CN206482658U - 外科手术器械和外科手术钳 - Google Patents
外科手术器械和外科手术钳 Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00607—Coagulation and cutting with the same instrument
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
- A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
- A61B2018/0094—Types of switches or controllers
- A61B2018/00946—Types of switches or controllers slidable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
- A61B2018/1455—Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Abstract
本实用新型涉及外科手术器械和外科手术钳。外科手术器械包括在分离位置和靠近位置之间可移动的第一构件和第二构件、可展开部件、以及包含触发器部分和连杆部分的触发器组件。触发器部分与第一构件接合且包括被配置以相对于第一构件在未致动位置和致动位置之间移动的触发器。连杆部分与第二构件和可展开部件接合，且在第一位置和第二位置之间是可移动的，从而在回缩位置和伸出位置之间驱动可展开部件。在构件的分离位置，触发器部分和连杆部分彼此脱开，其中，在构件移动到靠近位置后，触发器部分和连杆部分被移动到接合，从而实现触发器的致动，从而引起可展开部件的移动。
Description
技术领域
本实用新型涉及外科手术器械和外科手术钳，更具体地涉及在被配置以处理和分割组织的外科手术器械中使用的展开和安全机构。
背景技术
手术钳是一种依赖于钳爪之间的机械动作抓住、夹持、以及收缩组织的钳状器械。电外科手术钳利用夹持动作和电能量来处理(例如凝血、灼烧、和/或闭合)组织。
典型地，在组织被处理后，外科医师必须沿已处理的组织部分准确地切断组织。所以，已经设计出很多手术钳，它们具有在组织处理后高效地切断组织的刀。
在使用手术钳和包括手术刀和/或其他可展开部件在内的其他外科手术器械时，手术刀或其他可展开组件的意外展开能导致对外科医师、患者、或手术团队成员(们)造成伤害。所以，手术刀和其他可展开组件的安全机构是期望的。
实用新型内容
在本文中，术语“远侧的”是指所描述的部分更远离使用者，而术语“近侧的”是指所描述的部分更靠近使用者。此外，在相容的前提下，本文中所描述的任何方面可以联合本文中所描述的其他方面被使用。
根据本实用新型的各方面，提供一种外科手术器械，所述外科手术器械包括第一构件和第二构件、可展开部件、以及触发器组件。第一构件和第二构件中的一个或两个相对于另一个在分离位置和靠近位置之间是可移动的。可展开部件在回缩位置和伸出位置之间是可移动的。触发器组件包括与第一构件接合的触发器部分、以及与第二构件和可展开部件接合的连杆部分。触发器部分包括被配置以相对于第一构件在未致动位置和致动位置之间移动的触发器。连杆部分在第一位置和第二位置之间是可移动的，从而在回缩位置和伸出位置之间驱动可展开部件。在第一构件和第二构件的分离位置，触发器部分和连杆部分彼此脱开，从而触发器在未致动位置和致动位置之间的移动不引起可展开部件的移动。在第一构件和第二构件移动到靠近位置后，触发器部分和连杆部分移动到彼此接合。在所述接合状态下，触发器在未致动位置和致动位置之间的移动导致连杆部分在第一和第二位置之间的移动，由此导致可展开部件在回缩和伸出位置之间的移动。
按本实用新型的一个方面，触发器被配置以相对第一构件沿第一方向从未致动位置平移到致动位置。连杆部分可以被配置以相对第二构件沿相反的第二方向从第一位置平移到第二位置。
按本实用新型的另一个方面，触发器定义了一种被配置以便于触发器在未致动位置和致动位置之间移动的手指环。
按本实用新型的再一个方面，触发器组件还包括被配置以在触发器部分和连杆部分彼此接合时将触发器的移动转换成连杆部分的移动的小齿轮。小齿轮可以被配置成以1:1的移动比将触发器的移动转换成连杆部分的移动，或者可以定义一种复合结构，从而以低于1:1的移动比使触发器的移动被转换成连杆部分的移动。
按本实用新型的又一个方面，小齿轮以一种与触发器持续可操作接合的方式被可转动地设置在第一构件内。按该方面，小齿轮被配置以在第一构件和第二构件移动到靠近位置后可释放操作地接合连杆部分。
按本实用新型的另一个方面，触发器部分还包括第一齿条，所述第一齿条被接合到触发器且以与小齿轮啮合的方式被设置，从而触发器的移动引起小齿轮的转动。
按本实用新型的又一个方面，连杆部分还包括第二齿条和被接合到第二齿条的连接器。第二齿条被配置以在第一构件和第二构件移动到靠近位置后与小齿轮啮合，从而小齿轮的转动引起第二齿条的移动。连接器被连接到可展开构件，从而第二齿条的移动引起可展开构件的移动。
根据本实用新型的各方面，提供外科手术钳，所述外科手术钳包括第一轴构件和第二轴构件，每个轴构件具有被设置在其远端的钳爪。第一轴构件和第二轴构件中的一个或两个相对于另一个在分离位置和靠近位置之间是可移动的，以用于使钳爪相对彼此在打开位置和关闭位置之间移动，从而抓住钳爪之间的组织。手术钳的刀被设置在第二轴构件内并在回缩位置和伸出位置之间是可移动的，在回缩位置刀被定位在钳爪的近侧，在伸出位置刀在钳爪之间至少部分地朝远侧伸出以切割被抓在钳爪之间的组织。手术钳的触发器组件包括触发器部分和连杆部分。触发器部分与第一轴构件接合并包括被配置以相对第一轴构件在未致动位置和致动位置之间移动的触发器。连杆部分与第二轴构件接合，并且具有被接合到该连杆部分的刀。连杆部分在第一位置和第二位置之间能够移动，从而在回缩位置和伸出位置之间移动刀。在第一轴构件和第二轴构件的分离位置，触发器部分和连杆部分彼此脱开，从而触发器在未致动位置和致动位置之间的移动不引起刀的移动。在第一构件和第二构件移动到靠近位置后，触发器部分和连杆部分被移动到彼此接合，从而触发器在未致动位置和致动位置之间的移动引起连杆部分在第一和第二位置之间的移动，由此引起刀件在回缩位置和伸出位置之间移动。
按本实用新型的一个方面，触发器被配置以沿第一方向相对第一轴构件从未致动位置平移到致动位置。连杆部分可以被配置以相对第二轴构件沿相反的第二方向从第一位置平移到第二位置。
按本实用新型的另一个方面，触发器部分还包括：被接合到触发器的第一齿条；以及小齿轮，所述小齿轮以与第一齿条连续可操作接合的方式被可旋转地设置在第一轴构件内，从而触发器的移动引起小齿轮的转动。
按本实用新型的再一个方面，连杆部分包括第二齿条和被接合在第二齿条与刀之间的连接器。按该方面，小齿轮被配置以在第一轴构件和第二轴构件移动到靠近位置后可释放操作地接合第二齿条，从而小齿轮的转动引起刀的移动。
按本实用新型的又一个方面，小齿轮被配置成以1：1的移动比将第一齿条的移动转换为第二齿条的移动。替代地，小齿轮可以定义一种复合结构，从而小齿轮被配置成以低于1:1的移动比将第一齿条的移动转换为第二齿条的移动。
按本实用新型的又一个方面，钳爪中的至少一个适合于连接到能量源，以用于处理被抓在钳爪之间的组织。按某些方面，外科手术钳还可以包括激活按钮，所述激活按钮被设置在第一轴构件和第二轴构件之一上，且被配置以开启对钳爪中的所述至少一个的能量供应，例如从能量源。
附图说明
本实用新型的多个方面和特征在本文中参考附图被描述，其中相同的附图标记表示相似或相同的部件，其中：
图1是按本实用新型的各方面提供的外科手术钳的透视图；
图2A是图1的手术钳的纵向剖视图，其中轴构件被设置在与末端执行器组件的钳爪的打开位置以及触发器组件的脱开位置相对应的分离位置；
图2B是图1的手术钳的纵向剖视图，其中轴构件被设置在与末端执行器组件的钳爪的关闭位置以及触发器组件的接合位置相对应的靠近位置，此时刀被设置在回缩位置；
图2C是图1的手术钳的纵向剖视图，其中轴构件被设置在与末端执行器组件的钳爪的关闭位置以及触发器组件的接合位置相对应的靠近位置，此时刀被设置在伸出位置；
图3是另一种按本实用新型的各方面提供且被配置以配合图1的手术钳使用的刀展开和安全机构的放大侧视图。
具体实施方式
参见图1，按本实用新型提供的手术钳10被画出大致包括第一和第二轴构件101a，101b、末端执行器组件200、电外科线缆300、激活装置400、刀500、以及触发器组件600。尽管下面关于手术钳10进行了详述，更具体地，关于它的轴构件101a，101b、触发器组件600、以及刀500进行了详述，但是本实用新型的展开和安全机构同样适合于配合任何其他合适的外科手术器械(例如腹腔镜手术钳、其他电外科手术器械、超声波外科手术器械、手术装订器等)、它们的相对可移动的构件、和/或可展开组件使用。
第一和第二轴构件101a，101b每一个都分别具有近端102a，102b和远端104a，104b。轴构件101a，101b在各自的近端102a，102b处包括第一和第二手柄106a，106b，以及被设置在轴构件101a，101b的远端104a，104b处的末端执行器组件200。
末端执行器组件200包括连接到第一和第二轴构件101a，101b各自的远端104a，104b的第一和第二钳爪210，220。枢销250在钳爪210,220附近可枢转地将轴构件101a，101b彼此相连。因此，为了抓住钳爪之间的组织，轴构件101a，101b可以相对彼此围绕枢销250在分离位置(图2A)和靠近位置(图2B和2C)之间移动，从而实现钳爪210,220相对彼此围绕枢轴250在打开位置(图2A)和关闭位置(图2B和2C)之间的移动。轴构件101a，101b的手柄106a，106b每一个都分别定义了容纳外科医师的手指的指洞107a，107b。能理解的是，指洞107a，107b便于轴构件101a，101b相对彼此在分离位置和靠近位置之间的移动，从而在打开和关闭位置之间枢转钳爪210,220。
再参见图2A-2C，末端执行器组件200的钳爪210,220每一个分别包括被配置以机械地接合导电的组织处理表面214,224的绝缘外壳212,222。导电的组织处理表面214,224彼此相对，从而在激活后，电外科能量可以被提供给表面214,224并在它们之间传导，以对被抓在钳爪210,220之间的组织进行处理。更具体地，第一电位可以被提供给第一钳爪210的表面214，第二电位可以被提供给第二钳爪220的表面224，从而在表面214,224之间经被放置在所述表面之间的组织传导能量，从而处理组织。
轴构件之一(例如轴构件101a)包括近侧轴连接器108，它被配置以容纳将手术钳10连接到电外科手术能量源(为示出)的电外科线缆300。电外科线缆300可以被永久地固定到轴构件101a的近侧轴连接器108，或者可以与之可释放地接合。电外科线缆300容纳多根延伸穿过线缆的电线310(图2A-2C)。电线310被配置以连接到钳爪210,220的表面214,224以及激活装置400，从而能够给钳爪210,220选择性地供应电外科能量，如下面详细描述那样。
激活装置400包括被支撑在轴构件之一(例如轴构件101a)上的激活按钮410，以及被设置在另一个轴构件(例如轴构件101b)上的接触表面420。激活按钮410通过一根或多根电线310与表面214,224中的一个或两个电连接，从而实现给钳爪210,220的选择性能量供应。所以，在轴构件101a，101b靠近时，例如当钳爪210,220朝着关闭位置移动时，接触表面420最终将接触激活按钮410。在轴构件101a，101b继续靠近时，例如在给钳爪210，220施加合适的闭合力时，接触表面520被进一步驱动到激活按钮410内，从而将激活按钮410下压到激活位置。在激活位置，激活按钮410开启给钳爪210,220的表面214,224的能量供应，从而对被抓在表面214,224之间的组织进行处理。作为由接触表面410所激活的激活按钮410的替代，可以提供其他合适的激活装置，例如指开关、拨动开关、脚踏开关等等。
仍参见图1-2C，刀500被设置在轴构件之一(例如轴构件101a)内。刀500被可操作地连接到触发器组件600，且穿过轴构件101a相对末端执行器组件200在回缩位置(图2B)和伸出位置(图2C)之间是可滑动的，在回缩位置，刀500被设置在枢销250的近侧，在伸出位置，刀500在钳爪210,220之间穿过或围着枢销250朝远侧伸出，从而切割被抓在钳爪之间的组织。钳爪210,220的表面214,224中的一个或两个可以分别定义纵向延伸穿过表面的刀通道216,226。刀通道216,226被配置以在刀500前进到伸出位置时至少部分地容纳刀500。如下面所述，在轴构件101a，101b移动到与钳爪210,220的关闭位置相应的靠近位置之前，触发器组件600的结构抑制刀500的展开。
触发器组件600包括触发器部分610和连杆部分620。触发器组件600的触发器部分610被可操作地连接到轴构件101b，而连杆部分620被可操作地连接到轴构件101a。连杆部分620还被可操作地连接到轴构件101a内的刀500，如下面所述。
触发器组件600的触发器部分610包括延伸穿过被定义在轴构件101b的中段内(例如在轴构件的近端和远端102b，104b之间)的槽109的触发器612，被可滑动地设置在轴构件101b内的齿条614，以及被可旋转地安装在轴构件101b内的小齿轮616。触发器612与齿条614一体地形成或被接合到齿条614，触发器612和齿条614一起相对于轴构件101可滑动。触发器612定义了穿过触发器的指洞618，用于容纳外科医师的手指。指洞618有利于触发器612和齿条614相对于轴构件101b在未致动位置(图2B)和致动位置(图2C)之间的平移。小齿轮616可旋转地安装于被设置在轴构件101b内的柱110上并包括以与齿条614的齿615啮合的方式设置的齿617，从而触发器612和齿条614相对于轴构件101b的平移使小齿轮616围绕柱110且相对于轴构件101b旋转。小齿轮616的一部分延伸穿过轴构件101b上朝向轴构件101a的开口111，这样做的重要性将在下面被详细描述。
复位弹簧630可以被连接在触发器组件600的触发器部分610和轴构件101b之间，例如被安装在轴构件101b内且与齿条614接合，从而朝远侧偏压触发器部分610，对应于触发器612的未致动位置。
作为提供具有被接合到触发器的齿条614的可滑动触发器612的替代，可旋转触发器可以被连接到小齿轮616。在这种方案中，可旋转触发器将相对轴构件101b可旋转，由此相对于轴构件101b转动小齿轮616。也可预期用于实现小齿轮616的转动的其他合适的触发器方案，例如可下压按钮、枢转杆等等。
如之前所述，触发器组件600的连杆部分620被可操作地连接到轴构件101a和刀500。更具体地，触发器组件600的连杆部分620包括被可滑动地设置在轴构件101a内的齿条622、和被可操作地接合，(例如销接或其他接合方式)到刀500的近端的连接器624。齿条622和连接器624可以被一体地形成或者彼此接合，从而齿条622和连接器624穿过且相对于轴构件101a一起滑动，由此穿过且相对于轴101a在回缩和展开位置之间平移刀500(分别是图2B和2C)。齿条622包括朝着轴构件101b被定向的齿623。轴构件101a在齿条622附近定义了槽112，从而提供通往齿条622的路径，它的重要性在下面被详细描述。
复位弹簧640可以被连接在触发器组件600的连杆部分620的齿条622和轴构件101a之间，从而朝近侧偏压连杆部分620，由此朝着回缩位置偏压刀500并在刀500展开后将刀500返回到回缩位置。
参见图2A，在对应于钳爪210,220的打开位置的轴构件101a，101b的分离位置，触发器组件600的触发器部分610的小齿轮616与触发器组件600的连杆部分620的齿条622分开。所以，齿条622在偏压构件640的偏压下被保持在它的初始靠近侧位置，由此保持刀500处于回缩位置，无论触发器612是否沿着轴构件101b平移以转动小齿轮616。在没有作用力作用在触发器612上以朝着近侧平移触发器612的情况下，触发器612在偏压构件630的偏压下被保持在未致动的靠远侧位置。
作为被设置在轴构件101b内的小齿轮616的替代，小齿轮616可以被设置在轴构件101a内，并以与连杆部分620的齿条622啮合的方式被设置。在这种方案中，与之前的类似，在轴构件101a，101b设置在分离位置的情况下，小齿轮616和齿条622在偏压构件640的偏压下被保持在合适的位置。更具体地，齿条622被保持在初始的靠近侧位置，且刀500被保持在回缩位置，无论触发器612是否相对轴构件101b被平移。
在之前所描述的任一方案中，在轴构件101a，101b被设置在分离位置时，抑制了刀500的展开。即，在触发器组件600的触发器部分610与触发器组件的连杆部分620脱开时，触发器612与刀500断开连接，由此抑制刀500的展开。仅仅在轴构件101a,101b充分靠近以使触发器部分610和连杆部分620彼此接合时，才允许通过致动触发器612来展开刀500，如下详述。
参见图2B和2C，在轴构件101a，101b充分靠近后，例如，在轴构件101a，101b移动到靠近位置后，小齿轮616的从轴构件101b的开口111伸出的一部分穿过轴构件101a上的槽112，然后与触发器组件600的连杆部分620的齿条622接合。更具体地，在轴构件101a，101b如此地靠近后，小齿轮616的齿617与齿条622的齿623运动到啮合。如之前所述，小齿轮616的齿617也被设置为与触发器组件600的触发器部分610的齿条614的齿615啮合。因此，在小齿轮616与触发器部分610的齿条614以及连杆部分620的齿条622接合的情况下，触发器部分610和连杆部分620彼此可操作地接合。
可以根据所需要的方案选择轴构件101a，101b充分靠近以使得触发器部分610和连杆部分620相互接合的位置。例如，这种接合可以在以下至少一种情况下发生：轴构件101a，101b充分地靠近以在末端执行器组件200的钳爪210,220的表面214,224之间定义一个具体的间距或具体的间距范围；轴构件101a，101b充分地靠近以在末端执行器组件200的钳爪210,220之间定义一个具体的闭合压力或具体的闭合压力范围；在激活按钮410被激活前；在激活按钮410被激活后；或者在激活按钮410的激活的同时。其他合适的方案也被预期。
参见图2B，在触发器部分610和连杆部分620彼此接合后，触发器612最初在偏压构件630的偏压下被设置在最远侧的未致动位置，刀500最初在偏压构件640的偏压下被设置在最近侧的回缩位置。另外，由于触发器部分610与连杆部分620彼此接合，偏压构件630和640也分别朝它们的初始位置偏压刀500和触发器612。另参见图2C，触发器612能从初始位置沿着轴构件101b朝着近侧滑动，由此将触发器组件600的触发器部分610的齿条614朝着近侧平移穿过轴构件101b。因为齿条614被设置为与小齿轮616啮合，所以齿条614的朝近侧平移引起小齿轮616的相应的逆时针旋转(从图2A-2C所示的方位观察)。由于小齿轮616与齿条622之间的啮合，小齿轮616的这种逆时针旋转又将触发器组件600的连杆部分620的齿条622朝着远侧平移。齿条622朝远侧的平移将刀500从回缩位置朝远侧驱动到致动位置，其中刀500从被分别定义在钳爪210,220内的刀通道216,226伸出，从而切割被抓在钳爪210,220的表面214,224之间的组织。在触发器612的朝远侧释放或复位后(例如在手动推动和/或偏压构件630,640的偏压下)，刀500被返回到回缩位置。类似地，在触发器组件600的触发器部分610与触发器组件600的连杆部分620脱开后，例如在轴构件101a，101b朝着分离位置彼此分离后，刀在偏压构件640的偏压下被返回到回缩位置。
转到图3，画出根据本实用新型的触发器组件1600的另一个实施例。触发器组件1600大致包括触发器部分1610和连杆部分1620。触发器部分1610被配置以可操作地连接到外科手术器械的第一部件，例如手术钳10的轴构件101b(图1)，并包括触发器1612、齿条1614和小齿轮1616。连杆部分1620被配置以可操作地连接到外科手术器械的另一个部件，例如手术钳10的轴构件101a(图1)，并包括齿条1622和连接器1624。触发器组件1600类似于触发器组件600(图2A-2C)，除了小齿轮1616的构造，所以下面将只详细描述区别。
小齿轮1616定义了一种包括第一较小直径齿轮1616a和第二较大直径齿轮1616b的复合结构，每个都包含被环绕设置的多个齿1617a，1617b。第一齿轮1616a的齿1617a被设置为与触发器组件1600的触发器部分1610的齿条1614的齿1615啮合，而第二齿轮1616b的齿1617b被设置为与触发器组件1600的连杆部分1620的齿条1622的齿1623啮合，例如在手术钳10的轴构件101a，101b充分靠近后(图1)。触发器组件1600类似触发器600(图2A-2C)操作，除了由于小齿轮1616的复合结构(即第一齿轮1616a被配置以接合齿条1614和第二齿轮1616b被配置以接合齿条1622，齿条1614的行程与齿条1622的行程的比值小于1:1)之外。也就是说，对于致动器1612的给定输入行程而言，齿条1622的输出行程大于输入行程。所以，致动器1612只需要被平移相对短的距离就能实现刀500的完全展开。提供较短的触发器1612所需行程实现了触发器组件1600的更符合人体工学的致动。
本实用新型还可以被配置以配合机器人手术系统工作，通常被称为“远程外科”。这种系统采用多种机器人元件来辅助外科医师，并允许外科手术器械的远程操作(或者部分远程操作)。多种机器人臂、齿轮、凸轮、皮带轮、电动和机械马达等等可以用于该目的，并可以设计成与在手术或处理的过程中与机器人手术系统一起使用以辅助外科医师。这种机器人系统可以包括远程操纵系统、自动化柔性手术系统、远程柔性手术系统、远程关节手术系统、无线手术系统、模块化或可选择性配置的远程操作手术系统等等。
机器人手术系统可以联合手术室旁边的或位于远程位置的一个或多个控制台一起使用。在这种情况下，一队外科医师或护士可以使患者准备好手术并利用本文中所公开的一个或多个器械配置机器人手术系统，同时另一位外科医生(外科医师组)通过机器人手术系统远程地控制所述器械。如所理解那样，技巧纯熟的外科医师可以在不离开他/她的控制台的前提下在多个位置完成多个手术，这即是经济上有利的、也对患者有利。
手术系统的机器人臂通常通过控制器被连接到一对主手柄。所述手柄能由外科医师驱动以产生任何类型外科手术器械(例如，末端执行器、抓紧器、刀、剪刀等等)的工作端的相应移动，这可以补充本文中所描述的一个或多个实施例的用途。主手柄的移动可以按比例，从而工作端具有相比外科医师的操作手所完成的位移不同的、更小或更大的相应位移。比例系数或传动比可以是可调节的，从而使施术者能控制外科手术器械的工作端的分辨率。
主手柄可以包括多种传感器，从而给外科医师提供关于多种组织参数或状态(例如由于对组织进行操控、切割或其他处理所导致的组织阻力、器械施加在组织上的压力、组织温度、组织电阻等等)的反馈。如被理解那样，这些传感器给外科医师提供模拟真实操作条件的增强触觉反馈。主手柄还可以包括多种不同的致动器用于精细的组织操控或处理，从而进一步增强外科医师模拟真实手术调节的能力。
根据前文并参考多个附图，本领域技术人员将理解在不脱离本实用新型范围的前提下能对本实用新型做出某些修改。尽管本实用新型的实施例已经在附图中被画出，但是不意味着本实用新型仅限于此，因为本实用新型如同现有技术所允许那样以及说明书被理解那样宽泛。所以，前面的描述不应当被理解为限制，而仅是具体实施例的示范。本领域技术人员将预见到其他的落入后附权利要求的范围和精神内的修改。
Claims (19)
1.一种外科手术器械，其特征在于，所述外科手术器械包括：
第一构件和第二构件，第一构件和第二构件中的至少一个能够相对于另一个在分离位置和靠近位置之间移动；
在回缩位置和伸出位置之间能够移动的可展开部件；以及
触发器组件，包括：
与第一构件接合的触发器部分，触发器部分包括被配置以相对于第一构件在未致动位置和致动位置之间移动的触发器；以及
与第二构件接合的连杆部分，连杆部分具有被接合到连杆部分的可展开部件，连杆部分在第一位置和第二位置之间能够移动，从而在回缩位置和伸出位置之间驱动可展开部件，
其中，在第一构件和第二构件的分离位置，触发器部分和连杆部分彼此脱开，从而触发器在未致动位置和致动位置之间的移动不引起可展开部件的移动，
其中，在第一构件和第二构件移动到靠近位置后，触发器部分和连杆部分移动到彼此接合，从而触发器在未致动位置和致动位置之间的移动引起连杆部分在第一和第二位置之间的移动，由此引起可展开部件在回缩位置和伸出位置之间的移动。
2.根据权利要求1所述的外科手术器械，其特征在于，触发器被配置以相对第一构件沿第一方向从未致动位置平移到致动位置。
3.根据权利要求2所述的外科手术器械，其特征在于，连杆部分被配置以相对第二构件沿相反的第二方向从第一位置平移到第二位置。
4.根据权利要求2所述的外科手术器械，其特征在于，触发器定义了被配置以便于触发器平移的手指环。
5.根据权利要求1所述的外科手术器械，其特征在于，触发器组件还包括被配置以在触发器部分和连杆部分彼此接合时将触发器的移动转换成连杆部分的移动的小齿轮。
6.根据权利要求5所述的外科手术器械，其特征在于，小齿轮被配置成以1:1的移动比将触发器的移动转换成连杆部分的移动。
7.根据权利要求5所述的外科手术器械，其特征在于，小齿轮定义复合结构，从而小齿轮被配置成以低于1:1的移动比将触发器的移动被转换成连杆部分的移动。
8.根据权利要求5所述的外科手术器械，其特征在于，小齿轮以与触发器持续可操作接合的方式被可转动地设置在第一构件内，其中小齿轮被配置以在第一构件和第二构件移动到靠近位置后可释放地操作接合连杆部分。
9.根据权利要求5所述的外科手术器械，其特征在于，触发器部分还包括第一齿条，所述第一齿条被接合到触发器且以与小齿轮啮合的方式设置，从而触发器的移动引起小齿轮的转动。
10.根据权利要求5所述的外科手术器械，其特征在于，连杆部分还包括第二齿条和被接合到第二齿条的连接器，第二齿条被配置以在第一构件和第二构件移动到靠近位置后与小齿轮啮合，从而小齿轮的转动引起第二齿条的移动，连接器被接合到可展开构件，从而第二齿条的移动引起可展开构件的移动。
11.一种外科手术钳，其特征在于，所述外科手术钳包括：
第一轴构件和第二轴构件，第一轴构件和第二轴构件均具有被设置在其远端的钳爪，第一轴构件和第二轴构件中的至少一个能够相对于另一个在分离位置和靠近位置之间移动，以用于使钳爪相对于彼此在打开位置和关闭位置之间移动，从而抓住钳爪之间的组织；
被设置在第二轴构件内并在回缩位置和伸出位置之间能够移动的刀，其中，在回缩位置，刀被定位在钳爪的近侧，在伸出位置，刀在钳爪之间至少部分地朝远侧伸出以切割被抓在钳爪之间的组织；以及
触发器组件，包括：
与第一轴构件接合的触发器部分，触发器部分包括被配置以相对第一轴构件在未致动位置和致动位置之间移动的触发器；以及
与第二轴构件接合的连杆部分，连杆部分具有被接合到该连杆部分的刀，连杆部分在第一位置和第二位置之间能够移动，从而在回缩位置和伸出位置之间移动刀，
其中，在第一轴构件和第二轴构件的分离位置，触发器部分和连杆部分彼此脱开，从而触发器在未致动位置和致动位置之间的移动不引起刀的移动，
其中，在第一构件和第二构件移动到靠近位置后，触发器部分和连杆部分被移动到彼此接合，从而触发器在未致动位置和致动位置之间的移动引起连杆部分在第一和第二位置之间的移动，由此引起刀在回缩位置和伸出位置之间移动。
12.根据权利要求11所述的外科手术钳，其特征在于，触发器被配置以相对第一轴构件沿第一方向从未致动位置平移到致动位置。
13.根据权利要求12所述的外科手术钳，其特征在于，连杆部分被配置以相对第二轴构件沿相反的第二方向从第一位置平移到第二位置。
14.根据权利要求11所述的外科手术钳，其特征在于，触发器部分还包括：被接合到触发器的第一齿条；以及小齿轮，所述小齿轮以与第一齿条连续可操作接合的方式被可旋转地设置在第一轴构件内，从而触发器的移动引起小齿轮的转动。
15.根据权利要求14所述的外科手术钳，其特征在于，连杆部分包括第二齿条、和被接合在第二齿条与刀之间的连接器，其中，小齿轮被配置以在第一轴构件和第二轴构件移动到靠近位置后可释放操作地接合第二齿条，从而小齿轮的转动引起刀的移动。
16.根据权利要求15所述的外科手术钳，其特征在于，小齿轮被配置成以1：1的移动比将第一齿条的移动转换为第二齿条的移动。
17.根据权利要求15所述的外科手术钳，其特征在于，小齿轮定义复合结构，从而小齿轮被配置成以低于1:1的移动比将第一齿条的移动转换为第二齿条的移动。
18.根据权利要求11所述的外科手术钳，其特征在于，钳爪中的至少一个能够连接到能量源，以用于处理被抓在钳爪之间的组织。
19.根据权利要求18所述的外科手术钳，其特征在于，所述外科手术钳还包括激活按钮，所述激活按钮被设置在第一轴构件和第二轴构件之一上，且被配置以开启对钳爪中的所述至少一个的能量供应。
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| US8968306B2 (en) * | 2011-08-09 | 2015-03-03 | Covidien Lp | Surgical forceps |
| CN105007850B (zh) * | 2012-05-02 | 2018-04-24 | 伊西康内外科公司 | 用于切割和凝固的电外科装置 |
| US9039731B2 (en) * | 2012-05-08 | 2015-05-26 | Covidien Lp | Surgical forceps including blade safety mechanism |
| US9192421B2 (en) * | 2012-07-24 | 2015-11-24 | Covidien Lp | Blade lockout mechanism for surgical forceps |
| US9579147B2 (en) * | 2013-06-04 | 2017-02-28 | Ethicon Endo-Surgery, Llc | Electrosurgical forceps with translating blade driver |
| US9931158B2 (en) * | 2014-09-17 | 2018-04-03 | Covidien Lp | Deployment mechanisms for surgical instruments |
-
2015
- 2015-11-05 US US14/933,166 patent/US10213250B2/en not_active Expired - Fee Related
-
2016
- 2016-09-13 CN CN201621052187.0U patent/CN206482658U/zh not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| US20170128120A1 (en) | 2017-05-11 |
| US10213250B2 (en) | 2019-02-26 |
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