CN108024835A - 机器人外科手术组件及其器械驱动连接器 - Google Patents

机器人外科手术组件及其器械驱动连接器 Download PDF

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CN108024835A
CN108024835A CN201680054130.0A CN201680054130A CN108024835A CN 108024835 A CN108024835 A CN 108024835A CN 201680054130 A CN201680054130 A CN 201680054130A CN 108024835 A CN108024835 A CN 108024835A
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布罗克·科普
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Abstract

一种器械驱动连接器包括：壳体组件；长形轴，所述长形轴从所述壳体组件向远端延伸；以及第一驱动组件，所述第一驱动组件至少部分地布置在所述壳体组件和所述长形轴内。所述第一驱动组件包括：第一驱动螺钉；第一输入驱动联接器，所述第一输入驱动联接器不可旋转地联接至所述第一驱动螺钉的所述近端；第一驱动螺母，所述第一驱动螺母与所述第一驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第一驱动螺钉的旋转而相对于其纵向地移动；以及锁定连杆。所述锁定连杆包括长形本体，所述长形本体具有近端部分和远端部分，所述近端部分联接至所述第一驱动螺母并且可相对于其在近端非锁定位置与远端锁定位置之间纵向地移动，所述远端部分包括开关致动组件，所述开关致动组件包括朝向所述远端锁定位置偏置的开关致动手臂。

Description

机器人外科手术组件及其器械驱动连接器
技术领域
本申请要求于2015年9月25日提交的美国临时专利申请号62/232,640的权益和优先权，所述美国临时专利申请的全部公开内容通过引用结合在此。
背景技术
机器人外科手术系统已用于微创医疗手术。一些机器人外科手术系统包括支撑机器人手臂的控制台以及外科手术器械，至少一个末端执行器(例如，钳子或抓握工具)安装至机器人手臂。机器人手臂向外科手术器械提供机械动力以供其操作和移动。
机器人外科手术系统支撑被配置用于通过使得各种类型的末端执行器在外科手术期间能够容易地交换来联接至这些末端执行器的外科手术器械。通常，在未将器械驱动单元从外科手术器械拆下的情况下，通过使末端执行器从外科手术器械的剩余部分手动地拆下来执行末端执行器的这一交换。这经常意味着末端执行器可以由临床医生通过按错按钮或开关而无意中从外科手术器械拆下。
发明内容
本公开涉及具有器械驱动连接器的外科手术器械，所述器械驱动连接器可释放地联接至末端执行器并且降低了在末端执行器交换过程中末端执行器无意中从外科手术器械移除的可能性。
在本公开的一方面，一种用于互连器械驱动单元和末端执行器的器械驱动连接器，其中所述器械驱动连接器将至少一个力从所述器械驱动单元传输至所述末端执行器以引发所述末端执行器的功能，包括：壳体组件；长形轴，所述长形轴从所述壳体组件向远端延伸；以及第一驱动组件，所述第一驱动组件至少部分地布置在所述壳体组件和所述长形轴内。所述第一驱动组件包括：第一驱动螺钉，所述第一驱动螺钉具有近端和远端；第一输入驱动联接器，所述第一输入驱动联接器不可旋转地联接至所述第一驱动螺钉的所述近端；第一驱动螺母，所述第一驱动螺母与所述第一驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第一驱动螺钉的旋转而相对于其纵向地移动；以及锁定连杆。所述锁定连杆包括长形本体，所述长形本体具有近端部分和远端部分，所述近端部分联接至所述第一驱动螺母并且可相对于其在近端非锁定位置与远端锁定位置之间纵向地移动，并且所述远端部分包括开关致动组件，所述开关致动组件包括朝向所述远端锁定位置偏置的开关致动手臂。
在实施例中，所述开关致动组件包括布置在所述开关致动手臂的近端的长形开口中的盘簧。所述盘簧使所述开关致动手臂朝向所述远端锁定位置偏置并且可移动到所述近端非锁定位置。
所述器械驱动连接器可以包括布置在所述长形轴中的开关。在一些实施例中，所述器械驱动连接器包括布置在所述长形轴的远端中的环形构件。所述环形构件可以包括电联接至所述开关的电触点对。
柔性电路可以布置在所述长形轴中，并且所述开关可以布置在所述柔性电路的远端处。在一些实施例中，所述柔性电路纵向地延伸穿过所述长形轴，并且包括被配置用于与处理器电连通的近端。
所述锁定连杆的所述近端部分可以包括形成在其中的纵向狭槽，并且所述第一驱动螺母可以具有布置在所述锁定连杆的所述纵向狭槽内的杆，从而使得当所述第一驱动螺母在所述远端锁定位置时，所述第一驱动螺母的所述杆与所述纵向狭槽的远端表面接合，并且当所述第一驱动螺母在所述近端非锁定位置时，所述第一驱动螺母的所述杆被布置成与所述纵向狭槽的近端表面相邻。
在实施例中，所述壳体组件在其侧表面中限定孔，并且所述第一驱动螺母包括接片，所述接片延伸穿过所述孔并且到手指开关中以用于所述第一驱动螺母的手动移动。
所述器械驱动连接器可以包括第二驱动组件。所述第二驱动组件可以包括：第二驱动螺钉，所述第二驱动螺钉具有近端和远端；第二输入驱动联接器，所述第二输入驱动联接器不可旋转地联接至所述第二驱动螺钉的所述近端；第二驱动螺母，所述第二驱动螺母与所述第二驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第二驱动螺钉的旋转而相对于其纵向地移动；以及铰接连杆。所述铰接连杆可以包括长形本体，所述长形本体具有近端和远端，所述近端固定地联接至所述第二驱动螺母，从而使得所述第二驱动螺母的纵向平移引起所述铰接连杆的纵向平移。
所述器械驱动连接器可以包括第三驱动组件。所述第三驱动组件可以包括近端轴、远端轴、驱动杆以及驱动轴。所述近端轴可以包括第三输入驱动联接器和远端齿轮，所述第三输入驱动联接器不可旋转地紧固至所述近端轴的近端，所述远端齿轮不可旋转地紧固至所述近端轴的远端。所述远端轴可以包括近端齿轮，所述近端齿轮不可旋转地紧固至其并且与所述近端轴的所述远端齿轮啮合地接合。所述驱动杆可以包括螺纹长形本体，所述螺纹长形本体与限定在所述远端轴中的螺纹通道接合并且可响应于所述远端轴的旋转而相对于其纵向地移动。所述驱动轴可以联接至所述驱动杆的远端并且可以与其纵向地可移动。
在本公开的另一方面，一种用于与器械驱动单元一起使用并用于选择性连接至所述器械驱动单元的外科手术器械包括器械驱动连接器和外科手术装载单元。所述器械驱动连接器包括壳体组件和长形轴，并且第一驱动组件至少部分地布置在所述壳体组件和所述长形轴内。所述第一驱动组件包括：第一驱动螺钉，所述第一驱动螺钉具有近端和远端；第一输入驱动联接器，所述第一输入驱动联接器不可旋转地联接至所述第一驱动螺钉的所述近端；第一驱动螺母，所述第一驱动螺母与所述第一驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第一驱动螺钉的旋转而相对于其纵向地移动；以及锁定连杆。所述锁定连杆包括长形本体，所述长形本体具有近端部分和远端部分，所述近端部分联接至所述第一驱动螺母并且可相对于其在近端非锁定位置与远端锁定位置之间纵向地移动，并且所述远端部分包括开关致动组件，所述开关致动组件包括朝向所述远端锁定位置偏置的开关致动手臂。所述外科手术装载单元可选择性地附接至所述器械驱动连接器并且包括末端执行器。当所述第一驱动组件的所述锁定连杆在所述近端非锁定位置时，所述外科手术装载单元可以被插入或从所述器械驱动连接器中移除，并且当所述锁定连杆在所述远端锁定位置时，所述外科手术装载单元不可以被插入或从所述器械驱动连接器中移除。
在实施例中，所述第一驱动组件的所述锁定连杆的所述开关致动组件包括布置在所述开关致动手臂的近端的长形开口中的盘簧。所述盘簧使所述开关致动手臂朝向所述远端锁定位置偏置并且可移动到所述近端非锁定位置。
所述器械驱动连接器可以包括布置在所述长形轴中的开关。在一些实施例中，所述器械驱动连接器包括布置在所述长形轴的远端中的环形构件。所述环形构件可以包括电联接至所述开关的电触点对。
所述器械驱动连接器可以包括布置在所述长形轴中的柔性电路，并且所述开关可以布置在所述柔性电路的远端处。在一些实施例中，所述柔性电路纵向地延伸穿过所述器械驱动连接器的所述长形轴，并且包括被配置用于与处理器电连通的近端。
所述锁定连杆的所述近端部分可以包括形成在其中的纵向狭槽，并且所述第一驱动螺母可以具有布置在所述锁定连杆的所述纵向狭槽内的杆，从而使得当所述第一驱动螺母在所述远端锁定位置时，所述第一驱动螺母的所述杆与所述纵向狭槽的远端表面接合，并且当所述第一驱动螺母在所述近端非锁定位置时，所述第一驱动螺母的所述杆被布置成与所述纵向狭槽的近端表面相邻。
在实施例中，所述器械驱动连接器的所述壳体组件在其侧表面中限定孔，并且所述第一驱动螺母包括接片，所述接片延伸穿过所述孔并且到手指开关中以用于所述第一驱动螺母的手动移动。
所述器械驱动连接器可以包括第二驱动组件。所述第二驱动组件可以包括：第二驱动螺钉，所述第二驱动螺钉具有近端和远端；第二输入驱动联接器，所述第二输入驱动联接器不可旋转地联接至所述第二驱动螺钉的所述近端；第二驱动螺母，所述第二驱动螺母与所述第二驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第二驱动螺钉的旋转而相对于其纵向地移动；以及铰接连杆。所述铰接连杆可以包括长形本体，所述长形本体具有近端和远端，所述近端固定地联接至所述第二驱动螺母，从而使得所述第二驱动螺母的纵向平移引起所述铰接连杆的纵向平移。所述铰接连杆的所述远端可以可释放地联接至所述外科手术装载单元以引发所述末端执行器的铰接。
所述器械驱动连接器可以包括第三驱动组件，所述第三驱动组件包括近端轴、远端轴、驱动杆以及驱动轴。所述近端轴可以包括第三输入驱动联接器和远端齿轮，所述第三输入驱动联接器不可旋转地紧固至所述近端轴的近端，所述远端齿轮不可旋转地紧固至所述近端轴的远端。所述远端轴包括近端齿轮，所述近端齿轮不可旋转地紧固至其并且与所述近端轴的所述远端齿轮啮合地接合。所述驱动杆可以包括螺纹长形本体，所述螺纹长形本体与限定在所述远端轴中的螺纹通道接合并且可响应于所述远端轴的旋转而相对于其纵向地移动。所述驱动轴可以联接至所述驱动杆的远端并且可与其纵向地移动。所述驱动轴的远端可以与所述外科手术装载单元可操作连通以引发所述末端执行器的功能。
其他方面、特征以及优点将从说明书、附图以及权利要求中变得清楚。
附图说明
被结合到本说明书中且构成其一部分并且相应参考字符指示若干个视图中每个视图的相应部分的附图展示了本公开的实施例并与上文给出的对本公开的总体描述及下文给出的对(多个)实施例的详细描述一起用于解释本发明的原理，在附图中：
图1是根据本公开的机器人外科手术系统的示意图；
图2是图1的机器人外科手术系统的外科手术组件的透视图；
图3是图2的外科手术组件的器械驱动连接器的透视图；
图4是图3的器械驱动连接器的壳体组件的放大透视图；
图5是图3和图4的器械驱动连接器的壳体组件的另一放大透视图；
图6是沿图5的线6-6截取的图3至图5的器械驱动连接器的截面图；
图7是沿图4的线7-7截取的图3至图6的器械驱动连接器的截面图；
图8是沿图6的线8-8截取的图3至图7的器械驱动连接器的截面图；
图9A是沿图5的线6-6截取的图3至图8的器械驱动连接器的截面图，展示了器械驱动连接器的处于锁定位置的第一驱动螺母；
图9B是沿图5的线6-6截取的图3至图9A器械驱动连接器的截面图，展示了器械驱动连接器的处于非锁定位置的第一驱动螺母；
图10是图3至图9B的器械驱动连接器的内部部件的透视图，其中，部分被移除；
图11是沿图7的线11-11截取的图3至图10的器械驱动连接器的截面图；
图12是沿图7的线12-12截取的图3至图11的器械驱动连接器的截面图；
图13是图3至图12的器械驱动连接器的内部部件的透视图，其中，部分被移除；
图14是图13中所指示的细节区域的放大视图；
图15是图14的器械驱动连接器的内部部件的放大透视图，其中，部分被移除；并且
图16是图15的器械驱动连接器的环形构件的透视图。
具体实施方式
在本披露中，术语“远端”是指距临床医生较远的结构的一部分，而术语“近端”是指距临床医生较近的相同结构的一部分。如本文中所使用的，术语“受试者”是指人类患者或其他动物。术语“临床医生”是指医生(例如，外科医生)、护士或其他护理提供者，并且可以包括支持人员。
首先参照图1，机器人外科手术系统(如例如，医疗工作站1)总体上包括多个机器人手臂2和3、控制设备4以及与控制设备4联接的操作控制台5。操作控制台5包括显示设备6以及手动输入设备7和8，所述显示设备6具体地被建立用于显示三维图像，临床医生(未示出)(例如，外科医生)借助于所述人工输入设备7和8能够在如本领域技术人员原则上已知的第一操作模式下远程操纵机器人手臂2和3。
机器人手臂2和3中的每个机器人手臂包括多个构件，所述多个构件通过接头连接，例如，外科手术组件10可以可释放地附接至所述接头。机器人手臂2和3可以由连接至控制设备4的电力驱动器(未示出)驱动。控制设备4(例如，计算机)以这样的方式被建立用于激活驱动器(具体地借助于计算机程序)，从而使得机器人手臂2和3和/或外科手术组件10根据借助于手动输入设备7和8限定的移动来执行期望的移动。控制设备4还可以以这样的方式被建立，从而使得其调控机器人手臂2和3和/或驱动器(未示出)的移动。控制设备4可以控制多个电动机(例如，“电动机1……n”)，其中，每个电动机被配置用于驱动机器人手臂2和3在多个方向上移动。
医疗工作站1被配置成用于躺在患者台“ST”上待借助于外科手术组件10的外科手术器械100以微创方式治疗的患者“P”。医疗工作站1还可以包括多于两个机器人手臂2和3，附加的机器人手臂同样连接至控制设备4并且可借助于操作控制台5进行远程操纵。外科手术组件10也可以附接至附加的机器人手臂。医疗工作站1可以包括具体地联接至控制设备4的数据库9，所述数据库9中存储有例如来自患者“P”的术前数据和/或解剖学图谱。
对于医疗工作站1的构造和操作的详细讨论，可以参照于2011年11月3日提交的标题为“Medical Workstation(医疗工作站)”的美国专利公开号2012/0116416，所述专利的全部内容通过引用结合在此。
现在转向图2，示出了经由导轨、轨道或滑道12与机器人手臂2联接或联接至所述机器人手臂2的外科手术组件10。虽然以单数形式讨论了外科手术组件10，但是本领域普通技术人员可以容易地认识到，医疗工作站1还可以包括与机器人手臂2和3中的每个机器人手臂联接或联接至所述每个机器人手臂的多个基本上完全相同的外科手术组件10(图1)。外科手术组件10包括器械驱动单元50，所述器械驱动单元50联接至具有外科手术装载单元400的外科手术器械100的适配器或器械驱动连接器200，所述外科手术装载单元400包括布置在其远端处的末端执行器410。
外科手术组件10的器械驱动单元50可以支撑在可移动地连接至机器人手臂2的轨道12的滑块11上或连接至所述滑块11。当由布置在机器人手臂2的轨道12中的电动机(未示出)或控制设备4的电动机(例如，“电动机1……n”中的一个或多个电动机)选择性地致动时，滑块11沿外科手术机器人手臂2的轨道12所限定的纵向轴线“Y”移动、滑动或平移。这样，滑块11(外科手术组件10连接至所述滑块11)可以沿机器人手臂2的轨道12移动至选定位置。
器械驱动单元50包括具有被配置用于可操作地联接至外科手术器械100的器械驱动连接器200的近端62和远端64的壳体60。器械驱动单元50的壳体60容纳多个电动机(未示出)，所述多个电动机被配置用于向外科手术器械100供电例如以便驱动外科手术器械100的末端执行器410的各个操作。器械驱动单元50的每个电动机包括附接至其的输出驱动联接器(未示出)，从而使得驱动联接器可相对于彼此独立地旋转。驱动联接器布置在器械驱动单元50的壳体60的远端64处并且至少部分地暴露以与器械驱动连接器200的驱动组件接合。因此，在使用中，如以下进一步详细描述的，器械驱动单元50经由输出驱动联接器的旋转将电力和致动力从其电动机转移至外科手术器械100的器械驱动连接器200以便最终驱动外科手术器械100的末端执行器410的部件移动。
控制设备4(图1)可以控制器械驱动单元50的电动机。在一些实施例中，一个或多个电动机可以无线地接收信号(例如，从控制设备4)。设想的是，控制设备4协调各个电动机(“电动机1……n”)以及器械驱动单元50的电动机的激活以便协调外科手术器械100的操作和/或移动。
外科手术装载单元400可选择性地附接至器械驱动连接器200并且包括长形部分402和末端执行器410。外科手术装载单元400可以是一次性的单次使用装载单元或可以消毒以重复使用的多次使用装载单元。外科手术装载单元400的长形部分402可以是管状的并且具有被配置用于联接至器械驱动连接器200的长形轴220的远端盖222的近端402a。长形部分402的近端402a具有从其侧向地延伸的突出部或凸耳(未示出)，所述突出部或凸耳被配置用于轴向地穿过器械驱动连接器200的长形轴220的远端盖222并且旋转以便选择性地将外科手术装载单元400与器械驱动连接器200锁定地联接。外科手术装载单元400的长形部分402具有远端402b，末端执行器410附接至所述远端402b。末端执行器410总体上包括相对的钳口构件对412a和412b，并且可以包括钉仓、刀片以及在本领域技术人员的认知范围内的其他紧固、切割、夹紧元件。设想的是，末端执行器410可以直接联接至器械驱动连接器200，而不是直接联接至外科手术装载单元400的长形部分402。
现在参照图3至图5，外科手术器械100的器械驱动连接器200包括壳体组件210以及从壳体组件210向远侧延伸并在远端盖222处终止的长形轴220。壳体组件210从近端到远端包括顶部或近端壳体212、底部或远端壳体214以及尖端壳体216。远端壳体214包括其侧表面中所限定的孔214a(参见例如图7)，手指开关218穿过所述侧表面布置。近端壳体212和远端壳体214可释放地联接至彼此，这可以促进器械驱动连接器200的组装并且可以促进至少部分地容纳在其中的零件的接入、维修和/或替换。壳体组件210可以包括被配置用于使器械驱动连接器200与器械驱动单元50的壳体60的远端64断开连接的悬臂式手臂、杠杆或桨211(图2)。
现在参照图6，壳体组件210支撑第一驱动组件230、第二驱动组件260以及第三驱动组件280以用于引发外科手术器械100的末端执行器410的功能(图2)。壳体组件210在其中限定空腔210a，第一、第二以及第三驱动组件230、260以及280的至少一部分布置在所述空腔210a中。板213布置在近端壳体212与远端壳体214之间或接点处的空腔210a内。板213限定其穿过的多个开口213a至213c，第一、第二以及第三驱动组件230、260以及280的部件布置在所述多个开口213a至213c中。
长形轴220的近端部分220a布置在尖端壳体216的远端部分216a内并且远端壳体214的远端214b向远端按压到长形轴220的近端部分220a上，以便将长形轴220牢固地固位在远端壳体214与尖端壳体216之间，从而保持长形轴220是直的并防止轴旋转。
现在参照图6至图10，第一驱动组件230(在本文中还被称为锁定组件)包括第一输入驱动联接器232、第一驱动螺钉234、第一驱动螺母236、以及第一驱动构件或锁定连杆或轴238。第一输入驱动联接器232布置在壳体组件210的近端壳体212的近端212a处并且被配置用于接合器械驱动单元50的输出驱动联接器(未示出)(图2)。第一输入驱动联接器232被配置用于机械地接合第一驱动螺钉234的近端。通过第一输入驱动联接器232限定的孔232a与第一驱动螺钉234的近端具有相应的非圆形横截面，从而使得第一输入驱动联接器232和第一驱动螺钉234彼此键合，这导致了其之间的旋转固定连接。因而，第一输入驱动联接器232的旋转导致了第一驱动螺钉234的相应旋转。
第一驱动螺钉234包括非螺纹近端本体部分234a和螺纹远端本体部分234b并且限定了延伸穿过其径向中心的纵向轴线“A”。第一输入驱动联接器232的旋转致使第一驱动螺钉234以相应的旋转方向和速率绕纵向轴线“A”旋转。近端轴承231布置在第一驱动螺钉234的非螺纹近端本体部分234a的近端周围、邻近近端壳体212的一部分，并且远端轴承233布置在第一驱动螺钉234的螺纹远端本体部分234b的远端周围、邻近远端壳体214的一部分。在不引起第一驱动螺钉234纵向移动的情况下，近端轴承231和远端轴承233允许或促进第一驱动螺钉234相对于壳体组件210旋转。
第一驱动螺母236包括具有螺纹孔241的本体240，所述螺纹孔241纵向地延伸穿过本体240的内表面240a，所述内表面240a被配置用于机械地接合第一驱动螺钉234的螺纹远端本体部分234b。第一驱动螺母236被配置用于被定位在第一驱动螺钉234上，其方式为使得第一驱动螺钉234的旋转引起第一驱动螺母236纵向移动。在实施例中，第一驱动螺母236和第一驱动螺钉234彼此螺纹接合。此外，第一输入驱动联接器232在第一方向(例如，顺时针方向)上的旋转使第一驱动螺母236在第一纵向方向(例如，向近侧)上相对于第一驱动螺钉234移动，并且第一输入驱动联接器232在第二方向(例如，逆时针方向)上的旋转使第一驱动螺母236在第二纵向方向(例如，向远端)上相对于第一驱动螺钉234移动。
第一驱动螺母236包括沿本体240的外表面240b纵向延伸的接片或导轨242，并且所述接片或导轨242被配置用于可滑动地布置在形成在壳体组件210的空腔210a中的纵向延伸的通道210b中(图8)。第一驱动螺母236的导轨242与壳体组件210的通道210b相协作以抑制或阻止第一驱动螺母236在第一驱动螺钉234旋转时绕纵向轴线“A”旋转。第一驱动螺母236包括本体240的外表面240b中所限定的狭缝243，所述狭缝243被配置用于接纳和紧固锁定连杆238的近端部分。突出部或杆244(图9A和图9B)横向地延伸穿过狭缝243和锁定连杆238以将锁定连杆238固位在第一驱动螺母236的狭缝243内。第一驱动螺母236进一步包括从第一驱动螺母236的本体240侧向地延伸的接片246(图7)。如以下进一步详细描述的，接片246延伸穿过形成在壳体组件210中的孔214a并且延伸到手指开关218中以便由临床医生来手动移动第一驱动螺母236(如果需要的话)。
如图6和图10中所展示的，锁定连杆238包括具有近端部分250a和远端部分250b的长形本体250。如上所述，近端部分250a牢固地接合在第一驱动螺母236的狭缝243内，从而使得第一驱动螺母236的纵向移动引起锁定连杆238的相应纵向移动。锁定连杆238向远端延伸穿过壳体组件210和长形轴220，从而使得长形本体250的远端部分250b布置在长形轴220内并且可在锁定位置(图9)与非锁定位置(图9B)之间移动。
锁定连杆238的近端部分250a具有可移动地布置在第一驱动螺母236的狭缝243内的侧向延伸的翼252。锁定连杆238的翼252包括形成在其中的纵向狭槽252a。如上所述，第一驱动螺母236的杆244布置在锁定连杆238的纵向狭槽252a内并且当锁定连杆238相对于第一驱动螺母236近端或远端纵向移动时骑置在纵向狭槽252a内。
锁定连杆238的纵向狭槽252a具有近端表面252b和远端表面252c。这样，当第一驱动螺母236在远端锁定位置时(如图9A所示)，第一驱动螺母236的杆244与锁定连杆238的纵向狭槽252a的远端表面252c接合，从而抵抗或防止锁定连杆238在近端方向上从远端锁定位置移动至近端非锁定位置。当第一驱动螺母236在近端非锁定位置时(如图9B所示)，第一驱动螺母236的杆244与锁定连杆238的纵向狭槽252a的远端表面252c脱离接合，以便不再抵抗锁定连杆238在近端方向上从远端锁定位置移动至近端非锁定位置。
如将在下面进一步详细描述的，锁定连杆238的长形本体250的远端部分250b包括在被布置在锁定连杆238的长形本体250的最远端250c处的延伸部255的近端的开关致动组件254。
现在参照图6以及图8至图11，第二驱动组件260(在本文中还被称为铰接组件)包括第二输入驱动联接器262、第二驱动螺钉264、第二驱动螺母266、以及第二驱动构件或铰接连杆或轴268。第二驱动组件260基本上类似于第一驱动组件230，并且在本文中仅被描述至识别其部件以及描述其构造和操作上的差异所必需的程度。第二输入驱动联接器262被配置用于可拆卸地、不可旋转地联接至第二驱动螺钉264，并且包括其纵向地延伸穿过的孔262a，所述孔262a被配置用于机械地接合并且键合至第二驱动螺钉264的近端部分，这导致了其之间的旋转固定连接。
第二驱动螺钉264包括非螺纹近端本体部分264a和螺纹远端本体部分264b并且限定了延伸穿过其径向中心的纵向轴线“B”。近端轴承261布置在第二驱动螺钉264的非螺纹近端本体部分264a的近端周围，并且远端轴承263布置在第二驱动螺钉264的螺纹远端本体部分264b的远端周围，以便在不允许第二驱动螺钉264纵向移动的情况下允许或促进第二驱动螺钉264绕纵向轴线“B”旋转。
第二驱动螺母266包括具有螺纹孔271的本体270，所述螺纹孔271纵向地延伸穿过本体270的内表面270a，所述内表面270a被配置用于机械地接合第二驱动螺钉264的螺纹远端本体部分264b。第二驱动螺母266包括沿本体270的外表面270b纵向地延伸的接片或导轨272，并且所述接片或导轨272被配置用于可滑动地布置在形成在壳体组件210的空腔210a中的纵向延伸的通道210c中(图8)。第二驱动螺母266包括本体270的外表面270b中所限定的狭缝273，所述狭缝273被配置用于固定接纳和紧固铰接连杆268的近端。这样，在第二驱动螺钉264旋转时，第二驱动螺母266沿第二驱动螺钉264向近端或向远端移动以便引发铰接连杆268的相应纵向移动。
铰接连杆268包括具有近端部分274a和远端部分274b的长形本体274。如上所述，近端部分274牢固地接合在第二驱动螺母266的狭缝273内。铰接连杆268向远端延伸穿过壳体组件210和长形轴220，从而使得长形本体274的远端部分274b布置在轴220内。远端部分274b包括可释放地联接至末端执行器410的延伸部276(如j钩)(图2)。因而，第二驱动输入联接器262的旋转造成第二驱动螺钉264的相应旋转，进而引发了第二驱动螺母266和铰接连杆268的相应纵向移动，进而引发了末端执行器的铰接以便致动例如刀片或钳口对。
如图6、图7以及图10至图12所示，第三驱动组件280(在本文中还被称为发射组件)包括近端轴282、远端轴284、驱动杆286以及驱动轴288。近端轴282包括非螺纹轴本体282a，所述非螺纹轴本体282a包括布置在其近端处的第三输入驱动联接器290以及具有布置在非螺纹轴本体282a的远端处的多个齿轮齿292a的远端齿轮292。第三输入驱动联接器290和远端齿轮292不可旋转地紧固至轴本体282a，从而使得第三输入驱动联接器290的旋转导致轴本体282a和远端齿轮292相应旋转。近端轴282的最远端282b紧固在被布置在壳体组件210的板213内的轴承281内，从而使得近端轴282将在无纵向移动的情况下旋转。
远端轴284包括不可旋转地紧固至长形非螺纹轴本体284a的近端齿轮294。近端轴292的远端齿轮292的齿292a与远端轴284的近端齿轮294的齿294a啮合地接合，从而使得远端齿轮292的旋转造成近端齿轮294的相应旋转，进而导致远端轴284的轴本体284a旋转。远端轴284的轴本体284a的远端顶靠远端壳体214的内表面，从而使得远端轴284的旋转不导致远端轴284轴向平移。
近端齿轮294a限定与远端轴284的轴本体284a中所限定的螺纹通道284b对齐的中心孔294b并且在远端轴284的整个纵向长度上延伸。驱动杆286包括螺纹长形本体286a并且被配置用于机械地接合远端轴284的轴本体284a的螺纹通道284b，其方式为使得轴本体284a的旋转引起驱动杆286的纵向移动。也就是说，远端轴284的轴本体284a的螺纹通道284b与驱动杆286的螺纹长形本体286a彼此螺纹接合。此外，远端轴284在第一方向(例如，顺时针方向)上的旋转致使驱动杆286在第一纵向方向(例如，向近端)上相对于远端轴284移动，并且驱动轴284在第二方向(例如，逆时针方向)上的旋转致使驱动杆286在第二纵向方向(例如，向远端)上相对于远端轴284移动。驱动杆286包括键合至驱动轴288的近端中所限定的凹部288a的非螺纹远端286b，从而使得驱动杆286的纵向移动引起驱动杆288的相应纵向移动以引发末端执行器410的功能(如(多个)钉的发射)(图2)。
现在参照图13至图15，柔性电路(flexible/flex circuit)300布置在器械驱动连接器200的长形轴220内并且被配置用于将器械驱动连接器200和/或末端执行器410(图2)的电气部件电连接至器械驱动单元50和/或医疗工作站1(图1)的处理器。柔性电路300易于在器械驱动连接器200内组装并且消除了对分立的、分离的电线的需要，最终提高了患者安全并降低了制造成本。柔性电路300纵向地延伸穿过长形轴220并且具有近端300a和远端300b。柔性电路300的近端300a被配置用于与器械驱动连接器200的近端壳体212中所提供的触点等(未示出)电连通。柔性电路300的远端300b在开关310处终止，所述开关310在远端面向的方向上取向并且被配置用于在外科手术装载单元(图2)适当连接至器械驱动连接器200时激活。开关310与医疗工作站1(图1)的处理器连通，使得外科手术装载单元400与器械驱动连接器200的长形轴220接合或脱离接合。
开关310与布置在锁定连杆238的长形本体250的远端部分250b处的开关致动组件254操作性连通。如图10以及图13至图15所示，开关致动组件254包括近端部分254a，所述近端部分254b限定其中布置有盘簧256的长形开口254b。盘簧256紧固在长形开口254b的内表面254c的远端与突出穿过长形开口254b的突出部257之间的长形开口254b内。开关致动组件254进一步包括远端部分254c，所述远端部分254c包括当锁定连杆238的长形本体250移动时可在近端位置与远端位置之间纵向移动的开关致动手臂258。盘簧256向远端弹性地偏置开关致动手臂258，从而使得手臂258在开关310的远端并且如下文进一步详细描述的，除非固持在另一不同位置，否则维持在图9B的近端非锁定位置。
现在参照图16，结合图15，环形构件320也布置在长形轴220内。环形构件320从近端320a延伸到远端320b并且限定其穿过的圆柱形通路。近端320a包括第一环322并且远端320b包括沿纵向杆325与第一环322间隔开的第二环324，所述纵向杆325沿环形构件320的长度延伸。第一环322包括经由电线328电联接至开关310的电触点对326a和326b。电触点326a和326b被配置用于接合外科手术装载单元400的相应电触点，从而使得开关310和环形构件320能够在其之间转移关于外科手术装载单元400的数据。例如，电触点326a和326b可以被配置用于联接至布置在外科手术装载单元400内的存储器(未示出)，所述存储器被配置用于存储关于外科手术装载单元400的数据并且用于响应于外科手术装载单元400联接至器械驱动连接器200而向柔性电路300提供数据。第二环324被配置并且被设定尺寸用于接纳外科手术装载单元400的近端以及用于与外科手术装载单元400的表面特征接口连接，使得环形构件320可由且与外科手术装载单元400旋转。
器械驱动连接器200具有装载状态、卸载状态以及锁定状态。装载状态允许外科手术装载单元400自由地插入器械驱动连接器200中。卸载状态允许外科手术装载单元400自由地从器械驱动连接器200中移除。卸载状态需要临床医生有意地从器械驱动连接器200中扭动和拉动外科手术装载单元400，确保外科手术装载单元400决不会从器械驱动连接器200中跌落。在锁定状态，外科手术装载单元400可以未插入或从器械驱动连接器200中移除。
参照图1、图2、图9A、图9A、图9B以及图10，为了将外科手术装载单元400装载到器械驱动连接器200上，将器械驱动连接器200(手动地或自动地)切换至装载状态，在所述装载状态，器械驱动连接器200的锁定连杆238从远端锁定位置(图9A)自由移动至近端非锁定位置(图9B)。具体地，器械驱动单元50的与第一输入驱动联接器232操作性地接合的输出驱动联接器(未示出)被手动地或自动地激活以便经由第一输入驱动联接器232来驱动器械驱动连接器200的第一驱动螺钉234旋转。第一驱动螺钉234的旋转使第一驱动螺母236沿第一驱动螺钉234从图9A所示的远端位置向近端纵向地移动到图9B所示的近端位置。当第一驱动螺母236沿第一驱动螺钉234向近端移动时，第一驱动螺母236的杆244纵向地移动穿过锁定连杆238的纵向狭槽252a从而与锁定连杆238的纵向狭槽252a的远端表面252c脱离接合。
在第一驱动螺母236处于近端位置并且第一驱动螺母236的杆244与锁定连杆238的纵向狭槽252a的远端表面252c脱离接合的情况下，第一驱动螺母236的杆244不再抵抗锁定连杆238的近端纵向移动。这样，在近端方向上由外科手术装载单元400的凸耳(未示出)向锁定连杆238的延伸部255施加力引发了锁定连杆238的近端纵向移动，从而将锁定连杆238从远端锁定位置移动到近端非锁定位置。
然后旋转外科手术装载单元400以将外科手术装载单元400的凸耳(未示出)定位在长形轴220的远端盖222的内凹槽222a内。在旋转时，锁定连杆238的远端弹性偏置致使锁定连杆238相对于长形轴220向远端移动到远端锁定位置，在所述远端锁定位置，锁定连杆238的延伸部255防止凸耳以及因此外科手术装载单元400旋转出包封的内凹槽222a。这样，外科手术装载单元400锁定地联接至器械驱动连接器200并且准备好使用。
在装载了外科手术装载单元400时，医疗工作站1可以执行完整性校验以保证将外科手术装载单元400正确地装载到器械驱动连接器200上。这些校验可以包括例如缩回刀杆和/或确保其不可以在其未被设计移动的方向上移动(这将会指示错误装载)、校验铰接或装载连杆的范围等。完整性校验可以在试图将外科手术器械100降低到患者“P”中之前或期间执行。如果医疗工作站1检测到错误装载，其可以锁住滑块11，从而使得外科手术组件10无法插入患者“P”中。器械驱动连接器200还可以进入卸载状态并且医疗工作站1将会提示临床医生重新装载外科手术装载单元400。
一旦外科手术装载单元400联接至器械驱动连接器200，其可以有利于防止外科手术装载单元400无意中从器械驱动连接器200移除。为了防止这一情况，可以将器械驱动连接器200从装载状态切换到锁定状态。在一些实施例中，设想的是，计算机例如控制设备4可以被编程用于自动激活器械驱动单元50，以便在控制设备4检测到外科手术装载单元400成功地联接至器械驱动连接器200时将器械驱动连接器200切换到锁定状态。例如，在成功装载时，当外科手术装载单元400的末端执行器410进入布置在患者身体内部的接入端口(未示出)或距患者“P”预定距离时，医疗工作站1将自动切换到锁定状态。在一些实施例中，一将外科手术装载单元400成功地联接至器械驱动连接器200，临床医生就可以激活器械驱动单元50从而将器械驱动连接器200切换到锁定状态。通过为医疗工作站1提供将外科手术装载单元400与器械驱动连接器200选择性地锁定的能力，移除了释放或掉落外科手术装载单元400的任何可能。
一将外科手术装载单元400与器械驱动连接器200适当连接，柔性电路300就将存储在存储器(未示出)中的操作参数自动传输至处理器。如果外科手术装载单元400并未适当地连接至器械驱动连接器200或者错误的外科手术装载单元400连接至器械驱动连接器200，柔性电路300的开关310将未被激活，从而使得外科手术器械100将不可操作用于致动外科手术装载单元400的功能。
为了将器械驱动连接器200切换至锁定状态从而将外科手术装载单元400锁定至其，将器械驱动连接器200的第一驱动螺母236移动至远端锁定位置(图9A)。在远端锁定位置，第一驱动螺母236抵抗锁定连杆238从远端锁定位置到近端非锁定位置的近端纵向移动，在所述近端纵向移动中，外科手术装载单元400可以无意中从器械驱动连接器200中移除。为了将第一驱动螺母236移动至远端锁定位置，(手动地或自动地)激活器械驱动单元50的输出驱动联接器(未示出)，以便经由第一输入驱动联接器232来驱动器械驱动连接器200的第一驱动螺钉234旋转。第一驱动螺钉234的旋转使第一驱动螺母236沿第一驱动螺钉234从图9B所示的近端位置向远侧纵向地移动到图9A所示的远端位置。当第一驱动螺母236沿第一驱动螺钉234向远端移动时，第一驱动螺母236的杆244纵向地移动穿过锁定连杆238的纵向狭槽252a并与锁定连杆150的纵向狭槽252a的远端表面252c接合。
在第一驱动螺母236处于远端位置并且第一驱动螺母236的杆244与锁定连杆238的纵向狭槽252a的远端表面252c接合的情况下，第一驱动螺母236的杆244抵抗锁定连杆238的近端纵向移动。这样，在近端方向上无意中向锁定连杆238施加力将不会把锁定连杆238移出远端锁定位置并移动到近端非锁定位置。
为了将外科手术装载单元400从器械驱动连接器200中移除，将器械驱动连接器200(手动地或自动地)切换至卸载状态，在所述卸载状态，锁定连杆238移回近端非锁定状态。在实施例中，卸载状态将在器械驱动连接器200从附接有使用的外科手术装载单元400的患者“P”中移除时发生。一旦外科手术装载单元400安全地处于接入端口(未示出)之上或末端执行器410距患者“P”预定距离，医疗工作站1将自动切换器械驱动连接器200的状态。
在卸载状态，临床医生可以移除外科手术装载单元400。进入卸载状态可以取决于外科手术装载单元400是否发射。在一些实施例中，医疗工作站1可以被配置用于：如果外科手术装载单元400未发射，防止器械驱动连接器200进入卸载状态，这将会需要临床医生通过如与医疗工作站1的部件(例如，外科医生控制台、护士塔台或专用按钮)接口连接的常规接口来手动地卸载外科手术装载单元400。在一些实施例中，如果未发射外科手术装载单元400或装载了错误的外科手术装载单元400，临床医生可以选择通过常规接口在装载状态与卸载状态之间手动切换。
可能出现器械驱动连接器200不能够从锁定状态切换到卸载状态从而使得外科手术装载单元400不可以经由器械驱动单元50从器械驱动连接器200中移除的情形(例如，紧急情况或系统默认)。因而，在锁定状态由器械驱动单元50强制执行的实施例中，将器械驱动单元50从医疗工作站1移除将允许外科手术装载单元400从器械驱动连接器200中移除。在这一情形下，为了从器械驱动连接器200中移除外科手术装载单元400，先从器械驱动连接器200的壳体组件210拆下器械驱动单元50。临床医生然后可以通过向手指开关218施加阈值量的力来在近端方向上手动地移动第一驱动螺母236的手指开关218。可以理解的是，因为第一驱动螺母236螺纹接合至第一驱动螺钉234，因此所述第一驱动螺母236不可以在不旋转的情况下沿所述第一驱动螺母234移动。然而，当器械驱动单元55未接合至壳体210时，第一驱动螺钉234可以相对于壳体组件210在近端方向上轴向地可移动。因而，当临床医生向第一驱动螺母236施加向近端取向的力时，第一驱动螺钉234在近端方向上与第一驱动螺母236移动，从而允许第一驱动螺母236手动地移动到近端非锁定位置。
当在近端方向上手动地移动第一驱动螺母236时，第一驱动螺母236的杆244接合锁定连杆238的纵向狭槽252a的近端表面252b，从而在近端方向上将锁定连杆238移动到近端非锁定位置。在锁定连杆238处于近端非锁定位置的情况下，可以通过使外科手术装载单元400旋转以及然后在远端方向上将外科手术装载单元400移出器械驱动连接器200的远端盖222来移除外科手术装载单元400。
在一些实施例中，灯阵列(未示出)可以提供在机器人手臂2、器械驱动单元50、外科手术组件10的器械驱动连接器200、和/或被配置用于支撑至少一个机器人手臂2的外科手术机器人箱体(未示出)的部件中的任何或所有部件上。这些灯可以指示外科手术器械的状态，例如：机器人手臂无误差地在患者中(准备缩回以用于外科手术装载单元的交换)；机器人手臂有误差地在患者中(无法缩回外科手术装载单元)；或者机器人手臂在患者之外并处于卸载状态、锁定状态、等待外科手术装载单元的装载状态、具有成功装载的外科手术装载单元的装载状态、或具有错误装载的外科手术装载单元的卸载状态。
已对多个实施例进行了描述。然而，将理解的是，可以对本文中所公开的实施例作出各种修改。因此，以上描述不应被解释为是限制性的，而仅仅是各个实施例的范例。本领域技术人员将在本公开的范围和精神内设想其他修改。因而，其他实施例在以下权利要求的范围内。

Claims (20)

1.一种用于互连器械驱动单元和末端执行器的器械驱动连接器，其中所述器械驱动连接器将至少一个力从所述器械驱动单元传输至所述末端执行器以引发所述末端执行器的功能，所述器械驱动连接器包括：
壳体组件；
长形轴，所述长形轴从所述壳体组件向远端延伸；以及
第一驱动组件，所述第一驱动组件至少部分地布置在所述壳体组件和所述长形轴内，所述第一驱动组件包括：
第一驱动螺钉，所述第一驱动螺钉具有近端和远端；
第一输入驱动联接器，所述第一输入驱动联接器不可旋转地联接至所述第一驱动螺钉的所述近端；
第一驱动螺母，所述第一驱动螺母与所述第一驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第一驱动螺钉的旋转而相对于其纵向地移动；以及
锁定连杆，所述锁定连杆包括长形本体，所述长形本体具有近端部分和远端部分，所述近端部分联接至所述第一驱动螺母并且可相对于其在近端非锁定位置与远端锁定位置之间纵向地移动，并且所述远端部分包括开关致动组件，所述开关致动组件包括朝向所述远端锁定位置偏置的开关致动手臂。
2.如权利要求1所述的器械驱动连接器，其中所述开关致动组件包括布置在所述开关致动手臂的近端的长形开口中的盘簧，其中所述盘簧使所述开关致动手臂朝向所述远端锁定位置偏置并且可移动到所述近端非锁定位置。
3.如权利要求1所述的器械驱动连接器，进一步包括布置在所述长形轴中的开关。
4.如权利要求3所述的器械驱动连接器，进一步包括布置在所述长形轴的远端中的环形构件，所述环形构件包括电联接至所述开关的电触点对。
5.如权利要求3所述的器械驱动连接器，进一步包括布置在所述长形轴中的柔性电路，并且其中所述开关布置在所述柔性电路的远端处。
6.如权利要求5所述的器械驱动连接器，其中所述柔性电路纵向地延伸穿过所述长形轴，所述柔性电路包括被配置用于与处理器电连通的近端。
7.如权利要求1所述的器械驱动连接器，其中所述锁定连杆的所述近端部分包括形成在其中的纵向狭槽，并且所述第一驱动螺母具有布置在所述锁定连杆的所述纵向狭槽内的杆，从而使得当所述第一驱动螺母在所述远端锁定位置时，所述第一驱动螺母的所述杆与所述纵向狭槽的远端表面接合，并且当所述第一驱动螺母在所述近端非锁定位置时，所述第一驱动螺母的所述杆被布置成与所述纵向狭槽的近端表面相邻。
8.如权利要求1所述的器械驱动连接器，其中所述壳体组件在其侧表面中限定孔，并且所述第一驱动螺母包括接片，所述接片延伸穿过所述孔并且到手指开关中以用于所述第一驱动螺母的手动移动。
9.如权利要求1所述的器械驱动连接器，进一步包括第二驱动组件，所述第二驱动组件包括：
第二驱动螺钉，所述第二驱动螺钉具有近端和远端；
第二输入驱动联接器，所述第二输入驱动联接器不可旋转地联接至所述第二驱动螺钉的所述近端；
第二驱动螺母，所述第二驱动螺母与所述第二驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第二驱动螺钉的旋转而相对于其纵向地移动；以及
铰接连杆，所述铰接连杆包括长形本体，所述长形本体具有近端和远端，所述近端固定地联接至所述第二驱动螺母，从而使得所述第二驱动螺母的纵向平移引起所述铰接连杆的纵向平移。
10.如权利要求1所述的器械驱动连接器，进一步包括第三驱动组件，所述第三驱动组件包括：
近端轴，所述近端轴包括第三输入驱动联接器和远端齿轮，所述第三输入驱动联接器不可旋转地紧固至所述近端轴的近端，所述远端齿轮不可旋转地紧固至所述近端轴的远端；
远端轴，所述远端轴包括近端齿轮，所述近端齿轮不可旋转地紧固至其并且与所述近端轴的所述远端齿轮啮合地接合；
驱动杆，所述驱动杆包括螺纹长形本体，所述螺纹长形本体与所述远端轴中所限定的螺纹通道接合并且可响应于所述远端轴的旋转而相对于其纵向地移动；以及
驱动轴，所述驱动轴联接至所述驱动杆的远端。
11.一种用于与器械驱动单元一起使用并用于选择性连接至所述器械驱动单元的外科手术器械，所述外科手术器械包括：
器械驱动连接器，所述器械驱动连接器包括壳体组件和长形轴，并且第一驱动组件至少部分地布置在所述壳体组件和所述长形轴内，所述第一驱动组件包括：
第一驱动螺钉，所述第一驱动螺钉具有近端和远端；
第一输入驱动联接器，所述第一输入驱动联接器不可旋转地联接至所述第一驱动螺钉的所述近端；
第一驱动螺母，所述第一驱动螺母与所述第一驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第一驱动螺钉的旋转而相对于其纵向地移动；以及
锁定连杆，所述锁定连杆包括长形本体，所述长形本体具有近端部分和远端部分，所述近端部分联接至所述第一驱动螺母并且可相对于其在近端非锁定位置与远端锁定位置之间纵向地移动，并且所述远端部分包括开关致动组件，所述开关致动组件包括朝向所述远端锁定位置偏置的开关致动手臂；以及
外科手术装载单元，所述外科手术装载单元可选择性地附接至所述器械驱动连接器，所述外壳手术装载单元包括末端执行器，其中当所述第一驱动组件的所述锁定连杆在所述近端非锁定位置时，所述外科手术装载单元可以被插入或从所述器械驱动连接器中移除，并且当所述锁定连杆在所述远端锁定位置时，所述外科手术装载单元不可以被插入或从所述器械驱动连接器中移除。
12.如权利要求11所述的外科手术器械，其中所述第一驱动组件的所述锁定连杆的所述开关致动组件包括布置在所述开关致动手臂的近端的长形开口中的盘簧，其中所述盘簧使所述开关致动手臂朝向所述远端锁定位置偏置并且可移动到所述近端非锁定位置。
13.如权利要求11所述的外科手术器械，其中所述器械驱动连接器进一步包括布置在所述长形轴中的开关。
14.如权利要求13所述的外科手术器械，其中所述器械驱动连接器进一步包括布置在所述长形轴的远端中的环形构件，所述环形构件包括电联接至所述开关的电触点对。
15.如权利要求13所述的外科手术器械，其中，所述器械驱动连接器进一步包括布置在所述长形轴中的柔性电路，并且其中所述开关布置在所述柔性电路的远端处。
16.如权利要求15所述的外科手术器械，其中所述柔性电路纵向地延伸穿过所述器械驱动连接器的所述长形轴，所述柔性电路包括被配置用于与处理器电连通的近端。
17.如权利要求11所述的外科手术器械，其中所述锁定连杆的所述近端部分包括形成在其中的纵向狭槽，并且所述第一驱动螺母具有布置在所述锁定连杆的所述纵向狭槽内的杆，从而使得当所述第一驱动螺母在所述远端锁定位置时，所述第一驱动螺母的所述杆与所述纵向狭槽的远端表面接合，并且当所述第一驱动螺母在所述近端非锁定位置时，所述第一驱动螺母的所述杆被布置成与所述纵向狭槽的近端表面相邻。
18.如权利要求11所述的外科手术器械，其中所述器械驱动连接器的所述壳体组件在其侧表面中限定孔，并且所述第一驱动螺母包括接片，所述接片延伸穿过所述孔并且到手指开关中以用于所述第一驱动螺母的手动移动。
19.如权利要求11所述的外科手术器械，其中所述器械驱动连接器进一步包括第二驱动组件，所述第二驱动组件包括：
第二驱动螺钉，所述第二驱动螺钉具有近端和远端；
第二输入驱动联接器，所述第二输入驱动联接器不可旋转地联接至所述第二驱动螺钉的所述近端；
第二驱动螺母，所述第二驱动螺母与所述第二驱动螺钉的螺纹本体部分螺纹接合并且可响应于所述第二驱动螺钉的旋转而相对于其纵向地移动；以及
铰接连杆，所述铰接连杆包括包括长形本体，所述长形本体具有近端和远端，所述近端固定地联接至所述第二驱动螺母，从而使得所述第二驱动螺母的纵向平移引起所述铰接连杆的纵向平移，并且所述铰接连杆的所述远端可释放地联接至所述外科手术装载单元以引发所述末端执行器的铰接。
20.如权利要求11所述的外科手术器械，其中所述器械驱动连接器进一步包括第三驱动组件，所述第三驱动组件包括：
近端轴，所述近端轴包括第三输入驱动联接器和远端齿轮，所述第三输入驱动联接器不可旋转地紧固至所述近端轴的近端，所述远端齿轮不可旋转地紧固至所述近端轴的远端；
远端轴，所述远端轴包括近端齿轮，所述近端齿轮不可旋转地紧固至其并且与所述近端轴的所述远端齿轮啮合地接合；
驱动杆，所述驱动杆包括螺纹长形本体，所述螺纹长形本体与所述远端轴中所限定的螺纹通道接合并且可响应于所述远端轴的旋转而相对于其纵向地移动；以及
驱动轴，所述驱动轴联接至所述驱动杆的远端并且可与其纵向地移动，并且所述驱动轴的远端与所述外科手术装载单元可操作连通以引发所述末端执行器的功能。
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Application publication date: 20180511

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