CN104042283A - 用于内窥镜操作装置的关节式运动接头 - Google Patents
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Abstract
本发明公开了一种用于内窥镜操作装置的关节式运动接头，提供了一种内窥镜手术设备，所述内窥镜手术设备包括：内窥镜锚固持/推进组件，所述内窥镜锚固持/推进组件包括在关节式运动接头处可枢转地连接至彼此的近侧管部和远侧管部；近侧内轴，其可旋转地布置在所述近侧管部内；远侧内轴，其可旋转地布置在所述远侧管部内；以及相对柔性的中间驱动线缆，其将所述近侧内轴和所述远侧内轴机械地互联，其中所述中间驱动线缆延伸跨过所述关节式运动接头，其中所述中间驱动线缆限定了中央纵向轴线，所述中央纵向轴线从所述近侧管部和所述远侧管部的中央纵向轴线偏离了一径向距离。
Description
技术领域
本公开涉及用于执行内窥镜手术操作的手术装置、设备和/或系统及其使用方法。更具体地，本公开涉及用于执行内窥镜手术操作的手术装置、设备和/系统的关节式运动接头。
背景技术
在腹腔镜或内窥镜操作期间，进入手术部位是通过小切口或通过穿过患者的小的进入伤口的狭窄的插管实现的。由于进入手术部位的有限区域，许多内窥镜手术设备包括用于使设备的工具组件进行关节式运动的机构。典型地，关节式运动机构受致动器控制，所述致动器必须由外科医生操纵以恰当地将工具组件相对于待处理组织定向。
一些内窥镜手术设备利用传递转矩的柔性驱动线缆等等以绕内窥镜手术设备的关节式运动接头传递旋转。为了得到希望的关节式运动，使用了相对更柔性的传递转矩的线缆。然而，线缆越柔性，发生的线缆缠绕越多并且出现更大的转矩传递损失。
因此，存在如下内窥镜手术设备的需要：利用能够传递相对更大转矩的传递转矩的柔性驱动线缆，减小一定程度的转矩传递的损失而同时维持内窥镜手术设备的一定程度的关节式运动。
发明内容
本公开涉及一种机电的、手持式手术装置、设备和/或系统，其构造成与可移除的一次性装载单元和/或单次使用装载单元一起使用，用于夹持、切割和/或吻合组织。
根据本公开的一个方案，提供了一种内窥镜手术设备，所述内窥镜手术设备包括：手柄组件，其包括手柄外壳和操作地连接至所述手柄外壳的扳机、以及能够被所述扳机致动的驱动机构；以及内窥镜锚固持/推进组件，其从所述手柄组件延伸。所述内窥镜锚固持/推进组件包括：在关节式运动接头处可枢转地连接至彼此的近侧管部和远侧管部，所述近侧管部和所述远侧管部中的每个管部限定了中央纵向轴线；近侧内轴，其可旋转地布置在所述近侧管部内，其中所述近侧内轴是相对刚性的，并且其中所述近侧内轴机械地连接至所述驱动机构使得所述扳机的致动引起所述近侧内轴的旋转；远侧内轴，其可旋转地布置在所述远侧管部内，其中所述远侧内轴是相对刚性的；以及中间驱动线缆，其将所述近侧内轴和所述远侧内轴机械地互联，其中与所述近侧内轴和所述远侧内轴相比较，所述中间驱动线缆是相对柔性的，其中所述中间驱动线缆从所述近侧管部和所述远侧管部延伸并且在所述近侧管部与所述远侧管部之间延伸，延伸跨过所述关节式运动接头，其中所述中间驱动线缆限定了中央纵向轴线并且其中所述中间驱动线缆的中央纵向轴线从所述近侧管部和所述远侧管部的中央纵向轴线偏离了一径向距离。
内窥镜手术设备还包括至少一个紧固件，其装载在所述远侧管部中，其中在所述扳机致动时所述至少一个紧固件被所述远侧内轴启动。
根据本公开的另一个方案，提供了一种内窥镜手术设备，所述内窥镜手术设备包括：内窥镜锚固持/推进组件，其包括在关节式运动接头处可枢转地连接至彼此的近侧管部和远侧管部，所述近侧管部和所述远侧管部中的每个管部限定了中央纵向轴线；近侧内轴，其可旋转地布置在所述近侧管部内，其中所述近侧内轴是相对刚性的；并且其中所述近侧内轴机械地连接至所述驱动机构使得所述驱动机构的致动引起所述近侧内轴的旋转；远侧内轴，其可旋转地布置在所述远侧管部内，其中所述远侧内轴是相对刚性的；以及中间驱动线缆，其将所述近侧内轴和所述远侧内轴机械地互联，其中与所述近侧内轴和所述远侧内轴相比较，所述中间驱动线缆是相对柔性的，其中所述中间驱动线缆从所述近侧管部和所述远侧管部延伸并且在所述近侧管部与所述远侧管部之间延伸，延伸跨过所述关节式运动接头，其中所述中间驱动线缆限定了中央纵向轴线并且其中所述中间驱动线缆的中央纵向轴线从所述近侧管部和所述远侧管部的中央纵向轴线偏离了一径向距离。
内窥镜手术设备还包括至少一个紧固件，其装载在所述远侧管部中，其中在所述驱动机构致动时所述至少一个紧固件被所述远侧内轴启动。
所述远侧管部能够相对于所述近侧管部在非关节式运动方位与多个关节式运动方位之间进行关节式运动。
对于所述远侧管部相对于所述近侧管部的每个关节式运动方位，所述近侧管部的中央纵向轴线和所述远侧管部的中央纵向轴线可以限定了中央弯曲半径。对于所述远侧管部相对于所述近侧管部的每个关节式运动方位，所述中间驱动线缆的中央纵向轴线可以限定了大于所述中央弯曲半径的弯曲半径。
在离开所述远侧管部相对于所述近侧管部的关节式运动方向的方向上，所述中间驱动线缆的中央纵向轴线从所述近侧管部的中央纵向轴线和所述远侧管部的中央纵向轴线偏离。
所述中间驱动线缆具有大约0.08”（英寸，inch）的外部直径并且其中所述近侧管部和所述远侧管部各自具有大约0.22”的外部直径。
所述中间驱动线缆的外部直径与所述近侧管部或所述远侧管部的外部直径的比大约可以是2.8。
下面参照附图更详细地描述本发明的示例性实施例的进一步细节和方案。
附图说明
在此参照附图描述本公开的实施例，其中；
图1是根据本公开的方案的内窥镜手术设备的立体图；
图2是图1的内窥镜手术设备的部件分离的立体图；
图3是图1和图2的内窥镜手术设备的内窥镜锚固持/推进组件的部件分离的放大立体图；
图4是图3的指明的细节区域的放大图；
图5是沿图1的5-5截取的内窥镜锚固持/推进组件的关节式运动接头的截面图，以非关节式运动状态示出；
图6是沿图1的5-5截取的内窥镜锚固持/推进组件的关节式运动接头的截面图，以关节式运动状态示出；
图7是沿图1的7-7截取的内窥镜锚固持/推进组件的远侧端的放大截面图；
图8是在内窥镜手术设备中使用的内窥镜锚固持/推进组件的远侧端的可选实施例的立体图；
图9是用于另一个内窥镜手术设备的轴组件的远侧端和紧固到其上的末端执行器的前视图；以及
图10是用于图9的内窥镜手术设备的轴组件的远侧端和末端执行器的纵向截面图。
具体实施方式
现在将参照附图详细的描述本公开的内窥镜手术设备的实施例，其中在每幅视图中相同的附图标记表示同一或对应的元件。如在本文所用，术语“远侧”是指内窥镜手术设备远离用户的部分，而术语“近侧”是指内窥镜手术设备靠近用户的部分。
可以包括根据本公开的关节式运动接头的内窥镜手术设备的非限制实例包括手动的、机械的和/或机电的手术大头钉施加器（tack applier）、手术夹子施加器、手术吻合器、手术缝合设备等等。
首先参照图1至图7，以内窥镜手术大头钉施加器的形式的示例性内窥镜手术设备通常示出为100。大头钉施加器100包括手柄组件110和内窥镜锚固持/推进组件130，其从手柄组件110延伸并且构造为储存和选择性地从其释放或发射多个锚10。
依照本公开，设想内窥镜锚固持/推进组件130可以包括沿着其长度设置的枢轴或关节式运动接头150。如图1至图6中可以看出，内窥镜锚固持/推进组件130包括近侧管部130a和远侧管部130b，所述远侧管部130b通过枢销130c在关节式运动接头150处枢转地连接至近侧管部130a。
如图1和图2中可以看出，手柄组件110包括可枢转地支撑扳机114的手柄外壳112。扳机114操作地连接至驱动机构116，使得扳机114的每次挤压引起内窥镜锚固持/推进组件130的近侧管部130a的内轴组件138的旋转。
可以参照于2010年10月20日提交的美国专利公开第2011/0087240号，其全部内容通过引用合并在此，用于大头钉施加器100的手柄组件110和/或内窥镜锚固持/推进组件130的方案的操作和构造的讨论和描述以及锚10的构造的讨论和描述。
如图1至图6中可以看出，内窥镜锚固持/推进组件130的近侧管部130a包括紧固至手柄外壳112并且从手柄外壳112延伸的外近侧管132、同心地并且可滑动地布置在外近侧管132内的加强管134、以及可旋转地布置在加强管134内的内轴组件138的相对刚性的近侧内轴138a。
内轴组件138包括相对刚性的近侧内轴138a、相对刚性的远侧内轴138b以及将近侧内轴138a与远侧内轴138b互联的中间柔性驱动线缆138c。令人希望的是，中间柔性驱动线缆138c非旋转地连接至近侧内轴138a和远侧内轴138b中的每个上，并且可滑动地联接至近侧内轴138a和远侧内轴138b的至少一个上，以在中间柔性驱动线缆138c处于柔性状态时调节和/或导致中间柔性驱动线缆138c的长度上的变化。还令人希望的是，驱动线缆138c足够长使得它向近侧延伸越过关节式运动连接件的最近侧枢轴。这减少了对驱动线缆138c与近侧内轴138a之间的接口的弯折应力。
近侧内轴138a延伸至手柄外壳112中并且被驱动机构116启动。远侧内轴138b的远侧端部是有槽的，限定了一对叉142a和中央通道142b。远侧内轴138b的远侧端部构造为在内窥镜锚固持/推进组件130的远侧管部130b内固持多个锚10。
特别地，锚10装载到内窥镜锚固持/推进组件130的远侧内轴138b的远侧端部中，使得每个锚10的一对相对的螺纹段（未显示）径向地延伸超出远侧内轴138b的直径并且可滑动地布置在线圈136（图7）的螺旋槽内，线圈136限定或设置在内窥镜锚固持/推进组件130的远侧管部130b中，并且远侧内轴138b的远侧端部的一对叉142a布置在每个锚10的一对有槽的段内（未显示）。
如在图3和图7中可以看出，螺旋或线圈136固定地布置在内窥镜锚固持/推进组件130的远侧管部130b内。远侧内轴138b延伸到线圈136中并且能够在线圈136内旋转。
如在图1至图3、图5和图6中可以看出，关节式运动接头150包括具有近侧端152a和远侧端152b的关节式运动连接件152。关节式运动连接件152的近侧端152a枢转地连接至加强管134的远侧端。在与内窥镜锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”的偏离一横向距离的位置处，关节式运动连接件152的远侧端152b枢转地连接至内窥镜锚固持/推进组件130的远侧管部130b。
依照本公开，关节式运动启动按钮118可以可滑动地支撑在手柄外壳112上。在使用中，设想关节式运动启动按钮118具有最远侧部和最近侧部，其中在所述最远侧部处，内窥镜锚固持/推进组件130的远侧管部130b定向在相对于中央纵向轴线“X”大约0度处，并且在所述最近侧部处，内窥镜锚固持/推进组件130的远侧管部130b定向在相对于中央纵向轴线“X”大约90度处。
具体地，利用关节式运动启动按钮118处于最远侧部，且利用内窥镜锚固持/推进组件130的远侧管部130b定向在相对于中央纵向轴线“X”大约0度处，随着关节式运动启动按钮118在近侧方向上移动，关节式运动启动按钮118在近侧方向上牵拉加强管134，这在近侧方向上牵拉关节式运动连接件152，引起内窥镜锚固持/推进组件130的远侧管部130b绕枢销130c枢转。
此外，利用关节式运动启动按钮118处于非最远侧部，并且利用内窥镜锚固持/推进组件130的远侧管部130b定向在相对于中央纵向轴线“X”非0度处，随着关节式运动启动按钮118在远侧方向上移动，关节式运动启动按钮118在远侧方向上推动加强管134，这在远侧方向上推动关节式运动连接件152，引起内窥镜锚固持/推进组件130的远侧管部130b绕枢销130c向相对于中央纵向轴线“X”0度的方位上枢转。
在使用中，当内窥镜锚固持/推进组件130的远侧管部130b被致动至偏离轴线方位时，如将在下文详细讨论的，内窥镜锚固持/推进组件130的远侧管部130b可以形成相对于中央纵向轴线“X”大约0度到大约90度的角度。
依照本公开，内窥镜锚固持/推进组件130的远侧管部130b能够在相对于内窥镜锚固持/推进组件130的近侧管部130a在单个方向上枢转。
在可选实施例中，构想大头钉施加器100的手柄组件110可以将关节式运动连接节（collar）可旋转地支撑在内窥镜锚固持/推进组件130的近侧端附近。设想关节式运动连接节可以与加强管134的螺纹端或部或其他关节式运动杆进行螺纹啮合，加强管134的螺纹端或部或其他关节式运动杆能够枢转地连接至关节式运动连接件152。以此方式，随着关节式运动连接节旋转，关节式运动连接节的螺纹作用在加强管134的螺纹上并且引起加强管134在轴向上平移。如上所述，随着加强管134在轴向上平移，所述轴向平移被传递至关节式运动连接件152，从而引起远侧管部130b相对于近侧管部130a的关节式运动。
依照本公开，如在图5和图6中可以看出，中间柔性驱动线缆138c从内窥镜锚固持/推进组件130的近侧管部130a延伸至远侧管部130b，横跨关节式运动接头150。中间柔性驱动线缆138c由抗扭并且柔性的材料制备，诸如，例如不锈钢。与近侧内轴138a和远侧内轴138b相比较，柔性驱动线缆138c更柔性。
中间柔性驱动线缆138c限定了中央纵向轴线“X1”，中央纵向轴线“X1”从内窥镜锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”偏离了径向距离“r”。在离开关节式运动接头150的关节式运动的方向上或在离开关节式运动连接件152的方向上，中间柔性驱动线缆138c的中央纵向轴线“X1”从内窥镜锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”偏离。
这样，如图6可以看出，当内窥镜锚固持/推进组件130的远侧管部130b处于有角度的方位时，中间柔性驱动线缆138c的弯曲半径“R1”相对地大于比较例柔性驱动线缆的弯曲半径“R2”，所述比较例柔性驱动线缆会沿着内窥镜锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”而定位。
以此方式，通过为中间柔性驱动线缆138c提供更大的弯曲半径“R1”，依照本公开，构想与会沿着内窥镜锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”而定位的任何可比较的柔性驱动线缆相比较，能够使用具有相对更大直径或由相对更坚硬材料构造的中间柔性驱动线缆138c。
这样做，与会沿着内窥镜锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”而定位的任何可比较的柔性驱动线缆相比较，可以沿着中间柔性驱动线缆138c传递相对更大的扭转力和更精确的旋转。
中间柔性驱动线缆138c可以具有大约0.08”的外部直径。近侧管部130a和远侧管部130b各自具有大约0.22”的外部直径。中间柔性驱动线缆138c的外部直径与近侧管部130a或远侧管部130b的外部直径的比是大约2.8。
依照本公开，如图8中可以看出，构想可以构造大头钉施加器100使得内窥镜锚固持/推进组件130的远侧管部130b构造并且适于可释放地并且选择性地接纳一次装载单元（DLU）或单次使用装载单元（SULU），其中DLU或SULU包括至少外管、沿着外管的内部设置的线圈或螺旋螺纹、以及可旋转地布置在线圈或螺旋螺纹内的内轴。内轴包括近侧端部和支撑至少一个锚10的带键槽远侧端部，所述近侧端部构造成并且适于机械的并且非旋转的连接至示例性中间柔性驱动线缆138c的远侧端。
现在转向图9和图10，依照本公开的原理，关节式运动接头250可以以内窥镜手术吻合器200的形式合并到内窥镜手术设备中。内窥镜手术吻合器200可以以机电的、手持式动力手术系统的形式，所述机电的、手持式动力手术系统包括机电的、手持式动力手术器械，其构造成用于将多个不同的末端执行器（包括手术吻合器）经由轴组件选择性的附接到其上，所述多个不同的末端执行器各自构造成用于由机电的、手持式动力手术器械致动和操纵。可以参照于2008年09月22日提交的国际申请第PCT/US2008/077249号（国际公开号WO2009/039506）和于2009年11月20日提交美国专利申请系列号12/622,827，每个公开的全部内容通过引用合并在此，用于示例性的机电的、手持式动力手术器械的构造和操作的详细描述。
内窥镜手术吻合器200包括内窥镜轴组件210以引起末端执行器300的闭合和发射，内窥镜轴组件210具有关节式运动接头250以及延伸穿过关节式运动接头250的柔性驱动线缆238c。
柔性驱动线缆238c由抗扭并且柔性的材料制备，诸如，例如不锈钢。柔性驱动线缆238c限定了中央纵向轴线“X1”，中央纵向轴线“X1”从轴组件210的中央纵向轴线“X”偏离了径向距离“r”。柔性驱动线缆238c包括联接至可旋转的驱动轴212的远侧端的近侧端。柔性驱动线缆238c包括联接至旋转螺母的远侧端，其中柔性驱动线缆238c的旋转引起旋转螺母的对应的旋转。
中间柔性驱动线缆138c的中央纵向轴线“X1”在离开关节式运动接头150的关节式运动的方向上或在离开关节式运动连接件152的方向上从锚固持/推进组件130的近侧管部130a的中央纵向轴线“X”偏离。
关节式运动接头250包括具有近侧端240a和远侧端240b的关节式运动连接件240。关节式运动连接件240的近侧端240a枢转地连接至关节式运动连接棒278的远侧端。关节式运动连接件240的远侧端240b在从轴组件210的纵向轴线“X”偏离一径向距离的位置处枢转地连接至内窥镜轴组件210的远侧颈外壳236。
远侧颈外壳236构造成并且适于与末端执行器300选择性连接。
轴组件210可以包括围绕柔性驱动线缆238c的加固线圈弹簧244。加固线圈弹簧244起到帮助柔性驱动线缆238c在末端执行器300的关节式运动期间防止扭结的作用。加固线圈弹簧244还起到帮助柔性驱动线缆238c在其旋转期间防止由于松开和/或“引出（pig tailing）”而失效的作用。
在操作中，随着柔性驱动线缆238c旋转，由于第一可旋转近侧驱动轴212的旋转，所述旋转通过柔性驱动线缆238c传递至柔性驱动线缆238c的远侧端并且传递到旋转螺母上。利用联接至轴组件210的远侧颈外壳236的末端执行器300，并且具体地说，利用经由驱动轮轴126联接到其上的末端执行器300的驱动螺杆，所述旋转引起末端执行器300的致动。
而且在操作中，在关节式运动棒278的轴向平移时，例如在近侧方向上，关节式运动棒278作用在关节式运动连接件240上以造成关节式运动连接件240在近侧方向上平移。随着关节式运动连接件240在近侧方向上轴向地平移，关节式运动连接件240作用在远侧颈外壳236上以造成远侧颈外壳236绕枢销234的枢转轴而枢转。随着远侧颈外壳236枢转，远侧颈外壳236作用在末端执行器300上以便使末端执行器300相对于轴组件210的纵向轴线“X”进行关节式运动。
这样，如图10可以看出，当末端执行器300处于有角度的方位时，柔性驱动线缆238c的弯曲半径“R1”相对地大于比较例柔性驱动线缆的弯曲半径“R2”，所述比较例柔性驱动线缆会沿着轴组件210的中央纵向轴线“X”而定位。
以此方式，通过为柔性驱动线缆238c提供更大的弯曲半径“R1”，根据本公开，构想与会沿着轴组件210的中央纵向轴线“X”而定位的任何可比较的柔性驱动线缆相比较，能够使用具有相对更大直径或由相对更坚硬材料构造的柔性驱动线缆238c。
这样做，与会沿着轴组件210的中央纵向轴线“X”而定位的任何可比较的柔性驱动线缆相比较，能够沿着柔性驱动线缆238c传递相对更大的扭转力和更精确的旋转。
柔性驱动线缆238c可以具有大约0.08”的外部直径。
轴组件210具有大约0.22”的外部直径。柔性驱动线缆238c的外部直径与轴组件210的外部直径的比大约是2.8。
可以参照于2013年03月13日提交的、名称为“用于内窥镜操作的装置（Apparatus for Endoscopic Procedures）”的美国专利申请系列号13/799/379，其全部内容通过引用合并在此，用于轴组件210和末端执行器300的构造和操作的详细讨论。
可以参照于2011年10月25日提交的、名称为“用于内窥镜操作的装置”的美国专利申请系列号13/280/985，其全部内容通过引用合并在此，用于末端执行器300的构造和操作的详细讨论。末端执行器300可以构造成并且适于施加线性行的多个紧固件，所述紧固件在实施例中可以是各种尺寸，并且所述紧固件在某些实施例中可以具有各种长度或行，例如在长度是大约30mm、45mm和60mm。
根据本公开，构想手柄组件100可以用构造成并且适于驱动柔性驱动线缆以发射或致动手术设备的机电控制模块取代。机电控制模块可以包括至少一个微处理器、通过至少一个微处理器能够控制的至少一个驱动电机、以及用于为该至少一个微处理器和至少一个驱动电机提供动力的动力源。
将理解的是，可以对在此公开的实施例作出各种修改。例如，可以修改吻合钉或紧固件的线性行的长度以满足特定手术操作的需要。因此，在吻合钉钉仓组件内的吻合钉或紧固件的线性行的长度可以对应地不同。所以，上述说明不应理解为限制，而仅仅是优选实施例的示范。本领域的技术人员将设想在随附的权利要求书的范围和构思内的其他修改。
Claims (15)
1.一种内窥镜手术设备，包括：
手柄组件，其包括手柄外壳和操作地连接至所述手柄外壳的扳机、以及能够被所述扳机致动的驱动机构；
内窥镜锚固持/推进组件，其从所述手柄组件延伸，所述内窥镜锚固持/推进组件包括：
在关节式运动接头处可枢转地连接至彼此的近侧管部和远侧管部，所述近侧管部和所述远侧管部中的每个管部限定了中央纵向轴线；
近侧内轴，其可旋转地布置在所述近侧管部内，其中所述近侧内轴是相对刚性的，并且其中所述近侧内轴机械地连接至所述驱动机构使得所述扳机的致动引起所述近侧内轴的旋转；
远侧内轴，其可旋转地布置在所述远侧管部内，其中所述远侧内轴是相对刚性的；以及
中间驱动线缆，其将所述近侧内轴和所述远侧内轴机械地互联，其中与所述近侧内轴和所述远侧内轴相比较，所述中间驱动线缆是相对柔性的，其中所述中间驱动线缆从所述近侧管部和所述远侧管部延伸并且在所述近侧管部和所述远侧管部之间延伸，延伸跨过所述关节式运动接头，其中所述中间驱动线缆限定了中央纵向轴线，并且其中所述中间驱动线缆的中央纵向轴线从所述近侧管部和所述远侧管部的中央纵向轴线偏离了一径向距离；以及
至少一个紧固件，其装载在所述远侧管部中，其中在所述扳机致动时所述至少一个紧固件被所述远侧内轴启动。
2.根据权利要求1所述的内窥镜手术设备，其中所述远侧管部能够相对于所述近侧管部在非关节式运动方位与多个关节式运动方位之间进行关节式运动。
3.根据权利要求2所述的内窥镜手术设备，其中对于所述远侧管部相对于所述近侧管部的每个关节式运动方位，所述近侧管部的中央纵向轴线和所述远侧管部的中央纵向轴线限定了中央弯曲半径，并且，
其中对于所述远侧管部相对于所述近侧管部的每个关节式运动方位，所述中间驱动线缆的中央纵向轴线限定了大于所述中央弯曲半径的弯曲半径。
4.根据权利要求2所述的内窥镜手术设备，其中在离开所述远侧管部相对于所述近侧管部的关节式运动的方向的方向上，所述中间驱动线缆的中央纵向轴线从所述近侧管部的中央纵向轴线和所述远侧管部的中央纵向轴线偏离。
5.根据权利要求1所述的内窥镜手术设备，其中所述中间驱动线缆具有大约0.08”的外部直径。
6.根据权利要求1所述的内窥镜手术设备，其中所述中间驱动线缆具有大约0.08”的外部直径；并且其中所述近侧管部和所述远侧管部各自具有大约0.22”的外部直径。
7.根据权利要求1所述的内窥镜手术设备，其中所述中间柔性驱动线缆的外部直径与所述近侧管部或所述远侧管部的外部直径的比大约是2.8。
8.一种内窥镜手术设备，包括：
内窥镜锚固持/推进组件，其包括：
在关节式运动接头处可枢转地连接至彼此的近侧管部和远侧管部，所述近侧管部和所述远侧管部中的每个管部限定了中央纵向轴线；
近侧内轴，其可旋转地布置在所述近侧管部内，其中所述近侧内轴是相对刚性的，并且其中所述近侧内轴机械地连接至驱动机构，使得所述驱动机构的致动引起所述近侧内轴的旋转；
远侧内轴，其可旋转地布置在所述远侧管部内，其中所述远侧内轴是相对刚性的；以及
中间驱动线缆，其将所述近侧内轴和所述远侧内轴机械地互联，其中与所述近侧内轴和所述远侧内轴相比较，所述中间驱动线缆是相对柔性的，其中所述中间驱动线缆从所述近侧管部和所述远侧管部延伸并且在所述近侧管部与所述远侧管部之间延伸，延伸跨过所述关节式运动接头，其中所述中间驱动线缆限定了中央纵向轴线，并且其中所述中间驱动线缆的中央纵向轴线从所述近侧管部和所述远侧管部的中央纵向轴线偏离了一径向距离。
9.根据权利要求8所述的内窥镜手术设备，其中所述远侧管部能够相对于所述近侧管部在非关节式运动方位与多个关节式运动方位之间进行关节式运动。
10.根据权利要求9所述的内窥镜手术设备，其中对于所述远侧管部相对于所述近侧管部的每个关节式运动方位，所述近侧管部的中央纵向轴线和所述远侧管部的中央纵向轴线限定了中央弯曲半径，并且
其中对于所述远侧管部相对于所述近侧管部的每个关节式运动方位，所述中间驱动线缆的中央纵向轴线限定了大于所述中央弯曲半径的弯曲半径。
11.根据权利要求9所述的内窥镜手术设备，其中在离开所述远侧管部相对于所述近侧管部的关节式运动的方向的方向上，所述中间驱动线缆的中央纵向轴线从所述近侧管部的中央纵向轴线和所述远侧管部的中央纵向轴线偏离。
12.根据权利要求8所述的内窥镜手术设备，其中所述中间驱动线缆具有大约0.08”的外部直径。
13.根据权利要求8所述的内窥镜手术设备，其中所述中间驱动线缆具有大约0.08”的外部直径；并且其中所述近侧管部和所述远侧管部各自具有大约0.22”的外部直径。
14.根据权利要求8所述的内窥镜手术设备，其中所述中间驱动线缆的外部直径与所述近侧管部或所述远侧管部的外部直径的比大约是2.8。
15.根据权利要求8所述的内窥镜手术设备，进一步包括至少一个紧固件，其装载在所述远侧管部中，其中在所述驱动机构致动时所述至少一个紧固件被所述远侧内轴启动。
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| US201361783559P | 2013-03-14 | 2013-03-14 | |
| US61/783,559 | 2013-03-14 | ||
| US14/172,101 US9867620B2 (en) | 2013-03-14 | 2014-02-04 | Articulation joint for apparatus for endoscopic procedures |
| US14/172,101 | 2014-02-04 |
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| EP (1) | EP2777517B1 (zh) |
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| CN108095787B (zh) * | 2013-06-28 | 2021-04-27 | 柯惠Lp公司 | 用于内窥镜操作的关节式运动设备 |
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| CN105358081B (zh) * | 2013-06-28 | 2018-01-30 | 柯惠Lp公司 | 用于内窥镜操作的关节式运动设备 |
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| CN108066010A (zh) * | 2016-11-10 | 2018-05-25 | 香港大学深圳研究院 | 一种具有柔性和多自由度的手术机器人 |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20180116670A1 (en) | 2018-05-03 |
| CA2845046A1 (en) | 2014-09-14 |
| US9867620B2 (en) | 2018-01-16 |
| US10869671B2 (en) | 2020-12-22 |
| EP2777517B1 (en) | 2020-04-29 |
| AU2014200870A1 (en) | 2014-10-02 |
| EP2777517A1 (en) | 2014-09-17 |
| US20140276967A1 (en) | 2014-09-18 |
| AU2014200870B2 (en) | 2018-05-24 |
| CN104042283B (zh) | 2018-07-27 |
| JP6395402B2 (ja) | 2018-09-26 |
| CA2845046C (en) | 2021-02-02 |
| JP2014176657A (ja) | 2014-09-25 |
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