CN103536325A - 在手术手柄组件和手术末端执行器间使用的手术接合器组件 - Google Patents
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Abstract
本发明公开了一种在手术手柄组件和手术末端执行器间使用的手术接合器组件。本发明提供了用于将被配置执行功能的手术末端执行器和被配置为致动所述末端执行器的手术装置选择性地互相连接的接合器组件,所述末端执行器包括至少一个可轴向平移的驱动构件,并且所述手术装置包括至少一个可旋转驱动轴。所述接合器组件包括至少一个驱动转换器组件,所述驱动转换器组件包括:驱动轴;驱动联接螺母,其螺纹连接到所述驱动轴的远侧端部;以及可轴向平移的驱动杆,其连接到所述驱动联接螺母,其中所述驱动轴的旋转引起所述驱动杆的轴向平移。驱动联接螺母与所述驱动轴的所述螺纹远侧端部的29个齿接合。驱动联接螺母由未增强的PEEK热塑性聚合物制造。
Description
相关申请的交叉引用
本申请要求于2012年7月9日提交的序列号为61/669,208的美国临时申请的权益和优先权,其全部内容通过引用合并于此。
技术领域
本公开涉及手术装置。更具体地,本公开涉及手术接合器和/或接合器组件,所述手术接合器和/或接合器组件在动力的、旋转和/或关节式运动的手术装置或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用于将其相互连接。
背景技术
有一种类型的手术装置是一种直线型夹紧、切割和吻合装置。在手术操作中,可以使用这样的装置来切除胃肠道中癌变的或异常的组织。传统的直线型夹紧、切割和吻合器械包括具有细长轴和远侧部的手枪握把样式的结构。远侧部包括一对剪刀样式的夹持元件,夹紧闭合结肠的开口端部。在本装置中,两个剪刀样式的夹持元件中的一个元件(如砧座部)相对于整个结构移动或枢转,而另一个夹持元件相对于整个结构保持固定。该剪切装置的致动(砧座部的枢转)是由保持在手柄中的握持柄扳机来控制。
除了剪切装置以外,远侧部还包括吻合机构。剪切机构的固定夹持元件包括吻合钉钉仓接纳区域和用来驱动吻合钉紧靠砧座部向上穿过组织的被夹紧端部从而密封先前开口端部的机构。剪切元件可以与所述轴一体形成或者是可以拆卸的使得各种剪切元件和吻合元件可以互换。
许多手术装置的生产商已经开发出具有适用于操作和/或操纵所述手术装置的专用驱动系统的产品线。在许多实例中,所述手术装置包括:可重复使用的动力手柄组件;以及一次性末端执行器或同类物,在使用前,其可以选择性地被连接到所述动力手柄组件上,然后,在使用后,再从所述末端执行器断开连接以便于被处置或在一些实例中被消毒以重复使用。与许多现有的动力手术装置和/或手柄组件一起使用的许多现有的末端执行器都是由线性力来驱动。例如,适合于执行腔内胃肠直线切割吻合术操作、端-端吻合术操作以及横向吻合术操作的末端执行器通常均需要线性驱动力以便于被操作。因此,这些末端执行器与使用旋转运动来传递动力等的手术装置和/或手柄组件无法配合使用。
为了使所述线性驱动的末端执行器与使用旋转运动来传递动力的动力手术装置和/或手柄组件互相配合使用,需要使用接合器和/或接合器组件在所述线性驱动的末端执行器和所述动力旋转驱动的手术装置和/或手柄组件之间进行交接并且将其相互连接。
这些接合器和/或接合器组件必须能够将能旋转的驱动螺钉的旋转转换成驱动杆等的线性运动。这种力转换在力转换接口处对系统产生了相对高度的应变。此外,这些接合器和/或接合器组件必须经历若干高压灭菌周期而在力转换接口处没有系统的恶化。
因此,存在由生物兼容性材料构造的接合器和/或接合器组件的需要,其能够耐蒸汽和清洁剂的腐蚀,并且所述材料具有相对高的疲劳生命周期。
发明内容
本公开涉及手术接合器和/或接合器组件,所述手术接合器和/或接合器组件在动力的、旋转和/或关节式运动的手术装置或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用于将其相互连接。
根据本公开的一个方案,提供了一种接合器组件,用来将被配置为执行功能的手术末端执行器和被配置为致动所述末端执行器的手术装置选择性地互相连接,所述末端执行器包括至少一个可轴向平移的驱动构件,并且所述手术装置包括至少一个可旋转驱动轴。
所述接合器组件包括:至少一个驱动转换器组件,用于将所述手术装置的所述至少一个可旋转驱动轴中的相应一个驱动轴和所述末端执行器的所述至少一个可轴向平移的驱动构件中的一个驱动构件互相连接,其中所述至少一个驱动转换器组件包括:第一端部,能够连接到所述手术装置的第一可旋转驱动轴;以及第二端部,能够连接到所述末端执行器的第一可轴向平移的驱动构件,其中,所述至少一个驱动转换器组件将所述手术装置的所述第一可旋转驱动轴的旋转转换并传递成所述末端执行器的所述第一可轴向平移的驱动构件的轴向平移。
所述至少一个驱动转换器组件包括:驱动轴,旋转地布置在所述壳体和外管内,其中,所述至少一个驱动转换器组件的所述驱动轴的近侧端与联接套管进行可操作连通,其中,所述至少一个驱动转换器组件的驱动轴具有螺纹远侧端部;驱动联接螺母,其螺纹连接到所述至少一个驱动转换器组件的所述驱动轴的远侧端部,其中,所述驱动联接螺母相对于所述至少一个驱动转换器组件的驱动轴的轴向旋转被抑制;以及可轴向平移的驱动杆,其具有连接至所述驱动联接螺母的近侧部和被配置为并且适于选择性地连接至所述末端执行器的可轴向平移的驱动构件的远侧部。
在使用中,所述手术装置的所述第一可旋转驱动轴的旋转引起所述至少一个驱动转换器组件的所述驱动轴的旋转,并且其中,所述至少一个驱动转换器组件的驱动轴的旋转引起所述驱动联接螺母以及连接到所述驱动联接螺母的驱动杆的轴向平移。
所述至少一个驱动转换器组件的驱动联接螺母可以与所述驱动轴的螺纹远侧端部的25个至36个之间的齿(优选为29个齿)接合。
所述至少一个驱动转换器组件的驱动联接螺母可以由未增强的聚醚醚酮(PEEK)热塑性聚合物制造。
所述至少一个驱动转换器组件的驱动轴的螺纹远侧端部可以被配置为统一系列的螺纹牙形(UNC#4-48等级3A)。
所述至少一个驱动转换器组件的驱动轴的螺纹远侧端部通过表面硬化、轧制、旋风切削和/或电解抛光处理。
所述至少一个驱动转换器组件可以包括邻近驱动联接螺母的近侧表面布置的第一垫圈,以及抵靠驱动联接螺母的远侧表面布置的第二垫圈。
所述至少一个驱动转换器组件的驱动联接螺母可以包括至少一个外环形肋。
所述接合器组件还可以包括壳体,壳体被配置为并且适于与所述手术装置相连接并且能够与所述手术装置的所述至少一个可旋转驱动轴中的每一个驱动轴进行可操作连通。
所述接合器组件还可以包括外管,所述外管具有由所述壳体支承的近侧端以及被配置为并且适于与所述末端执行器相连接的远侧端,其中所述外管的所述远侧端与所述末端执行器的所述至少一个可轴向平移的驱动构件中的每一个驱动构件进行可操作连通。
根据本公开的另一个方案,提供一种制备接合器组件的方法,其中所述接合器组件将手术末端执行器和手术装置选择性地互相连接。所述方法包括步骤:提供由未增强的聚醚醚酮(PEEK)热塑性聚合物构造的驱动联接螺母;以及提供包括近侧端的驱动轴,所述近侧端被配置为接纳所述手术装置的可旋转的驱动轴的旋转。驱动轴制备包括如下步骤:对驱动轴的至少远侧端进行表面硬化;在对驱动轴的远侧端进行表面硬化后,对驱动轴的远侧端进行旋风切削;以及在对驱动轴的远侧端进行旋风切削后,对驱动轴的远侧端进行电解抛光。制备接合器组件的方法还包括如下步骤:提供驱动杆;将所述驱动杆固定到所述驱动联接螺母;以及将所述驱动联接螺母螺纹连接到驱动轴的螺纹远侧端。
组装后的驱动杆、驱动联接螺母以及驱动轴限定了驱动转换器组件,所述驱动转换器组件被配置为将所述手术装置的可旋转驱动轴和所述末端执行器的可轴向平移的驱动构件互相连接,其中所述驱动转换器组件将所述手术装置的所述第一可旋转驱动轴的旋转转换并传递成所述末端执行器的所述第一可轴向平移的驱动构件的轴向平移。
在使用中,所述手术装置的所述第一可旋转驱动轴的旋转引起所述至少一个驱动转换器组件的驱动轴的旋转,并且其中,所述至少一个驱动转换器组件的驱动轴的旋转引起所述驱动联接螺母、连接到所述驱动联接螺母的驱动杆的轴向平移。
附图说明
这里参照附图描述了本公开的各种实施例,其中:
图1是根据本公开实施例的部件分离的手术装置和接合器组件的立体图,图示了其与末端执行器的连接情况;
图2是图1中所述手术装置的立体图;
图3是手术装置和接合器组件中的每一个的连接端部的立体图,图示了其间的连接情况;
图4是图1中所述接合器组件的立体图;
图5是图1至图4中的所述接合器组件的部件分离的立体图;
图6是通过图4的6-6取得的图1至图5中所述接合器组件的剖视图;
图7是图6中细节指示区域的放大的立体图;
图8是与本公开所述手术装置和所述接合器组件一起使用的示例性末端执行器的部件分离的立体图;以及
图9是LED输出的示意图;电动机选择示意图(选择夹紧/切割,旋转或关节式运动);以及执行所选定功能的所述驱动电动机选择示意图。
具体实施方式
现在将参照附图详细描述本公开的手术装置,以及适用于手术装置和/或手柄组件的接合器组件的实施例,其中在几幅附图的每幅附图中相同附图标记指代相同的或对应的元件。在本文中使用时,术语“远侧”是指较远离用户的所述接合器组件或手术装置的部分或其部件,而术语“近侧”是指较接近用户的所述接合器组件或手术装置的部分或其部件。
根据本公开的实施例,手术装置总体被指定为100,且被配置为一种动力手持式机电器械的形式,用来选择性地将多个不同的末端执行器附接于此,配置每一个末端执行器是为了使用所述动力手持式机电手术器械来实现致动和操纵。
如图1所图示,手术装置100被配置为用来选择性地连接接合器组件200,然后,依次地,接合器组件200被配置为选择性地连接末端执行器或单次使用装载单元300。
如图1至图2所图示,手术装置100包括手柄壳体102,手柄壳体102包括下壳体部104、中间壳体部106以及上壳体部108,其中,中间壳体部106是从下壳体部104延伸出和/或被支承在下壳体部104上,上壳体部108是从中间壳体部106延伸出和/或被支承在中间壳体部106上。中间壳体部106和上壳体部108被分成远侧半体和近侧半体,其中,远侧半体是从下壳体部104延伸出且与之整体成形,近侧半体通过采用多个紧固件可与远侧半体相连接。当连结时,远侧半体与近侧半体限定了手柄壳体102,手柄壳体102内有空腔,电路板(未显示)和驱动机构(未显示)被设置在空腔中。
参照图1至图3,上壳体部108的远侧半体限定了鼻部或连接部108a。鼻锥114被支承在上壳体部108的鼻部108a上。鼻锥114是由透明材料制造。照明构件(未显示)被布置在鼻锥114内使得透过鼻锥114可见照明构件。照明构件采用发光二极管印刷电路板(LED PCB)的形式。照明构件被配置为照射多种颜色,特定彩色图案与独特离散事件有关。
手柄壳体102的上壳体部108提供了驱动机构位于其中的壳体。驱动机构配置为驱动轴和/或齿轮部件以便于执行手术装置100的各种操作。特别地,驱动机构配置为驱动轴和/或齿轮部件,以便于相对于末端执行器300的近侧主体部302选择性地移动末端执行器300的工具组件304(参照图1和图8)、使得末端执行器300相对于手柄壳体102绕纵向轴线“X”(参照图4)旋转、使得砧座组件306相对于末端执行器300的钉仓组件308移动,和/或在末端执行器300的钉仓组件308内发射吻合和切割钉仓。
如图1至图3所示,且如上所述,上壳体部108的远侧半体限定了连接部108a,连接部108a配置为接受接合器组件200的对应的驱动联接组件210。
如图2和图3所示,手术装置100的连接部108a具有圆柱形凹槽108b,以当接合器组件200与手术装置100匹配时接纳接合器组件200的驱动联接组件210。连接部108a容纳三个可旋转的驱动连接器118、120、122。
当接合器组件200与手术装置100匹配时,手术装置100的可旋转的驱动连接器118、120、122中的每一个驱动连接器与接合器组件200对应的可旋转的连接器套管218、220、222相联接(参见图3)。在这点上,对应的第一驱动连接器118和第一连接器套管218之间的交接,对应的第二驱动连接器120和第二连接器套管220之间的交接,以及对应的第三驱动连接器122和第三连接器套管222之间的交接都是键联接,以便于手术装置100的驱动连接器118、120、122中的每一个驱动连接器的旋转都会引起接合器组件200的对应的连接器套管218、220、222的对应的旋转。
手术装置100的驱动连接器118、120、122与接合器组件200的连接器套管218、220、222的匹配允许经由三个对应的连接器交接中的每一个独立地传递旋转力。手术装置100的驱动连接器118、120、122被配置为通过驱动机构独立旋转。在这点上,驱动机构的功能选择模块会选择由驱动机构的输入驱动部件来驱动手术装置100的驱动连接器118、120、122中的哪一个或哪几个。
因为手术装置100的驱动连接器118、120、122中的每一个驱动连接器都是与接合器组件200的相应的连接器套管218、220、222进行键联接和/或基本上非旋转的交接,当接合器组件200被联接到手术装置100时,会选择性地将旋转力从手术装置100的驱动机构传递给接合器组件200。
手术装置100的驱动连接器118、120和/或122的选择性的旋转允许手术装置100选择性地致动末端执行器300的不同功能。如下面更详细地讨论,手术装置100的第一驱动连接器118的选择性的且独立的旋转对应于末端执行器300的工具组件304的选择性的且独立的打开和闭合,以及对应于末端执行器300的工具组件304的吻合/切割部件的驱动。同样,手术装置100的第二驱动连接器120的选择性的且独立的旋转对应于末端执行器300的工具组件304的横向于纵向轴线“X”(参照图4)的选择性且独立的关节式运动操作。另外,手术装置100的第三驱动连接器122的选择性的且独立的旋转对应于末端执行器300相对于手术装置100的手柄壳体102的绕纵向轴线“X”(参照图4)的选择性的且独立的旋转。
如图1和图2所示,手柄壳体102支承一对手指致动的控制按钮124、126和摇杆装置128、130。
第一控制按钮124的致动引起末端执行器300的工具组件304闭合和/或引起在末端执行器300的工具组件304内吻合/切割钉仓发射。
摇杆装置128在第一方向上的致动引起工具组件304相对于主体部302在第一方向上进行关节式运动,而摇杆装置128在相反方向(如第二方向)上的致动会引起工具组件304相对于主体部302在相反方向(如第二方向)上进行关节式运动。
控制按钮126的致动会引起末端执行器300的工具组件304打开。
摇杆装置130的致动会引起末端执行器300相对于手术装置100的手柄壳体102旋转。特别地,摇杆装置130在第一方向上的移动会引起末端执行器300相对于手柄壳体102在第一方向上旋转,而摇杆装置130在相反方向(如第二方向)上移动会引起末端执行器300相对于手柄壳体102在相反方向(如第二方向)上旋转。
如图1至图3所示,手术装置100被配置为用来选择性地与接合器组件200相连接,然后,依次地,接合器组件200被配置为用来选择性地与末端执行器300相连接。
接合器组件200配置为用来将手术装置100的驱动连接器120和122中任何一个驱动连接器的旋转转换成用于操作末端执行器300的驱动组件360和关节式运动连杆366的轴向平移,如图8所示。
接合器组件200可以包括用于将手术装置100的第三可旋转驱动连接器122与末端执行器300的第一可轴向平移的驱动构件相互连接的第一驱动传递/转换组件,其中,第一驱动传递/转换组件将手术装置100的第三可旋转驱动连接器122的旋转转换并传递成用来发射的末端执行器300的第一可轴向平移的驱动组件360的轴向平移(见图8)。
接合器组件200可以包括用于将手术装置100的第二可旋转驱动连接器120和末端执行器300的第二可轴向平移的驱动构件相互连接的第二驱动传递/转换组件,其中,第二驱动传递/转换组件将手术装置100的第二可旋转驱动连接器120的旋转转换并传递成用来关节式运动的末端执行器300的关节式运动连杆366的轴向平移(见图8)。
现在转向图4至图7,接合器组件200包括旋钮壳体202和从旋钮壳体202的远侧端延伸的外管206。旋钮壳体202和外管206被配置和定尺寸为容纳接合器组件200的部件。外管206被定尺寸为用于内窥镜插入,特别地,外管可通过典型的套管针口、插管等。旋钮壳体202被定尺寸为无法进入套管针口、插管等。
旋钮壳体202被配置且适于连接到手术装置100的远侧半体的上壳体部108的连接部108a。
如图4至图7所示,接合器组件200包括在其近侧端处的手术装置驱动联接组件210和在其远侧端处的末端执行器联接组件230。
接合器组件200包括如上所述的被布置在手柄壳体202和外管206内的第一驱动传递/转换组件、第二驱动传递/转换组件和第三驱动传递/转换组件。每个驱动传递/转换组件被配置且适于将手术装置100的第一驱动连接器118、第二驱动连接器120和第三驱动连接器122的旋转传递或转换成接合器组件200的驱动杆的轴向平移,从而实现末端执行器300的闭合、打开、关节式运动和发射;或者从而实现接合器组件200的旋转。
特别地,接合器组件200包括布置在手柄壳体202和外管206内的第一驱动传递/转换组件240。驱动传递/转换组件240被配置且适于将手术装置100的第一驱动连接器118的旋转传递或转换成接合器组件200的驱动管246的轴向平移,从而实现末端执行器300的闭合、打开、关节式运动和发射。
如图4至图7所示,第一驱动传递/转换组件240包括被可旋转地支承在壳体202和外管206内的第一远侧驱动轴242。第一远侧驱动轴242的近侧端部242a被键联接到正齿轮242c上。第一远侧驱动轴242还包括具有螺纹外轮廓或表面的远侧端部242b。
根据本公开,第一远侧驱动轴242的远侧端部242b的螺纹外轮廓可以被配置为统一系列的螺纹牙形(UNC#4-48等级3A)。此外,根据本公开,第一远侧驱动轴242的远侧端部242b的螺纹外轮廓通过螺纹旋转切削或轧制以硬化表面、紧接着通过二次电解抛光以使表面光滑而制成。第一远侧驱动轴242的远侧端部242b的螺纹外轮廓的电解抛光用于与驱动联接螺母244的PEEK材料交接的螺纹光滑以增加其间的耐磨性和寿命。
第一驱动传递/转换组件240还包括驱动联接螺母244,驱动联接螺母244可旋转地联接到第一远侧驱动轴242的螺纹远侧端部242b。驱动联接螺母244可滑动地布置在内壳体管206a中。而且,驱动联接螺母244被键联接到内壳体管206a上从而防止其随第一远侧驱动轴242的旋转而旋转。如此,随着第一远侧驱动轴242旋转,驱动联接螺母244会平移通过内壳体管206a和/或沿着内壳体管206a平移。
如图6和图7所示,驱动联接螺母244在其近侧端和远侧端处被相应的垫圈245a、垫圈245b支承。随着第一驱动轴242旋转,垫圈245a、垫圈245b通过第一远侧驱动轴242的螺纹远侧端部242b有助于分配负荷并且有助于避免应力集中施加在驱动联接螺母244上。
继续参照图6和图7,驱动联接螺母244可以被模制并且设置有至少一个外环形肋244a以帮助维持一致的壁厚度。
为了实现沿着驱动联接螺母244的螺纹的一致的压力分布,设想了驱动联接螺母244由未增强的聚醚醚酮(PEEK)热塑性聚合物制造。未增强的PEEK具有的弹性模量比不锈钢的弹性模量大约低55倍。此外,未增强的PEEK在屈服时的延伸率大约等于5%,而未增强的PEEK在断开时的延伸率大约等于45%。换种方式陈述,驱动联接螺母244的材料相对地软并且高度地易延展,而同时是相对牢固的(即:具有等于大约14,500psi的屈服强度)并且高度地耐高压灭菌。
根据本公开,驱动联接螺母244被定尺寸为使得驱动联接螺母244与第一远侧驱动轴242的螺纹远侧端部242b的25-35个螺纹(优选为29个螺纹)接合。
为了帮助减少摩擦并且减少热积聚,诸如从DuPontTM可商购的206的润滑剂(能与PEEK兼容的油脂并且能够承受高温灭菌过程)可以施加到第一驱动轴242的远侧端部242b与驱动联接螺母244和/或它们之间。
第一驱动传递/转换组件240还包括驱动管246,驱动管246围绕第一远侧驱动轴242且具有被连接到驱动联接螺母244的近侧端部和延伸超出第一远侧驱动轴242的远侧端部242b的远侧端部。驱动管246的远侧端部支承连接构件247,连接构件247被配置和定尺寸为选择性地接合末端执行器300的驱动组件360的驱动构件374(参照图8)。
在操作中,随着第一可旋转近侧驱动轴212旋转,由于手术装置100的相应的第一驱动连接器118旋转的结果,第一可旋转近侧驱动轴212旋转并且传递旋转至被键联接到第一远侧驱动轴242的正齿轮242c,从而引起第一远侧驱动轴242的旋转。随着第一远侧驱动轴242旋转,引起驱动联接螺母244沿着第一远侧驱动轴242轴向平移。
当引起驱动联接螺母244沿着第一远侧驱动轴242轴向平移时,引起驱动管246相对于外管206的内壳体管206a轴向平移。随着驱动管246轴向平移,由于连接构件247与驱动管246连接且被连接到末端执行器300的驱动组件360的驱动构件374(参见图8),驱动管246会引起末端执行器300的驱动构件374同时进行轴向平移,从而实现工具组件304的闭合以及末端执行器300的工具组件304的发射。
在操作中,当用户激活手术装置100的按钮时,软件会核对预定义的条件。如果符合条件,软件会控制电动机并且提供机械驱动给附接的手术吻合器,然后根据按钮的功能,手术吻合器能够进行打开、闭合、旋转、关节式运动或发射。软件还通过按照定义的方式打开或熄灭彩色灯给用户提供反馈,从而指示出手术装置100、接合器组件200和/或末端执行器300的状态。
在图9中显示了系统的高电平电气结构视图,并且显示了至各个硬件和软件接口的连接情况。在图9的左侧上,显示了来自按钮124、126的按压和驱动轴的电动机编码器的输入。微型控制器包含操作手术装置100、接合器组件200和/或末端执行器300的装置软件。微控制器接收微型局域网(MicroLAN)、超级ID芯片(Ultra ID chip)、蓄电池ID芯片(Battery ID chip)以及接合器ID芯片的输入并发送输出给它们。
微型局域网、超级ID芯片、蓄电池ID芯片以及接合器ID芯片如下控制手术装置100、接合器组件200和/或末端执行器300:
微型局域网 ---用于读/写系统部件ID信息的串行1-导线总线
连通。
超级ID芯片 ---识别手术装置100并且记录使用信息。
蓄电池ID芯片 ---识别蓄电池156并且记录使用信息。
接合器ID芯片 ---识别接合器200的类型,记录末端执
行器300的存在并且记录使用信息。
在图9中呈现的示意图的右侧指示了:至LED的输出;电动机的选择(选择夹紧/切割、旋转或关节式运动);以及执行所选择功能的驱动电动机的选择。
如图1和图8所示,末端执行器被指示为300。末端执行器300被配置和定尺寸为通过插管、套管针或同类物实现内窥镜插入。特别地,在图1和图8所图示实施例中,当末端执行器300处于闭合状态时,末端执行器300可以通过插管或套管针。
末端执行器300包括近侧主体部302和工具组件304。近侧主体部302被可释放地附接到接合器组件200的远侧联接组件230,而工具组件304可枢转地附接到近侧主体部302的远侧端。工具组件304包括砧座组件306和钉仓组件308。钉仓组件308相对于砧座组件306枢转并且可在打开或未夹紧位置与闭合或夹紧位置之间移动以便于插入通过套管针的插管。
近侧主体部302至少包括驱动组件360和关节式运动连杆366。
参照图8,驱动组件360包括挠性驱动梁364,挠性驱动梁364具有被固定到动力夹紧构件365的远侧端以及近侧接合体368。接合体368包括限定肩370的梯状部。接合体368的近侧端包括完全对置的向内延伸的指状件372。指状件372与中空的驱动构件374接合从而将驱动构件374牢固地固定到驱动梁364的近侧端。驱动构件374限定近侧孔口376,近侧孔口376用来当末端执行器300被附接到接合器组件200的远侧联接组件230时接纳接合器组件200的第一驱动转换器组件240的驱动管246的连接构件247。
当驱动组件360在工具组件304内被向远侧推进时,夹紧构件365的上梁在砧座板312和砧座盖310之间限定的通道内移动,而且下梁移动到托架316外表面的上方来闭合工具组件304并从其中发射吻合钉。
末端执行器300的近侧主体部302包括关节式运动连杆366,关节式运动连杆366具有从末端执行器300的近侧端延伸的钩状近侧端366a。当末端执行器300被固定到接合器组件200的远侧壳体232时,关节式运动连杆366的钩状近侧端366a与接合器组件200的驱动杆258的联接钩258c相接合。当接合器组件200的驱动杆258如上被推进或缩回时,末端执行器300的关节式运动连杆366会在末端执行器300内被推进或缩回以使得工具组件304相对于近侧主体部302的远侧端枢转。
如图8所图示,工具组件304的钉仓组件308包括可支承在托架316中的吻合钉钉仓305。吻合钉钉仓305限定中央纵向狭槽305a,以及被安置在纵向狭槽305a每一侧上的三个线性排吻合钉保持狭槽305b。每一个吻合钉保持狭槽305b接纳单个吻合钉307和吻合钉推动器309的一部分。在操作手术装置100期间,驱动组件360与致动滑板邻接并推动致动滑板通过钉仓305。随着致动滑板移动通过钉仓305,致动滑板的凸轮楔顺序地与吻合钉推动器309相接合,从而在吻合钉保持狭槽305b内竖直地移动吻合钉推动器309并从其中顺序地发射单个吻合钉307以紧靠着砧座板312成型。
可以参考于2009年8月31日提交,名称为“TOOL ASSEMBLYFOR A SURGICAL STAPLING DEVICE(手术吻合装置的工具组件)”,公开号为2009/0314821的美国专利中对于末端执行器300的结构和操作的详细讨论,其全部内容通过引用结合在此。
还可以参考于2012年5月31日提交,名称为“HAND HELDSURGICAL HANDLE ASSEMBLY,SURGICAL ADAPTERS FOR USEBETWEEN SURGICAL HANDLE SSEMBLY AND SURGICAL ENDEFFECTORS,AND METHODS OF USE(手持式手术手柄组件、在手术手柄组件和手术末端执行器间使用的手术接合器及其使用方法)”,公开号为13/484,975的美国专利中对于手术装置100、接合器组件200以及末端执行器300的其他部件的结构和操作的详细讨论,其全部内容通过引用结合在此。
将要理解的是,可以对这里公开的接合器组件的实施例做出各种修改。因此,上面的描述不应该被理解为限制,而仅仅理解为实施例的示范例。本领域的技术人员将在本公开的范围和精神内设想其他修改。
Claims (17)
1.一种接合器组件,用来将被配置为执行功能的手术末端执行器和被配置为致动所述末端执行器的手术装置选择性地互相连接,所述末端执行器包括至少一个可轴向平移的驱动构件,并且所述手术装置包括至少一个可旋转驱动轴,所述接合器组件包括:
壳体,被配置为并且适于与所述手术装置相连接并且能够与所述手术装置的所述至少一个可旋转驱动轴中的每一个驱动轴进行可操作连通;
外管,具有由所述壳体支承的近侧端以及被配置为并且适于与所述末端执行器相连接的远侧端,其中所述外管的所述远侧端与所述末端执行器的所述至少一个可轴向平移的驱动构件中的每一个驱动构件进行可操作连通;以及
至少一个驱动转换器组件,用于将所述手术装置的所述至少一个可旋转驱动轴中的相应一个驱动轴和所述末端执行器的所述至少一个可轴向平移的驱动构件中的一个驱动构件互相连接,其中所述至少一个驱动转换器组件包括:第一端部,能够连接到所述手术装置的第一可旋转驱动轴;以及第二端部,能够连接到所述末端执行器的第一可轴向平移的驱动构件,其中,所述至少一个驱动转换器组件将所述手术装置的所述第一可旋转驱动轴的旋转转换并传递成所述末端执行器的所述第一可轴向平移的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,其可旋转地布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侧端与联接套管进行可操作连通,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侧端部;
驱动联接螺母,其螺纹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侧端部,其中,所述驱动联接螺母相对于所述至少一个驱动转换器组件的所述驱动轴的轴向旋转被抑制;以及
可轴向平移的驱动杆,其具有连接至所述驱动联接螺母的近侧部和被配置为并且适于选择性地连接至所述末端执行器的可轴向平移的驱动构件的远侧部,
其中,所述手术装置的所述第一可旋转驱动轴的旋转引起所述至少一个驱动转换器组件的所述驱动轴的旋转,并且其中,所述至少一个驱动转换器组件的驱动轴的旋转引起所述驱动联接螺母以及连接到所述驱动联接螺母的所述驱动杆的轴向平移。
2.根据权利要求1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联接螺母与所述驱动轴的所述螺纹远侧端部的25个至35个之间的齿接合。
3.根据权利要求2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联接螺母与所述驱动轴的所述螺纹远侧端部的29个齿接合。
4.根据权利要求1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联接螺母由未增强的聚醚醚酮热塑性聚合物制造。
5.根据权利要求1所述的接合器组件,其中所述至少一个驱动转换器组件的驱动轴的螺纹远侧端部被配置为统一系列的螺纹牙形(UNC#4-48等级3A)。
6.根据权利要求1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的所述螺纹远侧端部通过表面硬化、轧制、旋风切削和电解抛光中的至少一种被处理。
7.根据权利要求1所述的接合器组件,其中所述至少一个驱动转换器组件包括邻近所述驱动联接螺母的近侧表面布置的第一垫圈,以及抵靠所述驱动联接螺母的远侧表面布置的第二垫圈。
8.根据权利要求1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联接螺母包括至少一个外环形肋。
9.一种接合器组件,用来将被配置为执行功能的手术末端执行器和被配置为致动所述末端执行器的手术装置选择性地互相连接,所述末端执行器包括至少一个可轴向平移的驱动构件,并且所述手术装置包括至少一个可旋转驱动轴,所述接合器组件包括:
至少一个驱动转换器组件,用于将所述手术装置的所述至少一个可旋转驱动轴中的相应一个驱动轴和所述末端执行器的所述至少一个可轴向平移的驱动构件中的一个驱动构件互相连接,其中所述至少一个驱动转换器组件包括:第一端部,能够连接到所述手术装置的第一可旋转驱动轴;以及第二端部,能够连接到所述末端执行器的第一可轴向平移的驱动构件,其中,所述至少一个驱动转换器组件将所述手术装置的所述第一可旋转驱动轴的旋转转换并传递成所述末端执行器的所述第一可轴向平移的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,其可旋转地布置在所述壳体和外管内,其中,所述至少一个驱动转换器组件的所述驱动轴的近侧端与联接套管进行可操作连通,其中,所述至少一个驱动转换器组件的驱动轴具有螺纹远侧端部;
驱动联接螺母,其螺纹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侧端部,其中,所述驱动联接螺母相对于所述至少一个驱动转换器组件的所述驱动轴的轴向旋转被抑制;以及
可轴向平移的驱动杆,其具有连接至所述驱动联接螺母的近侧部和被配置为并且适于选择性地连接至所述末端执行器的可轴向平移的驱动构件的远侧部,
其中,所述手术装置的所述第一可旋转驱动轴的旋转引起所述至少一个驱动转换器组件的所述驱动轴的旋转,而其中,所述至少一个驱动转换器组件的所述驱动轴的旋转引起所述驱动联接螺母以及连接到所述驱动联接螺母的所述驱动杆的轴向平移。
10.根据权利要求9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联接螺母与所述驱动轴的所述螺纹远侧端部的29个齿接合。
11.根据权利要求9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联接螺母由未增强的聚醚醚酮热塑性聚合物制造。
12.根据权利要求9所述的接合器组件,其中所述至少一个驱动转换器组件的驱动轴的螺纹远侧端部被配置为统一系列的螺纹牙形(UNC#4-48等级3A)。
13.根据权利要求9所述的接合器组件,其中所述至少一个驱动转换器组件包括邻近所述驱动联接螺母的近侧表面布置的第一垫圈,以及抵靠所述驱动联接螺母的远侧表面布置的第二垫圈。
14.根据权利要求9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联接螺母包括至少一个外环形肋。
15.根据权利要求9所述的接合器组件,进一步包括:
壳体,其被配置为并且适于与所述手术装置相连接并且能够与所述手术装置的所述至少一个可旋转驱动轴中的每一个驱动轴进行可操作连通。
16.根据权利要求15所述的接合器组件,进一步包括:
外管,具有由所述壳体支承的近侧端以及被配置为并且适于与所述末端执行器相连接的远侧端,其中所述外管的所述远侧端与所述末端执行器的所述至少一个可轴向平移的驱动构件中的每一个驱动构件进行可操作连通。
17.一种制备接合器组件的方法,其中所述接合器组件选择性地将手术末端执行器和手术装置互相连接,所述方法包括步骤:
提供由未增强的聚醚醚酮热塑性聚合物构造的驱动联接螺母;
提供包括近侧端的驱动轴,所述近侧端被配置为接纳所述手术装置的可旋转驱动轴的旋转,所述驱动轴根据以下步骤制备:
对驱动轴的至少远侧端进行表面硬化;
在对驱动轴的远侧端进行表面硬化后,对驱动轴的远侧端进行旋风切削;以及
在对所述驱动轴的所述远侧端进行旋风切削后,对所述驱动轴的所述远侧端进行电解抛光;
提供驱动杆;
将所述驱动杆固定到所述驱动联接螺母;以及
将所述驱动联接螺母螺纹连接到所述驱动轴的螺纹远侧端;
其中组装后的驱动杆、驱动联接螺母以及驱动轴限定了驱动转换器组件,所述驱动转换器组件被配置为将所述手术装置的可旋转驱动轴和所述末端执行器的可轴向平移的驱动构件互相连接,其中所述驱动转换器组件将所述手术装置的第一可旋转驱动轴的旋转转换并传递成所述末端执行器的第一可轴向平移的驱动构件的轴向平移,并且
其中,所述手术装置的所述第一可旋转驱动轴的旋转引起所述至少一个驱动转换器组件的驱动轴的旋转,而其中,所述至少一个驱动转换器组件的驱动轴的旋转引起所述驱动联接螺母以及连接到所述驱动联接螺母的驱动杆的轴向平移。
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- 2013-07-01 JP JP2013137994A patent/JP6239877B2/ja active Active
- 2013-07-08 EP EP15169962.6A patent/EP2942021B1/en active Active
- 2013-07-08 CN CN201310284898.5A patent/CN103536325B/zh active Active
- 2013-07-08 EP EP13175475.6A patent/EP2684528B1/en active Active
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CN108024836B (zh) * | 2015-09-25 | 2021-02-02 | 柯惠Lp公司 | 手术机器人组合件和其器械适配器 |
CN112618025A (zh) * | 2015-09-25 | 2021-04-09 | 柯惠Lp公司 | 手术机器人组合件和其器械适配器 |
CN112618025B (zh) * | 2015-09-25 | 2024-05-10 | 柯惠Lp公司 | 手术机器人组合件和其器械适配器 |
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Also Published As
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EP2684528A1 (en) | 2014-01-15 |
JP2014014678A (ja) | 2014-01-30 |
US9839480B2 (en) | 2017-12-12 |
EP2684528B1 (en) | 2015-07-08 |
EP2942021B1 (en) | 2021-03-10 |
EP2942021A1 (en) | 2015-11-11 |
AU2017204800B2 (en) | 2019-01-17 |
JP6239877B2 (ja) | 2017-11-29 |
US20180055586A1 (en) | 2018-03-01 |
US10806528B2 (en) | 2020-10-20 |
AU2013206350B2 (en) | 2017-04-27 |
CN103536325B (zh) | 2017-07-25 |
CA2818809A1 (en) | 2014-01-09 |
AU2017204800A1 (en) | 2017-07-27 |
AU2013206350A1 (en) | 2014-01-23 |
CA2818809C (en) | 2020-04-14 |
US20140012237A1 (en) | 2014-01-09 |
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