CN107595341A - 手持式手术手柄组件、在其和手术末端执行器之间使用的手术适配器及其使用方法 - Google Patents

手持式手术手柄组件、在其和手术末端执行器之间使用的手术适配器及其使用方法 Download PDF

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CN107595341A
CN107595341A CN201710691707.5A CN201710691707A CN107595341A CN 107595341 A CN107595341 A CN 107595341A CN 201710691707 A CN201710691707 A CN 201710691707A CN 107595341 A CN107595341 A CN 107595341A
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drive shaft
adapter
distal
assembly
driving
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CN107595341B (zh
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迈克尔·热姆洛克
亚当·J·罗斯
约翰·W·比尔兹利
特迪·R·布赖恩特
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Covidien LP
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    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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Abstract

本发明提供手持式手术手柄组件、在其和手术末端执行器之间使用的手术适配器及其使用方法，适配器组件用于选择性地将配置成执行至少一对功能的手术末端执行器和配置成致动所述末端执行器的手术装置相互连接，其中，所述末端执行器包括第一可轴向平移的驱动构件和第二可轴向平移的驱动构件，并且其中，所述手术装置包含第一可旋转驱动轴和第二可旋转驱动轴。

Description

手持式手术手柄组件、在其和手术末端执行器之间使用的手 术适配器及其使用方法
本申请是申请号为201210560638.1、申请日为2012年12月20日、发明名称为“手持式手术手柄组件、在手术手柄组件和手术末端执行器之间使用的手术适配器及其使用方法”的专利申请的分案申请。
相关申请的交叉引用
本申请为要求于2010年11月15日提交的序列号为12/946,082的美国专利申请(其要求于2010年2月25日提交的序列号为61/308,045的美国临时申请和于2009年12月2日提交的序列号为61/265,942的美国临时申请中的每一个的权益和优先权)的权益和优先权的部分继续申请，将所述各申请的全部内容通过引用合并于此。
本申请为要求于2010年4月13日提交的序列号为12/758,900的美国专利申请(其为要求于2009年11月20日提交的序列号为12/622,827的美国专利申请的权益和优先权的部分继续申请)的权益和优先权的部分继续申请，将所述各申请的全部内容通过引用合并于此。
本申请为要求于2011年4月19日提交的序列号为13/089,672的美国专利申请(其为要求于2008年9月22日提交的序列号为12/235,362的美国专利申请(现为美国专利7,963,433)的权益和优先权的分案申请，序列号为12/235,362的美国专利申请要求于2007年9月21日提交的序列号为60/974,267的美国临时专利申请的权益和优先权)的权益和优先权的部分继续申请，将所述各申请的全部内容通过引用合并于此。
本申请为要求于2011年4月19日提交的序列号为13/089,473的美国专利申请(其为要求于2008年9月22日提交的序列号为12/235,362的美国专利申请(现为美国专利7,963,433)的权益和优先权的分案申请，序列号为12/235,362的美国专利申请要求于2007年9月21日提交的序列号为60/974,267的美国临时专利申请的权益和优先权)的权益和优先权的部分继续申请，将所述各申请的全部内容通过引用合并于此。
本申请为要求于2011年4月20日提交的序列号为13/090,286的美国专利申请(其为要求于2008年9月22日提交的序列号为12/235,362的美国专利申请(现为美国专利7,963,433)的权益和优先权的分案申请，序列号为12/235,362的美国专利申请要求于2007年9月21日提交的序列号为60/974,267的美国临时专利申请的权益和优先权)的权益和优先权的部分继续申请，将所述各申请的全部内容通过引用合并于此。
技术领域
本公开涉及手术装置和/或系统、手术适配器以及它们的使用方法。更具体地，本公开涉及手持式动力手术装置、手术适配器和/或适配器组件，所述手术适配器和/或适配器组件在动力的、旋转的和/或关节式运动的手术装置或手柄组件与用于夹持、切割和/或吻合组织的末端执行器之间使用并用于将其相互连接。
背景技术
一种类型的手术装置为线性夹持、切割和吻合装置。这样的装置可以用在手术操作中以从胃肠道切除癌性的或异常的组织。常规的线性夹持、切割和吻合仪器包括具有细长轴和远侧部的枪式手柄型结构。所述远侧部包括一对剪刀型夹紧元件，其夹持关闭的结肠的开口端。在该装置中，两个剪刀型夹紧元件中的一个，例如砧座部，相对于整个结构移动或枢转，而另一个夹紧元件相对于整个结构保持固定。该剪取装置的致动(砧座部的枢转)受保留在所述手柄内的握柄扳机控制。
除了剪取装置外，所述远侧部还包括吻合机构。剪取机构的固定的夹紧元件包括吻合钉钉仓容纳区域和用于驱动吻合钉抵靠砧座部向上通过组织的夹持端从而封闭先前的开口端的机构。剪取元件可以与所述轴整体形成或者可以是可分离的，这样多种剪取和吻合元件可以是可互换的。
许多手术装置的生产商已经开发了具有用于运行和/或操作所述手术装置的专用驱动系统的产品线。在许多情况下，手术装置包括可重复使用的手柄组件和一次性末端执行器等，所述末端执行器在使用前选择性地连接至手柄组件，然后在使用后与末端执行器分离从而被丢弃或者在某些情况下被消毒用于再使用。
用于与许多现有的手术装置和/或手柄组件一起使用的许多现有的末端执行器由线性力驱动。例如，用于执行胃肠内吻合术操作、端-端吻合术操作和横向吻合术操作的末端执行器通常均需要线性驱动力来运转。因此，这些末端执行器与使用旋转运动来传送动力等的手术装置和/或手柄组件不兼容。
为了使线性驱动的末端执行器与使用旋转运动来传送动力的手术装置和/或手柄组件兼容，存在对如下适配器和/或适配器组件的需要：在线性驱动末端执行器与旋转驱动手术装置和/或手柄组件之间交接并将其相互连接。
发明内容
本公开涉及手持式动力手术装置、手术适配器和/或适配器组件，所述手术适配器和/或适配器组件用于在动力的、旋转的和/或关节式运动的手术装置或手柄组件与用于夹持、切割和/或吻合组织的末端执行器之间使用并用于将其相互连接。
根据本公开的一个方案，提供一种电动机械式手术系统，其包括手持式手术装置，所述手持式手术装置包含：装置壳体，其限定用于选择性地与适配器组件连接的连接部；至少一个驱动电动机，其被支撑在所述装置壳体内并被配置成旋转驱动轴；电池，其设置在装置壳体内用于向至少一个驱动电动机提供电力；以及电路板，其设置在壳体内用于控制从电池传送至电动机的电力。所述电动机械式手术系统进一步包括末端执行器和适配器组件，所述末端执行器配置成执行至少一种功能，所述末端执行器包括至少一个可轴向平移的驱动构件，所述适配器组件用于选择性地将末端执行器和手术装置相互连接。所述适配器组件包括：适配器壳体，其配置成并适于选择性地连接至手术装置的连接部并且与手术装置的至少一个可旋转驱动轴中的每一个可操作地相连；外管，其具有由适配器壳体支撑的近侧端以及配置成并适于与末端执行器连接的远侧端，其中，所述外管的远侧端与末端执行器的至少一个可轴向平移的驱动构件中的每一个可操作地相连；至少一个驱动转换器组件，其用于将手术装置的至少一个可旋转驱动轴中的相应一个和末端执行器的至少一个可轴向平移的驱动构件中的一个相互连接，其中，至少一个驱动转换器组件包含能够与手术装置的驱动轴连接的第一端和能够与末端执行器的至少一个可轴向平移的驱动构件连接的第二端，其中，至少一个驱动转换器组件将手术装置的可旋转驱动轴的旋转转换并传递成末端执行器的至少一个可轴向平移的驱动构件的轴向平移。
适配器组件的至少一个驱动转换器组件可包括：第一驱动转换器组件，第一驱动转换器组件包括可旋转地支撑在适配器壳体内的第一远侧驱动轴，其中，第一远侧驱动轴的近侧端能够与手术装置的可旋转驱动轴连接；驱动联接螺母，其螺纹连接到第一远侧驱动轴的带螺纹的远侧部，其中，驱动联接螺母锁定适配器壳体内的旋转；以及驱动管，其具有连接至驱动联接螺母的近侧端和配置成用于与末端执行器的至少一个可轴向平移的驱动构件选择性接合的远侧端。其中，手术装置的可旋转驱动轴的旋转引起远侧驱动轴的旋转。其中，远侧驱动轴的旋转引起驱动联接螺母、驱动管和末端执行器的至少一个可轴向平移的驱动构件的轴向平移。
第一驱动转换器组件可包括：正齿轮，其锁接至远侧驱动轴的近侧端；近侧可旋转驱动轴，其具有支撑在其远侧端上的正齿轮和能够连接至手术装置的可旋转驱动轴的近侧端；以及复合齿轮，其将锁接至远侧驱动轴的近侧端的正齿轮与支撑在近侧可旋转驱动轴的远侧端上的正齿轮相互接合。
电动机械式手术系统可进一步包括连接件套筒，所述连接件套筒将手术装置的可旋转驱动轴与适配器组件的近侧可旋转驱动轴相互连接。
在使用中，末端执行器的至少一个可轴向平移的驱动构件的平移引起末端执行器的闭合和末端执行器的击发(firing)。
适配器组件的至少一个驱动转换器组件可包括：第二驱动转换器组件，其包括可旋转地支撑在适配器壳体内的第二近侧驱动轴，其中，第二近侧驱动轴的近侧端能够连接至手术装置的第二可旋转驱动轴；联接封套，其可旋转地且可平移地支撑在适配器壳体内，联接封套限定内环形沟槽；联接滑块，其可旋转地设置在联接封套的环形沟槽内，联接滑块螺纹连接至第二近侧驱动轴的带螺纹的远侧部；以及驱动杆，其具有连接至联接封套的近侧端和配置成用于选择性地与末端执行器的另一可轴向平移的驱动构件接合的远侧端。其中，手术装置的第二可旋转驱动轴的旋转引起第二近侧驱动轴的旋转。其中，第二近侧驱动轴的旋转引起联接滑块、联接封套、驱动杆和末端执行器的另一可轴向平移的驱动构件的轴向平移。
第一远侧驱动轴可延伸通过联接封套以使联接封套能够围绕第一远侧驱动轴旋转。
电动机械式手术系统可进一步包括连接件套筒，所述连接件套筒将装置的第二可旋转驱动轴与适配器组件的第二近侧驱动轴相互连接。
在使用中，末端执行器的另一可轴向平移的驱动构件的平移引起末端执行器相对于适配器的关节式运动。
适配器可进一步包括：驱动传递组件，其包括第三近侧可旋转驱动轴，所述第三近侧可旋转驱动轴可旋转地支撑在适配器壳体内并具有支撑在其远侧端上的正齿轮和能够连接至手术装置的第三可旋转驱动轴的近侧端；环形齿轮，其可选择地支撑在适配器壳体内，所述环形齿轮限定齿轮齿的内部阵列，齿轮齿与第三近侧可旋转驱动轴的正齿轮接合；旋转壳体，其可旋转地支撑在适配器壳体内并锁接至所述环形齿轮；以及至少一个旋转传递杆，其具有连接至旋转壳体的近侧端和连接至远侧联接组件的远侧端，其中，远侧联接组件配置成选择性地与末端执行器连接。其中，手术装置的第三可旋转驱动轴的旋转引起第三近侧驱动轴的旋转，并且其中，第三近侧驱动轴的旋转引起环形齿轮、旋转壳体、至少一个旋转传递杆和远侧联接组件的旋转从而使末端执行器相对于适配器并围绕由适配器限定的纵向轴线旋转。
电动机械式手术系统可进一步包括连接件套筒，所述连接件套筒将装置的第三可旋转驱动轴与适配器组件的第三近侧驱动轴相互连接。
末端执行器可配置成用于经内窥镜插入目标手术部位。适配器的外管可配置成用于经内窥镜插入目标手术部位。适配器的外管可具有约为12mm的外部尺寸。可以阻止适配器壳体插入目标手术部位。
第一驱动转换器组件、第二驱动转换器组件和驱动传递组件中的至少一个可设置在适配器壳体内。
在实施例中，末端执行器和适配器的外管限定内窥镜部，所述内窥镜部配置成用于经内窥镜插入目标手术部位。第一驱动转换器组件、第二驱动转换器组件和驱动传递组件中的每一个均可设置在内窥镜部的外部。
附图说明
在此参照附图描述本公开的实施例，其中：
图1为根据本公开的实施例的手术装置和适配器的立体图(零件分离)，图1示出了手术装置和适配器与末端执行器的连接；
图2为图1的手术装置的立体图；
图3为图1和图2的手术装置的立体图(零件分离)；
图4为用于图1至图3的手术装置内的电池的立体图；
图5为图1至图3的手术装置的立体图(其壳体被拆除)；
图6为手术装置和适配器各自的连接端的立体图，图6示出了它们之间的连接；
图7为沿图2的7-7截取的图1至图3的手术装置的横截面图；
图8为沿图2的8-8截取的图1至图3的手术装置的横截面图；
图9为图1至图3的手术装置的扳机壳体的立体图(零件分离)；
图10为图1的适配器的立体图；
图11为图1和图10的适配器的立体图(零件分离)；
图12为图1和图10的适配器的驱动联接组件的立体图(零件分离)；
图13为图1和图10的适配器的远侧部的立体图(零件分离)；
图14为沿图10的14-14截取的图1和图10的适配器的横截面图；
图15为沿图10的15-15截取的图1和图10的适配器的横截面图；
图16为细节14所指示的区域的放大图；
图17为细节15所指示的区域的放大图
图18为细节14所指示的区域的放大图；
图19为细节15所指示的区域的放大图；
图20为图1和图10的适配器的联接封套的立体图(零件分离)；
图21为用于与本公开的手术装置和适配器一起使用的示例性末端执行器的立体图(零件分离)；以及
图22为为了执行所选择的功能的向LED的输出、电动机的选择(选择夹持/切割、旋转或关节式运动)和驱动电动机的选择的示意图。
具体实施方式
参照附图详细描述目前公开的手术装置和用于手术装置和/或手柄组件的适配器组件的实施例，在附图中相同的附图标记在多幅图的每幅中指示相同或对应的元件。如在此使用的，术语“远侧”指的是适配器组件或手术装置或其部件更远离用户的部分，而术语“近侧”指的是适配器组件或手术装置或其部件更靠近用户的部分。
根据本公开实施例的手术装置通常指示为100，并且为电动手持式电动机械器械的形式，其配置成选择性地附接多个不同的末端执行器，末端执行器各自配置成被电动手持式电动机械手术器械致动和操纵。
如图1所示，手术装置100配置成用于与适配器200选择性地连接，并且反过来，适配器200配置成用于与末端执行器或一次性装载单元300选择性地连接。
如图1至图3所示，手术装置100包括：手柄壳体102，其具有壳体下部104、从壳体下部104延伸出和/或支撑在壳体下部104上的壳体中间部106以及从壳体中间部106延伸出和/或支撑在壳体中间部106上的壳体上部108。壳体中间部106和壳体上部108被分成与下部104整体形成并从下部104延伸出的远侧半部110a以及能够通过多个紧固件与远侧半部110a连接的近侧半部110b。当接合时，远侧半部110a和近侧半部110b限定手柄壳体102，手柄壳体102在其内具有空腔102a，在空腔102a内布置电路板150和驱动机构160。
如图1所见，沿横切壳体上部108的纵向轴线“X”的平面分割远侧半部110a和近侧半部110b。
手柄壳体102包括垫圈112，垫圈112完全围绕远侧半部110a和/或近侧半部110b的边缘延伸并介于远侧半部110a和近侧半部110b之间。垫圈112密封远侧半部110a和近侧半部110b的外周。垫圈112起到在远侧半部110a和近侧半部110b之间形成气密密封从而在消毒和/或清洁步骤中保护电路板150和驱动机构160的作用。
以这样方式，手柄壳体102的空腔102a沿远侧半部110a和近侧半部110b的外周被密封，空腔102a还配置成使能更容易且更高效地将电路板150和驱动机构160组装在手柄壳体102内。
手柄壳体102的壳体中间部106提供在其内布置电路板150的壳体。电路板150配置成控制手术装置100的各种操作，如将在下文中另外详细阐明的。
手术装置100的壳体下部104限定在其上表面内形成的孔(未示出)，所述孔位于壳体中间部106之下或之内。壳体下部104的孔提供通道，电线152穿过所述通道使布置在壳体下部104内的电气部件(如图4所示的电池156、如图3所示的电路板154等)与布置在壳体中间部106和/或壳体上部108内的电气部件(电路板150、驱动机构160等)相互电连接。
手柄壳体102包括垫圈103，垫圈103设置在壳体下部104的孔(未示出)内从而塞住或密封壳体下部104的孔，同时允许电线152穿过其中。垫圈103起到在壳体下部106和壳体中间部108之间形成气密密封从而在消毒和/或清洁步骤中保护电路板150和驱动机构160的作用。
如图所示，手柄壳体102的壳体下部104提供在其内可拆除地布置可再充电电池156的壳体。电池156配置成向手术装置100的任何电气部件供应电力。壳体下部104限定在其内插入电池156的空腔(未示出)。壳体下部104包括门105，门105与壳体下部104枢轴连接以用于关闭壳体下部104的空腔并将电池156保持在其中。
参照图3和图5，壳体上部108的远侧半部110a限定头部或连接部108a。头锥114支撑在壳体上部108的头部108a上。头锥114由透明材料制成。照明构件116设置在头锥114内，这样通过头锥114可见照明构件116。照明构件116为发光二极管印刷电路板(LED PCB)的形式。照明构件116配置成照射多种颜色，特定颜色图案与唯一离散事件相关。
手柄壳体102的壳体上部108提供在其内布置驱动机构160的壳体。如图5所示，驱动机构160配置成驱动轴和/或齿轮部件以执行手术装置100的各种操作。特别地，驱动机构160配置成驱动轴和/或齿轮部件以选择性地相对于末端执行器300的近侧主体部302移动末端执行器300的工具组件304(参见图1和图20)、相对于手柄壳体102围绕纵向轴线“X”(参见图3)旋转末端执行器300、相对于末端执行器300的钉仓组件308移动砧座组件306和/或击发末端执行器300的钉仓组件308内的吻合切割钉仓。
驱动机构160包括相对于适配器200最接近的换挡器齿轮箱组件162。换挡器齿轮箱组件162的近侧为功能选择模块163，功能选择模块163具有第一电动机164，第一电动机164起到使齿轮元件在换挡器齿轮箱组件162内选择性地移动以与具有第二电动机166的输入驱动部件165接合的作用。
如图1至图4所示并如上所述，壳体上部108的远侧半部110a限定配置成接受适配器200的对应驱动联接组件210的连接部108a。
如图6至图8所示，手术装置100的连接部108a具有圆柱形凹槽108b，当适配器200与手术装置100配合时圆柱形凹槽108b容纳适配器200的驱动联接组件210。连接部108a容纳三个可旋转驱动连接件118、120、122。
当适配器200与手术装置100紧密配合时，手术装置100的可旋转驱动连接件118、120、122中的每一个均与适配器200的对应的可旋转连接件套筒218、220、222联接(参见图6)。就此而言，对应的第一驱动连接件118和第一连接件套筒218之间的交接、对应的第二驱动连接件120和第二连接件套筒220之间的交接以及对应的第三驱动连接件122和第三连接件套筒222之间的交接被锁定，这样手术装置100的驱动连接件118、120、122中的每一个的旋转均造成适配器200的对应的连接件套筒218、220、222的对应的旋转。
手术装置100的驱动连接件118、120、122与适配器200的连接件套筒218、220、222的配合允许旋转力通过三个相应的连接件交接中的每一个独立地传递。手术装置100的驱动连接件118、120、122配置成通过驱动机构160独立地旋转。就此而言，驱动机构160的功能选择模块163选择手术装置100的哪个或哪些驱动连接件118、120、122被驱动机构160的输入驱动部件165驱动。
由于手术装置100的驱动连接件118、120、122中的每一个均具有与适配器200的相应的连接件套筒218、220、222的锁定和/或实质上非可旋转的交接，因此当适配器200与手术装置100联接时，旋转力被选择性地从手术装置100的驱动机构160转移至适配器200。
手术装置100的驱动连接件118、120和/或122的选择性旋转允许手术装置100选择性地致动末端执行器300的不同功能。如下文将会更详细描述的，手术装置100的第一驱动连接件118的选择性且独立的旋转对应于末端执行器300的工具组件304的选择性且独立的打开和闭合以及末端执行器300的工具组件304的吻合/切割部件的驱动。此外，手术装置100的第二驱动连接件120的选择性且独立的旋转对应于末端执行器300的工具组件304横切纵向轴线“X”(参见图3)的选择性且独立的关节式运动。另外，手术装置100的第三驱动连接件122的选择性且独立的旋转对应于末端执行器300相对于手术装置100的手柄壳体102的围绕纵向轴线“X”(参见图3)的选择性且独立的旋转。
如上所述并如图5和图8所示，驱动机构160包括：换挡器齿轮箱组件162；功能选择模块163，其位于换挡器齿轮箱组件162的近侧，功能选择模块163起到使齿轮元件在换挡器齿轮箱组件162内选择性地移动以与第二电动机166接合的作用。因此，驱动机构160在给定的时间内选择性地驱动手术装置100的驱动连接件118、120、122中的一个。
如图1至图3和图9所示，手柄壳体102将扳机壳体107支撑在壳体中间部108的远侧的表面或侧面上。扳机壳体107与壳体中间部108配合地支撑一对手指致动的控制按钮124、126和摇杆装置128、130。特别地，扳机壳体107限定上部孔124a和下部孔126a，上部孔124a用于可滑动地容纳第一控制按钮124，下部孔126a用于可滑动地容纳第二控制按钮126。
控制按钮124、126和摇杆装置128、130中的每一个均包括各自的磁体(未示出)，磁体通过操作者的致动而移动。此外，对于控制按钮124、126和摇杆装置128、130中的每一个，电路板150包括相应的霍耳效应开关150a-150d，其通过控制按钮124、126和摇杆装置128、130中的磁体的移动而被致动。特别地，与控制按钮124最接近的为第一霍耳效应开关150a(参见图3和图7)，其在操作者致动控制按钮124之际控制按钮124内的磁体移动时被致动。第一霍耳效应开关150a(对应于控制按钮124)的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动部件165提供合适的信号以闭合末端执行器300的工具组件304和/或击发末端执行器300的工具组件304内的吻合/切割钉仓。
此外，与摇杆装置128最接近的为第二霍耳效应开关150b(参见图3和图7)，其在操作者致动摇杆装置128之际摇杆装置128内的磁体(未示出)移动时被致动。第二霍耳效应开关150b(对应于摇杆装置128)的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动部件165提供合适的信号以使工具组件304相对于末端执行器300的主体部302做关节式运动。有利地，摇杆装置128在第一方向上的移动引起工具组件304相对于主体部302在第一方向上做关节式运动，而摇杆装置128的沿反向例如第二方向的移动引起工具组件304相对于主体部302沿反向例如第二方向做关节式运动。
此外，与控制按钮126最接近的为第三霍耳效应开关150c(参见图3和图7)，其在操作者致动控制按钮126之际控制按钮126内的磁体(未示出)移动时被致动。第三霍耳效应开关150c(对应于控制按钮126)的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动部件165提供合适的信号以打开末端执行器300的工具组件304。
另外，与摇杆装置130最接近的为第四霍耳效应开关150d(参见图3和图7)，其在操作者致动摇杆装置130之际摇杆装置130内的磁体(未示出)移动时被致动。第四霍耳效应开关150d(对应于摇杆装置130)的致动引起电路板150向驱动机构160的功能选择模块163和输入驱动部件165提供合适的信号以使末端执行器300相对于手术装置100的手柄壳体102旋转。具体地，摇杆装置130在第一方向上的移动致使末端执行器300相对于手柄壳体102在第一方向上旋转，而摇杆装置130的沿反向例如第二方向的移动致使末端执行器300相对于手柄壳体102沿反向例如第二方向旋转。
如在图1至图3中所见，手术装置100包括支撑在壳体中间部108和壳体上部之间的击发按钮或安全开关132，击发按钮或安全开关132布置在扳机壳体107上方。在使用中，末端执行器300的工具组件304按需要和/或预期在打开和闭合状态之间被致动。为了击发末端执行器300，以便在末端执行器300的工具组件304处于闭合状态时从其排出紧固件，按压安全开关132从而指示手术装置100使末端执行器300准备好从其中排出紧固件。
如图1和图10至图20所示，手术装置100配置成用于与适配器200选择性连接，并且反过来，适配器200配置成用于与末端执行器300选择性连接。
如图21所示并如下文中将更详细讨论的，适配器200配置成将手术装置100的驱动连接件120和122中的任一个的旋转转换为轴向平移以有益于操作末端执行器300的驱动组件360和关节式运动连杆366。
适配器200包括用于将手术装置100的第三可旋转驱动连接件122和末端执行器300的第一轴向可平移的驱动构件相互连接的第一驱动传递/转换组件，其中所述第一驱动传递/转换组件将手术装置100的第三可旋转驱动连接件122的旋转转换并且传递成末端执行器300的第一可轴向平移的驱动组件360的轴向平移以用于击发。
适配器200包括用于将手术装置100的第二可旋转驱动连接件120与末端执行器300的第二可轴向平移的驱动构件相互连接的第二驱动传递/转换组件，其中，第二驱动传递/转换组件将手术装置100的第二可旋转驱动连接件120的旋转转换并传递成末端执行器300的关节式运动连杆366的轴向平移以用于做关节式运动。
现转向图10和图11，适配器200包括旋钮壳体202和从旋钮壳体202远侧端延伸出的外管206。旋钮壳体202和外管206配置成并定尺寸为收纳适配器200的部件。外管206的尺寸适于内窥镜插入，特别是，外管可穿过典型的套管针孔口、插管等。旋钮壳体202的尺寸为不适于进入套管针孔口、插管等。
旋钮壳体202配置成并适用于连接至手术装置100的远侧半部110a的壳体上部108的连接部108a。
如图10至图12所见，适配器200包括在其近侧端的手术装置驱动联接组件210和在其远侧端的末端执行器联接组件230。驱动联接组件210包括可旋转地支撑在旋钮壳体202内(至少部分地在旋钮壳体202内)的远侧驱动联接壳体210a和近侧驱动联接壳体210b。驱动联接组件210将第一可旋转近侧驱动轴212、第二可旋转近侧驱动轴214和第三可旋转近侧驱动轴216可旋转地支撑在其中。
近侧驱动联接壳体210b配置成分别可旋转地支撑第一、第二和第三连接件套筒218、220和222。如上所述，连接件套筒218、220和222中的每一个均配置成分别与手术装置100的第一、第二和第三驱动连接件118、120、122配合。连接件套筒218、220和222中的每一个均进一步配置成分别与第一、第二和第三近侧驱动轴212、214和216的近侧端紧密配合。
近侧驱动联接组件210包括分别设置在第一、第二和第三联接件套筒218、220和222的远侧的第一、第二和第三偏置元件224、226和228。偏置元件224、226和228中的每一个分别围绕第一、第二和第三可旋转近侧驱动轴212、214和216设置。当适配器200连接至手术装置100时，偏置元件224、226和228分别作用于连接件套筒218、220和222以帮助保持分别与手术装置100的可旋转驱动连接件118、120和122的远侧端接合的连接件套筒218、220和222。
特别地，第一、第二和第三偏置元件224、226和228起到分别在近侧方向上偏置连接件套筒218、220和222的作用。以这种方式，在将适配器200组装在手术装置100上的过程中，如果第一、第二或第三连接件套筒218、220和/或222未与手术装置100的驱动连接件118/120和122对准，则第一、第二和/或第三偏置元件224、226和/或228被挤压。因此，当接合手术装置100的驱动机构160时，手术装置100的驱动连接件118、120、122会旋转并且第一、第二和/或第三偏置元件224、226和/或228分别会引起第一、第二和/或第三连接件套筒218、220和/或222向后向近侧滑动，有效地将手术装置100的驱动连接件118、120、122联接至近侧驱动联接组件210的第一、第二和/或第三近侧驱动轴212、214和216。
当校准手术装置100时，旋转手术装置100的驱动连接件118、120、122中的每一个，并且当达到恰当的定位时，在连接件套筒218、220和222上的偏压将连接件套筒218、220和222分别恰当地安装到手术装置100的驱动连接件118、120、122上。
适配器200包括分别设置在手柄壳体202和外管206内的第一、第二和第三驱动传递/转换组件240、250、260。各驱动传递/转换组件240、250、260配置成并适用于将手术装置100的第一、第二和第三驱动连接件118、120、122的旋转传递或转换成适配器200的驱动管246和驱动杆258的轴向平移，以实现末端执行器300的闭合、打开、关节式运动和击发；或者将其传递或转换成适配器200的环形齿轮266的旋转，以实现适配器200的旋转。
如图13至图19所见，第一驱动传递/转换组件240包括可旋转地支撑在壳体202和外管206内的第一远侧驱动轴242。第一远侧驱动轴242的近侧端部242a锁接至正齿轮242c，正齿轮242c配置成用于通过复合齿轮243与锁接至第一可旋转近侧驱动轴212的正齿轮212a连接。第一远侧驱动轴242进一步包括具有带螺纹外轮廓或表面的远侧端部242b。
第一驱动传递/转换组件240进一步包括可旋转地联接至第一远侧驱动轴242的带螺纹远侧端部242b的驱动联接螺母244，并且驱动联接螺母244可滑动地设置在外管206内。驱动联接螺母244锁接至外管206的内壳管206a从而在第一远侧驱动轴242旋转时防止驱动联接螺母244旋转。以这种方式，当第一远侧驱动轴242旋转时，驱动联接螺母244通过和/或沿着外管206的内壳管206a平移。
第一驱动传递/转换组件240进一步包括驱动管246，驱动管246围绕第一远侧驱动轴242并具有连接至驱动联接螺母244的近侧端部和延伸超过第一远侧驱动轴242的远侧端的远侧端部。驱动管246的远侧端部支撑连接构件247(参见图13)，连接构件247配置成且尺寸适于与末端执行器300的驱动组件360的驱动构件374选择性地接合。
在操作中，当第一可旋转近侧驱动轴212旋转时，由于第一连接件套筒218的旋转，作为手术装置100的第一相应驱动连接件118的旋转的结果，第一可旋转近侧驱动轴212的正齿轮212a接合复合齿轮243的第一齿轮243a，致使复合齿轮243旋转。当复合齿轮243旋转时，复合齿轮243的第二齿轮243b旋转并因此致使锁接至第一远侧驱动轴242的正齿轮242c也旋转(第一远侧驱动轴242与正齿轮242c接合)，因此致使第一远侧驱动轴242旋转。当第一远侧驱动轴242旋转时，致使驱动联接螺母244沿第一远侧驱动轴242轴向平移。
当致使驱动联接螺母244沿第一远侧驱动轴242轴向平移时，致使驱动管246相对于外管206的内壳管206a轴向平移。当驱动管246轴向平移时，由于连接构件247与驱动管246连接并连接至末端执行器300的驱动组件360的驱动构件374，驱动管246引起末端执行器300的驱动构件374的伴随的轴向平移，以实现末端执行器300的工具组件304的闭合和工具组件304的击发。
参照图13至图19，适配器200的第二驱动转换器组件250包括可旋转地支撑在驱动联接组件210内的第二可旋转近侧驱动轴214。第二可旋转近侧驱动轴214包括非圆形的或定形的近侧端部214a，其配置成用于与第二连接件220连接，第二连接件220连接至手术装置100的相应的第二连接件120。第二可旋转近侧驱动轴214进一步包括具有带螺纹外轮廓或表面的远侧端部214b。
如图20所示，第二驱动转换器组件250进一步包括联接封套254，联接封套254可旋转地且可平移地支撑在形成于旋钮壳体202内的环形沟槽或凹槽内。联接封套254限定贯通其中的管腔254a和形成在管腔254a的表面内的环形沟槽或凹槽。第二驱动转换器组件250进一步包括联接滑块256，联接滑块256延伸跨过联接封套254的管腔254a并可滑动地设置在联接封套254的沟槽内。联接滑块256可螺纹连接至第二可旋转近侧驱动轴214的带螺纹的远侧端部214b。如这样设置的，联接封套254能够围绕第二可旋转近侧驱动轴214旋转，从而保持第二可旋转近侧驱动轴214相对于第一可旋转近侧驱动轴242的径向位置。
第二可旋转近侧驱动轴214限定旋转轴线，并且联接封套254限定与第二可旋转近侧驱动轴214的旋转轴线间隔一径向距离的旋转轴线。联接滑块256限定与联接封套254的旋转轴线一致的旋转轴线。
第二驱动转换器组件250进一步包括可平移地支撑以轴向平移通过外管206的驱动杆258。驱动杆258包括联接至联接封套254的近侧端部258a和限定联接挂钩258c的远侧端部258b，联接挂钩258c配置成并尺寸适于选择性地接合末端执行器300的关节式运动连杆366的钩状近侧端366a(参见图21)。
在操作中，如图10至图19所示，当驱动轴214由于第二连接件套筒220的旋转而旋转时，作为手术装置100的第二驱动连接件120的旋转，致使联接滑块256沿第二可旋转近侧驱动轴214的带螺纹远侧部214b轴向平移，这反过来致使联接封套254相对于旋钮壳体202轴向平移。当联接封套254轴向平移时，致使驱动杆258轴向平移。因此，当驱动杆258轴向平移时(其挂钩258c连接至末端执行器300的关节式运动连杆366的带钩近侧端366a(参见图21))，驱动杆258引起末端执行器300的关节式运动连杆366的伴随的轴向平移以实现工具组件304的关节式运动。
如图10至图19所见并如上所述，适配器200包括支撑在旋钮壳体202内的第三驱动传递/转换组件260。第三驱动传递/转换组件260包括分别地可旋转地支撑在旋钮壳体202内的第一和第二旋转壳体半部262、264以及支撑并介于第一和第二旋转壳体半部262、264之间的内部旋转环形齿轮266。第一和第二旋转壳体半部262、264中的每一个均包括从其向远侧延伸并且相互平行且相互间隔一横向距离的臂262a、264a。每个臂262a、264a包括靠近其远侧端向内径向延伸的凸块262b、264b。
第三驱动传递/转换组件260进一步包括一对旋转传递杆268、270，它们在其各自的近侧端连接至臂262a、264a的凸块262b、264b，并且它们各在其各自的远侧端连接至支撑在外管206的远侧端处的远侧联接组件230。
第三驱动传递/转换组件260包括限定齿轮齿266a的内部阵列的环形齿轮266。环形齿轮266包括一对沿直径方向对置的径向延伸的突出部266b，突出部266b从环形齿轮266的外边缘突出。突出部266b设置在限定于第一和第二旋转壳体半部262、264的内表面内的凹槽262c、264c内，这样环形齿轮266的旋转造成第一和第二旋转壳体半部262、264的旋转。
第三驱动传递/转换组件260进一步包括可旋转地支撑在壳体202和外管206内的第三可旋转近侧驱动轴216。第三可旋转近侧驱动轴216的近侧端部锁接至适配器200的第三连接件222。第三可旋转近侧驱动轴216包括锁接至其远侧端的正齿轮216a。齿轮组274使第三可旋转近侧驱动轴216的正齿轮216a与环形齿轮266的齿轮齿266a相互接合。齿轮组274包括与第三可旋转近侧驱动轴216的正齿轮216a接合的第一齿轮274a和与环形齿轮266的齿轮齿266a接合的第二齿轮274b。
在操作中，如图10至图19所示，当第三可旋转近侧驱动轴216旋转时，由于第三连接件套筒222的旋转，作为手术装置100的相应的第三驱动连接件122的旋转的结果，第三可旋转近侧驱动轴216的正齿轮216a接合齿轮组274的第一齿轮272a，致使齿轮组274旋转。当齿轮组274旋转时，齿轮组274的第二齿轮274b旋转并因此致使环形齿轮266也旋转，从而致使第一和第二旋转壳体半部262、264旋转。当第一和第二旋转壳体半部262、264旋转时，致使旋转传递杆268、270和与其连接的远侧联接组件230围绕适配器200的纵向轴线“X”旋转。当远侧联接组件230旋转时，还致使连接至远侧联接组件230的末端执行器300围绕适配器200的纵向轴线旋转。
参照图10、11、13和18，适配器200进一步包括锁扣机构280，用于固定驱动管246的轴向位置和径向定位，以便于末端执行器300与其连接和分离。锁扣机构280包括可滑动地支撑在旋钮壳体202上的按钮282。锁扣按钮282连接至纵向延伸通过外管206的致动杆284。致动杆284插入在外管206和内壳管206a之间。在锁扣按钮282移动时，致动杆284移动。致动杆284包括在其内限定窗口284b的远侧部284a。如图18所见，窗口284b的远侧端限定凸轮面284c。
如图13和18所示，锁扣机构280进一步包括支撑在远侧联接组件230上与致动杆284的远侧部284a的窗口284b配准的位置处的闭锁件286。闭锁件286包括朝向驱动管246的连接构件247延伸的凸起286a。闭锁件286的凸起286a配置成且尺寸适于选择性地接合形成在驱动管246的连接构件247内的切除部247a。锁扣机构280进一步包括倾向于保持其闭锁件286和凸起286a与形成于驱动管246的连接构件247内的切除部247a间隔开的偏置构件288。
在操作中，为了锁住驱动管246的位置和/或方位，使用者将锁扣按钮282从远侧位置移动至近侧位置，从而致使致动杆284的凸轮面284c接合闭锁臂286并克服偏置元件288的偏压朝向驱动管246推动闭锁件286，这样闭锁件286的凸起286a被容纳在形成于驱动管246的连接构件247内的切除部247a内。
以这种方式，阻止驱动管246向远侧和/或近侧移动。当锁扣按钮282从近侧位置移动至远侧位置时，凸轮面284c与闭锁件286分离，从而允许偏置元件288将闭锁件286和其凸起286a推出形成于驱动管246的连接构件247内的切除部247a。
如图6和图12所见，适配器200包括一对电接触销290a、290b，用于与设置在手术装置100的连接部108a内的对应的电插头190a、190b电连接。电接触销290a、290b用于允许通过电插头190a、190b将必要的寿命周期信息校准并传送给手术装置100的电路板150，电插头190a、190b电连接至电路板150。适配器200进一步包括支撑在旋钮壳体202内的电路板292，并且电路板292与电接触销290a、290b电连通。
当使用者启动按钮时，软件检查预先定义的条件。如果条件匹配，则软件控制电动机并传送机械驱动至所附接的手术吻合器，随后手术吻合器能够根据被按压的按钮的功能而打开、闭合、旋转、关节式运动或击发。软件还通过以限定方式接通或关断彩色光以指示手术装置100、适配器200和/或末端执行器300的状态来向使用者提供反馈。
所述系统的高水平电子结构图以图22显示在下面并示出了与各种硬件和软件接口的连接。来自按钮124、126的按压和来自驱动轴的电动机编码器的输入信号显示在图22的左侧。微控制器包含操纵手术装置100、适配器200和/或末端执行器300的装置软件。微控制器接收来自MicroLAN、Ultra ID芯片、电池ID芯片和适配器ID芯片的输入信号并将输出信号发送至它们。如下所示，MicroLAN、Ultra ID芯片、电池ID芯片和适配器ID芯片控制手术装置100、适配器200和/或末端执行器300：
MicroLAN—串行1-电线总线传送以读/写系统部件ID信息。
Ultra ID芯片—识别手术装置100并记录使用信息。
电池ID芯片—识别电池156并记录使用信息。
适配器ID芯片—识别适配器200的类型并记录末端执行器300的存在以及记录使用信息。
图22所示的示意图的右侧指示出为了执行所选的功能的向LED的输出信号；电动机的选择(选择夹持/切割、旋转或关节式运动)；以及驱动电动机的选择。
如图1和图21所示，末端执行器标示为300。末端执行器300配置成且尺寸适于通过套管针、插管等实现内窥镜插入。特别地，在图1和图21中示出的实施例中，当末端执行器300处于闭合状态时，末端执行器300可穿过套插管或管针。
末端执行器300包括近侧主体部302和工具组件304。近侧主体部302可释放地附接至适配器200的远侧联接组件230，并且工具组件304枢轴地附接至近侧主体部302的远侧端。工具组件304包括砧座组件306和钉仓组件308。钉仓组件308与砧座组件306成枢转关系并且能够在打开或未夹持位置与用于通过插管的套管插入的闭合或夹持位置之间移动。
近侧主体部302至少包括驱动组件360和关节式运动连杆366。
参照图21，驱动组件360包括柔性驱动梁364，其具有紧固至动态夹持构件365的远侧端和近侧接合部368。接合部368包括限定台肩370的阶状部。接合部368的近侧端包括沿直径方向对置的向内延伸的指状件372。指状件372接合中空的驱动构件374以将驱动构件374固定地紧固至梁364的近侧端。驱动构件374限定近侧孔口376，当末端执行器300附接至适配器200的远侧联接组件230时，近侧孔口376容纳适配器200的第一驱动转换器组件240的驱动管246的连接构件247。
当驱动组件360在工具组件304内向远侧前进时，夹持构件365的上梁在砧座板312和砧座盖310之间限定的通道内移动并且下梁在载体316的外表面上移动以闭合工具组件304并从其中击发吻合钉。
末端执行器300的近侧主体部302包括关节式运动连杆366，关节式运动连杆366具有从末端执行器300的近侧端延伸出的带钩的近侧端366a。当末端执行器300紧固至适配器200的远侧壳体232时，关节式运动连杆366的带钩的近侧端366a接合适配器200的驱动杆258的联接挂钩258c。当适配器200的驱动杆258如上所述前进或后退时，末端执行器300的关节式运动连杆366在末端执行器300内前进或后退以使工具组件304相对于近侧主体部302的远侧端枢转。
如图21中所示，工具组件304的钉仓组件308包括可支撑在载体316内的吻合钉钉仓305。吻合钉钉仓305限定中央纵向槽305a，以及位于纵向槽305a的各侧的三排直线形的吻合钉保持槽305b。吻合钉保持槽305b中的每一个均容纳单个的吻合钉307和吻合钉顶推件309的部分。在手术装置100的操作中，驱动组件360邻接致动滑块并推动致动滑块通过钉仓305。当致动滑块移动通过钉仓305时，致动滑块的凸轮楔形件顺序地接合吻合钉顶推件309以使吻合钉顶推件309在吻合钉保持槽305b内垂直地移动并顺序地从其射出单个吻合钉307以用于抵靠砧座板312成形。
对末端执行器300的结构和操作的详细讨论可参照在2009年8月31日提交的题目为“TOOL ASSEMBLY FOR A SURGICAL STAPLING DEVICE(用于手术吻合装置的工具组件)”的美国专利公开No.2009/0314821。
将会理解的是，可以对目前公开的适配器组件的实施例进行多种改变。因此，上述说明不应被理解为限定，而仅为实施例的范例。本领域技术人员将在本公开的范围和主旨内会想到其他的变型例。

Claims (20)

1.一种电动机械式手术系统，包括：
手持式手术装置，其包含：
装置壳体；以及
第一驱动轴，其由所述装置壳体能够旋转地支撑；
末端执行器，其配置成执行至少一种功能，所述末端执行器包含第一可轴向平移的驱动构件；以及
适配器组件，其用于选择性地将所述末端执行器和所述手术装置相互连接并且包含：
适配器壳体，其配置成选择性地连接至所述手术装置；
外管，其具有联接至所述适配器壳体的近侧部和配置成选择性地连接至所述末端执行器的远侧部；以及
第一驱动转换器组件，其包含：
第一远侧驱动轴，其能够旋转地支撑在所述适配器壳体中并且具有能够连接至所述手术装置的所述第一驱动轴的近侧部；
驱动联接螺母，其螺纹连接至所述第一远侧驱动轴的带螺纹的远侧部，所述驱动联接螺母防止在所述适配器壳体内旋转；以及
驱动管，其具有连接至所述驱动联接螺母的近侧部和配置成选择性地接合所述第一可轴向平移的驱动构件的远侧部，其中，所述手术装置的所述第一驱动轴的旋转使所述第一远侧驱动轴旋转，并且所述第一远侧驱动轴的旋转引起所述驱动联接螺母、所述驱动管和所述第一可轴向平移的驱动构件的轴向平移。
2.根据权利要求1所述的电动机械式手术系统，其中，所述第一驱动转换器组件进一步包含：
第一齿轮，其锁接至所述第一远侧驱动轴的所述近侧部；
近侧可旋转驱动轴，其具有支撑在其远侧部上的第二齿轮和能够连接至所述手术装置的所述第一驱动轴的近侧部；以及
第三齿轮，其将所述第一齿轮和所述第二齿轮相互接合。
3.根据权利要求2所述的电动机械式手术系统，进一步包括连接件套筒，所述连接件套筒将所述手术装置的所述第一驱动轴与所述适配器组件的所述近侧能够旋转的驱动轴相互连接。
4.根据权利要求1所述的电动机械式手术系统，其中，所述第一可轴向平移的驱动构件的平移引起所述末端执行器的闭合和所述末端执行器的击发。
5.根据权利要求1所述的电动机械式手术系统，其中，所述适配器组件包含第二驱动转换器组件，所述第二驱动转换器组件包含：
近侧驱动轴，其能够旋转地支撑在所述适配器壳体内，并且具有能够连接至所述手术装置的第二驱动轴的近侧部；
联接封套，其能够旋转地且能够平移地支撑在所述适配器壳体内，所述联接封套限定内环形沟槽；
联接滑块，其能够旋转地设置在所述联接封套的所述环形沟槽内，所述联接滑块螺纹连接至所述近侧驱动轴的带螺纹的远侧部；以及
驱动杆，其具有连接至所述联接封套的近侧部和配置成选择性地与所述末端执行器的第二可轴向平移的驱动构件接合的远侧部，
其中，所述手术装置的所述第二驱动轴的旋转使所述近侧驱动轴旋转，并且其中，所述近侧驱动轴的旋转引起所述联接滑块、所述联接封套、所述驱动杆和所述第二可轴向平移的驱动构件的轴向平移。
6.根据权利要求5所述的电动机械式手术系统，其中，所述第一远侧驱动轴延伸通过所述联接封套，以使所述联接封套能够围绕所述第一远侧驱动轴旋转。
7.根据权利要求5所述的电动机械式手术系统，进一步包括连接件套筒，所述连接件套筒将所述手术装置的所述第二驱动轴与所述适配器组件的所述近侧驱动轴相互连接。
8.根据权利要求5所述的电动机械式手术系统，其中，所述第二可轴向平移的驱动构件的平移引起所述末端执行器相对于所述适配器组件的关节式运动。
9.根据权利要求1所述的电动机械式手术系统，其中，所述适配器组件进一步包括：驱动传递组件，其包含：
近侧驱动轴，其能够旋转地支撑在所述适配器壳体内并且具有支撑在其远侧部上的正齿轮和能够连接至所述手术装置的第二驱动轴的近侧部；
环形齿轮，其能够旋转地支撑在所述适配器壳体内并且限定齿轮齿的内部阵列，所述齿轮齿与所述正齿轮接合；
旋转壳体，其能够旋转地支撑在所述适配器壳体内并锁接至所述环形齿轮；以及
旋转传递杆，其具有连接至所述旋转壳体的近侧部和连接至远侧联接组件的远侧部，所述远侧联接组件配置成选择性地与所述末端执行器连接，
其中，所述手术装置的所述第二驱动轴的旋转使所述近侧驱动轴旋转，并且所述近侧驱动轴的旋转引起所述环形齿轮、所述旋转壳体、所述旋转传递杆和所述远侧联接组件的旋转，从而使所述末端执行器相对于所述适配器组件并围绕由所述适配器组件限定的纵向轴线旋转。
10.根据权利要求9所述的电动机械式手术系统，进一步包括连接件套筒，所述连接件套筒将所述手术装置的所述第二驱动轴与所述适配器组件的所述近侧驱动轴相互连接。
11.根据权利要求9所述的电动机械式手术系统，其中，所述适配器组件的所述外管配置成用于经内窥镜插入目标手术部位。
12.根据权利要求11所述的电动机械式手术系统，其中，阻止所述适配器壳体插入所述目标手术部位。
13.根据权利要求1所述的电动机械式手术系统，其中，所述末端执行器配置成用于经内窥镜插入目标手术部位。
14.根据权利要求1所述的电动机械式手术系统，其中，所述适配器组件的所述外管配置成用于经内窥镜插入目标手术部位。
15.根据权利要求14所述的电动机械式手术系统，其中，所述适配器组件的所述外管具有约为12mm的外部尺寸。
16.一种用于选择性地将末端执行器和手术装置相互连接的适配器组件，其包括：
适配器壳体；
外管，其具有由所述适配器壳体支撑的近侧部；以及
第一驱动转换器组件，其包含：
第一远侧驱动轴，其能够旋转地支撑在所述适配器壳体中；
驱动联接螺母，其螺纹连接至所述第一远侧驱动轴的带螺纹的远侧部，所述驱动联接螺母防止在所述适配器壳体内旋转；以及
驱动管，其具有连接至所述驱动联接螺母的近侧部，其中，所述第一远侧驱动轴的旋转使所述驱动联接螺母、所述驱动管和第一可轴向平移的驱动构件轴向平移。
17.根据权利要求16所述的适配器组件，其中，所述第一驱动转换器组件进一步包含：
第一齿轮，其锁接至所述第一远侧驱动轴的近侧部；
近侧驱动轴，其具有支撑在其远侧部上的第二齿轮；以及
第三齿轮，其将所述第一齿轮和所述第二齿轮相互接合。
18.根据权利要求16所述的适配器组件，进一步包括第二驱动转换器组件，其包含：
近侧驱动轴，其能够旋转地支撑在所述适配器壳体内；
联接封套，其能够旋转地且能够平移地支撑在所述适配器壳体内，所述联接封套限定内环形沟槽；
联接滑块，其能够旋转地设置在所述联接封套的所述环形沟槽内，所述联接滑块螺纹连接至所述近侧驱动轴的带螺纹的远侧部；以及
驱动杆，其具有连接至所述联接封套的近侧部，其中，所述近侧驱动轴的旋转使所述联接滑块、所述联接封套和所述驱动杆轴向平移。
19.根据权利要求18所述的适配器组件，其中，所述第一远侧驱动轴延伸通过所述联接封套，以使所述联接封套能够围绕所述第一远侧驱动轴旋转。
20.根据权利要求16所述的适配器组件，进一步包括驱动传递组件，所述驱动传递组件包含：
近侧可旋转驱动轴，其能够旋转地支撑在所述适配器壳体内并且具有支撑在其远侧部上的正齿轮；
环形齿轮，其能够旋转地支撑在所述适配器壳体内并且限定齿轮齿的内部阵列，所述齿轮齿与所述正齿轮接合；
旋转壳体，其能够旋转地支撑在所述适配器壳体内并锁接至所述环形齿轮；以及
旋转传递杆，其具有连接至所述旋转壳体的近侧部和连接至远侧联接组件的远侧部，所述远侧联接组件配置成选择性地与末端执行器连接，其中，所述近侧驱动轴的旋转使所述环形齿轮、所述旋转壳体、所述旋转传递杆和所述远侧联接组件旋转。
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