CN107019537B - 用于将机电手术装置和手术装载单元互连的带有行星齿轮驱动的接合器组件及其手术系统 - Google Patents

用于将机电手术装置和手术装载单元互连的带有行星齿轮驱动的接合器组件及其手术系统 Download PDF

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CN107019537B
CN107019537B CN201710053765.5A CN201710053765A CN107019537B CN 107019537 B CN107019537 B CN 107019537B CN 201710053765 A CN201710053765 A CN 201710053765A CN 107019537 B CN107019537 B CN 107019537B
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戴维·尼古拉斯
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Abstract

本公开涉及用于将机电手术装置和手术装载单元互连的带有行星齿轮驱动的接合器组件及其手术系统。本公开涉及与机电手术装置和手术装载单元联用并且将它们机械地和电气地互连的接合器组件，并且涉及包括手持式机电手术装置和用于将手术装载单元连接至该手持式机电手术装置的接合器组件的手术系统。

Description

用于将机电手术装置和手术装载单元互连的带有行星齿轮驱 动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2016年1月21日提交的美国临时专利申请第62/281,275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
本公开涉及用在手术系统中的接合器组件。更具体地，本公开涉及与机电手术装置和手术装载单元联用并且将它们机械地和电气地互连的接合器组件，并且涉及包括手持式机电手术装置和用于将手术装载单元连接至该手持式机电手术装置的接合器组件的手术系统。
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产品线。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丢弃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/或手柄组件之间交互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，在以电动机为动力的吻合装置中，丝杠/螺母组件用以将旋转电动机转矩转换为线性力。该线性力用于夹紧吻合装置的钳夹并且推进楔块以推进吻合钉推进器来使吻合钉成形。在以电动机为动力的关节式运动吻合装置中，期望将丝杠放置在关节式运动接头的前方。然而，线性力难以在无显著损失的情况下穿过关节式运动接头中的弯曲部(例如，90°的弯曲部)，并且需要增加的转矩穿过关节式运动接头来执行夹紧和/或吻合操作。
因此，存在对如下的一种动力旋转从动手术装置的需求，该动力旋转从动手术装置需要穿过关节式运动接头的较少的转矩来驱动线性从动末端执行器以将磨损最小化并延长手术装置的使用寿命。
发明内容
根据本公开的方案，一种用于将构造成执行功能的手术装载单元和构造成致动所述手术装载单元的手术装置选择性地互连的接合器组件包括外壳、外管和发射组件，所述手术装载单元包括可轴向平移的驱动构件，并且所述手术装置包括多个可旋转驱动轴。所述外壳构造成并且适于连接于所述手术装置。所述外管从所述外壳向远侧延伸至构造成并且适于连接于所述手术装载单元的远侧端部。所述发射组件支撑在所述外壳和所述外管内，并且从近侧至远侧包括发射轴、锥齿轮组件、齿圈、太阳齿轮、多个行星齿轮、支架板和远侧齿轮。所述发射轴包括构造用于操作性接合所述手术装置的多个可旋转驱动轴中的可旋转驱动轴的近侧端。所述锥齿轮组件包括与所述发射轴的远侧端部机械性接合的近侧端。所述齿圈设置在所述外管的所述远侧端部内，所述太阳齿轮在所述齿圈内设置在所述锥齿轮组件的远侧端处，并且所述多个行星齿轮围绕着所述太阳齿轮的齿并且啮合地接合于所述太阳齿轮的齿和所述齿圈的齿设置。所述支架板可操作地联接至所述多个行星齿轮，并且所述远侧齿轮设置在从所述支架板向远侧延伸的轴上。所述远侧齿轮被可操作地接合于所述手术装载单元的所述可轴向平移的驱动构件。
在实施例中，所述外管的所述远侧端部包括关节式运动接头。在一些实施例中，所述锥齿轮组件设置在所述关节式运动接头的近侧。在某些实施例中，所述太阳齿轮和所述多个行星齿轮设置在所述关节式运动接头的远侧。
所述锥齿轮组件可包括近侧锥齿轮，所述近侧锥齿轮包括从其向近侧延伸的杆，所述杆通过轴承可操作地联接至所述发射轴的远侧端部。所述锥齿轮组件可进一步包括与所述近侧锥齿轮接合的中央锥齿轮。所述锥齿轮组件可进一步包括与所述中央锥齿轮接合的远侧锥齿轮。在一些实施例中，所述锥齿轮组件的所述远侧锥齿轮包括从其向远侧延伸的杆，并且所述太阳齿轮稳固至所述远侧锥齿轮的所述杆。
所述支架板可包括近侧表面，所述近侧表面包括从其向近侧延伸的多个销桩，所述多个销桩可设置在所述多个行星齿轮中所限定的开孔中。
所述接合器组件可进一步包括关节式运动组件，所述关节式运动组件包括蜗齿轮组件、旋转线缆和关节式运动线缆。所述蜗齿轮组件可包括设置在所述外壳内的第一蜗杆驱动器和第二蜗杆驱动器。所述旋转线缆可以被可操作地连接至所述蜗齿轮组件的所述第一蜗杆驱动器并且从所述蜗齿轮组件的所述第一蜗杆驱动器向远侧延伸穿过所述外管至所述齿圈，所述齿圈设置在所述关节式运动接头的远侧，使得第一蜗杆驱动器的旋转引起所述外管的所述远侧端部的旋转。所述关节式运动线缆可以被可操作地连接至所述蜗齿轮组件的所述第二蜗杆驱动器并且从所述蜗齿轮组件的所述第二蜗杆驱动器向远侧延伸至在所述外管内设置在所述关节式运动接头的远侧的保持构件，使得所述第二蜗杆驱动器的旋转引起所述外管的所述远侧端部关于所述关节式运动接头的关节式运动。
所述第一蜗杆驱动器和所述第二蜗杆驱动器中的每个可以包括与蜗轮啮合地接合的蜗杆，其中每个蜗杆构造成操作性地连接于所述手术装置的所述多个驱动轴中的可旋转驱动轴。
在一些实施例中，所述旋转线缆包括缠绕在所述第一蜗杆驱动器的所述蜗轮的鼓部周围的近侧端和缠绕在所述齿圈的鼓形部周围的远侧端。在一些实施例中，所述关节式运动线缆包括缠绕在所述第二蜗杆驱动器的所述蜗轮的鼓部周围的近侧端和联接至相应的保持构件的远侧端。所述关节式运动线缆可以包括设置在所述关节式运动线缆的所述近侧端和所述远侧端之间的弹簧。
所述关节式运动组件可以进一步包括分别用于引导所述旋转线缆和所述关节式运动线缆的第一线缆导向轮和第二线缆导向轮。在一些实施例中，所述第一线缆导向轮和所述第二线缆导向轮在形状上是圆形的，并且在一些实施例中，所述第一线缆导向轮和所述第二线缆导向轮是凸轮形的。
在实施例中，所述发射组件进一步包括星形齿轮，所述星形齿轮可操作地联接至所述支架板并且设置在所述齿圈的近侧，并且所述外管的所述远侧端部包括开关，所述开关具有从所述开关的远侧端向远侧延伸的凸起和朝向所述外管的中心向内延伸的延伸部。所述开关是能够在近侧位置和远侧位置之间移动的，在所述近侧位置，所述凸起从所述齿圈脱离并且所述延伸部与所述星形齿轮接合，使得所述支架板保持静止以允许所述多个行星齿轮使所述外管的所述远侧端部旋转，在所述远侧位置，所述凸起与所述齿圈接合并且所述延伸部从所述星形齿轮脱离，使得所述齿圈保持静止以允许所述多个行星齿轮实现所述手术装载单元的功能。
所述接合器组件可以进一步包括关节式运动组件，所述关节式运动组件包括蜗齿轮组件、牵拉线缆和关节式运动线缆。所述蜗齿轮组件可以包括设置在所述外壳内的第一蜗杆驱动器和第二蜗杆驱动器。所述牵拉线缆可以被可操作地连接至所述蜗齿轮组件的所述第一蜗杆驱动器并且从所述蜗齿轮组件的所述第一蜗杆驱动器向远侧延伸到所述外管中，并且可以构造成使所述开关在所述近侧位置和所述远侧位置之间移动。所述关节式运动线缆可以被可操作地连接至所述蜗齿轮组件并且从所述蜗齿轮组件向远侧延伸至在所述外管内设置在所述关节式运动接头的远侧的保持构件，使得所述第二蜗杆驱动器的旋转引起所述外管的所述远侧端部关于所述关节式运动接头的关节式运动。
所述关节式运动组件可以进一步包括包含凸轮的第一线缆导向轮，并且所述牵拉线缆可以包括缠绕在所述蜗齿轮组件的所述第一蜗杆驱动器的蜗轮的鼓部周围的近侧端和缠绕在所述第一线缆导向轮周围的远侧端，使得所述第一蜗杆驱动器的旋转引起所述凸轮抵着所述开关的凸轮表面的移动以使所述开关在所述近侧位置和所述远侧位置之间移动。
实施例可以包括以下优势中的一个以上的优势。在实施例中，本公开的接合器组件包括放置在关节式运动接头的远侧的行星齿轮组件以将通过关节式运动接头所需的扭矩最小化。通过将行星齿轮组件放置在关节式运动接头的远侧，锥齿轮需要传递的扭矩量由于行星齿轮所提供的传动比而减少了近75％至80％。锥齿轮上的较小扭矩需要量可以延长接合器组件的使用寿命并且最小化磨损。在实施例中，行星齿轮组件得以被平衡并且具有总是啮合的多个齿轮，这样减轻了齿轮的齿上和轴承上的应力。
下面将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(一个或多个)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机电手术系统的立体图；
图2是图1的机电手术系统的接合器组件的立体图；
图3是图1和图2的接合器组件的另一立体图；
图4是图2中所示的标记细节区域的放大立体图；
图5是图3中所示的标记细节区域的放大立体图；
图6是沿着图4的线6-6截取的图1至图4的接合器组件的远侧端部的剖视图；
图7是图1至图6的接合器组件的远侧端部在零件分离状态下的立体图；
图8是图1至图3的接合器组件的外壳的内部部件在零件被去除状态下的顶部立体图；
图9是设置在图8的接合器组件的外壳内的蜗齿轮组件的放大立体图；
图10是图1至图3以及图8的接合器组件的外壳的侧视剖视图；
图11是图1至图7的接合器组件的外管的内部部件在零件去除状态下的立体图；
图12是图1至图7的接合器组件的远侧端部的放大立体图；
图13是沿着图6的线13-13截取的图1至图6的接合器组件的剖视图；
图14是沿着图6的线14-14截取的图1至图6的接合器组件的剖视图；
图15是沿着图6的线15-15截取的图1至图6的接合器组件的剖视图；
图16是图1至图7以及图11至图15的接合器组件的远侧端部在零件去除状态下的立体图；
图17是图1至图7以及图11至图15的接合器组件的远侧端部在零件去除状态下的另一立体图；
图18是图1至图7以及图11至图15的接合器组件的远侧端部在零件去除状态下的又一立体图；
图19是图1至图7以及图11至图15的接合器组件的远侧端部在零件去除状态下的再一立体图；
图20是图1的机电手术系统的手术装载单元在零件分离状态下的放大立体图；
图21是根据本公开的另一实施例的接合器组件的远侧端部在零件去除状态下的立体图；
图22是图21的接合器组件的远侧端部的俯视图；
图23是根据本公开的另一实施例的接合器组件的远侧端部在零件去除状态下的立体图；
图24是图23的接合器组件的远侧端部在零件去除状态下的另一立体图；并且
图25是图23和图24的接合器组件的远侧端部的剖视图。
具体实施方式
本公开的机电手术系统包括采用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关节式运动组件以及发射组件，所述发射组件被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视图的每幅视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采用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进而构造成用于与装载单元300选择性地连接。手术装置100和接合器组件200可一起协作以致动装载单元300。
手术装置100包括手柄外壳102，所述手柄外壳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。手柄外壳102在其中限定了空腔(未示出)，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。
手柄外壳102包括容纳手术装置100的各种部件的上外壳部分102a和从上外壳部分102a延伸的下把手部分102b。下把手部分102b可以布置在上外壳部分102a的最近侧端的远侧。下外壳部分102b相对于上外壳部分102a的位置被选择成平衡连接到或支撑接合器组件200的手术装置100和/或装载单元300的重量。
手柄外壳102提供了使得驱动机构(未示出)安置于其中的外壳。驱动机构构造成驱动轴和/或齿构件，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/或齿构件，以便选择性地使装载单元300绕纵向轴线“X”并且相对于接合器组件200的远侧端关节式运动、选择性地使得装载单元300绕纵向轴线“X”并且相对于手柄外壳102旋转、选择性地使装载单元300的砧座组件310和钉仓组件320相对于彼此移动/接近/分离，和/或发射装载单元300的钉仓组件320内的吻合和切割钉仓。
手柄外壳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)电连通的关节式运动接触表面105以及多个可旋转驱动轴或连接器106。多个可旋转驱动轴的每个可旋转驱动轴能够由容纳在手柄外壳102内的驱动机构(未示出)独立地致动和旋转和/或非独立地致动和旋转。在实施例中，多个可旋转驱动轴106包括彼此共面或共线布置的可旋转驱动轴106a、106b和106c。正如所能想到的，多个可旋转驱动轴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的可旋转驱动轴106中的一个或多个。
手柄外壳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，手柄外壳102支撑包括例如致动垫(actuation pad)108的多个致动器以实现例如装载单元300的打开、闭合和/或发射，其中致动垫108和与其协作的多个传感器108a操作性配准。手柄外壳102能够支撑致动器107a、107b，所述致动器107a、107b能够设置成与手柄外壳102的电动机电连接以实现可旋转驱动轴106a、106b和/或106c的旋转以用于其致动，以使得能够调整接合器组件200的部件中的一个或多个。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，每个专利申请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2至图3，接合器组件200包括外壳202和外管204，所述外壳202位于接合器组件200的近侧端部，所述外管204从外壳202沿着纵向轴线“X”向远侧延伸至接合器组件200的远侧端部206。接合器组件200的外壳202包括近侧外壳202a和远侧外壳202b。近侧外壳202a包括外壳主体208，所述外壳主体208将安装组件210支撑在其上。安装组件210包括安装按钮212，所述安装按钮212被偏置在延伸位置并且构造成被向下按压到按下位置。在按下位置，安装按钮212设置成紧密地靠近外壳主体208并且偏离延伸位置。安装按钮212包括倾斜接合结构件212a，所述倾斜接合结构件212a构造成接触手柄外壳102的连接部104(图1)而同时安装按钮212处于延伸位置以利于外壳202稳固至手柄外壳102的连接部104。
如图4至图7中所示，外管204的远侧端部206包括第一区段206a、在第一区段206a远侧的第二区段260b、在第二区段206b的远侧的第三区段260c以及在第三区段206c的远侧的第四区段206d。
外管204的远侧端部206的第一区段206a限定了一对螺钉开孔214，所述一对螺钉开孔214对应于第二区段206b的一对螺钉开孔216。第一区段206a的该对螺钉开孔214和第二区段206b的该对螺钉开孔216接收一对螺钉215，以将第一区段206a和第二区段206b牢固地固定在一起。
第二区段206b包括具有一对相对的开孔218a的渐缩远侧端218，并且第三区段206c包括具有一对相对的开孔220a的渐缩近侧端220，该对相对的开孔220a与第二区段206b的一对相对的开孔218a对齐。第二区段206b的该对相对的开孔218a与第三区段206c的该对相对的开孔220a接收穿过其中的杆或销222，以将第二区段206b和第三区段206c可枢转地一起固定在关节式运动接头224处。第三区段206c可以相对于第二区段206b绕由杆222定义的横向轴线“Y”关节式运动，以使第三区段206c相对于纵向轴线“X”移动。
第三区段206c包括具有圆筒形唇缘226a的远侧端226，所述圆筒形唇缘226a覆在齿圈250的凸缘式近侧端250a上方安装，所述齿圈250在其远侧端250b处固定地稳固至第四区段206d的近侧端228。
第四区段206d包括一对臂230a和230b，该对臂230a和230b位于第四区段206d的远侧端232并且间隔开且相对于彼此镜像地设置。第四区段206d包括柱塞组件234，所述柱塞组件234包括由弹簧234c偏置穿过柱塞开孔234b的柱塞234a。柱塞组件234以及该对臂230a和230b协作以便利将装载单元300的近侧端稳固至接合器组件200的外管204的远侧端部206，这会在下面更为详细地描述。舌形件236从第四区段206d伸出并且限定穿过其中的开孔236a，这同样会在下面更为详细地描述。
现在参照图7至图16，关节式运动组件240被支撑在外壳202和外管204内。关节式运动组件240包括输入插座242a和242c(图8)、设置在外壳202内的蜗齿轮组件244、旋转线缆246和关节式运动线缆248，其中，所述输入插座242a和242c分别适于联接至手柄外壳102(图1)的旋转驱动轴106a和106c，所述蜗齿轮组件144可操作地连接至输入插座242a和242c并从其向远侧延伸，所述旋转线缆246可操作地连接至蜗齿轮组件244并且从蜗齿轮组件244向远侧延伸穿过外管204至齿圈250，所述关节式运动线缆248可操作地连接至蜗齿轮组件244并且从蜗齿轮组件244向远侧延伸穿过外管204至稳固在外管204的远侧端206的第三区段206c内的保持构件252。
如图8至图10中所示，蜗齿轮组件244包括第一蜗杆驱动器254和第二蜗杆驱动器256。第一蜗杆驱动器254和第二蜗杆驱动器256各自均包括蜗杆或蜗齿轮258和蜗轮或直齿轮260。每个蜗杆258包括从相应的输入插座242a或242c向远侧延伸的螺纹主体258a，其中输入插座242a和242c的远侧端机械地联接至相应的蜗杆258的近侧端。每个蜗轮260均包括齿轮部262和鼓部264，并且限定穿过齿轮部262和鼓部264延伸的中央开孔263。在实施例中，齿轮部262和鼓部264关于中央开孔263是彼此同心的。中央开孔263构造成接收支撑轴266，所述支撑轴266稳固地保持在于外壳202中限定的凹陷部202c内，以便于每个蜗轮260稳固至外壳202。蜗轮260的齿轮部262包括位于其外表面上的多个齿262a，所述多个齿262a构造成并且定尺寸成啮合地接合蜗杆258的螺纹主体258a。鼓部264包括圆柱形鼓表面264a，所述圆柱形鼓表面264a具有在齿轮部262的侧表面262b处终止的第一端部264b以及凸缘式第二端部264c，使得第一端部264b和第二端部264c具有比鼓表面264a的直径大的直径，用于将相应的旋转线缆246或关节式运动线缆248保持在鼓表面264a上。
例如，如图7至图9、图14和图16中所示，旋转线缆246包括近侧端部246a和远侧端部246b，其中所述近侧端部246a缠绕着第一蜗杆驱动器254的蜗轮260的鼓部264的鼓表面264a，所述远侧端部246b缠绕着齿圈250的近侧鼓250c。旋转线缆246的中央部246c在近侧端部246a和远侧端部246b之间延伸，并且由多个第一滚轴266和第一线缆导向轮268a引导穿过外管204。
在使用中，手术装置100的可旋转驱动轴106c的旋转(例如，顺时针或逆时针)引起输入插座242c的对应的旋转，并因此引起接合器组件200的第一蜗杆驱动器254的蜗杆258的旋转，这进而使第一蜗杆驱动器254的蜗轮260在关于由支撑轴266限定的“Y”轴线的对应的方向上旋转。蜗轮260的旋转使旋转线缆246在对应的方向上移动/滑动，这关于纵向轴线“X”拉动和旋转齿圈250。当齿圈250的远侧端250b被固定地附接至远侧端部206的第四区段206d时，齿圈250的旋转引起外管204的远侧端部206的第四区段206d关于纵向轴线“X”的对应旋转。
如所示的，例如，在图7至图9、图11、图12、图15和图16中，关节式运动线缆248包括近侧端248a以及远侧端248b和248c，其中所述近侧端248a缠绕着第二蜗杆驱动器256的蜗轮260的鼓部264的鼓表面264a，所述远侧端248b和248c联接至保持构件252，所述保持构件252固定在于外管204的远侧端部206的第三区段206c中限定的凹陷部207内，从而将关节式运动线缆248的远侧端248b和248c稳固至外管204的远侧端部206。关节式运动线缆248的中央部248d由多个滚轴266和第二线缆导向轮268b引导。中央部248d还包括弹簧249以抵偿关节式运动线缆248的张紧/松弛在使用期间的变化。
在使用中，手术装置100的可旋转驱动轴106a的旋转(例如，顺时针或逆时针)引起输入插座242a的对应的旋转，并因此引起接合器组件200的第二蜗杆驱动器256的蜗杆258的相应旋转，这进而使第二蜗杆驱动器256的蜗轮260关于支撑轴266在对应的方向上旋转。蜗轮260的旋转牵拉/收回/张紧关节式运动线缆248的一侧并且放松/释放关节式运动线缆248的另一侧。当保持构件262设置在第三区段206c内时，关节式运动线缆248上的张紧/松弛引起第三区段206c相对于纵向轴线“X”关于关节式运动接头224的关节式运动，并因此引起外管204的远侧端部206的第四区段206d相对于纵向轴线“X”关于关节式运动接头224的关节式运动。
现在参照图7至图19，发射组件270支撑在接合器组件200的外壳202和外管204内。发射组件270包括适于联接到手柄外壳102(见图1)的可旋转驱动轴106b的输入插座242b、从输入插座242b向远侧延伸的发射轴274、从发射轴274向远侧延伸并与发射轴274机械接合的锥齿轮组件276、围绕锥齿轮组件276的一部分设置的多个行星齿轮278、可操作地联接到多个行星齿轮278的支架板280和设置在支架板280的远侧端上的远侧齿轮282。
发射轴274包括接收在输入插座242c的远侧端中并且机械地联接到输入插座242c的远侧端的近侧端部274a、从近侧端部274a向远侧延伸的主体部274b，以及具有从主体部274b向远侧延伸的渐缩形状的远侧端部274c。发射轴274的近侧端部274a支撑在外壳202内，并且穿过在第一蜗杆驱动器254和第二蜗杆驱动器256之间限定在支撑轴266内的开孔265向远侧延伸。发射轴274的远侧端部274c设置在轴承284内。
正如所示出的，例如，在图7、图12、图13以及图17至图19中，锥齿轮组件276包括彼此顺序接合的近侧锥齿轮286、中央锥齿轮288和远侧锥齿轮290。近侧锥齿轮286包括从其向近侧延伸的杆286a，所述杆286a通过轴承284可操作地连接到发射轴274的远侧端部274c用于随着发射轴274关于纵向轴线“X”旋转。近侧锥齿轮286具有沿着其远侧端形成的多个齿286b，所述多个齿286b与中央锥齿轮288的齿288a啮合地接合，使得近侧锥齿轮286的旋转引起中央锥齿轮288关于横向于纵向轴线“X”的旋转轴线旋转。中央锥齿轮288的齿288a也与远侧锥齿轮290的齿290a啮合地接合，使得中央锥齿轮288的旋转引起远侧锥齿轮290关于纵向轴线“X”的旋转。远侧锥齿轮290包括从其向远侧延伸的杆290b。太阳齿轮292设置在齿圈250内远侧锥齿轮290的杆290b的远侧端处，使得远侧锥齿轮290的旋转引起太阳齿轮292关于纵向轴线“X”的旋转。多个行星齿轮278围绕着太阳齿轮292的齿292a设置并与其啮合地接合，并且与设置在齿圈250的内表面内的齿250d啮合地接合，使得太阳齿轮292的旋转引起多个行星齿轮278在齿圈250内的旋转。
支架板280包括附接到多个行星齿轮278的近侧表面280a，使得多个行星齿轮278在齿圈250内的旋转引起支架板280的旋转。在实施例中，支架板280包括压配合到限定在多个行星齿轮278中的开孔278a中的多个销桩280b。支架板280包括从其向远侧延伸的轴280c，远侧齿轮282不可旋转地设置在所述轴280c上，使得支架板280的旋转引起远侧齿轮282关于纵向轴线“X”的相应的旋转。
如图4和图12中所示，支架板280的轴280c的最远侧端延伸到限定在外管204的远侧端部206的第四区段206d的舌形件236中的开孔236a中。舌形件236支撑远侧齿轮282，使得远侧齿轮282的齿282a安置在外管204的远侧端部206的第四区段206d的一对臂230a和230b之间。
现在转向图20，示出了手术装载单元300的实施例。装载单元300包括砧座310和钉仓组件320，所述砧座310和钉仓组件320通过一对销315a、315b销接在一起并且可在打开状态和闭合状态之间移动。砧座310和钉仓组件320协作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，紧固件具有各种尺寸，并且在某些实施例中，紧固件被装载到的各种长度或行的钉仓组件320中，例如长度为约30mm、45mm和60mm。
钉仓组件320包括稳固到安装部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了多个紧固件保持狭槽328a和刀狭槽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，其中所述接收通道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包括电接触构件332用于与接合器组件200电连接，所述电接触构件332诸如滑环等在本领域技术人员的视野范围内的其他已知电连接器，所述接合器组件200继而被配置用于与手术装置100(图1)的电路板(未示出)的电连接。紧固件发射组件还包括轴承构件334、接合外管204的远侧端部206的远侧齿轮282的齿轮构件336以及螺杆组件338。螺杆组件338包括丝杠338a、驱动梁338b以及可与多个推动器构件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和将每个柱塞组件稳固到安装部324的销356。柱塞组件350a、350b与钉仓部328的近侧端协作以便于钉仓部328稳固在安装部324内。
为了将装载单元300的近侧端固定到接合器组件200的外管204的远侧端部206，装载单元300的近侧端与外管204的远侧端部206对准，使得装载单元300的近侧端可以与远侧端部206卡扣在一起，如图1所示的，使得装载单元300的配合表面324a和324b接合于远侧端部206的第四区段206d的一对臂230a和230b，使得装载单元300的齿轮构件336的齿与接合器组件200的远侧齿轮282的齿282a相啮合。
为了发射多个紧固件“F”，装置100的致动垫108被致动以使可旋转驱动轴106b旋转(由于手柄外壳102内的电动机(未示出)的致动)，并且实现接合器组件200的输入插座242b和发射轴274关于纵向轴线“X”的旋转。发射轴274的旋转使近侧锥齿轮286旋转，这继而引起中央锥齿轮288和远侧锥齿轮290的旋转。远侧锥齿轮290的旋转引起太阳齿轮292的相应的旋转，这继而使多个行星齿轮278在齿圈250内旋转。多个行星齿轮278的旋转引起支架板280的相应的旋转，并因此引起远侧齿轮282的相应的旋转。远侧齿轮282的旋转使装载单元300的丝杠338a旋转，并能够通过丝杠338a和驱动梁338b之间的螺纹接合而使驱动梁338b沿着丝杠338a并穿过纵向刀狭槽328b轴向地推进。驱动梁338b接合砧座310以保持砧座310和钉仓组件320接近。驱动梁338b的远侧推进将致动滑块338c推进到与多个推动器构件328接合，并且从多个紧固件保持狭槽328a发射多个紧固件“F”，用于抵靠着在砧座310内限定的相应的紧固件成形凹穴成形。装载单元300可以复位并且紧固件钉仓部328可以更换，使得装载单元300然后可以根据需要重新发射。
现在转向图21和图22，示出了根据本公开的另一个实施例的用于接合器组件200的关节式运动组件240’。关节式运动组件240’基本上类似于关节式运动组件240，因此，在此仅在描述其结构和操作上的差异所需的程度上进行描述。关节式运动组件240’包括凸轮形的第一线缆导向轮268a’和第二线缆导向轮268b’。这种形状抵偿了在关节式运动线缆(未示出)的关节运动期间张紧/松弛的变化，因此，该实施例的关节式运动线缆不包括关节式运动线缆248的弹簧249(图11)。
现在参照图23至图25，示出了根据本公开的另一个实施例的接合器组件200’。接合器组件200’基本上类似于接合器组件200，因此，在此仅在描述其结构和操作上的差异所需的程度上进行描述。
接合器组件200’包括具有第三区段206c’的远侧端部206’，该第三区段206c’与第二区段206b形成关节式运动接头224。开关201设置在第三区段206c’的近侧端220’和远侧端226’之间。开关201包括弹簧203，所述弹簧203支撑在限定在开关201内的腔201a内并且延伸穿过设置在开关201的近侧端处的开孔201b。弹簧203接触第三区段206c’的内表面，并且是足够可压缩的，以使开关201能够在近侧位置和远侧位置之间于第三区段206c'内向近侧和向远侧移动。凸起205从开关201的远侧端向远侧延伸，并且延伸部207从开关201的底部表面朝向外管204’的中心向内延伸。第三区段206c’的远侧端226’包括圆柱形唇缘226a’，所述圆柱形唇缘226a’安装在齿圈250’的外表面内限定的凹陷部250e上并且抓住(catch)所述凹陷部250e。第三区段206c’的远侧端226’邻接第四区段206d的固定地稳固到齿圈250’的近侧端228。
齿圈250’包括近侧端250a’，所述近侧端250a’具有围绕其径向设置的多个凹陷部250f。凹陷部250f定尺寸成当开关201移动到远侧位置时接收和接合开关201的凸起205。弹簧203在开关201上施加远侧力，直到开关201的凸起205与齿圈250’的凹陷部250f中的一个对准并接合。
支架板280’(图25)设置在齿圈250’的远侧端250b’内，并且经由销桩280b(图7)可操作地联接到多个行星齿轮278，如上文关于到支架板280’所描述的。星形齿轮281设置在齿圈250’的近侧并且可操作地联接到支架板280’。在实施例中，星形齿轮281包括从其向远侧延伸的多个销桩281a，所述销桩281a压配合到限定在从支架板280’向近侧延伸的凸台280b’中的开孔280a’中。星形齿轮281包括近侧端281b，所述近侧端281b具有围绕其径向设置的多个凹陷部281c。凹陷部281c定尺寸成当开关201移动到近侧位置时接合开关201的延伸部207。弹簧211支撑在星形齿轮281中限定的腔281d内，并且在星形齿轮281上施加力，以帮助将星形齿轮281的凹陷部281c中的一个与开关201的延伸部207对准。
接合器组件200’包括牵拉线缆246’，所述牵拉线缆246’具有缠绕在第一蜗杆驱动器254(参见例如图9)的蜗轮260的鼓部264的鼓表面264a周围的近侧端部(未示出)，并且远侧端部246b’缠绕在第一线缆导向轮268a”周围。第一缆索导向轮268a”包括从其顶表面268c延伸的凸轮269，所述凸轮269接合开关201的凸轮表面209。凸轮269可在远侧位置和近侧位置之间移动。在远侧位置，凸轮269接触开关201的凸轮表面209并且向远侧移动开关201，使得开关201的凸起205被接收在齿圈250’的凹陷部250f中的一个内，并且开关201的延伸部207向远侧移动到与星形齿轮281的凹陷部281c中的一个脱离接合。在近侧位置，凸轮269释放开关201的凸轮表面207，并且开关201向近侧移动，使得开关201的凸起205不与齿圈250’接合，并且开关201的延伸部207容纳在星形齿轮281的凹陷部281c中的一个内。
在使用中，第一线缆导向轮268a’的旋转引起凸轮269向近侧或向远侧移动，这继而使开关201在远侧部分206’的第三区段206c’内向近侧或向远侧移动。在远侧位置，凸起205与齿圈250’的凹陷部250f中的一个接合，并且因此保持齿圈250’静止，并且延伸部207与星形齿轮281的凹陷部281c中的一个脱离，从而允许多个行星齿轮278在发射组件270的发射期间转动支架板280’，这继而允许远侧齿轮282的旋转以实现装载单元300的功能。在近侧位置，凸起205与齿圈250’脱离，并且延伸部207与星形齿轮281的凹陷部281c中的一个接合，使得星形齿轮281以及因此支架板280保持静止，从而允许多个行星齿轮278在发射轴274的致动期间旋转齿圈250’，从而使外管204’的远侧端部206’旋转，并因此使装载单元300旋转。
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 (19)

1.一种用于将构造成执行功能的手术装载单元和构造成致动所述手术装载单元的手术装置选择性地互连的接合器组件，所述手术装载单元包括可轴向平移的驱动构件，并且所述手术装置包括多个可旋转驱动轴，所述接合器组件包括：
外壳，其构造成并且适于连接于所述手术装置；
外管，其从所述外壳向远侧延伸至构造成并且适于连接于所述手术装载单元的远侧端部；以及
发射组件，其支撑在所述外壳和所述外管内，所述发射组件包括：
发射轴，其包括构造用于操作性接合所述手术装置的多个可旋转驱动轴中的可旋转驱动轴的近侧端；
锥齿轮组件，其包括与所述发射轴的远侧端部机械性接合的近侧端；
齿圈，其设置在所述外管的所述远侧端部内；
太阳齿轮，其在所述齿圈内设置在所述锥齿轮组件的远侧端处；
多个行星齿轮，其围绕着所述太阳齿轮的齿并且啮合地接合于所述太阳齿轮的齿和所述齿圈的齿设置；
支架板，其可操作地联接至所述多个行星齿轮；以及
远侧齿轮，其设置在从所述支架板向远侧延伸的轴上，所述远侧齿轮被可操作地接合于所述手术装载单元的所述可轴向平移的驱动构件，其中
所述发射组件进一步包括星形齿轮，所述星形齿轮可操作地联接至所述支架板并且设置在所述齿圈的近侧，并且其中所述外管的所述远侧端部包括开关，所述开关具有从所述开关的远侧端向远侧延伸的凸起和朝向所述外管的中心向内延伸的延伸部，所述开关能够在近侧位置和远侧位置之间移动，在所述近侧位置，所述凸起从所述齿圈脱离并且所述延伸部与所述星形齿轮接合，使得所述支架板保持静止以允许所述多个行星齿轮使所述外管的所述远侧端部旋转，在所述远侧位置，所述凸起与所述齿圈接合并且所述延伸部从所述星形齿轮脱离，使得所述齿圈保持静止以允许所述多个行星齿轮实现所述手术装载单元的功能。
2.根据权利要求1所述的接合器组件，其中，所述外管的所述远侧端部包括关节式运动接头。
3.根据权利要求2所述的接合器组件，其中，所述锥齿轮组件设置在所述关节式运动接头的近侧。
4.根据权利要求3所述的接合器组件，其中，所述太阳齿轮和所述多个行星齿轮设置在所述关节式运动接头的远侧。
5.根据权利要求1所述的接合器组件，其中，所述锥齿轮组件包括近侧锥齿轮，所述近侧锥齿轮包括从其向近侧延伸的杆，所述杆通过轴承可操作地联接至所述发射轴的远侧端部。
6.根据权利要求5所述的接合器组件，其中，所述锥齿轮组件进一步包括与所述近侧锥齿轮接合的中央锥齿轮。
7.根据权利要求6所述的接合器组件，其中，所述锥齿轮组件进一步包括与所述中央锥齿轮接合的远侧锥齿轮。
8.根据权利要求7所述的接合器组件，其中，所述锥齿轮组件的所述远侧锥齿轮包括从其向远侧延伸的杆，并且所述太阳齿轮稳固至所述远侧锥齿轮的所述杆。
9.根据权利要求1所述的接合器组件，其中，所述支架板包括近侧表面，所述近侧表面包括从其向近侧延伸的多个销桩，所述多个销桩设置在所述多个行星齿轮中所限定的开孔中。
10.根据权利要求2所述的接合器组件，进一步包括关节式运动组件，所述关节式运动组件包括：
蜗齿轮组件，其包括设置在所述外壳内的第一蜗杆驱动器和第二蜗杆驱动器；
旋转线缆，其可操作地连接至所述蜗齿轮组件的所述第一蜗杆驱动器并且从所述蜗齿轮组件的所述第一蜗杆驱动器向远侧延伸穿过所述外管至所述齿圈，所述齿圈设置在所述关节式运动接头的远侧，使得第一蜗杆驱动器的旋转引起所述外管的所述远侧端部的旋转；以及
关节式运动线缆，其可操作地连接至所述蜗齿轮组件的所述第二蜗杆驱动器并且从所述蜗齿轮组件的所述第二蜗杆驱动器向远侧延伸至在所述外管内设置在所述关节式运动接头的远侧的保持构件，使得所述第二蜗杆驱动器的旋转引起所述外管的所述远侧端部关于所述关节式运动接头的关节式运动。
11.根据权利要求10所述的接合器组件，其中，所述第一蜗杆驱动器和所述第二蜗杆驱动器中的每个包括与蜗轮啮合地接合的蜗杆，每个蜗杆构造成操作性地连接于所述手术装置的所述多个可旋转驱动轴中的可旋转驱动轴。
12.根据权利要求11所述的接合器组件，其中，所述旋转线缆包括缠绕着所述第一蜗杆驱动器的所述蜗轮的鼓部的近侧端和缠绕着所述齿圈的鼓形部的远侧端。
13.根据权利要求11所述的接合器组件，其中，所述关节式运动线缆包括缠绕着所述第二蜗杆驱动器的所述蜗轮的鼓部的近侧端和联接至相应的保持构件的远侧端。
14.根据权利要求13所述的接合器组件，进一步包括设置在所述关节式运动线缆的所述近侧端和所述远侧端之间的弹簧。
15.根据权利要求11所述的接合器组件，其中，所述关节式运动组件进一步包括分别用于引导所述旋转线缆和所述关节式运动线缆的第一线缆导向轮和第二线缆导向轮。
16.根据权利要求15所述的接合器组件，其中，所述第一线缆导向轮和所述第二线缆导向轮在形状上是圆形的。
17.根据权利要求15所述的接合器组件，其中，所述第一线缆导向轮和所述第二线缆导向轮是凸轮形的。
18.根据权利要求2所述的接合器组件，进一步包括关节式运动组件，所述关节式运动组件包括：
蜗齿轮组件，其包括设置在所述外壳内的第一蜗杆驱动器和第二蜗杆驱动器；
牵拉线缆，其可操作地连接至所述蜗齿轮组件的所述第一蜗杆驱动器并且从所述蜗齿轮组件的所述第一蜗杆驱动器向远侧延伸到所述外管中，所述牵拉线缆构造成使所述开关在所述近侧位置和所述远侧位置之间移动；以及
关节式运动线缆，其可操作地连接至所述蜗齿轮组件的所述第二蜗杆驱动器并且从所述蜗齿轮组件的所述第二蜗杆驱动器向远侧延伸至在所述外管内设置在所述关节式运动接头的远侧的保持构件，使得所述第二蜗杆驱动器的旋转引起所述外管的所述远侧端部关于所述关节式运动接头的关节式运动。
19.根据权利要求18所述的接合器组件，其中，所述关节式运动组件进一步包括包含凸轮的第一线缆导向轮，并且所述牵拉线缆包括缠绕着所述蜗齿轮组件的所述第一蜗杆驱动器的蜗轮的鼓部的近侧端和缠绕着所述第一线缆导向轮的远侧端，使得所述第一蜗杆驱动器的旋转引起所述凸轮抵着所述开关的凸轮表面的移动以使所述开关在所述近侧位置和所述远侧位置之间移动。
CN201710053765.5A 2016-01-21 2017-01-22 用于将机电手术装置和手术装载单元互连的带有行星齿轮驱动的接合器组件及其手术系统 Expired - Fee Related CN107019537B (zh)

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