CN103720498B - 包括布线时钟弹簧的机电手术设备 - Google Patents
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Abstract
本发明公开了一种机电手术系统,其包括手持式手术器械、被配置为执行至少一种功能的末端执行器以及被布置为将末端执行器和手术器械选择性地相互连接的轴组件。所述轴组件包括联接件,联接件具有近侧壳体和至少部分地容纳在近侧壳体内的远侧壳体。所述远侧壳体能够相对于近侧壳体旋转且被配置为将末端执行器与轴组件选择性地相互连接。轴组件进一步包括线,其延伸穿过联接件,所述线具有布置在限定于近侧壳体和远侧壳体之间的环形槽内的中央部。所述线的中央部环状地缠绕在环形槽内以限定线圈,线圈被配置为当远侧壳体相对于近侧壳体旋转时,径向扩张和径向收缩中的至少一种。本发明还公开了一种手术系统以及一种供手术系统使用的布线组件。
Description
技术领域
本公开涉及用于执行内窥镜手术操作的手术设备、装置和/或系统以及它们的使用方法。更具体地,本公开涉及机电的手持式手术设备、装置和/或系统,其被配置为与可拆卸的一次性装载单元和/或单次使用的装载单元一起使用,用来夹紧、切割和/或吻合组织。
背景技术
若干手术装置的生产商已经开发出具有适用于操作和/或操纵机电手术装置的专用驱动系统的产品线。在许多实例中,所述机电手术装置包括可重复使用的手柄组件,以及多个一次性或单次使用的末端执行器,通常被称为单次使用装载单元(SULU)。在使用前,所述末端执行器可以选择性地连接到所述手柄组件上,然后,在使用后,再与所述手柄组件断开连接,以便被处置或在一些实例中被消毒以重复使用。
在一些示例中,具有不同操作特性和参数的末端执行器可以被连接至相同的可重复使用的手柄组件以便于在各种各样的外科手术操作中使用可重复使用的手柄组件。然而,重要的是要使可重复使用的手柄组件的驱动系统的输出特性与当前所连接的末端执行器的操作特性和参数相匹配。因而,存在对无需妨碍末端执行器的操作特性和参数而识别可重复使用的手柄组件的末端执行器的识别系统的需求。
发明内容
参照附图,以下会更详细地描述本发明示例性实施例的更多细节和方案。
公开了一种机电手术系统,其包括:手持式手术器械、被配置为执行至少一种功能的末端执行器以及被布置为用来将末端执行器和手术器械选择性地相互连接的轴组件。所述轴组件包括联接件,联接件具有近侧壳体和远侧壳体,所述远侧壳体至少部分地容纳在近侧壳体内。远侧壳体能够相对于近侧壳体旋转且被配置为将末端执行器与轴组件选择性地相互连接。所述轴组件进一步包括延伸穿过联接件的线。所述线包括中央部,中央部被布置在限定于近侧壳体和远侧壳体之间的环形槽内。线的中央部环状地缠绕在环形槽内以限定线圈。所述线圈被配置为当所述远侧壳体相对于近侧壳体旋转时进行径向扩张和径向收缩中的至少一种。
在本公开的方案中,近侧壳体包括外壳体和内壳体,并且所述内壳体被配置为容纳在外壳体内。
在本公开的方案中,内壳体和外壳体中的每一个都包括贯穿延伸的开口,用来容纳线的近侧部。
在本公开的方案中,内壳体和外壳体的开口基本上对准。
在本公开的方案中,内壳体包括环形唇状件和外壁,并且环形槽在环形唇状件和外壁之间延伸。
在本公开的方案中,内壳体和外壳体在其间限定了至少一个腔室,以用来在其中容纳至少一个齿轮。
在本公开的方案中,远侧壳体包括贯穿延伸的开口,用来容纳线的远侧部。
在本公开的方案中,线圈的中央部被配置为当远侧壳体沿第一方向相对于近侧壳体旋转时径向扩张,而当远侧壳体沿第二方向相对于近侧壳体旋转时径向收缩。
在本公开的方案中,线被布置为与手术器械和末端执行器电连通,并且末端执行器被配置为在手术器械和末端执行器之间传送信息。
在本公开的方案中,线的线圈的中央部在单一平面中环状地缠绕在环形槽内。
公开了一种手术系统,其包括手持式手术器械、被配置为执行至少一种功能的末端执行器以及被布置为用来将末端执行器和手术器械选择性地相互连接的轴组件。所述轴组件包括联接件,其限定了纵向轴线并具有近侧壳体和远侧壳体,所述远侧壳体至少部分地被容纳在近侧壳体内。远侧壳体能够相对于近侧壳体旋转且被配置为将末端执行器与轴组件选择性地相互连接。所述轴组件进一步包括延伸穿过联接件的线。所述线包括延伸穿过近侧壳体的近侧部、被布置在限定于近侧壳体和远侧壳体之间的环形槽内的中央部以及延伸穿过远侧壳体的远侧部。线的中央部环状地缠绕在环形槽内以限定线圈。所述线圈被配置为当所述远侧壳体相对于近侧壳体旋转时进行径向扩张和径向收缩中的至少一种。线的近侧部和远侧部基本上相对于近侧壳体和远侧壳体被纵向固定。
在本公开的方案中,远侧壳体能够在第一构造和至少第二构造之间沿第一方向相对于近侧壳体旋转,并且能够在第一构造和至少第三构造之间沿第二方向相对于近侧壳体旋转。
在本公开的方案中,远侧壳体能够沿第一方向从第一构造相对于近侧壳体在大约0°和至少大约180°之间旋转,以实现第二构造,并且能够沿第二方向从第一构造在大约0°和至少大约180°之间旋转,以实现第三构造。
在本公开的方案中,末端执行器可旋转地固定至远侧壳体,并且当远侧壳体相对于近侧壳体旋转时,末端执行器能够相对于轴组件沿任意方向在大约0°和至少大约180°之间旋转。
在本公开的方案中,线的线圈被配置为:当远侧壳体沿第一方向相对于近侧壳体旋转时径向扩张,而当远侧壳体沿第二方向相对于近侧壳体旋转时径向收缩。
在本公开的方案中,线的近侧部被布置为与手术器械电连通,并且线的远侧部被布置为与末端执行器电连通。
在本公开的方案中,线被配置为在末端执行器和手术器械之间传送信息。
公开了一种供手术系统使用的布线组件,其包括用来将末端执行器与手术器械可操作地相互连接的联接组件。所述联接组件包括近侧壳体和远侧壳体,所述远侧壳体至少部分地容纳在近侧壳体内且能够相对于近侧壳体旋转。所述布线组件进一步包括线,所述线延伸穿过联接组件且具有被布置在限定于近侧壳体和远侧壳体之间的环形槽内的中央部。所述线的中央部环状地缠绕在环形槽内以限定线圈,所述线圈被配置为当远侧壳体相对于近侧壳体旋转时径向扩张和径向收缩。
在本公开的方案中,线的线圈被配置为:当远侧壳体沿第一方向相对于近侧壳体旋转时径向扩张,而当远侧壳体沿第二方向相对于近侧壳体旋转时径向收缩。
在本公开的方案中,线的线圈在单一平面中环状地缠绕在环形槽内。
在本公开的方案中,线被布置为与手术器械和末端执行器电连通。线被配置为在手术器械和末端执行器之间传送信息。
可以预期到,在不偏离本公开范围的情况下,上述所公开方案中的任何一个方案都可以组合。
附图说明
这里参照附图描述了本公开的各种实施例,在附图中:
图1是根据本公开的机电手术系统的立体图;
图2是图1的细节区域的立体图,示出了图1的手术系统的轴组件和末端执行器;
图3和图4是图2的细节区域的立体图,示出了图2的轴组件的联接件;
图4A是图1的机电手术系统的末端执行器和联接组件的立体图,示出了从远侧壳体组件分离的末端执行器;
图5是图3和图4的联接件的立体图,示出了从联接件的近侧壳体分离的远侧壳体;
图6是图5的近侧壳体的立体图,图中部件是分离的;
图7是图5的远侧壳体的立体图,图中部件是分离的;
图8是沿图4的剖面线8-8截取的图3和图4的联接件的侧立体剖视图;
图9至图11是沿图4的剖面线9-9截取的剖视图,示出了在各种旋转构造中的远侧壳体和近侧壳体;以及
图12是图1的机电手术系统的末端执行器和手术器械之间的电气连接的示意图。
具体实施方式
现在将参照附图详细描述本公开的机电手术系统、设备和/或装置的实施例,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”是指所述机电手术系统、设备和/或装置、或其部件的距离用户较远的部分,而术语“近侧”是指所述机电手术系统、设备和/或装置、或其部件的距离用户较近的部分。
首先参照图1,显示了依照本公开的实施例的一种机电的、手持式、动力手术系统且一般指代为10。机电手术系统10包括一种手术设备或装置,为机电的、手持式、动力手术器械100的形式,其被配置用于经由轴组件200选择性地将多个不同的末端执行器400附接于此。末端执行器400和轴组件200分别配置为通过机电的、手持式、动力手术器械100来进行致动和操纵。特别地,手术器械100被配置用来与轴组件200选择性地连接,依次地,轴组件200被配置用来与多个不同的末端执行器400中的任何一个末端执行器选择性地连接。
现在参照图1和图2,手术器械100包括器械壳体102,器械壳体102包括下壳体部104、中壳体部106以及上壳体部108,其中,中壳体部106从下壳体部104延伸出和/或被支撑在下壳体部104上,上壳体部108从中壳体部106延伸出和/或被支撑在中壳体部106上。
轴组件200包括细长部202、柔性部204和联接件500,细长部202被配置用来选择性地连接至器械壳体102的上壳体部108,柔性部204从细长部202延伸出,联接件500从柔性部204延伸出并被配置为将轴组件200选择性地连接至多个不同的末端执行器400。
对于示例性机电的、手持式、动力手术器械100的结构和操作的详细说明,可以参照提交于2008年9月22日、申请号为PCT/US2008/077249的国际申请(国际公开号为WO2009/039506)和提交于2009年11月20日的序列号为12/622,827的美国专利申请,每个申请的全部内容通过引用合并于此。
对于供机电的、手持式、动力手术器械100使用的示例性轴组件200和末端执行器400的结构和操作的详细说明,还可以参照共同未决代理人案卷号为H-US-03445(203-8878)、标题为“内窥镜手术设备”(“APPARATUS FOR ENDOSCOPIC PROCEDURES”)、提交于2012年6月19日、序列号为61/661,461的临时专利申请,以及共同未决代理人案卷号为H-US-03447(203-8880)、标题为“内窥镜手术设备”(“APPARATUS FOR ENDOSCOPICPROCEDURES”)、提交于2012年7月20日、序列号为61/673,792的临时专利申请,每个申请的全部内容通过引用合并于此。
末端执行器400可以是各种各样的手术末端执行器,例如,如图1所示的线性手术吻合末端执行器。这样的线性手术吻合末端执行器包括吻合钉钉仓、砧座构件以及用来从吻合钉钉仓中并且抵靠砧座构件驱动出吻合钉的驱动构件。在序列号为13/280,859(代理人案卷号为H-US-03068)的美国专利申请、序列号为13/280,880(代理人案卷号为H-US-03228)的美国专利申请、序列号为13/280,898(代理人案卷号为H-US-03043)的美国专利申请中公开了这样的器械,每个申请公开的全部内容通过引用合并于此。例如,驱动构件可以与螺纹螺杆通过螺纹啮合,螺纹螺杆正被联接件500的一个或多个齿轮驱动,旋转从轴组件200通过联接件500的齿轮传递。这种螺纹螺杆的旋转可以移动驱动构件纵向地穿过吻合钉钉仓以发射吻合钉。预期有其他类型的末端执行器,包括但不限于,电动手术末端执行器,其施加电能至组织,和/或超声波末端执行器,其施加超声波能量至组织。
现在参照图3至图8,联接件500包括近侧壳体组件502和远侧壳体组件504。近侧壳体组件502包括外壳体506和内壳体508。外壳体506被配置为容纳内壳体508,使得外壳体506的内架或突出部分510(图6)被容纳在内壳体508的凹部512(图6)内。以这种方式,内壳体508相对于外壳体506可旋转地固定。外壳体506和内壳体508一起限定了第一、第二和第三凹部或腔室514a至514c(图8)用来在其中容纳传动齿轮516a至516c。例如,第一腔室514a在其中容纳第一齿轮516a,第二腔室514b在其中容纳第二齿轮516b,而第三腔室514c在其中容纳第三齿轮516c。齿轮516a至516c中的每一个齿轮可操作地与手术器械100相关联并被配置用于通过手术器械100进行致动和操纵。
如图6所示,外壳体506包括贯穿延伸的第一开口518,而内壳体508包括贯穿延伸的第二开口520。当内壳体510被容纳在外壳体508内时,第一开口518和第二开口520基本上对准,且被配置用来容纳贯穿其中的线600。
继续参照图6,内壳体508包括被定位在其远侧上的中央凹部522,其被配置用来在其中容纳第四齿轮516d。中央凹部522包括径向开口524,其被配置允许在齿轮516d和齿轮516c之间的啮合。内壳体508还包括环形唇状件526,环形唇状件526被布置为围绕中央凹部522,并且内壳体508限定了环形唇状件526和内壳体508的外壁530之间的环形槽528,用来在其中及其周围容纳线600。
现在参照图5、图7和图8,远侧壳体组件504包括在远端处的凸缘部532和从凸缘部532向近侧延伸的凹入部534。凹入部534被配置用来可旋转容纳在内壳体508内,使得凹入部534的近侧端536邻接或邻近环形唇状件526。凹入部534包括:中央切口或凹部538,其被配置在其中容纳齿轮516d的一部分;以及狭槽540,其延伸穿过中央切口538并被配置为在其中容纳齿轮516a的轴542。远侧壳体组件504包括齿轮516e,其被布置在延伸穿过凹入部534的径向通道544中,并被配置用来与齿轮516d的远侧部啮合。当远侧壳体组件504的凹入部534被插入内壳体508中时,环形槽528限定了在远侧壳体组件504和内壳体508之间的空腔,用来在其中及其周围容纳线600。远侧壳体组件504还包括贯穿延伸的第三开口546,用来容纳线600。
因而,提供齿轮来驱动末端执行器400的各种功能。齿轮516a至516e形成两个输入:一个是驱动螺纹螺杆,而另一个是驱动末端执行器相对于轴组件200的旋转。齿轮516c是一种驱动空转齿轮516d的发射齿轮,其驱动输出齿轮516e。齿轮516e被附接至六角驱动器,所述六角驱动器附接至螺纹螺杆。还有旋转驱动齿轮516a,其被键联接至联接壳体532的部分,使得当齿轮516b被驱动时,旋转驱动齿轮516a使壳体504旋转。可设想其他齿轮连接布置。
现在参照图4A,远侧壳体组件504包括一对开口548,一对开口548被配置为当末端执行器400被附接于此时容纳末端执行器400的一对翼件402。翼件402和开口548阻止末端执行器400相对于远侧壳体组件504旋转,使得末端执行器400和远侧壳体组件504被配置为相对于近侧壳体组件502和轴组件200一起旋转。
末端执行器400还可以包括塞接口404,塞接口404被配置为当末端执行器400被附接至远侧壳体组件504时电气接合线600(图4)并使末端执行器400与线600和手术器械100电连通。远侧壳体组件504还可以包括塞接口552,在线600(图4)被电连接至塞接口552而不是塞接口404的情况下,塞接口552用来与末端执行器400的塞接口404进行电气接合。
现在参照图6、图8和图12,线600包括近侧部602、中央部604和远侧部606。线600的中央部604被布置在内壳体508和远侧壳体组件504之间的环形槽528内且以时钟弹簧或线圈的形式环状地缠绕在环形唇状件526的周围。例如,线600的中央部604可以在单一平面中径向地被缠绕在环形槽528内,使得线600的每个连续的绕组都被布置成与紧挨的前一个绕组径向相邻。线600的近侧部602从中央部604延伸穿过内壳体508的第二开口520以与手术器械100电连通。线600的远侧部606延伸穿过第三开口546以与末端执行器400电连通。以这种方式,末端执行器400经由线600与手术器械100电连通。线600的近侧部602和远侧部606可以基本上纵向地被分别固定在近侧壳体502和远侧壳体504内。
线600被配置为将来自末端执行器400的信息传送至手术器械100。例如,线600可以是电线,其被配置将来自末端执行器400的存储器芯片406(图12)识别信号(例如,E-prom信号)传送至手术器械100,以为手术器械100识别末端执行器400的类型。然后,手术器械100的驱动系统的输出特性可以与所识别出的特定末端执行器400的操作特性和参数相匹配。还可以预期到,线600可以传送包含其他种类信息的信号,所述信息包括,例如,关于由末端执行器400的传感器408(图12)所感测出的目标组织的信息(例如,组织类型、组织血管供应、组织温度等)、末端执行器400的操作状态的状况或其他类似的操作信息。例如,当末端执行器400已被至少部分夹紧至目标组织时,或其他类似的操作参数时,当末端执行器400已被至少部分发射时,可以沿着线600将E-prom信号传送至手术器械100。
在使用手术器械100和末端执行器400的过程中,可能需要末端执行器400绕其纵向轴线沿顺时针或逆时针方向旋转。鉴于此,线600能够在手术器械100和末端执行器400之间传达信息,与末端执行器400相对于手术器械100的旋转方位无关。
首先参照图9,在远侧壳体组件504相对于近侧壳体组件502旋转(即,末端执行器400相对于轴组件200和/或手术器械100的旋转)之前,以第一构造来布置线600。线600的近侧部602被布置成距纵向轴线A-A第一径向距离“D1”,而线600的远侧部606被布置成距纵向轴线A-A第二径向距离“D2”,且中央部604被盘绕在第一径向距离“D1”和第二径向距离“D2”之间的环形槽528周围。
现在参照图10,如图10所示,当末端执行器400相对于轴组件200和/或手术器械100沿顺时针方向旋转时,引起远侧壳体组件504沿“X”方向旋转,远侧壳体组件504的第三开口546沿“X”方向旋转。随着第三开口546沿“X”方向旋转,第三开口546的一侧接合线600的远侧部606且使得远侧部606也沿“X”方向旋转。随着线600的远侧部606沿“X”方向旋转,线600的中央部或线圈604径向收缩或收紧至第二构造,类似于上紧时钟弹簧或卷簧。换言之,线600已被卷紧。
可以预期到,远侧壳体组件504可以沿“X”方向相对于第一构造在大约0°旋角和至少大约180°旋角之间旋转。还可以预期到,壳体组件504可以沿“X”方向旋转超过大约180°旋角,例如,可以相对于第一构造旋转通过超过大约一个完整的360°旋角。
现在参照图11,如图11所示,当末端执行器400相对于轴组件200和/或手术器械100沿逆时针方向旋转时,引起远侧壳体组件504沿“Y”方向旋转,远侧壳体组件504的第三开口546沿“Y”方向旋转。随着第三开口546沿“Y”方向旋转,第三开口546的一侧接合线600的远侧部606且也使得远侧部606沿“Y”方向旋转。随着线600的远侧部606沿“Y”方向旋转,线600的中央部或线圈604径向扩张,类似于展开时钟弹簧。换言之,线600已被展开。
可以预期到的是,远侧壳体组件504可以沿“Y”方向相对于第一构造在大约0°旋角和至少大约180°旋角之间旋转。还可以预期到,壳体组件504可以沿“Y”方向旋转超过大约180°旋角,例如,可以相对于第一构造旋转通过超过大约一个完整的360°旋角。
以这种方式,联接件500提供布线,其允许末端执行器400绕轴线A-A旋转,而不会让线600缠结在一起或不会让线600阻止旋转。可以预期到,线600的中央部或线圈604可以交替地当远侧壳体组件沿“X”方向旋转时径向扩张,而当远侧壳体组件沿“Y”方向(“X”的相反方向)旋转时径向收缩。
可以预期到,线600的近侧部602可以在第一构造、第二构造和第三构造下都距纵向轴线A-A大致相同的径向距离。同样地,可以预期到,线600的远侧部606可以在第一构造、第二构造和第三构造下都距纵向轴线A-A大致相同的径向距离。
可替换地,可以预期到的是,近侧部602在第二构造下距纵向轴线A-A的径向距离可以小于近侧部602在第一构造下距纵向轴线A-A的径向距离,而近侧部602在第三构造下距纵向轴线A-A的径向距离可以大于近侧部602在第一构造下距纵向轴线A-A的径向距离。同样地,可以预期到,远侧部606在第二构造下距纵向轴线A-A的径向距离可以小于远侧部606在第一构造下距纵向轴线A-A的径向距离,而远侧部606在第三构造下距纵向轴线A-A的径向距离可以大于远侧部606在第一构造下距纵向轴线A-A的径向距离。
应当理解地是,可以对本文中所公开的实施例进行各种修改。因此,上述说明书不应该视为限制,仅仅是一些优选实施例的范例。本领域的技术人员将设想到在所附权利要求的范围和精神内的其他的修改。
Claims (21)
1.一种机电手术系统,包括:
手持式手术器械;
末端执行器,其被配置为执行至少一种功能;以及
轴组件,其被布置为将所述末端执行器和手术器械选择性地相互连接,所述轴组件包括:
联接件,其包括近侧壳体和远侧壳体,所述远侧壳体至少部分地容纳在所述近侧壳体内,所述远侧壳体能够相对于所述近侧壳体旋转且被配置为将所述末端执行器与所述轴组件选择性地相互连接;以及
线,其延伸穿过所述联接件,所述线具有中央部、延伸穿过所述近侧壳体的近侧部以及延伸穿过所述远侧壳体的远侧部,所述中央部被布置在限定于所述近侧壳体和所述远侧壳体之间的环形槽内,所述线的中央部环状地缠绕在所述环形槽内以限定线圈,所述线圈被配置为在所述远侧壳体相对于所述近侧壳体旋转时进行径向扩张和径向收缩中的至少一种,所述线被布置成使得所述近侧部距所述环形槽的轴线的径向距离大于所述远侧部距所述环形槽的轴线的径向距离。
2.根据权利要求1所述的机电手术系统,其中,所述近侧壳体包括外壳体和内壳体,所述内壳体被配置为容纳在所述外壳体内。
3.根据权利要求2所述的机电手术系统,其中,所述内壳体和所述外壳体中的每一个都包括贯穿延伸的开口,用来容纳所述线的近侧部。
4.根据权利要求3所述的机电手术系统,其中,所述内壳体和所述外壳体的所述开口基本上对准。
5.根据权利要求2所述的机电手术系统,其中,所述内壳体包括环形唇状件和外壁,所述环形槽在所述环形唇状件和所述外壁之间延伸。
6.根据权利要求2所述的机电手术系统,其中,所述内壳体和所述外壳体在其间限定了至少一个腔室,以用来在其中容纳至少一个齿轮。
7.根据权利要求1所述的机电手术系统,其中,所述远侧壳体包括贯穿延伸的开口,用来容纳所述线的远侧部。
8.根据权利要求1所述的机电手术系统,其中,所述线的线圈被配置为:当所述远侧壳体沿第一方向相对于所述近侧壳体旋转时径向扩张,而当所述远侧壳体沿第二方向相对于所述近侧壳体旋转时径向收缩。
9.根据权利要求1所述的机电手术系统,其中,所述线被布置与所述手术器械和所述末端执行器电连通,并且所述线被配置为在所述手术器械和所述末端执行器之间传送信息。
10.根据权利要求1所述的机电手术系统,其中,所述线的线圈在单一平面中环状地缠绕在所述环形槽内。
11.一种手术系统,包括:
手持式手术器械;
末端执行器,其被配置为执行至少一种功能;以及
轴组件,其被布置为将所述末端执行器和所述手术器械选择性地相互连接,所述轴组件包括:
联接件,其限定了纵向轴线并包括近侧壳体和远侧壳体,所述远侧壳体至少部分地容纳在所述近侧壳体内,所述远侧壳体能够相对于所述近侧壳体旋转且被配置为将所述末端执行器与所述轴组件选择性地相互连接;以及
线,其延伸穿过所述联接件,所述线具有延伸穿过所述近侧壳体的近侧部、被布置在限定于所述近侧壳体和远侧壳体之间的环形槽内的中央部以及延伸穿过所述远侧壳体的远侧部,所述线的中央部环状地缠绕在所述环形槽内以限定线圈,所述线圈被配置为:当所述远侧壳体相对于所述近侧壳体旋转时进行径向扩张和径向收缩中的至少一种,所述线的所述近侧部和远侧部基本上相对于所述近侧壳体和远侧壳体被纵向地固定,所述线被布置成使得所述近侧部距所述环形槽的轴线的径向距离大于所述远侧部距所述环形槽的轴线的径向距离。
12.根据权利要求11所述的手术系统,其中,所述远侧壳体能够在第一构造和至少第二构造之间沿第一方向相对于所述近侧壳体旋转,并且能够在第一构造和至少第三构造之间沿第二方向相对于所述近侧壳体旋转。
13.根据权利要求12所述的手术系统,其中,所述远侧壳体能够沿所述第一方向从所述第一构造相对于所述近侧壳体在0°和至少180°之间旋转,以实现所述第二构造,并且能够沿所述第二方向从所述第一构造相对于所述近侧壳体在0°和至少180°之间旋转,以实现所述第三构造。
14.根据权利要求12所述的手术系统,其中,所述末端执行器可旋转地固定至所述远侧壳体,并且在所述远侧壳体相对于所述近侧壳体旋转时,所述末端执行器能够相对于所述轴组件沿任意方向在0°和至少180°之间旋转。
15.根据权利要求12所述的手术系统,其中,所述线的线圈被配置为:当所述远侧壳体沿所述第一方向相对于所述近侧壳体旋转时径向扩张,而当所述远侧壳体沿所述第二方向相对于所述近侧壳体旋转时径向收缩。
16.根据权利要求11所述的手术系统,其中,所述线的近侧部被布置为与手术器械电连通,而所述线的远侧部被布置为与所述末端执行器电连通。
17.根据权利要求11所述的手术系统,其中,所述线被配置为在所述末端执行器和所述手术器械之间传送信息。
18.一种供手术系统使用的布线组件,包括:
联接组件,其用来将末端执行器与手术器械可操作地相互连接,所述联接组件包括近侧壳体和远侧壳体,所述远侧壳体至少部分地容纳在所述近侧壳体内,所述远侧壳体能够相对于所述近侧壳体旋转;以及
线,其延伸穿过所述联接组件,所述线具有被布置在限定于所述近侧壳体和所述远侧壳体之间的环形槽内的中央部、延伸穿过所述近侧壳体的近侧部以及延伸穿过所述远侧壳体的远侧部,所述线的中央部环状地缠绕在所述环形槽内以限定线圈,所述线圈被配置为在所述远侧壳体相对于所述近侧壳体旋转时进行径向扩张和径向收缩中的至少一种,所述线被布置成使得所述近侧部距所述环形槽的轴线的径向距离大于所述远侧部距所述环形槽的轴线的径向距离。
19.根据权利要求18所述的布线组件,其中,所述线的线圈被配置为:当所述远侧壳体沿第一方向相对于所述近侧壳体旋转时径向扩张,而当所述远侧壳体沿第二方向相对于所述近侧壳体旋转时径向收缩。
20.根据权利要求18所述的布线组件,其中,所述线的线圈在单一平面中环状地缠绕在所述环形槽内。
21.根据权利要求18所述的布线组件,其中,所述线被布置为与所述手术器械和所述末端执行器电连通,并且被配置为在所述手术器械和所述末端执行器之间传送信息。
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CN202426578U (zh) * | 2012-01-05 | 2012-09-12 | 中国福利会国际和平妇幼保健院 | 一种腔内缝合打结器 |
US9364220B2 (en) | 2012-06-19 | 2016-06-14 | Covidien Lp | Apparatus for endoscopic procedures |
US9101385B2 (en) * | 2012-06-28 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Electrode connections for rotary driven surgical tools |
US9402604B2 (en) | 2012-07-20 | 2016-08-02 | Covidien Lp | Apparatus for endoscopic procedures |
US8906001B2 (en) | 2012-10-10 | 2014-12-09 | Covidien Lp | Electromechanical surgical apparatus including wire routing clock spring |
WO2017019049A1 (en) * | 2015-07-29 | 2017-02-02 | Abou El Kheir Tarek Ahmed Nabil | Advanced 3-dimensional endoscopic system with real dynamic convergence |
-
2012
- 2012-10-10 US US13/648,682 patent/US8906001B2/en active Active
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2013
- 2013-09-06 AU AU2013224727A patent/AU2013224727B2/en not_active Ceased
- 2013-09-27 CA CA2828562A patent/CA2828562C/en not_active Expired - Fee Related
- 2013-10-02 JP JP2013207216A patent/JP6320712B2/ja active Active
- 2013-10-09 EP EP17169588.5A patent/EP3228255B1/en active Active
- 2013-10-09 ES ES17169588T patent/ES2831015T3/es active Active
- 2013-10-09 EP EP13187928.0A patent/EP2719339B1/en active Active
- 2013-10-09 ES ES13187928.0T patent/ES2631820T3/es active Active
- 2013-10-10 CN CN201310471060.7A patent/CN103720498B/zh active Active
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2014
- 2014-11-07 US US14/535,379 patent/US9814450B2/en active Active
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2017
- 2017-11-13 US US15/810,479 patent/US10631837B2/en active Active
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2020
- 2020-04-02 US US16/838,476 patent/US11642111B2/en active Active
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JP2014076357A (ja) | 2014-05-01 |
EP3228255A1 (en) | 2017-10-11 |
JP6320712B2 (ja) | 2018-05-09 |
CN103720498A (zh) | 2014-04-16 |
US20180064428A1 (en) | 2018-03-08 |
CA2828562C (en) | 2020-06-09 |
US10631837B2 (en) | 2020-04-28 |
AU2013224727B2 (en) | 2018-03-15 |
ES2631820T3 (es) | 2017-09-05 |
CA2828562A1 (en) | 2014-04-10 |
EP2719339A1 (en) | 2014-04-16 |
US20140100554A1 (en) | 2014-04-10 |
US11642111B2 (en) | 2023-05-09 |
US9814450B2 (en) | 2017-11-14 |
AU2013224727A1 (en) | 2014-04-24 |
US20150105757A1 (en) | 2015-04-16 |
US20200245984A1 (en) | 2020-08-06 |
ES2831015T3 (es) | 2021-06-07 |
US8906001B2 (en) | 2014-12-09 |
EP3228255B1 (en) | 2020-09-30 |
EP2719339B1 (en) | 2017-05-17 |
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