CN105520781B - 用于手术设备的接合器组件、延伸组件和连接器组件 - Google Patents

用于手术设备的接合器组件、延伸组件和连接器组件 Download PDF

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CN105520781B
CN105520781B CN201510843610.2A CN201510843610A CN105520781B CN 105520781 B CN105520781 B CN 105520781B CN 201510843610 A CN201510843610 A CN 201510843610A CN 105520781 B CN105520781 B CN 105520781B
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CN105520781A (zh
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拉米罗·卡夫雷拉
安妮·纳尔逊
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Covidien LP
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115—Staplers for performing anastomosis in a single operation
    • A61B17/1155—Circular staplers comprising a plurality of staples
    • 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
    • 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
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00473—Distal part, e.g. tip or head
    • 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

Abstract

本公开提供了用于手术设备的接合器组件、延伸组件和连接器组件。用于将末端执行器连接至电外科手术器械的组件包括接合器组件和延伸组件。接合器组件包括构造成用于将旋转运动转换成线性运动的第一推进器组件和第二推进器组件，以及用于传递旋转运动的驱动构件。延伸组件包括用于传递来自接合器组件的线性运动的至少一个柔性带状组件，以及构造为将旋转运动转换为线性运动的套管针组件。本公开还提供了一种用于将第一管状构件连接至第二管状构件的连接组件。

Description

用于手术设备的接合器组件、延伸组件和连接器组件
相关申请的交叉引用
本申请要求于2014年10月21日提交的美国临时专利申请序列号62/06 6,518的权益和优先权，其全部内容通过引用合并于此。
技术领域
本发明总体上涉及动力手术设备。更具体地，本发明涉及用于将末端执行器选择性连接至动力手术设备的致动单元的接合器组件和延伸组件。
背景技术
用于手术操作的动力设备是已知的。为了允许这些动力手术设备的手柄组件的再次使用并使得手柄组件可以与多种末端执行器一起使用，已经开发了接合器组件和延伸组件以用于选择性地附接至手柄组件和多种末端执行器。在使用之后，接合器组件和/或延伸组件可与末端执行器一起丢弃。在一些情形中，接合器组件和延伸组件可消毒以便再次使用。
发明内容
提供了一种用于将末端执行器可操作地连接至电外科手术器械的组件。该组件包括接合器组件和延伸组件。接合器组件包括：连接器组件；驱动传递组件，其穿过连接器组件而被可操作地接纳并且包括第一旋转轴、第二旋转轴和第三旋转轴；第一推进器组件，其可操作地连接至第一旋转轴以将来自第一旋转轴的旋转运动转换成纵向移动从而执行第一功能；第二推进器组件，其可操作地连接至第二旋转轴以将来自第二旋转轴的旋转运动转换成纵向移动从而执行第二功能；以及驱动构件，其可操作地连接至第三旋转轴以传递来自第三旋转轴的旋转运动从而执行第三功能。驱动传递组件以及第一推进器组件和第二推进器组件可操作地接纳在单个外管内。延伸件可操作地连接至接合器组件的远侧端并且包括可操作地连接至第一推进器组件和第二推进器组件之一的至少一个柔性带状组件。
在各实施例中，第一推进器组件包括第一行星齿轮组件，而第二推进器组件包括第二行星齿轮组件。第一行星齿轮组件和第二行星齿轮组件中的每个均可包括第一行星齿轮系统和第二行星齿轮系统。第一和第二行星齿轮系统中的每个均可构造为降低第一旋转轴和第二旋转轴的转速。第一推进器组件可包括第一驱动螺杆，其可操作地连接至第一行星齿轮组件，而第二推进器组件可包括第二驱动螺杆，其可操作地连接至第二行星齿轮组件。第一推进器组件可包括第一推进器构件，其可操作地接纳在第一驱动螺杆周围，而第二推进器组件可包括第二推进器构件，其可操作地接纳在第二螺杆构件周围。第一驱动螺杆的旋转可引起第一推进器构件的纵向移动，而第二驱动螺杆的旋转可引起第二推进器构件的纵向移动。接合器组件还可包括基底和能够沿纵轴线相对于基底旋转的支撑结构，连接器组件和驱动传递组件布置在基底内，并且第一推进器组件和第二推进器组件布置在支撑结构内。连接组件可构造为用于可操作地连接至电外科手术器械。
在一些实施例中，延伸组件包括第二柔性带状组件，其可操作地连接至第一推进器组件和第二推进器组件中的另一个。延伸组件可包括套管针组件，其可操作地连接至驱动构件。套管针组件可将来自驱动构件的旋转运动转换为线性运动。延伸组件可包括连杆组件，其将套管针组件可操作地连接至驱动构件。连杆组件可包括枢转地连接至第二驱动轴的第一驱动轴，以及枢转地连接至第二驱动轴的联接构件。
本公开还提供了一种用于将末端执行器可操作地连接至电外科手术器械的延伸组件。所述延伸组件包括：外部套管；框架组件，其接纳在外部套管内；内部柔性带状组件，其可滑动地布置在框架组件内以执行第一功能；外部柔性带状组件，其可滑动地布置在框架组件内并且相对于内部柔性带状件，用于执行第二功能；以及套管针组件，其布置在框架组件内并且包括套管针构件，用于执行第三功能。内部柔性带状组件可包括构造为连接至第一线性驱动构件的近侧端，而外部柔性带状组件可包括构造为连接至第二线性驱动构件的近侧端。套管针组件的近侧端可构造成用于连接至可旋转驱动轴。可旋转驱动轴的旋转可引起套管针构件的线性前进。延伸组件还可包括连接组件，连接组件构造成用于与末端执行器可操作地连接。内部柔性带状组件的远侧端可包括构造成用于与末端执行器可操作地连接的凸缘，而外部柔性带状组件的远侧端包括构造成用于与末端执行器可操作地连接的凸缘。套管针构件可构造成用于与砧座组件可操作地连接。延伸组件还可包括连杆组件，用于与套管针组件可操作地连接，该连杆组件包括枢转地固定至第二轴的第一轴和联接构件。
本公开还提供了一种用于将第一管状构件固定至第二管状构件的连接组件。该连接组件包括管状基底，管状基底具有凸缘和环形边缘。连接组件还包括管状延伸件，管状延伸件具有第一节段和第二节段，以及在第一节段和第二节段周围可滑动地布置的外部套管。第一节段和第二节段可限定环形沟槽，其安置为当第一节段和第二节段接纳在凸缘周围时接纳管状基底的环形边缘。管状基底可固定至第一管状构件，并且该管状延伸件可固定至第二管状构件。管状基底可形成在第一管状构件的一端上，并且管状延伸件形成在第二管状构件的一端上。
附图说明
本公开的实施例在此参照附图进行描述，其中：
图1是根据本公开的实施例的接合器组件、根据本公开的实施例的延伸组件、以及示例性机电手术设备的分离的立体图；
图2是图1的示例性机电手术设备的侧视立体图；
图3是图1的接合器组件的侧视立体图；
图4是图3的接合器组件的移除了外部套管的侧视立体图；
图5是图3和图4的接合器组件的移除了第一推进器组件和第二推进器组件的近侧壳体和远侧壳体的侧视立体图；
图6是沿图3中的线6-6截取的图2至图4的接合器组件的剖面侧视图；
图7是沿图6中的线7-7截取的图2至图5的接合器组件的剖面侧视图；
图8是图2至图7的接合器组件的联接组件和传递组件的放大立体图；
图9是图2至图7的接合器组件移除壳体组件时的侧视立体图；
图10是图9的细节标示区域的放大视图；
图11是图6的细节标示区域的放大视图；
图12是图7的细节标示区域的放大视图；
图13是图8的传递组件的端视立体图；
图14是图6的细节标示区域的放大视图；
图15是图7的细节标示区域的放大视图；
图16是图9的细节标示区域的放大视图；
图17是图1的延伸组件的侧视立体图；
图18是图17的延伸组件的内部柔性带状组件的侧视立体图；
图19是图17的延伸组件的外部柔性带状组件的侧视立体图；
图20是图18和图19的内部柔性带状组件和外部柔性带状组件的侧视立体图以及图17的延伸组件的框架组件的分解图；
图21是图20的内部柔性带状组件和外部柔性带状组件以及框架组件的侧视立体图；
图22是图21的细节标示区域的放大视图；
图23是图20的内部柔性带状组件和外部柔性带状组件以及框架组件的前视立体图；
图24是图23的细节标示区域的放大视图；
图25是沿图17的线25-25截取的横截面端视图；
图26是沿图17的线26-26截取的横截面端视图；
图27是图20的内部柔性带状组件和外部柔性带状组件以及框架组件的远侧端的放大侧视立体图，其包括近侧密封构件以及第一远侧密封构件和第二远侧密封构件；
图28是图27的近侧密封构件以及第一远侧密封构件和第二远侧密封构件的分解立体图；
图29是图17的延伸组件的套管针组件的分解视图；
图29A是图17的延伸组件的连杆组件的侧视立体图；
图29B是图29A的连杆组件的剖面侧视图；
图30是图29的套管针组件的侧视立体图；
图31是沿图30的线31-31截取的剖面侧视图；
图32是沿图17的线32-32截取的剖面俯视图；
图33是图17的延伸组件的远侧端的放大剖面视图；
图34是图3的接合器组件连接至图17的延伸组件并且末端执行器和砧座组件连接至该延伸组件时的侧视立体图；
图35A是图34的细节标示区域的放大剖面俯视图；
图35B是图34的细节标示区域的放大剖面侧视图；
图36是根据本公开的另一实施例的接合器组件的后视立体图；
图37是图36的接合器组件移除了外部套管和手柄构件的侧视立体图；
图38是图37的接合器组件移除了基底和壳体构件的侧视立体图；
图39是图38的接合器组件移除了支撑结构的侧视立体图；
图40是沿图36的线40-40截取的剖面侧视图；
图41是沿图40的线41-41截取的剖面侧视图；
图42是根据本公开的又一实施例的接合器组件的后视立体图；
图43是沿图42的线43-43截取的剖面侧视图；
图44是沿图42的线44-44截取的剖面侧视图；
图45是根据本公开的实施例的连接器组件的立体图；
图46是图45的连接器组件的分解立体图；
图47是图45的连接器组件的移除了套管和管状延伸件的第一节段的立体图；
图48是图45的连接器组件的移除了套管的立体图；以及
图49是沿图45的线49-49截取的剖面侧视图。
具体实施例
参照附图详细描述当前公开的用于手术设备和/或手柄组件的接合器组件和延伸组件的实施例，其中在多幅视图中的每一幅中同样的参考数字指示相同或相应的元件。如本文中所使用的，术语“远侧”指的是远离使用者的接合器组件或手术设备的那部分或其组件，而术语“近侧”指的是靠近使用者的接合器组件或手术设备的那部分或其组件。
参照图1，根据本公开的实施例的、通常示为接合器组件100的接合器组件，以及根据本发明实施例的、通常示为延伸组件200的延伸组件，构造为选择性地连接至通常示为手术设备10的动力手持式机电器械。如图1中所示意的，手术设备10构造为与接合器组件100选择性的连接，并且转而，接合器组件100构造为与延伸组件200选择性的连接。延伸组件200配置为与刀具组件或末端执行器选择性的连接，例如刀具组件30(图34)，刀具组件或末端执行器包括例如装载单元40(图34)的装载单元和例如砧座组件50 (图34)的砧座组件，用于将环形阵列的吻合钉(未示出)施加至组织(未示出)。
如图1和2中所示意的，手术设备10包括手柄壳体12，手柄壳体12具有下壳体部14、从下壳体部14延伸出和/或支撑在下壳体部14上的中间壳体部16以及从中间壳体部16延伸出和/或支撑在中间壳体部16上的上壳体部18。上壳体部18的远侧半体限定了鼻状部或连接部18a，其构造为接纳接合器组件100的相应的驱动联接组件110(图10)。针对示例性机电器械的结构和功能的详细描述，请参照共有美国专利申请公开号2012/0253329(“第‘329申请”)，其全部内容通过引用合并于此。
现将参照图3至图20描述接合器组件100。首先参照图3，接合器组件 100包括近侧端102和远侧端104，近侧端102构造为用于可操作地连接至手术设备10(图1)的连接部18a(图1)，远侧端104构造为用于可操作地连接至延伸组件200(图1)。
转向图3至图5，从接合器组件100的近侧端102至接合器组件100的远侧端104包括驱动联接组件110、可操作地连接至驱动联接组件110的驱动传递组件130、可操作地连接至驱动传递组件130的第一推进器组件160，以及可操作地连接至驱动传递组件130的第二推进器组件180。驱动传递组件130、第一推进器组件160和第二推进器组件180中的每一个都可操作地保持在外部套管106内(图3)。如下文更为详细地描述，轴108(图3)穿过接合器组件100纵向延伸，并且可操作地连接至驱动传递组件130。
参照图5至图9，驱动联接组件110具有圆柱形轮廓，并且构造为将接合器组件100选择性地固定至手术设备10(图1)。驱动联接组件110包括连接器壳体112和通过安装板113固定地连接至连接器壳体112的连接器延伸件114。连接器壳体112和连接器延伸件114运转以可旋转地支撑第一可旋转近侧驱动轴116、第二可旋转近侧驱动轴118和第三可旋转近侧驱动轴120。驱动联接组件110的连接器壳体112和连接器延伸件114还分别旋转地支撑第一连接器套管116、第二连接器套管118和第三连接器套管120。连接器套管122、124、126中的每一个均构造为与手术设备10(图1)的相应的第一驱动连接器、第二驱动连接器和第三驱动连接器(未示出)相配合。每个连接器套管122、124、126还构造为与相应的第一近侧驱动轴116、第二近侧驱动轴118和第三近侧驱动轴120的近侧端116a、118a、120a相配合。
驱动联接组件110还包括第一偏置构件122a、第二偏置构件124a和第三偏置构件126a，它们布置在相应的第一连接器套管122、第二连接器套管 124和第三连接器套管126的远侧。偏置构件122a、124a和126a的每一个均布置在相应的第一可旋转近侧驱动轴122、第二可旋转近侧驱动轴124和第三可旋转近侧驱动轴126的附近，以在接合器组件100连接至手术设备10 时帮助保持连接器套管122、124和126与手术设备10的相应的驱动可旋转驱动连接器(未示出)的远侧端接合。特别地，第一偏置构件122a、第二偏置构件124a和第三偏置构件126a起到将相应的连接器套管122、124和126 沿着近侧方向偏置的作用。
针对示例性的驱动联接组件的详细描述，请参照第‘329申请，其内容先前通过引用合并于此。
参照图9至图13，驱动传递组件130具有圆柱形轮廓，并且可操作地将第一可旋转近侧驱动轴116、第二可旋转近侧驱动轴118和第三可旋转近侧驱动轴120的远侧端分别连接至轴108、第一推进器组件160、和第二推进器组件180。驱动传递组件130包括支撑板132(图11和图12)以及驱动传递壳体134，支撑板132固定至连接器壳体112的近侧端，驱动传递壳体134 邻近支撑板132定位。支撑板132和壳体134操作以可旋转地支撑第一可旋转远侧驱动轴136、第二可旋转远侧驱动轴138和驱动构件140。
第一可旋转远侧驱动轴136和第二可旋转远侧驱动轴138中的每一个都通过一对齿轮可操作地连接至驱动联接组件110的相应的第一可旋转近侧驱动轴116和第二可旋转近侧驱动轴118。特别地，第一可旋转近侧驱动轴116 和第二可旋转近侧驱动轴118中的每一个的远侧端均分别包括齿轮传动部 142a和144a，其啮合相应的第一远侧驱动轴136和第二远侧驱动轴138的近侧端上的近侧驱动齿轮142b和144b。如所示，相应成对的齿轮传动部和近侧驱动齿轮142a、142b和144a、144b中的每一个为同一尺寸，以在相应的可旋转近侧动轴和可旋转远侧驱动轴之间提供1∶1的传动比。通过这种方式，相应的可旋转近侧驱动轴和可旋转远侧驱动轴以相同速度旋转。然而，能够预期的是，成对的齿轮传动部和近侧驱动齿轮中的任一者或者两者可以具有不同尺寸，以改变可旋转近侧驱动轴和可旋转远侧驱动轴之间的传动比。
驱动联接组件110的第三近侧驱动轴120的远侧端包括齿轮传动部 146a，其啮合形成在驱动传递组件130的驱动构件140的近侧端上的齿轮传动部146b。第三近侧驱动轴120上的齿轮传动部146a和驱动构件140上齿轮传动部146b的尺寸为相同尺寸，以在第三近侧驱动轴120和驱动构件140 之间提供1∶1的传动比。通过这种方式，第三近侧驱动轴120和驱动构件140 以相同速度旋转。然而，能够预期的是，齿轮传动部146a、146b中的任一者或两者可以为不同尺寸，以改变第三近侧驱动轴120和驱动构件140之间的传动比。驱动构件140的远侧端限定插孔145，其接纳轴108的近侧端108a。可替代地，插孔145可配置为可操作地接合延伸组件200(图17)的驱动轴 (图17)的近侧端208a。
驱动传递组件130还包括：驱动连接器148(图11)，其可操作地将第一可旋转远侧驱动轴136连接至第一推进器组件160，以及管状连接器150，其可操作地将第二可旋转远侧驱动轴138连接至第二推进器组件180。特别地，第一可旋转远侧驱动轴136的远侧端包括齿轮传动部152a，其啮合驱动连接器148的齿轮传动部152b。第二可旋转远侧驱动轴138的远侧端包括齿轮传动部154a，其啮合固定至管状连接器150的远侧端的驱动齿轮154b。
如图所示，第一可旋转远侧驱动轴136的齿轮传动部152a小于驱动连接器148的齿轮传动部152b，以在第一可旋转远侧驱动轴136和驱动连接器148 之间提供大于1∶1的传动比。这样，驱动连接器148以低于第一可旋转远侧驱动轴136的速度旋转。类似地，第二可旋转远侧驱动轴138的齿轮传动部 154a小于管状连接器150上的驱动齿轮154b，以在第二可旋转远侧驱动轴 138和驱动连接器148之间提供大于1∶1的传动比。这样，管状连接器150以低于第二可旋转远侧驱动轴138的速度旋转。然而，能够预期的是，成对齿轮传动部152a和齿轮传动部152b、以及齿轮传动部154a和驱动齿轮154b 中的每一个均可具有相同尺寸，以在相应的第一可旋转远侧驱动轴136和驱动连接器148之间以及第二可旋转远侧驱动轴138和管状连接器150之间提供1∶1的传动比。
特别参照图9至图13，第一推进器组件160包括：近侧壳体部162和远侧壳体部164(图11)；行星齿轮组件166，其可操作地安装在近侧壳体部162 内；螺杆构件168(图11)，其可操作地连接至行星齿轮组件166并且可旋转地支撑在远侧壳体部164内；以及推进器构件170(图11)，其可操作地连接螺杆构件168并且可滑动地布置在远侧壳体部164内。近侧壳体部162包括一对纵向凸缘162a(图4；仅示出一个)，而远侧壳体部164包括一对纵向扁平部164a。相应的近侧壳体部162的凸缘162a和远侧壳体部164的扁平部 164a中的每一个均啮合套管106的内表面，以在操作手术设备10期间防止相应的近侧壳体部162和远侧壳体部164相对于套管106旋转。行星齿轮组件166包括第一行星齿轮系统166a和第二行星齿轮系统166b(图10)。第一行星齿轮系统166a包括中央驱动齿轮172a以及多个行星齿轮174a，中央驱动齿轮172a安装在驱动传递组件130的驱动连接器148的远侧端上，多个行星齿轮174a可旋转地安装至可旋转支撑环176。
每个行星齿轮174a均啮合中央驱动齿轮172a和近侧壳体部162的带齿内表面165。随着中央驱动齿轮172a在第一方向(即，顺时针方向)上旋转，每个行星齿轮174a均在第二方向(即，逆时针方向)上旋转。随着每个行星齿轮174a在第二方向上旋转时，行星齿轮174a与远侧壳体部162的带齿内表面165的啮合引起可旋转支撑环176在第一方向上旋转。相反地，中央驱动齿轮172a在第二方向上的旋转引起每个行星齿轮174a在第一方向上旋转，从而引起可旋转支撑环176在第二方向上旋转。第一行星齿轮系统166a的构造提供了传动比的减小。通过这种方式，可旋转支撑环174的转速小于中央驱动齿轮172a的转速。
第二行星齿轮系统166b包括中央驱动齿轮172b以及多个行星齿轮174b，中央驱动齿轮172b稳固地固定至可旋转支撑环176，多个行星齿轮174b可旋转地安装至螺杆构件168的近侧端表面168a。每个行星齿轮174b均啮合中央驱动齿轮172b和近侧壳体部162的带齿内表面165。随着第一行星齿轮系统166a的可旋转支撑环176在第一方向上旋转从而引起中央驱动齿轮172b也在第一方向上旋转时，每个行星齿轮174b均在第二方向上旋转。随着每个行星齿轮174b在第二方向上旋转，行星齿轮174b与近侧壳体部162 的带齿内表面165的啮合引起螺杆构件168在第一方向上旋转。相反地，中央驱动齿轮172b在第二方向上的旋转引起每个行星齿轮174b在第一方向上旋转，从而引起螺杆构件168在第二方向上旋转。第二行星齿轮系统166b 的构造提供了传动比的减小。通过这种方式，螺杆构件168的转速小于中央驱动齿轮172b的转速。第一行星齿轮系统166a和第二行星齿轮系统166b 协调地操作以在第一可旋转近侧驱动轴116和螺杆构件168之间提供传动比的减小。通过这种方式，螺杆构件168的转速相对于驱动连接器148的降低是由第一行星齿轮系统166a和第二行星齿轮系统166b提供的减小的结果。
螺杆构件168可旋转地支撑在近侧壳体部162内并且包括可操作地啮合推进器构件170的螺纹内表面170a的螺纹远侧端168b。随着螺杆构件168 在第一方向上旋转，螺杆构件168的螺纹远侧端168b与推进器构件170的螺纹内表面170a的啮合引起推进器构件170的纵向前进，如图12中箭头“A”所示。相反地，螺杆构件168在第二方向上的旋转引起推进器构件170的缩回。
推进器构件170包括形成在其远侧端上的一对凸起178，其用于接合延伸组件200(图17)的外部柔性带状组件230(图19)的连接器延伸件240 、242(图19)。虽然示为凸起178，但能够预想到的是，推进器构件170 可包括适用于选择性地接合延伸组件200的外部柔性带状件230的连接器延伸件240、242的任意结构。
现特别参照图14至图16，第二推进器组件180基本上类似于第一推进器组件160，并且包括：近侧壳体部182和远侧壳体部184；行星齿轮组件186，其可操作地安装在近侧壳体部182内；螺杆构件188，其可操作地连接至行星齿轮组件186并且可旋转地支撑在远侧壳体部184内；以及推进器构件190，其可操作地连接至螺杆构件188并且可滑动地布置在远侧壳体部184内。近侧壳体部182和远侧壳体部184中的每一个均分别包括一对纵向凸缘182a、184a(图4；仅示出一个)，接合接合器组件100的套管106的内表面以在操作手术设备10期间防止相应的近侧壳体部182和远侧壳体部184相对于套管 106旋转。行星齿轮组件186包括第一行星齿轮系统186a和第二行星齿轮系统186b(图16)。第一行星齿轮系统186a包括中央驱动齿轮192a以及多个行星齿轮194a，该中央驱动齿轮192a安装在驱动传递组件130的管状连接器150的远侧端上，多个行星齿轮194a可旋转地安装至可旋转支撑环196。
每个行星齿轮194a啮合中央驱动齿轮192a和近侧壳体部182的带齿内表面185。随着中央驱动齿轮192a在第一方向(即，顺时针方向)上旋转，每个行星齿轮194a在第二方向(即，逆时针方向)上旋转。随着每个行星齿轮194a在第二方向上旋转，行星齿轮194a与远侧壳体部182的带齿内表面 185的啮合引起可旋转支撑环196在第一方向上旋转。相反地，中央驱动齿轮192a在第二方向上的旋转引起每个行星齿轮194a在第一方向上旋转，从而引起可旋转支撑环196在第二方向上旋转。第一行星齿轮系统186a的构造提供了传动比的减小。通过这种方式，可旋转支撑环194的转速小于中央驱动齿轮190a的转速。
第二行星齿轮系统186b包括中央驱动齿轮192b以及多个行星齿轮 194b，中央驱动齿轮192b稳固地固定至可旋转支撑环196，多个行星齿轮194b 可旋转地安装至螺杆构件188的近侧端表面188a。每个行星齿轮194b啮合中央驱动齿轮192b和近侧壳体部182的带齿内表面185。随着第一行星齿轮系统186a的可旋转支撑环196在第一方向上旋转从而引起中央驱动齿轮 192b也在第一方向上旋转，每个行星齿轮174b均在第二方向上旋转。随着每个行星齿轮194b在第二方向上旋转，行星齿轮194b与近侧壳体部182的带齿内表面185的啮合引起螺杆构件188在第一方向上旋转。相反地，中央驱动齿轮192b在第二方向上的旋转引起每个行星齿轮194b在第一方向上旋转，从而引起螺杆构件198在第二方向上旋转。第二行星齿轮系统186b的构造提供了传动比的减小。通过这种方式，螺杆构件188的转速小于中央驱动齿轮182b的转速。第一行星齿轮系统186a和第二行星齿轮系统186b协调地操作以在第二可旋转近侧驱动轴118和螺杆构件188之间提供传动比的减小。通过这种方式，螺杆构件188的转速相对于管状连接器150降低是由第一行星齿轮系统186a和第二行星齿轮系统186b所提供的减小的结果。
螺杆构件188可旋转地支撑在近侧壳体部182内且包括远侧螺纹端188b，该远侧螺纹端188b可操作地啮合推进器构件190的内螺纹表面190a。随着螺杆构件188在第一方向上旋转，螺杆构件188的远侧螺纹端188b与推进器构件190的内螺纹表面190a的啮合引起推进器构件190的纵向前进。相反地，螺杆构件188在第二方向上的旋转引起推进器构件190的缩回。推进器构件 190包括一对纵向凸缘191(图5；仅示出一个)，该对纵向凸缘191接合第二推进器组件180的远侧壳体部184，用于防止推进器构件190相对于远侧壳体部184的旋转。
推进器构件190包括形成在其远侧端上的一对凸起198，用于接合延伸组件200(图17)的内部柔性带状组件220(图18)的连接器延伸件220、224 (图18)。尽管示为凸起198，但能够预想到的是，推进器构件190可包括适用于选择性地接合延伸组件200的外部柔性带状件230的连接器延伸件240 、242的任意结构。
现将参照图17至图34描述用于将接合器组件100(图3)与圆形装载单元和砧座组件可操作地连接的延长组件200，该圆形装载单元例如为装载单元40(图34)，该砧座组件例如为砧座组件50(图34)。特别地，延伸组件 200的近侧端202与接合器组件100(图3)的远侧端104(图3)可操作地连接，并且延伸组件200的远侧端204与装载单元40和砧座组件50可操作地连接。如图所示，延伸组件200在近侧端202和远侧端204之间提供了轻微的曲率。在可替代实施例中，延伸组件200可以是直的或者可包括更大的曲率。尽管延伸组件200将被示出且描述为用以将装载单元40和砧座组件 50连接至接合器组件100(图3)，但能够预想到的是，本发明的各方案可进行修改用于与多种装载单元、砧座组件、及接合器组件一起使用。示例性的装载单元和砧座组件在共有美国专利号8,590,763以及美国专利申请序列号14/056,301和14/149,355中进行了描述，每篇的内容以其全部通过引用合并于此。
延伸组件200包括内部柔性带状组件210(图18)、可滑动地布置在内部柔性带状组件210附近的外部柔性带状组件230(图19)、用于支撑内部柔性带状组件210和外部柔性带状组件230的框架组件250(图20)、通过内部柔性带状组件210和外部柔性带状组件230而被可操作地接纳的套管针组件 270(图29)、以及用于将装载单元40(图34)固定至延伸组件200的连接器组件290。外部套管206(图17)被接纳在框架组件250附近，并且套管针组件270以及内部柔性带状组件210和外部柔性带状组件230通过外部套管206而被可滑动地接纳。如下文更为详细地描述，延伸组件200可包括驱动轴208，其可操作地连接至套管针组件270并且延伸穿过延伸组件200的近侧端202。
参照图18，内部柔性带状组件210包括第一内部柔性带状件212和第二内部柔性带状件214、支撑环216、支撑基底218、以及第一连接延伸件220 和第二连接延伸件222。相应的第一内部柔性带状件212和第二内部柔性带状件214的近侧端212a、214a横向间隔开并且稳固地附接至支撑环216。第一内部柔性带状件212和第二内部柔性带状件214的远侧端212b、214b横向间隔开并且稳固地附接至支撑基底218的近侧端218a。第一内部柔性带状件212和第二内部柔性带状件214中的每一个均可以任意合适的方式附接至支撑环216和/或支撑基底218，这些合适的方式包括例如通过压配合、焊接、粘合、和/或利用机械紧固件。如下文将更为详细地描述，内部柔性带状组件 210构造为可滑动地接纳在套管针组件270(图28)附近以及外部柔性带状组件230(图19)和外部套管206(图17)内。
内部柔性带状组件210的第一连接延伸件220和第二连接延伸件222从支撑环216向近侧延伸，并将内部柔性带状组件210与接合器组件100(图3) 的第二推进器组件180(图15)的推进器构件190(图15)可操作地连接。特别地，第一连接延伸件220和第二连接延伸件222分别限定了开口221、 223，其构造为接纳第二推进器组件180的推进器构件190(图15)的凸起198 (图15)。推进器构件190的凸起198接纳在相应的第一延伸件220和第二延伸件222的开口221、223内使得延伸组件200的内部柔性带状组件210 与接合器组件100的第二推进器组件180固定。第一连接延伸件220和第二连接延伸件222可与支撑环216整体形成，或者以任意合适的方式附接至支撑环216。
支撑基底218从内部柔性带状件212、214向远侧延伸，并且构造为将延伸组件200与装载单元40(图34)选择性地连接。特别地，支撑基底218 的远侧端218b包括凸缘224，凸缘224用于与装载单元40(图34)的轴向可动组件(未示出)可操作地接合。在一个实施例中，凸缘224构造用于与装载单元40(图34)的刀具组件(未示出)连接。
现参照图19，外部柔性带状组件230基本上类似于内部柔性带状组件 210，并且包括第一柔性带状件232和第二柔性带状件234，第一柔性带状件 232和第二柔性带状件234横向间隔开并且在近侧端232a、234a处连接至支撑环236，而在远侧端232b、234b处连接至支撑基底238的近侧端238a。第一柔性带状件232和第二柔性带状件234中的每一个均可以任意合适的方式附接至支撑环236和支撑基底238，这些合适的方式包括例如通过压配合、焊接、粘合、和/或利用机械紧固件。如下文将更为详细地描述，外部柔性带状组件230构造为接纳从中穿过的套管针组件270(图29)。
外部柔性带状组件230的第一连接延伸件240和第二连接延伸件242从支撑环236向近侧延伸，并且将外部柔性带状组件230与接合器组件100(图 1)的第一推进器组件160(图12)的推进器构件170(图12)可操作地连接。特别地，第一连接延伸件240和第二连接延伸件242分别限定了开口241、 243，开口241、243构造为接纳第一推进器组件180的推进器构件170的凸起178(图12)。推进器构件170的凸起178接纳在相应的第一延伸件240 和第二延伸件242的开口241、243内使得延伸组件200的外部柔性带状组件 230与接合器组件100的第一推进器组件180固定。第一连接延伸件240和第二连接延伸件242可与支撑环236整体形成，或者以任意合适方式附接至支撑环236。
支撑基底238从外部柔性带状件232、234向远侧延伸，并且构造为将延伸组件200与装载单元40(图34)选择性地连接。特别地，支撑基底238 的远侧端238b包括凸缘244，其用于与装载单元(未示出)的轴向可动组件 (未示出)可操作地接合。在一个实施例中，凸缘244构造成用于与装载单元 40(图34)的吻合钉推进器组件(未示出)连接。
现参照图20至图26，框架组件250包括第一近侧衬套构件252和第二近侧衬套构件254以及第一远侧衬套构件256和第二远侧衬套构件258。当固定在一起时，第一近侧衬套构件252和第二近侧衬套构件254限定了一对纵向内狭槽253a以及一对纵向外狭槽253b，该对纵向内狭槽253a用于可滑动地接纳内部柔性带状组件210(图18)的第一柔性带状件212和第二柔性带状件214(图18)，该对纵向外狭槽253b用于可滑动地接纳外部柔性带状组件230(图19)的第一柔性带状件232和第二柔性带状件234(图19)。第一近侧衬套构件252和第二近侧衬套构件254进一步限定了纵向通道255，其用于接纳套管针组件270。
在一个实施例中，并且如图所示，第一近侧衬套构件252和第二近侧衬套构件254由塑料形成并且利用卡扣配合布置固定在一起。可替代地，第一近侧衬套构件252和第二近侧衬套构件254可以由金属或其他合适材料形成，并且可以任意合适方式固定在一起，这些合适的方式包括通过焊接、粘合剂、和/或利用机械紧固件。
第一远侧衬套构件256和第二远侧衬套构件258限定了一对内狭槽257a 以及一对外部狭槽257b，该对内狭槽257a用于可滑动地接纳内部柔性带状组件210(图18)的第一柔性带状件212和第二柔性带状件214(图18)，该对外狭槽257b用于可滑动地接纳外部柔性带状组件230(图19)的第一柔性带状件232和第二柔性带状件234(图19)。第一远侧衬套构件256和第二远侧衬套构件258还限定了用于接纳套管针组件270的纵向通道259。
在一个实施例中，并且如提所示，第一远侧衬套构件256和第二远侧衬套构件258中的每一个均固定在内部柔性带状组件210和外部柔性带状组件 230周围并通过一对螺杆260a、260b(图26)固定至外部套管206(图17)。可替代地，第一远侧衬套构件256和第二远侧衬套构件258可以任意合适方式固定在一起，这些合适的方式包括通过焊接、粘合剂、和/或利用机械紧固件。第一远侧衬套构件256和第二远侧衬套构件258可由金属或任意其他合适的材料形成。
现参照图27和图28，框架组件250还包括近侧密封构件262以及第一远侧密封构件264和第二远侧密封构件266。近侧密封构件262以及第一远侧密封构件264和第二远侧密封构件266各自分别包括密封半体262a、262b、 264a、264b、266a、266b。近侧密封构件262接纳在第一近侧衬套构件252 和第二近侧衬套构件254以及第一远侧衬套构件256和第二远侧衬套构件 258之间。第一远侧密封构件264的第一半体264a固定至第二远侧密封构件 266的第一半体266a，且第一远侧密封构件264的第二半体264b固定至第二远侧密封构件266的第二半体。近侧密封构件262以及第一远侧密封构件264 和第二远侧密封构件266以密封方式接合外部套管206(图17)、相应的内部柔性带状组件210和外部柔性带状组件230的内部柔性带状件212和外部柔性带状件214和232、234以及套管针组件270(图28)。通过这种方式，近侧密封构件262以及第一远侧密封构件264和第二远侧密封构件266操作以提供延伸组件200的远侧端204和近侧端202之间的液密密封。
参照图29至图32，延伸组件200的套管针组件270包括外部壳体272、可滑动地布置在管状外部壳体272内的套管针构件274、以及可操作地接纳在套管针构件274内以用于相对于管状壳体272轴向移动套管针构件274的驱动螺杆276。特别地，套管针构件274包括近侧端274a，其具有啮合驱动螺杆276的远侧螺纹部276b的内螺纹部273。随着驱动螺杆276在套管针构件274内旋转，套管针构件274的内螺纹部273与驱动螺杆276的远侧螺纹部276b的啮合引起套管针构件274在套管针组件270的外部壳体272内纵向移动。驱动螺杆276在第一方向上的旋转引起套管针构件274的纵向前进，而驱动螺杆276在第二方向上的旋转引起套管针构件274的纵向缩回。套管针构件274的远侧端274b配置为选择性地接合砧座组件50(图34)。
轴承组件278安装至套管针组件270的外部壳体272的近侧端272a，用于相对于外部壳体272和套管针构件274可旋转地支撑驱动螺杆276的近侧端276a。轴承组件278包括壳体278a、近侧和远侧衬套278b、近侧和远侧保持夹278c、近侧和远侧轴承278d、以及垫圈278e。如所示，驱动螺杆276 的近侧端276a包括用于与连杆组件280连接的凸缘276c。
连杆组件280将接合器组件100的传递组件130(图6)与延伸组件200 的套管针组件270(图30)可操作地连接。更特别地，连杆组件280将来自接合器组件100的传递组件130的驱动构件140(图6)的旋转能量通过延伸组件200的弯曲外管206(图17)传递至延伸组件200的套管针组件270的驱动螺杆276的近侧端276a上的凸缘276c(图29)，参照图29A和图29B，连杆组件280包括联接构件282、第一驱动轴284和第二驱动轴286。联接构件282的近侧端282a限定了用于接纳第一驱动轴284的远侧端284b的凹槽 283a。联接构件282的远侧端282b限定了用于可操作地接纳驱动螺杆276 的近侧端276a上的凸缘276c的凹槽283b。联接构件282包括环形凸缘282c，其用于将联接构件282可旋转地接纳在第一近侧衬套构件252和第二近侧衬套构件254(图32)之间。第一驱动轴284的近侧端284a和远侧端284b分别限定了超大开口285a、285b，其分别用于接纳销288a、288b。第二驱动轴 286的远侧端286b限定了用于可操作地接纳驱动轴284的近侧端284a的凹槽287。驱动轴286的近侧端286a包括凸缘286c，其用于可操作地接纳在接合器组件100(图12)的驱动传递组件130的驱动构件140的插孔145内。
特别参照图29B，第一驱动轴284的近侧端284a可操作地接纳在第二驱动轴286的远侧端286b中的凹槽287内。第一驱动轴284的远侧端284b通过穿过第一驱动轴284的远侧端284b中的超大开口285b而被接纳的销288a 枢转地固定在联接构件282的凹槽283a内。第一驱动轴284的近侧端284a 通过穿过第一驱动轴284的近侧端284a中的超大开口285a而被接纳的销28 8b枢转地固定在第二驱动轴286的远侧端286b的凹槽287内。联接构件28 2和第二驱动轴286各自的凹槽283a和287，以及第一驱动轴284的超大开口285a、285b构造为随着第一驱动轴284和第二驱动轴286中的每一个以及联接构件282围绕它们各自的纵轴线旋转而允许第二驱动轴286相对于第一驱动轴284枢转并允许第一驱动轴284相对于联接构件282枢转以将来自接合器组件100的传递组件130(图6)的旋转力传递至延伸组件200的套管针组件270(图30)。
现参照图32和图33，延伸组件200的连接器组件290包括管状连接器 292，其附接至的远侧端206b并且在内部柔性组件210和外部柔性组件230 (图26)以及套管针组件270的远侧端附近。特别地，管状连接器292的近侧端292a接纳在外部套管206的远侧端206b内并且通过保持夹294稳固地附接至外部套管206的远侧端206b。O形圈296在连接器组件290的管状连接器292和外部套管206之间形成液密密封。管状连接器292的远侧端292b 构造为选择性地接合装载单元40(图34)的近侧端。管状连接器292的远侧端292b利用卡扣布置、卡口式联接器、或以另一合适方式接合圆形装载单元。
现参照图34和图35A - 图 35 B ，延伸组件200通过将延伸组件200的近侧端202(图17)接纳在接合器组件100的远侧端104内而连接至接合器组件100。特别地，相应的内部柔性带状组件210和外部柔性带状组件230的第一和第二连接延伸件220、240、222、242接纳在接合器组件100的套管106内，从而使得接合器组件100的第一推进器组件160的推进器构件170的凸起178接纳在外部柔性带状组件230的第一连接延伸件240和第二连接延伸件242的相应的开口241、243内以将外部柔性带状组件230与第一推进器组件160 固定，并且接合器组件100的第二推进器组件180的推进器构件190的凸起 198接纳在内部柔性带状组件210的第一连接延伸件221和第二连接延伸件 223的开口221、223内以将内部柔性带状组件210与第二推进器组件180固定。
如上文所提到的，接合器组件100可包括从接合器组件100的远侧端104 延伸出的驱动轴108(图3)。在将延伸组件200的近侧部202接纳在延伸组件100的远侧端104内之前，驱动轴108被从接合器组件100移除。随着延伸组件200的近侧部202接纳在接合器组件100的远侧端102内，第二驱动轴286(图17)的近侧端286a(图17)被接纳在延伸组件100(图12)的驱动传递组件130的驱动构件140的插孔145内。
在延伸组件200与接合器组件100可操作地接合，且接合器组件100与手术设备10(图1)可操作地接合后，末端执行器30(图34)的装载单元 40(图34)可附接至延伸组件200的连接器组件290，并且砧座组件50(图 34)可以传统方式附接至延伸组件200的套管针274的远侧端274b。在装载单元40和砧座组件50致动期间，如上文所述并且如图35A中以箭头“C”所示的，接合器组件100的第二推进器组件180的推进器构件190的纵向前进引起延伸组件200的外部柔性带状组件230的纵向前进，而如上文所述并且如图35A中以箭头“D”所示的，第一推进器组件160的推进器构件170 的纵向前进引起内部柔性带状组件210的纵向前进。如上文所述并且如以箭头“E”所示的，驱动轴108在第一方向上的旋转引起延伸组件200的套管针274的前进。相反地，推进器构件190的纵向缩回引起外部柔性带状组件 230的纵向缩回，推进器构件170的纵向缩回引起内部柔性带状组件210的纵向缩回，并且驱动轴108在第二方向上的旋转引起延伸组件200的套管针 274的缩回。
在各实施例中，内部柔性带状组件210将接合器组件100的第二推进器组件180与附接至延伸组件200的连接器组件290的末端执行器30(图34) 的装载单元40(图34)的刀具组件(未示出)可操作地连接。外部柔性带状组件230将接合器组件100的第一推进器组件160与装载单元40的吻合钉驱动组件(未示出)可操作地连接。套管针组件270将接合器组件100的驱动传递组件130可操作地连接至末端执行器30(图34)的砧座组件50(图34)。通过这种方式，第二推进器组件160的操作引起内部柔性带状组件210的纵向运动，其引起刀具组件的纵向运动，第一推进器组件180的操作引起外部柔性带状组件的纵向运动，其引起吻合钉驱动组件的纵向运动，且驱动传递组件130的操作引起套管针274的纵向运动，其引起砧座组件50相对于装载单元40纵向运动。
通过叠置接合器组件100的第一推进器组件160和第二推进器组件180 (如所述)并穿过第一推进器组件160和第二推进器组件180安置传递组件1 30的驱动轴108，接合器组件100能够穿过具有例如21mm的小直径的进入口或其他开口(未示出)来执行三种功能。类似地，通过在外部柔性带状组件230内构造内部柔性带状组件210以及穿过内部和外部柔性带状组件210、 230接纳套管针组件270，延伸组件200能够穿过具有例如21mm的小直径的进入口或其他开口(未示出)来执行三种功能。
参照图36至图41，根据本发明另一实施例的接合器组件示出为接合器组件300。接合器组件300基本上类似于上文所述的接合器组件100，并且将仅仅针对它们之间的差别进行描述。
正如通过下面的描述而变得显而易见的，接合器组件300的构造允许接合器组件300的远侧部304绕着纵轴线“x”(图36)相对于接合器组件300 的近侧部302旋转。通过这种方式，末端执行器，例如固定至接合器组件30 0远侧部304的末端执行器30(图34)，或者固定至延伸组件的末端执行器，例如固定至接合器组件300的远侧部304的延伸组件200(图17)，上述末端执行器可独立于接合器组件300所附接的手术设备(未示出)的运动而绕着纵轴线“x”旋转。
接合器组件300包括基底306和支撑结构308，支撑结构308能够相对于基底306沿接合器组件300的纵轴线“x”旋转。旋转手柄310可旋转地固定至基底306并且稳固地固定至支撑结构308的近侧端。旋转手柄310允许接合器组件300的远侧部304相对于接合器组件300的近侧端302纵向旋转。如下文将更为详细的描述，闩(latch)312安装至旋转手柄310并且将旋转手柄310选择性地固定到固定纵向位置上。
接合器组件300的近侧部302包括驱动联接组件320和可操作地连接至驱动联接组件320的驱动传递组件330。接合器组件300的远侧部304包括第一推进器组件340以及第二推进器组件350，第一推进器组件34可操作地连接至驱动传递组件330，第二推进器组件350可操作地连接至驱动传递组件330。驱动联接组件320和驱动传递组件330安装在基底306内，并因此，保持相对于附接有接合器组件300的手术设备(未示出)可旋转地固定。第一推进器组件340和第二推进器组件350安装在支撑结构308内，因此，能够相对于附接有接合器组件300的手术设备(未示出)可旋转。
驱动联接组件320构造为将接合器组件300选择性地固定至手术设备(未示出)。关于示例性的手术设备和驱动联接组件的详细描述，请参照于2013 年12月9日递交的共有美国临时专利申请序列号61/913,572，其内容以其全部通过引用合并于此。
旋钮310可旋转地固定至基底306。闩312包括销312a(图38)，其构造为将旋钮310相对于基底306锁定。特别地，闩312的销312a接收在基底 306内形成的狭槽307中并通过弹簧314向远侧偏置进入基底306内形成且与狭槽307连通的凹口307a内(图40)，以将旋钮310相对于基底306锁定。闩312的如图38中箭头“F”所示的近侧运动使得销312a从凹口307a内缩回，以允许旋钮310相对于基底306旋转。在各实施例中，基底306限定了第二凹口(未示出)，其与凹口307a径向相对，以当闩312的销312a接纳在凹口307a中时将旋钮310锁定在第一纵向方位，而当闩312的销312a接纳在第二凹口中时将旋钮310锁定在第二纵向方位，其中第二纵向方位是从第一纵向方位旋转一百八十度(180°)。可替代地，能够预想到的是，基底306 可限定在基底306周围径向间隔并且与狭槽307连通的多个凹口，其允许旋钮310相对于基底306锁定在多个纵向方位。
接合器组件300的驱动传递组件330、第一驱动推进器组件340、和第二驱动推进器组件350与上文所述的接合器组件100的驱动传递组件130、第一驱动推进器组件160、和第二驱动推进器组件180基本上相同，并因此，将仅仅针对它们之间的差别进行描述。
支撑结构308在第一驱动推进器组件340和第二驱动推进器组件350周围固定地接纳并且相对于基底306可旋转。如上文所指出的，旋钮310稳固地固定至支撑结构308的近侧端以利于支撑结构308相对于基底306的旋转。支撑结构308与接合器组件300的外部套管305保持在一起并且构造为维持第一驱动推进器组件340和第二驱动推进器组件350的轴向对齐。当与接合器组件100的成本相比时，支撑结构308还可以降低接合器组件300的成本。
支撑结构308分别包括第一板360a、第二板360b、第三板360c、第四板360d、第五板360e、第六板360f、和第七板360g，第一多个管状支撑件 362a和第二多个管状支撑件362b，第一支撑环364a和第二支撑环364b，第一多个肋366a和第二多个肋366b，以及多个铆钉368。从近侧至远侧，第一板360a和第二板360b通过第一多个管状支撑件362a保持相对于彼此间隔开，第二板360b和第三板360c通过第一支撑环364a保持相对于彼此间隔开，第三板360c和第四板360d通过第一多个支撑肋366a保持相对于彼此间隔开，第四板360d和第五板360e通过第二多个管状支撑件362b保持相对于彼此间隔开，第五板360e和第六板360f通过第二支撑环364b保持相对于彼此间隔开，而第六板360f和第七板360g通过第二多个支撑肋366b保持相对于彼此间隔开。第一板360a、第二板360b、第三板360c、第四板360d、第五板360e、第六板360f和第七板360g通过多个铆钉368固持在一起，多个铆钉368固定至第一板360a和第七板360g并延伸穿过第二板360b、第三板 360c、第四板360d、第五板360e、第六板360f、第一支撑环364a和第二支撑环364b、以及相应的第一多个管状支撑件362a和第二多个管状支撑件 362b。
接合器组件300以基本上类似于上文所述的接合器组件100的方式操作。另外，如上文详细所述，接合器组件300构造为允许末端执行器旋转，例如附接至接合器组件300或附接至附接有接合器组件300的延伸组件的末端执行器30(图34)，以在使用期间选择性地绕纵轴线“x”(图36)旋转。
现参照图42至图44，根据本发明另一实施例的接合器组件通常示为接合器组件400。接合器组件400基本上类似于上文所述的接合器组件100和 300，并因此，将仅仅针对它们之间的差别进行描述。
接合器组件400包括近侧部402和能够相对于近侧部402沿纵轴线“x”旋转的远侧部404。远侧部404包括支撑结构408，其固定至外部套管405 并在第一推进器组件440和第二推进器组件450周围形成。支撑结构408包括多个加强构件462，其大体上延伸外部套管405的长度。加强构件462均包括近侧凸起462a和远侧凸起462b，它们延伸穿过外部套管405以将加强构件462固定在外部套管405内。加强构件462的近侧凸起462还构造为接合接合器组件400的旋钮410。接合器组件400可包括定位在加强构件462 径向内侧的环形板(未示出)，其保持加强构件462的近侧凸起462a和远侧凸起462b与外部套管405的接合。环形板还可以为接合器组件400的远侧部 404提供结构支撑。接合器组件400的构造允许单个管(例如外部套管405) 用于容纳驱动部件。参照图45至图49，根据本公开的实施例的连接组件通常示为连接组件500。如所示和将要进行描述的，连接组件500配置为附接至第一管状体和第二管状体(未示出)，用于将第一管状体，即接合器组件 100(图3)、接合器组件300(图36)、接合器组件400(图42)连接至第二管状体，即延伸组件200(图17)。然而，能够预想到的是，本公开的各方面可直接并入第一管状体和第二管状体，以允许第一管状体直接连接至第二管状体。
连接组件500包括管状基底510和管状延伸件520，管状延伸件520由第一节段520a和第二节段520b和外部套管522形成。如图所示，管状基底 510限定了一对开口511，其用于将管状基底510固定至第一管状体(未示出)。可替代地，管状基底510可包括仅单个开口、一个或多个凸起(未示出)、和 /或一个或多个狭槽(未示出)，用于将管状基底510固定至第一管状体(未示出)。凸缘512从管状基底510的第一端延伸出并且包括在其周围延伸的环形肋514。
管状延伸件520的第一节段520a和第二节段520b基本上彼此类似并且均限定了沿其第一内表面形成的沟槽521。管状延伸件520的第一节段520a 和第二节段520b中的每个均构造为接纳在管状基底510的凸缘512周围，从而使得管状基底510的肋514接纳在管状延伸件520的第一节段520a和第二节段520b的沟槽521内。一旦管状延伸件520的第一节段520a和第二节段 520b接纳在管状基底510的凸缘512周围，则管状延伸件520的外部套管522 接纳在管状延伸件520的第一节段520a和第二节段520b周围，以将管状延伸件520固定至管状基底510。
如所示，管状延伸件520的第一节段520a和第二节段520b中的每一个均限定了开口523，其构造为与外部套管522中的一对开口525对齐，以将外部套管522固定至第一节段520a和第二节段520b。第一节段520a和第二节段520b以及外部套管522中的一个或两者可包括一个或多个凸起、和/或一个或多个狭槽，用于将外部套管522固定在第一延伸件和第二延伸件周围。可替代地，外部套管522可采用任意合适方式固定至第一节段520a和第二节段520b。
外部套管522可选择性地固定在第一延伸件和第二延伸件周围，用于将外部套管522从第一节段520a和第二节段520b周围选择性地移除，以允许管状延伸件520从管状基底510分离。可替代地，外部套管522可永久性地固定在第一节段和第二节段周围，以防止管状延伸件520从管状基底510分离。如上文所提到的，尽管管状基底510和管状延伸件520示出并描述为形成独立的连接组件500，能够预想到的是，管状基底510可形成在第一管状构件上，即形成在接合器组件100(图3)上，而管状延伸件520可形成在第二管状构件上，即形成在延伸组件200(图17)上，从而使得第一管状构件可直接连接至第二管状构件。
本文描述的任意部件能够由将强度、耐久性、耐磨损性、重量、抗腐蚀性、易于制造性、制造成本等考虑在内的金属、塑料、树脂、复合材料等制造。
本领域技术人员能够理解的是，本文明确描述以及附图中所示意的设备和方法是非限制的示例性实施例。能够预想到的是，结合一个示例性实施例所示意或描述的元件和特征能够在不背离本发明的范围的情况下与另一示例性实施例的元件和特征结合。同样，本领域技术人员能够基于上述实施例理解本发明的其他特征和优势。因此，本发明并不限于已经特别示出和描述的内容，除非在所附权利要求书中有所指示。

Claims (23)

1.一种用于将末端执行器可操作地连接至电外科手术器械的组件，所述组件包括：
接合器组件，其包括，
连接器组件；
驱动传递组件，其穿过连接器组件而被可操作地接纳并且包括第一旋转轴、第二旋转轴和第三旋转轴；
第一推进器组件，其可操作地连接至所述第一旋转轴，用于将来自所述第一旋转轴的旋转运动转换成纵向移动以执行第一功能；
第二推进器组件，其可操作地连接至所述第二旋转轴，用于将来自所述第二旋转轴的旋转运动转换成纵向移动以执行第二功能；以及
驱动构件，其可操作地连接至所述第三旋转轴，用于传递来自所述第三旋转轴的旋转运动以执行第三功能；以及
延伸组件，其可操作地连接至所述接合器组件的远侧端，所述延伸组件包括可操作地连接至所述第一推进器组件和所述第二推进器组件之一的至少一个柔性带状组件，和可操作地连接至所述驱动构件的套管针组件。
2.根据权利要求1所述的组件，其中，所述第一推进器组件包括第一行星齿轮组件，并且所述第二推进器组件包括第二行星齿轮组件。
3.根据权利要求2所述的组件，其中，所述第一行星齿轮组件和所述第二行星齿轮组件中的每个均包括第一行星齿轮系统和第二行星齿轮系统。
4.根据权利要求3所述的组件，其中，所述第一行星齿轮系统和所述第二行星齿轮系统中的每个均构造为降低所述第一旋转轴和所述第二旋转轴的转速。
5.根据权利要求3所述的组件，其中，所述第一推进器组件包括可操作地连接至所述第一行星齿轮组件的第一驱动螺杆，并且所述第二推进器组件包括可操作地连接至所述第二行星齿轮组件的第二驱动螺杆。
6.根据权利要求5所述的组件，其中，所述第一推进器组件包括可操作地接纳在所述第一驱动螺杆周围的第一推进器构件，并且所述第二推进器组件包括可操作地接纳在所述第二驱动螺杆周围的第二推进器构件。
7.根据权利要求6所述的组件，其中，所述第一驱动螺杆的旋转引起所述第一推进器构件的纵向移动，并且所述第二驱动螺杆的旋转引起所述第二推进器构件的纵向移动。
8.根据权利要求1所述的组件，其中，所述接合器组件还包括基底和能沿纵轴线相对于所述基底旋转的支撑结构，所述连接器组件和所述驱动传递组件布置在所述基底内，并且所述第一推进器组件和所述第二推进器组件布置在所述支撑结构内。
9.根据权利要求1所述的组件，其中，所述连接器组件构造成用于可操作地连接至所述电外科手术器械。
10.根据权利要求1所述的组件，其中，所述延伸组件包括可操作地连接至所述第一推进器组件和所述第二推进器组件中的另一个的第二柔性带状组件。
11.根据权利要求1所述的组件，其中，所述套管针组件将来自所述驱动构件的旋转运动转换成线性运动。
12.根据权利要求1所述的组件，其中，连杆组件将所述套管针组件可操作地连接至所述驱动构件。
13.根据权利要求12所述的组件，其中，所述连杆组件包括枢转地连接至第二驱动轴的第一驱动轴，以及枢转地连接至所述第二驱动轴的联接构件。
14.根据权利要求1所述的组件，其中，所述驱动传递组件以及所述第一推进器组件和第二推进器组件可操作地接纳在单个外管内。
15.一种用于将末端执行器可操作地连接至电外科手术器械的延伸组件，所述延伸组件包括：
外部套管；
框架组件，其接纳在所述外部套管内；
内部柔性带状组件，其可滑动地布置在所述框架组件内，用于执行第一功能；
外部柔性带状组件，其可滑动地布置在所述框架组件内并且相对于所述内部柔性带状组件，用于执行第二功能；以及
套管针组件，其布置在所述框架组件内并且包括套管针构件，用于执行第三功能。
16.根据权利要求15所述的延伸组件，其中，所述内部柔性带状组件包括构造为连接至第一线性驱动构件的近侧端，并且所述外部柔性带状组件包括构造为连接至第二线性驱动构件的近侧端。
17.根据权利要求15所述的延伸组件，其中，所述套管针组件的近侧端构造成用于连接至可旋转驱动轴。
18.根据权利要求17所述的延伸组件，其中，所述可旋转驱动轴的旋转引起所述套管针构件的线性前进。
19.根据权利要求15所述的延伸组件，还包括构造成用于与末端执行器可操作地连接的连接组件。
20.根据权利要求15所述的延伸组件，其中，所述内部柔性带状组件的远侧端包括构造成用于与末端执行器可操作地连接的凸缘。
21.根据权利要求15所述的延伸组件，其中，所述外部柔性带状组件的远侧端包括构造成用于与末端执行器可操作地连接的凸缘。
22.根据权利要求15所述的延伸组件，其中，所述套管针构件构造成用于与砧座组件可操作地连接。
23.根据权利要求15所述的延伸组件，还包括用于与所述套管针组件可操作地连接的连杆组件，所述连杆组件包括枢转地固定至第二轴的第一轴和联接构件。
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US20160106406A1 (en) 2016-04-21
US11399836B2 (en) 2022-08-02
US10226254B2 (en) 2019-03-12
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US20220361883A1 (en) 2022-11-17
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AU2015243004A1 (en) 2016-05-05
CN111544071A (zh) 2020-08-18
EP3593737A1 (en) 2020-01-15
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US20190159781A1 (en) 2019-05-30
CN111544071B (zh) 2024-04-02
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CA2909250A1 (en) 2016-04-21
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EP3011915A3 (en) 2016-08-10
JP6595298B2 (ja) 2019-10-23

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