CN111839632A - 包括适配器组件和铰接手术装载单元的手术器械 - Google Patents
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Abstract
本公开涉及包括适配器组件和铰接手术装载单元的手术器械。适配器组件包括铰接螺母、铰接连杆和可操作地联接至铰接连杆的远侧部分的传动带。铰接连杆具有可操作地联接到铰接螺母的近端部分，使得铰接螺母的旋转导致铰接连杆的平移。传动带具有远端部分，该远端部分配置成可操作地联接至手术装载单元的近端部分，使得传动带的运动使手术装载单元相对于适配器组件铰接。
Description
相关申请的交叉引用
本申请要求2019年4月5日提交的第62/829,801号美国临时专利申请的权益和优先权，所述申请的全部公开内容以引用的方式并入本文中。
技术领域
本公开一般地涉及用于内窥镜使用的手术器械，并且更具体地涉及包括铰接附接的手术装载单元的适配器组件的手术器械。
背景技术
用于内窥镜处理组织的各种类型的手术器械在本领域中是已知的，并且通常用于例如：用于在横切、切除、吻合术中闭合组织或器官，用于在胸腔和腹部程序中闭塞器官，以及用于用电外科术来融合或密封组织。
这样的手术器械中的一个例子是手术钉合器械。通常，手术钉合器械包括：末端执行器，其具有砧座组件和用于支撑手术用钉的阵列的仓组件；接近机构，该接近机构用于接近所述仓组件和砧座组件；以及击发机构，该击发机构用于使手术用钉从仓组件中弹出。
在腹腔镜或内窥镜手术程序期间，通过小切口或者通过穿过患者的小入口伤口插入的狭窄插管来实现接近手术部位。由于可进入手术部位的区域有限，许多内窥镜手术器械包括用于相对于器械的主体部分铰接器械的末端执行器以改善进入待治疗组织的机构。另外，一些末端执行器械有刀轴，该刀轴通过其中平移至由末端执行器的钳口抓握的组织。在末端执行器的铰接期间，刀轴经受弯矩和/或剪切力，该弯矩和/或剪切力可能使刀轴在末端执行器的继续铰接中劣化。
因此，提供一种改进的手术器械将是有益的，该手术器械包括用于相对于主体部分铰接末端执行器并且不损坏穿过末端执行器的刀轴的改进机构。
发明内容
在本公开的一个方面，提供了一种适配器组件，该适配器组件包括铰接螺母、铰接连杆和可操作地联接至铰接连杆的远端部分的传动带。铰接连杆具有可操作地联接到铰接螺母的近端部分，使得铰接螺母的旋转导致铰接连杆的平移。传动带具有远端部分，该远端部分配置成可操作地联接至手术装载单元的近端部分，使得传动带的运动使手术装载单元相对于适配器组件铰接。
在各方面中，适配器组件可进一步包含可操作地联接到传动带的近侧端部分的滑轮。传动带可以包绕所述滑轮。
在一些方面，适配器组件可进一步包括：近侧壳体，其中旋转地支撑有所述滑轮；远侧壳体，其远端部分配置成可枢转地联接至手术装载单元的近端部分；以及张紧螺钉，其布置在近端和远端外壳之间。张紧螺钉可以配置成调节近侧壳体与远侧壳体间隔开的距离，并进而调节传动带中的张力。
在其他方面，铰接连杆的远端部分可操作地联接至传动带的线性部分。
在其他方面，铰接连杆的远端部分可以具有齿，并且传动带在其内表面上可以具有与铰接连杆的齿相交的齿。
在各方面中，铰接连杆可包括从其远端部分延伸的鳍片。铰接连杆的齿可设置在鳍片的面向外的表面上。
在一些方面，铰接连杆的鳍片可以被传动带包围。
在另外的方面中，铰接连杆的近端部分可以被容纳在铰接螺母中。
在其他方面，铰接连杆的近端部分可具有与铰接螺母的螺纹内表面相接的螺纹外表面。
在各方面中，适配器组件可以进一步包括铰接输入轴。所述铰接螺母可在其外表面上具有与所述铰接输入轴上的齿相接的齿。
在一些方面，适配器组件可以进一步包括：外壳，在外壳中旋转地支撑着铰接螺母；以及外管，其从外壳向远端延伸。外管可具有轴向支撑在其中的铰接连杆。
在另外的方面，适配器组件可以进一步包括旋转齿轮，该旋转齿轮设置在铰接螺母周围并且在外壳内。旋转齿轮可以不可旋转地固定到外管，使得外管配置成响应于旋转齿轮的旋转而绕其纵轴线旋转。
在本公开的另一方面，提供了一种手术器械，其包括适配器组件和手术装载单元。装载单元具有不可旋转地固定在其近端部分中的第一滑轮。适配器组件的传动带具有可操作地联接到第一滑轮的远端部分，使得传动带的运动使第一滑轮旋转以相对于适配器组件铰接手术装载单元。
在各方面中，适配器组件可进一步包含可操作地联接到传动带的近侧端部分的第二滑轮。传动带可以包绕所述第一和第二滑轮。
在一些方面，适配器组件可进一步包括：近侧壳体，其具有可旋转地支撑在其中的所述第二滑轮；远侧壳体，其具有可旋转地支撑在其中的所述第一滑轮；以及张紧螺钉，其布置在近侧和远侧壳体之间并配置成调节近侧壳体与远侧壳体间隔开的距离，继而调节传动带中的张力。
在另外的方面中，铰接连杆的近端部分可以被容纳在铰接螺母中并且可以具有与铰接螺母的螺纹内表面相接的螺纹外表面。
在其他方面，手术装载单元可包括砧座、可枢转地联接到砧座的钉仓组件、设置在钉仓组件内的导螺杆以及可操作地联接到导螺杆的刀。刀可被配置成响应于导螺杆的旋转而移动通过钉仓组件以使钉仓组件朝向砧座枢转。
在各方面中，适配器组件可进一步包括可旋转的驱动轴，该可旋转的驱动轴具有通过万向节联接到导螺杆的近端部分的远端部分。
附图说明
本文参照附图公开了包括本公开的适配器组件和手术装载组件的实施方式的手术器械，在附图中：
图1A是包括适配器组件和手术装载单元的手术器械的透视图，其中示出手术装载单元的钉仓主体从手术装载单元的底座移除；
图1B是图1A的外科器械的透视图，其中示出手术装载单元的钉仓主体安装在底座中；
图2是图1A的适配器组件的近端部分的分解图；
图3是适配器组件的近端部分的侧剖视图；
图4是适配器组件和手术装载单元的铰接组件的分解图；
图5是适配器组件和手术装载单元的远端部分的侧剖视图；
图6是适配器组件和手术装载单元的远端部分的俯视图，其中适配器组件的外管被移除；
图7A是铰接组件的传动带的替代实施例的透视图；
图7B是铰接组件的传动带的又一实施例的透视图；
图8是通过铰接组件的另一实施例相对于适配器组件铰接的手术装载单元的侧面透视图；
图9是图8的铰接组件和手术装载单元的分解图；
图10是图8的适配器组件的侧面透视图，其示出了图8的手术装载单元的侧剖视图；和
图11是图8的铰接组件的俯视剖视图，示出了相对于适配器组件铰接手术装载单元。
具体实施方式
本领域技术人员将理解到，本文具体描述并在所附附图中例示的适配器组件和手术装载单元是非限制性示例性实施例。可以设想，在不脱离本公开的范围的情况下，结合一个示例性实施例说明或描述的元件和特征可与另一个实施例的元件和特征组合。同样，本领域技术人员将基于所描述的实施例理解本公开内容的另外的特征和优点。因此，除了由所附权利要求指示之外，本公开不受已特别示出和描述的内容限制。
如本文所使用的，术语“远侧”指的是手术器械的最远离临床医师的部分，而术语“近侧”指的是手术器械的最接近临床医师的部分。另外，如本文所使用的，术语临床医师指的是医务人员，包括医生、护士和保障人员。
本公开涉及一种手术器械，其包括配置成由手持致动器或手术机器人系统致动的适配器组件，以及联接至适配器组件的铰接手术装载单元。适配器组件包括铰接机构，该铰接机构驱动手术装载单元相对于适配器组件的铰接。铰接机构包括铰接螺母、响应于铰接螺母的旋转而平移的铰接连杆，以及将铰接连杆可操作地联接至手术装载单元的皮带驱动滑轮系统。铰接连杆的平移使皮带驱动滑轮系统的皮带旋转固定在手术装载单元上的滑轮，从而使手术装载单元相对于适配器组件铰接。适配器组件可进一步包括旋转齿轮，该旋转齿轮绕铰接螺母设置并配置成使手术装载单元旋转。手术装载单元可以包括导螺杆，用于驱动刀平移通过手术装载单元。导螺杆可以通过万向接可操作地联接到适配器组件的驱动轴。下面描述了当前公开的手术器械及其部件的其他优点。
图1A和1B示出了手术器械10，其包括手柄组件12、配置为联接至手柄组件12的适配器组件20以及可枢转地联接至适配器组件20的手术装载单元30。尽管所描绘的手术器械10可以配置成击发钉，但是可以考虑，手术器械10可以适于击发任何其他合适的紧固件，例如夹子和两件式紧固件。此外，尽管附图描绘了线性手术钉合器械10，但是可以预见到的是，本文所描述的某些部件可以适于在下述中使用：其他类型的内窥镜手术器械，其包括非线性手术钉合器装载单元，内窥镜钳子、抓具、解剖器；其他类型的手术钉合器械；电动的血管密封；和/或切割装置等。
总体上，手术器械10的适配器组件20包括外壳体21和从外壳体21向远侧延伸的外管24。外壳体21包括旋钮壳体22和从旋钮壳体22向近侧延伸并且配置成可操作地联接到手柄组件12或负责致动手术器械10的手术机器人系统(未示出)的联接机构或近侧壳体25。外管24具有固定在旋钮壳体22的远端部分内的近端部分。在其他实施例中，外管24可以相对于旋钮壳体22并且在旋钮壳体22内旋转。手术装载单元30适于附接到适配器组件20的外管24的远端部分24b，并且可以被配置为一次性使用，或者可以被配置为多次使用。
手术装载单元30包括可枢转地联接到外管24的远端部分24b的套环32和支撑在套环32上的末端执行器34。末端执行器34包括不可旋转地联接至套环32的砧板36，以及与砧板36相对地设置的钉仓组件37。钉仓组件37具有可枢转地联接到套环32的底座38和配置成用于可移除地容纳在底座38的通道42中的钉仓主体40。如图4所示，砧座26可具有布置在其底侧上的细长应变仪39，该应变仪可电连接至手柄组件12以获得组织应变的直接和精确的测量。
对于手柄组件12的详细描述，可以参考2014年11月21日提交的美国专利申请公开第2015/0157320号和2016年4月12日提交的美国专利申请公开第2016/0310134号，其每一个的全部内容通过引用并入本文。
参考图2-6，现在将描述适配器组件20的铰接机构，其通常被称为铰接机构81。适配器组件20包括铰接输入轴50、击发输入轴52和旋转输入轴54，每个均旋转地支撑在外壳21的联接机构25中(图1A)。铰接输入轴50具有近端部分50a，该近端部分配置成驱动地联接至手柄组件12的相应驱动构件13a，以实现铰接输入轴50的旋转。铰接输入轴50具有远端部分50b，该远端部分具有固定在其上的齿轮56(例如，正齿轮)。
适配器组件20包括可操作地联接至铰接输入轴50并可操作地联接至铰接连杆60的铰接螺母58。铰接螺母58可在其近端具有环形齿轮62和从环形齿轮62向远侧延伸的管状轴64。铰接螺母58的环形齿轮62具有与铰接输入轴50的齿轮56接口的齿轮齿。铰接螺母58的管状轴64具有带螺纹的内表面66，该带螺纹的内表面联接至铰接连杆60的近端部分60a。
铰接连杆60的近端部分60a容纳在由铰接螺母58的管状轴64限定的通道68中。铰接连杆60的近端部分60a具有弓形的螺纹外表面70，其与铰接连杆60的管状轴64的螺纹内表面66螺纹接合。这样，铰接连杆60响应于铰接螺母58的旋转而沿纵轴线“X”平移。铰接连杆60可具有大体上细长的矩形构造。然而，可以想到其他形状的铰接连杆60，例如管状的。铰接连杆60限定了纵向延伸的通道72，击发轴52可滑动地支撑在其中。
参考图4-6，铰接连杆60具有远端部分60b，其具有从其向上延伸的鳍片74。鳍片74可以是平坦的细长结构。鳍片74的其他形状在本文中被考虑。鳍片74具有面向外的表面76，该表面具有从其横向向外延伸的齿78(图6)。铰接连杆60的鳍片74被容纳在由铰接机构81的传动带82限定的中心腔84中，并且鳍片74的齿78与设置在传动带82的线性部分82c上的齿80接合。这样，铰接连杆60的近侧或远侧平移驱动传动带82沿顺时针方向或逆时针方向沿着路径(例如，椭圆形路径)运动。
铰接机构81进一步包括近侧滑轮86，该近侧滑轮可旋转地支撑在适配器组件20的外管24的远端部分24b中。近侧滑轮86具有缠绕在其上的传动带82的弯曲的近端部分82a。手术装载单元30的套环32可以用作远侧滑轮，并且可旋转地固定在手术装载单元30的近端部分中。套环或远侧滑轮32具有缠绕在其上的传动带82的弯曲的远端部分82b。近侧滑轮86和远侧滑轮32可各自具有与传动带82的齿轮齿80接合的齿轮齿，使得传动带82的运动使滑轮86、32旋转。可以考虑，近侧滑轮86用作惰轮，以保持传动带82中的张力。
远侧滑轮32可包括容纳在手术装载单元30的砧座36中的上部部件32a和容纳在手术装载单元30的钉仓组件37的底座38中的下部部件32b。远侧滑轮32的上部和下部部件32a、32b中的每一个具有主体88a、90a和齿轮88b、90b，例如从各个主体88a、90a向近侧延伸的小齿轮。上部部件32a的主体88a固定到手术装载单元30的砧座36，下部部件32b的主体90a固定到手术装载单元30的钉仓组件37的底座38。上部部件32a和下部部件32b的齿轮88b、90b分别容纳在传动带82的弯曲的远端部分82b中。远侧滑轮32的上部和下部部件32a、32b共同限定出通道92(图5)，传动带82的弯曲的远端部分82b穿过该通道延伸。
铰接机构81还包括分别布置在适配器组件20的外管24的远端部分24b中的近侧壳体100和远侧壳体102。近侧壳体100在其中旋转地支撑近侧滑轮86。近侧壳体100可在外管24内滑动，而远侧壳体102被轴向地约束在外管24内。远侧壳体102限定孔104，远侧滑轮32的齿轮88b、90b旋转地支撑在其中。枢轴销106延伸穿过远侧壳体102和远侧滑轮32的每个齿轮88b、90b，以将远侧滑轮32并且因此整体上将手术装载单元30可枢转地联接至适配器组件20。
近侧壳体100和远侧壳体102通过张紧螺钉108在轴向上彼此间隔开。张紧螺钉108具有在近侧壳体100中旋转地支撑并轴向约束的近端部分108a以及设置在穿过远侧壳体102限定的细长通道110内的远端部分108b。张紧螺钉108的远端部分108b螺纹接合到远端壳体102。这样，通过使近侧壳体100在外管24内并且相对于远侧壳体102沿近侧或远侧方向滑动，张紧螺钉108的旋转调节了近侧壳体100与远侧壳体102的轴向间隔。调节近侧和远侧壳体100、102之间的轴向间隔可以调节近侧和远侧滑轮86、32之间的轴向间隔，从而调节传动带82中的张力。
参考图7A，示出了传动带182的替代实施例，其可以代替传动带82使用。传动带182是围绕滑轮86、32缠绕的单个或多个叠片的带，而不是具有齿轮齿，传动带182具有从传动带182的远端部分182b径向向内延伸的多个销186。多个销186分别容纳在限定在远侧滑轮32的齿轮88b或齿轮88b，90b的相邻齿轮齿之间的对应的谷中，从而远侧滑轮32响应于传动带182的运动而旋转。驱动带182的近端部分182a可以摩擦地接合到近侧滑轮86。传动带182具有从其中间部分182c径向向内延伸的多个齿184，以将传动带182固定地联接至铰接连杆60的远端部分60b(图4)。
参考图7B，示出了传动带282的替代实施例，其可以代替传动带82使用。传动带282是单根或多根缆或线，它们缠绕在近侧和远侧滑轮86、32上。驱动齿轮282的中间部分282c具有第一销钉284a，而不具有齿轮齿，第一销钉将驱动带282固定地联接至铰接连杆60的远端部分60b(图4)，并且驱动带282的远端部分282b具有第二销钉284b，该第二销钉将驱动带282固定地联接至远侧滑轮32(图4)的齿轮88b或多个齿轮88b、90b的圆周边缘。也可以考虑其他紧固接合，例如摩擦接合、粘合剂等。驱动带282的近端部分282a可以摩擦地接合到近侧滑轮86(图4)。
在操作中，参考图3-6，为了相对于适配器组件20铰接手术装载单元30，铰接输入轴50通过手柄组件12的致动而旋转。铰接输入轴50将旋转运动从固定在其附近的齿轮56传递到铰接螺母58的环形齿轮62。由于铰接螺母58螺纹连接至铰接连杆60的近端部分60a，所以铰接螺母58的顺时针旋转驱动铰接连杆60沿图6中的箭头“A”所示的方向向近侧平移。铰接连杆60b的远端部分60b的鳍片74的向近侧平移使铰接机构的传动带82沿图6中箭头“B”所示的顺时针方向沿着由传动带82的形状限定的椭圆形路径移动。
由于传动带82的远端部分82b与远侧滑轮32的齿轮88b、90b之间的接合，传动带82的运动使远侧滑轮32绕枢轴销106旋转。假定远侧滑轮32固定到手术装载单元30的砧座36和手术钉仓组件37两者，则远侧滑轮32绕枢轴销106的旋转导致整个手术装载单元30相对于适配器组件20沿图6中的箭头“B”指示的方向铰接。类似地，可以理解的是，铰接连杆60沿图6中的箭头“C”指示的方向向远侧运动最终导致手术装载单元30沿图6中的箭头“D”所示的方向铰接。
参考图2-5，现在将描述适配器组件20的击发和夹紧机构。适配器组件20的击发输入轴52配置成实现手术装载单元30的夹紧和钉合功能。击发输入轴52具有延伸穿过铰接螺母58和铰接连杆60的通道72的近端部分52a，并且配置成被驱动地联接到手柄组件12的驱动构件13b(图1A)。击发输入轴52具有远端部分52b，该远端部分可枢转且非旋转地联接至手术装载单元30的导螺杆112的近端部分112a。
手术装载单元30的导螺杆112可旋转地支撑在钉仓组件37的底座38中。导螺杆112的近端部分112a经由万向接114可操作地联接至击发输入轴52的远端部分52b。在实施例中，导螺杆112和击发输入轴52可经由允许旋转运动从击发输入轴52传递到导螺杆112的任何合适的接头联接。
如图4最佳所示，手术装载单元30还包括I形梁116，其配置成在I形梁116向远侧推进期间切断组织并且使钉仓组件37朝着砧板36枢转。I形梁116具有配置成切断组织的尖锐的朝远端的表面118(形成刀)，布置在由砧板36限定的倾斜通道121内的上支脚120以及与导螺丝112螺纹接合的下支脚122。
在操作中，为了击发和夹紧手术装载单元30，击发输入轴52通过致动附接到适配器组件20的联接机构25的手柄组件12而旋转。击发输入轴52经由万向接114将其旋转运动传递至手术装载单元30的导螺杆112。导螺杆112的旋转使I型梁116向远侧穿过砧板36和底座38，从而由于I形梁116的上支脚120横越砧座36的倾斜通道121而使底座38朝砧板36枢转。当I形梁116通过砧板36和底盘38向远侧前进时，位于其间的任何组织都被其尖锐的面向远侧的表面118切断。
参考图2和3，现在将描述适配器组件20的旋转机构。适配器组件20的旋转输入轴54具有被配置为与手柄组件12的驱动构件13c(图1A)驱动地联接以驱动旋转输入轴54的旋转的近端部分54a。旋转输入轴54具有固定在其远端部分54b周围的齿轮126。旋转输入轴54的齿轮126可操作地联接到旋转机构的旋转齿轮130的齿128。
旋转齿轮130绕铰接螺母58的管状轴64设置并且位于旋钮壳体22内。止推板132和一对波形弹簧134a、134b可以位于旋转齿轮130和铰接螺母58之间。旋转齿轮130通过紧固件136固定到外管24并键接到铰接连杆60，使得外管24和铰接连杆60可随旋转齿轮130旋转。在实施例中，可以提供用于将旋转齿轮130紧固至外管24的任何合适的装置，例如，螺纹接合、摩擦接合、锁和键接合、闩锁、按钮、卡口式连接、焊接、粘合剂和/或其他机构。
在操作中，为了旋转手术装载单元30，旋转输入轴54通过致动附接到适配器组件20的联接机构25的手柄组件12而旋转。旋转输入轴54的旋转运动被传递到旋转齿轮130。由于旋转齿轮130被锁定到外管24和铰接连杆60，所以旋转齿轮130的旋转导致外管24相对于联接机构25旋转，这继而引起手术装载单元30围绕适配器组件20的纵轴线旋转。
参考图8-11，示出了用于以上手术器械10的铰接机构的另一实施例。由于本实施例的铰接机构与上述铰接机构之间的相似性，将仅详细描述本实施例的铰接机构中被认为是阐明与上述铰接机构之间的差异所必需的那些元件。
铰接机构包括具有近端部分(未明确示出)的铰接杆140，其配置成可操作地联接至手柄组件12的相应驱动构件13a(图1A)。铰接杆140的近端部分配置成响应于手柄组件12的驱动构件13a的致动而沿着适配器组件20的外管24的中心纵向轴线“X”平移。
铰接杆140具有远端部分140b，该远端部分具有线性的第一部分142a、从第一部分142a以钝角延伸的线性的第二部分142b以及从第二部分142b向远侧延伸的第三部分142c，由此第一和第三部分142a、142c彼此平行。在实施例中，第一、第二和第三部分142a-c可以相对于彼此以任何合适的角度设置。铰接杆140的远端部分140b的第一部分142a具有设置在其附近的套环或E形夹144。偏置构件146(例如，螺旋弹簧)设置在铰接杆140的套环144与适配器组件20的近侧枢轴壳体148之间，以沿近侧方向弹性地偏置铰接杆140，以防止接头反弹。
适配器组件20的近侧枢轴壳体148具有设置在外管24的远端部分24b中的近端部分148a和从外管24的远端部分24b向远侧延伸的远端部分148b。铰接杆140的远端部分140b的第三部分142c延伸穿过限定通过近侧枢轴壳体148的纵向延伸通道150，并且从由外管24限定的中央纵向轴线“X”横向偏移。近侧枢轴壳体148的远端部分148b可枢转地连接至远侧枢轴壳体152，该远侧枢轴壳体固定至手术装载单元30的近端部分。
手术装载单元30的远侧枢轴壳体152具有固定在砧座36和底座38内的主体154，以及从主体154向近侧延伸的平台156。主体154和平台156共同限定用于接收铰接连杆160的狭槽158。铰接连杆160具有：近端部分160a，其可枢转地联接至铰接杆140的远端部分140b的第三部分142c；以及远端部分160b，其延伸穿过远侧枢转壳体152的狭槽158并且可枢转地联接至远侧枢轴壳体152的主体154。铰接连杆160可在其侧面中限定凹部162，以使枢轴销164通过，该枢轴销将近侧壳体148和远侧壳体152可枢转地联接。
在操作中，为了相对于适配器组件20铰接手术装载单元30，铰接杆140经由手柄组件12的致动而平移(图1A)。由于铰接杆140的远端部分140b的第三部分142c可枢转地联接到铰接连杆160的近端部分160a，并且铰接连杆160的远端部分160b可枢转地联接到手术装载单元30的远侧枢轴壳体152，铰接杆140向远侧前进导致铰接连杆160绕枢轴销164旋转，由此手术装载单元30围绕枢转销164并且相对于适配器组件20铰接。类似地，可以理解，铰接杆140的向近侧缩回以相反的方向驱动手术装载单元30的铰接。
可以考虑，本文所述的铰接机构、钉合和夹紧机构以及旋转机构可以被结合到除手术器械10之外的手术器械中。
本领域技术人员将理解到，本文具体描述并在所附附图中例示的适配器组件和方法是非限制性示例性实施例。可以设想，在不脱离本公开的范围的情况下，结合一个示例性实施例说明或描述的元件和特征可与另一个实施例的元件和特征组合。同样，本领域技术人员将基于上述实施例理解本发明的其它特征和优点。因此，除了由所附权利要求指示之外，本公开不受已特别示出和描述的内容限制。
Claims (20)
1.一种适配器组件，其包括：
铰接螺母；和
铰接连杆，其具有可操作地联接到所述铰接螺母的近端部分，使得所述铰接螺母的旋转导致所述铰接连杆的平移；
传动带，其可操作地联接至所述铰接连杆的远端部分，其中所述传动带具有远端部分，该远端部分配置成可操作地联接至手术装载单元的近端部分，使得所述传动带的运动使所述手术装载单元相对于所述适配器组件铰接。
2.根据权利要求1所述的适配器组件，其还包括可操作地联接至所述传动带的近端部分的滑轮，所述传动带包绕在所述滑轮上。
3.根据权利要求2所述的适配器组件，还包括：
近侧壳体，所述滑轮旋转地支撑在其中；
远端壳体，其远端部分配置成可枢转地联接至所述手术装载单元的近端部分；和
张紧螺钉，其布置在所述近侧壳体和所述远侧壳体之间，并配置成调节所述近侧壳体与所述远侧壳体间隔开的距离，进而调节所述传动带中的张力。
4.根据权利要求1所述的适配器组件，其中所述铰接连杆的远端部分可操作地联接至所述传动带的线性部分。
5.根据权利要求1所述的适配器组件，其中所述铰接连杆的远端部具有齿，并且所述传动带在其内表面上具有与所述铰接连杆的齿相接的齿。
6.根据权利要求5所述的适配器组件，其中所述铰接连杆包括从其远端部分延伸的鳍片，所述铰接连杆的齿布置在所述鳍片的面向外的表面上。
7.根据权利要求6所述的适配器组件，其中所述铰接链节的鳍片被所述传动带包围。
8.根据权利要求1所述的适配器组件，其中所述铰接连杆的近端部分容纳在所述铰接螺母中。
9.根据权利要求8所述的适配器组件，其中所述铰接连杆的近端部分具有与所述铰接螺母的螺纹内表面相接的螺纹外表面。
10.根据权利要求1所述的适配器组件，还包括铰接输入轴，其中所述铰接螺母在其外表面上具有与所述铰接输入轴上的齿相接的齿。
11.根据权利要求1所述的适配器组件，还包括：
外壳体，其中所述铰接螺母旋转地支撑在其中；和
从所述外壳体向远侧延伸的外管，所述外管具有轴向地支撑在其中的所述铰接连杆。
12.根据权利要求11所述的适配器组件，还包括：旋转齿轮，其围绕所述铰接螺母设置并且位于所述外壳体内，其中所述旋转齿轮非旋转地固定至所述外管，使得所述外管被配置为响应于所述旋转齿轮的旋转绕其纵轴线旋转。
13.一种手术器械，其包括：
适配器组件，所述适配器组件包含：
铰接螺母；
铰接连杆，其具有可操作地联接到所述铰接螺母的近端部分，使得所述铰接螺母的旋转导致所述铰接连杆的平移；和
传动带，其可操作地联接至所述铰接连杆的远端部分；和
手术装载单元，其具有不可旋转地固定在其近端部分中的第一滑轮，其中所述传动带具有可操作地联接至第一滑轮的远端部分，使得所述传动带的运动使第一滑轮旋转以使所述手术装载单元相对于所述适配器组件铰接。
14.根据权利要求13所述的手术器械，其中所述适配器组件还包括可操作地联接至所述传动带的近端部分的第二滑轮，所述传动带包绕在所述第一滑轮和第二滑轮上。
15.根据权利要求14所述的手术器械，其中所述适配器组件还包括：
近侧壳体，所述第二滑轮旋转地支撑在其中；
远侧壳体，所述第一滑轮可旋转地支撑在其中；和
张紧螺钉，其布置在所述近侧壳体和所述远侧壳体之间，并配置成调节所述近侧壳体与所述远侧壳体间隔开的距离，进而调节所述传动带中的张力。
16.根据权利要求13所述的手术器械，其中所述铰接连杆的远端部具有齿，并且所述传动带在其内表面上具有与所述铰接连杆的齿相接的齿。
17.根据权利要求16所述的手术器械，其中所述铰接连杆包括从其远端部分延伸的鳍片，所述铰接连杆的齿布置在所述鳍片的面向外的表面上。
18.根据权利要求13所述的手术器械，其中所述铰接连杆的近端部分容纳在所述铰接螺母中，并且具有与所述铰接螺母的螺纹内表面相接的螺纹外表面。
19.根据权利要求13所述的手术器械，其中所述手术装载单元包括：
砧座；
钉仓组件，其可枢转地联接至所砧座；
布置在所述钉仓组件内的导螺杆；和
刀，其可操作地联接到所述导螺杆，所述刀被配置成响应于所述导螺杆的旋转而移动通过所述钉仓组件以使所述钉仓组件朝向所述砧座枢转。
20.根据权利要求19所述的手术器械，其中所述适配器组件进一步包括可旋转的驱动轴，所述可旋转的驱动轴具有通过万向节联接到所述导螺杆的近端部分的远端部分。
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| CA3206177A1 (en) * | 2020-12-28 | 2022-07-07 | Boston Scientific Scimed, Inc. | Control mechanism for end effectors |
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| US11925348B2 (en) | 2024-03-12 |
| US11241228B2 (en) | 2022-02-08 |
| US20220133308A1 (en) | 2022-05-05 |
| EP3718486A1 (en) | 2020-10-07 |
| US20200315617A1 (en) | 2020-10-08 |
| EP3718486B1 (en) | 2023-11-29 |
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