CN107787207A - 利用双向耦接控制机器人手术器械 - Google Patents
利用双向耦接控制机器人手术器械 Download PDFInfo
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Abstract
一种用于连接到机械臂的手术系统包含器械驱动单元和可拆卸地耦接到所述器械驱动单元的手术器械。所述器械驱动单元包含电机组合件和适配器组合件。所述电机组合件具有电机和从所述电机延伸的轴。所述适配器组合件包含适配器主体和由所述适配器主体支撑的突片锁。所述适配器主体连接到所述轴且可沿着所述轴移动。所述手术器械支撑器械突片，所述器械突片可与所述突片锁接合以使所述突片锁相对于所述适配器主体从第一位置移动到第二位置。所述突片锁从所述第二位置移动到所述第一位置，从而使得所述适配器组合件紧固到所述器械突片。
Description
相关申请的交叉参考
此申请要求2015年6月19日提交的美国临时专利申请号62/181,912的权益和优先权，所述临时专利申请通过引用以其全文结合于此。
背景技术
用于微创医疗程序中的机器人手术系统包含支撑机械臂的控制台或手推车和具有末端执行器的手术器械，所述末端执行器可包含例如镊子、马钉枪或抓握工具。机械臂向手术器械提供机械功率以实现其操作和移动。每个机械臂可支撑以操作方式连接到或可连接到手术器械的器械驱动单元。
在使用机器人系统之前或在使用机器人系统期间，选择手术器械并连接到支撑于机械臂的器械驱动单元。对于待完成的恰当的安装来说，手术器械的某些连接特征件必须以配合方式接合到器械驱动单元的对应的连接特征件。一旦这些特征件以配合方式接合，器械驱动单元就可驱动手术器械的致动。然而，将手术器械连接到器械驱动单元以及从器械驱动单元移除手术器械可能是困难的。
因此，可靠的以及能够易于且高效地连接和移除手术器械的新型机器人装置、系统和方法是所希望的。
发明内容
本公开描述了机器人装置、系统和方法，所述机器人装置、系统和方法展示了满足性能要求并克服与器械附接和移除关联的可用性难题的实用方法。一般来说，本公开描述了机器人手术系统，包含器械驱动单元和通过双向耦接而耦接到器械驱动单元的手术器械。手术器械包含末端执行器，所述末端执行器可控制来响应于器械驱动单元的各个组件的远程操纵而进行手术。
根据本公开的一个方面，提供一种用于选择性连接到机械臂的手术系统。手术系统包含器械驱动单元和可以是以可移除方式可连接到器械驱动单元的手术器械。器械驱动单元可具有限定U形开口的驱动单元主体。U形开口可被配置成在其中接收手术器械。
器械驱动单元包含电机组合件，所述电机组合件具有电机和从电机延伸的轴。适配器组合件可连接到电机组合件的轴且可沿着轴移动。适配器组合件可包含适配器主体和由适配器主体支撑的突片锁。适配器主体可限定器械突片底座。在一些实施例中，突片锁可以是可旋转地支撑在适配器主体中。突片锁可包含弹簧，所述弹簧被配置成使突片锁朝向第一位置偏置。
手术器械可包含器械主体和由器械主体支撑的末端执行器。器械主体可支撑以操作方式与末端执行器关联的器械突片。器械突片可以是可与适配器组合件的突片锁接合以当适配器组合件相对于器械突片移动时使突片锁相对于适配器组合件的适配器主体从第一位置移动到第二位置。器械突片可被配置成使得突片锁能够从第二位置移动到第一位置，从而使得器械突片紧固到适配器组合件。器械突片可以是可接收在适配器主体的器械突片底座内以将器械突片紧固到适配器主体。在实施例中，当器械突片紧固到适配器组合件时，适配器组合件和器械突片可一起移动。
在某些实施例中，器械突片可包含成角表面。突片锁可被配置成当适配器组合件相对于器械突片移动时沿着器械突片的成角表面凸出。突片锁可包含肩状物，所述肩状物接触器械突片的成角表面以当突片锁沿着器械突片的成角表面凸起时使突片锁相对于适配器主体旋转。
在一些实施例中，器械驱动单元可进一步包含耦接到第二电机组合件的第二适配器组合件。手术器械可包含第二器械突片。器械驱动单元的第二适配器组合件可被配置成紧固到手术器械的第二器械突片。
根据本公开的另一方面，机器人手术组合件包含机械臂、手术器械和器械驱动单元。手术器械可支撑器械突片。器械驱动单元可以是可耦接到机械臂。
器械驱动单元可包含电机组合件和适配器组合件。电机组合件可具有电机和从电机延伸的轴。适配器组合件可连接到电机组合件的轴且可沿着轴移动。适配器组合件可包含适配器主体和由适配器主体支撑的突片锁。突片锁可以是可与手术器械的器械突片接合以当适配器组合件相对于器械突片移动时使突片锁相对于适配器主体从第一位置移动到第二位置。突片锁可被配置成从第二位置移动到第一位置以将适配器组合件紧固到器械突片。
在实施例中，第一和第二器械突片可以操作方式与末端执行器关联。第一和第二器械突片可以是可独立移动以操作末端执行器。
根据本公开的又一方面，提供一种用于将手术器械选择性地耦接到机械控制的器械驱动单元的方法。所述方法可包含：将手术器械推进到器械驱动单元中；当适配器组合件的适配器主体相对于器械突片移动时使适配器组合件的突片锁沿着手术器械的器械突片凸出；和使适配器组合件的突片锁相对于适配器组合件的适配器主体旋转以将器械突片紧固到适配器组合件，从而使得器械突片与适配器组合件一起沿着器械驱动单元的纵向轴线移动。
其它方面、特征和优点将从描述、图式和所附权利要求书而变得显而易见。
附图说明
并入在本说明书中且构成本说明书的部分的附图说明本公开的实施例，且与上文所给出的本公开的一般描述及下文给出的本公开的详细描述一起用以阐释本公开的原理，其中：
图1是根据本公开的机器人手术系统的示意性说明；
图2是图1的机器人手术系统的机械臂的透视图，其中机器人手术系统的手术组合件被示出安装在机械臂上；
图3和4是图2的手术组合件的近侧部分的渐进视图，其示出手术组合件的手术器械耦接到手术组合件的器械驱动单元；
图5是图3和4所示的器械驱动单元的适配器组合件的适配器主体的放大透视图；
图6是图3和4所示的器械驱动单元的适配器组合件的突片锁的透视图；
图7A是图3和4所示的手术器械的近侧部分的透视图；
图7B是图7A的手术器械的器械突片的透视图；并且
图8到14是渐进视图，其示出图3和4的手术组合件的组件耦接在一起。
具体实施方式
参考图式详细描述本公开的实施例，其中在若干视图中的每一个中，相同参考标号指定相同或对应元件。如本文中所使用，术语“远侧”或“前端”是指系统、组合件、装置和/或其组件的更远离用户的部分，而术语“近侧”或“后端”是指系统、组合件、装置和/或其组件的更接近于用户的部分。如本文中所使用，术语“临床医生”是指医生、护士或其它医护人员且可包含辅助人员。如本文中所使用，术语“主语”是指人类患者或其它动物。
参考图1和2，提供一种机器人手术系统1，包括具有一个或多个机械臂3的机械臂组合件2。机器人手术系统1进一步包含控制装置4和与控制装置4耦接的操作控制台5。操作控制台5包含显示装置6和手动输入装置7、8，临床医生能够借助所述显示装置6和手动输入装置7、8经由控制装置4远距离操控机械臂组合件2或其组件。
每个机械臂3可包含单个或多个构件，例如通过任何数目的关节(例如关节3d、3e和3f)连接的构件3a、3b、3c。每个机械臂3还可包含器械安装件3g。机器人手术系统1还包含连接到每个机械臂3的远端的手术组合件10。手术组合件10包含可拆卸地耦接到机械臂3的器械安装件3g的器械驱动单元100和可拆卸地耦接到器械驱动单元100的手术器械200。手术器械200包含支撑在其前端或远端处的末端执行器202。手术器械200穿过其限定在手术器械200的前(远)端与后(近)端之间延伸的纵向轴线“X1”。
机械臂3可由连接到控制装置4的电力驱动器(未示出)驱动。控制装置4(例如，计算机)被装配以例如通过计算机程序激活电力驱动器，从而使得机械臂3的相应手术组合件10根据手动输入装置7、8限定的移动而执行所希望的移动。控制装置4也可被装配以调节机械臂3和/或电力驱动器的移动。
机器人手术系统1被配置成用于躺在患者检查台9上的患者“P”，例如以通过手术器械200的末端执行器202实施微创过程。机器人手术系统1可包含任何数目的机械臂3。任何额外机械臂也可连接到控制装置4且可由操作控制台5和/或控制装置4远距离操控。一个或多个额外手术组合件10、器械驱动单元100和/或手术器械200也可附接到额外机械臂3。
控制装置4可控制任何数目的电机(电机1……n)，所述电机被配置成驱动耦接到机械臂3的一个或多个连接构件“CM”(例如，电缆、杆等)的推动或拉动。在使用时，当这些连接构件“CM”被拖动和/或拉动时，连接构件“CM”实现机械臂3的操作和/或移动。预期控制装置4协调各个电机(电机1……n)的激活以协调一个或多个连接构件“CM”的推动和/或拉动运动，以便协调机械臂3中的一个或多个的操作和/或移动。
控制装置4可包含适于根据一组指令进行计算和/或操作的任何合适的逻辑控制电路。控制装置4可被配置成经由无线(例如，Wi-FiTM、LTETM等)和/或有线连接与远程系统“RS”连通。远程系统“RS”可包含数据、指令和/或与机器人手术系统1的各个组件、算法和/或操作相关的信息。远程系统“RS”可包含任何合适的电子服务、数据库、平台、云端“C”等。控制装置4可包含可操作地连接到存储器的中央处理单元。存储器可包含暂时性类型存储器(例如，RAM)和/或非暂时性类型存储器(例如，闪存媒体、磁盘媒体等)。在一些实施例中，存储器是远程系统“RS”的部分，和/或可操作地耦接到远程系统“RS”。
控制装置4可包含用于与机器人手术系统1的组件介接(例如通过驱动器电路)的任何数目的输入端和/或输出端。控制装置4可被配置成接收输入信号和/或生成输出信号以控制机器人手术系统1的各个组件(例如，一个或多个电机)中的一个或多个。输出信号可包含和/或可基于可由用户预编程和/或输入的算法指令。控制装置4可被配置成从可耦接到远程系统“RS”的用户接口(例如，操作控制台5的开关、按钮、触摸屏等)接受任何数目的用户输入。
数据库4a可直接和/或间接耦接到控制装置4。数据库4a可被配置成存储来自活体和/或解剖图谱的手术前数据。数据库4a可被配置成存储例如手术系统1的一个或多个组件(例如，手术组合件10、末端执行器202、连接构件“CM”等)的各种状况的实时和/或手术期间数据。数据库4a可包含存储器，所述存储器可以是远程系统“RS”的部分和/或或者以操作方式耦接到远程系统“RS”。可对于2011年11月3日提交的标题为《医疗工作站(MedicalWorkstation)》的美国专利公布号2012/0116416进行参考以对类似机器人手术系统的构造和操作进行详细论述，所述美国专利公布通过引用以其全文结合于此。
参考图2和3，器械驱动单元100包含U形主体或外壳102。主体102包含上表面102a、下表面102b、外表面102c和内表面102d。外表面102c和内表面102d在上表面102a与下表面102b之间延伸以限定主体102的下部部分102e和上部部分102f。内表面102d限定U形通道102g，所述U形通道102g从上表面102a穿过上部部分102e和下部部分102f延伸到形成在主体102的下部部分102e中的底板102h。U形通道102g被配置成在其中接收手术器械200。底板102h限定穿过其的中心孔口(未示出)，所述中心孔口穿过主体102的下表面102b敞开。上部部分102e和下部部分102f在主体102的内表面102c中限定相对通道102i。相对通道102i中的每一个从底板102h纵向延伸到上部部分102f上的一对锥形化表面102j，从而形成两对相对锥形化表面102k、102l。
参考图4，手术组合件10的器械驱动单元100进一步包含支撑在主体102内的电机组合件103。每个电机组合件103包含电机104和从电机104延伸的轴106。适配器组合件107可移动地支撑在电机组合件103的轴106上且包含适配器主体108和可旋转地支撑在适配器主体108中的突片锁110。适配器组合件107可以螺接方式耦接到电机组合件103的轴106以当电机组合件103的轴106响应于电机组合件103的电机104的激活而旋转时使得适配器组合件107能够沿着轴106轴向平移。
如图5所见，适配器组合件107的适配器主体108包含块架108a且限定穿过其的突片锁通道108b，所述突片锁通道108b被配置成在其中接收适配器组合件107的突片锁110。适配器主体108进一步限定穿过其的轴通道108c，所述轴通道108c被配置成接收电机组合件103的轴106。适配器主体108限定器械突片底座108d，所述器械突片底座108d位于块架108a内且具有支撑手术器械200的器械突片220(参见图7A和7B)的底表面108g。适配器组合件107的适配器主体108还包含顶部支撑表面108f，当适配器组合件107的突片锁110设置在适配器主体108的突片锁通道108b中时所述顶部支撑表面108f支撑突片锁110。适配器主体108的顶部支撑表面108f包含限制适配器组合件107的突片锁110的旋转移动的止动壁108i。一个或多个管构件108h支撑在适配器组合件107的适配器主体108中且定位成接收电机组合件103的轴106。管构件108h包含螺纹，所述螺纹用来以可螺接可螺接方式接合电机组合件103方式接合电机组合件103的轴106的螺纹，从而使得当轴106以顺时针或逆时针方向旋转时适配器组合件107可沿着电机组合件103的轴106轴向平移。
参考图6，适配器组合件107的突片锁110包含支撑支腿110a和紧固到支撑支腿110a的锁定臂110b。突片锁110的支撑支腿110a限定穿过其的纵向轴线“X2”且突片锁110的锁定臂110b可以是可相对于支撑支腿110a围绕纵向轴线“X2”旋转。在一些实施例中，突片锁110的锁定臂110b和突片锁110的支撑支腿110a围绕纵向轴线“X2”一起旋转。弹簧110c支撑在突片锁110中且定位成当突片锁110的支撑支腿110a设置在适配器主体108的突片锁通道108b中时使锁定臂110b抵靠适配器主体108的止动壁108i偏置。突片锁110的弹簧110c可以是扭力弹簧。
突片锁110的锁定臂110b包含从锁定臂110b向远侧延伸的指状物110d。锁定臂110b进一步包含邻近指状物110d支撑的肩状物110e。锁定臂110b的肩状物110e可以是圆化的和/或斜切的。锁定臂110b包含与适配器主体108的顶部支撑表面108f接合的底表面110f以及顶表面110g。锁定臂110b进一步包含第一侧表面110h以及邻近锁定臂110b的肩状物110e的第二侧表面110i。锁定臂110b的第二侧表面110i可选择性地与适配器主体102的止动壁108i接合。锁定臂110b进一步包含前表面110j和后表面110k，所述前表面110j定位成当第二侧表面110i与适配器主体102的止动壁108i接合时面向手术器械200。
现在转向图7A和7B，手术组合件10的手术器械200包含器械主体210和从器械主体210向远侧延伸到末端执行器202(参见图2)的器械轴212。再次简要参考图3，器械主体210还在器械主体210中限定夹持孔口210a，所述夹持孔口210a可例如由临床医师的手指或其它工具接合以促进将手术器械200插入到器械驱动单元100中和/或从器械驱动单元100移除手术器械200，如下文更详细描述。
参考图7A，手术器械200的器械主体210包含主体部分214和支撑在主体部分214上的头部分216。器械主体210的主体部分214在其中限定沿着其纵向延伸的通道214a。器械主体210的主体部分214进一步包含从其外表面并沿着主体部分214纵向延伸的凸缘218。尽管图7A中仅示出第一凸缘218a，但类似于第一凸缘218a的第二凸缘设置在主体部分214的相对侧上，与第一凸缘218a处于镜像关系。
再次参考图2到4，当手术器械200的器械主体210被插入器械驱动单元100的U形通道102g和/或从所述U形通道102g取出时，手术器械200的器械轴212和末端执行器202可通过器械驱动单元100的主体102的底板102h的中心孔口接收。手术器械100的凸缘218通过器械驱动单元100的两对相对锥形化表面102k、102l的引导而可接收在器械驱动单元100的侧通道102i内以将手术器械200的器械主体210支撑在器械驱动单元100的U形通道102g内。凸缘218被配置成当手术器械200的凸缘218接收在器械驱动单元100的侧通道102i内时使手术器械200维持与器械驱动单元100共轴对齐。
再次参考图7A和7B，手术器械200进一步包含可滑动地支撑在手术器械200的器械主体210的每个通道214a中的器械突片220。手术器械200可包含任何数目的器械突片220且可限定任何数目的通道214a以容纳围绕器械主体210的主体部分214和/或纵向轴线“X1”隔开定位的器械突片220。
如图7B所见，手术器械200的每个器械突片220包含上表面220a、下表面220b、第一侧表面220c和第二侧表面220d。器械突片220包含通过连接构件226连接的前面222和背面224。器械突片220的前面222限定从下表面220b、跨越前面222并朝向上表面220a延伸的成角表面222a。器械突片220的背面224限定穿过其的通道224a，所述通道224a在其中接收手术器械200的连接构件“CM”。背面224包含成角侧表面224b。器械突片220的一对侧凹槽228a、228b限定在器械突片220的第一侧表面220c和第二侧表面220d中，位于器械突片220的前面222与背面224之间。器械突片220的这一对侧凹槽228a、228b可与器械主体210的主体部分214接合以使得手术器械200的相应器械突片220能够沿着器械主体210的通道214a中的相应一个轴向滑动。
参考图3、4和8到14，为了将器械驱动单元100的适配器组合件107耦接到手术器械200的器械突片220，手术器械200的器械主体210被推进到器械驱动单元100的U形通道102g中。当手术器械200的器械主体210被推进到器械驱动单元100的U形通道102g中时，手术器械200的凸缘218沿着器械驱动单元100的相对通道102i滑动，直到手术器械200的器械主体210的底表面接触器械驱动单元100的底板102h为止。凭借设置在器械驱动单元100的相应电机组合件103的轴106的下部部分上的器械驱动单元100的一个或多个适配器组合件107，相应电机组合件103的电机104被激活以使相应电机组合件103的轴106旋转，由此使器械驱动单元100的相应适配器组合件107轴向向上和/或远离器械驱动单元100的底板102h移动。
如图10A到12B所见，器械驱动单元100的适配器组合件107朝向电机组合件103的电机104的移动(例如，向上)致使适配器组合件107的突片锁110的肩状物110e接触手术器械200的器械突片220的前面222的成角表面222a，从而使得突片锁110的肩状物110e沿着器械突片220的前面222的成角表面222a凸起。如由箭头“A”指示，器械驱动单元100的突片锁110的锁定臂110b围绕突片锁110的纵向轴线“X2”从第一位置并远离适配器组合件107的止动壁108i朝向第二位置旋转。当突片锁110的锁定臂110b远离适配器组合件107的止动壁108i旋转时，突片锁110的弹簧110c向突片锁110的锁定臂110b施加偏置力。当突片锁110的肩状物110e沿着手术器械200的器械突片220的前面222的成角表面222a凸起时实现突片锁110在第一与第二位置之间的旋转。
当器械驱动单元100的突片锁110的锁定臂110b远离第一位置(例如，初始位置)旋转而抵靠适配器组合件107的适配器主体108的止动壁108i时，手术器械200的器械突片220接收在适配器组合件107的器械突片底座108d内。在完全安置位置中，手术器械200的器械突片220的下表面220b接触适配器组合件107的器械突片底座108d的底表面108g。一旦手术器械200的器械突片220完全安置在器械驱动单元100的器械突片底座108d内且适配器组合件107的突片锁110的锁定臂110b的底表面110f已上升高于手术器械200的器械突片220的上表面220a，来自突片锁110的弹簧110c的偏置力就使突片锁110的锁定臂110b在手术器械200的器械突片220上方从突片锁110的第二位置往回朝向突片锁110的第一位置(例如，抵靠适配器主体108的止动壁108i)旋转，如由箭头“B”指示。
参考图13，一旦器械驱动单元100的突片锁110的锁定臂110b返回到第一位置、同时手术器械200的器械突片220完全安置在适配器组合件107的器械突片底座108d中时，突片锁110的锁定臂110b的底表面110f接触器械突片220的上表面220a，从而使得突片锁110的指状物110d覆盖适配器组合件107的器械突片底座108d并将手术器械200的器械突片220紧固在适配器组合件107的器械突片底座108d内。当手术器械200的器械突片220紧固在适配器组合件107的器械突片底座108d内时，激活电机组合件103致使器械突片220与适配器组合件107一起沿着轴向方向平移，如由箭头“C”指示。更确切地说，激活电机组合件103的电机104会使电机组合件103的轴106旋转从而经由适配器组合件107的带螺纹管构件108h沿着电机组合件103的轴106轴向驱动适配器组合件107。适配器组合件107的轴向移动赋予手术器械200的器械突片220相对于手术器械200的器械主体210的伴随轴向移动。如上文所论述手术器械200的器械突片220的轴向移动致使手术器械200的末端执行器202实现末端执行器202的操作。
如图14所见，器械驱动单元100的任何数目的适配器组合件107可耦接到如上文所描述的手术器械200的相应器械突片220，以使得末端执行器202能够进行各种功能，例如抓握、铰接、旋转等。
参考图2到14，为了从手术器械200的相应器械突片220释放和/或解耦器械驱动单元100的适配器组合件107中的一个或多个，可手动和/或以电子方式使相应适配器组合件107的突片锁110往回朝向突片锁110的第二位置旋转，从而使得手术器械200的相应器械突片220可与器械驱动单元100的相应适配器组合件107的器械突片底座108d分离。在实施例中，适配器组合件107的一个或多个组件(例如，适配器组合件107的一个或多个管构件108h和/或突片锁110)可包含协作来使得器械驱动单元100的电机组合件103能够以电子方式使突片锁110中的一个或多个旋转的再一个齿轮、齿状物、轴承、弹簧等。在一些实施例中，一个或多个独立电机组合件103可耦接到和/或可与突片锁110接合从而以电子方式使突片锁110相对于相应适配器主体108旋转。在某些实施例中，适配器组合件107可被推进到支撑在电机组合件103的轴106上的接合齿轮(未示出)以接合与适配器主体108和/或突片锁110关联的轴承组合件(未示出)，以使得电机组合件103能够以电子方式使突片锁110旋转。
一旦手术器械200的每个器械突片220与其相应适配器组合件107分离，手术器械200就可与器械驱动单元100分离；例如以进行器械交换。
器械驱动单元100的适配器组合件107中的一个或多个可独立于其它适配器组合件107中的一个或多个耦接到和/或与手术器械200的其相应器械突片220解耦。另外和或或者，适配器组合件107中的两个或多于两个可同时耦接到和/或与其相应器械突片220解耦。
所属领域的技术人员应理解，本文中确切地所描述且附图中示出的结构和方法是非限制性示范性实施例，且应将描述、公开和图仅仅认作示范特定实施例。因此，应理解，本公开不限于所描述的精确实施例，且所属领域的技术人员可在不脱离本公开的范围或精神的情况下实现各种其它改变和修改。另外，可在不脱离本公开的范围的情况下将结合某些实施例所示出或描述的元件和特征与某些其它实施例的元件和特征组合，且此类修改和变化也包含在本公开的范围内。因此，本公开的主题并不受到已特定地示出和描述的内容限制。
Claims (20)
1.一种用于选择性连接到机械臂的手术系统，所述手术系统包括：
器械驱动单元，包含：
电机组合件，其具有电机和从所述电机延伸的轴；和
适配器组合件，其连接到所述电机组合件的所述轴且能沿着所述轴移动，所述适配器组合件包含适配器主体和由所述适配器主体支撑的突片锁；
以及
以能拆卸方式能连接到所述器械驱动单元的手术器械，所述手术器械包含器械主体和由所述器械主体支撑的末端执行器，所述器械主体支撑以操作方式与所述末端执行器关联的器械突片，所述手术器械的所述器械突片能与所述适配器组合件的所述突片锁接合，从而当所述适配器组合件相对于所述器械突片移动时使所述突片锁相对于所述适配器组合件的所述适配器主体从第一位置移动到第二位置，所述器械突片被配置成使得所述突片锁能够从所述第二位置移动到所述第一位置，从而使得所述器械突片紧固到所述适配器组合件。
2.根据权利要求1所述的手术系统，其中所述突片锁能旋转地支撑在所述适配器主体中。
3.根据权利要求1所述的手术系统，其中所述突片锁包含弹簧，所述弹簧被配置成使所述突片锁朝向所述第一位置偏置。
4.根据权利要求1所述的手术系统，其中当所述器械突片紧固到所述适配器组合件时所述适配器组合件和所述器械突片一起移动。
5.根据权利要求1所述的手术系统，其中所述器械突片包含成角表面，且其中所述突片锁被配置成当所述适配器组合件相对于所述器械突片移动时沿着所述器械突片的所述成角表面凸出。
6.根据权利要求5所述的手术系统，其中所述突片锁包含肩状物，所述肩状物接触所述器械突片的所述成角表面，从而当所述突片锁沿着所述器械突片的所述成角表面凸出时使所述突片锁相对于所述适配器主体旋转。
7.根据权利要求1所述的手术系统，其中所述适配器主体限定器械突片底座，所述器械突片能接收在所述器械突片底座内以将所述器械突片紧固到所述适配器主体。
8.根据权利要求1所述的手术系统，其中所述器械驱动单元进一步包含耦接到第二电机组合件的第二适配器组合件，且其中所述手术器械包含第二器械突片，且其中所述器械驱动单元的所述第二适配器组合件被配置成紧固到所述手术器械的所述第二器械突片。
9.根据权利要求1所述的手术系统，其中所述器械驱动单元具有限定U形开口的驱动单元主体，所述U形开口被配置成在其中接收所述手术器械。
10.一种机器人手术组合件，包括：
机械臂；
手术器械，其支撑器械突片；和
能耦接到所述机械臂的器械驱动单元，所述器械驱动单元包含：
电机组合件，其具有电机和从所述电机延伸的轴；和
适配器组合件，其连接到所述电机组合件的所述轴且能沿着所述轴移动，所述适配器组合件包含适配器主体和由所述适配器主体支撑的突片锁，所述突片锁能与所述手术器械的所述器械突片接合，从而当所述适配器组合件相对于所述器械突片移动时使所述突片锁相对于所述适配器主体从第一位置移动到第二位置，所述突片锁被配置成从所述第二位置移动到所述第一位置以将所述适配器组合件紧固到所述手术器械的所述器械突片。
11.根据权利要求10所述的机器人手术组合件，其中所述突片锁能旋转地支撑在所述适配器主体中。
12.根据权利要求10所述的机器人手术组合件，其中所述突片锁包含弹簧，所述弹簧被配置成使所述突片锁朝向所述第一位置偏置。
13.根据权利要求10所述的机器人手术组合件，其中当所述器械突片紧固到所述适配器组合件时所述适配器组合件和所述器械突片一起移动。
14.根据权利要求10所述的机器人手术组合件，其中所述器械突片包含成角表面，且其中所述突片锁被配置成当所述适配器组合件相对于所述器械突片移动时沿着所述器械突片的所述成角表面凸出。
15.根据权利要求14所述的机器人手术组合件，其中所述突片锁包含肩状物，所述肩状物接触所述器械突片的所述成角表面，从而当所述突片锁沿着所述器械突片的所述成角表面凸出时使所述突片锁相对于所述适配器主体旋转。
16.根据权利要求10所述的机器人手术组合件，其中所述适配器主体限定器械突片底座，所述器械突片能接收在所述器械突片底座内以将所述器械突片紧固到所述适配器主体。
17.根据权利要求10所述的机器人手术组合件，其中所述器械驱动单元进一步包含耦接到第二电机组合件的第二适配器组合件，且其中所述手术器械包含第二器械突片，且其中所述器械驱动单元的所述第二适配器组合件被配置成紧固到所述手术器械的所述第二器械突片。
18.根据权利要求17所述的机器人手术组合件，其中所述第一和第二器械突片以操作方式与末端执行器关联，且其中所述第一和第二器械突片能独立移动以操作所述末端执行器。
19.根据权利要求10所述的机器人手术组合件，其中所述器械驱动单元具有限定U形开口的驱动单元主体，所述U形开口被配置成在其中接收所述手术器械。
20.一种用于选择性地将手术器械耦接到以机械方式控制的器械驱动单元的方法，所述方法包括：
将所述手术器械推进到所述器械驱动单元中；
当适配器组合件的适配器主体相对于所述手术器械的器械突片移动时使所述适配器组合件的突片锁沿着所述器械突片凸出；以及
使所述适配器组合件的所述突片锁相对于所述适配器组合件的所述适配器主体旋转以将所述器械突片紧固到所述适配器组合件，从而使得所述器械突片与所述适配器组合件一起沿着所述器械驱动单元的纵向轴线移动。
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| PCT/US2016/037762 WO2016205452A1 (en) | 2015-06-19 | 2016-06-16 | Controlling robotic surgical instruments with bidirectional coupling |
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| US20180140366A1 (en) | 2018-05-24 |
| WO2016205452A1 (en) | 2016-12-22 |
| US10667877B2 (en) | 2020-06-02 |
| JP6771494B2 (ja) | 2020-10-21 |
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