CN105451670B - 外科手术钳 - Google Patents
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Abstract
末端执行器组件(200)包括在分开位置和靠近位置之间可枢转的第一钳夹构件和第二钳夹构件(210,220)。第一钳夹构件和第二钳夹构件(210,220)分别包括第一近侧凸缘和第二近侧凸缘(211,221)。枢销(252)将钳夹构件(210,220)的近侧凸缘(211,221)彼此连接。枢销(252)包括本体和头部。本体被连接到第一近侧凸缘(211)。头部限定了被配置成可滑动地接触第二近侧凸缘(221)的第二倾斜表面(286)的第一倾斜表面(282)。在钳夹构件的分开位置，第一倾斜表面和第二倾斜表面(282,286)被相反地设置，从而使最大间隙被限定在第一近侧凸缘和第二近侧凸缘(211,221)之间。在钳夹构件的靠近位置，第一倾斜表面和第二倾斜表面(282,286)被相似地设置，从而使最小间隙被限定在第一近侧凸缘和第二近侧凸缘(211,221)之间。
Description
背景
技术领域
本发明涉及外科手术装置，更具体地，涉及用于抓住、处理、和/或切割组织的外科手术钳。
背景技术
钳是依靠其钳夹之间的机械动作来抓住、夹住、和收缩组织的钳状器械。电外科手术钳利用机械夹紧动作和电能量，以通过加热组织来凝结和/或灼烧组织来实现止血。某些外科手术不止要求灼烧组织，而是依靠夹紧压力、精确电外科能量控制、以及间隙距离(即在围绕组织被关闭时对置的钳夹构件之间的距离)的独特组合来“闭合”组织。通常，在组织闭合后，外科医师必须准确地沿新形成的组织闭合部来切割组织。所以，已经设计出很多具有在形成组织闭合部后能有效地切割组织的刀或刀片构件的组织闭合器械。替换地或额外地，可以实现基于能量的组织分离。
发明内容
在本文中，词语“远侧的”是指被描述为更远离使用者的部分，而词语“近侧的”是指被描述为更靠近使用者的部分。另外，在某种程度上，本文中所描述的任何一个方面可以结合本文中所描述的其他方面的任何一个或全部被使用。
根据本发明的方面，提供一种用于外科手术装置的末端执行器组件。所述末端执行器组件包括第一钳夹构件和第二钳夹构件，所述第一钳夹构件和第二钳夹构件相对于彼此在分开位置和靠近位置之间能枢转，从而抓住第一钳夹构件和第二钳夹构件之间的组织。第一钳夹构件和第二钳夹构件分别包括第一近侧凸缘和第二近侧凸缘。枢销将第一钳夹构件的第一近侧凸缘和第二钳夹构件的第二近侧凸缘彼此连接，从而允许第一钳夹构件和第二钳夹构件在分开位置和靠近位置之间枢转。枢销包括本体和头部。所述本体被连接到第一近侧凸缘，头部限定了被配置成可滑动地接触第二近侧凸缘的第二倾斜表面的第一倾斜表面。在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜表面和第二倾斜表面被相反地设置，从而在第一近侧凸缘和第二近侧凸缘之间限定最大间隙。在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜表面和第二倾斜表面被相似地设置，从而在第一近侧凸缘和第二近侧凸缘之间限定最小间隙。
在多个方面中，第一倾斜表面包括通过第一台阶和第二台阶互连的第一倾斜段和第二倾斜段，第二倾斜表面包括通过第三台阶和第四台阶互连的第三倾斜段和第四倾斜段。在上述的方面中，在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜段和第三倾斜段被设置成靠近彼此，第二倾斜表面和第四倾斜表面被设置成靠近彼此，第一台阶和第三台阶被设置成靠近彼此，以及第二台阶和第四台阶被设置成靠近彼此。另一方面，在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜段和第四倾斜段被设置成靠近彼此，第二倾斜表面和第三倾斜表面被设置成靠近彼此，第一台阶和第四台阶被设置成靠近彼此，以及第二台阶和第三台阶被设置成靠近彼此。
在多个方面中，第一倾斜表面和第二倾斜表面沿相似的方向径向地倾斜。
在多个方面中，枢销的本体的一部分被固定地接合在限定通过第一近侧凸缘的孔内，例如通过激光焊接。
在多个方面中，每个钳夹构件还包括远侧钳夹部分，所述远侧钳夹部分限定了组织接触表面，所述组织接触表面被配置成随着第一钳夹构件和第二钳夹构件运动到靠近位置而在组织接触表面之间抓住组织。
在多个方面中，第一钳夹构件和第二钳夹构件中的一个或两个适合于连接到能量源，用于在组织接触表面之间以及通过被抓在组织接触表面之间的组织传导能量，从而处理组织。
在多个方面中，当最大间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，允许第一钳夹构件和第二钳夹构件相对彼此的至少些许程度的横向运动和倾斜。另一方面，当最小间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，第一钳夹构件和第二钳夹构件被保持成彼此对准。
根据本发明的方面的用于外科手术装置的末端执行器组件包括第一钳夹构件，第二钳夹构件和枢轴。第一钳夹构件包括第一近侧凸缘部分和第一远侧钳夹部分。第一近侧凸缘部分限定了延伸穿过其中的第一孔。第二钳夹构件包括第二近侧凸缘部分和第二远侧钳夹部分。第二近侧凸缘部分限定了第二孔并具有围绕第二孔设置的肩部。所述肩部限定了第一倾斜表面。枢销包括本体和头部，本体延伸穿过第二孔并被接合在第一孔内。头部限定了可滑动地接触肩部的第一倾斜表面的第二倾斜表面。第二近侧凸缘围绕枢轴的本体被保持在第一近侧凸缘和头部之间，且围绕本体并相对于第一近侧凸缘能枢转，从而在分开位置和靠近位置之间运动第一钳夹构件和第二钳夹构件。第一倾斜表面和第二倾斜表面被配置成使得在第一钳夹构件和第二钳夹构件的分开位置，最大间隙被限定在第一近侧凸缘和第二近侧凸缘之间，以及在第一钳夹构件和第二钳夹构件的靠近位置，最小间隙被限定在第一近侧凸缘和第二近侧凸缘之间。
在多个方面中，在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜表面和第二倾斜表面被相反地设置，从而限定最大间隙。在多个方面中，在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜表面和第二倾斜表面被相似地设置，从而限定最小间隙。
在多个方面中，当最大间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，允许第一钳夹构件和第二钳夹构件相对彼此的至少些许程度的横向运动和倾斜。在多个方面中，当最小间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，第一钳夹构件和第二钳夹构件被保持彼此对准。
在多个方面中，第一倾斜表面包括通过第一台阶和第二台阶互连的第一倾斜段和第二倾斜段，第二倾斜表面包括通过第三台阶和第四台阶互连的第三倾斜段和第四倾斜段。在上述的方面中，在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜段和第三倾斜段被设置成靠近彼此，第二倾斜表面和第四倾斜表面被设置成靠近彼此，第一台阶和第三台阶被设置成靠近彼此，以及第二台阶和第四台阶被设置成靠近彼此。另一方面，在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜段和第四倾斜段被设置成靠近彼此，第二倾斜表面和第三倾斜表面被设置成靠近彼此，第一台阶和第四台阶被设置成靠近彼此，以及第二台阶和第三台阶被设置成靠近彼此。
在多个方面中，第一倾斜表面和第二倾斜表面沿相似的方向径向地倾斜。
在多个方面中，枢销的本体被激光焊接在第一近侧凸缘的孔内。
在多个方面中，第一远侧钳夹部分和第二远侧钳夹部分中的每个均限定了组织接触表面。在多个方面中，组织接触表面中的一个或两个适合于连接到能量源，用于在组织接触表面之间以及通过组织传导能量，从而处理组织。
附图说明
在本文中参考附图描述本发明的多个方面和特征，其中：
图1是按照本发明被配置使用的内窥式外科手术钳的正向侧面透视图；
图2A是按照本发明被配置使用的开放式外科手术钳的正向侧面透视图；
图2B是图2A的钳的末端执行器组件的横向剖视图；
图3A是按照本发明被配置使用的另一种开放式外科手术钳的正向侧面透视图；
图3B是图3A的钳的末端执行器组件的横向剖视图；
图4-7示出有利于钳夹构件的正确对准的本发明的多个特征和方面。
具体实施方式
参见图1、2A-2B、以及3A-3B，图1描绘了配置成结合内窥镜手术使用的内窥式外科手术钳10，图2A-2B描绘了被配置成结合传统开放式手术使用的开放式外科手术钳10’，图3A-3B描绘了另一种被配置成结合传统开放式手术使用的开放式外科手术钳10”。针对本文中的目的，内窥式装置(例如钳10)、或开放式装置(例如钳10’和10”)、或任何其他合适的手术装置可以按照本发明进行使用。明显的是，不同的电力连接和机械连接以及考虑事项适用于每种具体类型的装置，但是本发明的方面和特征总体上保持一致，而不考虑所使用的具体装置如何。
参见图1，提供了内窥式钳10，其限定了纵轴线“X-X”并包括壳体20、手柄组件30、旋转组件70、触发器组件80、以及末端执行器组件100。钳10还包括具有远端14和近端16的轴12，远端被配置成机械地接合末端执行器组件100，近端机械地接合壳体20。钳10还包括将钳10连接到能量源(未示出)(例如发电机或其他合适的电源)的线缆8，但是钳10可以替换地被配置为一种电池驱动装置。线缆8包括延伸穿过线缆的导线(或多根导线)(未示出)，所述导线具有足够的长度以延伸穿过轴12，从而分别给钳夹构件110,120的至少一个组织接触表面112,122提供能量。激活开关90被设置在壳体20上，用于有选择地给钳夹构件110,120供能。旋转组件70可沿任何方向绕纵轴线“X-X”旋转，从而驱动末端执行器组件100绕纵轴线“X-X”旋转。壳体20容纳钳10的内部工作部件。
手柄组件30包括固定手柄50和可动手柄40。固定手柄50与壳体20一体地相联，手柄40相对固定手柄50是可移动的。手柄组件30的可动手柄40最终被连接到驱动组件(未示出)，可动手柄和驱动组件一起机械地配合以赋予钳夹构件110和120在分开位置和靠近位置之间运动，从而抓住钳夹构件110,120之间的组织。如图1中所示，可动手柄40最初是与固定手柄50分开的，相应地，钳夹构件110,120处于分开位置。可动手柄40可从初始位置下压到对应于钳夹构件110,120的靠近位置的压下位置。也可以包含棘齿组件31，从而有选择地将钳夹构件110,120相对彼此锁定在一个或多个靠近位置。
在部分实施例中，提供刀组件(未示出)。触发器组件80的触发器82被可操作地连接到刀组件(未示出)，从而使刀片(未示出)有选择地平移穿过被限定在钳夹构件之一或两者内的刀通道(未示出)，切割被抓在钳夹构件110,120之间的组织。刀片(未示出)可以被配置用于机械切割，或者是可充能的，例如通过经线缆8的一根或多根导线(未示出)电连接到能量源(未示出)，从而动态地机电切割组织。替代地，末端执行器组件100可以包括被配置成静态地电切割组织的电切割组件，与将在下面关于钳10”的末端执行器组件300(参见图3A-3B)描述的相似。
仍参见图1，末端执行器100的每个钳夹构件110,120分别包括绝缘的外部钳夹壳体114,124以及导电的组织接触表面112,122。如之前所述，组织接触表面112,122被电连接到激活开关90(图1)和能量源(未示出)，从而使能量可以被有选择地提供给组织接触表面112和/或组织接触表面122，以及在两者之间被传导并通过抓在钳夹构件110,120之间的组织，从而处理组织(例如闭合组织)。末端执行器组件100被设计为一种单边组件，即钳夹构件120相对于轴12被固定，钳夹构件110相对于轴12和固定钳夹构件120绕枢轴150可移动。但是，末端执行器组件100可以替代地被配置为一种双边组件，即钳夹构件110和钳夹构件120都相对于彼此和轴12绕枢轴150可移动。
参见图2A-2B，画出一种开放式钳10’，其包括两个细长轴12a，12b，每个分别具有近端16a，16b以及远端14a，14b。类似于末端执行器组件100(图1)，末端执行器组件200被分别附接于轴12a，12b的远端14a，14b。更具体地，末端执行器组件200包括被分别设置在轴12b，12a的远端14b，14a处的一双对置的钳夹构件210和220。钳夹构件210,220围绕枢轴250可枢转地连接。
钳10’的每个轴12a，12b包括被设置在轴的近端16a，16b处的手柄17a，17b。每个手柄17a，17b限定了穿过手柄的指洞18a，18b，用于接收外科医生的手指。能明白的是，指洞18a，18b有利于轴12a，12b相对彼此的运动，进而围绕枢轴250将钳夹构件210和220从打开位置枢转到关闭位置，在打开位置钳夹构件210和220被设置为相对彼此分开，在关闭位置钳夹构件210和220相互配合以抓住两者之间的组织。棘齿组件30’可以被设置用于在枢转期间有选择地将钳夹构件210和220相对于彼此锁定在多个位置，例如一个或多个靠近位置。棘齿组件30’可以包括刻度或使外科医生能容易且快速地获知并控制钳夹构件210和220之间所需的关闭作用力数量的其他视觉标记。
仍参见图2A-2B，所述轴之一(例如轴12b)包括近侧轴连接器19，近侧轴连接器被设计成将钳10’连接到能量源(未示出)(例如发电机)。近侧轴连接器19将电外科线缆8’固定到钳10’，从而使使用者可以按需要有选择地给钳夹构件210和220施加能量。轴之一(例如轴12a)包括具有触发器82’的触发器组件80’，用于有选择地在钳夹构件210,220之间推进刀片84(图2B)，从而机械地切割被抓在钳夹构件之间的组织，但是刀片84(图2B)也可以被配置为可充能的，以机电地切割组织。
钳10’的末端执行器组件200包括第一和第二钳夹构件210,220，第一和第二钳夹构件每个均分别包括近侧凸缘211,221、外侧绝缘钳夹壳体214,224、以及导电的组织接触表面212,222。组织接触表面212,222被电连接到能量源(未示出)(例如通过从线缆8’延伸的导线(未示出))，用于有选择地将能量传导通过被抓在组织接触表面之间的组织，从而处理组织(例如闭合组织)。每个钳夹构件210,220还包括延伸穿过钳夹构件的纵向槽215,225，在钳夹构件210,220的靠近位置，所述纵向槽相互配合以形成刀片通道，从而有利于刀片84在钳夹构件210,220之间平移，以切割被抓在钳夹构件之间的组织。
参见图3A-3B，钳10”类似于钳10’(图2A-2B)，但不是提供用于有选择地在钳夹构件210,220之间推进刀片84(图2B)的触发器组件80’(参见图2A-2B)，而是钳10”的末端执行器组件300包括电切割组件325(图3B)和激活开关80”，从而电切割被抓在钳夹构件310,320之间的组织。
钳10”的末端执行器组件300包括围绕枢轴350在分开位置和靠近位置之间可枢转的第一和第二钳夹构件310,320，从而抓住钳夹构件之间的组织。每个钳夹构件310,320分别包括近侧凸缘311,321、绝缘钳夹壳体314,324、以及导电组织接触表面312,322。组织接触表面312,322被电连接到能量源(未示出)(例如通过从线缆8’延伸的导线(未示出))，用于有选择地将能量传导通过被抓在组织接触表面之间的组织，从而在第一操作模式下处理组织(例如闭合组织)。电切割组件325被设置在钳夹构件之一(例如钳夹构件320)内，并且包括绝缘构件326和切割电极328。绝缘构件326被插入在切割电极328和组织接触表面322之间，从而使切割电极328与组织接触表面322彼此电绝缘。切割电极328被电连接到激活开关80”和能量源(未示出)(例如通过一根或多根导线(未示出))，用于有选择地将能量提供给切割电极328用于传导穿过组织，以及提供给组织接触表面312,322之一或两者，从而在第二操作模式下电切割或机电切割组织。设置在沿钳夹构件310的组织接触表面312延伸的纵向槽内的绝缘构件316被设置为与切割电极328相对。
已经发现，钳夹构件的正确对准是有效地处理组织(例如闭合组织、限制对组织的损伤、以及(机械地、电力地、或机电地)切割组织)的一个重要因素。关于处理组织(例如闭合组织)，组织接触表面之间的正确横向对准使闭合宽度(例如组织接触表面之间的区域的宽度)最大化，而正确的倾斜度对准保持在闭合宽度上钳夹构件之间的间隙距离一致，这两点都有利于有效的组织处理。关于限制对组织的损伤，由于组织接触表面的横向错位所导致的偏移可能使热扩散增大，而组织接触表面的倾斜度错位可能导致穿过组织的不均匀能量传导以及组织的不均匀加热。关于组织的动态(机械或机电)切割，钳夹构件的错位可能导致刀片槽的错位，因此阻碍刀片平移通过刀片槽。关于静态的(电或机电)切割，钳夹构件的正确对准有助于在对置钳夹构件的切割电极和组织接触表面之间保持充足且基本相等的间隔，从而降低电流集中度并提供更均匀的电流分布。
在下面参考图4-7描述的本发明的多个特征和方面有利于钳夹构件的正确对准，因此有利于组织的有效抓紧、处理(例如闭合)、以及(机械地、电力地、或机电地)切割。为了简化和一致，将在下面参照钳10’的末端执行器组件200描述这些特征与方面，但是本发明同样适应于配合任何其他合适的末端执行器组件或手术装置使用。
结合图2A-2B参见图4-7，如上所述，末端执行器组件200的每个钳夹构件210，220分别包括近侧凸缘211,221。近侧凸缘211,221围绕枢轴250可枢转地彼此连接，从而允许钳夹构件210,220在分开位置和靠近位置之间相对彼此运动。具体地，参见图6，枢轴250包括具有头部254和本体部的销252，本体部包括柄部256和颈部258。颈部258与头部和柄部254,256分别互连，但是销252可以替代地包括彼此直接连接的头部和柄部254,256，例如，本体部可以只包括柄部256(没有颈部258)。销252的头部254限定了第一直径“D1”，颈部258限定了小于第一直径“D1”的第二直径“D2”，柄部256限定了小于第二直径“D2”的第三直径“D3”。销252可以被单体地形成，或者可以以任何其他合适的方式进行制造。
仍结合图2A-2B参见图4-7，销252被配置成插入穿过孔260,270，从而可枢转地将钳夹构件210,220彼此连接，孔260,270分别被限定为横向地通过钳夹构件210,220的近侧凸缘211,221。限定为通过钳夹构件之一的近侧凸缘的孔(例如钳夹构件210的近侧凸缘211的孔260)被配置成接收销252的柄部256。由此，孔260限定了接近销252的柄部256的直径“D3”的直径。限定为通过另一钳夹构件的近侧凸缘的孔(例如钳夹构件220的近侧凸缘221的孔270)被配置成接收销252的头部254和颈部258。更具体地，孔270限定了台阶构型，该台阶构型限定了将孔270分成第一和第二部分274，276的肩部272。孔270的第一部分274被配置成接收销252的头部254，因此限定了接近销252的头部254的直径“D1”的直径。孔270的第二部分276被配置成接收销252的颈部258，因此限定了接近销252的颈部258的直径“D2”的直径。
在末端执行器组件200的组装期间，销252由柄部256引导并被推进穿过钳夹构件220的近侧凸缘221的孔270，然后进入到钳夹构件210的近侧凸缘211的孔260内，直到柄部256被设置在孔260中。然后，柄部256被牢固地固定在孔260内(例如通过激光焊接或其他合适的方法)，从而相对于钳夹构件210固定销252，但是仍然允许钳夹构件220围绕销252以及相对于钳夹构件210转动。在这种配置中，一方面由于钳夹构件210的近侧凸缘211抵靠钳夹构件220的近侧凸缘221，另一方面由于销252的头部254抵靠钳夹构件220的近侧凸缘221的肩部272，因此钳夹构件220围绕销252进行保持。
尽管钳夹构件210，220围绕销252以及相对彼此被保持，但钳夹构件210,220之间的横向位移和/或倾斜仍可能发生，由此导致当钳夹构件210,220围绕组织靠近时钳夹构件之间潜在的错位。事实上，钳夹构件210,220的近侧凸缘211,221之间期望有至少些许的间隙，从而在不需要大作用力来克服近侧凸缘211,221之间摩擦力的情况下，允许钳夹构件210,220相对彼此枢转。但是，所述间隙导致钳夹构件210,220之间发生横向位移和/或倾斜的可能性。因此，通常在间隙最小化(提供更精确的钳夹对准)和所需要的作用力最小化(允许钳夹构件更容易地在分开位置和靠近位置之间枢转)之间存在平衡。枢轴250和钳夹构件210,220(如下面将描述那样)被配置成通过在钳夹构件210,220的枢转优先时使所需要的力最小化，在钳夹构件210,220的对准优先时使间隙最小化，来使上述的平衡达到最优。即，当钳夹构件210,220从分开位置朝靠近位置移动时，所需要的力被最小化，因此有利于钳夹构件210,220靠近；而当钳夹构件210,220到达靠近位置时，间隙被最小化，因此有利于钳夹构件210,220在围绕组织被靠近时精确对准。
仍结合图2A-2B参见图4-7，具体地参见图6，销252的头部254限定了面朝内的环形表面282，其包含第一和第二半圆周倾斜段283a，283b。倾斜段283a，283b在其每一端处相互连接，从而形成表面282的环状构型。更具体地，半圆周倾斜段283a，283b沿相似的方向周向倾斜，且分别通过第一和第二台阶284a，284b互连。表面282还可以径向地倾斜，从而使表面282限定一种沿径向向外方向的倾斜构型。
仍结合图2A-2B参见图4-7，具体地参见图7，钳夹构件220的近侧凸缘221的孔270的肩部272限定了面朝外的环形表面286，环形表面286被定形与销252的表面282(见图6)互补。更具体地，肩部272的表面286限定了分别通过第一和第二台阶288a，288b互连的第一和第二半周向倾斜段287a，287b。表面286还可以径向地倾斜，从而使表面286限定沿径向向外方向倾斜的构型。
仍结合图2A-2B参见图4-7，当完全组装末端执行器组件200后，孔270的肩部272的表面286以与销252的表面282可滑动接触的形式设置。因此，当钳夹构件210,220在分开位置和靠近位置之间枢转时，表面282,286沿彼此滑动。在钳夹构件210,220的分开位置，表面282的段283a与表面286的段287a对置并邻接，而表面282的段283b与表面286的段287b对置并邻接。在这种位置，限定在表面282上的台阶284a以及限定在表面286上的台阶288a以彼此接近的形式设置，而限定在表面282上的台阶284b以及限定在表面286上的台阶288b以彼此接近的形式被设置。因此，表面282的段283a，283b的最斜端被定位成邻近表面286的段287a，287b的最斜端，反之亦然。作为这种配置的结果，提供了钳夹构件210,220的近侧凸缘211,221之间的最大间隙，因此使摩擦力最小化，从而减少了将钳夹构件210,220从分开位置朝靠近位置枢转所需要的力。尽管在所述最大间隙状态下可能发生钳夹构件210,220之间的相对横向运动或倾斜，但这是无害的，因为只有在抓住、处理、和/或切割组织时(例如当钳夹构件被设置在靠近位置时)才关注错位。
随着钳夹构件210.220朝着靠近位置枢转，以及随着表面282，286沿彼此且相对彼此转动，段283a，287b朝着彼此对置且邻接的状态移动，同样，段283b，287a朝着彼此对置且邻接的状态移动。也就是，当钳夹构件210,220接近所述靠近位置时，限定在表面282上的台阶284a和限定在表面286上的台阶288b移动成靠近，而限定在表面282上的台阶284b和限定在表面286上的台阶288a移动成靠近。在这种构型下，表面282的段283a，283b的最倾斜端被定位成邻近表面282的段287a，287b的最倾斜端。因此，建立了最小间隙或者相对紧的配合。通过销252和肩部272的表面282，286的互补径向倾斜构型，促进了在所述最小间隙状态下的对准。由于在所述最小间隙状态下的最小间隙，还抑制了钳夹构件210,220相对彼此的横向移动或倾斜，因此在钳夹构件被设置在靠近位置时保持钳夹构件210,220的精确对准。尽管在所述最小间隙状态下将钳夹构件210,220闭合超出所述靠近位置所需要的力相对较大，但这不是问题，因为所述靠近位置是一种静态，且钳夹构件210,220不需要被闭合超出该靠近位置。
通过前述内容以及参考多个附图，本领域技术人员将明白在不脱离本发明范围的前提下也能对本发明做出某些修改。尽管多个本发明的实施例已经在图中被展示，但是不意味着本发明被限制于此，因为它意味着本发明的范围如同现有技术所允许的那样宽泛，说明书也被这样解读。所以，以上描述不应当被理解为限制，而仅是作为具体实施方式的示范。本领域技术人员将预见到落入后附权利要求的范围和精神内的其他修改。
Claims (16)
1.一种用于外科手术装置的末端执行器组件，所述末端执行器组件包括：
第一钳夹构件和第二钳夹构件，所述第一钳夹构件和第二钳夹构件相对于彼此在分开位置和靠近位置之间能枢转，从而抓住第一钳夹构件和第二钳夹构件之间的组织，第一钳夹构件和第二钳夹构件分别包括第一近侧凸缘和第二近侧凸缘；以及
枢销，所述枢销将第一钳夹构件的第一近侧凸缘和第二钳夹构件的第二近侧凸缘彼此连接，从而允许第一钳夹构件和第二钳夹构件在分开位置和靠近位置之间枢转，枢销包括本体和头部，所述本体被连接到第一近侧凸缘，头部限定了被配置成可滑动地接触第二近侧凸缘的第二倾斜表面的第一倾斜表面，
其中，在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜表面和第二倾斜表面被相反地设置，从而在第一近侧凸缘和第二近侧凸缘之间限定最大间隙，
其中，在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜表面和第二倾斜表面被相似地设置，从而在第一近侧凸缘和第二近侧凸缘之间限定最小间隙。
2.根据权利要求1所述的末端执行器组件，其中第一倾斜表面包括通过第一台阶和第二台阶互连的第一倾斜段和第二倾斜段，其中，第二倾斜表面包括通过第三台阶和第四台阶互连的第三倾斜段和第四倾斜段。
3.根据权利要求2所述的末端执行器组件，其中，在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜段和第三倾斜段被设置成靠近彼此，第二倾斜段和第四倾斜段被设置成靠近彼此，第一台阶和第三台阶被设置成靠近彼此，以及第二台阶和第四台阶被设置成靠近彼此。
4.根据权利要求2所述的末端执行器组件，其中，在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜段和第四倾斜段被设置成靠近彼此，第二倾斜段和第三倾斜段被设置成靠近彼此，第一台阶和第四台阶被设置成靠近彼此，以及第二台阶和第三台阶被设置成靠近彼此。
5.根据权利要求1所述的末端执行器组件，其中第一倾斜表面和第二倾斜表面沿相似的方向径向地倾斜。
6.根据权利要求1所述的末端执行器组件，其中枢销的本体的一部分被固定地接合在限定通过第一近侧凸缘的孔内。
7.根据权利要求1所述的末端执行器组件，其中每个钳夹构件还包括远侧钳夹部分，所述远侧钳夹部分限定了组织接触表面，所述组织接触表面被配置成随着第一钳夹构件和第二钳夹构件运动到靠近位置而在组织接触表面之间抓住组织。
8.根据权利要求1所述的末端执行器组件，其中第一钳夹构件和第二钳夹构件中的至少一个适合于连接到能量源，用于在组织接触表面之间以及通过被抓在组织接触表面之间的组织传导能量，从而处理组织。
9.根据权利要求1所述的末端执行器组件，其中，当最大间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，允许第一钳夹构件和第二钳夹构件相对彼此的至少些许程度的横向运动和倾斜，其中，当最小间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，第一钳夹构件和第二钳夹构件被保持成彼此对准。
10.一种用于外科手术装置的末端执行器组件，所述末端执行器组件包括：
第一钳夹构件，第一钳夹构件包括第一近侧凸缘部分和第一远侧钳夹部分，第一近侧凸缘部分限定了延伸穿过其中的第一孔；
第二钳夹构件，第二钳夹构件包括第二近侧凸缘部分和第二远侧钳夹部分，第二近侧凸缘部分限定了第二孔并具有围绕第二孔设置的肩部，所述肩部限定了第一倾斜表面；以及
枢销，枢销包括本体和头部，本体延伸穿过第二孔并被接合在第一孔内，头部限定了可滑动地接触肩部的第一倾斜表面的第二倾斜表面，第二近侧凸缘围绕本体被保持在第一近侧凸缘和头部之间，且围绕本体并相对于第一近侧凸缘能枢转，从而使第一钳夹构件和第二钳夹构件在分开位置和靠近位置之间运动，
其中，第一倾斜表面和第二倾斜表面被配置成使得在第一钳夹构件和第二钳夹构件的分开位置，最大间隙被限定在第一近侧凸缘和第二近侧凸缘之间，以及在第一钳夹构件和第二钳夹构件的靠近位置，最小间隙被限定在第一近侧凸缘和第二近侧凸缘之间。
11.根据权利要求10所述的末端执行器组件，其中，在第一钳夹构件和第二钳夹构件的分开位置，第一倾斜表面和第二倾斜表面被相反地设置，从而限定最大间隙。
12.根据权利要求10所述的末端执行器组件，其中，在第一钳夹构件和第二钳夹构件的靠近位置，第一倾斜表面和第二倾斜表面被相似地设置，从而限定最小间隙。
13.根据权利要求10所述的末端执行器组件，其中，当最大间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，允许第一钳夹构件和第二钳夹构件相对彼此的至少些许程度的横向运动和倾斜，其中，当最小间隙被限定在第一近侧凸缘和第二近侧凸缘之间时，第一钳夹构件和第二钳夹构件被保持成彼此对准。
14.根据权利要求10所述的末端执行器组件，其中第一倾斜表面包括通过第一台阶和第二台阶互连的第一倾斜段和第二倾斜段，第二倾斜表面包括通过第三台阶和第四台阶互连的第三倾斜段和第四倾斜段。
15.根据权利要求10所述的末端执行器组件，其中第一倾斜表面和第二倾斜表面沿相似的方向径向地倾斜。
16.根据权利要求10所述的末端执行器组件，其中第一远侧钳夹部分和第二远侧钳夹部分中的每个均限定了组织接触表面，组织接触表面的至少一个适合于连接到能量源，用于在组织接触表面之间以及通过组织传导能量，从而处理组织。
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- 2013-08-07 WO PCT/CN2013/080948 patent/WO2015017992A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105451670A (zh) | 2016-03-30 |
| WO2015017992A1 (en) | 2015-02-12 |
| US20160157921A1 (en) | 2016-06-09 |
| US10646267B2 (en) | 2020-05-12 |
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