CN105283137A - 与外科器械一起使用的动力模块 - Google Patents

与外科器械一起使用的动力模块 Download PDF

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CN105283137A
CN105283137A CN201480031116.XA CN201480031116A CN105283137A CN 105283137 A CN105283137 A CN 105283137A CN 201480031116 A CN201480031116 A CN 201480031116A CN 105283137 A CN105283137 A CN 105283137A
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rotating driver
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S·K·帕里哈尔
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Ethicon Endo Surgery Inc
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A61B2017/00393—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector with means for switching between functions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00734—Aspects not otherwise provided for battery operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating

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Abstract

本发明公开了一种外科器械，所述外科器械在至少一种形式中包括端部执行器和动力模块10。所述动力模块可包括第一运动转换组件16。所述第一运动转换组件包括第一旋转驱动器22以及可操作地联接到所述第一旋转驱动器的第一轴向驱动器24。所述动力模块还可包括第二运动转换组件18，所述第二运动转换组件可包括第二旋转驱动器26以及可操作地联接到所述第二旋转驱动器的第二轴向驱动器。所述动力模块还可包括马达14和传输组件，所述马达被构造成能够产生至少一个旋转运动以致动所述端部执行器，所述传输组件被构造成能够使所述马达选择性地接合所述第一旋转驱动器和所述第二旋转驱动器，其中所述马达与所述第一旋转驱动器和所述第二旋转驱动器同心地布置。

Description

与外科器械一起使用的动力模块
背景技术
本公开涉及外科器械。在各种形式中，本公开涉及与电动外科切割和紧固器械一起使用的动力模块。
附图说明
通过结合附图来参考本发明实施例的以下说明，本发明的特征和优点以及其获取方法将会变得更加明显，并可更好地理解发明本身，其中：
图1为动力模块的透视图；
图2为图1的动力模块的透视图，其中外壳部分地运动到侧面；
图3为图1的动力模块的分解图；
图4为图1的动力模块的分解图；
图5为沿动力模块的纵向轴线LL的剖视图，该动力模块包括在第一位置与第一旋转驱动器接合的传输构件；
图5A为沿图5的线5A-5A截取的图5中动力模块的剖视图；
图5B为沿图5的线5B-5B截取的图5中动力模块的剖视图；
图6为图5中动力模块的剖视图，其示出了部分推进的第一轴向驱动器；
图7为图5中动力模块的剖视图，其示出了部分回缩的第一轴向驱动器；
图8为图5中动力模块的剖视图，其示出了处于中间位置的传输构件；
图9为图5中动力模块的剖视图，其示出了在第二位置与第二旋转驱动器接合的传输构件；
图10为图5中动力模块的剖视图，其示出了在第二位置与第二旋转驱动器接合的传输构件并且示出了部分推进的第二轴向驱动器；
图11为外科器械的透视图；
图12为图11的外科器械的分解组件视图；
图13为图11和图12的外科器械的柄部的剖视图；
图14为根据本文所述的某些实施例的外科器械的控制电路的示意性框图；
图15为根据本文所述的某些实施例的外科器械的柄部的剖视图；并且
图16为图15所示的柄部的局部剖视图。
具体实施方式
现在将描述某些示例性实施例，以从整体上理解本文所公开的装置的结构、功能、制造和用途的原理以及方法。这些实施例的一个或多个实例已在附图中示出。本领域的普通技术人员将会理解，在本文中具体描述并示出于附图中的装置和方法为非限制性的示例性实施例，并且本发明的各种实施例的范围仅由权利要求书限定。结合一个示例性实施例进行图解说明或描述的特征，可与其它实施例的特征进行组合。这些修改和变型旨在包括在本发明的范围之内。
本说明书通篇提及的“各种实施例”、“一些实施例”、“一个实施例”或“实施例”等，意味着结合所述实施例描述的具体特征、结构或特性包括在至少一个实施例中。因此，本说明书通篇出现的短语“在各种实施例中”、“在一些实施例中”、“在一个实施例中”或“在实施例中”等并不一定都指相同的实施例。此外，在一个或多个实施例中，具体特征、结构或特性可以任何合适的方式组合。因此，在无限制的情形下，结合一个实施例示出或描述的具体特征、结构或特性可全部或部分地与一个或多个其它实施例的特征、结构或特性组合。这些修改和变型旨在包括在本发明的范围之内。
本文所用术语“近侧”和“远侧”是相对于操纵外科器械的柄部部分的临床医生而言的。术语“近侧”是指最靠近临床医生的部分，术语“远侧”则是指远离临床医生定位的部分。还应当理解，为简洁和清楚起见，本文可以结合附图使用空间术语诸如“垂直”、“水平”、“上”和“下”。然而，外科器械能够在许多取向和位置使用，并且这些术语并非限制性和/或绝对化的。
提供各种示例性装置和方法以执行腹腔镜式和微创外科手术操作。然而，本领域的普通技术人员将容易理解，本文所公开的各种方法和装置可用于许多外科手术和应用中，包括例如包括与开放式外科手术相结合。继续参阅本具体实施方式，本领域中的普通技术人员将进一步理解，本文所公开的各种器械可以任何方式插入体内，诸如通过自然腔道、通过形成于组织中的切口或穿刺孔等。器械的工作部分或端部执行器部分可被直接插入患者体内或可通过具有工作通道的进入装置插入，外科器械的端部执行器及细长轴可通过所述工作通道而推进。
参见图1，示出了一种形式的动力模块10。动力模块10可用于为外科器械，诸如例如外科器械200提供动力(参见图11)并且可与外科器械200成为一体。另选地，可将动力模块10可移除地联接到外科器械200。如图2-4所示，动力模块10可包括外壳12、马达组件13、第一运动转换组件16、第二运动转换组件18和传输组件20。在至少一种形式中，马达组件13可包括马达14，该马达可附连到外壳12并且可被激活以产生旋转运动，所述旋转运动可被传输组件20选择性地传输到第一运动转换组件16或第二运动转换组件18。
主要参见图2，第一运动转换组件16可包括与第一轴向驱动器24可操作地接合的第一旋转驱动器22。第一旋转驱动器22可旋转地座置于外壳12中并且可被机械约束使其不能沿任何方向平移。此外，第二运动转换组件18可包括与第二轴向驱动器28可操作地接合的第二旋转驱动器26。第二旋转驱动器26还可可旋转地座置于外壳12中并且可(例如)通过外壳12被机械约束使其不能沿任何方向平移。
除此之外，主要参见图3，第二旋转驱动器26能够围绕由马达14限定的纵向轴线L-L旋转。如图3所示，纵向轴线L-L可纵向地延伸穿过可与第二旋转驱动器26同心地布置的马达14。第二旋转驱动器22可包括中空圆筒的形状，其中马达14可被定位成至少部分地位于第二旋转驱动器22内。在某些形式中，马达14可(例如)为旋转最大值为大约25,000RPM的直流有刷驱动马达。在其它布置方式中，马达可包括无刷马达、无绳马达、同步马达、步进马达或任何其它合适的电动马达。
除此之外，再次参见图3，第一旋转驱动器22和第二旋转驱动器26可同心地布置，并且能够围绕轴线L-L旋转。在某些情况下，第一旋转驱动器22和第二旋转驱动器26可包括中空圆筒的形状，其中马达14可被定位成至少部分地位于第二旋转驱动器26内，所述马达继而可被定位成至少部分地位于第一旋转驱动器22内。外壳12内的马达14、第一旋转驱动器22和第二旋转驱动器26的同心地布置可减小动力模块10的尺寸。
主要参见图3，第一旋转驱动器22可与第一轴向驱动器24螺纹接合并且第二旋转驱动器26可与第二轴向驱动器28螺纹接合。例如，第一旋转驱动器22可包括外壁30和内壁32，该内壁可包括内螺纹34，如图3所示。此外，第一轴向驱动器24可包括第一齿条36，该第一齿条可与第一旋转驱动器22的内螺纹34可操作地接合，使得第一旋转驱动器22(例如)沿顺时针方向围绕纵向轴线L-L的旋转可致使第一轴向驱动器24(例如)相对于外壳12沿远侧方向轴向平移，并且第一旋转驱动器22沿逆时针方向围绕纵向轴线L-L的旋转可致使第一轴向驱动器24(例如)相对于外壳12沿近侧方向轴向平移。
除此之外，第二旋转驱动器26可包括内壁38和外壁40，该外壁可包括外螺纹42，如图2所示。此外，第二轴向驱动器28可包括第二齿条44，该第二齿条可与第二旋转驱动器26的外螺纹42可操作地接合，使得第二旋转驱动器26(例如)沿顺时针方向围绕纵向轴线L-L的旋转可致使第二轴向驱动器28(例如)相对于外壳12沿远侧方向轴向运动，并且第二旋转驱动器26(例如)沿逆时针方向围绕纵向轴线L-L的旋转可致使第二轴向驱动器28(例如)相对于外壳12沿近侧方向轴向运动。
如上文所述，马达14、第一旋转驱动器22和第二旋转驱动器26可被同心地布置在外壳12内(部分地)以减小动力模块10的尺寸。为了适应马达14，如图5A所示，第二旋转驱动器26的内壁38可具有比马达14的外壁15的直径D1大的直径D2。相似地，为了适应第二旋转驱动器26，第一旋转驱动器22的内壁32可具有比第二旋转驱动器26的外壁40的直径D3大的直径D4，如图5B所示。
参见图2，外壳12可包括第一腔室12A和第二腔室12B，第一腔室可包括第一内壁46，第二腔室可包括第二内壁48。第一内壁46和第二内壁48可各自包括圆柱形或至少大致圆柱形形状，如图2所示。此外，第一内壁46可包括从第一内壁46的一侧延伸到第一内壁46的相对侧并且跨越纵向轴线LL的内径D6(参见图5B)，并且第二内壁48可包括从第二内壁48的一侧延伸到第二内壁48的相对侧并且跨越纵向轴线LL的内径D7(参见图5A)。
再次参见图2，第一旋转驱动器22可被容纳在外壳12的第一腔室12A中并且可被可旋转地支撑在其中。为了适应第一旋转驱动器22，如图5B所示，第一内壁46的内径D6可充分地大于第一旋转驱动器22的外径D5，以提供足够的间隙用于第一旋转驱动器22在外壳12的第一腔室12A内的旋转。例如，直径D6可比直径D5大1-3mm。在某些示例中，腔室12A的第一内壁46和/或第一旋转驱动器22的外壁30可彼此接触，并且各自可涂覆有摩擦减小材料，诸如例如聚四氟乙烯(PTFE)或其它摩擦减小材料。在某些示例中，第一旋转驱动器22可通过常规的承载布置结构可旋转地支撑在腔室12A内。本公开设想了用于减小第一腔室12A的内壁46和第一旋转驱动器22的外壁30之间摩擦的其它装置。此外，如图2所示，第一腔室12A可包括近侧壁50和远侧壁52以机械约束第一旋转驱动器22使其不能沿任何方向平移。如图2所示，近侧壁50和远侧壁52可被分隔成距离L1，该距离L1可稍微大于第一旋转驱动器22的长度L2以允许足够的间隙用于第一旋转驱动器22旋转地支撑在腔室12A内。此外，壁50和壁52的内表面可涂覆有摩擦减小材料，诸如例如，聚四氟乙烯(PTFE)或其它合适的材料，以减小这些表面与第一旋转驱动器22之间的摩擦。
主要参见图2-3，第二旋转驱动器26可容纳在或者至少部分地容纳在第二腔室12B中，并且可被可旋转地支撑在第二腔室12B内。马达14可座置于或者至少部分地座置于第二旋转驱动器26内，如图2所示，并且可将第二旋转驱动器26可旋转地支撑在马达14周围。如上所述，第二旋转驱动器26的内壁38的直径D2可大于马达14的外壁15的直径D1。在某些示例中，直径D2可充分地大于直径D1以提供足够间隙来用于第二旋转驱动器26相对于马达14的旋转。例如，直径D2可比直径D1大1-3mm。在某些示例中，马达14的外壁15和第二旋转驱动器26的内壁38可彼此接触并且各自可涂覆有摩擦减小材料，诸如例如，聚四氟乙烯(PTFE)，当第二旋转驱动器26相对于马达14旋转时，该摩擦减小材料可减小马达14的外壁15与第二旋转驱动器26的内壁38之间的摩擦。在某些示例中，通过常规的承载布置结构可相对于马达14可旋转地支撑第二旋转驱动器26。本公开设想了用于减小第二旋转驱动器26的内壁38与马达14的外壁15之间摩擦的其它装置。
在某些情况下，如图2所示，至少马达组件13的近侧部分和/或第二旋转驱动器26的近侧部分可延伸到第一旋转驱动器22中并且可容纳在第一旋转驱动器22内。此外，第一轴向驱动器24和/或第二轴向驱动器28可在第一旋转驱动器22和第二旋转驱动器26之间延伸，或者至少部分地延伸，如图2所示，这可减小动力模块10的尺寸。此外，可通过外壳12可运动地支撑第一轴向驱动器24和/或第二轴向驱动器28。在某些情况下，第一轴向驱动器24可包括两个侧凸缘54，该侧凸缘可沿第一轴向驱动器24的长度纵向延伸，并且可被可运动地支撑在两个相对凹槽56内，这两个相对凹槽纵向延伸穿过第二腔室12B的相对壁。相似地，第二轴向驱动器28可包括两个侧凸缘58，该侧凸缘可沿第二轴向驱动器28的长度纵向延伸，并且可被可运动地支撑在两个相对凹槽60内，这两个相对凹槽纵向延伸穿过第二腔室12B的相对壁。
如上所述，第一轴向驱动器24可与第一旋转驱动器22螺纹接合使得第一轴向驱动器24可响应于第一旋转驱动器22的旋转运动而延伸或回缩。可选择第一旋转驱动器22的螺纹36扣数的节距、角度和/或数目来控制第一轴向驱动器24的平移的方向、速度、量值和/或持续时间。相似地，第二轴向驱动器28可与第二旋转驱动器26螺纹接合使得第二轴向驱动器28可响应于第二旋转驱动器26的旋转运动而延伸或回缩。可选择第二旋转驱动器26的螺纹42扣数的节距、角度和/或数目来控制第二轴向驱动器28的平移的方向、速度、量值和/或持续时间。
主要参见图4，马达组件13可将马达14产生的旋转运动传输到传输组件20。例如，马达组件13可包括马达联接件62，该马达联接件可联接到马达输出转轴64。此外，可将马达联接件62可操作地联接到传输轴66，该传输轴可被构造成能够将马达14产生的旋转运动传输到传输组件20。例如，如图4所示，马达联接件62可包括中空近侧部分，该中空近侧部分可包括设置在纵向轴线LL周围的近侧环形壁68。可将多个轴向延伸齿条70间隔置于环形壁68周围，并且可向内突出朝向纵向轴线LL。此外，传输轴66的远侧部分72还可包括间隔置于传输轴66的远侧部分72的外壁周围的多个轴向延伸齿条74。齿条74可从远侧部分72的外壁向外突出并且远离纵向轴线LL。在某些示例中，通过回缩传输轴66可使马达14与传输组件20可操作地断开连接，从而使齿条74与马达联接件62的齿条70脱离配合接合。这种布置结构有利于允许动力模块10的手动操纵，例如，在操作期间马达10卡住时。
在使用中，可将传输轴66的远侧部分72接收在马达联接件62的中空近侧部分68内，以使齿条72与齿条74配合接合，使得当齿条72与74处于配合接合时，马达14产生的旋转运动可通过马达联接件62传输到传输轴66。读者将会知道，马达输出转轴64可适于充当传输轴，从而取消对马达联接件的需要。
参见图3和4，传输组件20可包括传输构件76，所述传输构件被构造成能够从传输轴66接收由马达14产生的旋转运动并且选择性地将这种旋转运动传输到第一旋转驱动器22或第二旋转驱动器26。传输构件76能够沿纵向轴线LL选择性地运动到例如第一位置、中间位置和/或第二位置。在第一位置，如图5所示，可使传输构件76可操作地与第一旋转驱动器22接合，使得马达14产生的旋转运动可致使第一旋转驱动器22旋转，从而致使第一轴向驱动器24根据马达14的旋转方向而沿近侧方向或远侧方向平移。在第二位置，如图9所示，可使传输构件76可操作地与第二旋转驱动器26接合，使得马达14产生的旋转运动可致使第二旋转驱动器26旋转，从而致使第二轴向驱动器28根据马达14的旋转方向而沿近侧方向或远侧方向平移。此外，在中间位置，如图8所示，传输构件76可不与第一旋转驱动器22或第二旋转驱动器26中的任一个可操作地接合。可沿纵向轴线LL将中间位置定位在第一位置和第二位置之间，使得传输构件76可例如从第一位置可滑动地朝远侧运动到中间位置并且从中间位置可滑动地朝远侧运动到第二位置。还可使得传输构件76例如从第二位置可滑动地朝近侧运动到中间位置并且从中间位置可滑动地朝近侧运动到第一位置。通过将传输构件76放置在中间位置来使马达14与第一旋转驱动器22和第二旋转驱动器26可操作地断开连接，可提供下述优点：允许动力模块10的手动操纵。例如，如果马达14在操作期间卡住，操作者可将传输构件76运动到中间位置并且将第一旋转驱动器22和/或第二旋转驱动器26手动地运动到默认位置。
参见图3和图4，例如，传输构件76可在它的远侧部分包括齿轮组件78。齿轮组件78可包括面向远侧的齿轮部分80和面向近侧的齿轮部分82。此外，例如，第一旋转驱动器22可在它的近侧部分包括环形壁84，如图所示3。环形壁84可被设置在纵向轴线LL周围，并且可包括从其朝远侧突出的齿轮部分86。当传输构件76处于第一位置时，齿轮部分86可被构造成能够与面向近侧的齿轮部分82啮合，如图所示5。此外，例如，第二旋转驱动器26可在它的近侧部分包括环形壁88，如图所示4。环形壁88可被设置在纵向轴线LL周围，并且可包括从其朝近侧突出的齿轮部分90，如图4所示。当传输构件76处于第二位置时，齿轮部分90可被构造成能够与面向远侧的齿轮部分80啮合，如图所示9。
如上所述，传输构件76能够在第一位置、中间位置和第二位置之间可选择性地轴向运动。为了保持在这些位置能够与传输轴66操作地接合，传输构件76可包括中空内壁92(参见图3)，该中空内壁可为大致圆柱形形状并且可被构造成能够可滑动地接收传输轴66，传输轴可为关键的以允许与传输构件76的旋转联接，使得可将旋转力从轴66联接到传输构件76。这种布置结构允许传输构件76在第一位置、中间位置和第二位置之间轴向地滑动，同时保持能够与传输轴66操作地接合。
参见图3-5，传输构件76可通过连接器98与致动器96可操作地接合，使得致动器96可被致动以在第一位置、中间位置和第二位置之间选择性地平移传输构件76。在某些情况下，致动器96可包括可旋转的螺母97，该螺母可与连接器98的近侧部分螺纹接合，如图3所示。此外，连接器98可以下述方式与传输构件76可操作地联接：允许传输构件76相对于连接器98自由旋转同时允许连接器98将轴向运动传输到传输构件76以在第一位置、中间位置和第二位置之间轴向地运动传输构件76。例如，连接器98可包括中空远侧部分100，该中空远侧部分可包括环形壁102，所述环形壁围绕纵向轴线LL延伸并且包括环形凹槽104，如图5所示。此外，传输构件76可包括环形凸缘106，该环形凸缘从传输构件的近侧部分以远离纵向轴线LL的方式突出并且围绕纵向轴线LL延伸，如图3所示。凹槽104可被构造成能够在其中接收环形凸缘106，如图5所示。环形凸缘106可相对于凹槽104自由旋转从而允许传输构件76相对于连接器98自由旋转。然而，可约束环形凸缘106使其不能相对于凹槽104轴向运动，这可允许连接器98将轴向运动传输到传输构件76。
除此之外，如图7和图8所示，致动器96可沿第一方向例如顺时针方向旋转，以致使与致动器96螺纹接合的连接器98沿远侧方向平移，例如，这可致使传输构件76从第一位置朝远侧平移，如图5所示，至中间位置，如图8所示。结果，齿轮组件78的面向近侧的齿轮部分80可从第一位置朝远侧平移到中间位置并且与第一旋转驱动器22的齿轮部分86脱离啮合接合，如图8所示。此外，参见图8和图9，致动器96可沿第一方向进一步旋转以致使连接器98进一步沿远侧方向平移。连接器98的这种另外的运动可导致传输构件76的另外的远侧运动，从中间位置，如图所示8，至第二位置，如图9所示。传输构件76的这种运动可致使面向远侧的齿轮部分80与第二旋转驱动器26的齿轮部分90啮合接合。
为了使传输构件76从第二位置返回到中间位置，致动器96可沿与第一方向相反的第二方向例如逆时针方向旋转，这可致使连接器98沿近侧方向平移从而使传输构件76朝近侧运动到中间位置并且与第二旋转驱动器26的齿轮部分90脱离啮合接合。此外，为了使传输构件76返回到第一位置，致动器96还可沿第二方向旋转，这可致使连接器98进一步朝近侧平移，从而使传输构件76进一步朝近侧运动到第二位置并且与第一旋转驱动器22的齿轮部分86啮合接合。
参见图5-7，如上文更详细的描述，第一旋转驱动器22可被容纳在外壳12的腔室12A中。在某些情况下，当第一旋转驱动器22响应于由马达14产生的旋转运动而旋转时，为了使第一旋转驱动器22和腔室12A之间的摩擦最小化，腔室12A的近侧壁50和远侧壁52可充分地间隔开以提供用于第一旋转驱动器22旋转的间隙，所述近侧壁和远侧壁机械约束第一旋转驱动器22使其不能轴向平移。例如，如图5所示，间隙距离C示出在远侧壁52和第一旋转驱动器22之间。因此，在此类情况下，第一旋转驱动器22可在允许的间隙距离C范围内在近侧壁50和远侧壁52之间轻微地轴向平移。然而，间隙距离C可为不够大的以难以允许第一旋转驱动器22的齿轮部分86在操作期间与传输构件76无意地可置换地脱离啮合接合。
除此之外，偏置构件103，诸如例如卷簧，可被定位在外壳12和连接器98之间，如图5所示。偏置构件103可针对连接器98沿近侧方向施加偏置力，所述偏置力可被传输到传输构件76，并且继而传输到第一旋转驱动器22(当其与传输构件76在第一位置接合时)。偏置构件103的偏置力可确保第一旋转驱动器22的齿轮部分86与传输构件76在操作期间保持啮合接合同时传输构件76处于第一位置。在此类情况下，致动器98必须克服由偏置构件103针对连接器98施加的偏置力，以便成功地平移连接器98，并且继而使传输构件76朝远侧平移，例如，至中间位置，这可致使偏置构件被压缩，如图8所示。
如图5所示，以至少一种形式，可将马达14附连到外壳12。例如，如图5所述，可例如通过螺杆或其它合适的机械紧固件110，将马达14的远侧部分107固定地联接到腔室12B的远侧部分108。本公开设想了用于将马达14固定到外壳12的其它装置。此外，可将第二旋转驱动器26可旋转地联接到腔室12B的远侧部分108，这可机械约束第二旋转驱动器26使其不能轴向运动。例如，远侧凸缘112可围绕第二旋转驱动器26的远侧部分延伸并且从第二旋转驱动器26的远侧部分突出，如图5所示。可将远侧凸缘112可旋转地支撑在腔室12B的远侧部分108内并且可机械约束远侧凸缘112使其不能在腔室12B的远侧部分108内轴向运动。
现在参见图11，示出了可与动力模块10一起使用的示例性外科器械200。在至少一种形式中，外科器械200可包括柄部203、轴204和端部执行器202，所述端部执行器可相对于轴204围绕纵向轴线LL旋转。端部执行器202被构造成能够充当用于夹持、切割和缝合组织的直线切割器。然而，应当理解，多种另选的实施例可包括被构造成能够充当其它外科装置(包括例如，抓紧器、切割器、缝合器、施夹钳、进入装置、药物/基因疗法递送装置、超声、射频和/或激光能量装置等)的端部执行器。参见，例如，名称为“MANUALLYDRIVENSURGICALCUTTINGANDFASTENINGINSTRUMENT”的美国专利8,322,455，上述专利的全部公开内容以引用方式并入本文。
除此之外，仍然参见图11，器械200的柄部203可包括触发器214以致动端部执行器202。应当理解，具有涉及不同手术任务的端部执行器的器械可具有不同数量或类型的触发器或用于操作端部执行器的其它合适的控制器。端部执行器202通过轴204连接至柄部203。应当理解，空间术语诸如垂直、水平、右、左等在本文结合附图给出，假设外科器械200的纵向轴线与轴204的中心轴线共轴，并且触发器214以锐角从柄部203的底部向下延伸。然而在实际应用中，外科器械200可以各种角度被定向，并且同样地，这些空间术语相对于外科器械200自身被使用。另外，近侧用于表示在柄部203后面并将端部执行器202朝远侧或者远离他或她自身放置的临床医生的视角。
参见图11，外科器械200的端部执行器202被示为处于闭合构型，其中钉仓250定位在细长通道252内。在砧座256的下表面上，可排列多个钉成形凹坑以对应于多个钉腔254，所述多个钉腔包括钉仓250的上表面中面向上的孔。可将刀杆258(参见图12)推进穿过仓250以切割捕获于砧座256和钉仓250之间的组织。钉仓250可包括模塑的仓体260，所述仓体可保持多个钉(未示出)，所述钉可在钉腔254内靠在钉驱动器(未示出)上。楔形滑动件(未示出)可通过I型梁262向远侧驱动，在仓托盘(未示出)上滑动，所述仓托盘使可替换的钉仓250的各种部件保持在一起。楔形滑动件可使钉驱动器向上凸轮运动，以挤出钉，使其变形并与砧座256接触，同时刀片258切断夹紧的组织。参见，例如，2013年3月14日提交的名称为“DRIVETRAINCONTROLARRANGEMENTSFORMODULARSURGICALINSTRUMENTS”的美国专利申请13/803,130，上述申请的全部公开内容以引用方式并入本文。
参见图11和12，可经由脊组件206将细长通道252联接到柄部203，所述脊组件可包括近侧脊节段218和可相对于近侧脊节段218可旋转地支撑的远侧脊节段216。细长通道252可联接到远侧脊节段218并且可包括砧座凸轮狭槽，所述砧座凸轮狭槽可枢转地接收砧座256上对应的砧座枢轴。此外，闭合套筒208可被接收在脊组件206之上并且可包括朝远侧呈现的插片210，所述插片接合砧座256上的砧座闭合插片，以从而通过沿纵向轴线LL和相对于脊组件206轴向运动套筒208来影响砧座256的打开和闭合。此外，套筒208可旋转地联接到远侧脊节段218，使得套筒208的旋转可影响远侧脊节段218的旋转，并且继而影响端部执行器202相对于近侧脊节段218的旋转。
除此之外，套筒208可包括环形凸缘220，该环形凸缘围绕纵向轴线LL延伸并且从套筒208的近侧部分突出，如图12所示。此外，凸缘220可旋转地支撑在柄部203内滑架构件224中的狭槽222中，使得套筒208可相对于滑架构件224自由旋转并且使得套筒208可通过推进和回缩滑架构件224沿纵向轴线LL朝远侧推进和朝近侧回缩。此外，滑架构件224可联接到第一轴向驱动器26，如图13所示。因此，第一旋转驱动器22沿第一方向例如顺时针方向的旋转可致使第一轴向驱动器24朝远侧平移，如上文更详细的描述，这可致使滑架构件224，继而套筒构件208朝远侧平移。结果，套筒208的插片210可接合砧座256上的闭合插片，并且将凸轮力施加到砧座256，从而使端部执行器202从打开构型转变到闭合构型。在某些情况下，偏置构件(未示出)可用于使砧座256保持处于打开构型。在此类情况下，在朝远侧推进套筒208时由插片210施加到砧座256的凸轮力必须克服偏置构件的偏置力以使端部执行器202处于闭合构型。还在此类情况下，套筒208通过第一旋转驱动器22沿与第一方向相反的第二方向旋转而朝近侧回缩，可释放砧座256，从而允许偏置构件使砧座256运动到打开构型。读者将会知道，其它布置结构可用于促动砧座256响应于第一轴向驱动器24的轴向运动以在闭合构型和打开构型之间运动。
如上文更详细的描述，第二轴向驱动器28可响应于由马达14产生的旋转运动而沿纵向轴线LL朝远侧推进和朝近侧回缩。参见图13和14，I型梁262可操作地联接到第二轴向驱动器28，使得当朝远侧推进第二轴向驱动器28时可朝远侧推进I型梁262以从钉仓250部署钉和/或切割捕获于砧座256与钉仓250之间的组织，并且当第二轴向驱动器28朝近侧回缩时可朝近侧回缩I型梁262。
再次参见图13，第二轴向驱动器28可联接到击发驱动器226，所述击发驱动器可滑动地设置在近侧脊节段218内。此外，I型梁262可设置在可通过连接器构件228可操作地联接到击发驱动器226的击发杆230的远侧部分处，其中击发杆230可滑动地设置在远侧脊节段216内。此外，击发驱动器226可包括渐缩的远侧部分227，所述远侧部分可被接收在连接器构件228的中空近侧部分内。例如，渐缩的远侧部分227可被设计成与连接器227的中空近侧部分按扣接合，使得连接器构件228可围绕纵向轴线LL相对于击发驱动器226旋转。此外，连接器构件228可在其远侧部分包括狭缝231，所述狭缝可被构造成能够摩擦地接收设置在击发杆230的近侧部分处的直立插片229。这种示例性布置结构允许将轴向运动从第二轴向驱动器28传输到I型梁262。例如，可通过沿第一方向例如顺时针方向旋转第二旋转驱动器26来使第二轴向驱动器28沿纵向轴线LL朝远侧延伸。继而，击发驱动器226、连接器构件228和击发杆230可响应于第二轴向驱动器28的推进而朝远侧推进，这可致使I型梁262从钉仓250部署钉和/或切割捕获于例如砧座256与钉仓250之间的组织。此外，可通过沿与第一方向相反的第二方向，例如逆时针方向旋转第二旋转驱动器26来使第二轴向驱动器28沿纵向轴线LL朝近侧回缩。继而，击发驱动器226、连接器构件228和击发杆230可响应于第二轴向驱动器28的回缩而朝近侧回缩，这可致使I型梁262回缩到默认位置。
主要参见图13，动力模块10可与外科器械200的柄部203整合。例如，如图13所示，可沿纵向轴线LL将动力模块10设置在柄部203的主体部分207中。在某些示例中，如图13所示，致动器96可操作地联接到可旋转旋钮234，操作者可旋转该可旋转旋钮以旋转致动器96，并且继而使传输构件76在第一位置、中间位置和第二位置之间运动，如上所述。此外，电池236(或“动力源”或“动力组”)，诸如锂离子电池，例如可设置在邻近马达14的柄部203的手枪式握把部238中，其中电池可通过控制电路240为马达14提供动力(参见图14)。根据各种实施例，可以使用串联连接的多个电池单元作为动力源来为马达14提供动力。此外，动力源可以是可替换的和/或可再充电的。在其它实施例中，动力源可包括可用于外科套件的交流电源。
参见图14，控制电路240可包括微控制器242，该微控制器可通常包括存储器244和微处理器246(“处理器”)。处理器246可操作地联接到马达驱动器248，该马达驱动器可被构造成能够控制马达14的位置、旋转方向和速度。此外，控制电路240可操作地联接到多个传感器，传感器可例如检测第一旋转驱动器22、第一轴向驱动器24、第二旋转驱动器26、第二轴向驱动器28、I型梁262、套筒208、传输构件76和/或砧座256的位置。检测到的位置可被发送到处理器246。参见，例如，2013年3月14日提交的名称为“DRIVETRAINCONTROLARRANGEMENTSFORMODULARSURGICALINSTRUMENTS”的美国专利申请13/803,130，上述申请的全部公开内容以引用方式并入本文。
在某些情况下，微控制器242可为(例如)LM4F230H5QR，其可购自德州仪器(TexasInstruments)。在一个实施例中，德州仪器(TexasInstruments)LM4F230H5QR为ARMCortex-M4F处理器芯，其包括：256KB的单循环闪存存储器或其它非易失性存储器(至多40MHZ)的片上存储器7006、用以使性能改善超过40MHz的预取缓冲器、32KB的单循环串行随机访问存储器(SRAM)、装载有StellarisWare软件的内部只读存储器(ROM)、2KB电可擦编程只读存储器(EEPROM)、两个脉宽调制(PWM)模块，包括针对运动和能量应用的16种先进PWM输出、两种正交编码器输入(QEI)模拟、具有12个模拟输入通道的两个12位模数转换器(ADC)，以及对于产品数据表而言易得的其它特征结构。可容易地取代其它微控制器以用于控制电路240中。因此，本公开不应限于这一上下文。
在某些情况下，驱动器248可为购自Allegro微系统公司(AllegroMicrosystems,Inc)的A3941。A3941驱动器248可为全桥控制器，其用于与针对电感负载特别设计的外部N通道动力金属氧化物半导体场效应晶体管(MOSFET)一起使用，诸如有刷直流马达。驱动器248包括独特的电荷泵调节器，其为低至7V的电池电压提供完整的(>10V)门极驱动并且允许A3941在低至5.5V的减小的门极驱动下操作。可采用自举电容器来提供N通道MOSFET所需的上述电池供电电压。高边驱动器的内部电荷泵可允许直流(100％占空比)操作。可使用二极管或同步整流在快衰减模式或慢衰减模式下驱动全桥。在慢衰减模式下，电流再循环可穿过高边或低边FET。通过电阻器可调式空载时间保护动力FET不被击穿。整体诊断指示欠压、过热和动力桥故障，并且可被构造成能够在大多数短路情况下保护动力MOSFET。可容易地取代其它马达驱动器以用于马达控制电路240中。因此，本公开不应限于这一上下文。
在某些情况下，由电池236提供的电压极性可沿顺时针方向操作电动马达14，其中由电池236施加到电动马达14上的电压极性可以是相反的，以便沿逆时针方向操作电动马达14。马达14的旋转方向可确定传输构件76与第一旋转驱动器22接合时第一轴向驱动器24的轴向运动方向，并且可确定传输构件76与第二旋转驱动器24接合时第二轴向驱动器28的轴向运动方向。
参见图13和图14，触发器214能够在未致动位置和致动位置之间运动。此外，触发器214可操作地联接到开关270，所述开关可通过电子电路272电联接到微控制器242，如图14所示。当触发器214在致动位置和未致动位置之间运动时可使开关270运动以打开或闭合电路272。例如，可将开关270机械联接到触发器214，使得当触发器214处于致动位置时开关270闭合电路272并且当触发器214处于未致动位置时打开电路272。在任何情况下，电路272的闭合和打开可发信号通知微控制器242来激活马达14以闭合或打开端部执行器202，如上所述。
在某些情况下，可通过偏置构件(未示出)使触发器214偏置成未致动位置。在使用中，外科器械200的操作者可旋转旋钮234以使传输构件76从中间位置运动到第一位置并运动成与第一旋转驱动器22联接接合。然后操作者可例如通过使开关270运动以闭合电路272来致动触发器214，致使微控制器242激活马达14以闭合端部执行器202。当释放触发器214时，偏置构件的偏置力可使触发器214返回到未致动位置，从而使开关270运动以打开电路272。由操作者对触发器214的第二致动可致使微控制器242激活马达14以沿与第一方向相反的第二方向例如逆时针方向旋转，以打开端部执行器202。
就本文所述的其它形式而言，外科器械200还可包括传感器，所述传感器被构造成能够检测第一轴向驱动器24的位置、第一轴向驱动器24的运动方向、第二轴向驱动器28的位置和/或第二轴向驱动器28的运动方向。此外，外科器械200还可包括被构造成能够检测传输构件76的位置的传感器。所有此类信息可被发送到处理器246并且可被存储在存储器244中。
除此之外，操作者可重复打开和闭合端部执行器202，如上所述，直到在砧座256和仓250之间捕获了所需组织。然后操作者可旋转旋钮234，以使传输构件76运动到第二位置并且使其与第二旋转驱动器26联接接合。当致动触发器214时，处理器246可针对第一轴向驱动器24、第二轴向驱动器28和传输构件76的位置而检查存储器244，以断定端部执行器闭合并且传输构件76处于第二位置。如此，微控制器242可激活马达14使其沿第一方向例如顺时针方向旋转，推进I型梁262使其紧固并且切割所捕获的组织，如上所述。在触发器214的第二致动时，微控制器242可激活马达14使其沿与第一方向相反的第二方向例如逆时针方向旋转，以使I型梁262回缩到默认位置。为了释放紧固的组织，操作者可致动触发器214以打开端部执行器202。在接收来自电路的272的信号时，如上所述，微控制器242可针对第一轴向驱动器24、第二轴向驱动器28和传输构件76的位置检查存储器244。作为响应，微控制器242可激活马达14以打开端部执行器202，如上所述。
现在参见图15和图16，示出了柄部203’。柄部203’在许多方面类似于柄部203，并且被构造成用于以与柄部203相同的方式与外科器械诸如例如外科器械200一起使用。此外，柄部203’包括动力模块10’，动力模块10’在许多方面与动力模块10类似。然而，动力模块10’能够可移除地联接到柄部203’。如此，动力模块10’可与多种外科器械一起使用。例如，在完成外科手术时，操作者可使动力模块10’与可被适当设置的外科器械200的柄部203’分离。然后动力模块10’可例如被重新消毒，并且通过将动力模块10’插入到新外科器械200的柄部203’中来与新外科器械200一起使用。
如图15所示，可将动力模块10’独立地联接到柄部203’。例如，可将第一轴向驱动器22独立地联接到击发驱动器226，并且可将第二轴向驱动器28独立地联接到滑架构件224。例如，如图16所示，燕尾接头274和276可分别将第一轴向驱动器22独立地联接到滑架构件224的近侧部分，并且将第二轴向驱动器28独立地联接到击发驱动器226的近侧部分。此外，致动器96可被设计用于与旋钮234按扣接合。此外，动力模块10’的马达14与驱动器248可通过合适的电接触彼此独立联接，所述电接触在它们之间提供电路径。此外，柄部203’可被构造成能够包括可拆卸的外部壳体，所述外部壳体可被移除以用于插入和分离动力模块，诸如例如与柄部203’可操作地接合的动力模块10’。
在某些示例中，与外科器械一起使用的动力模块包括端部执行器，动力模块包括第一运动转换组件，所述第一运动转换组件包括第一旋转驱动器以及可操作地联接到第一旋转驱动器的第一轴向驱动器。动力模块还包括第二运动转换组件，所述第二运动转换组件包括第二旋转驱动器以及可操作地联接到第二旋转驱动器的第二轴向驱动器。动力模块还包括马达和传输组件，所述马达被构造成能够产生至少一个旋转运动以致动端部执行器，所述传输组件被构造成能够使马达选择性地接合第一旋转驱动器和第二旋转驱动器，其中马达与第一旋转驱动器和第二旋转驱动器同心地布置。
在某些示例中，与外科器械一起使用的动力模块包括端部执行器，动力模块包括第一运动转换组件，所述第一运动转换组件包括第一旋转驱动器以及可操作地联接到第一旋转驱动器的第一轴向驱动器。动力模块还包括第二运动转换组件，所述第二运动转换组件包括第二旋转驱动器以及可操作地联接到第二旋转驱动器的第二轴向驱动器。动力模块还包括马达和传输组件，所述马达被构造成能够产生至少一个旋转运动以致动端部执行器，该马达限定致动轴线，所述传输组件被构造成能够使马达选择性地可操作地联接到第一旋转驱动器和第二旋转驱动器，其中第一旋转驱动器能够在马达可操作地联接到第一旋转驱动器时响应于至少一个旋转运动围绕致动轴线旋转，并且其中第二旋转驱动器能够在马达可操作地联接到第二旋转驱动器时响应于至少一个旋转运动围绕致动轴线旋转。
在某些示例中，外科器械包括轴、从轴朝近侧延伸的外壳、从轴朝远侧延伸的端部执行器、和至少部分地定位在外壳内的动力模块。动力模块包括第一旋转驱动器、第二旋转驱动器、被构造成能够产生至少一个旋转运动的马达、以及传输组件，该马达限定致动轴线，传输组件被构造成能够使马达选择性地可操作地联接到第一旋转驱动器和第二旋转驱动器，其中第一旋转驱动器能够在马达可操作地联接到第一旋转驱动器时响应于至少一个旋转运动围绕致动轴线旋转，其中第二旋转驱动器能够在马达可操作地联接到第二旋转驱动器时响应于至少一个旋转运动围绕致动轴线旋转，并且其中马达沿致动轴线延伸。
读者将会知道，本文所述的动力模块，诸如例如动力模块10的紧凑性质可有利于用于外科设定。这些动力模块可为用于多个往复式轴向运动的源，所述往复式轴向运动可用作外科器械，诸如例如外科器械200中的多种功能。此外，本文所述的动力模块，诸如例如动力模块10’，可具有另外的优点：可与多个外科器械一起使用。取回、重新消毒和再利用动力模块10’的能力可提供有利的成本节约。
以引用方式全文或部分地并入本文的任何专利、公布或其它公开材料均仅在所并入的材料不与本公开所述的现有定义、陈述或其它公开材料相冲突的范围内并入本文。同样地并且在必要的程度上，本文明确阐述的公开内容取代了以引用方式并入本文的任何冲突材料。任何以引用方式并入本文但与本文所述的现有定义、陈述或其它公开材料相冲突的任何材料或其部分，仅在所并入的材料和现有的公开材料之间不产生冲突的程度下并入本文。
尽管本发明已被描述为具有示例性的设计，但能够在本公开的实质和范围内对本发明进行进一步的修改因此本专利申请旨在涵盖采用本发明一般原理的任何变型、用途或修改型式。此外，本专利申请旨在涵盖本发明所属领域中属于已知或惯有实践范围内的与本公开不同的此类型式。

Claims (23)

1.一种与包括端部执行器的外科器械一起使用的动力模块，所述动力模块包括：
第一运动转换组件，所述第一运动转换组件包括：
第一旋转驱动器；和
可操作地联接到所述第一旋转驱动器的第一轴向驱动器；
第二运动转换组件，所述第二运动转换组件包括：
第二旋转驱动器；和
可操作地联接到所述第二旋转驱动器的第二轴向驱动器；
马达，所述马达被构造成能够产生至少一个旋转运动以致动所述端部执行器；和
传输组件，所述传输组件被构造成能够使所述马达选择性地接合所述第一旋转驱动器和所述第二旋转驱动器，其中所述马达与所述第一旋转驱动器和所述第二旋转驱动器同心地布置。
2.根据权利要求1所述的动力模块，其中所述第一轴向驱动器能够相对于所述第一旋转驱动器运动第一轴向距离，其中所述第二轴向驱动器能够相对于所述第二旋转驱动器运动第二轴向距离，并且其中所述第一轴向距离不同于所述第二轴向距离。
3.根据权利要求1所述的动力模块，其中所述马达被定位成至少部分地位于所述第二旋转驱动器内。
4.根据权利要求1所述的动力模块，其中所述第二旋转驱动器被定位成至少部分地位于所述第一旋转驱动器内。
5.根据权利要求1所述的动力模块，其中所述传输组件包括能够独立地联接到所述马达的传输轴，并且其中所述传输轴能够运动以使所述马达与所述传输组件可操作地断开连接。
6.根据权利要求1所述的动力模块，其中所述第一轴向驱动器和所述第二轴向驱动器在所述第一旋转驱动器和所述第二旋转驱动器之间部分地延伸。
7.根据权利要求1所述的动力模块，其中所述传输组件包括能够运动到第一位置和第二位置的传输构件，在所述第一位置所述马达可操作地与所述第一旋转驱动器接合，在所述第二位置所述马达可操作地与所述第二旋转驱动器接合。
8.一种与包括端部执行器的外科器械一起使用的动力模块，所述动力模块包括：
第一运动转换组件，所述第一运动转换组件包括：
第一旋转驱动器；和
可操作地联接到所述第一旋转驱动器的第一轴向驱动器；
第二运动转换组件，所述第二运动转换组件包括：
第二旋转驱动器；和
可操作地联接到所述第二旋转驱动器的第二轴向驱动器；
马达，所述马达被构造成能够产生至少一个旋转运动以致动所述端部执行器，所述马达限定致动轴线；和
传输组件，所述传输组件被构造成能够使所述马达选择性地可操作地联接到所述第一旋转驱动器和所述第二旋转驱动器，其中所述第一旋转驱动器能够在所述马达可操作地联接到所述第一旋转驱动器时响应于所述至少一个旋转运动围绕所述致动轴线旋转，并且其中所述第二旋转驱动器能够在所述马达可操作地联接到所述第二旋转驱动器时响应于所述至少一个旋转运动围绕所述致动轴线旋转。
9.根据权利要求8所述的动力模块，其中所述第一轴向驱动器能够相对于所述第一旋转驱动器运动第一轴向距离，其中所述第二轴向驱动器能够相对于所述第二旋转驱动器运动第二轴向距离，并且其中所述第一轴向距离不同于所述第二轴向距离。
10.根据权利要求8所述的动力模块，其中所述马达被定位成至少部分地位于所述第二旋转驱动器内。
11.根据权利要求8所述的动力模块，其中所述第二旋转驱动器被定位成至少部分地位于所述第一旋转驱动器内。
12.根据权利要求8所述的动力模块，其中所述第一轴向驱动器和所述第二轴向驱动器在所述第一旋转驱动器和所述第二旋转驱动器之间部分地延伸。
13.根据权利要求8所述的动力模块，其中所述传输组件包括能够运动到第一位置和第二位置的传输构件，在所述第一位置所述马达可操作地联接到所述第一旋转驱动器，在所述第二位置所述马达可操作地联接到所述第二旋转驱动器。
14.一种外科器械，包括：
轴；
从所述轴朝近侧延伸的外壳；
从所述轴朝远侧延伸的端部执行器；和
至少部分地定位在所述外壳内的动力模块，所述动力模块包括：
第一旋转驱动器；
第二旋转驱动器；
马达，所述马达被构造成能够产生至少一个旋转运动，所述马达限定致动轴线；和
传输组件，所述传输组件被构造成能够使所述马达选择性地可操作地联接到所述第一旋转驱动器和所述第二旋转驱动器，其中所述第一旋转驱动器能够在所述马达可操作地联接到所述第一旋转驱动器时响应于所述至少一个旋转运动围绕所述致动轴线旋转，其中所述第二旋转驱动器能够在所述马达可操作地联接到所述第二旋转驱动器时响应于所述至少一个旋转运动围绕所述致动轴线旋转，并且其中所述马达沿所述致动轴线延伸。
15.根据权利要求14所述的外科器械，其中所述第一轴向驱动器能够相对于所述第一旋转驱动器运动第一距离，其中所述第二轴向驱动器能够相对于所述第二旋转驱动器运动第二距离，并且其中所述第一距离不同于所述第二距离。
16.根据权利要求14所述的外科器械，其中所述马达被定位成至少部分地位于所述第二旋转驱动器内。
17.根据权利要求14所述的外科器械，其中所述第二旋转驱动器被定位成至少部分地位于所述第一旋转驱动器内。
18.根据权利要求14所述的外科器械，其中所述第一旋转驱动器与所述第一轴向驱动器螺纹接合，并且其中所述第二旋转驱动器与所述第二轴向驱动器螺纹接合。
19.根据权利要求14所述的外科器械，其中所述传输组件包括能够运动到第一位置和第二位置的传输构件，在所述第一位置所述马达可操作地联接到所述第一旋转驱动器，在所述第二位置所述马达可操作地联接到所述第二旋转驱动器。
20.根据权利要求19所述的外科器械，其中所述传输构件能够运动到中间位置，其中所述马达在所述中间位置可操作地与所述第一旋转驱动器和所述第二旋转驱动器断开连接。
21.根据权利要求20所述的外科器械，其中所述中间位置沿所述致动轴线位于所述第一位置和所述第二位置之间。
22.根据权利14要求所述的外科器械，其中所述第一轴向驱动器和所述第二轴向驱动器在所述第一旋转驱动器和所述第二旋转驱动器之间部分地延伸。
23.根据权利要求14所述的外科器械，其中所述传输组件包括能够独立地联接到所述马达的传输轴，并且其中所述传输轴能够运动以使所述马达与所述传输组件可操作地断开连接。
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