CN104224258B - 具有手动的收缩、锁止和连接机构的接合器直接驱动 - Google Patents
具有手动的收缩、锁止和连接机构的接合器直接驱动 Download PDFInfo
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- 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
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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
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- A—HUMAN NECESSITIES
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- 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
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- A—HUMAN NECESSITIES
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- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
本发明公开了一种具有手动的收缩、锁止和连接机构的接合器直接驱动。公开一种用于将末端执行器联接至手柄组件的手术设备接合器。该手术设备接合器包括:壳体;布置在该壳体内且能联接至手柄组件和末端执行器的驱动机构;以及联接至手术设备接合器且能选择地联接至手柄组件的驱动联接组件,驱动联接组件包括收缩组件,所述收缩组件能够选择地联接至驱动机构,以使驱动联接组件关于由手术设备接合器所限定的纵轴线且相对于壳体的旋转致动所述驱动机构。本发明还公开了一种手术设备。
Description
相关申请的交叉引用
本申请要求于2013年6月20日提交的申请号为61/837,225的美国临时专利申请的权益和优先权,该专利的全部内容通过引用合并于此。
技术领域
本公开涉及一种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,本公开涉及配置为与用于夹紧、切割和/或吻合组织的能拆卸的一次性装载单元和/或单次使用装载单元一起使用的机电的、手持式的手术装置、接合器、设备和/或系统。
背景技术
目前存在用于操作和/或操纵机电手术设备的各种驱动系统。在许多情况中,机电手术设备包含可再用的手柄组件和一次性的或单次使用的装载单元。为了被处置或在一些实例中消毒以便再使用,装载单元在使用之前选择地连接至手柄组件,然后在使用之后与该手柄组件分离。
用于与许多现有的手术设备和/或手柄组件一起使用的许多现有的末端执行器通过线性力驱动。例如,用于执行胃肠内吻合术操作、端对端的吻合术操作以及横向吻合术操作的末端执行器为了被操作而通常各自需要线性驱动力。因而,这些末端执行器与使用旋转运动来传送动力或类似物的手术设备和/或手柄组件不相适合。
为了使线性驱动的末端执行器与使用旋转运动来传送动力的手术设备和/或手柄组件相适合,对在线性驱动的末端执行器与旋转驱动的手术设备和/或手柄组件之间相接以及使线性驱动的末端执行器与旋转驱动的手术设备和/或手柄组件相互连接的接合器和/或接合器组件存在需求。对包含用于联接至手术设备的手动的收缩、连接以及锁定和释放机构的接合器也存在需求。
发明内容
在下文参考附加的图来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。
依照本公开的一个实施例,公开了一种用于将末端执行器联接至手柄组件的手术设备接合器。所述手术设备接合器包括:壳体;布置在所述壳体内且能够联接至所述手柄组件和所述末端执行器的驱动机构;以及联接至所述手术设备接合器且能够选择地联接至所述手柄组件的驱动联接组件,所述驱动联接组件包含能够选择地联接至所述驱动机构的收缩组件,以使所述驱动联接组件关于由所述手术设备接合器所限定的纵轴线且相对于所述壳体的旋转致动所述驱动机构。
依照上述实施例的一个方案,所述驱动机构包括联接至所述末端执行器且配置为致动所述末端执行器的第一驱动螺钉,所述第一驱动螺钉与布置在所述驱动联接组件内的第一齿轮机械地接合。
依照上述实施例的一个方案,所述收缩组件包含:可枢转地联接在所述驱动联接组件内的锁定摇杆;以及能够关于所述纵轴线且相对于所述驱动联接组件旋转的锁环,其中在锁环旋转时,所述锁环配置为致动所述锁定摇杆,以使所述锁定摇杆与所述第一齿轮以啮合方式接合。
依照上述实施例的一个方案,所述收缩组件进一步包含:可滑动地联接至所述驱动联接且与所述锁环接合的弹簧装载的锁紧螺栓,所述锁紧螺栓配置为阻止所述锁环的旋转。
依照上述实施例的一个方案,所述锁环进一步包含配置为接合所述驱动联接组件且阻止所述锁环的旋转的挠性的、弹性的凸起。
依照上述实施例的一个方案,所述驱动联接组件包含可枢转地联接在其中且配置为接合所述手柄组件的至少一个锁件。
依照上述实施例的一个方案,所述至少一个锁件包含联接至其远侧端的凸起,所述凸起配置为接合所述第一齿轮。
依照上述实施例的一个方案,所述驱动联接组件包含能够相对于所述驱动联接组件旋转的锁环,其中在锁环旋转时,所述锁环配置为接合所述凸起以使所述凸起与所述第一齿轮以啮合方式接合。
依照上述实施例的一个方案,所述驱动机构包含联接至所述末端执行器且配置为使所述末端执行器关于横向于所述纵轴线的枢转轴线来做关节式运动的第二驱动螺钉,所述第二驱动螺钉与布置在所述驱动联接组件内的第二齿轮机械地接合。
依照上述实施例的一个方案,所述收缩组件包含:具有凸轮槽的凸轮锁;以及可滑动地布置在所述驱动联接组件内的能滑动的按钮,所述能滑动的按钮包含布置在所述凸轮槽内的销钉,其中所述能滑动的按钮的近侧移动致动凸轮锁,以与所述第二齿轮以啮合方式接合。
依照上述实施例的一个方案,所述收缩组件进一步包含能滑动地联接至所述驱动联接的弹簧装载的释放开关,所述释放开关配置为阻止所述能滑动的按钮的纵向移动。
依照上述实施例的一个方案,所述能滑动的按钮进一步包含在其近侧端处的锁件,所述锁件配置为在所述能滑动的按钮沿向近侧的方向移动时来接合所述驱动联接组件。
依照本公开的一个实施例,公开了一种手术设备。所述手术设备包括:包含第一钳夹和能够相对于所述第一钳夹移动的第二钳夹的末端执行器;包含机械地联接至所述钳夹组件的至少一个电动机的手柄组件;可拆卸地联接至所述钳夹组件的近侧端和所述手柄组件的远侧端的接合器组件。所述接合器组件包括:壳体;布置在所述壳体内且配置为将所述至少一个电动机联接至所述末端执行器的驱动机构;以及联接至所述手术设备且能够选择地联接至所述手术器械的驱动联接组件,所述驱动联接组件包含收缩组件,所述收缩组件能够选择地联接至所述驱动机构,以使所述驱动联接组件关于由所述手术设备接合器所限定的纵轴线且相对于所述壳体的旋转致动所述驱动机构。
依照上述实施例的一个方案,所述驱动机构包括:联接至所述末端执行器且配置为致动所述第一钳夹和所述第二钳夹的第一驱动螺钉,所述第一驱动螺钉与布置在所述驱动联接组件内的第一齿轮机械地接合;以及联接至所述末端执行器且配置为使所述末端执行器关于横向于所述纵轴线的枢转轴线来做关节式运动的第二驱动螺钉,所述第二驱动螺钉与布置在所述驱动联接组件内的第二齿轮机械地接合。
依照上述实施例的一个方案,所述收缩组件包括:可枢转地联接在所述驱动联接组件内的锁定摇杆;以及能够相对于所述驱动联接组件旋转的锁环,其中在锁环旋转时,所述锁环配置为接合所述锁定摇杆,以使所述锁定摇杆与所述第一齿轮以啮合方式接合。
依照上述实施例的一个方案,所述收缩组件进一步包括能滑动地联接至所述驱动联接且与所述锁环接合的弹簧装载的锁紧螺栓,所述锁紧螺栓配置为阻止所述锁环的旋转。
依照上述实施例的一个方案,所述锁环进一步包括配置为接合所述驱动联接组件且阻止所述锁环的旋转的挠性的、弹性的凸起。
依照上述实施例的一个方案,所述驱动联接组件包括可枢转地联接在其中且配置为接合所述手术设备的至少一个锁件,其中所述至少一个锁件包括联接至其远侧端的凸起,所述凸起配置为接合所述第一齿轮。
依照上述实施例的一个方案,所述驱动联接组件包括能够相对于所述驱动联接组件旋转的锁环,其中在锁环旋转时,所述锁环配置为接合所述凸起以使所述凸起与所述第一齿轮以啮合方式接合。
依照上述实施例的一个方案,所述收缩组件包括:包含凸轮槽的凸轮锁;以及布置在所述驱动联接组件内的能滑动的按钮,所述能滑动的按钮包含布置在所述凸轮槽内的销钉,其中所述能滑动的按钮的近侧移动致动所述凸轮锁,以与所述第二齿轮以啮合方式接合;以及能滑动地联接至所述驱动联接的弹簧装载的释放开关,所述释放开关配置为阻止所述能滑动的按钮的纵向移动。
附图说明
在此参考附图来描述本公开的实施例,其中:
图1是依照本公开的包含手术器械、末端执行器和接合器组件的机电手术系统的立体图;
图2是依照本公开的图1中手术器械的立体正视图;
图3是依照本公开的图1中接合器组件的立体后视图;
图4是依照本公开的图1中接合器组件的后视图;
图5是依照本公开的图1中接合器组件的进一步的立体后视图;
图6是依照本公开的图1中接合器组件的驱动联接的立体图;
图7是依照本公开的图6中驱动联接的一对相对的锁件的立体图;
图8是依照本公开的图7中一对锁件中的一个锁件的立体图;
图9是依照本公开的图1中接合器组件的立体的局部分解图;
图10是依照本公开的图1中接合器组件的近侧壳体块的立体图;
图11是依照本公开的图1中接合器组件的轴和销钉的立体图;
图12是依照本公开的图1中接合器组件的后视局部分解图;
图13是依照本公开的图1中接合器组件的近侧壳体块的立体图;
图14是依照本公开的横切图3中14-14线截取的图1中接合器组件的剖面侧视图;
图15是依照本公开的包含图1中的收缩组件和接合器组件的驱动联接组件的局部分解侧视图;
图16是依照本公开的图15中的驱动联接组件的立体图;
图17是依照本公开的沿图16中17-17线截取的图15中接合器组件的剖视图,收缩组件的锁定摇杆与驱动机构分开;
图18是依照本公开的沿图16中17-17线截取的图15中接合器组件的剖视图,收缩组件的锁定摇杆与驱动机构接合;
图19是依照本公开的沿图3中14-14线截取的图15中接合器组件的剖视图,锁紧螺栓与收缩组件的锁环啮合;
图20是依照本公开的图17中驱动机构的立体的局部分解图;
图21是依照本公开的图15中接合器组件的后视局部分解图;
图22是依照本公开的间隔件的立体图;
图23是依照本公开的图15中接合器组件的侧视局部分解图;
图24是依照本公开的图15中接合器组件的后视图;
图25是依照本公开的图19中锁紧螺栓的立体图;
图26是依照本公开的图17中锁定摇杆的立体图;
图27是依照本公开的图19中锁环的立体图;
图28是依照本公开的图17中收缩组件处于其复原位构造的立体的局部分解图;
图29是依照本公开的图17中收缩组件的立体的局部分解图,锁紧螺栓与锁环分开;
图30是依照本公开的图17中收缩组件的立体的局部分解图,锁环部分地旋转;
图31是依照本公开的图17中收缩组件的立体的局部分解图,锁环以锁件为枢轴完全地旋转;
图32是依照本公开的另一实施例的具有收缩组件的驱动联接组件的侧视图;
图33是依照本公开的图32中收缩组件的锁紧螺栓的立体图;
图34是依照本公开的图32中收缩组件的锁环的立体图;
图35是依照本公开的另一实施例的具有收缩组件的驱动联接组件的侧视图;
图36是依照本公开的图35中收缩组件的锁环的立体图;
图37是依照本公开的另一实施例的具有收缩组件的驱动联接组件的立体的局部分解图;
图38是依照本公开的图37中收缩组件的锁环和锁件的立体的局部分解图;
图39是依照本公开的具有关节式运动驱动机构和关节式运动收缩组件的图1中接合器组件的后视立体图;
图40是依照本公开的图39中关节式运动收缩组件的侧视局部分解图;
图41是依照本公开的图39中关节式运动收缩组件的能滑动的按钮和凸轮锁的侧视图;
图42是依照本公开的图1中接合器组件的侧视图,关节式运动收缩组件处于复原位构造;
图43是依照本公开的图1中接合器组件的侧视图,关节式运动收缩组件与关节式运动驱动机构接合;
图44是依照本公开的图1中接合器组件的侧视图,关节式运动收缩组件处于复原位构造,释放开关处于闭合构造;
图45是依照本公开的图1中接合器组件的侧视图,释放开关处于打开构造,能滑动的按钮处于远侧构造;
图46是依照本公开的图1中接合器组件的侧视图,释放开关处于打开构造,滑动的按钮处于近侧构造;以及
图47是依照本公开的图1中接合器组件的侧视图,释放开关处于闭合构造,能滑动的按钮处于近侧构造。
具体实施方式
本公开的机电的手术系统、装置和/或设备的实施例参考附图来详细地描述,其中同样的附图标记指定几幅视图的每一视图中相同或相应的元件。如在此使用的,术语“远侧”指的是机电的手术系统、装置和/或设备、或其部件的距用户较远的部分,而术语“近侧”指的是机电的手术系统、装置和/或设备、或其部件的距用户较近的部分。术语“左”和“右”指的是手术系统、装置和/或设备以非旋转的(如复原位)构造定向的同时、从自近侧端朝向机电的手术系统、装置和/或设备的远侧端的用户的视角观察,在机电的手术系统、装置和/或设备、或其部件的分别在左侧和右侧的部分。
最初参考图1至图3,示出根据本公开的实施例的机电的、手持式的、动力的手术系统,并且通常表示为10。机电手术系统10包含机电的、手持式的、动力的手术器械100形式的手术装置或设备,该机电的、手持式的、动力的手术器械100配置为通过接合器组件200(例如,细长的主体)来将多个不同的末端执行器300可选地附接到其上。末端执行器300和接合器组件200配置为被机电的、手持式的、动力的手术器械100所致动和操纵。具体地,手术器械100、接合器组件200以及末端执行器300能够彼此分离,以便手术器械100配置为与接合器组件200选择性连接,这反过来使接合器组件200配置为与多个不同的末端执行器300中的任何一个选择性连接。
对于示例性的机电的、手持式的、动力的手术器械100的构造和操作的详细描述,可参考于2008年9月22日递交的国际申请号为PCT/US2008/077249(国际公布号WO 2009/039506)的国际申请和公布号为2011/0121049的美国专利申请,这些专利申请的全部内容通过引用合并于此。
如图1和图2图示的,手术器械100包含手柄壳体102,该手柄壳体102包含一个或多个控制器、动力源以及驱动机构,所述驱动机构具有一个或多个电动机、齿轮选择器箱(gear selector box)、齿轮传动机构和类似物。壳体102还支撑控制组件103。控制组件103可包含一个或多个手指致动的控制按钮、摇杆设备、操纵杆或其它方向控制件,它们的输入传递至驱动机构,以致动接合器组件200和末端执行器300。
具体地,为了使末端执行器300的工具组件304相对于末端执行器300的近侧主体部302选择性地移动,为了使末端执行器300相对于手柄壳体102关于由接合器组件200所限定的纵轴线“X-X”(图1)旋转,为了使砧座组件306相对于末端执行器300的钉仓组件308移动,和/或为了使在末端执行器300的钉仓组件308内的吻合切割钉仓发射,配置驱动机构来驱动轴和/或齿轮部件。
继续参考图2,壳体102限定了配置为接受接合器组件200的相应的驱动联接组件210的鼻状部或连接部108。手术器械100的连接部108具有筒状的凹槽108b,该筒状的凹槽108b在接合器组件200与手术器械100匹配时来接纳接合器组件200的驱动联接组件210。连接部108容纳一个或多个可旋转的驱动连接器,该驱动连接器与下文更详细描述的接合器组件200的相应的可旋转连接器套筒相接。手术器械100包含布置在连接部108内的可旋转的驱动连接器118、120、122,所述驱动连接器由驱动机构致动。
参考图2和图4,当接合器组件200与手术器械100匹配时,手术器械100的可旋转的驱动连接器118、120、122中的每一个与接合器组件200的相应的可旋转的连接器套管218、220、222联接。在这点上,在相应的第一驱动连接器118和第一连接器套筒218之间的接口、在相应的第二驱动连接器120和第二连接器套筒220之间的接口以及在相应的第三驱动连接器122和第三连接器套筒222之间的接口被锁上,以便手术器械100的驱动连接器118、120、122中每一个的旋转引起接合器组件200的相应的连接器套筒218、220、222的相应的旋转。
手术器械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的匹配允许经由三个相应的连接器接口中的每一个来独立地传送旋转力。手术器械100的驱动连接器118、120、122配置为通过驱动机构来独立地旋转。
由于手术器械100的驱动连接器118、120、122中的每一个具有被锁上的和/或关于接合器组件200的相应的连接器套筒218、220、222基本上非可旋转的接口,因此当接合器组件200联接至手术器械100时,旋转力从手术器械100的驱动机构选择性地传递至接合器组件200。
手术器械100的驱动连接器118、120和/或122的选择性旋转允许手术器械100来选择性地致动不同功能的末端执行器300。手术器械100的第一驱动连接器118的选择性的和独立的旋转与末端执行器300的工具组件304的选择性的和独立的打开和闭合,以及与末端执行器300的工具组件304的吻合/切割部件的驱动相对应,这在下文更详细地描述。同样,手术器械100的第二驱动连接器120的选择性的和独立的旋转与末端执行器300的工具组件304关于横向于纵轴线“X-X”(图1)的关节式运动轴线的选择性的和独立的关节式运动相对应。具体地,末端执行器300限定第二纵轴线,且能够从第二纵轴线与第一纵轴线“X-X”基本上对准的第一位置移动至第二纵轴线相对于第一纵轴线“X-X”以非零的角度布置的至少一个第二位置。另外,手术器械100的第三驱动连接器122的选择性的和独立的旋转与末端执行器300相对于手术器械100的手柄壳体102关于纵轴线“X-X”(图1)的选择性的和独立的旋转相对应。
参考图3和图5,接合器组件200的驱动联接组件210包含用于使接合器组件200向器械100来定向的定向凹槽230。接合器组件200还包含联接至联接组件210的接合器壳体232,该接合器壳体232包围驱动机构330,下文结合图20和图21更详细的描述。在实施例中,驱动联接组件210可拆卸地联接至驱动壳体232。接合器壳体232可包含通过紧固件233(图14)来相互连接的两部分。
参考图6至图8,驱动联接组件210包含一对相对的、弹簧装载的锁件236。锁件236中的每一个都包含齿部242、将锁件236可枢转地联接至驱动联接组件210的枢转销238,并且限定了用于包围弹簧235的槽240。锁件236在它们使连接部108的相应的槽108a(图2)与齿部242接合时而自动地旋转/枢转而开。为了使驱动联接组件210从连接部108分开,锁件236被按下,从而使锁件236枢转且使齿部242从槽108a抬起。
图9至图11图示出接合器组件200的驱动组件250。驱动组件250包含远侧壳体块252,远侧壳体块252具有在壳体232内被围住的大体圆柱形主体。块252包含在其中的多个开口254,该开口254可带螺纹的,或可包含螺纹轴256来导引贯穿其中的驱动螺钉(未示出)。驱动螺钉可联接至接合器组件200的相应的可旋转的连接器套筒218、220、222。块252还可包含附加的销钉258来提供结构上的完整性。轴256在对驱动螺钉高压灭菌消毒期间还用作热导体。
图4和图12至图14图示出接合器200的最终装配。图12示出联接至接合器壳体232的驱动联接组件210。远侧壳体块260(图13)此后联接至如图4中示出的远侧壳体块252。如图13和图14所示,近侧壳体260还包含贯穿其中的多个开口259,这些开口259配置为与轴256和销钉258配合,这对壳体块252和260提供结构上的支撑。各种紧固件253(如螺钉、螺栓等)可被用来固定壳体块252和260(图4)。
参考图3和图15至图19,接合器组件200还包含第一收缩组件280,该第一收缩组件280布置在驱动联接组件210内,用于手动地使驱动机构330反向。具体地,收缩组件280配置为通过收缩联接至接合器组件200相应的可旋转的连接器套筒218的致动驱动螺钉332(图20),来使接合器组件200的夹紧和发射行程反向。
收缩组件280包含锁环282、弹簧装载的锁紧螺栓284以及锁定摇杆285。锁环282被用来手动地使锁定摇杆285与驱动机构330接合,以便锁环282的继续的顺时针旋转使驱动机构330反向,这在下文中将进行更详细地描述。锁紧螺栓284为阻止锁环282与驱动机构330的意外接合的安全机构。锁紧螺栓284为弹簧装载的,且由此与锁环282持续地接合,直到向近侧拉它以允许锁环282的致动为止。
参考图17至图21,示出接合器组件200的驱动机构330(图20)。驱动机构330包含驱动螺钉332,驱动螺钉332具有被定尺寸且配置为接合连接器套筒218以使它的旋转传递至驱动螺钉332的被锁上的远侧端331。驱动螺钉332还包含与空转齿轮(idler gear)336以啮合方式接合的正齿轮334。驱动机构330进一步包含具有内齿轮传动面338a和外齿轮传动面338b的外齿轮338。空转齿轮336可旋转地布置在轴256中的一个之上,且用作行星齿轮,其将正齿轮334与外齿轮338相互连接,由此允许将旋转运动从正齿轮334传递至外齿轮338。外齿轮338能够自由地旋转,除非被锁环282所接合,如下文进一步描述的。
参考图15和图21至图24,图示出驱动机构330的组件和收缩组件280。如图17至图19所示,齿轮334、336、338布置在远侧壳体块252和近侧壳体块260之间。最初地,锁环282插在驱动联接组件210的远侧端上,然后插入近侧壳体块252,如图23所示。壳体232(例如,两半部配合)然后联接至近侧壳体块252。驱动机构330然后插入如图21所示的近侧壳体块252,随后是间隔件262(图22)。
参考图22,间隔件262布置在近侧壳体块252和远侧壳体块260之间,为齿轮334、336、338旋转提供足够的间隙,如上文所述。间隔件262包含多个圆柱形的表面特征263,该圆柱形的表面特征263中具有开口263a,用于轴256和销钉258贯穿其中。在组装期间,包含齿轮334、336、338的驱动机构330布置在远侧壳体块252的近侧端上,且间隔件262插在齿轮334、336、338的上,随后是如图24所示的远侧壳体块260,然后按照上文所述将它们固定。
参考图19和图25,锁紧螺栓284包含朝向近侧的杆286,该杆286具有布置在其上的弹簧288,该弹簧288使锁紧螺栓284沿向远侧的方向偏置。锁紧螺栓284还包含用于与下文更详细描述的锁环282相接的特征290,以及允许用户更好抓紧的抓紧特征292。锁紧螺栓284进一步包含用于锁紧螺栓284可滑动联接至驱动联接组件210的相对的、横向朝向的凸起294a、294b。
参考图17、图18和图26,锁定摇杆285包含布置在开口311内的枢轴销310,该枢轴销310在锁件236之一下面来将锁定摇杆285可枢转地联接至驱动联接组件210。锁定摇杆285包含布置在其近侧端处的锁闭特征312、关于枢轴销310向远侧布置的齿特征314以及布置在其远侧端的凸轮特征316。锁闭特征312配置为接合如图17和图24所示的布置在远侧壳体块260上的槽260a。锁定摇杆285的齿特征314配置为接合外齿轮338的外齿轮传动面338b,并且锁定摇杆285的凸轮特征316配置为接合如图18所示且下文更详细描述的锁环282。
参考图16至图19和图27,锁环282包含径向槽318,该径向槽318被配置且被定尺寸用于接合锁紧螺栓284的特征290。锁环282还包含用于接合锁定摇杆285的凸轮特征316的第一凸轮面320和第二凸轮面324。第一凸轮面320布置在锁环282的内周上,且使锁定摇杆285维持与如图17和图24所示的远侧壳体块260啮合。第一凸轮面320还包含邻接表面322,该邻接表面322被配置且被定尺寸用于在锁环282已经旋转之后来接合锁紧螺栓284的特征290。第二凸轮槽324布置在锁环282的外周上,且包含第一凸轮部324a和第二凸轮部324b。第二凸轮面槽324被用来导引锁定摇杆285以使其与外齿轮338接合,如图18所示且下文更详细描述的。
图28至图31,示出收缩组件280的操作。在器械100与接合器组件200断开连接之后,例如,在器械100应该在手术操作期间停止或变得不能操作的情况下,可尝试收缩。图17、图19和图28示出处于其所谓的“复原位”构造中的收缩组件280,在该构造中,锁定摇杆285与驱动机构330分开。在“复原位”构造中,锁紧螺栓284被弹簧288偏置,以在槽318处接合锁环282(如图19和图28所示),由此阻止锁环282的旋转。锁定摇杆285反过来与如图17、图25和图28所示的远侧壳体块260的槽260a相接合。锁定摇杆285,而且具体地锁定摇杆285的凸轮特征316,最初地与锁环282的第一凸轮面320接合。
图29示出通过如箭头“A”所指示的向近侧拉锁紧螺栓284,锁紧螺栓284与锁环282分开,因此允许锁环282在顺时针方向上旋转,以开始收缩过程。参考图30,随着锁环282最初地如箭头“B”所指示的旋转,锁定摇杆285的凸轮特征316仍然与第一凸轮表面320接合,但是沿第一凸轮面320行进且最终接触第二凸轮面320的第一凸轮部324a。随着锁环282的旋转继续,锁定摇杆285的凸轮特征316继续沿第二凸轮面320的第二凸轮部324b行进。与此相伴地,锁紧螺栓284还通过弹簧288与锁环282再接合,且抵靠邻近面322。
图18和图31示出锁环282的完成的旋转,其中驱动联接组件210与驱动机构330接合,即通过锁环282与外齿轮338接合。随着驱动联接组件210相对于驱动壳体232与锁环282一起沿如箭头“B”所指示的顺时针方向被手动地旋转,外齿轮338还通过锁定摇杆285来旋转。这反过来通过空转齿轮334来使驱动螺钉332旋转,且相对于连接至接合器组件200的远侧端的末端执行器300的钉仓组件308来使砧座组件306反向和/或收缩。这阻止锁环282的逆时针旋转和驱动螺钉332的任何向前的(如夹紧和/或发射)运动。
图32至图34示出收缩组件380的另一实施例,其基本上相似于收缩组件280,仅仅描述它们之间的不同。收缩组件380包含锁环382、弹簧装载的锁紧螺栓384以及未改变的锁定摇杆285。
参考图32和图33,锁紧螺栓384包含在其中布置有弹簧388的朝向近侧的杆386,该杆386使锁紧螺栓384沿远侧方向偏置。锁紧螺栓384还包含用于如下文更详细描述的与锁环382相接合的特征(例如,杆)390,以及允许用户更好地抓紧且也邻接弹簧388的抓紧特征392。
参考图32和图34,锁环382包含被配置且被定尺寸用于接合锁紧螺栓384的特征390的第一槽418。锁环382还包含用于接合锁定摇杆285的凸轮特征316的第一凸轮面420和第二凸轮面424。第一凸轮面320布置在锁环382的内周上,且使锁定摇杆285相对于锁环282维持与如图17所示的远侧壳体块260相接合。锁环382还包含被配置且被定尺寸用于在锁环382已经旋转之后来接合锁紧螺栓384的特征390的第二槽420。第二凸轮槽424布置在锁环382的外周上,且包含第一凸轮部424a和第二凸轮部424b。第二凸轮表面槽424被用来导引锁定摇杆285相对于锁环282与如图18所示的外齿轮338相接合。
锁环382以与上文关于图28至图31所描述的锁环282相似的方式来操作。最初,向近侧将锁紧螺栓384从第一槽418中拉出,且锁环382沿顺时针方向旋转。在完成旋转之后,锁定摇杆285与驱动机构330接合,即如上文所描述的与外齿轮338接合。锁紧螺栓384还通过弹簧388与锁环382再接合,特征390接合第二槽422。驱动联接组件210然后沿如箭头“C”所指示的顺时针方向来相对于驱动壳体232被手动地旋转,以使驱动机构330收缩/反向。
图35和图36示出收缩组件480的另一个实施例,其基本上相似于收缩组件280,仅仅描述它们之间的不同。收缩组件480包含锁环482和未改变的锁定摇杆285。锁环482包含联接至其的挠性的、弹性的凸起484,该凸起484执行锁紧螺栓284和384的功能。弹性的凸起484包含用于与限定在驱动联接组件210的外表面上的第一开口518和第二开口520相接的特征(例如,块)490。弹性凸起484还包含允许被用户更好抓紧的抓紧特征492。锁环482基本上相似于上文描述的锁环282和382,且包含用于与锁定摇杆285相接的相似的凸轮面。
锁环482以与如上文关于图28至图34所述的锁环282和383相似的方式来操作。最初,弹性的凸起484被拉出第一开口518,且锁环482沿顺时针方向旋转。在完成旋转之后,锁定摇杆285与驱动机构330接合,即,如上文所述的与外齿轮338接合。当特征490接合第二槽520时,弹性的凸起484也与驱动联接组件210再接合。驱动联接组件210然后沿顺时针方向相对于驱动壳体232被手动地旋转,以使驱动机构330收缩/反向。
图37和图38示出收缩组件580的另一个实施例,其基本上相似于收缩组件280,仅仅描述它们之间的不同。收缩组件580包含锁环582和联接至锁件236的远侧端的一对凸起584。在实施例中,仅仅一对锁件236之一可包含凸起584。凸起584被配置且定尺寸以与外齿轮338的外齿轮面338b相接。锁环582包含被配置且被定尺寸以与锁件236的凸起584相接的一对凸轮凸起586,从而使凸起584与外齿轮338接合。
在操作期间,在器械100与接合器组件200分离之后,锁件236被按下,从而使锁件236旋转且使凸起584与外齿轮338接合。锁环582然后沿顺时针方向旋转,以使凸起586与凸起584接合,从而维持凸起584与外齿轮338的接合。锁环582的继续旋转使驱动机构330反向和/或收缩,如上文关于图28至图36所描述的。
图39至图47图示出用于使驱动机构330的关节式运动机构630收缩和/或反向的第二收缩组件680。参考图39和图40,关节式运动机构630配置为使末端执行器300的工具组件304关于横向于纵轴线“X-X”(图1)的关节式运动轴线来做关节式运动。关节式运动机构630包含关节式运动驱动螺钉(未示出),关节式运动驱动螺钉具有被定尺寸且被配置为接合连接器套筒220以便其旋转传递至关节式运动驱动螺钉的被锁上的远侧端。关节式运动驱动螺钉还包含与空转齿轮(未示出)以啮合方式接合的正齿轮(未示出)。驱动机构630进一步包含外齿轮638(图39和图40)。空转齿轮可旋转地布置在轴256之一的上方,且用作使正齿轮与外齿轮638相互连接从而允许旋转运动从正齿轮传递到外齿轮638的行星齿轮。外齿轮638能够自由地旋转,除非被收缩组件680接合,如下文进一步描述的。
参考图40至图43,收缩组件680包含布置在驱动联接组件210的槽211内的能滑动的按钮682。能滑动的按钮682包含用于在能滑动的按钮682沿向近侧的方向被拉时来接合驱动联接组件210的朝向近侧的锁件684。能滑动的按钮682还包含用于如下文更详细描述的与凸轮锁690相接的在其远侧端处的销钉686,以及向上延伸穿过驱动联接组件210来允许被用户更好抓握的抓紧特征688。
收缩组件680还包含凸轮锁690,在凸轮锁690中具有凸轮槽692的,用于接合能滑动的按钮682的销钉686。凸轮锁690通过枢轴销691可枢转地联接至驱动联接组件210。凸轮锁690还包含用于接合关节式远动机构630的外齿轮638的特征694。随着可滑动按钮684沿向近侧方向被拉动,销钉686移动穿过凸轮锁690的凸轮槽692,沿向远侧和向下的方向推凸轮锁690,从而使特征694与外齿轮638接合。
收缩组件680还包含弹簧装载的释放开关696,该释放开关696控制能滑动的按钮682的纵向移动。释放开关696沿横向于轴线“X-X”(图1)的轴线移动,且阻止抓紧特征688的移动,除非释放开关696被拉回。当能滑动的按钮682处于其所谓的“复原位”(例如,近侧的)构造且凸轮锁690与关节式运动机构630分开时,释放开关696布置在抓紧特征688的近侧。当能滑动的按钮682处于其远侧构造且凸轮锁690与关节式运动机构630接合时,释放开关696布置在抓紧特征688的远侧。因此,为了从近侧或远侧的构造转换,释放开关696在抓紧特征688的移动之前被拉回,以使收缩组件680与关节式运动机构630接合或分开。
参考图44至图47,描述收缩组件680的操作。在使用期间,当期望关节式运动机构630的手动收缩时,接合器组件200与手术器械100分离。此后,收缩组件680与关节式运动机构630接合。如图42和图44所示,最初收缩组件680处于其所谓的“复原位”构造,在该“复原位”构造中,能滑动的按钮682处于其远侧构造,凸轮锁690与关节式运动机构680的外齿轮638不接合。如图45和图46所示,拉动释放开关696横向于槽211被拉动,允许向近侧拉动能滑动的按钮682。随着能滑动的按钮682被拉回,朝向近侧的锁件684接合驱动联接组件210,使能滑动的按钮682维持在近侧构造中。凸轮锁690也接合如上文所描述的关节式运动机构680的外齿轮638,且使释放开关696滑动回到适当位置,阻止能滑动按钮682的向远侧移动。
将要理解的是对公开于此的实施例的各种修改。例如,器械100不需要施加吻合钉,而是可施加本领域中已知的两件式紧固件。进一步地,吻合钉或紧固件的线性排的长度可修改成符合特定手术操作的需求。因此,致动轴的单一行程的长度和/或在一次性的装载单元内的吻合钉和/或紧固件的线性排的长度可相应地改变。因此,不应该把上文描述看作是限制,而是仅仅作为优选实施例的例证。本领域的技术人员将预想到在附随于此的权利要求书的范围和精神内的其它修改。
Claims (20)
1.一种手术设备接合器,用于将末端执行器联接至手柄组件,所述手术设备接合器包括:
壳体;
驱动机构,其布置在所述壳体内且能够联接至所述手柄组件和所述末端执行器;以及
驱动联接组件,其联接至所述壳体,且能够选择地联接至所述手柄组件,所述驱动联接组件包括收缩组件,所述收缩组件能够选择地联接至所述驱动机构,以使所述驱动联接组件关于由所述手术设备接合器所限定的纵轴线且相对于所述壳体的旋转致动所述驱动机构。
2.根据权利要求1所述的手术设备接合器,其中所述驱动机构包括联接至所述末端执行器且配置为致动所述末端执行器的第一驱动螺钉,所述第一驱动螺钉与布置在所述驱动联接组件内的第一齿轮机械地接合。
3.根据权利要求2所述的手术设备接合器,其中所述收缩组件包括:
锁定摇杆,其可枢转地联接在所述驱动联接组件内;以及
锁环,其能够关于所述纵轴线且相对于所述驱动联接组件旋转,其中所述锁环的旋转致动所述锁定摇杆以使所述锁定摇杆与所述第一齿轮以啮合方式接合。
4.根据权利要求3所述的手术设备接合器,其中所述收缩组件进一步包括:
弹簧装载的锁紧螺栓,其可滑动地联接至所述驱动联接组件且与所述锁环接合,所述锁紧螺栓配置为阻止所述锁环的旋转。
5.根据权利要求3所述的手术设备接合器,其中所述锁环进一步包括配置为接合所述驱动联接组件且阻止所述锁环的旋转的挠性的、弹性的凸起。
6.根据权利要求2所述的手术设备接合器,其中所述驱动联接组件进一步包括:
至少一个锁件,其可枢转地联接在所述驱动联接组件中且配置为接合所述手柄组件。
7.根据权利要求6所述的手术设备接合器,其中所述至少一个锁件包括联接至其远侧端的凸起,所述凸起配置为接合所述第一齿轮。
8.根据权利要求7所述的手术设备接合器,其中所述驱动联接组件进一步包括:
锁环,其能够相对于所述壳体旋转,其中所述锁环的旋转使所述锁环与所述凸起接合,以使所述凸起与所述第一齿轮以啮合方式接合。
9.根据权利要求1所述的手术设备接合器,其中所述驱动机构包括联接至所述末端执行器且配置为使所述末端执行器关于横向于所述纵轴线的枢转轴线做关节式运动的第二驱动螺钉,所述第二驱动螺钉与布置在所述驱动联接组件内的第二齿轮机械地接合。
10.根据权利要求9所述的手术设备接合器,其中所述收缩组件包括:
凸轮锁,其包括凸轮槽;以及
能滑动的按钮,其可滑动地布置在所述驱动联接组件内,所述能滑动的按钮包括布置在所述凸轮槽内的销钉,其中所述能滑动的按钮的沿向近侧方向的移动致动所述凸轮锁,以与所述第二齿轮以啮合方式接合。
11.根据权利要求10所述的手术设备接合器,其中所述收缩组件进一步包括:
弹簧装载的释放开关,其可滑动地联接至所述驱动联接组件且配置为阻止所述能滑动的按钮的纵向移动。
12.根据权利要求10所述的手术设备接合器,其中所述能滑动的按钮进一步包括在其近侧端处的锁件,所述锁件配置为在所述能滑动的按钮沿向近侧的方向移动时来接合所述驱动联接组件。
13.一种手术设备,包括:
末端执行器,其包括第一钳夹和能够相对于所述第一钳夹移动的第二钳夹;
手柄组件,其包括机械地联接至所述末端执行器的至少一个电动机;以及
接合器组件,其能拆卸地联接至所述末端执行器的近侧端和所述手柄组件的远侧端,所述接合器组件包括:
壳体;
驱动机构,其布置在所述壳体内且配置为使所述至少一个电动机联接至所述末端执行器;以及
驱动联接组件,其联接至所述壳体且能够选择地联接至所述手柄组件,所述驱动联接组件包括收缩组件,所述收缩组件能够选择地联接至所述驱动机构,以使所述驱动联接组件关于由所述接合器组件所限定的纵轴线且相对于所述壳体的旋转致动所述驱动机构。
14.根据权利要求13所述的手术设备,其中所述驱动机构包括:
第一驱动螺钉,其联接至所述末端执行器且配置为致动所述第一钳夹和第二钳夹,所述第一驱动螺钉与布置在所述驱动联接组件内的第一齿轮机械地接合;以及
第二驱动螺钉,其联接至所述末端执行器且配置为使所述末端执行器关于横向于所述纵轴线的枢转轴线做关节式运动,所述第二驱动螺钉与布置在所述驱动联接组件内的第二齿轮机械地接合。
15.根据权利要求14所述的手术设备,其中所述收缩组件包括:
锁定摇杆,其可枢转地联接在所述驱动联接组件内;以及
锁环,其能够相对于所述驱动联接组件旋转,其中所述锁环的旋转使所述锁环与所述锁定摇杆接合,以使所述锁定摇杆与所述第一齿轮以啮合方式接合。
16.根据权利要求15所述的手术设备,其中所述收缩组件进一步包括:
弹簧装载的锁紧螺栓,其可滑动地联接至所述驱动联接组件且与所述锁环接合,所述锁紧螺栓配置为阻止所述锁环的旋转。
17.根据权利要求15所述的手术设备,其中所述锁环进一步包括配置为接合所述驱动联接组件且阻止所述锁环的旋转的挠性的、弹性的凸起。
18.根据权利要求14所述的手术设备,其中所述驱动联接组件进一步包括:
至少一个锁件,其可枢转地联接在所述驱动联接组件中且配置为接合所述手柄组件,其中所述至少一个锁件包括联接至其远侧端的凸起,所述凸起配置为接合所述第一齿轮。
19.根据权利要求18所述的手术设备,其中所述驱动联接组件包括:
锁环,其能够相对于所述壳体旋转,其中所述锁环的旋转使所述锁环与所述凸起接合,以使所述凸起与所述第一齿轮以啮合方式接合。
20.根据权利要求14所述的手术设备,其中所述收缩组件包括:
凸轮锁,其包括凸轮槽;以及
能滑动的按钮,其可滑动地布置在所述驱动联接组件内,所述能滑动的按钮包括布置在所述凸轮槽内的销钉,其中所述能滑动的按钮的沿向近侧方向的移动致动所述凸轮锁,以与所述第二齿轮以啮合方式接合;以及
弹簧装载的释放开关,其可滑动地联接至所述驱动联接组件且配置为阻止所述能滑动的按钮的纵向移动。
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- 2014-06-04 AU AU2014203035A patent/AU2014203035A1/en not_active Abandoned
- 2014-06-17 JP JP2014124142A patent/JP6400346B2/ja active Active
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EP2815705A1 (en) | 2014-12-24 |
EP2815705B1 (en) | 2016-02-03 |
EP3011913A1 (en) | 2016-04-27 |
JP2015003015A (ja) | 2015-01-08 |
JP6400346B2 (ja) | 2018-10-03 |
EP3011913B1 (en) | 2017-04-12 |
ES2564412T3 (es) | 2016-03-22 |
US9797486B2 (en) | 2017-10-24 |
CA2854745A1 (en) | 2014-12-20 |
AU2014203035A1 (en) | 2015-01-22 |
US20140373652A1 (en) | 2014-12-25 |
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