CN110448383B - 将远程操作外科手术器械固定到致动器的闩锁 - Google Patents
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Abstract
本发明涉及将远程操作外科手术器械固定到致动器的闩锁。器械无菌适配器(310)联结外科手术器械(120)和器械滑动架(130)。器械无菌适配器(310)包括器械板(430)和与器械板(430)相接合的闩锁板(400),器械板提供第一表面以接收外科手术器械(120)。闩锁板(400)包括第二表面以接收器械滑动架(130)和闩锁结构。每个闩锁结构具有远离闩锁板(400)的第二表面延伸的滑动架闩锁臂(410)和与滑动架闩锁臂(410)接合的器械闩锁臂(405)。器械闩锁臂(405)延伸穿过器械板(430)并且远离器械板(430)的第一表面。连接构件(425)将滑动架闩锁臂(410)和器械闩锁臂(405)柔性地连接到闩锁板(400)的剩余部分。连接构件(425)可以垂直于闩锁臂(405)。闩锁臂(405)可以接合器械滑动架(130)和外科手术器械(120)中的固定锁定表面。
Description
本申请是申请日为2015年3月17日、发明名称为“将远程操作外科手术器械固定到致动器的闩锁”的中国专利申请No.201580013601.9(PCT/US2015/020876)的分案申请。
本申请要求以下更早提交申请的优先权:
美国61/954,497 2014年3月17日(17-03-2014)
美国61/954,502 2014年3月17日(17-03-2014)
美国61/954,557 2014年3月17日(17-03-2014)
美国61/954,571 2014年3月17日(17-03-2014)
美国61/954,595 2014年3月17日(17-03-2014)
美国62/019,318 2014年6月30日(30-06-2014)
美国62/103,991 2015年1月15日(15-01-2015)
美国62/104,306 2015年1月16日(16-01-2015)
这些申请中的每一个都通过引用被允许的最大范围而特别并入本文。
技术领域
本发明的实施例涉及闩锁领域;并且更具体地,涉及用于将致动器联结到外科手术器械的闩锁组件。
背景技术
微创医疗技术已经被用于减少在诊断或手术过程中可能受损的外部组织的量,由此减少患者恢复时间、不适度和有害副作用。微创外科手术的传统形式包括内窥镜检查。比较常见的内窥镜检查形式之一是腹腔镜检查,该检查是在腹腔内的一种微创检查或手术。在传统的腹腔镜外科手术中,患者腹腔内被吹入气体,并且套管套筒穿过患者腹部肌肉组织上的小(约12毫米)切口以提供入口端口,腹腔镜检查外科手术器械能够以密封的方式穿过该入口端口。
该腹腔镜外科手术器械大体上包括一个用来观察手术区域的腹腔镜和具有末端执行器的外科手术器械。典型的手术工具包括例如夹具、抓紧器、剪刀、缝合器和持针器。这些外科手术器械与传统(开放式)外科手术中使用的那些器械类似,除了每个外科手术器械的末端执行器被例如大约30厘米长的延伸管与其手柄分离,以允许操作人员将该末端执行器引入到外科手术部位并且从患者身体外部控制该末端执行器相对手术部位的移动。
为了提供对操作工具的改善的控制,可以希望的是使用远程操作致动器控制器械。外科医生可以操作在控制台上的控制件以间接地操纵与该远程操作致动器连接的器械。器械被可拆卸地联结到远程操作致动器,使得该器械能够被单独消毒并且被选择用作即将进行的手术程序中所需要的器械。器械在外科手术期间可以被改变。
使用远程操作外科手术器械进行外科手术创造了新的挑战。一个挑战是需要保持邻近患者的区域处于无菌条件。然后,控制外科手术器械所必须的马达、传感器、编码器和电气连接构件通常不能通过传统方法(例如,蒸汽、加热以及压力或者化学物质)消毒,因为这些可能会在消毒过程中被损坏或损毁。
远程操作外科手术系统的另一个挑战是外科医生通常会在过程中使用大量的不同外科手术器械。由于受到空间约束和成本的局限,器械夹持器数量有限,所以在操作过程中,许多这样的外科手术器械将会被数次附接到相同器械夹持器上和从所述相同的器械夹持器拆除。在腹腔镜检查的程序中,例如由于空间限制以及期望避免患者身上的不必要切口,在操作过程中进入患者腹部的入口端口数量通常有限。因此,在操作过程中,许多不同外科手术器械通常会通过相同的套管针套筒被引入。类似地,在开放式手术中,手术部位周围通常没有足够的空间放置不止一个或两个手术操控器,因此外科医生助手将会被迫频繁将器械从远程操作致动操控器上移除并将这些器械替换为其他外科手术工具。
希望的是在预防远程操作致动器被污染并且允许保持外科手术器械周围无菌区的一系列外科手术器械快速且可靠的附接的同时,提供更加简单且更有效的方式使外科手术器械与远程操作致动器驱动器接合和脱离。
附图说明
参照以下被用来以举例而并非通过限制的方式来图示说明本发明的多个实施例的描述和附图,可以最好地理解本发明。在这些附图中,相同的参考号表示相似的元件:
图1是远程操作外科手术系统的说明性患者侧部分的视图。
图2是与远程操作致动器共同使用的外科手术器械的侧视图。
图3A是具有无菌盖布的装配接头的透视图。
图3B是如图3A示出的无菌盖布的一部分的近距视图。
图4A是无菌盖布下的器械无菌适配器的侧视图。
图4B是器械无菌适配器的分解图。
图5A是闩锁板的俯视透视图。
图5B是闩锁板的仰视透视图。
图6是闩锁板的正视图。
图7A是闩锁板的截面视图。
图7B是图7A第一部分中的器械闩锁臂、滑动架闩锁臂和连接构件的详细视图。
图7C是图7A第二部分中的器械闩锁臂、滑动架闩锁臂和连接构件的详细视图。
图8A是与器械滑动架分离的适配器的截面视图。
图8B是闩锁至器械滑动架的适配器的截面视图。
图8C是与适配器和器械滑动架分离的近侧控制机构的截面视图。
图8D是闩锁至适配器和器械滑动架的近侧控制机构的截面视图。
图9A至图9H是闩锁过程中处于不同阶段的近侧控制机构、适配器和器械滑动架的截面视图。
图10是闩锁释放构件的透视图。
图11是外科手术器械的近侧控制机构的仰视透视图。
图12是操作备用释放机构的图示。
图13是操作备用释放机构的详细视图。
具体实施方式
在以下描述中,阐述了众多的具体细节。然而,应理解的是,可以在没有这些具体细节的情况下实践本发明的多个实施例。在其他情形中,为了不模糊本说明的理解,没有详细图示说明众所周知的电路、结构以及技术。
在以下说明中,参见图示说明了本发明的若干实施例的这些附图。应当理解的是,在不脱离本披露的精神和范围的情况下,可以利用其他实施例并且可以做出机械组合的、结构的、电气的以及操作性的改变。以下详细的描述不应以限制的含义来理解,并且本发明实施例的范围仅由授权专利的权利要求书来限定。
在此所使用的术语用于以下目的:仅描述具体实施例并且不是旨在限制本发明。空间相关术语,例如“之下”、“下方”、“下部”、“上方”、“上部”等在本文中是为了使得对如附图中所图示说明的一个元件或特征相对另外一个(多个)元件或一个(多个)特征(多个特征)的关系的描述易于阐释。应理解的是,这些与空间相关的术语旨在除了附图中描绘的取向之外还涵盖设备在使用中或在操作中的不同取向。例如,如果装置在附图中被翻转,则被描述为在其他元件或特征“下方”或“之下”的元件或特征将被取向为在其他元件或特征“上方”。因此,示例性术语“下方”可以包括上方和下方两种取向。该装置可以被另外定向(例如,旋转90度或在其他取向),并且本文所使用的空间相关描述符做出了相应的解释。
除非上下文另外清楚地指出,否则如在此使用,单数形式“一个/种(a/an)”和“该”包括复数形式。应进一步理解的是,术语“包括”和/或“含有”指定所陈述特征、步骤、操作、元件和/或部件的存在,但不排除存在或加入一种或多种其他特征、步骤、操作、元件、部件和/或它们的集合。
术语“物体”通常指代元件或者一组元件。例如,物体可以指代说明书或权利要求中的一袋或一堆圆盘。贯穿本说明书和权利要求,术语“物体”、“元件”、“部分”、“部”以及“件”可互换使用。
术语“器械”和“外科手术器械”在本文中被用来描述医疗设备,该医疗设备被配置成插入患者身体并且用于执行外科手术或诊断程序。该器械包括末端执行器。该末端执行器可以是与一个或多个外科手术任务相关联的外科手术工具,例如钳状体、针驱动器、剪刀、双极烧灼器、组织稳定器或牵开器、施夹器、吻合设备、成像设备(例如内窥镜或超声波探头)以及类似物。本发明实施例中使用的一些器械进一步为外科手术工具提供了铰接支撑架(有时被称为“腕件”),使得该外科手术工具的位置和取向能够以相对于器械轴的一个或多个机械自由度被操控。进一步地,许多外科手术末端执行器包括功能性机械自由度,例如打开和闭合的钳口、或者沿路径平移的刀。外科手术器械还可以包括可永久的或可以被外科手术系统更新的存储(例如,在该器械内的半导体存储器上)信息。由此,该系统可以提供器械与一个或多个系统元件之间的单向或双向信息通信。
本文所使用的术语“或”和“和/或”应当被解释为包含的或意味着任何一个或任何组合。因此,“A、B或C”或者“A、B和/或C”意思是下列中的任何一者:A;B;C;A和B;A和C;B和C;A、B和C。这种定义的例外将仅出现在元件、功能、步骤或动作的组合是以某种方式内在地相互排斥时。
图1是根据本发明实施例的远程操作外科手术系统的说明性患者侧部分100的视图。该患者侧部分100包括支撑组件110和一个或多个器械滑动架130,该一个或多个器械滑动架包括用于在每个支撑组件端部处的外科手术器械的致动器和控制连接构件。该支撑组件任选地包括一个或多个无动力的、可锁定的装配接头,所述一个或多个无动力的、可锁定的装配接头被用来相对外科手术患者定位该一个或多个器械操控器112。如图中描绘的,该患者侧部分100被搁置在地板上。在另一些实施例中,该患者侧部分可以被安装到墙、天花板、同样支撑患者身体122的手术台126、或者其他手术间设备。进一步地,该患者侧部分100被示出为包括四个器械操控器112,但是也可以使用更多或更少的操控器。更进一步地,该患者侧部分100可以由如图所示的单个组件组成,或者其可包括两个或更多个分开的组件,每个组件以各种可能的方式任选性地安装。
每个装配接头支撑一个或多个器械操控器112。每个器械操控器112包括支撑外科手术器械120用于在患者身体122内部的手术部位进行操作的器械滑动架130。每个器械操控器112可以以允许相关联的外科手术器械移动一个或多个机械自由度(例如,全部六个笛卡尔自由度、五个或更少笛卡尔自由度等)的各种形式被提供。通常,机械或控制约束限制每个器械操控器112在相对患者保持静止的外科手术器械上的运动中心附近移动相关联外科手术器械,该运动中心通常位于外科手术器械进入身体的位置。
术语“外科手术器械”在本文中被用来描述医疗设备,该医疗设备被配置成插入患者身体并且用于执行手术或诊断程序。该外科手术器械通常包括与一个或多个外科手术任务相关联的末端执行器,例如钳状体、针驱动器、剪刀、双极烧灼器、组织稳定器或牵开器、施夹器、吻合设备、成像设备(例如内窥镜或超声波探头)以及类似物。本发明实施例中使用的一些外科手术器械进一步为末端执行器提供了铰接支撑架(有时被称为“腕件”),使得该末端执行器的位置和取向能够以相对于器械轴的一个或多个机械自由度被操控。进一步地,许多外科手术末端执行器包括功能性机械自由度,例如打开或闭合的钳口、或者沿路径平移的刀。外科手术器械还可以包括可永久的或可以被外科手术系统更新的存储(例如,在该器械内的半导体存储器上)信息。由此,该系统可以提供器械与一个或多个系统元件之间的单向或双向信息通信。
功能性远程操作外科手术系统将通常包括使操作者能够从患者身体122外部观察手术部位的视觉系统部分(未示出)。该视觉系统通常包括具有视频图像采集功能(摄像仪器128)和用于显示被采集图像的一个或多个视频显示器的外科手术器械。在一些外科手术系统配置中,该摄像仪器128包括将图像从摄像仪器128的远端传送到患者身体122外部的一个或多个成像传感器(例如CCD或CMOS传感器)的光学器件。可替代地,该一个或多个成像传感器可以被放置在摄像仪器128的远端处,并且该一个或多个传感器产生的信号可以沿导线或通过无线传输以在该视频显示器上处理和显示。说明性视频显示器是由加利福尼亚州森尼维尔的直观外科手术公司(Intuitive Surgical,Inc.)商业化的在外科手术系统中的外科医生控制台上的立体显示器。
功能性远程操作外科手术系统将进一步包括一种用于当外科手术器械120在患者身体内部时控制其移动的控制系统部分(未示出)。该控制系统部分可以在手术系统中的单个位置,或者可以分布在系统中的两个或更多个位置处(例如:控制系统部分元件可以处于系统的患者侧部分100、专用系统控制台或分离的设备架中)。该远程操作主/从控制可以以各种方式执行,这取决于希望的控制程度、被控制的外科手术组件尺寸和其他因素。在一些实施例中,该控制系统部分包括一个或多个手动操作输入装置,例如控制杆、外骨架式手套、有动力且重力补偿的操控器或类似装置。这些输入装置控制远程操作的马达,该远程操作的马达进而控制外科手术器械的移动。
由远程操作的马达产生的力经由动力传动系统机构传递,该动力传动系统机构将力从远程操作的马达传送到该外科手术器械120。在一些远程外科手术的实施例中,控制一个或多个操控器的输入装置可以被设置在远离患者的位置处、在放置患者的房间内或外。来自输入装置的输入信号然后被传输到控制系统部分。熟悉远程操控、远程操作和远程进行的手术的人会知道这类系统及其元件,例如由直观外科手术公司商业化的da手术系统、由计算机动画公司(Computer Motion,Inc.)最初生产的手术系统和这种系统的各种说明性元件。
如图所示,外科手术器械120和可选的进入引导件124(例如,患者腹部中的套管)被可移除地联结在器械操控器112的远端,其中外科手术器械120通过该进入引导件124被插入。器械操控器112中的远程操作致动器将外科手术器械120作为整体移动。器械操控器112进一步包括器械滑动架130。该外科手术器械120被可拆卸地联结到该器械滑动架130。容纳在该器械滑动架130内的远程操作致动器提供多个控制器动作,这些动作被外科手术器械120转化为外科手术器械上的末端执行器的各种运动。因此,该器械滑动架130中的远程操作致动器只移动外科手术器械120的一个或多个元件,而不是作为整体移动器械。用来控制作为整体的器械或器械的元件的输入使得外科医生向控制系统部分(“主”命令)提供的输入被转化为外科手术器械(“从”响应)的对应动作。
图2是外科手术器械120的示意性实施例的侧视图,包括被细长管210联结的远侧部分250和近侧控制机构240。该外科手术器械120的远侧部分250可以提供任何各种手术工具,例如示出的钳状体254、针驱动器、烧灼装置、切割工具、成像设备(例如内窥镜或超声波探头)或包括两个或更多个不同工具和成像设备的组合设备。在示出的实施例中,钳状体254被“腕接头”252联结到该细长管210,该“腕接头”252允许相对该细长管210操控钳状体的取向。
本发明所使用的外科手术器械可以通过多个杆和/或柔性电缆控制其末端执行器(外科手术工具)。可为管状的杆可以与电缆结合以提供对末端执行器的“推/拉”控制,其中电缆可以根据要求提供柔性部段。用于外科手术器械120的典型细长管210很小,其直径可能只有五至八毫米,大约与大可乐吸管(soda straw)直径相同。外科手术器械120中的微型机构产生了独特的机械条件和问题,其中这些机构的结构与在被构造成较大规模的类似机构所发现的那些不同,因为材料的力和强度不与机构尺寸变化的速率成比例。这些电缆必须配合在该细长管210内,且当这些电缆穿过该腕接头252时能够被弯曲。
为了在使用功能远程操作外科手术系统的同时提供无菌操作区,优选地在该远程操作外科手术系统的致动部与无菌手术区中的外科手术器械之间放置屏障。因此,无菌元件,例如器械无菌适配器(ISA),被放置在外科手术器械120与器械滑动架130中的远程操作控制件之间。将器械无菌适配器放置在外科手术器械120与器械滑动架130之间包括保证用于外科手术器械120与器械滑动架130的无菌联结点的益处。这允许外科手术器械在手术过程中从器械滑动架130上移除并且与其他外科手术器械进行交换。
图3A是支撑该器械滑动架130的装配接头的透视图,该器械滑动架进而将该外科手术器械120支撑在支柱320上。在准备外科手术时,该装配接头被无菌盖布300遮盖。该无菌盖布保护该装配接头免受污染并且提供围绕该装配接头的无菌表面。大部分无菌盖布300是遮盖装配接头的臂的塑料片(可以为管或袋的形式)。例如,可以使用单层热塑性聚氨酯(TPU)。可以包括润滑剂以降低塑料的粘着性。片可以为0.004英寸厚。其他合适的材料可以用于片。该无菌盖布300包括形成用来围绕该器械滑动架130配合的小袋部分330。
图3B是如图3A所示的无菌盖布300的小袋部分330的透视图。该小袋部分330包括无菌覆盖件305和器械无菌适配器310。该器械滑动架可以包括马达、电源和控制系统用来驱动外科手术器械的控制信号。该器械无菌适配器310传输器械滑动架130与外科手术器械120的近侧控制机构240之间的运动和电信号,该外科手术器械的近侧控制机构240被连接到器械无菌适配器310的无菌侧。该器械无菌适配器310包括闩锁板,该闩锁板被提供用来固定该器械无菌适配器310与器械滑动架130之间的以及该器械无菌适配器310与外科手术器械120之间的连接。
图4A是无菌盖布下的器械无菌适配器310的侧视图。图4B是器械无菌适配器的分解图。该器械无菌适配器包括闩锁板400和器械板430,二者接合在一起以俘获两个板之间的小袋330的一部分。该闩锁板400设置了表面402以被接合到该器械滑动架130。该器械板430设置了表面432以接收外科手术器械120。其他用来在外科手术器械120与器械滑动架130之间传输控制运动和信号的元件(如联结器盘436和公知的销(presence pin)434)也可以被俘获在该闩锁板400与该器械板430之间。该闩锁板400进一步提供了用于将该器械无菌适配器310保持在该器械滑动架130上且将外科手术器械120保持在器械无菌适配器上的闩锁。
参考图5A、图5B、图6、图7A、图7B和图7C,分别图示说明根据本发明的一个实施例的闩锁板400的顶部透视图、底部透视图、正视图和截面视图。该闩锁板400包括闩锁板第一侧上的一对器械闩锁臂405,并且包括第二侧上的一对滑动架闩锁臂410。器械闩锁臂405比滑动架闩锁臂410长。朝向闩锁臂405、410中的每个的末端部分提供有贯通开口或孔口,作为闩锁接收部。因此,器械闩锁臂405中的每一个包括器械闩锁接收部415,并且滑动架闩锁臂410的每一个包括滑动架闩锁接收部420。器械闩锁臂405被用来将外科手术器械120固定到器械无菌适配器310,并且滑动架闩锁臂410被用来将器械无菌适配器310固定到器械滑动架。
图7A是穿过图6剖面线7-7指示的平面的闩锁板400的截面视图。如图7A能够看出,器械闩锁臂405、滑动架闩锁臂410和连接构件425可以与闩锁板400形成于一个件,并且可以由柔性材料(例如塑料材料)制成,在不施加外力时该柔性材料恢复原来形状。
图7B和图7C是穿过图6剖面线7-7指示的平面的单个闩锁臂结构处于独立地状态下的截面视图。器械闩锁臂405、对应的滑动架闩锁臂410和对应的连接构件425形成“T”形,其中闩锁臂405、410是字母T的两个臂,并且连接构件425是字母T的主干。器械闩锁臂穿过器械板430并且远离接收外科手术器械的器械板的表面432延伸。滑动架闩锁臂410远离接收器械滑动架130的闩锁板400的表面402延伸。器械闩锁臂405在连接处接合到滑动架闩锁臂410。连接构件425在该连接处接合到两个臂。连接构件425处于未变形配置时垂直于滑动架闩锁臂和器械闩锁臂。如图7C所暗含的,闩锁臂结构的部分可以弹性地变形用于锁定和解锁。连接构件425提供该滑动架闩锁臂410和器械闩锁臂405到该闩锁板400剩余部分的柔性连接。熟练的业内人士可以理解,可以提供这些特征用来防止任何上述元件发生超过其弹性范围的变形。
图7B示出了处于初始状态的闩锁臂405、410以及连接构件425。图7C示出了处于弯曲状态的闩锁臂405、410以及连接构件425,其中器械闩锁臂405已经移动远离闩锁板400的中心线,滑动架闩锁臂410已经朝向闩锁板的中心线移动,并且连接构件425已经朝向该滑动架闩锁臂向上移动。
如图7C能够看出,当力被施加到闩锁臂时,闩锁臂405、410可以被轻微地且枢转地大致围绕对应的连接构件425向内或向外弯曲,并且当然该对应的连接构件425可以相应地轻微变形。换言之,当向内或向外的力被施加到闩锁臂405、410时,第1级杠杆形成,其中对应的连接构件425为大致支点。(第1级杠杆是其中支点位于作用力和阻力之间的杠杆。)不存在其他物体的干扰,向内弯曲器械闩锁臂405导致对应的滑动架闩锁臂410向外移动,并且反之亦然。弯曲滑动架闩锁臂410对对应的器械闩锁臂405有相同的影响。
图8A、图8B、图8C和图8D是穿过图6剖面线7-7指示的平面的包括闩锁板400的器械无菌适配器310的截面视图。图8A、图8B、图8C和图8D示出了按顺序将器械无菌适配器310装配到器械滑动架130的控制表面805,以及将外科手术器械120的近侧控制机构240装配到器械无菌适配器。
参考图8A,器械滑动架的控制表面805包括第一固定闩锁结构,该第一固定闩锁结构提供通向两个第一锁定表面820的两个第一成角度引入闩锁表面825。该第一固定闩锁结构可以由不易变形的刚性材料制成。当一个人试图将器械无菌适配器310附接到该控制表面805时,该两个第一成角度引入闩锁表面825帮助将该滑动架闩锁臂410引导入该第一固定滑动架闩锁结构。该器械无菌适配器310通常包括半透明小袋,当该器械无菌适配器310被附接到该控制表面805时,该半透明小袋围绕该器械滑动架130。由于该器械无菌适配器310被附接到该控制表面805,该小袋可以大部分地阻碍滑动架闩锁结构的视线。该两个第一成角度引入闩锁表面825可以为滑动架闩锁臂410提供“鞍状”接收表面以方便凭感觉将该器械无菌适配器310附接到该控制表面805。当该器械无菌适配器310被附接到该控制表面805时,成角度引入闩锁表面825将会导致闩锁臂结构弹性地变形以允许滑动架闩锁臂410越过成角度引入闩锁表面。
参考图8B,当该器械无菌适配器310被附接到该控制表面805时,该控制表面805的第一锁定表面820接合该闩锁板400的滑动架闩锁臂410的滑动架闩锁接收部420。当滑动架闩锁接收部420接合该第一锁定表面820时,闩锁臂结构的弹性变形被大大释放。这样使得器械无菌适配器310被固定到该控制表面805。该控制表面805的滑动架闩锁结构支撑该滑动架闩锁臂410并且防止其朝向彼此向内转动。这样进而防止连接构件425从其未变形配置弯曲。
参考图8C,近侧控制机构240包括第二固定闩锁结构,该第二固定闩锁结构提供通向两个第二锁定表面810的两个第二成角度引入闩锁表面815。引入斜面830可以形成作为器械闩锁结构的一部分。该第二固定闩锁结构可以由不易变形的刚性材料制成。该近侧控制机构240的第二固定器械闩锁结构包括两个引入斜面830,在一个人试图将该近侧控制机构240附接到该器械无菌适配器310时,该两个引入斜面830帮助将该器械无菌适配器310的器械闩锁臂405引导入该器械闩锁结构。这些引入斜面830提供的帮助是令人希望地,因为相关元件的直视图被该近侧控制机构240部分或全部被阻挡,该近侧控制机构被壳体(在图8C中未示出,但是在图2中可见)封闭。
参考图8D,当该外科手术器械120的近侧控制机构240被附接到该器械无菌适配器310时,该近侧控制机构240的第二锁定表面810接合该闩锁板400的器械闩锁臂405的器械闩锁接收部415。这样能够将该外科手术器械120的近侧控制机构240固定到该器械无菌适配器310。将理解的是,器械闩锁臂405必须是足够柔性地,以向外弯曲越过第二成角度引入闩锁表面815,因为当该器械无菌适配器310被附接到该控制表面805时,连接构件425被滑动架闩锁臂410阻止朝向器械滑动架130弯曲。
将理解的是,当外科手术器械120的近侧控制机构240和器械滑动架的控制表面805两者都被附接到该器械无菌适配器310时,近侧控制机构240的存在构成用于将该器械无菌适配器310附接到该器械滑动架130的锁定机构。器械锁定臂405向内的运动被附接的近侧控制机构240阻止。进而,连接构件425远离该控制表面的向上运动被受限制的器械闩锁臂405阻止。结果,滑动架闩锁臂410的向外运动变的困难。滑动架闩锁臂410可以是短的并且具有较大的厚度以在该近侧控制机构240被附接到该器械无菌适配器310时,进一步增加脱离滑动架闩锁臂的难度。因为滑动架闩锁臂410被该近侧控制机构240阻止向外弯曲,该器械无菌适配器310被锁定到该被附接的控制表面805。
图9A到图9H示出了穿过图6剖面线7-7指示的平面的具有器械滑动架130的控制表面805的固定闩锁结构和近侧控制机构240的单个闩锁臂结构的截面视图。
参考图9A,该器械无菌适配器被附接到该器械滑动架。为了将该器械无菌适配器310附接到该器械滑动架130的控制表面805,一个人将该器械无菌适配器与该控制表面粗略地对齐并且推动该器械无菌适配器抵靠该控制表面。该第一成角度引入闩锁表面825能够帮助将滑动架闩锁臂410引导入该滑动架闩锁结构并且提供必要的粗略对齐。该器械无菌适配器的闩锁臂结构被示出在该闩锁臂结构的弹性变形将开始的点处。
参考图9B,该器械无菌适配器朝向该控制表面被按压,该器械无菌适配器的闩锁臂结构变形以允许该滑动架闩锁臂410越过该锁定表面820。该连接构件425的尺寸和形状可以被设计为使得该滑动架闩锁臂410越过该锁定表面820时,大多数的弹性变形发生在该连接构件中。该连接构件425可以是足够柔性的,以使该滑动架闩锁臂410转动并且允许该滑动架闩锁臂越过该器械滑动架中的固定锁定表面820。因为该器械无菌适配器被推动抵靠该控制表面,该第一成角度闩锁表面825向外推动该滑动架闩锁臂410,从而允许该器械无菌适配器310朝向该控制表面移动。
参考图9C,该器械无菌适配器被朝向该控制表面移动直到该第一锁定表面820进入该滑动架闩锁接收部420,此时,该连接构件425可以恢复原来形状并且使得该滑动架闩锁臂410接合该第一固定锁定表面。滑动架闩锁臂410包围该滑动架闩锁结构,从而该器械无菌适配器固定到器械滑动架130的控制表面。在这种条件下,该器械无菌适配器准备好接收外科手术器械的近侧控制机构。在一些实施例中,该对滑动架闩锁臂410可以被成形和/或隔开,使得当这一对滑动架闩锁臂410在该滑动架闩锁结构上被闭合时,这一对滑动架闩锁臂410与其自然形态相比被轻微地向外弯曲以向该滑动架闩锁结构上施加向内的力来更好地将该器械无菌适配器固定到该器械滑动架。
参考图9D,该器械闩锁臂405可以被作为用于该滑动架闩锁臂410的释放杠杆。器械闩锁臂405能够接收使该连接构件425充分弯曲的力900,以致使该滑动架闩锁臂410转动并且允许该滑动架闩锁臂越过器械滑动架中的固定锁定表面。用如箭头所示的,力900朝向闩锁板400的中心线按压该两个器械闩锁臂405(例如挤压该两个器械闩锁臂),滑动架闩锁臂410向外移动。这样使得滑动架闩锁接收部420从该滑动架闩锁结构的第一锁定表面820被释放并且允许该器械无菌适配器被从该器械滑动架移除。
参考图9E,外科手术器械的近侧控制机构被附接到该器械无菌适配器。该器械无菌适配器处于如图8C所示的条件下。为了将外科手术器械的近侧控制机构附接到该器械无菌适配器,一个人将该近侧控制机构与该器械无菌适配器粗略地对齐并且朝向该器械无菌适配器推动该近侧控制机构。该引入斜面830帮助将器械闩锁臂405引导入该固定器械闩锁结构并且提供必要的粗略对齐。过渡部段812可以将该引入斜面830接合到该第二锁定表面810。该过渡部段812可以大体上平行于未变形的器械闩锁臂405。在该近侧控制机构被安置成要被该器械无菌适配器闩锁时,该过渡部段812可以被定位成抵靠该器械闩锁臂405紧密配合。该过渡部段812可以将该外科手术器械保持到适当位置,以允许该器械在被闩锁到该器械无菌适配器之前的准备。该器械无菌适配器的闩锁臂结构被示出在该闩锁臂结构的弹性变形将开始的点处。
参考图9F,该近侧控制机构被附接到该器械无菌适配器。当该近侧控制机构被朝向该器械无菌适配器推动时,该第二成角度闩锁表面815推动该器械闩锁臂405并且将其弯曲远离该固定器械闩锁结构。该器械闩锁臂405是足够柔性的,以越过该外科手术器械的固定锁定表面。这样允许该器械闩锁臂405越过该第二锁定表面810。
参考图9G,该近侧控制机构被朝向该器械无菌适配器移动直到该第二锁定表面810进入该器械闩锁接收部415,并且该器械闩锁臂恢复原未变形形状以接合该第二固定锁定表面。该器械闩锁臂405包围该近侧控制机构的固定器械锁定结构,从而将该近侧控制机构固定到该器械无菌适配器。在一些实施例中,器械闩锁臂405可以被成形和/或隔开,使得当器械闩锁臂405在该滑动架闩锁结构上被闭合时,器械闩锁臂与其自然形状相比被轻微地向外弯曲以便向该固定器械闩锁结构上施加向内的力来更好地将该近侧控制机构固定到该器械无菌适配器上。将该器械无菌适配器固定到该器械无菌适配器可以防止该滑动架闩锁臂410和该连接构件425远离该第一锁定表面820移动,由此为该器械无菌适配器至该器械滑动架的附接提供了互锁。
参考图9H,包括闩锁臂接合部分915的闩锁释放器可以被用来将该器械闩锁臂405从该第二锁定表面810释放。将理解的是,当该器械无菌适配器被联结到该器械滑动架并且该近侧控制机构被联结到该器械无菌适配器时,整个闩锁臂结构被封闭在器械滑动架和该近侧控制机构中。因此,有必要设置用于向器械闩锁臂405施加向外的力以将该近侧控制机构从该器械无菌适配器释放并且允许移除该外科手术器械的机构。
参考图8D,该近侧控制机构240包括一对闩锁释放构件905A、905B。图10示出单个闩锁释放构件905的透视图。每个闩锁释放构件905包括按钮部分910和闩锁臂接合部分915。从图8D中能够看出,两个相同的闩锁释放构件905A、905B可以在该近侧控制机构240的基座上彼此相对组装。当向内的力被施加到这一对闩锁释放构件905A、905B的按钮部分910时,该对闩锁释放构件被向内推动并且靠近彼此,并且闩锁臂接合部分915A、915B向外移动以将向外的力施加到器械闩锁臂405来将该近侧控制机构从该器械无菌适配器释放并且允许移除外科手术器械(如图9H所示)。当该外科手术器械被移除后,该器械无菌适配器310可以如以上所描述的那样从器械滑动架130移除。
由于有必要设置用于向器械闩锁臂405施加向外的力以将该近侧控制机构从该器械无菌适配器释放并且允许移除该外科手术器械的机构,因此希望的是设置用于将向外的力施加到该器械闩锁臂上的备用机构,以防主机构因为任何原因不能使用。
参考图11,图示说明了外科手术器械的近侧控制机构240的透视图。示出直接接合该器械无菌适配器的该近侧控制机构的表面。两个释放通道1105提供了备用外科手术器械释放机构以防闩锁释放构件905不能够被用来释放该近侧控制机构。在该近侧控制机构240被附接到该器械无菌适配器时,释放通道1105允许释放工具进入器械闩锁臂405。该释放工具可以是刚性的、微薄的且细长的工具,例如艾伦板钳(Allen wrench)。
进一步参考图12和图13,示出该备用释放机构的操作的图示。图12是附接到器械无菌适配器310的外科手术器械的近侧控制机构240的透视图。图13是沿图12的剖面线13-13截取的圈出部分的详细截面视图。
释放通道1105中的每一个提供了至该近侧控制机构240中的开口1110的通路,通过该通路器械闩锁臂405进入以接合该近侧控制机构上的第二锁定表面。释放通道1105中的每一个被成形使得一个人可以通过该通道插入释放工具1205。该释放工具1205的末端部分接合器械闩锁臂405的向内侧。该释放工具1205被用作杠杆以向外撬动该器械闩锁臂405并且将其从对应的第二锁定表面810释放,同时通道壁的部段1305充当了支点。
尽管已在附图中示出和描述了某些示例性实施例,但是应当理解的是这些实施例仅用于说明性的而不是限制发明的范围,并且由于对于本领域的技术人员来说许多的修改和改变将会很容易想到,所以这个发明并不限于所示出和描述的具体结构和布置。因此,本说明书被视为说明性的而不是限制。
Claims (14)
1.一种器械无菌适配器,其包括:
闩锁结构,其包括:
滑动架闩锁臂,其与器械滑动架可接合以将所述器械无菌适配器闩锁到所述器械滑动架;
器械闩锁臂,其与外科手术器械可接合以将所述器械无菌适配器闩锁到所述外科手术器械;和
连接构件,其用于将所述滑动架闩锁臂和所述器械闩锁臂连接到所述器械无菌适配器的剩余部分,
其中在所述滑动架闩锁臂与所述器械滑动架的接合状态下以及在所述器械闩锁臂与所述外科手术器械的接合状态下,在不首先将所述外科手术器械从所述器械无菌适配器解锁的情况下,所述滑动架闩锁臂不能从所述器械滑动架脱离。
2.根据权利要求1所述的器械无菌适配器,其中:
所述连接构件需要所述器械闩锁臂朝向闩锁的外科手术器械移动,以将所述滑动架闩锁臂从所述器械滑动架解锁。
3.根据权利要求1所述的器械无菌适配器,其中:
所述滑动架闩锁臂接合器械滑动架中的第一固定锁定表面;并且
所述器械闩锁臂接合外科手术器械中的第二固定锁定表面。
4.根据权利要求1所述的器械无菌适配器,其中:
所述滑动架闩锁臂包括:接合器械滑动架中的第一固定锁定表面的第一孔口;并且
所述器械闩锁臂包括:接合外科手术器械中的第二固定锁定表面的第二孔口。
5.根据权利要求1所述的器械无菌适配器,其中:
当将所述器械无菌适配器闩锁到器械滑动架时,所述连接构件弹性地变形。
6.根据权利要求1所述的器械无菌适配器,其中:
当将所述器械无菌适配器闩锁到外科手术器械时,所述器械闩锁臂弹性地变形。
7.根据权利要求1所述的器械无菌适配器,其中:
当所述器械无菌适配器从器械滑动架解锁时,所述器械闩锁臂施加力以使得所述连接构件弹性地变形。
8.根据权利要求1所述的器械无菌适配器,其还包括:
具有第一开口的塑料片;
包括第一部分的柔性小袋;和
板;
其中所述柔性小袋被密封到所述塑料片中的所述第一开口;
其中所述板俘获所述柔性小袋的所述第一部分;
其中所述板支撑所述滑动架闩锁臂;
其中所述板支撑所述器械闩锁臂;并且
其中所述板支撑所述连接构件。
9.根据权利要求1所述的器械无菌适配器,其中:
通过施加到器械闩锁臂的力而使所述连接构件弹性地变形,以使所述滑动架闩锁臂从器械滑动架脱离。
10.根据权利要求9所述的器械无菌适配器,其中:
通过闩锁到所述器械无菌适配器的外科手术器械,防止施加到所述器械闩锁臂的所述力使所述连接构件弹性地变形。
11.一种用于将根据权利要求1所述的器械无菌适配器闩锁到所述器械滑动架并且闩锁到所述外科手术器械且然后将所述器械无菌适配器从所述外科手术器械和所述器械滑动架解锁的方法,所述方法包括:
通过使所述连接构件弹性地变形,利用所述滑动架闩锁臂将所述器械无菌适配器闩锁到所述器械滑动架;
通过使所述器械闩锁臂弹性地变形,将所述器械无菌适配器闩锁到所述外科手术器械;
在将所述器械无菌适配器闩锁到所述器械滑动架并且将所述器械无菌适配器闩锁到所述外科手术器械之后,通过所述连接构件防止所述滑动架闩锁臂从所述器械滑动架脱离;
通过使所述器械闩锁臂弹性地变形使所述器械无菌适配器从所述外科手术器械解锁;并且
在将所述器械无菌适配器从所述外科手术器械解锁之后,通过使所述连接构件弹性地变形使所述滑动架闩锁臂从所述器械滑动架脱离并且使所述器械无菌适配器从所述器械滑动架解锁。
12.根据权利要求11所述的方法,其中:
使所述器械无菌适配器从所述器械滑动架解锁还包括:利用所述器械闩锁臂施加力到所述连接构件。
13.根据权利要求12所述的方法,其中:
防止所述滑动架闩锁臂从所述器械滑动架脱离包括:在所述器械闩锁臂与所述外科手术器械接合的时间期间,防止利用所述器械闩锁臂施加所述力到所述连接构件。
14.根据权利要求12所述的方法,其中:
通过存在被闩锁到所述器械无菌适配器的所述外科手术器械,防止利用所述器械闩锁臂施加所述力到所述连接构件。
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