CN104688348B - 用于将机电手术设备和手术装载单元互连的接合器组件及其手术系统 - Google Patents

用于将机电手术设备和手术装载单元互连的接合器组件及其手术系统 Download PDF

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CN104688348B
CN104688348B CN201410751152.5A CN201410751152A CN104688348B CN 104688348 B CN104688348 B CN 104688348B CN 201410751152 A CN201410751152 A CN 201410751152A CN 104688348 B CN104688348 B CN 104688348B
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厄尔·M·策吉贝尔
戴维·M·乔瓦尼克
瑞安·V·威廉斯
阿南德·苏布拉马尼安
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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
    • 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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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
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    • A61B90/06—Measuring instruments not otherwise provided for
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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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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Abstract

本公开涉及用于与机电手术设备和手术装载单元一起使用且机电地将机电手术设备和手术装载单元互连的接合器组件，并且涉及手术系统，该手术系统包括手持式机电手术设备以及用于将手术装载单元连接至手持式机电手术设备的接合器组件。

Description

用于将机电手术设备和手术装载单元互连的接合器组件及其 手术系统
相关申请的交叉引用
本申请要求提交于2013年12月9日的申请号为61/913,572的美国临时专利申请的权益和优先权，其整个公开通过引用并入此处。
技术领域
本公开涉及一种用于手术系统的接合器组件。更具体来说，本公开涉及用于与机电手术设备和手术装载单元一起使用的且机电地将机电手术设备和手术装载单元互连的接合器组件，并且涉及如下的手术系统：该手术系统包括手持式机电手术设备以及用于将手术装载单元连接至手持式机电手术设备的接合器组件。
背景技术
许多手术设备制造商已经开发了具有用于操作和/或操纵机电手术设备的专用驱动系统的生产线。在多个情况下，机电手术设备包括可重复使用的手柄组件，还包括一次性装载单元和/或单次使用的装载单元等，它们在使用之前选择性地连接至手柄组件，然后在使用之后与手柄组件断开连接以被处理或者在一些例子中被消毒以再使用。
在某些情况下，接合器组件用来将机电手术设备与许多手术装载单元中的任一个互连以在其间建立机械和/或电连接。相比于没有使用接合器组件的机电手术系统，通过使用接合器组件将机电手术设备与手术装载单元互连，该机电手术系统的总体长度趋向于相对更大/更长。机电手术系统(包括接合器组件)的该增加后的长度趋向于使机电手术系统(包括接合器组件)的重心相对于另一机电手术系统(不包括接合器组件)的重心向远侧移动。
在重心位于机电手术系统的更远侧位置的情况下，施加于用户的手、手腕和手臂的力矩会增加，因而导致使用机电手术系统会有些累人或者笨重。
因此，需要一种具有相对较短的长度并且减少机电手术系统的重心的远侧位移的接合器组件。
发明内容
本公开涉及用于与机电手术设备和手术装载单元一起使用且机电地将机电手术设备和手术装载单元互连的接合器组件，并且涉及手术系统，该手术系统包括手持式机电手术设备以及用于将手术装载单元连接至手持式机电手术设备的接合器组件。
根据本公开的方案，提供了一种接合器组件，用于选择性地将手术装载单元与手术设备互连，所述手术装载单元构造为执行功能，所述手术设备构造为致动所述装载单元。装载单元可以包括至少一个轴向能平移的驱动构件，而手术设备可以包括至少一个能旋转驱动轴。接合器组件包括：壳体，其构造为并且适于与手术设备连接并且与手术设备的每个能旋转驱动轴操作性连通；外管，其具有近侧端部和远侧端部，其近侧端部由壳体支撑，其远侧端部构造为并且适于与装载单元连接，其中外管的远侧端部与装载单元的每个轴向能平移的驱动构件操作性连通；以及力/旋转传递/转换组件，用于将手术设备的相应一个驱动轴和装载单元的相应一个轴向能平移驱动构件互连。
力/旋转传递/转换组件包括：近侧旋转接收构件，其能够连接至手术设备的相应的能旋转驱动轴；以及远侧力传递构件，其能够连接至装载单元的轴向能平移驱动构件，远侧力传递构件以使得近侧旋转接收构件的旋转被转换为远侧力传递构件的轴向平移的方式而连接至近侧旋转接收构件。
在操作中，力/旋转传递/转换组件将手术设备的第一能旋转驱动轴的旋转传递至装载单元的第一轴向能平移驱动构件，并将手术设备的第一能旋转驱动轴的旋转转换为装载单元的第一轴向能平移驱动构件的轴向平移。
力/旋转传递/转换组件可以包括第一力/旋转传递/转换组件。第一力/旋转传递/转换组件的近侧旋转接收构件可以包括限定了螺纹远侧端部的第一近侧驱动轴。第一力/旋转传递/转换组件的远侧力传递构件可以包括能螺纹连接至第一近侧驱动轴的螺纹远侧端部的远侧驱动构件。
第一近侧驱动轴和远侧驱动构件可以彼此轴向对准并且与手术设备的相应的能旋转驱动轴的旋转轴线轴向对准。
在使用中，手术设备的与第一力/旋转传递/转换组件关联的能旋转驱动轴的旋转，可以导致第一力/旋转传递/转换组件的第一能旋转驱动轴的旋转，这可以导致第一力/旋转传递/转换组件的远侧驱动构件的轴向平移。
力/旋转传递/转换组件可以包括第二力/旋转传递/转换组件。第二力/旋转传递/转换组件的近侧旋转接收构件可以包括限定了螺纹远侧端部的第二近侧驱动轴。第二力/旋转传递/转换组件的远侧力传递构件可以包括轴承组件，所述轴承组件具有外圈，所述外圈能螺纹地连接至第二近侧驱动轴的螺纹远侧端部并且不可旋转地布置在壳体内。
轴承组件可以包括内圈。第二力/旋转传递/转换组件的远侧力传递构件可以包括关节式运动杆，所述关节式运动杆具有近侧端部以及远侧端部，其近侧端部稳固至轴承组件的内圈，其远侧端部构造为选择性地接合装载单元的第二轴向能平移驱动构件。
第一力/旋转传递/转换组件的至少一部分可以延伸穿过第二力/旋转传递/转换组件的轴承组件。
关节式运动杆可以是绕着第一力/旋转传递/转换组件能旋转的。
在使用中，手术设备的与第二力/旋转传递/转换组件关联的能旋转驱动轴的旋转，可以导致第二力/旋转传递/转换组件的第二能旋转驱动轴的旋转，这导致第二力/旋转传递/转换组件的关节式运动杆的轴向平移。
力/旋转传递/转换组件可以包括第三力/旋转传递/转换组件。第三力/旋转传递/转换组件的近侧旋转接收构件可以包括第三近侧驱动轴，第三近侧驱动轴具有支撑在其远侧端部上的正齿轮。第三力/旋转传递/转换组件的远侧力传递构件可以包括环形齿轮，环形齿轮固定地支撑在壳体中并且与正齿轮进行齿轮连接。
在使用中，手术设备的与第三力/旋转传递/转换组件关联的能旋转驱动轴的旋转，可以导致第三力/旋转传递/转换组件的第三能旋转驱动轴的旋转，这导致第三力/旋转传递/转换组件的环形齿轮的旋转。
接合器组件可以进一步包括支撑在壳体和外管中的至少一个内的电气组件。电气组件可以包括：电路板；触针，其电连接至电路板，构造为并且适于选择性地电连接至手术设备的互补电插头；应变计(strain gauge)，其支撑在电路板上并且电连接至电路板，其中，第一能旋转近侧驱动轴延伸穿过应变计；以及滑环，其围绕第一力/旋转传递/转换组件的远侧驱动构件布置。滑环可以电连接电路板，并且其中，滑环包括支撑在其中用于维持与接合器组件内的电气部件电接触的电触头。
第一近侧驱动轴、第二近侧驱动轴和第三近侧驱动轴可以彼此布置于共同平面中。
根据本公开的另一方案，提供了机电手术系统，其构造为用于选择性地连接手术装载单元以致动装载单元来执行功能。装载单元可以包括至少一个轴向能平移的驱动构件。手术系统包括手持式机电手术设备，其包括：壳体；以及至少一个能旋转驱动轴，其以从所述壳体突出的方式被支撑。
手术系统进一步包括选择性地能够连接于装载单元和手术设备的壳体之间的接合器组件。接合器组件包括：壳体，其构造为并且适于连接手术设备并且与手术设备的每个能旋转驱动轴操作性连通；外管，其具有近侧端部和远侧端部，其近侧端部由壳体支撑，其远侧端部构造为并且适于与装载单元连接，其中，外管的远侧端部与装载单元的每个轴向能平移驱动构件操作性连通；以及力/旋转传递/转换组件，其用于将手术设备的相应的驱动轴和装载单元的相应的轴向能平移驱动构件互连。
力/旋转传递/转换组件包括：近侧旋转接收构件，其能够连接至手术设备的相应的能旋转驱动轴；以及远侧力传递构件，其能够连接至装载单元的轴向能平移驱动构件，远侧力传递构件以使得近侧旋转接收构件的旋转被转换为远侧力传递构件的轴向平移的方式而连接至近侧旋转接收构件。
力/旋转传递/转换组件将手术设备的第一能旋转驱动轴的旋转传递至装载单元的第一轴向能平移驱动构件，并将手术设备的第一能旋转驱动轴的旋转转换为装载单元的第一轴向能平移驱动构件的轴向平移。
接合器组件的力/旋转传递/转换组件可以包括第一力/旋转传递/转换组件。第一力/旋转传递/转换组件的近侧旋转接收构件可以包括限定了螺纹远侧端部的第一近侧驱动轴。第一力/旋转传递/转换组件的远侧力传递构件可以包括能螺纹连接至第一近侧驱动轴的螺纹远侧端部的远侧驱动构件。
接合器组件的第一近侧驱动轴和远侧驱动构件可以彼此轴向对准并且与手术设备的相应的能旋转驱动轴的旋转轴线轴向对准。
在使用中，手术设备的与第一力/旋转传递/转换组件关联的能旋转驱动轴的旋转，可以导致第一力/旋转传递/转换组件的第一能旋转驱动轴的旋转，这导致接合器组件的第一力/旋转传递/转换组件的远侧驱动构件的轴向平移。
接合器组件的力/旋转传递/转换组件可以包括第二力/旋转传递/转换组件。第二力/旋转传递/转换组件的近侧旋转接收构件可以包括限定了螺纹远侧端部的第二近侧驱动轴。第二力/旋转传递/转换组件的远侧力传递构件可以包括轴承组件，所述轴承组件具有外圈，所述外圈螺纹地连接至第二近侧驱动轴的螺纹远侧端部并且不可旋转地布置在壳体内。
接合器组件的轴承组件可以包括内圈，并且其中，接合器组件的第二力/旋转传递/转换组件的远侧力传递构件可以包括关节式运动杆，所述关节式运动杆具有近侧端部以及远侧端部，其近侧端部稳固至轴承组件的内圈，其远侧端部构造为选择性地接合装载单元的第二轴向能平移驱动构件。
接合器组件的第一力/旋转传递/转换组件的至少一部分可以延伸穿过接合器组件的第二力/旋转传递/转换组件的轴承组件。
接合器组件的关节式运动杆可以是绕着第一力/旋转传递/转换组件能旋转的。
在使用中，手术设备的与接合器组件的第二力/旋转传递/转换组件关联的能旋转驱动轴的旋转，可以导致第二力/旋转传递/转换组件的第二能旋转驱动轴的旋转，这可以导致第二力/旋转传递/转换组件的关节式运动杆的轴向平移。
接合器组件的力/旋转传递/转换组件可以包括第三力/旋转传递/转换组件。第三力/旋转传递/转换组件的近侧旋转接收构件可以包括第三近侧驱动轴，第三近侧驱动轴具有支撑在其远侧端部上的正齿轮。第三力/旋转传递/转换组件的远侧力传递构件可以包括环形齿轮，环形齿轮固定地支撑在壳体中并且与正齿轮进行齿轮连接。
在使用中，手术设备的与第三力/旋转传递/转换组件关联的能旋转驱动轴的旋转，可以导致接合器组件的第三力/旋转传递/转换组件的第三能旋转驱动轴的旋转，这可以导致第三力/旋转传递/转换组件的环形齿轮的旋转。
接合器组件可以进一步包括电气组件，其支撑在其壳体和外管中的至少一个内。电气组件可以包括：电路板；触针，其电连接至电路板，构造为并且适于选择性地电连接至手术设备的互补电插头；应变计，其支撑在电路板上并且电连接至电路板，其中，第一能旋转近侧驱动轴延伸穿过应变计；以及滑环，其围绕第一力/旋转传递/转换组件的远侧驱动构件布置，其中，滑环与电路板电连接，并且其中，滑环包括支撑在其上用于维持与接合器组件内的至少一个电气部件电接触的电触头。
接合器组件的第一近侧驱动轴、第二近侧驱动轴和第三近侧驱动轴可以彼此布置于共同平面中。
根据本公开的进一步方案，提供了接合器组件，并且其包括：壳体，其构造为并且适于连接手术设备并且与手术设备的每个能旋转驱动轴操作性连通；外管，其具有近侧端部和远侧端部，其近侧端部由壳体支撑，其远侧端部构造为并且适于与装载单元连接，其中，外管的远侧端部与装载单元的每个轴向能平移驱动构件操作性连通；力/旋转传递/转换组件，其用于将手术设备的相应一个驱动轴和装载单元的相应一个轴向能平移驱动构件互连；以及电气组件，其支撑在其壳体和外管内。
电气组件包括：电路板；触针，其电连接至电路板，构造为并且适于选择性地电连接至手术设备的互补电插头；应变计，其支撑在电路板上并且电连接至电路板，其中，第一能旋转近侧驱动轴延伸穿过应变计；以及滑环，其围绕第一力/旋转传递/转换组件的至少一部分布置，其中，滑环与电路板电连接，并且其中，滑环包括支撑在其上用于维持与接合器组件内的至少一个电气部件电接触的电触头。
力/旋转传递/转换组件可以包括：近侧旋转接收构件，其能够连接至手术设备的相应的能旋转驱动轴；以及远侧力传递构件，其能够连接至装载单元的轴向能平移驱动构件，远侧力传递构件以使得近侧旋转接收构件的旋转被转换为远侧力传递构件的轴向平移的方式而连接至近侧旋转接收构件。
在使用中，力/旋转传递/转换组件可以将手术设备的第一能旋转驱动轴的旋转传递至装载单元的第一轴向能平移驱动构件，并将手术设备的第一能旋转驱动轴的旋转转换为装载单元的第一轴向能平移驱动构件的轴向平移。
附图说明
此处参考附图描述本公开的实施例，其中：
图1A是根据本公开的实施例的接合器组件的立体图，其在示例性的机电手术设备和末端执行器组件之间互连；
图1B是立体图，图示出接合器组件的近侧端部附接至机电手术设备的远侧端部；
图2A是本公开的接合器组件的正视立体图；
图2B是图2A的接合器组件的后视立体图；
图3是图2A和2B的接合器组件的俯视平面图；
图4是图2A和2B的接合器组件的侧视图；
图5是图2A和2B的接合器组件的后视立体图，其中其某些零件被分离；
图6是图2A和2B的接合器组件的后视立体图，其中其大多数零件被分离；
图7是图2A和2B的接合器组件的关节式运动组件的立体图；
图8是图7的关节式运动组件的放大立体图，其中零件被分离；
图9是图7的关节式运动组件的立体图，以第一方位示出；
图10是图7的关节式运动组件的立体图，以第二方位示出；
图11是沿着图9的剖面线11-11截取的剖面图；
图12是图2A和2B的接合器组件的电气组件的立体图；
图13是图12的电气组件的立体图，示出了其连接至图2A和2B的接合器组件的核心壳体；
图14是沿着图13的剖面线14-14截取的剖面图；
图15是图2A和2B的接合器组件的滑环套管或者套筒的立体图；
图16是图2B的细节的指定区域的放大视图，图示出图2A和2B的接合器组件的内壳体组件；
图17是图16的内壳体组件的后视立体图，其中外旋钮壳体的半段和近侧帽被移除；
图18是图16的内壳体组件的后视立体图，其中外旋钮壳体、近侧帽和衬套板被移除；
图19是图16的内壳体组件的后视立体图，其中外旋钮壳体、近侧帽、衬套板以及内壳体被移除；
图20是类似于图16所示的内壳体组件的可替换实施例的后视立体图，其中外旋钮壳体和近侧内壳体被移除；
图21是图20的内壳体组件的后视立体图，其中外旋钮壳体、近侧内壳体和关节式运动组件被移除；
图22是图20的内壳体组件的前部立体图，其中外旋钮壳体、近侧内壳体和关节式运动组件被移除；
图23是图20的内壳体组件的前部立体图，其中外旋钮壳体和近侧内壳体被移除；
图24是沿着图2B的剖面线24-24截取的剖面图；
图25是图24的细节的指定区域的放大视图；
图26是图24的细节的指定区域的放大视图，图示出沿近侧方向致动锁住按钮；
图27是沿着图2B的剖面线27-27截取的剖面图；
图28是沿着图2B的剖面线27-27截取的剖面图，图示出沿远侧方向致动关节式运动组件；
图29是沿着图28的剖面线29-29截取的剖面图；
图30是沿着图28的剖面线30-30截取的剖面图；
图31是沿着图28的剖面线31-31截取的剖面图；
图32是根据本公开的近侧内壳体毂的后视立体图；
图33是图32的近侧内壳体毂的前部立体图；
图34是图32和33的近侧内壳体毂的前部立体图，图示出第一和第二力/旋转传递/转换组件以及与其关联的加强组件；
图35是本公开的近侧内壳体组件的板衬套的前部立体图；
图36是图35的板衬套的后视立体图；
图37是近侧内壳体组件的后视立体图，图示出图35和36的板衬套附接其上；
图38是图37的近侧内壳体组件的后视立体图，其中连接器套筒被移除；
图39是图37的近侧内壳体组件的后视立体图，其中连接器套筒被移除并且以虚线示出板衬套；
图40是图37的近侧内壳体组件的后视立体图，其中连接器套筒被移除；
图41是图37的内壳体组件的后视立体图，图示出根据本公开的另一实施例的支撑板被附接其上；
图42是图41的内壳体组件的后视立体图，其中支撑板被移除；
图43是根据本公开的另一实施例的内壳体组件的前部立体图，其中外旋钮壳体、近侧内壳体被移除；
图44是图43的内壳体组件的后视立体图，其中外旋钮壳体、近侧内壳体和关节式运动组件被移除；
图45是图43和44的内壳体组件的托架组件的立体图；
图46是用于与图43和44的内壳体组件一起使用的加强套筒的立体图；
图47是图43和44的内壳体组件的立体图，图示出图46的加强套筒支撑在其上；以及
图48是用于与手术设备和本公开的接合器一起使用的示范性装载单元的立体图，其中零件被分离。
具体实施方式
参考附图详细描述当前公开的手术设备、接合器组件、用于手术设备和/或手柄组件的装载单元检测组件的实施例，其中在各个视图中类似的附图标记指代相同或者相应的元件。如此处使用的术语“远侧”指的是接合器组件或者手术设备的更远离用户的部分或者其部件，而术语“近侧”指的是接合器组件或者手术设备的更靠近用户的部分或者其部件。
根据本公开的实施例，手术设备大致由100表示，并且呈电动手持式机电仪器的形式，构造为其上选择性地附接多个不同的末端执行器，每个末端执行器构造用于由电动手持式机电手术仪器致动和操纵。
如图1A图示的，手术设备100构造为用于选择性地连接接合器组件200，而接合器组件200又被构造为用于选择性地连接装载单元300(例如，末端执行器、多次或者单次使用的装载单元，见图48)。手术设备100和接合器组件200一起可以构成机电手术系统，该机电手术系统被构造为并且适于选择性地连接装载单元300并且致动装载单元300。
如图1A和1B图示的，手术设备100包括手柄壳体102，手柄壳体102包括电路板(未示出)，驱动机构(未示出)位于手柄壳体中。电路板构造为控制手术设备100的各种操作。手柄壳体102在其中限定了腔室(未示出)，该腔室用于在其中选择性地、能移除地接收可再充电电池(未示出)。该电池构造为供电至手术设备100的任何电气部件。
手柄壳体102包括：上壳体部分102a，其容纳手术设备100的各种部件；以及下部手抓握部分102b，其从上壳体部分102a延伸出。下部手抓握部分102b可以布置在上壳体部分102a的最近侧端的远侧。选择下壳体部分102b相对于上壳体部分102a的位置以平衡连接至或者支撑接合器组件200和/或末端执行器300的手术设备100的重量。
手柄壳体102提供了驱动机构所位于其中的壳体。驱动机构构造为驱动各轴和/或齿轮部件，以执行手术设备100的各种操作。尤其，驱动机构构造为驱动各轴和/或齿轮部件，以选择性地使装载单元300(见图1和48)的工具组件304相对于装载单元300的近侧主体部分302移动，使装载单元300相对于手柄壳体102绕纵向轴线“X”(见图1A)旋转，使装载单元300的砧座组件306和钉仓组件308相对于彼此移动/接近，和/或发射装载单元300的钉仓组件308内的吻合和切割钉仓。
如图1B图示的，手柄壳体102限定连接部分108，连接部分108构造为接纳接合器组件200的对应驱动联接组件210。具体地，手术设备100的连接部分108具有凹部108a，当接合器组件200配接至手术设备100时该凹部108a接收接合器组件200的驱动联接组件210的近侧帽210a(图6)。连接部分108容纳三个能旋转驱动连接器118、120、122，它们彼此布置于共同平面中或者成一直线。
当接合器组件200配接至手术设备100时，手术设备100的每个能旋转驱动连接器118、120、122联接接合器组件200的对应能旋转连接器套筒218、220、222。(见图1B)。在该方面，对应的第一驱动连接器118和第一连接器套筒218之间的对接、对应的第二驱动连接器120和第二连接器套筒220之间的对接以及对应的第三驱动连接器122和第三连接器套筒222之间的对接都被锁定，使得手术设备100的每个驱动连接器118、120、122的旋转会引起接合器组件200的对应的连接器套筒218、220、222的对应旋转。
手术设备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连接器对接中的每个而被独立传递。手术设备100的驱动连接器118、120、122构造为通过手术设备100的驱动机构独立地旋转。在该方面，驱动机构的功能选择模块(未示出)选择由手术设备100的电动机驱动手术设备100的驱动连接器118、120、122中的哪一个或哪几个。
因为手术设备100的每个驱动连接器118、120、122与接合器组件200的相应连接器套筒218、220、222具有锁定的和/或基本不能旋转的对接，所以当接合器组件200联接至手术设备100时，旋转力(一个或多个)选择性地从手术设备100的驱动连接器转移至接合器组件200。
手术设备100的驱动连接器118、120和/或122的选择性旋转，允许手术设备100选择性地致动装载单元300的不同功能。例如，手术设备100的第一驱动连接器118的选择性的且独立的旋转对应于装载单元300的工具组件304的选择性的且独立的打开以及闭合，以及对应于装载单元300的工具组件304的吻合/切割部件的驱动。作为一个额外例子，手术设备100的第二驱动连接器120的选择性的且独立的旋转对应于装载单元300的工具组件304的横向于纵向轴线“X”(见图1A)选择性的且独立的关节式运动。此外，例如，手术设备100的第三驱动连接器122的选择性的且独立的旋转对应于装载单元300相对于手术设备100的手柄壳体102绕着纵向轴线“X”(见图1A)选择性的且独立的旋转。
如图1A图示的，手柄壳体102支撑用于致动手术设备100的各种功能的多个指状致动控制按钮、摇杆设备等。
可以参考提交于2008年9月22日的国际申请PCT/US2008/077249(国际公布号为WO2009/039506)，以及提交于2009年11月20、序列号为12/622，827的美国专利申请，它们的整个内容通过参考并入此处，它们详细地描述了示例性机电、手持式、电动手术仪器100的各种内部部件以及操作。
现在转到图1A-47，接合器组件200包括外旋钮壳体202以及从旋钮壳体202的远侧端部延伸出的外管206。旋钮壳体202和外管206构造为并且定尺寸为容纳接合器组件200的部件。外管206定尺寸为用于内窥镜插入，尤其是，外管能穿过典型的套管针口、插管等。旋钮壳体202定尺寸为不进入套管针口、插管等。旋钮壳体202构造为并且适于连接至手术设备100的手柄壳体102的连接部分108。
如图48图示的以及如下文将更详细描述的，接合器组件200构造为将手术设备100的驱动连接器118和120之一的旋转转换为轴向平移，该轴向平移用于操作装载单元300的驱动组件360和关节式运动连杆366。如图5、6、13、14、17、18、20、25-34和37-40图示的，接合器组件200包括近侧内壳体组件204，在近侧内壳体组件204中可旋转地支撑第一能旋转近侧驱动轴212、第二能旋转近侧驱动轴214以及第三能旋转近侧驱动轴216。每个近侧驱动轴212、214、216功能是作为旋转接收构件以从手术设备100的相应驱动轴接收旋转力，如以下将更详细描述的。
正如上面简要描述的，轴组件200的内壳体组件210还构造为分别可旋转地支撑第一、第二和第三连接器套筒218、220和222，第一、第二和第三连接器套筒218、220和222彼此布置于共同平面中或者成直线。如上所述的，每个连接器套筒218、220、222构造为配接手术设备100的相应的第一、第二和第三驱动连接器118、120、122。每个连接器套筒218、220、222进一步构造为配接相应的第一、第二和第三近侧驱动轴212、214、216的近侧端部。
如图6、17、27和28图示的，内壳体组件210还包括第一、第二和第三偏置构件224、226和228，第一、第二和第三偏置构件224、226和228布置在相应的第一、第二和第三连接器套筒218、220、222的远侧。每个偏置构件224、226和228围绕相应的第一、第二和第三能旋转近侧驱动轴212、214和216布置。当接合器组件200连接至手术设备100时，偏置构件224、226和228作用在相应的连接器套筒218、220和222上，以有助于保持连接器套筒218、220和222与手术设备100的相应的能旋转驱动连接器118、120、122的远侧端部接合。
尤其，第一、第二和第三偏置构件224、226和228的功能为沿近侧方向偏置相应的连接器套筒218、220和222。以这种方式，在将接合器组件200组装至手术设备100期间，如果第一、第二以及/或者第三连接器套筒218、220和/或222未对准手术设备100的驱动连接器118、120、122，则第一、第二和/或第三偏置构件224、226和/或228被压缩。因而，当操作手术设备100时，手术设备100的驱动连接器118、120、122将旋转，并且第一、第二和/或第三偏置构件224、226和/或228将引起相应的第一、第二和/或第三连接器套筒218、220和/或222向近侧滑回，从而将手术设备100的驱动连接器118、120、122有效地联接至内壳体组件210的第一、第二和/或第三近侧驱动轴212、214和216。
接合器组件200包括多个力/旋转传递/转换组件，每个均布置在内壳体组件204和外管206内。每个力/旋转传递/转换组件构造为并且适于在将这种旋转速度/力传递至装载单元300之前传递/转换手术仪器100的第一、第二和第三能旋转驱动连接器118、120和122的旋转的速度/力(例如，增加或者减小)。
具体地，如图6图示的，接合器组件200包括第一、第二和第三力/旋转传递/转换组件240、250、260，它们分别布置在内壳体208和外管206内。每个力/旋转传递/转换组件240、250、260构造为并且适于传递或者转换手术设备100的第一、第二和第三驱动连接器118、120、122的旋转至：接合器组件200的关节式运动杆258的轴向平移，以实现装载单元300的关节式运动；接合器组件200的环形齿轮266的旋转，以实现接合器组件200的旋转；或者接合器组件200的远侧驱动构件248的轴向平移，以实现装载单元300的闭合、打开以及发射。
如图5、6和24-31所示的，第一力/旋转传递/转换组件240包括第一能旋转近侧驱动轴212，如上所述，第一能旋转近侧驱动轴212可旋转地支撑在内壳体组件204内。第一能旋转近侧驱动轴212包括非圆形或者异形的近侧端部，近侧端部构造为用于连接第一连接器218，第一连接器218连接至手术设备100的相应的第一连接器118。第一能旋转近侧驱动轴212包括具有螺纹外轮廓或者表面的远侧端部212b。
第一力/旋转传递/转换组件240进一步包括驱动联接螺母244，驱动联接螺母244可旋转地联接至第一能旋转近侧驱动轴212的螺纹远侧端部212b，并且其可滑动地布置在外管206内。驱动联接螺母244可滑动地锁在外管206的近侧核心管部分内以防止随着第一能旋转近侧驱动轴212的旋转而旋转。以这种方式，随着第一能旋转近侧驱动轴212旋转，驱动联接螺母244沿着第一能旋转近侧驱动轴212的螺纹远侧端部212b而平移，并且依次穿过和/或沿着外管206平移。
第一力/旋转传递/转换组件240进一步包括机械地接合驱动联接螺母244的远侧驱动构件248，使得驱动联接螺母244的轴向移动导致远侧驱动构件248的对应量的轴向移动。远侧驱动构件248的远侧端部支撑连接构件247，连接构件247构造为并且定尺寸为用于选择性地接合装载单元300的驱动组件360的驱动构件374(图47)。正如下文将更详细描述的，驱动联接螺母244和/或远侧驱动构件248的功能是作为力传递构件，以将力传递至装载单元300的部件。
在操作中，作为手术设备100的第一相应驱动连接器118旋转的结果，随着第一能旋转近侧驱动轴212由于第一连接器套筒218的旋转而旋转，引起驱动联接螺母244沿着第一远侧驱动轴242轴向平移。随着引起驱动联接螺母244沿着第一远侧驱动轴242轴向平移，引起远侧驱动构件248相对于外管206轴向平移。随着远侧驱动构件248轴向平移，在连接构件247连接至其上并且接合装载单元300的驱动组件360的驱动构件374(图47)的情况下，远侧驱动构件248引起装载单元300的驱动构件374的伴随性轴向平移从而实现装载单元300的工具组件304的闭合和工具组件304的发射。
参考图5-11、19和23-31，接合器组件200的第二驱动转换器组件250包括可旋转地支撑在内壳体组件204内的第二近侧驱动轴214。第二能旋转近侧驱动轴214包括非圆形或者异形的近侧端部，该近侧端部构造为用于连接第二连接器或者联接器220，第二连接器或者联接器220连接至手术设备100的相应的第二连接器120。第二能旋转近侧驱动轴214进一步包括具有螺纹外轮廓或者表面的远侧端部214b。
近侧驱动轴214的远侧端部214b螺纹地接合关节式运动轴承组件252的关节式运动轴承壳体252a。关节式运动轴承组件252包括支撑关节式运动轴承253的壳体252a，关节式运动轴承253具有相对于外圈253a能独立旋转的内圈253b。关节式运动轴承壳体252a具有非圆形外轮廓(例如泪珠形)，可滑动地且不可旋转地布置在内壳体毂204a的互补孔204c内(图25、26、29和33)。
接合器组件200的第二驱动转换器组件250进一步包括关节式运动杆258，关节式运动杆258具有稳固至关节式运动轴承253的内圈253b的近侧部分258a。关节式运动杆258的远侧部分258b在其中包括狭槽258c，狭槽258c构造为接纳装载单元300的部分366，例如，标记的关节式运动连杆(图47)。如下文将更详细描述的，关节式运动杆258的功能是作为力传递构件，将力传递至装载单元300的部件。
进一步考虑关节式运动轴承组件252，关节式运动轴承组件252既是能旋转的又是纵向能平移的。此外，可以想到的是，当装载单元300的钳夹构件306、308在接近位置时和/或当钳夹构件306、308关节式运动时，关节式运动轴承组件252允许装载单元300自由的、不受阻碍的旋转移动。
在操作中，作为手术设备100的第二驱动连接器120旋转的结果，随着第二近侧驱动轴214由于第二连接器套筒220的旋转而旋转，引起关节式运动轴承组件252沿着第二近侧驱动轴214的螺纹远侧端部214b轴向平移，这又引起关节式运动杆258相对于外管206轴向平移。随着关节式运动杆258轴向平移，联接至装载单元300的关节式运动连杆366的关节式运动杆258引起装载单元300的关节式运动连杆366的伴随性轴向平移，从而实现工具组件304的关节式运动。关节式运动杆258稳固至关节式运动轴承253的内圈253b并且因而相对于关节式运动轴承253的外圈253a绕着纵向轴线X-X自由旋转。
如图6、17、18、20-23、25-28、31和37-40图示的以及以上提到的，接合器组件200包括支撑在内壳体组件204内的第三力/旋转传递/转换组件260。第三力/旋转传递/转换组件260包括固定地支撑在并且连接至外旋钮壳体202的旋转环形齿轮266。环形齿轮266限定了齿轮齿266a的内部排列(图6)。环形齿轮266包括从其外边缘突出的一对直径上对置的径向延伸突起266b(图6)。突起266b布置在限定于外旋钮壳体202中的凹部内，使得环形齿轮266的旋转导致外旋钮壳体202的旋转，反之亦然。
第三力/旋转传递/转换组件260进一步包括第三能旋转近侧驱动轴216，如上所述，其可旋转地支撑在内壳体组件204内。第三能旋转近侧驱动轴216包括非圆形或者异形的近侧端部，该近侧端部构造为用于连接第三连接器222，第三连接器222连接至手术设备100的相应第三连接器122。第三能旋转近侧驱动轴216包括锁定在其远侧端部的正齿轮216a。换向正齿轮264将第三能旋转近侧驱动轴216的正齿轮216a与环形齿轮266的齿轮齿266a相互接合。
在操作中，作为手术设备100的第三驱动连接器122旋转的结果，随着第三能旋转近侧驱动轴216由于第三连接器套筒222的旋转而旋转，第三能旋转近侧驱动轴216的正齿轮216a接合换向齿轮264，从而引起换向齿轮264旋转。随着换向齿轮264旋转，环形齿轮266也旋转，从而引起外旋钮壳体202旋转。随着外旋钮壳体202旋转，引起外管206绕着接合器组件200的纵向轴线“X”旋转。随着外管206旋转，还引起连接至接合器组件200的远侧端部的装载单元300绕着接合器组件200的纵向轴线旋转。
如图1B、3-5、16、17、20和24-26所示，接合器组件200进一步包括支撑于其上的附接/拆卸按钮272。具体地，按钮272支撑在接合器组件200的驱动联接组件210上并且通过偏置构件274偏置到未致动状态。按钮272包括与之形成的唇缘或者凸缘272a，唇缘或者凸缘272a构造为搭扣住后面对应的唇缘或者凸缘108b，唇缘或者凸缘108b沿着手术设备100的连接部分108的凹部108a限定。在使用中，当接合器组件200连接至手术设备100时，按钮272的唇缘272a布置在手术设备100的连接部分108的唇缘108b后面以使接合器组件200和手术设备100彼此稳固和保持。为了允许接合器组件200和手术设备100彼此断开连接，克服偏置构件274的偏置而按下或者致动按钮272，以使按钮272的唇缘272a脱离手术设备100的连接部分108的唇缘108b。
参考图1A、2A、2B、3-5和24-26，接合器组件200进一步包括用于固定远侧驱动构件248的轴向位置和径向方位的锁住机构280。锁住机构280包括可滑动地支撑在外旋钮壳体202上的按钮282。锁住按钮282连接至纵向穿过外管206延伸的致动杆284。致动杆284在锁住按钮282移动时移动。在锁住按钮282移动了预定量时，致动杆284的远侧端部可以移动成接触锁闭件(lock out)(未示出)，这引起锁闭件使凸轮构件288(图24)做凸轮运动而离开远侧驱动构件248的凹部249。当凸轮构件288接合凹部249时(例如，至少部分地在凹部249内，见图6和24)，凸轮构件288和远侧驱动构件248之间的接合有效锁住了与连接构件247接合的末端执行器300的轴向和旋转位置。
在操作中，为了锁住远侧驱动构件248的位置和/或方位，用户将锁住按钮282从远侧位置移动至近侧位置(图25和26)，从而引起锁闭件(未示出)向近侧移动使得锁闭件的远侧面移动而不接触凸轮构件288，这引起凸轮构件288做凸轮运动而进入远侧驱动构件248的凹部249。以这种方式，防止远侧驱动构件248向远侧和/或近侧移动。当将锁住按钮282从近侧位置移动至远侧位置时，致动杆284的远侧端部克服偏置构件(未示出)的偏置向远侧移动至锁闭件，以迫使凸轮构件288离开凹部249，从而允许远侧驱动构件248不受阻碍的轴向平移和径向移动。
可以参考提交于2013年5月2日、序列号为13/875，571的美国专利申请，其整个内容通过参考并入此处，用于更详细地讨论锁住机构280的构造和操作。
参考图1B、6、12-15和25-28，接合器组件200包括支撑在外旋钮壳体202和内壳体组件204上以及其中的电气组件290。电气组件290包括多个支撑在电路板294上的电触针292，用于电连接至布置在手术设备100的连接部分108中的对应电插头190。电触头290用于允许经由电插头190与手术设备100的电路板进行生命周期信息的校准和通信，电插头190电连接至手术设备100的电路板(未示出)。
电气组件290进一步包括电连接至电路板294的应变计296。应变计296设置有凹口296a，该凹口296a构造为并且适于接收内壳体组件204的毂204a的杆部204d。毂204a的杆部204d的功能为约束应变计296的旋转移动。如图25-28中图示的，第一能旋转近侧驱动轴212延伸穿过应变计296。应变计296对由第一能旋转近侧驱动轴212呈现的发射/夹紧负荷提供闭环反馈。
电气组件290还包括布置在管206的核心管中的滑环298。滑环298与电路板294电连接。滑环298的功能为允许第一能旋转近侧驱动轴212的旋转和驱动联接螺母244的轴向平移，同时仍维持其电接触环298a与接合器组件200内的至少另一个电气部件的电接触，同时还允许其他电气部件绕着第一能旋转近侧驱动轴212和驱动联接螺母244旋转。
电气组件290可以包括滑环套管或者套筒299，其定位在管206的核心管以保护和/或防护从滑环298延伸出的任何线。
现在转到图6、11、14、32和33，内壳体组件204已经设计成在驱动轴214旋转以轴向平移关节式运动轴承组件252时减少第二近侧驱动轴214变歪斜(racking)情况的发生。内壳体组件204包括毂204a，毂204a具有远侧定向的环形壁204b，该环形壁限定了大致圆形外轮廓，并且毂204a限定了大致泪珠形内凹部或者孔204c。毂204a的孔204c定形及定尺寸为在其内可滑动地接收关节式运动轴承组件252。
内壳体组件204包括环板254a(图34)，环板254a稳固至毂204a的远侧定向的环形壁204b的远侧面。板254a限定了贯穿其的孔口254e，孔口254e定尺寸为并且在其中形成为以便对准第二近侧驱动轴214并且可旋转地接收第二近侧驱动轴214的远侧末端214c。以这种方式，随着第二近侧驱动轴214被旋转以轴向平移关节式运动轴承组件252，第二近侧驱动轴214的远侧末端214c被支撑并且被防止径向移动而离开第二近侧驱动轴214的纵向旋转轴线。
如图14、32、39和40图示的，毂204a限定从其突出的结构件204d(例如，杆部等)，结构件204d的功能为接合电气组件290的应变计296的凹口296a以测量手术设备100操作时由轴212所经受的力。
参考图35-40，示出并且描述了内壳体组件204的板衬套230。板衬套230延伸跨越内壳体组件204的毂204a，并且通过紧固构件稳固至毂204a。板衬套230限定了三个孔口230a、230b、230c，它们对准相应的第一、第二和第三近侧驱动轴212、214、216并且在其中可旋转地接收相应的第一、第二和第三近侧驱动轴212、214、216。板衬套230提供有表面，第一、第二和第三偏置构件224、226和228接触或者抵靠该表面。
如图6和37-40图示的，尽管板衬套230已经作为单一整体件被示出并且描述，但是可以设想的并且在本申请范围内的是，板衬套230可以分成若干零件，见图40-42，包括但不限于：支撑板230’，其延伸跨越驱动轴212、214、216；以及用于每个驱动轴212、214、216的单独衬套，布置在支撑板230’和内壳体组件204的毂204a之间。支撑板230’可以包括形成在其上的一对狭槽230a’、230b’，它们构造为并且适于接收应变计296的从其轴向突出的凸起296b。
现在转到图43-47，示出并且将描述根据本公开的另一实施例的内壳体组件204’。为了在驱动轴214旋转以轴向平移关节式运动轴承组件252时减少第二近侧驱动轴214变歪斜情况的发生(即，第二近侧驱动轴214的远侧端部214b径向移动而离开其纵向旋转轴线)，内壳体组件204’可以包括加强框架或者托架组件254’。托架组件254’包括第一板254a’和第二板254b’，第二板254b’一体地连接至第一板254a’并且与第一板254a’通过多个在其间延伸的连接杆254c’而间隔开一定距离。
第一板254a’布置成邻近或者紧靠环形齿轮266，并且限定了贯穿其的孔口254d’。孔口254d’定尺寸为并且在第一板254a’中形成为以便对准第二近侧驱动轴214并且允许第二近侧驱动轴214自由地在其内旋转。第二板254b’与第一板254a’间隔开以便布置在第二近侧驱动轴214的自由远侧端部处。第二板254b’限定了贯穿其的孔口254e’。孔口254e’定尺寸为并且在第二板或者凸缘254b’中形成为以便对准第二近侧驱动轴214并且可旋转地接收第二近侧驱动轴214的远侧末端214c。
以这种方式，在第二近侧驱动轴214旋转以轴向平移关节式运动轴承组件252时，第二近侧驱动轴214的远侧末端214c被支撑并且被防止径向移动而离开第二近侧驱动轴214的纵向旋转轴线。
如图38、46和47所示的，内壳体组件204’可以包括环绕托架组件254’布置的加强套筒255’以进一步加强托架组件254’。在一个实施例中可以设想，加强套筒255’可以介于托架组件254’的第一板254a’和第二板254b’之间。可以进一步设想，加强套筒255’可以介于第二板254b’和近侧内壳体组件204’的远侧定向面之间。
根据本公开，相比于已经开发的从手术设备100至装载单元300传递/转换力/旋转的现有接合器组件，接合器组件200的总体长度已经减少。通过减少接合器组件200的总体长度，相比于组装后的手术设备100、现有接合器组件以及装载单元300的重心，组装后的手术设备100、接合器组件200以及装载单元300的重心已经被向近侧移动。这样，增加了终端用户在使用本公开的机电手术系统时的舒适度水平，并且减少了疲劳水平。
在操作中，当用户致动手术设备100的按钮时，软件检查预定义的条件。如果满足条件，则软件控制电动机并且输送机械驱动至附接的手术吻合器，依据所按压的按钮的功能，手术吻合器于是能够打开、闭合、旋转、关节式运动或者发射。软件还以所定义的方式通过打开或者关闭彩色灯来提供反馈给用户，以指示手术设备100、接合器组件200和/或装载单元300的状态。
可以参考提交于2009年8月31日、标题为“用于手术吻合设备的工具组件(TOOLASSEMBLY FOR A SURGICAL STAPLING DEVICE)”的美国专利公开2009/0314821，用于详细讨论装载单元300的构造和操作，如图1和48图示的。
此处描述的任何部件可以由金属、塑料、树脂、复合材料等制备，还需要考虑强度、耐久性、耐磨损性、重量、耐腐蚀性、易于制造、制造成本等。
应理解的是，可以对本发明公开的接合器组件的实施例做出各种修改。因此，上面的描述不应该视为限制性的，而仅是作为实施例的范例。本领域的技术人员将能想到在本公开的范围和精神内的其他修改。

Claims (11)

1.一种机电手术系统，构造为用于选择性地连接手术装载单元以致动所述装载单元来执行至少一个功能，所述装载单元包括多个轴向能平移的驱动构件；所述手术系统包括：
手持式机电手术设备，包括：
壳体；以及
多个能旋转驱动轴，其被支撑在所述壳体中并且从所述壳体突出；以及
接合器组件，其能够选择性地连接于所述手术设备的壳体和所述装载单元之间，所述接合器组件包括：
壳体，其构造为并且适于连接所述手术设备并且与手术设备的所述多个能旋转驱动轴中的每一个操作性连通；
外管，其具有近侧端部和远侧端部，所述近侧端部由所述接合器组件的壳体支撑，所述远侧端部构造为并且适于连接所述装载单元，其中，所述外管的远侧端部与所述装载单元的所述多个轴向能平移的驱动构件中的每一个操作性连通；以及
多个力/旋转传递/转换组件，所述多个力/旋转传递/转换组件中的每一个构造用于将所述手术设备的所述多个能旋转驱动轴中的相应一个和所述装载单元的所述多个轴向能平移的驱动构件中的相应一个互连，其中，所述多个力/旋转传递/转换组件中的每一个包括：
近侧旋转接收构件，其能够连接至所述手术设备的所述多个能旋转驱动轴中的相应一个，每个所述近侧旋转接收构件布置成直线，该直线限定了沿横向于接合器组件的纵向轴线的方向延伸的轴线；以及
远侧力传递构件，其能够连接至所述装载单元的所述多个轴向能平移的驱动构件中的相应一个，每个所述远侧力传递构件以使得所述近侧旋转接收构件的旋转被转换为所述远侧力传递构件的轴向平移的方式而分别连接至每个所述近侧旋转接收构件；
其中，所述多个力/旋转传递/转换组件将所述手术设备的所述多个能旋转驱动轴的相应一个的旋转传递至所述装载单元的所述多个轴向能平移的驱动构件的相应一个，并将所述手术设备的所述多个能旋转驱动轴的相应一个的旋转转换为所述装载单元的所述多个轴向能平移的驱动构件的相应一个的轴向平移，
其中所述接合器组件的所述多个力/旋转传递/转换组件包括第二力/旋转传递/转换组件，所述第二力/旋转传递/转换组件的近侧旋转接收构件包括限定了螺纹远侧端部的第二近侧驱动轴，所述第二力/旋转传递/转换组件的远侧力传递构件包括轴承组件，所述轴承组件具有外圈，所述外圈能螺纹地连接至所述第二近侧驱动轴的螺纹远侧端部并且不可旋转地布置在所述接合器组件的壳体内，
其中，所述接合器组件的所述轴承组件包括内圈，并且其中，所述接合器组件的所述第二力/旋转传递/转换组件的远侧力传递构件包括关节式运动杆，所述关节式运动杆具有近侧端部和远侧端部，其近侧端部稳固至所述轴承组件的内圈，其远侧端部构造为选择性地接合所述装载单元的第二轴向能平移驱动构件。
2.根据权利要求1所述的手术系统，其中，所述接合器组件的所述多个力/旋转传递/转换组件包括第一力/旋转传递/转换组件；
其中，所述第一力/旋转传递/转换组件的近侧旋转接收构件包括限定了螺纹远侧端部的第一近侧驱动轴；以及
其中，所述第一力/旋转传递/转换组件的远侧力传递构件包括能螺纹连接至第一近侧驱动轴的螺纹远侧端部的远侧驱动构件。
3.根据权利要求2所述的手术系统，其中，所述接合器组件的所述第一近侧驱动轴和远侧驱动构件彼此轴向对准并且与所述手术设备的相应的能旋转驱动轴的旋转轴线轴向对准。
4.根据权利要求2所述的手术系统，其中，所述手术设备的所述多个能旋转驱动轴的与所述第一力/旋转传递/转换组件关联的相应一个能旋转驱动轴的旋转，导致第一力/旋转传递/转换组件的第一近侧驱动轴的旋转，这导致所述接合器组件的第一力/旋转传递/转换组件的远侧驱动构件的轴向平移。
5.根据权利要求2所述的手术系统，其中，所述接合器组件的第一力/旋转传递/转换组件的至少一部分延伸穿过所述接合器组件的所述第二力/旋转传递/转换组件的所述轴承组件。
6.根据权利要求2所述的手术系统，其中，所述接合器组件的所述关节式运动杆是能绕着所述第一力/旋转传递/转换组件旋转的。
7.根据权利要求2所述的手术系统，其中，所述手术设备的所述多个能旋转驱动轴的与所述接合器组件的第二力/旋转传递/转换组件关联的相应一个能旋转驱动轴的旋转，导致所述第二力/旋转传递/转换组件的所述第二近侧驱动轴的旋转，这导致所述第二力/旋转传递/转换组件的所述关节式运动杆的轴向平移。
8.根据权利要求7所述的手术系统，其中，所述接合器组件的所述多个力/旋转传递/转换组件包括第三力/旋转传递/转换组件；
其中，所述第三力/旋转传递/转换组件的近侧旋转接收构件包括第三近侧驱动轴，所述第三近侧驱动轴具有支撑在其远侧端部上的正齿轮；以及
其中，所述第三力/旋转传递/转换组件的远侧力传递构件包括固定地支撑在所述接合器组件的壳体中并且与所述正齿轮进行齿轮连接的环形齿轮。
9.根据权利要求8所述的手术系统，其中，所述手术设备的所述多个旋转驱动轴的与所述第三力/旋转传递/转换组件关联的相应一个能旋转驱动轴的旋转，导致所述接合器组件的所述第三力/旋转传递/转换组件的第三近侧驱动轴的旋转，这导致所述第三力/旋转传递/转换组件的环形齿轮的旋转。
10.根据权利要求8所述的手术系统，其中，所述接合器组件进一步包括支撑在其壳体和外管中的至少一个内的电气组件，所述电气组件包括：
电路板；
至少一个触针，其电连接至电路板，且构造为并且适于选择性地电连接至所述手术设备的互补电插头；
应变计，其支撑在所述电路板上并且电连接至所述电路板，其中，所述第一近侧驱动轴延伸穿过所述应变计；以及
滑环，其围绕所述第一力/旋转传递/转换组件的远侧驱动构件布置，其中，所述滑环与所述电路板电连接，并且其中，所述滑环包括支撑在其中用于维持与所述接合器组件内的至少一个电气部件电接触的电触头。
11.一种接合器组件，用于将手术装载单元和手术设备选择性地互连，所述手术装载单元构造为执行功能，所述手术设备构造为致动所述装载单元，所述装载单元包括多个轴向能平移的驱动构件，所述手术设备包括多个能旋转驱动轴，所述接合器组件包括：
壳体，其构造为并且适于连接所述手术设备，并且与所述手术设备的所述多个能旋转驱动轴的每一个操作性连通；
外管，其具有近侧端部和远侧端部，其近侧端部由所述壳体支撑，其远侧端部构造为并且适于与所述装载单元连接，其中，所述外管的远侧端部与所述装载单元的所述多个轴向能平移的驱动构件中的每一个操作性连通；
多个力/旋转传递/转换组件，所述多个力/旋转传递/转换组件中的每一个被构造用于将所述手术设备的所述多个能旋转驱动轴的相应一个和所述装载单元的所述多个轴向能平移的驱动构件中的相应一个互连，所述多个力/旋转传递/转换组件中的每一个包括：近侧旋转接收构件，其能够连接至所述手术设备的所述多个能旋转驱动轴中的相应一个，每个所述近侧旋转接收构件布置成直线，该直线限定了沿横向于接合器组件的纵向轴线的方向延伸的轴线；远侧力传递构件，其能够连接至所述装载单元的所述多个轴向能平移驱动构件中的相应一个，每个所述远侧力传递构件以使得所述近侧旋转接收构件的旋转被转换为所述远侧力传递构件的轴向平移的方式而分别连接至每个所述近侧旋转接收构件，其中，所述多个力/旋转传递/转换组件将所述手术设备的所述多个能旋转驱动轴的相应一个的旋转传递至所述装载单元的所述多个轴向能平移驱动构件的相应一个，并将所述手术设备的所述多个能旋转驱动轴的相应一个的旋转转换为所述装载单元的所述多个轴向能平移驱动构件的相应一个的轴向平移；以及
电气组件，其支撑在其壳体和外管中的至少一个内，所述电气组件包括：
电路板；
至少一个触针，其电连接至电路板，构造为并且适于选择性地电连接至所述手术设备的互补电插头；
应变计，其支撑在所述电路板上并且电连接至所述电路板，其中，至少一个近侧旋转接收构件延伸穿过所述应变计；以及
滑环，其围绕所述多个力/旋转传递/转换组件之一的至少一部分布置，其中，所述滑环与所述电路板电连接，并且其中，所述滑环包括支撑在其中用于维持与所述接合器组件内的至少一个电气部件电接触的电触头，
其中所述接合器组件的所述多个力/旋转传递/转换组件包括第二力/旋转传递/转换组件，所述第二力/旋转传递/转换组件的近侧旋转接收构件包括限定了螺纹远侧端部的第二近侧驱动轴，所述第二力/旋转传递/转换组件的远侧力传递构件包括轴承组件，所述轴承组件具有外圈，所述外圈能螺纹地连接至所述第二近侧驱动轴的螺纹远侧端部并且不可旋转地布置在所述接合器组件的壳体内，
其中，所述接合器组件的所述轴承组件包括内圈，并且其中，所述接合器组件的所述第二力/旋转传递/转换组件的远侧力传递构件包括关节式运动杆，所述关节式运动杆具有近侧端部和远侧端部，其近侧端部稳固至所述轴承组件的内圈，其远侧端部构造为选择性地接合所述装载单元的第二轴向能平移驱动构件。
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