CN102462522A - 用于动力手术装置的配接组件 - Google Patents

用于动力手术装置的配接组件 Download PDF

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CN102462522A
CN102462522A CN2011102744277A CN201110274427A CN102462522A CN 102462522 A CN102462522 A CN 102462522A CN 2011102744277 A CN2011102744277 A CN 2011102744277A CN 201110274427 A CN201110274427 A CN 201110274427A CN 102462522 A CN102462522 A CN 102462522A
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CN102462522B (zh
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特迪·R·布赖恩特
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Covidien LP
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    • 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
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/10—Surgical instruments, devices or methods, e.g. tourniquets for applying or removing wound clamps, e.g. containing only one clamp or staple; Wound clamp magazines
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    • 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
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    • 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
    • A61B17/0682—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
    • A61B17/0686—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil having a forming anvil staying below the tissue during stapling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115—Staplers for performing anastomosis in a single operation
    • A61B17/1155—Circular staplers comprising a plurality of staples
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    • 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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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
    • A—HUMAN NECESSITIES
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    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
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Abstract

本发明提供了一种用于选择性地使手术末端执行器与动力致动装置互相连接的配接组件，尤其提供了一种用于动力手术装置的配接组件，手术末端执行器包括至少一个可轴向平移的驱动构件，动力致动装置包括至少一个可旋转的驱动轴。配接组件包括致动轴，所述致动轴被构造为将所述动力致动装置的第一驱动轴的旋转转换成所述手术末端执行器的第一驱动构件的轴向平移。配接组件进一步包括细长管，所述细长管被构造为将所述动力致动装置的第二驱动轴的旋转转换成所述手术末端执行器的第二驱动构件的轴向平移。所述致动轴布置在所述细长管内，并且所述致动轴和所述细长管彼此独立地轴向平移。

Description

用于动力手术装置的配接组件
相关申请的交叉引用
本申请要求于2010年11月2日提交的序列号为61/409,132的美国临时申请的权益和优先权，其全部内容通过引用合并于此。
技术领域
本公开涉及一种手术装置，尤其涉及一种用于选择性地使手术末端执行器与动力致动装置互相连接的配接组件。
背景技术
多个手术装置制造商已经开发了许多用于操作手术装置的专用的驱动系统，所述手术装置夹紧对置的钳夹结构之间的组织，然后通过手术紧固件连结组织。在执行例如胃肠内吻合术过程、端端吻合术过程以及横向吻合术操作中使用的许多现有的手术末端执行器典型地需要线性驱动力以被操作。
通常地，由凸轮杆实现吻合操作，上述凸轮杆纵向行进穿过吻合钉仓并且作用于吻合推件以顺序地将吻合钉从吻合钉仓中射出。典型地通过由操作者挤压的扳机或提供旋转运动以传递驱动力的动力致动装置来致动该凸轮杆。在利用旋转运动传递驱动力的动力致动装置的情形中，旋转运动与需要线性驱动力的手术末端执行器是不兼容的。
因而，为了使线性驱动的手术末端执行器与利用旋转运动传递驱动力的动力致动装置兼容，需要将所述动力致动装置的输出结构转换得与末端执行器的工作输入要求相匹配的配接组件。
发明内容
根据本公开的一个实施例，提供了一种用于选择性地使手术末端执行器与动力致动装置互相连接的配接组件。所述配接组件包括：第一驱动转换组件，其被构造为将动力致动装置的第一驱动轴的旋转转换成手术末端执行器的第一驱动构件的轴向平移；以及第二驱动转换组件，其被构造为将动力致动装置的第二驱动轴的旋转转换成手术末端执行器的第二驱动构件的轴向平移。所述第一驱动转换组件至少部分地布置在所述第二驱动转换组件内，其中，所述第一驱动转换组件和所述第二驱动转换组件被构造为彼此独立地旋转和平移。
所述配接组件可以进一步包括第一驱动杆和第二驱动杆，所述第一驱动杆和所述第二驱动杆被构造为分别与所述动力致动装置的可旋转的第一驱动轴和第二驱动轴联接。所述第一驱动杆与所述第一驱动转换组件接合并且所述第二驱动杆与所述第二驱动转换组件接合。
所述第一驱动杆和所述第二驱动杆可以各自包括小齿轮部(pinion gear portion)。所述第一驱动转换组件可以包括限定蜗轮部(worm gear portion)的致动轴。所述第一驱动杆支撑小齿轮部，其中，所述致动轴的所述蜗轮部与所述第一驱动杆的所述小齿轮部接合，由此，所述动力致动装置的所述第一驱动轴的旋转使所述第一驱动杆的小齿轮部旋转从而实现所述致动轴的轴向平移，而所述致动轴的轴向平移使手术末端执行器的所述第一驱动构件轴向平移。
类似地，所述第二驱动转换组件可以包括限定蜗轮部的细长管。所述第二驱动杆支撑小齿轮部，其中，所述细长管的蜗轮部与所述第二驱动杆的小齿轮部接合，由此，所述动力致动装置的第二驱动轴的旋转使所述第二驱动杆的小齿轮部旋转从而实现所述细长管的轴向平移，而所述细长管的轴向平移使所述手术末端执行器的第二驱动构件轴向平移。
所述第一驱动杆和所述第二驱动杆可以是柔性的并且能够传送旋转力。另外，所述配接组件的远端可以被构造为与所述手术末端执行器选择性地、可拆卸地装配。
根据本公开的另一个方案，提供了一种手术装置，包括：动力致动装置，其包括至少两个可旋转的驱动轴；手术末端执行器，其包括至少两个可轴向平移的驱动构件；以及配接组件，其包括第一驱动转换组件和第二驱动转换组件。所述第一驱动转换组件被构造为将所述动力致动装置的第一驱动轴的旋转转换成所述手术末端执行器的第一驱动构件的轴向位移。所述第二驱动转换组件被构造为将所述动力致动装置的第二驱动轴的旋转转换成所述手术末端执行器的第二驱动构件的轴向平移，其中，所述第一驱动转换组件至少部分地布置在所述第二驱动转换组件内。
所述配接组件可以进一步包括第一驱动杆和第二驱动杆，所述第一和第二驱动杆被构造为分别与所述动力致动装置的可旋转的第一驱动轴和第二驱动轴联接。所述第一驱动杆与所述第一驱动转换组件接合并且所述第二驱动杆与所述第二驱动转换组件接合。
所述第一驱动杆和所述第二驱动杆可以各自包括小齿轮部。此外，所述第一驱动转换组件可以包括限定蜗轮部的致动轴，其中，所述第一驱动杆支撑小齿轮部。所述致动轴的蜗轮部与所述第一驱动杆的小齿轮部接合，由此，所述动力致动装置的所述第一驱动轴的旋转使所述第一驱动杆的小齿轮部旋转从而实现所述致动轴的轴向平移，而所述致动轴的轴向平移使所述手术末端执行器的所述第一驱动构件轴向平移。
类似地，所述第二驱动转换组件可以包括限定蜗轮部的细长管，其中，所述第二驱动杆支撑小齿轮部。所述细长管的蜗轮部与所述第二驱动杆的小齿轮部接合，由此，所述动力致动装置的所述第二驱动轴的旋转使所述第二驱动杆的所述小齿轮部旋转从而实现所述细长管的轴向平移，而所述细长管的轴向平移使所述手术末端执行器的所述第二驱动构件轴向平移。
第一驱动杆和第二驱动杆可以是柔性的并且能够传送旋转力。另外，所述配接组件的远端可以被构造为与所述手术末端执行器选择性地、可拆卸地装配。
附图说明
通过结合附图阅读以下说明书，本公开的上述目的、结构和优点将变得更加显而易见，其中：
图1是根据本公开的实施例的包括配接组件的手术装置的立体图；
图2是图1的手术装置的立体图，图示了与各种手术末端执行器一起的可能使用；
图3是用于与根据本公开的实施例的配接组件一起使用的直角线性切割器/吻合钉式末端执行器的立体图；
图4是手术末端执行器连接于其上的根据本公开的实施例的配接组件的立体图；
图5是示出从其中移除了外管的图4的配接组件的放大立体图；以及
图6是图5的配接组件的放大立体图，图示了其致动轴和内管的独立的轴向平移。
具体实施方式
参照附图详细描述本公开的配接组件的实施例，其中相似的附图标记表示多幅附图中的每一幅附图中相似或者相同的元件。在附图以及下面的描述中，根据传统，术语“近侧”将指的是吻合设备的最靠近操作者的一端，而术语“远侧”将指的是吻合设备的离操作者最远的一端。
现在参照图1，公开了一种通常标记为10的动力手术器械。为了简要，本公开将主要集中于用于选择性地使手术末端执行器和动力致动装置20互相连接的机械式配接组件100。关于对用于与配接组件100一起使用的示例性动力手术器械10的构造和操作的详细说明，可以参照公开号为2007/0023477的美国专利申请，其全部内容通过引用合并于此。
参照图1至图3，动力手术器械10通常包括：动力致动装置20；以及机械式配接组件100，其选择性地使手术末端执行器40、50、60、70中的任意一个与动力致动装置20互相连接。末端执行器40、50、60、70中的任意一个可以可释放地紧固至配接组件100的远端。末端执行器40、50、60、70中的每一个包括：钉仓组件，其容纳多个手术紧固件或吻合钉；以及砧座组件，其相对于钉仓组件可活动地紧固。动力致动装置20包括壳体、至少一个驱动电动机、为至少一个驱动电动机提供动力的至少一个能源，以及连接至至少一个驱动电动机的至少一个可旋转的驱动轴。在使用中，驱动电动机的致动引起与其联结的末端执行器40、50、60、70的致动，以将吻合钉施加至组织以及可选地切割组织。
参照图4、图5和图6，根据本公开的实施例的配接组件通常示为100。如图4至图6所示，配接组件100可操作地连接至动力致动装置20的远端，并且手术末端执行器50选择性地联接至配接组件100的远端。然而，如在图2中所看到的，配接组件100被构造为使得多个手术末端执行器中的任意一个与动力致动装置20可操作地互相连接。例如，配接组件100可以使得动力致动装置20与胃肠内吻合式末端执行器40或者横向吻合式末端执行器60可操作地互相连接并且联接，两种末端执行器均需要线性驱动力。
末端执行器40、50、60中的每一个包括可轴向平移的驱动构件，该驱动构件启动末端执行器40、50、60以排出包含在钉仓组件中的吻合钉从而使其相对于砧座组件成形和/或沿着吻合线致动刀片。末端执行器40、50、60可以包括附加的可轴向平移的驱动构件，所述驱动构件被构造为通过使砧座组件和钉仓组件中的至少一个彼此接近和远离从而使钳夹组件打开和闭合。附加的可轴向平移的驱动构件也可以被构造为引起末端执行器40、50、60的关节式运动。
如图3所示，配接组件100可以被构造为与需要线性驱动力的手术末端执行器可操作地互相连接，但是也能够适于可操作地联接至需要旋转驱动力以用于其操作的末端执行器，诸如直角线性切割器/吻合钉式末端执行器70。直角线性切割器/吻合钉式末端执行器70包括可旋转驱动构件，所述可旋转驱动构件用于启动末端执行器70以排出包含在钉仓组件中的吻合钉从而使其相对于所述砧座组件成形。末端执行器70可以包括附加的可旋转驱动构件，所述可旋转驱动构件沿着吻合线致动刀片和/或通过使砧座组件和钉仓组件中的至少一个彼此接近和远离从而使钳夹组件打开和闭合。
继续参照图4至图6，提供了对配接组件100的构造和操作的详细说明。配接组件100包括管状壳体110，所述管状壳体被构造为容纳配接组件100的部件并且被定尺寸为使得管状壳体110可以穿过典型的套针口、插管等。管状壳体110包括：远端部110a，其可操作地联接至末端执行器50；以及近端部110b，其联接至动力致动装置20。
特别地，如在图5和图6中所看到的，配接组件100进一步包括在其近端部处的驱动联接组件112，所述驱动联接组件使得配接组件100可操作地联接至动力致动装置20。驱动联接组件112包括可旋转地被支撑并且向远侧延伸的第一近侧驱动轴116和第二近侧驱动轴118。近侧驱动轴116、118可以被制造为柔性的以起到减震器的作用，使得最大负荷被减小，但是足够刚性以传送旋转力。第一近侧驱动轴116和第二近侧驱动轴118各自包括在其近侧部处的具有非圆形(如方形)的横断面的锥形颈部(未示出)。第一近侧驱动轴116和第二近侧驱动轴118中的每一个都设置有围绕相应的颈部布置的偏置器件(未示出)以及布置在所述偏置器件的近侧的套筒(未示出)。所述套筒各自限定了具有与近侧驱动轴116、118的颈部的横断面相对应的横断面的钻孔。动力致动装置20的第一驱动轴和第二驱动轴的远端包括联接套头(cuff)120、122，所述联接套头中的每一个限定了与近侧驱动轴116、118的颈部的非圆形横断面相对应的凹槽120a、122a。致动装置20的联接套头120、122与近侧驱动轴116、118的近端部(未示出)接合(其中近侧驱动轴116、118的每个近端部均具有用于与联接套头120、122的相应凹槽120a、122b接合的非圆形横断面)，由此，动力致动装置20的驱动轴(未示出)的旋转引起联接套头120、122的附随旋转以及第一近侧驱动轴116和第二近侧驱动轴118的附随旋转。
继续参照图5和图6，配接组件100进一步包括第一驱动转换组件130和第二驱动转换组件140。驱动转换组件130、140中的每一个被构造为将动力致动装置20的相应的第一驱动轴和第二驱动轴的旋转以及相应的第一近侧驱动轴116和第二近侧驱动轴118的附随旋转转换成末端执行器50的相应的驱动构件的轴向平移。
第一驱动转换组件130包括致动轴132，致动轴132被任意数量的适当定位和定尺寸的轴承和/或衬套(未示出)可平移地支撑以在驱动转换组件140的内管142内轴向地往复运动。致动轴132和内管142的同轴关系允许其轴向旋转移位而不会引起不利的末端执行器50致动或者它们之间的空间冲突。致动轴132包括在其近端区域处的蜗轮部132a以及限定连接构件136的远端部132b，连接构件136被构造为与末端执行器50的可轴向平移的驱动构件选择性地接合。第一驱动转换组件130进一步包括设置在第一近侧驱动轴116的远端部处的小齿轮部或蜗轮部134。小齿轮部134与在致动轴132的近端区域处的蜗轮部132a接合。
在操作中，如图5和图6所示，动力手术装置20的第一驱动轴(未示出)的起动/旋转引起配接组件100的第一近侧驱动轴116的附随旋转。随着第一近侧驱动轴116被旋转，第一近侧驱动轴116引起小齿轮部134的旋转。因为在第一近侧驱动轴116的远端部处的小齿轮部134与致动轴132的蜗轮部132a接合，所以小齿轮部134的旋转引起致动轴的132的轴向平移。可以预期的是，致动轴132由任意数量的能够在如图6所示的“A”方向上轴向平移的适当定位和定尺寸的轴承和衬套(未示出)支撑。因此，通过连接至末端执行器50的第一驱动构件的致动轴132的连接构件136，致动轴132的轴向平移引起末端执行器50的第一驱动构件的附随的轴向平移以实现末端执行器50的操作和/或功能，诸如末端执行器50的启动等。
在末端执行器50的第一驱动构件的操作和/或功能(诸如末端执行器50的启动)完成之后，为了其随后的操作，可以使致动轴132缩回到其初始位置。动力手术装置20的第一驱动轴(未示出)被重新起动，引起其在与当致动轴132在远侧方向上轴向平移时的方向相反的方向上的旋转。配接组件100的第一近侧驱动轴116的附随旋转引起小齿轮部134的旋转。小齿轮部134与致动轴132的蜗轮部132a接合并且引起致动轴132在近侧方向上的轴向平移直至致动轴132到达初始位置。
继续参照图5和图6，第二驱动转换组件140包括内管142，所述内管由转盘144或由任意数量的适当定位和定尺寸的轴承或衬套(未示出)可旋转地支撑，以使得内管142在管状壳体110内轴向地往复运动。内管142包括在其近端区域处的蜗轮部142a以及布置在管状壳体110的远端处的远端部142b。第二驱动转换组件140进一步包括设置在第二近侧驱动轴118的远端部处的小齿轮或蜗轮138。为了使内管142在管状壳体110内轴向地往复运动，内管142的蜗轮部142a与小齿轮138接合。
在操作中，如在图5和图6中所看到的，动力手术装置20的第二驱动轴(未示出)的起动和/旋转引起配接组件100的第二近侧驱动轴118的附随旋转。随着第二近侧驱动轴118由于动力致动装置20的第二驱动轴的旋转而旋转，引起第二驱动转换组件150的小齿轮138旋转。因为在第二近侧驱动轴118的远端部处的小齿轮138与内管142的蜗轮部142a接合，所以小齿轮部138的旋转引起内管142在如图6所示的箭头“A”方向上独立于致动轴132的轴向平移。因此，随着内管142轴向地平移，内管142的远端连接至末端执行器50的第二驱动构件，内管142引起末端执行器50的第二驱动构件的附随的轴向平移从而独立于由致动轴132实现的操作实现其附加的操作，诸如末端执行器的关节式运动和/或钳夹对的接近。
在末端执行器50的第二驱动构件的操作和/或功能(诸如末端执行器50的关节式运动和/或钳夹对的接近)完成之后，为了其随后的操作，可以使内管142缩回到其初始位置。动力手术装置20的第二驱动轴(未示出)被重新起动，引起其在与当内管142在远侧方向上轴向平移时的方向相反的方向上旋转。配接组件100的第二近侧驱动轴118的附随旋转引起小齿轮部138的旋转。小齿轮部138与内管142的蜗轮部142a接合并且引起内管142在近侧方向上的轴向平移直至内管142到达初始位置。
致动轴132被定尺寸为同心地布置在内管142内，其允许配接组件100的紧凑设计以及致动轴132相对于内管142的独立的同轴平移。致动轴132可以进一步包括径向延伸的一对凸缘(未示出)，以使得所述一对凸缘连同形成在内管142内的向内延伸的凸缘(未示出)一起限制致动轴132的轴向平移的范围，由此防止致动轴132的近端被驱动到驱动联接组件112中和/或与第一近侧驱动轴116的小齿轮134远侧地分离。此外，凸缘的安置可以被设计为满足考虑到的特定末端执行器的需求，例如手术末端执行器的特定的可轴向平移的驱动构件所要求的行进距离。
类似地，内管142可以进一步包括径向延伸的凸缘(未示出)以使得内管142在管状壳体110内部的预定范围内轴向地往复运动。在这样的设计下，防止了内管142被远侧地驱动到第一近侧驱动轴116上的小齿轮134中以及与第二近侧驱动轴122上的小齿轮138远侧地分离。此外，这种设计使得内管142仅平移实现末端执行器50的驱动构件的操作所需的距离。
根据本公开，可以预期的是，所述配接组件100可以包含传送部或者齿轮部以优化控制和操纵特定末端执行器的旋转速度和扭矩或者线性速度和力。此外，蜗轮的节距和螺旋角度能够被构造为在必要时提供附加速度和/或力的精细化(force refinement)。
可以进一步预期的是，配接组件100的近端和远端可以使用各种联结结构(例如卡口式联接件、掣子、制动器(detent)或者搭扣配合件(snap-fit))分别可操作地联接至动力致动装置20和末端执行器40、50、60、70中的任意一个。另外，配接组件100可以包括锁止机构(未示出)，所述锁止机构被构造为固定致动轴132的轴向位置和径向方位以将末端执行器40、50、60、70连接至其上以及与其断开。更进一步地，整个管状壳体110的轴向旋转能够通过接合来自动力致动器的旋转动力(如果可以得到)或者通过手动地转动管状壳体来实现。
可以理解的是，可以对此处公开的实施例进行各种改进。因此，上述描述不应被解释为限定性的，而仅是作为优选实施例的例证。本领域技术人员可以想到在随附的权利要求书的范围和精神内的其他改进。

Claims (14)

1.一种用于选择性地使手术末端执行器与动力致动装置互相连接的配接组件，所述配接组件包括：
第一驱动转换组件，其被构造为将所述动力致动装置的第一驱动轴的旋转转换成所述手术末端执行器的第一驱动构件的轴向平移；以及
第二驱动转换组件，其被构造为将所述动力致动装置的第二驱动轴的旋转转换成所述手术末端执行器的第二驱动构件的轴向平移，所述第一驱动转换组件至少部分地布置在所述第二驱动转换组件内，其中，所述第一驱动转换组件和所述第二驱动转换组件被构造为彼此独立地旋转和平移。
2.根据权利要求1所述的配接组件，进一步包括第一驱动杆和第二驱动杆，所述第一驱动杆和所述第二驱动杆被构造为分别与所述动力致动装置的可旋转的第一驱动轴和第二驱动轴联接，其中，所述第一驱动杆与所述第一驱动转换组件接合并且所述第二驱动杆与所述第二驱动转换组件接合。
3.根据权利要求2所述的配接组件，其中，所述第一驱动杆和所述第二驱动杆各自包括小齿轮部。
4.根据权利要求3所述的配接组件，其中，所述第一驱动转换组件包括限定蜗轮部的致动轴，并且其中所述第一驱动杆支撑小齿轮部，其中，所述致动轴的蜗轮部与所述第一驱动杆的小齿轮部接合，由此，所述动力致动装置的所述第一驱动轴的旋转使所述第一驱动杆的小齿轮部旋转从而实现所述致动轴的轴向平移，而所述致动轴的轴向平移使所述手术末端执行器的第一驱动构件轴向平移。
5.根据权利要求3所述的配接组件，其中，所述第二驱动转换组件包括限定蜗轮部的细长管，并且其中所述第二驱动杆支撑小齿轮部，其中，所述细长管的蜗轮部与所述第二驱动杆的小齿轮部接合，由此，所述动力致动装置的第二驱动轴的旋转使所述第二驱动杆的小齿轮部旋转从而实现所述细长管的轴向平移，而所述细长管的轴向平移使所述手术末端执行器的第二驱动构件轴向平移。
6.根据权利要求2所述的配接组件，其中，所述第一驱动杆和所述第二驱动杆是柔性的并且能够传送旋转力。
7.根据权利要求1所述的配接组件，其中，所述配接组件的远端被构造为与所述手术末端执行器选择性地、可拆卸地装配。
8.一种手术装置，包括：
动力致动装置，其包括至少两个可旋转的驱动轴；
手术末端执行器，其包括至少两个可轴向平移的驱动构件；以及
配接组件，其包括第一驱动转换组件和第二驱动转换组件，所述第一驱动转换组件被构造为将所述动力致动装置的第一驱动轴的旋转转换成所述手术末端执行器的第一驱动构件的轴向平移，所述第二驱动转换组件被构造为将所述动力致动装置的第二驱动轴的旋转转换成所述手术末端执行器的第二驱动构件的轴向平移，其中，所述第一驱动转换组件至少部分地布置在所述第二驱动转换组件内。
9.根据权利要求8所述的手术装置，其中，所述配接组件进一步包括第一驱动杆和第二驱动杆，所述第一驱动杆和所述第二驱动杆被构造为分别与所述动力致动装置的可旋转的第一驱动轴和第二驱动轴联接，其中，所述第一驱动杆与所述第一驱动转换组件接合并且所述第二驱动杆与所述第二驱动转换组件接合。
10.根据权利要求9所述的手术装置，其中，所述第一驱动杆和所述第二驱动杆各自包括小齿轮部。
11.根据权利要求10所述的手术装置，其中，所述第一驱动转换组件包括限定蜗轮部的致动轴，并且其中所述第一驱动杆支撑小齿轮部，其中，所述致动轴的蜗轮部与所述第一驱动杆的小齿轮部接合，由此，所述动力致动装置的所述第一驱动轴的旋转使所述第一驱动杆的小齿轮部旋转从而实现所述致动轴的轴向平移，而所述致动轴的轴向平移使所述手术末端执行器的第一驱动构件轴向平移。
12.根据权利要求10所述的手术装置，其中，所述第二驱动转换组件包括限定蜗轮部的细长管，并且其中所述第二驱动杆支撑小齿轮部，其中，所述细长管的蜗轮部与所述第二驱动杆的小齿轮部接合，由此，所述动力致动装置的所述第二驱动轴的旋转使所述第二驱动杆的所述小齿轮部旋转从而实现所述细长管的轴向平移，而所述细长管的轴向平移使所述手术末端执行器的所述第二驱动构件轴向平移。
13.根据权利要求9所述的手术装置，其中，所述第一驱动杆和所述第二驱动杆是柔性的并且能够传送旋转力。
14.根据权利要求8所述的手术装置，其中，所述配接组件的远端被构造为与所述手术末端执行器选择性地、可拆卸地装配。
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