CN105212979B - 用于将机电手柄组件和手术装载单元互连的接合器组件 - Google Patents

用于将机电手柄组件和手术装载单元互连的接合器组件 Download PDF

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CN105212979B
CN105212979B CN201510359446.8A CN201510359446A CN105212979B CN 105212979 B CN105212979 B CN 105212979B CN 201510359446 A CN201510359446 A CN 201510359446A CN 105212979 B CN105212979 B CN 105212979B
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戴维·乔瓦尼克
拉塞尔·普里巴尼奇
斯坦尼斯瓦夫·马尔奇克
厄尔·策吉贝尔
菲力·伊尔卡
阿南德·苏布拉马尼安
保罗·理查德
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Abstract

本发明提供了一种作用力传递组件、用于将机电手柄组件和手术装载单元互连的接合器组件和手术器械。接合器组件的作用力传递组件包括可旋转驱动轴、应变传感器和驱动构件。所述驱动轴包括近侧部、远侧部和凸缘。所述远侧部包括螺纹部。所述应变传感器联接至驱动轴并且邻近所述凸缘布置，使得所述驱动轴的纵向移动经由凸缘在应变传感器上施加作用力。远侧驱动构件具有近侧端和远侧端，近侧端可旋转地联接至驱动轴的螺纹部，远侧端构造成可操作地联接至手术装载单元的从动构件。驱动轴的旋转使驱动构件相对于驱动轴沿纵向移动以致动手术装载单元。

Description

用于将机电手柄组件和手术装载单元互连的接合器组件
相关申请交叉引用
本申请要求2014年6月26日提交的序列号为62/017,539的美国临时专利申请的权益和优先权，其全部内容通过引用结合于此。
技术领域
本公开涉及用于将机电手柄组件和手术装载单元电气地且机械地互连的接合器组件。更具体地，本公开涉及用于感测接合器组件的轴向作用力输出和/或输入的接合器组件的应变传感器。
背景技术
诸多手术装置制造商已经开发出了具有用于操作和/或操纵机电手术器械的专用驱动系统的生产线。在很多情况下，机电手术器械包括可重复使用的手柄组件以及一次性装载单元和/或单次使用装载单元等，所述一次性装载单元和/或单次使用装载单元等包括布置在其末端的末端执行器，所述装载单元在使用之前选择性地连接至手柄组件并且随后在使用后与手柄组件断开连接以便被丢弃或者在一些情况下消毒用于再次使用。
在某些情况下，期望测量由接合器组件产生和/或由其传递的发射力。发射力的这种测量尤其能够被用以将最大发射力保持在安全限度内并且确定组织厚度。因此，存在对于能够在机电手术器械操作期间测量其轴向力输出和/或输入的接合器组件的需求。
发明内容
本公开涉及用于将机电手柄组件和手术装载单元电气地且机械地互连的接合器组件，并且涉及布置在接合器组件中的作用力传递组件，作用力传递组件构造成检测并且测量接合器组件的轴向作用力输出和/或输入的量。
在本公开的一个实施例中，提供了一种接合器组件的作用力传递组件。所述作用力传递组件包括可旋转驱动轴、近侧应变传感器和远侧驱动构件。可旋转驱动轴包括近侧部、远侧部和凸缘，近侧部构造成可操作地联接至手柄组件的传动构件，远侧部包螺纹部，凸缘支撑在驱动轴上并且从驱动轴延伸出。近侧应变传感器联接至驱动轴并且邻近凸缘布置，使得驱动轴的纵向移动经由凸缘在近侧应变传感器上施加作用力。远侧驱动构件具有近侧端和远侧端，近侧端联接至驱动轴的螺纹部，远侧端构造成可操作地联接至手术装载单元的从动构件。驱动轴的旋转使远侧驱动构件相对于驱动轴沿纵向移动以致动手术装载单元。
在实施例中，近侧应变传感器可包括至少一个应变仪、围绕着驱动轴布置的盘和连接至所述盘的安装构件。所述安装构件可限定延伸贯通其中的通道，所述通道将驱动轴接纳在其中。至少一个应变仪可布置在安装构件上。所述安装构件可由弹性金属材料制造而成。所述至少一个应变仪可包括第一组应变仪和第二组应变仪，第一组应变仪布置在安装构件的近侧定向表面上，第二组应变仪布置在安装构件的远侧定向表面上。
在实施例中，驱动轴可进一步包括布置在凸缘和近侧应变传感器之间的轴承。驱动轴的近侧部可延伸穿过该轴承。
在实施例中，作用力传递组件可进一步包括远侧应变传感器，其与近侧应变传感器向远侧间隔开。凸缘可布置在近侧应变传感器和远侧应变传感器之间。驱动轴可进一步包括布置在近侧应变传感器和远侧应变传感器之间的一对轴承。凸缘可布置在所述一对轴承之间。
在实施例中，驱动轴的远侧部可包括凸缘。驱动轴的近侧部可包括另一凸缘。驱动轴可进一步包括第一轴承和第二轴承，第一轴承布置在远侧部的凸缘和近侧应变传感器的远侧定向表面之间，第二轴承布置在近侧应变传感器的近侧定向表面和近侧部的凸缘之间。
在本公开的另一实施例中，提供了一种用于将手术装载单元和手柄组件选择性地互连的接合器组件，所述手柄组件构造成致动手术装载单元。所述接合器组件包括壳体、外管和作用力传递组件。所述壳体构造成并且适用于同手柄组件选择性连接。所述外管具有近侧端和远侧端，近侧端由壳体支撑，远侧端构造成联接于手术装载单元。作用力传递组件至少部分地延伸穿过外管。作用力传递组件包括可旋转驱动轴、近侧应变传感器和远侧驱动构件。可旋转驱动轴包括近侧部、远侧部和凸缘，近侧部构造成可操作地联接至手柄组件的可旋转传动构件，远侧部包括螺纹部，凸缘支撑在驱动轴上并且从驱动轴延伸出。近侧应变传感器联接至驱动轴并且附着至壳体。近侧应变传感器邻近凸缘布置，使得驱动轴的纵向移动经由凸缘在近侧应变传感器上施加作用力。远侧驱动构件具有近侧端和远侧端，近侧端联接至驱动轴的螺纹部，远侧端构造成可操作地联接至手术装载单元的可平移从动构件。驱动轴的旋转使远侧驱动构件相对于驱动轴沿纵向移动以致动手术装载单元。
在实施例中，近侧应变传感器可进一步包括围绕着驱动轴布置并且附着至壳体的盘。
在本公开的又一实施例中，提供了一种手术器械。所述手术器械包括手柄组件、接合器组件和手术装载单元。所述手柄组件包括可旋转传动构件。所述接合器组件包括与手柄组件联接的壳体、具有远侧端和由壳体支撑的近侧端的外管以及至少部分地延伸穿过外管的作用力传递组件。所述作用力传递组件包括可旋转驱动轴、近侧应变传感器和远侧驱动构件。所述可旋转驱动轴包括近侧部和远侧部，近侧部可操作地联接至手柄组件的可旋转传动构件，远侧部包括凸缘和螺纹部。近侧应变传感器联接至驱动轴并且附着至壳体。近侧应变传感器邻近凸缘布置，使得驱动轴的纵向移动经由凸缘在近侧应变传感器上施加作用力。远侧驱动构件具有远侧端和联接至驱动轴的螺纹部的近侧端。手术装载单元构造成由手柄组件致动。手术装载单元包括可平移从动构件，所述可平移从动构件可操作地联接至作用力传递组件的远侧驱动构件的远侧端。驱动轴的旋转使远侧驱动构件相对于驱动轴纵向地移动以致动手术装载单元。
附图说明
在此参照附图描述本公开的实施例，其中：
图1A是包括根据本公开的实施例的相互连接在示例性的机电手柄组件和手术装载单元之间的接合器组件的手术器械的立体图；
图1B是图示接合器组件的近侧端附接至图1A的机电手柄组件的远侧端的立体图；
图2是沿着图1A的剖面线2-2剖切的接合器组件的剖面图；
图3是图2的接合器组件的作用力传递组件的立体图；
图4A和图4B分别是图3中所示的作用力传递组件的应变传感器的前视立体图和后视立体图；
图5是根据本公开的原理的手术装载单元的分解图；
图6是可布置于图2的接合器组件中的作用力传递组件的另一实施例的局部立体图；以及
图7是可布置于图2的接合器组件中的作用力传递组件的又一实施例的放大局部视图。
具体实施方式
参照附图详细描述当前公开的机电手术器械的实施例，所述机电手术器械包括手柄组件、接合器组件和手术装载单元，在若干图的每个中相同的附图标记指代相同或者对应的元件。正如在此所使用的，术语“远侧”指代手柄组件、接合器组件、手术装载单元或它们的部件中更远离用户的部分，而术语“近侧”指代手柄组件、接合器组件、手术装载单元或它们的部件中更靠近用户的部分。
根据本公开的实施例的手术器械通常表示为10，并且采用被构造用于夹紧和/或密封组织的动力手持式机电手术器械的形式。手术器械10包括手柄组件100、接合器组件200和手术装载单元300。手柄组件100被构造用于经由接合器组件200选择性地联接至多个不同的手术装载单元，例如，诸如为手术装载单元300。每个手术装载单元被构造用于由动力手柄组件100致动和操纵。接合器组件200包括布置其中的作用力传递组件220(参见图2、图3、图4A和图4B)，所述作用力传递组件220具有至少一个应变传感器240，所述至少一个应变传感器240包括至少一个应变仪，所述至少一个应变仪构造成在其操作期间检测和测量接合器组件200的轴向作用力输出和/输入，这会在此进行描述。
如图1A和图1B中所示，手柄组件100包括具有电路板(未示出)的手柄壳体102，并且驱动机构(未示出)被安置在所述手柄壳体102中。所述电路板构造成控制手术器械10的各种操作。手柄壳体102限定位于其中的空腔(未示出)，用于选择性、可移除地将可再充电电池(未示出)接纳其中。所述电池构造成向手术器械10的任意电气部件供电。
手柄壳体102包括容纳手柄组件100的各种部件的上壳体部102a和从上壳体部102a伸出的下手抓握部102b。下手抓握部102b可布置在上壳体部102a的最近端的远侧。手柄壳体102提供了一壳体，驱动机构被安置于所述壳体中。所述驱动机构构造成驱动轴和/或齿轮部件以便执行手术器械10的各种操作。具体地，所述驱动机构构造成驱动轴和/或齿轮部件以便使装载单元300的工具组件304相对于装载单元300的近侧主体部302选择性地移动，使装载单元300相对于手柄组件100绕着纵轴线“X”旋转，使装载单元300的砧座组件306和/或钉仓组件308相对于彼此移动/靠近、和/或发射装载单元300的钉仓组件308中的吻合与切割钉仓。
如图1B中所示，手柄壳体102限定连接部108，所述连接部108构造成接受接合器组件200的对应的驱动联接组件210。具体地，手柄组件100的连接部108具有凹槽108a，当接合器组件200与手柄组件100匹配时，凹陷108a接纳接合器组件200的驱动联接组件210的部件。连接部108a容纳三个可旋转、机动的驱动连接器118、120、122，它们彼此共面或共线布置。
当接合器组件200与手柄组件100匹配时，手柄组件100的每个可旋转驱动连接器118、120、122同接合器组件200的对应的可旋转连接器套筒218、220、222联接。在这点上，对应的第一驱动连接器或传动构件118和第一连接器套筒218之间的接口、对应的第二驱动连接器120和第二连接器套筒220之间的接口以及对应的第三驱动连接器122和第三连接器套筒222之间的接口是键接的，使得手柄组件100的每个驱动连接器118、120、122的旋转引起接合器组件200的对应的连接器套筒218、220、222的对应的旋转。
手柄组件100的驱动连接器118、120、122同接合器组件200的连接器套筒218、220、222的配合允许旋转作用力经由三个相应的连接器接口中的每个独立地传递。手柄组件100的驱动连接器118、120、122构造成由手柄组件100的驱动机构独立地旋转。在这点上，驱动机构的功能选择模块(未示出)选择手柄组件100的驱动连接器118、120、122中的哪个或哪几个要由手柄组件100的电动机(未示出)驱动。
由于手柄组件100的每个驱动连接器118、120、122具有同接合器组件200的相应的连接器套筒218、220、222键接的和/或大致非可旋转的接口，所以当接合器组件200联接至手柄组件100时，旋转作用力被从手柄组件100的驱动连接器选择性地传送至接合器组件200。
手柄组件100的驱动连接器118、120和/或122的选择性旋转允许手柄组件100选择性地致动装载单元300的不同功能。例如，手柄组件100的第一驱动连接器或第一可旋转传动构件118的选择性和独立性的旋转对应于装载单元300的工具组件304的选择性和独立性的开启和关闭以及装载单元300的工具组件304的吻合/切割部件的驱动。作为另一实例，手柄组件100的第二驱动连接器120的选择性和独立性的旋转对应于装载单元300的工具组件304的横向于纵轴线“X”的选择性和独立性的关节式运动(参见图1A)。此外，例如，手柄组件100的第三驱动连接器122的选择性和独立性的旋转对应于装载单元300相对于手柄组件100的手柄壳体102绕着纵轴线“X”(参见图1A)的选择性和独立性的旋转。
关于示例性的机电手柄组件100的各种内部部件和操作的详细描述，可参考序列号为WO 2009/039506的国际公布和序列号为2011/0121049的美国专利公布，它们的全部内容通过引用结合于此。
继续参照图1B，接合器组件200被构造用于将例如为手术装载单元300的手术装载单元与例如为手柄组件100的手柄组件互连。接合器组件200构造成将手柄组件100的驱动连接器118、120、122中任一个的旋转转换成对操作装载单元300有益的轴向平移。
参照图2，接合器组件200通常包括壳体，例如，诸如为球形壳体202，接合器组件200还包括从球形壳体202的远侧端延伸出的外管206。球形壳体202和外管206构造成并且设定尺寸成容纳接合器组件200的部件。外管206被设定尺寸用于内窥镜插入，具体地，外管206能穿过典型的套管针口、插管等等。球形壳体202被设定尺寸成不进入套管针口、插管等等。球形壳体202构造成并且适于连接至手柄组件100的手柄壳体102的连接部108(图1B)。外管206具有由球形壳体202支撑的近侧端208a和构造成选择性地附接至手术装载单元300的远侧端208b。
继续参照图2，接合器组件200包括支撑在球形壳体202中并且延伸穿过外管206的作用力/旋转传递/转换组件220。在手柄组件100的可旋转传动构件118的旋转速度/作用力被传递至手术装载单元300之前，作用力传递组件220构造成并且适于将这种旋转速度/作用力(例如，增加或减小)传递/转换成轴向作用力。具体地，作用力传递组件220构造成并且适于将手柄组件100的传动构件118的旋转传递或者转换成手术装载单元300的可平移从动构件312(图5)的轴向平移以完成装载单元300的关节式运动、闭合、开启和/或发射。
关于如图5中所示的装载单元300的构造和操作的详细论述，可参照2009年8月31日提交的标题为“TOOL ASSEMBLY FOR A SURGICAL STAPLING DEVICE(用于手术吻合装置的工具组件)”的序列号为2009/0314821的美国专利公开。
如图2和图3中所示，作用力传递组件220包括布置在球形壳体202中的可旋转驱动轴222、联接至驱动轴222的应变传感器240以及连接至驱动轴222的远侧部224b的远侧驱动构件234。驱动轴222包括近侧部224a，所述近侧部224a构造成经由第一连接器218可操作地联接至手柄组件100的传动构件118。驱动轴222包括远侧部224b和螺纹部228，远侧部224b具有附着其上的凸缘226。驱动轴222的近侧部224a和远侧部224b彼此非可旋转地连接。
驱动轴222进一步包括与凸缘226的近侧定向侧邻接的轴承230。驱动轴222延伸穿过轴承230。通过将凸缘226与应变传感器轴向间隔开，轴承230构造成减少驱动轴222的凸缘226和应变传感器240之间的摩擦(即，增强相对旋转)。在一些实施例中，轴承230可采用各种轴承形式，例如，所述轴承例如为推力轴承。
作用力传递组件220包括驱动联接螺母232，所述驱动联接螺母232可旋转地联接至驱动轴222的螺纹部228并且可滑动地布置在接合器组件200的外管206中。驱动联接螺母232在外管206中可滑动地键接以防随着驱动轴222旋转而旋转。通过这种方式，随着驱动轴222旋转，驱动联接螺母232沿着驱动轴222的螺纹部228平移，并且依次穿过和/或沿着外管206平移。
远侧驱动构件234具有近侧端236a，所述近侧端236a经由同驱动联接螺母232的机械接合而联接至驱动轴222的远侧部224b，使得驱动联接螺母232的轴向移动引起远侧驱动构件234的对应量的轴向移动。远侧驱动构件234具有远侧端236b，所述远侧端236b构造成可操作地联接至手术装载单元300的可平移从动构件312(图5)。具体地，远侧驱动构件234的远侧端236b支撑连接构件238，所述连接构件238构造成并且设定尺寸成用于同装载单元300的可平移从动构件312(图5)选择性接合。驱动联接螺母232和/或远侧驱动构件234对于装载单元300的部件起到作用力传递构件的作用。
在使用时，随着驱动轴222由于第一连接器套筒218的旋转而旋转，作为手柄组件100的可旋转传动构件118旋转的结果，引起驱动联接螺母232在外管206中平移。随着引起驱动联接螺母232轴向平移，会引起远侧驱动构件234在外管206中轴向平移。随着远侧驱动构件234沿着远侧方向轴向平移，在连接构件238连接至远侧驱动构件234并且同装载单元300的驱动组件314的可平移从动构件312接合的情况下(图5)，远侧驱动构件234引起装载单元300的可平移从动构件312的伴随的轴向平移以完成装载单元300的工具组件314的闭合和工具组件314的发射。
具体参照图3、图4A和图4B，应变传感器240被设计成并且适于检测接合器组件200的轴向作用力输出和/或输入、测量接合器组件200的轴向作用力输出和/或输入以及向手柄组件100转送接合器组件200的轴向作用力输出和/或输入，这会在下面更为详细地描述。应变传感器240联接至驱动轴222并且邻近凸缘226布置，使得驱动轴222的远侧部224b的向近侧的纵向移动经由凸缘226在应变传感器240上施加作用力。应变传感器240包括盘242，所述盘242绕着驱动轴222布置并且附着至球形壳体202(参见图2)，如此能够防止应变传感器240在球形壳体202中轴向地移动。可以想到，盘242经由焊接、紧固件、摩擦接合、搭扣配合等而被轴向地限制在球形壳体202中。盘242包括延伸贯通其中的中央开口244，所述中央开口244构造成将安装构件250接纳在其中，这会在下面更为详细地描述。盘242进一步包括延伸贯通其厚度的多个孔246，用于安装和间隙的目的。
应变传感器240进一步包括连接至盘242的安装构件或盘250。安装构件250可多样化地构造，例如，诸如为I形梁或柱体。安装构件250具有固定至盘242的第一内径边缘的第一端252a和固定至盘242的第二内径边缘的第二端252b，使得安装构件250横穿盘242的中央开孔244延伸。安装构件250进一步包括限定贯通其中的通道256的中央部254，驱动轴222可移动地接纳在通道256中。安装构件250的中央部254与轴承230的近侧定向侧邻接，使得轴承230沿着纵轴线“X”的向近侧的纵向移动在中央部254上施加轴向作用力。当轴向作用力施加在中央部254上时，安装构件250构造成相对于其第一端252a和第二端252b折曲。安装构件250可由弹性金属材料、形状记忆材料等进行制造以允许其折曲。
参照图4A和图4B，应变传感器240进一步包括电连接至电路板(未示出)并且布置或安装在安装构件250上的至少一个或多个应变仪260a、260b、260c、260d。应变仪260a、260b、260c、260d检测并且测量接合器组件200的轴向作用力输出，这将在下面更为详细地描述。第一组应变仪260a、260b(图4A)布置在安装构件250的远侧定向表面251a上并且第二组应变仪260c、260d(图4B)布置在安装构件250的近侧定向表面251b上。通过这种方式，随着安装构件250由于施加于其上的近侧定向轴向作用力而朝近侧折曲/弯曲/弓形化，第一组应变仪260a、260b被压缩而第二组应变仪260c、260d被张紧。类似地，如果安装构件250由于施加于其上的远侧定向轴向作用力而朝远侧折曲/弯曲/弓形化，第一组应变仪260a、260b被张紧而第二组应变仪260c、260d被压缩。在实施例中，安装构件250可包括切口(未示出)，所述切口用于测量安装构件250的远侧定向表面251b上的张力和压力。
随着应变仪260a、260b、260c、260d处于压缩和/或张紧状态，改变了由电路板测得的每个应变仪260a、260b、260c、260d的电阻，例如，所述电路板诸如为惠斯通电桥(wheatstone bridge)(未示出)。然后利用本领域技术人员能力范围内的计算，将测得的每个应变仪260a、260b、260c、260d的电阻变化与应变仪260a、260b、260c、260d已产生应变的量相关联。然后，将计算出的应变与接合器组件200的轴向作用力输出的量相关。
在一些实施例中，采用薄膜喷涂沉淀工艺来制作每个应变仪260a、260b、260c、260d。具体地，将介电层应用至安装构件250来将电路电力与下层金属安装构件250绝缘。电阻合金薄膜被喷涂在整个介电层上以形成每个应变仪260a、260b、260c、260d。在进一步的实施例中，应变仪260a、260b、260c、260d可采用半导体应变仪(例如，压敏电阻器)、应变片(foil gauge)等的形式。在实施例中，应变仪260a、260b、260c、260d集成到安装构件250中。
在操作中，应变仪260a、260b、260c、260d在手柄组件100操作期间检测并且测量接合器组件200的轴向作用力输出。手柄组件100被致动来实施手术装载单元300的各种功能。随着手柄组件100被致动，作用力传递组件220的驱动轴222相对于联接螺母232旋转以使联接螺母232沿着远侧方向相对于驱动轴222轴向移动。联接螺母232的远侧移动使作用力传递组件220的远侧驱动构件234相对于驱动轴222沿纵向移动，产生沿着由图3中箭头“A”标示的方向施加于手术装载单元300的可平移从动构件312(图5)的作用力。相等且相反的反作用力由手术装载单元300的可平移从动构件312沿着由图3中的箭头“B”所标示的方向施加在远侧驱动构件234上。施加在远侧驱动构件234上的反作用力在近侧方向上沿着作用力传递组件220被传递至驱动轴222的凸缘226，并且进而驱动轴222的凸缘226将所述反作用力经由轴承230传递至应变传感器240的安装构件250的中央部254。
由于安装构件250的弹性性质，以及应变传感器240的盘242与球形壳体202轴向固定，中央部254相对于盘242向近侧折曲/弯曲/弓形化，使得第一组应变仪260a、260b拉伸，而第二组应变仪260c、260d压缩。应变仪260a、260b、260c、260d检测并且测量它们所经受的应变量，使得施加在应变传感器240上的应力量能够被计算出来。然后，采用计算出的施加在应变传感器240上的应力量来计算接合器组件200的轴向作用力输出。
获知接合器组件200的轴向作用力输出的量能够被尤其用以防止装载单元300在达到被认为不安全的轴向输出作用力的阈值量时的进一步致动，确定在致动装载单元300之后退回刀具杆(未示出)所需的作用力的量，和/或测量夹紧组织所需的作用力的量，以便确定组织厚度，这能够允许临床医生判定组织对于特定手术装载单元而言是过厚还是过薄。通过应变传感器240而变得可用的信息也能够被用以指示临床医生刀具杆(未示出)已经到达装载单元300的末端或止动部，或者装载单元300的发射滑块(未示出)已经到达吻合钉钉仓308的末端或止动部。对于应变传感器240所提供的信息的使用的更为详细地描述，可参考序列号为8,517,241的美国专利，其全部内容通过引用结合于此。
在另一实施例中，如图6中所示，提供了作用力传递组件420，其与上述作用力传递组件220类似。作用力传递组件420是接合器组件的部件，例如，所述接合器组件诸如为图2中所示的接合器组件200。作用力传递组件420包括可旋转驱动轴422、联接至驱动轴422的一对应变传感器440a、440b以及联接至驱动轴422的远侧部424b的远侧驱动构件434。
驱动轴422包括近侧部424a，所述近侧部424a构造成经由第一连接器218可操作地联接至手柄组件100的传动构件118。近侧部424a进一步包括布置在其远侧端的近侧应变传感器440a，其类似于上述应变传感器240。驱动轴422包括远侧部424b，所述远侧部424b具有同近侧应变传感器440a向远侧间隔开的远侧应变传感器440b，远侧应变传感器440b同上述应变传感器240类似。远侧部424b包括布置在其远侧端的螺纹部428，所述螺纹部428构造用于同联接螺母432的近侧端螺纹联接。驱动轴422进一步包括凸缘426，所述凸缘426布置在近侧应变传感器440a和远侧应变传感器440b之间。凸缘426将驱动轴422的近侧部424a和远侧部424b互连。
驱动轴422进一步包括布置在近侧应变传感器440a和远侧应变传感器440b之间的一对轴承430a、430b。第一轴承430a被俘获在近侧应变传感器440a的远侧定向侧和凸缘426的近侧定向侧之间。第二轴承430b被俘获在凸缘426的远侧定向侧与远侧应变传感器440b的近侧定向侧之间。驱动轴422的凸缘426布置在轴承430a、430b之间，凸缘426借助轴承430a、430b与近侧应变传感器440a和远侧应变传感器440b间隔开。通过这种方式，轴承430a、430b用以减小驱动轴422的凸缘426和近侧应变传感器440a之间以及驱动轴422的凸缘426和远侧应变传感器440b之间的摩擦(例如，增强相对旋转)。
在操作中，应变传感器440能够检测并且测量接合器组件200的发射力和退回力，所述应变传感器440被安置于接合器组件200中。近侧应变传感器440a和远侧应变传感器440b的类似于应变仪260a、260b、260c、260d的应变仪(未示出)在手柄组件100操作期间检测并且测量接合器组件200的轴向作用力输出。手柄组件100被致动来实现手术装载单元300的各种功能。随着手柄组件100被致动，作用力传递组件420的驱动轴422相对于联接螺母432被旋转以使联接螺母432相对于驱动轴422沿着远侧方向轴向地移动。联接螺母432的远侧移动使作用力传递组件420的远侧驱动构件434相对于驱动轴422沿纵向移动，这引起在由图6中箭头“C”标示的方向上施加于手术装载单元300的可平移从动构件312(图5)的作用力。相等且相反的反作用力沿着由图6中箭头“D”标示的方向由手术装载单元300的可平移从动构件312施加在远侧驱动构件434上。
施加在远侧驱动构件434上的反作用力在近侧方向上沿着作用力传递组件420被传递至驱动轴422的凸缘426，并且进而驱动轴422的凸缘426将作用力通过第一轴承430a传递至近侧应变传感器440a。这种作用力引起近侧应变传感器440a的应变仪(未示出)产生应变。应变仪检测并且测量这种应变的量，如此能够计算出施加在近侧应变传感器440a上的应力的量。然后，采用计算出的施加在近侧应变传感器440a上的应力的量来计算接合器组件200的轴向作用力输出。
如上所提到的，作用力传递组件420还构造成检测并且测量使手术装载单元300的刀具316(图5)退回所需的作用力的量。在操作中，沿着由图6中箭头“D”标示的方向施加至驱动轴422的作用力沿着作用力传递组件420被向远侧传递至驱动轴422的凸缘426，并且进而驱动轴422的凸缘426使所述作用力通过第二轴承440b传递至远侧应变传感器440b。这种作用力引起远侧应变传感器440b的类似于应变仪260a、260b、260c、260d的应变仪(未示出)产生应变。应变仪检测并且测量其所经受的应变的量，如此能够计算出施加在远侧应变传感器440b上的应力的量。然后，采用计算出的施加在远侧应变传感器440b上的应力的量来计算接合器组件200的退回力。
在又一实施例中，如图7中所示，提供了作用力传递组件540，其类似于参照图6描述的作用力传递组件440。作用力传递组件540包括可旋转驱动轴522。驱动轴522包括近侧部524a，所述近侧部524a构造成经由第一连接器218可操作地联接至手柄组件100的传动构件118。驱动轴522的近侧部524a进一步包括布置在其远侧端的凸缘526a。驱动轴522包括远侧部524b，所述远侧部524b具有布置在其近侧端处的凸缘526b。
驱动轴522进一步包括一对轴承530a、530b和类似于上述应变传感器240的应变传感器540，一对轴承530a、530b和应变传感器540均布置在驱动轴522的近侧部524a和远侧部524b的凸缘526a、526b之间。应变传感器540包括一对应变仪560a、560b，它们类似于上述应变仪260a、260b。第一轴承530a被俘获在驱动轴522的近侧部524a的凸缘526a的远侧定向侧与应变传感器540的近侧定向侧542a之间。第二轴承530b被俘获在应变传感器540的远侧定向侧542b与驱动轴522的远侧部524b的凸缘526b的近侧定向侧之间。轴承530a、530b分别用以减小应变传感器540的近侧定向侧542a与驱动轴522的凸缘526a之间以及应变传感器540的远侧定向侧542b与驱动轴522的凸缘526b之间的摩擦(即，增强相对旋转)。驱动轴522包括延伸穿过轴承530a、530b及应变传感器540的杆或轴527以将驱动轴522的近侧部524a的凸缘526a同驱动轴522的远侧部524b的凸缘526b互连，使得驱动轴522的近侧部524a和远侧部524b非可旋转地连接。
在操作中，应变传感器540能够检测并且测量接合器组件200的发射力和退回力，应变传感器540被安置于接合器组件200中。具体地，作用力沿着由图7中箭头“E”所标示的方向施加至驱动轴522的远侧部524b。驱动轴522的远侧部524b的凸缘526b使所述作用力通过第二轴承530b传递至应变传感器540。这种作用力引起应变传感器540的应变仪560a、560b产生应变。应变仪560a、560b检测并且测量这种应变的量，如此能够计算出施加在应变传感器540上的应力的量。随后，利用计算出的施加在应变传感器540上的应力的量来计算接合器组件200的发射力。
如上所提到的，作用力传递组件520还构造成检测并且测量接合器组件200的退回力。在操作中，作用力沿着图7中箭头“F”所标示的方向施加至驱动轴522并且将所述作用力沿着作用力传递组件520向远侧传递至驱动轴522的近侧部524a的凸缘526a。驱动轴522的近侧部524a的凸缘526a使作用力通过第一轴承530a传递至应变传感器540。这种作用力引起应变传感器540的应变仪560a、560b产生应变。应变仪560a、560b检测并且测量它们所经受的应变的量，如此能够计算出施加在应变传感器540上的应力的量。随后，利用计算出的施加在应变传感器540上的应力的量来计算接合器组件200的退回力。
考虑到强度、耐用性、耐磨损性、重量、耐腐性、容易制造、制造成本等，可由金属、塑料、树脂、复合物等中的任一种来制造本文所述的任意部件。
应当理解，可对当前公开的接合器组件的实施例进行多种修改。因此，上面的描述不应理解为限定，而是仅仅作为实施例的范例。本领域技术人员将想到在本公开的范围和精神内的其他修改。

Claims (18)

1.一种接合器组件的作用力传递组件，包括：
可旋转驱动轴，其包括:
近侧部，其构造成可操作地联接至手柄组件的传动构件；
远侧部，其包括螺纹部；和
凸缘，其支撑在所述驱动轴上并且从所述驱动轴延伸出；
近侧应变传感器，其联接至所述驱动轴并且邻近所述凸缘布置，使得所述驱动轴的纵向移动经由所述凸缘在所述近侧应变传感器上施加作用力；
远侧驱动构件，其具有联接至所述驱动轴的螺纹部的近侧端和构造成可操作地联接至手术装载单元的从动构件的远侧端，其中，所述驱动轴的旋转使所述远侧驱动构件相对于所述驱动轴沿纵向移动以致动所述手术装载单元；以及
远侧应变传感器，其与所述近侧应变传感器向远侧间隔开，其中，所述凸缘布置在所述近侧应变传感器和所述远侧应变传感器之间。
2.根据权利要求1所述的作用力传递组件，其中，所述近侧应变传感器包括至少一个应变仪。
3.根据权利要求2所述的作用力传递组件，其中，所述近侧应变传感器还包括：
盘，其围绕着所述驱动轴布置；以及
安装构件，其连接至所述盘并且限定贯通其中的通道，所述通道将所述驱动轴接纳在其中，所述至少一个应变仪布置在所述安装构件上。
4.根据权利要求3所述的作用力传递组件，其中，所述安装构件由弹性金属材料制造而成。
5.根据权利要求3所述的作用力传递组件，其中，所述至少一个应变仪包括第一组应变仪和第二组应变仪，所述第一组应变仪布置在所述安装构件的近侧定向表面上，所述第二组应变仪布置在所述安装构件的远侧定向表面上。
6.根据权利要求1所述的作用力传递组件，其中，所述驱动轴还包括布置在所述凸缘和所述近侧应变传感器之间的轴承，所述驱动轴的近侧部延伸穿过所述轴承。
7.根据权利要求1所述的作用力传递组件，其中，所述驱动轴还包括布置在所述近侧应变传感器和所述远侧应变传感器之间的一对轴承，所述凸缘布置在所述一对轴承之间。
8.根据权利要求1所述的作用力传递组件，其中，所述驱动轴的远侧部包括所述凸缘，所述驱动轴的近侧部包括凸缘，所述驱动轴还包括第一轴承和第二轴承，所述第一轴承布置在所述远侧部的凸缘和所述近侧应变传感器的远侧定向表面之间，所述第二轴承布置在所述近侧应变传感器的近侧定向表面和所述近侧部的凸缘之间。
9.一种用于将手术装载单元和手柄组件选择性地互连的接合器组件，所述手柄组件被构造成致动所述手术装载单元，所述接合器组件包括：
壳体，其构造成并且适用于与所述手柄组件选择性地连接；
外管，其具有由所述壳体支撑的近侧端和构造成与所述手术装载单元联接的远侧端；以及
作用力传递组件，其至少部分地延伸穿过所述外管并且包括：
可旋转驱动轴，其包括：
近侧部，其构造成可操作地联接至所述手柄组件的可旋转传动构件；
远侧部，其包括螺纹部；和
凸缘，其支撑在所述驱动轴上并且从所述驱动轴延伸出；
近侧应变传感器，其联接至所述驱动轴并且附着至所述壳体，所述近侧应变传感器邻近所述凸缘布置，使得所述驱动轴的纵向移动经由所述凸缘在所述近侧应变传感器上施加作用力；
远侧驱动构件，其具有近侧端和远侧端，所述远侧驱动构件的近侧端联接至所述驱动轴的螺纹部，所述远侧驱动构件的远侧端构造成可操作地联接至所述手术装载单元的可平移从动构件，其中，所述驱动轴的旋转使所述远侧驱动构件相对于所述驱动轴纵向移动以致动所述手术装载单元；和
远侧应变传感器，所述远侧应变传感器与所述近侧应变传感器向远侧间隔开，其中，所述凸缘布置在所述近侧应变传感器和所述远侧应变传感器之间。
10.根据权利要求9所述的接合器组件，其中，所述近侧应变传感器包括至少一个应变仪。
11.根据权利要求10所述的接合器组件，其中，所述近侧应变传感器还包括：
盘，其围绕着所述驱动轴布置并且附着至所述壳体；以及
安装构件，其连接至所述盘并且限定贯通其中的通道，所述通道将所述驱动轴接纳在其中，所述至少一个应变仪布置在所述安装构件上。
12.根据权利要求11所述的接合器组件，其中，所述安装构件由弹性金属材料制造而成。
13.根据权利要求11所述的接合器组件，其中，所述至少一个应变仪包括第一组应变仪和第二组应变，所述第一组应变仪布置在所述安装构件的近侧定向表面上，所述第二组应变仪布置在所述安装构件的远侧定向表面上。
14.根据权利要求9所述的接合器组件，其中，所述驱动轴还包括布置在所述凸缘和所述近侧应变传感器之间的轴承，所述驱动轴的近侧部延伸穿过所述轴承。
15.根据权利要求9所述的接合器组件，其中，所述驱动轴还包括布置在所述近侧应变传感器和所述远侧应变传感器之间的一对轴承，所述凸缘布置在所述一对轴承之间。
16.根据权利要求9所述的接合器组件，其中，所述驱动轴的远侧部包括凸缘，所述驱动轴的近侧部包括凸缘，所述驱动轴还包括第一轴承和第二轴承，所述第一轴承布置在所述远侧部的凸缘和所述近侧应变传感器的远侧定向表面之间，所述第二轴承布置在所述近侧应变传感器的近侧定向表面和所述近侧部的凸缘之间。
17.一种手术器械，包括：
手柄组件，其包括可旋转传动构件；
接合器组件，其包括：
壳体，其与所述手柄组件联接；
外管，其具有远侧端和由所述壳体支撑的近侧端；和
作用力传递组件，其至少部分地延伸穿过所述外管并且包括：
可旋转驱动轴，其包括：
近侧部，其可操作地联接至所述手柄组件的可旋转传动构件；和
远侧部，其包括凸缘和螺纹部；
近侧应变传感器，其联接至所述驱动轴并且附着至所述壳体，所述近侧应变传感器邻近所述凸缘布置，使得所述驱动轴的纵向移动经由所述凸缘在所述近侧应变传感器上施加作用力；
远侧驱动构件，其具有远侧端和联接至所述驱动轴的螺纹部的近侧端；和
远侧应变传感器，其与所述近侧应变传感器向远侧间隔开，其中，所述凸缘布置在所述近侧应变传感器和所述远侧应变传感器之间；以及
手术装载单元，其构造成由所述手柄组件致动并且包括可平移从动构件，所述可平移从动构件可操作地联接至所述作用力传递组件的远侧驱动构件的远侧端，其中，所述驱动轴的旋转使所述远侧驱动构件相对于所述驱动轴沿纵向移动以致动所述手术装载单元。
18.根据权利要求17所述的手术器械，其中，所述近侧应变传感器包括至少一个应变仪。
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