CN105476677B - 手持式机电手术系统 - Google Patents
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Abstract
提供一种手持式机电手术装置,其配置为选择性与手术配件连接,该机电手术装置包括:手柄组件,其具有配备核心组件的动力单元。该核心组件包括:多个电机,每个电机具有从其延伸的可旋转驱动轴,其中每个驱动轴彼此平行;处理器,其连接到电机并且配置为控制每个电机;以及电池,其电气连接到该处理器和每个电机。该动力单元包括内壳体,所述内壳体封装至少多个电机、处理器和电池。该手柄组件包括外外壳壳体,所述外外壳壳体构造为选择性地封装基本上整个动力单元,其中来自每个电机的每个可旋转驱动轴的旋转通过内壳体和外外壳壳体传递。
Description
相关申请的交叉引用
本申请要求于2014年10月7日递交的、序号为NO.62/060,734的美国临时专利申请的权益及优先权,该申请的全部公开通过引用合并于此。
技术领域
本公开涉及手术装置。更具体地,本公开涉及用于执行手术操作的手持式机电手术系统。
背景技术
一种手术装置为线性夹紧、切割和吻合装置。这种装置可以用在手术操作中来切除肠胃道的癌变或异常组织。常规的线性夹紧、切割和吻合器械包括具有细长轴和远侧部的手枪握把式结构。该远侧部包括一对剪刀式抓握元件,其夹紧闭合结肠的开口端。在此装置中,剪刀式抓握元件中的一个(诸如砧座部)相对于整个结构移动或枢转,而另一个抓握元件相对于整个结构保持固定。这种剪切装置的致动(砧座部的枢转)通过被保持在手柄中的抓握扳机来控制。
除剪切装置外,该远侧部还包括吻合机构。剪切机构的固定抓握元件包括吻合钉钉仓接收区以及如下机构:抵靠砧座部驱动吻合钉向上穿过组织的被夹紧端,从而密封先前的开口端。该剪切元件可以与轴一体地形成或者是可分离的以便各种剪切和吻合元件能够互换。
许多手术装置制造商已经开发了用于操作和/或操纵手术装置的专有动力驱动系统的生产线。在诸多示例中,手术装置包括:可重复使用的动力手柄组件;以及一次性末端执行器或类似物,其在使用前选择性连接到动力手柄组件上,然后在使用后从末端执行器上拆下以便弃置或者在某些情况下消毒再使用。
与许多现有动力装置和/或手柄组件一起使用的许多现有末端执行器是由线性力驱动的。例如,用于执行胃肠内吻合术操作、端端吻合术操作和横向吻合术操作的末端执行器为了被操作而通常各自需要线性驱动力。如此,这些末端执行器与使用旋转运动来传递动力或类似物的手术装置和/或手柄组件不兼容。
为使线性驱动的末端执行器与使用旋转运动来传递动力的手术装置和/或手柄组件兼容,对在线性驱动的末端执行器与动力旋转驱动的手术设备和/或手柄组件之间相接且相互连接的接合器和/或接合器组件存在需求。
期望的是,这些接合器和/或接合器组件经由快速连接/快速断开机构选择性地连接/重新连接基础的动力手术装置和/或手柄组件。
因此,存在对于接合器和/或接合器组件以及包括补充的快速连接/快速断开机构的基础动力手术装置和/或手柄组件的需求。
发明内容
本公开涉及用于执行手术操作的机电手术装置。
根据本公开的方案,提供了一种手持式机电手术装置,其配置为选择性地与手术配件连接。该机电手术装置包括手柄组件。该手柄组件包括具有核心组件的动力单元(power pack)。该核心组件包括:多个电机,每个电机具有从其延伸的可旋转驱动轴,其中每个驱动轴彼此平行;处理器,其连接到电机并且配置为控制每个电机;以及电池,其电气连接到该处理器和每个电机。
动力单元包括内壳体,其封装至少多个电机、处理器和电池,该内壳体包括至少一个控制接口,所述控制接口可被致动以控制多个电机中的至少一个的功能。
手柄组件包括外外壳壳体,所述外外壳壳体构造为在其中选择性地封装基本上整个动力单元,其中来自每个电机的每个可旋转驱动轴的旋转通过内壳体和外外壳壳体传递,并且其中外外壳壳体包括与动力单元的每个控制接口操作性配准的至少一个控制按钮。
使用时,至少一个控制按钮的致动作用在与其操作性配准的至少一个控制接口上,以控制多个电机中的至少一个的功能。
该机电手术装置可以进一步包括能够选择性地连接到手柄组件的接合器组件。该接合器组件可包括:壳体,其构造成并适于与手术装置连接并且与每个可旋转驱动轴操作性连通;外管,其具有由壳体支撑的近侧端以及构造成并且适于与装载单元选择性连接的远侧端,其中外管的远侧端与装载单元的至少一个轴向可平移驱动构件操作性连通;以及至少一个力/旋转传递/转换组件,其用于将手术装置的相应的一个驱动轴与装载单元的相应的一个轴向可平移驱动构件相互连接。
机电手术装置可以进一步包括插在动力单元和外外壳壳体之间的隔板组件。隔板组件可包括并且可支撑至少一个可旋转联接轴。每个联接轴可包括:近侧端,其构造为接收来自相应的可旋转驱动轴的旋转力;以及从手柄组件突出的远侧端。
当接合器组件连接到手柄组件时,接合器组件的至少一个力/旋转传递/转换组件可以与隔板组件的相应的联接轴相互连接。
该手柄组件可以支撑与处理器电气连通的至少一个电气连接器。
当动力单元封装于外外壳壳体内时,隔板组件可叠放在该手柄组件的电气连接器上。
该隔板组件可以包括且可以支撑直通电气连接器,其中,当动力单元封装于外外壳壳体内时,直通电气连接器可以与手柄组件的电气连接器交接。
接合器组件可以包括具有多个电气触片的电气组件,当接合器组件连接到手柄组件时,电气触片用以电气连接到隔板组件的直通连接器。
当隔板组件定位于外外壳壳体时,隔板组件的直通电气连接器可以被接纳在形成在外外壳壳体中的窗口中。
外外壳壳体的至少外表面可以是无菌的。隔板组件可以是无菌的。
该机电手术装置还可进一步包括能选择性地连接到手柄组件的接合器组件。接合器组件可包括:壳体,其构造成且适于与手术装置连接并且与每个可旋转驱动轴操作性连通;外管,其具有由该壳体支撑的近侧端以及构造成并适于与装载单元选择性的连接的远侧端,其中该外管的远侧端与装载单元的至少一个轴向可平移驱动构件操作性连通;以及至少一个力/旋转传递/转换组件,其用于与隔板组件的相应的一个可旋转联接轴的远侧端相互连接。
当接合器组件连接到手柄组件时,接合器组件的至少一个力/旋转传递/转换组件可以与隔板组件的相应的联接轴相互连接。
手柄组件可以支撑与处理器电气连通的至少一个电气连接器。
当动力单元被封装于外外壳壳体内时,隔板组件可以叠放在手柄组件的电气连接器上。
该隔板组件可以包括且可以支撑直通电气连接器,其中,当动力单元封装于外外壳壳体内时,直通电气连接器与手柄组件的电气连接器交接。
该接合器组件可以包括具有多个电气触片的电气组件,当接合器组件连接到手柄组件时,电气触片用以电气连接到隔板组件的直通连接器。
当隔板组件定位于外外壳壳体时,隔板组件的直通电气连接器可以被接纳在形成在外外壳壳体中的窗口中。
外外壳壳体的至少外表面可以是无菌的。隔板组件可以是无菌的。
手柄组件可以包括电气连接到处理器的电气显示器。
内壳体可以包括窗口,电气显示器通过窗口可视。内壳体的至少一部分可以是透明的。内壳体的透明部分可以与电气显示器视觉配准。
外外壳壳体可以包括窗口,当手柄组件封装于外外壳壳体内时,电气显示器通过窗口可视。外外壳壳体的至少一部分可以是透明的。外外壳壳体的透明部分可以与电气显示器视觉配准。
根据本公开的又一方案,提供了一种组装手持式机电手术装置的方法。所述方法包括设置手持式机电手术装置。手术装置包括设置:手柄组件,其包括动力单元,动力单元包括具有多个电机的核心组件,每个电机具有从其延伸的可旋转驱动轴,其中每个驱动轴彼此平行;处理器,其连接到电机并且配置为控制每个电机;以及电池,其电气连接到处理器和每个电机。动力单元进一步包括内壳体,所述内壳体封装至少多个电机、处理器和电池,内壳体包括至少一个控制接口,所述控制接口可被致动以控制多个电机中的至少一个的功能。
所述方法进一步包括设置无菌外外壳壳体,所述无菌外外壳壳体构造为在其中选择性地封装基本上整个动力单元,其中来自每个电机的每个可旋转驱动轴的旋转通过内壳体和外外壳壳体传递,并且其中外外壳壳体包括用于与动力单元的每个控制接口操作性配准的至少一个控制按钮。
所述方法进一步包括:在保持外外壳壳体的无菌性的同时将手柄组件插入无菌外外壳壳体的接纳腔;以及封闭外外壳壳体以封装手柄组件。
该方法可进一步包括设置接合器组件,所述接合器组件构造且适于与手术装置连接并且与每个可旋转驱动轴操作性连通。该接合器组件可包括至少一个力/旋转传递/转换组件,所述至少一个力/旋转传递/转换组件用于将手术装置的相应的一个驱动轴与装载单元的相应的一个轴向可平移驱动构件相互连接。该方法可进一步包括将该接合器组件连接到手柄组件,其中该接合器组件的可旋转连接器与相应的电机的驱动轴操作性连接,以从该相应的电机接收旋转力。
该方法可进一步包括设置手术装载单元,所述手术装载单元构造且适于选择性的连接到接合器组件的远侧端,该手术装载单元包括用于致动该手术装载单元的功能的至少一个力接收构件。该方法还可进一步包括将该手术装载单元连接到接合器组件的远侧端,其中该接合器组件的至少一个力/旋转传递/转换组件与该装载单元的相应的力接收构件操作性连接。
该方法可进一步包括:当接合器组件连接到手柄组件时,在该手柄组件的处理器与该接合器组件的电气组件之间建立电气连接。
该方法可进一步包括:当手术装载单元连接到接合器组件时,在该手术装载单元的电气接触器与该接合器组件的电气接触器之间建立电气连接。
附图说明
在此参照附图描述本公开的实施例,其中:
图1是根据本公开的实施例的手持式手术装置和接合器组件的立体图,其示出了其与末端执行器的连接;
图2是图1中所示手持式手术装置的立体图;
图3是图1和图2中所示手持式手术装置的零件分解的正视立体图;
图4是图1和图2中所示手持式手术装置的零件分解的后视立体图;
图5是示出了动力单元插入手持式手术装置的外外壳壳体的立体图;
图6是示出了放入手持式手术装置外外壳壳体的动力单元的立体图;
图7是手持式手术装置的外外壳壳体的侧视立体图;
图8是手持式手术装置的外外壳壳体及其插入引导件的仰视立体图;
图9是手持式手术装置的外外壳壳体的放大仰视立体图,其中,插入引导件从外外壳壳体分离;
图10是该插入引导件的第一立体图;
图11是该插入引导件的第二立体图;
图12是动力单元的正视立体图,其中内后壳体从其分离;
图13是动力单元的后视立体图,其中部内后壳体从其移除;
图14是该动力单元的动力单元核心组件的立体图;
图15是图14中所示动力单元核心组件的电机组件和控制组件的正视立体图;
图16是图15中所示电机组件和控制组件的零件分解的后视立体图;
图17是图2中所示手持式手术装置的纵剖视图;
图18是图17中所示细节指示区域的放大视图;
图19是沿图17中19-19所截取的手持式手术装置的剖视图;
图20是图1中所示接合器组件的正视立体图;
图21是图1和图20所示接合器组件的后视立体图;
图22是示出了接合器组件与手持式手术装置的连接的立体图;
图23是图1和图20至图22中所示接合器组件的俯视平面图;
图24是图1和图20至图23中所示接合器组件的侧视立体图;
图25是图1和图20至图24中所示接合器组件的零件分解立体图;
图26是图1和图20至图25中所示接合器组件的后视立体图,其中所述接合器组件的大多数零件分离;
图27是图1和图20至图26中所示接合器组件的关节式运动组件的立体图;
图28是图27中所示关节式运动组件的零件分解放大立体图;
图29是示出了图27中关节式运动组件处于第一方位的立体图;
图30是示出了图27中关节式运动组件处于第二方位的立体图;
图31是图29中所示关节式运动组件的剖视图;
图32是图1和图20至图26中所示接合器组件的电气组件的立体图;
图33是示出被支撑在近侧内壳体组件上的电气组件的立体图;
图34是图1和图20至图26中所示接合器组件的滑动环插管或套管的立体图;
图35是沿图33中剖面线35-35所截取的剖视图;
图36是图1和图20至图26中所示接合器组件的纵剖视图;
图37是图21中所示细节指示区域的放大视图;
图38是图1和图20至图26中所示接合器组件的内壳体组件的后视立体图,其中外球形壳体半部以及近侧盖已移除;
图39是图1和图20至图26中所示接合器组件的内壳体组件的后视立体图,其中外球形壳体、近侧盖和衬套板已移除;
图40是图1和图20至图26中所示接合器组件的内壳体组件的后视立体图,其中外球形壳体、近侧盖、衬套板和内壳体已移除;
图41是图36中所示细节指示区域的放大视图;
图42是图36中所示细节指示区域的放大视图,其示出了锁定按钮沿近侧方向被致动;
图43是沿图37中剖面线43-43所截取的剖视图;
图44是接合器组件的内以及外球形壳体的纵剖视图,其示出了关节式运动组件沿远侧方向的致动;
图45是沿图44中剖面线45-45所截取的剖视图;
图46是沿图44中剖面线46-46所截取的剖视图;
图47是沿图44中剖面线47-47所截取的剖视图;
图48是图1和图20至图26中所示接合器组件的远侧部的剖视图,其中不含与其接合的装载单元;
图49是图1和图20至图26中所示接合器组件的环形构件的立体图;
图50是图49中所示环形构件的立体图,其中,所述环形构件电气连接到图1 和图20至图26中所示接合器组件的开关;
图51是图1和图20至图26中所示接合器组件的远侧部的放大视图,包括组装在其内的环形构件及开关;
图52是图1和图20至图26中所示接合器组件的远侧部的另一剖视图,其中不含与其接合的装载单元;
图53是图1中所示装载单元的立体图;
图54是图1和图53中所示装载单元的零件分解的立体图;
图55和图56是图1和图53至图54中所示装载单元的内壳体的替换立体图;
图57和图58是图1和图53至图54中所示装载单元的替换剖视图,其中,内以及外壳体已组装;
图59和图60是图1和图53至图54中所示装载单元的外壳体的替换剖视图;
图61和图62是图1和图20至图26中所示接合器组件的远侧部接合装载单元的替换剖视图,示出了环形构件处于第一方位并且传感连接件处于非锁定构造;
图63和图64是图1和图20至图26中所示接合器组件的远侧部接合装载单元的替换剖视图,示出了环形构件处于第二方位的并且传感连接件处于锁定构造;
图65是图1和图20至图26中所示接合器组件的远侧部的放大剖视图;
图66是图1和图53至图54中的装载单元插入图49中所示环形构件的剖视图;
图67是沿图66中线67-67所截取的图1和图53至图54中的装载单元的剖视图;以及
图68是沿图66中线68-68所截取的图1和图53至图54中的装载单元的剖视图。
具体实施方式
将参照附图详细描述当前公开的手术装置及用于手术装置和/或手柄组件的接合器组件的实施例,其中,在几幅视图中的每个视图中,相同的附图标记指代相同或对应的元件。这里所使用的术语“远侧”是指接合器组件或手术装置或其部件的更远离用户的部分,而术语“近侧”是指接合器组件或手术装置或其部件的更靠近用户的部分。
依照本公开的实施例的手术装置总体指定为100,并且为动力手持式机电器械的形式,其构造成用于选择性附接至多个不同的末端执行器,每个末端执行器均构造成用于由该动力手持式机电手术器械致动和操纵。
如图1所示,手术装置构造为用于选择性连接接合器200,并且,依次地,接合器200构造为用于选择性连接末端执行器或单次使用装载单元(“SULU”)400。
如图1至图11所示,手术装置100包括动力单元101以及外外壳壳体10,外外壳壳体10构造为选择性地接纳动力单元101并且基本上封装动力单元101。外外壳壳体10包括远侧半部10a和近侧半部10b,该近侧半部10b通过沿远侧半部10a 和近侧半部10b的上边缘定位的铰链16可枢转地连接到远侧半部10a。当结合时,远侧半部10a和近侧半部10b限定壳腔10c,动力单元101选择性地安置在壳腔10c 中。
远侧半部10a和近侧半部10b是沿横向于接合器200的纵向轴线“X”的平面来分割的。
远侧半部10a和近侧半部10b中的每个包括相应的上壳部12a、12b和相应的下壳部14a、14b。下壳部12a、12b限定搭扣闭合部件18,其用于选择性地将下壳部 12a、12b紧固至彼此从而保持外壳壳体10的封闭状态。
外壳壳体10的远侧半部10a限定连接部20,其构造为接收接合器200的相应的驱动联接组件210。具体地,外壳壳体10的远侧半部10a具有凹槽20,当接合器 200与手术装置100匹配时,该凹槽20接纳接合器200的驱动联接组件210的一部分。
远侧半部10a的连接部20限定一对轴向延伸的导轨20a、20b,其从连接部20 的内侧表面径向向内突出。当接合器200与手术装置100匹配时,导轨20a、20b协助接合器200相对于手术装置100旋转地确定方位。
远侧半部10a的连接部20限定了形成在其远侧面对表面上的三个孔22a、22b、22c,所述三个孔布置在共同平面上或者彼此成直线排列。远侧半部10a的连接部 20还限定同样形成在其远侧面对表面上的细长狭槽24(以容纳连接器66,见图3)。
远侧半部10a的连接部20进一步限定形成在其表面中的内孔连接部件26(见图2)。内孔连接部件26与接合器200的外插连接部件选择性地接合,下文中对此会更为详细的描述。
外壳壳体10的远侧半部10a支撑远侧面对切换控制按钮30。切换控制按钮30 能够在被施加对应的力或者下压的力时,被沿左、右、上、下方向致动。
外壳壳体10的远侧半部10a支撑:右侧一对控制按钮32a、32b;以及左侧一对控制按钮34a、34b。右侧控制按钮32a、32b和左侧控制按钮34a、34b能够在被施加对应的力或者下压的力时被致动。
外壳壳体10的近侧半部10b支撑右侧控制按钮36a和左侧控制按钮36b。右侧控制按钮36a和左侧控制按钮36b能够在应用相应的力或者抑制相应的力时致动。
外壳壳体10的远侧半部10a和近侧半部10b由聚碳酸酯或类似聚合物制成并且是清澈的或透明的或者可以是包覆成型的。
参照图5至图11所示,手术装置100包括插入引导件50,其被构造且定形为安放在近侧半部10b的远侧面对边缘10d上并且整个地围绕近侧半部10b的远侧面对边缘10d(图3和图9)。插入引导件50包括:主体部52,其具有大体呈U形的横截面轮廓;以及支架54,其从主体部52的底部延伸。支架54构造为与外壳壳体 10的相应的远侧半部10a和近侧半部10b的下壳部12a、12b中的每一个上的搭扣闭合部件18接合。
使用时,当插入引导件50的主体部52安放在近侧半部10b的远侧面对边缘10d 上时,远侧半部10a的下壳部12a的搭扣闭合部件18与支架54的第一端接合,并且近侧半部10b的下壳部12b的搭扣闭合部件18与支架54的第一端接合。
参照图2至图4所示,外壳壳体10包括无菌的隔板组件60,其被选择性地支撑在远侧半部10a中。具体地,无菌的隔板组件60布置在远侧半部10a的连接部 20后面且在外壳壳体10的壳腔10c中。板组件60包括板62,其可旋转地支撑三个联接轴64a、64b、64c。每个联接轴64a、64b、64c从板62的相反侧延伸出,并且具有三边式横截面轮廓。当无菌隔板组件60布置在外壳壳体10的壳腔10c内时,每个联接轴64a、64b、64c延伸穿过远侧半部10a的连接部20的相应的孔22a、22b、 22c。
板组件60进一步包括被支撑在板62上的电气直通连接器66。直通连接器66 从板62的相反侧延伸出。当无菌隔板组件60布置在外壳壳体10的壳腔10c内时,每个联接轴64a、64b、64c延伸穿过远侧半部10a的连接部20的孔24。直通连接器 66限定多个接触路径,各个接触路径均包括用于穿过板62延伸电气连接的电缆。
当板组件60布置在外壳壳体10的壳腔10c内时,联接轴64a、64b、64c的远侧端及直通连接器66的远侧端布置在或安置在外壳壳体10的远侧半部10a的连接部20之内,并且电气地和/或机械地接合接合器200的相应的对应部件,下文中将会对此更为详细地描述。
操作中,在新的和/或无菌的外壳壳体10处于打开构造(即,远侧半部10a关于铰链16与近侧半部10b分离),并且插入引导件50抵靠外壳壳体10的近侧半部 10b的远侧边缘处于恰当位置的情况下,动力单元101插入外壳壳体10的壳腔10c。当动力单元101插入外壳壳体10的壳腔10c,插入引导件50从近侧半部10b移除并且远侧半部10a绕铰链16枢转到外壳壳体10的闭合构造。在闭合构造下,远侧半部10a的下壳部12a的搭扣闭合部件18与近侧半部10b的下壳部12b的搭扣闭合部件18接合。
操作中,在手术操作完成后,远侧半部10a的下壳部12a的搭扣闭合部件18从近侧半部10b的下壳部12b的搭扣闭合部件18脱离,并且远侧半部10a绕铰链16 枢转,远离近侧半部10b,以打开外壳壳体10。当外壳壳体10打开,动力单元101 从外壳壳体10的壳腔10c(具体地是从外壳壳体10的近侧半部10b)移除,然后外外壳壳体10被弃置。
动力单元101随后消毒和清洗。动力单元101无需浸泡或灭菌处理。
参照图3至图6和图12至图19,手术装置100包括动力单元101。动力单元 101包括内手柄壳体110,其具有下壳体部104和上壳体部108,该上壳体部108从下壳体部104延伸出和/或被支撑在下壳体部104上。下壳体部104和上壳体部108 分隔为远侧半部110a和近侧半部110b,该近侧半部110b通过多个紧固件可连接到远侧半部110a。当结合时,远侧和近侧半部110a、110b限定内手柄壳体110,其具有内壳体腔110c,动力单元核心组件106安置在内壳体腔110c中。
动力单元核心组件106配置为控制手术装置100的各种操作,下文将会更详细描述。
内手柄壳体110的远侧半部110a在其内限定远侧开口111a,其构造成并且适于支撑动力单元核心组件106的控制板160。当动力单元101布置在外壳壳体10之内时,动力单元101的控制板160抵靠外壳壳体10的无菌隔板组件60的板62的后表面。
参照图12,内手柄壳体110的远侧半部110a支撑与外壳壳体10的远侧切换控制按钮30操作性配准的远侧切换控制接口130。使用时,当动力单元101布置在外壳壳体10之内时,切换控制按钮30的致动对切换控制接口130施加力。
内手柄壳体110的远侧半部110a还支撑右侧一对控制接口132a、132b及左侧一对控制接口134a、134b。使用时,当动力单元101布置在外壳壳体10之内时,外壳壳体10的远侧半部10a的右侧一对控制按钮32a、32b或者左侧一对控制按钮 34a、34b中的一个的致动对内手柄壳体110的远侧半部110a的右侧一对控制接口132a、132b或者左侧一对控制接口134a、134b中的相应的一个施加力。
使用时,除非外壳壳体10已经有效,否则内手柄壳体110的远侧半部110a的右侧一对控制接口132a、132b或左侧一对控制接口134a、134b将会失效或不起作用。
内手柄壳体110的近侧半部110b限定右侧控制孔136a及左侧控制孔136b。使用时,当动力单元101布置在外壳壳体10之内时,外壳壳体10的近侧半部10b的右侧控制按钮36a或者左侧控制按钮36b中的一个的致动使右侧控制按钮36a或者左侧控制按钮36b延伸到并穿过内手柄壳体110的近侧半部110b的右侧控制孔136a 或左侧控制孔136b。
参照图12至图19所示,内手柄壳体110提供了安置动力单元核心组件106的壳体。动力单元核心组件106包括电池电路140、控制器电路板142和可充电电池 144,该可充电电池144配置为给手术装置100的任意电部件提供动力。控制器电路板142包括电机控制器电路板142a、主控制器电路板142b和将电机控制器电路板 142a与主控制器电路板142b相互连接的第一带状电缆142c。
动力单元核心组件106进一步包括被支撑在主控制器电路板142b上的显示屏146。显示屏146通过设置于内手柄壳体110的近侧半部110b中的清亮或透明的窗口110d(见图12和图17)可视。可以设想到内手柄壳体110的至少一部分可以由透明硬质塑料或类似物制成。可进一步设想到外壳壳体10可以包括形成在其内的窗口(窗口与显示屏146视觉配准并且与内手柄壳体110的近侧半部110b上的窗口 110d视觉配准),和/或外壳壳体10可以由透明硬质塑料或类似物制成。
动力单元核心组件106进一步包括第一电机152、第二电机154和第三电机156,每个电机都电气连接到控制器电路板142和电池144。电机152、154、156布置在电机控制器电路板142a和主控制器电路板142b之间。每个电机152、154、156包括从其延伸的相应的电机轴152a、154a、156a。每个电机轴152a、154a、156a具有用以传递旋转力或转矩的三边式横截面轮廓。
每个电机152、154、156都由相应的电机控制器控制。电机控制器布置在电机控制器电路板142a上并且是例如产自Allegro Microsystems,Inc.公司的A3930/31K 电机驱动器。A3930/31K电机驱动器设计为控制具有N通道外部动力MOSFETs的三相无刷直流(BLDC)电机,诸如电机152、154、156。每个电机控制器与布置在主控制器电路板142b上的主控制器联接。该主控制器还联接至同样布置在主控制器电路板142b上的存储器。主控制器是例如产自Freescale Semiconductor,Inc.公司的ARM Cortex M4处理器,其包括1024千字节的内部闪存。该主控制器通过FPGA (现场可编程门阵列)与电机控制器连通,该FPGA提供控制逻辑信号(如,滑行、制动等)。该电机控制器的控制逻辑随后使用固定频率脉冲宽度调制(PWM)输出对应的通电信号至相应的电机152、154、156。
每个电机152、154、156都被支撑在电机托架148上,使得电机轴152a、154a、 156a可旋转地布置在电机托架148的相应的孔中。如图16和图19所示,电机托架 148可旋转地支撑可键合至电机152、154、156的相应的电机轴152a、154a、156a 的三个可旋转的驱动连接器套管152b、154b、156b。当动力单元101布置在外壳壳体10之内时,驱动连接器套管152b、154b、156b不可旋转地接纳外壳壳体10的板组件60的相应的联接轴64a、64b、64c的近侧端。驱动连接器套管152b、154b、 156b各个通过被弹簧偏置而远离相应的电机152、154、156。
由相应的电机152、154、156引起的电机轴152a、154a、156a的旋转用作驱动接合器200的轴和/或齿轮部件,以执行手术装置100的各种操作。具体地,动力单元核心组件106的电机152、154、156配置为驱动接合器200的轴和/或齿轮部件,以使SULU 400的工具组件404相对于SULU 400的近侧主体部402选择性地移动,使SULU 400围绕纵向轴线“X”旋转,使钉仓组件408相对于SULU 400的砧座组件406移动,和/或从SULU 400的钉仓组件408中射出吻合钉。
电机托架148还支撑电插槽149。电插槽149通过第二带状电缆142d与主控制器电路板142b电气连接。电插槽149限定多个电气狭槽,所述电气狭槽用于接纳从外壳壳体10的板组件60的直通连接器66延伸出的相应的电气接触器或触片。
使用时,当接合器200与手术装置100匹配时,手术装置100的外壳壳体10 的板组件60的联接轴64a、64b、64c中的每个与接合器200的对应的可旋转连接器套管218、220、222联接(见图22)。就这点而言,对应的第一联接轴64a与第一连接器套管218之间的交接,对应的第二联接轴64b与第二连接器套管220之间的交接,以及对应的第三联接轴64c与第三连接器套管222之间的交接是键式的,使得手术装置100的联接轴64a、64b、64c中的每个的旋转引起接合器200的对应的连接器套管218、220、222的对应的旋转。
手术装置100的联接轴64a、64b、64c与接合器200的连接器套管218、220、 222的匹配允许旋转力经由三个对应的连接器交接中的每个而独立地传递。手术装置100的联接轴64a、64b、64c构造为通过相应的电机152、154、156而独立地旋转。
由于手术装置100的联接轴64a、64b、64c中的每个与接合器200的相应的连接器套管218、220、222具有键式的和/或基本上不可旋转的交接,当接合器200与手术装置100联接时,旋转力选择性地从手术装置100的电机152、154、156传递到接合器200。
手术装置100的联接轴64a、64b、64c选择性的旋转允许手术装置100选择性地致动SULU 400的不同功能。如下文中更详细的描述的,手术装置100的第一联接轴64a的选择性的且独立的旋转与SULU 400的工具组件404的选择性的且独立的打开和闭合对应,并且与SULU 400的工具组件404的吻合/切割部件的驱动对应。而且,手术装置100的第二联接轴64b的选择性的且独立的旋转与SULU 400的工具组件404的横向于纵向轴线“X”(见图21)的选择性的且独立的关节式运动对应。此外,手术装置100的第三联接轴64c的选择性的且独立的旋转与SULU 400的相对于手术装置100绕纵向轴线“X”(见图21)的选择性的且独立的旋转相对应。
参照图12至图19,动力单元核心组件106进一步包括开关组件170,开关组件 170被支撑在内手柄壳体110的远侧半部110a之内并且在切换控制接口130、右侧一对控制接口132a、132b和左侧一对控制接口134a、134b的下方的地方并与切换控制接口130、右侧一对控制接口132a、132b和左侧一对控制接口134a、134b配准。开关组件170包括第一组四个按钮操作开关172a至172d,按钮操作开关172a 至172d设置成:当动力单元101布置在外外壳壳体10中时,按钮操作开关172a至 172d围绕外外壳壳体10的切换控制按钮30的芯柱30a。开关组件170还包括第二对按钮操作开关174a、174b,当动力单元101布置在外外壳壳体10中时,按钮操作开关174a、174b布置在内手柄壳体110的远侧半部110a的右侧一对控制接口132a、132b下方。开关组件170进一步包括第三对按钮操作开关176a、176b,当动力单元101布置在外外壳壳体10中时,按钮操作开关176a、176b布置在内手柄壳体110的远侧半部110a的左侧一对控制接口134a、134b下方。
动力单元核心组件106包括:单个右侧按钮操作开关178a,其布置在内手柄壳体110的近侧半部110b的右侧控制孔136a下方;以及单个左侧按钮操作开关178b,其布置在内手柄壳体110的近侧半部110b的左侧控制孔136b下方。按钮操作开关 178a、178b被支撑在控制器电路板142上。当动力单元101布置在外外壳壳体10 中时,按钮操作开关178a、178b布置在外壳壳体10的近侧半部10b的右侧控制按钮36a和左侧控制按钮36b下方。
按钮操作开关172c的致动对应切换控制按钮30的向下致动,并且引起控制器电路板142提供适当的信号至电机152,以闭合SULU 400的工具组件404和/或从 SULU 400的钉仓组件408中射出吻合钉。
按钮操作开关172a的致动对应切换控制按钮30的向上致动,并且引起控制器电路板142提供适当的信号至电机152,以缩回吻合钉滑块并且打开SULU 400的工具组件404。
按钮操作开关172d的致动对应切换控制按钮30的向右致动,并且引起控制器电路板142提供适当的信号至电机152,以使工具组件404相对于SULU 400的主体部402向右关节式运动。类似地,按钮操作开关172b的致动对应切换控制按钮 30的向左致动,并且引起控制器电路板142提供适当的信号至电机152,以使工具组件404相对于SULU 400的主体部402向左关节式运动。
开关174a、174b的致动(通过用户的右手拇指)或者开关176a、176b的致动 (通过用户的左手拇指)对应右侧一对控制按钮32a、32b或左侧一对控制按钮34a、 34b的相应的致动,并且引起控制器电路板142提供适当的信号至电机154,以使 SULU 400相对于手术装置100旋转。具体地说,控制按钮32a或34a的致动引起 SULU 400相对于手术装置100沿第一方向旋转,而控制按钮32b或34b的致动引起SULU 400相对于手术装置100沿相反方向,例如第二方向旋转。
使用时,SULU 400的工具组件404根据需要和/或按照期望地在打开状态和闭合状态之间被致动。为了发射SULU 400,从其驱出紧固件,当SULU 400的工具组件404处于闭合状态时,安全开关178a或178b被下压,从而指示手术装置100: SULU 400准备好从其驱出紧固件。
参照图12和图14,手术装置100的动力单元核心组件106包括USB连接器180, USB连接器180被支撑在控制器电路板142的主控制器电路板142b上。USB连接器180通过动力单元核心组件106的控制板160可连接。当动力单元101布置在外外壳壳体10中时,USB连接器180由外壳壳体10的无菌隔板组件60的板62覆盖。
如图1和图20至图52所示,手术装置100构造为用于与接合器200 选择性的连接,而依次地,接合器200构造为用于与SULU 400选择性的连接。
接合器200构造为将手术装置100的驱动连接器套管152b或者156b的旋转转换成对SULU 400的驱动组件460和关节式运动连杆466的操作有用的轴向平移,如图54所示,下文对此将会详述。
接合器200包括第一驱动传递/转换组件,第一驱动传递/转换组件用于将手术装置100的第一驱动连接器套管152a和SULU 400的第一轴向可平移驱动构件相互连接,其中该第一驱动传递/转换组件传递手术装置100的第一驱动连接器套管152a 的旋转并将手术装置100的第一驱动连接器套管152a的旋转转换成SULU 400的第一轴向可平移驱动组件460的轴向平移用于发射。
接合器200包括第二驱动传递/转换组件,第二驱动传递/转换组件用于将手术装置100的第三驱动连接器套管156b和SULU 400的第二轴向可平移驱动构件相互连接,其中该第二驱动传递/转换组件传递手术装置100的第三驱动连接器套管156b 的旋转并且将手术装置100的第三驱动连接器套管156b的旋转转换SULU 400的关节式运动连杆466的轴向平移用于关节式运动。
现在转向图21至图47,接合器200包括外球形壳体202和外管206,该外管 206从球形壳体202的远侧端延伸出。球形壳体202和外管206构造成并设定尺寸为容纳接合器组件200的部件。外管206定尺寸为用于内窥镜检查的插入,具体地,该外管可穿过典型的套管针端口、插管或类似物通过。球形壳体202定尺寸为不进入该套管针端口、插管或类似物。球形壳体202构造成并且适于连接到手术装置100 的手柄壳体102的连接部108。
接合器200构造为将手术装置100的第一或者第二联接轴64a、64b的旋转转换成对操作SULU 400的驱动组件460和关节式运动连杆466有用的轴向平移,如图 54所示,并且下文将会对此更详细地描述。如图26和图38至图47所示,接合器 200包括近侧内壳体组件204,近侧内壳体组件204将第一可旋转近侧驱动轴212、第二可旋转近侧驱动轴214以及第三可旋转近侧驱动轴216可旋转地支撑在其内。每个近侧驱动轴212、214、216用作接收来自手术装置100的相应的联接轴64a、 64b、64c的旋转力的旋转接收构件,这将会在下文中更详细地描述。
如上文简述,接合器200的驱动联接组件210还构造为可旋转地分别支撑布置在公共平面中或彼此成直线排列的第一、第二和第三连接器套管218、222和220。如上所述,连接器套管218、222、220中的每个均构造为与手术装置100的相应的第一、第二和第三联接轴64a、64c和64b匹配。连接器套管218、222、220中的每个均进一步构造为与接合器200的相应的第一、第二和第三近侧驱动轴212、214、 216的近侧端匹配。
如图26、图38和图41至图44所示,接合器200的驱动联接组件210还包括布置在相应的第一、第二和第三连接器套管218、220、222的远侧的第一、第二和第三偏置构件224、226和228。第一、第二和第三偏置构件224、226和228中的每个布置成围绕相应的第一、第二和第三可旋转近侧驱动轴212、214、216。当接合器200连接到手术装置100时,偏置构件224、226和228作用在相应的连接器套管218、222和220上,以帮助保持连接器套管218、222和220与手术装置100的相应的联接轴64a、64c和64b的远侧端接合。
具体地,第一、第二和第三偏置构件224、226和228起到将相应的连接器套管 218、222和220沿近侧方向偏置的作用。以此方式,当接合器200连接到手术装置 100时,在手术装置100连接期间,如果第一、第二和/或第三连接器套管218、222 和/或220与手术装置100的联接轴64a、64c和64b未对准,则第一、第二和/或第三偏置构件224、226和/或228被压缩。因此,当手术装置100操作时,手术装置 100的联接轴64a、64c和64b会旋转从而第一、第二和/或第三偏置构件224、226 和/或228会引起相应的第一、第二和/或第三连接器套管218、222和/或220向近侧滑回,从而将手术装置100的联接轴64a、64c和64b有效地连接到驱动联接组件 210的第一、第二和/或第三近侧驱动轴212、214和216。
接合器200包括均布置在内壳体组件204和外管206内的多个力/旋转传递/转换组件。每个力/旋转传递/转换组件构造称并且适于在将手术装置100的第一、第二和第三可旋转联接轴64a、64c和64b的旋转速度/力传递至SULU400之前,传递/转换这种旋转速度/力(如,增加或减少)。
具体地说,如图26所示,接合器200包括分别地布置在内壳体组件204和外管 206内的第一、第二和第三力/旋转传递/转换组件240、250、260。每个力/旋转传递 /转换组件240、250、260构造成并且适于:传递手术装置100的第一、第二和第三联接轴64a、64c和64b的旋转并且将手术装置100的第一、第二和第三联接轴64a、 64c和64b的旋转转换成接合器200的关节式运动杆258的轴向平移,以实现SULU 400的关节式运动;转换成接合器200的环形齿轮266的旋转,以实现接合器200 的旋转;或者转换成接合器200的远侧驱动构件248的轴向平移,以实现SULU 400 的打开、闭合和发射。
如图26和图41至图45所示,第一力/旋转传递/转换组件240包括第一可旋转近侧驱动轴212,如上所述地,第一可旋转近侧驱动轴212被可旋转地支撑在内壳体组件204之内。第一可旋转近侧驱动轴212包括非圆形或异形近侧端部,其构造成用于与连接至手术装置100的相应的第一联接轴64a的第一连接器218连接。第一可旋转近侧驱动轴212包括具有螺纹外轮廓或表面的远侧端部212b。
第一力/旋转传递/转换组件240进一步包括驱动联接螺母244,驱动联接螺母244可旋转地联接至第一可旋转近侧驱动轴212的螺纹远侧端部212b并且可滑动地布置在外管206内。驱动联接螺母244可滑动地键锁于外管206的近侧芯管部之内,以便防止当第一可旋转近侧驱动轴212旋转时其旋转。这样,当第一可旋转近侧驱动轴212旋转时,驱动联接螺母244沿第一可旋转近侧驱动轴212的螺纹远侧端部212b 平移,并且接下来,穿过和/或沿外管206平移。
第一力/旋转传递/转换组件240进一步包括远侧驱动构件248,远侧驱动构件248机械地接合驱动联接螺母244,使得驱动联接螺母244的轴向移动引起远侧驱动构件248的相应量的轴向移动。远侧驱动构件248的远侧端部支撑连接构件247,连接构件247构造成并定尺寸为选择性接合SULU 400的驱动组件460的驱动构件474 (图54)。驱动联接螺母244和/或远侧驱动构件248用作向SULU 400的部件的力传递构件,这将会在下文中更详细地描述。
操作中,当第一可旋转近侧驱动轴212由于手术装置100的第一联接轴64a 的旋转导致的第一连接器套管218的旋转而旋转时,会引起驱动联接螺母244 沿第一远侧驱动轴242轴向平移。由于引起了驱动联接螺母244沿第一远侧驱动轴 242轴向平移,所以引起远侧驱动构件248相对于外管206轴向平移。由于远侧驱动构件248轴向平移,并且连接构件247连接至远侧驱动构件248且接合SULU 400 的驱动组件460的驱动构件474(图54),所以远侧驱动构件248引起SULU 400的驱动构件474的同时发生的轴向平移,从而实现SULU 400的工具组件404的闭合及SULU 400的工具组件404的发射。
参照图26至图31、图45和图46,接合器200的第二驱动转换器组件250包括被可旋转地支撑在内壳体组件204之内的第二近侧驱动轴214。第二可旋转近侧驱动轴214包括非圆形的或异形近侧端部,该近侧端部构造为与连接到手术装置100 的相应的第二联接轴64c的第二连接器或联接器222连接。第二可旋转近侧驱动轴 214进一步包括具有螺纹外轮廓或表面的远侧端部214b。
近侧驱动轴214的远侧端部214a与关节式运动轴承组件252的关节式运动轴承壳体252a螺纹接合。关节式运动轴承组件252包括支撑关节式运动轴承253的轴承壳体252a,该关节式运动轴承253具有相对于外圈253a可独立旋转的内圈253b。关节式运动轴承壳体252a具有非圆形的外轮廓,例如泪滴形,其可滑动地且不可旋转地布置在内壳体毂204a的互补孔腔204c(图45和图46)之内。
接合器200的第二驱动转换器组件250进一步包括具有近侧部258a的关节式运动杆258,近侧部258a固定到关节式运动轴承253的内圈253b。关节式运动杆258 的远侧部258b在其内包括狭槽258c,狭槽258c构造为接收SULU 400的关节式运动连杆466(图54)的旗子(flag)。关节式运动杆258用作向SULU 400的部件的力传递构件,这将会在下文中更详细地描述。
进一步说到关节式运动轴承组件252,关节式运动轴承组件252既可旋转又可纵向平移。此外,可以想像,当SULU 400的钳夹构件406、408处于接近位置和/ 或当钳夹构件406、408已关节式运动时,关节式运动轴承组件252允许SULU 400 的自由的、无阻碍的旋转运动。
操作中,当第二近侧驱动轴214因为手术装置100的第二联接轴64c的旋转而导致的第二连接器套管222的旋转而旋转时,会引起关节式运动轴承组件252沿第二近侧驱动轴214的螺纹远侧端部214b轴向平移,这依次地引起关节式运动杆258 相对于外管206轴向平移。当关节式运动杆258轴向平移,与SULU 400的关节式运动连杆466联接的关节式运动杆258引起SULU 400的关节式运动连杆466的同时发生的轴向平移,从而实现工具组件404的关节式运动。关节式运动杆258固定到关节式运动轴承253的内圈253b上,并且从而绕纵向轴线X-X相对于关节式运动轴承253的外圈253a自由旋转。
如图26、图38、图39、图43、图44和图47所示并且如上文所述,接合器200 包括被支撑在内壳体组件204内的第三力/旋转传递/转换组件260。第三力/旋转传递 /转换组件260包括旋转环形齿轮266,旋转环形齿轮266被固定地支撑在外球形壳体202中且连接到外球形壳体202。环形齿轮266限定齿轮齿266a(图26)的内部阵列。环形齿轮266包括从其外边缘突出的一对径直相对的、径向延伸的突起266b (图26)。突起266b布置在限定在外球形壳体202中的凹槽内,因而环形齿轮266 的旋转引起外球形壳体202的旋转,反之亦然。
第三力/旋转传递/转换组件260进一步包括第三可旋转近侧驱动轴216,第三可旋转近侧驱动轴216如上所述地被可旋转地支撑在内壳体组件204之内。第三可旋转近侧驱动轴216包括非圆形的或异形近侧端部,该近侧端部构造为与连接到手术装置100的相应的第三连接器122的第三连接器220连接。第三可旋转近侧驱动轴 216包括键合到其远侧端的正齿轮216a。反向齿轮264将第三可旋转近侧驱动轴216 的正齿轮216a与环形齿轮266的齿轮齿266a相互接合。
操作中,当第三可旋转近侧驱动轴216因为手术装置100的第三联接轴64b的旋转导致的第三连接器套管220旋转而旋转时,第三可旋转近侧驱动轴216的正齿轮216a接合反向齿轮264,引起反向齿轮264旋转。当反向齿轮264旋转时,环形齿轮266也旋转从而引起外球形壳体202旋转。当外球形壳体202旋转,引起外管206绕接合器200的纵向轴线“X”旋转。当外管206旋转,引起连接到接合器200 的远侧端部的SULU 400也绕接合器200的纵向轴线旋转。
如图22至图25所示,接合器200进一步包括被支撑在其上的附接/脱离按钮 272。具体地说,按钮272被支撑在从接合器200的驱动联接组件210突出的芯柱 273上(图25、图26、图41和图42),并且按钮272通过布置在芯柱273内或布置在芯柱273周边的偏置构件274而被偏置至非致动状态。按钮272包括与其一起形成的唇缘或架状突出部272a,唇缘或架状突出部272a构造为在沿手术装置100的手柄壳体102的连接部108的凹槽108a限定的对应的唇缘或架状突出部108b后面扣住。虽然芯柱273示出为具有相对较长的长度以在致动过程中提高/增加按钮272 的稳定性,但可以想到芯柱273可以具有比所描述的长度相对较短的长度。
使用时,当接合器200连接到手术装置100时,按钮272的唇缘272a布置在手术装置100的手柄壳体102的连接部108的唇缘108b后面,以将接合器200与手术装置100彼此固定并保持。为了允许接合器200与手术装置100从彼此断开连接,按钮272逆着偏置构件274的偏置被压下或被致动,以使按钮272的唇缘272a与手术装置100的手柄壳体102的连接部108的唇缘108b脱离。
参照图23至图25和图48至图52,接合器200进一步包括用于固定远侧驱动构件248的轴向位置的锁定机构280。锁定机构280包括被可滑动地支撑在外球形壳体202上的按钮282。锁定按钮282连接到穿过外管206纵向延伸的致动杆284。致动杆284随锁定按钮282的移动而移动。
操作中,为了锁定远侧驱动构件248的位置和/或方位,用户将锁定按钮282从远侧位置移向近侧位置(图25和图41),从而引起闭锁件(未示出)向近侧移动,以便该闭锁件的远侧面与凸轮系统构件288脱离,这引起凸轮系统构件288凸轮式运动到远侧驱动构件248的凹槽249中。通过这种方式,防止远侧驱动构件248远侧移动和/或近侧移动。当锁定按钮282从近侧位置移向远侧位置时,致动杆284的远侧端逆着偏置构件(未示出)的偏置向远侧移入闭锁件(未示出),以迫使凸轮系统构件288脱离凹槽249,从而允许远侧驱动构件248的无阻碍的轴向平移和径向移动。
参照图32至图39,接合器200包括被支撑在外球形壳体202和内壳体组件204 上及外球形壳体202和内壳体组件204内的电气组件290。电气组件290包括多个电气触片292,电气触片292被支撑在电路板294上用以电气连接到手术装置100 的外外壳壳体10的板组件60的直通连接器66。电气组件290用于经由手术装置100 的动力单元核心组件106的电插槽149而实现对信息(即,生命周期信息、系统信息、力信息)的校准并将信息传达至手术装置100的电路板。
电气组件290进一步包括电气连接到电路板294的应变计296。应变计296设置了槽口296a,槽口296a构造成并且适于接纳内壳体组件204的毂204a的芯柱 204d。毂204a的芯柱204d起到限制应变计296的旋转运动的作用。如图32、图35 和图39所示,第一可旋转近侧驱动轴212延伸穿过应变计296。应变计296对由第一可旋转近侧驱动轴212所展现的发射/夹紧负荷提供闭环反馈。
电气组件290还包括沿外管206的驱动联接螺母244不可旋转地且可滑动地布置的滑动环298。滑动环298与电路板294电气连接。滑动环298用作允许第一可旋转近侧驱动轴212的旋转及驱动联接螺母244的轴向平移,同时仍保持其电气接触环298a与接合器200内的至少另一个电气部件的电气接触,并且同时允许其他电气部件绕第一可旋转近侧驱动轴212和驱动联接螺母244旋转。
电气组件290可包括滑动环插管或套管299,滑动环插管或套管299围绕驱动联接螺母244定位,以保护和/或屏蔽从滑动环298延伸的任意电线。
现在转向图26、图33和图35,内壳体组件204包括具有远侧定向的环形壁204b 的毂204a,该环形壁204b限定基本上成圆形的外轮廓并且限定基本上成泪滴形的内凹槽或孔腔204c。毂204a的孔腔204c成形为并且定尺寸为将关节式运动轴承组件252可滑动地接纳在其中。
内壳体组件204包括环形板254a(图26),环形板254a固定到毂204a的远侧定向的环形壁204b的远侧面上。环形板254a限定穿过其中的孔254e,孔254e被定尺寸并且在其中形成为便于与第二近侧驱动轴214对准并且可旋转地接纳第二近侧驱动轴214的远侧末端214c。通过这种方式,第二近侧驱动轴214的远侧末端214c 被支撑,并且当第二近侧驱动轴214旋转以轴向平移关节式运动轴承组件252时,防止远离第二近侧驱动轴214的纵向旋转轴线径向地移动。
如图35所示,毂204a限定从其上突出的部件(如,柱状物或类似物)204d,部件204d用于与电气组件290的应变计296的槽口296a接合,以在手术装置100 操作时测量轴212受到的力。
参照图26和图38,其示出和描述了内壳体组件204的衬套板230。衬套板230 横跨内壳体组件204的毂204a延伸并且通过紧固构件固定到毂204a上。衬套板230 限定三个孔230a、230b、230c,三个孔230a、230b、230c对准相应的第一、第二和第三近侧驱动轴212、214、216并将相应的第一、第二和第三近侧驱动轴212、214、216可旋转地接纳在其中。衬套板230提供了如下的表面:第一、第二和第三偏置构件224、226、228接触或依靠所述表面。
参照图48至图52,接合器200包括从外管206的远侧部206b向远侧延伸的远侧盖208。接合器200进一步包括开关320、传感连接件或开关致动器340、环形构件360及致动杆284,上述部件均布置在外管206之内。开关320构造为响应于SULU 400与外管206的远侧部206b的联接而切换。开关320构造为与SULU 400的存储器(未示出)联接。SULU 400的存储器配置为保存关于SULU 400的数据并且配置为响应于SULU 400联接至外管206的远侧部206b而将该数据提供给手术装置100 的控制器电路板142。开关320布置在外管206的远侧部206b之内并且沿近侧方向定向。开关320安装在与手术装置100的控制器电路板142电气连接的印制电路板 322上,使得当开关320切换时,开关320向手术装置100传达:SULU 400与外管 206的远侧部206b接合或是SULU 400已脱离外管206的远侧部206b,这将在下文中进一步详细描述。
如图48和图51所示,接合器200包括可滑动地布置在外管206的远侧部206b 之内的开关致动器340。开关致动器340在如图48和图51所示的近侧位置与如图 63所示的远侧位置之间可纵向移动。在近侧位置和远侧位置之间移动期间,开关致动器340切换开关320。
开关致动器340具有近侧端部342a和远侧端部342b。开关致动器340的近侧端部342a包括内表面344,内表面344限定细长开口346,细长开口346具有布置在其中的螺旋弹簧348。螺旋弹簧348固定于开口346中内表面344的远侧端344a 与内壳体314的突起350之间,该突起350通过开口346突出。
开关致动器340的远侧端部342b包括具有锥形部352a的延伸部352。当环形构件360相对于延伸部352处于选定方位时,延伸部352与环形构件360的第一表面部件376a接合,使得开关致动器340保持在近侧位置。开关致动器340进一步包括从其中间部356延伸的耳片354。螺旋弹簧348向远侧位置弹性地偏置开关致动器340,如图48、图61和图63所示,在远侧位置耳片354致动或下压开关320。
参照图48至图52,接合器200包括环形构件360,环形构件360可旋转地布置在外管206的内壳体314之内。环形构件360从近侧端362a向远侧端362b延伸,并且限定了穿过其中的、构造成布置SULU 400的内壳体410b的圆筒形通路364,这将在下文中更详细描述。环形构件360包括纵向条板366,纵向条板366沿其长度限定细长狭槽368,该狭槽368构造为用于滑动布置SULU 400的内壳体410b的翅片420(图66至图68)。近侧端362a包括第一环圈370a,而远侧端362b包括第二环圈370b,第二环圈370b沿纵向条板366与第一环圈370a间隔。第一环圈370a 包括一对电气接触器372,电气接触器372通过电线374与开关320电气联接。电气接触器372构造为与SULU 400的相应电气接触器430接合,使得开关320和环形构件360能够在二者间传递关于SULU 400的数据,如下文所更详细描述的。可以考虑环形构件360的一部分成环形。
具体参考图51和图52,环形构件360还包括各自从第二环圈370b延伸的第一表面部件376a及第二表面部件或耳片376b。环形构件360的表面部件376a构造为与SULU 400的第一表面部件或第一凸耳412a(图61至图64)交接,以便环形构件360能够通过SULU 400旋转并且与其一起旋转。具体地说,表面部件376a在其内限定具有正方形构造的腔378,腔378构造为用于与SULU 400对应地定形的第一凸耳412a匹配接合。腔378定形并定尺寸为:当SULU 400插入接合器200时,其捕获SULU 400的第一凸耳412a(图57和图58),以便环形构件360能够通过 SULU 400旋转并且与其一起旋转。环形构件360的表面部件376a还构造为抵接开关致动器340的延伸部352以将开关致动器340保持在近侧位置。
环形构件360在第一方位和第二方位之间可旋转。在第一方位,如图51和图 52所示,环形构件360的表面部件376a捕获在远侧盖208的近侧唇缘208a与开关致动器340的延伸部352之间。在这种构造下,表面部件376a防止开关致动器340 从近侧位置向远侧位置的远侧移动,从而保持开关致动器340的耳片354与开关320 脱开。因此,环形构件360的表面部件376a具有双重功能:既保持开关致动器340 处于近侧位置,与开关320脱离,又将SULU400的第一凸耳412a捕获在腔378内以提供SULU 400与环形构件360之间的交接。
使用时,SULU 400插入接合器200的外管206的远侧端,以使SULU 400的第一凸耳412a与环形构件360的第一表面部件376a匹配,如图61所示。SULU 400 沿箭头“C”所示方向(图63)旋转,以驱动环形构件360从第一方位到第二方位的旋转。环形构件360从第一方位到第二方位的旋转将环形构件360的表面部件376a 从开关致动器340的延伸部352脱开,因而开关致动器340的螺旋弹簧348朝远侧位置偏置开关致动器340,其中在远侧位置,开关320被切换,如图63所示。
继续参照图52,环形构件360进一步包括从第二环圈370b延伸的突起或耳片376b。耳片376b具有平面构造并且构造为当SULU 400未接合到接合器200时,其阻止和/或防止环形构件360在内壳体314中无意的旋转。特别参照图52,当环形构件360处于第一方位时,耳片376b固定在远侧盖208的突起208b与致动杆284的远侧端284a之间。环形构件360从第一方位到第二方位的旋转被阻止和/或防止,直到致动杆284移到第二构造为止,如下文所述。这样,耳片376b保证了环形构件 360的第一表面部件376a与开关致动器340的延伸部352保持抵接,从而保持开关致动器340处于近侧位置直到SULU 400连接到接合器200为止。
参照图52、图62和图64以及如上简述,接合器200进一步包括锁定机构280,锁定机构280具有:被可滑动地支撑在外球形壳体202上的按钮282,以及从按钮 282延伸的致动杆284。致动杆284通过外管206纵向延伸。具体地说,致动杆284 可滑动地布置在在接合器200的内壳体314之内或沿其布置,并且致动杆284被弹性地朝向第一构造偏置,如图64所示。在第一构造中,致动杆284的远侧端或延伸部284a与远侧盖208接合。致动杆284的延伸部284a构造为:当SULU 400插入接合器200并旋转时,其与SULU 400的第二凸耳412b(图64)接合。如图62所示,SULU 400在第一构造与接合器200以及致动杆284接合,SULU 400的第二凸耳412b被捕获在围护结构286内,该围护结构286由致动杆284的延伸部284a和远侧盖208限定。
如图1和图54至图56所示,SULU指定为400。SULU 400包括近侧主体部402 及工具组件404。近侧主体部402可释放地附接到接合器200的远侧盖208上,并且工具组件404可枢转地附接到近侧主体部402的远侧端。工具组件404包括砧座组件406和钉仓组件408。钉仓组件408相对于砧座组件406可枢转并且可在打开或未夹紧位置与闭合或夹紧位置之间移动以用于通过套管针的插管插入。近侧主体部402至少包括驱动组件460和关节式运动连杆466。
参照图54,驱动组件460包括具有远侧端和近侧接合部的弹性驱动梁464。接合部的近侧端包括径直相对地向内延伸的指状件,其接合中空的驱动构件474以将驱动构件474固定到梁464的近侧端。驱动构件474限定近侧开口,当SULU 400 附接到接合器200的远侧盖208时,该近侧开口接纳接合器200的第一驱动转换器组件240的驱动管246的连接构件247。
SULU 400的近侧主体部402包括具有钩状近侧端的关节式运动连杆466,该钩状近侧端从SULU 400的近侧端延伸。
如图54所示,工具组件404的钉仓组件408包括可拆卸地支撑在托架上的吻合钉钉仓。该吻合钉钉仓限定中央纵向狭槽,以及定位在该纵向狭槽的每一侧的三个线性排的吻合钉保持狭槽。每个吻合钉保持狭槽接纳单个吻合钉和吻合钉推进器的一部分。在手术装置100的操作期间,驱动组件460抵接致动滑块并且推动致动滑块穿过钉仓。当致动滑块移动通过钉仓,致动滑块的凸轮楔顺序地接合吻合钉推进器以使吻合钉推进器在吻合钉保持狭槽中竖直地移动,并且从其顺序地射出单个吻合钉以抵靠砧座组件406的砧座板定型。
为了使SULU 400完全脱离接合器200,SULU 400沿远侧方向轴向平移,穿过远侧盖208并且移出接合器200的外管206。可以想到,当手术装置100检测到SULU 400未接合到接合器200时,可以从接合器200断电,也可以发出警报(如,听觉指示和/或视觉指示),或者以上二者组合。
参照图54至图60,SULU 400进一步包括外壳体410a和布置在外壳体410a中的内壳体410b。第一和第二凸耳412a、412b各自布置在外壳体410a的近侧端414 的外表面上。第一凸耳412a具有与接合器200的环形构件360的表面部件376a的腔378对应的基本上呈长方形的截面。第二凸耳412b具有与接合器200的远侧盖 208的内沟槽208c对应的基本上呈长方形的截面。外壳体410a的近侧端414定大小且定尺寸为穿过远侧盖208插入以与接合器200接合。
外壳体410a在其最近侧边缘中限定第一槽口416a和第二槽口416b。第一槽口416a构造用于滑动接纳从内壳体410b延伸的锥形翅片420。翅片420的至少一部分构造为用于布置在限定在环形构件360的纵向条板366中的狭槽468内,以利于内壳体410b插入环形构件360。第二槽口416b构造为与内壳体410b的一对平行、弹力的指状件422搭扣接合。第二槽口416b大体具有长方形构造,一对沟槽418限定在其内。每个指状件422具有匹配部424,其构造为与第二槽口416b的一个相应沟槽418匹配接合。外壳体410a进一步限定一对通道426,通道426限定在外壳体410a 的内表面428上并且布置在第一槽口416a的任一侧。外壳体410a的每个通道426 构造为用于内壳体410b的电气接触器430的一部分的布置,如下文所更详细描述的。
使用时,内壳体410b的翅片420和指状件422分别与外壳体410a的第一和第二槽口416a、416b对准,并且内壳体410b在外壳体410a中轴向平移直到指状件 422的匹配部424被捕获在第二槽口416b的沟槽418内为止,以使内壳体410b被捕获在外壳体410a中。
SULU 400进一步包括布置在内壳体410b之内或之上的存储器432。存储器432 包括存储芯片434以及电气连接到存储芯片434的一对电气接触器430。存储芯片434配置为保存与SULU 400相关的一个或多个参数。参数包括装载单元的序列号、装载单元的类型、装载单元的尺寸、吻合钉的尺寸、识别装载单元是否已经发射的信息、装载单元的长度、装载单元的最大使用次数及其组合。存储芯片434配置为:当SULU 400与接合器200接合时,通过电气接触器430向手术装置100传达SULU 400的存在以及上述SULU 400的一个或多个参数。
电气接触器430布置在内壳体410b的外表面上并且配置为:当SULU 400插入接合器200时,其与环形构件360的电气接触器372接合。每个电气接触器430的近侧端具有弯曲部436,当内壳体410b固定在外壳体410a中时,弯曲部436延伸超出SULU 400的外壳体410a的最近侧边缘,如图57和图58所示。当SULU 400 插入接合器200的环形构件360时,SULU400的电气接触器430的弯曲部436与环形构件360的电气接触器372接合。接触器372与430之间的这个连接允许SULU 400的存储芯片434与手术装置100的控制器电路板142之间的连通。具体地,手术装置100的控制器电路板142接收关于SULU 400的一个或多个参数以及SULU 400接合到接合器200。
操作中,SULU 400插入接合器200的外管206的远侧端206b,以在环形构件 360的表面部件376a的腔378中匹配地接合SULU 400的第一凸耳412a,如图61 至图65所示。SULU400插入接合器200还使得第二凸耳412b与致动杆284的延伸部284a接合,以将致动杆284沿近侧方向(图62中箭头“B”所示方向)移动至第二构造并且脱离与环形构件360的耳片376b的抵接。这样,致动杆284的延伸部284a不再阻止环形构件360旋转。伴随SULU 400在接合器200中处于初始插入位置,开关致动器340保持与开关320脱离的近侧位置。
为了将SULU 400接合到接合器200,SULU 400沿图63中箭头“C”所示方向旋转,通过SULU 400的第一凸耳412a与环形构件360的表面部件376a之间的匹配接合,驱动环形构件360从第一方位向第二方位旋转。环形构件360从第一方位向第二方位的旋转将环形构件360的表面部件376a从开关致动器340的延伸部352 上移开。随着表面部件376a脱离与开关致动器340的延伸部352的接合,开关致动器340通过螺旋弹簧348从近侧位置(如图48和图51所示)移到远侧位置(如图 63所示)。当开关致动器340移到远侧位置,开关致动器340的耳片354通过例如下压开关320来切换开关320,如图63所示。下压或者致动开关320是向手术装置 100传达:SULU 400已接合到接合器200并且准备操作。
SULU 400的旋转还将SULU 400的第二凸耳412b移入接合器200的远侧盖208 所限定的内沟槽208c中并且脱开与致动杆284的延伸部284a的接合。致动杆284 的弹性偏置驱动致动杆284沿图64中箭头“D”所示方向的轴向平移,以将致动杆284布置在第一构造。当致动杆284处于第一构造,SULU 400的第二凸耳412b被捕获在致动杆284的延伸部284a与接合器200的远侧盖208的内沟槽208c所限定的围护结构286内。由于接合器200的远侧盖208的内沟槽208c的内架状突出部 208d,SULU 400被阻止向远侧移出围护结构286,并且由于致动杆284的延伸部 284a的缘故,SULU 400被阻止沿图64中箭头“E”所示方向旋转。因此,SULU 400 可释放地接合至接合器200。
为了使SULU 400从接合器200选择性地释放,执业医师沿近侧方向平移或拉动致动杆284,使得致动杆284的延伸部284a不再阻挡SULU 400的第二凸耳412b,从而SULU 400可以旋转。SULU 400沿图63中箭头“F”所示方向旋转,以使SULU 400的第二凸耳412b移动脱离与远侧盖208的内架状突出部208d的抵接。SULU 400 的旋转还驱动环形构件360通过SULU 400的第一凸耳412a与环形构件360的表面部件376a之间的匹配接合而从第二方位向第一方位旋转。当环形构件360旋转,表面部件376a与开关致动器340的延伸部352的锥形部352a一起沿近侧方向驱动开关致动器340,直到环形构件360处于第一方位并且开关致动器340处于近侧位置脱开与开关320的接合为止。当开关致动器340的耳片354脱离开关320时,开关 320被切换,向手术装置100传达SULU 400可以从接合器200上取下。
操作中,当SULU 400的内壳体410b布置在外壳体410a之内,SULU 400被操纵以将内壳体410b的翅片420和内壳体410b的电气接触器430分别与环形构件360 的纵向条板366和环形构件360的电气接触器372对准。SULU 400插入接合器200 的远侧端,从而在环形构件360的表面部件376a中接合外壳体410a的第一凸耳 412a,并且在内壳体410b的电气接触器430与环形构件360的电气接触器372之间形成摩擦触点,如图63和图64所示。
如上参照图61和图62所述,当SULU 400初始插入接合器200时,开关致动器340保持与开关320的脱离。当开关320处于未致动状态,SULU 400的存储芯片434与手术装置100的控制器电路板142之间不建立电气连接。如上所讨论的,当SULU 400旋转时,SULU 400接合接合器200并且开关致动器340切换开关320 以致动开关320。当开关320处于致动状态,存储芯片434与手术装置100的控制器电路板142之间建立电气连接,通过所述电气连接,关于SULU 400的信息向手术装置100的控制器电路板142传达。当开关320致动并且内壳体410b的电气接触器430与环形构件360的电气接触器372之间建立摩擦触点时,手术装置100能够检测到SULU 400已经接合到接合器200并且能够识别SULU 400的一个或多个参数。
应当理解的是,对于当前公开的接合器组件的实施例可以做出各种修改。因此,以上描述不应视为限制性的,而仅是作为实施例的示范。本领域技术人员会想到包含在本公开的范围和实质精神之内的其他修改。
Claims (29)
1.一种手持式机电手术装置,其配置为与手术配件选择性地连接,所述手持式机电手术装置包括:
手柄组件,其包括:
动力单元,其包括:
核心组件,其具有:
多个电机,每个电机具有从其延伸的可旋转驱动轴,其中每个驱动轴彼此平行;
处理器,其连接到电机并且配置为控制每个电机;以及
电池,其电气连接到处理器和每个电机;以及
内壳体,其封装至少多个电机、处理器和电池,内壳体包括至少一个控制接口,所述控制接口能够被致动以控制多个电机中的至少一个的功能;
外外壳壳体,其包括共同地限定了腔的近侧半部和远侧半部,所述腔构造为将基本上整个动力单元选择性地接纳在其内,所述远侧半部具有用于接纳接合器组件的驱动联接组件的凹槽,所述凹槽具有壁和内侧表面,其中来自每个电机的每个可旋转驱动轴的旋转通过内壳体和外外壳壳体传递,并且其中外外壳壳体包括与动力单元的每个控制接口操作性配准的至少一个控制按钮;以及
隔板组件,其布置在所述外外壳壳体的远侧半部的凹槽的壁的近侧以及所述动力单元的内壳体的远侧,所述隔板组件包括并且支撑至少一个可旋转联接轴;每个联接轴具有:构造为接收来自相应的可旋转驱动轴的旋转力的近侧端,以及从手柄组件上突出的远侧端,
其中,至少一个控制按钮的致动作用在与其操作性配准的至少一个控制接口上,以控制多个电机中的至少一个的功能。
2.如权利要求1中所述的手持式机电手术装置,进一步包括:
接合器组件,其选择性地能连接到手柄组件,所述接合器组件包括:
壳体,其构造成且适于与手持式机电手术装置连接并且与每个可旋转驱动轴操作性连通;
外管,其具有由壳体支撑的近侧端以及构造成且适于与装载单元选择性连接的远侧端,其中外管的远侧端与装载单元的至少一个轴向可平移驱动构件操作性连通;以及
至少一个力/旋转传递/转换组件,其用于将手持式机电手术装置的相应的一个驱动轴与装载单元的相应的一个轴向可平移驱动构件相互连接。
3.如权利要求2中所述的手持式机电手术装置,其中,当接合器组件连接到手柄组件时,接合器组件的至少一个力/旋转传递/转换组件与隔板组件的相应的联接轴相互连接。
4.如权利要求3中所述的手持式机电手术装置,其中手柄组件支撑与处理器电气连通的至少一个电气连接器。
5.如权利要求4中所述的手持式机电手术装置,其中,当动力单元封装在外外壳壳体内时,隔板组件叠放在手柄组件的电气连接器上。
6.如权利要求5中所述的手持式机电手术装置,其中隔板组件包括并且支撑直通电气连接器,其中,当动力单元被封装于外外壳壳体内时,直通电气连接器与手柄组件的电气连接器交接。
7.如权利要求6中所述的手持式机电手术装置,其中接合器组件包括具有多个电气触片的电气组件,电气触片用于:当接合器组件连接到手柄组件时,电气触片电气连接到隔板组件的直通电气连接器。
8.如权利要求6中所述的手持式机电手术装置,其中,当隔板组件定位在外外壳壳体中时,隔板组件的直通电气连接器被接纳在形成在外外壳壳体中的窗口中。
9.如权利要求3中所述的手持式机电手术装置,其中外外壳壳体的至少外表面是无菌的。
10.如权利要求9中所述的手持式机电手术装置,其中隔板组件是无菌的。
11.如权利要求1中所述的手持式机电手术装置,进一步包括:
接合器组件,其选择性能连接到手柄组件,所述接合器组件包括:
壳体,其构造成且适于与手持式机电手术装置连接并且与每个可旋转驱动轴操作性连通;
外管,其具有由壳体支撑的近侧端以及构造成且适于与装载单元选择性连接的远侧端,其中外管的远侧端与装载单元的至少一个轴向可平移驱动构件操作性连通;以及
至少一个力/旋转传递/转换组件,其用于与隔板组件的相应的一个可旋转联接轴的远侧端相互连接。
12.如权利要求11中所述的手持式机电手术装置,其中,当接合器组件连接到手柄组件时,接合器组件的至少一个力/旋转传递/转换组件与隔板组件的相应的联接轴相互连接。
13.如权利要求12中所述的手持式机电手术装置,其中手柄组件支撑与处理器电气连通的至少一个电气连接器。
14.如权利要求13中所述的手持式机电手术装置,其中,当动力单元封装在外外壳壳体内时,隔板组件叠放在手柄组件的电气连接器上。
15.如权利要求14中所述的手持式机电手术装置,其中隔板组件包括并且支撑直通电气连接器,其中,当动力单元封装于外外壳壳体内时,直通电气连接器与手柄组件的电气连接器交接。
16.如权利要求15中所述的手持式机电手术装置,其中接合器组件包括具有多个电气触片的电气组件,电气触片用于:当接合器组件连接到手柄组件时,电气触片电气连接到隔板组件的直通电气连接器。
17.如权利要求15中所述的手持式机电手术装置,其中,当隔板组件定位在外外壳壳体中时,隔板组件的直通电气连接器被接纳在形成在外外壳壳体中的窗口中。
18.如权利要求11中所述的手持式机电手术装置,其中外外壳壳体的至少外表面是无菌的。
19.如权利要求18中所述的手持式机电手术装置,其中隔板组件是无菌的。
20.如权利要求1中所述的手持式机电手术装置,其中手柄组件包括电气连接到处理器的电气显示器。
21.如权利要求20中所述的手持式机电手术装置,其中内壳体包括窗口,电气显示器通过窗口可视。
22.如权利要求20中所述的手持式机电手术装置,其中内壳体的至少一部分是透明的,其中内壳体的透明部分与电气显示器视觉配准。
23.如权利要求21中所述的手持式机电手术装置,其中外外壳壳体包括窗口,当手柄组件封装于外外壳壳体内时,电气显示器通过窗口可视。
24.如权利要求23中所述的手持式机电手术装置,其中外外壳壳体的至少一部分是透明的,其中外外壳壳体的透明部分与电气显示器视觉配准。
25.一种组装手持式机电手术装置的方法,包括:
设置手持式机电手术装置,包括:
设置手柄组件,包括:
动力单元,包括:
核心组件,其具有多个电机,每个电机具有从其延伸的可旋转驱动轴,其中每个驱动轴彼此平行;处理器,其连接到电机并且配置成用于控制每个电机;以及电池,其电气连接到处理器和每个电机;以及
内壳体,其封装至少多个电机、处理器和电池,内壳体包括至少一个控制接口,控制接口能被致动以控制多个电机中的至少一个的功能;
无菌的外外壳壳体,所述外外壳壳体包括共同地限定了腔的近侧半部和远侧半部,所述腔构造为在其内选择性接纳基本上整个动力单元,所述远侧半部具有用于接纳接合器组件的驱动联接组件的凹槽,所述凹槽具有壁和内侧表面,其中来自每个电机的每个可旋转驱动轴的旋转通过内壳体和外外壳壳体传递,并且其中外外壳壳体包括至少一个控制按钮,其与动力单元的每个控制接口操作性配准;以及
隔板组件,其布置在所述外外壳壳体的远侧半部的凹槽的壁的近侧以及所述动力单元的内壳体的远侧,所述隔板组件包括并且支撑至少一个可旋转联接轴;每个联接轴具有:构造为接收来自相应的可旋转驱动轴的旋转力的近侧端,以及从手柄组件上突出的远侧端;
在保持外外壳壳体的无菌性的同时,将手柄组件插入无菌外外壳壳体的接纳腔;以及
封闭外外壳壳体以封装手柄组件。
26.如权利要求25中所述的方法,进一步包括:
设置接合器组件,其构造成且适于连接手持式机电手术装置并且与每个可旋转驱动轴操作性连通;接合器组件包括将手持式机电手术装置的相应一个驱动轴与装载单元的相应的一个轴向可平移驱动构件相互连接的至少一个力/旋转传递/转换组件;以及
将接合器组件连接到手柄组件,其中接合器组件的可旋转连接器与相应电机的驱动轴操作性连接,以从相应的电机接收旋转力。
27.如权利要求26中所述的方法,进一步包括:
设置手术装载单元,其构造成并且适于选择性连接到接合器组件的远侧端,手术装载单元包括用于致动手术装载单元的功能的至少一个力接收构件;
将手术装载单元连接到接合器组件的远侧端,其中接合器组件的至少一个力/旋转传递/转换组件与装载单元相应的力接收构件操作性连接。
28.如权利要求27中所述的方法,进一步包括,当接合器组件连接到手柄组件时,在手柄组件的处理器与接合器组件的电气组件之间建立电气连接。
29.如权利要求28中所述的方法,进一步包括,当手术装载单元连接到接合器组件时,在手术装载单元的电气接触器与接合器组件的电气接触器之间建立电气连接。
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