CN106102646B - 遥控式致动的手术器械的调准和接合 - Google Patents
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Abstract
一种用于联接手术器械与器械滑架的器械无菌适配器包括适配器控制表面,该适配器控制表面延伸器械滑架的控制表面的控制特征件,并接收该手术器械的器械控制表面。从该适配器控制表面延伸的曲面。该曲面接收该器械控制表面上的相应曲面。该曲面上的子弹部分可与器械控制表面上的相应曲面中的子弹接收特征件接合。该适配器控制表面上的定位销或定位槽可与该器械控制表面上的定位槽或定位销接合。该器械控制表面可被该适配器控制表面上的停放垫所支撑。该适配器控制表面上的闩臂可与该器械控制表面上的闩座接合。
Description
相关申请的交叉引用
本申请要求以下在先提交的申请的优先权:
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)
这些申请中的每一项都在允许的最大程度上通过引用被具体地结合在此。
技术领域
本发明的实施例涉及调准引导件的领域;并且更具体地,涉及用于将手术器械附接至遥控式致动器的调准引导件。
背景技术
微创医疗技术已被用于减少其在诊断或外科手术过程中可能损伤的外部组织的量,从而减少患者的恢复时间、不适以及有害的副作用。微创手术的传统形式包括内窥镜检查。内窥镜检查的更常见的形式之一是腹腔镜检查,所述腹腔镜检查是腹腔内的微创检查或手术。在传统的腹腔镜手术中,向患者的腹腔吹入气体,并且插管套管穿过患者腹部的肌肉组织中的小(约12mm)切口以提供腹腔镜手术器械能够以密封的方式穿过的进入端口。
腹腔镜手术器械一般包括用于观察手术野的腹腔镜以及具有末端执行器的手术器械。典型的手术末端执行器例如包括夹钳、抓钳、剪刀、吻合器和持针器。这些手术器械与在传统的(开放式)手术中使用的那些手术器械类似,除了每个手术器械的工作端或末端执行器与其手柄分离约30cm,例如长延伸管,以便允许操作者将末端执行器引入到手术部位并从患者的身体外部控制该末端执行器相对于手术部位的移动。
为了提供对工作工具的改进的控制,可能希望用遥控式致动器来控制手术器械。外科医生可以在控制台上进行控制,以间接地操纵连接到该遥控式致动器的器械。该手术器械可拆卸地联接到该遥控式致动器,使得该手术器械能够被分开地灭菌,并且被选择用作将要执行的手术治疗所需的器械。可以在手术过程中更换手术器械。
用遥控式手术器械进行手术创造了新的挑战。一个挑战是需要使患者附近的区域保持在无菌条件下。然而,控制手术器械所必需的电机、传感器、编码器和电气连接件通常不能使用常规的方法(例如蒸汽、热和压力或化学物质)进行灭菌,因为它们会在灭菌过程中损伤或损坏。
用遥控式手术系统的另一个挑战是,在手术器械与遥控式致动器及其控制器之间需要多个连接件。需要连接件来传递致动力、电信号和数据。这使得手术器械与遥控式致动器及其控制器的附接复杂化。
期望提供一种更容易、更有效的方式来使手术器械和遥控式致动驱动件接合和脱离接合,同时防止污染遥控式致动器,并且允许一系列手术器械的迅速可靠的附接,该附接维持该手术器械周围的无菌区。
发明内容
一种用于联接手术器械与器械滑架(carriage)的器械无菌适配器包括一个适配器控制表面,该适配器控制表面延伸器械滑架的控制表面的控制特征件,并接收该手术器械的器械控制表面。从该适配器控制表面延伸曲面。该曲面接收该器械控制表面上的相应曲面。该曲面上的子弹部分可与器械控制表面上的相应曲面中的子弹接收特征件接合。该适配器控制表面上的定位销或定位槽可与该器械控制表面上的定位槽或定位销接合。该器械控制表面可被该适配器控制表面上的停放垫(landing pad)所支撑。该适配器控制表面上的闩臂可与该器械控制表面上的闩座接合。
本发明的其它特征和优点将通过附图和以下详细描述而变得清楚。
附图说明
通过举例而不是限制的方式,参照以下用于说明本发明的实施例的描述和附图,可以对本发明进行最好的理解。在附图中,类似的参考数字表示类似的元件:
图1是遥控式手术系统的说明性的患者侧部分的视图。
图2是与遥控式致动器一起使用的手术器械的侧视图。
图3是器械无菌适配器(ISA)的透视图。
图4是闩板的顶部透视图。
图5是闩板的底部透视图。
图6是闩板的立视图。
图7是器械控制表面的透视图。
图8是器械控制表面的一部分的平面图。
图9是器械控制表面的透视图。
图10是ISA的侧视图。
图11是ISA的俯视图。
图12-15示出了在接合的不同阶段的ISA的控制表面以及器械控制表面的相应的控制表面。
具体实施方式
在以下说明中,阐明了多个具体的细节。然而,应理解的是,可以在没有这些具体细节的情况下实践本发明的实施例。在其他情况下,为了不致于模糊对本说明书的理解,熟知的电路、结构和技术未详细示出。
在以下描述中,参考附图,这些附图展示了本发明的若干实施例。应当理解的是,可以利用其他实施例,并且在不偏离本披露的精神和范围的前提下可以作出机械组成、结构、电气和操作上的改变。以下详细描述不应被视为具有限制意义,并且本发明的实施例的范围仅由授权专利的权利要求书唯一限定。
在此所使用的术语仅用于描述具体实施例的目的并且不旨在限制本发明。为了易于描述可以在此使用空间相对术语,如“下面”、“下方”、“下”、“上方”、“上”等,以描述一个元件或特征件与另外一个(多个)元件或特征件的关系,如在图中所示。将理解的是,这些空间相对术语旨在涵盖除了在附图中描绘的定向以外的该设备在使用或操作中的不同定向。例如,如果在附图中将设备翻转,则被描述为在其他元件或特征件的“下方”或“下面”的元件将被定向在其它元件或特征件的“上方”。因此,示例性术语“下方”可以涵盖上方和下方的定向。该设备可被另外定向(例如旋转90度或在其它定向上),并且对在此使用的空间相对描述符做出相应的解释。
除非上下文另有说明,否则如在此使用的单数形式“一个(a)”、“一个(an)”和“该(the)”旨在同样包括复数形式。应进一步理解,术语“包含(comprises)”和/或“包含(comprising)”指示所陈述的特征、步骤、操作、元件、和/或部件的存在,但并不排除一个或多个其他特征、步骤、操作、元件、部件、和/或它们的群组的存在或添加。
术语“物体”通常指的是一个部件或一组部件。例如,一个物体可以指本说明书或权利要求书内的袋或圆盘的凸台。在整个说明书和权利要求书中,术语“物体”、“部件”、“部分”、“部”和“块”可以互换使用。
在本文中使用术语“器械”和“手术器械”来描述被配置为插入到患者体内并用于进行手术或诊断过程的医疗设备。该器械包括末端执行器。该末端执行器可以是与一种或多种手术任务相关联的手术工具,如镊子、针驱动器、剪刀、双极烙、组织稳定器或牵开器、施夹器、吻合设备、成像设备(例如内窥镜或超声探头)等。与本发明的实施例一起使用的一些器械进一步提供了对手术工具的铰接支撑件(有时被称为“腕”),使得可以以相对于该器械的轴的一个或多个机械自由度来操纵该手术工具的位置和定向。进一步地,许多手术末端执行器包括功能性机械自由度,如打开或关闭的钳口或沿着路径平移的刀。手术器械还可以包含存储(例如存储在该器械内的半导体存储器上)的信息,这些信息可以是永久性的或由手术系统可更新。因此,该系统可以提供该器械与一个或多个系统部件之间的单向或双向信息通信。
在此使用的术语“或”和“和/或”被解释为包含或意指任何一个或任何组合。因此,“A、B或C”或“A、B和/或C”的意思是“以下任何一项:A;B;C;A和B;A和C;B和C;A、B和C”。只有当元件、功能、步骤或动作的组合以某种方式固有地相互排斥时,才会发生该定义的例外。
图1是根据本发明的实施例的遥控式手术系统的说明性的患者侧部分100的视图。患者侧部分100包括支撑组件110、以及位于每个支撑组件的端部的一个或多个手术器械操纵器112。该支撑组件任选地包括一个或多个无动力的、可锁定的设置接头,这些设置接头用于参照进行手术的患者来对这个或这些手术器械操纵器112进行定位。如所描绘的,患者侧部分100搁置在地板上。在其他实施例中,该患者侧部分可以安装在墙上、天花板上、手术台126(其也支撑患者的身体122)上、或其他手术室设施上。进一步地,虽然显示患者侧部分100包括四个操纵器112,还可以使用更多的或更少的操纵器112。还进一步地,患者侧部分100可由如所示的单一组件组成,或其可包括两个或更多个不同的组件,每个单独组件任选地以各种可能的方式来安装。
每个手术器械操纵器112支撑在患者的身体122内的手术部位处操作的一个或多个手术器械120。每个操纵器112可以以允许相关手术器械以一个或多个机械自由度(例如所有六个笛卡儿自由度、五个或更少的笛卡尔自由度等)来移动的各种形式被提供。通常,机械或控制约束限制每个操纵器112在参照患者保持静止的该器械的运动中心周围移动其相关手术器械,并且这个运动中心通常位于该器械进入身体的位置处。
功能性遥控式手术系统将一般包括一个视觉系统部分(未示出),该视觉系统部分使得操作员能够从患者的身体122外部查看手术部位。该视觉系统通常包括具有视频图像捕捉功能件128(“摄像器械”)的手术器械和用于显示所捕捉的图像的一个或多个视频显示器。在一些手术系统配置中,摄像器械128包括从摄像器械128的远端向患者的身体122外部的一个或多个成像传感器(例如CCD或CMOS传感器)传递图像的光学件。可替代地,这个或这些成像传感器可被定位在摄像器械128的远端处,并且由这个或这些传感器产生的信号可以沿着导线传递或无线传递而用于在该视频显示器上处理和显示。一种说明性的视频显示器是由加利福尼亚州的森尼韦尔市的Intuitive SurgicalInc.(直观外科手术公司)出售的手术系统中的外科医生控制台上的立体显示器。
功能性遥控式手术系统将进一步地包括一个控制系统部分(未示出),用于在器械位于患者体内时控制手术器械120的移动。该控制系统部分可位于该手术系统中的一个单一位置处,或其可分布在该系统中的两个或更多位置处(例如,在专用系统控制台中,或者在单独的设施机架中,控制系统部分的部件可位于该系统的患者侧部分100中)。根据所需的控制程度、被控制的手术组件的大小以及其他因素,可以按多种方式来完成遥控式主/从控制。在一些实施例中,该控制系统部分包括一个或多个手动操作的输入设备,如控制杆、外骨架手套(exoskeletal glove)、动力和重力补偿操纵器等。这些输入设备控制遥控式电机,遥控式电机转而控制该手术器械的移动。
这些遥控式电机产生的力经由动力传动系机构进行传递,这些动力传动系机构将这些力从遥控式电机向手术器械120传递。在一些远程手术实施例中,可以在患者所在的房间之内或之外的远离患者的位置处设有控制这个或这些操纵器的输入设备。来自输入设备的输入信号然后被传递至该控制系统部分。熟悉远程操控、远程手术和网真手术(telepresence surgery)的人会知道这类系统及其部件,如Intuitive Surgical公司出售的da 手术系统和最初由Computer Motion制造的手术系统等系统及其部件以及这类系统的各种说明性部件。
如所示的,手术器械120和可选的进入引导件124(例如患者腹部中的插管)都是可拆卸地联接至操纵器112的远端,手术器械120插入穿过进入引导件124。操纵器112中的遥控式致动器使手术器械120作为整体移动。操纵器112进一步包括器械滑架130。手术器械120可拆卸地连接至滑架130。容纳在滑架130中的这些遥控式致动器提供多个控制运动,使手术器械120转化成该手术器械上的末端执行器的多种移动。因此,滑架130中的这些遥控式致动器只移动手术器械120的一个或多个部件,而不是使该器械作为整体移动。用来控制整个器械或该器械的部件的输入是这样的:使得外科医生向该控制系统部分提供的输入(“主”命令)转化成该手术器械的相应动作(“从”反应)。
图2是手术器械120的说明性实施例的侧视图,包括通过细长管210联接的远端部分250和近端控制机构240。手术器械120的远端部分250可以提供多种末端执行器中的任何一种,如所示的镊子254、针驱动器、烧灼设备、切割工具、成像设备(例如内窥镜或超声探头)、或包括两种或更多种的不同工具和成像设备的组合的组合设备。在所示的实施例中,末端执行器254通过“腕”252联接至细长管210,该“腕”允许参照器械管210来操纵该末端执行器的定向。
与本发明一起使用的手术器械可以用多个杆和/或柔性线缆来控制其末端执行器(手术工具)。可以是管的形式的杆可与线缆结合以为该末端执行器提供“推/拉”控制,其中线缆根据需要提供柔性段。用于手术器械120的典型的细长管210是小的,直径可能是五到八毫米,大致是大号苏打吸管的直径。手术器械120中的这些机构的小尺寸创造了独特的机械条件,并且配有这些机构的构造,这些机构的构造不像在以更大尺寸构造的类似机构中发现的那些,因为材料的力和强度与这些机构大小不是以相同比率成比例的。这些线缆必须装配在细长管210内,并且能够在其穿过腕关节252时弯曲。
为了提供无菌操作区域而同时使用功能性遥控式手术系统,优选地在非无菌的系统与无菌的手术野(surgical field)之间放置一个阻挡件。因此,在手术器械120与遥控式手术器械操纵器130之间放置一个无菌部件,如器械无菌适配器(ISA)。在手术器械120与手术器械操纵器130之间放置器械无菌适配器包括确保手术器械120与手术器械操纵器130的无菌联接点的益处。这样允许在手术过程中从手术器械操纵器130中移除手术器械并与其他手术器械互换。
图3是支撑滑架130并转而将手术器械120支撑在支柱310上的设置接头的透视图。在手术准备中,用无菌单(sterile drape)300覆盖该设置接头。该无菌单保护该设置接头不受污染,并且在该设置接头的周围提供无菌表面。大部分无菌单300是可以是管或袋的形式的塑料片材,其覆盖了设置接头的臂部。例如,可以使用单层热塑性聚氨酯(TPU)。可以包含润滑剂以降低塑料的粘着性。该片材可以是约100微米(0.004英寸)厚。其他合适的材料可以用于该片材。
图4是支撑滑架130的设置接头的支柱310的部分透视图。未示出无菌单,以允许更清楚地查看滑架130。该滑架的一个表面400提供了多个机械和电气接口以在控制系统、遥控式致动器和手术器械之间进行机械运动和数据信号的通信。应当认识到,与该手术器械的连接件需要穿过该无菌单。很难提供穿过与滑架130和手术器械之间的连接件相容的塑料片材。进一步地,滑架130被成形,从而允许手术器械120的细长管210(图2)沿着该滑架的一侧穿过压痕410。由于该滑架的形状,很难用塑料片材覆盖该滑架。
图5是该无菌单的被构造成放置在滑架130周围的部分的透视图。该无菌单包括三个部分。第一部分是如上所述的塑料片材300。第二部分是被成形与滑架130的周围相配的小袋500。第三部分是主要为刚性的器械无菌适配器(ISA)510,刚性的器械无菌适配器(ISA)510接合滑架130的控制特征件400并为手术器械的连接提供控制特征件的无菌对应部。该无菌单是一次性组件。
小袋500可以由如模铸氨基甲酸乙酯的材料制成。小袋500可以是柔性的,但是其应该在没有受到应力时返回其原始形状。该小袋提供以松散的形式装配在滑架130的周围的一部分单,以提供遥控式致动器和手术器械的清楚的工作空间。
在塑料片材300中形成孔口520,在此处小袋500与该塑料片材连接。该塑料片材可以通过与该片材和该小袋的材料相容的任何方法(例如通过热焊)连接到该小袋。
图6是该滑架的控制表面400、ISA 510以及旋转以显示器械控制表面242的手术器械的近端控制件240的透视图。ISA 510联接至该滑架的控制表面400,如图建议的。ISA 510提供了适配器控制表面,该适配器控制表面使滑架130的控制表面400的控制特征件延伸而作为无菌的一次表面,该无菌的一次表面能够接收遥控式致动的手术器械120的近端控制件240并与器械控制表面242的控制特征件接合。
ISA 510包括曲面606,在该器械被放置在该ISA上时该曲面接收器械控制表面242上的相应曲面600。该ISA的曲面606的方向基本上垂直于该适配器控制表面。曲面600、606与进入引导件124中的器械轴210的位置和在该ISA中的轴接收槽616一致起作用,以将该器械大致定位在与该ISA的控制表面平行的平面中。进入引导件124约束器械轴210,以围绕该器械轴的圆柱轴线旋转和沿着该器械轴的圆柱轴线进行轴向平移。该ISA的曲面600、606和器械控制表面242趋于约束该器械控制表面,以围绕ISA曲面606的圆柱轴线旋转并沿着该ISA曲面平移。因为该器械轴的圆柱轴线与该ISA曲面的圆柱轴线是分隔开的,它们对该器械控制表面的位置提供了有效约束。
器械轴210进一步地插入进入引导件124,导致该器械的子弹接收特征件604与ISA曲面606的子弹部分608接合。这种组合更紧密地约束了该器械的移动。
当器械控制表面242接近该ISA时,该ISA上的闩臂614进入该手术器械的近端控制件240上的闩座618。闩座618可以提供一个斜面以进一步地有助于对器械控制表面242进行定位。应当认识到,闩臂614是可移动的,并且其定位功能次于其主要的闩锁功能。
当该器械完全安装在该ISA控制表面上时,该ISA上的定位销610进入器械控制表面242上的定位槽612,以紧密约束器械控制表面242的平面中的近端控制件240的移动。该ISA上的支撑该器械的控制表面242的停放垫602进一步约束近端控制件240。当近端控制件240被锁在该ISA上时,该ISA上的停放垫602紧密约束近端控制件240的垂直于器械控制表面242的平面的移动。
图7是在开始安装到ISA 510上时的器械控制表面242的透视图。器械控制表面242上的曲面600被示为其与ISA 510上的相应曲面606接合。该手术器械的近端控制件的其余部分未示出,以允许更清楚地看到器械控制表面242上的曲面600。
图8是一部分器械控制表面242的平面图,其示出接收定位销610的定位槽612。子弹部分608的下端的动作有点像孔中的销,尽管其是半孔中的半销,它不能完全限制器械控制表面242的位置。子弹部分608与定位销610和定位槽612一起工作来控制器械控制表面242的走势,以反作用于所施加的旋转控制扭矩来进行旋转。定位槽612只是少量纵向延伸,以补偿子弹特征件控制的缺乏。在另一个实施例中,未示出,该定位销位于该器械控制表面上,并且该定位槽位于该ISA上。
图9是完全安装在ISA 510上的器械控制表面242的透视图。
图10是ISA 510的侧视图。可见,当该器械控制表面首先接合该ISA时,ISA 510上的曲面606提供了一个定位面。当该器械控制表面移近该ISA时,子弹部分608提供了一个定位面。闩臂614有助于该器械控制表面在其还在移动靠近该ISA时的定位。定位销610与该器械控制表面接合,并且在下表面到达停放垫602时提供对器械控制表面242的最终定位和限制。
图11是ISA510的俯视图。已经用粗线突出了这些控制表面:停放垫602、曲面606、子弹部分608、定位销610、闩臂614和轴接收槽616。
图12-15示出了在接合的不同阶段的ISA 510的控制表面以及器械控制表面242的相应的控制表面。
图12示出了器械控制表面242与ISA 510的初步接合。通过器械控制表面242上的曲面600与ISA 510上的相应曲面606的接合、并通过该器械引导件(未示出)中的器械轴210与轴接收槽616来限制器械控制表面242的位置。如能够看到的,在初步接合过程中只是松散地限制器械控制表面242。这允许该手术器械易于与该ISA接合,以启动使该手术器械与该ISA准确地定位锁闭接合的过程。应当认识到,与该ISA相关的手术铺单以及其他视觉障碍物可能需要将该手术器械附接至该ISA,只能查看很少或不能查看要接合的表面。
图13示出了当器械控制表面242上的子弹接收特征件604与ISA 510上的子弹部分608接合时的器械控制表面242。如能够看到的,接合子弹部分608大大提高了对器械控制表面242的位置的限制。子弹部分608的引导部分是渐缩的,以有助于接合该子弹部分。但是器械控制表面242上的曲面600与ISA 510上的相应曲面606的接合允许该器械控制表面沿着控制路径进行移动,有助于即使在子弹接收特征件604初始没有与该子弹部分的引导部分对齐时也能接合子弹部分608。
图14示出了在ISA 510上的闩臂614进入该器械控制表面上的闩座618时的器械控制表面242。虽然子弹部分608的接合主要是对准器械控制表面242,所以闩臂614能够容易地进入闩座618,但是这些闩座可以被成形使得接合这些闩臂可进一步定位该器械控制表面。
图15示出了当ISA 510上的定位销610已经与该器械控制表面上的定位槽612接合时的器械控制表面242。将ISA 510上的定位销610与器械控制表面242上的定位槽612接合以及将器械控制表面242上的子弹接收特征件604与ISA 510上的子弹部分608接合约束了该器械控制表面和与该器械控制表面的平面(平行于图中的平面)平行的ISA之间的移动。如前面讨论的,定位销610和子弹部分608还提供了扭矩反作用特征件,以防止在传递通过ISA510时由这些遥控式致动器施加到该器械上的扭矩的作用下该手术器械的近端控制件240的扭曲。
虽然已经描述并在附图中示出了某些示例性实施例,但是应理解的是,这些实施例对于广义的创造性来说仅是说明性的而非限制性的,并且本发明并不限于所示的和所描述的特定构造和布置,因为本领域中的普通技术人员可以进行各种其他修改。本说明书因此被视为说明性的而非限制性的。
Claims (24)
1.一种用于联接手术器械和器械滑架的器械无菌适配器,该器械无菌适配器包括:
适配器控制表面,该适配器控制表面延伸所述器械滑架的控制表面的控制特征件并接收所述手术器械的器械控制表面;以及
联接到所述适配器控制表面的外侧边缘的一部分的凸曲面,其中所述凸曲面垂直于所述适配器控制表面并且面向所述适配器控制表面,所述凸曲面经定位以接收所述器械控制表面上的相应凹曲面。
2.如权利要求1所述的器械无菌适配器,还包括在所述凸曲面上的凸子弹部分,该凸子弹部分与所述器械控制表面上的所述相应凹曲面中的凹子弹接收特征件接合。
3.如权利要求2所述的器械无菌适配器,其中,所述凸子弹部分包括一个渐缩的引导部分。
4.如权利要求1所述的器械无菌适配器,还包括在所述适配器控制表面上的定位销,该定位销与所述器械控制表面上的定位槽接合。
5.如权利要求1所述的器械无菌适配器,还包括在所述适配器控制表面上的定位槽,该定位槽与所述器械控制表面上的定位销接合。
6.如权利要求1所述的器械无菌适配器,还包括在适配器控制表面上的支撑所述器械控制表面的多个停放垫。
7.如权利要求1所述的器械无菌适配器,还包括在所述适配器控制表面上的闩臂,所述闩臂与所述器械控制表面上的闩座接合。
8.如权利要求1所述的器械无菌适配器,其中所述凸曲面经定位以在所述手术器械的所述器械控制表面接合所述器械滑架的所述控制表面的经延伸的控制特征件之前接收所述器械控制表面上的所述相应凹曲面。
9.一种用于使手术器械与器械无菌适配器对准的方法,所述器械无菌适配器用于使所述手术器械与器械滑架联接,该方法包括:
将所述手术器械的器械轴插入以关于所述器械滑架和所述器械无菌适配器的固定关系保持的进入引导件中,将所述器械轴插入所述进入引导件约束了所述手术器械围绕所述器械轴的第一圆柱轴线的旋转以及沿着所述器械轴的所述第一圆柱轴线的轴向平移;以及
将所述器械无菌适配器的凸曲面与所述手术器械的器械控制表面上的相应凹曲面接合,以约束围绕所述器械轴的所述第一圆柱轴线的旋转,所述凸曲面具有与所述器械轴的所述第一圆柱轴线分隔开的第二圆柱轴线。
10.如权利要求9所述的方法,还包括将所述器械无菌适配器的所述凸曲面上的凸子弹部分与所述器械控制表面上的所述相应凹曲面中的凹子弹接收特征件接合,以进一步地约束所述手术器械。
11.如权利要求10所述的方法,还包括接合所述凸子弹部分的渐缩的引导部分,以引导所述凹子弹接收特征件到所述凸子弹部分上。
12.如权利要求9所述的方法,还包括将所述器械无菌适配器的适配器控制表面上的定位销与所述器械控制表面上的定位槽接合,以进一步地约束所述手术器械。
13.如权利要求9所述的方法,还包括将所述器械无菌适配器的适配器控制表面上的定位槽与所述器械控制表面上的定位销接合,以进一步地约束所述手术器械。
14.如权利要求9所述的方法,还包括将所述器械控制表面支撑在所述器械无菌适配器的适配器控制表面上的多个停放垫上。
15.如权利要求9所述的方法,还包括将所述器械无菌适配器的适配器控制表面上的闩臂与所述器械控制表面上的闩座接合。
16.如权利要求10所述的方法,其中在所述器械无菌适配器的所述凸曲面上的所述凸子弹部分与所述器械控制表面上的所述相应凹曲面中的所述凹子弹接收特征件接合之前,所述器械无菌适配器的所述凸曲面接合所述手术器械的器械控制表面上的所述相应凹曲面。
17.一种用于联接手术器械和器械滑架的器械无菌适配器,所述器械无菌适配器包括:
用于约束所述手术器械围绕器械轴的第一圆柱轴线旋转并沿着所述器械轴的所述第一圆柱轴线轴向平移的装置;以及
用于进一步约束所述手术器械围绕所述器械无菌适配器的凸曲面的第二圆柱轴线旋转的装置,其中所述凸曲面垂直于所述器械无菌适配器的适配器控制表面并且面向该适配器控制表面。
18.如权利要求17所述的器械无菌适配器,还包括用于限制围绕所述器械无菌适配器的所述凸曲面的所述第二圆柱轴线旋转的装置。
19.如权利要求18所述的器械无菌适配器,还包括用于将所述手术器械引导到用于限制围绕所述器械无菌适配器的所述凸曲面的所述第二圆柱轴线旋转的所述装置上的装置。
20.如权利要求17所述的器械无菌适配器,还包括用于对施加到所述手术器械的扭矩进行反作用的装置。
21.如权利要求17所述的器械无菌适配器,还包括用于将所述手术器械的器械控制表面支撑在所述器械无菌适配器的适配器控制表面上的装置。
22.如权利要求17所述的器械无菌适配器,还包括用于将所述手术器械锁定到所述器械无菌适配器的装置。
23.如权利要求18所述的器械无菌适配器,其中用于进一步约束所述手术器械围绕所述器械无菌适配器的所述凸曲面的所述第二圆柱轴线旋转的所述装置在与用于限制围绕所述器械无菌适配器的所述凸曲面的所述第二圆柱轴线旋转的所述装置接合之前约束所述手术器械围绕所述器械无菌适配器的所述凸曲面的所述第二圆柱轴线旋转。
24.一种用于联接手术器械和器械滑架的器械无菌适配器,该器械无菌适配器包括:
适配器控制表面,该适配器控制表面延伸所述器械滑架的控制表面的控制特征件并经配置接收所述手术器械的器械控制表面;
联接到所述适配器控制表面并基本垂直于所述适配器控制表面的第一曲面,所述第一曲面经配置接收所述器械控制表面上的相应第二曲面;以及
从所述第一曲面延伸的子弹部分,所述子弹部分经配置接合所述器械控制表面上的相应曲面中的子弹接收特征件。
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