CN105228502B - 用于在外科手术环境中促进器械的弯曲的方法、设备和系统 - Google Patents

用于在外科手术环境中促进器械的弯曲的方法、设备和系统 Download PDF

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CN105228502B
CN105228502B CN201480011423.1A CN201480011423A CN105228502B CN 105228502 B CN105228502 B CN 105228502B CN 201480011423 A CN201480011423 A CN 201480011423A CN 105228502 B CN105228502 B CN 105228502B
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恩里克·罗莫
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Abstract

本发明讨论了针对医疗和外科手术应用的、促进以较大程度的铰接进行弯曲同时保持制造的简易性的器械。所述器械具有弯曲区段，所述弯曲区段包括具有近似圆柱形外周的杆和穿过整个杆的非圆柱形通路。沿着所述杆的长度从区段移除材料，从而形成多个局部空隙，使得所述局部空隙允许所述杆弯曲。所述非圆柱形通路能够沿着圆柱形杆的长度靠近中性轴携载至少一个辅助组件，以及沿着所述杆的长度靠近顶部携载离轴致动线。

Description

用于在外科手术环境中促进器械的弯曲的方法、设备和系统
相关申请的交叉引用
本申请要求提交于2013年3月8日的美国临时申请号61/774,901(代理案号41663-707.101)和提交于2014年3月7日的美国申请号14/201,610(代理案号41663-707.201)的权益，以上文献的全部内容通过引用而并入于此。
发明背景
1.发明领域。本申请的领域涉及医疗装置。更具体而言，本发明的领域涉及用于进行外科手术的设备、系统和方法。
2.相关技术描述。机器人外科手术对于改善患者恢复时间以及允许精确控制医疗和外科手术应用器械具有众多益处。在机器人中，末端执行器是位于机械臂末端的、设计用于与环境相互作用的装置。该装置的确切性质取决于机器人的应用。例如，末端执行器的若干示例可以包括一套镊子、一把剪刀、激光器、相机、烧灼工具、针或者任何将会获益于能够被重新定位的其他器械端头。
如前文所讨论，源于串联式机械操纵器的末端执行器意指机器人的最后链节(或末端)。在这个端点处附接工具。在更广泛的意义上，可以将末端执行器视为机器人的与工作环境相互作用的部件。
许多铰接装置使用弯曲区段，该些弯曲区段包含许多用于创造出组装件的小运动部件。通常，由于单个组件难于加工，因此组装件很难被制造成更小的几何尺寸。
现有解决方案的另一挑战是容纳末端执行器的辅助组件，所述辅助组件可以包括拉线、电线、流体线路和光纤。这些组件在弯曲区段内的位置影响该弯曲区段的性能和稳定性。所有的梁都具有主体内的、当平直或弯曲时都将会保持相同长度的假想线，这条线称为结构的中性轴。中性轴区域不经受任何应变或应力。通常，落在这条线任一侧的材料将会经受应变并且将被延长或压缩。弯曲处的内侧将会压缩，而弯曲处的外侧将会延长。图1图示了该中性轴连同其与内侧和外侧弯曲表面的关系。
例如，如果将辅助组件放置在中性轴区域之外，如果其能够相对于弯曲区段浮动，则其将会滑入和滑出弯曲区段。否则，所述组件将会因施加的轴向力而拉紧或伸展。图2描绘了远离组件中性轴放置的组件的关系的图示。
弯曲区段的现有解决方案被创造用于由薄壁管制成的小型可铰接器械。例如，向管材中切割出复杂图案，以创造出产生优先弯曲方向的离隙。然而，如果要求较大的偏转，则将会需要移除许多管材料以允许这样的弯曲。因此，被除去了许多材料的薄壁管不可避免地会失去很多保持机械稳定的结构和能力。
因此，有利的是具有这样的方法和设备：其用于促进器械以较大程度的铰接(articulation)而弯曲，同时保持足够量的刚度以在末端执行器处提供稳定性，并同时确保制造的简易性。
发明内容
本文描述的实施方式针对用于以较大程度的铰接来弯曲器械而同时保持制造的简易性的方法、设备和系统。
在其他实施方式中，用于创造铰接节段(articulating segment)的方法和设备始于实心杆而非管道。首先，从所述杆的侧面移除材料从而使得其能够弯曲。在一个实施方式中，将会从所述杆的横截面移除材料以容纳致动线。
在其他实施方式中，所述横截面容纳与末端执行器有关的辅助组件。
一个实施方式提供了将所述辅助组件的路径放置为靠近所述弯曲区段的中性轴。因此，这减少了所述弯曲区段的铰接与所述辅助组件之间的相互作用。此外，导致了更加可预测的弯曲和末端执行器行为。作为示例而非限制，通过从所述横截面移除材料以容纳铰接拉线和辅助组件，允许对弯曲刚度及其在医疗操作期间所能够消解(resolve)的相反力的量加以操控。
在一个实施方式中，所述组件由后文所讨论的超塑性材料制成，所述超塑性材料诸如但不限于镍钛合金(Nitinol)以及其他类似的材料。所述结构的刚度通过横截面轮廓的设计而得到操控，以确保所述结构在整个运动的全范围内提供足够的稳定性。所述结构通过对该结构施加力矩而实现显著的弯曲，并且将会在从所述结构移除所述力矩时恢复到原始位置。
这样的致动将会只需要在端头处的一个拉线，该拉线需要被牵拉以生成力矩以及被放松以解除所述力矩。
在备选实施方式中，所述组件由超塑性材料制成，但所述横截面通过在内部轮廓上合并所述离隙而允许不同的内部轮廓，所述装置适合于使用线EDM(Electric DischargeMachining，放电加工)工艺来制造，而不必首先创造出隙孔。
附图说明
图1是有助于描述中性轴的视图；
图2是有助于描述中性轴的视图；
图3描绘了根据本发明的第一实施方式的用于弯曲挠性件的设备；
图4是图3的截面侧视图；
图5是根据有限元分析(FEA)的图3的建模表示的视图；
图6是描绘图3中所绘的第一实施方式的铰接位置的视图；
图7是根据本发明的一个实施方式的组装件的等距视图，其中作为主题的挠性件合并到末端执行器中；
图8描绘了根据本发明的第二实施方式的用于弯曲挠性件的设备；
图9是图8的截面侧视图；以及
图10是描绘图9的弯曲行为的截面侧视图。
具体实施方式
尽管下文公开了某些优选实施方式和示例，但发明主题超出具体公开的实施方式而包含其他备选实施方式和/或用途，以及其修改和等同物。因而，本文所附权利要求的范围并不限于下文所述的任何具体实施方式。例如，在本文公开的任何方法或工艺中，所述方法或工艺的动作或操作可以按任何合适的顺序执行，而不必限于所公开的任何具体顺序。以可能有助于理解某些实施方式的方式，可以将各种操作描述为多个依次进行的分立操作；然而描述的次序不应当解释为暗示这些操作是依赖于该次序的。此外，本文描述的结构、系统和/或装置可以体现为集成的组件或分离的组件。
出于对比各个实施方式的目的，描述了这些实施方式的某些方面和优点。所有此等方面或优点不必全都由任何具体实施方式所实现。因此，举例而言，各个实施方式可以按实现或优化如本文所教导的一个优点或一组优点的方式来实施，而不必实现可能亦如本文所教导或建议的其他方面或优点。
本文描述的实施方式针对用于微创外科手术器械的远端弯曲区段的设备，其具有较大程度的铰接并且提供足够的硬度以消解在远程外科手术操作期间所需要的力。其他实施方式提供了使用该远端弯曲区段的方法以其制造方法。
一个实施方式提供了将辅助组件的路径放置为靠近弯曲区段的中性轴。因此，这减少了弯曲区段的铰接与辅助组件之间的相互作用。此外，本发明的实施方式提供了更加可预测的弯曲和末端执行器行为。作为示例而非限制，通过从横截面移除材料而容纳铰接拉线和辅助组件，因此，可以操控弯曲刚度以获得期望的特性。
在一个实施方式中，所述组件由超塑性材料制成。在一个实施方式中，所述材料是镍钛合金，并且在室温和/或体温下具有超弹性相。另外，其他实施方式包括使用任何超弹性合金。在又一实施方式中，调节惯性矩，使得所述结构通过在该结构上生成力矩而实现显著的弯曲，并且当移除所述力矩时恢复到原始位置。这样的致动将会只需要在端头处的一个拉线，该拉线需要被牵拉以生成力矩以及被放松以解除所述力矩。
在备选实施方式中，所述组件由超塑性材料制成，但所述横截面通过在内部轮廓上合并离隙(relief)而允许不同的内部轮廓，所述装置适合于使用线EDM(ElectricDischarge Machining，放电加工)工艺来制造，而不必首先创造出隙孔(clearance hole)。
参考图3A，图中描绘了根据本发明的实施方式的完成的弯曲区段300。图3B是贯穿弯曲区段300的轴线的纵向截面，图3C示出了弯曲区段300沿着图3B的线C的轴向截面，而图3D示出了弯曲区段300沿着图3B的线D的轴向截面。
参考图3B，沿着杆的顶部、优选地沿着弯曲区段的长度移除材料以创造出空隙(void)302。如下文所讨论，这样的空隙被创造用于协助移除挡路的材料以创造出这个优选实施方式的附加特征。还从泪滴状区段304移除材料，其中将相邻于泪滴状区段304的材料保留在原处以形成叶片306。延伸穿过空隙308(下文所述)的筋束(tendon)(未示出)附接于弯曲区段300的远端。如图中所示，当对筋束施加张力时，弯曲区段将会向下弯曲，并且泪滴状空隙304允许叶片306向内移动，并沿着实心脊310实现弯曲。本领域技术人员将会理解，对泪滴状空隙和叶片的形状的选择是设计选择的问题，而留下来用以形成脊310的材料的量也是如此。
现在参考图3C，顺着实心杆的长度形成非圆柱形通道312。优选地，杆的外周、并且因此所述弯曲区段具有近似圆柱形的形状，类似于所绘的海波管(hypotube)的形状。现有技术的弯曲区段是从海波管切除材料，并因此也具有圆柱形内径，其结果是沿着现有技术的弯曲区段的长度的均匀侧壁厚度。当弯曲区段的外径较小时，在需要较大程度的铰接并且在位于远端的外科手术工具需要一定硬度以执行期望的操作的情况下，海波管壁不提供足够的强度和这样的硬度。本发明的实施方式提供了贯穿弯曲区段的非圆柱形通道312，这允许离轴地分布材料(即，非均匀壁厚)以向弯曲区段提供结构硬度，这为离轴的筋束提供了通路314，并且为辅助线缆(未示出)提供了靠近中性轴的通路316，所述辅助线缆诸如为工具致动或铰接线缆。
一个实施方式提供了将辅助组件的路径放置为靠近弯曲区段的中性轴的方案。因此，这减少了弯曲区段的铰接与辅助组件之间的相互作用。此外，该实施方式提供了更加可预测的弯曲和末端执行器行为。例如，从横截面移除足够的材料以容纳铰接拉线和辅助组件，从而可以操控弯曲刚度以获得期望的特性。图4是与图3C中所示相同的截面。图5中图示了截面位置相对于结构的位置。截面c-c演示了将会经受弯曲并且将会贡献于结构的偏转的区域310的截面。截面d-d演示了提供底座316(类似于胸腔)的结构区域，用以支撑和收纳用于铰接结构和操控末端执行器所需的组件。在该图中，斜线阴影区段(称为阴影区域)描绘了实心截面。例如，截面c-c具有位于顶部的实心截面。相比之下，截面d-d具有围绕整个通道的实心截面。
靠近该图顶部的虚线描绘了设备的中性轴。此外，虚线箭头描绘了远离中性轴在向下方向上的优先弯曲方向。
截面c-c和截面d-d这两个截面图都描绘了用于容纳辅助组件(未示出)和铰接线(未示出)的双卵形的钥匙状开口或管腔。在一些实施方式中，辅助组件可以包括以下各项中的任何一个或全部：
用于在末端执行器处生成致动的拉线；
用于照明、激光、视觉的纤维；
气动装置和/或液压装置；
电线；
用于工作通道的开放管腔(开放式架构装置，末端执行器穿过工作通道并且是可互换的)；以及
支撑末端执行器的伸缩管。
在一个实施方式中，顶部开口或管腔容纳辅助组件，并且底部开口容纳控制所述设备的弯曲的铰接线。然而，本领域技术人员可以理解，在不背离本发明的情况下，可以使用至少部分地基于弯曲设备的医疗、外科手术或其他应用的不同管腔配置和放置。
图5是根据有限元分析(FEA)的图3的建模表示的视图，其示出了铰接线与挠性件之间的相互作用。
图6是描绘图3-图4中所绘实施方式的铰接位置的视图。这张照片是在显微镜下拍摄的，并示例说明了结构的均匀弯曲。在一个实施方式中，铰接的程度至少部分地基于沿着结构的长度的离隙/空隙的量。在该实施方式中，离隙的一个方面还允许结构在叶片互相接触时急停(碰撞到障碍物的反馈)。因此，本发明的实施方式有助于防止过度铰接和对结构的潜在损害。
图7是根据本发明中所请求保护的主题的一个实施方式的组装件的等距视图，其中作为主题的挠性件合并到末端执行器中。
图8描绘了根据本发明另一实施方式的用于弯曲挠性件的设备。本领域技术人员将会理解，可以改变非圆柱形通道312的形状，以获得弯曲区段的期望的弯曲和硬度性质。图8中所绘的设计的截面(图9中示出)允许内部轮廓断开。通过将这样的离隙合并于轮廓上，装置适合于使用线EDM工艺来制造，而不必首先创造出隙孔。
图9是图8的截面侧视图。挠性件#2(图7)上的两个支柱702趋于关于中性轴弯曲，但也稍微弯入截面的中心。这样的弯曲特性将会导致当挠性件被铰接时，断开的“间隙”开始闭合，并且将会最终在较大铰接期间完全闭合。
此外，在该第二实施方式中，开口允许辅助组件的侧向插入。在内轮廓上具有断开部分的构思在组装过程中亦有益处。例如，存在贯穿零件的间隙，铰接线和辅助组件可以侧向地而非轴向地插入。这样的组装选项还允许在不必割断铰接线的情况下替换挠性件。
图10是描绘在图8-图9中所绘的实施方式的弯曲行为的截面侧视图。在操作期间，当挠性件被铰接时，间隙将会趋于闭合，并将因此使得辅助组件“逸出”内轮廓管腔的可能性最小化。如果考虑间隙的存在，所述组件仍然可被制造成带有间隙，并继而“定形”以在集成到组装件中之前闭合该间隙。
本文中结合任何实施方式示出的元件或组件是针对具体实施方式的示例，并且可以用于本文所公开的其他实施方式或者与之相结合。尽管本发明易于得到各种变化和替代形式，其具体示例如图中所示，并在本文进行了详细描述。然而，本发明并不限于所公开的具体形式或方法，而是相反，覆盖了其全部修改、等同物和替代物。

Claims (7)

1.一种弯曲区段，该弯曲区段用于携载在无创医疗操作中所使用的工具，所述弯曲区段包括：
杆，其具有近似圆柱形的外周；
沿着所述杆的长度的顶部；
沿着所述杆的长度的底部，其中沿着所述底部从所述圆柱形杆的至少一部分移除材料；
贯穿整个所述杆的非圆柱形通路，其中所述非圆柱形通路是接合的双卵形通路，该双卵形相互连接，并且该接合的双卵形通路在相互连接部的厚度大于卵形部分的厚度；
多个第一区段，其沿着所述杆的长度交替地与多个第二区段相邻，其中从所述多个第一区段移除材料从而形成紧邻所述多个第二区段的多个局部空隙，使得所述局部空隙允许所述杆沿着该杆的所述顶部弯曲；
所述非圆柱形通路能够沿着所述圆柱形杆的长度靠近中性轴携载至少一个辅助组件，以及沿着所述杆的长度靠近所述顶部携载离轴致动线。
2.一种用于促进器械的弯曲的设备，包括：
杆，其具有非圆柱形管腔；
所述杆具有所述杆的所述管腔的第一横截面形状和第二横截面形状，
所述第一横截面形状被配置用于促进弯曲和容纳致动线；
并且第二横截面形状被配置用于促进至少一个辅助组件靠近中性轴，
其中所述非圆柱形管腔是接合的双卵形管腔，该双卵形相互连接，并且该接合的双卵形管腔在相互连接部处的厚度大于卵形部分的厚度。
3.根据权利要求2所述的设备，其中所述非圆柱形管腔容纳所述辅助组件和致动线。
4.根据权利要求2所述的设备，其中所述杆的材料的横截面相对于利用恒定壁厚所能达到的刚度支撑而促进增大刚度支撑。
5.一种用于促进器械的弯曲的设备，包括：
杆，其具有非圆柱形管腔，
所述杆具有所述杆的第一横截面和第二横截面，用以促进弯曲和容纳致动线；以及
非圆柱形路径，其中所述非圆柱形路径是接合的双卵形路径，该接合的双卵形路径在相互连接部处的厚度大于卵形部分的厚度，
其中所述非圆柱形路径包括：第一卵形管腔，用以促进至少一个辅助组件靠近中性轴；以及与所述第一卵形管腔相互连接的第二卵形管腔，并且
其中所述设备耦合至末端执行器。
6.根据权利要求5所述的设备，其中所述第一卵形管腔容纳所述辅助组件，所述第二卵形管腔容纳致动线。
7.根据权利要求5所述的设备，其中所述第二横截面相对于所述第一横截面而促进增大刚度支撑。
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