CN113040846A - 包含传感器组件的外科手术器械 - Google Patents
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Abstract
一种配接器组件包含旋钮壳体、外管、末端执行器、铰接连杆和传感器组件。所述末端执行器可从所述末端执行器与由所述外管限定的纵向轴线对准的第一位置移动至所述末端执行器相对于所述纵向轴线成一定角度设置的第二位置。所述铰接连杆相对于所述外管的纵向平移使所述末端执行器从其第一位置移动至其第二位置。传感器组件包含设置成与所述铰接连杆机械配合的第一部分和至少部分地设置在所述外管内的第二部分。所述传感器组件被配置成基于所述铰接连杆相对于所述外管纵向移动的距离来确定所述末端执行器的实际铰接量。
Description
相关申请的交叉引用
本申请要求2019年12月27日提交的第62/954,134号美国临时专利申请的权益和优先权，所述美国临时专利申请的全部公开内容以引用的方式并入本文中。
技术领域
本公开总体上涉及用于内窥镜使用的外科手术器械，并且更具体地，涉及包含铰接所附接的外科手术装载单元的配接器组件的外科手术器械。
背景技术
用于通过内窥镜治疗组织的各种类型的外科手术器械在本领域中是已知的，并且通常用于例如在横断、切除、吻合时闭合组织或器官、用于在胸部手术和腹部手术中闭塞器官以及用于电外科学地融合或密封组织。
此种外科手术器械的一个实例是外科手术缝合器械。通常，外科手术缝合器械包含：末端执行器，所述末端执行器具有砧座组件和用于支撑外科手术缝合钉的阵列的钉仓组件；接近机构，所述接近机构用于接近钉仓组件和砧座组件；旋转组件，所述旋转组件用于使钉仓组件和砧座组件围绕轴线旋转；以及击发机构，所述击发机构用于从钉仓组件中弹出外科手术缝合钉。
在腹腔镜外科手术或内窥镜外科手术期间，通过小切口或者通过插入通过患者的小入口伤口的狭窄插管来实现进入外科手术部位。由于可用于进入外科手术部位的区域有限，许多内窥镜器械包含用于相对于器械主体部分铰接器械末端执行器以改进对于要治疗的组织的进入的机构。一些器械包含用于使末端执行器铰接的电动机或驱动元件，并且还包含用于使末端执行器旋转的旋转组件。
将有利的是提供一种改进的外科手术器械或配接器组件，其可以检测和/或校正末端执行器的任何不希望的局部铰接。
发明内容
本公开涉及一种配接器组件，所述配接器组件被配置成机械地接合外科手术器械。所述配接器组件包含旋钮壳体、外管、末端执行器、铰接连杆和传感器组件。外管从旋钮壳体向远侧延伸并限定纵向轴线。末端执行器从外管向远侧延伸，并且可从末端执行器与纵向轴线对准的第一位置移动至末端执行器相对于纵向轴线成一定角度设置的第二位置。铰接连杆延伸穿过外管的至少一部分，并且设置成与末端执行器机械配合。铰接连杆相对于外管的纵向平移使末端执行器从其第一位置移动至其第二位置。传感器组件包含设置成与铰接连杆机械配合的第一部分和至少部分地设置在外管内的第二部分。传感器组件被配置成基于铰接连杆相对于外管纵向移动的距离来确定末端执行器的实际铰接量。
在公开的实施例中，传感器组件被配置成与软件通信，所述软件将末端执行器的实际铰接量与末端执行器的期望铰接量进行比较。公开了软件设置在至少部分地设置于旋钮壳体内的印刷电路板上。
还公开了传感器组件的第一部分或第二部分中的一个是磁体，并且传感器组件的第一部分或第二部分中的另一个是磁阻传感器。
还公开了传感器组件的第一部分或第二部分中的一个是片簧，并且传感器组件的第一部分或第二部分中的另一个是薄罐式(thin-pot)电阻传感器。
另外，公开了配接器组件包含至少部分地设置在旋钮壳体内的第二传感器组件。第二传感器组件被配置成检测旋钮壳体相对于外管的手动旋转。在实施例中，第二传感器组件包含至少一个传感器和至少一个磁体，并且第二传感器组件的至少一个传感器包含至少两个霍尔效应传感器。还公开了第二传感器组件的至少一个磁体包含冰箱型磁体。在另外的实施例中，软件设置在至少部分地设置于旋钮壳体内的印刷电路板上，并且至少两个霍尔效应传感器设置在印刷电路板上。
本公开还涉及一种包含手柄组件和配接器组件的外科手术器械。手柄组件包含第一驱动构件。配接器组件被配置成选择性地接合手柄组件，并且包含旋钮壳体、外管、末端执行器、铰接连杆、环形齿轮和传感器组件。外管从旋钮壳体向远侧延伸并限定纵向轴线。末端执行器从外管向远侧延伸，并且可从末端执行器与纵向轴线对准的第一位置移动至末端执行器相对于纵向轴线成一定角度设置的第二位置。铰接连杆延伸穿过外管的至少一部分，并且设置成与末端执行器机械配合。铰接连杆相对于外管的纵向平移使末端执行器从其第一位置移动至其第二位置。环形齿轮至少部分地设置在旋钮壳体内，并且当配接器组件与手柄组件接合时，环形齿轮与第一驱动构件机械配合。第一驱动构件的旋转使环形齿轮围绕纵向轴线旋转，这使铰接连杆纵向平移。传感器组件包含设置成与铰接连杆机械配合的第一部分和至少部分地设置在外管内的第二部分。传感器组件被配置成基于铰接连杆相对于外管纵向移动的距离来确定末端执行器的实际铰接量。
在公开的实施例中，旋钮壳体的手动旋转使末端执行器不期望地铰接。在公开的实施例中，传感器组件被配置成与软件通信，并且所述软件将末端执行器的实际铰接量与末端执行器的期望铰接量进行比较。进一步公开了所述软件被配置成指示外科手术器械的第一驱动构件移动铰接连杆，使得末端执行器的实际铰接等于末端执行器的期望铰接。
还公开了外科手术器械包含第二传感器组件，所述第二传感器组件至少部分地设置在旋钮壳体内。第二传感器组件被配置成检测旋钮壳体相对于外管的手动旋转。在实施例中，第二传感器组件包含至少一个传感器和至少一个磁体。还公开了第二传感器组件的至少一个传感器包含至少两个霍尔效应传感器，并且第二传感器组件的至少一个磁体包含冰箱型磁体(例如，具有适当交替的北/南向磁极的磁体)。
在公开的实施例中，传感器组件的第一部分或第二部分中的一个是磁体，并且传感器组件的第一部分或第二部分中的另一个是磁阻传感器。
在另外的实施例中，传感器组件的第一部分或第二部分中的一个是片簧，并且传感器组件的第一部分或第二部分中的另一个是薄罐式电阻传感器。
附图说明
本文参照附图公开了包含当前公开的配接器组件的实施例的外科手术器械，其中：
图1A是包含配接器组件和外科手术装载单元的外科手术器械的透视图，其中外科手术装载单元的钉仓主体被示出为从外科手术装载单元的底架移除；
图1B是图1A的外科手术器械的透视图，其中外科手术装载单元的钉仓主体被示出为安装在底架中；
图2是图1A的配接器组件的内部部件的透视图；
图3是在图2中示出的配接器组件的内部部件的透视图，其中移除了零件；
图4是图2的配接器组件的内部部件的凸轮壳体和环形齿轮的后视的透视图；
图5是以隐藏线的形式示出的图4的凸轮壳体和环形齿轮的侧视的透视图；
图6是图4的凸轮壳体和环形齿轮的侧视的截面图；
图7是图1A的配接器组件的近侧区段的侧视的截面图；
图8是图7的配接器组件的一对第一伸长轴和第二伸长轴的侧视的透视图；
图9是图1的配接器组件和外科手术装载单元的远侧区段的俯视的截面图；
图10是图9的配接器组件和外科手术装载单元的放大的俯视的截面图；
图11是图9的配接器组件和外科手术装载单元的远侧区段的俯视的截面图，其中外科手术装载单元被例示为相对于配接器组件处于铰接的位置；
图12是图1A的配接器组件的侧视的截面图；
图13是图12的配接器组件的近侧区段的侧视的截面图；
图14是图12的配接器组件的I形梁组件的侧视图；
图15是图14的外科手术装载单元和I形梁组件的正视的截面图；
图16A是处于打开配置的外科手术装载单元的侧视的截面图，例示了处于缩回位置的I形梁组件；
图16B是处于闭合配置的外科手术装载单元的侧视的截面图，例示了处于前进位置的I形梁组件；
图17是图1A的配接器组件的后视的透视图，其中外壳体以隐藏线的形式示出；
图18是图17的配接器组件的内部部件的后视的透视图；
图19是根据本公开的另一实施例的配接器组件的透视图；
图20是图19的配接器组件的省略了其部分的透视图；
图21是图20详述的区域的放大视图；
图22是沿着图20中的剖面线22-22截取的配接器组件的近侧区段的侧视的截面图；
图23是图19至图22的配接器组件的近侧区段内的内部部件的透视图；
图24是图19至图23的配接器组件的传感器组件的透视图；
图25是图24的传感器组件的一部分的透视的组件视图；
图26是沿着图24中的线24-24的传感器组件和配接器组件的剖视图；
图27是与图20的配接器组件一起使用的传感器组件的另一实施例的透视图；以及
图28是图27的传感器组件的透视的组件视图。
具体实施方式
本领域技术人员将理解，本文具体描述并在附图中例示的配接器组件和外科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展示或描述的元件和特征可以与另一个示例性实施例的元件和特征组合。而且，本领域技术人员将基于所描述的实施例来了解本公开的另外的特征和优点。因此，除了由所附权利要求书指示之外，本公开不受已特别示出和描述的内容的限制。
如本文中所使用的，术语“远侧”是指距临床医师最远的外科手术器械的所述部分，而术语“近侧”是指距临床医师最近的外科手术器械的所述部分。另外，如本文中所使用的，术语“临床医师”是指医疗人员，包含医生、护士和辅助人员。
本公开涉及一种外科手术器械，所述外科手术器械包含：配接器组件，所述配接器组件被配置成通过手持式致动器或外科手术机器人系统致动；以及外科手术装载单元，所述外科手术装载单元耦合到所述配接器组件。所述配接器组件包含驱动外科手术装载单元相对于配接器组件的铰接的铰接机构。铰接机构包含限定一对凸轮槽的凸轮壳体，所述一对凸轮槽中的每个凸轮槽接收一对伸长轴的对应的销。当凸轮壳体旋转时，凸轮槽驱动一对伸长轴的相反的纵向运动，这铰接外科手术装载单元。下面描述本公开的外科手术器械及其部件的附加优点。
图1A和图1B展示了外科手术器械10，所述外科手术器械包含手柄组件12、被配置成耦合到手柄组件12的配接器组件20以及可枢转地耦合到配接器组件20的外科手术装载单元30。虽然所描绘的外科手术器械10可以被配置成击发缝合钉，但是可以设想，外科手术器械10可以适于击发任何其它适合的紧固件，如夹具和两件式紧固件。另外，虽然附图描绘了线性外科手术缝合器械10，但是可以设想，本文中所描述的某些部件可以适于在包含非线性外科手术缝合器装载单元、内窥镜镊子、抓握器、解剖器、其它类型的外科手术缝合器械、供电的血管密封和/或切割装置等的其它类型的内窥镜外科手术器械中使用。
通常，外科手术器械10的配接器组件20包含外壳体21和从外壳体21向远侧延伸的外管24。外壳体21包含旋钮壳体22和耦合机构25，该耦合机构从旋钮壳体22向近侧延伸并且配置成被可操作地耦合到手柄组件12或者负责致动外科手术器械10的外科用机器人系统(未示出)。外管24具有固定在旋钮壳体22的远侧端部分内的近侧端部分。在其它实施例中，外管24可以相对于旋钮壳体22可旋转并且在该旋钮壳体内是可旋转的。外科手术装载单元30适于被附接到配接器组件20的外管24的远侧端部分，并且可以被配置用于单次使用，或者可以被配置成被使用不止一次。
外科手术装载单元30包含可枢转地耦合到外管24的远侧端部分的轴环32以及支撑在轴环32上的末端执行器34。末端执行器34包含无旋转地耦合到轴环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具有可枢转地耦合到轴环32的底架38以及被配置用于可移除地接收在底架38的通道42中的钉仓主体40。
对于手柄组件12的详细描述，可以参考于2014年11月21日提交的美国专利申请公开第2015/0157320号和于2016年4月12日提交的美国专利申请公开第2016/0310134号，上述申请中的每个申请的全部内容通过引用并于本文。
参考图2和图3，现在将描述配接器组件20的铰接机构。配接器组件20包含铰接输入轴50、击发输入轴52和旋转输入轴54，每个输入轴被旋转地支撑在外壳体21(图1A)的耦合机构25中。铰接输入轴50具有近侧端部分50a，该近侧端部分被配置成被驱动地耦合到手柄组件12的对应驱动构件13a，以实现铰接输入轴50的旋转。铰接输入轴50具有远侧端部分50b，该远侧端部分具有固定在该远侧端部分附近的齿轮56(例如，正齿轮)。
配接器组件20包含可操作地耦合到铰接输入轴50并且非旋转地耦合到凸轮壳体60的环形齿轮58。环形齿轮58具有限定与正齿轮组64的第一齿轮64a的齿轮齿接合的齿轮齿62的内表面。正齿轮组64具有第二齿轮64b，所述第二齿轮固定到第一齿轮64a并且邻近所述第一齿轮安置，并且其直径大于第一齿轮64a的直径。正齿轮组64的第二齿轮64b与绕铰接输入轴50的远侧端部分50b无旋转地固定的齿轮56配合。这样，铰接输入轴50的旋转使正齿轮组64的第一齿轮64a和第二齿轮64b旋转，这又驱动环形齿轮58旋转。
参考图2至图7，配接器组件20的凸轮壳体60被旋转地支撑在旋钮壳体22中。凸轮壳体60包含环形板或圆盘66以及从环形板66向远侧延伸的管状轴68。环形板66可以被设置在环形齿轮58内并被固定到该环形齿轮，使得凸轮壳体60随着环形齿轮58的旋转而旋转。凸轮壳体60的管状轴68限定从该管状轴穿过的在纵向上延伸的通道70。通道70被设定尺寸以用于接收配接器组件20的铰接机构和击发机构的各种部件，从而允许配接器组件20的设计更紧凑。
参考图4至图7，凸轮壳体60的管状轴68限定了与通道70连通的近侧凸轮槽72a，以及位于近侧凸轮槽72a的远侧并与通道70连通的远侧凸轮槽72b。近侧凸轮槽72a和远侧凸轮槽72b在纵向上彼此隔开并且围绕通过凸轮壳体60的管状轴68的通道70限定的中心纵向轴线“X”(图7)卷绕。近侧凸轮槽72a和远侧凸轮槽72b各自具有相反的螺旋形构造。例如，近侧凸轮槽72a可以具有左旋螺旋形构造，而远侧凸轮槽72b可以具有右旋螺旋形构造，其重要性在下面详细描述。凸轮槽72a、72b以特定的间距布置，使得管状轴68的设定旋转形成三杆联动装置的限定的铰接。
参考图7至图11，配接器组件20还包含一对第一轴向可移动伸长轴74和第二轴向可移动伸长轴76以及一对第一铰接连杆86和第二铰接连杆88。第一伸长轴74和第二伸长轴76被设置在凸轮壳体60的中心纵向轴线“X”的相反侧上。第一伸长轴74和第二伸长轴76中的每个伸长轴具有安置在旋钮壳体22内的近侧端部分74a、76a和安置在外管24内的远侧端部分74b、76b。
第一伸长轴74的近侧端部分74a具有接收在近侧凸轮槽72a内的径向向外延伸的凸出部或销82。第二伸长轴76的近侧端部分76a具有接收在远侧凸轮槽72b中的径向向外延伸的凸出部或销84。由于凸轮壳体60的近侧凸轮槽72a和远侧凸轮槽72b具有相反的螺旋形构造(例如，右旋螺纹与左旋螺纹)，所以凸轮壳体60的旋转在相反的纵向方向上驱动第一伸长轴74和第二伸长轴76。
外科手术器械10的第一铰接连杆86具有与第一伸长轴74的远侧端部分74b可枢转地耦合的近侧端部分86a，并且第二铰接连杆88具有与第二伸长轴76的远侧端部分76b可枢转地耦合的近侧端部分88a。第一连杆86和第二连杆88各自具有与外科手术装载单元30的轴环32的相反侧可枢转地耦合的远侧端部分86b、88b。这样，通过凸轮壳体60的旋转引起的第一伸长轴74和第二伸长轴76的相反的纵向运动推动和拉动对应的第一连杆86和第二连杆88，以相对于配接器组件20铰接外科手术装载单元30。
具体参考图10和图11，第一铰接连杆86包含面向内部的表面90，并且第二铰接连杆88包含面向内部的表面92，第二铰接连杆的该面向内部的表面面向第一连杆86的面向内部的表面90。第一连杆86的面向内部的表面90具有凹状中间部分90c，该凹状中间部分设置在面向内部的表面90的凸状近侧端部分90a与面向内部的表面90的凸状远侧端部分90b之间。类似地，第二连杆88的面向内部的表面92具有凹状中间部分92c，该凹状中间部分设置在面向内部的表面92的凸状近侧端部分92a与面向内部的表面92的凸状远侧端部分92b之间。第一连杆86和第二连杆88的面向内部的表面90、92被配置成在外科手术装载单元30的铰接期间对配接器组件20的熄弧(blow-out)板102a、102b以及I形梁组件100的刀轴104进行引导和支撑。
特别地，第一连杆86的面向内部的表面90的凹状中间部分90c的被设定尺寸以：在外科手术装载单元100沿由图11中的箭头“A”指示的第一方向进行铰接期间接收I形梁组件30的第一熄弧板102a，而第二连杆88的面向内部的表面92的凹状中间部分92c被设定尺寸以：在外科手术装载单元100沿由图11中的箭头“B”指示的第二方向进行铰接期间接收I形梁组件30的第二熄弧板102b。
第一连杆86和第二连杆88面向内部的表面90、92的凸状远侧端部分90b、92b还在外科手术装载单元30的铰接期间支撑I形梁组件100的熄弧板102a、102b和刀轴104。以此方式，相应的第一连杆86和第二连杆88的面向内部的表面90、92在外科手术装载单元30铰接时适应刀轴104和熄弧板102a、102b的挠曲，以抵抗刀轴104和熄弧板102a、102b的磨损和撕裂。例如，如最佳地在图11中示出的，外科手术装载单元30沿第一方向的铰接使刀轴104和熄弧板102a、102b呈现弯曲的形状，从而使外熄弧板(例如，第一熄弧板102a)通过第一连杆86的面向内部的表面90的凹状中间部分90c进行引导和支撑，并且内熄弧板(例如，第二熄弧板102b)通过第二连杆88的面向内部的表面92的凸状远侧端部分92b进行引导和支撑。可以理解的是，在外科手术装载单元30沿第二方向的铰接期间，第一连杆86和第二连杆88以相似的方式一起工作以适应熄弧板102a、102b和刀轴104的挠曲。
在操作中，为了铰接外科手术装载单元30，经由手柄组件12的致动使铰接输入轴50旋转。铰接输入轴50经由正齿轮组64将旋转运动从固定在该铰接输入轴附近的齿轮56传递到环形齿轮58。由于凸轮壳体60被固定到环形齿轮58，所以凸轮壳体60与环形齿轮58一起围绕中心纵向轴线“X”旋转。当凸轮壳体60旋转时，凸轮壳体60的近侧凸轮槽72a驱动第一伸长轴74的销82沿由图7中的箭头“C”指示的远侧方向通近侧凸轮槽72，并且凸轮壳体60的远侧凸轮槽72b驱动第二伸长轴76的销84沿由图7中的箭头“D”指示的近侧方向通过远侧凸轮槽72b。
由于第一铰接连杆86充当在配接器组件20的第一伸长轴74与外科手术装载单元30的第一侧之间的可枢转的耦合件，并且第二连杆88充当在配接器组件20的第二伸长轴76与外科手术装载单元30的第二侧之间的可枢转的耦合件，所以第一伸长轴74的远侧移动和第二伸长轴76的近侧移动沿由图11中的箭头“A”指示的第一方向驱动外科手术装载单元30的铰接。类似地，第一伸长轴74的近侧移动和第二伸长轴76的远侧移动沿由图11中的箭头“B”指示的第二方向驱动外科手术装载单元30的铰接。
参考图12至图16，现在将描述配接器组件20的击发机构和夹持机构。配接器组件20的击发输入轴52中心地定位在铰接输入轴50和旋转输入轴54之间，并且被配置成实现外科手术装载单元30的夹持和缝合功能。击发输入轴52具有被配置成被驱动地耦合到手柄组件12的驱动构件13b的近侧端部分52a，以驱动击发输入轴52的旋转。预期的是，击发输入轴52可以被配置成具有螺纹外表面106的驱动螺杆。
配接器组件20还包含以上简要描述的具有螺母108、击发杆或击发管110和刀轴104的I形梁组件100。I形梁组件100的螺母108被设置在凸轮壳体60的管状轴68内并且被键接到内管112，从而防止在击发输入轴52的旋转期间螺母108在内管112内的旋转。被设置在铰接机构的凸轮壳体60内的螺母108给予配接器组件20紧凑的设计。
I形梁组件100的击发杆110具有固定到螺母108的近侧端部分110a以及固定到I形梁组件100的刀轴104的近侧端部分104a的远侧端部分110b。在实施例中，螺母108可以被直接附接到刀轴104的近侧端部分104a，而不是经由击发杆110耦合。由于I形梁组件100的刀轴104被固定到螺母108，所以螺母108穿过外管24的响应于击发输入轴52的旋转的轴向移动驱动刀轴104的轴向移动。
参考图15、图16A和图16B，I形梁组件的刀轴104包含多个堆叠的、伸长的、矩形的刀刃114。多个刀刃114具有延伸穿过限定在砧板36中的在纵向上延伸的狭槽116的上部114a以及延伸穿过限定在钉仓组件37的底架38中的在纵向上延伸的狭槽118的下部114b。如在图15中示出的，刀刃114的上部114a与砧板36重叠，刀刃114的下部114b与底架38重叠。可以预期，这种重叠的布置防止了击发时刀轴104的弯曲。
I形梁组件100的刀轴104具有设置在外科手术装载单元30内的远侧端部分104b。刀轴104的远侧端部分104b被配置成在刀轴104的远侧前进期间使钉仓组件37朝向砧板36枢转。刀轴104的远侧端部分104b具有：设置在由砧板36限定的通道121内的上脚部120；设置在钉仓组件37的底架38的外侧的下脚部122；以及在上和下脚部120、122之间延伸的锋利的向远侧定向的表面124。向远侧定向的表面124被配置成在其通过末端执行器34的远侧前进期间割断组织。
在操作中，为了击发和夹持外科手术装载单元30，经由附接到配接器组件20的耦合机构25的手柄组件12的致动来旋转击发输入轴52。击发输入轴52驱动螺母108相对于击发输入轴52沿由图13中的箭头“C”指示的远侧方向平移。假定包含螺母108、击发杆110和刀轴104的I形梁组件100是一个整体式单元，击发杆110和刀轴104与螺母108一起向远侧前进。I形梁组件100的刀轴104的远侧端部分104b向远侧前进通过砧板36和底架38，以使底架38朝向砧板36枢转。当刀轴104的远侧端部分104b向远侧前进通过砧板36和底架38时，通过刀轴104的锋利的向远侧定向的表面124将设置在上述砧板和底架之间的任何组织割断。
参考图17和图18，现在将描述配接器组件20的旋转机构。配接器组件20的旋转输入轴54具有被配置成被驱动地耦合到手柄组件12的驱动构件13c的近侧端部分54a，以驱动旋转输入轴54的旋转。旋转输入轴54具有围绕该旋转输入轴的远侧端部分54b固定的齿轮126。旋转输入轴54的齿轮126经由空转齿轮132可操作地耦合到旋转环形齿轮130的齿部128。在实施例中，旋转输入轴54的齿轮126可以直接与旋转环形齿轮130配合。
旋转环形齿轮130具有从旋转环形齿轮130的相反的径向位置在径向上向外延伸的一对凸出部134a、134b。旋转环形齿轮130的凸出部134a、134b与限定在旋钮壳体22的内表面中的对应的凹部(未明确示出)互锁，使得旋钮壳体22与旋转环形齿轮130一起相对于耦合机构25是可旋转的。在实施例中，旋转环形齿轮130可以具有将旋转环形齿轮130紧固到旋钮壳体22的任何合适的特征，诸如，例如，螺纹接合、摩擦接合、锁和键接合、闩锁、按钮、卡口型连接、焊接、胶接和/或其它结构。
在操作中，为了使外科手术装载单元30旋转，旋转输入轴54经由附接到配接器组件20的耦合机构25的手柄组件12的致动而被旋转。旋转输入轴54的旋转运动经由空转齿轮132被传递到旋转环形齿轮130。由于旋转环形齿轮130的凸出部134a、134b将旋钮壳体22锁定到该旋转环形齿轮，因此旋转环形齿轮130的旋转引起旋钮壳体22相对于耦合机构25并围绕输入轴50、52、54的旋转。配接器组件20的外管24被紧固到旋钮壳体22，并因此与旋钮壳体22一起旋转，这又引起外科手术装载单元30围绕配接器组件20的纵向轴线旋转。
现在转向图19至图28，示出了配接器组件的另一实施例，所述配接器组件总体由附图标记200表示。配接器组件200具有与上文关于配接器组件20所讨论的组件相同或相似的几个部件。因此，将不进一步详细讨论配接器组件200的许多特征。另外，可以用相同的附图标记指代配接器组件20和配接器组件200共同的特征。
配接器组件200包含有助于限制、防止或校正末端执行器34意外铰接的结构。例如，在手动旋转旋钮壳体22a以使末端执行器34和外管24围绕中央纵向轴线“X”旋转期间，例如，末端执行器34的铰接角度也可以改变。如图19所示，当凸轮壳体60保持在其旋转位置时(例如，由于铰接输入轴50与手柄组件12的相关联驱动构件13a之间的接合)，末端执行器34的铰接角度的这种意外改变可能在旋钮壳体22a沿箭头“M”的大致方向手动旋转期间发生(见图1A、图1B和图22)。旋钮壳体22a非旋转地连接到远侧套管22b，所述远侧套管22b非旋转地连接到环形齿轮58。以此方式，旋钮壳体22a的手动旋转形成远侧套管22b的旋转，进而使环形齿轮58旋转。
现在参考图23，传感器组件210可用于确定铰接移动是否是意外的，例如在旋钮壳体22a的手动旋转期间(图19和图20)。在此，传感器组件210包含传感器212(例如，霍尔效应传感器)和磁体214(例如，冰箱型磁体或具有适当交替的北/南向磁极的磁体)。传感器212正交安装在配接器组件200内的印刷电路板222上。磁体214在传感器212可检测到的位置处安装到环形齿轮58且沿圆周方向环绕环形齿轮58，如图23所示。传感器212将与环形齿轮58的旋转有关的信息中继到印刷电路板222上的控制器或软件220，以指示旋钮壳体22的手动旋转以及因此末端执行器34的意外铰接。
为便于限制、防止或校正末端执行器34意外铰接，如下所述，配接器组件200包含软件220和至少一个传感器组件。通常，传感器组件检测第一铰接连杆86和/或第二铰接连杆88的意外移动，与软件220通信，并且软件220将信号发送至驱动构件13a(或不同的电动机)以进行必要的调整，从而将第一铰接连杆86和/或第二铰接连杆88(以及随附的传感器组件或其一部分)返回到期望位置(见图21)。
软件220可以包含在位于外科手术器械10的一部分上或之内的印刷电路板222上，并且可以通过例如管脚、带、或电线等电连接件与传感器组件和/或驱动构件13a(图1B)通信，或者可以进行无线通信。例如，图22和图23示出了配接器组件200内的印刷电路板222。替代地，软件220可位于远程位置，并与传感器组件和/或驱动构件13a无线通信。
可以将各种不同类型的传感器组件与配接器组件200结合使用，以检测第一铰接连杆86和/或第二铰接连杆88的移动。例如，配接器组件200可包含巨磁阻(GMR)传感器、平面电阻传感器、电位计传感器、光学传感器、声纳传感器、感应传感器和/或其它合适的传感器。
具体参考图20和图24至图26，配接器组件200示出为包含第一类型的传感器组件240，其包含磁性或GMR传感器242和对应的磁体244。GMR传感器242(例如，由NVECorporation制造的型号AAK001-14E)至少部分地设置在配接器组件200的内管212内。磁体244设置成与第一铰接连杆86接合。GMR传感器242经由电带246(图22)电连接到软件220(例如，在印刷电路板222或控制器中)。由于第一铰接连杆86和第二铰接连杆88一起移动(在相反方向上)，因此包含与单个铰接连杆接合的磁体244是有效的。本公开还包含其中GMR传感器242设置成与第一铰接连杆86接合并且磁体至少部分地设置在配接器组件200的内管212内的实施例。
在使用中，GMR传感器242感测磁体244(以及因此第一铰接连杆86)相对于GMR传感器242的位置。如上文所讨论，磁体244和第一铰接连杆86的相对位置(或位移)对应于末端执行器34的铰接量。此位置信息被中继到软件220。软件220包含有关末端执行器34的期望铰接量以及第一铰接连杆86/磁体244的关联期望位置的数据。末端执行器34的期望铰接量可以通过分析铰接输入轴50的旋转量来确定。
接下来，软件220将磁体244的实际测量位置与磁体244的期望位置进行比较，并且向驱动构件13a发送信号以使第一铰接连杆86向近侧或向远侧移动足够的距离，从而实现第一铰接连杆86的期望位置以及因此末端执行器34的期望铰接量。另外，软件220能够恒定地或伺服地控制驱动构件13a，以便于确保限制末端执行器34的不期望的铰接。
现在参考图27和图28，示出了配接器组件200包含第二类型的传感器组件250，其包含薄罐式电阻传感器252和对应的偏置元件(例如，片簧260)。传感器组件250用于确定第一铰接连杆86相对于配接器组件200的内管212的纵向位置。传感器252至少部分地设置在配接器组件200的内管212内，并且片簧260设置成与第一铰接连杆86接合，使得片簧260与传感器252接触并且被配置成与传感器252滑动接合。传感器252例如经由无线通信与软件220(例如，在印刷电路板222或控制器中)通信。由于第一铰接连杆86和第二铰接连杆88一起移动(在相反方向上)，因此包含与单个铰接连杆接合的片簧260是有效的。本公开还包含其中传感器252设置成与第一铰接连杆86接合并且片簧260至少部分地设置在配接器组件200的内管212内的实施例。
在使用中，传感器252感测片簧260(以及因此第一铰接连杆86)相对于传感器252的位置。如上文所讨论，片簧260和第一铰接连杆86的相对位置(或位移)直接对应于末端执行器34的铰接量。此位置信息被中继到软件220。软件220包含有关末端执行器34的期望铰接量以及第一铰接连杆86/片簧260的关联期望位置的数据。末端执行器34的期望铰接量可以通过分析铰接输入轴50的旋转量和/或第一铰接连杆86和/或第二铰接连杆88的线性位移的量来确定或计算。
接下来，软件220将片簧260的实际测量位置与片簧260的期望位置进行比较，并且向驱动构件13a发送信号以使第一铰接连杆86向近侧或向远侧移动足够的距离，从而实现第一铰接连杆86的期望位置以及因此末端执行器34的期望铰接量。另外，软件220能够恒定地或伺服地控制驱动构件13a，以便于确保限制末端执行器34的不期望的铰接。
还可以想到，驱动构件13a包含可以在使用期间被监视的编码器。这里，如果在旋钮22的旋转过程中驱动构件13a被机械地反向驱动，则驱动构件13a可以自动地校正其位置，从而限制末端执行器34的不期望的铰接量。
本领域技术人员将理解到，本文具体描述并在附图中例示的配接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展示或描述的元件和特征可以与另一个示例性实施例的元件和特征组合。而且，本领域技术人员将基于上述实施例来了解本公开的另外的特征和优点。因此，除了由所附权利要求书指示之外，本公开不受已特别示出和描述的内容的限制。
Claims (20)
1.一个配接器组件，其被配置成机械地接合外科手术器械，所述配接器组件包括：
旋钮壳体；
外管，其从所述旋钮壳体向远侧延伸并限定纵向轴线；
末端执行器，其从所述外管向远侧延伸，所述末端执行器能从所述末端执行器与所述纵向轴线对准的第一位置移动至所述末端执行器相对于所述纵向轴线成一定角度设置的第二位置；
铰接连杆，其延伸穿过所述外管的至少一部分，并且设置成与所述末端执行器机械配合，其中所述铰接连杆相对于所述外管的纵向平移使所述末端执行器从其第一位置移动至其第二位置；以及
传感器组件，其包含设置成与所述铰接连杆机械配合的第一部分和至少部分地设置在所述外管内的第二部分，所述传感器组件被配置成基于所述铰接连杆相对于所述外管纵向移动的距离来确定所述末端执行器的实际铰接量。
2.根据权利要求1所述的配接器组件，其中所述传感器组件被配置成与软件通信，并且其中所述软件将所述末端执行器的所述实际铰接量与所述末端执行器的期望铰接量进行比较。
3.根据权利要求2所述的配接器组件，其中所述软件设置在至少部分地设置于所述旋钮壳体内的印刷电路板上。
4.根据权利要求1所述的配接器组件，其中所述传感器组件的所述第一部分或所述第二部分中的一个是磁体，并且其中所述传感器组件的所述第一部分或所述第二部分中的另一个是磁阻传感器。
5.根据权利要求1所述的配接器组件，其中所述传感器组件的所述第一部分或所述第二部分中的一个是片簧，并且其中所述传感器组件的所述第一部分或所述第二部分中的另一个是薄罐式电阻传感器。
6.根据权利要求1所述的配接器组件，还包括第二传感器组件，所述第二传感器组件至少部分地设置在所述旋钮壳体内，所述第二传感器组件被配置成检测所述旋钮壳体相对于所述外管的手动旋转。
7.根据权利要求6所述的配接器组件，其中所述第二传感器组件包含至少一个传感器和至少一个磁体。
8.根据权利要求7所述的配接器组件，其中所述第二传感器组件的所述至少一个传感器包含至少两个霍尔效应传感器。
9.根据权利要求8所述的配接器组件，其中所述第二传感器组件的所述至少一个磁体包含冰箱型磁体。
10.根据权利要求9所述的配接器组件，其中所述软件设置在至少部分地设置于所述旋钮壳体内的印刷电路板上，并且其中所述至少两个霍尔效应传感器设置在所述印刷电路板上。
11.一种外科手术器械，其包括：
手柄组件，其包含第一驱动构件；以及
配接器组件，其被配置成选择性地接合所述手柄组件，所述配接器组件包含：
旋钮壳体；
外管，其从所述旋钮壳体向远侧延伸并限定纵向轴线；
末端执行器，其从所述外管向远侧延伸，所述末端执行器能从所述末端执行器与所述纵向轴线对准的第一位置移动至所述末端执行器相对于所述纵向轴线成一定角度设置的第二位置；
铰接连杆，其延伸穿过所述外管的至少一部分，并且设置成与所述末端执行器机械配合，其中所述铰接连杆相对于所述外管的纵向平移使所述末端执行器从其第一位置移动至其第二位置；
环形齿轮，其至少部分地设置在所述旋钮壳体内，并且当所述配接器组件与所述手柄组件接合时，所述环形齿轮与所述第一驱动构件机械配合，其中所述第一驱动构件的旋转使所述环形齿轮围绕所述纵向轴线旋转，这使所述铰接连杆纵向平移；以及
传感器组件，其包含设置成与所述铰接连杆机械配合的第一部分和至少部分地设置在所述外管内的第二部分，所述传感器组件被配置成基于所述铰接连杆相对于所述外管纵向移动的距离来确定所述末端执行器的实际铰接量。
12.根据权利要求11所述的外科手术器械，其中所述旋钮壳体相对于所述外管的手动旋转使所述末端执行器不期望地铰接。
13.根据权利要求12所述的外科手术器械，其中所述传感器组件被配置成与软件通信，并且其中所述软件将所述末端执行器的所述实际铰接量与所述末端执行器的期望铰接量进行比较。
14.根据权利要求13所述的外科手术器械，其中所述软件被配置成指示所述外科手术器械的所述第一驱动构件移动所述铰接连杆，使得所述末端执行器的所述实际铰接等于所述末端执行器的所述期望铰接。
15.根据权利要求12所述的外科手术器械，还包括第二传感器组件，所述第二传感器组件至少部分地设置在所述旋钮壳体内，所述第二传感器组件被配置成检测所述旋钮壳体相对于所述外管的手动旋转。
16.根据权利要求15所述的外科手术器械，其中所述第二传感器组件包含至少一个传感器和至少一个磁体。
17.根据权利要求16所述的外科手术器械，其中所述第二传感器组件的所述至少一个传感器包含至少两个霍尔效应传感器。
18.根据权利要求17所述的外科手术器械，其中所述第二传感器组件的所述至少一个磁体包含冰箱型磁体。
19.根据权利要求11所述的外科手术器械，其中所述传感器组件的所述第一部分或所述第二部分中的一个是磁体，并且其中所述传感器组件的所述第一部分或所述第二部分中的另一个是磁阻传感器。
20.根据权利要求11所述的外科手术器械，其中所述传感器组件的所述第一部分或所述第二部分中的一个是片簧，并且其中所述传感器组件的所述第一部分或所述第二部分中的另一个是薄罐式电阻传感器。
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2020
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- 2020-12-18 EP EP20215390.4A patent/EP3841985A1/en active Pending
- 2020-12-21 CN CN202011515881.2A patent/CN113040846A/zh active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| US20210196272A1 (en) | 2021-07-01 |
| EP3841985A1 (en) | 2021-06-30 |
| US11583275B2 (en) | 2023-02-21 |
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