CN111671521B - 用于将运动从伺服致动器传递到外科手术器械的联接器 - Google Patents
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Abstract
本申请题为“用于将运动从伺服致动器传递到外科手术器械的联接器”。一种用于联接外科手术器械和外科手术器械操纵器的无菌适配器包括底部部件和联接部件。底部部件包括带有底部唇缘的底部部件开口,底部唇缘具有锁定机构。联接部件可旋转地联接至底部部件。联接部件包括与外科手术器械操纵器接合的接合特征。联接部件还包括锁定机构开口,锁定机构开口在接合特征未与外科手术器械操纵器接合时接合锁定机构。联接部件可包括固位凸块,固位凸块与键槽对齐以将联接部件插入到底部部件开口中,然后与键槽不对齐以将联接部件固位在底部部件开口中。斜坡可设置在凹槽的前缘上以便于使联接部件与外科手术器械操纵器接合。
Description
本申请是于2015年3月17日提交的名称为“用于将运动从伺服致动器传递到外科手术器械的联接器”的中国专利申请201580013952.X(PCT/US2015/020884)的分案申请。
相关申请
本申请要求保护以下早期申请的优先权:
美国专利61/954,497 2014年3月17日(17-03-2014)
美国专利61/954,502 2014年3月17日(17-03-2014)
美国专利61/954,557 2014年3月17日(17-03-2014)
美国专利61/954,571 2014年3月17日(17-03-2014)
美国专利61/954,595 2014年3月17日(17-03-2014)
美国专利62/019,318 2014年6月30日(30-06-2014)
美国专利62/103,991 2015年1月15日(15-01-2015)
美国专利62/104,306 2015年1月16日(16-01-2015)
这些专利申请中的每一个专利申请以最大容许的程度通过引用明确并入本文。
技术领域
本发明的实施例涉及机械联接器领域;并且更具体地涉及用于将运动从遥控致动器传递到附连的外科手术器械的机械联接器。
背景技术
微创医疗技术已经用于减小在诊断或外科手术程序过程中可能损害的外部组织量,由此减少患者恢复时间、不适和有害的副作用。常规形式的微创外科手术包括内窥镜检查。更常见形式的内窥镜检查之一是腹腔镜检查,这是腹腔内的微创检查或外科手术。在传统的腹腔镜外科手术中,患者的腹腔被吹气,并且套管套筒穿过患者腹部肌肉组织中的小(大约12mm)切口以提供腹腔镜外科手术器械可以以密封方式穿过的入口端口。
腹腔镜外科手术器械通常包括用于观察外科手术区的腹腔镜以及具有末端执行器的外科手术器械。典型的外科手术末端执行器包括例如夹钳,抓钳,剪刀,缝合器,和持针器。外科手术器械类似于常规(开放式)外科手术中使用的外科手术器械,例外在于,例如大约30cm长的延伸管使每个外科手术器械的工作端或末端执行器与其手柄分开,以便允许操作者将末端执行器引入到外科手术部位并且从患者体外控制末端执行器相对于外科手术部位的移动。
为了提供对工作工具的改进的控制,可能希望用遥控致动器控制外科手术器械。外科医生可以在控制台操作控件以间接地操纵连接到遥控致动器上的器械。外科手术器械可拆卸地联接至遥控致动器,使得外科手术器械可以被单独灭菌并且选择用作待进行的外科手术过程所需的器械。在外科手术过程中,可以更换外科手术器械。
用遥控外科手术器械执行外科手术面临新的挑战。一个挑战是需要保持临近患者的区域处于无菌条件。然而,控制外科手术器械所需的电机、传感器、编码器和电气连接器通常不能够使用常规的方法(例如,蒸汽,加热和压力或化学方品)灭菌,因为它们会在灭菌过程中受到损坏或破坏。
遥控外科手术系统的另一个挑战是在程序过程中外科医生通常会采用几个不同的外科手术器械。许多不同的外科手术器械在手术过程中通常通过同一套管针套筒引入以限制所需的切口数量。因此,可用的器械夹具数量有限,经常少于在程序过程中使用的外科手术器械的数量。因此,在手术过程中会从同一个器械夹具多次附连和拆卸外科手术器械。外科手术器械与遥控致动器及其控制器之间需要许多连接。需要连接来传送致动器力、电信号和数据。这使得将外科手术器械附连至遥控致动器及其控制器变得复杂。
遥控外科手术系统的又一个挑战是手术室不是用于准备精确机械组件的理想环境。
可能希望提供以更简单并更有效的方式来接合和分离外科手术器械和遥控致动器驱动装置,同时防止遥控致动器污染并且允许快速并且可靠地附连一系列外科手术器械,从而保持外科手术器械周围的无菌区域。
可能希望提供以更简单并更有效的方式来接合和分离外科手术器械和遥控致动器驱动装置,同时防止遥控致动器污染并且允许快速并且可靠地附连一系列外科手术器械,从而保持外科手术器械周围的无菌区域。
发明内容
一种用于联接外科手术器械和外科手术器械操纵器的无菌适配器包括底部部件和联接部件。该底部部件包括带有底部唇缘的底部部件开口,该底部唇缘具有锁定机构。该联接部件可旋转地联接至该底部部件。该联接部件包括与该外科手术器械操纵器接合的接合特征。该联接部件进一步包括锁定机构开口,该锁定机构开口在该接合特征未与该外科手术器械操纵器接合时接合该锁定机构。该联接部件可以包括固位凸块(retention tab),该固位凸块与键槽对齐以将该联接部件插入到该底部部件开口中,并且然后与该键槽不对齐以将该联接部件固位在该底部部件开口中。斜坡可以设置在凹槽的前缘上以便于使该联接部件与该外科手术器械操纵器接合。
本发明的其它特征和优点将从附图和以下详细说明中变得清楚。
附图说明
通过参考用于举例而非限制地说明本发明的实施例的以下说明和附图可以最佳地理解本发明。在其中相同参考标号指示类似元件的附图中:
图1是遥控外科手术系统的说明性患者侧部分的视图。
图2是与遥控执行器一起使用的外科手术器械的侧视图。
图3A是外科手术器械、外科手术器械操纵器的托架和器械无菌适配器(ISA)的联接的示例性实施例的图示。
图3B是图3A的联接器系统的示例性实施例的图示。
图4是装配的ISA的示例性实施例的图示。
图5是ISA底部部件和多个ISA联接器的图示。
图6是ISA联接器的示例性实施例的图示。
图7是与ISA底部部件联接的多个ISA联接器的图示。
图8是具有放置在顶部部件开口中的一个ISA联接器的ISA顶部部件的示例性实施例的图示。
图9是在没有ISA联接器的情况下与ISA底部部件联接的ISA顶部部件的剖开图示。
图10是在没有ISA联接器的情况下与ISA底部部件联接的ISA顶部部件的示例性实施例的图示。
图11是ISA的下侧的示例性实施例的图示。
图12是器械托架的示例性实施例的图示。
图13A是具有图示为凸起部的锁定机构的ISA底部部件的示例性实施例的图示。
图13B是在图13A的一部分中图示的凸起部锁定机构的放大图。
图13C是具有图示为棘齿的锁定机构的ISA底部部件的示例性实施例的图示。
图13D是在图13C的一部分中图示的棘齿锁定机构的放大图。
图14是ISA和外科手术器械操纵器的实施例的图示;
图15是ISA和外科手术器械的实施例的图示;
图16A是ISA底部接合特征正接近没有入口斜坡的托架接合特征的示例性实施例的图示。
图16B是图14的示例性实施例的图示,示出了使ISA底部接合特征与托架接合特征联接的尝试失败。
图17A是ISA底部接合特征正接近包括入口斜坡的托架接合特征的示例性实施例的图示。
图17B是图15的示例性实施例的图示,示出了ISA底部接合特征正接近托架接合特征并且使用入口斜坡开始与托架接合特征配合。
图18A是包括入口斜坡的ISA底部接合特征正接近托架接合特征的示例性实施例的图示。
图18B是图16A的示例性实施例的图示,示出了ISA底部接合特征正接近托架接合特征并且使用入口斜坡开始与托架接合特征配合。
具体实施方式
在下文描述中,说明许多具体细节。然而,应理解,本发明的实施例可在没有这些特定细节的情况下实践。在其它情形中,未详细示出众所周知的电路、结构和技术以免模糊对本说明的理解。
在以下说明中,参考图示了本发明的若干个实施例的附图。应理解,可利用其它实施例,且可在不脱离本披露的精神和范围的情况下进行机械组成、结构、电气和操作变化。以下详细说明不应被视为限制意义,且本发明的实施例的范围仅由所颁发专利的权利要求书限定。
在此使用的术语仅用于描述具体实施例而不旨在限制本发明。空间相对术语,诸如“下面”、“下方”、“下部”、“上方”、“上部”等等可为了方便说明而用于描述图中所图示的一个元件或特征与另一个元件或特征的关系。应理解,空间相对术语旨在涵盖使用或操作中的装置的除图中描绘的定向外的不同定向。例如,如果图中的装置被翻过来,那么被描述为在其它元件或特征“下方”或“下面”的元件将定向为在其它元件或特征“上方”。因此,示例性术语“下方”可涵盖上方和下方的定向。装置可以以其它方式定向(例如,旋转90°或以其它定向),且相应地解释在此使用的空间相对描述词。
如在此使用的,单数形式“一个”和“该”旨在也包括复数形式,除非上下文另有指示。应进一步理解,术语“包括”和/或“包含”指定所述特征、步骤、操作、元件和/或部件的存在,而不排除一个或更多其它特征、步骤、操作、元件、部件和/或其组的存在或添加。
术语“对象”一般指的是一个部件或一组部件。例如,对象可以指的是说明书或权利要求书中的圆盘的凹槽或凸起部。在整个说明书和权利要求书中,术语“对象”、“部件”、“部分”、“零件”和“件”可互换使用。
术语“器械”和“外科手术器械”在此用于描述被配置成插入到患者体内并且用于执行外科手术或诊断程序的医疗装置。器械包括末端执行器。末端执行器可以是与一个或多个外科手术任务相关的外科手术工具,诸如钳子、持针器、剪刀、双极烧灼器、组织稳定器或牵开器、施夹器、吻合装置、成像装置(例如,内窥镜或超声波探头)等等。本发明的实施例使用的一些器械进一步提供了用于外科手术工具的铰接支撑件(有时称为“腕”),使得可以相对于器械的轴以一个或多个机械自由度操纵外科手术工具的位置和定向。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,诸如打开或闭合的钳口或沿着路径平移的刀子。外科手术器械也可包含可能永久或可能可由外科手术系统更新的存储(例如,在器械内的半导体存储器上)信息。相应地,该系统可提供器械与一个或多个系统部件之间的单向或双向信息通信。
术语“凹槽”可以广义上解释为被配置成使得凸起部能够与凹槽配合的工作空间凹陷。这种配合过程在具有合适形状和大小的凸起部插入到凹槽中时发生。
术语“凸起部”可以广义上被解释为在工作空间上延伸或突出的特征。凸起部可以被配置成任何形状或大小。凸起部的一种用途是参与通过凸起部插入凹槽中与凹槽配合的过程。在整个说明书中,术语“凸起部”和“突出物”可互换地使用。
术语“接合特征”可以广义上被解释为“凹槽”或“凸起部”或者用于使两个或多个对象接合的任何件。
术语“配合”可以广义上被理解为两个或更多对象以允许配合的对象彼此结合操作的方式连接的任何事件。应注意,配合不要求直接连接(例如,直接物理或电气连接),而是许多对象或部件可以用于配合两个或更多对象。例如,对象A和B可以通过使用对象C配合。作为另一个实例,对象D和E可以在对象D(突出物)被接纳在对象E的凹陷(凹槽)中时配合。在整个说明书和权利要求书中,术语“配合”、“联接”、“连接”或“接合”可互换地使用。
此外,术语“可拆卸地联接”或“可拆卸地配合”可以被解释为意味着两个或更多对象之间的非永久的联接或配合事件。这意味着可拆卸地联接的对象可以未联接并且分开,使得它们不再结合地操作。
术语“间隙”可以理解成两个配合的部件之间的空隙或间隔。例如,当凸起部插入到凹槽中时,凸起部的突出物固有地小于凹槽的开口。突出物的大小与开口的大小之间的差异是凸起部与凹槽之间的间隙量。
最后,在此使用的术语“或”和“和/或”应当被解释为包容性的或者意味着任何一个或任何组合。因此,“A、B或C”或“A、B和/或C”意味着以下各项的任何一项: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。
功能性遥控外科手术系统的概述
图1是根据本发明的实施例的遥控外科手术系统的说明性患者侧部分100的视图。患者侧部分100包括支撑组件110和在每个支撑组件的末端处的一个或更多外科手术器械操纵器112。支撑组件可选地包括用于相对于外科手术患者定位外科手术器械操纵器112的一个或多个无动力、可锁定装配接头。如所描绘的,患者侧部分100搁置在地板上。在其它实施例中,患者侧部分可安装至墙上、天花板上、也支撑患者的身体122的手术台126或其它手术室设备上。进一步地,虽然患者侧部分100显示为包括四个外科手术器械操纵器112,但是可以使用更多或更少的外科手术器械操纵器112。更进一步地,患者侧部分100可由如所示的单个组件组成,或它可包括两个或更多单独组件,每个组件可选地以各种可能方式安装。
每个外科手术器械操纵器112支撑在患者身体122内的外科手术部位处操作的一个或多个外科手术器械120。可以允许相关外科手术器械以一个或多个机械自由度(例如,所有六个笛卡儿自由度、五个或更少笛卡儿自由度等)移动的各种形式提供每个外科手术器械操纵器112。通常,机械或控制约束限制每个外科手术器械操纵器112以绕相对于患者保持静止的外科手术器械上的运动中心移动它的相关外科手术器械,且这个运动中心通常定位在外科手术器械进入身体的位置。
功能性遥控外科手术系统将通常包括使操作者能够从患者的身体122外观看外科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捕获功能128(“摄像机器械”)和用于显示所捕获的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构型中,摄像机器械128包括将图像从摄像机器械128的远端传递至患者的身体122外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,成像传感器可定位在摄像机器械128的远端处,且由传感器产生的信号可沿着引线或无线地传输用于处理并显示在视频显示器上。说明性视频显示器是由加利福尼亚州森尼维耳市的直观外科手术公司(Intuitive Surgical,Inc.)销售的外科手术系统中的外科医生控制台上的立体显示器。
功能性遥控外科手术系统将进一步包括用于在器械处于患者体内的同时控制外科手术器械120的移动的控制系统部分(未示出)。该控制系统部分可在外科手术系统中的单个位置处或它可分布在系统中的两个或更多位置处(例如,控制系统部分部件可在系统的患者侧部分100中,在专用系统控制台或在单独的设备机架中)。遥控主/从控制可依据期望的控制程度、被控制的外科手术部件的大小和其它因素以多种方式完成。在一些实施例中,控制系统部分包括一个或多个手动操作的输入装置,诸如控制杆、外骨架手套、动力和重力补偿操纵器等等。这些输入装置控制遥控电机,该电机进而控制外科手术器械的移动。
由遥控电机产生的力经由传动系机构传递,所述传动系机构将力从遥控电机传输至外科手术器械120。在一些遥控外科手术实施例中,控制操纵器的输入装置可设置在远离患者的位置,在患者所处的房间内或外。然后将输入装置的输入信号传送到控制系统部分。熟悉远程操纵、遥控和远程呈现外科手术的人将了解这种系统和及其部件,诸如由直观外科手术公司销售的达芬奇(da)外科手术系统和由最初由计算机动画公司(Computer Motion,Inc.)制造的/>外科手术系统和这种系统的各种说明性部件。
如所示,外科手术器械120和可选的导入件124(例如,患者腹腔中的套管)可移除地联接至操纵器112的远端,其中外科手术器械120穿过导入件124插入。操纵器112中的遥控致动器将外科手术器械120整体移动。操纵器112进一步包括器械托架130。外科手术器械120可拆卸地连接至托架130。容纳在托架130中的遥控致动器提供多个控制器运动,外科手术器械120将这些控制器运动转化成外科手术器械上的末端执行器的各种移动。因此,托架130中的遥控致动器仅移动外科手术器械120的一个或多个部件而非器械整体。用于控制器械整体或器械的部件的输入使得由外科医生提供至控制系统部分的输入(“主”命令)被转化为外科手术器械的相应动作(“从”响应)。
图2是外科手术器械120的说明性实施例的侧视图,包括由长形管210联接的远端部分250和近端控制机构240。外科手术器械120的远端部分250可提供任意多种外科手术工具,诸如所示的钳子254、持针器、烧灼装置、切割器械、成像装置(例如,内窥镜或超声波探头)或包括两个或更多各种工具和成像装置的组合的组合装置。在所示实施例中,外科手术工具254通过“腕”252联接至长形管210,该腕允许参照器械管210操纵外科手术工具的定向。
本发明使用的外科手术器械可以用多个杆和/或挠性电缆控制它们的末端执行器(外科手术工具)。可以是管形式的杆可以与电缆组合以提供末端执行器的“推/拉”控制,根据需要,由电缆提供挠性区段。外科手术器械120的典型的长形管210较小,直径可能是5至8毫米,大致为大苏打水吸管的直径。外科手术器械120中的机构的小规模产生这些机构的构造的独特的机械状况和问题,所述状况和问题与在以较大规模构造的类似机构中存在的状况和问题不同,因为材料的力和强度未以与机构的大小相同速率按比例调整。电缆必须配合在长形管210中,并且能够随着它们穿过腕关节252而弯曲。
为了在使用功能性遥控外科手术系统时提供无菌操作区域,优选的是在非无菌系统与无菌外科手术区域之间放置屏障。因此,在外科手术器械120与遥控外科手术器械操纵器130之间放置无菌部件,诸如器械无菌适配器(ISA)。在外科手术器械120与外科手术器械操纵器130之间放置器械无菌适配器包括以下益处:确保用于外科手术器械120和外科手术器械操纵器130的无菌联接点。这允许在外科手术过程中从外科手术器械操纵器130上移除外科手术器械并且与其它外科手术器械交换。
图3A示出了外科手术器械120的近端控制机构240、遥控外科手术器械操纵器130的托架310和器械无菌适配器(ISA)300在联接状况下的示例性实施例的一部分。
图3B示出了图3A的联接器系统的分解图。在一个实施例中,联接过程的第一阶段包括ISA 300与托架130联接。托架130上的托架驱动器320旋转以接合对应的ISA联接器330。外科手术器械120与ISA 300联接。托架驱动器320使ISA联接器330旋转以接合对应的器械驱动器(未示出)。
器械无菌适配器圆盘组件
器械无菌适配器(ISA)由多个部件装配而成,除了其他事项外,包括,顶部部件、底部部件和一个或多个联接器。联接器通过底部部件上的开口定位,并且然后顶部部件与底部部件连接。
需要一种允许顶部部件与底部部件联接并且确保在仍然允许联接器自由旋转时联接器不会被逐出的机构。
图4示出了装配的ISA 300的示例性实施例。ISA 300包括ISA顶部部件410、ISA底部部件420和多个ISA联接器330。图4的实施例图示了包括五个ISA联接器330的ISA 300。ISA联接器330的数量不限于五个,而是可以多于或少于五个。
参照图5,示出了ISA底部部件420和多个ISA联接器330的视图。ISA底部部件420包括多个底部部件开口530。每个联接器330与对应的开口530相关联。每个底部部件开口530由底部唇缘540部分环绕,并且每个底部唇缘540包括一个或多个键槽550。
参照图6,示出了ISA联接器330的示例性实施例。ISA联接器330包括两个ISA底部接合特征610、两个ISA顶部接合特征600(视图中隐藏了一个)、两个ISA锁定机构开口640、两个固位凸块630和ISA联接器唇缘620。应当注意的是,接合特征、固位凸块和锁定机构开口的数量是可变的。此外,可以使用各种构型的顶部接合特征600和底部接合特征610。例如,底部接合特征610可以是凹陷特征而非所示的突出特征。
再次参照图5,每个ISA联接器330定位在对应的底部部件开口530中。ISA联接器330旋转以使固位凸块630与键槽550对齐从而允许ISA联接器插入到对应的底部部件开口530中。ISA联接唇缘620大于底部部件开口530并且限制ISA联接器330可以插入到底部部件开口中的距离。ISA联接器330然后旋转以使固位凸块630与键槽550不对齐,以便将ISA联接器固位在对应的底部部件开口530中。
参照图7,示出了与ISA底部部件420联接的多个ISA联接器330的图示。
参照图8,图示了ISA顶部部件410的一个示例性实施例。在图8中,ISA 300的ISA顶部部件410包括五个ISA联接器330穿过的五个顶部部件开口810。另外,每个顶部部件开口810包括两个键槽填充物820。每个顶部部件开口810中包括的键槽填充物820的数量可以不同,但是应当与ISA底部部件420的每个底部部件开口530中包括的键槽550的数量对应。
图9图示了与ISA底部部件420联接的ISA顶部部件410。ISA联接器330未被显示为允许看见底部部件的底部唇缘540和键槽550特征。另外,图9图示了沿着图8中的线9-9剖切的ISA顶部部件410并且去除了ISA顶部部件的前半部。在ISA联接器330插入到对应的底部部件开口530中之后,ISA顶部部件410然后放置在ISA底部部件420的顶部上,使得ISA联接器330穿过ISA顶部部件410中对应的顶部部件开口810。
ISA顶部部件410的键槽填充物820与ISA底部部件420的键槽550对齐。当ISA顶部部件410与ISA底部部件420装配在一起时,键槽填充物820和键槽550对齐将ISA联接器330锁定在ISA底部部件420与ISA顶部部件410之间。图9的图示示出了顶部部件410的键槽填充物820和底部部件420的底部唇缘540在顶部部件410与底部部件420联接上时建立完整的唇缘。
图10图示了与底部部件700联接的ISA顶部部件410的示例性实施例,两个开口870中没有ISA联接器330。图10中未示出ISA联接器330以便说明键槽填充物820如何与键槽550对齐以建立牢固的唇缘,从而防止ISA联接器330被逐出。在图10中看到的,键槽填充物820被构型成键槽550的配对物。当然,键槽550和键槽填充物820可以使用其它形状。
器械无菌适配器接合
参照图11,示出了ISA 300下侧的示例性图示。在实施例中,ISA 300被显示为包括五个ISA联接器330。然而,ISA联接器330的数量不限于五个,其它实施例可以包括多于或少于五个。另外,ISA联接器330的放置不限于图11中所示,并且ISA联接器可以安排成多种样式。
如上所讨论的,图6示出了ISA联接器330的示例性实施例。在所示实施例中,ISA联接器330包括两个ISA底部接合特征610、两个ISA顶部接合特征600、两个ISA锁定机构开口640、两个固位凸块630和ISA联接器唇缘620。ISA联接器330的包括ISA底部接合特征610的部分突出穿过底部部件开口530。ISA联接器330的包括ISA顶部接合特征600的部分突出穿过顶部部件开口810。应当注意的是,接合特征、固位凸块和锁定机构开口的数量可以不同于附图中所示的任何或所有这种特征的数量。图6的示例性实施例中所示的任何或所有特征可以放置在与所示的位置不同的位置上。
参照图12,示出了托架310的示例性图示。在图12的示例性实施例中,托架310被显示为具有五个托架驱动器320。每个托架驱动器320由电机(未示出)以旋转方式驱动。托架驱动器320和电机的数量可以根据各种因素,诸如(除其他事项外)支撑组件110的大小以及遥控外科手术器械操纵器130的大小,而不同。
在图12图示的实施例中,每个托架驱动器320被显示为具有两个托架接合特征1220。外科手术器械操纵器130的托架310通过托架驱动器320的托架接合特征1220与ISA联接器330的ISA底部接合特征610之间的接合过程与ISA 300接合,以下将对此进行描述。当然,托架接合特征1220和ISA底部接合特征610的数量不限于两个。在其它实施例中,数量可以多于或少于两个。
每个托架驱动器320包括弹簧加载机构,使得当在托架驱动器320上施加力(例如,从对应的从动元件上的突出接合特征)时,托架驱动器320稍微后退到托架310中。当托架接合特征1220和ISA底部接合特征610在ISA 300和外科手术器械操纵器130尝试接合时未对齐时,弹簧加载机构提供必要的力以使ISA底部接合特征610与托架接合特征1220在它们随着托架驱动器320旋转而对齐时联接。
然而,在外科手术器械120与外科手术器械操纵器130的联接之间添加ISA 300导致需要一种方式来确保器械无菌适配器正确地接合外科手术器械120和外科手术器械操纵器130两者。
如果ISA底部接合特征610(图11)和托架接合特征1220在尝试联接ISA 300和托架310时最初未对齐,那么ISA底部接合特征610将与托架驱动器320接触。为了校正未对齐,托架驱动器320旋转以便使ISA底部接合特征610与托架接合特征1220对齐。然而,由于在ISA底部接合特征610与托架驱动器圆盘320接触时产生的摩擦,ISA联接器330可以随着托架驱动器320转动而旋转。必须确保ISA底部接合特征610接合托架接合特征1220,使得可以正确地控制与ISA 300附连上的外科手术器械。
为了确保ISA底部接合特征610与托架圆盘320接触而引起的摩擦不会阻止ISA底部接合特征610与托架接合特征1220之间的正确接合,可以在ISA 300内实施锁定机构。
在ISA 300内实施的锁定机构是限制每个ISA联接器330至少在与外科手术器械操纵器130的托架310接合过程中旋转的能力的机构。因此,如果ISA底部接合特征610和托架接合特征1220在尝试使ISA 300与外科手术器械操纵器130联接时未对齐,并且如果锁定机构限制ISA联接器330旋转的能力,那么托架驱动器320将能够使托架接合特征1220与ISA底部接合特征610旋转并且对齐。当托架接合特征1220与ISA底部接合特征610对齐时,托架驱动器320的弹簧加载机构产生的压力使得ISA底部接合特征610插入到对应的托架接合特征1220中,因此产生正确的接合事件。
图13A图示了ISA底部部件420的实施例。如上所讨论的,ISA底部部件420包括多个底部部件开口530。另外,每个底部部件开口530由底部唇缘540部分环绕,并且每个底部唇缘540包括一个或多个键槽550和一个或多个锁定机构1310。
在与托架310或外科手术器械120任何联接之前,ISA联接器330不与底部唇缘540或锁定机构1310齐平,并且朝任一方向完全自由旋转。然而,当尝试联接托架310和ISA 300时,托架驱动器320将ISA联接器330推靠在底部唇缘540或锁定机构1310上。当朝着底部唇缘540向上推ISA联接器330时,发生以下两种情形之一:(1)ISA联接唇缘620与锁定机构1310接触或者(2)ISA锁定机构开口640和锁定机构1310对齐并且ISA联接唇缘620被推动与底部唇缘540齐平。
如在图13B中详细所示,锁定机构1310被图示为凸起部。当ISA锁定机构开口640与ISA锁定机构1310对齐时,ISA联接器330被推动与底部唇缘540齐平。然而,当ISA锁定机构开口640和锁定机构1310未对齐时,ISA联接器抵靠底部唇缘540与托架驱动器310一起旋转直到ISA锁定机构开口640与锁定机构1310对齐。当锁定机构开口610和锁定机构1310对齐时,ISA联接唇缘620被推动与底部唇缘540齐平。当ISA联接唇缘620被推动与底部唇缘540齐平并且锁定机构1310实施为凸起部时,防止ISA联接器330朝任一方向旋转。
然而,如果ISA底部接合特征610和托架接合特征1220在托架驱动器320与ISA联接器330接触时最初未对齐,则ISA联接器330与托架驱动器320之间的摩擦会使ISA联接器330与托架驱动器320一起旋转。一旦ISA联接器330旋转使得ISA锁定机构开口640与锁定机构1310对齐,ISA联接唇缘620将被推动与底部唇缘540齐平。来自电机的扭矩比托架驱动器320中的弹簧加载机构的力所产生的摩擦更强大,所以托架驱动器320继续旋转,而ISA联接器保持静止。随着托架驱动器320旋转,其将使托架接合特征1220与ISA底部接合特征610对齐。当托架接合特征1220与ISA底部接合特征610对齐时,来自托架310的弹簧加载机构的压力会使托架接合特征1220与ISA底部接合特征610接合。
在图13C所示的实施例中,锁定机构1320被图示为棘齿。图13D是示出了棘齿锁定机构的图13C的一部分的详图。当ISA锁定机构开口640与锁定机构1320未对齐时,由于托架驱动器320的弹簧加载机构产生的摩擦,ISA联接器330与托架驱动器310一起旋转直到ISA锁定机构开口640与锁定机构1320对齐。当锁定机构1320具体化为棘齿时,ISA联接唇缘620沿着棘齿的滑动方向滑动直到其撞击棘齿壁。当ISA联接器330沿着滑动方向滑动并且撞击棘齿壁时,ISA联接唇缘620与底部唇缘540齐平。当ISA联接器唇缘620被推动与底部唇缘540齐平并且锁定机构1320具体化为棘齿时,防止ISA联接器330朝对抗棘齿壁的方向旋转。
当锁定机构1320具体化为棘齿时,驱动托架驱动器320的电机被配置成使托架驱动器320旋转,并且因此使ISA联接器330朝对抗棘齿的方向旋转。如果ISA底部接合特征610和托架接合特征1220在托架驱动器320与ISA联接器330接触时最初未对齐,则ISA联接器330与托架驱动器320之间的摩擦会使ISA联接器330与托架驱动器320一起旋转。来自电机的扭矩比托架驱动器320中的弹簧加载机构的力所产生的摩擦更强大,所以一旦ISA联接唇缘620旋转而撞击棘齿壁,那么托架驱动器320会继续旋转,而ISA联接器保持静止。随着托架驱动器320旋转,其将使托架接合特征1220与ISA底部接合特征610对齐。当托架接合特征1220与ISA底部接合特征610对齐时,来自托架310的弹簧加载机构的压力会使托架接合特征1220与ISA底部接合特征610接合。
当锁定机构1320具体化为棘齿时,一旦ISA联接器330与托架驱动器320正确地接合,就能够使ISA联接器330朝与ISA联接唇缘620旋转而撞击棘齿壁的方向相反的方向旋转。这允许ISA联接器330在使外科手术器械操纵器130与ISA 300联接之前旋转到所期望的位置。
此后,在图13A至图13B图示的实施例中,一旦ISA联接器330与托架驱动器320正确地接合,优选的是允许ISA联接器330朝任一方向自由旋转。由于器械120的器械驱动器710尝试与ISA联接器330联接,器械驱动器710在ISA联接器330上施加压力。这进而将ISA联接器唇缘620按压到低于锁定机构1310或1320的深度,并且允许ISA联接器330避免锁定机构1310或1320并且朝任一方向自由旋转。
另外,没必要使凹槽位于托架驱动器320上和使凸起部位于ISA联接器330上,如所提供的图中所示。相反,一个实施例可以具有包括凸起部的托架驱动器320以及包括凹槽的ISA联接器330。在另一个实施例中,锁定机构可以形成在ISA顶部部件410上并且延伸到ISA底部部件420中。
在一个实施例中,遥控外科手术器械操纵器130包括软件模块,该软件模块允许外科手术器械操纵器130检测ISA 300与外科手术器械操纵器130之间何时正确接合(通过ISA联接器330和托架驱动器310)。软件模块通过分析施加在托架310的电机上施加的扭矩的量可以检测正确的接合事件。当正确接合时,ISA底部接合特征610与托架接合特征1220联接,并且电机尝试对抗锁定机构的约束驱动ISA联接器330。在这种情况下,软件模块检测每个电机上增大的扭矩。检测到这个增大的扭矩表明正确接合,而不存在增大的扭矩表明ISA底部接合特征610未成功与托架接合特征1220接合。
软件模块可以向外科手术人员通信正确接合不存在或完成。这种通信可以以多种方式进行。可以通信正确接合的可能方式的实例为(除其他事项外)外科手术器械操纵器130上的灯闪光,或者外科手术器械操纵器112上第一颜色的灯变成第二颜色(诸如红色变成绿色)。
高速圆盘接合
如上所讨论的,在外科手术器械120与外科手术器械操纵器130的联接之间添加器械无菌适配器(ISA)导致需要一种方式来确保ISA与外科手术器械120和外科手术器械操纵器130两者正确地接合。
图14示出了ISA300和外科手术器械操纵器130的实施例,其中,ISA和外科手术器械操纵器彼此背离旋转以示出彼此接合的表面。如上所讨论的,外科手术器械操纵器130包括提供旋转运动以驱动外科手术器械的一个或多个托架驱动器320。ISA包括将旋转运动从托架驱动器320传递到外科手术器械的同样数量的ISA联接器330。在所示实施例中,每个托架驱动器320包括凹槽形式的两个托架接合特征1220。对应的ISA联接器330包括凸起部形式的相同数量的ISA底部接合特征610。每个ISA接合特征610与对应的托架接合特征1220配合以在托架驱动器320与ISA联接器330之间提供刚性连接。在其它实施例中,可以使用不同数量的接合特征。在其它实施例中,托架接合特征可以是凸起部形式,并且ISA底部接合特征可以是凹槽形式。在另外其它实施例中,托架接合特征可以包括凹槽和凸起部两者,并且ISA底部接合特征可以根据需要是凸起部和凹槽形式以便与对应的托架接合特征配合。
图15示出了ISA300和外科手术器械120的实施例,ISA和外科手术器械彼此背离旋转以示出彼此接合的表面。如上所讨论的,ISA联接器330接合对应的器械驱动器1500以将旋转运动从托架驱动器320(图14)传递到外科手术器械120。所在示的实施例中,每个器械驱动器1500包括凹槽形式的两个器械接合特征1520。对应的ISA联接器330包括凸起部形式的相同数量的ISA顶部接合特征600。每个ISA接合特征600与对应的器械接合特征1520配合以在ISA联接器330与器械驱动器1500之间提供刚性连接。在其它实施例中,可以使用不同数量的接合特征。在其它实施例中,器械接合特征可以是凸起部形式,并且ISA顶部接合特征可以是凹槽形式。在另外其它实施例中,器械接合特征可以包括凹槽和凸起部两者,并且ISA顶部接合特征可以根据需要是凸起部和凹槽形式以便与对应的器械接合特征配合。
以上提出的一种方案讨论了在ISA 300中实施锁定机构,该锁定机构限制ISA联接器330在接合过程中旋转的能力,由此确保ISA底部接合特征610与托架圆盘320接触引起的摩擦不会阻止ISA底部接合特征610与托架接合特征1220之间的正确接合。
然而,即使在ISA 300中实施锁定机构,也会使托架驱动器旋转几圈来确保ISA接合特征600、610与对应的托架和器械接合特征1220、1520成功接合。
第一实施例
在第一实施例中,电机可以被限制成托架驱动器320的转速。通过限制托架驱动器320的转速,可以确保托架驱动器320的弹簧加载机构将足以强有力使ISA底部接合特征610与托架接合特征1220接合。同样地,托架驱动器320的有限的转速允许器械驱动器1520的弹簧加载机构可靠地接合ISA顶部接合特征600。在一些实施例中,仅托架驱动器提供弹簧加载机构,该弹簧加载机构使托架接合特征与ISA底部接合特征接合并且使ISA顶部接合特征与器械接合特征接合。
在一个实施例中,通过软件模块可以控制驱动托架驱动器320的电机的转速的限制。在第二实施例中,施加的电压、电流和/或电流频率可以限制电机的转速。通过分析与ISA联接器330、托架驱动器320和器械驱动器1520以及相关联的弹簧加载机构相关的几何形状和物理特征可以确立托架驱动器320的合适的转速。
第二实施例
在一些实施例中,被构型成凹槽的接合特征可以被构型成具有入口斜坡以增加与被构型成凸起部的接合特征配合的过程的容易程度。
为了容易解释,将描述使托架310和ISA 300联接的接合特征。然而,应当理解,这些特征也可以用于联接器械120和ISA 300。在以下讨论的实施例中,假设托架310的接合特征被构型成凹槽,并且ISA 300的接合特征被构型成凸起部。然而,在另一个实施例中,托架310的接合特征可以被构型成凸起部,而ISA 300的接合特征可以被构型成凹槽。
参照图16A,图示了ISA底部凸起部610正接近没有入口斜坡的托架凹槽1220的示例性图示。从图16A中看出,托架凹槽壁1600相对于托架圆盘320的表面1210呈90度角度1621。ISA底部凸起部610仅当两个接合特征直接对齐时插入到托架凹槽1220中。ISA底部凸起部610的突出物的大小将几乎恰好对应于托架凹槽1220的开口大小以在成功正确接合之后减小在托架驱动器320与ISA联接器330的旋转过程中可能产生的间隙。因此,尤其是当托架驱动器320高速旋转时,ISA底部凸起部610难以插入到托架凹槽1220中。
参照图16B,图示了使ISA底部凸起部610与托架凹槽1220联接的尝试失败的示例性图示。在图16B中看出,ISA底部凸起部610可以绕过托架凹槽1220,从而导致使两个接合特征联接的尝试失败。
参照图17A,图示了ISA底部凸起部610正接近包括入口斜坡1720的托架凹槽1221的示例性图示。从图17A中看出,托架凹槽1221的壁包括入口斜坡1720和直的部分1700。看到入口斜坡1720在ISA底部凸起部610接合托架凹槽1221之前相对于支撑该底部凸起部的托架圆盘320的表面1210形成大于90度的钝角。当ISA底部凸起部610接近托架凹槽1221时,入口斜坡1720允许ISA底部凸起部610在ISA凸起部前壁1770到达凹槽后壁1750之前开始插入到托架凹槽1221中。
参照图17B,示出了ISA底部凸起部610正接近托架凹槽1221并且使用入口斜坡1720开始插入到托架凹槽1221中的示例性图示。当ISA底部凸起部610开始沿着入口斜坡1720向下滑动时,ISA凸起部1760开始进入托架凹槽1221。随着ISA联接器330继续旋转,ISA凸起部前壁1770与凹槽后壁1750接触并且防止ISA底部凸起部610绕过托架凹槽1221。托架驱动器320的弹簧加载机构然后能够迫使ISA底部凸起部610插入到托架凹槽1221中。如图17B所示,如果托架驱动器320包含弹簧加载机构,那么托架驱动器320将从托架升起以使ISA底部凸起部610进入托架凹槽1221。
入口斜坡1720相对于所示托架圆盘320的表面1210的角度1721仅仅是一个示例性实施例。入口斜坡的角度可以大于或小于所示角度1721。然而,入口斜坡1720将始终与托架圆盘320的表面1210形成钝角。应当理解,入口斜坡1720应当被构型成使得托架凹槽1221的壁的笔直部分1700提供充足支承表面以当抵靠壁的笔直部分被驱动时支撑ISA底部凸起部610。在最低限度上,壁的笔直部分1700需要足够高以防止ISA联接器330朝与接合方向相反的方向被驱动时从托架驱动器320脱开。
参照图18A,图示了包括入口斜坡1820的ISA底部凸起部1810正接近托架凹槽1220的示例性图示。从图18A中看出,ISA凸起部后壁1840包括相对于ISA底部凸起部1810的下表面1830形成大于90度的钝角的入口斜坡1820,该下表面在其接合托架凹槽1221之前将ISA联接器330支撑在托架圆盘320的表面1210上。
参照图18B,为ISA底部凸起部1810正接近托架凹槽1220并且使用入口斜坡1820开始插入到托架凹槽1220中的示例性图示。当ISA底部凸起部1810接近托架凹槽1220时,入口斜坡1820允许ISA底部凸起部1810在ISA凸起部前壁1870到达凹槽后壁1850之前开始插入到托架凹槽1220中。随着ISA联接器330继续旋转,ISA凸起部前壁1870与凹槽后壁1850接触并且防止ISA底部凸起部1810绕过托架凹槽1220。托架驱动器320的弹簧加载机构然后能够迫使ISA底部凸起部610插入到托架凹槽1220中。如图17B所示,如果托架驱动器320包含弹簧加载机构,那么托架驱动器320将从托架升起以使ISA底部凸起部1810进入托架凹槽1220。
入口斜坡1820相对于所示ISA底部凸起部1810的下表面1830的角度仅仅是一个示例性实施例。入口斜坡的角度可以大于或小于所示角度。然而,入口斜坡1820将始终与ISA底部凸起部1810的下表面1830形成钝角。应当理解,入口斜坡1820应当被构型成使得ISA凸起部后壁1840的笔直部分提供充足支承表面以当抵靠壁的笔直部分被驱动时支撑ISA底部凸起部610。在最低限度上,ISA凸起部后壁1840的笔直部分需要足够高以防止ISA联接器330朝与接合方向相反的方向被驱动时从托架驱动器320脱开。
尽管已经描述了并在附图中示出了某些示例性实施例,但是应当理解的是,这些实施例仅仅是说明性的,并非限制宽泛的发明,并且本发明不限于所示和所描述的具体构造和安排,因为本领域技术人员可以做出各种其它修改。本说明因此被视为说明性的而非限制性的。
Claims (13)
1.一种用于联接外科手术器械和外科手术器械操纵器的无菌适配器,所述无菌适配器包括:
底部部件和可旋转地联接至所述底部部件的联接部件;
其中所述底部部件包括底部部件开口,所述底部部件开口由底部唇缘至少部分地限定,所述底部唇缘至少部分地围绕所述底部部件开口;
其中所述底部唇缘包括被配置成具有壁的棘齿的锁定机构;
其中所述联接部件包括接合特征、联接唇缘和与所述联接唇缘相邻的锁定机构开口;
其中所述接合特征被配置为与所述外科手术器械操纵器的对应接合特征接合;以及
其中所述联接部件被允许在以下情况下仅沿一个方向旋转:(i)所述锁定机构被接纳在所述锁定机构开口内,(ii)所述联接唇缘接合所述壁,并且(iii)所述接合特征不与所述外科手术器械操纵器的所述对应接合特征接合。
2.如权利要求1所述的无菌适配器,其中:
所述底部唇缘包括多个锁定机构。
3.如权利要求2所述的无菌适配器,其中:
所述联接部件包括多个锁定机构开口;以及
所述多个锁定机构开口中的每个单独的锁定机构开口被定位成接纳所述多个锁定机构中的相应单独的锁定机构。
4.如权利要求1-3中任一项所述的无菌适配器,其中:
所述底部唇缘包括键槽;
所述联接部件包括在第一端部处的固位凸块和在与所述第一端部相反的第二端部处的联接唇缘;
在所述固位凸块与所述键槽对齐的情况下,所述联接部件的所述第一端部被允许穿过所述底部部件开口以将所述联接部件定位在所述底部部件开口内;以及
在所述固位凸块不与所述键槽对齐的情况下,所述固位凸块和所述联接唇缘将所述联接部件固位在所述底部部件开口中。
5.如权利要求1-3中任一项所述的无菌适配器,其中:
所述锁定机构具有滑坡;并且
当所述锁定机构被接纳在所述锁定机构开口中时:
通过使所述联接唇缘沿所述滑坡滑动,允许所述联接部件在第一方向上旋转;并且
通过使所述联接唇缘接合所述壁,防止所述联接部件在第二方向上旋转。
6.一种用于联接如权利要求1-3中任一项所述的无菌适配器和外科手术器械操纵器的方法,所述方法包括:
将所述无菌适配器联接至所述外科手术器械操纵器,其中所述外科手术器械操纵器包括托架驱动器,所述托架驱动器包括所述外科手术器械操纵器的所述对应接合特征;
通过在所述接合特征与所述托架驱动器的所述对应接合特征之间的不接合状态期间使得所述锁定机构被接纳在所述锁定机构开口内,来允许所述联接部件仅沿第一方向旋转从而使得所述联接唇缘接合所述壁;以及
使所述托架驱动器沿与所述第一方向相反的第二方向旋转,以使所述接合特征与所述托架驱动器的所述对应接合特征接合。
7.如权利要求6所述的方法,
其中使所述锁定机构被接纳在所述锁定机构开口内包括相对于所述底部部件旋转所述托架驱动器,同时所述托架驱动器被压靠在所述联接部件上,直到所述锁定机构被接纳在所述锁定机构开口内。
8.如权利要求7所述的方法,其中
当所述托架驱动器被压靠在所述联接部件上时使所述托架驱动器相对于所述底部部件旋转导致通过所述托架驱动器和所述联接部件之间产生的摩擦力使所述联接部件相对于所述底部部件旋转。
9.如权利要求6所述的方法,其中:
所述托架驱动器沿所述第二方向旋转以使所述接合特征与所述托架驱动器的所述对应接合特征接合包括使所述托架驱动器相对于所述联接部件旋转,直到所述接合特征与所述托架驱动器的所述对应接合特征接合。
10.如权利要求9所述的方法,其中:
当所述托架驱动器在所述锁定机构被接纳在所述锁定机构开口中的状态下沿所述第二方向旋转时,所述锁定机构防止所述联接部件相对于所述底部部件旋转。
11.如权利要求9所述的方法,其中:
所述方法进一步包括在所述接合特征与所述托架驱动器的所述对应接合特征之间的接合状态下从所述锁定机构开口移除所述锁定机构。
12.如权利要求11所述的方法,其中:
从所述锁定机构开口移除所述锁定机构包括在所述接合特征和所述托架驱动器的所述对应接合特征之间的所述接合状态期间将医疗器械安装到所述无菌适配器;并且
所述医疗器械的安装使所述医疗器械压靠在所述联接部件上,使所述锁定机构从所述锁定机构开口移动。
13.如权利要求12所述的方法,其中:
在所述锁定机构从所述锁定机构开口移除并且所述接合特征与所述托架驱动器的所述对应接合特征接合的状态下,允许所述联接部件与所述托架驱动器一起在所述第一方向和所述第二方向上旋转。
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