CN107405173B - 机器人手术系统、器械驱动单元以及驱动组件 - Google Patents
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Abstract
本发明提供一种器械驱动单元的驱动组件。驱动组件包括驱动螺杆、驱动螺母、随动件、偏置元件和驱动元件。驱动螺母与驱动螺杆的螺纹部分螺纹地接合,使得驱动螺杆的旋转引起驱动螺母的纵向运动。随动件相对于驱动螺杆能够纵向地滑动。偏置元件布置成与驱动螺母和随动件机械协作。驱动元件布置成与随动件机械协作。驱动元件的纵向平移构造成驱动手术器械的功能。
Description
相关申请的交叉引用
本申请要求于2015年3月10日提交的美国临时专利申请序列No.62/130,669的受益权和优先权,该专利申请的全部内容通过参引结合到本文中。
背景技术
机器人手术系统已被用于最小限度侵入医疗程序中。一些机器人手术系统包括支承机械手的操作台以及比如为钳子或夹紧工具的经由肘节组件安装至机械手的至少一个末端执行器。在医疗程序期间,末端执行器和肘节组件被插入患者的小切口(经由插管)或自然孔口内,以将末端执行器在患者的身体内定位在作业位置处。
线缆从机器人操作台延伸,穿过机械手,并且连接至肘节组件和/或末端执行器。在一些情况下,线缆通过由处理系统控制的电机致动,处理系统包括用于外科医生或临床医生的用户界面以能够控制包括机械手、肘节组件和/或末端执行器的机器人手术系统。
在一些情况下,肘节组件通过使用各自具有一个自由度的线缆或线缆对提供具有三个自由度的末端执行器的运动。例如,为了夹紧或切断末端执行器,肘节组件通过允许改变末端执行器的节距、偏转以及打开和关闭提供三个自由度。
在使用机器人系统之前或期间,手术器械被选择并且连接至每个机械手的器械驱动单元。为了完成适当的安装,手术器械的某些连接特征必须匹配地接合至器械驱动单元的相应连接特征。一旦这些特征匹配地接合,则器械驱动单元可以驱动手术器械的致动。然而,用于致动手术器械的功能的缆线可能在例如操作手术器械的夹具构件时失去其张力并且变得松弛。
因此,需要一种在无源状态和在有源状态均保持这些缆线中的张力的器械驱动单元。
发明内容
本发明涉及用于与手术器械一起使用的器械驱动单元的驱动组件。驱动组件包括驱动螺杆、驱动螺母、随动件、偏置元件和驱动元件。驱动螺杆限定纵向轴线并且包括螺纹部分。驱动螺母与驱动螺杆的螺纹部分螺纹地接合,使得驱动螺杆的旋转引起驱动螺母的纵向运动。随动件相对于驱动螺杆能够纵向地滑动。偏置元件布置成与驱动螺母和随动件机械协作。驱动元件布置成与随动件机械协作。驱动元件的纵向平移构造成驱动手术器械的功能。
在所公开的实施例中,随动件布置在驱动螺母的近端,并且随动件近端地偏置。
还公开了驱动元件紧固至随动件,以及驱动元件相对于驱动螺母能够纵向地平移。
进一步公开了驱动螺母和随动件中的每一个包括构造成容置偏置元件的一部分的保持凹部。
在所公开的实施例中,偏置元件是压缩弹簧。
另外,公开了随动件布置在驱动螺母的近端,以及驱动元件从随动件远端地延伸。
还公开了随动件与驱动螺杆非螺纹地接合。
进一步公开了驱动构件包括柔性缆线。
在所公开的实施例中,驱动螺母限定孔,随动件限定孔,以及驱动螺杆延伸穿过驱动螺母的孔和延伸穿过随动件的孔。还公开了偏置元件围绕驱动螺杆布置。
本发明还涉及一种用于与手术器械一起使用的器械驱动单元。器械驱动单元包括多个驱动组件。每个驱动组件包括驱动螺杆、驱动螺母、偏置元件和柔性驱动元件。驱动螺杆限定纵向轴线并且包括螺纹部分。驱动螺母与驱动螺杆的螺纹部分螺纹地接合,使得驱动螺杆的旋转引起驱动螺母的纵向运动。偏置元件布置成与驱动螺母机械协作。柔性驱动元件布置成与偏置元件机械协作。柔性驱动元件的纵向平移构造成驱动手术器械的夹具构件的功能。
在所公开的实施例中,每个驱动组件还包括相对于驱动螺杆能够纵向地滑动的随动件。
进一步公开了偏置元件构造成在向手术器械的夹具构件施加机械力期间将柔性驱动元件保持在张紧状态。
另外,公开了偏置元件是压缩弹簧。
还公开了驱动螺母限定孔,以及驱动螺杆延伸穿过驱动螺母的孔。还公开了偏置元件围绕驱动螺杆布置。
在所公开的实施例中,多个驱动组件包括四个驱动组件。
进一步公开了器械驱动单元包括壳体,以及多个驱动组件的每个驱动组件至少部分地容置在壳体内。每个驱动组件的柔性驱动元件延伸穿过壳体的中心孔。
在所公开的实施例中,驱动螺母和/或随动件包括构造成滑动地接合壳体的槽道的导轨。
以下参照附图更加详细地说明本发明的示例性实施例的进一步的细节和方面。
附图说明
在此参照附图说明本发明的实施例,其中:
图1A是根据本发明的医疗工作站和操作台的示意图;
图1B是图1A的医疗工作站的控制装置的电机的示意性透视图;
图1C是根据本发明的实施例的器械驱动单元的透视图;
图2是图1C中指示的细节的区域的放大图;
图3是图1C和图2的由其去除各个零件的器械驱动单元的一部分的面对远端的透视图;
图4是图1C-图3的器械驱动单元的分解图;
图5-图7是在各个操作点示出的图1C-图4的器械驱动单元的驱动组件的透视图;
图8是图5-图7的驱动组件的分解图;
图9是沿着图5的线9-9截取的图5-图8的驱动组件的透视剖视图;
图10是沿着图2的线10-10截取的本发明的器械驱动单元的剖视图;
图11是沿着图2的线11-11截取的本发明的器械驱动单元的剖视图;
图12是沿着图11的线12-12截取的本发明的器械驱动单元的横向剖视图;以及
图13是沿着图11的线13-13截取的本发明的器械驱动单元的横向剖视图。
具体实施方式
参照附图详细说明当前公开的器械驱动单元的实施例,在附图中,相同的附图标记在几个附图中的每一个中指代相同或对应的元件。如本文中所述使用的,术语“远端”指的是器械驱动单元的远离使用者的部分,而术语“近端”指的是器械驱动单元的靠近使用者的部分。
最初地参考图1A和图1B,医疗工作站大致示出为工作站1并且大致包括多个机械手2、3;控制装置4;以及与控制装置4联接的操作台5。操作台5包括显示装置6和手动输入装置7、8,显示装置6特别地设立来显示三维图像,例如为外科医生的人员(未示出)通过手动输入装置7、8能够以第一操作模式遥控操作机械手2、3,如本领域技术人员原则上已知的。
根据本文中公开的器械驱动单元200的实施例,如以下将更详细地说明的,机械手2、3中的每一个包括多个构件和器械控制单元100,多个构件通过接头连接,例如具有器械驱动单元200并且支承具有夹具构件22和24的末端执行器20的手术器械10可以附连至器械控制单元100。
机械手2、3可以由连接至控制装置4的电力驱动装置(未示出)驱动。控制装置4(例如计算机)设立成触发驱动器,特别是通过计算机程序,由此使得机械手2、3、器械控制单元100以及因此手术器械10根据通过手动输入装置7、8限定的运动执行所需运动。控制装置4还可以设立成使得其调节机械手2、3和/或驱动器的运动。
医疗工作站1构造成用于躺在患者检查台12上的待通过手术器械10以最小侵入方式治疗的患者13上。医疗工作站1还可以包括超过两个机械手2、3,另外的机械手同样地连接至控制装置4并且能够通过操作台5遥控操作。器械控制单元和手术器械还可以附连至另外的机械手。医疗工作站1可以包括数据库14,数据库14特别地与控制装置4联接,数据库14中存储例如来自患者13和/或解剖学图谱集的预运算数据。
可以对于2011年11月3日提交的名称为“医疗工作站”的美国专利公开No.2012/0116416做出参考,用于详细描述医疗工作站1的结构和操作,该专利公开的整体内容通过参引结合到本文中。
控制装置4可以控制多个电机(例如“M1”-“M6”)。电机可以是器械控制单元100的部分和/或布置在器械控制单元100的外部。电机“M”(例如,定位在器械控制单元100的外部的电机“M”)可以构造成使冠形齿轮“CG”(图1B)旋转等,冠形齿轮“CG”键连接至或不可旋转地支承在电机“M”中的至少一些的可旋转轴上。使用中,当驱动电机“M”时,冠形齿轮“CG”的旋转影响手术器械10的器械驱动单元200的操作和/或运动,如下详述。还可想象的是至少一个电机“M”无线地接收信号(例如从控制装置4)。所预期的是控制装置4协调各个电机(电机1…n)的激励以协调手术器械10的操作和/或运动。可以想象每个电机对应于与器械控制单元100接合的手术器械10的独立自由度。还可想象的是包括每个电机(电机1…n)的超过一个电机用于每个自由度。可以对于2014年10月20日提交的名称为“用于机器人手术系统的肘节和夹具组件(Wrist and Jaw Assemblies for Robotic Surgical Systems)”的共有国际专利申请No.PCT/US14/61329做出参考,用于详细论述用于与器械控制单元100一起使用的末端执行器20的结构和操作的示例性例子,该国际专利申请的全部内容通过参引结合到本文中。
现在参考图1C-图13,器械驱动单元200示出为具有由其远端地延伸的手术器械10,并且其构造成接合器械控制单元100,如上所述。器械驱动单元200构造成将由器械控制单元100(例如经由电机“M”)提供的旋转运动转换成驱动构件380的纵向运动,以执行末端执行器20的各种功能。
参照图2-图4,器械驱动单元200包括壳体组件205,壳体组件205包括近端壳体210和远端壳体220。近端壳体210和远端壳体220彼此可解除地联接,这可以便于器械驱动单元200的组装,并且可以便于存取、维修和/或更换至少部分地容置在其中的零件。壳体组件205限定用于容置驱动组件300的至少一个孔207。可以想象壳体组件205包括四个独立孔207,其中每个孔207至少部分地彼此分离,并且其中每个孔207构造成容置单个驱动组件300。另外,如下所述,孔207包括其中的纵向延伸槽道206(例如四个槽道206)。每个槽道206构造成滑动地接纳驱动螺母350的导轨353和随动件360的导轨363。还可想象的是每个孔207包括两个独立槽道206,其中一个槽道206构造成滑动地接纳驱动螺母350的导轨353,并且其中另一个槽道206构造成滑动地接纳随动件360的导轨363。
继续参照图2-图4,器械驱动单元还包括多个驱动组件300。在所示实施例中,器械驱动单元200包括四个驱动组件300,然而,在不脱离本发明的范围的情况下,器械驱动单元200可以包括更多(例如五个或六个)或更少的(例如三个)驱动组件300。
参照图5-图9,每个驱动组件300包括近端齿轮310、近端轴承320、远端轴承330、驱动螺杆340、驱动螺母350、随动件360、偏置元件370和驱动构件(例如柔性缆线)380。近端齿轮310构造成与器械控制单元100的器械控制齿轮(例如电机“M”的冠形齿轮“CG”)接合,使得冠形齿轮“CG”的旋转引起近端齿轮310的相应的旋转。近端齿轮310可以是构造成与电机“M”的冠形齿轮“CG”匹配和/或啮合的冠形齿轮“CG”。
具体地参照图8和图9,近端齿轮310包括纵向地贯穿延伸的孔312,孔312构造成机械地接合驱动螺杆340的近端部分342。如图所示,孔312和驱动螺杆340的近端部分342具有相应的非圆形截面,使得近端齿轮310和驱动螺杆340彼此键连接,这导致其之间的旋转固定连接。因此,近端齿轮310的旋转引起驱动螺杆340的相应的旋转。
近端轴承320围绕驱动螺杆340的邻近近端壳体210的一部分的近端轴343布置,远端轴承330围绕驱动螺杆340的邻近远端壳体220的一部分的远端轴344布置(例如见图10)。近端轴承320和远端轴承330中的每一个允许或便于驱动螺杆340相对于壳体组件205的旋转。另外,近端轴承320可被构造成作用为用于随动件360的近端止动件,远端轴承330可被构造成用作用于驱动螺母350的远端止动件。
驱动螺杆340包括近端部分342、近端轴343、远端轴344和螺纹部分345,并且限定延伸穿过其径向中心(见图8)的纵向轴线“A-A”。近端齿轮310的旋转使得驱动螺杆340以相应的方向和旋转速率围绕纵向轴线“A-A”旋转。
驱动螺母350包括纵向地贯穿延伸的螺纹孔352,螺纹孔352构造成机械地接合驱动螺杆340的螺纹部分345。驱动螺母350构造成以使得驱动螺杆340的旋转引起驱动螺母350的纵向运动的方式定位在驱动螺杆340上。即,驱动螺母350和驱动螺杆340彼此螺纹地接合。此外,近端齿轮310沿第一方向(例如顺时针)的旋转使得驱动螺母350相对于驱动螺杆340的近端部分342沿第一纵向方向(例如近端地)运动,近端齿轮沿第二方向(例如逆时针)的旋转使得驱动螺母350相对于驱动螺杆340的近端部分342沿第二纵向方向(例如远端地)运动。驱动螺母350还包括邻近螺纹孔352近端地布置的保持凹部354。保持凹部354包括比螺纹孔352更大的内径,并且构造成容置偏置元件370的至少一部分,如以下进一步详细描述的。
驱动螺母350包括沿着其外表面纵向延伸的导轨353,并且其构造成可滑动地布置在形成于壳体组件205的孔207中的纵向延伸槽道206中(例如见图5-图7和图12)。驱动螺母350的导轨353与壳体组件205的的孔207的槽道206配合,以在驱动螺杆340旋转时阻止或防止驱动螺母350围绕纵向轴线“A-A”旋转。
随动件360包括沿着其外表面纵向延伸的导轨363,并且其构造成可滑动地布置在形成于壳体组件205的孔207中的纵向延伸槽道206中(例如见图3、图5-图7和图12)。随动件360的导轨363与壳体组件205的孔207的槽道206配合,以在驱动螺杆340旋转时阻止或防止随动件360围绕纵向轴线“A-A”旋转。
随动件360包括纵向地贯穿延伸的非螺纹孔362,非螺纹孔362构造成滑动地接合驱动螺杆340的螺纹部分345。即,随动件360与驱动螺杆340非螺纹地接合并且可滑动地支承在驱动螺杆340上。还公开了随动件360不接合驱动螺杆340,并且随动件360仅通过壳体组件205的几何形状(例如槽道206)引导。随动件360包括邻近孔362远端地布置的保持凹部364。保持凹部364包括比孔362更大的内径,并且构造成容置偏置元件370的至少一部分,如以下进一步详细描述的。随动件360还包括邻近其径向外部表面布置的接合部分366,接合部分366构造成机械地接合驱动构件380的近端部分382。
在所示实施例中,随动件360布置在驱动螺母350的近端,但是本发明还包括其中随动件360布置在驱动螺母350的远端的实施例。在这些实施例中,驱动螺母350的保持凹部354将布置在其远端位置,随动件360的保持凹部364将布置在其近端位置。在此,可以想象随动件360远端地推动驱动构件380,而非随动件360近端地牵拉驱动构件380。
例如为压缩弹簧的偏置元件370构造成径向地包围驱动螺杆340的螺纹部分345的一部分。即,驱动螺杆340延伸穿过由偏置元件370限定并且纵向地延伸穿过偏置元件370的孔371。另外,如图9所示,偏置元件370的近端部分372构造成用于至少部分地容纳在随动件360的保持凹部364内,偏置元件370的远端部分374构造成至少部分地容纳在驱动螺母350的保持凹部354内。在所公开的实施例中,偏置元件370的近端部分372不可动地固定至随动件360,偏置元件370的远端部分374不可动地固定至驱动螺母350。可以想象偏置元件370的压缩长度等于或稍微小于随动件360的保持凹部364和驱动螺母350的保持凹部354的组合纵向长度,因此允许驱动螺母350的近端面351与随动件360的远端面361之间的接触(见图6)。虽然所示实施例示出特定类型的偏置元件370(即压缩弹簧),本发明可预期其它类型的偏置元件。
驱动构件380从随动件360远端地延伸穿过壳体组件205的中心孔208(图2和图10),并且构造成机械地接合手术器械10的一部分,例如末端执行器20。更具体地,每个驱动组件300定向在壳体组件205内,使得每个驱动组件300的驱动构件380居中地定位在壳体组件205内(见图10-图13),以及延伸穿过手术器械10的细长形部分并且延伸成与例如末端执行器20接合。可想象的是手术器械10包括突出部等,以帮助例如在驱动组件300与末端执行器之间引导或导向驱动构件380。
驱动构件380的纵向平移构造成驱动末端执行器20的功能。例如,特定驱动构件380的远端平移可被构造成相对于夹具构件22和/或24接近另一个夹具构件,驱动构件380的近端平移可以构造成比如使至少一个夹具构件22运动远离另一个夹具构件24。另外,器械驱动单元200的不同驱动组件300的驱动构件380的远端平移可以构造成沿第一方向铰接夹具构件22、24,该驱动构件380的近端平移可以构造成沿第二方向铰接夹具构件22、24。
另外,由于驱动构件380可以是柔性的并且沿行穿过手术器械10的特定路径,包括壳体组件205的中心部分,这可能有益于保持驱动构件380张紧以防止松弛或减小驱动构件380中的松弛量。在未获得本发明的益处的情况下,例如手动地(例如用手)打开或者以其他方式操作夹具构件来检查和/或清洁夹具构件的使用者可能在至少一个驱动构件上施加近端力。即,打开手术器械的夹具构件可以使其驱动构件中的至少一个的至少一部分近端地运动。在其中驱动构件直接地连接至驱动螺母以及其中驱动螺母与驱动螺杆螺纹地接合的系统中,驱动螺杆与驱动螺母之间的接合将响应于驱动构件的近端平移防止驱动螺母的近端平移。因此,驱动构件的近端运动(例如,通过操纵夹具构件所引起的)可以使得驱动构件变松弛,并且可以例如使得驱动构件从手术器械内的滑轮脱落和/或从保持凹部移出。本发明的器械驱动单元200防止或最小化驱动构件380丧失其张紧并且变得松弛的可能性。
在器械驱动单元200在有源状态中使用期间(即,当器械控制单元100的电机“M”用于使近端齿轮310旋转时),近端齿轮310的旋转导致驱动螺杆340的相应的旋转。由于驱动螺杆340的螺纹部分345与驱动螺母350的螺纹孔352之间的接合,驱动螺杆340的旋转引起驱动螺母350的纵向平移。如上所述,驱动螺母350的纵向平移的方向通过近端齿轮310的旋转方向以及由此的驱动螺杆340的旋转方向确定。特别地参照图6,其示出驱动螺母350的抵靠随动件360的远端面361的近端面351(即,处于有源状态),驱动螺杆340的近端平移引起随动件360的相应的近端平移,并且因此引起与随动件360接合的相应的驱动构件380的相应的近端平移。
另外,当一个驱动螺母350沿第一纵向方向(例如近端地)运动时,则可以想象来自不同的驱动组件300的驱动螺母350被迫相应地沿第二相对的纵向方向(例如远端地)运动。这些结构作用为补偿驱动构件380中的任何松弛。此外,一旦所有驱动螺母350与相应的随动件360接合(例如,压制偏置元件370;见图6),并且当系统为所谓的“刚性”(即在驱动构件380中没有拉伸)时,四个驱动构件380的位移之和必须为零。例如,如果一个驱动构件380使两个单元远端地运动,则两个另外的驱动构件380能够各自使一个单元近端地运动,并且第四驱动构件380不能运动,因此保持净零位移。
驱动螺母350、随动件360和驱动构件380的这种运动通过电机“M”和系统控制器控制。当驱动螺母350在没有驱动构件380的相应的近端运动的情况下远端地运动时,驱动螺母350将通过该驱动组件300与随动件分离(见图5和图7)。这些特征通过防止驱动构件380中的松弛帮助获得零位移。
更具体地,在图5和图7中,驱动螺母350已与随动件360分离。在此,该驱动组件300未必能够有效地平移有意义的负载至驱动构件380,但是驱动构件380和随动件360能够相对自由地(或不受阻碍的)近端和远端地平移。这种结构或能力有助于允许肘节组件与系统控制器分离地外部操纵。在图5中,驱动螺母350已被近端地驱动,使得偏置元件370已被部分地压缩;在图7中,偏置元件370已被压缩的情况小于在图5中(例如,偏置元件370尚未被压缩)。
例如在图6中,驱动组件300处于“有源使用状态”,其中驱动螺母350已被驱动至与随动件360接触,并且驱动构件380已被施加预张紧。当四个驱动组件300中的每一个处于该位置时,系统是不可背向驱动的;夹具构件22、24或肘节组件上的外力不能引起驱动组件300的运动。
在器械驱动单元200以无源状态使用期间(即,当夹具构件22、24被手动地操纵时),夹具构件22、24的手动操作导致随动件360的纵向运动,同时保持驱动构件380的一定水平的张紧。更具体地,在所公开的实施例中,夹具构件22、24的操作(例如使一个夹具构件22运动远离另一个夹具构件24)引起一个驱动构件380的近端运动。如上所述,不同器械(不采用本发明的原理)中的驱动构件的近端运动可以使得驱动构件失去其张紧或拉伸并且因此带来不合需要的影响。然而,在此由于随动件360相对于驱动螺杆340能够滑动并且不与其螺纹地接合,因此一个驱动构件380的近端运动引起随动件360的相应的近端运动。由于与随动件360和驱动螺母350接合的偏置元件370对着随动件360提供反向力,因此保持驱动构件380中的至少一定水平的张紧。即,如果一个驱动构件380近端地运动,并且因此在随动件360上施加近端力,该力通过偏置元件370抵制和/或抗衡,因此保持驱动构件380中的张紧。同样地,如果一个驱动构件380远端地运动并且因此在随动件360上施加远端力,则该力也通过偏置元件370抵制和/或抗衡,因此在驱动构件380中保持至少一定水平的张紧。
例如,如上所述,本发明包括具有器械驱动单元200的机器人手术系统、具有四个独立控制电机“M”的器械控制单元100以及具有四个驱动组件300的手术器械10,其中每个驱动组件300能够选择性地连接至器械控制单元100的相应的电机“M”。另外,本发明包括利用器械控制单元100和器械驱动单元200控制手术器械10的方法,以及利用器械控制单元100和器械驱动单元200执行手术任务的方法。本发明还包括在保持驱动构件380中的张紧的同时手动地操纵夹具构件22、24的方法。
将理解的是可以对本文中公开的实施例做出各种变型。因此,上述说明不应该解释为限制,而仅为各个实施例的范例。本领域技术人员将设想到随附权利要求的精神和范围内的其他变型。
Claims (15)
1.一种用于与手术器械一起使用的器械驱动单元的驱动组件,所述驱动组件包括:
驱动螺杆,所述驱动螺杆限定纵向轴线,所述驱动螺杆包括螺纹部分;
驱动螺母,所述驱动螺母限定所述驱动螺杆延伸穿过的孔并与所述驱动螺杆的所述螺纹部分螺纹地接合,使得所述驱动螺杆的旋转引起所述驱动螺母的纵向运动;
随动件,所述随动件限定所述驱动螺杆延伸穿过的孔并相对于所述驱动螺杆能够纵向地滑动;
偏置元件,所述偏置元件围绕所述驱动螺杆布置并与所述驱动螺母和所述随动件机械协作;以及
驱动元件,所述驱动元件布置成与所述随动件机械协作,其中,所述驱动元件的纵向平移构造成驱动所述手术器械的功能。
2.根据权利要求1所述的驱动组件,其中,所述随动件布置在所述驱动螺母的近端,以及其中所述随动件近端地偏置。
3.根据权利要求1所述的驱动组件,其中,所述驱动元件紧固至所述随动件,以及其中,所述驱动元件相对于所述驱动螺母能够纵向地平移。
4.根据权利要求1所述的驱动组件,其中,所述驱动螺母和所述随动件中的每一个包括构造成容置所述偏置元件的一部分的保持凹部。
5.根据权利要求1所述的驱动组件,其中,所述偏置元件是压缩弹簧。
6.根据权利要求1所述的驱动组件,其中,所述随动件布置在所述驱动螺母的近端,以及其中,所述驱动元件从所述随动件远端地延伸。
7.根据权利要求1所述的驱动组件,其中,所述随动件与所述驱动螺杆非螺纹地接合。
8.根据权利要求1所述的驱动组件,其中,所述驱动元件包括柔性缆线。
9.一种用于与手术器械一起使用的器械驱动单元,所述器械驱动单元包括多个根据权利要求1所述的驱动组件。
10.根据权利要求9所述的器械驱动单元,其中,所述驱动元件是柔性驱动元件并且所述偏置元件构造成在向所述手术器械的夹具构件施加机械力期间将所述柔性驱动元件保持在张紧状态。
11.根据权利要求9所述的器械驱动单元,其中,所述偏置元件是压缩弹簧。
12.根据权利要求9所述的器械驱动单元,其中,多个所述驱动组件包括四个驱动组件。
13.根据权利要求9所述的器械驱动单元,还包括壳体,其中,所述驱动元件是柔性驱动元件并且多个所述驱动组件中的每个驱动组件至少部分地容置在所述壳体内,以及其中,每个驱动组件的所述柔性驱动元件延伸穿过所述壳体的中心孔。
14.根据权利要求9所述的器械驱动单元,还包括壳体,其中,多个所述驱动组件中的每个驱动组件至少部分地容置在所述壳体内,以及其中,所述驱动螺母包括构造成滑动地接合所述壳体的槽道的导轨。
15.根据权利要求9所述的器械驱动单元,还包括壳体,其中,多个所述驱动组件中的每个驱动组件至少部分地容置在所述壳体内,以及其中,所述随动件包括构造成滑动地接合所述壳体的槽道的导轨。
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JP6684289B2 (ja) | 2020-04-22 |
CA2977416C (en) | 2023-10-10 |
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