CN104042271A - 用于内窥镜操作的器械 - Google Patents

用于内窥镜操作的器械 Download PDF

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CN104042271A
CN104042271A CN201410093137.6A CN201410093137A CN104042271A CN 104042271 A CN104042271 A CN 104042271A CN 201410093137 A CN201410093137 A CN 201410093137A CN 104042271 A CN104042271 A CN 104042271A
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end effector
shaft assembly
cervical region
locking actuator
region housing
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贾斯汀·威廉斯
保罗·西里卡
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Covidien LP
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    • 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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    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft

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Abstract

本公开涉及用于内窥镜操作的器械。提供一种机电手术装置，其包括构造成执行至少一种功能的末端执行器和轴组件。末端执行器包括：可旋转驱动螺杆，其具有在末端执行器的近侧端的联接构件；和挠性驱动线缆，其可旋转地支撑在末端执行器内并从末端执行器延伸，其中，挠性驱动线缆接收旋转力并将旋转力传递至驱动螺杆以致动末端执行器。轴组件包括：近侧颈部壳体，其支撑在外管的远侧端；和远侧颈部壳体，其可枢转地连接至近侧颈部壳体，其中，远侧颈部壳体的远侧端构造成并适于与末端执行器操作性连接。在使用中，当末端执行器连接至轴组件时，挠性驱动线缆延伸通过近侧颈部壳体和远侧颈部壳体。

Description

用于内窥镜操作的器械
技术领域
本公开涉及用于执行内窥镜手术操作的手术器械、装置和/或***以及它们的使用方法。更具体地，本公开涉及机电手持式手术器械、装置和/或***，其构造成与用于夹紧、切割和/或吻合组织的可拆卸的可置换装载单元和/或单次使用的装载单元一起使用。
背景技术
许多手术装置制造商已经开发了具有用于操作和/或操纵机电手术装置的专用驱动***的产品线。在很多情况下，机电手术装置包括可再用的手柄组件以及在使用前与手柄组件选择性连接、然后在使用后从手柄组件脱离以便被处理或在某些情况下为了再次使用而被消毒的可置换装载单元和/或单次使用的装载单元等。
许多这种机电手术装置的制造、购买和/或运行是相对昂贵的。制造商和终端用户一直需要开发出制造、购买和/或运行相对廉价但是仍能提供良好的操作性的机电手术装置。
因此，需要从开发和制造阶段到销售/购买阶段、到储存/运输阶段、到使用/操作阶段以及替换和/或再次使用阶段都相对经济但是仍能为终端用户提供良好的操作性的机电手术器械、装置和/或***。
发明内容
本公开涉及机电手持式手术器械、装置和/或***，其构造成与用于夹紧、切割和/或吻合组织的能够拆卸的可置换装载单元和/或单次使用的装载单元一起使用。
根据本公开的一个方案，提供一种机电手术装置。所述机电手术装置包括构造成执行至少一种功能的末端执行器。所述末端执行器包括：可旋转驱动螺杆，其具有在所述末端执行器的近侧端的联接构件；和挠性驱动线缆，其可旋转地支撑在所述末端执行器内并从所述末端执行器延伸，其中，所述挠性驱动线缆接收旋转力并将所述旋转力传递至所述驱动螺杆以致动所述末端执行器。所述机电手术装置包括轴组件。所述轴组件包括：近侧颈部壳体，其支撑在外管的远侧端；和远侧颈部壳体，其可枢转地连接至所述近侧颈部壳体，其中，所述远侧颈部壳体的远侧端构造成并适于与所述末端执行器操作性连接。在使用中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆延伸通过所述近侧颈部壳体和所述远侧颈部壳体。
所述轴组件可包括从所述远侧颈部壳体向远侧延伸的联接凸耳。所述联接凸耳可基本上沿所述轴组件的中央纵向轴线定位。
所述末端执行器可限定形成在其近侧表面内的中央开口。所述末端执行器的所述中央开口构造成并定尺寸为当所述末端执行器连接至所述轴组件时接收所述轴组件的所述联接凸耳。
所述末端执行器可包括具有至少第一位置和第二位置的闭锁致动器。在使用中，当所述闭锁致动器在所述第一位置时，一旦所述末端执行器与所述轴组件连接，所述轴组件的所述联接凸耳就能够被***所述末端执行器的所述中央开口内。
在使用中，当所述闭锁致动器在所述第二位置时，可以防止所述轴组件的所述联接凸耳***所述末端执行器的所述中央开口内。在使用中，当所述末端执行器联接至所述轴组件时，所述闭锁致动器的所述第二位置的布置可使所述末端执行器固接至所述轴组件以阻止所述末端执行器从所述轴组件的脱离。
所述末端执行器可包括能够被所述闭锁致动器操作性地结合的闭锁杆。所述闭锁杆可包括：第一位置，其中，所述闭锁杆未越过所述末端执行器的所述中央开口延伸；和第二位置，其中，所述闭锁杆至少部分地越过所述末端执行器的所述中央开口延伸。
当所述闭锁致动器在所述第二状态时，所述闭锁致动器可将所述闭锁杆推进至所述第二位置。
所述联接凸耳可限定围绕其的外环形槽道。在使用中，当所述闭锁杆在所述第二位置时，并且当所述末端执行器联接至所述轴组件时，所述闭锁杆可以至少部分地进入所述联接凸耳的所述环形槽道。
所述闭锁致动器可被偏置到所述第二位置或者所述闭锁杆可被偏置到所述第一位置。
所述闭锁致动器可包括在其所述第一位置和所述第二位置之间的中间位置。在使用中，当所述闭锁致动器在所述中间位置时，所述闭锁致动器的成角凸轮表面可与所述闭锁杆接触从而将所述闭锁杆布置在其所述第一位置和所述第二位置之间的中间位置。
在使用中，在所述闭锁致动器的所述中间位置，一旦所述末端执行器从所述轴组件脱离，所述末端执行器的所述联接凸耳就可以在所述闭锁杆上施加力以推进所述闭锁杆到所述第二位置并推进所述闭锁致动器到所述第一位置。
所述轴组件可限定形成在其远侧端内的向远侧定方位的至少一对凹口。这对凹口相对于彼此可径向偏移大约90°。在使用中，当所述闭锁致动器在所述第二位置时，所述末端执行器可相对于所述轴组件旋转以使所述闭锁致动器轴向对准一对所述凹口中的一个从而相对于所述轴组件固定所述末端执行器的旋转方位。
在使用中，所述末端执行器可配置成相对于所述轴组件被人工地旋转。
所述轴组件可进一步包括至少部分地可滑动地支撑在所述远侧颈部壳体内的关节式运动杆。所述关节式运动杆可包括：远侧端；和近侧端，其操作性地连接至可旋转驱动轴；其中，所述关节式运动杆径向偏离所述轴组件的中央纵向轴线一段距离。所述轴组件可进一步包括关节式运动连杆，其具有可枢转地连接至所述关节式运动杆的所述远侧端的近侧端和可枢转地连接至所述远侧颈部壳体的远侧端。
在使用中，所述机电手术装置的连接至所述关节式运动杆的所述可旋转驱动轴的致动可引起所述关节式运动杆轴向平移。在使用中，所述关节式运动杆的轴向平移可引起所述远侧颈部壳体相对于所述近侧颈部壳体枢转偏离轴线。
所述轴组件可包括盘簧，所述盘簧在所述远侧颈部壳体和所述近侧颈部壳体之间延伸并越过所述远侧颈部壳体和所述近侧颈部壳体。在使用中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆可被包覆在所述盘簧内。
当所述末端执行器连接至所述轴组件时，至少所述挠性驱动线缆的所述远侧端可径向偏离所述轴组件的中央纵向轴线一段距离。
根据本公开的另一方案，提供一种用于执行手术功能并能够与机电电源连接的末端执行器。所述末端执行器包括：上钳夹和下钳夹，所述上钳夹和所述下钳夹中的至少一个能够相对于所述上钳夹和所述下钳夹中的另一个移动，其中，所述末端执行器的所述下钳夹构造成选择性地接收钉仓组件；驱动梁，其可滑动地支撑在所述下钳夹内并能够平移通过所述上钳夹和所述下钳夹中的每一个从而相对于所述上钳夹移动所述下钳夹；钉仓组件，其构造成用于装载进入所述下钳夹内，所述钉仓组件包括可滑动地支撑在其内的致动滑块并且所述钉仓组件构造成在所述致动滑块从最近侧位置向远侧移动时排出装载在所述钉仓组件内的多个吻合钉的至少一部分；驱动螺杆，其可旋转地支撑在所述下钳夹内，其中，所述驱动梁可螺纹地支撑在所述驱动螺杆上，所述驱动螺杆的旋转因此导致所述驱动梁的轴向平移，其中，所述驱动螺杆限定近侧联接槽；近侧联接毂，其限定朝向近侧的开口；以及闭锁致动器，其具有至少第一位置和第二位置；以及闭锁杆，其支撑在所述近侧联接毂内并且能够被所述闭锁致动器操作性地结合。
所述闭锁杆包括：第一位置，其中，所述闭锁杆没有越过所述近侧联接毂的所述开口延伸；和第二位置，其中，所述闭锁杆至少部分地越过所述近侧联接毂的所述开口延伸。
在使用中，当所述闭锁致动器在所述第一位置时所述闭锁杆可在所述第一位置，并且，其中，当所述闭锁致动器在所述第二位置时，所述闭锁杆被所述闭锁致动器结合并且被所述闭锁致动器推进到所述第二位置。
在使用中，所述闭锁致动器可被偏置到所述第二位置，或者所述闭锁杆可被偏置到所述第一位置。
所述闭锁致动器可包括在其所述第一位置和所述第二位置之间的中间位置。在使用中，当在所述中间位置时，所述闭锁致动器的所述成角凸轮表面可与所述闭锁杆接触从而将所述闭锁杆布置在其所述第一位置和所述第二位置之间的中间位置。
所述末端执行器可进一步包括挠性驱动线缆，所述挠性驱动线缆可旋转地支撑在所述末端执行器内并从所述驱动螺杆的所述联接槽延伸，其中，所述挠性驱动线缆接收旋转力并将该旋转力传递至所述驱动螺杆以致动所述末端执行器。
根据本公开的又一方案，提供一种用于将末端执行器和机电电源选择性地相互连接的接合器轴组件。所述接合器轴组件包括：接合器壳体，其构造成并适于选择性地连接至所述机电电源的至少一个可旋转驱动轴；外管，其具有由所述接合器壳体支撑的近侧端和构造成并适于与所述末端执行器操作性连接的远侧端；以及至少一个力传递组件，其用于将所述机电电源的对应的所述至少一个可旋转驱动轴与支撑在所述末端执行器内的至少一个旋转接收构件相互连接。
所述至少一个力传递组件包括：挠性驱动线缆，其从所述末端执行器延伸，所述挠性驱动线缆具有连接至与所述机电电源的所述至少一个可旋转驱动轴连接的可旋转驱动轴的第一端和能够连接至所述末端执行器的所述至少一个旋转接收构件的第二端，其中，所述至少一个力传递组件将所述机电电源的所述可旋转驱动轴的旋转传递至所述末端执行器的所述至少一个旋转接收构件。
所述接合器轴组件可进一步包括：近侧颈部壳体，其支撑在所述外管的远侧端；和远侧颈部壳体，其可枢转地连接至所述近侧颈部壳体，其中，所述远侧颈部壳体的远侧端构造成并适于与所述末端执行器操作性连接。当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆可至少延伸通过所述近侧颈部壳体和所述远侧颈部壳体。
当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆可径向偏离所述轴组件的中央纵向轴线一段距离。
所述接合器轴组件可进一步包括从远侧颈部壳体向远侧延伸的联接凸耳。所述联接凸耳可基本上沿所述轴组件的中央纵向轴线定位。所述联接凸耳可限定围绕其的外环形槽道。
所述远侧颈部壳体可限定形成在其远侧端内的向远侧定方位的至少一对凹口。这对凹口可相对于彼此径向偏移大约90°。当所述闭锁致动器在从所述末端执行器突出的闭锁位置时，所述末端执行器可相对于所述轴组件旋转以使所述末端执行器的闭锁致动器轴向对准一对所述凹口中的一个从而相对于所述轴组件固定所述末端执行器的旋转方位。
所述接合器轴组件可进一步包括至少部分地可滑动地支撑在所述远侧颈部壳体内的关节式运动杆。所述关节式运动杆包括：远侧端；和近侧端，其操作性地连接至可旋转驱动轴；其中，所述关节式运动杆径向偏离所述轴组件的中央纵向轴线一段距离。
所述接合器组件可进一步包括关节式运动连杆，其具有可枢转地连接至所述关节式运动杆的所述远侧端的近侧端和可枢转地连接至所述远侧颈部壳体的远侧端。在使用中，所述机电电源的连接至所述关节式运动杆的所述至少一个可旋转驱动轴的致动可引起所述关节式运动杆轴向平移。在使用中，所述关节式运动杆的轴向平移可引起所述远侧颈部壳体相对于所述近侧颈部壳体枢转偏离轴线。
所述轴组件可包括盘簧，并且其中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆可被包覆在所述盘簧内。
根据本公开的又一方案，提供一种用于执行手术功能并能够连接至机电电源的末端执行器。所述末端执行器包括：上钳夹和下钳夹，所述上钳夹和所述下钳夹中的至少一个能够相对于所述上钳夹和所述下钳夹中的另一个移动，其中，所述末端执行器的所述下钳夹构造成选择性地接收钉仓组件；驱动梁，其可滑动地支撑在所述下钳夹内并能够平移穿过所述上钳夹和所述下钳夹中的每一个从而相对于所述上钳夹移动所述下钳夹；驱动螺杆，其可旋转地支撑在所述下钳夹内，其中，所述驱动梁可螺纹地支撑在所述驱动螺杆上，所述驱动螺杆的旋转因此导致所述驱动梁的轴向平移，其中，所述驱动螺杆限定近侧联接槽；以及挠性驱动线缆，其具有能够连接至与所述机电电源的至少一个可旋转驱动轴连接的可旋转驱动轴的第一端和连接至所述驱动螺杆的所述近侧联接槽的第二端，其中，所述挠性驱动线缆将所述机电电源的所述可旋转驱动轴的旋转传递至所述末端执行器的所述驱动螺杆。
所述末端执行器可进一步包括构造成用于装载进入所述下钳夹内的钉仓组件。所述钉仓组件可包括可滑动地支撑在其内的致动滑块并且所述钉仓组件构造成在所述致动滑块从最近侧位置向远侧移动时排出装载在所述钉仓组件内的多个吻合钉的至少一部分。
参照附图更详细地描述本发明的示例性实施例的其他细节和方案。
附图说明
在此参照附图描述本公开的实施例，在附图中：
图1为根据本公开的实施例的机电手术***的立体图；
图2为图1的部件分离的机电手术***的立体图；
图2A为本公开的机电手术***的部件分离的动力手术仪器的立体图；
图3为图1和图2的机电手术***的轴组件和动力手术仪器的、显示它们之间连接的后视立体图；
图4为图1至图3的轴组件的部件分离的立体图；
图5A为图1至图4的轴组件（从其拆卸掉外管）的远侧端的部件分离的立体图；
图5B为图5A的细节标示区域的部件分离的放大图；
图6为显示与图1至图5的轴组件的远侧端连接的末端执行器（定方位成直线的、非关节式运动状态）的立体图；
图7为与末端执行器的近侧端操作性地轴向对准的轴组件的远侧端的部件分离的放大、纵向、剖视图，其中，末端执行器相对于轴组件旋转90°；
图8为与末端执行器的近侧端操作性对准的轴组件的远侧端的部件分离的放大、纵向、剖视图；
图9为显示轴组件的远侧端与末端执行器的近侧端完全连接的放大断面图（elevational view）；
图10为显示轴组件的远侧端与末端执行器的近侧端的完全连接的放大立体图；
图11为末端执行器的后视立体图，显示末端执行器的释放状态的闭锁机构；
图12为轴组件的远侧颈部的示意性立体图，其中，闭锁机构为释放位置；
图13为显示在闭锁机构为闭锁状态时连接至末端执行器的轴组件的立体图；
图14为沿图13的14-14截取的图13的末端执行器的近侧端的剖视图，其中，轴组件连接至末端执行器的近侧端并且闭锁机构为闭锁状态；
图15为沿图13的15-15截取的图13的末端执行器的剖视图，其中，轴组件与末端执行器连接并且闭锁机构为闭锁状态；
图16为末端执行器的后视立体图，其显示末端执行器的闭锁状态的闭锁机构；
图17为轴组件的远侧颈部的示意性立体图，其中，闭锁机构处于闭锁状态；
图18为沿图13的14-14截取的图16的末端执行器的近侧端的剖视图，其中，轴组件与末端执行器的近侧端连接并且闭锁机构为释放状态；
图19为沿图13的14-14截取的图16的末端执行器的近侧端的剖视图，其中，轴组件与末端执行器的近侧端连接并且闭锁机构处于自动释放状态；
图20为相对于轴组件部分旋转的末端执行器的示意性立体图，其中，闭锁机构未与轴组件的任一闭锁凹口结合；
图21为显示为部分地关节式运动状态的轴组件的远侧端和末端执行器的俯视平面图；
图22为图21的部分地关节式运动状态的末端执行器的剖视图；
图23为显示为完全地关节式运动状态的轴组件的远侧端和末端执行器的俯视平面图；
图24为图23的完全地关节式运动状态的末端执行器的剖视图；以及
图25为本公开的末端执行器的部件分离的立体图。
具体实施方式
参照附图详细描述本公开的机电手术***、器械和/或装置的实施例，在附图中，在一系列图的每一幅中类似的附图标记表示相同或相应的零件。如在此使用的术语“远侧”是指机电手术***、器械和/或装置或者其部件更远离用户的部分，而术语“近侧”是指机电手术***、器械和/或装置或者其部件更靠近用户的部分。
首先，参照图1至图4，显示根据本公开的实施例的机电手持式动力手术***并将其概括地标示为10。机电手术***10包括以机电手持式动力手术仪器100形式存在的手术器械或装置，手术器械或装置构造成经由接合器或轴组件200与多个不同的末端执行器400选择性附接，接合器或轴组件200构造成通过机电手持式动力手术装置100致动和操纵。特别地，手术仪器100构造成与轴组件200选择性连接，并且，接下来，轴组件200构造成与多个不同的末端执行器400中的任一个选择性连接。能想到其他的构造，例如，与不可拆卸的轴附接的末端执行器、远程电源和/或电机，以及包括一体式或远程计算机化控制器的构造。
对于示例性机电手持式动力手术仪器100的结构和操作的详细描述，可以参考于2008年9月22日提交的国际申请No.PCT/US2008/077249（国际公开号：WO2009/039506）和于2009年11月20日提交的序列号为12/622,827的美国专利申请，在此通过引用方式并入上述两件申请的全部内容。仪器100可以包括由电池、发电机或电力插座供电的一个或多个电机。
通常，如图1至图4中所图示的，手术仪器100包括手柄壳体102，手柄壳体102具有下壳体部104、从下壳体部104延伸和/或支撑在下壳体部104上的中间壳体部106以及从中间壳体部106延伸和/或支撑在中间壳体部106上的上壳体部108。手柄壳体102限定电路板或控制器150和驱动机构160定位于其中的腔体。驱动机构160可包括用于选择手术仪器100的可旋转驱动构件的第一电机164和用于驱动手术仪器100的各个可旋转驱动构件的第二电机166。
电路板150构造成控制手术仪器100的各种操作。根据本公开，手柄壳体102提供可充电电池156可拆卸地定位于其中的壳体。电池156构造成向手术仪器100的任一个电气元件供应电力。尽管显示并预期为电池156，但可以使用任何已知的电源，例如电源线等。
手柄壳体102的上壳体部108限定前端部或连接部108a，前端部或连接部108a构造成接受轴组件200的变速箱壳体（transmission housing）212的对应的轴联接组件214。如图3中所示，手术仪器100的上壳体部108的连接部108a具有圆柱形凹部108b，当轴组件200与手术仪器100配接时，凹部108b接收轴组件200的变速箱壳体212的轴联接组件214。连接部108a容纳三个可旋转驱动连接器118、120、122，驱动连接器中的每一个通过手柄壳体102中容纳的驱动机构（未示出）能够独立地致动并旋转。
手柄壳体102的上壳体部108提供驱动机构（未示出）定位于其中的壳体。驱动机构构造成驱动轴和/或齿轮部件以执行手术仪器100的各种操作。特别地，驱动机构构造成：驱动轴和/或齿轮部件以相对于轴组件200选择性地移动末端执行器400；相对于手柄壳体102、绕纵向轴线“X”（参见图1和图2）旋转轴组件200和/或末端执行器400；相对于末端执行器400的下钳夹或钉仓组件432移动末端执行器400的上钳夹或砧座组件442，和/或发射末端执行器400的钉仓组件432中的吻合和切割钉仓。
在使用中，如图3中所见，当轴组件200与手术仪器100配接时，手术仪器100的可旋转驱动连接器118、120、122中的每一个与轴组件200的对应的可旋转连接器218、222联接（用于与可旋转驱动连接器120联接的轴组件200的对应的可旋转连接器未示出）。就此而言，对应的第一驱动连接器118和第一连接器218之间的交接、对应的第二驱动连接器120和轴组件200的第二连接器（未示出）之间的交接以及对应的第三驱动连接器122和第三连接器222之间的交接是键连接的，这样手术仪器100的驱动连接器118、120、122中的每一个的旋转引起轴组件200的对应的第一连接器218、第二连接器（未示出）和第三连接器222的对应的旋转。
通常，手术仪器100的第二驱动连接器（未示出）用于将旋转从手术仪器100传递至轴组件200。能想到的是，轴组件200可包括用于接收来自手术仪器100的第二驱动连接器120的旋转以执行旋转功能的连接器。
对于轴组件200的第二连接器和第二驱动系的结构、操作和使用的详细讨论可以参考于2012年7月9日提交的序列号为61/669,208的美国临时专利申请或者于2013年2月18日提交的序列号为13/769,419的美国专利申请，在此通过引用方式并入上述申请中的每一个的全部内容。
能想到的是，驱动连接器120的操作可被设置在仪器100的控制器内包括的一个或多个存储装置中的计算机程序阻断。可选地，驱动连接器120可以自由地旋转。
手术仪器100的驱动连接器118、120、122与轴组件200的连接器218、222（以及第二驱动连接器，未示出）的配接允许经由相应的连接器交接中的每一个而独立地传递旋转力。手术仪器100的驱动连接器118、120、122构造成被驱动机构独立地旋转。就此而言，驱动机构的功能选择模块（未示出）选择手术仪器100的哪个或哪几个驱动连接器118、120、122被驱动机构的输入驱动部件（未示出）驱动。可选地，可以在手术仪器100上为驱动连接器118、120、122中的每一个设置致动器。
由于手术仪器100的驱动连接器118、120、122中的每一个与轴组件200的相应的第一连接器218、第二连接器（未示出）和第三连接器222具有键连接和/或基本上不可旋转的交接，因此当轴组件200与手术仪器100联接时，旋转力被从手术仪器100的驱动机构选择性地传递至轴组件200，并传递至末端执行器400，这将在下文中更详细地讨论。
手术仪器100的驱动连接器118、120和/或122的选择性旋转允许手术仪器100选择性地致动末端执行器400的不同功能。如下面将更详细地讨论的，手术仪器100的第一驱动连接器118的选择性的且独立的旋转对应于末端执行器400的选择性的且独立的打开和闭合以及末端执行器400的吻合/切割部件的驱动。手术仪器100的第二驱动连接器120的选择性的且独立的旋转对应于末端执行器300的工具组件304与纵向轴线“X”（参照图4）横向的选择性的且独立的关节式运动。另外，手术仪器100的第三驱动连接器122的选择性的且独立的旋转对应于末端执行器400相对于手术仪器100的手柄壳体102绕纵向轴线“X”（参照图10）的选择性的且独立的旋转。在本申请中描述的任一实施例中，末端执行器400的打开和闭合以及末端执行器400的吻合和/或切割部件的驱动能够被两个独立的驱动轴和驱动连接器独立地驱动。
根据本公开，驱动机构可包括：换挡器齿轮箱组件（selector gearboxassembly）（未示出）；功能选择模块（未示出），其定位于换挡器齿轮箱组件的近侧，起到选择性地移动换挡器齿轮箱组件内的齿轮零件以与第二电机（未示出）相啮合的作用。驱动机构可构造成在给定的时间选择性地驱动手术仪器100的驱动连接器118、120、122中的一个。在本申请中描述的任一实施例中，可以在手术仪器100内设置一个以上的电机，从而独立地驱动，例如，驱动轴和驱动连接器。
如图1和图2中所图示的，手柄壳体102支撑一对手指致动的控制按钮124、126和/或摇杆装置130（仅显示一个摇杆装置）。控制按钮124、126和摇杆装置130中的每一个包括相应的磁体（未示出），磁体通过操作者的致动来移动。
现转向图1至图10，将更详细地显示并描述轴组件200。轴组件200构造成将手术仪器100的第一、第二和第三可旋转驱动连接器118、120、122的旋转力传输至末端执行器400。如上所述，轴组件200构造成用于与手术仪器100选择性连接。
如图1至图10中所示，轴组件200包括：细长的、基本为刚性的管状体210，其具有近侧端210a和远侧端210b；变速箱壳体212，其与管状体210的近侧端210a连接并且构造成用于与手术仪器100选择性连接；以及关节式运动颈部组件230，其与细长主体部210的远侧端210b连接。
变速箱壳体212构造成在其内容纳一对齿轮系***，齿轮系***用于在将手术仪器100的第一和/或第二可旋转驱动连接器118和/或122的旋转的速度/力传递至末端执行器400之前改变（例如，增加或降低）该旋转的速度/力。
轴组件200的变速箱壳体212构造成并适于与手术仪器100的上壳体部108的连接部108a连接。如图2和图3中所示，轴组件200的变速箱壳体212包括支撑在其近侧端的轴联接组件214。
轴组件200可包括第一齿轮系***和第二齿轮系***，各齿轮系***均布置在变速箱壳体212和管状体210中。各齿轮系***构造成并适于在将手术仪器100的第一可旋转驱动连接器118的旋转的速度/力传递至末端执行器400之前改变（例如，增加或降低）该旋转的速度/力。
根据本公开的实施例，包括第一齿轮***的轴组件200起到的作用是，为了操作、致动和/或发射末端执行器400而将操作力从手术仪器100传递至末端执行器400。另外，根据本公开的实施例，包括第二齿轮***的轴组件200起到的作用是，为了相对于手术仪器100旋转轴组件200和/或末端执行器400而将操作力从手术仪器传递至末端执行器400。
如图4中所示，轴组件200的细长主体部210包括支撑架211，支撑架211限定穿过主体部210的至少两个纵向延伸的槽。所述槽构造成并定尺寸为可旋转地接收并至少支撑第一齿轮***的第一输出驱动轴或杆238（即，关节式运动杆）和第二输出驱动轴或杆246a。第一输出驱动轴或杆238和第二输出驱动轴或杆246a中的每一个是细长的并且具有足够的刚性以将轴向力或旋转力从变速箱壳体212传递至关节式运动颈部组件230。
现转向图4至图10，显示并描述关节式运动颈部组件230。关节式运动颈部组件230包括近侧颈部壳体232和从近侧颈部壳体232延伸出并通过枢转销234与近侧颈部壳体232可枢转地连接的远侧颈部壳体236。枢转销234限定枢转轴线“P”（参见图6），枢转轴线“P”定方位成与纵向轴线“X”正交并且延伸穿过纵向轴线“X”。
关节式运动颈部组件230接收输出驱动轴或关节式运动杆238的远侧端。关节式运动杆238可包括与内螺纹螺母（未示出）的远侧端呈螺纹啮合的螺纹近侧端。所述螺纹螺母可以可旋转地支撑并轴向地固定在形成在变速箱壳体212内的凹部（未示出）中。所述螺纹螺母的近侧端与轴组件200的第一可旋转连接器218的远侧端键连接。
关节式运动杆238包括可枢转地连接至关节式运动连杆240的近侧端240a的远侧端238b。关节式运动连杆240的远侧端240b可枢转地连接至远侧颈部壳体236。
近侧颈部壳体232限定斜切远侧表面232a，并且远侧颈部壳体236限定斜切近侧表面236a。在实施例中，斜切表面232a、236a彼此呈毗邻关系。在使用中，当致动末端执行器400至偏离轴线的方位时，这将在下面更详细地讨论，近侧颈部壳体232和远侧颈部壳体236的斜切表面232a、236a朝向彼此靠近。期望的是，斜切表面232a、236a中的每一个相对于纵向轴线“X”成大约45°的角度。具体地，近侧颈部壳体232的斜切表面232a相对于纵向轴线“X”成大约（-）45o的角度，而远侧颈部壳体236的斜切表面236a相对于纵向轴线“X”成大约（+）45°的角度。以这种方式，当近侧颈部壳体232和远侧颈部壳体236从直线的非致动方位被致动至最大程度地偏离轴线的方位时，如图23和图24中所示，末端执行器400定方位为相对于纵向轴线“X”成大约90°。在使用中，如图21和图22中所示，根据需要或期望，末端执行器400可定方位为相对于纵向轴线“X”成从大约0°至大约90°的任意角方位，例如，大约45°。
根据本公开，远侧颈部壳体236相对于近侧颈部壳体232能够在单一方向上枢转。
如图7至图20中所示，关节式运动颈部组件230进一步包括可旋转地支撑和/或联接在远侧颈部壳体236的远侧端内的远侧联接毂250。联接毂250支撑沿联接毂250的中心线向远侧突出的联接凸耳250a。联接凸耳250a包括：限定圆锥体等形式的成角远侧表面250c的头部250b，以及限定在其外环形表面内的环形槽道或凹槽250d。
轴组件200构造成接纳从末端执行器400延伸的挠性驱动线缆242和线缆联接器243，这将在下面更详细地描述。
轴组件200包括构造成在末端执行器400与轴组件200连接时接纳并围绕末端执行器400的挠性驱动线缆242的加强盘簧244。根据本公开，加强盘簧244在其近侧端和远侧端被约束，并且在挤压下被安装。加强盘簧244起到在末端执行器400的关节式运动过程中帮助保持挠性驱动线缆242不弯折的作用。加强盘簧244还起到帮助保持挠性驱动线缆242以免在其旋转过程中因开卷（unwinding）和/或“猪尾式接头（pig tailing）”而损坏。
如图7、图8和图12中所示，远侧颈部壳体236限定从其向远侧延伸的第一环形凹口236b和从其向远侧延伸的第二环形凹口236c，其中，第一环形凹口236b和第二环形凹口236c被布置成相对于彼此为大约90°。能想到的是，可以设置任意数量的凹口并且可以以相对于彼此任何期望的角度来布置。
根据本公开，如图5A和图5B中所示，末端执行器400的挠性驱动线缆242的线缆联接器243构造成用于与轴组件200的第一齿轮***的第一输出驱动轴246a的远侧端选择性连接。能想到的是，线缆联接器243构造成用于与第一输出驱动轴246a或第二输出驱动轴258a不可旋转地连接。根据本公开，由于包括线缆联接器243的挠性驱动线缆242形成末端执行器400的一部分，因此每次将新的末端执行器400与轴组件200联接时，也要将新的挠性驱动线缆242（和线缆联接器243）装载入轴组件200中并使其与轴组件200联接。
根据本公开，当末端执行器400连接至轴组件200时，线缆联接器243定位于近侧颈部壳体232的近侧，并且挠性驱动线缆242从近侧颈部壳体232延伸出并在近侧颈部壳体232和远侧颈部壳体236之间延伸。为了将末端执行器400（包括挠性驱动线缆242和线缆联接器243）正确地装载或连接至轴组件200，根据本公开，近侧颈部壳体232和远侧颈部壳体236相对于彼此必须为非关节式运动的位置。在近侧颈部壳体232和远侧颈部壳体236相对于彼此为非关节式运动的位置时，挠性驱动线缆242（和线缆联接器243）可以被旋入或送入轴组件200或者从轴组件200撤出。
现转向图7至图20，提供对末端执行器400的结构和操作的详细讨论。末端执行器400基本上根据于2012年6月13日提交的、名称为“Apparatus forEndoscopic Procedures（用于内窥镜操作的器械）”的、序列号为61/659,116的美国临时专利申请中公开的末端执行器400来构造，在此通过引用方式并入该申请的全部内容，因此，在此对其讨论的详细程度仅为描述两者之间的结构和操作差异所需的程度。末端执行器400可以构造成并适于施用紧固件的多个线性排，所述紧固件在实施例中可为各种大小，并且所述紧固件在某些实施例中可具有各种长度或排，例如，大约长度为30mm、45mm和60mm。
如图7、图8和图11中所示，末端执行器400包括具有联接构件422的安装部420，联接构件422构造成用于选择性地连接至轴组件200的远侧颈部壳体236。末端执行器400进一步包括连接至安装部420并从安装部420向远侧延伸的钳夹组件430。如图21和图23中所示，钳夹组件430包括：下钳夹432，其可枢转地连接至安装部420并构造成选择性地支撑其内的钉仓组件；以及上钳夹442，其固接至安装部420并且相对于下钳夹432能够在接近位置和分离位置之间移动。
联接构件422基本上为圆柱形并且包括后或近侧壁422a，近侧壁422a限定其内的中央开口422b和其内的通道422c。中央开口422b构造成并定尺寸为在其内接收凸耳250a的头部250b。通道422c构造成并定尺寸为与末端执行器400的导螺杆或驱动螺杆464的联接槽464a轴向对准或者形成至联接槽464a的通路，这将在下面更详细地讨论。以这种方式，当末端执行器400连接至轴组件200时，挠性驱动线缆242的远侧端242b被引导进入末端执行器400的导螺杆或驱动螺杆464的联接槽464a内从而与其建立连接，这将在下面更详细地讨论。
末端执行器400的联接构件422支撑用于将末端执行器400选择性地固接至轴组件200的闭锁机构470。闭锁机构470包括闭锁杆472，闭锁杆472可滑动地支撑在联接构件422内从而在与中央开口422b横向或垂直的平面内滑动。闭锁机构470包括至少一个偏置构件用于将闭锁杆472偏置到释放位置，在释放位置中，闭锁杆472未与凸耳250a的槽道或凹槽250c结合或未被布置在槽道或凹槽250c中，这将在下面更详细地讨论。在本公开的实施例中，闭锁机构470包括布置在闭锁杆472的相对端并基本上与闭锁杆472垂直地延伸的一对偏置构件474a、474b，并且偏置构件474a、474b布置在闭锁杆472的移动平面内。偏置构件474a、474b彼此间隔一段距离，该距离小于凸耳250a的头部250b的直径或者小于头部250b的横截面尺寸，和/或小于联接构件422的中央开口422b的直径。
闭锁杆472包括朝向联接构件422的中央开口422b定方位的弓形或基本上为U形的表面472a。
闭锁机构470进一步包括可滑动地支撑在末端执行器400的安装部420内的闭锁致动器476。闭锁致动器476为闭锁按钮或滑块的形式，其能够在远侧和近侧轴向方向上滑动。闭锁致动器476限定沿其外表面暴露的手指接合表面476a。闭锁致动器476包括从其成角或倾斜近侧表面476c向近侧延伸的指状件或前端部476b。闭锁机构470包括作用于闭锁致动器476用于将闭锁致动器476偏置到近侧位置的偏置构件478。
闭锁致动器在被用户致动或自动地致动时能够在最远侧位置、最近侧位置和中间位置之间滑动。
如图14中所示，闭锁致动器476包括第一或最远侧位置，其中，偏置构件478被挤压和/或偏置，并且其中，闭锁杆472为非致动状态。当闭锁致动器476在最远侧位置时，闭锁机构470为释放状态，其中，闭锁杆472通过偏置构件474a、474b被移动而远离联接构件422的中央开口422b，因此空出中央开口422b用于接收轴组件200的凸耳250a的头部250b。在闭锁致动器476的最远侧位置，闭锁杆472可以支撑紧靠闭锁致动器476的前端部476b。
如图13和图15至图18中所示，闭锁致动器476包括第二或最近侧位置，其中，偏置构件478基本上不被挤压和/或偏置，并且其中，闭锁杆472为致动状态。当闭锁致动器476在最近侧位置时，闭锁机构470为闭锁状态，其中，闭锁杆472通过闭锁致动器476的成角或倾斜近侧表面476c而被朝向联接构件422的中央开口422b移动、做凸轮运动或推进，因此至少部分地阻塞中央开口422b并进入轴组件200的凸耳250a的环形槽道或凹槽250d（当末端执行器400与轴组件200彼此连接时）。在闭锁致动器476的最近侧位置，闭锁杆472可以支撑在定位于闭锁致动器476的成角或倾斜近侧表面476c的远侧的闭锁致动器476的内表面476d上。
如图19中所示，闭锁致动器476包括第三或中间位置，其中，偏置构件478被部分地挤压和/或偏置，并且其中，闭锁杆472布置成或支撑在紧靠闭锁致动器476的成角或倾斜近侧表面476c处。当闭锁致动器476处于中间位置时，闭锁机构470为自动释放状态，其中，闭锁杆472通过在远离联接构件422的中央开口422b的方向上在闭锁致动器476的成角或倾斜近侧表面476c上施加力，例如，如果/当末端执行器400轴向偏离或移动离开轴组件200时（例如，当末端执行器400与轴组件200彼此脱离时），通过凸耳250a的头部250b作用在闭锁杆472上，而能够将闭锁致动器476移动、做凸轮运动或推进至释放状态。
根据本公开，如图7和图8中所见，末端执行器400可以以第一方位或第二方位（相对于第一方位旋转大约90o或任何其他期望的角度）而被连接至轴组件200。如上所述，所述第一和第二方位对应于设置在轴组件200的远侧颈部壳体236内的第一环形凹口236b和第二环形凹口236c的位置。
在使用中，当将末端执行器400联接或连接至轴组件200时，末端执行器400的联接构件422被***轴组件200的远侧颈部壳体236内，同时，闭锁致动器476被保持（或者是人工地，或者是由于闭锁致动器476的前端部476b与轴组件200的远侧颈部壳体236的表面的接触）在最远侧位置（这样，轴组件200的凸耳250a的头部250b就可被完全***末端执行器400的联接构件422的中央开口422b内），末端执行器400相对于轴组件200沿纵向轴线“X”旋转。当旋转末端执行器400时，当闭锁致动器476的前端部476b与轴组件200的远侧颈部壳体236的第一环形凹口236b和第二环形凹口236c中的任一个轴向对准时，闭锁致动器476可被移动至如上所述的中间或最近侧位置，从而以第一方位或第二方位将末端执行器400选择性地、固定地固接至轴组件200，其中，所述方位已经被人工地选择和设定。
当将末端执行器400固接至轴组件200时，挠性驱动线缆242的远侧端242b被***和/或联接至末端执行器400的导螺杆或驱动螺杆464的联接槽464a，从而使轴组件200的挠性驱动线缆242的旋转引起导螺杆或驱动螺杆400的旋转。
如图8、图9和图22至图25中所示，钳夹组件430的下钳夹432包括可旋转地支撑在其内并基本上延伸其整个长度的驱动螺杆464。驱动螺杆464包括支撑在其近侧端上并构造成用于接收挠性驱动线缆242的远侧端242b的内纹联接槽或构件464a（或其他的压接连接/粘合连接）。
如图2、图7至图11、图13至图16、图18、图19和图25中所示，末端执行器400包括从其向近侧延伸的挠性驱动线缆242。特别地，挠性驱动线缆242包括不可旋转地固接或连接至末端执行器400的驱动螺杆464的联接槽464a的远侧端242b。挠性驱动线缆242包括不可旋转地联接至线缆联接器243的近侧端242a，线缆联接器243构造成用于选择性地、不可旋转地连接至轴组件200的第一齿轮***的第一输出驱动轴246a。
挠性驱动线缆242由扭转刚性（torsionally stiff）和挠性材料制造，例如，将不锈钢多股钢丝旋在一起形成同一的线缆。
以这种方式，由于末端执行器400包括挠性驱动线缆242，因此每次将新的末端执行器400连接至轴组件200时，就要设置新的挠性驱动线缆242并也将其与轴组件200连接。
尽管将挠性驱动线缆242显示并描述成被不可拆卸地连接至末端执行器400的驱动螺杆464的联接槽464a，但能想到的并且在本公开的范围内的是，挠性驱动线缆242的远侧端242b是可拆卸的并且是不可旋转地连接至末端执行器400的驱动螺杆464的联接槽464a。
如图22、图24和图25中所示，末端执行器400包括驱动梁466，驱动梁466可滑动地支撑在钳夹组件430的下钳夹432内并且与驱动螺杆464的螺纹呈螺纹连接。驱动梁466包括基本为I形的截面轮廓并被构造成接近下钳夹432和上钳夹442，并且经由下钳夹432轴向移置致动滑块468。
在操作中，当旋转挠性驱动线缆242时，由于第一齿轮***的第一输出驱动轴246a的旋转（如上所述），所述旋转经由挠性驱动线缆242被传递至挠性驱动线缆的远侧端242b，并且使末端执行器400的驱动螺杆464旋转。当驱动螺杆464旋转时，并且由于驱动梁466被约束对抗钳夹组件430内的旋转，驱动梁466经由钳夹组件430轴向平移。
会理解的是，可以对在此公开的实施例进行各种改进。例如，手术仪器100和/或钉仓组件410不需要施用吻合钉而是可施用本领域公知的两件式紧固件。此外，可以改进吻合钉或紧固件的线性排的长度以符合特定手术操作的需要。所以，在吻合钉钉仓组件内的吻合钉和/或紧固件的线性排的长度可以相应地改变。因此，不应将上述描述解释为限制性的，其仅为优选实施例的示例。本领域技术人员在随附权利要求书的范围和构思内会想到其他的改进。

Claims (32)

1.一种机电手术装置，包括：
末端执行器，其构造成执行至少一种功能，所述末端执行器包括：
可旋转驱动螺杆，其具有在所述末端执行器的近侧端的联接构件；和
挠性驱动线缆，其可旋转地支撑在所述末端执行器内并从所述末端执行器延伸，其中，所述挠性驱动线缆接收旋转力并将所述旋转力传递至所述驱动螺杆以致动所述末端执行器；以及
轴组件，其包括
近侧颈部壳体，其支撑在外管的远侧端；和
远侧颈部壳体，其可枢转地连接至所述近侧颈部壳体，其中，所述远侧颈部壳体的远侧端构造成并适于与所述末端执行器操作性连接；
其中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆延伸通过所述近侧颈部壳体和所述远侧颈部壳体。
2.根据权利要求1所述的机电手术装置，其中，所述轴组件包括从所述远侧颈部壳体向远侧延伸的联接凸耳，其中，所述联接凸耳基本上沿所述轴组件的中央纵向轴线定位。
3.根据权利要求2所述的机电手术装置，其中，所述末端执行器限定形成在其近侧表面内的中央开口，其中，所述末端执行器的所述中央开口构造成并定尺寸为当所述末端执行器连接至所述轴组件时接收所述轴组件的所述联接凸耳。
4.根据权利要求3所述的机电手术装置，其中，所述末端执行器包括具有至少第一位置和第二位置的闭锁致动器，其中，当所述闭锁致动器在所述第一位置时，一旦所述末端执行器与所述轴组件连接，所述轴组件的所述联接凸耳就能够被***所述末端执行器的所述中央开口内。
5.根据权利要求4所述的机电手术装置，其中，当所述闭锁致动器在所述第二位置时，防止所述轴组件的所述联接凸耳***所述末端执行器的所述中央开口内。
6.根据权利要求5所述的机电手术装置，其中，当所述末端执行器联接至所述轴组件时，所述闭锁致动器的所述第二位置的布置使所述末端执行器固接至所述轴组件以阻止所述末端执行器从所述轴组件的脱离。
7.根据权利要求6所述的机电手术装置，其中，所述末端执行器包括能够被所述闭锁致动器操作性地接合的闭锁杆，其中，所述闭锁杆包括：
第一位置，其中，所述闭锁杆未越过所述末端执行器的所述中央开口延伸；和
第二位置，其中，所述闭锁杆至少部分地越过所述末端执行器的所述中央开口延伸。
8.根据权利要求7所述的机电手术装置，其中，当所述闭锁致动器在第二状态时，所述闭锁致动器将所述闭锁杆推进至所述第二位置。
9.根据权利要求8所述的机电手术装置，其中，所述联接凸耳限定围绕其的外环形槽道，并且其中，当所述闭锁杆在所述第二位置时，并且当所述末端执行器联接至所述轴组件时，所述闭锁杆至少部分地进入所述联接凸耳的所述环形槽道。
10.根据权利要求8所述的机电手术装置，其中，至少一个所述闭锁致动器被偏置到所述第二位置，并且所述闭锁杆被偏置到所述第一位置。
11.根据权利要求7所述的机电手术装置，其中，所述闭锁致动器包括在其所述第一位置和所述第二位置之间的中间位置，
其中，在所述中间位置，所述闭锁致动器的成角凸轮表面与所述闭锁杆接触从而将所述闭锁杆布置在其所述第一位置和所述第二位置之间的中间位置。
12.根据权利要求11所述的机电手术装置，其中，在所述闭锁致动器的所述中间位置，一旦所述末端执行器从所述轴组件脱离，所述末端执行器的所述联接凸耳就在所述闭锁杆上施加力以推进所述闭锁杆到所述第二位置并推进所述闭锁致动器到所述第一位置。
13.根据权利要求4所述的机电手术装置，其中，所述轴组件限定形成在其远侧端内的向远侧定方位的至少一对凹口，其中，这对凹口相对于彼此径向偏移大约90°，并且其中，当所述闭锁致动器在所述第二位置时，所述末端执行器相对于所述轴组件旋转以使所述闭锁致动器轴向对准一对所述凹口中的一个从而相对于所述轴组件固定所述末端执行器的旋转方位。
14.根据权利要求13所述的机电手术装置，其中，所述末端执行器配置成相对于所述轴组件被人工地旋转。
15.根据权利要求1所述的机电手术装置，其中，所述轴组件进一步包括：
关节式运动杆，其至少部分地可滑动地支撑在所述远侧颈部壳体内，所述关节式运动杆包括：
远侧端；和
近侧端，其操作性地连接至可旋转驱动轴；其中，所述关节式运动杆径向偏离所述轴组件的中央纵向轴线一段距离；以及
关节式运动连杆，其具有可枢转地连接至所述关节式运动杆的所述远侧端的近侧端和可枢转地连接至所述远侧颈部壳体的远侧端；
其中，所述机电手术装置的连接至所述关节式运动杆的可旋转驱动轴的致动引起所述关节式运动杆轴向平移；并且
其中，所述关节式运动杆的轴向平移引起所述远侧颈部壳体相对于所述近侧颈部壳体枢转偏离轴线。
16.根据权利要求1所述的机电手术装置，其中，所述轴组件包括盘簧，所述盘簧在所述远侧颈部壳体和所述近侧颈部壳体之间延伸并越过所述远侧颈部壳体和所述近侧颈部壳体，并且其中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆被包覆在所述盘簧内。
17.根据权利要求1所述的机电手术装置，其中，当所述末端执行器连接至所述轴组件时，至少所述挠性驱动线缆的所述远侧端径向偏离所述轴组件的中央纵向轴线一段距离。
18.一种末端执行器，其用于执行手术功能并能够与机电电源连接，所述末端执行器包括：
上钳夹和下钳夹，所述上钳夹和所述下钳夹中的至少一个能够相对于所述上钳夹和所述下钳夹中的另一个移动，其中，所述末端执行器的所述下钳夹构造成选择性地接收钉仓组件；
驱动梁，其可滑动地支撑在所述下钳夹内并能够经由所述上钳夹和所述下钳夹中的每一个平移从而相对于所述上钳夹移动所述下钳夹；
钉仓组件，其构造成用于装载进入所述下钳夹内，所述钉仓组件包括可滑动地支撑在其内的致动滑块并且所述钉仓组件构造成在所述致动滑块从最近侧位置向远侧移动时排出装载在所述钉仓组件内的多个吻合钉的至少一部分；
驱动螺杆，其可旋转地支撑在所述下钳夹内，其中，所述驱动梁可螺纹地支撑在所述驱动螺杆上，所述驱动螺杆的旋转因此导致所述驱动梁的轴向平移，其中，所述驱动螺杆限定近侧联接槽；
近侧联接毂，其限定朝向近侧的开口；
闭锁致动器，其具有至少第一位置和第二位置；以及
闭锁杆，其支撑在所述近侧联接毂内并且能够被所述闭锁致动器操作性地接合，所述闭锁杆包括：
第一位置，其中，所述闭锁杆没有越过所述近侧联接毂的所述开口延伸；和
第二位置，其中，所述闭锁杆至少部分地越过所述近侧联接毂的所述开口延伸。
19.根据权利要求18所述的末端执行器，其中，当所述闭锁致动器在所述第一位置时所述闭锁杆在所述第一位置，并且，其中，当所述闭锁致动器在所述第二位置时，所述闭锁杆被所述闭锁致动器接合并且被所述闭锁致动器推进到所述第二位置。
20.根据权利要求18所述的末端执行器，其中，至少一个所述闭锁致动器被偏置到所述第二位置，并且所述闭锁杆被偏置到所述第一位置。
21.根据权利要求18所述的末端执行器，其中，所述闭锁致动器包括在其所述第一位置和所述第二位置之间的中间位置，
其中，在所述中间位置，所述闭锁致动器的所述成角凸轮表面与所述闭锁杆接触从而将所述闭锁杆布置在其所述第一位置和所述第二位置之间的中间位置。
22.根据权利要求18所述的末端执行器，进一步包括：
挠性驱动线缆，其可旋转地支撑在所述末端执行器内并从所述驱动螺杆的所述联接槽延伸，其中，所述挠性驱动线缆接收旋转力并将该旋转力传递至所述驱动螺杆以致动所述末端执行器。
23.一种接合器轴组件，其用于将末端执行器和机电电源选择性地相互连接，所述接合器轴组件包括：
接合器壳体，其构造成并适于选择性地连接至所述机电电源的至少一个可旋转驱动轴；
外管，其具有由所述接合器壳体支撑的近侧端和构造成并适于与所述末端执行器操作性连接的远侧端；以及
至少一个力传递组件，其用于将所述机电电源的所述至少一个可旋转驱动轴中对应的一个可旋转驱动轴与支撑在所述末端执行器内的至少一个旋转接收构件相互连接，其中，所述至少一个力传递组件包括：
挠性驱动线缆，其从所述末端执行器延伸，所述挠性驱动线缆具有连接至与所述机电电源的所述至少一个可旋转驱动轴连接的可旋转驱动轴的第一端和能够连接至所述末端执行器的所述至少一个旋转接收构件的第二端，其中，所述至少一个力传递组件将所述机电电源的所述可旋转驱动轴的旋转传递至所述末端执行器的所述至少一个旋转接收构件。
24.根据权利要求23所述的接合器轴组件，进一步包括：
近侧颈部壳体，其支撑在所述外管的远侧端；和
远侧颈部壳体，其可枢转地连接至所述近侧颈部壳体，其中，所述远侧颈部壳体的远侧端构造成并适于与所述末端执行器操作性连接；并且
其中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆至少延伸通过所述近侧颈部壳体和所述远侧颈部壳体。
25.根据权利要求24所述的接合器轴组件，其中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆径向偏离所述轴组件的中央纵向轴线一段距离。
26.根据权利要求24所述的接合器轴组件，其进一步包括从远侧颈部壳体向远侧延伸的联接凸耳，其中，所述联接凸耳基本上沿所述轴组件的中央纵向轴线定位。
27.根据权利要求26所述的接合器轴组件，其中，所述联接凸耳限定围绕其的外环形槽道。
28.根据权利要求24所述的接合器轴组件，其中，所述远侧颈部壳体限定形成在其远侧端内的向远侧定方位的至少一对凹口，其中，这对凹口相对于彼此径向偏移大约90°，并且其中，当闭锁致动器在从所述末端执行器突出的闭锁位置时，所述末端执行器相对于所述轴组件旋转以使所述末端执行器的闭锁致动器轴向对准一对所述凹口中的一个从而相对于所述轴组件固定所述末端执行器的旋转方位。
29.根据权利要求24所述的接合器轴组件，进一步包括：
关节式运动杆，其至少部分地可滑动地支撑在所述远侧颈部壳体内，所述关节式运动杆包括：
远侧端；和
近侧端，其操作性地连接至可旋转驱动轴；其中，所述关节式运动杆径向偏离所述轴组件的中央纵向轴线一段距离；以及
关节式运动连杆，其具有可枢转地连接至所述关节式运动杆的所述远侧端的近侧端和可枢转地连接至所述远侧颈部壳体的远侧端；
其中，连接至所述关节式运动杆的所述机电电源的所述至少一个可旋转驱动轴的致动引起所述关节式运动杆轴向平移；并且
其中，所述关节式运动杆的轴向平移引起所述远侧颈部壳体相对于所述近侧颈部壳体枢转偏离轴线。
30.根据权利要求23所述的接合器轴组件，其中，所述轴组件包括盘簧，并且其中，当所述末端执行器连接至所述轴组件时，所述挠性驱动线缆被包覆在所述盘簧内。
31.一种末端执行器，其用于执行手术功能并能够连接至机电电源，所述末端执行器包括：
上钳夹和下钳夹，所述上钳夹和所述下钳夹中的至少一个能够相对于所述上钳夹和所述下钳夹中的另一个移动，其中，所述末端执行器的所述下钳夹构造成选择性地接收钉仓组件；
驱动梁，其可滑动地支撑在所述下钳夹内并能够经由所述上钳夹和所述下钳夹中的每一个平移从而相对于所述上钳夹移动所述下钳夹；
驱动螺杆，其可旋转地支撑在所述下钳夹内，其中，所述驱动梁可螺纹地支撑在所述驱动螺杆上，所述驱动螺杆的旋转因此导致所述驱动梁的轴向平移，其中，所述驱动螺杆限定近侧联接槽；以及
挠性驱动线缆，其具有能够连接至与所述机电电源的至少一个可旋转驱动轴连接的可旋转驱动轴的第一端和连接至所述驱动螺杆的所述近侧联接槽的第二端，其中，所述挠性驱动线缆将所述机电电源的所述可旋转驱动轴的旋转传递至所述末端执行器的所述驱动螺杆。
32.根据权利要求31所述的末端执行器，进一步包括：
钉仓组件，其构造成用于装载进入所述下钳夹内，所述钉仓组件包括可滑动地支撑在其内的致动滑块并且所述钉仓组件构造成在所述致动滑块从最近侧位置向远侧移动时排出装载在所述钉仓组件内的多个吻合钉的至少一部分。
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US20140276932A1 (en) 2014-09-18
AU2014200778B2 (en) 2017-08-31
ES2612706T3 (es) 2017-05-18
US10085752B2 (en) 2018-10-02
US9492189B2 (en) 2016-11-15
AU2014200778A1 (en) 2014-10-02

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