者的手来操作。手持件20包括探头组件28和可拆卸连接的机架30。
探头组件28通过第一真空管32和第二真空管34连接到真空系统22上。第一和第二真空管32、34分别通过第一连接件36和第二连接件38可拆卸地连接到真空系统22上。第一连接件36具有凸出部分40和连接到第一真空管32上的凹入部分42。第二连接件38具有凹入部分44和连接到第二真空管34上的凸出部分46。连接件的部分40、42、44和46以这种方式连接,即,防止相对于真空系统22意外地开关第一和第二管32和34。机架30包括控制电缆48,该电缆48将手持件20与控制单元24和电源26可操作地相连接。控制电缆48向手持件20提供电能和控制信息。
因为手持件20由操作者的手操纵而不是用电动机械臂来操纵,所以操作者可以以很大的自由度来控制手持件20的末端向感兴趣的组织区域靠近。在这样进行操作时医师会有触觉反馈,因此能够在很大程度上确定所遇到的组织的密度和硬度。另外,手持件20可以保持与患者的胸壁大致平行,以便获得比使用安装到电动机械臂上的器械时更靠近胸壁的组织部分。本领域技术人员可以理解的是,当需要用X射线立体定位操作台时,可以提供安装件或者“座(nest)”而将手持件20牢固地保持到X射线立体定位操作台的可动手臂上。
图2示出了从机架30上拆下的探头组件28。探头组件28包括上部外壳50和下部外壳52,每一个都可以由硬质的生物相容塑料(如聚碳酸脂)注塑成型。对于探头组件28的最终组件,可以通过公知的许多用于连接塑料部件的方法中的任意一种将上部外壳50和下部外壳52沿连接边缘54连接在一起,上述方法包括但不限于超声焊接、卡扣坚固件、过盈配合以及粘合剂连接。类似地,机架30包括上部外壳56和下部外壳58,它们也可以由硬质的生物相容塑料(如聚碳酸脂)注塑成形,并且可以通过任何用于连接塑料部件的适当方法沿边缘60连接到一起。
图3和图4示出机架30和探头下部外壳52的底部。如图所示,可以将探头闩62模制到探头下部外壳52内,以便将探头组件28可拆卸地连接到机架30上。探头闩62为悬臂梁并且可以在施加到闩的倾斜表面64上的力作用下向下偏转。探头闩62还包括在将探头组件28的近端插入到机架30内时用于插入到机架狭槽67中的闩突出部66。通过倾斜表面64和机架外壳30的内表面65之间的相互作用使倾斜表面64向下偏转。当探头组件28完全插入到机架30中时,探头闩62可保持地卡合到键槽68内。为了将探头组件28从机架30移开,操作者手动按压突出部66直到斜面64与键槽68脱离。然后,可以将突出部66沿轴向拉动通过狭槽67直到探头组件28和机架30分离。
现在仍参照图1和2,其示出了将电开关安装在机架上部外壳56上以便使操作者能够用单手使用手持件20。这些开关可以包括用于致动切割器运动的双位置摇臂开关72(例如,摇臂开关72的向前运动使切割器沿向前(远侧)的方向运动以便进行组织采样,而摇臂开关72的向后运动使切割器沿相反(近侧)的方向运动以便使组织样本定位在样本取回面74中),以及包括用于致动真空系统22的真空开关76。一只手操作允许操作者的另一只手空闲,例如,来握持超声成像装置。在机架30远端设置脊部78用来辅助操作者握住手持件20并且操纵开关72、76。也可以如此形成探头组件外壳50、52的轮廓,即,改进操作者在使用过程中对该器械的抓握。
第一和第二真空管32、34可以由柔性的透明或半透明材料制成,例如硅管、PVC管或者聚乙烯管。这样能够看见从管32、34流过的材料。如图3和4所示,可以将一个或多个狭槽,例如用附图标记70表示的狭槽设置在机架外壳58上来为第一和第二真空管32、34提供空隙。位于探头组件28远端的开放区域允许获取样本取回面74。操作者或助手可以从取回面74取回组织样本。
图5示出了探头组件28的分解的等轴测图。包括穿刺器80的活组织检查针位于探头组件28的远端,以便插入外科患者的皮肤内来获得组织样本。穿刺器80包括具有细长的金属穿刺器管82的插管和沿该管的轴向长度延伸的相关联的腔室84。用于容纳将从外科患者提取的组织的侧组织容纳口86位于与穿刺器管82的远端相邻的位置。具有真空腔室90的细长的真空管88与穿刺器管82沿侧而连接。穿刺器管82可以由包括金属或塑料的任何适合的材料形成并且可以连接到穿刺器管84上或者与该穿刺器管一块形成。如图6所示,穿刺器腔室84通过多个真空孔92与真空腔室90流体连通,所述的真空孔位于由容纳口86限定的组织开口的底部。这些真空孔92小到可以将液体去除,但是不会大到允许切割的组织部分穿过第一真空管32移出,该真空管32与真空管88的真空腔室90流体连接。穿刺器80的尖锐端部可以由连接到穿刺器远端的分开的穿刺端部件94形成。端部件94可以具有一双面的扁平形尖端或者其它的适合穿刺外科患者组织的形状。
穿刺器80的近端连接到连接套管96上,该连接套管96具有从中穿过的纵向穿孔98和一个位于该穿孔的加宽中心部分的横向开口102。细长的金属管状的切割器104在连接套管96的纵向穿孔98和穿刺器80的穿刺器腔室84内沿轴向对准,从而使该切割器可以沿远侧和近侧两个方向容易地滑动。切割器导向件106被设置在连接套管96的近端。切割器导向件106可以为金属漏斗形的导向件,其可以确保切割器104和连接套管96之间准确对准。连接套管96和切割器导向件106通过从下部外壳52延伸出的一体形成的支撑肋107和在上部外壳50的远端一体地形成的壳体108支撑在探头上部外壳50和下部外壳52之间。这些一体地形成的支撑件107、108与形成于探头外壳50、52上的狭槽110和开口112一起确保了切割器104和连接套管96之间准确对准,从而使该切割器可以沿远侧和近侧两个方向容易地滑动。将第一真空管32的远端连接到聚合物的真空接头113上,该真空接头113被紧密地插入到连接套管96的横向开口102内。开口102与腔室90流体连通,并且允许穿刺器腔室84内的流体通过真空孔92向真空系统22内的真空贮存室流通。
切割器腔室114基本上贯穿切割器104的整个长度地延伸。可以将细长的中空管状的组织移除器115在切割器腔室114内同轴地设置,从而使切割器104可以沿移除器115的一段长度平移。组织移除器115可以为金属的或者非金属的。第二真空管线34可以被流体连通地连接到组织移除器115的近端,以便通过穿过组织移除器115延伸的中央通道向切割器腔室114提供真空。第二真空管34与第一真空管并排穿出开口117离开下部外壳52。将过滤器119连接到组织移除器115的远端以便防止破碎的组织碎片穿过移除器进入到真空系统22中。
组织移除器115可以相对于下部外壳52保持静止并且可以由探头下部外壳52侧面上的一对近侧支撑件(未示出)支撑。第二真空管线34通过中空移除器115提供穿过切割器腔室114的真空,在切割器104的远端位于组织容纳口的近侧时,该真空可以用于辅助将组织拉入该组织容纳口86。
使切割器104的远端锋利以形成切割器刀刃116,该刀刃用于在切割器104旋转时切割保持靠到该刀刃上的组织。将切割器104的近端连接到切割器齿轮118的轴向穿孔内。切割器齿轮118可以是金属的或者聚合物的,并且包含多个切割器齿轮齿120。每一个齿轮齿120具有本领域公知的典型正齿轮齿结构。
参考图5和6,切割器齿轮118由细长的旋转驱动轴122驱动,该驱动轴122具有多个设计用来与切割器齿轮齿120相啮合的驱动齿轮齿124。在该实施例中,驱动齿轮齿124大致沿驱动轴122的整个长度延伸并且在切割器104平移的整个过程中都与切割器齿轮齿120接合。每当驱动轴122被旋转驱动时,驱动齿轮齿124与切割器齿轮齿120连续接合以旋转切割器104。如下面将详细描述的那样,当切割器穿过组织容纳口86向远侧前进以切割组织时,驱动轴122旋转切割器104。驱动轴122可以由硬质工程塑料(如液晶聚合材料)注塑成型,或者,供选择的是,可以由金属或非金属材料制造。驱动轴122还可以由铝挤压成形或者由金属材料机加工形成。
如图7所示,驱动轴122包括从该轴向远侧延伸的第一轴向端部126。轴向端部126由模制到探头外壳内部的驱动轴接角部127支撑,以便在探头下部外壳52内旋转。类似的,第二轴向端部128从旋转驱动轴122向近侧延伸并支撑在第二接触部130上,该第二接触部130也是模制在探头下部外壳52的内部。O形环131和衬管133可以配置到每一轴向端部126、128上,以便在旋转驱动轴122安装在探头上部外壳52内时置于接触部127、130内。衬管133减小在驱动轴接触部127、130处的摩擦,而O形环131将旋转驱动轴122内的振动与探头组件28的其余部分隔离。也可将衬管133用于接触部127、130而没有O形环131。在轴向端部128上形成驱动狭槽132。驱动狭槽132与形成于马达驱动轴134上的对应的驱动狭槽连接,或者与用于向驱动轴提供旋转的其它旋转驱动输入件连接,这将在下面进一步描述。
现在参考图8和9,将凸轮帽136设置在探头组件28中以便保持切割器齿轮118并承载切割器齿轮118,并且在向远侧和近侧两个方向平移时与切割器104连接。凸轮帽136优选地由硬质聚合物模制成型并且具有沿轴向贯穿于其内的圆柱形穿孔138。一对J形钩状延伸部分140从凸轮帽136的一侧延伸。钩状延伸部分140在切割器齿轮118的任一侧上旋转支撑切割器104,以便在凸轮帽136向近侧和远侧平移过程中向齿轮118和切割器104提供远侧和近侧平移。钩状延伸部分140使切割器104和切割器齿轮118沿准确的方向对准,以便切割器齿轮齿120与驱动齿轮齿124啮合。
凸轮帽136支撑在轴142上以便沿平移轴142进行平移运动。轴142穿过凸轮帽穿孔138与切割器104和旋转驱动轴122平行地延伸。平移轴142可以由铝或者其它的类似材料构成,并包括通道,例如螺纹导槽144形式的通道,该螺纹槽可以通过机加工或者其它的方式形成于轴142的外圆周上。螺纹槽144可以为常规的螺旋形。螺纹导槽144的节距在平移轴142的近端和远端之间可以是变化的。在此处描述的实施例中,该引导螺纹节距从在轴近侧部分较粗或更宽间隔的节距向在轴远侧部分较细或更近间隔的节距变化。螺纹槽144的具体节距宽度以及沿平移轴长度的宽窄节距宽度之比在本发明中依据所需的切割器104的操作会有所不同。
在图中,示出了平移轴142,其带有右旋螺纹以便顺时针旋转(从近侧向远侧方向观察)导致凸轮帽136沿轴142向近侧方向平移,而轴142的反向旋转使凸轮帽136向远侧方向运动。然而,螺纹方向也可以反向设置,螺纹的具体方向依据应用和旋转驱动输入件而定。
如图10A和10B更详细地所示,将螺纹帽136模制、机加工或者以其它方式形成以包括垂直于穿孔138延伸的接收孔150。凸轮随动销152被设置在接收孔150中,从而当螺纹经过孔138时,销的一部分延伸到凸轮帽136之外并进入平移轴142的螺纹导槽144内。当所述的轴旋转时,螺纹导槽144形成围绕平移轴142的表面导引凸轮随动销152的通道。为了形成凸轮帽136和平移轴142之间的连接,凸轮随动销152可以是组装为凸轮帽136一部分的金属的机加工销。在所示的实施例中,凸轮随动销152在凸轮帽接收孔150中以过盈配合组装。供选择的是,销152可以通过其它方式插入,如通过插入嵌件注塑或者通过螺纹。在又一个实施例中,销152可以支撑在凸轮帽136上,以便能够沿径向运动并且由此在螺纹槽144内“浮动”。
如图10B所示,凸轮随动销152置于在凸轮接收孔150内并且可以具有锥形末端或者其它形状的末端,如用成角度的面156所示的,其被成形为与凸轮通道144的轮廓相匹配。凸轮通道144可以具有锥形轮廓。成角度的面156允许凸轮随动销152在由引导螺纹144形成的锥形通道内自由地滑动,并易于适应螺纹节距和/或螺纹144宽度的变化。
回到图8和图9,将狭槽158设置在平移轴142的近端,以便将该轴连接到驱动马达轴上,如图15中所示的轴160上。通过轴向端部158、162的配合,马达轴160提供平移轴142的旋转。当平移轴142旋转时,由于所述通道与凸轮随动销152之间的连接,凸轮帽136随动于变节距的凸轮通道144。因此,当轴142旋转时,凸轮帽136沿轴142的长度平移。当凸轮帽136通过平移轴142的旋转向远侧平移时,切割器齿轮118由钩状延伸部分140向前(远侧)推动。将切割器齿轮118刚性地连接到切割器104上以便沿与凸轮帽136的平移相同的方向以相同的速度运动。当平移轴142在凸轮帽136内旋转时,圆柱形的穿孔138用作衬管,以便在凸轮帽经过平移轴142时稳定该凸轮帽。
在本发明的活组织检查器械操作期间,切割器104在刚好位于样本取回面74近侧的完全缩回位置和刚好位于组织容纳口86远侧的完全展开位置之间沿任一方向平移。在所示实施例中,切割器104可以从完全缩回位置到完全展开位置平移大约6英寸的距离。沿切割器平移的长度有可以确认的中间位置。当切割器104的远端116到达这些位置中的每一个时,如果需要,可以调节切割器旋转速度(有时简称为旋转速度)或者切割器的平移速度(有时简称为平移速度)中的任一个,或者对两者都进行调节。
对于在此处描述的活组织检查器械的实施例,沿切割器平移的长度可以确认4个位置。在这些位置中的每一位置处,可以对所述的切割器旋转和/或平移速度进行调节。这种速度变化在活组织检查器械内可以通过机械方式或者通过马达速度变化以不同的方式来完成。为了易于描述切割器的位置,将它们理解为位于切割器104远端的切割器刀刃116的实际位置。这四个切割器位置如下:切割器104刚好位于样本取回面74的近侧的第一位置;切割器104刚好位于样本取回面74的远侧的第二位置;切割器104刚好位于组织容纳口86近侧的第三位置;以及切割器104刚好位于组织容纳口86远侧的第四位置。这四个位置有时称为位置1、位置2、位置3和位置4。这四个切割位置仅仅以例子的方式给出,在不脱离本发明的范围的条件下,许多其它的切割器位置可以用于本发明中用于标志对切割器旋转速度和/或平移速度进行调节。
在图5、6和9所示的实施例中,当切割器104沿平移长度从位置1向位置2平移时,凸轮随动销152经过槽144的较粗节距部分146,由此使其相对于平移轴142的每次旋转以更快的速度平移。当切割器104沿平移长度从位置2向位置3平移时,凸轮槽144从较粗节距宽度向较细节距宽度转变,由此相对于平移轴142的每次旋转降低了其平移速度。当切割器104接近位置3时,驱动轴122开始旋转以便相应地旋转切割器。因此,当凸轮随动销152开始经过凸轮槽144的较慢的细节距部分148时,切割器104开始旋转。切割器104的平移速度在较细节距部分148处降低以便在组织切割期间使旋转切割器104以更慢的速度穿过组织容纳口86前进。在穿过组织容纳口86(在第三位置和第四位置之间)的平移过程中,切割器104通过驱动轴122以所需的组织切割速度旋转。
凸轮槽144的节距宽度确定了相对于平移轴142每一次360°旋转凸轮帽136行进的线性距离。螺纹槽144的节距宽度越宽,相对于轴142的每一次360°旋转,切割器104行进的线性距离越大。因此,切割器104的线速度可以作为凸轮帽136在平移轴142上的位置的函数而变化。可以选择螺纹槽144的节距来提供所需的切割器平移速度与平移轴142的旋转速度的比。螺纹槽144可以起到变节距的凸轮通道的作用。
图9和11示出了平移轴142的全长和可变节距的螺纹槽144。如这些图中所示,平移轴142可以包括与轴的近端和远端相邻的区域,在这些区域与轴142的旋转无关地防止切割器104的平移。在用附图标记164表示的这些区域中,螺纹导槽144的节距宽度可以为零,并且由此形成围绕该轴圆周的360°槽。该360°槽或者无节距区域164阻止凸轮帽136沿平移轴142的行进。当螺纹槽144变化成无节距区域164时,平移轴142的直径可以如在166处所示的那样下降,并且使螺纹槽144的节距制造得更细,以减慢销152的平移,并且由此降低切割器104的速度。
当凸轮帽136进入到无节距区域时,轴142可以继续旋转,但是由于凸轮随动销152被保持在槽164内,阻止了凸轮帽沿所述的轴平移。当切割器104位于行程的最远点(或最近点)并且轴142的旋转方向反向时(如通过按压摇臂开关72),可以将凸轮随动销152从无节距区域164推压回到与可变节距螺纹槽144接合的位置。如图11所示,偏压装置(如螺旋弹簧168、170)可以设置在平移轴142的每一端附近,用来在轴142的旋转方向反向时平移方向改变的时候,将凸轮帽136推压回与可变节距螺纹槽144接合。减小在轴142的位于邻近无节距区域164的166处的外径并且使螺纹槽144的节距更细还可以有益于减少销152在其支撑在无节距区域164的槽内时的噪音或振动。
图12A和12B示出了在凸轮帽136向轴142的近端平移时的无节距区域164和弹簧168。图13A和13B示出了在凸轮帽136平移到其最近侧位置(即,切割器位置1)后的凸轮帽136。在该位置处,凸轮随动销152与无节距槽164接合并且弹簧168被压靠在凸轮帽136上。由于凸轮随动销152与无节距区域164接合,所以当轴142旋转时凸轮帽136保持在该位置。一旦如通过改变马达的方向使轴142的旋转方向相反时,储存在弹簧168内的能量作用在凸轮帽136上以便(通过凸轮随动销152)来将螺纹帽136从无节距区域164中推出。弹簧168将凸轮帽136推回成与可变节距通道接合,从而使凸轮帽(和切割器104)可以沿相反方向开始平移,其中该可变节距通道与螺纹槽144对应。
轴142的外径可以被机加工或以其它方式减小并且使螺纹槽的螺纹(如带有锥形壁)距离更近来形成更细的节距(每英寸内有更多螺纹)。在供选择的实施例中,为了改变凸轮随动销152的平移速度,可以变化具有锥形螺纹壁的凸轮通道144的螺纹深度。例如,可以在轴142的直径保持恒定时减小凸轮通道144的深度来使得螺纹在所述轴上更接近地设置在一起。间距更近的螺纹减小了平移轴142每次旋转过程中切割器104行进的线性距离。
图14A-14C描述了包含在前面图1-13中的本发明在操作期间切割器104的四个位置中的三个。切割器104的这三个位置最容易通过观察凸轮帽136(其与切割器104一起运动)和位于切割器104远端的切割边缘116之间的相对位置来区分。图14A示出了将探头组件28部分切除的俯视图,其中切割器104位于位置1处。在该位置处,切割器104处于完全收回位置,切割边缘116位于样本收回面74的近侧。将凸轮帽136置于平移轴142的近端,并且凸轮随动销152在凸轮通道144的无节距区域164内旋转。弹簧168被压靠在凸轮帽136的近端。在图14A所示的位置中,切割器104处于完全缩回位置,从而使位于穿刺器80内的容纳口86打开以接收组织。在该位置处,组织样本可以从样本收回面74收回。
图14B示出了前进到第三位置处的切割器104,其中切割边缘116刚好在组织容纳口86的近侧。在该位置处,凸轮帽136已经沿轴142平移到凸轮随动销152从螺纹槽144的较宽节距部分146向较细节距部分148过渡的位置。同样,切割器104已经前进到中间位置,在该中间位置处驱动轴122通过切割器齿轮齿120和驱动齿轮齿124来旋转所述的切割器。切割器刀刃116置于刚好位于容纳口86近侧的位置。将位于容纳口86中的真空孔92打开,从而当第一真空管32与真空系统22流体连接时,邻近容纳口86的软组织可以被拉入到该容纳口内。
图14C示出了前进到第四位置处的切割器104,其中该切割器位于最大伸展位置并且切割边缘116处于容纳口86的远侧。在该位置处,切割器104通过旋转驱动轴122以适当的切割速度旋转。由真空通过孔92拉入到容纳口86内的组织已经由旋转前进的切割器刀刃116切割并被储存在切割器腔室114内。当切割器104如图14A所示缩回到第一位置时,组织移除器115将组织样本吸回到样本拉回面74上。在图14C中,示出了凸轮帽136已经通过凸轮通道144的细节距部分148处于其最远侧位置。在该位置处,凸轮随动销152接合在处于可变节距凸轮狭槽144远端的无节距区域164中。弹簧170由凸轮帽136压缩,以便一旦使平移轴142的旋转方向相反时,将凸轮帽偏压回与凸轮通道144的细节距部分148相接合,并且使切割器104缩回到位置1。
图15是机架30的第一实施例的分解的等轴测图。在该实施例中,机架30是一个一体的电动马达架,其中支撑两个马达用于旋转驱动探头组件28中的轴122、142。如上所述,机架30包括上部外壳56和下部外壳58,它们可以如图15和16所示地成形,以便容纳封装于其内的马达和马达驱动轴。最终组装后,外壳56、58通过固定到多个对准孔182内的螺钉180连接到一起,或者通过本领域公知的其它固定方式连接到一起。
将一对马达驱动轴134、160容纳在机架30的近侧封闭部分中。第一驱动轴134具有远端172,该远端成形为可操作地与旋转驱动轴122的狭槽132接合。第二驱动轴160具有远端162,该远端成形为可操作地与平移轴142的狭槽158接合。马达驱动轴134、160从齿轮箱184向远侧延伸以便在探头组件28和机架30连接时与驱动轴122和平移轴142接合。第一驱动马达186和第二驱动马达188安装在齿轮箱184上方。第一驱动马达186通过图16所示的齿轮组件190向驱动轴134提供旋转运动。当探头组件28和机架30连接时,产生于驱动轴134上的旋转运动通过远端172和狭槽132传递给旋转驱动轴122。同样,第二驱动马达188通过第二齿轮组件192向驱动轴160提供旋转运动。该驱动轴160的旋转运动通过狭槽158和轴远端162之间的接合传递给平移轴142。马达186和188可以是DC石墨电刷马达,例如可以从瑞士Sachsein的Maxon Precision Motors获得的型号为118718的4.5瓦特马达。马达186可以采用从Maxon获得的型号为118184的行星齿轮头,并且马达188可以采用从Maxon获得的型号为110322的行星齿轮头。
参见图16和17,将第一和第二齿轮组件190、192置于马达186、188和驱动轴134、160的近端,并且每一个都包括一对由皮带相互连接的齿轮。马达186、188和驱动轴134、160之间的分开连接使得驱动轴在不同的时间段以不同的速度分别驱动而不需要另外的传动装置。另外,因为将单独的马达使用到驱动轴134、160上,所以马达可以比联合驱动两根轴的马达更小并且所需的动力更小。
马达186和188可以以任何方便的方式保持在机架30内,如,通过模制到机架下部外壳58内一个或多个支撑件196。配电板198被设置在机架30内并且以任何方便的方式与马达186、188电接触。配电板198也可以与不同的用户界面开关,如摇臂开关72和真空开关76以及向机架30提供来自于控制单元24的电源和控制信号的控制电缆48连接。包括聚合橡胶或其它合适的密封材料的开关密封件200和202被设置于配电板198和相邻组成元件之间,以便防止液体进入机架30内并且影响配电板198。金属板204可以设置有安装和连接件以便在机架30内提供结构支撑和/或便于将所述机架固定到探头组件28上。
图15-17中所示的实施例包括两个安装到齿轮箱184上方并且与马达驱动轴134、160直接连接以分别驱动每一根轴的一体式马达。在供选择的实施例中,例如如图18-20所示,可以用单个一体式马达通过合适的传动装置来驱动旋转驱动轴和平移轴。在该实施例中,单个马达208可以在机架近端安装到所述的齿轮箱184和马达驱动轴134、160上方。马达208通过齿轮组件210可操作地与驱动轴134、160连接。图19和20提供了单个马达组件的后视图,其中示出了马达208和齿轮组件210之间的相互连接。该相互连接包括在马达轴216的齿轮214和驱动轴134的齿轮218之间延伸的单根皮带212。如图20所示,将附加齿轮220包括在齿轮箱184内以便通过旋转驱动轴134的旋转来驱动平移轴160。附加齿轮220提供在两个驱动轴134和160之间的齿轮减速以使平移驱动轴160以比旋转驱动轴134慢的速度旋转。依据切割器104的所需操作,齿轮220还可以构造成使平移驱动轴160以比旋转驱动轴134快的速度旋转,或者对于两根轴来说,以相同的速度旋转。除了上述两个实施例,本发明还可以包括一个或多个沿着机架的侧部或底部、或者在机架前端设置在机架30近端位于齿轮箱184后方的一体式马达。另外,可以将一个或多个驱动马达置于机架的外部并且通过一个或多个旋转轴可操作地连接到旋转驱动轴122和平移轴142上。因此,本发明中马达的具体设置可以依据机架所需的尺寸和重量分布而变化。
图21和22示出了用于本发明的第二个单个马达实施例中的探头组件28。在该单个马达实施例中,因为通过齿轮214、218和皮带212作用的其同马达208同时驱动旋转驱动轴134和平移驱动轴160,所以在所述装置的整个操作过程中,旋转驱动轴134和平移驱动轴160都在旋转。为了适应马达驱动轴134的连续旋转,第一实施例的旋转驱动轴122由改进的驱动轴222代替,该改进的驱动轴222具有置于靠近该驱动轴远端的驱动齿轮齿224。通过处于该位置处的齿轮齿224,切割器齿轮118仅仅在切割器104向远侧前进到刚好位于组织容纳口86近侧的位置处后才与改进的驱动轴222接合。当切割器齿轮118与驱动齿轮齿224接合时,齿轮齿120、224相啮合并且切割器104由驱动轴222旋转。驱动齿轮齿224可以包括模制到驱动齿轮齿224近端的导入斜面254。斜面254将齿轮齿120移动成与驱动齿轮齿224相接合,以便提供齿轮的平滑啮合。对于该单个马达的实施例,驱动轴222以这种方式改进,即,使切割器104仅在切割器前进的组织切割阶段旋转。
图23更详细地示出了真空系统22。如图23所示,真空系统22包括通过真空管232与第一连接件40相连的第一阀门230。将第二阀门234通过第二真空管236连接到第二连接件44上。阀门230、234分别控制向侧部真空管线32和轴向真空管线34的真空供给。阀门230、234包括电磁线圈,这些电磁线圈在活组织检查器械20操作期间由来自于控制单元24的信号控制,以便打开和关闭真空管232、236。每一根真空管232、236都可以在操作周期的不同时间间隔分别打开和关闭。真空管232、236从阀门230、234延伸到流体贮存室,如真空贮存室240。主真空管线242将贮存室240连接到用附图标记244表示的真空泵和腔室上,该真空泵和腔室由马达246驱动。真空泵244可以为不同的类型,例如,活塞式、隔膜式、回转式或者回转叶片式泵。马达246优选地是可以以不同速度运行的类型,例如,无刷直流马达。可以基于感应到的流体贮存室内的压力,如真空贮存室240内的真空水平来控制马达的速度。还可以基于操作周期内预期的真空需要,如基于所需的切割器位置进程来控制马达的速度。
消声和隔音系统256以及排出口258从真空腔室244延伸以便减小噪音并为系统提供排放口。附加真空管248从真空贮存室240延伸到真空压力传感器250上。传感器250监测贮存室240内的真空压力并且周期性地将压力信号252发送给控制系统24。控制系统24包括带有微处理器或微控制器254的印刷电路板(PCB),用于根据来自于传感器250的压力信号252控制马达246。
在一个实施例中,微控制器254通过根据来自于传感器250的压力信号252调节马达246的速度来保持贮存室240内一致的、所需的真空压力。为了改变所述真空泵的速度和/或打开和关闭真空泵,可以通过改变马达的电流、电压或转距来调节马达的速度。在一个实施例中,当贮存室240内的压力处于所需的预置水平时,微控制器254使马达空转以便使真空泵244不运行而在真空系统内产生附加的真空(和噪音)。当来自于传感器250的压力信号252表明贮存室240内的压力下降时,如当一个或两个阀门230、234打开时,微控制器254将致动马达246而打开泵244直到贮存室240内的压力再次达到所需的水平。由此,传感器250向真空系统22提供闭环控制,该控制在所述系统内保持所需的真空压力而不需连续地操作真空泵244。在供选择的实施例中,微控制器254基于活组织检查器械20操作周期内对真空的预期需求来驱动马达246,以便操作真空泵244。可以对微控制器254预先编程以便在操作周期的不同位置处操纵真空泵。因此,微控制器254可以在预期需要真空时(如当使用者通过激活向前的摇臂开关72来开始组织采样周期时)增加马达速度。微控制器254可以依据切割器104在操作周期中的位置1到位置4之间的位置来改变马达246的速度,从而增加或降低真空。在一个实施例中,贮存室240内的压力可以为大约-26.5英寸Hg(大约低于当地大气压26.5英寸汞柱)。
如果需要,可以采用加压的贮存室,并且可以使用压力传感器和压缩机,以通过采用上述闭环控制方法来将加压贮存室内的压力保持在所需的大气压力之上的水平。例如,在供选择的实施例中,贮存室240可以是加压的贮存室,并且泵244可以是用于向贮存室240提供加压气体的压缩机。例如,可能需要用正压力(或用不同于所使用的真空的压力)来以气动方式驱动切割器的平移和/或旋转,或者提供通过切割器腔室的加压流体(气体或液体)流。供选择的是,可以采用真空贮存室240来提供与切割器相关联的真空,并且可以采用一个或多个分开的加压贮存室和相关联的压缩机来提供切割器的运动。在再一个实施例中,贮存室240在活组织检查装置操作的一部分中作为真空贮存室使用,并且在活组织检查装置操作的另一部分中作为加压贮存室使用。
图24A-24E示出了依据本发明的控制方法的流程图,该方法用于在所述的切割器运动经过上述四个不同的位置时控制切割器104的操作。该控制方法的步骤在所述流程图中示意性地表示出。流程图中的每一个图框都可以代表一个或者多个步骤。为了论述目的,每一个图框简称为一个步骤。步骤的进行通常沿与各图框连接的箭头方向进行。下面描述的控制方法可以与具有单个马达或者具有如在图1-17中所示的用于分开驱动切割器平移和旋转的两个或者多个马达的活组织检查器械一起使用。
参见图24A,步骤410代表控制方法的开始。当激活活组织检查器械20以便通过选择采样或者手动操作模式来使用时,控制信号通过电源电缆48传送给配电板198。配电板198又接着命令将被供给马达188的脉宽调制(PWM)驱动信号以使平移驱动轴160开始旋转。平移驱动轴160的旋转通过远端162和狭槽158的相互连接传送给平移轴142。当平移轴142旋转时,由于凸轮随动销152在可变节距螺纹槽144内的作用,凸轮帽136开始将切割器104从位置1平移到位置2。凸轮帽136沿平移轴142的平移在步骤412中继续。
在步骤414中,读取储存在控制单元24内的预编程存储器中的预定时间值并与储存在临时储存器内的累计时间计数进行比较。预编程存储器可以是例如包含在微控制器(如由Microchip Corporation制造的PIC18F452)内的“闪”存。预定时间值与切割器平移路径内的指定位置相对应。临时储存器内的累计时间计数由微控制器以大约相等的时间间隔更新。在一个实施例中,该时间间隔可以小于或等于约100毫秒,更具体地说是小于或等于约50毫秒,并且在一个实施例中约为25毫秒。该时间计数由正在从相对位置1到4平移的切割器104的实际时间加上(或减去)通过马达电压比较计算出的时间周期得到,这将在下面更详细地描述。当临时储存器内的时间计数与预定的时间值相符时,认为切割器104处于位置2。如果临时时间计数与位置2处的预定时间值不相符,那么认为切割器104没有处于位置2,并且操作进行到步骤416。
在步骤416中,从平移马达188中读取当前的平移电流。在步骤418中,将当前的平移电流读取值与储存在闪存内的预定电流极限比较。如果电流读取值大于预定电流极限,那么确定存在错误情况。停止平移马达188的运行,并且在步骤420中将错误信息报告于用户界面上。如果在步骤418中当前平移电流读取值等于或小于所述的预定电流极限,那么控制方法进行到步骤422。
在步骤422中,将当前平移电流读取值与储存在预编程存储器中的预定电流值(之后称为“电流LUT(查询表)”进行比较。电流LUT包括每一个马达186、188的代表性的电流分布图。该电流分布图通过与马达运行和驱动电流相关的试验或经验数据得到。电流分布图被分段成与微处理器的时间间隔对应的时间间隔,该时间间隔在处此描述的示范性实施例中为25ms。将在进行比较时使用的预定电流值在电流LUT中的位置取决于在进行比较时的累计时间计数值。图25示出了当切割器104从位置1到位置4,并且之后再次回到位置1经过一个完整周期时的示范性马达电流分布图260。在图25中,电流分布图260被示出为马达电流(纵轴)对时间(横轴)。如分布图260所示,马达188的电流在时间增量之间和四个切割位置中的每一个之间变化。电流LUT包括分布图260在每一分段时间间隔处的电流水平。
除了电流测量,在步骤422中,在PWM马达驱动信号的非周期内读取平移马达188的电压。该电压与马达188的机电反作用力(backelectromechanical force)以及切割器104的线性行进速度成比例。根据该电压读取值可以确定凸轮帽136沿行进能路的实际位置并且由此确定切割器104的位置。可以将从马达188的电压读取值与马达的说明书或者预定的操作分布图进行比较,以便从该电压读取值确定实际的行进速度。如果在所述的累计时间计数时刻马达电压读取值超过该时间计数时刻的预定电压,那么认为切割器104在电流分布图中处于比该累计时间计数预定的位置更靠前的位置。因此可以通过增加累计时间计数来调节电流LUT中指示器的位置来解决距离上的差异,并且由此减慢切割器的总的前进时间。同样,如果马达电压读取值小于该时间计数的预定水平,那么认为切割器还没有沿电流分布图行进到由该累计时间计数预定的位置。因此可以通过减少累计时间计数来调节电流LUT中指示器的位置来解决距离上的差异,并且由此在电流LUT中重新读取或者向后移动并增加切割器的总的前进时间。
在步骤424中,进行比较以确定当前平移电流和电流LUT中的电流值之间的差值是否超出预定范围,如在图25中由虚线262示出的范围。如果电流值之间的差值超出该预定范围,那么在步骤426如通过增加或降低脉冲宽度调制马达控制信号的占空因数(或者如果采用模拟马达驱动而不是PWM时调节平移马达188的电流,通过改变电压水平)。如果在步骤424中确定当前平移电流和预定电流LUT值之间的差值处于可接受的范围内,那么该方法返回到步骤412,并且切割器104继续由位置1向位置2平移。
如果在步骤414中认为切割器104处于位置2,那么该控制方法越到图24B所示的步骤428,并且切割器继续从位置2向位置3平移。在步骤430中,进行检查以确定切割器104是否已经到达位置2和位置3之间的预定中间位置。当临时储存器内的累计时间计数与对应于所述中间位置的预定时间计数相符时,认为切割器104已经到达该中间位置。该预定中间位置基于实际的切割器平移速度和预定的切割器旋转速度。该选择中间位置,以便成允许切割器104在其到达位置3之前有充足的时间值来从零加速到预定旋转速度,在该位置3之后开始切割组织。如果在步骤430中,切割器104没有到达该中间位置,那么在步骤432中从马达188读取当前的平移电流。
在步骤434中,再次将当前平移电流与储存在闪存内的预定电流极限相比较。如果该当前平移电流读取值大于所述的预定电流极限,那么确定存在错误情况。在步骤436中,停止平移马达188的运行,并且将错误信息报告于用户界面上。如果在步骤434中确定当前平移电流等于或小于所述的预定电流极限,那么在步骤438中器械20继续运行。在步骤438中,将当前平移马达电流读取值与电流LUT中的预定值再次进行比较。同样地,对比值在电流LUT中的位置取决于进行对比时更新的累计时间计数。另外,在步骤438中,读取当前马达电压并且与基于该更新的累计时间计数的预计电压进行比较。如果实际的电压读取值不同于所述的预计电压,那么增加或减少该累计时间计数来使电流LUT位置与切割器的实际位置同步。如果在步骤440中,当前电流值和预定电流值之间的差值超出了预定范围,那么在步骤442中调节平移马达188的电流。如果通过步骤440中的比较,该差值处于所述的预定范围内,那么在步骤428中切割器104以当前的速度继续从位置2向位置3平移。
如果在步骤430中确定切割器104已经到达位置2和位置3之间的中间位置,那么切割器继续向位置3平移并且在图24C中所示的步骤444处切割器开始旋转。在步骤446中,读取旋转驱动马达186的当前旋转电流。在步骤448中进行比较,以确定当前旋转马达电流是否大于储存在闪存内的预定电流极限。如果当前电流读取值大于所述的预定极限,则在步骤460中停止旋转马达186和平移马达188,并且将错误情况报告于用户界面上。如果当前电流读取值等于或小于所述的预定极限值,那么继续运行到下一步骤。在步骤450中,将当前旋转电流读取值与加载到电流LUT中的预定电流值进行比较。如上所述,所述对比值在电流LUT中的位置取决于进行对比时的累计时间计数。如果在步骤452中确定对比的差值超出预定范围,那么在步骤454中调节旋转马达186的电流。如果在步骤452中当前电流值和预定电流值之间的差值处于预定范围之内,那么切割器104继续旋转。
在步骤456中,将储存在位于微控制器中的储存器内的预定时间值与储存在临时储存器内的累计时间计数进行比较。该累计时间计数由所述切割器正在穿过其相对位置的实际时间加上(或减去)在步骤422、438和464中通过马达电压比较计算出的值获得的。当该累计时间计数与储存的时间计数相符时,确定切割器104位于第三位置。如果切割器104不在第三位置,该方法继续到步骤458,在该步骤中,从马达188读取当前平移电流。在步骤462中,将当前平移电流读取值与预定电流极限进行比较。如果当前平移电流读取值大于所述的预定极限,在步骤460中停止平移和旋转马达并且报告错误。
如果该读取值等于或小于所述的极限值,那么该方法在步骤464中继续,在该步骤中,将当前电流读取值与加载到电流LUT内的预定值进行比较。所述对比值在电流LUT中的位置取决于进行对比时更新的累计时间计数。另外,在步骤464中,将实际马达电压与预计电压相比较。如上所述增加或减少该累计时间计数来解决马达电压的增加或降低,马达电压的增加或降低与切割器104的实际行进速度中的变化相对应。如果在步骤466中确定当前电流读取值和来自于电流LUT的预定电流值之间的差值处于允许的范围内,那么切割器104继续平移,并且该方法进行到步骤446。如果通过对比该差值超出预定的允许范围,那么调节平移马达188的电流。进行上述调节后,该方法继续进行到步骤446。
当在步骤456中已经确定切割器104已到达位置3时,那么该方法进行到图24D所示的步骤470。在步骤470中,将马达188的平移电流改变成预定值并储存到存储器中。所述的改变的电流值将切割器104继续向第四位置平移,但是是以不同的速度,典型的是每秒钟0.5英寸。在步骤472中,将储存在微控制器中的预编程储存器内的预定值与储存到临时储存器内的累计时间计数进行比较。该时间计数由切割器104正运动通过其相对位置的实际时间加上(或减去)通过马达电压比较计算出的时间而获得。当该当前时间计数与所储存的时间计数相符时,确定该切割器处于位置4。
在步骤474中,读取当前平移电流。在步骤476中,将所述的平移电流读取值与预定的电流极限相比较。如果所述的平移电流读取值大于预定的电流极限,所述的方法进行到步骤482,在该步骤中,停止平移马达188和旋转马达186并且显示错误信息。如果在步骤476中,所述的当前平移电流读取值小于或等于所述的极限,所述的方法继续进行到步骤478。在步骤478中,读取马达电压并且与预定的马达电压水平进行比较。如果所述的电压读取值高于预计值,那么增加所述的累计时间计数来解决行进速度的增加。如果所述的电压读取值小于预计值,那么降低累计时间计数来解决切割器实际行进速度中的下降。还是在步骤478中,将当前平移电流读取值与加载到电流LUT中的预定值进行比较。如果在步骤480中确定当前和预定电流值之间的差值超出了预定的范围,那么在步骤484中调节平移马达188的电流。如果在步骤480中确定当前和预定电流值之间的差值处于预定的范围内,那么切割器104继续平移并且该方法进行步骤486。在步骤486中,再次读取当前旋转电流,并且在步骤488中将最近的电流读取值与预定极限进行对比。如果该电流读取值大于所述的预定极限,那么在步骤482中停止平移马达188和旋转马达186并且报告错误。如果当前旋转电流读取值等于或小于所述的预定值,那么继续向下一步骤进行。在步骤490中,再次将当前旋转马达电流读取值与加载到电流LUT内的预定值进行比较,并且计算所述两个水平之间的差值。如果在步骤492中确定电流水平之间的差值超出预定范围,那么在步骤494中调节旋转马达的电流。如果在步骤492中确定两个电流水平之间的差值处于预定范围内,那么切割器继续旋转,并且所述的方法进行到步骤472。
如果在步骤472中切割器104已经到达位置4,那么该控制方法向图24E所示的步骤496继续进行,在该位置中停止平移马达188。接下来,在步骤498中,将储存在微控制器内的预定值与储存在临时储存器内的累计时间计数进行比较。该时间计数由旋转马达接通的实际时间加上(或减去)通过马达电压比较计算出的时间调整值得到。如果在步骤498中该时间计数比较值与所储存的时间计数不符,那么在步骤500中读取实际的旋转马达电流。在步骤502中,将实际的旋转马达电流与加载到电流LUT内的预定值相比较,并且所述对比值在电流LUT中的位置取决于进行对比时的时间计数间隔值。如果在步骤504中确定实际旋转马达电流和该旋转电流的预定值之间的差值超出了预定范围,那么在步骤506中调节旋转马达186的电流。如果通过对比该差值处于预定范围之内,那么该控制方法进行到步骤498。在步骤498中,将预定时间计数与旋转马达186的累计时间计数进行比较。如果该累计时间计数超出了所述的预定值,那么在步骤508中停止旋转马达。
尽管在上述实施例中公开了电动马达,可以理解的是可以采用其它类型的马达,如气动马达。另外,尽管公开了带有内部切割器的外部插管,但是可以采用其它变型,例如切割器围绕插管的外侧同轴地设置的实施例。
尽管在此已经示出和描述了本发明的优选实施例,但是对本领域技术人员来说显而易见的是这些实施例仅仅是以例子形式给出的。在不脱离所附权利要求的精神和范围的条件下,对于本领域技术人员来说,现在可以进行许多变换、改变和置换。另外,公开的每一个组成元件都可以选择性地描述为用于执行该部件的功能的装置。
Claims (18)
1.一种活组织检查装置,其包括:
具有组织容纳口的插管;
与该插管同轴地设置的组织切割器,该切割器适于相对于所述插管平移;以及
可操作地与所述组织切割器相关联的可变节距构件,其用于提供组织切割器平移速度的变化。
2.如权利要求1所述的活组织检查装置,其特征在于,该组织切割器适于相对于所述的插管平移和旋转。
3.如权利要求1所述的活组织检查装置,包括用于旋转所述可变节距构件的马达。
4.如权利要求1所述的活组织检查装置,其特征在于,该可变节距构件包括一个具有可变节距的螺纹部分的轴。
5.如权利要求1所述的活组织检查装置,包括用于提供所述可变节距构件的旋转的第一马达和用于提供所述切割器的旋转的第二马达。
6.如权利要求1所述的活组织检查装置,其特征在于,所述切割器被设置用来在插管内平移。
7.如权利要求1所述的活组织检查装置,其特征在于,所述的可变节距构件包括相对粗的节距部分和相对细的节距部分。
8.如权利要求7所述的活组织检查装置,其特征在于,所述的相对细的节距部分提供所述切割器经过组织容纳口的平移。
9.如权利要求1所述的活组织检查装置,其特征在于,所述的可变节距构件包括一个具有可变节距的螺纹部分的轴,并且所述轴的直径沿螺纹部分的长度变化。
10.一种活组织检查装置,其包括:
具有侧组织容纳口的外部插管;
被设置成在所述插管内平移的内部管状切割器;
具有可变节距的螺纹部分的旋转构件,其中该旋转构件可操作地与所述切割器相关联,以便改变切割器的平移速度。
11.如权利要求10所述的活组织检查装置,包括用于旋转所述旋转构件的马达。
12.如权利要求11所述的活组织检查装置,其特征在于,该马达是电动马达。
13.如权利要求10所述的活组织检查装置,其特征在于,所述的旋转构件具有相对粗的节距部分和相对细的节距部分。
14.如权利要求10所述的活组织检查装置,其特征在于,所述旋转构件包括与所述旋转构件的旋转无关地防止所述切割器平移的至少一个位置。
15.如权利要求14所述的活组织检查装置,其特征在于,所述旋转构件的所述至少一个位置邻近所述旋转构件的近端和远端。
16.如权利要求14所述的活组织检查装置,其特征在于,所述的螺纹部分适于在螺纹部分的近端和远端处允许旋转构件旋转而不提供所述切割器的平移。
17.如权利要求10所述的活组织检查装置,包括被支撑用来沿所述旋转构件平移的凸轮帽,其中该凸轮帽与旋转构件的螺纹部分接合,并且所述切割器可旋转地支撑在该凸轮帽上。
18.如权利要求17所述的活组织检查装置,还包括用于提供所述切割器的旋转的旋转轴。
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CN1753646A (zh) | 2006-03-29 |
US20050085838A1 (en) | 2005-04-21 |
CA2877504A1 (en) | 2004-09-10 |
CA2877504C (en) | 2017-07-25 |
US7252641B2 (en) | 2007-08-07 |
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