CN102596058B - 具有复设的闭合机构的末端执行器 - Google Patents

具有复设的闭合机构的末端执行器 Download PDF

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CN102596058B
CN102596058B CN201080051371.2A CN201080051371A CN102596058B CN 102596058 B CN102596058 B CN 102596058B CN 201080051371 A CN201080051371 A CN 201080051371A CN 102596058 B CN102596058 B CN 102596058B
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jaw
actuating mechanism
configuration
end effector
instrument
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CN102596058A (zh
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W·A·伯班克
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Intuitive Surgical Operations Inc
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Abstract

本发明公开了带有复设闭合机构的末端执行器、以及相关的工具和方法。所公开的末端执行器在用于微创手术时是特别有益的。一种示例性手术工具（170）包括：长形轴（174），该长形轴具有近端和远端；被布置在该轴的远端处的工具本体（176）；相对于该工具在一种夹紧构型与打开构型之间可移动的夹爪（178）；第一致动机构，该致动机构与该夹爪偶联并且可操作来改变该夹爪相对于该工具本体在夹紧构型与打开构型之间的位置；以及与该夹爪偶联的第二致动机构。该第二致动机构具有第一构型和第二构型，在该第一构型中该夹爪被保持在该夹紧构型中，在该第二构型中，该夹爪相对于该工具本体的位置不受该第二致动机构的限制。

Description

具有复设的闭合机构的末端执行器
相关申请的交叉引用
本申请根据35U.S.C.§119(e)要求美国专利申请号61/260,907（于2009年11月13日提交；标题为“End Effector with Redundant ClosingMechanisms”）的权益，将其通过引用结合在此。本申请还涉及：美国专利申请号xx/xxx,xxx（同时提交的；标题为“Wist Articulation By LinkedPull Rods”）[律师卷号：ISRG 02320/US]、美国专利申请号xx/xxx,xxx（同时提交的；标题为“Double Universal Joint”）[律师卷号：ISRG02340/US]、美国专利申请号xx/xxx,xxx（同时提交的；标题为“SurgicalTool Containing Two Degree of Freedom Wist”）[律师卷号：ISRG02350/US]、以及美国专利申请号xx/xxx,xxx（同时提交的；标题为“MotorInterface For Parallel Drive Shafts Within an Independently RotatingMember”）[律师卷号：ISRG 02360/US]，所有这些申请都通过引用结合在此。
技术领域
背景技术
微创手术技术用于减少诊断或手术操作期间损害的无关组织的数量，由此减少病人的恢复时间、不适、以及有害的副作用。因此，使用微创手术技术还可以显著地缩短标准手术的平均住院期。而且使用微创手术还可以减少病人的恢复时间、减少病人不适感、减少手术副作用、以及减少脱离工作的时间。
微创手术的常见形式是内窥镜检查，并且内窥镜检查的一种常见形式是腹腔镜检查，这是在腹腔内部的微创检查和外科手术。在标准的腹腔镜检查手术中，病人的腹部吸入气体，并且将插管套管穿过小的（约半英寸或更小）切口以提供用于腹腔镜检查仪器的进入端口。
腹腔镜手术仪器一般包括用于查看术野的内窥镜（例如，腹腔镜）以及用于在手术部位工作的工具。这些工作工具一般与在常规（开放式）手术中使用的类似，除了每个工具的工作末端或末端执行器与其手柄被延伸管（例如也称为，仪器轴或主轴）隔开。该末端执行器可以包括例如：夹紧件、抓握器、剪刀、缝合器、烧灼工具、线性切割器、或持针器。
为了进行手术进程，外科医生将工作工具穿过多个插管套管到达内部手术部位并从腹部外面操纵它们。外科医生借助监测器来查看进程，该监测器显示了从内窥镜获取的手术部位的图像。类似的内窥镜技术用于例如关节内窥镜检查、腹膜后腔镜检查、盆腔镜检查、肾镜检查、膀胱镜检查、大池内视镜检查、纤维质消化检查、子宫镜检查、尿道镜检查等等中。
正在对微创远程手术机器人系统进行发展以增大外科医生在内部手术部位上工作时的灵敏性、同时允许外科医生从远距离（无菌场所外）对病人进行手术。在远程手术系统中，通常在控制台上对外科医生提供手术部位的图像。在适当的查看器或显示器上查看手术部位的三维图像时，外科医生通过操纵该控制台的主要输入或控制装置而对病人进行手术进程。每个主要输入装置都控制伺服机械式致动/铰接的手术仪器的移动。在手术进程中，该远程手术系统可以响应于对这些主要输入组织的操纵而对具有末端执行器的多种手术仪器或工具提供机械致动和控制，这些末端执行器对外科医生起到了不同的作用，例如，保持或驱动针、抓握血管、解剖组织或类似作用。
在许多不同的手术程序中已经采用了非机器人的线性夹紧、切割和缝合装置。例如，可以使用这样装置来从胃肠区域中割除癌组织或异常组织。不幸的是，许多已知的手术装置，包括已知的线性夹紧、切割和缝合装置在内，具有对置的夹爪，这些夹爪可能产生小于希望值的夹紧力，这可能降低手术装置的效力。替代的装置可以提供足够的机械的优点来产生可用于手术程序（例如组织缝合）的所希望水平的夹紧力，但可能具有小于远程手术组织操纵所希望的致动响应速率。此外，具有这样高的力的夹爪致动机构的交换工具可能比理想的更加复杂（并且潜在地更易于产生毛刺）。
因此认为，需要具有改进的末端执行器的工具。提供足够的夹紧力、提供快速响应/低力铰接模式、并且至少部分地可反向驱动的改进型末端执行器也可以是希望的。这样的工具在手术应用中、特别是在微创手术应用中是有益的。
发明内容
提供了改进的末端执行器、相关的工具以及相关的方法。在许多手术应用中，例如在许多微创手术应用中，手术工具的末端执行器的尺寸基本上受到可用空间限制条件的限制。虽然这样的尺寸限制在使用致动机构时减轻了，但在许多实施例中，所公开的末端执行器使用两个独立的机构来铰接该末端执行器的夹爪。在许多实施例中，第一致动机构提供一种快速响应/低力模式，该模式在一种夹紧构型与一种打开构型之间改变该铰接的夹爪的位置。在许多实施例中，该第一致动机构是可反向驱动的。在许多实施例中，第二致动机构提供一种高的夹紧力的模式，该模式具有一种第一构型和一种第二构型，在该第一构型中该铰接的夹爪被保持在一种夹紧构型中，在该第二构型中该铰接的夹爪不受该第二致动机构的限制。在许多实施例中，该第二致动机构是不可反向驱动的。
这样的末端执行器、工具和方法提供了多个益处，尤其是关于微创手术应用而言。例如，在许多实施例中，该高夹紧力的铰接模式能够实现恰当的组织压缩并且抵抗夹爪运动，例如在缝合灼烧（staple firing）过程中。在许多实施例中，该快速响应/低力的模式可用于操纵组织、可用于找到更适宜的组织抓握点、并且提供了该铰接的夹爪的更易响应的铰接。在许多实施例中，可反向驱动的第一致动机构允许该铰接的夹爪在重重地接触病人组织后移动（这可以帮助避免损伤病人组织）和/或允许该铰接的夹爪在接触到插管套管之后闭合（这可以辅助从病人体内移除手术工具）。此外，所公开的末端执行器可以提供改进的组织空隙和/或组织压缩感应，因为这些复设的（redundant）致动机构可以提供额外的反馈数据以供分析并且在许多实施例中，可以使得该第一致动机构以低的摩擦损失有效地起作用，这可以改进感应能力。虽然在此公开的不同实施例是关于手术应用进行初步描述，但这些手术应用仅仅是示例性的应用，并且所公开的末端执行器、工具以及方法可以用于其他适当的应用中，在人体之内和之外均可，并且用于非手术的应用中。
在第一方面，提供了一种微创手术方法。该方法包括将工具的夹爪通过微创开口或自体孔口而引人病人体内的内部手术部位；通过用第一致动机构来铰接该夹爪而以抓握力来操纵该内部手术部位处的组织；并且通过用第二致动机构来铰接该夹爪而用夹紧力来治疗该内部手术部位处的目标组织。该第一和第二致动机构沿轴从病人体外延伸至该夹爪。该夹紧力大于该抓握力。
在许多实施例中，该第一致动机构包括多个缆线部分并且该第二致动机构包括驱动轴。在许多实施例中，操纵该组织是通过使用第一缆线部分中的张力而闭合该夹爪并且通过使用第二缆线驱动中的张力而打开该夹爪来进行的。在许多实施例中，治疗该组织是通过使用该驱动轴在该工具的轴内的转动而闭合该夹爪来进行的。在许多实施例中，该第二机构反向驱动该第一机构，使得该第二致动机构的闭合该夹爪的铰接作用将驱动这些缆线部分朝向一种闭合的夹爪构型，并且如果这些缆线部分保持在闭合的夹爪构型中，则该第二致动机构朝向一种打开的夹爪构型的铰接作用并不反向驱动该第一机构或者打开该夹爪。
在另一方面，提供了一种手术工具。该术工具包括：长形轴，该长形轴具有近端和远端；被布置在该轴的远端处的工具本体；相对于该工具在一种夹紧构型与打开构型之间可移动的夹爪；与该夹爪偶联的第一致动机构；以及与该夹爪偶联的第二致动机构。该第一致动机构可操作来改变该夹爪相对于该工具本体在该夹紧构型与该打开构型之间的位置。该第二致动机构具有一种第一构型和一种第二构型，在该第一构型中该夹爪被保持在该夹紧构型中，在该第二构型中，该夹爪相对于该工具本体的位置不受该第二致动机构的限制。
该第一致动机构可以包括一个或多个另外的部件和/或具有一个或多个另外的特征。例如，在许多实施例中，该第一致动机构是可反向驱动的。在许多实施例中，该第一致动机构包括缆线。在许多实施例中，该第一致动机构的第一缆线部分的拉动运动使该夹爪朝该打开构型移动，并且该第一致动机构的第二缆线部分的拉动运动使该夹爪朝该夹紧构型移动。该第一致动机构可以包括连接该第一缆线部分与该夹爪和工具本体的第一链接件。该第一致动机构可以包括连接该第二缆线部分与该夹爪和工具本体的第二链接件。
该第二致动机构可以包括一个或多个另外的部件和/或具有一个或多个另外的特征。例如，在许多实施例中，该第二致动机构是不可反向驱动的。该第二致动机构可能可操作来在该夹爪与工具本体之间产生至少20lbs的夹紧力。在许多实施例中，该第二致动机构包括导螺杆。该第二致动机构可以包括导螺杆驱动的凸轮，该凸轮与该导螺杆可操作地偶联并且该夹爪可以包括与该导螺杆驱动的凸轮相接触的凸轮接触面。
该手术工具可以包括一个或多个另外的部件。例如，该手术工具可以进一步包括被致动的装置。例如，该被致动的装置可以是切割装置、缝合装置、或切割且缝合装置。
在另一方面，提供了一种用于安装在具有第一驱动器的操纵器上的机器人工具。该机器人工具包括：能可释放地安装在该操纵器上的近端工具底盘；与该工具底盘偶联并且与该工具底盘相邻布置的驱动电动机；远端执行器，该远端执行器包括可移动夹爪；仪器轴，该仪器轴具有与该底盘相邻的近端和与该末端执行器相邻的远端；在该底盘被安装到该操纵器上时将该第一驱动器偶联到该末端执行器上的第一致动机构，从而在一种打开构型与夹紧构型之间铰接该末端执行器；以及将该驱动电动机偶联到该末端执行器上的第二致动机构，从而将该末端执行器从该打开构型铰接至该夹紧构型。
该第一致动机构可以包括一个或多个另外的部件和/或具有一个或多个另外的特征。例如，在许多实施例中，该第一致动机构是可反向驱动的。该第一致动机构包括多根缆线，这些缆线在将该末端执行器可操作地偶联至该第一驱动器上的该仪器轴的孔内在远端从该底盘延伸。
该第二致动机构可以包括一个或多个另外的部件和/或具有一个或多个另外的特征。例如，在许多实施例中，该第二致动机构是不可反向驱动的。该第二致动机构可以包括导螺杆驱动的凸轮。该第二致动机构可以具有一种第一构型和一种第二构型，在该第一构型中该夹爪被保持在该夹紧构型中，在该第二构型中，该夹爪相对于该工具本体的位置不受该第二致动机构的限制。该第二致动机构可以包括驱动轴，该驱动轴被安装用于在该仪器轴的孔内转动并且可操作地偶联该末端执行器与该驱动电动机。
在另一方面，提供了一种手术仪器。该手术仪器包括：远端执行器，该远端执行器包括可移动夹爪；偶联在该可移动夹爪上的第一夹爪致动机构；以及偶联在该可移动夹爪上的第二夹爪致动机构。该第一夹爪致动机构独立于该第二夹爪致动机构而使该夹爪从打开位置移动至闭合位置。该第二夹爪致动机构独立于该第一夹爪致动机构而使该夹爪从该打开位置移动至该闭合位置。
该第二夹爪机构可以限制该第一致动机构可以移动该夹爪的移动范围。例如，该第二致动机构可以具有一种第一构型，其中该可移动夹爪被保持在一种夹紧位置中，并且其中防止了该第一致动机构移动该可移动夹爪。
该第一致动机构可以提供一种快速响应/低力的铰接模式，并且该第二致动机构可以提供一种高夹紧力的模式。例如，在许多实施例中，由该第二致动机构所提供的该可移动夹爪的最大夹紧力大于由该第一致动机构所提供的最大夹紧力。
该第一和第二致动机构可以采用不同的力传输机构。例如，该第一夹爪致动机构用来将该夹爪从打开位置移动至闭合位置的力可以包括线性力，并且该第二夹爪致动机构用来将该夹爪从打开位置移动至闭合位置的力可以包括扭矩。在许多实施例中，该第一夹爪致动机构包括缆线驱动的机构。在许多实施例中，该第二夹爪致动机构包括导螺杆驱动的机构。
为了更全面地理解本发明的本质和优点，应该参考接下来的具体实施方式和附图。本发明的其他方面、目的和优点将从附图以及接下来的具体实施方式中变得清楚。
附图说明
图1是根据许多实施例用来进行手术的一种微创机器人手术系统的平面视图。
图2是根据许多实施例用于一种机器人手术系统的外科医生控制台的透视图。
图3是根据许多实施例的一种机器人手术系统电子仪器推车的透视图。
图4图解地展示了根据许多实施例的一种机器人手术系统。
图5A是根据许多实施例的一种机器人手术系统的病人侧推车（手术机器人）的正视图。
图5B是机器人手术工具的正视图。
图6A是根据许多实施例的一种具有铰接的夹爪的末端执行器的透视图。
图6B是根据许多实施例的图6A的末端执行器的透视图（移除了该铰接的夹爪以更好地展示导螺杆致动机构部件）。
图7A和7B展示了根据许多实施例的导螺杆致动机构的部件。
图8A展示了根据许多实施例的缆线致动机构的部件。
图8B是根据许多实施例的图8A的末端执行器的透视图，其中移除了该铰接的夹爪的一部分以显示出布置在该铰接的夹爪后面的缆线致动机构部件。
图8C至8F展示了图8A的缆线致动机构的相反侧部件。
图9A是根据许多实施例展示缆线致动机构的透视图，其示出了用来朝一种夹紧构型而铰接该夹爪的缆线。
图9B是展示了图9A的缆线致动机构的透视图，其示出了用来朝一种打开构型而铰接该夹爪的缆线。
图10是根据许多实施例图示说明导螺杆致动机构的部件的截面视图。
图11是根据许多实施例的一种工具组件的简化的图解说明图。
图12是根据许多实施例安装在机器人工具操纵器上的机器人工具的简化的图解说明图。
具体实施方式
提供了改进的末端执行器、相关的工具以及相关的方法。在许多实施例中，所公开的末端执行器使用两个独立的机构来铰接该末端执行器的夹爪。在许多实施例中，第一致动机构提供一种快速响应/低力的模式，该模式在一种夹紧构型与一种打开构型之间改变该铰接的夹爪的位置。在许多实施例中，该第一致动机构是可反向驱动的。该第一致动机构可以被设计用于在该末端执行器的铰接的夹爪尖端处提供例如5lbs的夹紧力。在许多实施例中，第二致动机构提供一种高的夹紧力的模式，该模式具有一种第一构型和一种第二构型，在该第一构型中该铰接的夹爪被保持在一种夹紧构型中，在该第二构型中该铰接的夹爪不受该第二致动机构的限制。在许多实施例中，该第二致动机构是不可反向驱动的。在许多实施例中，该第二致动机构将较弱的力或扭矩（但可获得大的位移）转化为较高的扭矩，用于转动该末端执行器的夹爪。该第二致动机构可以被设计用于在该末端执行器的铰接的夹爪尖端处提供例如50磅的夹紧力。所公开的末端执行器、工具和方法可以用于多种应用中、并且在用于微创手术应用中时可能是特别有益的。虽然在此公开的不同实施例是关于手术应用进行初步描述，但这些手术应用仅仅是示例性的应用，并且所公开的末端执行器、工具以及方法可以用于其他适当的应用中，在人体之内和之外均可，并且用于非手术的应用中。
微创机器人手术
现在参见附图，在这几个视图中类似的参考号代表类似的部件，图1是一种微创机器人手术（MIRS）系统10的平面视图，该系统一般地用于对躺在手术台14上的病人12进行微创诊断或手术程序。该系统可以包括在该程序过程中供外科医生18使用的外科医生控制台16。一个或多个助手20可以参与这个过程。该MIRS系统10可以进一步包括病人侧推车22（手术机器人）以及电子仪器推车24。在外科医生18通过控制台16查看该手术部位的同时，病人侧推车22可以操纵至少一个可拆卸地连接的工具组件26（以下简称为“工具”）穿过病人12体内的微创切口。通过内窥镜28（例如立体内窥镜）可以获得手术部位的图像，该内窥镜可以由病人侧推车22来操纵从而对内窥镜28进行定向。电子仪器推车24可以用来处理这些手术部位图像用于随后通过外科医生控制台16而显示给外科医生18。除其他因素之外，一次使用的手术工具26的数目一般主要取决于该诊断或外科手术程序以及手术室内的空间限制条件。如果必须在进程中改变所使用的一个或多个工具26，则助手20可以从病人侧推车22上移除工具26并且从手术室内的托盘30上用另一工具26来替换它。
图2是外科医生控制台16的透视图。外科医生控制台16包括左眼显示器32和右眼显示器34，用于对外科医生18呈现手术部位的协调的立体视图，该视图能获得深度感知。控制台16进一步包括一个或多个输入控制器件36，这些器件进而使得病人侧推车22（图1中所示）操纵一个或多个工具。这些输入控制器件36将提供与它们的相关联的工具26（图1中所示）相同的自由度，从而对外科医生提供远程呈现或以下感知，即这些输入控制器件36与工具26是一体的，使得外科医生具有直接控制着工具26的强烈感觉。为此，可以采用位置、力以及触觉反馈传感器（未示出）可以用来将来自工具26的位置、力和触觉感觉通过这些输入控制器件36传输回到外科医生的手上。
外科医生控制台16通常与病人位于相同房间以便外科医生可以直接监视这个过程，如果必要可亲自上阵并且直接向助手说话而不是通过电话或其他通信媒介。然而，外科医生可以位于不同房间内、完全不同的建筑物内、或远离病人的其他位置，以允许远程的手术程序（即，在无菌场所外进行手术）。
图3是电子仪器推车24的透视图。电子仪器推车24可以与内窥镜28相连并且可以包括处理器来处理图像以便随后显示，例如在外科医生控制台上显示给外科医生、或者在位于附近和/或远处的任何其他适当的显示器上。例如，当使用立体内窥镜时，电子仪器推车24可以对捕获的图像进行处理从而对外科医生呈现手术部位的协调的立体图像。这样的协调可以包括相反图像之间的调准并且可以包括调整立体内窥镜的立体工作距离。作为另一例子，图像处理可以包括使用之前确定的相机校准参数来对图像捕获装置的成像误差（如光学像差）进行补偿。
图4图解地展示了一种机器人手术系统50（如图1的MIRS系统10）。如以上讨论的，在微创程序中外科医生可以使用外科医生控制台52（如图1中的外科医生控制台16）来控制病人侧推车（手术机器人）54（如图1中的病人侧推车22）。该病人侧推车54可以使用成像装置，如立体内窥镜，来捕获手术部位的图像并且将所捕获的图像输出至电子仪器推车56（如图1中的电子仪器推车24）。如以上讨论的，电子仪器推车56可以在任何的随后显示之前按多种方式来处理所捕获的图像。例如，电子仪器推车56可以在将组合的图像通过外科医生控制台52显示给外科医生之前以虚拟的控制板界面覆盖所捕获的图像。病人侧推车54可以将所捕获的图像输出以便在电子仪器推车56外部进行处理。例如，病人侧推车54可以将所捕获的图像输出给处理器58，该处理器可以用来处理这些捕获的图像。这些图像还可以通过电子仪器推车56与处理器58的组合进行处理，推车和处理器可以连接在一起以便共同地、相继地和/或以其组合方式来处理所捕获的图像。还可以将一个或多个显示器60与该处理器58和/或电子仪器推车56相连，用于本地和/或远程显示图像，如手术部位的图像或任何其他相关图像。
图5A和5B分别显示了病人侧推车22和手术工具62。手术工具62是这些手术工具26的例子。所示的病人侧推车22提供了对三个手术工具26以及成像装置28的操纵，如用于捕获手术部位的图像的立体内窥镜。操纵是由具有多个机器人接头的机器人机构提供的。成像装置28和这些手术工具26可以穿过病人体内的切口来定位和操纵，使得在该切口处维持运动学远程中心从而将该切口的尺寸最小化。手术部位的图像可以包括这些手术工具26的远端在它们被定位在成像装置28的视场内时的图像。
具有独立的致动机构的末端执行器夹爪铰接作用
在许多实施例中，使用两个独立的致动机构来控制末端执行器的铰接的夹爪的铰接作用。可以使用第一致动机构来提供一种快速响应/低力的模式，并且可以使用第二致动机构来提供一种高夹紧力的模式。在许多实施例中，用来提供该快速响应/低力的铰接模式的这个第一致动机构是可反向驱动的。在许多实施例中，用来提供该高夹紧力的铰接模式的这个第二致动机构是不可反向驱动的。像这样使用两个独立的致动机构在某些手术应用中可能是有益的，例如在电烙术密封、缝合等等中，这些应用可能在使用高力夹爪夹具来执行手术工具的任务之前要求多个低力的夹爪布置夹具。
在许多实施例中，该快速响应/低力的模式是由缆线致动机构提供的，该缆线致动机构包括一对拉动缆线。在许多实施例中，这对中的第一缆线的拉动运动使该铰接的夹爪朝一种闭合（夹紧）构型铰接，并且这对中的第二缆线的拉动运动使该铰接的夹爪朝一种打开紧构型铰接。在许多实施例中，该缆线致动机构是可反向驱动的。
在许多实施例中，该高夹紧力的模式是由导螺杆致动机构提供的，该导螺杆致动机构包括导螺杆驱动的凸轮。当该导螺杆驱动的凸轮处于其移动范围的第一末端时，该驱动的凸轮与该铰接的夹爪上的配合的凸轮表面相接触从而将该铰接的夹爪夹持在一种夹紧构型中。此外，当该导螺杆驱动的凸轮处于其移动范围的第二末端（相反末端）时，该驱动的凸轮并不限制该铰接的夹爪的移动。换言之，这些配合的凸轮表面被安排为使得该导螺杆驱动的凸轮在方向上的移动将致使该铰接的夹爪闭合，并且该导螺杆驱动的凸轮在相反方向上的移动将允许（但不强迫）该铰接的夹爪打开至这些凸轮表面所提供的限值。在许多实施例中，该导螺杆致动机构是不可反向驱动的。
图6A是根据许多实施例的一种末端执行器70的透视图，该末端执行器具有夹爪72，该夹爪被两个独立的致动机构所铰接。末端执行器70包括末端执行器基座74、该铰接的夹爪72、以及可分离的静止夹爪76。末端执行器70是通过第一驱动轴78、第二驱动轴80、以及两个致动缆线（未示出）来致动。第一驱动轴78使导螺杆致动机构的导螺杆82转动。第二驱动轴80使该可分离的静止夹爪76的另一导螺杆（未示出）转动。
在许多实施例中，第一驱动轴78和/或第二驱动轴80由位于近端工具底盘中的多个驱动部件来驱动，该末端执行器70通过仪器轴与该底盘相连。在许多实施例中，该近端工具底盘被配置为能可释放地安装在机器人工具操纵器上。在许多实施例中，第一驱动轴78和第二驱动轴80是通过位于该近端工具底盘中的对应的驱动部件来致动。在许多实施例中，这种驱动部件是由位于该近端工具底盘中的多个电动机来驱动。
图6B是根据许多实施例的图6A的末端执行器70的透视图（移除了该铰接的夹爪72以更好地展示该导螺杆致动机构的部件）。导螺杆82被安装用于相对于该末端执行器基座74转动。导螺杆驱动的凸轮84与该导螺杆82相连，使得可以使用导螺杆82的选择性转动来选择性地使该导螺杆驱动的凸轮84沿着凸轮槽86在末端执行器基座74内平移。末端执行器70包括枢轴销88，该销被用于可转动地连接该铰接的夹爪72与该末端执行器基座74。
图7A和7B展示了图6A和6B的导螺杆致动机构。导螺杆82具有远端轴颈表面96以及与近端轴承98相接触的近端轴颈表面。在许多实施例中，该远端轴颈表面96被接收在位于凸轮槽86的远端处的圆柱形接收座中。用于导螺杆82的这样远端支撑件可以被配置用于使导螺杆82不过度摆动、并且在远端轴颈表面96与该圆柱形接收座之间没有相对较大的间隙。近端轴承98被末端执行器基座74支撑从而支撑了导螺杆82的近端。近端轴承98可以是滚珠轴承，这可以帮助减小摩擦和磨损。远端轴承（未示出）可以由该末端执行器基座74来支撑从而支撑导螺杆82的远端，并且该远端轴承可以是滚珠轴承。导螺杆驱动的凸轮84包括螺纹孔，该孔被配置用于与导螺杆82的外螺纹匹配。导螺杆驱动的凸轮84包括顶表面和底表面，这些表面被配置用于与凸轮槽86的对应的顶表面和底表面相互作用。导螺杆驱动的凸轮84与凸轮槽86之间的相互作用防止了该导螺杆驱动的凸轮84相对于凸轮槽86转动，这致使该导螺杆驱动的凸轮84响应于该导螺杆的转动而沿着凸轮槽86平移。
铰接的夹爪72包括相匹配的凸轮表面94，这些表面被配置为使得导螺杆驱动的凸轮84沿着凸轮槽86的位置决定了铰接的夹爪72围绕该枢轴销88旋转运动的程度受到该导螺杆驱动的凸轮84的限制。铰接的夹爪72包括被中央槽分隔的第一近侧100和第二近侧102。当铰接的夹爪72与末端执行器基座74通过枢轴销88相连时，该第一和第二近侧被布置在末端执行器基座74的相反的侧面上。第一和第二近侧100、102中的每一个都包括凹陷区域，该凹陷区域限定了匹配的凸轮表面94并且在导螺杆驱动的凸轮84与这些近侧100、102之间提供了间隙。当导螺杆驱动的凸轮84被定位在凸轮槽86的近端处或附近（靠近图7A和7B中展示的位置）时，该导螺杆驱动的凸轮84与铰接的夹爪72的这些相匹配的凸轮表面94之间的接触将该铰接的夹爪夹持在一种夹紧构型中。当该导螺杆驱动的凸轮84被定位在凸轮槽86的远端处时，该铰接的夹爪围绕该枢轴销88的旋转位置在一种夹紧构型（此时在该导螺杆驱动的凸轮84与铰接的夹爪72的相匹配的凸轮表面94之间存在空隙）与一种打开构型（此时在该导螺杆驱动的凸轮84与铰接的夹爪72的相匹配的凸轮表面94之间可能存在或可能不存在空隙）之间的范围内不受该导螺杆驱动的凸轮84的限制。对于该导螺杆驱动的凸轮84在凸轮槽86的近端与远端之间的位置，不受限的运动范围可以根据所使用的凸轮表面发生改变。
使用近侧100、102各自中的凹陷来限定铰接的夹爪72的这些相匹配的凸轮表面94提供了多个益处。例如，使用与延伸穿过这些近侧的横向槽相反的凹陷对该铰接的夹爪的近侧100、102提供了连续的外表面，这与横向槽开口相比较不容易纠缠（snag）在病人组织上。与具有横向槽的近侧相比，不存在横向槽也有助于将近侧100、102加硬,并且因此提供增大的夹紧硬挺度。这样的近侧100、102可以在两个平面内具有增大的硬挺度，这可以帮助在外力的存在下维持该铰接的夹爪72的对齐。这样的在两个平面内的增大的硬挺度在某些手术应用中可能是有益的，例如在组织缝合中，此时维持钉（staple）与形成钉的砧座（anvilpocket）之间的对齐是有益的。此外，使用凹陷来代替横向槽还提供了一种致动机构，该机构与具有带开放横向槽的近侧相比较不容易被外来材料堵塞。
该导螺杆致动机构可以被配置为在该铰接的夹爪与该末端执行器的对置夹爪之间提供所希望的夹紧力。例如，在许多实施例中，该导螺杆致动机构被配置为在该铰接的夹爪72的尖端处（例如距枢轴销88约2英寸）提供至少20lbs的夹紧力。在许多实施例中，该导螺杆致动机构被配置为在该铰接的夹爪72的尖端处提供至少50lbs的夹紧力。在许多实施例中，为了在该铰接的夹爪72的尖端处产生50lbs的夹紧力，至导螺杆82的输入扭矩是大约0.2N m并且该导螺杆82具有29圈。
该导螺杆致动机构可以使用可获得的材料和部件来制造。例如，该导螺杆致动机构的许多部件可以由一种或多种可获得的不锈钢来制造。该导螺杆驱动的凸轮84可以进行涂覆（例如，TiN）以便减小它所摩擦的这些表面的摩擦力（例如，导螺杆82；末端执行器基座74；铰接的夹爪72的近侧100、102）。可以使用成股的缆线来驱动该第一致动机构。
图8A至8F展示了根据许多实施例的缆线致动机构110的部件。如以上描述的，该导螺杆驱动的凸轮84可以被定位在凸轮槽86的远端（即，靠近该枢轴销88）。对于该导螺杆驱动的凸轮84的这样远端位置，如以上讨论的，铰接的夹爪72围绕该枢轴销88的旋转位置在铰接的夹爪72的旋转位置的范围内不受限制。因此，该铰接的夹爪72围绕该枢轴销88的旋转位置可以由该缆线致动机构110来控制。该缆线致动机构110可操作来改变该铰接的夹爪在该夹紧构型与该打开构型之间的旋转位置。该缆线致动机构110包括一对拉动缆线112、114。该缆线致动机构110还包括：用来使该铰接的夹爪72围绕该枢轴销88朝该夹紧构型转动的第一链接件116、以及用来使该铰接的夹爪72围绕该枢轴销88朝该打开构型转动的类似的第二链接件118。该第一链接件116（图8A和8B中所示）包括旋转链120，该旋转链被安装为通过枢轴销122相对于该末端执行器基座74旋转。连接链124通过枢轴销126和枢轴销128将该旋转链120连接到该铰接的夹爪72上。该第一链接件116通过该拉动缆线112的拉动运动而铰接。在操纵中，拉动缆线112的拉动运动使得该旋转链120围绕该枢轴销122在顺时针方向转动。产生的连接链124的运动使得铰接的夹爪72围绕枢轴销88朝该夹紧构型以逆时针方向转动。
该缆线致动机构110的第二链接件118（图8C至8F中所示）包括与第一链接件116类似的部件，例如：被安装来通过枢轴销132相对于末端执行器基座74转动的旋转链130、以及通过两个枢轴销136和138将该旋转链130连接到该铰接的夹爪72上的连接链134。该第二链接件118通过该拉动缆线114的拉动运动而铰接。该第二链接件118被配置为使得该拉动缆线114的拉动运动让该铰接的夹爪72围绕枢轴销88朝该打开构型转动。在许多实施例中，该第二链接件118的连接链134与旋转链130之间的枢轴销136与该第一链接件116的连接链124与旋转链120之间的枢轴销126是180度异相的。该缆线致动机构110的拉动缆线112、114的协调的拉动和伸展被用来在该打开构型与夹紧构型之间铰接该铰接的夹爪72。为了最好地提供相等且相反的缆线运动（并且由此在以下描述的绞盘驱动的系统中维持缆线张力），枢轴销122、132的共用旋转轴线被配置为落在以下平面上：该平面包含在该铰接的夹爪72被闭合（或几乎闭合）时并且再次在该铰接的夹爪72打开（或几乎打开）时枢轴销128、138的这些旋转轴线。这些连接链124、134被组装为围绕第一和第二链接件116、118的这个同一平面是对称地相反的。枢轴销122、126之间以及枢轴销132、136之间的距离对于第一和第二链接件116、118是相同的，并且枢轴销126、128之间以及枢轴销136、138之间的距离对于第一和第二链接件116、118是相同的。
图9A和9B展示了根据许多实施例通过另一个缆线致动机构140对该铰接的夹爪72的铰接作用。在该缆线致动机构的实施例140中，第一拉动缆线142与第二拉动缆线144直接与该铰接的夹爪72的近端相连。该第一拉动缆线142缠绕在第一滑轮146上，使得该第一拉动缆线142的拉动运动让该铰接的夹爪72围绕枢轴销88朝该夹紧构型转动。该第二拉动缆线144缠绕在第二滑轮148上，使得该第二拉动缆线144的拉动运动让该铰接的夹爪72围绕枢轴销88朝该打开构型转动。因此，该缆线致动机构140的第一和第二拉动缆线的协调的拉动和伸展被用来在该打开构型与夹紧构型之间铰接该铰接的夹爪72。为了最好地提供相等且相反的缆线运动（并且由此在下面描述的绞盘驱动的系统中维持缆线张力），缆线142围绕枢轴88而限定的圆弧半径与缆线144围绕枢轴88而限定的圆弧半径基本上相同。
在许多实施例中，该缆线（即，低的力）致动机构包括一对拉动缆线，这对缆线是通过布置在近端工具底盘中的致动部件来致动的。该近端工具底盘可以被配置为能可释放地安装到具有驱动机构的机器人工具操纵器上，该驱动机构与该致动部件可操作地相连。例如，这对拉动缆线可以缠绕在位于该近端工具底盘中的绞盘上。当该近端工具底盘被安装于该机器人工具操纵器上时，该绞盘与该机器人工具操纵器的绞盘驱动伺服电动机可操作地相连。该绞盘驱动电动机的选择性转动可以用于产生该绞盘的对应转动。该绞盘的转动可以用来产生这些拉动缆线的相协调的伸展和收缩。如以上讨论的，这些拉动缆线的相协调的致动可以用来产生该末端执行器的铰接的夹爪的一种对应的铰接作用。
在许多实施例中，该快速响应/低力的模式是由可反向驱动的缆线致动机构提供的。例如，施加给该铰接的夹爪的外力可以用来使该铰接的夹爪朝该夹紧构型转动并且反向驱动该缆线致动机构。利用包括一对缠绕在绞盘上的拉动缆线的一种缆线致动机构，使该铰接的夹爪朝该夹紧构型转动的外力导致了在这些拉动缆线之一中张力增大并且在另一拉动缆线中张力减小，由此致使该绞盘相应地转动。正如已知的，这样缆线驱动的系统可以被配置为具有对于可反向驱动性而言足够的效力。同样，施加给该铰接的夹爪的外力可以用来使该铰接的夹爪朝该打开构型转动并且反向驱动该缆线致动机构。如以上讨论的，一种可反向驱动的快速响应/低力的致动机构提供了多个益处。
可以使用替代的机构来提供一种快速响应/低力的铰接模式。例如，可以使用包括推/拉杆的一种致动机构。
图10是展示了以上讨论的导螺杆致动机构的多个部件的截面视图。所展示的这些部件包括导螺杆82、导螺杆驱动的凸轮84、位于末端执行器基座74中的凸轮槽86、远端轴颈表面96、位于末端执行器基座中的圆柱形接收座154、以及由末端执行器基座74支撑的近端轴承98。
图11是根据许多实施例的一种工具组件170的简化的透视图解展示。该工具组件170包括：近端致动机构172；长形轴174，该长形轴具有近端和远端；被布置在该轴的远端处的工具本体176；相对于该工具本体176在一种夹紧构型与打开构型之间可移动的夹爪178；与该夹爪偶联的第一致动机构；以及与该夹爪偶联的第二致动机构。该第一致动机构可操作来改变该夹爪相对于该工具本体在该夹紧构型与该打开构型之间的位置。该第二致动机构具有一种第一构型和一种第二构型，在该第一构型中该夹爪被保持在该夹紧构型中，在该第二构型中，该夹爪相对于该工具本体的位置不受该第二致动机构的限制。该第一致动机构与该近端致动机构可操作地相连。在许多实施例中，该第一致动机构包括由该近端致动机构所致动的一对拉动缆线。该第二致动机构与该近端致动机构可操作地相连。在许多实施例中，该第二致动机构包括位于该工具本体内的导螺杆驱动的凸轮，该凸轮由该近端致动机构通过驱动轴来驱动，该驱动轴从该近端致动机构延伸穿过了该长形轴174164。
该工具组件170可以被配置用于多种应用中。例如，该工具组件170可以被配置为一种具有用于近端致动机构中的手动和/或自动致动的手持装置。该工具组件170可以被配置用于手术应用中，例如用于电烙术密封、缝合等中。该工具组件170可以具有微创机器人手术之外的应用，例如非机器人微创手术、非微创机器人手术、非机器人非微创手术、以及使用所公开的复设的夹爪致动将会有益的其他应用。
复设的夹爪致动可以用来铰接机器人工具末端执行器的夹爪。例如，图12示意性地展示了一种采用了复设的夹爪致动的机器人工具180。该机器人工具180包括：近端工具底盘182、驱动电动机184、仪器轴186、远端末端执行器188、第一致动机构部分190、以及第二致动机构192。该远端末端执行器188包括铰接的夹爪194。该近端工具底盘182能可释放地安装到机器人工具操纵器196上，该操纵器具有第一驱动器198以及第一致动机构部分200，当该近端工具底盘182被安装到该机器人工具操纵器196上时，该第一致动机构部分200与该机器人工具180的第一致动机构部分190可操作地相连。该仪器轴186具有与该工具底盘182相邻的近端和与该末端执行器188相邻的远端。在该工具底盘182被安装到该工具操纵器196上时该第一致动机构（包括部分200和部分190）将该第一驱动器198偶联到铰接的夹爪194上，从而在一种打开构型与夹紧构型之间铰接该末端执行器188。该第二致动机构192将该驱动电动机184偶联到该铰接的夹爪194上，从而将该末端执行器从该打开构型铰接至该夹紧构型。该第一致动机构可以是缆线致动机构，例如以上讨论的、提供快速响应/低力的模式的一种缆线致动机构。在许多实施例中，该第一致动机构是可反向驱动的。该第二致动机构可以包括驱动轴，该驱动轴将该驱动电动机184与导螺杆致动机构（例如，以上讨论的提供该高夹紧力的模式的缆线致动机构）相连。在许多实施例中，该第二致动机构是不可反向驱动的。
应理解的是在此描述的示例和实施例是出于展示的目的，并且鉴于此将启示本领域普通技术人员进行各种修改或改变，并且这些修改或改变将包括在本申请的主旨和权限以及所附权利要求书的范围之内。大量的不同组合是可能的，并且这样的组合被认为是本发明的一部分。

Claims (22)

1.一种手术工具，包括：
长形轴，所述长形轴具有近端和远端；
布置在所述轴的所述远端处的工具本体；
夹爪，所述夹爪相对于所述工具本体在夹紧构型与打开构型之间能够移动；
第一致动机构，所述第一致动机构与所述夹爪偶联并且能操作来改变所述夹爪相对于所述工具本体在所述夹紧构型与所述打开构型之间的位置；以及
与所述夹爪偶联的第二致动机构，所述第二致动机构具有第一构型和第二构型，在所述第一构型中所述夹爪被保持在所述夹紧构型中，在所述第二构型中所述夹爪相对于所述工具本体的位置不受所述第二致动机构的限制，
其中所述夹爪在夹爪枢轴的远端侧上打开和闭合，其中所述第一致动机构在所述夹爪枢轴的近端侧处将力施加到所述夹爪以改变所述夹爪的位置，并且其中所述第二致动机构在所述夹爪枢轴的所述近端侧处将力施加到所述夹爪以使所述夹爪保持在所述夹紧构型中。
2.如权利要求1所述的工具，其中，所述第一致动机构是能够反向驱动的。
3.如权利要求1所述的工具，其中，所述第一致动机构包括缆线。
4.如权利要求3所述的工具，其中：
所述第一致动机构的第一缆线部分的拉动运动使所述夹爪朝所述打开构型移动；并且
所述第一致动机构的第二缆线部分的拉动运动使所述夹爪朝所述夹紧构型移动。
5.如权利要求4所述的工具，其中，所述第一致动机构进一步包括：
将所述第一缆线部分与所述夹爪和所述工具本体偶联的第一链接件；以及
将所述第二缆线部分与所述夹爪和所述工具本体偶联的第二链接件。
6.如权利要求1所述的工具，其中，所述第二致动机构是不能够反向驱动的。
7.如权利要求1所述的工具，其中，所述第二致动机构可操作以在所述夹爪与工具本体之间产生至少20lbs的夹紧力。
8.如权利要求1所述的工具，其中，所述第二致动机构包括导螺杆。
9.如权利要求8所述的工具，其中：
所述第二致动机构进一步包括与所述导螺杆可操作地偶联的导螺杆驱动的凸轮；并且
所述夹爪包括用于与所述导螺杆驱动的凸轮接触的凸轮接触面。
10.如权利要求1所述的工具，进一步包括被致动的装置。
11.一种用于安装在具有第一驱动器的操纵器上的机器人工具，所述工具包括：
能可释放地安装至所述操纵器的近端工具底盘；
与所述工具底盘偶联并且与所述工具底盘相邻布置的驱动电动机；
末端执行器，所述末端执行器包括可移动夹爪；
仪器轴，所述仪器轴具有与所述底盘相邻的近端和与所述末端执行器相邻的远端；
第一致动机构，其在所述底盘被安装到所述操纵器上时将所述第一驱动器偶联到所述末端执行器，从而在打开构型与夹紧构型之间铰接所述末端执行器；以及
第二致动机构，其将所述驱动电动机偶联到所述末端执行器，从而将所述末端执行器从所述打开构型铰接至所述夹紧构型，
其中所述可移动夹爪在夹爪枢轴的远端侧上打开和闭合，其中所述第一致动机构在所述夹爪枢轴的近端侧处将力施加到所述可移动夹爪以改变所述可移动夹爪的位置，并且其中所述第二致动机构在所述夹爪枢轴的所述近端侧处将力施加到所述可移动夹爪以使所述可移动夹爪保持在所述夹紧构型中。
12.如权利要求11所述的工具，其中，所述第一致动机构是能够反向驱动的。
13.如权利要求11所述的工具，其中，所述第一致动机构包括多根缆线，所述缆线在所述仪器轴的孔内在远端从所述底盘延伸，所述仪器轴将所述末端执行器可操作地偶联至所述第一驱动器。
14.如权利要求11所述的工具，其中，所述第二致动机构是不能够反向驱动的。
15.如权利要求11所述的工具，其中，所述第二致动机构包括导螺杆驱动的凸轮。
16.如权利要求11所述的工具，其中，所述第二致动机构具有第一构型和第二构型，在所述第一构型中所述夹爪被保持在所述夹紧构型中，在所述第二构型中所述夹爪相对于所述工具本体的位置不受所述第二致动机构的限制。
17.如权利要求11所述的工具，其中，所述第二致动机构包括驱动轴，所述驱动轴被安装用于在所述仪器轴的孔内转动并且可操作地偶联所述末端执行器与所述驱动电动机。
18.一种手术仪器，包括：
末端执行器，所述末端执行器包括可移动夹爪；
偶联至所述可移动夹爪的第一夹爪致动机构；以及
偶联至所述可移动夹爪的第二夹爪致动机构；
其中所述第一夹爪致动机构独立于所述第二夹爪致动机构而使所述可移动夹爪从打开位置移动至闭合位置；
其中所述第二夹爪致动机构独立于所述第一夹爪致动机构而使所述可移动夹爪从所述打开位置移动至所述闭合位置，并且
其中所述可移动夹爪在夹爪枢轴的远端侧上打开和闭合，其中所述第一夹爪致动机构在所述夹爪枢轴的近端侧处将力施加到所述可移动夹爪以改变所述可移动夹爪的位置，并且其中所述第二夹爪致动机构在所述夹爪枢轴的所述近端侧处将力施加到所述可移动夹爪以使所述可移动夹爪保持在夹紧位置中。
19.如权利要求18所述的手术仪器，其中，处于第一构型中的所述第二夹爪致动机构将所述可移动夹爪保持在防止所述第一夹爪致动机构移动所述可移动夹爪的夹紧位置中。
20.如权利要求19所述的手术仪器，其中，由所述第二夹爪致动机构所提供的所述可移动夹爪的最大夹紧力大于由所述第一夹爪致动机构所提供的所述可移动夹爪的最大夹紧力。
21.如权利要求18所述的手术仪器，其中：
所述第一夹爪致动机构用来将所述可移动夹爪从所述打开位置移动至所述闭合位置的力包括线性力；并且
所述第二夹爪致动机构用来将所述可移动夹爪从所述打开位置移动至所述闭合位置的力包括扭矩。
22.如权利要求18所述的手术仪器，其中：
所述第一夹爪致动机构包括缆线驱动的机构；并且
所述第二夹爪致动机构包括导螺杆驱动的机构。
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