CN107820412A - 机器人手术组合件 - Google Patents
机器人手术组合件 Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
一种供与器械驱动单元一起使用且用于选择性地连接到器械驱动单元的手术器械包含:末端执行器;器械驱动连接器,包含多个驱动组合件;以及多个驱动部件,与所述器械驱动连接器和所述末端执行器进行机械协作。所述多个驱动组合件的每一驱动组合件包含:驱动螺丝,包含伸长螺纹主体;以及驱动螺帽,以螺纹方式与所述驱动螺丝的所述伸长螺纹主体啮合,使得所述驱动螺丝的旋转导致所述驱动螺帽的纵向移动。所述多个驱动部件的每一驱动部件包含近端部分,所述近端部分紧固到所述多个驱动组合件中的一个的相应驱动螺帽,使得所述相应驱动螺帽的纵向平移致使所述驱动部件的纵向平移以驱动所述末端执行器的功能。
Description
相关申请的交叉参考
本申请主张2015年6月23日提交的第62/183,363号美国临时专利申请的权益和优先权,所述临时专利申请的整个公开内容以引用的方式并入本文中。
背景技术
机器人手术系统已用于微创医疗过程。一些机器人手术系统包含支撑机器人臂的控制台和具有例如镊子或抓握刀具等不同末端执行器的手术器械,所述末端执行器经由腕部组合件安装到机器人臂。在医疗过程期间,手术器械的末端执行器和腕部组合件插入到患者的小切口(经由插管)或自然腔道中以将末端执行器定位在患者身体内的工作位点。
这些手术器械具有线缆,其从近端处的线轴纵向延伸穿过伸长轴杆和腕部组合件到达末端执行器。当手术器械附接到机器人臂时,线缆借助于耦接到线轴的马达而致动。外科医生操控机器人系统的输入装置,且机器人系统致动马达以相关方式移动手术器械和末端执行器。
手术器械中的线缆在使用期间容易拉伸。所述拉伸可能致使末端执行器的移动滞后于输入装置的移动(基于拉伸量)。因此,手术器械和末端执行器可呈现为以不太相关的方式移动,这将限制机器人系统的响应性能。
需要减少机器人手术器械中的线缆拉伸。
发明内容
在本发明的一个方面中,一种供与器械驱动单元一起使用且用于选择性地连接到器械驱动单元的手术器械包含:末端执行器,其界定纵向轴线;器械驱动连接器,其包含外壳组合件和至少部分安置于所述外壳组合件内的多个驱动组合件;以及多个驱动部件,其与器械驱动连接器和末端执行器进行机械协作。所述多个驱动组合件的每一驱动组合件包含驱动螺丝,其包含伸长螺纹主体。驱动螺丝可旋转地支撑在外壳组合件内。驱动组合件还包含驱动螺帽,其与驱动螺丝的伸长螺纹主体以螺纹方式啮合,使得驱动螺丝的旋转导致驱动螺帽的纵向移动。所述多个驱动部件的每一驱动部件包含近端部分,所述近端部分紧固到所述多个驱动组合件中的一个的相应驱动螺帽,使得相应驱动螺帽的纵向平移致使驱动部件的纵向平移以驱动末端执行器的功能。
所述多个驱动组合件的每一驱动螺丝可包含具有被配置成接收旋转力的输入驱动耦接器的近端。
所述多个驱动组合件的每一驱动螺帽可包含沿着其外表面纵向延伸的第一轨道。第一轨道可滑动地安置于形成于外壳组合件内的纵向延伸通道内。
在一些实施例中,器械驱动连接器包含驱动连接器框架,其安置于外壳组合件内且与所述多个驱动组合件进行机械协作。
驱动连接器框架可包含近端,其包含多个近端轴承。所述多个近端轴承的每一轴承可设定尺寸以保持所述多个驱动组合件中的一个的驱动螺丝的近端。
驱动连接器框架可包含伸长中心轴杆,且所述多个近端轴承可径向安置在伸长中心轴杆周围。
伸长中心轴杆可包含在其外表面中界定的多个纵向延伸凹槽。所述多个纵向延伸凹槽的每一凹槽可被配置成滑动地接纳所述多个驱动部件中的相应一个的一部分。
所述多个驱动组合件的驱动螺帽中的每一个可包含沿着其外表面纵向延伸的第二轨道。第二轨道可滑动地安置于驱动连接器框架的伸长中心轴杆的所述多个纵向延伸凹槽中的一个内。
在一些实施例中,每一驱动部件包含柔性远端和刚性近端。近端可固定到所述多个驱动组合件的驱动螺帽中的一个。
所述多个驱动部件可包含第一驱动部件和第二驱动部件,且末端执行器可包含第一和第二钳口部件以及第一和第二钳口滑轮。第一驱动部件可与第一钳口滑轮啮合,且第二钳口部件可与第二钳口滑轮啮合,使得第一和/或第二驱动部件的纵向平移围绕正交于末端执行器的纵向轴线的第一枢轴轴线横摆所述第一和第二钳口部件和/或使第一和/或第二钳口部件相对于彼此移动。
末端执行器可包含以枢转方式安装到一组惰轮的U形夹。所述第一和第二钳口滑轮可耦接到U形夹,且所述第一和第二驱动部件可与所述组惰轮啮合,使得第一和/或第二驱动部件的纵向平移围绕正交于第一枢轴轴线和末端执行器的纵向轴线两者的第二枢轴轴线纵摇所述第一和第二钳口部件。
在本发明的另一方面中,一种器械驱动连接器,其用于选择性地互连具有被配置成执行某一功能的末端执行器的手术器械和被配置成致动末端执行器的器械驱动单元,所述器械驱动连接器包含:外壳组合件,其界定孔;多个驱动组合件,其至少部分安置于外壳组合件的孔内;以及多个驱动部件,其与器械驱动连接器和末端执行器进行机械协作。所述多个驱动组合件的每一驱动组合件包含驱动螺丝,其包含伸长螺纹主体且可旋转地支撑在外壳组合件内;以及驱动螺帽,其以螺纹方式与驱动螺丝的伸长螺纹主体啮合使得驱动螺丝的旋转导致驱动螺帽的纵向移动。所述多个驱动部件的每一驱动部件包含近端部分,所述近端部分紧固到所述多个驱动组合件中的一个的相应驱动螺帽,使得相应驱动螺帽的纵向平移致使驱动部件的纵向平移以驱动末端执行器的功能。
所述多个驱动组合件的每一驱动螺丝可包含具有输入驱动耦接器的近端,所述输入驱动耦接器被配置成啮合器械驱动单元且接收旋转力。
所述多个驱动组合件的每一驱动螺帽可包含沿着其外表面纵向延伸的第一轨道。第一轨道可滑动地安置于形成于外壳组合件的孔中的纵向延伸通道内。
在一些实施例中,器械驱动连接器包含驱动连接器框架,其安置于外壳组合件的孔内且与所述多个驱动组合件进行机械协作。
驱动连接器框架可包含近端,其包含多个近端轴承。所述多个近端轴承的每一轴承可设定尺寸以保持所述多个驱动组合件中的一个的驱动螺丝的近端。
驱动连接器框架可包含伸长中心轴杆,且所述多个近端轴承可径向安置在伸长中心轴杆周围。
伸长中心轴杆可包含在其外表面中界定的多个纵向延伸凹槽。所述多个纵向延伸凹槽的每一凹槽可被配置成滑动地啮合所述多个驱动部件中的相应一个的一部分。
所述多个驱动组合件的驱动螺帽中的每一个可包含沿着其外表面纵向延伸的第二轨道。第二轨道可滑动地安置于驱动连接器框架的伸长中心轴杆的所述多个纵向延伸凹槽中的一个内。
在一些实施例中,每一驱动部件包含柔性远端和刚性近端。近端可固定到所述多个驱动组合件的驱动螺帽中的一个。
其它方面、特征和优点将从描述、图式以及权利要求书而显而易见。
附图说明
附图并入在本说明书中且构成本说明书的一部分,附图中对应的参考标号在若干视图中的每一个中指示对应部分,附图说明本发明的实施例且连同上文给出的本发明的一般描述和下文给出的实施例的详细描述一起用以阐释本发明的原理,附图中:
图1是根据本发明包含手术组合件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手术组合件的透视图;
图3是图2的手术组合件的器械驱动单元的端部透视图;
图4是图3的器械驱动单元的马达的示意性透视图;
图5是包含器械驱动连接器的图2的手术组合件的手术器械的透视图;
图6是图5的手术器械的增大透视图;
图7是图5和6的手术器械的器械驱动连接器的端部透视图;
图8是沿着图7的线8-8截取的图5-7的手术器械的器械驱动连接器的横截面图;
图9是沿着图6的线9-9截取的图5到8的手术器械的器械驱动连接器的横截面图;
图10是沿着图9的线10-10截取的图5到9的手术器械的器械驱动连接器的透视性横截面图;
图11是沿着图6的线11-11截取的图5到10的手术器械的器械驱动连接器的横截面图;
图12是安置于图5-11的器械驱动连接器内的驱动组合件的透视图;
图13是图5中指示的细节的区域的放大视图;
图14是图6中指示的细节的区域的放大视图;
图15是图5、6、13和14的从其移除了驱动部件的手术器械的末端执行器的透视图;
图16是图5、6、13-15的从其移除了驱动部件的手术器械的末端执行器的透视图;以及
图17是根据本发明包含零件已分离的手术组合件的机器人手术系统的机器人臂的透视图。
具体实施方式
在本发明中,术语“远端”指代距临床医生较远的结构的一部分,而术语“近端”指代距临床医生较近的相同结构的一部分。如本文中所使用,术语“对象”是指人类患者或其它动物。术语“临床医生”指代医生(例如,外科医生)、护士或其它保健提供者,且可包含支持人员。
首先参照图1,例如医疗工作站1等机器人手术系统大体上包含多个机器人臂2和3、控制装置4以及与控制装置4耦接的操作控制台5。操作控制台5包含被设置成特定来说显示三维图像的显示装置6,以及手动输入装置7和8,例如外科医生等临床医生(未图示)借助于手动输入装置7和8能够在第一操作模式中远距离操控机器人臂2和3,如所属领域的技术人员原则上已知。
机器人臂2和3中的每一个包含多个部件,其经由接头连接,例如手术组合件10可附接到所述接头。机器人臂2和3可由连接到控制装置4的电驱动器(未图示)驱动。控制装置4(例如,计算机)被设置成确切地说借助于计算机程序激活驱动器,使得机器人臂2和3、附接的手术组合件10和因此手术器械100(包含末端执行器,未图示)根据借助于手动输入装置7和8界定的移动执行所要移动。控制装置4还可经设置使得其调整机器人臂2和3和/或驱动器(未图示)的移动。控制装置4可控制多个马达,例如“马达1...n”,其中每一马达被配置成驱动机械臂2和3在多个方向上的移动。
医疗工作站1被配置成在躺在手术台“ST”上待借助于手术组合件10的手术器械100以微创方式进行治疗的患者“p”上使用。医疗工作站1还可包含两个以上机器人臂2和3,额外机器人臂同样连接到控制装置4且可借助于操作控制台5远距离操控。手术组合件10还可附接到额外机器人臂。医疗工作站1可包含确切地说耦接到控制装置4的数据库9,其中存储例如来自患者“p”和/或解剖图谱的手术前数据。
对于医疗工作站1的构造和操作的详细论述,可参考2011年11月3日提交的标题为“医疗工作站(Medical Workstation)”的第2012/0116416号美国专利公开,所述美国专利公开的整个内容以引入的方式并入本文中。
现在转而参看图2,结合图1,手术组合件10展示为与机械臂2耦接或耦接到机械臂2。虽然单一地论述手术组合件10,但所属领域的普通技术人员可容易地理解,医疗工作站1还可包含与机器人臂2和3中的每一个耦接或耦接到机器人臂2和3中的每一个的多个大体上相同的手术组合件10。手术组合件10包含耦接到手术器械100的器械驱动连接器200的器械驱动单元50,手术器械100具有安置在其远端处的末端执行器310。
手术组合件10的器械驱动单元50可支撑于滑件12上或连接到滑件12,滑件12可移动地连接到机械臂2的导轨或滑件13。滑件12在由安置于机械臂2的导轨13中的马达(未图示)或控制装置4的马达(例如,“马达1...n”中的一个或多个)选择性致动后中沿着由手术机械臂2的导轨13界定的纵向轴线“Y”移动、滑动或平移。由此,滑件12在器械驱动单元50连接到其上的情况下可沿着机械臂2的导轨13移动到选定位置。
现参看图2和3,手术组合件10的器械驱动单元50包含具有近端62和远端64的外壳60,所述近端62和远端64被配置成可操作地耦接到手术器械100的器械驱动连接器200。器械驱动单元50的外壳60容纳多个马达“M1-M4”,其被配置成驱动手术器械100的末端执行器310的各种操作。如图4中马达“M1”的示范性图解中所展示,器械驱动单元50的每一马达“M1-M4”包含输出驱动耦接器70,其支撑于从马达向远端延伸的可旋转轴杆72上。在一些实施例中,输出驱动耦接器70是冠形齿轮等,其键连到或非可旋转地支撑于马达“M1-M4”中的至少一个的可旋转轴杆72上。在使用中,器械驱动单元50经由输出驱动耦接器70的旋转将动力和致动力从其马达(例如,“M1-M4”)转移到手术器械100的器械驱动连接器200,以最终驱动手术器械100的末端执行器310的组件的移动,如下文进一步详细描述。
控制装置4(图1)可控制器械驱动单元50的马达“M1-M4”。在一些实施例中,至少一个马达“M1-M4”以无线方式(例如,从控制装置4)接收信号。预期控制装置4协调各个马达(“马达1…n”)的激活以协调手术器械100的操作和/或移动。据设想,一个或多个马达对应于与器械驱动单元50啮合的手术器械100的单独自由度。
现在参考图5-7,手术组合件10的器械驱动连接器200包含外壳组合件210,其包含近端外壳212和远端外壳214。近端外壳212和远端外壳214可拆卸地彼此耦接,这可促进器械驱动连接器200的组装,且这可促进至少部分容纳在其中的零件的接取、维修和/或更换。外壳组合件210可包含悬臂216,其被配置用于使器械驱动连接器200从器械驱动单元50的外壳60的远端64断开连接。外壳组合件210的近端外壳212包含安置于其相对侧表面上的斜变凸轮表面218,用于与器械驱动单元50的互补配对表面(未图示)的横向连接/断开连接(图2)。
现参看图8-12,外壳组合件210界定孔211,其容纳由驱动组合件框架270支撑的多个驱动组合件220。每一驱动组合件220包含驱动螺丝230、驱动螺帽240和偏置元件250,且以操作方式连接到驱动部件或杆260。驱动组合件框架270包含具有多个近端轴承274的近端272,驱动螺丝230的近端232保持在近端轴承274中。每一近端轴承274准许或促进驱动螺丝230相对于外壳组合件210的旋转。此外,近端轴承274可被配置成充当驱动螺帽240的近端止挡件。近端轴承274径向安置在伸长中心轴杆276的近端周围。多个纵向延伸凹槽278(图10)界定在中心轴杆276的外表面276a中。每一凹槽278被配置成滑动地啮合驱动部件260的近端部分262和驱动螺帽240的第二轨道248。
如图12中所展示,驱动螺丝230包含近端232、不带螺纹的远端或尖端234,和延伸于近端和远端232和234之间的伸长螺纹主体236,且界定穿过其径向中心的纵向轴线“Z”。驱动螺丝230的近端232包含输入驱动耦接器238,其被配置成与器械驱动单元50的相应输出驱动耦接器70啮合(图3),使得输出驱动耦接器70的移动致使输入驱动耦接器238的对应移动。因为输入驱动耦接器238由伸长螺纹主体236一体式形成,所以输入驱动耦接器238的旋转导致伸长螺纹主体236的对应旋转。应理解,输入驱动耦接器238和伸长螺纹主体236可以是彼此键连的单独组件。在一些实施例中,输入驱动耦接器238可以是齿轮,例如冠形齿轮,其被配置成与马达“M1-M4”的相应冠形齿轮70配对和/或紧密配合(图3),使得冠形齿轮70的旋转致使冠形齿轮238的对应旋转。
如图8和12中所展示,驱动螺帽240包含具有纵向延伸穿过其内表面242a的带螺纹孔隙244的主体242,其被配置成以机械方式啮合驱动螺丝230的伸长螺纹主体236。驱动螺帽240被配置成以某一方式定位在驱动螺丝230上使得驱动螺丝230的旋转致使驱动螺帽240的纵向移动。在实施例中,驱动螺帽240和驱动螺丝230以螺纹方式彼此啮合。此外,输入驱动耦接器238在第一方向上(例如,顺时针)的旋转致使驱动螺帽240在第一纵向方向上(例如,向近端)相对于驱动螺丝230移动,且输入驱动耦接器238在第二方向中(例如,逆时针)的旋转致使驱动螺帽230在第二纵向方向上(例如,向远端)相对于驱动螺丝230移动。
驱动螺帽240包含沿着主体242的外表面242b纵向延伸的第一轨道246,且其被配置成可滑动地安置于形成于外壳组合件210的孔211中的纵向延伸通道213中。驱动螺帽240的第一轨道246与外壳组合件210的孔211的通道213协作以抑制或防止驱动螺帽240随着驱动螺丝230旋转而围绕纵向轴线“Z”旋转。驱动螺帽240还包含沿着主体242的外表面242b纵向延伸的第二轨道248,其被配置成可滑动地安置于形成于驱动组合件框架270中的纵向延伸凹槽278中。第二轨道248被配置成以机械方式啮合驱动部件260的近端部分262。
驱动螺帽240还包含安置在主体242的远端处的保持凸缘241。保持凸缘241具有比驱动螺帽240的主体242小的外径,且被配置成啮合偏置元件250的一部分。另外或替代地,保持凸缘243可安置在驱动螺帽240的主体242的近端处。
例如压缩弹簧等偏置元件250被配置成径向包围驱动螺丝230的伸长螺纹主体236的一部分。在实施例中,驱动螺丝230延伸穿过由偏置元件250界定且纵向延伸穿过偏置元件250的孔隙252。此外,如图8中所见,偏置元件250的近端部分254被配置和设定尺寸以啮合驱动螺帽230的保持凸缘241,且偏置元件250的远端部分256被配置和设定尺寸以用于至少部分接纳在形成于外壳组合件210的孔211中的保持凹座215内。虽然所说明的实施例展示特定类型的偏置元件(即,压缩弹簧),但本发明预期其它类型的偏置元件。更进一步,预期可利用其它保持结构来与偏置元件啮合。
每一驱动部件260(例如,线缆、链、带、杆等和/或其组合)包含紧固到相应驱动螺帽240的近端部分262。每一驱动部件260从相应驱动螺帽240延伸穿过驱动组合件框架270的相应凹槽278,且离开外壳组合件210的孔211,且被配置成以机械方式啮合末端执行器310的一部分(图9)。
偏置元件250预拉紧以在近端方向中推动相应驱动螺帽240,借此将张力施加到相应驱动部件260并防止驱动部件260变得松弛。周围安置偏置元件250的驱动螺丝230因此可往回驱动,从而考虑当器械驱动单元50不连接到器械驱动连接器200时的手动操作。相应地,当器械驱动单元50不连接到器械驱动连接器200时,临床医生可手动地旋转器械驱动连接器200的输入驱动耦接器238以控制手术器械100。举例来说,当手术器械100从例如接取端口缩回时,且如果腕部组合件320和/或钳口组合件330处于将不穿过由接取端口形成的腔道的配置中,那么驱动螺丝230的往回驱动能力允许腕部组合件320和/或钳口组合件330移动和/或拉直以便容易地从患者移除手术器械100。作为另一实例,往回驱动能力允许每次使用之间手术器械100的清洁期间的简单操控。
举例来说,每一驱动组合件220在外壳组合件210内定向使得驱动部件260居中定位于外壳组合件210内,且延伸穿过手术器械100的伸长轴杆302并且例如与末端执行器310啮合。据设想,手术器械100可包含伸出部分等以帮助在驱动组合件220和末端执行器310之间引导或导引驱动部件260。
再次参看图5和6,器械驱动连接器200被配置成将器械控制单元50(参看例如图2)供应的旋转移动转变为驱动部件260(参看例如图8)的纵向移动,从而实现末端执行器310的各种功能。
现在参考图13-15,结合图5和6,手术器械100包含内窥镜部分300,其包含沿着纵向轴线“X”延伸的伸长轴杆302。伸长轴杆302包含可操作地连接到器械驱动连接器200或与器械驱动连接器200一体地形成的近端部分304,以及具有末端执行器310的远端部分306。末端执行器310是腕力手术装置,其包含安装部件或腕部组合件320、钳口组合件330,以及连接腕部组合件320和钳口组合件330的U形夹340。腕部组合件320和U形夹340连接到钳口组合件330,钳口组合件330在驱动部件260移动后围绕/相对于纵向轴线“X”和/或围绕/相对于枢转轴线(例如轴线“A”和“B”)移动(例如,枢转、铰接、旋转、打开和/或关闭)。
腕部组合件320具有安装主体322,其向远端延伸到包含第一臂324a和第二臂324b的一对间隔开的臂。该对间隔开的臂324a和324b界定横向延伸穿过第一和第二臂324a和324b中的每一个的第一销通道326a和第二销通道326b。腕部组合件320支撑第一组惰轮328a和第二组惰轮328b,所述惰轮分别与第一和第二销通道326a和326b对准,使得第一组惰轮328a位于第二组惰轮328b的近端。第一和第二组惰轮328a和328b分别经由第一和第二滑轮销321a和321b紧固到腕部组合件320。第二滑轮销328b和第二组惰轮326b界定枢轴轴线“A”,第一和第二钳口部件332和334围绕枢轴轴线“A”相对于纵向轴线“X”纵摇。
钳口组合件330包含可枢转地耦接在一起的第一钳口部件332和第二钳口部件334。第一钳口部件332包含从第一钳口滑轮336a向远端延伸的抓握部分332a。第二钳口部件334包含从第二钳口滑轮336b向远端延伸的抓握部分334a。第一和第二钳口滑轮336a和336b可分别与第一和第二钳口部件332和334的抓握部分332a、334a一体地形成。抓握部分332a和334a包含被配置成啮合组织的相应组织啮合表面332b、334b。第一和第二钳口滑轮336a和336b界定被配置成接纳驱动部件260的相应第一和第二驱动部件通道336c和336d。
U形夹340包含基底部分342,其具有从基底部分342向远端延伸的一对间隔开的指状物344a和344b。该对间隔开的指状物344a和344b界定横向延伸穿过其中的销通路346。基底部分342通过枢轴销321b以枢转方式安装到第二组惰轮326b以使钳口组合件330能够相对于末端执行器310的纵向轴线“X”纵摇/铰接。钳口组合件300的钳口滑轮336a和336b耦接在一起且通过枢轴销348安装在U形夹340的该对指状物344a和344b之间以使钳口组合件330能够围绕枢轴轴线“B”横摆和/或围绕枢轴轴线“B”打开/关闭钳口组合件330。
如图13和14中所展示,每一驱动部件260包含远端驱动部件部分260a(呈线缆等形式),其导引/缠绕在所述组惰轮328a和238b以及钳口滑轮336a和336b周围。每一驱动部件260进一步包含近端驱动部件部分260b(呈杆的形式),其个别地紧固到驱动组合件220的相应驱动螺帽240(参看例如图8)使得近端驱动部件部分260b响应于相应驱动螺帽240的移动而移动,如上文所描述。多个套管338(仅展示一个)耦接到驱动部件260的远端驱动部件部分260a以将远端驱动部件部分260a紧固到钳口组合件330的第一钳口部件332或第二钳口部件334。
在示范性使用方法中,当器械驱动单元50的马达“M1-M4”彼此协调而激活以旋转(顺时针或逆时针)器械驱动连接器200的输入驱动耦接器238时,输入驱动耦接器238的旋转导致相应驱动螺丝230的对应旋转。驱动螺丝230的旋转致使相应驱动螺帽240的纵向平移(向远端或向近端),其中每一驱动螺帽240的纵向平移的方向由其相应输出驱动耦接器238和因此驱动螺丝230的旋转方向确定。驱动螺帽240的平移导致与驱动螺帽240啮合的相应驱动部件260的对应平移。
相应地,驱动部件260的近端驱动部件部分260b中的一个或多个可独立于驱动部件260的其它近端驱动部件部分260b中的一个或多个和/或与之同时在相同和/或相反方向中移动以实现末端执行器310的这些运动的纵摇、横摆、抓握/切开、打开/关闭和/或任何组合,如例如图15和16中所示。在一些实施例中,驱动组合件220利用驱动部件260的差分张力来实现手术器械100的末端执行器310的操作和/或移动。
虽然已经描述某些实施例,其它实施例是可能的。
举例来说,虽然器械驱动单元已经描述为可移动地连接到机器人臂的导轨,但另外或替代地可能存在其它配置。举例来说,如图17所示,器械驱动单元50可直接耦接到安置在机器人臂2的远端处的接头“J”。手术器械100的器械驱动连接器200可连接到器械驱动单元50/从器械驱动单元50断开连接,如上文所描述。
作为另一实例,虽然器械驱动连接器已经描述为包含四个驱动组合件,但器械驱动连接器可包含更多(例如,五个或六个)或更少(例如,两个或三个)驱动组合件,而不脱离本发明的范围。
此外,虽然驱动组合件框架已经描述为驱动组合件的组件,但驱动组合件框架的整个结构或其部分可一体地形成于器械驱动连接器的外壳组合件内。
作为又一实例,虽然末端执行器已经描述为包含钳口组合件,但另外或替代地可能存在其它末端执行器的使用。供与器械驱动单元一起使用的末端执行器的构造和操作的说明性实例的详细论述可参考2014年10月20日提交的标题为“用于机器人手术系统的腕部和钳口组合件(Wrist and Jaw Assemblies for Robotic Surgical Systems)”的第PCT/US14/61329号共同拥有国际专利申请,所述国际专利申请的整个内容以引用的方式并入本文中。
作为又一实例,虽然单一驱动部件的两个近端部分展示为耦接到单独驱动螺帽,但预期两个或两个以上驱动部件的两个或两个以上近端部分或单一驱动部件的两个近端部分可耦接到单一驱动螺帽。举例来说,驱动部件的两个近端部分可在相反方向中耦接到单一驱动螺帽,使得随着驱动螺帽在第一方向中平移,近端部分中的一个绕紧而另一近端部分放松。
作为另一实例,每一驱动组合件可包含驱动部件,其与驱动螺帽和末端执行器进行机械协作,使得每一驱动部件包含连接到驱动螺帽的单一近端部分和耦接到末端执行器的远端部分以实现末端执行器的功能。举例来说,特定驱动部件的远端平移可被配置成使钳口部件相对于彼此靠近,且近端平移可被配置成使至少一个钳口部件移动远离另一钳口部件。此外,不同驱动组合件的驱动部件的远端平移可被配置成在第一方向中铰接钳口部件,且相同驱动部件的近端平移可被配置成在第二方向中铰接钳口部件。
已经描述了若干实施例。尽管如此,应理解,可对本说明书中公开的实施例作出各种修改。因此,上文的描述不应解释为限制性的,而仅仅是作为各种实施例的例证。所属领域的技术人员将设想在本发明的范围和精神内的其它修改。因此,其它实施例在所附权利要求书的范围内。
Claims (20)
1.一种供与器械驱动单元一起使用且用于选择性地连接到器械驱动单元的手术器械,所述手术器械包括:
末端执行器,界定纵向轴线;
器械驱动连接器,包含外壳组合件,和至少部分安置于所述外壳组合件内的多个驱动组合件,所述多个驱动组合件的每一驱动组合件包含:
驱动螺丝,包含伸长螺纹主体且可旋转地支撑在所述外壳组合件内;以及
驱动螺帽,以螺纹方式与所述驱动螺丝的所述伸长螺纹主体啮合,使得所述驱动螺丝的旋转导致所述驱动螺帽的纵向移动;以及
多个驱动部件,与所述器械驱动连接器和所述末端执行器进行机械协作,所述多个驱动部件的每一驱动部件包含近端部分,所述近端部分紧固到所述多个驱动组合件中的一个的相应驱动螺帽使得所述相应驱动螺帽的纵向平移致使所述驱动部件的纵向平移以驱动所述末端执行器的功能。
2.根据权利要求1所述的手术器械,其中所述多个驱动组合件的每一驱动螺丝包含具有被配置成接收旋转力的输入驱动耦接器的近端。
3.根据权利要求1所述的手术器械,其中所述多个驱动组合件的每一驱动螺帽包含沿着其外表面纵向延伸的第一轨道,所述第一轨道滑动地安置于形成于所述外壳组合件内的纵向延伸通道内。
4.根据权利要求1所述的手术器械,其中所述器械驱动连接器包含驱动连接器框架,所述驱动连接器框架安置于所述外壳组合件内且与所述多个驱动组合件进行机械协作。
5.根据权利要求4所述的手术器械,其中所述驱动连接器框架包含包括多个近端轴承的近端,所述多个近端轴承的每一轴承经设定尺寸以保持所述多个驱动组合件中的一个的所述驱动螺丝的近端。
6.根据权利要求5所述的手术器械,其中所述驱动连接器框架包含伸长中心轴杆,且所述多个近端轴承径向安置在所述伸长中心轴杆周围。
7.根据权利要求6所述的手术器械,其中所述伸长中心轴杆包含在其外表面中界定的多个纵向延伸凹槽,所述多个纵向延伸凹槽的每一凹槽被配置成滑动地接纳所述多个驱动部件中的相应一个的一部分。
8.根据权利要求7所述的手术器械,其中所述多个驱动组合件的所述驱动螺帽中的每一个包含沿着其外表面纵向延伸的第二轨道,所述第二轨道滑动地安置于所述驱动连接器框架的所述伸长中心轴杆的所述多个纵向延伸凹槽中的一个内。
9.根据权利要求1所述的手术器械,其中每一驱动部件包含柔性远端和刚性近端,所述近端紧固到所述多个驱动组合件的所述驱动螺帽中的一个。
10.根据权利要求1所述的手术器械,其中所述多个驱动部件包含第一驱动部件和第二驱动部件,且其中所述末端执行器包含第一和第二钳口部件以及第一和第二钳口滑轮,所述第一驱动部件与所述第一钳口滑轮啮合且所述第二钳口部件与所述第二钳口滑轮啮合,使得所述第一和/或第二驱动部件的纵向平移围绕正交于所述末端执行器的所述纵向轴线的第一枢轴轴线横摆所述第一和第二钳口部件和/或使所述第一和/或第二钳口部件相对于彼此移动。
11.根据权利要求10所述的手术器械,其中所述末端执行器包含以枢转方式安装到一组惰轮的U形夹,所述第一和第二钳口滑轮耦接到所述U形夹且所述第一和第二驱动部件与所述组惰轮啮合,使得所述第一和/或第二驱动部件的纵向平移围绕正交于所述第一枢轴轴线和所述末端执行器的所述纵向轴线两者的第二枢轴轴线纵摇所述第一和第二钳口部件。
12.一种用于选择性地互连具有被配置成执行某一功能的末端执行器的手术器械和被配置成致动所述末端执行器的器械驱动单元的器械驱动连接器,所述器械驱动连接器包括:
外壳组合件,界定孔;
多个驱动组合件,至少部分安置于所述外壳组合件的所述孔内,所述多个驱动组合件的每一驱动组合件包含:
驱动螺丝,包含伸长螺纹主体且可旋转地支撑在所述外壳组合件内;以及
驱动螺帽,以螺纹方式与所述驱动螺丝的所述伸长螺纹主体啮合,使得所述驱动螺丝的旋转导致所述驱动螺帽的纵向移动;以及
多个驱动部件,与所述器械驱动连接器和所述末端执行器进行机械协作,所述多个驱动部件的每一驱动部件包含近端部分,所述近端部分紧固到所述多个驱动组合件中的一个的相应驱动螺帽使得所述相应驱动螺帽的纵向平移致使所述驱动部件的纵向平移以驱动所述末端执行器的功能。
13.根据权利要求12所述的器械驱动连接器,其中所述多个驱动组合件的每一驱动螺丝包含具有被配置成啮合所述器械驱动单元且接收旋转力的输入驱动耦接器的近端。
14.根据权利要求12所述的器械驱动连接器,其中所述多个驱动组合件的每一驱动螺帽包含沿着其外表面纵向延伸的第一轨道,所述第一轨道滑动地安置于形成于所述外壳组合件的所述孔中的纵向延伸通道内。
15.根据权利要求12所述的器械驱动连接器,其中所述器械驱动连接器包含驱动连接器框架,所述驱动连接器框架安置于所述外壳组合件的所述孔内且与所述多个驱动组合件进行机械协作。
16.根据权利要求15所述的器械驱动连接器,其中所述驱动连接器框架包含包括多个近端轴承的近端,所述多个近端轴承的每一轴承经设定尺寸以保持所述多个驱动组合件中的一个的所述驱动螺丝的近端。
17.根据权利要求16所述的器械驱动连接器,其中所述驱动连接器框架包含伸长中心轴杆,且所述多个近端轴承径向安置在所述伸长中心轴杆周围。
18.根据权利要求17所述的器械驱动连接器,其中所述伸长中心轴杆包含在其外表面中界定的多个纵向延伸凹槽,所述多个纵向延伸凹槽的每一凹槽被配置成滑动地接纳所述多个驱动部件中的相应一个的一部分。
19.根据权利要求18所述的器械驱动连接器,其中所述多个驱动组合件的所述驱动螺帽中的每一个包含沿着其外表面纵向延伸的第二轨道,所述第二轨道滑动地安置于所述驱动连接器框架的所述伸长中心轴杆的所述多个纵向延伸凹槽中的一个内。
20.根据权利要求1所述的器械驱动连接器,其中每一驱动部件包含柔性远端和刚性近端,所述近端紧固到所述多个驱动组合件的所述驱动螺帽中的一个。
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US20230320796A1 (en) | 2023-10-12 |
AU2016284040B2 (en) | 2020-04-30 |
EP3313315A1 (en) | 2018-05-02 |
US11666395B2 (en) | 2023-06-06 |
AU2020204226B2 (en) | 2021-11-04 |
JP2020127833A (ja) | 2020-08-27 |
CN107820412B (zh) | 2021-01-15 |
WO2016209769A1 (en) | 2016-12-29 |
EP3313315B1 (en) | 2024-04-10 |
EP3313315A4 (en) | 2019-02-20 |
US10779897B2 (en) | 2020-09-22 |
JP6719487B2 (ja) | 2020-07-08 |
CN112402015A (zh) | 2021-02-26 |
AU2016284040A1 (en) | 2017-12-14 |
US20200397518A1 (en) | 2020-12-24 |
US20190099227A1 (en) | 2019-04-04 |
AU2020204226A1 (en) | 2020-07-16 |
JP2018520762A (ja) | 2018-08-02 |
JP6945683B2 (ja) | 2021-10-06 |
CA2987652A1 (en) | 2016-12-29 |
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