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CN110650705B - 机器人系统中的电外科工具的存在检测 - Google Patents

机器人系统中的电外科工具的存在检测 Download PDF

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CN110650705B
CN110650705B CN201880032770.0A CN201880032770A CN110650705B CN 110650705 B CN110650705 B CN 110650705B CN 201880032770 A CN201880032770 A CN 201880032770A CN 110650705 B CN110650705 B CN 110650705B
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布赖恩·罗克罗尔
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Abstract

机器人系统包括电外科发电机；电外科器械，其包括电外科连接器；以及机器人手臂，其具有耦合到所述电外科器械的器械驱动单元。所述器械驱动单元包括驱动单元壳体，所述驱动单元壳体具有：电外科插座，所述电外科插座与所述电外科发电机耦合并配置为与所述电外科连接器接合；启动连杆，所述启动连杆配置为与所述电外科连接器接合；以及检测开关，所述检测开关可由与所述电外科连接器接合后的所述致动连杆致动。

Description

机器人系统中的电外科工具的存在检测
背景技术
机器人手术系统目前应用于微创医疗过程中。一些机器人手术系统可能包括支撑手术机器人手臂的控制台和具有安装在机器人手臂的末端执行器(例如，镊子或抓取工具)的手术器械。机器人手臂为手术器械提供机械动力以进行手术和运动。
机器人手术系统还与电外科装置进行操作。电外科手术涉及在外科手术部位施加高射频电流以进行切割、消融、干燥或凝结组织。在单极电外科手术中，电源或有源电极将来自电外科发电机的射频交流电传输到目标组织。患者返回电极远离有源电极放置以将电流传导回发电机。
在双极电外科手术中，返回电极和有源电极彼此靠近放置，使得在两个电极之间形成电路(例如在电外科镊子的情况下)。通过这种方式，所施加的电流被限制在位于电极之间的身体组织中。因此，双极电外科手术通常涉及到器械的使用，以实现两个电极之间的电外科能量的集中传递。
当使用带有机器人系统的电外科装置时，将这些装置连接到电外科发电机的电线可能会缠绕在机器人手臂上。因此，需要提供一种将电外科装置连接到机器人手术系统的改进系统。
发明内容
根据本发明的一个实施例，公开了一种用于将机器人控制的电外科手术器械电连接到电外科发电机的设备。所述设备包括电外科连接器和机器人驱动单元壳体，所述机器人驱动单元壳体包括：电外科插座，所述电外科插座配置为与所述电外科连接器接合；启动连杆，所述启动连杆具有配置为与电外科连接器接合的第一段以及第二段；以及检测开关，当所述第一段与所述电外科连接器接合时，所述检测开关可由所述第二段致动。
根据上述实施例的一个方面，所述电外科插座为单极插座，其具有配置为电耦合到所述电外科连接器的触点。
根据上述实施例的另一个方面，所述启动连杆可以包括互连所述第一段和第二段的弯曲部分，所述第一段和第二段配置为围绕所述弯曲部分弯曲。第一段或第二段之一可以包括可变形部分，所述可变形部分配置为响应于第一段与所述电外科连接器接合而弯曲，其中所述电外科连接器与电外科插座完全接合。第一段可包括突起，所述突起设置在所述电外科连接器的接合路径中并配置为与所述电外科连接器接触。
根据本发明的另一个实施例，公开了一种用于将机器人控制的电外科手术器械电连接到电外科发电机的设备。所述设备包括电外科连接器和机器人驱动单元壳体，所述机器人驱动单元壳体包括：电外科插座，所述电外科插座配置为与所述电外科连接器接合；连接器连杆，所述连接器连杆配置为与所述电外科连接器接合；启动连杆，所述启动连杆具有配置为与所述连接器连杆接合的第一段和第二段；以及检测开关，当所述第一段与所述连接器连杆接合时，所述检测开关可由所述第二段致动。
根据上述实施例的一个方面，所述电外科插座为双极插座，其具有配置为电耦合到电外科连接器的有源触点和返回触点。
根据上述实施例的另一个方面，所述启动连杆包括互连所述第一段与所述第二段的中间段。所述启动连杆还可包括互连所述第一段和所述中间段的第一弯曲部分以及互连所述第二段和所述中间段的第二弯曲部分。
根据本发明的另一个实施例，公开了一种机器人手术系统。所述机器人系统包括电外科发电机；电外科器械，其包括电外科连接器；以及机器人手臂，其具有耦合到电外科器械的器械驱动单元。所述器械驱动单元包括驱动单元壳体，所述驱动单元壳体具有：电外科插座，所述电外科插座与电外科发电机耦合并配置为与所述电外科连接器接合；启动连杆，所述启动连杆配置为与所述电外科连接器接合；以及检测开关，所述检测开关可由与电外科连接器接合后的致动连杆致动。
根据上述实施例的一个方面，所述电外科器械为单极电外科器械，所述电外科插座包括配置为与所述电外科连接器接合的电触点。
根据上述实施例的另一个方面，所述电外科器械为双极电外科器械，所述电外科插座包括配置为与所述电外科连接器电耦合的有源触点和返回触点。
根据上述实施例的另一个方面，所述启动连杆包括配置为与所述电外科连接器接合的第一段和配置为致动所述检测开关的第二段。所述启动连杆可以包括互连所述第一段和所述第二段的弯曲部分，所述第一段和第二段配置为围绕所述弯曲部分弯曲。第一段或第二段之一可以包括可变形部分，所述可变形部分配置为响应于第一段与所述电外科连接器接合而弯曲，其中所述电外科连接器与电外科插座完全接合。第一段可包括突起，所述突起设置在所述电外科连接器的接合路径中并配置为与所述电外科连接器接触。
根据上述实施例的一个方面，机器人驱动单元壳体可以进一步包括连接器连杆，其配置为与电外科连接器接合。所述启动连杆的第二段可以配置为致动所述连接器连杆。所述启动连杆还可以包括互连所述第一段和所述第二段的中间段。所述启动连杆还可以包括互连所述第一段和所述中间段的第一弯曲部分以及互连所述第二段和所述中间段的第二弯曲部分。
附图说明
本文结合了附图对本发明的实施例进行了描述，其中：
图1是包括根据本发明的机器人手术组件的机器人手术系统的示意图；
图2是图1的机器人手术组件与电外科发电机的透视图；
图3是图2的电外科发电机的示意图；
图4是以断开配置示出的单极连接器的侧视截面图；
图5是以连接配置示出的图4的单极连接器的侧视截面图；
图6是以断开配置示出的双极连接器的侧视截面图；以及
图7是以连接配置示出的图6的双极连接器的侧视截面图。
具体实施方式
结合附图对本发明公开的机器人手术组件的实施例进行详细描述，其中类似的参考数字符号在每个视图中指定相同或对应的组件。本文所使用的术语“远端”是指机器人手术组件和/或与之相连的手术器械的更靠近患者的部分，而术语“近端”是指更远离患者的部分。
如下文详细描述的，本发明涉及一种用于与电外科发电机一起使用的机器人手术系统。所述机器人手术系统包括具有电外科器械的手术机器人手臂，所述电外科器械耦合到电外科发电机并由电外科发电机供电。所述电外科器械包括电外科连接器，其配置为耦合到从所述电外科发电机接收电源的电外科插座。所述电外科插座包括配置为与所述电外科连接器接合的启动连杆以及可由与所述电外科连接器接合后的致动连杆致动的检测开关。所述检测开关的致动向所述电外科发电机发出电外科器械的电外科连接器正确地连接到电外科插座的信号。
首先参见图1，机器人手术系统1包括多个手术机器人手臂2和3，其上可拆卸地连接有电外科器械10；控制装置4；以及耦合到控制装置4的操作台5。机器人手术系统1配置为用于躺在外科手术台“ST”上的患者“P”上，以使用手术器械(例如电外科器械10)以微创方式进行治疗。
操作台5包括显示手术部位的显示装置6和手动输入装置7和8，临床医生通过手动输入装置7和8能够远程操纵机器人手臂2和3。机器人手臂2和3中的每个均可由通过接头连接的多个构件组成。机器人手臂2和3可以由连接到控制装置4的电驱动器(未示出)驱动。控制装置4(例如，计算机)设置成基于存储在存储器中的一组可编程指令激活驱动器，使得机器人手臂2、3和电外科器械10响应于来自手动输入装置7、8的输入而根据运动执行所需的运动。
控制装置4可以控制多个电动机(例如，电动机1…n)，每个电动机配置为致动电外科器械10以实现电外科器械10的操作和/或运动。可以设想，控制装置4协调各个电动机(电动机1…n)的启动，以协调驱动构件(未示出)的顺时针或逆时针旋转，从而协调电外科器械10的操作和/或运动。在实施例中，多个电动机(电动机1…n)中的每个电动机可以配置为致动驱动杆或杠杆臂(未示出)以实现每个电外科器械10的操作和/或运动。
对于机器人手术系统的构造和操作的详细讨论，可参考2011年11月3日提交的题为《医生工作站(Medical Workstation)》的美国专利第8,828,023号，其全部内容通过引用并入本文。
参见图2，机器人手臂2包括基座2a、多个段2b和2c以及夹持器2d，其通过致动器(未示出)彼此耦合，从而允许机器人手臂2运动成各种构型。夹持器2d配置为接收器械驱动单元9，器械驱动单元9配置为与致动机构100'或100”耦合，致动机构100'或100”分别与单极电外科器械10'或双极电外科器械10”耦合。器械驱动单元9将来自其电动机(未示出)的致动力传输到电外科器械10'/10”的致动机构100'/100”，以驱动电外科末端执行器的部件(例如，单极电外科器械10'的有源电极23或双极电外科器械10”的相对钳口构件33和35)的运动。器械驱动单元9包括多个连接到各自电动机(未示出)的驱动构件(未示出)，使得驱动构件可相对于彼此独立旋转。
单极电外科器械10'包括一个或多个有源电极23，例如，用于治疗患者组织的电外科切割探针、消融电极等。电极23设置在轴24的远端。电外科交变射频RF电流由发电机200通过发电机200的有源端子230(图3)提供给单极电外科器械10'，从而能够使器械10'进行切割、凝结、热或非热消融和/或以其他方式处理组织。交流电通过发电机200的返回端子232(图3)通过返回电极极板26返回到发电机200。对于单极操作，系统1可包括多个返回电极极板26，在使用中，其布置在患者上，以通过最大化与患者的整体接触面积来最小化组织损伤的机会。此外，发电机200和返回电极极板26可以配置为用于监测组织与患者的接触。
双极电外科器械10”可以是双极电外科镊子，其具有用于治疗患者组织的一个或多个电极。双极电外科器械10”包括设置在轴32的远端部分的相对钳口构件33和35。钳口构件33和35分别具有设置在其中的一个或多个有源电极34和返回电极36。有源电极34和返回电极36分别通过有源和返回端子230、232连接到发电机200(图3)。
发电机200可以耦合到控制装置4(图1)，使得控制装置4可以监测和/或操作发电机200。参见图3，发电机200可以是任何合适的电外科发电机，其包括控制器224、电源227和电源转换器228。电源227可以是一个高压直流DC电源，连接到一个交流AC电源(例如，线电压)，并向电源转换器228提供高压直流DC电源，然后将高压直流DC电源转换为射频RF能量，并将能量传输到有源端子230。能量通过返回端子232返回。特别地，用于通电电外科器械10'/10”的电外科能量通过有源和返回端子230和232传送。有源和返回端子230和232可以通过隔离变压器229耦合到电源转换器228。可以设想，隔离变压器229可以是可选的，并且可选地，有源和返回端子230和232可以直接耦合到转换器228。
控制器224包括可操作地连接到存储器226的处理器225，存储器226可以包括易失性、非易失性、磁性、光学或电介质中的一个或多个，例如只读存储器(ROM)、随机存取存储器(RAM)、电可擦除可编程ROM(EEPROM)、非易失性RAM(NVRAM)或闪存。处理器225可以是适于执行本发明所述操作、计算和/或指令集的任何合适的处理器(例如，控制电路)，包括但不限于硬件处理器、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、中央处理单元(CPU)、微处理器及其组合。本领域的技术人员应了解，处理器225可为适于执行本文所述的计算和/或指令集的任何逻辑处理器(例如，控制电路)。
控制器224包括可操作地连接到电源227和/或电源转换器228的输出端口(未示出)，其允许处理器225根据开环和/或闭环控制回路方案来控制发电机200的输出。闭环控制方案是反馈控制回路，其中多个传感器测量各种组织和能量特性(例如，组织阻抗、组织温度、输出功率、电流和/或电压等)，并向控制器224提供反馈。然后控制器224控制电源227和/或电源转换器228，分别调节直流电DC和/或电源。
根据本发明的发电机200还可以包括多个传感器280，例如电流传感器280a和电压传感器280b。传感器280a和280b可以耦合到电源227和/或电源转换器228，并可配置为感测提供给电源转换器228的直流DC电流和/或由电源转换器228输出的射频RF能量的特性。发电机200的各种部件，即电源转换器228、电流和电压传感器280a、280b，可配置在印刷电路板(PCB)上。控制器224还接收来自发电机200和/或电外科器械10'/10”的输入控制的输入信号。控制器224利用输入信号来调节由发电机200输出的功率和/或在其上执行其它控制功能。美国专利第9,283,028号更详细地描述了一种电外科发电机，其全部内容通过引用并入本文。
参见图2，电外科发电机200经由电缆240向电外科器械10'/10”提供电源。电缆240包括发电机连接器244和驱动单元连接器246。发电机连接器244耦合到电外科发电机200的一个或多个端口(未示出)。驱动单元连接器246与器械驱动单元9耦合，使得耦合到器械驱动单元9的电外科器械10'/10”接收来自发电机200的电外科功率。
参见图4和5，示出了单极驱动单元400。单极驱动单元400，与器械驱动单元9类似，也配置为与夹持器2d(图1)耦合，其包括驱动单元壳体402，其中设置致动机构100'。单极驱动单元400还包括通过电缆240电耦合到发电机200的单极插座404。单极插座404包括触点406，其配置为与单极连接器408耦合。触点406耦合到一个或多个引线411，引线411将单极电外科器械10'的有源电极23电连接到触点406。
单极驱动单元400还包括检测组件410，该检测组件410具有启动连杆412，其配置为与设置在驱动单元壳体402内壁上的检测开关413接合。在实施例中，检测开关413可以配置在驱动单元壳体402内的任何表面上，在该表面上检测开关413可以由启动连杆412致动。检测开关413可以是可以通过物理接触(即，从启动连杆412)致动的任何合适的电开关，例如限位开关、按钮开关等。启动连杆412包括配置为与单极连接器408接合的第一段414以及配置为与检测开关413接合的第二段416。启动连杆412可以由任何合适的柔性或弹性非导电材料例如聚合物形成。第一段414和第二段416以彼此相对的任何合适角度设置，在实施例中，该角度可以大于90度。第一段414通过弯曲部分417与第二段416互连。此外，第一段414或第二段416之一还包括可变形部分418，其显示为第二段416的一部分，从而允许第二段416相对于第一段414弯曲或变形。第一段414还包括配置为与单极连接器408接合的突起420。
在使用过程中，单极连接器408按图4所示的“A”方向插入单极插座404中，从而与单极插座404的触点406电耦合。单极连接器408还接合启动连杆412，具体地接合第一段414的突起420。此种接合沿垂直于方向“A”的方向横向推动第一段414。这反过来，在设置在第一段414和第二段416之间的弯曲部分417处弯曲启动连杆412。由于第一段414被完全压缩，机械应变转移到第二段416，特别是可变形部分418。第二段416的可变形部分418具有由公式(I)定义的预定刚度k：
(I)k＝F/δ
在公式(I)中，F是通过插入单极连接器408作用于可变形部分418的力，δ是在垂直于由第二段416定义的纵轴方向上的位移(例如，距离)。选择/调整可变形部分418的刚度k，使其变形，使第二段416在单极连接器408插入并与触点406接合时与检测开关413接合。因此，一旦完全插入，单极连接器408偏转第一段414，从而使得第二段416弯曲，而第二段416反过来致动可朝“A”方向(图5)致动的检测开关413。相反地，部分插入的单极连接器408仅部分偏转第一段414，不会使第二段416充分弯曲以接合检测开关413。
此外，可变形部分418允许启动连杆412与检测开关413解耦，允许施加到检测开关413上的力被限制到即使附接不同直径的单极连接器408也不会使其断裂的水平。
检测开关413电耦合到单极驱动单元400的控制电路422，使得在启动时，控制电路422响应于启动连杆412的接合而接收来自检测开关413的信号。单极驱动单元400然后与控制装置4和/或发电机200通信，指示单极电外科器械10'电耦合到单极插座404。然后，控制装置4和/或发电机200可以启用与单极电外科器械10'相关的特定操作模式。此外，控制装置4和/或发电机200也可向用户输出单极电外科器械10'已连接并可使用的指示。
参见图6和7，示出了双极驱动单元500。双极驱动单元500包括驱动单元壳体502，其中设置电外科器械10”的致动机构100”。双极驱动单元500还包括通过电缆240(图2)电耦合到发电机200的双极插座504。双极插座504包括有源触点506和返回触点507，其配置为与双极连接器508耦合，从而将双极电外科器械10”的有源电极34和返回电极36(图2)分别电连接到发电机200。有源触点506和返回触点507分别耦合到引线509a和509b，从而将双极电外科器械10”的有源电极34和返回电极36(图2)电连接到有源触点506和返回触点507。
双极驱动单元500还包括检测组件510，其基本上类似于检测组件410。检测组件510包括配置为与设置在驱动单元壳体502内壁上的检测开关513接合的连接器连杆511和启动连杆512。在实施例中，检测开关513可配置在驱动单元壳体502内的任何表面上，在该表面上检测开关513可以由启动连杆512致动。
连接器连杆511包括配置为与双极连接器508接合的远端部分511a和配置为与启动连杆512接合的近端部分511b。特别地，连接器连杆511配置为在与双极连接器508的插入方向“A”(图6)相同的方向上移动。在实施例中，连接器连杆511可包括弹簧(未示出)或用作弹簧，该弹簧沿与方向“A”相反的方向“B”偏压连接器连杆511。在进一步实施例中，连接器连杆511可以与双极驱动器单元500耦合。
启动连杆512包括配置为与连接器连杆511接合的第一段514。启动连杆512还包括配置为与检测开关513接合的中间段516和第二段518。第一段514通过第一弯曲部分517与中间段516互连，中间段516通过第二弯曲部分519与第二段518互连。启动连杆512可以由任何合适的柔性或弹性非导电材料例如聚合物形成。
在使用过程中，双极连接器508沿方向“A”插入，直到完全接合(例如，完全插入)双极插座504，从而与有源触点506和返回触点507电耦合。双极连接器508还与连接器连杆511的远端511a接合，使得连接器连杆511的近端部分511b与启动连杆512的第一段514接合。此种接合沿方向“A”推动第一段514。这反过来使启动连杆512在第一段514和中间段516之间的第一弯曲部分517处以及在中间段516和第二段518之间的第二弯曲部分519处弯曲。由于第一段514被完全压缩，机械应变通过第一和第二弯曲部分517和519以及中间段516转移到第二段518。
类似于启动连杆412，启动连杆512还可以具有由公式(I)定义的预定刚度k：
(I)k＝F/δ
在公式(I)中，F是作用于启动连杆512的力，δ是在垂直于由第一段514定义的纵轴方向上的位移(例如，距离)。选择/调整启动连杆512的刚度k，使其变形，允许双极连接器508的接合发生变化，并防止检测开关513的机械过载。因此，一旦完全插入，双极连接器508偏转第一段514，使得中间段516弯曲并沿方向“A”推动第二段518，反过来与检测开关513(图7)接合。相反地，部分插入的双极连接器508仅部分地偏转第一段514，不会使中间段516充分弯曲以接合检测开关513。
检测开关513电耦合到双极驱动单元500的控制电路522，使得在启动时，控制电路522响应于启动连杆512的接合而接收来自检测开关513的信号。双极驱动单元500然后与控制装置4和/或发电机200通信，指示双极电外科器械10”电耦合到双极插座504。然后，控制装置4和/或发电机200可以启用与双极电外科器械10”相关的特定操作模式。此外，控制装置4和/或发电机200还可向用户输出双极电外科器械10”已连接并可使用的指示。
应当理解，可以对本发明公开的实施例进行各种修改。在实施例中，通过改变所使用的触点的数量，检测组件410和510可以与单极和双极插座404和504或任何其它电连接器互换使用。因此，上述描述不应被解释为限制性的，而仅仅是各种实施例的示例。本领域技术人员可在其所附权利要求的范围和精神范围内进行其它修改。

Claims (17)

1.一种用于将机器人控制的电外科器械电连接到电外科发电机的设备，包含：
电外科连接器；以及
机器人驱动单元壳体，所述机器人驱动单元壳体包括：
电外科插座，所述电外科插座配置为与所述电外科连接器接合；
启动连杆，所述启动连杆具有配置为与所述电外科连接器接合的第一段和第二段；以及
检测开关，所述检测开关在所述第一段与所述电外科连接器接合时能够由所述第二段致动，
其中所述第一段或所述第二段中的至少一个包括可变形部分，所述可变形部分配置为响应于所述第一段与所述电外科连接器接合而弯曲以使所述第二段与所述检测开关接合，其中所述电外科连接器与所述电外科插座完全接合，其中所述可变形部分允许所述启动连杆与所述检测开关解耦。
2.根据权利要求1所述的设备，其中所述电外科插座为单极插座，所述单极插座具有配置为与所述电外科连接器电耦合的触点。
3.根据权利要求2所述的设备，其中所述启动连杆包括互连所述第一段与所述第二段的弯曲部分，所述第一段和所述第二段配置为围绕所述弯曲部分弯曲。
4.根据权利要求1所述的设备，其中所述第一段包括突起，所述突起设置在所述电外科连接器的接合路径中并配置为与所述电外科连接器接触。
5.一种用于将机器人控制的电外科器械电连接到电外科发电机的设备，包含：
电外科连接器；以及
机器人驱动单元壳体，所述机器人驱动单元壳体包括：
电外科插座，所述电外科插座配置为与所述电外科连接器接合；
连接器连杆，所述连接器连杆配置为与所述电外科连接器接合；
启动连杆，所述启动连杆具有配置为与所述连接器连杆接合的第一段和第二段；以及
检测开关，所述检测开关在所述第一段与所述连接器连杆接合时能够由所述第二段致动，
其中所述第一段或所述第二段中的至少一个包括可变形部分，所述可变形部分配置为响应于所述第一段与所述电外科连接器接合而弯曲以使所述第二段与所述检测开关接合，其中所述电外科连接器与所述电外科插座完全接合，其中所述可变形部分允许所述启动连杆与所述检测开关解耦。
6.根据权利要求5所述的设备，其中所述电外科插座为双极插座，所述双极插座具有配置为电耦合到所述电外科连接器的有源触点和返回触点。
7.根据权利要求6所述的设备，其中所述启动连杆包括与所述第一段和所述第二段互连的中间段。
8.根据权利要求7所述的设备，其中所述启动连杆包括将所述第一段与所述中间段互连的第一弯曲部分以及将所述第二段与所述中间段互连的第二弯曲部分。
9.一种机器人手术系统，包含：
电外科发电机；
电外科器械，所述电外科器械包括电外科连接器；以及
机器人手臂，所述机器人手臂包括耦合到所述电外科器械的器械驱动单元，所述器械驱动单元包括驱动单元壳体，所述驱动单元壳体具有：
电外科插座，所述电外科插座耦合到所述电外科发电机并配置为与所述电外科连接器接合；
启动连杆，所述启动连杆配置为与所述电外科连接器接合；以及
检测开关，所述检测开关能够由与所述电外科连接器接合后的所述启动连杆致动，
其中所述启动连杆包括配置为与所述电外科连接器接合的第一段和配置为致动所述检测开关的第二段,
其中所述第一段或所述第二段中的至少一个包括可变形部分，所述可变形部分配置为响应于所述第一段与所述电外科连接器接合而弯曲以使所述第二段与所述检测开关接合，其中所述电外科连接器与所述电外科插座完全接合，其中所述可变形部分允许所述启动连杆与所述检测开关解耦。
10.根据权利要求9所述的机器人手术系统，其中所述电外科器械为单极电外科器械，且所述电外科插座包括配置为与所述电外科连接器耦合的电触点。
11.根据权利要求9所述的机器人手术系统，其中所述电外科器械为双极电外科器械，且所述电外科插座包括配置为与所述电外科连接器电耦合的有源触点和返回触点。
12.根据权利要求9所述的机器人手术系统，其中所述启动连杆包括互连所述第一段和所述第二段的弯曲部分，所述第一段和所述第二段配置为围绕所述弯曲部分弯曲。
13.根据权利要求9所述的机器人手术系统，其中所述第一段包括突起，所述突起设置在所述电外科连接器的接合路径中并配置为与所述电外科连接器接触。
14.根据权利要求9所述的机器人手术系统，其中所述驱动单元壳体进一步包括连接器连杆，所述连接器连杆配置为与所述电外科连接器接合。
15.根据权利要求14所述的机器人手术系统，其中所述启动连杆的所述第二段配置为致动所述连接器连杆。
16.根据权利要求15所述的机器人手术系统，其中所述启动连杆包括将所述第一段与所述第二段互连的中间段。
17.根据权利要求16所述的机器人手术系统，其中所述启动连杆包括将所述第一段与所述中间段互连的第一弯曲部分以及将所述第二段与所述中间段互连的第二弯曲部分。
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