CN110248614B - 快速释放工具耦接器以及相关***和方法 - Google Patents
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Abstract
本文中的各种实施例涉及一种用于医疗装置的耦接设备,该耦接设备具有耦接器本体、限定在耦接器本体中的腔体、设置在腔体内并且具有至少两个销接收开口的可旋转驱动部件以及围绕腔体设置的可致动锁定环。
Description
政府支持
本发明在由美国陆军医疗研究采办局ACT授予的授权号W81XWH-14-1-0058下的政府支持下完成。政府在本发明中具有某些权利。相关申请的交叉引用
根据35U.S.C.§119(e)的规定,本申请要求2016年8月24日提交并且题为“Quick-Release End Effector Tool Coupler”的美国临时申请62/379,344的权益,由此通过引用将上述申请整体并入本文。
技术领域
本文中的各种实施例涉及耦接机构,其提供到医疗装置工具(诸如,例如末端执行器)的快速耦接以及从医疗装置工具的快速释放。各种耦接机构实施例可被结合到或附接到各种类型的医疗装置,包括机器人外科装置和***。
背景技术
许多已知的外科装置***(包括机器人***)利用由同心花键和直角回转***组成的工具耦接器来将工具锁定到装置的前部(或该装置的臂)中。换句话说,该耦接器要求工具被定位在装置上的耦接器中并旋转1/4圈以对准同心花键并且由此将工具耦接或附接到装置。在这些已知的耦接器中,一旦工具被附接到装置,则同心花键还操作以从装置向工具传递旋转运动。
本领域中存在对于一种用于与各种类型的医疗装置一起使用的改进的末端执行器工具耦接器的需要。
发明内容
本文中讨论的是用于将各种医疗工具可快速释放地附接到各种医疗装置和***的各种耦接(联接)机构、设备和部件。
在示例1中,用于医疗装置的耦接设备包括耦接器本体、限定在所述耦接器本体的远端中的腔体、设置在所述腔体内的可旋转驱动部件以及围绕所述腔体设置的可致动锁定环,所述驱动部件包括至少两个销接收开口。
示例2涉及根据示例1的耦接设备,其中所述耦接器本体可耦接到工具,其中所述工具包括其尺寸被设定成并且被布置成可定位在所述腔体内的工具本体以及可操作地耦接到所述工具本体的可旋转从动部件。所述可旋转从动部件包括限定在所述可旋转从动部件中的至少两个销腔室以及至少两个张紧销,其中所述至少两个张紧销中的每一个张紧销被设置在所述至少两个销腔室中的一个销腔室内并且可从其延伸(出),所述至少两个销腔室包括从其延伸(出)的至少两个张紧销。所述可旋转从动部件可与所述可旋转驱动部件对准,以使得所述至少两个张紧销延伸到所述至少两个销接收开口中。
示例3涉及根据示例1的耦接设备,其中所述可旋转驱动部件包括内驱动部件和外驱动部件,所述内驱动部件包括至少两个内销接收开口,所述外驱动部件包括至少两个外销接收开口。
示例4涉及根据示例3的耦接设备,其中所述耦接器本体可耦接到工具,其中所述工具包括其尺寸被设定成并且被布置成可定位在所述腔体内的工具本体以及可操作地耦接到所述工具本体的可旋转从动部件。所述可旋转从动部件包括内从动部件和外从动部件,所述内从动部件包括限定在所述内从动部件中的至少两个内销腔室以及设置在所述至少两个内销腔室内并且可从所述至少两个内销腔室延伸(出)的至少两个内张紧销,所述外从动部件包括限定在所述外从动部件中的至少两个外销腔室以及设置在所述至少两个外销腔室内并且可从所述至少两个外销腔室延伸(出)的至少两个外张紧销。所述内从动部件可与所述内驱动部件对准,以使得所述至少两个内张紧销延伸到所述至少两个内销接收开口中,并且所述外从动部件可与所述外驱动部件对准,以使得所述至少两个外张紧销延伸到所述至少两个外销接收开口中。
示例5涉及根据示例3的耦接设备,其进一步包括设置在所述内驱动部件与所述外驱动部件之间的绝缘层。
实施例6涉及根据示例1的耦接设备,其中所述可致动锁定环可在按下位置和非按下位置之间移动,在所述按下位置,设置在所述腔体内的任何工具本体可释放;在所述非按下位置,设置在所述腔体内的任何工具本体被锁定在其中。
示例7涉及根据示例1的耦接设备,其进一步包括穿过所述耦接器本体的长度设置的细长管,以使得所述可旋转驱动部件围绕所述细长管的远侧部分设置,所述细长管包括与该细长管的远侧开口流体连通的管腔。
在示例8中,用于医疗装置的耦接***包括与所述医疗装置相关联的耦接设备以及可与所述耦接设备耦接的工具本体。所述设备包括耦接器本体、限定在所述耦接器本体的远端中的腔体、设置在所述腔体内的可旋转驱动部件以及围绕所述腔体设置的可致动锁定环,所述驱动部件包括至少两个销接收开口。所述工具本体被设定尺寸并且被布置成可定位在所述腔体内并且包括可操作地耦接到所述工具本体的可旋转从动部件。所述可旋转从动部件包括限定在该可旋转从动部件中的至少两个销腔室以及设置在所述至少两个销腔室内并可从所述至少两个销腔室延伸(出)的至少两个张紧销。所述可旋转从动部件可与所述可旋转驱动部件对准,以使得所述至少两个张紧销延伸到所述至少两个销接收开口中。
示例9涉及根据示例8的耦接***,其中所述可旋转驱动部件包括内驱动部件和外驱动部件,所述内驱动部件包括至少两个内销接收开口,所述外驱动部件包括至少两个外销接收开口。
示例10涉及根据示例9的耦接***,其中所述可旋转从动部件包括:可旋转内从动部件,其中所述至少两个销腔室包括限定在该可旋转内从动部件中的至少两个内销腔室,并且其中所述至少两个张紧销包括设置在所述至少两个内销腔室内并且可从所述至少两个内销腔室延伸(出)的至少两个内张紧销;以及可旋转外从动部件,其中所述至少两个销腔室包括限定在该可旋转外从动部件中的至少两个外销腔室,并且其中所述至少两个张紧销包括设置在所述至少两个外销腔室内并且可从所述至少两个外销腔室延伸(出)的至少两个外张紧销。所述可旋转内从动部件可与所述内驱动部件对准,以使得所述至少两个内张紧销延伸到所述至少两个内销接收开口中,并且所述可旋转外从动部件可与所述外驱动部件对准,以使得所述至少两个外张紧销延伸到所述至少两个外销接收开口中。
示例11涉及根据示例9的耦接***,其进一步包括设置在所述内驱动部件与所述外驱动部件之间的绝缘层。
示例12涉及根据示例8的耦接***,其中所述可致动锁定环可在按下位置和非按下位置之间移动,在所述按下位置,所述工具本体可从所述腔体中释放;在所述非按下位置,设置在所述腔体内的工具本体被锁定在其中。
示例13涉及根据示例8的耦接***,其进一步包括穿过所述耦接器本体的长度设置的细长管,以使得所述可旋转驱动部件围绕所述细长管的远侧部分设置,所述细长管包括与该细长管的远侧开口流体连通的管腔。
在示例14中,用于医疗装置的耦接***包括与该医疗装置相关联的耦接设备以及可与该耦接设备耦接的工具本体。所述耦接设备包括耦接器本体、限定在所述耦接器本体的远端中的腔体、包括至少两个内销接收开口的内驱动部件、包括至少两个外销接收开口的外驱动部件以及围绕所述腔体设置的可致动锁定环。所述工具本体被设定尺寸并且被布置成可定位在所述腔体内并且包括可旋转内从动部件和可旋转外从动部件。所述可旋转内从动部件包括限定在该可旋转内从动部件中的至少两个内销腔室以及设置在所述至少两个内销腔室内并且可从所述至少两个内销腔室延伸(出)的至少两个内张紧销。所述可旋转外从动部件包括限定在该可旋转外从动部件中的至少两个外销腔室以及设置在所述至少两个外销腔室内并且可从所述至少两个外销腔室延伸(出)的至少两个外张紧销。所述可旋转内从动部件可与所述内驱动部件对准,以使得所述至少两个内张紧销延伸到所述至少两个内销接收开口中,并且所述可旋转外从动部件可与所述外驱动部件对准,以使得所述至少两个外张紧销延伸到所述至少两个外销接收开口中。
示例15涉及根据示例14的耦接***,其进一步包括设置在所述内驱动部件与所述外驱动部件之间的绝缘层。
示例16涉及根据示例14的耦接***,其中所述可致动锁定环可在按下位置和非按下位置之间移动,在所述按下位置,所述工具本体可从所述腔体中释放;在所述非按下位置,设置在所述腔体内的工具本体被锁定在其中。
示例17涉及根据示例14的耦接***,其进一步包括穿过所述耦接器本体的长度设置的细长管,以使得所述可旋转驱动部件围绕该细长管的远侧部分设置,所述细长管包括与该细长管的远侧开口流体连通的管腔。
在示例18中,将工具耦接到医疗装置的方法包括:将工具的可旋转从动部件定位到耦接设备的腔体中,该耦接设备包括设置在所述腔体内的可旋转驱动部件,其中所述可旋转驱动部件包括至少两个销接收开口,并且其中所述可旋转从动部件包括至少两个销腔室以及设置在所述至少两个销腔室内并且可从所述至少两个销腔室延伸(出)的至少两个张紧销;以及将所述可旋转从动部件朝向所述可旋转驱动部件推动,由此所述至少两个张紧销被推入所述至少两个销接收开口中,以使得所述可旋转驱动部件和所述可旋转从动部件可旋转地耦接。
在示例19中,将工具耦接到医疗装置的方法包括:将工具的可旋转从动部件定位到耦接设备的腔体中,该耦接设备包括设置在所述腔体内的可旋转驱动部件,其中所述可旋转驱动部件包括至少两个销接收开口,并且其中所述可旋转从动部件包括至少两个销腔室以及设置在所述至少两个销腔室内并且可从所述至少两个销腔室延伸(出)的至少两个张紧销;将所述可旋转从动部件朝向所述可旋转驱动部件推动,由此所述至少两个张紧销被推动从而与所述可旋转驱动部件相接触,以使得所述至少两个张紧销被推入所述至少两个销腔室中;以及相对于所述可旋转从动部件旋转所述可旋转驱动部件,直到所述至少两个销接收开口与所述至少两个销腔室对准,以使得所述至少两个张紧销被推入所述至少两个销接收开口中,以使得所述可旋转驱动部件和所述可旋转从动部件可旋转地耦接。
虽然公开了多个实施例,但是本发明的其它实施例对于本领域技术人员将从以下详细描述变得明显,以下详细描述示出并描述了本发明的说明性实施例。如将认识到的,本发明能够在各种明显的方面进行修改,所有这些修改都不脱离本发明的精神和范围。因此,附图和详细描述在本质上应被认为是说明性而非限制性的。
附图说明
图1A是根据一个实施例的耦接到装置工具的耦接机构的侧视图。
图1B是根据一个实施例的其中锁定机构已被按下的图1A的耦接机构和装置工具的侧视图。
图1C是根据一个实施例的其中装置工具正从耦接机构脱离的图1A的耦接机构和装置工具的侧视图。
图2A是根据一个实施例的抓取器末端执行器的侧视图。
图2B是图2A的抓取器末端执行器的立体后视图。
图3是根据另一个实施例的耦接机构的立体正视图。
图4A是根据另一个实施例的抓取器末端执行器的立体正视图。
图4B是根据一个实施例的耦接到耦接机构的图4A的抓取器末端执行器的侧剖视图。
图5A是根据一个实施例的耦接机构的侧剖视图。
图5B是根据一个实施例的耦接到装置工具的图5A的耦接机构的侧剖视图。
具体实施方式
本文中公开的各种***和装置涉及用于医疗程序和***中的装置。更特别地,各种实施例涉及一种可用于将工具或末端执行器可释放地耦接(联接)到医疗装置或其部件(诸如,例如装置的臂)的快速更换耦接设备或部件。例如,在某些实施方式中,所述医疗装置是带有臂的机器人外科装置,该臂具有设置在所述臂上的耦接机构,以使得一个或更多末端执行器可经由该耦接机构耦接到所述臂以及从所述臂上卸下。
代替如上面讨论的已知直角回转构造,本文中公开或设想的各实施方式涉及一种自锁快速释放机构,其包括弹簧加载的耦接部件(在本文中也称为“耦接器”或“耦接件”)(而非同心花键),该弹簧加载的耦接部件提供致动力的顺应通路(通过)并且在将工具耦接到所述耦接部件的过程期间不需要任何类型的对准步骤。
本文中公开的各种***和装置涉及用于医疗程序和***中的装置或其部件。更特别地,各种实施例涉及各种医疗装置(包括机器人装置)以及相关方法和***。
应当理解,本文中公开的机器人装置以及相关方法和***的各种实施例可结合到任何其它已知的医疗装置、***和方法中或与任何其它已知的医疗装置、***和方法一起使用。例如,本文中公开的各种实施例可结合到任何以下专利中公开的医疗装置和***中或与任何以下专利中公开的医疗装置和***一起使用,所述专利包括:美国专利8,968,332(2015年3月3日发布并且题为“Magnetically Coupleable Robotic Devices and RelatedMethods”),美国专利8,834,488(2014年9月16日发布并且题为“Magnetically CoupleableSurgical Robotic Devices and Related Methods”),美国专利申请14/617,232(2015年2月9日提交并且题为“Robotic Surgical Devices and Related Methods”),美国专利9,579,088(2017年2月28日发布并且题为“Methods,Systems,and Devices for SurgicalVisualization and Device Manipulation”),美国专利8,343,171(2013年1月1日发布并且题为“Methods and Systems of Actuation in Robotic Devices”),美国专利8,828,024(2014年9月9日发布并且题为“Methods and Systems of Actuation in RoboticDevices”),美国专利申请14/454,035(2014年8月7日提交并且题为“Methods and Systemsof Actuation in Robotic Devices”),美国专利申请12/192,663(2008年8月15日提交并且题为“Medical Inflation,Attachment,and Delivery Devices and RelatedMethods”),美国专利申请15/018,530(2016年2月8日提交并且题为“Medical Inflation,Attachment,and Delivery Devices and Related Methods”),美国专利8,974,440(2015年3月10日发布并且题为“Modular and Cooperative Medical Devices and RelatedSystems and Methods”),美国专利8,679,096(2014年3月25日发布并且题为“Multifunctional Operational Component for Robotic Devices”),美国专利9,179,981(2015年11月10日发布并且题为“Multifunctional Operational Component forRobotic Devices”),美国专利申请14/936,234(2015年11月9日提交并且题为“Multifunctional Operational Component for Robotic Devices”),美国专利8,894,633(2014年11月25日发布并且题为“Modular and Cooperative Medical Devices andRelated Systems and Methods”),美国专利8,968,267(2015年3月3日发布并且题为“Methods and Systems for Handling or Delivering Materials for Natural OrificeSurgery”),美国专利9,060,781(2015年6月23日发布并且题为“Methods,Systems,andDevices Relating to Surgical End Effectors”),美国专利申请14/745,487(2015年6月22日提交并且题为“Methods,Systems,and Devices Relating to Surgical EndEffectors”),美国专利9,089,353(2015年7月28日发布并且题为“Robotic SurgicalDevices,Systems,and Related Methods”),美国专利申请14/800,423(2015年7月15日提交并且题为“Robotic Surgical Devices,Systems,and Related Methods”),美国专利申请13/573,849(2012年10月9日提交并且题为“Robotic Surgical Devices,Systems,andRelated Methods”),美国专利申请13/738,706(2013年1月10日提交并且题为“Methods,Systems,and Devices for Surgical Access and Insertion”),美国专利申请13/833,605(2013年3月15日提交并且题为“Robotic Surgical Devices,Systems,and RelatedMethods”),美国专利申请14/661,465(2015年3月18日提交并且题为“Methods,Systems,and Devices for Surgical Access and Insertion”),美国专利9,498,292(2016年11月22日发布并且题为“Single Site Robotic Devices and Related Systems andMethods”),美国专利申请15/357,663(2016年11月21日提交并且题为“Single SiteRobotic Devices and Related Systems and Methods”),美国专利9,010,214(2015年4月21日发布并且题为“Local Control Robotic Surgical Devices and RelatedMethods”),美国专利申请14/656,109(2015年3月12日提交并且题为“Local ControlRobotic Surgical Devices and Related Methods”),美国专利申请14/208,515(2014年3月13日提交并且题为“Methods,Systems,and Devices Relating to Robotic SurgicalDevices,End Effectors,and Controllers”),美国专利申请14/210,934(2014年3月14日提交并且题为“Methods,Systems,and Devices Relating to Force Control SurgicalSystems”),美国专利申请14/212,686(2014年3月14日提交并且题为“Robotic SurgicalDevices,Systems,and Related Methods”),美国专利申请14/334,383(2014年7月17日提交并且题为“Robotic Surgical Devices,Systems,and Related Methods”),美国专利申请14/853,477(2015年9月14日提交并且题为“Quick-Release End Effectors andRelated Systems and Methods”),美国专利申请14/938,667(2015年11月11日提交并且题为“Robotic Device with Compact Joint Design and Related Systems andMethods”),美国专利申请15/227,813(2016年8月3日提交并且题为“Robotic SurgicalDevices,Systems,and Related Methods”),美国专利申请15/599,231(2017年5月18日提交并且题为“Robotic Surgical Devices,Systems,and Related Methods”),美国专利申请62/381,299(2016年8月30日提交并且题为“Robotic Device with Compact JointDesign and an Additional Degree of Freedom and Related Systems and Methods”),美国专利申请62/425,149(2016年11月22日提交并且题为“Improved Gross PositioningDevice and Related Systems and Methods”),美国专利申请62/427,357(2016年11月29日提交并且题为“Controller with User Presence Detection and Related Systemsand Methods”),美国专利申请62/433,837(2016年12月14日提交并且题为“ReleasableAttachment Device for Coupling to Medical Devices and Related Systems andMethods”),以及美国专利7,492,116(2007年10月31日提交并且题为“Robot for SurgicalApplications”),7,772,796(2007年4月3日提交并且题为“Robot for SurgicalApplications”),以及8,179,073(2011年5月15日发布并且题为“Robotic Devices withAgent Delivery Components and Related Methods”),所有这些专利由此通过引用以其整体并入本文。
上面列出的申请中公开的某些装置和***的实施方式可以与类似于本文公开的那些支撑部件的支撑部件相组合地定位在患者的体腔内。如本文中所使用的“体内装置”是指在被定位在患者的体腔内时可至少部分地由使用者定位、操作或控制的任何装置,包括耦接到诸如穿过体腔的开口或孔口设置的杆或其它这样的部件的支撑部件的任何装置,还包括大致上抵靠或邻近患者体腔的壁定位的任何装置,进一步包括内部致动(没有外部动力源)的任何这样的装置,并且另外包括在外科手术期间可以经腹腔镜或内窥镜使用的任何装置。如本文中所使用的,术语“机器人”和“机器人装置”应指代可自动地或响应于命令执行任务的任何装置。
某些实施例提供:在维持腔体的充分吹气时将本发明***腔体中。进一步的实施例使***过程期间外科医生或外科手术用户与本发明的物理接触最小化。其它实施方式增强对于患者和本发明的***过程的安全性。例如,一些实施例在将本发明***患者的腔体中时提供本发明的可视化,以确保在***/装置与患者之间没有破坏性接触发生。另外,某些实施例允许切口尺寸/长度的最小化。进一步的实施方式降低了接近/***程序的复杂性和/或减少了该程序所需的步骤。其它实施例涉及具有最小轮廓、最小尺寸或在功能和外观上总体最小以增强操纵和使用的容易性的装置。
本文中公开的某些实施方式涉及可以以各种构造组装的“组合”或“模块化”医疗装置。出于本申请的目的,“组合装置”和“模块化装置”均应指具有可以以各种不同构造布置的模块化或可互换部件的任何医疗装置。本文中公开的模块化部件和组合装置还包括分段三角形或四边形组合装置。由被连接以产生三角形或四边形构造的模块化部件(本文中也称为“区段”)组成的这些装置可在使用期间提供杠杆作用和/或稳定性,同时还在装置内提供可用于更大的部件或更多的可操作部件的大量有效载荷空间。正如上面公开和讨论的各种组合装置,根据一个实施例,这些三角形或四边形装置可以以与上面讨论和公开的那些装置相同的方式定位在患者的体腔内。
图1A-1C描绘了用于将装置工具14耦接到耦接器12的自锁快速释放机构10的一个实施例。应当理解,耦接器12被耦接到医疗装置或其某部件或者与医疗装置或其某部件成一体,以使得装置工具14到耦接器12的耦接导致装置工具14被耦接到所述医疗装置。例如,在某些实施方式中,耦接器12被耦接到医疗装置的机器人臂的远端或与医疗装置的机器人臂的远端成一体。在更特别的实施方式中,耦接器12被耦接到医疗装置的机器人臂的前臂的远端或与医疗装置的机器人臂的前臂的远端成一体。耦接器12具有耦接器本体20和可致动锁定环22。可如图1B中的箭头A所示按下可致动锁定环22(或向近侧朝向耦接器本体20推动)以触发装置工具14从耦接器12的释放。
根据一些实施方式,可移除装置工具14是用于经由耦接器12耦接到医疗装置的臂的末端执行器14。备选地,末端执行器14经由耦接器12耦接到医疗装置的前臂的远端。可移除装置工具14可具有任何数量的不同构造或者可以是若干不同类型工具中的任何一种。无论工具14的构造如何,其都具有工具本体30,该工具本体30被构造为可定位在耦接器本体20中并且可与耦接器本体20耦接。
在使用中,通过如图1B所示向近侧朝向耦接器本体20推动可致动锁定环22,可从耦接器12上移除工具14或使工具14脱离耦接器12,由此释放工具14以使得可以如图1C中的箭头B所示向远侧推动工具14并将其从耦接器12上移除。应当理解,在已经移除工具14之后,通过简单地将工具14向近侧推入锁定环22中以使得工具14耦接到耦接器12,工具14可被重新附接到耦接器12,或者另一个工具14可被附接到该耦接器12。
可耦接到耦接器(例如上面讨论的耦接器12)的一个示例性工具50被描绘在图2A和2B中并且具有末端执行器本体52。如图2B中最佳示出,末端执行器本体52的近端具有设置在本体52的近端54内并在其休止状态下从本体52的近端54延伸出的销(本文中也称为“张紧销”或“弹簧加载销”)58A、58B。销58A、58B中的每一个被设置在限定在近端54中的开口(本文中也称为“销腔室”)56A、56B内,以使得每个销58A、58B可被朝向本体52推动到其腔室56A、56B中。也就是说,每个销58A、58B都被耦接到力机构(未示出),该力机构具有其中销58A、58B从销腔室56A、56B延伸出的休止状态并且当销58A、58B被朝向末端执行器本体52推动时向销58A、58B施加力。在一个实施例中,所述力机构是压缩弹簧(未示出)。备选地,可以使用任何已知的如所述地操作的力机构。
在如所示出的示例性实施例中,末端执行器本体52具有八个弹簧加载的销58A、58B,其中四个销58A被设置在限定在内从动部件60A中的四个销腔室56A中,并且四个销58B被设置在限定在外从动部件60B中的四个销腔室56B中,其中两个从动部件60A、60B是同心的或同轴的。也就是说,两个从动部件60A、60B是围绕同一轴线旋转的分离部件。备选地,本体52可具有可设置在本体52的近端54上的腔室中的范围从一个销到任何数量的销的一定数量的销。在一个特定的备选实施例中,近端54具有设置在四个销腔室中的至少四个销。在进一步的备选方案中,近端54具有设置在两个销腔室中的至少两个销。
在该特定实施方式中,末端执行器本体52还具有穿过其设置的中央管70,该中央管70在所述管70内限定中央管腔72。中央管70可以以若干不同的能力使用,由此使得工具50能够是若干不同类型的工具之一。也就是说,带有其中央管腔72的管70可用于抽吸、冲洗、工具输送、药物输送、夹具施用和/或活检收集,以及各种医疗装置工具或末端执行器的各种其它已知特征。
备选地,存在不需要带有管腔72的管70的工具构造,并且因此根据某些实施方式的本体52可以不具有管。在没有管70的情况下,本体52可以具有较小的直径。在其中本体52没有管的一个特定实施例中,本体可以具有大约3/8英寸的直径,由此允许末端执行器50穿过标准腹腔镜端口(其具有大约10mm的内径)装配。
在一个实施方式中,同轴从动部件60A、60B可相对于彼此旋转,由此为工具50增加额外的自由度。在备选实施例中,本体52不具有两个同心从动部件,而是代替地,本体52是单个、一体部件。
在如图2A和图2B所示的示例性实施例中,工具50是一组抓取器50。也就是说,抓取器末端执行器50具有耦接到末端执行器本体52的两个抓取器臂80A、80B。
如上所述的工具50上的弹簧加载的销58A、58B被构造为与相应装置耦接器(例如,诸如上面讨论的耦接器12,或本文中公开或设想到的任何其它耦接器实施例)相结合地操作,以允许在不需要对准步骤的情况下将工具本体50耦接到耦接器。关于本体50所耦接到的耦接器最佳地描述该非对准耦接。根据一个实施方式,在图3中描绘了装置耦接器90的一个示例,在该示例中,耦接器90具有耦接器本体92、耦接器腔体94、设置在腔体94内的耦接器驱动部件96以及围绕腔体94设置的可致动锁定环98。在该特定实施方式中,耦接器驱动部件96实际上由两个驱动部件组成,即:第一或内驱动部件100A以及第二或外驱动部件100B,其中所述驱动部件100A、100B同轴并且可相对于彼此旋转。此外,驱动部件100A、100B中的每一个具有限定在其中的销接收开口102A、102B。更特别地,在该具体实施例中,内驱动部件100A具有八个开口102A并且外驱动部件100B具有八个开口102B。限定在内驱动部件100A中的八个开口102A被构造为接收可耦接工具的近端的内从动部件的弹簧加载的销(例如,诸如上面讨论的工具50的内从动部件60A的销58A),而限定在外驱动部件100B中的八个开口102B被构造为接收可耦接工具的近端的外从动部件的弹簧加载的销(例如,诸如上面讨论的工具50的外从动部件60B的销58B)。备选地,耦接器驱动部件96不具有两个同心的驱动部件,而是代替地,具有单个、一体部件并且因此被构造为与也具有单个、一体部件的可耦接工具的近端相耦接。
这些开口102A、102B以预定样式限定在驱动部件96上,以使得销58A、58B可以装配到开口102A、102B中。在该实施例中,内驱动部件100A具有与工具50的内从动部件60A上的销58A的数量的两倍一样多的开口102A,并且外驱动部件100B具有与工具50的外从动部件60B上的销58B的数量的两倍一样多的开口102B。这样,销58A、58B可以以两种不同的耦接方式定位在开口102A、102B中(在不同的两组开口102A、102B中)。这样,存在两倍于销58A、58B的开口102A、102B的事实进一步减少了耦接时间,如将在下面另外详细描述的。
另外,该耦接器90的实施例具有带有管腔106的中央管104,该管腔106可耦接到待耦接到其上的工具的任何中央管(例如上述工具50的管70)。备选地,当待耦接到其上的工具没有中央管时,耦接器90不具有中央管104。
在其中工具50被耦接到耦接器90的使用中,工具本体52的近端54被***耦接器腔体90中并且被向近侧朝向耦接器驱动部件96推动。虽然不太可能,但是如果销58A、58B碰巧与开口102A、102B正确地对准而无需工具50或耦接器90相对于彼此的任何旋转,则销58A、58B将被推入开口102A、102B中并被设置在其中,以使得耦接器驱动部件96的内驱动部件100A的旋转将造成工具50的内从动部件60A的旋转,并且驱动部件96的外驱动部件100B的旋转将造成工具50的外从动部件60B的旋转。在更可能的销58A、58B未与开口102A、102B正确地对准的场景中,销58A、58B将与驱动部件96接触,以使得销58A、58B将被朝向装置本体52推动,以使得销58A、58B将被推入其销腔室56A、56B中直到近端54接触耦接器驱动部件96。此时,将驱动部件96的两个驱动部件100A、100B相对于工具本体52旋转直到开口102A、102B与销58A、58B正确地对准。当对准正确时,耦接到销58A、58B中的每一个的力机构(未示出)将向近侧朝向耦接器本体92推动销,由此使得销58A、58B被定位在开口102A、102B中。一旦销58A、58B被正确地定位在开口102A、102B中,则耦接器驱动部件96的内驱动部件100A的旋转将造成工具50的内从动部件60A的旋转,并且驱动部件96的外驱动部件100B的旋转将造成工具50的外从动部件60B的旋转。
根据一个实施方式,具有带有开口102A、102B的驱动部件96的耦接器90使得与销(例如销58A、58B)相比更容易对耦接器90消毒,考虑到额外移动部件、那些部件中的一些部件的相对不可接近性以及相关表面积的量,所述销可能更难以消毒。然而,在备选实施例中,耦接器(例如耦接器90)可以具有弹簧加载的销,并且工具(例如工具50)可以具有构造为接收那些销的开口。
图4A和图4B描绘了另一装置工具120,所述装置工具120是带有抽吸和冲洗特征的抓取器工具120并且被耦接到耦接器160。更特别地,工具本体126被设置在耦接器160的腔体(未示出)内。在该实施例中,装置工具120是末端执行器120并且耦接器160被耦接到机器人装置(未示出)的臂或与机器人装置的臂成一体。工具120具有第一和第二抓取器臂122A、122B,所述第一和第二抓取器臂122A、122B被构造为当两个臂122A、122B处于其闭合位置(如图4A中最佳所示)时形成管腔124的远端。如图4B中最佳所示,管腔124穿过中央管128从抓取器臂122A、122B延伸到工具本体126的近端。管128被构造为将冲洗流体向远侧输送到工具120的远端并且通过管腔124向近侧朝向本体126的近端施加抽吸。
如图4B中最佳所示,工具本体126由外从动部件130和内从动部件132组成,所述内从动部件132具有带有螺纹136的内管腔134。工具120还具有设置在内管腔134内并且从管腔134向远侧延伸的推杆138。推杆138具有与内从动部件132的螺纹136配合的外螺纹140。另外,杆138在其远端处被耦接到臂连杆142A、142B(其中仅仅臂连杆142A在图4B中被描绘),所述臂连杆142A、142B被耦接到抓取器臂122A、122B,以使得推杆138的致动造成臂122A、122B的致动,从而使它们在它们的打开与闭合配置之间移动。内从动部件132的近端具有限定在其中的两个销腔室144A、144B,以使得每个腔室144A、144B容纳弹簧加载的销146A、146B,所述弹簧加载的销146A、146B被构造为可按照上面关于弹簧加载的销58A、58B所讨论的方式从腔室144A、144B延伸(出)。尽管描绘了两个销腔室144A、144B,但应理解的是,内从动部件132可具有在图4B中描绘的横截面视图中不可见的另外的腔室。这样,内从动部件132可与以上描述并且在图2B中示出的工具本体52的内从动部件60A具有相似数量的腔室。另外,该实施例中的内从动部件132具有围绕部件132的外表面限定的外部通道148。通道148被构造为接收穿过工具本体126中的开口***的两个圆柱销(未示出),所述两个圆柱销类似于如图2A中所示的位于工具本体52中的销62A、62B。这些销防止内从动部件132侧向移动同时允许部件132旋转。
外从动部件130如图4B中最佳所示围绕内从动部件132可旋转地设置并且如图4A中最佳所示被旋转地(在旋转方面)耦接到轭架(yoke)150(或与轭架150成一体),以使得外从动部件130的旋转造成轭架150的旋转,由此使抓取器臂122A、122B旋转。外从动部件130的近端具有限定在其中的两个销腔室152A、152B,以使得每个腔室152A、152B容纳弹簧加载的销154A、154B,所述弹簧加载的销154A、154B被构造为可按照上面关于弹簧加载的销58A、58B所讨论的方式从腔室152A、152B延伸。虽然描绘了两个销腔室152A、152B(和销154A、154B),但是应当理解,外从动部件130可具有在图4B中描绘的横截面视图中不可见的另外的腔室。这样,外从动部件130可与上面描述并且在图2B中示出的工具本体52的外从动部件60B具有相似数量的腔室(和销)。
如图4B中最佳所示,根据一个实施例,耦接器160具有容纳耦接器驱动部件164的耦接器本体162。在该特定实施方式中,耦接器驱动部件164由内驱动部件164A和外驱动部件164B组成。如图所示的内驱动部件164A具有两个销接收开口166A、166B,所述两个销接收开口166A、166B中的每一个被构造为作为上述耦接动作的结果接收相应的弹簧加载的销。更特别地,如图4B所示,销146A被设置在开口166A中,而销146B被设置在开口166B中。虽然描绘了两个开口166A、166B,但是应当理解,内驱动部件164A可具有在图4B中描绘的横截面视图中不可见的另外的开口。这样,内驱动部件164A可与上面描述并在图3中所示的耦接器驱动部件96的内驱动部件100A具有相似数量的开口。
此外,如图所示的外驱动部件164B具有两个销接收开口168A、168B,所述两个销接收开口168A、168B中的每一个被构造为作为上述耦接动作的结果接收相应的弹簧加载的销。更特别地,如图4B所示,销154A被设置在开口168A中,而销154B被设置在开口168B中。虽然描绘了两个开口168A、168B,但是应当理解,外驱动部件164B可具有在图4B中描绘的横截面视图中不可见的另外的开口。这样,外驱动部件164B可与上面描述并在图3中所示的耦接器驱动部件96的外驱动部件100B具有相似数量的开口。
在使用中,耦接器160的内驱动部件164A可被致动以旋转。在工具120的弹簧加载的销(包括销146A、146B)被设置在内驱动部件164A的销接收开口166A、166B内的情况下,内驱动部件164A的旋转使得内从动部件132旋转。因为内从动部件132的内螺纹136与推杆138的外螺纹140相配合,所以内从动部件132的旋转使得推杆138侧向移动。因为抓取器臂122A、122B经由连杆142A、142B(其中仅仅142A在图4B中被描绘)耦接到推杆138,所以推杆138的侧向移动使得抓取器臂122A、122B在它们的打开与闭合配置之间移动。
此外,外驱动部件164B也可被致动以旋转。在工具120的弹簧加载的销(包括销154A、154B)被设置在外驱动部件164B的销接收开口168A、168B内的情况下,外驱动部件164B的旋转使得外从动部件130旋转。因为轭架150被耦接到外从动部件130的远端或与外从动部件130的远端成一体(如图4A中最佳所示),所以外从动部件130的旋转使得轭架150旋转。因为抓取器臂122A、122B至少部分地设置在轭架150内并且在旋转上受轭架150约束,所以轭架150的旋转使得抓取器臂122A、122B围绕同一轴线旋转。
图5A和图5B描绘了耦接到工具230的耦接器180的另一实施例,其中耦接器180和工具230被构造为使得工具230可具有如下面将要描述的双极能力。图5A描绘了没有工具230被耦接到其的耦接器180,而图5B描绘了耦接在一起的耦接器180和工具230。在该实施方式中,除了本文中描述的那些差异之外,耦接器180和工具230具有与关于耦接器160和工具120在上面描述并在图4A和图4B中描绘的那些部件和特征大致上类似的部件和特征。
在该实施例中,耦接器180被耦接到机器人外科装置(未示出)的前臂的远端或与其成一体。备选地,耦接器180可被耦接到工具(例如工具230)待耦接到其上的任何医疗装置或与其成一体。耦接器180具有耦接器本体182,该耦接器本体182具有设置在耦接器腔体184内的可致动锁定环186。此外,本体182具有限定中央管腔190的中央管188、内驱动部件192、外驱动部件194以及设置在内驱动部件192和外驱动部件194之间的绝缘层196,由此将内驱动部件192和外驱动部件194电隔离以提供潜在的双极能力。
可致动锁定环186可用于按照下面的方式将工具230在耦接器180中保持或锁定就位。该实施方式中的腔体184具有限定在腔体184的内壁210中的狭窄部分(或“壁突起”)212。此外,内壁210还具有限定在内壁中的靠近壁突起212的较宽部分(或“通道”)214。可致动锁定环186具有从环186的外壁216延伸的相应外部环状突起(本文中也称为“鳍”)218。在某些实施例中,在可致动锁定环186在腔体184内侧向移动时,环状鳍218相对于内壁通道214和壁突起212的位置可直接影响环186的内径。也就是说,如果环186被设置在腔体184内以使得鳍218被设置在通道214中,则环186具有相对较大的内径。然而,如果环186在腔体184内向远侧移动以使得鳍218朝向壁突起212移动,则鳍218将被径向向内推动,由此使得环186的内径变小。这样,当锁定环186在锁定位置和解锁位置之间移动时,锁定环186和腔体184的内壁之间的相互作用使得锁定环186的内径被改变,由此增大或减小环186的内壁220和设置在其中的任何工具本体(例如工具本体232)之间的接触摩擦(力)。
此外,可致动锁定环186还可具有沿着环186的内壁220设置的耦接叶片(未示出),该耦接叶片被构造为当内壁220与工具本体232接触时增强工具本体在腔体184内的保持。备选地,可使用可帮助维持环186的内壁220和工具本体232之间的物理耦接或摩擦保持的任何部件或特征。
在根据如图1A-1C结合图5A和图5B最佳所示的一个实施例的使用中,当锁定环(例如环186)处于如图1A中的锁定环22最佳所示的锁定位置时,环状鳍218被设置成邻近壁突起212并与壁突起212相接触,由此使得环186的内径较小并且因此增加环186的内壁220和设置在其中的工具本体(例如工具本体30或工具本体232)之间的接触。该增加的接触与内壁220上的任何保持特征(例如,诸如上面讨论的保持叶片)一起使得工具本体(例如本体30或本体232)通过锁定环186(或环22)被锁定或以其它方式保持在耦接器180(或耦接器12)中。此外,作为腔体184的内壁210的构造和环186的构造的结果,施加到工具本体30、180的任何远侧力也将因本体30、180和环186之间的接触摩擦(力)而向远侧推动环186,由此增大环186与本体30、180之间的接触摩擦(力)。也就是说,腔体184和环186的构造使得施加到工具本体30、180的任何远侧力实际上将增大锁定机构的强度。
当锁定环(例如环186)如图1B和图1C中(关于环22)以及图5A和图5B中(关于环186)最佳所示被推入解锁位置时,环状鳍218被设置在通道214中,由此使得环186的内径较大(与处于锁定位置的环186相比)并且因此减小(或消除)环186的内壁220与设置在其中的工具本体(例如工具本体30或工具本体232)之间的接触。该接触的减小或消除使得工具本体(例如本体30或本体232)可从耦接器180(或耦接器12)移除。
在如图5A和图5B中所示的该实施例中,外驱动部件194经由第一电触头(也称为“弹簧销”)234被供以电连接,该第一电触头234被构造为在部件194旋转时维持与驱动部件194的接触。也就是说,弹簧销234被定位在耦接器180中,以使得即使当驱动部件194被致动以旋转时弹簧销234也保持与驱动部件194相接触。此外,弹簧销234具有力机构238(在该例中为压缩弹簧),其将弹簧销234朝向驱动部件194推动,由此进一步确保维持该接触。
绝缘层196被定位在内驱动部件192与外驱动部件194之间,以使得绝缘层196将两个驱动部件192、194彼此电隔离。该电隔离使得能够实现通向耦接到耦接器180的任何工具(例如工具230)的两个独立的电传导路径以实现潜在的双极能力。
根据所描绘的实施例,内驱动部件192由两个轴承240、242支撑。此外,耦接器180具有设置在两个轴承240、242之间的、与内驱动部件192相接触的第二电触头(也称为“弹簧销”)244。第二弹簧销244具有力机构246(在该例中为压缩弹簧),其将弹簧销244朝向驱动部件192推动,由此进一步确保维持接触。这样,第二弹簧销244为耦接到耦接器180的工具(例如工具230)提供第二独立电源。此外,耦接器180还具有定位在耦接器180中的保持环248,以使得该保持环248约束内驱动部件192以防止其侧向平移。
在该实施方式中,中央管188可用于抽吸/冲洗、药物输送、工具输送、夹具施用和/或其它已知的功能或程序。
在备选实施例中,耦接器可仅仅提供一个电连接(而不是两个),由此消除对各部件之间的电隔离和绝缘的需要。在进一步的备选方案中,耦接器可具有三个或更多电连接以提供三个或更多分离的、独立电源以用于工具(例如工具230)的三种不同用途。
上面讨论的耦接器实施例已包括两个驱动部件(内驱动部件和外驱动部件)。备选耦接器实施例可具有三个或更多驱动部件。在进一步的备选方案中,耦接器实施例可具有一个驱动部件。
可利用本文中公开的各种耦接器实施例来简化各种外科手术。例如,在其中医疗装置是机器人外科装置的那些实施方式中,外科装置的臂上的快速更换耦接器可以允许在装置的臂定位在患者的腔体内时更换末端执行器。在一种这样的情况下,具有至少一个位于其上的附加末端执行器的分离装置被定位在患者的腔体中并与装置臂和耦接器相结合地操作以实现一个末端执行器与臂上的另一个末端执行器的交换。备选地,分离的外部装置可通过分离的或辅助的端口和/或套管针***患者的腔体中并且操作以将末端执行器从机器人装置的臂上移除或卸下并将其从腔体中收回。然后将新的末端执行器附接到该外部工具,将该工具重新***腔体中,并且该工具与装置臂相结合地操作以将新的末端执行器安装或附接到耦接器。
尽管已经参考各优选实施例描述了本文中的各种实施方式,但是本领域技术人员将认识到在不脱离本发明的精神和范围的情况下可以在形式和细节上做出改变。
Claims (15)
1.一种用于医疗装置的耦接设备,所述设备包括:
(a)耦接器本体;
(b)限定在所述耦接器本体的远端中的腔体;
(c)设置在所述腔体内并且限定旋转轴线的可旋转驱动部件,所述可旋转驱动部件包括:内驱动部件,其包括可随着所述内驱动部件围绕所述旋转轴线旋转的至少两个内销接收开口;以及外驱动部件,其包括可随着所述外驱动部件围绕所述旋转轴线旋转的至少两个外销接收开口;以及
(d)围绕所述腔体设置的可致动锁定环。
2.根据权利要求1所述的耦接设备,其中所述耦接器本体可耦接到工具,其中所述工具包括:
(a)工具本体,其被设定尺寸并且被布置成可定位在所述腔体内;
(b)可旋转从动部件,其被可操作地耦接到所述工具本体,所述可旋转从动部件包括:
(i)限定在所述可旋转从动部件中的至少两个销腔室;以及
(ii)至少两个张紧销,其中所述至少两个张紧销中的每一个张紧销被设置在所述至少两个销腔室中的一个销腔室内并且可从其延伸,所述至少两个销腔室包括从其延伸的至少两个张紧销,
其中所述可旋转从动部件可与所述可旋转驱动部件对准,以使得所述至少两个张紧销延伸到所述至少两个销接收开口中。
3.根据权利要求1所述的耦接设备,其中所述耦接器本体可耦接到工具,其中所述工具包括:
(a)工具本体,其被设定尺寸并且被布置成可定位在所述腔体内;以及
(b)可旋转从动部件,其被可操作地耦接到所述工具本体,所述可旋转从动部件包括:
(i)内从动部件,其包括限定在所述内从动部件中的至少两个内销腔室以及设置在所述至少两个内销腔室内并且可从所述至少两个内销腔室延伸的至少两个内张紧销;以及
(ii)外从动部件,其包括限定在所述外从动部件中的至少两个外销腔室以及设置在所述至少两个外销腔室内并且可从所述至少两个外销腔室延伸的至少两个外张紧销;
其中所述内从动部件可与所述内驱动部件对准,以使得所述至少两个内张紧销延伸到所述至少两个内销接收开口中,并且
其中所述外从动部件可与所述外驱动部件对准,以使得所述至少两个外张紧销延伸到所述至少两个外销接收开口中。
4.根据权利要求1所述的耦接设备,其进一步包括设置在所述内驱动部件与所述外驱动部件之间的绝缘层。
5.根据权利要求1所述的耦接设备,其中所述可致动锁定环可在按下位置和非按下位置之间移动,在所述按下位置,设置在所述腔体内的任何工具本体可释放;在所述非按下位置,设置在所述腔体内的任何工具本体被锁定在其中。
6.根据权利要求1所述的耦接设备,其进一步包括穿过所述耦接器本体的长度设置的细长管,以使得所述可旋转驱动部件围绕所述细长管的远侧部分设置,所述细长管包括与该细长管的远侧开口流体连通的管腔。
7.一种用于医疗装置的耦接***,所述***包括:
(a)与所述医疗装置相关联的耦接设备,所述设备包括:
(i)耦接器本体;
(ii)限定在所述耦接器本体的远端中的腔体;
(iii)设置在所述腔体内并且限定旋转轴线的可旋转驱动部件,所述可旋转驱动部件包括:内驱动部件,其包括可随着所述内驱动部件围绕所述旋转轴线旋转的至少两个内销接收开口;以及外驱动部件,其包括可随着所述外驱动部件围绕所述旋转轴线旋转的至少两个外销接收开口;以及
(iv)围绕所述腔体设置的可致动锁定环;以及
(b)可与所述耦接设备耦接的工具本体,其中所述工具本体被设定尺寸并且被布置成可定位在所述腔体内,所述工具本体包括:
(i)可操作地耦接到所述工具本体的可旋转从动部件,所述可旋转从动部件包括:
(A)限定在所述可旋转从动部件中的至少两个销腔室;以及
(B)设置在所述至少两个销腔室内并且可从所述至少两个销腔室延伸的至少两个张紧销,
其中所述可旋转从动部件可与所述可旋转驱动部件对准,以使得所述至少两个张紧销延伸到所述至少两个销接收开口中。
8.根据权利要求7所述的耦接***,其中所述可旋转从动部件包括:
(a)可旋转内从动部件,其中所述至少两个销腔室包括限定在所述可旋转内从动部件中的至少两个内销腔室,并且其中所述至少两个张紧销包括设置在所述至少两个内销腔室内并且可从所述至少两个内销腔室延伸的至少两个内张紧销;以及
(b)可旋转外从动部件,其中所述至少两个销腔室包括限定在所述可旋转外从动部件中的至少两个外销腔室,并且其中所述至少两个张紧销包括设置在所述至少两个外销腔室内并且可从所述至少两个外销腔室延伸的至少两个外张紧销,
其中所述可旋转内从动部件可与所述内驱动部件对准,以使得所述至少两个内张紧销延伸到所述至少两个内销接收开口中,并且
其中所述可旋转外从动部件可与所述外驱动部件对准,以使得所述至少两个外张紧销延伸到所述至少两个外销接收开口中。
9.根据权利要求7所述的耦接***,其进一步包括设置在所述内驱动部件与所述外驱动部件之间的绝缘层。
10.根据权利要求7所述的耦接***,其中所述可致动锁定环可在按下位置和非按下位置之间移动,在所述按下位置,所述工具本体可从所述腔体中释放;在所述非按下位置,设置在所述腔体内的工具本体被锁定在其中。
11.根据权利要求7所述的耦接***,其进一步包括穿过所述耦接器本体的长度设置的细长管,以使得所述可旋转驱动部件围绕所述细长管的远侧部分设置,所述细长管包括与该细长管的远侧开口流体连通的管腔。
12.一种用于医疗装置的耦接***,所述***包括:
(a)与所述医疗装置相关联的耦接设备,所述设备包括:
(i)耦接器本体,
(ii)限定在所述耦接器本体的远端中的腔体;
(iii)内驱动部件,其包括至少两个内销接收开口;
(iv)外驱动部件,其包括至少两个外销接收开口;以及
(v)围绕所述腔体设置的可致动锁定环;以及
(b)可与所述耦接设备耦接的工具本体,其中所述工具本体被设定尺寸并且被布置成可定位在所述腔体内,所述工具本体包括:
(i)可旋转内从动部件,其限定第一旋转轴线并且包括:
(A)限定在所述可旋转内从动部件中的至少两个内销腔室,以及
(B)设置在所述至少两个内销腔室内并且可从所述至少两个内销腔室延伸的至少两个内张紧销;以及
(ii)可旋转外从动部件,其限定第二旋转轴线并且包括:
(A)限定在所述可旋转外从动部件中的至少两个外销腔室;以及
(B)设置在所述至少两个外销腔室内并且可从所述至少两个外销腔室延伸的至少两个外张紧销,
其中所述可旋转内从动部件可通过所述至少两个内张紧销围绕所述第一旋转轴线的旋转而与所述内驱动部件对准,以使得所述至少两个内张紧销延伸到所述至少两个内销接收开口中,并且
其中所述可旋转外从动部件可通过所述至少两个外张紧销围绕所述第二旋转轴线的旋转而与所述外驱动部件对准,以使得所述至少两个外张紧销延伸到所述至少两个外销接收开口中。
13.根据权利要求12所述的耦接***,其进一步包括设置在所述内驱动部件与所述外驱动部件之间的绝缘层。
14.根据权利要求12所述的耦接***,其中所述可致动锁定环可在按下位置和非按下位置之间移动,在所述按下位置,所述工具本体可从所述腔体中释放;在所述非按下位置,设置在所述腔体内的工具本体被锁定在其中。
15.根据权利要求12所述的耦接***,其进一步包括穿过所述耦接器本体的长度设置的细长管,以使得所述内驱动部件和所述外驱动部件围绕该细长管的远侧部分设置,所述细长管包括与该细长管的远侧开口流体连通的管腔。
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US20220219340A1 (en) | 2022-07-14 |
US11173617B2 (en) | 2021-11-16 |
US20180056527A1 (en) | 2018-03-01 |
WO2018039606A1 (en) | 2018-03-01 |
CA3034671A1 (en) | 2018-03-01 |
CN110248614A (zh) | 2019-09-17 |
JP2019524371A (ja) | 2019-09-05 |
EP3503829A1 (en) | 2019-07-03 |
EP3503829A4 (en) | 2020-04-15 |
CN116269696A (zh) | 2023-06-23 |
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