WO2021036262A1 - 用于外科器械的端部执行器驱动装置及外科器械 - Google Patents

用于外科器械的端部执行器驱动装置及外科器械 Download PDF

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Publication number
WO2021036262A1
WO2021036262A1 PCT/CN2020/083044 CN2020083044W WO2021036262A1 WO 2021036262 A1 WO2021036262 A1 WO 2021036262A1 CN 2020083044 W CN2020083044 W CN 2020083044W WO 2021036262 A1 WO2021036262 A1 WO 2021036262A1
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WO
WIPO (PCT)
Prior art keywords
end effector
driving
angle control
locking
control member
Prior art date
Application number
PCT/CN2020/083044
Other languages
English (en)
French (fr)
Inventor
孙宝峰
马占虎
Original Assignee
江苏风和医疗器材股份有限公司
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Publication of WO2021036262A1 publication Critical patent/WO2021036262A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00982—General structural features

Definitions

  • the invention relates to an end effector driving device for surgical instruments and surgical instruments, and belongs to the technical field of surgical instruments.
  • the stapler suitable for surgical operation is a surgical cutting stapler that can cut the excess tissue while suturing the wound of the patient. It is widely used in the removal and removal of tissues in minimally invasive surgery such as abdominal surgery, gynecology, pediatrics, and thoracic surgery. Coincide.
  • the surgical cutting stapler enters the patient's body through the cannula of the trocar precisely positioned at the surgical site, and then makes a longitudinal incision in the tissue and applies staples on the opposite side of the incision, thereby separating and anastomosing the tissue.
  • the surgical cutting stapler includes an end effector.
  • the end effector includes a staple cartridge seat and a staple abutment seat pivotally connected to the staple cartridge seat.
  • the staple cartridge seat is used to receive a staple cartridge assembly;
  • the staple cartridge assembly includes a staple cartridge body And the staples arranged in the staple cartridge body, the staple cartridge body is provided with a number of staple cavities for accommodating staples, the staple cartridge body includes a top surface, and the top surface is provided with an outlet formed by the staple cavity penetrating the top surface. Nail mouth.
  • the cutting stapler can be fired to cut and suture the tissue.
  • the top surface is in contact with the sutured tissue, and the cutting member in the surgical cutting stapler pushes the wedge-shaped pusher in the staple cartridge to move, so that the staple driver drives the staples in the staple cartridge to move upward from the staple cavity.
  • Pierce and suture the target tissue that is, the staples are released.
  • it is necessary to rotate the end effector so that there is an angle between the end effector and the shaft assembly, so it is necessary to drive the end effector to rotate and control its rotation angle End effector drive device.
  • the end effector driving device in the prior art can drive the end effector to rotate and lock, the structure is complicated and the operation reliability needs to be improved.
  • the purpose of the present invention is to provide an end effector driving device for surgical instruments, which can conveniently lock the end effector at a specific position.
  • the present invention provides an end effector driving device for surgical instruments, which is used to control the rotation and locking of the end effector.
  • the end effector driving device includes a guide member and an angle control member. And a positioning sleeve sleeved on the angle control member, the angle control member and the positioning sleeve form a accommodating space, the accommodating space is provided with a locking member, and the guide member drives the locking member in the locked position and When the locking member is in the locking position, the guide member cannot drive the angle control member to rotate in the positioning sleeve. When the locking member is in the release position, the guide member cannot drive the angle control member to rotate in the positioning sleeve.
  • the guide member can drive the angle control member to rotate in the positioning sleeve.
  • the guide member is provided with a driving block
  • the angle control member is provided with a driving groove for accommodating the driving block
  • the driving block includes a rotating part and a driving part connected, the rotating part has an arc-shaped mating surface, and the driving part has a planar driving surface.
  • the extension angle of the arc of the mating surface is greater than 180 degrees and less than 360 degrees, and the driving part is arranged on a side of the rotating part away from the mating surface.
  • the driving surface includes a first driving surface connected to one end of the mating surface and a second driving surface connected to the other end of the mating surface; when the locking member is in the locking position, the first driving surface is A first gap is formed between a driving surface and the driving groove, and a second gap is formed between the second driving surface and the driving groove.
  • the first driving surface abuts against the driving groove or the second driving surface abuts against the driving groove.
  • the guide member drives the angle control member to rotate in the first direction in the positioning sleeve, and the second driving surface is in contact with the driving groove.
  • the guide member drives the angle control member to rotate in the positioning sleeve in a second direction, and the second direction is opposite to the first direction.
  • the end effector driving device further includes a washer and a screw, the rotating part is provided with a threaded hole, the angle control member is provided with a stepped surface on a side away from the guide member, and the washer is attached Set against the stepped surface, the threaded part of the screw passes through the central hole of the washer to mate with the threaded hole, and the washer is located between the nut of the screw and the stepped surface.
  • the angle control member is provided with a first convex portion
  • the driving groove is provided on the first convex portion
  • the first convex portion is provided with an arc-shaped first rotating mating surface.
  • a rotating matching surface is rotatingly connected with the inner surface of the positioning sleeve.
  • the angle control member is further provided with a second convex portion, the second convex portion is provided with an arc-shaped second rotating mating surface, the second rotating mating surface and the inner part of the positioning sleeve The surfaces are rotating and mated, and the second rotating mating surface and the first rotating mating surface are respectively located on two sides of the rotation center of the angle control member.
  • the angle control member is further provided with a second protrusion, a receiving groove is formed between the second protrusion and the first protrusion, and the end effector driving device further includes an elastic member, so The elastic member applies a force to the locking member to keep it in the locked position, and the elastic member is arranged in the receiving groove.
  • the accommodating space includes a first accommodating space and a second accommodating space
  • the locking member includes a first locking member accommodating in the first accommodating space and a second accommodating space in the second accommodating space.
  • a locking member, the first locking member controls the rotation and locking of the angle control member relative to the positioning sleeve in a first direction
  • the second locking member controls the angle control member relative to the positioning sleeve in a second direction
  • the second direction is opposite to the first direction.
  • the first locking member has a first locking position and a first releasing position in the first accommodating space, and when the first locking member is in the first locking position, the guide member cannot be driven
  • the angle control member rotates in the first direction in the positioning sleeve, and when the first locking member is in the first release position, the guide member can drive the angle control member in the positioning sleeve.
  • the inside of the sleeve rotates along the first direction.
  • the second locking member has a second locking position and a second release position in the second accommodating space, and when the second locking member is in the second locking position, the guide member cannot be driven
  • the angle control member rotates in the second direction in the positioning sleeve, and when the second locking member is located in the second release position, the guide member can drive the angle control member in the positioning sleeve.
  • the inside of the sleeve rotates along the second direction.
  • an elastic member is provided between the first locking member and the second locking member, and one end of the elastic member exerts a force on the first locking member to keep it in the locked position, and the elastic The other end of the member applies a force to the second locking member to keep it in the locked position.
  • the guide member is provided with a driving member, the driving member partially extends into the accommodating space, and the driving member pushes the locking member to move from the locking position to the releasing position.
  • the end effector driving device also includes a handle, the handle is provided with a receiving cavity and a positioning post located in the receiving cavity, the guide part is partially received in the receiving cavity, and the guide A through hole is provided on the upper part, and the positioning column is tightly matched with the through hole.
  • a surgical instrument includes a shaft assembly, a handle assembly arranged at one end of the shaft assembly, and an end effector arranged at the other end of the shaft assembly.
  • the surgical instrument also includes a shaft assembly connected to the shaft.
  • the end effector drive device according to any one of the above components, the end effector drive device controls the rotation and locking of the end effector relative to the shaft assembly.
  • the shaft assembly includes a first rod and a second rod that are arranged in parallel and spaced apart, and the angle control member drives the first rod and the second rod through a first motion conversion mechanism. Moving forward and backward, the first rod and the second rod move forward and backward through a second motion conversion mechanism to drive the end effector to rotate.
  • the surgical instrument further includes a first sliding block fixedly connected to the rear end of the first rod and a second sliding block fixedly connected to the rear end of the second rod
  • the first movement conversion mechanism includes The first connecting column and the second connecting column of the angle control member relatively fixed, the first accommodating hole provided in the first sliding block, and the second accommodating hole arranged in the second sliding block, the The first connecting column and the second connecting column are arranged symmetrically with respect to the rotation center of the angle control member, and the extension directions of the first accommodating hole and the second accommodating hole are both perpendicular to the first rod And the extension direction of the second rod, the first connecting column is received in the first accommodating hole and can move in the first accommodating hole, and the second connecting column is received in the Inside the second accommodating hole and movable in the second accommodating hole.
  • the surgical instrument further includes an angle steering member, the angle steering member includes a distal end and a proximal end, the distal end is connected to the end effector, and the second motion conversion mechanism includes a The first cylinder and the second cylinder at the proximal end, the first connecting hole provided on the first rod, the second connecting hole provided on the second rod, the first connecting hole and The extending direction of the second connecting hole is perpendicular to the extending direction of the first rod and the second rod, and the first column is received in the first connecting hole and can be positioned in the first rod. Moving in a connecting hole, the second column is received in the second connecting hole and can move in the second connecting hole.
  • the present invention has the beneficial effect that when the locking member is in the locked position, the angle control member cannot be rotated, so that the end effector cannot be rotated, that is, the end effector is locked in a specific position ,
  • the end effector driving device has a simple structure and reliable operation.
  • Figure 1 is a schematic structural view of a surgical instrument according to the present invention.
  • Fig. 2 is a partial structural diagram of the surgical instrument shown in Fig. 1;
  • Fig. 3 is a schematic diagram of a part of the structure shown in Fig. 2;
  • Figure 4 is a three-dimensional exploded view shown in Figure 3;
  • Figure 5 is a perspective exploded view of a partial structure of the surgical instrument shown in Figure 1;
  • Fig. 6 is a schematic diagram of the structure of the first slider and the first rod shown in Fig. 5;
  • Fig. 7 is a perspective exploded view of the first slider and the first rod shown in Fig. 6;
  • Fig. 8 is a structural schematic diagram of the surgical end effector and angle steering member shown in Fig. 1;
  • Figure 9 is a three-dimensional exploded view shown in Figure 8.
  • Fig. 10 is a schematic structural diagram of the angle steering member shown in Fig. 8.
  • Fig. 11 is a partial structural diagram of the surgical instrument shown in Fig. 1;
  • Figure 12 is an enlarged view of the circled part shown in Figure 11;
  • Figure 13 is a perspective exploded view of a partial structure of the surgical instrument shown in Figure 1;
  • Figure 14 is a further perspective exploded view of the partial structure shown in Figure 13;
  • Figure 15 is a perspective exploded view of a partial structure of the surgical instrument shown in Figure 1;
  • Fig. 16 is a schematic structural diagram of a part of the structure shown in Fig. 15.
  • Fig. 17 is a schematic structural diagram of a part of the structure shown in Fig. 15;
  • FIG. 18 is a schematic diagram of a part of the structure shown in FIG. 15;
  • Figure 19 is a cross-sectional view along the A-A direction shown in Figure 18;
  • proximal and distal are relative to the clinician who manipulates the handle assembly of the surgical instrument.
  • proximal refers to the part close to the clinician
  • distal refers to the part far away from the clinician. That is, the handle assembly is the proximal side, and the end effector is the distal side.
  • the proximal end of a component indicates the end relatively close to the handle assembly, and the distal end indicates the end relatively close to the end effector.
  • axial “circumferential” and radial” refer to the rotation centerline of the angle control member.
  • upper and lower refer to the relative positions of the nail abutment seat and the staple cartridge seat of the end effector. Specifically, the nail abutment seat is on the “up” and the nail cartridge seat is on the “down”. However, surgical instruments can be used in many directions and positions, so these terms expressing relative position relationships are not limited and absolute.
  • connection should be understood in a broad sense.
  • it may be a fixed connection, a detachable connection, a movable connection, or a whole; It is directly connected, or indirectly connected through an intermediate medium, which can be the internal communication between two elements or the interaction relationship between two elements.
  • intermediate medium can be the internal communication between two elements or the interaction relationship between two elements.
  • this embodiment provides a surgical instrument 200 that includes a shaft assembly 10, a handle assembly 12 provided at one end of the shaft assembly 10, and an end effector 14 provided at the other end of the shaft assembly 10.
  • the shaft assembly 10 includes a sleeve 16 and a mandrel assembly 18 housed in the sleeve 16.
  • the handle assembly 12 is connected to the proximal end of the shaft assembly 10.
  • the handle assembly 12 includes a head housing 20, a fixed handle 22 extending downward from the head housing 20 and a closing trigger 24.
  • the closing trigger 24 can be manipulated to position and close the end effector 14.
  • the end effector 14 is connected to the distal end of the shaft assembly 10.
  • the end effector 14 includes a staple cartridge seat 26 and a staple abutment seat 28 pivotally connected to the staple cartridge seat 26.
  • the staple cartridge seat 26 is used to operably support a staple cartridge assembly (not shown) located therein.
  • the nail holder 28 is selectively movable between an open position and a closed position. Specifically, the nail seat 28 is movably connected to the distal end of the sleeve 16. When the sleeve 16 moves toward the proximal end, the nail seat 28 is driven to pivot upward to open; when the sleeve 16 moves toward the distal end, the pusher 28 is driven to open. The nail holder 28 pivots downward to close.
  • the closing trigger 24 When the surgical instrument 200 is in use, press the closing trigger 24 toward the fixed handle 22, and the closing trigger 24 drives the sleeve 16 of the shaft assembly 10 to move forward through the transmission mechanism so that the abutment seat 28 pivots downward and the closing end is executed.
  • the device 14 is used to locate and clamp the tissue.
  • the surgeon can press the closing trigger 24 until it is locked, so that the staple seat 28 is in the closed position, that is, the end effector 14 is closed status.
  • the shaft assembly 10 further includes a first rod 30 and a second rod 32 arranged in parallel and spaced apart, and the first rod 30 and the second rod 32 are accommodated in the sleeve 16.
  • the mandrel assembly 18 in the sleeve 16 is provided with a first accommodating groove and a second accommodating groove spaced apart, the first rod 30 is partially received in the first accommodating groove, and the second rod 32 Part of it is accommodated in the second accommodating groove.
  • the surgical instrument 200 further includes an end effector drive device 34 connected to the shaft assembly 10, the end effector drive device 34 includes an angle control member 36, the angle control member 36 rotates through The first movement conversion mechanism drives the first rod 30 and the second rod 32 to move in tandem, and the first rod 30 and the second rod 32 move in tandem, and the end effector is driven by the second motion conversion mechanism. 14 rotation.
  • the surgical instrument 200 further includes a first slider 38 fixedly connected to the rear end of the first rod 30, and a second slider 40 fixedly connected to the rear end of the second rod 32,
  • the first movement conversion mechanism includes a first connecting column 42 and a second connecting column 44 fixed relative to the angle control member 36, a first accommodating hole 46 arranged on the first sliding block 38, and a first accommodating hole 46 arranged on the second sliding block 40.
  • the second accommodating hole 48, the first connecting post 42 and the second connecting post 44 are arranged symmetrically with respect to the rotation center of the angle control member 36, and the extension direction of the first accommodating hole 46 and the second accommodating hole 48 is perpendicular to In the extension direction of a rod 30 and a second rod 32, the first connecting column 42 is received in the first accommodating hole 46 and can move in the first accommodating hole 46, and the second connecting column 44 is received in the second accommodating hole 46. It is placed in the hole 48 and can move in the second containing hole 48.
  • the first connecting post 42 is driven to move in the first accommodating hole 46, and the second connecting post 44 is moved in the second accommodating hole 48, so that the first rod
  • the member 30 moves forward and the second rod member 32 moves backward
  • the first connecting column 42 is driven to move in the reverse direction in the first receiving hole 46, and the second connecting column 44 moves in the opposite direction.
  • the second accommodating hole 48 moves in the reverse direction, so that the first rod 30 moves backward and the second rod 32 moves forward.
  • the first motion conversion mechanism in this embodiment has a simple structure and reliable operation.
  • the rear end of the first rod 30 and the first slider 38 are tightly fitted to achieve a fixed connection between the first rod 30 and the first slider 38, and the rear end of the second rod 32 It is tightly matched with the second sliding block 40 to realize a fixed connection between the second rod 32 and the second sliding block 40.
  • the first connecting column 42 and the second connecting column 44 and the angle control member 36 are also tightly fitted to achieve a fixed connection.
  • Other connection methods can be used to realize the fixed connection between the rod and the slider, the connecting column and the angle control member 36. Any solution that is the same or similar to the present embodiment is covered by the protection scope of the present invention. Inside.
  • the surgical instrument 200 further includes an angle turning member 50, and the angle turning member 50 includes a distal end 52 and a proximal end 54.
  • the distal end 52 and the proximal end 54 are integrally formed with a simple structure.
  • the distal end portion 52 is connected to the end effector 14. Specifically, a part of the distal end portion 52 is locked into the rear of the staple cartridge seat 26 of the end effector 14, and the distal end portion 52 is provided with a first through hole 56.
  • the bin seat 26 is provided with a second through hole 58. After being installed in place, the second through hole 58 and the first through hole 56 are coaxial, and the pivot 60 passes through the first through hole 56 and the second through hole 58 to adjust the angle
  • the steering member 50 is fixed relative to the staple cartridge seat 26 of the end effector 14.
  • the proximal portion 54 is connected to the first rod 30 and the second rod 32
  • the second movement conversion mechanism includes a first cylinder 62 and a second cylinder disposed on the proximal portion 54 64.
  • the first connecting hole 66 provided in the first rod member 30, the second connecting hole 68 provided in the second rod member 32, the extending direction of the first connecting hole 66 and the second connecting hole 68 is perpendicular to the first rod member 30 and the extension direction of the second rod 32
  • the first cylinder 62 is received in the first connection hole 66 and can move in the first connection hole 66
  • the second cylinder 64 is received in the second connection hole 68 and can be moved Move in the second connecting hole 68.
  • the second motion conversion mechanism converts the one-to-one movement of the first rod 30 and the second rod 32 into the end effector 14 Rotation in the first direction; when the first rod 30 moves backward and the second rod 32 moves forward, the second motion conversion mechanism moves the first rod 30 and the second rod 32 one after the other This is converted into the rotation of the end effector 14 in the second direction.
  • the second motion conversion mechanism in this embodiment has a simple structure and reliable operation.
  • the direction of rotation of the end effector 14 is the same as the direction of rotation of the angle control member 36.
  • the angle control member 36 of the end effector drive device 34 rotates through the first motion conversion mechanism, the first rod 30 and the second rod 32, and the second motion conversion mechanism to drive the end effector 14 relative to the shaft assembly. 10 rotation to meet specific surgical needs.
  • the end effector drive device 34 includes a guide 70, an angle control element 36, and a positioning sleeve 72 sleeved on the angle control element 36.
  • the angle control element 36 and the positioning sleeve 72 form a storage space.
  • the storage space contains a locking element.
  • the guide 70 drives the locking element in Move between the locked position and the released position. When the locking member is in the locked position, the guide member 70 cannot drive the angle control member 36 to rotate in the positioning sleeve 72. When the locking member is in the release position, the guide member 70 can drive the angle control member 36 Rotate in the positioning sleeve 72.
  • the angle control member 36 cannot be rotated, so that the end effector 14 cannot be rotated, that is, the end effector 14 is locked in a specific position to facilitate other subsequent operations of the surgical instrument 200. Such as cutting and stitching.
  • the receiving space includes a first receiving space 74 and a second receiving space 76
  • the first receiving space 74 and the second receiving space 76 are symmetrically arranged with respect to the rotation center of the angle control member 36
  • the locking member includes the container
  • the first locking member 78 is placed in the first containing space 74
  • the second locking member 80 is placed in the second containing space 76.
  • the first locking member 78 controls the rotation and rotation of the angle control member 36 relative to the positioning sleeve 72 in the first direction.
  • the second locking member 80 controls the rotation and locking of the angle control member 36 relative to the positioning sleeve 72 in a second direction, which is opposite to the first direction.
  • the first locking member 78 has a first locking position and a first releasing position in the first accommodating space 74.
  • the guide member 70 cannot drive the angle control member 36 in the positioning position.
  • the sleeve 72 rotates in the first direction.
  • the guide member 70 can drive the angle control member 36 to rotate in the first direction in the positioning sleeve 72.
  • the second locking member 80 has a second locking position and a second releasing position in the second accommodating space 76.
  • the guide member 70 cannot drive the angle control member 36 in the positioning sleeve 72 Rotating in the second direction, when the second locking member 80 is located at the second release position, the guide member 70 can drive the angle control member 36 to rotate in the second direction in the positioning sleeve 72.
  • the end effector drive device 34 also includes an elastic member 82, one end of the elastic member 82 abuts against the first locking member 78, and applies a force to the first locking member 78 to keep it in the locked position; the elastic member 82 The second end abuts against the second locking member 80 and applies a force to the second locking member 80 to keep it in the locked position.
  • the elastic member 82 will urge the first locking member 78 and the second locking member 80 to move from the released position to the locked position. Position; the first locking member 78 and the second locking member 80 need to overcome the force of the elastic member 82 to move from the locked position to the released position.
  • the elastic member 82 exerts a force to keep the first locking member 78 and the second locking member 80 in the locked position, so that the first locking member 78 and the second locking member 80 can be located in the locked position in time, thereby making the angle
  • the control member 36 and the end effector 14 are locked in the stop position in time, so that the end effector 14 is instantly locked.
  • the locking member is a lock ball
  • the elastic member is a coil spring
  • the end effector driving device 34 also includes a handle 84 relatively fixed to the guide 70.
  • the handle 84 drives the guide 70 to drive the locking member to unlock and drive the angle control member 36 to rotate relative to the positioning sleeve 72. Finally, the rotation of the end effector 14 is realized.
  • the specific position refers to the position where the handle 84 stops.
  • the working process of the end effector drive device 34 of this embodiment is:
  • the first locking member 78 and the second locking member 80 are both located in the locked position under the action of the elastic member 82.
  • the handle 84 drives the guide 70 to rotate synchronously with it.
  • the guide 70 first drives the first locking member 78 to overcome the force of the elastic member 82 to move from the first locking position to the first release Then, the guide member 70 drives the angle control member 36 to rotate relative to the positioning sleeve 72, and then drives the end effector 14 to rotate in the first direction through the aforementioned first motion conversion mechanism and the second motion conversion mechanism. During this rotation, The second locking member 80 is maintained in the locked position under the action of the elastic member 82.
  • the handle 84 drives the guide 70 to rotate synchronously with it.
  • the guide 70 first drives the second locking member 80 to overcome the force of the elastic member 82 to move from the second locking position to the second release Then, the guide member 70 drives the angle control member 36 to rotate relative to the positioning sleeve 72, and then drives the end effector 14 to rotate in the second direction through the aforementioned first motion conversion mechanism and the second motion conversion mechanism. During this rotation, The first locking member 78 is maintained in the locked position under the action of the elastic member 82.
  • the handle 84 is provided with a receiving cavity 86 and a positioning post 88 located in the receiving cavity 86.
  • the handle 84 also includes an operating portion 90 accessible to the operator.
  • the receiving cavity 86 is provided on the distal end side of the handle 84, and the operating portion 90 is provided on the proximal end side of the handle 84.
  • the guide 70 includes a main body 92, and the main body 92 is provided with a through hole 94.
  • the main body 92 is in the shape of a disc.
  • the main body 92 is received in the receiving cavity 86.
  • the positioning post 88 passes through the through hole 94 and is tightly matched with the through hole 94, so that the guide 70 and the handle 84 rotate synchronously.
  • the guide member 70 further includes a driving block 96 extending axially on one end surface of the main body 92, and the driving block 96 can drive the angle control member 36 to rotate.
  • the driving block 96 includes a rotating part 98 and a driving part 100 connected to each other.
  • the rotating part 98 is arranged at the center of the main body 92, and the axial length of the rotating part 98 is greater than the axial length of the driving part 100.
  • the rotating portion 98 has an arc-shaped mating surface 102, and the driving portion 100 has a planar driving surface.
  • the extension angle of the arc of the mating surface 102 is greater than 180 degrees and less than 360 degrees, and the driving part 100 is disposed on the side of the rotating part 98 away from the mating surface 102.
  • the arc extension angle of the mating surface 102 of the rotating part 98 is greater than 180 degrees, the mating area of the rotating part 98 and the through hole 118 can be made larger, the rotation of the guide 70 is more stable, and the entire end effector The operation of the driving device 34 is more stable.
  • the driving surface includes a first driving surface 104 and a second driving surface 106 respectively connected to two ends of the mating surface 102, and the first driving surface 104 and the second driving surface 106 are substantially parallel.
  • the guide member 70 further includes a driving member extending axially on one end surface of the main body, and the driving member can drive the locking member to move from the lock displacement to the release position.
  • the driving part includes a first driving part 108 and a second driving part 110.
  • the first driving part 108 drives the first locking part 78
  • the second driving part 110 drives the second locking part 80.
  • the first driving member 108 and the second driving member 110 are arranged at intervals in the circumferential direction.
  • the axial length of the driving member is substantially the same as the axial length of the driving part 100.
  • the driving block 96 and the driving member extend axially on the same side end surface of the main body 92, specifically, both extend axially on the end surface of the main body 92 close to the angle control member 36.
  • the driving block 96 and the driving member may be integrally provided with the main body 92, or may be relatively fixed by a specific connection method.
  • the angle control member 36 includes a main body 112 and a receiving portion 114 provided on the lower side of the main body 112.
  • the main body 112 is provided with a driving groove 116 that can accommodate the driving block 96.
  • the driving groove 116 includes a communicating through hole 118 and a recess 120.
  • the rotating portion 98 of the guide 70 is rotatably connected to the through hole 118, and the guide 70 drives The part 100 is received in the recessed part 120.
  • the rotating part 98 rotates in the first direction in the through hole 118
  • the driving part 100 rotates in the recess 120, so that the first driving member 108 drives the first locking member 78 to move from the first locking position to the first releasing position
  • the first gap 122 disappears; the rotating part 98 continues to rotate in the through hole 118 to drive the driving part 100 to abut against the recessed part 120, so that the guiding member 70 drives the angle control member 36 to rotate synchronously.
  • the rotating part 98 rotates in the second direction in the through hole 118
  • the driving part 100 rotates in the recess 120, so that the second driving member 110 drives the second locking member 80 to move from the second locking position to the second releasing position
  • the second gap 124 disappears; the rotating part 98 continues to rotate in the through hole 118 to drive the driving part 100 to abut against the recessed part 120, so that the guide 70 drives the angle control part 36 to rotate synchronously.
  • the first gap 122 provides a space for the first locking member 78 to rotate to release its locking
  • the second gap 124 provides a space for the second locking member 80 to rotate to release its locking.
  • the main body 112 is provided with a first convex portion 126, the driving groove 116 is provided on the first convex portion 126, and the first convex portion 126 is provided with an arc-shaped first rotating mating surface 128.
  • the main body 112 is also provided with a second convex portion 130, the second convex portion 130 and the first convex portion 126 are respectively provided on opposite sides of the rotating portion 98, and the second convex portion 130 is provided with an arc-shaped second rotating mating surface 132.
  • the second rotation matching surface 132 and the first rotation matching surface 128 are respectively located on two sides of the rotation center of the angle control member 36.
  • a receiving groove 140 is formed between the second protrusion 130 and the first protrusion 126, and the elastic member 82 is disposed in the receiving groove 140.
  • One end of the elastic member 82 abuts against the first locking member 78, and the other end abuts against the second locking member 80.
  • the elastic member 82 is arranged between the first protrusion 126 and the second protrusion 130, so that the elastic member 82 will not directly contact the positioning sleeve 72, avoiding interference between the elastic member 82 and the positioning sleeve 72 during the elastic deformation of the elastic member 82, so that the angle can be controlled.
  • the controllable rotation of the member 36 relative to the positioning sleeve 72 finally makes the end effector 14 controllable rotation relative to the shaft assembly 10 to realize the controllable operation of the surgical instrument 200.
  • the positioning sleeve 72 is fixed relative to the housing of the surgical instrument 200. Specifically, the positioning sleeve 72 is provided with two mounting parts 134 that can be relatively fixed to the housing of the surgical instrument 200. The mounting portion 134 is provided on the outer peripheral surface of the positioning sleeve 72.
  • the positioning sleeve 72 is annular as a whole, the positioning sleeve 72 is received on the receiving portion 114 of the angle control member 36, and the angle control member 36 is rotatable relative to the positioning sleeve 72.
  • the outer peripheral surface 136 of the main body portion 112 of the angle control member 36 and the inner peripheral surface 138 of the positioning sleeve 72 are rotatably connected to each other.
  • the first rotation mating surface 128 of the first protrusion 126 and the second rotation mating surface 132 of the second protrusion 130 constitute a part of the outer peripheral surface 136 of the main body 92. Therefore, the first rotation matching surface 128 and the second rotation matching surface 132 together provide a guide for the rotation of the angle control member 36 relative to the positioning sleeve 72, so that the angle control member 36 can be stably rotated relative to the positioning sleeve 72.
  • the first rotation mating surface 128 and the second rotation mating surface 132 provide guidance for the rotation of the angle control member 36 relative to the positioning sleeve 72, and no additional components are required to provide a guide for the rotation of the angle control member 36 relative to the positioning sleeve 72, so that the end
  • the structure of the actuator drive device 34 is simpler.
  • the extension length of the second rotation mating surface 132 is greater than the extension length of the first rotation mating surface 128, and the extension length of the second rotation mating surface 132 is long.
  • the angle control member 36 can be stabilized relative The positioning sleeve 72 rotates; the extension length of the first rotating mating surface 128 is short, which can make the size of the first convex portion 126 smaller, thereby making the layout of the entire angle control member 36 more reasonable.
  • a portion of the outer surface of the first protrusion 126 and the inner peripheral surface 138 of the positioning sleeve 72 form a receiving space.
  • a first accommodating space 74 is formed between one side of the first convex portion 126 and the inner peripheral surface 138 of the positioning sleeve 72, and the first locking member 78 is accommodated in the first accommodating space 74.
  • a second accommodating space 76 is formed between the other side and the inner peripheral surface 138 of the positioning sleeve 72.
  • the second locking member 80 is accommodated in the second accommodating space 76.
  • the first accommodating space 74 and the second accommodating space 76 are at an angle relative to each other.
  • the rotation center of the control member 36 is symmetrically arranged.
  • both sides of the first convex portion 126 extend substantially flatly, and the inner peripheral surface of the positioning sleeve 72 extends in an arc, therefore, in the circumferential direction, the distance between the two sides of the first convex portion 126 and the positioning sleeve 72 is constantly changing, that is, along In the circumferential direction, the widths of the first storage space 74 and the second storage space 76 are constantly changing.
  • the first locking member 78 When the first locking member 78 is located in the narrower portion of the first receiving space 74 (width is slightly smaller than the diameter of the first locking member 78), the first locking member 78 is in the locking position; when the first locking member 78 is in the first receiving space When the space 74 is wider (the width is greater than the diameter of the first locking member 78), the first locking member 78 is located at the release position.
  • the guide 70 includes a first driving part 108 and a second driving part 110.
  • the first driving part 108 partially extends into the first accommodating space 74, and the second driving part
  • the 110 part extends into the second accommodating space 76, so that the first driving member 108 can push the first locking member 78 received in the first accommodating space 76, and the second driving member 110 can be pushed to be accommodated in the second accommodating space 78 Within the second locking member 80.
  • the angle control member 36 is first rotated so that the driving member pushes the locking member to move from the locked position to the release position, and then the guide member 70 drives the angle control member 36 Synchronous rotation. Therefore, the guide member 70 needs to rotate relative to the angle control member 36, but the guide member 70 and the angle control member 36 cannot be axially detached.
  • the axial length of the rotating part 98 is greater than the axial length of the driving part 100, and the rotating part 98 penetrates ⁇ through hole 118.
  • the end effector driving device 34 further includes a washer 142 and a screw 144, a threaded hole 148 is provided in the rotating part 98, a step surface (not shown) is provided on the side of the angle control member 36 away from the guide member 70, and the washer 142 Set close to the stepped surface, the threaded portion 146 of the screw 144 passes through the central hole of the washer 142 to be threadedly fitted with the rotating portion 98, and the nut 150 of the screw 144 is set adjacent to the washer 142.
  • the nut 150 of the screw 144 is close to the washer 142, and the washer 142 is close to the step surface, which can prevent the angle control member 36 and the guide 70 from falling off axially; and the nut 150 is close to the washer 142 is set, and the washer 142 is set close to the step surface, that is, the screw 144 does not lock the angle control member 36 and the guide member 70, thereby allowing the guide member 70 to rotate relative to the angle control member 36.
  • the handle 84 drives the guide 70 to rotate in the first direction, and the driving block 96 of the guide 70 rotates in the first direction until the driving part 100 and one side wall of the recessed part 120 of the driving groove 116 When contact is made, the first gap 122 disappears.
  • the first driving member 108 pushes the first locking member 78 from the first locking position to the first releasing position.
  • the angle control member 36 is driven by the guide 70 to rotate in the positioning sleeve 72 in the first direction.
  • the angle control member 36 drives the first connecting post 42 to drive the first direction.
  • a slider 38 moves forward, the first slider 38 drives the first rod 30 to move forward, while the angle control member 36 drives the second slider 40 to move backward through the second connecting column 44, and the second slider 40 drives The second rod 32 moves backward; the first rod 30 moves forward and the second rod 32 moves backward, so that the end effector 14 rotates in the first direction.
  • the second locking member 80 is always located at the second locking position, so that the angle control member 36 is locked in the second direction when the angle control member 36 rotates in the positioning sleeve 72. Is maintained.
  • the first locking member 78 When the rotation of the handle 84 in the first direction stops, due to the elastic force of the elastic member 82, the first locking member 78 is pushed from the first release position to the first locking position, restoring the angle control member 36 in the positioning sleeve 72 Lock for rotation in the first direction.
  • the first locking member 78 also pushes the first driving member 108 to push the guide member 70 to rotate in the second direction together with the handle 84 until the first gap 122 is restored to the state before the handle 84 is rotated.
  • the instant two-way locking of the angle control member 36, the guide member 70 and the handle 84 at any position during the rotation in the first direction is realized, so that the end effector 14 is locked at the rotation angle corresponding to the above-mentioned arbitrary position. This prevents undesired rotation of the end effector 14 in any one of the first direction and the second direction at the rotation angle corresponding to any of the above-mentioned positions during the operation.
  • the handle 84 drives the guide 70 to rotate in the second direction, and the driving part 100 of the guide 70 rotates in the second direction until the driving part 100 and the other side of the recess 120 of the driving groove 116 When the wall contacts, the second gap 124 disappears.
  • the second driving member 110 pushes the second locking member 80 from the second locking position to the second releasing position.
  • the angle control member 36 can be rotated in the second direction in the positioning sleeve 72 under the drive of the guide member 70.
  • the angle control member 36 is driven by the second connecting column 44
  • the second slider 40 moves forward, the second slider 40 drives the second rod 32 to move forward, while the angle control member 36 drives the first slider 38 to move backward through the first connecting column 42, and the first slider 38
  • the first rod 30 is driven to move backward; the second rod 32 moves forward and the first rod 30 moves backward, so that the end effector 14 rotates in the second direction.
  • the first locking member 78 is always in the first locking position, so that the angle control member 36 is locked in the first direction when the angle control member 36 rotates in the positioning sleeve 72. Is maintained.
  • the second locking member 80 When the rotation of the handle 84 in the second direction stops, due to the elastic force of the elastic member 82, the second locking member 80 is pushed from the second release position to the second locking position, restoring the angle control member 36 in the positioning sleeve 72 Lock for rotation in the second direction.
  • the second locking member 80 also pushes the second driving member 110 to push the guide member 70 together with the handle 84 to rotate in the first direction until the second gap 124 is restored to the state before the handle 84 is rotated.
  • the instant two-way locking of the angle control member 36, the guide member 70 and the handle 84 at any position during the rotation in the second direction is realized, so that the end effector 14 is locked at the rotation angle corresponding to the above arbitrary position. This prevents undesired rotation of the end effector 14 in any one of the first direction and the second direction at the rotation angle corresponding to any of the above-mentioned positions during the operation.
  • the surgical instrument 200 of the present invention controls the state of the angle control member 36 through the cooperation of the guide member 70, the angle control member 36, the elastic member 82, the first locking member 78, the second locking member 80, and the positioning sleeve 72. , Thereby controlling the rotation angle of the end effector 14.
  • the angle control member 36 is rotated to a different position, so that the end effector 14 is rotated to a different position.
  • the angle control member 36 is locked at any position during the rotation, so that the end effector 14 is locked at any position during the rotation, thereby It can achieve the purpose of accurately clamping the target tissue.
  • the end including the guide 70, the angle control member 36, the elastic member 82, the first locking member 78, the second locking member 80 and the positioning sleeve 72
  • the structure of the end effector driving device is relatively simple, thereby improving the operational reliability of the above-mentioned end effector driving device.

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Abstract

涉及一种外科器械（200）及一种用于外科器械（200）的端部执行器驱动装置（34），用于控制端部执行器（14）的转动和锁定，端部执行器驱动装置（34）包括导向件（70）、角度控制件（36）及套设于所述角度控制件（36）的定位套（72），角度控制件（36）和定位套（72）形成收容空间（74，76），收容空间（74，76）内容置有锁定件（78，80），导向件（70）驱动锁定件（78，80）在锁定位置和释放位置之间移动，当锁定件（78，80）位于锁定位置时，导向件（70）不可驱动角度控制件（36）在定位套（72）内转动，当锁定件（78，80）位于释放位置时，导向件（70）可驱动角度控制件（36）在所述定位套（72）内转动。由此，端部执行器（14）可被锁定在特定的位置，以方便外科器械（200）后续的其它操作，例如切割及缝合。

Description

用于外科器械的端部执行器驱动装置及外科器械 技术领域
本发明涉及一种用于外科器械的端部执行器驱动装置及外科器械，属于外科器械技术领域。
背景技术
适用于外科手术的吻合器是一种能在将患者伤口缝合的同时将多余组织切除的外科切割吻合器，被广泛应用于腹部外科、妇科、儿科及胸外科等微创手术中组织的切除和吻合。外科切割吻合器通过在手术部位精确定位的穿刺器的套管进入患者体内，继而在组织中制造纵向切口和在切口的相对侧施加吻合钉，从而对组织进行离断和吻合。外科切割吻合器包括端部执行器，端部执行器包括钉仓座和可枢转地连接于钉仓座的抵钉座，钉仓座用于接收钉仓组件；钉仓组件包括钉仓本体和设置在钉仓本体内的吻合钉，钉仓本体内设置有若干用于收纳吻合钉的缝钉腔，钉仓本体包括顶端面，顶端面上设有由缝钉腔贯穿顶端面形成的出钉口。
一旦医生确定端部执行器夹持了目标组织，就可以击发切割吻合器，从而切断并缝合组织。缝合时，顶端面与被缝合组织接触，外科切割吻合器内的切割构件推动钉仓内的楔形推钉件运动，从而使吻合钉驱动器驱动钉仓内的吻合钉从缝钉腔内向上运动，刺穿并缝合目标组织(即吻合钉出钉)。为了将端部执行器伸入一些特殊的手术部位，需要转动端部执行器，使得端部执行器与杆身组件之间呈一定角度，如此需要驱动端部执行器转动和控制其转动角度的端部执行器驱动装置。
现有技术中的端部执行器驱动装置虽然可以驱动端部执行器旋转和锁定，但结构复杂，运行可靠性有待于提高。
发明内容
本发明的目的在于提供一种用于外科器械的端部执行器驱动装置，可方便的将端部执行器锁定在特定的位置。
为实现上述发明目的，本发明提供一种用于外科器械的端部执行器驱动装置，用于控制端部执行器的转动和锁定，所述端部执行器驱动装置包括导向件、角度控制件及套设于所述角度控制件的定位套，所述角度控制件和所述定位套形成收容空间，所述收容空间内容置有锁定件，所述导向件驱动所述锁定件在锁定位置和释放位置之间移动，当所述锁定件位于所述锁定位置时，所述导向件不可驱动所述角度控制件在所述定位套内转动，当所述锁定件位于所述释放位置时，所述导向件可驱动所述角度控制件在所述定位套内转动。
进一步的，所述导向件设置有驱动块，所述角度控制件设置有收容所述驱动块的驱动槽。
进一步的，所述驱动块包括相连的转动部和驱动部，所述转动部具有圆弧形的配接面，所述驱动部具有平面状的驱动面。
进一步的，所述配接面的圆弧延伸角度大于180度小于360度，所述驱动部设置在所述转动部远离所述配接面的一侧。
进一步的，所述驱动面包括与配接面的一端连接的第一驱动面和与配接面的另一端连接的第二驱动面；当所述锁定件位于所述锁定位置时，所述第一驱动面与所述驱动槽之间具有第一间隙，所述第二驱动面与所述驱动槽之间具有第二间隙。
进一步的，当所述锁定件位于所述释放位置时，所述第一驱动面与所述驱动槽抵接或者所述第二驱动面与所述驱动槽抵接。
进一步的，所述第一驱动面与所述驱动槽抵接时，所述导向件驱动所述角度控制件在所述定位套内沿第一方向转动，所述第二驱动面与所述驱动槽抵接时，所述导向件驱动所述角度控制件在所述定位套内沿第二方向转动，所述第二方向与所述第一方向相反。
进一步的，所述端部执行器驱动装置还包括垫片和螺钉,所述转动部设有螺纹孔，所述角度控制件远离所述导向件的一侧设置有台阶面，所述垫片贴靠所述台阶面设置，所述螺钉的螺纹部穿过所述垫片的中心孔与所述螺纹孔配接，所述垫片位于所述螺钉的螺帽与所述台阶面之间。
进一步的，所述角度控制件设置有第一凸部，所述驱动槽设置于所述第一凸部，所述第一凸部设有圆弧形的第一转动配接面，所述第一转动配接面与所述定位套的内表面转动配接。
进一步的，所述角度控制件还设置有第二凸部，所述第二凸部设有圆弧形的第二转动配接面，所述第二转动配接面与所述定位套的内表面转动配接，所述第二转动配接面与所述第一转动配接面分别位于所述角度控制件的转动中心的两侧。
进一步的，所述角度控制件还设置有第二凸部，所述第二凸部和所述第一凸部之间形成有收容槽，所述端部执行器驱动装置还包括弹性件，所述弹性件对所述锁定件施以使之保持在所述锁定位置的作用力，所述弹性件设置在所述收容槽中。
进一步的，所述收容空间包括第一收容空间和第二收容空间，所述锁定件包括容置于所 述第一收容空间的第一锁定件和容置于所述第二收容空间的第二锁定件，所述第一锁定件控制所述角度控制件沿第一方向相对所述定位套的转动和锁定，所述第二锁定件控制所述角度控制件沿第二方向相对所述定位套的转动和锁定，所述第二方向与所述第一方向相反。
进一步的，所述第一锁定件在所述第一收容空间内具有第一锁定位置和第一释放位置，当所述第一锁定件位于所述第一锁定位置时，所述导向件不可驱动所述角度控制件在所述定位套内沿所述第一方向转动，当所述第一锁定件位于所述第一释放位置时，所述导向件可驱动所述角度控制件在所述定位套内沿所述第一方向转动。
进一步的，所述第二锁定件在所述第二收容空间内具有第二锁定位置和第二释放位置，当所述第二锁定件位于所述第二锁定位置时，所述导向件不可驱动所述角度控制件在所述定位套内沿所述第二方向转动，当所述第二锁定件位于所述第二释放位置时，所述导向件可驱动所述角度控制件在所述定位套内沿所述第二方向转动。
进一步的，所述第一锁定件和所述第二锁定件之间设置有弹性件，所述弹性件一端对所述第一锁定件施以使之保持在锁定位置的作用力，所述弹性件的另一端对所述第二锁定件施以使之保持在锁定位置的作用力。
进一步的，所述导向件设置有驱动件，所述驱动件部分伸入所述收容空间中，所述驱动件推动所述锁定件从所述锁定位置移动至释放位置。
进一步的，所述端部执行器驱动装置还包把手，所述把手设置有收容腔及位于所述收容腔内的定位柱，所述导向件部分收容于所述收容腔内，所述导向件上设有通孔，所述定位柱与所述通孔紧配。
一种外科器械，其包括杆身组件、设置于所述杆身组件一端的手柄组件、设置于所述杆身组件另一端的端部执行器，所述外科器械还包括连接于所述杆身组件的如上述任一项所述的端部执行器驱动装置，所述端部执行器驱动装置控制所述端部执行器相对所述杆身组件的转动和锁定。
进一步的，所述杆身组件包括平行且间隔设置的第一杆件和第二杆件，所述角度控制件通过第一运动转换机构驱动所述第一杆件和所述第二杆件一前一后运动，所述第一杆件和所述第二杆件一前一后运动通过第二运动转换机构驱动所述端部执行器转动。
进一步的，所述外科器械还包括与第一杆件的后端固定连接的第一滑块和与第二杆件的后端固定连接的第二滑块，所述第一运动转换机构包括与所述角度控制件相对固定的第一连接柱和第二连接柱、设置在所述第一滑块的第一容置孔、设置在所述第二滑块的第二容置孔，所述第一连接柱和所述第二连接柱相对所述角度控制件的转动中心对称设置，所述第一容置孔和所述第二容置孔的延伸方向均垂直于所述第一杆件和所述第二杆件的延伸方向，所述第一连接柱收容于所述第一容置孔内且可在所述第一容置孔内移动，所述第二连接柱收容于所 述第二容置孔内且可在所述第二容置孔内移动。
进一步的，所述外科器械还包括角度转向件，所述角度转向件包括远端部和近端部，所述远端部连接于所述端部执行器，所述第二运动转换机构包括设置在所述近端部的第一柱体和第二柱体、设置在所述第一杆件的第一连接孔、设置在第二杆件的第二连接孔，所述第一连接孔和所述第二连接孔的延伸方向均垂直于所述第一杆件和所述第二杆件的延伸方向，所述第一柱体收容于所述第一连接孔内且可在所述第一连接孔内移动，所述第二柱体收容于所述第二连接孔内且可在所述第二连接孔内移动。
与现有技术相比，本发明的有益效果在于：当锁定件位于锁定位置时，角度控制件不可转动，从而端部执行器不可转动，也就是说，端部执行器被锁定在特定的位置，以方便外科器械后续的其它操作，例如切割及缝合，且该端部执行器驱动装置结构简单、从而运行可靠。
附图说明
图1是根据本发明的外科器械的结构示意图；
图2是图1所示外科器械的部分结构示意图；
图3是图2所示的部分结构示意图；
图4是图3所示的立体分解图；
图5是图1所示的外科器械的部分结构的立体分解图；
图6是图5所示第一滑块和第一杆件的结构示意图；
图7是图6所示第一滑块和第一杆件的立体分解图；
图8是图1所示外科的端部执行器和角度转向件的结构示意图；
图9是图8所示的立体分解图；
图10是图8所示角度转向件的结构示意图；
图11是图1所示外科器械的部分结构示意图；
图12是图11所示画圈部分的放大图；
图13是图1所示的外科器械的部分结构的立体分解图；
图14是图13所示部分结构的进一步的立体分解图；
图15是图1所示的外科器械的部分结构的立体分解图；
图16是图15所示部分结构的结构示意图。
图17是图15所示部分结构的结构示意图；
图18是图15所示的部分结构示意图；
图19是图18所示沿A-A方向的剖视图；
具体实施方式
以下将结合附图所示的具体实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
需要理解的是，本文所用术语“近侧”和“远侧”是相对于操纵外科器械的手柄组件的临床医生而言的。术语“近侧”是指靠近临床医生的部分，术语“远侧”则是指远离临床医生的部分。即手柄组件为近侧，端部执行器为远侧，如某个零部件的近侧端表示相对靠近手柄组件的一端，远侧端则表示相对靠近端部执行器的一端。术语“轴向”、“周向”、“径向”以角度控制件的转动中心线为参考。术语“上”“下”以端部执行器的抵钉座和钉仓座的相对位置为参考，具体的，抵钉座在“上”，钉仓座在“下”。然而，外科器械可以在许多方向和位置使用，因此这些表达相对位置关系的术语并不是受限和绝对的。
在本发明中，除非另有明确的规定和限定，“相连”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，还可以是可运动连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
请参见图1，本实施方式提供一种外科器械200，包括杆身组件10、设置于杆身组件10一端的手柄组件12、设置于杆身组件10另一端的端部执行器14。
杆身组件10包括套管16及收容于套管16内的芯轴组件18。
手柄组件12连接到杆身组件10的近侧端。手柄组件12包括头部壳体20及由头部壳体20向下延伸的固定手柄22和闭合触发器24，闭合触发器24可被操纵以定位并闭合端部执行器14。
端部执行器14连接到杆身组件10的远侧端。端部执行器14包括钉仓座26和可枢转地连接于钉仓座26的抵钉座28，钉仓座26用于可操作地支撑位于其中的钉仓组件(未图示)，抵钉座28可在打开位置和闭合位置之间选择性地运动。具体的，抵钉座28与套管16的远端可活动地连接，套管16朝向近端移动时，驱动抵钉座28向上枢转而打开；套管16朝向远端运动时，驱动抵钉座28向下枢转而关闭。
外科器械200使用时，朝向固定手柄22按压闭合触发器24，闭合触发器24通过传动机构驱动杆身组件10的套管16向前移动以使得抵钉座28向下枢转进而闭合端部执行 器14，以定位、夹持组织。当待处理组织进入到钉仓座26和抵钉座28之间时，外科医生可以按压闭合触发器24直到将其锁定，从而使抵钉座28处于闭合位置，即端部执行器14处于闭合状态。
请结合图1至图4，杆身组件10还包括平行且间隔设置的第一杆件30和第二杆件32，第一杆件30和第二杆件32收容于套管16内。具体的，套管16内的芯轴组件18上设有间隔设置的第一容置槽和第二容置槽，第一杆件30部分收容于第一容置槽中，第二杆件32部分收容于第二容置槽中。
请结合图1、图4和图5，外科器械200还包括连接于杆身组件10的端部执行器驱动装置34，端部执行器驱动装置34包括角度控制件36，角度控制件36转动通过第一运动转换机构驱动第一杆件30和第二杆件32一前一后运动，第一杆件30和第二杆件32一前一后运动通过第二运动转换机构驱动端部执行器14转动。
具体的，请重点参见图5，外科器械200还包括与第一杆件30的后端固定连接的第一滑块38、与第二杆件32的后端固定连接的第二滑块40，第一运动转换机构包括与角度控制件36相对固定的第一连接柱42和第二连接柱44、设置在第一滑块38上的第一容置孔46和设置在第二滑块40的上的第二容置孔48，第一连接柱42和第二连接柱44相对角度控制件36的转动中心对称设置，第一容置孔46和第二容置孔48的延伸方向垂直于第一杆件30和第二杆件32的延伸方向，第一连接柱42收容于第一容置孔46内且可在第一容置孔46内移动，第二连接柱44收容于第二容置孔48内且可在第二容置孔48内移动。
由此，当角度控制件36朝第一方向转动，带动第一连接柱42在第一容置孔46内移动、第二连接柱44在第二容置孔48内移动，从而使第一杆件30向前运动、第二杆件32向后运动；当角度控制件36朝第二方向转动，带动第一连接柱42在第一容置孔46内反向移动、第二连接柱44在第二容置孔48内反向移动，从而使第一杆件30向后运动、第二杆件32向前运动。本实施方式中的第一运动转换机构结构简单，运行可靠。
请参见图5至图7，第一杆件30的后端和第一滑块38紧配实现第一杆件30和第一滑块38之间的固定连接、第二杆件32的后端和第二滑块40紧配实现第二杆件32和第二滑块40之间的固定连接。第一连接柱42和第二连接柱44与角度控制件36亦采用紧配实现固定连接。本领域技术人员可以想到，采用其它连接方式实现杆件与滑块、连接柱与角度控制件36的固定连接亦可，凡采用与本实施方式相同或类似的方案均涵盖在本发明的保护范围内。
请参见图1、图8至图10，外科器械200还包括角度转向件50，角度转向件50包 括远端部52和近端部54。远端部52和近端部54一体成型，结构简单。
远端部52连接于端部执行器14，具体的，远端部52的一部分卡入端部执行器14的钉仓座26后部，远端部52上设有第一通孔56，钉仓座26上设有第二通孔58，安装到位后，第二通孔58和第一通孔56同轴，枢轴60分别穿过第一通孔56和第二通孔58而将角度转向件50相对于端部执行器14的钉仓座26固定。
请参见图10至图12，近端部54连接于第一杆件30和第二杆件32，第二运动转换机构包括设置在近端部54上的第一柱体62和第二柱体64、设置在第一杆件30的第一连接孔66、设置在第二杆件32的第二连接孔68，第一连接孔66和第二连接孔68的延伸方向垂直于第一杆件30和第二杆件32的延伸方向，第一柱体62收容于第一连接孔66内且可在第一连接孔66内移动，第二柱体64收容于第二连接孔68内且可在第二连接孔68内移动。
当第一杆件30向前运动、第二杆件32向后运动时，第二运动转换机构将第一杆件30和第二杆件32的一前一后运动转换为端部执行器14沿第一方向的转动；当第一杆件30向后运动、第二杆件32向前运动时，第二运动转换机构将第一杆件30和第二杆件32的一前一后运动转换为端部执行器14沿第二方向的转动。本实施方式中的第二运动转换机构结构简单，运行可靠。
由此，请结合图1、图5和图12，当端部执行器驱动装置34的角度控制件36向第一方向转动时，通过第一运动转换机构驱动第一杆件30向前运动、第二杆件32向后运动，第一杆件30和第二杆件32的一前一后运动通过第二运动转换机构驱动端部执行器14向第一方向转动；当端部执行器14的角度控制件36向第二方向转动时，通过第一运动转换机构驱动第一杆件30向后运动、第二杆件32向前运动，第一杆件30和第二杆件32的一前一后运动通过第二运动转换机构，驱动端部执行器14向第二方向转动。可以看出，端部执行器14的转动方向与角度控制件36的转动方向相同。由此，端部执行器驱动装置34的角度控制件36转动通过第一运动转换机构、第一杆件30和第二杆件32、第二运动转换机构驱动端部执行器14相对杆身组件10转动，从而满足特定的手术需求。
为实现对角度控制件36的转动位置的即时锁定，从而最终实现对端部执行器14的转动位置的即时锁定，请结合图1、图5、图13至图19，端部执行器驱动装置34包括导向件70、角度控制件36及套设于角度控制件36的定位套72，角度控制件36和定位套72形成收容空间，收容空间内容置有锁定件，导向件70驱动锁定件在锁定位置和释放位置之间移动，当锁定件位于锁定位置时，导向件70不可驱动角度控制件36在定位套72内转动，当锁定件位于释放位置时，导向件70可驱动角度控制件36在定位套72 内转动。
当锁定件位于锁定位置时，角度控制件36不可转动，从而端部执行器14不可转动，也就是说，端部执行器14被锁定在特定的位置，以方便外科器械200后续的其它操作，例如切割及缝合。
请重点参见图15至图17，收容空间包括第一收容空间74和第二收容空间76，第一收容空间74和第二收容空间76相对角度控制件36的转动中心对称设置，锁定件包括容置于第一收容空间74的第一锁定件78和容置于第二收容空间76的第二锁定件80，第一锁定件78控制角度控制件36在第一方向相对定位套72的转动和锁定，第二锁定件80控制角度控制件36在第二方向相对定位套72的转动和锁定，第二方向与第一方向相反。
具体的，第一锁定件78在第一收容空间74内具有第一锁定位置和第一释放位置，当第一锁定件78位于第一锁定位置时，导向件70不可驱动角度控制件36在定位套72内沿第一方向转动，当第一锁定件78位于第一释放位置时，导向件70可驱动角度控制件36在定位套72内沿第一方向转动。
第二锁定件80在第二收容空间76内具有第二锁定位置和第二释放位置，当第二锁定件80位于第二锁定位置时，导向件70不可驱动角度控制件36在定位套72内沿第二方向转动，当第二锁定件80位于第二释放位置时，导向件70可驱动角度控制件36在定位套72内沿第二方向转动。
端部执行器驱动装置34还包括弹性件82，弹性件82的一端与第一锁定件78抵接，并对第一锁定件78施以使之保持在锁定位置的作用力；弹性件82的第二端与第二锁定件80抵接，并对第二锁定件80施以使之保持在锁定位置的作用力。
也就是说，当第一锁定件78及第二锁定件80处于其释放位置时，如无其它外力作用，弹性件82将促使第一锁定件78及第二锁定件80从释放位置移动至锁定位置；第一锁定件78及第二锁定件80需克服弹性件82的作用力才能从锁定位置运动至释放位置。
因此，弹性件82对第一锁定件78及第二锁定件80施以使之保持在锁定位置的作用力，可以使第一锁定件78及第二锁定件80及时位于锁定位置，从而使角度控制件36及端部执行器14及时在停止位置被锁定，实现端部执行器14的即时锁定。
锁定件为锁珠，弹性件为螺旋弹簧，本领域技术人员可以想到，其它形式的锁定件及弹性件亦可。凡采用与本实施方式相同或类似的方案均涵盖在本发明的保护范围内。
请重点参见图13至图15，端部执行器驱动装置34还包括与导向件70相对固定的把手84，把手84带动导向件70驱动锁定件解锁并驱动角度控制件36相对定位套72转 动，最终实现端部执行器14的转动。特定的位置是指把手84停止的位置。
本实施方式的端部执行器驱动装置34的工作过程是：
当操作者未转动把手84时，第一锁定件78及第二锁定件80在弹性件82的作用下均位于锁定位置。
当操作者沿第一方向转动把手84时，把手84带动导向件70与之同步转动，导向件70先驱动第一锁定件78克服弹性件82的作用力从第一锁定位置移动至第一释放位置，随后，导向件70驱动角度控制件36相对定位套72转动，再经过前述第一运动转换机构、第二运动转换机构驱动端部执行器14沿第一方向转动，在此转动过程中，第二锁定件80在弹性件82的作用下保持在锁定位置。
当操作者沿第二方向转动把手84时，把手84带动导向件70与之同步转动，导向件70先驱动第二锁定件80克服弹性件82的作用力从第二锁定位置移动至第二释放位置，随后，导向件70驱动角度控制件36相对定位套72转动，再经过前述第一运动转换机构、第二运动转换机构驱动端部执行器14沿第二方向转动，在此转动过程中，第一锁定件78在弹性件82的作用下保持在锁定位置。
下面先描述把手84、导向件70、角度控制件36、定位套72的具体结构，再描述其配接关系。
请重点参见图13，把手84上设置有收容腔86及位于收容腔86内的定位柱88。把手84还包括可供操作者触及的操作部90。收容腔86设置在把手84的远端侧，操作部90设置在把手84的近端侧。
请重点参见图13和图14，导向件70包括本体92，本体92上设有通孔94。本体92呈圆盘状，本体92收容于收容腔86内，定位柱88穿过通孔94并与通孔94紧配，从而导向件70与把手84同步转动。
导向件70还包括在本体92的一侧端面轴向延伸的驱动块96，驱动块96可驱动角度控制件36转动。
驱动块96包括相连的转动部98和驱动部100。转动部98设置在本体92的中心位置，转动部98的轴向长度大于驱动部100的轴向长度。转动部98具有圆弧形的配接面102，驱动部100具有平面状的驱动面。配接面102的圆弧延伸角度大于180度小于360度，驱动部100设置在转动部98远离配接面102的一侧。
由于转动部98的配接面102的圆弧延伸角度大于180度，可以使转动部98与贯穿孔118的配接面积更大，使导向件70的转动更稳定，从而使整个端部执行器驱动装置34的运行更稳定。
驱动面包括分别与配接面102的两端连接的第一驱动面104和第二驱动面106，第一驱动面104和第二驱动面106大致平行。
请重点参见图14和图15，导向件70还包括在主体的一侧端面轴向延伸的驱动件，驱动件可驱动锁定件从锁定位移移动至释放位置。驱动件包括第一驱动件108和第二驱动件110，第一驱动件108驱动第一锁定件78，第二驱动件110驱动第二锁定件80。第一驱动件108和第二驱动件110在周向上间隔设置。驱动件的轴向长度与驱动部100的轴向长度大致相同。
驱动块96和驱动件在本体92的同侧端面轴向延伸，具体的，均在本体92靠近角度控制件36的端面轴向延伸。驱动块96和驱动件可以与本体92一体设置，也可以通过特定的连接方式相对固定。
请结合图5、13、14和图16，角度控制件36包括主体部112和设置在主体部112下侧的承接部114。
主体部112上设有可收容驱动块96的驱动槽116，驱动槽116包括连通的贯穿孔118和凹陷部120，导向件70的转动部98与贯穿孔118转动配接，导向件70的驱动部100收容于凹陷部120内。
请重点参见图14、图17至图19，锁定件位于锁定位置时，驱动部100的第一驱动面104与驱动槽116的凹陷部120之间具有第一间隙122，第二驱动面106与凹陷部120之间具有第二间隙124，第一间隙122和第二间隙124相对驱动部100对称。
当转动部98在贯穿孔118内沿第一方向转动时，驱动部100在凹陷部120内转动，使得第一驱动件108带动第一锁定件78从第一锁定位置移到至第一释放位置，在此过程中，第一间隙122消失；转动部98继续在贯穿孔118内转动带动驱动部100与凹陷部120抵接，使得导向件70带动角度控制件36同步转动。
当转动部98在贯穿孔118内沿第二方向转动时，驱动部100在凹陷部120内转动，使得第二驱动件110带动第二锁定件80从第二锁定位置移到至第二释放位置，在此过程中，第二间隙124消失；转动部98继续在贯穿孔118内转动带动驱动部100与凹陷部120抵接，使得导向件70带动角度控制件36同步转动。
因此，第一间隙122为第一锁定件78提供了转动以解除其锁定的空间，第二间隙124为第二锁定件80提供了转动以解除其锁定的空间。
主体部112设置有第一凸部126，驱动槽116设置于第一凸部126，第一凸部126上设有圆弧形的第一转动配合面128。主体部112还设置有第二凸部130，第二凸部130和第一凸部126分别设置在转动部98相对的两侧，第二凸部130设有圆弧形的第二转动 配合面132。第二转动配合面132与第一转动配合面128分别位于角度控制件36的转动中心的两侧。
第二凸部130和第一凸部126之间形成有收容槽140，弹性件82设置在收容槽140中。弹性件82一端与第一锁定件78抵接，另一端与第二锁定件80抵接。
弹性件82设置在第一凸部126和第二凸部130之间，使得弹性件82不会直接与定位套72接触，避免弹性件82弹性变形过程中和定位套72产生干涉，使得角度控制件36相对定位套72可控的转动，最终使得端部执行器14可控的相对杆身组件10转动，实现外科器械200的可控操作。
请结合图5和图17，定位套72相对外科器械200的壳体固定。具体的，定位套72上设置有可与外科器械200的壳体相对固定的两个安装部134。安装部134设置在定位套72的外周面上。
定位套72整体呈环状，定位套72被承接在角度控制件36的承接部114上，角度控制件36可相对定位套72转动。
具体的，角度控制件36的主体部112的外周面136与定位套72的内周面138转动配接。
第一凸部126的第一转动配合面128、第二凸部130的第二转动配合面132构成主体件92的外周面136的一部分。由此，第一转动配合面128和第二转动配合面132共同为角度控制件36相对定位套72的转动提供了导向，可以使角度控制件36稳定地相对定位套72转动。
第一转动配合面128及第二转动配合面132为角度控制件36相对定位套72的转动提供了导向，无需设置额外的部件为角度控制件36相对定位套72的转动提供导向，使得端部执行器驱动装置34的结构更简单。第二转动配合面132的延伸长度大于第一转动配合面128的延伸长度，第二转动配合面132的延伸长度长，除了适应弹性件82的长度以外，还可以使角度控制件36稳定的相对定位套72转动；第一转动配合面128的延伸长度短，可以使第一凸部126的尺寸更小，从而使整个角度控制件36的布局更合理。
当定位套72和角度控制件36安装在一起后，第一凸部126的部分外表面与定位套72的内周面138之间形成收容空间。具体的，第一凸部126的一侧与定位套72的内周面138之间形成有第一收容空间74，第一锁定件78容置于第一收容空间74，第一凸部126的另一侧与定位套72的内周面138之间形成有第二收容空间76，第二锁定件80容置于第二收容空间76，，第一收容空间74和第二收容空间76相对角度控制件36的转动中心对称设置。
由于第一凸部126的两侧基本平面延伸，而定位套72的内周面弧线延伸，因此，在周向上，第一凸部126的两侧与定位套72的距离不断变化，即沿周向上，第一收容空间74和第二收容空间76的宽度在不断变化。当第一锁定件78位于第一收容空间74宽度较窄(宽度略小于第一锁定件78的直径)的部分时，第一锁定件78位于锁定位置；当第一锁定件78位于第一收容空间74较宽(宽度大于第一锁定件78的直径)的部分时，第一锁定件78位于释放位置。
如前所述，请结合图14、17和图19，导向件70包括第一驱动件108和第二驱动件110，第一驱动件108部分伸入第一收容空间74内，第二驱动件110部分伸入第二收容空间76内，以使第一驱动件108可推动容置于第一收容空间76内的第一锁定件78，第二驱动件110可推动容置于第二收容空间78内的第二锁定件80。
如前所述，请重点参见图14，导向件70转动过程中，先相对角度控制件36转动从而使驱动件推动锁定件从锁定位置移动至释放位置，随后，导向件70带动角度控制件36同步转动。因此，导向件70需要相对角度控制件36转动，但不能让导向件70与角度控制件36轴向脱落。
请重点参见图14和图17，为实现导向件70和角度控制件36的轴向限位和周向可动，转动部98的轴向长度大于驱动部100的轴向长度，转动部98穿过贯穿孔118。端部执行器驱动装置34还包括垫片142和螺钉144,转动部98中设有螺纹孔148，角度控制件36远离导向件70的一侧设置有台阶面(未示出)，垫片142靠近台阶面设置，螺钉144的螺纹部146穿过垫片142的中心孔与转动部98螺纹配接，螺钉144的螺帽150临近垫片142设置。
端部执行器驱动装置34安装完成后，螺钉144的螺帽150靠近垫片142，垫片142靠近台阶面，可以防止角度控制件36与导向件70轴向脱落；而螺帽150靠近垫片142设置、垫片142靠近台阶面设置，即螺钉144未将角度控制件36和导向件70锁紧，从而允许导向件70相对角度控制件36转动。
下面描述本实施方式的外科器械200的端部执行器14的转动及锁定过程。
当把手84沿第一方向转动时，把手84驱动导向件70沿第一方向转动，导向件70的驱动块96沿第一方向转动直至驱动部100与驱动槽116的凹陷部120的一个侧壁接触，此时第一间隙122消失，在此过程中，第一驱动件108将第一锁定件78由第一锁定位置推抵至第一释放位置。此时，若继续沿第一方向转动把手84，角度控制件36在导向件70的驱动下在定位套72内沿第一方向转动，此时，角度控制件36通过第一连接柱42驱动第一滑块38向前移动，第一滑块38驱动第一杆件30向前移动，同时角度控制件 36通过第二连接柱44驱动第二滑块40向后移动，第二滑块40驱动第二杆件32向后移动；第一杆件30向前移动且第二杆件32向后移动，使得端部执行器14沿第一方向转动。在把手84沿第一方向转动的过程中，由于受到弹性件82的弹力，第二锁定件80始终位于第二锁定位置，使得角度控制件36在定位套72内沿第二方向转动的锁定一直被维持。当把手84沿第一方向的转动停止后，由于受到弹性件82的弹力，第一锁定件78由第一释放位置被推抵至第一锁定位置，恢复了角度控制件36在定位套72内沿第一方向转动的锁定。第一锁定件78还推动第一驱动件108进而推动导向件70连同把手84一起沿第二方向转动，直至第一间隙122被恢复至把手84转动前的状态。如此，实现了角度控制件36、导向件70和把手84在沿第一方向转动的过程中任意位置的即时双向锁定，使得端部执行器14被锁定在上述任意位置所对应的转动角度之处，防止手术过程中端部执行器14在上述任意位置所对应的转动角度之处发生沿第一方向和第二方向中任一方向的不期望的转动。
当把手84沿第二方向转动时，把手84驱动导向件70沿第二方向转动，导向件70的驱动部100沿第二方向转动直至驱动部100与驱动槽116的凹陷部120的另一个侧壁接触，此时第二间隙124消失，在此过程中，第二驱动件110将第二锁定件80由第二锁定位置推抵至第二释放位置。此时，若继续沿第二方向转动把手84，角度控制件36可在导向件70的驱动下在定位套72内沿第二方向转动，此时，角度控制件36通过第二连接柱44驱动第二滑块40向前移动，第二滑块40驱动第二杆件32向前移动，同时角度控制件36通过第一连接柱42驱动第一滑块38向后移动，第一滑块38驱动第一杆件30向后移动；第二杆件32向前移动且第一杆件30向后移动，使得端部执行器14沿第二方向转动。在把手84沿第二方向转动的过程中，由于受到弹性件82的弹力，第一锁定件78始终位于第一锁定位置，使得角度控制件36在定位套72内沿第一方向转动的锁定一直被维持。当把手84沿第二方向的转动停止后，由于受到弹性件82的弹力，第二锁定件80由第二释放位置被推抵至第二锁定位置，恢复了角度控制件36在定位套72内沿第二方向转动的锁定。第二锁定件80还推动第二驱动件110进而推动导向件70连同把手84一起沿第一方向转动，直至第二间隙124被恢复至把手84转动前的状态。如此，实现了角度控制件36、导向件70和把手84在沿第二方向转动的过程中任意位置的即时双向锁定，使得端部执行器14被锁定在上述任意位置所对应的转动角度之处，防止手术过程中端部执行器14在上述任意位置所对应的转动角度之处发生沿第一方向和第二方向中任一方向的不期望的转动。
综上，本发明的外科器械200通过导向件70、角度控制件36、弹性件82、第一锁 定件78、第二锁定件80及定位套72之间的配合，控制角度控制件36的状态，从而控制端部执行器14的转动角度。通过转动把手84，使角度控制件36转动至不同的位置，从而使得端部执行器14转动至不同的位置。通过弹性件82与第一锁定件78、第二锁定件80的配合，使得角度控制件36锁定在转动过程中的任意位置，从而使得端部执行器14锁定在转动过程中的任意位置，从而可以达到准确夹持目标组织的目的。在实现了转动过程中任意位置的即时双向锁定功能的前提下，包括导向件70、角度控制件36、弹性件82、第一锁定件78、第二锁定件80及定位套72在内的端部执行器驱动装置的结构较简单，由此提高了上述端部执行器驱动装置的运行可靠性。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。

Claims (21)

  1. 一种用于外科器械的端部执行器驱动装置，用于控制端部执行器的转动和锁定，其特征在于：所述端部执行器驱动装置包括导向件、角度控制件及套设于所述角度控制件的定位套，所述角度控制件和所述定位套形成收容空间，所述收容空间内容置有锁定件，所述导向件驱动所述锁定件在锁定位置和释放位置之间移动，当所述锁定件位于所述锁定位置时，所述导向件不可驱动所述角度控制件在所述定位套内转动，当所述锁定件位于所述释放位置时，所述导向件可驱动所述角度控制件在所述定位套内转动。
  2. 根据权利要求1所述的用于外科器械的端部执行器驱动装置，其特征在于：所述导向件设置有驱动块，所述角度控制件设置有收容所述驱动块的驱动槽。
  3. 根据权利要求2所述的用于外科器械的端部执行器驱动装置，其特征在于：所述驱动块包括相连的转动部和驱动部，所述转动部具有圆弧形的配接面，所述驱动部具有平面状的驱动面。
  4. 根据权利要求3所述的用于外科器械的端部执行器驱动装置，其特征在于：所述配接面的圆弧延伸角度大于180度小于360度，所述驱动部设置在所述转动部远离所述配接面的一侧。
  5. 根据权利要求3所述的用于外科器械的端部执行器驱动装置，其特征在于：所述驱动面包括与配接面的一端连接的第一驱动面和与配接面的另一端连接的第二驱动面；当所述锁定件位于所述锁定位置时，所述第一驱动面与所述驱动槽之间具有第一间隙，所述第二驱动面与所述驱动槽之间具有第二间隙。
  6. 根据权利要求5所述的用于外科器械的端部执行器驱动装置，其特征在于：当所述锁定件位于所述释放位置时，所述第一驱动面与所述驱动槽抵接或者所述第二驱动面与所述驱动槽抵接。
  7. 根据权利要求6所述的用于外科器械的端部执行器驱动装置，其特征在于：所述第一驱动面与所述驱动槽抵接时，所述导向件驱动所述角度控制件在所述定位套内沿第一方向转动，所述第二驱动面与所述驱动槽抵接时，所述导向件驱动所述角度控制件在所述定位套内沿第二方向转动，所述第二方向与所述第一方向相反。
  8. 根据权利要求3所述的用于外科器械的端部执行器驱动装置，其特征在于：所述端部执行器驱动装置还包括垫片和螺钉,所述转动部设有螺纹孔，所述角度控制件远离所述导向件的一侧设置有台阶面，所述垫片贴靠所述台阶面设置，所述螺钉的螺纹部穿过所述垫片的中心孔与所述螺纹孔配接，所述垫片位于所述螺钉的螺帽与所述台阶面之间。
  9. 根据权利要求2所述的用于外科器械的端部执行器驱动装置，其特征在于：所述角度 控制件设置有第一凸部，所述驱动槽设置于所述第一凸部，所述第一凸部设有圆弧形的第一转动配接面，所述第一转动配接面与所述定位套的内表面转动配接。
  10. 根据权利要求9所述的用于外科器械的端部执行器驱动装置，其特征在于：所述角度控制件还设置有第二凸部，所述第二凸部设有圆弧形的第二转动配接面，所述第二转动配接面与所述定位套的内表面转动配接，所述第二转动配接面与所述第一转动配接面分别位于所述角度控制件的转动中心的两侧。
  11. 根据权利要求9所述的用于外科器械的端部执行器驱动装置，其特征在于：所述角度控制件还设置有第二凸部，所述第二凸部和所述第一凸部之间形成有收容槽，所述端部执行器驱动装置还包括弹性件，所述弹性件对所述锁定件施以使之保持在所述锁定位置的作用力，所述弹性件设置在所述收容槽中。
  12. 根据权利要求1所述的用于外科器械的端部执行器驱动装置，其特征在于：所述收容空间包括第一收容空间和第二收容空间，所述锁定件包括容置于所述第一收容空间的第一锁定件和容置于所述第二收容空间的第二锁定件，所述第一锁定件控制所述角度控制件沿第一方向相对所述定位套的转动和锁定，所述第二锁定件控制所述角度控制件沿第二方向相对所述定位套的转动和锁定，所述第二方向与所述第一方向相反。
  13. 根据权利要求12所述的用于外科器械的端部执行器驱动装置，其特征在于：所述第一锁定件在所述第一收容空间内具有第一锁定位置和第一释放位置，当所述第一锁定件位于所述第一锁定位置时，所述导向件不可驱动所述角度控制件在所述定位套内沿所述第一方向转动，当所述第一锁定件位于所述第一释放位置时，所述导向件可驱动所述角度控制件在所述定位套内沿所述第一方向转动。
  14. 根据权利要求12所述的用于外科器械的端部执行器驱动装置，其特征在于，所述第二锁定件在所述第二收容空间内具有第二锁定位置和第二释放位置，当所述第二锁定件位于所述第二锁定位置时，所述导向件不可驱动所述角度控制件在所述定位套内沿所述第二方向转动，当所述第二锁定件位于所述第二释放位置时，所述导向件可驱动所述角度控制件在所述定位套内沿所述第二方向转动。
  15. 根据权利要求12所述的用于外科器械的端部执行器驱动装置，其特征在于：所述第一锁定件和所述第二锁定件之间设置有弹性件，所述弹性件一端对所述第一锁定件施以使之保持在锁定位置的作用力，所述弹性件的另一端对所述第二锁定件施以使之保持在锁定位置的作用力。
  16. 根据权利要求1所述的用于外科器械的端部执行器驱动装置，其特征在于：所述导向件设置有驱动件，所述驱动件部分伸入所述收容空间中，所述驱动件推动所述锁定件从所述锁定位置移动至释放位置。
  17. 根据权利要求1所述的用于外科器械的端部执行器驱动装置，其特征在于：所述端部执行器驱动装置还包把手，所述把手设置有收容腔及位于所述收容腔内的定位柱，所述导向件部分收容于所述收容腔内，所述导向件上设有通孔，所述定位柱与所述通孔紧配。
  18. 一种外科器械，其包括杆身组件、设置于所述杆身组件一端的手柄组件、设置于所述杆身组件另一端的端部执行器，其特征在于：所述外科器械还包括连接于所述杆身组件的如权利要求1至17任一项所述的端部执行器驱动装置，所述端部执行器驱动装置控制所述端部执行器相对所述杆身组件的转动和锁定。
  19. 根据权利要求18所述的外科器械，其特征在于：所述杆身组件包括平行且间隔设置的第一杆件和第二杆件，所述角度控制件通过第一运动转换机构驱动所述第一杆件和所述第二杆件一前一后运动，所述第一杆件和所述第二杆件一前一后运动通过第二运动转换机构驱动所述端部执行器转动。
  20. 根据权利要求19所述的外科器械，其特征在于：所述外科器械还包括与第一杆件的后端固定连接的第一滑块和与第二杆件的后端固定连接的第二滑块，所述第一运动转换机构包括与所述角度控制件相对固定的第一连接柱和第二连接柱、设置在所述第一滑块的第一容置孔、设置在所述第二滑块的第二容置孔，所述第一连接柱和所述第二连接柱相对所述角度控制件的转动中心对称设置，所述第一容置孔和所述第二容置孔的延伸方向均垂直于所述第一杆件和所述第二杆件的延伸方向，所述第一连接柱收容于所述第一容置孔内且可在所述第一容置孔内移动，所述第二连接柱收容于所述第二容置孔内且可在所述第二容置孔内移动。
  21. 根据权利要求19所述的外科器械，其特征在于：所述外科器械还包括角度转向件，所述角度转向件包括远端部和近端部，所述远端部连接于所述端部执行器，所述第二运动转换机构包括设置在所述近端部的第一柱体和第二柱体、设置在所述第一杆件的第一连接孔、设置在第二杆件的第二连接孔，所述第一连接孔和所述第二连接孔的延伸方向均垂直于所述第一杆件和所述第二杆件的延伸方向，所述第一柱体收容于所述第一连接孔内且可在所述第一连接孔内移动，所述第二柱体收容于所述第二连接孔内且可在所述第二连接孔内移动。
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