CN104755041B - 用于医疗器械的自对抗驱动装置 - Google Patents
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Abstract
本申请涉及一种医疗器械,其包括轴杆(220)和安装在轴杆(220)的远端的受驱结构(210),该医疗器械能够使用连接到该受驱结构(210)的一对腱(221、222),这对腱沿着轴杆(220)延伸下去并且分别以相反的方向缠绕绞盘(235)。预加载系统(240)可以被耦连以保持腱内的最小张力。
Description
背景技术
用于微创医疗程序的器械可以直接手动操控或者可以使用计算机控制或计算机辅助进行操作。然而,医疗器械的计算机操控经常对医疗器械设置严格的机械要求。特别地,机器人医疗器械的机械系统可能需要具有对致动器操作的严格受控响应,以便计算机化的控制系统可以计算致动器的移动,这将实现器械的精确移动。致动器控制的医疗器械也可能需要对接结构,这些对接结构接合电子控制的致动器。由于这些原因或其他原因,适合于计算机辅助操作的医疗器械往往是笨重的或难以手动使用。
图1示意性地说明了一种医疗器械,该医疗器械可以在用于微创医疗程序的机器人系统中使用。(如本文所用,术语“机器人”或“自动地”等包括远程操作或远程机器人/远程自动方面。)器械100包括在轴杆120的远端处的工具或末端执行器110。末端执行器110包括可旋转地安装的钳爪112和114。钳爪112被连接到第一对腱121和122上,并且钳爪114被连接到第二对腱123和124上。额外的腱(未示出)可以在器械100内被连接到腕机构或关节(未示出),所述腕机构或关节为定位和定向末端执行器110提供额外的自由度。
当附连到轴杆120的近端的后端机构130牵引腱121、122、123和124时,这些腱施加力和扭矩到钳爪112和114。后端机构130可以充当传动装置,其将驱动马达(未示出)的转动转换成腱121、122、123和124和末端执行器110的移动。如图所示,后端机构130包括每根腱121、122、123或124的一个绞盘131、132、133或134,并且腱121、122、123和124的近端分别缠绕绞盘131、132、133和134,然后附连到预加载系统135、136、137和138。预加载系统135、136、137和138可以被偏压,例如包括拉紧弹簧,以便非零力在执行器100的整个移动范围内被施加到各个腱121、122、123和124的近端。利用该配置,当绞盘131、132、133和134自由旋转时,对应的预加载系统135、136、137或138提供张力并且避免腱121、122、123和124内松弛。
可以使用在受控系统内执行的软件的主动控制下的驱动马达操作末端执行器110,该受控系统解释人类输入(例如,通过主从伺服控制系统中的主控制输入)。特别地,在控制系统(未示出)的对接端口中提供的四个驱动马达可以分别被耦连,以使绞盘131、132、133和134旋转。后端机构130可以与包括多个马达或其他致动器的控制系统的接口对接。当后端机构130从对接端口移除时,由于后端机构130的形状和绞盘131、132、133和134的可进入性(accessibility),并且因为末端执行器110的每个自由度的控制涉及使用两个绞盘,例如绞盘131和132或者133和134,所以后端机构130的手持操作可能特别困难。
发明内容
根据该发明的一个方面,一种医疗器械包括轴杆和安装在轴杆的远端的受驱结构,该医疗器械可以使用连接到受驱结构的一对腱,这对腱沿着轴杆延伸下去并且分别以相反的方向缠绕绞盘,以提供自对抗驱动系统。预加载系统可以被耦连以保持腱内的最小张力。
本发明的一个具体实施例是医疗器械,其包括受驱结构,该受驱结构以允许受驱结构相对于轴杆移动的方式安装在轴杆的远端。两个腱(其可以是连续缆绳或类似结构的相反末端)可以连接到受驱结构并且沿着轴杆延伸下去。一个腱的部分可以以第一方向缠绕轴杆近端处的绞盘,并且另一个腱的一部分可以以与第一方向相反的第二方向缠绕该绞盘。被动预加载系统可以被耦连以保持腱内的张力。
本发明的另一个具体实施例是用于操作器械的方法,该器械包括安装在轴杆的远端的受驱结构。该方法包括驱动绞盘的旋转,该绞盘具有以第一方向缠绕该绞盘的第一腱和以第二方向缠绕该绞盘的第二腱,其中第二方向与第一方向相反。第一腱和第二腱的远端部分沿着轴杆延伸并且接合受驱结构。该方法进一步包括被动地控制从绞盘延伸出来的第一腱和第二腱的近端部分内的张力。
附图说明
图1示意性地说明一种已知的医疗器械,该医疗器械能够在微创医疗程序期间被自动地控制。
图2示出了具有使用单个绞盘的控制系统的医疗器械,其中相反缠绕的致动腱分别连接到独立的预加载系统。
图3示出了具有使用单个绞盘的控制系统的医疗器械,其中相反缠绕的致动腱连接到预加载系统,该预加载系统包括弹簧加载的动滑轮。
图4示出了具有使用单个绞盘的控制系统的医疗器械,其中相反缠绕的致动腱连接到预加载系统,该预加载系统包括串联弹簧系统和定滑轮。
图5示出了具有控制系统的医疗器械,该控制系统使用相反缠绕的致动腱,这些致动腱以弹簧加载的滑动安装方式连接到绞盘。
图6示出了具有使用单个绞盘的控制系统的医疗器械,其中相反缠绕的致动腱分别连接到独立的预加载系统以及在绞盘与受驱结构之间的额外收线滑轮。
图7A示出了具有使用单个绞盘的控制系统的医疗器械,其中在两个独立的单向离合器/轴承上的相反缠绕的致动腱连接到独立预加载系统。
图7B示出了具有使用单个绞盘的控制系统的医疗器械,其中在两个独立的单向离合器/轴承上的相反缠绕的致动腱连接到预加载系统,该预加载系统包括串联的弹簧系统和定滑轮。
图8示出了用于控制医疗器械的两个自由度的系统。
图9是导管系统的后端的透视图,该导管系统针对每个自由度只有单个绞盘,其足够紧凑以用于手持使用并且也能够通过计算机辅助控制来使用。
在不同的示图中用相同的参考符号指示相似的或相同的项目。
具体实施方式
用于医疗器械的驱动系统可以使用单个马达驱动绞盘,两个致动腱相反地缠绕在该绞盘上以用于受驱结构诸如末端执行器的自对抗驱动。通常,对抗驱动可以使用分别连接以便在相反方向上牵引的两个驱动缆绳或腱来致动一个自由度。通过一种类型的对抗驱动,这两个腱连接到两个独立的驱动马达或致动器,这些驱动马达或致动器分别与单个自由度的相反方向相关联。然而,通过使用如在本文所描述的自对抗驱动,与一个自由度的相反方向相关联的两个缆绳可以连接到同一驱动马达或致动器。因此,自对抗驱动系统针对受驱结构的每个自由度可以使用一个马达或致动器,从而允许驱动系统变得更简单、更低成本并且比针对每个致动腱使用一个马达或致动器的驱动系统更紧凑。此外,自对抗驱动系统可以适用于手持操作和自动操作。即使当驱动马达或致动器关闭时,一个或多个预加载系统也可以保持致动腱内的张力,这还有利于允许手持操作或自动操作。在不同的配置中,驱动系统可以直接地或通过滑轮系统被连接到致动腱的近端,或者可以被连接到滑动安装的马达或绞盘。
图2示意性地说明了根据本发明的实施例的医疗器械200。器械200包括在主管220的远端处的受驱结构或转向段210,其被连接到后端机构230。在说明的实施例中,转向段210包括柔性管212和致动环214。例如,转向段210可以包括通过关节互连的管状椎骨,或可替代地为弹性材料诸如具有切口以产生弯曲部的镍钛合金的管子。转向段210可以额外地包括覆盖关节或弯曲部的外护套。环214可以是刚性结构,其具有耦连到环214的相反边缘的致动腱221和222,以便对腱221或222的牵引趋向于使柔性管212朝着环214的一个运动自由度的一个方向或相反方向弯曲。在一个典型的实施例中,第二对腱(未示出)可以被连接到致动环214,以用于环214以另一个运动自由度的致动移动。转向段210的许多其他可替代实施例是可能的。例如,转向段210可以包括多个独立致动的关节,并且可以采用腱221和222来致动这些关节中的一个。同时,腱221和222可以是连续结构的相反的两端,该连续结构例如为穿过环214或围绕转向段214的特定关节缠绕的缆绳。
管子220可以是刚性管或柔性管,但是通常其易弯曲程度低于转向段210。特别地,主管220可以足够柔软以顺沿自然腔道。然而,为了使主管220转向,后端机构230可以施加不同的作用力或张力到腱221和222上。所施加的作用力的期望结果是朝着管子220的转向和最小弯曲的方向弯曲转向段210。为实现这一目标,主管220可以比弯曲段210更坚硬,或者每个腱221或222可以是Bowden缆绳,例如包裹在壳体内的牵引线,这将使管子220的弯曲最小化。腱221和222还可以是由金属、聚合物或其他材料制成的多股绞线、金属丝、杆或管。在一个示例性实施例中,腱221和222可以包括不同构造的连接部分,例如多股绞线,其被熔融连接到管子。例如,多股绞线可以被用在期望腱221和222的显著弯曲或挠曲的位置,而更坚硬的管子可以被用到别处,以减少腱221和222的拉伸。
图2示出一种示例性器械,其中致动腱221和222附连到转向段210,但是,可选择地致动腱221和222可以被用于操作其他类型的受驱结构,诸如图1中所示的钳爪、另一种类型的关节结构或许可医疗器械的机械构件移动的任何其他机构。例如,腱221和222可以驱动向钳爪或其他结构提供顺时针和逆时针旋转自由度的枢转的、平面的、圆柱形或球形滚动关节或弯曲部,或者驱动向受驱结构提供线性双向运动自由度的棱柱形线性关节或滑块。
后端机构230附连到管子220的近端,并且充当将驱动马达250的旋转转换成致动腱221和222的移动或其中的张力的传动装置。后端机构230特别地操控腱221和222来操作转向段210。在这个说明性示实施例中,后端机构230包括绞盘235,致动腱221和222的一些部分以相反的方向缠绕绞盘235。例如,腱221可以缠绕腱235以使得绞盘235的逆时针旋转从腱221引导到转向段210的一侧卷入更多的腱221,而腱222可以缠绕绞盘235以使得绞盘235的逆时针旋转朝着转向段210供送出更多的腱222。因此可以通过单个绞盘235的旋转来致动转向段210沿一个自由度向后和向前的移动。
驱动马达250被连接以使绞盘235旋转,并且在一些实施方式中,绞盘235是马达250的轴杆的延伸部,或者是马达250的轴杆的一部分。在其他一些实施方式中,驱动马达250具有连接到绞盘的可拆卸连接件,以便后端机构230可以与马达250分离。马达250可以基于人类输入(例如,主从伺服控制系统内的主控制输入)和在自动化控制的系统内执行的软件被自动控制。另外,旋钮、杠杆或其他手动操作的操控器260被耦连到绞盘235或马达250,并且使得使用者能够通过绞盘235的手动旋转来手动地操作器械200。因此,器械200可以结合或不结合向绞盘235施加扭矩的马达250或旋钮260来使用。
在各种实施例中,可以应用预加载系统240,以在腱221和222内保持最小且相等的张力,从而即使马达250或旋钮260都不施加扭矩到绞盘235也能避免腱221和222内的松弛和在转向段210内的偏压移动。预加载系统240可以是被动的/无源的(passive),从而所施加的张力不需要对控制或反馈系统作出响应。在其他实施例中,预加载系统240可以被主动控制(例如,当检测到最小腱张力或松弛时施加张力,或者维持预定的腱张力或张力范围)。在图2的实施例中,腱221和222的近端从绞盘235延伸到预加载系统240。特别地,每个腱221或222可以在绞盘235周围绕着绞盘235缠绕一个设定缠绕角度(其可以小于一整圈或包括不止一圈),并且腱221和222的近端延伸穿过绞盘235以连接到预加载系统240。腱221和222不需要永久地附连到绞盘235,并因此能够相对于绞盘235滑移,例如,当马达250或旋钮260以朝向转向段210供送腱221或222的方向旋转时。然而,由预加载系统240施加的缠绕角度和张力使得当马达250或旋钮260从腱221或222的远端牵引时,由马达250或旋钮260施加的扭矩控制该腱221或222的远端部分中的张力。
图2的实施例中的预加载系统240是使用弹簧241和242来实施的,弹簧241和242可以被锚定在后端机构230的箱体或底架上。弹簧241和242可以被偏压(例如,被拉伸),以在医疗器械200的整个移动范围内施加非零且相等的力到各个腱221和222。使用这种配置,当绞盘235自由旋转时,弹簧241和242分别牵引腱221和222并且控制腱221和222内的张力。因此,预加载系统240可以通过牵引所需长度的腱221或222来防止腱221和222内的松弛。此外,预加载系统240施加等量的张力到腱221和222上,以避免在手术器械200的整个运动范围内在转向段210内的偏压运动。
更一般地,在预加载系统240中的每个弹簧241或242可以被任何结构或系统替换,这些结构或系统能够施加力到腱221或222的自由近端,同时允许腱221或222的近端的所需移动范围。例如,弹簧241和242可以是线性螺旋弹簧、恒力弹簧或使用其他弹簧元件(诸如旋转螺旋弹簧、弹簧片)或柔顺部件(诸如弯曲梁、悬臂梁或弹性带)。弹簧241和242可以是任意类型的柔顺构件、弹簧或张力施加系统,但是在器械的整个运动范围内,弹簧241施加的张力可以理想地等于弹簧242施加的张力。否则,每个腱上的预加载可能不平衡,从而在转向段处产生偏压运动。此外,弹簧元件或柔顺构件可以通过延伸或压缩产生作用,以直接地或间接地施加作用力到所附连的腱的末端。另外,弹簧元件或柔顺构件可以被设计成使得在器械200的整个运动范围内由弹簧241施加到腱221上的力等于由弹簧242施加到腱222上的力。用于施加期望作用力的其他方法(诸如使用重物或磁体的系统)可以被替换地使用。除了力的来源,预加载系统240可以包括引导或控制施加到所附连的腱上的作用力幅值的机械元件(未示出),例如用于在转向段210的整个运动范围内施加恒定的力。
图3示出了包括导管的器械300的一个示例,该导管具有主管220和转向段210,可以使用缠绕后端机构230中的绞盘235的腱221和222来控制该转向段,如上面参考图2所描述,但是器械300与器械200的不同之处是使用可替换的预加载系统340。预加载系统340包括附连到滑轮344的偏压弹簧342,其具有滑动安装架以允许滑轮344朝着绞盘235或远离绞盘235移动。在预加载系统340中,腱221和222的近端被连接到一起并且围绕滑轮344形成回环。在操作中,驱动马达250或旋钮260可以旋转绞盘235以增加腱221或222的远端部分内的张力,并且引起转向段210朝向较高张力的腱221或222弯曲或移动。同时,弹簧342允许滑轮344转移和旋转,直到两个腱221和222的近端承载的张力大约等于弹簧342施加到滑轮344上的作用力的一半。如上所述,被牵引的腱221或222的远端部分内的张力将取决于施加到绞盘235的马达扭矩或手动扭矩,并且被卷绕的腱222或221的远端部分内的张力将与近端处的张力相同。因此,预加载系统340能够在腱221和222的近端内保持非零且相等的张力,从而避免腱221和222松弛。
图4示出了包括主管220和转向段210的器械400的另一个示例,如上面参考图2所描述,该转向段可以使用缠绕后端机构230内的绞盘235的腱221和222来控制,但是器械400包括另一个可替换的预加载系统440。预加载系统440包括串联的弹簧442和定滑轮444。定滑轮444可以被锚定到后端机构230的壁上、箱体上或底架上。一个腱221或222的近端连接到弹簧442的一端,并且另一个腱222或221的近端在缠绕定滑轮444之后连接到弹簧442的另一端。弹簧442被偏压(例如,被拉伸),以施加相等的张力到腱221和222的近端,并且弹簧442具有足够的运动范围来补偿可能发生在腱221和222内的伸长以及主管220或转向段210的轴向压缩。如上所述,马达250或旋钮260可以控制一个腱221或222的远端处的较高张力,而预加载系统440控制两个腱222和221中的最小张力。
图5示出了也包括主管220和转向段210的器械500的另一个示例,如上面参考图2所描述,该转向段可以使用缠绕后端机构230内的绞盘235的腱221和222来控制。器械500包括预加载系统540,其对绞盘235进行弹簧加载,而不是直接连接到腱221和222。在图5中,预加载系统540被耦连到驱动马达250,并且驱动马达250具有滑动安装架,该滑动安装架允许马达250和绞盘235在垂直于绞盘235的旋转轴的方向上线性移动。可替换地,预加载系统540可以以另一种方式耦连到绞盘235,例如,耦连到旋钮260、绞盘235的轴承(未示出)或耦连到绞盘235的滑动安装件。在图5的实施例中,腱221和222的近端可以被附连到或固定到绞盘235上。
图6示出了也包括主管220和转向段210的器械500的另一个示例,如上面参考图2所描述,该转向段可以使用以相反方向缠绕后端机构230内的绞盘235的腱221和222来控制。器械600也可以包括预加载系统240,该预加载系统与图2的预加载系统或如参考图3、4或5所描述的可替换预加载系统相同。器械600与图2的器械200的不同之处在于添加了张紧弹簧系统640,该张紧弹簧系统640将腱221和222接合在绞盘235与转向段210之间。图6中的张紧系统640包括一些滑轮,这些滑轮分别接合腱221和222并且被弹簧加载以在垂直于腱221和222的长度的方向上拉紧腱。因此,张紧系统640提供了不管绞盘235以哪个方向回转都在腱221和222中保持非零张力且避免松弛的另一种机构。
被送出的腱221或222可能需要在绞盘235上滑移,以便被动预加载系统总是在腱221和222的远端部分保持至少最小的张力。在另一种实施方式中,自对抗驱动系统中的两个腱以相反的方向缠绕两个独立的单向离合器或轴承。所述单向离合器可以被定向成具有相反的方位感,以便每个驱动旋转方向上只有一个离合器接合。例如,图7示出了自对抗系统700,其中两个腱721和722分别以相反的方向缠绕相应的单向离合器或轴承731和732。单向离合器731被定向成使得当马达250或旋钮260顺时针驱动中心轴730时,离合器731牵引远侧腱721,并且当马达250或旋钮260逆时针驱动中心轴730时,离合器731滑移。单向离合器732被定向成使得当马达250或旋钮260逆时针旋转该轴730时,离合器732牵引远侧腱722,并且当马达250或旋钮260顺时针旋转该轴730时,离合器732滑移。因此,针对每个驱动旋转方向,只有一个离合器731或732将会被接合。系统700的被动预加载系统740可以消除在腱721或722内由于另一个腱722或721的拉伸而导致的松弛或张力积累的可能性,因为被动预加载系统740可以拉紧在自由旋转离合器721或722上的松弛。
预加载系统740的机构可以与预加载系统240相同。如图所示,腱721和722的近端连接到预加载系统740内的弹簧系统741和742上。弹簧系统741和742在腱721和722内保持最小且相等的张力,避免腱721和722的松弛。可替换地,可以使用本文所描述的其他任何预加载系统。例如,图7B与图7A一致,不同之处在于腱721和722连接到预加载系统745,该预加载系统745以与图4的预加载系统相似的方式包括串联的弹簧系统743和定滑轮744。
如上所述的可转向的器械可以受益于控制器械的远端尖端的俯仰和偏航的能力。图2、图3、图4、图5和图6示出了医疗器械的一些示例,其中远端尖端(例如,转向段210)可以前后弯曲以控制远端尖端的一个角度,即俯仰角或偏航角。更一般地,医疗器械可以包含两个这样的驱动系统,用于独立地控制远端尖端的俯仰角和偏航角。例如,图8示出一种医疗器械800,其应用两对致动腱221和222以及221’和222’,这些致动腱具有连接到医疗装置如可转向器械的转向段210的远端。例如,腱221和222以及221’和222’的远端可以全部围绕致动环214的周界以90°的间隔连接到环214。腱221和222以相反的方向缠绕绞盘235,该绞盘235具有用于腱221和222的预加载系统240。腱221’和222’类似地以相反的方向缠绕绞盘235’,该绞盘235’具有用于腱221’和222’的预加载系统240’。因此可以使用耦连到绞盘235和235’的两个马达250或旋钮260来控制器械800的远端尖端的俯仰角和偏航角。
在环214上腱221和222的间隔与腱221’和222’的间隔可以彼此相互垂直,以用于俯仰和偏航致动。因此,相关联的驱动系统(特别是绞盘235和235’)也可以彼此相互垂直。为了方便地手持使用器械800,对于紧凑的驱动系统来说,垂直取向可能不是最好的配置。然而,可以使用滑轮系统852或驱动传动系统854来重新排布驱动系统部件如绞盘235和驱动马达250的取向和位置。特别地,滑轮系统852可以被用于重新定向腱221、222、221’和222’,以便腱235和235’不需要垂直。驱动传动系统854(例如,皮带或齿轮系统)可以类似地被用于改变马达250相对于绞盘235或235’的位置或取向。
如图8中所示的马达250不需要直接附连到绞盘235。更一般地,马达组件可以通过接合机构连接到绞盘(例如,绞盘235和235’),其中该马达组件可以包括多个驱动马达,例如系统800内的马达250和250’,并且该接合机构允许该马达组件接合或脱离后端机构,该后端机构包括自对抗驱动系统的绞盘。每个手动旋钮260可以保持附连到对应的绞盘235,并且在腱221或222中的一个上施加较高的张力以将器械手动地转向。从后端机构移除马达组件具有优势。特别地,可移除的马达组件可以在无菌屏障外面,该无菌屏障包围在其中执行医疗程序的无菌区域。然后,马达组件可以免受标准化但侵入式的清理程序,诸如高压蒸汽灭菌器消毒,其对于后端机构和器械的剩余部分可能是必须的。如果后端机构是一次性器械的一部分,那么该器械可以容易地被更换并回收利用,同时马达组件可以被一次又一次地使用。马达组件还可以保持或者永久地附连到自动控制臂,使得器械在手动使用期间更小且更轻。例如,一旦医生完成器械的手持操作,医生可以将器械的后端机构附连到马达组件和机器人臂上。然后输入装置(例如,操纵杆)可以被用于自动地控制该器械。
在俯仰和偏航方向可转向的器械的驱动系统的一个紧凑的或小半径的配置沿着主管220的方向来定向驱动马达250和250’以及绞盘235和235’的旋转轴。图9示出了一种器械900,其中驱动马达250和绞盘235沿着主管220的轴线定向。器械900内的滑轮系统910和910’可以分别连接到被动预加载系统440和440’,并且改变腱221和222以及腱221’和222’的方向,这些腱沿着所述轴线延伸穿过主管220,从而腱221和222以及腱221’和222’的近端都垂直于主管220的轴线。因此,腱221和222以及腱221’和222’可以如上所述缠绕相应的绞盘235和235’。
能够提供俯仰-偏航驱动的器械900的一个具体实施例可以是轻质量的(例如大约一磅)并且是紧凑的(例如具有小于大约60mm的最大外围直径)。主轴220可以包括四根腱或牵引线,其中两个用于仰俯,两个用于偏航,其在基数点处的转向段210的尖端处终止。每个腱可以是Bowden缆绳形式的牵引线,其中该牵引线在远端终止于远端转向段内的环上,并且在近端终止于允许受控滑移的预加载系统。每个牵引线可以包括一段聚合物缆绳(例如Kevlar),其可以由惰轮引导到马达轴或绞盘。聚合物缆绳部分还可以包裹或缠绕在马达轴上,其中缠绕在同一马达轴上的两段以相反的方向缠绕。预加载机构可以总是在牵引线内保持最小张力。
上述驱动系统对于器械的手动操作和计算机辅助操作可以提供显著的效益。特别是对于活组织切片检查,外科医生或其他医务人员可能想要通过患者的自然孔口诸如口腔或肛门来手动地插入器械,并且如上所述的后端机构可以被做得足够小以便在插入期间手持使用。可以为手动操作提供一个或两个机械旋钮,允许双向或四向弯曲该器械的尖端段。例如,旋钮可以被定向在标准的气管镜或结肠镜中。致动马达的马达轴可以与器械轴平行,这可以靠近病人的解剖体留下更多的空间以使更容易地操控。至少一些上述驱动系统的相对轻的重量和小的可视团块/质量对于经历某种过程的患者来说也可能是有吸引力的或较不可怕的,该程序例如为在有意识的镇静作用下的活组织切片检查,其中患者可能移动并有所觉察。对于计算机辅助操作来说,驱动系统可以针对每个自由度使用一个马达或致动器,当与针对每个缆绳使用一个马达的驱动系统相比较时,这可以减少成本和系统复杂性。
虽然已经公开了具体的实施方式,但是这些实施方式只是示例性的,不应当被作为限制。所公开的实施方式的特征的各种修改和组合在随附的权利要求的范围内。
Claims (18)
1.一种医疗器械,其包括:
轴杆;
受驱结构,其以一种允许所述受驱结构相对于所述轴杆移动的方式安装在所述轴杆的远端;
第一腱,其被连接到所述受驱结构并沿着所述轴杆延伸下去;
第二腱,其被连接到所述受驱结构并沿着所述轴杆延伸下去;
绞盘,其处于所述轴杆的近端,其中所述绞盘被可旋转地安装,所述第一腱包括以第一方向缠绕所述绞盘的部分和从所述绞盘延伸的近端,并且所述第二腱包括以与所述第一方向相反的第二方向缠绕所述绞盘的部分并且包括从所述绞盘延伸的近端;
用于连接驱动马达以旋转所述绞盘的机构;以及
被动预加载系统,其被耦连以将张力施加到所述第一腱的所述近端和所述第二腱的所述近端。
2.根据权利要求1所述的器械,其中所述被动预加载系统包括:
第一弹簧,其被耦连到所述第一腱的所述近端;以及
第二弹簧,其被耦连到所述第二腱的所述近端。
3.根据权利要求2所述的器械,其中:
所述第一弹簧包括恒力弹簧,所述恒力弹簧施加恒力到所述第一腱的所述近端;并且
所述第二弹簧包括恒力弹簧,所述恒力弹簧施加恒力到所述第二腱的所述近端。
4.根据权利要求1所述的器械,其中所述被动预加载系统包括与所述第一腱和所述第二腱的所述近端接合的滑轮系统。
5.根据权利要求4所述的器械,其中所述被动预加载系统进一步包括弹簧,所述弹簧被耦连以通过牵引所述滑轮系统来施加张力到所述第一腱和所述第二腱。
6.根据权利要求4所述的器械,其中所述被动预加载系统进一步包括弹簧,所述弹簧被耦连在所述第一腱和所述滑轮系统之间。
7.根据权利要求4所述的器械,其中所述第一腱和所述第二腱的所述近端被连接在一起并且环绕所述滑轮系统中的滑轮。
8.根据权利要求1所述的器械,其进一步包括所述驱动马达,其中所述驱动马达被耦连以旋转所述绞盘并且具有使能所述驱动马达的计算机控制的接口。
9.根据权利要求8所述的器械,其中所述机构允许所述驱动马达从所述绞盘解耦,以用于所述器械的手动操作。
10.根据权利要求8所述的器械,进一步包括旋钮,所述旋钮被耦连以用于所述绞盘的手动旋转。
11.根据权利要求8所述的器械,其中所述预加载系统包括所述绞盘的弹簧加载装备。
12.根据权利要求11所述的器械,其中所述绞盘的所述弹簧加载装备是所述驱动马达的弹簧加载装备。
13.根据权利要求1所述的器械,其进一步包括第二预加载系统,所述第二预加载系统在所述绞盘和所述受驱结构之间的位置接合所述第一腱。
14.根据权利要求1所述的器械,其中所述绞盘包括:
第一单向离合器,所述第一腱缠绕所述第一单向离合器;和
第二单向离合器,所述第二腱缠绕所述第二单向离合器,其中:
当所述绞盘以促使所述第二单向离合器牵引所述第二腱的方向旋转时,所述第一单向离合器滑移;并且
当所述绞盘以促使所述第一单向离合器牵引所述第一腱的方向旋转时,所述第二单向离合器滑移。
15.一种用于操作器械的方法,所述器械包括安装在轴杆的远端的受驱结构,所述方法包括:
驱动绞盘的旋转,所述绞盘具有以第一方向环绕所述绞盘的第一腱和以第二方向环绕所述绞盘的第二腱,所述第二方向与所述第一方向相反,其中从所述绞盘向远侧延伸的所述第一腱和所述第二腱的部分沿所述轴杆延伸并且接合所述受驱结构;以及
被动地控制从所述绞盘向近侧延伸的所述第一腱和所述第二腱的部分内的张力。
16.根据权利要求15所述的方法,其中被动地控制张力包括:
施加力到所述第一腱的近端;以及
施加相同的力到所述第二腱的近端。
17.根据权利要求16所述的方法,其中在所述受驱结构的整个活动范围内,施加到所述第一腱和所述第二腱的所述近端的力是恒定的。
18.根据权利要求15所述的方法,其中驱动所述绞盘的旋转包括:在第一时间手动旋转所述绞盘;以及
在第二时间使用驱动马达旋转所述绞盘。
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JP2015535191A (ja) | 2015-12-10 |
US20140128849A1 (en) | 2014-05-08 |
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