CN103961148B - 用于与机电手术系统一起使用的智能接合器组件 - Google Patents
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Abstract
本公开提供一种用于与机电手术系统一起使用的智能接合器组件,接合器组件与手术装置连接并包括:壳体,其用于与手术装置的至少一个能旋转的驱动轴操作性结合;外管,其具有由壳体支撑的近侧端和用于与所选择的末端执行器连接的远侧端,其中,外管的远侧端与末端执行器的至少一个力接收驱动件中的每一个操作性结合;至少一个驱动传输/转换组件,其用于将末端执行器的至少一个力接收驱动件中的一个和所述手术装置的至少一个能旋转的驱动轴中对应的一个相互连接;以及电路板,其支撑在所述壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种。本公开还提供一种用于执行至少一种手术过程的机电手术系统以及执行手术过程的方法。
Description
相关申请的交叉引用
本申请要求于2013年1月24日提交的美国临时专利申请No.61/756,101 的优先权,在此通过引用并入该申请的全部内容。
背景
技术领域
本公开涉及用于与机电手术系统一起使用的接合器组件及它们的使用方法。更具体地,本公开涉及在手持式机电手术装置和末端执行器之间使用的智能接合器组件。
相关技术背景
手术装置的一种类型为线性夹紧、切割和吻合装置。可以在手术过程中采用这样的装置以从胃肠道切除癌性或异常组织。常规的线性夹紧、切割和吻合仪器包括具有细长轴和远侧部的枪柄式结构。远侧部包括一对剪刀式夹持件,该夹持件夹紧关闭的结肠的开放端。在该装置中,两个剪刀式夹持件中的一个,例如砧座部,相对于整个结构移动或枢轴转动,而另一个夹持件相对于整个结构保持固定。该剪切装置的致动(砧座部的枢轴转动)是由保留在手柄内的夹紧扳机来控制的。
除了剪切装置,远侧部还包括吻合机构。剪切机构的固定夹持件包括吻合钉仓接收区域和用于驱动吻合钉紧靠砧座部向上穿过组织的夹紧端的机构。剪切件可与轴一体地形成,或者可以是可拆卸的,这样各种剪切和吻合件可以互换。
许多手术装置制造商已经开发了具有用于操作和/或操纵手术装置的专用驱动系统的产品线。在很多情况下,手术装置包括可再用的手柄组件和一次性的末端执行器等,在使用前,所述末端执行器等选择性地与手柄组件连接,然后所述末端执行器等在使用后从末端执行器脱离,以便被置换或者在某些情况下为了重复使用而被消毒。
许多用于与许多现有的手术装置和/或手柄组件一起使用的现有末端执行器是由线性力驱动的。例如,用于执行内-胃肠吻合术过程、端对端吻合术过程和横向吻合术过程的末端执行器中的每一个通常都需要线性驱动力来操作。这样,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/或手柄组件并不兼容。
为了使线性驱动末端执行器与使用旋转运动来传递动力的手术装置和/ 或手柄组件兼容,需要接合器或接合器组件以在线性驱动末端执行器与旋转驱动机电手术装置和/或手柄组件之间提供接口并将它们相互连接。
此外,需要各种类型的接合器组件以储存和/或保留与接合器组件的安全且有效的操作相关的信息。
发明内容
本公开涉及用于在手持式机电手术装置和末端执行器之间使用的智能接合器组件。
根据本公开的一个方面,提供一种接合器组件,所述接合器组件用于选择性地将配置成执行手术功能的手术末端执行器和配置成致动所述末端执行器的机电手术装置相互连接,所述末端执行器包括至少一个力接收驱动件,所并且述手术装置包括至少一个能旋转的驱动轴。
所述接合器组件包括:壳体,其配置成并适于与手术装置连接并且与手术装置的至少一个能旋转的驱动轴中的每一个操作性结合;外管,其具有由所述壳体支撑的近侧端和配置成并适于与所述末端执行器连接的远侧端,其中,所述外管的远侧端与所述末端执行器的至少一个力接收驱动件中的每一个操作性结合;至少一个驱动传输/转换组件,其用于将末端执行器的至少一个力接收驱动件中的一个和所述手术装置的至少一个能旋转的驱动轴中对应的一个相互连接;以及电路板,其支撑在壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种。
用于所述接合器组件的操作参数可至少包括:与所述接合器组件相关的识别信息;所述接合器组件的尺寸;特定指示,根据所述特定指示,从所述手术装置接收的旋转输入将在所述接合器组件内执行特定的功能;以及能够从所述手术装置传递至所述接合器组件的最大力。
所述识别信息可至少包括型号和编号。
用于所述接合器组件的寿命周期信息可至少包括所述接合器组件的输入力接收件经过的转数、所述接合器组件的清洁循环数、所述接合器组件的组装日期和所述轴组件的任何维修/保养日期中的至少一种。
所述接合器组件可进一步包括至少一个电接点,其支撑在所述壳体内并配置成与所述手术装置接口。
至少一个驱动传输/转换组件可包括第一端和第二端,所述第一端能释放地连接至所述手术装置的第一能旋转的驱动轴,所述第二端能释放地连接至所述末端执行器的所述至少一个力接收驱动件。所述至少一个驱动传输/转换组件可将所述手术装置的所述第一能旋转的驱动轴的旋转转换并传输成所述末端执行器的所述至少一个力接收驱动件的轴向平移。
根据本公开的另一方面,提供用于执行至少一种手术过程的机电手术系统。所述机电手术系统包括机电手术装置和多个手术末端执行器。所述机电手术系统进一步包括至少一对特有的、相异的接合器组件,其中,每个接合器组件包括:壳体,其配置成并适于与所述手术装置连接并与所述手术装置的至少一个能旋转的驱动轴中的每一个操作性结合;外管,其具有由所述壳体支撑的近侧端和配置成并适于与所述末端执行器连接的远侧端,其中,所述外管的远侧端与所述末端执行器的至少一个力接收驱动件中的每一个操作性结合;至少一个驱动传输/转换组件,其用于将末端执行器的至少一个力接收驱动件中的一个和所述手术装置的至少一个能旋转的驱动轴中对应的一个相互连接;以及电路板,其支撑在壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种。
用于各接合器组件的操作参数可至少包括:与所述接合器组件相关的识别信息;所述接合器组件的尺寸;特定指示,根据所述特定指示,从所述手术装置接收的旋转输入将在所述接合器组件内执行特定的功能;以及能够从所述手术装置传递至所述接合器组件的最大力。
所述识别信息可至少包括型号和编号。
根据权利要求8所述的机电手术系统,其中,用于各接合器组件的寿命周期信息可包括所述接合器组件的输入力接收件经过的转数、所述接合器组件的清洁循环数、所述接合器组件的组装日期和所述轴组件的任何维修/保养日期中的至少一种。
各接合器组件可进一步包括至少一个电接点,其支撑在所述壳体内并配置成与所述手术装置接口。
各接合器组件的所述至少一个驱动传输/转换组件可包括第一端和第二端,所述第一端能释放地连接至所述手术装置的第一能旋转的驱动轴,所述第二端能释放地连接至所述末端执行器的所述至少一个力接收驱动件。所述至少一个驱动传输/转换组件可将所述手术装置的所述第一能旋转的驱动轴的旋转转换并传输成所述末端执行器的所述至少一个力接收驱动件的轴向平移。
根据本公开的又一方面,提供一种执行手术过程的方法,所述方法包括提供机电手术系统的步骤,所述机电手术系统包括:多个手术末端执行器,各末端执行器配置成执行手术功能,各末端执行器包括至少一个力接收驱动件;机电手术装置,其配置成致动多个末端执行器中的每一个,所述机电手术装置包括至少一个能旋转的驱动轴;以及多个特有的、相异的接合器组件,其用于选择性地将多个手术末端执行器中选出的一个和机电手术装置相互连接。
各接合器组件包括:壳体,其配置成并适于与所述手术装置连接并与所述手术装置的至少一个能旋转的驱动轴中的每一个操作性结合;外管,其具有由所述壳体支撑的近侧端和配置成并适于与所述末端执行器连接的远侧端,其中,所述外管的远侧端与所述末端执行器的至少一个力接收驱动件中的每一个操作性结合;至少一个驱动传输/转换组件,其用于将末端执行器的至少一个力接收驱动件中的一个和所述手术装置的至少一个能旋转的驱动轴中对应的一个相互连接;以及电路板,其支撑在壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种。
所述方法包括以下步骤:选择用于执行手术过程的手术末端执行器;选择用于将所选择的末端执行器和所述手术装置相互连接的合适的接合器组件;将所选择的接合器组件与所述手术装置连接;以及将所选择的接合器组件的操作参数和寿命周期信息中的至少一种传送至所述手术装置。
所述方法可进一步包括处理传送到的所选择的接合器组件的操作参数和寿命周期信息中的至少一种的步骤。
所述方法可进一步包括基于从所选择的接合器组件传送的操作参数和寿命周期信息中的至少一种来设定用于所述手术装置的操作参数的步骤。
所述方法可进一步包括对以下过程产生响应而生成信号的步骤:处理所传送的所选择的接合器组件的操作参数和寿命周期信息中的至少一种,提供所述选择的接合器组件和所述手术装置中的至少一种准备就绪的指示。
所述方法可进一步包括连接所选择的末端执行器和所选择的接合器组件的步骤。
所述方法可进一步包括在手术过程之前、期间和之后中的至少一个阶段更新所选择的接合器组件的操作参数和寿命周期信息中的至少一种的步骤。
附图说明
在此参照附图描述本公开的实施例,其中,
图1为根据本公开实施例的手持式机电手术装置和接合器组件的部件分离的立体图,该图显示了其与末端执行器的连接;
图2为图1的手术装置的立体图;
图3为图1和图2的手术装置的部件分离的立体图;
图4为在图1-图3的手术装置中使用的电池的立体图;
图5为除去其壳体的图1-图3的手术装置的立体图;
图6为所述手术装置和所述接合器组件中的每一个的连接端的立体图,该图显示了之间的连接;
图7为通过图2的X-Z限定的平面截取的图1-图3的手术装置的横截面图;
图8为通过图2的X-Y限定的平面截取的图1-图3的手术装置的横截面图;
图9为图1的接合器组件的立体图;
图10为图1和图9的接合器组件的部件分离的立体图;
图11为图1和图9的接合器组件的驱动联结组件的部件分离的立体图;
图12为图1和图9的接合器组件的远侧部的部件分离的立体图;
图13为至LED的输出信号;电机的选择(选择夹紧/切割、旋转或关节式运动);以及执行所选功能的驱动电机的选择的示意图;
图14为用于与图1的手持机电手术装置一起使用的合并成本公开的新的方面的接合器组件的替换实施例和末端执行器的替换实施例的后视立体图;以及
图15为从其除去壳体的图14的接合器组件的近侧部的后视立体图。
具体实施方式
参照附图详细描述本公开的实施例的手术装置以及用于机电手术装置和/或手柄组件的接合器组件,在附图中,在一系列图的每一幅中类似的附图标记指代相同或相应的零件。如在此使用的术语“远侧”是指接合器组件或手术装置或者其组件更远离使用者的部分,而术语“近侧”是指接合器组件或手术装置或者其组件更靠近使用者的部分。
根据本公开的实施例的手术装置通常标示为100,并且为动力的、手持式机电仪器的形式,其配置成用于选择性附接多个不同的末端执行器,每个末端执行器配置成通过动力的、手持式机电手术仪器来致动并操纵。
如图1中所示,手术装置100配置成与多个接合器组件200(无论是智能的或不是智能的,即,非智能的)中的任一个选择性连接,并且,接下来,各个独特的接合器组件200配置成与任意数量的独特的末端执行器或单用途加载单元300选择性连接。
如图1-图3所示,手术装置100包括手柄壳体102,所述手柄壳体102 具有下壳体部104、从下壳体部104延伸和/或支撑在下壳体部104上的中间壳体部106以及从中间壳体部106延伸和/或支撑在中间壳体部106上的上壳体部108。中间壳体部106和上壳体部108被分成与下部104一体形成并从下部104延伸的远侧半部分110a和通过多个紧固件可与远侧半部分110a连接的近侧半部分110b。当联接时,远侧和近侧半部分110a、110b限定具有腔体102a的手柄壳体102,电路板150和驱动机构160位于腔体102a内。
如图1中所见,远侧半部分110a和近侧半部分110b沿与上壳体部108 的纵向轴线“X”交叉的平面分开。
手柄壳体102包括垫圈112,垫圈112完全围绕远侧半部分110a和/或近侧半部分110b的凸缘延伸并被插在远侧半部分110a和近侧半部分110b之间。垫圈112密封远侧半部分110a和近侧半部分110b的周边。垫圈112起到在远侧半部分110a和近侧半部分110b之间建立气密密封的作用,以保护电路板150和驱动机构160免受消毒和/或清洁步骤的破坏。
这样,手柄壳体102的腔体102a被沿着远侧半部分110a和近侧半部分 110b的周边密封,而且腔体102a被配置成能够在手柄壳体102内更容易、更有效地组装电路板150和驱动机构160。
手柄壳体102的中间壳体部106提供电路板150位于其中的壳体。电路板150配置成控制手术装置100的各种操作,这将在下文中另外详细描述。
手术装置100的下壳体部104限定形成在其上表面内的开口(未示出),并且该开口位于中间壳体部106的下面或其中。下壳体部104的开口提供一通道,电线152穿过该通道将位于下壳体部104内的电组件(如图4中所示的电池156、如图3中所示的电路板154等)与位于中间壳体部106和/或上壳体部108内的电组件(电路板150、驱动机构160等)电性互联。
手柄壳体102包括设置在下壳体部104的开口(未示出)内的垫圈103,从而塞住或密封下壳体部104的开口同时允许电线152从其中穿过。垫圈103 起到在下壳体部106和中间壳体部108之间形成气密密封的作用,以保护电路板150和驱动机构160免受消毒和/或清洁步骤的破坏。
如图所示,手柄壳体102的下壳体部104提供可充电电池156能拆卸地位于其中的壳体。电池156配置成向手术装置100的任何电气元件提供电力。下壳体部104限定将电池156插入其中的腔体(未示出)。下壳体部104包括与其枢转地连接的门105,用于关闭下壳体部104的腔体并将电池156容纳在其中。尽管显示的是电池156,但能想到,例如,手术装置可以由任意数量的电源提供电力,如燃料电池、与外部电源连接的电源线等。
参照图3和图5,上壳体部108的远侧半部分110a限定前端部或连接部 108a。前锥体114支撑在上壳体部108的前端部108a上。前锥体114由透明材料制成。照明件116设置在前锥体114内,这样照明件116是透过前锥体 114可见的。照明件116为发光二极管印刷电路板(LED PCB)形式的。照明件 116配置成以与独特的离散事件相关的特定彩色图案来显示多种颜色。
手柄壳体102的上壳体部108提供驱动机构160位于其中的壳体。如图 5中所示,驱动机构160配置成驱动轴和/或齿轮构件,以执行手术装置100 的各种操作。特别地,驱动机构160配置成驱动轴和/或齿轮构件以相对于末端执行器300的近侧主体部302来选择性地移动末端执行器300的工具组件 304(参见图1),以便相对于手柄壳体102来围绕纵向轴线“X”(参见图3)旋转末端执行器300,相对于末端执行器300的钉仓组件308来移动砧座组件306,和/或发射在末端执行器300的钉仓组件308内的吻合和切割钉仓。
驱动机构160包括选择式齿轮箱组件162,选择式齿轮箱组件162相对于接合器组件200紧接地位于近侧。在选择式齿轮箱组件162近侧的是具有第一电机164的功能选择模块163,第一电机164起到选择性地移动选择式齿轮箱组件162内的齿轮元件以与具有第二电机166的输入驱动构件165啮合的作用。
如图1至图4所示,并且如上所述,上壳体部108的远侧半部分110a 限定了连接部108a,连接部108a配置成接受接合器200的对应的驱动联结组件210。
如图6至图8所示,手术装置100的连接部108a具有圆柱形凹部108b,当接合器组件200与手术装置100配接时,圆柱形凹部108b接纳接合器组件 200的驱动联结组件210。连接部108a容纳三个能旋转的驱动连接器118、 120、122。
当所选的接合器组件200与手术装置100配接时,手术装置100的能旋转的驱动连接器118、120、122中的至少一个与接合器组件200的对应的能旋转的连接器套筒例如,如连接器套筒218、220、222相联结(参见图6)。对于接合器组件200,对应的第一驱动连接器118和第一连接器套筒218之间的接口,对应的第二驱动连接器120和第二连接器套筒220之间的接口以及对应的第三驱动连接器122和第三连接器套筒222之间的接口都是键连接的,以使得手术装置100的驱动连接器118、120、122中的每一个的旋转都会引起接合器组件200的对应的连接器套筒218、220、222的相应旋转。
手术装置100的驱动连接器118、120、122与接合器组件200的连接器套筒218、220、222的配接允许旋转力经由三个相应的连接器接口中的每一个而独立地传输。手术装置100的驱动连接器118、120、122配置成通过驱动机构160独立地旋转。就此而言,驱动机构160的功能选择模块163选择由驱动机构160的输入驱动构件165来驱动手术装置100的驱动连接器118、 120、122中的哪一个或者哪几个。
由于手术装置100的驱动连接器118、120、122中的每一个均与接合器组件200的相应的连接器套筒218、220、222键连接和/或基本上非旋转地接口,所以当接合器组件200联结到手术装置100上时,旋转力会选择性地从手术装置100的驱动机构160传递至接合器组件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。如下面将更详细地讨论的,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/切割构件的驱动。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与纵向轴线“X”(参照图3)交叉的选择性的且独立的关节式运动。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绕纵向轴线“X”(参照图3)的选择性的且独立的旋转。
如上所述并且如图5和图8中所示,驱动机构160包括选择式齿轮箱组件162和功能选择模块163,其中功能选择模块163位于选择式齿轮箱组件 162的近侧,其起到选择性地移动选择式齿轮箱组件162内的齿轮元件以与第二电机166相啮合的作用。这样,驱动机构160在给定的时间选择性地驱动手术装置100的驱动连接器118、120、122中的一个。
如图1至图3和图9中所示,手柄壳体102在中间壳体部108的远侧表面或侧部上支承扳机壳体107。扳机壳体107与中间壳体部108协同地支撑一对手指致动的控制按钮124、126和摇杆装置128、130。特别地,扳机壳体107限定用于能滑动地接收第一控制按钮124的上开口124a、用于能滑动地接收第二控制按钮126的下开口126b,并且包括发射按钮或安全开关132。
控制按钮124、126和摇杆装置128、130中的每一个以及安全开关132 包括对应的磁体(未示出),磁体通过操作者的致动来移动。此外,对于控制按钮124、126和摇杆装置128、130中的每一个以及安全开关132,电路板 150包括对应的霍尔效应开关150a-150g,霍尔效应开关150a-150g通过在控制按钮124、126和摇杆装置128、130中的每一个以及安全开关132内的磁体的移动来致动。
特别地,紧接地位于控制按钮124近侧的为第一霍尔效应开关150c(参见图3和图7),一旦操作者致动控制按钮124就会移动控制按钮124内的磁体,一旦磁体移动就会致动第一霍尔效应开关150c。第一霍尔效应开关150c 的对应于控制按钮124的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动构件165提供合适的信号,以闭合末端执行器300的工具组件304和/或发射在末端执行器300的工具组件304内的吻合/切割钉仓。
同样,紧接地位于摇杆装置128近侧的为第二和第三霍尔效应开关150b、 150d(参见图3和图7),一旦操作者致动摇杆装置128就会移动摇杆装置128 内的磁体(未示出),一旦磁体移动就会致动第二和第三霍尔效应开关150b、 150d。第二霍尔效应开关150b的对应于摇杆装置128沿第一方向致动的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动构件165提供合适的信号,以使工具组件304对应于末端执行器300的主体部302在偏左侧的方向上成关节式运动。第三霍尔效应开关150d的致动(对应于摇杆装置128在与第一方向相反的第二方向上的致动)引起电路板150向驱动机构 160的功能选择模块163和输入驱动构件165提供合适的信号,以使工具组件304相对于末端执行器300的主体部302在偏右侧的方向上成关节式运动。有利的是,摇杆装置128在第一方向上的运动引起工具组件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(例如第二方向)上的运动引起工具组件304相对于主体部302在相反方向(例如第二方向)上进行关节式运动。
此外,紧接地位于控制按钮126近侧的为第四霍尔效应开关150f(参见图 3和图7),一旦操作者致动控制按钮126就会移动控制按钮126内的磁体(未示出),一旦磁体移动就会致动第四霍尔效应开关150f。第四霍尔效应开关 150f的对应于控制按钮126的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动构件165提供合适的信号,以打开末端执行器300的工具组件304。
另外,紧接地位于摇杆装置130近侧的为第五和第六霍尔效应开关150e、 150g(参见图3和图7),一旦操作者致动摇杆装置130就会移动摇杆装置130 内的磁体(未示出),一旦磁体移动就会致动第五和第六霍尔效应开关150e、 150g。第五霍尔效应开关150e的致动(对应于摇杆装置130在第一方向上的致动)引起电路板150向驱动机构160的功能选择模块163和输入驱动构件 165提供合适的信号,以使末端执行器300相对于手术装置100的手柄壳体 102在第一方向上(即,逆时针地)旋转。第六霍尔效应开关150g的致动(对应于摇杆装置130在第二方向上的致动)引起电路板150向驱动机构160的功能选择模块163和输入驱动构件165提供合适的信号,以使末端执行器300相对于手术装置100的手柄壳体102在第二方向上(即,顺时针地)旋转。具体地,摇杆装置130在第一方向上的运动引起末端执行器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(例如第二方向)上的移动引起末端执行器300相对于手柄壳体102在相反方向(例如第二方向)上旋转。
如图1至图3和图7中所见,如上所述,手术装置100包括支撑在扳机壳体107的上部上或在其内的发射按钮或安全开关132。在使用中,按照需要和/或期望,末端执行器300的工具组件304在打开和闭合的状态之间被致动。当末端执行器304的工具组件304在闭合状态下时,为了发射末端执行器300以从其中排出紧固件,按下安全开关132从而移动支撑在其内的磁体 (未示出),以致动第七霍尔效应开关150a,接下来,霍尔效应开关150a指示手术装置100使末端执行器300预备从其中排出紧固件(即,将手术装置100 设置为发射模式)。
如图1和图9至图12所示,手术装置100配置成用于与接合器组件200 选择性连接,并且接下来,接合器组件200配置成用于与末端执行器300选择性连接。可以参考于2012年5月31日提交的名称为“手持式手术手柄组件、用于在手术手柄组件和手术末端执行器之间使用的手术接合器以及使用方法”的序列号为13/484,975的美国专利申请(在此通过引用并入该申请的全部内容),用于详细讨论接合器组件200的构造和操作。
接合器组件200配置成将手术装置100的驱动连接器120和112中的任一个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。
接合器组件200包括用于将手术装置100的第三能旋转的驱动连接器 122和末端执行器300的第一能轴向平移的驱动件相互连接的第一驱动传输/ 转换组件,其中,第一驱动传输/转换组件将手术装置100的第三能旋转的驱动连接器122的旋转转换并传输至末端执行器300的第一能轴向平移的驱动组件360,用于发射。
接合器组件200包括用于将手术装置100的第二能旋转的驱动连接器 120和末端执行器300的第二能轴向平移的驱动件相互连接的第二驱动传输/ 转换组件,其中,第二驱动传输/转换组件将手术装置100的第二能旋转的驱动连接器120的旋转转换并传输至末端执行器300的关节式运动连杆366的轴向平移,用于关节式运动。
现转向图9和图10,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配置并定尺寸为安放接合器组件200的构件。外管206定尺寸为用于插入内窥镜,特别地,外管能够通过常用的套管针端口、套管等。旋钮壳体202定尺寸为不进入套管针端口、套管等。
旋钮壳体202配置成并适于连接至手术装置100的远侧半部分110a的上壳体部108的连接部108a。
如图9至图11中所见,接合器组件200包括在其近侧端的手术装置驱动联结组件210和在其远侧端的末端执行器联结组件230。驱动联结组件210 包括至少部分地能旋转地支撑在旋钮壳体202内的远侧驱动联结壳体210a 和近侧驱动联结壳体210b。驱动联结组件210能旋转地支撑其内的第一能旋转的近侧驱动轴212、第二能旋转的近侧驱动轴214和第三能旋转的近侧驱动轴216。
近侧驱动联结壳体210b配置成能旋转地分别支撑第一、第二和第三连接器套筒218、220和222。如上所述,连接器套筒218、220和222中的每一个配置成与手术装置100的对应的第一、第二和第三驱动连接器118、120、 122配接。连接器套筒218、220、222中的每一个进一步配置成与对应的第一、第二和第三近侧驱动轴212、214、216的近侧端配接。
参照图9和图12,接合器组件200进一步包括锁止机构,锁止机构用于固定驱动管246的轴向位置和径向方位,以连接到末端执行器300上或与末端执行器300脱离。锁止机构包括能滑动地支撑在旋钮壳体202上的按钮 282。锁止按钮282连接至致动杆284,致动杆284纵向延伸穿过外管206。致动杆284插在外管206和内壳体管206a之间。一旦锁止按钮282移动,致动杆284就会移动。致动杆284包括远侧部284a,远侧部284a在其中限定窗口284b。
如图12所示,锁止机构进一步包括闭锁件286,闭锁件286在与致动杆 284的远侧部284a的窗口284b配准的位置处支撑在远侧联结组件230上。闭锁件286包括朝向驱动管246的连接件247延伸的突起。闭锁件286的突起配置并定尺寸为选择性地接合在驱动管246的连接件247中形成的切口。锁止机构280进一步包括偏压件288,偏压件288倾向于使闭锁件286及其突起与在驱动管246的连接件247中形成的切口保持一定距离。
在操作中,为了锁止驱动管246的位置和/或方位,使用者将锁止按钮 282从远侧位置移动向近侧位置,从而引起致动杆284的凸轮表面与锁止臂 286接合并且对抗偏压件288的偏压,迫使闭锁件286朝向驱动管246,这样闭锁件286的突起被接收在驱动管246的连接件247中形成的切口内。以这种方式,防止驱动管246向远侧和/或近侧移动。
当将锁止按钮282从近侧位置移向远侧位置时,凸轮表面从闭锁件286 分开,从而允许偏压件288迫使闭锁件286及其突起离开在驱动管246的连接件247中形成的切口。
如图6和图12中所见,接合器组件200包括一对电触销290a、290b,电触销290a、290b用于与设置在手术装置100的连接部108a中的相应的电插头190a、190b电性连接。电接点290a、290b用于允许校准接合器组件200 的必要的操作参数和/或寿命周期信息并将这些信息经由电性连接至电路板 150的电插头190a、190b传送至手术装置100的电路板150。接合器组件200 进一步包括电路板292,电路板292支撑在旋转壳体202中并与电触销290a、290b电性连通。接合器组件200的电路板292为其上每个独特的接合器组件储存操作参数和/或寿命周期信息。
电路板292可包括易失性和/或非易失性存储器,用于在使用期间或在使用后储存操作参数和/或寿命周期信息,无论操作参数和/或寿命周期信息是原始的还是更新的。
能进一步想到的是,接合器组件200可包括与电路板292电性连接的电源等,即,电池(未示出)。能想到的是,接合器组件200的电池可向接合器组件200提供电力,该电力与由手术装置100的电池156提供的任何电力不同。例如,接合器组件200的电池可用于向接合器组件内的任何机械电机供应电力、向支撑在接合器组件上或在其中的任何视频装置或显示器供应电力或者向接合器组件内的任何音频装置供应电力。
根据本公开,用于接合器组件200的操作参数包括:与接合器组件相关的识别信息(例如,型号、编号等);接合器组件的尺寸;特定指示,根据该指示,从手术装置100接收的旋转输入将在接合器组件内执行特定的功能;能够从所述手术装置100传递至接合器组件的最大力是多大;以及任何其他需要的信息。
另外,根据本公开,用于接合器组件200的寿命周期信息可包括:接合器组件的连接器套筒218、220、222经过的转数;接合器组件的清洁循环数(例如,手洗、机洗、辐照、消毒、高压、有或无清洁液等);接合器组件的组装日期;以及轴组件的任何维修/保养日期。
在使用中,当接合器组件200与手术装置100相互连接时,经由手术装置100的电插座190a、190b和接合器组件200的电触销290a、290b之间的电接口,可以将任何或所有的操作参数和/或寿命周期信息从接合器组件200 传输至手术装置100。可替换地,在手术装置100的校准程序的过程中,可以将任何或所有的操作参数和/或寿命周期信息从接合器组件200传输至手术装置100。
尽管显示并描述的是手术装置100和接合器组件200之间的、包括电插座190a、190b和电触销290a、290b的电接口,但能想到的是,用于将任何或所有的操作参数和/或寿命周期信息从接合器组件200传输至手术装置100 的任何其他的形式或远程通信,例如,无线通信、近场通信、蓝牙通信等,均在本公开的范围内。
以这种方式,根据本公开,由于开发了用于通用手术装置(即,手术装置 100)的新的接合器组件,当将新的接合器组件与手术装置连接时或者在组装的手术装置100和新的接合器组件的任何校准程序的过程中,新的接合器组件的任何新的独特的操作参数和/或寿命周期信息均可被特定地与此关联并被传输或传送至手术装置。
根据本公开,能想到的是,任何或所有的操作参数和/或寿命周期信息可自动更新,在每次手术使用后可由技术人员人工更新,其中,接合器组件可经由电触销290a、290b或其他通信接口电性连接至计算机接口。
以这种方式,作为智能手术仪器的手术装置100能够适当地处理新的 (即,还未开发的)接合器组件,而不必用所需的操作参数为所述新的接合器组件预编程序。
在使用中,当使用者致动手术装置100的按钮时,软件会检查预定义的条件。如果条件匹配,那么软件就会控制电机并将机械驱动经由接合器组件传递至附接的末端执行器(例如,手术吻合器),末端执行器随后根据所按按钮的功能能够打开、闭合、旋转、进行关节式运动或发射。软件还通过以规定的方式接通或切断彩色灯以指示手术装置100、接合器组件200和/或末端执行器300的状态来向使用者提供反馈。
下面在示意图“A”中显示了所述系统的高水平的电结构图,并且该图显示与各种硬件和软件接口的连接。在示意图“A”的左侧显示来自按压按钮124、按钮126以及来自驱动轴的电机编码器的输入信号。微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。微控制器接收来自MicroLAN、超级ID芯片、电池ID芯片和接合器ID芯片的输入信号,并将输出信号发送给MicroLAN、超级ID芯片、电池ID芯片和接合器ID芯片。
MicroLAN、超级ID芯片、电池ID芯片和接合器ID芯片如下所述地控制手术装置100、接合器组件200和/或末端执行器300:
MicroLAN—与读/写系统构件ID通信的序列1-电线母线。
超级ID芯片—识别手术装置100并记录使用信息。
电池ID芯片—识别电池156并记录使用信息。
接合器ID芯片—识别接合器组件200的类型、记录末端执行器 300的存在并记录使用信息。
在图13中图示的示意图的右侧指示了到LED的输出信号;选择电机(以选择夹紧/切割、旋转或进行关节式运动);以及选择驱动电机来执行所选的功能。
如图1中图示,末端执行器表示为300。末端执行器300配置且定尺寸为用于穿过套管、套管针等插入内窥镜。特别地,在如图1图示的实施例中,当末端执行器300在闭合状态下,末端执行器300可穿过套管或套管针。
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 能够释放地附接至接合器组件200的远侧联结件230,并且工具组件304能够枢转地附接至近侧主体部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枢转并且能够在打开(或非夹紧)位置与闭合(或夹紧)位置之间移动以通过套管针的套管插入。
可以参考于2009年8月31日提交的名称为“用于手术吻合装置的工具组件”的美国专利No.7,819,896(在此通过引用并入该申请的全部内容),用于详细讨论末端执行器300的构造和操作。
由于接合器组件200为可再用的,在使用前,采用已知的消毒技术和方法(例如,使用清洁剂手洗、机洗和/或之后高压等)至少必须对接合器组件200 消毒。
现转向图14至图15,显示了用于与手持式机电手术装置100一起使用的、并入了本公开的新的方面的接合器组件200a的替换实施例和末端执行器 300a的替换实施例。可以参考于2013年2月18日提交的名称为“用于内窥镜过程的设备”的序列号为13/769,419的美国专利申请(在此通过引用并入该申请的全部内容),用于详细讨论接合器组件200a和末端执行器300a的构造和操作。
如具体在图15中所见,与接合器组件200类似,接合器组件200a包括电路板292和电接点290a、290b。
尽管接合器组件200a的特定操作和功能性可与接合器组件200不同,但为了操作末端执行器300a,接合器组件200a的电路板292也可以储存接合器组件200a特有的操作参数和/或寿命周期信息。
另外可参考:于2013年2月18提交的名称为“用于内窥镜过程的设备”的序列号为13/769,414的美国专利申请;于2013年3月13日提交的名称为“用于内窥镜过程的设备”的序列号为13/799,379的美国专利申请;将上述申请的全部内容通过引用方式并入本申请,用于详细讨论并入本公开的新方面的、用于与手持式机电手术装置100一起使用的替换接合器组件和/或末端执行器的构造和操作。
根据本公开,能想到的是,手术室等会设有:包括至少一个手术装置100 的机电手术系统;多个独特的和/或各异的根据本公开的接合器组件;能够执行多种不同手术过程的多个各异的末端执行器。在使用中,根据要进行的手术过程,外科医生会选择所需的且合适的末端执行器用于执行特定的手术过程;外科医生会选择合适的接合器组件用于将特定的末端执行器和手术装置 100相互连接;并且外科医生(或其他手术室人员)会将合适的接合器组件与手术装置100连接。
然后,能想到的是,合适的接合器组件会与手术装置100通信,其中,用于合适的接合器组件的操作参数和/或寿命周期信息将会从合适的接合器组件的电路板292传输或传送至手术装置100从而被处理。如果在校准和/ 或初始化程序的过程中,用于合适的接合器组件的操作参数和/或寿命周期信息未从手术装置100产生错误信号,那么手术装置100会产生就绪信号,由此外科医生(或其他手术室人员)会将所选的末端执行器与合适的接合器组件连接。
可以理解的是,可以对本公开的接合器组件的实施例进行各种改进。因此,不应将上述说明解释为限制性的,其仅为实施例的示例。本领域技术人员在本公开的范围和构思内会想到其他的改进。
Claims (18)
1.一种接合器组件,其用于选择性地将配置成执行手术功能的手术末端执行器和配置成致动所述手术末端执行器的机电手术装置相互连接,所述手术末端执行器包括多个力接收驱动件,并且所述机电手术装置包括多个能旋转的驱动轴,所述接合器组件包括:
壳体,其配置成并适于与所述机电手术装置连接并且与所述机电手术装置的多个能旋转的驱动轴中的每一个选择性地操作性结合;
外管,其具有由所述壳体支撑的近侧端和配置成并适于与所述手术末端执行器连接的远侧端,其中,所述外管的远侧端与所述手术末端执行器的多个力接收驱动件中的每一个选择性地操作性结合;
多个驱动组件,其用于将所述机电手术装置的所述多个能旋转的驱动轴和所述手术末端执行器的所述多个力接收驱动件相互连接,其中所述多个驱动组件中的至少一个驱动组件配置成至少将旋转力传输或转换成线性力;以及
电路板,其支撑在壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种,其中,用于所述接合器组件的所述操作参数至少包括特定指示,根据所述特定指示,从所述机电手术装置接收的旋转输入将在所述接合器组件内执行特定的功能。
2.根据权利要求1所述的接合器组件,其中,所述电路板储存至少一种所述接合器组件特有的操作参数,所述操作参数至少包括:
与所述接合器组件相关的识别信息;
所述接合器组件的尺寸;或
能够从所述机电手术装置传递至所述接合器组件的最大力。
3.根据权利要求2所述的接合器组件,其中,所述识别信息至少包括型号和编号。
4.根据权利要求2所述的接合器组件,其中,所述电路板储存所述接合器组件特有的寿命周期信息,所述寿命周期信息包括:
所述接合器组件的输入力接收件经过的转数;
所述接合器组件的清洁循环数;
所述接合器组件的组装日期;或
所述接合器组件的任何维修/保养日期。
5.根据权利要求1所述的接合器组件,其进一步包括至少一个支撑在所述壳体内并配置成与所述机电手术装置接口的电接点。
6.根据权利要求1所述的接合器组件,其中,至少一个驱动组件包括第一端和第二端,所述第一端能释放地连接至所述机电手术装置的至少一个能旋转的驱动轴,所述第二端能释放地连接至所述手术末端执行器的至少一个力接收驱动件,
其中,所述至少一个驱动组件将所述机电手术装置的所述至少一个能旋转的驱动轴的旋转转换并传输成所述手术末端执行器的所述至少一个力接收驱动件的轴向平移。
7.一种用于执行至少一种手术过程的机电手术系统,所述机电手术系统包括机电手术装置和多个手术末端执行器,所述机电手术系统进一步包括:
多个接合器组件,其中,每个接合器组件包括:
壳体,其配置成并适于与所述机电手术装置选择性地连接并与所述机电手术装置的多个能旋转的驱动轴操作性结合;
外管,其具有由所述壳体支撑的近侧端和配置成并适于与所述手术末端执行器选择性地连接的远侧端,其中,所述外管的远侧端与所述手术末端执行器的多个力接收驱动件选择性地操作性结合;
多个驱动组件,其用于将所述机电手术装置的所述多个能旋转的驱动轴和所述手术末端执行器的所述多个力接收驱动件相互连接,其中,所述多个驱动组件中的至少一个驱动组件配置成至少将旋转力传输或转换成线性力;以及
电路板,其支撑在壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种,其中,用于所述接合器组件的所述操作参数至少包括特定指示,根据所述特定指示,从所述机电手术装置接收的旋转输入将在所述接合器组件内执行特定的功能。
8.根据权利要求7所述的机电手术系统,其中,所述电路板储存至少一种各接合器组件特有的操作参数,所述操作参数至少包括:
与所述接合器组件相关的识别信息;
所述接合器组件的尺寸;或
能够从所述机电手术装置传递至所述接合器组件的最大力。
9.根据权利要求8所述的机电手术系统,其中,所述识别信息至少包括型号和编号。
10.根据权利要求8所述的机电手术系统,其中,所述电路板储存各接合器组件特有的寿命周期信息,所述寿命周期信息包括:
所述接合器组件的输入力接收件经过的转数;
所述接合器组件的清洁循环数;
所述接合器组件的组装日期;或
所述接合器组件的任何维修/保养日期。
11.根据权利要求7所述的机电手术系统,其中,各接合器组件包括至少一个支撑在所述壳体内并配置成与所述机电手术装置接口的电接点。
12.根据权利要求7所述的机电手术系统,其中,各接合器组件的至少一个驱动组件包括第一端和第二端,所述第一端能释放地连接至所述机电手术装置的至少一个能旋转的驱动轴,所述第二端能释放地连接至所述手术末端执行器的至少一个力接收驱动件,
其中,所述至少一个驱动组件将所述机电手术装置的所述至少一个能旋转的驱动轴的旋转转换并传输成所述手术末端执行器的所述至少一个力接收驱动件的轴向平移。
13.一种配置机电手术系统的方法,其包括:
提供多个手术末端执行器,各手术末端执行器配置成执行手术功能,各手术末端执行器包括多个力接收驱动件;
提供机电手术装置,其配置成致动多个手术末端执行器中的每一个,所述机电手术装置包括多个能旋转的驱动轴;
提供多个接合器组件,其用于选择性地将多个手术末端执行器中选出的一个和所述机电手术装置相互连接;
其中,各接合器组件包括:
壳体,其配置成并适于与所述机电手术装置连接并与所述机电手术装置的能旋转的驱动轴中的每一个选择性地操作性结合;
外管,其具有由所述壳体支撑的近侧端和配置成并适于与所述手术末端执行器选择性地连接的远侧端,其中,所述外管的远侧端与所述手术末端执行器的力接收驱动件中的每一个选择性地操作性结合;
多个驱动组件,其用于将所述机电手术装置的所述多个能旋转的驱动轴和所述手术末端执行器的所述多个力接收驱动件相互连接,其中,所述多个驱动组件中的至少一个驱动组件配置成至少将旋转力传输或转换成线性力;以及
电路板,其支撑在壳体内并储存所述接合器组件特有的操作参数和寿命周期信息中的至少一种,其中,用于所述接合器组件的所述操作参数至少包括特定指示,根据所述特定指示,从所述机电手术装置接收的旋转输入将在所述接合器组件内执行特定的功能;
选择手术末端执行器;
选择用于将所选择的手术末端执行器和所述机电手术装置相互连接的合适的接合器组件;
将所选择的接合器组件与所选择的手术末端执行器连接;
将所选择的接合器组件与所述机电手术装置连接;以及
将用于接合器组件的各驱动组件的特定的指示功能传送至所述机电手术装置。
14.根据权利要求13所述的方法,其进一步包括处理传送到的所选择的接合器组件的操作参数和寿命周期信息中的至少一种。
15.根据权利要求14所述的方法,其进一步包括基于从所选择的接合器组件传送的操作参数和寿命周期信息中的至少一种来设定用于所述机电手术装置的操作参数。
16.根据权利要求15所述的方法,其进一步包括对以下过程产生响应而生成信号:处理所传送的所选择的接合器组件的操作参数和寿命周期信息中的至少一种,提供所述选择的接合器组件和所述机电手术装置中的至少一种准备就绪的指示。
17.根据权利要求16所述的方法,其进一步包括连接所选择的手术末端执行器和所选择的接合器组件。
18.根据权利要求17所述的方法,其进一步包括更新所选择的接合器组件的操作参数和寿命周期信息中的至少一种。
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AU2014200176A1 (en) | 2014-08-07 |
US10918364B2 (en) | 2021-02-16 |
JP2014140749A (ja) | 2014-08-07 |
US20210161514A1 (en) | 2021-06-03 |
EP2759268A1 (en) | 2014-07-30 |
US20140207125A1 (en) | 2014-07-24 |
CN109549677A (zh) | 2019-04-02 |
US11786229B2 (en) | 2023-10-17 |
CN103961148A (zh) | 2014-08-06 |
CA2839910A1 (en) | 2014-07-24 |
AU2014200176B2 (en) | 2017-10-12 |
EP2759268B1 (en) | 2019-07-17 |
CN109549677B (zh) | 2021-06-15 |
JP6508800B2 (ja) | 2019-05-08 |
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