CN107405149A - 模块化缝合组件 - Google Patents
模块化缝合组件 Download PDFInfo
- Publication number
- CN107405149A CN107405149A CN201680012462.2A CN201680012462A CN107405149A CN 107405149 A CN107405149 A CN 107405149A CN 201680012462 A CN201680012462 A CN 201680012462A CN 107405149 A CN107405149 A CN 107405149A
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- end effector
- drive
- motor
- jaw
- shank
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract
本发明公开了一种模块化轴组件。所述模块化轴组件包括一个或多个输入端,所述一个或多个输入端被构造成能够从例如外科器械系统诸如柄部接收输入运动。所述轴组件还包括一个或多个板载输入端,所述一个或多个板载输入端被构造成能够产生输入运动。由所述轴组件接收和产生的所述输入运动可传送到所述轴组件的端部执行器,以在所述端部执行器处执行各种功能。所述端部执行器可包括钉仓和击发构件,所述击发构件可在近侧位置和远侧位置之间移动,以从所述钉仓射出钉。所述端部执行器可包括多个钳口构件,并且所述击发构件可包括被构造成能够将所述钳口构件相对于彼此定位的凸轮构件。
Description
背景技术
本发明的各种形式涉及外科器械,并且在各种实施方案中,涉及被设计成用于切割和缝合组织的外科切割和缝合器械及其钉仓。
附图说明
通过结合附图来参考本发明实施方案的以下说明,本发明的各种特征和优点及其获取方法将会变得更加明显,并且可更好地理解发明本身,其中:
图1为包括马达驱动外科器械以及三个可互换的端部执行器的模块化外科系统的透视图;
图2为马达驱动外科器械的侧透视图,其中为了清楚起见,已移除柄部外壳的一部分;
图3为图2的外科器械的局部分解组装视图;
图4为图2和图3的外科器械的另一局部分解组装视图;
图5为马达驱动外科器械的侧正视图,其中已移除柄部外壳的一部分;
图6为马达驱动系统以及传输组件的透视图,其中传输组件处于第一驱动位置,其中马达的致动将会导致图2-5的外科器械的第一驱动系统的致动;
图6A为具有锁定装置的另选传输托架的透视图;
图6B为包括图6A的传输托架的马达驱动系统以及传输组件的透视图,其中传输组件处于第一驱动位置,其中马达的致动将会导致第一驱动系统的致动并且第二驱动系统被锁定装置锁定;
图6C为图6B的马达驱动系统以及传输组件的透视图,其中传输组件处于第二驱动位置,其中马达的致动将会导致第二驱动系统的致动并且第一驱动系统被锁定装置锁定;
图7为图6的马达驱动系统以及传输组件的另一透视图,其中传输组件处于第二驱动位置,其中马达的致动将会导致第二驱动系统的致动;
图8为另一马达驱动外科器械的侧正视图,其中为了清楚起见,已省略柄部外壳的一部分及其他部分;
图9为图8的外科器械的马达、传输组件及第一驱动系统和第二驱动系统的透视图,其中其传输组件处于第一驱动位置;
图10为图9的马达、传输组件及第一驱动系统和第二驱动系统的剖面正视图,其中传输组件处于第一驱动位置;
图11为图9和图10的马达、传输组件及第一驱动系统和第二驱动系统的另一透视图,其中传输组件处于第二驱动位置;
图12为图9-11的马达、传输组件及第一驱动系统和第二驱动系统的另一剖面正视图,其中传输组件处于第二驱动位置;
图13为另一马达驱动外科器械的一部分的局部后透视图;
图14为图13的外科器械的马达、传输组件及第一驱动系统和第二驱动系统的侧正视图;
图15为图13和图14的外科器械的传输组件的剖视图,所述传输组件处于第一驱动位置;
图16为图13-15的外科器械的传输组件的另一剖视图,所述传输组件处于第二驱动位置;
图17为另一马达驱动外科器械构造的透视图,其中为了清楚起见,已移除外壳的一部分;
图18为图17的外科器械的马达、传输组件及第一驱动系统和第二驱动系统的透视图;
图19为图18的马达、传输组件及第一驱动系统和第二驱动系统的分解组装视图;
图20为图18和图19的马达、传输组件及第一驱动系统和第二驱动系统的某些部分的剖视图,其中其传输轴组件处于第一驱动位置;
图21为图20的马达、传输组件及第一驱动系统和第二驱动系统的某些部分的另一剖视图,其中其传输轴组件处于第二驱动位置;
图22为本发明的一种形式外科器械的另一马达、传输组件及第一驱动系统和第二驱动系统的透视图;
图23为图22的马达、传输组件及第一驱动系统和第二驱动系统的分解组装视图;
图24为图22和图23的马达、传输组件及第一驱动系统和第二驱动系统的剖视图,其中传输组件处于第一驱动位置;
图25为图22-24的马达、传输组件及第一驱动系统和第二驱动系统的另一剖视图,其中传输组件处于第二驱动位置;
图26为图22-25的马达和传输组件的另一剖视图,其中传输组件处于第一驱动位置;
图27为图22-26的马达和传输组件的另一剖视图,其中传输组件处于第二驱动位置;
图28为另一马达驱动外科器械的一部分的侧正视图,其中为了清楚起见,已省略外壳的一部分;
图29为另一马达驱动外科器械的一部分的透视图,其中为了清楚起见,已省略外壳的一部分;
图30为具有第一旋转驱动系统和第二旋转驱动系统的马达驱动单元的前透视图;
图31为图30的马达驱动单元的底部透视图;
图32为图31和图32的马达驱动单元的透视图,其中已从马达驱动单元中移除外壳。
图33为用于将四个旋转驱动轴可操作地联接在一起的机械联接系统的分解组装视图;
图34为外科端部执行器的前透视图,其中为了清楚起见,已移除该端部执行器外壳的一部分;
图35为图34的外科端部执行器的另一前透视图,其中为了清楚起见,已省略闭合系统以及下钳口的某些部分;
图36为图34和图35的外科端部执行器的分解透视组装视图;
图37为图33-36的外科端部执行器的侧正视图,其中为了清楚起见,已省略外壳的一部分;
图38为另一端部执行器构造的左侧透视图,其中为了清楚起见,已省略该端部执行器外壳的一部分;
图39是图38的端部执行器的分解组装视图;
图40为图37和图38的端部执行器构造的右侧透视图,其中为了清楚起见,已省略该端部执行器外壳的另一部分;
图41为图38-40的外科端部执行器构造的剖视图;
图42为另一外科端部执行器的剖面透视图;
图43为图42的外科端部执行器的局部分解组装视图;
图44为图42和图43的外科端部执行器的一部分的另一局部透视图;
图45为图42-44的外科端部执行器的另一剖视图;
图46为具有驱动脱离组件的端部执行器构造的透视图;
图47为图46的外科端部执行器的局部透视图,其中为了清楚起见,已省略该端部执行器的一部分,并且其中闭合系统的近侧传动系部分脱离闭合系统的远侧传动系部分;
图48为图46和图47的外科端部执行器的局部透视图,其中为了清楚起见,已省略该端部执行器的一部分,并且其中远侧联接器构件安置在近侧联接器构件中的狭槽内而且驱动联接器销从狭槽中移除;
图49为图48的外科端部执行器的另一局部透视图,该图示出端部执行器击发系统的某些部分;
图50为另一外科端部执行器构造的透视图;
图50A为图50的外科端部执行器的一部分的放大图;
图51为图50的端部执行器的一部分的透视图,其中为了清楚起见,已省略外壳的一部分;
图52为图50和图51的端部执行器的另一透视图,其中为了清楚起见,已省略外壳和闭合系统的某些部分;
图53为图50-52的端部执行器的另一透视图,其中为了清楚起见,已省略闭合系统的某些部分以及外壳的一部分;
图54为装配有驱动脱离组件的另一端部执行器的透视图;
图55为图54的端部执行器的侧正视图;
图56为图54和图55的端部执行器的一部分的透视图,其中为了清楚起见,已省略该端部执行器外壳的一部分;
图57为图54-56的端部执行器的另一透视图,其中该端部执行器的工具头处于闭合位置;
图58为图57的端部执行器的另一局部透视图,其中为了清楚起见,已省略该端部执行器的一部分;
图59为图58的端部执行器的另一透视图,其中已移除驱动联接器销;
图60为图59的端部执行器的另一透视图,其中已移除驱动联接器销,并且闭合驱动梁组件朝近侧移动以打开工具头;
图61为包括柄部部分和轴部分的模块化马达驱动外科器械的方框图;
图62为描绘完成行程的总时间以及各种装置轴的各种操作的负载电流要求的表;
图63分成图63-A和图63-B,该图为模块化马达驱动外科器械的柄部部分中的电气系统的细节图;
图64为模块化马达驱动外科器械的柄部和轴部分的电气系统的方框图;
图65示出用以消除对马达功能的微处理器控制的机械切换运动控制系统;
图66为根据本发明的各种实施方案,包括联接器外壳和定位在连接器外壳内的一对承窝的联接构造的透视图;
图67为图66的联接构造的剖面透视图,该图描绘了根据本发明的各种实施方案的未联接到该对承窝的一对驱动构件并且还描绘了处于解锁构型的联接构造;
图68为图66的联接构造的剖面透视图,该图描绘了根据本发明的各种实施方案的已联接到该对承窝的一对驱动构件并且还描绘了处于锁定构型的联接构造;
图69为图66的联接构造的剖面透视图,该图描绘了根据本发明的各种实施方案的已联接到该对承窝的一对驱动构件并且还描绘了处于解锁构型的联接构造;
图70为根据本发明的各种实施方案的图66的联接构造的插入件的透视图;
图71为根据本发明的各种实施方案的图66的联接构造的承窝的透视图;
图72是根据本发明的各种实施方案的图66的联接构造的闩锁的透视图;
图73为根据本发明的各种实施方案的与外科器械柄部一起使用的外科端部执行器附接件的剖面透视图;
图74为根据本发明的各种实施方案的图73的外科端部执行器附接件的驱动系统的分解透视图;
图75为根据本发明的各种实施方案的用于外科器械的柄部的透视图,其中柄部包括具有第一输出驱动组件和第二输出驱动组件的驱动系统;
图76为根据本发明各种实施方案的图75的驱动系统的透视图;
图77为根据本发明各种实施方案的图75的柄部的剖面正视图,该图描绘了接合第一输出驱动组件并脱离第二输出驱动组件的驱动系统;
图78为根据本发明各种实施方案的图75的驱动系统的剖面正视图,该图描绘了接合第二输出驱动组件并脱离第一输出驱动组件的驱动系统;
图79为包括可旋转驱动轴的外科器械的局部剖面透视图,闭合驱动装置可由所述驱动轴操作,并且击发驱动装置可由所述驱动轴操作,其中闭合驱动装置示为处于部分打开构型并且击发驱动装置示为处于未击发构型;
图80为图79的可旋转驱动轴的透视图;
图81为图79的外科器械的局部剖面透视图,示有处于打开构型的闭合驱动装置以及处于未击发构型的击发驱动装置;
图82为图79的外科器械的局部剖面透视图,示有处于闭合构型的闭合驱动装置以及处于未击发构型的击发驱动装置;
图83为图79的外科器械的局部剖面透视图,示有处于闭合构型的闭合驱动装置以及处于击发构型的击发驱动装置;
图84为图79的外科器械的局部剖面透视图,示有处于回缩构型的击发驱动装置以及处于重新打开过程中的闭合驱动装置;
图85为以闭合、未击发构型示出的外科器械的端部执行器和轴的局部剖视图;
图86为用于操作图85的外科器械的传输装置的透视图,示为处于与图85的构型对应的构型;
图87为图86的传输装置的分解图;
图88为图85的端部执行器和轴的局部剖视图,示为处于打开、未击发的构型;
图89为图86的传输装置的透视图,示为处于与图88中所示的构型对应的构型;
图90为图85的端部执行器和轴的局部剖视图,示为处于闭合、未击发的构型;
图91为图86的传输装置的透视图,示为处于与图90中所示的构型对应的构型;
图92为图85的端部执行器和轴的局部剖视图,示为处于闭合、已击发的构型;
图93为图86的传输装置的透视图,示为处于与图92中所示的构型对应的构型;
图94为根据至少一个实施方案的外科缝合器械的透视图;
图95为图94的外科缝合器械的柄部的分解图;
图96为图94的外科缝合器械的端部执行器的分解图;
图97为图94的外科缝合器械的马达和齿轮组件的局部透视图;
图98为图94的外科缝合器械的剖面正视图;
图99为根据至少一个实施方案的外科缝合器械的透视图,示为处于打开、未闩锁的状况;
图100为图99的外科缝合器械的透视图,示为处于闭合、未闩锁的状况;
图101为图99的外科缝合器械的透视图,示为处于闭合、闩锁的状况;
图102为图99的外科缝合器械的平面图;
图103为图99的外科缝合器械的剖视图;
图104为图99的外科缝合器械的详细剖视图;
图105为图99的外科缝合器械的击发驱动装置的分解图;
图106为图99的外科缝合器械的闭合驱动装置的分解图;
图107为根据至少一个实施方案的外科缝合器械的剖视图,其包括柄部、轴和端部执行器;
图108为图107的外科缝合器械的柄部的剖视图,示为处于打开构型;
图109为图107的外科缝合器械的柄部的剖视图,示为处于闭合构型;
图110为图107的外科缝合器械的柄部的透视图,示为已移除一些部件;
图111为根据至少一个实施方案的外科缝合器械的透视图,其包括柄部和轴;
图112为图111的外科缝合器械的透视图,示为柄部与轴脱离;
图113为图111的外科缝合器械的分解图;
图114是图111的柄部的局部剖视图,示出传输装置可操作地接合图111的外科缝合器械的闭合系统;
图115是图111的柄部的局部剖视图,示出了图114的传输装置可操作地接合图111的外科缝合器械的击发系统;
图116为图114的传输装置的分解图;
图117为根据至少一个实施方案的外科缝合器械的透视图,该外科缝合器械示为已移除一些部件并且示为处于打开构型;
图118为图117的外科缝合器械的透视图,该外科缝合器械示为已移除一些部件并且示为处于闭合构型;
图119为在将钉包安装到端部执行器中前的另一端部执行器构造及其钉包实施方案的透视图;
图120为图119的端部执行器和钉包的另一透视图,其中钉包已安装到端部执行器中;
图121为图120的端部执行器和钉包的另一透视图,其中钉包的定位构件已从中移除;
图122为根据至少一个实施方案的附接到外科器械系统的柄部的轴组件的透视图;
图123为以关节运动构型示出的图122的轴组件的透视图;
图124为与图122的柄部脱离的图122的轴组件的透视图;
图125为图122的柄部的局部透视图,为了便于图示以部分被移除示出;
图126为图122的轴组件的局部剖视图,示为处于未关节运动、未闭合和未击发的构型;
图127为图122的轴组件的局部剖视图,示为处于关节运动、未闭合和未击发构型;
图128为处于图127所示构型的图122的轴组件的一部分的细部图;
图129为处于关节运动、闭合和未击发构型的图122的轴组件的局部剖视图;
图130为处于关节运动、闭合和部分击发构型的图122的轴组件的局部剖视图;
图131为处于图130所示构型的图122的轴组件的一部分的细部图;
图132为根据至少一个实施方案的外科器械系统的柄部的剖视图,其中柄部示为处于手枪式握把构型;
图133为图132的柄部的剖视图,其示出了处于棒式构型的柄部;
图134为根据至少一个实施方案的包括可动地支撑在柄部中的电动马达的外科器械系统的柄部的剖视图;并且
图135为图134的柄部的剖视图,其示出了处于棒式构型的柄部。
在所有若干视图中,对应的参考符号指示对应的部件。本文示出的范例以一种形式示出本发明的优选实施方案,不应将这种范例理解为是以任何方式限制本发明的范围。
具体实施方式
本申请的申请人拥有与本申请同日提交的下列专利申请,这些专利申请各自全文以引用方式并入本文:
-名称为“SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFEPARAMETER”的美国专利申请序列号_______(代理人案卷号END7539USNP/140464);
-名称为“SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION”的美国专利申请序列号_______(代理人案卷号END7542USNP/140467);
-名称为“SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCEPARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND”的美国专利申请序列号_______(代理人案卷号END7547USNP/140472);
-名称为“SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONEOR MORE BATTERIES”的美国专利申请序列号_______(代理人案卷号END7545USNP/140470);
-名称为“CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FORCHARGING A BATTERY”的美国专利申请序列号_______(代理人案卷号END7543USNP/140468);
-名称为“SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOBE SERVICED”的美国专利申请序列号_______(代理人案卷号END7558USNP/140483);
-名称为“REINFORCED BATTERY FOR A SURGICAL INSTRUMENT”的美国专利申请序列号_______(代理人案卷号END7551USNP/140476);
-名称为“POWER ADAPTER FOR A SURGICAL INSTRUMENT”的美国专利申请序列号_______(代理人案卷号END7553USNP/140478);以及
-名称为“ADAPTABLE SURGICAL INSTRUMENT HANDLE”的美国专利申请序列号___________(代理人案卷号END7541USNP/140466)。
本申请的申请人拥有提交于2014年12月18日并且各自全文以引用方式并入本文的以下专利申请:
-名称为“SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE ENDEFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING”的美国专利申请序列号14/574,478;
-名称为“SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS”的美国专利申请序列号14/574,483;
-名称为“DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS”的美国专利申请序列号14/575,139;
-名称为“LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITHARTICULATABLE SURGICAL END EFFECTORS”的美国专利申请序列号14/575,148;
-名称为“SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLEABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE”的美国专利申请序列号14/575,130;
-名称为“SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS”的美国专利申请序列号14/575,143;
-名称为“SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDMOVABLE FIRING BEAM SUPPORT ARRANGEMENTS”的美国专利申请序列号14/575,117;
-名称为“SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDIMPROVED FIRING BEAM SUPPORT ARRANGEMENTS”的美国专利申请序列号14/575,154;
-名称为“SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEARTICULATION SYSTEM”的美国专利申请序列号14/574,493;以及
-名称为“SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLEARTICULATION SYSTEM”的美国专利申请序列号14/574,500。
本申请的申请人拥有提交于2013年3月1日并且各自全文以引用方式并入本文的以下专利申请:
-名称为“Articulatable Surgical Instruments With Conductive PathwaysFor Signal Communication”的美国专利申请序列号13/782,295(现为美国专利申请公布2014/0246471);
-名称为“Rotary Powered Articulation Joints For Surgical Instruments”的美国专利申请序列号13/782,323(现为美国专利申请公布2014/0246472);
-名称为“Thumbwheel Switch Arrangements For Surgical Instruments”的美国专利申请序列号13/782,338(现为美国专利申请公布2014/0249557);
-名称为“Electromechanical Surgical Device with Signal RelayArrangement”的美国专利申请序列号13/782,499(现为美国专利申请公布2014/0246474);
-名称为“Multiple Processor Motor Control for Modular SurgicalInstruments”的美国专利申请序列号13/782,460(现为美国专利申请公布2014/0246478);
-名称为“Joystick Switch Assemblies For Surgical Instruments”的美国专利申请序列号13/782,358(现为美国专利申请公布2014/0246477);
-名称为“Sensor Straightened End Effector During Removal ThroughTrocar”的美国专利申请序列号13/782,481(现为美国专利申请公布2014/0246479);
-名称为“Control Methods for Surgical Instruments with RemovableImplement Portions”的美国专利申请序列号13/782,518(现为美国专利申请公布2014/0246475);
-名称为“Rotary Powered Surgical Instruments With Multiple Degrees ofFreedom”的美国专利申请序列号13/782,375(现为美国专利申请公布2014/0246473);以及
-名称为“Surgical Instrument Soft Stop”的美国专利申请序列号13/782,536(现为美国专利申请公布2014/0246476)。
本申请的申请人还拥有提交于2013年3月14日并且各自全文以引用方式并入本文的以下专利申请:
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”的美国专利申请序列号13/803,097(现为美国专利申请公布2014/0263542);
-名称为“CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT”的美国专利申请序列号13/803,193(现为美国专利申请公布2014/0263537);
-名称为“INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT”的美国专利申请序列号13/803,053(现为美国专利申请公布2014/0263564);
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONLOCK”的美国专利申请序列号13/803,086(现为美国专利申请公布2014/0263541);
-名称为“SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS”的美国专利申请序列号13/803,210(现为美国专利申请公布2014/0263538);
-名称为“MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT”的美国专利申请序列号13/803,148(现为美国专利申请公布2014/0263554);
-名称为“DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/803,066(现为美国专利申请公布2014/0263565);
-名称为“ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS”的美国专利申请序列号13/803,117(现为美国专利申请公布2014/0263553);
-名称为“DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/803,130(现为美国专利申请公布2014/0263543);以及
-名称为“METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT”的美国专利申请序列号13/803,159(现为美国专利申请公布2014/0277017)。
本申请的申请人还拥有提交于2014年3月7日并且全文以引用方式并入本文的以下专利申请:
-名称为“CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号14/200,111(现为美国专利申请公布2014/0263539)。
本申请的申请人还拥有提交于2014年3月26日的以下专利申请,并且其中每一个各自全文以引用的方式并入本文:
-名称为“POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号14/226,106;
-名称为“STERILIZATION VERIFICATION CIRCUIT”的美国专利申请序列号14/226,099;
-名称为“VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT”的美国专利申请序列号14/226,094;
-名称为“POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITAND WAKE UP CONTROL”的美国专利申请序列号14/226,117;
-名称为“MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES”的美国专利申请序列号14/226,075;
-名称为“FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS”的美国专利申请序列号14/226,093;
-名称为“SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION”的美国专利申请序列号14/226,116;
-名称为“SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETYPROCESSOR”的美国专利申请序列号14/226,071;
-名称为“SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS”的美国专利申请序列号14/226,097;
-名称为“INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS”的美国专利申请序列号14/226,126;
-名称为“MODULAR SURGICAL INSTRUMENT SYSTEM”的美国专利申请序列号14/226,133;
-名称为“SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT”的美国专利申请序列号14/226,081;
-名称为“POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEVOLTAGE PROTECTION”的美国专利申请序列号14/226,076;
-名称为“SURGICAL STAPLING INSTRUMENT SYSTEM”的美国专利申请序列号14/226,111;以及
-名称为“SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT”的美国专利申请序列号14/226,125。
本申请的申请人还拥有提交于2014年9月5日并且各自全文以引用方式并入本文的以下专利申请:
-名称为“CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE”的美国专利申请序列号14/479,103;
-名称为“ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUECOMPRESSION”的美国专利申请序列号14/479,119;
-名称为“MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION”的美国专利申请序列号14/478,908;
-名称为“MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'SOUTPUT OR INTERPRETATION”的美国专利申请序列号14/478,895;
-名称为“USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADEDCARTRIDGE”的美国专利申请序列号14/479,110;
-名称为“SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION”的美国专利申请序列号14/479,098;
-名称为“MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE”的美国专利申请序列号14/479,115;以及
-名称为“LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION”的美国专利申请序列号14/479,108。
本申请的申请人还拥有提交于2014年4月9日并且各自全文以引用方式并入本文的以下专利申请:
-名称为“MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVESHAFTS”的美国专利申请序列号14/248,590(现为美国专利申请公布2014/0305987);
-名称为“SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRINGDRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT”的美国专利申请序列号14/248,581(现为美国专利申请公布2014/0305989);
-名称为“SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLINGTHE OPERATION OF THE SURGICAL INSTRUMENT”的美国专利申请序列号14/248,595(现为美国专利申请公布2014/0305988);
-名称为“POWERED LINEAR SURGICAL STAPLER”的美国专利申请序列号14/248,588(现为美国专利申请公布2014/0309666);
-名称为“TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT”的美国专利申请序列号14/248,591(现为美国专利申请公布2014/0305991);
-名称为“MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENTFEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS”的美国专利申请序列号14/248,584(现为美国专利申请公布2014/0305994);
-名称为“POWERED SURGICAL STAPLER”的美国专利申请序列号14/248,587(现为美国专利申请公布2014/0309665);
-名称为“DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALINSTRUMENT”的美国专利申请序列号14/248,586(现为美国专利申请公布2014/0305990);以及
-名称为“MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUSINDICATION ARRANGEMENTS”的美国专利申请序列号14/248,607(现为美国专利申请公布2014/0305992)。
本申请的申请人还拥有提交于2013年4月16日并且各自全文以引用方式并入本文的以下专利申请:
-名称为“SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”的美国临时专利申请序列号61/812,365;
-名称为“LINEAR CUTTER WITH POWER”的美国临时专利申请序列号61/812,376;
-名称为“LINEAR CUTTER WITH MOTOR AND PISTOL GRIP”的美国临时专利申请序列号61/812,382;
-名称为“SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS ANDMOTOR CONTROL”的美国临时专利申请序列号61/812,385;以及
-名称为“SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”的美国临时专利申请序列号61/812,372。
现在将描述某些示例性实施方案,以从整体上理解本文所公开的装置和方法的结构、功能、制造和用途的原理。这些实施方案的一个或多个示例已在附图中示出。本领域的普通技术人员将会理解,在本文中具体描述并示出于附图中的装置和方法为非限制性的示例性实施方案,并且本发明的多个实施方案的范围仅由权利要求书限定。结合一个示例性实施方案示出或描述的特征可与其他实施方案的特征进行组合。这种修改和变型旨在包括在本发明的范围之内。
本说明书通篇提及的“多种实施方案”、“一些实施方案”、“一个实施方案”或“实施方案”等,意味着结合该实施方案描述的具体特征、结构或特性包括在至少一个实施方案中。因此,本说明书通篇出现的短语“在多种实施方案中”、“在一些实施方案中”、“在一个实施方案中”或“在实施方案中”等并不一定都指相同的实施方案。此外,在一个或多个实施方案中,具体特征、结构或特性可以任何合适的方式进行组合。因此,在无限制的情形下,结合一个实施方案示出或描述的具体特征、结构或特性可全部或部分地与一个或多个其他实施方案的特征、结构或特性进行组合。这种修改和变型旨在包括在本发明的范围之内。
术语“近侧”和“远侧”在本文中是相对于操纵外科器械的柄部部分的临床医生来使用的。术语“近侧”是指最靠近临床医生的部分,术语“远侧”是指远离临床医生定位的部分。还应当理解,为简洁和清楚起见,本文可以结合附图使用空间术语诸如“垂直”、“水平”、“上”和“下”。然而,外科器械在许多取向和位置使用,并且这些术语并非限制性和/或绝对化的。
本文提供了各种示例性装置和方法以用于执行腹腔镜式和微创外科手术操作。然而,本领域的普通技术人员将容易理解,本文所公开的各种方法和装置可用于许多外科手术和应用中,包括例如与开放式外科手术相结合。继续参阅本具体实施方式,本领域中的普通技术人员将进一步理解,本文所公开的各种器械可以任何方式插入体内,诸如通过自然腔道、通过形成于组织中的切口或穿刺孔等。器械的工作部分或端部执行器部分可被直接插入患者体内或可通过具有工作通道的进入装置插入,外科器械的端部执行器及细长轴可通过所述工作通道而推进。
转到附图,其中在多个视图中,类似的数字表示类似的组件,图1描绘了通常表示为2的模块化外科器械系统,其在一种形式中包括马达驱动外科器械10,该马达驱动外科器械可结合多种外科端部执行器例如端部执行器1000,2000和3000使用。在示出的实施方案中,马达驱动外科器械10包括外壳12,该外壳由能够被临床医生抓握、操纵和致动的柄部14组成。继续参见本具体实施方式,然而,应当理解,结合柄部14以及本文所公开的各种端部执行器构造描绘的各种独特且新型的驱动系统构造也可有效地与机器人控制的外科系统一起使用。因此,术语“外壳”也可涵盖机器人系统的能够容纳或换言之可操作地支撑本文所描绘的各种形式的驱动系统的外壳或类似部分,并且该外壳或类似部分可以被构造成能够生成可用于致动本文所述的端部执行器构造及其相应的等同结构的控制运动。术语“框架”可指手持外科器械的一部分。术语“框架”还可代表马达驱动系统或机器人控制的外科器械的一部分和/或可用于可操作地控制外科器械的机器人系统的一部分。例如,本文所公开的驱动系统构造和端部执行器构造可与在名称为“SURGICAL STAPLING INSTRUMENTSWITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”的美国专利申请序列号13/118,241(现为美国专利申请公布2012/0298719)所公开的各种机器人系统、器械、部件以及方法一起使用,该专利据此全文以引用方式并入本文。
现将参见图2-5,柄部14可以包括一对柄部外壳段16和18,这对柄部外壳段可通过螺钉、按扣特征结构、粘合剂等互连。在所示构造中,柄部外壳段16,18配合形成可被临床医生抓握和操纵的手枪式握把部19。如将在下文进一步详细论述,柄部14可操作地支撑其中两个旋转驱动系统20,40,所述旋转驱动系统被构造成能够生成各种控制运动并且将这些控制运动施加到联接到其的特定端部执行器的对应驱动轴部分。第一旋转驱动系统20例如可用来向可操作地支撑在端部执行器中的对应闭合驱动轴构造施加“闭合”运动,并且第二旋转驱动系统40可用来向联接到其的端部执行器中的对应击发驱动轴构造施加“击发”运动。
第一旋转驱动系统20和第二旋转驱动系统40由马达80通过基本在两个传动系之间转移功率/运动的独特而新颖的“可转移的”传输组件60供电。第一旋转驱动系统20包括第一旋转驱动轴22,第一旋转驱动轴可旋转地支撑在柄部14的外壳12中并且限定第一驱动轴轴线“FDA-FDA”。第一驱动齿轮24键锁到或以其他方式不可旋转地附连至第一旋转驱动轴22,从而随其围绕第一驱动轴轴线FDA-FDA旋转。类似地,第二旋转驱动系统40包括第二旋转驱动轴42,第二旋转驱动轴可旋转地支撑在柄部14的外壳12中并且限定第二驱动轴轴线“SDA-SDA”。在至少一个构造中,第二驱动轴轴线SDA-SDA偏离且平行或基本上平行于第一驱动轴轴线FDA-FDA。如在此上下文中所使用的,术语“偏离”表示例如第一驱动轴轴线和第二驱动轴轴线不同轴。第二旋转驱动轴42具有第二驱动齿轮44,第二驱动齿轮键锁到或以其他方式不可旋转地附连至第二驱动轴42,从而随其围绕第二驱动轴轴线SDA-SDA旋转。另外,第二驱动轴42具有可旋转地轴颈连接在其上的中间驱动齿轮46,使得中间驱动齿轮46可在第二旋转驱动轴42上绕第二驱动轴轴线SDA-SDA自由旋转。
参见图2-5,在一种形式中,马达80包括马达输出轴81,该马达输出轴具有不可旋转地附接到其上的马达驱动齿轮82。马达驱动齿轮82被构造用于与传输组件60以互啮方式“可操作地”接合,如将在下文更详细地论述。在至少一种形式中,传输组件60包括传输托架62,传输托架被支撑用于在驱动齿轮82与第二旋转驱动轴42上的齿轮44和46之间轴向行进。例如,传输托架62可滑动地轴颈连接在支撑轴63上,该支撑轴安装在轴安装座61上的外壳12内,使得传输托架的作用线垂直于旋转驱动系统的齿轮系。轴安装座61被构造成能够刚性支撑在外壳10的狭槽或其他特征结构内。传输托架62包括托架齿轮64,该托架齿轮可旋转地支撑在支撑轴63上并且被构造用于在与驱动齿轮82驱动接合时与齿轮44和46选择性地啮合接合。在图2-5所描绘的构造中,传输托架62可操作地附接到转移器或“用于转移的装置”70,该转移器被构造成能够使得传输托架62在“第一驱动位置”与“第二驱动位置”之间轴向转移。在一种形式中,例如,用于转移的装置70包括支撑在柄部14的外壳12内的转移器螺线管71。转移器螺线管71可以包括双稳定螺线管,或例如可以包括“双位置、弹簧加载的”螺线管。示出构造例如包括弹簧72,弹簧72将传输托架62朝远侧方向“DD”偏置到第一驱动位置中,其中托架齿轮64会与中间驱动齿轮46啮合接合,同时还与驱动齿轮82啮合接合。马达80当处于该第一驱动位置时,其启动将会造成齿轮82,46和24的旋转,这将最终造成第一驱动轴22旋转。如本文将进一步地论述,转移器螺线管71可由被枢转地支撑在柄部14的外壳12上的击发触发器90致动,如图2和图5所示。在示出的实施方案中,击发触发器90被枢转地支撑在安装在柄部14中的击发触发器轴92上。击发触发器90由击发触发器弹簧94垂直偏置到未致动位置中。参见图3。将击发触发器90安装用于对可操作地支撑在控制电路板组件100上的击发开关96进行可操作的致动。在示出的构造中,击发触发器90的致动引起转移器螺线管71的致动。如在下文结合图61、图63、图64更详细地描述,柄部处理器7024会向转移器螺线管7032(71)提供驱动信号。现在返回参见图2-5,因此,击发触发器90的致动将会引起转移器螺线管71将传输托架62朝近侧方向“PD”拉动,由此使托架齿轮64移动成与第二驱动齿轮44啮合接合。参见图7。当托架齿轮64与驱动齿轮82和第二驱动齿轮44啮合接合时,马达80的致动将会引起第二驱动轴42围绕第二驱动轴轴线“SDA”旋转。如还可从图2-5看出,可转移的传输组件60还可包括指示系统74,指示系统包括可操作地联接到控制板100以及传输指示灯77的一对开关75和76。开关75,76用于检测传输托架62的位置,这造成了控制系统根据传输托架62的位置致动指示灯77。例如,指示灯77可在传输托架62处于第一驱动位置时被通电。这向临床医生提供以下指示:马达80的致动将会引起第一驱动系统20的致动。
本文所公开的各种外科器械还可包括传输组件60’,该传输组件与传输组件60基本相同,而且还包括了用于锁定第一驱动系统20和第二驱动系统40以防止它们在不意图被致动时发生意外致动的锁定组件或装置(通常表示为65)。例如,图6A示出包括第一驱动锁定件66和第二驱动锁定件68的另选传输托架62’。第一驱动锁定件66包括位于传输托架62’上的第一齿轮接合构件或齿,当托架齿轮64与中间齿轮46驱动接合时(即,当传输组件60’处于第一驱动位置时),第一齿轮接合构件或齿定位成与第二驱动齿轮44互啮接合。参见图6B。因此,当传输组件60’处于第一驱动位置时,第一驱动锁定件66就与第二驱动齿轮44啮合接合并防止其在第一驱动轴22以上述方式旋转时相对旋转。同样,当传输组件60’处于第二驱动位置(即托架齿轮64与第二驱动齿轮44啮合接合)时,第二驱动锁定件68就与中间驱动齿轮46啮合接合。参见图6C。因此,当传输组件60’处于第二驱动位置时,第二驱动锁定件68防止中间齿轮46旋转,这还防止第一驱动齿轮24旋转。由此,当临床医生操作马达80以致动第一驱动系统20时,第二驱动系统40被锁定在适当位置中。同样,当临床医生致动第二驱动系统40时,第一驱动系统20被锁定在适当位置中。
如在下文结合图61、图63、图64描述,用于马达80的控制系统可以如下方式编程:当齿轮42,44中一个齿根据其他匹配齿轮的取向而保持在竖直或其他限定位置时,控制系统始终停在某个取向上。这个特征将会用于避免在转移时齿轮齿之间的任何干涉。当转移时,锁定构件还转移并锁定非旋转齿轮系位置。当结合包括仓/砧座构造或其他夹紧构型的端部执行器使用时,通过锁定非旋转(即,未通电)齿轮系而得到的另一优点是在击发时将夹具和/砧座保持在稳定位置。
例如,马达80可为旋转最大值为大约25,000RPM的DC有刷驱动马达。在其他构造中,马达可以包括无刷马达、无线马达、同步马达、步进马达、或任何其他合适的电动马达,包括可热压的马达。马达80可由电源84供电,在一个形式中,该电源可包括电源组86,该电源组可移除地存储在柄部14中。如从图2-5可见,例如,电源组86可以可移除地容纳在柄部14的手枪式握把部19中。为了接取电源组86,临床医生移除附接到手枪式握把部19的可移除盖17,如图所示。电源组86可在其中可操作地支撑多个电池(未示出)。电池各自可以包括例如锂离子(“LI”)或其他合适电池。电源组86被构造用于以可移除方式可操作地附接到同样可操作地联接到马达80且安装在柄部14内的控制电路板组件100。可使用可串联连接的多个电池作为外科器械的电源。另外,例如,电源84可为可替换的和/或可充电的,并且在至少一种情况下,可以包括CR123电池。马达80可由枢转地安装到柄部14的手枪式握把部19上的“摇臂-触发器”110致动。摇臂触发器110被构造成能够致动可操作地联接到控制板100的第一马达开关112。第一马达开关112可以包括压力开关,该压力开关通过将摇臂触发器110枢转成与其接触来致动。第一马达开关112的致动将会引起马达80的致动,使得驱动齿轮82在第一旋转方向上旋转。第二马达开关114还附接到电路板100并且安装成由摇臂触发器110选择性地接触。第二马达开关114的致动将会引起马达80的致动,使得驱动齿轮82在第二方向上旋转。例如,在使用中,电源84所提供的电压极性可以在顺时针的方向上操作电动马达80,其中由电池施加到电动马达上的电压极性可以是相反的,以便在逆时针的方向上操作电动马达80。与本文所述其他形式一样,柄部14还可包括被构造成能够检测驱动系统移动的方向的传感器。马达80的一个特定实施方式在下文中结合描述无刷DC马达7038的图61、图63、图64进行描述。DC马达7038可为可热压的。
图8-12示出外科器械10’的另一形式,除了以下所述的不同点之外,外科器械10’可与外科器械10相同。外科器械10’与上述外科器械10中的部件相同的那些部件将以相同元件编号表示。外科器械10’的可类似地操作但不同于外科器械10中的对应部件的那些部件将以相同部件编号加上“’”或一些情况下加上“””表示。如从图8可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。主要参见图9,例如,传输组件60以及更具体地传输托架62”能够通过可操作地附接到击发触发器90’的连杆组件120手动转移。如从该图可见,例如,连杆组件120包括第一传输连杆122,第一传输连杆枢转地联接到击发触发器90’并轴向延伸以枢转地联接到传输轭124。传输轭124可动地销接到传输托架62”。因此,击发触发器90’的致动引起传输托架62”的轴向移动。因此,应当理解,连杆组件120基本执行与上述转移器螺线管71所执行的那些类似的致动运动。如在此实施方案的上下文中相对于传输托架62”移动所使用的,术语“可手动转移的”是指在除了按压击发触发器90’之外不会使用电或其他功率装置的情况下,在第一驱动位置与第二驱动位置之间移动传输托架。
如同样从图8-12可见,第二驱动齿轮44’在第二驱动轴42’上通过间隔件45与中间齿轮46’间隔开来。第二驱动齿轮44’键锁到或以其他方式不可旋转地附连至第二驱动轴42’,同时中间驱动齿轮46’可旋转地轴颈连接在第二驱动轴42’上,以相对于该第二驱动轴自由旋转。在一个形式中,例如,远侧驱动齿轮130以与中间驱动齿轮46’啮合接合的方式支撑。类似地,远侧驱动齿轮136以与第二驱动齿轮44’啮合接合的方式支撑。然而,在这个构造中,传输托架62”还包括了居中设置的传输齿轮组件140,该传输齿轮组件可操作地附接到传输托架62’以随其轴向行进。仍然参见图8-12,传输齿轮组件140包括居中设置的转移器驱动齿轮142,该转移器驱动齿轮可滑动地啮合接合马达驱动齿轮82。因此,马达驱动齿轮82的旋转引起转移器驱动齿轮142的旋转。另外,朝近侧延伸的锥形驱动齿轮144联接到转移器驱动齿轮142并且被构造用于与附接到近侧驱动齿轮136的近侧齿轮承窝146选择性地啮合接合。同样,朝远侧延伸的锥形驱动齿轮148被构造用于与附接到远侧驱动齿轮130的远侧齿轮承窝150选择性地啮合接合。
当临床医生期望致动第一驱动系统20时,临床医生移动击发触发器90’以便轴向移动传输齿轮组件140来使朝远侧延伸的锥形驱动齿轮148与附接到远侧驱动齿轮130的远侧齿轮承窝150啮合接合。参见图8-10。当马达80处于该位置时,对其进行操作将会引起马达驱动齿轮82、转移器驱动齿轮142、远侧驱动齿轮130、中间驱动齿轮46’、第一驱动齿轮24以及第一驱动轴22的旋转。当临床医生期望致动第二驱动系统40时,临床医生将击发触发器90’移动至图11和图12所示位置,从而使得朝近侧延伸的锥形驱动齿轮144与附接到近侧驱动齿轮136的近侧齿轮承窝146啮合接合。当马达80处于该位置时,对其进行操作将会引起驱动齿轮82、转移器驱动齿轮142、近侧驱动齿轮136、第二驱动齿轮44’以及第二驱动轴42’的旋转。如同样从图8-12可见,传感器152和154可用来检测出传输托架62”的位置,如以下将更详细地论述。例如,传感器152和154可使用在下文结合图61、图63、图64描述的霍尔效应传感器7028来实施。
图13-16示出马达驱动外科器械310的另一形式,除了以下所述的不同点之外,外科器械310可与外科器械10相同。外科器械310与上述外科器械10中的部件相同的那些部件将以相同元件编号表示。在这个构造中,第一驱动系统20和第二驱动系统40由马达80通过独特而新颖的“可转移的”传输组件360供电。第一驱动系统20包括第一驱动滑轮324键锁到其上或以其他方式不可旋转地附连至其上的第一驱动轴22。类似地,第二驱动系统40包括第二驱动滑轮344键锁到其上或以其他方式不可旋转地附连至其上的第二驱动轴42。如从图14可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。
仍然参见图13-16,在一种形式中,马达80包括第一马达滑轮382,该第一马达滑轮不可旋转地附接到马达80的轴。第一马达滑轮382驱动被接收在第一驱动滑轮324上的第一传动带385。另外,第二马达滑轮384不可旋转地安装到该马达轴上,并且可操作地将第二传动带387支撑在其上。第二传动带387还接收在第二驱动轴42上的第二驱动滑轮344上。例如,第一传动带385和第二传动带387可包括V形带。
器械310还包括传输组件360,所述传输组件包括被支撑用于在器械外壳内轴向行进的传输托架362。当传输托架362通过转移器螺线管71轴向移动时,传输托架362可操作地与被支撑用于响应于与传输托架362接触而侧向移动的惰轮托架374相互作用。惰轮托架374包括安装在其上的第一惰轮375和第二惰轮376。在示出的构造中,弹簧72在远侧方向“DD”上将传输托架362朝第一驱动位置偏置,其中传输托架362致使惰轮托架374在第一侧向方向“FLD”上移动,这又致使第一惰轮375拉紧第一传动带385。当第二惰轮376处于这个位置时,其被定位成与第二传动带387脱离接合。因此,马达80的操作将会引起第一驱动轴22的旋转。虽然第二马达滑轮384还将在马达80启动时旋转,但是第二传动带387的松弛防止旋转运动被传送到第二驱动滑轮344。因此,不会将旋转运动传递至第二驱动系统40。如上所述,转移器螺线管71可由击发触发器90致动。然而,在另选构造中,转移器螺线管71还可由例如上述类型的可手动致动的连杆组件替换。在示出的构造中,击发触发器90的致动将会引起转移器螺线管71沿近侧方向“PD”拉动传输托架362,从而使得惰轮托架374沿第二侧向方向“SLD”侧向移位,以使第二惰轮376与第二传动带387接触来拉紧该传动带。惰轮托架374的这种侧向移动还使第一惰轮375与第一传动带385脱离接合,从而允许第一传动带385松弛。因此,当马达80处于此第二驱动位置时,其致动会引起第二驱动系统40的致动。第一传动带385的松弛防止旋转运动被传送到第一驱动系统20。
传输组件360可以提供若干不同优点。例如,V形带的使用使得不必将一个或多个齿轮与离合器啮合对齐。此外,这种传输构造可在负载下启动或停用。另外,传输组件360几乎无需移位即可脱离和结合。
图17-21示出马达驱动外科器械410的另一形式,除了以下所述的不同点之外,外科器械410可与外科器械10相同。外科器械410与上述外科器械10中的部件相同的那些部件将以相同元件编号表示。在这个构造中,第一驱动系统20和第二驱动系统40由马达480通过独特而新颖的“可转移的”传输组件460供电。第一驱动系统20包括第一驱动滑轮424键锁到其上或以其他方式不可旋转地附连至其上的第一驱动轴22。类似地,第二驱动系统40包括第二驱动滑轮444键锁到其上或以其他方式不可旋转地固定至其上的第二驱动轴42。如从图18可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。
现在参见图19,在一种形式中,马达480包括有花键的驱动轴481,该驱动轴适于可滑动地接合传输轴组件490,该传输轴组件被构造成能够与传输托架462相互作用以使得传输托架462的轴向移动引起传输轴组件490在有花键的驱动轴481上轴向移动。如从图19可见,传输轴组件490具有在其中的有花键的镗孔491,用于可滑动且可操作地将有花键的驱动轴481接收在其中。另外,远侧接合衬圈492在传输轴组件490的远侧端部上形成。远侧接合衬圈492被配置有环形沟槽493,该环形沟槽被构造成能够将附接到传输托架462的轭部分464的两个相对轭杆465接收在其中。这种构造用于将传输托架462联接到传输轴组件490,同时允许传输轴组件490相对于传输托架462旋转。
仍然参见图19,第一马达滑轮482被构造用于选择性地驱动接合传输轴组件490。如从图19可见,例如,传输轴组件490具有形成于其近侧端部上的轴承衬圈494,该轴承衬圈的大小适于可滑动且可旋转地接收在第一马达滑轮482中的镗孔483内。另外,第一马达滑轮482还包括星形的近侧驱动腔体488,该星形的近侧驱动腔体适于啮合接合在传输轴组件490上形成的互补形状的驱动部分495。第一马达滑轮482驱动也接收在第一驱动滑轮424上的第一传动带485。外科器械410还包括具有星形镗孔489的第二马达滑轮484,该星形镗孔被构造成能够将传输轴组件490的驱动部分495啮合接合在其中。第二马达滑轮484可操作地在其上支撑还接收在第二驱动滑轮444上的第二传动带487。
如上所述,器械410还包括传输组件460,所述传输组件包括被支撑用于在器械外壳内轴向行进的传输托架462。传输托架462可操作地与传输轴组件490相互作用以同样轴向移动传输轴组件490,同时传输轴组件490仍保持与马达轴481接合。图20示出处于未致动位置的转移器螺线管71。如从该图可见,传输托架462已将传输轴组件490朝其最近侧的位置移动,这个位置还可称作“第一驱动位置”,驱动部分495在该位置与第一马达滑轮482中的星形镗孔488驱动接合。因此,马达轴481的旋转将会引起传输轴组件490和第一马达滑轮482的旋转。第一马达滑轮482的旋转将会引起第一传动带485的旋转,这最终会引起第一驱动轴22的旋转。当传输轴组件490处于第一驱动位置时,传输轴组件490就相对于第二马达滑轮484自由旋转。因此,当致动第一驱动系统20时,第二驱动系统40保持未致动。当转移器螺线管71被致动至图21所示位置(通过致动击发触发器90),传输托架462将传输轴组件490移动至其在马达轴481上的最远侧的位置,这个位置还可称作“第二驱动位置”。如从图21可见,当传输轴组件490处于第二驱动位置时,它的驱动部分495移动成与第二马达滑轮484中的星形镗孔489啮合接合。因此,马达轴481的旋转将会引起第二马达滑轮484的旋转。第二马达滑轮484的旋转将会引起第二传动带487的旋转,这又引起第二驱动轴42的旋转。当传输轴组件490处于该第二驱动位置时,其在第一马达滑轮482内自由旋转。因此,当致动第二驱动系统40时,第一驱动系统20处于未致动状态。
图22-27示出可用于本文所述各种外科器械的另一马达、传输组件及第一驱动系统和第二驱动系统。示出的构造包括具有马达轴581的马达580。参见图23和图24。马达驱动齿轮582或者说是“太阳齿轮”582不可旋转地附连到马达轴581以随其旋转。该构造还包括行星齿轮组件570,该行星齿轮组件包括可旋转地支撑在远侧载体支架573与近侧载体支架574之间的三个行星齿轮572。近侧载体支架574支撑在太阳齿轮582的轮毂部分上,使得太阳齿轮582可相对于近侧载体支架574旋转。远侧载体支架573附连到第二驱动系统40的第二驱动轴542,使得远侧载体支架573的旋转将引起第二驱动系统40的第二驱动轴542的旋转。三个行星齿轮572以与环形齿轮组件575啮合接合的方式支撑。更具体地,行星齿轮572与环形齿轮组件575上的内部环形齿轮576啮合接合。环形齿轮组件575还包括外部环形齿轮577,所述外部环形齿轮与附连到第一驱动系统20的第一驱动轴522的第一驱动齿轮524啮合接合。如从图24可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。
如在图23中可见,该构造还包括螺线管71,该螺线管可由击发触发器以本文所述各种方式操作。在这个构造中,传输组件560附接到螺线管71的轴73。图24示出处于第一驱动位置的传输组件560。在一种形式中,传输组件560包括锁定组件(通常表示为590),该锁定组件包括在传输组件560上的第一或者说是近侧锁定凸耳部分592以及第二或者说是远侧锁定凸耳部分594。如从该图可见,传输组件560被定位成使近侧锁定凸耳部分592与近侧载体支架574接合。当近侧锁定凸耳部分592处于此第一驱动位置时,其防止行星齿轮组件570与太阳齿轮582成整体旋转。然而,太阳齿轮582的旋转引起行星齿轮572的旋转。行星齿轮572的旋转引起环形齿轮组件575的旋转。环形齿轮组件575的旋转引起第一驱动齿轮524和第一驱动轴522的旋转。由于防止近侧载体支架574旋转,也防止了远侧载体支架573旋转。因此,还防止了第二驱动轴544旋转,同时第一驱动轴522旋转。弹簧(未示出)可用于将螺线管71(和附接到其的传输组件560)偏置到此“第一驱动位置”中。当临床医生需要致动第二驱动系统40时,螺线管71可使用如上所述的击发触发器来致动,以将螺线管轴73移动到图25所示位置上。当传输组件560处于该“第二驱动位置”时,远侧锁定凸耳部分594固定地接合环形齿轮组件575以防止其旋转。因此,当太阳齿轮582旋转时,行星齿轮架(即,远侧载体支架573和近侧载体支架574)也将旋转。行星齿轮572将会在固定内部环形齿轮576内旋转。这种旋转运动将被传送到第二驱动轴542,同时第一驱动轴522保持未致动。
图28示出马达驱动外科器械610的另一形式,除了以下所述的不同点之外,外科器械610可与外科器械10相同。外科器械610与上述外科器械10中的部件相同的那些部件将以相同元件编号表示。如从图28可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。该构造包括马达680,所述马达具有双重、可独立致动的马达轴681,683。马达680可由本文所述各种类型的击发触发器构造控制,使得击发触发器以一种方式进行的致动致使马达680旋转第一马达轴681,并且击发触发器以另一方式进行的致动致使马达680旋转第二马达轴683。在这个构造中,第一马达齿轮682安装在第一马达轴681上,并支撑成啮合接合惰齿轮646。惰齿轮646可操作地支撑成与安装到第一驱动系统620的第一驱动轴622上的第一驱动齿轮624啮合接合。因此,第一马达轴681的致动将会引起第一驱动系统620的致动。同样,第二马达齿轮684安装在第二马达轴683上,并支撑成啮合接合被安装在第二驱动系统640的第二驱动轴642上的第二驱动齿轮644。因此,第二马达轴683的致动将会引起第二驱动系统640的致动。
图29示出马达驱动外科器械710的另一形式,除了以下所述的不同点之外,外科器械710可与外科器械10相同。外科器械710与上述外科器械10中的部件相同的那些部件将以相同元件编号表示。如从图29可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。在这个构造中,第一驱动系统720和第二驱动系统740由马达780通过独特而新颖的“可转移的”传输组件760供电。第一驱动系统720包括第一驱动齿轮724键锁到其上或以其他方式不可旋转地附连至其上的第一驱动轴722。类似地,第二驱动系统740包括第二驱动齿轮744键锁到其上或以其他方式不可旋转地附连至其上的第二驱动轴742。马达780包括不可旋转地附接到马达780的轴781的马达齿轮782。
在示出的构造中,第二马达750用来转移传输组件760,如将在下文更详细地论述。第二马达750可例如由本文所公开的各种击发触发器和开关构造控制。第二马达750可以类似马达7038被控制的方式(如在下文结合图61、图63、图64所述)受到控制。如从图29可见,第一传送滑轮753被键锁到或以其他方式不可旋转地附连至马达轴752。第一枢转轴754可旋转地支撑在柄部14的外壳12内。该第一枢转轴限定枢转轴线“PA”。第二传送滑轮755不可旋转地安装在第一枢转轴754上,并且传送带756被安装在第一传送滑轮753和第二传送滑轮755上。在一种形式中,可变换的传输组件760包括附接到第一枢转轴754的传送连杆762。另外,惰轮轴763附接到传送连杆762,该传送连杆可操作地将惰齿轮764支撑在其上。可转移的传输组件760可在第一驱动位置与第二驱动位置之间移动。为了将可转移的传输组件760移动至第一驱动位置,临床医生致动第二马达750以使得枢转轴763和惰齿轮764围绕枢转轴线PA旋转,从而使得该惰齿轮与马达齿轮782和第一驱动齿轮724啮合接合。当处于这个位置时,马达780的致动随后将会引起第一驱动系统720的致动。当临床医生需要致动第二驱动系统740时,第二马达750被致动以使得惰齿轮764围绕枢转轴线PA旋转成与马达齿轮782和第二驱动齿轮744啮合接合。当处于这个位置时,马达780的致动引起第二驱动系统740的致动。可利用此构造来实现的一个益处在于无需精确齿轮取向。当惰齿轮764摆动到适当位置中时,其可旋转并将自动找到配合的齿。
图30-32示出可安装在本文所述类型外壳内的独特而新颖的马达单元800。马达单元800可以包括单独外壳结构801,该单独外壳结构可操作地支撑具有第一马达轴803的第一马达802,该第一马达轴限定第一驱动系统804。马达单元800可以包括具有第二马达轴806的第二马达805,该第二马达轴限定第二驱动系统807。如从图8可见,例如,第一驱动轴轴线“FDA”偏离且平行或基本上平行于第二驱动轴轴线“SDA”。单元800还可包括控制电路板808,控制电路板的触点808A可操作地对接安装在器械外壳内或以其他方式支撑在其中并与器械的控制系统通信的电路板上对应的触点。外壳还可包括电触点808B,该电触点被构造成能够可操作地对接联接到外壳的端部执行器工具上对应的电触点。
如图1所示,模块化外科系统2可以包括可结合本文所述各种外科器械使用的多种不同外科端部执行器构造1000,2000和3000。如将在下文更详细地论述,端部执行器1000,2000,3000各自包括双重、单独“第一端部执行器驱动系统和第二端部执行器驱动系统”,这些驱动系统适于可操作地对接外科器械中的第一驱动系统和第二驱动系统以从中接收控制运动。该端部执行器驱动系统各自被构造成能够响应于由端部执行器可操作地附接到的外科器械施加至该端部执行器驱动系统的对应旋转运动,来将对应端部执行器致动器部件从第一或者说是起始线性位置移动至第二或者说是结束线性位置。该端部执行器致动器部件将线性致动运动施加至位于该端部执行器工具头部分上的各种端部执行器部件,以便执行各种外科手术。如将在下文更详细地论述,该端部执行器采用唯一的部件和系统帮助临床医生将外科器械的第一驱动轴和第二驱动轴与该端部执行器中的对应驱动轴联接。由于四个驱动轴是基本同时联接在一起的,因此,就可采用各种联接构造以及控制技术确保轴处于将有利于驱动系统的这种同时联接的正确位置或者说是“几乎正确位置”。
现在参见图33,一种形式的机械联接系统50可用来促进将外科器械中的两个驱动系统同时可移除且可操作地联接到端部执行器中的对应“从动”轴。联接系统50可以包括可附接到外科器械中的驱动轴的公联接器以及附接到外科端部执行器中的从动轴的母插座联接器。例如,图9示出通过定位螺钉52来附接到第一驱动轴22和第二驱动轴42的公联接器51。再次参见图33,每个公联接器51被构造成能够驱动接收在也可附接到端部执行器内的从动轴的对应母插座联接器57内。在一种形式中,每个公联接器51包括至少三个驱动肋53,这些驱动肋在公联接器51的中心部分54周围等距间隔开来。在示出的实施方案中,例如,五个驱动肋53在中心部分54的周围等距间隔开来。每个驱动肋53具有尖的远侧端部55。每个驱动肋53可形成有一定程度上的倒圆边缘56,以便于轻松插入母插座联接器57内的对应插座沟槽58中。每个插座沟槽58具有渐缩近侧入口部分59,以便于将对应驱动肋53插入到其中。每个驱动肋53的尖的远侧端部55与每个插座沟槽58的渐缩入口59结合将调整在联接过程中公联接器51与其对应母插座联接器57之间的一定程度的错位。另外,尖的远侧端部55上的倒圆边缘57还有助于公联接器51滑动插入到对应的母插座联接器58中。
在一种形式中,公联接器51中的至少一个可动地附接到外科器械的对应第一驱动轴或第二驱动轴或外科端部执行器的对应第一从动轴和第二从动轴。更具体地,可将公联接器51附接成在该轴上径向或者说是成角度地行进,以在轴上“径向行进第一预先确定的量”。这可例如通过键和键槽构造实现,键和键槽构造的大小相对于彼此设定为便于公联接器51在该轴上径向或者说是成角度地行进一定的量。换句话说,例如,该轴可具有形成于其上或以其他方式安装至其的键,该键小于在公联接器51中形成的对应键槽,使得键可在键槽内移动并且建立第一预先确定的径向行进量。该第一预先确定的径向行进量优选地足够用来向后驱动或向前驱动联接器。例如,对于具有五个肋53的公联接器51而言,该第一预先确定的径向行进范围可为例如5-37度。可以存在这样的一些实施方案:例如,第一预先确定的径向行进范围可以小于5°并优选地不超过4°。如果例如,除非对应母插座连接器57刚性地附连至其对应驱动轴,否则该母插座连接器无法进行任何径向行进,那么径向或者说是成角度的行进的这个范围可为足够的。然而,如果公联接器和母联接器这两者具有径向或者说是成角度地调节径向或者说是成角度的行进的这个范围的能力,那么行进可以减少50%,以为每一个联接器(公联接器以及对应母插座联接器)提供约3-16度的行进范围。母插座联接器57可在其对应轴上移动的径向或者说是成角度的行进的量在本文中可被称为“第二预先确定的径向行进量”。母插座联接器57还可利用如上所述键和键槽构造来附接到它们相应的驱动轴,所述键和键槽构造提供所需第二预先确定的径向行进量。可以存在这样的一些实施方案:例如,第二预先确定的径向行进范围可以小于5°并优选地不超过4°。
设想出了公联接器和母插座联接器的各种组合以及安装构造。例如,公联接器的一个或两个能够以本文所述各种方式可动地安装到外科器械上它们相应的驱动轴(或外科端部执行器的从动轴)上。同样,母插座联接器的一个或两个能够以本文所述各种方式可动地安装到端部执行器上它们相应的从动轴(或外科器械的驱动轴)上。例如,在第一驱动轴和第二驱动轴中的一个上的公联接器能够可动地安装在该轴上。附接到其他驱动轴的其他公联接器能够不可动地安装至该轴。从动轴上对应于可动地安装的公联接器的母插座联接器能够不可动地附接到其从动轴,并且其他从动轴上安装的对应于不可动地安装的公联接器的母插座联接器能够可动地安装到其从动轴上。因此,“联接器对”中的公联接器和母插座联接器中的一个是可移动的。术语“联接器对”是指公联接器以及对应母插座联接器,它们被构造成能够联接在一起以可操作地将外科器械的驱动轴联接到端部执行器的其对应从动轴。在其他构造中,联接器对中的公联接器和母插座联接器这两者都能够可动地联接到它们相应的轴。
这样的联接器构造用于例如在联接器部件之间提供小量成角度的松弛,使得这些部件可轻度旋转以实现充分对准,这种充分对准将允许附接到两个单独旋转传动系的联接器部件的同时对准。另外,可在传动系中提供足够量的齿隙或松弛以适应联接过程。这样的齿隙或松弛可以通过在齿轮、联接器和/或配合的轴中形成键/键槽来促成部件的这种轻度旋转。另外,开关构造可结合各种可转移的传输组件来使用,其可出于联接目的而启动马达致使驱动轴轻度旋转。这种以及其他控制技术可用于确保外科器械中的驱动轴定位在所需位置,以有利于它们与端部执行器中的对应驱动轴联接。独特而新颖的机械联接系统50用于在联接过程中提供一定额外柔性,使驱动轴能在相应的轴之间存在一定错位的情况下被联接在一起。应当理解,虽然本文所述的各种实施方案示出附接到外科器械内的驱动轴的公联接器51以及附接到端部执行器驱动轴的母插座联接器58,但公联接器51可附接到端部执行器驱动轴而母插座联接器58可附接到外科器械的驱动轴。
图34-37描绘外科端部执行器1000,该外科端部执行器包括通常称为“开放式直线型”缝合器的类型的外科切割和紧固器械。各种形式的此类开放式直线型缝合装置在例如名称为“SURGICAL STAPLER AND STAPLE CARTRIDGE”的美国专利5,415,334和名称为“SURGICAL STAPLING INSTRUMENT”的美国专利8,561,870中公开,每个专利的全部公开内容据此以引用方式并入本文。端部执行器1000包括端部执行器外壳1010,该端部执行器外壳可由通过螺钉、凸耳、按扣特征结构等来可移除地联接在一起的外壳段1012,1014制成。从端部执行器外壳1010中突起的是可共同地形成端部执行器工具头1004的下钳口1020和上钳口1040。下钳口1020包括下钳口框1022,下钳口框被构造成能够可操作地将外科钉仓1060支撑在其中。此类外科钉仓是本领域众所周知的,并且因此将不在本文中更详细地描述。简单来说,外科钉仓1060可以包括仓体1062,仓体具有形成于其中且位于细长狭槽1068的每个横向侧上的钉凹坑1066线,细长狭槽居中设置在仓体1062内。狭槽1068被构造成能够适于切割构件1090纵向行进穿过其中,如将在下文更详细地论述。一个或多个外科钉(未示出)支撑在钉凹坑1066中的钉驱动构件(未示出)上,该钉驱动构件被构造成能够在击发过程中在它们相应凹坑1066内向上移动。钉仓1060可以被构造成能够从下钳口框1022上移除,并用另一个未用仓替换来使端部执行器1000能够重新使用。然而,端部执行器1000也可在单次使用后丢弃。
参见图36,下钳口框1022可由金属材料形成并且具有U形远侧部分1024,U形远侧部分被构造成能够以座置的方式将外科钉仓1060接收在其中。U形远侧部分1024的侧壁1026可以具有远侧端部1028,远侧端部被构造成能够可释放且可保持地接合外科钉仓1060的一部分。钉仓主体1062还可具有接合特征结构1064,接合特征结构适于可释放地接合下钳口框1022的直立壁部分1030。端部执行器1000还包括上钳口1040,该上钳口包括砧座部分1042。砧座部分1042可以包括其中具有多个钉成形凹坑的下侧(未示出)。上钳口1040还包括近侧主体部分1044,该近侧主体部分具有延伸穿过其中的远侧耳轴销1046。远侧耳轴销1046从近侧主体部分1044的近侧端部侧向突起的端部可旋转地接收在下钳口1020中的耳轴孔1032内。耳轴销1046限定附接轴线AA-AA,上钳口1040的近侧端部围绕附接轴线AA-AA而相对于下钳口1020枢转,使得砧座部分1042可在与下钳口1020内安装的钉仓1060间隔开的打开位置与邻近钉仓1060和/或位于两者之间的组织的闭合位置之间移动。端部执行器1000还可包括横向支销1050,该横向支销接收在形成于下钳口1020的直立壁1030中的支架1034内并且安装在外壳段1012,1014中的孔1016内。支销1050可用作砧座部分1042枢转所围绕的支点轴线或表面。
砧座部分1042在打开位置与闭合位置之间的移动由第一端部执行器驱动系统(在本文中也被称为端部执行器闭合系统1070)控制。在一种形式中,例如,端部执行器闭合系统1070包括闭合梭1072,该闭合梭在下钳口1020的近侧主体部分1024周围延伸。闭合梭1072还可被称为“第一端部执行器致动器”。闭合梭1072可以包括U形部分,U形部分包括远侧直立壁1074和近侧直立壁1076。每个远侧直立壁1074包括弓形凸轮狭槽1078,该弓形凸轮狭槽适于接收附接到上钳口1040的凸轮销1048的对应部分。因此,闭合梭1072相对于下钳口1020的轴向或者说是线性移动将会致使上钳口1040借助凸轮狭槽1078内的凸轮销1048的相互作用在支销1050上并且围绕附接轴线AA-AA枢转。
在各种形式中,闭合系统1070包括旋转端部执行器闭合轴1080,该闭合轴是带螺纹的并且包括可旋转地支撑在端部执行器外壳1010内的远侧端部部分1082。端部执行器闭合轴1080限定闭合轴轴线CSA-CSA。参见图37。母插座连接器57附接到闭合轴1080的近侧端部,以有利于闭合轴1080与附接到外科器械中的第一驱动轴的公联接器51联接。闭合系统1070还包括闭合螺母1084,该闭合螺母通过螺纹接收在闭合轴1080上。闭合螺母1084被构造成能够安置在闭合梭1072的直立壁1076中的安装狭槽1077内。因此,闭合轴1080沿第一方向的旋转将会致使闭合螺母1084将闭合梭1072沿远侧方向“DD”驱动。闭合梭1072沿远侧方向“DD”的移动引起上钳口1040从打开位置枢转行进至闭合位置。同样,闭合梭1084沿近侧方向“PD”的移动将会引起上钳口1040从闭合位置移动回打开位置。
端部执行器1000还包括第二端部执行器驱动系统(在本文中也被称作击发系统1100),该第二端部执行器驱动系统用于在起始位置与结束位置之间驱动组织切割构件1090和楔形滑动件组件1092。当楔形滑动件组件1092朝远侧被驱动穿过外科钉仓1060时,楔形滑动件组件1092可操作地与仓1060内的具有外科钉支撑在其上的驱动器相互作用。当楔形滑动件组件1092朝远侧被驱动时,驱动器在它们相应凹坑内被向上驱动,以驱动支撑在其上的钉来与上钳口1040的砧座部分1042的下侧形成接合。在一种形式中,击发系统1100还包括旋转的带螺纹击发轴1102,该旋转的带螺纹击发轴可旋转地支撑在端部执行器外壳1010中。击发轴1102限定平行于或基本上平行于闭合轴轴线CSA-CSA的击发轴轴线FSA-FSA。参见例如图37。击发轴1102包括远侧端部部分1104,该远侧端部部分可旋转地支撑在安装于端部执行器外壳1010内的安装单元1106内。母插座连接器57附接到击发轴1102的近侧端部,以有利于击发轴1102与附接到外科器械中的第二驱动轴的公闭合联接器51联接。击发系统1100还包括击发螺母1110,该击发螺母通过螺纹接收在击发轴1102上。因此,击发轴1102的旋转引起击发螺母1110在端部执行器外壳1010内轴向行进。在一种形式中,组织切割构件1090和楔形滑动件组件1092通过一个或多个击发杆1112来联接到击发螺母1110。一个或多个击发杆在本文中还可称为“第二端部执行器致动器”,该第二端部执行器致动器响应于击发系统的致动而线性或轴向移动。因此,击发轴1102沿第一方向的旋转将会将击发螺母1110、一个或多个击发杆1112、组织切割构件1090以及楔形滑动件组件1092沿远侧方向“DD”从例如起始位置(图35)驱动至结束位置,其中组织切割构件1090和楔形滑动件组件1092已经被驱动至外科钉仓1060的远侧端部。击发轴1102沿相反方向的旋转将会将击发螺母1110、一个或多个击发杆1112、组织切割构件1090以及楔形滑动件组件1092沿近侧方向“PD”从它们相应的结束位置驱动回它们相应的起始位置。在一些实施方案中,该楔形滑动件组件可保持在外科钉仓的远侧端部处,而不随着组织切割构件1090返回起始位置。在另一些实施方案中,组织切割构件和楔形滑动件组件构件可保持在钉仓构件的远侧端部处。
端部执行器1000还可配备有联接到安装在端部执行器外壳1010内的端部执行器接触板1120的各种传感器。接触板1120可随端部执行器外壳1020定位,使得当将端部执行器1000可操作地联接到外科器械时,端部执行器接触板1120电联接到安装在外科器械外壳12内的外科器械接触板30。参见例如图1。再次参见图34,闭合传感器1122可安装在端部执行器外壳1010内并且电联接到端部执行器接触板1120,使得当将端部执行器1000可操作地联接到外科器械时,闭合传感器1122与外科器械的控制系统通信。闭合传感器1122可以包括霍尔效应传感器7028,如在下文例如结合图61、图63所示,该霍尔效应传感器能够检测开关凸耳1086在闭合螺母1084上的位置。另外,击发传感器1124还可安装在端部执行器外壳1010内,以便检测击发杆1112的存在。击发传感器1112可以包括霍尔效应传感器7028,如在下文例如结合图61、图63所示,并且电联接到端部执行器接触板1120以与外科器械控制系统(如柄部处理器7024)进行最终通信,如将在下文结合图61、图63、图64更详细地论述。
现在将结合外科器械10解释端部执行器1000的使用。然而,应当理解,端部执行器1000能够可操作地联接到本文所公开的各种其他外科器械构造。在使用前,闭合轴1080和击发轴1102是“时钟控制”的,或定位在它们相应的起始位置,以有利于分别附接到第一驱动轴22和第二驱动轴42。为了将端部执行器1000联接到外科器械10,例如,临床医生将端部执行器1000移动到某个位置,在这个位置中,闭合轴轴线CA-CA与第一驱动轴轴线FDA-FDA轴向对齐,并且击发轴轴线FSA-FSA与第二驱动轴轴线SDA-SDA轴向对齐。将闭合轴1080上的母插座联接器57插入成可操作地接合第一驱动轴22上的公联接器51。同样,将击发轴1102上的母插座联接器57插入成可操作地接合第二驱动轴42上的公联接器51。因此,当处于这个位置时,闭合轴1080可操作地联接到第一驱动轴22并且击发轴1102可操作地联接到第二驱动轴42。端部执行器接触板1120可操作地联接到外科器械接触板30,使得传感器1122,1124(以及端部执行器1000内的任何其他传感器)与外科器械的控制系统可操作地通信。为了保持端部执行器1000与外科器械10的可操作的联接接合,端部执行器1000包括保持器闩锁1130,该保持器闩锁附接到端部执行器外壳1010并且被构造成能够可释放地接合器械外壳12的一部分。保持器闩锁1130可以包括保持凸耳1132,该保持凸耳可以可释放地接合形成于外壳12中的保持器腔体15。参见图1。
当被联接在一起时,闭合传感器1122检测闭合螺母1084的位置,并且击发传感器1124检测击发杆1112的位置。这个信息被传送至外科器械控制系统。另外,临床医生可以确认可转移的传输组件(或其传输托架62)处于其第一驱动位置。这可通过外壳12上的指示灯77的致动来确认,如上所述。如果可转移的传输组件60不处于其第一驱动位置,那么临床医生可以致动击发触发器92以将传输托架62移动到第一驱动位置中,使得摇臂触发器110的用来致动马达80的致动将会引起第一驱动系统20的致动。假设闭合系统1070和击发系统1100各自处于它们相应的起始位置并且端部执行器1000具有正确安装在其中的未用钉仓1060,那么临床医生随后可将钳口1020,1040相对于要切割和缝合的靶组织定位。临床医生可以通过致动摇臂触发器110来致动马达80并旋转第一驱动轴22来将上钳口1040闭合。一旦已将靶组织夹持在上钳口1040与下钳口1020中的外科钉仓1060之间,那么临床医生就会致动击发触发器92来将传输托架62移动至其第二驱动位置,使得马达80的致动将会引起第二驱动轴42的旋转。一旦传输托架62被移动至第二驱动位置,那么临床医生就会再次致动摇臂触发器110来致动第二驱动系统40和端部执行器1000中的击发系统1100,以朝远侧驱动组织切割构件1090和楔形滑动件组件1092穿过外科钉仓1060。当朝远侧驱动组织切割构件1090和楔形滑动件组件1092时,夹持在钳口1020,1040之间的靶组织被切割和缝合。一旦已将组织切割构件1090和楔形滑动件组件1092驱动至它们在外科钉仓1060中的最远侧位置,临床医生就会致动摇臂触发器110来使马达旋转反向并使击发系统1100返回至其起始位置。
当采用端部执行器1000以及本文所公开的包含类似钳口构造的其他端部执行器和外科器械时,要想充分清洁砧座下侧中的砧座凹坑可能存在挑战。另外,砧座凹坑可随时间推移而磨伤、磨蚀或仅磨损,从而使得它们不适合再重新使用。此外,根据应用,外科钉仓的装载和拆卸可能较为困难。图119-121示出可解决这些挑战中的一些(即便不是全部)的一次性“钉包”1300。
图119描绘在构造和操作方面可类似于例如端部执行器1000以及本文所公开的其他端部执行器的端部执行器1000’的一部分,不同之处在于下述具体差异。如从图119可见,上钳口1240包括打开的远侧端部1243。上钳口1240可由金属材料形成并且当从远侧端部看时具有U形构型,而且包括两个向内延伸的反向保持唇缘1245。端部执行器1000’还包括下钳口框1222,其类似于例如本文所述下钳口框1222。如从该图可见,下钳口框1222同样具有打开的远侧端部1223。
仍然参见图119,一种形式的“一次性”钉包1300包括砧座1302,该砧座具有钉成形表面1304,该钉成形表面包括形成于其中的多个钉成形凹坑(未示出)。钉包1300还包括钉仓1310,该钉仓具有仓平台1312,该仓平台被构造用于与砧座1302的钉成形下表面1304形成间隔面对关系。钉仓1310可类似于本文更详细公开的其他钉仓并且可操作地在其中支撑多个外科钉。钉包1300还包括一次性的定位构件1320,该定位构件的大小和形状适于以这样的方式与砧座1302和钉仓1310摩擦接合:在使用前,维持钉成形下表面1304中的钉凹坑与钉仓1310内的钉(未示出)对准。定位件1320还可包括在砧座1302与钉仓1310之间延伸的隔离条1322。该定位件例如可由塑料或其他合适的聚合物材料模制而成,并且隔离条1322可由金属材料制成。隔离条1322可摩擦地保持在狭槽或形成于定位件1320中的其他保持特征结构中。
现在参见图120,钉包1300通过将砧座1302与上钳口1240中打开的远侧端部1243对准并将钉仓1310与下钳口框1222中打开的远侧端部1245对准来安装。此后,钉包1300沿近侧方向“PD”移动至图120所示位置。保持唇缘1245用于在上钳口1240内支撑砧座1302。端部执行器1000’还可包括可手动致动的闩锁特征结构1340,闩锁特征结构可以从未闩锁的位置(图119)移动至闩锁位置(图121)。当处于闩锁位置时,例如,闩锁特征结构1340就将砧座1302保持在上钳口1240内,并将钉仓1310保持在下钳口框1222内。例如,闩锁特征结构1340可以包括可移动的上闩锁臂1342,该上闩锁臂被构造成能够可释放地接合形成于砧座1302的近侧端部上的部分(例如,唇缘、定位部、凸缘或一种或多种其他保持特征结构)。类似地,闩锁特征结构1340可以包括可移动的下闩锁臂1344,该下闩锁臂被构造成能够可释放地接合形成于钉仓1310上的部分(例如,唇缘、定位部、凸缘或一种或多种其他保持特征结构)。上闩锁臂1342和下闩锁臂1344可枢转地或以其他方式可动地支撑在端部执行器1000’上,以供选择性地在闩锁位置与未闩锁位置之间移动。在各种形式中,上闩锁臂1342和下闩锁臂1344可由一个或多个弹簧(未示出)垂直偏置到闩锁位置。在这种构造中,临床医生可将钉包1300插入到上钳口1240和下钳口框1222中。当砧座1302的近侧端部接触上闩锁臂1342时,上闩锁臂1342枢转或移动以允许砧座1302安置到位。一旦砧座安置到位,那么上闩锁臂1342偏置成与砧座1302闩锁接合(如果采用弹簧或者说是偏置构件的话)。在另选构造中,可将上闩锁臂1342手动移动至闩锁位置中。同样,当钉仓1310的近侧端部接触下闩锁臂1344时,下闩锁臂1344枢转或移动以允许钉仓1310安置到位。一旦钉仓1310安置到位,那么下闩锁臂1344偏置成与钉仓1310闩锁接合以将其保持在适当位置(如果采用弹簧或者说是偏置构造的话)。在另选实施方案中,可将下闩锁臂1344手动移动至闩锁位置。一旦钉包1300已被安装并且砧座1302和钉仓1310已被闩锁或以其他方式附接到端部执行器1000’,临床医生就会移除定位组件1320。参见例如图121。在钉包1300已被使用后,临床医生随后可将定位件1320替换到砧座1302的远侧端部以及钉仓1310上。这可通过将定位构件1320的打开端部对准并随后将定位构件1320按回成与砧座1302和钉仓1310摩擦接合来实现。一旦已将砧座1302的远侧端部以及钉仓1310安置到定位构件1320中,临床医生就会将上闩锁臂1342和下闩锁臂1344移动至它们未闩锁的位置以使钉包1300能被拉出上钳口1240和下钳口框1222。此后,钉包1300可被整体弃置。在其他情况下,临床医生可分开将砧座1302和钉仓1310从端部执行器1000’上移除,而不首先安装定位构件1320。
图38-41描绘外科端部执行器2000,该外科端部执行器包括通常可被称为“弯曲切割器缝合器”的类型的外科切割和紧固器械。各种形式的此类缝合装置在例如名称为“RETAINING PIN LEVER ADVANCEMENT MECHANISM FOR A CURVED CUTTER STAPLER”的美国专利6,988,650和名称为“KNIFE RETRACTION ARM FOR A CURVED CUTTER STAPLER”的美国专利7,134,587中公开,每个专利的全部公开内容据此以引用方式并入本文。端部执行器2000包括端部执行器外壳2010,该端部执行器外壳可由通过螺钉、凸耳、按扣特征结构等来可移除地联接在一起的外壳段2012,2014制成。从端部执行器外壳2010中突起的是端接在端部执行器工具头2002中的细长框架组件2020。在一种形式中,框架组件2020包括一对间隔开的框架支柱或板2022,这对间隔开的框架支柱或板牢固地附接到外壳2010并从其朝远侧突起。C形支撑结构2024附接到框架板2022的远侧端部。术语“C形”在本说明书通篇用于描述支撑结构2024和外科钉仓模块2060的凹陷性质。C形构造有利于增强功能性,并且在本说明书中使用术语C形应理解为包括可类似地增强外科缝合和切割器械的功能性的各种凹陷形状。支撑结构2024通过从支撑结构2024延伸到框架板2022的接收孔中的台肩铆钉2023和柱2026来附接到框架板2022。在各种形式中,支撑结构2024可以经由单件构造形成。更具体地,支撑结构2024可由挤出铝材形成。通过以此方式形成支撑结构2024,就不需要多个部分,并且显著降低与制造和组装相关的成本。另外,据信,支撑结构2024的一体结构增强端部执行器2000的总体稳定性。此外,支撑结构2024的一体挤出结构会使重量减轻,因钴辐照将会有效穿透挤出铝而使得消毒更为容易,并且基于经由挤出来实现的平滑外表面而对组织造成更少创伤。
端部执行器2000还包括第一端部执行器驱动系统(也被称为端部执行器闭合系统2070)以及第二端部执行器驱动系统(在本文中也被称为击发系统2100)。在一种形式中,例如,端部执行器闭合系统2070包括闭合梁组件2072,该闭合梁组件大小适于被滑动地接收在框架支柱2022间,以在它们之间轴向行进。闭合梁组件2072还可称为第一端部执行器致动器并且具有打开底部,该打开底部被构造成能够可滑动地接收击发系统2100的击发杆组件2112,如将在下文更详细地论述。在一种形式中,例如,闭合梁组件2072是成形用于实现移动和功能性的模制塑料构件,如将在下文进一步论述。通过用塑料来制造闭合梁组件2072,制造成本可以降低并且端部执行器2000的重量也可减少。另外,端部执行器2000可更易于用钴辐照消毒,因为塑料比不锈钢更易穿透。根据另选构造,闭合梁组件2072可以由挤出铝制成,其中最终特征结构被机加工到适当位置处。虽然挤出铝闭合梁组件可能不像塑料部件那样易于制造,但其仍将具有相同优点(即,减少部件、更易组装、更轻重量、更易消毒)。
闭合梁组件2072包括弯曲的远侧端部2074,该弯曲的远侧端部大小适于接收在支撑结构2024的侧壁2027之间。弯曲的远侧端部2074的大小和形状适于接收并且保持仓模块2060的仓外壳2062。在各种形式中,闭合梁组件2072的近侧端部联接到闭合螺母2084,该闭合螺母通过螺纹接收在带螺纹闭合轴2080上。闭合轴2080限定闭合轴轴线CSA-CSA并且具有母插座联接器57,该母插座联接器附接到其近侧端部以有利于闭合轴2080与附接到外科器械中的第一驱动轴的公联接器51联接。闭合轴2080沿第一方向的旋转将会致使闭合螺母2084将闭合梁组件2072沿远侧方向“DD”驱动。闭合轴2080沿相反方向的旋转将同样地引起闭合螺母2084和闭合梁组件2072的近侧行进。
如上所述,闭合梁组件2072的远侧端部2074被构造成能够可操作地将仓模块2060的仓外壳2062支撑在其中。仓模块2060包括在钉驱动器(未示出)上的多个外科钉(未示出),当轴向推进时,钉驱动器将外科钉驱出它们定位在狭槽1068每侧上的相应凹坑2066,该狭槽被构造成能够适于刀构件2115穿过其中。仓模块2060例如可一定程度地类似例如美国专利6,988,650和7,134,587中公开的仓模块,除了任何所指出的差异之外,这两个专利的相应全部内容均以引用方式并入本文。端部执行器2000可在使用单次后丢弃,或端部执行器2000可通过在正进行的手术期间替换已空仓模块来重新使用或在重新消毒之后重新用于新的手术。
端部执行器2000还包括击发系统2100,该击发系统包括击发杆组件2112,该击发杆组件被构造成能够可滑动地接收在闭合梁组件2072的打开底部内。参见图39。在一种形式中,击发系统2100还包括击发轴2102,该击发轴具有带螺纹的远侧端部2104以及具有方形横截面形状的近侧部分2106。带螺纹的远侧端部2104通过螺纹接收在附接到击发杆组件2112的近侧端部的带螺纹的击发螺母2110内。带螺纹的击发螺母2110大小适于可滑动地接收在闭合螺母组件2084内的轴向腔2085内。参见图41。这种构造允许击发螺母2110在端部执行器2000被移动至闭合位置时随着闭合螺母组件2084一起轴向推进,并随后在击发系统2100被致动时,相对于闭合螺母2084和闭合梁组件2072轴向移动。击发轴2102限定平行于或基本上平行于闭合轴轴线CSA-CSA的击发轴轴线FSA-FSA。参见例如图41。如还从图39和图41可见,击发轴2102的近侧部分2106可滑动地接收在母插座联接器57’内的细长通道2105内,该母插座联接器与本文所述母插座联接器完全相同。细长通道2105具有方形横截面形状,该形状大小适于可滑动地将击发轴2102的近侧部分2106接收在其中。这种构造允许击发轴2102相对于母插座联接器57’轴向移动,同时可随母插座联接器57’一起旋转。因此,当闭合梁组件2072在外科器械中的第一驱动系统致动后在远侧方向“DD”上推进时,击发螺母2110将沿远侧方向“DD”承载在闭合螺母组件2084内。击发轴2102的近侧部分2106将会在母插座联接器57’中的通道2105内轴向移动,同时保持与其接合。此后,在可操作地联接到母插座联接器57’的外科器械中第二驱动系统沿一个旋转方向的启动将使击发轴2102旋转,这种旋转将会致使击发杆组件2112在远侧方向“DD”上移动。当击发杆组件2112在远侧方向上移动时,刀杆2115则朝远侧推进穿过仓模块2060。第二驱动系统沿第二旋转方向的致动将会致使击发杆组件2112在近侧方向“PD”上移动。
击发杆组件2112的远侧端部包括驱动构件2114和刀构件2115,该刀构件从驱动构件朝远侧突起。如从图39可见,刀构件2115可滑动地接收在砧座组件2140的砧座臂部分2142内,该砧座组件被构造成能够安置在支撑结构2024的弯曲砧座支撑部分2025内。关于砧座组件2140的另外细节可从美国专利6,988,650和7,134,587中找到。端部执行器2000还可包括安全闭锁机构2150(图39),用以防止先前击发的仓模块2060击发。关于仓模块2060与安全闭锁机构之间的相互作用的细节可在美国专利6,988,650和7,134,587中找到。
端部执行器2000还包括组织保持销致动机构2160。组织保持销致动机构2160包括鞍形滑动件2162,该鞍形滑动件定位在外壳2010的顶部部分上。滑动件2162枢转地连接到推杆驱动器2163,该推杆驱动器可滑动地支撑在外壳2010内。推杆驱动器2163被约束用于沿端部执行器2000的长轴纵向移动。推杆驱动器2163通过推杆2164上的周向沟槽2165而连接到推杆2164,所述周向沟槽扣入推杆驱动器2163的狭槽2166。参见图41。推杆2164的远侧端部包括周向沟槽2167,所述周向沟槽与附接到仓模块2160(图41中清楚示出)的联接器2170的近侧端部中的沟槽2172互连。联接器2170的远侧端部包括用于与保持销2180上的周向狭槽2182互连的沟槽2174。滑动件2162的手动移动造成推杆2164的移动。推杆2164的远侧移动或近侧回缩引起保持销2180的相应移动。保持销2180致动机构2160还可操作地与闭合梁组件2072相互作用,使得如果该保持销未被手动移动至其最远侧的位置,那么闭合系统2070的致动将会引起保持销2180的自动远侧移动。当保持销2180被推进时,其会延伸穿过仓外壳2062并进入砧座组件2140中,由此将组织捕获于仓模块2060与砧座组件2140之间。
在一种形式中,保持销致动机构2160包括轭2190,该轭经由枢转销2192可旋转地或枢转地支撑在外壳2010内。闭合梁组件2072还包括柱或凸耳2073,该柱或凸耳在外壳2010内、在闭合梁组件2072两侧上侧向延伸。这些柱2073可滑动地接收在轭2190中的对应弓形狭槽2194内。轭2190包括凸轮销2196,该凸轮销被定位成推动推杆驱动器2163上的凸轮表面2168。轭2190不直接附接到保持销2180,因此外科医生(如果他们选择该保持销的话)可能手动推进保持销2180。当闭合梁组件2072被朝远侧推进至闭合位置时,如果外科医生选择不管保持销2180,那么保持销2180将会自动推进。外科医生必须手动回缩保持销2180。通过以此方式构造保持销致动机构2160,即可允许手动闭合和回缩保持销2180。如果外科医生并未手动闭合保持销21280,那么该保持销致动机构2160将在器械夹持过程中自动闭合该保持销。关于保持销的致动和使用的另外细节可从美国专利6,988,650和7,134,587中找到。
端部执行器2000还可配备有联接到安装在端部执行器外壳2010内的端部执行器接触板2120的各种传感器。例如,端部执行器2000可包括闭合传感器2122,该闭合传感器安装在端部执行器外壳2010内并且电联接到端部执行器接触板2120,使得当将端部执行器2000可操作地联接到外科器械时,闭合传感器2122与外科器械的控制系统通信。闭合传感器2122可以包括霍尔效应传感器7028,如在下文结合图61、图63所示,该霍尔效应传感器能够检测开关凸耳2086在闭合螺母21084上的位置。参见图40。另外,击发传感器2124还可安装在端部执行器外壳2010内,并布置成检测击发螺母2110在闭合螺母2084内的位置。击发传感器2124可以包括霍尔效应传感器7028,如在下文结合图61、图63所述,并且电联接到端部执行器接触板2120以与外科器械控制系统进行最终通信,如本文所述。接触板2120可随端部执行器外壳2020定位,使得当将端部执行器2000可操作地联接到外科器械时,端部执行器接触板2120电联接到安装在外科器械外壳12内的外科器械接触板30,如上所述。
现在将结合外科器械10解释端部执行器2000的使用。然而,应当理解,端部执行器2000能够可操作地联接到本文所公开的各种其他外科器械构造。在使用前,闭合轴2080和击发轴2102是“时钟控制”的,或定位在它们的起始位置,以有利于分别附接到第一驱动轴22和第二驱动轴42。为了将端部执行器2000联接到外科器械10,例如,临床医生将端部执行器2000移动到某个位置,在这个位置中,闭合轴轴线CSA-CSA与第一驱动轴轴线FDA-FDA轴向对齐,并且击发轴轴线FSA-FSA与第二驱动轴轴线SDA-SDA轴向对齐。将闭合轴2080上的母插座联接器57插入成可操作地接合第一驱动轴22上的公联接器51。同样,将击发轴2102上的母插座联接器57’插入成可操作地接合第二驱动轴42上的公联接器51。因此,当处于这个位置时,闭合轴2080可操作地联接到第一驱动轴22并且击发轴2102可操作地联接到第二驱动轴42。端部执行器接触板1120可操作地联接到外科器械接触板30,使得端部执行器2000内传感器与外科器械的控制系统可操作地通信。为了保持端部执行器2000与外科器械10的可操作的联接接合,端部执行器2000包括保持器闩锁2130,该保持器闩锁附接到端部执行器外壳2010并且被构造成能够可释放地接合器械外壳12的一部分。保持器闩锁2130可以包括保持凸耳2132,该保持凸耳可以可释放地接合形成于外壳12中的保持器腔体15。参见图1。当被联接在一起时,闭合传感器2122检测闭合螺母2084的位置,并且击发传感器2124检测击发螺母2110的位置。这个信息被传送至外科器械控制系统。另外,临床医生可以确认可转移的传输组件(或其传输托架62)处于其第一驱动位置。这可通过外壳12上的指示灯77的致动来确认,如上所述。如果可转移的传输组件60不处于其第一驱动位置,那么临床医生可以致动击发触发器92以将传输托架62移动到第一驱动位置中,使得摇臂触发器110的用来致动马达80的致动将会引起第一驱动系统20的致动。假设闭合系统2070和击发系统2100各自处于它们相应的起始位置并且端部执行器2000具有正确安装在其中的未用钉仓模块2060,那么临床医生随后可致动闭合系统2070以将靶组织捕获在仓模块2060与砧座组件2140之间。
临床医生可以通过致动摇臂触发器110来致动马达80并旋转第一驱动轴22,以朝远侧移动闭合梁组件2072。该致动将仓模块2060朝砧座组件2140移动,以将靶组织夹在这两者之间。当闭合梁2072朝远侧移动时,柱2073与轭2190的相互作用将会造成组织保持致动机构2160的致动以朝远侧驱动保持销2180穿过平台部分2161并且穿过砧座组件2140到达其中的销凹坑2141(参见图41)。保持销2180用于将靶组织捕获在砧座组件2140与仓模块2060之间。一旦已将靶组织夹持在砧座组件2140与仓模块2060之间,那么临床医生就会致动击发触发器92来将传输托架62移动至其第二驱动位置,使得马达80的致动将会引起第二驱动轴42的旋转。一旦传输托架62被移动至第二驱动位置,那么临床医生就会再次致动摇臂触发器110来致动第二驱动系统40和端部执行器2000中的击发系统2100,以朝远侧驱动击发杆组件2112,该击发杆组件还朝远侧驱动刀构件2115穿过仓模块2060,以切割夹持在砧座组件2140与仓模块2060之间的靶组织。当击发杆组件2112朝远侧移动时,驱动构件2114还将支撑在仓模块2060中的外科钉驱出仓模块2060、穿过靶组织并与砧座组件2140形成接触。一旦完成该切割和缝合动作,临床医生就可致动摇臂触发器110以使马达旋转反向并使击发系统2100返回至其起始位置。临床医生随后可借助击发触发器92将传输托架62返回至其第一驱动位置,使得摇臂触发器110沿相反方向的致动将会致使马达80在反向方向上旋转以使闭合梁组件2073返回至其起始位置。当闭合梁组件2073在近侧方向上移动时,轭2190可与组织保持销致动机构2160相互作用来将保持销2180撤回至其起始位置。在另选方案中,临床医生可使用鞍形滑动件2162将保持销2180手动回缩至其起始位置。临床医生可在致动闭合系统2070以将闭合梁2072返回至其起始位置之前,将该保持销2180回缩至其起始位置。关于弯曲缝合切割器的使用的另外细节可从美国专利6,988,650和7,134,587中找到。
图42-45描绘外科端部执行器3000,该外科端部执行器包括通常可被称为“圆形外科缝合器”的类型的外科切割和紧固器械。在某些类型的外科手术中,外科钉的使用已成为接合组织的优选方法,并且因此已开发出用于这些应用的具有特殊构造的外科缝合器。例如,已开发出腔内缝合器或圆形缝合器以用于涉及低位结肠的外科手术,其中在病变部分已被切除后,将低位结肠的各部分接合在一起。用于执行此类手术的圆形缝合器公开于例如美国专利5,104,025、5,205,459、5,285,945、5,309,927、8,353,439和8,360,297中,这些专利均以相应的全文引入本文以供参考。
如图42所示,端部执行器3000包括端部执行器外壳3010,该端部执行器外壳可由通过螺钉、凸耳、按扣特征结构等来可移除地联接在一起的外壳段3012,3014制成。从端部执行器外壳3010中突起的是细长轴组件3020。细长轴组件3020被构造成能够可操作地支撑圆形工具头3300和砧座3320并与它们相互作用。如由上文所提及的示例性美国专利所证明,多种不同的圆形钉仓和砧座构造是本领域中已知的。如图43所示,例如,圆形缝合器头3300可以包括壳体构件3302,该壳体构件在其中支撑呈圆形钉驱动器组件3304形式的仓支撑组件,该仓支撑组件适于与圆形钉仓3306对接并驱动支撑在其中的钉与砧座3320的钉成形下表面3326形成接触。圆形刀构件3308也居中设置于钉驱动器组件3304中。壳体构件3302的近侧端部可以通过远侧套圈构件3024联接到弓形轴组件3020的管状外护罩3022上。砧座3320包括圆形主体部分3322,该圆形主体部分具有用于将套管针附接到其上的砧座轴3324。砧座主体3322具有在其上的钉成形下表面3326并且还可具有附接到其远侧端部的护罩3328。砧座轴3324还可设置有一对套管针保持夹片或叶片式弹簧3330,该套管针保持夹片或叶片式弹簧用于可释放地使套管针3042与砧座轴3324保持接合,如将在下文更详细地论述。
在一种形式中,轴组件3020包括压缩轴3030、远侧压缩轴部分3032以及张紧带组件3040,这些部件可操作地支撑在外部管状护罩3022内。套管针尖端3042通过紧固件3041附接到张紧带组件3040的远侧端部。如所知的,套管针尖端3042可插入到砧座3320的砧座轴3324中,并通过套管针保持夹片3330保持接合。
外科端部执行器3000还包括闭合系统3070和击发系统3100。在至少一种形式中,闭合系统3070包括闭合螺母组件3084,该闭合螺母组件附接到张紧带3040的近侧端部。如从图42和图43可见,闭合螺母组件3084包括近侧联接器构件3085,该近侧联接器构件通过紧固件3087附接到张紧带3040的近侧端部。闭合系统3070还包括带螺纹闭合轴3080,该带螺纹闭合轴与闭合螺母3084螺纹接合。闭合轴3080限定闭合轴轴线CSA-CSA并且具有母插座联接器57,该母插座联接器附接到其近侧端部以有利于闭合轴3080与附接到外科器械中的第一驱动轴的公联接器51联接。闭合轴3080沿第一方向的旋转将会致使闭合螺母3084将张紧带组件3040沿远侧方向“DD”驱动。闭合轴3080沿相反方向的旋转将同样地引起闭合螺母3084和张紧带组件3040的近侧行进。
如从图43可见,远侧压缩轴部分3032联接到钉驱动器组件3304。因此,压缩轴3030在外部管状护罩3022内轴向移动会使钉驱动器组件3304在壳体构件3302内轴向移动。压缩轴3030的轴向行进由击发系统3100控制。在一种形式中,击发系统3100包括带螺纹击发轴3102,该带螺纹击发轴与附接到压缩轴3030的近侧端部的带螺纹击发螺母3110螺纹接合。击发轴3102限定平行于或基本上平行于闭合轴轴线CSA-CSA的击发轴轴线FSA-FSA。参见例如图44和图45。击发轴3102的近侧端部具有母插座联接器57,该母插座联接器附接到该近侧端部以有利于击发轴3102与附接到外科器械中的第二驱动轴的公联接器51联接。外科器械的第二驱动系统沿一个旋转方向的启动将使击发轴3102在第一方向上旋转,由此在远侧方向“DD”上驱动压缩轴3030。当压缩轴3030在远侧方向“DD”上移动时,将圆形钉驱动器组件3304朝远侧驱动来驱动钉仓3306中的外科钉与砧座主体3322的下侧3326形成接触。另外,圆形刀构件3308被驱动穿过夹持在砧座主体3322与钉仓3306之间的组织。第二驱动系统沿第二旋转方向的致动将会致使压缩轴3030在近侧方向“PD”上移动。
端部执行器3000还可配备有联接到安装在端部执行器外壳3010内的端部执行器接触板3120的各种传感器。例如,端部执行器3000可包括一个或多个闭合传感器3122,所述闭合传感器安装在端部执行器外壳3010内并且电联接到端部执行器接触板3120,使得当将端部执行器3000可操作地联接到外科器械时,所述一个或多个闭合传感器3122与外科器械的控制系统通信。一个或多个闭合传感器3122可以包括霍尔效应传感器7028,如在下文结合图61、图63所述,该霍尔效应传感器能够检测闭合螺母3084的位置。参见图44。另外,一个或多个击发传感器3124还可安装在端部执行器外壳3010内,并布置成检测击发螺母3110在闭合螺母3084内的位置。一个或多个击发传感器3124还可包括霍尔效应传感器7028,如在下文结合图61、图63所述,并且电联接到端部执行器接触板3120以与外科器械控制系统(如柄部处理器7024)进行最终通信,例如,如下文将结合图61、图63、图64进一步地描述。接触板3120可随端部执行器外壳3020定位,使得当将端部执行器3000可操作地联接到外科器械时,端部执行器接触板3120电联接到安装在外科器械外壳12内的外科器械接触板30,如上所述。
现在将结合外科器械10解释端部执行器3000的使用。然而,应当理解,端部执行器3000能够可操作地联接到本文所公开的各种其他外科器械构造。在使用前,闭合轴3080和击发轴3102是“时钟控制”的,或定位在它们的起始位置,以有利于分别附接到第一驱动轴22和第二驱动轴42。为了将端部执行器3000联接到外科器械10,例如,临床医生将端部执行器3000移动到某个位置,在这个位置中,闭合轴轴线CSA-CSA与第一驱动轴轴线FDA-FDA轴向对齐,并且击发轴轴线FSA-FSA与第二驱动轴轴线SDA-SDA轴向对齐。将闭合轴3080上的母插座联接器57插入成可操作地接合第一驱动轴22上的公联接器51。同样,将击发轴3102上的母插座联接器57插入成可操作地接合第二驱动轴42上的公联接器51。因此,当处于这个位置时,闭合轴3080可操作地联接到第一驱动轴22并且击发轴3102可操作地联接到第二驱动轴42。端部执行器接触板3120可操作地联接到外科器械接触板30,使得端部执行器3000内的传感器3122,3124与外科器械的控制系统可操作地通信。为了保持端部执行器3000与外科器械10的可操作的联接接合,端部执行器3000包括保持器闩锁3130,该保持器闩锁附接到端部执行器外壳3010并且被构造成能够可释放地接合器械外壳12的一部分。保持器闩锁3130可以包括保持凸耳3132,该保持凸耳可以可释放地接合形成于外壳12中的保持器腔体15。参见图1。当被联接在一起时,闭合传感器3122检测闭合螺母3084的位置,并且击发传感器3124检测击发螺母3110的位置。这个信息被传送至外科器械控制系统。另外,临床医生可以确认可转移的传输组件(或其传输托架62)处于其第一驱动位置。这可通过外壳12上的指示灯77的致动来确认,如上所述。如果可转移的传输组件60不处于其第一驱动位置,那么临床医生可以致动击发触发器92以将传输托架62移动到第一驱动位置中,使得摇臂触发器110的用来致动马达80的致动将会引起第一驱动系统20的致动。假设闭合系统3070和击发系统3100各自处于它们相应的起始位置并且端部执行器3000具有正确安装在其中的未用钉仓模块,那么端部执行器3000已准备就绪。
如所知的,当采用圆形缝合器执行吻合术时,可以用常规外科手术缝合器来缝合肠,这种缝合器在肠的目标段(即,标本)两侧安置有多排钉。通常在缝合的同时切割目标段。移除目标标本之后,外科医生将砧座3320插入肠的近侧部分,即,缝合线的近侧。这可通过将砧座主体3322插入到近侧肠部分中所切开的入口来完成,或者可经肛门放置砧座3320,即通过将砧座3320放在端部执行器3000的远侧端部并通过直肠插入器械。接着,临床医生将砧座轴3324附接到端部执行器3000的套管针尖端3042并将砧座3320插入到肠的远侧部分中。然后,临床医生可利用缝合线或其他常规的系结装置将肠的近侧段的远侧端部系至砧座轴3324,并还利用另一缝合线将远侧肠部分的近侧端部系在砧座轴3324周围。
临床医生随后可以通过致动摇臂触发器110来致动马达80并旋转第一驱动轴22,以朝近侧移动附接到其上的张紧带组件3040、套管针尖端3042以及砧座3320。该致动将砧座3320朝支撑在缝合器头部3300的壳体构件3302中的仓3306移动,从而闭合这两者之间的间隙,并由此在这两者间的间隙中将远侧肠部分的近侧端部与近侧肠部分的远侧端部接合。临床医生继续致动第一驱动系统20,直到实现所需量的组织压缩。一旦已将该肠部分夹持在砧座组件3320与缝合器头部3300之间,那么临床医生就会致动击发触发器92来将传输托架62移动至其第二驱动位置,使得马达80的致动将会引起第二驱动轴42的旋转。一旦传输托架62被移动至第二驱动位置,那么临床医生就会再次致动摇臂触发器110来致动第二驱动系统40和端部执行器3000中的击发系统3100,以朝远侧驱动压缩轴3030,该压缩轴还朝远侧驱动圆形钉驱动器组件3304和圆形刀构件3308。这种动作用于切割夹持的肠部,并驱动外科钉穿过肠的两个夹持端部,由此接合肠的部分并且形成管状通路。同时,在驱动钉并使钉成形时,可驱动圆形刀3308穿过肠组织的端部,从而切割邻近内排钉的端部。随后,临床医生可从肠中取出端部执行器3000,并完成吻合术。
图46-49示出另一外科端部执行器3000’,除了以下所论述的不同点之外,其与外科端部执行器3000相同。外科端部执行器3000’与外科端部执行器3000中的部件相同的那些部件将以相同元件编号表示。外科端部执行器3000’可类似地操作但不同于外科端部执行器3000中的对应部件的那些部件将以相同部件编号加上“’”表示。如从图46-49可见,外科端部执行器3000’包括驱动脱离组件(通常表示为3090),驱动脱离组件有利地被构造成使得临床医生能够使传动系的远侧部分与传动系的近侧部分脱离。
在所描绘实施方案中,驱动脱离组件3090结合闭合系统3070’使用,使得如果该闭合系统的远侧部分意外卡住或由于其他原因无法使用,那么临床医生可以快速将闭合系统的远侧传动系部分与近侧传动系部分机械分开。更具体地并且参考图47,张紧带组件3040和套管针尖端3042(参见图42、图43和图45)还可称为闭合系统3070’的“远侧传动系部分”3092,并且闭合轴3080和闭合螺母组件3084例如可被称为闭合系统3070’的“近侧传动系部分”3094。如从图47可见,一种形式的驱动脱离组件3090包括远侧联接器构件3095,该远侧联接器构件附接到张紧带组件3040的近侧端部。远侧联接器构件3095可通过压入配合、粘合剂、焊料、焊接等或此类附接构造的任何组合附接到张紧带组件3040。远侧联接器构件3095大小适于可滑动地接收在附接到闭合螺母组件3084的近侧联接器构件3085’中的狭槽3097内。远侧联接器构件3095包括从其中穿过的远侧孔3096,当远侧联接器构件3095安置在狭槽3097内时,该远侧孔被构造成能够与近侧联接器构件3085’中的近侧孔3098轴向配准。参见图48。驱动脱离组件3090还包括驱动联接器销3099,该驱动联接器销大小适于接收在轴向对准的孔3096,3098内,以便将远侧联接器构件3095保持联接到近侧联接器构件3085’。换句话说,驱动联接器销3099用于机械地且可释放地将远侧传动系部分3092联接到近侧传动系部分3094。驱动联接器销3099沿横向于闭合轴轴线CSA的联接轴线CA-CA延伸。为了给驱动联接器销3099提供间隙以相对于击发螺母3110轴向移动,在击发螺母3110中设有轴向狭槽3111。如从图46可见,端部执行器外壳部分3014’设有轴向延伸间隙狭槽3016以有利于驱动联接器销3099在闭合系统3070’的致动期间轴向行进。这种构造使得临床医生能够在端部执行器3000’的使用期间的任何时间仅仅通过将驱动联接器销3099横向移除出或拉出孔3096,3098来允许远侧联接器构件3095与近侧联接器构件3085’脱离,从而快速将远侧传动系部分3092与近侧传动系部分3094分离。
虽然驱动脱离组件3090已经结合端部执行器3000’的闭合系统3070’进行描述,但是驱动脱离组件在另选方案中还可结合端部执行器3000’的击发系统3100使用。在其他构造中,驱动脱离组件3090可以与闭合系统相关联,并且第二驱动脱离组件可以与击发系统相关联。因此,可将近侧传动系部分的一个或两个选择性地与它们相应的远侧传动系部分机械分开。另外,这种驱动脱离组件可有效地结合本文所公开的其他外科端部执行器(包括但不一定限于例如端部执行器1000和端部执行器2000以及它们相应的等效构造)的至少一些中的闭合系统和/或击发系统使用。
图50-53示出另一外科端部执行器2000’,除了以下所论述的不同点之外,其与外科端部执行器2000相同。外科端部执行器2000’与外科端部执行器2000中的部件相同的那些部件将以相同元件编号表示。外科端部执行器2000’可类似地操作但不同于外科端部执行器2000中的对应部件的那些部件将以相同部件编号加上“’”表示。如从图51-53可见,外科端部执行器2000’可设有指示器构造来提供关于闭合系统和击发系统的击发状态的视觉指示。
更具体地并且参见图51和图52,闭合系统2070包括闭合系统状态组件,其通常表示为2090。在一种形式中,例如,闭合系统状态组件2090包括闭合指示器构件2092,该闭合指示器构件附接到闭合螺母2084’或以其他方式从该闭合螺母延伸。闭合系统状态组件2090还包括在端部执行器外壳2010中的闭合指示器窗口2094或开口,使得闭合指示器构件2092的位置可由临床医生透过闭合指示器窗口2094来查看闭合指示器构件2092进行估计。类似地,击发系统2100’可以包括击发系统状态组件,其通常表示为2130。在一种形式中,例如,击发系统状态组件2130包括击发指示器构件2132,该击发指示器构件附接到击发螺母2110’或以其他方式从该击发螺母延伸。击发系统状态组件2130还包括在端部执行器外壳2010中的击发指示器窗口或开口2134,使得击发指示器构件2132的位置可由临床医生透过击发指示器窗口2134来查看击发指示器构件2132进行估计。
闭合系统状态组件2090和击发系统状态组件2130显示闭合系统2070和击发系统2100的机械状态。该端部执行器的远侧端部的机械状态可大体由临床医生观察到,但其有时会被组织覆盖或阻挡住。该端部执行器的近侧部分的机械状态在无窗口构造或突起指示器的情况下无法看到。轴构造的外部上和/或指示器上的颜色编码还可用来为临床医生提供对该端部执行器已完全闭合或击发的确认(例如,指示器显绿色则表示已完全闭合)。例如,闭合指示器构件2092可在其上具有闭合标记2093,该闭合标记可透过闭合指示器窗口2094看到。另外,外壳2010可具有与闭合指示器窗口2094相邻的第一闭合标记2095和第二闭合标记2096以估计闭合指示器2092的位置。例如,第一闭合标记2095可以包括具有第一颜色(例如,橙色、红色等)的第一条,并且第二闭合标记可以包括具有不同于第一颜色的第二颜色(例如,绿色)的条或区段。当闭合指示器构件2092上的闭合标记2093对准在第一闭合标记条2095上的最近侧端部(该位置由图50中的元件编号2097表示)上时,临床医生可观察到闭合系统2070处于其未致动位置。当闭合标记2093对准在第一闭合标记条2095内时,临床医生可观察到闭合系统2070被部分致动,但未被完全致动或完全闭合。当闭合标记2093对准第二闭合标记2096(其由图50中的元件编号2098表示)时,临床医生可观察到闭合系统2070处于其完全致动或完全闭合位置。
类似地,击发指示器构件2132可在其上具有击发标记2133,该击发标记可通过击发指示器窗口2134看到。另外,外壳段2014’可具有与击发指示器窗口2134相邻的第一击发标记2135和第二击发标记2136以估计击发指示器2132的位置。例如,第一击发标记2135可以包括具有第一击发颜色(例如,橙色、红色等)的第一击发条,并且第二击发标记可以包括具有不同于第一击发颜色的第二击发颜色(例如,绿色)的第二击发条或区段。当击发指示器构件2132上的击发标记2133对准在第一击发标记条2135的最近侧端部(该位置由图50中的元件编号2137表示)上时,临床医生可观察到击发系统2100处于其未致动位置。当击发标记2133对准在第一击发标记条2135内时,临床医生可观察到击发系统2100被部分致动,但未被完全致动或完全击发。当击发标记2133对准第二击发标记2136(其由图50中的元件编号2138表示)时,临床医生可观察到击发系统2170处于其完全致动或完全击发位置。因此,临床医生可通过观察指示器在它们相应窗口内的位置来确定该闭合系统和击发系统被致动的程度。
在另选构造中,指示器窗口2094,2134可设在端部执行器外壳2010’中,使得当闭合系统2070和击发系统2100’处于它们的起始或者说是未致动位置时,它们的相应指示器2092,2132可分别在指示器窗口2094,2134中完全可见。当闭合系统2070和击发系统2100’被致动时,它们的指示器2092,2132将会移出它们的指示器窗口2094,2134。随后,临床医生可通过观察可透过窗口2094,2134看到的指示器2092,2132的多少部分来评估系统2070,2100’中的每个已被致动多远。
闭合系统状态组件2090和击发系统状态组件2130显示闭合系统2070和击发系统2100的机械状态,无论端部执行器2000’是否附接到外科器械柄部或外壳。当端部执行器2000附接到柄部或外壳时,闭合系统状态组件2090和击发系统状态组件2130将为临床医生提供确定这些系统的机械状态的机会,作为对外科器械柄部或外壳上显示的状态的初级检查或次级检查。当端部执行器2000’与外科器械柄部或外壳脱离时,闭合系统状态组件2090和击发系统状态组件2130也起初级检查的作用。另外,这样的闭合系统状态组件和击发系统状态组件可有效地结合本文所公开的其他外科端部执行器(包括但不一定限于例如端部执行器1000和端部执行器3000以及它们相应的等效构造)的至少一些中的闭合系统和/或击发系统使用。
图54-60示出另一外科端部执行器2000”,除了以下所论述的不同点之外,其与外科端部执行器2000’相同。外科端部执行器2000”与外科端部执行器2000’和/或外科端部执行器2000中的部件相同的那些部件将以相同元件编号表示。外科端部执行器2000”可类似地操作但不同于外科端部执行器2000’和/或外科端部执行器2000中的对应部件的那些部件将以相同部件编号加上“””表示。如从图54-60可见,外科端部执行器2000”包括驱动脱离组件(通常表示为2200),驱动脱离组件有利地被构造成使得临床医生能够使传动系的远侧部分与传动系的近侧部分脱离。
在所描绘实施方案中,驱动脱离组件2200结合端部执行器2000”的闭合系统2070”使用,使得如果该闭合系统的远侧部分意外卡住或由于其他原因无法使用,那么临床医生可以快速将闭合系统的远侧传动系部分与近侧传动系部分机械分开。更具体地并且参考图56,闭合梁组件2072还可称为闭合系统2070”的“远侧传动系部分”2202,并且闭合轴2080和闭合螺母组件2084”例如可被称为闭合系统2070”的“近侧传动系部分”2204。如从图59可见,闭合螺母组件2084”虽然基本上与上述闭合螺母组件2084,2084’相同,但是其以两个部分提供。更具体地,闭合螺母组件2084”包括与闭合轴2080螺纹接合的上部带螺纹部分2210以及支撑击发螺母2110以上述方式在其中轴向移动的下部部分2214。闭合螺母组件2084”的下部部分2214直接附接到闭合梁组件2072并且包括闭合指示器构件2092”,该闭合指示器构件以与上述闭合指示器2092相同的方式起作用。
在至少一种形式中,驱动脱离组件2200包括驱动联接器销2220,驱动联接器销用于将闭合螺母组件2084”的下部部分2214联接到上部部分2210。如从图59可见,例如,闭合螺母组件2084”的上部部分2210包括第一燕尾狭槽段2212,第一燕尾狭槽段被构造成用于与闭合螺母组件2084”的下部部分2214中的第二燕尾狭槽段2216对准。当第一燕尾狭槽段2212和第二燕尾狭槽段2216如图59所示那样对准时,它们形成孔2215,驱动联接器销2220的筒形部分2222可插入到这个孔中,以将上部部分2010和下部部分2014联接在一起,如图56所示。换句话说,驱动联接器销2220用于机械地且可释放地将闭合系统2070”的远侧传动系部分2202联接到近侧传动系部分2204。驱动联接器销2220沿横向于闭合轴轴线CSA的联接轴线CA-CA延伸。参见图56。为了给驱动联接器销2220提供间隙以随闭合螺母组件2084”轴向移动,端部执行器外壳2010”的外壳段2014”设有轴向延伸间隙狭槽2224。这种构造使得临床医生能够在端部执行器2000”的使用期间的任何时间仅仅通过将驱动联接器销2220横向移除出或拉出由燕尾狭槽段2212,2216所形成的孔2215,快速将远侧传动系部分2202与近侧传动系部分2204分离。一旦驱动联接器销2220已从孔2215移除,闭合组件2084”的下部部分2214可相对于上部部分2212移动,由此使得组织能够从仓模块2060与砧座组件2140之间释放。
图54-56描绘在使用前处于“打开”位置的端部执行器2000”。如从那些附图可见,例如,仓模块2060已安装并准备就绪。图57和图58描绘处于其闭合状态的端部执行器2000。即,闭合梁2080已旋转成在远侧方向“DD”上驱动闭合螺母组件2084”。由于闭合螺母组件2084”的下部部分2214由驱动联接器销2220附接到上部部分2210,因此,闭合梁组件2072(由于其附接到下部部分2214)也朝远侧移动至其闭合位置,从而将靶组织夹持在仓模块2260与砧座组件2140之间。同样如上所述,外壳2010”上的鞍形滑动按钮2162会朝远侧移动,以致使保持销延伸穿过仓外壳并进入砧座组件2140,由此将组织捕获在仓模块2060与砧座组件2140之间。如上文中详细论述,当闭合螺母组件2084”朝远侧移动时,击发螺母2110也朝远侧移动,这将击发轴2102的近侧部分2106抽出母插座联接器57’内的细长通道。参见图58。图59示出从由燕尾狭槽段2212,2216所形成的孔2215中移除的驱动联接器销2220。一旦已将驱动联接器销2220从孔2215中移除,近侧传动系部分2202(闭合梁组件2072)就可通过将鞍形滑动按钮2162朝近侧移动来沿近侧方向“PD”移动。按钮2162的这种移动将使闭合梁组件2072、闭合螺母组件2084”的下部部分2014、击发螺母2110和击发杆组件2112以及保持销朝近侧移动。这种移动将使组织能够从仓模块2060与砧座组件2140之间释放。
图61为包括柄部部分7002和轴部分7004的模块化马达驱动外科器械7000的方框图。模块化马达驱动外科器械7000代表模块化外科器械系统(其通常表示为2),在一种形式中,该模块化外科器械系统包括马达驱动外科器械10,该马达驱动外科器械可结合多种外科端部执行器例如图1所示的端部执行器1000,2000和3000使用。已在上文详细描述模块化马达驱动外科器械10的各功能和操作方面,为了简洁并清楚地描述本公开内容,此类细节将不在与图61-64相关联的以下描述中重复。相反,图61-64的以下描述将主要侧重于模块化马达驱动外科器械7000的电气系统和子系统的功能和操作方面,这些可全部或部分应用于上述模块化马达驱动外科器械中。
因此,现在转至图61,模块化马达驱动外科器械7000包括柄部部分7002和轴部分7004。柄部部分7002和轴部分7004包括通过通信和功率接口7010电联接的相应电气子系统7006,7008。柄部部分7002的电气子系统7006的部件由前述控制板100支撑。通信和功率接口7010被配置成使得电信号和功率可容易地在柄部部分7002与轴部分7004之间交换。
在示出的示例中,柄部部分7002的电气子系统7006电联接到各种电气元件7012以及显示器7014。在一种情况下,显示器7014是有机发光二极管(OLED)显示器,但是显示器7014不应限于此上下文。轴部分7004的电气子系统7008电联接到各种电气元件7016,这些电气元件将在下文详细描述。
在一方面,柄部部分7002的电气子系统7006包括螺线管驱动器7018、加速度计7020、马达控制器/驱动器7022、柄部处理器7024、稳压器7026,并且被构造成能够从多个开关7028处接收输入。虽然在示出的实施方案中,开关7028被指定为霍尔开关,但是开关7028并不限于此上下文。在多个方面,霍尔效应传感器或开关7028可位于器械的端部执行器部分、轴、和/或柄部中。
在一方面,柄部部分7002的电气子系统7006被构造成能够接收来自螺线管7032、夹持位置开关7034、击发位置开关7036、马达7038、电池7040、OLED接口板7042以及打开开关7044、闭合开关7046和击发开关7048的信号。在一方面,马达7038是无刷DC马达,但是在多个方面,马达并不限于此上下文。然而,对马达7038的描述可适用于前述马达80,480,580,680,750和780。螺线管7032是前述转移器螺线管71的代表性示例。
在一方面,轴部分7004的电气子系统7008包括轴处理器7030。轴的电气子系统7008被构造成能够接收来自位于器械的端部执行器部分中的各种开关和传感器的指示该端部执行器中的夹持钳口和切割元件的状态的信号。如图61所示,轴的电气子系统7008被构造成能够接收来自夹具打开状态开关7050、夹具闭合状态开关7052、击发起始状态开关7054以及击发结束状态开关7056的指示夹持元件和切割元件状态的信号。
在一方面,柄部处理器7024可为适用于医疗和外科器械应用并包括运动控件的通用微控制器。在一种情况下,柄部处理器7024可为Texas Instruments所提供的TM4C123BH6ZRB微控制器。柄部处理器7024可以包括具有系统定时器(SysTick)的32位CortexTM-M4 80-MHz处理器芯、集成嵌套向量中断控制器(NVIC)、具有时钟门控的唤醒中断控制器(WIC)、存储器保护单元(MPU)、符合IEEE754的单精度浮点单元(FPU)、嵌入式跟踪宏和跟踪端口、系统控制块(SCB)以及Thumb-2指令集等等。柄部处理器7024可以包括芯片上存储器,诸如高达40MHz的256KB单循环闪存。可提供预取缓冲器来改进高于40MHz时的性能。另外的存储器包括32KB单循环SRAM、加载有用于C系列软件的TivaWareTM的内部ROM、2KB EEPROM等,诸如使用CAN协议版本2.0部分A/B并具有高达1Mbps的位速率的两个控域网(CAN)模块。
在一方面,柄部处理器7024还可包括高级串行集成,包括具有IrDA、9位和ISO7816支持的八个通用异步接收器/发射器(UART)(一个UART具有调制解调器状态和调制解调器流控制)。四个同步串行接口(SSI)模块被提供用于支持对Freescale SPI、MICROWIRE或Texas Instruments同步串行接口的操作。另外,六个集成电路间(I2C)模块提供标准(100Kbps)且快速(400Kbps)的传输并且支持作为例如主装置或从装置发送和接收数据。
在一方面,柄部处理器7024还包括ARM32-沟道可配置的μDMA控制器,提供一种从CortexTM-M4处理器卸载数据传送任务的方式,从而更有效的利用处理器和可用总线带宽。例如,模拟支持功能包括具有24个模拟输入沟道和1百亿样品/秒采样速率的两个12位模数转换器(ADC)、三个模拟比较器、16个数字比较器以及片上稳压器。
在一方面,柄部处理器7024还包括高级运动控制功能,诸如八个脉宽调制(PWM)发生器块,每个PWM发生器块具有一个16位计数器、两个PWM比较器、PWM信号发生器、死区发生器以及中断/ADC触发器选择器。提供八个PWM故障输入端用于促成低延迟的停机。提供两个正交编码器接口(QEI)模块,QEI模块具有用于跟踪使用内置定时器捕获的编码器位置和速度的位置积分器。
在一方面,两个符合ARM FiRM的监视定时器会与六个32位通用定时器(至多12个16位通用定时器)一起提供。例如,提供六个64位宽通用定时器(至多12个32位通用定时器)以及12个16/32位和12个32/64位捕获比较PWM(CCP)引脚。根据配置,至多能够提供120个通用输入/输出(GPIO),它们具有对GPIO中断和板配置的可编程控制以及高度灵活的引脚多路复用。柄部处理器7024还包括具有实时时钟的低功率电池支持的休眠模块。提供多个时钟来源用于微控制器系统时钟,并且所述多个时钟来源包括精确振荡器(PIOSC)、主振荡器(MOSC)、用于休眠模块的32.768-kHz外部振荡器、以及30-kHz内部振荡器。
在一方面,柄部部分7002的电气子系统7006的加速度计7020部分可为基于微机电系统(MEMS)的运动传感器。如众所周知的那样,MEMS技术将计算机与微型机械装置诸如传感器、阀、齿轮、镜以及嵌入半导体芯片中的致动器结合。在一个示例中,例如,基于MEMS的加速度计7020可以包括超低功率8位3轴数字加速度计,诸如STMicroelectronics所提供的LIS331DLM。
在一方面,加速度计7020诸如LIS331DLM可为超低功率高性能型三轴线性加速度计,属于“纳米”系列,具有数字I2C/SPI串行接口标准输出端,并且可适于与柄部处理器7024通信。加速度计7020可以具有超低功率操作模式,这实现了高级省电和智能睡眠唤醒功能。例如,加速度计7020可动态地包括±2g/±4g/±8g的用户可选全量程,并且能够测量输出数据速率从0.5Hz到400Hz的加速度。
在一方面,加速度计7020可以包括自我测试能力,以便允许用户检查传感器在最终应用中的运行。加速度计7020可以被构造成能够通过惯性唤醒/自由落体事件以及通过器械本身位置生成中断信号。中断发生器的阈值以及定时可为动态可编程的。
在一方面,例如,马达控制器/驱动器7022可包括三相无刷直流(BLDC)控制器和MOSFET驱动器,诸如Allegro所提供的A3930马达控制器/驱动器。例如,3相无刷DC马达控制器/驱动器7022可与N沟道外部功率MOSFET一起使用,以便驱动BLDC马达7038。在一种情况下,马达控制器/驱动器7022可结合有效三相马达驱动系统所需要的电路。在一种情况下,马达控制器/驱动器7022包括电荷泵调节器,以对降至7V的电池电压提供充分(>10V)栅极驱动,并使马达控制器/驱动器7022能够在降至5.5V的电池电压下以减少的栅极驱动操作。该电荷泵中的功率损耗可以通过从较低供电电压下的倍压模式切换至在14V的标称工作电压下的压差模式来最小化。在一方面,使用自举电容器来提供N沟道MOSFET所需要的以上电池供电电压。高边驱动器的内部电荷泵允许DC(100%占空比)操作。
内部固定频率PWM电流控制电路调节最大负载电流。峰值负载电流限值可通过对输入参考电压和外部感测电阻器的选择进行设置。PWM频率可由用户选定的外部RC定时网络设置。为了增加灵活性,可用PWM输入来提供速度和扭矩控制以允许内部电流控制电路设置最大电流限值。
马达控制器/驱动器7022的效率可通过使用同步整流来增强。通过集成交叉控制和空载时间保护功率MOSFET不被击穿。空载时间可由单个外部电阻器设置。
在一方面,马达控制器/驱动器7022会响应于霍尔输入端上的全零组合指示逻辑故障。马达控制器/驱动器7022的另外特征结构包括用于N沟道MOSFET的高电流3相栅极驱动、同步整流、跨导保护、用于100%PWM的电荷泵和顶过电荷泵、集成整流解码器逻辑器、在5.5V至50V供电电压范围上的操作、诊断输出,提供+5V霍尔传感器功率,并具有低电流睡眠模式。
在一方面,模块化马达驱动外科器械7000配备有无刷DC电动马达7038(BLDC马达、BL马达),其也称为电子整流马达(ECM、EC马达)。一种此类马达是由Portescap所提供的BLDC马达B0610H4314。BLDC马达B0610H4314可为可热压的。BLDC马达7038是由DC电源经由集成逆变器/开关电源供电的同步马达,该同步马达会产生AC电信号以便驱动马达诸如先前段落中刚刚描述的马达控制器/驱动器7022。在此上下文中,AC即交流不意味着正弦波形,而是无波形限制的双向电流。额外的传感器和电子器件控制逆变器输出振幅和波形(从而控制DC总线使用率/效率的百分比)以及频率(即,转子速度)。
BLDC马达7038的转子部分是永磁同步马达,但在其他方面,BLDC马达还可以是开关磁阻马达或者说是感应马达。虽然一些无刷DC马达可描述为步进马达,但是术语“步进马达”往往用于特别设计成在马达频频利用处于限定的角位置的转子停止的模式下操作的马达。
在一方面,BLDC马达控制器/驱动器7022必须引导转子旋转。因此,BLDC马达控制器/驱动器7022需要一些用于确定转子的取向/位置(相对定子线圈而言)的装置。在一种情况下,BLDC马达7038的转子部分配置有霍尔效应传感器或旋转编码器以直接测量转子位置。在其他情况下,测量未驱动的线圈中的反电动势(EMF),以便推断转子位置而无需单独霍尔效应传感器,并且因此常被称为无传感器型控制器。
在一方面,BLDC马达控制器/驱动器7022包含3个双向输出(即,调频三相输出),这些双向输出通过逻辑电路控制。在其他情况下,更简单的控制器可采用比较器确定何时输出相位应当提前,而更先进的控制器采用微控制器来管理加速度、控制速度以及微调效率。
产生线性运动的致动器称为线性马达。线性马达的优点是,它们可以在不需要传输系统诸如滚珠和导螺杆、齿条和小齿轮、凸轮、旋转马达将必需的齿轮或带的情况下,产生线性运动。已知传输系统会引起较低的响应性以及降低的准确度。该直接驱动BLDC马达7038可包括具有磁齿和移动致动器的开槽定子,该移动致动器具有永磁体和线圈绕组。为了获得线性运动,BLDC马达控制器/驱动器7022激励该致动器中的线圈绕组,从而致使磁场相互作用,造成线性运动。
在一方面,BLDC马达7038是在适合用于模块化马达驱动外科器械7000的封装中提供以下各项的组合的Portescap BO610无刷DC马达:耐久性、效率、扭矩以及速度。这种BLDC马达7038提供合适的扭矩密度、速度、位置控制以及较长寿命。无槽BLDC马达7038使用以与无铁DC马达相同的绕组技术制成的圆柱形无铁线圈。有槽BLDC马达7038也是可热压的。有槽BLDC马达7038可包括由具有置于狭槽中的绕组的堆叠钢片构成的定子,该狭槽是沿内周边轴向切割出的。无刷DC有槽BLDC马达7038提供较高扭矩密度和热耗散以及高加速度。BLDC马达7038的三相配置包括星形连接、霍尔效应传感器、4.5-24V的供电电压。BLDC马达7038的外壳可由303SS材料制成,并且轴可以由17-4ph材料制成。
在一方面,霍尔开关7028可为已知商品名为BU520245G的霍尔效应传感器,并且可为单极集成电路类型的霍尔效应传感器。这些传感器在2.4V至3.6V的供电电压范围上操作。
在一方面,稳压器7026利用PMOS传输元件替换常用PNP传输晶体管。由于PMOS传输元件表现为低值电阻器,低压差电压(在50A的负载电流下通常为415mV)与负载电流成正比。较低静态电流(通常3.2μA)在输出负载电流整个范围(0mA至50mA)上是稳定的。
在一方面,稳压器7026是低压差(LDO)稳压器,诸如Texas Instruments所提供的TPS71533LDO稳压器。这种LDO稳压器7026提供以下益处:高输入电压、低压差电压、低操作功率,以及微型封装。稳压器7026可在2.5V至24V的输入范围上操作,对任何电容器而言均很稳定(≥0.47μF)。LDO电压和低静态电流允许在极低功率水平下操作,并且因此稳压器7026适合于为电池管理集成电路供电。具体来说,一旦施加电压达到最小输入电压并且输出可快速用来为柄部部分7002的连续操作电池充电集成电路供电,稳压器7026就会启用。
在一方面,电池7040是锂离子聚合物(LIPO)电池,聚合物锂离子或更为常见的锂聚合物电池(简写为Li-聚,Li-Pol、LiPo、LIP、PLI或LiP)则是可再充电(蓄电池)电池。LIPO电池7040可包括并联的若干相同蓄电池以便增加放电电流容量,并且通常以串联“分组”的形式提供以便增加总体可用电压。
用于模块化马达驱动外科器械7000的另外功率可由同步步降DC-DC转换器7058(图63-A)提供,该转换器针对具有高功率密度的应用诸如Texas Instruments所提供的TPS6217X系列进行优化。可采用通常为2.25MHz的较高开关频率以允许使用小电感器,并且提供通过利用DCS-ControlTM拓扑而实现的快速瞬态响应以及高输出电压准确性。
对于3V至17V的广泛操作输入电压范围,同步步降DC-DC转换器7058(图63-A)非常适于从Li离子或其他电池以及12V中间功率轨来供电的模块化马达驱动外科器械7000系统。在一方面,在0.9V与6V之间的输出电压下(在100%占空比模式下),同步步降DC-DC转换器7058支持高达0.5A连续输出电流。
通过配置启用和开漏电源良好引脚,也有可能进行功率定序(powersequencing)。在节电模式中,同步步降DC-DC转换器7058(图63-A)显示来自VIN的约17μA的静态电流。如果负载较小并维持在整个负载范围上的较高效率,那么自动且无缝地进入节电模式。在停机模式中,同步步降DC-DC转换器7058关闭,并且停机电流消耗小于2μA。
在一方面,OLED接口7042是OLED显示器7014的接口。OLED显示器7014包括其中可发射电致发光层是响应于电流而发光的有机化合物膜的有机发光二极管。有机半导体的此层位于双电极间,在这个位置处,通常这些电极中的至少一个是透明的。OLED显示器7014可以包括来自两个主要系列的OLED。基于小分子的那些以及采用聚合物的那些。将迁移离子添加至OLED形成发光电化学电池、或者说是LEC,LEC具有略不同的操作模式。OLED显示器7014可以使用无源矩阵(PMOLED)或有源矩阵寻址方案。有源矩阵OLED(AMOLED)需要薄膜晶体管背板来打开或关闭每个单独像素,但会允许较高的分辨率以及较大的显示器尺寸。在一种情况下,OLED显示器7014在无背光的情况下工作。因此,它可显示较深的黑度水平并比液晶显示器(LCD)更薄更亮,从而使其理想地适合于在模块化马达驱动外科器械7000的柄部部分7002上使用。
在一方面,轴部分7004的电气子系统7008的轴处理器7030可实施为超低功率16位混合信号MCU,诸如Texas Instruments所提供的MSP430FR5738超低功率MCU。轴处理器7030是由多个装置构成的超低功率微控制器,这些装置具有嵌入式FRAM非易失存储器、超低功率16位MSP430CPU以及针对各应用的另外的外围设备。结合7个低功率模式的架构、FRAM以及外围设备在便携且无线的感测应用中被优化以实现延长的电池寿命。FRAM是将SRAM的速度、灵活性和耐久性与闪存的稳定性和可靠性相结合的新的非易失性存储器,上述所有特性是在低总功耗下实现的。外围设备包括10位A/D转换器、具有参考电压生成和滞后能力的16沟道比较器,支持I2C、SPI或UART协议的三个增强串行沟道、内部DMA、硬件乘法器、实时时钟、五个16位定时器等。
轴处理器7030包括高达24MHz时钟的16位RISC架构,并且在2V至3.6V的广泛供电电压范围上操作,而且针对超低功率模式进行优化。轴处理器7030还包括智能数字外围设备、超低功率铁电RAM以及高达16KB的非易失性存储器。该嵌入式微控制器提供超低功率写入,即,125ns/字、1ms内16KB的快速写入循环,并包括内置的纠错编码和校正(ECC)以及存储保护单元(MPU)。
在已描述模块化马达驱动外科器械7000的柄部部分7002和轴部分7004的电气系统、子系统和部件的情况下,现将描述该控制系统的功能方面。因此,在操作中,柄部部分7002的电气子系统7006被构造成能够接收来自支撑在柄部部分7002的外壳上的打开开关7044、闭合开关7046以及击发开关7048的信号。当从闭合开关7046接收到信号时,柄部处理器7024操作马达7038引发夹持臂的闭合。一旦闭合夹具,该端部执行器中的夹具闭合状态开关7052就向轴处理器7030发送信号,轴处理器通过通信和功率接口7010将夹持臂的状态传送至柄部处理器7024。
一旦已经夹持靶组织,可致动击发开关7048来生成信号,该信号由柄部处理器7024接收。作为响应,柄部处理器7024会将传输托架致动至其第二驱动位置,使得马达7038的致动将会引起第二驱动轴的旋转,如在上文结合图1-8所详细描述。一旦切割构件被定位,位于该端部执行器中的击发起始状态开关7054就向轴处理器7030发送指示切割构件的位置的信号,轴处理器通过通信和功率接口7010将位置传送回柄部处理器7024。
再次致动第一开关7048将信号发送至柄部处理器7038,作为响应,该柄部处理器致动该端部执行器中的第二驱动系统以及击发系统以朝远侧驱动组织切割构件和楔形滑动件组件穿过外科钉仓。一旦组织切割构件和楔形滑动件组件已被驱动至它们在外科钉仓中的最远侧的位置,击发端部开关7056就向轴处理器7030发送信号,轴处理器通过接口7010将位置传送回柄部处理器7024。现在,可启动击发开关7048来向柄部处理器7024发送信号,该柄部处理器操作马达7038在相反方向上旋转以使击发系统返回至其起始位置。
再次致动打开开关7044会向柄部处理器7024发送信号,该柄部处理器操作马达7038打开夹具。一旦打开夹具,位于该端部执行器中的夹具打开状态开关7050就向轴处理器7030发送信号,轴处理器将夹具位置传送至柄部处理器7024。夹具位置开关7034和击发位置开关7036向柄部处理器7024提供指示夹持臂和切割构件的相应位置的信号。
图62为描绘完成行程花费的总时间以及各种装置轴的各种操作的负载电流要求的表7060。自左侧起第一列7062列出圆形、波形以及TLC装置/轴。这些装置/轴经由以下三个不同操作进行比较:闭合、打开以及击发,如第二列7064所示。第三列7066描绘第一列7063中列出的装置/轴完成一个行程所需的总时间(以秒计)。第四列7068列出针对第一列7062中列出的装置/轴完成第二列7064中的操作以实现完整行程(如第三列7066所指示的)的负载电流要求(以安培计)。如图表中指出,闭合和打开夹持臂所花费的时间约与第一列7062中列出的装置/轴中的每个所花费的时间相同。对于击发操作,圆形装置/轴要求15.69A的最大负载电流,并且TLC装置/轴要求0.69A最少量的负载电流。
图63-A为模块化马达驱动外科器械7000的柄部部分7002中的电气系统的细节图。如图63-A所示,稳压器7026以及DC-DC转换器7058会为电气系统提供操作电压。稳压器7026调节电池7040的电压。柄部处理器7024接收来自加速度计7020的输入。VSS开/关逻辑电源7086将输入电压提供给柄部处理器7024并且将VSS输入提供给DC-DC转换器7058。
三色LED 7072电联接到柄部处理器7024。柄部处理器7024使红色、蓝色或绿色LED7072通电,以便提供视觉反馈。
3个霍尔效应传感器7028U10、U11、U12提供3个单独霍耳效应输出端U1_Hall1、U1_Hall2、U1_Hall3,这些输出端联接到柄部处理器7024,如图所示。U1_Hall3输出端驱动板载LED 7088。在一方面,霍尔效应传感器输出端U1_Hall1、U1_Hall2、U1_Hall3以及ANALOG_CLAMP信号被联接到柄部处理器7024,以便确定模块化马达驱动外科器械7000的端部执行器部分上的夹持臂和切割构件位置,或器械7000的其他元件位置。
用户开关7070是前述“摇臂-触发器”110的典型示例,其可枢转地安装到柄部的手枪式握把部上。用户开关7070可操作地致动可操作地联接到柄部处理器7024的第一马达开关7044。第一马达开关7044可以包括压力开关,压力开关通过将用户开关7070枢转成与其接触来致动。第一马达开关7044的致动将会引起马达7038的致动,使得驱动齿轮在第一旋转方向上旋转。第二马达开关7046还联接到柄部处理器7024并且安装成由用户开关7070可选择地接触。第二马达开关7046的致动将会引起马达7038的致动,使得驱动齿轮在第二方向上旋转。第一开关7048联接到柄部处理器7024。如上所述,击发开关7048的致动引起传输托架的轴向移动,从而推进切割元件。
联合测试动作组(JTAG)7074输入端也联接到柄部处理器7024。JTAG 7074输入端是为集成电路(IC)调试端口而设计的IEEE 1149.1标准测试访问端口和边界-扫描架构。柄部处理器7024实施JTAG7074以便执行调试操作(如单步执行和断点执行)。
UART 7076联接到柄部处理器7024。UART 7076使得数据在并联和串联形式之间变换。UART 7076通常结合通信标准诸如EIA、RS-232、RS-422或RS-485使用。通用标记指示数据格式和传输速度可配置。电气信号发送电平以及方法(诸如差分信号发送等等)由在UART7076外部的驱动电路来处理。UART 7076可为用于在柄部处理器1024的串行端口上串行通信的单独集成电路(或其部分)。UART 7076可包括在柄部处理器1024中。
现将结合图63-B提供模块化马达驱动外科器械7000的柄部部分7002的电气子系统7006的其余功能方面和操作方面的描述。如图所示,柄部处理器7024提供信号以便驱动螺线管7032。轴模块7078将位置信号SHAFT_IDO、SHAFT_ID1、CLAMP_HOME以及FIRE_HOME提供给柄部处理器7024。齿轮位置模块7080将夹具和切割元件的位置提供给柄部处理器7024。由轴模块7078和齿轮位置模块7080所提供的位置信息使得柄部处理器7024能够在接收用户开关7070信号以打开夹具、闭合夹具和/或击发切割元件时,正确启动马达7038。
马达控制器7022接收来自柄部处理器7024的命令并向MOSFET驱动器7084提供命令,MOSFET驱动器驱动3相BLDC马达7038(图61)。如前所述,BLDC马达控制器7022必须引导转子旋转。因此,BLDC马达控制器/驱动器7022确定转子相对于定子线圈的位置/取向。因此,BLDC马达7038的转子部分被配置有霍尔效应传感器7028以直接测量转子位置。BLDC马达控制器7022包含3个双向输出(即,调频三相输出),这些双向输出通过逻辑电路控制。
因此,如图61、图63-A、图63-B和图64所述,可对包括马达控制器7022、马达驱动器7084、结合齿轮位置模块7080和/或轴模块7078的马达霍尔效应传感器7028的马达控制系统进行操作来同步齿轮,使得柄部部分中的公联接器与本文所述外科器械的轴部分中的母联接器平滑联接。在一种情况下,例如,虽然可提供一些公差来实现容易的转移或键控,但是马达控制系统被构造成能够跟踪齿轮位置以便确保齿轮不停止在将禁止在位置之间转移或安装两个旋转键控的位置。在另一情况下,马达可以被构造成能够在安装或转移期间缓慢分度,以便解决任何略微失去同步的状况。结合图6所述的示例在器械在两个驱动装置之间转移时而非仅仅在安装新端部执行器时,也同样会遇到这些问题。这种状况可以通过采用结合图61、图63-A、图63-B和图64所述马达控制系统的齿轮进行适当同步来解决。在其他情况下,可提供编码器跟踪齿轮/齿轮轴的旋转。
图64为模块化马达驱动外科器械的柄部和轴部分的电气系统的方框图。如图64所示,柄部处理器7024接收来自打开开关7044、闭合开关7046、击发开关7048、夹具位置开关7034以及击发位置开关7036的输入。另外,柄部处理器7024从轴模块7078处接收来自夹持原位开关7090和击发原位开关7092的输入。使用这些开关输入的各种组合,柄部处理器7024将适当命令提供给马达7038和螺线管7032。电池监控电路7088监控相对于地面来向柄部处理器7024提供的功率输入。柄部处理器7024驱动三色LED 7072。加速度计7020会向柄部处理器7024提供三轴取向输入以便确定各种参数诸如器械7000的取向以及器械7000是否已被放下。稳压器7026为该系统提供经调节的电源。提供电流感测模块7094以感测从电源汲取的电流。
图65示出用以消除对马达功能的微处理器控制的机械切换运动控制系统7095。在结合图61-64描述的系统中,微处理器诸如柄部处理器7024用于控制马达7038的功能。柄部处理器7024基于整个器械7000中部署的开关的各种状态来执行控制算法。这就需要使用柄部处理器7024以及相关联的识别功能来对不同的端部执行器提供控制。
然而,如图65所示,可采用另选技术来控制马达7038,这通过在端部执行器轴中放置运动相关开关7096A,7096B,7096C,7096D而无需柄部处理器7024。随后,开关7096A-D被构造成能够基于定位特定端部执行器部件的位置,打开和关闭马达7038的特定功能或使马达7038的方向反向。在一种情况下,可采用指示切割元件的完全部署的开关来切换马达7038的功能,以使方向反向并且撤回切割构件。在另一情况下,开关7096A-D可以被构造成能够检测压力或力,使得简单地将砧座向下闭合在组织上将会将开/关信号反馈提供给闭合马达7038,以便停止闭合运动。
在各种情况下,外科器械可以包括柄部、定位在该柄部中的电动马达、可附接到柄部的轴以及从轴延伸的端部执行器,其中电动马达被构造成能够在端部执行器处激发该端部执行器功能。在一些情况下,外科器械可以包括控制系统,该控制系统包括一个或多个传感器以及微处理器,该微处理器可接收来自传感器的输入信号、监控外科器械操作,并且根据传感器输入信号来操作电动马达,以便执行端部执行器功能。在至少一种此类情况下,该外科器械的柄部可与多于一个的轴一起使用。例如,可将线性缝合轴或圆形缝合轴组装至柄部。柄部可包括至少一个传感器,该传感器被构造成能够检测已组装至其的轴的类型并向微处理器传送该信息。微处理器可响应于传感器输入信号以不同方式操作电动马达,具体取决于已组装至该柄部的轴的类型。例如,如果电动马达被构造成能够操作端部执行器的闭合系统,那么微处理器将使马达在第一方向上旋转以闭合圆形缝合器轴的砧座,并使马达在第二或者说是相反方向上旋转以闭合线性缝合器轴的砧座。设想了其他的控制系统,其中在不使用微处理器的情况下可对电动马达实现相同操作控制。在至少一种此类情况下,外科器械的轴和/或柄部可以包括开关,开关可以不同方式操作外科器械,具体取决于已组装至该柄部的轴的类型。
在各种情况下,外科器械系统可以包括电源、被构造成能够执行第一端部执行器功能的第一马达、被构造成能够执行第二端部执行器功能的第二马达、以及开关控制系统,所述开关控制系统被构造成能够选择性地将电源放置成响应于开关控制系统与第一马达和第二马达通信。在各种情况下,这种外科器械系统可不包括微处理器。第一马达可包括被构造成能够闭合端部执行器的砧座的闭合系统的闭合马达,并且第二马达可包括被构造成能够从端部执行器的钉仓击发钉的击发系统的击发马达。开关控制系统可包括闭合触发器开关,该闭合触发器开关在闭合时可闭合将电源联接到闭合马达的闭合电源电路。控制系统还可包括闭合行程结束开关,该闭合行程结束开关可在砧座处于完全闭合位置并打开闭合电源电路以停止闭合马达和闭合驱动装置时由闭合系统打开。开关控制系统还可包括击发触发器开关,该击发触发器开关可为将电源联接到击发马达的击发电源电路的一部分。在各种情况下,该击发电源电路的默认状态可为打开的,这可防止在击发电源电路闭合前操作击发马达。因此,仅闭合击发开关可能无法闭合击发电源电路并且操作击发马达。击发电源电路还可包括第二闭合行程结束开关,该第二闭合行程结束开关在砧座处于完全闭合位置时由闭合系统闭合。关闭击发开关和第二闭合行程结束开关可闭合击发电源电路并且操作击发马达。控制系统还可包括击发行程结束开关,该击发行程结束开关在击发驱动装置到达其击发行程的末尾时由击发驱动装置打开。击发行程结束开关的打开可打开击发电源电路并且停止击发马达。控制系统还可包括第二击发行程结束开关,该第二击发行程结束开关可通过击发驱动装置闭合以闭合反向击发电源电路,该反向击发电源电路将施加至击发马达的电源的极性反向并且在相反方向上操作击发马达并使该击发驱动装置回缩。闭合反向击发电源电路可能还需要该击发触发器开关处于闭合状态。当击发驱动装置到达其完全回缩位置时,其可闭合近侧击发开关。近侧击发开关的闭合可闭合反向闭合电源电路,该反向闭合电源电路可以将施加至闭合马达的电源的极性反向并且在相反方向上操作闭合马达,而且打开砧座。闭合反向闭合电源电路可能还需要该闭合触发器开关处于闭合状态。当砧座到达其完全打开位置时,该砧座可以打开近侧闭合开关,该近侧闭合开关可以打开反向闭合电源电路并且停止闭合马达。但这仅为一个示例。
在各种情况下,如本文所述,外科器械的柄部可与可选择地附接到柄部的若干不同的轴组件一起使用。在一些情况下,同样如本文所述,柄部可以被构造成能够检测已组装至该柄部的轴的类型,并且根据柄部内包含的控制系统操作柄部。例如,柄部可以包括微处理器以及至少一个存储单元,该存储单元可存储并执行多个操作程序,每个操作程序被构造成能够操作特定的轴组件。设想了其他实施方案,其中柄部并不包括控制系统;相反,轴组件各自可包括它们自己的控制系统。例如,第一轴组件可包括第一控制系统,并且第二轴组件可包括第二控制系统,依此类推。在各种情况下,柄部可以包括电动马达、电源诸如电池、和/或输入电缆(例如,被构造成能够基于来自所附接的轴组件的控制输入来操作电动马达的电路)。柄部还可包括与轴控制系统结合的致动器,该致动器可以控制电动马达。在各种情况下,柄部可不包括例如用于控制电动马达的另外的控制逻辑器和/或微处理器。除了柄部致动器外,附接到柄部的轴组件的控制系统将包括操作电动马达所需要的控制逻辑器。在各种情况下,轴组件的控制系统可包括微处理器,而其他情况下,可能并非如此。在一些情况下,第一轴组件的第一控制系统可以包括第一微处理器,并且第二轴组件的第二控制系统可以包括第二微处理器,依此类推。在各种情况下,柄部可以包括第一电动马达诸如闭合马达以及第二电动马达诸如击发马达,其中所附接的轴组件的控制系统可操作闭合马达和击发马达。在一些情况下,柄部可包括闭合致动器和击发致动器。除了闭合致动器和击发致动器外,附接到柄部的轴组件的控制系统将包括操作闭合马达和击发马达所需要的控制逻辑器。在各种情况下,柄部可包括轴接口,并且每个轴组件可包括被构造成能够接合轴接口的柄部接口。轴接口可包括被构造成能够在轴组件被组装至柄部时与柄部接口的电连接器接合的电连接器。在至少一种情况下,每个连接器可包括仅一个电触点,该电触点配合在一起以使得柄部与轴组件之间仅存在一个控制路径。在其他情况下,每个连接器可包括仅两个电触点,这两个电触点在轴组件附接到柄部时形成两个配合的对。在这种情况下,在柄部和轴组件之间可仅存在两个控制路径。设想了其他实施方案,其中在柄部和轴组件之间存在不止两个控制路径。
在各种情况下,外科端部执行器附件可与外科器械柄部兼容。例如,外科端部执行器可联接到外科器械柄部并可传递和/或实施在外科器械柄部中引发的驱动运动。参见图73和图74,外科端部执行器8010可为与外科器械的柄部8000兼容的若干外科端部执行器中的一个。在本公开通篇描述并在通篇相关联的附图中描绘了各种不同外科端部执行器。读者应当理解,本文所描述并描绘的这些各种不同外科端部执行器例如可与相同外科器械柄部兼容和/或可与多于一种类型外科器械柄部兼容。
柄部8000可以包括驱动系统,例如,驱动系统可以被构造成能够将驱动运动从外科器械的柄部8000传送到端部执行器8010的部件、组件和/或系统。例如,柄部8000可以包括第一驱动系统8002a和第二驱动系统8004a。在某些情况下,例如,驱动系统8002a,8004a中的一个可以被构造成能够将闭合驱动运动传递至端部执行器8010(图73)的钳口组件,并且例如,驱动系统8002a,8004a中的一个可以被构造成能够将击发驱动运动传递至端部执行器8010中的击发元件。驱动系统8002a,8004a可以被构造成能够将线性运动、移位和/或平移从柄部8000传送到端部执行器8010。在各种情况下,第一驱动系统8002a可以包括驱动杆8006,该驱动杆可以被构造成能够在第一驱动系统8002a启动时平移和/或线性移位。类似地,第二驱动系统8004a可以包括驱动杆8008,该驱动杆可以被构造成能够在第二驱动系统8004a启动时平移和/或线性移位。
在各种情况下,端部执行器组件8010可以包括第一驱动系统8002b,例如,第一驱动系统可对应于柄部8000的第一驱动系统8002a,并且端部执行器组件8010还可包括第二驱动系统8004b,例如,第二驱动系统可对应于柄部8000的第二驱动系统8004a。在各种情况下,端部执行器8010中的第一驱动系统8002b可以包括驱动元件8012,该驱动元件例如能够可操作且可释放地联接到柄部8000的第一驱动系统8002a的驱动杆8006,并且例如可以被构造成能够从驱动杆8006接收线性运动。另外,端部执行器8010中的第二驱动系统8004b可以包括驱动元件8014,该驱动元件例如能够可操作且可释放地联接到柄部8000的第二驱动系统8004a的驱动杆8008,并且例如可以被构造成能够从驱动杆8008接收线性运动。
在各种情况下,柄部8000和/或端部执行器8010可以包括联接构造,该联接构造例如可以被构造成能够可释放地将驱动杆8006联接到驱动元件8012,并且/或者例如能够可释放地将驱动杆8008联接到驱动元件8014。换句话说,该联接构造可以将柄部8000的第一驱动系统8002a联接到端部执行器8010的第一驱动系统8002b并且将柄部8000的第二驱动系统8004a联接到端部执行器8010的第二驱动系统8004b,使得在外科器械的柄部8000中引发的驱动力可被传送到所附接的外科端部执行器8010的适当驱动系统8002b,8004b。虽然图73和图74中描绘的外科系统包括柄部8000中的一对驱动系统8002a,8004a以及端部执行器8010中的一对对应驱动系统8002b,8004b,但是读者应当理解,例如,本文所公开的各种联接构造还可用于包括单个驱动系统或多于两个驱动系统的外科端部执行器和/或柄部。
在各种情况下,用于将外科器械的柄部中的驱动系统联接到所附接的端部执行器中的驱动系统的联接构造可以包括可以被构造成能够保持并固定在对应柄部与端部执行器驱动系统之间的连接的闩锁。如本文中更详细地描述,例如,闩锁可以是弹簧加载的,并且可联接到例如可以被构造成能够可操作地克服弹簧的偏置以解锁、打开和/或释放联接构造的触发器。在各种情况下,联接构造可以包括用于外科端部执行器8010中的每个驱动系统8002b,8004b的独立和/或离散联接机构和/或接头。在这种情况下,驱动系统8002b,8004b中的一个可在不会启动其他驱动系统8002b,8004b的情况下启动。在其他情况下,例如,驱动系统8002b,8004b可以同时和/或并行启动。
现在参见图66-72,描绘了与外科端部执行器一起使用的联接构造8100。例如,可经由例如联接构造8100将外科端部执行器附接到外科器械的柄部8170(图67-69)。在各种情况下,例如,联接构造8100可以包括联接器外壳或框架8102。例如,可将联接器外壳8102定位在端部执行器的近侧附接部分中。另外,例如,联接器外壳8102可以包括托架8104,例如,托架可以被构造成能够相对于联接器外壳8102而移动。例如,联接器外壳8102可以包括通道8103,通道的尺寸和结构可设定为接收可滑动的和/或可转移的托架8104。例如,托架8104可由联接器外壳8102约束,使得托架8104可动地保持在通道8103内并且被构造成能够在通道8103内移动和/或滑动。例如,通道8103可以引导和/或约束托架8014相对于外壳8102的移动。在某些情况下,例如托架8104可以具有倾斜表面,诸如斜坡或楔形件8106,例如斜坡或楔形件还可引导和/或有利于托架8104移动。
在各种情况下,联接构造8100可以包括触发器8120,该触发器与托架8104的斜坡8106滑动接合。例如,触发器8120可以包括倾斜表面8122,该倾斜表面例如被构造成能够在触发器8120在第一或者说是未致动位置(图68)与第二或者说是致动位置(图67和图69)之间移动时沿托架8104的斜坡8106滑动。在某些情况下,例如,联接构造8100可以包括引导装置诸如导轨8110,例如,该导轨可定位和构造用于在第一未致动位置与第二致动位置之间引导触发器8120。例如,联接器外壳8102可以包括一对导轨8110,这对导轨可以限定用于触发器8120的致动路径。
在各种情况下,例如,当触发器8120沿由至少一个导轨8110所限定的致动路径在方向D1(图67和图69)上从未致动位置(图68)移动至致动位置(图67和图69)时,托架8104可以经由触发器8120的倾斜表面8122和托架8104的斜坡8106在通道8103内向下或者说是在方向D3(图67和图69)上转移。因此,例如,触发器8120的启动可相对于联接器外壳8102、触发器8120和/或联接构造8100的各种其他部件、组件和/或系统转移托架8104。
在各种情况下,例如,当触发器8120沿至少一个导轨8110在方向D2(图68)上从致动位置(图67和图69)移动到未致动位置(图68)时,托架8104可以经由触发器8120的倾斜表面8122和托架8104的斜坡8106在通道8103内向上或者说是在方向D4(图68)上转移。因此,例如,触发器8120的致动可能影响托架8104相对于联接器外壳8102的移动。在某些情况下,例如,弹簧和/或其他偏置机构可以被构造成能够相对于通道8103和/或联接器外壳8102将托架8104和/或触发器8120朝预定位置偏置。
现在参见图66,在各种情况下,狭槽8112可限定于联接器外壳8102和/或端部执行器中。例如,狭槽8112尺寸适于接收外科器械的柄部8170的驱动构件8172。在某些情况下,例如,一对狭槽8112可限定于联接器外壳8102中,并且每个狭槽8112可以被构造成能够接收柄部8170的驱动构件8172中的一个。如本文中更详细地描述,驱动构件8172可联接到柄部8170中的驱动系统和/或以其他方式由柄部8170中的驱动系统驱动。例如,每个驱动构件8172可联接到柄部8170中的驱动系统的线性致动器和/或以其他方式由该线性致动器驱动,例如,该线性致动器可以被构造成能够将线性驱动运动平移并传递至端部执行器中的对应驱动系统。
在各种情况下,托架8104还被构造成能够相对于联接构造8100的驱动构件承窝8130移动和/或转移。例如,驱动构件承窝8130可以被构造成能够从柄部8170处接收驱动构件8172中的一个。主要参见图71,承窝8103可以包括开口8136,所述开口尺寸和/或结构适于接收柄部8170的驱动系统部件。例如,主要参见图67,开口8136可以被构造成能够接收驱动杆8172的远侧部分。这种情况下,例如,当驱动杆8172固定在承窝8130中的开口8136内时,如本文中更详细地描述,承窝8130可以被构造成能够经由驱动杆8172和承窝8130接合将驱动力从柄部8170传送到外科端部执行器。
仍然参见图67,驱动杆8172可以包括斜面8176以及沟槽或者说是凹坑8174,例如,沟槽或者说是凹坑可有利于驱动杆8172与承窝8130的接合和/或锁定。在各种情况下,例如,驱动构件承窝8130可稳固和/或固定在端部执行器和/或联接器外壳8102内,并且托架8104可以被构造成能够在托架8104在联接器外壳8102中的通道8103内滑动时相对于和/或围绕承窝8130移动和/或转移。
主要参见图71,承窝8130可以包括至少一个柔性接片8132a,8132b。柔性接片8132a,8132b可向内朝开口8136偏置,并且/或者例如可以包括向内偏置的齿。在某些情况下,柔性接片8132a,8132b可以包括齿8133,例如,该齿可以被构造成能够在驱动杆8172插入到承窝8130中的开口8136中时,接合驱动杆8172中的沟槽8174。例如,驱动杆8172的斜面8176可以经过承窝开口8136内的齿8133,并且将接片8132从开口8136向外弯曲或偏转。当驱动杆8172继续进入承窝8130的开口8136时,接片8132a,8132b的齿8136可接合或抓住驱动杆8172中的沟槽8174。在这种情况下,例如,齿8136-沟槽8174接合可释放地将驱动杆8172保持在承窝8130内。
在各种情况下,例如,承窝8130可以包括凹槽8134,该凹槽可以被构造成能够接收弹簧8150。在其他情况下,例如,承窝8136可以包括多于一个凹槽8134并且联接构造8100可以包括多于一个弹簧8150。此外,在某些情况下,承窝8130可以包括多于一个柔性接片8132a,8132b。例如,承窝8130可以包括一对侧向定位接片8132a,8132b。第一接片8132a例如可定位在承窝8130的第一横向侧上,并且第二接片8132b例如可定位在承窝8130的第二横向侧上。在某些情况下,例如,接片8132a,8132b可从开口8136向外偏转,以适于驱动杆8172进入。在其他情况下,例如,承窝8130可不包括向内偏置接片和/或可以包括多于两个接片。
在各种情况下,联接构造8100还可包括闩锁或套管8140,该闩锁或套管能够可动地相对于承窝8130定位。例如,闩锁8140可以包括开口8142(图72),开口的尺寸和结构可设定为至少部分环绕承窝8130的至少一部分。例如,闩锁8140可定位在承窝8130周围,并且例如可相对于承窝8130的接片8132a,8132b可动地定位。在各种情况下,例如,弹簧8150可定位在承窝8130的一部分与闩锁8140的一部分之间,使得弹簧8150能够将闩锁8140朝承窝-闩锁位置(图68)偏置。例如,弹簧8150可将闩锁8140偏置到承窝-闩锁位置(图68)中,在该位置,闩锁8140被定位成环绕和/或约束接片8132a,8132b的向外偏转。
在各种情况下,例如,当闩锁8140被定位成限制和/或防止接片8132a,8132b的向外偏转,即,处于承窝闩锁位置时,接片8132a,8132b的远离开口8136的向外移动可受限制,使得接片8132a,8132b能够阻止和/或以其他方式来防止驱动杆8172进入承窝8130中的开口8136和/或从其释放。此外,例如,当触发器8120从未致动位置(图68)移动至致动位置(图67和图69)时,闩锁8140可以克服一个或多个弹簧8150的偏置,并且可以从承窝闩锁位置(图68)移动至未闩锁位置(图67和图69)。闩锁8140在处于未闩锁位置时可转移离开柔性接片8132a,8132b,使得例如柔性接片8132a,8132b能够向外偏转,并且例如承窝8130可以接收驱动杆8172。
在各种情况下,闩锁8140可以包括接合块或突起8144。此外,主要参见图70,联接器外壳8102中的托架8104可以包括偏置构件8108。例如,偏置构件8108可以包括斜坡或成角度表面,斜坡或成角度表面例如可以被构造成能够在第一或者说是承窝-闩锁位置(图67和图69)与第二或者说是闩锁位置(图68)之间偏置接合块8144从而偏置闩锁8140。例如,当触发器8120的移动致使托架8104相对于联接器外壳8102和承窝8130转移时,如本文所述,接合块8144可沿偏置构件8108的成角度表面滑动,使得闩锁8140相对于承窝8130的柔性接片8132移动。在这种情况下,触发器8120的启动可以克服弹簧8150的偏置并使闩锁8140从围绕承窝8130的柔性接片8132的承窝-闩锁位置回缩至未闩锁的位置。在这种情况下,当闩锁8140回缩时,可允许柔性接片8132偏转和/或接合驱动杆8172。此外,例如,当触发器未致动时,弹簧8150可相对于和/或围绕柔性接片8132a,8132b偏置闩锁8140,以便限制和/或防止接片8132a,8132b偏转从而限制和/或防止与驱动杆8172的接合。
在某些情况下,闩锁8140可以包括一对侧向相对的接合块8144,这对接合块可滑动地接合托架8104的侧向相对偏置构件8108。此外,在联接构造8100在柄部8170与外科端部执行器之间联接多于一个驱动系统时,例如,托架8104可以包括多个偏置构件8108和/或多对偏置构件8108。例如,每个承窝8130可以包括一对侧向定位的接合块8144,并且例如,托架8104可以包括用于每个接合块8144的偏置构件8108。
主要参见图68,在启动触发器8120前和/或在释放触发器8120时,触发器8120可定位在远侧未致动位置,托架8104可相对于联接器外壳8102定位在提升位置,并且闩锁8140可定位在承窝-闩锁位置。在这种构造中,例如,闩锁8140可以防止驱动杆8172进入承窝8130和/或与其接合。在各种情况下,例如,弹簧8150和/或不同弹簧和/或偏置构件可将触发器8120偏置到未致动位置中,可将托架8104偏置到提升位置中,并且/或者可将闩锁8140偏置到承窝-闩锁位置中。为了将驱动杆8172中的一个连接和/或附接到承窝8130中的一个,现在参见图67,例如,触发器8120可移动至近侧致动位置,这样可以将托架8104转移至更低位置,从而可以将闩锁8140转移至未闩锁的位置。在这种构造中,例如,驱动杆8172可以被构造成能够进入承窝8130和/或由该承窝接收。
此后,如果释放触发器8120,现在参见图68,例如,弹簧8150可以将触发器8120偏置回远侧未致动位置,可以将托架8104偏置回提升位置,并且可以将闩锁8140偏置回承窝-闩锁位置。因此,例如,驱动构件8172可锁定成接合承窝8130,因为闩锁8140可以防止柔性接片8132a,8132b的向外偏转,并且因此可以将驱动构件8172固定在承窝8130内。因此,现在参见图69,为了将驱动构件8172与承窝8130分离,例如,触发器8120可再次移动至近侧致动位置,这样可以将托架8104转移至更低位置,从而可以将闩锁8140转移至未闩锁的位置。在这种构造中,即,当承窝8130未被闩锁时,例如,驱动构件8172可从承窝8130移除。
在各种情况下,外科器械可以包括联接到马达的驱动系统。在某些情况下,该马达和驱动系统可以影响各种外科功能。例如,该马达和驱动系统可以影响外科端部执行器的打开和/或闭合,并且例如,可以影响切割和/或击发行程。在某些情况下,该马达和驱动系统可以影响多种不同外科功能。例如,外科端部执行器的打开和/或闭合可独立于或不同于来自外科端部执行器的紧固件的切割和/或击发。在这种情况下,驱动系统可以包括传输和/或离合器组件,例如,该传输和/或离合器组件可将驱动系统的接合在不同输出系统之间转移。
在各种情况下,外科器械可以包括驱动系统,该驱动系统具有多个输出轴和用于在不同的输出轴之间转移的离合器。在某些情况下,该输出轴可对应于不同外科功能。例如,第一输出轴可对应于端部执行器闭合运动,并且例如,第二输出轴可对应于端部执行器击发运动。在各种情况下,例如,驱动系统可在与第一输出轴接合和与第二输出轴接合之间切换,使得外科功能为分开的且不同的和/或独立的。例如,端部执行器闭合运动可独立于且不同于端部执行器击发运动。例如,引发闭合运动并且在完成闭合运动时引发单独的击发运动可以是优选的。此外,例如,利用单个驱动系统控制和/或驱动可联接到电动马达的独立闭合运动和击发运动可以是优选的。在其他情况下,该第一输出轴和第二输出轴能够可操作地联接,并且例如,各种外科功能和/或外科运动可以同时和/或至少部分同时发生。
现在参见图75-78,用于外科器械的柄部8600可以包括驱动系统8602,该驱动系统可包括第一输出驱动系统8610以及第二输出驱动系统8620。在各种情况下,当端部执行器附接到柄部8600时,第一输出驱动系统8610可联接到所附接的端部执行器中的第一驱动系统,并且第二输出驱动系统8620可联接到所附接的端部执行器中的第二驱动系统。例如,第一输出驱动系统8610可以影响第一外科功能,诸如端部执行器钳口的夹紧,并且例如,第二输出驱动系统8620可以影响第二外科功能,诸如击发元件穿过该端部执行器的击发。在其他情况下,例如,第一输出驱动系统8610和第二输出驱动系统8620的外科功能可以颠倒和/或以其他方式来修改。
在各种情况下,驱动系统8602可以包括马达组件,该马达组件可以包括电动马达8640以及马达轴8642。驱动齿轮8644可安装到例如马达轴8642上,使得电动马达8640驱动和/或影响驱动齿轮8644的旋转。在各种情况下,第一输出驱动系统8610可以包括第一驱动轴8612和第一从动齿轮8612。例如,可将第一从动齿轮8614安装到第一驱动轴8612上,使得第一从动齿轮8614的旋转影响第一驱动轴8612的旋转。在各种情况下,例如,线性致动器8616可通过螺纹定位在第一驱动轴8612上,并且第一驱动轴8612的旋转可以影响线性致动器8616的线性移位。此外,在各种情况下,第二输出驱动系统8620可以包括第二驱动轴8622和第二从动齿轮8624。例如,可将第二从动齿轮8624安装到第二驱动轴8622上,使得第二从动齿轮8624的旋转影响第二驱动轴8622的旋转。在各种情况下,例如,线性致动器8626可通过螺纹定位在第二驱动轴8624上,并且第二驱动轴8624的旋转可以影响线性致动器8626的线性移位。
在各种情况下,驱动系统8602还可包括传输或转移器组件8648。例如,转移器组件8648可以被构造成能够使驱动齿轮8644在与第一输出驱动系统8610的接合和与第二输出驱动系统8620的接合之间转移。对于某些情况而言,例如,转移器组件8648可以包括转移齿轮8652,该转移齿轮可与驱动齿轮8644啮合接合。另外,例如,转移齿轮8652可以被构造成能够在一系列位置之间转移或移动,并且当转移齿轮8652在这些位置范围内移动时,可保持与驱动齿轮8644啮合接合。
例如,转移齿轮8652可移动成接合和/或脱离第一从动齿轮8614和/或第二从动齿轮8624中的至少一个。在各种情况下,转移齿轮8652可移动成与第二输出驱动系统8620的第二从动齿轮8624啮合接合。例如,当处于所述位置范围中的第一位置(图78)时,转移齿轮8652可以脱离第二从动齿轮8624,并且例如,当处于所述位置范围中的第二位置(图77)时,转移齿轮8652可与第二从动齿轮8624接合。例如,在转移齿轮8652与第二从动齿轮8624接合的情况下,转移齿轮8652可以将力从驱动齿轮8644传送到第二从动齿轮8624,使得马达8640可以通过第二输出驱动系统8620影响外科功能。此外,例如,在转移齿轮8652脱离第二从动齿轮8624的情况下,马达8640的旋转可不被传送到第二输出驱动系统8620。
在各种情况下,移位器组件8648还可包括中间齿轮和/或传送齿轮8654。例如,传送齿轮8642可以被构造成能够将驱动力从移位齿轮8652传送到第一从动齿轮8614。在各种情况下,传送齿轮8654可与第一从动齿轮8614啮合接合,例如,使得传送齿轮8654的旋转被传递到例如第一从动齿轮8614。此外,在各种情况下,移位齿轮8652可移动到与传送齿轮8654接合和/或脱离与其接合。例如,当处于所述位置范围中的第一位置(图78)时,移位齿轮8652可与传送齿轮8654接合,而当处于所述位置范围中的第二位置(图77)时,移位齿轮8652可与例如传送齿轮8654脱离。在移位齿轮8652与传送齿轮8654接合的情况下,移位齿轮8652可经由传送齿轮8654将力从驱动齿轮8644传送到第一从动齿轮8614。在此类情况下,例如,马达8640可经由例如第一输出驱动系统8610影响手术功能。此外,在移位齿轮8652与传送齿轮8654脱离的情况下,马达8640的旋转可不被传送到例如第一输出驱动系统8610。
在各种情况下,传送齿轮8654可以可旋转地安装在第二输出驱动系统8620的第二驱动轴8622上。例如,传送齿轮8654可以被构造成能够相对于第二驱动轴8622旋转而不影响第二驱动轴8622和固定于其上的第二从动齿轮8624的旋转。在各种情况下,移位组件8648可包括支架或衬圈8650,其可至少部分地包围移位齿轮8652。支架8650可围绕移位齿轮8652定位,例如,使得支架8650的移动可移动移位齿轮8652。
在各种情况下,柄部8600和/或移位组件8648还可包括触发器或离合器8630。离合器8630可以被构造成能够在位置范围内使支架8650和/或移位齿轮8652移位。例如,离合器8630可包括从柄部8600延伸的触发器,并且可与支架8650和/或移位齿轮8652接合。在各种情况下,支架8650可包括销8656,其可从支架8640延伸到离合器8630的孔8638(图75)中。例如,离合器8630可包括联接到柄部8600上的枢转点8634的臂8632和/或一对臂8632。离合器8630可在例如枢转点8634处枢转,并且臂8632的枢转可移动支架8560的销8656。例如,支架8650的移动可使移位齿轮8652在第一位置(图78)与第二位置(图77)之间移位。
在各种情况下,支架8650的移动可被约束以使得移位齿轮8652沿纵向轴线移动通过其位置范围。此外,离合器8630的枢转行程和/或移动范围可被约束和/或限制,例如,使得移位齿轮8652在离合器8630枢转时保持在位置范围内。此外,离合器8630中的孔8638(图75)可以被构造成和/或被结构化为能够将移位齿轮8652保持和/或固定在位置范围内并且/或者与例如第二从动齿轮8624和/或传送齿轮8654中的一者对齐。在各种情况下,柄部8600可包括弹簧或其他偏置机构,以将移位齿轮8652偏置到第一位置或第二位置中的一者处。在一些情况下,柄部8600可包括被构造成能够将移位齿轮8652固定在其第一位置或其第二位置的双稳态柔性机构。就移位齿轮8652位于第一位置与第二位置之间而言,双稳态柔性机构可为动态不稳定的并且用于将移位齿轮8652置于其第一位置或其第二位置。作为另外一种选择,移位齿轮8652可被偏置到中间位置中,其中移位齿轮8652可例如与第一输出驱动系统8610和第二输出驱动系统8620同时接合。除此之外或作为另外一种选择,柄部8600可包括锁和/或定位部,用以将移位齿轮8652固定在例如第一位置或第二位置中的一者处。
外科器械可包括被构造成能够操作外科器械的闭合驱动装置和击发驱动装置的可旋转驱动轴。参见图79-84,外科器械10000可包括可旋转驱动轴10020、闭合驱动装置10030和击发驱动装置10040。如下文将更详细地描述,驱动轴10020可包括被构造成能够操作闭合驱动装置10030的第一螺纹10024以及被构造成能够操作击发驱动装置10040的第二螺纹10026。在各种情况下,器械10000可包括例如圆形缝合器。
外科器械10000可包括框架10002和用于产生旋转运动的装置。在某些情况下,旋转运动可由例如手动驱动的手动曲柄产生,而在各种情况下,旋转运动可由电动马达产生。在任一种情况下,所产生的旋转运动可被传递到旋转输入轴10010。输入轴10010可包括近侧轴承部分10011和远侧轴承部分10013,这两个部分由框架10002可旋转地支撑。在各种情况下,近侧轴承部分10011和/或远侧轴承部分10013可由框架10002直接支撑,而在某些情况下,近侧轴承部分10011和/或远侧轴承部分10013可包括定位在输入轴10010与框架10002之间的轴承。输入轴10010还可包括安装到和/或键合到输入轴10010上的齿轮10012,使得当输入轴10010沿方向A(图79)旋转时,齿轮10012也沿方向A旋转。相应地,当输入轴10010沿相反方向即方向A’(图82)旋转时,齿轮10012也沿方向A’旋转。
主要参见图79和图80,驱动轴10020可包括近侧端部10021和远侧端部10023。近侧端部10021和远侧端部10023可由框架10002可旋转地支撑。在各种情况下,近侧端部10021和/或远侧端部10023可由框架10002直接支撑,而在某些情况下,近侧端部10021和/或远侧端部10023可包括定位在驱动轴10020与框架10002之间的轴承。齿轮10022可被安装到和/或键合到驱动轴10020的近侧端部10021上。齿轮10022与齿轮10012啮合接合,使得当输入轴10010沿方向A旋转时,驱动轴10020沿方向B旋转。相应地,参见图81,当输入轴10010沿方向A’旋转时,驱动轴10020沿方向B’旋转。
再次参见图79,闭合驱动系统10030可包括与驱动轴10020的第一螺纹10024接合的闭合销10032。闭合驱动系统10030还可包括可平移闭合构件10033。闭合销10032被定位在限定于闭合构件10033的近侧端部中的孔内。闭合销10032可包括定位在由第一螺纹10024限定的沟槽内的第一端部。当驱动轴10020旋转时,沟槽的侧壁可接触闭合销10032的第一端部并且使闭合销10032朝近侧或朝远侧移位,具体取决于其中驱动轴10020旋转的方向。例如,当驱动轴10020沿方向B(图79)旋转时,闭合销10032可如方向D所指示朝远侧移位或平移。相应地,当驱动轴10020沿方向B’(图82)旋转时,闭合销10032可如方向P所指示朝近侧移位或平移。闭合销10032可被紧密地接收在限定于闭合构件10033中的孔内,使得闭合销10032的移位或平移被传送到闭合构件10033。如读者将理解的,闭合销10032和闭合构件10033被阻止相对于框架10002旋转,使得驱动轴10020的旋转被转化为闭合销10032和闭合构件10033的平移。
主要参见图80,第一螺纹10024沿驱动轴10020的第一长度10025延伸。在某些情况下,第一螺纹10024可沿驱动轴10020的整个长度延伸,而在其他情况下,第一螺纹10024可沿小于驱动轴10020的整个长度延伸。第一螺纹10024可包括与驱动轴10020的近侧端部10021相邻的近侧部分以及与驱动轴10020的远侧端部10023相邻的远侧部分。当闭合销10032处于第一螺纹10024的远侧部分中时,如图81所示,闭合构件10033可将外科器械10000的砧座定位于打开位置。在驱动轴10020沿方向B’旋转时,闭合销10032可朝近侧平移,直到闭合销10032到达第一螺纹10024的近侧部分,如图82所示。在闭合销10032朝近侧移动时,闭合销10032可朝近侧拉动闭合构件10033和砧座。当闭合销10032到达第一螺纹10024的近侧部分时,砧座可处于完全闭合位置。
对上文进行进一步描述,闭合驱动装置10030可被操作以将外科器械10000的砧座相对于钉仓移动到合适的位置。在各种情况下,外科器械10000可包括致动器,该致动器可沿第一方向操作以沿方向A旋转输入轴10010并沿方向B旋转驱动轴10020,并且可沿第二方向操作以沿方向A’旋转输入轴10010并沿方向B’旋转驱动轴10020。在其他情况下,外科器械10000可包括被构造成能够在操作时沿方向A旋转输入轴10010并沿方向B旋转驱动轴10020的第一致动器,以及被构造成能够在操作时沿方向A’旋转输入轴10010并沿方向B’旋转驱动轴10020的第二致动器。在任一种情况下,外科器械10000的操作者可根据需要朝向和远离钉仓移动外科器械10000的砧座,以便在砧座和钉仓之间形成所需间隙。当砧座处于其完全闭合位置时,可产生或可不产生这样的所需间隙。
对上文进行进一步描述,外科器械10000可包括被构造成能够在闭合系统10030达到其完全闭合构型时接收和可释放地固定驱动销10032的扣件。主要参见图81和图82,外科器械10000可包括扣件杆10073,该扣件杆具有限定于其中的扣件孔10077。在驱动销10032朝近侧推进时,驱动销10032可变得与扣件孔10077对齐,然后至少部分地进入扣件孔10077。扣件销10032可通过定位在闭合构件10033与围绕扣件销10032延伸的圆周头10037中间的弹簧10035朝向扣件杆10073偏置。当扣件销10032相对于扣件孔10077在远侧定位时,弹簧10035可抵靠扣件杆10073偏置驱动销10032。当扣件销10032通过驱动螺钉10020的旋转朝近侧移动并且变得与扣件孔10077对齐时,弹簧10035可将驱动销10032向上移动到扣件孔10077中。驱动销10032可通过弹簧10035向上移动,直到驱动销10032的头部接触扣件杆10073。值得注意的是,驱动销10032朝向扣件孔10077的移动可导致驱动销10032变得与第一螺纹10024可操作地脱离。因此,当驱动销10032到达扣件孔10077时,闭合系统10030可被停用,使得驱动轴10020的后续旋转不移动驱动销10032、闭合构件10033、以及可操作地与其接合的砧座,至少直到驱动销10032与第一螺纹10024重新接合,如下文中进一步更详细地描述。
如上所述,驱动销10032进入扣件杆10073的扣件孔10077中可限定闭合系统10030的闭合行程的终点和砧座的完全闭合位置。在各种情况下,扣件杆10073可不相对于框架10002移动并且扣件孔10077可限定固定位置。在其他情况下,扣件杆10073可相对于框架10002移动。在这种情况下,砧座的最终闭合位置将取决于扣件孔10077的位置。因此,砧座与外科器械10000的钉仓之间的间隙将取决于扣件孔10077的位置。大体参见图79,外科器械10000还可包括被构造成能够移动扣件杆10073的间隙设定系统10070。间隙设定系统10070可包括可旋转旋钮10072以及与可旋转旋钮10072接合的驱动齿轮10071。扣件杆10073可包括从其延伸的齿条10075,该齿条包括多个齿。驱动齿轮10071与齿条10075啮合接合,使得当旋钮10072沿第一方向旋转时,齿条10075可朝远侧驱动扣件杆10073,并且当旋钮10072沿与第一方向相反的第二方向旋转时,齿条10075可朝近侧驱动扣件杆10073。当扣件杆10073朝远侧移动时,扣件孔10077可被定位成使得当闭合驱动装置10030处于其完全闭合位置时,砧座与钉仓之间可存在较大间隙。当扣件杆10073朝近侧移动时,扣件孔10077可被定位成使得当闭合驱动装置10030处于其完全闭合位置时,砧座与钉仓之间可存在较小间隙。在各种情况下,扣件孔10077可定位在位置范围内,所述位置范围可容纳外科器械10000的砧座与钉仓之间的距离范围。
在各种情况下,间隙设定系统10070可包括被构造成能够将旋钮10072可释放地固定在适当位置的旋钮锁。例如,框架10002可包括从其延伸的锁突出部10004,该锁突出部可被接收在限定于旋钮10072中的一个或多个锁孔10074内。锁孔10074可沿圆周路径定位。每个锁孔10074可与闭合驱动装置10030的预设位置以及外科器械10000的砧座与钉仓之间的预设间隙距离相对应。例如,当锁突出部10004定位在第一锁孔10074中时,闭合驱动装置10030可固定于第一预设位置,而相应地,砧座可固定在距钉仓第一预设距离处。为了将旋钮10072移动到第二预设位置,旋钮10072可被提升远离框架10002,使得锁突出部10004不再定位在第一锁孔10074中,旋转以驱动齿条10075和扣件杆10073,然后朝向框架10002移动以使得锁突出部10004进入限定于旋钮10072中的第二锁孔10074内。当锁突出部10004定位在第二锁孔10074中时,闭合驱动装置10030可固定于第二预设位置,而相应地,砧座可固定在距钉仓第二预设距离处,该第二预设距离不同于第一预设距离。为了将旋钮10072移动到第三预设位置,旋钮10072可被提升远离框架10002,使得锁突出部10004不再定位在第一锁孔或第二锁孔10074中,旋转以驱动齿条10075和扣件杆10073,然后朝向框架10002移动以使得锁突出部10004进入限定于旋钮10072中的第三锁孔10074内。当锁突出部10004定位在第三锁孔10074中时,闭合驱动装置10030可固定于第三预设位置,而相应地,砧座可固定在距钉仓第三预设距离处,该第三预设距离不同于第一预设距离和第二预设距离。间隙设定系统10070还可包括被构造成能够朝向框架10002偏置旋钮10072的偏置元件。例如,间隙设定系统10070可包括定位在外壳10002与驱动齿轮10071中间的弹簧10076,该弹簧例如被构造成能够将锁孔10074偏置成与锁突出部10004接合。
在某些情况下,外科器械10000的操作者能够通过观察砧座的位置来辨别闭合系统10030的位置。然而,在一些情况下,砧座在外科手术视野中可能是不可见的。主要参见图79,外科器械10000还可包括被构造成能够指示砧座位置的砧座位置指示系统10050。砧座位置指示系统10050可包括限定于框架10002中的窗口10058以及可通过窗口10058观察到的可枢转构件10051。可枢转构件10051可包括可旋转地安装到框架10002上的枢轴10052、驱动端部10054、和显示器端部10056。可枢转构件10051可在指示砧座处于完全打开位置的第一位置(图81)与指示砧座处于完全闭合位置的第二位置(图82)之间,以及在第一位置与第二位置之间的位置范围之间移动,所述位置范围表示砧座的位置范围。闭合系统10030可以被构造成能够接触可枢转构件10051的驱动端部10054以移动可枢转构件10051。主要参见图82,当驱动销10032通过驱动轴10020朝近侧移动时,驱动销10032可朝近侧拉动闭合构件10033,使得限定在闭合构件10033上的肩部10036可接触可枢转构件10051的驱动端部10054并且围绕枢轴10052旋转可枢转构件10051。可枢转构件10051的旋转可在窗口10058内移动显示器端部10056,以指示砧座的位置。为了便于这种观察,框架10002和/或窗口10058可包括一个或多个分界线10059,所述分界线可指示砧座的位置。例如,当可枢转构件10051的显示器端部10056与近侧分界线10059(图81)对齐时,操作者可确定砧座处于打开位置,而当显示器端部10056与远侧分界线10059(图82)对齐时,操作者可确定砧座处于闭合位置。如果显示器端部10056定位在近侧分界线与远侧分界线10059中间,则操作者可假定砧座处于其打开位置与其闭合位置之间的位置。近侧分界线和远侧分界线10059之间的另外分界线10059可用于指示砧座的另外位置。当闭合构件10033朝远侧移动以打开砧座(图84)时,可枢转构件10051可旋转回到其第一位置并且变得再次与近侧分界线10059对齐。位置指示系统10050还可包括例如被构造成能够将可枢转构件10051偏置到其第一位置中的偏置构件,诸如弹簧。
如上所述,外科器械10000的闭合系统10030可被操作以相对于钉仓定位外科器械10000的砧座。在闭合系统10030的操作期间,击发系统10040可以不被操作。击发系统10040可以不可操作地与驱动轴10020接合,直到闭合驱动装置10030到达其完全闭合位置之后。外科器械10000可包括例如被构造成能够将外科器械在砧座闭合操作模式与钉击发操作模式之间进行切换的开关,诸如开关10060。闭合驱动装置10030还可包括从闭合构件10033的近侧端部延伸的开关销10031。根据图81与图82的对比,读者将会知道,在闭合销10032正在朝近侧推进以闭合砧座时,开关销10031与开关10060接触。开关10060可围绕枢轴10062可枢转地安装到框架10002上并且可包括从其延伸的一个或多个臂10064。当驱动销10032到达其完全闭合位置时,开关销10031可接触臂10064并且围绕枢轴10062旋转开关10060。开关10060还可包括从其延伸的臂10066,该臂可以被构造成当开关10060围绕枢轴10062旋转时能够将击发驱动装置10040的击发螺母10042推动至与驱动轴10020可操作地接合。更具体地讲,在至少一种情况下,臂10066可以被构造成能够使推杆10044朝远侧移位,该推杆继而可将击发螺母10042推动到第二螺纹10026上。此时,驱动销10032和闭合系统10030可与第一螺纹10024脱离,这是由于上述扣件孔10077、击发螺母10042以及击发系统10040可与第二螺纹10026接合。
对上文进行进一步描述,击发螺母10042可包括限定于其中的螺纹孔10041,该螺纹孔可与第二螺纹10026通过螺纹接合。对上文进行进一步描述,当闭合驱动装置10030正在操作时,击发螺母10042可相对于第二螺纹10026朝近侧定位,使得螺纹孔10041不与第二螺纹10026通过螺纹接合。在这种情况下,击发螺母10042可处于空闲状态,而驱动轴10020旋转以操作闭合系统10030。对上文进行进一步描述,当击发螺母10042朝远侧移位时,螺纹孔10041可变得与第二螺纹10026通过螺纹接合。一旦击发螺母10042与第二螺纹10026通过螺纹接合,则驱动轴10020沿方向B’(图82)的旋转就会使击发螺母10042朝远侧移位。击发螺母10042可包括一个或多个防旋转特征结构,诸如凸缘10043,例如其可与框架10002可滑动地接合以防止击发螺母10042随驱动轴10020旋转。击发驱动装置10040还可包括联接到击发螺母10042的击发构件,该击发构件可被击发螺母10042朝远侧推动。击发构件可以被构造成能够从钉仓射出钉。当击发螺母10042到达第二螺纹10026的远侧端部时,击发螺母10042可变得与第二螺纹10026通过螺纹脱离,其中驱动轴10020沿方向B’的额外旋转可不再推进击发螺母10042。
主要参见图82和图83,外科器械10000还可包括定位在第二螺纹10026的远侧端部处的反向激活器10047。当击发螺母10042到达第二螺纹10026的远侧端部时,击发螺母10042可以被构造成能够接触反向致动器10047并且使反向致动器10047朝远侧移位。诸如弹簧10048的偏置构件例如可定位在反向致动器10047与框架10002中间,该框架可以被构造成能够抵抗反向致动器10047的远侧移动。如图83所示,反向致动器10047的远侧移动可压缩弹簧10048并且向击发螺母10042施加近侧偏置力。当驱动轴10020沿方向B旋转时,施加到击发螺母10042的近侧偏置力可将击发螺母10042的螺纹孔10041与第二螺纹10026重新接合,并且击发螺母10042可朝近侧移动,如图84所示。击发螺母10042的近侧移动可将击发构件朝近侧移动。当朝近侧移动时,击发螺母10042可以使推杆10044移位,以使得推杆10044接触开关10060的臂10066并且沿相反方向将开关10060旋转回到其未切换位置。此时,击发螺母10042可变得与第二螺纹10026通过螺纹脱离,并且驱动轴10020沿方向B的进一步旋转可不再使击发螺母10042朝近侧移位。此时,击发螺母10042将恢复其空闲位置。
对上文进行进一步描述,当开关10060旋转回到其初始位置时,开关10060的臂10064可朝远侧推动开关销10031和闭合构件10033。开关销10031和闭合构件10033的远侧移动可使驱动销10032从限定于扣件杆10073中的扣件孔10077移位。在驱动销10032离开扣件孔10077时,驱动销10032可抵抗弹簧10035的偏置力而向下移动,以便在扣件杆10073下方滑动。驱动销10032的向下移动可将驱动销10032与第一螺纹10024重新接合。驱动轴10020沿方向B的进一步旋转将会使驱动销10032和闭合构件10033朝远侧移位,以打开外科器械10000的砧座。此时,外科器械10000将被复位以便于其后续使用。在各种情况下,钉仓可被替换和/或重新装载,并且外科器械10000可再次使用。
如读者通过上文所理解的,驱动螺钉10020可使驱动销10032移位以操作闭合驱动装置10030,并且使击发螺母10042移位以操作击发驱动装置10040。对上文进行进一步描述,驱动螺钉10020可使驱动销10032沿驱动螺钉10020的第一长度10025移位。类似地,驱动螺钉10020可使击发螺母10042沿驱动螺钉10020的第二长度10027移位。第一长度10025可限定闭合系统10030的闭合行程,而第二长度10027可限定击发系统10040的击发行程。第一长度10025可比第二长度10027更长,但是在某些情况下,第二长度10027可比第一长度10025更长。在使用中,闭合销10032可经过击发螺母10042。例如,当闭合销10032朝近侧移动以闭合砧座时,闭合销10032可在击发螺母10042处于其空闲位置时经过击发螺母10042。类似地,当闭合销10032朝远侧移动以打开砧座时,闭合销10032可经过处于其空闲位置的击发螺母10042。为了便于该相对移动,击发螺母10042可包括例如限定于其中的开口,诸如狭槽10046,在闭合销10032相对于击发螺母10042移动时,闭合销10032可穿过该开口。在各种其他实施方案中,限定于击发螺母10042中的这种开口还可允许击发螺母10042滑过闭合销10032。
对上文进行进一步描述,第一长度10025和第二长度10027可至少部分地重叠。此外,第一螺纹10024和第二螺纹10026可至少部分地重叠。第一螺纹10024和第二螺纹10026可限定在驱动螺钉10020的相同部分上。第一螺纹10024和第二螺纹10026可足够不相似,使得闭合销10032不沿循第二螺纹10026,并且使得击发螺母10042不沿循第一螺纹10024。例如,第一螺纹10024可具有第一螺距,而第二螺纹10026可具有与第一螺距不同的第二螺距。第一螺纹10024的第一螺距可以是或可以不是恒定的。在第一螺距恒定的情况下,与第一螺纹10024可操作地接合的闭合销10032和砧座将以恒定速度在整个闭合行程上移动,以获得驱动轴10020的给定旋转速度。在第一螺距不恒定的情况下,闭合销10032和砧座将以不同速度在闭合行程期间移动,以获得驱动轴10020的给定旋转速度。例如,第一螺纹10024的远侧部分的螺距可大于第一螺纹10024的近侧部分的螺距。在这种情况下,砧座将快速移离其打开位置并且在靠近其闭合位置时较慢地移动,以获得驱动轴10020的给定旋转速度。这样的布置方式将允许砧座抵靠定位在砧座和钉仓中间的组织快速移动到适当位置,然后在砧座与组织接合时较慢地移动,从而减小过度压缩组织的可能性。在各种其他情况下,第一螺纹10024的远侧部分的螺距可小于第一螺纹10024的近侧部分的螺距。在任一种情况下,螺距可在第一螺纹10024的端部之间变化。该变化可以是线性的和/或非线性的。
对上文进行进一步描述,第二螺纹10026的第二螺距可以是或可以不是恒定的。在第二螺距恒定的情况下,与第二螺纹10026可操作地接合的击发螺母10042和击发构件将以恒定速度在整个闭合行程上移动,以获得驱动轴10020的给定旋转速度。在第二螺距不恒定的情况下,击发螺母10042和击发构件将以不同速度在击发行程期间移动,以获得驱动轴10020的给定旋转速度。例如,第二螺纹10026的远侧部分的螺距可小于第二螺纹10026的近侧部分的螺距。在这种情况下,击发构件将在其击发行程的终点较慢地移动,以获得驱动轴10020的给定旋转速度。这样的布置方式将在击发构件到达钉成形过程的终点时使其减慢。此外,这样的布置方式可在击发行程的终点处产生大量的扭矩,所述扭矩与钉成形过程的完成相关。在各种其他情况下,第二螺纹10026的远侧部分的螺距可大于第二螺纹10026的近侧部分的螺距。在任一种情况下,螺距可在第二螺纹10026的端部之间变化。该变化可以是线性的和/或非线性的。
现在转到图86-93,外科器械10500可包括轴10504和端部执行器10505。端部执行器10505可包括钉仓10506和可移动的砧座10508。外科器械10500可包括具有与砧座10504可操作地接合的闭合构件的闭合驱动装置以及具有被构造成能够从钉仓10506部署钉的击发构件的击发驱动装置。外科器械10500可包括用于产生旋转运动的装置,诸如手动曲柄和/或电动马达。旋转运动可被传递到输入轴10510。外科器械10500可包括传送装置10502,该传送装置被构造成能够将输入轴10510的旋转选择性地传递到闭合驱动装置和击发驱动装置,如下文进一步更详细地论述。
输入轴10510可包括安装和/或键合到其上的输入齿轮10512,该输入齿轮随输入轴10510旋转。输入轴10510可由外科器械10500的框架在近侧端部10511和远侧端部10519处可旋转地支撑。输入齿轮10512可与安装和/或键合到中间轴10520的中间齿轮10522啮合接合。因此,当输入轴10510和输入齿轮10512沿方向A(图89)旋转时,中间轴10520和中间齿轮10522沿方向B(图89)旋转。与上文相似,中间轴10520可由外科器械框架在近侧端部10521和远侧端部10529处可旋转地支撑。中间轴10520还可包括螺纹部分10524,该螺纹部分可与移位块10526通过螺纹接合。主要参见图87,移位块10526可包括与螺纹部分10524通过螺纹接合的一个或多个螺纹孔10527。主要参见图89,当中间轴10520沿方向B旋转时,中间轴10520可使移位块10526朝近侧移位。
对上文进行进一步描述,移位块10526可包括限定于其中的齿轮狭槽10528。输入轴10510还可包括可滑动地安装到其上的滑动齿轮10516,该滑动齿轮定位在齿轮狭槽10528中。当移位块10526通过中间轴10520朝近侧移动时,如上所述,移位块10526可将滑动齿轮10516沿键合的输入轴部分10514朝近侧推动。主要参见图87,滑动齿轮10516可包括限定于其中的孔10517,该孔包括一个或多个平坦表面,所述平坦表面例如与键合输入轴部分10514上的对应平坦表面对齐。孔10517和键合输入轴部分10514的平坦表面可允许滑动齿轮10516沿输入轴10510纵向滑动,并且还会协作以在滑动齿轮10516与输入轴10510之间传递旋转运动。如下文将更详细地描述,移位块10526可使滑动齿轮10516滑动穿过第一位置范围、第二位置范围以及介于第一位置范围与第二位置范围中间的无效位置或无效位置范围,在第一位置范围中滑动齿轮10516与闭合轴10530接合,在第二位置范围中滑动齿轮10516与击发轴10540接合,在无效位置或无效位置范围中滑动齿轮10516不与闭合轴10530或击发轴10540中的任一者接合。
对上文进行进一步描述,图85示出处于完全闭合位置的端部执行器10505的砧座10508以及处于未击发位置的击发驱动装置10548。图86示出传送装置10502,其构型与图85所示端部执行器10505的构型一致。更具体地讲,滑动齿轮10516处于其无效或空闲位置,并且不与闭合驱动装置的闭合轴10530或击发驱动装置的击发轴10540可操作地接合。当滑动齿轮10516处于其空闲位置时,滑动齿轮10516被定位在安装和/或键合到闭合轴10530的闭合齿轮10532与安装和/或键合到击发轴10540的击发齿轮10542中间。此外,当滑动齿轮10516处于其空闲位置时,滑动齿轮10516不与闭合齿轮10532或击发齿轮10542接合。如图88所示,为了将砧座10508移动到其打开位置,和/或使砧座10508从端部执行器10505分离,输入轴10510可沿方向A旋转,如图89所示。如上所述,输入轴10510沿方向A的旋转可使中间轴10520沿方向B旋转并且朝近侧移动移位块10526。当移位块10526朝近侧移动时,移位块10526可将滑动齿轮10516推动到与闭合齿轮10532可操作地接合。此时,输入轴10510沿方向A的持续旋转可经由啮合接合的滑动齿轮10516和闭合齿轮10532传递到闭合轴10530。当滑动齿轮10516与闭合齿轮10532啮合接合时,输入轴10510沿方向A的旋转将使输出轴10530沿方向C旋转,如图89所示。闭合驱动装置还可包括具有限定于其中的螺纹孔10537的闭合螺母10536,该闭合螺母与闭合轴10530的螺纹部分10534通过螺纹接合。闭合螺母10536可包括与外科器械的框架可滑动地接合的一个或多个防旋转特征结构,例如,所述防旋转特征结构可防止闭合螺母10536随闭合轴10530旋转,使得闭合轴10530的旋转移动可转化为闭合螺母10536的纵向移动。闭合系统还可包括从闭合螺母10536延伸的闭合构件10538,该闭合构件可与砧座10508接合。再次参见图89,当闭合轴10530沿方向C旋转时,闭合螺母10536和闭合构件10538可朝远侧推进以将砧座10508移动到打开位置。
对上文进行进一步描述,图89示出处于闭合构型的传送装置10502,在这种构型中,砧座10508可被打开和闭合。当滑动齿轮10516与闭合齿轮10532啮合接合时,输入轴10510将直接驱动闭合轴10530。同时,由于输入齿轮10512与中间齿轮10522之间的啮合接合,输入轴10510将直接驱动中间轴10520。另外,当滑动齿轮10516与闭合齿轮10532啮合接合时,滑动齿轮10516不与击发齿轮10542啮合接合,因此,当传送装置10502处于闭合构型时,输入轴10510将不驱动击发轴10540。
对上文进行进一步描述,一旦砧座10508移动到打开位置和/或从闭合构件10538分离,组织便可定位在砧座10508与钉仓10506中间。然后,参见图90和图91,砧座10508可通过使输入轴10510沿相反方向(即方向A’)旋转而移动到其闭合位置,这将使闭合轴10530沿相反方向(即方向C’)旋转,以便朝近侧移动闭合螺母10536、闭合构件10538和砧座10508。当输入轴10510沿方向A’旋转时,输入轴10510还将沿相反方向(即方向B’)旋转中间轴10520。当中间轴10520沿方向B’旋转时,中间轴10520将会使移位块10526和滑动齿轮10516朝远侧移位。移位块10526可将滑动齿轮10516朝远侧推动,直到滑动齿轮10516不再与闭合齿轮10532啮合接合并且滑动齿轮10516返回其空闲位置。中间轴10520沿方向B’的额外旋转将使得移位块10526将滑动齿轮10516朝远侧移位,直到滑动齿轮10516与击发齿轮10542啮合接合。此时,参见图92和图93,输入轴10510可直接驱动击发轴10540。然后,当输入轴10510沿方向A’旋转时,输入轴10510可沿方向D’旋转击发轴10540。击发系统还可包括具有螺纹孔10547的击发螺母10546,该击发螺母与击发轴10540的螺纹部分10544通过螺纹接合。当击发轴10410沿方向A’旋转时,击发轴10540可朝远侧推进击发螺母10546。击发螺母10546可包括一个或多个防旋转特征结构,所述防旋转特征结构可与外科器械的框架可滑动地接合,使得击发螺母10546不随击发轴10540旋转,并且使得击发轴10540的旋转移动可转化为击发螺母10546的纵向移动。击发驱动装置还可包括从击发螺母10546延伸的击发构件10548,该击发构件朝远侧推进以从钉仓10506射出钉。在击发系统的整个击发行程中,移位块10526可继续朝远侧推进滑动齿轮10516。当移位块10526将滑动齿轮10516朝远侧推进至其中滑动齿轮10516不再与击发齿轮10542通过螺纹接合的点时,击发行程可完成。此时,击发构件10548可处于其完全击发位置。
对上文进行进一步描述,图93示出处于击发构型的传送装置10502,在这种构型中,击发构件10548可被推进或回缩。当滑动齿轮10516与击发齿轮10542啮合接合时,输入轴10510将直接驱动击发轴10540。同时,由于输入齿轮10512与中间齿轮10522之间的啮合接合,输入轴10510将直接驱动中间轴10520。另外,当滑动齿轮10516与击发齿轮10542啮合接合时,滑动齿轮10516不与闭合齿轮10532啮合接合,因此,当传送装置10502处于击发构型时,输入轴10510将不驱动闭合轴10530。
为了使击发构件10548回缩,输入轴10510可沿方向A旋转以沿方向B旋转中间轴10520,使移位块10526朝近侧移位,并且将滑动齿轮10516与击发齿轮10542重新接合。此时,输入轴10510沿方向A的持续旋转将使击发轴10540沿与方向D’相反的方向旋转,使击发螺母10546朝近侧移位,并且使击发构件10548回缩。在滑动齿轮10516旋转击发齿轮10542时,移位块10526可继续朝近侧拉动滑动齿轮10516,直到滑动齿轮10516不再与击发齿轮10542啮合接合并且滑动齿轮10516到达其空闲位置。此时,输入轴10510沿方向A的持续旋转将继续使移位块10526和滑动齿轮10516朝近侧移位并且将滑动齿轮10516与闭合齿轮10532重新接合以便重新打开砧座10508。
图94-98示出被构造成能够缝合和/或切入组织的外科器械11010。外科器械11010可包括手枪式抓握形柄部11015。柄部11015包括限定纵向轴线11030的第一柄部部分11020,钳口11070和11090可从该第一柄部部分延伸。柄部11015包括第二柄部部分,即柄部把手11040,其限定第二部分轴线11050。第二部分轴线11050与纵向轴线11030一起限定角度11060。在各种情况下,角度11060可包括任何合适的角度,诸如约120度。钳口11070可包括仓通道,该仓通道具有被构造成能够可移除地接收钉仓11080的开口。钉仓11080可包括可移除地存储在以至少两个纵行布置的钉腔内的多个钉,一个纵行在通道的任一侧上,用于横切组织的刀可行进穿过该通道,如下文更详细地描述。在至少一种情况下,可将三个纵行的钉腔布置在刀通道的第一侧上,而三个纵行的钉腔可布置在刀通道的第二侧上。钳口11090可包括砧座,该砧座可旋转至与钉仓11080相对并且与其对齐的位置,使得限定于砧座11090中的砧座凹坑可接收和形成从钉仓11080射出的钉。图98示出处于打开位置的砧座11090,而图94示出处于闭合位置的砧座11090。尽管未示出,但设想了其他实施方案,其中包括钉仓11080的钳口可相对于砧座11090旋转。在任何情况下,如下文将更详细地描述,柄部11015还可包括闭合按钮11065(图98)和击发按钮11055,该闭合按钮被构造成能够操作将砧座11090在其打开位置与闭合位置之间移动的闭合系统,并且击发按钮被构造成能够操作将钉从钉仓11080射出的击发系统。闭合按钮11065可定位和布置在柄部11015上,使得其可易于被例如操作者的支撑柄部11015的手的拇指接近,而击发按钮11055可被定位和布置成使得其可易于被操作者的支撑柄部11015的手的食指接近。
对上文进行进一步描述,在使用期间,砧座11090可朝向和远离钉仓11080移动。在各种情况下,闭合按钮11065可包括双向开关。当闭合按钮11065沿第一方向按压时,外科器械11010的闭合系统可将砧座11090朝向钉仓11080移动,而当闭合按钮11065沿第二方向按压时,闭合系统可将砧座11090移离钉仓11080。主要参见图95和图97,闭合系统可包括被构造成能够移动砧座11090的闭合马达11110。闭合马达11110可包括从其延伸的可旋转闭合轴11130,第一闭合齿轮11140可附连到该闭合轴上。闭合马达11110可旋转闭合轴11130,而闭合轴11130可旋转第一闭合齿轮11140。第一闭合齿轮11140可与惰齿轮11150啮合接合,该惰齿轮继而可与闭合导螺杆驱动齿轮11160啮合接合。闭合导螺杆驱动齿轮11160附连到闭合导螺杆11170。当第一闭合齿轮11140通过闭合轴11130旋转时,第一闭合齿轮11140可旋转惰齿轮11150,惰齿轮11150可旋转闭合导螺杆驱动齿轮11160,并且闭合导螺杆驱动齿轮11160可旋转闭合导螺杆11170。
主要参见图97,闭合轴11130、第一闭合齿轮11140、惰齿轮11150和闭合导螺杆驱动齿轮11160可由支撑在柄部部分11120内的马达部件11125可旋转地支撑。闭合导螺杆11170可包括同样由马达部件11125可旋转地支撑的第一端部和/或由柄部11015的外壳可旋转地支撑的第二端部。闭合导螺杆11170还可包括在第一端部和第二端部中间的螺纹部分。闭合系统还可包括可具有螺纹孔11176的闭合块11175(图96),该螺纹孔与闭合导螺杆11170的螺纹部分通过螺纹接合。闭合块11175可被阻止随闭合导螺杆11170旋转,使得当闭合导螺杆11170旋转时,闭合导螺杆11170可使闭合块11175朝近侧或朝远侧移位,具体取决于闭合导螺杆11170旋转的方向。例如,如果闭合导螺杆11170沿第一方向旋转,则闭合导螺杆11170可使闭合块11175朝远侧移位,而当闭合导螺杆11170沿第二方向或相反方向旋转时,闭合导螺杆11170可使闭合块11175朝近侧移位。主要参见图96,闭合块11175可以闭合通道11180的形式安装到闩锁构件上,该闩锁构件沿仓通道11170的外侧平移。在各种情况下,闭合通道11180可包封在柄部部分11120内,而在一些情况下,闭合通道11180可从柄部部分11120突出。闭合通道11180可包括从端部观察时为大致“U”形的通道并且可包括相对侧壁11182。每个侧壁11182可包括限定于其中的凸轮狭槽11190。如下文进一步更详细地描述,凸轮狭槽11190可以被构造成能够接合砧座11090并且相对于钉仓11080移动砧座11090。
除上述以外,闭合通道11180装配在仓通道11070周围,使得仓通道11070嵌套在闭合通道11180的“U”形内部。主要参见图96,仓通道11070可包括限定于其中的细长狭槽11195,并且闭合通道11180可包括向内延伸到细长狭槽11195中的销。闭合通道销和细长狭槽11195可约束闭合通道11180的移动,使得闭合通道11180相对于仓通道11070沿纵向路径平移。闭合通道11180的平移移动可使砧座11090旋转。砧座11090可经由远侧闭合销11210连接到闭合通道11180,该远侧闭合销延伸穿过限定于砧座11090中的砧座凸轮孔11211以及限定于闭合通道11180中的凸轮狭槽11190。每个凸轮狭槽11190可包括第一端部或远侧端部11191和第二端部或近侧端部11192。每个凸轮狭槽11190还可包括第一驱动表面或近侧驱动表面11193和第二驱动表面或远侧驱动表面11194。当闭合系统处于其打开构型并且砧座11090处于其打开位置时,闭合通道11180可处于其第一位置或未推进位置,而远侧闭合销11210可处于凸轮狭槽11190的第一端部或远侧端部11191。当闭合通道11180朝远侧推进以朝向钉仓11080移动砧座11090时,第一驱动表面11193可接触远侧闭合销11210并且朝向钉仓11080向下推动远侧闭合销11210。当闭合系统处于其闭合构型并且砧座11090处于与钉仓11080相对的其闭合位置时,闭合通道11180可处于其第二位置或完全推进位置中,而远侧闭合销11210可处于凸轮狭槽11190的第二端部或近侧端部11192。
每个凸轮狭槽11190可包括弯曲路径或弓形路径。第一驱动表面11193可包括第一弓形表面,而第二驱动表面11194可包括第二弓形表面。在各种情况下,每个凸轮狭槽11190可包括至少一个弯曲部分和至少线性部分。在至少一种情况下,每个第一驱动表面11193可包括凸轮狭槽11190的远侧端部11191中的平坦表面。平坦表面可包括垂直于或至少基本上垂直于器械11010的纵向轴线11030的竖直表面。这样的平坦表面可用作定位部,该定位部将需要初始量的力以使闭合销11210移位到凸轮狭槽11190的弓形部分中。在某些情况下,每个第一驱动表面11193可包括凸轮狭槽11190的近侧端部11192中的平坦表面11196。每个平坦表面11196可包括平行于或至少基本上平行于纵向轴线11030的水平表面。平坦表面11196可在闭合通道11180与砧座11090之间提供较大机械优势。在各种情况下,当闭合销11210处于狭槽11190的远侧端部11191时,第一驱动表面11193可向闭合销11210施加非常小的机械优势;然而,在闭合销11210朝向近侧端部11192滑动穿过凸轮狭槽11190时,由第一驱动表面11193向闭合销11210施加的机械优势可增加。当闭合销11210进入近侧端部11192中时,由第一驱动表面11193施加的机械优势可以为最大,并且毫无疑问地大于在闭合销11210处于凸轮狭槽11190的远侧端部11191时由第一驱动表面11193施加的机械优势。也就是说,在远侧端部11191可向闭合销11210施加较小机械优势的情况下,远侧端部11191可使闭合销11210相对于仓11080快速移位。在闭合通道11180朝远侧推进并且施加至闭合销11210的机械优势增加时,如上所述,第一驱动表面11193可更慢地移动砧座11090以获得闭合通道11180的给定速度。
如图96所示,仓通道11070还可包括限定于其中的远侧闭合狭槽11215,其可以被构造成能够在砧座11090接近其闭合位置时接收远侧闭合销11210。远侧闭合狭槽11215为基本上竖直的,并且可包括在仓通道11070顶部处的开口端部以及在其相对端部处的闭合端部。狭槽11215在其开口端部处可比在其闭合端部处更宽。在各种情况下,当砧座11090到达其闭合位置时,闭合销11210可接触闭合狭槽11215的闭合端部。在这种情况下,闭合狭槽11215的闭合端部可停止砧座11090的移动。在某些情况下,当砧座11090处于其闭合位置时,砧座11090可接触钉仓11080。在至少一种情况下,砧座11090可围绕枢轴销11200旋转,直到砧座11090的远侧端部11091接触钉仓11080的远侧端部11081。如图98所示,移动砧座11090的远侧闭合销11210相对于枢轴销11220在远侧定位。因此,由闭合驱动装置施加到砧座11090的闭合力相对于枢轴朝远侧施加,该枢轴将砧座11090可旋转地连接到仓通道11070。类似地,由闭合驱动装置施加到砧座11090的打开力相对于枢轴朝远侧施加,该枢轴将砧座11090可旋转地连接到仓通道11070。
如上所述,柄部11015可包括闭合按钮11065,该闭合按钮被构造成能够操作外科器械11010的闭合系统。闭合按钮11065的移动可由例如传感器或开关检测。当闭合按钮11065被按压时,闭合开关11285可被启动或闭合,这导致功率流向闭合马达11110。在这种情况下,开关11285可闭合功率电路,该功率电路可向闭合马达11110提供电源。在某些情况下,外科器械11010可包括例如微处理器。在这种情况下,闭合开关11285可与微处理器信号通信,并且当闭合开关11285已闭合时,微处理器可将功率源可操作地连接到闭合马达11110。在任何情况下,可将第一电压极性施加到闭合马达11110以使闭合输出轴11130沿第一方向旋转并且闭合砧座11090,并且还可将第二电压极性或相反电压极性施加到闭合马达11110以使闭合输出轴11130沿第二方向或相反方向旋转并打开砧座11090。
在各种情况下,外科器械11010可以被构造成能够使得外科器械11010的操作者需要将闭合按钮11065保持在按压状态下,直到闭合驱动装置达到其完全闭合构型。在闭合按钮11065被释放的情况下,微处理器可停止闭合马达11110。作为另外一种选择,如果在闭合驱动装置达到其完全闭合构型之前释放闭合按钮11065,则微处理器可逆转闭合马达11110的方向。在闭合驱动装置达到其完全闭合构型之后,微处理器可停止闭合马达11110。在各种情况下,如下文更详细地描述,外科器械11010可包括被构造成能够检测闭合系统何时达到其完全闭合构型的闭合传感器11300(图96和图98)。闭合传感器11300可与微处理器信号通信,当微处理器从闭合传感器11300接收砧座11090已闭合的信号时,该微处理器可将功率源从闭合马达11110断开。在各种情况下,在闭合系统被置于其闭合构型之后,但是在击发系统被操作之前,重新按压闭合按钮11065可使得微处理器逆转闭合马达11110的方向并且重新打开砧座11090。在某些情况下,微处理器可将砧座11090重新打开至其完全打开位置,而在其他情况下,微处理器可将砧座11090重新打开至部分打开位置。
一旦砧座11090充分闭合,外科器械11010的击发系统就可以被操作。主要参见图95和图97,击发系统可包括击发马达11120。击发马达11120可邻近闭合马达11110定位。闭合马达11110可沿第一纵向马达轴线延伸,而击发马达11120可沿平行于或至少基本上平行于第一马达轴线的第二纵向马达轴线延伸。第一纵向马达轴线和第二纵向马达轴线可平行于外科器械11010的纵向轴线11030。闭合马达11110可定位在纵向轴线11030的第一侧上,而击发马达11120可定位在纵向轴线11030的第二侧上。在这种情况下,第一纵向马达轴线可沿纵向轴线11030的第一侧延伸,而第二纵向马达轴线可沿纵向轴线11030的第二侧延伸。在各种情况下,第一纵向马达轴线可延伸穿过闭合轴11130的中心。与上文相似,击发马达11120可包括从其延伸的可旋转击发轴11230。同样与上文相似,第二纵向马达轴线可延伸穿过击发轴11230的中心。
对上文进行进一步描述,第一击发齿轮11240可安装到击发轴11230上。第一击发齿轮11240与安装到击发导螺杆11260上的击发导螺杆驱动齿轮11250啮合接合。当击发轴11230通过马达11120旋转时,击发轴11230可旋转第一击发齿轮11240,第一击发齿轮11240可旋转击发导螺杆驱动齿轮11250,并且击发导螺杆驱动齿轮11250可旋转击发导螺杆11260。主要参见图97,击发轴11230、第一击发齿轮11240、击发导螺杆驱动齿轮11250和/或击发导螺杆11260可由马达部件11125可旋转地支撑。第一击发齿轮11240和击发导螺杆驱动齿轮11250可定位在马达部件11125与第一阻挡板11126中间。第一阻挡板11126可安装到马达部件11125上并且也能够可旋转地支撑击发轴11230、第一击发齿轮11240、击发导螺杆驱动齿轮11250和/或击发导螺杆11260。在各种情况下,外科器械11010还可包括可安装到第一阻挡板11126上的第二阻挡板11127。与上文相似,第一闭合齿轮11140、惰齿轮11150和闭合导螺杆驱动齿轮11160可定位在第一阻挡板11126与第二阻挡板11127中间。在各种情况下,第一阻挡板11126和/或第二阻挡板11127能够可旋转地支撑闭合轴11130、第一闭合齿轮11140、惰齿轮11150、闭合导螺杆驱动齿轮11160和/或闭合导螺杆11170。
上述马达和齿轮布置方式可有助于节省外科器械11010的柄部11015内的空间。如上所述,并且主要参见图97,闭合马达11110和击发马达11120位于马达部件11125上。闭合马达11110位于击发马达11120的一侧上并且略微靠近该击发马达。从一个马达朝近侧偏置另一个马达可产生用于两个齿轮系的空间,其中一个齿轮系在另一个齿轮系后面。例如,包括第一闭合齿轮11140、闭合惰齿轮11150和闭合导螺杆驱动齿轮11160的闭合齿轮系位于包括第一击发齿轮11240和击发导螺杆驱动齿轮11250的击发齿轮系近侧。使马达轴朝近侧延伸远离钳口(同时马达的主体朝远侧朝向钳口延伸)可在柄部11015中产生空间,并且通过使马达11110和11120的主体在柄部11015内的其他部件旁边平行对齐来允许更短的柄部11015。
对上文进行进一步描述,闭合齿轮系和击发齿轮系被设计成用于节省空间。在图97所示的实施方案中,闭合马达11110驱动三个齿轮,而击发马达11120驱动两个齿轮;然而,闭合齿轮系和击发齿轮系可包括任何合适数量的齿轮。将第三齿轮即闭合惰齿轮11150添加到闭合齿轮系允许闭合导螺杆11170相对于击发导螺杆11260向下偏移,使得单独的导螺杆可围绕不同轴线旋转。此外,第三齿轮消除了对于使用较大直径齿轮偏移导螺杆的轴线的需求,使得齿轮系所需的空间的总直径、以及柄部11015的体积可减小。
主要参见图98,闭合导螺杆11170可沿第一纵向轴轴线延伸,而击发导螺杆11260可沿第二纵向轴轴线延伸。第一纵向轴轴线和第二纵向轴轴线可平行于外科器械11010的纵向轴线11030。第一纵向轴轴线或第二纵向轴轴线可与纵向轴线11030共线。在各种情况下,击发导螺杆11260可沿纵向轴线11030延伸,并且第二纵向轴轴线可与纵向轴线11030共线。在这种情况下,闭合导螺杆11170和第一纵向轴轴线可相对于纵向轴线11030偏置。
对上文进行进一步描述,击发导螺杆11260可包括例如由马达部件11125可旋转地支撑的第一端部,由柄部11015可旋转地支撑的第二端部,以及在第一端部与第二端部之间延伸的螺纹部分。击发导螺杆11260可驻留在仓通道11070的“U”形内并且在闭合导螺杆11170上方。主要参见图95,击发驱动装置还可包括击发块11265,该击发块可包括与击发导螺杆11260的螺纹部分通过螺纹接合的螺纹孔11266。击发块11265可被阻止随击发导螺杆11260旋转,使得击发导螺杆11260的旋转可使击发块11265朝近侧或朝远侧平移,具体取决于击发导螺杆11260通过击发马达11120旋转的方向。例如,当击发导螺杆11260沿第一方向旋转时,击发导螺杆11260可使击发块11265朝远侧移位,而当击发导螺杆11260沿第二方向旋转时,击发导螺杆11260可使击发块11265朝近侧移位。如下文更详细地描述,击发块11265可朝远侧推进以部署可移除地存储在钉仓11080中的钉和/或切入在钉仓11080与砧座11090之间捕获的组织。
对上文进行进一步描述,击发块11265可附连至推块11270,使得推块11270随击发块11265平移。击发系统还可包括击发楔形件11280,该击发楔形件附接到推块11270并且从其朝远侧延伸。击发楔形件11280可各自在其远侧端部处包括至少一个凸轮表面,该凸轮表面可以被构造成能够从钉仓11080射出钉。击发系统还可包括以能够滑动的方式沿击发楔形件11280设置的刀具块11281。在各种情况下,击发块11265的初始远侧移动可以不被传送到刀具块11281;然而,在击发块11265朝远侧推进时,推块11270例如可接触刀具块11281并且朝远侧推动刀具块11281和安装到其上的刀11282。在其他情况下,刀具块11281可安装到击发楔形件11280上,使得刀具块11281和刀11282在击发楔形件11280的整个移动过程中随击发楔形件11280移动。击发块11265、推块11270、击发楔形件11280、刀具块11281和刀11282可形成推块和刀组件。在任何情况下,击发楔形件11280和刀11282可朝远侧移动以同时击发存储在钉仓11080内的钉和切入在钉仓11080与砧座11090之间捕获的组织。击发楔形件11280的凸轮表面可相对于刀11282的切割表面在远侧定位,使得在钉仓11080与砧座11090之间捕获的组织可在其被切入之前被缝合。
如上所述,当推动时,闭合按钮11065接触闭合开关11285以使闭合马达11110通电。类似地,当推动时,击发按钮11055接触击发开关11290以使击发马达11120通电。在各种情况下,击发开关11290可闭合功率电路,该功率电路可向击发马达11120提供电功率。在某些情况下,击发开关11290可与外科器械11010的微处理器信号通信,并且当击发开关11290已闭合时,微处理器可将功率源可操作地连接到击发马达11120。在任一种情况下,可将第一电压极性施加到击发马达11120以使击发输出轴11230沿第一方向旋转并且朝远侧推进击发组件,并且可将第二电压极性或相反电压极性施加到击发马达11120以使击发输出轴11230沿第二方向或相反方向旋转并使击发组件回缩。在各种情况下,击发按钮11055可包括双向开关,该双向开关被构造成能够在击发按钮11055沿第一方向推动时在其第一方向上操作击发马达11120,并且在击发按钮11055沿第二方向推动时在其第二方向上操作击发马达11120。
如上所述,在闭合系统充分闭合砧座11090之后,击发系统可被致动。在各种情况下,砧座11090可在其到达其完全闭合位置时被充分闭合。外科器械11010可以被构造成能够检测砧座11090何时到达其完全闭合位置。主要参见图98,外科器械11010可包括闭合传感器11300,该闭合传感器被构造成能够检测闭合通道11180何时到达其闭合行程的终点,并且因此检测砧座11090何时处于其闭合位置。闭合传感器11300可被定位在闭合导螺杆11170的远侧端部处或其附近。在至少一种情况下,闭合传感器11300可包括接近传感器,该接近传感器被构造成能够感测闭合通道11180何时邻近闭合传感器11300和/或与其接触。与上文相似,闭合传感器11300可与外科器械11010的微处理器信号通信。当微处理器从闭合传感器11300接收闭合通道11180已到达其完全推进位置并且砧座11090处于闭合位置的信号时,微处理器可允许击发系统被致动。此外,微处理器可防止击发系统被致动,直到微处理器从闭合传感器11300接收这样的信号。在这种情况下,微处理器可根据来自闭合传感器11300的输入,选择性地向击发马达11120施加来自功率源的功率,或者选择性地控制击发马达11120上所施加的功率。最终,在这些实施方案中,直到器械闭合,击发开关11290才能引发击发行程。
设想了某些实施方案,其中即使闭合系统处于部分闭合构型并且砧座11090处于部分闭合位置,外科器械11010的击发系统仍可操作。在至少一个实施方案中,在击发组件朝远侧推进以击发存储在钉仓11080中的钉时,外科器械11010的击发组件可以被构造成能够接触砧座11090并且将砧座11090移动到其完全闭合位置。例如,刀11282可包括被构造成能够在刀11282朝远侧推进时接合砧座11090的凸轮构件,该凸轮构件可将砧座11090移动到其完全闭合位置。刀11282还可包括被构造成能够接合仓通道11070的第二凸轮构件。凸轮构件可以被构造成能够将砧座11090相对于钉仓11080定位并且在其间设定组织间隙距离。在至少一种情况下,刀11282可包括I形梁,该I形梁可朝远侧移位以设定组织间隙,从钉仓11080射出钉,以及切入组织。
外科器械11010可包括被构造成能够检测击发系统何时完成其击发行程的传感器。在至少一种情况下,外科器械11010可包括传感器,诸如编码器,其例如可以被构造成能够检测击发导螺杆11260的旋转并对其进行计数。这样的传感器可与外科器械11010的微处理器信号通信。微处理器可以被构造成能够对击发导螺杆11260的旋转进行计数,并且在击发导螺杆11260旋转足够的次数以从钉仓11080击发所有钉之后,微处理器可中断提供给击发马达11120的功率以使击发导螺杆11260停止。在某些情况下,一旦击发组件击发所有钉,微处理器便可逆转施加到击发马达11120的电压极性以使击发组件自动回缩。
如上所述,外科器械11010可包括功率源。功率源可包括例如位于柄部11015外部的功率源以及可延伸到柄部11015中的缆线。功率源可包括容纳在柄部11015内的至少一个电池。电池可定位在第一柄部部分11020和/或柄部把手11040中。可以设想到,电池、齿轮、马达和旋转轴可全部合并到一个单元中,该单元可独立于柄部11015的剩余部分。这样的单元可以是可清洁和可灭菌的。
在各种情况下,外科器械11010可包括被构造成能够指示外科器械11010的状态的一个或多个指示器。在至少一个实施方案中,外科器械11010可包括例如LED 11100。为了将外科器械的状态传送给使用者,在外科器械11010的不同操作状态期间,LED 11100可以不同颜色发光。例如,当外科器械11010被供电并且未耗尽的钉仓11080未定位在仓通道11070中时,LED 11100可发出第一颜色的光。外科器械11010可包括一个或多个传感器,所述传感器可以被构造成能够检测钉仓11080是否存在于仓通道11070中以及钉是否已从钉仓11080射出。当外科器械11010被供电并且未耗尽的钉仓11080被定位在仓通道11070中时,LED11100可发出第二颜色的光。当器械11010被供电,未耗尽的钉仓11080被装载到仓通道11070中,并且砧座11090处于闭合位置时,LED 11010可发出第三颜色的光。这种第三颜色可指示外科器械11010准备好从钉仓11080射出钉。LED 11100可在击发过程开始之后发出第四颜色的光。LED可在击发过程完成之后发出第五颜色的光。这仅是一个示例性实施方案。可使用任何合适数目的颜色来指示外科器械11010的任何合适数目的状态。虽然可使用一个或多个LED来传送外科器械的状态,但是也可使用其他指示器。
在使用中,外科器械11010的使用者首先可通过将钉仓11080置于仓通道11070中来为外科器械11010装载钉仓11080。将仓11080装载到仓通道11070中可导致LED 11100从第一颜色变为第二颜色。使用者可抓持柄部把手11040并使用拇指启动的闭合开关11065来打开外科器械11010的砧座11090,以便将钉仓11080置于仓通道11070内。然后使用者可将钉仓11080定位在待缝合和横切的组织的一侧上,并且将砧座11090定位在组织的相对侧上。通过用其拇指按住闭合按钮11065,使用者可闭合外科器械11010。在闭合行程完成之前释放闭合按钮11065可重新打开砧座11090并且允许使用者根据需要重新定位外科器械11010。使用者可享有能够使用具有可枢转钳口的开放式线性切割器而无需组装线性切割器部分的优势。使用者可进一步享有手枪式抓握的感觉。
在砧座11090移动到其完全闭合位置时,闭合通道11080可接触闭合传感器11300,并且闭合传感器11300可将微处理器发信号至臂击发开关11290。此时,LED 11100可发出第三颜色的光以示出已装载、闭合并准备好击发的外科器械11010。然后使用者可按压击发按钮11055,该击发按钮接触击发开关11290并且使得击发开关11290使击发马达11120通电。使击发马达11120通电会使击发轴11230旋转,该击发轴继而旋转第一击发齿轮11240和击发导螺杆驱动齿轮11250。击发导螺杆驱动齿轮11250旋转击发导螺杆11260。击发导螺杆11260的螺纹接合限定于击发块11265中的内螺纹并且抵抗其施加力以朝远侧移动击发块11265。击发块11265将推块11270朝远侧移动,并在远侧携带击发楔形件11280。在击发楔形件11280的远侧端部处的凸轮表面11305使存储在钉仓11080内的钉朝向砧座11090进行凸轮运动,并且砧座11090可形成钉来紧固组织。推块11270接合刀具块11281以朝远侧推动刀具块11281和刀11282,从而横切缝合的组织。在击发行程完成之后,击发马达11120可被逆转以返回推块11270、刀具块11281、击发楔形件11280和刀11282。外科器械11010可包括按钮和/或开关,其自动指示微处理器回缩击发组件,即使击发行程尚未完成。在一些情况下,击发组件可能不需要回缩。在任何情况下,使用者可通过按压闭合按钮11065来打开外科器械11010。闭合按钮11065可接触闭合开关11285并使闭合马达11110通电。闭合马达11110可沿反向方向操作以使闭合通道11180朝近侧回缩,从而重新打开外科器械11010的砧座11090。LED 11100可发出指示击发后的仓和完成过程的第四颜色的光。
外科缝合器械12010示于图99-106中。器械12010可包括柄部12015,包括被构造成能够在钉仓12080与砧座12090之间压缩组织的闭合闩锁12050的闭合驱动装置,以及被构造成能够从钉仓12080射出钉并切入组织的击发驱动装置。图99示出处于打开、未闩锁状态下的器械12010。当器械12010处于其打开、未闩锁状态下时,砧座12090枢转远离钉仓12080。在各种情况下,砧座12090可相对于钉仓12080枢转通过宽角度,使得砧座12090和钉仓12080可易于定位在组织的相对侧上。图100示出处于闭合、未闩锁状态下的器械12010。当器械12010处于其闭合、未闩锁状态下时,砧座12090已朝向钉仓12080旋转到与钉仓12080相对的闭合位置中。在各种情况下,砧座12090的闭合位置可取决于定位在砧座12090与钉仓12080中间的组织的厚度。例如,当定位在砧座12090与钉仓12080中间的组织较厚时与当组织较薄时相比,砧座12090可到达进一步远离钉仓12080的闭合位置。图101示出处于闭合、闩锁状态下的器械12010。当器械12010处于其闭合、闩锁状态下时,闭合闩锁12050被旋转以接合砧座12090并且相对于钉仓12080定位砧座12090。此时,如下文进一步更详细地描述,外科器械12010的击发驱动装置可被致动以从钉仓12080击发钉并且切入组织。
主要参见图106,外科器械12010可包括从柄部12015延伸的框架12020。框架12020可包括限定于其中的框架通道12022,其可以被构造成能够接收和/或支撑仓通道12070。仓通道12070可包括近侧端部和远侧端部。仓通道12070的近侧端部可连接到框架12020。仓通道12070的远侧端部可以被构造成能够将钉仓12080可移除地接收在其中。框架通道12022可包括限定于其相对侧中的枢轴孔12207。枢轴销12205可支撑在枢轴孔12207内并且可在通道12022的侧面之间延伸。闭合闩锁12050可包括具有闩锁杆12052的闩锁框架12051。闩锁杆12052可经由枢轴销12205可旋转地安装至框架12020,该枢轴销可延伸穿过限定于闩锁杆12052中的枢轴孔12206。在各种情况下,枢轴孔12206、12207和枢轴销12205可限定固定轴线12208,闭合闩锁12050可围绕该固定轴线旋转。闭合闩锁12050还可包括安装到闩锁杆12052上的闩锁外壳12057。当外科器械12010的使用者移动闩锁外壳12057时,闩锁外壳12057可移动闩锁杆12052。闭合闩锁12050的操作在下文中进一步更详细地描述。
对上文进行进一步描述,砧座12090可包括近侧端部和远侧端部。砧座12090的远侧端部可包括多个可对齐或可对准的钉成形凹坑,其中当砧座12090处于其闭合位置时,钉腔限定于钉仓12080中。砧座12090的近侧端部可以可枢转地连接到框架12020。砧座12090可包括可与限定于仓通道12207中的枢轴孔12202和限定于框架12020中的枢轴孔12203对齐的枢轴孔12201。枢轴销12200可延伸穿过枢轴孔12201,12202和12203,并且可将砧座12090可旋转地连接到仓通道12207。在各种情况下,枢轴孔12201,12202和12203以及枢轴销12200可限定固定轴线,砧座12090可围绕该固定轴线旋转。在某些情况下,枢轴孔12201,12202和/或12203可纵向伸长,例如使得枢轴销12200可在枢轴孔12201,12202和/或12203内滑动。在这种情况下,砧座12090可围绕轴线相对于仓通道12070旋转,并且还相对于仓通道12070平移。砧座12090还可包括安装到其上的砧座外壳12097。当外科器械12010的使用者移动砧座外壳12097时,砧座外壳12097可移动砧座12090,使得砧座12090可在打开位置(图99)与闭合位置(图100)之间旋转。
对上文进行进一步描述,砧座12090还可包括闩锁销12210。砧座12090可包括闩锁销孔12211,并且砧座外壳12097可包括闩锁销孔12212,所述闩锁销孔被构造成能够接收和支撑闩锁销12210。当砧座12090被移动到其闭合位置或与其闭合位置相邻的位置中时,闩锁12050可接合闩锁销12210并且朝向钉仓12080拉动砧座12090。在各种情况下,闩锁12050的闩锁杆12052可各自包括被构造成能够接合闩锁销12210的闩锁臂12053。闩锁12050可在未闩锁位置(图100)与闩锁位置(图101)之间旋转,在未闩锁位置中,闩锁臂12053不与闩锁销12210接合。当闩锁12050在其未闩锁位置与其闩锁位置之间移动时,闩锁臂12053可接合闩锁销12210并且将砧座12090朝向钉仓12080移动。每个闩锁臂12053可包括被构造成能够接触闩锁销12210的凸轮表面。凸轮表面可以被构造成能够朝向钉仓12080推动和引导闩锁销12210。当闩锁12050到达其闩锁位置时,闩锁销12210可以被捕获在限定于闩锁杆12052中的闩锁狭槽12054内。闩锁狭槽12054可以至少部分地由闩锁臂12053限定。闩锁狭槽12054的相对侧可包括提升表面,该提升表面可以被构造成能够在闩锁12050在其闩锁位置与其未闩锁位置之间旋转以打开器械12010时接合闩锁销12210并且提升砧座12090远离钉仓12080,如下文进一步更详细地论述。
如上所述,砧座12090可朝向钉仓12080移动。在各种情况下,当砧座12090的远侧端部接触钉仓12080的远侧端部时,砧座12090朝向钉仓12080的移动可停止。在某些情况下,当闩锁销12210接触仓通道12070时,砧座12090的移动可停止。仓通道12070可包括限定于其中的狭槽12215,所述狭槽被构造成能够接收闩锁销12210。每个狭槽12215可包括面向上的开口端部,并且还包括闭合端部,闩锁销12210可通过该开口端部进入狭槽12215。在各种情况下,当砧座12090到达其闭合位置时,闩锁销12210可接触狭槽12215的闭合端部。在某些情况下,如果厚组织定位在砧座12090与钉仓12080之间,则闩锁销12210可能不接触狭槽12215的闭合端部。在至少一种情况下,砧座12090还可包括止动销12095。止动销12095可经由限定于其中的销孔12096安装到砧座12090上并由砧座12090支撑。止动销12095可以被构造成能够接触仓通道12070并且停止砧座12090朝向钉仓12080的移动。与上文相似,仓通道12070还可包括限定于其中的止动狭槽12075,该止动狭槽可以被构造成能够接收止动销12095。每个止动狭槽12075可包括面向上的开口端部,并且还包括闭合端部,止动销12095可通过该开口端部进入止动狭槽12275。在各种情况下,当砧座12090到达其闭合位置时,止动销12095可接触止动狭槽12075的闭合端部。在某些情况下,如果厚组织定位在砧座12090与钉仓12080之间,则止动销12095可能不接触止动狭槽12075的闭合端部。
如上所述,仓通道12070可以安装到框架12020上。在各种情况下,仓通道12070可以刚性且固定地安装到框架12020上。在这种情况下,仓通道12070可不相对于框架12020和/或柄部12015移动。在某些情况下,仓通道12070可以可枢转地联接到框架12020。在至少一种这样的情况下,仓通道12070可包括限定于其中的枢轴孔12202,该枢轴孔可以被构造成能够接枢轴销12200。在这种情况下,砧座12090和仓通道12070均可相对于框架12020围绕枢轴销12200旋转。当闩锁12050与闩锁销12210接合时,闩锁12050可将砧座12090和仓通道12070固定在适当位置。
在某些情况下,对上文进行进一步描述,器械12010可包括一个或多个被构造成能够检测砧座12090是否处于其闭合位置的传感器。在至少一种情况下,器械12010可包括定位在框架12020与仓通道12070中间的压力传感器。压力传感器可安装到例如框架通道12022或仓通道12070的底部。当压力传感器安装到仓通道12070的底部时,压力传感器可在仓通道12070朝向框架通道12022移动时接触框架通道12022。如果仓通道12070可相对于框架通道12022旋转,则仓通道12070可朝向框架通道12022移动,如上所述。除了上文所述之外或作为上文所述的代替,如果仓通道12070朝向框架通道12022弯曲,则仓通道12070可朝向框架通道12022移动。当砧座12090与仓通道12070之间产生压缩负载时,则仓通道12070可朝向框架通道12022弯曲。当砧座12090移动到其闭合位置时以及/或者当砧座12090通过闩锁12050朝向仓通道12070移动时,砧座12090与仓通道12070A之间可产生压缩负载。当砧座12090被朝向仓通道12070推动时以及/或者当闩锁12050用于朝向仓通道12070拉动砧座12090时,仓通道12070可抵靠枢轴销12205。在各种情况下,仓通道12070可包括限定于其中的狭槽或沟槽12209,其可以被构造成能够接收枢轴销12205。在任何情况下,压力传感器可以被构造成能够检测向仓通道12070施加的压力或力。压力传感器可与外科器械12010的微处理器信号通信。当压力传感器所检测到的压力或力超过阈值时,微处理器可允许器械12010的击发系统被操作。在压力或力超过阈值之前,当使用者尝试操作击发系统时,微处理器可警告外科器械12010的使用者,砧座12090可能未闭合或可能未充分闭合。除了这种警告之外或作为这种警告的代替,如果压力传感器所检测到的压力或力未超过阈值,则微处理器可防止器械12010的击发系统被操作。
在某些情况下,对上文进行进一步描述,器械12010可包括一个或多个被构造成能够检测闩锁12050是否处于其闩锁位置的传感器。在至少一种情况下,器械12010可包括定位在框架12020与仓通道12070中间的传感器12025。传感器12025可安装到例如框架通道12022或仓通道12070的底部。当传感器12025安装到仓通道12070的底部时,闩锁12050可在从其未闩锁位置移动到其闩锁位置时接触传感器12025。传感器12025可与外科器械12010的微处理器信号通信。当传感器12025检测到闩锁12050处于其闩锁位置时,微处理器可允许器械12010的击发系统被操作。在传感器12025感测到闩锁12050处于其闩锁位置之前,当使用者尝试操作击发系统时,微处理器可警告外科器械12010的使用者,砧座12090可能未闭合或可能未充分闭合。除了这种警告之外或作为这种警告的代替,如果未检测到闩锁12050处于其闩锁位置,则微处理器可防止器械12010的击发系统被操作。在各种情况下,传感器12025可包括例如接近传感器。在某些情况下,传感器12025可包括例如霍尔效应传感器。在至少一种这样的情况下,闩锁12050可包括至少一个磁性元件,诸如永磁体,例如其可由霍尔效应传感器检测到。在各种情况下,传感器12025可由例如支架12026固定在适当位置。
主要参见图105,外科器械12010的击发系统可包括被构造成能够旋转击发轴12230的击发马达12120。击发马达12120可安装到外科器械12010的柄部12015内的马达框架12125上,使得击发轴12230朝远侧延伸。击发系统还可包括齿轮系,该齿轮系包括:(1)安装到闭合轴12230上的第一击发齿轮12240,以及(2)安装到导螺杆12260上的导螺杆齿轮12250。第一击发齿轮12240可与导螺杆齿轮12250啮合接合,使得当第一击发齿轮12240由击发轴12230旋转时,第一击发齿轮12240可旋转导螺杆齿轮12250,而导螺杆齿轮12250可旋转导螺杆12260。主要参见图104,导螺杆12260可包括第一端部12261和第二端部12263,该第一端部可旋转地安装在限定于马达部件12125中的孔内,该第二端部可旋转地支撑在安装到柄部12015的轴承部分12264上的轴承内。导螺杆12260还可包括在第一端部12261与第二端部12263之间延伸的螺纹部分12262。击发系统还可包括与导螺杆12260的螺纹部分12262通过螺纹接合的击发螺母12265。击发螺母12265可被阻止随导螺杆12260旋转,使得当导螺杆12260通过击发马达12120沿第一方向旋转时,导螺杆12260可将击发螺母12265朝远侧推进,而相应地,当导螺杆12260通过击发马达12120沿第二方向或相反方向旋转时,导螺杆12260可使击发螺母12265朝近侧回缩。
对上文进行进一步描述,击发螺母12265可安装到击发块12270上,该击发块可随击发螺母12265平移。在各种情况下,击发螺母12265和击发块12270可一体形成。与上文相似,击发系统还可包括从其延伸的击发杆12280,该击发杆随击发螺母12265和击发块12270平移。在各种情况下,击发螺母12265、击发块12270和击发杆12280可包括通过导螺杆12160朝近侧和/或朝远侧平移的击发组件。当击发组件通过导螺杆12260朝远侧推进时,击发杆12280可进入钉仓12080中并且从其射出钉。击发系统还可包括刀具块12281和安装到刀具块12281上并从其延伸的刀杆12282。在击发块12270朝远侧推进时,击发杆12280可接合刀具块12281并且将刀具块12281和刀杆12282朝远侧推进。在各种情况下,击发块12270可在击发行程的初始部分期间相对于刀具块12281移动,然后在击发行程的最终部分期间一起移动。在至少一种这样的情况下,击发杆12280可滑动穿过限定于刀具块12281中的狭槽,直到从击发杆12280延伸的一个或多个凸起表面接触刀具块12281并用击发杆12280将刀具块12281朝远侧推动。在各种情况下,击发组件还可包括可与击发块12270和击发杆12280同时移动的刀具块12281和刀杆12282。在任一种情况下,在刀杆12282朝远侧推进时,刀杆12282的切割刃12283可切入在砧座12090与钉仓12080之间捕获的组织。公布于1987年1月6日的名称为“SURGICAL STAPLING INSTRUMENT WITH JAW LATCHING MECHANISM ANDDISPOSABLE LOADING CARTRIDGE”的美国专利4,633,874的公开内容以引用方式全文并入本文。
主要参见图106,外科器械12010的击发系统可包括击发按钮12055和击发开关12290。当外科器械12010的使用者按压击发按钮12055时,击发按钮12055可接触击发开关12290并闭合可操作击发马达12120的击发电路。当外科器械12010的使用者释放击发按钮12055时,击发电路可被打开并且提供给击发马达12120的功率可被中断。击发按钮12055可被再次推动以再次操作击发马达12120。在某些情况下,击发按钮12055可包括双向开关,当沿第一方向推动时,该双向开关可沿第一方向操作击发马达12120,而当沿第二方向推动时,该双向开关可沿第二方向或相反方向操作击发马达12120。击发开关12090和/或击发开关的任何合适的布置方式可与外科器械12010的微处理器信号通信,该微处理器可以被构造成能够控制提供给击发马达12120的功率。在某些情况下,对上文进行进一步描述,微处理器可忽略来自击发按钮12055的信号,直到传感器12025检测到闩锁12050已闭合。在任何情况下,击发按钮12055可沿其第一方向推动以朝远侧推进击发杆12280和刀12282,也可沿其第二方向推动以使击发杆12280和刀12282朝近侧回缩。在某些情况下,外科器械12010可包括被构造成能够沿其第一方向操作击发马达12120的击发按钮和开关以及被构造成能够沿其第二方向操作击发马达12120的回缩按钮和开关。在击发杆12280和刀12282回缩之后,闩锁12050可从其闩锁位置移动到其未闩锁位置,以使闩锁臂12053与闩锁销12210脱离。然后,砧座12090可枢转远离钉仓12080,以使外科器械12010返回到打开、未闩锁状态。与上文相似,外科器械12010可包括例如被构造成能够指示外科器械12010的状态的一个或多个指示器,诸如LED 12100。LED 12100可与外科器械12010的微处理器信号通信,并且可以例如以与结合LED 11100所述类似的方式操作。LED 12100可由例如支架12101固定在适当位置。
在各种情况下,器械12010可包括击发锁定系统,如果砧座12090未处于闭合位置或充分闭合位置,则该击发锁定系统可阻挡刀12282和/或击发杆12280的推进。参见图104和图106,器械12010可包括例如安装到仓通道12070的偏置构件12400,该偏置构件可将刀12282偏置到与柄部12015的锁定部分接合。当砧座12090旋转到其闭合位置时,砧座12090可抵抗偏置构件12400的偏置力而将刀12282向下推动远离锁定部分。此时,刀12282可朝远侧推进。类似地,器械12010可包括偏置构件,该偏置构件可将击发杆12280偏置到与柄部12015的锁定部分接合,其中当砧座12090移动到其闭合位置时,砧座12090可使击发杆12280与锁定部分脱离。
外科器械12010可包括手动驱动的闭合系统和马达驱动的钉击发系统。柄部12015的部分12040可由外科器械12010的使用者的一只手抓握,而砧座12090和闩锁12050可由其另一只手操纵。在至少一个实施方案中,作为闭合闩锁12050的一部分,使用者可沿其一只手的大致方向移动其另一只手,这可减少外科器械12010的偶然和意外移动。外科器械12010可由任何合适的功率源供电。例如,电缆可从外部功率源延伸到柄部12015中。在某些情况下,电池可存储在例如柄部12015中。
外科缝合器械13010示于图107-110中。图107为所示出的外科器械13010的侧视图,其中一些组件被移除而其他组件以横截面示出。器械13010可包括柄部13015、第一致动器13020、第二致动器13030、轴组件13040、以及包括砧座13050和钉仓13055的端部执行器13012。轴部分13040和砧座13050可如公布于1998年1月6日的名称为“ARTICULATIONASSEMBLY FOR SURGICAL INSTRUMENTS”的美国专利5,704,534中所示和所述来操作。公布于1998年1月6日的名称为“ARTICULATION ASSEMBLY FOR SURGICAL INSTRUMENTS”的美国专利5,704,534的公开内容以引用方式全文并入本文。电输入缆线13018可将器械13010连接到外部功率源。在至少一种情况下,外部功率源可包括例如发生器,诸如由EthiconEnergy,Cincinnati,OH制造的GEN11发生器。在各种情况下,外部功率源可包括AC到DC适配器。在某些情况下,器械13010可由例如内部电池供电,诸如公布于2012年7月3日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利8,210,411中所示和所述的电池。公布于2012年7月3日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利8,210,411的公开内容以引用方式全文并入本文。
在各种情况下,主要参见图107,端部执行器13012的砧座13050可在打开位置(如图107所示)与闭合位置之间移动,在闭合位置中,砧座13050与钉仓13055相邻定位或与其接触,如下文进一步更详细地描述。在至少一种这样的情况下,钉仓13055可不相对于砧座13050枢转。在某些情况下,尽管未示出,但钉仓13055可相对于砧座13050枢转。在至少一种这样的情况下,砧座13050可不相对于钉仓13055枢转。在任何情况下,器械13010的使用者可操纵端部执行器13012,以便将组织T定位在砧座13050与仓13055之间。一旦组织T适当地定位在砧座13050与钉仓13055之间,使用者便可拉动第一致动器13020以致动器械13010的闭合系统。闭合系统可将砧座13050相对于钉仓13055移动。例如,第一致动器13020可朝向柄部13015的手枪式握把部13016拉动以闭合砧座13050,如下文进一步更详细地描述。
闭合驱动装置可包括被构造成能够移动砧座13050的闭合马达13105(图110)。闭合马达13105可经由例如马达支架13101安装到柄部13015上。将第一致动器13020从其打开位置(图108)挤压到其闭合位置(图109)可使闭合马达13105通电。主要参见图110,闭合马达13105可包括与闭合导螺杆13110可操作地接合的可旋转输出轴。当闭合马达13105将输出轴沿第一方向旋转时,输出轴可将闭合导螺杆13110沿第一方向旋转。闭合导螺杆13110可以可旋转地支撑在柄部13015内并且可包括螺纹部分。闭合驱动装置还可包括与闭合导螺杆13110的螺纹部分通过螺纹接合的闭合螺母。闭合螺母可被阻止随闭合导螺杆13110旋转,使得闭合导螺杆13110的旋转运动可平移闭合螺母。闭合螺母可与闭合轭13120接合或与其一体形成。当闭合马达13015沿其第一方向旋转时,闭合导螺杆13110可将闭合轭13120朝远侧推进。在各种情况下,闭合轭13120可通过导轨13122可滑动地支撑在柄部13015内,该导轨从约束闭合轭13120移动的柄部13015延伸到沿纵向轴线限定的路径。这样的轴线可与由轴组件13040限定的纵向轴线平行、基本上平行、共线或基本上共线。闭合驱动装置还可包括从闭合轭13120朝远侧延伸的闭合管13125。闭合管13125也可为轴组件13040的一部分,并且可相对于轴组件13040的框架平移。当闭合轭13120通过闭合导螺杆13110朝远侧推进时,闭合轭13120可将闭合管13125朝远侧推进。闭合管13125的远侧端部可与砧座13050可操作地接合,使得当闭合管13125朝远侧推进时,闭合管13125可将砧座13050从其打开位置朝向其闭合位置推动。公布于1998年1月6日的名称为“ARTICULATION ASSEMBLY FORSURGICAL INSTRUMENTS”的美国专利5,704,534公开了一种手动驱动的闭合系统。
在至少一种形式中,器械13010可包括定位在柄部13015中的闭合系统开关,当第一致动器13020从其打开位置(图108)朝向其闭合位置(图109)移动时,该闭合系统开关可被闭合。在某些情况下,当第一致动器13020处于其闭合位置(图109)时,闭合系统开关可被闭合。在任一种情况下,当闭合系统开关闭合时,闭合系统功率电路可被闭合以向闭合马达13105提供电功率,以便使闭合马达13105沿其第一方向旋转,如上所述。在某些情况下,外科器械13010可包括微处理器,并且与上文相似,闭合系统开关可与微处理器信号通信。当闭合系统开关向微处理器发送指示第一致动器13020已闭合的信号时,微处理器可允许向闭合马达13105提供功率以将闭合马达13105沿其第一方向操作并且使砧座13050朝向其闭合位置移动。在各种情况下,只要第一致动器13020至少部分地致动并且闭合系统开关处于闭合状态,闭合马达13105便可将砧座13050朝向其闭合位置移动。在使用者释放第一致动器13020并且第一致动器13020返回至其未致动位置的情况下,闭合系统开关可被打开并且提供给闭合马达13105的功率可中断。这种情况可使砧座13050留在部分闭合位置中。当第一致动器13020被再次致动并且闭合系统开关已被闭合时,可再次向闭合马达13105提供功率以将砧座13050朝向其闭合位置移动。根据上文所述,外科器械13010的使用者可致动第一致动器13020并等待闭合马达13105将砧座13050定位在其完全闭合位置中。
在至少一种形式中,第一致动器13020的移动可与砧座13050的移动成比例。第一致动器13020可在于其打开位置(图108)和其闭合位置(图109)之间移动时移动穿过第一运动范围或致动器运动范围。砧座13050可在于其打开位置(图107)和其闭合位置之间移动时移动穿过第二运动范围或砧座运动范围。致动器运动范围可对应于砧座运动范围。举例来说,致动器运动范围可等于砧座运动范围。例如,致动器运动范围可包括约30度,并且砧座运动范围可包括约30度。在这种情况下,当第一致动器13020处于其完全打开位置时,砧座13050可处于其完全打开位置;当第一致动器13020朝向其闭合位置旋转10度时,砧座13050可朝向其闭合位置旋转10度;当第一致动器13020朝向其闭合位置旋转20度时,砧座13050可朝向其闭合位置旋转20度,以此类推。在砧座13050于手术部位中被遮挡而无法看见的情况下,第一致动器13020与砧座13050之间的正比例移动可给予器械13010的使用者砧座13050相对于钉仓13055定位的感觉。
对上文进行进一步描述,砧座13050可响应于第一致动器13020的闭合动作和打开动作。例如,当第一致动器13020朝向手枪式握把13016移动10度时,砧座13050可朝向钉仓13055移动10度,而当第一致动器13020远离手枪式握把13016移动10度时,砧座13050可远离钉仓13055移动10度。虽然第一致动器13020的移动和砧座13050的移动可根据1:1比率成正比,但其他比率也是可能的。例如,第一致动器13020的移动和砧座13050的移动可根据2:1比率成正比。在这种情况下,当第一致动器13020相对于手枪式握把13016移动2度时,砧座13050将相对于钉仓13055移动1度。此外,在这种情况下,第一致动器13020的运动范围可以是砧座13050的运动范围的两倍。在另一种情况下,第一致动器13020的移动和砧座13050的移动可根据1:2比率成正比。在这种情况下,当第一致动器13020相对于手枪式握把13016移动1度时,砧座13050将相对于钉仓13055移动2度。此外,在这种情况下,第一致动器13020的运动范围可以是砧座13050的运动范围的一半。在各种情况下,第一致动器13020的运动可与砧座13050的运动成线性比例。在其他情况下,第一致动器13020的运动可与砧座13050的运动成非线性比例。无论所用比例如何,此类实施方案可通过使用电位计而成为可能的,该电位计例如可评价第一致动器13020的旋转,如将在下文进一步更详细地论述。
对上文进行进一步描述,参见图108-110,器械13010的闭合系统可包括可检测第一致动器13020的移动的滑动电位计13090。第一致动器13020可经由枢轴13021可枢转地安装到柄部13015上。第一致动器13020可包括齿轮部分13070,该齿轮部分包括围绕枢轴13021周向延伸的多个齿轮齿。当第一致动器13020朝向手枪式握把13016朝近侧旋转时,对上文进行进一步描述,齿轮部分13070可朝远侧旋转。相应地,当第一致动器13020朝远侧旋转远离手枪式握把13016时,齿轮部分13070可朝近侧旋转。闭合系统还可包括可滑动地支撑在柄部13015内的闭合轭齿条13080。闭合轭齿条13080可包括沿其底部表面延伸的齿的纵向阵列,该底部表面面向第一致动器13020的齿轮部分13070。第一致动器13020的齿轮部分13070可与限定在闭合轭齿条13080上的齿的阵列啮合接合,使得当第一致动器13020围绕枢轴13021旋转时,第一致动器13020可使闭合轭齿条13080朝近侧或朝远侧移位,具体取决于第一致动器13020旋转的方向。例如,当第一致动器13020朝向手枪式握把13016旋转时,第一致动器13020可使闭合轭齿条13080朝远侧移位。相应地,当第一致动器13020远离手枪式握把13016旋转时,第一致动器13020可使闭合轭齿条13080朝近侧移位。柄部13015可包括限定于其中的导槽,其可以被构造成能够可滑动地支撑闭合轭齿条13080并且约束闭合轭齿条13080向沿着纵向轴线限定的路径的移动。该纵向轴线可与轴组件13040的纵向轴线平行、基本上平行、共线或基本上共线。
闭合轭齿条13080可包括安装到其上的可检测元件13081。可检测元件13081可包括例如磁性元件,诸如永磁体。当闭合齿条13080在柄部13015内平移时,可检测元件13081可以被构造成能够在限定于滑动电位计13090中的纵向狭槽13091内平移。滑动电位计13090可以被构造成能够检测可检测元件13081在纵向狭槽13091内的位置并且将该位置传送至外科器械13010的微处理器。例如,当第一致动器13020处于其打开位置或未致动位置(图108)时,可检测元件13081可定位在纵向狭槽13091的近侧端部处并且电位计13090可将信号传输到微处理器,该信号可向微处理器指示第一致动器13020处于其打开位置。利用该信息,微处理器可将砧座13050保持在其打开位置。在第一致动器13020朝向手枪式握把13016旋转时,可检测元件13081可在纵向狭槽13091内朝远侧滑动。电位计13090可将可指示第一致动器13020的位置的信号或多个信号传输到微处理器。响应于这样的信号或多个信号,微处理器可操作闭合马达13105以将砧座13055移动到与第一致动器13020的位置对应的位置。当第一致动器13020处于其闭合位置或完全致动位置(图109)时,可检测元件13081可定位在纵向狭槽13091的远侧端部处,并且电位计13090可将可向微处理器指示第一致动器13020处于其闭合位置的信号传输到微处理器。利用该信息,微处理器可将砧座13050移动到其闭合位置。
当第一致动器13020被拉动以使得其基本上邻近柄部13015的手枪式握把13016时,如上所述,闭合轭齿条13080移动到其最远侧位置。当闭合轭齿条13080处于其最远侧位置时,闭合释放按钮13140可接合闭合轭齿条13080以将闭合轭齿条13080可释放地固定在其最远侧位置,因此,将砧座13050可释放地固定在其闭合位置。主要参见图108,闭合释放按钮13140可以围绕枢轴13141可枢转地安装到柄部13015上。闭合释放按钮13140可包括从其延伸的锁定臂13142。当第一致动器13120处于其未致动位置并且闭合轭齿条13080处于其最近侧位置时,锁定臂13142可定位在闭合轭齿条13080的顶部表面上方和/或抵靠其定位。在这样的位置中,闭合轭齿条13080可相对于锁定臂13142滑动。在一些情况下,锁定臂13142可抵靠闭合轭齿条13080的顶部表面偏置。如下文将进一步更详细地描述,器械13010还可包括被构造成能够将第一致动器13020和第二致动器13030可释放地固定为图108所示的未致动构型的锁13290。弹簧13150可定位在锁13290与击发按钮13140中间,其可围绕枢轴13141可旋转地偏置闭合释放按钮13140并且将锁定臂13142抵靠闭合轭齿条13080的顶部表面定位。在各种情况下,锁13290可包括近侧突出部13296,而闭合释放按钮13140可包括远侧突出部13146,这两个突出部可以被构造成能够将弹簧13150在锁13290与闭合释放按钮13140之间固定和对齐到适当位置。如图109所示,当第一致动器13020旋转到其致动位置时,闭合轭齿条13080可处于其最远侧位置,并且锁定臂13142可偏置到或落入限定于闭合轭齿条13080的近侧端部中的凹口13082内。此外,当第一致动器13020移动到图109和图110所示的其闭合位置或致动位置时,第一致动器13020可将锁13290朝近侧推动并且将锁13290围绕枢轴13214旋转。在至少一种情况下,第一致动器13020可包括从其延伸的致动器突出部13025,该致动器突出部被构造成能够接合从锁13290延伸的远侧突出部13295。锁13290的这种移动可在锁13290与闭合释放按钮13140之间按压弹簧13150并且增加施加到闭合释放按钮13140的偏置力。一旦锁定臂13142与凹口13082接合,则闭合轭齿条13080可不沿近侧方向或远侧方向移动,或至少基本上不沿近侧方向或远侧方向移动。
如上所述,第一致动器13020和第二致动器13030可以可释放地固定在和/或偏置到图108所示的其未致动位置中。器械13010可包括回位弹簧13210,该回位弹簧包括联接到枢轴13214的第一端部和联接到从第二致动器13030延伸的弹簧安装件13034的第二端部。第二致动器13030可围绕枢轴13021可旋转地安装到柄部13015上,并且回位弹簧13210可向第二致动器13030施加偏置力以使第二致动器13030围绕枢轴13021旋转。锁13290可停止第二致动器13030围绕枢轴13021的旋转。更具体地讲,用于将闭合返回按钮13140偏置到与闭合轭齿条13080接合的弹簧13150还可用于将锁13290朝远侧推动,使得锁13290的锁定臂13292被定位在限定在第二致动器13030上的肩部13032后面,该肩部可限制第二致动器13030的旋转并且将第二致动器13030固定在其未致动位置中,如图108所示。主要参见图110,第二致动器13030可包括肩部13031,该肩部可以被构造成能够邻接第一致动器13020的齿轮部分13070并且将第一致动器13020偏置到其未致动位置(图108)中。当第一致动器13020朝向其致动位置(图109)旋转时,第一致动器13020可抵抗由弹簧13210提供的偏置力而将第二致动器13030朝向手枪式握把13016至少部分地旋转。事实上,第一致动器13020的致动可使得第二致动器13030可被外科器械13010的使用者触及。在致动第一致动器13020之前,第二致动器13030对于用户可为不可触及的。在任何情况下,读者将回忆起,第一致动器13020的致动将锁13295朝近侧推动。锁13295的这种近侧移动可使锁13295从限定在第二致动器13030上的肩部13032后面移位。
一旦第一致动器13020移动和锁定到其完全致动位置(图109)并且砧座13050被移动到其闭合位置,如上所述,器械13010便可用于缝合定位在砧座13050与钉仓13055中间的组织。当使用者对组织在砧座13050与钉仓13055之间的定位不满意时,使用者可通过按压闭合释放按钮13140对砧座13050解锁。当按压闭合释放按钮13140时,闭合释放按钮13140的锁定臂13142可向上枢转离开凹口13082,这可允许闭合轭齿条13080朝近侧移动。此外,回位弹簧13210可将第一致动器13120和第二致动器13130返回到图109所示的其未致动位置,并且由于齿轮部分13070与闭合轭齿条13080之间的啮合接合,回位弹簧13210可使闭合轭齿条13080返回到其近侧位置。闭合轭齿条13080的这种移动可被滑动电位计13090检测到,该滑动电位计可将第一致动器13020已返回到其未致动位置并且砧座13050应返回到其打开位置的信号传输到器械13010的微处理器。响应于此,微处理器可指示闭合马达13105沿其第二方向旋转以朝近侧驱动闭合系统的闭合螺母并且使闭合管13125朝近侧回缩,这将使砧座13050返回到其打开位置。然后,使用者可通过再次致动第一致动器13020来重新定位砧座13050和钉仓13055并且重新闭合砧座13050。在各种情况下,器械13010的微处理器可以被构造成能够忽略来自第二致动器13030的输入信号,直到电位计13090检测到砧座13050处于闭合位置或完全闭合位置。
对上文进行进一步描述,一旦使用者对砧座13050和钉仓13055的定位满意,则使用者可将第二致动器13030拉动到闭合位置或致动位置,使得其靠近第一致动器13020。第二致动器13030的致动可按压或闭合柄部13015中的击发开关13180。在各种情况下,击发开关13180可由马达安装件13102支撑,该马达安装件还可以被构造成能够支撑闭合马达13105和/或击发马达13100。击发开关13180的闭合可操作击发马达13100。在某些情况下,击发开关13180可与外科器械13010的微处理器信号通信。当微处理器从击发开关13180接收第二致动器13030已充分致动的信号时,微处理器可向击发马达13100提供功率。在各种实施方案中,击发开关13180的闭合可将击发马达13100直接连接到DC或AC功率源以操作击发马达13100。在至少一种情况下,击发开关13180可被布置成使得13180直到第二致动器13030到达其完全闭合位置,击发开关才闭合。主要参见图110,第二致动器13030的旋转可在其与第一致动器13020接触时停止在其完全闭合位置中。在至少一种这样的情况下,第一致动器13020可包括被构造成能够在第二致动器13030到达其闭合位置时接收从第二致动器13030延伸的止动突出部13033的止动凹陷13023。
击发马达13100可包括与击发系统的击发导螺杆13190可操作地接合的可旋转输出轴。当击发马达13100被操作以将其输出轴沿第一方向旋转时,输出轴可将击发导螺杆13190沿第一方向旋转。当击发马达13100被操作以将其输出轴沿第二方向或相反方向旋转时,输出轴可将击发导螺杆13190沿第二方向旋转。击发系统还可包括击发螺母,该击发螺母与击发导螺杆13190的螺纹部分通过螺纹接合。击发螺母可被阻止随击发导螺杆13190旋转,使得击发导螺杆13190的旋转可使击发螺母朝近侧或朝远侧平移,具体取决于击发导螺杆13190旋转的方向。击发系统还可包括可操作地连接到击发螺母的击发轴13220,该击发轴可与击发螺母一起移位。击发系统还可包括刀杆13200和从击发轴13220朝远侧延伸的钉部署击发带。当击发马达13020沿其第一方向旋转时,击发导螺杆13190可使击发螺母、击发轴13220、刀杆13200和击发带朝远侧移位,以将钉从钉仓13055射出并且切入定位在砧座13050与钉仓13055中间的组织。一旦刀13200和击发带到达其行进的终点,微处理器可将击发马达13100沿其第二方向或相反方向旋转以使刀13200和带回到其初始位置。在各种情况下,器械13010可包括与微处理器信号通信的行进传感器的端部,该行进传感器可向微处理器发送击发驱动装置已到达其击发行程的终点并且击发行程应回缩的信号。行进传感器的这种端部可定位在例如砧座13050和/或钉仓13055中。在某些情况下,可操作地联接到击发马达13100的编码器可确定击发马达13100已旋转足够的转数以便使刀13200和击发带到达其行进的终点并且向微处理器发送击发系统应回缩的信号。
然而,一旦第二致动器13030被致动,器械13010处于其击发状态并且微处理器可以被构造成能够忽略来自第一致动器13020和/或滑动电位计13090的任何输入,直到击发系统将其返回到其初始位置。在各种情况下,器械13010可包括中止按钮,在按压时,该中止按钮可向微处理器发送击发组件应立即回缩的信号。在至少一种这样的情况下,当按压闭合释放按钮13140时,击发序列可停止。如上所述,按压闭合释放按钮13140将闭合轭齿条13080朝近侧移动,该闭合轭齿条继而将可检测元件13081朝近侧移动。可检测元件13081的近侧移动可由滑动电位计13090检测,该滑动电位计可向微处理器发送信号以使击发马达13100的旋转反向从而回缩击发组件并且/或者操作闭合马达13105以打开砧座13050。
器械13010还可包括例如一个或多个指示器,诸如LED 13300,其可以被构造成能够指示器械13010的操作状态。在各种情况下,LED 13300可以例如以与LED 11100相似的方式操作。器械13010还结合了使端部执行器13012进行关节运动的能力。这通过如美国专利5,704,534中所述的关节运动旋钮13240完成。轴组件13040的手动旋转也在美国专利5,704,534中有所论述。
在器械13010的模块化概念中,轴组件13040和端部执行器13012可为一次性的,并且附接到可重复使用的柄部13015。在另一个实施方案中,砧座13050和钉仓13055是一次性的,而轴组件13040和柄部13015是可重复使用的。在各种实施方案中,包括砧座13015、轴组件13040和柄部13015的端部执行器13012可为可重复使用的,而钉仓13055可为可替换的。
图111为外科缝合器械14010的透视图。器械14010可包括致动器或柄部14020、轴部分14030、管状仓壳体14040,以及砧座14050。器械14010还可包括被构造成能够将砧座14050在打开位置与闭合位置之间移动的闭合系统。致动器14020可包括可操作闭合系统的旋转闭合旋钮14075,如下文进一步更详细地描述。器械14010还可包括击发系统,该击发系统被构造成能够射出可移除地存储在仓壳体14040中的钉。致动器14020还可包括可操作击发系统的击发启动触发器14070,如下文进一步更详细地描述。轴部分14030、仓壳体14040和砧座14050可以与公布于1994年3月8日的名称为“SURGICAL ANASTOMOSIS STAPLINGINSTRUMENT”的美国专利5,292,053中所示和所述类似的方式来操作。公布于1994年3月8日的名称为“SURGICAL ANASTOMOSIS STAPLING INSTRUMENT”的美国专利5,292,053的公开内容以引用方式全文并入本文。
对上文进行进一步描述,致动器14020可包括传送装置14000和被构造成能够操作传送装置14000的滑动按钮14060。滑动按钮14060可在靠近仓壳体14040的远侧位置(图115)与进一步远离仓壳体14040的近侧位置(图114)之间移动。当滑动按钮14060处于其近侧位置时,致动器14020处于第一操作模式或闭合模式,并且可将砧座14050朝向和远离仓壳体14040移动。当滑动按钮14060处于其远侧位置时,致动器14020处于第二操作模式或击发模式,并且可将钉从仓壳体14040朝向砧座14050射出。当致动器14020处于其闭合模式时,旋转闭合旋钮14075可围绕延伸穿过致动器14020的纵向轴线旋转以便使砧座14050朝近侧或朝远侧移动,具体取决于闭合旋钮14075旋转的方向。当致动器14020处于其击发模式时,击发启动触发器14070可朝近侧旋转以将钉从仓壳体14040射出。闭合系统和击发系统在下文中进一步更详细地论述。
致动器14020可包括例如电动马达,诸如马达14090(图113-115),其可经由传送装置14000操作闭合驱动装置和击发驱动装置。马达14090可支撑在致动器14020的致动器外壳14080内。主要参见图113,致动器外壳14080可包括两个半部,即致动器外壳右半部14080a和致动器外壳左半部14080b。致动器外壳半部14080a和14080b可通过螺钉固定在一起,但是也可使用任何合适的紧固和/或粘合方法组装致动器外壳14080。马达14090可支撑在致动器外壳半部14080a与14080b之间并且可包括从其朝远侧延伸的可旋转轴14100。在某些情况下,致动器14020可包括定位在外壳14080中的马达支撑件14101,该马达支撑件被构造成能够支撑马达14100的外壳并阻止马达外壳相对于致动器外壳14080旋转。在各种情况下,可旋转轴14100可包括附连到其上的扩展部分14110。轴14100和扩展部分14110可以可旋转地联接以使得其一起旋转。
对上文进行进一步描述,主要参见图116,扩展部分14110可包括圆柱形或至少基本上圆柱形的主体14111以及限定于扩展部分14110的远侧端部14113中的平坦部分14120。扩展部分14110的圆柱形主体14111可通过轴承14105可旋转地支撑在致动器外壳14080内。扩展部分14110的远侧端部14113可定位在限定于滑块14115中的滑块孔14114内。如将在下文进一步更详细地论述,滑块14115是传送装置14000的一部分并且可在近侧位置(图114)与远侧位置(图115)之间偏移,在近侧位置中滑块14115将马达14090的旋转运动传递到闭合系统,在远侧位置中滑块14115将马达14090的旋转运动传递到击发系统。当滑块14115在其近侧位置(图114)与其远侧位置(图115)之间偏移时,滑块14115可相对于扩展部分14110滑动。限定于滑块14115中的滑块孔14114可限定周边,该周边匹配或至少基本上匹配扩展部分14110的远侧端部14113的周边,使得(1)扩展部分14110和滑块14115可旋转地联接在一起,以及(2)滑块14115可相对于扩展部分14110平移。在至少一种情况下,滑块孔14114包括匹配扩展部分14110的圆柱形主体14111的圆柱形部分14116以及匹配限定于滑块14115的远侧端部14113中的平坦部分14120的平坦部分14117。
对上文进行进一步描述,滑块14115可包括管状或大致管状的结构。滑块14115可包括远侧端部14118和多个在远侧端部14118的外表面周围延伸的外周花键14130,所述外周花键能够与击发驱动装置可操作地接合,如图115所示。滑块14115还可包括限定于滑块孔14114的远侧端部中的多个内周花键14140,所述内周花键可与闭合驱动装置可操作地接合,如图114所示。滑块14115可为滑动组件14150的一部分。主要参见图116,滑动组件14150还可包括上部轴颈轴承14160、下部轴颈轴承14170、滑动按钮14060和滑块弹簧14180。上部轴颈轴承14160和下部轴颈轴承14170结合以形成轴颈轴承,其可(1)足够松散地支撑滑块14115以使得滑块14115可在轴颈轴承内旋转,以及(2)使滑块14115朝近侧和朝远侧移位。主要参见图116,滑块14115可包括从其延伸的远侧凸缘14121和近侧凸缘14122,这两者可在其间限定凹槽14123,该凹槽被构造成能够紧密地接收轴颈轴承。当朝远侧推动滑动按钮14060时,轴颈轴承可抵靠远侧凸缘14121以将滑块14115朝远侧推动。相应地,当滑动按钮14060朝近侧推动时,轴颈轴承可抵靠近侧凸缘14122以将滑块14115朝近侧推动。
滑动组件14150可包括被构造成能够将滑块14115可释放地固定在适当位置的锁。主要参见图116,滑动按钮14060可包括凸缘14181,该凸缘可选择性地装配到限定在纵向狭槽的第一端部或近侧端部处的第一凹陷以及限定在纵向狭槽的第二端部或远侧端部处的第二凹陷,所述纵向狭槽限定在致动器外壳14080中。当凸缘14181与近侧凹陷接合时,凸缘14181可将滑动组件14150固定在其近侧位置中,该滑动组件将滑块14115和闭合驱动装置与马达14090可操作地接合。当凸缘14181与远侧凹陷接合时,凸缘14181可将滑动组件14150固定在其远侧位置中,该滑动组件将滑块14115和击发驱动装置与马达14090可操作地接合。上部轴颈轴承14160可包括轴颈孔14161,该轴颈孔被构造成能够可滑动地接收按钮14060的轴14061。可在轴颈孔14161内向下推动按钮14060以使凸缘14181与致动器外壳14080脱离。一旦凸缘14181与致动器外壳14080脱离,按钮14060便可在限定于致动器外壳14080中的纵向狭槽内滑动以将滑块14115在其近侧位置与远侧位置之间移动。弹簧14180可以被构造成能够将凸缘14181朝向致动器外壳14080偏置,并且当外科器械14010的使用者释放按钮14060时,弹簧14180可将按钮14060向上偏置到再次与致动器外壳14080接合。
对上文进行进一步描述,当滑动组件14150处于其近侧位置时,滑块14115与闭合驱动装置的闭合螺母14190接合。闭合螺母14190包括细长管状结构,该细长管状结构包括限定在其近侧端部处的闭合螺母外花键14200。当滑块14115处于其近侧位置时,滑块14115的内花键14140与闭合螺母14190的外花键14200啮合接合,使得当滑块14115通过马达14090旋转时,闭合螺母14190通过滑块14115旋转。闭合螺母14190可通过例如一个或多个轴承(诸如轴衬14220)可旋转地支撑在致动器外壳14080内,所述轴承可旋转地支撑闭合螺母14190的远侧端部。闭合螺母轴衬14220可由例如聚甲醛树脂(Delrin)、尼龙、铜、黄铜、青铜和/或碳组成。在某些情况下,闭合螺母轴衬14220可包括例如滚珠轴承或滚柱轴承。在各种情况下,闭合螺母轴衬14220可为致动器外壳14080的整体部分。
闭合螺母14190可包括限定于其中的纵向孔14191。闭合系统还可包括闭合杆14230,其可至少部分地定位在纵向孔14191内。闭合杆14230可包括限定在其上的螺纹14231,该螺纹与限定于纵向孔14191中的闭合螺母螺纹14210通过螺纹接合。闭合杆14230可被阻止随闭合螺母14190旋转,使得当闭合螺母14190通过马达14090沿第一方向旋转时,闭合杆14230可通过闭合螺母14190朝近侧平移。如图115所示,闭合杆14230可在闭合螺母14190的纵向孔14191内朝近侧移动。类似地,当闭合螺母14190通过马达14090沿相反方向或第二方向旋转时,闭合杆14230可通过闭合螺母14190朝远侧平移。如下文将进一步更详细地描述,闭合杆14230可与砧座14050可操作地接合,使得当闭合杆14230朝近侧拉动时,砧座14050可朝向仓壳体14040移动。相应地,当闭合杆14230朝远侧推动时,砧座14050可移动远离仓壳体14040。在各种情况下,闭合系统的闭合行程长度可在砧座14050的打开位置与闭合位置之间测量。闭合杆14230可至少与闭合行程长度一样长以容纳闭合行程。
如上所述,致动器14020的按钮14060可在近侧位置(图114)与远侧位置(图115)之间移动,在该近侧位置中传送装置14000与闭合驱动装置接合,在该远侧位置中传送装置14000与击发驱动装置接合。通过这种方式,传送装置14000可用于选择性地将闭合驱动装置和击发驱动装置与马达14090联接。当外科器械14010的使用者对砧座14050相对于仓壳体14040的定位满意时,如图115所示,使用者可使按钮14060朝远侧移位,以使滑块14115与闭合驱动装置脱离并且将滑块14115与击发驱动装置接合。当滑块14115朝远侧滑动时,滑块14115的内花键14140与闭合螺母14190的外花键14200脱离,使得滑块14115的后续旋转不再传递到闭合螺母14190和闭合系统。滑块与闭合系统脱离的同时,滑块14115可变成与击发系统接合。作为另外一种选择,在滑块14115朝远侧移位时,滑块14115可变成与闭合系统脱离,而由于滑块14115的额外远侧移位,滑块14115可变成与击发系统接合。在这种情况下,传送装置14000可能不同时将闭合驱动装置和击发驱动装置与马达14090可操作地接合。在任何情况下,击发系统可包括击发螺母14260,当滑块14115朝远侧移动时,该击发螺母可被滑块14115接合。
对上文进行进一步描述,主要参见图116,击发螺母14260可包括限定于其中的孔14261,该孔可以被构造成当滑块14115推进到其远侧位置(图115)中时能够在其中接收滑块14115的远侧端部14118。击发螺母孔14261可包括围绕其内周限定的击发螺母花键14270,该击发螺母花键可与滑块14115的外周花键14130互相啮合。当滑块14115的外周花键14130与击发螺母14260的击发螺母花键14270接合时,滑块14115可与击发螺母14260可旋转地联接,使得滑块14115的旋转被传递到击发螺母14260。致动器14020还可包括可旋转地支撑击发螺母14260的击发螺母轴衬14275。击发螺母轴衬14275可包括例如滚针轴承、聚甲醛树脂、尼龙和/或其他塑料轴衬、金属轴衬或致动器外壳14080的整体部分。击发螺母14260还可包括限定于击发螺母孔14261的远侧内表面中的内螺纹14272。击发系统还可包括与击发螺母14260的内螺纹14272通过螺纹接合的击发管14280。
在各种情况下,对上文进行进一步描述,击发管14280可包括限定在其外表面上的螺纹14281,该螺纹与内螺纹14272通过螺纹接合。击发管14280可被阻止随击发螺母14260旋转,使得当击发螺母14260通过马达14090和滑块14115旋转时,击发螺母14260可平移击发管14280。例如,当击发螺母14260沿第一方向旋转时,击发管14280可通过击发螺母14260朝远侧移位,而当击发螺母14260沿第二方向或相反方向旋转时,击发管14280可通过击发螺母14260朝近侧移位。击发管14280的至少一部分可定位在限定于击发螺母14260中的孔14261内。当击发管14280朝近侧移位时,击发管14280可在孔14261内朝近侧移动。当击发管14280朝远侧移位时,击发管14280可在孔14261内朝远侧移动。如下文将更详细地描述,击发管14280可与击发构件可操作地连接,当击发管14280朝远侧推进时,该击发构件可将钉从仓外壳14040射出。当击发管14280朝近侧移动时,击发管14280可使击发构件回缩。当击发构件在未击发位置与击发位置之间移动时,击发管14280可足够长以容纳击发构件的击发行程。在各种情况下,击发管14280的螺纹部分短于闭合杆14230的螺纹部分。在这种情况下,击发行程可短于闭合行程。在其他情况下,击发管14280的螺纹部分可具有与闭合杆14230的螺纹部分相同的长度。在这种情况下,击发行程可具有与闭合行程相同的长度。在某些情况下,击发管14280的螺纹部分长于闭合杆14230的螺纹部分。在这种情况下,击发行程可长于闭合行程。
对上文进行进一步描述,致动器14020和轴部分14030可包括整体系统。在各种情况下,致动器14020和轴部分14030可包括一体式组件。在某些情况下,致动器14020可从轴部分14030拆卸。图34为外科缝合器械14010的透视图,其示出从轴部分14030拆卸的致动器14020。器械14010可包括被构造成能够将轴部分14030可释放地固定到致动器14020的一个或多个锁或闩锁。例如,致动器14020可在其相对侧上包括闩锁14025,该闩锁被构造成能够将轴部分14030可释放地固定到致动器14020。闩锁14025可在第一位置与第二位置之间滑动,在第一位置中,所述闩锁与轴部分14030接合,在第二位置中,所述闩锁与轴部分14030脱离。如下文更详细地描述,致动器14020和轴部分14030可包括闭合系统的各部分,当轴部分14030组装到致动器14020上时,所述部分可操作地组装在一起。类似地,致动器14020和轴部分14030可包括击发系统的各部分,当轴部分14030组装到致动器14020上时,所述部分可操作地组装在一起。
对上文进行进一步描述,主要参见图113,闭合系统还可包括附连到闭合杆14230的远侧端部的闭合固定件14240。在各种情况下,螺钉可将闭合固定件14240锁定到闭合杆14230,使得当闭合杆14230朝远侧平移时,闭合固定件14240朝远侧平移,而相应地,当闭合杆14230朝近侧平移时,该闭合固定件14240朝近侧平移。闭合固定件14240可包括一个或多个侧向伸出部,该侧向伸出部可装配到致动器外壳14080中的沟槽内,以对齐闭合固定件14240和闭合杆14230。侧向伸出部还可防止闭合杆14230和闭合固定件14240在闭合杆14230由闭合螺母14190驱动时旋转,如上所述。闭合固定件14240可包括致动器14020的闭合驱动输出端并且可附接到轴部分14030的闭合驱动输入端。轴部分14030的闭合驱动输入端可包括第二固定件14250,当轴部分14030组装到致动器14020上时,该第二固定件可附接到闭合固定件14240。当闭合固定件14240由闭合杆14230朝远侧推进时,闭合固定件14240可将第二固定件14250朝远侧推动;相应地,当闭合固定件14240通过闭合杆14230朝近侧回缩时,闭合固定件14240可将第二固定件14250朝近侧拉动。
轴部分14030的闭合驱动部分还可包括安装到第二固定件14250并且从其延伸的一个或多个张力带14252和14253。张力带14252和14253可紧固到第二固定件14250,使得当第二固定件14250通过闭合固定件14240朝远侧推进时,第二固定件14250可将张力带14252,14253朝远侧推动,而相应地,使得当第二固定件14250通过闭合固定件14240朝近侧回缩时,第二固定件14250可将张力带14252,14253朝近侧拉动。在各种情况下,轴部分14030可为弯曲的,而在至少一种情况下,其可包括从近侧外壳安装件14032延伸的弯曲轴外壳14031。在某些情况下,张力带14252和14253可为柔性的,以适应轴部分14030的闭合驱动部分的弯曲路径。轴部分14030的闭合驱动部分还可包括附接到张力带14253和14253的附接部分或套管针14258。套管针14258可紧固到张力带14252,14253,使得套管针14258随张力带14252,14253推进和回缩。套管针14258可包括远侧端部,该远侧端部可与砧座14050可释放地接合,使得当砧座14050组装到套管针14258上时,砧座14050随套管针14258推进和回缩。参考上文,美国专利5,292,503更详细地对此进行了论述。
对上文进行进一步描述,主要参见图113,击发系统还可包括附连到击发管14280的远侧端部的击发固定件14290。在各种情况下,螺钉可将击发固定件14290锁定到击发管14280,使得当击发管14280朝远侧平移时,击发固定件14290朝远侧平移,而相应地,当击发管14280朝近侧平移时,该击发固定件14290朝近侧平移。击发固定件14290可包括一个或多个侧向伸出部,该侧向伸出部可装配到致动器外壳14080中的沟槽内,以对齐击发固定件14290和击发管14280。侧向伸出部还可防止击发管14280和击发固定件14290在击发管14280由击发螺母14260驱动时旋转,如上所述。击发固定件14290可包括致动器14020的击发驱动输出端并且可附接到轴部分14030的击发驱动输入端。轴部分14030的击发驱动输入端可包括第二固定件14300,当轴部分14030组装到致动器14020上时,该第二固定件可附接到击发固定件14290。击发固定件14290可以舌-槽方式与第二击发固定件14300配合。在组装时,当击发固定件14290通过击发管14280朝远侧推进时,击发固定件14290可将第二固定件14300朝远侧推动;相应地,当击发固定件14290通过击发管14280朝近侧回缩时,击发固定件14290可将第二固定件14300朝近侧拉动。
击发驱动装置还可包括钉驱动器14310,该钉驱动器联接到第二固定件14300,使得钉驱动器14310随第二固定件14300朝近侧和朝远侧移动。当钉驱动器14310通过第二固定件14300朝远侧移动时,钉驱动器14310可将钉从仓外壳14040射出。在各种情况下,第二固定件14300可利用钉驱动器14310将刀14320朝远侧推进,以切入在砧座14050与仓外壳14040之间捕获的组织。当第二固定件14300通过击发固定件14290朝近侧回缩时,第二固定件14300可使钉驱动器14310和刀14320朝近侧回缩。
对上文进行进一步描述,应注意到,闭合系统中包括闭合螺母14190和闭合杆14230的部分以及击发系统中包括击发螺母14260和击发管14280的部分可为同心和嵌套的。击发螺母14260和击发管14280可视为外部机构,而闭合螺母14190和闭合杆14230可视为内部机构。连同滑块14115、闭合螺母14190、闭合杆14230、击发螺母14260和击发管14280可构成传送装置14000。传送装置14000的同心和嵌套布置方式可减小闭合系统和击发系统所需的空间,以便形成更小和更易于固定的致动器14020。该布置方式还允许外部机构用作支撑件并提供承载表面以用于移动内部机构的各部分。在所示的实施方案中,内部机构的平移构件被示出为长于外部机构的平移构件。闭合杆14230可为例如大约二英寸,而击发管14280为例如大约一英寸;然而,任何合适的长度均可使用。当需要较长平移距离时,可使用较长的平移构件。在所示的实施方案中,内部机构或闭合驱动装置可将负载驱动长于外部机构或击发驱动装置的距离。也就是说,击发驱动装置可将负载驱动长于击发驱动装置的距离。
如上所述,致动器14020和轴部分14030经设计后便于组装。击发固定件14290在朝远侧延伸的凸缘的端部处包括半圆形唇缘。该半圆形唇缘在第二击发固定件14300的近侧端部处装配到半圆形沟槽中。因为该装配围绕半圆形表面,所以可以通过使击发固定件14290沿横向或正交于零件的大致纵向轴线的方向朝向第二击发固定件14300平移来将击发固定件14290与第二击发固定件14300连接。闭合组件零件的连接也通常以相同方式来易化。例如,闭合固定件14240可包括朝远侧延伸的凸缘。在该凸缘的远侧端部处是从闭合固定件14240的基本上半圆柱形部分延伸的半圆形唇缘。第二固定件14250的近侧部分上的周向凹槽接收该半圆形唇缘,以将闭合固定件14240附接到第二固定件14250。由于闭合固定件14240的半圆形性质,闭合固定件14240和第二固定件14250可通过横向或正交于零件的大致纵向轴线的平移来组装和拆卸,从而有利于轴部分14030和致动器14020的快速连接和断开。
大致参见图113,进一步以分解图的形式显示击发触发器14070和闭合旋钮14075以更好地观察其与相邻部分的相互作用。闭合旋钮14075可沿第一方向或顺时针方向以及第二方向或逆时针方向旋转。当闭合旋钮14075沿第一方向旋转时,闭合旋钮14075可接触并闭合第一开关,而当闭合旋钮14075沿第二方向旋转时,闭合旋钮14075可接触并闭合第二开关。当通过闭合旋钮14075闭合第一开关时,马达14090可被通电并沿第一方向操作,而当通过闭合旋钮闭合第二开关时,马达14090可被通电并沿第二方向操作。当马达14090沿其第一方向操作时,马达14090可将闭合杆14230朝远侧驱动以将砧座14050移离仓壳体14040,而当马达14090沿其第二方向操作时,马达14090可将闭合杆14230朝近侧驱动以将砧座14050朝向仓壳体14040移动。闭合旋钮14075可定位在中心位置或中立位置,其中第一开关和第二开关两者均不闭合并且马达14090不响应于闭合旋钮14075。在各种情况下,器械14010可包括例如至少一个弹簧,诸如弹簧14076,其被构造成能够将闭合旋钮14075偏置到例如其中立位置。
现在转到击发触发器14070,击发触发器14070可旋转地销接到致动器外壳14080并且通过扭转弹簧14071进行弹簧加载,该扭转弹簧迫使击发触发器14070到达远离致动器外壳14080旋转的位置。当击发触发器14070抵抗扭转弹簧14071的偏置力而朝向致动器外壳14080旋转时,位于击发触发器14070附近的击发开关14305处于将与击发触发器14070接触的位置中。当击发触发器14070被致动时,击发触发器14070可闭合击发开关14305。当击发开关14305闭合时,马达14090可沿第一方向操作以朝远侧推进击发管14280和钉驱动器14310。当击发触发器14070被释放时,扭转弹簧14071可将击发触发器14070移回到其未致动位置并且脱离与击发开关14305的接触。此时,击发开关14305可处于打开状态,并且马达14090可不响应于击发触发器14070。在各种情况下,器械14010还可包括可旋转地销接到致动器外壳14080的安全闩锁14320,该安全闩锁可在阻挡击发触发器14070被致动的锁定位置与其中击发触发器14070可被致动以闭合击发开关14035的第二位置之间旋转。在任何情况下,马达14090可沿第二方向操作以使击发管14280和钉驱动器14310回缩。在某些情况下,当击发系统到达其击发行程的终点时,马达14090可在第一方向与第二方向之间切换。在一些情况下,致动器14020还可包括可被操作以将马达14090沿其第二方向操作的反向按钮和开关。
根据上文所述,在下文中提供了使用器械14010的方法,但是也可使用任何合适的方法。此外,在上文中描述了致动器14020能够提供两个输出并且轴部分14030能够接收两个输入,从而执行两种功能。这些功能已被描述为闭合功能和击发功能,但是本发明不限于此。该功能可包括例如任何合适的功能,诸如关节运动功能。在各种情况下,为了使用致动器14020,使用者首先可通过将致动器14020朝向垂直于致动器14020纵向轴线的轴部分14030移动来将致动器14020组装到轴部分14030,如图112所示。使用者可将轴部分14030的近侧端部的开口侧朝向致动器14020的远侧部分的开口侧对齐并且将零件组装在一起。这样的组件可连接闭合固定件和击发固定件,如上所述。同样如上所述,致动器14020上的闩锁14025可夹持轴部分外壳14032上的凸部,以将致动器14020和轴部分14030可释放地固定在一起。在组装致动器14020和轴部分14030之后,使用者可将滑动组件14150置于其第一位置,以便使用附接部分的外科工具的第一所需功能。如上所述,按钮14060可用于将滑动组件14150定位在其第一部分中。
大致参见图114,当滑动组件14150处于其第一位置中时,滑块14115上的内花键14140可接合闭合螺母14190上的外花键14200。使用者然后将旋转闭合旋钮14075以相对于仓外壳14040定位砧座14050。如上所述,闭合旋钮14075可沿其第一方向旋转以闭合第一闭合开关并将砧座14050移离仓外壳14040,并且可沿其第二方向旋转以闭合第二闭合开关并将砧座14050朝向仓外壳14040移动。在某些情况下,第一闭合开关的闭合可闭合使马达14090沿其第一方向工作的电路,并且相应地,第二闭合开关的闭合可闭合使马达14090沿其第二方向工作的电路。在某些情况下,第一闭合开关和第二闭合开关可与外科器械14010的微处理器通信,该微处理器可根据来自第一闭合开关和第二闭合开关的输入来控制向马达14090提供的电功率,包括向其提供的电功率的极性。如上所述,马达14090可使可旋转轴14100、扩展器部分14110、滑块14115旋转,并且由于传送装置14000的构型,还可使闭合螺母14190旋转。如上所述,闭合螺母14190与将砧座14050朝近侧和朝远侧移位的闭合杆14230螺纹接合。作为另外一种选择,闭合杆14230可执行一些其他功能。
如图114所示,当滑动组件14150处于其第一或近侧位置中时,马达14090可响应于闭合旋钮14075而不响应于击发触发器14070。在至少一种情况下,当滑动组件14150处于其第一位置中时,滑动组件14150的下部轴颈轴承14170可接触并闭合第一传输开关14340。在各种情况下,第一传输开关14340可与外科器械14010的微处理器通信,该微处理器可以被构造成能够在第一传输开关14340已闭合时忽略来自击发开关14305的输入。在此类情况下,外科器械14010的使用者可按压击发触发器14070,而马达14090将不会响应于此操作。相反,在此类情况下,马达14090响应于第一闭合开关和第二闭合开关,这两个闭合开关由闭合旋钮14075致动以移动砧座14050。如图115所示,当滑动组件14150朝向其第二或远侧位置移动时,下部轴颈轴承14170与第一传输开关14340分离,并且第一传输开关14340将返回到打开状态。当滑动组件14150移动到其第二或远侧位置中时,下部轴颈轴承14170可接触并闭合第二传输开关14350。在各种情况下,第二传输开关14350可与外科器械14010的微处理器通信,该微处理器可以被构造成能够在第二传输开关14350已闭合时忽略来自闭合旋钮14075的输入。在此类情况下,外科器械14010的使用者可旋转闭合旋钮14075,而马达14090将不会响应于此操作。相反,在此类情况下,马达14090响应于由击发触发器14070致动的击发开关14305。
为了将滑动组件14150从其第一位置移动到其第二位置,如上所述,使用者可按压滑动按钮14060以将滑动按钮14060从其定位部释放并且将滑动组件14150朝远侧移动到其第二位置。在此类情况下,滑块14115可与闭合螺母14160分离并且与击发螺母14260接合。更具体地讲,滑块14115上的内花键14140可变得与闭合螺母14190上的外花键14200分离,此外,滑块14150上的外花键14130可变得与击发螺母14260上的内花键14270接合。此时,使用者可将安全闩锁14320旋转到其解锁位置以使击发触发器14070准备击发。使用者可通过如图115所示将击发触发器14070朝向致动器外壳14080逆时针旋转来使击发系统击发。如上所述,击发触发器14070可接触击发开关14305,该击发开关可使马达14090通电。类似于传送装置14000的第一构型,马达14090可使可旋转轴14100、扩展器部分14110和滑块14115旋转;然而,在传送装置14000的第二构型中,滑块14115使击发螺母14260旋转以平移击发管14280。
在各种情况下,可通过外部电源向器械14010供电。在某些情况下,可利用定位在致动器14020内的一个或多个电池。所述电池可例如为可充电锂电池。在一些情况下,电池和马达14090可定位在可清洁、可灭菌、以及可再利用的可移除密封外壳中。
当致动器14020已在外科手术中被使用之后,使用者可从轴部分14030拆卸致动器14020。使用者可按压闩锁14025以将致动器14020从轴部分14030拆卸。然后,致动器14020可被清洁、灭菌、以及再利用或丢弃。类似地,轴部分14030可被清洁、灭菌、以及再利用或丢弃。当轴部分14030被再利用时,钉可被重新装载到仓外壳14040中。在某些情况下,仓外壳14040可包括可用于重新装载钉的可替换仓。在各种情况下,致动器14020的各个部分还可组合在可容易地插入到致动器外壳14080中和从其移除的密封区室化模块中。例如,马达14090、可旋转轴14100、扩展器部分14110、滑动组件14150、闭合螺母14190、闭合杆14230、击发螺母14260、和击发管14280可组合成可从致动器外壳14080移除的模块化组件。此外,致动器14020的各部分可为单独的可组装模块的组成部分。例如,致动器14020的电子部分(诸如马达14090和电池)可包括一个模块,而包含旋转和/或平移部分的机械组件可包括第二模块。在此类情况下,可采用与第二模块不同的方法来对第一模块灭菌。此类情况可有利于使用例如用于第二模块的γ辐射,这种方法可能不适合对第一模块灭菌。
设想了对致动器14020的各种加成。例如,可利用微处理来检测闭合系统和/或击发系统的行程结束位置,以及通知马达14090何时停止闭合行程和/或击发行程。还可利用微处理来确定附接到致动器14020的轴组件的类型。例如,致动器14020可包括与致动器14020中的微处理器信号通信的传感器,信号通信内容为圆形缝合器轴组件附接到致动器14020,或线性切割器轴组件附接到致动器14020。设想致动器14020可向需要例如至少一个、或许两个或更多个纵向运动输入的许多类型的外科工具供电。在各种情况下,致动器14020可向例如圆形缝合器、线性缝合器、直角缝合器、剪刀、抓紧器、和/或其他类型的外科器械供电。
致动器14020的进一步修改包括利用多个马达,以使得可由致动器14020采用的功能的数量可增加。致动器14020的某些修改包括用相同马达执行不止两种功能。例如,设想了滑动组件14150的第三位置,在该位置,由第三嵌套机构驱动第三功能。对上文进行进一步描述,在一些情况下,滑动组件14150可具有第三位置,该位置为空闲或中立位置,在该位置,没有功能被马达14090驱动。进一步修改可包括使用电子和/或磁性装置将滑块14115从一个位置平移到另一个位置。例如,可使用螺线管将滑块14115从一个位置移动到另一个位置。弹簧可将滑块14115预装载到默认位置中,并且使螺线管通电可将滑块14115从默认位置移动到第二位置。
外科缝合器械15010示于图117和图118中。与上述相似,器械15010可包括柄部、被构造成能够使砧座15090在打开位置(图117)与闭合位置(图118)之间相对于钉仓15080移动的闭合系统,并且还包括被构造成能够将钉从钉仓15080部署并且切入捕获在砧座15090与钉仓15080之间的组织的击发系统。图117和图118中移除了外科器械柄部的外壳,以便示出包含在其中的各种部件。同样与上述相似,器械15010的闭合系统可包括闭合马达15110、包括可操作地联接到闭合马达15110的闭合驱动螺旋齿轮15160的闭合齿轮系,以及可操作地联接到闭合驱动螺旋齿轮15160的闭合驱动螺杆15170。在各种情况下,闭合马达15110可由马达框架15125支撑,此外,该马达框架可以可旋转地支撑闭合驱动螺旋齿轮15160和闭合驱动导螺杆15170。闭合系统还可包括能接触并使闭合开关15285闭合的闭合按钮15065,该闭合开关在闭合时可使闭合马达15110工作。对上文进行进一步描述,在一些情况下,闭合按钮15065可以被构造成能够接触被构造成能够使闭合马达15110沿第一方向工作并使砧座15090闭合的闭合开关,以及被构造成能够使闭合马达15110沿第二方向工作并使砧座15090打开的打开开关。
对上文进行进一步描述,闭合系统还可包括被构造成能够接合砧座15090并且将砧座15090在其打开位置(图117)与其闭合位置(图118)之间移动的仓15180。仓15180可包括与闭合驱动导螺杆15170的螺纹部分螺纹接合的螺纹螺母部分15175。仓15180可被阻止随闭合驱动导螺杆15170旋转,这样闭合驱动导螺杆15170的旋转可使仓15180朝近侧和朝远侧平移,这具体取决于闭合驱动导螺杆15170旋转的方向。当闭合马达15110使闭合驱动导螺杆15170沿第一方向旋转时,闭合驱动导螺杆15170可将仓15180朝远侧移位以闭合砧座15090。相应地,当闭合马达15110使闭合驱动导螺杆15170沿第二或相反方向旋转时,闭合驱动导螺杆15170可将仓15180朝近侧移位以打开砧座15090。仓15180可至少部分地围绕仓通道15070设置,并且在各种情况下,可以可滑动地保持到仓通道15070。主要参见图118,仓通道15070可包括限定于其相对侧中的一个或多个狭槽15195,所述狭槽被构造成能够可滑动地接收从仓15080向内延伸的一个或多个突出部15185。在其他情况下,通道15070可包括突出部15185,而仓15080可包括狭槽15195。在任一种情况下,狭槽15195和突出部15185可以被构造成能够约束例如仓15180到纵向、或基本上纵向路径的移动。
仓15080可从第一或近侧位置(图117)移动到第二或远侧位置(图118)以闭合砧座15090。仓15080可包括横杆15081,该横杆被构造成能够在仓15080相对于砧座15090移动时接触砧座15090并使其移动。在各种情况下,砧座15090可围绕枢轴15200可枢转地联接到仓通道15070,并且仓横杆15081可使砧座15090围绕枢轴15200旋转。更具体地讲,仓横杆15181可以被构造成能够接触砧座15090的顶部或凸轮表面15092,并且在仓15080朝远侧移动时在顶部表面15092上滑动以使砧座15090朝向定位在仓通道15070中的仓15080旋转。在一些情况下,当砧座15090到达其完全闭合位置时,砧座15090的远侧端部15091可接触仓15080的远侧端部15081。仓15180可朝远侧推进,直到其到达其最远侧位置以及/或者砧座15090处于其完全闭合位置中,这在图118中示出。在各种情况下,当仓15180到达其最远侧位置时,仓15180可接触行程结束传感器并使其闭合。在某些情况下,行程结束传感器可与外科器械15010的微处理器信号通信。当行程结束传感器被仓15180闭合时,微处理器可中断提供给闭合马达15110的功率并停止仓15180的推进。
如上所述,仓15180的横杆15181可通过将凸轮表面15092向下推动来使砧座15090朝向钉仓15080进行凸轮运动。砧座15090还可包括从其侧面延伸的闩锁销15210,当砧座15090朝向钉仓15080旋转时,该闩锁销可接收在限定于仓通道15070的侧面上的狭槽15215中。在各种情况下,例如当砧座15090到达其闭合位置时,闩锁销15210可接触狭槽15215的闭合端部。在一些情况下,砧座15090可处于闭合位置中,并且闩锁销15210可不与狭槽15215的闭合端部接触。在某些情况下,闭合系统可包括一个或多个被构造成能够接合闩锁销15210并且/或者将砧座15090靠近钉仓15080移动的闩锁15190。闩锁15190可被枢轴销15191可旋转地联接到仓通道15070,并且可围绕枢转轴线旋转以接合闩锁销15210。在一些情况下,闩锁15190可接合闩锁销15210并且抵靠狭槽15215的闭合端部定位闩锁销15210。每个闩锁15190可包括闩锁臂15192,在闩锁15190朝远侧旋转到其闭合位置中时,该闩锁臂可在闩锁销15210上滑动并且向下推动闩锁销15210。每个闩锁臂15192可至少部分地限定闩锁狭槽15193,该闩锁狭槽可以被构造成能够在闩锁15190移动到其致动位置中时接收闩锁销15210。闩锁臂15192和狭槽15215的闭合端部可协作以将闩锁销15210捕集和/或固定在适当位置。
对上文进行进一步描述,当仓15180朝远侧推进时,仓15180可使闩锁15190在未闩锁位置(图117)与闩锁位置(图118)之间移动。在横杆15181没有使砧座15090移动到其完全闭合位置中的情况下,闩锁15190可将砧座15090移动到其完全闭合位置中。在各种情况下,仓15180可包括限定在其上的远侧凸轮表面15182,当仓15180朝远侧推进时,该远侧凸轮表面可接合闩锁15190。在至少一种这样的情况下,每个凸轮表面15182可包括例如倾斜或成角度的表面。当闭合驱动导螺杆15170沿其第二方向旋转,并且闭合驱动导螺杆15170使仓15180朝近侧回缩时,闩锁15190可返回到其未致动位置。在各种情况下,器械15010还可包括例如一个或多个偏置弹簧15195,该偏置弹簧可以被构造成能够在远侧凸轮表面15182远离闩锁15190回缩时使闩锁15190朝近侧旋转。每个闩锁15190可包括限定在其中的被构造成能够接收弹簧15195的第一端部的孔15194。弹簧15195的第二端部可与从仓通道15070延伸的弹簧柱15079接合。当仓15180使闩锁15190从其未闩锁位置朝远侧旋转到其闩锁位置时,弹簧15195可被弹性拉伸,使得当仓15180回缩时,如上所述,弹簧15195可弹性返回到其初始状态,从而经由例如孔15194向闩锁15090施加力。在任何情况下,当闩锁15190已返回到其未闩锁位置时,砧座15090可再次相对于钉仓15080移动。
如上所述,仓15180的横杆15181可接触砧座15090的凸轮表面15092以使砧座15090朝向钉仓15080旋转。仓15180还可以被构造成能够将砧座15090旋转远离钉仓15080。在至少一种这样的情况下,砧座15090可包括限定在其上的第二凸轮表面15093,在闭合驱动导螺杆15170使仓15080朝近侧移动时,该第二凸轮表面可被仓15080的横杆15181接触。如读者将理解的,闭合凸轮表面15092可限定在枢轴销15200的第一侧上,而打开凸轮表面15093可限定在枢轴销15200的第二或相对侧上。打开凸轮表面15093可相对于闭合凸轮表面15092以一定角度延伸。在各种情况下,在仓15180回缩时,横杆15181可接触打开凸轮表面15093并相对于该打开凸轮表面滑动。打开凸轮表面15093可以被构造成能够使得其中砧座15090相对于钉仓15080打开的程度或量取决于横杆15181朝近侧回缩的距离。例如,如果横杆15181在枢轴15200近侧回缩第一距离,则横杆15181可使砧座15090向上枢转远离钉仓15080第一程度,而如果横杆15181在枢轴14200近侧回缩大于第一距离的第二距离,则横杆15181可使砧座15090向上枢转远离钉仓15080大于第一程度的第二程度。
上述闭合系统可允许外科器械的使用者将砧座15090在打开位置与闭合位置之间枢转,而无需用手操纵砧座15090。上述闭合系统还可将砧座15090自动闩锁或锁定在其闭合位置中,而无需使用单独的致动器。如果使用者不满意在砧座15090处于其闭合位置中时组织在砧座15090与钉仓15080之间的定位,则使用者可重新打开砧座15090,将砧座15090和钉仓15080相对于组织重新定位,然后再次闭合砧座15090。在致动器械15010的击发系统之前,使用者可根据需要多次打开和闭合砧座15090。击发系统可包括安装到马达框架15125的击发马达15120、可操作地联接到击发马达15120的击发驱动齿轮系(包括击发齿轮15240、击发导螺杆齿轮15250),和击发驱动导螺杆15260。与上述相似,击发驱动齿轮系和/或击发驱动导螺杆15260可由马达框架15125可旋转地支撑。击发驱动装置还可包括击发触发器15055,该击发触发器被构造成能够在击发触发器15055被按压时闭合击发开关15290,从而使击发马达15120工作。当击发马达15120沿第一方向工作以使击发驱动导螺杆15260沿第一方向旋转时,击发驱动装置可部署可移除地存储在钉仓15080中的钉并且切入捕获在砧座15090与钉仓15080之间的组织。当击发马达15120沿第二方向工作以使击发驱动导螺杆15260沿第二或相反方向旋转时,击发驱动装置可回缩。然后,砧座15090可被重新打开以移除砧座15090和钉仓15080之间的组织。在一些情况下,击发驱动装置可无需回缩来打开砧座15090。在此类情况下,击发驱动装置可在其朝远侧推进时不接合砧座15090。在至少一种这样的情况下,击发驱动装置可进入到钉仓15080中以从其射出钉,并且刀刃可在钉仓15080与砧座15090之间行进以切入组织。击发驱动装置不可将砧座15090锁定在其闭合位置中,但是也设想了击发驱动装置可将砧座15090锁定在其闭合位置中的实施方案。此类实施方案可利用例如I形梁,在I形梁朝远侧推进时,其可接合砧座15090和钉仓15080并且将它们相对于彼此固定在适当位置。
器械15010可由外部电源和/或内部电源供电。电缆可进入到致动器外壳15080中以从例如外部电源提供功率。一个或多个电池(诸如电池15400)例如可定位在器械15010的柄部内以从例如内部电源提供功率。器械15010还可包括例如一个或多个指示器,诸如LED指示器15100,其可指示例如器械15010的工作状态。LED指示器15100可以例如与上述LED指示器11100相同的方式或相似的方式工作。LED指示器15100可与器械15010的微控制器信号通信,该微控制器可定位在例如印刷电路板15500上。
先前的外科器械已利用被构造成能够将砧座在打开位置与闭合位置之间移动的手动驱动的闭合系统。本文所述的各种实施方案利用被构造成能够将砧座在打开位置与闭合位置之间相对于固定钉仓移动的马达驱动的闭合系统。设想了其他实施方案,其中砧座可被固定并且马达驱动的闭合系统可将钉仓在打开位置与闭合位置之间移动。在任一种情况下,闭合系统的马达可设定砧座与钉仓之间的组织间隙。在各种情况下,外科器械的闭合系统与击发系统分离并且不同。在其他情况下,闭合系统和击发系统可为一体的。当闭合系统和击发系统为单独的并且不同时,外科器械的使用者可在操作击发系统之前评价砧座和钉仓相对于待缝合和切入的组织的位置。
如上所述,外科器械的端部执行器(诸如端部执行器1000)例如可以被构造成能够将组织夹紧在其砧座钳口1040与钉仓1060之间。当砧座钳口1040处于其闭合位置中时,组织间隙可限定在砧座钳口1040与钉仓1060之间。在某些情况下,端部执行器1000可适于与薄组织、厚组织,以及具有介于薄组织和厚组织之间的厚度的组织一起使用。端部执行器1000可适用于缝合的最薄组织和最厚组织可限定用于端部执行器1000的组织厚度范围。在各种情况下,外科器械系统可包括柄部和可组装到柄部的多个端部执行器,其中端部执行器中的一个或多个可具有不同组织厚度范围。例如,第一端部执行器可具有第一组织厚度范围,并且第二端部执行器可具有不同于第一组织厚度范围的第二组织厚度范围。在一些情况下,第一组织厚度范围和第二组织厚度范围可为离散的,而在其他情况下,第一组织厚度范围和第二组织厚度范围可部分地重叠。外科器械系统可使用任何合适数目的具有不同组织厚度范围的端部执行器,其中组织厚度范围中的一些可至少部分地重叠,并且其他组织厚度范围可根本不重叠。
对上文进行进一步描述,在各种情况下,端部执行器的钉仓,诸如端部执行器1000的钉仓1060,例如可为可替换的。在各种情况下,钉仓1060可以可移除地锁定到端部执行器1000的下钳口1020内的位置中。一旦锁定就位,钉仓1060的平台或组织接触表面可相对于下钳口1020不移动或至少基本上不移动。因此,当砧座钳口1040移动到其闭合位置中时,固定距离或组织间隙可限定在砧座钳口1040与钉仓1060的平台表面之间。为了改变该固定距离,钉仓1060可从下钳口1020移除,并且可将不同钉仓可移除地锁定在下钳口1020内。不同钉仓的平台表面可以被构造成能够提供与钉仓1060所提供的组织间隙不同的组织间隙。设想了这样的实施方案,其中外科器械系统包括柄部、可组装到柄部的多个端部执行器,以及可以可替换地插入到端部执行器中的多个钉仓。这样的实施方案可允许使用者选择能够与一定范围的组织厚度一起使用的端部执行器,并且选择用于与端部执行器一起使用的钉仓可对可由端部执行器缝合的组织厚度的范围进行调节或微调。在某些情况下,外科器械系统的第一钉仓可包括第一类型的钉,并且第二钉仓可包括第二类型的钉。例如,第一钉仓可包括具有第一未成形或未击发高度的钉,第二钉仓可包括具有与第一高度不同的第二未成形或未击发高度的钉。
模块化轴组件16000示于图122-131中。主要参见图122-124,例如,模块化轴组件16000能够可移除地附接到柄部16070和/或任何其他合适的柄部。柄部16070包括被构造成能够由操作柄部16070的临床医生握持的抓握部分16071。柄部16070还包括被构造成能够接收模块化轴组件16000的引导件16074(图124)。模块化轴组件16000沿着纵向轴线16001组装到柄部16070,并且引导件16074被构造成能够限制轴组件16000相对于纵向轴线16001的侧向移动。轴组件16000包括外壳16010,外壳16010包括被构造成紧密接收引导件16074的纵向引导孔。外壳16010还包括锁定件16012(图126),锁定件16012被构造成能够可释放地接合限定于柄部16070中的锁定孔16072(图125),并且将轴组件16000保持到柄部16070。
柄部16070还包括柄部电触点16076,并且轴组件16000还包括当轴组件16000完全安置到柄部16070上时接合柄部电触点16076的轴电触点。柄部电触点16076和轴电触点可包括配合的触点对,所述配合的触点对在柄部16070和轴组件16000之间提供多个通信通道和/或功率通路。在至少一种情况下,柄部16070可包括可通过配合的触点向轴组件16000提供功率的功率源,例如电池。此外,在至少一种情况下,轴组件16000可包括通过配合的触点与柄部16070中的控制系统通信的传感器。
再次参见图122-124,轴组件16000还包括从外壳16010延伸的细长轴16020。细长轴16020被构造成能够插入穿过套管针进入患者体内,并且可与内窥镜结合使用,以执行例如微创外科手段。细长轴16020可包括任何合适的直径,例如约12mm或约5mm。轴组件16000还包括从细长轴16020朝远侧延伸的端部执行器。端部执行器包括钉仓16050和砧座16040。砧座16040能够通过在下文进一步更详细地论述的闭合系统在打开位置和闭合位置(图122-124)之间移动。钉可移除地存储在钉仓16050中,并且通过同样在下文进一步更详细地论述的击发系统从钉仓16050射出。砧座16040被构造成能够当钉从钉仓16050射出时使钉变形。在各种另选实施方案中,钉仓能够在打开位置和闭合位置之间相对于砧座移动。
轴组件16000还包括关节运动接头16030。轴组件16000的端部执行器能够相对于细长轴16020围绕关节运动接头16030旋转。在至少一种情况下,端部执行器能够在未关节运动位置(图122和图124)和关节运动位置(图123)之间旋转。关节运动位置可根据端部执行器通过关节运动系统关节运动的方向在纵向轴线16001的任一侧上。关节运动系统可包括致动器,所述致动器延伸穿过关节运动接头16030,并且可被构造成能够推动端部执行器,以使端部执行器沿第一方向围绕关节运动接头16030关节运动,并且/或者沿第二或相反方向围绕关节接头16030拉动端部执行器;然而,可利用任何合适的关节运动系统。某些关节运动系统在下文中进一步详细地论述。
主要参见图124和图125,柄部16070包括第一可旋转输出端16082和第二可旋转输出端16092。柄部16070还包括用于操作第一可旋转输出端16082的第一致动器16080和用于操作第二可旋转输出端16092的第二致动器16090。类似于本文所述的其他实施方案,柄部16070包括响应于第一致动器16080和第二致动器16090的致动的驱动马达。也类似于本文所述的其他实施方案,柄部16070包括开关马达,例如开关马达16073,所述开关马达被构造成能够将柄部16070在第一操作模式和第二操作模式之间转移。在柄部16070的第一操作模式中,第一可旋转输出端16082由驱动马达旋转,并且在第二操作模式中,第二可旋转输出端16092由驱动马达旋转。开关马达16073将传输装置16075在第一位置和第二位置之间转移,以使柄部16070在其第一操作模式和其第二操作模式之间切换。在传输装置16075的第一位置中,传动齿轮16077经由传动齿轮16087和从动齿轮16089将驱动马达可操作地联接到第一可旋转输出端16082。在传输装置16075的第二位置中,传动齿轮16077经由从动齿轮16097将驱动马达可操作地联接到第二可旋转输出端16092。
在使用中,柄部16070的驱动马达以足够的速度操作足够的时间量,以使第一可旋转输出端16082或第二可旋转输出端16092旋转所需的转数。在各种情况下,驱动马达的速度可通过提供给驱动马达的电压和/或电流来进行监控。驱动马达旋转的时间也可通过电压和/或电流提供给驱动马达的时间来进行监控。然而,此类实施方案不直接测量马达的输出轴旋转的次数。某些实施方案可直接监控输出轴。至少一个这样的实施方案可利用例如编码器。尽管此类实施方案适用于监控马达的输出,但它们未考虑到例如输出轴与可旋转输出端16082和16092之间的齿轮系中的损耗和/或齿隙,且因此,它们可能不能准确地确定第一输出端16082或第二输出端已旋转的次数。此外,此类实施方案不评价第一可旋转输出端16082或第二可旋转输出端16092是否正在旋转,或两者。
再次参见图125,柄部16070被构造成能够测量第一可旋转输出端16082的旋转和第二可旋转输出端16092的旋转。例如永磁体的第一磁性元件16084被安装在第一可旋转输出端16082上,并且随第一可旋转输出端16082一起旋转。柄部16070包括例如霍尔效应传感器的第一传感器16086,第一传感器16086被构造成能够测量第一可旋转输出端16082已旋转的量。第一传感器16086与柄部16070的微处理器和/或控制系统进行信号通信。例如永磁体的第二磁性元件16094被安装在第二可旋转输出端16092上,并且随第二可旋转输出端16092一起旋转。柄部16070包括例如霍尔效应传感器的第二传感器16096,第二传感器16096被构造成能够测量第二可旋转输出端16092已旋转的量。第二传感器16096与柄部16070的微处理器和/或控制系统进行信号通信。
当第一致动器16080被致动时,转移马达16073可将传输装置16075定位在其第一位置,使得第一可旋转输出端16082由驱动马达旋转。第一致动器16080可包括例如可变电阻开关的开关,所述开关与微处理器进行信号通信。在检测到第一致动器16080的致动后,微处理器可将柄部16070置于其第一操作构型,并且向驱动马达提供功率,以使第一输出端16082旋转。此外,微处理器可评价第一输出端16082已旋转的次数。例如,如果临床医生释放第一致动器16080,则微处理器可中断驱动马达的功率;然而,如果第一输出端16082旋转等于阈值或最大数的次数,则微处理器可中断驱动马达的功率。
类似地,当第二致动器16090被致动时,转移马达16073可将传输装置16075定位在其第二位置,使得第二可旋转输出端16092由驱动马达旋转。第二致动器16090可包括例如可变电阻开关的开关,所述开关与微处理器进行信号通信。在检测到第二致动器16090的致动后,微处理器可将柄部16070置于其第二构型,并且向驱动马达提供功率,以使第二输出端16092旋转。此外,微处理器可评价第二输出端16092已旋转的次数。例如,如果临床医生释放第二致动器16090,则微处理器可中断驱动马达的功率;然而,如果第二输出端16092旋转等于阈值或最大数的次数,则微处理器可中断驱动马达的功率。
除上述以外,柄部16070的微处理器可评估适当可旋转输出端16082,16092是否正在旋转。在各种情况下,例如,转移马达16073和/或传输装置16075可被卡住。在此类情况下,传动齿轮16077可与错误的齿轮系配合,且因此,使错误的输出端16082,16092旋转。在一些情况下,传动齿轮16077可被卡在中间位置,在所述中间位置中,传动齿轮16077同时与这两个齿轮系接合,并且可同时使这两个输出端16082,16092旋转。在任何情况下,微处理器可利用来自传感器16084,16094的反馈来确定柄部16070是否正常工作。在微处理器检测到故障的情况下,微处理器可实施安全状态例程。例如,这种安全状态例程可包括中断驱动马达的功率的步骤和警告临床医生已发生错误、传递错误的性质、并且/或者传递适当的步骤以解决该错误的步骤。
现在参见图126,轴组件16000包括第一输入端16042和第二输入端16052,第一输入端16042和第二输入端16052能够分别与柄部16070的第一输出端16082和第二输出端16092可操作地接合,并且分别响应于柄部16070的第一输出端16082和第二输出端16092。从第一输出端16082传递到第一输入端16042的运动可在轴组件16000中执行第一功能,并且从第二输出端16092传递到第二输入端16052的运动可在轴组件16000中执行第二功能。例如,第一输入端16042可操作地联接到轴组件16000的闭合系统,并且第二输入端16052可操作地联接到轴组件16000的击发系统。如下文更详细地描述,轴组件16000可产生用于执行第三功能(例如使外科器械的端部执行器关节运动)的第三运动。
轴组件16000的闭合系统包括可旋转地支撑在轴外壳16010中的闭合轴16043。闭合轴16043能够围绕第一纵向轴线16041旋转。闭合轴16043和轴外壳16010包括协同工作的特征结构和/或轴承,所述协同工作的特征结构和/或轴承防止或至少限制闭合轴16043沿着纵向轴线16041平移和/或相对于纵向轴线16041侧向地平移。闭合轴16043的近侧端部附接到第一输入端16042,使得闭合轴16043由第一输入端16042旋转。闭合系统还包括闭合螺母16044,闭合螺母16044由闭合轴16043朝近侧和朝远侧平移。闭合螺母16044包括延伸穿过其的螺纹孔,并且闭合轴16043包括延伸穿过该螺纹孔的螺纹部分。闭合轴16043的螺纹部分与闭合螺母16044的螺纹孔以螺纹方式接合,使得当闭合轴16043沿第一方向旋转时,闭合螺母16044朝远侧推进。类似地,当闭合轴16043沿第二或相反方向旋转时,闭合螺母16044朝近侧缩回。闭合螺母16044还包括与轴外壳16010可滑动地接合的一个或多个防旋转特征结构16045,所述一个或多个防旋转特征结构防止闭合螺母16044由闭合轴16043旋转。
除上述以外,闭合系统包括从闭合螺母16044延伸的闭合托架16046。当闭合螺母16044由闭合轴16043朝远侧驱动时,闭合螺母16044将闭合托架16046朝远侧推动,并且相应地,当闭合螺母16044由闭合轴16043朝近侧拉动时,闭合螺母16044将闭合托架16046朝近侧拉动。闭合系统还包括从闭合托架16046朝远侧延伸的闭合管16047。类似于上述,当闭合托架16046被朝远侧推动时,闭合托架16046将闭合管16047朝远侧推动,并且相应地,当闭合托架16046被朝近侧拉动时,闭合托架16046将闭合管16047朝近侧拉动。闭合管16047的远侧端部与端部执行器的砧座16040接合,使得当闭合管16047被朝远侧移动时,闭合管16047将砧座16040朝向其闭合位置移动,并且当闭合管16047被朝近侧移动时,闭合管16047将砧座16040朝向其打开位置移动。
闭合螺母16044包括安装到其的可检测元件,并且轴组件16000包括一个或多个传感器,所述一个或多个传感器被构造成能够检测可检测元件的移动,且因此检测闭合螺母16044的移动。在至少一个实施方案中,可检测元件包括例如永磁体的磁性元件16048,并且轴组件16000包括被构造成能够检测磁性元件16048的移动的近侧传感器16018p和远侧传感器16018d。近侧传感器16018p与闭合螺母16044的最近侧位置相邻定位,并且被构造成能够检测闭合螺母16044相对于其最近侧位置的位置。近侧传感器16018p包括例如霍尔传感器;然而,近侧传感器16018p可包括任何合适的传感器或传感器系统。近侧传感器16018d与闭合螺母16044的最远侧位置相邻定位,并且被构造成能够检测闭合螺纹16044相对于其最远侧位置的位置。远侧传感器16018d包括例如霍尔传感器;然而,远侧传感器16018d可包括任何合适的传感器或传感器系统。近侧传感器16018p和远侧传感器16018d经由电触点16076与柄部16070的微处理器和/或控制系统进行信号通信。可设想出其中近侧传感器16018p和远侧传感器16018d与柄部16070的微处理器和/或控制系统进行无线信号通信的其他实施方案。
轴组件16000的击发系统包括可旋转地支撑在轴外壳16010中的击发轴16053。击发轴16053能够围绕第二纵向轴线16051旋转。第二纵向轴线16051平行于第一纵向轴线16041;然而,第一轴线16041和第二轴线16051可沿任何合适的方向延伸。击发轴16053和轴外壳16010包括协同工作的特征结构和/或轴承,所述协同工作的特征结构和/或轴承防止或至少限制击发轴16053沿着纵向轴线16051平移和/或相对于纵向轴线16051侧向地平移。击发轴16053的近侧端部附接到第二输入端16052,使得击发轴16053由第二输入端16052旋转。击发系统还包括击发螺母16054,击发螺母16054由击发轴16053朝近侧和朝远侧平移。击发螺母16054包括延伸穿过其的螺纹孔,并且击发轴16053包括延伸穿过该螺纹孔的螺纹部分。击发轴16053的螺纹部分与击发螺母16054的螺纹孔以螺纹方式接合,使得当击发轴16053沿第一方向旋转时,击发螺母16054朝远侧推进。类似地,当击发轴16053沿第二或相反方向旋转时,击发螺母16054朝近侧缩回。击发螺母16054还包括与轴外壳16010可滑动地接合的一个或多个防旋转特征结构,所述一个或多个防旋转特征结构防止击发螺母16054由击发轴16053旋转。
除上述以外,击发系统包括从击发螺母16054延伸的击发杆16056。当击发螺母16054由击发轴16053朝远侧驱动时,击发螺母16054将击发杆16056朝远侧推动,并且相应地,当击发螺母16054由击发轴16053朝近侧拉动时,击发螺母16054将击发杆16056朝近侧拉动。击发系统还包括从击发杆16056朝远侧延伸的击发构件16057。类似于上述,当击发杆16056被朝远侧推动时,击发杆16056将击发构件16057朝远侧推动,并且相应地,当击发杆16056被朝近侧拉动时,击发杆16056将击发构件16057朝近侧拉动。击发构件16057的远侧端部被构造成能够当击发构件16057朝远侧推进时将钉从钉仓16050射出。在至少一种情况下,击发构件16057可将滑动件朝远侧推动,所述滑动件将钉朝向砧座16040提升。在某些情况下,击发构件16057可包括切割表面,所述切割表面横切定位在砧座16040和钉仓16050中间的组织。
击发螺母16054包括安装到其的可检测元件,并且轴组件16000包括一个或多个传感器,所述一个或多个传感器被构造成能够检测可检测元件的移动,且因此,检测击发螺母16054的移动。在至少一个实施方案中,可检测元件包括例如永磁体的磁性元件16058,并且轴组件16000包括被构造成能够检测磁性元件16058的移动的近侧传感器16019p和远侧传感器16019d。近侧传感器16019p与击发螺母16054的最近侧位置相邻定位,并且被构造成能够检测击发螺母16054相对于其最近侧位置的位置。近侧传感器16019p包括例如霍尔传感器;然而,近侧传感器16019p可包括任何合适的传感器或传感器系统。近侧传感器16019d与击发螺母16054的最远侧位置相邻定位,并且被构造成能够检测击发螺母16054相对于其最远侧位置的位置。远侧传感器16019d包括例如霍尔传感器;然而,远侧传感器16019d可包括任何合适的传感器或传感器系统。闭合托架16046包括限定于其中的纵向狭槽16049,纵向狭槽16049允许远侧传感器16019d检测磁性元件16058。近侧传感器16019p和远侧传感器16019d经由电触点16076与柄部16070的微处理器和/或控制系统进行信号通信。可设想出其中近侧传感器16019p和远侧传感器16019d与柄部16070的微处理器和/或控制系统进行无线信号通信的其他实施方案。
除上述以外,轴组件16000的关节运动系统被构造成能够从轴组件16000的外壳16010的内部产生输入运动。关节运动系统包括关节运动马达16032,关节运动马达16032包括可旋转输出轴16033。输出轴16033能够围绕第三纵向轴线16031旋转。第三纵向轴线16031平行于或至少基本上平行于第一轴线16041和第二纵向轴线16051;然而,第一轴线16041、第二轴线16051和/或第三轴线16031可沿任何合适的方向延伸。输出轴16033还包括朝远侧延伸的螺纹部分,所述朝远侧延伸的螺纹部分与齿条16034以螺纹方式接合。当输出轴16033沿第一方向旋转时,输出轴16033将齿条16034朝远侧推动。相应地,当输出轴16033沿第二或相反方向旋转时,输出轴16033将齿条1634朝近侧拉动。因此,齿条16034由关节运动马达16032朝近侧和朝远侧平移。
关节运动系统还包括从齿条16034延伸的连接器16035和从连接器16035朝远侧延伸的关节运动杆16036。连接器16035和关节运动杆16036随齿条16034一起朝近侧和朝远侧平移。关节运动杆16036延伸穿过轴组件16010的细长轴16020和关节运动接头16030。关节运动杆16036连接到端部执行器,使得关节运动杆16036的运动使端部执行器围绕关节运动接头16030旋转。关节运动马达16032使轴16033沿其第一方向旋转,以使端部执行器沿第一方向旋转,并且使轴16033沿其第二方向旋转,以使端部执行器沿第二方向旋转,如在下文更详细地论述。
除上述以外,参见图126,齿条16034包括图122所示的与端部执行器的未关节运动位置对应的居中位置。当轴16033沿其第一方向旋转且齿条16034朝远侧平移时,关节运动杆16036将端部执行器围绕关节运动接头16030推动,如图123所示。当轴16033沿其第二方向旋转且齿条16034朝近侧平移时,如图129-131所示,关节运动杆16036将端部执行器沿相反方向围绕关节运动接头16030拉动。为了使端部执行器重新居中,齿条16034被重新定位在图126所示的其居中位置。
在使用中,端部执行器可沿第一方向和/或第二方向关节运动,以便将端部执行器定位在合适的位置。在端部执行器的关节运动期间,砧座16040可处于打开位置。另选地,当端部执行器正在关节运动时,砧座16040可处于闭合位置。砧座16040的打开位置与图126和图127所示的闭合螺母16044的最近侧位置相关联。相应地,砧座16040的闭合位置与图129和图130所示的闭合螺母16044的最远侧位置相关联。一旦砧座16030已闭合,则击发螺母16054可从图126、图127和图129所示的其最近侧位置朝向端部执行器的远侧端部移动,以从钉仓16050击发钉。图130示出了处于部分推进位置的击发螺母16054。
钉仓16050的钉由钉驱动器支撑在限定于钉仓16050的仓体中的钉腔中。驱动器能够在第一或非击发位置和第二或击发位置之间移动,以从钉仓射出钉。驱动器能够通过滑动件在其非击发位置和击发位置之间移动。滑动件170能够在邻近钉仓16050的近侧端部的近侧位置与邻近钉仓16050的远侧端部的远侧位置之间移动。滑动件包括多个斜坡表面,该斜坡表面被构造成能够朝向砧座在驱动器下方滑动以及提升驱动器,并且钉在驱动器上受到支撑。
除上述以外,滑动件由击发构件16057朝远侧移动。击发构件16057被构造成能够接触滑动件并将滑动件朝向远侧端部推动。限定于仓体中的纵向狭槽被构造成能够接收击发构件16057。砧座还包括被构造成能够接收击发构件16057的狭槽。击发构件16057还包括接合砧座16040的第一凸轮和接合钉仓16050的第二凸轮。当击发构件16057朝远侧推进时,第一凸轮和第二凸轮可控制钉仓16050的平台和砧座16040之间的距离或组织间隙。击发构件16057还包括刀163,所述刀被构造成能够切入捕集在钉仓16050和砧座16040中间的组织。希望刀至少部分地定位在滑动件的坡面近侧,使得钉先于刀射出。
在各种情况下,除上述以外,钉仓16050可完全被击发,或者在其他情况下,钉仓16050可部分地被击发,从而使一些钉留在钉仓中。在任一种情况下,击发螺母16054可缩回到其最近侧位置(图126、图127和图129)。砧座16040可通过使闭合螺母16044朝向其最近侧位置缩回而被重新打开,以释放夹持在砧座16040和钉仓16050之间的组织。在一些情况下,击发螺母16054必须在砧座16040可打开之前完全缩回,特别是在其中击发构件16057包括上述第一凸轮和第二凸轮的实施方案中。换句话说,击发构件16057的第一凸轮和第二凸轮可将砧座16040锁定在闭合位置,并且砧座16040必须在其可打开之前解锁。在其中击发构件16057不包括此类凸轮的实施方案中,砧座16040可在击发构件16057完全缩回之前重新打开。在一些情况下,砧座16040可能不需要完全重新打开以释放组织。在任何情况下,在将轴组件16000拉回穿过套管针以便从手术部位移除轴组件16000之前,端部执行器可通过关节运动系统重新居中,或者至少基本上重新居中。
如上所述,轴组件可被构造成能够从外部源接收一个或多个输入运动,并且还从内部源产生一个或多个输入运动。上述轴组件16000的关节运动系统仅为在轴组件16000内部的运动发生器的一个示例。在各种另选实施方案中,赋予砧座16040的闭合运动和/或施加到钉仓16050的击发运动从轴组件16000的内部产生。除了或代替上述,轴组件可产生例如使细长轴16020和端部执行器围绕纵向轴线16001旋转的输入运动。主要参见图128,细长轴16020的框架16022可在包括外壳螺纹16014和轴螺纹16024的螺纹接合部处以螺纹方式接合在轴组件外壳16010内。位于轴组件16000内的电动马达可产生旋转运动并将该旋转运动施加到细长轴16020。
现在参见图132和图133,外科器械系统的柄部17000适用于以两种或两种以上构型构造。图132示出了处于手枪式握把构型的柄部17000,并且图133示出了处于例如并行或棒式握把构型的柄部17000。在某些情况下,临床医生可能更喜欢柄部17000处于手枪式握把构型,并且在其他情况下,临床医生可能更喜欢柄部17000处于棒式握把构型,视各种情况而定。柄部17000包括被构造成能够使轴组件可释放地附接其到的主体部分17010,并且还包括被构造成能够由临床医生握持的抓握部分17020。抓握部分17020围绕枢轴17015可旋转地连接到主体部分17010。如在下文更详细地论述,马达定位在抓握部分17020中且输出端可由主体部分17010可动地支撑。同样如下文更详细地描述,柄部17000包括传输装置,所述传输装置被构造成能够将马达的旋转输出传递到输出端,而不管柄部17000所处的构型如何。
柄部17000包括两个驱动系统;然而,柄部17000可包括任何合适数量的驱动系统。柄部17000的第一驱动系统包括可操作地联接到第一可旋转输出端17037的第一电动马达17030。第一马达17030的外壳固定地安装在抓握部分17020内,使得第一马达外壳不相对于抓握部分17020移动。第一马达17030包括从其延伸的电触点17017,所述电触点被安装到例如定位在抓握部分17020内的印刷电路板(PCB)17016上。PCB 17016可包括被构造成能够控制第一驱动系统的微处理器和/或控制系统。PCB 17016为刚性的且可固定地安装在抓握部分17020中;然而,可设想出其中PCB 17016为柔性的且可包括例如柔性电路基板的其他实施方案。
柄部17000还包括用于操作柄部17000的第一驱动系统的第一致动器17039。第一致动器17039包括例如摇臂开关,所述摇臂开关被构造成能够当第一致动器17039沿第一方向推动时闭合第一开关17011,或者当第一致动器17039沿第二方向推动时闭合第二开关17012。第一开关17011和第二开关17012与柄部17000的控制系统进行信号通信。当第一开关17011闭合时,控制系统可沿第一方向操作第一马达17030,以使第一柄部输出端17037沿第一方向旋转。类似地,当第二开关17012闭合时,控制系统可沿第二或相反方向操作第一马达17030,以使第一柄部输出端17037沿第二或相反方向旋转。
第一马达17030包括可旋转输出端17032,可旋转输出端17032能够围绕第一纵向轴线17031旋转。柄部17000的第一驱动系统还包括第一柔性驱动轴17036,第一柔性驱动轴17036被构造成能够在第一马达输出端17032和第一柄部输出端17037之间传递旋转运动。在至少一种情况下,柔性驱动轴17036包括例如缆线。柔性驱动轴17036由第一长度限定。在各种情况下,当柄部17000处于第一构型时,第一长度可适于在第一马达17030和第一输出端17037之间传递旋转运动;然而,当柄部17000处于没有用于调节第一驱动系统的装置的第二或不同构型时,第一长度可能太长或太短而不能在第一马达17030和第一输出端17037之间适当地传递旋转运动。
柄部17000还包括第一传输装置,所述第一传输装置可被构造成能够适应第一马达17030和第一输出端17037之间的不同长度。第一传输装置包括滑配接头,所述滑配接头被构造成能够在第一马达轴17032和第一柔性驱动轴17036之间传递旋转运动,而且允许第一柔性驱动轴17036相对于第一马达轴17032平移或滑动,使得第一驱动系统可适应第一马达17030和第一输出端17037之间的所需驱动长度。第一传输装置包括固定地安装到第一马达轴17032上的衬圈17033。衬圈17033由第一马达轴17032旋转且不相对于第一马达轴17032平移。衬圈17033包括限定于其中的纵向孔17034,并且第一柔性驱动轴17036包括定位在纵向孔17034中的近侧端部。驱动轴17036的近侧端部与孔17034键合,使得近侧端部(1)随衬圈17033一起旋转和(2)在衬圈17033的孔17034内滑动。
参见图132,第一马达17030沿着第一马达轴线17031延伸,并且第一输出端17037沿着第一输出轴线17038延伸。当柄部17000处于手枪式握把构型(图132)时,第一马达轴线17031沿横向于第一输出轴线17038的方向延伸。在此类情况下,第一角度A限定于第一马达轴线17031和第一输出轴线17038之间。当抓握部分17020朝向图133所示的其棒式握把构型旋转时,第一马达17030被移动到并行构型,并且第一输出轴线17038与第一马达轴线17031对齐,或至少基本上对齐。在至少一种情况下,当抓握部17020处于其棒式握把构型(图133)时,第一马达轴线17031和第一输出轴线17038变为共线的。在这种情况下,角度A为180度。在另选的实施方案中,当柄部17000处于其棒式握把构型时,第一马达轴线17031平行于第一输出轴线17038。
在对比图132和图133后,除上述以外,读者将理解,柔性驱动轴17036的构型可改变,以便适应柄部17000的不同构型。例如,当柄部17000处于其手枪式握把构型(图132)时,驱动轴17036是弯的,而当柄部17000处于其棒式握把构型(图133)时,是直的。此外,相比于当柄部17000处于其棒式握把构型(图133)时,当柄部17000处于其手枪式握把构型(图132)时,第一驱动系统的所需驱动长度较短。例如,当柄部17000处于其手枪式握把构型(图132)时,驱动轴17036的近侧端部在衬圈孔17034中触底,而当柄部17000处于其棒式握把构型(图133)时,在驱动轴17036的近侧端部和衬圈孔17034的底部之间存在间隙。驱动轴17036和衬圈17033之间的滑配接头允许第一驱动系统根据需要延伸和收缩。
柄部17000的第二驱动系统包括第二电动马达17040,第二电动马达17040可操作地联接到第二可旋转输出端17047。第二马达17040的外壳固定地安装在抓握部分17020内,使得第二马达外壳不相对于抓握部分17020移动。第二马达17040包括从其延伸的电触点17017,电触点17017安装到例如定位在抓握部分17020中的印刷电路板(PCB)17016上。柄部17000还包括用于操作柄部17000的第二驱动系统的第二致动器17049。第二致动器17049被构造成能够当第二致动器17049被按压时闭合第三开关17013。第三开关17013与柄部17000的控制系统进行信号通信。当第三开关17013闭合时,控制系统可操作第二马达17040。
第二马达17040包括可旋转输出端17042,可旋转输出端17042能够围绕第二纵向轴线17041旋转。柄部17000的第二驱动系统还包括第二柔性驱动轴17046,第二柔性驱动轴17046被构造成能够在第二马达输出端17042和第二柄部输出端17047之间传递旋转运动。在各种情况下,驱动轴17046可包括例如缆线。柔性驱动轴17046由第二长度限定。在各种情况下,当柄部17000处于第一构型时,第二长度可适于在第二马达17040和第二输出端17047之间传递旋转运动;然而,当柄部17000处于没有用于调节第二驱动系统的装置的第二或不同构型时,第二长度可能太长或太短而不能在第二马达17040和第二输出端17047之间适当地传递旋转运动。
柄部17000还包括第二传输装置,所述第二传输装置可被构造成能够适应第二马达17040和第二输出端17047之间的不同长度。第二传输装置包括滑配接头,所述滑配接头被构造成能够在第二马达轴17042和第二柔性驱动轴17046之间传递旋转运动,而且允许第二柔性驱动轴17046相对于第二马达轴17042平移或滑动,使得第二驱动系统可适应第二马达17040和第二输出端17047之间的所需驱动长度。第二传输装置包括固定地安装到第二马达轴17042上的衬圈17043。衬圈17043由第二马达轴17042旋转且不相对于第二马达轴17042平移。衬圈17043包括限定于其中的纵向孔17044,并且第二柔性驱动轴17046包括定位在纵向孔17044中的近侧端部。驱动轴17046的近侧端部与孔17044键合,使得近侧端部(1)随衬圈17043一起旋转和(2)在衬圈17043的孔17044内滑动。
参见图132,第二马达17040沿着第二马达轴线17041延伸,并且第二输出端17047沿着第二输出轴线17048延伸。当柄部17000处于手枪式握把构型(图132)时,第二马达轴线17041沿横向于第二输出轴线17048的方向延伸。在此类情况下,第二角度B限定于第二马达轴线17041和第二输出轴线17048之间。当抓握部分17020朝向图133所示的其棒式握把构型旋转时,第二马达17040被移动到并行构型,并且第二输出轴线17048与第二马达轴线17041对齐,或至少基本上对齐。在至少一种情况下,当抓握部分17020处于其棒式握把构型(图133)时,第二马达轴线17041和第二输出轴线17048变为共线的。在这种情况下,角度B为180度。在另选的实施方案中,当柄部17000处于其棒式握把构型时,第二马达轴线17041平行于第二输出轴线17048。
在对比图132和图133后,除上述以外,读者将理解,柔性驱动轴17046的构型可改变,以便适应柄部17000的不同构型。例如,当柄部17000处于其手枪式握把构型(图132)时,驱动轴17046是弯的,而当柄部17000处于其棒式握把构型(图133)时,是直的。此外,相比于当柄部17000处于其棒式握把构型(图133)时,当柄部17000处于其手枪式握把构型(图132)时,第二驱动系统的所需驱动长度较长。例如,当柄部17000处于其棒式握把构型(图133)时,驱动轴17046的近侧端部在衬圈孔17044中触底,而当柄部17000处于其手枪式握把构型(图132)时,在马达轴17046的近侧端部和衬圈孔17044的底部之间存在间隙。驱动轴17046和衬圈17043之间的滑配接头允许第二驱动系统根据需要延伸和收缩。
如上所述,抓握部分17020能够围绕枢轴17015相对于主体部分17010旋转。枢轴17015包括例如固定轴线枢轴,其中抓握部分17020能够围绕枢轴线17019旋转。枢轴17015允许柄部17000的主体部分17010和抓握部分17020之间的关节运动。在各种情况下,枢轴17015可包括铰链。枢轴17015沿着第一输出轴线17038定位;然而,枢轴17015可定位在任何合适的位置。作为上述的结果,枢轴线17019正交于第一输出轴线17038。此外,枢轴线17019正交于第一马达轴线17031。主要参见图132,枢轴线17019延伸穿过第一马达轴线17031和第一输出轴线17038之间的相交点。可设想出其中枢轴17015例如定位在第一输出轴线17038和第二输出轴线17048中间的另选的实施方案。在至少一个这样的实施方案中,枢轴线17019例如定位在第一输出轴线17038和第二输出轴线17048的正中间。
当抓握部分17020从其手枪式握把位置(图132)朝向其棒式握把位置(图133)旋转,除上述以外,第一驱动系统的所需驱动长度增大且第二驱动系统的所需驱动长度减小。相应地,当抓握部分17120从其棒式握把位置(图133)朝向其手枪式握把位置(图132)旋转时,第一驱动系统的所需驱动长度减小且第一驱动系统的所需驱动长度增大。在其中枢轴17015在第一输出轴线17038和第二输出轴线17048之间居中的实施方案中,第一驱动系统和第二驱动系统的驱动长度将调节相同的量,但是在不同的方向。在其中枢轴17015相较于第二输出轴线17048更靠近第一输出轴线17038的实施方案中,如上所述,第二驱动系统将比第一驱动系统调节更多的量。类似地,当枢轴17015相较于第一输出轴17038更靠近第二输出轴线17048时,第一驱动系统将比第二驱动系统调节更多的量。
柄部组件17000还包括锁定件,该锁定件被构造成能够将抓握部分17020相对于主体部分17010锁定就位。该锁定件被构造成能够将抓握部分17020锁定在其手枪式握把位置和其棒式握把位置和/或介乎两者之间的任何其他合适的位置。在至少一种情况下,锁定件被构造成能够将抓握部分17020以仅手枪式握把构型(图132)或棒式握把构型(图133)锁定至主体部分17010。在至少一种情况下,锁定件可将抓握部分17020保持在一系列离散位置。在某些情况下,锁定件可包括被构造成能够将抓握部分17020保持在任何合适的位置的制动器。
柄部组件17000还包括定位在主体部分17010中的电池17014;然而,电池可定位在柄部组件17000中的任何合适的位置。例如,电池17014被构造成能够向控制系统、第一电动马达17030和/或第二电动马达17040提供功率。
柄部组件17100示于图134和图135中。柄部组件17100在许多方向类似于柄部组件17000。柄部组件17100包括抓握部分17120、与第一可旋转输出端17037可操作地联接的第一驱动系统、以及与第二可旋转输出端17047可操作地联接的第二驱动系统。
第一驱动系统包括第一电动马达17130,第一电动马达17130包括沿着第一马达轴线17131延伸的可旋转输出轴17132。输出轴17132经由联接器17133联接到柔性驱动轴17136,使得输出轴17132的旋转运动被传递到柔性驱动轴17136。与上述实施方案不同,驱动轴17136和联接器17133不相对于输出轴17132平移。为了适应当抓握部分17120在其手枪式握把位置(图134)和其棒式握把位置(图135)之间移动时发生的驱动长度的变化,第一马达17130可在抓握部分17120内滑动。抓握部分17120包括框架17117,框架17117被构造成能够引导第一马达17130,使得第一马达17130沿着第一马达轴线17131滑动。类似于上述,第一马达17130包括电触点17116,电触点17116与柄部组件17100的控制系统进行通信。在至少一种情况下,柔性线可连接到电触点17116,以适应第一马达17130的移动。
第二驱动系统包括第二电动马达17140,第二电动马达17140包括沿着第二马达轴线17141延伸的可旋转输出轴17142。输出轴17142经由联接器17143联接到柔性驱动轴17146,使得输出轴17142的旋转运动被传递到柔性驱动轴17146。与上述实施方案不同,驱动轴17146和联接器17143不相对于输出轴17142平移。为了适应当抓握部分17120在其手枪式握把位置(图134)和其棒式握把位置(图135)之间移动时发生的驱动长度的变化,第二马达17140可在抓握部分17120内滑动。框架17117被构造成能够引导第二马达17140,使得第二马达17140沿着第二马达轴线17141滑动。类似于上述,第二马达17140包括电触点17116,电触点17116与柄部组件17100的控制系统进行通信。在至少一种情况下,柔性线可连接到电触点17116,以适应第二马达17140的移动。
如上所述,图132和图133的柄部组件17000包括定位在其可枢转抓握部分17020中的多个电动马达,即,马达17030和17040,所述多个电动马达驱动主体部分17010中的多个可旋转输出端,即,输出端17037和17047。类似地,图134和图135的柄部组件17100包括定位在其可枢转抓握部分17120中的多个电动马达,即,17130和17140,所述多个电动马达驱动主体部分17110中的多个可旋转输出端,即,输出端17137和17147。可设想出其中一个或多个电动马达定位在柄部组件的主体部分(例如主体部分17010和17110)中的各种实施方案。例如,在至少一个实施方案中,第一电动马达可定位在可驱动第一可旋转输出端的柄部组件的可移动抓握部分中,而第二电动马达可定位在可驱动第二可旋转输出端的柄部组件的主体部分中。在这种实施方案中,第一电动马达能够相对于第二电动马达枢转。
实施例
实施例1-一种与外科器械系统的柄部一起使用的轴组件,所述轴组件包括:附接部分,所述附接部分被构造成能够可释放地附接到所述柄部;第一驱动输入端,所述第一驱动输入端被构造成能够从所述柄部接收第一驱动运动;第二驱动输入端,所述第二驱动输入端被构造成能够从所述柄部接收第二驱动运动;以及端部执行器,所述端部执行器包括第一钳口和第二钳口,其中所述第一钳口能够相对于所述第二钳口移动。所述轴组件还包括:击发构件,所述击发构件能够在所述端部执行器内移动;关节运动接头,其中所述端部执行器能够围绕所述关节运动接头旋转;以及闭合驱动器,所述闭合驱动器可操作地联接到所述第一驱动输入端和所述第一钳口,其中所述闭合驱动器被构造成能够将所述第一驱动运动传递到所述第一钳口,以使所述第一钳口在打开位置和闭合位置之间移动。所述轴组件还包括:击发驱动器,所述击发驱动器可操作地联接到所述第二驱动输入端和所述击发构件,其中所述击发驱动器被构造成能够将所述第二驱动运动传递到所述击发构件,以使所述击发构件相对于所述端部执行器移动;以及关节运动驱动器,所述关节运动驱动器包括马达,所述马达被构造成能够产生第三驱动运动,其中所述关节运动驱动器被构造成能够将所述第三驱动运动传递到所述端部执行器,以使所述端部执行器围绕所述关节运动接头旋转。
实施例2-根据实施例1所述的轴组件,还包括电池,所述电池被构造成能够向所述马达提供功率。
实施例3-根据实施例1或2所述的轴组件,还包括电触点,所述电触点被构造成能够当所述轴组件组装到所述柄部上时与所述柄部上的电触点电联接。
实施例4-根据实施例1、2或3所述的轴组件,其中所述端部执行器包括钉仓,所述钉仓包括可移除地存储在其中的多个钉,并且其中所述击发构件被构造成能够从所述钉仓射出所述钉。
实施例5-根据实施例4所述的轴组件,其中所述钉仓可替换地定位在所述第二钳口中。
实施例6-根据实施例4所述的轴组件,其中所述钉仓可替换地定位在所述第一钳口中。
实施例7-根据实施例1、2、3、4、5或6所述的轴组件,其中所述击发构件包括第一凸轮和第二凸轮,所述第一凸轮被构造成能够接合所述第一钳口,所述第二凸轮被构造成能够接合所述第二钳口,并且其中所述第一凸轮和所述第二凸轮被构造成能够将所述第一钳口相对于所述第二钳口定位。
实施例8-一种与外科器械系统的柄部一起使用的模块化轴组件,所述模块化轴组件包括:附接部分,所述附接部分被构造成能够可释放地附接到所述柄部;第一驱动输入端,所述第一驱动输入端被构造成能够从所述柄部接收第一驱动运动;第二驱动输入端,所述第二驱动输入端被构造成能够从所述柄部接收第二驱动运动;以及第三驱动输入端,所述第三驱动输入端被构造成能够在所述模块化轴组件内产生第三驱动运动。所述模块化轴组件还包括:端部执行器,所述端部执行器包括第一钳口和第二钳口,其中所述第一钳口能够响应于所述第一驱动运动、所述第二驱动运动和所述第三驱动运动中的一者而相对于所述第二钳口运动;击发构件,所述击发构件能够响应于所述第一驱动运动、所述第二驱动运动和所述第三驱动运动中的一者而在所述端部执行器内移动;以及关节运动接头,其中所述端部执行器能够响应于所述第一驱动运动、所述第二驱动运动和所述第三驱动运动中的一者而围绕所述关节运动接头旋转。
实施例9-根据实施例8所述的模块化轴组件,其中所述第三驱动输入端包括电动马达和被构造成能够向所述电动马达提供功率的电池。
实施例10-根据实施例8或9所述的模块化轴组件,还包括电触点,所述电触点被构造成能够当所述模块化轴组件组装到所述柄部上时与所述柄部上的电触点电联接。
实施例11-根据实施例8、9或10所述的模块化轴组件,其中所述端部执行器包括钉仓,所述钉仓包括可移除地存储在其中的多个钉,并且其中所述击发构件被构造成能够从所述钉仓射出所述钉。
实施例12-根据实施例11所述的模块化轴组件,其中所述钉仓可替换地定位在所述第二钳口中。
实施例13-根据实施例11所述的模块化轴组件,其中所述钉仓可替换地定位在所述第一钳口中。
实施例14-根据实施例8、9、10、11、12或13所述的模块化轴组件,其中所述击发构件包括第一凸轮和第二凸轮,所述第一凸轮被构造成能够接合所述第一钳口,所述第二凸轮被构造成能够接合所述第二钳口,并且其中所述第一凸轮和所述第二凸轮被构造成能够将所述第一钳口相对于所述第二钳口定位。
实施例15-一种与外科器械系统一起使用的轴组件,所述轴组件包括:附接部分,所述附接部分被构造成能够可释放地附接到所述外科器械系统;第一驱动输入端,所述第一驱动输入端被构造成能够从所述外科器械系统接收第一驱动运动;第二驱动输入端,所述第二驱动输入端被构造成能够从所述外科器械系统接收第二驱动运动;以及端部执行器,所述端部执行器包括第一钳口和第二钳口,其中所述第一钳口能够相对于所述第二钳口运动。所述轴组件还包括:击发构件,所述击发构件能够在所述端部执行器内移动;关节运动接头,其中所述端部执行器能够围绕所述关节运动接头旋转;以及闭合驱动器,所述闭合驱动器包括第一纵向螺纹轴,所述第一纵向螺纹轴可操作地联接到所述第一驱动输入端和所述第一钳口,其中所述第一纵向螺纹轴被构造成能够将所述第一驱动运动传递到所述第一钳口,以使所述第一钳口在打开位置和闭合位置之间移动。所述轴组件还包括:击发驱动器,所述击发驱动器包括第二纵向螺纹轴,所述第二纵向螺纹轴可操作地联接到所述第二驱动输入端和所述击发构件,其中所述第二纵向螺纹轴被构造成能够将所述第二驱动运动传递到所述击发构件,以使所述击发构件相对于所述端部执行器移动;以及关节运动驱动器,所述关节运动驱动器包括马达,所述马达被构造成能够产生第三驱动运动,其中所述关节运动驱动器还包括第三纵向螺纹轴,所述第三纵向螺纹轴被构造成能够将所述第三驱动运动传递到所述端部执行器,以使所述端部执行器围绕所述关节运动接头旋转。
实施例16-根据实施例15所述的轴组件,还包括电池,所述电池被构造成能够向所述电动马达提供功率。
实施例17-根据实施例15或16所述的轴组件,还包括电触点,所述电触点被构造成能够当所述轴组件组装到所述外科器械系统上时与所述外科器械系统上的电触点电联接。
实施例18-根据实施例15、16或17所述的轴组件,其中所述端部执行器包括钉仓,所述钉仓包括可移除地存储在其中的多个钉,并且其中所述击发构件被构造成能够从所述钉仓射出所述钉。
实施例19-根据实施例18所述的轴组件,其中所述钉仓可替换地定位在所述第二钳口中。
实施例20-根据实施例18所述的轴组件,其中所述钉仓可替换地定位在所述第一钳口中。
实施例21-根据实施例15、16、17、18、19或20所述的轴组件,其中所述第一纵向轴、所述第二纵向轴和所述第三纵向轴彼此平行。
实施例22-根据实施例15、16、17、18、19、20或21所述的轴组件,其中所述击发构件包括第一凸轮和第二凸轮,所述第一凸轮被构造成能够接合所述第一钳口,所述第二凸轮被构造成能够接合所述第二钳口,并且其中所述第一凸轮和所述第二凸轮被构造成能够将所述第一钳口相对于所述第二钳口定位。
实施例23-一种与外科器械系统一起使用的柄部,所述柄部包括:第一柄部外壳部分,所述第一柄部外壳部分包括:第一输出端,所述第一输出端能够围绕第一纵向轴线旋转;和第二输出端,所述第二输出端能够围绕第二纵向轴线旋转;以及第二柄部外壳部分,所述第二柄部外壳部分包括:第一电动马达,所述第一电动马达包括第一可旋转马达轴;第二电动马达,所述第二电动马达包括第二可旋转马达轴;第一致动器,所述第一致动器用于操作所述第一电动马达;和第二致动器,所述第二致动器用于操作所述第二电动马达。所述柄部还包括:铰链,其中所述第二柄部外壳部分围绕所述铰链可旋转地连接到所述第一柄部外壳部分,其中所述第二柄部外壳部分能够在手枪式握把位置和一列式握把位置之间旋转;第一柔性传输装置,所述第一柔性传输装置被构造成能够在所述第一马达轴和所述第一可旋转输出端之间传递旋转运动;以及第二柔性传输装置,所述第二柔性传输装置被构造成能够在所述第二马达轴和所述第二可旋转输出端之间传递旋转运动。
实施例24-根据实施例23所述的柄部,其中所述第一柔性传输装置包括第一缆线,并且其中所述第二柔性传输装置包括第二缆线。
实施例25-根据实施例23或24所述的柄部,其中所述第一传输装置包括第一滑配接头,所述第一滑配接头被构造成能够适应所述第一电动马达和所述第一输出端之间的长度变化,并且其中所述第二传输装置包括第二滑配接头,所述第二滑配接头被构造成能够适应所述第二电动马达和所述第二输出端之间的长度变化。
实施例26-根据实施例23、24或25所述的柄部,其中当第二柄部外壳部分处于所述手枪式握把位置时,所述第一可旋转马达轴沿横向于所述第一纵向轴线的方向延伸,并且其中当所述第二柄部外壳部分处于所述一列式握把位置时,所述第一可旋转马达轴沿与所述第一纵向轴线平行的方向延伸。
实施例27-根据实施例23、24、25或26所述的柄部,其中当所述第二柄部外壳部分处于所述手枪式握把位置时,所述第二可旋转马达轴沿垂直于所述第二纵向轴线的方向延伸,并且其中当所述第二柄部外壳部分处于所述一列式握把位置时,所述第二可旋转马达轴沿与所述第二纵向轴线平行的方向延伸。
实施例28-根据实施例23、24、25、26或27所述的柄部,还包括外壳锁定件,所述外壳锁定件被构造成能够将所述第二柄部外壳部分可释放地锁定在所述手枪式握把位置和所述一列式握把位置。
实施例29-根据实施例28所述的柄部,其中只有当所述第二柄部外壳部分处于所述手枪式握把位置和所述一列式握把位置时,所述外壳锁定件才将所述第二柄部外壳部分锁定到所述第一柄部外壳部分。
实施例30-根据实施例23、24、25、26、27、28或29所述的柄部,其中所述第一柄部外壳部分包括轴附接部分,并且其中模块化轴组件能够可释放地附接到所述轴附接部分。
实施例31-一种与外科器械系统一起使用的柄部,所述柄部包括:第一柄部外壳部分,所述第一柄部外壳部分包括:第一输出端,所述第一输出端能够围绕第一纵向轴线旋转;和第二输出端,所述第二输出端能够围绕第二纵向轴线旋转;以及第二柄部外壳部分,所述第二柄部外壳部分包括:第一电动马达,所述第一电动马达包括第一可旋转马达轴;第二电动马达,所述第二电动马达包括第二可旋转马达轴;第一致动器,所述第一致动器用于操作所述第一电动马达;和第二致动器,所述第二致动器用于操作所述第二电动马达。所述柄部还包括:关节运动接头,其中所述第二柄部外壳部分围绕所述关节运动接头可旋转地连接到所述第一柄部外壳部分,并且其中所述第二柄部外壳部分能够在第一握把位置和第二握把位置之间旋转;第一传输装置,所述第一传输装置被构造成能够在所述第一马达轴和所述第一可旋转输出端之间传递旋转运动;以及第二传输装置,所述第二传输装置被构造成能够在所述第二马达轴和所述第二可旋转输出端之间传递旋转运动。
实施例32-根据实施例31所述的柄部,其中所述第一传输装置包括第一缆线,并且其中所述第二传输装置包括第二缆线。
实施例33-根据实施例31或32所述的柄部,其中所述第一传输装置包括第一滑配接头,所述第一滑配接头被构造成能够适应所述第一电动马达和所述第一输出端之间的长度变化,并且其中所述第二传输装置包括第二滑配接头,所述第二滑配接头被构造成能够适应所述第二电动马达和所述第二输出端之间的长度变化。
实施例34-根据实施例31、32或33所述的柄部,其中当所述第二柄部外壳部分处于所述第一握把位置时,所述第一可旋转马达轴沿横向于所述第一纵向轴线的方向延伸,并且其中当所述第二柄部外壳部分处于所述第二握把位置时,所述第一可旋转马达轴沿与所述第一纵向轴线平行的方向延伸。
实施例35-根据实施例31、32、33或34所述的柄部,其中当所述第二柄部外壳部分处于所述第一握把位置时,所述第二可旋转马达轴沿垂直于所述第二纵向轴线的方向延伸,并且其中当所述第二柄部外壳部分处于所述第二握把位置时,所述第二可旋转马达轴沿与所述第二纵向轴线平行的方向延伸。
实施例36-根据实施例31、32、33、34或35所述的柄部,还包括外壳锁定件,所述外壳锁定件被构造成能够将所述第二柄部外壳部分可释放地锁定在所述第一握把位置和所述一列式握把位置。
实施例37-根据实施例36所述的柄部,其中只有当所述第二柄部外壳部分处于所述第一握把位置和所述第二握把位置时,所述外壳锁定件才将所述第二柄部外壳部分锁定到所述第一柄部外壳部分。
实施例38-根据实施例31、32、33、34、35、36或37所述的柄部,其中所述第一柄部外壳部分包括轴附接部分,并且其中模块化轴组件能够可释放地附接到所述轴附接部分。
实施例39-一种与外科器械系统一起使用的柄部,所述柄部包括:第一柄部外壳部分,所述第一柄部外壳部分包括输出端;以及第二柄部外壳部分,所述第二柄部外壳部分包括:电动马达,所述电动马达包括可旋转马达轴;和致动器,所述致动器用于操作所述电动马达。所述柄部还包括:关节运动接头,其中所述第二柄部外壳部分围绕所述关节运动接头可旋转地连接到所述第一柄部外壳部分,并且其中所述第二柄部外壳部分能够在第一握把位置和第二握把位置之间旋转;以及传输装置,所述传输装置被构造成能够在所述第一马达轴和所述输出端之间传递运动。
实施例40-根据实施例39所述的柄部,其中所述传输装置包括缆线。
实施例41-根据实施例39或40所述的柄部,其中所述传输装置包括滑配接头,所述滑配接头被构造成能够适应所述电动马达和所述输出端之间的长度变化。
以下专利的全部公开内容据此以引用方式并入本文:
公布于1995年4月4日的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312;
公布于2006年2月21日的名称为“SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS”的美国专利7,000,818;
公布于2008年9月9日的名称为“MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK”的美国专利7,422,139;
公布于2008年12月16日的名称为“ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS”的美国专利7,464,849;
公布于2010年3月2日的名称为“SURGICAL INSTRUMENT HAVING AN ARTICULATINGEND EFFECTOR”的美国专利7,670,334;
公布于2010年7月13日的名称为“SURGICAL STAPLING INSTRUMENTS”的美国专利7,753,245;
公布于2013年3月12日的名称为“SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE”的美国专利8,393,514;
提交于2006年1月31日的名称为“SURGICAL INSTRUMENT HAVING RECORDINGCAPABILITIES”的美国专利申请序列号11/343,803(现为美国专利7,845,537);
2008年2月14日提交的名称为“SURGICAL CUTTING AND FASTENING INSTRUMENTHAVING RF ELECTRODES”的美国专利申请序列号12/031,573;
提交于2008年2月15日的名称为“END EFFECTORS FOR A SURGICAL CUTTING ANDSTAPLING INSTRUMENT”的美国专利申请序列号12/031,873(现为美国专利7,980,443);
提交于2008年9月23日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利申请序列号12/235,782(现为美国专利8,210,411);
提交于2008年10月10日的名称为“POWERED SURGICAL CUTTING AND STAPLINGAPPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM”的美国专利申请序列号12/249,117(现为美国专利8,608,045);
提交于2009年12月24日的名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENTWITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY”的美国专利申请序列号12/647,100(现为美国专利8,220,688);
提交于2012年9月29日的名称为“STAPLE CARTRIDGE”的美国专利申请序列号12/893,461(现为美国专利8,733,613);
提交于2011年2月28日的名称为“SURGICAL STAPLING INSTRUMENT”的美国专利申请序列号13/036,647(现为美国专利8,561,870);
名称为“SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS”的美国专利申请序列号13/118,241(现为美国专利申请公布2012/0298719);
提交于2012年6月15日的名称为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING A FIRING DRIVE”的美国专利申请序列号13/524,049(现为美国专利申请公布2013/0334278);
提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,025(现为美国专利申请公布2014/0263551);
提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,067(现为美国专利申请公布2014/0263552);
提交于2006年1月31日的名称为“SURGICAL CUTTING AND FASTENING INSTRUMENTWITH CLOSURE TRIGGER LOCKING MECHANISM”的美国专利申请公布2007/0175955;以及
提交于2010年4月22日的名称为“SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR”的美国专利申请公布2010/0264194(现为美国专利8,308,040)。
如前所述,传感器可以被构造成能够检测和收集与外科装置相关联的数据。处理器处理从传感器接收的传感器数据。
处理器可以被构造成能够执行操作逻辑器。处理器可为本领域中已知的多个单核或多核处理器中的任一个。存储装置可包括被构造成能够存储操作逻辑器的永久和临时(工作)拷贝的易失性和非易失性存储介质。
在各种实施方案中,操作逻辑器可以被构造成能够处理与运动相关联的数据,如上所述。在各种实施方案中,操作逻辑器可以被构造成能够执行初始处理,并且将数据传输到托管应用程序的计算机以确定和产生指令。对于这些实施方案,操作逻辑器可以被进一步构造成能够从托管计算机接收信息并且向其提供反馈。在另选实施方案中,操作逻辑器可以被构造成能够在接收信息和确定反馈中扮演更重要的角色。在任一种情况下,无论是其独立确定还是响应于来自托管计算机的指令,操作逻辑器可以被进一步构造成能够控制反馈并向使用者提供反馈。
在各种实施方案中,操作逻辑器可以由处理器的指令集架构(ISA)所支持的指令来实施,或者以更高级语言来实施,并且编译成受支持的ISA。操作逻辑器可包括一个或多个逻辑单元或模块。操作逻辑器可以面向对象的方式来实施。操作逻辑器可被构造成能够以多任务方式和/或多线程方式来执行。在其他实施方案中,操作逻辑器可在例如门阵列的硬件中实施。
在各种实施方案中,通信接口可以被构造成能够有利于外围设备与计算系统之间的通信。该通信可包括将所收集的与位置、姿势相关联的生物计量数据和/或使用者身体部分的运动数据传送到托管计算机,以及将与触觉反馈相关联的数据从主计算机传送到外围设备。在各种实施方案中,通信接口可为有线或无线通信接口。有线通信接口的示例可包括但不限于通用串行总线(USB)接口。无线通信接口的示例可包括但不限于蓝牙接口。
对于各种实施方案,处理器可与操作逻辑器封装在一起。在各种实施方案中,处理器可与操作逻辑器封装在一起以形成系统级封装(SiP)。在各种实施方案中,处理器可在相同裸片上与操作逻辑器一起集成。在各种实施方案中,处理器可与操作逻辑器封装在一起以形成片上系统(SoC)。
各种实施方案可在本文中于计算机可执行指令的一般背景中进行描述,所述计算机可执行指令诸如软件、程序模块、和/或正由处理器执行的引擎。一般来讲,软件、程序模块、和/或引擎包括被布置成执行特定操作或实现特定抽象数据类型的任何软件元件。软件、程序模块、和/或引擎可包括执行特定任务或实施特定抽象数据类型的例程、程序、对象、部件、数据结构等。软件、程序模块、和/或引擎部件和技术的具体实施可存储在某种形式的计算机可读介质上并且/或者通过某种形式的计算机可读介质传输。就此而言,计算机可读介质可以是可用于存储信息且可由计算设备访问的任何可用介质。一些实施方案还可在分布式计算环境中实践,在所述分布式计算环境中,操作由通过通信网络链接的一个或多个远程处理设备执行。在分布式计算环境中,软件、程序模块和/或引擎可位于包括存储器存储装置在内的本地和远程计算机存储介质两者中。可采用存储器(诸如随机存取存储器(RAM)或其他动态存储装置)来存储信息以及待由处理器执行的指令。存储器还可用于在执行待由处理器执行的指令期间存储临时变量或其他中间信息。
虽然可将一些实施方案例示和描述为包括功能部件、软件、引擎、和/或执行各种操作的模块,但应当理解,此类部件或模块可由一个或多个硬件部件、软件部件、和/或它们的组合实现。功能部件、软件、引擎、和/或模块可由例如待被逻辑设备(例如,处理器)执行的逻辑(例如,指令、数据、和/或代码)实现。这种逻辑可存储在位于一种或多种类型的计算机可读存储介质上的逻辑设备内部或外部。在其他实施方案中,功能部件诸如软件、引擎、和/或模块可由硬件元件实现,所述硬件元件可包括处理器、微处理器、电路、电路元件(例如,晶体管、电阻器、电容器、电感器等)、集成电路、专用集成电路(ASIC)、可编程逻辑设备(PLD)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)、逻辑门、寄存器、半导体设备、芯片、微芯片、芯片组,等等。
软件、引擎和/或模块的示例可包括软件部件、程序、应用、计算机程序、应用程序、系统程序、机器程序、操作系统软件、中间件、固件、软件模块、例程、子例程、函数、方法、过程、软件接口、应用程序接口(API)、指令集、计算代码、计算机代码、代码片段、计算机代码片段、字、值、符号、或它们的任何组合。确定实施方案是否使用硬件元件和/或软件元件来实现可以根据任何数量的因素改变,这些因素诸如期望的计算速率、功率水平、热容差、处理循环预算、输入数据速率、输出数据速率、存储器资源、数据总线速度以及其他设计或性能约束。
本文所述的模块中的一个或多个可包括实施为固件、软件、硬件或它们的任意组合的一个或多个嵌入式应用程序。本文所述的模块中的一个或多个可包括各种可执行模块,诸如软件、程序、数据、驱动器、应用程序接口(API)等。固件可存储在控制器2016和/或控制器2022的可包括非易失性存储器(NVM)的存储器诸如位屏蔽只读存储器(ROM)或闪存存储器中。在各种具体实施中,将固件存储在ROM中可保护闪存存储器。非易失性存储器(NVM)可包括其他类型的存储器,包括例如可编程ROM(PROM)、可擦除可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或电池支持的随机存取存储器(RAM),诸如动态RAM(DRAM)、双数据率DRAM(DDRAM)和/或同步DRAM(SDRAM)。
在一些情况下,各种实施方案可实现为制造制品。所述制造制品可以包括被布置为存储用于执行一个或多个实施方案的各种操作的逻辑、指令和/或数据的计算机可读存储介质。在各种实施方案中,例如,所述制品可包括磁盘、光盘、闪存存储器或固件,这些制品均含有适于由通用处理器或专用处理器执行的计算机程序指令。然而,实施方案并不仅限于此。
结合本文所公开的实施方案描述的各种功能性元件、逻辑块、模块、和电路元件的功能可在计算机可执行指令的一般环境中实施,诸如由处理单元执行的软件、控制模块、逻辑、和/或逻辑模块。一般而言,软件、控制模块、逻辑、和/或逻辑模块包括布置成执行特定操作的任何软件元件。软件、控制模块、逻辑、和/或逻辑模块可包括执行特定任务或实施特定抽象数据类型的例程、程序、对象、部件、数据结构等。软件、控制模块、逻辑、和/或逻辑模块和技术的具体实施可存储在某种形式的计算机可读介质上并且/或者通过某种形式的计算机可读介质传输。就此而言,计算机可读介质可以是可用于存储信息且可由计算设备访问的任何可用介质。一些实施方案还可在分布式计算环境中实践,在所述分布式计算环境中,操作由通过通信网络链接的一个或多个远程处理设备执行。在分布式计算环境中,软件、控制模块、逻辑和/或逻辑模块可位于包括存储器存储设备在内的本地和远程计算机存储介质两者中。
此外,应当理解,本文所述的实施方案阐明了示例性具体实施,并且功能性元件、逻辑块、模块和电路元件可以与所述实施方案一致的各种其他方式来实施。此外,由此类功能性元件、逻辑块、模块和电路元件执行的操作可组合和/或分离以用于给定的具体实施,并且可由更多数量或更少数量的部件或模块来执行。如本领域技术人员在阅读本公开之后所显而易见的,本文所述和所示的单独实施方案中的每个具有分立部件和特征,在不背离本公开的范围的前提下,所述部件和特征可容易地与其他若干方面中任意方面的特征分离或组合。可按所述事件的顺序或按任何其他在逻辑上可能的顺序来执行任何所述方法。
值得注意的是,任何对“一个实施方案”或“实施方案”的提及均意指结合实施方案所述的特定特征、结构或特性包括在至少一个实施方案中。在说明书中各处出现的短语“在一个实施方案中”或“在一个方面”并不一定全部是指相同的实施方案。
除非另外特别说明,否则应当理解,术语诸如“处理”、“运算”、“计算”、“确定”等是指计算机或计算系统、或类似电子计算装置的动作和/或过程,所述电子计算装置诸如通用处理器、DSP、ASIC、FPGA或其他可编程逻辑装置、分立门或晶体管逻辑、分立硬件部件,或它们的任何组合,其被设计以执行本文所述的功能,其操纵表示为寄存器和/或存储器内的物理量(例如,电子)的数据并且/或者将其转换成类似地表示为存储器、寄存器或其他此类信息存储装置、传送装置或显示装置内的物理量的其他数据。
值得注意的是,一些实施方案可使用表达“联接”和“连接”以及它们的衍生词来描述。并不希望这些术语彼此同义。例如,一些实施方案可使用术语“连接”和/或“联接”来描述,以表示两个或更多个元件彼此直接物理接触或电接触。然而,术语“耦合”还可以指两个或更多个元件彼此不是直接接触,而是彼此配合或相互作用。就软件元件而言,例如,术语“联接”可以是指接口、消息接口、应用程序接口(API)、交换消息等。
应当理解,所述以引用的方式并入本文中的任何专利、出版物或其他公开材料,无论是全文或部分,仅在所并入的材料与本公开中给出的定义、陈述或者其他公开材料不冲突的范围内并入本文。同样地并且在必要的程度下,本文明确阐述的公开内容取代以引用方式并入本文的任何冲突材料。据称以引用方式并入本文但与本文列出的现有定义、陈述或其他公开材料相冲突的任何材料或其部分,将仅在所并入的材料和现有的公开材料之间不产生冲突的程度下并入。
本发明所公开的实施方案应用于常规的内窥镜检查和开放式外科器械以及应用于机器人辅助的手术。
本文所公开的装置的实施方案可设计为使用单次后丢弃,也可设计为供多次使用。在上述任一或两种情况下,都可对这些实施方案进行修复,以便在使用至少一次后再使用。修复可包括以下步骤的任意组合:拆卸装置、然后清洗或更换特定零件和随后进行重新装配。具体地讲,可拆卸装置的实施方案,并且可选择性地以任何组合形式来更换或移除装置的任意数量的特定零件或部件。在清洁和/或更换特定部件时,所述装置的实施方案可在修复设施中重新组装或在即将进行手术前由手术团队重新组装以供随后使用。本领域的技术人员将会了解,装置的修复可以利用多种技术用于拆卸、清洁/替换以及重新组装。此类技术的使用和所得修复装置全部在本申请的范围内。
仅以举例的方式,可在外科手术之前对本文所述的实施方案进行处理。首先,可以获得新的或用过的器械,并且根据需要进行清洁。然后,可对器械进行消毒。在一种消毒技术中,将器械放置在闭合且密封的容器诸如塑料或TYVEK袋中。然后可将容器和器械置于可穿透该容器的辐射场,例如γ辐射、x射线或高能电子。辐射可以杀死器械上和容器中的细菌。消毒后的器械随后可被存放在无菌容器中。密封容器可将器械保持处于无菌状态,直至在医疗设施中将该容器打开。还可使用本领域已知的任何其他技术对装置消毒,包括但不限于β辐射或γ辐射、环氧乙烷或蒸汽。
本领域技术人员将会认识到,本文所述的组成部分(例如,操作)、装置、对象和它们随附的论述是为了概念清楚起见而用作示例,并且可以设想多种构型修改形式。因此,如本文所用,阐述的具体示例和随附的论述旨在代表它们更一般的类别。通常,任何具体示例的使用旨在代表其类别,并且具体组成部分(例如,操作)、装置和对象的未纳入部分不应采取限制。
对于本文中使用的基本上任何复数和/或单数术语,本领域技术人员可从复数转换成单数和/或从单数转换成复数,只要适合于上下文和/或应用即可。为清楚起见,各种单数/复数置换在本文中没有明确表述。
本文所述的主题有时阐述了包含在其他不同部件中的不同部件或与其他不同部件连接的不同部件。应当理解,这样描述的架构仅是示例,并且事实上可以实施实现获得相同功能性的许多其他架构。在概念意义上,获得相同功能性的组件的任何布置结构方式都是有效“相联的”,从而获得所需的功能性。因此,本文中为获得特定功能性而结合在一起的任何两个组件都可被视为彼此“相联”,从而获得所需的功能性,而不论结构或中间组件如何。同样,如此相联的任何两个组件也可被视为彼此“可操作地连接”或“可操作地联接”,以获得所需的功能性,并且能够如此相联的任何两个组件都可被视为彼此“能够可操作地联接”,以获得所需的功能性。可操作地联接的具体示例包括但不限于可物理匹配的和/或物理交互组件,和/或无线交互式,和/或无线交互式组件,和/或逻辑交互式,和/或逻辑交互式组件。
一些方面可以使用表达“联接”和“连接”以及它们的衍生词来描述。应当理解,并不希望这些术语是彼此同义的。例如,某些方面可以利用术语“连接”来描述,以表示两个或更多个元件彼此直接物理接触或电接触。在另一个示例中,一些方面可使用术语“联接”来描述,以表示两个或更多个元件直接物理接触或电接触。然而,术语“耦合”还可以指两个或更多个元件彼此不是直接接触,而是彼此配合或相互作用。
在一些情况下,一个或多个部件在本文中可被称为“被构造成能够”、“可被构造成能够”、“可操作/可操作地”、“适合/适于”、“能够”、“适应/适合”等。本领域的技术人员将会认识到,除非上下文另有所指,否则“被构造成能够”通常可涵盖活动状态的部件和/或未活动状态的部件和/或待机状态的部件。
虽然已经示出并描述了本文所述的本发明主题的特定方面,但是对本领域的技术人员将显而易见的是,基于本文的教导,可在不脱离本文所述的主题的情况下作出改变和变型,并且如在本文所述的主题的真实范围内,其更广泛的方面并因此所附权利要求将所有此类改变和变型包括在其范围内。本领域的技术人员应当理解,一般而言,本文、以及特别是所附权利要求(例如,所附权利要求的正文)中所使用的术语通常旨在为“开放”术语(例如,术语“包括”应解释为“包括但不限于”,术语“具有”应解释为“至少具有”,术语“包含”应解释为“包含但不限于”等)。本领域的技术人员还应当理解,当所引入权利要求表述的具体数目为预期数目时,则这样的意图将在权利要求中明确表述,并且在不存在这样的表述的情况下,不存在这样的意图。例如,为有助于理解,下述所附权利要求可含有对介绍性短语“至少一个”和“一个或多个”的使用以引入权利要求。然而,对此类短语的使用不应视为暗示通过不定冠词“一个”或“一种”引入权利要求表述将含有此类引入权利要求表述的任何特定权利要求限制在含有仅一个这样的表述的权利要求中,甚至当同一权利要求包括介绍性短语“一个或多个”或“至少一个”和诸如“一个”或“一种”(例如,“一个”和/或“一种”通常应解释为意指“至少一个”或“一个或多个”)的不定冠词时;这也适用于对用于引入权利要求表述的定冠词的使用。
另外,即使在明确叙述引入权利要求叙述的特定数目时,本领域的技术人员应当认识到,这种叙述通常应解释为意指至少所叙述的数目(例如,在没有其他修饰语的情况下,对“两个叙述”的裸叙述通常意指至少两个叙述、或两个或更多个叙述)。此外,在其中使用类似于“A、B和C中的至少一者等”的惯例的那些情况下,一般而言,这种结构意在具有本领域的技术人员将理解所述惯例的意义(例如,“具有A、B和C中的至少一者的系统”将包括但不限于具有仅A、仅B、仅C、A和B一起、A和C一起、B和C一起和/或A、B和C一起等的系统)。在其中使用类似于“A、B或C中的至少一者等”的惯例的那些情况下,一般而言,这种结构意在具有本领域的技术人员将理解所述惯例的意义(例如,“具有A、B或C中的至少一者的系统”将包括但不限于具有仅A、仅B、仅C、A和B一起、A和C一起、B和C一起和/或A、B和C一起等的系统)。本领域的技术人员还应当理解,通常,除非上下文另有指示,否则无论在具体实施方式、权利要求或附图中呈现两个或更多个替代术语的转折性词语和/或短语应理解为涵盖包括所述术语中的一者、所述术语中的任一个或这两个术语的可能性。例如,短语“A或B”通常将被理解为包括“A”或“B”或“A和B”的可能性。
对于所附的权利要求,本领域的技术人员将会理解,其中表述的操作通常可以任何顺序进行。另外,尽管以一定顺序列出了多个操作流程,但应当理解,可以不同于所示顺序的其他顺序进行所述多个操作,或者可以同时进行所述多个操作。除非上下文另有规定,否则此类替代排序的示例可包括重叠、交错、中断、重新排序、增量、预备、补充、同时、反向,或其他改变的排序。此外,除非上下文另有规定,否则像“响应于”、“相关”这样的术语或其他过去式的形容词通常不旨在排除此类变体。
概括地说,已经描述了由采用本文所述的概念产生的许多有益效果。为了举例说明和描述的目的,已经提供了一个或多个实施方案的上述说明。所述说明并非意图为详尽的或限定到本发明所公开的精确形式。可以按照上述教导内容对本发明进行修改或变型。所选择和描述的一个或多个实施方案是为了示出本发明的原理和实际应用,从而使得本领域的普通技术人员能够利用多个实施方案,在适合设想的具体应用的情况下进行各种修改。与此一同提交的权利要求书旨在限定完整范围。
Claims (22)
1.一种与外科器械系统的柄部一起使用的轴组件,所述轴组件包括:
附接部分,所述附接部分被构造成能够可释放地附接到所述柄部;
第一驱动输入端,所述第一驱动输入端被构造成能够从所述柄部接收第一驱动运动;
第二驱动输入端,所述第二驱动输入端被构造成能够从所述柄部接收第二驱动运动;
端部执行器,所述端部执行器包括第一钳口和第二钳口,其中所述第一钳口能够相对于所述第二钳口移动;
击发构件,所述击发构件能够在所述端部执行器内移动;
关节运动接头,其中所述端部执行器能够围绕所述关节运动接头旋转;
闭合驱动器,所述闭合驱动器能够操作地联接到所述第一驱动输入端和所述第一钳口,其中所述闭合驱动器被构造成能够将所述第一驱动运动传递到所述第一钳口,以使所述第一钳口在打开位置和闭合位置之间移动;
击发驱动器,所述击发驱动器能够操作地联接到所述第二驱动输入端和所述击发构件,其中所述击发驱动器被构造成能够将所述第二驱动运动传递到所述击发构件,以使所述击发构件相对于所述端部执行器移动;和
关节运动驱动器,所述关节运动驱动器包括马达,所述马达被构造成能够产生第三驱动运动,其中所述关节运动驱动器被构造成能够将所述第三驱动运动传递到所述端部执行器,以使所述端部执行器围绕所述关节运动接头旋转。
2.根据权利要求1所述的轴组件,还包括电池,所述电池被构造成能够向所述马达提供功率。
3.根据权利要求1所述的轴组件,还包括电触点,所述电触点被构造成能够在所述轴组件组装到所述柄部上时与所述柄部上的电触点电联接。
4.根据权利要求1所述的轴组件,其中,所述端部执行器包括钉仓,所述钉仓包括能够移除地存储在其中的多个钉,并且其中所述击发构件被构造成能够从所述钉仓射出所述钉。
5.根据权利要求4所述的轴组件,其中,所述钉仓能够替换地定位在所述第二钳口中。
6.根据权利要求4所述的轴组件,其中,所述钉仓能够替换地定位在所述第一钳口中。
7.根据权利要求1所述的轴组件,其中,所述击发构件包括第一凸轮和第二凸轮,所述第一凸轮被构造成能够接合所述第一钳口,所述第二凸轮被构造成能够接合所述第二钳口,并且其中所述第一凸轮和所述第二凸轮被构造成能够将所述第一钳口相对于所述第二钳口定位。
8.一种与外科器械系统的柄部一起使用的模块化轴组件,所述模块化轴组件包括:
附接部分,所述附接部分被构造成能够可释放地附接到所述柄部;
第一驱动输入端,所述第一驱动输入端被构造成能够从所述柄部接收第一驱动运动;
第二驱动输入端,所述第二驱动输入端被构造成能够从所述柄部接收第二驱动运动;
第三驱动输入端,所述第三驱动输入端被构造成能够在所述模块化轴组件内产生第三驱动运动;
端部执行器,所述端部执行器包括第一钳口和第二钳口,其中所述第一钳口能够响应于所述第一驱动运动、所述第二驱动运动和所述第三驱动运动中的一者而相对于所述第二钳口移动;
击发构件,所述击发构件能够响应于所述第一驱动运动、所述第二驱动运动和所述第三驱动运动中的一者而在所述端部执行器内移动;和
关节运动接头,其中所述端部执行器能够响应于所述第一驱动运动、所述第二驱动运动和所述第三驱动运动中的一者而围绕所述关节运动接头旋转。
9.根据权利要求8所述的模块化轴组件,其中,所述第三驱动输入端包括电动马达和被构造成能够向所述电动马达提供功率的电池。
10.根据权利要求8所述的模块化轴组件,还包括电触点,所述电触点被构造成能够在所述模块化轴组件组装到所述柄部上时与所述柄部上的电触点电联接。
11.根据权利要求8所述的模块化轴组件,其中,所述端部执行器包括钉仓,所述钉仓包括能够移除地存储在其中的多个钉,并且其中所述击发构件被构造成能够从所述钉仓射出所述钉。
12.根据权利要求11所述的模块化轴组件,其中,所述钉仓能够替换地定位在所述第二钳口中。
13.根据权利要求11所述的模块化轴组件,其中,所述钉仓能够替换地定位在所述第一钳口中。
14.根据权利要求8所述的模块化轴组件,其中,所述击发构件包括第一凸轮和第二凸轮,所述第一凸轮被构造成能够接合所述第一钳口,所述第二凸轮被构造成能够接合所述第二钳口,并且其中所述第一凸轮和所述第二凸轮被构造成能够将所述第一钳口相对于所述第二钳口定位。
15.一种与外科器械系统一起使用的轴组件,所述轴组件包括:
附接部分,所述附接部分被构造成能够可释放地附接到所述外科器械系统;
第一驱动输入端,所述第一驱动输入端被构造成能够从所述外科器械系统接收第一驱动运动;
第二驱动输入端,所述第二驱动输入端被构造成能够从所述外科器械系统接收第二驱动运动;
端部执行器,所述端部执行器包括第一钳口和第二钳口,其中所述第一钳口能够相对于所述第二钳口移动;
击发构件,所述击发构件能够在所述端部执行器内移动;
关节运动接头,其中所述端部执行器能够围绕所述关节运动接头旋转;
闭合驱动器,所述闭合驱动器包括第一纵向螺纹轴,所述第一纵向螺纹轴能够操作地联接到所述第一驱动输入端和所述第一钳口,其中所述第一纵向螺纹轴被构造成能够将所述第一驱动运动传递到所述第一钳口,以使所述第一钳口在打开位置和闭合位置之间移动;
击发驱动器,所述击发驱动器包括第二纵向螺纹轴,所述第二纵向螺纹轴能够操作地联接到所述第二驱动输入端和所述击发构件,其中所述第二纵向螺纹轴被构造成能够将所述第二驱动运动传递到所述击发构件,以使所述击发构件相对于所述端部执行器移动;和
关节运动驱动器,所述关节运动驱动器包括马达,所述马达被构造成能够产生第三驱动运动,其中所述关节运动驱动器还包括第三纵向螺纹轴,所述第三纵向螺纹轴被构造成能够将所述第三驱动运动传递到所述端部执行器,以使所述端部执行器围绕所述关节运动接头旋转。
16.根据权利要求15所述的轴组件,还包括电池,所述电池被构造成能够向所述电动马达提供功率。
17.根据权利要求15所述的轴组件,还包括电触点,所述电触点被构造成能够在所述轴组件组装到所述外科器械系统上时与所述外科器械系统上的电触点电联接。
18.根据权利要求15所述的轴组件,其中,所述端部执行器包括钉仓,所述钉仓包括能够移除地存储在其中的多个钉,并且其中所述击发构件被构造成能够从所述钉仓射出所述钉。
19.根据权利要求18所述的轴组件,其中,所述钉仓能够替换地定位在所述第二钳口中。
20.根据权利要求18所述的轴组件,其中,所述钉仓能够替换地定位在所述第一钳口中。
21.根据权利要求15所述的轴组件,其中,所述第一纵向轴、所述第二纵向轴和所述第三纵向轴彼此平行。
22.根据权利要求15所述的轴组件,其中,所述击发构件包括第一凸轮和第二凸轮,所述第一凸轮被构造成能够接合所述第一钳口,所述第二凸轮被构造成能够接合所述第二钳口,并且其中所述第一凸轮和所述第二凸轮被构造成能够将所述第一钳口相对于所述第二钳口定位。
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US14/633,526 US9993258B2 (en) | 2015-02-27 | 2015-02-27 | Adaptable surgical instrument handle |
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JP6749928B2 (ja) | 2020-09-09 |
EP3061408A1 (en) | 2016-08-31 |
BR112017018277A2 (pt) | 2018-04-10 |
US10226250B2 (en) | 2019-03-12 |
WO2016137810A1 (en) | 2016-09-01 |
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