CN107019534B - 具有单个电动机驱动器的机电手术装置及其接合器组件 - Google Patents
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Abstract
本公开提供了具有单个电动机驱动器的机电手术装置及其接合器组件。本公开涉及包括手持式机电手术装置以及用于将手术装载单元连接至所述手持式机电手术装置的接合器组件的手术系统。当前描述的机电手术装置包括单个电动机驱动器,其选择性地驱动通过选择器电动机协调的多种输出组件以操作所述手术装载单元。
Description
相关申请的交叉引用
本申请要求于2015年12月22日提交的美国临时专利申请第62/270,804号的权益和优先权,其全部公开内容通过引用并入本文。
技术领域
本公开涉及手术系统,并且更具体地,涉及具有机电手术装置和接合器组件的手术系统,该机电手术装置包括具有单个电动机驱动器的手持式机电手术装置,该接合器组件用于将机电手术装置与末端执行器或手术装载单元互连。
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末端执行器和/或装载单元,该末端执行器和/或装载单元在使用之前选择性地连接至动力手柄组件。该动力手柄组件可以在使用之后与装载单元和/末端执行器断开,以便末端执行器、装载单元和/或手柄组件可以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或装载单元均通常需要线性驱动力以便被操作。因此,这些末端执行器或装载单元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或装载单元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。这些手术装置和/或接合器组件中的很多是包括很多零件且需要大量劳动来组装的复杂装置。
因此,需要开发包含较少零件、组装较不劳动密集,并且根本上讲制造和使用更经济的手术装置和/或接合器组件。
发明内容
本公开涉及手术系统,并且更具体地,涉及具有机电手术装置和接合器组件的手术系统,该机电手术装置包括具有单个电动机驱动器的手持式机电手术装置,该接合器组件用于将机电手术装置与末端执行器或装载单元互连。所述机电手术装置包括支撑选择器电动机的手柄组件,所述选择器电动机协调输出组件和所述单个电动机驱动器的接合。所述输出组件接合由接合器组件支撑的输入联接器。所述输入联接器能够操作性地联接至末端执行器或装载单元,使得来自所述输出组件的旋转力使得末端执行器或装载单元能够执行一种或多种功能。
根据本公开的方案,机电手术系统包括手柄组件、驱动电动机、选择器凸轮、选择器电动机、第一输出组件和第二输出组件。
所述驱动电动机可以支撑在所述手柄组件中并且可延伸至驱动齿轮。
所述选择器凸轮可以限定凹部。所述选择器凸轮可以包括邻近所述选择器凸轮的所述凹部的压缩表面。在一些实施例中,所述凹部包括锥形侧壁。
所述选择器电动机可以延伸至选择器齿轮。所述选择器齿轮可以定位成使所述选择器凸轮在第一位置和第二位置之间移动。
第一输出组件包括第一输出轴和第一输出齿轮。所述第一输出轴通过第一接合键选择性地联接至所述第一输出齿轮。所述第一输出齿轮能够与所述驱动电动机的所述驱动齿轮一起旋转。所述第一接合键能够在所述选择器凸轮处于所述第一位置以将所述第一输出齿轮与所述第一输出轴接合的同时定位在所述选择器凸轮的所述凹部内。所述第一输出轴能够在所述第一输出齿轮联接至所述第一输出轴的同时响应于所述驱动电动机的所述驱动齿轮的旋转而与所述第一输出齿轮一起旋转。所述第一输出齿轮能够在所述选择器凸轮处于所述第二位置的同时相对于所述第一输出轴旋转。
第二输出组件包括第二输出轴和第二输出齿轮。所述第二输出轴通过第二接合键选择性地联接至所述第二输出齿轮。所述第二输出齿轮接合于所述第一输出组件的所述第一输出齿轮。所述第二接合键能够在所述选择器凸轮处于所述第二位置以将所述第二输出齿轮与所述第二输出轴接合的同时定位在所述选择器凸轮的所述凹部内。所述第二输出轴能够在所述第二输出齿轮联接至所述第二输出轴的同时响应于所述驱动电动机的所述驱动齿轮的旋转而与所述第二输出齿轮一起旋转。所述第二输出齿轮能够在所述选择器凸轮处于所述第一位置的同时相对于所述第二输出轴旋转。
在一些实施例中,所述第一接合键和所述第一输出轴可以通过第一弹簧联接。所述第一弹簧可以定位成将所述第一接合键朝向所述选择器凸轮偏置。所述选择器凸轮的所述压缩表面可以定位成将所述第一接合键朝向所述第一输出轴推动并且在所述第一接合键与所述选择器凸轮的所述压缩表面相接触的同时在所述第一弹簧上施加压缩力。
在某些实施例中,所述第一接合键可以包括从其延伸的凸缘并且所述第一输出齿轮可以包括内齿。所述第一接合键的所述凸缘可以是能够穿过限定于所述第一输出轴中的狭槽在脱离位置和接合位置之间滑动的,以将所述第一输出齿轮选择性地接合于所述第一输出轴。在所述接合位置中,所述第一接合键的所述凸缘可以接合于所述第一输出齿轮的所述内齿和所述第一输出轴的所述狭槽,使得所述第一输出轴与所述第一输出轴一起旋转。在所述脱离位置中,所述第一接合键的所述凸缘可以接合于所述第一输出轴的所述狭槽且与所述第一输出齿轮间隔开,使得所述第一输出齿轮相对于所述第一输出轴旋转。
所述第一接合键可以包括圆形末端,所述圆形末端构造成当所述选择器凸轮在所述第一位置和所述第二位置之间移动时沿着所述选择器凸轮的所述凹部的所述锥形侧壁凸轮运动。
在某些实施例中,所述第二接合键和所述第二输出轴可以通过第二弹簧联接,所述第二弹簧定位成将所述第二接合键朝向所述选择器凸轮偏置。所述选择器凸轮的所述压缩表面可以定位成将所述第二接合键朝向所述第二输出轴推动并且在所述第二接合键与所述选择器凸轮的所述压缩表面相接触的同时在所述第二弹簧上施加压缩力。
在一些实施例中,所述第二接合键可以包括从其延伸的凸缘并且所述第二输出齿轮可以包括内齿。所述第二接合键的所述凸缘可以是能够穿过限定于所述第二输出轴中的狭槽在脱离位置和接合位置之间滑动的,以将所述第二输出齿轮选择性地接合于所述第二输出轴。在所述接合位置中,所述第二接合键的所述凸缘可以接合于所述第二输出齿轮的所述内齿和所述第二输出轴的所述狭槽,使得所述第二输出轴与所述第二输出轴一起旋转。在所述脱离位置中,所述第二接合键的所述凸缘可以接合于所述第二输出轴的所述狭槽且与所述第二输出齿轮间隔开,使得所述第二输出齿轮相对于所述第二输出轴旋转。
在某些实施例中,所述第二接合键包括圆形末端,并且所述圆形末端构造成当所述选择器凸轮在所述第一位置和所述第二位置之间移动时沿着所述选择器凸轮的所述凹部的所述锥形侧壁凸轮运动。
所述机电手术系统可以包括第三输出组件,该第三输出组件包括第三输出轴和第三输出齿轮。所述第三输出轴可以通过第三接合键选择性地联接至所述第三输出齿轮。所述第三输出齿轮可以接合于所述第一输出组件的所述第一输出齿轮。所述第三接合键可以是能够在所述选择器凸轮处于所述第三位置以将所述第三输出齿轮与所述第三输出轴接合的同时定位在所述选择器凸轮的所述凹部内的。所述第三输出轴可以是能够在所述第三输出齿轮接合于所述第三输出轴的同时响应于所述驱动电动机的所述驱动齿轮的旋转而与所述第三输出齿轮一起旋转的。所述第三输出齿轮可以是能够在所述选择器凸轮处于所述第一位置和所述第二位置的同时相对于所述第三输出轴旋转的。
在一些实施例中,所述第三接合键和所述第三输出轴可以通过第三弹簧联接。所述第三弹簧可以定位成将所述第三接合键朝向所述选择器凸轮偏置。
所述选择器凸轮的所述压缩表面可以定位成将所述第三接合键朝向所述第三输出轴推动并且在所述第三接合键与所述选择器凸轮的所述压缩表面相接触的同时在所述第三弹簧上施加压缩力。
在某些实施例中,所述第三接合键可以包括从其延伸的凸缘并且所述第三输出齿轮包括内齿。所述第三接合键的所述凸缘可以是能够穿过限定于所述第三输出轴中的狭槽而在脱离位置和接合位置之间滑动的,以将所述第三输出齿轮选择性地接合于所述第三输出轴。在所述接合位置中,所述第三接合键的所述凸缘可以接合于所述第三输出齿轮的所述内齿和所述第三输出轴的所述狭槽,使得所述第三输出齿轮和所述第三输出轴一起移动。在所述脱离位置中,所述第三接合键的所述凸缘可以接合于所述第三输出轴的所述狭槽且与所述第三输出齿轮间隔开,使得所述第三输出齿轮相对于所述第三输出轴旋转。
根据本公开的另一方案,一种机电手术系统包括:接合器组件,其具有近侧端和远侧端;末端执行器,其可移除地联接至所述接合器组件的所述远侧端;以及手柄组件,其联接至所述接合器组件的所述近侧端。所述接合器组件可以通过弹簧加载按钮或弹簧加载顶销中的一者或两者可移除地联接至所述手柄组件。
所述手柄组件包括:驱动电动机;驱动齿轮,其联接至所述驱动电动机;选择器凸轮,其限定凹部;以及选择器电动机,其延伸至选择器齿轮。所述选择器齿轮可以定位成使所述选择器凸轮在第一位置和第二位置之间移动。所述手柄组件进一步包括第一输出组件和第二输出组件。
第一输出组件包括第一输出轴和第一输出齿轮。所述第一输出齿轮可以是能够与所述驱动电动机的所述驱动齿轮一起旋转的。所述第一输出轴可以是能够在所述选择器凸轮处于所述第一位置的同时与所述第一输出齿轮一起旋转的。
第二输出组件包括第二输出轴和第二输出齿轮。所述第二输出齿轮可以接合于所述第一输出组件的所述第一输出齿轮。所述第二输出轴可以是能够在所述选择器凸轮处于所述第二位置的同时与所述第二输出齿轮一起旋转的。
在一些实施例中,所述第一输出轴和所述第二输出轴中的一个或两个通过接合键选择性地联接至所述第一输出齿轮和所述第二输出齿轮中的相应一个。
根据本公开的又一方案,一种机电手术系统包括接合器组件、末端执行器和手柄组件。
所述接合器组件具有近侧端和远侧端。所述接合器组件的所述近侧端可以包括第一输入联接器和第二输入联接器。装载单元可以被可移除地联接至所述接合器组件的所述远侧端并且可操作地联接至所述接合器组件的所述第一输入联接器和所述第二输入联接器。所述手柄组件联接至所述接合器组件的所述近侧端。
在一些实施例中,所述手柄组件包括:驱动电动机;驱动齿轮,其联接至所述驱动电动机;选择器凸轮,其限定凹部;以及选择器电动机,其延伸至选择器齿轮。所述选择器齿轮可以定位成使所述选择器凸轮在第一位置和第二位置之间移动。所述手柄组件可以包括:第一输出齿轮,其能够与所述驱动电动机的所述驱动齿轮一起旋转;第一输出轴,其能够与所述第一输出齿轮一起旋转并且在所述选择器凸轮处于所述第一位置的同时联接至所述接合器组件的所述第一输入联接器以驱动所述第一输入联接器;第二输出齿轮,其与所述第一输出齿轮接合;以及第二输出轴,其能够与所述第二输出齿轮一起旋转并且在所述选择器凸轮处于所述第二位置的同时联接至所述接合器组件的所述第二输入联接器以驱动所述第二输入联接器。
下面参照附图更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
包含在说明书中并构成说明书的一部分的附图示出了本公开的实施例,并且与上面给出的对本公开的大致描述以及下面给出的对实施例的详细描述一起用于解释本公开的原理,其中:
图1是根据本公开的原则的机电手术系统的立体图,为了清楚而以虚线示出的示例性装载单元连接至该机电手术系统;
图2是图1的机电手术系统在部件分离时的立体图;
图3是图1的机电手术系统的手柄组件在部件分离时的立体图;
图4是图3的手柄组件的手柄支座的立体图;
图5是图3的手柄组件的电动机组件的放大立体图,其中手柄组件的手柄外壳为了清楚而以虚线示出;
图6是图5的电动机组件的放大立体图;
图7是图5和图6的电动机组件的放大立体图,其中其选择器电动机为了清楚而以虚线示出;
图8是图5和图6的电动机组件的远侧部的放大立体图,其中其驱动电动机为了清楚而被移除;
图9是图5至图7的电动机组件的选择器凸轮的放大立体图;
图10是图5至图7的电动机组件的输出组件在部件分离时的立体图;
图11和图12是图10的输出组件的渐进图,其图示出输出组件在第一位置和第二位置之间移动;
图13是图1的机电手术系统的接合器组件的放大后视立体图;
图14是沿着图13中所示的剖面线14-14截取的图13的接合器组件的截面图;
图15是图13的接合器组件的接合器释放按钮的放大立体图;
图16是沿着图13中所示的剖面线16-16截取的图13的接合器组件的截面图;
图17是图3和图13的手柄组件和接合器组件在部件分离时的立体图;
图18至图24是示出图13的接合器组件被连接至图3的手柄组件的渐进图;
图25是图1中所示的示例性装载单元的示例性末端执行器在部件分离时的立体图;
图26A和图26B是图示出图25的示例性末端执行器被附接至图1的机电手术系统的渐进图。
具体实施方式
本公开的机电手术系统包括以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,这些末端执行器均被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接合器组件,其将动力手持式机电手术器械与多个不同的末端执行器互连用于实现这些末端执行器的致动和/或操纵。
本公开的机电手术系统、手术装置/手柄组件、接合器组件和/或末端执行器/装载单元的实施例参照附图进行详细描述,其中相同附图标记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”或“前缘”指代系统、组件、装置、和/或其部件的较远离用户的部分,而术语“近侧”或“后缘”指代系统、组件、装置、和/或其部件的较靠近用户的部分。正如在此使用的,术语“临床医生”指代医生、护士或其他护理提供者并且可以包括支持人员。正如在此使用的,术语“受验者”指代人类患者或其他动物。
现在转向图1和图2,根据本公开的机电手术系统(总体上被称为10)包括以动力手持式机电器械形式的手术装置或手柄组件100和接合器组件200。手柄组件100被构造用于选择性连接于接合器组件200,并且接合器组件200被构造成用于可移除地连接至包括末端执行器302的装载单元300(例如,多次使用装载单元或单次使用装载单元)和/或直接连接至末端执行器302。总之,手柄组件100和接合器组件200可以配合以致动装载单元300和/或末端执行器302。手柄组件100、接合器组件200和装载单元300(和/或末端执行器302)限定穿过其中的纵向轴线“L”。
为了简洁起见,尽管在此将装载单元300(和/或末端执行器302)描述为包括手术吻合部件,但本公开的装载单元300(和/或末端执行器302)可以包括或者适于包括任意类型的手术部件。例如,装载单元300(和/或末端执行器302)或其部件可以包括但不限于手术吻合器、手术施夹器、手术抓取装置等的中一个或多个部件。
如图3中所示,手柄组件100包括手柄外壳102,该手柄外壳102具有手柄部102a和从手柄部102a横向延伸的本体部102b。开关块组件104可移除地安装在手柄部102a上,并且包括可操作以激活机电手术系统10的某种功能(诸如发射、旋转、关节式运动和/或提供安全锁)的各种开关或致动器104a至104c。例如,如下面更详细描述的,在机电手术系统10的部件联接在一起的同时,致动器104a可以被按压以发射装载单元300(和/或末端执行器302)。在实施例中,致动器104a至104c中的一个或多个可以联接至或支撑一个或多个磁体(未示出),用于产生磁场和/或将电信号传递至布置在手柄组件100的手柄部102a和/或本体部102b内的传感器。电源组件106通过密封组件108安装在手柄部102a中。电源组件106包括彼此电耦合的电池组106a和电路板106b。电路板106b可以支撑任意数量或类型的电气部件,诸如电感器106c、传感器106d(例如,霍尔效应传感器)、电线、芯片、电阻器、电容器等。这些电气部件可以彼此和/或与致动器104a至104c电连通。
密封组件108安装至手柄部102a,并且包括联接在一起以将电源组件106支撑在手柄部102a内的密封板108a、扭锁板108b和盖板108c。
下面更详细地描述的驱动组件110被支撑在本体部102b中,并且包括手柄支座112,所述手柄支座112支撑与电源组件106电连通的一个或多个天线114、116和一个或多个电路板118a、118b(例如,具有如上参照电路板106b描述的任意数量和/或类型的电气部件)。天线114、116和/或电路板118a、118b(和/或电路板106b)可以与机电手术系统10的任意部件中的一个或多个有线地和/或无线地耦合。手柄支座112还支撑电动机组件120,该电动机组件120与天线114、116和/或电路板118a、118b电耦合,在开关块组件104的开关104a至104c中的一个或多个致动时,天线114、116和/或电路板118a、118b可以用以激活电动机组件120或其部件。一个或多个天线114、116可以被构造为与诸如云系统(未示出)和/或其他远程系统(例如,计算机、机器人等)的远程系统电通信(例如,发送和/或接收信号)。
如图4中所示,手柄支座112限定穿过其中的第一窗口112a和第二窗口112b和从其向远侧延伸的对准销112c。接合齿112d位于相应的第一窗口112a和第二窗口112b的每一个的远侧。每个接合齿112d限定朝向其相应的窗口112a、112b成锥形的远侧表面112e。每个接合齿112d还包括近侧肩部112f。
对于可以与当前描述的机电手术系统10或其部件组合和/或互换或适于与其一起使用的类似的手术装置及其部件的更详细的描述,可以参考于2014年10月22日提交的美国临时专利申请序列号62/066,996、国际公开号WO2009/039506和美国专利申请公开号2011/0121049,其各自的全部内容通过引用并入本文。
现在转向图5至图9,电动机组件120包括驱动电动机组件122、支撑在驱动电动机组件122上的安装板124、可旋转地支撑在驱动电动机组件122上、邻近安装板124的选择器凸轮126、联接至选择器凸轮126的选择器电动机128,以及联接至驱动电动机组件122的输出组件130。
与电路板106b、118a、118b和/或天线116电耦合的驱动电动机组件122包括单个电动机122a、从电动机122a向远侧延伸的轴122b以及驱动齿轮122c。轴122b具有非圆形横截面。轴122b的横截面可以具有任意合适的横截面构造(例如,星形、三角形、六角形、D形等)。驱动齿轮122c限定接收驱动电动机组件122的轴122b的开口122d,使得驱动齿轮122c在电动机122a致动时与轴122b一起如箭头“A”所示地旋转。开口122d可以具有任意合适的构造。在实施例中,开口122d与轴122b的横截面互补。驱动齿轮122c还限定围绕其外表面的齿122e,齿122e与输出轴组件130接合以在其上施加来自电动机122a的驱动力。
安装板124包括使用任意已知的紧固技术(诸如焊接、紧固、压配合等)而固定在一起的第一安装板124a和第二安装板124b。例如,第一安装板124a和第二安装板124b可以通过紧固件124c固定一起。驱动电动机组件122延伸穿过形成在第一安装板124a中的扩大的第一孔124e和限定在第二安装板124b中的第二孔124d,以将驱动电动机组件122的电动机122a接收在其中并支撑驱动电动机组件122。
选择器凸轮126联接至选择器电动机128并且邻近且接触第二安装板124b的远侧表面124f地安装在驱动电动机组件122上。如由图7中箭头“B”所示的,选择器凸轮126围绕驱动电动机组件122径向旋转,如下面更详细描述的。参照图9,选择器凸轮126包括本体部126a和齿轮部126b。齿轮部126b固定至本体部126a或以其他方式形成在本体部126a中,并且包括从齿轮部126b延伸的齿126c。齿126c示出为关于齿轮部126b布置成弓形构造,但是可以布置成任意合适的构造。选择器凸轮126的本体部126a限定具有锥形侧壁126e的凹部126d。本体部126a还包括定位在齿轮部126b和凹部126d之间的压缩表面126f。
如图7中所示,选择器电动机128包括选择器齿轮128a或可旋转地支撑选择器齿轮128a,选择器齿轮128a具有与选择器凸轮126的齿126c接合的齿128b。选择器电动机128使选择器齿轮128a旋转以使选择器凸轮126在第一位置、第二位置和第三位置之间关于驱动电动机组件122旋转,如下面更详细地描述的。
同样参照图8,电动机组件120包括具有第一输出组件130a、第二输出组件130b和第三输出组件130c的输出组件130。
参照图10至图12,第一输出组件130a、第二输出组件130b和第三输出组件130c(参见图7和图8)中的每一个限定纵向轴线“X”,并且包括相应的输出轴132、弹簧134、接合键136和输出齿轮138。输出轴132包括在其中限定弹簧孔口132b的轴体132a和沿其的狭槽132c。输出轴132的弹簧孔口132b将弹簧134的第一端134a接收在其中。输出轴132的轴体132a包括第一环形肩部132d、第二环形肩部132e和第三环形肩部132f,所述环形肩部在相对于彼此间隔开的位置处围绕轴体132a的外表面径向延伸。轴体132a的第一环形肩部132d定位在第二环形肩部132e和第三环形肩部132f之间,并且用以限制输出齿轮138沿着轴体132a的轴向运动。轴体132a的第二环形肩部132e定位在第一环形肩部132d和第三环形肩部132f的远侧并且用以在其上支撑远侧轴承140a。轴体132a的第三环形肩部132e定位在第一和第二肩部132f的近侧并且用以在其上支撑近侧轴承140b(例如,参见图8)。输出轴132的狭槽132c从接收弹簧134的轴体132a的开口近侧端132g延伸并穿过肩部132d,以将肩部132d分成两个分开和分立的部分,所述两个分开和分立的部分具有在其间限定的用于接合键136的联接区域133。输出轴132f的狭槽132c通过轴体132a的相对侧表面开口,并且包括邻近第二肩部132e并在其近侧的封闭的远侧端132h。
输出轴132包括从轴体132a向远侧延伸的驱动头132i。驱动头132i可具有任意合适的非圆形构造,诸如三角形构造、正方形构造、六角形构造等。
每个输出组件130的接合键136在其近侧端处包括圆形尖端136a,并且在其远侧端中限定弹簧孔口136b。弹簧孔口136b将弹簧134的第二端134b接收在其中,以在输出轴132和接合键136之间支撑弹簧134。接合键136还包括从接合键136的远侧端的侧表面横向向外延伸的凸缘136c、136d。接合键136的凸缘136c、136d能够在输出轴132的相对侧上滑动通过输出轴132的狭槽132c。弹簧134构造成使接合键136在近侧方向上(例如,远离输出轴132)朝向选择凸轮126偏置。
每个输出组件130的输出齿轮138包括从其外表面延伸的外齿138a和从其内表面延伸到通过输出齿轮138限定的开口138c中的内齿138b。输出齿轮138的相邻内齿138b间隔开以将接合键136的凸缘136c、136d选择性地接收在其中。
如下面更详细地描述的,在接合键136相对于输出齿轮138的脱离位置(例如,解锁)中,接合键136的凸缘136c、136d相对于纵向轴线“X”从输出齿轮138的内齿138b向其远侧纵向偏移,如图1中所示的,使得输出齿轮138可以关于接合键136和输出轴132并相对于纵向轴线“X”旋转,如由箭头“B”所示的。具体来说,当接合键136处于脱离位置时,输出齿轮138独立于接合键136和输出轴132。
如图12中所示,在接合键136相对于输出齿轮138的接合位置(例如,锁定)中,接合键136的凸缘136c、136d部分地布置在输出齿轮138的内齿138b之间(例如,相对于纵向轴线“X”部分地纵向对齐),同时部分地定位在输出轴132的肩部132d的联接区域133内。在接合键136的接合位置中,输出轴132和输出齿轮138被锁定在一起并能够一起移动。更具体地,输出轴132、接合键136和输出齿轮138关于纵向轴线“X”一起旋转,如由箭头“C1”、“C2”和“C3”所示的。
现在转向图13,接合器组件200在接合器组件200的近侧端处包括近侧外壳200a。近侧外壳200a的近侧端选择性地固定至手柄组件100的远侧端。接合器组件200包括从近侧外壳200a向远侧延伸的远侧外壳200b以及从远侧外壳200b向远侧延伸到远侧端的外管200c。
现在参照图14,接合器组件200的近侧外壳200a支撑由弹簧202a(参见图19)弹簧偏置的顶销202。近侧外壳200a限定了在接合器组件200联接至手柄组件100(参见图17)期间接收手柄支座112的对准销112c的对准孔口204。近侧外壳200a还支撑由弹簧208弹簧偏置的弹簧加载按钮206。如图15中所示,弹簧加载按钮206包括延伸到成角度表面206c的小块(nub)206a、206b。小块206a、206b可分别容纳在手柄支座112的窗口112a、112b(参见图4)内,以将接合器组件200固定至手柄组件100,如下面更详细描述的。
同样参照图16,接合器组件200的输入联接器210包括由近侧外壳200a支撑并且通过联接至旋转支座212a的弹簧212沿着近侧方向弹簧偏置(如由箭头“D1”所示的)的第一输入联接器210a、第二输入联接器210b和第三输入联接器210c。如由箭头“D2”所示的,弹簧212可以克服弹簧212的偏置力而在远侧方向上被压缩。如图14中所示,每个输入联接器210限定了穿过其中的非圆形通道211,所述非圆形通道211可以具有任意合适的横截面构造(例如,星形、三角形、六角形、D形等)。参照图17,第一输入联接器210a、第二输入联接器210b和第三输入联接器210c分别定位成与手柄组件100的输出轴130a、130b、130c互补。
继续参照图16,第一输入联接器210a联接至接合器组件200的发射轴214的近侧段214a,并且可与第一输入联接器210a一起旋转,如由箭头“R1”所示。发射轴214由布置在远侧外壳200b中的轴承216支撑并且包括具有近侧端和远侧端的螺纹远侧段214b。螺纹远侧段214b的近侧端联接至螺纹套管组件215,并且螺纹远侧段214b的远侧端联接至装载单元300(和/或末端执行器302)。
螺纹套管组件215包括螺纹联接至张紧套管215b的支撑套管215a。张紧套管215b可以联接至向远侧延伸到外管200c的远侧端的连接构件215c(例如,缆线、杆等),以在联接至装载单元300(和/或末端执行器302)时操纵接合器组件200的外管200c的远侧端。例如,连接构件215c可以联接至万向节(未示出)等,以便于装载单元300(和/或末端执行器302)相对于接合器组件200的关节式运动。可以与当前描述的机电手术系统10一起使用或适于与其一起使用的示例性万向节的更详细的描述,可参考于2014年4月21日提交的美国专利申请序列号14/257,063,其全部内容通过引用并入本文。
接合器组件200的第二输入联接器210b联接至接合器组件200的旋转轴218,并且如由箭头“R2”所示的,旋转轴218能够与第二输入联接器210b一起旋转。旋转轴218包括支撑在旋转轴218的远侧端上的旋转齿轮218a。旋转齿轮218a与固定至远侧壳体200b的旋转齿圈220接合。旋转轴218通过支撑框架222和旋转轴承224进一步支撑在远侧壳体200b中。旋转轴承224使得远侧壳体200b能够响应于第二输入联接器210b和旋转轴218的同时旋转而旋转。在使用中,在远侧外壳200b固定至外管200c并且外管200c联接至装载单元300(和/或末端执行器302)的情况下,远侧外壳200b的旋转使装载单元300(和/或末端执行器302)关于纵向轴线“L”旋转,如由箭头“E”所示的。
接合器组件200的第三输入联接器210c联接至可如由箭头“R3”所示的与第三输入联接器210c能够一起旋转的关节式运动轴226的近侧端226a。关节式运动轴226的远侧端226b螺纹联接至固定至内管200d的近侧端的关节式运动套管228。接合器组件200的内管200d的远侧端可操作地联接至装载单元300(和/或末端执行器302)。响应于关节式运动轴226的旋转,关节式运动套管228能够如由箭头“F”所示的沿着纵向轴线“L”轴向滑动,以执行诸如装载单元300(和/或末端执行器302)相对于接合器组件200关节式运动的功能。
螺纹发射轴214、旋转轴218和/或关节式运动轴226的近侧端可以具有任意合适的横截面构造(例如,星形、三角形、六角形、D形等),并且可以与各个输入联接器210的非圆形通道211互补,以使得当弹簧212定位在压缩状态(例如,参见图16中的输入联接器210b的弹簧212)和未压缩状态(例如,参见图16中的输入联接器210a、210c的弹簧212)之间时,输入联接器210能够沿着相应的轴214、218、226的近侧端滑动,例如,以便于手柄组件100和接合器组件200的联接和/或分离,如下面更详细地描述的。
如图17至图24中所示,为了将接合器组件200固定至手柄组件100,接合器组件200的近侧外壳200a的部件与手柄支座112的部件对准,使得手柄组件100和接合器组件200可以在其接近时被联接。特别地,手柄组件100的手柄支座112的对准销112c被接收在接合器组件200的近侧外壳200a的对准孔口204中,并且手柄组件100的第一输出组件130a、第二输出组件130b和第三输出组件130c被分别接收在接合器组件200的第一输入联接器210a、第二输入联接器210b和第三输入联接器210c内。此外,随着弹簧加载按钮206的弹簧208(图14)朝向压缩状态向下压缩,接合器组件200的弹簧加载按钮206的成角度表面206c沿着手柄支座112的接合齿112d的锥形远侧表面112e凸轮运动。随着顶销202接触手柄支座112的压缩壁112g(参见图20),顶销202的弹簧202a朝向其压缩状态压缩。随着弹簧加载按钮206的小块206a、206b凸轮运动经过手柄支座112的接合齿112d,弹簧加载按钮206的弹簧208朝向其未压缩状态偏置,使得弹簧加载按钮206的小块206a、206b可分别接收在手柄支座112的第一窗口112a和第二窗口112b中。在弹簧加载按钮206的小块206a、206b与手柄支座112的肩部112f接合的情况下,由处于其压缩状态的顶销202的弹簧202a施加的弹簧偏置力通过增加弹簧加载按钮206的小块206a、206b和手柄支座112的肩部112f之间的接触力来进一步支持接合,以使得接合器组件200和手柄组件100保持固定在一起。
为了将手柄组件100和接合器组件200彼此分离,按压弹簧加载按钮206以将小块206a、206b从手柄支座112的肩部112f释放,使得随着弹簧202a将顶销202朝向其初始延伸状态(例如,未压缩)偏置,由顶销202的弹簧202a施加的压缩力将手柄组件100和接合器组件200分离。
现在转向图25,示例性末端执行器302包括砧座310和钉仓组件320,砧座310和钉仓组件320通过一对销315a、315b而销接在一起并且能够在打开状态和闭合状态之间移动。砧座310和钉仓组件320配合以施加多个线性行的紧固件“F”(例如,吻合钉)。在某些实施例中,紧固件具有多种尺寸,并且在某些实施例中,紧固件具有多种长度或多行(例如,长度为约30mm、45mm和60mm)。
钉仓组件320包括固定至安装部324的基部322、框架部326和钉仓部328,所述钉仓部328在其组织接合表面中限定多个紧固件保持狭槽328a和刀具狭槽328b。安装部324在其近侧端上具有配合表面324a、324b,并且在其中限定了接收通道324c,所述接收通道324c将框架部326、钉仓部328和紧固件发射组件330支撑在其中。钉仓组件320支撑接合砧座310的偏置构件340。
紧固件发射组件330包括与手柄组件100(图1)电连通的电接触构件332、轴承构件334、齿轮构件336和螺杆组件338。螺杆组件338包括丝杠338a、驱动梁338b以及能与多个推动器构件338d接合的致动滑块338c。
钉仓组件320还支撑一对柱塞组件350a、350b。该对柱塞组件350a、350b中的每一个包括弹簧352、柱塞354和将每个柱塞组件固定至安装部324的销356。柱塞组件350a、350b与钉仓部328的近侧端配合以便于将钉仓部328固定在安装部324内。
如图26A和图26B中所示,接合器组件200可以包括远侧联接构件200e,所述远侧联接构件200e具有远侧齿轮200g并且固定至外管200c的远侧端。联接构件200e和远侧齿轮200g使得末端执行器302能够固定至外管200c的远侧端。
对于可与当前描述的机电手术系统10一起使用或适于与其一起使用的类似的末端执行器、联接构件及其部件的更详细描述,可参考于2014年4月21日提交的美国专利申请序列号14/257,063,其全部内容通过引用并入本文,如上所指出的。
再次参照图1至图25,一旦机电手术系统10的部件联接在一起,手柄组件100的致动器104a至104c中的一个或多个可以被操纵以使得手柄组件100的驱动组件110能够操作装载单元300(和/或末端执行器302)。
选择器电动机128是能致动的以使选择器凸轮128在第一位置或发射状态、第二位置或旋转状态和第三位置或关节式运动状态之间旋转。在发射状态、旋转状态和关节式运动状态中的每一个状态中,第一输出组件130a、第二输出组件130b和第三输出组件130c中的一个被接收在选择器凸轮126的凹部126d内并且布置在接合位置(例如,延伸),而第一输出组件130a、第二输出组件130b和第三输出组件130c的其它两个输出组件与选择器凸轮126的凹部126d分离并且布置在脱离位置(例如,压缩)。
在接合位置中,第一输出组件130a、第二输出组件130b和第三输出组件130c的一个相应输出组件的接合键136从相应输出组件的输出轴132延伸,使得相应接合键136的凸缘136d、136c定位在相应输出组件的输出齿轮138的内齿138b之间以及定位相应输出组件130a的输出轴132的联接区域133中。
在脱离位置中,第一输出组件130a、第二输出组件130b和第三输出组件130c的两个输出组件的接合键136的圆形末端136a与选择器凸轮126的压缩表面126f接触并且抵着其被压缩,使得两个相应的输出组件的凸缘136d、136c从两个相应的输出组件的输出齿轮138的内齿138b向其远侧纵向偏移。
在第一输出组件130a的输出齿轮138的齿138a同时与驱动齿轮122c的齿122c以及相应的第二输出组件130b和第三输出组件130c的输出齿轮138的齿138a啮合的情况下,驱动齿轮122c的旋转使第一输出组件130a、第二输出组件130b和第三输出组件130c的所有输出齿轮138旋转。然而,仅在接合位置中,相应的输出组件可以驱动相应的输出组件的相应的驱动头132i。
为了在发射状态、旋状态转和关节式运动状态之间改变,选择器电动机128的激活使选择器凸轮128围绕驱动电动机组件122旋转,使得处于接合位置的一个输出组件130a、130b或130c移动到脱离位置,而两个脱离的输出组件130a、130b和/或130c中的一个移动到接合位置,并且两个脱离的输出组件130a、130b和/或130c中的另一个从第一脱离位置移动到第二脱离位置。在接合位置和脱离位置之间的运动(例如,输出组件130a、130b或130c中的一个从脱离位置移动到接合位置,并且输出组件130a、130b或130c中的另一个从接合位置移动到脱离位置)使相应接合键136的圆形末端136a沿着选择器凸轮126的凹部126d的锥形表面126e凸轮运动。输出组件中的一个从第一脱离位置到第二脱离位置的移动导致第一输出组件130a、第二输出组件130b和第三输出组件130c的圆形尖端136a沿着选择器凸轮126的压缩表面126f凸轮运动,同时保持相应的输出组件处于压缩状态。
关于选择器凸轮126的发射状态,第一输出组件130a布置在接合位置,而第二组件130b和第三组件130c布置在脱离位置,使得致动器104a可以被致动以发射装载单元300(和/或末端执行器302)。更具体地,致动器104a的按压导致电动机122a使驱动齿轮122c旋转。如果在按压致动器104a之前选择器凸轮126处于旋转状态或关节式运动状态之一,则在致动电动机122a以使驱动齿轮122c旋转之前,手柄组件100的电路板118a、118b与选择器电动机128连通以使选择器凸轮126旋转到发射状态,如上所述。一旦选择器凸轮126处于发射状态,则随着驱动电动机组件122的驱动齿轮122c旋转,第一输出组件130a的输出齿轮138使第一输出组件130a的驱动头132i旋转,而第二输出组件130b和第三输出组件130c的输出齿轮138围绕它们各自的输出轴132旋转,使得第二输出组件130b和第三输出组件130c的驱动头132i不旋转。第一输出组件130a的驱动头132i的旋转使接合器组件200的第一输入联接器210a旋转,以使发射轴214旋转。发射轴214的旋转导致末端执行器302的丝杠338a旋转并将驱动梁338b和致动滑块338c沿着砧座组件310和钉仓组件320向远侧推进以便发射紧固件“F”。
关于选择器凸轮126的旋转状态,第二输出组件130b布置在接合位置,而第一输出组件130a和第二输出组件130b布置在脱离位置,使得致动器104c可以被旋转,以使装载单元300(和/或末端执行器302)相对于手柄组件100关于纵向轴线“L”旋转。更具体地,致动器104c的旋转导致电动机122a使驱动齿轮122c旋转。如果选择器凸轮126在致动器104c旋转之前处于发射状态或关节式运动状态之一,则在致动电动机122使驱动齿轮122c旋转之前,手柄组件100的电路板118a、118b与选择器电动机128连通,以使选择器凸轮126旋转到旋转状态,如上所述。一旦选择器凸轮126处于旋转状态,则随着驱动电动机组件120的驱动齿轮122c旋转,第二输出组件130b的输出齿轮138使第二输出组件130a的驱动头132i旋转,同时第一输出组件130a和第三输出组件130c的输出齿轮138围绕它们各自的输出轴132旋转,使得第二输出组件130b和第三输出组件130c的驱动头132i不旋转。第二输出组件130b的驱动头132i的旋转使接合器组件200的第二输入联接器210b旋转,以使旋转轴218旋转。随着旋转轴218旋转,旋转轴218的旋转齿轮218a转动旋转齿圈220,并且使接合器组件200的远侧外壳200b和外管200c旋转。外管200的旋转导致装载单元300(和/或末端执行器302)关于纵向轴线“L”旋转。
关于选择器凸轮126的关节式运动状态,第三输出组件130c布置在接合位置,而第一输出组件130a和第二输出组件130b布置在脱离位置,使得致动器104a可以相对于手柄组件100横向移动(例如,左侧或右侧),以使装载单元300(和/或末端执行器302)相对于纵向轴线“L”并相对于手柄组件100和接合器组件200关节式运动。更具体地,致动器104a相对于手柄组件100的横向移动导致电动机122a使驱动齿轮122c旋转。如果选择器凸轮126在横向移动致动器104a之前处于旋转状态或发射状态之一,则在致动电动机122a使驱动齿轮122c旋转之前,手柄组件100的电路板118a、118b与选择器电动机128连通,以将选择器凸轮126旋转到关节式运动状态,如上所述的。一旦选择器凸轮126处于关节式运动状态,则随着驱动电动机组件120的驱动齿轮122c旋转,第三输出组件130c的输出齿轮138使第三输出组件130c的驱动头132i旋转,同时第一输出组件130a和第二输出组件130b的输出齿轮138围绕它们各自的输出轴132旋转,使得第一输出组件130a和第二输出组件130b的驱动头132i不旋转。第三输出组件130c的驱动头132i的旋转使接合器组件200的第三输入联接器210c旋转,以使关节式运动轴226旋转。随着关节式运动轴226旋转,关节式运动套管228沿着纵向轴线“L”轴向滑动,以使内管200d相对于外管200c轴向移动并导致装载单元300(和/或末端执行器302)相对于接合器组件200和纵向轴线“L”关节式运动。
考虑到强度、耐久性、耐磨性、重量、耐腐蚀性、制造容易性、制造成本等,本文所述的任意部件可以由金属、塑料、树脂、复合材料等中的任一种制造。
还可以想到,本文所述的任意可旋转部件可以关于其各自的纵向轴线在顺时针方向和/或逆时针方向上旋转。
在实施例中,本文所述的任意部件(例如装载单元和/或接合器)可包括电联接至手柄组件100的电路板/控制器的一个或多个微芯片,例如单线微芯片(例如,可从加利福尼亚州的圣何塞的MAXIM INTEGRATEDTM获得的型号为DS2465、DS28E15和/或DS2432的微芯片)。示例性的单线微芯片示出并描述于美国专利第6,239,732号中,其全部内容通过引用并入本文。这些芯片中的任一个可以包括加密认证(例如,SULU ID)和/或可以是单线兼容的。
本领域技术人员将理解,本文具体描述和附图中示出的结构和方法是非限制性的示例性实施例,并且描述、公开和附图应当仅被解释为特定实施例的示例。因此,应当理解,本公开不限于所描述的精确实施例,并且在不脱离本公开的范围或构思的情况下,本领域技术人员可以实现各种其它改变和修改。另外,在不脱离本公开的范围的情况下,结合某些实施例示出或描述的元件和特征可以与某些其它实施例的元件和特征组合,并且这样的修改和变化也包括在本公开的范围内。因此,本公开的主题不限于已经具体示出和描述的内容。
Claims (20)
1.一种机电手术系统,包括:
手柄组件;
驱动电动机,其支撑在所述手柄组件中并且延伸至驱动齿轮;
选择器凸轮,其限定凹部;
选择器电动机,其延伸至选择器齿轮,所述选择器齿轮定位成使所述选择器凸轮在第一位置和第二位置之间移动;
第一输出组件,其包括第一输出轴和第一输出齿轮,所述第一输出轴通过第一接合键选择性地联接至所述第一输出齿轮,所述第一输出齿轮能够与所述驱动电动机的所述驱动齿轮一起旋转,所述第一接合键能够在所述选择器凸轮处于所述第一位置以将所述第一输出齿轮与所述第一输出轴接合的同时定位在所述选择器凸轮的所述凹部内,所述第一输出轴能够在所述第一输出齿轮联接至所述第一输出轴的同时响应于所述驱动电动机的所述驱动齿轮的旋转而与所述第一输出齿轮一起旋转,所述第一输出齿轮能够在所述选择器凸轮处于所述第二位置的同时相对于所述第一输出轴旋转;以及
第二输出组件,其包括第二输出轴和第二输出齿轮,所述第二输出轴通过第二接合键选择性地联接至所述第二输出齿轮,所述第二输出齿轮与所述第一输出组件的所述第一输出齿轮接合,所述第二接合键能够在所述选择器凸轮处于所述第二位置以将所述第二输出齿轮与所述第二输出轴接合的同时定位在所述选择器凸轮的所述凹部内,所述第二输出轴能够在所述第二输出齿轮联接至所述第二输出轴的同时响应于所述驱动电动机的所述驱动齿轮的旋转而与所述第二输出齿轮一起旋转,所述第二输出齿轮能够在所述选择器凸轮处于所述第一位置的同时相对于所述第二输出轴旋转。
2.根据权利要求1所述的机电手术系统,其中,所述第一接合键和所述第一输出轴通过第一弹簧联接,所述第一弹簧定位成将所述第一接合键朝向所述选择器凸轮偏置。
3.根据权利要求2所述的机电手术系统,其中,所述选择器凸轮包括邻近所述选择器凸轮的所述凹部的压缩表面,所述压缩表面定位成将所述第一接合键朝向所述第一输出轴推动并且在所述第一接合键与所述选择器凸轮的所述压缩表面相接触的同时在所述第一弹簧上施加压缩力。
4.根据权利要求1所述的机电手术系统,其中,所述第一接合键包括从其延伸的凸缘并且所述第一输出齿轮包括内齿,其中所述第一接合键的所述凸缘能够穿过限定于所述第一输出轴中的狭槽在脱离位置和接合之间滑动以将所述第一输出齿轮选择性地接合于所述第一输出轴,并且其中在接合位置中,所述第一接合键的所述凸缘接合于所述第一输出齿轮的所述内齿和所述第一输出轴的所述狭槽,使得所述第一输出轴与所述第一输出轴一起旋转。
5.根据权利要求4所述的机电手术系统,其中,在所述脱离位置中,所述第一接合键的所述凸缘接合于所述第一输出轴的所述狭槽且与所述第一输出齿轮间隔开,使得所述第一输出齿轮相对于所述第一输出轴旋转。
6.根据权利要求1所述的机电手术系统,其中,所述选择器凸轮的所述凹部包括锥形侧壁并且所述第一接合键包括圆形末端,并且其中所述圆形末端构造成当所述选择器凸轮在所述第一位置和所述第二位置之间移动时沿着所述凹部的所述锥形侧壁凸轮运动。
7.根据权利要求1所述的机电手术系统,其中,所述第二接合键和所述第二输出轴通过第二弹簧联接,所述第二弹簧定位成将所述第二接合键朝向所述选择器凸轮偏置。
8.根据权利要求7所述的机电手术系统,其中,所述选择器凸轮包括邻近所述选择器凸轮的所述凹部的压缩表面,所述压缩表面定位成将所述第二接合键朝向所述第二输出轴推动并且在所述第二接合键与所述选择器凸轮的所述压缩表面相接触的同时在所述第二弹簧上施加压缩力。
9.根据权利要求1所述的机电手术系统,其中,所述第二接合键包括从其延伸的凸缘并且所述第二输出齿轮包括内齿,其中所述第二接合键的所述凸缘能够穿过限定于所述第二输出轴中的狭槽在脱离位置和接合之间滑动以将所述第二输出齿轮选择性地接合于所述第二输出轴,并且其中在接合位置中,所述第二接合键的所述凸缘接合于所述第二输出齿轮的所述内齿和所述第二输出轴的所述狭槽,使得所述第二输出轴与所述第二输出轴一起旋转。
10.根据权利要求9所述的机电手术系统,其中,在所述脱离位置中,所述第二接合键的所述凸缘接合于所述第二输出轴的所述狭槽且与所述第二输出齿轮间隔开,使得所述第二输出齿轮相对于所述第二输出轴旋转。
11.根据权利要求1所述的机电手术系统,其中,所述凹部包括锥形侧壁并且所述第二接合键包括圆形末端,并且其中所述圆形末端构造成当所述选择器凸轮在所述第一位置和所述第二位置之间移动时沿着所述选择器凸轮的所述凹部的所述锥形侧壁凸轮运动。
12.根据权利要求1所述的机电手术系统,还包括第三输出组件,所述第三输出组件包括第三输出轴和第三输出齿轮,所述第三输出轴通过第三接合键选择性地联接至所述第三输出齿轮,所述第三输出齿轮接合于所述第一输出组件的所述第一输出齿轮,所述第三接合键能够在所述选择器凸轮处于第三位置以将所述第三输出齿轮与所述第三输出轴接合的同时定位在所述选择器凸轮的所述凹部内,所述第三输出轴能够在所述第三输出齿轮接合于所述第三输出轴的同时响应于所述驱动电动机的所述驱动齿轮的旋转而与所述第三输出齿轮一起旋转,所述第三输出齿轮能够在所述选择器凸轮处于所述第一位置和所述第二位置的同时相对于所述第三输出轴旋转。
13.根据权利要求12所述的机电手术系统,其中,所述第三接合键和所述第三输出轴通过第三弹簧联接,所述第三弹簧定位成将所述第三接合键朝向所述选择器凸轮偏置。
14.根据权利要求13所述的机电手术系统,其中,所述选择器凸轮包括邻近所述选择器凸轮的所述凹部的压缩表面,所述压缩表面定位成将所述第三接合键朝向所述第三输出轴推动并且在所述第三接合键与所述选择器凸轮的所述压缩表面相接触的同时在所述第三弹簧上施加压缩力。
15.根据权利要求12所述的机电手术系统,其中,所述第三接合键包括从其延伸的凸缘并且所述第三输出齿轮包括内齿,其中所述第三接合键的所述凸缘能够穿过限定于所述第三输出轴中的狭槽在脱离位置和接合位置之间滑动以将所述第三输出齿轮选择性地接合于所述第三输出轴,并且其中在所述接合位置中,所述第三接合键的所述凸缘接合于所述第三输出齿轮的所述内齿和所述第三输出轴的所述狭槽,使得所述第三输出齿轮和所述第三输出轴一起移动。
16.根据权利要求15所述的机电手术系统,其中,在所述脱离位置中,所述第三接合键的所述凸缘接合于所述第三输出轴的所述狭槽且与所述第三输出齿轮间隔开,使得所述第三输出齿轮相对于所述第三输出轴旋转。
17.一种机电手术系统,包括:
接合器组件,其具有近侧端和远侧端;
装载单元,其可移除地联接至所述接合器组件的所述远侧端;
手柄组件,其联接至所述接合器组件的所述近侧端,所述手柄组件包括:
驱动电动机;
驱动齿轮,其联接至所述驱动电动机;
选择器凸轮,其限定凹部;
选择器电动机,其延伸至选择器齿轮,所述选择器齿轮定位成使所述选择器凸轮在第一位置和第二位置之间移动;
第一输出组件,其包括第一输出轴和第一输出齿轮,所述第一输出齿轮能够与所述驱动电动机的所述驱动齿轮一起旋转,所述第一输出轴能够在所述选择器凸轮处于所述第一位置的同时与所述第一输出齿轮一起旋转;以及
第二输出组件,其包括第二输出轴和第二输出齿轮,所述第二输出齿轮接合于所述第一输出组件的所述第一输出齿轮,所述第二输出轴能够在所述选择器凸轮处于所述第二位置的同时与所述第二输出齿轮一起旋转。
18.根据权利要求17所述的机电手术系统,其中,所述第一输出轴和所述第二输出轴中的至少一个通过接合键选择性地联接至所述第一输出齿轮和所述第二输出齿轮中的相应一个。
19.根据权利要求17所述的机电手术系统,其中,所述接合器组件通过弹簧加载按钮或弹簧加载顶销中的至少一个可移除地联接至所述手柄组件。
20.一种机电手术系统,包括:
接合器组件,其具有近侧端和远侧端,所述近侧端包括第一输入联接器和第二输入联接器;
装载单元,其可移除地联接至所述接合器组件的所述远侧端并且可操作地联接至所述接合器组件的所述第一输入联接器和所述第二输入联接器;以及
手柄组件,其联接至所述接合器组件的所述近侧端,所述手柄组件包括:
驱动电动机;
驱动齿轮,其联接至所述驱动电动机;
选择器凸轮,其限定凹部;
选择器电动机,其延伸至选择器齿轮,所述选择器齿轮定位成使所述选择器凸轮在第一位置和第二位置之间移动;
第一输出齿轮,其能够与所述驱动电动机的所述驱动齿轮一起旋转;
第一输出轴,其能够与所述第一输出齿轮一起旋转并且在所述选择器凸轮处于所述第一位置的同时联接至所述接合器组件的所述第一输入联接器以驱动所述第一输入联接器;
第二输出齿轮,其与所述第一输出齿轮接合;以及
第二输出轴,其能够与所述第二输出齿轮一起旋转并且在所述选择器凸轮处于所述第二位置的同时联接至所述接合器组件的所述第二输入联接器以驱动所述第二输入联接器。
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JP6851812B2 (ja) | 2021-03-31 |
EP3184057B1 (en) | 2019-04-10 |
CN107019534A (zh) | 2017-08-08 |
US20190203805A1 (en) | 2019-07-04 |
JP2017113569A (ja) | 2017-06-29 |
AU2016273857A1 (en) | 2017-07-06 |
US10968981B2 (en) | 2021-04-06 |
US10253847B2 (en) | 2019-04-09 |
EP3184057A1 (en) | 2017-06-28 |
US20170175852A1 (en) | 2017-06-22 |
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