CN102475557B - 手术装置 - Google Patents

手术装置 Download PDF

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CN102475557B
CN102475557B CN201110277667.2A CN201110277667A CN102475557B CN 102475557 B CN102475557 B CN 102475557B CN 201110277667 A CN201110277667 A CN 201110277667A CN 102475557 B CN102475557 B CN 102475557B
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rotating parts
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戴维·A·尼古拉斯
戴维·A·泽伊奇勒
唐纳德·马利诺思卡斯
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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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • 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
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • 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
    • A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
    • 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
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00734—Aspects not otherwise provided for battery operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00818—Treatment of the gastro-intestinal system
    • 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
    • A61B2017/07214—Stapler heads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2925—Pistol grips
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

Abstract

本公开涉及一种手术装置，其包括联结至手柄的轴部，所述手柄限定了纵轴线。所述手术装置还包括：第一驱动器，其被配置为通过第一驱动轴致动旋转运动；以及第二驱动器，其被配置为通过第二驱动轴致动关节式运动。此外，所述手术装置还包括具有第一转盘和第二转盘的控制器，所述第一转盘由所述第一驱动器致动，并且所述第二转盘由所述第二驱动器致动，所述第二转盘定位于所述第一转盘内。

Description

手术装置
相关申请的交叉引用
本申请要求于2010年11月19日提交的序列号为61/415,430的美国临时申请的权益和优先权，所述申请的全部内容通过引用合并于此。
技术领域
本公开涉及一种手术装置，特别是涉及具有控制器的动力旋转和/或关节运动式手术装置，所述控制器被支撑在具有前置式配置的手柄上。
背景技术
一种手术装置是线性夹紧、切割和吻合装置。这种装置可以在手术操作中使用，例如，从胃肠道中切除癌变或异常组织。常规的线性夹紧、切割和吻合装置可以包括具有细长轴和远侧部的手枪握持式结构。远侧部可以包括剪刀式夹持元件。在此装置中，剪刀式夹持元件的一个构件(如砧座部)相对于整体结构运动或枢转，而剪刀式夹持元件的另一个构件相对于整体结构保持固定。该夹持元件的致动可由保持在手柄中或手柄上的扳机控制。
除了剪刀式夹持元件外，吻合装置的远侧部还可以包括吻合机构。所述夹持元件的固定构件可以包括吻合钉钉仓接收部和驱动机构，所述驱动机构向上驱动吻合钉穿过夹紧组织并抵靠砧座部，从而密封之前切开的组织端。所述夹持元件可以与所述轴整体成形或者可以是可拆卸的，以便使各种夹持、剪切和/或吻合元件可以是可互换的。
为了在对置的夹持元件之间定位所需的组织，外科医生可能需要使对置的夹持元件在各角度之间移动。因而，夹紧、切割和吻合装置的可操纵性有待提高。
发明内容
本公开涉及具有控制器的动力旋转和/或关节运动式手术装置，所述控制器被支撑在具有前置式配置的手柄上。
根据本公开的一方案，提供了一种手术装置，其包括：手柄，其被配置为由操作员的手握持；联结至所述手柄的轴部，所述轴部限定了轴纵轴线；末端执行器，其被支撑在轴部的远端上以便相对于所述轴部旋转和枢转；第一驱动轴，其贯穿所述轴部延伸并可操作地连接至所述末端执行器，以实现所述末端执行器绕所述轴部的所述轴纵轴线的旋转；第二驱动轴，其贯穿所述轴部延伸并可操作地连接至所述末端执行器，以实现所述末端执行器相对于所述轴部的所述轴纵轴线的枢转；以及控制器，其被支撑在所述手柄上以便由操作员的握持手柄的手的拇指致动。所述控制器包括第一可旋转构件和第二可旋转构件。所述第一可旋转构件被配置为在其对应的第一方向和第二方向旋转时使所述第一驱动轴沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向旋转和第二方向旋转。所述第二可旋转构件被配置为在其对应的第一方向和第二方向旋转时使所述第二驱动轴沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向枢转和第二方向枢转。
所述第一可旋转构件可限定一旋转轴线，且所述第二可旋转构件可限定一旋转轴线，其中所述第二可旋转构件的旋转轴线可以相对于所述第一可旋转构件的旋转轴线正交定向。
所述第一可旋转构件可限定一旋转轴线，且所述第二可旋转构件可限定一旋转轴线，其中所述第二可旋转构件的旋转轴线可以相对于所述第一可旋转构件的旋转轴线基本平行。
所述第二可旋转构件的旋转轴线可与所述第一可旋转构件的旋转轴线是同心的。
所述第一可旋转构件和所述第二可旋转构件可以彼此嵌套。
所述控制器可以包括：与所述第一可旋转构件关联的第一霍尔效应开关，其用于实现所述第一驱动轴的旋转；以及与所述第二可旋转构件关联的第二霍尔效应开关，其用于实现所述第二驱动轴的旋转。
所述手术装置可以进一步包括反馈机构，所述反馈机构用于提供与所述末端执行器的旋转运动和枢转运动相关的触觉反馈和听觉反馈中的至少一种反馈。所述反馈机构可以包括与设置在所述第一可旋转构件和所述第二可旋转构件中的每一个上的齿接合的板簧。
所述末端执行器可以可枢转地连接至所述轴部的远端，以便在单一平面内绕与所述轴纵轴线基本正交延伸的枢轴线枢转。
根据本公开的一方案，所述末端执行器的旋转速率的范围可以与所述第一可旋转构件的旋转速率的范围匹配，并且所述末端执行器的枢转速率的范围可以与所述第二可旋转构件的旋转速率的范围匹配。所述第一可旋转构件的相对慢的旋转速率可导致所述末端执行器的具有大致1∶1的比率的旋转速率。所述第二可旋转构件的相对慢的旋转速率可导致所述末端执行器的具有大致1∶1的比率的枢转速率。所述第一可旋转构件的相对快的旋转速率可导致所述末端执行器的具有大于1∶1的比率的旋转速率。所述第二可旋转构件的相对快的旋转速率可导致所述末端执行器的具有大于1∶1的比率的枢转速率。
所述手柄可以包括：支撑所述轴部的上部；以及从所述上部延伸出的中间部，其中所述中间部可以限定纵轴线，其中所述中间部的所述纵轴线可以相对于所述轴纵轴线成大致30°角定向。
所述末端执行器可以包括钳夹部。
根据本公开的进一步方案，提供了一种手术装置，其包括：手柄，其被配置为由操作员的手以握手枪方式握持；从所述手柄延伸出的轴部，所述轴部限定了轴纵轴线；被支撑在轴部的远端上的末端执行器，所述末端执行器能够相对于所述轴部旋转和枢转；以及控制器，其被支撑在所述手柄上以便由操作员的用单手握持手柄的手的拇指致动。所述控制器包括第一可旋转构件和第二可旋转构件。所述第一可旋转构件被配置为沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向旋转和第二方向旋转。所述第二可旋转构件被配置为沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向枢转和第二方向枢转。
所述第一可旋转构件可限定一旋转轴线，且所述第二可旋转构件可限定一旋转轴线。所述第二可旋转构件的旋转轴线可相对于所述第一可旋转构件的旋转轴线正交定向。
所述控制器可以包括：与所述第一可旋转构件关联的第一霍尔效应开关，其用于实现所述末端执行器的旋转；与所述第二可旋转构件关联的第二霍尔效应开关，其用于实现所述末端执行器的旋转。
所述末端执行器可以可枢转地连接至所述轴部的远端，以便在单一平面内绕与所述轴纵轴线基本正交延伸的枢轴线枢转。
可以想到，所述末端执行器的旋转速率的范围可以与所述第一可旋转构件的旋转速率的范围匹配。所述末端执行器的枢转速率的范围可以与所述第二可旋转构件的旋转速率的范围匹配。因此，所述第一可旋转构件的相对慢的旋转速率可导致所述末端执行器的具有大致1∶1的比率的旋转速率。所述第二可旋转构件的相对慢的旋转速率可导致所述末端执行器的具有大致1∶1的比率的枢转速率。所述第一可旋转构件的相对快的旋转速率可导致所述末端执行器的具有大于1∶1的比率的旋转速率。所述第二可旋转构件的相对快的旋转速率可导致所述末端执行器的具有大于1∶1的比率的枢转速率。
根据本公开的另一方案，提供了一种操作手术装置的方法。所述方法包括提供一种手术装置的步骤，所述手术装置包括：手柄，其被配置为由操作员的手以握手枪方式握持；从所述手柄延伸出的轴部，所述轴部限定了轴纵轴线；被支撑在轴部的远端上的末端执行器，所述末端执行器能够相对于所述轴部旋转和枢转；控制器，其被支撑在手柄上以便由操作员的用单手握持手柄的手的拇指致动。所述控制器包括第一可旋转构件和第二可旋转构件。所述第一可旋转构件被配置为沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向旋转和第二方向旋转。所述第二可旋转构件被配置为沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向枢转和第二方向枢转。所述方法进一步包括执行以下至少一个步骤：使所述第一可旋转构件旋转，以实现所述末端执行器相对于所述轴部的旋转；以及使所述第二可旋转构件旋转，以实现所述末端执行器相对于所述轴部的枢转。
根据本公开的一方案，提供了一种手术装置，其包括：联结至手柄的轴部，所述手柄限定了纵轴线；第一驱动器，其被配置为通过第一驱动轴致动旋转运动；第二驱动器，其被配置为通过第二驱动轴致动关节式运动；以及具有第一转盘和第二转盘的控制器。所述第一转盘被配置为致动所述第一驱动器，而所述第二转盘被配置为致动所述第二驱动器。所述第二转盘定位于所述第一转盘内。
所述第二转盘可以相对于所述第一转盘垂直定向。所述第一转盘和所述第二转盘可以是能够被同时操作的。
所述手术装置可以进一步包括用于实现所述旋转运动的第一霍尔效应开关和用于实现所述关节式运动的第二霍尔效应开关。
所述手术装置可以进一步包括用于提供与由使用者致动的所述旋转运动和所述关节式运动相关的反馈的反馈机构。所述反馈机构可以包括与所述第一转盘和所述第二转盘中的至少一个接触的板簧。
根据本公开的另一方案，提供了一种操作手术装置的方法。所述方法包括提供一种手术装置的步骤，所述手术装置包括：与末端执行器和手柄相互连接的轴部，所述轴部限定了纵轴线；第一驱动器，其被配置为通过第一驱动轴致动旋转运动；第二驱动器，其被配置为通过第二驱动轴致动关节式运动；以及具有第一转盘和第二转盘的控制器。所述第一转盘被配置为致动所述第一驱动器，而所述第二转盘被配置为致动所述第二驱动器。所述第二转盘定位于所述第一转盘内。所述方法进一步包括以下步骤：使所述第一转盘旋转，以实现末端执行器相对于所述轴部的旋转；和/或使所述第二转盘旋转，以实现末端执行器相对于所述轴部的关节式运动。
根据本公开的进一步方案，提供了一种手术装置，其包括：手柄；从所述手柄延伸出的轴部，所述轴部限定了纵轴线；被支撑在所述轴部的远端上的末端执行器；第一驱动器，其被配置为通过第一驱动轴实现所述末端执行器相对于所述轴部的旋转；第二驱动器，其被配置为通过第二驱动轴实现所述末端执行器相对于所述轴部的关节式运动；以及被支撑在手柄上的控制器，所述控制器具有第一转盘和定位于所述第一转盘内的第二转盘。所述第一转盘被配置为致动所述第一驱动器并且在其旋转时实现所述末端执行器相对于所述轴部的旋转。所述第二转盘被配置为致动所述第二驱动器，并通过第二驱动轴实现致动所述末端执行器相对于所述轴部的关节式运动。
所述第二转盘可以相对于所述第一转盘垂直定向。
所述手术装置可以进一步包括与所述第一转盘关联的第一霍尔效应开关和与所述第二转盘关联的第二霍尔效应开关。
所述手术装置可以进一步包括与所述第一转盘和所述第二转盘中的每一个均关联的反馈机构，所述反馈机构用于提供与传输给所述末端执行器的旋转和关节式运动相关的反馈。所述反馈机构可以包括与所述第一转盘和所述第二转盘中的每一个均接触的板簧。
所述手术装置可以被配置为使得：所述第一转盘的旋转实现所述末端执行器相对于所述轴部的旋转；以及所述第二转盘的旋转实现所述末端执行器相对于所述轴部的关节式运动。
所述第一转盘沿第一方向的旋转可实现所述末端执行器沿第一方向的旋转，而所述第一转盘沿第二方向的旋转可实现所述末端执行器沿第二方向的旋转。
所述第二转盘沿第一方向的旋转可实现所述末端执行器沿第一方向的关节式运动，而所述第二转盘沿第二方向的旋转可实现所述末端执行器沿第二方向的关节式运动。
所述手柄可以具有前置式配置。
附图说明
下面参照附图说明在此公开的手术器械的各种实施例，其中：
图1A是根据本公开的具有控制器的手术装置的立体图；
图1B是图1A的手术装置的示意性侧视图；
图2是根据本公开的控制器的立体图；
图3A和图3B是根据本公开的控制器的分解立体图；以及
图4是根据本公开的包含控制器的前置式手术装置的后视立体图。
具体实施方式
在附图和下面的说明书中，其中相似的附图标记表示相似或相同的元件，按照惯例，术语“近侧”将指的是在使用中设备的最靠近操作员的一端，而术语“远侧”将指的是设备的最远离操作员的一端。
参照图1A和图1B，示出了根据本公开的具有控制器的手术装置的立体图。
在图1A和图1B中，示出了手术装置800，其在一整体布置中可被配置为独立的，例如包括各种电机、驱动轴、控制系统等，因此可无需联接单独的机电式手术系统。此类布置的优点在于，手术装置800在使用之前可以不连接至单独布置的驱动系统。手术装置800可以被配置为特别适合于如通过插管(未示出)插入患者体内。手术装置800可以是夹紧、切割和吻合装置。
手术装置800可以包括可通过铰链部811c可枢转地联结至轴部811b的末端执行器或钳夹部811a。如图1A和图1B所示，轴部811b限定了纵轴线“D”。钳夹部811a可以包括具有远端和近端的第一钳夹850，以及具有远端和近端的第二钳夹880。第一钳夹850和第二钳夹880可以在它们相应的近端处或附近相对于彼此可枢转地联结。如图1A和图1B所示，第一钳夹850和第二钳夹880可以相对于彼此绕枢轴线“A”是可枢转的。在此布置中，所述钳夹可以被配置为使得：在第一钳夹850相对于第二钳夹880打开和关闭时以及第一钳夹850相对于第二钳夹880运动时，第一钳夹850和第二钳夹880(如它们的纵轴线)均保持在一个平面内。但是，应该理解，手术装置800可以替代地被配置为使第一钳夹850和第二钳夹880可以相对于彼此绕可不同于图1A和图1B所示枢轴线的枢轴线是可枢转的。
如上所述，钳夹部811a可以通过铰链部811c可枢转地联结至轴部811b。具体地，钳夹部811a可以相对于轴部811b绕枢轴线“B”是可枢转的，所述枢轴线可以定位在钳夹部811a和轴部811b上或它们之间的任何位置，并可定位于相对于钳夹部811a和轴部811b的任何周向位置处。在所示的示例性实施例中，枢轴线B可以沿垂直方向并位于纸面内。在此布置中，钳夹部811a和轴部811b可以被配置为使得：在钳夹部811a相对于轴部811b关节式运动时以及钳夹部811a相对于轴部811b运动时，钳夹部811a和轴部811b保持在可与枢轴线“B”垂直的平面内。应该认识到，在其他示例性实施例中，枢轴线“B”可以具有不同的方位，以使钳夹部811a能够在不同平面内枢转。钳夹部811a可以相对于轴部811b枢转到任何角度以及可以在任何角度之间枢转，以使钳夹部811a可以在使用时根据需要选择性定位。
此外，手术装置800可以使得各个部件绕手术装置800的纵轴线旋转。例如，在各种实施例中，钳夹部811a和/或轴部811b可以相对于手柄8103(下面将详细说明)是可旋转的。手柄8103联接至轴部811b的近端并且可以绕纵轴线“D”是可旋转的。轴部811b限定了连接至钳夹部811a的远侧部8101a和连接至手柄8103的近侧部8101b。
一般地，手柄8103可以由操作员握持以操作手术装置800。手柄8103包括：近侧部或基部8102；从基部8102延伸出的中间部8104，所述中间部8104可以包括多个手指致动式控制按钮8107、8108；以及连接至轴部811b的远侧部或上部8105。
可以参照公开号为2009/0101692的美国专利，其中关于钳夹部811a和手术装置800的构造和操作的更详细描述通过引用合并于此。
根据本公开，手柄8103被设计和构造成为操作员改善人体工程学并增加舒适性。在这点上，手柄8103的中间部8104可限定从由轴部811b限定的纵轴线“D”以一角度延伸出的纵轴线“C”。特别地，如图1B所示，手柄8103的中间部8104的纵轴线“C”相对于由轴部811b限定的纵轴线“D”限定了大致30°的倾斜角。
图1A和图1B还示出了控制器2000，下面将参照图2至图4详细说明。控制器2000用于实现钳夹部811a相对于轴部811b的枢转，以及实现钳夹部811a相对于轴部811b或轴部811b相对于手柄8103绕纵轴线“D”的旋转。
控制器2000可以包括第一可旋转构件2100(呈轮盘或转盘形式)和第二可旋转构件2200(呈轮盘或转盘形式)。第一可旋转构件2100可以与第二可旋转构件2200可操作地连通，并且二者都可以被支撑在壳体2300内。第一可旋转构件2100可用于控制手术装置800的一个或多个部件的旋转运动，而第二可旋转构件2200可用于控制手术装置800的一个或多个部件的纵向/关节式/枢转运动。例如，第一可旋转构件2100可用于使钳夹部811a绕枢轴线“B”枢转，而第二可旋转构件2200可用于使钳夹部811a绕纵轴线“D”枢转。因此，手术装置800的控制器2000可以作为旋转/关节式运动/枢转控制器。
在示例性实施例中，控制器2000可以是双轮盘/转盘配置，该配置可被适当地定位在例如手柄8103的顶表面或后表面上，并且被定尺寸为使得当操作员以握手枪方式握住手柄8103时可由操作员的拇指致动。如上所述，可以想到，当控制器2000位于手柄8103的上部8105的后表面上时，手柄8103可以被设计和配置成为操作员提供更舒适的人体工程学。在实施例中，可以想到，控制器2000布置在手柄8103上以与轴部811b的纵轴线“D”对准。如图3A和3B所示，第一可旋转构件2100限定了与由轴部811b限定的纵轴线“D”基本平行或成锐角的旋转轴线“E”。另外，如图3A和3B所示，第二可旋转构件2200限定了与第一可旋转构件2100的旋转轴线“E”基本正交的旋转轴线“F”。可以进一步想到，第一可旋转构件2100的旋转轴线“E”和第二可旋转构件2200的旋转轴线“F”彼此相交。
虽然控制器2000示出为双转盘机构，但是本领域的技术人员可以想到包括多个不同转盘的控制器，这些转盘具有多种不同的形状和尺寸并在手术装置800的任何部分上以多种配置或方位相互连接。例如，在一个实施例中，控制器2000可以包括至少一对转盘，每个转盘限定了旋转轴线，其中各旋转轴线彼此基本平行。在另一个实施例中，控制器2000可以包括至少一对共用公共旋转轴线的同心转盘。可以进一步想到，控制器2000可以包括被支撑在手柄8103中以便沿任何轴线旋转的球体。根据本公开的另一个实施例，第一可旋转构件2100和第二可旋转构件2200彼此嵌套。
在使用中，第一可旋转构件2100沿顺时针方向的旋转可实现钳夹部811a相对于手柄8103沿顺时针方向的旋转，而第一可旋转构件2100沿逆时针方向的旋转可实现钳夹部811a相对于手柄8103沿逆时针方向的旋转。类似地，第二可旋转构件2200沿顺时针方向的旋转可实现钳夹部811a相对于手柄8103沿第一方向的枢转，而第二可旋转构件2200沿逆时针的方向旋转可实现钳夹部811a相对于手柄8103沿第二方向的枢转，其中所述第二方向与所述第一方向相反。
根据本公开，可以想到，使用者或操作员使第一可旋转构件2100旋转的速度可以控制钳夹部811a的旋转速度，而使用者使第二可旋转构件2200旋转的速度可以控制钳夹部811a的枢转速度。可以进一步想到，第一可旋转构件2100的旋转增大会导致钳夹部811a的旋转增大，而第二可旋转构件2200的旋转增大会导致钳夹部811a的枢转增大。换句话说，钳夹部811a的旋转速度与第一可旋转构件2100的旋转速度匹配，而钳夹部811a的枢转速度与第二可旋转构件2200的旋转速度匹配。这样，如果操作员使第一可旋转构件2100和/或第二可旋转构件2200慢速旋转，则会使钳夹部811a慢速旋转和/或枢转，而如果操作员使第一可旋转构件2100和/或第二可旋转构件2200快速旋转，则会使钳夹部811a快速旋转和/或枢转。
可以进一步想到，操作员使第一可旋转构件2100和/或第二可旋转构件2200旋转的速率将改变或决定钳夹部811a的旋转和/或枢转的程度。例如，如果操作员使第一可旋转构件2100和/或第二可旋转构件2200慢速旋转，则钳夹部811a将以所选的第一速率(如以大致1∶1的比率)旋转和/或枢转。但是，如果操作员使第一可旋转构件2100和/或第二可旋转构件2200快速旋转，则钳夹部811a将以比所述第一速率快的所选的第二速率(如以大致2∶1或3∶1的比率或者大于1∶1的任何期望比率)旋转和/或枢转。
参照图3A和3B，示出了根据本公开的图2的控制器2000的分解立体图。
如图3A和3B所示，控制器2000包括第一可旋转构件2100，第一可旋转构件2100为支撑多个磁体2120的旋转轮盘2110的形式。多个磁体2120以交替的北极和南极绕旋转轮盘2110的周界的形式被支撑在旋转轮盘2110中/上。控制器2000的第一可旋转构件2100可旋转地被支撑在支撑壳体2300上或周围，并限定了旋转轴线“E”。
控制器2000进一步包括第二可旋转构件2200，第二可旋转构件2200为支撑多个磁体2220的旋转轮盘2210的形式。多个磁体2220可以以交替的北极和南极绕旋转轮盘2210的周界的形式被支撑在旋转轮盘2210中/上。旋转轮盘2210可旋转地被支撑在支撑壳体2300中/上，并限定了旋转轴线“F”。控制器2000进一步包括与旋转轮盘2110和2210可操作地关联的基部构件2400。
基部构件2400将多个霍尔效应开关支撑在其上。特别地，基部构件2400将第一霍尔效应开关2130支撑在其上，以使第一霍尔效应开关2130与旋转轮盘2110的多个磁体2120磁性配准。基部构件2400还将第二霍尔效应开关2230支撑在其上，以使第二霍尔效应开关2230与旋转轮盘2210的多个磁体2220磁性配准。虽然示出和描述了霍尔效应开关2130和2230，但是在本公开的范围内，控制器2000可以设置有光学传感器、与所述光学传感器配准的照明构件等，以完成所述霍尔效应开关的任务和目的。
控制器2000包括被配置为通过紧固构件2502支撑支撑壳体2300和基部构件2400的背衬构件2500。控制器2000进一步包括以半弹簧(half-spring)形式被支撑在基部构件2400上的棘轮构件2410。棘轮构件2410与形成在第一可旋转构件2100上的一组棘轮齿2130和形成在第二可旋转构件2200上的一组棘轮齿2230可操作地接合。由于第一可旋转构件2100和/或第二可旋转构件2200旋转时会发出咔嗒声，棘轮构件2410可以为使用者提供一定程度的触觉和/或听觉反馈。例如，可以在旋转构件2100、2200的表面上设置一系列凸起物或肋状物，并且可以在相对于可旋转构件2100、2200的凸起物/肋状物并置的表面上设置至少一个凸起物。可以进一步想到，可听到的声音可以根据本领域技术人员已知的任何方法进行电子合成。
可以想到，控制器2000可以设置有呈灯、LED、符号等形式的视觉指示器，所述视觉指示器为操作员提供钳夹部811a的旋转/枢转方向和/或当钳夹部811a居中或处于原位时的视觉指示。
在操作中，随着第一可旋转构件2100被旋转，在其上支撑的磁体2120相对于第一霍尔效应开关2130运动，以致动第一霍尔效应开关2130，而第一霍尔效应开关2130使得与其连接的电路板(未示出)为手术装置800的驱动部件(例如，如图1A示出的第一驱动轴1110a)提供适当的信号，以实现钳夹部811a的旋转。此外，随着第二可旋转构件2200被旋转，在其上支撑的磁体2220相对于第二霍尔效应开关2230运动，以致动第二霍尔效应开关2230，而第二霍尔效应开关2230使得与其连接的电路板(未示出)为手术装置800的驱动部件(例如，如图1A示出的第二驱动轴1110b)提供适当的信号，以实现钳夹部811a的枢转。
有益地，第一可旋转构件2100沿第一方向的旋转将实现钳夹部811a沿第一方向的旋转，而第一可旋转构件2100沿第二方向的旋转将实现钳夹部811a沿第二方向的旋转。类似地，第二可旋转构件2200沿第一方向的旋转将实现钳夹部811a沿第一方向的枢转，而第二可旋转构件2200沿第二方向的旋转将实现钳夹部811a沿第二方向的枢转。
如上所述，控制器2000被配置为包括第一可旋转构件2100和第二可旋转构件2200，其中第二轮盘2200可以至少部分地定位于第一可旋转构件2100内，并且其中第二可旋转构件2200可相对于第一可旋转构件2100垂直定向。而且，控制器2000可以包括第一可旋转构件2100和第二可旋转构件2200，其中可允许第一可旋转构件2100和第二可旋转构件2200被同时操作。然而，可以想到，在第二可旋转构件2200被操作时，第一可旋转构件2100可以被锁定，反之亦然。
参照图4，示出了根据本公开的包含控制器2000的手术装置800的后视立体图，其中所述手术装置具有前置式配置。特别地，如上面参照图1B的描述，手术装置包括从手柄8103的上部8105向近侧延伸出并与其成角度的中间部8104。
根据前述内容并参照各个附图，本领域的技术人员能够认识到还可以在不偏离本公开的范围的情况下对本公开作出特定的修改。尽管在附图中已经示出了本公开的许多实施例，但是这些实施例不旨在对本公开的限制，本公开应该在本技术领域允许的范围内做广义理解，说明书内容也应该以此方式理解。因此，上述说明不应被理解为对本发明的限制，而只能理解为特定实施例的示例。本领域的技术人员在随附的权利要求的范围和精神之内可以设计其他修改方案。

Claims (20)

1.一种手术装置，包括：
手柄，其被配置为由操作员的手握持；
联结至所述手柄的轴部，所述轴部限定了轴纵轴线；
末端执行器，其被支撑在所述轴部的远端上以便相对于所述轴部旋转和枢转；
第一驱动轴，其贯穿所述轴部延伸并可操作地连接至所述末端执行器，以实现所述末端执行器绕所述轴部的所述轴纵轴线的旋转；
第二驱动轴，其贯穿所述轴部延伸并可操作地连接至所述末端执行器，以实现所述末端执行器相对于所述轴部的所述轴纵轴线的枢转；以及
控制器，其在单一位置被支撑在所述手柄上以便由操作员的握持手柄的手的拇指致动，所述控制器包括：
第一可旋转构件；以及
第二可旋转构件；
所述第一可旋转构件被配置为在其对应的第一方向和第二方向旋转时使所述第一驱动轴沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向旋转和第二方向旋转；并且
所述第二可旋转构件被配置为在其对应的第一方向和第二方向旋转时使所述第二驱动轴沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向枢转和第二方向枢转。
2.根据权利要求1所述的手术装置，其中，所述第一可旋转构件限定了一旋转轴线，且所述第二可旋转构件限定了一旋转轴线，其中所述第二可旋转构件的旋转轴线相对于所述第一可旋转构件的旋转轴线正交定向。
3.根据权利要求1所述的手术装置，其中，所述第一可旋转构件限定了一旋转轴线，且所述第二可旋转构件限定了一旋转轴线，其中所述第二可旋转构件的旋转轴线相对于所述第一可旋转构件的旋转轴线基本平行。
4.根据权利要求3所述的手术装置，其中，所述第二可旋转构件的旋转轴线相对于所述第一可旋转构件的旋转轴线是同心的。
5.根据权利要求1所述的手术装置，其中，所述第一可旋转构件和所述第二可旋转构件彼此嵌套。
6.根据权利要求1所述的手术装置，其中，所述控制器包括：
与所述第一可旋转构件关联的第一霍尔效应开关，其用于实现所述第一驱动轴的旋转；以及
与所述第二可旋转构件关联的第二霍尔效应开关，其用于实现所述第二驱动轴的旋转。
7.根据权利要求1所述的手术装置，进一步包括反馈机构，其用于提供与所述末端执行器的旋转运动和枢转运动相关的触觉反馈和听觉反馈中的至少一种反馈。
8.根据权利要求7所述的手术装置，其中，所述反馈机构包括与设置在所述第一可旋转构件和所述第二可旋转构件中的每一个上的齿接合的板簧。
9.根据权利要求1所述的手术装置，其中，所述末端执行器可枢转地连接至所述轴部的远端，以便在单一平面内绕与所述轴纵轴线基本正交延伸的枢轴线枢转。
10.根据权利要求1所述的手术装置，其中，所述末端执行器的旋转速率的范围与所述第一可旋转构件的旋转速率的范围匹配，并且其中所述末端执行器的枢转速率的范围与所述第二可旋转构件的旋转速率的范围匹配。
11.根据权利要求10所述的手术装置，其中，所述第一可旋转构件的相对慢的旋转速率导致所述末端执行器的具有大致1∶1的比率的旋转速率；其中，所述第二可旋转构件的相对慢的旋转速率导致所述末端执行器的具有大致1∶1的比率的枢转速率；其中，所述第一可旋转构件的相对快的旋转速率导致所述末端执行器的具有大于1∶1的比率的旋转速率；其中，所述第二可旋转构件的相对快的旋转速率导致所述末端执行器的具有大于1∶1的比率的枢转速率。
12.根据权利要求1所述的手术装置，其中，所述手柄包括：
支撑所述轴部的上部；以及
从所述上部延伸出的中间部，其中所述中间部限定了纵轴线，其中所述中间部的所述纵轴线相对于所述轴纵轴线成大致30°角定向。
13.根据权利要求1所述的手术装置，其中，所述末端执行器包括钳夹部。
14.根据权利要求1所述的手术装置，其中，所述第一可旋转构件或者所述第二可旋转构件中的至少一个进一步包括支撑在其上的多个磁体。
15.一种手术装置，包括：
手柄，其被配置为由操作员的手以握手枪方式握持；
从所述手柄延伸出的轴部，所述轴部限定了轴纵轴线；
被支撑在所述轴部的远端上的末端执行器，所述末端执行器能够相对于所述轴部旋转和枢转；以及
控制器，其在单一位置被支撑在所述手柄上以便由操作员的握持所述手柄的手的拇指致动，所述控制器包括：
第一可旋转构件；以及
第二可旋转构件；
所述第一可旋转构件被配置为沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向旋转和第二方向旋转；并且
所述第二可旋转构件被配置为沿第一方向和第二方向中的一个方向旋转，以实现所述末端执行器相对于所述轴部的对应的第一方向枢转和第二方向枢转。
16.根据权利要求15所述的手术装置，其中，所述第一可旋转构件限定了一旋转轴线，且所述第二可旋转构件限定了一旋转轴线，其中所述第二可旋转构件的旋转轴线相对于所述第一可旋转构件的旋转轴线正交定向。
17.根据权利要求15所述的手术装置，其中，所述控制器包括：
与所述第一可旋转构件关联的第一霍尔效应开关，其用于实现所述末端执行器的旋转；以及
与所述第二可旋转构件关联的第二霍尔效应开关，其用于实现所述末端执行器的旋转。
18.根据权利要求15所述的手术装置，其中，所述末端执行器可枢转地连接至所述轴部的远端，以便在单一平面内绕与所述轴纵轴线基本正交延伸的枢轴线枢转。
19.根据权利要求15所述的手术装置，其中，所述末端执行器的旋转速率的范围与所述第一可旋转构件的旋转速率的范围匹配，并且其中所述末端执行器的枢转速率的范围与所述第二可旋转构件的旋转速率的范围匹配。
20.根据权利要求19所述的手术装置，其中，所述第一可旋转构件的相对慢的旋转速率导致所述末端执行器的具有大致1∶1的比率的旋转速率；其中，所述第二可旋转构件的相对慢的旋转速率导致所述末端执行器的具有大致1∶1的比率的枢转速率；其中，所述第一可旋转构件的相对快的旋转速率导致所述末端执行器的具有大于1∶1的比率的旋转速率；其中，所述第二可旋转构件的相对快的旋转速率导致所述末端执行器的具有大于1∶1的比率的枢转速率。
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US20130274797A1 (en) 2013-10-17
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AU2011218768B2 (en) 2014-05-22
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CA2751089A1 (en) 2012-05-19
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