CN104546041B - 接合器直接驱动扭锁保持机构 - Google Patents
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Abstract
本发明公开了一种接合器直接驱动扭锁保持机构。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。所述手术设备接合器包括：壳体，其包括能联接至所述手柄组件的远侧端的近侧端；以及驱动联接组件，其能够选择地联接至所述手柄组件，所述驱动联接组件包括具有至少一个挠性构件的管状夹紧构件，所述管状夹紧构件能从所述至少一个挠性构件与所述手柄组件的所述远侧端分离的近侧位置移动至所述至少一个挠性构件与所述手柄组件的所述远侧端接合的远侧位置。
Description
相关申请的交叉引用
本申请要求于2013年10月18日提交的申请号为61/892,682的美国临时专利申请的权益和优先权，该专利申请的全部公开通过引用合并于此。
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，本公开涉及一种配置为与夹紧、切割和/或吻合组织用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，机电手术设备包括可再用的手柄组件以及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所驱动。例如，用于执行胃肠内吻合术操作、端对端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。如此，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且相互连接的接合器和/或接合器组件存在需求。对包括用于联接至手术设备的手动收缩、连接以及锁定和释放机构的接合器也存在需求。
发明内容
参考附图，在下文更详细地描述本发明典型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，其包括能联接至手柄组件的远侧端的近侧端；以及驱动联接组件，其能选择地联接至所述手柄组件，所述驱动联接组件包括具有至少一个挠性构件的管状夹紧构件，所述管状夹紧构件能从所述至少一个挠性构件与所述手柄组件远侧端分离的近侧位置移动至所述至少一个挠性构件与所述手柄组件的所述远侧端接合的远侧位置。
依照本公开的另一方案，公开了一种手术设备。所述手术设备包括：末端执行器，其包括第一钳夹和能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钳夹组件的至少一个电动机；以及接合器组件，其能拆卸地联接至所述钳夹组件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，其包括能够联接至所述手柄组件的所述远侧端的近侧端；以及驱动联接组件，其能够选择地联接至所述手柄组件，所述驱动联接组件包括具有至少一个挠性构件的管状夹紧构件，所述管状夹紧构件能从所述至少一个挠性构件与所述手柄组件的所述远侧端分离的近侧位置移动至所述至少一个挠性构件与所述手柄组件的所述远侧端接合的远侧位置。
依照上述实施例的任何实施例的一个方案，所述手术设备接合器进一步包括驱动机构，所述驱动机构布置在所述壳体内且能联接至所述手柄组件和所述末端执行器。
依照上述实施例的任何实施例的另一个方案，所述驱动联接组件进一步包括管状外构件，所述管状外构件布置在所述管状夹紧构件上方，且管状外构件能够相对于管状夹紧构件旋转以使所述管状夹紧构件在所述近侧位置和所述远侧位置之间移动。
所述壳体可包括连接器组件，且所述管状夹紧构件布置在所述连接器组件上方。
所述连接器组件可包括限定在其外表面中的至少一个纵向狭槽，所述至少一个纵向狭槽被配置且被定尺寸以与从所述管状夹紧构件突出的至少一个第一销相接。
依照上述实施例的任何实施例的一个方案，所述管状夹紧构件包括至少一个凸轮狭槽，所述至少一个凸轮狭槽被配置且被定尺寸以与从所述管状外构件突出的至少一个第二销相接。所述管状外构件的旋转运动使所述至少一个第二销穿过所述至少一个凸轮狭槽平移，以使所述管状夹紧构件在所述近侧位置和所述远侧位置之间移动。
依照上述实施例的任何实施例的另一个方案，所述至少一个挠性构件包括面向近侧的斜面，所述斜面配置为在接触布置在所述手柄组件远侧端处的唇缘部时，使所述至少一个挠性构件挠曲。
附图说明
参考附图，在此描述本公开的实施例，其中：
图1是依照本公开的包括手术器械、末端执行器以及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中手术器械的立体的、正视局部图；
图3是依照本公开的图1中接合器组件的立体的、后视图；
图4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5是依照本公开的沿图3中剖面线5-5截取的图1中接合器组件的驱动联接组件的剖面、侧视图；
图6是依照本公开的图5中驱动联接组件的放大的剖面侧视图；
图7是依照本公开的图5中驱动联接组件的管状夹紧构件的立体图；以及
图8是依照本公开的图5中驱动联接组件的管状外构件的立体图。
具体实施方式
参考附图，详细描述本公开的机电手术系统、装置和/或设备的实施例，其中相同的附图标记指代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/或设备的离用户较远的部分或其部件，而术语“近侧”指的是机电的手术系统、装置和/或设备的离用户较近的部分或其部件。术语“左侧”和“右侧”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手术系统、装置和/或设备的远侧端的用户的视角观察时，机电手术系统、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，并且总体表示为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选择性地附接到其上。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，依次地，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、电源以及驱动机构，所述驱动机构具有一个或多个电动机、选择式齿轮箱组件(gear selector box)、齿轮传动机构、等等。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内的吻合和切割钉仓发射，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匹配时来接纳驱动联接组件210的连接器组件240。连接部108容纳一个或多个可旋转的驱动连接器，该可旋转的驱动连接器与接合器组件200的相应的可旋转连接器套管相接，这在下文有更详细描述。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，所述驱动连接器由其驱动机构(未示出)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和第一连接器套管218之间的接口、在相应的第二驱动连接器120和第二连接器套管220之间的接口以及在相应的第三驱动连接器122和第三连接器套管222之间的接口键联接，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的相应的连接器套管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的连接器套管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。
因为手术器械100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的对应的连接器套管218、220、222的接口都是键联接的和/或基本上不可旋转的，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来选择性地致动末端执行器300的不同功能。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。
在实施例中，接合器组件200可包括第一、第二、以及第三驱动传送/转换组件(未示出)。可参考申请号为13/875,571、题目为“Hand Held Surgical Handle Assembly,Surgical Adapters For Use Between Surgical Handle Assembly and Surgical EndEffectors,and Methods Of Use(手持式手术手柄组件、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)”的共有美国专利申请，该申请描述示例的第一、第二和第三传送/转换组件的构造和操作，该专利申请的全部内容通过引用合并于此。
参考图3和图4，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(未示出)。如图4至6所示，接合器组件200还包含布置在联接组件210内的连接器组件240。连接器组件240通过紧固件233联接至接合器壳体232(图4)。连接器组件240被配置且被定尺寸以插入连接器部108的筒状凹槽108b内。
参考图5至图8，驱动联接组件210包括夹紧构件250，该夹紧构件250配置为围绕手术器械100的连接部108的唇缘部108a沿周向地夹紧。夹紧构件250具有管状结构且布置在连接器组件240上方。连接器组件240包括限定在其外表面中的一个或多个纵向狭槽242(图5)，该一个或多个纵向狭槽242被配置且被定尺寸以与布置在夹紧构件250的内表面上的一个或多个销252(图5和图7)相接。在销252和对应的狭槽242之间的相接阻止夹紧构件250围绕纵轴线“X-X”的旋转运动，仅仅允许夹紧构件250的用于将接合器组件200固定(例如，夹紧)至手术器械100的纵向运动，这在下文详细地描述。
参考图5至图7，夹紧构件250还包括在其近侧端处的多个挠性构件(例如，指状件)254(图7)。挠性构件254被配置且被定尺寸以随着夹紧构件250向近侧方向“A”移动来绕连接部108的唇缘部108a沿周向地夹紧，并且随着夹紧构件250向远侧方向“B”移动来释放唇缘部108a。夹紧构件250可由包括但不限于金属、热塑性物质等的任何弹性但挠性的材料形成。通过包括但不限于机械加工(例如，切割)、喷射模塑法等任何合适的方法，挠性构件254可通过在夹紧构件250内形成多个纵向狭槽256(图7)来生成。
每一挠性构件254包括具有脊状部258的面向远侧的斜面257，其中脊状部258被限定在斜面257的近侧。当夹紧构件250在连接部108的唇缘部108a上方滑动时，该构造允许构件254径向向外地弯曲，并且一旦脊状部258对于唇缘部108a向近侧移动，则该构造允许构件254迅速返回至未挠曲的构造。在夹紧构造中，脊状部258对于唇缘部108a向近侧安置，从而将接合器组件200联接至手术器械100。
如图5、图6和图8所示，夹紧构件250的纵向运动通过管状外构件260来完成。具体地，外构件260由用户致动，以使夹紧构件250与连接部108的唇缘部108a接合和/或分离。外构件260具有管状结构且被布置在夹紧构件250上方。外构件260包括布置在其外表面上的纹理表面262，以提供给用户增强的紧握。外构件260还包括一个或多个销264(图6)，该一个或多个销264被配置且被定尺寸以与限定在夹紧构件250近侧部内的一个或多个对应的凸轮狭槽253(图5至图7)相接。夹紧构件250的凸轮狭槽253横向于纵轴线“X-X”来定向。每一凸轮狭槽253包括夹紧安置部253a、斜坡部253b以及未夹紧安置部253c。凸轮狭槽253的安置部253a和253c允许销264固定地保持在凸轮狭槽253内，以便在没有外力(例如，用户致动或外构件260的旋转)的情况下，夹紧构件250不会回返到未夹紧或夹紧构造。
为了将接合器组件200附接至手术器械100，驱动联接组件210放置在夹紧构件250处于近侧位置的未夹紧构造中。在未夹紧构造中，驱动联接组件210的外构件260旋转至未夹紧构造，以便挠性构件254从外构件260向近侧突出，且不被外构件260限制并由此自由地径向向外地偏转。
接合器组件200向手术器械100接近，以便连接器组件240插入连接部108。随着连接部108插入驱动联接组件210，夹紧构件250在连接部108的唇缘部108a上方滑动，且随后一旦挠性构件254的脊状部258对于唇缘部108a向近侧移动，夹紧构件250在唇缘部108a上方迅速回到未挠曲构造。
一旦接合器组件200与手术器械100相匹配，外构件260沿第一方向(例如，如图8所示的顺时针方向“C”)旋转，以围绕连接部108的唇缘部108a沿周向地夹紧挠性构件254。具体地，随着外构件260旋转，销264最初地布置在凸轮狭槽253的未夹紧安置部253c内，并然后移动穿过凸轮狭槽253，即，斜坡部253b，从而使夹紧构件250沿远侧方向“B”纵向移动。如上文所述，通过夹紧构件250的销252与连接器组件240的狭槽的相接来阻止夹紧构件250的旋转运动，这迫使夹紧构件250随着外构件260移动穿过夹紧构件250的凸轮狭槽253而纵向移动。
除外构件260沿相反的方向(例如，如图8所示的逆时针方向“D”)旋转之外，驱动联接组件210的从夹紧构造向未夹紧构造的转换基本上相似于上文所述的夹紧过程。当销264反向移动穿过凸轮狭槽253(即从夹紧安置部253a、经过斜坡部253b，并最终未夹紧安置部253c)，这使夹紧构件250沿近侧方向“A”(图5)移动，从而使得挠性臂254对于外构件260向近侧延伸。
一旦夹紧构件250与连接部108的唇缘部108a松开，则接合器组件200与手术器械100分开。随着接合器组件200从手术器械100上移除，通过连接部108的唇缘部108a推动构件254的脊状部258，使得夹紧构件250的挠性构件254最初径向向外地挠曲(例如，展开)。然后，当移除接合器组件200时，通过斜面257接触唇缘部108a，挠性构件254滑离或迅速经过连接部108的唇缘部108a。
将理解的是，可对在此公开的实施例作出各种修改。例如，如本领域已知的，器械100不需要施加吻合钉，而是可施加两件式紧固件。进一步地，可修改吻合钉或紧固件的线性排的长度以符合具体手术操作的要求。因此，致动轴的单一行程的长度和/或在一次性装载单元内的吻合钉和/或紧固件的线性排的长度可相应的改变。因此，上文描述不应该解释为限制性的，而是仅仅作为优选实施例的示例。本领域的技术人员将预想到在随附其上的权利要求书的范围和精神内的其它修改。
Claims (13)
1.一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，其包括能联接至所述手柄组件的远侧端的近侧端；以及
驱动联接组件，其被支撑在所述壳体上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具有至少一个挠性构件的管状夹紧构件，所述管状夹紧构件能够从所述至少一个挠性构件与所述手柄组件的所述远侧端分离的近侧位置移动至所述至少一个挠性构件与所述手柄组件的所述远侧端接合的远侧位置，
其中所述驱动联接组件进一步包括管状外构件，所述管状外构件布置在所述管状夹紧构件上方，且所述管状外构件能够相对于所述管状夹紧构件旋转以使管状夹紧构件在所述近侧位置和所述远侧位置之间移动。
2.根据权利要求1所述的手术设备接合器，其中所述壳体包括连接器组件，且所述管状夹紧构件布置在所述连接器组件上方。
3.根据权利要求2所述的手术设备接合器，其中所述连接器组件包括限定在其外表面中的至少一个纵向狭槽，所述至少一个纵向狭槽被配置且被定尺寸以与从所述管状夹紧构件突出的至少一个第一销相接。
4.根据权利要求2所述的手术设备接合器，其中所述管状夹紧构件包括至少一个凸轮狭槽，所述至少一个凸轮狭槽被配置且被定尺寸以与从所述管状外构件突出的至少一个第二销相接。
5.根据权利要求4所述的手术设备接合器，其中所述管状外构件的旋转运动使所述至少一个第二销穿过所述至少一个凸轮狭槽平移，以使所述管状夹紧构件在所述近侧位置和所述远侧位置之间移动。
6.根据权利要求1所述的手术设备接合器，其中所述至少一个挠性构件包括面向近侧的斜面，所述斜面配置为在接触布置在所述手柄组件的远侧端处的唇缘部时，使所述至少一个挠性构件挠曲。
7.一种手术设备，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；以及
接合器组件，其能拆卸地联接至所述末端执行器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，其包括能联接至所述手柄组件的所述远侧端的近侧端；以及
驱动联接组件，其能够选择地联接至所述手柄组件，所述驱动联接组件包括具有至少一个挠性构件的管状夹紧构件，所述管状夹紧构件能够从所述至少一个挠性构件与所述手柄组件的所述远侧端分离的近侧位置移动至所述至少一个挠性构件与所述手柄组件的所述远侧端接合的远侧位置，
其中所述驱动联接组件进一步包括管状外构件，所述管状外构件布置在所述管状夹紧构件上方，且所述管状外构件能够相对于所述管状夹紧构件旋转以使所述管状夹紧构件在所述近侧位置和所述远侧位置之间移动。
8.根据权利要求7所述的手术设备，所述接合器组件进一步包括：
驱动机构，其布置在所述壳体内且能联接至所述手柄组件和所述末端执行器。
9.根据权利要求7所述的手术设备，其中所述壳体包括连接器组件，且所述管状夹紧构件布置在所述连接器组件上方。
10.根据权利要求9所述的手术设备，其中所述连接器组件包括限定在其外表面中的至少一个纵向狭槽，所述至少一个纵向狭槽被配置且被定尺寸以与从所述管状夹紧构件突出的至少一个第一销相接。
11.根据权利要求7所述的手术设备，其中所述管状夹紧构件包括至少一个凸轮狭槽，所述至少一个凸轮狭槽被配置且被定尺寸以与从所述管状外构件突出的至少一个第二销相接。
12.根据权利要求11所述的手术设备，其中所述管状外构件的旋转运动使所述至少一个第二销穿过所述至少一个凸轮狭槽平移，以使所述管状夹紧构件在所述远侧位置和所述近侧位置之间移动。
13.根据权利要求7所述的手术设备，其中所述至少一个挠性构件包括面向近侧的斜面，所述斜面配置为在接触布置在所述手柄组件的远侧端处的唇缘部时，使所述至少一个挠性构件挠曲。
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- 2014-08-27 AU AU2014218388A patent/AU2014218388B2/en not_active Ceased
- 2014-09-08 CA CA 2862173 patent/CA2862173A1/en not_active Abandoned
- 2014-10-17 EP EP14189358.6A patent/EP2891459B1/en active Active
- 2014-10-20 CN CN201410559917.5A patent/CN104546041B/zh active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5947996A (en) * | 1997-06-23 | 1999-09-07 | Medicor Corporation | Yoke for surgical instrument |
| US20040210187A1 (en) * | 2002-02-07 | 2004-10-21 | Zawacki John A. | Split tip dialysis catheter |
| US20110095070A1 (en) * | 2009-10-28 | 2011-04-28 | Nihir Patel | Surgical stapling instrument |
| US20130138129A1 (en) * | 2011-11-29 | 2013-05-30 | Tyco Healthcare Group Lp | Coupling Mechanisms for Surgical Instruments |
| CN103211635A (zh) * | 2011-12-20 | 2013-07-24 | 柯惠Lp公司 | 手持式手术手柄组件、在手术手柄组件和手术末端执行器之间使用的手术适配器及其使用方法 |
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| EP2891459A3 (en) | 2015-08-05 |
| CN104546041A (zh) | 2015-04-29 |
| US20150112381A1 (en) | 2015-04-23 |
| AU2014218388A1 (en) | 2015-05-07 |
| AU2014218388B2 (en) | 2018-10-25 |
| EP2891459A2 (en) | 2015-07-08 |
| EP2891459B1 (en) | 2018-12-12 |
| US9974540B2 (en) | 2018-05-22 |
| CA2862173A1 (en) | 2015-04-18 |
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