CN106963439B - 手术装置的接合器组件、延伸组件和连接器组件 - Google Patents
手术装置的接合器组件、延伸组件和连接器组件 Download PDFInfo
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Abstract
本发明公开了手术装置的接合器组件、延伸组件和连接器组件,提供了包括用于将末端执行器连接至电手术器械的接合器组件和延伸组件的组件。接合器组件包括构造成用于将旋转运动转换成线性运动的第一推动器组件。第一推动器组件包括推动器构件以及用于与延伸组件的柔性带组件可操作接合的第一棘爪组件和第二棘爪组件。
Description
相关申请的交叉引用
本申请要求于2015年11月6日提交的美国临时专利申请第62/251,930号的权益和优先权,其全部公开通过引用方式并入本文。
技术领域
本公开总体涉及动力手术装置。更具体地,本公开涉及一种用于选择性地将包括末端执行器的延伸组件连接至动力手术装置的致动单元的接合器组件。
背景技术
在手术操作中使用的动力装置是已知的。为了允许这些动力手术装置的手柄组件的再次使用并且使得手柄组件可以与各种末端执行器一起使用,已经开发了接合器组件和延伸组件用于选择性地附接至手柄组件和各种末端执行器。在使用之后,接合器和/或延伸组件可以与末端执行器一起丢弃。在一些情况下,接合器组件和延伸组件可以消毒以再次使用。
发明内容
提供了一种用于将末端执行器可操作地连接至电手术器械的手术组件。所述手术组件包括接合器组件,该接合器组件包括:连接器组件;驱动传递组件,其通过所述连接器组件被可操作地接收并且包括第一可旋转轴;以及第一推动器组件,其可操作地连接至第一可旋转轴,用于将来自所述第一可旋转轴的旋转运动转换成纵向移动以执行第一功能,所述第一推动器组件包括第一推动器构件以及第一棘爪组件和第二棘爪组件。手术组件还包括可操作地连接至所述接合器组件的远侧端的延伸组件。所述延伸组件包括可操作地能够连接至所述第一推动器组件的第一棘爪组件和第二棘爪组件的柔性带组件。
在实施例中,手术组件还包括第二推动器组件和第二可旋转轴,第二可旋转轴可操作地连接至第二推动器组件,用于将来自第二可旋转轴的旋转运动转换成纵向移动以执行第二功能。手术组件还可以包括驱动构件和第三可旋转轴,该第三可旋转轴可操作地连接至所述驱动组件,用于传递来自第三可旋转轴的旋转运动以执行第三功能。第一棘爪组件可以包括第一多个棘爪构件,并且所述第二棘爪组件包括第二多个棘爪构件。柔性带组件可以包括第一连接器构件和第二连接器构件。第一连接器构件和第二连接器构件中的每一个均可以限定构造成用于选择性接收所述第一棘爪组件和第二棘爪组件中的相应的一个的开口。
在一些实施例中,第一多个棘爪构件包括选择性地能够接收在所述第一连接器构件的开口内的突起,并且所述第二多个棘爪构件包括选择性地能够接收在所述第二连接器构件的开口内的突起。所述突起中的每个可以包括平坦的近侧面向表面和倾斜的远侧面向表面。所述第一多个棘爪构件和第二多个棘爪构件可以可枢转地紧固至所述推动器构件。
所述推动器构件包括用于支撑所述第一多个棘爪构件的第一保持器和用于支撑所述第二多个棘爪构件的第二保持器。所述第一保持器和所述第二保持器可以各自限定用于接收相应的第一多个棘爪构件和第二多个棘爪构件的纵向狭槽。第一多个棘爪构件可以被可枢转地接收在所述第一保持器的纵向狭槽内,并且所述第二多个棘爪构件可以被可枢转地接收在所述第二保持器的纵向狭槽内。所述第一多个棘爪构件和第二多个棘爪构件中的每一个可以构造成径向向内屈曲。所述第一多个棘爪构件和第二多个棘爪构件可以各自包括弯曲轮廓。第一多个棘爪构件和第二多个棘爪构件可以各自由弹性材料形成。
附图说明
在此参照附图描述了本公开的实施例,其中:
图1是根据本公开的实施例的接合器组件、根据本公开的实施例的延伸组件和示例性的机电手术装置的立体分离视图;
图2是图1的示例性的机电手术装置的立体侧视图;
图3是图1的接合器组件的立体侧视图;
图4是图3的接合器组件的立体侧视图,其中外套筒移除;
图5是图3和图4的接合器组件的立体侧视图,其中第一推动器组件和第二推动器组件的近侧壳体和远侧壳体移除;
图6是沿图3中的线6-6截取的图2至图4的接合器组件的剖视侧视图;
图7是沿图5中的线7-7截取的图2至图5的接合器组件的剖视侧视图;
图8是图2至图7的接合器组件的联接组件和传递组件的放大立体图;
图9是图2至图7的接合器组件的立体侧视图,其中外壳组件移除;
图10是图9的细节指示区域的放大视图;
图11是图6的细节指示区域的放大视图;
图12是图7的细节指示区域的放大视图;
图13是图8的传递组件的立体端视图;
图14是图6的细节指示区域的放大视图;
图15是图7的细节指示区域的放大视图;
图16是图9的细节指示区域的放大视图;
图17是图1的延伸组件的立体侧视图;
图18是图17的延伸组件的内柔性带组件的立体侧视图;
图19是图17的延伸组件的外柔性带组件的立体侧视图;
图20是图18和图19的内柔性带组件和外柔性带组件的立体侧视图和图17的延伸组件的框架组件的分解视图;
图21是图20的内柔性带组件和外柔性带组件和框架组件的立体侧视图;
图22是图21的细节指示区域的放大视图;
图23是图20的内外柔性带组件和外柔性带组件和框架组件的前视立体图;
图24是图23的细节指示区域的放大视图;
图25是沿图17的线25-25截取的剖视端视图;
图26是沿图17的线26-26截取的剖视端视图;
图27是图20的内外柔性带组件和外柔性带组件和框架组件的远侧端的放大立体侧视图,包括近侧密封构件以及第一远侧密封构件和第二远侧密封构件;
图28是图27的近侧密封构件以及第一远侧密封构件和第二远侧密封构件的分解立体图;
图29是图17的延伸组件的套管针组件的分解图;
图29A是图17的延伸组件的连接器组件的立体侧视图;
图29B是图29A的连接器组件的剖视侧视图;
图30是图29的套管针组件的立体侧视图;
图31是沿图30的线31-31截取的剖视侧视图;
图32是沿图17的线32-32截取的剖视俯视图;
图33是图17的延伸组件的远侧端的放大剖视图;
图34是连接至图17的延伸组件的图3的接合器组件以及连接至延伸组件的末端执行器和砧座组件的立体侧视图;
图35A是图34的细节指示区域的放大的剖视俯视图;
图35B是图34的细节指示区域的放大的剖视侧视图;
图36是根据本公开的另一个实施例的接合器组件的立体侧视图;
图37是沿图36的线37-37截取的剖视侧视图;
图38是图37的细节指示区域的放大剖视侧视图;
图39是图36的接合器组件的推动器组件的分解立体图;
图40是图39的推动器组件的立体侧视图;
图41是沿图40的线41-41截取的剖视侧视图;
图42是紧固至图17的延伸组件的图36的接合器组件的剖视俯视图;
图43是在将延伸组件完全紧固至接合器组件之前,图42的细节指示区域的放大的剖视俯视图;
图44是延伸组件紧固至接合器组件的情况下,图42的细节指示区域的放大的剖视俯视图;和
图45是图42的接合器组件和延伸组件的立体侧视图,其中外套筒移除。
具体实施方式
将参考附图详细描述本处公开的用于手术装置和/或手柄组件的接合器组件和延伸组件的实施例,在附图中,在几个视图的每个中,相同的附图标记指代相同或对应的元件。如本文所用的,术语“远侧”指的是接合器组件或者手术装置或其部件的较远离用户的部分,而术语“近侧”指的是接合器组件或者手术装置或其部件的较靠近用户的部分。
参考图1,根据本公开的实施例的总体示为接合器组件100的接合器组件构造为选择性的连接至总体示为手术装置10的动力手持式机电器械。如图1所示,手术装置10构造为与接合器组件100选择性连接,并且依次地,接合器组件100构造为与延伸组件200选择性连接。延伸组件200构造成选择性连接例如工具组件30(图34)的工具组件或末端执行器,工具组件或末端执行器包括例如装载单元40(图34)的装载单元和例如砧座组件50(图34)的砧座组件,用于将环形阵列的吻合钉(未示出)施加至组织(未示出)。
如图1和图2所示,手术装置10包括手柄壳体12,手柄壳体12具有下壳体部14、从下壳体部14延伸和/或支撑在其上的中间壳体部16、以及从中间壳体部16延伸和/或支撑在其上的上壳体部18。上壳体部18的远侧半部限定了构造为接受接合器组件100的对应的驱动联接组件110(图10)的鼻形部或连接部18a。关于示例性的机电器械的结构和功能的详细描述,请参考共有美国专利申请公开第2012/0253329号(“'329申请”),其全部内容通过引用合并于此。
现在将参照图3至图20描述接合器组件100。首先参考图3,接合器组件100包括构造成用于可操作的连接至手术装置10(图1)的连接部18a(图1)的近侧端102和构造成用于可操作的连接至延伸组件200(图1)的远侧端104。
转向图3至图5,从接合器组件100的近侧端102到远侧端104,接合器组件100包括驱动联接组件110、可操作地连接至驱动联接组件110的驱动传递组件130、可操作地连接至驱动传递组件130的第一推动器组件160以及可操作地连接至驱动传递组件130的第二推动器组件180。驱动传递组件130以及第一推动器组件160和第二推动器组件180中的每一个都可操作地保持在外套筒106(图3)内。如下面将进一步详细描述的,轴108(图3)纵向延伸通过接合器组件100,并且可操作地连接至驱动传递组件130。
参照图5至图9,驱动联接组件110具有圆筒形轮廓并且构造成选择性地将接合器组件100紧固至手术装置10(图1)。驱动联接组件110包括连接器壳体112和通过安装板113固定地连接至连接器壳体112的连接器延伸部114。连接器壳体112和连接器延伸部114操作以可旋转地支撑第一可旋转近侧驱动轴116、第二可旋转近侧驱动轴118和第三可旋转近侧驱动轴120。驱动联接组件110的连接器壳体112和连接器延伸部114还分别可旋转地支撑第一连接器套筒116、第二连接器套筒118和第三连接器套筒120。连接器套筒122、124、126中的每个都构造成与手术装置10(图1)的相应的第一驱动连接器、第二驱动连接器和第三驱动连接器(未示出)匹配。连接器套筒122、124、126中的每个还构造成与相应的第一近侧驱动轴116、第二近侧驱动轴118和第三近侧驱动轴120的近侧端116a、118a、120a匹配。
驱动联接组件110还包括布置在相应的第一连接器套筒122、第二连接器套筒124和第三连接器套筒126的远侧的第一偏置构件122a、第二偏置构件124a和第三偏置构件126a。偏置构件122a、124a和126a中的每一个布置成围绕相应的第一可旋转近侧驱动轴122、第二可旋转近侧驱动轴124和第三可旋转近侧驱动轴126,以在当接合器组件100连接至手术装置10时帮助保持连接器套筒122、124和126与手术装置10的相应的可旋转驱动连接器(未示出)的远侧端接合。具体地,第一偏置构件122a、第二偏置构件124a和第三偏置构件126a起到沿近侧方向偏置相应的连接器套筒122、124和126的作用。
关于示例性的驱动联接组件的详细描述,请参考'329申请,其内容先前通过引用并入本文。
参考图9至图13,驱动传递组件130具有圆筒形轮廓并且将第一可旋转近侧驱动轴116、第二可旋转近侧驱动轴118和第三可旋转近侧驱动轴120的远侧端分别可操作地连接至轴108、第一推动器组件160和第二推动器组件180。驱动传递组件130包括紧固至连接器壳体112的近侧端的支撑板132(图11和图12)和邻近支撑板132定位的驱动传递壳体134。支撑板132和壳体134操作以可旋转地支撑第一可旋转远侧驱动轴136、第二可旋转远侧驱动轴138和驱动构件140。
第一可旋转远侧驱动轴136和第二可旋转远侧驱动轴138通过一对齿轮各自可操作地连接至驱动联接组件110的相应的第一可旋转近侧驱动轴116和第二可旋转近侧驱动轴118。具体地,第一可旋转近侧驱动轴116和第二可旋转近侧驱动轴118中的每一个的远侧端分别包括齿轮部142a和144a,齿轮部142a和144a接合相应的第一远侧驱动轴136和第二远侧驱动轴138的近侧端上的近侧驱动齿轮142b和144b。如图所示,相应的成对齿轮部和近侧驱动齿轮142a、142b和144a、144b中的每个都具有相同的尺寸,以在相应的第一可旋转近侧驱动轴116和第二可旋转近侧驱动轴118与第一可旋转远侧驱动轴136和第二可旋转远侧驱动轴138之间提供1:1的齿数比。以这种方式,相应的第一可旋转近侧驱动轴116和第二可旋转近侧驱动轴118与第一可旋转远侧驱动轴136和第二可旋转远侧驱动轴138以相同速度旋转。然而,可以设想,成对的齿轮部和近侧驱动齿轮中的任一个或两个可以具有不同的尺寸,以改变第一可旋转近侧驱动轴116和第二可旋转近侧驱动轴118与第一可旋转远侧驱动轴136和第二可旋转远侧驱动轴138之间的齿数比。
驱动联接组件110的第三近侧驱动轴120的远侧端包括齿轮部146a,齿轮部146a接合形成在驱动传递组件130的驱动构件140的近侧端上的齿轮部146b。第三近侧驱动轴120上的齿轮部146a和驱动构件140上的齿轮部146b的尺寸为相同的尺寸,以在第三近侧驱动轴120和驱动构件140之间提供1:1的齿数比。以这种方式,第三近侧驱动轴120和驱动构件140以相同速度旋转。然而,可以设想,齿轮部146a、146b中的任一个或两个可以具有不同的尺寸,以改变第三近侧驱动轴120和驱动构件140之间的齿数比。驱动构件140的远侧端限定接收轴108的近侧端108a的插槽145。可替代地,插槽145可构造成可操作地接合延伸组件200(图17)的驱动轴(图17)的近侧端208a。
驱动传递组件130还包括将第一可旋转远侧驱动轴136可操作地连接至第一推动器组件160的驱动连接器148(图11)和将第二可旋转远侧驱动轴138可操作地连接至第二推动器组件180的管状连接器150。具体地,第一可旋转远侧驱动轴136的远侧端包括与驱动连接器148的齿轮部152b接合的齿轮部152a。第二可旋转远侧驱动轴138的远侧端包括齿轮部154a,齿轮部154a接合紧固至管状连接器150的远侧端的驱动齿轮154b。
如图所示,第一可旋转远侧驱动轴136的齿轮部152a小于驱动连接器148的齿轮部152b,以在第一可旋转远侧驱动轴136和驱动连接器148之间提供大于1:1的齿数比。以这种方式,驱动连接器148以比第一可旋转远侧驱动轴136慢的速度旋转。类似地,第二可旋转远侧驱动轴138的齿轮部154a小于管状连接器150上的驱动齿轮154b,以在第二可旋转远侧驱动轴138和驱动连接器148之间提供大于1:1的齿数比。以这种方式,管状连接器150以比第二可旋转远侧驱动轴138更慢的速度旋转。然而,可以设想,成对的齿轮部152a、152b以及齿轮部154a和驱动齿轮154b中的每一个都可以为相同尺寸,以在相应的第一可旋转远侧驱动轴136和驱动连接器148之间以及第二可旋转远侧驱动轴138和管状连接器150之间提供1:1的齿数比。
特别参考图9至图13,第一推动器组件160包括近侧壳体部162和远侧壳体部164(图11)、可操作地安装在近侧壳体部162内的行星齿轮组件166、可操作地连接至行星齿轮组件166并且可旋转地支撑在远侧壳体部164内的螺杆构件168(图11)、以及可操作地连接至螺杆构件168并且可滑动地布置在远侧壳体部164内的推动器构件170(图11)。近侧壳体部162包括一对纵向突缘162a(图4;仅示出一个),并且远侧壳体部164包括一对纵向扁平部164a。相应的近侧壳体部162和远侧壳体部164的突缘162a和扁平部164a中的每个都接合套筒106的内表面,以防止在手术装置10的操作期间相应的近侧壳体部162和远侧壳体部164相对于套筒106的旋转。
行星齿轮组件166包括第一行星齿轮系统166a和第二行星齿轮系统166b(图10)。第一推动器组件160的第一行星齿轮系统166a包括安装在驱动传递组件130的驱动连接器148的远侧端上的中央驱动齿轮172a和可旋转地安装至可旋转支撑环176的多个行星齿轮174a。
行星齿轮174a中的每个都接合中央驱动齿轮172a和近侧壳体部162的带齿内表面165。随着中央驱动齿轮172a沿第一方向(即,顺时针)旋转,行星齿轮174a中的每个都沿第二方向(即,逆时针)旋转。随着行星齿轮174a中的每个都沿第二方向旋转,行星齿轮174a与远侧壳体部162的带齿内表面165的接合引起可旋转支撑环176沿第一方向旋转。相反,中央驱动齿轮172a的沿第二方向的旋转引起每个行星齿轮174a沿第一方向的旋转,从而引起可旋转支撑环176沿第二方向的旋转。第一行星齿轮系统166a的构造提供了齿数比的减小。以这种方式,可旋转支撑环174的旋转速度小于中央驱动齿轮172a的旋转速度。
第一推动器组件160的第二行星齿轮系统166b包括紧固地附加至可旋转支撑环176的中央驱动齿轮172b和可旋转地安装至螺杆构件168的近侧端表面168a的多个行星齿轮174b。每个行星齿轮174b接合中央驱动齿轮172b和近侧壳体部162的带齿内表面165。随着第一行星齿轮系统166a的可旋转支撑环176沿第一方向旋转从而引起中央驱动齿轮172b也沿第一方向旋转,每个行星齿轮174b沿第二方向旋转。随着每个行星齿轮174b沿第二方向旋转,行星齿轮174b与近侧壳体部162的带齿内表面165的接合引起螺杆构件168沿第一方向旋转。相反,中央驱动齿轮172b沿第二方向的旋转引起每个行星齿轮174b沿第一方向的旋转,从而引起螺杆构件168沿第二方向旋转。第二行星齿轮系统166b的构造提供了齿数比的减小。以这种方式,螺杆构件168的旋转速度小于中央驱动齿轮172b的旋转速度。
第一行星齿轮系统166a和第二行星齿轮系统166b一致地操作以提供第一可旋转近侧驱动轴116和螺杆构件168之间的齿数比的减小。以这种方式,螺杆构件168相对于驱动连接器148的旋转速度的减小是由第一行星齿轮系统166a和第二行星齿轮系统166b提供的减速的结果。
螺杆构件168可旋转地支撑在近侧壳体部162内,并且包括可操作地接合推动器构件170的螺纹内表面170a的螺纹远侧端168b。随着螺杆构件168沿第一方向旋转,螺杆构件168的螺纹远侧端168b与推动器构件170的螺纹内表面170a的接合引起推动器构件170的纵向前进,如图12中的箭头“A”所示。相反,螺杆构件168沿第二方向的旋转引起推动器构件170的缩回。
推动器构件170包括形成在其远侧端上的、用于接合延伸组件200(图17)的外柔性带组件230(图19)的连接器延伸部240、242(图19)的一对凸起178。虽然示出为凸起178,但是可以想到,推动器构件170可以包括适于选择性地接合延伸组件200的外柔性带230的连接器延伸部240、242的任何结构。
现在特别参考图14至图16,第二推动器组件180基本上类似于第一推动器组件160,并且包括:近侧和远侧壳体部182、184;行星齿轮组件186,其可操作地安装在近侧壳体部182内;螺杆构件188,其可操作地连接至行星齿轮组件186并且可旋转地支撑在远侧壳体部184内;以及推动器构件190,其可操作地连接至螺旋构件188并且可滑动地布置在远侧壳体部184内。近侧壳体部182和远侧壳体部184中的每一个分别包括一对纵向突缘182a、184a(图4;仅示出一个),一对纵向突缘182a、184a与接合器组件100的套筒106的内表面接合,以防止在手术装置10的操作期间相应的近侧壳体部182和远侧壳体部184相对于套筒106旋转。
行星齿轮组件186包括第一行星齿轮系统186a和第二行星齿轮系统186b(图16)。第二推动器组件180的第一行星齿轮系统186a包括安装在驱动传递组件130的管状连接器150的远侧端上的中央驱动齿轮192a和可旋转地安装至可旋转支撑环196的多个行星齿轮194a。
每个行星齿轮194a接合中央驱动齿轮192a和近侧壳体部182的带齿内表面185。随着中央驱动齿轮192a沿第一方向(即,顺时针)旋转,每个行星齿轮194a沿第二方向(即,逆时针)旋转。随着每个行星齿轮194a沿第二方向旋转,行星齿轮194a与远侧壳体部182的带齿内表面185的接合引起可旋转支撑环196沿第一方向旋转。相反,中央驱动齿轮192a沿第二方向的旋转引起每个行星齿轮194a沿第一方向的旋转,从而引起可旋转支撑环196沿第二方向旋转。第一行星齿轮系统186a的构造提供了齿数比的减小。以这种方式,可旋转支撑环194的旋转速度小于中央驱动齿轮190a的旋转速度。
第二推动器组件180的第二行星齿轮系统186b包括紧固地附着至可旋转支撑环196的中央驱动齿轮192b和可旋转地安装至螺杆构件188的近侧端表面188a的多个行星齿轮194b。每个行星齿轮194b接合中央驱动齿轮192b和近侧壳体部182的带齿内表面185。随着第一行星齿轮系统186a的可旋转支撑环196沿第一方向旋转从而引起中央驱动齿轮192b也沿第一方向旋转,每个行星齿轮174b沿第二方向旋转。随着每个行星齿轮194b沿第二方向旋转,行星齿轮194b与近侧壳体部182的带齿内表面185的接合引起螺杆构件188沿第一方向旋转。相反,中央驱动齿轮192b沿第二方向的旋转引起每个行星齿轮194b沿第一方向的旋转,从而引起螺杆构件198沿第二方向旋转。第二行星齿轮系统186b的构造提供了齿数比的减小。以这种方式,螺杆构件188的旋转速度小于中央驱动齿轮182b的旋转速度。第一行星齿轮系统186a和第二行星齿轮系统186b一致地操作,以提供第二可旋转近侧驱动轴118和螺杆构件188之间的齿数比的减小。以这种方式,螺杆构件188相对于管状连接器150的旋转速度的减小是由第一行星齿轮系统186a和第二行星齿轮系统186b提供的减速的结果。
螺杆构件188可旋转地支撑在近侧壳体部182内,并且包括可操作地接合推动器构件190的螺纹内表面190a的螺纹远侧端188b。随着螺杆构件188沿第一方向旋转,螺杆构件188的螺纹远侧端188b与推动器构件190的螺纹内表面190a的接合引起推动器构件190的纵向前进。相反,螺杆构件188沿第二方向的旋转引起推动器构件190的缩回。推动器构件190包括一对纵向突缘191(图5;仅示出一个),一对纵向突缘191接合第二推动器组件180的远侧壳体部184,用于防止推动器构件190相对于远侧壳体部184的旋转。
推动器构件190包括形成在其远侧端上的、用于接合延伸组件200(图17)的内柔性带组件220(图18)的连接器延伸部220、224(图18)的一对凸起198。虽然示出为凸起198,但是可以设想,推动器构件190可以包括适于选择性地接合延伸组件200的外柔性带230的连接器延伸部240、242的任何结构。
现在将参照图17至图34描述用于将接合器组件100(图3)与例如装载单元40(图34)的圆形装载单元和例如砧座组件50(图34)的砧座组件可操作地连接的延伸组件200。特别地,延伸组件200的近侧端202与接合器组件100(图3)的远侧端104(图3)可操作地连接,并且延伸组件200的远侧端204与装载单元40和砧座组件50可操作地连接。如图所示,延伸组件200在近侧端202和远侧端204之间提供轻微的曲率。在可替代实施例中,延伸组件200可以是直的或者可以包括更大的曲率。虽然延伸组件200将示出和描述为用于将装载单元40和砧座组件50连接至接合器组件100(图3),但是可以设想,本公开的各方面可以修改为与各种装载单元、砧座组件和接合器组件一起使用。在共有美国专利第8,590,763号和序列号为14/056,301和14/149,355的美国专利申请中描述了示例性的装载单元和砧座组件,上述每个专利和专利申请的内容都通过引用整体并入本文。
延伸组件200包括:内柔性带组件210(图18)、可滑动地布置成围绕内柔性带组件210的外柔性带组件230(图19)、用于支撑内柔性带组件210和外柔性带组件230的框架组件250(图20)、通过内柔性带组件210和外柔性带组件230被可操作地接收的套管针组件270(图28)、以及用于将装载单元40(图34)紧固至延伸组件200的连接器组件290。外套筒206(图17)围绕框架组件250被接收,并且套管针组件270以及内柔性带组件210和外柔性带组件230通过外套筒206被可滑动地接收。如将在下面进一步详细描述的,延伸组件200可以包括驱动轴208,驱动轴208可操作地连接至套管针组件270并且延伸通过延伸组件200的近侧端202。
参照图18,内柔性带组件210包括第一内柔性带212和第二内柔性带214,支撑环216,支撑基座218以及第一连接延伸部220和第二连接延伸部222。相应的第一内柔性带212和第二内柔性带214的近侧端212a、214a横向间隔开并且紧固地附接至支撑环216。第一内柔性带212和第二内柔性带214的远侧端212b、214b横向间隔开并且紧固地附接至支撑基座218的近侧端218a。第一内柔性带212和第二内柔性带214中的每一个可以以任何合适的方式附接至支撑环216和/或支撑基座218,所述方式包括例如通过压配合、焊接、粘合剂和/或通过机械紧固件。如将在下面进一步详细描述的,内柔性带组件210构造成围绕套管针组件270(图28)被可滑动地接收并且被接收在外柔性带组件230(图19)和外套筒206(图17)内。
内柔性带组件210的第一连接延伸部220和第二连接延伸部222从支撑环216向近侧延伸并且将内柔性带组件210与接合器组件100(图3)的第二推动器组件180(图15)的推动器构件190(图15)可操作地连接。具体地,第一连接延伸部220和第二连接延伸部222中的每一个均限定构造为接收第二推动器组件180的推动器构件190(图15)的凸起198(图15)的开口221、223。推动器构件190的凸起198在相应的第一延伸部220和第二延伸部222的开口221、223内的接收将延伸组件200的内柔性带组件210与接合器组件100的第二推动器组件180紧固。第一连接延伸部220和第二连接延伸部222可以与支撑环216一体地形成,或者以任何合适的方式附接至支撑环216。
支撑基座218从内柔性带212、214向远侧延伸并且构造成选择性地将延伸组件200与装载单元40(图34)连接。具体地,支撑基座218的远侧端218a包括用于与装载单元40(图34)的可轴向移动的组件(未示出)可操作的接合的突缘224。在一个实施例中,突缘224构造成用于与装载单元40(图34)的刀组件(未示出)连接。
现在参考图19,外柔性带组件230基本上类似于内柔性带组件210,并且包括第一柔性带232和第二柔性带234,第一柔性带232和第二柔性带234横向间隔开并且在近侧端232a、234a连接至支撑环236而在远侧端234b、234b连接至支撑基座238的近侧端238a。第一外柔性带232和第二外柔性带234中的每一个可以以任何合适的方式附接至支撑环236和支撑基座238,所述方式包括例如通过压配合、焊接、粘合剂和/或利用机械紧固件。如下面将进一步详细描述的,外柔性带组件230构造成贯通其接收套管针组件270(图28)。
外柔性带组件230的第一连接延伸部240和第二连接延伸部242从支撑环236向近侧延伸并且将外柔性带组件230与接合器组件100(图1)的第一推动器组件160(图12)的推动器构件170(图12)可操作地连接。具体地,第一连接延伸部240和第二连接延伸部242中的每一个限定构造为接收第一推动器组件180的推动器构件170的凸起178(图12)的开口241、243。推动器构件170的凸起178在相应的第一延伸部240和第二延伸部242的开口241、243内的接收将延伸组件200的外柔性带组件230与接合器组件100的第一推动器组件180紧固。第一连接延伸部240和第二连接延伸部242可以与支撑环236一体地形成,或者以任何合适的方式附接至支撑环236。
支撑基座238从外柔性带232、234向远侧延伸并且构造成选择性地将延伸组件200与装载单元40(图34)连接。具体地,支撑基座238的远侧端238b包括用于与装载单元(未示出)的可轴向移动的组件(未示出)可操作的接合的突缘244。在一个实施例中,突缘244构造成用于与装载单元40(图34)的吻合钉推动器组件(未示出)连接。
现在参考图20至图26,框架组件250包括第一近侧间隔件构件252和第二近侧间隔件构件254以及第一远侧间隔件构件256和第二远侧间隔件构件258。当紧固在一起时,第一近侧间隔件构件252和第二近侧间隔件构件254限定用于可滑动地接收内柔性带组件210(图18)的第一柔性带212和第二柔性带214(图18)的一对内纵向狭槽253a以及用于可滑动地接收外柔性带组件230(图19)的第一柔性带232和第二柔性带234(图19)的一对外纵向狭槽253b。第一近侧间隔件构件252和第二近侧间隔件构件254进一步限定用于接收套管针组件270的纵向通道255。
在一个实施例中,并且如图所示,第一近侧间隔件构件252和第二近侧间隔件构件254由塑料形成并且通过卡扣配合布置而紧固在一起。可替代地,第一近侧间隔件构件252和第二近侧间隔件构件254可以由金属或其它合适的材料形成,并且可以以任何合适的方式紧固在一起,所述方式包括通过焊接、粘合剂和/或使用机械紧固件。
第一远侧间隔件构件256和第二远侧间隔件构件258限定用于可滑动地接收内柔性带组件210(图18)的第一柔性带212和第二柔性带214(图18)的一对内狭槽257a以及用于可滑动地接收外柔性带组件230(图19)的第一柔性带232和第二柔性带234(图19)的一对外狭槽257b。第一远侧间隔件构件256和第二远侧间隔件构件258还限定用于接收套管针组件270的纵向通道259。
在一个实施例中,并且如图所示,第一远侧间隔件构件256和第二远侧间隔件构件258中的每一个都围绕内柔性带组件210和外柔性带组件230紧固并通过一对螺钉260a、260b(图26)紧固至外套筒206(图17)。可替代地,第一远侧间隔件构件256和第二远侧间隔件构件258可以以任何合适的方式紧固在一起,所述包括通过焊接、粘合剂和/或使用机械紧固件。第一间隔构件256和第二远侧间隔构件258可以由金属或任何其它合适的材料形成。
现在参照图27和图28,框架组件250还包括近侧密封构件262以及第一远侧密封构件264和第二远侧密封构件266。近侧密封构件252以及第一远侧密封构件264和第二远侧密封构件266中的每一个分别包括密封半部262a、262b、264a、264b、266a、266b。近侧密封构件262被接收在第一和第二近侧间隔构件252、254与第一和第二远侧间隔构件256、258之间。第一远侧密封构件264的第一半部264a紧固至第二远侧密封构件266的第一半部266a,并且第一远侧密封构件264的第二半部264b紧固至第二远侧密封构件266的第二半部266b。近侧密封构件262以及第一远侧密封构件264和第二远侧密封构件266以密封方式接合外套筒206(图17)、相应的内柔性带组件210和外柔性带组件230的内和外柔性带212、214、232、234和套管针组件270(图28)。以这种方式,近侧密封构件262以及第一远侧密封构件264和第二远侧密封构件266操作以在延伸组件200的远侧端204和近侧端202之间提供流体紧密密封。
参照图29至图32,延伸组件200的套管针组件270包括外壳体272、可滑动地布置在管状外壳体272内的套管针构件274、以及被可操作地接收在套管针构件274内用于相对于管状壳体272轴向移动套管针构件274的驱动螺杆276。具体地,套管针构件274包括近侧端274a,近侧端274a具有与驱动螺杆276的螺纹远侧部276b接合的内螺纹部275。随着驱动螺杆276在套管针构件274内旋转,套管针构件274的内螺纹部275与驱动螺杆276的螺纹远侧部276b的接合引起套管针构件274在套管针组件270的外壳体272内的纵向移动。驱动螺杆276沿第一方向的旋转引起套管针构件274的纵向前进,并且驱动螺杆276沿第二方向的旋转引起套管针构件274的纵向缩回。套管针构件274的远侧端274b构造成选择性地接合砧座组件50(图34)。
轴承组件278安装至套管针组件270的外壳体272的近侧端272a,用于相对于外壳体272和套管针构件274可旋转地支撑驱动螺杆276的近侧端276a。轴承组件278包括壳体278a、近侧和远侧间隔件278b、近侧和远侧保持夹278c、近侧和远侧轴承278d以及垫圈278e。如图所示,驱动螺杆276的近侧端276a包括用于与连杆组件280连接的突缘276c。
连杆组件280将接合器组件100的传递组件130(图6)与延伸组件200的套管针组件270(图30)可操作地连接。更具体地,连杆组件280将来自接合器组件100的传递组件130的驱动构件140(图6)的旋转能量通过延伸组件200的弯曲的外管206(图17)传递至在延伸组件200的套管针组件270的驱动螺杆276的近侧端276a上的突缘276c(图29)。
参照图29A和29B,连杆组件280包括联接构件282、第一驱动轴284和第二驱动轴286。联接构件282的近侧端282a限定了用于接收第一驱动轴284的远侧端284b的凹槽283a。联接构件282的远侧端282b限定了用于可操作地接收驱动螺杆276的近侧端276a上的突缘276c的凹槽283a。联接构件282包括用于在第一近侧间隔件构件252和第二近侧间隔件构件254(图32)之间可旋转地接收联接构件282的环形突缘282c。第一驱动轴284的近侧端284a和远侧端284b分别限定用于接收销288a、288b的过大开口285a、285b。第二驱动轴286的远侧端286b限定用于可操作地接收驱动轴284的近侧端284a的凹槽287。驱动轴286的近侧端286a包括可操作地接收在接合器组件100(图12)的驱动传递组件130的驱动构件140的插槽145内的突缘286c。
特别参考图29B,第一驱动轴284的近侧端284a被可操作地接收在第二驱动轴286的远侧端286中的凹槽285内。通过穿过第一驱动轴284的远侧端284b中的过大开口285b被接收的销288a,第一驱动轴284的远侧端284b可枢转地紧固在联接构件282的凹槽283a内。通过穿过第一驱动轴284的近侧端284a中的过大开口285a被接收的销288b,第一驱动轴284的近侧端284a可枢转地紧固在第二驱动轴286的远侧端286b中的凹槽287内。联接构件282和第二驱动轴286的凹槽283a和287以及第一驱动轴284的过大开口285a、285b分别构造成,随着第一驱动轴284和第二驱动轴286以及联接构件282中的每一个围绕其相应的纵向轴线旋转,允许第二驱动轴286相对于第一驱动轴284的枢转和第一驱动轴284相对于联接构件282的枢转,以将旋转力从接合器组件100的传递组件130(图6)传递至延伸组件200的套管针组件270(图30)。
现在参考图32和图33,延伸组件200的连接器组件290包括附接至外套筒206的远侧端206a并且围绕内柔性组件210和外柔性组件230(图26)和套管针组件270的远侧端的管状连接器292。具体地,管状连接器292的近侧端292a通过保持夹294而被接收在外套筒206的远侧端206b中并且紧固地附接至外套筒206的远侧端206b。O形圈296在连接器组件290的管状连接器292和外套筒206之间形成流体紧密密封。管状连接器292的远侧端292b构造成选择性地接合装载单元40(图34)的近侧端。管状连接器292的远侧端292b以卡扣配合布置、卡口联接或以其它合适的方式接合圆形装载单元40。
现在参考图34和图35,延伸组件200通过将延伸组件200的近侧端202(图17)接收在接合器组件100的远侧端104内而连接至接合器组件100。具体地,相应的内柔性带组件210和外柔性带组件230的第一和第二连接延伸部220、222、240、242被接收在接合器组件100的套筒106内,使得接合器组件100的第一推动器组件160的推动器构件170的凸起178被接收在外柔性带组件230的相应的第一连接延伸部240和第二连接延伸部242的开口241、243内。以这种方式,外柔性带组件230与第一推动器组件160紧固。另外,接合器组件100的第二推动器组件180的推动器构件190的凸起198被接收在内柔性带组件210的第一连接延伸部221和第二连接延伸部223的开口221、223内,以将内柔性带组件210与第二推动器组件180接合。
如上所述,接合器组件100可以包括从接合器组件100的远侧端104延伸出的驱动轴108(图3)。在延伸组件200的近侧部202接收在延伸组件100的远侧端104内之前,驱动轴108从接合器组件100移除。随着延伸组件200的近侧部202被接收在接合器组件100的远侧端102内,第二驱动轴286(图17)的近侧端286a(图17)被接收在延伸组件100(图12)的驱动传递组件130的驱动构件140的插槽145内。
在延伸组件200与接合器组件100可操作地接合并且接合器组件100与手术装置10(图1)可操作地接合之后,末端执行器30(图34)的装载单元40(图34)可以以常规方式附接至延伸组件200的连接器组件290,并且砧座组件50(图34)可以以常规方式附接至延伸组件200的套管针274的远侧端274b。在装载单元40和砧座组件50的致动期间,如上所述的,接合器组件100的第二推动器组件180的推动器构件190的如图35中的箭头“C”所示的纵向前进引起延伸组件200的外柔性带组件230的纵向前进,并且,如上所述,第一推动器组件160的推动器构件170的如图35中的箭头“D”所示的纵向前进引起内柔性带组件210的纵向前进。如上所述,驱动轴108沿第一方向的如箭头“E”所示的旋转引起延伸组件200的套管针274的前进。相反,推动器构件190的纵向缩回引起外柔性带组件230的纵向缩回,推动器构件170的纵向缩回引起内柔性带组件210的纵向缩回,并且驱动轴108沿第二方向的旋转引起延伸组件200的套管针274的缩回。
在实施例中,内柔性带组件210将接合器组件100的第二推动器组件180与附接至延伸组件200的连接组件290的末端执行器30(图34)的装载单元40(图34)的刀组件(未示出)可操作地连接。外柔性带组件230将接合器组件100的第一推动器组件160与装载单元40的吻合钉驱动器组件(未示出)可操作地连接。套管针组件270将接合器组件100的驱动传递组件130可操作地连接至末端执行器30(图34)的砧座组件50(图34)。以这种方式,第二推动器组件160的操作引起内柔性带组件210的纵向移动,内柔性带组件210的纵向移动引起刀组件的纵向移动,第一推动器组件180的操作引起外柔性带组件230的纵向移动,外柔性带组件230的纵向移动引起吻合钉驱动器组件的纵向移动,并且驱动传递组件130的操作引起套管针274的纵向移动,套管针274的纵向移动引起砧座组件50相对于装载单元40的纵向移动。
如上所述,通过堆叠接合器组件100的第一推动器组件160和第二推动器组件180并且将传递组件130的驱动轴108定位成通过第一推动器组件160和第二推动器组件180,接合器组件100可以通过具有小直径(例如,21mm)的进入口件或其它开口(未示出)执行三种功能。类似地,通过将内柔性带组件210构造在外柔性带组件230内并通过内柔性带组件210和外柔性带组件230接收套管针组件270,延伸组件200可以通过具有小直径(例如,21mm)的进入口件或其它开口(未示出)执行三种功能。
现在参照图36至图45,根据本公开的另一个实施例的接合器组件示出为接合器组件300。接合器组件300基本上类似于上文描述的接合器组件100,因此将仅关于它们之间的差异来描述。
从以下描述将变得显而易见,接合器组件300的构造允许接合器组件300的远侧部304围绕纵向轴线“x”(图37)相对于接合器组件300的近侧部302旋转。以这种方式,诸如紧固至接合器组件300的远侧部304的末端执行器30(图34)或紧固至例如紧固至接合器组件300的远侧部304的延伸组件200(图17)的延伸组件的末端执行器的末端执行器可以独立于附接有接合器组件300的手术装置(未示出)的移动而能绕着纵向轴线“x”旋转。
特别参考图37,接合器组件300包括基座306和相对于基座306沿着接合器组件300的纵向轴线“x”能旋转的支撑结构308。旋转手柄310可旋转地紧固至基座306并且固定地紧固至支撑结构308的近侧端。旋转手柄310允许接合器组件300的远侧部304相对于接合器组件300的近侧端302纵向旋转。闩锁312(图36)安装至旋转手柄310并选择性地将旋转手柄310紧固在固定的纵向位置。
仍然参考图37,接合器组件300的近侧部302包括驱动联接组件320和可操作地连接至驱动联接组件320的驱动传递组件330。接合器组件300的远侧部304包括可操作地连接至驱动传递组件330的第一推动器组件340和可操作地连接至驱动传递组件330的第二推动器组件380。驱动联接组件320和驱动传递组件330安装在基座306内并且相对于接合器组件300所附接至的手术装置(未示出)保持可旋转地固定。第一推动器组件340和第二推动器组件380安装在支撑结构308内,并且相对于接合器组件300所附接至的手术装置(未示出)能旋转。
驱动联接组件320构造成将接合器组件300选择性地紧固至手术装置(未示出)。关于示例性的手术装置和驱动联接组件的详细描述,请参考2014年11月21日提交的、序列号为14/550,183的共有美国专利申请,其内容通过引用整体并入本文。
继续参考图36和图37,接合器组件300的旋转手柄310可旋转地紧固至基座306。闩锁312构造为相对于基座306锁定旋转手柄310。闩锁312的如图36中的箭头“F”所示近侧移动使闩锁312从基座306脱离,以允许旋转手柄310相对于基座306的旋转。关于示例性的旋转手柄和闩锁机构的详细描述,请参考序列号为62/066,518的共有美国临时专利申请,其内容通过引用整体并入本文。
支撑结构308被围绕第一驱动推动器组件340和第二驱动推动器组件380固定地接收,并且能相对于基座306旋转。如上所述,旋转手柄310固定地紧固至支撑结构308的近侧端,以有助于支撑结构308相对于基座306的旋转。支撑结构308被保持在接合器组件300的外套筒305内,并且构造成保持第一驱动推动器组件340和第二驱动推动器组件380的轴向对准。关于示例性的支撑结构的详细描述,请参考序列号为62/066,518的共有美国临时专利申请,其内容以前通过引用并入本文。
接合器组件300的驱动传递组件330、第一推动器组件340和第二驱动推动器组件380与上文描述的接合器组件100的相应的驱动传递组件130、第一推动器组件160和第二驱动推动器组件180基本上相同,因此,将仅仅关于它们之间的差异来描述。
简言之,第一推动器组件340包括可操作地支撑在近侧壳体部342内的行星齿轮组件346和可操作地连接至行星齿轮组件346并可旋转地支撑在远侧壳体部344内的螺杆构件348。第一推动器组件340还包括可操作地连接至螺杆构件348并且可滑动地布置在远侧壳体部344内的推动器构件350。
特别参考图38至图41,推动器构件350包括具有螺纹近侧内表面352a和相反的平面的外表面354、356的大致圆筒形主体352。保持器358、360从相应的平面的外表面354、356延伸出。保持器358、360中的每一个分别包括一对细长突缘358a、358b、360a、360b并且分别包括分别连接细长突缘358a、358b、360a、360b的近侧端的连接器358c、360c。保持器358、360中的每一个分别在相应的细长突缘358a、358b、360a、360b之间限定纵向狭槽359、361。
棘爪组件362、364分别被接收在纵向狭槽359、361中的每一个内。棘爪组件362、364分别包括多个棘爪构件362a-e、364a-e(分别统称为棘爪366、368)和枢转销363、365。棘爪366、368分别通过分别穿过分别形成在棘爪366、368的相应的远侧端366b、368b中的开口367、369被接收的枢转销363、356而紧固在相应的纵向狭槽359、361内。棘爪366、368各自包括弯曲轮廓并且由弹性材料形成。突起370、372分别形成在远侧端366b、368b的近侧的相应的棘爪366、368的外弯曲表面上。突起370、372各自分别包括平坦的近侧面向表面370a、372a和歪斜或倾斜的远侧面向表面370b、372b。如下面将进一步详细描述的,突起370、372构造成当延伸组件200紧固至接合器组件300时被接收在延伸组件200(图42)的外柔性带230(图42)的相应连接器延伸部240、242(图43)的开口241、243(图43)内,以将外柔性带230紧固至第一推动器组件340的推动器构件350。
特别参考图40和图41,分别通过相应的远侧端366b、368b分别通过枢转销363、365分别紧固至保持器358、360,棘爪组件362、364的棘爪366、368分别被接收在保持器358、360的相应的纵向狭槽359、361内。棘爪366、368的近侧端366a、368a分别被接收在保持器358、360的相应的连接器358c、360c下方,并且分别接合推动器构件350的圆筒形主体352的平面的表面354、356。棘爪366、368构造成使得当相应的棘爪366、368处于第一或初始位置(图40)时,突起370、372分别在保持器358、360的相应的细长突缘358a、358b、360a、360b上方分别延伸。
现在参考图42和图43,棘爪366、368的弯曲轮廓是使得当相应的倾斜远侧表面370b、372b分别通过延伸组件200(图42)的外柔性带230(图42)的连接器延伸部240、242接合时,分别施加到突起370、372上的向内的力引起棘爪366、368向内屈曲。随着棘爪366、368向内弯曲,突起370、372分别定位在相应的保持器358、360下方,从而允许外柔性带230的连接器延伸部240、242越过相应的保持器358、360。一旦相应的连接器延伸部240、242的开口241、243分别与相应的棘爪366、368的突起370、372对准,棘爪366、368分别弹回到初始位置(图45),从而分别引起突起370、372分别被接收在连接器延伸部240、242的相应的开口241、243内,使得延伸组件200(图42)的外柔性带230(图42)紧固至第一推动器构件340。
一旦延伸组件200的外柔性带230的连接器延伸部240、242分别被接收在棘爪366、368上方,并且一旦突起370、372被接收在相应的连接器延伸部240、242的相应开口241、243内,则连接器延伸部240、242的分别通过突起370、372的平坦的近侧表面370a、372a的接合防止连接器延伸部240、242在接合器组件300和延伸组件200的操作期间从第一推动器组件340脱离。
接合器组件300以与上述接合器组件100基本相似的方式操作。另外,接合器组件300被构造为允许诸如附接至接合器组件300或附接至与接合器组件300附接的延伸组件的末端执行器30(图34)的末端执行器在使用期间选择性地绕着纵向轴线“x”(图36)旋转。
考虑到强度、耐久性、耐磨性、重量、耐腐蚀性、制造的容易性、制造成本等,本文所述的任何部件可以由金属、塑料、树脂、复合材料等制造。
本领域技术人员将理解的是,本文具体描述和附图中示出的装置和方法是非限制性示例性实施例。可以设想,结合一个示例性实施例示出或描述的元件和特征可以与另一个示例性实施例的元件和特征结合,而不脱离本公开的范围。同样,本领域技术人员将基于上述实施例理解本公开的进一步的特征和优点。因此,除非由所附权利要求指示,否则本公开不限于已经具体示出和描述的内容。
Claims (14)
1.一种用于将末端执行器可操作地连接至电手术器械的手术组件,所述手术组件包括:
接合器组件,其包括
连接器组件;
驱动传递组件,其通过所述连接器组件被可操作地接收并且包括第一可旋转轴;以及
第一推动器组件,其可操作性连接至所述第一可旋转轴,用于将来自所述第一可旋转轴的旋转运动转换成纵向移动以执行第一功能,所述第一推动器组件包括第一推动器构件以及第一棘爪组件和第二棘爪组件;以及
延伸组件,其可操作地连接至所述接合器组件的远侧端,所述延伸组件包括可操作地能连接至所述第一推动器组件的第一棘爪组件和第二棘爪组件的柔性带组件。
2.根据权利要求1所述的手术组件,还包括第二推动器组件和第二可旋转轴,所述第二可旋转轴可操作地连接至所述第二推动器组件,用于将来自所述第二可旋转轴的旋转运动转换成纵向移动以执行第二功能。
3.根据权利要求2所述的手术组件,还包括驱动构件和第三可旋转轴,所述第三可旋转轴可操作地连接至所述驱动构件,用于传递来自所述第三可旋转轴的旋转运动以执行第三功能。
4.根据权利要求1所述的手术组件,其中所述第一棘爪组件包括第一多个棘爪构件,并且所述第二棘爪组件包括第二多个棘爪构件。
5.根据权利要求4所述的手术组件,其中所述柔性带组件包括第一连接器构件和第二连接器构件,所述第一连接器构件和第二连接器构件中的每一个限定构造成用于选择性接收所述第一棘爪组件和第二棘爪组件中的相应的一个的开口。
6.根据权利要求5所述的手术组件,其中,所述第一多个棘爪构件包括选择性地能接收在所述第一连接器构件的开口内的第一突起,并且所述第二多个棘爪构件包括选择性地能接收在所述第二连接器构件的开口内的第二突起。
7.根据权利要求6所述的手术组件,其中所述第一突起和第二突起中的每个均包括平坦的近侧面向表面和倾斜的远侧面向表面。
8.根据权利要求4所述的手术组件,其中所述第一多个棘爪构件和第二多个棘爪构件可枢转地紧固至所述第一推动器构件。
9.根据权利要求4所述的手术组件,其中所述第一推动器构件包括用于支撑所述第一多个棘爪构件的第一保持器和用于支撑所述第二多个棘爪构件的第二保持器。
10.根据权利要求9所述的手术组件,其中所述第一保持器和所述第二保持器各自限定用于接收相应的第一多个棘爪构件和第二多个棘爪构件的纵向狭槽。
11.根据权利要求10所述的手术组件,其中,所述第一多个棘爪构件被可枢转地接收在所述第一保持器的纵向狭槽内,并且所述第二多个棘爪构件被可枢转地接收在所述第二保持器的纵向狭槽内。
12.根据权利要求11所述的手术组件,其中所述第一多个棘爪构件和第二多个棘爪构件中的每一个构造成径向向内屈曲。
13.根据权利要求4所述的手术组件,其中所述第一多个棘爪构件和第二多个棘爪构件各自包括弯曲轮廓。
14.根据权利要求4所述的手术组件,其中所述第一多个棘爪构件和第二多个棘爪构件各自由弹性材料形成。
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- 2016-11-04 CA CA2947558A patent/CA2947558A1/en not_active Abandoned
- 2016-11-04 JP JP2016216554A patent/JP2017086910A/ja active Pending
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EP3165181A1 (en) | 2017-05-10 |
CA2947558A1 (en) | 2017-05-06 |
CN106963439A (zh) | 2017-07-21 |
JP2017086910A (ja) | 2017-05-25 |
US10939952B2 (en) | 2021-03-09 |
US20170128123A1 (en) | 2017-05-11 |
AU2016253684A1 (en) | 2017-05-25 |
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