CN102113902B - 手术用手柄组件和手术用末端执行器之间使用的接合器 - Google Patents

手术用手柄组件和手术用末端执行器之间使用的接合器 Download PDF

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CN102113902B
CN102113902B CN201010580067.9A CN201010580067A CN102113902B CN 102113902 B CN102113902 B CN 102113902B CN 201010580067 A CN201010580067 A CN 201010580067A CN 102113902 B CN102113902 B CN 102113902B
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axial translation
end effector
operating theater
theater instruments
driving shaft
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CN102113902A (zh
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亚当·J·罗斯
约翰·W·比尔兹利
彼得·达特库克
迈克尔A·热姆洛克
特迪·R·布赖恩特
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Covidien LP
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115—Staplers for performing anastomosis in a single operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0023—Surgical instruments, devices or methods, e.g. tourniquets disposable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00473—Distal part, e.g. tip or head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18648—Carriage surrounding, guided by, and primarily supported by member other than screw [e.g., linear guide, etc.]

Abstract

本发明提供了一种手术用手柄组件和手术用末端执行器之间使用的接合器。所述接合器组件用于使被构造为执行至少一对功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，其中所述末端执行器包括第一可轴向平移驱动构件和第二可轴向平移驱动构件，并且其中所述手术器械包括第一可旋转驱动轴和第二可旋转驱动轴。

Description

手术用手柄组件和手术用末端执行器之间使用的接合器
相关申请的交叉引用
本申请要求于2010年2月25日提交的序列号为61/308,045的美国临时申请和于2009年12月2日提交的序列号为61/265,942的美国临时申请的利益和优先权，两个申请的全部内容以引用的方式合并于此。
技术领域
本公开涉及用于手术器械和/或系统的接合器。更具体地，本公开涉及在动力、旋转和/或关节式运动手术器械或者手柄组件与用于夹紧、切割和/或吻合组织的末端执行器之间使用并且使其相互连接的接合器和/或接合器组件。
背景技术
多家手术器械制造商已经开发出了带有用于操作和/或操纵手术器械的专有驱动系统的生产线。在许多情况下，手术器械包括可反复使用的手柄组件以及一次性末端执行器等，该末端执行器在使用之前选择性地连接到手术组件，然后在使用后与末端执行器分离，以便进行处置或者在某些情况下消毒重用。
许多现有手术器械和/或手柄组件使用的许多现有末端执行器由线性力驱动。例如，用于执行内胃肠吻合手术、端对端吻合手术和横向吻合手术的末端执行器通常均需要线性驱动力来工作。因此，这些末端执行器与利用旋转运动来传递动力等的手术器械和/或手柄组件不相容。
为了使线性驱动的末端执行器与利用旋转运动来传递动力的手术器械和/或手柄组件相容，需要存在接合器和/或接合器组件，以使线性驱动的末端执行器与旋转驱动的手术器械和/或手柄组件之间有接口并且使其相互连接。
发明内容
本发明的目的是为了克服现有技术存在的上述缺陷。
本发明的第一方案提供了一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴。所述接合器组件包括：壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通(communication)；外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移。
本发明的第二方案提供了一种接合器组件，其用于使被构造为执行至少一对功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括第一可轴向平移驱动构件和第二可轴向平移驱动构件，并且所述手术器械包括第一可旋转驱动轴和第二可旋转驱动轴。所述接合器组件包括：壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述第一可旋转驱动轴和所述第二可旋转驱动轴中的每一个可操作地连通；外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述第一可轴向平移驱动构件和所述第二可轴向平移驱动构件中的每一个可操作地连通；第一驱动转换器组件，其具有能连接到所述手术器械的所述第一可旋转驱动轴上的第一端和能连接到所述末端执行器的所述第一可轴向平移驱动构件上的第二端，其中所述第一驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移；以及第二驱动转换器组件，其具有能连接到所述手术器械的所述第二可旋转驱动轴上的第一端和能连接到所述末端执行器的所述第二可轴向平移驱动构件上的第二端，其中所述第二驱动转换器组件将所述手术器械的所述第二可旋转驱动轴的旋转传输至所述末端执行器的所述第二可轴向平移驱动构件同时将所述第二可旋转驱动轴的旋转转换成所述第二可轴向平移驱动构件的轴向平移。
附图说明
这里参考附图说明本公开的实施例，其中：
图1为支撑根据本公开的实施例的接合器组件的示例性手术器械和/或手柄组件的立体图；
图1A为图1中的示例性手术器械和/或手柄组件的立体图，示出了各种末端执行器的潜在用途；
图2为图1中的接合器组件的放大立体图，示出了支撑在图1中的示例性手术器械和/或手柄组件的远端上，并且示出了外管和从其中拆除的上旋钮壳体半部；
图3为图2中的细节的指示区域的放大立体图；
图4为图2中的细节的指示区域的放大立体图；
图5为图1至图4中的接合器组件的立体图，示出了从其中拆除外管和旋钮壳体；
图6为图5中的细节的指示区域的放大立体图；
图7为图6中所示的接合器组件的放大指示区域的分解立体图；
图8为图1至图5中的接合器组件的远端的分解立体图；
图9为沿图5中的9-9截取的纵向剖视图；
图10为图9中的细节的指示区域的放大图；
图11为图9中的细节的指示区域的放大图；
图12为沿图9中的12-12截取的纵向剖视图；
图13为图12中的细节的指示区域的放大图；
图14为图1至图13中的接合器组件的第一和第二驱动转换器的右侧立体图；
图15为图1至图14中的接合器组件的第一和第二驱动转换器的远端的放大立体图，示出了第一驱动转换器的操作；
图16为图1至图13中的接合器组件的第一和第二驱动转换器的左侧立体图；
图17为图1至图14中的接合器组件的第一和第二驱动转换器的远端的放大立体图，示出了第二驱动转换器的操作；
图18为根据本公开的另一实施例的接合器组件的后视立体图；
图19为图18中的接合器组件的立体图，示出了具有各种末端执行器的接合器组件的潜在用途；
图20为图18和图19中的接合器组件的前视立体图，旋钮壳体及其外管以虚线表示；
图21为沿图20中的21-21截取的剖视图；
图22为沿图20中的22-22截取的剖视图；
图23为图18至图22中的接合器组件的后视分解立体图；
图24为沿图18中的24-24截取的图18至图22中的接合器组件的纵向剖视图；
图25为图24中的细节的指示区域的放大图；
图26为沿图18中的26-26截取的图18至图25中的接合器组件的纵向剖视图；
图27为图26中的细节的指示区域的放大图；
图28为示出在第一条件下的图18至图27中的接合器组件的第一驱动组件的后视立体图；
图29为图28中的第一驱动组件的后视立体图，示出了其操作；
图30为示出在第一条件下的图18至图27中的接合器组件的第二驱动组件的立体图；
图31为图30中的细节的指示区域的放大图；
图32为图30和图31中的第二驱动组件的进一步的立体图；
图33为沿图32中的33-33截取第二驱动组件的剖视图；
图34为沿图32中的33-33截取的图30至图33中的第二驱动组件的剖面立体图，示出了其操作；
图35为示出连接到手术器械的远端的依照根据本公开的实施例的接合器组件的示意性纵向剖视图；
图36为用于根据本公开的实施例的接合器系统的直角线性切割器/吻合器末端执行器的立体图；
图37为根据本公开的又一实施例的接合器组件的前视立体图；
图38为图37中的接合器组件的立体图，示出了具有各种末端执行器的接合器组件的潜在用途；
图39为从其中拆除外管的图37和图38中的接合器组件的前视立体图；
图40为图37和图38中的接合器组件的立体图，示出了其近侧部的部件部分分离；
图41为图37和图38中的接合器组件的显示部件分离的支撑毂的放大图；
图42为图37和图38中的接合器组件的立体图，示出了其远侧部的部件部分分离；
图43为沿图37中的43-43截取的图37和图38中的接合器组件的纵向剖视图；
图44为图43中的细节的指示区域的放大图；
图45为图44所示的指示区域的立体图；
图46为沿图37中的46-46截取的图37和图38中的接合器组件的另一个纵向剖视图；
图47为图46中的细节的指示区域的放大图；
图48为沿图47中的48-48截取的剖视图；
图49为图37和图38中的接合器组件的近端部的后视立体图；
图50为带有图37和图38中的帽的图49中所示的接合器组件的近端部的后视立体图；
图51为从其中拆除部件的图50中所示的接合器组件的近端部的后视立体图；
图52为用于支撑根据本公开的另一实施例的接合器组件的示例性手术器械和/或手柄组件的后视立体图，示出了支撑在接合器组件的末端上的示例性末端执行器；
图53为图52中所示的手术器械、接合器组件和末端执行器的侧部前视图；
图54为图52和图53中的手术器械的立体图，示出了连接到该手术器械的接合器组件并且示出了与接合器组件分离的末端执行器；
图55为图52至图54中的手术器械的立体图，示出了从其分离的接合器组件并且示出了从接合器组件分离的末端执行器；
图56为图52至图55中的接合器组件的底部平面图；
图57为图52至图56中的接合器组件的侧视图；
图58为从其中拆除旋钮壳体的壳体半部的图52至图57中的接合器组件的平面图；
图59为从其中拆除旋钮壳体的图52至图58中的接合器组件的平面图；
图60为沿图59中的60-60截取的图52至图59中的接合器组件的剖视图；
图61为沿图59中的61-61截取的图52至图59中的接合器组件的剖视图；
图62为图52至图59中的接合器组件的离合器组件的近侧端视图；
图63为图62中的离合器组件的远侧立体图；
图64为图52至图63中的接合器组件的驱动联接组件的立体图；
图65为图52至图63中的接合器组件的离合器组件的立体图；
图66为示出在分离条件下的图66中的离合器组件的侧视图；
图67为根据本公开的另一实施例的接合器组件的示意性纵向剖视图；
图68为图67中的接合器组件使用的嵌套齿轮组的示意性纵向剖视图；以及
图69为图67中所示的接合器组件的远端的放大图。
具体实施方式
参考附图详细地说明用于手术器械和/或手柄组件的本公开的接合器组件的实施例，其中相似的附图标记在各个视图中指代相同或相应的部件。这里使用的术语“远侧”指的是接合器组件或者手术器械的较远离用户的部分或者其部件，而术语“近侧”指的是接合器组件或者手术器械的较靠近用户的部分或者其部件。
首先参考图1和图1A，示出了根据本公开的实施例的接合器组件，通常表示为100。从图1和图1A中看出，显示接合器组件100连接到或者否则支撑在手术器械10上，手术器械10在这里表示为手持式动力手术驱动器等。对于接合器组件100使用的示例性手术器械10的构造和操作的详细说明，可以参考于2008年9月22日提交的序列号为PCT/US2008/077249的国际申请(国际公开号为WO 2009/039506)，其全部内容以引用的方式合并于此。手术器械10可以包括壳体、至少一个驱动电动机、用于供给至少一个驱动电动机动力的至少一个能量源、和连接到驱动电动机的至少一个可旋转驱动轴。
根据本公开，手术器械10包括第一驱动电动机和第二驱动电动机，以及分别连接到第一驱动电动机和第二驱动电动机的第一和第二可旋转驱动构件或可旋转驱动轴。在使用时，在第一驱动电动机启动时，第一驱动电动机将致使第一驱动轴选择性地在第一或顺时针方向上或者在第二或逆时针方向上沿其轴线旋转。另外，在第二驱动电动机启动时，第二驱动电动机将致使第二驱动轴选择性地在第一或顺时针方向上或者在第二或逆时针方向上沿其轴线旋转。
从图1A中看出，接合器组件100被构造为且适于使多个末端执行器中的任一个与手术器械10可操作地相互连接并且将多个末端执行器中的任一个联接到手术器械10上。例如，接合器组件100被构造为且适于使内胃肠吻合末端执行器20、端对端吻合末端执行器30或者横向吻合末端执行器40与手术器械10可操作地相互连接并且将这些末端执行器联接到手术器械10上。接合器可以被设置为在需要时和/或期望时将图36中看到的直角线性切割器/吻合器末端执行器50连接到手术器械10上。
对于内胃肠吻合末端执行器20的构造和操作的详细讨论，可以参考于2009年1月14日提交的公开号为2009/0145947的美国专利公布，其全部内容以引用的方式合并于此。
对于端对端吻合末端执行器30的构造和操作的详细讨论，可以参考于2009年3月20日提交的公开号为2009/0179063的美国专利公布，其全部内容以引用的方式合并于此。
对于横向吻合末端执行器40的构造和操作的详细讨论，可以参考于2004年11月16日发行的专利号为6,817,508的美国专利，其全部内容以引用的方式合并于此。
对于直角线性切割器/吻合器末端执行器50(参见图36)的构造和操作的详细讨论，可以参考于2002年3月8日提交的公开号为2003/0130677的美国专利公布，其全部内容以引用的方式合并于此。
末端执行器20、30和40中的每一个在其中包括至少一个可轴向平移驱动构件，所述驱动构件被构造为并且适于：通过使砧座组件和钉仓组件彼此接近/彼此分开来完成打开和关闭钳夹组件中的至少一项；并且发射末端执行器以排出包含在钉仓组件中的吻合钉使吻合钉贴靠砧座组件成形并且可以沿着吻合线致动刀片。末端执行器20、30和40中的每一个可以进一步包括能在其中轴向平移的驱动构件，所述驱动构件被构造为并且适于致使末端执行器20、30和/或40做关节式运动。
同时，末端执行器50包括至少一个能在其中旋转的驱动构件，所述驱动构件被构造为并且适于：通过使砧座组件和钉仓组件彼此接近/彼此分开来完成打开和关闭钳夹组件中的至少一项；并且发射末端执行器以排出包含在钉仓组件中的吻合钉使吻合钉贴靠砧座组件成形并且可以沿着吻合线致动刀片。
继续参考图1和图1A并且参考图2至图17，提供了接合器组件100的构造和操作的详细说明。接合器组件100包括旋钮壳体102，该旋钮壳体102被构造为并且适于连接到手术器械10的前缘(nose)。旋钮壳体102包括释放按钮104，该释放按钮104能被致动以使接合器组件100与手术器械10分开。旋钮壳体102可以形成在一对壳体半部中，即上壳体半部102a和下壳体半部102b。接合器组件100进一步包括从旋钮壳体102的远端延伸出的外管106。旋钮壳体102和外管106被构造并且定尺寸为容纳接合器组件100的部件。外管106可以定尺寸为使得外管可以穿过典型的套管针口、插管等。
从图2和图5至图7中看出，接合器组件100包括手术器械驱动联接组件110。驱动联接组件110包括分别可旋转地支撑第一近侧驱动轴114和第二近侧驱动轴116的远侧驱动联接壳体112。近侧驱动轴114、116中的每一个包括具有异型(shaped)或非圆形横向剖面轮廓的近侧部114a、116a。驱动联接组件110包括第一联接套筒118和第二联接套筒120，第一联接套筒118和第二联接套筒120分别连接到近侧驱动轴114、116的各自的近侧部114a、116a并且从近侧部114a、116a向近侧延伸。驱动联接组件110包括被构造为可旋转地支撑第一联接套筒118和第二联接套筒120的近侧驱动联接壳体122。第一联接套筒118和第二联接套筒120中的每一个被构造为与手术器械10的相应的第一驱动轴和第二驱动轴(未示出)的远端配合。
从图5至图7中看出，驱动联接组件110包括第一弹簧124和第二弹簧126，第一弹簧124和第二弹簧126绕相应的第一近侧驱动轴114和第二近侧驱动轴116设置并且设置在第一联接套筒118和第二联接套筒120的远侧。第一弹簧124和第二弹簧126作用于第一联接套筒118和第二联接套筒120上，以便当接合器组件100连接到手术器械10时有助于保持联接套筒118、120与手术器械10的相应的第一驱动轴和第二驱动轴(未示出)的远端接合。
第一弹簧124和第二弹簧126起到在近侧方向上偏置相应的第一联接套筒118和第二联接套筒120的作用。以此方式，在将接合器组件100组装到手术器械10上的过程中，如果第一套管118和第二套管120与手术器械10的驱动轴不对准，则第一弹簧124和/或第二弹簧126被压缩。因此，当手术器械10的驱动电动机被接合(engage)时，手术器械10的驱动轴将旋转，并且第一弹簧124和/或第二弹簧126将致使相应的第一联接套筒118和/或第二联接套筒120沿近侧向后滑动，从而使手术器械10的驱动杆有效地联接到驱动联接组件110的第一近侧驱动轴114和/或第二近侧驱动轴116上。
现在转到图2至图5和图8，接合器组件100分别包括第一驱动转换器组件140和第二驱动转换器组件150。各个驱动转换器组件140、150被构造为并且适于将手术器械10的相应的第一驱动轴和第二驱动轴(未示出)的旋转以及相应的第一近侧驱动轴114和第二近侧驱动轴116的伴随旋转转换成接合器组件100的相应的驱动构件等的轴向平移。
从图2至图5和图8中看出，接合器组件100包括设置在外管106内的下壳体半部130和上壳体半部132。壳体半部130、132的近端支撑在旋钮壳体102的远端中并且与驱动联接组件110间隔轴向距离。壳体半部130、132的远端可以被构造为并且适于与末端执行器20、30和/或40中任一个的近端选择性地接合和联接。可以预想，壳体半部130、132的远端可以被构造为容纳末端执行器20、30和/或40中任一个的近端，它们为卡口式构造或联接、或者本领域技术人员公知的任何其他联接。
接合器组件100包括第一挠性驱动缆134和第二挠性驱动缆136，第一挠性驱动缆134具有连接到第一近侧驱动轴114的远侧部的近端134a，第二挠性驱动缆136具有连接到第二近侧驱动轴116的远侧部的近端136a。以此方式，在第一近侧驱动轴114和/或第二近侧驱动轴116中的任一个旋转时，旋转被传输到相应的第一挠性驱动缆134和/或第二挠性驱动缆136。使用挠性驱动缆允许第一近侧驱动轴114和/或第二近侧驱动轴116的旋转轴线的径向偏移。
从图8中看出，第一挠性驱动缆134的远端134b连接到第一驱动转换器组件140，并且第二挠性驱动缆136的远端136b连接到第二驱动转换器组件150。
第一驱动转换器组件140包括：近侧联接件142，其连接到第一挠性驱动缆134的远端134b并且可旋转地支撑在下壳体半部130与上壳体半部132之间；管状套管144，其连接到近侧联接件142并且可旋转地支撑在下壳体半部130与上壳体半部132之间；以及远侧联接螺母146，其连接到管状套管144的远端并且可旋转地支撑在下壳体半部130与上壳体半部132之间。近侧联接件142、管状套管144和联接螺母146中的每一个可以通过任何数量的适当定位和适当尺寸的轴承和/或轴衬(未标记)旋转地支撑在下壳体半部130与上壳体半部132之间。
从图8和图10中看出，第一驱动转换器组件140进一步包括驱动轴148，该驱动轴148可平移地支撑以在下壳体半部130与上壳体半部132之间进行轴向往复运动。驱动轴148包括可螺纹接合地联接到联接螺母146的螺纹近端部148a和从下壳体半部130的远端、上壳体半部132以及外管106延伸的远端部148b。驱动轴148的远端部148b限定连接构件148c，该连接构件148c被构造为且适于与末端执行器20、30和/或40中的任一个的可轴向平移驱动构件选择性地接合。
在操作时，从图16和图17中看出，在联接螺母146由于管状套管144、近侧联接件142、第一挠性驱动缆132和第一近侧驱动轴114的旋转而旋转时(在箭头“A”的方向上)，作为手术器械10的第一驱动轴旋转的结果，使得驱动轴148相对于联接螺母146轴向平移(在箭头“B”的方向上)。因此，在驱动轴148轴向平移时，随着其连接构件148c连接到末端执行器20、30和/或40中任一个的驱动构件上，驱动轴148引起末端执行器20、30和/或40中任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
参考图2至图4和图8，第二驱动转换器组件150包括驱动轴152，该驱动轴152可旋转地支撑在下壳体半部130与上壳体半部132之间。驱动轴152包括具有凸缘152c的近端部152a，该凸缘152c从近端部152a径向延伸出从而相对于下壳体半部130和上壳体半部132固定驱动轴152的轴向位置。驱动轴152的近端部152a联接到第二挠性驱动缆136。驱动轴152进一步包括螺纹远侧部152b。
第二驱动转换器组件150进一步包括驱动杆154，该驱动杆154可平移地支撑以在下壳体半部130与上壳体半部132之间进行轴向平移。驱动杆154包括可螺纹接合地联接到驱动轴152的螺纹远侧部12b的螺纹近端部154a，以及限定联接钩154c等的远端部154b。
在操作时，从图14和图15中看出，在驱动轴152由于第二挠性驱动缆136和第二近侧驱动轴116的旋转而旋转时(在箭头“C”的方向上)，作为手术器械10的第二驱动轴旋转的结果，使得驱动杆154相对于驱动轴152轴向平移(在箭头“B”的方向上)。因此，在驱动杆154轴向平移时，随着其钩154c连接到末端执行器20、30和/或40中的任一个的驱动构件上，驱动杆154引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的关节式运动、刀片的发射等。
参考图2、图3和图8至图11，接合器组件100进一步包括锁定机构160，该锁定机构160被构造为且适于固定驱动轴148的轴向位置和径向定向，以便于使驱动轴148与末端执行器20、30和/或40连接与分开。锁定机构160包括可滑动地支撑在旋钮壳体102上的按钮或杆162。锁定按钮162连接到纵向延伸通过外管106的致动杆164上。致动杆164介于外管106与下壳体半部130和上壳体半部132之间。致动杆164被构造且定尺寸为使得锁定按钮162的移动致使致动杆164移动。致动杆164包括在其中限定窗164b的远侧部164a。从图10中看出，窗164b的远端限定凸轮表面164c。
锁定机构160进一步包括锁定臂166，该锁定臂166支撑在上壳体半部132上与致动杆164的远侧部164a的窗164b配准的位置处。锁定臂166包括朝向驱动轴148延伸的凸片166a。锁定臂166的凸片166a被构造且定尺寸为选择性地接合形成在驱动轴148中的切口148d。锁定机构160进一步包括偏置构件168，该偏置构件168倾向于保持锁定臂166和其凸片166a与驱动轴148间隔开。
在操作时，为了锁定驱动轴148的位置和/或定向，用户将锁定按钮162从远侧位置移动到近侧位置，从而使致动杆164的凸轮表面164c接合锁定臂166并且朝向驱动轴148推进锁定臂166，克服偏置构件168的偏置，以使锁定臂166的凸片166a被容纳在驱动轴148的切口148d中。以此方式，防止驱动轴148远侧和/或近侧移动。当锁定按钮162从近侧位置移动到远侧位置时，凸轮表面164c与锁定臂166分离，从而使得偏置构件168将锁定臂166和其凸片166a驱出驱动轴148的切口148d。
可以预想，锁定机构160可以包括偏置构件170，该偏置构件170倾向于将锁定按钮162和致动杆164保持在远侧位置。
现在转到图18至图34，根据本公开的另一实施例的被构造为且适于使多个末端执行器中的任一个与手术器械10可操作地相互连接并且将多个末端执行器中的任一个联接到手术器械10的接合器组件一般表示为接合器组件200。
接合器组件200包括旋钮壳体202，该旋钮壳体202被构造为且适于连接到手术器械10的前缘。接合器组件200进一步包括从旋钮壳体202的远端延伸出的外管206。旋钮壳体202和外管206被构造且定尺寸为容纳接合器组件200的部件。外管206可以被定尺寸为使得外管可以穿过典型的套管针口、插管等。
从图20和图23至图27中看出，接合器组件200包括手术器械驱动联接组件210。驱动联接组件210包括可旋转地支撑在旋钮壳体202中的远侧驱动联接壳体212。驱动联接组件210包括被构造为可旋转地支撑第一联接套筒218和第二联接套筒220的近侧驱动联接壳体222。第一联接套筒218和第二联接套筒220中的每一个被构造为与手术器械10的相应的第一驱动轴和第二驱动轴(未示出)的远端配合。可以预想，驱动联接组件210包括第一偏置构件和第二偏置构件(未示出)，所述第一偏置构件和第二偏置构件被设置在第一联接套筒218和第二联接套筒220的远侧以作用于第一联接套筒218和第二联接套筒220上，从而当接合器组件200连接到手术器械10上时有助于保持联接套筒218、220与手术器械10的相应的第一驱动轴和第二驱动轴(未示出)的远端接合。
现在转到图20至图27，接合器组件200分别包括第一驱动转换器组件240和第二驱动转换器组件250(参见图23)。各个驱动转换器组件240、250被构造为且适于将手术器械10的相应的第一驱动轴和第二驱动轴(未示出)的旋转转换成接合器组件200的相应的驱动构件等的轴向平移。
从图18至图27中看出，接合器组件200包括设置在外管206内的近侧管状壳体230，以及至少部分设置在外管206的远侧部内的远侧壳体232。近侧管状壳体230限定沿其长度形成的纵向延伸的狭槽230a。近侧管状壳体230的近端延伸通过旋钮壳体202并且支撑在驱动联接组件210的远侧驱动联接壳体212的远端中。远侧壳体232的远端可以被构造为且适于与末端执行器20、30和/或40中的任一个的近端选择性地接合且联接。可以预想，远侧壳体232的远端可以被构造为容纳末端执行器20、30和/或40中任一个的近端，为卡口式构造或联接、或者本领域技术人员公知的任何其他联接。
从图20至图27中看出，第一驱动转换器组件240包括可旋转地支撑在近侧管状壳体230内的第一驱动轴242。第一驱动轴242包括被构造为与第一联接套筒218连接的非圆形或成形的近端部242a，第一联接套筒218连接到手术器械10的第一驱动轴(未示出)的远端。第一驱动轴242进一步包括具有螺纹外轮廓或表面的远端部242b。
第一驱动转换器组件240进一步包括驱动联接螺母244，该驱动联接螺母244可旋转地联接到第一驱动轴24的螺纹远端部242a并且可滑动地设置在近侧壳体部230的纵向狭槽230a内。驱动联接螺母244被定形为使得在第一驱动轴242旋转时其不会在近侧壳体部230的纵向狭槽230a内旋转。以此方式，在第一驱动轴242旋转时，驱动联接螺母244通过和/或沿着近侧壳体部230的纵向狭槽230a平移。
第一驱动转换器组件240进一步包括具有连接到驱动联接螺母244上的近端部246a的第一驱动杆246和延伸通过远侧壳体232的远端部246b。第一驱动杆246的远端部246b限定连接构件246c，该连接构件246c被构造为且适于与末端执行器20、30和/或40中的任一个的可轴向平移驱动构件选择性地接合。
在操作时，从图24至图29中看出，在第一驱动轴242由于第一联接套筒218的旋转而旋转时(在箭头“A”的方向上)，作为手术器械10的第一驱动轴旋转的结果，使得驱动联接螺母244轴向平移通过近侧壳体部230的纵向狭槽230a。在使得驱动联接螺母244轴向平移通过近侧壳体部230的纵向狭槽230a时，使得第一驱动杆246相对于远侧壳体部232轴向平移(在箭头“B”的方向上)。因此，在驱动杆246轴向平移时，随着其连接构件246c连接到末端执行器20、30和/或40中的任一个的驱动构件上，驱动杆246引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
参考图18至图27，第二驱动转换器组件250包括可旋转地支撑在驱动联接组件210内的第二驱动轴252。第二驱动轴252包括被构造为与第二联接套筒220连接的非圆形或异型的近端部252a，第二联接套筒220连接到手术器械10的第二驱动轴(未示出)的远端。第二驱动轴252进一步包括具有螺纹外轮廓或表面的远端部252b。
第二驱动转换器组件250进一步包括联接套件(coupling cuff)254，该联接套件254可旋转且可平移地支撑在形成在旋钮壳体202中的环形座圈或者凹部202a内。联接套件254限定贯穿其中的管腔254a，以及形成在管腔254a的表面中的环形座圈或凹部254b。第二驱动转换器组件250进一步包括联接滑块256，该联接滑块256延伸穿过联接套件254的管腔254a并且可滑动地设置在联接套件254的座圈254b内。联接滑块256螺纹接合地连接到第二驱动轴252的螺纹远端部252b上。由于如此构造，联接套件254可以绕第二驱动轴252旋转，从而保持第二驱动轴252相对于第一驱动轴242等的径向位置。
第二驱动轴252限定一旋转轴线，并且联接套件254限定与第二驱动轴252的旋转轴线间隔了径向距离的旋转轴线。联接滑块256限定与联接套件254的旋转轴线一致的旋转轴线。
第二驱动转换器组件250进一步包括可平移地支撑以轴向平移通过外管206的驱动杆258。驱动杆258包括联接到联接套件254的近端部258a，以及限定联接钩258c等的远端部258b。
第二驱动转换器组件250进一步包括从联接套件254突出的凸片或肋板259，联接套件254可平移地设置在形成在旋钮壳体202中的纵向延伸的凹槽202b内。
在操作时，从图24至图27和图30至图34中看出，在驱动轴252由于第二联接套筒220的旋转而旋转时(在箭头“C”的方向上)，作为手术器械10的第一驱动轴旋转的结果，使得联接滑块256轴向平移，依次使得联接套件254相对于旋钮壳体202轴向平移。在联接套件254轴向平移时，使得驱动杆258轴向平移(在箭头“B”的方向上)。因此，在驱动杆258轴向平移时，随着其钩258c连接到末端执行器20、30和/或40中的任一个的驱动构件上，驱动杆258引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的关节式运动、刀片的发射等。
而且，在操作时，由于联接套件254的凸片259可平移地设置在形成在旋钮壳体202中的纵向延伸的凹槽202b内，在旋钮壳体202绕纵向轴线旋转时，使得凸片259和驱动杆258绕纵向轴线旋转。因此，也使得连接到接合器组件200上的末端执行器20、30和/或40中的任一个绕纵向轴线旋转。
参考图23至图27，可以预想，接合器组件200可以包括锁定机构260，该锁定机构260的构造和操作基本上类似于接合器组件100的锁定机构160。
锁定机构260包括锁定/释放轴环(collar)262，该锁定/释放轴环262可平移地支撑在旋钮壳体202上并且能够被致动以固定第一驱动轴246的轴向位置和径向定向，以便于使末端执行器20、30和/或40与第一驱动轴246连接和分开。锁定/释放轴环262连接到纵向延伸通过外管206的致动杆264上。致动杆264介于外管206与近侧壳体部230和远侧壳体部232之间。呈销等形式的连接构件(未示出)使锁定/释放轴环262与致动杆264相互连接。连接构件延伸通过形成在旋钮壳体202中的狭槽和形成在外管206中的狭槽。致动杆264被构造且定尺寸为使得锁定/释放轴环262的移动致使致动杆264移动。
致动杆264包括远侧部264a，如上所述，远侧部264a被构造为且适于以与锁定机构160的致动杆164的远侧部164a大致类似的方式起作用。因此，对于锁定机构260的致动杆264的远侧部264a的构造和操作的详细讨论，可以参考锁定机构160。
类似于锁定机构160，锁定机构260进一步包括锁定臂，该锁定臂支撑在远侧壳体部上与形成在致动杆264的远侧部264a中的窗配准的位置处。锁定臂包括朝向驱动轴246延伸的凸片。锁定臂的凸片被构造且定尺寸为选择性地接合形成在驱动轴246(参见图20、图23、图26和图28至图29)中的切口246d。锁定机构260进一步包括偏置构件，所述偏置构件倾向于保持锁定臂和其凸片与驱动轴246间隔开。
在操作时，为了锁定驱动轴246的位置和/或定向，用户将锁定/释放轴环262从远侧位置移动到近侧位置，从而使致动杆264的凸轮表面接合锁定臂并且克服偏置构件的偏置朝向驱动轴246推进锁定臂，以使锁定臂的凸片容纳在驱动轴246的切口246d中。以此方式，防止驱动轴246远侧和/或近侧移动。当锁定/释放轴环262从近侧位置移动到远侧位置时，凸轮表面与锁定臂分离，从而使偏置构件将锁定臂和其凸片驱出驱动轴246的切口246d。
现在转到图35，示出根据本公开的实施例的接合器组件300连接到或者支撑在手术器械10的远端上。从图35中看出，接合器组件300分别包括第一驱动转换器组件340和第二驱动转换器组件350。各个驱动转换器组件340、350被构造为且适于将手术器械10的相应的第一驱动轴12和第二驱动轴14的旋转转换成接合器组件300的相应的驱动构件等的轴向平移。
第一驱动转换器组件340包括：近侧联接件342，其被构造为选择性地连接到驱动轴12的远端12a上；齿轮系统(gear system)344，其连接到近侧联接件342上并且可旋转地支撑在接合器组件300的壳体内；远侧联接螺母346，其连接到齿轮系统344的远端并且可旋转地支撑在第一驱动轴348的螺纹部上。
第一驱动轴348被支撑为在接合器组件的壳体内轴向往复运动。第一驱动轴348包括螺纹接合地联接到联接螺母346的螺纹近端部和从接合器组件300的壳体的远端延伸出的远端部。第一驱动轴348的远端部限定连接构件，所述连接构件被构造为且适于与末端执行器20、30和/或40中的任一个的可轴向平移驱动构件选择性地接合。
在操作时，在联接螺母346由于手术器械10的齿轮系统344和第一驱动轴12的旋转而旋转时，使得第一驱动轴348相对于联接螺母346轴向平移。因此，在第一驱动轴348轴向平移时，随着其远侧的连接构件连接到末端执行器20、30和/或40中的任一个的驱动构件上，第一驱动轴348引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
第二驱动转换器组件350包括：近侧联接件352，其被构造为选择性地连接到驱动轴14的远端14a上；齿轮系统354，其连接到近侧联接件352上并且可旋转地支撑在接合器组件300的壳体内；远侧连接构件356，其连接到齿轮系统354的远端上并且可旋转地支撑在第二驱动轴358的螺纹部上。
第二驱动轴358被支撑为在接合器组件的壳体内轴向平移。第二驱动轴358包括螺纹接合地联接到连接构件356的螺纹近端部和延伸通过接合器组件300的壳体的远端部。第二驱动轴358的远端部限定连接构件，所述连接构件被构造为且适于与末端执行器20、30和/或40中的任一个的可轴向平移驱动构件选择性地接合。
在操作时，在连接构件356由于手术器械10的齿轮系统354和第二驱动轴14的旋转而旋转时，使得第二驱动轴358相对于连接构件356轴向平移。因此，在驱动轴348轴向平移时，随着其远侧连接构件连接到末端执行器20、30和/或40中的任一个的驱动构件上，第二驱动轴358引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
从图35中看出，接合器组件300包括被支撑为靠近外管306等的远端的远侧识别传感器370。远侧识别传感器370被构造为且适于鉴别和/或识别连到接合器组件300的远端上的末端执行器。
接合器组件300可以进一步包括被支撑为靠近接合器组件300的近端的近侧识别传感器372。近侧识别传感器372可以与远侧识别传感器370进行通信，从而将连接到接合器组件300的远端上的末端执行器的鉴别和/或识别参数发送到支撑在手术器械10中的传感器或监控器376中。
根据本公开的实施例，从图36中看出，可以预想，接合器组件可以被设置为包括第一可旋转驱动轴和第二可旋转驱动轴，其中第一可旋转驱动轴和第二可旋转驱动轴中的每一个被构造且定尺寸为使手术器械10的相应的第可一旋转驱动轴和第二可旋转驱动轴与末端执行器50的相应的第一可旋转驱动构件和第二可旋转驱动构件可操作地相互连接。
现在转到图37至图51，根据本公开的另一实施例的接合器组件通常表示为接合器组件400，其被构造为且适于使多个末端执行器中的任一个与手术器械10可操作地相互连接而将多个末端执行器中的任一个联接至手术器械10。
接合器组件400包括被构造为且适于连接到手术器械10的前缘上的旋钮壳体402。接合器组件400进一步包括从旋钮壳体402的远端延伸的外管406。旋钮壳体402和外管406被构造且定尺寸为容纳接合器组件400的部件。外管406可以定尺寸为使得外管可以穿过典型的套管针口、插管等。
从图37、图39至图41和图43至图51中看出，接合器组件400包括手术器械驱动联接组件410。驱动联接组件410包括可旋转地支撑在旋钮壳体402中的远侧驱动联接壳体412和近侧驱动联接壳体422。驱动联接组件410将第一可旋转近侧驱动轴414和第二可旋转近侧驱动轴415(参见图45至图48)，以及第三可旋转近侧驱动轴416(参见图40、图47和图48)可旋转地支撑在其中。
驱动联接壳体422被构造为分别旋转地支撑第一联接套筒418、第二联接套筒419和第三联接套筒420。联接套筒418-420中的每一个被构造为与手术器械10的相应的第一驱动轴、第二驱动轴和第三驱动轴(未示出)的远端配合。联接套筒418-420中的每一个被进一步构造为与相应的第一近侧驱动轴414、第二近侧驱动轴415和第三近侧驱动轴416的近端配合。
可以预想，驱动联接组件410包括设置在相应的第一联接套筒418、第二联接套筒419和第三联接套筒420的远侧的第一偏置构件424、第二偏置构件425和第三偏置构件426。偏置构件424、425和426中的每一个绕相应的第一可旋转近侧驱动轴414、第二可旋转近侧驱动轴415和第三可旋转近侧驱动轴416设置。偏置构件424-426作用于相应的联接套筒418-420上，从而当接合器组件400连接到手术器械10上时有助于保持联接套筒418-420与手术器械10的相应的驱动轴(未示出)的远端接合。
特别地，第一偏置构件424、第二偏置构件425和第三偏置构件426起到在近侧方向上偏置相应的联接套筒418、419和420的作用。以此方式，在接合器组件400组装到手术器械10上的过程中，如果第一联接套筒418、第二联接套筒419和/或第三联接套筒420与手术器械10的驱动轴不对准，则第一偏置构件424、第二偏置构件425和/或第三偏置构件426被压缩。因此，当手术器械10的驱动电动机被接合时，手术器械10的驱动轴将旋转，并且第一偏置构件424、第二偏置构件425和/或第三偏置构件426将致使相应的第一联接套筒418、第二联接套筒419和/或第三联接套筒420沿近侧向后滑动，从而使手术器械10的驱动杆有效地联接到驱动联接组件410的第一近侧驱动轴414、第二近侧驱动轴415和/或第三近侧驱动轴416上。
接合器组件400分别包括第一驱动转换器组件440、第二驱动转换器组件450和第三驱动转换器组件460。每个驱动转换器组件440、450、460被构造为且适于将手术器械10的相应的第一驱动轴、第二驱动轴和第三驱动轴(未示出)的旋转转换成接合器组件400的相应的驱动构件等的轴向平移。
从图39、图40和图42中看出，接合器组件400包括可旋转且可滑动地设置在近侧外管407内的近侧管状壳体430和至少部分地设置在外管406内的远侧壳体432。近侧管状壳体430限定贯穿其形成的纵向延伸的管腔430a。近侧管状壳体430容纳驱动联接组件410的远侧驱动联接壳体412的远端。远侧壳体432的远端可以被构造为且适于与末端执行器20、30和/或40中的任一个的近端选择性地接合和联接。可以预想，远侧壳体432的远端可以被构造为容纳末端执行器20、30和/或40中的任一个的近端，为卡口式构造或联接、或者本领域技术人员公知的任何其他联接。
从图42至图47中看出，第一驱动转换器组件440包括可旋转地支撑在近侧管状壳体430和远侧壳体432内的第一远侧驱动轴442。第一远侧驱动轴442包括支撑在其近端上的正齿轮442a，该正齿轮442a被构造为连接到第一可旋转近侧驱动轴414的正齿轮414a上。第一远侧驱动轴442进一步包括具有螺纹外轮廓或表面的远端部442b。
第一驱动转换器组件440进一步包括驱动联接螺母444，该驱动联接螺母444可旋转地联接到第一远侧驱动轴442的螺纹远端部442a上，并且可滑动地设置在近侧管状壳体430和远侧壳体432内。防止在第一远侧驱动轴442旋转时驱动联接螺母444的旋转。以此方式，在第一远侧驱动轴442旋转时，驱动联接螺母444平移通过近侧管状壳体430和远侧壳体432和/或沿着近侧管状壳体430和远侧壳体432平移。
第一驱动转换器组件440进一步包括驱动管446，所述驱动管446环绕第一远侧驱动轴442并且具有连接到驱动联接螺母444上的近端部446a和延伸越过第一远侧驱动轴442的远端的远端部446b。驱动管446的远端部446b支撑连接构件447，该连接构件447被构造为且定尺寸为使其与末端执行器20、30和/或40中的任一个的可轴向平移驱动构件选择性地接合。
在操作时，在第一可旋转近侧驱动轴414由于第一联接套筒418的旋转而旋转时，作为手术器械10的第一驱动轴旋转的结果，第一可旋转近侧驱动轴414的正齿轮414a与第一远侧驱动轴442的正齿轮442a啮合，从而使第一远侧驱动轴442旋转。在第一远侧驱动轴442旋转时，使驱动联接螺母444沿着第一远侧驱动轴442轴向平移。
在使驱动联接螺母444沿着第一远侧驱动轴442轴向平移时，使驱动管446相对于远侧壳体部432轴向平移。因此，在驱动管446轴向平移时，随着连接构件447连接到驱动管446上并且连接到末端执行器20、30和/或40中的任一个的驱动构件上，驱动管446引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
参考图39、图40和图42至图47，第二驱动转换器组件450包括可旋转地支撑在远侧壳体432内的第二远侧驱动轴452。第二远侧驱动轴452包括连接到近侧管状壳体430上的近端部452a。第二远侧驱动轴452进一步包括远端部452b，所述远端部452b被构造且定尺寸为与末端执行器20、30和/或40中的任一个的可轴向平移驱动构件选择性地接合。
第二驱动转换器组件450进一步包括联接螺母454，该联接螺母454可旋转地支撑在形成在近侧管状壳体430(参见图47)中的环形座圈或凹部430a内。联接螺母454螺纹接合地连接到第二可旋转近侧驱动轴415的螺纹远端部415b上。以此方式，在第二可旋转近侧驱动轴415旋转时，联接螺母454相对于第二可旋转近侧驱动轴415平移，从而使近侧管状壳体430也平移。
在操作时，在第二可旋转近侧驱动轴415由于第二联接套筒419的旋转而旋转时，作为手术器械10的第二驱动轴旋转的结果，致使联接螺母454沿着第二可旋转近侧驱动轴415轴向平移。
在使联接螺母454沿着第二可旋转近侧驱动轴415轴向平移时，也致使近侧管状壳体430相对于远侧壳体部432轴向平移。因此，在近侧管状壳体430轴向平移时，致使第二远侧驱动轴452轴向平移。以此方式，随着其远端部452b连接到末端执行器20、30和/或40中的任一个的驱动构件上，第二远侧驱动轴452引起末端执行器20、30和/或40中的任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
参考图39和图45，第三驱动转换器组件460包括连接到近侧外管407的内表面上且绕其径向延伸的环形齿轮462。第三驱动转换器组件460进一步包括正齿轮416a，所述正齿轮416a支撑在第三可旋转近侧驱动轴416上并且被构造且定位为与环形齿轮462配合接合。
在操作时，在第三可旋转近侧驱动轴416由于第三联接套筒420的旋转而旋转时，作为手术器械10的第三驱动轴旋转的结果，第三可旋转近侧驱动轴416的正齿轮416a与环形齿轮462啮合，从而致使环形齿轮462旋转。在环形齿轮462旋转时，环形齿轮462致使近侧外管407旋转。在近侧外管407旋转时，远侧外管406也旋转，并且可以联接到其上的末端执行器20、30和/或40中的任一个也旋转。
从图50和图51中看出，接合器组件400可以包括呈销形式的至少一个电触点476，用于与手术器械10的相应插头电连接。从图51中看出，接合器组件400可以进一步包括至少一个导电的、光学的、磁性的或射频的识别装置478，以与手术器械10的相应插头电连接。
现在转到图52至图66，根据本公开的另一实施例的接合器组件通常表示为接合器组件500，其被构造为且适于将多个末端执行器中的任一个(这里，示出了末端执行器20)与手术器械10可操作地相互连接和联接。
接合器组件500包括旋钮壳体502，该旋钮壳体502被构造为且适于连接到手术器械10的前缘。接合器组件500进一步包括从旋钮壳体502的远端延伸的外管506。旋钮壳体502和外管506被构造且定尺寸为容纳接合器组件500的部件。外管506可以被定尺寸为使得外管506可以穿过典型的套管针口、插管等。
从图58至图60和图64至图65中看出，接合器组件500包括手术器械驱动联接组件510。驱动联接组件510包括可旋转地支撑在旋钮壳体502中的远侧驱动联接壳体512和近侧驱动联接壳体522。驱动联接组件510将第一可旋转近侧驱动轴514、第二可旋转近侧驱动轴515和第三可旋转近侧驱动轴516可旋转地支撑在其中。
近侧驱动联接壳体522被构造为分别可旋转地支撑第一联接套筒518、第二联接套筒519和第三联接套筒520。联接套筒518-520中的每一个被构造为与手术器械10的相应的第一驱动轴、第二驱动轴和第三驱动轴(未示出)的远端配合。联接套筒518-520中的每一个被进一步构造为与相应的第一近侧驱动轴514、第二近侧驱动轴515和第三近侧驱动轴516的近端配合。
可以预想，近侧驱动联接组件510包括设置在相应的第一联接套筒518、第二联接套筒519和第三联接套筒520的远侧的第一偏置构件524、第二偏置构件525和第三偏置构件526。偏置构件524、525和526中的每一个绕相应的第一可旋转近侧驱动轴514、第二可旋转近侧驱动轴515和第三可旋转近侧驱动轴516设置。偏置构件524、525和526作用于相应的联接套筒518、519和520上，从而当接合器组件500连接到手术器械10上时有助于保持联接套筒518、519和520与手术器械10的相应的驱动轴(未示出)的远端接合。
特别地，第一偏置构件524、第二偏置构件525和第三偏置构件526起到在近侧方向上偏置各个联接套筒518、519和520的作用。以此方式，在将接合器组件500组装到手术器械10上的过程中，如果第一联接套筒518、第二联接套筒519和/或第三联接套筒520与手术器械10的驱动轴不对准时，则第一偏置构件524、第二偏置构件525和/或第三偏置构件526被压缩。因此，当手术器械10的驱动电动机被接合时，手术器械10的驱动轴将旋转，并且第一偏置构件524、第二偏置构件525和/或第三偏置构件526将致使相应的第一联接套筒518、第二联接套筒519和/或第三联接套筒520沿近侧向后滑动，从而使手术器械10的驱动杆有效地联接到近侧驱动联接组件510的第一近侧驱动轴514、第二近侧驱动轴515和/或第三近侧驱动轴516上。
另外，联接套筒518、519和520中的每一个被偏置或者弹簧加载，以使得如果联接套筒518、519和520中的一个或多个相对于手术器械10的相应驱动轴不对准，在接合器组件500与手术器械10配合的同时，向近侧偏置相应联接套筒518、519和520的偏置构件524、525和526会压缩联接套筒518、519和520并且允许相应的联接套筒518、519和520向远侧移动。在校准手术器械10时，手术器械10的驱动轴中的每一个旋转，并且，当达到恰当的对准时，联接套筒518、519和520上的偏置会将联接套筒518、519和520恰当地定位在手术器械10的相应的驱动轴上面。
接合器组件500分别包括第一驱动转换器组件540、第二驱动转换器组件550和第三驱动转换器组件560。驱动转换器组件540、550、560中的每一个被构造为且适于将手术器械10的相应的第一驱动轴、第二驱动轴和第三驱动轴(未示出)的旋转转换成接合器组件500的相应的驱动构件等的轴向平移。
从图60、图61和图63至图65中看出，第一驱动转换器组件540包括可旋转地支撑在壳体502和外管506内的第一远侧驱动轴542。第一远侧驱动轴542的近端锁定到(key)正齿轮542a，所述正齿轮542a被构造为连接到第一可旋转近侧驱动轴514的正齿轮514a上。第一远侧驱动轴542进一步包括具有螺纹外轮廓或表面的远端部542b。
第一驱动转换器组件540进一步包括驱动联接螺母544，该驱动联接螺母544可旋转地联接到第一远侧驱动轴542的螺纹远端部542b上，并且可滑动地设置在外管506内。驱动联接螺母544锁定到外管506等上，从而防止驱动联接螺母544随着第一远侧驱动轴542旋转而旋转。以此方式，在第一远侧驱动轴542旋转时，驱动联接螺母544平移通过外管506和/或沿着外管506平移。
第一驱动转换器组件540进一步包括驱动管546，该驱动管546环绕第一远侧驱动轴542并且具有连接到驱动联接螺母544的近端部和延伸超过第一远侧驱动轴542的远端的远端部。驱动管546的远端部支撑连接构件547(参见图54至图57)，所述连接构件547被构造且定尺寸为与末端执行器20的可轴向平移驱动构件选择性地接合。
在操作时，在第一可旋转近侧驱动轴514由于第一联接套筒518的旋转而旋转时，作为手术器械10的第一驱动轴旋转的结果，第一可旋转近侧驱动轴514的正齿轮514a与复合齿轮545的第一齿轮545a啮合，致使复合齿轮545旋转。在复合齿轮545旋转时，复合齿轮545的第二齿轮545b旋转，并且因此致使第一远侧驱动轴542的与第二齿轮545b啮合的正齿轮542a也旋转，从而致使第一远侧驱动轴542旋转。在第一远侧驱动轴542旋转时，致使驱动联接螺母544沿着第一远侧驱动轴542轴向平移。
在使驱动联接螺母544沿着第一远侧驱动轴542轴向平移时，致使驱动管546相对于接合器组件500的外管506轴向平移。因此，在驱动管546轴向平移时，随着连接构件547连接到驱动管546上并且连接到末端执行器20的驱动构件上，驱动管546引起末端执行器20的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
从图58至图60和图63至图66中看出，接合器组件500包括传输组件580，该传输组件580具有设置在远侧驱动联接壳体512的远侧的近侧传输板582和设置在近侧传输板582的远侧的远侧传输板584。近侧传输板582和远侧传输板584以固定间隔的轴向距离彼此定位。第一近侧驱动轴514、第二近侧驱动轴515和第三近侧驱动轴516中的每一个延伸到传输组件580中。近侧传输板582限定环形排列的远侧定向的双向齿轮齿582a。
由于需要向驱动联接螺母544提供抗旋转的扭矩的量相对高，在本实施例中，设置锁定组件、离合器组件590等，以便当在末端执行器20中出现相对大的力时抑制接合器组件500的外管506和末端执行器20的旋转。
从图58至图60和图63至图66中看出，离合器组件590包括呈板或环形式的旋转联接器592，该旋转联接器592介于近侧传输板582与远侧传输板584之间。旋转联接器592限定环形排列的近侧定向的双向齿轮齿592a，该双向齿轮齿592a被构造且定尺寸为与近侧传输板582的环形排列的远侧定向的双向齿轮齿582a啮合。旋转联接器592的齿轮齿592a设置为两个分开的半部，两个半部在二者之间限定凹部592b。离合器组件590包括介于旋转联接器592与远侧传输板584之间的偏置构件594，用于向旋转联接器592提供正偏置，以确保旋转联接器592的齿轮齿592a保持与近侧传输板582的齿轮齿582a锁定或啮合。
离合器组件590进一步包括介于近侧传输板582与旋转联接器592之间的内部旋转环形齿轮596。环形齿轮596限定齿轮齿596a的内部排列。环形齿轮596包括从其外缘突出的一对直径上对置的、径向延伸的突起596b。环形齿轮596进一步包括被构造为接合旋转联接器592的相应的凸轮表面592c的凸轮表面596c。
在操作时，在环形齿轮596相对于旋转联接器592旋转20°时，由于环形齿轮596的凸轮表面596c与旋转联接器592的凸轮狭槽592c的凸轮相互作用，致使旋转联接器592的齿轮齿592a与近侧传输板582的齿轮齿582a分离。紧随旋转的第一个20°后，突起596b或者环形齿轮596与旋转联接器592的凹部592b的端壁抵接。然后，在环形齿轮596旋转另外的5°时，环形齿轮596的突起596b推挤旋转联接器592的凹部592b的连接到壳体502上的端壁以使断壁旋转，从而致使接合器组件500的壳体502旋转并且因此致使末端执行器20旋转。旋转联接器592锁定到壳体502，从而将其旋转传输到壳体502以及外管506和末端执行器20。
环形齿轮596的旋转通过第三可旋转近侧驱动轴516的旋转和第三驱动转换器组件560的致动来完成。特别地，在第三可旋转近侧驱动轴516由于第三联接套筒520的旋转而旋转时，作为手术器械10的第三驱动轴旋转的结果，第三可旋转近侧驱动轴516的正齿轮516a与第三驱动转换器组件560的中间正齿轮562啮合。在中间正齿轮562旋转时，旋转被传输到环形齿轮596。
如上所述，在环形齿轮596旋转时，环形齿轮596与旋转联接器592相互作用，以致使旋转联接器592旋转并且将旋转传输到壳体502、外管506和末端执行器20。
参考图60、图61和图63至图65，第二驱动转换器组件550包括支撑在接合器500的壳体502和外管506内的第二远侧驱动轴552。第二远侧驱动轴552包括连接到关节式运动连杆554上的近端部552a。第二远侧驱动轴552进一步包括远端部，所述远端部被构造且定尺寸为与末端执行器20的可轴向平移驱动构件选择性地接合。关节式运动连杆554限定凸出部554a，所述凸出部554a被构造为容纳在联接螺母556的环形凹槽556a中。该设置使得关节式运动连杆554能够绕联接螺母556旋转并且作为近侧驱动轴515的螺纹远端部515b旋转的结果仍能够传输轴向移动。第二驱动转换器组件550可以包括内圈557a，该内圈557a被构造为保持关节式运动连杆554限制到或者连接到联接螺母556上。第二驱动转换器组件550可以进一步包括外圈557b，该外圈557b至少部分地环绕内圈557a并且经由互补环形圈和凹槽可旋转地连接到内圈557a，从而允许内、外圈相对于彼此的相对旋转并且仍提供轴向线性移动。
第二驱动转换器组件550进一步包括联接螺母556，该联接螺母556可旋转地支撑在形成在壳体502中的环形座圈或凹部内。联接螺母556可螺纹接合地连接到第二可旋转近侧驱动轴515的螺纹远端部515b上。以此方式，在第二可旋转近侧驱动轴515旋转时，联接螺母556相对于第二可旋转近侧驱动轴515平移，从而致使关节式运动连杆554和第二远侧驱动轴552也平移。
在操作时，在第二可旋转近侧驱动轴515由于第二联接套筒519的旋转而旋转时，作为手术器械10的第二驱动轴旋转的结果，致使联接螺母554沿着第二可旋转近侧驱动轴515轴向平移。
在使联接螺母554沿着第二可旋转近侧驱动轴515轴向平移时，致使第二远侧驱动轴552轴向平移。以此方式，随着第二远侧驱动轴552的远端部连接到末端执行器20的驱动构件上，第二远侧驱动轴552引起末端执行器20的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器20的关节式运动。
从图62和图64中看出，接合器组件500可以包括呈销形式的至少一个电触点576，用于与手术器械10的相应插头电连接。
从图56、图57和图59中看出，接合器组件500包括与接合器组件100的锁定机构160基本类似的锁定机构，因此这里仅在说明其构造和操作上的差别所必需的程度上进行详细讨论。
接合器组件500的锁定机构包括按钮或杆562，按钮或杆562可滑动地支撑在旋钮壳体502上，用于固定驱动管546的轴向位置和径向定向，以便于末端执行器20与驱动管546的连接和分开。
现在转到图67至图69，示出根据本公开的一个实施例的接合器组件600连接到或者支撑在手术器械10的远端上。从图67中看出，接合器组件600分别包括第一驱动转换器组件640和第二驱动转换器组件650。驱动转换器组件640、650中的每一个被构造为且适于将手术器械10的相应的第一驱动轴12和第二驱动轴14的旋转转换成接合器组件600的相应的驱动构件等的轴向平移。
从图67和图68中看出，接合器组件600包括具有内齿轮662和外齿轮664的嵌套齿轮组660。内齿轮662包括沿着可旋转地支撑在轴承662e上/中的管状体662c彼此间隔开的近侧正齿轮662a和远侧正齿轮662b。管状体662c限定贯穿其中的管腔662d。外齿轮664包括沿着可旋转地延伸通过内齿轮662的管腔662d的轴体664c彼此间隔开的近侧正齿轮664a和远侧正齿轮664b。外齿轮664的近侧正齿轮664a和远侧正齿轮664b设置在内齿轮662的相应的近侧正齿轮662a和远侧正齿轮662b的近侧和远侧。
第一驱动转换器组件640包括：近侧联接件642，其被构造为选择性地连接到驱动轴12的远端上；滑动离合器系统644，其连接到近侧联接件642上并且可旋转地支撑在接合器组件600的壳体内；以及将正齿轮645a支撑在其上的输入驱动轴645(参加图68)，其可操作地连接到滑动离合器系统644并且因而能致动。
第一驱动转换器组件640进一步包括嵌套齿轮组660的内齿轮662。特别地，输入驱动轴645的正齿轮645a与内齿轮662的近侧正齿轮662a啮合。第一驱动转换器组件640进一步包括输出驱动轴646，所述输出驱动轴646支撑与内齿轮662的远侧正齿轮662b可螺纹接合地啮合的近侧正齿轮646a并且支撑与第一驱动轴648的螺纹近端部648a可螺纹接合地啮合的远侧正齿轮646b。
第一驱动轴648被支撑为在接合器组件的壳体内轴向往复运动。第一驱动轴648包括可螺纹接合地联接到输出驱动轴646的远侧正齿轮646b的螺纹近端部648a和从接合器组件600的壳体的远端延伸的远端部。第一驱动轴648的远端部限定连接构件，所述连接构件被构造为且适于与末端执行器20、30和/或40中任一个的可轴向平移驱动构件选择性地接合。
在操作时，在内齿轮662由于输入驱动轴645和手术器械10的第一驱动轴12的旋转而旋转时，致使第一驱动轴648相对于输出驱动轴646的远侧正齿轮646b轴向平移。因此，在第一驱动轴648轴向平移时，随着其远侧连接构件连接到末端执行器20、30和/或40中任一个的驱动构件上，第一驱动轴648引起末端执行器20、30和/或40中任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器的发射等。
第二驱动转换器组件650包括：近侧联接件652，其被构造为选择性地连接到驱动轴14的远端上；滑动离合器系统654，其连接到近侧联接件652上并且可旋转地支撑在接合器组件600的壳体内；以及将正齿轮655a支撑在其上的输入驱动轴655(参见图68)，其可操作地连接到滑动离合器系统654并且因而能致动。
第二驱动转换器组件650进一步包括嵌套齿轮组660的外齿轮664。特别地，输入驱动轴655的正齿轮655a与外齿轮664的近侧正齿轮664a啮合。第二驱动转换器组件650进一步包括输出驱动轴656，该输出驱动轴656支撑与外齿轮664的远侧正齿轮664b可螺纹接合地啮合的近侧正齿轮656a并且支撑与第二驱动轴658的螺纹近端部658a可螺纹接合地接合的远侧螺纹联接部656b。
第二驱动轴658被支撑为在接合器组件的壳体内轴向往复运动。第二驱动轴658包括可螺纹接合地联接到输出驱动轴656的远侧螺纹联接部656b的螺纹近端部658a和延伸到接合器组件600的壳体的远端的远端部。第二驱动轴658的远端部限定连接构件，所述连接构件被构造为并且适于与末端执行器20、30和/或40中任一个的可轴向平移驱动构件选择性地接合。
在操作时，在外齿轮664由于输入驱动轴655和手术器械10的第二驱动轴14的旋转而旋转时，致使第二驱动轴658相对于输出驱动轴656的远侧螺纹联接部656b轴向平移。因此，在第二驱动轴658轴向平移时，随着其远侧连接构件连接到末端执行器20、30和/或40中任一个的驱动构件上，第二驱动轴658引起末端执行器20、30和/或40中任一个的驱动构件的伴随轴向平移，以实现其操作和/或功能，例如，末端执行器等的关节式运动等。
可以预想，这里说明的接合器组件中的任一个可以设有密封件等，用于保持目标部位的吹气。
可以进一步预想，接合器组件的外管可以设有切口或者狭槽，以便于在超声波浴等中适当地清洁接合器组件。
根据本公开，可以预想，这里的接合器组件中的任一个可以包括任何数量的长度，本质上可以为刚性的或者可以为挠性的。
可以进一步预想，这里的接合器组件中的任一个可以包括任何导电的、光学的、磁性的或射频的识别装置，所述识别装置能够将来自存储在末端执行器的存储器装置(例如，微型芯片)中的信息的信息传送直至到达设置在手术器械10中的微控制器等。该信息能够用于为手术器械10确定控制参数。
另外可以预想，任一末端执行器、任一接合器组件和手术器械10可以设有有源无线通信特征，例如，(基于无线个人局域网(WPAN)的IEEE 802.15.4-2003标准，用于利用小的低功率数字无线电通信的一套高级通信协议的规格)或者蓝牙(用于从固定装置和移动装置在短距离内(利用短长度无线电波)交换数据的开放式无线协议，创建个人局域网(PAN))；或者通过无源通信方法，例如RFiD(射频识别)。
这里的接合器组件中的任一个可以包括独立的电源(例如，电池)，以操作具体的驱动装置和/或为具体传感器和/或识别用电子器件供电。
接合器组件中的任一个可以合并变速器或者齿轮部分，以优化旋转速度和扭矩或者线速度和力来控制和操纵具体的末端执行器。
应当理解到，可以对本公开的接合器组件的实施例进行各种改进。因此，上面的说明不应当解释为限制，而仅仅为实施例的示例。本领域技术人员将在本公开的范围和精神内预想其他改进。

Claims (19)

1.一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴，所述接合器组件包括：
壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通；
外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；
至少一个联接套筒，其可旋转地支撑在所述壳体中，至少一个可旋转的所述联接套筒被构造为且适于选择性地连接到所述手术器械的第一可旋转驱动轴；
至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移，
其中，所述至少一个驱动转换器组件包括：
空心管，其可旋转地设置在所述壳体和所述外管内，其中所述空心管的近端与所述联接套筒可操作地连通；
联接螺母，其连接到所述外管的远端；以及
可轴向平移驱动轴，其具有连接到所述联接螺母的螺纹近侧部和被构造为且适于选择性地连接到所述末端执行器的可轴向平移驱动构件的远侧部，
其中，所述手术器械的所述第一可旋转驱动轴的旋转致使所述至少一个联接套筒、所述空心管和所述联接螺母旋转，并且其中所述联接螺母的旋转致使所述至少一个驱动转换器组件的所述可轴向平移驱动轴和所述末端执行器的所述可轴向平移驱动构件轴向平移。
2.根据权利要求1所述的接合器组件，进一步包括使所述至少一个联接套筒和所述空心管相互连接的挠性驱动缆。
3.根据权利要求1所述的接合器组件，进一步包括锁定机构，所述锁定机构用于固定所述至少一个驱动转换器组件的所述可轴向平移驱动轴的轴向位置和径向定向中的至少一个。
4.根据权利要求1所述的接合器组件，进一步包括支撑在所述接合器组件的远端和近端中的至少一个的近侧的至少一个识别传感器。
5.一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴，所述接合器组件包括：
壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通；
外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；
至少一个联接套筒，其可旋转地支撑在所述壳体中，至少一个可旋转的联接套筒被构造为且适于选择性地连接到所述手术器械的第一可旋转驱动轴；
至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移
其中，所述至少一个驱动转换器组件包括：
驱动轴，其可旋转地设置在所述接合器组件的所述壳体和所述外管内；其中所述至少一个驱动转换器组件的所述驱动轴的近端部与所述联接套筒可操作地连通，并且其中所述至少一个驱动转换器组件的所述驱动轴包括螺纹远端部；以及
可轴向平移驱动杆，其具有连接到所述至少一个驱动转换器组件的所述驱动轴的所述螺纹远端部的螺纹近端部和被构造为且适于选择性地连接到所述末端执行器的可轴向平移驱动构件的远端部，
其中所述手术器械的所述第一可旋转驱动轴的旋转致使所述至少一个联接套筒和所述至少一个驱动转换器组件的可旋转的所述驱动轴旋转，并且其中所述至少一个驱动转换器组件的可旋转的所述驱动轴的旋转致使所述可轴向平移驱动杆和所述末端执行器的所述可轴向平移驱动构件轴向平移。
6.根据权利要求5所述的接合器组件，进一步包括使所述至少一个联接套筒和所述至少一个驱动转换器组件的所述驱动轴相互连接的挠性驱动缆。
7.根据权利要求5所述的接合器组件，进一步包括支撑在所述接合器组件的远端和近端中的至少一个的近侧的至少一个识别传感器。
8.一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴，所述接合器组件包括：
壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通；
外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；
至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移；
第一联接套筒，其可旋转地支撑在所述壳体中，可旋转的所述第一联接套筒被构造为且适于选择性地连接到所述手术器械的第一可旋转驱动轴；
第二联接套筒，其可旋转地支撑在所述壳体中，可旋转的所述第二联接套筒被构造为且适于选择性地连接到所述手术器械的第二可旋转驱动轴；并且
其中所述至少一个驱动转换器组件包括第一驱动转换器组件和第二驱动转换器组件；
其中所述第一驱动转换器组件包括：
空心管，其可旋转地设置在所述壳体和所述外管内，其中所述空心管的近端与所述第一联接套筒可操作地连通；
联接螺母，其连接到所述外管的远端；以及
第一可轴向平移驱动轴，其具有连接到所述联接螺母的螺纹近侧部和被构造为且适于选择性地连接到所述末端执行器的第一可轴向平移驱动构件的远侧部；
其中所述手术器械的所述第一可旋转驱动轴的旋转致使所述第一联接套筒、所述空心管和所述联接螺母旋转，并且其中联接螺母的旋转致使所述第一可轴向平移驱动轴和所述末端执行器的所述第一可轴向平移驱动构件轴向平移；并且
其中所述第二驱动转换器组件包括：
驱动轴，其可旋转地设置在所述接合器组件的所述壳体和所述外管内；其中所述第二驱动转换器组件的所述驱动轴的近端部与所述第二联接套筒可操作地连通，并且其中所述第二驱动转换器组件的所述驱动轴包括螺纹远端部；以及
可轴向平移驱动杆，其具有连接到所述第二驱动转换器组件的所述驱动轴的所述螺纹远端部的螺纹近端部和被构造为且适于选择性地连接到所述末端执行器的第二可轴向平移驱动构件的远端部；
其中所述手术器械的所述第二可旋转驱动轴的旋转致使所述第二联接套筒和所述第二驱动转换器组件的可旋转的所述驱动轴旋转，并且其中所述第二驱动转换器组件的可旋转的所述驱动轴的旋转致使所述可轴向平移驱动杆和所述末端执行器的所述第二可轴向平移驱动构件轴向平移。
9.根据权利要求8所述的接合器组件，进一步包括使所述第一联接套筒和所述第一驱动转换器组件的所述空心管相互连接的第一挠性驱动缆，以及使所述第二联接套筒和所述第二驱动转换器组件的所述驱动轴相互连接的第二挠性驱动缆。
10.根据权利要求8所述的接合器组件，进一步包括锁定机构，所述锁定机构用于固定所述第一驱动转换器组件的所述第一可轴向平移驱动轴的轴向位置和径向定向中的至少一个。
11.根据权利要求8所述的接合器组件，进一步包括支撑在所述接合器组件的远端和近端中的至少一个的近侧的至少一个识别传感器。
12.一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴，所述接合器组件包括：
壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通；
外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；
至少一个联接套筒，其可旋转地支撑在所述壳体中，至少一个可旋转的联接套筒被构造为且适于选择性地连接到所述手术器械的第一可旋转驱动轴；
至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移；
其中，所述至少一个驱动转换器组件包括：
驱动轴，其可旋转地设置在所述壳体和所述外管内，其中所述至少一个驱动转换器组件的所述驱动轴的近端与所述联接套筒可操作地连通，其中所述至少一个驱动转换器组件的所述驱动轴具有螺纹远端部；
驱动联接螺母，其可螺纹接合地连接到所述至少一个驱动转换器组件的所述驱动轴的所述远端部上，其中所述驱动联接螺母被抑制相对于所述至少一个驱动转换器组件的所述驱动轴轴向旋转；以及
可轴向平移的驱动杆，其具有连接到所述驱动联接螺母的近侧部和被构造为且适于选择性地连接到所述末端执行器的可轴向平移驱动构件上的远侧部，
其中所述手术器械的所述第一可旋转驱动轴的旋转致使所述至少一个驱动转换器组件的所述驱动轴旋转，并且其中所述至少一个驱动转换器组件的所述驱动轴的旋转致使所述驱动联接螺母和连接至所述驱动联接螺母的所述驱动杆轴向平移。
13.根据权利要求12所述的接合器组件，进一步包括支撑在所述接合器组件的远端和近端中的至少一个的近侧的至少一个识别传感器。
14.一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴，所述接合器组件包括：
壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通；
外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；
至少一个联接套筒，其可旋转地支撑在所述壳体中，至少一个可旋转的联接套筒被构造为且适于选择性地连接到所述手术器械的第一可旋转驱动轴；
至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移，
其中，所述至少一个驱动转换器组件包括：
驱动轴，其可旋转地设置在所述壳体和所述外管内，其中所述至少一个驱动转换器组件的所述驱动轴的近端与所述联接套筒可操作地连通，其中所述至少一个驱动转换器组件的所述驱动轴具有螺纹远端部；
联接套件，其可螺纹接合地连接到所述至少一个驱动转换器组件的所述驱动轴的所述远端部上，其中所述联接套件被支撑用于在所述接合器组件的所述壳体内的轴向平移和旋转；以及
可轴向平移的驱动杆，其具有连接到所述联接套件的近侧部和被构造为且适于选择性地连接到所述末端执行器的可轴向平移驱动构件的远侧部，
其中所述手术器械的所述第一可旋转驱动轴的旋转致使所述至少一个驱动转换器组件的所述驱动轴旋转，并且其中所述至少一个驱动转换器组件的所述驱动轴的旋转致使所述联接套件和连接至所述联接套件的所述驱动杆轴向平移。
15.根据权利要求14所述的接合器组件，其中所述至少一个驱动转换器组件的所述驱动轴限定一旋转轴线，并且其中所述联接套件限定与所述至少一个驱动转换器组件的所述驱动轴的所述旋转轴线间隔了径向距离的旋转轴线。
16.根据权利要求14所述的接合器组件，进一步包括支撑在所述接合器组件的远端和近端中的至少一个的近侧的至少一个识别传感器。
17.一种接合器组件，其用于使被构造为执行功能的手术用末端执行器和被构造为致动所述末端执行器的手术器械选择性地相互连接，所述末端执行器包括至少一个可轴向平移驱动构件，并且所述手术器械包括至少一个可旋转驱动轴，所述接合器组件包括：
壳体，其被构造为且适于与所述手术器械连接并且与所述手术器械的所述至少一个可旋转驱动轴中的每一个可操作地连通；
外管，其具有由所述壳体支撑的近端和被构造为且适于与所述末端执行器连接的远端，其中所述外管的所述远端与所述末端执行器的所述至少一个可轴向平移驱动构件中的每一个可操作地连通；
至少一个驱动转换器组件，其用于使所述末端执行器的所述至少一个可轴向平移驱动构件中的一个和所述手术器械的所述至少一个可旋转驱动轴中的相应一个相互连接，其中所述至少一个驱动转换器组件包括能连接到所述手术器械的第一可旋转驱动轴的第一端和能连接到所述末端执行器的第一可轴向平移驱动构件的第二端，其中所述至少一个驱动转换器组件将所述手术器械的所述第一可旋转驱动轴的旋转传输至所述末端执行器的所述第一可轴向平移驱动构件同时将所述第一可旋转驱动轴的旋转转换成所述第一可轴向平移驱动构件的轴向平移；
可旋转地支撑在所述壳体中的第一联接套筒，可旋转的所述第一联接套筒被构造为且适于选择性地连接到所述手术器械的第一可旋转驱动轴上；
可旋转地支撑在所述壳体中的第二联接套筒，可旋转的所述第二联接套筒被构造为且适于选择性地连接到所述手术器械的第二可旋转驱动轴上；并且
其中所述至少一个驱动转换器组件包括第一驱动转换器组件和第二驱动转换器组件；
其中所述第一驱动转换器组件包括：
第一驱动轴，其可旋转地设置在所述壳体和所述外管内，其中所述第一驱动转换器组件的所述第一驱动轴的近端与所述第一联接套筒可操作地连通，其中所述第一驱动转换器组件的所述第一驱动轴具有螺纹远端部；
驱动联接螺母，其可螺纹接合地连接到所述第一驱动转换器组件的所述第一驱动轴的所述远端部，其中所述驱动联接螺母被抑制相对于所述第一驱动转换器组件的所述第一驱动轴轴向旋转；以及
可轴向平移的第一驱动杆，其具有连接到所述驱动联接螺母上的近侧部和被构造为且适于选择性地连接到所述末端执行器的第一可轴向平移驱动构件上的远侧部，
其中所述手术器械的所述第一可旋转驱动轴的旋转致使所述第一驱动转换器组件的所述第一驱动轴旋转，并且其中所述第一驱动转换器组件的所述第一驱动轴的旋转致使所述驱动联接螺母和连接至所述驱动联接螺母的所述第一驱动杆轴向平移；并且
其中所述第二驱动转换器组件包括：
第二驱动轴，其可旋转地设置在所述壳体和所述外管内，其中所述第二驱动转换器组件的所述第二驱动轴的近端与所述第二联接套筒可操作地连通，其中所述第二驱动转换器组件的所述第二驱动轴具有螺纹远端部；
联接套件，其可螺纹接合地连接到所述第二驱动转换器组件的所述第二驱动轴的所述远端部上，其中所述联接套件被支撑用于在所述接合器组件的所述壳体内轴向平移和旋转；以及
可轴向平移的第二驱动杆，其具有连接到所述联接套件的近侧部和被构造为且适于选择性地连接到所述末端执行器的第二可轴向平移驱动构件上的远侧部，
其中所述手术器械的所述第二可旋转驱动轴的旋转致使所述第二驱动转换器组件的所述第二驱动轴旋转，并且其中所述第二驱动转换器组件的所述第二驱动轴的旋转致使所述联接套件和连接至所述联接套件的所述第二驱动杆轴向平移。
18.根据权利要求17所述的接合器组件，进一步包括锁定机构，所述锁定机构用于固定所述第一驱动转换器组件的所述可轴向平移的第一驱动杆的轴向位置和径向定向中的至少一个。
19.根据权利要求17所述的接合器组件，进一步包括支撑在所述接合器组件的远端和近端中的至少一个的近侧的至少一个识别传感器。
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AU2016200478A1 (en) 2016-02-18
US8806973B2 (en) 2014-08-19
EP2329773A1 (en) 2011-06-08
EP2647341A1 (en) 2013-10-09
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CN102113902A (zh) 2011-07-06
CA2721880A1 (en) 2011-06-02
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