CN104622528B - 具有腕关节式机构的医疗设备接合器 - Google Patents
具有腕关节式机构的医疗设备接合器 Download PDFInfo
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Abstract
本发明公开了具有腕关节式机构的医疗设备接合器。提供将末端执行器联接至手术设备的手术设备接合器。手术设备接合器包括：近侧接头壳体，包括近侧端部和远侧端部，近侧接头壳体在近侧端部能联接至手术设备；中间接头壳体，具有近侧端部和远侧端部，中间接头壳体在近侧端部能枢转联接至近侧接头壳体的远侧端部，中间接头壳体绕限定在近侧接头壳体和中间接头壳体之间的第一枢转轴线能枢转；和远侧接头壳体，具有近侧端部和远侧端部，远侧接头壳体在近侧端部能枢转联接至中间接头壳体的远侧端部，远侧接头壳体在其远侧端部能联接至末端执行器，以及绕限定在中间接头壳体和远侧接头壳体之间的第二枢转轴线能枢转，第二枢转轴线横向于第一枢转轴线。
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。更具体来说，本公开涉及机电接合器、设备和/或系统，其构造为与手持式或者机器人式手术装置以及可移除的一次性使用装载单元和/或单次使用装载单元一起使用，以用于夹紧、切割和/或吻合组织。
背景技术
当前存在用于操作和/或操纵机电手术设备的各种驱动系统。在许多情况下，机电手术设备包括可重复使用的致动组件(例如，机动或者手动的工具手柄或者机器人)和一次性使用装载单元或者单次使用装载单元。装载单元在使用之前选择性地连接至致动组件，在使用之后于是脱离致动组件从而被丢弃或在一些情况下消毒以再使用。
与现有手术设备和/或致动组件一起使用的许多现有的末端执行器由线性力驱动，诸如用于执行内胃肠吻合术操作、端-端吻合术操作以及横向吻合术操作的末端执行器。这样，这些末端执行器不兼容于利用旋转运动来输送动力等的手术设备和/或致动组件。
为了使线性驱动的末端执行器兼容于使用旋转运动来输送动力的手术设备和/或致动组件，需要接合器和/或接合器组件来在线性驱动的末端执行器与旋转驱动的手术设备和/或手柄组件之间进行相接及相互连接。
发明内容
以下参考附图更详细地描述本发明示范实施例的进一步细节和方案。
根据所述本公开的一个实施例，公开了用于将末端执行器联接至手术设备的手术设备接合器。所述手术设备接合器包括：近侧接头壳体，包括近侧端部和远侧端部，所述近侧接头壳体在其近侧端部能够联接至所述手术设备；中间接头壳体，具有近侧端部和远侧端部，所述中间接头壳体在其近侧端部能够枢转地联接至所述近侧接头壳体的远侧端部，所述中间接头壳体绕限定在所述近侧接头壳体和所述中间接头壳体之间的第一枢转轴线能够枢转；以及远侧接头壳体，具有近侧端部和远侧端部，所述远侧接头壳体在其近侧端部能够枢转地联接至所述中间接头壳体的远侧端部，所述远侧接头壳体在其远侧端部能够联接至所述末端执行器，以及绕限定在所述中间接头壳体和所述远侧接头壳体之间的第二枢转轴线能够枢转，所述第二枢转轴线横向于第一枢转轴线。
根据上述实施例的一个方案，所述手术设备是手持式手术设备或者机器人式手术设备。
根据上述实施例的另一方案，所述接合器进一步包括：第一关节式运动连杆，联接至所述中间接头壳体，所述第一关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第一枢转轴线枢转所述中间接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第一枢转轴线枢转所述中间接头壳体。
所述接合器可以进一步包括：第二关节式运动连杆，联接至所述远侧接头壳体，所述第二关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第二枢转轴线枢转所述远侧接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第二枢转轴线枢转所述远侧接头壳体。
根据上述实施例的一个方案，所述第二关节式运动连杆响应于所述中间接头壳体的枢转而能够弯折。
根据上述实施例的另一方案，所述接合器进一步包括：驱动机构，能够联接至所述手术设备和所述末端执行器，所述驱动机构构造为响应于来自所述手术设备的输入而致动所述末端执行器。
所述驱动机构还可以包括：近侧传递轴，可旋转地布置在所述近侧接头壳体内，所述近侧传递轴包括布置在其近侧端部且能够联接至所述手术设备的连接器套筒以及布置在其远侧端部的第一齿轮；中间传递轴，可旋转地布置在所述中间接头壳体内，所述中间传递轴包括布置在其近侧端部且以啮合方式接合所述第一齿轮的第二齿轮以及布置在其远侧端部的第三齿轮；以及远侧传递轴，可旋转地布置在所述远侧接头壳体内，所述远侧传递轴包括布置在其近侧端部且以啮合方式接合所述第三齿轮的第四齿轮以及构造为接合所述末端执行器的键接式远侧端部(keyed distal end)。所述第一齿轮、第二齿轮、第三齿轮和第四齿轮具有大致椭圆形状。
根据所述本公开的另一实施例，公开了用于将末端执行器联接至手术设备的手术设备接合器。所述手术设备接合器包括：近侧接头壳体，包括近侧端部和远侧端部，所述近侧接头壳体在其近侧端部能够联接至所述手术设备；中间接头壳体，具有近侧端部和远侧端部，所述中间接头壳体在其近侧端部能够枢转地联接至所述近侧接头壳体的远侧端部，所述中间接头壳体绕限定在所述近侧接头壳体和所述中间接头壳体之间的第一枢转轴线能够枢转；以及远侧接头壳体，具有近侧端部和远侧端部，所述远侧接头壳体在其近侧端部能够枢转地联接至所述中间接头壳体的远侧端部，所述远侧接头壳体在其远侧端部能够联接至所述末端执行器，以及绕限定在所述中间接头壳体和所述远侧接头壳体之间的第二枢转轴线能够枢转，所述第二枢转轴线横向于第一枢转轴线；以及驱动机构，包括多个齿轮并且能够联接至所述手术设备和所述末端执行器，所述驱动机构构造为响应于来自所述手术设备的输入而致动所述末端执行器，其中，所述多个齿轮布置在近侧接头壳体、中间接头壳体以及远侧接头壳体之间。
根据上述实施例的一个方案，所述手术设备是手持式手术设备或者机器人式手术设备。
根据上述实施例的另一方案，所述接合器进一步包括：第一关节式运动连杆，联接至所述中间接头壳体，所述第一关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第一枢转轴线枢转所述中间接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第一枢转轴线枢转所述中间接头壳体。
所述接合器可以进一步包括：第二关节式运动连杆，联接至所述远侧接头壳体，所述第二关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第二枢转轴线枢转所述远侧接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第二枢转轴线枢转所述远侧接头壳体。
根据上述实施例的一个方案，所述第二关节式运动连杆响应于所述中间接头壳体的枢转而能够弯折。
根据上述实施例的另一方案，所述驱动机构包括：近侧传递轴，可旋转地布置在所述近侧接头壳体内，所述近侧传递轴包括布置在其近侧端部且能够联接至所述手术设备的连接器套筒以及布置在其远侧端部的第一齿轮。
所述驱动机构还可以包括：中间传递轴，可旋转地布置在所述中间接头壳体内，所述中间传递轴包括布置在其近侧端部且以啮合方式接合所述第一齿轮的第二齿轮以及布置在其远侧端部的第三齿轮。
根据上述实施例的一个方案，所述驱动机构包括：远侧传递轴，可旋转地布置在所述远侧接头壳体内，所述远侧传递轴包括布置在其近侧端部且以啮合方式接合所述第三齿轮的第四齿轮以及构造为接合所述末端执行器的键接式远侧端部。
根据上述实施例的另一方案，所述第一齿轮、第二齿轮、第三齿轮和第四齿轮具有大致椭圆形状。
附图说明
参考附图此处描述本公开的实施例，其中：
图1A是根据本公开的机电手术系统的示意图，其包括机器人式致动组件、末端执行器以及接合器组件；
图1B是图1A的机电手术系统的立体图，其包括根据本公开的手持式致动组件以及末端执行器和接合器组件；
图2是根据本公开的接合器组件的立体图，图1A的末端执行器处于非关节连接构造；
图3是根据本公开的接合器组件的立体图，图1A的末端执行器处于关节连接构造；
图4是根据本公开的图1A的接合器组件的近侧端部的立体放大视图；
图5是根据本公开的图1A的接合器组件的远侧端部的立体局部组装图，具有近侧关节式运动机构；
图6是根据本公开的图1A的接合器组件的近侧端部的立体局部组装图，近侧关节式运动机构处于第一构造；
图7是根据本公开的图1A的接合器组件的近侧端部的立体局部组装图，近侧关节式运动机构处于第二构造；
图8是根据本公开的图1A的接合器组件的近侧端部的又一立体局部组装图，近侧关节式运动机构处于第二构造；
图9是根据本公开的图1A的接合器组件的近侧端部的立体局部组装图，近侧关节式运动机构处于第二构造；
图10是根据本公开的图1A的接合器组件的远侧端部的立体局部组装图，一起图示了远侧关节式运动机构；
图11是根据本公开的图1A的接合器组件的驱动组件的立体图；
图12是根据本公开的图1A的接合器组件的驱动组件的中间轴的立体图；
图13是根据本公开的图1A的接合器组件的驱动组件的中间输入轴的立体图，处于非关节连接构造；以及
图14是根据本公开的图1A的接合器组件的驱动组件的中间输入轴的立体图，处于关节连接构造。
具体实施方式
参考附图详细描述当前公开的电机械手术系统、装置和/或设备的实施例，在若干图的每个中，类似附图标记指代相同或者对应元件。如此处使用的，术语“远侧”指的是电机械手术系统、装置和/或设备或者其部件远离用户的部分，而术语“近侧”指的是电机械手术系统、装置和/或设备或者其部件靠近用户的部分。术语“左”以及“右”指的是分别从近侧端部用户面向电机械手术系统、装置和/或设备的远侧端部的角度所观察，电机械手术系统、装置和/或设备或者其部件在左侧和右侧的部分，同时手术系统、装置和/或设备定向成处于非旋转(例如，原位)构造。
参考图1A，示出了电手术动力式手术系统10的实施例。机电手术系统10包括呈机器人式手术装置20形式的手术装置或者设备，手术装置20构造为用于多个不同的末端执行器300经由第一接合器组件200(例如，细长主体)选择性地附接到其上。
机器人式手术装置20包括联接至基座24的机器臂22。机器臂22可以包括：多个肢状件(limb)或者杆37-40，它们通过多个弯肘或者轴31-34彼此互相连接；以及凸缘42，其支撑在最远侧轴34上，末端执行器300通过第一接合器组件200附接至凸缘42。
在本示范实施例的情形下，每个轴31-34分别被电驱动器51-54移动，每个电驱动器51-54电连接至机器人式手术装置20的控制器57，使得控制器57或者控制器57上运行的计算机可读指令集能够致动电驱动器51-56，使得能够在空间内基本上自由地设定机器人式手术装置20的凸缘42的位置和方位。机器人式手术装置20的每个电驱动器51-54都包括电动机以及用于致动电动机的任何功率生成或者控制电子部件。
机器人式手术装置20还可以构造为与机器人式手术系统一起工作。这种系统采用各种机器人式元件(例如，机器人式手术装置20)以在手术区辅助外科医生并且允许手术器械(例如，末端执行器300)的远程操作或者局部远程操作。为了该目的可以采用机器人式手术装置20的各种机器臂、齿轮、凸轮、皮带轮、电机械电动机等，并且可设计为在操作或者处理期间辅助外科医生。机器人式手术装置20可以包括远程转向系统、自动柔性手术系统、远程柔性手术系统、远程关节式运动手术系统、无线手术系统、模块化或者可选择性配置的远程操作手术系统以及它们的组合。
机器人式手术装置20可以与一个或多个控制台一起使用，该控制台可靠近手术区或者位于远程地点。在实施例中，一组外科医生或者护士可以准备好患者进行手术，并且为机器人式手术装置20配置此处公开的一个或多个末端执行器300，而另一外科医生或者另一组外科医生经由机器人式手术装置20远程控制末端执行器300。正如能够认识到的，高技能的外科医生可以不离开他/她的控制台而在多个地点执行多种操作，这能够是经济上有利的并且对患者或者多个患者是有益的。
手术系统的机器人式手术装置20可以联接至一个或多个主手柄(未示出)，主手柄本地地或远程地联接至控制器57。外科医生可以移动手柄以产生对应的任何类型手术器械(例如，末端执行器300、抓取器、刀具、剪刀等)的作业端的对应移动，这可以补充此处描述的一个或多个实施例的使用。移动主手柄可以被定量，使得作业端具有的对应移动不同(更小或者更大)于外科医生的操作手所执行的移动。定量因子或者齿轮比可以是可调节的，使得外科医生能够控制手术器械的作业端的分辨率。
主手柄可以包括各种传感器以向外科医生提供有关各种组织参数或者条件的反馈(例如，触觉的)，例如，由于操纵、切割或者以其他方式处理组织产生的阻力、器械对组织的压力、组织温度、组织阻抗以及它们的组合。正如能够认识到的，这种传感器向外科医生提供模拟实际操作条件的增强的触觉反馈。主手柄还可以包括各种不同的致动器用于熟练的组织操纵或者处理，从而进一步加强外科医生模拟实际操作条件的能力。
参考图1B，示出了机电动力式手术系统10’的另一实施例。机电手术系统10’包括呈机电的手持动力式手术器械100形式的手术装置或者设备，手术器械100构造为用于经由第一接合器组件200(例如，细长主体)选择性地附接多个不同的末端执行器300。还可以利用辅助接合器组件200’将第一接合器组件200匹配于动力式手术器械100，第一接合器组件200用来联接至机器人式手术装置20。末端执行器300和接合器组件200和200’构造为通过手术器械100致动以及操纵。尤其，手术器械100、接合器组件200和200’和末端执行器300彼此分开，使得手术仪器100构造为用于经由辅助接合器组件200’选择性地连接第一接合器组件200，依次，第一接合器组件200构造为用于选择性地连接多个不同末端执行器300中的任何一个。在实施例中，手术器械100可以用第一接合器组件200直接操作。
可以参考提交于2008年9月22日的国际申请No.PCT/US2008/077249(国际公开号WO2009/039506)，以及公开于2011年5月26日的美国专利申请公开No.2011/0121049，所有申请的整个内容通过参考并入此处，用于详细描述示范的机电手持动力式手术仪器100的构造以及操作。
参考图1B，手术仪器100包括手柄壳体102，手柄壳体102包括一个或多个控制器、动力源、以及驱动机构，驱动机构具有一个或多个电动机、选择式齿轮箱组件(gearselector box)、齿轮传动机构等。壳体102还支撑控制组件103。控制组件103可以包括一个或多个手指致动的控制按钮、摇杆设备、操纵杆或者其他方向控制器，它们的输入传递至驱动机构以致动第一接合器组件200和末端执行器300。
壳体102限定鼻部或者连接部分108，鼻部或者连接部分108构造为接受辅助接合器组件200’的对应的驱动联接组件210’(图5)。连接部分108收纳一个或多个可旋转的驱动连接器，驱动连接器与第一接合器组件200’的对应可旋转的连接器套筒(未示出)相接。辅助接合器组件200’构造为接受第一接合器组件200的对应驱动联接组件210。接合器组件200’和机器人式手术装置20包括一个或多个可旋转的和/或可纵向移动的驱动连接器，该驱动连接器与第一接合器组件200的对应的可旋转连接器套筒218(图2和图4)以及纵向可移动的第一关节式运动连杆220和第二关节式运动连杆222(图2和图4)相接，如以下更详细描述的。
参考图2，示出了第一接合器组件200处于非关节连接构造。第一接合器组件200包括构造为联接至末端执行器300的远侧接头壳体202。远侧接头壳体202枢转地联接至中间接头壳体204，中间接头壳体204又枢转地联接至近侧接头壳体206。参考图3，中间接头壳体204通过近侧关节式运动组件212相对于近侧接头壳体206能够独立枢转。远侧接头壳体202通过远侧关节式运动组件208相对于中间接头壳体204能够枢转。
当第一接合器组件200与辅助接合器组件200’(图1B)或者机器人式手术装置20匹配时，第二接合器组件200’或者机器人式手术装置20的驱动连接器(未示出)将联接第一接合器组件200的可旋转的连接器套筒218(图2和图4)和关节式运动连杆220和222(图2和图4)。在该方面，驱动连接器(未示出)与连接器套筒218和关节式运动连杆220和222之间的相接是键式连接，使得辅助接合器组件200’的每个驱动连接器或者机器人式手术装置20的旋转和/或移动可引起第一接合器组件200的对应连接器套筒218和关节式运动连杆220和222的对应旋转和/或移动。这允许经由三个相应的连接器接口中的每个连接器接口独立地传递纵向和/或旋转力。
手术器械100和机器人式手术装置20的驱动机构构造为驱动轴和/或齿轮部件，以相对于末端执行器300的近侧主体部分302选择性地移动末端执行器300的工具组件304，以及相对于第一接合器组件200绕由第一接合器组件200限定的纵向轴线“X-X”(图3)旋转末端执行器300，致动工具组件304的各种部件，例如，相对于末端执行器300的钉仓组件308移动砧座组件306，和/或发射末端执行器300的钉仓组件308内的吻合及切割钉仓(图2)。
选择性地旋转和/或移动手术器械100和/或机器人式手术装置20的驱动连接器允许手术器械100和/或机器人式手术装置20选择性地致动末端执行器300的不同功能。如以下更详细讨论的，第一接合器组件200的连接器套筒218的选择性及独立的旋转对应于选择性地以及独立地打开以及关闭末端执行器300的工具组件304并且驱动末端执行器300的工具组件304的吻合/切割部件。在实施例中，连接器套筒218的旋转可以用来相对于第一接合器组件200绕纵向轴线“X-X”旋转末端执行器300。
参考图2和图3，选择性地以及独立地移动关节式运动连杆220和222对应于分别选择性地以及独立地致动远侧关节式运动组件208以及近侧关节式运动组件212。更具体来说，如图3所示，中间接头壳体204相对于近侧接头壳体206绕枢转轴线“A-A”沿方向“C1”或者“C2”能够枢转。中间接头壳体204可以从非关节连接构造枢转到关节连接构造，在非关节连接构造中，分别由近侧接头壳体206以及中间接头壳体204限定的纵向轴线“X-X”以及“Y-Y”如图2所示对准(例如零角度)，在关节连接构造中，纵向轴线“X-X”以及“Y-Y”是非平行的对准(例如，非零角度)，如图3所示。中间接头壳体204可以绕枢转轴线“A-A”从大约5°关节运动至大约170°，在实施例中，为大约60°。
远侧接头壳体202相对于中间接头壳体204绕枢转轴线“B-B”沿方向“D1”或者“D2”能够枢转。远侧接头壳体202可以从非关节连接构造枢转到关节连接构造，在非关节连接构造中，分别由中间接头壳体204以及远侧接头壳体202限定的纵向轴线“Y-Y”以及“Z-Z”如图2所示对准(例如零角度)在关节连接构造中，纵向轴线“Y-Y”以及“Z-Z”是非平行的对准(例如，非零角度)，如图3所示。远侧接头壳体202可以绕枢转轴线“B-B”从大约5°关节运动至大约170°，在实施例中大约为90°。枢转轴线“A-A”以及“B-B”彼此横向，从而允许末端执行器300相对于近侧接头壳体206的二维关节式运动。
参考图5-9，示出了近侧关节式运动组件212，其用于相对于近侧接头壳体206枢转中间接头壳体204。近侧关节式运动组件212包括在近侧接头壳体206内可纵向移动的第二关节式运动连杆222。近侧接头壳体206经由杆224枢转地联接至中间接头壳体204。杆224在一个端部处枢转地联接至布置在近侧接头壳体206远侧端部的枢转销207，并且在另一端部处枢转地联接至布置在中间接头壳体204近侧端部的枢转销205。
第二关节式运动连杆222还枢转地联接至枢转销205。枢转销207限定枢转轴线“A-A”，充当用于杆224的支点，随着第二关节式运动连杆222沿着纵向方向“E”移动(图5)，杆224绕枢转销207枢转。尤其，随着第二关节式运动连杆222沿近侧方向移动，如图5和图7所示，中间接头壳体204连同杆224一起绕枢转销205枢转，杆224绕枢转销207沿逆时针方向“C1”枢转(图3)。如图6所示，第二关节式运动连杆222的远侧移动使得中间接头壳体204沿顺时针方向“C2”进行相反的枢转。
参考图8和图9，中间接头壳体204和近侧接头壳体206中的每个分别包括齿轮面209和211。杆224维持齿轮面209和211以啮合方式接合，从而允许中间接头壳体204维持相对于近侧接头壳体206的其角度位置。在实施例中，中间接头壳体204以及近侧接头壳体206可以通过两个杆224、枢转销205和207以及其两相对侧的对应齿轮面209和211而相互连接。
参考图10，示出了远侧关节式运动组件208，其用于相对于中间接头壳体204枢转远侧接头壳体202。近侧关节式运动组件212包括在中间接头壳体204以及近侧接头壳体206内可纵向移动的第一关节式运动连杆220。中间接头壳体204经由杆226a、226b(图5和图10)枢转地联接至远侧接头壳体202。杆226a、226b分别在一个端部处枢转地联接至布置在中间接头壳体204远侧端部的枢转销217a、217b，以及分别在另一端部枢转地联接至布置在远侧接头壳体202近侧端部的枢转销215a、215b。
第一关节式运动连杆220还枢转地联接至枢转销215b。枢转销217a、217b限定枢转轴线“B-B”(图3和图5)，充当用于杆226a、226b的支点，随着第一关节式运动连杆220沿着纵向方向“F”移动(图10)，杆226a、226b分别绕枢转销217a、217b枢转。尤其，随着第一关节式运动连杆220沿近侧方向移动，如图10所示，远侧接头壳体202连同杆226a、226b一起绕枢转销215a、215b枢转，杆226a、226b绕枢转销217a、217b沿逆时针方向“D1”枢转。第一关节式运动连杆220的远侧移动使得远侧接头壳体202沿顺时针方向“D2”进行相反的枢转。第一关节式运动连杆220还由有弹力的柔性材料形成，使得第一关节式运动连杆220的纵向移动平移至中间接头壳体204。第一关节式运动连杆220的柔性允许随着远侧接头壳体202以及中间接头壳体204关节连接而使其弯折。
参考图6-9，近侧接头壳体202和中间接头壳体204中的每个分别包括齿轮面219a、219b和齿轮面221a、221b。杆226a、226b维持齿轮面219a、219b和齿轮面221a、221b以啮合的方式接合，从而允许近侧接头壳体202维持相对于中间接头壳体206的其角度位置。
参考图5和图11-14，示出了驱动机构330。驱动机构330包括近侧传递轴336、中间传递轴334以及远侧传递轴332，它们将可旋转的连接器套筒218的旋转传递至末端执行器300。远侧传递轴332、中间传递轴334以及近侧传递轴336分别布置在近侧壳体206、中间壳体204以及远侧壳体202内，并且构造为在其中旋转。近侧传递轴336在其近侧端部联接至可旋转的连接器套筒218。近侧传递轴336包括在其远侧端部的远侧齿轮336a，远侧齿轮336a联接至中间传递轴334的近侧齿轮334b。中间传递轴334在其远侧端部还包括远侧齿轮334a，远侧齿轮334a联接至远侧传递轴332的近侧齿轮332b。
齿轮332b、334a、334b、336a具有大致三维椭圆形状(例如，每个齿具有二维椭圆形状)，从而允许齿轮332b和334a和齿轮334b和336a彼此以啮合方式接合，同时在远侧接头壳体202以及中间接头壳体204的关节式运动期间传递轴332、334、336相对于彼此枢转。每个齿轮能够是球状的正齿轮，用于传递旋转驱动运动通过第一壳体、第二壳体和第三壳体，诸如是远侧接头壳体202、中间接头壳体204以及近侧接头壳体206。尤其，齿轮332b、334a、334b、336a布置在远侧接头壳体202、中间接头壳体204以及近侧接头壳体206之间，允许齿轮332b、334a、334b、336a联接远侧传递轴332、中间传递轴334以及近侧传递轴336，而无论远侧接头壳体202以及中间接头壳体204的枢转如何，如图11、图13和图1所示。
参考图5，远侧壳体202还包括用于选择性地联接末端执行器300的凸缘203。远侧传递轴332还包括键接式远侧端部332a，键接式远侧端部332a定尺寸并且构造为接合末端执行器300的连接器套筒(未示出)。在操作期间，随着连接器套筒218旋转，传递轴332、334、336中的每个也经由齿轮332b、334a、334b、336a而旋转，这又可旋转键接式远侧端部332a，从而致动末端执行器300。
应理解的是，可以对此处公开的实施例做出各种修改。例如，末端执行器300不需要施加吻合钉，而是可以施加两件式紧固件，如本领域公知的。此外，可以修改线性排吻合钉或者紧固件的长度以满足特定手术操作的要求。因而，致动轴单个行程的长度和/或一次性使用装载单元内的线性排吻合钉和/或紧固件的长度可以相应变化。
在此处公开的任何实施例中，末端执行器能够构造为连接用于手持动力、人工动力或者机器人式器械的接合器。此外，末端执行器能够包括电手术器械，诸如超声波振动的刀片和/或夹具。动力传递轴以及椭圆形齿式齿轮能够用于其他类型器械中，包括手动的、机器人式的、机动的、手持式的或者其他系统。因此，上述说明书不应该视为限制，而仅是作为优选实施例的示例。本领域的技术人员将想到附随的权利要求的范围和精神内的其他修改。
Claims (17)
1.一种用于将末端执行器联接至手术设备的手术设备接合器，所述手术设备接合器包括：
近侧接头壳体，其包括近侧端部和远侧端部，所述近侧接头壳体在其近侧端部能够联接至所述手术设备；
中间接头壳体，其具有近侧端部和远侧端部，所述中间接头壳体在其近侧端部能够枢转地联接至所述近侧接头壳体的远侧端部，所述中间接头壳体绕限定在所述近侧接头壳体和所述中间接头壳体之间的第一枢转轴线能够枢转；以及
远侧接头壳体，其具有近侧端部和远侧端部，所述远侧接头壳体在其近侧端部能够枢转地联接至所述中间接头壳体的远侧端部，所述远侧接头壳体在其远侧端部能够联接至所述末端执行器，以及绕限定在所述中间接头壳体和所述远侧接头壳体之间的第二枢转轴线能够枢转，所述第二枢转轴线横向于所述第一枢转轴线，
所述手术设备接合器进一步包括：
驱动机构，其能够联接至所述手术设备和所述末端执行器，所述驱动机构构造为响应于来自所述手术设备的输入而致动所述末端执行器，并且
所述驱动机构包括：
近侧传递轴，其可旋转地布置在所述近侧接头壳体内，所述近侧传递轴包括布置在其近侧端部且能够联接至所述手术设备的连接器套筒以及布置在其远侧端部的第一齿轮；
中间传递轴，其可旋转地布置在所述中间接头壳体内，所述中间传递轴包括布置在其近侧端部且以啮合方式接合所述第一齿轮的第二齿轮以及布置在其远侧端部的第三齿轮；以及
远侧传递轴，其可旋转地布置在所述远侧接头壳体内，所述远侧传递轴包括布置在其近侧端部且以啮合方式接合所述第三齿轮的第四齿轮以及构造为接合所述末端执行器的键接式远侧端部。
2.根据权利要求1所述的手术设备接合器，进一步包括：
第一关节式运动连杆，其联接至所述中间接头壳体，所述第一关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第一枢转轴线枢转所述中间接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第一枢转轴线枢转所述中间接头壳体。
3.根据权利要求2所述的手术设备接合器，进一步包括：
第二关节式运动连杆，其联接至所述远侧接头壳体，所述第二关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第二枢转轴线枢转所述远侧接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第二枢转轴线枢转所述远侧接头壳体。
4.根据权利要求3所述的手术设备接合器，其中，所述第二关节式运动连杆响应于所述中间接头壳体的枢转而能够弯折。
5.根据权利要求1所述的手术设备接合器，其中，所述第一齿轮、第二齿轮、第三齿轮和第四齿轮具有大致椭圆形状。
6.一种用于将末端执行器联接至手术设备的手术设备接合器，所述手术设备接合器包括：
近侧接头壳体，其包括近侧端部和远侧端部，所述近侧接头壳体在其近侧端部能够联接至所述手术设备；
中间接头壳体，其具有近侧端部和远侧端部，所述中间接头壳体在其近侧端部能够枢转地联接至所述近侧接头壳体的远侧端部，所述中间接头壳体绕限定在所述近侧接头壳体和所述中间接头壳体之间的第一枢转轴线能够枢转；
远侧接头壳体，其具有近侧端部和远侧端部，所述远侧接头壳体在其近侧端部能够枢转地联接至所述中间接头壳体的远侧端部，所述远侧接头壳体在其远侧端部能够联接至所述末端执行器，以及绕限定在所述中间接头壳体和所述远侧接头壳体之间的第二枢转轴线能够枢转，所述第二枢转轴线横向于所述第一枢转轴线；以及
驱动机构，其包括多个齿轮并且能够联接至所述手术设备和所述末端执行器，所述驱动机构构造为响应于来自所述手术设备的输入而致动所述末端执行器，其中，所述多个齿轮布置在近侧接头壳体、中间接头壳体以及远侧接头壳体之间。
7.根据权利要求6所述的手术设备接合器，进一步包括：
第一关节式运动连杆，其联接至所述中间接头壳体，所述第一关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第一枢转轴线枢转所述中间接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第一枢转轴线枢转所述中间接头壳体。
8.根据权利要求7所述的手术设备接合器，进一步包括：
第二关节式运动连杆，其联接至所述远侧接头壳体，所述第二关节式运动连杆能够沿近侧方向纵向移动以沿第一方向绕所述第二枢转轴线枢转所述远侧接头壳体，以及能够沿远侧方向纵向移动以沿第二方向绕所述第二枢转轴线枢转所述远侧接头壳体。
9.根据权利要求8所述的手术设备接合器，其中，所述第二关节式运动连杆响应于所述中间接头壳体的枢转而能够弯折。
10.根据权利要求6所述的手术设备接合器，所述驱动机构包括：
近侧传递轴，其可旋转地布置在所述近侧接头壳体内，所述近侧传递轴包括布置在其近侧端部且能够联接至所述手术设备的连接器套筒以及布置在其远侧端部的第一齿轮。
11.根据权利要求10所述的手术设备接合器，所述驱动机构包括：
中间传递轴，其可旋转地布置在所述中间接头壳体内，所述中间传递轴包括布置在其近侧端部且以啮合方式接合所述第一齿轮的第二齿轮以及布置在其远侧端部的第三齿轮。
12.根据权利要求11所述的手术设备接合器，所述驱动机构包括：
远侧传递轴，其可旋转地布置在所述远侧接头壳体内，所述远侧传递轴包括布置在其近侧端部且以啮合方式接合所述第三齿轮的第四齿轮以及构造为接合所述末端执行器的键接式远侧端部。
13.根据权利要求12所述的手术设备接合器，其中，所述第一齿轮、第二齿轮、第三齿轮和第四齿轮具有大致椭圆形状。
14.一种具有驱动机构的手术设备，包括：
近侧传递轴，其可旋转地布置在近侧接头壳体内，所述近侧传递轴包括布置在其近侧端部且能够联接至所述手术设备的连接器套筒以及布置在其远侧端部的第一齿轮；
中间传递轴，其可旋转地布置在中间接头壳体内，所述中间传递轴包括布置在其近侧端部且以啮合方式接合所述第一齿轮的第二齿轮以及布置在其远侧端部的第三齿轮；以及
远侧传递轴，其可旋转地布置在远侧接头壳体内，所述远侧传递轴包括布置在其近侧端部且以啮合方式接合所述第三齿轮的第四齿轮，所述第一齿轮、第二齿轮、第三齿轮和第四齿轮具有椭圆形形状，
其中，所述近侧传递轴、中间传递轴以及远侧传递轴能够相对于彼此枢转。
15.根据权利要求14所述的手术设备，其中，所述远侧传递轴具有构造为接合末端执行器的键接式远侧端部。
16.根据权利要求14所述的手术设备，其中，所述近侧传递轴布置在近侧接头壳体中，所述中间传递轴布置在中间接头壳体中，所述远侧传递轴布置在远侧接头壳体中，所述近侧接头壳体、中间接头壳体以及远侧接头壳体枢转地连接。
17.一种手术设备，具有纵向轴线并且具有近侧接头壳体、中间接头壳体以及远侧接头壳体，所述近侧接头壳体、中间接头壳体以及远侧接头壳体包括齿轮、在近侧接头壳体以及中间接头壳体之间的第一轴线，和在中间接头壳体以及远侧接头壳体之间的第二轴线，所述远侧接头壳体是能移动的以便将所述第二轴线定位为离开所述纵向轴线，所述近侧接头壳体、中间接头壳体以及远侧接头壳体中分别布置有近侧传递轴、中间传递轴和远侧传递轴，
其中，所述近侧接头壳体以及中间接头壳体通过至少一个第一杆连接，且所述中间接头壳体以及远侧接头壳体通过至少一个第二杆连接。
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2013
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2014
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- 2014-09-26 CA CA2865105A patent/CA2865105A1/en not_active Abandoned
- 2014-10-23 JP JP2014216074A patent/JP6517492B2/ja active Active
- 2014-11-07 CN CN201410643993.4A patent/CN104622528B/zh active Active
- 2014-11-07 EP EP16178492.1A patent/EP3097868B1/en active Active
- 2014-11-07 ES ES16178492T patent/ES2864903T3/es active Active
- 2014-11-07 EP EP14192217.9A patent/EP2870931B1/en active Active
- 2014-11-07 ES ES14192217.9T patent/ES2616532T3/es active Active
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2016
- 2016-02-22 US US15/049,651 patent/US10390897B2/en active Active
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2018
- 2018-11-30 AU AU2018271364A patent/AU2018271364B2/en not_active Ceased
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2019
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Patent Citations (2)
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| CN101953703A (zh) * | 2009-07-14 | 2011-01-26 | Tyco医疗健康集团 | 利用机械特性的末端执行器识别 |
| CN103379874A (zh) * | 2011-02-14 | 2013-10-30 | 直观外科手术操作公司 | 呈现优选弯曲的关节式连杆结构和相关的方法 |
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| AU2014227482A1 (en) | 2015-05-28 |
| CA2865105A1 (en) | 2015-05-08 |
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| JP2015093190A (ja) | 2015-05-18 |
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| JP2019111356A (ja) | 2019-07-11 |
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| AU2018271364A1 (en) | 2018-12-20 |
| US20190365492A1 (en) | 2019-12-05 |
| US11497572B2 (en) | 2022-11-15 |
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| ES2864903T3 (es) | 2021-10-14 |
| AU2014227482B2 (en) | 2018-09-27 |
| CN104622528A (zh) | 2015-05-20 |
| EP3097868A1 (en) | 2016-11-30 |
| EP2870931B1 (en) | 2017-01-25 |
| JP2021006270A (ja) | 2021-01-21 |
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