CN105050514B - 具有关节运动端部执行器的机器人超声外科装置 - Google Patents
具有关节运动端部执行器的机器人超声外科装置 Download PDFInfo
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Abstract
一种用于对组织进行操作的设备,所述设备包括端部执行器、轴组件和交接组件。所述端部执行器包括超声刀。所述轴组件包括能够操作以使所述端部执行器偏离所述纵向轴线的关节运动节段。所述交接组件能够操作以驱动所述端部执行器。所述交接组件包括基座和多个驱动轴。所述基座被构造为能够与机器人控制***的对接部分联接。所述驱动轴垂直于所述轴组件的所述纵向轴线取向。第一驱动轴能够操作以相对于所述基座旋转所述轴组件。第二驱动轴能够操作以驱动所述关节运动节段。第三驱动轴能够操作以驱动夹持臂朝向所述超声刀枢转。
Description
背景技术
多种外科器械包括端部执行器,该端部执行器具有以超声频率振动来切割和/或密封组织(例如,通过使组织细胞中的蛋白变性)的刀片元件。这些器械包括将电力转换为超声振动的压电元件,该超声振动随声学波导传输至刀片元件。这样的超声外科器械的例子包括HARMONIC 超声剪(HARMONIC Ultrasonic Shears)、HARMONIC超声剪(HARMONIC Ultrasonic Shears)、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)和HARMONIC 超声刀(HARMONIC Ultrasonic Blades),均购自Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio)。此类装置的其他例子以及相关概念公开于以下专利中:1994年6月21日公布的名称为“Clamp Coagulator/Cutting System for Ultrasonic SurgicalInstruments”的美国专利5,322,055,其公开内容以引用方式并入本文;1999年2月23日公布的名称为“Ultrasonic Clamp Coagulator Apparatus Having Improved ClampMechanism”的美国专利5,873,873,其公开内容以引用方式并入本文;1997年10月10日提交的名称为“Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp ArmPivot Mount”的美国专利5,980,510,其公开内容以引用方式并入本文;2001年12月4日公布的名称为“Blades with Functional Balance Asymmetries for use with UltrasonicSurgical Instruments”的美国专利6,325,811,其公开内容以引用方式并入本文;2004年8月31日公布的名称为“Robotic Surgical Tool with Ultrasound Cauterizing andCutting Instrument”的美国专利6,783,524,其公开内容以引用方式并入本文;2006年4月13日公布的名称为“Tissue Pad for Use with an Ultrasonic Surgical Instrument”的美国公布2006/0079874,其公开内容以引用方式并入本文;2007年8月16日公布的名称为“Ultrasonic Device for Cutting and Coagulating”的美国公布2007/0191713,其公开内容以引用方式并入本文;2007年12月6日公布的名称为“Ultrasonic Waveguide andBlade”的美国公布2007/0282333,其公开内容以引用方式并入本文;2008年8月21日公布的名称为“Ultrasonic Device for Cutting and Coagulating”的美国公布2008/0200940,其公开内容以引用方式并入本文;2010年3月18日公布的名称为“Ultrasonic Device forFingertip Control”的美国公布2010/0069940,其公开内容以引用方式并入本文;以及2011年1月20日公布的名称为“Rotating Transducer Mount for Ultrasonic SurgicalInstruments”的美国公布2011/0015660,其公开内容以引用方式并入本文;2012年6月29日提交的名称为“Surgical Instruments with Articulating Shafts”的美国专利申请13/538,588,其公开内容以引用方式并入本文;2012年10月22日提交的名称为“FlexibleHarmonic Waveguides/Blades for Surgical Instruments”的美国专利申请13/657,553,其公开内容以引用方式并入本文。另外,前述外科工具中的一些可包括诸如下述专利所公开的无线换能器:2010年11月5日提交的名称为“Energy-Based Surgical Instruments”的美国专利申请61/410,603,其公开内容以引用方式并入本文。
此外,多种外科器械包括具有关节运动节段的轴,从而为位于轴的关节运动节段远侧的端部执行器提供增强的定位能力。这种装置的例子包括由Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio)制造的各种型号的直线切割器。此类装置的其他例子以及相关概念公开于以下专利中:2008年6月3日公布的名称为“ArticulatingSurgical Stapling Instrument Incorporating a Two-Piece E-Beam FiringMechanism”的美国专利7,380,696,其公开内容以引用方式并入本文;2008年7月29日公布的名称为“Surgical Stapling and Cutting Device”的美国专利7,404,508,其公开内容以引用方式并入本文;2008年11月25日公布的名称为“Surgical Instrument withArticulating Shaft with Rigid Firing Bar Supports”的美国专利7,455,208,其公开内容以引用方式并入本文;2009年3月24日公布的名称为“Surgical InstrumentIncorporating an Electrically Actuated Articulation Mechanism”的美国专利7,506,790,其公开内容以引用方式并入本文;2009年6月23日公布的名称为“SurgicalStapling Instrument with an Articulating End Effector”的美国专利7,549,564,其公开内容以引用方式并入本文;2009年7月14日公布的名称为“Surgical InstrumentIncorporating an Electrically Actuated Articulation Mechanism”的美国专利7,559,450,其公开内容以引用方式并入本文;2010年2月2日公布的名称为“SurgicalInstrument with Guided Laterally Moving Articulation Member”的美国专利7,654,431,其公开内容以引用方式并入本文;2010年8月24日公布的名称为“SurgicalInstrument with Laterally Moved Shaft Actuator Coupled to PivotingArticulation Joint”的美国专利7,780,054,其公开内容以引用方式并入本文;2010年8月31日公布的名称为“Surgical Instrument with Articulating Shaft with SinglePivot Closure and Double Pivot Frame Ground”的美国专利7,784,662,其公开内容以引用方式并入本文;以及2010年9月21日公布的名称为“Surgical InstrumentArticulation Joint Cover”的美国专利7,798,386,其公开内容以引用方式并入本文。
一些外科***提供对外科器械的机器人控制。可通过患者体内的小切口进行微创机器人外科手术。机器人外科***可与各种类型的外科器械配合使用,包括但不限于外科缝合器、超声器械、电外科器械和/或各种其他类型的器械,在下文中将更详细地描述。机器人外科***的一个例子是Intuitive Surgical,Inc.(Sunnyvale,California)的DAVINCITM***。以其他例子的方式,机器人外科***的一个或多个方面公开于以下专利中:1998年8月11日公布的名称为“Articulated Surgical Instrument For Performing MinimallyInvasive Surgery With Enhanced Dexterity and Sensitivity”的美国专利5,792,135,其公开内容以引用方式并入本文;1998年10月6日公布的名称为“Remote CenterPositioning Device with Flexible Drive”的美国专利5,817,084,其公开内容以引用方式并入本文;1999年3月2日公布的名称为“Automated Endoscope System for OptimalPositioning”的美国专利5,878,193,其公开内容以引用方式并入本文;2001年5月15日公布的名称为“Robotic Arm DLUS for Performing Surgical Tasks”的美国专利6,231,565,其公开内容以引用方式并入本文;2004年8月31日公布的名称为“Robotic SurgicalTool with Ultrasound Cauterizing and Cutting Instrument”的美国专利6,783,524中,其公开内容以引用方式并入本文;2002年4月2日公布的名称为“Alignment of Masterand Slave in a Minimally Invasive Surgical Apparatus”的美国专利6,364,888,其公开内容以引用方式并入本文;2009年4月28日公布的名称为“Mechanical ActuatorInterface System for Robotic Surgical Tools”的美国专利7,524,320,其公开内容以引用方式并入本文;2010年4月6日公布的名称为“Platform Link Wrist Mechanism”的美国专利7,691,098,其公开内容以引用方式并入本文;2010年10月5日公布的名称为“Repositioning and Reorientation of Master/Slave Relationship in MinimallyInvasive Telesurgery”的美国专利7,806,891,其公开内容以引用方式并入本文;2010年11月2日公布的名称为“Surgical Tool With Writed Monopolar Electrosurgical EndEffectors”的美国专利7,824,401,其公开内容以引用方式并入本文。
可与机器人外科***结合的器械的其他例子在以下专利中有所描述:2013年1月10日公布的名称为“Automated End Effector Component Reloading System for Usewith a Robotic System”的美国公布2013/0012957,其公开内容以引用方式并入本文;2012年8月9日公布的名称为“Robotically-Controlled Surgical Instrument withForce-Feedback Capabilities”的美国公布2012/0199630,其公开内容以引用方式并入本文;2012年5月31日公布的名称为“Shiftable Drive Interface for Robotically-Controlled Surgical Tool”的美国公布2012/0132450,其公开内容以引用方式并入本文;2012年8月9日公布的名称为“Surgical Stapling Instruments with Cam-Driven StapleDeployment Arrangements”的美国公布2012/0199633,其公开内容以引用方式并入本文;2012年8月9日公布的名称为“Robotically-Controlled Motorized Surgical EndEffector System with Rotary Actuated Closure Systems Having VariableActuation Speeds”的美国公布2012/0199631,其公开内容以引用方式并入本文;2012年8月9日公布的名称为“Robotically-Controlled Surgical Instrument with SelectivelyArticulatable End Effector”的美国公布2012/0199632,其公开内容以引用方式并入本文;2012年8月9日公布的名称为“Robotically-Controlled Surgical End EffectorSystem”的美国公布2012/0203247,其公开内容以引用方式并入本文;2012年8月23日公布的名称为“Drive Interface for Operably Coupling a Manipulatable Surgical Toolto a Robot”的美国公布2012/0211546;2012年6月7日公布的名称为“Robotically-Controlled Cable-Based Surgical End Effectors”的美国公布2012/0138660,其公开内容以引用方式并入本文;2012年8月16日公布的名称为“Robotically-ControlledSurgical End Effector System with Rotary Actuated Closure Systems”的美国公布2012/0205421,其公开内容以引用方式并入本文;2012年4月10日提交的名称为“ControlInterface for Laparoscopic Suturing Instrument”的美国专利申请13/443,101,其公开内容以引用方式并入本文;以及2012年2月10日提交的名称为“Robotically ControlledSurgical Instrument”的美国临时专利申请61/597,603,其公开内容以引用方式并入本文。
尽管已研制和使用了若干外科器械和***,但据信在本发明人之前还无人研制出或使用所附权利要求中描述的发明。
附图说明
本说明书所附权利要求书中特别指出并且明确主张了本技术,但是据信,通过以下结合附图对某些例子的描述将会更好地理解本技术,附图中类似的参考标号表示相同元件,其中:
图1示出示例性机器人外科***的方框图;
图2示出图1的***的示例性控制器的透视图;
图3示出图1的***的示例性机器人臂车的透视图;
图4示出适合于与图1***结合的示例性外科器械的透视图;
图5示出图4器械的基座组件的下侧的透视图;
图6示出图4器械的端部执行器和轴组件关节运动节段的透视图;
图7示出图6的端部执行器和关节运动节段的分解图;
图8示出图6的端部执行器和关节运动节段的侧面横截面图;
图9示出图6的端部执行器和关节运动节段的透视图,其中省略了外部护套和夹持垫特征结构;
图10示出沿图8的线10-10截取的图6的端部执行器和关节运动节段的横截面图;
图11示出沿图8的线11-11截取的图6的端部执行器和关节运动节段的横截面图;
图12示出图4器械的轴组件的近侧端部的透视图;
图13示出图4器械的轴组件的近侧端部的分解图;
图14示出图4器械的近侧端部的透视图,其中省略了外部护盖;
图15示出图4器械的近侧端部的顶部平面图,其中省略了外部护盖;
图16示出图4器械的近侧端部的分解图,其中省略了外部护盖;
图17示出沿图15的线17-17截取的图4器械的近侧端部的近侧部分的侧面横截面图;
图18示出沿图15的线18-18截取的图4器械的近侧端部的远侧部分的侧面横截面图;
附图并非意在以任何方式进行限制,并且可以预期本发明的各种实施例能够以多种其他方式来执行,包括那些未必在附图中示出的方式。并入本说明书并构成其一部分的附图示出了本发明的若干方面,并与说明书一起用于说明本发明的原理;然而,应当理解本发明不受限于所示出的精确布置方式。
具体实施方式
以下对本技术的某些例子的描述不应用来限制本发明的范围。通过以下举例说明设想用于实施本发明的最佳方式之一的描述,本发明的其他例子、特征结构、形态、实施例和优点对于本领域的技术人员而言将变得显而易见。正如将意识到,本文所述技术包括其他不同并明显的方面,这些都不与本技术脱离。因此,附图和具体实施方式应被视为实质上是示例性的而非限制性的。
另外应当理解,本文所述的教导内容、表达方式、实施例、实例等中的任何一者或多者可与本文所述的其他教导内容、表达方式、实施例、实例等中的任何一者或多者相结合。因此,下述教导内容、表达方式、实施例、示例等不应视为彼此隔离。参考本文教导内容,其中本文教导内容可结合的各种合适方式将对本领域的普通技术人员显而易见。这些修改和变型旨在包括在权利要求书的范围内。
为了清楚起见,术语“近侧”和“远侧”在本文中相对于机器人外科驱动器而定义,该驱动器包括具有交接的近侧外壳,以机械的方式和电的方式与具有远侧外科端部执行器的外科器械联接。术语“近侧”指较为靠近机器人外科驱动器外壳的元件的位置,术语“远侧”是指较为靠近外科器械的外科端部执行器并且远离外壳的元件的位置。
I.示例性机器人外科***概览
图1示出示例性机器人外科***10。***10包括至少一个控制器14和至少一个臂车18。臂车18以机械的方式和/或电的方式联接到一个或多个机器人操纵器或机器人臂20。每个机器人臂20包括一个或多个外科器械22,用于对患者24进行各种手术任务。臂车18(包括臂20和器械22)的操作可由临床医生12通过控制器14进行指挥。在一些例子中,由第二个临床医生12’操作的第二个控制器14’也可以结合第一个临床医生12’对臂车18的操作进行指挥。例如,临床医生12,12’中的每一个可以控制车的不同臂20,或者在一些情况下,可穿过临床医生12,12’之间对臂车18进行完全控制。在一些例子中,另外的臂车(未示出)可用于患者24。这些另外的臂车可由控制器14,14’中的一个或多个控制。
臂车18和控制器14,14′可经由通信链路16彼此通信,该通信链路可以是根据任何合适的通信协议传递任何合适类型的信号(例如,电信号、光信号、红外信号等)的任何合适类型的有线和/或无线通信链路。通信链路16可以是实际的物理链路,或者可以是使用一个或多个实际物理链路的逻辑链路。当链路是逻辑链路时,物理链路的类型可以是数据链路、上行链路、下行链路、光纤链路、点到点链路,例如,正如计算机网络领域中已知的是指连接网络节点的通信设施。
图2示出了可用作***10的控制器14的示例性控制器30。在该例子中,控制器30通常包括具有精密的使用者输入特征结构(未示出)的使用者输入组件32,该使用者输入特征结构由外科医生抓紧并且当外科医生通过立体显示器34观察外科手术时在空间中进行操纵。使用者输入组件32的使用者输入结构可包括手动输入装置,该手动输入装置以多个自由程度移动并且包括用于直观地致动工具(例如,用于关闭抓紧锯、向电极施加电势等)的可致动柄部。本例子的控制器30还包括向外科医生提供对臂20和器械22的另外控制的一系列脚踏开关38。显示器34可以示出来自观察患者体内手术部位的一个或多个内窥镜的视图和/或其他合适的视图。此外,反馈计36可通过显示器34观察并为外科医生提供施加于器械22的部件(例如,切割构件或夹紧构件等)的力的大小的视觉指示。其他传感器结构可用于为控制器30提供指示,以指示钉仓是否已加载到器械22的端部执行器中、器械22的砧座是否在击发之前已移动至闭合位置,和/或器械22的一些其他操作条件。
图3示出可以作为***10的臂车18的示例性机器人臂车40。在该例子中,臂车40能够操作以致动多个外科器械50。尽管该例子中示出了三个器械50,应当理解臂车40可以操作以支持和致动任何合适数量的外科器械50。外科器械50各自由一系列手动关节运动式连杆(一般称为装置接头44)和机器人操纵器46支撑。本文示出的这些结构具有在机器人连杆的大部分之上延伸的护盖。这些护盖可以是任选的,并且可在尺寸上有所限制或在一些型式中完全消除,以使用于操纵此类装置的伺服机构遇到的惯性最小化、限制移动部件的体积以避免碰撞、并且限制车40的总重量。
每个机器人操纵器46在器械平台70处终止,该平台是可枢转、可旋转的,另外还可通过操纵器46进行移动。每个平台包括可沿一对轨道74滑动到另外位置器械50的器械对接部分72。在该例子中,这种滑动是机动的。每个器械对接部分72包括联接器械50的交接组件52的机械交接和电交接。仅以举例的方式,对接部分72可包括与交接组件52的互补旋转输入联接的四个旋转输出。这种旋转驱动特征结构可驱动器械50中的多种功能,如本文引用的各种参考文献所述和/或如下文中更详细地描述。电交接可以通过物理接触、感应耦合和/或其他方式建立通信;并且可以操作以向器械50中的一个或多个特征结构提供电力、向器械50提供命令和/或数据通信、和/或提供来自器械50的命令和/或数据通信。根据本文的教导内容,器械对接部分72可以机械的方式和电的方式与器械50的交接组件52通信的各种合适方式对于本领域的普通技术人员将是显而易见的。还应当理解,器械50可包括与独立电源和/或控制单元耦接的一个或多个缆线,以向器械50提供电源通信和/或命令/数据并提供来自器械50的电源通信和/或命令/数据。
该例子中的臂车40还包括可移动(例如,通过单个伴随物)以相对于患者选择性地定位臂车40的基座48。车40通常可以具有适于在手术室之间传送车40的尺寸。车40可被构造为能够适于穿过标准的手术室门并放置到标准的医院电梯上。在一些型式中,自动化器械重新加载***(未示出)也可以被定位在臂车40的工作包封60中或附近,以选择性地重新加载器械50的部件(例如,钉仓等)。
除了上述之外,应当理解***10的一个或多个方面可以根据以下专利的教导内容中的至少一些进行构造:美国专利5,792,135、美国专利5,817,084、美国专利5,878,193、美国专利6,231,565、美国专利6,783,524、美国专利6,364,888、美国专利7,524,320、美国专利7,691,098、美国专利7,806,891、美国专利7,824,401和/或美国公布2013/0012957。上述美国专利和美国专利公布中的每一者的公开内容以引用方式并入本文。根据本文的教导内容,可结合到***10中的另有其他合适的特征结构和可操作性对于本领域的普通技术人员而言将是显而易见的。
II.具有关节运动特征结构的示例性超声外科器械
图4至图18示出可用作***10内的至少一个器械50的示例性超声外科器械100。器械100的至少一部分可根据以下专利的教导内容中的至少一些进行构造和操作:美国专利5,322,055、美国专利5,873,873、美国专利5,980,510、美国专利6,325,811、美国专利6,783,524;美国公布2006/0079874、美国公布2007/0191713、美国公布2007/0282333、美国公布2008/0200940、美国公布2010/0069940、美国公布2011/0015660、美国专利申请13/538,588、美国专利申请13/657,553和/或美国专利申请61/410,603。上述专利、公布和申请中的每一者的公开内容以引用方式并入本文。如在这些专利中所述并且在下文中将更详细描述,器械100能够操作以基本上同时地切割组织和密封或焊接组织(例如,血管等)。换句话讲,器械100类似于缝合器的直线切割器类型那样操作,不同的是,器械100通过施加超声振动能量提供组织焊接,而不是提供数行缝钉来接合组织。这种相同的超声振动能量还与通过平移刀构件切割组织相似的方式分离组织。还应当理解,器械100可具有与HARMONIC超声剪(HARMONIC Ultrasonic Shears)、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)和/或HARMONIC 超声刀(HARMONIC Ultrasonic Blades)的各种结构和功能上的相似处。此外,器械100可具有与在本文中引述和以引用方式并入的其他参考文献中任一个教导的装置的各种结构和功能上的相似处。
在本文所引用的参考文献的教导内容、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)、HARMONIC 超声剪(HARMONIC UltrasonicShears)和/或HARMONIC 超声刀(HARMONIC UltrasonicBlades)以及与器械100有关的以下教导内容之间存在一定程度的重叠的情况下,本文中的任何描述无意被假定为公认的现有技术。本文中的若干教导内容事实上将超出本文所引用的参考文献的教导内容、HARMONIC 超声剪(HARMONIC UltrasonicShears)、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)、HARMONIC 超声剪(HARMONIC Ultrasonic Shears)和HARMONIC超声刀(HARMONIC Ultrasonic Blades)的范围。
该例子的器械100包括交接组件200、轴组件110、关节运动节段130和端部执行器150。交接组件200被构造为能够与机器人臂车40的对接部分72联接,从而还能够操作以驱动在下文中将更详细描述的关节运动节段130和端部执行器150。正如在下文中还将更详细所述,器械100能够操作以使端部执行器150进行关节运动,从而提供相对于组织(例如,大血管等)的期望定位,然后利用端部执行器150向组织施加超声振动能量,从而切割和密封组织。
正如在下文中将更详细描述,该例子的器械100包括超声换能器120,该超声换能器能够操作以将电力转换为超声振动。在一些情况下,换能器120直接通过对接部分72接收电力。在一些其他情况下,换能器120包括将换能器120与发生器300直接联接的独立缆线302。这样的发生器300可包括电源和被构造为能够用于向换能器120提供电力分布的控制模块,该换能器特别适用于通过换能器120生成超声振动。仅以举例的方式,发生器300可包括Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio)出售的GEN 300。除此之外或作为替代,发生器300可根据以下专利的教导内容中的至少一些进行构造:2011年4月14日公布的名称为“Surgical Generator for Ultrasonic and Electrosurgical Devices”的美国公布2011/0087212,其公开内容以引用方式并入本文。根据本文的教导内容,发生器300可采用的另外其他合适的形式以及发生器300可提供的各种特征结构和可操作性对于本领域普通技术人员而言将是显而易见的。还应当理解,发生器300的功能的至少一部分可直接结合到交接组件200中。仅以举例的方式,交接组件200可包括一体式电池或其他一体式电源,以及调节来自电池或其他一体式电源的电力所需的电路以驱动超声换能器120。
A.示例性端部执行器和声学传动系
正如图6至图8充分展示,该实例的端部执行器150包括夹持臂152和超声刀160。夹持臂152包括固定在夹持臂152的下侧的面向刀160的夹持垫154。夹持臂152以枢转方式固定到第一有棱纹主体部分132的朝远侧突出的凸舌133处,该部分形成如在下文中将更详细描述的关节运动节段130的一部分。夹持臂152能够操作以选择性地朝向和远离刀160枢转,从而选择性地在夹持臂152和刀160之间夹持组织。一对臂156横向地延伸至夹持臂152,并且固定至在臂156之间横向延伸的销170。杆174固定到销170。杆174从闭合管176朝远侧延伸,并且一体地固定到闭合管176。
驱动环178被固定到闭合管176的近侧端部。具体地讲,如图13充分展示,闭合管176的近侧端部包括被构造为能够与驱动环178的横向开口179对齐的横向开口177。这些开口177,179被构造为能够接收定位螺钉(未示出)或将驱动环178固定到闭合管176的其他特征结构。驱动环178以能够滑动和同轴的方式设置在外部护套112的外部周围;同时闭合管176以能够滑动和同轴的方式设置在外部护套112的内部。然而,外部护套112包括被构造为能够接收固定螺钉的纵向延伸的狭槽114,所述固定螺钉用于将驱动环178固定到闭合管176。因此,狭槽114使驱动环178和闭合管176一起相对于外部护套112平移。当外部护套112如在下文中将更详细描述围绕其纵向轴线旋转时,狭槽114中的固定螺钉的定位还提供闭合管176和驱动环178围绕外部护套112的纵向轴线的旋转。
正如在下文中还将更详细描述,交接组件200包括能够操作以驱动相对于外部护套112和相对于关节运动节段130对驱动环178、闭合管176和杆174进行纵向驱动的特征结构。应当理解,驱动环178、闭合管176和杆174的平移将提供夹持臂152朝向刀160的枢转(当环178、管176和杆174朝近侧平移时);或远离刀160的枢转(当环178、管176和杆174朝远侧平移时)。杆174的柔性足以通过关节运动节段130弯曲。然而,无论关节运动节段130是平直还是弯曲构型,当杆174被平移时,杆174具有足够的抗拉和抗压强度以驱动夹持臂152。
正如图7至图8充分展示,弹簧片172被捕获在夹持臂152和夹持垫172之间,并且邻接凸舌133的远侧面。弹簧片172被弹性地偏压以将夹持臂152远离刀160驱动至图4、6和8所示的打开位置。因此,弹簧片172还朝远侧偏压管176和杆174。当然,如果需要,类似于本文所述的其他部件,弹簧片172可以被省略。另外,如果需要,夹持臂152和夹持垫154可以被省略。
该例子的刀160能够操作以超声频率振动,以便有效地切割和密封组织,尤其是当组织被夹持于夹持垫154和刀160之间时。刀160定位在声学传动系的远侧端部处。该声学传动系包括换能器组件120、刚性声学波导180和柔性声学波导166。正如图5和图12至图17充分展示,换能器组件120包括定位在刚性声学波导180的焊头182的近侧处的一组压电盘122。压电盘122沿朝近侧延伸的螺栓181同轴定位,它是定位在焊头182近侧的声学波导180的一体结构。端质量螺母124被固定在螺栓181处,从而将压电盘122固定到刚性声学波导180处。如上所述,压电盘122能够操作以将电力转换为超声振动,随后沿刚性声学波导180传输至刀160。刚性声学波导180如图13和图17至图18充分展示。如图13所示,刚性声学波导180包括与外部护套118中形成的横向开口118互补的横向开口186。销184设置在开口118,186处,以将外部护套112与刚性声学波导180联接。当外部护套112如将在下文中更详细描述围绕其纵向轴线旋转时,这种耦合提供声学波导180(以及声学传动系的其余部分)围绕外部护套112的纵向轴线的旋转。在该例子中,开口186位于与节点对应的位置处,该节点与通过刚性声学波导180传输的共振超声振动相关。
刚性声学波导180在远侧终止于图8至图11和图13所示的耦合器188处。耦合器188通过双螺纹螺栓169被固定到耦合器168处。耦合器168位于柔性声学波导166的近侧端部处。正如图7至图11充分展示,柔性声学波导166包括远侧凸缘136、近侧凸缘138和位于凸缘138之间的缩小节段164。在该例子中,凸缘136,138位于与节点对应的位置处,该节点与通过柔性声学波导166传输的共振超声振动相关。缩小节段164被构造为能够使柔性声学波导166挠曲以传递超声振动,而不会显著影响柔性声学波导166的功能。仅以举例的方式,缩小节段164可根据以下专利的一个或多个教导内容进行构造:美国专利申请13/538,588和/或美国专利申请13/657,553,这些专利的公开内容以引用方式并入本文。应当理解,波导166,180可被构造为能够简化通过波导166,180传输的机械振动。此外,波导166,180可包括能够操作以控制纵向振动沿波导166,180的增益的特征结构和/或将波导166,180调谐到***共振频率的特征结构。
在该例子中,刀160的远侧端部位于与通过柔性声学波导166传输的共振超声振动相关的波腹对应的位置处,以便在声学组件未被组织承载时将其调谐至优选的共振频率fo。当换能器组件120通电时,刀160的远侧端部被构造为能够在例如大约10至500微米峰间范围内、并且在一些情况下在约20至约200微米的范围内以例如55.5kHz的预定振动频率fo纵向移动。当该例子的换能器组件120被启动时,这些机械振荡通过波导180,166被传输至到达刀160处,从而以共振超声频率提供刀160的振荡。因此,当将组织固定在刀160和夹持垫154之间时,刀160的超声振荡可同时切割组织并且使相邻组织细胞中的蛋白变性,从而提供具有相对较少热扩散的促凝效果。在一些型式中,也可通过刀160和夹持臂154提供电流以另外烧灼组织。尽管已描述了声学传输组件和换能器组件120的一些构型,但根据本文的教导内容,声学传输组件和换能器组件120的其他合适构型对于本领域普通技术人员将是显而易见的。相似地,根据本文的教导内容,端部执行器150的其他合适构型对于本领域普通技术人员来说将是显而易见的。
B.示例性轴组件和关节运动节段
该实例的轴组件110从交接组件200朝远侧延伸。关节运动节段130位于轴组件110的远侧端部处,并且端部执行器150位于关节运动节段130的远侧。轴组件110包括包封驱动特征结构和上述声学传输特征结构的外部护套112,该声学传输特征结构将交接组件200与关节运动节段130和端部执行器150联接。轴组件110能够相对于交接组件200围绕由护套112所限定的纵向轴线旋转。这样的旋转可以统一提供端部执行器150、关节运动节段130和轴组件110的旋转。当然,如果需要,可以仅省去可旋转结构。
关节运动节段130能够操作以将端部执行器150相对于护套112所限定的纵向轴线选择性地定位成各种侧面偏转角度。关节运动节段130可以采用多种形式。仅以举例的方式,关节运动节段130可根据以下专利的一个或多个教导内容进行构造:美国公布2012/0078247,其公开内容以引用方式并入本文。作为另一个仅为示例性的例子,关节运动节段130可根据以下专利的一个或多个教导内容进行构造:美国专利申请13/538,588和/或美国专利申请13/657,553,这些专利的公开内容以引用方式并入本文。根据本文的教导内容,关节运动节段130可以采用的多种其他合适形式对于本领域普通技术人员而言将是显而易见的。应当理解,器械10的一些型式可以仅缺少关节运动节段130。
正如图6至图11充分展示,该例子的关节运动节段130包括第一有棱纹主体部分132和第二有棱纹主体部分134,以及一对关节运动带140,142,这对关节运动带延伸穿过有棱纹的主体部分132,134之间的交接所限定的通道。有棱纹的主体部分132,134基本上纵向地定位在柔性声学波导166的凸缘136,138之间。关节运动带140,142的远侧端部一体地固定到远侧凸缘136。关节运动带140,142还穿过近侧凸缘138,而关节运动带140,142可相对于近侧凸缘138滑动。
关节运动带140的近侧端部固定到第一驱动环250;而关节运动带142的近侧端部固定到第二驱动环251。正如图13和图17充分展示,第一驱动环250包括环形凸缘252和向内突出的锚定件特征结构254;同时第二驱动环251也包括环形凸缘253和向内突出的锚定件特征结构255。关节运动带140的近侧端部牢固地固定在锚定件特征结构254内,而关节运动带142的近侧端部牢固地固定在锚定件特征结构255内。驱动环250,251以能够滑动的方式设置在外部护套112的近侧端部周围。外部护套112包括一对纵向延伸的狭槽116,117,这对狭槽分别被构造为能够接收锚定件特征结构254,255。狭槽116,117使驱动环250,251相对于外部护套112处平移。当外部护套112如在下文中将更详细描述围绕其纵向轴线旋转时,狭槽116,117中的锚定件特征结构254,255的定位还提供环250,251和关节运动带140,142围绕外部护套112的纵向轴线的旋转。
正如在下文中将更详细描述,交接组件200能够操作以通过朝近侧牵拉驱动环250而朝近侧牵拉关节运动带140,142;同时使其他关节运动带140,142和驱动环251朝远侧平移。应当理解,当一个关节运动带140,142超近侧牵拉时,这将导致关节运动节段130弯曲,从而使端部执行器150以关节运动角度与轴组件110的纵向轴线侧向偏离。具体地讲,端部执行器150将朝向朝近侧牵拉的关节运动带140,142进行关节运动。在这样的关节运动过程中,其他关节运动带140,142将通过凸缘136朝远侧牵拉。有棱纹的主体部分132,134和缩小节段164都是足够灵活以容纳端部执行器150的上述关节运动。
C.示例性机器人臂交接组件
图5和图14至图18详细地示出了该例子的交接组件200。如图所示,交接组件200包括基座202和外壳204。应当指出的是,外壳204仅在图4中示出,为了清楚起见,在图5和图14至图18中省略了。外壳204包括仅包封驱动部件的壳体。在一些型式中,外壳204还包括电子电路板、芯片和/或被构造为能够辨别器械100的其他特征结构。
基座202被构造为能够接合机器人臂车40的对接部分72。尽管未示出,应当理解,基座202还可以包括一个或多个电接触和/或能够操作以便与对接部分72的互补特征结构建立电通信的其他特征结构。轴支撑结构206从基座202向上延伸,并且向轴组件110提供支撑(同时仍然可使轴组件110旋转)。仅以举例的方式,轴支撑结构206可包括轴套、轴承和/或有助于相对于支撑结构206旋转轴组件110的其他特征结构。如图5所示,基座202还包括可相对于基座202旋转的三个驱动盘220,240,260。每个盘220,240,260包括相应的一对一体销222,242,262,这些一体销与对接部分72的驱动元件中的互补凹槽(未示出)联接。在一些型式中,每对中的一个销222,242,262较为靠近相应盘220,240,260的旋转轴,以确保盘220,240,260相对于对接部分72的相应驱动元件的正确角度取向。
正如图14至图16所示,驱动轴224,244,264从每个盘220,240,260向上一体地延伸。正如在下文中将更详细描述,通过驱动轴224,244,264的独立旋转,盘220,240,260能够独立地操作以提供轴组件110的独立旋转、关节运动节段130的弯曲以及闭合管176的平移。基座202还包括根本不旋转或驱动任何部件的闲置盘280。一对固定枢转销282,284从盘280向上一体地延伸。
正如图14至图16充分展示,第一螺旋齿轮226牢固地固定到驱动轴224,使得相应盘220的旋转提供第一螺旋齿轮226的旋转。第一螺旋齿轮226与第二螺旋齿轮230啮合,第二螺旋齿轮230一体地固定到套筒232。套筒232一体地固定到外部护套112。因此,第一螺旋齿轮226的旋转提供轴组件110的旋转。应当理解,第一螺旋齿轮226围绕第一轴线的旋转被转换为第二螺旋齿轮230围绕第二轴线的旋转,该第二轴线与第一轴线正交。根据螺旋齿轮226,230的螺纹方向,第二螺旋齿轮230的顺时针旋转(从上往下看)导致轴组件110的顺时针旋转(从轴组件110的远侧端部朝向轴组件110的近侧端部看)。同样,根据螺旋齿轮226,230的螺纹方向,第二螺旋齿轮132的逆时针旋转(从上往下看)导致轴组件110的逆时针旋转(从轴组件110的远侧端部朝向轴组件110的近侧端部看)。因此,应当理解,轴组件110可通过旋转驱动轴224致动。根据本文的教导内容,可旋转轴组件110的其他合适方式对于本领域普通技术人员将是显而易见的。
同样正如图14至图16充分展示,一对圆筒状凸轮246,248牢固地固定到驱动轴244,使得相应盘240的旋转提供凸轮246,248的旋转。凸轮246,248两者被偏心地安装到驱动轴244上,使得凸轮246,248的纵向轴线与驱动轴244的纵向轴线偏离但与其平行。此外,凸轮246,248以相反方式偏离,使得凸轮246,248相对于轴244以相反方向侧向地突出。凸轮246,248定位到驱动枢转臂286,288。枢转臂286枢转地与枢转销282联接;同时枢转臂288枢转地与枢转销284联接。第一驱动环250穿过通过第一驱动臂286形成的开口287;而第二驱动环251穿过通过第二驱动臂288形成的开口289。凸缘252,253各自具有比相应开口287,289的内径大的外径。因此,凸缘252,253限制环250,251相对于相应的驱动臂286,288的远侧移动。
当驱动轴244旋转时,凸轮246,248中的一个将根据旋转时这些部件的定位和凸轮246,248角度位置沿相应臂286,288朝近侧推动。在一些情况下,凸轮246将朝近侧驱动臂288,使得臂288围绕销284逆时针枢转(从上往下看)。臂288将在该枢转过程中抵靠凸缘253,从而朝近侧牵拉环251和关节运动带142。关节运动带142的这种近侧移动将导致关节运动节段130弯曲,并且端部执行器150朝向带142偏转。关节运动节段130的这种弯曲将朝远侧牵拉关节运动带140,继而将朝远侧牵拉环250及其凸缘252。凸轮252的远侧移动将朝远侧驱动臂286,使得臂286围绕销282顺时针枢转(从上往下看)。凸轮248的取向允许臂286的这种远侧枢转。当驱动轴244继续旋转(或者如果驱动轴244按相反方向旋转)时,上述推动和牵拉最终将会逆转。换句话讲,凸轮248可以朝近侧驱动臂286,而凸轮246允许臂288在关节运动节段130的弯曲过程中朝远侧枢转,以便提供端部执行器150朝向带140的偏转。因此,应当理解,关节运动节段130可通过旋转驱动轴244致动。根据本文的教导内容,致动关节运动节段130的其他合适方式对于本领域普通技术人员将是显而易见的。
同样正如图14至图16充分展示,圆筒形凸轮266牢固地固定到驱动轴264,使得相应盘260的旋转提供凸轮266的旋转。凸轮266被偏心地安装到驱动轴264上,使得凸轮266的纵向轴线与驱动轴264的纵向轴线偏离但与其平行。凸轮266设置在通过机架270形成的椭圆形开口272处,该机架能够相对于基座202平移。机架270包括侧向延伸的分叉274。分叉274设置在驱动环178的环形凹槽278处,该驱动环固定于如上所述的闭合管176处。凸轮266的构型和凹槽272的构型提供了一种关系,在该关系下,机架270纵向平移以响应于驱动轴264和凸轮266的旋转。由于分叉274和驱动环178之间的接合以及驱动环178与闭合管176之间的接合,机架270的这种平移提供了闭合管176的平移。因此,应当理解,可通过旋转驱动轴264选择性地远离或朝向刀160驱动夹持臂152。根据本文的教导内容,致动夹持臂152的其他合适的方式对本领域的普通技术人员将是显而易见的。
D.示例性操作
在一种示例性用途中,臂车40用于将端部执行器150经由套管针***患者体内。当穿过套管针***端部执行器150和一部分轴组件110时,关节运动节段130为基本上平直的,并且夹持臂152朝向刀160枢转。可通过对接部分72中与相应盘220联接的驱动特征结构旋转驱动轴224,以将端部执行器150相对于组织定位在所需的角度取向。然后,可通过对接部分72中与相应盘240联接的驱动特征结构旋转驱动轴244,枢转或挠曲轴组件110的关节运动节段130,以将端部执行器150相对于患者体内的解剖结构定位在所需的位置和取向。然后可通过对接部分72中与相应盘260联接的驱动特征结构旋转驱动轴264,远离刀160枢转夹持臂152,从而有效地打开端部执行器150。
然后通过致动与相应盘260联接的对接部分72中的驱动特征结构,解剖结构的组织通过旋转驱动轴264被捕获在夹持垫154和刀160之间,以便朝远侧推进闭合管176。在一些情况下,这涉及夹持两层组织,这些组织形成患者体内自然内腔限定的解剖结构(例如,血管、胃肠道的部分、生殖***的部分等)的一部分;但应当理解,器械100可用于各种组织和解剖位置。组织被捕获在夹持垫154和刀160之间后,换能器120被启动以在刀160处提供超声振动。这样同时可切割组织并且使相邻组织细胞中的蛋白质变性,由此提供具有相对较少热扩散的促凝效果。
轴组件110、关节运动节段130以及端部执行器150的上述操作可根据需要在患者体内的各个位置重复多次。当操作人员希望从患者体内抽出端部执行器150时,驱动轴244可通过与相应盘240联接的对接部分72中的驱动特征结构旋转,以拉直关节运动节段130。可通过对接部分72中与相应盘260联接的驱动特征结构旋转驱动轴264,朝向刀160枢转夹持臂152,从而有效地关闭端部执行器150。然后,臂车40用于从患者和套管针抽出端部执行器150。根据本文的教导内容,器械100是能够操作的并且操作的其他合适方法对于本领域普通技术人员而言将是显而易见的。
III.其他方面
应当理解,本文所述的任何型式的器械还可包括除上述那些之外或作为上述那些的替代的各种其他特征结构。仅以举例的方式,本文所述的任何器械还可包括以引用方式并入本文的各种参考文献任何一者中公开的各种特征结构中的一种或多种。
虽然本文中的例子主要在电外科器械的上下文中描述,但应当理解,本文的各种教导内容可以容易地应用于多种其他类型的装置。仅以举例的方式,本文的各种教导内容可以容易地应用于其他类型的电外科器械、组织抓紧器、组织检索袋部署器械、外科缝合器、外科施夹钳、超声外科器械等。
在本文的教导内容应用于电外科器械的型式中,应当理解,本文的教导内容可以容易地应用于Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio)的组织密封装置( Tissue Sealing Device)。应当理解,除此之外或作为替代,本文的教导内容可容易地与以下专利中的一个或多个的教导内容相结合:2002年12月31日公布的名称为“Electrosurgical Systems and Techniques for Sealing Tissue”的美国专利6,500,176,其公开内容以引用方式并入本文;2006年9月26日公布的名称为“ElectrosurgicalInstrument and Method of Use”的美国专利7,112,201,其公开内容以引用方式并入本文;2006年10月24日公布的名称为“Electrosurgical Working End for ControlledEnergy Delivery”的美国专利7,125,409,其公开内容以引用方式并入本文;2007年1月30日公布的名称为“Electrosurgical Probe and Method of Use”的美国专利7,169,146,其公开内容以引用方式并入本文;2007年3月6日公布的名称为“Electrosurgical JawStructure for Controlled Energy Delivery”的美国专利7,186,253,其公开内容以引用方式并入本文;2007年3月13日公布的名称为“Electrosurgical Instrument”的美国专利7,189,233,其公开内容以引用方式并入本文;2007年5月22日公布的名称为“SurgicalSealing Surfaces and Methods of Use”的美国专利7,220,951,其公开内容以引用方式并入本文;2007年12月18日公布的名称为“Polymer Compositions Exhibiting a PTCProperty and Methods of Fabrication”的美国专利7,309,849,其公开内容以引用方式并入本文;2007年12月25日公布的名称为“Electrosurgical Instrument and Method ofUse”的美国专利7,311,709,其公开内容以引用方式并入本文;2008年4月8日公布的名称为“Electrosurgical Instrument and Method of Use”的美国专利7,354,440,其公开内容以引用方式并入本文;2008年6月3日公布的名称为“Electrosurgical Instrument”的美国专利7,381,209,其公开内容以引用方式并入本文;2011年4月14日公布的名称为“SurgicalInstrument Comprising First and Second Drive Systems Actuatable by a CommonTrigger Mechanism”的美国公布2011/0087218,其公开内容以引用方式并入本文;2012年5月10日公布的名称为“Motor Driven Electrosurgical Device with Mechanical andElectrical Feedback”的美国公布2012/0116379,其公开内容以引用方式并入本文;2012年3月29日公布的名称为“Control Features for Articulating Surgical Device”的美国公布2012/0078243,其公开内容以引用方式并入本文;2012年3月29日公布的名称为“Articulation Joint Features for Articulating Surgical Device”的美国公布2012/0078247,其公开内容以引用方式并入本文;2013年1月31日公布的名称为“SurgicalInstrument with Multi-Phase Trigger Bias”的美国公布2013/0030428,其公开内容以引用方式并入本文;2013年1月31日公布的名称为“Surgical Instrument with ContainedDual Helix Actuator Assembly”的美国公布2013/0023868,其公开内容以引用方式并入本文;根据本文的教导内容,其中本文教导内容可应用于电外科器械的其他合适方式将对本领域的普通技术人员显而易见。
在本文的教导内容应用于外科缝合器械的型式中,应当理解,本文的教导内容可以与以下专利中的一个或多个的教导内容相结合,全部这些专利的公开内容以引用方式并入本文:美国专利7,380,696、美国专利7,404,508、美国专利7,455,208、美国专利7,506,790、美国专利7,549,564、美国专利7,559,450、美国专利7,654,431、美国专利7,780,054、美国专利7,784,662和/或美国专利7,798,386。根据本文的教导内容,其中本文教导内容可应用于外科缝合器械的其他合适方式将对本领域的普通技术人员显而易见。
还应当理解,本文的教导内容可以容易地应用于本文所引用的任何其他参考文献中所述的任何器械,使得本文的教导内容可以容易地以多种方式与本文所引用的任何参考文献中的教导内容组合。可结合本文的教导内容的其他类型的器械对于本领域普通技术人员而言将显而易见。
应当理解,所述以引用的方式并入本文中的任何专利、出版物或其他公开材料,无论是全文或部分,仅在所并入的材料与本公开中给出的定义、陈述或者其他公开材料不冲突的范围内并入本文。同样地并且在必要的程度下,本申请明确阐述的公开内容取代了以引证方式并入本申请的任何冲突材料。如果任何材料或其部分据述以引用方式并入本文,但与本文所述的现有定义、陈述或其他公开材料相冲突,那么仅在所并入的材料和现有公开材料之间不产生冲突的程度下才将其并入本文。
上文所述型式可设计为在单次使用后丢弃,或者它们可设计为能够使用多次。在上述任一种或两种情况下,都可对这些型式进行修复,以便在使用至少一次后重复使用。修复可包括以下步骤的任意组合:拆卸装置、然后清洗或替换特定部件,并且随后进行重新组装。具体地讲,可拆卸所述装置的一些型式,并且可选择性地以任何组合形式来替换或取出所述装置的任意数量的特定部件或零件。在清洗和/或替换特定零件时,所述装置的一些型式可在修复设施中被重新组装或者在即将进行手术前由用户重新组装,以供随后使用。本领域的技术人员将会了解,装置修复可以利用多种技术进行拆卸、清洗/更换以及重新组装。这些技术的用途以及得到的重新修复装置均在本发明的范围内。
仅以举例的方式,可以在手术之前和/或之后对本文描述的型式进行消毒。在一种消毒技术中,将装置放置在闭合并密封的容器中,例如,塑料袋或TYVEK袋中。然后可将容器和装置放置在可穿透所述容器的辐射场中,诸如γ辐射、X射线或高能电子。辐射可以杀死装置上和容器中的细菌。消毒后的装置随后可存放在无菌容器中,以供以后使用。还可使用本领域已知的任何其他技术对装置消毒,包括但不限于β辐射或γ辐射、环氧乙烷或蒸汽。
尽管已在本发明中示出并描述了多个实施例,但是本领域的普通技术人员可在不脱离本发明的范围的前提下进行适当修改以对本文所述的方法和***进行进一步地改进。已经提及了若干此类潜在修改形式,并且其他修改形式对本领域的技术人员将是显而易见的。例如,上文所讨论的例子、实施例、几何形状、材料、尺寸、比率、步骤等均是示例性的而非必需的。因此,本发明的范围应根据下面的权利要求书来考虑,并且应理解为不限于说明书和附图中示出和描述的结构和操作细节。
Claims (14)
1.一种用于在组织上操作的设备,所述设备包括:
(a)端部执行器,其中所述端部执行器包括超声刀和能够操作以相对于所述超声刀枢转的夹持臂;
(b)轴组件,其中所述端部执行器设置在所述轴组件的远侧端部处,其中所述轴组件限定纵向轴线,其中所述轴组件包括能够操作以使所述端部执行器偏离所述纵向轴线的关节运动节段;和
(c)交接组件,其中所述交接组件被构造为能够驱动所述端部执行器,
其中所述交接组件包括:
(i)基座,其中所述基座被构造为能够与机器人控制***的对接部分联接,和
(ii)多个驱动轴,所述多个驱动轴垂直于所述纵向轴线取向,其中所述多个驱动轴的第一驱动轴能够旋转以使所述夹持臂朝着所述超声刀枢转;
其中所述轴组件包括联接在所述第一驱动轴和所述夹持臂之间的平移构件;
其中所述交接组件还包括:
(i)固定到所述第一驱动轴的偏心凸轮,和
(ii)与所述平移构件联接的机架,其中所述偏心凸轮能够操作以响应于所述第一驱动轴的旋转而朝近侧驱动所述机架,从而朝向所述超声刀枢转所述夹持臂。
2.根据权利要求1所述的设备,其中所述轴组件能够相对于所述交接组件旋转。
3.根据权利要求2所述的设备,其中所述多个驱动轴的第二驱动轴能够旋转以相对于所述交接组件旋转所述轴组件。
4.根据权利要求3所述的设备,其中所述轴组件和所述第二驱动轴包括啮合的螺旋齿轮。
5.根据权利要求1所述的设备,其中所述关节运动节段包括第一关节运动带,其中所述第一关节运动带能够相对于所述轴组件平移,以使所述端部执行器偏离所述纵向轴线。
6.根据权利要求5所述的设备,其中所述关节运动节段还包括第二关节运动带,其中所述第一关节运动带能够相对于所述轴组件平移以使所述端部执行器在第一方向上偏离所述纵向轴线,其中所述第二关节运动带能够相对于所述轴组件平移以使所述端部执行器在第二方向上偏离所述纵向轴线。
7.根据权利要求5所述的设备,其中所述多个驱动轴的第三驱动轴能够旋转以平移所述第一关节运动带。
8.根据权利要求7所述的设备,其中所述交接组件还包括:
(i)固定到所述第三驱动轴的偏心凸轮,和
(ii)与所述第一关节运动带联接的枢转臂,其中所述偏心凸轮能够操作以响应于所述第三驱动轴的旋转而朝近侧驱动所述枢转臂,从而使所述端部执行器偏离所述纵向轴线。
9.根据权利要求5所述的设备,其中所述关节运动节段包括一对有棱纹的主体,其中所述第一关节运动带置于所述一对有棱纹的主体之间。
10.根据权利要求1所述的设备,其中所述轴组件包括:
(i)刚性声学波导,和
(ii)柔性声学波导,其中所述柔性声学波导延伸穿过所述关节运动节段,
其中所述刚性声学波导和所述柔性声学波导联接在一起,其中所述刚性声学波导和所述柔性声学波导能够操作以向所述超声刀传输超声振动。
11.根据权利要求10所述的设备,其中所述柔性声学波导包括被构造为能够提供所述柔性声学波导的挠曲的缩小节段。
12.根据权利要求11所述的设备,其中所述柔性声学波导还包括远侧凸缘和近侧凸缘,其中所述缩小节段纵向地定位在所述远侧凸缘和所述近侧凸缘之间。
13.根据权利要求1所述的设备,其中所述基座包括多个驱动盘,其中所述驱动盘能够操作以旋转所述驱动轴。
14.根据权利要求13所述的设备,其中所述驱动盘各自包括相应的一对销,其中所述销被构造为能够与机器人控制***的互补驱动特征结构联接。
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BR112015022182B1 (pt) | 2022-01-04 |
CN105050514A (zh) | 2015-11-11 |
US9314308B2 (en) | 2016-04-19 |
US10813702B2 (en) | 2020-10-27 |
KR20150126690A (ko) | 2015-11-12 |
EP2967625A1 (en) | 2016-01-20 |
EP4186447B1 (en) | 2024-06-12 |
JP2016514012A (ja) | 2016-05-19 |
BR112015022182A2 (pt) | 2017-07-18 |
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