BR112020011883A2 - conjuntos de preensão dinâmicos com melhores características de desgaste para uso em conexão com instrumentos cirúrgicos eletromecânicos - Google Patents
conjuntos de preensão dinâmicos com melhores características de desgaste para uso em conexão com instrumentos cirúrgicos eletromecânicos Download PDFInfo
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
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- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A61B90/08—Accessories or related features not otherwise provided for
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
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- H01R13/46—Bases; Cases
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- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
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Abstract
A presente invenção refere-se ao conjunto de preensão dinâmico para uso com um instrumento cirúrgico que inclui uma primeira e uma segunda garras que são acopladas de modo pivotante e móveis entre as posições aberta e fechada. O conjunto de preensão dinâmico inclui primeiros recursos de engate de garra configurados para engatar deslizantemente o primeiro e o segundo recursos de engate de garra configurados para engatar deslizantemente a segunda garra para aplicar movimentos de fechamento à primeira e à segunda garras. Os primeiros recursos de engate de garra e/ou os segundos recursos de engate de garra incluem um revestimento de superfície configurado para aumentar uma dureza dos mesmos.
Description
Relatório Descritivo da Patente de Invenção para "CONJUNTOS DE PREENSÃO DINÂMICOS COM MELHORES
[001] A presente invenção refere-se a instrumentos cirúrgicos e, em várias disposições, a instrumentos cirúrgicos para grampeamento e corte e a cartuchos de grampos para uso com os mesmos, que são projetados para grampear e cortar tecido.
[002] Várias características das modalidades aqui descritas, juntamente com suas vantagens, podem ser entendidas de acordo com a descrição apresentada a seguir, considerada em conjunto com os desenhos em anexo, conforme exposto a seguir:
[003] A Figura 1 é uma vista em perspectiva de um instrumento cirúrgico eletromecânico;
[004] A Figura 2 é uma vista em perspectiva de uma extremidade distal de uma porção do instrumento cirúrgico eletromecânico do sistema cirúrgico da Figura 1;
[005] A Figura 3 é uma vista explodida do conjunto de um recurso do envoltório externo e do instrumento cirúrgico eletromecânico da Figura 2;
[006] A Figura 4 é uma vista em perspectiva traseira de uma porção do instrumento cirúrgico eletromecânico da Figura 2;
[007] A Figura 5 é uma vista parcial explodida do conjunto de uma porção de um adaptador e do instrumento cirúrgico eletromecânico do sistema cirúrgico da Figura 1;
[008] A Figura 6 é uma vista explodida do conjunto de uma porção do adaptador da Figura 5;
[009] A Figura 7 é uma vista em perspectiva em seção transversal de uma porção do conjunto de articulação de um adaptador;
[0010] A Figura 8 é uma vista em perspectiva do conjunto de articulação da Figura 7;
[0011] A Figura 9 é uma outra vista em perspectiva do conjunto de articulação da Figura 8;
[0012] A Figura 10 é uma vista explodida do conjunto de uma unidade de carga empregada no sistema do instrumento cirúrgico eletromecânico da Figura 1;
[0013] A Figura 11 é uma vista em perspectiva de uma modalidade alternativa do adaptador;
[0014] A Figura 12 é uma vista em elevação lateral de uma porção de uma unidade de carga do adaptador da Figura 11 com as suas garras em uma posição aberta;
[0015] A Figura 13 é uma outra vista em elevação lateral de uma porção da unidade de carga da Figura 11 com as suas porções mostradas em seção transversal e as suas garras em uma posição fechada;
[0016] A Figura 14 é uma vista de fundo de uma porção da unidade de carga da Figura 13 com as suas porções mostradas em seção transversal;
[0017] A Figura 15 é uma vista em perspectiva de uma porção da unidade de carga da Figura 14 com uma porção do tubo externo mostrada em linhas imaginárias;
[0018] A Figura 16 é uma vista em seção transversal de uma porção proximal de um outro adaptador que emprega várias disposições de vedação em seu interior;
[0019] A Figura 17 é uma vista em seção transversal de extremidade de uma porção do adaptador da Figura 16;
[0020] A Figura 18 é uma vista em elevação lateral de um outro adaptador;
[0021] A Figura 19 é uma vista em seção transversal de uma porção do adaptador da Figura 18;
[0022] A Figura 20 é uma vista traseira em perspectiva de porções de um outro adaptador;
[0023] A Figura 21 é uma vista em seção transversal de um outro adaptador;
[0024] A Figura 22 é uma vista em perspectiva de uma porção de outra unidade de carregamento de um adaptador com as suas garras em uma posição fechada;
[0025] A Figura 23 é uma vista em elevação lateral da unidade de carregamento da Figura 22;
[0026] A Figura 24 é uma vista em perspectiva da unidade de carregamento da Figura 23 após o conjunto de preensão dinâmico ter sido inicialmente colocado em contato com recursos de abertura positiva de canal em um canal da unidade de carregamento dinâmico;
[0027] A Figura 25 é uma vista em elevação lateral da unidade de carregamento da Figura 24;
[0028] A Figura 26 é uma outra vista em elevação lateral da unidade de carregamento das Figuras 22 a 25 com as garras da mesma em uma posição completamente aberta;
[0029] A Figura 27 é uma vista em elevação lateral de uma porção de uma outra unidade de carregamento de um adaptador com as suas garras em uma posição completamente fechada;
[0030] A Figura 28 é uma outra vista em elevação lateral da unidade de carregamento da Figura 27 com as suas garras em uma posição parcialmente aberta;
[0031] A Figura 29 é uma outra vista em elevação lateral da unidade de carregamento das Figuras 27 e 28 com as suas garras em uma posição completamente aberta;
[0032] A Figura 30 é uma vista em elevação lateral de uma porção de uma outra unidade de carregamento de um adaptador com as suas garras em uma posição completamente aberta;
[0033] A Figura 31 é uma outra vista em elevação lateral da unidade de carregamento da Figura 30 com as suas garras em uma posição parcialmente fechada;
[0034] A Figura 32 é uma outra vista em elevação lateral da unidade de carregamento das Figuras 30 e 31, com as suas garras em uma posição fechada antes do início de um curso de disparo;
[0035] A Figura 33 é uma vista em elevação lateral de uma porção de uma outra unidade de carregamento de um adaptador com as suas garras em uma posição completamente aberta;
[0036] A Figura 34 é uma vista em elevação lateral de uma porção de uma outra unidade de carregamento de um adaptador com as suas garras em uma posição completamente aberta;
[0037] A Figura 35 é uma vista em elevação em seção transversal de uma modalidade de conjunto de preensão dinâmico;
[0038] A Figura 36 é uma vista em elevação da extremidade de uma porção do conjunto de preensão dinâmico da Figura 35 interagindo com um conjunto de bigorna de uma unidade de carregamento de um adaptador mostrado em seção transversal;
[0039] A Figura 37 é uma vista em seção transversal de uma porção de corpo do conjunto de preensão dinâmico da Figura 36 tomada ao longo da linha 37-37 na Figura 36;
[0040] A Figura 38 é uma vista em elevação lateral de um outro conjunto de preensão dinâmico com uma porção do mesmo mostrada em seção transversal;
[0041] A Figura 39 é uma vista em seção transversal de uma porção do conjunto de preensão dinâmico da Figura 38 tomada ao longo da linha 39-39 na Figura 38;
[0042] A Figura 40 é uma vista de conjunto em perspectiva explodida de porções de uma modalidade do sistema de travamento de articulação de um adaptador;
[0043] A Figura 41 é uma vista em perspectiva em seção transversal parcial de uma porção de um adaptador e do sistema de travamento de articulação da Figura 40;
[0044] A Figura 42 é uma vista em seção transversal superior parcial do sistema de travamento de articulação das Figuras 40 e 41 em uma posição destravada;
[0045] A Figura 43 é uma outra vista em seção transversal superior parcial do sistema de travamento de articulação das Figuras 40 a 42 em uma posição travada;
[0046] A Figura 44 é uma vista em seção transversal parcial de uma porção de um sistema de travamento do conjunto de acionamento de um adaptador em uma posição destravada;
[0047] A Figura 45 é uma vista em seção transversal parcial do sistema de travamento do conjunto de acionamento da Figura 44 com um cartucho não disparado carregado em um atuador de extremidade e o sistema de travamento do conjunto de acionamento em uma posição destravada;
[0048] A Figura 46 é uma outra vista em seção transversal parcial do sistema de travamento do conjunto de acionamento das Figuras 44 e 45 com um cartucho não disparado carregado no atuador de extremidade e o sistema de travamento do conjunto de acionamento em uma posição destravada e um conjunto de preensão dinâmico do mesmo começando a se mover através de um curso de fechamento;
[0049] A Figura 47 é uma outra vista em seção transversal parcial do sistema de travamento do conjunto de acionamento das Figuras 44 a 46 com um cartucho não disparado carregado no atuador de extremidade e o sistema de travamento do conjunto de acionamento em uma posição de disparo pronto para começar a se mover através de um curso de disparo;
[0050] A Figura 48 é uma outra vista em seção transversal parcial do sistema de travamento do conjunto de acionamento das Figuras 44 a 47 após o conjunto de preensão dinâmico ter sido avançado distalmente através do curso de disparo;
[0051] A Figura 49 é uma outra vista em seção transversal parcial do sistema de travamento do conjunto de acionamento das Figuras 44 a 48 conforme o conjunto de preensão dinâmico está sendo retraído, mas antes de retomar uma posição inicial;
[0052] A Figura 50 é uma outra vista em seção transversal parcial do sistema de travamento do conjunto de acionamento das Figuras 44 a 48 após o conjunto de preensão dinâmico ter sido retraído de volta para a posição inicial, e o sistema de travamento do conjunto de acionamento está na posição travada;
[0053] A Figura 51 é uma vista lateral do atuador de extremidade das Figuras 44 a 50 com o conjunto de preensão dinâmico mostrado em uma posição inicial e as garras do mesmo em uma posição completamente aberta;
[0054] A Figura 52 mostra a posição de um membro de trava de acionamento do sistema de travamento do conjunto de acionamento das Figuras 44 a 50 em uma posição travada ao redor do conjunto de preensão dinâmico quando na posição inicial;
[0055] A Figura 53 é uma vista lateral do atuador de extremidade da Figura 51 após o conjunto de preensão dinâmico ter completado um curso de fechamento e estar em uma posição de disparo;
[0056] A Figura 54 mostra a posição de um membro de trava de acionamento do sistema de travamento do conjunto de acionamento das Figuras 44 a 50 em uma posição travada ao redor do conjunto de preensão dinâmico na posição de disparo;
[0057] A Figura 55 é uma vista lateral de um conjunto de travamento dinâmico e um membro de trava pivotante de outro sistema de travamento do conjunto de acionamento em uma posição travada antes da instalação de um cartucho não gasto em um atuador de extremidade de um adaptador;
[0058] A Figura 56 é uma outra vista lateral do sistema de travamento do conjunto de acionamento da Figura 55 com um cartucho não gasto suportado em posição para mover o membro de trava pivotante para uma posição destravada;
[0059] A Figura 57 é uma vista explodida do membro de trava pivotante e cartucho mostrados na Figura 56; e
[0060] A Figura 58 é uma vista em perspectiva de outra modalidade de cartucho.
[0061] Caracteres de referência correspondentes indicam partes correspondentes através das várias vistas. As exemplificações aqui descritas ilustram várias modalidades da invenção, em uma forma, e tais exemplificações não devem ser consideradas como limitadoras do escopo da invenção em qualquer modo.
[0062] O requerente do presente pedido detém os seguintes pedidos de patente US que foram depositados em 15 de dezembro de 2017, e que estão, cada um, aqui incorporados por referência em suas respectivas totalidades:
[0063] - pedido de patente nº de série US 15/843.485, intitulado
[0064] - pedido de patente nº de série US 15/843.518, intitulado
[0065] - pedido de patente US nº de série 15/843.535, intitulado
[0066] pedido de patente nos nº de série 15/843.558, intitulado
[0067] pedido de patente US nº de série 15/843.528, intitulado
[0068] pedido de patente US nº de série 15/843.567, intitulado
[0069] pedido de patente US nº de série 15/843.514, intitulado
[0070] pedido de patente US nº de série 15/843.501, intitulado
[0071] pedido de patente US nº de série 15/843.508, intitulado
[0072] pedido de patente US nº de série 15/843.682, intitulado
[0073] pedido de patente US nº de série 15/843.689, intitulado
SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER; e
[0074] pedido de patente US nº de série 15/843.704, intitulado METHODS OF OPERATING SURGICAL END EFFECTORS.
[0075] Numerosos detalhes específicos são apresentados para fornecer um completo entendimento da estrutura, da função, da fabricação e do uso geral das modalidades descritas no relatório descritivo e ilustradas nos desenhos em anexo. Operações, componentes e elementos bem conhecidos não foram descritos com detalhes, de modo a não obscurecer as modalidades descritas no relatório descritivo. O leitor entenderá que as modalidades descritas e ilustradas na presente invenção são exemplos não limitadores e, portanto, pode-se entender que os detalhes estruturais e funcionais específicos divulgados na presente invenção podem ser representativos e ilustrativos. Podem ser feitas variações e alterações a isso, sem se desviar do escopo das reivindicações.
[0076] Os termos "compreende" (e qualquer forma de compreende, como "compreende" e "que compreende"), "tem" (e qualquer forma de tem, como "tem" e "que tem"), "inclui" (e qualquer forma de inclui, como "inclui" e "que inclui") e "contém" (e qualquer forma de contém, como "contém" e "que contém") são verbos de ligação irrestritos. Como resultado, um sistema, dispositivo ou aparelho cirúrgico que "compreende", "tem", "inclui" ou "contém" um ou mais elementos possui aqueles um ou mais elementos, mas não é limitado a possuir somente aqueles um ou mais elementos. Da mesma forma, um elemento de um sistema, dispositivo ou aparelho cirúrgico que "compreende", "tem", "inclui" ou "contém" um ou mais recursos possui aqueles um ou mais recurso, mas não é limitado a possuir somente aqueles um ou mais recursos.
[0077] Os termos "proximal" e "distal" são usados na presente invenção com referência a um médico que manipula a porção de empunhadura de um instrumento cirúrgico. O termo "proximal" se refere à porção mais próxima ao médico, e o termo "distal" se refere à porção situada na direção oposta ao médico. Também será entendido que, por uma questão de conveniência e clareza, termos espaciais como "vertical", "horizontal", "para cima" e "para baixo" podem ser usados na presente invenção com relação aos desenhos. Entretanto, instrumentos cirúrgicos podem ser usados em muitas orientações e posições, e esses termos não se destinam a ser limitadores e/ou absolutos.
[0078] São fornecidos vários dispositivos e métodos exemplificadores para a realização de procedimentos cirúrgicos laparoscópicos e minimamente invasivos. Entretanto, o leitor entenderá prontamente que os vários métodos e dispositivos divulgados na presente invenção podem ser usados em inúmeros procedimentos e aplicações cirúrgicas, inclusive, por exemplo, em relação a procedimentos cirúrgicos abertos. Com o avanço da presente Descrição Detalhada, o leitor entenderá ainda que os vários instrumentos aqui divulgados podem ser inseridos em um corpo de qualquer maneira, como através de um orifício natural, através de uma incisão ou perfuração formada em tecido, etc. As porções funcionais ou porções do atuador de extremidade dos instrumentos podem ser inseridas diretamente no corpo de um paciente ou podem ser inseridas por meio de um dispositivo de acesso que tenha um canal de trabalho através da qual o atuador de extremidade e o eixo de acionamento alongado de um instrumento cirúrgico podem ser avançados.
[0079] O sistema de grampeamento cirúrgico pode compreender um eixo de acionamento e um atuador de extremidade que se estende a partir do eixo de acionamento. O atuador de extremidade compreende uma primeira garra e uma segunda garra. A primeira garra compreende um cartucho de grampos. O cartucho de grampos é inserível na, e removível da, primeira garra; entretanto, são previstas outras modalidades nas quais um cartucho de grampos não é removível, ou ao menos prontamente substituível, da primeira garra. A segunda garra compreende uma bigorna configurada para deformar os grampos ejetados a partir do cartucho de grampos. A segunda garra é pivotante em relação à primeira garra ao redor de um eixo geométrico da tampa; entretanto, são previstas outras modalidades nas quais a primeira garra é pivotante em relação à segunda garra. O sistema de grampeamento cirúrgico compreende, adicionalmente, uma junta de articulação configurada para permitir que o atuador de extremidade seja girado ou articulado em relação ao eixo de acionamento. O atuador de extremidade é giratório em torno de um eixo geométrico de articulação que se estende através da junta de articulação. Outras modalidades são previstas que não incluem uma junta de articulação.
[0080] O cartucho de grampos compreende um corpo do cartucho. O corpo do cartucho inclui uma extremidade proximal, uma extremidade distal, e uma plataforma que se estende entre a extremidade proximal e a extremidade distal. Em uso, o cartucho de grampos é posicionado em um primeiro lado do tecido a ser grampeado e a bigorna é posicionada em um segundo lado do tecido. A bigorna é movida em direção ao cartucho de grampos para comprimir e prender o tecido contra a plataforma. Depois disso, os grampos armazenados de modo removível no corpo do cartucho podem ser implantados no tecido. O corpo do cartucho inclui cavidades de grampo definidas no mesmo, sendo que os grampos são armazenados de modo removível nas cavidades de grampo. As cavidades de grampo são dispostas em seis fileiras longitudinais. Três fileiras de cavidades de grampo são posicionadas em um primeiro lado de uma fenda longitudinal e três fileiras de cavidades de grampos são posicionadas em um segundo lado da fenda longitudinal. Outras disposições de cavidades de grampo e grampos podem ser possíveis.
[0081] Os grampos são sustentados por acionadores de grampos no corpo do cartucho. Os acionadores são móveis entre uma primeira posição, ou posição não disparada, e uma segunda posição, ou posição disparada, para ejetar os grampos das cavidades de grampo. Os acionadores são retidos no corpo do cartucho por um retentor que se estende em torno do fundo do corpo do cartucho e inclui membros resilientes configurados para prender o corpo do cartucho e reter o retentor no corpo do cartucho. Os acionadores são móveis entre suas posições não disparadas e suas posições disparadas por um deslizador. O deslizador é móvel entre uma posição proximal adjacente à extremidade proximal e uma posição distal adjacente à extremidade distal. O deslizador compreende uma pluralidade de superfícies inclinadas configuradas para deslizar sob os acionadores e levantar os acionadores, e os grampos sustentados no mesmo, em direção à bigorna.
[0082] Adicionalmente ao exposto acima, o deslizador é movido distalmente por um membro de disparo. O membro de disparo é configurado para entrar em contato com o deslizador e empurrar o deslizador em direção à extremidade distal. A fenda longitudinal definida no corpo do cartucho é configurada para receber o membro de disparo. A bigorna inclui, também, uma fenda configurada para receber o membro de disparo. O membro de disparo compreende, ainda, um primeiro came que se engata à primeira garra e um segundo came que se engata à segunda garra. Conforme o membro de disparo é avançado distalmente, o primeiro came e o segundo came podem controlar a distância, ou vão de tecido, entre a plataforma do cartucho de grampos e a bigorna. O membro de disparo compreende, também, uma faca configurada para fazer uma incisão no tecido capturado entre a bigorna e o cartucho de grampos. É desejável que a faca seja posicionada ao menos parcialmente proximal às superfícies inclinadas, de modo que os grampos sejam ejetados à frente da faca.
[0083] A Figura 1 mostra um sistema cirúrgico acionado por motor (eletromecânico) 1 que pode ser usado para realizar uma variedade de procedimentos cirúrgicos diferentes. Como pode ser visto naquela Figura, um exemplo do sistema cirúrgico 1 inclui um instrumento cirúrgico eletromecânico de mão equipado com motor 100 que é configurado para fixação seletiva a ele de uma pluralidade de diferentes implementos de instrumento cirúrgico (aqui chamados de "adaptadores") que são, cada um, configurados para atuação e manipulação pelo instrumento cirúrgico eletromecânico de mão equipado com motor. Conforme ilustrado na Figura 1, o instrumento cirúrgico de mão 100 é configurado para conexão seletiva com um adaptador 200 e, por sua vez, o adaptador 200 é configurado para conexão seletiva com atuadores de extremidade que compreendem uma unidade de carga de uso único (do inglês "single use loading unit” ("SULU")) ou uma unidade de carga descartável (do inglês "disposable loading unit” ("DLU") ou uma unidade de carga de uso múltiplo (do inglês "multiple use loading unit" "MULU"). Em uma outra modalidade do sistema cirúrgico, várias formas do adaptador 200 podem ser também eficazmente empregadas com um conjunto de acionamento de ferramenta de um sistema cirúrgico controlado roboticamente ou automatizado. Por exemplo, os conjuntos do instrumento cirúrgico aqui divulgados podem ser empregados com vários sistemas robóticos, instrumentos, componentes e métodos como os divulgados na patente US nº 9.072.535, mas não se limitando a eles, intitulada "SURGICAL STAPLING —INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS"”, a qual está aqui incorporada por referência, em sua totalidade.
[0084] Conforme ilustrado nas Figuras 1 e 2, o instrumento cirúrgico 100 inclui uma bateria 101 e um gabinete externo do envoltório 10 que é configurado para receber seletivamente e encerrar substancialmente a bateria 101. A bateria 101 pode também ser chamada aqui de conjunto de empunhadura 101. Uma forma de instrumento cirúrgico 100, por exemplo, é divulgada na publicação internacional nº WO 2016/057225 Al, pedido internacional nº PCT/US2015/051837, intitulado HANDHELD ELECTROMECHANICAL SURGICAL SYSTEM, cuja divulgação é aqui incorporada a título de referência. Vários recursos do instrumento cirúrgico 100 não serão divulgados aqui além do que é necessário para entender as várias características das invenções divulgadas na presente invenção, sendo entendido que detalhes adicionais podem ser obtidos por referência ao documento WO 2016/057225 A1 e de outras referências incorporadas aqui a título de referência.
[0085] Conforme ilustrado na Figura 3, um gabinete do envoltório externo 10 inclui uma meia seção distal 10a e uma meia seção proximal 10b que é conectada de modo pivotante à meia seção distal 10a por uma dobradiça 16 situada ao longo da borda superior da meia seção distal 10a e da meia seção proximal 10b. Quando unidas, as meias seções distal e proximal 10a, 10b definem uma cavidade de envoltório 10c em seu interior na qual a bateria 101 está seletivamente situada. Cada uma das meias seções distal e proximal 10a, 10b inclui uma respectiva porção de envoltório superior 12a, 12b e uma respectiva porção de envoltório inferior 14a, 14b. As porções de envoltório inferiores 14a, 14b definem um recurso de fechamento de encaixe por pressão 18 para prender seletivamente as porções de envoltório inferiores 14a, 14b uma à outra e para manter o gabinete do envoltório em uma condição fechada. A meia seção distal 10a do gabinete do envoltório 10 define uma porção de detecção 20 que é configurada para receber um conjunto de acoplamento de acionamento 210 correspondente do adaptador 200 (vide Figura 5). Especificamente, a meia seção distal 10a do gabinete do envoltório 10 tem uma reentrância que recebe uma porção do conjunto de acoplamento de acionamento 210 do adaptador 200 quando o adaptador 200 é acoplado ao instrumento cirúrgico 100.
[0086] A porção de conexão 20 da meia seção distal 10a define um par de trilhos de guia que se estendem axialmente 21a, 21b e que se projetam radialmente para dentro a partir de superfícies laterais internas deles, conforme mostrado na Figura 5. Os trilhos de guia 21a, 21b auxiliam na orientação giratória do adaptador 200 em relação ao instrumento cirúrgico 100 quando o adaptador 200 é acoplado ao instrumento cirúrgico 100. A porção de conexão 20 da meia seção distal 10a define três aberturas 22a, 22b, 22c que são formadas em uma superfície dela voltada para a posição distal e que são dispostas em um plano ou linha comum uma em relação à outra. A porção de conexão 20 da meia seção distal 10a também define uma fenda alongada 24 também formada na superfície dela voltada para a posição distal. À porção de conexão 20 da meia seção distal 10a define adicionalmente um recurso de conexão fêmea 26 (vide Figura 2) formado em uma superfície dela. O recurso de conexão fêmea 26 se engata seletivamente a um recurso de conexão macho do adaptador 200.
[0087] A meia seção distal 10a do gabinete do envoltório 10 suporta um botão de controle de alternância voltado para o lado distal 30. O botão de controle de alternância 30 é capaz de ser acionado em uma direção à esquerda, à direita, para cima e para baixo mediante a aplicação de uma força correspondente ou de uma força depressiva a ele. A meia seção distal 10a do gabinete do envoltório 10 suporta um par lateral direito de botões de controle 32a, 32b (vide Figura 3); e um par lateral direito de botões de controle 34a, 34b (vide Figura 2). Os botões de controle do lado direito 32a, 32b e os botões de controle do lado esquerdo 34a, 34b são capazes de ser acionados mediante a aplicação de uma força correspondente ou de uma força depressiva a eles. A meia seção proximal 10b do gabinete do envoltório 10 suporta um botão de controle do lado direito 36a (veja a Figura 3) e um botão de controle do lado esquerdo 36b (veja a Figura 2). O botão de controle do lado direito 36a e o botão de controle do lado esquerdo 36b são capazes de ser acionados mediante a aplicação de uma força correspondente ou de uma força depressiva a eles.
[0088] O gabinete do envoltório 10 inclui um conjunto de placa de barreira estéril 60 seletivamente suportada na meia seção distal 10a. Especificamente, o conjunto de placa de barreira estéril 60 está disposto atrás da porção de conexão 20 da meia seção distal 10a e dentro da cavidade do envoltório 10c do gabinete do envoltório 10. O conjunto de placa 60 inclui uma placa 62 que giratoriamente apoia três eixos de acionamento de acoplamento 64a, 64b, 64c (vide Figuras 3 e 5). Cada eixo de acionamento de acoplamento 64a, 64b, 64c se estende a partir de lados opostos da placa 62 e tem um perfil em seção transversal trilobado. Cada eixo de acionamento de acoplamento 64a, 64b, 64c se estende através das respectivas aberturas 22a, 22b, 22c da porção de conexão 20 da meia seção distal 10a quando o conjunto de placa de barreira estéril 60 está disposto dentro da cavidade do envoltório 10c do gabinete do envoltório 10. O conjunto de placa 60 inclui adicionalmente um conector de passagem elétrico 66 apoiado na placa 62. O conector de passagem 66 se estende a partir dos lados opostos da placa 62. O conector de passagem 66 define uma pluralidade de trajetórias de contato, sendo que cada uma inclui um conduto elétrico para estender uma conexão elétrica através da placa 62. Quando o conjunto de placa 60 está disposto dentro da cavidade do envoltório 10c do gabinete do envoltório 10, as extremidades distais do eixo de acionamento de acoplamento 64a, 64b, 64c e uma extremidade distal do conector de passagem 66 estão dispostos ou situados dentro da porção de conexão da meia seção distal 10a do gabinete do envoltório 10, e são configurados para se engatar elétrica e/ou mecanicamente aos respectivos recursos correspondentes do adaptador 200.
[0089] Com referência às Figuras 3 e 4, a bateria ou o conjunto de empunhadura 101 inclui um gabinete interno de empunhadura 110 que tem uma porção de gabinete inferior 104 e uma porção de gabinete superior 108 que se estende a partir de e/ou que é apoiada sobre a porção de gabinete inferior 104. A porção de gabinete inferior 104 e a porção de gabinete superior 108 são separadas em uma meia seção distal 110a e uma meia seção proximal 110b conectável à meia seção distal 110a por uma pluralidade de prendedores. Quando unidas, as meias seções distal e proximal 110a, 110b definem o gabinete interno da empunhadura 110 que tem uma cavidade de gabinete interno 110c em seu interior na qual um conjunto de núcleo de bateria 106 está situado. O conjunto de núcleo de bateria 106 é configurado para controlar as várias operações do instrumento cirúrgico 100.
[0090] A meia seção distal 110a do gabinete interno de empunhadura 110 apoia uma interface de controle de alternância distal 130 que está em alinhamento operacional com o botão de controle de alternância distal 30 do gabinete do envoltório 10. Em uso, quando a bateria 101 está disposta dentro do gabinete do envoltório 10, a atuação do botão de controle de alternância 30 exerce uma força sobre a interface de controle de alternância 130. A meia seção distal 110a do gabinete interno de empunhadura 110 também apoia um par lateral direito de interfaces de controle (não mostrado) e um par lateral esquerdo de interfaces de controle 132a, 132b. Em uso, quando a bateria 101 está disposta dentro do gabinete do envoltório 10, a atuação de um dentre o par lateral direito de botões de controle ou o par lateral esquerdo do botão de controle da meia seção distal 10a do gabinete do envoltório 10 exerce uma força sobre um respectivo par dentre o par lateral direito de interfaces de controle 132a, 132b ou o par lateral esquerdo de interfaces de controle 132a, 132b da meia seção distal 110a do gabinete interno de empunhadura 110.
[0091] Com referência às Figuras 1 a 5, o gabinete interno de empunhadura 110 fornece um gabinete no qual está situado um conjunto de núcleo de bateria 106. O conjunto de núcleo de bateria 106 inclui um circuito de bateria 140, uma placa de circuito do controlador 142 e uma bateria recarregável 144 configurada para fornecer energia a quaisquer dos componentes elétricos do instrumento cirúrgico 100. À placa de circuito do controlador 142 inclui uma placa de circuito de controlador de motor 142a, uma placa de circuito de controlador principal 142b e um primeiro cabo de fita 142c interconectando a placa de circuito de controlador de motor 142a e a placa de circuito do controlador principal 142b. O conjunto de núcleo de bateria 106 inclui adicionalmente uma tela de exibição 146 apoiada sobre a placa de circuito de controlador principal 142b. A tela de exibição 146 é visível através de uma janela límpida ou transparente 110d (vide Figura 3) fornecida na meia seção proximal 110b do gabinete interno de empunhadura 110. É previsto que ao menos uma porção do gabinete interno de empunhadura 110 possa ser fabricada a partir de um plástico rígido transparente ou similares. É adicionalmente previsto que o gabinete do envoltório 10 possa incluir uma janela nele formada (em alinhamento visual com a tela de exibição 146 e com a janela 110d da meia seção proximal 110b do gabinete interno da empunhadura 110 e/ou o gabinete do envoltório 10 pode ser fabricado a partir de um plástico rígido transparente ou similares.
[0092] O conjunto de núcleo de bateria 106 inclui adicionalmente um primeiro motor 152, um segundo motor 154 e um terceiro motor 156 que são sustentados por um suporte de motor 148 e são, cada um, eletricamente conectados à placa de circuito de controlador 142 e à bateria 144. Os motores 152, 154, 156 estão dispostos entre a placa de circuito de controlador de motor 142a e a placa de circuito de controlador principal 142b. Cada motor 152, 154, 156 inclui um respectivo eixo de acionamento de motor 152a, 154a, 156a que se estende a partir dele. Cada eixo de acionamento de motor 152a, 154a, 156a tem um perfil em seção transversal trilobado para transmitir forças rotativas ou torque. Cada motor 152, 154, 156 é controlado por um respectivo controlador de motor. A rotação dos eixos de acionamento de motor 152a, 154a, 156a pelos respectivos motores 152, 154, 156 funciona para acionar os eixos de acionamento e/ou os componentes de engrenagem do adaptador 200 para executar as várias operações do instrumento cirúrgico 100. Em particular, os motores 152, 154, 156 do conjunto de núcleo da bateria 106 são configurados para acionar os eixos de acionamento e/ou os componentes de engrenagem do adaptador 200.
[0093] Conforme ilustrado nas Figuras 1 e 5, o instrumento cirúrgico 100 é configurado para realizar conexão seletiva com o adaptador 200 e, por sua vez, o adaptador 200 é configurado para realizar conexão seletiva com um atuador de extremidade 500. O adaptador 200 inclui um gabinete externo do botão 202 e um tubo externo 206 que se estende a partir de uma extremidade distal do gabinete do botão 202. O gabinete do botão 202 e o tubo externo 206 são configurados e dimensionados para alojar os componentes do conjunto do adaptador
200. O tubo externo 206 é dimensionado para a inserção endoscópica, em particular, para que o tubo externo possa passar por uma porta de trocarte típica, cânula ou similares. O gabinete do botão 202 é dimensionado para não entrar na porta do trocarte, na cânula ou similares. O gabinete do botão 202 é configurado e adaptado para se conectar à porção de conexão 20 do gabinete do envoltório externo 10 do instrumento cirúrgico 100.
[0094] O adaptador 200 é configurado para converter uma rotação do primeiro ou do segundo eixos de acionamento de acoplamento 64a, 64b do instrumento cirúrgico 100 em translação axial útil para operar um conjunto de acionamento 540 e um elo de articulação 560 do atuador de extremidade 500, conforme ilustrado na Figura 10, e conforme será descrito com mais detalhes abaixo. Conforme ilustrado na Figura 6, o adaptador 200 inclui o conjunto de gabinete interno proximal 204 que apoia giratoriamente um primeiro eixo de acionamento proximal giratório 212, um segundo eixo de acionamento proximal giratório 214 e um terceiro eixo de acionamento proximal giratório 216 em seu interior. Cada eixo de acionamento proximal 212, 214, 216 funciona como um membro de recepção de rotação para receber forças rotacionais dos respectivos eixos de acionamento de acoplamento 64a, 64b e 64c do instrumento cirúrgico 100. Além disso, o conjunto de acoplamento de acionamento 210 do adaptador 200 também é configurado para giratoriamente apoiar a primeira, a segunda e a terceira luvas do conector 218, 220 e 222, respectivamente, dispostas em um plano ou linha comum uma em relação à outra. Cada luva de conector 218, 220, 222 é configurada para se emparceirar com os respectivos primeiro, segundo e terceiro eixos de acionamento de acoplamento 64a, 64b, 64c do instrumento cirúrgico 100, conforme descrito acima. Cada luva do conector 218, 222, 220 é adicionalmente configurada para se emparceirar com uma extremidade proximal dos respectivos primeiro, segundo e terceiro eixos de acionamento proximal 212, 214, 216 do adaptador 200.
[0095] O conjunto de acoplamento de acionamento 210 do adaptador 200 inclui também um primeiro, um segundo e um terceiro membros de propensão 224, 226, 228 dispostos distalmente das respectivas primeira, segunda e terceira luvas do conector 218, 220 e
222. Cada membro de propensão 224, 226 e 228 está disposto ao redor dos respectivos primeiro, segundo e terceiro eixos de acionamento proximais giratórios 212, 214 e 216. Os membros de propensão 224, 226 e 228 atuam sobre as respectivas luvas do conector 218, 222 e 220 para ajudar a manter as luvas do conector 218, 222 e 220 engatadas à extremidade distal dos respectivos eixos de acionamento de acoplamento 64a, 64b e 64c do instrumento cirúrgico 100 quando o adaptador 200 estiver conectado ao instrumento cirúrgico 100.
[0096] Também na disposição ilustrada, o adaptador 200 inclui o primeiro, o segundo e o terceiro conjuntos de conversão de acionamento 240, 250, 260, respectivamente, que estão, cada um, dispostos no conjunto de gabinete interno 204 e tubo externo 206. Cada conjunto de conversão de acionamento 240, 250, 260 é configurado e adaptado para transmitir ou converter uma rotação de um primeiro, segundo e terceiro eixos de acionamento de acoplamento 64a, 64b e 64c do instrumento cirúrgico 100 em translação axial de um acionador ou barra de articulação 258 do adaptador 200, para efetuar a articulação do atuador de extremidade 500; uma rotação de uma engrenagem anular 266 do adaptador 200 para efetuar a rotação do adaptador 200; ou a translação axial de um membro de acionamento distal 248 do adaptador 200 para efetuar o fechamento, abertura e disparo do atuador de extremidade 500.
[0097] Ainda com referência à Figura 6, o primeiro conjunto de transmissão/conversão de força/rotação 240 inclui o primeiro eixo de acionamento proximal giratório 212 que, conforme descrito acima, é giratoriamente apoiado dentro do conjunto de gabinete interno 204. O primeiro eixo de acionamento proximal giratório 212 inclui uma porção de extremidade não circular ou formatada configurada para realizar conexão com a primeira luva do conector 218 que está conectada ao respectivo primeiro eixo de acionamento de acoplamento 64a do instrumento cirúrgico 100. O primeiro eixo de acionamento proximal giratório 212 inclui uma porção de extremidade distal rosqueada 212b. O primeiro conjunto de transmissão/conversão de força/rotação 240 inclui adicionalmente uma porca de acoplamento de acionamento 244 que se engata de maneira rosqueável à porção de extremidade distal rosqueada 212b do primeiro eixo de acionamento proximal giratório 212 e que é disposta de maneira deslizante dentro do tubo externo 206. À porca de acoplamento de acionamento 244 é chavetada de maneira deslizável dentro da porção de tubo de núcleo proximal do tubo externo 206 de modo a ser impedida de girar conforme o primeiro eixo de acionamento proximal giratório 212 é girado. Desse modo, conforme o primeiro eixo de acionamento proximal giratório 212 é girado, a porca de acoplamento de acionamento 244 é transladada ao longo da porção de extremidade distal rosqueada 212b do primeiro eixo de acionamento proximal giratório 212 e, por sua vez, através e/ou ao longo do tubo externo 206.
[0098] O primeiro conjunto de transmissão/conversão de força/rotação 240 inclui adicionalmente um membro de acionamento distal 248 que é engatado mecanicamente com a porca de acoplamento de acionamento 244, de modo que o movimento axial da porca de acoplamento de acionamento 244 resulte em uma quantidade correspondente de movimento axial do membro de acionamento distal
248. A porção de extremidade distal do membro de acionamento distal 248 apoia um membro de conexão 247 configurado e dimensionado para engate seletivo com um membro de engate 546 de um conjunto de acionamento 540 do atuador de extremidade 500 (Figura 10). A porca de acoplamento 244 e/ou o membro de acionamento distal 248 funciona como um membro de transmissão de força para os componentes do atuador de extremidade 500. Em operação, conforme o primeiro eixo de acionamento proximal giratório 212 é girado, como resultado da rotação do primeiro eixo de acionamento de acoplamento 64a do instrumento cirúrgico 100, a porca de acoplamento de acionamento 244 é transladada axialmente ao longo do primeiro eixo de acionamento proximal giratório 212. À medida que a porca de acoplamento de acionamento 244 é transladada axialmente ao longo do primeiro eixo de acionamento proximal giratório 212, o membro de acionamento distal 248 é transladado axialmente em relação ao tubo externo 206. À medida que o membro de acionamento distal 248 é transladado axialmente, com o membro de conexão 247 conectado a ele e engatado com um membro de acionamento oco 548 fixado ao conjunto de acionamento 540 do atuador de extremidade 500 (Figura 10), o membro de acionamento distal 248 causa a translação axial concomitante do conjunto de acionamento 540 do atuador de extremidade 500 para efetuar um fechamento de uma porção de conjunto de ferramentas 600 do atuador de extremidade 500 e um disparo de vários componentes dentro do conjunto de ferramentas.
[0099] Ainda com referência à Figura 6, o segundo conjunto de conversão de acionamento 250 do adaptador 200 inclui um segundo eixo de acionamento proximal 214 que é giratoriamente apoiado dentro do conjunto de gabinete interno 204. O segundo eixo de acionamento proximal giratório 214 inclui uma porção de extremidade não circular ou formatada configurada para realizar conexão com o segundo eixo de acionamento de acoplamento 64c do instrumento cirúrgico 100. O segundo eixo de acionamento proximal giratório 214 inclui adicionalmente uma porção de extremidade distal rosqueada 214a configurada para engatar de maneira rosqueável um gabinete de mancal de articulação 253 de um conjunto de mancal de articulação
252. Com referência às Figuras 6 a 9, o gabinete do mancal de articulação 253 apoia um rolamento de articulação 255 dotado de uma pista interna 257 que é independentemente giratória em relação a uma pista externa 259. O gabinete do mancal de articulação 253 tem um perfil externo não circular, por exemplo, em formato de lágrima, que é disposto de maneira deslizante e não giratória dentro de um orifício complementar (não mostrado) do controlador central do gabinete interno 204a. O segundo conjunto de conversão de acionamento 250 do adaptador 200 inclui adicionalmente uma barra de articulação 258 dotada de uma porção proximal que é presa à pista interna 257 do mancal de articulação 255. Uma porção distal da barra de articulação 258 tem nela incluída uma fenda 258a, que é configurada para receber um gancho 562 do elo de articulação 560 (Figura 10) do atuador de extremidade 500. A barra de articulação 258 funciona como um membro transmissor de força para os componentes do atuador de extremidade
500. Na disposição ilustrada e conforme discutido adicionalmente no documento WO 2016/057225 A1, o conjunto de mancal de articulação 252 é tanto giratório como longitudinalmente transladável e é configurado para possibilitar o movimento giratório livre e desimpedido do atuador de extremidade 500 quando seus primeiro e segundo membros de garra 610, 700 estão em uma posição aproximada e/ou quando os membros de garra 610, 700 são articulados.
[00100] Em operação, conforme o segundo eixo de acionamento proximal 214 é girado, o conjunto de mancal de articulação 252 é axialmente transladado ao longo da porção de extremidade distal rosqueada 214a do segundo eixo de acionamento proximal 214, que por sua vez, faz com que a barra de articulação 258 seja axialmente transladada em relação ao tubo externo 206. Conforme a barra de articulação 258 é transladada axialmente, a barra de articulação 258 sendo acoplada ao elo de articulação 560 do atuador de extremidade 500, faz com que a translação axial concomitante do elo de articulação 560 do atuador de extremidade 500 efetue uma articulação do conjunto de ferramentas 600. A barra de articulação 258 é presa à pista interna
257 do mancal de articulação 253 sendo, dessa forma, livre para girar ao redor do eixo geométrico longitudinal em relação à pista externa 259 do mancal de articulação 253.
[00101] Conforme ilustrado na Figura 6, o adaptador 200 inclui um terceiro conjunto de conversão de acionamento 260 que é suportado no conjunto de gabinete interno 204. O terceiro conjunto de conversão de acionamento 260 inclui uma engrenagem anular de rotação 266 que é apoiada de modo fixo no gabinete externo do botão 202 e a ela conectada. A engrenagem anular 266 define um conjunto interno de dentes de engrenagem 266a e inclui um par de protuberâncias diametralmente opostas que se estendem radialmente 266b. As projeções 266b são configuradas para ser dispostas dentro das reentrâncias definidas no gabinete externo do botão 202, de modo que a rotação da engrenagem anular 266 resulte na rotação do gabinete externo do botão 202, e vice-versa. O terceiro conjunto de conversão de acionamento 260 inclui adicionalmente um terceiro eixo de acionamento proximal giratório 216 que, conforme descrito acima, é giratoriamente apoiado dentro do conjunto de gabinete interno 204. O terceiro eixo de acionamento proximal giratório 216 inclui uma porção de extremidade não circular ou formatada que é configurada para conexão com o terceiro conector 220. O terceiro eixo de acionamento proximal giratório 216 inclui uma roda dentada 216 chavetada a uma extremidade distal dela. Uma roda dentada de reversão 264 interengata a roda dentada 216a do terceiro eixo de acionamento proximal giratório 216 aos dentes de engrenagem 266a da engrenagem anular 266. Em funcionamento, conforme o terceiro eixo de acionamento proximal giratório 216 é girado, devido a uma rotação do terceiro eixo de acionamento de acoplamento 64b do instrumento cirúrgico 100, a roda dentada 216a do terceiro eixo de acionamento proximal giratório 216 engata a engrenagem de reversão 264 fazendo com que a engrenagem de reversão 264 gire.
Conforme a engrenagem de reversão 264 gira, a engrenagem anular 266 também gira, fazendo assim com que o gabinete externo do botão 202 gire. A rotação do gabinete externo do botão 202 faz com que o tubo externo 206 gire ao redor do eixo geométrico longitudinal do adaptador 200. Conforme o tubo externo 206 é girado, o atuador de extremidade 500 que está conectado a uma porção de extremidade distal do adaptador 200, também é girado em torno de um eixo geométrico longitudinal do adaptador 200.
[00102] O adaptador 200 inclui adicionalmente um botão de fixação/separação 272 (Figura 5) que está apoiado sobre uma haste 273 (Figura 6) que se projeta a partir do conjunto de acoplamento de acionamento 210 do adaptador 200. O botão de fixação/separação 272 é propendido por um membro de propensão (não mostrado), que está disposto dentro ou em torno da haste 273, para uma condição não atuada. O botão 272 inclui um rebordo ou saliência que é configurado para se encaixar por pressão atrás de um rebordo ou saliência correspondente 20 do instrumento cirúrgico 100. Conforme também discutido no documento WO 2016/057225 A1, o adaptador 200 pode incluir adicionalmente um mecanismo de trava 280 para fixar a posição axial do membro de acionamento distal 248. Como pode ser visto na Figura 21, por exemplo, o mecanismo de trava 280 inclui um botão 282 que está apoiado de maneira deslizante sobre o gabinete externo do botão 202. O botão de trava 282 está conectado a uma barra de atuação (não mostrada) que se estende longitudinalmente através do tubo externo 206. A barra de atuação se move mediante um movimento do botão de trava 282. Em funcionamento, para travar a posição e/ou orientação do membro de acionamento distal 248, um usuário move o botão de trava 282 de uma posição distal para uma posição proximal, fazendo assim com que a trava (não mostrada) se mova para a posição proximal, de modo que uma face distal da trava saia do contato com o membro de atuação do came 288, o que faz com que o membro de atuação do came 288 gire para dentro da reentrância 249 do membro de acionamento distal 248. Dessa maneira, o membro de acionamento distal 248 é impedido de realizar movimento distal e/ou proximal. Quando o botão de trava 282 é movido da posição proximal para a posição distal, a extremidade distal da barra de atuação se move distalmente para dentro da trava (não mostrada), contra a propensão de um membro de propensão (não mostrado), para forçar o membro de atuação do came 288 para fora da reentrância 249, possibilitando assim uma translação axial e um movimento radial desimpedidos do membro de acionamento distal 248.
[00103] “Novamente com referência à Figura 6, o adaptador 200 inclui um conjunto elétrico 290 apoiado sobre e no gabinete externo do botão 202 e no conjunto de gabinete interno 204. O conjunto elétrico 290 inclui uma pluralidade de lâminas de contato elétrico 292, apoiadas sobre uma placa de circuito 294, para conexão elétrica com o conector de passagem do conjunto de placa do gabinete do envoltório 10 do instrumento cirúrgico 100. O conjunto elétrico 290 possibilita que as informações calibração e a comunicação (ou seja, informações sobre o ciclo de vida, informações do sistema, informações de força) sejam transmitidas para a placa de circuito do instrumento cirúrgico 100 através de uma porção de receptáculo elétrico do conjunto de núcleo de bateria 106 do instrumento cirúrgico 100. O conjunto elétrico 290 inclui adicionalmente um medidor de esforço 296 que está conectado eletricamente à placa de circuito 294. O medidor de esforço 296 é montado no interior do conjunto de gabinete interno 204 para restringir a rotação do medidor de esforço 296 em relação a ele. O eixo de acionamento proximal giratório 212 se estende através do medidor de esforço 296 para possibilitar que o medidor de esforço 296 forneça uma retroinformação em circuito fechado para uma carga de disparo/preensão mostrada pelo primeiro eixo de acionamento proximal giratório 212. O conjunto elétrico 290 inclui também um anel deslizante 298 que é disposto de maneira deslizante e não giratória ao longo da porca de acoplamento de acionamento 244 do tubo externo 206. O anel deslizante 298 está em conexão elétrica com a placa de circuito 294 e serve para possibilitar a rotação do primeiro eixo de acionamento proximal giratório 212 e a translação axial da porca de acoplamento de acionamento 244, mantendo ainda ao mesmo tempo o contato elétrico do anel deslizante 298 com ao menos um outro componente elétrico dentro do adaptador 200, possibilitando ao mesmo tempo que os outros componentes elétricos girem ao redor do primeiro eixo de acionamento proximal giratório 212 e da porca de acoplamento de acionamento 244.
[00104] Ainda com referência à Figura 6, o conjunto de gabinete interno 204 inclui um controlador central 205 que tem uma parede anular orientada distalmente 207 que define um perfil externo substancialmente. O controlador central 205 inclui uma reentrância ou orifício substancialmente em forma de lágrima que é conformado e formatado para receber de maneira deslizante o conjunto de mancal de articulação 252 em seu interior. O conjunto de gabinete interno 204 inclui adicionalmente uma placa anular 254 que é presa a uma face distal da parede anular distalmente orientada 207 do controlador central 204a. A placa anular 254 define uma abertura 254a ao longo dela que é ali dimensionada e formada de modo a ser alinhada com o segundo eixo de acionamento proximal 214 e para receber de forma giratória uma ponta distal dele. Dessa maneira, a ponta distal do segundo eixo de acionamento proximal 214 é apoiada e impedida de se mover radialmente para longe de um eixo geométrico giratório longitudinal do segundo eixo de acionamento proximal 214 conforme o segundo eixo de acionamento proximal 214 é girado para transladar axialmente o conjunto de mancal de articulação 252.
[00105] Voltando à Figura 10, em um exemplo, o atuador de extremidade 500 pode ser configurado para um uso único ("unidade de carga descartável - DLU" "disposable loading unit") e para ser similar àquelas DLUs divulgadas na publicação de pedido de patente US nº 2010/0301097, intitulada LOADING UNIT HAVING DRIVE ASSEMBLY LOCKING MECHANISM, atualmente patente US nº 9.795.384, publicação do pedido de patente US nº 2012/0217284, intitulada LOCKING MECHANISM FOR USE WITH LOADING UNITS, atualmente patente US nº 8.292.158 e publicação de pedido de patente US nº 2015/0374371, intitulada ADAPTER ASSEMBLIES FOR
INTERCONNECTING SURGICAL LOADING UNITS AND HANDLE ASSEMBLIES, cujas divulgações de cada uma de tais referências, em sua totalidade, são incorporadas aqui a título de referência. Também é previsto que o atuador de extremidade 500 pode ser configurado para múltiplos usos (MULU) como aqueles atuadores de extremidade divulgados na publicação de pedido de patente US nº 2017/0095250, intitulada MULTI-USE LOADING UNIT, cujas divulgações de cada uma de tais referências, em sua totalidade, são incorporadas aqui a título de referência.
[00106] Oinstrumento cirúrgico 100 mostrado dispara grampos, mas pode ser adaptado para disparar qualquer outro prendedor como clipes e prendedores de duas partes. Na disposição ilustrada, o atuador de extremidade 500 compreende uma unidade de carga 510. A unidade de carga 510 compreende uma parte estrutural proximal 520 e um conjunto de ferramentas 600. O conjunto de ferramentas 600 inclui um par de membros de garra incluindo um primeiro membro de garra 610 que compreende um conjunto de bigorna 612 e um segundo membro de garra 700 que compreende um conjunto de cartucho 701. Um membro de garra é pivotante em relação ao outro para possibilitar a preensão do tecido entre os membros de garra. O conjunto de cartucho 701 é móvel em relação ao conjunto de bigorna 612 e é móvel entre uma posição aberta ou não presa e uma posição fechada ou aproximada. Entretanto, o conjunto de bigorna 612, ou tanto o conjunto de cartucho 701 como o conjunto de bigorna 612, podem ser móveis.
[00107] O conjunto de cartucho 701 tem um corpo de cartucho 702 e, em alguns casos, uma placa de apoio 710 que são fixados a um canal 720 por uma conexão de encaixe por pressão, um detentor, uma trava, ou por um outro tipo de conexão. O conjunto de cartucho 701 inclui prendedores ou grampos 704 que são suportados de modo móvel em uma pluralidade de fendas de retenção de grampos lateralmente espaçadas 706, que são configuradas como aberturas em uma superfície de contato com o tecido 708. Cada fenda 706 é configurada para receber um prendedor ou grampo em seu interior. O corpo de cartucho 702 também define uma pluralidade de fendas de cunha de came que acomodam empurradores de grampos 709 e que são abertas no fundo (isto é, na direção oposta à superfície de contato com o tecido) para possibilitar que um deslizador de atuação 712 passe longitudinalmente através delas. O conjunto de cartucho 701 é removível do canal 720 após os grampos terem sido disparados do corpo de cartucho 702. Um outro conjunto de cartucho removível é capaz de ser carregado no canal 720, de modo que o instrumento cirúrgico 100 possa ser atuado mais uma vez para disparar prendedores ou grampos adicionais. Mais detalhes sobre o conjunto de cartucho podem ser encontrados, por exemplo na publicação de pedido de patente US nº 2017/0095250, bem como em várias outras referências que foram incorporadas na presente invenção a título de referência.
[00108] O conjunto de cartucho 701 é pivotante em relação ao conjunto de bigorna 612 e é móvel entre uma posição aberta ou não presa e uma posição fechada ou presa para inserção através da cânula de um trocarte. A parte estrutural proximal 520 inclui ao menos um conjunto de acionamento 540 e um elo de articulação 560. Em uma disposição, o conjunto de acionamento 540 inclui uma barra de acionamento flexível 542 que tem uma extremidade distal 544 e uma seção de engate proximal 546. Uma extremidade proximal da seção de engate 546 inclui dedos diametralmente opostos que se estendem para dentro 547 que engatam um membro de acionamento oco 548 para prender de modo fixo o membro de acionamento 548 à extremidade proximal da barra 542. O membro de acionamento 548 define um orifício proximal que recebe um membro de conexão 247 do tubo de acionamento 246 do primeiro conjunto de conversão de acionamento 240 do adaptador 200 quando o atuador de extremidade 500 é fixado à extremidade distal do adaptador 200.
[00109] O atuador de extremidade 500 inclui adicionalmente um conjunto de gabinete 530 que compreende um gabinete externo 532 e um gabinete interno 534 que está disposto dentro do gabinete externo
532. A primeira e a segunda patilhas 536 estão, cada uma, dispostas sobre uma superfície externa de uma extremidade proximal 533 do gabinete externo 532 e são configurados para engatar operacional- mente a extremidade distal do adaptador 200, conforme discutido em maiores detalhes em WO 2016/057225 A1.
[00110] Com referência à Figura 10, por exemplo, o conjunto de bigorna 612 inclui uma tampa de bigorna 630 e uma placa de bigorna 620, que inclui uma pluralidade de depressões formadoras de grampos. A placa de bigorna 620 é presa a um lado de baixo da tampa de bigorna
630. Quando o conjunto de ferramentas 600 está na posição aproximada, as depressões formadoras de grampos são posicionadas em alinhamento justaposto com as fendas receptoras de grampos do conjunto de cartucho 701.
[00111] O conjunto de ferramentas 600 inclui um conjunto de montagem 800 que compreende uma porção de montagem superior
810 e uma porção de montagem inferior 812. Uma cauda de montagem 632 se projeta proximalmente a partir de uma extremidade proximal 631 da tampa de bigorna 630. Um membro de pivô situado distalmente 814 se estende a partir de cada porção de montagem superior e inferior 810 e 812 através das aberturas 822 que são formadas nos membros de acoplamento 820. Em ao menos uma disposição, o membro de pivô 814 da porção de montagem superior 810 também se estende através de uma abertura 634 na cauda de montagem 632. Os membros de acoplamento 820 incluem, cada um, uma porção proximal de intertravamento 824 que é configurada para ser recebida em sulcos correspondentes formados em extremidades distais do gabinete externo 532 e do gabinete interno 534. A parte estrutural proximal 520 do atuador de extremidade 500 inclui um elo de articulação 560 que tem uma extremidade proximal em forma de gancho 562. O elo de articulação 560 é dimensionado para ser posicionado de maneira deslizante dentro de uma fenda no gabinete interno. Um par de conjuntos de blocos em H 830 está em posição adjacente à extremidade distal do gabinete externo 532 e adjacente à extremidade distal 544 do conjunto de acionamento axial 540 para evitar o empenamento e a dilatação para fora da barra de acionamento flexível 542 durante a articulação e disparo do aparelho de grampeamento cirúrgico 10. Cada conjunto de bloco em H 830 inclui um corpo flexível 832 que inclui uma extremidade proximal presa de modo fixo à extremidade distal do gabinete externo 532 e uma extremidade distal que é presa de modo fixo ao conjunto de montagem 800. Em uma disposição, uma extremidade distal 564 do elo de articulação é fixada de modo pivotante ao conjunto de blocos em H direito 830. O movimento axial do elo de articulação 560 fará com que o conjunto de ferramentas se articule em relação à parte estrutural 520.
[00112] As Figuras 11 a 15 ilustam um adaptador 200' que é substancialmente idêntica ao adaptador 200 descrito acima, exceto pelas diferenças mostradas abaixo.
Como pode ser visto na Figura 11, o adaptador 200' inclui um tubo externo 206 que tem uma porção de extremidade proximal 910 que tem um primeiro diâmetro "FD" e que é montada dentro do gabinete externo do botão 202. A porção de extremidade proximal 910 pode ser acoplada ao conjunto de gabinete interno 204 ou de outra forma apoiada nele nas formas discutidas em mais detalhes em WO 2016/057225 A1, por exemplo.
A porção de extremidade proximal 910 se estende proximalmente a partir de uma porção de tubo central 912 que tem um segundo diâmetro "SD". Na modalidade ilustrada, um atuador de extremidade 500 é acoplado a uma extremidade distal 914 de um conjunto de eixo de acionamento 203 ou tubo externo 206. O tubo externo 206 define um eixo geométrico longitudinal LA que se estende entre a porção de extremidade proximal 910 e a extremidade distal 914, como pode ser visto na Figura 11. Como pode ser visto nas Figuras 10 e 11, uma luva externa 570 da parte estrutural proximal 520 do atuador de extremidade 500 tem uma porção de extremidade distal 572 e uma porção de extremidade proximal 574. A porção de extremidade proximal 574 tem um diâmetro SD' que é aproximadamente igual ao segundo diâmetro SD da porção de tubo central 912. A porção de extremidade distal 572 tem um terceiro diâmetro "TD". Em uma disposição, FD e TD são aproximadamente iguais e maiores que SD.
Outras disposições são contempladas em que FD e TD não são iguais, mas cada um é maior que SD.
Entretanto, é preferencial que para a maioria dos casos FD e TD seja dimensionada para inserção endoscópica através de uma porta de trocarte típica, cânula ou similares.
Em ao menos uma disposição (Figura 11), a luva externa 570 é formada com um lado plano ou com recorte lateral 576 para facilitar o acesso aprimorado dentro do paciente, ao mesmo tempo em que acomoda eficazmente os vários componentes de acionamento e articulação do adaptador 200". Além disso, o fornecimento de um diâmetro reduzido à porção de tubo central 912 pode conferir ao adaptador 200' um melhor acesso torácico entre as costelas.
[00113] Em ao menos uma disposição, o canal 720, que pode ser usinado ou feito de folha metálica, inclui um par de orifícios proximais 722 (Figura 10) que são configurados para alinhamento com um par de orifícios correspondentes 636 na tampa da bigorna 630 para receber pinos ou protuberâncias correspondentes 638 (Figura 12) para facilitar uma relação pivotante entre o conjunto de bigorna 612 e o conjunto de cartucho 701. No exemplo ilustrado, um conjunto de preensão dinâmico 550 é fixado a ou formado na extremidade distal 544 da barra de acionamento flexível 542. O conjunto de preensão dinâmico 550 inclui uma parte estrutural vertical 552 que tem uma superfície de corte de tecido 554 formada sobre ela ou fixada a ela. Veja a Figura 10, por exemplo. Um recurso de engate de bigorna 556 é formado sobre uma extremidade da parte estrutural 552 e compreende uma aba de engate de bigorna 557 que se projeta a partir de cada lado lateral da parte estrutural 552. De modo similar, um recurso de engate de canal 558 é formado sobre a outra extremidade da parte estrutural 552 e compreende uma aba de engate de canal 559 que se projeta a partir de cada lado lateral da parte estrutural 552. Veja a Figura 15.
[00114] Conforme indicado acima, o conjunto de bigorna 612 inclui uma placa de bigorna 620. A placa da bigorna 620 inclui uma fenda alongada 622 que é configurada para acomodar a parte estrutural 552 do conjunto de preensão dinâmico 550 conforme o conjunto de preensão dinâmico 550 é axialmente avançado durante o processo de disparo. A fenda alongada 622 é definida entre duas saliências da placa de bigorna 624 que se estendem ao longo de cada lado lateral da fenda alongada 622. Consulte a Figura 10. À medida que o conjunto de preensão dinâmico 550 é avançado distalmente, as abas de engate de bigorna 557 se engatam de maneira deslizante às saliências da placa de bigorna 624 para manter o conjunto de bigorna 612 preso sobre o tecido alvo. De modo similar, durante a operação de disparo, a parte estrutural 552 do conjunto de preensão dinâmico 550 se estende através de uma fenda central no canal 720 e as abas de engate de canal 559 se engatam de maneira deslizante às saliências do canal 725 estendendo-se ao longo de cada lado da fenda de canal central para manter o conjunto de cartucho 701 preso sobre o tecido alvo.
[00115] Voltando às Figuras 13 e 15, o canal 720 define uma área de acoplamento genericamente designada como 730 que é configurada para acomodar o conjunto de preensão dinâmico 550 quando ele está em sua posição mais proximal, chamada aqui de uma posição não disparada ou inicial. Em particular, a área de acoplamento 730 é parcialmente definida por superfícies de acoplamento planas 732 que fornecem uma folga entre as abas de engate de canal 559 no conjunto de preensão dinâmico 550 para possibilitar que o conjunto de cartucho 701 gire para uma posição completamente aberta. Uma superfície inclinada ou de atuação do came 726 se estende a partir de uma extremidade distal de cada uma das superfícies de acoplamento 732. À superfície inclinada 726 é engatada pelo conjunto de preensão dinâmico 550 para mover o conjunto de bigorna 612 e o conjunto de cartucho 701 um em relação ao outro. Uma superfície de atuação do came similar poderia ser fornecida no conjunto de bigorna 612 em outras modalidades. É previsto que as superfícies inclinadas 726 possam também facilitar o alinhamento e/ou o engate entre o canal 720 e a placa de apoio 620 e/ou o corpo do cartucho 702. À medida que o conjunto de acionamento 540 é avançado distalmente (disparado), as abas de engate de canal 559 no conjunto de preensão dinâmico 550 se engatam às superfícies inclinadas correspondentes 726 para aplicar um movimento de fechamento ao conjunto de cartucho 701 fechando assim o conjunto de cartucho 701 e o conjunto de bigorna 612. A translação distal adicional do conjunto de preensão dinâmico 550 faz com que o deslizador de atuação 712 se mova distalmente através do corpo de cartucho 702, o que faz com que as cunhas de came 713 do deslizador de atuação 712 se engatem sequencialmente aos empurradores de grampos 709 para mover os empurradores de grampos 709 verticalmente dentro das fendas de retenção de grampos 706 e ejetem os grampos 704 nas depressões formadoras de grampo da placa de bigorna 620. Subsequente à ejeção dos grampos 704 das fendas de retenção 706 (e no tecido), o gume cortante 554 do conjunto de preensão dinâmico 550 corta o tecido grampeado conforme o gume cortante de tecido 554 na parte estrutural vertical 552 do conjunto de preensão dinâmico 550 se desloca distalmente através de uma fenda central 703 do corpo de cartucho 702. Após os grampos 704 terem sido ejetados do corpo do cartucho 702 e um usuário desejar usar o mesmo instrumento 10 para disparar grampos adicionais 704 (ou um outro tipo de prendedor ou faca), o usuário pode remover a unidade de carga 510 do adaptador 200' e substitui-la por uma outra unidade de carga nova ou não gasta. Em uma disposição alternativa, o usuário pode simplesmente remover o corpo de cartucho gasto 702 e substitui-lo por um novo corpo de cartucho não disparado ou não gasto 702.
[00116] Durante o uso de adaptadores convencionais, detritos e fluidos corpóreos pode migrar para dentro do tubo externo do adaptador e dificultar a operação dos sistemas de articulação e acionamentos de disparo do adaptador. Em casos flagrantes, tais detritos e fluidos se infiltram no conjunto de gabinete interno do adaptador, o que pode causar curto-circuito e falha dos componentes elétricos apoiados em seu interior. Adicionalmente, devido ao acesso limitado ao interior do tubo externo do adaptador, tais detritos e fluidos são difíceis de remover, o que pode impedir ou reduzir a capacidade de reutilização do adaptador.
[00117] Voltando às Figuras 16 e 17, em uma disposição, ao menos uma primeira vedação 230 é fornecida entre o conjunto de gabinete interno proximal 204 e o primeiro eixo de acionamento proximal giratório 212 para evitar a infiltração de fluido/detritos dentro e proximal ao conjunto de gabinete interno proximal 204. Além disso, ao menos uma segunda vedação 232 é fornecida entre a barra de articulação 258 e o tubo externo 206 para evitar que fluidos/detritos passem entre eles e entrem no conjunto de gabinete interno proximal 204. Ao menos uma terceira vedação de gabinete 233 pode ser fornecida em torno de um controlador central 205 do gabinete interno proximal 204 para estabelecer uma vedação entre o controlador central 205 e o gabinete externo do botão 202. A primeira, a segunda e a terceira vedações 230, 232, 233 podem compreender, por exemplo, anéis de vedação fabricados a partir de borracha ou de outro material adequado.
[00118] Em outrasmodalidades, pode ser desejável que a primeira e a segunda vedações 230, 232 estejam situadas no adaptador 200 distalmente em relação aos componentes eletrônicos alojados no interior do gabinete externo do botão 202. Por exemplo, para evitar que fluidos/detritos obstruam/causem curto-circuito no conjunto de anel deslizante 298, é desejável estabelecer vedações entre os diversos componentes móveis do adaptador 200 que estão operacionalmente suportados dentro do tubo externo 206 em um local ou locais que são, cada um, distais em relação ao conjunto de anel deslizante 298, por exemplo. As vedações 230, 232 podem ser apoiadas na parede do tubo externo e/ou no membro de montagem 234 ou em outro membro de montagem/coxim/gabinete apoiado dentro do tubo externo 206 e configuradas para facilitar o movimento axial do membro de acionamento distal 248, bem como a barra de articulação 258 enquanto estabelece uma vedação à prova de fluidos entre o coxim e/ou tubo externo e o membro de acionamento distal 248 e a barra de articulação
258. Veja as Figuras 18 e 20. Na modalidade ilustrada na Figura 19 por exemplo, a primeira vedação 230 pode ter adicionalmente recursos limpadores 231 que também se engatam de maneira deslizante ao membro de acionamento distal 248 para evitar que fluidos/detritos se infiltrem na direção proximal PD para dentro do conjunto de gabinete interno proximal 204. Em ao menos uma disposição para possibilitar a coleta dos detritos e fluidos no tubo externo 206 distal à primeira e à segunda vedações 230, 232, ao menos duas portas de descarga 236, 238 são fornecidas dentro do tubo externo 206. Vide, por exemplo, as Figuras 18 e 20. As portas de descarga axialmente espaçadas 236, 238 estão situadas em posição distal à primeira e à segunda vedações 230,
232. Uma solução de lavagem (por exemplo, fluido de limpeza, fluido salino, ar, etc.) pode ser introduzida em uma ou mais porta (s) para forçar os detritos e fluidos errantes para fora da uma ou mais outra (s) porta (s).
[00119] A capacidade de abrir as garras de um endocortador até um ângulo grande permite que mais tecido seja colocado entre elas. Além disso, ter a capacidade de abrir as garras até um ângulo maior também torna mais fácil para um usuário remover o tecido de entre as garras após o processo de grampeamento ser concluído, o que ajuda a simplificar o processo de recarga do cartucho quando unidades recarregáveis são empregadas. Dessa forma, é desejável otimizar as velocidades e forças necessárias para abrir as garras de um atuador de extremidade como um endocortador. No passado, uma variedade de métodos foi empregada para abrir as garras de um endocortador. Em uma disposição, uma mola foi empregada para aplicar uma força de abertura de propensão às garras. No entanto, essas disposições de abertura de mola podem aumentar a quantidade de forças necessárias para fechar as garras. Elas também podem ter um movimento relativamente limitado e podem ser difíceis de instalar dentro do atuador de extremidade.
[00120] As Figuras 22 a 25 ilustram o uso de um canal alternativo 720' de uma segunda garra 700'. O canal 720' pode ser idêntico ao canal 720 descrito acima, exceto pelas diferenças observadas abaixo. Na disposição ilustrada, por exemplo, o canal 720' inclui um recurso de abertura positiva de canal 740 que compreende uma superfície de rampa 742 que está situada em cada lado de uma fenda central 724 no canal 720'. Cada rampa 742 termina em uma superfície superior plana
744. Como pode ser visto adicionalmente na Figura 22, uma saliência de canal 725 é formada em cada lado da fenda central alongada 724 no lado superior do canal 720'. Durante a operação de disparo, a porção de corpo 552 do conjunto de preensão dinâmico 550 se estende através da fenda central 724 e as abas de engate de canal 559 se engatam deslizantemente às saliências do canal 725 estendendo-se ao longo de cada lado da fenda central 724 para reter o conjunto de cartucho 701 preso sobre o tecido alvo.
[00121] As Figuras 22 e 23 ilustram uma posição do conjunto de preensão dinâmico 550 à medida que ele é retraído na direção proximal PD. Conforme pode ser visto nessas Figuras, as abas de engate de canal 559 ainda não entraram em contato com as rampas 742 dos recursos de abertura positiva do canal 740. As Figuras 24 e 25 ilustram o contato inicial das abas de engate de canal 559 com as porções de rampa 742 dos recursos de abertura positiva do canal 740 correspondentes. Como pode ser visto na Figura 25, o canal 720' começou a se abrir (isto é, se afastar do conjunto de bigorna 612). À Figura 26 ilustra a posição do conjunto de preensão dinâmico 550 em sua posição inicial, em que o canal 720' está em sua posição completamente aberta. Como pode ser visto naquela Figura, por exemplo, as abas de engate de canal 559 estão em engate com as superfícies superiores planas 744 das rampas 742. Tal disposição pode ser empregada para abrir as garras (conjunto de bigorna 612 e conjunto de cartucho 701) sem o uso de uma mola ou molas. Todavia, outras variações são contempladas em que uma mola de abertura também é empregada além dos recursos de abertura positiva do canal 740.
[00122] As Figuras 27 a 29 ilustram uma disposição alternativa em que, além dos recursos de abertura positiva do canal 740 no canal 720', são fornecidos recursos de abertura positiva da bigorna 627 em uma extremidade proximal 621 da placa da bigorna 620'. A placa da bigorna 620' pode ser idêntica à placa da bigorna 620 descrita acima, exceto pelas diferenças observadas abaixo. Os recursos de abertura positiva da bigorna 627 compreendem, cada um, uma rampa de abertura da bigorna 628 fornecida em cada lado da fenda alongada 622 (consultar a Figura 10). Conforme discutido acima, a placa da bigorna tem uma fenda alongada 622 que define duas saliências alongadas 624 sobre as quais se deslocam as abas de engate da bigorna 557 do conjunto de preensão dinâmico 550. Os recursos de abertura positiva do canal 740 no canal 720' são deslocados longitudinalmente a partir dos recursos de abertura positiva da bigorna 627 na placa da bigorna 620'. No exemplo ilustrado, os recursos de abertura positiva do canal 740 no canal 720 são distais aos recursos de abertura positiva da bigorna 627 na placa da bigorna 620". A Figura 27 ilustra o contato inicial das abas de engate de canal 559 com as superfícies de rampa 742 dos recursos de abertura positiva do canal 740. Para propósitos de referência, a distância entre a borda distal de cada aba de engate de canal 559 e o eixo geométrico da garra JA é identificada como distância PDD. A Figura 28 ilustra a posição do conjunto de preensão dinâmico 550 após as abas de engate de canal 559 terem movido para cima das rampas 742, para as superfícies superiores planas 744 dos recursos de abertura positiva do canal 740. Quando nessa posição, as abas de engate da bigorna 557 sobre o conjunto de preensão dinâmico 550 entraram em contato com as rampas de abertura da bigorna 628 dos recursos de abertura da bigorna 627. Dessa forma, comparando a distância de trajeto proximal do conjunto de preensão dinâmico entre as Figuras 27 e 28: PDD; > PDD. A Figura 29 ilustra a posição do conjunto de preensão dinâmico 550 após ter se movido de volta para a sua posição inicial e as abas de engate da bigorna 557 no conjunto de preensão dinâmico 550 terem se movido completamente além das rampas de abertura da bigorna 628 dos recursos de abertura da bigorna 627 e as garras 700' e 610' estarem em suas posições completamente abertas. Dessa forma, comparando a distância de trajeto proximal do conjunto de preensão dinâmico entre as Figuras 28 e 29: PDD3 > PDD». Tais recursos de abertura positiva da garra 740, 627 usam uma dentre/ambas as forças longitudinais para acionar a abertura das garras ou as forças ortogonais para acionar os movimentos de abertura. No exemplo descrito acima, os recursos de abertura positiva da garra são deslocados longitudinalmente. Em outras disposições, entretanto, as abas de engate da bigorna 557 entram em contato com as rampas 628 aproximadamente ao mesmo tempo que as abas 559 entram em contato com as rampas 742.
[00123] Outro recurso empregado por um canal 720" se refere a rampas de fechamento formadas no canal 720". O canal 720" pode ser idêntico ao canal 720' ou 720 descrito acima, exceto pelas diferenças observadas abaixo. Como pode ser visto nas Figuras 30 a 32, por exemplo, um primeiro segmento de rampa de fechamento 726a é formado em cada lado da fenda alongada (não mostrada) no canal 720". Cada primeiro segmento de rampa de fechamento 726a faz transição para um segmento de rampa de platô horizontal 727 que, por sua vez, faz a transição para um segundo segmento de rampa de fechamento
728. Cada segundo segmento de rampa de fechamento 728 faz a transição para uma saliência de canal correspondente 725. Em uma disposição, o coeficiente angular de cada um dos primeiros segmentos de rampa de fechamento 726a é o mesmo que o coeficiente angular dos segundos segmentos de rampa de fechamento 728. Em outras disposições, os coeficientes angulares são diferentes. A Figura 30 ilustra a posição das abas de engate de canal 559 sobre o conjunto de preensão dinâmico 550 quando as garras 610", 700" estão em sua posição completamente aberta. A Figura 31 ilustra uma posição do conjunto de preensão dinâmico 550 após o mesmo ter sido movido distalmente de modo a colocar as abas de engate de canal 559 em engate deslizante com os segmentos de rampa de fechamento proximais 726a de modo a começar o processo de fechamento da garra. A Figura 32 ilustra uma outra posição do conjunto de preensão dinâmico 550 após o mesmo ter se movido adicionalmente na direção distal DD, de modo a colocar as abas de engate de canal 559 em engate deslizante com o segmento de rampa de platô 727 e antes de iniciar um curso de disparo em que as abas de engate de canal 559 engatam deslizantemente as saliências do canal 725 no canal 720".
[00124] Outro atributo desejável para atuadores de extremidade cirúrgicos se refere à "abertura da garra". A "abertura da garra" pode se referir ao ângulo entre uma superfície formadora de grampo na placa da bigorna e uma superfície de contato com o tecido do cartucho de grampos. Em versões existentes de unidades de carregamento descartáveis (DLU), unidades de carregamento de uso único (SULU) e unidades de carregamento de múltiplos usos (MULU), o recurso de engate de canal superior ou aba na unidade de preensão dinâmica, quando a unidade de preensão dinâmica está em sua posição mais proximal ou inicial, é geralmente posicionado diretamente acima ou em posição distal a um eixo geométrico de pivô da garra em torno do qual o conjunto de cartucho gira em relação ao conjunto de bigorna. Tais disposições comumente limitam a abertura das garras uma em relação à outra de mais de 18 a 23 mm, por exemplo.
[00125] Um aspecto da presente divulgação envolve a formação de uma área de "acoplamento" ou "estacionamento" para o membro de preensão dinâmico, quando o membro de preensão dinâmico está em sua posição mais proximal ou inicial. Por exemplo, a Figura 33 ilustra um atuador de extremidade 1500 que inclui uma área de estacionamento ou acoplamento 730 para o conjunto de preensão dinâmico 550, quando o conjunto de preensão dinâmico 550 está em sua posição mais proximal ou inicial. De acordo com um outro aspecto, conforme foi descrito acima, o conjunto de preensão dinâmico 550 inclui uma porção de corpo 552 que se estende verticalmente e tem um recurso de engate da bigorna 556 que compreende uma aba de engate da bigorna ou flange 557 que se estende a partir de cada lado lateral da porção de corpo 552. Além disso, o conjunto de preensão dinâmico 550 inclui um recurso de engate de canal 558 que compreende uma aba ou flange de engate de canal 559 que se estende lateralmente a partir de cada lado lateral da porção de corpo 552. Como usado neste contexto, o termo "flange" indica um recurso plano que se estende transversal ou perpendicularmente a partir da porção de corpo 552. Como tal, quando visto de uma extremidade, o conjunto de preensão dinâmico 550 se assemelha a uma configuração de uma viga com perfil em | e pode ser chamado, na presente invenção, de um membro de preensão dinâmico de viga com perfil em |. Como pode ser visto na Figura 33, uma porção dos flanges de engate de canal 559 se estende de modo proximal ao pino 638 que acopla de modo pivotante o conjunto de cartucho 701 ao conjunto de bigorna 612 e que define um eixo geométrico de pivô da garra JA ao redor do qual a bigorna e o canal podem se mover entre as posições aberta e fechada. Além disso, embora não visível na Figura 33, em pelo menos uma disposição, uma porção de cada um dos flanges de engate de bigorna 557 também se estende proximal ao eixo geométrico de pivô da garra JA quando o conjunto de preensão dinâmico de viga com perfil em | 550 está na posição de estacionamento ou inicial. Essa distância é identificada como a distância "PDD«" na Figura 33, por exemplo.
[00126] Uma extremidade inferior da porção de corpo 552 do conjunto de preensão dinâmico de viga com perfil em | 550 se estende através de uma fenda alongada (não mostrada) no canal 1720. Uma primeira superfície inferior 1726 é formada em uma extremidade proximal 1725 do canal 1720 em cada lado da fenda alongada. Cada primeira superfície inferior 1726 termina distalmente em uma segunda superfície de came de fechamento ou rampa 1727 que corresponde a cada flange de engate de canal 559 no conjunto de preensão dinâmico de viga com perfil em | 550. Quando os flanges de engate de canal 559 engatam sua segunda superfíie de came de fechamento correspondente 1727, o conjunto de cartucho e o conjunto de bigorna 612 começam a fechar ou pivotar um em direção ao outro em virtude da interação dos flanges de engate de bigorna com as superfícies correspondentes na placa de bigorna, e a ação de came das abas de engate de canal com as segundas superfícies de came de fechamento correspondentes 1727 no canal 1720. Uma vez que o conjunto de preensão dinâmico em forma de viga com perfil em | 550 tenha se movido distalmente até um ponto em que os flanges de engate de canal 559 desengatam as segundas superfícies de came de fechamento 1727, os flanges de engate de canal 559 engatam as terceiras superfícies de fechamento correspondentes 1728 no fundo do canal 1720 para manter o conjunto de bigorna e o conjunto de cartucho fechados e para resistir à deflexão durante todo o processo de disparo (isto é, conforme o conjunto de preensão dinâmico em forma de viga com perfil em | é avançado distalmente através do conjunto de cartucho 701).
[00127] Na disposição ilustrada, quando o conjunto de preensão dinâmico em forma de viga com perfil em | 550 está na posição mais proximal ou inicial, os flanges de engate do canal 559 são proximais às segundas superfícies de came de fechamento 1727, contudo, estão em contato com a primeira superfície inferior 1726 para limitar ou de outro modo restringir as garras (conjunto de bigorna 612, conjunto de cartucho 701) àquela quantidade de abertura de garra representada como ângulo O, entre uma superfície de formação de grampos 625 na placa da bigorna 620 e a superfície de contato com o tecido 708 do corpo de cartucho 702. Na disposição ilustrada, por exemplo, o conjunto de preensão dinâmico em forma de viga com perfil em | 550 pode ter que se mover distalmente uma distância X a partir da posição inicial até os flanges de engate de canal 559 começarem a engatar excentricamente as segundas superfícies de came de fechamento 1727 para iniciar o processo de fechamento da garra. Nessa disposição, o deslizador de atuação 1712 tem um comprimento SL e o corpo do cartucho 702 tem uma porção de ponta 718 que tem um comprimento NL que se estende além da extremidade distal do canal 1720.
[00128] De acordo com um outro aspecto geral, a Figura 34 ilustra um outro atuador de extremidade 1500' que inclui uma área de estacionamento ou acoplamento 730' para o conjunto de preensão dinâmico 550 quando o conjunto de preensão dinâmico 550 está em sua posição mais proximal ou inicial. Uma primeira superfície inferior 1726' é formada em uma extremidade proximal 1725 do canal 1720' em cada lado da fenda alongada. Cada primeira superfície inferior 1726' termina distalmente em uma segunda superfície de came de fechamento ou rampa 1727' que corresponde a cada flange de engate de canal 559 sobre o conjunto de preensão dinâmico em forma de viga com perfil em | 550. Quando os flanges de engate de canal 559 engatam excentricamente sua segunda superfície de came de fechamento 1727'
correspondente, o conjunto de cartucho 701 e o conjunto de bigorna 612 começam a fechar ou pivotar um em direção ao outro em virtude da interação dos flanges de engate de bigorna 557 com as superfícies correspondentes na placa da bigorna 620, e da ação de came dos flanges de engate de canal 559 com as segundas superfícies de came de fechamento correspondentes 1727' no canal 1720'. Uma vez que o conjunto de preensão dinâmico em forma de viga com perfil em | 550 tenha se movido distalmente até um ponto em que os flanges de engate de canal 559 desengatam as segundas superfícies de came de fechamento 1727', os flanges de engate de canal 559 engatam as terceiras superfícies de fechamento 1728' correspondentes no fundo do canal 1720 para manter o conjunto de bigorna e conjunto de cartucho fechados durante todo o processo de disparo (isto é, conforme o conjunto de preensão dinâmico em forma de viga com perfil em | é avançado distalmente através do conjunto de cartucho 701' até sua posição final).
[00129] Na disposição ilustrada, quando o conjunto de preensão dinâmico em forma de viga com perfil em | 550 está na posição mais proximal ou inicial, as abas de engate de canal 559 estão localizadas em engate contíguo com as segundas superfícies de came de fechamento 1727' e não estão espaçadas entre si. Dessa forma, quando o conjunto de preensão dinâmico em forma de viga com perfil em | é atuado para se mover distalmente, os flanges de engate de canal 559 começam imediatamente a girar por came o conjunto de cartucho 701' para fechar. Essa disposição fornece um ângulo de abertura da garra O, que é maior que o O;, por exemplo. Dessa forma, ao contrário da segunda garra 700 descrita acima, o conjunto de preensão dinâmico em forma de viga com perfil em | 550 não se move distalmente qualquer por distância antes de começar a girar por came a segunda garra 700' para fechar. Nessa disposição, o deslizador de atuação 1712' tem um comprimento SL' e uma porção de ponta 718 que tem um comprimento NL' que se estende além da extremidade distal do canal 1720. Em comparação com a disposição descrita acima, SL' < SL e NL' < NL, que geralmente leva à manobrabilidade aprimorada do atuador de extremidade 1500'. Em outras disposições, há ao menos uma porção do avanço distal do conjunto de preensão em forma de viga com perfil em | em que o conjunto de preensão em forma de viga com perfil em | não está em contato com ambas as garras antes de entrar em sua porção de investida de fechamento em que começa a opor as garras uma em direção à outra.
[00130] Durante o processo de disparo, uma quantidade considerável de atrito é geralmente experimentada entre o conjunto de preensão dinâmico e o conjunto de bigorna e conjunto de cartucho. Tipicamente, o conjunto de preensão dinâmico é fabricado a partir de aço e emprega pinos ou flanges de aço para entrar em contato com as saliências correspondentes na placa da bigorna e no canal, que também são feitos de aço. Conforme o membro de preensão dinâmico é avançado distalmente, os pinos de aço superior e inferior são colocados em contato por atrito deslizante com as saliências correspondentes sobre a placa da bigorna e o canal para prender o conjunto de bigorna e conjunto de cartucho sobre o tecido alvo e acionam o deslizador de atuação distalmente para disparar os grampos e cortar o tecido grampeado. Tal contato por atrito pode frequentemente resultar na erosão dos pinos e saliências de aço, o que pode reduzir significativamente a vida útil do atuador de extremidade. Além disso, o atrito aumentado entre os pinos ou flanges do conjunto de preensão dinâmico, e do conjunto de bigorna e do conjunto de cartucho, aumenta a quantidade de força de disparo que é necessária para acionar o conjunto de preensão dinâmico de sua posição inicial para a posição final através do tecido preso. Essas grandes forças de disparo determinam que os componentes relacionados dentro do atuador de extremidade bem como dentro do adaptador devem ser suficientemente capazes de acomodar essas altas forças de disparo. Isso requer que os vários componentes sejam fabricados a partir de um material mais forte e frequentemente mais espesso num ambiente operacional em que o espaço operacional é limitado (por exemplo, no interior do tubo externo do adaptador). Dessa forma, forças de disparo maiores levam a projetos e composições de material mais complicados, o que leva a custos do instrumento aumentados.
[00131] Um outro aspecto da presente divulgação compreende um conjunto de preensão dinâmico 1550 como ilustrado na Figura 35. No exemplo ilustrado, o conjunto de preensão dinâmico 1550 compreende uma porção de corpo que se estende verticalmente 1552, que tem uma porção de corte de tecido 1554 formada em si. A porção de corpo 1552 é dimensionada para ser recebida deslizantemente dentro da fenda alongada 622 da placa da bigorna 620 (Figura 10) bem como dentro da fenda central 724 do canal 720 (Figura 15). O conjunto de cartucho 701 inclui em geral uma extremidade proximal 705 e uma extremidade distal 707 e define um eixo geométrico longitudinal LA entre as mesmas. Consultar as Figuras 10 e 15. O conjunto de preensão dinâmico 1550 inclui adicionalmente ao menos um recurso de engate do canal 1558. Na disposição ilustrada, um recurso de engate de canal 1558 se estende a partir de cada lado lateral 1553 da porção de corpo 1552. Em um exemplo, cada recurso de engate de canal 1558 compreende um flange de engate de canal 1580 que tem uma extremidade distal 1582, uma extremidade proximal 1584, e uma superfície de engate de saliência de canal 1586 que se estende entre as mesmas. A superfície de engate de saliência do canal 1586 é configurada para engatar ou se mover de maneira deslizante em uma saliência correspondente dentre as saliências de canal 725 formadas em cada lado da fenda central 724 no canal 720. Na disposição ilustrada, uma extremidade distal 1587 da superfície de engate de saliência de canal 1586 é arredondada para reduzir o atrito entre a superfície de engate de saliência de canal 1586 e as saliências de canal 725. De acordo com um outro aspecto, em pelo menos uma disposição, a superfície de engate de saliência de canal 1586 se inclina a partir da extremidade proximal 1584 para a extremidade distal 1584 na direção contrária ao eixo geométrico longitudinal LA.
Por exemplo, na Figura 35, o eixo geométrico CLA é paralelo ao eixo geométrico longitudinal LA e também pode ser paralelo à superfície superior 729 de cada saliência de canal 725, quando o conjunto de cartucho 701 está na posição fechada.
Em ao menos uma disposição, por exemplo, a superfície de engate de saliência de canal 1586 se inclina na direção oposta ao eixo geométrico CLA a um ângulo de canal Oca.
Dito de outra forma, a superfície de engate da saliência do canal 1586 não é paralela à superfície superior 729 de uma saliência correspondente dentre as saliências de canal 725 quando o conjunto de cartucho 701 está na posição fechada.
Em uma disposição, Oca pode ser de aproximadamente 0,5º, por exemplo.
Outros ângulos, entretanto, são contemplados.
Tal disposição pode reduzir cargas pontuais na extremidade distal 1582 do flange 1580. Em uma disposição alternativa (não mostrada), a superfície de engate de bigorna em cada um dos flanges de engate de bigorna pode ter dois segmentos lineares distintos, sendo que um segmento é disposto a um ângulo das rampas de abertura positiva da bigorna 628 (Figuras 27 a 29) e o outro segmento linear pode corresponder ao ângulo de cada uma dentre as saliências da placa da bigorna 624. Em ainda outras disposições alternativas (não mostradas), o comprimento de cada um dentre os flanges de engate de canal pode ser maior que o comprimento dos flanges de engate da bigorna, o que pode permitir que as cargas sejam distribuídas sobre uma área maior da saliência de canal, o que pode reduzir as potenciais cargas de contato local e a escoriação. Resultados favoráveis semelhantes podem ser obtidos sendo que cada um dentre os flanges de engate da bigorna é mais longo que os flanges de engate de canal.
[00132] Ainda com referência à Figura 35, o conjunto de preensão dinâmico 1550 inclui adicionalmente ao menos um recurso de engate de bigorna 1556. Na disposição ilustrada, um recurso de engate de bigorna 1556 se estende a partir de cada lado lateral 1553 da porção de corpo 1552. Em um exemplo, cada recurso de engate de bigorna 1556 compreende um flange 1590 que tem uma extremidade distal 1592, uma extremidade proximal 1594 e uma superfície de engate de saliência de bigorna 1596 que se estende entre as mesmas. A superfície de engate de saliência de bigorna 1596 é configurada para engatar ou se mover deslizantemente em uma saliência correspondente dentre as saliências da placa da bigorna 624, formadas em cada lado da fenda alongada 622 da placa da bigorna 620. Na disposição ilustrada, uma extremidade distal 1597 da superfície de engate de saliência de bigorna 1596 é arredondada para reduzir o atrito entre a superfície de engate de saliência de bigorna 1596 e as saliências da placa da bigorna 624. De acordo com um outro aspecto, em pelo menos uma disposição, a superfície de engate de saliência de bigorna 1596 se inclina a partir da extremidade proximal 1594 para a extremidade distal 1592 na direção contrária ao eixo geométrico longitudinal LA. Por exemplo, na Figura 35, o eixo geométrico ALA é paralelo ao eixo geométrico longitudinal LA e também pode ser paralelo à superfície inferior 626 de cada saliência da placa da bigorna 624 quando o conjunto de bigorna 612 está na posição fechada. Em ao menos uma disposição, por exemplo, a superfície de engate de saliência de bigorna 1596 se inclina na direção oposta ao eixo geométrico ALA a um ângulo de bigorna Ona. Dito de outra forma, a superfície de engate de saliência de bigorna 1596 não é paralela à superfície inferior de uma saliência correspondente dentre as saliências da placa da bigorna 624, quando a placa da bigorna 620 está na posição fechada. Em uma disposição, On pode ser de aproximadamente 1º, por exemplo. Outros ângulos, entretanto, são contemplados. Tal disposição pode diminuir as cargas pontuais na extremidade distal 1592 do flange
1590. Outras disposições são contempladas em que apenas as superfícies de engate da saliência do canal ou as superfícies de engate da saliência da bigorna são inclinadas. Por exemplo, em uma outra disposição, a superfície de engate da saliência de canal de cada flange de engate de canal pode ser aproximadamente paralela ao eixo geométrico longitudinal LA e a superfície de engate da saliência da bigorna em cada um dos flanges de engate da saliência da bigorna é inclinada conforme descrito na presente invenção. Em uma outra disposição, a superfície de engate da saliência de canal de cada flange de engate da saliência de canal é inclinada conforme descrito acima, mas a superfície de engate da saliência da bigorna de cada flange de engate da bigorna não é inclinada em relação ao eixo geométrico longitudinal LA, mas, em vez disso, é aproximadamente paralela ao mesmo.
[00133] Voltando-se para a Figura 36, de acordo com ainda outro aspecto da presente divulgação, cada um dos flanges de engate de bigorna 1590 é revestido com um material cerâmico 1598. Uma forma de revestimento cerâmico que pode ser empregado compreende revestimentos cerâmicos que podem compreender, por exemplo, carbono tipo diamante (DLC), nitreto de titânio (TiN), nitreto de zircônio (ZrN), nitreto de titânio-nióbio (TiNbN), fosfatos de cálcio (Ca3(PO4)2), e uma hidroxiapatita (Ca1o(PO21)6º(OH)2). Embora não seja estritamente considerado como um revestimento (mas como uma camada de óxido nativo), outro compósito cerâmico-metálico popular é a zircônia monoclímica cultivada no local sobre uma liga de nióbio e zircônio (isto é, zircônia oxidada, OxZr). Um revestimento similar pode ser aplicado a cada um dentre os flanges de engate de canal 1580. Além disso, um revestimento cerâmico similar pode ser aplicado à superfície inferior 626 de cada uma dentre as saliências da placa da bigorna 624 bem como à superfície superior 729 de cada saliência de canal 725. Na alternativa, a totalidade das saliências da placa da bigorna 624 e a totalidade das saliências do canal 725 podem ser revestidas com o revestimento cerâmico. Esse revestimento pode ser aplicado com o uso de tecnologia de impressão 3D, e formar uma superfície com dureza significativamente maior do que o material ao qual é aplicada, e pode também ser altamente polido para resultar em um arrasto de atrito significativamente mais baixo entre esses componentes durante o disparo. Outros métodos de aplicação de revestimentos que podem ser empregados de maneira eficaz incluem, mas não se limitam a, deposição indireta de aerossol de compósito de resina, bem como deposição por plasma e vapor.
[00134] De acordo com um outro aspecto geral da presente descrição, uma forma do membro de preensão dinâmico 1550 inclui pelo menos um elemento de inserção de flange de canal 1585 que é embutido no flange de engate de canal correspondente 1580. No exemplo ilustrado, dois elementos de inserção de flange de canal 1585 são embutidos em cada flange de canal 1580. Ainda com referência à Figura 36, o membro de preensão dinâmico 1550 inclui adicionalmente ao menos um elemento de inserção de flange de bigorna 1595 que é embutido no flange de engate de bigorna correspondente 1590. No exemplo ilustrado, dois elementos de inserção de flange de bigorna 1595 são embutidos em cada flange de bigorna 1590. Conforme mostrado, cada elemento de inserção do flange de canal 1585 e cada elemento de inserção do flange de bigorna 1595 tem um formato em seção transversal retangular. Entretanto, são contemplados outros números, tamanhos e formatos de elementos de inserção de flange de canal e de flange de bigorna. Em ao menos um exemplo, cada elemento de inserção de flange de bigorna 1595 se estende a partir do revestimento ou cobertura externa 1598.
[00135] De acordo com um outro aspecto geral, para aquelas disposições em que cada saliência de canal 725 e cada saliência da placa da bigorna 624 são fabricadas a partir de metal (ou outro material) que tem, por exemplo, uma dureza medida na Rockwell C de aproximadamente HRC 39 a 45, cada um dos elementos de inserção de flange de canal 1585 e cada um dos elementos de inserção de flange de bigorna 1595 pode ser fabricado a partir de um material com um valor de dureza superior ao valor de dureza das saliências de canal 725 e das saliências da placa da bigorna 624. Por exemplo, os elementos de inserção de flange de canal 1585 e os elementos de inserção de flange de bigorna 1595 podem ser fabricados a partir de materiais cerâmicos que incluem, mas não se limitam a, por exemplo, alumina (Al2O;), zircônia (ZrO>2), alumina temperada com zircônia (ZTA), compósitos de matriz de alumina (AMC), zircônia temperada com alumina (ATZ), nitreto de silício (SizNa), e hidroxiapatita (Hap) que tem um valor de dureza de aproximadamente HRC 55 a 70. Nesses casos, o material que compreende os elementos de inserção de flange de canal e os elementos de inserção de flange de bigorna tem uma estrutura cristalina que difere da estrutura (ou estruturas) cristalina do material (ou materiais) a partir do qual as saliências da placa da bigorna e as saliências do canal são fabricadas.
[00136] A Figura37 é uma vista em seção transversal da porção de corpo central 1552 do conjunto de preensão dinâmico 1550 tomada ao longo da linha 37-37 na Figura 36. No exemplo ilustrado, a porção de corpo central 1552 compreende uma região central 1555 que pode ser fabricada a partir de aço inoxidável de série de alta dureza Rockwell C 400 - 420 ou 440 SS. Uma região lateral cerâmica 1559 é fixada a cada um dos lados laterais da região central. Cada região lateral de cerâmica pode ter uma dureza que é maior que a dureza da região central. Elementos de inserção endurecidos 1551 também são fixados às superfícies das regiões laterais de cerâmica. Os elementos de inserção endurecidos podem ser fabricados a partir de aço inoxidável de série de alta dureza Rockwell C 400 - 420 ou 440 SS.
[00137] As Figuras 38 e 39 ilustram um outro conjunto de preensão dinâmico 1550' que é similar ao conjunto de preensão dinâmico 1550 exceto pelas diferenças discutidas abaixo. Como pode ser visto na Figura 38, uma superfície de engate de saliência de canal 1586' de um flange de engate de canal 1580' e uma superfície de engate de saliência de bigorna 1596' de um flange de engate de bigorna 1590' são, cada uma, aproximadamente paralelas ao eixo geométrico longitudinal LA. Cada um dos flanges de engate de canal 1580' bem como uma porção de corpo 1552 do conjunto de preensão dinâmico 1550' são revestidos com um material 1560 que pode compreender um material de revestimento vendido sob a marca registrada MEDCOAT/20007Y pela Electrolizing Corporation de Ohio. Em uma modalidade alternativa, um revestimento de nitreto pode ser empregado. Esses revestimentos podem ser aplicados após a porção de corte de tecido 1554 ter sido formada e afiada. A aplicação do revestimento de material 1560 à porção de corte de tecido 1554 pode melhorar e otimizar seu afiamento.
[00138] As Figuras 40 a 43 representam um sistema de travamento de articulação 5900 para travar um elo de articulação 5560 de um atuador de extremidade cirúrgico 5500 sob a forma de uma unidade de carregamento 5510 (DLU ou MLU). A unidade de carregamento 5510 é idêntica à unidade de carregamento 510 exceto pelas diferenças observadas abaixo. Como pode ser visto nas Figuras 40 a 43, o sistema de travamento de articulação ilustrado 5900 compreende um membro de trava deslocável lateralmente 5910 que inclui os dentes de trava
5912 que são configurados para engatar, de maneira travável, em sulcos de travamento 5564 formados em uma extremidade proximal 5562 do elo de articulação 5560. O sistema de travamento 5900 compreende adicionalmente um came de travamento 5920 que é acoplado de modo pivotante a um gabinete externo 5532. O gabinete externo 5532 é similar ao gabinete externo 532 descrito acima.
O membro de trava 5910 é constrito para se mover lateralmente (direções L, e L2) entre dois recursos de montagem 5918 montados ou formados no interior do gabinete externo 5532 como pode ser visto nas Figuras 42 e 43. O came de travamento 5920 inclui um atuador de came 5922 que é configurado para fazer interface operacionalmente com um feixe de acionamento flexível 5542 de um conjunto de acionamento 5540. Como pode ser visto mais particularmente na Figura 40, uma abertura de came 5543 é fornecida no feixe de acionamento flexível 5542 para receber o atuador de came 5922 quando o conjunto de acionamento 5540 está na posição não atuada ou não disparada.
Quando em uma posição inicial ou não disparada, o came de travamento 5920 é propendido para uma posição não atuada por um par de membros de propensão 5940 que se apoiam sobre o membro de trava 5910 para deslocar lateralmente o membro de trava 5910 na direção lateral L1. Quando nessa posição, os dentes de trava 5912 do membro de trava 5910 estão fora de engate com os sulcos de travamento 5564 formados na extremidade proximal 5562 do elo de articulação 5560 de modo que o elo de articulação 5560 possa ser movido axialmente na direção proximal PD e direção distal DD pela barra de articulação 258 de um adaptador ao qual o atuador de extremidade 5500 está operacionalmente fixado.
Dessa forma, quando na posição destravada ilustrada na Figura 42, o elo de articulação 5560 pode ser axialmente movido para articular o atuador de extremidade em uma posição articulada desejada.
Uma vez que o clínico tenha articulado o atuador de extremidade na orientação desejada, o conjunto de acionamento 5540 é acionado para avançar distalmente o feixe de disparo flexível
5542. Conforme o braço de disparo 5542 é avançado distalmente, o atuador de came 5922 faz com que o came de travamento 5920 pivote e propenda o membro de trava 5910 na direção lateral L2 de modo a colocar os dentes de travamento 5912 do mesmo em engate de travamento com os sulcos de travamento 5564. Como pode ser visto nas Figuras 40 a 43, os sulcos de travamento 5564 são definidos entre os dentes de trava 5566. Cada um dos dentes de trava 5566 tem extremidades pontiagudas 5568 que são configuradas para cooperar com as extremidades pontiagudas 5914 nos dentes de trava 5912 para fornecer assistência de avanço axial para a posição travada.
[00139] As Figuras 44 a 54 ilustram um sistema de travamento do conjunto de acionamento 6900 para impedir o avanço axial de um conjunto de preensão dinâmico 550 de um atuador de extremidade cirúrgico 500' a menos que um cartucho não disparado 702 tenha sido adequadamente carregado no canal 720 do atuador de extremidade 500', por exemplo. Como usado neste contexto, o termo "cartucho não disparado" significa que o cartucho 702 não foi disparado e contém todos os seus grampos 704, com o deslizador de atuação 712 em sua posição inicial e não disparada ou pronto para disparar no interior do mesmo. Como pode ser visto na Figura 44, em um exemplo, o sistema de travamento do conjunto de acionamento 6900 compreende um membro de trava 6902 que é suportado por um gabinete interno 534 do atuador de extremidade 500' e é configurado para engatar de maneira retentora uma porção de corpo 552 de um conjunto de preensão dinâmico 550. Como pode ser visto nas Figuras 45 a 47, o membro de trava 6902 compreende dois braços de trava laterais 6904, cada um tendo um recurso de travamento 6906 sobre o mesmo. Os braços de trava laterais 6904 são normalmente propendidos para dentro de modo que os recursos de trava 6906 no mesmo engatem de forma retentora a porção de corpo 552 do conjunto de preensão dinâmico 550 quando o conjunto de preensão dinâmico 550 está situado em sua posição inicial/não disparada. Dessa forma, quando os recursos de trava 6906 estão em engate de retenção com o conjunto de preensão dinâmico 550, o conjunto de preensão dinâmico 550 é impedido de ser acionado distalmente (disparado).
[00140] As Figuras 44 e 45 ilustram uma porção do atuador de extremidade 500' em que um cartucho não disparado 702 foi adequadamente carregado no atuador de extremidade 500'. O cartucho não disparado 702 sustenta um deslizador de atuador 712 em uma posição não atuada no mesmo, sendo que porções das cunhas de came 713 do deslizador de atuador 712 engatam os recursos de trava 6906 e propendem cada um dos braços de travamento laterais 6904 para fora do engate de travamento (setas UL na Figura 45) com a porção de corpo 552 do conjunto de preensão dinâmico 550. Quando naquela posição destravada (Figuras 45 e 46), o conjunto de preensão dinâmico 550 pode ser acionado distalmente para disparar os grampos no cartucho 702 (Figura 47) e cortar o tecido pinçado no mesmo. Uma vez que o conjunto de preensão dinâmico 550 tenha sido acionado distalmente para sua posição final dentro do cartucho 702, ele é então retraído na direção proximal PD de volta para sua posição inicial. O deslizador de atuação 712 permanece na extremidade distal do cartucho 702.
[00141] A Figura 48 ilustra o membro de trava 6902 após o membro de preensão dinâmico ter sido acionado distalmente para fora de sua posição inicial. Como pode ser visto naquela Figura, os braços de trava 6902 são propendidos para dentro (setas LD). Durante o processo de retração, o conjunto de preensão dinâmico 550 irá entrar em contato com os membros de travamento 6906 conforme ele é retraído na direção proximal PD conforme mostrado na Figura 49. À medida que o conjunto de preensão dinâmico 550 entra em contato com os recursos de trava 6906, os braços de trava 6904 são propendidos lateralmente para fora (setas UL) até que o conjunto de preensão dinâmico 550 seja completamente retraído para a posição inicial no ponto em que os braços de trava 6904 se movem de volta para a configuração travada em que os recursos de trava 6906 engatam com retenção uma vez mais o conjunto de preensão dinâmico 550. Consulte a Figura 50. Dessa forma, o conjunto de preensão dinâmico 550 é novamente impedido de ser acionado distalmente até que um novo cartucho não disparado seja carregado no canal.
Caso o médico tente redisparar o membro de preensão dinâmico 550 antes de o cartucho agora gasto ser substituído, ele não será capaz de o fazer.
Adicionalmente, caso o médico carregue sem querer um cartucho parcialmente disparado no atuador de extremidade 500', o membro de trava 6902 irá evitar que o conjunto de preensão dinâmico 550 seja disparado, porque o deslizador de atuação no cartucho parcialmente disparado não estará na posição inicial para destravar o membro de trava 6902. A Figura 51 ilustra o atuador de extremidade 500' com as garras 610, 700 na posição completamente aberta.
A Figura 52 ilustra o conjunto de preensão dinâmico 550 em uma posição correspondente à posição completamente aberta.
A Figura 53 ilustra o atuador de extremidade 500' com as garras 610, 700 na posição completamente fechada.
A Figura 54 ilustra a posição do conjunto de preensão dinâmico 550 após ter movido as garras 610, 700 para a posição completamente fechada mas antes do disparo.
Considerando que as garras 610, 700 são movidas da posição completamente aberta para a posição completamente fechada pelo conjunto de preensão dinâmico 550, o membro de trava 6902 é configurado para permitir esse movimento axial do conjunto de preensão dinâmico 550 enquanto ainda está na posição travada.
Como pode ser visto nas Figuras 52 e 54, por exemplo, quando os braços de trava 6904 estão na posição travada normalmente, um bolso axial 6908 é definido entre os mesmos para permitir o movimento axial do conjunto de preensão dinâmico 550, que é necessário para abrir e fechar as garras 610, 700 sem permitir que o conjunto de preensão dinâmico 550 seja movido distalmente além da posição completamente fechada a menos que um cartucho não disparado seja carregado no interior do canal do atuador de extremidade.
[00142] As Figuras 55 a 57 ilustram outro sistema de travamento do conjunto de acionamento 6920 para evitar o avanço axial do conjunto de preensão dinâmico 550 de um atuador de extremidade de um adaptador do tipo aqui divulgado a menos que um cartucho 702' tenha sido adequadamente carregado no canal do atuador de extremidade. Neste exemplo, o cartucho 702' é formado com um par de recursos de destravamento que se estendem proximalmente 6930 que são configurados para engatar por destravamento um membro de trava pivotante 6922. O membro de trava pivotante 6922 é configurado para girar entre uma posição travada na qual um recurso de travamento 6924 é recebido no interior de uma cavidade de travamento 543' que é formada em uma viga de acionamento flexível 542' (Figura 55) do atuador de extremidade. Quando o recurso de travamento 6924 é recebido dentro da cavidade de travamento 543', o feixe de acionamento 542' (e o conjunto de preensão dinâmico 550 acoplado ao mesmo) não pode ser avançado distalmente para disparar grampos que estão armazenados no cartucho 702'. O membro de trava 6922 inclui também um braço de destravamento que se estende distalmente 6926, que corresponde a cada recurso de destravamento 6930 no cartucho 702'. Quando o cartucho 702' está adequadamente carregado no atuador de extremidade, os recursos de destravamento 6930 engatam os braços de destravamento correspondentes 6926 para pivotar o membro de trava 6922 para a posição destravada, sendo que o recurso de travamento 6924 é pivotado fora da cavidade de travamento 543 para permitir assim que o feixe de acionamento 542' seja avançado distalmente para disparar o conjunto de preensão dinâmico 550. Em uma disposição alternativa, os recursos de destravamento que se estendem proximalmente 6930 não são formados sobre o cartucho 702, mas em vez disso são formados sobre o deslizador de atuação (não mostrado) que é suportado no cartucho. Quando o deslizador de atuação está na posição não atuada (correspondente a um cartucho novo ou não disparado), os recursos de destravamento no mesmo irão engatar os braços de destravamento 6926 sobre o membro de trava 6922 para pivotar o membro de trava para a posição destravada.
[00143] A Figura 58 ilustra uma outra disposição de cartucho 702" que emprega um membro de circuito flexível 6940 que é fixado a uma superfície de plataforma 6952 do corpo de cartucho 6950. Na disposição ilustrada, uma porção de plataforma elevada 6954 se estende em cada lado de uma fenda alongada 6951 no corpo de cartucho 6950 para detectar a posição de um membro de preensão dinâmico do atuador de extremidade. O circuito flexível 6940 pode incluir um microcircuito de circuito 6942 que se comunica com a placa de circuito 294 no adaptador no qual a mesma é montada. O membro de circuito flexível 6940 inclui contatos 6944 que entram eletricamente em contato com contatos correspondentes (não mostrados) em um canal do atuador de extremidade, que são finalmente conectados a uma placa de circuito 294 (Figura 6) de um adaptador ou outra disposição de placa de controle no mesmo. O membro de circuito flexível 6940 pode facilitar melhor controle do avanço do conjunto de preensão dinâmico mediante o monitoramento de sua localização e utilizar essas informações para controlar um motor de disparo no instrumento cirúrgico. Por exemplo, tal disposição pode ser empregada para alterar a velocidade ou a capacidade de energia no início ou no final do curso de disparo. Essas informações também podem ser usadas para alterar os limites máximos aceitáveis de torque bem no início do curso de disparo e no final do curso de disparo. Em outras disposições, um membro deformável pode ser fornecido dentro da abertura da MULU para a extremidade distal da haste de disparo que poderia permitir uma parada de absorção de choque no final do curso, mas também como um indicador da força de avanço sobre a corrente do motor conforme a haste se aproxima do final do percurso de sua fenda metálica. A colocação de uma porção da MULU ou DLU que tem um alto momento de inércia, mas também uma maior capacidade de deformação elástica, permitiria que esta parte do sistema de retorno da força terrestre absorvesse quaisquer picos de força altos que ocorrem devido à incapacidade do motor de frear dinamicamente rápido o suficiente no caso de uma série de componentes metálicos colidirem inadvertidamente. Este componente alongável e de preferência elástico pode ser em série com o solo e com fixação em baioneta da DLU. Tal disposição pode compreender recursos de plástico dobrável que existem no ponto de fixação das placas em | do pivô de articulação metálico. Tal disposição pode compreender também uma parte separada em cooperação com essas fixações e a conexão em baioneta que tem um aspecto extensível com recursos secundários de limitação de extensão máxima que permitem um comprimento de extensão limitado, mas tolera deflexões de impacto. Exemplos
[00144] Exemplo 1- Um conjunto de preensão dinâmico para uso com um instrumento cirúrgico que inclui uma primeira e uma segunda garras que são acopladas de modo pivotante e móveis entre as posições aberta e fechada. Em ao menos um exemplo, o conjunto de preensão dinâmico compreende uma porção de corpo que tem pelo menos um primeiro recurso de engate de garra que se projeta da mesma e é configurado para engatar de maneira deslizante uma primeira saliência da garra correspondente que é formada na primeira garra para aplicar movimentos de fechamento ao mesmo. A porção de corpo inclui adicionalmente ao menos um segundo recurso de engate de garra que se projeta a partir da mesma e é configurado para engatar de maneira deslizante uma segunda saliência da garra correspondente formada na segunda garra para aplicar outros movimentos de fechamento ao mesmo. Uma superfície de revestimento é fornecida em pelo menos uma porção de cada primeiro recurso de engate de garra para aumentar uma dureza do mesmo.
[00145] “Exemplo 2 -0O conjunto de preensão dinâmico do Exemplo 1, em que o revestimento de superfície é sobre pelo menos uma porção de cada segundo recurso de engate de garra para aumentar uma outra dureza do mesmo.
[00146] Exemplo3-O conjunto de preensão dinâmico dos Exemplos 1 ou 2, em que a porção de corpo compreende um gume cortante de tecido e sendo que o revestimento de superfície é sobre o gume cortante de tecido para aumentar um afiamento do mesmo.
[00147] Exemplo4-O conjunto de preensão dinâmico dos Exemplos 1, 2 ou 3, em que o primeiro recurso de engate de garra compreende um primeiro flange plano que se projeta a partir de um primeiro lado lateral da porção de corpo e um segundo flange plano que se projeta a partir de um segundo lado lateral da porção de corpo, e sendo que cada primeiro e segundo flanges planos é completamente revestido com o revestimento de superfície.
[00148] Exemplo5-O conjunto de preensão dinâmico dos Exemplos 1,2, 3 ou 4, em que o segundo recurso de engate de garra compreende um primeiro flange plano inferior que se projeta a partir do primeiro lado lateral da porção de corpo e um segundo flange plano inferior que se projeta a partir do segundo lado lateral da porção de corpo, e sendo que cada primeiro e segundo flanges planos inferiores é completamente revestido com o revestimento de superfície.
[00149] “Exemplo6-0O conjunto de preensão dinâmico dos Exemplos 1, 2, 3, 4 ou 5, em que a segunda garra define um segundo eixo geométrico longitudinal que se estende entre uma segunda extremidade proximal e uma segunda extremidade distal, e sendo que cada segundo recurso de engate de garra compreende uma segunda superfície de fechamento de recurso que é configurada para engatar a segunda saliência de garra correspondente, e é disposta em um segundo ângulo de engate em relação ao eixo geométrico longitudinal.
[00150] Exemplo 7 - O conjunto de preensão dinâmico dos Exemplos 1, 2, 3, 4, 5 ou 6, em que o segundo recurso de engate de garra compreende uma segunda superfície de fechamento de recurso que não é paralela a uma segunda superfície de saliência de garra de uma segunda saliência de garra correspondente.
[00151] Exemplo 8-O conjunto de preensão dinâmico dos Exemplos 1, 2, 3, 4, 5, 6 ou 7, em que a superfície de revestimento compreende um material de revestimento de nitreto de titânio.
[00152] Exemplo 9 - O conjunto de preensão dinâmico dos Exemplos 1,2, 3, 4, 5, 6, 7 ou 8, em que a primeira garra define um primeiro eixo geométrico longitudinal que se estende entre uma primeira extremidade proximal e uma segunda extremidade distal, e em que cada primeiro recurso de engate de garra compreende uma primeira superfície de fechamento de recurso que é configurada para engatar a primeira saliência de garra correspondente, e é disposto em um primeiro ângulo de engate em relação ao primeiro eixo geométrico longitudinal.
[00153] Exemplo 10 - O conjunto de preensão dinâmico dos Exemplos 1, 2, 3,4, 5, 6,7, 8 ou 9, em que o primeiro recurso de engate de garra compreende uma primeira superfície de fechamento de recurso que não é paralela a uma primeira superfície de saliência de garra de uma primeira saliência de garra correspondente.
[00154] Exemplo 11 - Um atuador de extremidade cirúrgico que compreende um conjunto de bigorna que inclui pelo menos uma saliência de fechamento de bigorna. Um canal é configurado para suportar operacionalmente um cartucho de prendedores no mesmo, e é acoplado de modo móvel ao conjunto de bigorna de modo que o conjunto de bigorna e o canal possam ser orientados um em relação ao outro entre as posições aberta e fechada. O canal inclui pelo menos uma saliência de fechamento de canal. O atuador de extremidade compreende adicionalmente um conjunto de preensão dinâmico que compreende uma porção de corpo que tem pelo menos um recurso de engate de bigorna que se projeta a partir da mesma. O recurso de engate de bigorna é configurado para engatar de maneira deslizante uma saliência de fechamento de bigorna correspondente para aplicar movimentos de fechamento ao mesmo. A porção de corpo inclui adicionalmente ao menos um recurso de engate de canal que se projeta a partir da mesma, e é configurado para engatar de maneira deslizante uma saliência de fechamento de canal correspondente para aplicar outros movimentos de fechamento ao mesmo. Um revestimento de superfície é fornecido em pelo menos uma porção de cada recurso de engate de bigorna para aumentar uma dureza do mesmo.
[00155] Exemplo 12 - O atuador de extremidade cirúrgico do Exemplo 11, em que o revestimento de superfície é sobre pelo menos uma porção de cada recurso de engate de canal para aumentar uma outra dureza da mesma.
[00156] Exemplo 13 - O atuador de extremidade cirúrgico dos Exemplos 11 ou 12, em que a porção de corpo compreende um gume cortante de tecido e em que o revestimento de superfície está sobre o gume cortante de tecido para aumentar um afiamento do mesmo.
[00157] Exemplo 14 - O atuador de extremidade cirúrgico dos Exemplos 11, 12 ou 13, em que o recurso de engate de bigorna compreende um primeiro flange plano que se projeta a partir de um primeiro lado lateral da porção de corpo e um segundo flange plano que se projeta a partir de um segundo lado lateral da porção de corpo, e em que cada um dentre o primeiro e o segundo flanges planos são completamente revestidos com o revestimento de superfície.
[00158] Exemplo 15 - O atuador de extremidade cirúrgico dos Exemplos 11, 12, 13 ou 14, em que o recurso de engate de canal compreende um flange plano primário que se projeta a partir do primeiro lado lateral da porção de corpo, e um flange plano secundário que se projeta a partir do segundo lado lateral da porção de corpo, e em que cada um dentre os flanges planos primário e secundário é completamente revestido com o revestimento de superfície.
[00159] Exemplo 16 - O atuador de extremidade cirúrgico dos Exemplos 11, 12, 13, 14 ou 15, em que o conjunto de bigorna define um primeiro eixo geométrico longitudinal que se estende entre uma primeira extremidade proximal e uma segunda extremidade distal, e em que cada recurso de engate de bigorna compreende uma superfície de fechamento de bigorna que é configurada para engatar a saliência de fechamento de bigorna correspondente e é disposta em um primeiro ângulo de engate em relação ao primeiro eixo geométrico longitudinal.
[00160] Exemplo 17 - O atuador de extremidade cirúrgico dos Exemplos 11, 12, 13, 14, 15 ou 16, em que o recurso de engate de bigorna compreende uma superfície de fechamento de bigorna que não é paralela a uma superfície de saliência de bigorna de uma saliência de bigorna correspondente.
[00161] Exemplo 18 - O atuador de extremidade cirúrgico dos Exemplos 11, 12, 13, 14, 15, 16 ou 17, em que o canal define um segundo eixo geométrico longitudinal que se estende entre uma segunda extremidade proximal e uma segunda extremidade distal, e em que cada recurso de engate de canal compreende uma superfície de fechamento de canal que é configurada para engatar a saliência de fechamento de canal correspondente e é disposta em um segundo ângulo de engate em relação ao segundo eixo geométrico longitudinal.
[00162] Exemplo 19 - O atuador de extremidade cirúrgico dos Exemplos 11, 12, 13, 14, 15, 16, 17 ou 18, em que cada recurso de engate de canal compreende uma superfície de fechamento de canal que não é paralela a uma superfície de saliência de canal de uma saliência de fechamento de canal correspondente.
[00163] Exemplo 20 - O atuador de extremidade cirúrgico dos Exemplos 11, 12, 13, 14, 15, 16, 17, 18 ou 19, em que o revestimento de superfície compreende um material de revestimento de nitreto de titânio.
[00164] Muitos dos sistemas de instrumento cirúrgico aqui descritos são acionados por um motor elétrico; entretanto, os sistemas de instrumento cirúrgico aqui descritos podem ser induzidos de qualquer maneira adequada. Em vários exemplos, os sistemas de instrumento cirúrgico aqui descritos podem ser induzidos, por exemplo, por um gatilho manualmente operado. Em certos casos, os motores divulgados no presente documento podem compreender uma porção ou porções de um sistema roboticamente controlado. Além disso, qualquer um dos atuadores de extremidade e/ou conjuntos de ferramenta apresentados na presente invenção pode ser utilizado com um sistema de instrumento cirúrgico robótico. O pedido de patente US nº de série 13/118.241, intitulado SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, agora patente US nº
9.072.535, por exemplo, divulga vários exemplos de um sistema de instrumento cirúrgico robótico com mais detalhes.
[00165] Os sistemas de instrumento cirúrgico aqui descritos foram descritos em conexão com a implantação e a deformação dos grampos; entretanto, as modalidades descritas na presente invenção não são limitadas dessa forma. Várias modalidades são previstas, as quais implantam prendedores além de grampos, como garras ou tachas, por exemplo. Além disso, várias modalidades são contempladas, as quais utilizam quaisquer meios adequados para selar o tecido. Por exemplo, um atuador de extremidade, de acordo com várias modalidades, pode compreender eletrodos configurados para aquecer e vedar o tecido. Da mesma forma, por exemplo, um atuador de extremidade de acordo com certas modalidades, pode aplicar energia vibracional para selar o tecido.
[00166] Embora vários dispositivos tenham sido aqui descritos em conexão com determinadas modalidades, modificações e variações dessas modalidades podem ser implementadas. Os recursos, estruturas ou características específicos podem ser combinados de qualquer maneira adequada em uma ou mais modalidades. Portanto, os recursos, as estruturas ou as características específicos ilustrados ou descritos em conexão com uma modalidade podem ser combinados, no todo ou em parte, com os recursos, estruturas ou características de uma ou mais outras modalidades, sem limitação. Além disso, onde forem divulgados materiais para determinados componentes, outros materiais podem ser usados. Além disso, de acordo com várias modalidades, um único componente pode ser substituído por múltiplos componentes e múltiplos componentes podem ser substituídos por um único componente, para executar uma ou mais funções determinadas. A descrição mencionada anteriormente e as reivindicações seguintes são destinadas a abranger todas essas modificações e variações.
[00167] Os dispositivos aqui divulgados podem ser projetados para serem descartados após um único uso, ou podem ser projetados para serem usados múltiplas vezes. Em qualquer um dos casos, entretanto, um dispositivo pode ser recondicionado para reuso após ao menos um uso. O recondicionamento pode incluir qualquer combinação das etapas incluindo, mas não se limitando a, a desmontagem do dispositivo seguida de limpeza ou substituição de peças específicas do dispositivo e remontagem subsequente do dispositivo. Em particular, uma instalação de recondicionamento e/ou equipe cirúrgica pode desmontar um dispositivo e, após a limpeza e/ou substituição de partes particulares do dispositivo, o dispositivo pode ser remontado para uso subsequente. Os versados na técnica entenderão que o recondicionamento de um dispositivo pode usar uma variedade de técnicas para desmontar, limpar/substituir e remontar. O uso dessas técnicas, bem como o dispositivo recondicionado resultante, estão todos no escopo do presente pedido.
[00168] Os dispositivos divulgados aqui podem ser processados antes da cirurgia. Primeiro, um instrumento novo ou usado pode ser obtido e, se necessário, limpo. O instrumento pode ser, então, esterilizado. Em uma técnica de esterilização, o instrumento é disposto em um recipiente fechado e vedado, como uma bolsa plástica ou de TYVEK. O recipiente e o instrumento podem, então, ser colocados em um campo de radiação que possa penetrar no recipiente, como radiação gama, raios X e/ou elétrons de alta energia. A radiação pode exterminar as bactérias no instrumento e no recipiente. O instrumento esterilizado pode, então, ser armazenado em um recipiente estéril. O recipiente vedado pode manter o instrumento estéril até que seja aberto na instalação médica. Um dispositivo pode também ser esterilizado com o uso de qualquer outra técnica conhecida, incluindo, mas não se limitando a, radiação beta, radiação gama, óxido de etileno, peróxido de plasma e/ou vapor dágua.
[00169] Embora esta invenção tenha sido descrita como tendo projetos exemplificadores, a presente invenção pode ser adicionalmente modificada dentro do espírito e do escopo da divulgação. Pretende-se, portanto, que este pedido cubra quaisquer variações, usos Ou adaptações da invenção com o uso de seus princípios gerais.
Claims (20)
1. Conjunto de preensão dinâmico para uso com um instrumento cirúrgico incluindo uma primeira e uma segunda garras acopladas pivotantemente e móveis entre as posições aberta e fechada, caracterizado por compreender: uma porção de corpo; pelo menos um primeiro recurso de engate de garra que se projeta a partir da dita porção de corpo e configurado para engatar deslizantemente uma primeira saliência de garra correspondente formada na primeira garra para aplicar movimentos de fechamento ao mesmo; ao menos um segundo recurso de engate de garra que se projeta a partir da dita porta de corpo e configurado para engatar deslizantemente uma segunda saliência de garra correspondente formada na segunda garra para aplicar outros movimentos de fechamento ao mesmo; e uma superfície de revestimento em pelo menos uma porção de cada dito ao menos um primeiro recurso de engate de garra para aumentar uma dureza do mesmo.
2. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por o dito revestimento de superfície ser sobre pelo menos uma porção de cada dito ao menos um segundo recurso de engate de garra para aumentar uma outra dureza do mesmo.
3. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por a dita porção de corpo compreender um gume cortante de tecido e sendo que o dito revestimento de superfície é sobre o dito gume cortante de tecido para aumentar um afiamento do mesmo.
4. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por o dito pelo menos um dito primeiro recurso de engate de garra compreender: um primeiro flange plano que se projeta a partir de um lado lateral da dita porção de corpo; e um segundo flange plano que se projeta a partir de um segundo lado lateral da dita porção de corpo e sendo que cada um dos ditos primeiro e segundo flanges planos é completamente revestido com o dito revestimento de superfície.
5. Conjunto de preensão dinâmico, de acordo com a reivindicação 4, caracterizado por o dito pelo menos um segundo recurso de engate de garra compreender: um primeiro flange plano inferior que se projeta a partir do dito primeiro lado lateral da dita porção de corpo; e um segundo flange plano inferior que se projeta a partir do dito segundo lado lateral da dita porção de corpo e sendo que cada um dos ditos primeiro e segundo flanges planos inferiores é completamente revestido com o dito revestimento de superfície.
6. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por a segunda garra definir um segundo eixo geométrico longitudinal que se estende entre uma segunda extremidade proximal e uma segunda extremidade distal e sendo que cada segundo recurso de engate de garra compreende uma segunda superfície de fechamento de recurso configurada para engatar a segunda saliência de garra correspondente e disposta em um segundo ângulo de engate em relação ao segundo eixo geométrico longitudinal.
7. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por o dito segundo recurso de engate de garra compreender uma segunda superfície de fechamento de recurso que é não paralela a uma segunda superfície de saliência de garra de uma segunda saliência de garra correspondente.
8. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por o dito revestimento de superfície compreender um material de revestimento de nitreto de titânio.
9. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por a primeira garra definir um primeiro eixo geométrico longitudinal que se estende entre uma primeira extremidade proximal e uma segunda extremidade distal e sendo que cada dito primeiro recurso de engate de garra compreende uma primeira superfície de fechamento de recurso configurada para engatar a primeira saliência de garra correspondente e disposta em um primeiro ângulo de engate em relação ao primeiro eixo geométrico longitudinal.
10. Conjunto de preensão dinâmico, de acordo com a reivindicação 1, caracterizado por o dito cada primeiro recurso de engate de garra compreender uma primeira superfície de fechamento de recurso que é não paralela a uma primeira superfície de saliência de garra de uma primeira saliência de garra correspondente.
11. Atuador de extremidade cirúrgico, caracterizado por compreender: um conjunto de bigorna que compreende ao menos uma saliência de fechamento da bigorna; um canal configurado para suportar operacionalmente um cartucho de prendedores no mesmo e acoplado de modo móvel a dito conjunto de bigorna de modo que o dito conjunto de bigorna e o dito canal possam ser orientados um em relação ao outro entre as posições aberta e fechada, dito canal compreendendo ao menos uma saliência de fechamento de canal; um conjunto de preensão dinâmico, que compreende: uma porção de corpo; pelo menos um recurso de engate de bigorna que se projeta a partir da dita porção de corpo e configurado para engatar deslizantemente uma correspondente dentre a dita ao menos uma saliência de fechamento de bigorna para aplicar movimentos de fechamento à mesma; pelo menos um recurso de engate de canal que se projeta a partir da dita porção de corpo e configurado para engatar deslizantemente uma correspondente dentre a dita ao menos uma saliência de fechamento de canal para aplicar outros movimentos de fechamento à mesma; e uma superfície de revestimento em pelo menos uma porção de cada de dito recurso de engate de bigorna para aumentar uma dureza do mesmo.
12. Atuador de extremidade cirúrgico, de acordo com a reivindicação 11, caracterizado por o dito revestimento de superfície ser sobre pelo menos uma porção de cada dito recurso de engate de canal para aumentar uma outra dureza do mesmo.
13. Atuador de extremidade cirúrgico, de acordo com a reivindicação 11, caracterizado por a dita porção de corpo compreender um gume cortante de tecido e sendo que o dito revestimento de superfície é sobre o gume cortante de tecido para aumentar um afiamento do mesmo.
14. Atuador de extremidade cirúrgico, de acordo com a reivindicação 11, caracterizado por o dito pelo menos um recurso de engate de bigorna compreender: um primeiro flange plano que se projeta a partir de um lado lateral da dita porção de corpo; e um segundo flange plano que se projeta a partir de um segundo lado lateral da dita porção de corpo e sendo que cada um dos ditos primeiro e segundo flanges planos é completamente revestido com o dito revestimento de superfície.
15. Atuador de extremidade cirúrgico, de acordo com a reivindicação 14, caracterizado por o dito pelo menos um recurso de engate de canal compreender: um flange plano primário que se projeta a partir do dito primeiro lado lateral da dita porção de corpo; e um flange plano secundário que se projeta a partir do dito segundo lado lateral da dita porção de corpo e sendo que cada um dentre ditos flanges planos primário e secundário é completamente revestido com o dito revestimento de superfície.
16. Atuador de extremidade cirúrgico, de acordo com a reivindicação 11, caracterizado por o dito conjunto de bigorna definir um primeiro eixo geométrico longitudinal que se estende entre uma primeira extremidade proximal e uma segunda extremidade distal, e sendo que cada dito recurso de engate de bigorna compreende uma superfície de fechamento de bigorna configurada para engatar a saliência de fechamento de bigorna correspondente e disposta em um primeiro ângulo de engate em relação ao primeiro eixo geométrico longitudinal.
17. Atuador de extremidade cirúrgico, de acordo com a reivindicação 11, caracterizado por o dito recurso de engate de bigorna compreender uma superfície de fechamento de bigorna que é não paralela a uma superfície de saliência de bigorna de uma saliência de bigorna correspondente.
18. Atuador de extremidade cirúrgico, de acordo com a reivindicação 16, caracterizado por o dito canal definir um segundo eixo geométrico longitudinal que se estende entre uma segunda extremidade proximal e uma segunda extremidade distal, e sendo que cada dito recurso de engate de canal compreende uma superfície de fechamento de canal configurada para engatar a saliência de fechamento de canal correspondente e disposta em um segundo ângulo de engate em relação ao segundo eixo geométrico longitudinal.
19. Atuador de extremidade cirúrgico, de acordo com a reivindicação 17, caracterizado por o dito recurso de engate de canal compreender uma superfície de fechamento de canal que é não paralela a uma superfície de saliência de canal de uma saliência de fechamento de canal correspondente.
20. Atuador de extremidade cirúrgico, de acordo com a reivindicação 11, caracterizado por o dito revestimento de superfície compreender um material de revestimento de nitreto de titânio.
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2017
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CN111479518A (zh) | 2020-07-31 |
US20190183490A1 (en) | 2019-06-20 |
CN111479518B (zh) | 2023-12-19 |
JP2021506399A (ja) | 2021-02-22 |
US10966718B2 (en) | 2021-04-06 |
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