CN105030293B - 接合器组件及其机电手术系统 - Google Patents

接合器组件及其机电手术系统 Download PDF

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CN105030293B
CN105030293B CN201510190804.7A CN201510190804A CN105030293B CN 105030293 B CN105030293 B CN 105030293B CN 201510190804 A CN201510190804 A CN 201510190804A CN 105030293 B CN105030293 B CN 105030293B
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戴维·尼古拉斯
拉塞尔·普里巴尼奇
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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

接合器组件及其机电手术系统
技术领域
本公开涉及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出具有用于操作和/或操纵手术设备的专用动力驱动系统的生产线。在多种情况下，手术设备包括可重复使用的动力手柄组件，还包括一次性末端执行器或类似物，其在使用之前选择性地连接至动力手柄组件，然后在使用之后与末端执行器断开连接以便被处理或者在一些例子中被消毒以再使用。
许多用于与诸多现有的动力手术设备和/或手柄组件一起使用的现有末端执行器由线性力驱动。例如，用于执行内部肠胃吻合术操作、端至端吻合术操作和横肌吻合术操作的末端执行器通常均需要线性驱动力以便进行操作。由此，这些末端执行器无法与采用旋转运动来传递动力的手术设备和/或手柄组件兼容。
为使线性驱动式末端执行器与采用旋转运动来传递动力的动力手术设备和/或手柄组件兼容，接合器和/或接合器组件被用来在线性驱动式末端执行器与动力旋转驱动式手术设备和/或手柄组件之间交接并将这两者互连。这些接合器和/或接合器组件中的很多都是包括诸多零件并需要大量工作进行装配的复杂设备。因此，需要开发包含较少零件、装配不太费力并且制造起来最终更为经济的接合器和/或接合器组件。
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。
根据本公开的方案，提供了一种接合器组件，其用于选择性地将手术装载单元与手术设备互连，手术装载单元构造为执行功能，手术设备构造为致动手术装载单元，所述手术装载单元包括轴向能平移驱动构件，而所述手术设备包括多个能旋转驱动轴。
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多个能旋转驱动轴的每个能旋转驱动轴操作性连通。外管具有由壳体支撑的近侧端和构造为且适于与手术装载单元连接的远侧端。外管的远侧端与手术装载单元的轴向能平移驱动构件操作性连通。外管限定了纵向轴线。外管能够包括远侧壳体组件，其构造为并且适于接合手术装载单元的近侧端。
关节式运动组件包括支撑在外管中的万向节以及支撑在壳体中的多个螺套。多个螺套通过至少一根线缆联接至万向节。在一些实施例中，多个螺套支撑在至少一个螺纹螺杆上。手术设备的多个能旋转驱动轴的至少一个的旋转使多个螺套的至少两个平移以利用至少一根线缆使万向节相对于外管的纵向轴线全方位地关节式运动。万向节的关节式运动使手术装载单元绕外管的远侧端进行关节式运动。万向节能够包括远侧凸缘，其构造为并且适于接合远侧壳体组件以使得手术装载单元能够响应于万向节的移动而关节式运动。在一些实施例中，万向节在其外表面中限定了至少一个狭槽。至少一根线缆稳固在至少一个狭槽内。
接合器组件包括发射轴，其具有近侧端和远侧端，其近侧端构造为并且适于联接至手术设备的多个能旋转驱动轴的至少一个，其远侧端构造为并且适于联接至手术装载单元的轴向能平移驱动构件以使得能够发射手术装载单元。
在一些实施例中，发射轴构造为并且适于通过万向节传递旋转力以实现轴向能平移驱动构件的轴向平移并发射手术装载单元。在一些实施例中，发射轴包括近侧发射轴和远侧发射轴。近侧发射轴和远侧发射轴能够在万向节内联接在一起，使得远侧发射轴相对于近侧发射轴是能移动的。近侧发射轴能够包括位于其远侧端上的球形构件，并且远侧发射轴能够包括位于其近侧端上的插座。插座限定了插座孔，并且近侧发射轴的球形构件能够安装在插座孔内。
在一些实施例中，万向节限定了贯穿其中的万向节孔，万向节孔构造为并且适于接纳远侧发射轴以使得万向节和远侧发射轴关于球形构件的外表面是能移动的。
在一些实施例中，至少一个螺纹螺杆包括第一组螺纹和第二组螺纹。第一组螺纹和第二组螺纹可以沿相反方向螺旋。多个螺套中的第一螺套可以螺纹地接合第一组螺纹，并且多个螺套中的第二螺套可以螺纹地接合第二组螺纹。至少一个螺纹螺杆沿第一旋转方向的旋转能够使多个螺套中的第一螺套和第二螺套靠近。至少一个螺纹螺杆沿第二旋转方向的旋转能够使多个螺套中的第一螺套和第二螺套分离。
在一些实施例中，发射触发器被稳固至接合器组件。发射触发器能够被稳固至壳体。
根据本公开的另一方案，提供了一种机电手术系统。机电手术系统包括手术装载单元和手持式机电手术设备，手术装载单元包括至少一个轴向能平移驱动构件。手持式机电手术设备包括壳体和支撑在壳体中的至少一个能旋转驱动轴。
接合器组件选择性地可连接在手术设备的壳体与手术装载单元之间。接合器组件包括关节式运动组件和发射轴。
关节式运动组件包括万向节和多个螺套。多个螺套通过至少一根线缆联接至万向节。多个螺套是可移动的以利用至少一根线缆来使万向节进行关节式运动。万向节的关节式运动使手术装载单元进行关节式运动。
发射轴可连接在手术设备的至少一个能旋转驱动轴与至少一个轴向能平移驱动构件之间。发射轴与万向节一起是能移动的以使手术装载单元全方位地关节式运动，并且发射轴是能旋转的以使至少一个轴向能平移驱动构件平移通过手术装载单元。
根据本公开的又一方案，提供了一种通过接合器使操作性联接至手术设备的手术装载单元关节式运动的方法。该方法包括：旋转手术设备的至少一个能旋转驱动轴以使支撑在接合器内的至少一个螺纹螺杆旋转并沿着至少一个螺纹螺杆轴向平移多个螺套；平移稳固在多个螺套与万向节之间的多根线缆；并且利用多根线缆使万向节进行关节式运动以使手术装载单元相对于接合器进行关节式运动。该方法能够包括使发射轴旋转来发射手术装载单元。
下面参照附图更为详细地描述本公开的示例性实施例的其它细节和方案。
附图说明
包含在本说明书中并构成本说明书的一部分的附图，示出了本公开的实施例，并且连同上面给出的本公开的总体描述以及下面给出的实施例的详细描述一起，用于阐释本公开的原理，其中：
图1A为根据本公开的原理的机电手术系统的立体图；
图1B为图1A中所示的标出的细节区域的放大立体图；
图2为图1A的机电手术系统的接合器组件的放大立体图；
图3为图2的接合器组件的远侧部的放大立体图；
图4为沿着图2的线4-4截取的图2的接合器组件的底部剖视图，该图示出接合器组件的关节式运动组件处于第一状态；
图5为图2的接合器组件近侧部的、零件处于分离状态的侧视立体图；
图6为沿着图4的线6-6截取的图2的接合器组件近侧部的前视立体图；
图7为关节式运动组件的一部分和发射组件的一部分的放大侧视立体图，其中关节式运动组件被示出处于第一状态；
图8为图7中所示的关节式运动组件的那部分的一段的放大底部立体图；
图9为图4中所示的标出细节区域的放大底部剖视图，其中关节式运动组件被示出处于第二状态；
图10为图3中所示的接合器组件的远侧部的、零件处于分离状态的放大立体图；
图11为关节式运动组件的万向节的放大立体图；
图12为图3中所示的接合器组件的远侧部的放大侧视立体图，其中为了清楚而移除了接合器组件的多个部分，接合器组件的远侧部被示出处于非关节式运动状态；
图13为关节式运动组件的远侧部的放大前视立体图；
图14为沿着图2的线14-14截取的图2的接合器组件的侧视剖视图；
图15为图14中所示的标出细节区域的放大侧视剖视图；
图16为图4中所示的标出细节区域的放大底部剖视图；
图17为图1A的机电手术系统的手术装载单元的、零件处于分离状态的放大立体图；
图18A和图18B为示出图1A的机电手术系统的手术装载单元的近侧部被稳固至图3中所示的接合器组件的远侧部的渐进侧视立体图；
图19为图3的接合器组件的远侧端部的放大前视立体图，接合器组件的远侧端部被示出处于关节式运动状态；
图20为图3的接合器组件的远侧端部的放大后视立体图，其中为了清楚而移除了接合器组件的多个部分，接合器组件的远侧端部被示出处于关节式运动状态；
图21为图1A的机电手术系统的一部分的放大前视立体图，该系统的手术装载单元被示出处于关节式运动状态；
图22为根据本公开的另一实施例接合器组件的近侧部的、零件处于分离状态的侧视立体图；以及
图23为图22的接合器组件的近侧部的侧视剖视图。
具体实施方式
本公开的机电手术系统包括采用动力手持式机电仪器形式的手术设备，其构造为用于选择性附接至多个不同的末端执行器，各个末端执行器均构造为用于由该动力手持式机电手术仪器致动和操纵。尤其，当前描述的机电手术系统包括接合器组件，接合器组件将动力手持式机电手术仪器与多个不同的末端执行器互连。每个接合器组件均包括关节式运动组件，其操作性地联接至动力手持式机电手术仪器用于实现其致动和/或操纵。该关节式运动组件包括一根或多根线缆，其将万向节与两个以上螺套互连。该万向节联接至多个末端执行器中的一个，使得螺套的轴向移动使一根或多根线缆移动以旋转该万向节并实现末端执行器绕接合器组件的远侧端进行关节式运动。
参照附图对当前公开的机电手术系统、手术设备/手柄组件、接合器组件和/或装载单元的实施例进行详细描述，其中，相似的附图标记在若干附图的每个附图中表示相同或对应的元件。正如在此所使用的，术语“远侧”指代系统、组件、设备和/或其部件中离使用者较远的部分，而术语“近侧”指代系统、组件、设备和/或其部件中更靠近使用者的部分。
现转向图1A和图1B，根据本公开、总体表示为10的机电手术系统包括采用动力手持式机电仪器形式的手术设备100、接合器组件200和装载单元300(例如，末端执行器、多次使用或单次使用的装载单元)。手术设备100构造为用于与接合器组件200选择性连接，并且依次地，接合器组件200构造为用于与装载单元300选择性连接。共同地，手术设备100和接合器组件200可配合来致动装载单元300。
手术设备100包括手柄壳体102，手柄壳体102包括位于其中的电路板(未示出)和驱动机构(未示出)。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)，所述腔室用于将可充电电池(未示出)选择性地、可拆卸地接纳到其中。电池构造为向手术设备100的任意电部件供电。
手柄壳体102包括上壳体部102a和手抓握下部102b，上壳体部102a容纳手术设备100的各种部件，手抓握下部102b从上壳体部102a延伸出。手抓握下部102b可布置在上壳体部102a的最近端的远侧。下壳体部102b相对于上壳体部102a的位置被选择为平衡被连接至或支撑接合器组件200和/或装载单元300的手术设备100的重量。
手柄壳体102提供了驱动机构位于其中的壳体。驱动机构构造为驱动轴和/或齿轮部件，以便执行手术设备100的各种操作。尤其，驱动机构构造为驱动轴和/或齿轮部件，以便选择性地使装载单元300绕纵向轴线“X”并相对于接合器组件200的远侧端进行关节式运动、选择性地使装载单元300绕纵向轴线“X”并相对于手柄壳体102旋转、选择性地使装载单元300的砧座组件310和钉仓组件320相对于彼此移动/接近/分离，和/或发射装载单元300的钉仓组件320内的吻合和切割钉仓。
手柄壳体102限定了连接部104，其构造为接收接合器组件200的近侧端。连接部104容纳与电路板电连通的触发器接触表面105以及多个能旋转驱动轴或连接器106。多个能旋转驱动轴中的每个能旋转驱动轴均能够通过容纳在手柄壳体102内的驱动机构(未示出)而独立地和/或依赖性地致动和旋转。在一些实施例中，多个能旋转驱动轴106包括彼此共面或共线布置的能旋转驱动轴106a、106b、106c、106d和106e。正如所能想到的，多个能旋转驱动轴能够以任意合适的构造被布置。驱动机构可构造为在给定的时间选择性地驱动手术仪器100的能旋转驱动轴106中的一个。
手柄壳体102支撑多个手指致动型控制按钮、摇杆设备等，它们用于致动手术设备100的多种功能。例如，手柄壳体102支撑多个致动器，例如包括诸如关节式运动垫108的关节式运动垫，以实现末端执行器300的关节式运动，这将在下面进行更详细描述。关节式运动垫108构造为接触多个传感器108a，传感器108a与关节式运动垫108配合来使得装载单元300相对于接合器组件200能够进行全方位的关节式运动。在一些实施例中，多个传感器108a中的一个或多个对应于相对于纵向轴线“X”的不同的偏航角和/或倾角(pitchangle)，当多个传感器108a中的一个或多个传感器响应关节式运动垫108的不同部分的下压而致动时，装载单元300能够被移动至不同的偏航角和/或倾角。手柄壳体102能够支撑致动器107a、107b，正如将在下面详细描述的，致动器107a、107b能够布置成与能旋转驱动轴106d、106e电连通用于它们的致动以使得接合器组件200的一个或多个部件能够调整。当前描述的任意致动器可以具有任意合适的构造(例如，按钮、旋钮、肘节、滑块等)。
可参考2008年9月22日提交的申请号为PCT/US2008/077249的国际申请(国际公开号WO 2009/039506)以及2009年11月20日提交的公开号为2011/0121049的美国专利申请，每个申请的全部内容通过引用并入此处，用于详细描述示例性机电手术系统的各种内部部件及该系统的操作，该系统的部件可与在此描述的机电手术系统10的一个或多个部件结合和/或互换。
参照图2和图3，接合器组件200包括位于其近侧端部处的壳体202和从壳体202向远侧延伸至接合器组件200的远侧端部2040的外管204。
现转向图4至图9，接合器组件200的壳体202包括近侧壳体202a和远侧壳体202b，它们支撑发射触发器205。发射触发器205包括触发器接触表面205a并且可滑动地布置在近侧壳体202a中。近侧壳体202a包括壳体主体206，其限定了贯穿其中的中央狭槽206a并具有从该主体206向外径向延伸的远侧唇缘206b。壳体主体206支撑位于其上的安装组件210并包括从主体206向远侧延伸的细长舌形件208，舌形件208限定了可滑动地接纳发射触发器205的细长通道208a。
安装组件210支撑在壳体主体206上并包括：从壳体主体206向外延伸的轴212；围绕轴212的外表面被支撑的弹簧214；以及接合弹簧214和轴212的安装按钮216。弹簧214接触安装按钮216的底部表面以将安装按钮216向上偏置到与壳体主体206间隔开的扩展位置。弹簧214是可充分压缩的以使得安装按钮216从扩展位置被向下按压到压缩位置。在压缩位置，安装按钮216布置成靠近壳体主体206且偏离扩展位置。安装按钮216包括倾斜接合部件216a，其被构造成在安装按钮216处于扩展位置时接触手柄壳体102的连接部104(图1A)以便于壳体202稳固至手柄壳体102的连接部104。
如图4和图5中所示，远侧壳体202b包括第一半段218a和第二半段218b。第一半段218a包括从其伸出的多个销220，而第二半段218b限定了多个孔222，孔222适于接纳第一半段218a的多个销220以将第一半段218a和第二半段218b配接在一起。第一半段218a和第二半段218b中的每个均限定了接纳环形凹槽224的内部唇缘，环形凹槽224适于接纳近侧壳体202a的远侧唇缘206b的一部分以便于近侧壳体202a和远侧壳体202b的稳固。第一半段218a和第二半段218b中的每个均限定了关节式运动组件接纳凹槽226，其与外管接纳通道228连通。每个外管接纳通道228均被限定穿过第一半段218a和第二半段218b中的一个的远侧端。
关节式运动组件230被支撑在壳体202和外管204之内。关节式运动组件230包括位于其近侧端处的一对套式组件240a、240b以及位于其远侧端处的万向节250。该对套式组件240a、240b与万向节250通过多根线缆进行连接。如图6中所描绘的并且如下更为详细描述的，多根线缆260包括第一线缆260a、第二线缆260b、第三线缆260c和第四线缆260d。
参照图6至图8，该对套式组件240a、240b中的每一个均包括支撑轴242、螺纹螺杆组件244、轴承座245和一对螺套246、248。
如图4中所示，支撑轴242包括接纳在近侧壳体202a的中央狭槽206a(参见图5)中的近侧部242a。近侧部242a在其中限定了螺纹孔242b。每个螺纹孔242b均在其中接纳螺杆243，螺杆243被推进穿过限定在近侧壳体202a中的螺杆通道203以便于关节式运动组件230稳固至近侧壳体202a。支撑轴242进一步包括从近侧部242a向远侧延伸的远侧部242c。
参照图5，每个螺杆243均能够用作线缆张紧装置以调整多根线缆260的一根或多根线缆的整体松弛度，正如由一对套式组件240a、240b的轴向平移线“A1”和“A2”以及由螺杆243的旋转箭头“B1”和“B2”所描绘的那样。例如，再次参照图4，一对套式组件240a、240b相对于彼此以纵向偏移关系布置(例如，比较轴承座245之间和/或螺纹螺杆组件244的远侧端之间的相对纵向关系)以描述每个套式组件240a、240b中的松弛度调整的差异。在一些实施例中，一对套式组件240a、240b的其中一个的松弛度调整能够与一对套式组件240a、240b的另一个不同和/或相同，并且同样地能够根据需要进一步调整以在多根线缆260的一根或多根线缆中获得期望的线缆松弛度。尤其，螺杆243相对于螺纹孔242b之一的收紧和/或放松旋转使螺杆243相对于支撑轴242接近和/或分离从而轴向移动(向近侧和/或向远侧)一对套式组件240a、240b中的一个或两个以调整多根线缆260中的一根或多根线缆的张力。在一些实施例中，螺杆243中的一个或两个螺杆的收紧使一对套式组件240a、240b中的一个或两个向近侧拉动，而螺杆中的一个或两个螺杆的放松朝远侧推动一对套式组件240a、240b中的一个或两个。在一些实施例中，螺杆243中的一个或两个螺杆的放松使一对套式组件240a、240b中的一个或两个向近侧拉动，而螺杆中的一个或两个螺杆的收紧朝远侧推动一对套式组件240a、240b中的一个或两个。正如所想到的，每个螺杆243能够相对于另外的螺杆243是独立地和/或依赖性地可旋转的(例如，收紧旋转、放松旋转、顺时针旋转和/或逆时针旋转)。
螺纹螺杆组件244包括从输入插座244b向远侧延伸的螺纹螺杆244a，其中，输入插座244b的远侧端被机械联接至螺纹螺杆244a的近侧端。每个输入插座244b构造为接合手柄壳体102的多个能旋转驱动轴106中的一个。例如，套式组件240b的输入插座244b能够被机械联接至能旋转驱动轴106a，而套式组件240a的输入插座244b能够被机械联接至能旋转驱动轴106c。
螺纹螺杆244a包括沿相反方向螺旋的第一螺纹244c和第二螺纹244d。例如，第一螺纹244c能够为左旋螺纹而第二螺纹244d能够为右旋螺纹，反之亦然。在一些实施例中，第一螺纹244c和第二螺纹244d具有相同的螺距。螺纹螺杆244a能够包括第三螺纹244e。第三螺纹244e能够为右旋的或左旋的并能够与第一螺纹244c和/或第二螺纹244d具有相同和/或不同的螺距。正如所能够想到的，第一螺纹244c、第二螺纹244d或第三螺纹244e中的任意一个螺纹均能够具有任意适合的形状、尺寸和/或构造。参照图4，螺纹螺杆244包括从其外表面伸出的固持件244f。固持件244f能够具有多个相对的区段。在一些实施例中，固持件244f为环形唇缘。
如图8中所示，轴承座245安装在支撑轴242的近侧端部上且安装在螺纹螺杆组件244上。轴承座245包括通过一对紧固件245c、245d稳固在一起的远侧板245a和近侧板245b。而且参照图4，远侧板245a和近侧板245b限定了贯穿其中的第一通道245e和第二通道245f。第一通道245e接纳螺纹螺杆244的近侧部并封装固持件244f和推力轴承247。第二通道245f接纳支撑轴242，支撑轴242能够被牢固地稳固在第二通道245f中从而如上所述在旋转螺杆243时便于一对套式组件240a、240b中的一个轴向推进。正如所能想到的，套式组件240a的轴承座245为套式组件240b的轴承座245的镜像。
参照图7和图8，一对螺套246、248中的每一个均具有L形轮廓。如图9中所示，螺套246限定了贯穿其中的第一孔246a和第二孔246b，其中，第一孔246a为螺纹的而第二孔246b为光滑的。类似地，螺套248限定了贯穿其中的第一孔248a和第二孔248b，其中，第一孔248a为螺纹的而第二孔248b为光滑的。一对套式组件240a、240b中的每一个均布置成使得螺纹孔246a、248a接纳螺纹螺杆244a，使得第一螺纹244c螺纹地接合螺纹孔246a并使得第二螺纹244d螺纹地接合螺纹孔248a。一对套式组件240a、240b中的每一个还布置成使得螺套246、248的光滑孔246b、248b接纳支撑轴242的远侧部242c，使得螺套246、248沿着支撑轴242的远侧部242c轴向移动。在一些实施例中，套式组件240a的螺套246能够与套式组件240b的螺套246以镜像关系布置。如图8中所示，一对螺套246、248中的每一个均在其侧表面中限定了轴接纳通道246c、248c及线缆接纳通道246d、248d。一对螺套246、248中的每一个均通过连接至多根线缆260中的每一根线缆的近侧端的线缆套圈262而联接至多根线缆260中的一根线缆。线缆接纳通道246d、248d在其中接纳多根线缆260之一的线缆套圈262，从而将多根线缆260之一稳固至一对螺套246、248中的每一个。
参照图10至图13，多根线缆260中的每一根线缆均向远侧延伸至固持球262(参见图13)以将第一、第二、第三和第四线缆260a-260d的远侧端稳固至万向节250。多根线缆260中的每对相对线缆均能够具有在相隔180度的位置处稳固至万向节250的两根线缆(例如，第一线缆260a和第四线缆260d或者第二线缆260b和第三线缆260c)。
如图6中所示，多根线缆260中的每对相对线缆均具有连接至位于相同螺纹螺杆244上的那对螺套246、248的近侧端。因此，第一线缆260a和第四线缆260d的近侧端连接至一个螺纹螺杆244，而第二线缆260b和第三线缆260c的近侧端连接至另一螺纹螺杆244。可以想到，多根线缆中的一根或多根能够在外管204之内交叉。
再次参照图10至图13，万向节250具有为大致圆形的近侧部250a和从近侧部250a延伸出的远侧部250b。近侧部250a在其远侧外表面中限定了多个球固持狭槽252(例如，四个)以使得多个球固持狭槽252中的每个球固持狭槽均被设定为具有接纳多根线缆260的固持球262之一的尺寸，从而将多根线缆260中的每一根线缆稳固至万向节250。
万向节250的近侧部250a包括多个间隔开的翼形件254，它们从近侧部250a的外表面延伸出。多个间隔开的翼形件254中的每个翼形件均包括顶表面254a和侧表面254b。多个间隔开的翼形件254中的相邻翼形件的侧表面254b围绕近侧部250a的外表面限定了多个狭槽256。构造为接纳多根线缆260的多个狭槽256，与多个球固持狭槽252连通并从其向近侧延伸。
万向节250的远侧部250b包括管状轴251，管状轴251具有从其外表面延伸出的向上悬垂(depending)凸缘253。向上悬垂凸缘253在其侧表面中限定了一对弓形侧方通道253a、253b。一对弓形侧方通道253a、253b形成了一对从凸缘253的侧表面延伸出的一对相对齿253c、253d。万向节250的近侧部和远侧部250a、250b限定了贯穿其延伸的万向节孔258(见图11-图12)，万向节孔258包括由远侧部250b的内表面限定的第一部分258a和由近侧部250a的内表面限定的第二部分258b。
参照图14，发射组件270被支撑在接合器组件200的壳体202和外管204之内。发射组件270包括适于联接至手柄壳体102的能旋转驱动轴106b(参见图1A)的输入插座272、从输入插座272向远侧延伸的近侧发射轴274、从近侧发射轴274向远侧延伸的远侧发射轴276以及将近侧发射轴274和远侧发射轴276一起稳固在万向节孔258之内的销278。
继续参照图14，壳体轴承构件280在近侧壳体202a之内支撑近侧发射轴274的近侧端，并且近侧安装构件282和远侧安装构件284在外管204之内支撑近侧发射轴274的远侧端。壳体轴承构件280包括推力轴承282，其接纳贯穿其的近侧发射轴274以使得近侧发射轴274能够旋转。近侧安装构件282限定了贯穿其中的中央通路282a，中央通路282a接纳近侧发射轴274。
如图10、图15和图16中所示，远侧安装构件284包括近侧部分284a和远侧部分284b。近侧部分284a限定了贯穿其中的一对螺钉开口284c，其中，一对螺钉开口284c中的每一个布置在近侧部分284a的相对的顶表面和底表面上。类似地，远侧安装构件284的远侧部分284b限定了贯穿其中的一对螺钉开口284d，其中，一对螺钉开口284d中的每一个布置在远侧部分284b的相对的顶表面和底表面上。远侧安装构件284的远侧部分284b进一步包括限定了半球状开口284f的内表面284e，半球状开口284f接纳万向节250的近侧部250a以使得万向节250能够在其中全方位地关节式运动。
再次参照图14，近侧发射轴274的近侧端被接纳在输入插座272的远侧端中，并且近侧发射轴274的远侧端包括联接构件274a。如图10中所示，联接构件274a限定了贯穿其中的细长顶部狭槽274b和贯穿其中的侧方狭槽274c，侧方狭槽274c布置成横向于顶部狭槽274b。细长顶部狭槽274b接纳销278并且侧方狭槽274c接纳销联接件290，销连接件290在其中限定了接纳销278的销孔292。
继续参照图10及图14至图16，远侧发射轴276包括具有半球形状的近侧部276a、从近侧部276a的远侧端向远侧延伸的中央轴276b以及从中央轴276b的远侧端向远侧延伸的远侧末端276c。远侧发射轴276的近侧部276a限定了贯穿其中延伸的销通道276d。远侧发射轴276的近侧部276a具有限定半球形开口276e的内表面，半球形开口276e适于接纳近侧发射轴274的联接构件274a。中央轴276b限定了从中央轴276b的顶表面凹陷的平台部(ledge)276f。
如图3、图10、图15和图16中所示，外管204的远侧端部2040包括第一区段2042、第二区段2044、第三区段2046和第四区段2048。
外管204的远侧端部2040的第一区段2042限定了一对螺钉开口2042a、2042b，它们对应于远侧安装构件284的一对螺钉开口284c。第一区段2042的这对螺钉开口2042a、2042b以及远侧安装构件284的那对螺钉开口284c接纳一对螺钉204a、204b，从而将远侧安装构件284的近侧部分284a稳固在限定于第一区段2042的远侧端之内的开口2042c之内。
外管204的远侧端部2040的第二区段2044包括近侧部分2044a和从近侧部分2044a延伸出的远侧部分2044b。第二区段2044限定了中央开口2044c，其延伸穿过近侧部分和远侧部分2044a、2044b。近侧部分2044a限定了一对贯穿其中的螺钉开口2044d，其中，该对螺钉开口2044d中的每一个布置在近侧部分2044a的相对的顶表面和底表面上。第二区段2044的这对螺钉开口2044d对应于远侧安装构件284的那对螺钉开口284d，以使得一对螺钉204c、204d将第二区段2044稳固在远侧安装构件284的远侧部分284b之上。远侧部分2044b限定了销开口2044e。销开口2044e能够与远侧发射轴276的销通道276d对齐以使得销278能够被推进贯穿其中从而稳固在销联接件290内。
外管204的远侧端部2040的第三区段2046具有圆柱形主体2046a，其安装在第二区段2044的远侧部分2044b之上并覆盖远侧部分2044b的销开口2044e。第三区段2046包括U形箍2046b，U形箍2046b从圆柱形主体2046a的远侧表面向远侧延伸。中央通道2046c被限定穿过U形箍2046b和圆柱形主体2046a，并构造为接纳万向节250的远侧部250b。
外管204的远侧端部2040的第四区段2048包括从第四区段2048延伸出的一对臂2048a、2048b。这对臂2048a、2048b间隔布置并互为镜像关系。一对螺钉开口2048c、2048d被限定在第四区段2048中并与第三区段2046内所限定的一对螺钉孔2046d、2046e对齐，以使得能够通过第四区段2048的这对螺钉开口2048c、2048d以及第三区段2046的这对螺钉孔2046d、2046e接纳一对螺钉204e、204f，从而将第三和第四区段2046、2048稳固在一起。第四区段2048限定了柱塞开口2048e，其接纳外管204的远侧端部2040的柱塞组件2060。
柱塞组件2060包括通过弹簧2060b偏置穿过柱塞开口2048e的柱塞2060a(参见图15)。柱塞组件2060和一对臂2048a、2048b配合以便于将装载单元300的近侧端稳固至远侧端部2040，这会在下面更为详细地描述(参见图18A和图18B)。
如图10中所示，舌形件2048f从第四区段2048下垂并限定了贯穿其的开口2048g，开口2048g接纳贯穿其的远侧发射轴276的远侧末端276c。舌形件2048f在其近侧表面和第三区段2046的U形箍2046b的远侧表面之间支撑齿轮2050，以使得从齿轮2050延伸出的齿2050a被定位在外管204的远侧端部2040的第四区段2048的一对臂2048a、2048b中的每个臂的配合面2048h之间。
齿轮2050的内表面限定了贯穿其中的通道2050b。齿轮2050的内表面包括平坦表面2050c(参见图15)，其被支撑在远侧发射轴276的平台部276f上。
现在转向图17，装载单元300包括砧座310和钉仓组件320，它们通过一对销315a、315b被钉在一起并可在打开状态和关闭状态之间移动。砧座310和钉仓组件320配合以施加多个直线行的紧固件“F”(例如，吻合钉)。在某些实施例中，紧固件为多种尺寸，并且在某些实施例中，紧固件具有多种长度或多种行数，例如，长度约为30mm、45mm和60mm。
钉仓组件320包括稳固至安装部324的底座322、框架部326以及钉仓部328，钉仓部328在其组织接合表面中限定了多个紧固件固持狭槽328a和刀具狭槽328b。安装部324具有位于其近侧端上的配合面324a、324b并在其中限定了接纳通道324c，接纳通道324c将框架部326、钉仓部328和紧固件发射组件330支撑在其中。钉仓组件320支撑同砧座310接合的偏置构件340。
紧固件发射组件330包括与手术设备100(图1A)的电路板电连通的电接触构件332、轴承构件334、接合外管204的远侧端部2040的齿轮2050的齿轮构件336以及螺杆组件338。螺杆组件338包括导螺杆338a、驱动梁338b以及可与多个推动器构件338d接合的致动滑块338c。
钉仓组件320还支撑一对柱塞组件350a、350b。该对柱塞组件350a、350b中的每一个均包括弹簧352、柱塞354以及将每个柱塞组件稳固至安装部324的销356。柱塞组件350a、350b与钉仓部328的近侧端配合以便于钉仓部328稳固在安装部324内。
为将装载单元300的近侧端稳固至外管204的远侧端部2040，装载单元300的近侧端如图18A中所示与外管204的远侧端部2040对齐，以使得装载单元300的近侧端能够如图18A中所示与远侧端部2040搭扣在一起。而且参照图10和图17，装载单元300的配合面324a、324b接合第四区段2048的配合面2048h，以使得装载单元300的齿轮构件336的齿与齿轮2050的齿啮合。
在操作中，按压关节式运动垫108以接触多个传感器108a中的一个或多个传感器以与电路板电连通、致动能旋转驱动轴106a、106c中的一个或两个(由于手柄壳体102内的马达(未示出)的致动)，并实现一对套式组件240a、240b中的一个或两个的螺纹螺杆组件244的旋转。尤其，每个螺纹螺杆组件244的旋转通过一对套式组件240a、240b之一的输入插座244b与能旋转驱动轴106a、106c之一之间的旋转接合来实现。螺纹螺杆244a的旋转使一对螺套246、248沿着各自的支撑轴在靠近状态(参见图9)和分离状态(参见图4)之间轴向移动，正如图7中所示的线“C1”、“C2”、“C3”和“C4”所示出的。一对螺套246、248的相对轴向移动向近侧拉动/缩回/收紧多根线缆260的相对线缆对(例如，第一线缆260a和第四缆线260d为第一相对线缆对，且第二线缆260b和第三线缆260c为第二相对线缆对)中的一对的一个/第一线缆，并且向远侧放出/延伸/释放相对线缆对中的一对的另一个/第二线缆，以使万向节250旋转/枢转/关节式运动。随着万向节250旋转，万向节250的远侧部250b接合第三区段2046的圆柱形主体2046a和/或U形箍2046b以使远侧端部2040绕纵向轴线“X”相对于外管204进行关节式运动。如图19至图21中所示，远侧端部2040的运动使装载单元300绕纵向轴线“X”相对于外管204沿任意方向(例如，全方位)关节式运动。更具体来说，尽管装载单元300被纵向固定至外管204的远侧端(及远侧端部2040的第一区段2042和第二区段2044)，但装载单元300(及远侧端部2040的第三区段2046和第四区段2048)能够相对于“X”轴线、“Y”轴线和/或“Z”轴线沿任意方向关节式运动，“X”轴线、“Y”轴线和/或“Z”轴线从远侧端部2040中所限定的中心点“P”延伸以使装载单元300以任意期望的定向而定位。
多根线缆260中的一根或多根线缆的张力/松弛度可能需要进行调整，例如在一次或多次使用系统10之前、期间和/或之后。为实现松弛度/张力的收紧和/或放松，能够致动一个或两个致动器107a、107b(参见图1A)，以将旋转运动传给能旋转驱动构件106d、106e中的一个或两个。在能旋转驱动构件106d、106e与螺杆243的近侧端接合的情况下，能旋转驱动构件106d、106e的旋转引起螺杆243中的一个或两个旋转。如上所述，通过移动一对套式组件240a、240b中的一个或两个，一个或两个螺杆243的旋转调整多根线缆260中的一根或多根线缆的张力。
为发射多个紧固件“F”，接合器组件200的发射触发器205被致动以使得触发器接触表面205a接触手柄壳体102的触发器接触表面105，以使能旋转驱动构件106b旋转(由于手柄壳体102内的马达(未示出)的致动)。能旋转驱动构件106b的旋转引起近侧发射轴274连同远侧发射轴276绕纵向轴线“X”旋转，使得齿轮2050使装载单元300的齿轮336旋转。齿轮336的旋转使导螺杆338a旋转并使得驱动梁338b借助于导螺杆338a与驱动梁338b之间的螺纹接合而沿着导螺杆338a轴向推进并穿过纵向刀具狭槽328b。驱动梁338b接合砧座310以将砧座310和钉仓组件320维持在靠近状态。驱动梁338b的远侧推进将致动滑块338c推进到与多个推动器构件328接合并从多个紧固件固持狭槽328a发射多个紧固件“F”，从而抵靠被限定在砧座310内的对应紧固件成形凹穴而成形。装载单元300能够被重置，并且紧固件钉仓328能够进行更换以使得装载单元300能够随后根据期望重新发射。
现在转向图22，提供了接合器组件的另一实施例的近侧部并且总体称作400。接合器组件400与接合器组件200基本类似，并在此仅仅描述至描述两者在结构和操作上的差异所需的程度。接合器组件400包括近侧壳体组件402、远侧壳体组件404、外管406、发射轴组件407、关节式运动组件408以及触发器组件410。近侧壳体组件402包括近侧壳体402a、释放按钮402b以及联接至关节式运动组件400的一对螺钉402c。远侧壳体组件404包括第一半部分404a和第二半部分404b，它们联接至近侧壳体组件402并支撑关节式运动组件408的近侧部。
触发器组件410包括具有磁性区域412a的触发器412、支撑管414、开关组件416以及霍尔效应开关(PCB)418。开关组件416包括一对触觉圆顶部件416a、一对内部弹簧416b、一对柱塞416c以及一对外部弹簧416d。一对内部弹簧416b和一对外部弹簧416d与一对柱塞416c配合，以将触发器412偏置到中央位置(参见图23)。正如通过线“D”所示出的，触发器412被轴向地、可移动地支撑在远侧壳体404和近侧壳体402内并是能致动的以移动触发器412的磁性区域412a。一对触觉圆顶部件416a构造为在一对柱塞416c接触该对触觉圆顶部件416a时提供听得见的咔嗒声以指示触发器行程的结束。
在操作中，触发器412的磁性区域412a相对于霍尔效应开关418的移动生成磁场并产生电信号，该电信号与手术仪器100的电路板连通以致动手术仪器100的能旋转驱动构件106b。如上所述，能旋转驱动构件106b的旋转使发射轴组件407旋转以发射装载单元300。
考虑到强度、耐久性、耐磨损性、重量、耐腐蚀性、易于制造、制造成本等，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。
在一些实施例中，此处描述的诸如末端执行器和/或接合器的任意部件，能够包括电联接至手术设备100的电路板/控制器的一个或多个微晶片，诸如例如单线微晶片(例如，可从加利福尼亚州的圣何塞的MAXIM INTEGRATEDTM获得的型号为DS2465、DS28E15和/或DS2432的微晶片)。专利号为6,239,732的美国专利中示出和描述了示例性单线微晶片，该专利的全部内容通过引用并入此处。这些芯片中的任意芯片能够包括加密的认证(例如，SULU ID)和/或可为单线兼容的。
本领域技术人员将理解的是，在此具体描述并在附图中示出的结构和方法为非限制性示例性实施例，并且描述、公开和附图应该仅仅被理解为特定实施例的示例。因此，应当理解，本公开并不限于所述的精确实施例，并且可由本领域技术人员实现各种其它变化和修改而不偏离本公开的范围或精神。此外，结合特定实施例示出或描述的元件和部件可与特定其它实施例的元件和部件结合而不偏离本公开的范围，并且这些修改和变型也包括在本公开的范围之内。此外，本公开的主题并不受特定示出和描述的内容所限制。

Claims (23)

1.一种接合器组件，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手术装载单元，所述手术装载单元包括轴向能平移驱动构件，并且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，其构造为并适于与所述手术设备连接且与所述手术设备的所述多个能旋转驱动轴的每个能旋转驱动轴操作性连通；
外管，其具有近侧端和远侧端，所述近侧端由所述壳体支撑，所述远侧端构造为并且适于与所述手术装载单元连接，其中所述外管的所述远侧端与所述手术装载单元的所述轴向能平移驱动构件操作性连通，所述外管限定了纵向轴线；以及
关节式运动组件，其包括万向节和多个螺套，所述万向节支撑在所述外管中，所述多个螺套支撑在所述壳体中，所述多个螺套通过至少一根线缆联接至所述万向节，
其中，所述手术设备的所述多个能旋转驱动轴的至少一个的旋转使所述多个螺套的至少两个平移以利用所述至少一根线缆使所述万向节相对于所述外管的纵向轴线全方位地关节式运动，并且其中所述万向节的关节式运动使所述手术装载单元绕所述外管的所述远侧端关节式运动。
2.根据权利要求1所述的接合器组件，进一步包括发射轴，所述发射轴具有近侧端和远侧端，其近侧端构造为并且适于联接至所述手术设备的所述多个能旋转驱动轴的至少一个，其远侧端构造为并且适于联接至所述手术装载单元的所述轴向能平移驱动构件以使得能够发射所述手术装载单元。
3.根据权利要求2所述的接合器组件，其中，所述发射轴构造为并且适于通过所述万向节传递旋转力以实现所述轴向能平移驱动构件的轴向平移并发射所述手术装载单元。
4.根据权利要求3所述的接合器组件，其中，所述发射轴包括近侧发射轴和远侧发射轴，所述近侧发射轴和所述远侧发射轴在所述万向节内联接在一起而使得所述远侧发射轴相对于所述近侧发射轴是能移动的。
5.根据权利要求4所述的接合器组件，其中，所述近侧发射轴在其远侧端上包括球形构件并且所述远侧发射轴在其近侧端上包括插座，所述插座限定了插座孔，所述近侧发射轴的所述球形构件安装在所述插座孔内。
6.根据权利要求5所述的接合器组件，其中，所述万向节限定了贯穿其中的万向节孔，所述万向节孔构造为并且适于接纳所述远侧发射轴以使得所述万向节和所述远侧发射轴关于所述球形构件的外表面是能移动的。
7.根据权利要求1所述的接合器组件，其中，所述万向节在其外表面中限定了至少一个狭槽，所述至少一根线缆稳固在所述至少一个狭槽内。
8.根据权利要求1所述的接合器组件，其中，所述外管包括远侧壳体组件，所述远侧壳体组件构造为并且适于接合所述手术装载单元的近侧端，并且所述万向节包括远侧凸缘，所述远侧凸缘构造为并且适于接合所述远侧壳体组件以使得所述手术装载单元能够响应于所述万向节的移动而进行关节式运动。
9.根据权利要求1所述的接合器组件，其中，所述多个螺套被支撑在至少一个螺纹螺杆上。
10.根据权利要求9所述的接合器组件，其中，所述至少一个螺纹螺杆包括第一组螺纹和第二组螺纹，所述第一组螺纹和所述第二组螺纹沿相反方向螺旋，其中所述多个螺套中的第一螺套螺纹地接合所述第一组螺纹并且所述多个螺套中的第二螺套螺纹地接合所述第二组螺纹，其中所述至少一个螺纹螺杆沿第一旋转方向的旋转使所述多个螺套中的第一螺套和第二螺套靠近，并且其中所述至少一个螺纹螺杆沿第二旋转方向的旋转使所述多个螺套中的第一螺套和第二螺套分离。
11.根据权利要求1所述的接合器组件，进一步包括稳固至所述壳体的发射触发器。
12.一种机电手术系统，包括：
手术装载单元，其包括至少一个轴向能平移驱动构件；
手持式机电手术设备，包括：
壳体；以及
至少一个能旋转驱动轴，其支撑在所述壳体中；以及
接合器组件，其能选择性地连接在所述手术设备的所述壳体与所述手术装载单元之间，所述接合器组件包括：
关节式运动组件，其包括万向节和多个螺套，所述多个螺套通过至少一根线缆联接至所述万向节，所述多个螺套是能移动的以利用所述至少一根线缆来使所述万向节关节式运动，其中所述万向节的关节式运动使所述手术装载单元进行关节式运动；以及
发射轴，其能够连接在所述手术设备的所述至少一个能旋转驱动轴与所述至少一个轴向能平移驱动构件之间，所述发射轴与所述万向节一起是能移动的以使所述手术装载单元全方位地关节式运动并且所述发射轴是能旋转的以使所述至少一个轴向能平移驱动构件平移通过所述手术装载单元。
13.根据权利要求12所述的机电手术系统，其中，所述发射轴包括近侧发射轴和远侧发射轴，所述近侧发射轴和所述远侧发射轴在所述万向节内联接在一起以使得所述远侧发射轴相对于所述近侧发射轴是能移动的。
14.根据权利要求13所述的机电手术系统，其中，所述近侧发射轴在其远侧端上包括球形构件，而所述远侧发射轴在其近侧端上包括插座，所述插座限定了插座孔，所述近侧发射轴的所述球形构件安装在所述插座孔内。
15.根据权利要求14所述的机电手术系统，其中，所述万向节限定了贯穿其中的万向节孔，所述万向节孔构造为并且适于接纳所述远侧发射轴以使得所述万向节和所述远侧发射轴关于所述球形构件的外表面是能移动的。
16.根据权利要求12所述的机电手术系统，其中，所述万向节在其外表面中限定了至少一个狭槽，所述至少一根线缆稳固在所述至少一个狭槽内。
17.根据权利要求12所述的机电手术系统，其中，所述万向节包括远侧凸缘，所述远侧凸缘构造为并且适于使得所述手术装载单元能够响应于所述万向节的移动而关节式运动。
18.根据权利要求12所述的机电手术系统，其中，所述多个螺套被支撑在至少一个螺纹螺杆上。
19.根据权利要求18所述的机电手术系统，其中，所述至少一个螺纹螺杆包括第一组螺纹和第二组螺纹，所述第一组螺纹和所述第二组螺纹沿相反方向螺旋，其中所述多个螺套中的第一螺套螺纹地接合所述第一组螺纹并且所述多个螺套中的第二螺套螺纹地接合所述第二组螺纹，其中所述至少一个螺纹螺杆沿第一旋转方向的旋转使所述多个螺套中的第一螺套和第二螺套靠近，并且其中所述至少一个螺纹螺杆沿第二旋转方向的旋转使所述多个螺套中的第一螺套和第二螺套分离。
20.根据权利要求12所述的机电手术系统，其中，发射触发器稳固至所述接合器组件。
21.一种机电手术系统，包括：
手术装载单元；
接合器，其包括万向节、多根线缆、至少一个螺纹螺杆和多个螺套，其中所述接合器被操作性地联接至所述手术装载单元并能够使所述手术装载单元关节式运动；以及
手术设备，其包括至少一个能旋转驱动轴，所述至少一个能旋转驱动轴被旋转以使所述至少一个螺纹螺杆旋转并沿着所述至少一个螺纹螺杆轴向平移所述多个螺套，
其中所述多根线缆被稳固在所述多个螺套与所述万向节之间并能够被平移，并且被用以使所述万向节关节式运动，从而使所述手术装载单元相对于所述接合器关节式运动。
22.根据权利要求21所述的机电手术系统，进一步包括发射轴，其被旋转以发射所述手术装载单元。
23.根据权利要求21所述的机电手术系统，进一步包括发射触发器，其被稳固至所述接合器并能够被发射。
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