CN113328581A - 器械驱动单元 - Google Patents

器械驱动单元 Download PDF

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CN113328581A
CN113328581A CN202110783218.9A CN202110783218A CN113328581A CN 113328581 A CN113328581 A CN 113328581A CN 202110783218 A CN202110783218 A CN 202110783218A CN 113328581 A CN113328581 A CN 113328581A
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circuit board
node
circuit
drive unit
instrument drive
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CN113328581B (zh
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萧泽铭
海门·卡帕迪亚
里哈德·莱克
马克·麦克劳德
迈克尔·热姆洛克
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Covidien LP
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Abstract

本发明涉及器械驱动单元，并具体提供一种集成电路，其包含节点和第一电路板、第二电路板、第三电路板和第四电路板。所述第一电路板和所述第二电路板中的每一个联接到所述节点的相对侧，且所述第三电路板和所述第四电路板中的每一个联接到所述第二电路板的相对侧。所述集成电路可在第一展开配置与第二配置之间转换，在所述第一展开配置中，所述第一电路板、所述第二电路板、所述第三电路板和第四电路板和所述节点基本上共面，在所述第二配置中，所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板和所述节点彼此联接以在其中限定腔室。

Description

器械驱动单元
本申请是申请号为2017800320919(国际申请号为PCT/US2017/034394)、申请日为2017年5月25日且发明名称为“器械驱动单元”的中国专利申请的分案申请。
相关申请的交叉引用
本申请要求2016年5月26日提交的第62/342,003号美国临时申请的权益和优先权，所述美国临时申请的全部内容以引用的方式并入本文中。
背景技术
机器人手术系统已用于微创医疗手术。一些机器人手术系统包含控制台，所述控制台支撑手术机器人臂和安装到所述机器人臂的手术器械，所述手术器械具有至少一个末端执行器(例如，钳或抓握工具)。机器人臂为手术器械提供机械动力以进行其操作和移动。
手动操作的手术器械通常包含用于致动手术器械的功能的手柄组合件。然而，当使用机器人手术系统时，通常无手柄组合件存在以致动末端执行器的功能。因此，为了使用具有机器人手术系统的每个独特手术器械，器械驱动单元用于与所选择的手术器械介接以驱动手术器械的操作。
器械驱动单元包含数个内部组件，例如电动机组和对应控制电路。由于器械驱动单元的复杂设计，需要节省空间的内部组件，以实现对内部组件和整个组合件的快速制造、组装和测试，以及热耗散的促进，同时仍实现稳固且耐久的组合件。
发明内容
根据本公开的方面，提供一种集成电路。所述集成电路包含节点和第一、第二、第三和第四电路板。第一电路板和第二电路板中的每一个电气地且机械地联接到其相对侧上的节点。第三电路板和第四电路板中的每一个电气地且机械地联接到其相对侧上的第一电路板。所述集成电路可在第一展开配置与第二配置之间转换，在所述第一展开配置中，所述第一、第二、第三和第四电路板和所述节点基本上共面，在所述第二配置中，所述第一、第二、第三和第四电路板和所述节点彼此联接以在其中限定腔室。
在实施例中，腔室配置成接纳电动机组的电动机组合件。预期在集成电路的第二配置中，由腔室限定的纵向轴线可横向于由节点限定的平面。进一步设想，节点、第一电路板、第二电路板、第三电路板和第四电路板是印刷电路板。又另外，节点、第一电路板、第二电路板、第三电路板或第四电路板中的至少一个可限定从中穿过的至少一个通风孔。
在另一实施例中，节点、第一电路板、第二电路板、第三电路板或第四电路板中的至少一个可包含至少一个电连接器，所述电连接器配置成将节点、第一电路板、第二电路板、第三电路板或第四电路板电互连到器械驱动单元的电组件。又另外，在实施例中，第一电路板的近侧端和第二电路板的近侧端可各自与节点机械地且电气地联接。
进一步设想，第一电路板、第二电路板、第三电路板和第四电路板中的每一个的远侧端可配置成选择性地机械地且电气地接合器械驱动单元的电动机组的电动机组合件。另外，第一电路板、第二电路板、第三电路板、第四电路板中的每一个的远侧端可配置成选择性地机械地且电气地接合电动机组合件的远侧安装凸缘。
在本公开的另一实施例中，提供一种器械驱动单元，其包含器械驱动单元支座和器械驱动单元。器械驱动单元支座配置成选择性地联接到机器人臂。器械驱动单元可选择性地联接到器械驱动单元支座。器械驱动单元包含外壳盖，所述外壳盖可选择性地与器械驱动单元支座和电动机组接合。电动机组包含集成电路和电动机组合件。集成电路包含：第一电路板和第二电路板，其中的每一个电气地且机械地联接到节点的相对侧；和第三电路板和第四电路板，其中的每一个电气地且机械地联接到第二电路板的相对侧。电动机组合件包含近侧安装盖、约束器、远侧安装凸缘和至少一个电动机。近侧安装盖可套在集成电路的节点上，且约束器可套在近侧安装盖上。
所述集成电路可在第一展开配置与第二配置之间转换，在所述第一展开配置中，所述第一、第二、第三和第四电路板和所述节点基本上共面，在所述第二配置中，所述第一、第二、第三和第四电路板和所述节点彼此联接以在其中限定腔室。
在实施例中，在集成电路的第二配置中，由腔室限定的纵向轴线可横向于由节点限定的平面。在另一实施例中，至少一个电路板的远侧端可配置成选择性地机械地且电气地接合安置在电动机组合件的远侧安装凸缘上的对应弹性隔离件。
在又一实施例中，第一电路板、第二电路板、第三电路板和第四电路板中的每一个的远侧端可配置成选择性地机械地且电气地接合安置在电动机组合件的远侧安装凸缘上的第一、第二、第三和第四弹性隔离件。
在另一实施例中，第一电路板的近侧端和第二电路板的近侧端可各自与节点机械地且电气地联接。另外，节点、第一电路板、第二电路板、第三电路板和第四电路板可以是印刷电路板。又另外，在实施例中，节点、第一电路板、第二电路板、第三电路板或第四电路板中的至少一个可限定从中穿过的至少一个通风孔。
在实施例中，节点、第一电路板、第二电路板、第三电路板或第四电路板中的至少一个可包含至少一个电连接器，所述电连接器配置成将节点、第一电路板、第二电路板、第三电路板或第四电路板与器械驱动单元的电组件电互连。
在本公开的又一方面中，提供一种器械驱动单元且其包含电动机组合件和集成电路。集成电路包含节点和可在第一配置与第二配置之间枢转地联接到节点的第一细长电路板和第二细长电路板，在所述第一配置中，节点与第一电路板和第二电路板基本上共面，在所述第二配置中，所述节点与第一电路板和第二电路板协作地采用三维配置以限定配置成用于接纳电动机组合件的腔室。
在一些实施例中，集成电路可进一步包含第三细长电路板和第四细长电路板，其电气地且机械地联接到第二电路板且与第二电路板平行安置。在第一配置中，第三电路板和第四电路板中的每一个的近侧端可不连接到节点，且在第二配置中，第三电路板和第四电路板中的每一个的近侧端可连接到节点。
附图说明
在本文中参考附图描述本公开的实施例，在附图中：
图1是根据本公开的包含手术组合件的机器人手术系统的示意性说明；
图2是包含IDU支座的图1的机器人手术组合件的机器人臂的前透视图；
图3是具有器械驱动单元和联接到其上的手术器械的图2的机器人手术组合件的IDU支座的前透视图；
图4A是集成电路处于第二配置且与电动机组合件分离的图3的器械驱动单元的电动机组的示例性实施例的侧透视图；
图4B是集成电路处于第二配置且组装有电动机组合件的图4A的器械驱动单元的电动机组的侧透视图；
图4C是集成电路处于第二配置且与电动机组合件分离的根据本公开的图3的器械驱动单元的电动机组的另一示例性实施例的侧透视图；以及
图5是集成电路处于第一配置的图3的器械驱动单元的电动机组的集成电路的俯视图。
具体实施方式
如下文将详细地描述，本公开的实施例描述配置成附接到手术机器人臂的手术组合件。手术组合件包含用以驱动器械驱动单元以驱动手术器械的操作的电动机组，且更具体地说参看图式详细地描述具有特定制造和组装配置的电动机组的集成电路，以及其方法，在图式中，相似参考标号表示若干视图中的每一个中的相同或对应元件。如本文中所使用，术语“远侧”是指机器人手术系统、手术组合件或其组件的更接近患者的部分，而术语“近侧”是指机器人手术系统、手术组合件或其组件的更远离患者的部分。
首先参看图1和2，手术系统，例如机器人手术系统1，大体上包含：多个手术机器人臂2、3，其具有器械驱动单元(下文“IDU”)100和手术器械或可移除地附接到手术机器人臂的电动机械器械10；控制装置4；以及操作控制台5，其与控制装置4联接。
操作控制台5包含：显示装置6，其特定来说为显示三维图像而设置；以及手动输入装置7、8，个人(未示出)例如外科医生借助于其能够遥控机器人臂2、3。机器人臂2、3中的每一个可由通过接头连接的多个部件构成。机器人臂2、3可由连接到控制装置4的电驱动器(未示出)来驱动。控制装置4(例如，计算机)可设置成确切地说借助于计算机程序激活驱动器，其方式为使得机器人臂2、3、IDU 100和因此电动机械器械10根据由手动输入装置7、8的构件限定的移动实行所要移动。控制装置4也可以此方式设置成使得其调节机器人臂2、3和/或驱动器的移动。
机器人手术系统1配置成对躺在手术台“ST”上待借助于手术器械，例如电动机械器械10，以微创方式治疗的患者“P”使用。机器人手术系统1可包含任何数目个机器人臂2、3，其中额外机器人臂同样连接到控制装置4且借助于操作控制台5遥控操作。手术器械，例如电动机械手术器械10(包含其电动机械末端执行器(未示出))还可附接到额外机器人臂。
控制装置4可控制多个电动机，例如电动机(电动机1…n)，其中每个电动机配置成在多个方向上驱动机器人臂2、3的移动。另外，控制装置4可控制IDU100的电动机组122(图3到4C)以驱动手术器械10的各种操作，且可控制IDU100的电动机组122的旋转以最终沿着IDU 100的纵向轴线“X”(图3)旋转手术器械10。在实施例中，电动机组122的每个电动机可配置成致动驱动杆或杠杆臂以影响电动机械器械10的每个电动机械末端执行器(未示出)的操作和/或移动。
为了详细描述机器人手术系统的构造和操作，可参考第8,828,023号美国专利和第62/341,701号美国专利申请，所述美国专利和所述美国专利申请中的每一个的全部内容以引用的方式并入本文中。
继续参看图1到3，机器人手术系统1包含手术组合件30，所述手术组合件30包含与机器人臂2联接或联接到机器人臂2的器械驱动单元支座(下文“IDU支座”)102，IDU 100可联接到IDU支座102，且手术器械10可联接到IDU 100。手术组合件30的IDU支座102固持IDU100和手术器械10且将IDU100可操作地联接到机器人臂2。IDU支座102包含接口面板或支架104和从支架104的端部垂直延伸的外壳体部分108。支架104支持或容纳电动机“M”，所述电动机从控制装置4接收控制和电力。支架104可滑动地安装到机器人臂2的轨条40上，且可经由电动机驱动链或皮带(未示出)等等沿着轨条40移动。IDU 100并非可旋转地联接到IDU支座10的支架104，且因此伴随支架104沿着机器人臂2的轨条40滑动。
IDU支座102的外壳体部分108限定从中穿过的通道(未示出)，其配置成接纳IDU100的电动机组122的远侧端122b(图4A到4C)。因而，在IDU 100附接到IDU支座102时，IDU100并非可旋转地联接到支架104，且IDU 100的电动机组122的远侧端122b可旋转地接纳于IDU支座102的外壳体部分108的通道内。
IDU支座102进一步包含安置于支架104内的控制电路109。控制电路109与电动机“M”通信以控制电动机“M”的操作。电动机“M”配置成可操作地联接到IDU100的电动机组122以驱动电动机组122围绕IDU 100的纵向轴线“X”的旋转。在一些实施例中，控制电路109可安置于手术组合件30的组件中的任一个内。
IDU 100将电力和致动力从其电动机传递到手术器械10(图2)的驱动构件(未示出)，以最终驱动手术器械10的末端执行器(未示出)的组件的移动，例如末端执行器的刀片(未展示)的移动和/或钳口构件(未示出)的闭合和开口。
参看图3到4C，IDU 100的外壳盖112(图3)可选择性地与IDU支座102的支架104接合，以便防护、覆盖和保护IDU 100和支架104的内部组件。IDU 100的外壳盖112可具有大体上圆柱形配置，但在一些实施例中，外壳盖112可采用各种配置，例如正方形、三角形、细长、弯曲、半圆柱形等等。外壳盖112保护或防护IDU 100的各种组件，包含电动机组合件200，其将电力和数据传递到IDU 100的组件。
参看图3到4C，IDU 100的电动机组122包含示例性电动机组合件200和集成电路300。设想电动机组122可包含支撑在电动机组合件200中的任何数目个电动机150。进一步设想，电动机150可以矩形形式布置，使得其相应驱动轴(未示出)均彼此平行且均在共同方向上延伸。每个电动机150的驱动轴可操作地与手术器械10的相应驱动轴介接以独立地致动手术器械10的驱动轴。
在本文中所说明的示例性实施例中，电动机组122包含支撑在电动机组合件200中的四个电动机150。电动机组合件200可包含安置在其远侧端202处的远侧安装凸缘210，和安置在其近侧端204处的近侧安装结构或框架220。近侧安装结构220包含横跨在四个柱204a-d之间的四个撑杆220a-d，其中近侧安装结构220限定电动机组合件200的近侧端204。虽然在本文中示出且描述四个柱204a-d，但是预期可视需要提供任何数目个柱。此外，虽然在本文中以矩形配置布置和示出柱204a-d，但是应了解，可以预期在本公开的范围内的任何配置。
电动机组合件200的近侧安装结构或框架220和远侧安装凸缘210配置成可拆卸地支撑集成电路300。更具体地说，电动机组合件200和集成电路300配置成套在一起，使得集成电路300围绕电动机组合件200的部分安置，且电动机组合件200接纳于由集成电路300限定的腔室310内，如下文所论述。在此配置中，一旦组装电动机组合件200和集成电路300以形成电动机组122，电动机组122便保持紧凑大小。
参看图4C，说明电动机组合件201的另一示例性实施例，其包含远侧安装凸缘210、近侧安装盖250和约束器260。近侧安装盖250配置成搁置和套在集成电路300上方，且包含配置成分别与柱204a-d对应的四个接合区252a-d。约束器260配置成搁置和套在近侧安装盖250和集成电路300上方，其中至少一个夹钳特征262选择性地接合近侧安装盖250的至少一个壁254。在实施例中，螺钉264穿过约束器260的相应螺钉孔266a-d和相应接合区252a-d，且可螺接地接合相应柱204a-d，由此将约束器260和近侧安装盖250紧固到柱204a-d。应了解，对于集成电路300和机器人手术系统1而言，电动机组合件200、201的操作方式类似，其中差异和区别在本文中提及。
集成电路300包含多个壁或电路板320a-d和节点或枢纽330(图4A)，其中每个电路板320a-d直接或间接地联接到节点330。如图5中所说明，节点330在其第一侧331a上联接到第一电路板320a，且在其第二侧331b上联接到第二电路板320b。集成电路300包含联接在第二电路板320b的相对侧上的第三电路板320c和第四电路板320d。应了解，集成电路300的电路板320a-d和节点330可以任何数目个结构组合配置，例如第一、第二、第三和第四电路板320a-d并列联接，其中第一、第二、第三或第四电路板320a-d中的一个进一步联接到节点330的第一、第二、第三或第四侧331a-d的一侧。在另一示例性实施例中，第一电路板320a和第三电路板320c可联接到节点330的第一侧331a和第三侧331c，且第二电路板320b和第四电路板320d可联接到节点330的第二侧331b和第四侧331d。第二电路板320b具有低电噪声，而第三电路板320c和第四电路板320d具有相对高的电噪声。
设想集成电路300的每个电路板320a-d和节点330可分别包含具有刚性结构的印刷电路板组合件(“PCBA”)。另外，集成电路300的电路板320a-d和节点330可经由至少一个集成柔性电路350机械地和电气地彼此联接，使得电路板320a-d和节点330在其间柔性地联接。在电路板320a-d与节点330之间使用集成柔性电路350能够实现使用PCB origami制造集成电路300，使得集成电路300可在各种几何结构配置之间转换。在实施例中，预期集成柔性电路350可包含多个柔性电路、电连接器或带状线缆以互连电路板320a-d和节点330。
更具体地说，在制造期间，电路板320a-d和节点330可相对于彼此围绕集成柔性电路350弯曲，使得集成电路300可在第一展开的大体上平面配置(图5)与第二三维配置(图4A和4B)之间转换。应了解，当集成电路300在第一配置与第二配置之间转换时，集成电路300利用PCB origami来实现优势配置，如本文中所论述。作为示例性实施例，在第二配置中，电路板320a-d形成限定腔室310的矩形结构，其中腔室310可配置成在其中接纳电动机组合件200。进一步设想，在集成电路300的第二配置中，由腔室310限定的纵向轴线“I”(图4A)可横向于由节点330限定的平面。在一些实施例中，集成柔性电路350可预成型成固定但柔性形状或配置为折叶。
在集成电路300处于第二配置(图4A到4C)的情况下，至少一个电路板320a-d(图5)的远侧端322a-d可与安置在电动机组合件200的远侧安装凸缘210上的相应弹性隔离件212接合。应了解，一个或多个弹性隔离件212可安置于围绕远侧安装凸缘210的任何所要径向位置中以容纳给定电路板320a-d的远侧端322a-d，同时集成电路300处于第二配置。进一步设想，弹性隔离件212可配置成使集成电路300与较大电动机械组合件，例如电动机组合件200、内壳120、IDU 100、机器人臂2和/或机器人手术系统1互连。
集成电路300将控制信号从手术系统1的控制装置4传递到IDU 100的各个电组件。举例来说，集成电路300可电气地且机械地联接到各个电动机、扭矩传感器、加速度计、温度传感器、压力传感器、位置传感器、视觉指示器(例如，LED)，或IDU 100的任何其它合适的电组件。集成电路300可包含RFID等等以识别附接到IDU 100的手术器械的类型。另外，第一印刷电路板320a将对应于IDU 100和/或手术器械10的电组件的数据经由节点330传递到第二印刷电路板320b。额外地或替代地，第二印刷电路板320b可将对应于IDU 100和/或手术器械100的电组件的数据经由节点330传递到第一印刷电路板320a。第三电路板320c和第四电路板320d将电力传递到节点330，以为IDU 100和/或手术器械10的各个电组件供电。因此，第二电路板320b配置为微处理器板且第三电路板320c和第四电路板320d配置为电动机和传感器板。节点330配置成接收和调节电力。第一电路板320a最终联接到手术器械10以接收由手术器械10的各个电组件收集的数据。预期第一电路板320a具有跨其中间部分延伸的隔离障壁。
并入有集成柔性电路或带状线缆350的集成电路300不仅易于制造和组装，还进一步提高电路板320a-d与节点330的机械和电气联接。应了解，并入有集成柔性电路350的集成电路300减少了保留专用空间用于互连柔性带的焊针区域与其相应随附组件的需要。因而，通过减少焊接和测试程序，集成电路300的工作区域得以增大且组装过程得到加速和简化。又另外，集成柔性电路350的利用消除了使用多个连接器的需要，由此在电路板320a-d、节点330与联接到其上的辅助电组件之间提供了最佳的、低电阻的和不连续的通信和电力传输路径。
继续参看图4A到5，进一步设想，集成电路300可包含延伸通过相应电路板320a-d和/或节点330的厚度的多个通风孔305。通风孔305提供对由电动机组122的集成电路300和/或电动机组合件200产生的热量的通风和耗散。通风孔305提供通道，流体(例如，空气)可流动通过所述通道，使得可增加集成电路300和/或电动机组合件200的冷却。进一步设想，通过准许通过IDU 100产生负压，通风孔305可促进和/或维持手术区的无菌。
集成电路300可进一步包含安置在电路板320a-d和/或节点330中的至少一个上的一个或多个电源和/或电连接器“C”。连接器“C”可表示本领域中已知的用以在电和/或电动机械组件之间发射和/或传递电力和/或数据的任何构件，例如有线或无线连接器，包含例如蓝牙、射频识别(RFID)、近场通信(NFC)、紫蜂等。设想连接器“C”可配置成使集成电路300与较大电动机械组合件互连，例如电动机组合件200、内壳120、IDU 100、机器人臂2和/或机器人手术系统1。
参看图3到5，将简单描述电动机组122和IDU 100的示例性组合件。集成电路300可以第一平面配置(图5)制造。在电动机组122的组装期间，集成电路300的PCB origami促进集成电路300沿着集成柔性电路350折叠成第二三维配置，使得腔室310由电路板320a-d限定。电动机组122的电动机组合件200可插入到腔室310中，使得集成电路300的节点330接近近侧安装结构220和/或由近侧安装结构220支撑，或替代地电动机组合件201的近侧安装盖250套在节点330上且约束器260套在近侧安装盖250上，且集成电路300的电路板320a-d的远侧端322a-d与远侧安装凸缘210的弹性隔离件212联接。组装和联接的集成电路300和电动机组合件200或电动机组合件201构成IDU 100的电动机组122。电动机组122可与IDU 100接合，其中IDU 100与IDU支座102的支架104接合。IDU 100的外壳盖112可与支架104接合，从而围封电动机组122和IDU 100，如上文所描述，且因此IDU 100与机器人臂2联接。
本领域的普通技术人员应理解，本文中所特定地描述且附图中所示出的结构和方法是非限制性示例性实施例，且应将描述、公开和图仅仅认作示例性特定实施例。因此，应理解，本公开并不限于所描述的精确实施例，且本领域的技术人员可在不脱离本公开的范围或精神的情况下实现各种其它改变和修改。另外，可在不脱离本公开的范围的情况下将结合某些实施例所示出或描述的元件和特征与某些其它实施例的元件和特征组合，且此类修改和变化也包含在本公开的范围内。因此，本公开的主题并不受到已特定地示出和描述的内容限制。

Claims (15)

1.一种集成电路，其包括：
节点；
第一电路板和第二电路板，其中的每一个电气地且机械地联接到其相对侧上的所述节点；以及
第三电路板和第四电路板，其中的每一个电气地且机械地联接到其相对侧上的所述第二电路板，
其中所述集成电路能够在第一展开配置与第二配置之间转换，在所述第一展开配置中，所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板和所述节点基本上共面，在所述第二配置中，所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板和所述节点彼此联接以在其中限定腔室，
其中所述第一电路板的近侧端和所述第二电路板的近侧端各自与所述节点机械地且电气地联接，
其中所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板中的每一个的远侧端配置成选择性地机械地且电气地接合器械驱动单元的电动机组的电动机组合件。
2.根据权利要求1所述的集成电路，其中所述腔室配置成接纳电动机组的电动机组合件。
3.根据权利要求2所述的集成电路，其中在所述集成电路的所述第二配置中，由所述腔室限定的纵向轴线横向于由所述节点限定的平面。
4.根据权利要求1所述的集成电路，其中所述节点、所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板是印刷电路板。
5.根据权利要求1所述的集成电路，其中所述节点、所述第一电路板、所述第二电路板、所述第三电路板或所述第四电路板中的至少一个限定从中穿过的至少一个通风孔。
6.根据权利要求1所述的集成电路，其中所述节点、所述第一电路板、所述第二电路板、所述第三电路板或所述第四电路板中的至少一个包含至少一个电连接器，所述电连接器配置成使所述节点、所述第一电路板、所述第二电路板、所述第三电路板或所述第四电路板与机器人臂的器械驱动单元的至少一个电组件电互连。
7.根据权利要求1所述的集成电路，其中所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板中的每一个的所述远侧端配置成选择性地机械地且电气地接合所述电动机组合件的远侧安装凸缘。
8.一种器械驱动单元，其包括：
器械驱动单元支座，其配置成选择性地联接到机器人臂；
器械驱动单元，其能够选择性地联接到所述器械驱动单元支座，所述器械驱动单元包含外壳盖，所述外壳盖能够与所述器械驱动单元支座和电动机组选择性地接合，所述电动机组包含：
集成电路，其包含：第一电路板和第二电路板，其中的每一个电气地且机械地联接到节点的相对侧；和第三电路板和第四电路板，其中的每一个电气地且机械地联接到所述第二电路板的相对侧；
电动机组合件，其包含近侧安装盖、约束器、远侧安装凸缘和至少一个电动机，所述近侧安装盖能够套在所述集成电路的所述节点上，且所述约束器能够套在所述近侧安装盖上；
其中所述集成电路能够在第一展开配置与第二配置之间转换，在所述第一展开配置中，所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板和所述节点基本上共面，在所述第二配置中，所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板和所述节点彼此联接以在其中限定腔室，
其中所述第一电路板的近侧端和所述第二电路板的近侧端各自与所述节点机械地和电气地联接，
其中至少一个电路板的远侧端配置成选择性地机械地且电气地接合安置在所述电动机组合件的所述远侧安装凸缘上的对应弹性隔离件。
9.根据权利要求8所述的器械驱动单元，其中在所述集成电路的所述第二配置中，由所述腔室限定的纵向轴线横向于由所述节点限定的平面。
10.根据权利要求8所述的器械驱动单元，其中所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板中的每一个的远侧端配置成选择性地机械地且电气地接合安置在所述电动机组合件的所述远侧安装凸缘上的至少一个弹性隔离件。
11.根据权利要求8所述的器械驱动单元，其中所述节点、所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板是印刷电路板。
12.根据权利要求8所述的器械驱动单元，其中所述节点、所述第一电路板、所述第二电路板、所述第三电路板或所述第四电路板中的至少一个限定从中穿过的至少一个通风孔。
13.根据权利要求8所述的器械驱动单元，其中所述节点、所述第一电路板、所述第二电路板、所述第三电路板或所述第四电路板中的至少一个包含至少一个电连接器，所述电连接器配置成使所述节点、所述第一电路板、所述第二电路板、所述第三电路板或所述第四电路板与所述器械驱动单元的至少一个电组件电互连。
14.一种器械驱动单元，其包括：
电动机组合件；以及
集成电路，其包含：
节点；
细长的第一电路板和细长的第二电路板，其能够在第一配置与第二配置之间枢转地联接到所述节点，在所述第一配置中，所述节点和所述第一电路板和所述第二电路板基本上共面，在所述第二配置中，所述节点与所述第一电路板和所述第二电路板协作地采用三维配置来限定配置成用于接纳所述电动机组合件的腔室，以及
细长的第三电路板和细长的第四电路板，其电气地和机械地联接到所述第二电路板且与所述第二电路板平行安置，
其中所述第一电路板的近侧端和所述第二电路板的近侧端各自与所述节点机械地和电气地联接，
其中所述第一电路板、所述第二电路板、所述第三电路板和所述第四电路板中的每一个的远侧端配置成选择性地机械地且电气地接合器械驱动单元的电动机组的电动机组合件。
15.根据权利要求14所述的器械驱动单元，其中在所述第一配置中，所述第三电路板和所述第四电路板中的每一个的近侧端不连接到所述节点，且在所述第二配置中，所述第三电路板和所述第四电路板中的每一个的所述近侧端连接到所述节点。
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