CN106102640B - 用于使外科器械与远程操作致动器接合的方法 - Google Patents
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Abstract
一种远程操作外科系统具有器械操纵器,该器械操纵器包括均提供独立的旋转运动的第一滑架驱动器和第二滑架驱动器。每个滑架驱动器包括第一接合特征部。外科器械包括两个器械驱动器,每个器械驱动器接收来自两个滑架驱动器之一的旋转运动。每个器械驱动器包括第二接合特征部,该第二接合特征部接合第一接合特征部以将滑架驱动器绝对耦接到器械驱动器。器械驱动器被旋转地耦接在一起。操纵器控制器控制两个滑架驱动器的旋转并且将与第一滑架驱动器的旋转相反的运动施加到第二滑架驱动器,直到第一接合特征部绝对接合第二接合特征部。外科器械可以包括能够无限地旋转的器械轴。器械驱动器可以旋转地耦接到器械轴。
Description
相关申请的交叉引用
本申请要求以下在先提交的专利申请的优先权:
美国 61/954,497 2014年3月17日(17-03-2014)
美国 61/954,502 2014年3月17日(17-03-2014)
美国 61/954,557 2014年3月17日(17-03-2014)
美国 61/954,571 2014年3月17日(17-03-2014)
美国 61/954,595 2014年3月17日(17-03-2014)
美国 62/019,318 2014年6月30日(30-06-2014)
美国 62/103,991 2015年1月15日(15-01-2015)
美国 62/104,306 2015年1月16日(16-01-2015)
这些申请中的每一个以所允许的最大程度具体地并入本文。
技术领域
本发明的实施例涉及机械耦接器的技术领域,并且更具体地涉及提供用于将外科器械耦接到远程操作致动器的无菌屏障的耦接器。
背景技术
微创医疗技术已经被用来减少诊断或外科手术程序期间可能被损坏的外部组织的量,从而减少患者恢复时间、不舒适感以及有害的副作用。微创外科手术的传统形式包括内窥镜检查。内窥镜检查的更常见形式之一是腹腔镜检查,其为腹腔内的微创检查或外科手术。在传统的腹腔镜外科手术中,患者的腹腔被吹入气体,并且插管套筒穿过患者腹部的肌肉组织中的小(大约1/2英寸)切口以提供入口端,通过该入口端能够以密封的方式传递腹腔镜外科器械。
腹腔镜外科器械通常包括用于观察手术区域的腹腔镜以及具有诸如外科工具的末端执行器的外科器械。典型的外科工具包括例如夹钳、抓紧器、剪刀、缝合器和持针器。外科器械类似于传统的(开放的)外科手术中使用的器械,除了每个外科器械的末端执行器通过例如大约12英寸长的延伸管与其把手分开,以便允许操作者将末端执行器引到手术部位并且从患者的身体外面控制末端执行器相对于手术部位的移动。
为了提供末端执行器的改进的控制,可能期望借助远程操作致动器来控制外科器械。外科医生可以在控制台上操作控件以间接操纵连接到远程操作致动器的器械。外科器械可拆卸地耦接到远程操作致动器,因此外科器械可被单独地消毒并且被选择用作待进行的外科手术程序所需要的器械。在外科手术过程中可以改变外科器械。
借助远程操作外科器械进行外科手术产生新的挑战。一个挑战是需要将与患者相邻的区域保持在无菌条件下。但是,控制外科器械所必需的马达、传感器、编码器和电连接件通常不能使用传统方法(例如蒸汽、热量、压力或化学品)消毒,因为它们将在消毒过程中被损坏或破坏。
远程操作外科系统的另一个挑战是外科医生在程序期间通常将采用若干不同的外科器械。许多不同的外科器械通常将在手术期间通过相同的套管针套筒被引入,以限制所需要的切口数量。因此,存在有限数量的可用的器械操纵器,其通常比程序期间使用的外科器械的数量更少。因此,外科器械在手术期间可能与相同的器械保持器附接和脱开许多次。
可能期望提供更简单且更有效的方式来将外科器械与远程操作致动器驱动装置接合,同时防止远程操作致动器的污染,并且允许机械耦接器的快速可靠接合,所述机械耦接器通过无菌屏障将运动从远程操作致动器驱动装置转移到外科器械。
发明内容
远程操作外科系统具有器械操纵器,该器械操纵器包括每个均提供独立的旋转运动的第一滑架驱动器和第二滑架驱动器。每个滑架驱动器包括第一接合特征部。外科器械包括两个器械驱动器,每个器械驱动器接收来自两个滑架驱动器之一的旋转运动。每个器械驱动器包括第二接合特征部,该第二接合特征部接合第一接合特征部,从而将滑架驱动器绝对耦接到器械驱动器。器械驱动器被旋转地耦接在一起。操纵器控制器控制两个滑架驱动器的旋转,并且将与第一滑架驱动器的旋转相反的运动施加到第二滑架驱动器,直到第一接合特征部绝对接合第二接合特征部。外科器械可以包括能够无限地旋转的器械轴。器械驱动器可以旋转地耦接到器械轴。
根据下面的附图和附图后面的详细描述,本发明的其它特征和优点将是显而易见的。
附图说明
通过参考用来以举例方式而不是限制方式说明本发明实施例的以下描述和附图,可以最佳地理解本发明。在附图中,其中类似的附图标记指示类似的元件:
通过参考用来以举例方式而不是限制方式说明本发明实施例的以下描述和附图,可以最佳地理解本发明。在附图中,其中类似的附图标记指示类似的元件:
图1是远程操作外科系统的例示性患者侧部分的视图。
图2是与远程操作致动器一起使用的外科器械的侧视图。
图3A是外科器械、外科器械操纵器的滑架以及器械无菌适配器(ISA)的耦接的示例性实施例的图示。
图3B是图3A的耦接器系统的示例性实施例的图示。
图4是耦接到滑架的已组装ISA的示例性实施例的图示。
图5是ISA耦接器的示例性实施例的图示。
图6是一部分外科器械的下侧的示例性实施例的图示。
图7是图6中示出的外科器械的上侧的示例性实施例的图示,其中为了清楚起见移除了一些部件。
图8是ISA和外科器械的耦接器系统的示例性实施例的图示。
具体实施方式
在下面的说明书中,阐述许多具体的细节。但是,应当理解,可以在没有这些具体细节的情况下实施本发明的实施例。在其它情况下,没有详细示出已知的电路、结构和技术,以便不模糊对本说明书的理解。
在下面的说明书中,参考示出本发明的几个实施例的附图。应当理解,可以利用其它实施例,并且在不偏离本公开的精神和范围的情况下,可以进行机械成分、结构、电气以及操作的改变。下面的详细说明书不应被视为是限制意义的,并且本发明的实施例的范围仅由授予专利权的权利要求限定。
术语
在本文所用的术语仅仅是为了描述具体实施例,而并非旨在限制本发明。为了便于描述,本文可能使用空间相对术语,诸如“在……之下”、“在……下面”、“下部”、“在……上”、“上部”等等,以描述附图中示出的一个元件或特征部与另外(多个)元件或(多个)特征部的关系。应当理解,空间相对术语旨在涵盖除了附图中示出的取向之外的使用或操作中的设备的不同取向。例如,如果附图中的设备被翻转,那么被描述为在其它元件或特征部“下面”或“之下”的元件将被取向为在其它元件或特征部“之上”。因此,示例性术语“在……下面”可以涵盖上面和下面的取向。设备可能以其它方式被取向(例如,旋转90度或处于其它取向),并且本文使用的空间相对描述符被相应地解释。
如本文所用,除非上下文指出了其它情况,否则单数形式“一”、“一个”以及“该”旨在包括复数形式。还应当理解,“包括”和/或“包含”指定所述特征、步骤、操作、元件和/或部件的存在,但并非排除存在或添加一个或多个其它特征、步骤、操作、元件、部件和/或其群组。
术语“物体”通常指代部件或一组部件。例如,物体可以在说明书或权利要求中指代圆盘的内凹部或凸出部。贯穿说明书和权利要求,术语“物体”、“部件”、“部分”、“零件”以及“工件”可以互换地使用。
术语“器械”和“外科器械”在本文被用以描述医疗设备,其被配置为插入患者的身体并且被用以进行外科手术或诊断程序。该器械包括末端执行器。末端执行器可以是与一个或多个外科手术任务相关联的外科工具,诸如手术钳、针驱动器、剪刀、双极烧灼器、组织稳定器或牵引器、施夹器、吻合设备、成像设备(例如,内窥镜或超声探头)等等。与本发明的实施例一起使用的一些器械还提供用于外科工具的铰接式支撑件(有时被称为“腕部/肘节(wrist)”),因此可以相对于器械的轴以一个或多个机械自由度操纵外科工具的位置和取向。此外,许多外科末端执行器包括功能性机械自由度,诸如打开或关闭的钳口或沿路径平移的刀。外科器械也可以包含存储的信息(例如,存储在器械内的半导体存储器上),该信息可以是永久的或者可以通过外科系统更新。因此,该系统可以提供器械与一个或多个系统部件之间的单向或双向信息通信。
术语“内凹部”可以被广义地理解为工作区的凹陷部分,其被配置为使得突起部能够接合该内凹部。当适当形状和尺寸的突起部被插入该内凹部时,这种耦接过程发生。
术语“凸出部”可以被广义地理解为工作区上的延伸或突起特征部。凸出部可以被配置为任何形状或尺寸。凸出部的一个用途是通过将凸出部插入内凹部来参与与内凹部的耦接过程。贯穿本说明书,术语“凸出部”和“突起部”可以互换地使用。
术语“接合特征部”可以被广义地理解为“内凹部”或“凸出部”或用来耦接两个或更多物体的任何工件。
术语“绝对(positively)耦接”可以被广义地理解为其中两个或更多物体以一种方式被连接的任何事件,该方式允许绝对耦接的物体彼此在一起进行操作,使得物体之间没有相对的移动。应当指出的是,绝对耦接不需要直接连接(例如,直接的物理或电连接),而是许多物体或部件可以用来绝对耦接两个或更多物体。例如,通过使用物体C,物体A和B可以被绝对耦接。作为另一个示例,当物体D(突起部)被容纳在物体E(内凹部)的凹陷区中时,物体D和E可以绝对耦接。贯穿说明书和权利要求,术语“耦接”、“连接”或“接合”可以互换地使用。
术语“耦接器”通常可以被理解为将第二部件耦接到第三部件的第一部件。
术语“旋转接收器”可以被理解为用于输入的接收点。例如,旋转接收器可以是接收来自马达的输入的部件,该输入促使马达保持静止或在特定方向上旋转。术语“旋转输入”可以指代来自马达的这种输入。
另外,术语“可拆卸地耦接”可以被理解为意味着两个或更多物体之间的非永久的耦接事件。这意味着可拆卸地耦接的物体可以被解耦和分开,使得它们不再一起进行操作。
最后,本文使用的术语“或”和“和/或”被解释为广义包括的或意味着任何一个或任何组合。因此,“A、B或C”或“A、B和/或C”意指下列各项中任何一个:A;B;C;A和B;A和C;B和C;A、B和C。仅当元件、功能、步骤或动作的组合以某种方式内在地相互排斥时出现此定义的例外。
功能性远程操作外科系统的综述
图1是根据本发明实施例的远程操作外科系统的例示性患者侧部分100的视图。患者侧部分100包括支撑组件100以及在每个支撑组件的端部处的一个或多个外科器械操纵器112。支撑组件可选地包括一个或多个无动力的、可锁定的装配接头,这些装配接头用来相对于进行外科手术的患者定位(多个)外科器械操纵器112。如所示,患者侧部分100搁置在地板上。在其它实施例中,患者侧部分可以被安装到墙壁、安装到天花板、安装到也支撑患者的身体122的手术台126或者安装到其它手术室设备。此外,虽然患者侧部分100被显示为包括四个外科器械操纵器112,但是可以使用更多或更少的外科器械操纵器112。此外,患者侧部分100可以由如图所示的单个组件组成,或者其可以包括两个或更多独立的组件,每个组件以各种可能的方式被可选地安装。
每个外科器械操纵器112支撑在患者身体122内的手术部位处进行操作的一个或多个外科器械120。可以以允许相关联的外科器械以一个或多个机械自由度(例如,全部六个笛卡尔自由度、五个或更少的笛卡尔自由度等等)移动的各种形式来提供每个外科器械操纵器112。通常,机械或控制约束限制每个外科器械操纵器112,从而围绕相对于患者保持静止的外科器械上的运动中心移动其相关联的外科器械,并且该运动中心通常位于外科器械进入身体的位置。
功能性远程操作外科系统通常将包括使操作者能够从患者的身体122外面观察手术部位的视觉系统部分(未示出)。该视觉系统通常包括具有视频图像捕获功能128的外科器械(“摄像器械”)以及显示所捕获的图像的一个或多个视频显示器。在一些外科系统配置中,摄像器械128包括光学部件,该光学部件将来自摄像器械128的远端的图像传输到患者身体122外面的一个或多个成像传感器(例如,CCD或CMOS传感器)。可替代地,(多个)成像传感器可以被定位在摄像器械128的远端,并且由(这些)传感器产生的信号可以沿引线或无线地传送用于处理并显示在视频显示器上。例示性的视频显示器是从加利福利亚州Sunnyvale市的直观外科手术公司(Intuitive Surgical,Inc.)购得的外科系统中的外科医生控制台上的立体显示器。
功能性远程操作外科系统还将包括用于当器械在患者体内时控制外科器械120的移动的控制系统部分(未示出)。该控制系统部分可以处于外科系统中的单个位置,或者其可以被分布在系统中的两个或更多个位置(例如,控制系统部分部件可以在系统的患者侧部分100中,在专用的系统控制台中,或者在单独的设备架中)。根据期望的控制程度、受控的外科组件的尺寸以及其它因素,可以以各种方式进行远程操作主/从控制。在一些实施例中,控制系统部分包括一个或多个手动操作的输入设备,诸如操纵杆、骨骼式手套、机动的和重力补偿的操纵器等等。这些输入设备控制远程操作的马达,这些马达进而控制外科器械的移动。
由远程操作马达产生的力经由动力传动系机构来传输,所述动力传动系机构将来自远程操作马达的力传送到外科器械120。在一些远程手术实施例中,控制(多个)操纵器的输入设备可以被提供在远离患者的位置,其在安置患者的房间内或房间外。然后,来自输入设备的输入信号被传输到控制系统部分。熟悉远程操纵、远程操作以及远程呈现外科手术的人员了解这些系统和它们的部件,诸如从Intuitive Surgical,Inc.购得的da 外科系统和初始由Computer Motion,Inc.制造的外科系统以及这些系统的各种例示性部件。
如所示,外科器械120和可选的进入导向器124(例如,患者的腹腔中的插管)都可移除地耦接到操纵器112的远端,同时外科器械120插入穿过进入导向器124。操纵器112中的远程操作致动器将外科器械120作为一个整体移动。操纵器112还包括器械滑架130。外科器械120可拆卸地连接到滑架130。容纳在滑架130中的远程操作致动器提供许多控制器运动,外科器械120将控制器运动转化成外科器械上的末端执行器的各种移动。因此,滑架130中的远程操作致动器仅仅移动外科器械120的一个或多个部件,而不是将器械作为整体移动。用于将器械作为整体控制或用于控制器械的部件的输入使得由外科医生提供到控制系统部分的输入(“主控”命令)通过外科器械被转化成对应的动作(“从动”响应)。
图2是外科器械120的例示性实施例的侧视图,外科器械120包括通过细长管210耦接的远端部分250和近端控制机构240。外科器械120的远端部分250可以提供各种外科工具中的任何一种,诸如所示的手术钳254、针驱动器、烧灼设备、切削工具、成像设备(例如,内窥镜或超声探头)或者包括两个或更多各种工具和成像设备的组合的组合设备。在所示的实施例中,外科工具254通过“肘节/腕部”252耦接到细长管210,“肘节/腕部”252允许外科工具的取向相对于器械管210被操纵。
与本发明一起使用的外科器械可以借助多个杆和/或柔性缆绳控制它们的末端执行器(外科工具)。可以呈现管的形式的杆可以与缆绳组合,从而根据需要借助提供柔性节段的缆绳来提供末端执行器的“推动/拉动”控制。用于外科器械120的典型细长管210是小的,也许直径为五到八毫米,大体上为大苏打饮料吸管的直径。外科器械120中的机构的缩小尺度产生独特的机械状况以及这些机构的构造的问题,这些状况和问题不同于在以较大尺度构造的类似机构中发现的状况和问题,因为作用力和材料的强度不随着机构的尺寸以相同的比率缩放。缆绳必须装配在细长管210内并且当它们穿过肘节接头252时能够弯曲。
为了在使用功能性远程操作外科系统时提供无菌操作区域,优选的是屏障被放置在非无菌系统和无菌手术区域之间。因此,诸如器械无菌适配器(ISA)的无菌部件被放置在外科器械120和远程操作外科器械操纵器130之间。外科器械120和外科器械操纵器130之间的器械无菌适配器的放置包括确保用于外科器械120和外科器械操纵器130的无菌耦接点的益处。这允许在外科手术过程期间从外科器械操纵器130移除外科器械并且与其它外科器械交换。
图3A示出耦接条件下的外科器械120的近侧控制机构240、远程外科器械操纵器130的滑架310以及器械无菌适配器(ISA)300的示例性实施例的一部分。
图3B示出图3A的耦接器系统的分解图。在一个实施例中,耦接过程的第一阶段包括ISA 300与滑架310耦接。滑架310上的滑架驱动器320被旋转,以促使驱动器上的接合特征部325与对应的ISA耦接器330上的往复特征部(未示出)配合。滑架驱动器320中的每一个可以由接收来自操纵器控制器340的控制信号的电动马达旋转。操纵器控制器340可以提供控制信号,这些控制信号允许每个滑架驱动器320独立于剩下的滑架驱动器被控制。外科器械120与ISA 300耦接。ISA耦接器330被滑架驱动器320旋转,以接合对应的器械驱动器(未示出)。
确保外科器械120通过ISA 300适当地接合外科器械操纵器130是重要的。滑架驱动器320需要与ISA耦接器330绝对耦接。ISA耦接器330进而需要与器械驱动器绝对耦接。
图4是耦接到滑架310的已组装的ISA 300的示例性实施例的图示。ISA 300包括多个ISA耦接器330。图4的实施例示出包括五个ISA耦接器330的ISA 300。ISA耦接器330的数量不被限制为五个,而是可以大于或小于五个。ISA耦接器330进而耦接到滑架驱动器320(未示出)以及容纳在滑架内的马达(未示出)。当ISA耦接器耦接到滑架驱动器并且接合时,ISA展示出用于耦接外科器械的无菌表面,其等效于滑架的表面。
图5示出ISA耦接器330的示例性实施例。ISA耦接器330包括两个ISA接合特征部500。应当指出的是,接合特征部的数量是可变的。
器械接合
图6是外科器械120的一部分的下侧的示例性图示。在该实施例中,外科器械120被示出包括多个器械驱动器610A-610E、器械轴耦接器620以及底板650。器械轴耦接器620接合图1中示出的细长管210。在该实施例中,示出五个器械驱动器610A-610E。但是,器械驱动器的数量不被限制为五个;其它实施例可以包括大于或小于五个。此外,器械驱动器的放置不被限制为图6中示出的配置。两个或更多个器械驱动器可以被旋转地耦接,使得两个或更多个马达可以用来驱动外科器械的单个功能。当两个或更多个器械驱动器被旋转地耦接时,任一个器械驱动器的旋转可以促使其它器械驱动器旋转。
图7是图6中示出的外科器械120的上侧的示例性图示,其中为了便于解释,未示出一些部件。第一键控器械驱动器轴730A从第一器械驱动器610A延伸,而第二键控器械驱动器轴730B从第二器械驱动器610B延伸。这些键控轴延伸穿过外科器械的底板650并且接合第一器械驱动器齿轮710A和第二器械驱动器齿轮710B。
在图7所示的实施例中,器械轴耦接器620延伸穿过外科器械的底板650并且接合器械轴齿轮720。旋转器械轴齿轮720使图1中示出的细长管210旋转。第一器械驱动器齿轮710A和第二器械驱动器齿轮710B均接合器械轴齿轮720。因此,旋转第一器械驱动器610A或第二器械驱动器610B中任一个将使器械轴齿轮和图1中示出的耦接的细长管210旋转。当然,第一器械驱动器610A和第二器械驱动器610B两者可以被协同地旋转以施加更大的旋转力到细长管210。
通过包括第一器械驱动器齿轮710A和第二器械驱动器齿轮710B以及器械轴齿轮720的齿轮系,第一器械驱动器610A和第二器械驱动器610B被旋转地耦接。这仅仅是两个或更多个器械驱动器能够被旋转地耦接的方式的一个示例。用于旋转地耦接器械驱动器的其它布置是可能的,诸如皮带驱动、链条和链轮驱动以及齿轮驱动的其它布置。器械驱动器的旋转耦接可以包括附加的部件,诸如扭矩限制滑动离合器或单向离合器,当其在一个方向被驱动时,其耦接器械驱动器的旋转,但是允许它们在相反方向上独立地旋转。
在图7所示的旋转耦接布置中,第一器械驱动器610A和第二器械驱动器610B在一个方向上旋转,而器械轴620在相反的方向上旋转。例如,如果第一器械驱动器610A和第二器械驱动器610B顺时针旋转,则器械轴620将逆时针旋转。在其它布置中,第一器械驱动器610A和第二器械驱动器610B可以被旋转地耦接以在相反的方向旋转以及/或者具有不同于1∶1的旋转速度比。
当尝试将外科器械120与ISA 300耦接时,如果ISA接合特征部530和器械接合特征部630不是初始对准的,则ISA接合特征部530将与器械驱动器610的圆盘部分接触。每个滑架驱动器320可以包含弹簧加载机构,使得当力被施加到滑架驱动器320时,滑架驱动器320后退到滑架310中。当ISA接合特征部530不与器械接合特征部630对准时,ISA耦接器330将朝向滑架轴向地移位,导致滑架驱动器320后退到滑架310中。在其它实施例中,除了滑架驱动器320的弹簧加载机构之外,或作为其替代形式,ISA耦接器330或器械驱动器610也可以包括弹簧加载机构,从而允许在这些部件接合之前的驱动器和/或耦接器的轴向移位。
为了将外科器械120与ISA 300接合,ISA耦接器330被旋转,以便将ISA接合特征部530与器械接合特征部630对准。但是,由于当ISA接合特征部530与器械驱动器610的圆盘部分接触时产生摩擦,器械驱动器610可能随着ISA耦接器330转动而旋转。有必要确保器械接合特征部630绝对接合ISA接合特征部530,从而能够适当地控制附接到ISA 300的外科器械。
耦接到具有有限范围的功能部(诸如末端执行器肘节)的器械驱动器具有对应的有限旋转范围,其具有在范围末端的硬停止(hard-stop)。因此,当使ISA耦接器旋转以接合具有硬停止的器械驱动器时,保证了器械驱动器必须最终停止转动,这确保ISA耦接器可被旋转到与器械驱动器接合。但是,当器械驱动器不提供硬停止(诸如摄像机的旋转)时,简单地旋转ISA耦接器将不确保与器械驱动器的适当接合。
器械轴620和两个旋转耦接的器械驱动器610A、610B的配置可以不提供硬停止。如果器械轴620不包括硬停止,则器械轴620和两个器械驱动器610由于齿轮接合可能无限地旋转。如果器械驱动器610无限地旋转,则它们可能从不与ISA耦接器330适当地接合。
因此,需要一种方式来确保由ISA接合特征部500与外科器械120的器械驱动器610的圆盘部分接触所引起的摩擦不阻止ISA接合特征部500和器械接合特征部630之间的适当接合,其用于不提供硬停止的功能部。
图8示出ISA 300和外科器械120的耦接器系统的示例性实施例,其中两个旋转耦接的器械驱动器610A、610B不提供硬停止。ISA接合特征部500将与两个旋转耦接的器械驱动器610的圆盘部分接触。由于接合特征部和圆盘表面之间的摩擦,使ISA耦接器330旋转可以促使对应的器械驱动器610旋转。这可能阻碍ISA耦接器330与具有接合特征部的相应器械驱动器610绝对接合。
图9到图12是沿图8的剖面线8-8截取的ISA 300和外科器械120的耦接器系统的示例性实施例的剖视图。这些剖视图示出外科器械120、ISA 300以及滑架310的一些部分,以说明将ISA耦接器330与对应的器械驱动器610绝对接合的过程。
图9示出彼此分开的外科器械120、ISA 300和滑架310。滑架310包括弹簧加载的滑架驱动器320,这些滑架驱动器具有与对应的ISA耦接器330上的往复特征部900匹配的接合特征部325。同样,ISA 300包括能够在ISA之中轴向移动的ISA耦接器330,这些ISA耦接器具有与外科器械120的器械驱动器610上的器械接合特征部630匹配的ISA接合特征部500。
图10示出借助不与对应的ISA耦接器330上的往复特征部900匹配的滑架驱动器320上的接合特征部将ISA300和滑架310闩锁在一起。当驱动器还没有接合耦接器时,弹簧加载的滑架驱动器320通过ISA耦接器330上的往复特征部900被轴向地移动。
图11示出借助与对应的ISA耦接器330上的往复特征部匹配的滑架驱动器上的接合特征部将ISA 300和滑架310闩锁在一起。借助不与对应的ISA耦接器330上的ISA接合特征部500匹配的器械驱动器610上的器械接合特征部630,外科器械120和ISA 300被闩锁在一起。当器械驱动器610还没有接合ISA耦接器330时,通过ISA耦接器330的轴向移动,弹簧加载的滑架驱动器320被轴向地移动。
图12示出闩锁在一起的外科器械120、ISA 300以及滑架310。左器械驱动器610已经接合ISA耦接器330。该接合允许左弹簧加载的滑架驱动器320朝向ISA 300和外科器械120轴向地移动。
当外科器械的两个旋转耦接的器械驱动器不包括硬停止时,将外科器械与器械操纵器耦接的方法利用器械驱动器的旋转耦接。滑架驱动器的旋转运动摩擦地耦接到对应的器械驱动器。当滑架驱动器的接合特征部还没有绝对接合对应的器械驱动器上的接合特征部时,第一滑架驱动器被旋转。将与第一滑架驱动器的旋转相反的运动施加到第二滑架驱动器,直到耦接到每个滑架驱动器的第二接合特征部绝对接合对应的器械驱动器上的第一接合特征部。“与第一滑架驱动器的旋转相反的第二滑架驱动器的运动”用来意指第二滑架驱动器的运动不同于当两个滑架驱动器都绝对接合对应的器械驱动器上的接合特征部并由此被旋转地耦接时将允许第二滑架驱动器与第一滑架驱动器协同地移动的运动。第二滑架驱动器的相反运动可以包括使第二滑架驱动器保持静止。
第一实施例
如果通过先前已经与第一ISA耦接器接合的对应的滑架驱动器320使第一ISA耦接器330A旋转,并且通过先前已经与第二ISA耦接器接合的对应的滑架驱动器320将第二ISA耦接器330B保持静止,则摩擦将导致两个器械驱动器610旋转或保持静止,这取决于哪一组器械接合特征部630产生更强的摩擦力。两种情况都将确保用于ISA耦接器330A、330B两者的ISA接合特征部500和器械接合特征部630之间的适当接合。
在第一种情况下,第一ISA耦接器330A被旋转并且促使两个器械驱动器610A、610B旋转。正在旋转的第二器械驱动器610B将最终接合正被保持静止的第二ISA耦接器330B。应当理解,第二器械驱动器610B将偶尔在不需要使第一ISA耦接器330A旋转的情况下接合第二ISA耦接器330B。
在第二器械驱动器610B与第二ISA耦接器330B绝对接合时,器械驱动器610A、610B现在都将逆着旋转的第一ISA耦接器330A和其对应的第一器械驱动器610A之间的摩擦力而被保持静止。正在旋转的第一ISA耦接器330A将最终接合正被保持静止的第一器械驱动器610A。因此,两个器械驱动器610都将与它们对应的ISA耦接器绝对接合。
在第二种情况下,第二ISA耦接器330B被保持静止并且促使两个器械驱动器610A、610B保持静止。正在旋转的第一ISA耦接器330A将最终接合正被保持静止的第一器械驱动器610A。应当理解,第一器械驱动器610A将偶尔在不需要使第一器械驱动器旋转的情况下接合第一ISA耦接器330。
在第一器械驱动器610A与第一ISA耦接器330A绝对接合时,器械驱动器610A、610B现在都将逆着静止的第二ISA耦接器330B和其对应的第二器械驱动器610B之间的摩擦力而被旋转。正被保持静止的第二ISA耦接器330B将最终接合正在旋转的第二器械驱动器610B。因此,两个器械驱动器610都将与它们对应的ISA耦接器绝对接合。
因此,通过保持第一ISA耦接器330A或第二ISA耦接器330B静止,同时使另一个旋转,确保了旋转耦接的器械驱动器610与对应的ISA耦接器330成功地接合,尽管不存在用于器械驱动器的硬停止。应当理解,器械驱动器和ISA耦接器之间的摩擦接合可以使得在器械驱动器中的一个与其对应的ISA耦接器的绝对接合发生之前,第一种情况和第二种情况交替地发生。
第二实施例
在第二实施例中,为了确保由ISA接合特征部500与外科器械120的器械驱动器盘610接触引起的摩擦不阻止ISA接合特征部500和器械接合特征部630之间的适当接合,第一ISA耦接器330A和第二ISA耦接器330B同时在相反方向上被旋转。这样一来,产生的摩擦将导致两个器械驱动器610旋转或保持静止,从而允许ISA耦接器330与器械驱动器610对准并适当地接合。
例如,仍然参考图8,通过借助先前已经与ISA耦接器接合的对应的滑架驱动器320使第一ISA耦接器330A顺时针旋转并且使第二ISA耦接器330B逆时针旋转,接合特征部和圆盘表面之间的摩擦将导致旋转耦接的器械驱动器610在与ISA耦接器中的一个相同的方向和与另一个ISA耦接器相反的方向旋转。在与其对应的器械驱动器相反的方向旋转的ISA耦接器最终将接合对应的器械驱动器。应当认识到,器械驱动器610中的一个将偶尔在不需要使ISA耦接器330旋转的情况下接合对应的ISA耦接器330。
在相反旋转的器械驱动器610B与对应的ISA耦接器330绝对接合时,两个器械驱动器610现在都将逆着未接合的旋转ISA耦接器和其对应的器械驱动器之间的摩擦力在相反的方向上旋转。现在在与器械驱动器610相反的方向上旋转的未接合的ISA耦接器330最终将接合未接合的器械驱动器。因此,两个器械驱动器610都将与它们对应的ISA耦接器绝对接合。在相反方向上旋转ISA耦接器330确保器械驱动器610将与对应的ISA耦接器330成功地接合。
在一些实施例中,两个器械驱动器610与它们对应的ISA耦接器330的绝对接合被检测。两个器械驱动器的绝对接合的检测可以导致滑架驱动器借助用于接合器械驱动器的旋转停止驱动ISA耦接器。可以通过检测弹簧加载部件随着接合特征部移动到其接合位置的轴向移动来检测器械驱动器的绝对接合。也可以通过驱动滑架驱动器的马达的电特性的变化(诸如由于马达上增加的负载而导致的增加的电流需求)来检测器械驱动器的绝对接合。
在上面讨论的实施例和附图中,只有两个器械驱动器610已经被示出通过一个或多个齿轮耦接到器械轴620。这不应理解为是限制性的,相反,根据外科器械120的配置,通过一个或多个齿轮耦接到器械轴620的器械驱动器610的数量是可变的。此外,其它实施例可以包括通过一个或多个齿轮直接耦接到彼此的两个或更多器械驱动器610。器械驱动器610的该耦接也可以通过一个或多个齿轮耦接到器械轴620。
此外,如提供的附图中所示,内凹部不是必须位于器械驱动器610上,并且凸出部不是必须位于ISA耦接器330上。相反,一个实施例可以包含包括凸出部的器械驱动器610和包括内凹部的ISA耦接器330。
也应当认识到,ISA耦接器330用以延伸对应的滑架驱动器320并且提供用于滑架和滑架驱动器的一次性无菌覆盖物。如果不需要ISA 300的一次性无菌覆盖物,则可以应用将ISA耦接器330与器械驱动器610接合的方法以将滑架驱动器320与器械驱动器直接接合。
虽然已经在附图中描述和示出某些示例性实施例,但是应当理解,这些实施例仅仅是对宽泛的发明的例示,而不是限制,并且本发明并不局限于所示出和所描述的具体的构造和布置,因为本领域技术人员可想出各种其它的修改。因此,本说明书被认为是例示性的,而不是限制性的。
Claims (23)
1.一种远程操作外科系统,其包括:
器械操纵器,其包括第一滑架驱动器和第二滑架驱动器,每个滑架驱动器被配置为提供独立的旋转运动,每个滑架驱动器包括第一接合特征部,其中所述器械操纵器被配置为支撑外科器械,所述外科器械包括分别被配置为接收所述第一滑架驱动器和所述第二滑架驱动器的旋转运动的第一器械驱动器和第二器械驱动器,每个器械驱动器包括第二接合特征部,所述第一器械驱动器和所述第二器械驱动器被旋转地耦接;以及
操纵器控制器,其控制所述第一滑架驱动器和所述第二滑架驱动器的旋转,并且控制与所述第一滑架驱动器的旋转相反的所述第二滑架驱动器的运动,直到所述第一滑架驱动器和所述第二滑架驱动器的所述第一接合特征部绝对接合所述第一器械驱动器和所述第二器械驱动器的所述第二接合特征部。
2.根据权利要求1所述的远程操作外科系统,其中所述操纵器控制器通过以下操作控制与所述第一滑架驱动器的旋转相反的所述第二滑架驱动器的运动:
使所述第一滑架驱动器旋转并且保持所述第二滑架驱动器静止,直到所述第一滑架驱动器和所述第二滑架驱动器的所述第一接合特征部与所述第一器械驱动器和所述第二器械驱动器的所述第二接合特征部绝对接合。
3.根据权利要求1所述的远程操作外科系统,其中所述操纵器控制器通过以下操作控制与所述第一滑架驱动器的旋转相反的所述第二滑架驱动器的运动:
使所述第一滑架驱动器和所述第二滑架驱动器旋转,使得所述第一器械驱动器和所述第二器械驱动器之一在与对应的第一滑架驱动器或第二滑架驱动器的旋转相反的方向上旋转,直到所述第一滑架驱动器和所述第二滑架驱动器的所述第一接合特征部绝对接合所述第一器械驱动器和所述第二器械驱动器的所述第二接合特征部。
4.根据权利要求1、2或3所述的远程操作外科系统,其中所述第一滑架驱动器和所述第二滑架驱动器逆着弹簧力轴向地移动,从而将所述第一滑架驱动器和所述第二滑架驱动器中的每一个的旋转运动摩擦地耦接到对应的所述第一器械驱动器和所述第二器械驱动器。
5.根据权利要求4所述的远程操作外科系统,其中所述操纵器控制器通过检测所述第一滑架驱动器和所述第二滑架驱动器的轴向移动进一步检测所述第一滑架驱动器和所述第二滑架驱动器的所述第一接合特征部与所述第一器械驱动器和所述第二器械驱动器的所述第二接合特征部的绝对接合。
6.根据权利要求1、2或3所述的远程操作外科系统,其还包括耦接到所述第一滑架驱动器的第一电动马达和耦接到所述第二滑架驱动器的第二电动马达。
7.根据权利要求1、2或3所述的远程操作外科系统,其中所述第一滑架驱动器和所述第二滑架驱动器的所述第一接合特征部包括内凹部,而所述第一器械驱动器和所述第二器械驱动器的所述第二接合特征部包括凸出部。
8.根据权利要求1、2或3所述的远程操作外科系统,其中所述第一滑架驱动器和所述第二滑架驱动器的所述第一接合特征部包括凸出部,而所述第一器械驱动器和所述第二器械驱动器的所述第二接合特征部包括内凹部。
9.根据权利要求1、2或3所述的远程操作外科系统,其中所述外科器械的所述第一器械驱动器和所述第二器械驱动器通过齿轮旋转地耦接。
10.根据权利要求1、2或3所述的远程操作外科系统,其中所述外科器械还包括能够被无限旋转的器械轴,所述外科器械的所述第一器械驱动器和所述第二器械驱动器通过旋转地耦接到所述器械轴而旋转地耦接到彼此。
11.根据权利要求10所述的远程操作外科系统,其中所述第一器械驱动器和所述第二器械驱动器直接通过齿轮旋转地耦接到所述器械轴。
12.一种将外科器械与器械操纵器耦接的方法,其包括:
将至少两个滑架驱动器中的每一个的旋转运动摩擦地耦接到所述外科器械的对应的器械驱动器,所述至少两个滑架驱动器中的每一个耦接到第一接合特征部,并且所述对应的器械驱动器中的每一个包括第二接合特征部;以及
当耦接到所述至少两个滑架驱动器的所述第一接合特征部还没有绝对接合所述对应的器械驱动器的所述第二接合特征部时:
使所述至少两个滑架驱动器的第一滑架驱动器旋转;以及
控制所述至少两个滑架驱动器的第二滑架驱动器的运动,所述运动与所述第一滑架驱动器的旋转相反,直到耦接到所述至少两个滑架驱动器的所述第一接合特征部绝对接合所述对应的器械驱动器的所述第二接合特征部。
13.根据权利要求12所述的方法,其中所述第二滑架驱动器的运动引起所述对应的器械驱动器之一在与所述第一滑架驱动器的旋转相反的方向上旋转,直到耦接到所述至少两个滑架驱动器的所述第一接合特征部绝对接合所述对应的器械驱动器的所述第二接合特征部。
14.根据权利要求12所述的方法,其中所述第二滑架驱动器的运动保持所述第二滑架驱动器静止,直到耦接到所述至少两个滑架驱动器的所述第一接合特征部绝对接合所述对应的器械驱动器的所述第二接合特征部。
15.根据权利要求12、13或14所述的方法,其还包括:
将所述至少两个滑架驱动器中的每一个绝对耦接到对应的器械无菌适配器耦接器,所述对应的器械无菌适配器耦接器包括至少一个所述第二接合特征部;以及
通过所述对应的器械无菌适配器耦接器和所述对应的器械驱动器之间的摩擦力,将所述至少两个滑架驱动器中每一个的旋转运动摩擦地耦接到所述对应的器械驱动器。
16.根据权利要求12、13或14所述的方法,其还包括通过检测所述至少两个滑架驱动器的轴向移动来检测耦接到所述至少两个滑架驱动器的所述第一接合特征部与所述对应的器械驱动器的所述第二接合特征部的绝对接合。
17.根据权利要求12、13或14所述的方法:
其中控制所述第二滑架驱动器的运动包括:使所述第一滑架驱动器旋转,并且借助电动马达控制所述第二滑架驱动器的运动为静止,所述方法还包括:
通过检测所述电动马达的电特性的变化,检测耦接到所述至少两个滑架驱动器的所述第一接合特征部与所述对应的器械驱动器的所述第二接合特征部的绝对接合。
18.根据权利要求12、13或14所述的方法,其中耦接到所述至少两个滑架驱动器的所述第一接合特征部是内凹部,而所述对应的器械驱动器的所述第二接合特征部是凸出部。
19.根据权利要求12、13或14所述的方法,其中耦接到所述至少两个滑架驱动器的所述第一接合特征部是凸出部,而所述对应的器械驱动器的所述第二接合特征部是内凹部。
20.根据权利要求12、13或14所述的方法,其中所述外科器械的所述对应的器械驱动器通过齿轮旋转地耦接。
21.根据权利要求12、13或14所述的方法,其中:
所述外科器械包括能够被无限地旋转的器械轴;
所述外科器械的所述对应的器械驱动器通过旋转地耦接到所述器械轴而旋转地耦接到彼此。
22.根据权利要求21所述的方法,其中所述外科器械的所述对应的器械驱动器直接通过齿轮旋转地耦接到所述器械轴。
23.根据权利要求12、13或14所述的方法,其中每个器械驱动器能够被无限地旋转。
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