CN114631856A - 具有铰接组合件的外科手术器械 - Google Patents
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Abstract
本公开涉及一种具有铰接组合件的外科手术器械。该外科手术器械包含铰接组合件,所述铰接组合件具有螺纹杆、第一螺母、第二螺母、第一铰接杆和第二铰接杆。所述螺纹杆包含主体、第一螺纹和第二螺纹,所述第一螺纹在第一方向上环绕所述主体的近侧部分,所述第二螺纹与所述第一螺纹间隔开并在第二相反方向上环绕所述主体的远侧部分。所述螺纹杆在第一方向上相对于所述细长部分的旋转使所述第一螺母相对于所述螺纹杆向远侧移动。所述螺纹杆在所述第一方向上相对于所述细长部分的旋转使所述第二螺母相对于所述螺纹杆向近侧移动。所述第一铰接杆联接到所述第一螺母和所述末端执行器,并且所述第二铰接杆联接到所述第二螺母和所述末端执行器。
Description
技术领域
本公开涉及一种包含铰接组合件的外科手术器械。更具体地,本公开涉及一种具有稳健铰接组合件的外科手术器械,所述稳健铰接组合件实现了所述外科手术器械的末端执行器的受控制的铰接。
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合件和用于支撑外科手术缝合钉的阵列的钉仓组合件;接近机构,所述接近机构用于接近所述钉仓组合件和所述砧座组合件;旋转组合件,所述旋转组合件用于使所述钉仓组合件和所述砧座组合件绕轴线旋转;以及击发机构,所述击发机构用于从所述钉仓组合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所述器械的主体部分铰接所述器械的末端执行器以改进对于要治疗的组织的进入的机构。
提供具有将会促进末端执行器的受控制的铰接以进一步改进到目标组织的入路的稳健铰接组合件的改进的外科手术器械将是有益的。
发明内容
本公开涉及一种外科手术器械,所述外科手术器械包含手柄组合件、细长部分、末端执行器和铰接组合件。所述细长部分从所述手柄组合件向远侧延伸并限定第一纵向轴线。所述末端执行器邻近所述细长部分的远端安置并限定第二纵向轴线。所述铰接组合件被安置成与所述末端执行器机械协作并且被配置成使所述末端执行器在第一位置与第二位置之间移动,在所述第一位置中,所述第二纵向轴线与所述第一纵向轴线对准,在所述第二位置中,所述第二纵向轴线被安置成与所述第一纵向轴线成一定角度。所述铰接组合件包含螺纹杆、第一螺母、第二螺母、第一铰接杆和第二铰接杆。所述螺纹杆包含主体、第一螺纹和第二螺纹,所述第一螺纹在第一方向上环绕所述主体的近侧部分,所述第二螺纹与所述第一螺纹间隔开并在第二方向上环绕所述主体的远侧部分。所述第一方向与所述第二方向相反。所述第一螺母与所述第一螺纹机械接合,使得所述螺纹杆在第一方向上相对于所述细长部分的旋转使所述第一螺母相对于所述螺纹杆向远侧移动。所述第二螺母与所述第二螺纹机械接合,使得所述螺纹杆在所述第一方向上相对于所述细长部分的旋转使所述第二螺母相对于所述螺纹杆向近侧移动。所述第一铰接杆联接到所述第一螺母和所述末端执行器,并且所述第二铰接杆联接到所述第二螺母和所述末端执行器。
在各方面,整个所述第一螺纹可以安置在所述第二螺纹的近侧。
在所公开的各方面,所述外科手术器械可以包含致动机构,所述致动机构被安置成与所述手柄组合件和所述铰接组合件机械协作。所述外科手术器械还可以包含驱动器,所述驱动器被安置成与所述铰接组合件机械协作并且与所述致动机构机械协作。所述驱动器可以可绕所述纵向轴线相对于所述细长部分旋转。在各方面,所述驱动器可以被安置成与所述螺纹杆机械协作,并且所述驱动器可以相对于所述螺纹杆旋转固定。
在各方面,所述第一螺母可以可相对于所述细长部分向近侧平移并且可相对于所述细长部分向远侧平移,并且所述第二螺母可以可相对于所述细长部分向近侧平移并且可相对于所述细长部分向远侧平移。
在另外的方面,所述第一铰接杆可以纵向固定到所述第一螺母,并且所述第二铰接杆可以纵向固定到所述第二螺母。
在所公开的各方面,所述螺纹杆在所述第一方向上绕所述纵向轴线相对于所述细长部分的旋转可以使所述第一铰接杆相对于所述细长部分向远侧移动并且可以使所述第二铰接杆相对于所述细长部分向近侧移动。在各方面,所述螺纹杆在第二方向上绕所述纵向轴线相对于所述细长部分的旋转可以使所述第一铰接杆相对于所述细长部分向近侧移动并且可以使所述第二铰接杆相对于所述细长部分向远侧移动。
在又其它方面,所述第一螺母和所述第二螺母可以相对于所述细长部分旋转固定。
在所公开的各方面,所述铰接组合件可以进一步包含在所述第一螺母的近侧安置在所述螺纹杆上的近侧止动件、在所述第二螺母的远侧安置在所述螺纹杆上的远侧止动件和在所述第一螺母的远侧和所述第二螺母的近侧安置在所述螺纹杆上的中间止动件。
本公开还涉及一种用于与外科手术装置一起使用的铰接组合件,所述铰接组合件包含螺纹杆、近侧螺母、远侧螺母、第一铰接杆和第二铰接杆。所述螺纹杆包含主体、第一螺纹和第二螺纹,所述第一螺纹在第一方向上环绕所述主体的近侧部分,所述第二螺纹与所述第一螺纹间隔开并在第二方向上环绕所述主体的远侧部分。所述第一方向与所述第二方向相反。所述近侧螺母环绕所述螺纹杆的所述主体并与所述螺纹杆的所述第一螺纹接合。所述远侧螺母环绕所述螺纹杆的所述主体并与所述螺纹杆的所述第二螺纹接合。所述第一铰接杆联接到所述近侧螺母并安置在所述螺纹杆的第一侧面上。所述第二铰接杆联接到所述远侧螺母并安置在所述螺纹杆的第二侧面上。所述螺纹杆在第一方向上相对于所述近侧螺母的旋转使所述近侧螺母和所述第一铰接杆相对于所述螺纹杆向远侧移动并且使所述远侧螺母和所述第二铰接杆相对于所述螺纹杆向近侧移动。
在各方面,整个所述第一螺纹可以安置在整个所述第二螺纹的近侧。
在所公开的各方面,所述螺纹杆在第二方向上相对于所述近侧螺母的旋转可以使所述近侧螺母和所述第一铰接杆相对于所述螺纹杆向近侧移动并且可以使所述远侧螺母和所述第二铰接杆相对于所述螺纹杆向远侧移动。
在各方面,所述铰接组合件还可以包含在所述近侧螺母的近侧安置在所述螺纹杆上的近侧止动件和在所述远侧螺母的远侧安置在所述螺纹杆上的远侧止动件。
本公开还涉及一种铰接外科手术器械的末端执行器的方法。所述方法包含:使螺纹杆旋转,所述螺纹杆的第一部分上具有右旋螺纹并且所述螺纹杆的第二部分上具有左旋螺纹,其中所述右旋螺纹与所述左旋螺纹间隔开;使第一螺母向近侧平移。所述方法还包含:使第二螺母向远侧平移;使第一铰接杆向近侧平移;以及使第二铰接杆向远侧平移。使所述第一螺母向近侧平移和使所述第二螺母向远侧平移同时发生。
在所公开的各方面,使所述第一铰接杆向近侧平移和使所述第二铰接杆向远侧平移可以同时发生。在各方面,使所述第一螺母向近侧平移和使所述第一铰接杆向近侧平移可以同时发生。
在又其它方面,所述螺纹杆可以限定第一纵向轴线,所述末端执行器可以限定第二纵向轴线,并且所述方法可以进一步包含使所述末端执行器从第一位置移动到第二位置,在所述第一位置中,所述第一纵向轴线与所述第二纵向轴线对准,在所述第二位置中,所述第二纵向轴线被安置成相对于所述第一纵向轴线成约90°。
附图说明
本文参考附图说明本公开的各方面,在附图中:
图1是根据本公开的一个方面的外科手术器械的透视图;
图2是图1中所指示的细节区域的透视图,其展示了外科手术器械的铰接组合件;
图3是图2中所指示的细节区域的透视图;
图4是图2的铰接组合件的分解视图;
图5是图2的铰接组合件的与外科手术器械的处于非铰接位置的末端执行器相对应的部分的平面图;
图6是外科手术器械的沿图5中的截面线6-6截取的径向横截面视图;
图7是图2的铰接组合件的与外科手术器械的处于第一铰接位置的末端执行器相对应的部分的平面图;
图8是铰接组合件的部分和图2的外科手术器械的处于第一铰接位置的末端执行器的平面图;
图9是图2的铰接组合件的与外科手术器械的处于第二铰接位置的末端执行器相对应的部分的平面图;并且
图10是铰接组合件的部分和图2的外科手术器械的处于第二铰接位置的末端执行器的平面图。
具体实施方式
现在将参考附图详细描述本公开的外科手术器械的各方面,在附图中,相同的附图标记指代若干视图中的每个视图中的完全相同或对应元件。如本领域常见的,术语“近侧”是指部件或组件更靠近使用者或操作者,即外科医生或医师,而术语“远侧”是指部件或组件更远离使用者。
本公开的外科手术器械在图1中以附图标记100指示。通常,外科手术器械100包含手柄组合件110、从手柄组合件110向远侧延伸并限定纵向轴线“A-A”的细长部分120、邻近细长部分120的远端安置的装载单元200和铰接组合件500(图2-图7和图9)。尽管图1展示了包含具有触发器112的手柄组合件110的外科手术器械100,也可以使用各种类型的手柄,例如可枢转手柄、电动手柄、马达驱动手柄、液压手柄、棘轮手柄等。如本文所用,“手柄组合件”涵盖所有类型的手柄组合件。另外,可以与本公开的各方面结合使用机器人外科手术系统。
装载单元200可以可释放地附接到外科手术器械100的细长部分120,例如以允许外科手术器械100具有更大的多功能性。这种布置允许临床医生针对给定程序选择特定装载单元200。如本文所用,“装载单元”涵盖单次使用装载单元(“SULU”)和一次性装载单元(“DLU”)两者。另外或可替代地,外科手术器械100可以具有钉仓,所述钉仓可在外科手术器械的可重复使用钳口中移动和置换。
在Bolanos等人的共同拥有的美国专利第5,752,644号中公开了用于与外科手术缝合器械一起使用的装载单元的实例,所述美国专利的全部内容特此以引用的方式并入本文中。在Milliman等人的共同拥有的美国专利第6,953,139号中详细描述了内窥镜外科手术缝合器械的另外的细节,所述美国专利的全部内容特此以引用的方式并入本文中。
参考图2,示出了本公开的装载单元200。装载单元200包含近侧主体部分210和工具组合件或末端执行器220,所述工具组合件或末端执行器限定轴线“B-B”并且包含一对钳口构件(即,砧座组合件300和钉仓组合件400)。在各方面,近侧主体部分210可以被配置成可移除地附接到外科手术器械100的细长部分120。
在根据所公开的各方面的外科手术器械100中,触发器112(和/或至少一个另外的致动机构)的致动使得:至少一个钳口构件朝其它钳口构件移动;击发杆向远侧移动以将紧固件从钉仓组合件400部署;和/或刀向远侧移动以切断组织。
另外,铰接操纵杆或控制件114a、114b(图1;统称为“铰接控制件114”)与铰接组合件500接合,并且使末端执行器220从第一位置(图1)移动到第二位置(图10),在所述第一位置中,由末端执行器220限定的轴线“B-B”与纵向轴线“A-A”对准,在所述第二位置中,轴线“B-B”被安置成相对于纵向轴线“A-A”成一定角度(例如,至多约90°)。
参考图3-图7和图9,铰接组合件500包含驱动器510、螺纹杆520、近侧止动件530、中间止动件540、远侧止动件550、近侧螺母560、远侧螺母570、第一铰接杆580和第二铰接杆590。另外,并且特定参考图4,外科手术器械100包含枢轴组合件600,所述枢轴组合件将铰接组合件500与砧座组合件300和钉仓组合件400互连。枢轴组合件600包含第一枢轴连杆610,所述第一枢轴连杆通过第一销612钉扎到第一铰接杆580并通过第二销614钉扎到砧座组合件300的近端和钉仓组合件400。枢轴组合件600还包含第二枢轴连杆620,所述第二枢轴连杆通过第三销622钉扎到第二铰接杆590并通过第四销624钉扎到砧座组合件300的近端和钉仓组合件400。
特定参考图3和图4,示出了外科手术器械100的铰接组合件500的另外的细节。驱动器510可响应于铰接控制件114(图1)的致动而绕纵向轴线“A-A”旋转。螺纹杆520邻近驱动器510的远端安置并且相对于驱动器510旋转固定。螺纹杆520包含主体521、在第一方向上(例如,顺时针)环绕主体521的第一螺纹或一系列螺纹522(例如,右旋螺纹)和在第二相反方向上(例如,逆时针)环绕主体521的第二螺纹一系列螺纹524(例如,左旋螺纹)。
第一螺纹522安置在螺纹杆520的近侧部分520a上,并且第二螺纹524安置在螺纹杆520的远侧部分520b上。如所示出的,第一螺纹522与第二螺纹524纵向间隔开,使得第一螺纹522和第二螺纹524彼此不重叠。在所公开的各方面,第一螺纹522的纵向长度等于或大约等于第二螺纹524的纵向长度。螺纹杆520的中间部分520c(图4)可以不包含螺纹,或可替代地,第一螺纹522可以在螺纹杆520的中间部分520c处与第二螺纹524相遇。
继续参考图3和图4,近侧止动件530环绕螺纹杆520的近端(例如,近侧邻近第一螺纹522或与所述第一螺纹接触)并且相对于螺纹杆520旋转地和纵向地固定。远侧止动件550环绕螺纹杆520的远端(例如,远侧邻近第二螺纹524或与所述第二螺纹接触)并且相对于螺纹杆520旋转地和纵向地固定。中间止动件540环绕螺纹杆520的中间部分520c并且定位于第一螺纹522与第二螺纹524之间(或与所述第一螺纹和所述第二螺纹接触),并且定位于近侧止动件530与远侧止动件550之间(或与所述近侧止动件和所述远侧止动件接触)。
近侧螺母560环绕螺纹杆520的近侧部分520a的一部分并且定位于近侧止动件530与中间止动件540之间。更具体地,近侧螺母560限定孔口562,并且限定孔口562的壁包含螺纹564(例如,右旋螺纹;图4)。近侧螺母560的螺纹564被配置成与螺纹杆520的第一螺纹522接合或啮合,使得螺纹杆520在第一方向上(例如,在图9中的箭头“C”的总体方向上)的旋转使近侧螺母560在第一纵向方向上(例如,在图9中的箭头“D”的总体方向上-向远侧)移动,并且螺纹杆520在第二方向上(例如,在图7中的箭头“E”的总体方向上)的旋转使近侧螺母560在第二纵向方向上(例如,在图7中的箭头“P”的总体方向上-向近侧)移动。
近侧螺母570环绕螺纹杆520的远侧部分520b的一部分并且定位于远侧止动件550与中间止动件540之间。更具体地,远侧螺母570限定孔口572,并且限定孔口572的壁包含螺纹574(例如,左旋螺纹;图4)。远侧螺母570的螺纹574被配置成与螺纹杆520的第二螺纹524接合或啮合,使得螺纹杆520在第一方向上(例如,在图9中的箭头“C”的总体方向上)的旋转使远侧螺母570在第二纵向方向上(例如,在图9中的箭头“P”的总体方向上-向近侧)移动,并且螺纹杆520在第二方向上(例如,在图7中的箭头“E”的总体方向上)的旋转使远侧螺母570在纵向方向上(例如,在图7中的箭头“D”的总体方向上-向远侧)移动。
也就是说,螺纹杆520在第一方向上(例如,在图9中的箭头“C”的总体方向上)的旋转使近侧螺母560向远侧移动并且同时使远侧螺母570向近侧移动。螺纹杆520在第二方向上(例如,在图7中的箭头“E”的总体方向上)的旋转使近侧螺母560向近侧移动并且同时使远侧螺母570向远侧移动。此外,螺纹杆520的旋转使近侧螺母560和远侧螺母570同时在彼此相对的方向上移动。
现在参考图3、图5和图7,近侧止动件530相对于螺纹杆520定位,使得近侧止动件530限制近侧螺母560相对于螺纹杆520的近侧移动的量。中间止动件540相对于螺纹杆520定位,使得中间止动件540限制近侧螺母560相对于螺纹杆520的远侧移动的量,并且限制远侧螺母570相对于螺纹杆520的近侧移动的量。远侧止动件550相对于螺纹杆520定位,使得远侧止动件550限制近侧螺母570相对于螺纹杆520的远侧移动的量。
参考图6,示出了铰接组合件500和细长部分120的一部分的径向横截面。细长部分120包含外壁122和内部主体124。内部主体124限定开口126,所述开口的尺寸被设定成容纳近侧螺母560、远侧螺母570(图6中未示出)、第一铰接杆580和第二铰接杆590(图6中未示出)。细长部分120的开口126的形状确保近侧螺母560、远侧螺母570、第一铰接杆580和第二铰接杆590是固定的从而不会相对于细长部分120绕纵向轴线“A-A”(图1)旋转。另外,螺纹杆520相对于细长部分120的旋转使得近侧螺母560、远侧螺母570、第一铰接杆580和第二铰接杆590相对于细长部分120纵向平移(并且无旋转)。
参考图2、图3、图5和图7,近侧螺母560机械联接到第一铰接杆580,并且远侧螺母570机械联接到第二铰接杆590。更具体地,特定参考图5,第一铰接杆580固定到近侧螺母560的第一侧面562,并且第二铰接杆590固定到远侧螺母570的第二侧面572。近侧螺母560的第一侧面562和远侧螺母570的第二侧面572在纵向轴线“A-A”的相对侧上。因此,近侧螺母560的纵向移动使第一铰接杆580在纵向轴线“A-A”的第一侧上进行对应的纵向移动,并且远侧螺母570的纵向移动使第二铰接杆590在纵向轴线“A-A”的第二侧上进行对应的纵向移动。
此外,螺纹杆520在第一方向上(例如,在图9中的箭头“C”的总体方向上)的旋转使近侧螺母560和第一铰接杆580向远侧移动并且同时使远侧螺母570和第二铰接杆590向近侧移动。螺纹杆520在第二方向上(例如,在图7中的箭头“E”的总体方向上)的旋转使近侧螺母560和第一铰接杆580向近侧移动并且同时使远侧螺母570和第二铰接杆590向远侧移动。
现在参考图4、图8和图10,示出了铰接组合件500与枢轴组合件600之间的接合。如上所述,第一铰接杆580通过第一销612可枢转地联接到第一枢轴连杆610,并且第二铰接杆590通过第三销622可枢转地联接到第二枢轴连杆620。第一枢轴连杆610通过第二销614可枢转地联接到砧座组合件300的近端和钉仓组合件400,并且第二枢轴连杆620通过第四销624可枢转地联接到砧座组合件300和钉仓组合件400。因此,当第一铰接杆580向近侧移动时并且当第二铰接杆590向远侧移动时(如上所讨论的两种情况同时发生),末端执行器220在箭头“R”(图8)的总体方向上移动或铰接。同样,当第一铰接杆580向远侧移动时并且当第二铰接杆590向近侧移动时(如上所讨论的两种情况同时发生),末端执行器220在箭头“L”(图10)的总体方向上移动或铰接。
因此,末端执行器220同时在相反的方向上被推动和拉动。更具体地,当末端效应器220的一个侧面被推动时,末端效应器220的相对的侧面被拉动,并且反之亦然。因此,相对于包含例如仅能够推动或拉动末端效应器而不是能够推动和拉动末端效应器的单个铰接杆的铰接组合件而言存在机械优势。
尽管以上描述含有许多细节,但这些细节不应被解释为对本公开的范围的限制,而是仅作为对本公开的各个方面的说明。因此,以上描述不应被解释为限制性的,而是仅作为各个方面的范例。本领域技术人员将设想在本文所附权利要求书的范围和精神内的其它修改。
Claims (20)
1.一种外科手术器械,其包括:
手柄组合件;
细长部分,所述细长部分从所述手柄组合件向远侧延伸并限定第一纵向轴线;
末端执行器,所述末端执行器邻近所述细长部分的远端安置并限定第二纵向轴线;以及
铰接组合件,所述铰接组合件被安置成与所述末端执行器机械协作并且被配置成使所述末端执行器在第一位置与第二位置之间移动,在所述第一位置中,所述第二纵向轴线与所述第一纵向轴线对准,在所述第二位置中,所述第二纵向轴线被安置成与所述第一纵向轴线成一定角度,所述铰接组合件包含:
螺纹杆,所述螺纹杆包含主体、第一螺纹和第二螺纹,所述第一螺纹在第一方向上环绕所述主体的近侧部分,所述第二螺纹与所述第一螺纹间隔开并在第二方向上环绕所述主体的远侧部分,所述第一方向与所述第二方向相反;
第一螺母,所述第一螺母与所述第一螺纹机械接合,使得所述螺纹杆在第一方向上相对于所述细长部分的旋转使所述第一螺母相对于所述细长部分向远侧移动;
第二螺母,所述第二螺母与所述第二螺纹机械接合,使得所述螺纹杆在所述第一方向上相对于所述细长部分的旋转使所述第二螺母相对于所述细长部分向近侧移动;
第一铰接杆,所述第一铰接杆联接到所述第一螺母和所述末端执行器;以及
第二铰接杆,所述第二铰接杆联接到所述第二螺母和所述末端执行器。
2.根据权利要求1所述的外科手术器械,其中整个所述第一螺纹安置在所述第二螺纹的近侧。
3.根据权利要求1所述的外科手术器械,其进一步包含致动机构,所述致动机构被安置成与所述手柄组合件和所述铰接组合件机械协作。
4.根据权利要求3所述的外科手术器械,其进一步包含驱动器,所述驱动器被安置成与所述铰接组合件机械协作并与所述致动机构机械协作,所述驱动器能够绕所述纵向轴线相对于所述细长部分旋转。
5.根据权利要求4所述的外科手术器械,其中所述驱动器被安置成与所述螺纹杆机械协作,所述驱动器相对于所述螺纹杆旋转固定。
6.根据权利要求1所述的外科手术器械,其中所述第一螺母能够相对于所述细长部分向近侧平移并且能够相对于所述细长部分向远侧平移,并且其中所述第二螺母能够相对于所述细长部分向近侧平移并且能够相对于所述细长部分向远侧平移。
7.根据权利要求1所述的外科手术器械,其中所述第一铰接杆纵向固定到所述第一螺母,并且其中所述第二铰接杆纵向固定到所述第二螺母。
8.根据权利要求1所述的外科手术器械,其中所述螺纹杆在所述第一方向上绕所述纵向轴线相对于所述细长部分的旋转使所述第一铰接杆相对于所述细长部分向远侧移动并且使所述第二铰接杆相对于所述细长部分向近侧移动。
9.根据权利要求8所述的外科手术器械,其中所述螺纹杆在第二方向上绕所述纵向轴线相对于所述细长部分的旋转使所述第一铰接杆相对于所述细长部分向近侧移动并且使所述第二铰接杆相对于所述细长部分向远侧移动。
10.根据权利要求1所述的外科手术器械,其中所述第一螺母和所述第二螺母相对于所述细长部分旋转固定。
11.根据权利要求1所述的外科手术器械,其中所述铰接组合件进一步包含在所述第一螺母的近侧安置在所述螺纹杆上的近侧止动件和在所述第二螺母的远侧安置在所述螺纹杆上的远侧止动件。
12.根据权利要求11所述的外科手术器械,其中所述铰接组合件进一步包含在所述第一螺母的远侧和所述第二螺母的近侧安置在所述螺纹杆上的中间止动件。
13.一种用于与外科手术装置一起使用的铰接组合件,所述铰接组合件包括:
螺纹杆,所述螺纹杆包含主体、第一螺纹和第二螺纹,所述第一螺纹在第一方向上环绕所述主体的近侧部分,所述第二螺纹与所述第一螺纹间隔开并在第二方向上环绕所述主体的远侧部分,所述第一方向与所述第二方向相反;
近侧螺母,所述近侧螺母环绕所述螺纹杆的所述主体并与所述螺纹杆的所述第一螺纹接合;
远侧螺母,所述远侧螺母环绕所述螺纹杆的所述主体并与所述螺纹杆的所述第二螺纹接合;
第一铰接杆,所述第一铰接杆联接到所述近侧螺母并安置在所述螺纹杆的第一侧面上;以及
第二铰接杆,所述第二铰接杆联接到所述远侧螺母并安置在所述螺纹杆的第二侧面上,
其中所述螺纹杆在第一方向上相对于所述近侧螺母的旋转使所述近侧螺母和所述第一铰接杆相对于所述螺纹杆向远侧移动并且使所述远侧螺母和所述第二铰接杆相对于所述螺纹杆向近侧移动。
14.根据权利要求13所述的铰接组合件,其中整个所述第一螺纹安置在整个所述第二螺纹的近侧。
15.根据权利要求13所述的铰接组合件,其中所述螺纹杆在第二方向上相对于所述近侧螺母的旋转使所述近侧螺母和所述第一铰接杆相对于所述螺纹杆向近侧移动并且使所述远侧螺母和所述第二铰接杆相对于所述螺纹杆向远侧移动。
16.根据权利要求13所述的铰接组合件,其进一步包含在所述近侧螺母的近侧安置在所述螺纹杆上的近侧止动件和在所述远侧螺母的远侧安置在所述螺纹杆上的远侧止动件。
17.一种铰接外科手术器械的末端执行器的方法,所述方法包括:
使螺纹杆旋转,所述螺纹杆的第一部分上具有右旋螺纹并且所述螺纹杆的第二部分上具有左旋螺纹,其中所述右旋螺纹与所述左旋螺纹间隔开;
使第一螺母向近侧平移;
使第二螺母向远侧平移;
使第一铰接杆向近侧平移;以及
使第二铰接杆向远侧平移,
其中使所述第一螺母向近侧平移和使所述第二螺母向远侧平移同时发生。
18.根据权利要求17所述的方法,其中使所述第一铰接杆向近侧平移和使所述第二铰接杆向远侧平移同时发生。
19.根据权利要求18所述的方法,其中使所述第一螺母向近侧平移和使所述第一铰接杆向近侧平移同时发生。
20.根据权利要求17所述的方法,其中所述螺纹杆限定第一纵向轴线,其中所述末端执行器限定第二纵向轴线,并且所述方法进一步包含使所述末端执行器从第一位置移动到第二位置,在所述第一位置中,所述第一纵向轴线与所述第二纵向轴线对准,在所述第二位置中,所述第二纵向轴线被安置成相对于所述第一纵向轴线成约90°。
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CN202111520790.2A Pending CN114631856A (zh) | 2020-12-15 | 2021-12-13 | 具有铰接组合件的外科手术器械 |
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US (1) | US11819200B2 (zh) |
EP (1) | EP4014898A1 (zh) |
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-
2020
- 2020-12-15 US US17/122,488 patent/US11819200B2/en active Active
-
2021
- 2021-12-13 CN CN202111520790.2A patent/CN114631856A/zh active Pending
- 2021-12-15 EP EP21214676.5A patent/EP4014898A1/en active Pending
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US11819200B2 (en) | 2023-11-21 |
US20220183682A1 (en) | 2022-06-16 |
EP4014898A1 (en) | 2022-06-22 |
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