CN108523941B - 具有用于铰接接头的定中机构的适配器 - Google Patents

具有用于铰接接头的定中机构的适配器 Download PDF

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CN108523941B
CN108523941B CN201810171200.1A CN201810171200A CN108523941B CN 108523941 B CN108523941 B CN 108523941B CN 201810171200 A CN201810171200 A CN 201810171200A CN 108523941 B CN108523941 B CN 108523941B
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约翰·比尔兹利
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Abstract

一种适配器的接头组件限定第一纵向轴线并且包括第一和第二铰链、第一和第二环、接头盖以及偏置机构。所述接头盖具有第一和第二盖部分。所述第一环枢转地联接至所述第一铰链并且所述第一盖部分枢转地联接至所述第一铰链以便限定第一接头中心。所述第二环枢转地联接至所述第二盖部分并且所述第二铰链枢转地联接至所述第二环以便限定与所述第一接头中心间隔开的第二接头中心。所述第一和第二接头中心限定所述接头盖的盖轴线。所述偏置构件与所述第一环以及所述接头盖接合以便朝向对齐构型偏置所述接头盖，在所述对齐构型中，所述盖轴线与所述第一纵向轴线对齐。

Description

具有用于铰接接头的定中机构的适配器
技术领域
本申请涉及外科手术器械并且更具体地涉及包括用于外科手术器械的铰接接头的定中机构的适配器。
背景技术
许多外科手术器械制造商已经开发了具有用于操作和/或操纵外科手术器械的专有的动力驱动系统的生产线。在许多情况下，外科手术器械包括可重复使用的动力手柄组件、以及在使用之前选择性地连接至动力手柄组件并且然后在使用之后与动力手柄断开连接以便进行处理或在一些情况下重新消毒以供再次使用的一次性末端执行器等。
通常，现有的外科手术器械的适配器将电力从手柄组件机电地或手动地平移和传递至末端执行器。适配器可以支撑用于相对于适配器的纵向轴线铰接末端执行器的(多个)铰接接头。为了提高对外科手术部位的可达性，铰接接头可以被配置用于相对于适配器的纵向轴线围绕各个轴线来铰接末端执行器并且可以包括多个接头或通用接头以实现对末端执行器的期望铰接角度。
当铰接接头包括多个铰接轴线时，铰接度可能难以准确控制，因为当施加力来铰接末端执行器时，末端执行器围绕多个轴线同时铰接。另外，在致动外科手术器械期间，接头相对于彼此的位置可以响应于施加在手柄与末端执行器之间的穿过接头的力而改变。仍需要继续增加适配器的铰接机构的准确度，所述适配器支撑用于围绕多个轴线铰接的末端执行器以便在致动外科手术器械期间维持接头的位置。
发明内容
在本公开的一方面，一种接头组件包括近侧接头壳体、第一铰链、第一环、接头盖、第二环、第二铰链以及偏置机构。所述近侧接头壳体限定第一纵向轴线并且包括所述第一铰链，所述第一铰链定位在所述近侧接头壳体的远侧部分。所述第一环围绕第一枢转轴线枢转地联接至所述第一铰链，所述第一枢转轴线正交于并与所述第一纵向轴线相交。所述接头盖具有第一和第二盖部分。所述第一盖部分围绕第二枢转轴线枢转地联接至所述第一铰链，所述第二枢转轴线正交于并与所述第一枢转轴线以及所述第一纵向轴线相交。所述第一和第二枢转轴线与所述第一纵向轴线在第一接头中心处相交。所述第二环围绕第三枢转轴线枢转地联接至所述接头盖的所述第二盖部分。所述第二铰链围绕第四枢转轴线枢转地联接至所述第二环，所述第四枢转轴线正交于所述第三枢转轴线。所述第三和第四枢转轴线在与所述第一接头中心间隔开的第二接头中心处相交。所述接头盖的所述盖轴线限定在所述第一与第二接头中心之间。所述偏置构件与所述第一环以及所述接头盖接合以便朝向对齐构型偏置所述接头盖，在所述对齐构型中，所述盖轴线与所述第一纵向轴线对齐。
在多个方面，所述偏置机构包括内偏置杆对和外偏置杆对。所述内偏置杆对可以与所述接头盖的所述近侧部分接合并且所述外偏置杆对可以与所述第一环接合。所述内和外偏置杆对的所述内和外偏置杆各自可以纵向地延伸并且可以在平行于所述第一纵向轴线的方向上可平移。所述内和外偏置杆对的所述内和外偏置杆各自可以可操作地与对应的偏置构件相关联，所述对应的偏置构件被配置用于推动所述相关联的偏置杆穿过所述第一铰链。
在一些方面，在所述第二铰链的所述对齐构型中，第二纵向轴线与所述盖轴线以及所述第一纵向轴线对齐。所述第二纵向轴线可以穿过所述第二接头中心并且延伸穿过所述第二铰链的中心。在所述接头组件的第一铰接构型中，所述第二纵向轴线可以相对于所述盖轴线铰接，其中，所述接头盖处于所述对齐构型中。在所述接头组件的第二铰接构型中，所述第二纵向轴线可以相对于所述盖轴线铰接并且所述盖轴线可以相对于所述第一纵向轴线铰接。所述偏置机构可以被配置用于将所述接头组件维持在所述第一铰接构型，直到所述第二纵向轴线相对于所述盖轴线铰接至最大铰接角度。所述最大铰接角度可以在约15°至约45°的范围内。
在某些方面，所述接头组件包括第一驱动轴、接头本体以及第二驱动轴。所述第一驱动轴可以延伸穿过所述第一铰链。所述接头本体可以具有第一和第二本体部分。所述第一本体部分可以可旋转地布置在所述第一盖部分内并且可以可旋转地且枢转地联接至所述第一驱动轴。所述第二本体部分可以可旋转地布置在所述第二盖部分内。所述第二驱动轴可以延伸穿过所述第二铰链。所述第二驱动轴可以可旋转地且枢转地联接至所述第二本体部分。所述第一驱动轴可以包括布置在所述第一本体部分内的驱动球。所述第一驱动轴可以沿所述第一纵向轴线可旋转地布置。所述驱动球可以限定中心通路和弧形狭槽，所述中心通路正交于所述第一纵向轴线，所述弧形狭槽在与所述第一纵向轴线对齐并且平分所述中心通路的平面中。
在具体方面，所述接头组件包括中心销和轴销。所述中心销可以布置在所述中心通路内并且可以限定销开口，所述销开口正交于所述中心销的中心纵向轴线。所述轴销可以布置在所述销开口和所述弧形狭槽内以便将所述接头本体可旋转地联接至所述第一驱动轴。所述弧形狭槽和所述轴销可以协作以便限制所述第一驱动轴与所述接头本体之间的铰接。
在多个方面，所述第二驱动轴进一步包括接收器。所述接收器可以可旋转地布置在所述第二盖部分内并且可以接纳所述第二本体部分。所述接头盖可以限定盖轴线，所述盖轴线穿过所述第一和第二接头中心。所述第二本体部分可以限定中心通路和弧形狭槽，所述中心通路正交于所述盖轴线，所述弧形狭槽在与所述盖轴线对齐并且平分所述中心通路的平面中。所述接头本体可以沿所述盖轴线可旋转。
在一些方面，所述接头组件包括中心销和轴销。所述中心销可以布置在所述中心通路内并且可以限定销开口，所述销开口正交于所述中心销的中心纵向轴线。所述轴销可以布置在所述销开口和所述弧形狭槽内以便将所述接头本体可旋转地联接至所述第二驱动轴。所述弧形狭槽和所述轴销可以协作以便限制所述接头本体与所述第二驱动轴之间的铰接。
在本公开的另一方面，一种适配器包括近侧部分、伸长部分以及远侧部分。所述近侧部分被配置用于联接至手柄。所述伸长部分从所述近侧部分延伸并且限定第一纵向轴线。所述远侧部分由所述伸长部分支撑并且被配置用于可释放地联接至工具组件至所述手柄。所述远侧部分包括接头组件。所述接头组件包括第一铰链、第一环、接头盖、第二环、第二铰链以及偏置机构。所述第一铰链沿所述第一纵向轴线布置并且定位在所述伸长部分的远端处。所述第一环围绕所述第一枢转轴线枢转地联接至所述第一铰链，所述第一枢转轴线正交于并与所述第一纵向轴线相交。所述接头盖具有第一和第二盖部分。所述第一盖部分围绕第二枢转轴线枢转地联接至所述第一铰链，所述第二枢转轴线正交于并与所述第一枢转轴线以及所述第一纵向轴线相交。所述第一和第二枢转轴线与所述第一纵向轴线在第一接头中心处相交。所述第二环围绕第三枢转轴线枢转地联接至所述接头盖的所述第二盖部分。所述第二铰链围绕第四枢转轴线枢转地联接至所述第二环，所述第四枢转轴线正交于所述第三枢转轴线。所述第三和第四枢转轴线在与所述第一接头中心间隔开的第二接头中心处相交。所述接头盖的盖轴线限定在所述第一与第二接头中心之间。所述偏置构件与所述第一环以及所述接头盖接合以便朝向对齐构型偏置所述接头盖，在所述对齐构型中，所述盖轴线与所述第一纵向轴线对齐。
进一步地，在一致的程度上，本文中所描述的方面中的任何方面均可以结合本文中所描述的其他方面中的任何或所有方面使用。
附图说明
下文参照结合到本说明书中并构成本说明书的一部分的附图描述了本公开的各个方面，在附图中：
图1是根据本公开提供的机电系统的透视图；
图2是图1的机电系统的适配器和工具组件的透视图，其中，所述工具组件处于松开位置；
图3是图2的细节表示区域的放大视图，其中，工具组件处于对齐位置；
图4是处于第一铰接位置的图2的适配器的远侧部分以及工具组件的透视图；
图5是与图2的适配器的接头组件分离的图2的工具组件的透视图；
图6是图5的接头组件的分解视图，其中，零件是分离的；
图7是图5的接头组件的后透视图；
图8是沿图7的截面线8-8截取的截面图；
图9是沿图7的截面线9-9截取的截面图；
图10是图7的细节表示区域的放大视图；
图11是沿图5的截面线11-11截取的截面图；
图12是图11的细节表示区域的放大视图；
图13是沿图11的截面线13-13截取的截面图；
图14是图13的细节表示区域的放大视图；
图15是处于对齐位置的图5的接头组件的侧视图；
图16是图15的接头组件的一部分的俯视图；
图17是沿图16的截面线17-17截取的截面图；
图18是图16的接头组件的俯视图，其中，所述接头组件的远侧接头处于铰接位置、电缆被移除；
图19是沿图18的截面线19-19截取的截面图；
图20是处于另一铰接位置的图15的接头组件的侧视图；
图21是图20的接头组件的侧视纵向截面图；
图22是图2的适配器的近侧部分的透视图，其中，适配器的各个部分用虚线示出；
图23是适配器的近侧部分的铰接组件的后透视图；
图24是图2的适配器的近侧部分的分解视图，其中，零件是分离的。
图25是沿图2的截面线25-25截取的截面图；
图26是图25的细节表示区域的放大视图；
图27是沿图26的截面线27-27截取的截面图；
图28是图22的适配器的近侧部分的透视图，其中，第一壳体外壳被移除并且按钮通过锁定构件分离。
具体实施方式
现在参照附图详细描述本公开的实施例，在附图中，在若干视图中的每个视图中，类似的参考标号指代完全相同的或相应的元件。如本文中所使用的，术语“临床医生”是指医生、护士或任何其他护理提供者并且可以包括辅助人员。另外，术语“近侧”是指距临床医生最近的设备或其部件的部分，并且术语“远侧”是指离临床医生最远的设备或其部件的部分。进一步地，在附图以及之后的描述中，诸如“前”、“后”、“上”、“下”、“顶”、“底”等术语仅仅是为了描述的方便并且不旨在限制其公开内容。
本公开总体上涉及与机电外科手术系统一起使用的适配器。适配器包括具有近侧和远侧接头的接头组件。近侧接头被偏置到对齐位置并且被适配用于保持在对齐位置，直到远侧接头到达铰接限制。当远侧接头到达铰接限制时，近侧接头铰接以允许接头组件的附加铰接。另外，近侧接头被适配用于在远侧接头远离铰接限制铰接之前返回到对齐位置。
适配器还包括被配置用于铰接接头组件的铰接机构。铰接机构包括从适配器的近侧部分延伸到适配器的远侧部分超过接头的四个电缆。电缆被适配用于缩回并且被延伸用于操纵或铰接接头组件。接头组件的相反侧上的电缆彼此相关联，从而使得当一个电缆缩回时，相对的电缆被延伸用于控制远侧壳体的位置以及因此接头组件的铰接。
适配器进一步包括被配置用于围绕适配器的纵向轴线将适配器的远侧部分选择性地紧固在多个位置的滚动机构。
现在参照图1，根据本公开的外科手术系统10包括手柄100、适配器200以及工具组件600(例如，末端执行器、多次或单次使用工具组件)。手柄100被配置用于与适配器200选择性连接，并且进而，适配器200被配置用于与工具组件600选择性连接。手柄100和适配器200可以一起协作致动工具组件600。外科手术系统10可以是机电动力系统并且手柄100可以是电动的例如供电电池。在本文中所公开的实施例中的任何实施例中，适配器可以被配置成与机器人外科手术系统一起使用。在实施例中，铰接接头组件可以结合到手动驱动的外科手术设备中。
手柄100包括被配置用于驱动轴和/或齿轮部件执行机电外科手术系统10的各个操作的驱动机构(未示出)。具体地，驱动机构被配置用于使近侧驱动轴260(图23)、第一铰接轴430(图23)以及第二铰接轴450(图23)旋转以便致动工具组件600并且相对于适配器200的纵向轴线A-A(图2)铰接工具组件600，如下文详细描述的那样。对示例性动力手柄的详细描述可以参照美国专利公开号2015/0272577和美国专利号9,055,943。这些公开中的每个公开的全部内容通过引用结合在此。
还参照图2至图5，适配器200包括近侧部分202、伸长部分204、远侧部分206以及工具组件连接器208。近侧部分202被配置用于将适配器200联接至手柄100(图1)。伸长部分204从适配器200的近侧部分202延伸到适配器200的远侧部分206并且限定适配器200的纵向轴线A-A。远侧部分206包括被配置用于相对于纵向轴线A-A铰接工具组件连接器208(如图4所示出的以及下文所详细描述的那样)的接头组件300，使工具组件600从非铰接位置铰接到铰接位置，在所述非铰接位置，工具组件600的纵向轴线D-D(图18)与适配器200的纵向轴线A-A对齐，在所述铰接位置，工具组件600的纵向轴线D-D不与纵向轴线A-A对齐。工具组件连接器208定位在远侧部分206的远侧并且被配置用于将工具组件600联接至适配器200。
具体参照图3和图4，工具组件600包括在打开构型(图3)与闭合或夹紧构型(图4)之间相对于彼此可移动的第一钳口构件610和第二钳口构件620。如下文所详细描述的，接头组件300允许在非铰接位置与多个铰接位置之间操纵工具组件600。如所示出的，工具组件600被配置为具有第一钳口构件610和第二钳口构件的钉合器，所述第一钳口构件610可释放地接纳具有多个钉(未示出)的钉仓612，所述第二钳口构件包括砧622。
参照图5和图6，接头组件300被配置用于控制工具组件连接器208的铰接。接头组件300包括近侧接头壳体310、近侧环330、偏置组件340、接头盖350、中心驱动轴360、接头本体370、远侧驱动轴380、远侧环386以及远侧接头壳体390。
近侧接头壳体310沿适配器200的纵向轴线A-A延伸，从而使得纵向轴线A-A与近侧接头壳体310的纵向轴线同轴。中心驱动轴360沿适配器200的纵向轴线A-A可旋转地布置在近侧接头壳体310内。接头本体370接纳中心驱动轴360的远侧部分，从而使得接头本体370响应于中心驱动轴360的旋转而旋转。接头本体370的一部分接纳在远侧驱动轴380内，从而使得远侧驱动轴380响应于接头本体370的旋转而旋转。接头盖350定位在接头本体370之上，从而使得接头本体370在接头盖350内可旋转。近侧环330围绕接头盖350的一部分枢转地紧固并且通过偏置组件340接合以便如以下详述的使接头本体370朝向对齐位置偏置。远侧环386围绕接头盖350的一部分枢转地紧固并且紧固至远侧接头壳体390以便将接头盖350的一部分枢转地紧固至远侧接头铰链390。
另外参照图7至图14，近侧接头壳体310是基本上圆柱形的并且限定穿过其的中心管腔322。近侧接头壳体310包括圆柱形部分311和近侧或第一铰链312。近侧接头壳体310的圆柱形部分311的大小和尺寸被设定用于接纳在适配器200的伸长部分204(图2)内，从而使得近侧接头壳体310的中心管腔322与适配器200的纵向轴线A-A同轴。近侧铰链312支撑在圆柱形部分311的远侧部分上并且大小被设定用于从适配器200(图2)的伸长部分204向远侧延伸。近侧铰链312的外表面的尺寸可以被设定用于形成与伸长部分204的外表面邻接的表面。近侧铰链312可以围绕圆柱形部分311形成边缘313(图7)，所述边缘313被定位用于接合适配器200的伸长部分204的外边缘，以便轴向地固定近侧接头壳体310相对于伸长部分204的其他部件的位置并防止近侧铰链312穿入伸长部分204的外管中。
具体参照图7至图9，偏置组件340布置在近侧接头壳体310的中心管腔322内并且与近侧环330以及接头本体370接合以使接头本体370朝向非铰接或对齐位置(图7)偏置。偏置组件340包括柱塞336、偏置构件338、外偏置杆342、344以及内偏置杆346、348。近侧接头壳体310限定了各自的大小和尺寸被设定用于接纳对应偏置构件338的窗口324，从而使得偏置构件338的近侧部分纵向地固定在近侧接头壳体310内。偏置构件338中的每个偏置构件的远侧部分接纳柱塞336中的一个对应柱塞的轴336a(图11)，从而使得通过偏置构件338向远侧推动柱塞336。近侧接头壳体310还限定大小和尺寸被设定用于接纳偏置杆342至348中的一个对应偏置杆的杆通道316(图8)。偏置杆342至348中的每个偏置杆可滑动地布置在杆通道316中的一个杆通道内并且包括与柱塞336中的一个对应柱塞接合的近侧部分。在实施例中，每个柱塞336包括远侧板336b和轴336a，所述轴336a从板336b向近侧延伸，从而使得轴336a接纳在对应偏置构件338的线圈内，其中，如图11所示，远侧板336b与偏置构件338的远侧部分接合。将理解的是，偏置杆342至348在基本上平行于适配器200的纵向轴线A-A的方向上在杆通道316内滑动。
在一些实施例中，偏置杆342至348的近侧部分包括翼(例如，翼344a(图7))以便增加偏置杆342至348的被定位用于接合对应柱塞336的部分的表面积。设想的是，杆通道316和对应偏置杆342至348的可以被设定尺寸和/或被配置用于当对应偏置杆342至348在杆通道316内滑动时减少偏置杆342至348在杆通道316内的震颤或非纵向移动。
参照图11至图15，外偏置杆342、344被定位在近侧接头壳体310的相反侧上，其中，如图14所示，外偏置杆342、344中的每个外偏置杆的远侧部分与近侧环330接合。内偏置杆346、348被定位在近侧接头壳体310的相反侧上，其中，如图12所示，每个内偏置杆346、348的远侧部分与接头盖350接合。近侧接头壳体310可以在近侧铰链312中限定可滑动地接纳内偏置杆346、348的钉合部分347(图12)的杆切口326。外偏置杆342、344径向地偏离内偏置杆346、348中的每个偏置杆大约90°，从而使得如图8所示，内偏置杆346、348中的每个内偏置杆径向地定位在外偏置杆342、344之间的半途并且外偏置杆342、344中的每个外偏置杆径向地定位在内偏置杆346、348之间的半途。
参照图11至图14，近侧接头壳体310联接至接头盖350的近侧部分，从而使得接头盖350可相对于近侧接头壳体310以两个自由度移动。将理解的是，接头盖350相对于近侧接头壳体310围绕适配器200的纵向轴线A-A可旋转地固定。
具体参照图10至图12，近侧铰链312包括近侧接头壳体310的中心管腔322的相对侧上相对的凸缘314(图10)。近侧环330枢转地联接至凸缘314。具体地，每个凸缘314限定销开口314a并且近侧环310限定与凸缘314的销开口314a同轴对齐的销开口331。铰链销332接纳在对应凸缘314的每个销开口331以及销开口内以便将近侧环330枢转地联接至近侧铰链312的凸缘314。将理解的是，近侧环330围绕铰链销332所限定的枢转轴线相对于近侧铰链312枢转。
现在参照图6、图13以及图14，近侧环330通过壳体销334枢转地联接至接头盖350。近侧环330在近侧环330的相对侧上限定销开口333，其中，如图6所示，每个销开口333定位在销开口331之间的大约半途。接头盖350限定与销开口333同轴对齐的销开口353。壳体销334接纳在销开口333和353内以便围绕壳体销334所限定的枢转轴线将接头盖350枢转地联接至近侧环330。在实施例中，壳体销334所限定的枢转轴线正交于铰链销332所限定的枢转轴线，从而使得接头盖350可相对于近侧铰链312以两个自由度移动。可替代地，设想其他枢转轴线取向。
再次参照图11至图14，接头盖350的远侧部分通过远侧环386联接至远侧接头壳体390，从而使得远侧接头壳体390可相对于接头盖350以两个自由度移动。将理解的是，远侧接头壳体390可旋转地固定至接头盖350以及因此近侧铰链312。
具体参照图6、图11以及图12，壳体盖350的远侧部分通过壳体销357枢转地联接至远侧环386(图12)。远侧环386在远侧环386的相对侧上限定销开口387。接头盖350限定与销开口387同轴对齐的销开口355。壳体销357接纳在销开口355和387内，从而使得接头盖350枢转壳体销357所限定的枢转轴线枢转地联接至远侧环386。
参照图13和图14，远侧接头壳体390形成远侧铰链并且限定在非铰接或对齐位置处沿接头组件300的纵向轴线A-A定位的中心开口394，如图14所示。远侧接头壳体390包括中心开口394的相对侧上相对的凸缘392(图6)。凸缘392径向偏离近侧铰链312的凸缘314大约90°(图10)并且枢转地联接至远侧环386。具体地，每个凸缘392限定销开口392a并且远侧环386限定与凸缘392的销开口392a同轴对齐的销开口388。远侧环386的销开口388在远侧环386的相对侧上，其中，每个销开口388定位在销开口387之间的大约半途(图6)。铰链销389接纳在每个销开口388内以便围绕铰链销389所限定的枢转轴线将远侧环386枢转地联接至远侧接头壳体390。将理解的是，远侧环386围绕铰链销389所限定的枢转轴线相对于远侧接头壳体390枢转。壳体销357所限定的枢转轴线正交于铰链销389所限定的枢转轴线，从而使得接头盖350可相对于远侧接头壳体390以两个自由度移动。
再次参照图6以及图11至图14，中心驱动轴360、接头本体370以及远侧驱动轴380穿过并且在近侧接头壳体310、接头盖350以及远侧接头壳体390内可旋转，从而使得远侧驱动轴380响应于中心驱动轴360的旋转而在接头组件300的多个铰接位置处旋转。接头本体370包括近侧接收器372和远侧球374。近侧接收器372布置在接头盖350的近侧部分中所限定的近侧空腔354内。中心驱动轴360包括接纳在近侧接收器372内的驱动球362，从而使得驱动球362、近侧接收器372以及近侧空腔354的中心彼此重合。驱动球362限定横向于适配器200的纵向轴线A-A穿过驱动球362的中心并且穿过其接纳中心销368的中心通路364。中心销368限定横向于中心销368的纵向轴线的销开口369。驱动球362还限定与中心通路364连通的弧形狭槽366。接头本体370的近侧接收器372限定销开口373。近侧轴销367穿过销开口373、狭槽366以及销开口369以便将中心驱动轴360可旋转地固定至接头本体370，从而使得接头本体370响应于中心驱动球360的旋转而旋转。弧形狭槽366允许在中心驱动轴360与接头本体370之间有一个自由度。
远侧驱动轴380包括远侧接收器382以及从远侧接收器382向远侧延伸的远侧轴384。远侧接收器382布置在接头盖350所限定的远侧空腔356内并且接纳接头本体370的远侧球374，从而使得远侧空腔356、远侧接收器382以及远侧球374的中心彼此重合。远侧球374限定横向于接头本体370的纵向轴线穿过远侧球374的中心并且穿过其接纳中心销377的中心通路375。中心销377限定横向于中心销377的纵向轴线的销开口378(图6)。远侧球374还限定与中心通路375连通的弧形狭槽376(图6)并且远侧接收器382限定销开口383。远侧轴销379穿过销开口383、狭槽376以及销开口378以便将接头本体370与远侧接收器382可旋转地固定，从而使得远侧驱动轴380响应于接头本体370的旋转而旋转。弧形狭槽376允许在接头本体370与远侧驱动轴380之间有一个自由度。驱动球362的弧形狭槽366(图12)限定在与远侧球374的弧形狭槽376相同的平面中；然而，设想的是，弧形狭槽366的平面可以径向地偏离弧形狭槽376的平面以便允许在远侧驱动轴380与中心驱动轴360之间有多个自由度。
现在参照图15至图17，适配器200(图2)包括操纵接头组件300的铰接机构400。铰接机构400和接头组件300协作以便在致动工具组件600(图5)之前、期间以及之后控制接头组件300的铰接。例如，当工具组件600被致动用于夹紧组织、通过夹紧的组织来发射钉、和/或切割组织时，铰接机构400和接头组件300协作以便在工具组件600的每个功能期间减少震颤并维持工具组件600相对于适配器200的位置。
铰接机构400包括穿过适配器200的伸长部分204(图2)从适配器200的近侧部分202(图2)延伸到适配器200的远侧部分206(图2)的电缆402、404、406以及408(图7)。电缆402至408中的每个电缆可滑动地布置在近端接头壳体310的外表面中所限定的四个电缆凹槽319中的一个电缆凹槽内并且穿过近端铰链312中四个电缆通道318(图8)中的一个对应电缆通道。电缆402至408中的每个电缆从近端接头壳体310穿过到远侧接头壳体390。电缆402至408中的每个电缆包括接纳在远侧接头壳体390中所限定的对应电缆接收器398内的远侧固位件(图17)(例如，电缆406的远侧固位件407以及电缆408的远侧固位件409)。将远侧固位件接纳在远侧接头壳体390的对应电缆接收器398内有助于向远侧接头壳体390施加张力。
电缆402至408围绕纵向轴线A-A径向地间隔开，以便促进接头组件300的操纵，从而使得限定远侧驱动轴线D-D的远侧驱动轴380以及限定盖轴线C-C的接头盖350可以相对于纵向轴线A-A在多个铰接位置之间移动。如所示出的，电缆402至408围绕接头壳体310的外表面径向地均匀地间隔开(例如，大约90°)，其中，电缆402至408中的每个电缆穿过圆柱形部分311中所限定的相邻窗口324(图15)之间的大约半途。设想的是，电缆402至408可以围绕圆柱形部分311不均匀地间隔开。
如下文更详细地描述的，铰接机构400响应于在直径上相对的电缆的平移来平移一个电缆，以便维持每个电缆402至408的张力，从而持续向远侧壳体390施加张力。例如，当铰接机构400向近侧拉动电缆402时，铰接机构400同时释放电缆406，允许向远侧拉动电缆406与向近侧拉动电缆402的量大约相等的量。同样地，当铰接机构400向近侧拉动电缆406时，铰接机构400同时释放电缆402，允许向远侧拉动电缆406与向近侧拉动电缆406的量大约相等的量。将理解的是，电缆404以与如上文详述的电缆402与电缆406相关联的方式类似的方式与电缆408相关联。通过保持每个电缆基本上拉紧可以精确地控制和维持远侧驱动轴380的远侧驱动轴线D-D相对于纵向轴线A-A的铰接以及接头盖350的盖轴线C-C相对于适配器200的纵向轴线A-A的铰接。
参照图15至图21，根据本公开描述了接头组件300的铰接。接头组件300具有第一或近侧接头302以及第二或远侧接头304。近侧接头302围绕穿过与以下各项的中心重合的中心点的枢转轴线铰接：中心驱动轴360的驱动球362、接头本体370的近侧接收器372、接头盖350的近侧部分以及近侧环330。远侧接头304围绕穿过与以下各项的中心重合的中心点的枢转轴线铰接：接头本体370的远侧球374、远侧驱动轴380的远侧接收器382、接头盖350的远侧部分以及远侧环386。盖轴线C-C穿过近侧和远侧接头302、304的中心点之间。近侧和远侧接头302、304中的每个接头可响应于远侧接头壳体390的致动通过铰接机构400以两个自由度铰接。
接头组件300具有居中或对齐位置，如图15至图17所示，在所述居中或对齐位置，远侧驱动轴384的远侧驱动轴线D-D以及接头盖350的盖轴线C-C与近侧驱动轴360的纵向轴线A-A同轴。在对齐位置，近侧和远侧接头302、304的中心点均沿纵向轴线A-A布置。另外，在对齐位置，近侧环330和远侧环386所限定的平面平行于彼此并且被定位成正交于适配器200的纵向轴线A-A。
现在参照图18和图19，接头组件300具有第一铰接位置，在所述第一铰接位置，远侧接头304铰接，从而使得远侧驱动轴线D-D相对于适配器200的纵向轴线A-A铰接并且接头盖350的盖轴线C-C保持与纵向轴线A-A对齐。另外，近侧和远侧接头302、304的中心点保持沿纵向轴线A-A布置在第一铰接位置处。偏置组件340维持接头盖350以及因此盖轴线C-C与纵向轴线A-A对齐，直到远侧接头304到达铰接限制，即，远侧轴销379到达远侧球374的弧形狭槽376(图12)的端部的位置，以防止远侧接头304的进一步独立铰接，即，独立于近侧接头302。
如图18和图19所示，铰接机构400被致动用于铰接远侧接头壳体390以便重新定位远侧驱动轴380，从而使得远侧驱动轴线D-D在远侧接头304的铰接限制内限定相对于适配器200的纵向轴线A-A的角度。如所示出的，远侧壳体390在箭头“X1”所指示的方向上铰接，从而使得远侧驱动轴线D-D相对于纵向轴线A-A重新定位。在铰接接头组件300期间，远侧接头304铰接并且偏置组件340接合近侧环330和接头盖350以便维持盖轴线C-C与纵向轴线A-A对齐。偏置组件340防止接头盖350铰接，直到远侧接头304到达其铰接限制。具体地，推动外偏置杆342、344与近侧环330接合以便维持接头盖350围绕第一轴线与纵向轴线A-A对齐、围绕铰链销332所限定的枢转轴线旋转，并且推动内偏置杆346、348与接头盖350接合以便维持接头盖350围绕另一轴线与纵向轴线A-A对齐、围绕壳体销334所限定的枢转轴线旋转。通过维持接头盖350的盖轴线C-C与纵向轴线A-A对齐，偏置组件340将近侧接头302维持在对齐位置。如所示出的，偏置杆342至348的远侧部分将近侧环330和接头盖350与基本上平面的表面接合，从而使得需要大的力来发起近侧环330和/或接头盖350的旋转以使盖轴线C-C铰接离开对齐位置。仅在通过达到弧形狭槽376的端部的远侧轴销379防止远侧接头304进一步铰接之后达到这个大的力。设想的是，偏置杆342至348的远侧部分可以是弓形的以便允许盖轴线C-C利用减小的力远离对齐位置铰接。
图20和图21展示了铰接机构400的致动从而将远侧接头壳体390铰接至第二铰接位置，在所述第二铰接位置，远侧驱动轴线D-D相对于适配器200的纵向轴线A-A重新定位至超出远侧接头304的铰接限制的角度。如所示出的，远侧壳体390在箭头“X2”所指示的方向上铰接，从而使得远侧驱动轴线D-D和盖轴线C-C从图15所示出的位置相对于纵向轴线A-A重新定位。更具体地，当将远侧接头304铰接至其铰接限制时，远侧接头壳体390的继续铰接克服了偏置组件340施加到近侧接头302的偏置力，从而使得内偏置杆346压缩其相关联偏置构件338并且接头盖350的盖轴线C-C在箭头“X2”所指示的方向上围绕近侧接头302相对于纵向轴线A-A铰接。当近侧接头302铰接时，另一个内偏置杆348通过其相关联偏置构件338向远侧推动以便向远侧平移并维持与接头盖350的接合。另外，外偏置杆342、344通过相关联偏置构件338向远侧推动以便维持与近侧环330的接合。通过独立地维持偏置杆342至348中的每个偏置杆与接头盖350和/或近侧环330的接合，刚性地维持远侧接头壳体390的位置以用于铰接机构400的给定致动。
将理解的是，偏置构件338具有基本上线性的弹簧常数并且偏置杆342至348协作推动接头盖350以及因此盖轴线C-C与纵向轴线A-A对齐。这样，当铰接机构400被致动用于将远侧接头壳体390返回到对齐位置从而使得远侧驱动轴线D-D和盖轴线C-C朝向与纵向轴线A-A对齐移动时，在远侧驱动轴线D-D从其铰接限制向其对齐位置铰接之前，偏置组件340将接头盖350的盖轴线C-C以及因此近侧接头302返回到对齐位置。
在实施例中，近侧和远侧接头302、304的最大铰接角度可以等彼此(例如，30°)或不同于彼此(例如，近侧接头302的最大铰接角度可以大于或小于远侧接头304的最大铰接角度)。将理解的是，铰接组件300的最大铰接角度是近侧接头302的最大铰接角度与远侧接头304的最大铰接角度的和。
通过控制近侧和远侧接头302、304的铰接顺序(即，确保在近侧接头302铰接之前远侧接头304铰接至其铰接限制以及在使远侧接头304朝向其对齐位置铰接之前将近侧接头302返回到其对齐位置)，接头组件300的铰接更加可预测，从而使得工具组件600(图2)的位置在铰接期间更加可预测。另外，将接头盖350偏置成与纵向轴线对齐可以通过自动调整以供电缆伸展从而减小接头组件300的电缆游隙来提供更加稳定且刚性的接头组件300。进一步地，通过在远侧接头壳体390上提供来自电缆402至408中的每个电缆的恒定张力，可以使致动工具组件600期间经历的震颤最小化。
现在参照图22至图27，适配器200的近侧部分202包括连接器220、铰接机构400以及滚动机构500。连接器220紧固至适配器200的近侧部分202并且将适配器200可释放地联接至手柄100(图1)。手柄100被配置用于使近侧驱动轴260选择性地旋转并且当连接器220可释放地联接至手柄100时操纵铰接机构400。近侧驱动轴260沿适配器200的纵向轴线A-A延伸并且延伸穿过伸长部分204以引起中心驱动轴360(图6)的旋转。伸长部分204还包括围绕近侧驱动轴260同轴布置的中心管280以及围绕中心管280同轴布置的外管270以便在其之间限定通路272。
铰接机构400操纵电缆402至408使接头300相对于纵向轴线A-A铰接。具体参照图23，铰接机构400包括铰接本体410、第一或上主轴组件420、第一铰接轴430、第二或下主轴组件440以及第二铰接轴450。上主轴组件420和下主轴组件440围绕横向于纵向轴线A-A的主轴轴线S-S可旋转地支撑在铰接本体410上。上主轴组件420布置在铰接本体410的上侧并且下主轴组件440布置在铰接本体410的下侧。
具体参照图24，上主轴组件420包括内主轴422、外主轴426以及齿轮428。内主轴422是基本上圆柱形的并且沿内主轴422的外表面限定螺旋凹槽423(图23)。内主轴422包括向铰接本体410延伸并且围绕铰接本体410的上座圈414布置的键形突起424。上齿轮428限定接纳键形突起424的键形开口429，从而使得内主轴422响应于上齿轮428的旋转而旋转。外主轴426是基本上圆柱形的并且围绕外主轴426的外表面限定螺旋凹槽427(图23)。外主轴426包括可旋转地接纳在滚动本体510的主轴凹陷518内的上突起425。滚动本体510将上主轴组件420固位在上座圈414之上。外主轴426相对于内主轴422可旋转地固定，从而使得外主轴426响应于内主轴422的旋转而旋转。设想的是，内和外主轴422、426可以彼此单片地形成。内和外主轴422、426的螺旋凹槽423、427分别可以形成单个连续的螺旋凹槽。
下主轴组件440包括内主轴442、外主轴446以及齿轮448。内主轴442是基本上圆柱形的并且围绕内主轴442的外表面限定螺旋凹槽443(图23)。内主轴442包括向铰接本体410延伸并且围绕铰接本体410的下座圈416布置的键形突起444。下齿轮448限定接纳键形突起444的键形开口449，从而使得内主轴442响应于下齿轮448的旋转而旋转。外主轴446是基本上圆柱形的并且围绕外主轴446的外表面限定螺旋凹槽447(图23)。在实施例中，外主轴446包括可旋转地接纳在滚动本体510的主轴凹陷518内的下突起445。滚动本体510将下主轴组件440固位在下座圈416之上。外主轴446相对于内主轴442可旋转地固定，从而使得外主轴446响应于内主轴442的旋转而旋转。设想的是，内和外主轴442、446可以彼此单片地形成。内和外主轴442、446的螺旋凹槽443、447分别可以形成单个连续的螺旋凹槽。
返回参照图22和图23，电缆402至408通过外管270的通路272(图22)从接头组件300的近侧接头壳体310(图6)延伸到适配器200的近侧部分202。当电缆402至408穿过通路272时，电缆402至408被引导穿过中心管280的近侧圆筒282中所限定的孔282。电缆402和406被引导穿过近侧圆筒282的第一或上侧上的孔284并且电缆404和408被引导穿过近侧圆筒282的第二或下侧上的孔284。电缆402至408穿过近侧圆筒282的孔284并且穿入滚动本体510的孔512中。电缆402至408穿过滚动本体510的孔512并且穿入铰接本体410中所限定的孔412中，从而使得电缆402、406布置在铰接本体410的上侧上并且电缆404、408布置在铰接本体40的下侧上。
再次具体参照图23，电缆402、406从铰接本体410中所限定的孔412穿过并且在彼此相反的方向上穿入上主轴组件420的凹槽423、427中。如所示出的，电缆402退出上主轴组件420的第一侧上的孔412并且进入外主轴426的凹槽427。电缆406退出上主轴组件420的第二侧上的孔412并且进入内主轴422的凹槽423。当上主轴组件420在第一方向(例如，当在图23中从上方观察时逆时针地)上旋转时，电缆402围绕外主轴426缠绕以便缩回或拉动电缆402并且电缆406同时从围绕内主轴422解绕以便延伸或释放电缆406。当上主轴组件420在与第一方向相反的第二方向(例如，当在图23中从上方观察时顺时针地)上旋转时，电缆402从围绕外主轴426解绕以便延伸电缆402并且电缆406同时围绕内主轴422缠绕以便缩回电缆406。将理解的是，这一相应的缩回和延伸向远侧接头壳体390施加了张力(图17)从而如上文详述的那样铰接接头300。
电缆404、408从铰接本体410中所限定的孔412穿过并且在彼此相反的方向上穿入下主轴组件440的凹槽443、447中。如所示出的，电缆404退出下主轴组件440的第一侧上的孔412并且进入内主轴442的凹槽443。电缆408退出下主轴组件440的第二侧上的孔412并且进入外主轴446的凹槽447。当下主轴组件440在第一方向(例如，当在图23中从上方观察时逆时针地)上旋转时，电缆404围绕内主轴442缠绕以便缩回电缆404并且电缆408同时从围绕外主轴446解绕以便延伸电缆408。当下主轴组件440在与第一方向相反的第二方向(例如，当在图23中从上方观察时顺时针地)上旋转时，电缆404从围绕内主轴442解绕以便延伸电缆402并且电缆406同时围绕外主轴446缠绕以便缩回电缆408。将理解的是，这一相应的缩回和延伸向远侧接头壳体390施加了张力(图17)从而如上文详述的那样铰接接头300。
参照图24和图27，第一铰接轴430包括与上主轴组件420的齿轮428啮合的齿轮434，以便使上主轴组件420响应于手柄100(图1)的输入而围绕主轴轴线S-S旋转。手柄100使第一铰接轴430围绕平行于且偏离纵向轴线A-A的轴轴线旋转。第一铰接轴430包括延伸穿过连接器220中所限定的输入孔438的输入部分432并且可以包括围绕第一铰接轴430的近侧部分布置的轴承组件436，以便将输入部分432可旋转地安装在输入孔438内和/或纵向地偏置第一铰接轴430。
第二铰接轴450包括与下主轴组件440的齿轮448啮合的齿轮454，以便使下主轴组件440响应于手柄100(图1)的输入而围绕主轴轴线S-S旋转。手柄100使第二铰接轴450围绕平行于且偏离纵向轴线A-A的轴轴线旋转。第二铰接轴450包括延伸穿过连接器220中所限定的输入孔458的输入部分452并且可以包括围绕第二铰接轴450的近侧部分布置的轴承组件456，以便将输入部分452可旋转地安装在输入孔458内和/或纵向地偏置第二铰接轴450。
参照图22、图24、图26以及图28，滚动机构500被配置用于围绕纵向轴线A-A旋转或滚动适配器100的伸长部分204和远侧部分206(图2)。在2016年8月5日提交的美国专利申请序列号15/229,220中描述了类似滚动机构的示例，所述美国专利申请的完整内容通过引用结合在此。
滚动机构500包括滚动本体510、滚动壳体520以及锁定机构560。滚动本体510可旋转地固定至铰接本体410和连接器220。滚动壳体520围绕滚动本体510可旋转地布置，其中，锁定机构560布置在滚动壳体520内。如将在下文进一步详细描述的，锁定机构560具有锁定位置(图3)和解锁位置(图13)，在所述锁定位置，滚动壳体520相对于连接器220旋转地紧固，在所述解锁位置，滚动壳体520可相对于连接器220围绕纵向轴线A-A旋转。工具组件600可旋转地固定至适配器100的远侧部分206，所述适配器100可旋转地固定至滚动壳体520，从而使得滚动壳体520围绕适配器100的纵向轴线A-A的旋转使工具组件600(图1)围绕纵向轴线A-A旋转。这使得临床医生能够在不改变手柄100(图1)的取向的情况下相对于手柄100对工具组件600取向。
滚动壳体520可以由第一本体外壳524和第二本体外壳526形成。第一和第二本体外壳524、526各自形成滚动壳体520的大约一半并且可以通过紧固件(未明确示出)接头连接在一起。可替代地，第一和第二本体外壳524和526可以通过焊接等紧固在一起。第一和第二本体外壳524、526限定接纳联接至中心管280的滚动本体510的空腔522。中心管280可旋转地固定至滚动本体510。连接器220包括环形凸缘228并且第一和第二本体外壳524、526限定被配置用于接纳环形凸缘228的近侧环形凹槽528。环形凸缘228在允许滚动壳体520围绕连接器220、滚动本体510以及中心管280旋转的同时相对于连接器220纵向地紧固滚动壳体520。
具体参照图22和图24，滚动本体510包括锁定座圈514、垫片515以及颈部516。锁定座圈514、垫片515以及颈部516各自在形状上是基本上圆柱形的并且围绕纵向轴线A-A同轴布置。另外，锁定座圈514、垫片515以及颈部516各自定位在滚动本体510所限定的凹陷518的远侧。锁定座圈514定位在垫片515与颈部516之间。垫片515在锁定座圈514与滚动本体510的近侧部分之间限定间隙“G”。颈部516从锁定座圈514向远侧延伸。锁定座圈514具有大于颈部516且小于垫片515的直径。接纳电缆402至408的孔512延伸穿过颈部516、锁定座圈514以及垫片515。
滚动机构500包括锁定圆盘540和滚动螺母550。锁定圆盘540围绕锁定座圈514布置并且旋转地固定至垫片515，从而使得间隙“G”限定在锁定圆盘540与滚动本体510的近侧部分之间。滚动螺母550围绕颈部516布置，其中，外管270的近侧部分274布置在滚动螺母550与颈部516之间。滚动螺母550可相对于颈部516旋转，从而使得滚动螺母550围绕纵向轴线A-A旋转。外管270的近侧部分274限定相对的凹口274并且滚动螺母550包括布置在凹口274内的相对的突起552，从而使得外管270响应于轴承500围绕纵向轴线A-A的旋转而旋转。滚动螺母550还限定接纳第二本体外壳526的键527的键槽554，以便将滚动螺母550可旋转地固定至滚动壳体520，从而使得滚动螺母550和外管270响应于滚动壳体520的旋转(如图26所示)而围绕纵向轴线A-A旋转。如上文详述的，接头300以及因此工具组件600(图1)联接至外管270，从而使得接头300和工具组件600协作，其中，滚动壳体520围绕纵向轴线A-A旋转。滚动螺母550还包括与键槽554相反的平台556。
继续参照图22、图24以及图26，锁定机构560接合锁定圆盘540以便以相对于连接器220的固定旋转取向来紧固滚动壳体520。具体地，锁定圆盘540限定被配置用于接纳锁定机构560的锁定构件562(如下文更加详细地描述的)的多个锁定切口542，以便相对于连接器220将滚动壳体520固位在多个固定位置。如图22中所最佳示出的，锁定切口542围绕锁定圆盘540径向地间隔开。设想的是，锁定圆盘540可以限定任何数量的可以以任何适合的构型安排的锁定切口542。例如，锁定切口542可以以设定间距安排、均匀或随机地间隔开。另外，锁定切口542可以被形成用于完全围绕锁定圆盘540延伸以便允许围绕连接器220以任何三百六十度(360°)取向锁定滚动壳体520。
另外参照图28，锁定机构560包括锁定构件562、按钮580以及偏置构件598。锁定构件562包括锁定本体564、远侧支腿566以及近侧支腿568。锁定本体564包括在远侧支腿566之上延伸的指部572以及从锁定本体564的侧面延伸的凸台574。远侧支腿566包括止挡件567和锁定件569。止挡件567沿滚动螺母550的平台556滑动并且与远侧支腿566形成T形。止挡件567具有大于锁定切口542的宽度的宽度，从而使得止挡件567防止远侧支腿566完全穿过锁定切口542。另外地或可替代地，锁定件569可以接合锁定圆盘540的背板544以防止远侧支腿566完全穿过锁定切口542。锁定件569的大小和尺寸被设定用于当锁定构件562处于锁定位置时定位在锁定切口542中的一个对应锁定切口内，以防止滚动壳体520相对于连接器220旋转。锁定件156从远侧支腿566向近侧延伸并且被配置成使得当锁定件156定位在锁定切口542中的一个对应锁定切口中时，止挡件567抵靠锁定圆盘540。近侧支腿568包括定位在滚动本体510的止挡件515所限定的间隙“G”内的支脚571。远侧支腿566和近侧支腿568在其间限定空隙574，所述空隙574的大小和尺寸被设定用于当锁定构件562如图26所示处于解锁位置时允许锁定圆盘540在空隙574内旋转。
按钮580具有限定盲孔(未示出)的按钮本体582、开口583以及凸轮狭槽584。开口583从按钮本体582的底表面582a向内延伸以便在本体582的远侧表面582b中限定远侧开口583a。远侧开口583a包括与按钮本体582的底表面582a相反的托架583b。盲孔在正交于底表面582a所限定的平面的方向上从按钮本体582的在开口583的任一侧的底表面582a基本上竖直地延伸。盲孔可以是基本上圆柱形的并且大小被设定用于接纳偏置构件598。
凸轮狭槽584完全穿过按钮本体582的侧表面582d。凸轮狭槽584从按钮本体582的与按钮本体582的底表面582a以及按钮本体582的近侧表面582e相邻的第一端584a延伸到按钮本体582的与按钮本体582的远侧表面582b和顶表面582c相邻的第二端584b，从而使得当以轮廓观察按钮580时，凸轮狭槽584向上向远侧倾斜。凸轮狭槽584与开口583连通并且被配置用于接纳锁定构件562的凸台574，从而使得按钮580的竖直移动(即，基本上朝向和远离纵向轴线A-A的移动)影响锁定构件562的纵向平移(如下文详述的)。
锁定构件560布置在滚动壳体520中所限定的通路521中。锁定构件560定位在与锁定圆盘540相邻的连接器220上。在锁定机构560的锁定位置，锁定件569布置在锁定圆盘540中所限定的锁定切口542内以便可旋转地固定滚动壳体520相对于连接器220的取向。按钮580径向地定位在锁定构件562外面，从而使得锁定构件562的锁定本体564布置在按钮580的开口583内。当锁定本体564布置在开口583内时，锁定构件562的凸台574滑动地接纳在凸轮狭槽584内。另外，偏置构件598接纳在盲孔内以便推动按钮580远离锁定构件562。在此位置，锁定构件562由于与按钮580的限定凸轮狭槽584的部分接合而因此向近侧推动至锁定位置。偏置构件598支撑在滚动螺母550的与平台556相邻的边缘568上，以便偏置按钮580远离锁定构件562。然而，设想的是，偏置构件598可以由止挡件567的顶表面支撑并且可沿其滑动。
锁定构件562的指部572在按钮580的开口583内向远侧延伸，从而使得指部572定位在按钮580的托架583b之上以便将按钮580固位在滚动壳体520的通路521内。另外，按钮580的近侧表面581e可以包括固位钩589，所述固位钩589从按钮580的近侧表面581e向近侧延伸至与滚动壳体520接合以便将按钮580固位在通路521内。
如图22和图28所示，在锁定机构560的锁定位置，按钮580被偏置构件598向上推动，从而使得锁定构件562被凸台574用凸轮带动至近侧位置。在近侧位置，锁定件569定位在锁定圆盘540的锁定切口542内以防止滚动壳体520相对于连接器220旋转。
如图26所示，为了将锁定机构560平移至解锁位置，在滚动壳体520的通路521内向偏置构件598按压按钮580。当按压按钮580时，按钮580局限于在滚动壳体520的通路521上竖直移动(朝向和远离纵向轴线A-A的移动)。当按压按钮580时，凸台574在凸轮狭槽584内滑动以影响锁定构件562相对于滚动壳体520的远侧纵向移动。具体地，限定凸轮狭槽584的壁接合凸台574以便在基本上平行于纵向轴线A-A的方向上平移锁定构件562。当锁定构件562相对于按钮580向远侧移动时，锁定件569从切口542内移动至在锁定圆盘540的远侧的位置并且因此离开锁定切口542。在此位置，滚动壳体520自由围绕连接器220旋转。当锁定构件564向远侧移动时，近侧支腿568的支脚571在垫片515所限定的间隙“G”内滑动并且可以抵靠锁定圆盘540以限制锁定构件564的远侧移动。在实施例中，锁定构件564的支脚571与锁定圆盘540之间的接触可以为临床医生提供按钮580完全按下和/或锁定机构560处于解锁位置的触觉反馈。另外，当按钮580完全按下时，锁定构件562的锁定本体564可以接合开口583的顶部583c以限制按钮580的按压和/或锁定构件564的远侧移动。
继续参照图26，在锁定机构560处于解锁位置的情况下，滚动壳体520可围绕连接器220旋转。滚动壳体520的旋转还通过滚动螺母550与滚动壳体520的接合使外管270围绕纵向轴线A-A旋转。
将理解的是，当滚动壳体520相对于连接器220旋转(其中，锁定切口542不与锁定件569对齐)并且按钮580被释放时，锁定件569将抵靠锁定圆盘540，直到锁定件569与锁定切口542中的一个锁定切口对齐。当锁定件569与锁定切口542中的一个锁定切口对齐时，偏置构件598将推动按钮580远离纵向轴线A-A并且影响锁定构件562的近侧移动，从而使得锁定件569将滑入对齐的锁定切口542中。当锁定件569滑入对齐的锁定切口542中时，止挡件567可以接触锁定圆盘540以便提供滚动壳体520旋转地紧固至连接器220的听觉标记(“咔哒”)。
尽管上文详述了滚动壳体520围绕连接器220的旋转，但是设想的是，连接器220可以在滚动壳体520内旋转，从而使得工具组件600可相对于手柄100重新定位，其中，工具组件600在外科手术部位内保持基本上静止。
将强度、耐久性、耐磨损性、重量、耐腐蚀性、易于制造、制造成本等考虑在内，本文中所描述的部件中的任何部件可以由金属、塑料、树脂、复合物等制作。
尽管附图中示出了本公开的若干实施例，但本公开并不旨在局限于此，因为本公开旨在如本领域将允许的范围那样宽，并且说明书同样旨在如此进行阅读。还设想了以上实施例中的任意组合并且所述组合在随附权利要求书的范围内。因此，以上描述不应被解释为是限制性的，而仅仅是特定实施例的范例。本领域技术人员将设想在所附权利要求书的范围内的其他修改。

Claims (18)

1.一种接头组件，包括：
近侧接头壳体，所述近侧接头壳体限定第一纵向轴线并且包括第一铰链，所述第一铰链定位在所述近侧接头壳体的远侧部分；
第一环，所述第一环围绕第一枢转轴线枢转地联接至所述第一铰链，所述第一枢转轴线正交于并与所述第一纵向轴线相交；
接头盖，所述接头盖具有第一盖部分和第二盖部分，所述第一盖部分围绕第二枢转轴线枢转地联接至所述第一铰链，所述第二枢转轴线正交于并与所述第一枢转轴线以及所述第一纵向轴线相交，所述第一枢转轴线和所述第二枢转轴线与所述第一纵向轴线在第一接头中心处相交；
第二环，所述第二环围绕第三枢转轴线枢转地联接至所述接头盖的所述第二盖部分；
第二铰链，所述第二铰链围绕第四枢转轴线枢转地联接至所述第二环，所述第四枢转轴线正交于所述第三枢转轴线，所述第三枢转轴线和所述第四枢转轴线在与所述第一接头中心间隔开的第二接头中心处相交，所述接头盖的盖轴线限定在所述第一接头中心与所述第二接头中心之间；
偏置机构，所述偏置机构与所述第一环以及所述接头盖接合以便朝向对齐构型偏置所述接头盖，在所述对齐构型中，所述盖轴线与所述第一纵向轴线对齐；
第一驱动轴，所述第一驱动轴延伸穿过所述第一铰链；
接头本体，所述接头本体具有第一本体部分和第二本体部分，所述第一本体部分可旋转地布置在所述第一盖部分内并且可旋转地且枢转地联接至所述第一驱动轴，所述第二本体部分可旋转地布置在所述第二盖部分内；以及
第二驱动轴，所述第二驱动轴延伸穿过所述第二铰链，所述第二驱动轴可旋转地且枢转地联接至所述第二本体部分。
2.根据权利要求1所述的接头组件，其中所述偏置机构包括内偏置杆对和外偏置杆对，所述内偏置杆对与所述接头盖的近侧部分接合并且所述外偏置杆对与所述第一环接合。
3.根据权利要求2所述的接头组件，其中所述内偏置杆对和所述外偏置杆对的内偏置杆和外偏置杆各自纵向地延伸并且可在平行于所述第一纵向轴线的方向上平移。
4.根据权利要求3所述的接头组件，其中所述内偏置杆对和所述外偏置杆对的所述内偏置杆和所述外偏置杆各自与对应的偏置构件可操作地相关联，所述对应的偏置构件被配置用于推动所述相关联的偏置杆穿过所述第一铰链。
5.根据权利要求4所述的接头组件，其中在所述第二铰链的对齐构型中，第二纵向轴线与所述盖轴线以及所述第一纵向轴线对齐，所述第二纵向轴线穿过所述第二接头中心并且延伸穿过所述第二铰链的中心。
6.根据权利要求5所述的接头组件，其中在所述接头组件的第一铰接构型中，所述第二纵向轴线相对于所述盖轴线铰接，其中，所述接头盖处于所述对齐构型，并且在所述接头组件的第二铰接构型中，所述第二纵向轴线相对于所述盖轴线铰接并且所述盖轴线相对于所述第一纵向轴线铰接。
7.根据权利要求6所述的接头组件，其中所述偏置机构被配置用于将所述接头组件维持在所述第一铰接构型，直到所述第二纵向轴线相对于所述盖轴线铰接至最大铰接角度。
8.根据权利要求7所述的接头组件，其中所述最大铰接角度在15°至45°的范围内。
9.根据权利要求1所述的接头组件，其中所述第一驱动轴的驱动球布置在所述第一本体部分内。
10.根据权利要求9所述的接头组件，其中所述第一驱动轴沿所述第一纵向轴线可旋转地布置，所述驱动球限定中心通路和弧形狭槽，所述中心通路正交于所述第一纵向轴线，所述弧形狭槽在与所述第一纵向轴线对齐并且平分所述中心通路的平面中。
11.根据权利要求10所述的接头组件，进一步包括：
中心销，所述中心销布置在所述中心通路内并且限定销开口，所述销开口正交于所述中心销的中心纵向轴线；以及
轴销，所述轴销布置在所述销开口和所述弧形狭槽内以便将所述接头本体可旋转地联接至所述第一驱动轴。
12.根据权利要求11所述的接头组件，其中所述弧形狭槽和所述轴销协作以便限制所述第一驱动轴与所述接头本体之间的铰接。
13.根据权利要求1所述的接头组件，其中所述第二驱动轴进一步包括接收器，所述接收器可旋转地布置在所述第二盖部分内并且接纳所述第二本体部分。
14.根据权利要求13所述的接头组件，其中所述接头盖限定盖轴线，所述盖轴线穿过所述第一接头中心和所述第二接头中心，所述第二本体部分限定中心通路和弧形狭槽，所述中心通路正交于所述盖轴线，所述弧形狭槽在与所述盖轴线对齐并且平分所述中心通路的平面中。
15.根据权利要求14所述的接头组件，其中所述接头本体可沿所述盖轴线旋转。
16.根据权利要求14所述的接头组件，进一步包括：
中心销，所述中心销布置在所述中心通路内并且限定销开口，所述销开口正交于所述中心销的中心纵向轴线；以及
轴销，所述轴销布置在所述销开口和所述弧形狭槽内以便将所述接头本体可旋转地联接至所述第二驱动轴。
17.根据权利要求16所述的接头组件，其中所述弧形狭槽和所述轴销协作以便限制所述接头本体与所述第二驱动轴之间的铰接。
18.一种适配器，包括：
近侧部分，所述近侧部分被配置用于联接至手柄；
伸长部分，所述伸长部分从所述近侧部分延伸并且限定第一纵向轴线；以及
远侧部分，所述远侧部分由所述伸长部分支撑并且被配置用于将工具组件可释放地联接至所述手柄，所述远侧部分包括接头组件，所述接头组件具有：
第一铰链，所述第一铰链沿所述第一纵向轴线布置并且定位在所述伸长部分的远端处；
第一环，所述第一环围绕第一枢转轴线枢转地联接至所述第一铰链，所述第一枢转轴线正交于并与所述第一纵向轴线相交；
接头盖，所述接头盖具有第一盖部分和第二盖部分，所述第一盖部分围绕第二枢转轴线枢转地联接至所述第一铰链，所述第二枢转轴线正交于并与所述第一枢转轴线以及所述第一纵向轴线相交，所述第一枢转轴线和所述第二枢转轴线与所述第一纵向轴线在第一接头中心处相交；
第二环，所述第二环围绕第三枢转轴线枢转地联接至所述接头盖的所述第二盖部分；
第二铰链，所述第二铰链围绕第四枢转轴线枢转地联接至所述第二环，所述第四枢转轴线正交于所述第三枢转轴线，所述第三枢转轴线和所述第四枢转轴线在与所述第一接头中心间隔开的第二接头中心处相交，所述接头盖的盖轴线限定在所述第一接头中心与所述第二接头中心之间；
偏置机构，所述偏置机构与所述第一环以及所述接头盖接合以便朝向对齐构型偏置所述接头盖，在所述对齐构型中，所述盖轴线与所述第一纵向轴线对齐；
第一驱动轴，所述第一驱动轴延伸穿过所述第一铰链；
接头本体，所述接头本体具有第一本体部分和第二本体部分，所述第一本体部分可旋转地布置在所述第一盖部分内并且可旋转地且枢转地联接至所述第一驱动轴，所述第二本体部分可旋转地布置在所述第二盖部分内；以及
第二驱动轴，所述第二驱动轴延伸穿过所述第二铰链，所述第二驱动轴可旋转地且枢转地联接至所述第二本体部分。
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