CN105748125B - 蛤壳式手术吻合装载单元 - Google Patents

蛤壳式手术吻合装载单元 Download PDF

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CN105748125B
CN105748125B CN201610008651.4A CN201610008651A CN105748125B CN 105748125 B CN105748125 B CN 105748125B CN 201610008651 A CN201610008651 A CN 201610008651A CN 105748125 B CN105748125 B CN 105748125B
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斯坦尼斯洛娃·科斯切夫斯基
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Abstract

本发明公开了一种蛤壳式手术吻合装载单元。一种蛤壳式吻合末端执行器包含第一钳夹和第二钳夹，且限定末端执行器轴线。所述第一钳夹具有近侧部、中央部、以及远侧部。所述中央部包含第一组织接触表面且限定腔。所述第二钳夹包含第二组织接触表面且绕旋转轴线可旋转地紧固至所述第一钳夹。所述旋转轴线与所述末端执行器轴线平行。所述第二钳夹具有折叠位置和夹紧位置，该折叠位置使得以所述第一组织接触表面和所述第二组织接触表面彼此平行且面向相同方向的方式来将所述第二钳夹定位在所述第一钳夹的所述腔内，该夹紧位置使得所述第一组织接触表面和所述第二组织接触表面彼此相对。本发明还公开了一种装载单元。

Description

蛤壳式手术吻合装载单元
技术领域
本公开涉及一种手术器械，且更具体地，涉及一种用于闭合中空器件的开口端的器械。
背景技术
在诸如腹腔镜全子宫切除术(TLH)操作的子宫切除操作期间，子宫和子宫颈被移除，这样在称作阴道断端(vaginal cuff)的阴道腔的端部处产生大致圆形的结构。剩余阴道断端的闭合成为该操作的其中一个最具挑战性的方面。对于本领域技术人员而言，其还被看成是在开放式操作中采用腹腔镜手术的障碍之一。
在子宫被移除之后，有必要闭合阴道断端而同时避免在伤口沿手术缝合线破裂时的裂开。当前，阴道断端闭合是通过借助针和缝合线或者是借助缝合手术器械来手动地进行。两种方法都要求很多的手术技能和时间。
需要如下的这样一种能够闭合阴道断端的器械：其要求较少的技能，节省时间，且提供牢固连贯的吻合。
发明内容
在本公开的方案中，一种末端执行器包含第一钳夹和第二钳夹。所述第一钳夹具有近侧部、中央部、以及远侧部且限定末端执行器轴线。所述中央部具有第一组织接触表面且限定腔。所述第二钳夹具有第二组织接触表面且绕旋转轴线可旋转地紧固至所述第一钳夹，所述旋转轴线与所述末端执行器轴线平行。所述第二钳夹具有折叠位置使得以所述第二钳夹的所述第二组织接触表面面向与所述第一钳夹的所述第一组织接触表面相同的方向的方式来将所述第二钳夹定位在所述第一钳夹的所述腔内。所述第二钳夹能够旋转至夹紧位置使得以所述第二钳夹的所述第二组织接触表面与所述第一钳夹的所述第一组织接触表面相对的方式来使所述第二钳夹绕所述旋转轴线旋转。
在方案中，所述第一钳夹包含具有多个紧固件的紧固件仓。所述第一钳夹可包含滑块，当所述第二钳夹处于夹紧位置时，所述滑块能够平移穿过所述紧固件仓，以从所述第一钳夹朝向所第二钳夹射出所述多个紧固件。
在一些方案中，所述第二钳夹包含近侧凸缘、远侧凸缘、以及连接所述近侧凸缘和所述远侧凸缘的中央部。所述第一钳夹的所述近侧部和所述远侧部可各自限定邻近所述腔的折叠止动凹槽。所述第二钳夹的所述近侧凸缘和所述远侧凸缘中的每一个均可包含远离所述第二钳夹的所述中央部延伸的止动销。当所述第二钳夹处于所述折叠位置时，所述止动销可被接纳在所述折叠止动凹槽内。
在本公开的另一个方案中，一种装载单元包含壳体、末端执行器、夹紧机构、以及发射机构。所述壳体限定纵向轴线且包含定位在所述壳体的近侧端处的连接件。所述连接件构造成将所述装载单元联接至手术器械。所述末端执行器被支撑在所述壳体的远侧端处且包含第一钳夹和第二钳夹。所述第一钳夹具有近侧部、中央部、以及远侧部且限定末端执行器轴线。所述中央部具有第一组织接触表面且限定腔。所述中央部包含多个紧固件。所述第二钳夹具有第二组织接触表面且绕旋转轴线可旋转地紧固至所述第一钳夹，所述旋转轴线与所述末端执行器轴线平行。所述第二钳夹具有折叠位置使得以所述第二钳夹的所述第二组织接触表面面向与所述第一钳夹的所述第一组织接触表面相同的方向的方式来将所述第二钳夹定位在所述第一钳夹的所述腔内。所述第二钳夹能够旋转至夹紧位置使得以所述第二钳夹的所述第二组织接触表面与所述第一钳夹的所述第一组织接触表面相对的方式来使所述第二钳夹绕所述旋转轴线旋转。所述夹紧机构布置在所述壳体内且与所述第二钳夹可操作地相关联以使所述第二钳夹在所述折叠位置和所述夹紧位置之间旋转。所述夹紧机构包含夹紧杆、夹紧轴、以及枢转臂，所述枢转臂定位在所述夹紧杆和所述夹紧轴之间以使所述夹紧杆响应于所述夹紧轴的纵向平移而纵向平移。所述发射机构布置在所述壳体内且与所述第一钳夹可操作地相关联，以当所述第二钳夹处于所述夹紧位置时将所述多个紧固件从所述第一钳夹朝向所述第二钳夹射出。所述发射机构包含能够在所述壳体内纵向平移的发射杆。
在方案中，所述夹紧轴的远侧端包含夹紧钩，且所述枢转臂包含可旋转地联接至所述壳体的第一端、以及联接至所述夹紧杆的近侧端的第二端。所述枢转臂可包含定位在所述枢转臂的所述第一端和所述第二端之间的凸轮从动件(cam follower)。所述夹紧钩可接合所述枢转臂的所述凸轮从动件，以使所述枢转臂在折叠位置和夹紧位置之间旋转。所述枢转臂的在所述折叠位置和所述夹紧位置之间的旋转引起所述夹紧杆的平移。
在一些方案中，所述夹紧杆联接至还与所述第二钳夹联接的夹紧线缆。所述夹紧线缆使所述第二钳夹在折叠位置和夹紧位置之间旋转。所述夹紧杆的向远侧平移可张紧所述夹紧线缆以使所述第二钳夹朝向所述夹紧位置旋转，且所述夹紧杆的向近侧平移可张紧所述夹紧线缆以使所述第二钳夹朝向所述折叠位置旋转。
在某些方案中，所述夹紧机构包含线缆张紧件。所述夹紧线缆的第一部分可从所述夹紧杆、穿过所述线缆张紧件然后进入所述末端执行器内。所述线缆张紧件可向近侧偏置以将张紧力施加至所述夹紧线缆的所述第一部分。
在具体方案中，所述末端执行器包含可旋转地附接至所述末端执行器的下表面的惰轮、近侧轮、以及远侧轮。所述惰轮可邻近所述末端执行器的近侧端定位。所述远侧轮可邻近所述末端执行器的远侧端定位。所述近侧轮定位在所述惰轮和所述远侧轮之间。所述末端执行器的所述第一钳夹的所述近侧部和所述远侧部中的每一个均限定邻近中央部的沟槽。所述夹紧线缆的第二部分可绕经所述惰轮、所述近侧轮、所述远侧轮然后进入到限定于所述第一钳夹的所述远侧部中的沟槽内。所述夹紧线缆的所述第二部分联接至所述第二钳夹。
在方案中，所述发射杆的远侧端联接至发射线缆，所述发射线缆联接至布置在所述第一钳夹内的滑块。所述滑块能够滑动穿过所述第一钳夹，以将所述多个紧固件从所述第一钳夹射出。所述滑块能够与所述末端执行器轴线平行地向近侧滑动，以将所述多个紧固件从所述第一钳夹射出。所述发射杆的向远侧平移可以使所述滑块向近侧滑动。
在一些方案中，所述装载单元包含关节式运动机构。所述关节式运动机构可包含布置在所述壳体内的关节式运动杆，且所述关节式运动机构从布置在所述壳体的所述连接件内的关节式运动旗形部(articulation flag)延伸至联接至所述末端执行器的远侧端。所述关节式运动旗形部能够纵向平移以使末端执行器相对于所述壳体做关节式运动。所述末端执行器能够在直线构造和关节式运动构造之间关节式运动。在所述直线构造中，所述末端执行器轴线相对于所述壳体的纵向轴线关节式运动第一角度。在所述关节式运动构造中，所述末端执行器轴线可相对于所述壳体的纵向轴线关节式运动第二角度。所述第一角度可不同于所述第二角度。所述第二角度在约-4°至约100°的范围内。
在本公开的另一个方案中，一种用于闭合阴道断端的方法包含：将装载单元插入穿过直线构造中的开口；将所述末端执行器关节式运动以便所述末端执行器的末端执行器轴线与患者的阴道断端垂直；将所述末端执行器的第二钳夹从所述折叠位置旋转至夹紧位置；以及将多个紧固件从所述末端执行器的第一钳夹朝向所述第二钳夹射出以闭合所述阴道断端。在所述装载单元的所述直线构造中，所述末端执行器的末端执行器轴线与由所述装载单元的壳体限定的纵向轴线对准。所述末端执行器被支撑在所述壳体的远侧端上。在装载单元的插入期间，第二钳夹相对于第一钳夹处于折叠位置。当第二钳夹旋转至所述夹紧位置时，阴道断端定位在第一钳夹的组织接触表面和第二钳夹的组织接触表面之间。
进一步地，为了范围上一致，在此描述的任意方案可结合在此描述的任意或全部其它方案一起使用。
附图说明
下面参照并入且构成本说明书一部分的附图来描述本公开的各种方案，其中：
图1是根据本公开提供的、处于运送构造中的装载单元的立体图；
图2是以部件分离的状态图示出图1的装载单元的内部部件的分解图；
图3是图2的标示出的细节区域的放大图；
图4是图3的末端执行器的部件分离状态的分解图；
图5是图4的末端执行器的紧固件钳夹的立体图；
图6是图5的紧固件钳夹的部件分离状态的分解图；
图7是图4的保持件钳夹的部件分离状态的分解图；
图8A是图3的末端执行器在保持件钳夹处于折叠位置时的立体图；
图8B是沿图8A的剖切线8B-8B截取的剖面图；
图9A是图3的末端执行器在保持件钳夹处于打开位置时的立体图；
图9B是沿图9A的剖切线9B-9B截取的剖面图；
图10A是图3的末端执行器的在保持件钳夹处于夹紧位置时的立体图；
图10B是沿图10A的剖切线10B-10B截取的剖面图；
图11是图1的装载单元在移除了上壳体部情况下的立体图；
图12是图3的末端执行器的仰视立体图；
图13是图11的标示出的细节区域的放大图；
图14是图13的夹紧机构处于折叠位置时的立体图；
图15是图13的夹紧机构处于打开位置时的立体图；
图16是图13的夹紧机构处于夹紧位置时的立体图；
图17是图13的夹紧机构的仰视立体图；
图18是图11的标示出的细节区域的放大图；
图19是在移除细长主体的部分且以虚线示出末端执行器的部分的状态下图示出夹紧线缆的路径的立体图；
图20是图3的末端执行器在端盖被移除且保持件钳夹处于折叠位置时的端视图；
图21是图3的末端执行器在端盖被移除且保持件钳夹处于打开位置时的端视图；
图22是图3的末端执行器在端盖被移除且保持件钳夹处于夹紧位置时的端视图；
图23是图1的装载单元的发射机构的立体图；
图24是图23的标示出的细节区域的放大图；
图25是图23的发射轴的近侧部的立体图；
图26是图23的发射轴的远侧部以及发射轮的立体图；
图27是沿图25的剖切线27-27截取的剖面图；
图28A是在滑块处于初始位置的状态下沿图5的剖切线28A-28A截取的剖面图；
图28B是在紧固件布置在紧固件仓内的状态下沿图5的剖切线28B-28B截取的剖面图；
图29A是图28A的末端执行器的剖面图，其中滑块被部分地拉动穿过紧固件仓，且所述末端执行器包含处于夹紧位置的紧固件钳夹；
图29B是图28B的末端执行器的剖面图，其中滑块被部分地拉动穿过紧固件仓以将紧固件从紧固件仓射出，且所述末端执行器包含处于夹紧位置的保持件钳夹；
图30是图29B的完整的两件式紧固件的立体图；
图31是沿图30的剖切线31-31截取的剖面图；
图32是图1的处于运送构造中的装载单元的立体图，其中上壳体部被移除；
图33是图32的标示出的细节区域的放大图；
图34是图32的装载单元的近侧部的立体图，其中下壳体部被移除；
图35是图34的标示出的细节区域的放大图；
图36是图1的运送楔和锁止环的立体图；
图37是图36的运送楔和锁止环的立体图，其中锁止环旋转至解锁位置；
图38是在根据本公开的手术操作期间所使用的图1的装载单元的剖视图，其中装载单元处于直线构造；
图39是图38的装载单元在末端执行器邻近处于折叠位置的阴道断端的端部安置时的剖视图；
图40是沿图39的剖切线40-40截取的剖面图；
图41是图40的末端执行器在处于夹紧位置时的剖面图；以及
图42是图41的末端执行器返回至折叠位置时的剖面图，其中紧固件从紧固件仓射出，穿过阴道断端，然后进入到紧固件仓的保持件内。
具体实施方式
现在参考附图详细描述本公开的实施例，其中同样的附图标记指代几幅视图的每一副视图中的相同或对应的元件。如在此使用的，术语“临床医生”指的是医生、护士或任意其他的护理提供者且可包含支援人员。贯穿本说明书，术语“近侧”指的是设备或其部件的离临床医生最近的部分，而术语“远侧”指的是设备或其部件的离临床医生最远的部分。
本公开涉及一种用于电动或手动的手术手柄的装载单元，其包括用于接合组织的末端执行器。末端执行器具有旋转到闭合位置且能够呈蛤壳形式的钳夹。末端执行器包含保持件钳夹，该保持件钳夹被枢转地接纳在由紧固件钳夹限定的凹槽中。保持件钳夹从凹槽枢转至夹紧位置，然后紧固件从紧固仓朝向保持件仓射出，以紧固捕捉在紧固件钳夹和保持件钳夹之间的组织。如在下文详述地，装载单元可被用来在腹腔镜全子宫切除术期间使阴道断端闭合。
现在参考图1，根据本公开提供了装载单元10，且该装载单元包含从连接件23延伸至末端执行器30的细长主体12。如图1所示且在下文更详细论述地，在运送楔40关于细长主体12的近侧管14紧固的情况下，装载单元10处于运送构造。连接件23构造成将装载单元10联接至包含驱动杆的手术器械(未示出)，该驱动杆致动装载单元10以使末端执行器30相对于细长主体12关节式运动，以夹紧末端执行器30内的组织且使紧固件穿过被夹紧的组织成形。
装载单元10的连接件23可构造为选择性连接至电动手持式机电器械(未示出)，可构造为选择性连接至用于电动或手动器械的接合器，或可构造为选择性连接至手动致动的手柄组件。对于示范性的手动致动手柄组件的结构和功能的详细描述，请参考共有的美国专利第8,789,737号。对于示范性的机电器械以及接合器的结构和功能的详细描述，请参考于2012年5月31日提交的、共有的美国专利申请序列号第13/484,975号，现在公开为美国专利公开第2012/0253329号。这些公开中的每一个均通过引用以全部内容合并于此。
在此公开的任意实施例能够包含用于识别目的、用于测量一些参数等的微芯片或其他设备。以下申请的全部公开通过引用而合并于此：于2014年6月26提交的美国临时申请第62/017626号，以及于2014年2月4日提交的美国申请第14/172,109号。
另外参考图2，细长主体12包含由下壳体部21和上壳体部22形成的内壳体20。内壳体20包含连接件23、筒状件近侧筒状件24、远侧圆筒26、以及远侧延伸部27。近侧筒状件24从连接件23延伸出，而远侧筒状件26从近侧筒状件24延伸出。远侧筒状件26具有比近侧筒状件24的直径大的直径。远侧延伸部27从远侧筒状件26延伸出，且将末端执行器30枢转地紧固至内壳体20。通过布置在近侧筒状件24上的近侧管14和布置在远侧筒状件26上的远侧管16，下壳体部21和上壳体部22被紧固在一起。近侧管14具有第一直径，而远侧管16具有比第一直径大的第二直径。第一直径可在大约5mm至大约15mm的范围内(例如，12mm)，而第二直径可在大约12mm至大约20mm的范围内(例如，15mm)。通过布置在近侧管14上且在远侧管16内的壳体环15，可将近侧管14和远侧管16连结。壳体环15可密封限定在近侧管14和远侧管16之间的间隙。如图1所示，连接件23从近侧管14向近侧延伸。
如下文详述地，壳体20容纳关节式运动杆52、夹紧机构60、以及操纵末端执行器30的发射机构80。关节式运动杆52包含近侧旗形部53、以及从该近侧旗形部53延伸至远侧端56的主体54。关节式运动杆52的远侧端56穿过限定在末端执行器30中的关节式运动狭槽58，且通过关节式运动销59来枢转地联接至末端执行器30。近侧旗形部53能够在连接件23中限定的关节式运动通道57中纵向平移，以使末端执行器30相对于细长主体12在直线位置(图38)和关节式运动位置(图39)之间关节式运动。在直线位置上，末端执行器30与细长主体12大体对准，以便末端执行器30的纵向轴线与细长主体12的纵向轴线之间限定的角度在大约175°至大约185°的范围内(例如，0°或180°)。换句话说，在直线位置中，末端执行器30的纵向轴线可从细长主体12的纵向轴线起在大约5°至大约-5°的范围内(例如0°)关节式运动。在完全关节式运动位置(未明确示出)中，末端执行器30的纵向轴线与细长主体12的纵向轴线之间限定的角度在大约75°至大约105°的范围内(例如，90°)。换句话说，在完全关节式运动位置上，末端执行器30的纵向轴线可从细长主体12的纵向轴线起在大约75°至大约105°的范围内(例如，90°)关节式运动。应当想到，末端执行器30可在直线位置和完全关节式运动位置之间以任意角度关节式运动。如在下文更详细详述地，主体54限定关节式运动锁止凹口55，该关节式运动锁止凹口由运送楔40接合以将末端执行器30锁止在直线位置与完全关节式运动位置之间的运送位置(图1)。
参考图3至图7，末端执行器30包含紧固件钳夹32和保持件钳夹34，该保持件钳夹通过销36旋转地联接至紧固件钳夹32。具体参考图5和图6，紧固件钳夹32包含近侧部32a、中央部32b、以及远侧部32c。中央部32b布置在近侧部32a和远侧部32c之间，且构造成将紧固件仓130可释放地联接至紧固件钳夹32。紧固件仓130包含多个推进器132和多个紧固件134。中央部32b限定用于旋转地接纳保持件钳夹34的腔33。保持件钳夹具有远侧端和近侧端，该远侧端和近侧端各自枢转地连接至紧固件钳夹，以便保持件钳夹能够绕末端执行器的纵向轴线枢转。近侧部32a和远侧部32c的壁邻近中央部32b限定环状沟槽79，且在环状沟槽79中邻近腔33限定折叠止动凹槽39。另外，紧固件仓130限定夹紧止动凹槽138(图6)，该夹紧止动凹槽邻近近侧部32a和远侧部32c的壁。紧固件钳夹32包含端盖38，该端盖具有可释放地保持滑块94的滑块保持件38a。如在下文详述地，滑块94能够滑动穿过限定为贯穿仓130的滑块通道136(图6)，以从紧固件仓130射出多个紧固件134。进一步地，如在下文详述地，惰轮76、近侧轮77、以及远侧轮78旋转地联接至紧固件钳夹32的下表面。
具体参考图7，保持件钳夹34包含在近侧端和远侧端处的近侧凸缘34a和远侧凸缘34c、以及在近侧凸缘34a和远侧凸缘34c之间延伸的中央部34b。近侧凸缘34a和远侧凸缘34c中的每一个均包含远离中央部34b延伸的线缆销(cable pin)35。每一个线缆销35均包含线缆通道35a，如下文详述地，该线缆通道联接至夹紧线缆75(图20)。中央部34b构造成将保持件仓140可释放地联接至保持件钳夹34。保持件仓140包含可释放地保持多个保持件144的主体142。返回参考图4，近侧凸缘34a和远侧凸缘34c由销36可旋转地联接至紧固件钳夹32。
参考图8A至图10B，末端执行器30具有折叠位置(图8A和图8B)、打开位置((图9A和图9B)、以及夹紧位置(图10A和图10B)。在折叠位置中，保持件钳夹34完全地布置在限定于紧固件钳夹32的中央部32b中的腔33内，以便末端执行器30为大体圆柱形且从紧固件钳夹32的近侧部32a至紧固件钳夹32的远侧部32c具有大体统一的外径。当末端执行器30处于折叠位置时，紧固件仓130和保持件仓140的组织接触表面130a、140a分别面向相同方向(例如，如图8A所示的向上)。在折叠位置中，保持件钳夹32的线缆销35被接纳在限定于环状沟槽79中的折叠止动凹槽39内。
在末端执行器30的打开位置中，紧固件钳夹32和保持件钳夹34相对于彼此打开(即，在折叠位置和夹紧位置之间)。在装载单元10的运送构造中(图1)，末端执行器30处于特定的打开位置，如图9A和图9B所示，同时保持件仓140的组织接触表面140a与紧固件仓130的组织接触表面130a大体垂直。如下文详述地，末端执行器30可由运送楔40(图1)紧固在运送构造中，以便紧固件仓130和保持件仓140可分别联接至紧固件钳夹32和保持件钳夹34或从紧固件钳夹32和保持件钳夹34分开。
在末端执行器30的夹紧位置中，紧固件仓130和保持件仓140的组织接触表面130a、140a分别彼此相对。在夹紧位置中，紧固件仓130的每一个紧固件134与保持件仓140的相应的保持件144对准，以便当紧固件134被从紧固件仓130射出时，紧固件134与保持件144形成分别穿过紧固件钳夹130的组织接触表面130a和保持件钳夹140的组织接触表面140a之间的组织的两件式紧固件。在夹紧位置中，保持件钳夹34的近侧凸缘34a和远侧凸缘34c被接纳在紧固件仓130的夹紧止动凹槽138(图10A)内，以防止保持件钳夹34的过旋转。
参考图11至图22，夹紧机构60将夹紧轴62的平移转变成末端执行器30在折叠位置与夹紧位置之间的旋转。具体参考图11，夹紧机构60包含布置在细长主体12的壳体20(图1)内的夹紧轴62、枢转臂68、夹紧杆71、以及夹紧轮74。如图12所示，夹紧机构60还包含布置在紧固件钳夹32的下表面上的惰轮76、近侧轮77、以及远侧轮78。
返回简要参考图2，夹紧轴62包含近侧部64，该近侧部限定接纳仓18的仓凹口65，该仓18布置在限定于连接件32中的仓通道29内。仓18构造成响应于联接至连接件23的手术器械的驱动杆(未示出)而平移。
现在参考图13至图17，夹紧轴62包含限定凸轮或夹紧钩67的远侧部。夹紧钩67可滑动地接合枢转臂68，以使枢转臂68在与末端执行器30的折叠构造(图8A)对应的折叠位置(图14)、与末端执行器30的打开位置(图9A)对应的打开位置(图15)、以及与末端执行器30的夹紧位置(图10A)对应的夹紧位置(图16)之间枢转。枢转臂68包含第一端68a、第二端68b、以及凸轮从动件或接合部69。枢转臂68能够绕可旋转地紧固在内壳体20(图1)的下壳体部21内的第一端68a旋转。枢转臂68的第一端68a还可由内壳体20的上壳体部22(图2)可旋转地紧固。第二端68b可旋转地联接至夹紧杆71的近侧端71a。接合部69由夹紧轴62的夹紧钩67接合，以使枢转臂68绕其第一端68a枢转。随着枢转臂68绕其第一端68a枢转，枢转臂68使夹紧杆71平移。随着夹紧轴62被如由箭头“P”所指示的那样推进，夹紧钩67使枢转臂68的接合部69凸轮运动，以使枢转臂68朝向夹紧位置(图16)旋转。随着夹紧轴62被与箭头P相反地拉回，夹紧钩67使枢转臂68的接合部69凸轮运动，以使枢转臂68朝向折叠位置(图14)旋转。夹紧轴62的夹紧钩67可被推进越过枢转臂68，使得枢转臂68保持在夹紧位置(图16)，直到夹紧轴62被缩回以使枢转臂68的接合部69与夹紧钩67再接合。夹紧轴62限定夹紧锁止凹口66(图2)，该夹紧锁止凹口能由运送楔40(图1)接合，以将夹紧机构60紧固在运送位置中，该运送位置是与末端执行器30的运送位置以及装载单元10的运送构造对应的特定打开位置。
现在参考图18和图19，夹紧杆71的远侧端71b被卷绕或联接到夹紧线缆75。夹紧杆71的远侧端71b可包含被卷绕或联接至夹紧线缆75的销。夹紧线缆75是从内壳体20、穿过末端执行器30然后回到内壳体20内的连续线缆。夹紧线缆75从夹紧杆71的远侧端71b向近侧延伸且绕夹紧轮74延伸。夹紧轮74安装到附接至偏置构件73的线缆张紧件72上。偏置构件73(图11)紧固至下壳体部21，以预先张紧夹紧线缆75。从线缆轮74起，夹紧线缆75穿过内壳体20的近侧端并进入末端执行器30内而离开。夹紧线缆75绕经末端执行器30的惰轮76并绕经近侧轮77。由线缆张紧件72施加的预张紧力防止保持件钳夹34随着末端执行器30相对于壳体20关节式运动而旋转。
夹紧线缆75从近侧轮77起且绕远侧轮78延伸。从远侧轮78起，夹紧线缆75穿过夹紧件钳夹32，然后进入到环状沟槽79内。夹紧线缆75从环状沟槽79延伸，然后穿过与保持件钳夹34的远侧凸缘34c联接的线缆销35。夹紧线缆75被联接或卷绕在线缆销35的线缆通道35a内，以便夹紧线缆75相对于线缆销35固定。从线缆销35起，夹紧线缆35返回到环状沟槽79且从背面绕远侧轮78。从远侧轮78起，夹紧线缆35经过近侧轮77，然后绕经惰轮76。从惰轮76起，夹紧线缆75再进入内壳体20且联接至夹紧杆71的远侧端71Bb。
夹紧线缆75的另一部分从夹紧杆71的远侧端71b向近侧延伸，然后绕夹紧轮74延伸。从线缆轮74起，夹紧线缆75穿过内壳体20的近侧端并进入到末端执行器30内而离开。夹紧线缆75绕经末端执行器30的惰轮76并绕经末端执行器30的近侧轮77。夹紧线缆75从近侧轮77延伸到限定于紧固件钳夹32的近侧部32a中的环状沟槽79内。夹紧线缆75从环状沟槽79起且穿过与保持件钳夹34的近侧凸缘34a联接的线缆销35延伸。线缆销35联接或卷绕至夹紧线缆75，以便夹紧线缆相对于线缆销35固定。从线缆销35起，夹紧线缆35返回到环状沟槽79，且从背面绕近侧轮77。从近侧轮77起，夹紧线缆75绕经惰轮76，然后再进入到内壳体20内，且联接至夹紧杆71的远侧端71b。
返回参考图14至图16，且参考图20至图22，随着枢转臂68被从折叠位置朝向夹紧位置枢转，夹紧线缆75使保持件钳夹34从折叠位置(图20)旋转穿过打开位置(图21)，然后旋转到夹紧位置(图22)。具体地，随着枢转臂68被枢转以使夹紧杆71向远侧延伸，夹紧杆71的远侧端71b张紧夹紧线缆75的绕经线缆张紧件72的部分，以便夹紧线缆75沿当从末端执行器30的远侧端观看时、如图20至图22中的箭头A所示的逆时针方向拉动线缆销35，以使保持件钳夹朝向夹紧位置(图22)旋转。当枢转臂68被朝向折叠位置枢转时，夹紧杆71的远侧端71b张紧直接从夹紧杆71的远侧端71b进入内壳体部20的夹紧线缆75以沿顺时针方向(即，与由图20至图22中的箭头A所指示的方向相反)拉动线缆销35，以使保持件钳夹34朝向折叠位置(图20)旋转。
现在参考图23至图27，发射机构80包含发射杆82和被旋转地支撑在下壳体部21(图13)中的发射轮91、可滑动地布置在末端执行器30(图1)内的滑块94、以及从发射杆82延伸至滑块94的发射线缆81。发射杆82包含定位在发射杆82的近侧部中的近侧发射旗形部83a和远侧发射旗形部83b。近侧发射旗形部83a和远侧发射旗形部83b限定介于近侧发射旗形部83a和远侧发射旗形部83b之间的发射间隙84。仓18被接纳于近侧发射旗形部83a与远侧发射旗形部83b之间的发射间隙84内。发射杆82包含具有线缆保持件86和远侧指形件87的远侧部85。发射线缆81穿过线缆保持件86、绕经远侧指形件87且由线缆保持夹88紧固至远侧指形件87，该线缆保持夹被紧固或卷绕在远侧指形件87和发射线缆81上。
发射线缆81从发射杆82的远侧指形件87向近侧延伸且在发射轮91上延伸，该发射轮被旋转地支撑在限定于下壳体部21中的发射轮开口92(图2和图13)内。发射线缆81从发射轮91向远侧延伸，且绕末端执行器30的惰轮76延伸。从惰轮76起，发射线缆81延伸穿过末端执行器30，并附接至滑块94。
随着仓18被推进穿过连接件23(图2)，仓18在发射杆82的发射间隙84内移动，直到仓18的发射表面18a(图27)接合发射杆82的远侧发射旗形部83b为止。仓18的发射表面18a与远侧旗形部83b之间的、由尺寸D指示的距离限定了用于响应于仓18的推进而推进发射杆82的夹紧暂停或延迟。夹紧暂停至少等于将夹紧轴62推进至如下位置所要求的距离：在该位置处，夹紧钩67经过枢转臂68，如图16所示，以便枢转臂68如上所详述的处于夹紧位置。换句话说，夹紧暂停防止发射杆82在末端执行器30处于夹紧位置之前被推进。当装载单元10被附接至手动致动手柄时，夹紧暂停等于扳机或活动手柄的首次拉动，以便扳机或活动手柄的随后拉动从紧固件仓130射出紧固件134。
在末端执行器30处于夹紧位置(图10A)的情况下，仓18被推进，以便发射表面18a接合发射杆82的远侧旗形部83b，以如由箭头B所指示地推进发射杆82(图26)。随着发射杆82被推进，发射杆82绕发射轮91来张紧被紧固至发射杆82的远侧指形件87的发射线缆81，以沿由箭头C所指示的方向拉动发射线缆81。如下文详述地，随着发射线缆81绕发射轮91而被张紧，发射线缆81向近侧拉动滑块94穿过紧固件仓130的通道136，以将紧固件134从紧固件仓130射出。
参考图28A至图29B，在初始位置(图28A和图28B)，滑块94由盖38的滑块保持件38a保持在紧固件钳夹32的远侧部32c中，且每一个紧固件134均定位在紧固件仓130内。随着滑块94如由箭头F所指示的那样被向近侧拉动穿过通道136(图29A)，滑块94的倾斜表面95接合推进器132的凸轮表面133，以使推进器132朝向保持件钳夹34移动。每一个推进器132与一个或多个紧固件134接合，以将紧固件134从紧固件仓130朝向保持件仓140射出。如图30和图31所示，每一个紧固件134接合一个或多个保持件140，以使两件式紧固件穿过被夹紧在紧固件仓130和保持件仓140之间的组织成形。
在实施例中，紧固件134可为未成形的吻合钉，且保持件钳夹32可包含砧座(未示出)。在这种实施例中，紧固件134被从紧固件仓130射出，以便紧固件134与砧座相互作用而使吻合钉穿过被夹紧在紧固件仓130和砧座之间的组织而成形(即，使未成形的吻合钉的钉腿变形)。
在一些实施例中，滑块94定位在紧固件钳夹32的近侧部32a中，且随着发射线缆81被张紧，该滑块由发射线缆81向远侧拉动。在这种实施例中，发射线缆81在绕经惰轮76之后，绕经远侧轮78。应当想到，在这种实施例中，滑块94的倾斜表面95面向远侧，而推进器132的凸轮表面133面向近侧。
在某些实施例中，滑块94包含刀具(未示出)，该刀具延伸穿过刀槽(未示出)，以随着滑块94被拉动穿过末端执行器30，该刀具切割紧固件钳夹32和保持件钳夹34之间的组织。在特定实施例中，刀具(未示出)从滑块94分离，且附接至独立于滑块94的发射线缆81。
返回参考图27，当期望数量的紧固件134被从紧固件仓130射出时，仓18缩回，以便仓18接合发射杆82的近侧旗形部83a来使发射杆82缩回。随着发射杆82缩回，发射线缆81的张紧力被释放，以便发射线缆81在内壳体20内是松弛的。随着张紧力被从发射线缆81释放，滑块94保持在紧固件仓130内的适当位置中。
现在参考图32至图35，装载单元10设置有运送楔40，以将末端执行器30紧固在运送构造中。在运送构造中，末端执行器30相对于细长主体12关节式运动，且保持件钳夹34相对于紧固件钳夹32处于打开位置。如图1所示，在运送构造中，末端执行器30相对于细长主体12关节式运动约45°；然而，预期到的是，在运送构造中，末端执行器30可相对于细长主体12在大约15°至大约60°的范围内关节式运动。进一步地，如图9A和图9B所示，在运送构造中，保持件钳夹34定位成使得当保持件仓140被附接至保持件钳夹34时，保持件仓140的组织接触表面140a大体垂直于附接至紧固件钳夹32的紧固件仓130的组织接触表面130a。预期到的是，在运送构造中，保持件钳夹34可处于任意打开位置(即，在折叠位置和夹紧位置之间)，该任意打开位置允许保持件仓140和紧固件仓130分别与保持件钳夹34和紧固件钳夹32联接和分开。
具体参考图33至图35，关节式运动杆52限定关节式运动锁止凹口55，且夹紧轴62限定夹紧锁止凹口66。在运送构造中，锁止凹口55、锁止凹口66中每一个由运送楔40的相应的锁止指形件45、锁止指形件46接合。具体地，运送楔的关节式运动锁止指形件45接合关节式运动杆52的关节式运动锁止凹口55，而运送楔40的夹紧锁止指形件46接合夹紧轴62的夹紧锁止凹口46。锁止指形件45、锁止指形件46与锁止凹口45、锁止凹口46的接合固定末端执行器30相对于细长主体12的关节式运动，且固定保持件钳夹34相对于紧固件钳夹32的位置。通过固定末端执行器30的关节式运动以及保持件钳夹34的位置，紧固件仓130和保持件仓140能够分别联接紧固件钳夹32和保持件钳夹34、以及从紧固件钳夹32和保持件钳夹34分开，而无需移动关节式运动组件50、夹紧机构60、以及发射机构80。进一步地，固定末端执行器30的关节式运动以及保持件钳夹34的位置，装载单元10可附接到手术器械以及从手术器械拆卸，而不会使末端执行器30或保持件钳夹34无意地移动。预期到的是，运送楔40还可包含支撑指形件47以将运送楔40支撑在细长主体12的近侧管14上。
参考图1、图36和图37，运送楔40由与运送楔40的钩41接合的锁止环42来紧固至装载单元10。锁止环42包含锁止架43和近侧指形件44。锁止环42可旋转第定位在内壳体20的连接件23上。在锁止环42的锁止位置(图1和图36)中，锁止环42的锁止架43接合运送楔40的钩41，以将运送楔40紧固至装载单元10。当装载单元10联接至接合器(未示出)或手术器械(未示出)时，连接件23通过卡扣式连接来紧固至接合器或手术器械，以便接合器或手术器械接合锁止环42的近侧指形件44以将锁止环42旋转至解锁位置(图37)，使得锁止架43旋转而不与钩41接合。在锁止环42处于解锁位置的情况下，接合运送楔40的释放凸起48，以将运送楔40从装载单元10移除。
现在参考图38至图41，装载单元10在腹腔镜全子宫切除术(TLH)操作期间使用以闭合阴道断端VC。首先，通过分别将紧固件仓130和保持件仓140联接至紧固件钳夹32和保持件钳夹34，来装载该装载单元10。装载单元10可在预先装载条件下应用或可以套件形式来应用，该套件具有各种长度和类型的紧固件(例如，2mm、3mm或3.5mm、4mm或4.8mm、或5mm的两件式紧固件或可变形吻合钉)的一对或多对紧固件仓和保持件仓。在紧固件仓130和保持件仓140联接至末端执行器30的情况下，装载单元10附接至手术器械(未明确示出)。当装载单元10附接至手术器械时，锁止环42被从锁止位置旋转至解锁位置。在锁止环42处于解锁位置的情况下，接合释放凸起48以将运送楔40从装载单元10移除。预期到的是，在紧固件仓130和保持件仓140联接至末端执行器30之前，装载单元10可附接至手术器械。
在运送楔40从装载单元10移除的情况下，末端执行器30相对于细长主体12关节式运动至直线位置，以便末端执行器30与细长主体12大体对准。另外，保持件钳夹32旋转到折叠位置，以便末端执行器30是沿其长度的大体圆柱状，且具有大体统一的外径。
具体参考图38，在末端执行器30处于直线位置以及保持件钳夹32处于折叠位置的情况下，装载单元10插入穿过患者P的手术部位S，以进入阴道断端VC。如所示，装载单元10插入穿过通过开口(例如，自然生成的开口或切口I)定位的插管CN，以进入患者P的体腔内的手术部位。
现在参考图39和图40，末端执行器30邻近阴道断端VC的开口端来定位且关节式运动，以便末端执行器30与阴道断端VC大体垂直。保持件钳夹34定位成相对于紧固件仓130更靠近于阴道断端VC的开口端，同时阴道断端VC定位在保持件钳夹34的近侧凸缘34a和远侧凸缘34c之间。如图41所示，然后操纵装载单元10来推进仓18以接合夹紧机构60，以使保持件钳夹34从折叠位置旋转至夹紧位置。随着保持件钳夹34旋转，阴道断端VC定位在紧固件钳夹32和保持件钳夹34之间。随着阴道断端VC定位在钳夹32、钳夹34之间，阴道断端VC可在紧固件仓130和保持件仓140的组织接触表面130a、组织接触表面140a之间展平。
在阴道断端VC定位在钳夹32、钳夹34之间的情况下，临床医生核实阴道断端VC的开口端超出紧固件钳夹32。然后，操纵装载单元10以进一步推进仓18来接合发射机构80，以拉动滑块94穿过紧固件仓130来朝向保持件144驱动紧固件134，从而形成两件式紧固件来闭合如上所述的阴道断端VC。如上文详述地，紧固件134还可以是可变形的吻合钉，该可变形的吻合钉变形以使吻合钉成形来闭合阴道断端VC。紧固件134和保持件144可是生物可吸收的，以便紧固件134和保持件144在阴道断端VC的吻合术完成时被吸收。预期到的是，紧固件134或保持件144可由助于阴道断端VC的吻合的物质来涂覆。
参考图42，在紧固件134穿过阴道断端VC射出之后，保持件钳夹34旋转回到折叠位置。随着保持件钳夹34返回到折叠位置，阴道断端VC被从紧固件钳夹32和保持件钳夹34之间释放。末端执行器30然后关节式运动至直线位置，以便末端执行器30与细长主体12对准。在末端执行器30处于直线位置以及保持件钳夹34处于折叠位置的情况下，装载单元10被从手术部位S取回。
在装载单元10被从手术部位S取回之后，装载单元10可从手术器械拆卸。在装载单元10从手术器械分离的情况下，装载单元10可被消毒用于在另一个手术操作中再使用。
可选择地，通过将装载单元10定位在运送构造中(即，使末端执行器30关节式运动至运送位置且使保持件钳夹34旋转至运送位置)，可再装载该装载单元10。在装载单元10处于运送构造的情况下，运送楔40可在近侧管14附近联接，以将装载单元10固定在运送构造中。在装载单元10处于运送构造中的情况下，紧固件仓130和保持件仓140可分别从紧固件钳夹32和保持件钳夹34分开。然后，新的紧固件仓和保持件仓可分别联接至紧固件钳夹32和保持件钳夹34，以便装载单元10可在相同的手术操作中再使用。
虽然装载单元10在上文详述用于执行TLH时，预期到的是，装载单元10可被用于闭合多种管状结构，包含但不限于静脉、动脉和肠。
在此公开的任意实施例中，末端执行器能够具有第一钳夹和第二钳夹，该第一钳夹和该第二钳夹具有远侧端和近侧端，该远侧端和该近侧端各自枢转地连接至第一钳夹，第二钳夹能够绕末端执行器的纵向轴线枢转。第一钳夹能够保持多个紧固件，并且第二钳夹能够具有多个保持件。在其他实施例中，末端执行器具有吻合钉钉仓钳夹、以及在另一个钳夹上的带有吻合钉成形凹槽的砧座。
末端执行器具有折叠位置、打开位置、以及夹紧位置。在折叠位置中，组织接触表面面向相同方向，且末端执行器具有圆形包壳/轮廓。末端执行器钳夹能够在其各种位置之间旋转或滑动。
末端执行器能够具有带有线缆销的保持件钳夹，该线缆销具有用于允许夹紧线缆通过的孔。末端执行器能够具有用于移动钳夹位置、用于发射、和/或用于关节式运动的线缆。在某些实施例中，致动功能的其它器件得以被使用，如带螺纹的可旋转构件、推杆、电子设备等。
一种夹紧手术紧固器械的钳夹的方法能够包含：缩回夹紧轴；夹紧轴的夹紧钩使枢转臂的接合部凸轮运动以使枢转臂朝向折叠位置旋转；枢转臂的折叠位置对应于器械的末端执行器的折叠位置。在某些实施例中，将夹紧钩推进经过枢转臂，以便使夹紧钩脱离枢转臂且该夹紧钩将末端执行器保持在夹紧位置上。
在某些实施例中，使用线缆与推杆的结合。夹紧线缆能够连接至夹紧杆，用于移动器械的钳夹。夹紧线缆绕轮延伸，并且轮具有张紧设备以预先张紧该夹紧线缆。夹紧线缆具有延伸穿过器械的一个钳夹的端部、以及延伸穿过另一个钳夹的端部。凸轮机构可被用来使夹紧线缆和推杆拆开。
线缆的一端绕一个或多个轮延伸，且固定至第二钳夹或保持件钳夹的线缆销。线缆的另一端延伸穿过紧固件钳夹且固定至第二钳夹或保持件钳夹的另一个线缆销。
末端执行器能够具有限定夹紧延迟的发射杆。在发射开始之前，夹紧钩从夹紧杆脱离，这将钳夹维持在夹紧位置中。在某些实施例中，发射线缆从发射杆延伸至滑块。仓在发射杆中的发射间隙内移动，以在发射之前限定夹紧延迟。在夹紧延迟之后，仓接合发射杆，这使得张紧线缆且向近侧拉动滑块。具有延迟的夹紧机构可被用于在此公开的任意实施例中。延迟可由接合且脱离凸轮构件(如枢转臂)的夹紧轴引起，以便在末端执行器保持在夹紧位置的同时，夹紧轴的进一步移动不会使夹紧杆和夹紧线缆移动。
设备具有两排或三排紧固件且可不具有任何刀具。设备能够部署具有一个或两个部件的可吸收紧固件、手术吻合钉、夹子或其它紧固件。滑块能够停驻在末端执行器的远侧部中且向近侧移动，或滑块能够从近侧端开始向远侧移动。推进器被期望是两个或三个推进器；即，推进器可期望地支撑同时被驱动的两个或三个紧固件。
在此公开的任意实施例中能够包含运送楔。运送楔能够防止关节式运动杆的移动，和/或保护滑块免于移动或可具有其它的功能。
在某些实施例中，末端执行器是能够附接至接合器或手柄(无论是手动的还是电动的)的装载单元的一部分。关节式运动杆具有在其近侧端处的旗形部或其它接合构型。在某些实施例中，旗形部必须在中间位置以便将装载单元附接至接合器、手柄、或其它致动器。运送楔或运送器具附接至装载单元，且具有接合关节式运动杆的构件，以维持关节式运动杆的中间位置。运送器具还可维持夹紧轴和/或发射杆的位置。
在此公开的任意实施例能够在子宫切除术之后被用来闭合阴道断端，或被用来闭合一些其它的中空器官。
尽管本公开的几个实施例已经在附图中示出，但是不会意图的是，本公开没有限制于此，因为意图的是，将允许本公开在范围上与本领域所允许的一样宽泛，且意图的是，同样解读本说明书。上述实施例的组合也被预想到且在所附权利要求书的范围内。因此，上文的描述不应该解释为限制，而是仅仅作为具体实施例的示例。本领域的技术人员将预想到在所附于此的权利要求书的范围内的其它修改。

Claims (19)

1.一种末端执行器，包括：
第一钳夹，其具有近侧部、中央部、以及远侧部，所述中央部具有第一组织接触表面且限定腔，所述第一钳夹限定末端执行器轴线；以及
第二钳夹，其具有第二组织接触表面且绕旋转轴线可旋转地紧固至所述第一钳夹，所述旋转轴线与所述末端执行器轴线平行，所述第二钳夹具有折叠位置使得以所述第二钳夹的所述第二组织接触表面面向与所述第一钳夹的所述第一组织接触表面相同的方向的方式来将所述第二钳夹定位在所述第一钳夹的所述腔内，所述第二钳夹能够旋转至夹紧位置使得以所述第二钳夹的所述第二组织接触表面与所述第一钳夹的所述第一组织接触表面相对的方式来使所述第二钳夹绕所述旋转轴线旋转。
2.根据权利要求1所述的末端执行器，其中所述第一钳夹包含具有多个紧固件的紧固件仓。
3.根据权利要求2所述的末端执行器，其中所述第一钳夹包含滑块，当所述第二钳夹处于所述夹紧位置时，所述滑块能够平移穿过所述紧固件仓以从所述第一钳夹朝向所第二钳夹射出所述多个紧固件。
4.根据权利要求1所述的末端执行器，其中所述第二钳夹包含近侧凸缘、远侧凸缘、以及连接所述近侧凸缘和所述远侧凸缘的中央部。
5.根据权利要求4所述的末端执行器，其中所述第一钳夹的近侧部和远侧部各自限定邻近所述腔的折叠止动凹槽，其中所述第二钳夹的所述近侧凸缘和所述远侧凸缘中的每一个均包含远离所述第二钳夹的所述中央部延伸的止动销，当所述第二钳夹处于所述折叠位置时，所述止动销被接纳在所述折叠止动凹槽内。
6.根据权利要求4所述的末端执行器，其中所述第一钳夹的所述中央部限定邻近所述第一钳夹的所述近侧部和所述远侧部的夹紧止动凹槽，所述夹紧止动凹槽构造成在所述第二钳夹处于所述夹紧位置时接纳所述第二钳夹的所述近侧凸缘和所述远侧凸缘。
7.一种装载单元，包括：
壳体，其包含定位在所述壳体的近侧端处的连接件，所述连接件构造成将所述装载单元联接至手术器械，所述壳体限定纵向轴线；
末端执行器，其被支撑在所述壳体的远侧端处，所述末端执行器包含：
第一钳夹，其具有近侧部、中央部、以及远侧部，所述中央部具有第一组织接触表面且限定腔，所述中央部包含多个紧固件，所述第一钳夹限定末端执行器轴线；以及
第二钳夹，其具有第二组织接触表面且绕旋转轴线可旋转地紧固至所述第一钳夹，所述旋转轴线与所述末端执行器轴线平行，所述第二钳夹具有折叠位置使得以所述第二钳夹的所述第二组织接触表面面向与所述第一钳夹的所述第一组织接触表面相同的方向的方式来将所述第二钳夹定位在所述第一钳夹的所述腔内，所述第二钳夹能够旋转至夹紧位置使得以所述第二钳夹的所述第二组织接触表面与所述第一钳夹的所述第一组织接触表面相对的方式来使所述第二钳夹绕所述旋转轴线旋转；
夹紧机构，其布置在所述壳体内且与所述第二钳夹可操作地相关联以使所述第二钳夹在所述折叠位置和所述夹紧位置之间旋转，所述夹紧机构包含夹紧杆、夹紧轴、以及枢转臂，所述枢转臂定位在所述夹紧杆和所述夹紧轴之间以使所述夹紧杆响应于所述夹紧轴的纵向平移而纵向平移；以及
发射机构，其布置在所述壳体内且与所述第一钳夹可操作地相关联以便当所述第二钳夹处于所述夹紧位置时将所述多个紧固件从所述第一钳夹朝向所述第二钳夹射出，所述发射机构包含能够在所述壳体内纵向平移的发射杆。
8.根据权利要求7所述的装载单元，其中所述夹紧轴的远侧端包含夹紧钩，所述枢转臂包含可旋转地联接至所述壳体的第一端、联接至所述夹紧杆的近侧端的第二端、以及定位在所述枢转臂的所述第一端和所述第二端之间的凸轮从动件，其中所述夹紧钩接合所述枢转臂的所述凸轮从动件以使所述枢转臂在所述枢转臂的折叠位置和夹紧位置之间旋转，其中所述枢转臂的旋转引起所述夹紧杆的平移。
9.根据权利要求7所述的装载单元，其中所述夹紧杆联接至与所述第二钳夹联接的夹紧线缆，所述夹紧线缆使所述第二钳夹在所述折叠位置和所述夹紧位置之间旋转。
10.根据权利要求9所述的装载单元，其中所述夹紧杆的向远侧平移张紧所述夹紧线缆以使所述第二钳夹朝向所述夹紧位置旋转，且所述夹紧杆的向近侧平移张紧所述夹紧线缆以使所述第二钳夹朝向所述折叠位置旋转。
11.根据权利要求9所述的装载单元，其中所述夹紧机构包含线缆张紧件，所述夹紧线缆的第一部分从所述夹紧杆、经过所述线缆张紧件然后进入所述末端执行器内，所述线缆张紧件向近侧偏置以将张紧力施加至所述夹紧线缆的所述第一部分。
12.根据权利要求9所述的装载单元，其中所述末端执行器包含可旋转地附接至所述末端执行器的下表面的惰轮、近侧轮、以及远侧轮，所述惰轮邻近所述末端执行器的近侧端定位，所述远侧轮邻近所述末端执行器的远侧端定位，所述近侧轮定位在所述惰轮和所述远侧轮之间。
13.根据权利要求12所述的装载单元，其中所述末端执行器的所述第一钳夹的所述近侧部和所述远侧部中的每一个均限定邻近所述中央部的沟槽，且其中所述夹紧线缆的第二部分绕经所述惰轮、所述近侧轮、所述远侧轮然后进入到限定于所述第一钳夹的所述远侧部中的所述沟槽内，所述夹紧线缆的所述第二部分联接至所述第二钳夹。
14.根据权利要求7所述的装载单元，其中所述发射杆的远侧端联接至发射线缆，所述发射线缆联接至布置在所述第一钳夹内的滑块，所述滑块能够滑动穿过所述第一钳夹以将所述多个紧固件从所述第一钳夹射出。
15.根据权利要求14所述的装载单元，其中所述滑块能够与所述末端执行器平行地向近侧滑动以将所述多个紧固件从所述第一钳夹射出。
16.根据权利要求15所述的装载单元，其中所述发射杆的向远侧平移使所述滑块向近侧滑动。
17.根据权利要求7所述的装载单元，进一步包括关节式运动机构，所述关节式运动机构包含布置在所述壳体内的关节式运动杆，且所述关节式运动机构从位于所述壳体的所述连接件内的关节式运动旗形部延伸至联接至所述末端执行器的远侧端，所述关节式运动旗形部能够纵向平移以使所述末端执行器相对于所述壳体关节式运动。
18.根据权利要求17所述的装载单元，其中所述末端执行器能够在直线构造和关节式运动构造之间关节式运动，其中在所述直线构造中，所述末端执行器轴线相对于所述壳体的所述纵向轴线关节式运动第一角度，其中在所述关节式运动构造中，所述末端执行器轴线相对于所述壳体的所述纵向轴线关节式运动第二角度，所述第一角度不同于所述第二角度。
19.根据权利要求18所述的装载单元，其中所述第二角度在-4°至100°的范围内。
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US9775611B2 (en) 2017-10-03
EP3042618B1 (en) 2019-04-03
CA2913339A1 (en) 2016-07-06
AU2015264780A1 (en) 2016-07-21
AU2015264780B2 (en) 2020-01-02
JP2016123858A (ja) 2016-07-11
EP3042618A1 (en) 2016-07-13
CN105748125A (zh) 2016-07-13
JP6586006B2 (ja) 2019-10-02

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