CN107019536B - 用于关节式运动关节的定心机构 - Google Patents

用于关节式运动关节的定心机构 Download PDF

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CN107019536B
CN107019536B CN201710022746.6A CN201710022746A CN107019536B CN 107019536 B CN107019536 B CN 107019536B CN 201710022746 A CN201710022746 A CN 201710022746A CN 107019536 B CN107019536 B CN 107019536B
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戴维·尼古拉斯
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Abstract

提供了一种用于关节式运动关节的定心机构。关节式运动组件包括近侧关节、远侧关节、关节壳体和柱塞。所述近侧关节被构造成联接到驱动轴的中央部分并且响应于所述驱动轴的旋转而旋转。所述远侧关节可旋转地联接到所述近侧关节，使得所述近侧关节的旋转引起所述远侧关节的旋转。所述远侧关节被构造成联接到驱动轴的远侧部分以响应于所述远侧关节的旋转而旋转所述远侧部分。所述关节壳体被设置成覆盖所述近侧关节和远侧关节。所述远侧关节能相对于所述关节壳体旋转。所述柱塞与所述关节壳体接合以防止关节壳体从中央位置旋转，直到所述远侧关节达到最大关节式运动角度。

Description

用于关节式运动关节的定心机构
对相关申请的交叉引用
本申请要求于2016年1月15日提交的美国临时专利申请第62/279,035号的权益和优先权，其全部公开内容通过引用方式并入本文。
技术领域
本公开涉及手术器械，并且更具体地，涉及用于手术器械的关节式运动关节的定心机构。
背景技术
许多手术器械制造商已经开发了具有用于操作和/或操纵手术器械的专用动力驱动系统的产品线。在许多情况下，该手术器械包括可重复使用的动力手柄组件以及一次性末端执行器等，该一次性末端执行器在使用之前选择性地连接到动力手柄组件，然后在使用后从末端执行器断开，以便处理掉或在某些情况下经灭菌用于重复使用。
通常，现有的末端执行器采用接合器将动力或手动的手柄组件的运动转换成适合与现有的动力手术器械和/或末端执行器的手柄组件一起使用的运动。接合器可以包括用于使末端执行器相对于接合器的纵向轴线关节式运动的关节式运动关节。关节式运动关节可以使末端执行器相对于接合器的纵向轴线向上、向下、向右和/或向左关节式运动。关节式运动关节可能需要多个关节(例如，万向关节)以实现期望的关节式运动角度。
发明内容
本公开总体涉及一种用于关节式运动关节的定心机构，其使关节式运动关节的一个或多个关节朝中央位置偏置。偏置关节式运动关节的一个或多个关节可以使得关节式运动关节的关节式运动更可预测。具体地，当关节式运动关节包括多个关节时，朝中央位置偏置一个关节可以控制关节的关节式运动的顺序。如下文详述，当近侧关节被朝中央位置偏置时，远侧关节在使近侧关节做关节式运动之前关节式运动到预定角度。
在本公开的方案中，关节式运动组件包括近侧关节、远侧关节、关节壳体和柱塞。所述近侧关节被构造成联接到驱动轴的中央部分并且响应于所述驱动轴的旋转而旋转。所述远侧关节可旋转地联接到所述近侧关节，使得所述近侧关节的旋转引起所述远侧关节的旋转。所述远侧关节被构造成联接到驱动轴的远侧部分以响应于所述远侧关节的旋转而旋转所述远侧部分。所述关节壳体被设置成覆盖所述近侧关节和远侧关节。所述远侧关节可相对于所述关节壳体旋转。所述柱塞与所述关节壳体接合，以防止所述关节壳体从所述中央位置旋转，直到所述远侧关节达到最大关节式运动角度。
在方案中，所述关节式运动组件包括引导壳体和偏置弹簧。所述引导壳体可以限定通道和引导槽。所述偏置弹簧可以设置在所述通道内并且可以与所述柱塞接合以将所述柱塞朝所述近侧关节偏置。所述柱塞可以包括基部和从所述基部向远侧延伸的指形部。所述基部可以设置在所述引导壳体的所述通道内，并且每个所述指形部可以被接收到所述引导壳体的相应的引导槽内。所述关节壳体可以包括从关节壳体的外表面延伸出的柱。所述柱塞的每个所述指形部可以与所述关节壳体的相应的柱对齐。在所述关节壳体的所述中央位置，所述柱塞的每个所述指形部可以与所述关节壳体的相应的柱接合。
在本公开的另一方案中，接合器包括近侧部、细长部、远侧部和关节式运动组件。所述近侧部被构造成联接到手柄。所述细长部从所述近侧部延伸并限定纵向轴线。所述远侧部被支撑在所述细长部的远端处。所述关节式运动组件被设置在远侧部内并且被构造成联接到末端执行器组件并且使所述末端执行器组件相对于所述纵向轴线关节式运动。所述关节式运动组件包括近侧关节、远侧关节、关节壳体和柱塞。所述关节壳体被设置成覆盖所述近侧和远侧关节。所述柱塞与所述关节壳体接合以将所述近侧关节保持在中央位置直到所述关节式运动组件经关节式运动而超过所述远侧关节的最大关节式运动角度。
在方案中，所述关节式运动组件包括位于覆盖所述远侧关节的所述关节壳体内的万向节。所述万向节可以连接到穿过所述细长部向所述近侧部延伸的关节式运动线缆。相应的一个所述关节式运动线缆的张紧可以使所述万向节相对于所述纵向轴线关节式运动。所述关节壳体可以包括定位成覆盖所述远侧关节和所述万向节的远侧球体。所述远侧球体可以限定开口，并且所述万向节可以限定线缆槽。每个线缆槽可以与相应的一个所述开口连通。每个所述关节式运动线缆可以包括穿过相应的一个所述开口并且被接收到与所述相应的一个所述开口连通的相应的一个所述线缆槽内的一端。
在一些方案中，所述关节壳体包括近侧球体和远侧球体。所述近侧关节可以设置在所述近侧球体内并且所述远侧关节可以设置在远侧球体内。所述关节壳体可以包括从所述近侧球体的外表面延伸出的柱。所述柱塞可以包括指形部，在所述近侧关节处于中央位置时，每个指形部与相应的柱接合。
在某些方案中，所述关节式运动组件包括设置在远侧部内的引导壳体和偏置弹簧。所述引导壳体可以限定中央通道和引导槽。所述偏置弹簧可以设置在所述中央通道内，并且与所述柱塞接合以将所述柱塞向远侧偏置。所述柱塞可以包括基部和从所述基部向远侧延伸的指形部。所述基部可以可滑动地接收到所述引导壳体的所述中央通道内，并且所述指形部可以可滑动地接收到所述引导壳体的所述引导槽内。
在特定的方案中，所述接合器可以包括从近侧部穿过所述万向节延伸的驱动轴。所述驱动轴可以具有中央段和远侧段。所述驱动轴的所述中央段可以接合所述近侧关节以引起所述近侧关节的旋转。所述近侧关节可以响应于所述驱动轴的所述中央段的旋转来引起所述远侧关节的旋转。所述远侧关节可以响应于所述中央段的旋转来引起所述远侧段的旋转。所述远侧段可以被构造成接合联接到所述关节式运动组件的末端执行器。所述引导壳体可以被固定在所述细长部的所述远端内。
所述近侧关节的最大关节式运动角度可以等于所述远侧关节的所述最大关节式运动角度或者与所述远侧关节的所述最大关节式运动角度不同。所述近侧关节的最大关节式运动角度可以约为30°或达到约45°。所述近侧关节的最大关节式运动角度可以小于所述远侧关节的所述最大关节式运动角度。
在本公开的另一方案中，一种致动关节式运动组件的方法，所述关节式运动组件具有近侧关节和远侧关节。所述方法包括：收缩与所述远侧关节可操作地关联的关节式运动线缆以在所述近侧关节保持在中央位置的同时使所述远侧关节致动到最大关节式运动角度。所述方法还包括进一步收缩所述关节式运动线缆，所述远侧关节保持在所述最大关节式运动角度与并且所述近侧关节从所述中央位置致动，以及释放所述关节式运动线缆，所述远侧关节保持在所述最大关节式运动角度直到所述近侧关节返回到所述中央位置。
此外，在一致性的程度上，本文所描述的方案中的任何方案可结合本文所描述的其他方案中的任何方案或所有方案来使用。
附图说明
下面参照附图来描述本公开的各个方案，附图并入本说明书并且构成了本说明书的一部分，其中：
图1是包括动力手柄、接合器和末端执行器的、根据本公开的示例性手术系统的立体图；
图2是图1的接合器的立体图；
图3是图2的所表示的细节区域的放大图；
图4是图2的接合器的远侧部的部件分离的分解图；
图5A是沿图2的剖面线5A-5A截取的剖面图，图示了处于直线构型的接合器；
图5B是沿图2的剖面线5B-5B截取的剖面图，图示了处于直线构型的接合器，近侧关节在直线位置上；
图6A是处于关节式运动构型的图5A的接合器的剖面图，近侧关节在直线位置上；
图6B是处于关节式运动构型的图5B的接合器的剖面图，近侧关节在直线位置上；
图7A是处于关节式运动构型的图5A的接合器的剖面图，近侧关节在关节式运动位置上；并且
图7B是处于关节式运动构型的图5B的接合器的剖面图，近侧关节在关节式运动位置上。
具体实施方式
现参照附图详细描述本公开的实施例，其中在若干视图的每个中，相同的附图标记指代相同或对应的元件。如本文所使用的，术语“临床医生”是指医生、护士或任何其他护理提供者，并且可以包括支持人员。贯穿本说明书，术语“近侧”是指装置或其部件的最靠近临床医生的部分，术语“远侧”是指装置或其部件的最远离临床医生的部分。
本公开总体涉及一种与机电手术系统和/或手动地驱动的手术系统一起使用的关节式运动组件。本公开的手术系统包括动力手持式机电器械形式的手术器械，动力手持式机电器械被构造成用于选择性地附接到多个不同的末端执行器，所述末端执行器各自被配置成由动力手持式机电手术器械致动和操纵。每个接合器组件包括关节式运动组件和发射组件，发射组件可操作地联接到动力手持式机电手术器械以实现对其致动和/或操纵。
关节式运动组件包括在接合器组件内互连万向节和关节式运动机构的一个或多个关节式运动线缆。万向节与至少一个关节式运动关节可操作地连接，使得一个或多个关节式运动线缆的轴向移动使万向节旋转以使发射组件响应于万向节的旋转而弯曲，以实现末端执行器绕接合器组件的远侧部的关节式运动。至少一个万向关节的近侧万向关节朝中央位置偏置。通过偏置近侧万向关节，关节式运动组件的关节式运行更可预测。具体地，当存在近侧万向关节和远侧万向关节这两个万向关节时，近侧万向关节的偏置在远侧万向关节达到最大关节式运动角度时被克服，使得远侧万向关节在近侧万向关节旋转之前充分地关节式运动，如下详述。
现参照图1，根据本公开的机电手术系统10包括动力手柄100、接合器组件200和装载单元300(例如，末端执行器、多次或单次使用装载单元)。动力手柄100被构造成用于与接合器组件200选择性地连接，进而，接合器组件200被构造成用于与装载单元300选择性地连接。动力手柄100和接合器组件200可以一起协作来致动装载单元300。
动力手柄100包括驱动机构(未示出)，该驱动机构被构造成驱动轴和/或齿轮部件以执行机电手术系统10的各种操作。特别地，驱动机构被构造成致动关节式运动组件400的线缆480(图3)以使装载单元300相对于接合器组件200关节式运动，如下详述。对于示例性动力手柄的详细描述，可以参考2015年6月11日提交的美国专利申请第14/736,712号。对于示例性接合器的详细描述，可以参考2015年4月10日提交的美国临时专利申请第62/145,794号。这些公开的每个的全部内容通过引用而并入本文。
参照图2和图3，接合器组件200包括近侧部202、细长部204，远侧部206和装载单元连接器208。近侧部202被构造成将接合器组件200联接到动力手柄100(图1)。细长部204从近侧部202延伸到远侧部206并且限定接合器组件200的纵向轴线A-A。远侧部206包括关节式运动组件400，关节式运动组件400被构造成使装载单元连接器208相对于纵向轴线A-A关节式运动，如下详述。装载单元连接器208被定位在远侧部206的远侧并且被构造成将接合器组件200联接到装载单元300(图1)。
另外参照图4、图5A和图5B，关节式运动组件400处于对齐的构型并且包括引导壳体410、偏置弹簧420、柱塞430、近侧关节440、远侧关节450、万向节460、关节壳体470以及关节式运动线缆480。接合器组件200包括驱动轴250，驱动轴250穿过关节式运动组件400和装载单元连接器208以可操作地联接到装载单元300(图1)。引导壳体410绕驱动轴250而定位，并且通过螺钉207固定在远侧部206内，螺钉207穿过细长部204并进入引导壳体410。引导壳体410限定引导槽412和中央通道414。驱动轴250包括轴承252，轴承252在引导壳体410的中央通道414内支撑驱动轴250的中央部分254。偏置弹簧420绕驱动轴250而位于引导壳体410的中央通道414内。
柱塞430绕驱动轴250而位于引导壳体410和偏置弹簧420的远侧。柱塞430包括基部432和从基部432向远侧延伸的指形部434。基部432的尺寸设置成在引导壳体410的中央通道414内滑动，并且通过偏置弹簧420接合以向远侧推动柱塞430。柱塞430的每个指形部434在引导壳体410的相应一个引导槽412内滑动。引导槽412允许指形部434的纵向平移，同时防止柱塞430绕驱动轴250旋转。特别参照图5B，指形部434定位成在径向上超过轴承252，使得指形部434自由地滑过轴承252。
近侧关节440、远侧关节450和万向节460设置在关节壳体470内，关节壳体470包括近侧球体472和远侧球体474。关节壳体470由联接在一起的两个半壳形成，其中近侧球体472定位成覆盖近侧关节440，远侧球体474定位成覆盖远侧关节450和万向节460。驱动轴250的中央部分254接合近侧关节440，以引起近侧关节440的旋转。近侧关节440联接到远侧关节450以引起远侧关节450的旋转，远侧关节450的旋转响应于近侧关节440的旋转而使延伸穿过装载单元连接器208的驱动轴250的远侧部分256旋转。应理解，当关节式运动组件400以相对于纵向轴线A-A的多个角度中的任意角度关节式运动时，近侧关节440和远侧关节450允许驱动轴250的中央部分254的旋转以引起驱动轴250的远侧部分256的旋转。
特别参照图5B，关节壳体470的近侧球体472包括从近侧球体472的外表面延伸出的四个柱476。柱476与柱塞430的指形部434对齐，使得每个指形部434接合相应的一个柱476以将关节壳体470和近侧关节440朝中央位置偏置。在中央位置，柱塞430的每个指形部434与相应的一个柱476接合，使得近侧关节440与纵向轴线A-A对齐。
特别参照图5A，关节式运动线缆480从接合器组件200的近侧部202(图2)延伸到万向节460，以引起万向节460相对于纵向轴线A-A的旋转。具体地，每个关节式运动线缆480的远端482穿过关节壳体470的远侧球体474中的相应的开口478，并且被接收到限定在万向节460中的相应的线缆槽462内。随着一个或多个关节式运动线缆480张紧，张紧的关节式运动线缆480相对于纵向轴线A-A来旋转万向节460，使得近侧关节440和远侧关节450关节式运动，如下所详述。
参照图5A至图7B，根据本公开描述了关节式运动组件400的关节式运动。首先参照图5A和图5B，偏置弹簧420推动柱塞430的每个指形部434来接合关节壳体470的相应的一个柱476，以使关节壳体470定心中央位置，从而使近侧关节440定心在中央位置。另外，每个关节式运动线缆480彼此大致均等地张紧，使得万向节460定心，从而使远侧关节450定心，使得关节式运动组件400处于对齐的构型。在对齐的构型中，驱动轴250的中央部分254和远侧部分256与纵向轴线A-A大致对齐。
为了使关节式运动组件400相对于纵向轴线A-A关节式运动，一个或多个关节式运动线缆480上的张力增大和/或一个或多个其它关节式运动线缆480上的张力减小，以使万向节460相对于纵向轴线A-A旋转，如图6A和图6B所示。随着一个或多个关节式运动线缆480上的张力改变，万向节460在比其他关节式运动线缆480具有更大张力的一个或多个关节式运动线缆480的方向上旋转。随着万向节460被旋转，万向节460使关节式运动组件400旋转。具体地，远侧关节450响应于万向节460的旋转而随万向节460旋转直到远侧关节450达到如图6A所示的最大关节式运动角度或最大旋转角度。当远侧关节450的旋转小于其最大旋转角度时，柱塞430的指形部434与关节壳体470的柱476的接合防止了近侧关节440的旋转，如图6B所示。
特别参照图7A和图7B，当一个或多个关节式运动线缆480被张紧以使万向节旋转超过远侧关节450的最大旋转角度时，近侧关节440从中央位置旋转到关节式运动位置。具体地，当远侧关节450接近或达到其最大旋转角度时，万向节460的继续旋转引起关节壳体470的旋转，使得一个或多个柱476接合柱塞430的相应的指形部434而逆着偏置弹簧420的偏置向近侧平移柱塞430，以旋转近侧关节440，如图7B所示。关节壳体470继续旋转，从而近侧关节440继续旋转，直到万向节460旋转到期望位置或者近侧关节440达到最大关节式运动角度或最大旋转角度。近侧关节440和远侧关节450的最大旋转角度可以彼此相等(例如，30°)或者彼此不同(例如，近侧关节440的最大旋转角度可以大于或小于远侧关节450的最大旋转角度)。应理解，关节式运动组件400的最大关节式运动角度为近侧关节440的最大旋转角度和远侧关节450的最大旋转角度之和。
为了使关节式运动组件400返回到对齐的构型，从一个或多个关节式运动线缆480释放张力和/或在一个或多个关节式运动线缆480上增大张力，使得每个关节式运动线缆480中的张力彼此大致相等。由于关节式运动线缆480中的张力在关节式运动线缆480之间均衡，偏置弹簧420在远侧关节450旋转而远离其最大旋转角度之前向远侧推动指形部434而与柱476接触以使近侧关节440返回到中央位置。一旦近侧关节440处于中央位置，则远侧关节450朝向中央位置旋转直到万向节460返回到对齐的构型。
应理解，通过控制近侧关节440和远侧关节450的关节式运动的顺序(即，确保远侧关节450在近侧关节440经关节式运动之前而关节式运动到其最大关节式运动角度，并且使近侧关节440在远侧关节450经关节式运动而远离其最大关节式运动角度之前返回至其中央位置)，关节式运动组件400的关节式运动可以是更可预测的。另外，近侧关节440朝中央位置的偏置可通过对线缆拉伸自动地调节而提供更稳定和刚性的关节式运动关节，这减少了关节式运动关节中的游隙(backlash)。
尽管已经在附图中示出了本公开的若干实施例，但是并不旨在将本公开限制于此，而是旨在允许本公开的范围如同本领域允许的范围一样宽，并且对本说明书也这样理解。还可以在所附权利要求的范围内想到上述实施例的任意组合。因此，上述描述不应被解释为限制，而仅仅是作为特定实施例的示例。本领域技术人员会想到在所附权利要求的范围内的其它变型例。

Claims (19)

1.一种关节式运动组件，包括：
近侧万向关节，其被构造成联接到限定纵向轴线的驱动轴的中央部分并且响应于所述驱动轴围绕所述纵向轴线的旋转而旋转；和
远侧万向关节，其可旋转地联接到所述近侧万向关节，使得所述近侧万向关节的旋转引起所述远侧万向关节围绕所述纵向轴线的旋转，所述远侧万向关节被构造成联接到驱动轴的远侧部分以响应于所述远侧万向关节的旋转来围绕所述纵向轴线旋转所述远侧部分，
其中，所述近侧万向关节朝中央位置偏置，并且所述近侧万向关节的偏置在所述远侧万向关节达到相对于所述纵向轴线的最大关节式运动角度时被克服。
2.根据权利要求1所述的关节式运动组件，进一步包括被设置成覆盖所述近侧万向关节和远侧万向关节的关节壳体，所述近侧万向关节相对于所述关节壳体可旋转地固定，所述关节壳体处于所述中央位置直到所述远侧万向关节达到相对于所述纵向轴线的最大关节式运动角度。
3.根据权利要求2所述的关节式运动组件，进一步包括柱塞，所述柱塞与所述关节壳体接合以将所述关节壳体和近侧万向关节偏置到所述中央位置直到所述远侧万向关节达到最大关节式运动角度。
4.根据权利要求3所述的关节式运动组件，进一步包括引导壳体和偏置弹簧，所述引导壳体限定通道和引导槽，所述偏置弹簧设置在所述通道内并与所述柱塞接合以将所述柱塞朝向所述近侧万向关节偏置。
5.根据权利要求4所述的关节式运动组件，其中所述柱塞包括基部和从所述基部向远侧延伸的指形部，所述基部设置在所述引导壳体的所述通道内，并且每个所述指形部被接收到所述引导壳体的相应的引导槽内。
6.根据权利要求5所述的关节式运动组件，其中所述关节壳体包括从其外表面延伸出的柱，所述柱塞的每个指形部与所述关节壳体的相应的柱对齐。
7.根据权利要求6所述的关节式运动组件，其中所述柱塞的每个指形部接合所述关节壳体的相应的柱来限定所述关节壳体的所述中央位置，以向所述中央位置平移所述关节壳体。
8.一种具有根据权利要求3所述的关节式运动组件的接合器，包括：
近侧部，其被构造成联接到手柄；
细长部，其从所述近侧部沿着所述纵向轴线延伸；以及
远侧部，其被支撑在所述细长部的远端处；
其中所述关节式运动组件被构造成联接到末端执行器组件并且使所述末端执行器组件相对于所述纵向轴线关节式运动。
9.根据权利要求8所述的接合器，其中所述关节式运动组件包括位于覆盖所述远侧万向关节的所述关节壳体内的万向节，所述万向节连接到穿过所述细长部而延伸到所述近侧部的关节式运动线缆，其中相应的一个所述关节式运动线缆的张紧使所述万向节相对于所述纵向轴线关节式运动。
10.根据权利要求9所述的接合器，其中所述关节壳体包括定位成覆盖所述远侧万向关节和所述万向节的远侧球体，所述远侧球体限定开口，并且所述万向节限定线缆槽，每个线缆槽与相应的一个所述开口连通。
11.根据权利要求10所述的接合器，其中每个关节式运动线缆包括穿过相应的一个所述开口并且被接收到与所述相应的一个所述开口连通的相应的一个所述线缆槽内的一端。
12.根据权利要求8所述的接合器，其中所述关节壳体包括近侧球体和远侧球体，所述近侧万向关节设置在所述近侧球体内并且所述远侧万向关节设置在所述远侧球体内。
13.根据权利要求12所述的接合器，其中所述关节壳体包括从所述近侧球体的外表面延伸出的柱，并且其中所述柱塞包括指形部，在所述近侧万向关节处于中央位置时，每个指形部与相应的柱接合。
14.根据权利要求8所述的接合器，其中所述关节式运动组件包括设置在远侧部内的引导壳体和偏置弹簧，所述引导壳体限定中央通道和引导槽，所述偏置弹簧设置在所述中央通道内并且与所述柱塞接合以将所述柱塞向远侧偏置。
15.根据权利要求14所述的接合器，其中所述柱塞包括基部和从所述基部向远侧延伸的指形部，所述基部被可滑动地接收在所述引导壳体的所述中央通道内，并且所述指形部被可滑动地接收在所述引导壳体的所述引导槽内。
16.根据权利要求14所述的接合器，进一步包括：从近侧部穿过万向节延伸的驱动轴，所述驱动轴具有中央段和远侧段，所述驱动轴的所述中央段接合所述近侧万向关节以引起所述近侧万向关节的旋转，所述近侧万向关节响应于所述驱动轴的所述中央段的旋转而引起所述远侧万向关节的旋转，所述远侧万向关节响应于所述中央段的旋转而引起所述远侧段的旋转，所述远侧段被构造成接合联接到所述关节式运动组件的末端执行器组件。
17.根据权利要求14所述的接合器，其中所述引导壳体被固定在所述细长部的所述远端内。
18.根据权利要求8所述的接合器，其中所述近侧万向关节的最大关节式运动角度等于所述远侧万向关节的最大关节式运动角度。
19.根据权利要求8所述的接合器，其中所述近侧万向关节的最大关节式运动角度与所述远侧万向关节的所述最大关节式运动角度不同。
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