CN109195541B - 机器人手术组合件及其器械驱动单元 - Google Patents
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Abstract
一种用于与手术机器人臂一起使用的器械驱动单元包含主体、第一齿轮和从动联接器。所述主体具有被配置成联接到手术器械的近端和远端。所述第一齿轮不可旋转地联接到所述主体的所述近端。所述从动联接器安置在所述主体的所述近端处且从所述第一齿轮横向地偏移。所述从动联接器可操作地联接到所述第一齿轮,使得所述从动联接器的旋转会使所述第一齿轮旋转,从而实现所述主体围绕由所述主体限定的纵向轴线的旋转。
Description
相关申请的交叉引用
本申请要求2016年5月26日提交的第62/341,949号美国临时专利申请序列的权益和优先权,其全部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程序。一些机器人手术系统包含支撑手术机器人臂和手术器械、具有至少一个末端执行器(例如,钳或抓握工具)、安装到机器人臂的控制台。机器人臂向手术器械提供机械动力以用于其操作和移动。每个机器人臂可包含可操作地连接到手术器械的器械驱动单元。
手动操作的手术器械通常包含用于致动手术器械的功能的手柄组合件。然而,当使用机器人手术系统时,通常无手柄组合件存在以致动末端执行器的功能。因此,为了使用具有机器人手术系统的每个独特手术器械,器械驱动单元用于与所选择的手术器械接口连接以驱动手术器械的操作。
需要一种具有改进的和增加的可用性、更紧凑的设计和简化的不太昂贵的器械驱动单元的机器人手术系统。
发明内容
根据本公开的一方面,提供一种用于与手术机器人臂一起使用的器械驱动单元。器械驱动单元包含主体、第一齿轮和从动联接器。主体具有被配置成联接到手术器械的近端和远端。第一齿轮不可旋转地联接到主体的近端。从动联接器安置在主体的近端处且从第一齿轮横向地偏移。从动联接器可操作地联接到第一齿轮,使得从动联接器的旋转会使第一齿轮旋转,从而实现主体围绕由主体限定的纵向轴线的旋转。
在一些实施例中,器械驱动单元可进一步包含板,所述板包含第一部分和从第一部分横向地延伸的第二部分。第一部分可与第一齿轮可旋转地安置在一起。第二部分可与从动联接器可旋转地安置在一起。从动联接器可包含从板向近侧延伸的第一末端和从板向远侧延伸的第二末端。第一末端可具有齿形外表面,且第二末端可被配置成不可旋转地联接到手术器械固持器的马达轴。
预期器械驱动单元可进一步包含第二齿轮,所述第二齿轮安置在从动联接器与第一齿轮之间以将从动联接器的旋转运动传送到第一齿轮。
设想器械驱动单元可进一步包含带,所述带围绕从动联接器和第一齿轮安置以将从动联接器与第一齿轮可旋转地互连。器械驱动单元可进一步包含环形构件,所述环形构件安置在主体的近端处且与带的外表面接合以增加带的张力。
在本公开的一些方面中,器械驱动单元可进一步包含被配置成不可旋转地连接到手术机器人臂的外部壳体。主体可旋转地安置在外部壳体内。
在本公开的另一方面,提供一种用于与手术机器人臂一起使用的手术组合件。手术组合件包含手术器械和器械驱动单元。手术器械包含壳体、从壳体向远侧延伸的轴以及从轴向远侧延伸的末端执行器。器械驱动单元被配置成用于驱动手术器械的末端执行器的致动。器械驱动单元包含主体、第一齿轮和驱动联接器。主体具有被配置成联接到手术器械的壳体的近端和远端。第一齿轮不可旋转地联接到主体的近端。从动联接器安置在主体的近端处且从第一齿轮横向地偏移。从动联接器可操作地联接到第一齿轮,使得从动联接器的旋转会使第一齿轮旋转而使主体旋转,从而实现手术器械围绕由主体限定的纵向轴线的旋转。
在一些实施例中,手术组合件可进一步包含手术器械固持器。手术器械固持器包含托架和从托架延伸的外部构件。托架具有:第一侧,其被配置成用于可移动地接合到手术机器人臂;和第二侧,其具有被配置成用于与器械驱动单元的从动联接器可操作地接合的马达轴。外部构件可被配置成用于在其中收纳手术器械的壳体。
预期手术器械固持器可进一步包含支撑在托架中且驱动地连接到马达轴的马达。
设想马达轴可包含用于选择性地连接到从动联接器的齿轮的齿轮。
本公开的示范性实施例的其它细节和方面将在下文参考附图更详细地描述。
如本文中所使用,术语平行和垂直应理解为包含距真实平行和真实垂直高达约+或-10度的大体上平行和大体上垂直的相对配置。
附图说明
在本文中参考附图描述本公开的实施例,在附图中:
图1是根据本公开的包含机器人手术组合件的机器人手术系统的示意图;
图2是图1的手术组合件的透视图;
图3是以部分虚线表示的图2的手术组合件的放大视图;
图4是图3的手术组合件的器械驱动单元的透视图,其中部分被移除;且
图5是用于与图1的机器人手术系统一起使用的器械驱动单元的另一实施例的透视图,其中部分被移除。
具体实施方式
本发明所公开的包含器械驱动单元、手术器械和手术器械固持器的手术组合件及其方法的实施例参考图式详细地描述,其中在若干视图中的每一个中相似附图标记指代相同或对应元件。如本文中所使用,术语“远侧”是指手术器械固持器、手术器械和/或器械驱动单元的更接近患者的部分,而术语“近侧”是指手术器械固持器、手术器械和/或器械驱动单元的更远离患者的部分。
首先参考图1,手术系统,例如机器人手术系统1,大体上包含:具有机器人手术组合件100的多个手术机器人臂2、3,所述机器人手术组合件100包含可移除地附接到手术机器人臂2、3的滑轨40的电动机械手术器械200;控制装置4;和与控制装置4联接的操作控制台5。
操作控制台5包含:显示装置6,其特别地设置成显示三维图像;和手动输入装置7、8,借助于所述手动输入装置7、8,人员(未示出),例如外科医生,能够在第一操作模式下遥控机器人臂2、3,此原则上为所属领域的技术人员所知。机器人臂2、3中的每一个可由通过接头连接的多个构件构成。机器人臂2、3可由连接到控制装置4的电动驱动器(未示出)驱动。控制装置4(例如,计算机)可设置成特别地借助于计算机程序激活驱动器,其方式为使得机器人臂2、3、附接的机器人手术组合件100和因此电动机械手术器械200(包含电动机械末端执行器210(图2))根据借助于手动输入装置7、8限定的移动执行所要移动。控制装置4还可被设置成使得其调节机器人臂2、3的移动。
机器人手术系统1被配置成用于对躺在手术台“ST”上待借助于手术器械,例如电动机械手术器械200以微创方式治疗的患者“P”使用。机器人手术系统1还可包含多于两个机器人臂2、3,额外机器人臂同样连接到控制装置4且借助于操作控制台5遥控。例如电动机械手术器械200(包含电动机械末端执行器210)的手术器械还可附接到额外机器人臂。
控制装置4可控制多个马达,例如马达(马达1...n),其中每个马达被配置成在多个方向上驱动机器人臂2、3的移动。此外,控制装置4可控制机器人手术组合件100的器械驱动单元110的驱动手术器械200的各种操作的多个马达(未示出)。另外,控制装置4可控制例如手术器械固持器102的筒形马达“M”(图3)的旋转马达的操作,所述旋转马达被配置成驱动电动机械手术器械200围绕其轴线(图2)的相对旋转,如下文将详细地描述。在实施例中,器械驱动单元110的每个马达可被配置成致动驱动杆/线缆或杠杆臂以实现电动机械手术器械200的操作和/或移动。
为了详细论述机器人手术系统的结构和操作,可参考标题为“《医疗工作站》(Medical Workstation)”的第8,828,023号美国专利,其全部内容以引用的方式并入本文中。
参考图1和2,机器人手术系统1包含与机器人臂2或3联接或联接到机器人臂2或3的机器人手术组合件100。机器人手术组合件100包含手术器械固持器102、器械驱动单元110和电动机械手术器械200。如上文所部分地提及,器械驱动单元110将来自其马达的动力和致动力传送到电动机械手术器械200的从动构件以最终驱动电动机械手术器械200的末端执行器210的组件的移动,例如刀片(未示出)的移动和/或末端执行器210的钳口构件的闭合和打开,钉合器的致动或启动和/或电外科能量类器械的激活或启动等。器械驱动单元110被进一步配置成通过支撑在手术器械固持器102中的马达“M”使电动机械手术器械200围绕纵向轴线“X”旋转。
现在转向图2到4,手术组合件100的手术器械固持器102既作用来致动器械驱动单元110的主体114的旋转又作用来支撑手术器械200的壳体202。手术器械固持器102包含靠背构件或托架104和从托架104的末端104b垂直延伸的外部构件106。在一些实施例中,外部构件106可相对于托架104以各种角度且从托架104的各种部分延伸。托架104具有第一侧108a和与第一侧108a相对的第二侧108b。托架104的第一侧108a能够可拆卸地连接到机器人臂2的轨40。手术组合件100被配置成使得手术器械固持器102可沿着机器人臂2的轨40滑动或平移。托架104的第二侧108b被配置成连接到器械驱动单元110。在一些实施例中,托架104的第二侧108b可限定被配置成用于可滑动地收纳器械驱动单元110的纵向导轨(未示出)。
手术器械固持器102的托架104在其中支撑或容纳马达,例如筒形马达“M”。马达“M”从控制装置4接收控制和动力以选择性地旋转器械驱动单元110的内部壳体或主体114,如下文将详细描述。马达“M”具有纵向延伸通过托架104的驱动地连接到器械驱动单元110的齿轮120b的马达轴109。具体地说,马达轴109包含齿轮109a,所述齿轮109a用于选择性地连接到器械驱动单元110的齿轮120b以实现器械驱动单元110的主体114围绕其纵向轴线“X”的旋转。
手术器械固持器102的外部构件106被配置成收纳和固持手术器械200的壳体202。外部构件106为C形,但在一些实施例中,外部构件106可采用各种形状,例如U形、V形、钩形等。
继续参考图2到4,手术组合件100的器械驱动单元110包含外部壳体112和可旋转地安置在外部壳体112内的内部壳体或主体114。外部壳体112联接到手术器械固持器102的托架104的第二侧108b且容纳器械驱动单元110的各种组件。器械驱动单元110的主体114具有大体上圆柱形配置且在其近端114a与远端114b之间限定纵向轴线“X”。在一些实施例中,主体114可采用各种配置,例如正方形、细长的、管状等。主体114的远端114b被配置成可操作地连接到手术器械200的壳体202的从动组件,使得器械驱动单元110的致动会移动安置在手术器械200的轴204内的驱动轴,从而实现手术器械200的末端执行器210的各种功能的致动。
器械驱动单元110的主体114被配置成且大小被设定成在其中可滑动地收纳马达组等(未示出)。马达组可包含以矩形形式布置的四个马达,使得其相应驱动轴(未示出)全部彼此平行且全部在共同方向上延伸。每个马达的驱动轴能够与器械驱动单元110的驱动传送组合件(未示出)的相应驱动联接器(未示出)可操作地接口连接。马达组可包含四个筒形马达等,其各自具有含非圆形横向横截面轮廓(例如,大体上D形等)的驱动轴。
在使用时,在马达组的马达致动时,马达的驱动轴的旋转经由相应驱动传送轴(未示出)传送到手术器械200的驱动组合件(未示出)的齿轮(未示出),以致动手术器械200的各种功能。
参考图4,器械驱动单元110包含板或凸缘116,所述板或凸缘116安置在器械驱动单元110的主体114的近端114a处且固定在器械驱动单元110的外部壳体112内。板116具有第一部分116a和从第一部分116a横向地延伸的第二部分116b。板116的第一部分116a限定穿过其厚度的环形腔118。主体114的近端114a延伸通过板116的环形腔118且可在其中旋转。板116的第二部分116b径向延伸超出器械驱动单元110的主体114的近端114a的外周。
器械驱动单元110进一步包含从动联接器120、第一齿轮130以及安置在从动联接器120与第一齿轮130之间以将从动联接器120的旋转运动传送到第一齿轮130的第二齿轮140。从动联接器120、第一齿轮130和第二齿轮140中的每一个可旋转地支撑在板116上或与板116安置在一起。具体地说,从动联接器120和第二齿轮140可旋转地支撑在板116的第二部分116b内,且第一齿轮130可旋转地安置在板116的第一部分116a上。由此,从动联接器120和第二齿轮140各自从主体114的纵向轴线“X”横向地偏移,且第一齿轮130与主体114的纵向轴线“X”共轴。从动联接器120具有从板116的顶表面117a向近侧延伸的第一末端120a和从板116的底表面117b向远侧延伸的第二末端120b。从动联接器120的第一末端120a呈齿轮(例如,正齿轮)的形式,所述齿轮具有与第二齿轮140啮合的齿形外表面122。从动联接器120的第二末端120b呈齿轮(例如,冠齿轮)的形式,所述齿轮具有被配置成与手术器械固持器102的马达轴109的齿轮109a(图3)不可旋转地互相接合的向下突出的齿。
器械驱动单元110的第一齿轮130不可旋转地连接到主体114的近端114a或与所述近端114a固定在一起以使主体114与其一起旋转。第一齿轮130与第二齿轮140啮合,使得从动联接器120的旋转会经由第二齿轮140的旋转使第一齿轮130旋转,从而实现器械驱动单元110的主体114相对于器械驱动单元110的外部壳体112围绕其纵向轴线“X”的旋转。在一些实施例中,并不是主体114的近端114a向近侧延伸通过板116以连接到第一齿轮130,而是第一齿轮130可从板116的底表面117b向远侧延伸以连接到主体114的近端114a。
在操作中,在手术程序之前或期间,器械驱动单元110可联接到手术器械200和手术器械固持器102。具体地说,手术器械200的壳体202的近端不可旋转地连接到器械驱动单元110的主体114的远端114b。器械驱动单元110与附接到其的手术器械200相对于手术器械固持器102定位以将器械驱动单元110的从动联接器120的第二末端或齿轮120b与手术器械固持器102的马达轴109的齿轮109a可操作地联接。在器械驱动单元110可操作地联接到手术器械固持器102的情况下,手术器械固持器102的马达“M”可被致动以最终实现手术器械200在手术器械固持器102的外部构件106内的旋转。
具体地说,手术器械固持器102的马达“M”的致动会驱动手术器械固持器102的马达轴109及其齿轮109a的旋转。马达轴109的齿轮109a的旋转实现器械驱动单元110的从动联接器120的旋转,所述从动联接器120的第二末端120b与马达轴109的齿轮109a啮合。从动联接器120的旋转会使第二齿轮140旋转,所述第二齿轮140与从动联接器120的第一末端120a的齿形外表面122啮合。由于第一齿轮130和第二齿轮140彼此啮合,因此第二齿轮140的旋转导致第一齿轮130的旋转。由于第一齿轮130不可旋转地连接到器械驱动单元110的主体114的近端114a,因此第一齿轮130的旋转实现器械驱动单元110的主体114围绕其纵向轴线“X”的旋转。在手术器械200的壳体112不可旋转地联接到器械驱动单元110的主体114的远端114b的情况下,器械驱动单元110的主体114的旋转导致手术器械200围绕纵向轴线“X”旋转。
如图5中所示出,本公开提供器械驱动单元的另一实施例,且整体上使用附图标记410指代。器械驱动单元410类似于上文关于图2到4所描述的器械驱动单元110,且因此将仅描述到突出器械驱动单元110、410之间的差异所必要的程度。
器械驱动单元410包含外部壳体(未示出)、主体414、板416、第一齿轮430和从动联接器420,其各自类似于上文所描述的器械驱动单元110的对应组件。并不是在从动联接器420与第一齿轮430之间具有齿轮与齿轮连接,正如器械驱动单元110一样,而是器械驱动单元410的主体414包含带或绑带419,所述带或绑带419围绕从动联接器420和第一齿轮430安置以将从动联接器420与第一齿轮430可旋转地互连。带419具有外表面419a和限定多个齿轮齿的内表面419b。带419的齿轮齿与从动联接器420的齿形外表面420a和第一齿轮430的齿啮合,使得从动联接器420的旋转会使带419旋转而导致第一齿轮430的旋转,从而实现主体414围绕其纵向轴线旋转。
器械驱动单元410进一步包含环形构件或惰轮450,所述环形构件或惰轮450安置在主体414的近端414a处且与带419的外表面419a接合以增加带419的张力。环形构件450的布置可被选择性地调节以调节带419的张力,且因此更改从动联接器420和第一齿轮430的旋转阻力,且促进组装、维修和调节。
应理解,可对本文中所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文所附的权利要求书的范围和精神内的其它修改。
Claims (13)
1.一种用于与手术机器人臂一起使用的器械驱动单元,包括:
主体,其具有被配置成联接到手术器械的近端和远端,所述主体限定纵向轴线;
第一齿轮,其不可旋转地联接到所述主体的所述近端;
从动联接器,其安置在所述主体的所述近端处且从所述第一齿轮横向地偏移,其中所述从动联接器可操作地联接到所述第一齿轮,使得所述从动联接器的旋转会使所述第一齿轮旋转,从而实现所述主体围绕所述纵向轴线的旋转;和
板,所述板包含:
第一部分,其与所述第一齿轮可旋转地安置在一起;和
第二部分,其从所述第一部分横向地延伸且与所述从动联接器可旋转地安置在一起,
其中所述从动联接器包含:
第一末端,其从所述板向近侧延伸且具有齿形外表面;和
第二末端,其从所述板向远侧延伸且被配置成不可旋转地联接到手术器械固持器的马达轴。
2.根据权利要求1所述的器械驱动单元,其进一步包括第二齿轮,所述第二齿轮安置在所述从动联接器与所述第一齿轮之间以将所述从动联接器的旋转运动传送到所述第一齿轮。
3.根据权利要求1所述的器械驱动单元,其进一步包括带,所述带围绕所述从动联接器和所述第一齿轮安置以将所述从动联接器与所述第一齿轮可旋转地互连。
4.根据权利要求3所述的器械驱动单元,其进一步包括环形构件,所述环形构件安置在所述主体的所述近端处且与所述带的外表面接合以增加所述带的张力。
5.根据权利要求1所述的器械驱动单元,其进一步包括外部壳体,所述外部壳体被配置成不可旋转地连接到所述手术机器人臂,所述主体可旋转地安置在所述外部壳体内。
6.一种用于与手术机器人臂一起使用的手术组合件,包括:
手术器械,其包含:
壳体;
轴,其从所述壳体向远侧延伸;和
末端执行器,其从所述轴向远侧延伸;和
器械驱动单元,其被配置成用于驱动所述手术器械的所述末端执行器的致动,所述器械驱动单元包含:
主体,其具有被配置成联接到所述手术器械的所述壳体的近端和远端,所述主体限定纵向轴线;
第一齿轮,其不可旋转地联接到所述主体的所述近端;
从动联接器,其安置在所述主体的所述近端处且从所述第一齿轮横向地偏移,其中所述从动联接器可操作地联接到所述第一齿轮,使得所述从动联接器的旋转会使所述第一齿轮旋转而使所述主体旋转,从而实现所述手术器械围绕所述纵向轴线的旋转;和
板,所述板包含:
第一部分,其与所述第一齿轮可旋转地安置在一起;和
第二部分,其从所述第一部分横向地延伸且与所述从动联接器可旋转地安置在一起,
其中所述从动联接器包含:
第一末端,其从所述板向近侧延伸且具有齿形外表面;和
第二末端,其从所述板向远侧延伸且被配置成不可旋转地联接到手术器械固持器的马达轴。
7.根据权利要求6所述的手术组合件,其中所述器械驱动单元进一步包含第二齿轮,所述第二齿轮安置在所述从动联接器与所述第一齿轮之间以将所述从动联接器的旋转运动传送到所述第一齿轮。
8.根据权利要求6所述的手术组合件,其中所述器械驱动单元进一步包含带,所述带围绕所述从动联接器和所述第一齿轮安置以将所述从动联接器与所述第一齿轮可旋转地互连。
9.根据权利要求8所述的手术组合件,其中所述器械驱动单元进一步包含环形构件,所述环形构件安置在所述主体的所述近端处且与所述带的外表面接合以增加所述带的张力。
10.根据权利要求6所述的手术组合件,其中所述器械驱动单元进一步包含外部壳体,所述外部壳体被配置成不可旋转地连接到所述手术机器人臂,所述器械驱动单元的所述主体可旋转地安置在所述外部壳体内。
11.根据权利要求6所述的手术组合件,其进一步包括手术器械固持器,所述手术器械固持器包含:
托架,其具有:第一侧,所述第一侧被配置成用于可移动地接合到所述手术机器人臂;和第二侧,所述第二侧具有被配置成用于与所述器械驱动单元的所述从动联接器可操作地接合的马达轴;和
外部构件,其从所述托架延伸且被配置成用于在其中收纳所述手术器械的所述壳体。
12.根据权利要求11所述的手术组合件,其中所述手术器械固持器进一步包含马达,所述马达支撑在所述托架中且驱动地连接到所述马达轴。
13.根据权利要求12所述的手术组合件,其中所述马达轴包含用于选择性地连接到所述从动联接器的齿轮的齿轮。
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- 2017-05-24 EP EP17803493.0A patent/EP3463147A4/en active Pending
- 2017-05-24 JP JP2018560018A patent/JP2019519280A/ja active Pending
- 2017-05-24 US US16/304,425 patent/US11045265B2/en active Active
- 2017-05-24 WO PCT/US2017/034206 patent/WO2017205481A1/en unknown
- 2017-05-24 AU AU2017269350A patent/AU2017269350A1/en not_active Abandoned
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US11045265B2 (en) | 2021-06-29 |
WO2017205481A1 (en) | 2017-11-30 |
AU2017269350A1 (en) | 2018-10-25 |
US20190142535A1 (en) | 2019-05-16 |
EP3463147A1 (en) | 2019-04-10 |
CN109195541A (zh) | 2019-01-11 |
CA3022165A1 (en) | 2017-11-30 |
EP3463147A4 (en) | 2020-01-22 |
JP2019519280A (ja) | 2019-07-11 |
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