CN101522092B

CN101522092B - Flexible endoscopic stitching devices

Info

Publication number: CN101522092B
Application number: CN2007800375119A
Authority: CN
Inventors: 拉米罗·卡夫雷拉; 托马斯·温加德纳; 埃里克·J·泰勒; 彼得·哈瑟维; 肯尼思·W·霍顿
Original assignee: Tyco Healthcare Group LP
Current assignee: Covidien LP
Priority date: 2006-10-05
Filing date: 2007-10-05
Publication date: 2011-08-03
Anticipated expiration: 2027-10-05
Also published as: CN101522092A; CN101522121A; CN101522119A; CN101522108B; CN101522122A; CN101522119B; CN101522121B; CN101522108A; CN101522122B

Abstract

A handle assembly for operating a surgical instrument is provided and includes a housing; a trigger operatively supported on the housing; and at least one actuation cable operatively associated with the trigger and extending from the housing in such a manner that an actuation of the trigger imparts both an axial translation of the actuation cable and a rotation to the actuation cable. Each of the axial translation and rotation of the actuation cable performs a separate function.

Description

Flexible endoscopic stitching devices

Quoting of related application

The application requires the rights and interests and the priority of following application: No. the 60/849th, 561, the U.S. Provisional Application of submitting on October 5th, 2006; No. the 60/849th, 562, the U.S. Provisional Application of submitting on October 5th, 2006; No. the 60/849th, 508, the U.S. Provisional Application of submitting on October 5th, 2006; No. the 60/923rd, 804, the U.S. Provisional Application of submitting on April 16th, 2007; No. the 60/923rd, 980, the U.S. Provisional Application of submitting on April 17th, 2007; And No. the 60/958th, 474, the U.S. Provisional Application of submitting on July 6th, 2007; The full content of above-mentioned application is incorporated herein by reference.

Technical field

The disclosure relates to device, the system and method that is used for endoscope sewing (suturing) or sews up (stitching), more particularly, relates to the end effector that is used for endoscope sewing and/or stitching, system and method by interposing catheter etc.

Background technology

Along with medical treatment and hospitalization cost sustainable growth, the surgeon is devoted to develop advanced surgery operating technology constantly.Be usually directed to the development of the operating technology of the whole wound that comprises the surgical procedure of less wound and reduce the patient in the progress of surgical field.Like this, can shorten the hospital stays significantly, therefore, also can reduce to be in hospital and medical expense.

The major progress of an essence that reduces the wound of surgical procedure in recent years is an endo-surgical.Usually, endo-surgical relates to by body wall incision, for example observes on ovary, uterus, gallbladder, intestinal, kidney, vermiform appendix etc. and/or performs the operation.Have multiple conventional endoscope surgical procedure, comprise arthroscope, peritoneoscope (pelvioscope), gastroscope (gastroentroscopy) and larynx bronchoscope, this only is to point out.Typically, use trocar to generate the otch that carries out endo-surgical by it.Trocar tube or Intubaction device extend into stomach wall and stay on the interior suitable position of stomach wall so that the inlet of endo-surgical instrument to be provided.Video camera or endoscope insert by the trocar tube of the relatively large diameter that is usually located at otch (naval incision) and locates, and allow the visual inspection and the amplification of body cavity.The surgeon can diagnose and treatment procedure down the auxiliary of special apparatus at surgical site then, and described special apparatus is such as the pliers, cutter, applicator etc. that are designed to by additional intubate installation.Therefore, replace cutting the big otch (12 feet or bigger typically) of main muscle, the patient who carries out endo-surgical obtains otch more attractive in appearance, and size is between 5 to 10 millimeters.Therefore, compare, recover sooner and needs of patients anesthesia still less with the surgical operation that penetrates.In addition, because operative region is significantly enlarged, the surgeon can dissect blood vessel better and control is lost blood.The result of less otch is that the loss of heat and water significantly reduces.

In many surgical procedures, comprise the surgical procedures that relates to endo-surgical, need to sew up organ or tissue usually.Owing to must realize that passing smaller opening sews up organ or tissue, therefore the stitching to tissue is that challenge is arranged especially in the endo-surgical process.

Past is by using sharp metal sewing needle to realize by endo-surgical to the stitching of organ or tissue, and there is the suture material of certain-length in the end system of described sewing needle.The surgeon makes that stitching acupuncture is saturating and pass bodily tissue, and suture material was dragged bodily tissue.In case suture material was dragged bodily tissue, the surgeon just beats a knot to suture material.The node of suture material allows the surgeon to regulate the tension force of suture material to adapt to particular organization that is being sewn and approximation, closure, connection or other situation of controlling tissue.The tensile ability of control is extremely important and irrelevant with the type of ongoing surgical procedure concerning the surgeon.

Yet, in endo-surgical, be consuming time and trouble owing to make the knotting of suture material by less needed complex operations of endoscope's opening and processing.

Many effort have been made so that the device that overcomes the conventional shortcoming of sewing up to be provided.This prior-art devices comes down to nail, clip, clamp or other securing member.Yet above-mentioned institute array apparatus neither one can overcome shortcoming relevant with suturing body tissue in the endo-surgical process.

Therefore, there are improved needs to the stitching devices of the deficiency that overcomes the prior art apparatus and shortcoming.

Summary of the invention

The disclosure relates to the end effector that is used for endoscope sewing and/or stitching, the system and method by interposing catheter etc.

According to a scheme of the present disclosure, a kind of endoscope sewing device is provided, described endoscope sewing device comprises: articulated type (articulatable) neck component, and it is constructed to be suitable for carry out articulated type motion (articulation) at least one direction that intersects with its longitudinal axis; Tool assembly, it operationally is supported on the far-end of neck component; And sewing needle, it operationally is associated with tool assembly.Tool assembly comprises the clamp a pair of arranged side by side that pivot each other is associated.Each clamp defines the pin that forms and holds recess in its tissue contacting surface.

But the tool assembly of endoscope sewing device may further include the pin that is supported on the axial translation on each clamp slidably and engages lath.Each lath comprises and advances the position, thus wherein when sewing needle is in clamp accordingly the far-end of lath engage with sewing needle described sewing needle be fixed to described clamp.Each lath comprises retracted position, is disengaged at the far-end and the sewing needle of described retracted position lath.A pair of lath can be operably connected each other so that translation on opposite directions.

But the actuating cable that endoscope sewing device extends through neck component with comprising translation and operationally links to each other with pair of jaws.The actuation wire cable wrap draw together the primary importance of clamp each interval wherein and wherein pair of jaws be in the second position of closed spaced relationship each other.The actuating cable can be set along the central shaft of neck component.

Endoscope sewing device may further include at least one articulated type motion cable, and described articulated type motion cable extends through neck component slidably and has the far-end that is fixedly connected to described tool assembly.Along the axle that keeps at a certain distance away apart from the central shaft of described neck component the articulated type cable that moves is set.Endoscope sewing device may further include a pair of articulated type that extends through neck component slidably along the opposite side that the activates cable cable that moves.

Endoscope sewing device further comprises the cam hub, and described cam hub key is received the far-end that activates cable so that the actuating cable is moved axially with respect to the cam hub.The rotation when activating the cable rotation of cam hub.The cam hub is operably connected to the near-end of each lath so that the rotation of cam hub causes each the axial translation in a pair of lath.

Sewing needle can comprise from the stiching instrument (suture) of the band barb (barbed) of its certain-length that extends out.

According to another scheme of the present disclosure, endoscope sewing device is set to comprise the end effector that is configured to be suitable for carrying out at least one pair of function; And the single actuating cable that is operably connected to end effector.Activate cable and can influence described at least a pair of function operations.Activating cable can influence first operation of described a pair of function when its axial translation; And second operation that when it rotates, influences described a pair of function.

End effector can comprise the tool assembly of the far-end that operationally is supported on the articulated type neck component.Neck component can be constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

Endoscope sewing device may further include the sewing needle that operationally is associated with tool assembly.Tool assembly can comprise the clamp a pair of arranged side by side that is associated pivotally each other.Each clamp can be limited to the pin that forms in its tissue contacting surface and hold recess.

But endoscope sewing device may further include the pin that is supported on the axial translation in each clamp slidably and engages lath.Each lath can comprise the propelling position, thereby the far-end of lath engages with sewing needle described sewing needle is fixed to described clamp when in sewing needle the is in corresponding clamp in described propelling position, and each lath can comprise retracted position, is disengaged at the far-end and the sewing needle of described retracted position lath.A pair of lath is operably connected each other so that relative to each other translation in the opposite direction when activating the cable rotation.In use, the axially reciprocal translation of actuating cable can cause the open and close of described pair of jaws.

But extend through described neck component with activating the cable translation.Activate cable and can comprise the primary importance and the second position,, be in closed spaced relationship each other in the described pair of jaws of the described second position in described primary importance clamp each interval.

Endoscope sewing device may further include at least one articulated type motion cable, and described articulated type motion cable extends through neck component slidably and has the far-end that is fixedly connected to tool assembly.The axle that can keep at a certain distance away along the central shaft of distance neck component is provided with the articulated type cable that moves.

Endoscope sewing device may further include the cam hub, and described cam hub key is received to activate on the cable and activated cable with respect to cam hub axial translation so that can make.In use, the cam hub can rotation when described actuating cable rotates.The cam hub can be operatively attached to the near-end of each lath so that the rotation of cam hub causes each the axial translation in the described a pair of lath.

Sewing needle can comprise from the stiching instrument of the band barb of its certain-length that extends out.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises the articulated type neck component, and it is constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis; And tool assembly, it operationally is supported on the far-end of neck component.Tool assembly also comprises the clamp a pair of arranged side by side that pivot each other is associated, and each clamp is limited to the pin that forms in its tissue contacting surface and holds recess; The cam hub of rotatable support, cam hub limit central lumen of passing wherein and the helical groove that is formed in its outer surface; But each a pair of axially translation pin that all is supported on slidably in the corresponding clamp engages lath, each lath all has the position of propelling and retracted position, thereby the far-end of lath engages with sewing needle sewing needle is fixed to clamp when in sewing needle the is in corresponding clamp in described propelling position, allow sewing needle is disassembled from clamp thereby be disengaged at the far-end of described retracted position lath and sewing needle, wherein the near-end of each lath all is constructed to be slidably engaged in the helical groove of cam hub.Endoscope sewing device further comprises the sewing needle that operationally is associated with tool assembly.

In use, the rotation of cam hub can cause the axially back and forth translation of a pair of lath on opposite directions.

The cam hub can be limited to the first clutch that forms in its neighbouring surface.Endoscope sewing device may further include the second clutch that optionally engages with the first clutch of cam hub.In use, when second clutch engaged with first clutch, the rotation of described second clutch can cause the rotation of cam hub.

Second clutch can be with respect to cam hub axial translation between bonding station and disengaging configuration.In use, be contemplated that when second clutch is in disengaging configuration that the rotation of second clutch can not pass to rotation the cam hub.Second clutch rotatably is supported on the far-end of axle.The axle that supports second clutch can be hollow.

But endoscope sewing device may further include translation and rotatably extends through the actuating cable of hollow axle.The far-end that activates cable is operably connected on the pair of jaws.Activate cable and can comprise the primary importance and the second position,, be in closed spaced relationship each other in described second position pair of jaws in described primary importance clamp each interval.

Endoscope sewing device may further include a pair of articulated type motion cable that extends through neck component slidably and have the far-end that is fixedly connected on the tool assembly.

Sewing needle can comprise the stiching instrument of being with barb.

Endoscope sewing device may further include the clamp supporting member, and described clamp supporting member limits the tube chamber that passes wherein and in the U-shaped portion of its far-end.Pair of jaws can be supported in the U-shaped portion pivotally and the cam hub can be supported in the tube chamber of clamp supporting member rotatably.The clamp supporting member can be limited to a pair of relative axially extended groove that forms in its surface, and its further groove can be constructed to hold slidably corresponding lath in wherein.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises: have the tool assembly of a pair of clamp arranged side by side that pivot each other is associated, each clamp is limited to the pin that forms on its tissue contacting surface and holds recess; Xuan Zhuan cam hub optionally, its qualification pass central lumen wherein and form on its outer surface helical groove; But each pin that all is supported on a pair of axial translation in the corresponding clamp slidably engages lath, each lath all has the position of propelling and retracted position, thereby the far-end of lath engages with sewing needle sewing needle is fixed in the clamp when in sewing needle the is in corresponding clamp in described propelling position, allow sewing needle is disassembled from clamp thereby be disengaged at the far-end of described retracted position lath and sewing needle, wherein the near-end of each lath is constructed to be slidably engaged in the helical groove of cam hub; And the sewing needle that operationally is associated with tool assembly.

Endoscope sewing device may further include neck component, and it is constructed to tool assembly is supported on its far-end.Neck component can carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

The cam hub can be limited to the first clutch that forms in its neighbouring surface.Endoscope sewing device may further include the second clutch that optionally engages with the first clutch of cam hub, and wherein when second clutch engaged with first clutch, the rotation of this second clutch caused the rotation of cam hub.In use, the rotation of cam hub can cause the axially back and forth translation of a pair of lath on opposite directions.

Second clutch can be with respect to cam hub axial translation between bonding station and disengaging configuration.In use, when second clutch was in disengaging configuration, the rotation of this second clutch can not pass to rotation the cam hub.Second clutch rotatably is supported on the far-end of axle.The axle that supports second clutch can be hollow.

But endoscope sewing device may further include translation and rotatably extends through the actuating cable of hollow axle, and the far-end that wherein activates cable is operably connected on the pair of jaws.Activate cable and can comprise the primary importance and the second position,, be in closed spaced relationship each other in described second position pair of jaws in described primary importance clamp each interval.

Endoscope sewing device may further include a pair of articulated type motion cable that is fixedly connected to tool assembly, withdrawal one of in the wherein a pair of articulated type motion cable can cause tool assembly to carry out the articulated type motion on first direction, and another the withdrawal in a pair of articulated type motion cable can cause tool assembly to carry out the articulated type motion on second direction.

Sewing needle can comprise the stiching instrument of being with barb.

Endoscope sewing device may further include the clamp supporting member, its qualification pass wherein tube chamber and in the U-shaped portion of its far-end, wherein pair of jaws can be supported in the U-shaped portion and the cam hub can be supported in the tube chamber of clamp supporting member rotatably pivotally.The clamp supporting member can be limited to a pair of relative axially extended groove that its surface forms, and its further groove can be constructed to hold slidably corresponding lath in wherein.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises the articulated type neck component, and it is constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis; And tool assembly, it operationally is supported on the far-end of neck component.Tool assembly comprises the clamp a pair of arranged side by side that pivot each other is associated, and each clamp is limited to the pin that forms in its tissue contacting surface and holds recess; The cam hub of Zhi Chenging rotatably, cam hub limit the groove that passes central lumen wherein and be formed on its inner surface; And by slidably and can be rotatably set in center-pole in the tube chamber of cam hub.Center-pole operationally engages and operationally engages with pair of jaws with groove in the inner surface that is formed on the cam hub.Endoscope sewing device further comprises the sewing needle that operationally is associated with tool assembly.The inboard groove of cam hub is constructed at least on a position, and center-pole causes at least one in the open and close of the rotation of cam hub and pair of jaws with respect to the axial translation of cam hub; And the inboard groove of cam hub is constructed at least on another position, and the rotation of center-pole causes the rotation of tool assembly.

The groove that is formed on the inner surface of cam hub can comprise a pair of along the opposed axial orientation groove of diameter, and with the interconnective a pair of helical groove of axial orientation groove.

But tool assembly may further include each pin that all is supported on a pair of axial translation in the corresponding clamp slidably and engages lath.Each lath all has the position of propelling and retracted position, thereby the far-end of lath engages with sewing needle sewing needle is fixed on the clamp when in sewing needle the is in corresponding clamp in described propelling position, allows sewing needle is disassembled from clamp thereby be disengaged at the far-end of described retracted position lath and sewing needle.

The cam hub can limit the helical groove that is formed on its outer surface, and the near-end of each lath can be constructed to be slidably engaged in the helical groove of cam hub.In use, the rotation of cam hub can cause the axially back and forth translation of a pair of lath on opposite directions.

Tool assembly can comprise that the qualification tube chamber is in supporting member wherein.The cam hub rotatably is supported in the tube chamber of supporting member, thereby the cam hub can be fixed and overcomes the intraluminal motion of supporting member.The cam hub can limit the annular groove that is formed in its outer surface, and the inner annular groove of its cam hub is held being projected on wherein of supporting member slidably.

But endoscope sewing device further comprises translation and rotatably extends through the actuating cable of neck component that the far-end that wherein activates cable is operably connected on the center-pole.Thereby activate cable and can translation make center-pole axial translation between the primary importance and the second position, described on primary importance the clamp each interval, and pair of jaws is in closed spaced relationship each other on the described second position.

Endoscope sewing device may further include a pair of articulated type motion cable that extends through neck component slidably and have the far-end that is fixedly connected to tool assembly.

Sewing needle can comprise the stiching instrument of being with barb.

Tool assembly may further include the band key piece that is arranged on cam hub distally.Band key piece can limit the tube chamber that passes wherein and be formed on a pair of along the opposed axially extended groove of diameter in the inner surface of tube chamber.Axial notch can be constructed to hold slidably corresponding lath in wherein.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises tool assembly.Tool assembly comprises the clamp a pair of arranged side by side that pivot each other is associated; The cam hub of Zhi Chenging rotatably, cam hub limit and pass central lumen wherein and be formed on groove in its inner surface; And slidably and can be rotatably set in the intraluminal center-pole of cam hub, center-pole operationally engages and operationally engages with pair of jaws with groove in the inner surface that is formed on the cam hub.The inboard groove of cam hub is constructed at least on a position, and center-pole causes at least one in the open and close of the rotation of cam hub and pair of jaws with respect to the axial translation of cam hub.The inboard groove of cam hub is constructed at least on another position, and the rotation of center-pole causes the rotation of tool assembly.

Endoscope sewing device may further include the articulated type neck component, and it is constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis.Tool assembly can be supported on the far-end of neck component.

Each clamp can be limited to the pin that forms in its tissue contacting surface and hold recess.

Be formed on groove in the inner surface of cam hub can comprise a pair of along the opposed axial orientation groove of diameter, and with the interconnective a pair of helical groove of axial orientation groove.

The cam hub can limit the helical groove that is formed on its outer surface, and wherein the near-end of each lath can be constructed to be slidably engaged in the helical groove of cam hub.In use, the rotation of cam hub can cause the axially back and forth translation of a pair of lath on opposite directions.

Tool assembly can comprise and limit tube chamber in supporting member wherein, and its cam hub is supported in the tube chamber of supporting member rotatably, thereby and its cam hub be fixed and overcome the intraluminal motion of supporting member.The cam hub can limit the annular groove that is formed in its outer surface.The inner annular groove of cam hub is held being projected on wherein of supporting member slidably.

But endoscope sewing device may further include translation and rotatably extends through the actuating cable of neck component, and the far-end that wherein activates cable can be operatively attached on the center-pole.Thereby activate cable and can translation make center-pole axial translation between the primary importance and the second position, clamp each interval on described primary importance, and pair of jaws is in closed spaced relationship each other on the described second position.

Tool assembly may further include the band key piece in the distally that is arranged on the cam hub.Band key piece can limit the tube chamber that passes wherein and be formed on a pair of along the opposed axially extended groove of diameter on the inner surface of tube chamber.Axial notch can be constructed to hold slidably wherein corresponding lath.Axial notch can be constructed to hold slidably corresponding lath in wherein.

Endoscope sewing device may further include the sewing needle that operationally is associated with tool assembly.Sewing needle can comprise the stiching instrument of being with barb.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises the articulated type neck component, and it is constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis; And tool assembly, it operationally is supported on the far-end of neck component.Tool assembly comprises the clamp a pair of arranged side by side that pivot each other is associated, and each clamp is limited to the pin that forms on its tissue contacting surface and holds recess; Driven unit, it comprise a pair of concentric, can rotate separately and the stop sleeve of translation, each sleeve limits the central lumen of passing wherein; But each pin that all is supported on a pair of axially translation in the corresponding clamp slidably engages lath, each lath all has the position of propelling and retracted position, thereby the far-end of lath engages with sewing needle sewing needle is fixed on the clamp when in sewing needle the is in corresponding clamp in described propelling position, allow sewing needle is disassembled from clamp thereby be disengaged at the far-end of described retracted position lath and sewing needle, wherein the near-end of each lath is rotatably connected on the corresponding sleeve.Endoscope sewing device further comprises the center-pole that slidably and rotatably passes telescopic tube chamber of setting, and the far-end of center-pole operationally engages with pair of jaws; And the sewing needle that operationally is associated with tool assembly.

A pair of concentric telescopic outside sleeve can limit the lip-deep annular groove that is formed on its tube chamber, and a pair of concentric telescopic inboard sleeve can limit formation annular groove on its outer surface.Each lath can comprise the ring that is supported on its near-end, and wherein the ring of each lath can be rotatably set in the corresponding groove that is formed in the outside and the inboard sleeve.

Endoscope sewing device may further include wherein that each all is operably connected to pair of push rods on corresponding inboard and the outside sleeve, and wherein the axial translation of push rod causes the axial translation of corresponding one correspondence in corresponding inboard and outside sleeve and a pair of lath.Push rod can be flexible.

Tool assembly can comprise that the qualification tube chamber is in supporting member wherein.The sleeve of driven unit can be supported in the tube chamber of supporting member to allow its rotation and axial translation.Endoscope sewing device may further include the actuating cable, but its translation and rotatably extend through the tube chamber that the sleeve by driven unit limits, the far-end that wherein activates cable is operably connected to the rotation that causes the rotation that activates cable to cause pair of jaws on the center-pole.Thereby make center-pole axial translation between the primary importance and the second position but activate the cable translation, clamp each interval on described primary importance, and pair of jaws is in closed spaced relationship each other on the described second position.

Endoscope sewing device may further include the cam hub that rotatably is supported on a pair of telescopic nearside.The cam hub can limit central lumen and the formation helical groove on its outer surface that center-pole passes.

In a pair of sleeve each all can comprise from the extended arm of its nearside.Each arm operationally is bonded in the helical groove of cam hub.Extended arm is opposed along diameter each other from a pair of sleeve, and the rotation of its cam hub causes the axially back and forth translation relative to each other of a pair of sleeve.

Endoscope sewing device may further include the actuating cable, but its translation and rotatably extend through the tube chamber that the sleeve by driven unit limits.The far-end that activates cable is operably connected on the center-pole so that activate the rotation that the rotation of cable causes pair of jaws.Thereby make center-pole axial translation between the primary importance and the second position but activate the cable translation, clamp each interval on described primary importance, and pair of jaws is in closed spaced relationship each other on the described second position.

Endoscope sewing device may further include from the extended hollow axle of the nearside of cam hub.Activate the extensible tube chamber that passes hollow axle of cable.

Driven unit can comprise the sleeve of a pair of axially spaced-apart.Each sleeve can axial translation.A pair of telescopic distally sleeve can limit formation annular groove on its outer surface, and a pair of telescopic nearside sleeve can limit formation annular groove on its outer surface.Each lath can comprise the ring that is supported on its proximal end.The ring of each lath can be rotatably set in the corresponding groove that is formed in distally and the nearside sleeve.

Endoscope sewing device may further include wherein, and each all is operably connected to the pair of push rods on corresponding distally and the nearside sleeve.In use, the axial translation of push rod can cause the axial translation of corresponding one correspondence in corresponding distally and nearside sleeve and a pair of lath.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises tool assembly.Tool assembly comprises the clamp a pair of arranged side by side that pivot each other is associated, and each clamp is limited to the pin that forms on its tissue contacting surface and holds recess; Driven unit, it comprise a pair of concentric, can rotate separately and the stop sleeve of translation, each sleeve limits the central lumen of passing wherein; And wherein but each all is supported on the pin joint lath of a pair of axially translation in the corresponding clamp slidably.Each lath all has the position of propelling and retracted position, thereby the far-end of lath engages with sewing needle sewing needle is fixed on the clamp when in sewing needle the is in corresponding clamp in described propelling position, allow sewing needle is dismantled from clamp thereby be disengaged at the far-end of described retracted position lath and sewing needle, wherein the near-end of each lath is rotatably connected on the corresponding sleeve.Tool assembly further comprises the center-pole that slidably and rotatably passes telescopic tube chamber of setting, and wherein the far-end of center-pole operationally engages with pair of jaws.

Endoscope sewing device may further include the articulated type neck component, so that tool assembly operationally is supported on the far-end of neck component.Neck component can be constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

A pair of concentric telescopic outside sleeve can limit the lip-deep annular groove that is formed on its tube chamber, and a pair of concentric telescopic inboard sleeve can limit formation annular groove on its outer surface.Each lath can comprise the ring that is supported on its proximal end.The ring of each lath can be rotatably set in the corresponding groove that is formed in the outside and the inboard sleeve.

Endoscope sewing device may further include wherein, and each all is operably connected to the pair of push rods on corresponding inboard and the outside sleeve.In use, the axial translation of push rod can cause the axial translation of corresponding one correspondence in corresponding inboard and outside sleeve and a pair of lath.Push rod can be flexible.

Tool assembly can comprise and limit tube chamber in supporting member wherein, and wherein the sleeve of driven unit is supported in the tube chamber of supporting member so that can allow its rotation and axial translation.

Endoscope sewing device may further include the actuating cable, but its translation and rotatably extend through the tube chamber that the sleeve by driven unit limits.The far-end that activates cable is operably connected on the center-pole so that make the rotation that activates cable cause the rotation of pair of jaws.Thereby make center-pole axial translation between the primary importance and the second position but activate the cable translation, clamp each interval on described primary importance, and pair of jaws is in closed spaced relationship each other on the described second position.

In a pair of sleeve each includes from the extended arm of its nearside.Each arm all operationally is bonded in the helical groove of cam hub.Extended arm can be opposed along diameter each other from a pair of sleeve.In use, the rotation of cam hub can cause the axially back and forth translation relative to each other of a pair of sleeve.

Endoscope sewing device may further include the actuating cable, but its translation and rotatably extend through the tube chamber that the sleeve by driven unit limits.The far-end that activates cable is operably connected on the center-pole so that make the rotation that activates cable cause the rotation of pair of jaws.

Thereby make center-pole axial translation between the primary importance and the second position but activate the cable translation, clamp each interval on described primary importance, and pair of jaws is in closed spaced relationship each other on the described second position.

Endoscope sewing device may further include from the extended hollow axle of the nearside of cam hub.Activate the tube chamber that cable can extend through hollow axle.

Driven unit can comprise the sleeve of a pair of axially spaced-apart, and wherein each sleeve all can axial translation.A pair of telescopic distally sleeve can limit formation annular groove on its outer surface, and a pair of telescopic nearside sleeve can limit formation annular groove on its outer surface.

Each lath can comprise the ring that is supported on its proximal end.The ring of each lath can be rotatably set in the corresponding groove that is formed in distally and the nearside sleeve.

Endoscope sewing device may further include the sewing needle that operationally is associated with pair of jaws.Sewing needle can comprise the stiching instrument of being with barb.

According to another scheme of the present disclosure, provide the Handleset that is used for operate surgical instruments.Handleset comprises: shell; Operationally be supported on the trigger piece on the shell; And at least one actuating cable, it is operably connected on the trigger piece and from shell and extends out so that the actuating of trigger piece passes to the actuating cable with axial translation and rotation.

Handleset may further include at least one articulated type motion cable from the shell operation.Each articulated type motion cable can comprise the far-end that operationally links to each other with end effector and be operably connected to the near-end that is supported on the control element on the shell.

Control element can be selected from the group of being made up of slide block, rotating disk and lever.In use, the motion of control element can cause the motion of at least one articulated type motion cable.In addition, in use, at least one articulated type motion cable can cause the articulated type motion of end effector on first direction in the motion on the first direction, and at least one articulated type motion cable can cause the articulated type motion of end effector on second direction in the motion on the second direction.

Control element can comprise the trigger piece plate that limits gear parts, and described gear parts operationally engages with at least one gear that is operably connected to actuator shaft, and wherein the motion of control element can cause the rotation of actuator shaft at least.Control element is operably connected on the actuator shaft so that the motion of control element can cause activating the axial translation of cable.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises Handleset and the end effector that is operably connected on the Handleset.Handleset comprises: shell; Operationally be supported on the trigger piece on the shell; And the actuating cable, it is operably connected on the trigger piece and from shell and extends out so that the actuating of trigger piece passes to the actuating cable with axial translation and rotation.End effector comprises the tool assembly that is constructed to be suitable for carrying out at least one pair of operation.Activating cable is operably connected on the tool assembly so that activate cable can influence the described a pair of operation of end effector when its axial translation first operation.Equally, activating cable is operably connected on the tool assembly so that activate cable can influence the described a pair of operation of end effector when it rotates second operation.

Endoscope sewing device may further include and makes Handleset and the interconnective articulated type neck component of end effector.Neck component can be constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

Endoscope sewing device may further include the sewing needle that operationally is associated with tool assembly.Tool assembly can comprise the clamp a pair of arranged side by side that pivot each other is associated.Each clamp is limited to the pin that forms on its tissue contacting surface and holds recess.

But endoscope sewing device may further include the pin that is supported on the axial translation on each clamp slidably and engages lath.Each lath can comprise the propelling position, thereby wherein the far-end of lath engages with sewing needle described sewing needle is fixed to described clamp when sewing needle is in the corresponding clamp, and each lath comprises retracted position, and the far-end and the sewing needle of its middle plate strip are disengaged.

A pair of lath can be operably connected each other so that relative to each other translation in the opposite direction when activating the cable rotation.In use, the axially reciprocal translation of actuating cable can cause the open and close of pair of jaws.

But activating cable can extend on translation ground between Handleset and end effector.In use, when activating cable and be positioned at primary importance, pair of jaws can each interval, and when the actuating cable was positioned at the second position, pair of jaws can be in closed spaced relationship each other.

Endoscope sewing device may further include at least one articulated type motion cable, and it extends through neck component slidably and has the far-end that is fixedly connected on the tool assembly.

The axle that can keep at a certain distance away along the central shaft of distance neck component is provided with the articulated type cable that moves.

Endoscope sewing device may further include the cam hub, and described cam hub key is received to activate on the cable and activated cable with respect to cam hub axial translation, the rotation when activating the cable rotation of its cam hub so that can make.The cam hub is operably connected to the near-end of each lath so that the rotation of cam hub causes each the axial translation in a pair of lath.

The near-end of each articulated type motion cable is operably connected on the control element that is supported on the shell.

The control element of Handleset can be selected from the group of being made up of slide block, rotating disk and lever.In use, the motion of the control element of Handleset can cause the motion of at least one articulated type motion cable.At least one articulated type motion cable can cause the articulated type motion of end effector on first direction in the motion on the first direction, and at least one articulated type motion cable can cause the articulated type motion of end effector on second direction in the motion on the second direction.

The control element of Handleset can comprise the trigger piece plate that limits gear parts, described gear parts operationally engages with at least one gear on being operably connected to actuator shaft, wherein the motion of control element can cause the rotation of actuator shaft at least, and wherein activates cable and can be connected on the actuator shaft.

The control element of Handleset can be operatively attached on the actuator shaft so that make the motion of control element can cause activating the axial translation of cable.

According to another scheme of the present disclosure, carry the Handleset that is used for operate surgical instruments of confession comprise: shell; Operationally be supported on the trigger piece on the shell; And at least one actuating cable, it operationally is associated with trigger piece and extends out so that the actuating of trigger piece will activate the cable axial translation and rotation all passes to the actuating cable from shell.Activate the axial translation of cable and each in the rotation and all carry out independent function.

Handleset may further include can be by a pair of articulated type motion cable of shell operation.Each articulated type motion cable can comprise the near-end that is operably connected on the control element, and this control element is supported on the shell.In use, first motion of control element can cause the axial translation of a pair of articulated type motion cable on direction opposite each other, and wherein second motion of control element can cause the reverse axial translation of a pair of articulated type motion cable.

Control element rotatably is supported on the shell.Therefore, first of the control element motion can be the rotation of control element on first direction; And second motion of control element can be the rotation of control element on second direction.

Trigger piece can comprise the trigger piece plate that limits first gear parts, and described first gear parts operationally engages with the spur gear that operationally is supported on the actuator shaft.In use, the actuating of trigger piece can cause the rotation of spur gear and actuator shaft at least.Actuator shaft can be connected to and activate on the cable.

Trigger piece is operably connected on the actuator shaft so that the actuating of trigger piece causes the axial translation of actuator shaft and actuating cable.

The trigger piece plate can limit second gear parts, and described second gear parts operationally engages with the tooth bar that operationally is supported on the actuator shaft, and wherein the actuating of trigger piece can cause the axial translation of tooth bar and actuator shaft.

Handleset may further include follower block, and it rotatably is supported on the actuator shaft and via biasing element and is connected on the tooth bar.Therefore, in use, the actuating of trigger piece can cause the axial translation of tooth bar, the biasing of biasing member and the follow-up axial translation of follower block and actuator shaft.

Spur gear can form a part that is supported on the slip-clutch on the actuator lever slidably.The proximal portion of slip-clutch can operationally engage with positive tooth bar so that make the unidirectional rotation of proximal portion when spur gear rotates.

Handleset may further include biasing member, and it is constructed to keep the proximal portion of slip-clutch and engaging of spur gear.Handleset may further include ratchet, and wherein the proximal portion of slip-clutch is constructed to engaged pawl so that the direction of rotation of the proximal portion of ratchet limit slippage clutch.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises Handleset and the end effector that is operably connected on the Handleset.Handleset comprises: shell; Operationally be supported on the trigger piece on the shell; And at least one actuating cable, it operationally is associated with trigger piece and extends out so that the actuating of trigger piece will activate the cable axial translation and rotation all passes to the actuating cable from shell.Each that activates in cable axial translation and the rotation all carried out independent function.End effector comprises the tool assembly that is constructed to be suitable for carrying out at least one pair of operation.Activate cable and be operably connected on the tool assembly, so that activate cable can influence the described a pair of operation of end effector when its axial translation first operation; And can when rotating, it influence second operation of the described a pair of operation of end effector.

Endoscope sewing device may further include the sewing needle that operationally is associated with tool assembly.Tool assembly can comprise the clamp a pair of arranged side by side that pivot each other is associated, and wherein each clamp can be limited to the pin that forms on its tissue contacting surface and holds recess.

But endoscope sewing device may further include the pin that is supported on the axial translation on each clamp slidably and engages lath.Each lath can comprise the propelling position, thereby the far-end of lath engages with sewing needle described sewing needle is fixed to described clamp when sewing needle is in the corresponding clamp in this position, and wherein each lath can comprise retracted position, is disengaged at the far-end and the sewing needle of this position middle plate strip.

But activating cable can extend on translation ground between Handleset and end effector.In use, pair of jaws can each interval when activating cable and be positioned at primary importance, and pair of jaws can be in closed spaced relationship each other when the actuating cable is positioned at the second position.

Endoscope sewing device may further include at least one articulated type motion cable, and it extends through neck component slidably and has the far-end that is fixedly connected to tool assembly.The axle that can keep at a certain distance away along the central shaft of distance neck component is provided with the articulated type cable that moves.

Endoscope sewing device may further include the cam hub, and described cam hub key is received to activate on the cable and activated cable with respect to cam hub axial translation so that can make.The cam hub can rotation when activating the cable rotation.The cam hub can be operatively attached on the near-end of each lath so that the rotation of cam hub causes each the axial translation in a pair of lath.

Endoscope sewing device may further include can be by a pair of articulated type motion cable of shell operation.Each articulated type motion cable can comprise the near-end on the control element that is operably connected, and this control element is supported on the shell.Therefore, in use, first motion of control element can cause the axial translation of a pair of articulated type motion cable on direction opposite each other, and second motion of control element can cause the reverse axial translation of a pair of articulated type motion cable.

Control element rotatably is supported on the shell.Therefore, in use, first motion of control element can be the rotation of control element on first direction; And second motion of control element can be the rotation of control element on second direction.

Trigger piece can comprise the trigger piece plate that limits first gear parts, and first gear parts operationally engages with the spur gear that operationally is supported on the actuator shaft.Therefore, in use, the actuating of trigger piece can cause the rotation of spur gear and actuator shaft at least, and wherein actuator shaft is connected to and activates on the cable.

The trigger piece plate can limit second gear parts, and second gear parts operationally engages with the tooth bar that operationally is supported on the actuator shaft.Therefore, in use, the actuating of trigger piece can cause the axial translation of tooth bar and actuator shaft.

Spur gear can form a part that is supported on the slip-clutch on the actuator lever slidably.The proximal portion of slip-clutch can operationally engage with spur gear so that make the unidirectional rotation of proximal portion when spur gear rotates.

Handleset may further include biasing member, and it is constructed to keep the proximal portion of slip-clutch and engaging of spur gear.Handleset may further include ratchet.The proximal portion of slip-clutch can be constructed to engaged pawl so that the direction of rotation of the proximal portion of ratchet limit slippage clutch.

Handleset may further include splined shaft, and itself and actuator shaft coaxial alignment also go out from the proximal extension of shell, and turn-knob, and it is supported on the near-end of the splined shaft that goes out from the proximal extension of shell rotation is passed to splined shaft, actuator shaft and actuating cable.

End effector may further include thrust bearing, and it is arranged on the nearside of cam hub and operationally engages with the cam hub.

According to another scheme of the present disclosure, provide the Handleset that is used for operate surgical instruments.Handleset comprises: shell; Operationally be supported on the trigger piece on the shell; And being supported on articulated type motion assembly on the shell, it is used to finish the articulated type motion that is operably connected to the end effector on the shell.Thereby can operate articulated type motion assembly and influence the articulated type motion of end effector on the second pair of rightabout that intersects with first pair of rightabout on first pair of rightabout and in fact.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises Handleset and the end effector that is operably connected on the Handleset.Handleset comprises: shell; Operationally be supported on the trigger piece on the shell; And being supported on articulated type motion assembly on the shell, it is used to finish the articulated type motion that is operably connected to the end effector on the shell.End effector comprises the tool assembly that is constructed to be suitable for carrying out at least one pair of operation.Articulated type motion assembly is connected on the end effector, so that the second pair of rightabout upper joint formula Motion Transmission that operates on first pair of opposite direction and intersect with first pair of rightabout in fact of articulated type motion assembly given end effector.

Handleset may further include at least one and activates cable, and it operationally is associated with trigger piece, and extends out from shell, all passes to the actuating cable so that the actuating of trigger piece will activate the axial translation and the rotation of cable.Activate the axial translation of cable and each in the rotation and can carry out independent function.

Articulated type motion assembly can comprise the pair of control element that is supported on the shell, and wherein each control element can be operatively attached on the near-end of a pair of articulated type motion cable.

In use, first of first control element motion can cause the axial translation of corresponding a pair of articulated type motion cable on opposite directions.Second motion of first control element can cause the reverse axial translation of corresponding a pair of articulated type motion cable.First control element rotatably is supported on the shell.First motion of first control element can be the rotation of first control element on first direction.First motion of first control element can be the rotation of first control element on first direction.Second motion of first control element can be the rotation of first control element on second direction.

In use, first of second control element motion can cause the axial translation of corresponding a pair of articulated type motion cable on opposite directions.Second motion of second control element can cause the reverse axial translation of corresponding a pair of articulated type motion cable.Second control element rotatably is supported on the shell.First motion of second control element can be the rotation of second control element on first direction.Second motion of second control element can be the rotation of second control element on second direction.

First and second control elements can coaxially be supported on the shell.

Articulated type motion assembly may further include gear, it is connected on each control element and by each control element and controls, and a pair of tooth bar, it is meshed with the gear of each control element so that make the rotation of control element cause the reverse axial translation of corresponding a pair of tooth bar.In the every pair of articulated type motion cable each all is operably connected on the corresponding a pair of tooth bar.

Handleset may further include at least one and activates cable, it operationally is associated with trigger piece and extends out from shell, all pass to the actuating cable so that the actuating of trigger piece will activate the axial translation and the rotation of cable, wherein activate the axial translation of cable and each in the rotation and all carry out independent function.

Activate first operation that cable is operably connected to a pair of operation that makes the actuating cable can influence end effector on the tool assembly when its axial translation; And wherein activate second operation that cable is operably connected to a pair of operation that makes the actuating cable can influence end effector on the tool assembly when it rotates.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises: the Handleset with pin loading assembly; End effector, it is supported on the Handleset and is constructed to be suitable for carry out at least one pair of function; And single actuating cable, it is operatively coupled between Handleset and the end effector.Activating cable can influence at least one pair of function operations, wherein activates cable can influence a pair of function when its axial translation first operation; And second operation that when it rotates, influences a pair of function, wherein activate cable and when the manual activation of pin loading assembly, rotate.

End effector can comprise the tool assembly on the far-end that operationally is supported on the articulated type neck component.Neck component can be constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

Endoscope sewing device may further include the sewing needle that operationally is associated with tool assembly.Tool assembly can comprise the clamp a pair of arranged side by side that pivot each other is associated, and wherein each clamp is limited to the pin that forms on its tissue contacting surface and holds recess.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises: Handleset, and it supports manually operated sewing needle loading assembly; Tool assembly, it operationally is supported on the Handleset and is connected to Handleset; Sewing needle, it operationally is associated with tool assembly, and wherein tool assembly comprises the clamp a pair of arranged side by side that pivot each other is associated, and wherein each clamp is limited to the pin that forms on its tissue contacting surface and holds recess; And the actuating cable, it extends between Handleset and tool assembly, and wherein the axial displacement of actuator shaft causes the open and close of clamp, and the rotation of actuating cable causes sewing needle is optionally remained in the clamp.The near-end that activates cable is connected on the sewing needle loading assembly, thereby activates cable and optionally engage with sewing needle in a clamp so that the actuating that makes the sewing needle loading assembly passes to rotation.

Endoscope sewing device may further include and makes Handleset and the interconnective articulated type neck component of tool assembly.Neck component can be constructed to be suitable for carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

But endoscope sewing device may further include the pin of axial translation and engages lath, and it is supported on slidably on each clamp and with the actuating cable and operationally is associated.Each lath can comprise and advance the position, thus in described propelling position when sewing needle is in the corresponding clamp far-end of lath engage with sewing needle described sewing needle be fixed to described clamp.Each lath comprises retracted position, is disengaged at the far-end and the sewing needle of described retracted position lath.

A pair of lath can be operably connected each other so that translation on opposite directions when activating the cable rotation.

But the actuating cable can pass the extension of neck component translation ground and can be operatively attached on the pair of jaws.Activate cable and can comprise the primary importance and the second position,, be in closed spaced relationship each other in described second position pair of jaws in described primary importance clamp each interval.

The sewing needle loading assembly can comprise the turn-knob that is keyed on the actuator shaft, so that make the rotation of turn-knob cause activating the rotation of cable and make actuator shaft with respect to turn-knob axial translation freely.The sewing needle loading assembly can be configured to the unidirectional rotation of turn-knob.

Endoscope sewing device may further include at least one articulated type motion cable, and described articulated type motion cable extends through neck component slidably and has the far-end that is fixedly connected on the described tool assembly.Can the articulated type cable that moves be set along the axle that keep at a certain distance away apart from the central shaft of described neck component.

Endoscope sewing device further comprises the cam hub, and described cam hub makes a pair of lath interconnect and be keyed to the far-end of actuator shaft so that the actuating cable is moved axially with respect to the cam hub, the rotation when activating the cable rotation of its cam hub.

The cam hub is operably connected on the near-end of each lath so that the rotation of cam hub causes each the axial translation in a pair of lath.

According to another scheme of the present disclosure, the endoscope sewing device that is provided comprises and limits the Handleset pass passage wherein, and wherein passage is constructed to optionally hold surgical instruments in wherein; End effector, it is constructed to be suitable for carrying out at least one pair of function, and end effector is operably connected on the Handleset; And be operably connected to single actuating cable on the end effector, wherein activating cable can influence described at least a pair of function operations, wherein activates cable can influence a pair of operation when its axial translation first operation; And second operation that when it rotates, influences a pair of operation.

Endoscope sewing device may further include in fact the groove that extends between the passage of Handleset and end effector.Described groove can be fixed to and extend between Handleset and the end effector and making on Handleset and the interconnective neck component of end effector.

Description of drawings

Combine with accompanying drawing, by read following explanation above-mentioned purpose of the present disclosure, feature and advantage will become more apparent, wherein:

Fig. 1 is the axonometric chart according to the end effector of the stitching devices of embodiment of the present disclosure;

Fig. 2 is the exploded perspective view of end effector of the stitching devices of Fig. 1;

Fig. 3 is the exploded perspective view of cam mechanism of end effector of the stitching devices of Fig. 1 and 2;

Fig. 4 is the longitudinal cross-section figure of end effector of the stitching devices of Fig. 1 and 2, shows the clamp of the end effector that is in first open mode;

Fig. 5 is the longitudinal cross-section figure of end effector of the stitching devices of Fig. 1 and 2, shows the clamp of the end effector that is in second closure state;

Fig. 6 is the longitudinal cross-section figure of end effector of the stitching devices of Fig. 1 and 2, shows to be in the 3rd clamp of the end effector of open mode again;

Fig. 7 is the longitudinal cross-section figure of end effector of the stitching devices of Fig. 1 and 2, shows the far-end under the non-joint state (un-articulated condition);

Fig. 8 is the longitudinal cross-section figure of end effector of the stitching devices of Fig. 7, shows the far-end that is under the state of joint;

Fig. 9 is the axonometric chart according to the end effector of the stitching devices of another embodiment of the present disclosure;

Figure 10 is the axonometric chart of the end effector of Fig. 9 that the clamp supporting member is disassembled from it;

Figure 11 is the enlarged drawing of the details area of Figure 10 indication;

Figure 12 be illustrated in first or off-state under the side elevational of posittive clutch (positive clutch) of end effector of Fig. 9 to 11;

Figure 13 is the exploded perspective view of the end effector shown in Fig. 9 to 12;

Figure 14 is the exploded perspective view of posittive clutch of the end effector of Fig. 9 to 13;

Figure 15 be illustrated in second or connection status under the side elevational of posittive clutch of end effector of Fig. 9 to 14;

Figure 16 be illustrated in second or connection status under the axonometric chart of posittive clutch of end effector of Fig. 9 to 15;

Figure 17 is the axonometric chart according to the end effector of the stitching devices of another embodiment of the present disclosure;

Figure 18 is the axonometric chart of the end effector of Figure 17 that the clamp supporting member is disassembled from it;

Figure 19 is the side elevational of the end effector of Figure 17 that the clamp supporting member is disassembled from it and 18;

Figure 20 is the exploded perspective view of the end effector of Figure 17 to 19;

Figure 21 is the axonometric chart of cam hub of the end effector of Figure 17 to 20;

Figure 22 is the exploded perspective view of the cam hub of Figure 21;

Figure 23 is half a plane graph of the cam hub of Figure 21 and 22;

The longitudinal cross-section figure of the end effector of Figure 17 to 23 that Figure 24 obtains for the plane of passing the clamp of end effector from longitudinal extension shows the clamp under Unclosing structure;

Figure 25 is the longitudinal cross-section figure of the end effector of Figure 17 to 23 of obtaining of the plane from longitudinal extension between executor's endways the clamp, shows the clamp under Unclosing structure;

Figure 26 is the axonometric chart of the end effector of Figure 17 to 25, shows the clamp under closing structure;

The longitudinal cross-section figure of the end effector of Figure 17 to 26 that Figure 27 obtains for the plane of passing the clamp of end effector from longitudinal extension shows the clamp under closing structure;

Figure 28 is the longitudinal cross-section figure of the end effector of Figure 17 to 27 of obtaining of the plane from longitudinal extension between executor's endways the clamp, shows the clamp under closing structure;

Figure 29 shows the rotation of the center-pole of end effector for the axonometric chart of the end effector of Figure 17 to 28 that clamp and clamp supporting member are disassembled from it;

Figure 30 is the axonometric chart of the end effector of Figure 17 to 28, shows the rotation of end effector;

Figure 31 is the axonometric chart according to the neck component of the end effector of another embodiment of the present disclosure;

Figure 32 is the exploded perspective view of the neck component of Figure 31;

Figure 33 is the axonometric chart with the pair of joint of the neck component of the Figure 31 shown in the mode separated from one another and 32;

Figure 34 to 36 is the longitudinal cross-section figure that obtains from the plane that a pair of protruding joint by joint limits, and shows adjacent joint is connected to each other;

Figure 37 is the plane graph with the neck component of the Figure 31 shown in the state of joint and 32;

The schematic perspective view that Figure 38 arranges for the twisted wire that uses for any end effector disclosed herein;

Figure 39 is the axonometric chart according to the end effector of the stitching devices of another embodiment of the present disclosure;

Figure 40 is the exploded perspective view of end effector of the stitching devices of Figure 39;

Figure 41 is the axonometric chart of internal drive assembly of the end effector of Figure 39 and 40;

The cross-sectional view of Figure 42 for obtaining along the 42-42 of Figure 41 shows plank member is connected on the inboard sleeve of internal drive assembly of Figure 41;

The cross-sectional view that Figure 43 obtains for the 42-42 along Figure 41, the inboard sleeve that shows the internal drive assembly of plank member and Figure 41 is connected to each other;

Figure 44 is the axonometric chart of external drive assembly of the end effector of Figure 39 and 40;

The cross-sectional view of Figure 45 for obtaining along the 45-45 of Figure 44 shows plank member is connected on the outside sleeve of external drive assembly of Figure 44;

The plane of structure figure that Figure 46 obtains for the 45-45 along Figure 44, the outside sleeve that shows the external drive assembly of plank member and Figure 44 is connected to each other;

Figure 47 is the longitudinal cross-section figure of the end effector of Figure 39 and 40, shows the end effector that is under first state;

Figure 48 is the longitudinal cross-section figure of the end effector of Figure 39 and 40, shows the end effector that is under second state;

Figure 49 is the longitudinal cross-section figure of the end effector of Figure 39 and 40, shows the end effector that is under the third state;

Figure 50 is the axonometric chart of center-pole of the end effector of Figure 39 and 40, shows the axial rotation of center-pole;

Figure 51 is the axonometric chart of the end effector of Figure 39 and 40, shows the axial rotation based on the end effector of the axial rotation of center-pole;

Figure 52 is the longitudinal cross-section figure of the end effector according to still another embodiment of the invention that illustrates under first state;

Figure 53 is the longitudinal cross-section figure of the end effector of Figure 52 of illustrating under second state;

The axonometric chart that Figure 54 separates for each parts of the driven unit of Figure 52 and 53 end effector;

Figure 55 is the longitudinal cross-section figure of the end effector of Figure 52 of illustrating and 53 under the third state;

Figure 56 is the longitudinal cross-section figure of the end effector according to still a further embodiment that illustrates under first state;

Figure 57 is the longitdinal cross-section diagram of the end effector of Figure 56 of illustrating under second state;

The axonometric chart that Figure 58 separates for each parts of the driven unit of Figure 56 and 57 end effector;

Figure 59 is the longitudinal cross-section figure of the end effector of Figure 56 of illustrating and 57 under the third state;

Figure 60 is according to the end effector of another embodiment of the present disclosure and the sketch map of driven unit;

Figure 61 is the sketch map according to the driven unit that is used for end effector of another embodiment of the present disclosure;

Figure 62 is the sketch map according to the end effector of another embodiment of the present disclosure;

Figure 63 is the sketch map according to the enclosed member of embodiment of the present disclosure that is used for end effector of the present disclosure;

Figure 64 is the sketch map according to the driven unit that is used for end effector of another embodiment of the present disclosure;

Figure 65 A to 65B is the sketch map according to the end effector of another embodiment of the present disclosure;

Figure 66 is the sketch map according to the driven unit that is used for end effector of another embodiment of the present disclosure;

Figure 67 A to 67B is the sketch map according to the driven unit that is used for end effector of another embodiment of the present disclosure;

Figure 68 A to 68B is the sketch map according to the driven unit that is used for end effector of another embodiment of the present disclosure;

Figure 69 is the axonometric chart according to the flexible endoscopic stitching devices of another embodiment of the present disclosure;

Figure 70 is the axonometric chart of end effector of the endoscope sewing device of Figure 69;

Figure 71 is the longitudinal cross-section figure of the endoscope sewing device of Figure 69;

Figure 72 is the enlarged drawing of the details area of Figure 71 indication;

Figure 73 is the enlarged drawing of the details area of Figure 71 indication;

Figure 74 is the left side axonometric chart of the Handleset of the endoscope sewing device of Figure 69 that the left side shell is pulled down from it;

Figure 75 is the right perspective view of the Handleset of the endoscope sewing device of Figure 69 that the right side shell is pulled down from it;

Figure 76 is the part exploded view of the Handleset of Figure 74 and 75;

Figure 77 is the left side axonometric chart of the Handleset of the endoscope sewing device of Figure 69 that shell is pulled down from it;

Figure 78 is the right perspective view of the Handleset of the endoscope sewing device of Figure 69 that shell is pulled down from it;

Figure 79 is the left side axonometric chart of the Handleset of the endoscope sewing device of Figure 69 that left side shell and left side frame are pulled down from it;

Figure 80 is the right perspective view of the Handleset of the endoscope sewing device of Figure 69 that right side shell and right side frame are pulled down from it;

Figure 81 is the exploded perspective view of internal components of Handleset of the endoscope sewing device of Figure 69;

Figure 82 is the exploded perspective view of the end effector of Figure 70;

Figure 83 is the amplification stereogram of thrust bearing of the end effector of Figure 70 and 82;

Figure 84 is the exploded perspective view of the thrust bearing of Figure 83;

Figure 85 is the exploded perspective view of cam mechanism of the end effector of Figure 70 and 82;

Figure 86 is the axonometric chart of articulated type motion control mechanism of the Handleset of Figure 73 to 81;

Figure 87 is the axonometric chart of slip-clutch of the Handleset of Figure 73 to 81;

Figure 88 is the cross-sectional view of the articulated type motion control mechanism of Figure 86 of obtaining along the 88-88 of Figure 86;

Figure 89 shows the operation of articulated type motion control mechanism for another sectional view of the articulated type motion control mechanism of Figure 86 of obtaining along the 88-88 of Figure 86;

Figure 90 is the longitudinal cross-section figure of end effector of the endoscope sewing device of Figure 69, shows the far-end that is under the state of joint;

Figure 91 is the side elevational of driving mechanism of the Handleset of Figure 73 to 81, shows the driving mechanism and the trigger piece of the Handleset that begins to drive from primary importance;

Figure 92 is the cross-sectional view of the Handleset of Figure 73 to 81 of obtaining along the 92-92 of Figure 71, shows the primary importance of unidirectional pawl assembly;

Figure 93 is the longitudinal cross-section figure of end effector of the endoscope sewing device of Figure 69, shows the clamp that is in the first open mode lower end executor;

The longitudinal cross-section figure of the end effector of the endoscope sewing device of Figure 94 Figure 69 shows the clamp that is in the end effector under second closure state;

Figure 95 is the side elevational of the driving mechanism of Figure 73 to 81, shows driving mechanism and trigger piece at the Handleset at second position place;

The cross-sectional view of the Handleset of Figure 73 to 81 that Figure 96 obtains along the 95-95 of Figure 71 shows the second position of unidirectional pawl assembly;

Figure 97 is the longitudinal cross-section figure of end effector of the endoscope sewing device of Figure 69, shows the lath of the end effector that is pushed into and withdraws;

Figure 98 is the axonometric chart of thrust bearing of end effector of the endoscope sewing device of Figure 69, shows the operation of thrust bearing;

Figure 99 is the side elevational of the driving mechanism of Figure 73 to 81, shows the driving mechanism and the trigger piece of the Handleset that is in the 3rd position;

Figure 100 is the side elevational of the driving mechanism of Figure 73 to 81, shows the driving mechanism and the trigger piece of the Handleset that is opened;

Figure 101 is the cross-sectional view of the Handleset of Figure 73 to 81 of obtaining along the 101-101 of Figure 71, shows the 3rd position of unidirectional pawl assembly;

Figure 102 is the axonometric chart according to the Handleset of embodiment of the present disclosure;

Figure 103 is the axonometric chart with the Handleset of half Figure 102 that partly disassembles from it of shell;

Figure 104 is the side elevational of the Handleset of Figure 103, shows the trigger piece of the Handleset that is in primary importance;

Figure 105 is the exploded perspective view of the Handleset of Figure 103 and 104;

Figure 106 is along the cross-sectional view of the Handleset of the Figure 102 to 105 that obtains from the 106-106 of Figure 104;

Figure 107 is the axonometric chart of driven unit of the Handleset of Figure 102 to 106;

Figure 108 is the axonometric chart of slide block actuator of the Handleset of Figure 102 to 106;

Figure 109 is the side elevational of the Handleset of Figure 103, shows the trigger piece of the Handleset that is in the second position;

Figure 110 is the side elevational of the Handleset of Figure 103, shows the trigger piece of the Handleset that is in the 3rd position;

Figure 111 is the axonometric chart according to the Handleset of another embodiment of the present disclosure;

Figure 112 is the left side axonometric chart of the Handleset of Figure 111 that the left-half of shell is disassembled from it;

Figure 113 is the right perspective view of the Handleset of Figure 111 that the right half part of shell is disassembled from it;

Figure 114 is the exploded perspective view of the Handleset of Figure 111 to 113;

Figure 115 is the axonometric chart of articulated type motion control mechanism of the Handleset of Figure 111 to 114;

Figure 116 is the axonometric chart of slip-clutch of the Handleset of Figure 111 to 114;

Figure 117 is the cross-sectional view of the articulated type motion control mechanism of Figure 115 of obtaining along the 117-117 of Figure 115;

Figure 118 shows the operation of articulated type motion control mechanism for the cross-sectional view of the articulated type motion control mechanism of Figure 115 of obtaining along the 117-117 of Figure 115;

Figure 119 is the cross-sectional view of the Handleset of Figure 111 to 114 of obtaining along the 119-119 of Figure 112, and the primary importance of unidirectional pawl assembly is shown;

Figure 120 is the side elevational of driving mechanism of the Handleset of Figure 111 to 114, shows the driving mechanism and the trigger piece of the Handleset at primary importance place;

Figure 121 is the side elevational of the driving mechanism of Figure 120, shows the driving mechanism and the trigger piece of the Handleset at second position place;

Figure 122 is the cross-sectional view of the Handleset of Figure 111 to 114 of obtaining along the 122-122 of Figure 112, shows the second position of unidirectional pawl assembly;

Figure 123 is the side elevational of the driving mechanism of Figure 120, shows the driving mechanism and the trigger piece of the Handleset that is in the 3rd position;

Figure 124 is the side elevational of the driving mechanism of Figure 120, shows the driving mechanism and the trigger piece of the Handleset that is in the 4th position;

Figure 125 is the cross-sectional view of the Handleset of Figure 111 to 114 of obtaining along the 125-125 of Figure 112, shows the 3rd position of unidirectional pawl assembly;

Figure 126 is the sketch map of the stiching instrument that is used in combination with stitching devices of the present disclosure;

Figure 127 is the axonometric chart according to the Handleset of another embodiment of the present disclosure;

Figure 128 is the exploded perspective view of the Handleset of Figure 127;

Figure 129 is the exploded perspective view of articulated type motion assembly of the Handleset of Figure 127 and 128;

Figure 130 is the exploded perspective view that manually changes pin mechanism of the Handleset of Figure 127 to 129;

Figure 131 is the axonometric chart that the Handleset of Figure 127 to 130 that the casing half part is disassembled from it is shown;

Figure 132 is the longitudinal cross-section figure of the Handleset of Figure 127 to 131;

Figure 133 is the axonometric chart according to the Handleset of another embodiment of the present disclosure;

Figure 134 is the exploded perspective view of the Handleset of Figure 133;

Figure 135 is the exploded perspective view of articulated type motion assembly of the Handleset of Figure 133 and 134;

Figure 136 is the exploded perspective view that manually changes pin mechanism of the Handleset of Figure 133 to 135;

Figure 137 is the axonometric chart that the Handleset of Figure 133 to 136 that the casing half part is disassembled from it is shown;

Figure 138 is the axonometric chart that the Handleset of Figure 133 to 137 that the side plate with casing half part and articulated type motion assembly disassembles from it is shown;

Figure 139 is the axonometric chart that illustrates the Handleset of casing half part and the side plate of articulated type motion assembly and Figure 133 to 138 that ratchet disassembles from it;

Figure 140 is the axonometric chart that the Handleset of Figure 133 to 139 that side plate, ratchet and supporting member with casing half part and articulated type motion assembly disassemble from it is shown;

Figure 141 is the axonometric chart that the Handleset of Figure 133 to 140 that casing half part and articulated type motion assembly are disassembled from it is shown; And

Figure 142 is the longitudinal cross-section figure of the Handleset of Figure 133 to 141.

The specific embodiment

The disclosure relates to device, the system and method that is used for endoscope, peritoneoscope, intracavity and/or sews up through the chamber.For example, in one embodiment, this device comprises handle, Handleset or is connected to other suitable actuators of the near-end of elongated flexible body portion (for example, mechanical hand etc.).Operationally be supported on the end effector that the neck component on the far-end of elongated flexible body portion allows operationally to be supported on the neck component far-end and carry out the articulated type motion in response to the actuating of articulated type motion cable.End effector comprises sewing needle and pair of jaws.In operation, sewing needle pass to and fro tissue from a clamp to another clamp.Described device is suitable for being placed in the tube chamber of flexible endscope, is inserted into patient's self tract then and arrives the inner or outside therapentic part of self tube chamber through the anatomical position of intracavity by self tube chamber.

In the usual course, in drawing and description, follow following provisions: term " nearside " is the end of the nearest device of span operator, and term " distally " is the end of span operator device farthest.

Now will in detail with reference to accompanying drawing, wherein similar Reference numeral is represented similar or components identical, Fig. 1 to 3 shows generally an embodiment with the end effector of 100 stitching devices of representing.The end effector 100 of described stitching devices is particularly useful in endoscope or laparoscopically program, endoscope's part of stitching devices wherein, and promptly end effector 100, can be inserted into the operating position via (not shown)s such as cannula assemblies.

As shown in Fig. 1 to 3, the end effector 100 of stitching devices can be supported on the Handleset (not shown) or extend and/or be supported on from the distal extension of Handleset to go out and define the longitudinal axis and pass on the far-end of elongate tubular body portion (not shown) of tube chamber of the longitudinal axis or from this remote extension from Handleset.End effector 100 can operationally be associated or be supported on the far-end of elongated body portions and can pass through the Handleset remote manipulation with the far-end of elongated body portions.

End effector 100 comprises: neck component 110, and it is supported on from the far-end of the extended axle of Handleset; And tool assembly 120, it is supported on the far-end of neck component 110.Neck component 110 comprises a plurality of joints 112, and each joint 112 comprises radioulnar joint 112a and with the nearside U-shaped portion of its formation.Each joint 112a operationally engages with the 112b of U-shaped portion of adjacent joint 112.Each joint 112 defines the central lumen 112c that is formed on wherein and is formed on a pair of opposed tube chamber 112d, the 112e of the both sides of central lumen 112c.

Corresponding tube chamber

112d, 112e that a pair of articulated

type motion cable

114a, 114b pass joint 112 slidably extend.To go through below neck component 110 will be operated so that end effector 100 carries out the articulated type motion.

As shown in Fig. 1 to 3, but the tool assembly 120 of end effector 100 comprises clamp supporting member 122 and the pair of jaws 130,132 that is installed in pivoting action on the clamp supporting member 122.Clamp supporting member 122 defines at the tube chamber 124 of its near-end with at a pair of spacerarm 126 of its far-end.Tube chamber 124 is configured and is defined as the 112 extended cane 112f of joint farthest that hold from cervical region 110.Tube chamber 124 defines a pair of

opposed groove

124a, 124b in its surface.

Each clamp 130,132 comprises that pin holds

recess

130a, 132a, described

pin hold recess

130a, 132a be configured to respectively around and keep being basically perpendicular to it and organize composition surface to be arranged at least a portion of needle 104 wherein.As shown in Figure 2, pin 104 comprises near the groove 104a that is formed on its each end.The stiching instrument (not shown) can be fixed on the needle 104 in the position between the groove 104a.

The stiching instrument of needle 104 can comprise stiching instrument unidirectional or the band barb, and wherein said stiching instrument comprises the elongate body with a plurality of extended barbs from it.The location barb makes barb actuate the motion that the stiching instrument opposing is gone up in the opposite direction in the side that faces with respect to barb.

The suitable stiching instrument of using for needle 104 including, but not limited to: in the patent No. is 3,123,077 the United States Patent (USP) and the patent No. are 5,931,855 United States Patent (USP), and be described in 2004/0060409 the U.S. Patent Publication in the publication No. that JIUYUE in 2002 was submitted on the 30th and those disclosed stiching instrument, the full content of above-mentioned each document is incorporated into herein as quoting.

By clamp pivotal pin 134 clamp 130,132 is installed on the supporting member 122 pivotally, clamp pivotal pin 134 runs through the hole 126a and the corresponding pivoting hole 130b, the 132b that are formed in the clamp 130,132 in the arm 126 that is formed on supporting member 122.For mobile clamp 130,132 between open position and make position, be provided with axially or vertical center-pole 136 movably, center-pole 136 has the cam pin 138 that is installed in its far-end 136a place.Cam pin 138 is placed among cam slot 130c, the 132c that is formed at the inclination in the corresponding clamp 130,132 and with

slit

130c, 132c and engages, so that the axial or lengthwise movement of center-pole 136 makes clamp 130,132 carry out the cam-type motion between open position and make position.

Tool assembly 120 comprises band key lever 140, and band key lever 140 has the far-end 140a of the near-end 136b that is rotatably connected to center-pole 136.Band key lever 140 comprises near-end 140b and the main part 140c that is fixedly connected on the far-end that activates cable 142, and main part 140c is arranged between far-end 140a and the near-end 140b, has non-circular cross-sectional profiles.

Tool assembly 120 further comprises cam hub 144, and cam hub 144 defines the tube chamber 144a that runs through wherein, and the main part 140c that tube chamber 144a is constructed to be suitable for accommodating belt key lever 140 slidably is in wherein.Cam hub 144 defines helical form (helical) or spiral form (spiral) the groove 144b in its outer surface.Cam hub 144 is constructed to can be rotatably set in the tube chamber 124 of supporting member 122.

In operation, the rotation that activates cable 142 passes to band key lever 140 with rotation, and band key lever 140 passes to rotation cam hub 144 again.Yet,, therefore pass to center-pole 136 without spin because band key lever 140 is rotatably connected on the center-pole 136.In addition, the axial displacement that activates cable 142 passes to band key lever 140 with axial displacement, and band key lever 140 passes to axial displacement center-pole 136 again.Yet because cam hub 144 axially is supported on the band key lever 140 slidably, therefore not having axial displacement passes to cam hub 144.

Tool assembly 120 further comprises a pair of pin engagement member or lath 150,152, and pin engagement member or lath 150,152 are supported in respective groove 124a, the 124b of supporting member 122 slidably.Each lath 150,152 comprises that the lath that extends into corresponding clamp 130,132 slidably holds far-end 150a, the 152a of

groove

130d, 132d (seeing Fig. 4 to 5).The size of

groove

130d, 132d and structure are designed at least in part, and transfixion pin holds recess 130a, 132a.Like this, by advancing the

lath

150 or 152 in

respective groove

130d, 132d,

propulsive lath

150 or 152 far-

end

150a, 152a engage or " locking " is formed on the groove 104a that is arranged in the interior pin 104 of corresponding recess 130a, 132a.Each lath 150,152 comprises near-end 150b, the 152b in the groove 144b that is slidably disposed on cam hub 144.In operation, when cam hub 144 rotation, near-end 150b, the 152b of lath 150,152 rides and puts (ride) and move in the axial direction in the groove 144b of cam hub 144 and with respect to groove 144b.Especially, when 144 rotations of cam hub, when lath 150 was distad mobile, lath 152 proximads moved, and vice versa.

Turn to Fig. 4 to 6 now, show and described operational tip executor 100 method.As shown in Figure 4, engage with the groove 104a of pin 104 by the far-end 150a that makes lath 150 pin 104 is remained in the recess 130a.In addition, as shown in Figure 4, by making center-pole 136 be in highest distance position clamp 130,132 is remained on open position, and this is placed on cam pin 138 distal-most end of

cam slot

130c, 132c.

Turn to Fig. 5 now, in order to make clamp 130,132 approaching, activate cable 142 and move on the direction of closing shown in the arrow " A ", thereby band key lever 140 is moved, this makes center-pole 136 move on direction of closing again.When doing like this, cam pin 138 passes cam slot 130c, the 132b of clamp 130,132 at nearside, causes clamp to pivot around pin 134 like this, and this makes the far-end of clamp 130,132 approaching toward each other shown in arrow " B " again.When doing like this, the free end of pin 104 moves in the recess 132a of clamp 132.If organize between the current far-end that is in clamp 130,132, then the free end of pin 104 will be before entering the recess 132a of clamp 132 penetrate tissue.

Turn to Fig. 6 now, fix or be locked in the clamp 132 from clamp 130 releases and with pin 104 in order to make pin 104, activate cable 142 and rotate on the direction of arrow " C ", thereby rotation is passed to band key lever 140, this makes band key lever 140 that rotation is passed to cam hub 144 again.When cam hub 144 rotated on the direction of arrow " C ", near-end 150b, the 152b of lath 150,152 rode along groove 144b and puts or pass groove 144b.Especially as shown in Figure 6, when cam hub 144 rotated on the direction of arrow " C ", lath 150 lath 152 when direction of closing (by the direction shown in the arrow " A ") upward moves was upward moving away from direction (by the direction shown in the arrow " A1 ").When doing like this, the far-end 150a of lath 150 breaks away from the groove 104a of the pin 104 in the recess 130a be arranged on clamp 130, and the groove 104a of the interior pin 104 of the far-end 152b of lath 152 and the recess 132a that is arranged on clamp 132 engages.Like this, pin 104 is fixed or is locked in the recess 132a of clamp 132.

Turn to Fig. 7 and 8 now, show and illustrated to make end effector 100 carry out the method that articulated type is moved.As shown in Figure 7, executor 100 is in when axially aligning state endways, in order to make end effector 100 carry out the articulated type motion about neck component 110, the first articulated type motion cable 114b (being the downside articulated type motion cable shown in Fig. 7 and 8) regains on the direction of closing shown in the arrow " D " of Fig. 8.When articulated type motion cable 114b is drawn on direction of closing, the far-end of articulated type motion cable 114b anchors to farthest side joint 112 in the position that keeps at a certain distance away with its central shaft, joint 112 rotates around the joint position between joint 112a and the 112b of U-shaped portion, thereby makes the gap that is limited between joint 112a and the 112b of U-shaped portion along its edge-wise compression.When doing like this, end effector 100 carries out articulated type along neck component 110 and moves with on the downward direction (as shown in Figure 8) shown in the arrow " E ", promptly on the direction that intersects with its longitudinal axis, and Move tool assembly 120.

In order end effector 100 to be returned to non-joint state or to make end effector carry out the articulated type motion in the opposite direction, articulated type motion cable 114a (that is the upside articulated type motion cable shown in Fig. 7 and 8) is regained on direction of closing.

Turn to Fig. 9 to 16 now, according to another embodiment of the present disclosure, end effector is marked as end effector 200 usually.End effector 200 is similar substantially to end effector 100, therefore only is being described discerning on its structure and the necessary degree of operational difference here.In following disclosing, identical Reference numeral is used to indicate components identical all the time.

As shown in Fig. 9 to 14, end effector 200 comprises the tool assembly 220 on the end that is supported on the neck component (not shown).But tool assembly 220 comprises clamp supporting member 222 and is installed in the pair of jaws 230,232 of the pivoting action on the clamp supporting member 222.As shown in Figure 13, clamp supporting member 222 defines at the tube chamber 224 of its near-end with at a pair of spacerarm 226 of its far-end.Tube chamber 224 defines and is formed on its lip-deep a pair of opposed groove 224a (only having shown one).

Each clamp 230,232 is similar substantially to above-mentioned end executor 100 clamp 130,132, therefore hereinafter the structure of clamp 230,232 will can be discussed in further detail.

By clamp pivotal pin 234 clamp 230,232 is installed on the supporting member 222 pivotally, clamp pivotal pin 234 runs through the hole 226a and the corresponding pivoting hole that is formed in the clamp in the arm 226 that is formed on supporting member 222.For mobile clamp 230,232 between open position and make position, be provided with axially or vertical center-pole 236 movably, center-pole 236 has the cam pin 238 that is installed in its far-end 136a place.Cam pin 238 is placed in the cam slot that is formed at the inclination in the corresponding clamp 230,232 and with the cam slot of described inclination and engages, so that the axial or lengthwise movement of center-pole 236 makes clamp 230,232 carry out the cam-type motion between open position and make position.

Tool assembly 220 comprises the band key piece 240 in the tube chamber 224 that is slidably disposed on supporting member 222.Band key piece 240 comprises a pair of opposed flat outer surface 240a and a pair of from the outstanding opposed axial flank 240b of its outer surface.Band key piece 240 further comprises the opposed axially extended groove 240d on the tube chamber 240c that runs through extension and a pair of wall that is formed on tube chamber 240c.Groove 240d can align with flank 240b or aim at.Flank 240b is constructed to be slidably received among the groove 224a in the tube chamber 224 that is formed at supporting member 222.

Workpiece assembly 220 further is included in the U-shaped portion 242 of the distally setting of band key piece 240.U-shaped portion 242 comprises a pair of from the extended spacerarm 242b of base portion 242a.Each arm 242b defines the tube chamber 242c that runs through wherein.U-shaped portion 242 defines the centre bore 242d that is formed in the base portion 242a.Distance that arm 242b is at interval enough and the centre bore 242d of base portion 242b are certain sizes, so that slidably and rotatably hold center-pole 236 in wherein.

Tool assembly 220 further comprises cam hub 244, and cam hub 244 limits the tube chamber 244a that runs through wherein, and the part that tube chamber 244a is configured to be suitable for to hold slidably center-pole 236 is in wherein.Cam hub 244 define on its outer surface basic helical form or the groove 244b of spiral form.The far-end of helical groove 244b and near-end 244c can be flat or be constructed to be parallel to extension of directed plane or stretching, extension with its longitudinal axis quadrature.

Cam hub 244 is constructed to can be rotatably set in the tube chamber 224 of supporting member 222.Especially, cam hub 244 can comprise being formed on and wherein is used for and from the inwardly outstanding protruding joints (nub) of supporting member 222, the outer circumferential groove 244d that boss (not shown)s such as (boss) engages slidably.So, with respect to the axial location of supporting member 222 stationary cam hubs 244.

Cam hub 244 comprises the 246a of first clutch portion that is provided with or is formed on its proximal end, and the tube chamber 244a of its cam hub 244 passes the 246a of first clutch portion and extends.Tool assembly 220 further comprises the 246b of second clutch portion on the far-end that is supported on hollow axle 248.The 246b of second clutch portion defines the central lumen 246b ' that runs through wherein.Among first and second 246a of clutch portion, the 246b each includes or defines and is arranged on complementary interior connected structure, the element on its apparent surface or constitutes 247a, 247b.

As will be described in detail below, in operation, for interior

joint element

247a, 247b optionally being engaged each other and breaking away from, the 246b of second clutch portion can be via hollow axle 248 with respect to the 246a of first clutch portion translation.As interior binding member 247a, when 247b is engaged with each other, the rotation of hollow axle 248 will make the 246b of second clutch portion rotation, make 244 rotations of cam hub again via the 246b of second clutch portion.As interior joint element 247a, when 247b breaks away from each other, the rotation of hollow axle 248 will make the 246b of second clutch portion rotation, yet rotation does not pass to cam hub 244.Equally, as interior joint element 247a, when 247b breaks away from each other, from the rotation that center-pole 236 extends and pass the central shaft 237 of U-shaped portion 242, band key piece 240, cam hub 244, the 246b of second clutch portion and hollow axle 248, will cause the rotation of clamp 230,232 and do not produce moving axially of lath 250,252.

Tool assembly 220 further comprises a pair of pin engagement member or lath 250,252, and described a pair of pin engagement member or lath 250,252 are supported in the corresponding tube chamber 242c of arm 242b of U-shaped portion 342 slidably and pass the corresponding recesses 240d of band key piece 240.

Each lath 250,252 comprises that the lath that extends into corresponding clamp 230,232 slidably holds far-end 250a, the 252a of groove 230d, 232d (seeing Figure 13).Each lath 250,252 comprises near-end 250b, the 252b in the groove 244b that is slidably disposed on cam hub 244.In operation, when cam hub 244 rotation, near-end 250b, the 252b of lath 250,252 rides and puts in the groove 244b of cam hub 244 and with respect to groove 244b translation in the axial direction.Especially, when 244 rotations of cam hub, when lath 250 was distad mobile, lath 252 proximads moved, and vice versa.

Turn to Figure 10 to 12 and Figure 14 to 16 now, show and describe operational tip executor 200 method.As shown in Figure 10 to 12, spaced apart in the axial direction each other or when breaking away from each other, clamp 230,232 can not cause the axial translation of lath 250,252 around its longitudinal axis rotates freely as first and second 246a of clutch portion, 246b.Especially, spaced apart in the axial direction each other or when breaking away from each other as first and second 246a of clutch portion, 246b, the rotation of the 246b of second clutch portion can not pass to the 246a of first clutch portion with any rotation via hollow axle 248, and also can not pass to clamp 230,232 successively, promptly clamp 230,232 keeps static.In addition, when central shaft 237 during around the rotation of its longitudinal axis, center-pole 236 rotations, this impels clamp 230,232 to rotate around the longitudinal axis again.

As shown in Figure 14 to 16, as first and second 246a of clutch portion, when 246b is engaged with each other, clamp 230,232 can or not cause the axial translation of lath 250,252 around its longitudinal axis rotation yet.Especially, as first and second 246a of clutch portion, when 246b is engaged with each other, the rotation of the 246b of second clutch portion on the direction of arrow " A " passes to the 246a of first clutch portion via hollow axle 248 with rotation, and passes to cam hub 244 successively.

When cam hub 244 rotation, near-end 250b, the 252b of lath 250,252 rides and puts in the groove 244b of cam hub 244 and with respect to groove 244b translation in the axial direction.Especially, when 244 rotations of cam hub, when lath 250 was distad mobile, lath 252 proximads moved, and vice versa.

Similar to end effector 100, in order to open or closed end executor 200 clamp 230,232, central shaft or cable 248 translation in the axial direction, thus Mobility Center bar 236 is with translating cam pin 238.Therefore cam pin 238 passes the cam slot of clamp 230,232, causes clamp to pivot about pivotal pin 234 and causes the far-end of clamp 230,232 to be opened or closed.

Turn to Figure 17 to 30 now, according to another embodiment of the present disclosure, end effector is marked as end effector 300 usually.End effector 300 is similar substantially to end effector 200, therefore only is being described discerning on its structure and the necessary degree of operational difference here.In following disclosing, identical Reference numeral is used to indicate components identical all the time.

As shown in Figure 17 to 30, end effector 300 comprises the tool assembly 320 on the end that is supported on the neck component (not shown).But tool assembly 320 comprises clamp supporting member 322 and is installed in the pair of jaws 330,332 of pivoting action on the clamp supporting member 322.As shown in Figure 20, clamp supporting member 322 defines at the tube chamber 324 of its near-end with at a pair of spacerarm 326 of its far-end.Tube chamber 324 defines and is formed on its lip-deep a pair of opposed groove 324a (only having shown one).

Each clamp 330,332 is similar substantially to above-mentioned end executor 200 clamp 230,232, therefore hereinafter the structure of clamp 330,332 will can be discussed in further detail.

By clamp pivotal pin 334 clamp 330,332 is installed on the supporting member 322 pivotally, clamp pivotal pin 334 runs through the hole 326a and the corresponding pivoting hole that is formed in the clamp in the arm 326 that is formed on supporting member 322.For mobile clamp 330,332 between open position and make position, be provided with axially or vertical center-pole 336 movably, center-pole 336 has the cam pin 338 that is installed in its far-end.Cam pin 338 is placed in the cam slot that is formed at the inclination in the corresponding clamp 330,332 and with described slit and engages, so that the axial or lengthwise movement of center-pole 336 makes clamp 330,332 carry out the cam-type motion between open position and make position.

Tool assembly 320 comprises band key piece 340 and U-shaped portion 342.Band key piece 340 is similar substantially with U-shaped portion 242 to band key piece 240 with U-shaped portion 342, and therefore the structure of band key piece 340 and U-shaped portion 342 will can be discussed hereinafter in further detail.

Tool assembly 320 further comprises cam hub 344, and cam hub 344 limits the tube chamber 344a that runs through wherein, and the part that tube chamber 344a is constructed to be suitable for to hold slidably center-pole 336 is in wherein.Cam hub 344 define on its outer surface shape substantially in the shape of a spiral or the groove 344b of spiral form.The far-end of helical groove 344b and near-end 344c can be flat or be constructed to be parallel to extension of directed plane or stretching, extension with its longitudinal axis quadrature.

Cam hub 344 is constructed to can be rotatably set in the tube chamber 324 of supporting member 322.Especially, cam hub 344 can comprise and is formed on the outer circumferential groove 344d that wherein is used for and engages slidably from 345 (seeing Figure 24) such as the inwardly outstanding protruding joints of supporting member 322, boss.So, with respect to the axial location of supporting member 322 stationary cam hubs 344.

As shown in Figure 20 to 25 and Figure 27 to 28, cam hub 344 comprise spiral form groove 344e, the 344f at a pair of lip-deep interval that is formed on tube chamber 344a and be formed on the surface of tube chamber 344a and with the interconnected a pair of opposed axial orientation groove 344g of its

helical groove

344e, 344f.

Continuation is with reference to Figure 20 to 25 and Figure 27 to 28, cam pin 339 is set to pass cam lever 336 horizontal expansions, cam lever 336 is certain sizes, is used for engaging slidably with the interior axial notch 344g of internal

coiling shape groove

344e, 344f and cam hub 344.

Tool assembly 320 further comprises a pair of pin engagement member or lath 350,352, pin engagement member or lath 350,352 with the similar substantially mode of lath 250,252 and U-shaped portion 242 and band key piece 240 with U-shaped portion 342 be with key piece 340 operationally to be associated.Lath 350,352 is similar substantially to lath 250,252, therefore hereinafter the structure of lath 350,352 will can be discussed in further detail.

Turn to Figure 24 to 25 and Figure 27 to 30 now, show and described operational tip executor 300 method.As shown in Figure 24 to 25, when cam pin 339 was arranged in the highest distance position place of axial notch 344g of cam hub 344, center-pole 336 was positioned at position and clamp 330,332 spaces farthest.As shown in Figure 29 and 30, when cam pin 339 is positioned at the highest distance position of axial notch 344g of cam hub 344, the rotation of center-pole 336 passes to cam pin 338 with revolving force, and cam pin 338 impels tool assembly 320 to rotate around the longitudinal axis when clamp 330,332 is opened.With this generation be, when center-pole 336 rotation, revolving force is delivered to cam pin 339, yet, because cam hub 334 is connected with supporting member 332 usefulness axle journals, prevented the translational motion of cam hub 334 thereby only rotated with the rotation of clamp 330,332.

In a kind of structure, when center-pole 336 and cam hub 339 proximads move, cam pin 339 near internal

coiling shape groove

344e, 344f operationally engages so that cause the rotation of cam hub 344.When 344 rotations of cam hub, the near-end of lath 350,352 is ridden and is put in the external spiral shape groove 344b of cam hub 344 and with respect to external spiral shape groove 344b translation in the axial direction.Especially, when 344 rotations of cam hub, when lath 350 was distad mobile, lath 352 proximads moved, and vice versa.

In another kind structure, when center-pole 336 and cam pin 339 proximads moved, cam pin 339 only translated across the interior axial notch 344g of cam hub 344.When doing like this, rotation or translation do not pass to cam hub 344.

When cam lever 336 proximads moved, cam pin 338 promoted clamp 330,332 and arrives approximated position (approximated position).

In addition, as shown in Figure 26 to 28, when cam pin 339 was arranged in the proximal most position place of axial notch 344g of cam hub 344, center-pole 336 was positioned at proximal most position place and clamp 330,332 approx toward each other.

When cam pin 339 was arranged in the proximal most position of axial notch 344g of cam hub 344, the rotation of center-pole 336 passed to cam pin 338 with revolving force, and this causes tool assembly 320 to rotate around the longitudinal axis when clamp 330,332 is positioned at the approximated position again.With this generation be, when center-pole 336 rotation, revolving force is delivered to cam pin 339, yet, because cam hub 334 is connected with supporting member 332 usefulness axle journals, prevented the translational motion of cam hub 334 thereby only rotated with the rotation of tool assembly 320.

In a kind of structure, when center-pole 336 and cam hub 339 are distad mobile, cam pin 339 near internal

coiling shape groove

In another kind structure, when center-pole 336 and cam pin 339 were distad mobile, cam pin 339 only translated across the interior axial notch 344g of cam hub 344.When doing like this, rotation or translation are not delivered to cam hub 344.

In one embodiment, interior axial notch 344g can comprise prevent cam pin 339 away from near this both direction on the structure that moves.Especially, interior axial notch 344g can comprise the ramped shaped structure that is formed at wherein, and this structure allows cam pin 339 only to move up in first party, promptly away from mobile on direction or the direction of closing, and can not move up in the second party opposite with first direction.

As shown in Figure 17 to 30, the longitudinal axis that end effector 300 is constructed to be suitable for around neck component 310 rotates, shown in double-headed arrow " A "; Be suitable for the pivoting action of tool assembly 320, shown in double-headed arrow " B " with respect to neck component 310; And tool assembly 320 is constructed to be suitable for around its longitudinal axis rotation, shown in double-headed arrow " C ".

Turn to Figure 31 to 37 now, according to another embodiment of the present disclosure, neck component is marked as neck component 210 usually.Neck component 210 is similar substantially to neck component 110, therefore only is being described discerning on its structure and the necessary degree of operational difference here.In following disclosing, identical Reference numeral is used to indicate components identical all the time.

As shown in Figure 31 to 37, neck component 210 is constructed to be supported on from the far-end of the extended axle of Handleset (not shown) and is used for the clamp supporting member 122,222 of tool assembly is supported on its far-end.

Neck component 210 comprises a plurality of joints 212, and each joint 212 comprises the extended radioulnar joint 212a from nearside shell 212b.Each joint 212a operationally engages with the nearside shell 212b of adjacent joint 212.Each joint 212 defines the central lumen 212c that is formed on wherein and is formed on a pair of opposed tube chamber 212d, the 212e of the both sides of central lumen 212c.

Corresponding tube chamber

212d, 212e that a pair of articulated type motion cable (not shown) is passed joint 212 slidably extend.

Each joint 212 further comprises the extended a pair of opposed protruding joint 212f from the relative side of radioulnar joint 212a.Protruding joint 212f defines the pivotal axis " B " that runs through its extension.Each protruding joint 212f is constructed to optionally be contained in the corresponding complementary configured hole 212g that is formed among the nearside shell 212b.

In use, can adjacent joint 212 be connected to each other pivotally in end to end mode, so that radioulnar joint 212a is contained among the nearside shell 212b, more particularly, the protruding joint 212f of radioulnar joint 212a operationally is contained in the hole 212g of nearside shell 212b.As shown in Figure 33 to 36, when adjacent joint 212 is connected to each other, in its interconnective process, radioulnar joint 212a is bent or setovers, so that advance when protruding joint 212f overlaps or be contained among the 212g of hole with hole 212g at radioulnar joint 212a proximad shell 212b, the protruding joint 212f of radioulnar joint 212a is toward each other near (seeing Figure 35).When the protruding joint 212f of such location, radioulnar joint 212a is not biased, and (sees Figure 36) so that protruding joint 212f is fixed among the 212g of hole.

As shown in Figure 37, a plurality of joints 212 are connected with each other, and neck component 210 can be formed required bow-shaped structural.When being shown as, joint 212 is connected with each other so that its pivotal axis " B " when all parallel to each other substantially, should predict and be contemplated that, its pivotal axis " B " can be oriented relative to one another to arbitrarily angled or tilt, thereby allows neck component 210 deflection on respect to any direction of its longitudinal axis.

As shown in Figure 32, the farthest side joint 213 of neck component 210 can be constructed to be connected on the clamp supporting member 122,222.Especially, farthest side joint 213 comprises the extended distally shell 213a from nearside shell 213b.The nearside shell 213b of farthest side joint 213 is constructed to be connected with the radioulnar joint 212a pivot of joint 212.

Farthest side joint 213 defines a pair of opposed tube chamber 213d, the 213e on central lumen 213c that is formed at wherein and the both sides that are formed on central lumen 213c.In the central lumen 213c and the opposed tube chamber 213d of farthest side joint 213, the basic plane orthogonal in plane that 213e is arranged on to be limited with central lumen 212c and

opposed tube chamber

212d, 212e by joint 212.

In order to make any end effector carry out articulated type motion, the first articulated type motion cable (not shown) of the tube chamber 212d of penetrator 212 can be regained on direction of closing about neck component 210.When the first articulated type motion cable is regained on direction of closing, the far-end of the first articulated type motion cable anchors on the supporting member 122,222 in the position that keeps at a certain distance away with its central shaft, impel joint 212 to pivot, thereby make the gap compression that is limited between the adjacent joint 212 around its pivotal axis " B ".When doing like this, end effector along neck component 210 carry out that articulated type is moved so that supporting member 122,222 at the first direction superior displacement.In order to make end effector return to non-joint state or in order to make end effector carry out articulated type motion in the opposite direction, the second joint formula motion cable (not shown) of the tube chamber 212e of penetrator 212 can be regained on direction of closing.

Turn to Figure 38 now, shown the twisted wire layout that is used for merging to any end effector disclosed herein.As shown in Figure 38, the center activates cable 242 basically along the central shaft longitudinal extension of end effector 100,200.A pair of

opposed actuating cable

214a, 214b activate cable 242 along the center opposite side extends.Near-end 214a ', the 214b ' of each

opposed actuating cable

214a, 214b limits first plane, and the far-end 214a of each

opposed actuating cable

214a, 214b ", 214b " limits with respect to angled location, first plane, preferably with respect to second plane of the first plane perpendicular positioning.In other words, opposed

actuating cable

214a, 214b activate cable 242 about 90 ° from its near-end to its far-end center that holds.

In use, for example,

corresponding tube chamber

212d, 212e (seeing Figure 32) that near-end 214a ', the 214b ' of

opposed actuating cable

214a, 214b can pass joint 212 extend, and the center that when passing farthest side joint 213, is wrapped in activate cable 242 around ", 214b " enters opposed

tube chamber

213d, 213e (seeing Figure 32) respectively so that far-end 214a.

Optionally, end effector is provided with each and activates the part that

cable

214a, 214b, 242 are not directed (that is, not passing tube chamber etc.).So, opposed

actuating cable

214a, 214b can be in the clockwise direction activate about at least 0 ° to 180 ° of cable 242 with counterclockwise going up around the center, preferably clockwise and counterclockwise around about 90 °.

Be contemplated that each activates

cable

214a, 214b, 242 and constitutes and be can not compress and inextensible basically by the flexible material that can transmit torsion.Each activates

cable

214a, 214b, 242 and all can or be suitable for by rustless steel constituting along any other material of intended purposes of its length transmission torsion.

Turn to Figure 39 to 51 now, according to another embodiment of the present disclosure, end effector is marked as end effector 400 usually.End effector 400 is similar substantially to end effector 200, therefore only is being described discerning on its structure and the necessary degree of operational difference here.In following disclosing, similar Reference numeral is used to indicate similar element all the time.

As shown in Figure 39 to 51, end effector 400 comprises the tool assembly 420 on the end that is supported on neck component 410.But tool assembly 420 comprises clamp supporting member 422 and is installed in the pair of jaws 430,432 of pivoting action on the clamp supporting member 422.As shown in Figure 40, clamp supporting member 422 defines at the tube chamber 424 of its near-end with at a pair of spacerarm 426 of its far-end.

Each clamp 430,432 is similar substantially to above-mentioned end executor 100 clamp 130,132, therefore hereinafter the structure of clamp 430,432 will can be discussed in further detail.

By clamp pivotal pin 434 clamp 430,432 is installed on the supporting member 422 pivotally, clamp pivotal pin 434 runs through the hole 426a and the corresponding pivoting hole that is formed in the clamp 430,432 in the arm 426 that is formed on supporting member 422.For mobile clamp 430,432 between open position and make position, be provided with axially or vertical center-pole 436 movably, center-pole 436 has the cam pin 438 that is installed in its far-end.Cam pin 438 is placed in the cam slot that is formed at the inclination in the corresponding clamp 430,432 and with described cam slot and engages, so that the axial or lengthwise movement of center-pole 436 makes clamp 430,432 carry out the cam-type motion between open position and make position.

Tool assembly 420 comprises slidably and is arranged on driven unit 440 in the tube chamber 424 of supporting member 422 rotatably.Driven unit 440 comprises internal drive assembly 442 and external drive assembly 444.As shown in Figure 40 to 43, internal drive assembly 442 comprises inboard sleeve or collar 442a, and inboard sleeve or collar 442a limit the tube chamber 442b that runs through wherein and around its annular groove 442c.Tube chamber 442b is constructed to slidably and rotatably hold center-pole 436 in wherein.Internal drive assembly 442 further comprises the ring 450a that is supported on slidably among the annular groove 442c and from the extended first lath 450b of ring 442d.Lath 450b extends from ring 450a on the direction substantially parallel with the center longitudinal axis of the tube chamber 442b of inboard sleeve 442a.

As shown in Figure 40 and Figure 44 to 46, external drive assembly 444 comprises outside sleeve or collar 444a, and outside sleeve or collar 444a limit the annular groove 444c in the surface of running through tube chamber 444b wherein and being formed on tube chamber 444b.Tube chamber 444b is constructed to slidably and rotatably hold inboard sleeve 442a in wherein, so that inboard sleeve 442a is nested among the tube chamber 444b of outside sleeve 444a.External drive assembly 444 further comprises the ring 452a that is supported on slidably among the annular groove 444c and from the extended second lath 452b of ring 444d.Lath 452b extends from ring 452a on the direction substantially parallel with the center longitudinal axis of the tube chamber 444b of outside sleeve 444a.

Tool assembly 420 further comprises the U-shaped portion 446 between the arm 426 that is arranged on supporting member 422.U-shaped portion 446 comprises a pair of from the extended spacerarm 446b of base portion 446a.Each arm 446b limits the tube chamber 446c that runs through wherein.U-shaped portion 446 limits the centre bore 446d that is formed in the base portion 446a.Distance that arm 446b is at interval enough and the centre bore 446d of base portion 446b are certain sizes, so that slidably and rotatably hold center-pole 436 in wherein.

As mentioned above, tool assembly 420 further comprises a pair of pin engagement member or

lath

450b, 452b, and a pair of pin engagement member or

lath

450b, 452b are supported in the corresponding tube chamber 446c of arm 446b of U-shaped portion 446 slidably.Each

lath

450b, 452b comprise that the lath that extends into corresponding clamp 430,432 slidably holds the far-end of

groove

430d, 432d (seeing Figure 47 to 49).

In operation, when internal drive assembly 442 and external drive assembly 444 relative to each other in the axial direction during translation,

lath

450b, 452b be relative to each other translation also.

End effector 400 comprises makes neck component 410 and tool assembly 420 interconnective adapter assemblies 460.Adapter assembly 460 can be the form of knuckle joint, wherein the first member 462a of adapter assembly 460 is supported on the axle of neck component 410 or the far-end or the far-end of tube-like envelope 412, and the second member 462b of adapter assembly 460 is supported on the near-end or the proximal end of the supporting member 422 of tool assembly 420.Adapter assembly 460 can make tool assembly 420 carry out the articulated type motion with respect to neck component 410 around at least one axle or pivot.

End effector 400 further comprises pair of

push rods

464a, 464b, each push rod runs through the first member 462a that is formed on adapter assembly 460 and the corresponding tube chamber among the second member 464b, and is respectively fixed on the outside sleeve 444a of the inboard sleeve 442a of internal drive assembly 442 and external drive assembly 444.In use, as

push rod

464a, 464b relative to each other during translation, corresponding inboard sleeve 442a and also relative to each other translation of outside sleeve 444a.

Turn to Figure 47 to 51 now, show and described operational tip executor 400 method.As shown in Figure 47, when push rod 464a is positioned at the highest distance position place, inboard sleeve 442a and lath 450b are positioned at the highest distance position place, and push rod 464b can expectably remain on the proximal most position place simultaneously, thereby outside sleeve 444a and lath 452b are remained on the proximal most position place.Desired is that

push rod

464a, 464b can relative to each other be maintained at any axial positions, so that corresponding inboard sleeve 442a and lath 450b and outside sleeve 444a and lath 452b relative to each other remain on any axial positions.

As shown in Figure 47 and 48, when center-pole 436 was positioned at the highest distance position place, clamp 430,432 was in open mode, and when center-pole 436 was regained with respect to end effector 400, clamp 430,432 was in closure state.Similar to end effector 200, in order to open or closed end executor 400 clamp 430,432, thus center-pole 436 translation translating cam pin 438 in the axial direction.Cam pin 438 passes the cam slot of clamp 430,432, thereby clamp 430,432 is pivoted around pivotal pin 434, and the far-end of clamp 430,432 is opened or closure.

As shown in Figure 47 to 49, when push rod 464a moves to proximal most position on direction of closing, inboard sleeve 442a and lath 450b move on direction of closing, and when push rod 464b moved to highest distance position on away from direction, outside sleeve 444a and lath 452b moved on away from direction.

As shown in Figure 50 and 51, when center-pole 436 rotated around its longitudinal axis, the arm 426 of 438 pairs of supporting members 422 of cam pin worked so that supporting member 422 and tool assembly 420 rotate with respect to neck component 410.When tool assembly 420 rotations, ring 450a, the 452a of corresponding inside and outside driven unit 442,444 rotates with respect to corresponding inboard and outside

sleeve

442a, 444a, thereby makes corresponding

lath

450b, 452b with tool assembly 420 rotations.

Turn to Figure 52 to 55 now, according to another embodiment of the present disclosure, end effector is marked as end effector 500 usually.End effector 500 is similar substantially to end effector 400, therefore only is being described discerning on its structure and the necessary degree of operational difference here.In following disclosing, similar Reference numeral is used to indicate similar element all the time.

As shown in Figure 52 to 55,

push rod

464a, 464b are replaced by

arm

564a, 564b,

arm

564a, 564b from corresponding inboard, outside

sleeve

542a, 544a proximad extend.The tool assembly 520 of end effector 500 comprises cam hub 566, and cam hub 566 defines the tube chamber 566a that runs through wherein, and the part that tube chamber 566a is constructed to be suitable for to hold slidably center-pole 536 is in wherein.Cam hub 566 defines basic helical form or spiral form groove 566b on its outer surface, and groove 566b is constructed to hold slidably the outstanding protruding joint from arm 564a, 564b.Cam hub 566 is constructed to can be rotatably set in the tube chamber 524 of supporting member 522.

Continuation shows and has described operational tip executor 500 method with reference to Figure 52 to 55.As shown in Figure 52, when inboard sleeve 542a and lath 550b were positioned at the highest distance position place, outside sleeve 544a and lath 552b were positioned at the proximal most position place.

As shown in Figure 52 and 53, when center-pole 536 was positioned at the highest distance position place, clamp 530,532 was in open mode, and when center-pole 536 was regained with respect to end effector 520, clamp 530,532 was in closure state.Similar to end effector 200, in order to open or closed end executor 500 clamp 530,532, thus center-pole 536 translation translating cam pin 538 in the axial direction.Cam pin 538 passes the cam slot of clamp 530,532, thereby clamp 530,532 is pivoted around pivotal pin 534, and the far-end of clamp 530,532 is opened or closure.

As shown in Figure 52 to 55, when making cam hub 566 rotation by driving tube 567, the protruding joint of

arm

564a, 564b is ridden and is put in the groove 566b of cam hub 566 and with respect to groove 566b translation in the axial direction.Especially, when cam hub 566 rotation, when arm 564a proximad moved, inboard sleeve 542a proximad moved, and with this generation be that arm 564b distad moves, thereby outside sleeve 544a is distad moved, vice versa.When inboard sleeve 542a was mobile on direction of closing, lath 550b also moved on direction of closing, and was that because outside sleeve 544a moves on away from direction, lath 552b also moves on away from direction with this generation.

Turn to Figure 56 to 59 now, according to another embodiment of the present disclosure, end effector is marked as end effector 600 usually.End effector 600 is similar substantially to end effector 400, therefore only is being described discerning on its structure and the necessary degree of operational difference here.In following disclosing, similar Reference numeral is used to indicate similar element all the time.

As shown in Figure 56 to 59,

push rod

664a, 664b extend from corresponding distally and nearside sleeve 642a, 644a.The distally is not configured to nested each other according to the mode of inboard and outside

sleeve

442a, 444a with

nearside sleeve

642a, 644a.

Continuation shows and describes operational tip executor 600 method with reference to Figure 56 to 59.As shown in Figure 56, when push rod 664a is positioned at the highest distance position place, distally sleeve 642a and lath 650b are positioned at the highest distance position place, and push rod 664b can expectably remain on the proximal most position place simultaneously, so that nearside sleeve 644a and lath 652b are remained on the proximal most position place.Desired is that

push rod

664a, 664b can relative to each other be maintained at any axial positions, so that corresponding distally sleeve 642a and lath 650b and nearside sleeve 644a and lath 652b relative to each other remain on any axial positions.

As shown in Figure 56 and 57, when center-pole 636 was positioned at the highest distance position place, clamp 630,632 was in open mode, and when center-pole 636 was regained with respect to end effector 600, clamp 630,632 was in closure state.Similar to end effector 200, in order to open or closed end executor 600 clamp 630,632, thus center-pole 636 translation translating cam pin 638 in the axial direction.Cam pin 638 passes the cam slot of clamp 630,632, thereby clamp 630,632 is pivoted around pivotal pin 634 and the far-end of clamp 630,632 is opened or closed.

As shown in Figure 56 to 59, when push rod 664a moves to proximal most position on direction of closing, distally sleeve 642a and lath 650b move on direction of closing, and when push rod 664b moved to highest distance position on away from direction, nearside sleeve 644a and lath 652b moved on away from direction.As shown in Figure 59, any among removable push rod 664a, the 664b is till distally sleeve 642a and nearside sleeve 644a contact with each other.

Turn to Figure 60 now, according to another embodiment of the present disclosure, end effector is usually with 700 expressions.

End effector 700 comprises the neck component (not shown) and is supported on tool assembly 720 on the far-end of neck component.As shown in Figure 60, but the tool assembly 720 of end effector 700 comprise clamp supporting member 722 and be installed in the pair of jaws 730,732 of pivoting action on the clamp supporting member 722.

Each clamp 730,732 comprises that pin holds recess 730a, 732a, pin hold recess 730a, 732a be configured to respectively around and keep being arranged at wherein at least a portion that is basically perpendicular to its needle of organizing composition surface 104.

By clamp pivotal pin 734 clamp 730,732 is installed on the supporting member 722 pivotally.For mobile clamp 730,732 between open position and make position, be provided with axially or vertical center-pole 736 movably, center-pole 736 has the cam pin 738 that is installed in its far-end.Cam pin 738 is placed among cam slot 730c, the 732c that is formed at the inclination in the corresponding clamp 730,732 and with cam slot 730c, 732c and engages, so that the axial or lengthwise movement of center-pole 736 makes clamp 730,732 carry out the cam-type motion between open position and make position.

Tool assembly 720 comprises the guide spiro rod 740 of the far-end with the near-end that is screwed to center-pole 736.Guide spiro rod 740 comprises the near-end that is fixedly connected to the far-end that activates cable 742 via coupling 746.It is rotatable and run through bearing 748 slidably to activate cable 742.

Tool assembly 720 further comprises the bellcrank 744 that is supported on pivotally on the supporting member 722.Bellcrank 744 comprises a pair of opposed arm or lever 744a, 744b.

In operation, the rotation that activates cable 742 passes to coupling 746 and guide spiro rod 740 with rotation, and coupling 746 and guide spiro rod 740 pass to center-pole 736 and cam pin 738 with axially reciprocal translation again.Therefore, the rotation of actuating cable 742 causes clamp 730,732 relative to each other near (closure) or separation (opening).

Tool assembly 720 further comprises a pair of pin engagement member or lath 750,752, and the corresponding lath that a pair of pin engagement member or lath 750,752 are supported on clamp 730,732 slidably holds in the groove.The groove of clamp 730,732 be certain size and be configured at least partly to intersect with pin recess 730a, 732a.Like this, by advancing lath 750 or 752 in corresponding groove, the groove of the pin that propulsive lath 750 or 752 far-end 750a, 752a are interior with being arranged on corresponding recess 730a, 732a engages or " locking ".Each lath 750,752 comprises free-ended near-end 750b, the 752b of the corresponding lever 744a, the 744b that are pivotally connected to bellcrank 744.

In operation, when activating cable 742 and axially move back and forth, thereby lever 744a, 744b activate in the opposite direction and make corresponding lath 750,752 at the corresponding axially upper shifting board bar with respect to lever 744a, 744b.Especially, when activating cable 742 and move axially on first direction, cause lever 744a and lath 750 to move up in first party successively, cause lever 744b and lath 752 to move up in second party simultaneously successively, vice versa.

Turn to Figure 61 now, show and described driven unit or the actuation wire cable assembly 842 that is used for end effector of the present disclosure.Driven unit 842 comprises inner cable 842a and rotatable and spread all over outer tube or the sheath 842b of inner cable 842a slidably.Inner cable 842a is made by the suitable material that can transmit axial tensile force and compression stress and torsion or revolving force.Outer tube 842b is made by the suitable material that also can transmit axial tensile force and compression stress and torsion or revolving force.

Turn to Figure 62 now, according to another embodiment of the present disclosure, end effector is typically expressed as 900.End effector 900 comprises tool assembly 920, and tool assembly 920 has the pair of jaws 930,932 that is pivotally connected to one another.Clamp 930,932 is pivotally connected to each other by clamp pivotal pin 933.Each clamp 930,932 includes respective proximal or the tail end of assembling toward each other 934,936.Each afterbody 934,936 includes respective

outer surfaces

934a, 936a and corresponding

inner surface

934b, 936b.

Tool assembly 920 comprises guide spiro rod 940, and guide spiro rod 940 is fixedly connected to the far-end that activates cable 942 and have the near-end that is screwed to tapered member 936.Tapered member 936 comprises the head 936a that distad extends between the afterbody 934,936 that is inserted in clamp 930,932 and is arranged on arm 936b, the 936c in corresponding afterbody 934,936 outsides.When tapered member 936 when the first party away from pivotal pin 933 moves up, head 936a can be triangle, taper shape or any other the suitable shape structure for realizing the intended purposes that afterbody 934,936 is separated from each other is

selected.Arm

936b, 936c can distad extend or extend towards pivotal pin 933, can comprise towards the flange of pivotal pin 933 extensions or the part of shirt rim, perhaps when tapered member 936 when the second party towards pivotal pin 933 moves up, can be included as any other suitable shape structure of realizing making afterbody 934,936 approaching toward each other intended purposes and selecting.

In operation, for from the closed clamp 930,932 of open mode, rotate up in first party guide spiro rod 940 is rotated up in first party, and tapered member 936 is moved up in axial backward first party thereby activate cable 942.When doing like this, the head 936a of tapered member 936 moves on the axial direction backward away from pivotal pin 933, thereby so that engages the afterbody 934,936 of clamp 930,932 and make afterbody 934,936 closed clamps 930,932 separated from one another.

Similarly, in order to open clamp 930,932 from closure state, activate cable 942 and rotate up, thereby guide spiro rod 940 is rotated up in second party, and tapered member 936 is moved up in axial forward second party in second party.When doing like this, arm 936b, the 936c of tapered member 936 moving on the axial direction forward of pivotal pin 933, thereby so that engages the afterbody 934,936 of clamp 930,932 and make afterbody 934,936 toward each other near opening clamp 930,932.

Turn to Figure 63 now, be typically expressed as 1022 according to the enclosed member that is used for any end effector disclosed herein of embodiment of the present disclosure.Enclosed member 1022 comprises outer tube 1024, and outer tube 1024 has flexible or elastic proximal portion 1024a and rigidity or has the extremity 1024b of fixture construction.The proximal portion 1024a that should be contemplated that outer tube 1024 is made by non axial compressible or extensile suitable material.Enclosed member 1022 comprises rotatable and is slidably disposed on interior flexible pipe 1026 in the outer tube 1024.Interior flexible pipe 1026 comprises far-end, and it is constructed to operationally engage and support the joint 112 of neck component 110.

Should be contemplated that by suitable biasing member (not shown) to make clamp 130,132 be biased to open mode.

In operation, the outer tube 1024 of enclosed member 1022 is with respect to interior pipe 1026 and clamp 130,132 reciprocal translations, so that as requested and/or need open and close clamp 130,132.When the extremity 1024b that is in open mode and outer tube 1024 when clamp 130,132 is positioned at the nearside of clamp 130,132, for closed clamp 130,132, with respect to interior pipe 1026 and clamp 130,132 axial advance outer tubes 1024, so that the extremity 1024b of outer tube 1024 engages back (rear) or the back of the body (back) surface of clamp 130,132, and with cam driven or promote clamp 130,132 and relative to each other move and make the biasing member biasing.When clamp 130,132 is in closure state, at least portion is in outer tube 1024, in order to open clamp 130,132, outer tube 1024 is axially regained with respect to interior pipe 1026 and clamp 130,132, so that the extremity 1024b of outer tube 1024 breaks away from the back of clamp 130,132 or back of the body surface, and clamp 130,132 is relative to each other separated by the biasing member of bias voltage not.

Turn to Figure 64 now, show and described the driven unit 1142 that is used for end effector of the present disclosure.As shown in Figure 64, driven unit 1142 comprises center-pole or the actuator lever 1136 that is supported on slidably at least one lining 1137, and comprises near-end 1136a.Driven unit 1142 comprises the eccentric cam 1144 that rotatably is supported on the pin 1145.The near-end 1136a sliding-contact of the surface of cam 1144 and actuator lever 1136.Should be contemplated that actuator lever 636 to be biased and with the surface engagement of cam 1144 or contact.

Driven unit 1142 further comprises and is supported on the pin 1145 and is keyed to gear (toothed wheel) or gear (gear) 1146 on the cam 1144.Driven unit 1142 can comprise door bolt 647, thereby door bolt 647 operationally engages with the tooth of gear 1146 gear 1146 is only rotated on single direction.

Driven unit 1142 further comprises the bellcrank 1148 that is supported on pivotally on the pin 1149.Bellcrank 1148 comprises a pair of arm 1148a, the 1148b that extends away from pin 1149.Driven unit 1142 comprises ratchet 1150, and the arm 1148a that ratchet 1150 is pivotally connected to bellcrank 1148 goes up and make the tooth offset of gear 1146.Ratchet 1150 is constructed on single direction rotation passed to gear 1146.

Driven unit 1142 further comprises a pair of domination or activates cable 1114a,

1114b.Activating cable

1114a, 1114b can be connected on corresponding arm 648a, the 1148b of bellcrank 1148.

In operation, when dragging the first actuating cable 1114a, the arm 1148a of mobile bellcrank 1148 is to continue to drag ratchet 1150 on first direction.When ratchet 1150 when first party moves up, gear 1146 rotates up in first party, thereby cam 1144 is rotated up in first party.When cam 1144 rotation, actuator lever 1136 along its outer surface extend in case axially away from or direction of closing on move.Activate the stroke of cable 1114a or drag in case finished first, then second activate cable 1114b and dragged to reset ratchet 1150.

When dragging second when activating cable 1114b, the arm 1148b of mobile bellcrank 1148 is with transfer arm 1114a on second direction, thereby promotes ratchet 1150 on second direction.When ratchet 1150 when second party moves up, ratchet 1150 is ridden and is put on the tooth of gear 1146, and fastens 1124 with a bolt or latch and prevent that gear 1146 from rotating up in second party, thereby prevents that cam 1144 from rotating up in second party.

Constantly repeat to drag activate

cable

1114a, 1114b with away from direction of closing on mobile actuator lever 1136, thereby the clamp of open and close end effector is described as embodiment disclosed herein.

If desired, the second gear 1146a and the second ratchet 1150a can be set, cam 1144 be rotated up in second party so that activate second.

In an embodiment, should be contemplated that, first bevel gear can be keyed on the gear 1146, so that the rotation of gear 1146 can make the rotation of first bevel gear, and second bevel gear can be operatively attached on first bevel gear, passes to drive rod so that can utilize the rotation of first bevel gear axially to rotate via second bevel gear.

Turn to Figure 65 now, be typically expressed as 1200 according to the end effector of another embodiment of the present disclosure.End effector 1200 comprises the pair of

jaws

1230,1232 that links to each other pivotally each other by pivotal pin 1234.Each

clamp

1230,1232 comprises afterbody 1230a, the 1232a that extends from pivotal pin 1233 proximads.

End effector 1200 further comprises a pair of

chain bar

1234,1236, and

chain bar

1234,1236 is pivotally connected on the end of corresponding afterbody 1230a, 1232a of clamp 1230,1232.The free end of each

chain bar

1234,1236 is connected pivotally each other and is operably connected to and activates on the cable 1242.

In this embodiment, on direction of closing, when mobile, make that

clamp

1230,1232 is close toward each other with respect to pivotal pin 1233 when activating cable 1242.In addition, on away from direction, when mobile, make that

clamp

1230,1232 is separated from one another with respect to pivotal pin 1233 when activating cable 1242.Mechanism is similar to pantogragh, makes

clamp

1230,1232 can relative to each other open about 180 ° in order to grasp level and smooth chain bars such as coat of the

stomach

1234,1236.

Turn to Figure 66 now, shown the driven unit that is used for end effector disclosed herein 1342 that to describe.As shown in Figure 66, driven unit 1342 be included in its substantially radially opposite side support the pulley 1344 of lath 1350,1352 pivotally.Driven unit 1342 further comprises cable or the belt 1345 that extends around pulley 1344.

In use, when dragging the end of cable 1345 on first direction, lath 1350 is pushed into, so that joint pin 104 optionally, and lath 1352 is retracted.In addition, when dragging the end of cable 1345 on second direction, lath 1352 is pushed into, so that joint pin 104 optionally, and lath 1350 is retracted.

Turn to Figure 67 A and 67B now, show and described the driven unit 1442 that is used for any end effector disclosed herein.As shown in Figure 67 A and 67B, driven unit 1442 comprises the cam hub 1444 that is supported on the drive cable 1414.Cam hub 1444 defines spiral form groove 1444b, and groove 1444b is constructed to slidably and optionally hold the 1450c of servo-actuated portion, the 1452c of corresponding lath 1450,1452.

Driven unit 1442 further comprises actuate tube 1416, and actuate tube 1416 extends to and activates cable 1414 and comprise the cam 1418 that is supported on its far-end.When actuate tube 1416 rotation, the lobe 1418a of cam 1418 optionally engages and breaks away from recess 1450b, 1452b in the near-end that is formed on lath 1450,1452.

In operation, actuate tube 1416 half-twists so that the recess 1450b of lath 1450 engage with the lobe 1418a of cam 1418.Lobe 1418a promotes lath 1450, hauls out the servo-actuated 1450c of portion from the groove 1444b of cam hub 1444.Actuate tube 1416 moves forward then, moves forward cam 1418 and lath 1450 to engage or the release needle.In whole surgical operation process, repeat described process as required.

In optional embodiment, as shown in Figure 68 A and 68B, cam hub 1444 can be provided with longitudinal extension slit or the groove 1444b that extends forward from the minimum point of helical groove 1444a.Keep protuberance 1444c can be arranged near the proximal end or this near-end of longitudinal fluting 1444b.

As shown in Figure 68 A, lath 1450 can comprise the threaded portion 1450d that passes threaded block or lining 1451 from its proximal extension.Activate or thereby moment of torsion cable 1453 pushed away protuberance 1444c with the 1450c of servo-actuated portion can be connected to threaded portion 1450d with convenient actuation wire cable 1453 rotations the time and discharges needle.

Turn to Figure 69 to 101 now, be marked as 2000 usually according to the flexible endoscopic stitching devices of an embodiment of the present disclosure.Endoscope sewing device 2000 comprises and operationally is supported on the Handleset 2200 and from Handleset 2200 extended end effectors 2100.

According to present embodiment, end effector 2100 is similar substantially to end effector 100, therefore only is being described discerning on its structure and the necessary degree of operational difference here.Structure and going through of operation for end effector 2100 can be carried out with reference to end effector 100.

As shown in Figure 72,82 to 84,90,93,94,97 and 98, end effector 2100 comprises and is inserted in cam hub 2144 and the thrust bearing between the 2112a of joint 2148 farthest.Thrust bearing 2148 comprises a plurality of ball 2148a that rotatably are supported among half-shells (housing halves) 2148b, the 2148c.

In use, the first half-shells 2148b of thrust bearing 2148 rotates freely with respect to the second half-shells 2148c of thrust bearing 2148 via ball 2148a.Especially, thrust bearing 2148 can make cam hub 2144 with respect to the free or axially rotation relatively freely of joint 2112a farthest.

Handleset 2200 comprises shell 2202, and shell 2202 has by such as the suitable fasteners (not shown) of screw right half part 2202a connected to one another and left-half 2202b.Handleset 2200 comprises and operationally is supported on the shell 2202 and from these shell 2202 extended trigger pieces 2204.As described in detail hereinafter, trigger piece 2204 is removable between first unactuated position as shown in Figure 69 to 71 and 68 and at least one second actuated position as shown in Figure 79 to 81.In use, the motion of trigger piece 2204 between first and second positions causes the actuating and/or the operation of end effector 2100.

Trigger piece 2204 operationally is associated with the actuating mechanism 2210 of Handleset 2200 or is connected in other mode on the actuating mechanism 2210 of Handleset 2200 (seeing Figure 70 to 72 and Figure 78 to 82).As described in detail hereinafter, in use, the motion of trigger piece 2204 between first and second positions causes two kinds of operations of end effector 2100.

As shown in Figure 70 to 72 and Figure 78 to 82, actuating mechanism 2210 comprises and is connected to trigger piece 2204 and from trigger piece 2204 extended trigger piece plates 2212.Trigger piece plate 2212 is pivotally connected to trigger piece 2204 on the shell 2202.Trigger piece plate 2212 defines first gear parts 2214 along its proximal edge or back edge 2212a.Trigger piece plate 2212 defines arcuate slot 2216, and arcuate slot 2216 has the second gear parts 2216a that forms along its top edge.Slit 2216 has the radius of curvature that makes on its pivotal axis that is centered close to trigger piece 2204 " Y " (seeing Figure 73).

Gear train 2220 operationally is associated with the slit 2216 of trigger piece plate.Gear train 2220 comprises first gear 2222 and second gear 2224, first gear 2222 is constructed to operationally engage second gear 2224 and first gear, 2222 the same being supported on the shared rotating dog 2226 with the second gear parts 2216a engagement of slit 2216 and/or in other mode.So, when first gear 2222 rotated owing to the motion of trigger piece 2204, second gear 2224 rotated simultaneously and/or together.

Second gear 2224 of gear train 2220 is configured to the tooth 2228a engagement of tooth bar 2228 and/or operationally engages in other mode.Tooth bar 2228 defines the tube chamber 2228b that runs through wherein.On the direction that the tube chamber 2228b of tooth bar 2228 is oriented in and pivotal axis " Y " is tangent.In one embodiment, on vertical " X " axle of the coaxial actuator shaft that is arranged on Handleset 2200 of the tube chamber 2228b of tooth bar 2228.

As shown in Figure 70 to 72 and Figure 78 to 82, actuating mechanism 2210 comprises driving or the actuator shaft 2230 that passes that tooth bar 2228 extends and operationally be associated with tooth bar 2228, and rotatably is supported on the follower block 2232 on the actuator shaft 2230 at the place, fixed position in the distally of tooth bar 2228.But actuator shaft 2230 axial translations and rotatable with respect to tooth bar 2228.The a pair of ring clamp 2232a, the 2232b that are fixed on the actuator shaft 2230 by distally and proximal position place in follower block 2232 make follower block 2232 axially remain on the appropriate location with respect to actuator shaft 2230.Tooth bar 2228 and follower block 2232 biasing member 2234 by extending between them, i.e. extension spring is connected to each other.

Actuating mechanism 2210 comprises the slip-clutch 2240 on the near-end that is supported on actuator shaft 2230.As shown in Figure 74, slip-clutch 2240 comprises extremity 2242, extremity 2242 has distally bevel gear 2242a and one group of proximal end face gear teeth 2242b, and distally bevel gear 2242a is constructed to operationally engage with first gear parts, 2214 engagements of trigger piece 2212 and/or in other mode.Slip-clutch 2240 further comprises proximal portion 2244, proximal portion 2244 has one group of distal face gear teeth 2244a and is positioned at the gear 2244b of the nearside of one group of distal face gear teeth 2244a, and described one group of distal face gear teeth 2244a is constructed to mesh and/or operationally engage in other mode with one group of proximal end face gear teeth 2242b of extremity 2242.Gear 2244b define a pair of be formed at wherein or on it along the opposed tooth 2244c of diameter.As shown in Figure 77,80 and 83, gear 2244b is keyed on the actuator shaft 2230 so that gear 2244b is merely able to move axially with respect to actuator shaft 2244b.

In operation, as going through hereinafter, one group of distal face gear teeth 2244a cooperates with one group of proximal end face gear teeth 2242b so that transmit rotation on single direction.

The proximal portion 2244 of slip-clutch 2240 is by extremity 2242 biasings of biasing member 2246 towards slip-clutch 2240, biasing member 2246 such as the compression spring between the proximal portion 2244 that is arranged on shell 2202 and slip-clutch 2240 etc.Ratchet 2248 operationally is associated with gear 2244b, so makes to allow gear 2244b to rotate on single direction.

As shown in Figure 70 to 72, at least the proximal end face gear teeth 2242b of the extremity 2242 of slip-clutch 2240 remains in the hub 2250 that is formed in the shell 2202, and the boss 2244d that extends from gear 2244b proximad at least remains in the hub 2252 that is formed at the shell 2202.

Continuation shows and has described the method for use and/or operating grip assembly 2200 with reference to Figure 69 to 82.As shown in Figure 78, when trigger piece 2204 is in first or during the unactuated position, tooth bar 2228 is in highest distance position with respect to actuator shaft 2230 so that its nearest tooth 2228a operationally engages with second gear, 2224 engagements of gear train 2220 and/or in other mode.In addition, as shown in Figure 78, when trigger piece 2204 is in first or during the unactuated position, first gear parts 2214 of trigger piece plate 2212 keeps at a certain distance away with the bevel gear 2242a of the extremity 2242 of slip-clutch 2240.

As shown in Figure 78 and 79, when trigger piece 2204 compacted (squeezed) or move to shown in arrow " A " second or during to position that small part activates, the second gear parts 2216a of slit 2216 impels first gear 2222 of gear train 2220 and second gear 2224 to rotate on the direction of arrow " B ".When first and

second gears

2222,2224 of gear train 2220 rotated on " B " direction, second gear 2224 impelled tooth bar 2228 to go up mobile in the direction (being direction of closing) of arrow " C ".When tooth bar 2228 proximads move because follower block 2232 is connected to tooth bar 2230 via biasing member 2234, so actuator shaft 2230 also on the direction of arrow " C " proximad move.Can causing via activating operation or the motion that cable 2231 is connected to end effector 2100 far-end of actuator shaft 2230 of actuator shaft 2230 near motion.

As shown in Figure 79, when trigger piece 2204 is further compressed or on the direction of arrow " A " when mobile, first gear parts 2214 of trigger piece plate 2212 operationally engages the bevel gear 2242a of the extremity 2242 of slip-clutch 2240.When trigger piece 2204 was mobile on the direction of arrow " A ", first gear parts 2214 of trigger piece plate 2212 passed to rotation the bevel gear 2242a of the extremity 2242 of slip-clutch 2240 on the direction of arrow " D ".Because the engagement of each

gear teeth

2242b, 2244a, the rotation of the bevel gear 2242a of the extremity 2242 of slip-clutch 2240 passes to rotation the proximal portion 2244 of slip-clutch 2240 again, because the gear 2244b of proximal portion 2244 is keyed on the actuator shaft 2230, successively rotation is passed to actuator shaft 2230 again.

As shown in Figure 77 and 80, when the gear 2244b of the proximal portion 2244 of slip-clutch 2240 rotated on the direction of arrow " D ", ratchet 2248 was ridden and is put and press on its outer surface.

As shown in Figure 81, when trigger piece 2204 is further compressed or on the direction of arrow " A " when mobile, second gear 2224 of gear train 2220 further rotates on the direction of arrow " B ", impels tooth bar 2228 further to move on the direction of arrow " C ".Yet, because actuator shaft 2230 has arrived minimum point (promptly, motion on the direction of arrow " C " stops), therefore impel tooth bar 2228 on the direction of arrow " C ", to move along actuator shaft 2230, and because follower block 2232 along actuator shaft 2230 axial restraints, therefore impels biasing member 2234 to be elongated.Be simultaneously or with the situation of this generation, as mentioned above, first gear parts 2214 of trigger piece plate 2212 further makes the bevel gear 2242a of the extremity 2242 of slip-clutch 2240 rotate on the direction of arrow " D ", and bevel gear 2242a further makes actuator shaft 2230 rotate on the direction of arrow " D ".The rotation of actuator shaft 2230 on the direction of arrow " D " can cause via activating another operation or the motion of end effector 2100 that cable 2231 is connected to the far-end of actuator shaft 2230.

Turn to Figure 82 now, when release or mobile trigger piece 2204 on the direction of the arrow " A1 " opposite with the direction of arrow " A ", second gear 2224 of gear train 2220 rotates on the direction of the arrow " B1 " opposite with arrow " B ".In the motion on the direction of arrow " A1 " or by the motion of tooth bar 2228 on the direction of the arrow " C1 " opposite with the direction of arrow " C ", second gear 2224 moves on the direction of arrow " B1 " by trigger piece 2204.Owing to make the contraction of tooth bar 2228 near the biasing member 2234 of follower block 2232, tooth bar 2228 moves on the direction of arrow " C1 ".Tooth bar 2228 is convenient near the biasing of the spring of the biasing member 2234 of follower block 2232 or is helped trigger piece 2204 returning or moving on the direction of arrow " A1 ".When tooth bar 2228 moved on the direction of arrow " C1 ", actuator shaft 2230 also moved on the direction of arrow " C1 ".

Simultaneously or follow the motion of trigger piece 2204 on the direction of arrow " A1 ", first gear parts 2214 of trigger piece plate 2212 passes to rotation the bevel gear 2242a of the extremity 2242 of slip-clutch 2240 on the direction of the arrow " D1 " opposite with the direction of arrow " D ".When the bevel gear 2242a of the extremity 2242 of slip-clutch 2240 rotates on the direction of arrow " D1 ", its gear teeth 2242b slips over and/or slides near the tooth 2244a of the proximal portion 2244 of slip-clutch 2240, and, therefore there is not rotation to pass to the proximal portion 2244 of slip-clutch 2240 because the proximal portion 2244 of slip-clutch 2240 is carried out the cam-type motion on the direction of the arrow " D " of the biasing that overcomes spring 2246.Successively, because the proximal portion 2244 of slip-clutch 2240 is not rotated, therefore rotation does not pass to actuator shaft 2230.

As shown in Figure 83, when the gear 2244b of the proximal portion 2244 of slip-clutch 2240 rotates on the direction of arrow " D1 ", ratchet 2248 is near the tooth 2244c of gear 2244b, prevent that gear 2244b from rotating on the direction of arrow " D1 ", prevent again that successively actuator shaft 2230 from rotating on the direction of arrow " D1 ".

The motion of actuator shaft 2230 on the direction of arrow " C1 " can cause via activating another operation or the motion of end effector 2100 that cable 2231 is connected to the far-end of actuator shaft 2230.

Turn to Figure 69 to 73 and Figure 75 to 76 now, Handleset 2200 further comprises and is supported on the shell 2202 and/or interior articulated type motion 2270.Articulated type motion assembly 2270 can be operatively attached to end effector 2100, so that pass to end effector 2100 for end effector 2100 or motion or the operation that any other is suitable the articulated type Motion Transmission.

As shown in Figure 69 to 73 and Figure 75 to 76, articulated type motion 2270 comprises and rotatably is supported on the shell 2202 or interior knob or rotating disk 2272, and is keyed on the rotating disk 2272 and shares the gear train 2274 of common rotating shaft with rotating disk 2272.Gear train 2274 comprises the first gear 2274a and the second gear 2274b, and each gear all is supported on and is keyed to and extends through described gear and pass on the pin 2276 of rotating disk 2272.

As shown in Figure 72 and 73, the first gear 2274a of gear train 2274 operationally engages locking/feedback means 2278, and locking/feedback means 2278 comprises the finger 2278a of the tooth of the first gear 2274a that setovers.In operation, when the first gear 2274a of gear train 2274 rotation, because the rotation of rotating disk 2272, finger 2278a rides and puts on the tooth of the first gear 2274a, thereby provides sense of touch and/or auditory feedback for user.In addition, when rotating disk 2272 did not rotate, the tooth of the finger 2278a and the first gear 2274a was bonded with each other, thereby forbade the automatic rotation of rotating disk 2272, was necessary thus to lock or the fixing position of rotating disk 2272.

Articulated type motion 2270 further comprises with the opposite side of the second gear 2274b of gear train 2274 and operationally engages and engage thereon a pair of opposed tooth bar 2280a, 2280b.Each

tooth bar

2280a, 2280b are supported in respective groove 2282a, the 2282b of supporting member 2282 slidably.Each

tooth bar

2280a, 2280b include corresponding joint formula motion cable 2284a, the 2284b that is fixed to the upper.So, during operation, as each tooth bar 2280a, when 2280b is moved, each corresponding articulated

type motion cable

2284a, 2284b also are moved.

In operation, shown in Figure 75 and 76, when the second gear 2274b rotates on the direction of arrow " E ", because the rotation of rotating disk 2272, the first tooth bar 2280a at direction of closing (promptly, direction at arrow " F ") upward moves, the first articulated type motion cable 2284a is moved on the direction of arrow " F ", and the second tooth bar 2280b is away from direction (promptly, direction at the arrow " F1 " opposite) upward moves, second joint formula motion cable 2284b is moved on the direction of arrow " F1 " with arrow " F ".Should be understood that, rotating disk 2272 in the opposite direction rotation and thus the rotation of the second gear 2274b on the direction opposite with arrow " E " will cause

tooth bar

2280a, 2280b and

cable

2284a, 2284b in the opposite direction motion and/or move.Therefore, the rotation of rotating disk 2272 can be given end effector 2100 with operation or Motion Transmission.

As shown in Figure 69,71,73 to 81,91,95,99 and 100, Handleset 2200 further comprises the pin loading assembly 2300 with knob 2310, and knob 2310 is supported on the rear end of shell 2202 and is constructed to make needle to be loaded in the clamp 2130,2132.Knob 2310 is keyed on the splined shaft 2312 via nut 2314.Nut 2314 has the shaping outer surface that is contained in the complementation shaping recess that is formed in the knob 2310, makes the rotation of knob 2310 cause the rotation of nut 2314.Nut 2314 defines the shaping tube chamber 2314a (Figure 81) of the complementation shaping outer surface that is used to hold splined shaft 2312, makes the rotation of knob 2310 also cause the rotation of splined shaft 2312.Splined shaft 2312 axially is slidably disposed in the tube chamber 2314a of nut 2314.

As shown in Figure 73,81,91,95,99 and 100, the far-end of splined shaft 2312 runs through slip-clutch 2240 and is fixed firmly to (far-end of actuator shaft 2230 is connected to and activates cable 2142) on the near-end of actuator shaft 2230.

In use, in the

clamp

2130,2132 that needle is loaded into end effector 2100, knob 2310 is rotated, thereby makes splined shaft 2312, actuator shaft 2230,

actuating cable

2142 and 2144 rotations (as mentioned above) of cam hub.When knob 2310 rotation,

lath

2150,2152 moves axially far-end until

lath

2150,2152 to be held recess 2130a, 2132a disengaging with pin and overlaps (Figure 93).When hold recess 2130a, the 2132a of the far-end of

lath

2150,2152 and

clamp

2130,2132 break away from when overlapping, needle 104 is inserted into one that holds among recess 2130a, the 2132a.As mentioned above, one the distal engagement needle 104 of rotary knob 2310 in

lath

2150,2152 then.

Only for instance, endoscope sewing device 2000 can be constructed to make knob 2310 rotations to be felt (when for example, the tooth 2244c that is engaged to gear 2244b when ratchet 2248 goes up) until audition or tactile feedback.In this, needle 104 can insert or be loaded in recess 2130a, the 2132a of the

clamp

2130,2132 that does not have obstacle.When needle 104 is in the appropriate location, can advances

lath

2150,2152 engaging needle 104 by above-mentioned mode rotary knob 2310, and needle 104 is locked in wherein appropriate location.

Referring now to Figure 102 to 110, according to another embodiment of the present disclosure, the Handleset that is used to operate, handle and/or control endoscope apparatus is marked as 3100 usually.Shown in Figure 105, Handleset 3100 comprises shell 3102, and shell 3102 has by suitable tightening member 3102c right half part 3102a connected to one another and left-half 3102b such as screw 3102c.

Handleset 3100 comprises and operationally is supported in the shell 3102 and from shell 3102 extended trigger pieces 3104.As will be described in detail hereinafter, trigger piece 3104 can move between first unactuated position as shown in Figure 102 to 104 and second unactuated position as shown in Figure 109.In use, the motion of trigger piece 3104 between first and second positions causes the actuating and/or the operation of end effector (not shown).

Trigger piece 3104 operationally is associated with the actuating mechanism 3110 (seeing Figure 107) of Handleset 3100 or is connected to the actuating mechanism 3110 of Handleset 3100 in other mode.As will be described in detail hereinafter, in use, the motion of trigger piece 3104 between first and second positions causes two kinds of operations of end effector.

As shown in Figure 103 to 105,107,109 and 110, actuating mechanism 3110 comprises and is connected to trigger piece 3104 and from trigger piece 3104 extended trigger piece plates 3112.Trigger piece plate 3112 defines along the gear parts 3114 of its proximal edge or back edge 3112a.

Actuating mechanism 3110 comprises the lobe plate 3116 that supports regularly or be connected on the trigger piece plate 3112.Lobe plate 3116 is fixed on the trigger piece plate 3112 so that around pivotal axis " Y " (the seeing Figure 105) rotation of trigger piece 3104 and trigger piece plate 3112.Lobe plate 3116 defines the cam slot 3116a that is formed at wherein, and cam slot 3116a comprises first, second and

third part

3116b, 3116c and 3116d (seeing Figure 105) respectively.Cam slot 3116a has substantially the structure of " S shape ".As shown in Figure 105 and 107, cam-follower portion 3118 is positioned in the cam slot 3116a of lobe plate 3116 slidably.

Actuating mechanism 3110 comprises the cam follower block 3120 that operationally is associated with lobe plate 3116.Follower block 3120 is via portions of supporting cam wheel servo-actuated pivotally 3118 such as pivotal pin 3118a.In use, as will be described in detail hereinafter, when trigger piece 3140 was mobile between first and second positions, lobe plate 3116 pivots around pivotal axis " Y " and follower block 3120 moves along the cam slot 3116a of lobe plate 3116.Shown in Figure 105 and 107, follower block 3120 defines the tube chamber 3120a that runs through wherein.The tube chamber 3120a of follower block 3120 with the tangent direction of pivotal axis " Y " on directed.In one embodiment, on vertical " X " axle of the coaxial driving shaft that is arranged on Handleset 3100 of the tube chamber 3120a of follower block 3120.

As shown in Figure 103 to 105,107,109 and 110, actuating mechanism 3110 comprises driving or the actuator shaft 3122 that extends through follower block 3120 and operationally be associated with follower block 3120.The a pair of locating ring 3124a, the 3124b that are connected to actuator shaft 3122 by the corresponding position at the distally of follower block 3120 and nearside make actuator shaft 3122 with respect to follower block 3120 axial restraints.So, actuator shaft 3122 rotates freely around its longitudinal axis with respect to follower block 3120, and along with follower block 3120 accordingly away from or near the motion and distad move with nearside.

The proximal position place that actuating mechanism 3110 is included in follower block 3120 is arranged on the disc spring on the actuator shaft 3122 or compresses spring 3126.The proximal position place that actuating mechanism 3110 further is included in spring 3126 rotatably is supported on the pinion 3128 on the actuator shaft 3122.Pinion 3128 is positioned on the actuator shaft 3122, so that operationally engage and/or mesh the gear parts 3114 of trigger piece plate 3112.

Actuating mechanism 3110 further comprises via screw or securing member 3130a and supports or be connected to gear 3130 on the actuator shaft 3122 regularly.Gear 3130 defines and is formed at wherein or a pair of along the opposed tooth 3130b of diameter on it.Gear 3130 be arranged on pinion 3128 the proximal position place and with its frictional engagement.Ratchet 3132 operationally is associated with gear 3130, makes like this to allow gear 3130 to rotate on single direction.

Continuation shows and has described the method for use and/or operating grip assembly 3100 with reference to Figure 102 to 110.As shown in Figure 103 and 104, when trigger piece 3104 is in first or during the unactuated position, cam-follower portion 3118 is near the far-end location of the second portion 3116c of the cam slot 3116a of lobe plates 3116.

As shown in Figure 109, when trigger piece 3104 is forced into second or fully during actuated position, the gear parts 3114 of trigger piece plate 3112 pivots around pivotal axis " Y " and pinion 3128 is gone up at first direction " A " and activates (that is rotation).Because pinion 3128 rotatably is supported on the actuator shaft 3122, therefore rotation does not pass to actuator shaft 3122.In addition, because pinion 3128 engaging gear 3130 frictionally, so the rotation of pinion 3128 passes to gear 3130 with rotation.Yet as shown in Figure 106 and 109, the tooth 3130b by ratchet 3132 and gear 3130 is bonded with each other, and prevents the rotation of gear 3130 on the direction of arrow " A ".

Continuation is with reference to Figure 109, simultaneously or follow the rotation of pinion on the direction of arrow " A ", when trigger piece 3104 is forced into second or fully during actuated position, impels cam-follower portion 3118 to move by the cam slot 3116a of lobe plate 3116.When cam-follower portion 3118 moves by cam slot 3116a, impel follower block 3120 on by the direction of closing of arrow " B " indication, moving.Follower block 3120 causes the motion of actuator shaft 3122 on the direction of arrow " B " in the motion on the direction of arrow " B ".Far-end by being positioned at actuator shaft 3122 and near the column the near-end or guide

rod

3140a, 3140b finish only in the axial direction motion of actuator shaft.

Actuator shaft 3122 causes being operably connected to the motion of adjustment screw 3142 on arrow " B " direction of the far-end of actuator shaft 3122 in the motion on the direction of arrow " B ", and this causes first to activate the motion of cable 3144 on the direction of arrow " B " again.First activates first operation or the motion that the motion of cable 3144 on the direction of arrow " B " can cause the end effector (not shown), for example the clamp of end effector near or open.In optional embodiment (not shown), the bar of rigidity or substantially rigid or axle can replace activating cable 3144.

As shown in Figure 110, discharging trigger piece 3104 or turning back to first or not during the situation of actuating state at trigger piece 3104, the gear parts 3114 of trigger piece plate 3112 pivots around pivotal axis " Y " and pinion 3128 is gone up in the second direction " C " opposite with first direction " A " and activates (that is rotation).Because pinion 3128 is engaging gear 3130 frictionally, the rotation of pinion 3128 on the direction of arrow " C " passes to gear 3130 with rotation.As shown in Figure 106 and 110, only slide thereon because ratchet 3132 does not engage with the tooth 3130b of gear 3130, thereby allow the rotation of gear 130 on the direction of arrow " C ".

Because gear 3130 is keyed to or is fixedly connected on the actuator shaft 3122 in other mode, the rotation of gear 3130 on the direction of arrow " C " also causes the rotation of actuator shaft 3122, and this causes first to activate the rotation of cable 3144 on the direction of arrow " C ".First activates second operation or the motion that the rotation of cable 3144 on the direction of arrow " C " can cause the end effector (not shown).

Continuation is with reference to Figure 110, simultaneously or follow the rotation of pinion 3128 on the direction of arrow " C ", when trigger piece 3104 moves to or turn back to first or during the unactuated position, impels cam-follower portion 3118 to move by the cam slot 3116a of lobe plate 3116.When cam-follower portion 3118 moves by cam slot 3116a, impel follower block 3120 by arrow " D " indication away from direction on move.Follower block 3120 causes the motion of actuator shaft on the direction of arrow " D " in the motion on the direction of arrow " D ".Guide rod 3140a, 3140b only allow actuator shaft 3122 motion in the axial direction again.

The motion of actuator shaft 3122 on the direction of arrow " D " causes the motion of adjustment screw 3142, and this causes first to activate the motion of cable 3144 on the direction of arrow " D ".First activates the 3rd operation or the motion that the motion of cable 3144 on the direction of arrow " D " can cause the end effector (not shown), for example the clamp of end effector near or open.

Return or move to primary importance by the promotion trigger pieces 3104 such as extension spring 3148 that are operably connected to shell 3102 and trigger piece 3104 and between shell 3102 and trigger piece 3104, extend from the second position.

Continuation is with reference to Figure 102 to 110, and Handleset 3100 further comprises another actuating mechanism or articulated type motion controller 3150.Articulated type motion controller 3150 comprises the slide block 3152 that is supported on slidably on the track 3102d that is formed in the shell 3102.Slide block 3152 is biased to lifting position by biasing member 3154 (that is, alligator clamp etc.).In lifting position, the tooth 3152a that is formed on the slide block 3152 engages with the tooth 3156a of tooth bar 3156 in being formed on shell 3102.Second activates cable 3146 extends and comes out so that engagement end executor (not shown) operationally from the far-end of shell 3102 from slide block 3152.

In operation, as shown in Figure 109, when slide block 3152 when (that is, from the proximal most position to the highest distance position) on the direction of arrow " E " activates or is mobile, second activates cable 3146 also moves on the direction of arrow " E ".Second activates the operation that the motion of cable on the direction of arrow " E " can cause the end effector (not shown), for example, end effector endways the executor clamp near or open on the direction and engage.

For moving slider 3152 on the direction opposite, push slide block 3152 so that its tooth 3152a breaks away from the tooth 3156a of tooth bar 3156 towards shell 3102 with arrow " E ".By this way, slide block 3152 can freely move to proximal most position from highest distance position.

First and second activate in the sleeve 3147 etc. that

cables

3144 and 3146 are installed in flexible, non-radial extension.Sleeve 3147 roles are to guarantee that first and second activate

cables

3144 and 3146 only translation and not deflection radially outward in the axial direction.Each activates

cable

3146,3148 can be by the suitable material that can transmit axial force or torsion, and promptly rustless steel is made.

Turn to Figure 111 to 125 now, according to another embodiment of the invention, the Handleset that is used to operate, handle and/or control endoscope apparatus is marked as 3200 usually.Handleset 3200 comprises shell 3202, and shell 3202 has by suitable tightening member (not shown) right half part 3202a connected to one another and left-half 3202b such as screw.

Handleset 3200 comprises and operationally being supported in the shell 3202 and from its extended trigger piece 3204.As will be described in detail hereinafter, trigger piece 3204 can move between first unactuated position as shown in Figure 111 to 113 and Figure 120 and at least one second actuated position as shown in Figure 121 to 122.In use, the motion of trigger piece 3204 between first and second positions causes the actuating and/or the operation of end effector (not shown).

Trigger piece 3204 operationally is associated with the actuating mechanism 3210 (seeing Figure 112 to 114 and Figure 120 to 124) of Handleset 3200 or is connected to the actuating mechanism 3210 of Handleset 3200 in other mode.As will be described in detail hereinafter, in use, the motion of trigger piece 3204 between first and second positions causes two kinds of operations of end effector.

As shown in Figure 112 to 114 and Figure 120 to 124, actuating mechanism 3210 comprises and is connected to trigger piece 3204 and from trigger piece 3204 extended trigger piece plates 3212.Trigger piece plate 3212 is pivotally connected to trigger piece 3204 on the shell 3202.Trigger piece plate 3212 defines first gear parts 3214 along its proximal edge or back edge 3212a.Trigger piece plate 3212 defines arcuate slot 3216, and arcuate slot 3216 has the second gear parts 3216a that forms along its top edge.Slit 3216 has the radius of curvature that makes on its pivotal axis that is centered close to trigger piece 3204 " Y " (seeing Figure 113).

Gear train 3220 operationally is associated with the slit 3216 of trigger piece plate.Gear train 3220 comprises first gear 3222 and second gear 3224, first gear 3222 is constructed to operationally engage second gear 3224 and first gear, 3222 the same being supported on the shared rotating dog 3226 with the second gear parts 3216a engagement of slit 3216 and/or in other mode.By this way, when first gear 3222 rotated owing to the motion of trigger piece 3204, second gear 3224 rotated simultaneously and/or together.

Second gear 3224 of gear train 3220 is constructed to operationally engage with tooth 3228 engagements of tooth bar 3228 and/or in other mode.Tooth bar 3228 defines the tube chamber 3228b that runs through wherein.The tube chamber 3228b of tooth bar 3228 with the tangent direction of pivotal axis " Y " on directed.In one embodiment, on vertical " X " axle of the coaxial actuator shaft that is arranged on Handleset 3200 of the tube chamber 3228b of tooth bar 3228.

As shown in Figure 112 to 114 and 120 to 124, actuating mechanism 3210 comprises driving or the actuator shaft 3230 that extends through tooth bar 3228 and operationally be associated with tooth bar 3228, and rotatably is supported on the follower block 3232 on the actuator shaft 3230 at the place, fixed position in the distally of tooth bar 3228.But actuator shaft 3230 axial translations and rotatable with respect to tooth bar 3228.The a pair of ring clamp 3232a, the 3232b that are fixed on the actuator shaft 3230 by distally and proximal position place in follower block 3232 make follower block 3232 axially remain on the appropriate location with respect to actuator shaft 3230.Tooth bar 3228 and follower block 3232 biasing member 3234 by extending between them, i.e. extension spring is connected to each other.

Actuating mechanism 3210 comprises the slip-clutch 3240 on the near-end that is supported on actuator shaft 3230.As shown in Figure 116, slip-clutch 3240 comprises extremity 3242, extremity 3242 has distally bevel gear 3242a and one group of proximal end face gear teeth 3242b, and distally bevel gear 3242a is constructed to operationally engage with first gear parts, 3214 engagements of trigger piece 3212 and/or in other mode.Slip-clutch 3240 further comprises proximal portion 3244, proximal portion 3244 has one group of distal face gear teeth 3244a and is positioned at the gear 3244b of the nearside of one group of distal face gear teeth 3244a, and described one group of distal face gear teeth 3244a is constructed to mesh and/or operationally engage in other mode with one group of proximal end face gear teeth 3242b of extremity 3242.Gear 3244b define a pair of be formed at wherein or on it along the opposed tooth 3244c of diameter.As shown in Figure 119,122 and 125, gear 3244b is keyed on the actuator shaft 3230 so that gear 3244b is merely able to move axially with respect to actuator shaft 3244b.

In operation, as going through hereinafter, one group of distal face gear teeth 3244a cooperates with one group of proximal end face gear teeth 3242b so that transmit rotation on single direction.

The proximal portion 3244 of slip-clutch 3240 is by extremity 3242 biasings of biasing member 3246 towards slip-clutch 3240, biasing member 3246 such as the compression spring between the proximal portion 3244 that is arranged on shell 3202 and slip-clutch 3240 etc.Ratchet 3248 operationally is associated with gear 3244b, so makes to allow gear 3244b to rotate on single direction.

As shown in Figure 112 to 114, at least the proximal end face gear teeth 3242b of the extremity 3242 of slip-clutch 3240 remains in the hub 3250 that is formed in the shell 3202, remains in the hub 3252 that is formed at the shell 3202 from the extended boss 3244d of the nearside of gear 3244b at least.

Continuation shows and has described the method for use and/or operating grip assembly 3200 with reference to Figure 111 to 125.As shown in Figure 120, when trigger piece 3204 is in first or during the unactuated position, tooth bar 3228 is in highest distance position with respect to actuator shaft 3230 to be sentenced its nearest tooth 3228a is operationally engaged with second gear, 3224 engagements of gear train 3220 and/or in other mode.In addition, as shown in Figure 120, when trigger piece 3204 is in first or during the unactuated position, first gear parts 3214 of trigger piece plate 3212 keeps at a certain distance away with the bevel gear 3242a of the extremity 3242 of slip-clutch 3240.

As shown in Figure 120 and 121, when trigger piece 3204 compacted or move to as by arrow " A " indication second or during to position that small part activates, the second gear parts 3216a of slit 3216 impels first gear 3222 of gear train 3220 and second gear 3224 to rotate on the direction of arrow " B ".When first and

second gears

3222,3224 of gear train 3220 rotated on " B " direction, it is mobile that second gear 3224 impels tooth bar 3228 to go up at arrow " C " (being direction of closing).When tooth bar 3228 proximads move because follower block 3232 is connected to tooth bar 3230 via biasing member 3234, so actuator shaft 3230 also on the direction of arrow " C " proximad move.Can causing via activating the operation or the motion of end effector (not shown) that cable 3231 is connected to the far-end of actuator shaft 3230 of actuator shaft 3230 near motion.

As shown in Figure 121, when trigger piece 3204 is further compressed or on the direction of arrow " A " when mobile, first gear parts 3214 of trigger piece plate 3212 operationally engages the bevel gear 3242a of the extremity 3242 of slip-clutch 3240.When trigger piece 3204 was mobile on the direction of arrow " A ", first gear parts 3214 of trigger piece plate 3212 passed to rotation the bevel gear 3242a of the extremity 3242 of slip-clutch 3240 on the direction of arrow " D ".Because the engagement of each

gear teeth

3242b, 3244a, the rotation of the bevel gear 3242a of the extremity 3242 of slip-clutch 3240 passes to rotation the proximal portion 3244 of slip-clutch 3240 again, because the gear 3244b of proximal portion 3244 is keyed on the actuator shaft 3230, proximal portion 3244 passes to rotation actuator shaft 3230 again.

As shown in Figure 119 and 122, when the gear 3244b of the proximal portion 3244 of slip-clutch 3240 rotated on the direction of arrow " D ", ratchet 3248 was ridden on the outer surface of putting and be pressed in gear 3244b.

As shown in Figure 123, when trigger piece 3204 is further compressed or on arrow " A " direction when mobile, second gear 3224 of gear train 3220 further rotates on the direction of arrow " B ", impels tooth bar 3228 further to move on the direction of arrow " C ".Yet, because actuator shaft 3230 has arrived minimum point (promptly, motion on the direction of arrow " C " stops), thereby impel tooth bar 3228 on the direction of arrow " C ", to move along actuator shaft 3230, and, thereby impel biasing member 3234 to be elongated because follower block 3232 is along actuator shaft 3230 axial restraints.Be simultaneously or with the situation of this generation, as mentioned above, first gear parts 3214 of trigger piece plate 3212 further makes the bevel gear 3242a of the extremity 3242 of slip-clutch 3240 rotate on the direction of arrow " D ", and bevel gear 3242a further makes actuator shaft 3230 rotate on the direction of arrow " D ".Actuator shaft 3230 can cause via another operation or the motion that activate the end effector (not shown) on the far-end that cable 3231 is connected to actuator shaft 3230 in the rotation on the direction of arrow " D ".

Turn to Figure 124 now, when release or mobile trigger piece 3204 on the direction of the arrow " A1 " opposite with the direction of arrow " A ", second gear 3224 of gear train 3220 rotates on the direction of the arrow " B1 " opposite with arrow " B ".In the motion on the direction of arrow " A1 " or by the motion of tooth bar 3228 on the direction of the arrow " C1 " opposite with the direction of arrow " C ", second gear 3224 moves on the direction of arrow " B1 " by trigger piece 3204.Owing to make the contraction of tooth bar 3228 near the biasing member 3234 of follower block 3232, tooth bar 3228 moves on the direction of arrow " C1 ".Tooth bar 3228 is convenient near the biasing of the spring of the biasing member 3234 of motion block 3232 or is helped trigger piece 3204 returning or moving on the direction of arrow " A1 ".When tooth bar 3228 was mobile on the direction of arrow " C1 ", actuator shaft 3230 also moved on the direction of arrow " C1 ".

Simultaneously or follow the motion of trigger piece 3204 on the direction of arrow " A1 ", first gear parts 3214 of trigger piece plate 3212 passes to rotation the bevel gear 3242a of the extremity 3242 of slip-clutch 3240 on the direction of the arrow " D1 " opposite with the direction of arrow " D ".When the bevel gear 3242a of the extremity 3242 of slip-clutch 3240 rotates on the direction of arrow " D1 ", its gear teeth 3242b slips over and/or slides near the tooth 3244a of the proximal portion 3244 of slip-clutch 3240, and, therefore there is not rotation to pass to the proximal portion 3244 of slip-clutch 3240 because the proximal portion 3244 of slip-clutch 3240 is carried out the cam-type motion on the direction of the arrow " D " of the biasing that overcomes spring 3246.Successively, because the proximal portion 3244 of slip-clutch 3240 is not rotated, therefore rotation does not pass to actuator shaft 3230.

As shown in Figure 125, when the gear 3244b of the proximal portion 3244 of slip-clutch 3240 rotates on the direction of arrow " D1 ", ratchet 3248 is near the tooth 3244c of gear 3244b, prevent that gear 3244b from rotating on the direction of arrow " D1 ", prevent again that successively actuator shaft 3230 from rotating on the direction of arrow " D1 ".

The motion of actuator shaft 3230 on arrow " C1 " direction can cause via activating another operation or the motion of end effector (not shown) that cable 3231 is connected to the far-end of actuator shaft 3230.

Turn to Figure 111 to 115 and Figure 117 to 118 now, Handleset 3200 further comprises and is supported on the shell 3202 and/or interior articulated type motion 3270.Articulated type motion assembly 3270 can be operatively attached to the end effector (not shown), so that pass to end effector for end effector or motion or the operation that any other is suitable the articulated type Motion Transmission.

As shown in Figure 111 to 115 and Figure 117 to 118, articulated type motion 3270 comprises and rotatably is supported on the shell 3202 or interior knob or rotating disk 3272, and is keyed on the rotating disk 3272 and shares the gear train 3274 of common rotating shaft with rotating disk 3272.Gear train 3274 comprises the first gear 3274a and the second gear 3274b, and each gear all is supported on and is keyed to and extends through described gear and pass on the pin 3276 of rotating disk 3272.

As shown in Figure 114 and 115, the first gear 3274a of gear train 3274 operationally engages locking/feedback means 3278, and locking/feedback means 3278 comprises the finger 3278a of the tooth of the first gear 3274a that setovers.In operation, when the first gear 3274a of gear train 3274 rotation, because the rotation of rotating disk 3272, finger 3278a rides and puts on the tooth of the first gear 3274a, thereby provides sense of touch and/or auditory feedback for user.In addition, when rotating disk 3272 did not rotate, the tooth of the finger 3278a and the first gear 3274a was bonded with each other, thereby forbade the automatic rotation of rotating disk 3272, was necessary thus to lock or the fixing position of rotating disk 3272.

Articulated type motion 3270 further comprises with the opposite side of the second gear 3274b of gear train 3274 and operationally engages and engage thereon a pair of opposed tooth bar 3280a, 3280b.Each

tooth bar

3280a, 3280b are supported in respective groove 3282a, the 3282b of supporting member 3282 slidably.Each

tooth bar

3280a, 3280b include corresponding joint formula motion cable 3284a, the 3284b that is fixed to the upper.In this manner, during operation, as each tooth bar 3280a, when 3280b is moved, each corresponding articulated

type motion cable

3284a, 3284b also are moved.

In operation, shown in Figure 117 and 118, when the second gear 3274b rotates on the direction of arrow " E ", because the rotation of rotating disk 3272, the first tooth bar 3280a at direction of closing (promptly, direction at arrow " F ") upward moves, the first articulated type motion cable 3284a is moved on the direction of arrow " F ", and the second tooth bar 3280b is away from direction (promptly, direction at the arrow " F1 " opposite) upward moves, second joint formula motion cable 3284b is moved on the direction of arrow " F1 " with arrow " F ".Should be understood that, rotating disk 3272 in the opposite direction rotation and thus the rotation of the second gear 3274b on the direction opposite with arrow " E " will cause

tooth bar

3280a, 3280b and

cable

3284a, 3284b in the opposite direction motion and/or move.Therefore, the rotation of rotating disk 3272 can be given the end effector (not shown) with operation or Motion Transmission.

Turn to Figure 126 now, the exemplary sewing needle that is used for any endoscope apparatus disclosed herein, apparatus and assembly is typically expressed as 3360.Sewing needle 3360 comprises pin 3362, and pin 3362 is constructed to be suitable for the intended purposes with any endoscope apparatus disclosed herein, apparatus and assembly operation, and is suitable for carrying out the surgical operation sewing process that comprises penetrate tissue etc.

According to the known technology in this area, sewing needle 3360 comprises the stiching instrument " S " that is fixed to the upper.The stiching instrument of sewing needle 3360 " S " can comprise stiching instrument " S " unidirectional or the band barb.Stiching instrument " S " comprises the elongate body with a plurality of extended from it barbs 3364.Location barb 3364 makes barb 3364 actuate stiching instrument " S " to overcome the motion of going up in the opposite direction in the side that faces with respect to barb 3364.

The suitable stiching instrument of using for needle 3360 " S " comprises, but be not limited to: in the patent No. is 3,123,077 the United States Patent (USP) and the patent No. are 5,931,855 United States Patent (USP), and be described in 2004/0060409 the U.S. Patent Publication in the publication No. that JIUYUE in 2002 was submitted on the 30th and those disclosed stiching instrument is incorporated into the full content of above-mentioned each document herein as quoting.

Turn to Figure 127 to 132 now, according to another embodiment of the present disclosure, Handleset is marked as 4200 usually.Handleset 4200 is similar substantially to Handleset 2200, therefore only is being described discerning on its structure and the necessary degree of operational difference here.

As shown in Figure 127 to 129,131 and 132, Handleset 4200 comprises and is supported on the shell 4202 and/or interior articulated type motion assembly 4270.Articulated type motion assembly 4270 can be operatively attached on above disclosed any end effector, so that pass to end effector for end effector or motion or the operation that any other is suitable multiple articulated type Motion Transmission.

As shown in Figure 127 to 129 and Figure 131 to 132, articulated type motion assembly 4270 comprise rotatably be supported on the shell 4202 or interior a pair of knob or

rotating disk

4272a, 4272b with to be keyed to

rotating disk

4272a, 4272b last and share the gear train 4274 of common rotating shaft with rotating disk 4272a, 4272b.Gear train 4274 comprises first gear 4274a that is keyed on the first rotating disk 4272a and the second gear 4274b that is keyed on the second rotating disk 4272b.

As shown in Figure 128,129,131 and 132, the first ratchet mechanism 4273a operationally is associated with the first gear 4274a and the first rotating disk 4272a, and the second ratchet mechanism 4273b operationally is associated with the second gear 4274b and the second rotating disk 4272b.Each

ratchet mechanism

4273a, 4273b all are constructed to keep the corresponding first and second rotating disk 4272a, the 4272b position with respect to shell 4202

In operation, when the first gear 4274a rotates, because therefore the rotation of the first rotating disk 4272a makes the first ratchet mechanism 4273a activate, thereby, and fix the position of the first rotating disk 4272a with respect to shell 4202 for user provides sense of touch and/or auditory feedback.In addition, when the first rotating disk 4272a did not rotate, as mentioned above, the first ratchet mechanism 4273a forbade the automatic rotation of first rotating disk 4272, therefore was necessary to lock or fix the position of the first rotating disk 4272a.The operation of the second gear 4272b is similar substantially to the operation of the first gear 4272a, will can further not go through this here thus.

Articulated type motion assembly 4270 further comprises two couples of

opposed tooth bar

4280a, 4280b, the every pair of tooth bar all with the corresponding first and second gear 4274a, 4274b operationally engages and be arranged on the opposite side of the first and second gear 4274a, 4274b.Every couple of

tooth bar

4280a, 4280b are supported in respective groove 4282a, the 4282b that is formed in the supporting member 4282 slidably.Each tooth bar among two couples of tooth bar 4280a, the 4280b includes articulated type motion cable 4284a, the 4284b that is fixed to the upper.Like this, during operation, when each tooth bar among two couples of tooth bar 4280a, the 4280b all was moved, each corresponding articulated

type motion cable

4284a, 4284b also were moved.

In operation, when the first gear 4274a when first party rotates up, because the rotation of the first rotating disk 4272a, first couple of tooth bar 4280a moves on direction respect to one another, and corresponding articulated

type motion cable

4284a, 4284b are moved on direction respect to one another.Should be understood that, the first rotating disk 4272a in the opposite direction rotation and the first gear 4274b rotation in the opposite direction that causes thus will cause corresponding a pair of tooth bar 4280a and

cable

4284a, 4284b in the opposite direction motion and/or move.Therefore, the rotation of the first rotating disk 4272b can be given any articulated type end effector disclosed herein with operation, motion or the first articulated type Motion Transmission.

In addition, in operation, when the second gear 4274b when first party rotates up, because the rotation of the second rotating disk 4272b, second couple of tooth bar 4280b moves on opposite directions, and corresponding articulated

type motion cable

4284a, 4284b are moved on opposite directions.Should be understood that, the second rotating disk 4272b in the opposite direction rotation and the second gear 4274b rotation in the opposite direction that causes thus will cause corresponding a pair of tooth bar 4280a and

cable

4284a, 4284b in the opposite direction motion and/or move.Therefore, the rotation of the second rotating disk 4272b is given any articulated type end effector disclosed herein with operation, motion or second joint formula Motion Transmission.

As Figure 127,128 and Figure 130 to 132 as shown in, Handleset 4200 further comprises the pin loading assembly 4300 with knob 4310, and knob 4310 is supported on the rear end of shell 4202 and is constructed to make the needle (not shown) to be loaded in the clamp of end effector disclosed herein.Knob 4310 is connected on the keyed jointing axle 4312 via keyed jointing rotation hub 4314.Keyed jointing rotation hub 4314 has the shaping outer surface that is contained in the complementation shaping recess that is formed in the knob 4310, so that the rotation of knob 4310 causes the rotation of keyed jointing rotation hub 4314.Keyed jointing rotation hub 4314 defines the shaping tube chamber 4314a (Figure 130) of the complementation shaping outer surface that is used to hold keyed jointing axle 4312, so that the rotation of knob 4310 also causes the rotation of keyed jointing axle 4312.

Keyed jointing rotation hub 4314 comprises the annular lip 4314a that defines convex shoulder 4314b.In use, because by making convex shoulder 4314b stop the rotation in the opposite direction of keyed jointing rotation hub 4314 near stop 4314c, so keyed jointing rotation hub 4314 is allowed to rotate on single direction.

Keyed jointing rotation hub 4314 comprises that further the distally annular edge that defines plane 4314e is along 4314d.The plane 4314e of keyed jointing rotation hub 4314 be constructed to be supported on shell 4202 on or the release-push 4315 that is pivotally connected on the shell 4202 optionally cooperate and engage.In use, when the plane 4314e of switch 4315 and keyed jointing rotation hub 4314 overlaps, prevented that keyed jointing from rotating the rotation of hub 4314 and having prevented the rotation of knob 4310.When switch 4315 did not overlap with the plane 4314e of keyed jointing rotation hub 4314, keyed jointing rotation hub 4314 can rotate freely, thereby knob 4310 can rotate freely.

As shown in Figure 128 and Figure 130 to 132, the far-end of keyed jointing axle 4312 is fixed firmly to (far-end of actuator shaft 4230 can be connected on the actuating cable that extends in the end effector) on the near-end of actuator shaft 4230.

In use, for needle being loaded in the clamp of end effector, release-push 4315 is moved so that knob 4310 rotates freely.So knob 4310 rotations, thereby make keyed jointing axle 4312, actuator shaft 4230, actuating cable and cam hub (as mentioned above) rotation.When knob 4310 rotation, the lath of end effector moves axially far-end until lath to be held recess (as mentioned above) with pin and not to overlap.In holding under the situation that recess do not overlap of the far-end of lath and clamp, needle is inserted into one to be held in the recess.As mentioned above, then rotary knob 4310 until the distal engagement needle of a lath.

When loading needle, release-push 4315 can overlap once more with the plane 4314e that keyed jointing rotates hub 4314, thereby further prevents the rotation of knob 4310.Be contemplated that by suitable biasing member 4315a release-push 4315 is biased to overlaps the position.

Handleset 4200 can comprise the ratchet mechanism 4290 that is connected on the trigger piece 4204.Ratchet mechanism 4290 comprises the tooth bar 4292 that is supported in the shell 4202, and is supported on the trigger piece 4204 and with tooth bar 4292 and can operates the ratchet 4294 that engages.The structure of ratchet mechanism 4290 makes that not finishing stroke trigger piece 4202 can not be opened.

Turn to Figure 133 to 142 now, be marked as 5200 usually according to the Handleset of another embodiment of the present disclosure.Handleset 5200 is similar substantially to Handleset 2200, therefore only is being described discerning on its structure and the necessary degree of operational difference here.

As shown in Figure 133 to 135 and Figure 137 to 140, Handleset 5200 comprises and is supported on the shell 5202 and/or interior articulated type motion assembly 5270.Articulated type motion assembly 5270 can be operatively attached on any end effector disclosed above, so that pass to end effector for end effector or motion or the operation that any other is suitable multiple articulated type Motion Transmission.

As shown in Figure 133 to 135 and Figure 137 to 140, articulated type motion assembly 5270 comprises and rotatably is supported on the shell 5202 or interior a pair of knob or

rotating disk

5272a, 5272b, and it is last and share the gear train 5274 of common rotating shaft with

rotating disk

5272a, 5272b to be keyed to rotating disk 5272a, 5272b.Gear train 5274 comprises first gear 5274a that is keyed on the first rotating disk 5272a and the second gear 5274b that is keyed on the second rotating disk 5272b.

As shown in Figure 133 to 135 and Figure 137 to 140, the first ratchet mechanism 5273a operationally is associated with the first gear 5274a and the first rotating disk 5272a, and the second ratchet mechanism 5273b operationally is associated with the second gear 5274b and the second rotating disk 5272b.Each

ratchet mechanism

5273a, 5273b are constructed to keep the corresponding first and second rotating disk 5272a, the 5272b position with respect to shell 5202.

In operation, when the first gear 5274a rotated, because the rotation of the first rotating disk 5272a, the first ratchet mechanism 5273a activated, thereby sense of touch and/or auditory feedback was provided and fixes the position of the first rotating disk 5272a with respect to shell 5202 for user.In addition, when the first rotating disk 5272a did not rotate, as mentioned above, the first ratchet mechanism 5273a forbade the automatic rotation of first rotating disk 5272, therefore was necessary to lock or fix the position of the first rotating disk 5272a.The operation of the second gear 5272b is similar substantially to the operation of the first gear 5272a, therefore will can further not go through this here.

Articulated type motion assembly 5270 further comprises two couples of

opposed tooth bar

5280a, 5280b, the every pair of tooth bar all with the corresponding first and

second gear

5274a, 5274b operationally engages and be arranged on the opposite side of the corresponding first and second gear 5274a, 5274b.Every couple of

tooth bar

5280a, 5280b are supported in respective groove 5282a, the 5282b that is formed in the supporting member 5282 slidably.Each tooth bar among two couples of tooth bar 5280a, the 5280b includes articulated type motion cable 5284a, the 5284b that is fixed to the upper.Like this, during operation, when each tooth bar among two couples of tooth bar 5280a, the 5280b all was moved, each corresponding articulated

type motion cable

5284a, 5284b also were moved.

In operation, when the first gear 5274a when first party rotates up, because the rotation of the first rotating disk 5272a, first couple of tooth bar 5280a moves on opposite directions, thereby corresponding articulated

type motion cable

5284a, 5284b are moved on opposite directions.Should be understood that, the first rotating disk 5272a in the opposite direction rotation and thereby make the first gear 5274b rotation in the opposite direction will cause corresponding a pair of tooth bar 5280a and

cable

5284a, 5284b in the opposite direction motion and/or move.Therefore, the rotation of the first rotating disk 5272b can be given end effector 5100 with operation, motion or the first articulated type Motion Transmission.For example, end effector 5100 can carry out articulated type motion (seeing Figure 133) on the direction of arrow " A ".

In addition, in operation, when the second gear 5274b when first party rotates up, because the rotation of the second rotating disk 5272b, second couple of tooth bar 5280b moves on opposite directions, thereby corresponding articulated

type motion cable

5284a, 5284b are moved on opposite directions.Should be understood that, the second rotating disk 5272b in the opposite direction rotation and thereby make the second gear 5274b rotation in the opposite direction will cause corresponding a pair of tooth bar 5280a and

cable

5284a, 5284b in the opposite direction motion and/or move.Therefore, the rotation of the second rotating disk 5272b is given end effector 5100 with operation, motion or second joint formula Motion Transmission.For example, end effector 5100 can carry out articulated type motion (seeing Figure 133) on the direction of arrow " B ".

Handleset 5200 further comprises the pin loading assembly 5300 with knob 5310, and knob 5310 is supported on the rear end of shell 5202 and is constructed to make needle to be loaded in the clamp.Pin loading assembly 5300 is similar substantially to the pin loading assembly 2300 that above shows and describe, but carries out for the structure of pin loading assembly 5300 and the reference pin loading assembly 2300 that goes through of operation thus.

Usually, pin loading assembly 5300 comprises via nut 5314 and is keyed to knob 5310 on the splined shaft 5312.Nut 5314 has the shaping outer surface that is contained in the complementation shaping recess that is formed in the knob 5310, makes the rotation of knob 5310 cause the rotation of nut 5314.Splined shaft 5312 axially is slidably disposed in the tube chamber 5314a of nut 5314.The far-end of splined shaft 5312 runs through slip-clutch 5240 and is fixed firmly to (far-end of actuator shaft 5230 is connected to and activates cable 5142) on the near-end of actuator shaft 5230.

In use, for needle 104 being loaded in the clamp of end effector 5100, knob 5310 is rotated, thereby makes splined shaft 5312, actuator shaft 5230, actuating cable 5142 and 2144 rotations (as mentioned above) of cam hub.When knob 5310 rotation,

lath

2150,2152 moves axially far-end until

lath

2150,2152 to be held recess 2130a, 2132a disengaging with pin and overlaps.When hold recess 2130a, the 2132a of the far-end of

lath

2150,2152 and

clamp

2130,2132 break away from when overlapping, needle 104 is inserted into one that holds among recess 2130a, the 2132a.As mentioned above, one the distal engagement needle 104 of rotary knob 5310 in

lath

2150,2152 then.

Continuation is with reference to Figure 133,134 and Figure 137 to 142, and the shell 5202 of Handleset 5200 can limit the passage 5203 that runs through wherein, and passage 5203 has open far-end and open near-end.Passage 5203 be certain size and be constructed to optionally hold and guide the surgical instruments of passing wherein.The suitable surgical instruments that can be introduced into and pass passage 5203 includes but not limited to endoscope's grasper and/or pliers.

As shown in Figure 137, groove 5103 can be connected to or be fixed on the end effector 5100 in other mode.Groove 5103 can extend from passage 5203, thus limit from Handleset 5200 along cervical region up to or near the continuous passage of tool assembly.Like this, in use, surgical instruments can be pushed into the passage 5203 that passes Handleset 5200 and pass groove 5103, so that the distal portion of surgical instruments is near tool assembly, so that help or assist surgical procedures.

So, end effector 5100 and surgical instruments can be incorporated into the target surgical site by identical or common body opening.

Groove 5103 can be fixed on the outer surface of cervical region, in order to avoid with the articulated type motion interference of cervical region and stop up extended from it passage.Can utilize binding agent, bandage, shrink wrapping etc. that groove 5103 is fixed on the cervical region.

Although shown especially with reference to specific embodiment and described the disclosure, what it should be appreciated by those skilled in the art is, can make multiple modification to form and details under situation about not departing from the scope of the present invention with spirit.Therefore, think all modifications of being advised as mentioned within the scope of the invention, but be not limited thereto.

Claims

1. endoscope sewing device comprises:

Tool assembly, it comprises:

The clamp a pair of arranged side by side that pivots each other and be associated, each clamp all defines the pin that is formed in its tissue contacting surface and holds recess;

Xuan Zhuan cam hub optionally, it defines the central lumen of passing wherein and is formed on helical groove in its outer surface;

But the pin of a pair of axial translation engages lath, each pin engages lath and all is supported in the corresponding clamp slidably, each lath all has the position of propelling and retracted position, in described propelling position, thereby the far-end of described lath engages with described sewing needle described sewing needle is fixed in the described clamp when sewing needle is in the corresponding clamp, at described retracted position, thereby the far-end of described lath and described sewing needle are disengaged and allow described sewing needle is disassembled from described clamp, and wherein the near-end of each lath is constructed to be slidably engaged in the described helical groove of described cam hub; And

Sewing needle, it operationally is associated with described tool assembly.

2. endoscope sewing device according to claim 1, further comprise neck component, described neck component is constructed to described tool assembly is supported on its far-end, and wherein said neck component can carry out the articulated type motion at least one direction that intersects with its longitudinal axis.

3. endoscope sewing device according to claim 1, wherein said cam hub defines the first clutch that is formed in its neighbouring surface; Wherein said endoscope sewing device further comprises the second clutch that optionally engages with the described first clutch of described cam hub, wherein when described second clutch engaged with described first clutch, the rotation of described second clutch caused the rotation of described cam hub.

4. endoscope sewing device according to claim 3, the rotation of wherein said cam hub cause the axially back and forth translation of described a pair of lath on direction opposite each other.

5. endoscope sewing device according to claim 3, but wherein said second clutch is with respect to described cam hub axial translation between bonding station and disengaging configuration.

6. endoscope sewing device according to claim 5, wherein when described second clutch was in disengaging configuration, the rotation of described second clutch can not pass to rotation described cam hub.

7. endoscope sewing device according to claim 3, wherein said second clutch rotatably are supported on the far-end of axle.

8. endoscope sewing device according to claim 7, the described axle that wherein supports described second clutch is hollow.

9. endoscope sewing device according to claim 8, but further comprise translation and rotatably extend through the actuating cable of described hollow axle that the far-end of wherein said actuating cable is operably connected on the described pair of jaws.

10. endoscope sewing device according to claim 9, wherein said actuation wire cable wrap is drawn together the primary importance and the second position, in the described clamp each interval of described primary importance, is in closure state each other in the described pair of jaws of the described second position.

11. endoscope sewing device according to claim 1, further comprise a pair of articulated type motion cable that is fixedly connected to described tool assembly, one withdrawal in the wherein said a pair of articulated type motion cable causes the articulated type motion of tool assembly on first direction, and another the withdrawal in the described a pair of articulated type motion cable causes the articulated type motion of tool assembly on second direction.

12. endoscope sewing device according to claim 1, wherein said sewing needle comprises the stiching instrument of being with barb.

13. endoscope sewing device according to claim 1, further comprise the clamp supporting member, described clamp supporting member limits the tube chamber that passes wherein and in the U-shaped portion of its far-end, and wherein said pair of jaws is supported in the described U-shaped portion pivotly and described cam hub rotatably is supported in the tube chamber of described clamp supporting member.

14. endoscope sewing device according to claim 13, wherein said clamp supporting member defines a pair of relative axially extended groove that is formed in its surface, and wherein said a pair of relative axially extended groove is constructed to hold slidably corresponding lath in wherein.