CN106913363B - 将机电手术装置和手术装载单元互连的接合器组件及其手术系统 - Google Patents

将机电手术装置和手术装载单元互连的接合器组件及其手术系统 Download PDF

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CN106913363B
CN106913363B CN201611037608.7A CN201611037608A CN106913363B CN 106913363 B CN106913363 B CN 106913363B CN 201611037608 A CN201611037608 A CN 201611037608A CN 106913363 B CN106913363 B CN 106913363B
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戴维·尼古拉斯
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    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
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Abstract

本发明公开了将机电手术装置和手术装载单元互连的接合器组件及其手术系统。本公开涉及一种用于将机电手术装置和手术装载单元电气地且机械地互连的接合器组件。该接合器组件包括具有可旋转驱动轴的关节式运动组件，该可旋转驱动轴具有近侧端和远侧端，近侧端是可由手术装置旋转的，远侧端具有带外齿的齿轮、包括与齿轮的外齿啮合地接合的外轮齿的齿轮螺母、布置在齿轮螺母内并且包括与齿轮螺母的内螺纹接合而使得螺杆相对于齿轮螺母轴向地能移动的外螺纹的螺杆，以及可操作地联接至螺杆使得螺杆的轴向移动引起关节式运动杆的对应的轴向移动的关节式运动杆。

Description

将机电手术装置和手术装载单元互连的接合器组件及其手术 系统
相关申请的交叉引用
本申请要求于2015年11月24日提交的美国临时专利申请序号62/259,351的权益和优先权，其全部公开通过引用合并于此。
技术领域
本公开涉及用于在手术系统中使用的接合器组件。更具体地，本公开涉及用于与机电手术装置和手术装载单元一起使用并且将机电手术装置和手术装载单元电气地且机械地互连的接合器组件。
背景技术
许多手术装置制造商已经开发了具有用于操作和/或操纵手术装置的专用动力驱动系统的生产线。在许多情况下，手术装置包括可再使用的动力手柄组件和一次性末端执行器等，该一次性末端执行器等在使用之前选择性地连接至动力手柄组件，然后在使用之后与末端执行器断开以便处置或在一些情况下消毒用于再次使用。
用于与许多现有的动力手术装置和/或手柄组件一起使用的许多现有的末端执行器由线性力驱动。例如，用于执行胃肠内吻合术操作、端对端吻合术操作和横向吻合术操作的末端执行器均通常需要线性驱动力以便操作。因此，这些末端执行器不与使用旋转运动来输送动力等的手术装置和/或手柄组件兼容。
为了使线性驱动的末端执行器与使用旋转运动来输送动力的动力手术装置和/或手柄组件兼容，接合器和/或接合器组件被用以在线性驱动的末端执行器与动力旋转驱动的手术装置和/或手柄组件之间交接并且将线性驱动的末端执行器与动力旋转驱动的手术装置和/或手柄组件互连。例如，多个旋转运动至线性运动转换组件可以延伸穿过接合器以实现末端执行器的不同功能。然而，如果例如这些组件包括具有低传动比的齿轮组件和/或输出力对于负载不是轴向的，则这些组件的部件可能需要更多的输入扭矩以产生线性力。
因此，对一种用于需要较少的旋转电动机扭矩以产生线性力的动力旋转驱动的手术装置的接合器存在需求。
发明内容
根据本公开的一个实施例，提供了一种用于将手术装载单元和手术装置选择性地互连的接合器组件。该接合器组件包括：接合器壳体，其构造成连接至手术装置；外管，其具有由所述接合器壳体支撑的近侧端和构造成连接至手术装载单元的远侧端；以及传动装置组件，其至少部分地布置在所述接合器壳体内。所述传动装置组件包括：近侧旋转接收构件，其能连接至手术装置的驱动轴；远侧力传递构件，其能连接至手术装载单元的轴向可平移驱动构件；至少一个销，其稳固地布置在所述接合器壳体内；以及轴承组件，其联接至所述近侧旋转接收构件和所述远侧力传递构件。所述轴承组件响应于所述近侧旋转接收构件的旋转运动而沿着所述至少一个销轴向地能移动，由此轴向地移动所述远侧力传递构件。
根据本公开的另外的实施例，提供了一种机电手术系统。所述机电手术系统包括：手术装载单元，其包括近侧主体部和工具部，以及轴向可平移驱动构件；手术装置，其包括装置壳体和支撑在所述装置壳体中的至少一个可旋转驱动轴；以及接合器组件，其构造成将所述手术装载单元和所述手术装置选择性地互连。所述接合器组件包括：接合器壳体，其构造成连接至所述手术装置；外管，其具有由所述接合器壳体支撑的近侧端和构造成连接至所述手术装载单元的远侧端；以及传动装置组件，其至少部分地布置在所述接合器壳体内。所述传动装置组件包括：近侧旋转接收构件，其能连接至所述手术装置的可旋转驱动轴；远侧力传递构件，其能连接至所述装载单元的轴向可平移驱动构件；至少一个销，其稳固地布置在所述接合器壳体内；以及轴承组件，其联接至所述近侧旋转接收构件和所述远侧力传递构件。所述轴承组件响应于所述近侧旋转接收构件的旋转运动而沿着所述至少一个销轴向地能移动，由此轴向地移动所述远侧力传递构件。
根据上面的实施例中的任意实施例的方案，所述轴承组件不可旋转地布置在所述接合器壳体内。所述轴承组件还包括轴承壳体和可旋转地布置在所述轴承壳体内的轴承。
根据上面的实施例中的任意实施例的另一方案，所述远侧力传递构件联接至所述轴承的内圈。
根据上面的实施例中的任意实施例的再一方案，所述轴承壳体进一步包括螺纹孔，所述螺纹孔被螺纹联接至所述近侧旋转接收构件的螺纹远侧端。所述螺纹孔包括嵌入成型的螺纹构件，该嵌入成型的螺纹构件由从包含含氟聚合物、聚苯乙烯和聚芳醚酮的组中选择的聚合物形成。
根据上面的实施例中的任意实施例的又一方案，所述至少一个销联接至布置在所述接合器壳体内的支撑环构件。
根据上面的实施例中的任意实施例的再一方案，所述轴向可平移驱动构件构造成使所述手术装载单元的所述工具部关节式运动。
下面参照附图更为详细地描述本公开的示例性实施例的更多的细节和方案。
附图说明
并入和构成了本说明书的一部分的附图图示说明了本公开的实施例，并且连同上文给出的本公开的一般性描述和下面给出的实施例的详细说明一起用于解释本公开的原理，其中：
图1是根据本公开的原理的包括手持式手术装置、接合器组件和手术装载单元的机电手术系统的立体图；
图2是图示出图1的机电手术系统的接合器组件和手持式手术装置的连接的立体图；
图3是图1和图2的接合器组件在大部分零件分离的状态下的立体图；
图4是沿着图1的剖面线“4-4”截取的图1-3的接合器组件的剖视图；
图5是沿着图1的剖面线“5-5”截取的图1-4的接合器组件的剖视图；
图6是图1至图5的接合器组件的外壳在零件移除状态下的立体图；以及
图7是图1的手术装载单元在零件分离状态下的立体图。
具体实施方式
本公开的机电手术系统包括呈动力手持式机电器械的形式的手术装置，其构造用于选择性地附接至多个不同的末端执行器，所述多个不同的末端执行器均构造用于由动力手持式机电手术器械致动和操纵。具体地，当前描述的机电手术系统包括将动力手持式机电手术器械互连至多个不同的末端执行器的接合器组件。每个接合器组件包括发射组件、关节式运动组件以及旋转组件，所述旋转组件被可操作地联接至动力手持式机电手术器械，用于实现多个不同的末端执行器的致动和/或操纵。
当前公开的机电手术系统、手术装置/手柄组件、接合器组件和/或装载单元的实施例参照附图进行详细描述，其中相同的参考标号在若干附图的每幅图中表示相同或对应的元件。正如在此使用的，术语“远侧”指系统、组件、装置和/或其部件的较远离用户的部分，而术语“近侧”指系统、组件、装置和/或其部件的较靠近用户的部分。
现在转到图1，根据本公开的、通常称为10的机电手术系统包括呈动力手持式机电器械的形式的手术装置100、接合器组件200和手术装载单元300(例如，末端执行器、多次或单次使用装载单元)。手术装置100构造成用于与接合器组件200选择性连接，并且接合器组件200进而构造成用于与手术装载单元300选择性地连接。同时，手术装置100和接合器组件200可一起协作以致动手术装载单元300。
手术装置100包括手柄壳体102，所述手柄壳体102包括电路板(未示出)和位于其中的驱动机构(未示出)。电路板被配置为控制手术装置100的各种操作。手柄壳体102在其中限定了空腔(未示出)，所述空腔用于在其中选择性地可移除地接收可再充电电池(未示出)。电池配置成向手术装置100的任何电气部件供电。手柄壳体102支撑多个电动机(未示出)，每个电动机与电路板电连通并且每个电动机包括从其延伸的可旋转驱动轴。
手柄壳体102包括容纳手术装置100的各种部件的上壳体部分102a和从上壳体部分102a延伸的下把手部分102b。下把手部分102b可以布置在上壳体部分102a的最近侧端的远侧。下壳体部分102b相对于上壳体部分102a的位置被选择成平衡连接到或支撑接合器组件200和/或手术装载单元300的手术装置100的重量。
手柄壳体102提供了使得驱动机构(未示出)安置于其中的壳体。驱动机构构造成驱动轴和/或齿轮部件，以便执行手术装置100的各种操作。具体地，驱动机构构造成驱动轴和/或齿轮部件，以便选择性地使手术装载单元300绕中心纵向轴线“X”并且相对于接合器组件200的远侧端关节式运动、选择性地使得手术装载单元300绕纵向轴线“X”并且相对于手柄壳体102旋转、选择性地使手术装载单元300的砧座组件306和钉仓组件308相对于彼此移动/接近/分离，和/或发射手术装载单元300的钉仓组件308内的吻合和切割钉仓。
如图2中所示，结合图1，手术装置100的手柄壳体102限定了构造成接受接合器组件200的近侧端的连接部104。连接部104容纳与电路板(未示出)电连通的电气直通连接器105以及多个可旋转驱动轴或连接器106。多个可旋转驱动连接器106的每个可旋转驱动连接器能够由容纳在手柄壳体102内的驱动机构或电动机(未示出)独立地致动和旋转和/或非独立地地致动和旋转。在实施例中，多个可旋转驱动连接器106包括彼此共面或共线布置的第一可旋转驱动连接器106a、第二可旋转驱动连接器106b和第三可旋转驱动连接器106c。正如所能想到的，多个可旋转驱动连接器106能够以任意合适的构造来布置。驱动机构(未示出)可以构造成在给定时间选择性地驱动手术器械100的可旋转驱动连接器106中的一个。
手柄壳体102支撑多个手指致动的控制按钮、摇杆装置等，用于激活手术装置100的各种功能。例如，手柄壳体102支撑包括例如致动垫(actuationpad)108的多个致动器以实现例如手术装载单元300的打开、闭合和/或发射。手柄壳体102能够支撑致动器109a、109b，所述致动器109a、109b能够布置成与手柄壳体102的电动机电连通以实现例如第一可旋转驱动连接器106a、第二可旋转驱动连接器106b和/或第三可旋转驱动连接器106c的旋转以用于致动器的致动，以使得能够调整接合器组件200的部件中的一个或多个的调整。任意当前描述的致动器能够具有任意合适的构造(例如，按钮、旋钮、扳钮开关、滑块等)。
对于示例性的机电手术系统的多种内部部件和操作的详细描述，可参考于2008年9月22日提交的申请号为PCT/US2008/077249的国际申请(国际公开号WO2009/039506)和于2009年11月20日提交的公开号为2011/0121049的美国专利申请，每个专利的全部内容通过引用合并于此，该示例性的机电手术系统的部件能与在此描述的机电手术系统10的一个或多个部件结合和/或互换。
参照图1至图3，接合器组件200包括外壳202和外管204，该外管204从外壳202沿着中心纵向轴线“X”远侧地延伸至接合器组件200的远侧罩206。外壳202和外管204构造成并且定尺寸成容纳接合器组件200的部件。接合器组件200的外壳202包括近侧壳体202a和远侧壳体202b。近侧壳体202a限定位于其中的空腔203a并且具有从其径向向外延伸的远侧唇缘203b。远侧壳体202b包括第一半部208a和第二半部208b，所述第一半部208a和第二半部208b构造成并且适应于紧密配合在一起。第一半部208a和第二半部208b中的每个限定了内部唇缘接收环形凹槽209a，所述内部唇缘接收环形凹槽209a适于接收近侧壳体202a的远侧唇缘203b的一部分以利于近侧壳体202a和远侧壳体202b的稳固。第一半部208a和第二半部208b中的每个限定了与外管接收沟道209c连通的关节式运动组件接收凹槽209b。每个外管接收沟道209c通过第一半部208a和第二半部208b中的一个的远侧端来限定。
安装组件210支撑在外壳202的近侧壳体202a上，用于将接合器组件200附接至手术装置100/用于将接合器组件200从手术装置100拆除。安装组件210包括从近侧壳体202a向外延伸的轴212、绕着轴212的外表面支撑的弹簧214，以及接合弹簧214和轴212的安装按钮216。弹簧214接触安装按钮216的底表面以将安装按钮216向上偏置到与近侧壳体202a间隔开的延伸位置。弹簧214是足够可压缩的以使得安装按钮216能够被从延伸位置下压到压缩位置。在压缩位置，安装按钮216布置成紧密地靠近近侧壳体202a并且偏离延伸位置。安装按钮216包括倾斜接合结构件216a，所述倾斜接合结构件216a构造成接触手柄壳体102的连接部104(图1)而同时安装按钮216处于延伸位置以利于近侧壳体202a稳固至手柄壳体102的连接部104。
外壳202的近侧壳体202a分别可旋转地支撑彼此共面或共线布置的第一连接器套管220、第二连接器套管222和第三连接器套管224。所述第一连接器套管220、第二连接器套管222和第三连接器套管224中的每个构造成与手术装置100的相应的第一可旋转驱动连接器106a、第二可旋转驱动连接器106b和第三可旋转驱动连接器106c紧密配合。
接合器组件200还包括布置在相应的第一连接器套管220、第二连接器套管222和第三连接器套管224的远侧的第一偏置构件226、第二偏置构件228和第三偏置构件230。第一偏置构件226、第二偏置构件228和第三偏置构件230作用在相应的第一连接器套管220、第二连接器套管222和第三连接器套管224上以当接合器组件200连接至手术装置100时帮助维持第一连接器套管220、第二连接器套管222和第三连接器套管224与手术装置100的相应的第一可旋转驱动连接器106a、第二可旋转驱动连接器106b和第三可旋转驱动连接器106c的远侧端的接合。第一偏置构件226、第二偏置构件228和第三偏置构件230接触或倚靠着布置在近侧壳体202a内的板衬套232，并且用以将第一连接器套管220、第二连接器套管222和第三连接器套管224沿着近侧方向偏置。
板衬套232被稳固至接合器组件200的内壳234。板衬套232和内壳234均限定了多个孔口(未明确地示出)，所述多个孔口与第一连接器套筒220、第二连接器套筒222和第三连接器套筒224共面或共线布置，用于分别可旋转地支撑布置在接合器组件200的外壳202和外管204内的第一力/旋转传递/转换组件240、第二力/旋转传递/转换组件250和第三力/旋转传递/转换组件270(图4)的相应的第一可旋转驱动轴242、第二可旋转驱动轴252和第三可旋转驱动轴272。第一连接器套管220、第二连接器套管222和第三连接器套管224中的每个均构造成与相应的第一可旋转驱动轴242、第二可旋转驱动轴252和第三可旋转驱动轴272的近侧端紧密配合，并且第一可旋转驱动轴242、第二可旋转驱动轴252和第三可旋转驱动轴272中的每个用作接收来自手术装置100的相应的第一可旋转驱动连接器106a、第二可旋转驱动连接器106b和第三可旋转驱动连接器106c的旋转力的旋转接收构件。
力/旋转传递/转换组件240、250和270中的每个构造成并且适合于将手术装置100的第一可旋转驱动连接器106a、第二可旋转驱动连接器106b和第三可旋转驱动连接器106c的旋转的速度/力(例如，增加或减小)传递/转换成力/旋转传递/转换组件240、250和270的部件的轴向平移和/或旋转以实现手术装载单元300的功能，如下更为详细地描述的。
如图3至图5中所示，接合器组件200的第一力/旋转传递/转换组件或驱动组件240包括第一可旋转驱动轴242，如上所述的，所述第一可旋转驱动轴242被可旋转地支撑在外壳202内。第一可旋转驱动轴242包括具有非圆形或定形的近侧端242b的近侧部242a和具有螺纹外轮廓或表面的远侧部242c，所述非圆形或成形的近侧端242b构造用于与连接至手术装置100的相应的第一可旋转驱动连接器106a(图2)的第一连接器套管220相连接。诸如推力轴承的壳体支承构件218接收并支撑第一可旋转驱动轴242的近侧部242a以使得第一可旋转驱动轴242能够旋转。
第一力/旋转传递/转换组件240进一步包括驱动联接螺母244，所述驱动联接螺母244可旋转地联接至第一可旋转驱动轴242的螺纹远侧部242c并且可滑动地布置在中心管205内，所述中心管205至少部分地布置在外壳202和外管204两者内并且与中心纵向轴线“X”同轴。驱动联接螺母244与中心管205可滑动地键合，以便防止驱动联接螺母244随着第一可旋转驱动轴242旋转而旋转。以这种方式，随第一可旋转驱动轴242旋转，驱动联接螺母244沿着第一可旋转近侧驱动轴242的螺纹远侧端部242c平移，并进而穿过/沿着外管204。
第一力/旋转传递/转换组件240进一步包括与驱动联接螺母244机械地接合的远侧驱动构件246，使得驱动联接螺母244的轴向移动引起远侧驱动构件246的对应量的轴向移动。远侧驱动构件246的远侧端部246a支撑连接构件248，所述连接构件248构造成并且定尺寸用于与手术装载单元300(图7)的驱动组件320的驱动构件324选择性接合。驱动联接螺母244和/或远侧驱动构件246用作至手术装载单元300的部件的力传递构件。
在操作时，作为手术装置100的第一可旋转驱动连接器106a的旋转的结果，由于第一连接器套管220的旋转，随着第一可旋转驱动轴242旋转，引起驱动联接螺母244沿着第一可旋转驱动轴242的螺纹远侧端部242c轴向地平移，这进而引起远侧驱动构件246相对于外管204轴向地平移。在连接构件248连接至远侧驱动构件246并且与手术装载单元300的驱动组件320的驱动构件324接合的情况下，随着远侧驱动构件246轴向地平移，远侧驱动构件246引起手术装载单元300的驱动构件324的伴随轴向平移，以实现手术装载单元300(图7)的工具组件304的打开或闭合和/或工具组件304的发射。
锁定机构236支撑在远侧壳体202b上用于固定远侧驱动构件246的轴向位置和径向定向。锁定机构236包括可滑动地支撑在接合器组件200的外壳202的远侧壳体202b上的按钮236a。按钮236a连接至纵向地延伸穿过外管204的致动杆236b。致动杆236b在按钮236a移动时移动。按钮236a构造成从远侧位置移动至近侧位置以锁定或防止远侧驱动构件246向远侧和/或向近侧移动，并且构造成从近侧位置移动至远侧位置以允许远侧驱动构件246的畅通的轴向平移和径向移动。
在操作时，为了锁定远侧驱动构件246的位置和/或定向，用户将锁定机构236的按钮236a从远侧位置移动至近侧位置，由此引起闭锁件(未示出)向近侧移动，使得闭锁件的远侧面移动而不与凸轮构件238接触，这引起凸轮构件238凸轮运动到远侧驱动构件246的凹槽246b中。以这种方式，防止了远侧驱动构件246向远侧和/或向近侧移动。当锁定机构236的按钮2364a从近侧位置移动至远侧位置时，致动杆236b克服偏置构件(未示出)的偏置而向远侧地移动到闭锁件(未示出)中，以迫使凸轮构件238脱离远侧驱动构件246的凹槽246b，由此允许远侧驱动构件246的畅通的轴向平移和径向移动。
参照图3至图6，接合器组件200的第二力/旋转传递/转换组件或关节式运动组件250包括可旋转地支撑在外壳202内的第二驱动轴252。第二可旋转驱动轴252包括非圆形的或定形的近侧端252a，所述非圆形的或定形的近侧端252a构造用于与连接至手术装置100的相应的第二可旋转驱动连接器106b(图2)的第二连接器套管222连接。第二可旋转驱动轴252进一步包括齿轮254，所述齿轮254包括诸如正齿轮的多个外齿254a，所述多个外齿254a与第二可旋转驱动轴252的远侧端252b键合至或一体地形成在第二可旋转驱动轴252的远侧端252b上。
关节式运动组件250进一步包括可旋转地联接至第二可旋转驱动轴252的齿轮254的齿轮螺母256。齿轮螺母256可旋转地布置在外壳202的远侧壳体202b内并且与中心纵向轴线“X”同轴。齿轮螺母256包括圆柱体258，所述圆柱体258具有外轮齿260和内螺纹262，所述外轮齿260从圆柱体258的外表面258a延伸出并且绕着该外表面258a布置，所述内螺纹262沿着圆柱体258的内表面258b延伸。第二可旋转驱动轴252的齿轮254的外齿254a啮合地接合齿轮螺母256的外轮齿260，使得第二可旋转驱动轴252的旋转引起齿轮螺母256的圆柱体258的旋转。
螺杆264布置在圆柱体258内并且包括与圆柱体258的内螺纹262接合的外螺纹264a。螺杆264通过毂265可滑动地键合至固定套筒207，固定套筒207进而键合至中心管205以便防止螺杆264随着齿轮螺母256的圆柱体258旋转而旋转。以这种方式，随着齿轮螺母256旋转，螺杆264沿着中心纵向轴线“X”轴向地沿着齿轮螺母256的圆柱体258的内表面258b平移。诸如径向/推力轴承的关节式运动轴承266布置在螺杆264的内表面264b内并且包括相对于外圈266b能独立地旋转的内圈266a。
接合器组件200的第二驱动转换器组件250进一步包括关节式运动杆268，所述关节式运动杆268具有诸如通过联结器267稳固至关节式运动轴承266的内圈266a的近侧部268a，以便关节式运动杆268在螺杆264的轴向移动期间是可纵向地平移的并且在接合器组件200和手术装载单元300的旋转期间绕中心管205是能旋转的。关节式运动杆268的远侧部268b包括位于其中的狭槽268c，所述狭槽268c构造成接受手术装载单元300的关节式运动连杆330(图7)的旗子形件。关节式运动杆268用作至手术装载单元300的部件的力传递构件。可以想象，在手术装载单元300的砧座组件306和钉仓组件308(图7)处于接近位置时和/或当砧座组件306和钉仓组件308关节式运动时，关节式运动轴承266允许手术装载单元300自由的、畅通的旋转运动。
在操作时，作为手术装置100的第二可旋转驱动连接器106b的旋转的结果，随着第二近侧驱动轴252由于第二连接器套管222的旋转而旋转，引起齿轮螺母256绕中心轴205旋转。齿轮螺母256的旋转进而引起螺杆264沿着齿轮螺母256的圆柱体258的内螺纹262轴向地平移，这进而引起关节式运动杆268相对于外管204轴向地平移。随着关节式运动杆268轴向地平移，被联接至手术装载单元300的关节式运动连杆330的关节式运动杆268引起手术装载单元300的关节式运动连杆330的伴随的轴向平移，以实现手术装载单元300的工具组件304(图7)的关节式运动。被稳固至关节式运动轴承266的内圈266a的关节式运动杆268相对于关节式运动轴承266的外圈266b绕中心纵向轴线“X”自由旋转。
如图3至图5中所图示出的，接合器组件200的第三力/旋转传递/转换组件或旋转组件270包括可旋转地支撑在外壳202内的第三可旋转驱动轴272。第三可旋转驱动轴272包括非圆形的或定形的近侧端272a，所述非圆形的或定形的近侧端272a构造用于与连接至手术装置100的相应的第三可旋转驱动轴106c(图2)的第三连接器套管224连接。第三可旋转驱动轴272包括正齿轮274，所述正齿轮274键合至第三可旋转驱动轴272的远侧端272b或一体地形成在第三可旋转驱动轴272的远侧端272b上。
旋转组件270包括两件式的旋转环齿轮276，所述两件式的旋转环齿轮276固定地支撑在接合器组件200的外壳202的远侧壳体202b中并且连接至所述远侧壳体202b。旋转环齿轮276限定轮齿276a的内部阵列。旋转环齿轮276包括从其外缘突出的一对在直径上对置的径向延伸的突起276b。突起276b布置于在远侧壳体202b中限定的凹槽201内，使得旋转环齿轮276的旋转引起远侧壳体202b的旋转，反之亦然。反转正齿轮278将第三可旋转驱动轴272的正齿轮274相互接合至旋转环齿轮276的轮齿276a的内部阵列。
在操作时，作为手术装置100的第三可旋转驱动连接器106c的旋转的结果，由于第三连接器套管224的旋转，随着第三可旋转驱动轴272旋转，第三可旋转驱动轴272的正齿轮274接合反转正齿轮278，引起反转正齿轮278旋转。随着反转正齿轮278旋转，旋转环齿轮276也旋转，由此引起外壳202旋转。随着外壳202旋转，外管204被引起绕接合器组件200的中心纵向轴线“X”旋转。随着外管204旋转，连接至接合器组件200的远侧罩206的手术装载单元300也被引起绕接合器组件200的中心纵向轴线“X”旋转。
参照图3和图5，接合器组件200包括支撑在外壳202上以及支撑在外壳202中的电气组件280。电气组件280包括多个电触头片282，所述多个电触头片282支撑在电路板284上用于电连接至手术装置100的电气直通连接器105(图2)。电气组件280用以允许将生命周期信息校准和传送到手术装置100的电路板。
电气组件280进一步包括电连接至电路板284的应变计286。第一可旋转驱动轴242延伸穿过应变计286，所述应变计286向由第一可旋转驱动轴242呈现的发射/夹紧负荷提供闭环反馈。
电气组件280还包括沿着驱动联接螺母244非可旋转地且可滑动地布置的滑环288。滑环288与电路板284电连接并且用以允许第一可旋转驱动轴242的旋转和驱动联接螺母244的轴向平移，而同时仍维持其与接合器组件200内的至少另一电气部件的电接触，并且同时允许另一电气部件绕第一可旋转驱动轴242和驱动联接螺母244旋转。
现在转到图1和图7，示出了手术装载单元300的实施例。手术装载单元300包括近侧主体部302和工具组件304。近侧主体部302被可释放地附接至接合器组件200的远侧罩206，并且工具组件304被可枢转地附接至近侧主体部302的远侧端。工具组件304包括砧座组件306和钉仓组件308。钉仓组件308相对于砧座组件306是可枢转的并且是能在打开或未夹紧位置与闭合或夹紧位置之间移动的。近侧主体部302包括至少驱动组件320和关节式运动连杆330。
驱动组件320包括具有远侧端322a和近侧接合部322b的柔性驱动梁322。近侧接合部322b的近侧端包括在直径上对置的、向内延伸的指形件322c，所述指形件322c接合中空驱动构件324以将驱动构件324固定地稳固至驱动梁322的近侧端。在手术装载单元300附接至接合器组件200的远侧罩206时，驱动构件324接收接合器组件200的驱动组件240的远侧驱动构件246的连接构件248。
工具组件404的钉仓组件308包括可移除地支撑在承载件312中的吻合钉钉仓310。吻合钉钉仓310限定中央纵向狭槽310a以及安置在中央纵向狭槽310a的每侧上的多个线性行的吻合钉保持狭槽310b。每个吻合钉保持狭槽310b接收单个吻合钉314和吻合钉推进器316的一部分。在手术装置100的操作期间，驱动组件320抵接致动滑块318并且将致动滑块318推进穿过吻合钉钉仓310。随着致动滑块318移动穿过吻合钉钉仓310，致动滑块318的凸轮楔块顺序地接合吻合钉推进器316以使吻合钉推进器316在吻合钉保持狭槽310b内竖直地移动并且从吻合钉保持狭槽310b顺序地发射单个吻合钉314用于抵着砧座组件306的砧板306a成形。
手术装载单元300的近侧主体部302包括具有钩状近侧端330a的关节式运动连杆330，所述钩状近侧端330a从手术装载单元300的近侧端延伸出，当手术装载单元300附接至接合器组件200的远侧罩206时，所述钩状近侧端330a被接收在关节式运动组件250的关节式运动杆268的远侧部268b的狭槽268c中。关节式运动连杆330具有可枢转地稳固至工具组件304的远侧端330b。
本领域技术人员应当理解，在此具体地描述并且在附图中示出的结构和方法是非限制性的示例性实施例，并且本说明、公开和附图应当仅仅解释为特定实施例的示例。由此，应当理解，本公开不限于所描述的精确实施例，并且可以由本领域技术人员实施多种其他变化和修改而不偏离本公开的范围或精神。另外地，与某些实施例关联地示出或描述的元件和特征可以与某些其他实施例的元件和特征结合而不偏离本公开的范围，并且这种修改和变动也包括在本公开的范围内。因此，本公开的主题并不受所具体地示出和描述的所限制。

Claims (4)

1.一种用于将手术装载单元和手术装置选择性地互连的接合器组件，所述接合器组件包括：
接合器壳体，其构造成连接至手术装置；
外管，其具有由所述接合器壳体支撑的近侧端和构造成连接至手术装载单元的远侧端；以及
关节式运动组件，其至少部分地布置在所述接合器壳体内，所述关节式运动组件包括：
可旋转驱动轴，其能连接至手术装置的驱动轴，所述可旋转驱动轴包括键合至其远侧端或者一体地形成在其远侧端上的齿轮；
关节式运动杆，其能连接至手术装载单元的轴向可平移关节式运动连杆；
至少一个中心管，其稳固地布置在所述接合器壳体内；
固定套筒，其键合至所述至少一个中心管；
齿轮螺母，其包括具有外轮齿和内螺纹的圆柱体，可旋转地布置在所述接合器壳体内，与中心纵向轴线同轴，所述外轮齿可旋转地联接至所述齿轮；
螺杆，其布置在所述圆柱体内并且可滑动地键合至所述固定套筒，所述螺杆包括与所述圆柱体的内螺纹接合的外螺纹；以及
关节式运动轴承，其布置在所述螺杆的内表面内，所述关节式运动轴承包括内圈，所述内圈相对于外圈能独立地旋转并且接触所述螺杆的所述内表面，
其中，所述关节式运动杆包括稳固至所述关节式运动轴承的所述内圈的近侧部。
2.根据权利要求1所述的接合器组件，其中，所述关节式运动轴承被不可旋转地布置在所述接合器壳体内。
3.一种机电手术系统，包括：
手术装载单元，其包括近侧主体部、工具部以及轴向可平移驱动构件；
手术装置，其包括装置壳体和支撑在所述装置壳体中的至少一个可旋转驱动轴；以及
根据权利要求1所述的接合器组件，其构造成将所述手术装载单元和所述手术装置选择性地互连。
4.根据权利要求3所述的机电手术系统，其中，所述接合器组件的所述关节式运动轴承被不可旋转地布置在所述接合器壳体内。
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