CN203328751U - 外科手术器械及其驱动装置 - Google Patents
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Abstract
本实用新型涉及医疗器械领域，公开了一种外科手术器械及其驱动装置，兼具电动和手动功能，以减少外科手术失败风险，为医生提供更灵活的操作方式。驱动装置包括：电机；行星齿轮减速箱，行星齿轮减速箱的输入太阳轮与电机的输出轴传动连接，行星齿轮减速箱的输出行星架通过传输机构与外科手术器械的执行机构传动连接；双向式棘轮机构，包括棘轮、双向棘爪组件和止位机构，棘轮与行星齿轮减速箱的齿圈固定连接，双向棘爪组件包括双向棘爪，止位机构能够选择性地驱动双向棘爪的第一锁止端或第二锁止端来锁止棘轮，使得：在电机通过行星齿轮减速箱提供驱动时能够锁止棘轮的相应转动，在传输机构带动行星齿轮减速箱时能够使所述棘轮的相应转动无锁止。
Description
技术领域
本实用新型涉及医疗器械技术领域，特别是涉及一种外科手术器械及其驱动装置。
背景技术
切割缝合器是一种被广泛应用于外科手术中的医疗器械，具有缝合与切割两个功能，在对组织进行切割的同时，可对切口进行缝合。如图1所示，切割缝合器通常包括手柄10、细长体11和末端执行器12，其中，手柄10设置有驱动装置，用于被使用者握持和操作以提供控制和驱动，手柄10的远侧(操作时靠近使用者的一侧为近侧，远离使用者的一侧为远侧)通过细长体11与末端执行器12连接，末端执行器12用于在手柄10的控制和驱动下对组织执行切割和缝合。
电动式切割缝合器是一种可以提高手术效率及手术精确度的外科手术器械，其由位于手柄内的电机作为动力源为传输机构提供驱动力，以控制末端执行器的钳口的张开闭合及器械的前进与回退。
现有技术存在的缺陷在于，当电动式切割缝合器在使用过程中出现故障，例如电池的电量用尽或者电动机故障，这时便无法继续已经进行了一半的切割缝合动作，并且由于电机的自阻力极大，也很难通过手动的方式实现器械的张开和回退，会导致手术失败，给患者带来极大痛苦，并且如果更换新的手术器械，不但手术费用较高，而且存在较大的手术风险。
实用新型内容
本实用新型的目的是提供一种外科手术器械及其驱动装置，该外科手术器械及其驱动装置兼具电动功能和手动功能，以减少外科手术失败的风险，并可为医生提供更加灵活的操作方式。
本实用新型实施例所提供的外科手术器械的驱动装置，包括：
电机；
行星齿轮减速箱，所述行星齿轮减速箱的输入太阳轮与所述电机的输出轴传动连接，所述行星齿轮减速箱的输出行星架通过传输机构与外科手术器械的执行机构传动连接；
双向式棘轮机构，包括棘轮、双向棘爪组件和止位机构，所述棘轮与所述行星齿轮减速箱的齿圈固定连接，所述双向棘爪组件包括双向棘爪，所述止位机构能够选择性地驱动所述双向棘爪的第一锁止端或第二锁止端来锁止所述棘轮，使得：在所述电机通过所述行星齿轮减速箱提供驱动时能够锁止所述棘轮的相应转动，在所述传输机构带动所述行星齿轮减速箱时能够使所述棘轮的相应转动无锁止。
优选的，所述双向棘爪组件还包括：销轴和第一扭簧，其中，所述双向棘爪枢装于所述销轴，所述第一扭簧套设于所述销轴且处于蓄能状态，所述第一扭簧的两个簧臂分别抵接于所述双向棘爪和与所述销轴相对固定的阻挡壁，使所述双向棘爪的第二锁止端插入所述棘轮的齿间；
所述驱动装置还包括：控制所述电机与电源通断及控制所述电机旋转方向的驱动柄，所述止位机构为设置于所述驱动柄上的止位器，当操作所述驱动柄朝向所述棘轮机构转动时，所述止位器推动所述双向棘爪的所述第一锁止端插入所述棘轮的齿间。
可选的，所述止位器为弹性材质的止位器且与所述驱动柄铰接，所述驱动柄具有限位柱，所述止位器具有与所述限位柱配合的限位槽。
可选的，所述驱动柄具有限位导向槽，所述止位器包括推动所述双向棘爪的所述第一锁止端的推顶件、可沿所述限位导向槽移动的导向件以及连接于所述推顶件和所述导向件之间的压簧。
可选的，所述止位器为弹性材质的止位器且与所述驱动柄固定连接。
优选的，所述双向棘爪组件还包括：销轴、具有凸起的推钮和第二扭簧，其中，所述双向棘爪与所述推钮具有簧臂卡槽，所述第二扭簧、所述双向棘爪和所述推钮从内到外依次套设于所述销轴，所述第二扭簧的两个簧臂抵接于所述双向棘爪与所述推钮的所述簧臂卡槽；
所述驱动装置还包括：控制所述电机与电源通断及控制所述电机旋转方向的驱动柄，所述止位机构为设置于驱动柄的与所述凸起配合的导向槽，当操作所述驱动柄朝向所述棘轮机构转动时，所述双向棘爪的所述第一锁止端插入所述棘轮的齿间，当操作所述驱动柄背向所述棘轮机构转动时，所述双向棘爪的所述第二锁止端插入所述棘轮的齿间。
更优的，所述推钮的簧臂卡槽呈C形。
优选的，所述传输机构包括与外科手术器械的所述执行机构传动连接的齿条，所述驱动装置还包括：与所述齿条连接的复位帽。
优选的，所述齿条面向所述驱动柄的一侧具有棘条齿；
所述驱动装置还包括：与所述驱动柄铰接的单向棘爪，以及套设于所述驱动柄和所述单向棘爪的铰接轴的第三扭簧，所述第三扭簧的两个簧臂分别抵接于所述单向棘爪和所述驱动柄；
当往复操作所述驱动柄朝向所述棘轮机构转动时，所述单向棘爪推动所述齿条前进。
更优的，所述驱动柄包括前进柄和回退柄，其中，所述前进柄靠近所述棘轮机构；
所述传输机构还包括：与所述行星齿轮减速箱的输出行星架连接的主轴、设置于所述主轴上的第一齿轮，以及与所述第一齿轮和所述齿条分别啮合的第二齿轮。
优选的，所述行星齿轮减速箱为三级行星齿轮减速箱，每一级行星轮的数量为三个。
本实用新型实施例还提供了一种外科手术器械，包括前述任一技术方案所述的驱动装置。
可选的，所述外科手术器械为具有腔镜规格的切割缝合器。
在本实用新型技术方案中，止位机构能够选择性地驱动双向棘爪的第一锁止端或第二锁止端来锁止棘轮，当电机通过行星齿轮减速箱提供驱动时，止位机构能够锁止棘轮的相应转动，这时电机的动力可以输出至传输机构，以实现电动前进及电动回退；当传输机构带动行星齿轮减速箱时，止位机构能够使棘轮的相应转动无锁止，这时行星齿轮减速箱空转，动力不会传输至电机的输出轴，电机的阻力不传递给行星齿轮减速箱，因此，可以实现手动回退及手动前进。相比于现有技术，该驱动装置和外科手术器械兼具电动功能和手动功能，大大减少了外科手术失败的风险，并给医生提供了更加灵活的操作方式。
附图说明
图1为现有切割缝合器的整体结构示意图；
图2为本实用新型第一实施例的驱动装置结构示意图；
图3为电机与行星齿轮减速箱传动连接示意图；
图4为本实用新型第一实施例中双向式棘轮机构及止位器结构示意图；
图5为本实用新型第二实施例中双向式棘轮机构及止位器结构示意图；
图6为本实用新型第三实施例中双向式棘轮机构及止位器结构示意图；
图7为本实用新型第四实施例中棘爪机构结构示意图；
图8为本实用新型第四实施例中驱动柄结构示意图；
图9为本实用新型实施例中传输机构结构示意图。
附图标记：
10-手柄 11-细长体 12-末端执行器
13-电机 14-行星齿轮减速箱 15-太阳轮
16-行星轮 17-齿圈 18-输出侧端盖
19-行星架 20-棘轮 21-双向棘爪
22-第一锁止端 23-第二锁止端 24-销轴
25a-第一扭簧 25b第二扭簧 25c-第三扭簧
26-驱动柄 27-止位器 28-限位导向槽
29-推顶件 30-导向件 31-压簧
32-推钮 33-簧臂卡槽 34-凸起
35-导向槽 36-齿条 37-复位帽
38-棘条齿 39-单向棘爪 41-前进柄
42-回退柄 43-主轴 44-第一齿轮
45-第二齿轮 46-限位柱 47-限位槽
具体实施方式
为了减少外科手术失败的风险并提供更加灵活的操作方式，本实用新型实施例提供了一种外科手术器械及其驱动装置。在本实用新型技术方案中，止位机构能够选择性地驱动双向棘爪的第一锁止端或第二锁止端来锁止棘轮，当电机通过行星齿轮减速箱提供驱动时，止位机构能够锁止棘轮的相应转动，这时电机的动力可以输出至传输机构，以实现电动前进及电动回退；当传输机构带动行星齿轮减速箱时，止位机构能够使棘轮的相应转动无锁止，这时行星齿轮减速箱空转，动力不会传输至电机的输出轴，电机的阻力不传递给行星齿轮减速箱，因此，可以实现手动回退及手动前进。相比于现有技术，该驱动装置和外科手术器械兼具电动功能和手动功能，大大减少了外科手术失败的风险，并为医生提供了更加灵活的操作方式。为使本实用新型的目的、技术方案和优点更加清楚，以下举实施例对本实用新型作进一步详细说明。
如图2所示，本实用新型实施例的外科手术器械的驱动装置，包括：
电机13；
行星齿轮减速箱14，行星齿轮减速箱14的输入太阳轮与电机13的输出轴传动连接，行星齿轮减速箱14的输出行星架通过传输机构与外科手术器械的执行机构传动连接；
双向式棘轮机构，包括棘轮20、双向棘爪组件和止位机构，棘轮20与行星齿轮减速箱14的齿圈17固定连接，双向棘爪组件包括双向棘爪21，止位机构能够选择性地驱动双向棘爪21的第一锁止端22或第二锁止端23来锁止棘轮20，使得：在电机13通过行星齿轮减速箱14提供驱动时能够锁止棘轮20的相应转动，在传输机构带动行星齿轮减速箱14时能够使棘轮20的相应转动无锁止。
在本实用新型的各实施例中，包含该驱动装置的外科手术器械的具体类型不限，例如可以为需要进行张开、闭合、前进及回退的荷包钳、切割缝合器等等。所述“远侧”指该器械被操作时远离使用者的一侧，所述“近侧”则指该器械被操作时靠近使用者的一侧。“前进”指向远离使用者的方向运动，“后退”则指向靠近使用者的方向运动。所述“正转”和“逆转”可以具体定义，例如，“正转”指顺时针旋转，“逆转”指逆时针旋转，或者，“正转”指逆时针旋转，“逆转”指顺时针旋转，无论如何为定义，需要使驱动装置的传动符合实际应用。
行星齿轮减速箱结构紧凑，回程间隙较小、额定输出扭矩较大，精度较高，并且使用寿命较长，因此被广泛应用于医疗器械等领域。行星齿轮减速箱根据传动比可以分为多级，例如一级减速、二级减速、三级减速等等。为了使行星齿轮减速箱的传动比与外科手术器械的手术标准要求相匹配，本实用新型实施例的驱动装置中，行星齿轮减速箱14优选为三级行星齿轮减速箱，每一级行星轮的数量为三个。
如图3所示，三级行星齿轮减速箱中(为体现内部结构，齿圈、端盖、三级行星架等未在图中示出)，每一级均包括太阳轮15、行星轮16和行星架19。其中，一级太阳轮与电机13的输出轴传动连接，三个一级行星轮与一级太阳轮啮合，一级行星架与二级太阳轮传动连接，三个二级行星轮与二级太阳轮啮合，二级行星架与三级太阳轮传动连接，三个三级行星轮与三级太阳轮啮合，三级行星架(即输出行星架)与传输机构传动连接，并且，三个一级行星轮、三个二级行星轮和三个三级行星轮均与齿圈(齿圈是一种具有内齿的圈形齿轮，在行星齿轮减速箱14中，行星轮16设置在齿圈17内并与其啮合)啮合。该实施例中，行星齿轮减速箱14具有输出侧端盖18，该输出侧端盖18与齿圈17固定连接，棘轮20与输出侧端盖18固定连接，从而实现棘轮20与齿圈17的固定连接。当然，棘轮20与齿圈17也可通过其它方式实现固定连接，例如，棘轮可以通过焊接或者螺栓紧固等方式直接固定在齿圈的端面。
驱动装置的工作原理为：
双向式棘轮机构可改变双向棘爪21的摆动方向，以选择性地使双向棘爪21的两个锁止端作用于棘轮20，以分别锁止棘轮20不同方向的转动，并且当棘爪21在其中一个方向上锁止棘轮20时允许棘轮20沿另一个方向转动。通常，双向式棘轮机构的棘轮20采用对称齿形，例如矩形，而棘爪21则在摆动轴的两侧具有两个锁止端，这两个锁止端可以呈对称或者不对称分布，在本实用新型的各个实施例中，棘爪21具有对称结构。
在本实用新型的各个实施例中，所述“相应转动”是指：当电机13正转时，棘轮20具有逆转的旋转趋势(如果此时未被锁止，将会被电机13驱动而逆转，从而导致行星齿轮减速箱14处于空转状态，电机13的驱动不会传递给传输机构)；同理，当电机13逆转时，棘轮20具有正转的旋转趋势(如果此时未被锁止，将会被电机13驱动而正转，从而导致行星齿轮减速箱14处于空转状态，电机13的驱动不会传递给传输机构)；当传输机构带动行星齿轮减速箱14的输出行星架正转时，棘轮20具有正转的旋转趋势(如果此时未被锁止，将会被传输机构驱动而正转，从而导致行星齿轮减速箱14处于空转状态，电机13的阻力不会传递给传输机构)，同理，当传输机构带动行星齿轮减速箱14的输出行星架逆转时，棘轮具有逆转的旋转趋势(如果此时未被锁止，将会被传输机构驱动而逆转，从而导致行星齿轮减速箱14处于空转状态，电机13的阻力不会传递给传输机构)。
当电机13正转或逆转时，棘轮20的相应转动被双向棘爪21锁止，由于棘轮20与齿圈17固定连接，导致了齿圈17也不能相应转动(在电机13通过行星齿轮减速箱14提供驱动的情况下，齿圈17具有与电机13转向相反的旋转趋势)。从而，电机13的驱动力将带动每一级中的太阳轮15、行星轮16和行星架19转动，最终动力由三级行星架输出至传输机构，以提供电动前进驱动或者电动回退驱动，外科手术器械在电动前进驱动下可实现闭合、切割和缝合等功能，在电动回退驱动下可实现张开、回退等功能。
在电机13故障或负载过大或其他需要手动操作的情况下，则需要手动来驱动传输机构前进或回退，此时传输机构会带动行星齿轮减速箱14的三级行星架旋转(亦即传输机构驱动行星齿轮减速箱14的情况)，由于齿圈17和棘轮20在传输机构驱动行星齿轮减速箱14的情况下的转动趋势与在电机13驱动行星齿轮减速箱14的情况下的转动趋势相反，因而即使在棘轮20与双向棘爪21未脱离之前的锁止时，双向棘爪21也不会锁止棘轮20和齿圈17的反向转动，从而可允许由手动来继续驱动之前的操作(前进或回退)，而在双向棘爪21与棘轮20脱离或以锁止棘轮20的相反方向转动时，则允许由手动来驱动与之前的操作相反的操作。具体地，传输机构的驱动力将带动齿圈17(齿圈17具有与三级行星架相同的转向)、每一级中的行星轮16和行星架19以及二级太阳轮和三级太阳轮转动，此时由于一级太阳轮与电机的输出轴固定连接，一级太阳轮不旋转，整个行星齿轮减速箱14处于空转状态，电机13的阻力不传递给行星齿轮减速箱14，可以实现手动前进或者手动回退。
如图4所示，该优选实施例中，双向棘爪组件还包括：销轴24和第一扭簧25a，其中，双向棘爪21枢装于销轴24，第一扭簧25a套设于销轴24且处于蓄能状态，第一扭簧25a的两个簧臂分别抵接于双向棘爪21和与销轴24相对固定的阻挡壁，使双向棘爪21的第二锁止端23插入棘轮20的齿间，以锁止棘轮20一个方向的转动；
驱动装置还包括：控制电机13与电源通断及控制电机13旋转方向的驱动柄26，止位机构为设置于驱动柄26上的止位器27，当操作驱动柄26朝向棘轮机构转动时，止位器27推动双向棘爪21的第一锁止端22插入棘轮20的齿间，以锁止棘轮20另一个方向的转动。
通过驱动柄26控制电机13与电源通断及控制电机13旋转方向的具体实现方式不限，例如，可以在驱动柄26内设置一弹性顶针，当操作驱动柄26朝向棘轮机构转动一定角度时，弹性顶针随之旋转并将驱动装置的前进电路接通，当操作驱动柄26背向棘轮机构转动一定角度时，弹性顶针随之旋转并将驱动装置的回退电路接通，当不操作驱动柄26时，电机13与电源之间未接通。
该实施例中，销轴24固定于外科手器械的手柄壳体(驱动装置位于手柄壳体内部，为体现驱动装置的结构，手柄壳体未在图中示出)，阻挡壁为手柄壳体的内壁。值得一提的是，销轴24也可以固定于手柄壳体内部的结构件，阻挡壁也可以是手柄壳体内部的结构件的侧壁。如图4所示，可以在双向棘爪21上设计阶梯面，第一扭簧25a置于阶梯面内，这时第一扭簧25a的两个簧臂分别抵接于阶梯面和手柄壳体的内壁。当不操作驱动柄26或操作驱动柄26背向棘轮机构转动时，双向棘爪21的第二锁止端23将在第一扭簧25a扭矩的作用下插入棘轮20的齿间。当操作驱动柄26朝向棘轮机构转动时，止位器27推动双向棘爪21的第一锁止端22插入棘轮20的齿间。因此，该实施例中，双向棘爪21可分别处于两个位置状态。
止位器27可以选择性地驱动双向棘爪21的两个锁止端分别锁止棘轮20的相应转动，并且当驱动柄26复位时，由于止位器27设置于驱动柄26上，因此，止位器27将随驱动柄26一起复位，止位器27对双向棘爪21的第一锁止端22的压力解除，双向棘爪21在第一扭簧25a的作用下将复位至初始位置(即双向棘爪21的第二锁止端23插入棘轮20的齿间)。止位器27的具体结构形式不限，例如图4所示的实施例，止位器27为弹性材质的止位器且与驱动柄26铰接，驱动柄26具有限位柱46，止位器27具有与限位柱46配合的限位槽47(该视图中，限位柱46与限位槽47隐藏于止位器27的内侧，因此以虚线示出)。又例如图5所示的实施例，驱动柄26具有限位导向槽28，止位器27包括推动双向棘爪21的第一锁止端22的推顶件29、可沿限位导向槽28移动的导向件30以及连接于推顶件29和导向件30之间的压簧31。再例如图6所示的实施例，止位器27为弹性材质的止位器且与驱动柄26固定连接。这些实施例中，止位器27均可以选择性地驱动双向棘爪21的两个锁止端分别锁止棘轮20的相应转动，并且可以随驱动柄26的复位而复位，此外，当止位器27压向双向棘爪21的第一锁止端22时，第一锁止端22能够将棘轮20的一个方向的转动锁止；棘轮20在另一个方向上的转动则未被锁止，棘轮20在另一个方向上的转动能够把第一锁止端22弹开，此时第一锁止端22对止位器27施加反作用力，由于止位器27整体具有弹性，因此，止位器27将发生弹性形变，这样有助于减少棘轮20在未被锁止的另一个方向上的转动阻力。
如图7和图8所示，图7示出了另外一种棘爪组件结构。双向棘爪组件还包括：销轴24、具有凸起34的推钮32和第二扭簧25b，其中，双向棘爪21与推钮32具有簧臂卡槽33，第二扭簧25b、双向棘爪21和推钮32从内到外依次套设于销轴24，第二扭簧25b的两个簧臂抵接于双向棘爪21与推钮32的簧臂卡槽33；
驱动装置还包括：控制电机13与电源通断及控制电机13旋转方向的驱动柄26，止位机构为设置于驱动柄26的与凸起34配合的导向槽35，当操作驱动柄26朝向棘轮机构转动时，双向棘爪21的第一锁止端22插入棘轮20的齿间，以锁止棘轮20一个方向的转动，当操作驱动柄26背向棘轮机构转动时，双向棘爪21的第二锁止端23插入棘轮20的齿间，以锁止棘轮20另一个方向的转动。
该实施例中，销轴24的固定方式不限，例如可以固定于外科手器械的手柄壳体，第二扭簧25b可以为C形簧。当不操作驱动柄26时，双向棘爪21的第一锁止端22和第二锁止端23与棘轮20均无接触，棘轮20在两个方向上均无锁止。当操作驱动柄26朝向棘轮机构转动时，驱动柄26推动推钮32转动，推钮32的簧臂卡槽33压缩第二扭簧25b的一侧簧臂，第二扭簧25b的另一侧簧臂将推动双向棘爪21的簧臂卡槽33，从而推动双向棘爪21的第一锁止端22插入棘轮20的齿间。与此同理，当操作驱动柄26背向棘轮机构转动时，双向棘爪21的第二锁止端23插入棘轮20的齿间。因此，该实施例中，双向棘爪21可分别处于三个位置状态。
请继续参照图7所示，推钮32的簧臂卡槽33呈C形。当双向棘爪21和推钮32之间存在较大的装配间隙时，可以防止第二扭簧25b的脱落，这使得外科手术器械的结构更加可靠。
如图9所示，传输机构包括与外科手术器械的执行机构传动连接的传动件，在该实施例中传动件为齿条36，驱动装置还包括：与齿条36连接的复位帽37。
复位帽37与齿条36具体可通过金属销连接。当需要对器械进行手动回退时，在棘轮20相应转动无锁止的情况下，向近侧拉动复位帽37即可将齿条36回退，从而使与齿条36传动连接的执行机构回退(例如使切割缝合器中末端执行器的切割刀或闭合件回退)，以实现器械的手动回退。此时，在不操作驱动柄26的情况下，无论是图4、图5或是图6所示的实施例，还是图7所示的实施例，双向棘爪21对棘轮20的手动回退转动均无锁止，行星齿轮减速箱14空转，电机13的阻力不传递给行星齿轮减速箱14。
请继续参照图9所示，齿条36面向驱动柄26的一侧具有棘条齿38；驱动装置还包括：与驱动柄26铰接的单向棘爪39，以及套设于驱动柄26和单向棘爪39的铰接轴的第三扭簧25c，第三扭簧25c的两个簧臂分别抵接于单向棘爪39和驱动柄26，使单向棘爪39插入棘条齿38的齿间(该图为零件装配设计图，第三扭簧25c处于自然状态；在实际装配中，第三扭簧25c将处于压缩状态，使单向棘爪39插入棘条齿38的齿间，且第三扭簧25c在该侧视图中不可见)；当往复操作驱动柄26朝向棘轮机构转动，单向棘爪39推动齿条36前进。
当需要对器械进行手动前进时，往复操作驱动柄26朝向棘轮机构转动，单向棘爪39将推动齿条36前进，以实现器械的手动前进。此时，无论是图4、图5或是图6所示的实施例，还是图7所示的实施例，双向棘爪21对棘轮20的手动前进转动均无锁止，行星齿轮减速箱14空转，电机13的阻力不传递给行星齿轮减速箱14。
如图9所示，驱动柄26包括前进柄41和回退柄42，其中，前进柄41靠近棘轮机构；传输机构还包括：与行星齿轮减速箱14的输出行星架连接的主轴43、设置于主轴43上的第一齿轮44，以及与第一齿轮44和齿条36分别啮合的第二齿轮45。
传输机构的结构形式不限，齿轮的具体类型、数量也不限。当需要进行前进时，向近侧按压前进柄41，当需要进行回退时，向远侧推动回退柄42，这样更便于操作者准确操作。需要说明的是，驱动柄26的结构形式不限于此，例如也可以只包含一个操作柄，或者，驱动柄26设计为环形，将手指置于环形内即可进行向近侧按压前进，向远侧推动回退的操作。
以图4所示实施例为例，假定电机13正转和逆转分别指顺时针旋转和逆时针旋转，该驱动装置的四种工作模式为：
一、电动前进：朝向棘轮机构持续按压前进柄41，电机13正转，双向棘爪21的第一锁止端22将棘轮20的逆转锁止而正转无锁止(即电动前进转动锁止而手动前进转动不锁止)，电机13的驱动通过行星齿轮减速箱14提供给传输机构，行星齿轮减速箱14的输出行星架、主轴43、第一齿轮44正转，第二齿轮45逆转，齿条36前进，从而实现电动前进。
二、电动回退：背离棘轮机构持续推压回退柄42，电机13逆转，双向棘爪21的第二锁止端23将棘轮20的正转锁止而逆转无锁止(即电动回退转动锁止而手动回退转动无锁止)，电机13的驱动通过行星齿轮减速箱14传递给传输机构，行星齿轮减速箱14的输出行星架、主轴43、第一齿轮44逆转，第二齿轮45正转，齿条36回退，从而实现电动回退。
三、手动前进：在电机13发生故障、或负载过大需要手动辅助、或其他需要手动前进的情况下，朝向棘轮机构反复按压前进柄41，当压下前进柄41时，推进器39推动齿条36前进，第二齿轮45逆转，行星齿轮减速箱14的输出行星架、主轴43、第一齿轮44正转，此时，双向棘爪21的第一锁止端22对棘轮20逆转锁止而正转无锁止(即手动前进转动无锁止)且会被棘轮弹开(此时，具有弹性的止位器27也会受到第一锁止端22的作用力而发生弹性变形)，行星齿轮减速箱14空转，电机13的阻力不传递给行星齿轮减速箱14，从而实现器械的手动前进。当松开前进柄41时，对于图4、图5及图6所示实施例，双向棘爪21的第二锁止端23插入棘轮20的齿间，将棘轮20的惯性正转锁止而无逆转锁止(即手动回退转动无锁止，此时止位器27的弹性变形消失)。而对于图7所示实施例，当松开前进柄41时，双向棘爪21与棘轮20无接触，棘轮20双向均无锁止，棘轮20仍可惯性正转。
如果需要通过复位帽37来驱动手动前进，则可以在朝向棘轮机构按压驱动柄26的同时(即棘轮20的手动前进转动无锁止)，向远侧推动复位帽37来实现。
四、手动回退：在电机13发生故障或其他需要手动前进的情况下，向近侧拉动复位帽37，此时齿条36回退，第二齿轮45正转，行星齿轮减速箱14的输出行星架、主轴43、第一齿轮44逆转，此时，在不操作驱动柄26的情况下，对于图4、图5及图6所示实施例，双向棘爪21的第二锁止端23对棘轮20的逆转无锁止(即手动回退转动无锁止)且会被棘轮20弹开；而对于图7所示实施例，双向棘爪21与棘轮20无接触，棘轮20双向均无锁止，因而，行星齿轮减速箱14空转，电机13的阻力不传递给行星齿轮减速箱14，从而实现器械的手动前进。
从上述各过程可以看出，止位机构能够选择性地驱动双向棘爪21的第一锁止端22或第二锁止端23来锁止棘轮20，当电机13通过行星齿轮减速箱14提供驱动时，止位机构能够锁止棘轮20的相应转动，这时电机13的动力可以输出至传输机构，以实现电动前进及电动回退；当传输机构带动行星齿轮减速箱14时，止位机构能够使棘轮20的相应转动无锁止，这时行星齿轮减速箱14空转，动力不会传输至电机13的输出轴，电机13的阻力不传递给行星齿轮减速箱14，因此，可以实现手动回退及手动前进。相比于现有技术，该驱动装置和外科手术器械兼具电动功能和手动功能，大大减少了外科手术失败的风险，并为医生提供了更加灵活的操作方式。
本实用新型实施例还提供了一种外科手术器械，包括前述任一实施例所述的驱动装置。外科手术器械的类型不限，在其中一个实施例中，外科手术器械为具有腔镜规格的切割缝合器。由于实施例所提供的外科手术器械兼具电动功能和手动功能，因此，大大减少了外科手术失败的风险，并为医生提供了更加灵活的操作方式。
显然，本领域的技术人员可以对本实用新型进行各种改动和变型而不脱离本实用新型的精神和范围。这样，倘若本实用新型的这些修改和变型属于本实用新型权利要求及其等同技术的范围之内，则本实用新型也意图包含这些改动和变型在内。
Claims (13)
1.一种外科手术器械的驱动装置，其特征在于，包括：
电机(13)；
行星齿轮减速箱(14)，所述行星齿轮减速箱(14)的输入太阳轮与所述电机(13)的输出轴传动连接，所述行星齿轮减速箱(14)的输出行星架通过传输机构与外科手术器械的执行机构传动连接；
双向式棘轮机构，包括棘轮(20)、双向棘爪组件和止位机构，所述棘轮(20)与所述行星齿轮减速箱(14)的齿圈(17)固定连接，所述双向棘爪组件包括双向棘爪(21)，所述止位机构能够选择性地驱动所述双向棘爪(21)的第一锁止端(22)或第二锁止端(23)来锁止所述棘轮(20)，使得：在所述电机(13)通过所述行星齿轮减速箱(14)提供驱动时能够锁止所述棘轮(20)的相应转动，在所述传输机构带动所述行星齿轮减速箱(14)时能够使所述棘轮(20)的相应转动无锁止。
2.如权利要求1所述的驱动装置，其特征在于，
所述双向棘爪组件还包括：销轴(24)和第一扭簧(25a)，其中，所述双向棘爪(21)枢装于所述销轴(24)，所述第一扭簧(25a)套设于所述销轴(24)且处于蓄能状态，所述第一扭簧(25a)的两个簧臂分别抵接于所述双向棘爪(21)和与所述销轴(24)相对固定的阻挡壁，使所述双向棘爪(21)的第二锁止端(23)插入所述棘轮(20)的齿间；
所述驱动装置还包括：控制所述电机(13)与电源通断及控制所述电机(13)旋转方向的驱动柄(26)，所述止位机构为设置于所述驱动柄(26)上的止位器(27)，当操作所述驱动柄(26)朝向所述棘轮机构转动时，所述止位器(27)推动所述双向棘爪(21)的所述第一锁止端(22)插入所述棘轮(20)的齿间。
3.如权利要求2所述的驱动装置，其特征在于，所述止位器(27)为弹性材质的止位器且与所述驱动柄(26)铰接，所述驱动柄(26)具有限位柱(46)，所述止位器(27)具有与所述限位柱(46)配合的限位槽(47)。
4.如权利要求2所述的驱动装置，其特征在于，所述驱动柄(26)具有限位导向槽(28)，所述止位器(27)包括推动所述双向棘爪(21)的所述第一锁止端(22)的推顶件(29)、可沿所述限位导向槽(28)移动的导向件(30)以及连接于所述推顶件(29)和所述导向件(30)之间的压簧(31)。
5.如权利要求2所述的驱动装置，其特征在于，所述止位器(27)为弹性材质的止位器且与所述驱动柄(26)固定连接。
6.如权利要求1所述的驱动装置，其特征在于，
所述双向棘爪组件还包括：销轴(24)、具有凸起(34)的推钮(32)和第二扭簧(25b)，其中，所述双向棘爪(21)与所述推钮(32)具有簧臂卡槽(33)，所述第二扭簧(25b)、所述双向棘爪(21)和所述推钮(32)从内到外依次套设于所述销轴(24)，所述第二扭簧(25b)的两个簧臂抵接于所述双向棘爪(21)与所述推钮(32)的所述簧臂卡槽(33)；
所述驱动装置还包括：控制所述电机(13)与电源通断及控制所述电机(13)旋转方向的驱动柄(26)，所述止位机构为设置于驱动柄(26)的与所述凸起(34)配合的导向槽(35)，当操作所述驱动柄(26)朝向所述棘轮机构转动时，所述双向棘爪(21)的所述第一锁止端(22)插入所述棘轮(20)的齿间，当操作所述驱动柄(26)背向所述棘轮机构转动时，所述双向棘爪(21)的所述第二锁止端(23)插入所述棘轮(20)的齿间。
7.如权利要求6所述的驱动装置，其特征在于，所述推钮(32)的簧臂卡槽(33)呈C形。
8.如权利要求2～7任一项所述的驱动装置，其特征在于，所述传输机构包括与外科手术器械的所述执行机构传动连接的齿条(36)，所述驱动装置还包括：与所述齿条(36)连接的复位帽(37)。
9.如权利要求8所述的驱动装置，其特征在于，
所述齿条(36)面向所述驱动柄(26)的一侧具有棘条齿(38)；
所述驱动装置还包括：与所述驱动柄(26)铰接的单向棘爪(39)，以及套设于所述驱动柄(26)和所述单向棘爪(39)的铰接轴的第三扭簧(25c)，所述第三扭簧(25c)的两个簧臂分别抵接于所述单向棘爪(39)和所述驱动柄(26)；
当往复操作所述驱动柄(26)朝向所述棘轮机构转动时，所述单向棘爪(39)推动所述齿条(36)前进。
10.如权利要求9所述的驱动装置，其特征在于，
所述驱动柄(26)包括前进柄(41)和回退柄(42)，其中，所述前进柄(41)靠近所述棘轮机构；
所述传输机构还包括：与所述行星齿轮减速箱(14)的输出行星架连接的主轴(43)、设置于所述主轴(43)上的第一齿轮(44)，以及与所述第一齿轮(44)和所述齿条(36)分别啮合的第二齿轮(45)。
11.如权利要求1所述的驱动装置，其特征在于，所述行星齿轮减速箱(14)为三级行星齿轮减速箱，每一级行星轮(16)的数量为三个。
12.一种外科手术器械，其特征在于，包括如权利要求1～11任一项所述的驱动装置。
13.如权利要求12所述的外科手术器械，其特征在于，所述外科手术器械为具有腔镜规格的切割缝合器。
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2013
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| US11992208B2 (en) | 2022-04-12 | 2024-05-28 | Cilag Gmbh International | Rotary drive systems for surgical instruments |
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