CN105748152B - 在手术仪器中去耦仪器轴滚动和末端执行器促动 - Google Patents

在手术仪器中去耦仪器轴滚动和末端执行器促动 Download PDF

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CN105748152B
CN105748152B CN201610093241.4A CN201610093241A CN105748152B CN 105748152 B CN105748152 B CN 105748152B CN 201610093241 A CN201610093241 A CN 201610093241A CN 105748152 B CN105748152 B CN 105748152B
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shaft
rotation
torque
end effector
main shaft
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CN105748152A (zh
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G·F·布里森
W·伯班克
G·W·达克斯二世
J·W·扎宾斯基
T·墨菲
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Intuitive Surgical Operations Inc
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Abstract

本发明涉及一种手术组装件和相关方法，其被提供用于使仪器轴滚动和末端执行器促动去耦。手术组装件包括基底、被旋转地安装至基底的仪器轴、被支撑在仪器轴的远端处且包括由旋转运动驱动的促动机构的末端执行器、旋转地耦合促动机构且经配置将旋转运动提供至促动机构的驱动轴以及被旋转地耦合至驱动轴且接收第一输入运动和第二输入运动的差速器。差速器组合了第一和第二输入运动，从而产生旋转驱动轴的输出运动。第一输入运动被旋转地耦合至促动源。第二输入运动被耦合至仪器轴相对于基底的旋转。

Description

在手术仪器中去耦仪器轴滚动和末端执行器促动
本申请是申请日为2011年11月15日、名称为“在手术仪器中去耦仪器轴滚动和末端执行器促动”的中国专利申请201180053854.0的分案申请。
相关申请的交叉引用
本申请要求在2010年11月15日提交的标题为“METHOD FOR PASSIVELYDECOUPLING TORQUE APPLIED BY A REMOTE ACTUATOR INTO AN INDEPENDENTLY ROTATINGMEMBER”的U.S.临时申请号61/413,885(代理人案号为ISRG02930PROV/US)的优先权；以及在2011年5月31日提交的标题为“DECOUPLING INSTRUMENT SHAFT ROLL AND END EFFECTORACTUATION IN A SURGICAL INSTRUMENT”的U.S.临时申请号61/491,789(代理人案号为ISRG03310/US)的优先权；这些申请的全部内容通过引用的方式并入。
背景技术
微创手术技术旨在降低在诊断或手术过程中受损的体外组织的量，从而减少患者康复时间、不适以及有害副作用。所以，使用微创手术技术可以显著地缩短标准手术住院时间的平均长度。同样地，使用微创外科手术还可以减少患者康复时间、患者不适以及患者停工的时间。
常见的微创手术形式是内窥镜检查，而常见的内窥镜检查形式是在腹腔内侧进行微创检查和手术的腹腔镜检查。在标准的腹腔镜手术中，患者腹部被吹入气体，套管套通过小(近似二分之一英寸或者更小)的切口，从而为腹腔镜检查仪器提供入口端。
腹腔镜检查手术仪器通常包括用于观看手术范围的内窥镜(例如，腹腔镜)以及在手术部位操作的工具。通常，除了每个工具的操作端或末端执行器通过延长管(还被称为例如仪器轴或主轴)与其把手分开之外，操作工具类似于在传统(开放)手术中所使用的工具。末端执行器能够包括，例如，夹具、抓紧器、剪刀、烙器、线性切割器或持针器。
为了执行手术过程，外科医生将操作工具通过套管套递至内部手术部位，并且在腹部外侧操纵这些工具。外科医生通过显示从内窥镜采集的手术部位图像的监控器来观看该过程。例如，在关节镜检查、后腹腔镜检查、盆腔检查、肾镜检查、膀胱镜检查、脑神经检查、窦镜检查、子宫镜检查、尿道镜检查等等中采用了类似的内窥镜技术。
微创远程手术机器人系统经研制增加了外科医生在内部手术部位操作时的敏捷度，同时允许外科医生在较远位置(无菌区外)为患者进行手术。在远程系统中，在控制台处，外科医生通常被提供由手术部位的图像。当在合适的指示器或显示器上观看到手术部位的三维图像时，外科医生通过操纵控制台的主输入或控制装置，在患者身上执行手术过程。每个主输入装置控制伺服机械促动/铰接手术仪器的运动。在手术过程中，远程系统能够提供多种含有末端执行器的手术仪器或工具的机械促动和控制，以响应于主输入装置的操纵来为外科医生执行各种功能，例如，保持或驱动针、抓取血管、解剖组织等等。
在许多现有的微创远程手术机器人系统中，由具有若干机器人臂的手术机器人手术仪器操纵。每个机器人臂具有若干机器人接头以及安装设备，用于附着手术仪器。与至少一个安装设备整体形成的是若干驱动耦合器(例如，旋转驱动耦合器)，其驱动地与相应的手术仪器输入耦合器接口。手术仪器包括这样的机构，其将输入耦合器驱动地耦合于手术仪器的相关运动(例如，主轴旋转、末端执行器倾斜、末端执行器偏转、末端执行器钳爪夹紧、吻合部署、组织切割等等)。在许多现有微创远程手术机器人系统中，均能够缆绳地驱动手术机器人的每个驱动耦合器，以便，例如，如在缆绳驱动促动系统中一样提供对输出耦合器的运动的准确控制。通过准确地控制输出耦合器的运动，能够实现对手术仪器的相关运动的准确控制。
缆绳驱动的输出耦合器通常具有有限的运动范围。该有限的运动范围在如下情况下并非是不利的，其中输出耦合器与不受末端执行器任何其他运动影响的末端执行器的一个运动相关。然而，该有限的运动范围可能在如下情况下是不利的，其中输出耦合器与受到末端执行器另一运动影响的末端执行器的一个运动相关。例如，仪器轴旋转将不利地耦合驱动轴旋转，其中驱动轴被用于促动末端执行器机构(例如，夹紧机构、吻合部署机构、组织切割机构等等)。尽管能做出与仪器轴旋转和驱动轴旋转有关的输出耦合器的补偿运动，但是该补偿运动减少了输出耦合器的有限运动范围的能够被用于其主要目的的一部分。
因此，认为需要有在手术仪器中去耦手术仪器的相关运动(具体地去耦仪器轴滚动和末端执行器促动)的手术组装件和相关方法。
操纵和控制这些执行器同样是机器人手术系统的特别有益的方面。由于该原因，可取地是提供包括下列机构的手术工具，即该机构可提供末端执行器的三种程度的旋转运动，从而模拟外科医生手腕的自然动作。该机构应该恰当地按尺寸形成以用于微创过程，并且设计相对简单，以便减少可能的故障点。另外，该机构应提供适度的运动范围，从而允许在各种位置中操纵末端执行器。
在许多不同的手术过程中已采用了非机器人线性夹紧、切割和吻合装置。例如，这样的装置能够被用于切除胃肠道内的癌肿性或异常的组织。许多已知的手术装置，其包括线性夹紧、切割和吻合装置，通常具有被用于操纵患者组织的相对钳爪。
对于具有相对钳爪的已知装置，必须将大量的机械功率传递至末端执行器，从而例如有效地夹紧组织、吻合组织、切割组织等等。在多数例子中，仪器的主轴必须反作用于被传递至末端执行器的至少部分机械力和/或扭矩，或者是通过主轴压缩来反作用于张力，或者是通过主轴的扭矩来反作用于经被置于主轴内的驱动轴被传递的扭矩。如果主轴或被用于旋转地放置主轴的机构没有足够的刚性，则主轴将响应于反作用力或扭矩而意外运动。
因此，还认为需要有将高的促动扭矩传输至末端执行器的手术组装件，其不会遇到因被传输的促动扭矩，导致单独可旋转主轴的意外旋转，其中可旋转主轴被用于支撑末端执行器。
发明内容
公开了手术组装件和相关方法，其提供了用于去耦仪器轴和末端执行器促动。在许多实施例中，差速器被用于组合与仪器轴旋转有关的运动和输入运动，从而将输出运动产生至末端执行器的促动机构，其中末端执行器由仪器轴的远端支撑。促动机构铰接部分末端执行器(即，钳爪、用于部署吻合的机构、组织切割机构等等)。能够这样配置差速器，以便仪器轴的旋转导致末端执行器部分大体上零铰接，从而消除仪器轴滚动和末端执行器促动之间的任何不利耦合的可能性。
因此，一方面，提供了手术组装件。手术组装件包括基底、被旋转地安装至基底并在远端和近端之间延伸的仪器轴、被支撑在仪器轴的远端处且包括由旋转运动驱动的促动机构的末端执行器、旋转地耦合促动机构且经配置将旋转运动提供至促动机构的驱动轴以及被旋转地耦合至驱动轴且接收第一输入运动和第二输入运动的差速器。差速器经配置组合第一和第二输入运动，从而产生旋转驱动轴的旋转运动。第一输入运动被可旋转地耦合至促动源。并且第二输入运动被耦合至仪器轴相对于基底的旋转。在许多实施例中，末端执行器包括被促动机构铰接的钳爪。
手术组装件能够经配置大体上使促动机构的促动从仪器轴的旋转去耦。例如，能够这样配置差速器，以便当第一输入运动为零时，仪器轴相对于基底的旋转导致了驱动轴相对于仪器轴的旋转大体上为零。
能够通过使用缆绳和滑轮实施差速器。例如，差速器能够包括将驱动轴相对于基底的旋转驱动地耦合至仪器轴相对于基底的旋转的第一缆绳以及驱动地耦合至促动源的第二缆绳。在许多实施例中，第二缆绳被耦合至分别具有第一和第二滑轮的第一和第二滑轮组，其中第一缆绳被第一和第二滑轮接合。如另一个例子，差速器能够包括将驱动轴相对于基底的旋转驱动地耦合至促动源的第一缆绳以及驱动地耦合至仪器轴相对于基底的旋转的第二缆绳。在许多实施例中，第二缆绳被耦合至分别具有第一和第二滑轮的第一和第二滑轮组，其中第一缆绳被第一和第二滑轮接合。
差速器能够包括行星齿轮箱，其包括恒星齿轮、耦合至载体的行星齿轮以及环形齿轮。在许多实施例中，第一输入运动旋转载体，第二输入运动旋转恒星齿轮，并且环形齿轮的旋转被传递至驱动轴。第一输入运动能够通过输入轴被传递至载体。恒星齿轮能够围绕输入轴旋转。在许多实施例中，输入轴横于仪器轴取向。手术组装件能够包括扭力弹簧，其被耦合于基底和载体之间，从而在促动源和载体分离的条件下，将驱动轴返回至相对于仪器轴的预定旋转位置。
在另一个方面，提供了使得手术仪器轴旋转从驱动轴旋转去耦的方法，其中驱动轴驱动地耦合末端执行器的机构。本方法包括产生与所需的末端执行器配置相关的第一输入运动；相对于基底旋转手术仪器轴，其中手术仪器轴在邻接基底的近端和支撑末端执行器的远端之间延伸；响应手术仪器轴相对于基底的旋转，产生第二输入运动；组合第一和第二输入运动，从而产生输出运动；以及响应输出运动，旋转驱动轴。在许多实施例中，组合第一和第二输入运动，以便当第一输入运动为零时，大体上不会出现驱动轴相对于手术仪器轴的旋转。
能够通过使用缆绳实行本方法。例如，本方法能够包括：响应手术仪器轴相对于基底的旋转来移动第一缆绳；响应第二缆绳的移动来移动第二缆绳、移动第一滑轮和第二滑轮；将第一缆绳与第一和第二滑轮中的每个接合；以及响应第一缆绳的移动来旋转驱动轴。在许多实施例中，本方法包括在相应滑轮的近似180度扇形面期间，将第一缆绳与第一和第二滑轮中的每个接合。如另一个例子，本方法能够包括移动第一缆绳、响应手术仪器轴相对于基底的旋转来移动第二缆绳、响应于第二缆绳的移动来移动第一滑轮和第二滑轮、将第一缆绳与第一和第二滑轮中的每个接合以及响应于第一缆绳的移动来旋转驱动轴。在许多实施例中，本方法包括在相应滑轮的近似180度扇形面期间，将第一缆绳与第一和第二滑轮中的每个接合。
通过使用差动齿轮组装件能够实施本方法。例如，本方法能够包括：响应第一输入运动来旋转差动齿轮组装件的第一输入链路；响应第二输入运动来旋转差动齿轮组装件的第二输入链路；以及响应差动齿轮组装件的输出链路的旋转来旋转驱动轴。在许多实施例中，差动齿轮组装件包括行星齿轮组装件，其具有恒星齿轮、被耦合至载体的行星齿轮以及环形齿轮。能够使用将第一和第二输入运动耦合至差速器的任何合适的耦合件。例如，第一输入运动能够旋转载体，第二输入运动能旋转转恒星齿轮，以及通过环形齿轮的旋转能够产生输出运动。本方法能够包括经输入轴将第一输入运动传递至载体，以及围绕输入轴旋转恒星齿轮。在许多实施例中，输入轴横于仪器轴取向。本方法能够包括在产生第一输入运动的促动源和差动齿轮组装件的第一输入链路断开连接的条件下，将末端执行器返回至预定配置。
还公开了这样的手术组装件和相关方法，其在未造成主轴的不良旋转的情况下，提供了将高水平的促动扭矩传输至末端执行器的旋转机构，其中末端执行器由独立可旋转主轴支撑。输入驱动轴经变速器和旋转耦合件与旋转机构和主轴耦合，以便主轴被动地承受与被传输至旋转机构的促动扭矩方向相反的对抗扭矩，以便抑制主轴的不良旋转(例如，向后驱动)。公开的组装件和方法能够被扩展到将高水平的促动扭矩传输至末端执行器的两个或更多旋转机构，同时被动地抑制主轴的不良旋转。当在微创机器人手术组装件和过程中采用所公开的组装件和方法时，尤为有利。
因此，一方面，提供了微创机器人手术组装件。手术组装件包括基底；主轴组装件，其被旋转地安装至基底，其中主轴组装件包括主轴、由主轴支撑的末端执行器以及驱动地耦合至末端执行器的第一末端执行器驱动轴；主轴驱动器，其相对于基底旋转地驱动主轴；第一输入驱动轴，其用于传输第一输入扭矩；以及第一变速器，其具有旋转地耦合至第一驱动轴的第一输入链路、被旋转地耦合至第一末端执行器驱动轴的第一输出链路以及第一基底链路。第一变速器提供第一输入链路和第一输出链路之间的第一齿轮比，以便将第一输出扭矩传输至主轴组装件，以响应于第一输入扭矩。通过第一末端执行器驱动轴，第一末端执行器扭矩被传输至末端执行器，以响应于第一输出扭矩。第一基底链路以第二齿轮比旋转地耦合主轴，以便响应于第一输入扭矩，第一基底链路将第一对抗扭矩传输至与第一输出扭矩方向相反的主轴。通过第一输出扭矩，第一对抗扭矩抑制了主轴组装件的旋转驱动。通过提供非统一齿轮比的旋转耦合，第一输出链路能够与第一末端执行器驱动轴耦合。
在许多实施例中，第一对抗扭矩量至少大致等于第一输出扭矩量。优选地，第一对抗扭矩量在第一输出扭矩量的百分之10内。理想地，第一对抗扭矩量在第一输出扭矩量的百分之2内。
在许多实施例中，主轴组装件具有向后驱动的扭矩阈值，以便当主轴受到向后驱动扭矩阈值以上的净力矩时，主轴向后驱动主轴驱动器，以及当主轴受到向后驱动扭矩阈值以下的净力矩时，主轴不会向后驱动主轴驱动器。第一对抗扭矩量与第一输出扭矩量的差别在于比向后驱动扭矩阈值要少的第一净力矩。优选地，第一净力矩量小于向后驱动扭矩阈值的百分之50。更优选地，第一净力矩量小于向后驱动扭矩阈值的百分之25。还更优选地，第一净力矩量小于向后驱动扭矩阈值的百分之10。理想地，第一净力矩量小于向后驱动扭矩阈值的百分之2。
在许多实施例中，第一变速器包括第一行星齿轮箱，其具有第一恒星齿轮、第一环形齿轮以及由第一载体支撑的第一行星齿轮。在许多实施例中，第一恒星齿轮对应于第一输入链路，第一载体对应于第一输出链路，以及第一环形齿轮对应于第一基底链路。在许多实施例中，第一载体对应于第一输入链路，第一恒星齿轮对应于第一输出链路，以及第一环形齿轮对应于第一基底链路。在许多实施例中，第一恒星齿轮或第一载体对应于第一基底链路。
在许多实施例中，主轴旋转仅诱导第一末端执行器驱动轴相对于主轴的相对少的旋转量。例如，在许多实施例中，主轴旋转导致比主轴旋转的百分之10要少的第一端部执行器驱动轴的旋转。在许多实施例中，诱发的第一末端执行器驱动轴旋转比主轴旋转的百分之5要少。
在许多实施例中，手术组装件还包括第二末端执行器驱动轴，其被驱动地耦合至末端执行器，并且被包括在主轴组装件内；第二输入驱动轴，其用于传输第二输入扭矩；以及第二变速器，其具有旋转地耦合至第二输入驱动轴的第二输入链路、旋转地耦合至第二末端执行器驱动轴的第二输出链路以及第二基底链路。第二变速器提供第二输入链路和第二输出链路之间的第三齿轮比，以便将第二输出扭矩传输至主轴组装件，以响应于第二输入扭矩。通过第二末端执行器驱动轴，第二末端执行器扭矩被传输至末端执行器，以响应于第二输出扭矩。第二基底链路以第四齿轮比旋转地耦合主轴，以便响应于第二输入扭矩，第二基底链路将第二对抗扭矩传输至与第二输出扭矩方向相反的主轴。通过第二输出扭矩，第二对抗扭矩抑制了主轴组装件的旋转驱动。通过提供非统一齿轮比的旋转耦合，第二输出链路能够与第二末端执行器驱动轴耦合。手术组装件能够包括公共驱动轴，由此第一和第二基底链路旋转地耦合主轴。
在许多实施例中，第二对抗扭矩量至少大致等于第二输出扭矩量。优选地，第二对抗扭矩量在第二输出扭矩量的百分之10以内。理想地，第二对抗扭矩量在第二输出扭矩量的百分之2以内。
在许多实施例中，主轴组装件具有向后驱动的扭矩阈值，以便当主轴组装件受到向后驱动扭矩阈值以上的净力矩时，主轴向后驱动主轴驱动器，以及当主轴组装件受到向后驱动扭矩阈值以下的净力矩时，主轴不会向后驱动主轴驱动器。第二对抗扭矩量与第二输出扭矩量的差别能够小于向后驱动扭矩阈值。优选地，第二净力矩量小于向后驱动扭矩阈值的百分之50。还更优选地，第二净力矩量小于向后驱动扭矩阈值的百分之25。理想地，第二净力矩量小于向后驱动扭矩阈值的百分之10。
在许多实施例中，第二变速器包括第二行星齿轮箱，其具有第二恒星齿轮、第二环形齿轮以及由第二载体支撑的第二行星齿轮。在许多实施例中，第二恒星齿轮相应于第二输入链路、第二载体相应于第二输出链路以及第二环形齿轮相应于第二基底链路。在许多实施例中，第二载体相应于第二输入链路、第二恒星齿轮相应于第二输出链路以及第二环形齿轮相应于第二基底链路。在许多实施例中，第二载体或第二恒星齿轮相应于第二基底链路。
另一方面，提供了这样的方法，其在手术过程中，用于防止被传输至末端执行器的促动扭矩向后驱动向后可驱动主轴。本方法包括旋转第一变速器的第一输入链路，其提供了第一变速器的第一输入链路和第一输出链路之间的第一齿轮比。第一输出链路旋转地耦合主轴组装件，其被旋转地安装至基底并且包括主轴和由主轴支撑的末端执行器。第一输出扭矩通过第一输出链路被传输至主轴组装件，并且第一末端执行器扭矩被传输至末端执行器，以响应于第一输出扭矩。第一输出扭矩比主轴组装件的向后驱动扭矩阈值要大。本方法还包括通过第一基底链路和主轴之间的第一旋转耦合，传输来自第一变速器的第一基底链路的扭矩。第一旋转耦合提供第一基底链路和主轴之间的第二齿轮比，以便第一对抗扭矩被施加至与第一输出扭矩方向相反的主轴。通过第一输出扭矩，第一对抗扭矩抑制了主轴组装件的旋转驱动。
第一对抗扭矩量与第一输出扭矩量能够相差比向后驱动扭矩阈值要少的第一净力矩。优选地，第一净力矩量小于向后驱动扭矩阈值的百分之50。更优选地，第一净力矩量小于向后驱动扭矩阈值的百分之25。理想地，第一净力矩量小于向后驱动扭矩阈值的百分之10。
在许多实施例中，第一对抗扭矩量至少大致等于第一输出扭矩量。优选地，第一对抗扭矩量在第一输出扭矩量的百分之10以内。理想地，第一对抗扭矩量在第一输出扭矩量的百分之2以内。
在许多实施例中，第一末端执行器驱动轴将第一末端执行器扭矩传输至末端执行器，并且主轴旋转仅诱发了相对少的第一末端执行器驱动轴的旋转量。例如，在许多实施例中，主轴旋转诱发了第一端部执行器驱动轴的旋转，其比主轴旋转的百分之10要少。并且在许多实施例中，所诱发的第一末端执行器驱动轴旋转比主轴旋转的百分之5要少。
在许多实施例中，本方法还包括旋转第二变速器的第二输入链路，其提供了第二变速器的第二输入链路和第二输出链路之间的第三齿轮速比。第二输出链路旋转地耦合主轴组装件，以便第二输出扭矩通过第二输出链路被传输至主轴组装件，并且第二末端执行器扭矩被传输至末端执行器，以响应于第二输出扭矩。第二输出扭矩比向后驱动扭矩阈值要大。在许多实施例中，本方法还包括通过第二基底链路和主轴之间的第二旋转耦合，传输来自第二变速器的第二基底链路的扭矩。第二旋转耦合提供第二基底链路和主轴之间的第四齿轮比，以便第二对抗扭矩被施加至与第二末端输出扭矩方向相反的主轴。通过第二输出扭矩，第二对抗扭矩抑制了主轴组装件的旋转驱动。并且在许多实施例中，第一和第二旋转耦合共享公共驱动轴。
为了更全面地理解本发明的性质和优势，应参考接下来的详细描述和附图。根据下面的附图和详细描述将明白本发明的其他方面、目标和优势。
附图说明
图1示出根据许多实施例的用于执行手术的微创机器人手术系统的平面图。
图2示出根据许多实施例的机器人手术系统的外科医生控制台的透视图。
图3示出根据许多实施例的机器人手术系统电子车的透视图。
图4概略示出根据许多实施例的机器人手术系统。
图5A示出根据许多实施例的机器人手术系统的患者侧车(手术机器人)的前视图。
图5B示出机器人手术工具的前视图。
图6A示出根据许多实施例的机器人手术工具的透视图，其中机器人手术工具包括具有相对夹紧钳爪的末端执行器。
图6B示出图6A末端执行器的特写透视图。
图7示出图6A所示末端执行器的分解透视图，其示出被用于将驱动轴的旋转运动转换成相对夹紧钳爪的铰接的机构。
图8A和图8B示出根据许多实施例的末端执行器的透视图，其具有相对/对置夹紧钳爪和将驱动轴的旋转运动转换成相对夹紧钳爪的铰接的机构。
图9为根据许多实施例简化透视图，其示出驱动轴驱动地耦合末端执行器的促动机构，其中末端执行器被支撑在可旋转仪器轴的远端处。
图10为根据许多实施例的简化原理图，其示出使用差速器组合第一输入运动和仪器轴旋转，从而产生用于促动末端执行器机构的输出运动。
图11A为根据许多实施例的简化平面原理图，其示出缆绳实施的差速器被用于在手术仪器中使仪器轴滚动和末端执行器促动去耦。
图11B示出了图11A所示缆绳实施的差速器的简化侧视原理图。
图12为根据许多实施例的透视图，其示出手术仪器的近侧底盘具有缆绳驱动的差速器，其被用于在手术仪器中使仪器轴滚动和末端执行器促动去耦。
图13为根据许多实施例的透视图，其示出手术仪器的近侧底盘具有行星齿轮箱，其被用于在手术仪器中使仪器轴滚动和末端执行器促动去耦。
图14示出图13所示手术仪器的近侧底盘的平面图。
图15示出图13所示手术仪器的近侧底盘的侧视图。
图16示出根据许多实施例的部分分解透视图，其示出行星齿轮箱与手术仪器的输入耦合器耦合。
图17示出图16所示行星齿轮箱和输入耦合器的分解透视图。
图18示出根据许多实施例的将手术仪器轴旋转从驱动轴旋转去耦的方法的动作，其中驱动轴与由手术仪器支撑的末端执行器机构驱动地耦合。
图19示出根据许多实施例的关于缆绳驱动的差速器的动作，其中缆绳驱动的差速器能够被用于图18所示方法的实施中。
图20示出根据许多实施例的关于另一个缆绳驱动的差速器的动作，其中该缆绳驱动的差速器能够被用于图18所示方法的实施中。
图21示出根据许多实施例的关于差速器齿轮组装件的动作，其中该差速器齿轮组装件能够被用于图18所示方法的实施中。
图22概略地示出根据许多实施例的机器人组装件，其具有在可旋转主轴内的两个偏置驱动轴。
图23概略地示出根据许多实施例的图22所示机器人组装件的部件与控制器的集成。
图24概略地示出根据许多实施例的机器人工具和相关机器人系统。
图25概略地示出根据许多实施例的手术组装件，其中驱动马达与末端执行器和支撑末端执行器的主轴耦合，从而避免主轴的意外旋转。
图26示出根据许多实施例的行星齿轮组装件的透视图。
图27a示出根据许多实施例的微创手术仪器组装件的透视图，其中该组装件包括驱动马达，其与独立可旋转主轴以及相应内部驱动轴耦合，以便避免由于通过驱动轴被传递至末端执行器的促动扭矩而引起的主轴的意外旋转。
图27b示出图27a所示仪器组装件的解剖透视图，其示出马达组以及驱动耦合件，其将马达组内的驱动马达耦合至主轴以及相应内部驱动轴。
图28a示出图27a仪器组装件的内部部件的透视图，其示出驱动马达和用于将驱动马达旋转地耦合至主轴和相应内部驱动轴的部件。
图28b为分解透视图，其示出图28a所示内部部件处于对应于图28b所示的去耦状态。
图29a示出图29a所示内部部件的透视图，其与将其中一个驱动马达耦合至主轴和相应内部驱动轴有关。
图29b示出图29a所示内部部件的端视图。
图29c示出图29b的横截面A-A。
图30示出图27a所示仪器组装件的内部部件的透视图，其示出驱动马达、齿轮箱以及用于将驱动马达旋转地耦合至相应内部驱动轴以及主轴的齿轮。
图31示出根据许多实施例的方法流程图，本方法用于防止在手术过程中，传输至末端执行器的促动扭矩旋转地驱动向后可驱动主轴。
具体实施方式
在下列描述中，将描述本发明的各种实施例。为了说明的目的，提出了具体配置和细节，以便提供对本实施例的透彻地理解。然而，本领域技术人员应明白在没有具体细节的情况下可实行本发明。此外，为了不混淆已描述的实施例，可以省略或简化已知特征。
微创机器人手术
现在参考附图，其中贯穿多个附图，相同附图标记指代相同部分，图1示出微创机器人(MIRS)系统10的平面图，通常其用于在平躺在手术台14上的患者12上执行微创诊断或手术过程。本系统能够包括供外科医生18在手术过程中使用的手术控制台16。一个或更多助手20也可参与本过程。MIRS系统10还能够包括患者侧车22(手术机器人)以及电子车24。患者侧车22能够操纵至少一个被可拆卸耦合的工具组装件26(下文仅被称为“工具”)通过患者12身体内的微创切口，且同时外科医生18通过控制台16观看手术部位。能够通过内窥镜28，例如立体内窥镜，获得手术部位图像，其中能够通过患者侧车22操纵内窥镜28，以便为内窥镜28定向。电子车24能够被用于处理通过手术控制台16随后向外科医生18显示的手术部位图像。一次使用的手术工具26的数量一般取决于诊断或手术过程和手术室内的空间限制以及其他因素。如果在过程中需要改变正使用的一个或更多工具26，则助手20可从患者侧车22拆卸工具26，并且使用来自手术室内的托盘30处的另一个工具26来替换。
图2示出手术控制台16的透视图。手术控制台16包括左眼显示器32和右眼显示器34，其用于为外科医生18呈现能够有深度感觉的手术部位的协调立体图。控制台16还包括一个或更多输入控制装置36，其又导致患者侧车22(图1所示)操纵一个或更多工具。输入控制装置36能够提供与其相关工具26相同的自由度(图1所示)，以便为外科医生提供输入控制装置36与工具26一体形成的远程呈现或感知，以便外科医生具有直接控制工具26的强烈感觉。为了该目的，可以采用位置、力以及触觉反馈传感器(未示出)，从而通过输入控制装置36，将位置、力以及触觉感觉从工具26传输回到外科医生手部。
手术控制台16一般与患者位于相同的房间，以便外科医生可直接监测手术过程，如果需要可以实体存在，并且直接对助手说话，而不是通过电话或其他通信介质。然而，外科医生能够位于不同的房间，完全不同的建筑物，或其他距离患者较远位置，从而允许远程手术过程。
图3示出电子车24的透视图。电子车24能够与内窥镜28耦合，并且能够包括这样处理器，其用于处理被捕捉图像，以便随后在手术控制台上或另一个本地和/或远程的合适的显示器上向外科医生显示。例如，在使用立体内窥镜的情况下，电子车24能够处理被捕捉图像，以便为外科医生呈现手术部位的协调立体图像。这样的协调能够包括对置图像之间的对齐，并且能够包括调整立体内窥镜的立体工作距离。如另一个例子，图像处理能够包括对先前确定的照相机标定参数的使用，以便补偿图像捕捉装置的图像误差，例如光学像差。
图4概略地示出机器人手术系统50(例如图1所示MIRS系统10)。如上所述，外科医生能够使用手术控制台52(例如图1所示手术控制台16)，从而在微创过程中控制患者侧车(手术机器人)54(例如图1所示患者侧车22)。患者侧车54能够使用图像装置，例如立体内窥镜，捕捉手术部位的图像，并且将被捕捉图像输出至电子车56(例如图1所示电子车24)。如上所述，电子车56能够在任何随后显示之前以各种方式处理被捕捉图像。例如，在通过手术控制台52将组合的图像显示给外科医生之前，电子车56能够使用虚拟控制界面叠覆被捕捉图像。患者侧车54能够输出被捕捉图像，以便在电子车56之外处理。例如，患者侧车54能够将被捕捉图像输出至处理器58，其能够被用于处理被捕捉图像。还能够通过电子车56和处理器58的组合来处理图像，其中电子车56和处理器58能够耦合在一起，以便共同、相继和/或其组合地处理被捕捉的图形。一个或更多分离的显示器60还能够与处理器58和/或电子车56耦合在一起，用于图像(例如手术部位的图像或其他有关图像)的本地和/或远程显示。
图5A和图5B分别示出患者侧车22和手术工具62。手术工具62为手术工具26的例子。示出患者侧车22提供了对三个手术工具26和图像装置28(例如用于捕捉手术部位图像的立体内窥镜)的操纵。通过由具有若干机器人接头的机器人机构提供这样的操纵。能够通过患者的切口放置并且操纵图像装置28和手术工具26，以便运动学的远程中心被维持在切口处，以便将切口的尺寸减至最小。当手术工具26远端被放置在图像装置28的视野内时，手术部位图像能够包括手远端的图像。
组织抓取末端执行器
图6A示出手术工具70，其包括近侧底盘72、仪器轴74以及远侧末端执行器76，该远侧末端执行器76具有钳爪78，其能够被铰接成抓取患者组织。近侧底盘包括输入耦合器，其经配置与患者侧车22的输出耦合器接口并且由其驱动。输入耦合器与弹簧组装件80的输入链路驱动地耦合。弹簧组装件80被安装至近侧底盘82的框架82，并且包括输出链路，其与被设置在仪器轴74内的驱动轴驱动地耦合。驱动轴驱动地耦合钳爪78。图6B提供了末端执行器76的钳爪78的特写视图。
图7示出图6A所示末端执行器76的分解透视图，其示出夹紧机构，其被用于将驱动轴84的旋转运动转换成末端执行器76的对置夹紧钳爪的铰接。末端执行器包括上部钳爪86、下部钳爪88、框架90、用于将上部钳爪86和下部钳爪88枢转地安装至框架90的销件92以及与驱动轴84驱动地耦合的导向螺杆机构94。导向螺杆机构94包括导向螺杆96和配合的平移螺母98，该螺母98通过导向螺杆96的旋转而沿着框架90内的开槽100前进和缩回。平移螺母98包括相反地延长的凸出，其与上部钳爪86内的开槽102以及下部钳爪88内的开槽104接口，从而导致当平移螺母98沿开槽100前进或缩回时上部钳爪86和下部钳爪88围绕销件92的铰接。
图8A和图8B示出类似于图7所示夹紧机构的夹紧机构的操作。按所示方向旋转驱动轴84导致平移螺母98向远侧朝向销件92前进，下部钳爪88和上部钳爪86被销件92枢转地安装至末端执行器的框架90。如图8B所示，平移螺母98的凸出接合上部钳爪86中的开槽102。平移螺母98朝向销件92的向远侧前进造成上部钳爪按所示方向旋转，并且造成下部钳爪88按相反方向旋转，从而打开钳爪。类似地，平移螺母98远离销件92的向近侧前进造成钳爪闭合。因此，钳爪能够被铰接成抓取患者组织。
图7、图8A以及图8B所示的导向螺杆型夹紧机构提供了实质性的机械优点，即其将由驱动轴传输的相对低的扭矩转换成相对高的夹紧力。为了避免组织通过具有这种实质性机械优点的机构受到过量的夹紧力，能够控制通过驱动轴传输至夹紧机构的扭矩。
替代性末端执行器机构
驱动轴84能够被用于促动任何合适的末端执行器机构。例如，驱动轴84能够被用于促动下列机构，例如组织吻合机构、组织切割机构以及大体上能够由旋转输入促动的任何合适的末端执行器机构。
去耦仪器轴滚动和末端执行器促动
图9提供了用于讨论手术仪器中仪器轴滚动和末端执行器促动去耦的恰当的起点。图9示出包括铰接的钳爪112的末端执行器110，其中该钳爪112可经操作抓取物品(例如，患者组织、缝合针等等)。末端执行器110包括用于促动末端执行器110机构的促动机构，例如铰接的钳爪112。促动机构与驱动轴114驱动地耦合。末端执行器110被支撑在仪器轴116的远端。相对于支撑了仪器轴116的近侧底盘基底，仪器轴116在一定旋转范围内可旋转。同样地，相对于近侧底盘基底，驱动轴114在一定旋转范围内可旋转。
在驱动轴114与仪器轴116旋转无关地被独立驱动时，通过仪器轴116相对于近侧底盘基底的旋转范围，降低了驱动轴114相对于近侧底盘基底的能够被用于促动末端执行器钳爪112的旋转范围部分。例如，对于仪器轴116相对于基底的旋转范围等于两转并且驱动轴114相对于基底的旋转范围等于十转的情况而言，驱动轴114相对于末端执行器110的净旋转范围等于八转。也就是，驱动轴114相对于基底的两转有效地被仪器轴116相对于基底的两转抵消，这是因为这两个单独的两转当被组合时产生了驱动轴114相对于末端执行器110的促动机构为零的净旋转。
图10示出对差速器118的使用，其用于将第一输入运动120与仪器轴旋转122组合，从而产生输出运动124，以便驱动末端执行器促动机构。差速器118能够经配置抵消仪器轴旋转在驱动轴114相对于近侧底盘基底的旋转量和驱动轴114相对于末端执行器促动机构的相应旋转量之间产生差异的上述影响。例如，差速器118能够经配置，将相对于近侧底盘基底的两个顺时针回转的第一输入运动120与相对于近侧底盘基底的一个顺时针回转的仪器轴运动122组合，从而产生了相对于近侧底盘基底的三个顺时针回转的输出运动124，其有效地提供了相对于末端执行器的两个顺时针回转的输出运动。当驱动轴114和仪器轴116在相反方向上旋转时，这样的差速器配置还用作抵消仪器轴旋转的上述影响。例如，通过这样的差速器配置，相对于近侧底盘基底的第一输入运动120的两个顺时针回转与相对于基底的仪器轴122的一个逆时针旋转组合，从而产生了相对于基底的一个顺时针旋转的输出运动124，这样有效地产生了输出运动相对于末端执行器的两个顺时针旋转的输出运动。
尽管优选差速器经配置大体上抵消了仪器轴旋转对相对于近侧底盘基底的驱动轴旋转量和相对于末端执行器促动机构的驱动轴旋转量之间产生的差异的所有上述影响，但是差速器还能够经配置抵消仪器轴旋转至任何合适程度的影响。例如，差速器能够经配置成抵消不足、过度抵制以及甚至放大仪器轴旋转的上述影响，以便适于实现所需的手术仪器的操作特性。
能够以任何合适的方式实施差速器。例如，能够使用缆绳和滑轮来实施差速器。如另一个例子，能够使用齿轮，例如行星齿轮箱组装件来实施差速器。
缆绳实施的差速器
图11A示出根据许多实施例的缆绳实施的差速器130，其被用于在机器人手术仪器中使仪器轴滚动和末端执行器促动去耦。差速器130包括被旋转地耦合于仪器轴相对于近侧底盘基底的旋转的辊轮/滚动滑轮132、被旋转地耦合于促动源的末端执行器促动轮/末端执行器促动滑轮134以及被旋转地耦合于末端执行器钳爪促动机构的导向螺杆驱动轮/导向螺杆驱动滑轮136。接合辊轮132和导向螺杆驱动轮136二者的第一缆绳138提供了导向螺杆驱动轮136响应于辊轮132旋转的旋转。接合末端执行器促动轮134的第二缆绳140与第一滑轮组142和第二滑轮组144耦合。第一滑轮组142包括第一移动滑轮146。第二滑动轮组144包括第二移动滑轮148。第一和第二移动滑轮146、148接合第一缆绳138。
在辊轮132和导向螺杆驱动轮136之间，第一缆绳138接合四个固定导轮。这些固定导轮包括第一导轮150、第二导轮152、第三导轮154以及第四导轮156。
图11B示出缆绳实施的差速器130的侧视图。通过螺旋齿轮158，辊轮132旋转地耦合仪器轴的旋转。辊轮132和螺旋齿轮158围绕旋转轴线160旋转。仪器轴围绕横于螺旋齿轮旋转轴线160取向的旋转轴线旋转。螺旋齿轮158和配合的螺旋齿轮(其附接成随仪器轴旋转)将仪器轴的旋转传递成辊轮132的旋转。
四个固定的导轮150、152、154、156用作在水平和竖直方向二者上约束第一缆绳138的位置。第一和第三导轮150、154被放置在第二和第四导轮152、156下面，从而在第一缆绳138的重叠部分之间提供竖直分隔。还水平地放置第一和第三导轮150、154，从而在第一移动滑轮146整个行程范围内提供第一移动滑轮146和第一缆绳138之间的180度接合。同样地，还水平地放置第二和第四导轮152、156，从而在第二移动滑轮148整个行程范围内提供第二移动滑轮148和第一缆绳138之间的180度接合。
缆绳实施的差速器130组合了辊轮132的运动和末端执行器促动轮134的运动，从而产生了导向螺杆驱动轮136的运动。例如，在末端执行器促动轮134不存在任何旋转的情况下，辊轮132的旋转产生了导向螺杆驱动轮136的对应旋转，从而导致导向螺杆驱动轮136相对于末端执行器钳爪促动机构没有净旋转。在辊轮132没有任何旋转的情况下，末端执行器促动轮134的旋转产生了第一和第二移动滑轮146、148的对应运动，从而产生了导向螺杆轮136的旋转。为了辊轮132和末端执行器促动轮134二者的同时旋转，第一缆绳138和第二缆绳140的对应运动导致了导向螺杆驱动轮136的旋转，且该旋转是辊轮132和末端执行器促动轮134的旋转的组合。
图12示出根据许多实施例的具有缆绳实施的差速器170的机器人手术仪器的透视图。缆绳实施的差速器170经配置与缆绳实施的差速器130相似，但是包括六个固定的导轮172、174、176、178、180、182，从而水平和竖直地约束第一缆绳184。
能够使用任何合适的缆绳实施的差速器。例如，在缆绳实施的差速器130的变体中，由末端执行器促动轮134驱动第一缆绳138，以及由辊轮132驱动第二缆绳140。
齿轮实施的差速器
图13示出根据许多实施例的包括齿轮实施的差速器192的机器人手术仪器的近侧底盘190的透视图。齿轮实施的差速器192包括行星齿轮组装件，其具有恒星齿轮、被耦合至载体的行星齿轮以及环形齿轮。载体通过输入轴旋转地耦合近侧底盘的输入耦合器。输入轴与输入耦合器对齐，并且横于仪器轴。恒星齿轮通过螺旋齿轮194、196旋转地耦合仪器轴116的旋转。载体和恒星齿轮的旋转导致了环形齿轮的旋转。通过螺旋齿轮198、200、输出轴202以及在内部路由至仪器轴116的驱动轴，环形齿轮旋转地耦合末端执行器促动机构。图14示出近侧底盘190和齿轮实施的差速器192的平面图。图15示出近侧底盘190和齿轮实施的差速器192的侧视图。
图16和图17为根据许多实施例的分解图，其示出齿轮实施的差速器210的细节。齿轮实施的差速器210包行星齿轮箱组装件212。图16示出齿轮实施的差速器210和附接的输入轴和输入耦合器214，其侧向摆放，在此其可被安置在具有仪器轴116的机器人手术仪器的近侧底盘216内。齿轮实施的差速器210的安装中心线218和中心轴线220说明了距被安置位置的偏置。
图17示出齿轮实施的差速器210、输入轴以及输入耦合器214的分解透视图。差速器210包括与行星齿轮224耦合的载体222、通过输入齿轮228旋转地驱动的恒星齿轮226、具有内部环形齿轮和外部螺旋输出齿轮232的环形齿轮构件230。载体222被旋转地耦合于输入轴234并且由输入轴234驱动，其中输入轴234旋转地耦合输入耦合器214并且由输入耦合器214驱动。在近侧底盘216被安装至机器人臂时，输入耦合器214与手术机器人的机器人臂的对应输出耦合器接口并且由其旋转地驱动。载体222的旋转导致行星齿轮224中心线围绕中心轴线220旋转。输入齿轮228旋转地耦合仪器轴116的旋转。恒星齿轮226和行星齿轮224中心线围绕中心轴线220的旋转组合导致环形齿轮构件230围绕中心轴线220的对应旋转。环形齿轮构件230通过外部螺旋输出齿轮232与末端执行器促动机构驱动地耦合。
齿轮实施的差速器210包括耦合于载体222和近侧底盘216之间的扭力弹簧236。在机器人臂中的载体和促动源断开后，扭力弹簧将载体返回至预定位置，从而将末端执行器促动机构返回至预定配置。
在操作中，齿轮实施的差速器210操作类似于上述差速器118。按照已知方式的额外的齿轮装置能够被用于考虑到仪器轴116和外部螺旋输出齿轮232的最终输出运动之间的定向速度差异和旋转速度差异。
示例性行星齿轮箱参数
下列等式提供了恒星齿轮226、载体222以及环形齿轮构件230之间的关系。
(2+n)ωα+nωs-2(1+n)ωc＝0 等式(1)，
其中：n＝Ns/Np(行星齿轮箱的齿形系数)
Ns＝恒星齿轮齿数
Np＝行星齿轮上的齿轮齿数
ωa＝环形齿轮构件的角速度(也被称为“齿圈”)
ωs＝恒星齿轮的角速度
ωc＝载体角速度
如等式(1)所示，环形齿轮构件230的角速度为恒星齿轮226的角速度和载体222的角速度的线性组合。因此，在齿轮实施的差速器210中(其中由仪器轴116的旋转来旋转地驱动恒星齿轮226，由输入耦合器214来旋转地驱动载体222，以及环形齿轮构件230被旋转地耦合于末端执行器促动机构)，仪器轴116的旋转导致环形齿轮构件230的对应的额外旋转，从而使仪器轴旋转从末端执行器促动机构的促动去偶。
下列参数提供了齿轮实施的差速器210的行星齿轮箱的示例性配置。
Ns＝24 Np＝12 n＝Ns/Np＝2
Na＝Ns+2Np＝48环形齿轮齿数
DP＝64齿轮齿数/节圆直径(齿/英寸)
PDs＝Ns/DP＝0.375英寸——恒星齿轮的节圆直径
PDp＝Np/DP＝0.1875英寸——行星齿轮的节圆直径
PDa＝Na/DP＝0.75英寸——环形齿轮构件的环形齿轮的节圆直径
关于零载体角速度(对应于通过输入耦合器214没有旋转输入)，等式(1)减少到：
(2+n)ωa+nωs＝0，等式(1)中ωc＝0
对于上述示例性行星齿轮箱参数，n＝2，其产生了环形齿轮构件角速度(ωa)和恒星齿轮角速度(ωs)之间的如下关系：
为了考虑到恒星齿轮226和环形齿轮构件230之间的旋转方向的差异以及为了被旋转地耦合于末端执行器促动机构的驱动轴如仪器轴116般的等量旋转，使用已知方式的额外齿轮装置能够被用在仪器轴116和恒星齿轮226之间和/或环形齿轮构件230和被旋转地耦合于末端执行器促动机构的驱动轴之间。
手术组装件应用
能够在任何合适的应用中采用本文所公开的手术组装件。例如，能够在其他手术仪器中，以手动的或电动的、手持式或机器人式、直接控制或远程操作的方式采用本文所公开的手术组装件，用于开放或微创(单个开口或多个开口)过程。这样的仪器的例子包括那些具有接收扭矩促动输入(例如，用于抓取控制功能、部件取向控制功能、部件位置功能等等)的远侧部件的仪器。示例性非限制例子包括远程操作或手持式仪器，其包括吻合、切割、组织消融、成像装置取向和定位控制、大力抓取、活组织检查以及末端执行器和取向控制。
使仪器轴滚动和末端执行器促动去耦的方法
图18示出根据许多实施例的将手术仪器轴旋转从驱动轴旋转去耦的方法250的动作，其中驱动轴与由手术仪器支撑的末端执行器的机构驱动地耦合。例如，通过使用任何合适的差速器，例如如上所述的差速器118、缆绳实施的差速器130、缆绳实施的差速器170以及齿轮实施的差速器192中的任一项，能够实践本方法250。本方法250包括产生与所需的末端执行器配置相关的第一输入运动(动作252)；相对于基底旋转手术仪器轴，其中手术仪器轴在邻接基底的近端和支撑末端执行器的远端之间延伸(动作254)；响应于手术仪器轴相对于基底的旋转产生第二输入运动(动作256)，组合第一和第二输入运动从而产生输出运动(动作258)，以及响应于输出运动旋转驱动轴(动作260)。在许多实施例中，第一和第二输入运动被组合成使得当第一输入运动为零时驱动轴相对于手术仪器轴大体上不会旋转。
图19示出通过使用缆绳实施的差速器(例如本文所描述那些中的任一种)能够实践本方法250的动作。动作包括响应于手术仪器轴相对于基底的旋转移动第一缆绳(动作262)，移动第二缆绳(动作264)，响应于第二缆绳的移动而移动第一滑轮和第二滑轮(动作266)，将第一缆绳与第一和第二滑轮中每个接合(动作268)，以及响应于第一缆绳的运动旋转驱动轴(动作270)。在许多实施例中，在相应滑轮的近似180度扇形面中，第一缆绳与第一和第二滑轮中每个接合。
图20示出通过使用缆绳实施的差速器(例如本文所描述那些中的任一种)能够实践本方法250的动作。动作包括移动第一缆绳(动作272)，响应于手术仪器轴相对于基底的旋转而移动第二缆绳(动作274)，响应于第二缆绳的运动而移动第一滑轮和第二滑轮(动作276)，将第一缆绳与第一和第二滑轮中的每个接合(动作278)，以及响应于第一缆绳的运动而旋转驱动轴(动作280)。在许多实施例中，在相应滑轮的近似180度扇形面内，第一缆绳与第一和第二滑轮中的每个接合。
图21示出通过使用缆绳实施的差速器(例如本文所描述那些中的任一种)能够被用于实践本方法250的动作。动作包括响应于第一输入运动而旋转差动齿轮组装件的第一输入链路(动作282)，响应于第二输入运动而旋转差动齿轮组装件的第二输入链路(动作284)，以及响应于差动齿轮组装件的输出链路的旋转而旋转驱动轴(动作286)。
方法应用
能够在任何合适的应用中采用本文所公开的方法。例如，本文所公开的方法能够在手术仪器中，以手动的或电动的、手持式或机器人式、直接控制或远程操作的方式采用本文所公开的手术组装件，以用于开放或微创(单个开口或多数开口)手术过程。这样的仪器的例子包括那些具有接收扭矩促动输入(例如，用于抓取控制功能、部件取向控制功能、部件位置功能等等)的远侧部件的仪器。示例性非限制例子包括远程操作或手持式仪器，其包括吻合、切割、组织消融、成像装置取向和定位控制、大力抓取、活组织检查以及末端执行器和取向控制。
可旋转轴内的驱动轴
图22概略地示出机器人组装件370，其具有在可旋转主轴内的两个偏置驱动轴。机器人组装件370包括与可旋转主轴374的远端耦合的末端执行器372以及与主轴374和末端执行器372二者耦合的促动组装件376。
末端执行器372包括末端执行器基底、第一促动机构378、第二促动机构380以及控制缆绳机构382。末端执行器基底枢转地耦合至可旋转主轴374。第一促动机构378和第二促动机构380是轴驱动的，并且能够被用于促动和/或铰接各种末端执行器特征和/或装置，例如，夹紧特征、可运动切割特征、切割和吻合装置或能够使用轴驱动的机构促动和/或铰接的其他合适的末端执行器特征和/或装置。控制缆绳机构328还能够被用于促动和/或铰接各种末端执行器特征和/或装置，尤其是那些其中需要快速反应的特征和/或装置，例如抓取特征、被用于相对于主轴铰接末端执行器基底的主轴-末端执行器基底腕部或能够经由一个或更多控制缆绳被促动和/或铰接的其他合适的特征和/或装置。
末端执行器基底与可旋转主轴374耦合，以便主轴374围绕主轴旋转轴线的旋转产生末端执行器基底的对应旋转。如上所述，独立地旋转主轴374的能力提供了相对于非旋转主轴的增加的末端执行器操纵性，其在某些手术过程中，例如在某些微创手术过程中是有利的。末端执行器基底还能够通过合适的腕部机构384与可旋转主轴374耦合，其中腕部机构384提供了额外的末端执行器操纵性。
两个驱动轴被用于驱动末端执行器驱动的促动机构。第一驱动轴386经安装围绕第一驱动轴旋转轴线旋转，其中第一驱动轴旋转轴线从主轴旋转轴线偏置。第一驱动轴386操作性地耦合第一促动机构378。同样地，第二驱动轴388经安装围绕第二驱动轴旋转轴线旋转，其中第二驱动轴旋转轴线从主轴旋转轴线偏置。第二驱动轴388操作性地耦合第二促动机构380。
促动组装件376与可旋转主轴374、第一驱动轴386、第二驱动轴388以及控制缆绳机构382耦合。可旋转主轴374经安装相对于促动组装件376的基底旋转。促动组装件376可经操作产生可旋转主轴374相对于基底的旋转。促动组装件376还可经操作产生可旋转主轴374相对于基底的旋转、第一驱动轴386相对于可旋转主轴374的旋转以及第二驱动轴388相对于可旋转主轴374的旋转的任何组合。这样，可以独立于和/或同时于可旋转主轴374的旋转来促动第一促动机构378和/或第二促动机构380。
促动组装件376经配置提供上述功能性，其中即使在可旋转主轴374相对于基底的旋转过程中，相对于可旋转主轴374，能够独立地旋转第一驱动轴386和第二驱动轴388。促动组装件376包括与主轴编码器392和主轴接口394耦合的主轴马达390、与第一编码器398和第一接口400耦合的第一马达396、与第二编码器404和第二接口406耦合的第二马达402以及与控制缆绳编码器410和控制缆绳接口412耦合的控制缆绳马达408。主轴接口394与可旋转主轴374耦合，以便将旋转运动从主轴马达390传递至可旋转主轴374。主轴马达390能够固定地耦合基底，以便被传递的旋转运动导致可旋转主轴374相对于基底的旋转。主轴编码器392测量主轴马达390、主轴接口394和/或可旋转主轴374的取向，并且能够与控制器(图22中未示出)耦合，以便向控制器提供被测量的取向。第一接口400与第一驱动轴386耦合，以便可经操作，在可旋转主轴374的任何取向和/或旋转运动期间，将来自第一马达396的旋转运动传递至第一驱动轴386。第一编码器398测量第一马达396、第一接口400和/或第一驱动轴386的取向，并且能够与控制器耦合，以便向控制器提供被测量的取向。第二接口406与第二驱动轴388耦合，以便可经操作，在可旋转主轴374的任何取向和/或旋转运动期间，将来自第二马达402的旋转运动传递至第二驱动轴388。第二编码器404测量第二马达402、第二接口406和/或第二驱动轴388的取向，并且能够与控制器耦合，以便向控制器提供被测量的取向。控制缆绳接口412与控制缆绳414耦合，控制缆绳414操作地耦合控制缆绳机构382。控制缆绳414能够被路由成使得容许可旋转主轴374的一定旋转取向范围，例如，通过在主轴旋转轴线附近路由，从而将由于可旋转主轴374的旋转所导致的控制缆绳的长度变化减至最小，以及通过被配置成容许控制缆绳的任何扭转和/或控制缆绳之间的扭转(例如，通过具有容许缆绳-缆绳摩擦的配置)，其中这些扭矩可能由于主轴374的一些旋转取向所导致的。控制缆绳编码器410测量控制缆绳马达408和/或控制缆绳接口412的取向，并且能够与控制器耦合，以便为控制器提供被测量的取向。
图23为根据许多实施例的简化方框图，其示出带有控制器416的机器人组装件370的部件的集成。控制器416包括至少一个处理器418，其经总线子系统420与若干外围装置通信。这些外围装置通常包括存储子系统422。
存储子系统422维持基础程序设计和数据结构，其提供了控制器416的功能性。用于实施上述机器人组装件功能性的软件模块通常被存储在存储子系统422内。存储子系统422通常包括存储器子系统424和文档存储子系统426。
存储器子系统424通常包括若干存储器，其包括在程序执行过程中用于存储指令和数据的主随机存取存储器(RAM)428以及存储固定指令的只读存储器(ROM)430。
文档存储子系统426为程序和数据文档提供了永久性(非易失性)存储，并且能够包括硬盘驱动器、磁盘驱动器或其他非易失性存储器，例如快擦写存储器/闪存。输入装置，例如磁盘存储器，能够被用于输入上述软件模块。替代性地，其他已知结构可以替代性地被用于输入软件模块，例如USB端口。
在该上下文中，一般所使用的术语“总线子系统”包括允许各种部件和子系统彼此按照所要的方式通信的任何机构。示意性地示出总线子系统420为单个总线，但典型系统具有若干总线，例如本地总线以及一个或更多扩充总线(例如，ADB、SCSI、ISA、EISA、MCA、网络用户总线或PCI)以及串联和并联端口。
控制器416控制机器人组装件370的部件，以响应于配套的接收信号，所述信号包括来自输入控制装置36(如图2所示)的信号以及来自主轴编码器392、第一编码器398、第二编码器404以及控制缆绳编码器410的信号。被控制的部件包括主轴马达390、第一马达396、第二马达402以及控制缆绳马达408。额外的部件(未示出)，例如数/模转换器能够被用于使得部件接口于控制器416。
图24为根据许多实施例的简化方框图，其示出机器人手术系统内的机器人手术工具432的集成。工具432包括近侧工具底盘434，其经配置被可释放地安装在操纵器436上，该操纵器436具有经配置与近侧工具底盘434接口的工具接口。如上所述，工具432还包括细长主轴374，其被安装成当被主轴马达旋转时相对于近侧工具底盘434旋转。末端执行器440与主轴374的远端耦合，以便随着主轴旋转。主要控制系统442可操作地耦合操纵器436。辅助控制系统444还能够操作地耦合操纵器436。通过操纵器436，主要控制系统442与辅助控制系统444的组合能够用于控制工具432的所有可能铰接。例如，辅助控制系统444能够控制用于第一驱动轴旋转和第二驱动轴旋转的驱动马达。主要控制系统442能够控制用于主轴旋转的驱动马达和一个或更多控制缆绳驱动马达。该辅助控制器能够被用于补充现有机器人手术系统构造，以便允许使用具有在独立旋转主轴内路由的一个或更多偏置驱动轴的当前所公开的机器人工具。
将驱动马达耦合至末端执行器和支撑末端执行器的主轴，以便避免主轴的意外旋 转
图25概略地示出根据许多实施例的手术组装件500，其中被用于促动末端执行器旋转机构的驱动马达与主轴和/或末端执行器组装件耦合，以便在末端执行器旋转机构的促动过程中，避免主轴/末端执行器组装件的意外旋转。手术组装件500包括被旋转地安装至基底(例如，图24所示的操纵器436)的主轴/末端执行器组装件502、相对于基底旋转地驱动主轴/末端执行器组装件502的主轴驱动器504以及对抗促动组装件506，其旋转地耦合主轴/末端执行器组装件502，以便将促动扭矩提供至末端执行器旋转机构以及将对抗扭矩507提供至主轴/末端执行器组装件502。
主轴/末端执行器组装件502包括被旋转地安装至基底并且通过主轴驱动器504旋转地驱动的主轴508以及通过主轴508支撑的末端执行器510。末端执行器510包括第一旋转机构512和第二旋转机构514。第一和第二旋转机构512、514能够被用于铰接末端执行器部件，例如，夹爪、吻合装置、切割装置等等。
由于尺寸约束对微创手术工具的影响，可取地是将施加到第一和第二旋转机构512、514的促动扭矩从外部源提供至主轴/末端执行器组装件502。然而，在该配置中，因为第一和第二旋转机构512、514是被主轴/末端执行器组装件502的主轴508支撑的末端执行器510的部分，所以当促动扭矩从外部源被传输至第一和第二旋转机构512、514时，一些或所有的被传输促动扭矩均被主轴508反作用。通过主轴/末端执行器组装件502反作用的促动扭矩还被主轴驱动器504反作用。结果，经被主轴/末端执行器组装件502所反作用的足够量的扭矩，主轴驱动器504可以是可向后驱动的。也就是说，主轴驱动器504可具有向后驱动扭矩阈值，以便当主轴/末端执行器组装件502受到向后驱动扭矩阈值以上的净力矩(包括用于克服摩擦力诱导的约束力所需的任何扭矩)的影响时，主轴/末端执行器组装件502向后驱动主轴驱动器，并且在主轴/末端执行器组装件502受到向后驱动扭矩阈值以下的净力矩的影响时，主轴/末端执行器组装件502不会向后驱动主轴驱动器。同样可取的是避免某些防止通过主轴508的主轴驱动器504的旋转驱动(也被称为向后驱动)的机构的使用，所述机构例如扭矩制动器、不可逆的齿轮装置等等，以便避免有关成本、尺寸、重量、有关的不利特性和/或费用。
在手术组装件500中，对抗促动组装件506为外部源，其产生了被传输至第一和第二旋转机构512、514的促动扭矩。对抗促动组装件506还产生了被传输至主轴508的平衡扭矩，以便防止主轴驱动器504的向后驱动。对抗促动组装件506包括第一驱动马达516、第二驱动马达518、第一变速器520、第一旋转耦合件522、第二变速器524以及第二旋转耦合件526。
第一驱动马达516经第一变速器520和第一旋转耦合件522被旋转地耦合于第一旋转机构512和主轴508。第一驱动马达516旋转地耦合第一变速器的第一输入链路528，并且将第一输入扭矩传输至第一输入链路528。第一变速器520在第一变速器520的第一输入链路528和第一输出链路530之间提供了第一齿轮比。第一输出链路530旋转地耦合第一旋转机构512。第一旋转耦合件522被连接在第一变速器520的第一基底链路532和主轴508之间。第一旋转耦合件522在第一基底链路532和主轴508之间提供了第二齿轮比。第一基底链路532被非旋转地接地(例如，被非旋转地接地至基底，其中主轴508被旋转地安装在基底)。
通过第一变速器520所提供的第一齿轮比远大于一，以便第一输出链路530传输超过第一输入扭矩的扭矩。因为第一变速器520的第一基底链路532被非旋转地接地，所以由第一输出链路530传输的扭矩和第一输入扭矩之间的差异被相反方向的从第一基底链路532传输至第一旋转耦合件522的扭矩平衡。在许多实施例中，第一齿轮比明显地比一要大，以便通过第一输出链路530传输的扭矩和沿相反方向的从第一基底链路532传输至第一旋转耦合件522的扭矩具有大致上相等的量。例如，在第一齿轮比为9比1的实施例中，通过第一输出链路530传输的扭矩为第一输入扭矩的9倍。在相反方向上被第一基底链路532传输至第一旋转耦合件522的扭矩的量是第一输入扭矩的量的8倍。
被第一旋转耦合件522提供的第二齿轮比被选择成使得被第一旋转耦合件522传输至主轴508的扭矩足以平衡被第一输出链路530传输至主轴/末端执行器组装件502的扭矩，以便禁止通过主轴/末端执行器组装件502旋转驱动主轴驱动器504。在主轴驱动器504具有非零向后驱动的扭矩阈值时，能够从一定齿轮比范围内选出第二齿轮比，并且其仍能导致禁止通过主轴/末端执行器组装件502旋转驱动主轴驱动器。理想地，第二齿轮比被选择成使得被第一旋转耦合件传输至主轴的扭矩足以平衡被第一输出链路530传输至主轴/末端执行器组装件502的扭矩。并且尽管在图9中未示出，但是第一变速器520的第一输出链路530无需直接旋转地耦合主轴/末端执行器组装件502，而是能够以如下方式耦合，即使得在第一输出链路530和主轴/末端执行器组装件502之间提供不一致的齿轮比。在存在这样的不一致齿轮比的情况下，由第一旋转耦合件522提供的第二齿轮比能够被配置成考虑到额外的不一致齿轮比。
以类似的方式，经第二变速器524和第二旋转耦合件526，第二驱动马达518旋转地耦合第二旋转机构514和主轴508。第二驱动马达518旋转地耦合第二变速器的第二输入链路534，并且将第二输入扭矩传输至第二输入链路534。第二变速器524提供了在第二变速器524的第二输入链路534和第二输出链路536之间的第三齿轮比。第二输出链路536旋转地耦合第二旋转机构514。第二旋转耦合件526被连接在第二变速器524的第二基底链路538和主轴508之间。第二旋转耦合件526提供了在第二基底链路538和主轴508之间的第四齿轮比。第二基底链路538被非旋转地接地(例如，被非旋转地接地至基底，其中主轴508被旋转地安装在基底)。
被第二变速器524提供的第三齿轮比远大于一，以便第二输出链路536传输超过第二输入扭矩的扭矩。因为第二变速器524的第二基底链路538被非旋转地接地，所以由第二输出链路536传输的扭矩和第二输入扭矩之间的差异被相反方向从第二基底链路538传输至第二旋转耦合件526的扭矩平衡。在许多实施例中，第三齿轮比明显地比一要大，以便被第二输出链路536传输的扭矩和沿相反方向的从第二基底链路538传输至第二旋转耦合件526的扭矩具有大致上相等的量。例如，在第三齿轮比为9比1的实施例中，被第二输出链路536传输的扭矩为第二输入扭矩的9倍。并且相反方向的被第二基底链路538传输至第二旋转耦合件526的扭矩的量是第二输入扭矩的量的8倍。
被第二旋转耦合件526提供的第四齿轮比被选择成使得被第二旋转耦合件526传输至主轴508的扭矩足以平衡被第二输出链路536传输至主轴/末端执行器组装件502的扭矩，以便禁止通过主轴/末端执行器组装件502旋转驱动主轴驱动器504。在主轴驱动器504具有非零向后驱动的扭矩阈值的情况下，能够从一定齿轮比范围内选出第四齿轮比，并且其仍能禁止通过主轴/末端执行器组装件502旋转驱动主轴驱动器。理想地，第四齿轮比被选择成使得被第二旋转耦合件传输至主轴的扭矩足以平衡被第二输出链路536传输至主轴/末端执行器组装件502的扭矩。尽管在图25中未示出，但是第二变速器524的第二输出链路536无需直接旋转地耦合主轴/末端执行器组装件502，而是能够以如下方式耦合，即使得在第二输出链路536和主轴/末端执行器组装件502之间提供不一致的齿轮比。在存在这样的不一致齿轮比的情况下，被第二旋转耦合件524提供的第四齿轮比能够被配置成考虑到额外的不一致齿轮比。
尽管第一和第二输出链路530、536能够分别直接旋转地耦合第一和第二旋转机构512、514，但是主轴/末端执行器组装件502包括在第一输出链路530和与第一旋转机构512旋转地耦合的第一驱动轴542之间提供齿轮比的第一齿轮组装件540，以及在第二输出链路536和与第二旋转机构514旋转地耦合的第二驱动轴546之间提供齿轮比的第二齿轮组装件544。对于第一和第二齿轮组装件540、544二者，其输入和输出之间的扭矩差被反作用到主轴508。不管由第一和第二齿轮组装件540、544所提供的齿轮比如何，因为第一和第二齿轮组装件540、544是主轴/末端执行器组装件502的一部分，所以当扭矩被传输至第一和第二旋转机构512、514时，通过主轴508反作用由于第一和第二齿轮组装件540、544的不一致齿轮比所产生的任何扭矩差。结果，相对于被用于对抗通过第一和第二输出链路530、536被传输至主轴/末端执行器组装件502的促动扭矩的对抗扭矩507的量，第一和第二齿轮组装件540、544的齿轮比不会影响对抗促动组装件506的配置(例如，齿轮比)。
经第一和第二输出链路530、536被传输至主轴/末端执行器组装件502的扭矩能够超过主轴驱动器504的向后驱动扭矩阈值，同时经对抗促动组装件506传输至主轴508的对抗扭矩禁止主轴驱动器504的旋转驱动。对抗促动组装件506被配置成，即使在通过第一和第二输出链路530、536传输至主轴/末端执行器组装件502的扭矩超过向后驱动扭矩阈值时，对抗扭矩的量与通过第一和第二输出链路530、536被传输至主轴/末端执行器组装件502的扭矩的量也相差一个比主轴驱动器504的向后驱动扭矩阈值更小的净扭矩量。优选地，即使当由第一和第二输出链路530、536所传输至主轴/末端执行器组装件502的扭矩超过向后驱动扭矩阈值时，净扭矩量也比向后驱动扭矩阈值的百分之50还小。更优选地，即使当由第一和第二输出链路530、536所传输至主轴/末端执行器组装件502的扭矩超过向后驱动的扭矩阈值时，净扭矩量也比向后驱动扭矩阈值的百分之25还要小。更加优选地，即使当由第一和第二输出链路530、536所传输至主轴/末端执行器组装件502的扭矩超过向后驱动的扭矩阈值时，净扭矩量比向后驱动扭矩阈值的百分之10还要小。理想地，即使当由第一和第二输出链路530、536所传输至主轴/末端执行器组装件502的扭矩超过向后驱动的扭矩阈值时，净扭矩量比向后驱动扭矩阈值的百分之2还要小。例如，在主轴/末端执行器组装件502被非旋转地耦合主轴驱动器504的情况下(例如，在发生故障的情况下，或未能正确地建立在手术组装件500和手术机器人之间的耦合的情况下)，手术组装件500中的用于起作用来约束主轴/末端执行器组装件502相对于基底旋转的摩擦会足以阻止当净扭矩量比向后扭矩阈值的百分之2要小时主轴/末端执行器组装件502的旋转。
第一旋转耦合件522和第二旋转耦合件536能够共用旋转地耦合主轴508的一个或更多共同部件。例如，公共驱动轴能够旋转地耦合主轴508，从而将对抗扭矩从一个或两个基底链路532、538传输至主轴508。
尽管任何合适的变速器类型能够被用于第一和第二变速器，但是能够使用行星齿轮箱，并且其经配置能提供合适的齿轮比。这样行星齿轮箱能够经配置具有合适的小尺寸，从而允许用于对抗促动组装件506中。图26示出示例性行星齿轮组550。行星齿轮组550包括被附着至输入链路554的恒星齿轮552、环形齿轮556、绕恒星齿轮552分布且旋转地将恒星齿轮552耦合至环形齿轮556的四个行星齿轮558以及旋转地耦合且支撑每个行星齿轮558的载体560。
此外，行星齿轮箱提供合适的特征，其可以以任何可能的组合来用作第一和第二变速器520、524的第一和第二输入链路528、534、第一和第二输出链路530、536以及第一和第二基底链路532、538。例如。恒星齿轮能够对应于第一和第二输入链路、第一和第二输出链路以及第一和第二基底链路中的任何一个。同样地，载体能够对应于第一和第二输入链路、第一和第二输出链路以及第一和第二基底链路中的任何一个。并且环形齿轮能够对应于第一和第二输入链路、第一和第二输出链路以及第一和第二基底链路中的任何一个。作为合适组合的具体例子，恒星齿轮能够对应于第一/第二输入链路，载体能够对应于第一/第二输出链路，并且环形齿轮能够对应于第一/第二基底链路。作为另一个例子，恒星齿轮能够对应于第一/第二输出链路，载体能够对应于第一/第二输入链路，并且环形齿轮能够对应于第一/第二基底链路。并且为了进一步说明本发明的目的，载体或恒星齿轮能够对应于第一/第二基底链路。
图27a至图29a示出根据图9所示手术组装件500的微创机器人手术仪器组装件600。因此，上述关于手术组装件500的讨论应用至手术仪器组装件600，并且因此在此可省略上述讨论的部分。仪器组装件600包括促动组装件602，其被设置在仪器组装件的近端。主轴604旋转地安装至促动组装件602。第一驱动轴606和第二驱动轴608被安装成在主轴604内旋转，并且将扭矩分别传输至末端执行器(未示出)的第一旋转机构和第二旋转机构，其中该末端执行器被支撑在仪器组装件的远端。图11a示出促动组装件的透视外部图。图11b示出仪器组装件600的分解透视图，其示出与驱动耦合件612去耦的马达组610，通过该耦合件，第一和第二驱动马达旋转地耦合主轴604以及第一和第二驱动轴606、608。
图28a示出仪器组装件600的内部部件的透视图。图28b为图28a所示内部部件的分解透视图，其处于对应于图27b的去耦状态。图29a是移除了第二驱动马达、第二行星齿轮变速器以及第二耦合轴以便不会妨碍对剩余部件的说明的仪器组装件600的内部部件透视图。图29b示出图29a的内部部件的端视图。图29c示出图29b的横截面A-A。仪器组装件600包括第一驱动马达614、第一行星变速器616、第二驱动马达618、第二行星变速器620、第一耦合轴622、第二耦合轴624以及共用反馈轴626。因为第一和第二行星齿轮变速器616、618旋转地接地至主轴604，所以第一和第二行星齿轮变速器分别相对于第一和第二驱动马达614、618旋转以响应主轴604旋转。
第一耦合轴622形成在第一行星变速器616的载体和第一驱动轴606之间的扭矩路径的一部分。第一驱动马达614将第一输入扭矩传输至第一行星变速器616的恒星齿轮。第一行星变速器616的载体经相互啮合的小齿轮旋转地耦合第一耦合轴622。并且第一耦合轴622经一对小齿轮和一个环形齿轮旋转地耦合第一驱动轴606，如图29a和图29c所示，以及在2009年11月13日提交的题为“MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHINAN INDEPENDENTLY ROTATING MEMBER”的U.S.临时专利申请No.61/260,919(代理人卷号No.ISRG02360PROV)中所描述的，其全部内容以引用的方式并入。
同样地，第二耦合轴624形成在第二行星变速器620的载体和第二驱动轴608之间的扭矩路径的一部分。第二驱动马达618将第二输入扭矩传输至第二行星变速器620的恒星齿轮。第二行星变速器620的载体经相互啮合的小齿轮旋转地耦合第二耦合轴624。并且第二耦合轴624经一对小齿轮和一个环形齿轮旋转地耦合第二驱动轴608，如在2009年11月13日提交的题为“MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN ANINDEPENDENTLY ROTATING MEMBER”的U.S.临时专利申请No.61/260,919(代理人卷号No.ISRG02360PROV)中所描述的，其全部内容以引用的方式并入。
共用反馈轴626形成在第一行星变速器616的基底链路和主轴604之间的扭矩路径的一部分以及在第二行星变速器620的基底链路和主轴之间的扭矩路径的一部分。第一行星变速器616的基底链路经一对小齿轮旋转地耦合共用反馈轴626，其中一个所述小齿轮形成第一行星变速器616的基底链路的一部分。同样地，第二行星变速器620的基底链路经一对小齿轮旋转地耦合共同反馈轴626，其中一个所述小齿轮形成第二行星变速器620的基底链路的一部分。共用反馈轴626经一对小齿轮旋转地耦合主轴604，其中一个所述小齿轮直接旋转地耦合主轴。主轴604经一对螺旋齿轮628、630旋转地耦合主轴马达(未示出)。
在操作过程中，当主轴未被旋转时，第一和第二变速器的共用反馈轴626和基底链路也不会旋转，这是由于其与主轴旋转地耦合。因为第一和第二行星变速器的基底链路被非旋转地接地至促动组装件的基底，所以基底链路根据需要自由地旋转偏斜，从而将对抗扭矩传输至主轴，以响应于来自驱动马达的输入扭矩，并且根据命令，由主驱动马达旋转主轴，导致公共驱动轴旋转，从而通过公共驱动轴的旋转，基底链路自由地旋转。
仪器组装件600提供了相对于替代性途径的若干优势，其被认为是防止了因将促动扭矩传输至末端执行器的旋转机构而产生的主轴的意外旋转。例如，仪器组装件600提供了将高水平的扭矩传输至由独立的可旋转主轴支撑的末端执行器的第一和第二旋转机构中的一个或两个，且同时提供了将对抗扭矩传输至主轴，从而能够导致大体上无净力矩被施加至主轴，否则这种净力矩可能向后驱动被用于旋转主轴的主驱动马达。被动/无源地完成了对抗扭矩的传输，从而避免在主动途径中必须要有的部件的使用。仪器组装件600提供两个方向上的连续线性特性，其中没有突然释放能量的可能性。仪器组装件600与现实的包装方案兼容，该方案考虑了相对于主轴尺寸的相对大的马达和齿轮箱尺寸。相对于相当的仪器组装件，仪器组装件600的应用也不需要额外的功率。仪器组装件600还呈现了摩擦、磨损、齿间隙、制造精度以及机构中所使用的部件刚性的大体不变性。因为齿轮装置形成了变速器和主轴之间的运动学上的封闭系统，在该封闭系统内采用任何齿间隙，因此不存在高于机构的被计算残留扭矩的净力矩被施加至主轴/末端执行器组装件。在仪器组装件内提供了所有上述优势，其中该仪器组装件提供了在将扭矩传输至末端执行器的第一和第二旋转机构中的一个或两个的过程中，主轴通过主驱动马达的自由旋转。
替代性方案被认为未能提供一个或更多上述优势。被评定的替代性方案包括单向正齿轮、不可向后驱动的蜗轮、摩擦制动器、主轴旋转锁、经主驱动马达施加的额外功率、经主驱动马达对主轴旋转的有源补偿、使用辅助马达补偿所施加的扭矩以及将马达和齿轮箱安装至主轴。尤其是，自动闭锁齿轮原理存在如下问题，其中当齿轮组从闭锁向解锁转变时，在负荷下的旋转方向的变化会造成突然且快速释放机械能量。制动器具有类似的缺点，因为制动器的释放会是突然的能量释放。
示例性齿轮比的扭矩平衡计算
图30提供了下列关于示例性齿轮比描述的参考标识号，其能够被用于上述手术组装件500中。因为对抗组装件506使用类似的配置以用于将第一和第二驱动马达516、518与主轴/末端执行器组装件502耦合，所以以下将呈现关于将第一驱动马达516与主轴/末端执行器组装件502耦合，同时应理解相对于将第二驱动马达518与主轴/末端执行器组装件502耦合，也可应用本讨论。
通过等式(1)能够计算被第一输出链路530传输至主轴/末端执行器组装件502(Tc)的扭矩。
Tc＝Tm×P×(N1B/N1A)×(N1D/N1C) 等式(1)
其中：
Tm＝马达1驱动扭矩
P＝行星齿轮箱P1的齿轮比
N1A＝齿轮1A的齿轮齿数
N1B＝齿轮1B的齿轮齿数
N1C＝齿轮1C的齿轮齿数
N1D＝齿轮1D的齿轮齿数
能够通过等式(2)计算经第一基底链路532和第一旋转耦合件522的被传输至主轴508(Tr)的对抗扭矩。
Tr＝-Tm×(P-1)×(N3B/N3A)×(N3D/N3C) 等式2
其中：
N3A＝齿轮3A的齿轮齿数
N3B＝齿轮3B的齿轮齿数
N3C＝齿轮3C的齿轮齿数
N3D＝齿轮3D的齿轮齿数
将末端执行器驱动轴位置从主轴位置去耦
除了提供如上所述的对抗扭矩之外，能够实施手术组装件500和仪器组装件600，从而基本将末端执行器驱动轴的位置从主轴位置去耦。例如，能够选择手术组装件500的配置，以便当第一和第二输入链路528、534不旋转时(即，第一和第二驱动马达516、518不旋转)，通过主轴驱动器504的主轴508的旋转不会造成第一和第二驱动轴542、546相对于主轴508的显著旋转量。第一和第二驱动轴542、546的诱发旋转能够比主轴508旋转的百分之10要少。在一些实施例中，第一和第二驱动轴542、546的诱发旋转能够比主轴旋转的百分之5要少。这样的属性是非常有益的。例如，在一些实施例中，第一和第二驱动马达516、518具有有限的运动范围。通过将第一和第二驱动轴542、546的位置基本从主轴508的位置去耦，主轴运动范围不受第一和第二驱动马达516、518的运动范围限制。此外，这种去耦相对于末端执行器的操作特性在第一和第二旋转机构512、514方面是有益的，由于这样的去耦防止第一和第二旋转机构512、514响应单纯的主轴旋转的显著促动。例如，在第一和第二旋转机构512、514中的一个被用于促动吻合器机构的情况下，去耦有助于防止由于由主轴508旋转诱发的第一和第二旋转机构512、514的旋转所导致的意外吻合。此外，在不存在这种去耦的情况下，将需要监测主轴508的位置，并且使用被监测位置来产生第一和第二驱动马达516、518的对抗旋转，以便修正第一和第二驱动轴542、546的诱发运动。
能够通过等式(3)计算由主轴508旋转所诱发的第一驱动轴542的旋转量。正如可以理解的，在等式(3)中，对应于第二驱动轴546的参数能够代替对应于第一旋转轴542的参数，从而计算由主轴508旋转所诱发的第二驱动轴546的旋转量。
等式(3)
其中：
N1E＝齿轮1E的齿轮齿数
N1F＝齿轮1F的齿轮齿数
表1至表3列出关于示例性实施例的末端执行器驱动轴的齿轮装置参数、所得到的单元扭矩计算以及所诱发的旋转水平。
表1第一示例性实施例
表2第二示例性实施例
表3第二示例性实施例
相关方法
图31示出根据许多实施例的方法700，其用于防止在手术过程中被传输至末端执行器的促动扭矩向后驱动可向后驱动的主轴。上述手术组装件500和仪器组装件600能够被用于实践方法700。能够省略一个或更多下列动作。
在动作702中，旋转第一变速器的第一输入链路，以便第一变速器的第一输出链路将第一输出扭矩传输至主轴组装件，其包括主轴和由主轴支撑的末端执行器，并且将第一末端执行器扭矩传输至末端执行器。第一变速器提供了第一输入链路和第一输出链路之间的第一齿轮比。第一输出扭矩比主轴驱动器的向后驱动扭矩阈值要大，其中主轴驱动器经操作旋转地驱动主轴组装件。
在动作704中，扭矩经由第一旋转耦合件从第一变速器的第一基底链路被传输至主轴。第一旋转耦合件提供了第一基底链路和主轴之间的第二齿轮比，以便第一对抗扭矩与第一输出扭矩方向相反地被施加至主轴。第一对抗扭矩禁止了主轴组装件被第一输出扭矩旋转驱动。
主轴驱动器具有向后驱动扭矩阈值，以便当主轴组装件受到超过向后驱动扭矩阈值的净力矩时，主轴向后驱动主轴驱动器，以及当主轴受到低于向后驱动扭矩阈值的净力矩时，主轴不会向后驱动主轴驱动器。优选地，第一对抗扭矩的量与第一输出扭矩的量能够相差比向后驱动扭矩阈值百分之50更小的第一净扭矩。更优选地，即使当第一输出扭矩超过向后驱动扭矩阈值时，第一净力矩量也比向后驱动扭矩阈值百分之25更小。更优选地，即使当第一末端执行器扭矩超过向后驱动扭矩阈值时，第一净力矩量也比向后驱动扭矩阈值百分之10更小。理想地，即使当第一末端执行器扭矩超过向后驱动扭矩阈值时，第一净力矩量也比向后驱动扭矩阈值百分之2更小。
在动作706中，第二变速器的第二输入链路旋转，以便第二变速器的第二输出链路将第二输出扭矩传输至主轴组装件，并且将第二末端执行器扭矩传输至末端执行器。第二变速器提供了第二输入链路和第二输出链路之间的第三齿轮比。第二输出扭矩比主轴驱动器的向后驱动扭矩阈值要大。
在动作708中，扭矩经第二旋转耦合件从第二变速器的第二基底链路被传输至主轴。第二旋转耦合件提供第二基底链路和主轴之间的第四齿轮比，以便第二对抗扭矩沿与第二输出扭矩方向相反地被施加至主轴。第二对抗扭矩禁止了主轴组装件被第二输出扭矩旋转驱动。
第一和第二旋转耦合件能够共用一个或更多共用部件。例如，第一和第二旋转耦合能够共用公共驱动轴。
其他变体在本发明精神内。因此，尽管本发明允许有各种修正和可选配置，在附图中示出其中的某些所示实施例，并且已在上文中详细描述。然而，应明白无意要限制本发明于具体形式或已公开形式，相反，本发明旨在涵盖所有修正、可选配置以及在本发明精神和范围内的等效物，如在权利要求中所限定的。
除非另有说明或明确被上下文否定，否则在描述本发明的上下文中(尤其在下列权利要求中)的术语“一”和“一个”和“本”以及类似指称被解释为涵盖单数和复数。除非另有说明，否则术语“包含”、“具有”、“包括”以及“含有”被解释为开放式术语(即，意味着“包括，但不限制”)。
术语“连接”被解释为部分地或整体包含其中、附着至或接合在一起，即使存在一些干扰。除非本文另有说明，否则本文数值范围的重复仅是要作为用于单独地指代位于范围内的每个分开数值的速记方法，并且每个分开数值均并入说明书中，以防在文中单独地重复。除非另有说明或上下文中明确否定，否则能够以任何合适的顺序执行本文所述的所有方法。除非另有说明，否则本文所提出的任何以及所有例子，或示例性语言(例如“例如”)的使用，仅是要更好地说明本发明的实施例，而不是要提出对本发明范围的限制。
说明书中的任何语言不应被解释为指示任何未申明元素作为实践本发明所必须的。
本文描述了该发明的优选实施例，其包括发明者已知的用于实施本发明的最佳方式。在阅读了上述描述后，那些优选实施例的变体对本领域技术人员而言是显而易见的。除非本文具体描述，否则本发明者预计熟练技术人员适当地采用该变体，以及本发明者想要实践本发明。因此，如可适用法律所允许的，该发明包括所附权利要求中所列举的主题事项的所有修正和等效物。此外，除非本文另有指示或被上下文明确否定，否则在所有可能变体中的上述元素的任何组合均包含在本发明中。
因此，本文所引用的所有参考，包括出版物、专利申请、以及专利均通过引用的方式并入，其并入程度与其通过引用的方法单独整体并入或本文所列整体并入的程度是相同的。

Claims (10)

1.一种手术组装件，其包含：
基底；
仪器轴，其被旋转地安装至所述基底并且在远端和近端之间延伸；
末端执行器，其被支撑在所述仪器轴的所述远端处，并且包括由旋转运动驱动的促动机构；
驱动轴，其旋转地耦合所述促动机构并且经配置将所述旋转运动提供至所述促动机构；以及
差速器，其被旋转地耦合至所述驱动轴并且接收第一输入运动和第二输入运动，所述差速器经配置组合所述第一输入运动和所述第二输入运动，从而产生旋转所述驱动轴的旋转运动，所述第一输入运动可被旋转地耦合至促动源，并且所述第二输入运动被耦合至所述仪器轴相对于所述基底的旋转。
2.根据权利要求1所述的手术组装件，其中所述末端执行器包括通过所述促动机构铰接的钳爪。
3.根据权利要求1所述的手术组装件，其中所述差速器被配置成当所述第一输入运动为零时，所述仪器轴相对于所述基底的旋转导致所述驱动轴相对于所述仪器轴的大体上为零的旋转。
4.根据权利要求1所述的手术组装件，其中所述差速器包括：
第一缆绳，其将所述驱动轴相对于所述基底的旋转驱动地耦合到所述仪器轴相对于所述基底的旋转；以及
第二缆绳，其驱动地耦合到所述促动源，所述第二缆绳被耦合到分别具有第一和第二滑轮的第一和第二滑轮组，所述第一缆绳被所述第一和第二滑轮接合。
5.根据权利要求1所述的手术组装件，其中所述差速器包括：
第一缆绳，其将所述驱动轴相对于所述基底的旋转驱动地耦合到所述促动源；以及
第二缆绳，其驱动地耦合到所述仪器轴相对于所述基底的旋转，所述第二缆绳被耦合到分别具有第一和第二滑轮的第一和第二滑轮组，所述第一缆绳被所述第一和第二滑轮接合。
6.根据权利要求1所述的手术组装件，其中所述差速器包含行星齿轮箱，其包括恒星齿轮、耦合至载体的行星齿轮以及环形齿轮。
7.根据权利要求6所述的手术组装件，其中所述第一输入运动旋转所述载体，所述第二输入运动旋转所述恒星齿轮，并且所述环形齿轮的旋转被传递至所述驱动轴。
8.根据权利要求7所述的手术组装件，其中所述第一输入运动通过输入轴被传递至所述载体，并且其中所述恒星齿轮围绕所述输入轴旋转。
9.根据权利要求8所述的手术组装件，其中所述输入轴横于所述仪器轴取向。
10.根据权利要求7所述的手术组装件，还包含扭力弹簧，其被耦合在所述基底和所述载体之间，从而在所述促动源和所述载体断开连接的条件下，将所述驱动轴返回至相对于所述仪器轴的预定旋转位置。
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