CN105744904B - 用于联接外科器械轴组件与器械主体的特征结构 - Google Patents
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Abstract
本发明公开了一种外科设备,该外科设备包括主体组件、超声换能器、轴组件、马达、以及锁定特征结构。该超声换能器能够操作以将电力转换成超声振动。该轴组件包括能够操作以传输超声振动的波导。该马达能够操作以使所述超声换能器旋转,以由此将超声换能器与波导选择性地联接。该锁定特征结构被构造成能够选择性地防止轴组件的至少一部分相对于主体组件的旋转。该锁定特征结构和马达可响应于操作者将所述轴组件的近侧部分定位在所述主体组件的远侧部分中而被自动激活。该外科设备可包括被构造成能够在波导已充分固定到超声换能器时提示用户的特征结构。
Description
技术领域
多种外科器械包括具有刀元件的端部执行器,该刀元件以超声频率振动,以切割和/或密封组织(如,通过使组织细胞中的蛋白质变性)。这些器械包括将电力转换成超声振动的压电元件,该超声振动沿着声波导被传送到刀元件。切割和凝固的精度可受到外科医生的技术以及对功率电平、刀刃、组织牵引力和刀压力的调节的控制。
超声外科器械的示例包括超声剪刀、 超声剪刀、超声剪刀、和 超声刀,上述全部器械均得自Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio)。此类装置的另外的示例以及相关概念被公开于以下专利中:于1994年6月21日公布的标题为“Clamp Coagulator/Cutting System for Ultrasonic Surgical Instruments”的美国专利No.5,322,055,其公开内容以引用方式并入本文;于1999年2月23日公布的标题为“Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp Mechanism”的美国专利No.5,873,873,其公开内容以引用方式并入本文;于1997年10月10日提交的标题为“Ultrasonic Clamp Coagulator Apparatus Having Improved Clamp Arm Pivot Mount”的美国专利No.5,980,510,其公开内容以引用方式并入本文;于2001年12月4日公布的标题为“Blades with Functional Balance Asymmetries for use with UltrasonicSurgical Instruments”的美国专利No.6,325,811,其公开内容以引用方式并入本文;于2004年8月10日公布的标题为“Blades with Functional Balance Asymmetries for Usewith Ultrasonic Surgical Instruments”的美国专利No.6,773,444,其公开内容以引用方式并入本文;和于2004年8月31日公布的标题为“Robotic Surgical Tool withUltrasound Cauterizing and Cutting Instrument”的美国专利No.6,783,524,其公开内容以引用方式并入本文。
超声外科器械的另外的示例被公开于以下专利中:于2006年4月13日公布的标题为“Tissue Pad for Use with an Ultrasonic Surgical Instrument”的美国专利公布No.2006/0079874,其公开内容以引用方式并入本文;于2007年8月16日公布的标题为“Ultrasonic Device for Cutting and Coagulating”的美国专利公布No.2007/0191713,其公开内容以引用方式并入本文;于2007年12月6日公布的标题为“Ultrasonic Waveguideand Blade”的美国专利公布No.2007/0282333,其公开内容以引用方式并入本文;于2008年8月21日公布的标题为“Ultrasonic Device for Cutting and Coagulating”的美国专利公布No.2008/0200940,其公开内容以引用方式并入本文;于2009年4月23日公布的标题为“Ergonomic Surgical Instruments”的美国专利公布No.2009/0105750,其公开内容以引用方式并入本文;于2010年3月18日公布的标题为“Ultrasonic Device for FingertipControl”的美国专利公布No.2010/0069940,其公开内容以引用方式并入本文;和于2011年1月20日公布的标题为“Rotating Transducer Mount for Ultrasonic SurgicalInstruments”的美国专利公布No.2011/0015660,其公开内容以引用方式并入本文;和于2012年2月2日公布的标题为“Ultrasonic Surgical Instrument Blades”的美国专利公布No.2012/0029546,其公开内容以引用方式并入本文。
超声外科器械中的一些超声外科器械可包括无线换能器,诸如被公开于以下专利中的那些无线换能器:于2012年5月10日公布的标题为“Recharge System for MedicalDevices”的美国专利公布No.2012/0112687,其公开内容以引用方式并入本文;于2012年5月10日公布的标题为“Surgical Instrument with Charging Devices”的美国专利公布No.2012/0116265,其公开内容以引用方式并入本文;和/或于2010年11月5日提交的标题为“Energy-Based Surgical Instruments”的美国临时专申请No.61/410,603,其公开内容以引用方式并入本文。
另外,一些超声外科器械可包括关节运动轴节段。此类超声外科器械的示例被公开于以下专利中:于2012年6月29日提交的标题为“Surgical Instruments withArticulating Shafts”的美国专利申请No.13/538,588,其公开内容以引用方式并入本文;和于2012年10月22日提交的标题为“Flexible Harmonic Waveguides/Blades forSurgical Instruments”的美国专利申请No.13/657,553,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个外科器械和***,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所述的发明。
附图说明
尽管本说明书断定具体地指出并明确地声明这种技术的权利要求,但是据信根据结合附图所作的对某些示例的下述描述将更好地理解这种技术,其中类似的参考数字指示相同的元件,并且其中:
图1示出了示例性外科器械的侧正视图;
图2示出了处于闭合位置的图1的器械的端部执行器的剖视图;
图3示出了处于打开位置的图1的器械的端部执行器的剖视图;
图4示出了图1的器械的柄部组件的剖视图;
图5示出了图1的器械的示例性换能器组件的透视图;
图6示出了图5的换能器的透视图,其中换能器外壳被移除;
图7示出了图1的器械的示例性传输组件的透视图;
图8示出了显示将示例性轴组件附接到图1的器械的示例性变型的柄部组件的步骤的流程图;
图9A示出了图8的器械的局部剖视图,其中轴组件处于第一纵向位置;
图9B示出了图8的器械的局部剖视图,其中轴组件移动到第二纵向位置;
图9C示出了图8的器械的局部剖视图,其中锁定构件接合轴组件;
图9D示出了图8的器械的局部剖视图,其中轴组件的旋钮移动到第三纵向位置;
图9E示出了图8的器械的局部剖视图,其中图9C的锁定构件从轴组件脱离;
图10示出了显示从图8的器械的柄部组件拆卸图8的轴组件的步骤的流程图;
图11A示出了图8的器械的局部剖视图,其中轴组件处于第二纵向位置,旋钮处于第三纵向位置,并且其中图9C的锁定构件从轴组件脱离;
图11B示出了图8的器械的局部剖视图,其中图9C的锁定构件接合轴组件;
图11C示出了图8的器械的局部剖视图,其中图9D的旋钮向后移动到第二纵向位置;
图11D示出了图8的器械的局部剖视图,其中图9C的锁定构件从轴组件脱离;
图11E示出了图8的器械的局部剖视图,其中轴组件向后移动到第一纵向位置;
图12示出了显示将示例性另选轴组件附接到图1的器械的另一个示例性变型的柄部组件的步骤的流程图;
图13A示出了图12的器械的局部剖视图,其中轴组件处于第一纵向位置;
图13B示出了图12的器械的局部剖视图,其中轴组件移动到第二纵向位置;
图13C示出了图12的器械的局部剖视图,其中锁定构件接合轴组件;
图13D示出了图12的器械的局部剖视图,其中轴组件的衬圈移动到第三纵向位置;
图13E示出了图12的器械的局部剖视图,其中图13C的锁定构件从轴组件脱离;
图14示出了显示从图12的器械的柄部组件拆卸图12的轴组件的步骤的流程图;
图15A示出了图12的器械的局部剖视图,其中轴组件处于第二纵向位置,衬圈处于第三纵向位置,并且其中图13C的锁定构件从轴组件脱离;
图15B示出了图12的器械的局部剖视图,其中图13C的锁定构件接合轴组件;
图15C示出了图12的器械的局部剖视图,其中图13D的衬圈向后移动到第二纵向位置;
图15D示出了图12的器械的局部剖视图,其中图13C的锁定构件从轴组件脱离;
图15E示出了图12的器械的局部剖视图,其中轴组件向后移动到第一纵向位置;
图16示出了图1的器械的另一个示例性变型的局部剖视图;
图17示出了图16的器械的详细剖视图;
图18示出了图16的器械的顶视图;
图19示出了图16的器械的顶视图,其中轴组件通过侧向力而挠曲;
图20示出了图16的器械的顶视图,其中轴组件沿着纵向方向移动;
图21示出了被构造成能够将图5的换能器与图7的传输组件进行联接的示例性螺柱的侧正视图;
图22示出了具有电压检测特征结构的图1的器械的示意图;
图23示出了显示在图1的器械的组装期间由换能器的压电元件产生的电压的图表;
图24示出了显示检测并且显示换能器与波导的适当联接的步骤的流程图;并且
图25示出了可结合到图20的器械内的示例性电桥电路的示意图。
附图并非旨在以任何方式进行限制,并且可预期本技术的各种实施方案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。所结合的并且形成说明书的一部分的附图示出了本技术的若干个方面,并且与说明书一起用于解释本技术的原理;然而,应当理解,这种技术不局限于所示的精确布置。
具体实施方式
下面描述的本技术的某些示例不应当用于限制本技术的范围。根据以下描述,本技术的其他示例、特征、方面、实施方案和优点对本领域的技术人员而言将是显而易见的,以下描述以举例的方式进行,这是为实现本技术所设想的最佳方式中的一种最佳方式。正如将意识到的,本文所述的技术能够包括其他不同的和明显的方面,这些均不脱离本发明的技术。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。
还应当理解,本文所述的教导内容、表达方式、实施方案、示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、实施方案、示例等中的任何一者或多者相结合。下述教导内容、表达方式、实施方案、示例等不应视为彼此孤立。参考本文的教导内容,其中本文的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。此类修改和变型旨在被包括在权利要求书的范围内。
为公开的清楚起见,术语“近侧”和“远侧”在本文中是相对于外科器械的人或机器人操作者来定义的。术语“近侧”是指更靠近外科器械的人或机器人操作者并且更远离外科器械的外科端部执行器的元件的位置。术语“远侧”是指更靠近外科器械的外科端部执行器并且更远离外科器械的人或机器人操作者的元件的位置。
I.示例性超声外科器械
图1示出了示例性超声外科器械10。器械10的至少一部分可根据下述专利的教导内容中的至少一些教导内容来构造和操作:美国专利No.5,322,055;美国专利No.5,873,873;美国专利No.5,980,510;美国专利No.6,325,811;美国专利No.6,773,444;美国专利No.6,783,524;美国专利公布No.2006/0079874;美国专利公布No.2007/0191713;美国专利公布No.2007/0282333;美国专利公布No.2008/0200940;美国专利公布No.2009/0105750;美国专利公布No.2010/0069940;美国专利公布No.2011/0015660;美国专利公布No.2012/0112687;美国专利公布No.2012/0116265;美国专利申请No.13/538,588;美国专利申请No.13/657,553;美国专利申请No.61/410,603;和/或美国专利申请No.14/028,717。上述专利、专利公布、和专利申请中的每一个者的公开内容均以引用方式并入本文。如本文所述并且如将在下文更加详细所述的,器械10能够操作以基本上同时切割组织并且密封或焊接组织(例如血管等)。还应当理解,器械10可与以下器械具有各种结构相似性和功能相似性:超声剪刀、超声剪刀、 超声剪刀、和/或超声刀。此外,器械10可与在本文中引述和以引用方式并入的其他参考文献中的任一个参考文献所教导的装置具有各种结构相似性和功能相似性。
就本文引述的参考文献、超声剪刀、 超声剪刀、超声剪刀、和/或 超声刀的教导内容与以下涉及器械10的教导内容之间存在的一定程度的重叠而言,并非意图将本文的任何描述假定为公认的现有技术。本文的若干个教导内容事实上将超出本文引述的参考文献以及 超声剪刀、超声剪刀、超声剪刀、和超声刀的教导内容的范围。
本示例的器械10包括柄部组件20、轴组件30、和端部执行器40。如图2-4所示,轴组件30包括外部护套32、以能够滑动的方式被设置在外部护套32内的内管34、和被设置在内管34内的波导102。如将在下文更加详细所述的,内管34的纵向平移导致端部执行器40处的夹持臂44的致动。柄部组件20包括主体22,该主体22包括***式握把24和一对按钮26。柄部组件20还包括朝向和远离***式握把24枢转的触发器28。然而,应当理解,可使用各种其他合适的构型,该构型包括但不限于剪刀式握把构型。如图4所示,触发器28经由销23A以能够枢转的方式联接到柄部组件20,使得触发器28围绕位于轴组件30下方的轴线旋转。
触发器28经由联接件29与托架25联接,使得触发器28围绕销23A的旋转导致托架25的纵向平移。联接件29的第一端部29A经由销23B与触发器28以能够旋转的方式联接。联接件29的第二端部29B经由销23C与托架25的近侧部分以能够旋转的方式联接。一对细长椭圆形突出部27从主体22的内表面向内延伸。每个椭圆形突出部27的内表面限定细长椭圆形狭槽27A。销23C完全穿过托架25的近侧部分和联接件29的第二端部29B,使得销23C的端部从托架25的相对侧延伸。销23C的这些端部以能够滑动和能够旋转的方式被设置在椭圆形狭槽27A内。销23D完全穿过托架25的远侧部分,使得销23D的端部从托架25的相对侧延伸。销23D的这些端部以能够滑动和能够旋转的方式被设置在椭圆形狭槽27A内。因此应当理解,托架25能够经验后销(23C,23D)在椭圆形狭槽27A内在近侧纵向位置和远侧纵向位置之间纵向平移。此外,因为触发器28的近侧部分经由联接件29与托架25联接,应当理解,触发器28朝***式握把24的枢转将导致托架25在椭圆形狭槽27A内的近侧纵向平移;并且触发器28远离朝***式握把24的枢转将导致托架25在椭圆形狭槽27A内的远侧纵向平移。
托架25的远侧部分通过联接组件35与轴组件30的内管34联接。如上所述,内管34能够在外部护套32内纵向平移。因此应当理解,内管34被构造成能够与托架25同时纵向平移。此外,因为触发器28朝***式握把24的枢转导致托架25的近侧纵向平移,应当理解,触发器28朝***式握把24的枢转将导致内管34相对于外部护套32和柄部组件20的近侧纵向平移。最后,因为触发器28远离***式握把24的枢转导致托架25的远侧纵向平移,应当理解,触发器28远离***式握把24的枢转将导致内管34相对于外部护套32和柄部组件20的远侧纵向平移。如图4所示,弹簧36被定位在柄部组件20的主体22的近侧端部内。弹簧36挤压主体22的一部分和托架25的近侧端部,以由此使托架25朝远侧位置偏置。托架25朝远侧位置偏置导致内管34朝远侧偏置并且还导致触发器28远离***式握把24偏置。
如图2和图3所示,端部执行器40包括超声刀100和枢转夹持臂44。夹持臂44在超声刀100上方经由销45与轴组件30的外部护套32的远侧端部以能够枢转的方式联接。如图3最佳可见,内管34的远侧端部在超声刀100下方经由销33与夹持臂44的近侧端部以能够旋转的方式联接,使得内管34相对于外部护套32和柄部组件20的纵向平移导致夹持臂44围绕销45朝向和远离超声刀100的旋转,由此夹持夹持臂44和超声刀100之间的组织,以切割和/或密封组织。具体地,内管34相对于外部护套32和柄部组件20的近侧纵向平移导致夹持臂44朝超声刀100移动;并且内管34相对于外部护套32和柄部组件20的远侧纵向平移导致夹持臂44远离超声刀100移动。因此应当理解,触发器28朝***式握把24的枢转将导致夹持臂44朝超声刀100移动;并且触发器28远离***式握把24的枢转将导致夹持臂44远离超声刀100移动。
超声换能器组件12从柄部组件20的主体22朝近侧延伸。如将在下文更加详细所述的,换能器组件12从发生器16接收电力并且通过压电原理来将电力转换成超声振动。发生器16可包括电源和控制模块,该控制模块被构造成能够将功率分布提供给换能器组件12,该换能器组件12尤其适合通过换能器组件12产生超声振动。仅以举例的方式,发生器16可包括由Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio.)出售的GEN 300。除此之外或作为另外一种选择,发生器16可根据下列美国专利公布来构造:于2011年4月14日公布的名称为“Surgical Generator for Ultrasonic and Electrosurgical Devices”的美国专利公布No.2011/0087212,其公开内容以引用方式并入本文。还应当理解,发生器16的功能中的至少一些功能可被整合到柄部组件20中,并且该柄部组件20甚至可包括电池或其他板载电源,从而使得缆线14被省略。参考本文的教导内容,发生器16可呈现的其他合适的形式以及发生器16可提供的各种特征和可操作性对于本领域的普通技术人员而言将显而易见。
如图1所示,本示例的换能器组件12为经由缆线14联接到发生器16的管状部件,但应当理解,换能器组件12可为无线换能器。在图5中,换能器组件12以外壳12C示出。将注意力集中在换能器组件12的远侧端部,换能器组件12包括被设置在换能器组件12的外壳12C内的第一导电环12A和第二导电环12B。在一种构型中,第一导电环12A包括环构件,该环构件被设置在外壳12C和从外壳12C朝远侧延伸的焊头12D之间。如将在下文更加详细所述的,焊头12D包括从其朝远侧延伸的螺柱12E,使得焊头12D能够联接到形成于波导102的近侧端部中的螺纹孔104。第一导电环12A被形成在换能器腔体12G内的凸缘12F附近或者形成为换能器腔体12G内的凸缘12F的一部分,使得第一导电环12A与第二导电环12B和换能器组件12的其他导电部件电隔离。第一导电环12A位于从外壳12C朝远侧延伸的非导电平台上。如图1所示,第一导电环12A通过外壳12C内的一个或多个电线或者导电蚀刻件(未示出)电联接到缆线14。
换能器组件12的第二导电环12B类似地包括被设置在外壳12C和焊头12D之间的环构件。第二导电环12B被设置在第一导电环12A和焊头12D之间。如图5所示,第一导电环12A和第二导电环12B为彼此纵向偏移的同心构件,其中导电环12A还相对于由导电环(12A,12B)共享的中心轴线被定位在较大径向距离处。第二导电环12B同样与第一导电环12A和换能器组件12的其他导电部件电隔离。类似于第一导电环12A,第二导电环12B从非导电平台延伸。一个或多个垫圈形垫片12H可被设置在第一导电环12A和第二导电环12B之间或者被设置在环(12A,12B)与换能器组件12的其他构件之间。如图1所示,第二导电环12B通过外壳12C内的一个或多个电线或者导电蚀刻件(未示出)电联接到缆线14。一种仅示例性的合适的超声换能器组件12为由Ethicon Endo-Surgery,Inc.(Cincinnati,Ohio)出售的型号HP054。
如此前所述,换能器组件12的远侧端部经由焊头12D的螺柱12E与形成于波导120的近侧端部中的螺纹孔104以螺纹形式联接。换能器组件12的远侧端部还经由第一导电环12A和第二导电环12B与一个或多个电连接件(未示出)进行接口连接,以将换能器组件12电联接到按钮26,由此在使用外科器械10时为用户提供用于激活换能器组件12的手指激活型控件。参考本文教导内容,换能器组件12的其他构型对于本领域的普通技术人员而言将是显而易见的。例如,可从换能器组件12的远侧端部省略第一导电环12A和第二导电环12B,并且可通过另选的方法来实现换能器组件12到按钮26的电联接,诸如通过换能器组件12的近侧端部的导体、沿换能器组件12的外壳12C的侧面定位的导体、直接通过缆线14、和/或任何其他结构和构型,并且参考本文的教导内容,这些对于本领域的普通技术人员而言将是显而易见的。
图6示出了换能器组件12,其中外壳12C被移除。换能器组件12的远侧端部附近的安装凸缘12I和换能器组件12的近侧端部处的压电堆12J可在外壳12C被移除的情况下被观察到。当经由按钮26激活本示例的换能器组件12时,在压电堆12J中产生电场,由此导致压电堆12J和焊头12D在外壳12C内且相对于该外壳进行振荡。使用安装凸缘12I来将焊头12D联接到外壳12C,由此将在外壳12C中支撑压电堆12J。安装凸缘12I位于与从压电堆12J被传送到焊头12D的谐振超声振动相关联的节点处。换能器组件12能够操作以产生超声频率(例如,55.5kHz)下的机械能或振动。如果换能器组件12经由焊头12D联接到波导102,则这些机械振荡通过波导102被传输到端部执行器40的超声刀100。在本示例中,联接到波导102的超声刀100在超声频率下振荡。因此,当组织被固定在超声刀100和夹持臂44之间时,超声刀100的超声振荡可切断和/或密封组织。也可通过超声刀100和夹持臂44中的一者或两者提供电流以烧灼组织。例如,可通过超声刀100和夹持臂44中的一者或两者提供单极性或双极性RF能量。尽管已描述了换能器组件12的一些构型,但参考本文的教导内容,换能器组件12的其他合适构型对于本领域的普通技术人员而言将是显而易见的。
图7示出了轴组件30和端部执行器40。由换能器组件12产生的超声振动沿着声波导102进行传输,该声波导80延伸穿过轴组件30以到达超声刀100。波导102经由穿过波导102和轴组件30的销33被固定在轴组件30内。销33位于沿波导102的长度的与节点对应的位置处,该节点与通过波导102传输的谐振超声振动相关联。如上所述,当超声刀100处于激活状态(即,超声振动)时,超声刀100能够操作以有效地切穿和密封组织,尤其在组织被夹持在夹持臂44和超声刀100之间时。应当理解,波导102可被构造成能够放大通过波导102传输的机械振动。此外,波导102可包括能够操作以控制沿波导102的纵向振动的增益的特征结构和/或用于将波导102调谐到***的谐振频率的特征结构。
在本示例中,超声刀100的远侧端部位于与腹点对应的位置处,该腹点与通过波导102传输的谐振超声振动相关联,以便在声学组件未被组织加载时将声学组件调谐到优选的谐振频率fo。当换能器组件12通电时,超声刀100的远侧端部被构造成能够在例如大约10微米至500微米的峰间范围内并且在一些情况下在约20微米至约200微米的范围内以例如55.5kHz的预先确定的振动频率fo纵向移动。当本示例的换能器组件12被激活时,这些机械振荡被传输穿过波导以到达超声刀102,由此提供超声刀102在谐振超声频率下的振荡。因此,当将组织被固定在超声刀102和夹持臂54之间时,超声刀102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,由此提供具有相对较少热扩散的促凝效果。在一些型式中,还可通过超声刀102和夹持臂44提供电流,以另外灼烧组织。尽管已描述了声学传输组件和换能器组件12的一些构型,但参考本文所教导的内容,声学传输组件和换能器组件12的另一些其他合适构型对于本领域普通技术人员而言将是显而易见的。相似地,参考本文的教导内容,端部执行器40的其他合适构型对于本领域的普通技术人员而言将是显而易见的。
操作者可激活按钮26以选择性地激活换能器组件12,从而激活超声刀100。在本示例中,提供了两个按钮26:一个按钮用于激活低功率下的超声刀100,并且另一个按钮用于激活高功率下的超声刀100。然而,应当理解,可提供任何其他合适数量的按钮和/或原本可选择的功率电平。例如,可提供脚踏开关以选择性地激活换能器组件12。本示例的按钮26被定位成使得操作者可易于利用单手来完全地操作器械10。例如,操作者可将其拇指定位在***式握把24周围,可将其中指、无名指和/或小指定位在触发器28周围,并且可使用其食指来操纵按钮26。当然,可使用任何其他合适的技术来握持和操作器械10;并且按钮26可位于任何其他合适的位置处。
器械10的上述部件和可操作性仅为示例性的。参考本文的教导内容,器械10可以多种其他方式进行构造,这对于本领域的普通技术人员而言将是显而易见的。仅举例而言,器械10的至少一部分可根据以下专利中的任一个专利的至少一些教导内容来构造和/或操作,这些专利的公开内容以引用方式并入本文:美国专利No.5,322,055;美国专利No.5,873,873;美国专利No.5,980,510;美国专利No.6,325,811;美国专利6,783,524;美国专利公布No.2006/0079874;美国专利公布No.2007/0191713;美国专利公布No.2007/0282333;美国专利公布No.2008/0200940;美国专利公布No.2010/0069940;美国专利公布No.2011/0015660;美国专利公布No.2012/0112687;美国专利公布No.2012/0116265;美国专利申请No.13/538,588;和/或美国专利申请No.13/657,553。器械10的另外的仅示例性变型将在下文进行更加详细地描述。应当理解,除了别的以外,下述变型可易于被应用到上述器械10和本文引用的参考文献的任一个参考文献中所涉及的任何器械。
II.示例性电动声学组件附接设备
器械10的一些变型通经由轴组件30相对于换能器组件12的手动旋转来提供波导102与换能器组件12的选择性联接,该手动旋转可需要操作者将换能器组件12和柄部组件20保持固定同时旋转轴组件30。在器械10的此类变型中,操作者可需要将适当的扭矩量手动地施加到轴组件30,以确保波导102和换能器组件12的正确连接。因此期望提供自动操作波导102与换能器组件12的联接的组件。例如,一个特征结构可相对于柄部组件20自动地附连轴组件30,同时马达可旋转换能器组件12以由此使波导102与换能器组件12以螺纹形式联接。包括此类特征结构的器械的各种示例性示例将在下文进行更加详细地描述,而参考本文的教导内容,另外的示例对于本领域的普通技术人员而言将是显而易见的。应当理解,下文的示例可被视为器械10的变型,使得下文的各种教导内容可易于与上文的对于本领域的普通技术人员而言将显而易见的各种教导内容结合。
还应当理解,在提供换能器组件12与波导102的电动联接的器械10的型式(例如,下文所述的示例)中,马达可被构造成能够将适当的扭矩量手动地施加到换能器组件12,以确保波导102和换能器组件12的正确连接,随后停止旋转以避免施加过多的扭矩。例如,器械10可被构造成能够感测马达的反电动势(“反EMF”)以确定扭矩,并且一旦在反EMF指示已达到所需扭矩值便去激活马达。除此之外或作为另外一种选择,器械10可使用编码器或其他类型的位置传感器来在实现与所需扭矩值相关联的预先确定的角度行进量之后停止该马达。参考本文的教导内容,在波导102与换能器组件12的联接中可在实现所需扭矩水平时自动停止马达的其他合适的方式对于本领域的普通技术人员而言将是显而易见的。
A.第一示例性电动声学组件附接设备
图9A-9E和图11A-11E示出了具有马达250的器械210的示例,该马达250机械地旋转换能器组件12以由此使波导236与换能器组件12以螺纹形式联接。图8示出了用于将轴组件230附接到柄部组件220并且将波导236附接到换能器组件12的示例性过程。图10示出了用于从柄部组件220移除轴组件230并且从换能器组件12移除波导236的示例性过程。本示例的器械210被构造成能够除了下文讨论的差异之外以基本上类似于上述器械10的方式进行操作。具体地,器械210被构造成能够将外科部位处的组织夹持在枢转夹持臂(未示出)和超声刀(未示出)之间,以由此切割和/或密封组织。
器械210包括柄部组件220和轴组件230。轴组件230包括外部护套232、以能够滑动的方式被设置在外部护套232内的内管234、和被设置在内管234内的波导236。波导236从外部护套232的近侧端部232A朝近侧延伸。螺纹孔237形成于波导236的近侧端部中。轴组件230还包括主体部分238和可旋转旋钮240。可旋转旋钮240的近侧端部与主体部分238的远侧端部以能够旋转的方式联接。内部镗孔244纵向穿过主体部分238和旋钮240。第一环形凹槽240A和第二环形凹槽240B形成于旋钮240的内部镗孔244的内表面中。外部护套232、内管234、和波导236以能够滑动的方式被设置在内部镗孔244内,使得主体部分238和旋钮240能够相对于外部护套232、内管234、和波导236在远侧纵向位置和近侧纵向位置之间纵向平移。
外部护套232、内管234、和波导236的近侧部分从主体部分238朝近侧延伸。金属环241和锁定构件242被固定到外部护套232和波导236的近侧部分。金属环241被定位在锁定构件242的近侧。锁定构件242被定位在外部护套232的近侧部分周围并且朝远侧延伸到主体部分238和旋钮240的内部镗孔244中。主体部分238和旋钮240被键入锁定构件242内,使得锁定构件242将与主体部分238和旋钮240一起旋转;并且使得主体部分238和旋钮240能够相对于锁定构件242纵向滑动。多个弹性臂243被限定在锁定构件242的远侧部分内。弹性臂243远离外部护套232向外偏置。凸块243A从多个弹性臂243的每个弹性臂243的远侧端部延伸。凸块243A被构造成能够在外部护套232、内管234、和波导236处于近侧位置时被置于第一环形凹槽240A内,如图9A-9C所示。凸块243A被构造成能够在外部护套232、内管234、和波导236处于远侧位置时被置于第二环形凹槽240B内,如图9D所示。凸块243A与环形凹槽(240A,240B)配合(类似于止动器特征结构),以选择性地保持主体部分238和旋钮240相对于轴组件230的纵向位置。
柄部组件220包括外壳222。外壳222的远侧部分限定承窝224,该承窝224被构造成能够接收轴组件230的主体部分238。换能器组件12的焊头12D的螺柱12E穿过外壳222延伸到承窝224中。柄部组件220还包括控制模块267、马达250、螺线管260、和磁体264。控制模块267被构造成能够至少部分地基于得自磁体264和开关265的信号来控制马达250和螺线管260的操作。仅以举例的方式,控制模块267可包括微处理器、ASIC、印刷电路板、存储控制逻辑部件的一个或多个特征结构、和/或参考本文的教导内容对于本领域的普通技术人员而言将显而易见的其他合适的部件。控制模块267还与电源212联接,该电源212可由发生器16提供和/或可为被结合在柄部组件220内或位于柄部组件220外部的一些其他类型的电源。马达250被构造成能够使换能器组件12在柄部组件220内旋转。如由控制模块267所驱动的,马达250能够操作以沿顺时针方向和逆时针方向转动。马达250可包括轮毂马达、中空轴马达、中空轴盘式马达、和/或适于引起换能器组件12的旋转的任何其他类型的马达。根据本文的教导内容,马达250可引起换能器组件12的旋转的方法和结构对于本领域的普通技术人员而言将是显而易见的。仅以举例的方式,马达250可根据下列专利的至少一些教导内容来与换能器组件12联接,以由此引起换能器组件12的旋转:于2012年5月10日公布的标题为“Surgical Instrument with Motorized Attachment Feature”的美国专利公布No.2012/0116260,其公开内容以引用方式并入本文;和/或于2012年5月5日提交的标题为“LoadingCartridge for Surgical Instrument End Effector”的美国专利申请No.13/484,547,其公开内容以引用方式并入本文。马达250可在与从压电堆12J传送到焊头12D的谐振超声振动相关联的节点处接触换能器组件12的一部分。
螺线管260包括能够竖直平移的锁定构件262。如将在下文更加详细所述,螺线管260被构造成能够竖直地驱动锁定构件262,以接合和/或脱离轴组件230,由此防止轴组件230相对于柄部组件220的旋转。另外如将在下文更加详细所述,磁体264被构造成能够感测轴组件230的金属环241的存在,以由此激活螺线管260。
图8-9E示出了用于将轴组件230附接到柄部组件220并且将波导236附接到换能器组件12的步骤的示例性集合。图9A示出了相对于相对于柄部组件220而处于第一纵向位置的轴组件230。在此位置,主体部分238和旋钮240相对于锁定构件242、外部护套232、内管234、波导236处于远侧纵向位置。整个轴组件230从柄部组件220脱离。图9B示出了相对于柄部组件220移动到第二纵向位置的轴组件230(图8的框210A)。具体地,轴组件230的近侧端部***外壳222的承窝224中国。在此位置,主体部分238和旋钮240相对于锁定构件242、外部护套232、内管234、波导236保持处于远侧纵向位置。另外在此位置,磁体264接合钢环241并且由此将轴组件230保持在承窝224内。通过磁体264实现的钢环241的这种接合用向户提供指示已建立连接的触觉反馈并且引起磁体264的磁场变化。控制模块267感测磁体264的磁场的变化(图8的框210B)并且激活螺线管260以将锁定构件262从第一竖直位置向上竖直地驱动到第二竖直位置(图8的框210C)。图9C示出了处于第二竖直位置的螺线管260的锁定构件262。在第二竖直位置,锁定构件262接合轴组件230并且由此防止轴组件230相对于柄部组件220旋转。
如图9D所示,在轴组件230通过磁体264保持在承窝224内的情况下,用户通过克服锁定构件242的弹性臂243的凸块243A在第一环形凹槽240A内形成的阻力来继续朝近侧纵向地驱动旋钮240和主体部分238(图8的框210D)。凸块243A被构造成能够使得旋钮240和/或主体部分238上的纵向力导致弹性臂243向内移出第一环形凹槽240A并且进入内部镗孔244。在凸块243A被定位在内部镗孔244中的情况下,旋钮240和主体部分238可朝近侧纵向平移,直到弹性臂243的凸块243A接合第二环形凹槽240B(如图9D所示),使得主体部分238和旋钮240相对于相对于外部护套232、内管234、和波导236移动到近侧纵向位置。在需要用户朝近侧纵向地驱动旋钮240和主体部分238期间,马达250使换能器组件12旋转,使得螺柱12E旋入螺纹孔237中(图8的框210E)。应当理解,马达250可被构造成能够使换能器组件12旋转预先确定的次数,以实现换能器组件12和波导236之间的正确连接。
如上所述,马达250可被构造成能够使换能器组件12旋转,直到感测到预先确定的扭矩量,以实现换能器组件12和波导236之间的正确连接。例如,控制模块267可被构造成能够在传感器感测到马达250的预先确定的反EMF量之后停止马达250的旋转。除此之外或作为另外一种选择,控制模块267可在编码器或其他传感器感测到马达250或换能器组件12的预先确定的角度行进量之后停止马达250的旋转。参考本文的教导内容,可检测或以其他方式提供适当的扭矩量的其他合适的方式对于本领域普通技术人员而言将是显而易见的。
如图9E所示,一旦旋钮240和主体部分238已被朝近侧纵向地驱动以使得弹性臂243的凸块243A已接合第二环形凹槽240B,主体部分238的近侧面便将基本上接合在柄部组件220的外壳222的远侧表面内。在此基本接合位置,激活柄部组件220的外壳222内的开关265(图8的框210F)。对开关265的激活导致螺线管260将锁定构件262从第二竖直位置向下竖直地驱动到第一竖直位置,使得锁定构件262脱离轴组件230并且由此允许轴组件230相对于柄部组件220旋转(图8的框210G)。应当理解,此时,轴组件230与柄部组件220完全联接;并且此外波导236与换能器组件12声学联接,使得振动可从换能器组件12沿着波导236进行传输。对开关265的激活还可使得控制模块267经由听觉特征结构、触觉特征结构、和/或视觉反馈特征结构来提供轴组件230已与柄部组件220成功联接的信号(图8的框210H)。
图10-11E示出了用于从柄部组件220移除轴组件230并且从换能器组件12移除波导236的步骤的示例性集合。应当理解,此过程可在外科手术期间执行(例如,以将一种轴组件230替换成另一种轴组件230)或可在外科手术完成时执行(例如,以准备柄部组件220和/或轴组件230以用于处理和/或回收等)。图11A示出了相对于柄部组件220而处于第二纵向位置的轴组件230。在此位置,主体部分238和旋钮240相对于锁定构件242、外部护套232、内管234、波导236处于近侧纵向位置。为了从柄部组件220移除轴组件230,用户将在旋钮240和/或主体部分238上施加远侧纵向力(图10的框210I),以克服锁定构件242的弹性臂243的凸块243A在环形凹槽240A内提供的阻力,由此相对于锁定构件242、外部护套232、内管234、波导236朝远侧纵向位置平移主体部分238和旋钮240,如图11B所示。在此阶段,轴组件230的波导236与换能器组件12的螺柱12E保持连接。因此,当主体部分238和旋钮240朝远侧纵向移动时,轴组件230相对于柄部组件220保持基本上固定。主体部分238和旋钮240的远侧纵向移动将导致开关265去激活(图10的框210J)。开关265的去激活导致螺线管260将锁定构件262从第一竖直位置向上竖直地驱动到第二竖直位置,如图11B另外所示,使得锁定构件262接合轴组件230,并且由此防止轴组件230相对于柄部组件220旋转(图10的框210K)。应当理解,当旋钮240和主体部分238仍正从图11A所示的近侧位置过渡到图11B所示的中间位置时,可发生对螺线管260和马达250的激活。
在轴组件230通过锁定构件262保持在承窝224内的情况下,用户继续将旋钮240和主体部分238从图11B所示的位置朝远侧纵向地驱动到图11C所示的位置。如上所述,在此阶段,凸块243A被构造成能够使得旋钮240和/或主体部分238上的纵向力已导致弹性臂243向内移出环形凹槽240B并且进入内部镗孔244。在凸块243A被定位在内部镗孔244中的情况下,旋钮240和主体部分238可继续朝远侧纵向平移,直到弹性臂243的凸块243A接合环形凹槽240A(如图11C所示),使得主体部分238和旋钮240相对于相对于外部护套232、内管234、和波导236移动到远侧纵向位置。在需要用户将旋钮240和主体部分238从图11B所示的位置朝远侧纵向地驱动到图11C所示的位置期间,马达250使换能器组件12旋转,以使得螺柱12E旋出螺纹孔237(图10的框210L),由此使得换能器组件12从波导236脱离。在马达250已将螺柱12E从螺纹孔237完全移除之后(如图11C所示),螺线管260将锁定构件262从第二竖直位置向下竖直地驱动到第一竖直位置,使得锁定构件262脱离轴组件230(如图11D所示)(图10的框210M)。
应当理解,马达250可被构造成能够使换能器组件12旋转,直到换能器组件12和波导236断开连接。例如,在传感器感测到马达250的预先确定的反EMF量之后(这指示换能器组件12已与波导236断开连接),控制模块267可被构造成能够停止马达250的旋转并且随后致动螺线管260以回缩锁定构件262。除此之外或作为另外一种选择,在编码器或其他传感器感测到马达250或换能器组件12的预先确定的角度行进量之后,控制模块267可被构造成能够停止马达250的旋转并且随后致动螺线管260以回缩锁定构件262。例如,如果需要马达250的一个完整旋转来使波导236与换能器组件12连接,则控制模块267可被构造成能够允许马达250的两个完整旋转以使波导236与换能器组件12断开连接,随后停止马达250的进一步的旋转。参考本文的教导内容,马达250可自动停止并且螺线管260可自动致动的其他合适方式对于本领域的普通技术人员而言将是显而易见的。
在主体部分238和旋钮240现在相对于外部护套232、内管234、和波导236处于远侧纵向位置的情况下并且在轴组件230现在与换能器组件12和锁定构件263断开连接的情况下,用户可从柄部组件220的承窝224移除轴组件230(图10的框210N)。图11E示出了从柄部组件220脱离的承窝224并且相对于柄部组件220向后移动到第一纵向位置的轴组件230。轴组件230可随后被丢弃、再加工、替换、和/或处理。
B.第二示例性电动声学组件附接设备
图13A-13E和15A-15E示出了具有马达350的示例性另选的器械310,该马达350机械地旋转换能器组件12以由此使波导336与换能器组件12以螺纹形式联接。图12示出了用于将轴组件330附接到柄部组件320并且将波导336附接到换能器组件12的示例性过程。图14示出了用于从柄部组件320移除轴组件330并且从换能器组件12移除波导336的示例性过程。本示例的器械310被构造成能够除下文讨论的差异之外以基本上类似于上述器械(10,210)的方式来操作。具体地,器械310被构造成能够将外科部位处的组织夹持在枢转夹持臂(未示出)和超声刀(未示出)之间以由此切割和/或密封组织。
器械310包括柄部组件320和轴组件330。轴组件330包括外部护套332、以能够滑动的方式被设置在外部护套332内的内管334、和被设置在内管334内的波导336。波导336从外部护套332的近侧端部332A朝近侧延伸。螺纹孔337形成于波导336的近侧端部中。轴组件330还包括主体部分338、可旋转旋钮340、和能够纵向平移的衬圈339。可旋转旋钮340的近侧端部与主体部分338的远侧端部以能够旋转的方式联接。内部镗孔344纵向地穿过主体部分338和旋钮340。衬圈339以能够滑动的方式被定位在内部镗孔344内,使得衬圈339能够相对于主体部分338和旋钮340在远侧位置和近侧位置之间纵向平移。如从下文的论述将会知道,当衬圈339相对于主体部分338和旋钮340处于远侧位置时,衬圈339的近侧部分被设置在主体部分338和旋钮340的内部镗孔344内,同时衬圈339的远侧部分保持暴露。当衬圈339相对于主体部分338和旋钮340处于近侧位置时,衬圈339的大部分被设置在主体部分338和旋钮340的内部镗孔344内。环形凸块343从衬圈339的近侧端部向外延伸。衬圈339的凸块343被构造成能够挤压内部镗孔344的内表面,以由此抵制衬圈339相对于主体部分338和旋钮340的纵向平移。外部护套332、内管334、和波导336被固定在衬圈339和内部镗孔344内。外部护套332、内管334、和波导336的近侧部分从主体部分338朝近侧延伸。金属环341被固定到外部护套332和波导336的近侧部分。
柄部组件320包括外壳322。外壳322的远侧部分限定承窝324,该承窝224被构造成能够接收轴组件330的主体部分338。换能器组件12的焊头12D的螺柱12E穿过外壳322延伸到承窝324中。柄部组件320还包括控制模块367、马达350、螺线管360、和磁体364。控制模块367被构造成能够至少部分地基于得自磁体364和开关365的信号来控制马达350和螺线管360的操作。仅以举例的方式,控制模块367可包括微处理器、ASIC、印刷电路板、存储控制逻辑部件的一个或多个特征结构、和/或参考本文的教导内容对于本领域的普通技术人员而言将显而易见的其他合适的部件。控制模块367还与电源312联接,该电源212可由发生器16提供和/或可为结合在柄部组件320内或位于柄部组件320外部的一些其他类型的电源。马达350被构造成能够使换能器组件12在柄部组件320内旋转。如由控制模块367所驱动的,马达350能够操作以沿顺时针方向和逆时针方向转动。马达350可包括轮毂马达、中空轴马达、中空轴盘式马达、和/或适于引起换能器组件12的旋转的任何其他类型的马达。根据本文的教导内容,马达350可引起换能器组件12的旋转的方法和结构对于本领域的普通技术人员而言将是显而易见的。仅以举例的方式,马达350可根据下列专利的至少一些教导内容来与换能器组件12联接以由此引起换能器组件12的旋转:于2012年5月10日公布的标题为“Surgical Instrument with Motorized Attachment Feature”的美国专利公布No.2012/0116260,其公开内容以引用方式并入本文;和/或于2012年5月5日提交的标题为“LoadingCartridge for Surgical Instrument End Effector”的美国专利申请No.13/484,547,其公开内容以引用方式并入本文。马达350可在与从压电堆12J传送到焊头12D的谐振超声振动相关联的节点处接触换能器组件12的一部分。
螺线管360包括能够平移的锁定构件362。如将在下文更加详细所述的,螺线管360被构造成能够驱动锁定构件362以接合和/或脱离轴组件330,以由此防止轴组件330相对于柄部组件320的旋转。另外如将在下文更加详细所述的,磁体364被构造成能够感测轴组件330的金属环341的存在,以由此激活螺线管360。
图12-13E示出了用于将轴组件330附接到柄部组件320并且将波导336附接到换能器组件12的示例性步骤集合。图13A示出了相对于相对于柄部组件320处于第一纵向位置的轴组件330。在此位置,衬圈339相对于主体部分338和旋钮340处于远侧纵向位置;并且整个轴组件330从柄部组件320脱离。图13B示出了相对于柄部组件320移动到第二纵向位置的轴组件330(图12的框310A)。具体地,轴组件330的近侧端部***外壳322的承窝324中。在此阶段,衬圈339相对于主体部分338和旋钮340保持在远侧纵向位置。另外在此位置,磁体364感测钢环341的存在。这引起磁体364的磁场变化。控制模块367感测磁体364的磁场变化(图12的框310B)并且激活螺线管360以将锁定构件362从第一位置向上驱动到第二位置(图12的框310C),如图13C所示。在第二位置,锁定构件362接合轴组件330并且由此防止轴组件330相对于柄部组件320旋转。一旦锁定构件362已接合轴组件330,控制模块367便随后激活马达350以使换能器组件12相对于柄部组件320旋转。马达350由此驱动螺纹孔337中的螺柱12E(图12的框310E),以使换能器组件12与波导336声学联接,如图13D所示。
如图13C另外所示,一旦主体部分338被置于外壳322的承窝324中,操作者便开始相对于主体部分338和旋钮340朝近侧平移衬圈339。这可通过克服由凸块343抵靠内部镗孔344的内表面引起的阻力来完成(图12的框310D)。当凸块343到达如图13D所示的近侧位置时,主体部分338中的接近开关369感测到凸块343的近侧定位。接近开关369与位于柄部组件320内的开关365连通,使得接近开关369响应于检测到凸块343的近侧定位而触发开关365。开关365继而发信号通知控制模块367以指示凸块343的近侧定位,并且控制模块367继而激活螺线管以使锁定构件362从第二位置向下回缩到第一位置(如图13E所示),以使得锁定构件362脱离轴组件330并且由此允许轴组件330相对于柄部组件320旋转(图12的框310G)。在一些型式中,在需要用户将衬圈339完全驱动到最近侧位置期间(例如,在从图13C所示的状态过渡到图13D所示的状态期间),马达350使换能器组件12旋转到足以使换能器组件12与波导336完全联接的程度。
应当理解,马达350可被构造成能够使换能器组件12旋转预先确定的次数,以实现换能器组件12和波导336之间的正确连接。另外应当理解,马达350可被构造成能够使换能器组件12旋转,直到感测到预先确定的扭矩量以实现换能器组件12和波导336之间的正确连接。例如,控制模块367可被构造成能够在传感器感测到马达350的预先确定的反EMF量之后停止马达350的旋转。除此之外或作为另外一种选择,控制模块367可被构造成能够在编码器或其他传感器感测到马达350或换能器组件12的预先确定的角度行进量之后停止马达350的旋转。参考本文的教导内容,可检测或以其他方式提供适当的扭矩量的其他合适的方式对于本领域普通技术人员而言将是显而易见的。
另外应当理解,旋钮340、衬圈339、和轴组件330的其他部件(不包括主体部分338)相对于柄部组件320一起旋转,而主体部分338相对于柄部组件320不旋转。还应当理解,在图13E所示的阶段,轴组件330与柄部组件320完全联接;并且此外波导336与换能器组件12声学联接,使得振动可从换能器组件12沿着波导336进行传输。对开关365的激活还可使得控制模块367经由听觉特征结构、触觉特征结构、和/或视觉反馈特征结构来提供轴组件330已与柄部组件320成功联接的信号(图12的框310H)。
图14-15E示出了用于从柄部组件320移除轴组件330并且从换能器组件12移除波导336的示例性步骤集合。应当理解,此过程可在外科手术期间执行(例如,以将一种轴组件330替换成另一种轴组件330)或可在外科手术完成时执行(例如,以准备柄部组件320和/或轴组件330以用于处理和/或回收等)。图15A示出了相对于柄部组件320处于第二纵向位置的轴组件330。在此位置,衬圈339相对于主体部分338和旋钮340处于近侧纵向位置。为了从柄部组件320移除轴组件330,用户将在衬圈339上施加远侧纵向力(图14的框图310I),由此克服由凸块343抵靠内部镗孔344的内表面形成的阻力。在此阶段,轴组件330的波导336与换能器组件12的螺柱12E保持连接。因此,当衬圈339朝远侧纵向移动时,轴组件330相对于柄部组件320保持基本上固定。衬圈339相对于主体部分338和旋钮340的远侧纵向移动触发接近开关369,由此进一步地去激活开关365(图14的框310J)。开关365的去激活继而激活螺线管260以将锁定构件362从第一位置向上竖直地驱动到第二位置,如图15B所示,使得锁定构件362接合轴组件330并且由此防止轴组件330相对于柄部组件320旋转(图14的框310K)。一旦锁定构件362与轴组件330接合,控制模块367便激活马达350以使换能器组件12旋转(图14的框310L),以由此将螺柱12E旋出螺纹孔337。应当理解,当衬圈339仍正从图15A所示的近侧位置过渡到图15B所示的中间位置时,可发生螺线管360和马达350的激活。
在轴组件330通过锁定构件362保持在承窝324内的情况下,用户继续将衬圈339从图15B所示的位置朝远侧纵向地驱动到图15C所示的位置。在需要用户将衬圈339从图15B所示的位置朝远侧纵向地驱动到图15C所示的位置期间,马达350使换能器组件12旋转,以使得螺柱12E旋出螺纹孔337(图14的框310L),由此使得换能器组件12从波导336脱离。在马达350已将螺柱12E从螺纹孔337完全移除之后(如图15C所示),螺线管360将锁定构件362从第二位置向下驱动到第一位置,使得锁定构件362脱离轴组件330(如图15D所示)(图14的框310M)。
应当理解,马达350可被构造成能够使换能器组件12旋转,直到换能器组件12和波导336断开连接。例如,在传感器感测到马达350的预先确定的反EMF量之后(这指示换能器组件12已与波导336断开连接),控制模块367可被构造成能够停止马达350的旋转并且致动螺线管360以回缩锁定构件362。除此之外或作为另外一种选择,在编码器或其他传感器感测到马达350或换能器组件12的预先确定的角度行进量之后,控制模块367可被构造成能够停止马达350的旋转并且随后致动螺线管360以回缩锁定构件362。例如,如果需要马达350的一个完整旋转来使波导336与换能器组件12连接,则控制模块367可被构造成能够允许马达350的两个完整旋转以使波导336与换能器组件12断开连接。参考本文的教导内容,马达350可自动停止并且螺线管360可自动致动的其他合适的方式对于本领域的普通技术人员而言将是显而易见的。
在衬圈339现在相对于主体部分338和旋钮340处于远侧纵向位置的情况下并且在轴组件330现在与换能器组件12断开连接的情况下,用户可从柄部组件320的承窝324移除轴组件330(图14的框310N)。图15E示出了柄部组件320的承窝324脱离并且相对于柄部组件320向后移动到第一纵向位置的轴组件330。轴组件330可随后被丢弃、再加工、替换、和/或处理。
C.示例性侧向力检测特征结构
上文所述的轴组件230响应于纵向定向力而从其相应的柄部组件(220,230)脱离。具体地,通过朝远侧纵向地牵拉主体部分238和旋钮240来使轴组件230从柄部组件220脱离;而通过朝远侧纵向地牵拉衬圈339来使轴组件330从柄部组件320脱离。在器械(210,310)的一些型式中,期望提供如下特征结构,该特征结构区分轴组件(230,330)的至少一部分上的纵向取向的力和轴组件(230,330)的至少一部分上的侧向取向的力。如本文所用,术语例如“侧向取向的力”并非旨在限于精确垂直于轴组件(230,330)的纵向轴线进行取向的力。相反,术语例如“侧向取向的力”旨在包括具有一些侧向分量或横向分量的力,包括相对于轴组件(230,330)的纵向轴线进行倾斜取向的力。此外,期望提供如下特征结构,该特征结构响应于侧向取向的力而防止轴组件(230,330)从柄部组件(230,320)移除,由此确保轴组件(230,330)仅响应于轴组件(230,330)上的纵向取向的力而从柄部组件(220,320)移除。
图16-20示出了器械410的示例,该器械410被构造成能够区分轴组件430的至少一部分上的纵向取向的力和轴组件430的至少一部分上的侧向取向的力。本示例的器械410被构造成能够除下文讨论的差异之外以基本上类似于上述器械(210,310)的方式来操作。具体地,器械410被构造成能够经由马达450将轴组件430机械地固定到柄部组件420。本示例的换能器组件12由轴衬438可旋转地支撑,该轴衬438被定位在柄部组件420的外壳422内。换能器组件12的焊头12D的螺柱12E延伸穿过外壳422的远侧部分,使得换能器组件12可经由螺柱12E与波导402连接。柔性密封件432在焊头12D穿过外壳422的点处被定位在焊头12D周围。柔性密封件432允许焊头12D将应力从轴组件430传送到换能器组件12。
如在图17-18中最佳可见的,润滑层434被设置在换能器组件12的安装凸缘12I的外表面周围并且被设置在轴衬438内。感测层436被设置在润滑层434的外表面周围并且也被设置在轴衬438内。感测层436因而径向地***置在润滑层434和轴衬438之间。在一些其他型式中,感测层436径向地***置在润滑层434和安装凸缘12I之间。感测层436可包括多个应变仪、一个或多个NanoInk,Inc.(Skokie,Illinois)的传感器、一个或多个Flexpoint Sensor Systems,Inc.(Draper,Utah)的传感器、和/或一个或多个任何其他种类的传感器。参考本文的教导内容,可使用的各种合适种类和数量的传感器的对于本领域普通技术人员而言将是显而易见的。感测层436与控制模块452连通,该控制模块452能够操作以处理得自感测层436的信号。在一些型式中,控制模块452还能够操作以基于得自感测层436的信号和/或基于其他状态来选择性地激活马达450。仅以举例的方式,控制模块452可包括微处理器、ASIC、印刷电路板、存储控制逻辑部件的一个或多个特征结构、和/或参考本文的教导内容对于本领域的普通技术人员而言将显而易见的其他合适的部件。
在本示例中,感测层436和控制模块452能够一起操作以感测轴组件430和/或换能器组件12中的非纵向应力,如图19所示。应当指出的是,图18示出了处于非应力状态的轴组件430。还应当指出的是,为了清晰起见,图19将由侧向取向的力引起的应力示为轴组件430中的夸大的侧向移动/挠曲。实际上,感测层436和控制模块452可检测到由侧向取向的力引起的应力,而在轴组件430中实际上不存在任何可见的侧向移动/挠曲。当感测层436和控制模块452检测到由侧向取向的力引起的应力时,控制模块452可防止轴组件430从柄部组件420脱离。例如,控制模块452可与机械锁定特征结构联接,该机械锁定特征结构在感测层436和控制模块452检测到由侧向取向的力引起的应力时选择性地防止轴组件430从柄部组件420脱离。作为另一个仅示例性示例,当感测层436和控制模块452检测到由侧向取向的力引起的应力时,控制模块452可选择性地禁用马达450。参考本文的教导内容,控制模块452可在感测层436和控制模块452检测到由侧向取向的力引起的应力时有效地防止轴组件430从柄部组件420移除的其他合适方式对于本领域普通技术人员而言将是显而易见的。
如图20所示,当感测层436和控制模块452未检测到由侧向取向的力引起的应力时,控制模块452允许轴组件430从柄部组件420脱离。在一些型式中,感测层436和控制模块452检测纵向取向的力(例如,基本上均匀地分布在安装凸缘12I的圆周周围的纵向取向的力)的存在。控制模块452可因而响应于纵向取向的力的存在来激活马达450。另选地,当感测层436和控制模块452检测到纵向取向的力的存在时,控制模块452可仅不锁定轴组件430从柄部组件420的移除。作为另一个仅示例性示例,感测层436和控制模块452可仅对于由侧向取向的力引起的应力敏感,使得感测层436不检测纵向取向的力。
图25示出了可结合到器械410内以对轴组件430的至少一部分上的纵向取向的力和轴组件430的至少一部分上的侧向取向的力提供敏感性的示例性电桥电路700。本示例的电路700包括一对非可变电阻器(710,712)、一对可变电阻器(720,722)、和一对输出端(730,732)。电路700还包括功率输入端740和接地端750。在本示例中,非可变电阻器(710,712)各自具有相同的标称电阻值(R)。仅以举例的方式,非可变电阻器(710,712)可各自具有约120欧姆的标称电阻值(R)。另选地,可使用任何其他合适的值。
可变电阻器720具有电阻值(R+ΔRA),其中R为上文针对非可变电阻器(710,712)指出的同一标称值(R)并且+ΔRA为附加值。可变电阻器722具有电阻值(R+ΔRB),其中R为上文针对非可变电阻器(710,712)指出的同一标称值(R)并且+ΔRB为附加值。在本示例中,可变电阻器(720,722)由应变仪提供。例如,此类应变仪可被提供在器械410的感测层436中、轴组件430的纵向轴线的径向相对的侧面上。这些应变仪可因此基于轴组件430上的侧向取向的应力来提供电阻变化。
在本示例中,附加值(ΔRA)表示由提供可变电阻器720的应变仪中的应变引起的电阻变化。因此,当提供可变电阻器720的应变仪不承受应变时,附加值(ΔRA)为零。当提供可变电阻器720的应变仪不承受应变时,可变电阻器720因而提供120欧姆的标称电阻值(R)。相似地,附加值(ΔRB)表示由提供可变电阻器722的应变仪中的应变引起的电阻变化。因此,当提供可变电阻器722的应变仪不承受应变时,附加值(ΔRB)为零。当提供可变电阻器722的应变仪不承受应变时,可变电阻器722因而提供120欧姆的标称电阻值(R)。参考上述内容,应当理解,当轴组件430未遇到任何应变时或者当轴组件430正遇到仅纵向定向的应变时,可变电阻器(720,722)的电阻值(R+ΔRA,R+ΔRB)各自为120欧姆。
轴组件430上的侧向取向的应力可在提供可变电阻器(720,722)的应变仪上提供径向相对的应变。换句话讲,附加值(ΔRB)可为附加值(ΔRA)的负值。换句话讲,侧向取向的应力可提供绝对附加值(ΔR),其中ΔR=ΔRA并且ΔR=-ΔRB。控制模块452可监测输出端(730,732)处的输出电压(VAB),并且基于输出电压(VAB)和/或基于其他条件来选择性地激活马达450或选择性地实现对马达450的激活。此输出电压(VAB)将基于绝对附加值(ΔR)而变化。具体地,VAB=ΔR*V/R,其中ΔR为绝对附加值,V为提供在功率输入端740和地750之间的电压,并且R为标称电阻值(例如,120欧姆)。根据上述内容应当理解,当绝对附加值(ΔR)为零时,输出电压(VAB)将为零。换句话讲,当提供可变电阻器(720,722)的应变仪未拾取到轴组件430上的任何侧向应力时,输出电压(VAB)将为零。因此仅当输出电压(VAB)为零时,控制模块452可提供或者实现对马达450的激活。反之,当输出电压(VAB)为非零值时(这将指示出轴组件430上的一些侧向应力),控制模块452可防止对马达450的激活。
参考本文的教导内容,可构造应变感测电路的其他合适的方式对于本领域的普通技术人员而言将是显而易见的。相似地,参考本文的教导内容,器械410可检测轴组件430上的侧向力的其他合适的方式对于本领域的普通技术人员而言将是显而易见的。
III.示例性自引导螺柱
在换能器组件12的一些型式中,期望被构造成能够提供改善的自引导以进入波导102的螺纹孔104。图21示出了此类自引导螺柱500的示例。螺柱500的第一部分502包括螺纹505。螺柱500的第一部分502被旋入换能器组件12的焊头12D的远侧部分中。第二部分504从焊头12D的远侧端部朝远侧延伸。第二部分504包括螺纹506。螺纹505限定有效外径(D1)。螺纹506限定有效外径(D2)。直径(D1)大于直径(D2)。第二部分504的螺纹506在过渡区域507中沿着围绕螺柱500的外部的螺旋路径逐渐地过渡到第一部分502的螺纹505中。此过渡区域507的螺旋路径可沿着约360°路径、沿着约720°、或沿着任何其他合适的角度范围延伸。应当理解,增加过渡区域507的角度范围将使得过渡更加平缓。
直径(D2)的尺寸设定成使得在螺柱500的远侧端部和螺纹孔104的内部螺纹之间存在可观量的径向间隙。螺柱500因此可在波导102的螺纹孔104内被容易地对准。此外,当螺柱500旋入波导102的螺纹孔104中时,螺纹506可降低螺纹错扣的风险。当螺柱500推进到螺纹孔104中时,螺纹506然而可与螺纹孔104的内部螺纹啮合。在一些情况下,螺纹505相对于焊头12D的远侧端部未被暴露,使得螺纹506为与螺纹孔104的内部螺纹啮合的仅有的螺纹。然而,在本示例中,螺纹505的一些长度相对于头12D的远侧端部为暴露的。因此,当螺柱500继续推进到螺纹孔104中时,从焊头12D延伸的螺纹505部分也可最终与螺纹孔104的内部螺纹啮合。过渡区域507可提供机械辅助,以将螺纹孔104的内部螺纹平滑地引导成与螺纹505接合。应当理解,在其中螺纹505的一部分与螺纹孔104的内部螺纹啮合的型式中,螺纹506不必也与螺纹孔104的内部螺纹啮合。参考本文的教导内容,其他合适的构型和关系对于本领域的普通技术人员而言将是显而易见的。
尽管本文在波导102经由电动组件与换能器组件12联接的其他示例中提供了自引导螺柱500,但应当理解,自引导螺柱500也可用于其中波导102与换能器组件12手动联接的型式。换句话讲,自引导螺柱500可用于其中波导102与换能器组件12手动地、以电动方式、或以任何其他方式联接的型式。
IV.示例性扭矩感测特征结构
在器械10的一些型式中,期望提供处理特征结构,该处理特征结构在适当扭矩量已被施加以将波导102固定到换能器组件12时发信号通知用户。图22-24示出了与用户反馈装置602连通的此类处理特征结构600的示例。在本示例中,扭矩扳手610用于将波导102手动地固定到换能器组件12。扭矩扳手610被示为被定位在端部执行器40上,但应当理解,扭矩扳手可反而接合轴组件30的一部分(例如,朝轴组件30的近侧端部滑动等)和/或接合器械10的一些其他特征结构。当扭矩扳手610施加适当扭矩量以将波导102固定到换能器组件12时,本示例的扭矩扳手610被构造成能够发出听觉点击声。仅以举例的方式,扭矩扳手610可根据下列美国专利公布的至少一些教导内容来构造和操作:于2007年8月16日公布的标题为“Ultrasonic Device for Cutting and Coagulating”的美国专利公布No.2007/0191713,其公开内容以引用方式并入本文。
产生听觉点击声的扭矩扳手610的特征结构包括产生振动脉冲(例如,一个振动脉冲与每个点击声相关联)的卡扣特征结构。由扭矩扳手610产生的这些振动脉冲沿着波导102行进到换能器组件12的压电堆12J。该压电堆12J响应于振动脉冲产生电压脉冲(612A,612B)。因此,每个电压脉冲(612A,612B)与来自扭矩扳手610的相应点击相关联。如图23所示,这些电压脉冲(612A,612B)包括相对高幅值的短持续时间脉冲(612A,612B)。本示例的每个脉冲(612A,612B)(具有约20毫秒的持续时间)的峰到峰幅值为约3伏特。本示例的第一脉冲612A和第二脉冲612B之间存在约400毫秒的持续时间。当然,这些值仅为示例性的。压电堆12J可反而响应于由扭矩扳手610产生的振动脉冲来产生具有各种其他类型的参数/特征的脉冲。
另外应当理解,脉冲(612A,612B)的幅值可指示被提供在波导102和换能器组件12的接口处的扭矩量。因此,当操作者致动扭矩扳手610时,可存在脉冲(612A,612B)的幅值变化。例如,如果第二脉冲612B的幅值大于第一脉冲612A的幅值,则这可指示扭矩扳手610在第二次点击时已在波导102和换能器组件12之间实现较大的扭矩。如果用户相对于柄部组件20和换能器组件12继续旋转扭矩扳手610,则扭矩扳手610可继续发出一系列点击声,同时由换能器组件12来产生对应的脉冲系列。这些后续脉冲的幅值可展示出基本上一致的幅值,这可指示波导102和换能器组件12的接口已达到最大适当的扭矩水平。换句话讲,换能器组件12响应于扭矩扳手610的点击所产生的电压脉冲的幅值的一致性可指示已实现适当的扭矩水平。在一些情况下,电压脉冲的幅值可在序列内减小。此类幅值减小可指示出破裂的销33和/或声学传动系内的一些其他类型的机械故障。
图24示出了处理特征结构600可执行的步骤的示例性集合,以向用户发信号通知波导已被适当扭转或还未被适当扭转。在此过程开始时,用户使用扭矩扳手610扭转波导102以将波导102固定到换能器组件12(框600A)。处理特征结构600监测由换能器组件12的压电堆12J产生的电压(框600B)。如果处理特征结构600在预先确定的时间量内检测到由换能器组件12的压电堆12J产生的适当数量的脉冲(612A,612B)(框600C),则处理特征结构600经由用户反馈装置602向用户发信号通知波导102已被适当地固定到换能器组件12(框600D)并且允许用户操作器械10(框600E)。
如果处理特征结构600在预先确定的时间量内未检测到由换能器组件12的压电堆12J产生的适当数量的脉冲(612A,612B)(框600C),则处理特征结构600向用户发信号通知波导102还未被适当地固定到换能器12(框600F)。如果处理特征结构600在预先确定的时间量内未检测到由换能器组件12的压电堆12J产生的适当数量的脉冲(612A,612B)(框600C),则处理特征结构600还可防止换能器组件12被激活。此时,用户必须继续扭转或者从换能器组件12松开波导102(600G)并且重新扭转波导12(600H)。在重新扭转波导12时,处理特征结构600将再次监测到由换能器组件12的压电堆12J产生的电压(框600B)。处理特征结构600可包括噪声过滤特征结构,该噪声过滤特征结构被构造成能够滤除由下述振动/力产生的电压变化,该振动/力由除扭矩扳手610的点击特征结构之外的事物形成。
尽管图22示出了与柄部组件20和发生器16分离的处理特征结构600和用户反馈装置602,但应当理解,处理特征结构600和/或用户反馈装置602可被整合到柄部组件20和发生器16中。还应当理解,处理特征结构600和用户反馈装置602可结合到上文所述的器械(10,210,310,410)中的任一个器械中。无论其被结合在何处或者其如何被结合,用户反馈装置602可以合适的形式或形式的组合来提供用户反馈,包括但不限于听觉反馈、视觉反馈、和/或触觉反馈。参考本文的教导内容,可应用用户反馈装置602的各种合适的方式对于本领域的普通技术人员而言将是显而易见的。此外,如果需要,用户反馈装置602可被完全省略。例如,处理特征结构600可仅使得发生器16、换能器组件12、和/或器械的一些其他部件/特征结构至少部分地不能操作,直到处理特征结构600在预先确定的时间量内检测到由压电堆12J产生的适当数量的脉冲(612A,612B)。
在上文相对于图24所述的过程中,处理特征结构600监测在预先确定的时间量内由换能器组件12的压电堆12J产生的适当数量的脉冲(612A,612B)(框600C)。除了或者取代监测在预先确定的时间量内由换能器组件12产生的一定数量的脉冲(612A,612B),处理特征结构600可监测由换能器组件12产生的脉冲(612A,612B)的电压的幅值。例如,处理特征结构600可检测序列中的两个或更多个脉冲(612A,612B)是否具有超过预先确定的阈值的电压幅值,该预先确定的阈值与已实现的适当扭矩水平相关联。一旦处理特征结构600检测到序列中的两个或更多个脉冲(612A,612B)具有超过预先确定的阈值的电压幅值,处理特征结构600便可经由用户反馈装置602来向用户发信号通知波导102已被适当地固定到换能器组件12(框600D)并且允许用户操作器械10(框600E)。
除此之外或作为另外一种选择,处理特征结构600可监测序列中的两个或更多个脉冲(612A,612B)的电压幅值的一致性。在一些此类型式中,处理特征结构600首先监测超过预先确定的阈值的电压幅值;并且一旦处理特征结构600检测到具有超过预先确定的阈值的电压幅值的第一脉冲612A,处理特征结构600便随后监测后续脉冲(612B等)的电压幅值的一致性。在其中处理特征结构600监测序列中的两个或更多个脉冲(612A,612B)的电压幅值的一致性的型式中,一旦处理特征结构600检测到序列中的两个或更多个脉冲(612A,612B)的电压幅值的足够一致性,处理特征结构600便可触发响应。此类响应可包括经由用户反馈装置602向用户发信号通知波导102已被适当地固定到换能器组件12(框600D)并且允许用户操作器械10(框600E)。在一些型式中,如果处理特征结构600检测到序列中的两个或更多个脉冲(612A,612B)的电压幅值下降,则处理特征结构600可向用户提示故障状态。参考本文的教导内容,处理特征结构600可处理与序列中的两个或更多个脉冲(612A,612B)的电压幅值相关的数据的其他合适方式对于本领域的普通技术人员而言将是显而易见的。
V.杂项
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中的任一参考文献中公开的各种特征结构中的一种或多种特征结构。还应当理解,本文的教导内容可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是显而易见的。
应当理解,据称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所述的定义、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。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的任何材料或其部分仅在所并入的材料和现有的公开材料之间不产生冲突的程度下并入本文。
上文所述装置的型式可应用在由医疗专业人员进行的传统医疗处理和手术中、以及可应用在机器人辅助的医疗处理和手术中。仅以举例的方式,本文的各种教导内容可易于结合到机器人外科***诸如Intuitive Surgical,Inc.(Sunnyvale,California)的DAVINCITM***中。相似地,本领域的普通技术人员将认识到本文中的各种教导内容可易于结合如下专利中的各种教导内容:于2004年8月31日公布的标题为“Robotic SurgicalTool with Ultrasound Cauterizing and Cutting Instrument”的美国专利No.6,783,524,其公开内容以引用方式并入本文。
上文所述的型式可被设计成在单次使用后废弃,或者其可被设计成能够使用多次。在任一种情况下或两种情况下,可修复形式以用于在至少一次使用之后重复使用。修复可包括以下步骤的任意组合:拆卸装置,然后清洁或替换特定零件以及随后进行重新组装。具体地,可拆卸一些形式的装置,并且可选择性地以任何组合形式来替换或移除装置的任意数量的特定零件或部件。在清洁和/或替换特定部件时,该装置的一些形式可在修复设施处重新组装或者在即将进行手术前由使用者重新组装以供随后使用。本领域的技术人员将会了解,装置的修复可利用多种技术进行拆卸、清洁/替换以及重新组装。这些技术的使用和所得修复装置均在本专利申请的范围内。
仅以举例的方式,本文描述的形式可在手术之前和/或之后消毒。在一种消毒技术中,将装置被放置在闭合并密封的容器中,诸如塑料袋或TYVEK袋。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。辐射可将装置上和容器中的细菌杀死。经杀菌的装置随后可被存储在无菌容器中,以供以后使用。还可使用本领域已知的任何其他技术来对装置消毒,该技术包括但不限于β辐射、环氧乙烷或蒸汽。
已示出和描述了本发明的各种实施方案,可在不脱离本发明的范围的情况下由本领域的普通技术人员进行适当修改来实现本文所述的方法和***的进一步改进。已提及了若干种此类潜在修改,并且其他修改对本领域的技术人员将是显而易见的。例如,上文所讨论的示例、实施方案、几何形状、材料、尺寸、比率、步骤等均是示例性的而非所要求的。因此,本发明的范围应根据以下权利要求书来考虑,并且应理解为不限于说明书和图示中示出和描述的结构细节和操作细节。
Claims (16)
1.一种用于对组织进行操作的设备,所述设备包括:
(a)主体组件;
(b)超声换能器,所述超声换能器能够操作以将电力转换成超声振动;
(c)轴组件,所述轴组件从所述主体组件朝远侧延伸,其中所述轴组件包括能够操作以传输超声振动的波导;
(d)马达,所述马达能够操作以使所述超声换能器旋转,以由此将所述超声换能器与所述波导选择性地联接;和
(e)锁定特征结构,所述锁定特征结构设置在所述主体组件内,并且所述锁定特征结构被构造成能够通过在所述主体组件内选择性运动并接合所述轴组件来选择性地防止所述轴组件的至少一部分相对于所述主体组件的旋转;
其中所述锁定特征结构包括螺线管,所述螺线管被构造成能够扩展锁定构件,以由此防止所述轴组件的至少一部分相对于所述主体组件的旋转。
2.根据权利要求1所述的设备,其中所述主体组件包括传感器,其中所述传感器被构造成能够感测所述轴组件相对于所述主体组件的纵向定位。
3.根据权利要求2所述的设备,其中所述传感器包括磁体。
4.根据权利要求2所述的设备,其中所述传感器被构造成能够响应于所述轴组件相对于所述主体组件的向近侧移动来激活所述锁定特征结构。
5.根据权利要求2所述的设备,其中所述传感器被构造成能够响应于所述轴组件相对于所述主体组件的向远侧移动来去激活所述锁定特征结构。
6.根据权利要求1所述的设备,其中所述轴组件包括能够纵向平移的构件。
7.根据权利要求6所述的设备,其中所述能够平移的构件能够在近侧纵向位置和远侧纵向位置之间移动。
8.根据权利要求7所述的设备,其中所述马达被构造成能够在所述能够平移的构件在所述近侧纵向位置和所述远侧纵向位置之间移动时使所述超声换能器旋转。
9.根据权利要求6所述的设备,其中所述能够平移的构件包括被构造成能够接合所述轴组件的内表面的多个弹性臂。
10.根据权利要求6所述的设备,其中所述能够平移的构件包括被构造成能够接合所述轴组件的内表面的至少一个凸块。
11.根据权利要求10所述的设备,其中所述轴组件的内表面限定一对环形凹槽。
12.根据权利要求11所述的设备,其中所述至少一个凸块被构造成能够接合所述一对环形凹槽。
13.根据权利要求12所述的设备,其中所述一对环形凹槽被构造成能够限制所述能够平移的构件的平移。
14.根据权利要求1所述的设备,其中所述设备还包括被构造成能够感测所述轴组件内的侧向取向的力的应力感测特征结构。
15.根据权利要求14所述的设备,其中所述应力感测特征结构被构造成能够响应于感测到所述轴组件内的非纵向力而防止所述轴组件从所述主体组件脱离。
16.根据权利要求1所述的设备,其中所述轴组件通过螺柱连接到所述超声换能器,其中所述螺柱包括第一螺纹部分和第二螺纹部分,其中所述第一螺纹部分限定第一有效外径,其中所述第二螺纹部分限定第二有效外径,其中所述第一有效外径大于所述第二有效外径。
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EP3071126B1 (en) | 2018-01-10 |
MX2016006639A (es) | 2017-01-16 |
US10368892B2 (en) | 2019-08-06 |
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