CN1636522A - 包含绕纵轴旋转的铰接机构的外科器械 - Google Patents
包含绕纵轴旋转的铰接机构的外科器械 Download PDFInfo
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Abstract
一种尤其适合于内窥镜的外科器械铰接转动末端受动器,其具有从把持部分转换旋转运动的齿轮铰接机构的末端受动器。中空铰接驱动管以某种形式将旋转运动传递到尖齿轮,斜齿轮或断齿轮铰接机构。可选地,一个或多个从纵轴偏移的螺纹驱动杆接合蜗轮或弯曲颈铰接机构。
Description
参考的相关申请
本申请涉及同一天申请的未决并且共同拥有的四个系列申请,每份申请公开的全部内容在此作为参考文献,这四个申请分别命名为:
(1)属于Frederick E.Shelton IV,Mike Setser,和Bruce Weisenburgh的“用于围绕铰接接头增强的弹性的包含锥形击发杆的外科钉合器械”;
(2)属于Douglas B.Hoffman的“包含用于击发杆导轨的接头的外科钉合器械”;
(3)属于Kenneth S.Wales和Joseph Charles Huell的“具有用于支撑击发杆的接头支撑板的外科钉合器械”;以及
(4)属于Kenneth S.Wales的“具有横向移动铰接控制装置的外科器械”
技术领域
本发明大体涉及适合于内窥地将末端受动器(例如,内部切割器,抓紧器,切割器,钉器,夹填充器,进入装置,药物/基因治疗递送装置,和使用超声,RF,激光的能量装置等)插入到手术位置的外科器械,尤其涉及具有铰接杆的这样的外科器械。
背景技术
通常相对于传统的开刀手术装置人们优选内窥外科器械是由于其更小的切口并因此减少了手术后的恢复时间和并发症。因此,重要的发展已涉及到适合于将末梢的末端受动器通过套管针的套管精确放置在所需手术位置的内窥外科器械范围。这些末梢的末端受动器(例如,内部切割器,抓紧器,切割器,钉器,夹填充器,进入装置,药物/基因治疗释放装置,和使用超声,RF,激光等的能量装置)以多种方式与组织铰接以完成诊断或治疗效果。
末端受动器的定位受套管针限制。这些内窥外科器械通常包括位于末端受动器和由临床医生操作的把持部分之间的长杆。这个长杆允许插入到所需深度和围绕该杆的长轴旋转,从而将末端受动器定位到一定深度。通过套管针合理的放置以及抓紧器,例如通过另一个套管针的使用,这种定位的置通常足够了。例如像在美国专利US5465895中描述的外科钉合器和切割装置是通过插入和旋转成功定位末端受动器的内窥外科器械的示例。
近来,由Shelton等人于2003年5月20日申请的名为“包含E梁击发机构的外科钉合器械”的美国专利US.描述了一种改进的切断组织并致动钉合器的“E梁”击发棒。一些另外的优势包括即使夹住稍多或太少的组织时准确间隔末端受动器的钳夹,以形成钉的最佳构造。此外,E梁击发杆包括在一定距离上啮合末端受动器和钉筒,从而允许组合几个有利的锁定装置。
根据操作种类,可能需要进一步调节内窥外科器械的末端受动器的定位。尤其是,通常需要沿横穿器械杆的纵轴的轴定位末端受动器。末端受动器相对于器械杆的横向移动通常称为“铰接(articulation)”。这种铰接定位使临床医生在某些情况下更容易处理组织,例如处理器官后的组织。此外,铰接定位还有利地允许定位在末端受动器之后的内窥镜不被器械杆妨碍。
铰接转动外科钉合器和切割装置的方法由于将铰接控制与在内窥器械小直径限制的范围内关闭末端受动器以夹住组织并启动末端受动器(即,钉合和切断)的控制相结合而变得复杂起来。通常,三种控制运动均通过作为纵向移动的杆传送。例如,美国专利US5673840中公开了一种手风琴状的铰接机构(“弯曲颈”),这种装置通过经执行杆选择性地缩回两个连接棒中的一个进行铰接,每一个棒在杆中心线的相对侧分别偏离。连接棒通过一系列分散的位置啮合。
铰接机构纵向控制的另一个例子是美国专利US5865361,它包括一个从凸轮系统的枢轴偏移的铰接杆,使得推或拉铰接杆的纵向移动而实现到各自侧的铰接。相似地,美国专利US5797537公开了穿过杆实现铰接转动的类似的棒。
尽管这些纵向控制铰接机构已为内窥钉合器和切割装置这样的外科器械提供了某些优势,然而可相信可选的铰接运动将提供额外的设计灵活性。
美国专利US5405344教导了一种内窥外科器械,在实施例中(如图7-13所示),使用了绕纵轴的旋转运动以在圆锥运动中铰接器械的末端受动器。正如所教导的,铰接末端受动器使用与末端受动器相连的团块(凸起元件174)和在中空支撑管162的远端内的承窝。中空杆188弯曲成“Z”形并具有与纵轴成角度弯曲的远端部分198。远端部分198可旋转地设置在延伸入末端受动器的团块或凸起元件174的通道178内。当远端部分198弯曲到与通道178相同的角度时,末端受动器和中空杆188可对准末端受动器的纵轴与中空杆188进行装配(在一个位置)。从这个对准位置中空杆188的旋转以圆锥运动铰接末端受动器。如图10-13所示,末端受动器相对于纵轴移动并旋转。当提供铰接时,圆锥运动不是直观的,要求外科器械的旋转和重新定位,以使末端受动器与手术位置的组织连接。所需的是能使用旋转来在相对于外科器械的纵轴的一个平面内从一侧到另一侧铰接末端受动器的铰接机构。
因此,显然需要一种包含铰接机构的铰接外科器械,以响应不同于纵向移动的控制运动。
发明内容
本发明通过提供用于内窥镜和腹腔镜临床过程的尤其适合于通过套管针导管通道使用的外科器械而克服了上述提出的问题以及现有技术中的其它缺陷。
在本发明的一个方面中,外科器械具有产生铰接运动和旋转运动的把持部分,铰接运动和旋转运动通过杆转移到响应致动运动的末端受动器和以齿轮方式响应旋转运动的铰接机构(articulation mechanism)。铰接机构从杆的纵轴铰接末端受动器,使得末端受动器可更有效地到达手术位置并通过被致动而完成诊断或治疗处理。
在本发明的另一个方面中,外科器械具有产生沿杆转移的旋转运动的把持部分。尤其是,该杆包括通过旋转运动旋转并环绕构架的铰接驱动管。末端突出地围绕铰接驱动管远端的圆周的至少一部分的齿轮部分啮合位于长杆和末端受动器之间的枢轴线上的正齿轮,从而将铰接驱动管的旋转运动转换为从杆的纵轴枢轴转动末端受动器的铰接运动。中空铰接驱动管产生适合于包含在把持部分和末端受动器之间进行联系的各种结构的内部空间,为各种类型的外科器械提供了额外设计选择。
在本发明的另一方面,外科器械具有产生旋转运动的把持部分。具有纵轴的杆包括与把持部分相连的延伸的构架,和从杆的纵轴偏离的铰接驱动管。铰接驱动管响应旋转运动并包括远端的外螺纹部分。末端受动器在远端并枢轴地在枢轴线与构架相连。齿轮连接元件从枢轴线偏离,且杆的纵轴啮合驱动管的远端外螺纹部分,以将铰接驱动管的旋转运动转换为从杆的纵轴枢轴转动末端受动器的铰接运动。
本发明的这些和其它的目的和优势将通过附图和对它的描述变得很明显。
包含在说明书内并组成说明书一部分的附图显示了本发明的实施例,并且与上面给出的本发明的概述以及下面将给出的实施例的详细描述一起,用于解释本发明的原理。
图1是处于非铰接转动状态的铰接式外科器械的透视图。
图2是处于铰接转动状态的铰接式外科器械的透视图。
图3是图1-2中的铰接式外科器械的打开的末端受动器的透视图。
图4显示了图3的末端受动器截面的侧面正视图,该截面通常沿图3的4-4线以暴露钉筒部分并显示沿纵轴中心线的击发杆。
图5显示了击发杆完全击发后图4的末端受动器截面的侧面正视图。
图6显示了包括旋转铰接控制装置的图1的外科器械近端的把持部分截面的侧面正视图。
图7显示了图1的外科器械的近端的把持部分的透视分解图。
图8显示了俯视、前视和右视图1的外科器械的把持部分的远端部分的透视图,其中把持部分被部分地切除,以暴露旋转铰接控制机构。
图9显示了仰视、后视和右视图8把持部分的远端部分的透视图,其中把持部分被部分地切除,以暴露旋转铰接控制机构并具有拆开的旋转铰接控制旋钮。
图10显示了除去击发和框架部分的图1外科器械的正齿轮铰接机构和末端受动器的顶部透视细节图。
图11显示了包括正齿轮铰接机构的图1外科器械的执行部分的透视、分解图。
图12显示了图1的外科器械的断齿铰接机构的前向透视图。
图13是图12的断齿铰接机构的顶视平面图。
图14是用于图1的外科器械的双涡轮铰接机构的前向透视断面图。
图15是用于图1的外科器械的斜齿轮铰接机构的侧面透视断面图。
图16是包括图15中斜齿轮铰接机构的图1的外科器械的执行部分的透视、分解图。
图17是图15-16的斜齿轮铰接机构切掉一部分以暴露封闭套筒、铰接套管和击发部分的侧面透视细节图。
图18是用于图1外科器械的双棒弯曲颈铰接机构的顶视图。
图19是图18的双棒弯曲颈铰接机构的正面透视图。
具体实施例
参照附图,其中几幅图中相同的数字表示相同的元件,图1-3描述了一种外科器械,该器械在图示实施例中尤其是一种外科钉合和切割器械10,器械10能实行本发明的独特优势。尤其是,在如图1显示的非铰接转动状态中,外科钉合和切割器械10尺寸适合于通过套管针套管通道插入到病人体内的手术位置以执行手术过程。一旦铰接机构11和连接于末端的末端受动器12通过套管通道插入,铰接机构11通过铰接控制装置13如图2所示的进行遥控铰接。因此,末端受动器12可从需要的角度或由于其它原因到达器官后面或接近组织。例如,一种击发装置,为方便显示为E梁击发杆14(如图3所示),其切断被夹住的组织,连接伸长的通道16和枢轴连接的砧18。
外科钉合和切割装置10包括与执行部分22相连的把持部分20,执行部分22进一步包含末端终止于铰接机构11和末端受动器12的杆23。把持部分20包括枪把24,临床医生将一个闭合触发器26枢转地拉向枪把24,以使砧18夹向或合向末端受动器12的细长通道16。击发触发器28在闭合触发器26更外面,并由临床医生将其枢转地拉动,以使被夹住的组织在末端受动器12中被钉合和切断。然后,按下释放按钮30释放被夹住的组织。
杆23最外封闭套筒32响应于闭合触发器26纵向移动,以枢转地闭合砧18。特别地,与铰接机构11相关的封闭套筒32的远端部分或闭合环箍33受到执行部分22(部分可见于铰接机构11)的构架34间接支持。在铰接机构11处,封闭套筒32的近端部分或封闭管35与远端部分(闭合环箍)33相通。构架34经铰接机构11可挠曲地连接到伸长通道16上,致令在单一平面内铰接转动。构架34也纵向滑动地支持击发传动元件36,将源自击发触发器28的击发运动传递到击发杆14。仅就图3描述击发传动元件36的击发杆14,而击发传动元件36将在后面相对于旋转控制铰接机构11的各种形式进行具体说明。
应当理解,这里的用语“近”和“远”是参照握持器械把柄的临床医生而言的。因此,末端受动器12相对于更近的把持部分20更远。应进一步理解的是,为方便和清楚,这里使用的例如“垂直”和“水平”这样的空间术语是相对于附图而言。然而,外科器械在许多方向和位置使用,这些术语并不是受限和绝对的。
E梁击发杆
图3-5描述了末端受动器12使用E梁击发杆14完成数项功能。在图3中,击发杆14位于近端,使尚未耗用的钉筒37装入伸长通道16。尤其是,击发杆14的上部销38位于凹槽,也就是所示的砧袋40内,使砧18重复地打开和闭合。如图4所示的闭合末端受动器,通过上部销38进入纵向砧槽42使击发杆14前进与砧18铰接。通过击发杆14伸过通道槽45,最下部的销或击发杆盖44铰接细长通道16的下表面。中间销46滑动地铰接细长通道16的上表面,与击发杆盖44配合。因此,在击发期间击发杆14与末端受动器12明确地隔开,从而克服因夹住极少数量组织发生的痛楚,并克服因夹住组织过多造成钉的变形。
在击发期间,位于击发杆的上部销38和中间销46之间的位于远端的切割边缘48进入居于近端的钉筒37的竖直槽49,切断位于钉筒37和砧18之间被夹住的组织。如图4所示,中间销46通过进入钉筒37内的击发槽致动钉筒37,驱动楔形导板41进入与钉驱动器43相接触的向上的凸轮系统,以反过来驱动多个钉47从钉筒37内的钉孔51出来而形成与砧18内表面的钉袋53相接触。图5描述了击发杆14在完成切断和钉合住组织后向完全远端转移。
双轴把手
参照图6-7,把持部分20包含从像填充玻璃的聚碳酸酯这样的聚合材料模制成的第一和第二基座部分50和52。第一基座部分50具有多个圆柱形的销54。第二基座部分包括多个延伸元件56,每一个延伸元件具有六角形的开口58。圆柱形销54容纳于六角形开口58内,并在其中摩擦保持以保持第一和第二基座部分50和52的组合。
壳帽60具有完全延伸通过它的孔62,以绕它的纵轴铰接并旋转执行部分22。壳帽60包括沿孔62的至少一部分延伸的向内突出的凸起64。凸起64容纳于在封闭套筒32近端部分形成的纵向槽66内,使得壳帽60的旋转影响封闭套筒32的旋转。应当理解,凸起64进一步延伸通过构架34并与传动元件36的一部分相接触也同样影响它们的旋转。因此,末端受动器12(在图3-4中未示出)随着壳帽60旋转。
构架34的近端68近端地穿过壳帽60并具有与通过分别延伸自基座部分50和52的相反通道固定元件72相接合的圆周槽口70。图中仅示出了第二基座部分52的通道固定元件72。通道固定元件72从基座部分50、52延伸以将构架34固定在把持部分20上,使得构架34相对于把持部分20不纵向移动。
闭合触发器26具有把手部分74,扇形齿轮部分76,和中间部分78。孔80延伸通过中间部分78。从第二基座部分52延伸的圆柱支持元件82穿过孔80以枢轴地在把持部分20上安装闭合触发器26。从第二基座部分52延伸的第二圆柱支持元件83穿过击发触发器28的孔81以枢轴地安装在把持部分20上。圆柱形支持元件83内提供的六角开口84接收从第一基座部分50延伸的固定销(图中未示出)。
关闭轭86位于把持部分20内以用于那里的往复运动并将运动从闭合触发器转移到封闭套筒32。从第二基座部分52和通过轭86内的凹槽89延伸的固定元件72延伸的支持元件88支持把持部0.分20内的轭86。
封闭套筒32的近端90具有速配在接收凹槽94内的凸缘92,其中所述接收凹槽形成于轭86的末端96内。轭86的近端98具有与闭合触发器26的扇形齿轮部分76啮合的齿条100。当闭合触发器26向把持部分20的手枪式把手24移动时,轭86以及封闭套筒32因此向远端移动,并压缩近端偏压轭86的弹簧102。封闭套筒32的远端移动导致砧18朝远端和面向末端受动器12的延伸通道16的枢轴平移运动,近端运动实现关闭,这将在下面进行讨论。
闭合触发器26通过前表面130与击发触发器28的啮合表面128相互作用而被向前偏压到打开位置。绕销106向上转动到把持部分20中后面的第一夹紧钩104在限制击发触发器28朝向手枪式把手24的运动直到闭合触发器26被锁定到关闭位置。通过啮合击发触发器28内的锁定销107,钩104限制击发触发器28的运动。钩104也与闭合触发器26相接触。尤其是,钩104的向前凸出部分108啮合闭合触发器26的中间部分78上的元件110,元件110位于朝向把手部分74的孔80外。钩104偏压向与闭合触发器26的元件110相接触,并通过释放弹簧112与击发触发器28内的锁定销107啮合。当按下闭合触发器26时,钩104向上移动到后面,压缩固定于钩104上的向后突出部分114和释放按钮30上的向前突出部分116之间的释放弹簧112。
当轭86响应闭合触发器26的近端运动而远端移动时,释放按钮30的上部插销臂118沿轭86上的上表面120移动,直到掉入在轭86的近端、较低部分里存在于上面的凹处122。释放弹簧112向外驱动释放按钮30,释放按钮30向下枢轴转动上部插销臂118与存在于上面的凹处122相啮合,从而将闭合触发器26锁定在组织夹紧位置。
插销臂118可通过向内推释放按钮30移出凹处122以释放砧18。尤其是,上部插销臂118沿第二基座部分52的销123向下枢轴转动。然后允许轭86响应闭合触发器26的返回运动向近端移动。
击发触发返回弹簧124位于把持部分20内,其一个末端与第二基座部分52的销106相连而另一个末端与击发触发器28上的销126相连。击发返回弹簧124将返回力应用到销126上以远离把持部分20的手枪式把手24的方向上偏压击发触发器28。闭合触发器26通过使击发触发器28的啮合表面128偏压闭合触发器26的前表面130也偏离手枪式把手24。
当闭合触发器26向手枪式把手24移动时,它的前表面130与击发触发器28上的啮合表面128相铰接,从而使击发触发器28移动到它的“击发”位置。当在击发位置时,击发触发器28位于相对手枪式把手24处于45°角的位置。钉击发后,弹簧124使击发触发器28返回到它的初始位置。在击发触发器28的返回运动期间,它的啮合表面128推动闭合触发器26的前表面130,使闭合触发器26返回到它的初始位置。停止元件132从第二基座部分52延伸以阻止闭合触发器26旋转超出它的初始位置。
外科钉合和切割器械10另外包括摆动部分134,增效器136和驱动元件138。摆动部分134包括在执行部分22内的楔形导板(图6-7中未示出)和金属传动杆140。
驱动元件138包括第一和第二齿条141和142。驱动元件138上有位于第一和第二齿条141、142中间的第一槽口144。在击发触发器28的返回运动期间,击发触发器28的齿146与第一槽口144啮合以使驱动元件138在钉击发后返回到它的初始位置。第二槽口148位于金属传动杆140的近端以将金属传动杆140在它的非击发位置锁定到释放按钮30的上部插销臂118。
增效器136包括第一和第二整体小齿轮150和152。第一整体小齿轮150与在金属传动杆140上的第一齿条154相啮合。第二整体小齿轮152与驱动元件138上的第一齿条141相啮合。第一整体小齿轮150具有第一直径,第二整体小齿轮152具有小于第一直径的第二直径。
旋转铰接控制装置
参照图6-9,把持部分20有利地结合铰接控制装置13,两者使执行部分22绕外科器械10的纵轴旋转并使末端受动器12关于纵轴铰接转动成一定角度。中空铰接驱动管200同轴地定位于封闭套筒32内,并可操作地与致动杆202连接使得致动杆202的旋转使管200绕纵轴旋转,并产生封闭环250和末端受动器12的垂直旋转或铰接转动。封闭环250的铰接转动相应于临床医生看到和操作的致动杆202的旋转角度和方向。在示例方式中,致动杆202旋转的角度与从杆23的纵轴铰接转动的角度之间的关系是一一对应的,因此为临床医生提供了直觉的指示。应当理解也可选择其它的角度关系。
铰接控制装置13包括与壳帽60相连接的一对呈镜像的铰接转动传递壳204。此外,铰接转动传递壳204包括纵向排列的外部小突出206,临床医生拧这些小突出以影响铰接转动传递壳204的旋转,以及因此影响末端受动器12绕执行部分22的纵轴的旋转。致动杆202与位于开口通常向上并垂直于杆23的圆柱形凹处210内的圆柱形铰接体208相连接。铰接体208的最低部分包括速配在杆23附近铰接转动传递壳208内的开口214中的尖头212,尖头212防止铰接体208从圆柱形凹处210撤回。
环状齿轮齿216位于铰接体208下部的周围,并与铰接轭220上的齿218啮合。铰接轭220跨接在封闭套筒32内形成的铰接矩形窗口222上。封闭套筒32在铰接控制装置13内滑动地移动(在纵向方向)以打开和关闭末端受动器12。铰接驱动管200随封闭套筒32相对于固定的铰接控制装置13纵向移动。窗口222为从铰接轭220向内的突出224提供间隙,铰接轭220穿过矩形窗口222以在铰接驱动管200内与槽226铰接,纵向定位铰接驱动管200以进行旋转运动。中空铰接驱动管200在封闭套筒32内从铰接机构11纵向延伸,并在封闭套筒32的锁定小突出227前面一段距离处终止。小突出227在铰接驱动管200的近端表面后向内弯曲,并因此将铰接驱动管200保持在杆23内。
应当理解,铰接转动传递壳204可操作地与杆23的封闭筒35相联系。壳帽60将铰接轭220保持在铰接转动传递壳204内,并通过位于近端的外径圆形凹槽228将铰接控制装置13保持在把持部分20内,外径圆形凹槽228啮合位于组装基座部分50、52的远端开口的圆形内凸缘230。
图10、11以正齿轮铰接机构240的形式描述了图1-2中的齿轮铰接机构11,正齿轮铰接机构通常与上面描述的相同,但它在铰接机构240的另一侧具有额外的铰接驱动元件,从而增强了性能。铰接机构240具有同轴地位于封闭套筒32内的旋转中空铰接驱动管242,和围绕第一圆周部分246远端凸出齿轮部分244。齿轮部分244啮合与封闭环250相连并从封闭环250近端突出的正齿轮248,其中封闭环250围绕延伸通过第一和第二枢轴点252、260的销253旋转,所述第一和第二枢轴点从封闭套筒32远端突出。因此,铰接枢轴穿过第一和第二枢轴点252、260,和销253旋转地将封闭环250连接到封闭套筒32。驱动242啮合齿轮242和248的旋转,并围绕第一和第二枢轴点252、260铰接转动封闭环250。
为增加位于中空铰接驱动管242和封闭环250之间的齿轮接触有效表面积,中空铰接驱动管242的第二圆形部分254具有从那里延伸的凹进的远端突出齿轮部分256。齿轮部分256可操作地与第二正齿轮258相耦合,第二正齿轮258通过由构架34枢轴支持的逆转齿轮262而连接到并从封闭环250的相对侧边近端突出。逆转齿轮262啮合一侧上凹进的远端突出齿轮部分256和另一侧上封闭环250的第二正齿轮258。
当致动闭合触发器26时,中空铰接驱动管242和枢轴连接的封闭套筒32的封闭管250均向远端移动从而关闭砧18。封闭套筒32的封闭管35通过插在枢轴孔264和266中的枢轴点252、260以及从那里延伸的构架开口268而与封闭环33间隔开,其中枢轴孔位于正齿轮248、258的中央。构架开口268提供间隙使得封闭环33的近端边缘和封闭套筒32的封闭管35的远端边缘在铰接转动时不碰撞。
图11以分解形式描述了包括正齿轮铰接机构240的执行部分270。构架272可纵向附加到把持部分20上(如图1和2所示),在其近端处具有轴衬274以在那里旋转啮合把持部分20。由纵向对准构架272中心的开口278形成的构架槽276比在构架槽276内纵向滑动的击发连接器280长。击发连接器280的近端旋转啮合金属传动杆140的远端(如图6所示)。击发连接器280的远端包括容纳击发杆14近端的槽282,并通过销284固定在那里。击发杆14的更远端部分定位于击发杆槽形引导件288内的下部凹槽286内,击发杆槽形引导件288远端啮合铰接构架元件290和构架272。
铰接构架元件290具有远端啮合到细长通道16内的近端部分的附加轴环294的通道固定元件292。击发杆14穿过铰接构架元件290内下部的槽295。铰接构架元件290通过击发杆槽形引导件288从构架272的远端间隔开,并由弹性连接器296可挠地连接到那里以用于铰接转动。弹性连接器296的加宽的近端298与在构架272远端的远端连通顶槽300相啮合,并且弹性连接器296的加宽的末端302与在铰接构架元件290内的近端连通顶槽304相啮合。因此,细长通道16与把持部分20相连,虽然可挠部分在它们之间。
细长通道16也具有枢轴地接收砧18的砧枢轴308的砧凸轮槽306。包围铰接构架元件290的封闭环250包括位于远端的小凸起310,该小凸起在砧18上的砧枢轴308的远侧啮合砧部件312近端,从而影响开口。当封闭环250向前移动时,其远端的止动面314接触远离砧8的小凸起312的斜圆柱止动面316。这个凸轮活动向下关闭砧18直到封闭环250的止动面314接触砧18的平圆柱面318。
断齿铰接机构
图12-13描述了用于图1的外科钉合和切割器械的可选的铰接机构350。断齿连接352通过将封闭环250(在图12-13中未示出)的单个正齿轮354定位到封闭环250的纵向轴而形成于其中。断齿连接352通过在封闭环360的远端358形成的斜齿356完成。成对的斜齿356彼此倾斜对准正齿354的一侧,而其它成对的斜齿356斜向正齿354的另一侧。对于围绕封闭管360纵轴的给定量的旋转运动,断齿连接352实现了具有较大铰接转动度的高传动比。应当理解,在杆和末端受动器之间的各种类型的连接可在铰接机构350周围或在正齿轮354的每一面附近定位。
蜗轮铰接机构
图14描述了用于图1的外科钉合和切割器械10的蜗轮铰接机构370。为暴露两个铰接元件374、376,显示封闭环372时切去了部分,每一个铰接元件从封闭管378的纵向轴侧向偏离。封闭环枢轴地连接于从封闭管378延伸的枢轴点380、382,枢轴点380、382定义了枢轴线。沙漏形的凹面正齿轮384与枢轴线对准,并与封闭环372相连。凹面正齿轮384绕从封闭管远端突出的内枢轴点386枢转。每一个铰接驱动管374、376包括至少包围它们远端部分的涡轮齿388,该远端部分啮合凹面正齿轮384的相对侧。因此,通过绕纵轴反向旋转两个铰接驱动管374、376,封闭环372和末端受动器12(图14中未示出)绕枢轴线铰接转动。
应当理解,仅可使用一个铰接驱动管374、376。另外,当应用中不需要用于击发棒14的腔390时,应当理解凹面正齿轮384可集中于枢轴线,而不是像图示的那样偏离枢轴线。而且,尽管沙漏形正齿轮384的凹面实现了与铰接驱动管374、376的大接触面积,但也可使用直的和其它形状的表面。此外,铰接驱动管374、376可以是实心的或中空的。
斜齿轮铰接机构
图15-17描述了用于图1的外科钉合和切割器械10的斜齿轮铰接机构400,其中图1也从元件绕纵轴的旋转产生铰接。代替包含逆向齿轮、断齿轮、或蜗轮的齿轮连接中获得更大的力,提供了与铰接驱动管404相连接的斜齿轮部分402。在图15中,驱动管404被分段显示以示出其中的元件。管404的斜齿轮部分402与由封闭环408形成的斜正齿轮406啮合。
尤其参照图16,执行部分410显示为具有附加优势,例如斜齿轮铰接机构400包括可附加的部分,尤其是枢轴连接414和斜齿轮部分402,其不分别形成于封闭管416内或铰接驱动管404内,因此当简化可选长度的杆时简化了制造过程。此外,将斜齿轮部分402装配到分离的铰接驱动管404考虑到了斜齿轮部分402中的压缩元件420仅仅被限制到杆418邻近斜齿轮部分402的那部分。
弹性支持部分422通过压缩元件420远端连接构架424到末端受动器12。构架424的近端纵向定位于把持部分20(图15-17中未进行描述)以在那里旋转铰接。由沿构架424纵轴纵向对准的开口430形成的构架槽428比在构架槽428内纵向滑动的击发连接器432长。击发连接器432的近端434旋转地铰接金属传动杆140的远端(图6)。击发连接器432的远端包括容纳击发杆14的近端438的槽436,该击发杆的近端通过销固定在那里(未示出)。
击发杆14的更远端部分通过构架424延伸并从加宽的槽440穿出,通过弹性支持部分422在每一侧引导。尤其是,可挠的右半部分和左半部分每一个都包括可插进构架424的加宽槽440的近端小突出446。在弹性支持部分422的两个可挠的半部442、444的相对面中限定了击发杆引导件448定和容纳可挠棒452的圆柱棒凹槽450。与形成到两个可挠半部442、444的远端面内的远端凹槽456啮合的刚性引导元件454包括垂直槽458,该垂直槽的顶上有纵向对准的圆柱孔460,以分别容纳击发棒14和可挠棒452。
铰接构架元件462具有啮合延伸通道16近端部分的附加轴环466的通道固定部件464。击发杆14穿过铰接构架元件462内下部槽468。铰接构架元件462通过被连接到可挠棒452的远端470而与弹性支持部分422的远端间隔开。因此,细长通道16与把持部分20相连,虽然在它们之间具有进行铰接运动的可挠部分。
细长通道16也具有枢轴地接收砧18的砧枢轴474的砧凸轮槽472。围绕构架424的封闭环408包括位于远端的小突出476,该小突起在砧18上的砧枢轴474的远侧啮合砧部件478近端,从而影响砧18的打开和关闭。
铰接驱动管404围绕构架424,并在远端与斜齿轮部分402相连,斜齿轮部分依次围绕可挠的右半部和左半部442、444的近端小突起446。斜齿轮部分402啮合封闭环408的斜正齿轮406,如图17所示。封闭管416在远端与枢轴连接414相连,枢轴连接414依次具有向远端突出和侧向相对的小突起480、482,这些小突起分别与封闭环408的枢轴点484、486枢轴地连接。
弯曲颈铰接机构
图18-19描述了用于图1的外科器械的弯曲颈铰接机构,其中图1中也使用绕纵轴的旋转铰接运动以实现末端受动器12的铰接(未在图18-19中示出)。与已知的弯曲颈铰接机构不同,旋转铰接运动提供了平滑和连续的定位能力。
尤其是,弹性弯曲颈主体502包括通过其纵轴的击发杆槽504,以接收击发杆14(未在图18-19中示出)。一系列平行的右侧和左侧槽506、508以相反的方向向内凹入弯曲颈主体502,并垂直于击发杆槽504,以允许左侧和右侧的铰接。右侧和左侧的圆柱形通道510、512从弯曲颈主体502的纵轴偏离,并分别形成于由右侧和左侧槽506、508形成的右侧和左侧翼514、516内。
弯曲颈主体502的远端面518位于右侧和左侧翼510、512的最远端。远端面518具有齿轮连接能力,以将图示为螺杆520、522的右侧和左侧铰接管的旋转铰接运动转换为铰接运动。尤其是,螺帽524、526分别固定在远端面518上的每一侧。在图示的形式中,每一个螺帽524、526包括一对分别嵌入卡槽530以防止螺帽524、526旋转的侧向突出销528。当螺帽524、526以例如左侧或右侧螺纹的相同方向螺入时,螺杆520和522必须以相反方向旋转来铰接转动弯曲颈主体502。当螺杆520、522以相反方向旋转时,螺帽524、526中的一个向近端移动而另一个向远端移动。向近端移动的螺帽524或526缩短了螺杆516、518靠近螺帽524、526的部分,因此缩短了相应的右侧或左侧槽506、508。
操作
外科钉合和切割器械10的执行部分22的关闭的末端受动器12和杆23通过套管针的套管通道插入到内窥镜或腹腔镜过程的手术位置。铰接控制装置13按需要绕杆23的纵轴旋转以影响末端受动器12的相应旋转。有利地,铰接控制装置13的致动杆202枢轴转动,以在铰接驱动管200、242、374、520内产生绕外科器械10的纵轴旋转的铰接运动,该旋转铰接运动在铰接机构11、240、370、400、500内的齿轮连接处转换为铰接运动,从而在需要的位置定位末端受动器12。
尽管本发明通过几个实施例的描述进行了举例说明,并且举例说明的实施例使用了相对多的细节进行了描述,本申请的目的并不是将附带权利要求的范围约束或以任何方式限制到这样的细节。对于本领域技术人员另外的优势和修改将是显然的。
例如,本发明按照内窥镜的步骤和装置进行了讨论。然而,这里使用的术语,如“内窥镜”不应解释为将本发明限制到仅在与内窥镜管(即,套管针)一起使用的外科钉合和切割器械。相反地,应相信可发现本发明能用于任何入口被限制到小的切口的过程,包括但不限于腹腔镜过程以及开刀过程。
作为另一个例子,尽管E梁击发杆14对于内窥镜使用的外科切割和钉合器械10具有优势,相似的E梁也可用于其它的临床步骤中。通常认为窥镜过程比腹腔镜过程更普遍。因此,本发明按照内窥镜过程和装置进行了讨论。然而,这里使用的术语,如“内窥镜”不应解释为将本发明限制到仅在与内窥镜管(即,套管针)一起使用的外科钉合和切割器械。相反地,应相信可发现本发明能用于任何入口被限制到小的切口的过程,包括但不限于腹腔镜过程以及开刀过程。
作为另外一个例子,尽管这里描述的举例说明的把持部分20由临床医生手动操作,对于具有动力(如,气动的,水力的,机电的,超声的,等)的把持部分的某些或所有功能与本发明的方面是一致的。而且,这些功能中每一个的控制可在把持部分手动显示或遥控控制(例如,无线遥控,自动遥控控制台,等)。
另一个例子,尽管这里有利地举例说明了同时完成钉合和切割的器械,具有其它类型的末端受动器(如,抓紧器,切割器,钉合器,夹填充器,进入装置,药物/基因治疗递送装置和使用RF,激光的能量装置等)的旋转控制的铰接与本发明的方面一致。
Claims (4)
1.一种外科器械,包括:
构造成独立传递致动运动和绕其纵轴的旋转运动的杆;
与所述杆相连的把持部分,其可操作地成形为产生致动运动和旋转运动;
响应致动运动的末端受动器;以及
响应旋转运动以在一平面内绕所述杆的纵轴铰接转动末端受动器的铰接机构。
2.如权利要求1所述的外科器械,其中末端受动器包括钉合和切割机构,其中致动运动包括纵向击发运动以及钉合和切割机构进一步响应纵向闭合运动,把持部分和杆构造成产生和传递击发和闭合运动。
3.如权利要求2所述的外科器械,其中所述杆包括响应纵向闭合运动并与末端受动器枢轴连接的闭合元件,所述杆进一步包括击发杆和支持该击发杆的构架,该击发杆构造成将击发运动传递到末端受动器,铰接机构包括将旋转运动传递到末端受动器的枢轴连接元件的铰接驱动管。
4.如权利要求3所述的外科器械,其中枢轴连接元件包括一对从闭合元件延伸的向远端突出且侧向相对的突起,该突起分别与从末端受动器延伸的一对向近端突出且侧向相对的枢轴点连接。
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US6981628B2 (en) * | 2003-07-09 | 2006-01-03 | Ethicon Endo-Surgery, Inc. | Surgical instrument with a lateral-moving articulation control |
-
2003
- 2003-07-09 US US10/615,973 patent/US7111769B2/en not_active Expired - Lifetime
-
2004
- 2004-07-08 EP EP04254097A patent/EP1508306B1/en active Active
- 2004-07-08 PL PL04254097T patent/PL1508306T3/pl unknown
- 2004-07-08 JP JP2004202145A patent/JP4642395B2/ja active Active
- 2004-07-08 DE DE602004011298T patent/DE602004011298T2/de active Active
- 2004-07-08 AT AT04254097T patent/ATE383822T1/de not_active IP Right Cessation
- 2004-07-08 AU AU2004203119A patent/AU2004203119A1/en not_active Abandoned
- 2004-07-09 CN CNA2004100640837A patent/CN1636522A/zh active Pending
- 2004-07-09 CA CA2473512A patent/CA2473512C/en not_active Expired - Fee Related
- 2004-07-09 BR BRPI0402719-1A patent/BRPI0402719B1/pt active IP Right Grant
- 2004-07-09 MX MXPA04006765A patent/MXPA04006765A/es active IP Right Grant
-
2011
- 2011-02-28 AU AU2011200855A patent/AU2011200855B2/en not_active Ceased
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CN103181808B (zh) * | 2005-07-26 | 2016-03-23 | 爱惜康内镜外科公司 | 手术吻合和切割装置及其使用方法 |
US8292904B2 (en) | 2006-02-15 | 2012-10-23 | Ethicon Endo-Surgery, Inc. | Device, clip, endoscope and method for the intraluminal treatment of tissue, e.g. hemorrhoids |
CN101374466B (zh) * | 2006-02-15 | 2011-07-27 | 伊西康内外科公司 | 用于腔内治疗组织如痔疮的设备、夹具、内窥镜及方法 |
CN101801283B (zh) * | 2007-09-21 | 2012-07-18 | Tyco医疗健康集团 | 手术器械 |
CN103140179B (zh) * | 2010-09-30 | 2015-09-02 | 伊西康内外科公司 | 用于外科器械的钳口闭合装置 |
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CN103126733A (zh) * | 2013-01-29 | 2013-06-05 | 北京中法派尔特医疗设备有限公司 | 直线缝合器末端执行器 |
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Also Published As
Publication number | Publication date |
---|---|
EP1508306A1 (en) | 2005-02-23 |
AU2011200855A1 (en) | 2011-03-17 |
PL1508306T3 (pl) | 2008-07-31 |
CA2473512C (en) | 2013-02-05 |
CA2473512A1 (en) | 2005-01-09 |
JP2005028146A (ja) | 2005-02-03 |
MXPA04006765A (es) | 2005-04-19 |
US7111769B2 (en) | 2006-09-26 |
ATE383822T1 (de) | 2008-02-15 |
JP4642395B2 (ja) | 2011-03-02 |
DE602004011298T2 (de) | 2009-01-22 |
US20050006434A1 (en) | 2005-01-13 |
EP1508306B1 (en) | 2008-01-16 |
DE602004011298D1 (de) | 2008-03-06 |
AU2011200855B2 (en) | 2012-01-12 |
BRPI0402719B1 (pt) | 2014-02-18 |
BRPI0402719A (pt) | 2005-06-14 |
AU2004203119A1 (en) | 2005-01-27 |
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