CN100475122C - 用于内窥镜器械的旋转、平移和扭转控制构件 - Google Patents

用于内窥镜器械的旋转、平移和扭转控制构件 Download PDF

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CN100475122C
CN100475122C CNB2005100766685A CN200510076668A CN100475122C CN 100475122 C CN100475122 C CN 100475122C CN B2005100766685 A CNB2005100766685 A CN B2005100766685A CN 200510076668 A CN200510076668 A CN 200510076668A CN 100475122 C CN100475122 C CN 100475122C
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flexible pipe
control member
far
anchor clamps
jaw
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CN1714736A (zh
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凯文·W·史密斯
乔斯·卢斯·弗朗西丝
朱厄盖恩·A·科滕巴赫
小罗伯特·西克托
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Ethicon Endo Surgery Inc
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/128Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
    • A61B17/1285Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2901Details of shaft
    • A61B2017/2902Details of shaft characterized by features of the actuating rod
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2901Details of shaft
    • A61B2017/2905Details of shaft flexible
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B17/2909Handles
    • A61B2017/2912Handles transmission of forces to actuating rod or piston
    • A61B2017/2919Handles transmission of forces to actuating rod or piston details of linkages or pivot points
    • A61B2017/292Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B17/2909Handles
    • A61B2017/2912Handles transmission of forces to actuating rod or piston
    • A61B2017/2923Toothed members, e.g. rack and pinion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08Accessories or related features not otherwise provided for
    • A61B2090/0803Counting the number of times an instrument is used
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03Automatic limiting or abutting means, e.g. for safety
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00Metal working
    • Y10T29/53Means to assemble or disassemble
    • Y10T29/53478Means to assemble or disassemble with magazine supply

Abstract

一种柔性内窥镜夹具施放器包括带有与一端相连的手动致动器和与另一端相连的钳口组件的柔性线圈。夹具存储器与钳口组件相邻地设置,并且夹具推动器与夹具存储器相邻地设置。该致动器包括用于开启和闭合钳口的操作杆,用于旋转钳口组件的旋钮以及用于配送夹具的曲柄。旋钮以及操作杆连接于单独的控制构件上,该控制构件通过线圈延伸到接合器上,该接合器与连接到钳口上的一对牵引线缆连接。曲柄连接于沿远端部分设有螺纹的第二控制构件上。该带螺纹的部分与推进器附近的螺纹构件接合并且连接于推进器上,从而由曲柄引发的螺纹控制构件的旋转导致推进器向远端移动。

Description

用于内窥镜器械的旋转、平移和扭转控制构件
本申请和与之同日申请的名称为“手术夹具”(“Surgical Clip”)的美国专利系列号No.(代理卷号Docket#ISD-083)有关,将上述申请的全部公开内容结合于此以作参考。
技术领域
本发明广泛地涉及外科器械。特别地,本发明涉及通过内窥镜使用的柔性内窥镜器械。更具体地说,本发明涉及一种外科夹具施放器,其适于通过内窥镜使用并且可用于夹紧和/或缝合导管、脉管以及其他组织,固定组织,或者将外来物连接在组织上。
背景技术
外科夹具通常用于将夹紧力施加到导管、脉管以及其他组织上。另外,外科夹具在很难进行缝合或U形钉固定的场合替代缝合或U形钉固定来控制组织的出血方面特别有用。
外科夹具典型地通过夹具施放器施加到组织上。目前可用的所有外科多发射夹具施放器都是相当坚硬的装置,其可通过套管针的端口或者通过切口延伸到需要施放夹具的外科手术部位。该装置之所以是坚硬的是因为,为了施加所需的推动力来将夹具移动到组织上而要求用刚性的推动元件。
对一种柔性的夹具施放器、特别是一种可通过内窥镜腔插入的柔性夹具施放器存在明显的需求。通过内窥镜施加夹具的能力将允许对医疗问题有各种微创手术方案,特别是那些胃肠道的问题。然而,已接受的理论认为,使夹具在组织上前进或在组织上形成夹紧所需的传输力不能在通常由金属管状线圈或者聚合物管道构造而成的长的柔性装置(例如内窥镜装置或导管)的远端上产生。
通常,柔性的内窥镜装置(例如,活检钳装置)包括一外部管状件,其典型地由金属管状线圈或聚合物管道构成,在传递将拉伸应力赋予该外部管状件的力方面较差;一可相对于该管状件纵向移动的控制构件;一连接于管状件与控制构件的远端的端部执行器,从而控制构件和管状件的相对运动引起端部执行器的操作;以及一手柄,其相对于手柄移动控制构件。这种类型的柔性内窥镜器械在可由于数种原因而产生的推力大小方面受到限制。首先,柔性控制构件(推动件)的压缩会导致推动件在该装置的外部柔性护套内弯曲。如果使用直径相对较大的柔性推动件以使其较好地抵抗弯曲,则该推动件可产生太大的刚性,以致于在其随内窥镜器械弯折时不允许其弯曲。第二,使直径较大的柔性推动件在外部护套内受到更大的摩擦力,这减小了从手柄传送至端部执行器的力。如果将该柔性推动件做成直径相对较小,则其会扭结,这将导致几乎没有力被传递至远端操纵器。扭结在内窥镜器械中尤其是一个问题,因为内窥镜和其腔可沿曲折的路径延伸。对于大多数柔性装置,特别是金属线圈,当力施加在推动件上时,外部护套开始伸长。这减小或消除了推动件的力以及相对运动。出于这些和其他的原因,以机械方式施加相对大的远端推力,并且特别是夹具的施加,一直是柔性内窥镜工具所不具备的能力。
另外,很重要的是使欲施加夹具于其上的组织受到明显压缩。在钳口施加压缩组织的夹紧力时,由于相对较小的钳口组件的尺寸,很难达到大的夹紧力。也就是说,该尺寸要使得在钳口组件的枢轴与每一钳口柄脚之间的操作杆臂相对较短,限制了钳口组件的机械杠杆作用。
申请人的其全部在这里被结合作为参考的在先申请10/396,962公开了一种柔性的夹具施放器,它包括适于在配置夹具后将夹具推进器定位于已知位置的棘轮机构。另外,该夹具施放器包括一柔性外壳,其中可装入一系列夹具。该柔性外壳在受到拉力时不会伸长。另外,该钳口组件适于具有相对较高的机械杠杆作用,其在施加夹具之前促进了组织的压缩。
由于已经在系列号为10/396,962的申请中公开了夹具施放器的发展,申请人发展了改善后的柔性内窥镜夹具施放器,作为本申请的主题。
发明内容
因此,本发明的一个目的在于提供一种柔性内窥镜夹具施放器。
本发明的又一目的在于提供一种能够分配多个夹具的柔性内窥镜夹具施放器。
本发明的另一目的在于提供一种柔性内窥镜夹具施放器,其限制了能施加到该装置的钳口上的力的大小。
本发明的另外一个目的在于提供一种柔性内窥镜夹具施放器,它在调节由于内窥镜的路径曲折而引起的外部护套长度上的相对变化的同时,限制了能施加到该装置的钳口上的力的大小。
本发明的再一个目的在于提供一种柔性内窥镜夹具施放器,其具有两个钳口,这两个钳口可以围绕不同的轴旋转以改善钳口的机械优势。
本发明的又一个目的在于提供一种柔性内窥镜夹具施放器,其通过手动致动器的平滑运动来配送夹具。
本发明的另一目的在于提供一种柔性内窥镜夹具施放器,其具有一次精确地配送一个夹具的致动器。
本发明的另外一个目的在于提供一种柔性内窥镜夹具施放器,其使用单个控制线缆来打开和闭合钳口以及围绕纵向轴线使它们旋转。
本发明的又一个目的在于提供一种具有改进的钳口的柔性内窥镜夹具施放器。
本发明的另一个目的在于提供一种柔性内窥镜夹具施放器,其可防止当使该装置在施加了最后一个夹具后从其移开时意外地配送倒数第二个夹具。
本发明还有一个目的在于提供一种柔性内窥镜夹具施放器,其在配送夹具时形成夹具。
本发明的再一个目的在于提供一种柔性内窥镜夹具施放器,其具有手柄,该手柄在形成和施加夹具的循环中具有基本上恒定的阻力。
本发明的另一个目的在于提供一种夹具施放器,其带有夹具形成钳口,该夹具形成钳口为所施加的夹具指示出组织固定点。
本发明还有一个目的在于提供一种夹具施放器,其带有使夹具通过线圈稳定前进并进入端部执行器的机构。
本发明的又一个目的在于提供一种内窥镜夹具施放器,其能够只在闭合施放器的钳口时发射夹具。
本发明的另一个目的在于提供一种内窥镜夹具施放器,其能够一次、即在闭合和开启钳口之间只发射一个夹具。
本发明的再一个目的在于提供一种内窥镜夹具施放器,其向操作者提供了关于施放器中剩余夹具的数量的视觉指示。
本发明的又一个目的在于提供一种内窥镜夹具施放器,其在所有夹具都已被配送完毕后停止操作。
与这些将在下面详细讨论的目的一致,根据本发明的柔性内窥镜夹具施放器具有比较长的柔性线圈(或管),该线圈具有一近端和一远端。在这里使用的术语“近端”是指最接近操作者的一端,并且术语“远端”是指最接近病人的一端。使手动致动器与线圈的近端连接,并且使一对钳口与线圈的远端连接。夹具的存储器被置于邻近钳口的线圈内部。钳口的内部形成了在将夹具从存储器推进闭合的钳口时用于使夹具弯曲的砧板。该手动致动器具有三种控制器:用于开启和闭合钳口的操作杆,用于绕线圈的纵向轴线旋转钳口(以及线圈的远端部分)的旋钮,以及用于配送夹具的曲柄。使该操作杆以及旋钮与一单独的第一控制构件相连,该第一控制构件通过线圈延伸到最接近夹具存储器的位置。使该曲柄与第二控制构件相连,该第二控制构件通过线圈一直延伸到邻近夹具存储器的位置上,并且沿其远端部分形成有螺纹。
根据该优选实施例,将操作杆连接到力限制器上,该力限制器在闭合钳口时防止将太大的力施加于钳口上。该力限制器也对相对于钳口控制构件的外部护套长度上的相对改变进行有效地调节。将旋钮通过花键联接的方式连接到第一控制构件上。该曲柄通过传动机构及能量存储装置(例如飞轮)连接到第二控制构件上。
第一控制构件终止于夹具存储器的近端,并且与一接合器相连接,该接合器与一对牵引线缆联接。该牵引线缆在夹具存储器的两侧延伸,每一个都与其中一个钳口联接。
根据本发明,该线圈在邻近夹具存储器的地方分叉,并且线圈的这两个部分通过具有4个孔的刚性件连接起来,其中一个孔形成有螺纹。刚性件设置于接合器的远端,并且第一控制构件伸入该刚性件的其中一个孔内。这样,第一控制构件的旋转致使刚性件旋转,刚性件的旋转又导致了线圈的远端部分以及钳口绕纵向轴线旋转。这有助于在欲被钳住的组织上闭合钳口之前正确地定位钳口。两个牵引线缆延伸通过刚性件上的另外两个孔,并且第二控制构件的螺纹部分可通过螺纹与刚性件的螺纹孔接合。这样,当通过曲柄使带螺纹的控制构件旋转时,其向远端平移。带螺纹的控制构件的远端与夹具推进器联接。该夹具推进器以邻近夹具存储器中最靠近近端的夹具的方式安置,所述夹具一个接一个地沿轴向放置。当使带螺纹的控制构件向远端平移时,使夹具存储器向远端移动,直到最后一个夹具(在夹具存储器远端的那一个)进入了闭合的钳口并且通过由钳口的内部砧板引发的其端部的弯曲而被施加到组织上时为止。
将在第二控制构件的螺纹部分上的螺纹的传动和螺距如此布置,即,曲柄的一次完全的旋转使得配发一个夹具。该曲柄最好设有制动锁,其必须被接合以释放曲柄,并且其在一次旋转后自动地终止曲柄的运动。
进一步根据本发明,钳口是相同的单一型(hermaphroditic)钳口,其在远端线圈的远端处分别可旋转地在偏置轴上与U形夹结合在一起。每一钳口具有一远端齿和一近端柄脚。该柄脚与其中一根牵引线联接并位于纵向轴线的一侧。该钳口的远端齿位于纵向轴线的相反侧上,这防止了当钳口闭合时其两侧的不对准。
夹具存储器被装放在“库”内,该“库”与U形夹联接,并从那里向近端延伸。该库是基本上刚性的直线结构,其适当地使夹具保持排齐,并允许将它们平稳地推出该库,进入闭合的钳口。库的远端部分设有一对受偏压的止挡,当在施用了最后一个夹具后使施放器从其移开时,防止使倒数第二个夹具移出库。在一个可选实施例中,该止挡部分地由柄脚制成,而不是由库制成。
根据本发明的优选实施例,将曲柄定位于手动致动器的两侧,以适应左手和右手的使用。使一计数机构与曲柄联接并指示库中剩余的夹具的数量。制动锁可由操作杆接合,从而在钳口闭合时能仅操作曲柄。该曲柄还设有棘轮机构,从而它只能沿一个方向旋转。计数器还包括一止挡,其防止曲柄在已配送了所有的夹具之后被旋转。
本发明的其他目的及优点在本领域的技术人员结合附图地参考详细描述时会变得显而易见。
附图说明
图1是根据本发明的外科夹具施放器的局部拆开的侧视图,示出了操作杆以及处于开启位置上的钳口;
图2是手动致动器的局部拆开的透视图,示出了在开启位置上的操作杆;
图3是手动致动器的纵向剖视图,示出了处于开启位置上的操作杆;
图3A是和图3相类似的视图,但示出了处于压缩状态的力吸收弹簧;
图4是手动致动器的纵向剖视图,示出了处于闭合位置上的操作杆;
图4A是与图4相类似的视图,示出了处于压缩状态的力吸收弹簧;
图4B是第一替代的力吸收器布置的示意图;
图5是手动致动器的透视图,示出了曲柄;
图6是穿过曲柄且对锁定制动器进行图解说明的剖视图;
图7是断开的局部分解图,显示出线圈、钳口以及手动致动器的远端;
图8是控制构件、接合器、刚性件、其中一个牵引线缆、推进器、库的一部分以及夹具的一部分的断开的局部透明的透视图;
图9是刚性件的平面图;
图10是接合器的平面图;
图11是带螺纹的控制构件、推进器、夹具的一部分以及其中一个牵引线缆的断开的部分透明的透视图;
图12是推进器的透视图;
图13是在施放构造中的库、U形夹、钳口以及夹具的部分切除的透视图;
图14是库的透视图;
图15是库远端的放大的断开透视图,显示出受偏压的止挡;
图16是显示出U形夹和部分钳口、牵引线缆、库以及夹具的断开的平面图;
图17是断开的部分透明的透视图,显示出U形夹和部分钳口、牵引线缆、库以及夹具;
图18是U形夹、开启的钳口以及部分牵引线和库的断开的透视图;
图19是观察开启的钳口的远侧端视图;
图20是U形夹、闭合的钳口以及被施加的夹具的断开的侧视图;
图21是闭合的钳口、U形夹以及库的端部透视图;
图22是断开的纵向剖视图,显示出没有夹具时的闭合的钳口、U形夹、以及库的远端部分;
图23是与图22相类似的视图,但带有3个夹具;
图24是钳口内部的平面图;
图25是钳口内部的透视图;
图26是U形夹的侧视图;
图27是U形夹的远侧端部视图;
图28是部分剖开的示意性侧视图,显示出与带螺纹的控制构件联接的“自推进”式带螺纹的夹具的一个替代实施例;
图28a是自推式夹具的纵向剖视图;
图28b是图28a所示夹具的端部视图;
图29是Shepard钩的透视图;
图30是手动致动器的该优选实施例的近侧端部视图;
图31是手动致动器的该优选实施例的侧视图;
图32是手动致动器的该优选实施例的分解透视图;
图33是与图31相类似的视图,带有透明的曲柄以对棘轮机构进行图解说明;
图34是传动机构和计数齿轮的放大图;
图35是与图34相类似的视图,移开了传动齿轮,以示出曲柄轴和计数齿轮之间的连接;
图36是手动致动器的该优选实施例的分解透视图,示出了可由操作杆接合的制动锁;
图37是图36所示锁定机构的放大图;
图38是手动致动器的局部分解的透视图,该手动致动器具有使用梭动元件的力限制弹簧组件的一个替代实施例;
图39是图38所示弹簧组件的断开的放大图;
图40是用于形成梭动元件的阴阳部分的放大的透视图;
图41是与图38相类似的视图,示出了呈弹簧铰接式操作杆形式的力限制装置的一个替代实施例;
图42是弹簧铰接式操作杆的透视图;
图43是用于形成控制构件和弹簧铰接式操作杆之间的球窝接合连接的阴阳部分的放大的透视图;
图44是和图20相类似的视图,但包括一个可选的钳口实施例;以及
图45是与图18相类似的视图,但包括图44所示的可选的钳口实施例。
具体实施方式
现在参看图1,根据本发明的柔性内窥镜夹具施放器10具有相对较长的柔性线圈(或管)12,该线圈具有近端14和远端16。这里所使用的术语“近端”是指最接近操作者的一端,而术语“远端”是指最接近病人的一端。手动致动器18与线圈12的近端14联接,并且一对钳口20与线圈12的远端16联接。该线圈最好是具有减小摩擦力的外部护套(未示出)的扁平线圈。本发明将针对从近端开始朝向远端工作的每一主要组成部件进行详细描述。
手动致动器
手动致动器的第一实施例示于图1-6中。手动致动器的一个当前优选的实施例示于图30-37中,下面将详细进行描述。
图1-6中的手动致动器18具有3种控制器:用于开启和闭合钳口20的操作杆22,用于绕线圈的纵向轴线旋转钳口20(和线圈12的远端部分)的旋钮24,以及用于配送夹具的曲柄26。将会认识到,手动致动器18具有与其他内窥镜致动器相同的通常的手枪形状。手指握柄28与具有拇指握柄30的操作杆22相对地设置。操作杆和手指握柄上的接合钩32、34允许如图4所示地锁住操作杆。本领域的技术人员还可以理解,夹具施放器10的常规操作包括:闭合钳口(任选地通过锁住操作杆22来进行);通过内窥镜的腔将钳口20输送到外科手术部位;如图1所示地打开钳口;通过线圈12的运动和手柄24的旋转来定位钳口20,从而将欲被钳住的组织安置于两个钳口之间;锁住操作杆22以将钳口在组织上闭合;旋转曲柄26以施加夹具;以及,之后将钳口从夹具和组织上松开。
现在回到手动制动器18的详细描述并且继续参考图1-6,尤其是图3,使操作杆22和手柄24连接到单个第一控制构件36上。操作杆22可围绕轴23旋转并且通过力限制机构37连接到控制构件36上。力限制机构包括弹簧38、近端联接器38a、力限制器盖38b、力限制帽38c、过载螺母38d、远端联接器38e以及过载轴38f。过载轴38f与过载螺母38d连接并且在弹簧38内延伸,部分地进入力限制帽38c内。
操作杆22通过联动机构44与弹簧38的末端连接,该联动机构在图2中看得最清楚。具体地说,联动机构44包括U型构件44a,该U型构件44a装配在弹簧38及其相关元件38a-38f上。销钉44b将U型构件44a的近端连接到位于操作杆22上部的狭槽22a上,并且第二销钉44c将U型构件44a的远端连接到过载螺母38d上。
由于所提供的配置,操作杆22向手指握柄28的运动使得联动机构44向近端移动,这使得过载螺母38d向近端移动。该过载螺母38d又推动弹簧38向近端移动。弹簧38推动力限制帽38c,该力限制帽38c压靠在力限制器盖38b上,该限制器盖38b又压靠在近端联接器38a上。因为将近端联接器38a固定在控制构件36上,所以近端联接器38a向近端的移动导致控制构件36向近端移动。于后,有效地使整个力限制组件37向近端运动并且向近端拉动控制构件36。
如图3A所示,如果在钳口闭合期间的任何时间,控制构件36上的张力超过弹簧38的预定的力极限(例如,17磅),则将克服弹簧38的弹力,从而弹簧38将压缩,并且过载轴38f和过载螺母38d将远离远端联接器38e而不移动控制构件36。在这种力过载的情况下,轴38f被收纳在力限制帽38c的凹腔38c’内。
图3A示出了在钳口闭合期间处于压缩位置的力限制弹簧38。这种情况会在将控制构件36拉动超过闭合钳口通常所需的距离时发生(如,当钳口由于其围绕非常厚或者非常硬的组织而始终都被阻止闭合时,或者如果线圈路径的弯曲使得线圈显著伸长、控制构件36显著缩短,由此增加了操作杆22的行程,缩短了闭合钳口所需的行程)。弹簧38防止钳口、组织和/或控制构件36由于过载而被损坏,同时允许操作杆22被完全地致动到锁住位置。
在操作杆22已经移动到如图4所示的已将钳口闭合的位置之后,如果将过大的力施加到控制构件36上(如,当通过弯曲的内窥镜路径将钳口输送到外科手术部位时),力限制机构37也将工作以防止损坏控制构件36。尤其是,如图4A所示,如果在钳口已经闭合后将控制线缆拉向远端并且在控制线缆36上的力超过弹簧38的预定极限,那么固定地连接到控制构件36上的近端联接器38a将相对盖38b及力限制帽38c向远端移动。该力限制帽又将向远端移动,将弹簧38压靠在螺母38d上,该螺母38d因为连接到被锁住的操作杆22上而被固定在适当的位置上。
在另一种情况中,当放开操作杆22时,弹簧38将通过联动机构44放松,使得螺母38d向远端移动,直到其抵靠远端联接器38e(该远端联接器连接到控制构件36上)。螺母38d向远端的运动使得连接到控制构件36上的远端联接器38e向远端运动,从而使控制构件36向远端运动。
依据该优选实施例,当使操作杆22移动到锁定位置时,弹簧总是处于压缩状态。
为了允许控制构件36旋转,手柄24通过安装在轴承24a上的花键40连接到控制构件36上,所述的轴承24a由夹持器24b保持。将控制构件36的近端弯曲成shepherd钩36a,其与连接到手柄24上的花键40可滑动地接合。所述的shepherd钩在图29中示出。手柄24的旋转由此使控制构件36旋转。
应该注意的是,在力限制机构37中,远端联接器38e和近端联接器38a以这样一种方式组装,即,允许与力限制机构37的其余部分存在间隙。因为由预加载的弹簧38产生的摩擦力不转化成扭曲阻力,所以这种间隙使得旋转易于进行。
图4B示出了力限制机构137的第一替代实施例。在此,线圈112配置有近端套管113。手动致动器或者把手118配置有凹陷部119,该凹陷部119的尺寸被设置成可接收套管113、垫圈/垫片115以及位于上述两者之间的压缩弹簧138。本领域的技术人员可以理解的是,如果在闭合钳口期间障碍物阻碍了钳口充分闭合,则施加到控制构件136上的近端力将施加到远端的U型夹182、线圈112以及把手118上。该把手将沿远端方向对垫圈/垫片115产生相等的反向力。结果,当压缩弹簧138的弹性力过大时,线圈的近端将移动套管113靠在弹簧138上。
仍旧参考图1-6,尤其是图4,将曲柄26连接到传动机构46上,该传动机构46与第二控制构件48连接。更具体地说,传动机构46包括连接到曲柄26上的输入正齿轮47,连接到该输入正齿轮上的增速正齿轮49,以及连接到该增速正齿轮上的冠形齿轮50。该冠形齿轮与连接到圆筒54上的小齿轮52啮合,该圆筒54具有与第二控制构件48啮合的键控内部,第二控制构件48在其近端或者其近端附近配置有shepherd钩48a(同样如图29所示)。圆筒54安装在由夹持器55a、57a保持的两个轴承55、57上。第二控制构件48(如下面结合图8-11详细描述的)沿其远端部分刻有螺纹。从随后的讨论中可以理解,圆筒54的长度足以使第二控制构件48能够向远端运动,直到所有的夹具都被分送完。依据本优选实施例,控制构件48由17-7PH不锈钢丝制成。
依据本优选实施例,将能量储存飞轮56连接到圆筒54上。可供选择的是,该飞轮和圆筒可以为一件式模制部分。飞轮使曲柄的运行平滑,否则该曲柄在其旋转过程中需要施加增大的力,因为在其旋转开始时,控制构件使夹具前行,而在其旋转结束时,控制构件通过将夹具推压在位于端部执行器中的砧板上而形成夹具(这在下面将有更详细的介绍)。本领域的普通技术人员可以理解的是,为了更有效,飞轮优选地配置有用于储能的相对较大的转动质量。当飞轮通过曲柄的旋转而绕转(旋转)时,消耗一定量的能量,该能量增加了飞轮的动能(质量×速度)。这些能量中的一部分由于克服摩擦而损失;然而,用于旋转飞轮的一部分能量以动能的形式被储存起来。之后,可以通过直接的机械转换恢复该能量。在本发明的情况中,当首先使曲柄26旋转时,控制构件48提供很小的阻力(因为夹具易于向前移动)并且将施加到曲柄上的大部分能量用于使飞轮56旋转。在曲柄的旋转接近结束时,因为控制构件48存在于使夹具弯曲成最终形状的循环的末端,所以通过控制构件48形成扭转阻力。在该方面,释放飞轮中的动能并使曲柄循环的剩余部分容易进行。优选的是,依据本发明,将飞轮56选择成使得在分发单个夹具所需的曲柄26的整个运动中施加到曲柄26上的力基本上是均匀的(如,变化不超过25%)。
如在图5和6中最清楚地看到的,曲柄26配置有制动锁58,该制动锁58在曲柄26可以旋转之前必须释放并且在一次旋转之后自动锁住曲柄26。优选的是,曲柄26还配置有防止其向后旋转的棘轮机构(未示出)。还优选的是,曲柄配置有在钳口闭合之前防止其转动的锁定件(未示出)。曲柄26还可以配置有转数计(未示出),该转数计可以连接到输入正齿轮上,而且计算曲柄已旋转的次数并由此显示已经分发的夹具的数目。所述的转数计也可以用于防止曲柄在所有夹具都已分发完后旋转。理想的是,曲柄还配置有锁定机构,该锁定机构防止曲柄在两次旋转之间没有打开和闭合钳口的情况下旋转两次。
依据图5和6中示出的实施例,曲柄26有多个间隔开的周向手指握持部26a和一个滚花的外圆周26b。曲柄把手26c可任选地拆除,从而在需要时可使曲柄像把手似的旋转。制动锁58包括具有凸缘58b的按钮58a、具有凸缘58d和弹簧58e的锁定销58c。锁定销58c设置在阶梯孔58f中并由弹簧58e偏压到曲柄26的阶梯孔26d中。当按压按钮58a时,使锁定销58c抵靠弹簧58e地移动并从孔26d中出来,使曲柄自由转动。
依据一个示范性实施例,当使曲柄旋转一转时,传动机构使第二控制构件转动58.1875转。当使曲柄旋转一转时,该控制构件上的螺纹的螺距导致该控制构件前进0.285英寸。为具体的夹具长度而选择齿轮和螺距。依据当前的优选实施例,仅需要更换冠形齿轮(通过增加或减少齿数)来适应具有不同长度的夹具。
如图1-4和4a所示,手动致动器18的远端具有一对垂直狭槽15,其可以抓取连接到线圈近端上的线圈联接器(未示出)。
控制构件
现在参考图7-10,控制构件36、48穿过连接到手动致动器18远端上的柔性线圈12延伸。依据本发明,线圈12具有两部分:近端部分12a和远端部分12b,上述两部分通过刚性构件60相互连接。刚性构件60基本上为圆筒形,具有其直径与端部60-2、60-3相比较大的中间部分60-1。端部60-2、60-3的尺寸被设定成可装配在线圈12a、12b的内部,并且将中间部分60-1的尺寸设定成具有与线圈12a、12b的外径基本相同的外径。刚性构件60具有4个孔60a-60d。其中一个孔60d形成有螺纹并与第二控制构件48的螺纹部分接合。因为使刚性构件60相对于线圈12a、12b固定,可以理解的是,当第二控制构件48由曲柄26旋转时,这种螺纹接合使得第二控制构件48通过刚性构件60向远端移动(图2)。
刚性构件60中的另外两个孔60a和60b允许一对牵引线缆62、64通过,这将在下面参考图16和17进行更详细的描述。牵引线缆的近端连接到具有4个孔66a-66d的接合器66上。一根牵引线缆连接孔66a,另一根牵引线缆连接到孔66b上。第一控制构件36通过孔66c延伸并且连接到该孔66c上,并且带螺纹的控制构件48自由通过孔66d。这样,第一控制构件36的纵向移动使牵引线缆62、64纵向移动。控制构件36的通过接合器66延伸的部分36a延伸到刚性构件60的孔60c中。该部分36a的长度足以在控制构件36的整个移动范围内与孔60c接合。这样,控制构件36和把手24(图1)的旋转使得刚性构件60旋转,刚性构件60的旋转使线圈12的远端部分12b旋转,而线圈12远端部分的旋转导致钳口20和夹具存储器围绕线圈的纵向轴线旋转。
如在图8中清楚看到的,控制构件36和48由位于线圈12的近端部分12a内的双腔柔性护套68保护。护套68减少控制构件与线圈内侧的摩擦。护套68还防止控制构件弯曲或扭结。还应该注意的是,为了减少线圈和其从中传送的内窥镜腔之间的摩擦并防止内窥镜腔免受损坏,优选地沿线圈的整个外表面设置减摩护套。
依据当前的优选实施例,两控制构件在其远端部分具有较小的直径以增加柔韧性,并且在近端部分具有较大的直径以优化转距传递。
推动器
现在参考图11-13,带螺纹的控制构件48的远端连接到夹具推动器70上。如图12中最清楚地看到的,推动器70为具有偏轴孔70a的大致为直线的构件,偏轴孔70a与凹口70b相交。一对向内弯曲并向远端延伸的指部70c、70d通过肩部70f、70g与远端口部70e分开。如图11中最清楚地看到的,带螺纹的控制构件48的远端穿过孔70a延伸并连接到被接收在凹口70b内的圆筒72上。圆筒72可以被压接或者焊接到控制构件48上。推动器和控制构件的连接使得控制构件可以相对于推动器自由转动。如在图11中最清楚地看到的,将控制构件48的远端48b削尖,并且通孔70a的远端配置有锥形壁70h。锥形壁70h的顶角大于点48b的顶角。根据前面的叙述,本领域的技术人员可以理解,当使控制构件48旋转时,其向远端移动,向远端推动推动器。还可以理解的是,控制构件48与推动器70的摩擦接合被限制到点48b与锥形壁70h的顶点相接合的很小区域。
如在图13中最清楚地看到的,夹具推动器70与位于夹具存储器76中最靠近近端的夹具74相邻地设置,所述的多个夹具一个接一个地沿轴向设置在钳口组件20的近端。当使控制构件48向远端平移时,使夹具存储器76向远端移动,直到最后的夹具78(位于存储器远端的那一个)进入闭合的钳口内并通过由钳口的内部砧板完全其端部而施加到组织上。图13示出了在施加夹具78后钳口打开。
如图11中最清楚地看到的,夹具74(其与所有其他夹具都一样)具有与推动器70的口部70e和肩部70f、70g接合的近端尾部74a。指部70c和70d限制夹具垂直移动,并且允许推动器轻轻地抓住夹具,这易于在组装期间装载夹具。该夹具的另外的细节可通过阅读在先引入的系列号No.(代理卷号Docket ISD-083)的美国申请而理解。
本领域的技术人员可以理解的是,可以改变螺纹的设置而仍旧获得相同或相似的结果。例如,不设置向远端移动的螺纹控制构件,而是可以将螺纹设置在推动器上,并且使带螺纹的控制构件不能平移。在这种设置中,带螺纹的控制构件的旋转使推动器沿控制构件平移。
如图13和16中最清楚地看到的,夹具存储器76被收藏于位于线圈的远端部分12b内的库80中,该线圈的远端部分12b紧邻钳口组件20。库80的细节可以从图14-17中看出。库80通常包括多个平行的侧壁80a-801以及与所述的侧壁正交的成对的向远端延伸的指部80m、80n。每一侧壁具有多个向外取向的分隔片,如80c-1、80c-2、80c-3、80c-4。这些间隔片与线圈的内侧接合并且确保线圈和库之间的距离,该距离用于牵引线缆62、64的通过(见图16)。向外取向的间隔片的形成导致出现狭窄条带,如80ab、80bc、80cd等,这些狭窄条带增加了库的弹性。在翻转内窥镜的情况下,仪器远端的弹性可能是重要的。如图16中最清楚地看到的,当将夹具布置在库中时,一个夹具与另一个夹具的抵靠出现在该狭窄区域中。因此,夹具可以在抵接区域弯曲。
如图15中最清楚地看到的,向远端延伸的指部80m、80n每一个都有一个向外延伸的远端唇缘80m-1、80n-1以及向内延伸的近端制动器80m-2、80n-2。指部80m、80n帮助库相对于U型夹定位。远端唇缘将如下所述的帮助库与U型夹接合,并且近端制动器防止如下所述的倒数第二个夹具发生不希望有的运动。相对的成对平行指部80p和80q设置在垂直于指部80m、80n平面的分隔平面内。如图17中最清楚地看到的,这些指部80p和80q从近端轴环80r延伸并且与U型夹相接合,这将在下面详细描述。
依据当前的优选实施例,该库由单件的模压折叠不锈钢制成。
与申请人早先的夹具施放器不同的是,不必将夹具链接在一起以便可以将他们拉回。在任何时间都无需将任何夹具拉回。
钳口组件
图17-27示出了钳口组件20的细节,该钳口组件20包括U型夹82以及一对钳口84、86。所述的钳口为阴阳互配的钳口,即,钳口是完全相同的并被设置成相互匹配。每一个钳口都具有一个近端柄脚84a、86a;多个侧齿84b、86b,它们在钳口纵向轴线的相对侧上相互错开半个齿距;一个远端齿84c、86c以及一个安装孔84d、86d。钳口通过其安装孔被连接到U型夹上。如图27中最清楚地看到的,U型夹82具有两个偏离轴线的凸起82a、82b,钳口就安装在所述凸起上并且通过铆钉固定就位。使牵引线缆62、64的远端弯曲成<形曲线并被连接到钳口的各柄脚84a、84b上。因此可以理解的是,牵引线缆向远端的运动会使钳口如图18和19所示的张开,而牵引线缆向近端的运动会使钳口如图20和21所示的闭合。偏离轴线的凸起的使用增加了钳口的机械方面的优点。U型夹还配置有一对制动器82e、82f(在图26中可最清楚地看出),该制动器82e、82f与在钳口柄脚上的耳状物84a-1、86a-1接合并且允许钳口在其闭合时偏离轴线偏转45-60度,并且还允许钳口过度旋转大约10度。这就允许闭合钳口穿过内窥镜的腔经过弯曲路径。
如图19中最清楚地看到的,每一钳口的近端柄脚和远端齿位于钳口组件纵向轴线的相对侧上。这种布置为端部执行器的布置提供了稳定性。尤其是,在钳口和U形钩之间存在着一定量的间隙,从而钳口能够易于打开和闭合。这种间隙可以允许钳口在产生钳口不对准可能性的U型夹上水平摇动。在所示实施例中,钳口在它们闭合时被迫相向地水平移动,而不是彼此远离。这是因为成形砧板与由牵引线缆产生的水平运动相反地作用。
远端齿的内表面形成砧板,该砧板使夹具的两尖端如图20和23所示地弯曲大约90-180°。具体的说,如图19和21所示,远端齿形成两个相互平行的弯曲路径。这就允许夹具的两尖端被弯曲成平行的半圆形。当远端齿相遇的点邻近夹具的尖端穿刺组织的位置时,该远端齿还起到组织固定点指示器的作用。
如从图23中最清楚地看到的,在已经施加了最远端的(最后的)夹具78以后,相邻的或者说倒数第二个夹具78a由制动器80m-2、80n-2保持在库80内,并且夹具78a的尖端包围夹具78的尾部。当钳口打开时,钳口组件可以从最后的夹具78移开,而不释放倒数第二个夹具78a。如从图18中最清楚地看到的,钳口打开时,倒数第二个夹具78a的尖端由U型夹82的远端翅片82c、82d保护。然而,如果将U型夹的尺寸设置成不同,因为夹具的尖端直到其被施放时才伸出U型夹,所以这些翅片82c、82d是不必要的。U型夹的其他图(如图26)未示出翅片。
如图17所示,为了相对于U型夹固定库,库在三个位置与U型夹相配合。远端配合通过与U型夹82的唇缘82e、82f相接合的远端唇缘80m-1、80n-1(在图22中最清楚地示出)获得。近端配合通过与横向凹口或孔82g、82h相接合的指部80p和80q获得。第三配合通过将近端轴环80r夹在U型夹芯部和线圈的远端之间来提供。
替代实施例,自推动式夹具
现在参考图28-30,示出了夹具301和夹具前进机构的替代实施例。除了夹具301在其近端上具有螺纹孔301a外,该夹具301具有与上述夹具基本上相同的结构。图28示出了多个通过螺纹安装在可旋转控制构件148的螺纹端部148a上的夹具301-304。除了控制构件148以不相对于线圈或者致动器平移的方式安装外,该控制构件148与上述控制构件48相同。具体地说,控制构件148安装在设置于止推轴承312内的止推轴环310内,该止推轴承312位于近端线圈和远端线圈之间(未示出)。当使控制构件148旋转时,因为库(未示出)而不能旋转的夹具301-304由于与控制构件螺纹接合而通过库传送。
当前优选的手动致动器
图30-37示出了当前优选的手动致动器418。用相同的附图标记加上400来表示与图1-6所示手动致动器18相同的部分。手动致动器418包括操作杆422、旋钮424以及曲柄426。依据该实施例的第一方面,在致动器的相对侧上配置有第二曲柄426’。如在图30和32中最清楚地看到的,“曲柄”426和426’为滚花的并且不像曲柄26那样有曲柄把手。同致动器18相似,参见图31-33,致动器418配置有手指握柄428和具有拇指握柄430的操作杆422。如图32所示,接合钩432、434允许操作杆被可释放地锁定在闭合位置。
如在图32中最清楚地看到的,多边形曲柄轴500通过致动器418横向延伸并且在相对端由曲柄426、426’接合。曲柄轴500由位于致动器418的相对侧上的圆筒形结构502、504围绕。依据该实施例的第二方面,其中的一个圆筒形结构504配置有多个棘齿506,并且如图33所示,曲柄426’具有周边柱508,在该周边柱上安装有棘爪510。本领域的普通技术人员可以理解的是,在图示实施例中,棘轮和棘爪防止曲柄426、426’向后、即顺时针转动。
依据该实施例的第三方面,如在图34和35中最清楚地看到的,传动机构446被连接到计数齿轮512上。在该实施例中,传动齿轮与图1-6所示实施例中的布置略有不同。具体地说,如图35所示,将曲柄轴500连接到与计数齿轮512啮合的小毂齿轮514上。曲柄轴还被连接到驱动增速正齿轮449的输入正齿轮447上,该驱动正齿轮与图4中所示的齿轮49相比是倒装的。正齿轮449驱动连接到小齿轮452上的冠形齿轮450。将小齿轮452连接到圆筒454上,该圆筒454然后连接到飞轮456上。
计数齿轮512配置有标记516(优选的是在两侧都有)以及凸起肋518。致动器418的主体配置有至少一个、但优选的是两个的窗口520、522(见图31-33、36和37),通过该窗口可以观察计数齿轮的标记516(一次为一个)。示出的计数器用于与5个夹具的存储器一块儿使用。当库充满时,计数器的在凸起肋518和数字“4”之间的部分通过窗口可以看见。为了调节凸起肋的空间,将计数齿轮上的齿的数量选择成毂齿轮旋转一转使计数齿轮旋转略微小于1/5转。在配送夹具时,计数齿轮顺时针旋转,记下剩余夹具的数量。当剩余“0”个夹具时,“0”标记可以通过窗口看到。另外,当在该位置时,凸起肋518与致动器内侧的结构抵接,如抵接窗口开口的壁。这防止计数齿轮和曲柄进一步前行。优选的是,计数齿轮512配置有用于在组装期间正确定向齿轮的指示孔524。
本领域的技术人员可以理解的是,可以用除凸起肋518以外的部件来停止转动。例如,可以将控制构件48上的螺纹设置成分发完最后一个夹具就用完。供选择的是,可以在控制构件48上的一个位置处配置凸块,在该位置处,在最后一个夹具分发完时通过接合刚性构件60来停止。再一个可供选择的方案是,设置一推动器70,该推动器在发射了最后一个夹具后接合并锁住在制动指部80m、80n上。停止的目的是为了防止推动器进入钳口并且指示所有的夹具已经用完。
依据本实施例的第四方面并如图36和37所示,曲柄制动锁458由操作杆422接合,从而曲柄可以仅在钳口闭合时转动。特别地,前述的圆筒形结构502的底板配置有升高为台阶528的斜面526。使曲柄426和/或曲柄轴500连接到板簧530上,该板簧530通常从曲柄轴的轴开始径向向外伸出并终止于上翻的唇缘532。图36和37示出了处于锁定位置的曲柄/曲柄轴,而且板簧530与台阶528相邻放置。如果操作曲柄来分发夹具,可以通过撞到台阶528的板簧530来停止曲柄的旋转。
操作杆422有舌状物534,该舌状物在其端部带有抬高的斜面536。口部538通向邻近台阶528的圆筒形结构502。将该舌状物534设置成当使操作杆422向闭合位置移动、闭合钳口时,该舌状物进入口部538。当舌状物534进入口部538时,抬高的斜面536与上翻的唇缘532接合并将板簧530抬到台阶528上。在该位置处,板簧和台阶不再妨碍曲柄的旋转,并且可以分发一个夹具。曲柄的旋转将板簧沿斜面526向下移动到圆筒形结构的底板上,在这里板簧可以自由地移动完一圈。舌状物534配置有一个下凹槽540,该凹槽允许板簧530在曲柄的一次旋转结束时在其下面通过,弹簧将在该点再次与台阶528抵接。舌状物534具有足够的弹性,以便当使操作杆422反向移动来打开钳口时,凹槽540可以越过上翻的唇缘532。这样,在钳口闭合之后曲柄将刚好移动一圈,并且将不再移动直到钳口再次打开、然后闭合。
力限制弹簧的替代实施例
图38-40示出了手动致动器600中的力限制弹簧的第一个替代实施例,该手动致动器在其他方面与上述致动器基本上相同。致动器600具有与联动机构604连接的拇指操作杆602。联动机构604的远端与弹簧606的远端接合。垫圈608设置在弹簧606的近端附近,“梭”610邻近垫圈608的近端设置并且抵靠着联动机构上的止动壁611。控制构件612延伸穿过联动机构604、弹簧606、垫圈608并连接到梭610上。梭610由图40中示出的两个相同的部件组成。每一部件610大致为半圆筒形,具有一对锁定螺母610a、610b和一对螺母接收槽610c、610d。部件610的内部具有偏心的线缆接合舌状物610e,并且每一端配置有一轴向的半孔610f、610g。通过上述描述,本领域的技术人员可以理解,当将控制线缆放置在梭的两个部件之间并且将这两部件压在一起时,控制线缆将被两个舌状物610e弯曲成S型,并且使梭将相对于控制线缆固定。
基于前述的认识,还可以理解的是,当使操作杆602从打开位置(图39)向图38所示的闭合位置移动时,联动机构604将弹簧606和垫圈608向近端移动并靠在梭610上,所述的梭将控制线缆612拉向近端,直到控制线缆不能再被拉动或者直到在线缆上施加预定的张力时为止。在该位置,操作杆602的进一步闭合继续使联动机构604和弹簧606向近端移动。然而,因为线缆612、垫圈608以及梭610不再移动(或者因为弹簧常数小于线缆上的张力),弹簧606开始在联动机构604和垫圈608之间压缩并且在锁住操作杆时保持受压缩。压缩的量将取决于控制线缆路径的弯曲程度。依据当前的优选实施例,当使操作杆如图38所示的锁住时,总存在一定的弹簧压缩。当释放操作杆602时,首先,联动机构604会相对于垫圈和梭向远端移动,并且弹簧将扩张。最后,联动机构604上的止动壁611将到达梭610并且向远端推动该梭,由此使控制线缆612向远端移动。
本领域的技术人员可以理解的是,垫圈608的功能是提供弹簧606和梭610之间的可靠阻碍物。提供可靠阻碍物的一种方法是通过将弹簧606的端部弯曲成“e”形来部分地闭合弹簧606的端部。供选择的是,可以将弹簧丝的端部弄平、变宽,以便阻挡所述的梭。本领域的技术人员可以理解的是,为了代替在联动机构604上配置用于梭610的止动壁611,可以将操作杆602设置成在使操作杆从闭合位置释放时直接向远端推动所述的梭(并由此推动线缆612)。
图41-43示出了手动致动器700的力限制弹簧的第二个替代实施例,该手动致动器在其他方面与上述致动器基本相同。致动器700具有拇指操作杆702,该拇指操作杆由通过扭转弹簧706相互连接的两部分702a、702b形成。如图42清楚所示,操作杆702的上部702b具有一个用于接收被连接到控制线缆上的球710(未示出)的承窝702c和两个间隔开的腿部702d、702e。操作杆的下部702a具有一个在两个腿部702d、702e之间延伸的上指部702f。扭转弹簧706安装到延伸穿过上指部702f和腿部702d、702e的枢轴703上。弹簧的背部706a与指部702f的背部接合,并且弹簧的前部706b与操作杆的上部702b接合。所述的球由图43所示的两个相同的部件组成。该部件通常为半球形,但是与前面描述的梭的类似之处在于,其有一对锁定螺母710a、710b和一对螺母接收槽710c、710d。部件710的内部具有偏心的线缆接合舌状物710e,并且一对径向相对的半孔710f、710g与舌状物710e同轴地配置。通过以上描述,本领域的技术人员可以理解的是,当将控制线缆放置在所述球的两部件之间并且将该两部件压在一起时,控制线缆将被两个舌状物710e弯曲成S形,并且所述的球将相对于控制线缆固定。
基于前述的认识,可以理解的是,当使操作杆702从打开位置向图41所示的闭合位置移动时,使操作杆的上部702b和控制线缆(未示出)向近端移动,直到控制线缆不能被进一步拉动时为止。在该位置,该操作杆的上部702b保持静止。然而,为了达到完全闭合的操作杆位置,操作杆下部702a可以继续围绕枢轴703旋转并使指部702f将力施加到弹簧706的背部706a上,由此使弹簧前部706b远离弹簧背部706a和操作杆上部702b伸展。当最终将操作杆从其完全闭合位置释放时,首先,使指部702f作用在弹簧上的力释放,并且球710和线缆不移动。最后,当弹簧前部706b触及操作杆上部702b时,使整个操作杆、球710和控制线缆向远端移动。
预加载的夹具弹射器
在当前的优选实施例中,至少给柔性线圈的远端部分(在此情况下是远端线圈12b)预加载,以提供足够的柱状硬度。当钳口84、86闭合时,牵引线缆(一根或多根)在U型夹和螺母之间增加载荷。在夹具配置完后,使牵引线缆向远端驱动以打开钳口。压缩的夹具串的力以及如果必要的话,来自于牵引线缆的力足以克服远端线圈的预加载荷,从而钳口和U型夹背离夹具的尖端移动,而该尖端已经背压在夹具的成形砧板上。这种概念的一个供选择的实施例是在夹具上提供用于安装到U型夹的凸起上的长孔。当夹具闭合时,牵引线缆使钳口相对于U型夹向近端移动。当牵引线缆被解除张紧并向远端驱动时,钳口也能够相对于U型夹向远端移动以释放作用在夹具尖端上的压缩载荷。
依据一个供选择的实施例,对远端线圈12b预加载以向远端弹动。当钳口84、86闭合时,牵引线缆(一根或多根)62拉动远端线圈,克服其预加载荷地缩短远端线圈。在夹具分发后,夹具打开。当夹具打开时,远端线圈上的预加载荷使得U型夹82、钳口84、86以及库80都向远端稍微移动一段距离。同时,因为夹具在移动到其上的库内自由设置,所以夹具不移动。这种作用具有将钳口上的远端砧板与成形夹具上的尖端分离的效果,由此使钳口的打开易于进行。
远端线圈的预加载为线圈提供了足够的柱状强度以允许切线咬合,防止在钳口闭合期间扭曲,并且在钳口打开时提供反作用力来克服摩擦力。
替代的钳口实施例
图44和45示出了钳口184、186的一个替代实施例,该钳口184、186除了它们的安装孔184d、186d外与钳口84、86基本相同。在该实施例中,安装孔184d、186d不是圆形的。它们是扁圆的或者“长方形孔”。这允许钳口在其打开或闭合时向远端和近端滑行。因此,当钳口如图44所示地闭合时,将钳口向近端拉动。在该位置上,将夹具发射到闭合的钳口内,该钳口用作如上所述的形成砧板。当钳口如图45所示地打开时,钳口远离形成的夹具向远端滑行,将钳口上的远端砧板与成形夹具上的尖端分开,由此使钳口的打开易于进行。
已经在此描述和示出了柔性内窥镜夹具施放器的几个实施例。尽管已描述了本发明的具体实施例,但是并不打算将本发明限制于此,因为想获得在本领域的范围内较大的保护范围并且同样地阅读说明书。因此,尽管将本发明的线圈描述为由扁平的坯料形成的,但是可以理解的是,该坯料可以是圆形的或其他的横截面形状。另外,尽管已将具体的材料描述为制造本发明不同部件时是优选的,但可以理解的是,也可以使用其他的材料。此外,尽管本发明中已经描述使用一种为用于使夹具前行的线缆控制构件提供特定的转数的齿轮配置时,但可以理解的是,可以使用其他的提供线缆控制构件的相同或不同转数的齿轮布置。另外,尽管本发明已经同时公开了两种不同的端部执行器,即钳口和夹具推动器,然而本发明的其他部件可以与不同的端部执行器一块使用。因此,本领域的技术人员可以理解的是,还可以对本发明进行其他的改进而不脱离请求保护的本发明的精神和范围。

Claims (13)

1.一种内窥镜外科器械,包括:
具有近端和远端的柔性管;
带螺纹的构件,其朝着所述柔性管的所述远端连接到所述柔性管上;
端部执行器,其连接到或装放在所述柔性管的所述远端内;
连接到所述柔性管的所述近端上的致动器;
带螺纹的控制构件,其延伸通过所述柔性管并且接合所述带螺纹的构件,该控制构件被连接到所述端部执行器和所述致动器上,其中,
所述致动器具有用于旋转所述控制构件、由此使所述控制构件相对于所述带螺纹的构件平移以操作所述端部执行器的机构,
所述柔性管包括具有近端和远端的第一柔性管,以及具有近端和远端的第二柔性管,所述带螺纹的构件被连接在所述第一柔性管的所述远端和所述第二柔性管的所述近端之间,所述端部执行器连接到或装放在所述第二柔性管的所述远端内,而所述致动器连接到所述第一柔性管的所述近端上。
2.根据权利要求1所述的器械,其特征为:所述端部执行器是一种夹具分配器。
3.根据权利要求2所述的器械,其特征为:所述夹具分配器包括夹具存储器和夹具推进器,将所述夹具推进器连接到所述控制构件上。
4.根据权利要求1所述的器械,其特征为:所述用于旋转所述控制构件的机构包括多个连接到所述控制构件上的齿轮。
5.根据权利要求4所述的器械,其特征为:所述用于旋转所述控制构件的机构包括一连接到所述多个齿轮上的曲柄。
6.根据权利要求1所述的器械,进一步包括:
第二端部执行器,其连接到所述第二柔性管的所述远端上;
至少一个牵引线缆,其连接到所述第二端部执行器上,其中,
所述带螺纹的构件具有用于接纳所述至少一个牵引线缆的至少一个通孔,由此将所述至少一个牵引线缆连接到所述致动器上。
7.根据权利要求1所述的器械,进一步包括:
扭矩提供构件,其连接到所述致动器上并且延伸通过所述第一柔性管,
所述带螺纹的构件具有一偏轴孔,该孔接纳所述扭矩提供构件,由此,
所述扭矩提供构件的旋转导致所述带螺纹的构件和所述第二柔性管旋转。
8.一种内窥镜外科器械,包括:
具有近端和远端的柔性管;
连接构件,其朝着所述柔性管的所述近端连接到所述柔性管上,该连接构件具有一轴向偏置孔;
端部执行器,其连接到或装放在所述柔性管的所述远端内;
连接到所述柔性管的所述近端上的致动器;
扭矩提供控制构件,其连接到所述致动器上并且通过所述柔性管延伸到所述轴向偏置孔中;
至少一个控制线缆,其被连接到所述端部执行器和所述扭矩提供控制构件上,其中,
所述扭矩提供控制构件的旋转导致所述端部执行器围绕第一轴线旋转,所述扭矩提供控制构件的平移导致所述端部执行器围绕第二轴线旋转,
所述柔性管包括具有近端和远端的第一柔性管,以及具有近端和远端的第二柔性管,所述连接构件被连接在所述第一柔性管的所述远端和所述第二柔性管的近端之间,所述端部执行器被连接到或装放在所述第二柔性管的所述远端内,所述致动器被连接到所述第一柔性管的所述近端上。
9.根据权利要求8所述的器械,其特征为:所述第一和第二轴线是基本上垂直的。
10.根据权利要求8所述的器械,其特征为:所述扭矩提供控制构件和所述控制线缆不同轴。
11.根据权利要求8所述的器械,其特征为:
所述致动器包括旋钮和操作杆,
所述旋钮的旋转导致所述扭矩提供控制构件旋转,所述操作杆的旋转导致所述扭矩提供控制构件平移。
12.根据权利要求11所述的器械,其特征为:所述旋钮通过花键联接被连接到所述扭矩提供控制构件上。
13.根据权利要求12所述的器械,其特征为:所述操作杆通过力限制弹簧被连接到所述扭矩提供控制构件上。
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