CN111603220A - 包括流出控制密封件的组织切除器械 - Google Patents
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Abstract
组织切除器械包括末端执行器组件,其具有近侧毂壳体、从其延伸的外轴和内轴以及内芯驱动组件,用于使内轴相对于外轴旋转和往复运动。内芯驱动组件包括近侧接收器,其接收旋转输入并响应地旋转,并且包括设置在其上的密封构件。近侧接收器的旋转引起连接器的旋转以及连接器在近侧位置和远侧位置之间的往复运动。连接器可操作地联接到内轴,使得连接器的旋转和往复运动引起内轴的旋转和往复运动。在近侧位置,连接器和密封构件建立了阻止流出的密封。在远侧位置,连接器从密封构件移开以允许流出。
Description
技术领域
本公开一般涉及组织切除的领域。特别地,本公开涉及一种包括流出控制密封件的组织切除器械。
背景技术
组织切除可以以内窥镜在器官诸如子宫内进行,其是通过插入内窥镜(或宫腔镜)到子宫并使组织切除器械通过内窥镜(或宫腔镜)并进入子宫。关于这种内窥镜组织切除手术,通常希望用流体例如盐水、山梨糖醇或甘氨酸使子宫扩张。手术期间流体的流入和流出将子宫保持在扩张状态,并从子宫内冲洗组织和其他碎片以保持可见的工作空间。
发明内容
如本文中所使用,术语“远侧”是指所描述的更远离使用者的部分,而术语“近侧”是指所描述的更接近使用者的部分。进一步地,在一致性程度上,本文描述的任何或所有方面都可以与本文描述的任何或所有其它方面结合使用。
根据本公开的方面提供一种组织切除器械的末端执行器组件。末端执行器组件包括近侧毂壳体、从近侧毂壳体延伸的外轴、设置在外轴内并配置成相对于外轴旋转和往复运动以切割组织的内轴、以及至少部分地设置在近侧毂壳体内的内芯驱动组件。内芯驱动组件可操作地联接到内轴,并且配置成使得提供给内芯驱动组件的旋转输入引起内轴相对于外轴的旋转和往复运动。内芯驱动组件包括近侧接收器,该近侧接收器配置成接收旋转输入并响应于此而相对于近侧毂壳体旋转。近侧接收器包括设置在其上的密封构件。内芯驱动组件还包括连接器,该连接器可操作地联接至近侧接收器,使得近侧接收器的旋转引起连接器相对于近侧毂壳体的旋转以及连接器相对于近侧接收器和近侧毂壳体在近侧位置和远侧位置之间的往复运动。连接器可操作地联接到内轴,使得连接器的旋转和往复运动引起内轴的旋转和往复运动。该连接器限定设置成与内轴的内部流体连通的腔。在近侧位置,连接器邻接密封构件以建立阻止从腔流出的密封。在远侧位置,连接器从密封构件移开以允许从腔流出。
在本公开的一个方面中,内芯驱动组件还包括螺纹联接器,其可操作地联接到所述连接器,和与螺纹联接器可操作地接合的从动件。响应于近侧接收器的旋转,连接器的旋转使螺纹联接器相对于从动件旋转,从而使螺纹联接器和连接器相对于近侧接收器往复运动。
在本公开的另一个方面,连接器通过至少部分接收近侧接收器的远侧脊在所述连接器的腔内相对于所述近侧接收器被旋转地固定。
在本公开的另一个方面,所述远侧脊可相对于连接器的腔可滑动,以允许连接器相对于近侧接收器往复运动。
在本公开的又一方面中,密封构件被设置在所述远侧脊周围。
在本公开的又另一个方面,所述连接器的往复运动引起内轴的类似往复运动。
在又本公开的另一个方面,传动装置可操作地联接在所述连接器和内轴之间,使得内轴的旋转相对于连接器的转动被放大或衰减。
在本公开的另一个方面,所述外轴限定窗口并且内轴被配置成相对于所述窗口旋转和往复运动以切割延伸通过窗口的组织。
在又本发明的另一个方面,所述连接器的近侧位置对应于内轴相对于所述外轴的近侧位置。
根据本公开的方面提供的组织切除器械包括手柄组件,其包括驱动转子和流出管道,和末端执行器组件,其被配置成可释放地接合手柄组件。末端执行器组件包括外轴、设置在外轴内并配置成相对于外轴旋转和往复运动以切割组织的内轴、以及内芯驱动组件。内芯驱动组件包括近侧接收器,该近侧接收器配置成从驱动转子接收旋转输入并响应于此而旋转。近侧接收器包括设置在其上的密封构件。内芯驱动组件还包括连接器,该连接器可操作地联接至近侧接收器,使得近侧接收器的旋转引起连接器的旋转以及连接器在近侧位置和远侧位置之间的往复运动。连接器可操作地联接到内轴,使得连接器的旋转和往复运动引起内轴的旋转和往复运动。该连接器限定设置成与内轴的内部流体连通的腔。在近侧位置,连接器邻接密封构件以建立阻止从腔流出到流出管道的密封。在远侧位置,连接器从密封构件移开以允许从腔流出到流出管道。
在本公开的一个方面,手柄组件还包括被配置为驱动所述驱动转子旋转的电动机。
在本公开的另一个方面中,内芯驱动组件还包括螺纹联接器,其可操作地联接到所述连接器,和与螺纹联接器可操作地接合的从动件。响应于近侧接收器的旋转,连接器的旋转使螺纹联接器相对于从动件旋转,从而使螺纹联接器和连接器相对于近侧接收器往复运动。
在本公开的又另一个方面,连接器通过至少部分接收近侧接收器的远侧脊在所述连接器的腔内相对于所述近侧接收器被旋转地固定。在这样的方面,所述远侧脊可以是相对于连接器的腔可滑动的,以允许连接器相对于近侧接收器往复运动。附加地或可替代地,密封构件被设置在所述远侧脊周围。
在本公开的又另一个方面,其中所述连接器的往复运动引起内轴的类似往复运动。
在又本公开的另一个方面,传动装置可操作地联接在所述连接器和内轴之间,使得内轴的旋转相对于连接器的转动被放大或衰减。
在本公开的另一个方面,所述外轴限定窗口并且内轴被配置成相对于所述窗口旋转和往复运动以切割延伸通过窗口的组织。
在本公开的另方面,所述连接器的近侧位置对应于内轴相对于所述外轴的近侧位置。
在本公开的另一个方面,驱动转子被配置成将旋转输入到近侧接收器之后提供进一步的旋转输入到近侧接收器以使连接器返回到近侧位置,从而建立阻止从所述腔流出到流出管道的密封。
附图说明
下文中参考图式描述本公开的各种方面和特征,其中相似的编号在若干视图中的每一个中指定相同或对应元件。
图1是根据本公开的方面提供的组织切除器械的侧视图,其包括手柄组件和末端执行器组件,其中末端执行器组件的远端部分被放大以更好地示出其特征。
图2是图1的组织切除器械的末端执行器的透视图;
图3是图2的末端执行器组件的纵向横截面图;
图4是图1的组织切除器械的一部分的纵向截面图,其中末端执行器组件可操作地联接至手柄组件的驱动转子并且流体地联接至手柄组件的流出管道,其中去除了手柄组件的其余部分;
图5是图4中图解的图1的组织切除器械的一部分的纵向截面图,其中末端执行器组件可操作地联接到手柄组件的驱动转子并与手柄组件的流出管道密封,其中去除了手柄组件的其余部分;
图6是图2的末端执行器组件的密封构件的前视图;
图7是图6的密封构件的侧视图;
图8为沿着图6的截面线“8-8”截取的纵向横截面图;
图9是配置成与图2的末端执行器组件一起使用的另一密封构件的前视图;
图10是图9的密封构件的侧视图;
图11是图9的密封构件的后视图;和
图12为沿着图10的截面线“12-12”截取的纵向横截面图。
具体实施方式
大体参见图1,根据本公开提供的并且配置用于切除组织的组织切除器械10包括末端执行器组件100和手柄组件200。组织切除器械10适于经由缆线300连接至控制单元(未示出),以向组织切除器械10提供电力和控制功能,尽管组织切除器械10可以替代地或附加地包括与手柄组件200相关联的控件和/或放置在手机组件200中的电源例如电池。组织切除器械10还适于经由流出管400连接至流体管理系统(未示出),以通过组织切除器械10施加吸力以从手术部位去除流体、组织和碎屑,如下详述。控制单元和流体管理系统可以彼此集成、彼此联接或彼此分离。
组织切除器械10可配置为一次性使用的设备,其在使用后将其丢弃或发送给制造商进行再处理;可重复使用的设备,其能够被清洁和/或消毒以供最终用户重复使用;或部分一次性使用、部分可重复使用的设备。关于部分一次性使用、部分可重复使用的配置,手柄组件200可被配置为可清洁/可消毒的可重复使用的部件,而末端执行器组件100被配置为一次性使用的、一次性/可再处理的部件。在以上任何配置中,末端执行器组件100被配置为可释放地接合手柄组件200,以促进任何一次性部件的处置/再处理以及任何可重复使用部件的清洁和/或灭菌。此外,使末端执行器组件100与手柄组件200可释放地接合允许将不同的末端执行器组件(例如,不同长度、构造等的末端执行器组件)与手柄组件200互换使用。
继续参考图1,手柄组件200通常包括手柄壳体210,穿过(如图所示)限定、延伸穿过、设置在手柄壳体210上或与手柄壳体210相关联的流出管道220,设置在手柄壳体210内的电动机250以及驱动转子260,驱动转子260至少部分地布置在手柄壳体210内并且可操作地联接至电动机250。手柄组件200还可包括一个或多个设置在手柄壳体210上或可操作地与手柄壳体210相关联的控件(未示出),以促进组织切除器械10的激活。此外,流出管400配置成连接至流出管道220的近端部分,从而将流出管道220连接至流体管理系统(未示出)。流体管理系统包括真空源,以通过组织切除器械10和流出管400建立抽吸,以促进从手术部位清除流体、组织和碎屑,并且还可以包括用于收集清除的流体、组织和碎屑的收集储器,例如收集罐。替代于或附加于通过组织切除器械10和流出管400建立抽吸的真空源,还可以经由手术部位与流出路径之间的压力差在其中产生真空。
手柄壳体210限定了铅笔握持构造,但是也可以设想其他构造,例如,手枪握持构造,并且包括设置在其敞开的远端部分214处的远侧毂212。远侧毂212限定环形凹部216,该环形凹部216被配置为促进末端执行器组件100与手柄组件200可释放地接合,如下文详述。手柄壳体210的敞开的远端部分214提供通向驱动转子260和手柄壳体210内的流出管道220的远端部分的通道,从而在末端执行器组件100与手柄组件200接合时,如下面详述,末端执行器组件100的一部分延伸穿过敞开的远端部分214并进入手柄壳体210的内部,以与驱动转子260和流出管道220的远端部分可操作地连接。
缆线300从手柄壳体210向近侧延伸,并且被配置为连接到所述控制单元(未示出),以向组织切除器械10提供电源和控制功能。更具体地,缆线300容纳一根或多根电线310,其延伸到手柄壳体210中并连接到其控件和/或电动机250以为电动机250供电并根据与手柄组件200相关的控件来控制组织切除器械10、控制单元和/或其他远程控制设备例如脚踏开关(未显示)的操作。
驱动转子260可操作地联接电动机250并从其向远侧延伸,使得在电动机250的激活后,电动机250驱动驱动转子260的旋转。驱动转子260的至少一部分限定非圆形的横截面构造,例如正方形或其他多边形构造。驱动转子260配置成在末端执行器组件100与手柄组件200接合之后以相对于其固定的旋转取向至少部分地接收在末端执行器组件100(参见图2)的近侧接收器146内。这样,电动机250的激活驱动驱动转子260的旋转,从而继而驱动末端执行器组件100的内切割轴130的旋转,如下所述。
参考图1-3,末端执行器组件100包括近侧毂壳体110,与近侧毂壳体110整体形成、固定地接合或以其他方式与其连接并从其远端延伸的细长外轴120,设置在细长外轴120内的内切割轴130,以及内芯驱动组件140。
末端执行器组件100的近侧毂壳体110包括远侧主体部分112和可被彼此整体地形成、接合或以其它方式连接的近侧延伸部分114。在末端执行器组件100与手柄组件200接合的情况下,近侧毂壳体110的近侧延伸部分114延伸到手柄组件200的手柄壳体210中,而远侧主体部分112基本邻接并从手柄组件200的手柄壳体210向远侧延伸。接合杆116从近侧毂壳体110延伸。接合杆116包括指状舌片117a和接合齿117b,接合齿117b设置在活动铰链枢轴117c的相对侧上,使得朝近侧毂壳体110推动指状舌片117a将接合齿117b推离近侧毂壳体110,反之亦然。
在将末端执行器组件100的近侧毂壳体110的近侧延伸部分114插入到手柄组件200的手柄壳体210中后,接合齿117b配置成凸轮越过手柄组件200的远侧毂212并接合在手柄组件200的远侧毂212的环形凹槽216中以使末端执行器组件100和手柄组件20彼此接合。末端执行器组件100与手柄组件200的脱离是通过朝近侧毂壳体110压下指状舌片117a从而将接合齿117b从环形凹槽216中抽出来实现的。在接合齿117b从环形凹槽216脱离的情况下,末端执行器组件100可以相对于手柄组件200向远侧移动,以从手柄壳体210缩回近侧延伸部分114,从而使末端执行器组件100与手柄组件200脱离。
参考图1,末端执行器组件100的细长外轴120如上所述包括与近侧毂壳体110的远端主体部分112固定地接合的近端部分122(见图3)。细长外轴120还包括限定闭合的远端126的远端部分124和与闭合的远端126向近侧间隔开的窗口128。窗口128提供进入细长外轴120的内部的通道,并且可以被围绕窗口128的外周的切割边缘129围绕,以便于切割穿过窗口128并进入细长外轴120的组织。
末端执行器组件100的内切割轴130延伸通过细长外轴120并且限定近端部分132和限定了开口远端136的远端部分134。内切割轴130的近端部分132与内芯驱动组件140可操作地联接,如下文详述(见图3)。内切割轴130限定围绕开口远端136的环形切割边缘138,以便于切割经由开口远端136进入内切割轴130的组织。内切割轴130可在细长外轴120内并相对于细长外轴120往复运动。更具体地,内切割轴130被配置为往复运动并旋转,使得在内切割轴130的往复运动的至少一部分期间,环形切割边缘138在细长外轴120的窗口128内暴露,从而能够切割与其一起的组织。如下详述,提供抽吸以促进将组织吸入细长外轴120的窗口128中,并因此促进利用内切割轴130切割组织以及通过内切割轴130去除组织。还考虑了协作以促进组织切割的细长外轴120和/或内切割轴130的其他合适的构造。
参考图2和3,内芯驱动组件140部分地设置在近侧毂壳体110内,并且从近侧毂壳体110向近侧延伸,以便于与手柄组件200可操作地接合。此外,内芯驱动组件140在近侧毂壳体110内联接至内切割轴130,使得例如经由手柄组件200施加到内芯驱动组件140的旋转输入驱动内切割轴130在细长外轴120内并且相对于其往复运动和旋转,如下面详细描述。
内芯驱动组件140更具体地包括:套圈142,其围绕内切割轴130的近端部分132固定接合;螺纹联接器144;近侧接收器146;以及连接器148,其可操作地使套圈142、螺纹联接器144和近侧接收器146彼此连接,如下所述。内芯驱动组件140还包括相对于近侧毂壳体110固定的从动件150。从动件150包括与近侧毂壳体110固定接合的盖152和从盖152延伸成与螺纹联接器144的螺旋通道145可操作地接合的臂154。
继续参考图2和图3,内芯驱动组件140的近侧接收器146包括面向近侧的腔147a,其至少一部分具有非圆形的横截面构造,例如8点星形或其他多边形构造,其配置成以固定的旋转取向至少部分地接收手柄组件200的驱动转子260(见图4和5)。近侧接收器146进一步包括中央套环147b,其接收在限定在近侧毂壳体110的近侧延伸部分114内的内部环形凹部115内,以相对于近侧毂壳体110纵向固定并可旋转地联接近侧接收器146。近侧接收器146还包括从中央套环147b向远侧延伸的远侧脊147c和围绕远侧脊147c接合的密封构件160。远侧脊147c的至少一部分限定非圆形的横截面构造,例如矩形或其他多边形构造。
连接器148限定了面向近侧的腔149a,其至少一个具有非圆形的横截面构造,例如,矩形或其它多边形构造,其被配置为以固定的旋转方向接收近侧接收器146的远侧脊147c的至少一部分,同时允许在它们之间的相对平移。连接器148另外包括围绕面向近侧的腔149a的环形、面向近侧的表面149b。面向近侧的表面149b可以是基本平坦的光滑表面,以有助于在面向近侧的表面149b和密封构件160之间建立液密密封,如下详述。连接器148进一步包括远侧主体149c,该远侧主体149c与螺纹联接器144固定接合并与套圈142可操作地接合,从而将连接器148和螺纹联接器144与内切割轴130平移固定并旋转联接。更具体地,连接器148的远侧主体149c经由传动装置143与套圈142可操作地接合,以相对于从驱动转子260的旋转输出放大或衰减内切割轴130的旋转输入。替代地,连接器148的远侧主体149c可以围绕套圈142固定地接合(或通过1:1齿轮比或其他合适的1:1输入输出比可操作地联接),使得施加给内切割轴130的旋转等于驱动转子260的旋转输出。在任一配置中,套圈142和连接器148相对于内切割轴130的近端部分132定位,使得连接器148的面向近侧的腔149a设置成通过内切割轴130的开口近端与内切割轴130的内部流体连通。
转向图4和图5,在使用中,手柄组件200的电动机250(参见图1)被激活以驱动驱动转子260的旋转。在启动电动机250(图1)时,相对于启动电动机250具有先启或延迟,或者独立于此,通过手柄组件200的流出管道220和流出管400建立吸力,例如,通过激活流体管理系统的真空源。
由于驱动转子260的固定旋转接合至少部分在内芯驱动组件140的近侧接收器146的面向近侧的腔147a内,因此驱动转子260的旋转引起近侧接收器146的类似旋转。近侧接收器146相对于近侧毂壳体110的旋转又通过至少部分地在连接器148的面向近侧的腔149a内的近侧接收器146的远侧脊147c的固定旋转接合传递至连接器148。施加到连接器148的旋转又通过连接器148的远侧主体149c的与其固定接合而传递到螺纹联接器144。
此外,由于从动件150的臂154可操作地接合在螺纹联接器144的螺旋通道145内,因此赋予螺纹联接器144的旋转使螺纹联接器144往复运动,从而也使连接器148相对于近侧毂壳体110和近侧接收器146往复运动(由此近侧接收器146的远侧脊147c在连接器148的面向近侧的腔149a内往复运动)。螺纹联接器144和连接器148的往复运动和旋转还通过传动装置143和套圈142传递到内切割轴130,使得内切割轴130在细长外轴120内并且相对于细长外轴120旋转和往复运动。尽管传动装置143可以改变内切割轴130相对于螺纹联接器144和连接器148的旋转,但是内切割轴130类似于螺纹联接器144和连接器148往复运动。
另外参考图1,当电动机250工作时,螺纹联接器144和连接器148旋转并往复运动以实现内切割轴130的旋转和往复运动。特别地,关于往复运动,内切割轴130、螺纹联接器144和连接器148从相应的最近侧位置重复往复运动到相应的最远侧位置,并返回到相应的最近侧位置。
当连接器148从其最近侧位置移开时,如图4所示,连接器148的面向近测的表面149b与密封构件160间隔开,因此,连接器148的设置成与内切割轴130的内部流体连通的面向近测的腔149a也设置成与手柄组件200的流出管道220流体连通,从而使通过流出管道220施加的吸力在内切割轴130内建立真空,以通过细长外轴120的窗口128将组织吸引并进入内切割轴130中,同时切割边缘129、138有助于当组织穿过窗口128并进入内部切割轴130时切割组织。切割的组织、流体和碎屑通过内部切割轴130、连接器148的面向近侧的腔149a、手柄组件200的流出管道220和流出管400被抽吸至收集储器。
然而,当将连接器148布置在其最近侧位置时,如图5所示,连接器148的面向近侧的表面149b与密封构件160密封地接合,从而使连接器148的面向近侧的腔149a与手柄组件200的流出管道220密封,并阻止了它们之间的流体连通。因此,在连接器148的最近侧位置,没有通过内切割轴130施加吸力。
图5所示连接器148的最近侧位置(其也对应于螺纹联接器144和内切割轴130的最近测位置),其中连接器148的面向近侧的表面149b与密封构件160密封地接合,可以对应于末端执行器组件100的初始和/或原始位置。更具体地,在末端执行器组件100与手柄组件200接合之前,末端执行器组件100可初始地将连接器148设置在其最近侧位置。因此,在末端执行器组件100与手柄组件200接合之后,将连接器148的面向近侧的腔149a与手柄组件200的流出管道220密封开。此外,该初始位置可以被指定为原始位置,由此,当末端执行器组件100与手柄组件200接合时,与电动机250相关联的控制程序(未示出)记录驱动转子260的旋转位置(见图1),并在激活后确保驱动转子260停止在与连接器148的最近侧位置相对应的旋转位置,并因此在连接器148的面向近侧的腔149a与手柄组件200的流出管道220密封的位置。
控制程序可以利用相关信息,例如,使驱动转子260的旋转与连接器148的往复运动相关联,以确保在每次激活后连接器148返回其最近侧位置。由于相关信息可以根据所使用的特定末端执行器组件100的不同而变化,因此控制程序可以与末端执行器组件100进行通信或从中读取信息,以便使驱动转子260的旋转与连接器148的往复运动相关联,从而设置原始位置。
转向图6-8,示出了密封构件160。还可以考虑配置成与组织切除器械10(图1)一起使用的其他合适的密封构件,例如密封构件1160(图9-12)。密封构件160包括大致圆柱形的主体162、从主体162径向向外突出的近侧边缘164以及在相对于近侧边缘164间隔开的位置处从主体162径向向外突出的远侧边缘166。密封构件160可以由任何合适的材料例如硅树脂、橡胶、PTFE等整体成型,例如模制。
另外参考图4和5,主体162限定了延伸穿过其中的纵向内腔163,该纵向内腔被配置成接收近侧接收器146的远侧脊147c以将密封构件160固定在远侧脊147c周围。远侧边缘166限定了面向远侧的密封表面167,并且被配置为响应于面向近侧的表面149b向近侧推动以与面向远侧的密封表面167接触而抵靠连接器148的面向近侧的表面149b建立密封,例如,在连接器148的最近侧位置(见图5)。以这种方式,远侧边缘166用作面密封。另一方面,近侧边缘164的外周边165配置成密封地接合近侧毂壳体110的近侧延伸部分114的内表面,以抑制设置在近侧毂壳体110的近侧延伸部分114内的任何流体向近侧通过超过密封构件160,并阻止密封构件160近侧的流体(但在流出路径之外)被吸入流出路径。近侧边缘164被配置成动态密封件,因为其外周边165在远侧脊147c的整个旋转过程中保持与近侧毂壳体110的近侧延伸部分114的内表面的密封,并因此相对于近侧毂壳体110的近侧延伸部分114保持密封构件160。因此,密封构件160提供双重密封构造。
转向图9-12,示出了配置成与组织切除器械10(图1)一起使用的另一密封构件1160。密封构件1160包括大体上圆柱形的主体1162,其限定了近端部分1163、远端部分1165和纵向延伸穿过其中的内腔1166。密封构件1160的远端部分1165向外翻转并返回到主体1162的外部,以限定面向远侧的表面1168a和面向径向向外的表面1168b。
另外参考图4和图5,主体1162被配置用于围绕近侧接收器146的远侧脊147c定位(远侧脊147c延伸穿过内腔1166)以将密封构件1160固定在远侧脊147c周围。面向远侧的表面1168a被配置为响应于面向近侧的表面149b近侧推动以与面向远侧的密封表面1168a接触而建立抵靠连接器148的面向近侧的表面149b的密封,例如在连接器148的最近侧位置(见图5)。以这种方式,面向远侧的表面1168a用作面密封。另一方面,径向向外的表面1168b被配置成密封地接合近侧毂壳体110的近侧延伸部分114的内表面,以抑制设置在近侧毂壳体110的近侧延伸部分114内的任何流体朝近侧通过密封构件1160,并阻止密封构件1160的近侧的流体(但在流出路径外部)被吸入流出路径。径向向外的表面1168b被配置为动态密封件,该动态密封件被配置为在远侧脊147c的整个旋转过程中保持与近侧毂壳体110的近侧延伸部分114的内表面的密封,并因此相对于近侧毂壳体110的近侧延伸部分114保持密封构件1160。因此,密封构件1160提供双重密封构造。
大体上参考图1,作为配置成在使用期间手动抓握和操纵的手柄组件200的替代方案,组织切除器械10可以替代地地配置成与机器人手术系统一起使用,其中手柄壳体210配置成接合机器人手术系统的机器人臂。机器人手术系统采用各种机器人元件来辅助外科医生并允许远程操作(或部分远程操作)。更具体地,出于此目的,可以采用各种机器人臂、齿轮、凸轮、滑轮、电动电动机和机械电动机等并且其可以设计有机器人外科手术系统以便在操作或处理的过程期间辅助外科医生。机器人手术系统可以包含远程可转向系统、自动柔性外科手术系统、远程柔性外科手术系统、远程铰接外科手术系统、无线外科手术系统、模块化或可选择性地配置的远程操作外科手术系统等。
机器人手术系统可以与手术室旁边的或位于远程位置的一个或多个控制台一起使用。在这种情况下,一个外科医生或护士团队可以为患者做好手术准备,并且为机器人手术系统配置本文公开的一个或多个手术仪器,而另一位外科医生(或一组外科医生)经由机器人手术系统远程控制手术仪器。如可以理解的,高技术的外科医生可以在不离开他的/她的远程控制台的情况下在多个位置执行多个操作,这样同时可以是经济上有利的并且有益于患者或一系列患者。
机器人手术系统的机器人臂典型地由控制器联接到一对主手柄。外科医生可以移动手柄以使任何类型的外科手术器械(例如,末端执行器、抓握器、刀、剪刀、相机、流体递送设备等)的工作端产生相应的移动,这可以补充本文所描述的组织切除设备的使用。主手柄的移动可以缩放,使得工作端的相应的移动不同于、小于或大于外科医生的操作的手所执行的移动。比例因子或齿轮传动比可以是可调整的,使得操作者可以控制一个或多个外科手术器械的工作端的分辨率。
虽然在附图中已经示出了本公开的几个实施例,但并不意味着本公开局限于此,因为意图是使本公开的范围与本领域所允许的一样宽,并且同样地阅读说明书。因此,以上描述不应解释为限制性的,而仅仅是作为具体实施例的实例。本领域的技术人员将构想出在所附权利要求的范围和精神内的其它修改。
尽管已经通过说明和实例的方式详细描述了前述公开内容,但是为了清楚或理解的目的,显而易见的是,可以在所附权利要求的范围内实践某些改变和修改。
Claims (11)
1.一种组织切除器械的末端执行器组件,所述末端执行器组件包括:
近侧毂壳体;
从所述近侧毂壳体延伸的外轴;
设置在所述外轴内并配置成相对于所述外轴旋转和往复运动以切割组织的内轴;和
至少部分地布置在所述近侧毂壳体内的内芯驱动组件,所述内芯驱动组件可操作地联接到所述内轴,并且配置成使得提供给所述内芯驱动组件的旋转输入引起所述内轴相对于所述外轴的旋转和往复运动,所述内芯驱动组件包括:
近侧接收器,其被配置成接收所述旋转输入并响应于此而相对于所述近侧毂壳体旋转,所述近侧接收器包括设置在其上的密封构件;和
连接器,所述连接器可操作地联接至所述近侧接收器,使得所述近侧接收器的旋转引起所述连接器相对于所述近侧毂壳体的旋转以及所述连接器相对于所述近侧接收器和所述近侧毂壳体在近侧位置和远侧位置之间的往复运动,所述连接器可操作地联接至所述内轴以使所述连接器的旋转和往复运动引起所述内轴的旋转和往复运动,所述连接器限定设置成与所述内轴的内部流体连通的腔,其中在所述近侧位置,所述连接器邻接所述密封构件以建立阻止从所述腔流出的密封,并且其中,在所述远侧位置,所述连接器从所述密封构件移位以允许从所述腔流出。
2.根据权利要求1所述的末端执行器组件,其中所述内芯驱动组件还包括:
可操作地联接到所述连接器的螺纹联接器;和
与所述螺纹联接器可操作地接合的从动件,
其中响应于所述近侧接收器的旋转,所述连接器的旋转使所述螺纹联接器相对于所述从动件旋转,从而使所述螺纹联接器和所述连接器相对于所述近侧接收器往复运动。
3.根据权利要求1或2所述的末端执行器组件,其中所述连接器通过至少部分接收所述近侧接收器的远侧脊在所述连接器的腔内相对于所述近侧接收器被旋转地固定。
4.根据权利要求3所述的末端执行器组件,其中所述远侧脊可相对于所述连接器的所述腔滑动,以允许所述连接器相对于所述近侧接收器往复运动。
5.根据权利要求3或4所述的末端执行器组件,其中所述密封构件被设置在所述远侧脊周围。
6.根据前述权利要求中任一项所述的末端执行器组件,其中所述连接器的往复运动引起所述内轴的类似往复运动。
7.根据前述权利要求中任一项所述的末端执行器组件,其中传动装置可操作地联接在所述连接器和所述内轴之间,使得所述内轴的旋转相对于所述连接器的转动被放大或衰减。
8.根据前述权利要求中任一项所述的末端执行器组件,其中所述外轴限定窗口并且其中所述内轴被配置成相对于所述窗口旋转和往复运动以切割延伸通过所述窗口的组织。
9.根据前述权利要求中任一项所述的末端执行器组件,其中所述连接器的近侧位置对应于所述内轴相对于所述外轴的近侧位置。
10.一种组织切除器械,其包括:
手柄组件,其包括驱动转子和流出管道;和
根据前述权利要求中任一项所述的末端执行器组件,其中所述末端执行器组件配置成可释放地接合所述手柄组件。
11.根据权利要求10所述的组织切除器械,其中所述手柄组件还包括被配置为驱动所述驱动转子旋转的马达。
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US20200268946A1 (en) | 2020-08-27 |
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