CN101401737A - 具有铰接机构的手术缝合器 - Google Patents
具有铰接机构的手术缝合器 Download PDFInfo
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- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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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
- 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
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
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- 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
- A61B2017/07214—Stapler heads
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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
- A61B2017/07214—Stapler heads
- A61B2017/07278—Stapler heads characterised by its sled or its staple holder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2923—Toothed members, e.g. rack and pinion
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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
- A61B17/32—Surgical cutting instruments
- A61B2017/320052—Guides for cutting instruments
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- Y—GENERAL 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/12—Gyroscopes
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- Y—GENERAL 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/1836—Rotary to rotary
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- Y—GENERAL 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
Abstract
本发明公开了一种与手术器械一起使用的铰接机构,该铰接机构包括:轴,设置为与该铰接轴机械协作的第一部件,设置为与该轴机械协作的第二部件,以及具有远侧部分和近侧部分的柔性轴。该柔性部件与第一和第二部件可操作地连接。当铰接轴旋转时,第一和第二部件中的至少一个相对于第一和第二部件中的另一个在第一和第二部件彼此接近的第一位置与第一和第二部件彼此隔开的第二位置之间纵向地移动。该纵向运动导致柔性部件的远侧部分相对于近侧部分铰接。
Description
相关申请的引用
[0001]本申请要求享有于2007年10月5日提交的申请号为60/997,775的美国临时专利申请的优先权和权益,其全部内容通过引用合并于此。
技术领域
[0002]本公开涉及用于手术过程的装置和方法。本公开尤其涉及一种手术缝合器以及与其一起使用的铰接机构。
背景技术
[0003]用于紧固组织的手术器械是公知的。一些手术紧固设备首先夹住对置的钳夹结构之间的组织,然后用手术紧固件使组织结合。其中,一些种类的手术器械特别适合于在诸如端对端吻合术、内窥镜下胃肠道吻合术、横向吻合术的各种手术过程中使用。美国专利5,915,616、6,202,914、5,865,361和5,964,394描述了手术紧固仪器的实例。尽管这些手术紧固仪器典型地使用手术缝合钉,但也可以使用其它类型的紧固件,例如两部分聚合的紧固件。
[0004]手术紧固仪器典型地包括适于抓住组织的两个对置的钳夹结构。一个夹紧结构通常包括收纳多个缝合钉的缝合钉钉仓。缝合钉可以排列为单行或是多行。另一个夹紧结构具有砧座,砧座限定了当缝合钉从缝合钉钉仓射出来时用于形成缝合钉支腿的表面。手术紧固仪器还包括构造为实现缝合操作的一个或多个凸轮部件。在使用期间,凸轮部件作用在缝合钉推杆上并且从缝合钉钉仓中连续或同时地发射出缝合钉。缝合钉钉仓可以包括适用于切开或打开多行缝合钉之间的缝合组织的刀片。美国专利3,079,606和3,490,675公开了这种仪器的实例。
[0005]某些手术紧固仪器包括铰接机构以铰接工具组件或末端执行器。铰接机构可具有铰接致动器、多个滑轮和多个铰接缆。铰接致动器与铰接缆可操作地连接,并且每个铰接缆的一部分设置于相应的滑轮上。操作中,在致动铰接致动器时铰接缆在近侧和远侧方向上纵向地移动。当铰接缆纵向地移动时,滑轮旋转并且铰接缆的移动导致末端执行器的铰接。序列号为2007/0108252的美国专利申请描述了这种铰接机构的实例,该专利申请被转让给了Tyco Healthcare Group LP的分公司U.S.Surgical,其全部内容通过引用合并于此。
发明内容
[0006]本公开涉及一种与手术器械一起使用的铰接机构。该铰接机构包括:轴,设置为与该铰接轴机械协作的第一部件,设置为与轴机械协作的第二部件,以及具有近侧部分和远侧部分的柔性轴。该柔性部件与第一和第二部件可操作地连接。当铰接轴旋转时,第一和第二部件中的至少一个相对于第一和第二部件中另一个在第一和第二部件彼此接近的第一位置与第一和第二部件彼此隔开的第二位置之间纵向地移动。该纵向运动导致柔性部件的远侧部分相对于近侧部分铰接。
[0007]本公开还涉及一种手术紧固仪器,其包括柔性轴和与柔性轴可操作地相连接的章动齿轮传动机构。章动齿轮构成为降低柔性轴的速度并且增加柔性轴的扭矩值。该手术紧固仪器进一步包括构造为与章动齿轮传动机构可选择地连接的驱动轴。
附图说明
[0008]此处参考附图来描述本公开的手术缝合器的实例,其中:
[0009]图1是根据本公开的实施例的手术器械的立体图;
[0010]图2是图1中的手术器械的侧视图;
[0011]图3是图1中的手术器械的俯视图,示出了柔性部件的铰接;
[0012]图4是图1中的与致动装置和马达组件相连接的手术器械的立体图;
[0013]图5是图1中的手术器械的立体分解图;
[0014]图6是夹紧凸轮的正视立体图;
[0015]图7是图6中的夹紧凸轮的后视立体图;
[0016]图8是冠状定子的立体图;
[0017]图8A是驱动轴的立体图;
[0018]图8B是图8A中的驱动轴的远侧部分的放大立体图;
[0019]图9是摆轮的正视图;
[0020]图10是图9中的摆轮的侧视图;
[0021]图11是图9中的摆轮的后视立体图;
[0022]图12是图1中的手术器械的转换部件、章动齿轮传动机构以及工具组件的仰视立体图;
[0023]图13是沿图2中的剖面线13-13的工具组件的正视剖面图;
[0024]图14是图1中的手术器械的柔性部件的远端的立体图,示出了章动齿轮传动机构;
[0025]图15是图14中的柔性部件的远端的立体图,示出了与驱动轴分离的小齿轮;
[0026]图16是图14中的柔性部件的远端的立体图,示出了摆轮和驱动轴;
[0027]图17是移去了驱动轴的柔性部件的远端的立体图;
[0028]图18是图1中的手术器械的转换部件、章动齿轮传动机构和夹紧凸轮的立体剖面图;
[0029]图19是图1中的手术器械的侧视剖面图;
[0030]图20是图19中区域20所围的转换部件、章动齿轮传动机构和夹紧凸轮的侧视剖面图;
[0031]图21是沿图3中的剖面线21-21的工具组件、夹紧凸轮和章动齿轮传动机构的侧视剖面图;
[0032]图22是图1中的手术器械的章动齿轮传动机构和工具组件的立体图,示出了与冠状齿轮接合的冠状定子的下部;
[0033]图23是图1中的手术器械的章动齿轮传动机构和工具组件的立体图,示出了与冠状齿轮接合的冠状定子的上部;
[0034]图24是图1中的手术器械的工具组件的侧视剖面图,示出了长导螺杆、夹紧凸轮和章动齿轮传动机构;
[0035]图25是图1中的手术器械的工具组件的侧视剖面图,示出了与推动件接合的致动滑轨(actuation sled);
[0036]图26是图25中区域26所围的章动齿轮传动机构和转换部件的剖面侧视图;
[0037]图27是图12中区域27所围的第二和第三小齿轮的立体图;
[0038]图28是根据本公开的实施例的铰接机构的侧视立体图;
[0039]图29是图28中的铰接机构的分解立体图;
[0040]图30是图28中的铰接机构的侧视立体图,示出了相互背离移动的第一旋转部件和第二旋转部件;
[0041]图31是图28中的铰接机构的侧视立体图,示出了相向移动的第一旋转部件和第二旋转部件;
[0042]图32是根据本公开的实施例的手柄组件的侧视立体图,
[0043]图33是图32中的手柄组件的立体剖切图,示出了铰接机构、马达和电源;以及
[0044]图34是图32中的设置有图28的铰接机构的手柄组件沿图33中剖面线34-34的后视剖面图。
具体实施方式
[0045]现在将参考附图详细描述本公开的手术器械的实施例,其中相似的附图标记指代相似或相同的元件。在下述附图和说明中,如惯例,术语“近侧”指的是手术器械中最接近操作者的一端,而术语“远侧”指的是手术器械中距操作者最远的一端。
[0046]参见图1至图3,手术器械通常指定为100。手术器械100包括柔性部件110和工具组件120。柔性部件110至少部分地由多个大体楔形区110a形成。楔形区110a彼此隔开。当柔性部件110处于第一状态(图2)时,楔形区110a之间存在第一距离。当柔性组件110从第一状态向第二状态改变位置(图3)时,柔性部件110至少一侧的楔形区110a之间的距离增加。虽然楔形区110a具有楔形,但其他形状也是可以预期的。
[0047]工具组件120与柔性部件110可操作地连接,并包括支撑部件101、钉仓107和砧座192。支撑部件101具有近侧主体部分101a和远侧主体部分101b。近侧主体部分101a与柔性部件110的远端相连接。远侧主体部分101b支撑钉仓107。可以预想的是,钉仓107可以是可替换的钉仓。砧座192构造为相对于钉仓107枢转。另外,砧座192包括具有多个紧固件变形凹面113的组织接触表面111。在操作期间,紧固件变形凹面113使射到砧座192的紧固件的支腿变形(见图25)。钉仓107还具有组织接触表面103和适于容纳紧固件的定位槽105。定位槽105可排列成纵行。在描述的实施例中,钉仓107包括两纵行定位槽105,虽然定位槽105的其他排列也在本公开的范围之内。操作时,紧固件在工具组件120的致动时离开定位槽105。
[0048]参见图4,手术器械100与用于致动工具组件120的致动装置130可操作地连接。本公开预期的是,可使用任何适当的致动装置来致动工具组件120。特别是,致动装置130与柔性部件110可操作地连接。马达组件142与致动装置130机械地连接。尽管图中示出了马达组件142位于致动装置130的外部,但是本领域的技术人员将认识到,马达组件142可以定位在致动装置130内。可由电动机或气动机对马达组件142提供动力。可选择的,可由包括手动致动器的其他种类的驱动设备来对致动装置130提供动力。不管使用何种驱动设备,致动装置130都能够使部分地设置在柔性部件110内的柔性轴122(见图19)旋转。
[0049]参见图5和图18至图20,柔性部件110将转换部件124部分地夹持在其远端110b。转换部件124使柔性部件110与章动齿轮传动机构158可操作地相连接,并包括腔区域150。腔区域150围绕适于将柔性轴122与驱动轴154相连接的连接器152。驱动轴154包括至少一个向外延伸突起155,向外延伸突起155用于与章动齿轮传动机构158的摆轮164接合(见图20)。
[0050]现在参考图9至图11,章动齿轮传动机构158的摆轮164包括管状部分160,管状部分160具有贯通其的内腔161。管状主体160的内腔161适于容纳驱动轴154(见图20)。按压部分163围绕管状主体160,并具有近侧表面163a和远侧表面163b。近侧表面163a基本垂直于管状部分160。相反,远侧表面163b限定了相对于管状部分160的角度。另外,摆轮164包括从远侧表面163b向远侧延伸的倾斜细长部165。倾斜细长部165限定了相对于管状部分160的角度,并包括空腔167(见图20)。空腔167包围驱动轴154的一部分和向外延伸突起155(见图16)。倾斜细长部165还包括适于与驱动轴154的向外延伸突起155接合的接合部分169(见图17)。在操作期间,当驱动轴154向近侧移动时,向外延伸突起155与接合部分169接合。当向外延伸突起155与接合部分169接合时,驱动轴154驱动摆轮164。在描述的实施例中,接合部分169位于倾斜细长部165的近侧部的十字形凹槽上。但是,本领域技术人员可以想象到,只要能够与向外延伸突起155接合,接合部分169可具有任何适当的构造。
[0051]再次参见图5和图18至图20,第一垫圈156围绕摆轮164的管状部分160,并使转换部件124的内表面171与轴承173分离。轴承173也围绕摆轮164的管状部分160,并使第一垫圈156与第二垫圈157分离。如图20所示,第一垫圈156设置在转换部件124内。轴承173至少部分地位于转换部件124内。但是,第二垫圈157毗邻按压部分163的近侧表面163a。相反,按压部分163的远侧表面163b毗邻对齐冠状定子168。
[0052]参见图8和图20,冠状定子168包括多个齿174、开口177以及向外延伸的栓175。如图20所示,齿174面向冠状齿轮170的齿176。操作中,冠状定子168的齿174与冠状齿轮170的齿176啮合。冠状定子168的开口177适于容纳摆轮164的倾斜细长部165(见图10)。冠状定子168的栓175可滑动地位于支撑部件101的狭槽159内。狭槽159定位于支撑部件101的近侧主体部分101a的下部。在操作期间,栓175抑制冠状定子168的旋转而允许冠状定子168的摆动。冠状定子168的摆动运动导致冠状齿轮170的旋转。
[0053]再次参见图5和图18至图20,冠状齿轮170包括盘178、细长主体162以及贯穿其的孔153。多个齿176从盘178向近侧突出。孔153从盘178延伸至细长主体162,并构造为容纳短导螺杆180。短导螺杆180的近侧部分与冠状齿轮170紧密啮合。操作时,短导螺杆180响应于冠状齿轮170的旋转而旋转。齿轮架188围绕冠状齿轮170的细长主体162并固定到支撑部件101上。在一实施例中,一螺杆将齿轮架188固定到支撑部件101上。齿轮架188稳定冠状齿轮170并位于邻近E形环186。E形环186设置在围绕细长主体162的远端162b的凹槽151中。细长主体162的远端162b还包括固定E形环186的凸缘149。如图18中所示的,当夹紧凸轮182位于冠状齿轮170附近时,凸缘149位于夹紧凸轮182的凹槽147上。
[0054]参见图5至图7,夹紧凸轮182包括螺纹孔184和至少一个轮廓面183,螺纹孔184适于容纳短导螺杆180,轮廓面183构造为用于容纳设置在砧座192的近侧部分192a上的至少一个支腿193。轮廓面183在近侧方向上具有向下的倾度。在操作期间,短导螺杆180的顺时针旋转使得夹紧凸轮182向近侧移动通过支撑部件101的近侧主体部分101a。当夹紧凸轮182向近侧平移时,轮廓面183在向上的方向上推动砧座192的支腿193。当支腿193向上移动时,砧座192的远侧部分192b朝钉仓107移动以夹住组织。
[0055]参考图5、图8A、图8B、图14、图15和图20,短导螺杆180包括适于容纳一部分驱动轴154的中央内腔181。驱动轴154的近侧部分154a与连接器152可操作地相连接,远侧部分154b构造为与第一小齿轮194连接。在一个实施例中,远侧部分154b具有末端145和花键143。第一小齿轮194具有适于容纳花键143的多个缺口141。当驱动轴154向远侧移动时,花键143与第一小齿轮194的缺口141相接合。
[0056]参考图5、图12、图13和图18至图20,当驱动轴154向远侧移动时,第一小齿轮194同时与第二小齿轮195和第三小齿轮196啮合。因此,第一小齿轮194构造为与第二小齿轮195和第三小齿轮196相啮合。第二小齿轮195与第一长导螺杆139的近端139a可操作地连接,并且第三小齿轮196与第二长导螺杆137的近端137a可操作地连接。在操作期间,第二和第三小齿轮195、196的旋转导致第一和第二长导螺杆139、137各自的旋转。第一和第二长导螺杆139、137贯穿钉仓107,并构造为与致动滑轨135相接合。如图13所示,致动滑轨135包括分别用于容纳第一和第二长导螺杆139、137的两个螺旋孔129、133。使用中,第一和第二长导螺杆139、137的逆时针旋转推动致动滑轨135通过钉仓107。
[0057]如上讨论的,钉仓107包括多个定位槽105。每个定位槽105支撑推杆131和紧固件125。操作中,致动滑轨135作用于推杆131上以发射收纳在定位槽105中的紧固件125。当紧固件125射到砧座192时,紧固件变形凹面113使紧固件125的支腿变形。
[0058]砧座192的近侧部分192a可枢转地与支撑部件101的近侧主体部分101a相连接。在一个实施例中,近侧主体部分101a具有构造成容纳枢轴栓121的孔123。枢轴栓121可枢转地连接支撑部件101和砧座192。因此,当致动致动装置130时,砧座192从打开位置移动至夹紧位置。如图21所示,在打开位置,砧座192与钉仓107隔开。如图24所示,在夹紧位置,砧座192设置为毗邻对齐钉仓107。
[0059]手术器械100能紧固身体组织。现在参考图20至图27,使用者将工具组件120放在目标手术位置。在这端,可手动或使用铰接机构来铰接柔性部件110。(见图3)。
[0060]将工具组件120适当地定位在期望的手术位置之后,使用者开启马达组件142以起动致动装置130。(见图4)。利用致动装置130,使用者按箭头“A”所示方向向近侧移动柔性轴122(见图20)。当柔性轴122与驱动轴154相连接时,柔性轴122的近侧平移使驱动轴154向近侧移动。如图20所示,当驱动轴154向近侧平移时,向外延伸突起155与摆轮164的接合部分169接合。一旦向外延伸突起155接合到连接部分169,使用者旋转柔性轴122以移动砧座192。
[0061]马达组件142驱动致动装置130。致动装置130以高速且相应低扭矩值旋转柔性轴122。柔性轴122的旋转运动导致连接器152和驱动轴154的旋转。柔性轴122的旋转方向最终确定砧座192的移动。如图21所示,如果砧座192位于打开位置,则使用者通过按箭头“B”所示逆时针方向旋转柔性轴122,将砧座192移动至夹紧位置(见图22和23)。柔性轴122的高速低扭矩旋转导致驱动轴154和摆轮164的旋转。依次,摆轮164的旋转运动导致冠状定子168按箭头“C”所示方向往返摆动(见图22和23)。当冠状定子168摆动时,冠状定子168仅有部分齿174与冠状齿轮170的齿176相啮合。冠状定子168与冠状齿轮170之间的齿数差指示章动齿轮传动机构158的减速比。具体来说,当摆轮164达到全程旋转时,冠状齿轮168旋转的量与冠状定子168与冠状齿轮170之间的齿数差直接成比例。
[0062]通常,当冠状定子168摆动时,冠状齿轮170以低速且相应高扭矩值按箭头“D”所示顺时针旋转(见图22和图23)。冠状齿轮170的低速旋转且高扭矩值导致短导螺杆180的旋转。考虑到短导螺杆180与夹钳凸轮182螺纹连接,短导螺杆180的顺时针旋转使夹钳凸轮182按箭头“E”所示向近侧移动(见图22至图24)。当夹钳凸轮182向近侧移动时,砧座192的支腿193沿轮廓面183向上移动。当支腿193向上移动时,砧座192关于枢轴栓121枢转,从而导致砧座192的远侧部分192b按箭头“F”所示下降并夹住组织(见图22至图24)。
[0063]为了发射紧固件125,使用者按箭头“G”所示沿远侧方向推动柔性轴122(见图25和图26)。柔性轴122的远侧平移使得驱动轴154向远侧移动。当驱动轴154沿远侧方向推动时,它接合第一小齿轮194,并使向外延伸突起155与摆轮164的接合部分169脱离。然后,使用者按箭头“H”所示顺时针旋转柔性轴122(见图26)。当柔性轴122顺时针旋转时,驱动轴154和第一小齿轮194按箭头“I”所示顺时针旋转(见图28)。小齿轮194的旋转导致第二和第三小齿轮195、196按箭头“J”所示逆时针旋转(见图27)。当第二和第三小齿轮195、196旋转时,第一和第二长导螺杆139、137旋转,从而按箭头“K”所示向远侧推动致动滑轨135通过钉仓107(见图25)。当向远侧移动时,致动滑轨135顺序地与推杆131接触。然后推杆131在定位槽105内垂直地平移,并发射紧固件125。当推杆131将紧固件射到砧座192时,紧固件变形凹面113使紧固件125的支腿变形。随后,使用者可以选择通过逆时针方向旋转柔性轴122从而使得致动滑轨135向近侧移动。
[0064]参考图28至图31,本公开还涉及一种与手术器械100或其他适当的手术装置一起使用的铰接机构200。通常,铰接机构200包括具有第一和第二端202a、202b的铰接轴202、第一旋转部件204、第二旋转部件206和可操作地固定到铰接轴202的旋钮208。第一缆214与第一旋转部件204连接,而第二缆216与第二旋转部件206连接。第一和第二缆214、216设置为与工具组件或弹性部件机械协作,以使第一和第二缆214、216组合的近轴和远轴的移动铰接工具组件或柔性部件。虽然附图示出了缆,但本领域的技术人员将认识到,铰接机构200可包括能够操纵工具组件或柔性部件的任何装置。第一旋转部件204包括适于可滑动地容纳第二缆216的隙孔218。第一和第二旋转部件204、206安装在铰接轴202上。铰接轴202包括形成于其上的右旋槽212和左旋槽210。槽210、212通常具有螺旋状构造。进一步可预期的是,槽210、212可具有沿铰接轴202的固定或可变斜度。另外,凸起的肋条可替代槽210、212。
[0065]第一旋转部件204适于接合左旋槽210,而第二旋转部件206适于接合右旋槽212。每个旋转部件204、206各包括便于与铰接轴202的相应的槽210、212接合的第一和第二螺杆220、222。第一旋转部件204具有构造为容纳第一螺杆220的孔224,第二旋转部件206具有适于容纳第二螺杆222的孔226。在操作期间,第一螺杆220接合左旋槽210,而第二螺杆222接合右旋槽212。另外,旋钮208可操作地固定到铰接轴202的第二端202b。可预期的是,也可包括便于铰接轴202与第一和第二旋转部件204、206之间的接合的其他结构。例如,可在第一和第二旋转部件204、206中的至少之一的内表面上设置杆或凹槽,以使杆或凹槽与铰接轴202上的各个槽210、212或肋条接合或相互作用。
[0066]参见图32至图34,在一个实施例中,铰接机构200与手柄组件300可操作地关联。虽然附图示出的是铰接机构200与手柄组件300可操作地关联,但是本领域的技术人员可认识到,铰接机构200可与任何适合的致动装置协作。手柄组件300构造为旋转铰接轴202,并包括壳体302、设置于手柄316上的扳机304和容纳部分旋钮208的外部狭缝306。壳体302包围马达308、给马达308通电的电源310和铰接机构200。当致动扳机304时电源310为马达308提供能量。因此,扳机304设置为与马达308和电源310机电式协作。马达308包括转换轴312,转换轴312纵向贯穿铰接轴202并与柔性轴122可操作地连接(见图19)。在操作期间,当开启马达308时,转换轴312使柔性轴122旋转,从而旋转驱动轴154。
[0067]操作时,使用者可选择通过旋钮208手动旋转铰接轴202。当旋钮208顺时针方向旋转时,铰接轴202顺时针旋转并使得第一和第二旋转部件204、206按图28中箭头“L”所示纵向地移动彼此远离。第一和第二旋转部件204、206的该纵向运动,使第一缆214在箭头“M”所示方向上平移而第二缆216在箭头“N”所示方向上平移。第一和第二缆214、216的组合移动铰接了任何适合的手术器械的远侧部分。
[0068]相反地,当旋钮208逆时针方向旋转时,铰接轴202逆时针钉旋转并使得第一和第二旋转部件204、206按图34中箭头“O”所示彼此接近。第一和第二旋转部件204、206的这种运动使第一缆214在箭头“P”所示方向上推动,而第二缆216在箭头“Q”所示方向上推动(见图31)。第一和第二缆214、216的组合移动铰接了任何适合的手术器械的远侧部分。
[0069]在一个实施例中,如图34所示,壳体302包括适于容纳第一和第二旋转部件204、206的突起228、230的纵向槽314。突起228从第一旋转部件204上突出,而突起230从第二旋转部件206上突出。当铰接机构200位于壳体302内部时,突起228、230定位在纵向槽314内,并在操作期间防止当铰接轴202旋转时第一和第二旋转部件204、206的旋转。
[0070]应理解的是,可以对此处公开的实施例进行各种改进。例如,除了手术器械100,铰接机构200还可操作地连接到任何适合的医疗仪器或工具。另外,其它驱动机构可以替代手柄组件300来驱动铰接机构200的致动轴202。因此,上述说明不应该理解为限制,而仅仅是实施例的示例。本领域的技术人员可以预想到在本公开的范围和精神内的其它改进。
Claims (22)
1.一种与手术器械一起使用的铰接机构,包括:
细长的壳体;
轴,其至少部分设置于所述壳体内;
第一部件,其设置为与该轴机械协作;以及
第二部件,其设置为与该轴机械协作;
柔性部件,其与所述第一和第二部件可操作地连接,该柔性部件具有远侧部分和近侧部分;
其中当该轴旋转时,所述第一和第二部件中的至少一个相对于第一和第二部件中的另一个在第一和第二部件彼此接近的第一位置与第一和第二部件彼此隔开的第二位置之间纵向地移动,所述纵向运动导致该柔性部件的远侧部分相对于近侧部分铰接。
2.根据权利要求1的机构,其中当该轴在第一方向上旋转时,所述第一和第二部件移动至第一位置。
3.根据权利要求1的机构,其中当该轴在第二方向上旋转时,所述第一和第二部件移动至第二位置。
4.根据权利要求1的机构,其中该轴包括近端和远端,并且所述近端和远端中的至少一个上固定有旋钮。
5.根据权利要求1的机构,其中该轴与马达可操作地关联。
6.根据权利要求1的机构,其中该轴包括构造为与该第一部件协作的左旋槽。
7.根据权利要求6的机构,其中该第一部件包括构造为与该轴的左旋槽接合的第一螺杆。
8.根据权利要求1的机构,其中该轴包括构造为与该第二部件协作的右旋槽。
9.根据权利要求8的机构,其中该第二部件包括构造为与该轴的右旋槽接合的第二螺杆。
10.根据权利要求1的机构,进一步包括第一和第二缆,其中第一缆使该第一部件和该柔性部件的远侧部分相互连接,且第二缆使该第二部件和该柔性部件的远侧部分相互连接。
11.根据权利要求1的机构,其中该壳体包括适于支持所述第一和第二部件中的至少一个的一部分的纵向槽。
12.一种手术器械,包括:
柔性轴;
章动齿轮传动机构,其与该柔性轴可操作地相连接,该章动齿轮传动机构构造为降低柔性轴的速度并且增加柔性轴的扭矩;以及
驱动轴,构造为可选择地连接到该章动齿轮传动机构上。
13.根据权利要求12的手术器械,进一步包括致动滑轨,其中该驱动轴适于可选择地移动该致动滑轨。
14.根据权利要求12的手术器械,进一步包括工具组件,该工具组件包括砧座和钉仓,其中砧座可枢转地与钉仓相连接。
15.根据权利要求14的手术器械,进一步包括与该驱动轴可操作地关联的夹紧凸轮,其中该夹紧凸轮构造为当该驱动轴旋转时平移,从而导致砧座相对于钉仓的运动。
16.根据权利要求13的手术器械,进一步包括与该驱动轴可操作地相连接的第一长导螺杆,该第一长导螺杆适于响应于驱动轴的旋转而旋转,其中当至少第一长导螺杆旋转时该致动滑轨平移。
17.根据权利要求16的手术器械,进一步包括将该第一长导螺杆与该驱动轴可操作地相连接的第一小齿轮,其中该第一小齿轮固定到该驱动轴的远端。
18.根据权利要求15的手术器械,其中该夹紧凸轮包括可滑动地容纳该砧座的近侧部分的轮廓面,该轮廓面适于控制砧座相对于钉仓的运动。
19.根据权利要求17的手术器械,进一步包括与该驱动轴可操作地相连接的第二长导螺杆,该第二长导螺杆适于响应于该驱动轴的旋转而旋转,其中当所述第一和第二长导螺杆旋转时该致动滑轨平移。
20.根据权利要求19的手术器械,进一步包括构造为当该第一小齿轮旋转时进行旋转的第二和第三小齿轮,该第二小齿轮连接到该第一长导螺杆的近端,而该第三小齿轮连接到该第二长导螺杆的近端。
21.根据权利要求19的手术器械,进一步包括形成在该致动滑轨中的第一和第二螺纹孔,其中该第一螺纹孔构造为容纳该第一长导螺杆,该第二螺纹孔构造为容纳该第二长导螺杆。
22.一种与手术器械一起使用的铰接机构,包括:
轴;
第一部件,其设置为与该轴机械协作;以及
第二部件,其设置为与该轴机械协作;
柔性部件,其与所述第一和第二部件可操作地连接,该柔性部件具有远侧部分和近侧部分;
其中当该轴旋转时,所述第一和第二部件中的至少一个相对于第一和第二部件中的另一个在第一和第二部件彼此接近的第一位置与第一和第二部件彼此隔开的第二位置之间纵向地移动,所述纵向运动导致该柔性部件的远侧部分相对于近侧部分铰接。
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US8292147B2 (en) | 2012-10-23 |
JP2009112795A (ja) | 2009-05-28 |
EP2044888B1 (en) | 2016-12-07 |
US20110163149A1 (en) | 2011-07-07 |
US20130032627A1 (en) | 2013-02-07 |
EP2044888A2 (en) | 2009-04-08 |
CN102920491B (zh) | 2015-01-14 |
EP2428166A1 (en) | 2012-03-14 |
JP5403783B2 (ja) | 2014-01-29 |
US8950646B2 (en) | 2015-02-10 |
AU2008229795B2 (en) | 2014-02-13 |
EP2044888A3 (en) | 2009-07-22 |
CN101401737B (zh) | 2012-11-14 |
US8631988B2 (en) | 2014-01-21 |
CN102920491A (zh) | 2013-02-13 |
AU2008229795A1 (en) | 2009-04-23 |
CA2640345A1 (en) | 2009-04-05 |
US7909220B2 (en) | 2011-03-22 |
US20140131421A1 (en) | 2014-05-15 |
US20090090764A1 (en) | 2009-04-09 |
CA2640345C (en) | 2017-11-07 |
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