CN111227894B - 用于圆形钉合装置的再装载组件 - Google Patents

用于圆形钉合装置的再装载组件 Download PDF

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CN111227894B
CN111227894B CN201911152755.2A CN201911152755A CN111227894B CN 111227894 B CN111227894 B CN 111227894B CN 201911152755 A CN201911152755 A CN 201911152755A CN 111227894 B CN111227894 B CN 111227894B
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安东尼·斯格罗伊
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Abstract

本公开涉及一种用于圆形钉合装置的再装载组件。再装载组件、壳体、钉仓、推动器组件、刀架、环形刀具和弹簧夹。所述壳体包括限定中心孔的内壳体部分。所述刀架包括限定纵向轴线和切口的主体，并且能在所述壳体内在前进位置与缩回位置之间移动。所述弹簧夹支撑在所述壳体的所述内壳体部分上，并且具有锁定柄脚和接合部分。所述弹簧夹能从第一位置移动到第二位置，在所述第一位置，所述锁定柄脚容纳在所述刀架的所述切口内以阻止所述刀架前进，在所述第二位置，所述锁定柄脚从所述刀架的所述切口移除。

Description

用于圆形钉合装置的再装载组件
相关申请的交叉引用
本申请要求于2018年11月28日提交的美国临时专利申请第62/772,326号的权益和优先权，其全部公开内容通过引用并入本文。
技术领域
本发明涉及圆形钉合装置，更具体地，涉及用于圆形钉合装置的再装载组件，该再装载组件具有在将砧座组件连接到钉合装置之前将刀架保持在缩回位置的结构。
背景技术
传统的圆形钉合装置包括细长主体和支撑在细长主体的远端部分上的外壳或再装载组件。该再装载组件包括壳体、支撑在壳体上的具有多个缝合钉的钉仓、推动器组件、限定圆柱空腔的刀具以及支撑该刀具并可通过订仓移动到核心组织的刀架。推动器组件包括环形推动器和缝合钉推动构件，缝合钉推动构件与环形推动器相接合并可移动，使缝合钉推动构件从钉仓中弹出缝合钉。
在操作钉合装置将组织钉住并切开后，将刀架和刀具收回，将刀具收回到壳体内，并从钉合装置中取出砧座组件。这有两个目的。第一个目的是让临床医生能够接近刀具，以允许从由刀具限定的空腔内移除组织环形圈。第二个目的是将刀具定位在壳体内凹进的位置，以避免在操作和处置再装载组件时对临床医生造成伤害。
在某些情况下，组织环形圈被压缩在由刀具限定的空腔内，使得从由刀具限定的空腔内移除组织环形圈可能会导致刀具从壳体中向前移动，露出刀具的切削刃。这对临床医生造成了不安全的情况。
在本领域中，对于再装载装置的需求仍然存在，其中包括改进的结构，以便在从钉合装置中移除砧座组件时将刀架和刀具保持在缩回位置，以最小化对临床医生的危险。
发明内容
本发明的一个方面涉及一种再装载组件，其包括壳体、钉仓、推动器、刀架、环形刀具和弹簧夹。壳体包括内壳体部分和外壳体部分。内壳体部分限定中心孔，并与外壳体部分间隔开以在内壳体部分与外壳体部分之间限定环形空腔。钉仓支撑在壳体的远端部分上并且具有多个钉凹座。钉凹座中的每一个容纳缝合钉。推动器支撑在环形空腔内，并可在缩回位置与前进位置之间移动，以从钉仓中弹出缝合钉。刀架包括限定纵向轴线和切口的主体，并可在壳体的环形空腔内在前进位置与缩回位置之间移动。环形刀具支撑在刀架上并具有限定切削刃的远端部分。所述弹簧夹支撑在壳体的内壳体部分上，并且具有锁定柄脚和接合部分。弹簧夹可从第一位置移动到第二位置，在第一位置，接合部分延伸穿过内壳体部分的中心孔，并且锁定柄脚容纳在刀架的切口内以阻止刀架前进，在第二位置，接合部分与内壳体部分的中心孔间隔开，并且锁定柄脚从刀架的切口移除。
本发明的另一方面涉及一种圆形钉合装置，其包括细长主体、接近机构、砧座组件和再装载组件。细长主体具有近端部分和远端部分。接近机构支撑在细长主体内并包括一个套管针。砧座组件包括砧座轴和砧座头。砧座轴限定孔，所述孔容纳套管针以将砧座组件可释放地联接到套管针。接近机构是可致动的，以相对于钉仓在间隔位置与夹紧位置之间移动砧座组件。再装载组件支撑在细长主体的远端部分上，并包括壳体、钉仓、推动器、刀架、环形刀具和再装载组件。壳体包括内壳体部分和外壳体部分。内壳体部分限定中心孔，并与外壳体部分间隔开以在内壳体部分与外壳体部分之间限定环形空腔。钉仓支撑在壳体的远端部分上并且具有多个钉凹座。钉凹座中的每一个容纳缝合钉。推动器支撑在壳体的环形空腔内，并可在缩回位置与前进位置之间移动，以从钉仓中弹出缝合钉。刀架包括限定纵向轴线和切口的主体，并可在壳体的环形空腔内在前进位置与缩回位置之间移动。环形刀具支撑在刀架上并包括限定切削刃的远端部分。所述弹簧夹支撑在壳体的内壳体部分上，并且具有锁定柄脚和接合部分。弹簧夹可从第一位置移动到第二位置，在第一位置，接合部分延伸穿过内壳体部分的中心孔，并且锁定柄脚容纳在刀架的切口内，以阻止刀架前进，在第二位置，接合部分与内壳体部分的中心孔间隔开，并且锁定柄脚从刀架的切口移除。
在实施例中，壳体组件的内壳体部分包括衬套，并且弹簧夹支撑在衬套周围。
在一些实施例中，衬套限定至少部分围绕衬套延伸的凹部，且弹簧夹支撑在凹部内。
在某些实施例中，衬套限定狭槽，用于连通凹部与内壳体部分的中心孔，并且当弹簧夹位于第一位置时，弹簧夹的接合部分穿过狭槽延伸到中心孔中。
在实施例中，衬套包括限定凹部的间隔开的凸缘，且当弹簧夹位于第一位置时，弹簧夹的锁定柄脚从间隔开的凸缘径向向外延伸。
在一些实施例中，间隔开的凸缘限定邻近锁定柄脚的平面。
在某些实施例中，推动器组件包括环形推动器和推动构件，推动构件包括容纳在钉仓的钉凹座内的指状件。
在实施例中，套管针可通过内壳体部分的中心孔在前进位置与缩回位置之间移动。
在一些实施例中，砧座轴定位成接合弹簧夹的接合部分，以在砧座组件朝向夹紧位置移动时将弹簧夹从其第一位置移动到其第二位置。
在某些实施例中，钉合装置包括手柄组件，并且细长主体支撑在手柄组件上。
在实施例中，细长主体适于联接到机器人手术系统。
在实施例中，套管针定位且配置为接合弹簧夹的接合部分，以在砧座组件朝向夹紧位置移动时将弹簧夹从其第一位置移动到其第二位置。
附图说明
本文结合附图对本发明公开的再装载组件的各种实施例进行了描述，其中：
图1是包括根据本发明公开的再装载组件的示范性实施例的圆形钉合装置的侧视图；
图2是包括再装载组件、砧座组件和外科钉合装置的细长主体的远端部分的图1的圆形钉合装置的远端部分的侧视分解图；
图3是图2的再装载组件的分解侧视图；
图4是图3所示的详细指示区域的放大图；
图5是图3所示的再装载组件的衬套的侧视图；
图6是图6所示的衬套的近端部分的透视图；
图7是图6所示的衬套的近端部分旋转90度的透视图；
图8是图3所示的再装载组件的刀架的侧视图；
图9是图3所示的再装载组件的刀架和壳体的侧视图，其中刀架处于壳体内的缩回位置，壳体以虚线示出；
图10是沿图9的剖面线10-10截取的剖视图；
图11是沿图2的剖面线11-11截取的剖视图；
图12是沿图2的剖面线11-11截取的剖视图，其中再装载组件固定在外科钉合装置的适配器组件上，砧座组件连接到套管针组件，并且砧座组件相对于再装载组件处于夹紧位置；以及
图13是沿图12的剖面线13-13截取的剖视图。
具体实施方式
本文结合附图对本发明所公开的再装载组件进行了详细描述，其中在几个视图的每一个中，相同的附图标记表示相同或相应的元件。然而，应当理解的是，所公开的实施例仅仅是本发明的示范性例子，并且可以以各种形式实施。为了避免以不必要的细节模糊本发明，没有对公知的功能或构造进行详细描述。因此，本文公开的具体结构和功能细节不应被解释为限制性的，而仅仅是作为权利要求的基础和作为用于教导本领域技术人员以实际上任何适当的详细结构不同地使用本发明的代表性基础。
在本说明书中，术语“近端”通常用于指装置的更靠近临床医生的部分，而术语“远端”通常用于指装置的更远离临床医生的部分。此外，术语“内窥镜”通常用于指内窥镜、腹腔镜、关节镜和/或通过小直径切口或套管进行的任何其它手术。此外，术语“临床医生”通常用于指医务人员，包括医生、护士和辅助人员。
图1和2示出了圆形钉合装置10，其包括本发明公开的再装载组件的示范性实施例，所述再装载组件通常展示为再装载组件100。钉合装置10包括手柄组件12、细长主体或适配器组件14、再装载组件100和砧座组件18，支撑砧座组件18以相对于再装载组件100在如下所述的间隔位置与接近位置之间移动。再装载组件100包括近端部分102(图1)，其可释放地联接到细长主体14的远端部分14a。手柄组件12包括固定把手22，其支撑致动按钮24，用于控制钉合装置10的各种功能的操作，包括分别接近再装载组件100和砧座组件18，从再装载组件100击发缝合钉，以及切割组织或取出组织的核心。
钉合装置10示为包括电动手柄组件12的电动钉合装置。细长主体14呈适配器组件的形式，所述适配器组件将动力从手柄组件12分别传递到再装载组件100和砧座组件18。电动钉合装置的实例可以在美国专利第9,055,943号('943专利)、第9,023,014号('014专利)以及美国公开案第2018/0125495号和第2017/0340351号中找到，其全部内容通过引用并入本文。可选地，可以设想，本发明还可以并入到例如在美国专利第7,303,106号('106专利)中公开的手动钉合装置中，或者并入到配置为与例如在美国专利第9,962,159号('159专利)中公开的不包括手柄组件的机器人系统一起使用的钉合装置中。'106和'159专利也全文通过引用并入本文。
参照图2，适配器组件14包括套管针30，其从适配器组件14的远端部分14a延伸并穿过再装载组件10。套管针30构成钉合装置10的接近机构(未示出)的一部分。砧座组件18包括砧座头40和砧座轴42。砧座轴42配置为可释放地联接到套管针30上，以将砧座组件18支撑在适配器组件14的远端部分14a上。接近机构的套管针18可相对于再装载组件100移动，以相对于再装载组件100在间隔位置(图1)与夹紧位置(图12)之间移动砧座组件18。对于钉合装置10的套管针30、砧座组件18和接近组件(未示出)的更详细描述，请参见'106。
参照图3，再装载组件100包括壳体110、推动器组件112(图11)、刀架114、支撑在刀架114上的环形刀具116、钉仓118和支撑在钉仓118内的多个缝合钉120。钉仓118是环形的，并且限定钉凹座124的环形排。每个钉凹座124支撑多个缝合钉120中的一个。推动器组件112包括共同限定纵向通孔132的环形推动器128和缝合钉推动构件130。推动器128具有邻接缝合钉推动构件130的近端部分的远端部分，使得推动器128在壳体110内的远端运动导致缝合钉推动构件130的远端运动。再装载装置100的缝合钉推动构件130具有多个指状件134。多个指状件134中的每一个容纳在钉仓118相应的一个钉凹座124内，并且可移动通过相应的钉凹座124，以在缝合钉推动构件130在壳体110内从缩回位置向前进位置向远端移动时将缝合钉120从钉凹座124中弹出。
壳体110包括彼此间隔开的外壳体部分140和内壳体部分142，以限定环形空腔144。推动器组件112(图11)、刀架114和环形刀具116可在壳体110的环形空腔144内在缩回位置与前进位置之间移动。推动器组件112可独立于刀架114和环形刀具116从其缩回位置移动到其前进位置，以将缝合钉120从钉仓118中弹出。环形刀具116支撑在由刀架114限定的圆柱空腔114a内。在实施例中，刀具116包括突起116a，其容纳在刀架114中限定的凹部114b中，以将刀具116固定在刀架114的圆柱空腔114a内。可选地，可以使用其它紧固技术将刀具116固定到刀架114上。在推动器组件112(图11)从其缩回位置移动到其前进位置之后，刀架114可以从其缩回位置移动到其前进位置，以切割位于钉仓118径向内侧的组织。
壳体110的内壳体部分142限定通孔150，该通孔150容纳砧座组件18(图2)的砧座轴42和适配器组件14的套管针30。通孔150还支撑衬套152，其限定与壳体110的内壳体部分142的通孔150同轴的通孔150a。在实施例中，衬套152由高强度材料(例如，金属)构成，以向壳体110的内壳体部分142提供增加的强度。
再装载组件100可以包括支撑在壳体110上的e-prom存储器154。如本领域已知的，e-prom存储器154与适配器组件14连通，以向适配器组件14和手柄组件12提供与再装载组件10的特性相关的信息。
参照图4-7，衬套152包括由间隔开的凸缘162a和162b隔开的远端部分160a和近端部分160b。间隔开的凸缘162a和162b限定至少部分围绕衬套152延伸的凹部164。衬套152包括延伸穿过衬套152并将凹部164连接到通孔150a的狭槽166。在实施例中，衬套152的远端部分160a包括一系列间隔开的环形肋或突起163，其容纳在壳体110的内壳体部分142内，以将衬套152摩擦固定在壳体110的内壳体部分110内。可以设想，可以使用包括卷边、焊接、包覆成型等其它紧固技术将衬套152固定在壳体110内。
衬套152支撑弹性弹簧夹168。更具体地，弹簧夹168支撑在限定于衬套152的凸缘162a与162b之间的凹部164内。在实施例中，弹簧夹168大致呈C形结构，其可变形以围绕衬套152定位在凹部164内。在实施例中，弹簧夹168具有第一端168a、限定锁定柄脚169的第二端168b，以及中心或接合部分168c。当弹簧夹168容纳在凹部164内时，弹簧夹168的中心部分168c延伸穿过狭槽166并进入由衬套152(图7)限定的通孔150中。弹簧夹168的第二端168b从衬套152向外倾斜，使得锁定柄脚169从由凸缘162a和162b限定的凹部164延伸。在实施例中，衬套152的凸缘162a和162b包括与弹簧夹168的锁定柄脚169对准的平面170(图7)，使得锁定柄脚169从凹部164延伸。平面170应与狭槽166对准，以允许弹簧夹168的第二端168b从凹部164延伸。在实施例中，弹簧夹168可由多种弹性材料形成，包括弹簧钢、聚合物等。
可以设想，衬套152可与壳体110的内壳体部分142一体或整体形成，和/或弹簧夹可支撑在壳体110的内壳体部分142上。
参照图8-11，刀架114在其缩回位置与前进位置之间可移动地定位在推动组件112的通孔132(图11)内，并限定台阶形中心孔172。台阶形中心孔172包括小直径近端部分172a和较大直径远端部分172b(图11)。刀架114的中心孔172的近端部分172a容纳壳体110的内壳体部分142和衬套152(图11)，使得刀架114在缩回位置与前进位置之间围绕内壳体部分142和衬套152滑动。
刀架114的近端部分172a限定切口174。当刀架114和刀具116处于它们的缩回位置(图10和11)时，在将砧座组件18连接到套管针30之前，切口174与弹簧夹168的第二端168b处的锁定柄脚169对准，使得锁定柄脚169容纳在切口174内。当弹簧夹168的锁定柄脚169位于切口174内时，弹簧夹168阻止刀架114和刀具116围绕壳体110的内壳体部分142前进。如图10所示，在将砧座组件18连接到套管针30之前，弹簧夹168的中心部分168c延伸穿过衬套152的通孔150a。
在再装载组件100连接到适配器14之前，锁定柄脚169与刀架114的切口174对准并容纳在切口174内，以将刀架114锁定在其缩回位置。这使得在使用前在再装载组件100的运输过程中将伤害临床医生的风险最小化。
参照图12和13，当砧座组件18连接到套管针30时，套管针30容纳在由砧座轴42的柔性腿部52限定的孔50内，使得砧座轴42与内壳体部分142的中心孔150和衬套152的中心孔150a对准。当砧座组件18和再装载组件100处于间隔位置(图1)时，砧座轴42的腿部52的近端远离弹簧夹168的中心部分168c间隔开，使得弹簧夹168保持在衬套152的通孔150a内。在该位置，弹簧夹168的锁定柄脚169保持与刀架114的切口174对准并容纳在切口174内，以将刀架114锁定在其缩回位置。
当砧座组件18和再装载组件100沿图12中箭头“D”所示的方向缩回到夹紧位置时，套管针30和砧座组件18的砧座轴42被拉入壳体110的内壳体部分142中且被拉入衬套152中。当砧座组件18和再装载组件接近夹紧位置时，砧座轴42的腿部52的近端与弹簧夹168的中心部分168c接合，并使弹簧夹168沿图13中箭头“E”所示的方向变形。当中心部分168c沿箭头“E”所示的方向移动时，弹簧夹168的第二端168b上的锁定柄脚169沿箭头“F”所示的方向从刀架114中的切口174中拉出，以释放刀架114前进。钉合装置10可被致动以击发缝合钉120(图3)并切割组织。
在钉合装置击发且刀架114缩回之后，弹簧夹168的第二端168b移回与刀架114中的切口174对准。当砧座组件18和再装载组件100返回到它们的间隔位置时，砧座轴42的腿部52脱离与弹簧夹168的中心部分168c的接合，以允许弹簧夹的中心部分168c卡入衬套152的中心孔150a内并允许弹簧夹168的第二端上的锁定柄脚169移回到刀架114的切口174中，以再次阻止刀架114前进。
本发明公开的再装载组件100防止刀架114在第一状态和第二状态下前进，在第一状态下，砧座组件18不连接到钉合装置10的套管针30，在第二状态下，砧座组件18连接到套管针30，但相对于钉仓118处于间隔位置。在这两种情况下，如果刀具前进，则临床医生可以接近刀具116的切削刃117。在这些情况下防止刀架114和刀具116前进使得在从由环形刀具116限定的空腔中取出组织环形圈的过程中，在再装载组件100从适配器组件14脱离的过程中，将临床医生被刀具116暴露的切割刃117伤害的任何可能性降到最低。
在可选实施例中，套管针30(图12)可配置为接合弹簧夹168的中心部分168c，以在套管针30在其缩回位置与前进位置之间移动时解锁刀架114。例如，套管针30可配置为在砧座组件18的砧座轴42接合中心部分168c之前与弹簧夹168的中心部分168c接合。在此类实施例中，在砧座轴42的腿部52的近端接合弹簧夹168的中心部分168c之前，弹簧夹168的锁定柄脚169将从刀架114中的切口174移除。
本领域技术人员将理解，在本文具体描述并在附图中示出的装置和方法是非限制性的示范性实施例。可以设想，结合一个示范性实施例说明或描述的元件和特征可以与另一个的元件和特征组合，而不脱离本发明的范围。同样，本领域技术人员将基于上述实施例理解本发明的进一步特征和优点。因此，除了所附权利要求所指示的之外，本发明不受具体示出和描述的内容的限制。

Claims (18)

1.一种再装载组件，其包含：
壳体，所述壳体包括内壳体部分和外壳体部分，所述内壳体部分限定中心孔并与所述外壳体部分间隔开以在所述内壳体部分与所述外壳体部分之间限定环形空腔；
钉仓，所述钉仓支撑在所述壳体的远端部分上，所述钉仓具有多个钉凹座，所述钉凹座中的每一个容纳缝合钉；
推动器，所述推动器支撑在所述环形空腔内，所述推动器能在缩回位置与前进位置之间移动，以从所述钉仓中弹出所述缝合钉；
刀架，所述刀架包括限定纵向轴线和切口的主体，所述刀架能在所述壳体的所述环形空腔内在前进位置与缩回位置之间移动；
环形刀具，所述环形刀具支撑在所述刀架上，所述环形刀具具有限定切削刃的远端部分；以及
弹簧夹，所述弹簧夹支撑在所述壳体的所述内壳体部分上，所述弹簧夹具有锁定柄脚和接合部分，其中，所述弹簧夹能从第一位置移动到第二位置，在所述第一位置，所述接合部分延伸穿过所述壳体的所述内壳体部分的所述中心孔，并且所述锁定柄脚容纳在所述刀架的所述切口内，以阻止所述刀架前进，在所述第二位置，所述接合部分与所述壳体的所述内壳体部分的所述中心孔间隔开，并且所述锁定柄脚从所述刀架的所述切口移除。
2.根据权利要求1所述的再装载组件，其中，壳体组件的所述内壳体部分包括衬套，并且所述弹簧夹支撑在所述衬套周围。
3.根据权利要求2所述的再装载组件，其中，所述衬套限定凹部，所述凹部至少部分围绕所述衬套延伸，且所述弹簧夹支撑在所述凹部内。
4.根据权利要求3所述的再装载组件，其中，所述衬套限定狭槽，所述狭槽用于连通所述凹部与所述壳体的所述内壳体部分的所述中心孔，当所述弹簧夹位于所述第一位置时，所述弹簧夹的所述接合部分穿过所述狭槽延伸到所述中心孔中。
5.根据权利要求3所述的再装载组件，其中，所述衬套包括限定所述凹部的间隔开的凸缘，当所述弹簧夹位于所述第一位置时，所述弹簧夹的所述锁定柄脚从所述凸缘径向向外延伸。
6.根据权利要求5所述的再装载组件，其中，所述间隔开的凸缘限定邻近所述锁定柄脚的平面。
7.根据权利要求1所述的再装载组件，其中，所述推动器包括环形推动器和推动构件，所述推动构件包括容纳在所述钉仓的所述钉凹座内的指状件。
8.一种圆形钉合装置，其包含：
细长主体，所述细长主体具有近端部分和远端部分；
接近机构，所述接近机构支撑在所述细长主体内，所述接近机构包括套管针；
砧座组件，所述砧座组件包括砧座轴和砧座头，所述砧座轴限定孔，所述孔容纳所述套管针以将所述砧座组件可释放地联接到所述套管针，其中，所述接近机构是能致动的，以相对于所述钉仓在间隔位置与夹紧位置之间移动所述砧座组件；
再装载组件，所述再装载组件支撑在所述细长主体的所述远端部分上，所述再装载组件包括：
壳体，所述壳体包括内壳体部分和外壳体部分，所述内壳体部分限定中心孔并与所述外壳体部分间隔开以在所述内壳体部分与所述外壳体部分之间限定环形空腔；
钉仓，所述钉仓支撑在所述壳体的远端部分上，所述钉仓具有多个钉凹座，所述钉凹座中的每一个容纳缝合钉；
推动器，所述推动器支撑在所述壳体的所述环形空腔内，所述推动器可在缩回位置与前进位置之间移动，以从所述订仓中弹出所述缝合钉；
刀架，所述刀架包括限定纵向轴线和切口的主体，所述刀架可以在所述壳体的所述环形空腔内在前进位置与缩回位置之间移动；
环形刀具，所述环形刀具支撑在所述刀架上，所述环形刀具具有限定切削刃的远端部分；以及
弹簧夹，所述弹簧夹支撑在所述壳体的所述内壳体部分上，所述弹簧夹具有锁定柄脚和接合部分，其中，所述弹簧夹可从第一位置移动到第二位置，在所述第一位置，所述接合部分延伸穿过所述壳体的所述内壳体部分的所述中心孔，并且所述锁定柄脚容纳在所述刀架的所述切口内，以阻止所述刀架前进，在所述第二位置，所述接合部分与所述壳体的所述内壳体部分的所述中心孔间隔开，并且所述锁定柄脚从所述刀架的所述切口移除。
9.根据权利要求8所述的圆形钉合装置，其中，壳体组件的所述内壳体部分包括衬套，并且所述弹簧夹支撑在所述衬套周围。
10.根据权利要求9所述的圆形钉合装置，其中，所述衬套限定凹部，所述凹部至少部分围绕所述衬套延伸，且所述弹簧夹支撑在所述凹部内。
11.根据权利要求9所述的圆形钉合装置，其中，所述衬套限定狭槽，所述狭槽用于连通所述凹部与所述壳体的所述内壳体部分的所述中心孔，当所述弹簧夹位于所述第一位置时，所述弹簧夹的所述接合部分穿过所述狭槽延伸到所述中心孔中。
12.根据权利要求10所述的圆形钉合装置，其中，所述衬套包括限定所述凹部的间隔开的凸缘，当所述弹簧夹位于所述第一位置时，所述弹簧夹的所述锁定柄脚从所述凸缘径向向外延伸。
13.根据权利要求8所述的圆形钉合装置，其中，所述套管针可通过所述内壳体部分的所述中心孔在所述前进位置与所述缩回位置之间移动。
14.根据权利要求13所述的圆形钉合装置，其中，所述砧座轴定位成接合所述弹簧夹的所述接合部分，以在所述砧座组件朝向所述夹紧位置移动时将所述弹簧夹从其第一位置移动到其第二位置。
15.根据权利要求8所述的圆形钉合装置，其中，所述推动器包括环形推动器和推动构件，所述推动构件包括容纳在所述钉仓的所述钉凹座内的指状件。
16.根据权利要求8所述的圆形钉合装置，其进一步包括手柄组件，所述细长主体支撑在所述手柄组件上。
17.根据权利要求8所述的圆形钉合装置，其中，所述细长主体适于联接到机器人手术系统。
18.根据权利要求13所述的圆形钉合装置，其中，所述套管针定位且配置为接合所述弹簧夹的所述接合部分，以在所述砧座组件朝向所述夹紧位置移动时将所述弹簧夹从其第一位置移动到其第二位置。
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