CN106037832A - 接合器组件和机电手术*** - Google Patents

接合器组件和机电手术*** Download PDF

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CN106037832A
CN106037832A CN201610217764.5A CN201610217764A CN106037832A CN 106037832 A CN106037832 A CN 106037832A CN 201610217764 A CN201610217764 A CN 201610217764A CN 106037832 A CN106037832 A CN 106037832A
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CN106037832B (zh
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戴维·尼古拉斯
拉塞尔·普里巴尼奇
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Covidien LP
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • 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
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • 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
    • A61B2017/00473—Distal part, e.g. tip or head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A61B2017/00486—Adaptors for coupling parts with incompatible geometries
    • A—HUMAN NECESSITIES
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • 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

本公开涉及接合器组件和机电手术***。本公开涉及一种用于与机电手术装置和手术装载单元一起使用并且使机电手术装置和手术装载单元以电和机械的方式互相连接的接合器组件，并且涉及一种手术***，所述手术***包括手持式机电手术装置以及用于将手术装载单元连接到手持式机电手术装置的接合器组件。

Description

接合器组件和机电手术***
相关申请的交叉引用
本申请要求2015年4月10日提交的申请号为62/145，794的美国临时专利申请的权益和优先权，该申请的全部内容通过引用合并于此。
技术领域
本公开涉及一种用于在手术***中使用的接合器组件。更具体地，本公开涉及下述接合器组件，所述接合器组件用于与机电手术装置和手术装载单元一起使用并且使机电手术装置和手术装载单元以电和机械的方式互相连接，并且涉及下述手术***，所述手术***包括手持式机电手术装置以及用于将手术装载单元连接到手持式机电手术装置的接合器组件。
背景技术
手术装置生产商已经研发出具有用于操作和/或操纵手术装置的专利动力驱动***的生产线。在一些情况下，手术装置包括可再利用或者一次性的动力手柄组件以及一次性末端执行器等，该末端执行器在使用之前选择性地连接到动力手柄组件，并且然后在使用之后，所述动力手柄组件与末端执行器断开连接，以被处理或者在一些情况下被消毒以再利用。
用于与许多现有的动力手术装置和/或手柄组件一起使用的许多现有的末端执行器由线性力驱动。例如，用于执行胃肠内吻合操作(endo-gastrointestinal anastomosis procedures)、端对端吻合操作以及横向吻合操作的末端执行器通常均需要线性驱动力以***作。因此，这些末端执行器与使用旋转运动来传送动力等的手术装置和/或手柄组件不兼容。
为了使线性驱动的末端执行器与使用旋转运动传送动力的动力手术装置和/或手柄组件兼容，接合器和/或接合器组件用于在线性驱动的末端执行器与旋转驱动的动力手术装置和/或手柄组件之间交接并且使其相互连接。这些接合器和/或接合器组件中的许多是复杂的装置，所述装置包括许多部件并且需要大量劳动来装配。因此，需要研发一种接合器和/或接合器组件，该接合器和/或接合器组件合并更少的部件、需要更少的劳动来装配并且最终以更经济的方式制造。
发明内容
本公开涉及一种接合器组件，所述接合器组件用于与机电手术装置和手术装载单元一起使用并且使机电手术装置和手术装载单元以电和机械的方式互相连接，并且涉及一种手术***，所述手术***包括手持式机电手术装置和用于使手术装载单元连接到手持式机电手术装置的接合器组件。本公开的接合器组件的实施例具有万向支架(gimbal)和两个万向节，以用于给手术装载单元提供全方向的自由度。所产生的手术装载单元相对于手持式机电手术装置的关节式运动角度能够实现到手术部位内的组织的改善的进入。
根据本公开的一个方案，接合器组件包括壳体、外管、关节式运动组件以及发射组件，其中，所述接合器组件用于选择性地使配置为执行功能的手术装载单元与配置为致动手术装载单元的手术装置互相连接，手术装载单元包括能够轴向平移的驱动构件，并且手术装置包括一个或多个可旋转驱动轴。
壳体配置为并且适合于与手术装置连接并且与手术装置的多个可旋转驱动轴中的每个可旋转驱动轴可操作地连通。外管限定纵向轴线并且具有近侧端和远侧端部，所述近侧端由壳体支撑，并且所述远侧端部配置为且适合于与手术装载单元连接。外管的远侧端部与手术装载单元的可轴向平移的驱动构件可操作地连通。
接合器组件包括关节式运动组件，所述关节式运动组件包括支撑在外管的远侧端部中的万向支架以及支撑在壳体中的多个螺纹套筒。多个螺纹套筒通过至少一个线缆联接到万向支架。发射组件包括支撑在壳体和外管内的发射轴。发射轴包括至少一个万向节。手术装置的多个可旋转驱动轴中的至少一个可旋转驱动轴的旋转使多个螺纹套筒中的至少两个螺纹套筒平移，以使万向支架相对于具有至少一个线缆的外管的纵向轴线关节式运动。万向支架的关节式运动使发射轴的至少一个万向节和手术装载单元绕外管的远侧端部关节式运动。
在实施例中，发射轴包括近侧端和远侧端，其中，所述近侧端配置为并且适合于联接到手术装置的多个可旋转驱动轴中的至少一个可旋转驱动轴，远侧端配置为并且适合于联接到手术装载单元的可轴向平移的驱动构件，以实现手术装载单元的发射。该至少一个万向节定位在发射轴的近侧端与远侧端之间。在一些实施例中，发射轴配置为并适合于将旋转力传递通过万向支架，以实现可轴向平移的驱动构件的轴向平移并且从而发射手术装载单元。
发射轴可以包括近侧发射轴、中央管以及远侧发射轴。在实施例中，近侧发射轴和中央管在至少一个万向节中的近侧万向节处被连接，从而使得中央管能够相对于近侧发射轴移动。在一些实施例中，近侧发射轴包括一对相反的远侧突起，所述远侧突起形成近侧万向节的第一铰链，并且中央管包括一对相反的近侧突起，所述近侧突起形成近侧万向节的第二铰链。近侧万向节的第一铰链和第二铰链通过近侧支承组件互相连接。在特定实施例中，近侧支承组件包括多个外弓形表面。每个外弓形表面设置在内弓形表面中，所述内弓形表面限定在近侧发射轴的一对相反的远侧突起和中央管的一对相反的近侧突起中的每一个中。
在实施例中，中央管和远侧发射轴在至少一个万向节中的远侧万向节处被连接，从而使得远侧发射轴能够相对于中央管移动。在一些实施例中，中央管包括一对相反的远侧突起，所述远侧突起形成远侧万向节的第一铰链，并且远侧发射轴包括一对相反的近侧突起，所述近侧突起形成远侧万向节的第二铰链。第一铰链和第二铰链通过远侧支承组件互相连接。在特定实施例中，远侧支承组件包括多个外弓形表面。每个外弓形表面设置在内弓形表面中，该内弓形表面限定在中央管的一对相反的远侧突起和远侧发射轴的一对相反的近侧突起中的每一个中。在一些实施例中，万向支架限定穿过其中的万向支架镗孔(bore)，该万向支架镗孔配置为并适合于接收远侧万向节，从而使得万向支架围绕远侧万向节设置。
在实施例中，近侧发射轴的远侧端部在其中限定镗孔，中央管限定穿过其中的镗孔，并且远侧发射轴的近侧端部在其中限定镗孔。弹簧钢丝(springwire)设置在近侧发射轴、中央管以及远侧发射轴的镗孔内。在一些实施例中，弹簧钢丝配置为沿着外管的纵向轴线偏置发射组件并且能够在万向支架关节式运动时弯曲。
在一些实施例中，万向支架限定在该万向支架的外表面中的至少一个狭槽，并且该至少一个线缆固定在该至少一个狭槽内。在一些实施例中，外管包括设置在其中的远侧安装构件，该远侧安装构件包括限定至少一个凹槽的外表面，至少一个线缆延伸穿过该凹槽。
在实施例中，多个螺纹套筒被支撑在至少一个螺纹螺钉(threaded screw)上。在一些实施例中，该至少一个螺纹螺钉包括第一组螺纹和第二组螺纹。该第一组螺纹和第二组螺纹可以带有相反方向的螺纹。多个螺纹套筒中的第一螺纹套筒可以与第一组螺纹螺纹接合，并且多个螺纹套筒中的第二螺纹套筒可以与第二组螺纹螺纹接合。至少一个第一螺纹螺钉在第一旋转方向上的旋转能够使多个螺纹套筒中的第一螺纹套筒与第二螺纹套筒接近。至少一个螺纹螺钉在第二旋转方向上的旋转能够使多个螺纹套筒中的第一螺纹套筒与第二螺纹套筒分离。
接合器组件可以包括固定到壳体的关节式运动致动器。在实施例中，关节式运动致动器包括从壳体向外延伸的操纵杆。操纵杆配置为在对应于手术装载单元的关节式运动方向的方向上移动。在一些实施例中，关节式运动致动器包括设置在壳体内的多个方向性开关，并且操纵杆包括摇臂，所述摇臂配置为并且定尺寸为在操纵杆移动时，与方向性开关中的一个或多个方向性开关接触。
根据本公开的另一方案，机电***包括：手术装载单元，其包括至少一个可轴向平移的驱动构件；手持式机电手术装置，其包括壳体和支撑在壳体中的至少一个可旋转驱动轴；以及接合器组件，其能够选择性地连接在手术装置的壳体与手术装载单元之间。接合器组件包括关节式运动组件和发射组件。关节式运动组件包括万向支架和通过至少一个线缆联接到万向支架的多个螺纹套筒。多个螺纹套筒能够移动，以使万向支架与至少一个线缆关节式运动。万向支架的关节式运动使手术装载单元关节式运动。发射组件包括能够连接在手术装置的至少一个可旋转驱动轴与至少一个可轴向平移的驱动构件之间的发射轴。发射轴包括至少一个万向节并且能够在至少一个万向节处与万向支架一起移动，以使手术装载单元关节式运动并且能够旋转，以使至少一个可轴向平移的驱动构件平移穿过手术装载单元。
在下文中，参考附图更详细地描述本公开的示例性实施例的进一步的细节和方案。
附图说明
合并到本说明书中并且构成本说明书的一部分的附图示出本公开的实施例并且与上述给出的本公开的概述以及下文给出的实施例的具体描述一起用于说明本公开的原理，在附图中：
图1A是根据本公开的原理的机电手术***的立体图；
图1B是图1A所示的细部指示区域的放大立体图；
图2是图1A的机电手术***的接合器组件的放大立体图；
图3是在图2的细部指示区域中示出的接合器组件的远侧端部的放大立体图；
图4是沿着图2的线4-4截取的图2的接合器组件的仰视截面图，其示出接合器组件在第一状态下的关节式运动组件；
图5A是图2的接合器组件的近侧部在部件分离的状态下的侧视立体图；
图5B是图5A的接合器组件的近侧部的致动器的放大立体图；
图6是沿着图4的线6-6截取的图2的接合器组件的近侧部的前视立体图；
图7是关节式运动组件的一部分和发射组件的一部分的侧视放大立体图，其中关节式运动组件示出为在第一状态下；
图8是图7所示的关节式运动组件的一部分的部段的仰视放大立体图；
图9是图4所示的细部指示区域的仰视放大截面图，其中，关节式运动组件示出为在第二状态下；
图10A是图3所示的接合器组件的远侧部在部件分离状态下的放大立体图；
图10B是图10A的接合器组件的远侧部的发射组件在部件分离的状态下的放大立体图；
图11是关节式运动组件的万向支架的放大立体图；
图12是图3所示的接合器组件的远侧部的侧视放大立体图，其中，为了清晰，接合器组件的一部分被移除，接合器组件的远侧部示出为在非关节式运动状态下；
图13是关节式运动组件的远侧部的前视放大立体图；
图14是沿着图2的线14-14截取的图2的接合器组件的侧视截面图；
图15是图14所示的细部指示区域的侧视放大截面图；
图16是图1A的机电手术***的手术装载单元在部件分离状态下的放大立体图；
图17A和图17B是示出图1A的机电手术***的手术装载单元的近侧部被固定至图3所示的接合器组件的远侧部的渐进侧视立体图；
图18是图3的接合器组件的远侧端部的前视放大立体图，其中，接合器组件的远侧端部示出为在关节式运动状态下；
图19是图3的接合器组件的远侧端部的后视放大立体图，其中，为了清晰，该接合器组件的一部分被移除，接合器组件的远侧端部示出为在关节式运动状态下；
图20是图1A的机电手术***的一部分的前视放大立体图，机电手术***的手术装载单元示出为在关节式运动状态下；以及
图21是根据本公开另一实施例的接合器组件的远侧部的发射组件在部件分离状态下的放大立体图。
具体实施方式
本公开的机电手术***包括呈动力手持式机电器械形式的手术装置，该手术装置配置为选择性地附接到多个不同的末端执行器，该末端执行器分别配置为通过动力手持式机电手术器械致动和操纵。特别地，本公开描述的机电手术***包括接合器组件，该接合器组件使动力手持式机电手术器械与多个不同的末端执行器互相连接。每个接合器组件包括关节式运动组件和发射组件，该发射组件可操作地联接到动力手持式机电手术器械，以用于实现其致动和/或操纵。关节式运动组件包括一个或多个线缆，该一个或多个线缆使万向支架与两个以上螺纹套筒互相连接。发射组件包括与万向支架可操作地连接的至少一个万向节。万向支架联接到多个末端执行器中的一个末端执行器，从而使得螺纹套筒的轴向移动使一个或多个线缆移动，以使万向支架旋转并且使发射组件响应于万向支架的旋转而弯曲，以实现末端执行器绕接合器组件的远侧端的关节式运动。
参考附图详细描述本公开的机电手术***、手术装置/手柄组件、接合器组件和/或装载单元的实施例，在附图中，相似的附图标记表示在若干视图的每个视图中相同或对应的元件。如本文使用的，术语“远侧”指的是***、组件、装置和/或其部件的较远离用户的部分，而术语“近侧”指的是***、组件、装置和/或其部件的较靠近用户的部分。
现在转到图1A和图1B，根据本公开的总体示出为10的机电手术***包括：呈动力手持式机电器械形式的手术装置100、接合器组件200以及装载单元300(例如，末端执行器、多次使用或一次使用的装载单元)。手术装置100配置为选择性地与接合器组件200连接，并且进而，接合器组件200配置为选择性地与装载单元300连接。手术装置100和接合器组件200可以一起配合来致动装载单元300。
手术装置100包括手柄壳体102，该手柄壳体102包括位于其中的电路板(未示出)和驱动机构(未示出)。电路板配置为控制手术装置100的各种操作。手柄壳体102在其中限定腔(未示出)，以用于将充电电池(未示出)可选择性移除地接收在其中。电池配置为向手术装置100的电气部件中的任意电气部件供给电力。手柄壳体102支撑多个电机(未示出)，该电机均与电路板电连通并且均包括从手柄壳体延伸的可旋转驱动轴。
手柄壳体102包括上壳体部102a和下把手部102b，该上壳体部102a容置手术装置100的各种部件，并且该下把手部102b从上壳体部102a延伸。下把手部102b可以设置在上壳体部102a的最近侧端的远侧。下壳体部102b相对于上壳体部102a的位置被选择为平衡连接到或者支撑接合器组件200和/或装载单元300的手术装置100的重量。
手柄壳体102提供驱动机构(未示出)位于其中的壳体。驱动机构配置为驱动轴和/或齿轮部件，以执行手术装置100的各种操作。特别地，驱动机构配置为驱动轴和/或齿轮部件，以使装载单元300选择性地绕纵向轴线“X”和相对于接合器组件200的远侧端关节式运动，以使装载单元300选择性地绕纵向轴线“X”和相对于手柄壳体102旋转，以使装载单元300的砧座组件310和钉仓组件320相对于彼此移动/接近/分离，和/或以发射在装载单元300的钉仓组件320内的吻合和切割钉仓。
手柄壳体102限定配置为接收接合器组件200的近侧端的连接部104。连接部104容置关节式运动接触表面105以及多个可旋转驱动轴或连接器106，该关节式运动接触表面105与电路板(未示出)电连通。多个可旋转驱动轴106中的每个可旋转驱动轴能够由容置在手柄壳体102内的驱动机构或电机(未示出)独立地和/或不独立地致动和旋转。在实施例中，多个可旋转驱动轴106包括彼此设置在共同平面或线中的可旋转驱动轴106a、106b以及106c。如可以理解的，多个可旋转驱动轴可以以任何合适的构造布置。驱动机构(未示出)可以配置为在给定的时间选择性地驱动手术器械100的可旋转驱动轴106中的一个可旋转驱动轴。
手柄壳体102支撑多个手指致动的控制按钮、摇臂装置等，以用于致动手术装置100的各种功能。例如，手柄壳体102支撑多个致动器，该多个致动器包括例如与多个传感器108a可操作地配准的致动垫(actuation pad)108，以实现例如装载单元300的打开、关闭和/或发射，该多个传感器108a与致动垫108配合。手柄壳体102能够支撑致动器107a、107b，该致动器能够设置为与手柄壳体102的电机电连通，以由于其致动而实现可旋转驱动轴106a、106b和/或106c的旋转，以实现接合器组件200的一个或多个部件的调节。本公开描述的致动器中的任意致动器可以具有任何合适的构造(例如，按钮、旋钮、肘环、滑块等)。
关于示例性机电手术***的各种内部部件和操作的详细描述，可以参考2008年9月22日提交的申请号为PCT/US2008/077249的国际申请(国际公开号为WO 2009/039506)以及2009年11月20日提交的公开号为2011/0121049的美国专利申请，上述申请的全部内容在此通过引用并入本文，示例性机电手术***的部件能够与本文描述的机电手术***10的一个或多个部件组合和/或互换。
参考图2至图3，接合器组件200包括在其近侧端部处的壳体202以及从壳体202向远侧延伸到接合器组件的远侧端部2040的外管204。
现在转到图4至图9，接合器组件200的壳体202包括近侧壳体202a和远侧壳体202b，该远侧壳体202b支撑关节式运动致动器205(图5A至图5B)，以实现装载单元300的关节式运动。如图5A至图5B所示，关节式运动致动器205包括设置在近侧壳体202a内的支撑构件205a，并且该关节式运动致动器205包括设置在其上且与手术装置100的关节式运动接触表面105(图1A)电连通的多个方向性开关205b。可替代地，方向性开关205b与手术装置100的电路板(未示出)可操作地连通(例如，无线连通)。操纵杆205c枢转地联接到支撑构件205a并且包括设置在操纵杆205c的相反端部处的旋钮205d和摇臂205e。旋钮205d从近侧壳体202a向外延伸并且配置为由用户的手指致动。摇臂205e配置为并且定尺寸为当操纵杆205c由旋钮205d的致动而在对应的方向上枢转/偏斜时，与方向性开关205b中的一个或多个方向性开关接触，以实现装载单元300相对于接合器组件200的全向关节式运动。操纵杆205c被偏置在居中位置中，从而使得摇臂205e不与任何方向性开关205b接触。在实施例中，方向性开关205b对应于相对于纵向轴线“X”的不同偏转角(yaw angle)和/或俯仰角(pitch angle)，在方向性开关205b中的一个或多个方向性开关响应于操纵杆205c的偏斜方向和/或角度而致动时，装载单元300能够移动到上述偏转角和/或俯仰角。
继续参考图5A，近侧壳体202a包括壳体本体206，该壳体本体206限定穿过其中的中央狭槽206a并且具有从壳体本体径向向外延伸的远侧唇缘206b。壳体本体206将安装组件210支撑在其上。安装组件210支撑在壳体本体206上并且包括从壳体本体206向外延伸的轴212、围绕轴212的外表面被支撑的弹簧214以及与弹簧214和轴212接合的安装按钮216。弹簧214与安装按钮216的底面接触，以将安装按钮216向上偏置到与壳体本体206间隔开的伸出位置。弹簧214能够充分压缩，以使得安装按钮216能够被从伸出位置向下压到压缩位置。在压缩位置中，安装按钮216设置成与壳体本体206紧密接近并且从伸出位置偏移。安装按钮216包括斜的接合结构件216a，该斜的接合结构件216a配置为在安装按钮216处于伸出位置的同时与手柄壳体102的连接部104(图1A)接触，以便于将壳体202固定到手柄壳体102的连接部104。
如图4和图5A看到的，远侧壳体202b包括第一半部段218a和第二半部段218b。第一半部段218a包括从其延伸的多个销220，并且第二半部段218b限定适合于接收第一半部段218a的多个销220的多个镗孔222，以使第一半部段218a与第二半部段218b配合到一起。第一半部段218a和第二半部段218b中的每一个限定适合于接收近侧壳体202a的远侧唇缘206b的一部分的内唇缘接收环状凹槽224，以便于近侧壳体202a与远侧壳体202b的固定。第一半部段218a、第二半部段218b中的每一个限定与外管接收沟槽228连通的关节式运动组件接收凹槽226。每个外管接收沟槽228通过第一半部段218a和第二半部段218b中的一个的远侧端限定。
关节式运动组件230支撑在壳体202和外管204内。关节式运动组件230包括在其近侧端处的一对套筒组件240a、240b以及在其远侧端处的万向支架250。一对套筒组件240a、240b以及万向支架250通过多个线缆260连接。如图6所描绘的并且如下文更详细描述的，多个线缆260包括第一线缆260a、第二线缆260b、第三线缆260c以及第四线缆260d。
结合图4和图5A而参考图6至图9，一对套筒组件240a、240b中的每个套筒组件包括支撑轴242、螺纹螺钉组件244、支承挡块245以及一对螺纹套筒246、248。
如图4看到的，支撑轴242包括接收在近侧壳体202a的中央狭槽206a(见图5A)中的近侧部242a。支撑轴242的近侧部242a在其中限定螺纹镗孔242b。每个螺纹镗孔242b将螺钉243接收在其中，该螺钉243前进通过限定在近侧壳体202a中的螺钉通道203，以便于将关节式运动组件230固定到近侧壳体202a。支撑轴242还包括从近侧部242a向远侧延伸的远侧部242c。
参考图5A，每个螺钉243能够用作线缆张紧器，以调节多个线缆260中的一个或多个线缆的总体松弛和/或张紧，如由一对套筒组件240a、240b的平移轴向线“A1”和“A2”以及螺钉243的旋转箭头“B1”和“B2”所描绘的那样。例如，再次参考图4，一对套筒组件240a、240b设置为相对于彼此纵向偏移的关系(例如，比较支撑挡块245和/或螺纹螺钉组件244的远侧端之间的相对纵向关系)，以描绘在每个套筒组件240a、240b中的松弛调节的区别。在实施例中，一对套筒组件240a、240b中的一个套筒组件的松弛或张紧调节可以与一对套筒组件240a、240b中的另一个套筒组件的松弛或张紧调节不同和/或相同，并且同样可以进一步根据需要而进行调节以在多个线缆260中的一个或多个线缆中实现期望的线缆松弛或张紧。特别地，螺钉243相对于螺纹镗孔242b中的一个的顺时针和/或逆时针(例如，变紧和/或变松)旋转使得螺钉243相对于支撑轴242接近和/或分离，以使一对套筒组件240a、240b中的一个套筒组件或者二者轴向移动(向近侧和/或向远侧)，以调节多个线缆260中的一个或多个线缆的松弛或张紧。在实施例中，一个或两个螺钉243在第一方向上的旋转使一对套筒组件240a、240b中的一个套筒组件或二者向近侧拉动，并且一个或两个螺钉在第二方向上的旋转使一对套筒组件240a、240b中的一个套筒组件或二者向远侧推进。在一些实施例中，一个或两个螺钉243在第一方向上的旋转使一对套筒组件240a、240b中的一个套筒组件或二者向近侧拉动，并且一个或两个螺钉243在第二方向上的旋转使一对套筒组件240a、240b中的一个套筒组件或二者向远侧推进。如可以理解的，每个螺钉243可以相对于另一螺钉243独立地和/或不独立地旋转。
螺纹螺钉组件244包括从输入承窝(socket)244b向远侧延伸的螺纹螺钉244a，其中输入承窝244b的远侧端机械地联接到螺纹螺钉244a的近侧端。每个输入承窝244b配置为与手柄壳体102的多个可旋转驱动轴106中的一个接合。例如，套筒组件240b的输入承窝244b能够机械地联接到可旋转驱动轴106a，并且套筒组件240a的输入承窝244b能够机械地联接到可旋转驱动轴106c。
螺纹螺钉244a包括带有彼此相反方向的螺纹的第一螺纹部244c和第二螺纹部244d。例如，第一螺纹部244c可以为左旋螺纹并且第二螺纹部244d可以为右旋螺纹，反之亦然。在实施例中，第一螺纹部244c和第二螺纹部244d具有相同的螺距。螺纹螺钉244a可以包括第三螺纹部244e。第三螺纹部244e可以是右旋螺纹或者左旋螺纹并且可以具有与第一螺纹部244c和/或第二螺纹部244d相同和/或不同的螺距。如可以理解的，第一螺纹部244c、第二螺纹部244d、第三螺纹部244e中的任何一个螺纹部可以具有合适的螺距、形状、尺寸和/或构造。参考图4，螺纹螺钉244包括从螺纹螺钉的外表面延伸的固持构件或者凸缘244f。
如图8看到的，支承挡块245安装在支撑轴242的近侧端部上并且安装在螺纹螺钉组件244上。支承挡块245包括通过一对紧固件245c、245d紧固到一起的远侧板245a和近侧板245b。仍参考图4，远侧板245a和近侧板245b限定通过其中的第一沟槽245e和第二沟槽245f。第一沟槽245e接收螺纹螺钉244的近侧部并且封装固持构件244f和推力支承件247。第二沟槽245f接收支撑轴242，该支撑轴242可以牢固地固定在第二沟槽中，以便于如上所述在螺钉243旋转时，一对套筒组件240a、240b中的一个套筒组件的轴向推进。如可以理解的，套筒组件240a的支承挡块245是套筒组件240b的支承挡块245的镜像图像。
参考图7和图8，一对螺纹套筒246、248中的每个均具有L形轮廓。如图9所示，螺纹套筒246限定穿过其中的第一镗孔246a和第二镗孔246b，第一镗孔246a带螺纹并且第二镗孔246b是光滑的。相似地，螺纹套筒248限定穿过其中的第一镗孔248a和第二镗孔248b，第一镗孔248a为带螺纹的并且第二镗孔248b为光滑的。一对套筒组件240a、240b中的每个被布置为使得螺纹镗孔246a、248a接收螺纹螺钉244a，从而使得第一螺纹部244c与螺纹镗孔246a螺纹地接合并且从而使得第二螺纹部244d与螺纹镗孔248a螺纹地接合。一对套筒组件240a、240b中的每个还被布置为使得螺纹套筒246、248的光滑镗孔246b、248b接收支撑轴242的远侧部242c，从而使得螺纹套筒246、248沿着支撑轴242的远侧部242c轴向移动。在实施例中，套筒组件240a的螺纹套筒246能够设置成与套筒组件240b的螺纹套筒246为镜像关系。
如图8所示，一对螺纹套筒246、248中的每个在其侧表面中限定轴接收沟槽246c、248c和线缆接收沟槽246d、248d。一对螺纹套筒246、248中的每个通过连接到多个线缆260中的每个的近侧端的线缆套圈262联接到多个线缆260中的一个。线缆接收沟槽246d、248d将多个线缆260中的一个的线缆套圈262接收在其中，以将多个线缆260中的一个固定到一对螺纹套筒246、248中的每个。
参考图10A至图13，多个线缆260中的每个向远侧延伸到固持球262(见图13)，以将第一、第二、第三以及第四线缆260a-260d的远侧端固定到万向支架250。多个线缆260中的每对相反线缆可以具有两个线缆，该两个线缆在间隔180度的位置(例如，第一和第四线缆260a、260d以及第二和第三线缆260b、260c)处固定到万向支架250。
如图6可见，多个线缆260中的每对相反的线缆260具有连接到在相同螺纹螺钉244上的一对螺纹套筒246、248的近侧端。因此，第一和第四线缆260a、260d的近侧端连接到螺纹螺钉244，并且第二和第三线缆260b、260c的近侧端连接到另一螺纹螺钉244。设想到的是，多个线缆中的一个或多个可以在外管204内交叉。
再次参考图10A至图13，万向支架250具有近侧部250a和远侧部250b，该近侧部250a具有大致圆形形状并且该远侧部250b从近侧部250a延伸。近侧部250a在其远侧外表面中限定多个球固持狭槽252(例如，四个)，以使得多个球固持狭槽252中的每个球固持狭槽定尺寸为接收多个线缆260的固持球262中的一个固持球，以将多个线缆260中的每个线缆固定到万向支架250。
万向支架250的近侧部250a包括从其外表面延伸的多个间隔开的翼部254。多个间隔开的翼部254中的每个翼部包括顶面254a和侧面254b。多个间隔开的翼部254中的相邻翼部的侧面254b限定围绕近侧部250a的外表面的多个狭槽256。配置为接收多个线缆260的多个狭槽256与多个球固持狭槽252连通并且从多个球固持狭槽252向近侧延伸。
万向支架250的远侧部250b包括管状轴251，该管状轴251具有从管状轴251的外表面向外延伸的凸缘253。万向支架250的近侧部250a和远侧部250b限定万向支架镗孔258(见图11至图12)，该万向支架镗孔258延伸穿过其中并且包括由远侧部250b的内表面限定的第一部段258a以及由近侧部250a的内表面限定的第二部段258b。
参考图14，发射组件270支撑在接合器组件200的壳体202和外管204内。发射组件270包括适合于联接到壳体手柄102(见图1A)的可旋转驱动轴106b的输入承窝272、从输入承窝272向远侧延伸的近侧发射轴274、从近侧发射轴274向远侧延伸的中央管275、以及从中央管275向远侧延伸的远侧发射轴276。近侧发射轴274和中央管275在近侧万向节271处相交，并且中央管275与远侧发射轴276在远侧万向节273处相交。
继续参考图14，壳体支承构件280将近侧发射轴274的近侧端支撑在近侧壳体202a内，并且近侧安装构件282和远侧安装构件284将近侧发射轴274的远侧端支撑在外管204内。壳体支承构件280包括将近侧发射轴274穿过其中接收的推力支承件283，以使近侧发射轴274能够旋转。近侧安装构件282限定穿过其中的中央通道282a，该中央通道282a接收近侧发射轴274。
如图10A、图14以及图15所示，远侧安装构件284包括近侧部段284a和远侧部段284b。近侧部段284a限定一对狭槽284c以及穿过其中的一对螺钉开口284d，其中一对狭槽284c和一对螺钉开口284d均设置在相反的顶面和底面上。一对狭槽284c接收相应一对销285a以将远侧安装构件284围绕限定在近侧发射轴274中的凹槽274g固定，以允许近侧发射轴274相对于销285a的旋转。远侧安装构件284的远侧部段284b包括限定半球形开口284f的内表面284e，该半球形开口284f接收近侧万向节271的近侧部，以在万向支架250关节式运动时，使近侧万向节271能够围绕正交于纵向轴线“X”的至少两个轴线关节式运动。远侧安装构件284包括限定多个(例如，四个)凹槽284h的外表面284g，其中凹槽284h中的每个凹槽定尺寸为接收从万向支架250与一对套筒组件240a、240b之间延伸的多个线缆260中的一个线缆。在实施例中，凹槽284h具有远侧渐细部284i，以使线缆260能够延伸穿过其中，以在万向支架250关节式运动期间在增大的运动范围内移动。
继续参考图10A、图10B、图14以及图15，近侧发射轴274包括接收在输入承窝272的远侧端中的近侧端部274a、从近侧端部274a向远侧延伸的本体部274b、以及具有从本体部274b向远侧延伸的半球形的远侧端部274c。远侧端部274c包括限定在其中的镗孔274d以及形成近侧万向节271的第一铰链271a的一对相反远侧突起274e。远侧突起274e中的每个远侧突起具有内弓形表面274f，近侧支承组件277的外弓形表面277a、277b设置在该内弓形表面274f中。外弓形表面277a、277b在形状上与内弓形表面274f互补。在实施例中，内弓形表面274f是凹的表面并且外弓形表面277a、277b是凸的表面。近侧支承组件277包括环状本体277f，该环状本体277f包括从环状本体277f的外表面277g延伸的多个外弓形表面277a-277d。环状本体277f的内表面277h限定穿过其中的开口277e。
中央管275包括近侧端部275a和远侧端部275c以及本体部275b，该近侧端部275a和远侧端部275c均具有半球形形状，该本体部275b在近侧端部275a与远侧端部275c之间延伸。中央管275限定纵向延伸穿过其中的镗孔275d。中央管275的近侧端部275a包括一对相反的近侧突起275e，该一对相反的近侧突起275e形成近侧万向节271的第二铰链271b。一对相反的近侧突起275e维持在相对于近侧发射轴274的一对相反的远侧突起274e成大约90°角度。近侧突起275e中的每个近侧突起具有内弓形表面275f，近侧支承组件277的外弓形表面277c、277d设置在该内弓形表面275f中。第一铰链271a和第二铰链271b能够独立于彼此绕至少两个正交的轴线围绕近侧支承组件277枢转并且能够一起围绕纵向轴线“X”旋转。中央管275的远侧端部275c包括形成远侧万向节273的第一铰链273a的一对相反的远侧突起275g。中央管275的远侧突起275g中的每个远侧突起具有内弓形表面275h，远侧支承组件279的外弓形表面279a、279b设置在内弓形表面275h中。与近侧支承组件277相似，远侧支承组件279包括环状本体279f，该环状本体279f包括从环状本体279f的外表面279g延伸的多个外弓形表面279a-279d。环状本体279f的内表面279h限定穿过其中的开口279e。
远侧发射轴276包括：具有半球形状的近侧端部276a；从近侧端部276a向远侧延伸并且限定壁架276g的本体部276b，该壁架从本体部276b的外表面凹入；以及从本体部276b向远侧延伸的远侧端部276c。近侧端部276a包括限定在其中的镗孔276d以及形成远侧万向节273的第二铰链273b的一对相反的近侧突起276e。远侧发射轴276的一对相反的近侧突起276e维持在相对于中央管275的一对相反的远侧突起275g成大约90°角度。近侧突起276e中的每个近侧突起具有内弓形表面276f，远侧支承组件279的外弓形表面279c、279d设置在该内弓形表面276f中。远侧万向节273基本上与近侧万向节271相同并且由第一铰链273a和第二铰链273b形成，该第一铰链273a和第二铰链273b通过远侧支承组件279互相连接，从而使得第一铰链273a和第二铰链273b能够独立于彼此绕远侧支承组件279枢转并且能够一起旋转。
限定在近侧发射构件274的远侧端部274c中的镗孔274d与限定在近侧支承组件277中的开口277e、通过中央管275限定的镗孔275d、限定在远侧支承组件279中的开口279e以及限定在远侧发射轴276的近侧端部276a中的镗孔276d中的每一个配合，以接收弹簧钢丝290。弹簧钢丝290由弹性金属和/或聚合物——诸如，尼龙、弹簧不锈钢、合金等——形成。弹簧钢丝290配置为沿着纵向轴线“X”偏置发射组件270并且能够在万向支架250关节式运动时弯曲。
如图3、图10A以及图15所示，外管204的远侧端部2040包括第一区段2042、第二区段2044、第三区段2046以及第四区段2048。
外管204的远侧端部2040的第一区段2042限定一对螺钉开口2042a、2042b，该一对螺钉开口2042a、2042b对应于远侧安装构件284的一对螺钉开口284d。第一区段2042的一对螺钉开口2042a、2042b和远侧安装构件284的一对螺钉开口284d接收一对螺钉204a、204b，以将远侧安装构件284的近侧部段284a固定在限定于第一区段2042的远侧端内的开口2042c内。
外管204的远侧端部2040的第二区段2044包括围绕近侧万向节271和远侧万向节273例如通过搭扣或摩擦配合而匹配地彼此接合的第一半外壳2044a和第二半外壳2044b。第二区段2044的近侧部段2044c固定在远侧安装构件284的半球形开口284f内并且能够在该半球形开口内旋转。第二区段2044的远侧部段2044d配置为接收围绕远侧万向节273设置的万向支架250的远侧部250b。第二区段2044还包括配置为接收从万向支架250向近侧朝向一对螺纹套筒246、248延伸的线缆260的多个开口2044e。
外管204的远侧端部2040的第三区段2046具有筒状本体2046a，该筒状本体2046a安装在第二区段2044的近侧部段2044c上。第三区段2046包括从筒状本体2046a的远侧表面向远侧延伸的U形靴(shoe)2046b。中央沟槽2046c限定为通过U形靴2046b和筒状本体2046a并且配置为接收第二区段2044的远侧部段2044d，其能够在中央沟槽2046c中旋转。
外管204的远侧端部2040的第四区段2048包括从第四区段2048延伸的一对臂2048a、2048b。一对臂2048a、2048b设置为间隔开并且相对于彼此成镜像关系。一对螺钉开口2048c、2048d限定在第四区段2048中并且与限定在第三区段2046内的一对螺钉镗孔2046d、2046e对准，以使得一对螺钉204e、204f能够由第四区段2048的一对螺钉开口2048c、2048d以及第三区段2046的一对螺钉镗孔2046d、2046e接收，以将第三区段2046和第四区段2048固定到一起。第四区段2048限定接收外管204的远侧端部2040的柱塞组件2060的柱塞开口2048e。
柱塞组件2060包括柱塞2060a，该柱塞2060a由弹簧2060b(见图15)偏置通过柱塞开口2048e。柱塞组件2060和一对臂2048a、2048b配合，以便于将装载单元300的近侧端固定到远侧端部2040，如下文更详细描述的(见图17A和图17B)。
如图10A所示，舌片2048f从第四区段2048悬垂并且限定穿过其中的开口2048g，该开口2048g将远侧发射轴276的远侧末端276c接收穿过其中。舌片2048f将齿轮2050支撑在舌片2048f的近侧表面与第三区段2046的U形靴2046b的远侧表面之间，以使得从齿轮2050延伸的齿2050a定位在外管204的远侧端部2040的第四区段2048的一对臂2048a、2048b中的每个臂的配合表面2048h之间。
齿轮2050的内表面限定穿过其中的沟槽2050b。齿轮2050的内表面包括平坦表面2050c(见图15)，该平坦表面2050c支撑在远侧发射轴276的壁架276f上，从而使得齿轮2050和远侧发射轴276彼此键接。
现在转到图16，装载单元300包括砧座310和钉仓组件320，该砧座310和钉仓组件320通过一对销315a、315b销接一起并且能够在打开和关闭状态之间移动。砧座310和钉仓组件320配合以施加多个线性排的紧固件“F”(例如，吻合钉)。在特定实施例中，紧固件“F”具有各种尺寸，并且，在特定实施例中，紧固件“F”具有各种长度或者排，例如，长度大约为30mm、45mm以及60mm。
钉仓组件320包括固定到安装部324的基部322、框架部326以及钉仓部328，该钉仓部328在其组织接合表面中限定多个紧固件固持狭槽328a和刀具狭槽328b。安装部324具有在其近侧端上的配合表面324a、324b并且在其中限定接收沟槽324c，该接收沟槽324c将框架部326、钉仓部328以及紧固件发射组件330支撑在其中。钉仓组件320支撑与砧座310接合的偏置构件340。
紧固件发射组件330包括与手术装置100(图1A)的电路板电连通的电触头构件332、支承构件334、与外管204的远侧端部2040的齿轮2050接合的齿轮构件336以及螺钉组件338。螺钉组件338包括丝杠338a、驱动梁338b以及致动滑块338c，该致动滑块338c能够与多个推进器构件338d接合。
钉仓组件320还支撑一对柱塞组件350a、350b。一对柱塞组件350a、350b中的每个包括弹簧352、柱塞354以及将每个柱塞组件固定到安装部324的销356。柱塞组件350a、350b与钉仓部328的近侧端配合，以便于钉仓部328固定在安装部324内。
为了将装载单元300的近侧端固定到外管204的远侧端部2040，如图17A所看到的，装载单元300的近侧端与外管204的远侧端部2040对准，以使得装载单元300的近侧端能够如图17B所示那样与远侧端部2040扣在一起。参考图10A和图16，装载单元300的配合表面324a、324b与第四区段2048的配合表面2048h接合，以使得装载单元300的齿轮构件336的齿与齿轮2050的齿再啮合。
在操作中，操作杆205c的旋钮205d的致动导致摇臂205e接触方向性开关205b中的一个或多个，从而使得操纵杆205c的移动方向导致关节式运动组件230的对应移动。方向性开关205b与关节式运动接触表面105的传感器可操作地连通，以与电路板连通、致动可旋转驱动轴106a、106c中的一个或两个(由于手柄壳体102内的电机(未示出)的致动)、并且实现一对套筒组件240a、240b中的一个或两个的螺纹螺钉组件244的旋转。特别地，每个螺纹螺钉组件244的旋转借助于一对套筒组件240a、240b中的一个的输入承窝244b与可旋转驱动轴106a、106c中的一个之间的旋转接合而实现。如图7所示的线“C1”、“C2”、“C3”以及“C4”所示的，螺纹螺钉244a的旋转使一对螺纹套筒246、248沿着相应的支撑轴在接近状态(见图9)与分离状态(见图4)之间轴向移动。一对螺纹套筒246、248的相对轴向移动使得多个线缆260中的相反线缆对(例如，第一线缆260a和第四线缆260d为第一对相反线缆，并且第二线缆260b和第三线缆260c为第二对相反线缆)中的一对的一个/第一线缆向近侧拉动/缩回/变紧并且使得相反线缆对中的一对的另一/第二线缆向远侧拉出/延伸/释放，以使万向支架250旋转/枢转/关节式运动。
万向支架250的旋转导致近侧万向节271和远侧万向节273的对应定向运动。在万向支架250旋转时，万向支架250的远侧部250b与第三区段2046的筒状本体2046a和/或U形靴2046b接合，以使远侧端部2040相对于外管204绕纵向轴线“X”关节式运动。如图18至图20看到的，远侧端部2040的移动使装载单元300相对于外管204绕纵向轴线“X”在任意方向上(例如，全向)关节式运动。更具体地，尽管纵向固定到外管204的远侧端部2040的第一区段2042，装载单元300以及远侧端部2040的第二区段2044、第三区段2046以及第四区段2048可以在相对于“X”轴线的任意方向上关节式运动。具体地，装载单元300可以绕从近侧中心点“P1”延伸的“Y1”和/或“Z1”轴线关节式运动和/或绕从限定在远侧端部2040中的远侧中心点“P2”延伸的“Y2”和/或“Z2”轴线关节式运动，以将装载单元300在任意期望的取向上定位。
例如，在使用或多次使用***10之前、期间和/或之后，多个线缆260中的一个或多个线缆的张紧/松弛可能需要被调节。为了实现在制造或者再调整期间松弛/张紧的变紧和/或变松，工具(未示出)连接到每个螺钉243(见图4)，以将旋转运动传递到螺钉243中的一个或两个。螺钉243的旋转导致相应的支撑轴242中的一个或两个轴向平移。因此，螺钉243中的一个或两个的旋转通过使多对套筒组件240a、240b中的一对或两对如上所述移动而调节多个线缆260中的一个或多个线缆的张紧。
为了发射多个紧固件“F”，装置100的致动垫108被致动以使可旋转驱动构件106b(由于手柄壳体102内的电机(未示出)的致动)旋转。可旋转驱动构件106b的旋转导致近侧发射轴274、中央管275以及远侧发射轴276一起绕纵向轴线“X”旋转，从而使得齿轮2050使装载单元300的齿轮336旋转。装载单元300的齿轮336的旋转使丝杠338a旋转并且使驱动梁338b能够借助于丝杠338a与驱动梁338b之间的螺纹接合而沿着丝杠338a轴向推进并通过纵向刀具狭槽328b。驱动梁338b与砧座310接合，以维持砧座310和钉仓组件320接近。驱动梁338b的远侧推进使致动滑块338c前进至与多个推进器构件328接合并且从多个紧固件固持狭槽328a发射多个紧固件“F”，所述多个紧固件固持狭槽328a抵靠限定在砧座310内的对应紧固件形成袋而形成。装载单元300可以被重新设置并且紧固件钉仓328可以被更换，以使得装载单元300可以根据需要被再次发射。
尽管已经描述了特定实施例，其他实施例也是可能的。
例如，另外或者替代性地，本公开的接合器组件的发射组件的近侧万向节和远侧万向节的其他构造是可能的。现在参考图21，发射组件270’的实施例基本上与发射组件270相似，区别在于，近侧支承组件277’和远侧支承组件279’分别包括多个球支承件277a’-277d’以及279a’-279d’，该多个球支承件被焊接到一起并且限定穿过其中的开口277e’和279e’。相应地，每个球支承件限定外弓形表面，该外弓形表面与如上所述的近侧突起和远侧突起的内弓形表面在形状上互补。
而且，尽管近侧突起和远侧突起以及近侧支承组件和远侧支承组件已经描述为包括互补的内弓形表面和外弓形表面，应理解的是，突起可以包括与支承组件的几何形状互补的任意表面几何形状，以允许接头绕同样如上所述的至少两个轴线的关节式运动。
本文描述的任意部件可以由考虑到强度、耐久性、耐磨性、重量、抗腐蚀性、易于制造、制造成本等的金属、塑料、树脂、复合材料等制造。
在实施例中，本文描述的任意部件，诸如，装载单元和/或接合器可以包括一个或多个微晶片，诸如例如单线微晶片(例如，能够从CA圣何塞的MAXIM INTEGRATEDTM得到的第DS2465、DS28E15和/或DS2432号的微晶片模型)，该单线微晶片电联接到手术装置100的电路板/控制器。示例性的单线微晶片在第6,239,732号的美国专利中示出和描述，该申请的全部内容通过引用并入本文。这些芯片中的任意芯片可以包括加密验证(例如，SULUID)和/或可以是兼容的单线。
本领域技术人员将理解，本文具体描述和附图中示出的结构和方法是非限制性实施例，并且该描述、公开以及附图应仅仅视为特别实施例的示例。因此，应当理解的是，本公开不局限于所描述的准确实施例，并且可以由本领域技术人员想到各种其他改变和修改而不背离本公开的范围或精神。另外，与特定实施例相关联示出或描述的元件和特征可以与特定的其他实施例的元件和特征组合，而不背离本公开的范围，并且，这种修改和变型也包括在本公开的范围内。因此，本公开的主题不局限于特别示出和描述的主题。

Claims (20)

1.一种接合器组件，其用于将配置为执行功能的手术装载单元与配置为致动手术装载单元的手术装置选择性地互相连接，所述手术装载单元包括可轴向平移的驱动构件，并且所述手术装置包括多个可旋转驱动轴，所述接合器组件包括：
壳体，其配置为并且适合于与所述手术装置连接并且与所述手术装置的所述多个可旋转驱动轴中的每个可旋转驱动轴可操作地连通；
外管，其限定纵向轴线并且具有由所述壳体支撑的近侧端和配置为并适合于与所述手术装载单元连接的远侧端部，所述远侧端部与所述手术装载单元的所述可轴向平移的驱动构件可操作地连通；
关节式运动组件，其包括支撑在所述外管的所述远侧端部中的万向支架以及支撑在所述壳体中的多个螺纹套筒，所述多个螺纹套筒通过至少一个线缆联接到所述万向支架；以及
发射组件，其包括支撑在所述壳体和所述外管内的发射轴，所述发射轴包括至少一个万向节，
其中，所述手术装置的所述多个可旋转驱动轴中的至少一个可旋转驱动轴的旋转使所述多个螺纹套筒中的至少两个螺纹套筒平移，以使所述万向支架与所述至少一个线缆相对于所述外管的纵向轴线关节式运动，并且其中，所述万向支架的关节式运动使所述发射轴的所述至少一个万向节和所述手术装载单元绕所述外管的所述远侧端部关节式运动。
2.根据权利要求1所述的接合器组件，其中，所述发射轴包括近侧端和远侧端，所述近侧端配置为且适合于联接到所述手术装置的所述多个可旋转驱动轴中的至少一个可旋转驱动轴，并且所述远侧端配置为且适合于联接到所述手术装载单元的所述可轴向平移的驱动构件，以使得能够发射所述手术装载单元，所述至少一个万向节定位在所述发射轴的所述近侧端与所述远侧端之间。
3.根据权利要求2所述的接合器组件，其中，所述发射轴配置为且适合于将旋转力传递通过万向支架，以实现所述可轴向平移的驱动构件的轴向平移并且从而发射所述手术装载单元。
4.根据权利要求3所述的接合器组件，其中，所述发射轴包括近侧发射轴、中央管以及远侧发射轴，所述近侧发射轴和所述中央管被连接在所述至少一个万向节的近侧万向节处，使得所述中央管能够相对于所述近侧发射轴移动。
5.根据权利要求4所述的接合器组件，其中，所述近侧发射轴包括一对相反的远侧突起，所述一对相反的远侧突起形成所述近侧万向节的第一铰链，并且所述中央管包括一对相反的近侧突起，所述一对相反的近侧突起形成所述近侧万向节的第二铰链，所述近侧万向节的所述第一铰链和所述第二铰链通过近侧支承组件互相连接。
6.根据权利要求5所述的接合器组件，其中，所述近侧支承组件包括多个外弓形表面，每个外弓形表面设置在内弓形表面中，所述内弓形表面限定在所述近侧发射轴的所述一对相反的远侧突起和所述中央管的所述一对相反的近侧突起中的每一个中。
7.根据权利要求4所述的接合器组件，其中，所述中央管和所述远侧发射轴被连接在所述至少一个万向节的远侧万向节处，使得所述远侧发射轴能够相对于所述中央管移动。
8.根据权利要求7所述的接合器组件，其中，所述中央管包括形成所述远侧万向节的第一铰链的一对相反的远侧突起，并且所述远侧发射轴包括形成所述远侧万向节的第二铰链的一对相反的近侧突起，所述第一铰链和所述第二铰链通过远侧支承组件互相连接。
9.根据权利要求8所述的接合器组件，其中，所述远侧支承组件包括多个外弓形表面，每个外弓形表面设置在内弓形表面中，所述内弓形表面限定在所述中央管的所述一对相反的远侧突起和所述远侧发射轴的所述一对相反的近侧突起中的每一个中。
10.根据权利要求7所述的接合器组件，其中，所述万向支架限定穿过其中的万向支架镗孔，所述万向支架镗孔配置为且适合于接收所述远侧万向节，使得所述万向支架围绕所述远侧万向节设置。
11.根据权利要求4所述的接合器组件，其中，所述近侧发射轴的远侧端部在其中限定镗孔，所述中央管限定穿过其中的镗孔，并且所述远侧发射轴的近侧端部在其中限定镗孔，并且弹簧钢丝设置在所述近侧发射轴、所述中央管以及所述远侧发射轴的镗孔内。
12.根据权利要求11所述的接合器组件，其中，所述弹簧钢丝配置为沿着所述外管的所述纵向轴线偏置所述发射组件并且能够在所述万向支架关节式运动时弯曲。
13.根据权利要求1所述的接合器组件，其中，所述万向支架在其外表面中限定至少一个狭槽，所述至少一个线缆固定在所述至少一个狭槽内。
14.根据权利要求1所述的接合器组件，其中，所述外管包括设置在其中的远侧安装构件，所述远侧安装构件包括限定至少一个凹槽的外表面，所述至少一个线缆延伸穿过所述凹槽。
15.根据权利要求1所述的接合器组件，其中，所述多个螺纹套筒支撑在至少一个螺纹螺钉上。
16.根据权利要求15所述的接合器组件，其中，所述至少一个螺纹螺钉包括第一组螺纹和第二组螺纹，所述第一组螺纹和所述第二组螺纹被在相反的方向上攻螺纹，其中，所述多个螺纹套筒中的第一螺纹套筒与所述第一组螺纹螺纹接合，并且所述多个螺纹套筒中的第二螺纹套筒与所述第二组螺纹螺纹接合，其中，所述至少一个螺纹螺钉在第一旋转方向上的旋转使所述多个螺纹套筒中的所述第一螺纹套筒和所述第二螺纹套筒接近，并且其中，所述至少一个螺纹螺钉在第二旋转方向上的旋转使所述多个螺纹套筒的所述第一螺纹套筒和所述第二螺纹套筒分离。
17.根据权利要求1所述的接合器组件，还包括固定到所述壳体的关节式运动致动器。
18.根据权利要求17所述的接合器组件，其中，所述关节式运动致动器包括从所述壳体向外延伸的操纵杆，所述操纵杆配置为在对应于所述手术装载单元的关节式运动方向的方向上移动。
19.根据权利要求18所述的接合器组件，其中，所述关节式运动致动器包括设置在所述壳体内的多个方向性开关，并且所述操纵杆包括摇臂，所述摇臂配置为且定尺寸为在所述操纵杆移动时，与所述方向性开关中的一个或多个方向性开关接触。
20.一种机电手术***，包括：
手术装载单元，其包括至少一个可轴向平移的驱动构件；
手持式机电手术装置，其包括：
壳体；和
支撑在所述壳体中的至少一个可旋转驱动轴；以及
接合器组件，其能够选择性地连接在所述手术装置的所述壳体与所述手术装载单元之间，所述接合器组件包括：
关节式运动组件，其包括万向支架和多个螺纹套筒，所述多个螺纹套筒通过至少一个线缆联接到所述万向支架，所述多个螺纹套筒能够移动，以使所述万向支架与所述至少一个线缆关节式运动，其中，所述万向支架的关节式运动使所述手术装载单元关节式运动；以及
发射组件，其包括能够连接在所述手术装置的所述至少一个可旋转驱动轴与所述至少一个可轴向平移的驱动构件之间的发射轴，所述发射轴包括至少一个万向节，所述发射轴能够在所述至少一个万向节处与所述万向支架一起移动，以使所述手术装载单元关节式运动，并且所述发射轴能够旋转以使所述至少一个可轴向平移的驱动构件平移通过所述手术装载单元。
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