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CN111556734A - 包括具有扭矩传递和机械操纵的高关节式运动腕组件的机器人手术器械 - Google Patents

包括具有扭矩传递和机械操纵的高关节式运动腕组件的机器人手术器械 Download PDF

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CN111556734A
CN111556734A CN201980007384.0A CN201980007384A CN111556734A CN 111556734 A CN111556734 A CN 111556734A CN 201980007384 A CN201980007384 A CN 201980007384A CN 111556734 A CN111556734 A CN 111556734A
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扎卡里·特雷纳
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Covidien LP
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Abstract

一种机器人机电手术器械，包括：壳体；从壳体向远侧延伸的细长轴；支撑在细长轴上的腕组件；联接至腕组件的末端执行器；支撑在腕组件内的万向接头组件；以及联接至腕组件的线缆。所述细长轴限定纵向轴线。所述腕组件包括联接至第二接头的第一接头。万向接头组件能旋转以致动末端执行器的功能。多个线缆能移动以操纵第一接头和第二接头，以使万向接头组件和腕组件能够相对于纵向轴线进行关节式运动。

Description

包括具有扭矩传递和机械操纵的高关节式运动腕组件的机器 人手术器械
背景技术
机器人手术系统已用于微创医疗程序中。一些机器人手术系统包括支撑手术机械臂的控制台和具有安装在机械臂上的至少一个末端执行器(例如钳子或吻合装置)的手术器械。机械臂为手术器械的操作和运动提供机械动力。每个机械臂可包括操作地连接至手术器械的器械驱动单元。手术器械可以包括线缆，所述线缆被马达驱动以操作手术器械的末端执行器。
发明内容
本公开涉及用于手术程序的手术器械。更具体地，本公开涉及用于执行微创手术程序的机器人手术系统的可关节式运动的机器人手术器械。本公开提供了用于机器人手术系统的较小的手术器械，其提供了增加的关节式运动、扭矩传递和机械操纵。
根据本公开的一个方面，提供了一种机器人机电手术器械。所述手术器械包括壳体、从壳体向远侧延伸的细长轴、支撑在细长轴上的腕组件、联接至腕组件的末端执行器、支撑在腕组件内的万向接头组件以及联接至腕组件的线缆。
所述细长轴限定纵向轴线。腕组件包括联接至第二接头的第一接头。万向接头能旋转以致动末端执行器的功能。线缆能移动以操纵第一接头和第二接头，以使万向接头组件和腕组件能够相对于纵向轴线进行关节式运动。
在一些实施例中，第一接头和第二接头可绕纵向轴线相对于彼此成角度地移位设置。
在某些实施例中，第一接头和第二接头中的每一个可以具有近侧段和远侧段。近侧段和远侧段可以被支撑以相对于彼此运动，以利于腕组件相对于细长轴的纵向轴线的关节式运动。第一接头的近侧段和远侧段可包括被支撑为彼此滚动接触的联接器(例如，齿轮)。第二接头的近侧段和远侧段可以包括被支撑为彼此滚动接触的联接器(例如，齿轮)。第一接头的近侧段和远侧段可以通过第一对连杆联接在一起，并且第二接头的近侧段和远侧段可以通过第二对连杆联接在一起。
此外，尽管本文描述了各种齿轮/联接器，但是这些齿轮/联接器可包括联接器、齿轮、齿轮状几何形状、其他合适的交错几何形状和/或其组合。例如，这样的齿轮/联接器可以被构造成强制执行接头的一部分在接头的另一部分上的确定性滚动运动和/或可以被构造成用于高摩擦接合。
在一些实施例中，腕组件的第一接头可通过第一管状接口联接至细长轴，而腕组件的第二接头可通过第二管状接口联接至末端执行器。第一接头可以旋转地锁定至第一管状接口，而第二接头可以旋转地锁定至第二管状接口。
在某些实施例中，第一接头和第二接头可限定穿过其中的中央开口，所述中央开口被定位成在其中容纳万向接头组件。
在某些实施例中，万向接头组件可以包括两个以上万向接头，所述两个以上万向接头沿着万向接头组件位于纵向间隔开的位置处。
根据另一方面，提供了一种机器人手术系统。机器人手术系统包括机器人手术组件和选择性地安装至机器人手术器械的机电手术器械。
所述手术器械包括：壳体；从壳体向远侧延伸至腕组件的细长轴；发射组件，其延伸穿过腕组件并且包括万向接头；末端执行器，其支撑在腕组件上并固定至发射组件；和线缆驱动组件。
所述细长轴限定纵向轴线。腕组件包括联接至第二接头的第一接头。线缆驱动组件能由机器人手术组件致动，以操纵第一接头和第二接头，并使发射组件和腕组件相对于纵向轴线进行关节式运动。
在一些实施例中，第一接头和第二接头绕纵向轴线相对于彼此成角度地移位设置。第一接头和第二接头中的每一个可以具有近侧段和远侧段。近侧段和远侧段可以被支撑以相对于彼此运动，以利于腕组件相对于细长轴的纵向轴线的关节式运动。第一接头的近侧段和远侧段可包括被支撑为彼此滚动接触的联接器(例如，齿轮)。第二接头的近侧段和远侧段可包括被支撑为彼此滚动接触的联接器(例如，齿轮)。
所述第一接头的近侧段和远侧段可以通过第一对连杆联接在一起，并且第二接头的近侧段和远侧段可以通过第二对连杆联接在一起。
在一些实施例中，腕组件的第一接头可以通过第一管状接口联接至细长轴，并且腕组件的第二接头可以通过第二管状接口联接至末端执行器。第一接头可以旋转地锁定至第一管状接口，并且第二接头可以旋转地锁定至第二管状接口。
在某些实施例中，第一接头和第二接头可限定穿过其中的中央开口，所述中央开口被定位成在其中容纳发射组件。
在一些实施例中，两个以上万向接头可以沿着发射组件位于纵向间隔开的位置处。
有利地，当前公开的手术器械提供确定的末端执行器位置，同时抵抗外部负载(例如，来自患者解剖结构的负载)影响驱动系统。另外，当前公开的手术器械包括具有互锁几何形状的圆齿齿轮装置(或联接器)，所述圆齿齿轮装置保持齿轮之间的滚动接触，以防止末端执行器位置可能不确定的接头中的“S”状态。
当前公开的手术器械还在保持最小弯曲半径的同时在两个方向上提供了高关节式运动(例如，+/-70度)。在一些实施例中，附加的线缆可以被布线以在末端执行器处提供附加的机械功能(例如，专用抓握功能)。
通过下面的描述、附图和权利要求，由本文描述的一些或全部示例性实施例提供的其他方面、特征和优点将变得显而易见。
附图说明
结合在本说明书中并构成本说明书一部分的附图示出了用于机器人手术系统的本手术器械的实施例，并且与以上给出的公开内容的一般描述以及以下给出的(一个以上)实施例的详细描述一起用于解释本公开的原理，其中：
图1是根据本公开的机器人手术系统的示意图；
图2是图1的机器人手术系统的手术器械处于非关节式运动位置的立体图；
图3是图2中所示的指示细节区域的放大立体图；
图4是图2的手术器械的末端执行器的立体图，示出为与手术器械的细长轴组件的腕组件分开；
图5和图6是图4的腕组件的立体图；
图7是图4的细长轴组件的部件分离的立体图；
图8是沿图5的剖切线8-8截取的图5的腕组件的放大剖面图；
图9是图5的腕组件的放大图，为了清楚起见，其部分用虚线表示；
图10是图2所示的指示细节区域的放大、纵向剖面图；
图11是沿图10的剖切线11-11截取的图5的腕组件的剖面图；
图12是图2的手术器械的远侧部的俯视图，其腕组件处于关节式运动位置；
图13是图12中所示的指示细节区域的放大图；
图14是图13的纵向剖面图；
图15是以示例性的关节式运动位置示出的图2的手术器械的立体图；和
图16是图15中所示的指示细节区域的放大图，为了清楚起见，其部分被移除。
具体实施方式
参照附图详细地描述了用于机器人手术系统的本手术器械的实施例，在附图中，相同的附图标记在若干视图的每一个中指示相同或对应的元件。如本文所用，术语“远侧”是指更靠近患者的结构，而术语“近侧”是指距患者更远的结构。
如本文所使用的，术语“临床医生”是指医生、护士或其他护理提供者，并且可以包括支持人员。在下面的描述中，没有详细描述公知的功能或构造，以避免在不必要的细节上使本公开模糊难懂。
首先参考图1，手术系统(例如机器人手术系统1)通常包括一个以上手术机械臂2、3，控制装置4以及与控制装置4联接的操作控制台5。手术机械臂2、3中的任一个可具有机器人手术组件100和与其联接的机电手术器械200。机电手术器械200包括布置在其远侧部的末端执行器300。在一些实施例中，机器人手术组件100可以可移除地附接至一个以上手术机械臂2、3的滑轨40。在某些实施例中，机器人手术组件100可以固定地附接至一个以上手术机械臂2、3的滑轨40。
机器人手术系统1的操作控制台5包括：显示装置6，其被设置为显示三维图像；以及手动输入设备7、8，临床医生(未示出)能够通过手动输入设备以原理上为本领域技术人员所熟知的第一操作模式，来远程操纵机器人手术系统1的机械臂2、3。机械臂2、3中的每个机械臂可以由任意数量的构件组成，这些构件可以通过任意数量的接头连接。机械臂2、3可由连接至控制装置4的电驱动器(未示出)驱动。机器人手术系统1的控制装置4(例如计算机)被设置为例如通过计算机程序以如下方式来激活驱动器：使得机器人手术系统1的机械臂2、3，所附接的机器人手术组件100以及因此的机电手术器械200(包括末端执行器300)，根据通过手动输入装置7、8定义的运动来执行所需的运动。控制装置4可以以调节机械臂2、3和/或驱动器的运动的方式来设置。
机器人手术系统1被配置用于位于(例如，躺在)手术台“ST”上的患者“P”上，该患者将通过手术器械(例如，机电手术器械200)，更具体地说，是通过机电手术器械200的末端执行器300以微创的方式进行治疗。机器人手术系统1可以包括两个以上机械臂2、3，另外的机械臂同样连接至控制设备4，并且可以通过操作控制台5进行远程操纵。手术器械，例如机电手术器械200(包括其末端执行器300)也可以附接至任何另外的机械臂。
机器人手术系统1的控制装置4可以控制一个以上马达(未示出)，每个马达被配置为驱动机械臂2、3沿任何数量的方向运动。控制装置4可以控制包括一个以上马达50(或马达组)的器械驱动单元110。马达50驱动机电手术器械200的末端执行器300的各种操作。马达50可以包括旋转马达，例如罐式马达。马达50中的一个以上(或不同的马达，未示出)可以被配置为驱动机电手术器械200或其部件相对于其纵向轴线“L-L”的旋转。一个以上马达可以被配置为实现机电手术器械200的机电末端执行器300的操作和/或运动。
现在转向图2，机器人手术系统1的机电手术器械200包括在其近侧端部处的壳体202和从壳体202向远侧延伸的细长轴204。细长轴204包括支撑在细长轴204的远侧端部上的腕组件206，其将末端执行器300联接至细长轴204。
机电手术器械200的壳体202被配置为例如经由侧向装载在机器人手术组件100的无菌接口模块112上而选择性地联接至机器人手术组件100的器械驱动单元110，以使机器人手术组件100的器械驱动单元110的马达50能够操作机电手术器械200的末端执行器300。机电手术器械200的壳体202支撑驱动组件203，该驱动组件203与机器人手术组件100的器械驱动单元110的马达50机械地和/或电气地协作。
机电手术器械200的驱动组件203可以包括任何合适的电气和/或机械部件以实现驱动力/运动，并且这些部件可以类似于2016年9月21日提交的共同拥有的国际申请公开第WO2017053358号中描述的驱动组件的部件，其全部公开内容通过引用合并于此。特别地，如图3和图4所见，机电手术器械200的驱动组件203包括线缆驱动组件203a和发射组件203b。线缆驱动组件203a与2015年10月22日提交的、名称为“用于互连机电手术装置和手术装载单元的具有万向架的接合器组件及其手术系统”(Adapter Assembly with Gimbal forInterconnecting Electromechanical Surgical Devices and Surgical LoadingUnits,and Surgical Systems Thereof)的共同拥有的美国专利申请公开第2015/0297199号中描述的类似，其全部公开内容通过引用合并于此。
参考图1和图15，机电手术器械200的线缆驱动组件203a包括一个以上的从动构件209，例如从动构件209a、209b、209c、209d(图15)，以使机器人手术组件100能够传递来自机器人手术组件100的马达50的动力和致动力来最终驱动机电手术器械200的末端执行器300的部件的运动。
如图3和图4中所见，机电手术器械200的线缆驱动组件203a包括线缆205，例如线缆205a、205b、205c和205d，其在其近侧端部联接至机电手术器械200的相应的从动构件209a、209b、209c、209d(图15)。线缆驱动组件203a的线缆205向远侧延伸至其远侧端部，并且可包括套圈205x(图4)，该套圈205x在围绕纵向轴线“L-L”的周向间隔开的位置处(例如，成角度地移位设置)联接至细长轴204的腕组件206，以能够在致动一个以上线缆205时使线缆205实现机电手术器械200的腕组件206和机电手术器械200的末端执行器300的关节式运动/旋转/俯仰/横摆。线缆驱动组件203a可以包括一个以上带轮、摩擦轮、齿轮、联接器、齿条和小齿轮装置等，它们直接或间接联接至从动构件209和/或线缆205，以利于通过从动构件209和/或线缆205施加的驱动运动。可以将线缆205布置成使得对角线缆(例如，线缆205d、205b或线缆205a、205c；参见图4)可以被定位成沿相反的方向被驱动以便在多个(例如两个)轴线上提供关节式运动。尽管仅显示了四个线缆，但是线缆驱动组件203a可以包括任意数量的线缆，例如，以在末端执行器300上提供其他功能。
转向图5和图6，机电手术器械200的细长轴204的腕组件206从近侧到远侧包括：联接至细长轴204的外管204a的远侧部的第一接口208、联接至第一接口208的远侧部的第一接头210、联接至第一接头210的远侧部并从其成角度地移位设置(例如，偏移90度)的第二接头212和联接至第二接头212的远侧部的第二接口214。
参考图7，腕组件206的第一接口208为管状接口的形式，并且包括近侧壳体208a和从近侧壳体208a向远侧延伸的远侧壳体208b，以及限定为从中穿过以容纳驱动组件203的发射组件203b的中心孔208c。第一接口208的近侧壳体208a限定了容纳外管204a的向远侧延伸的突出部204b的一对侧槽208d(仅示出一个侧槽208d，另一个相同地布置在近侧壳体208a的相反侧上)。近侧壳体208a还限定了布置在围绕近侧壳体208a的周向间隔开的位置处的多个线缆通道208f(例如，四个)(仅明确示出了一个线缆通道208f)。远侧壳体208b限定了第一壁架208g和第二壁架208h，在第一壁架208g和第二壁架208h之间限定了横向通道208i。第一壁架208g和第二壁架208h限定了线缆孔208j(例如，各两个)，它们与线缆通道208f对准，以从中容纳驱动组件203的线缆驱动组件203a的线缆205。第一壁架208g和第二壁架208h还包括从其向远侧延伸的远侧突出部208k、208L。
腕组件206的第一接头210包括近侧段210a和远侧段210b，它们通过连杆或盖210c、210d可枢转地联接在一起，从而有助于抵抗轴向负载(由线缆205的拉力产生)和横向方向的不对准。另外，连杆210c、210d帮助保持例如啮合的齿轮齿的间隙(例如，参见图9，其示出了连杆210d在齿轮齿210j和210q之间保持足够的距离或轴向间隔，使得齿轮齿210j和210q不过紧)。
第一接头210的近侧段210a包括容纳在第一接口208的横向通道208i内的近侧突出部210e(仅示出了一个，相同的突出部210e在近侧段210a的相反侧示出)。近侧段210a限定了横向凹部210f，其从近侧突出部210e成角度地移位设置(例如，成90度)并且定位成容纳第一接口208的远侧突出部208k、208L以防止第一接头210的近侧段210a相对于第一接口208绕纵向轴线“L-L”(图2)旋转(例如，榫槽型互连)。近侧段210a包括在近侧段210a的相反侧上从近侧段210向远侧延伸的第一联接器或齿轮210g和第二联接器或齿轮210h。第一齿轮210g和第二齿轮210h具有多个间隔开的齿210j。第一齿轮210g和第二齿轮210h包括从其侧向(例如，垂直地)延伸的销210k，以与第一接头210的连杆210d、210c接合。当前公开的任何销可以包括铆钉等。齿轮210h、210g从第一接头210的近侧段210a的侧表面凹进，以在远侧段210b相对于近侧段210a进行关节式运动时，利于第一接头210的连杆210c、210d和第一接头210的远侧段210b相对于近侧段210a的运动。第一接头210的近侧段210a还限定用于从中容纳驱动组件203的发射组件203b的中心开口210m，以及用于容纳贯穿其中的驱动组件203的线缆驱动组件203a的线缆205的多个线缆孔210n(例如，四个)。
第一接头210的远侧段210b包括具有膨出部的联接器或齿轮210p(仅示出了一个，第二相同联接器或齿轮210p示出在远侧段210b的相反侧上)，其从远侧段210b向近侧延伸并定位为(例如，其齿210q)与第一接头210的近侧段210a的第一齿轮210g和第二齿轮210h啮合或在几何上互锁，以维持各个互锁的齿轮(例如210p，210h；参见图7、图9和图13)之间的滚动接触，并防止末端执行器位置可能不确定的接头中的“S”状态。远侧段210b进一步包括从齿轮210p侧向(例如，垂直于齿轮210p)延伸的销或凸台210r(仅示出了一个，第二相同的销210r示出在远侧段210b的相反侧上)。远侧段210b进一步限定凹部210t，并包括向远侧延伸的突出部210u，这些突出部210u交替散布并设置在围绕远侧端段210b的远侧端部的成角度移位设置的位置处(例如，相隔90度)。远侧段210b限定了中心孔210v，用于容纳穿过其中的发射组件203b；以及多个线缆孔210w(例如，四个)，用于容纳穿过其中的线缆驱动组件203a的线缆205。
第一接头210的近侧段210a和远侧段210b中的每一个包括一对锥形表面210x，其在第一接头210的近侧段210a和远侧段210b之间提供空间，以使当近侧段210a的齿210j和远侧段210b的齿210q相互啮合时，远侧段210b相对于近侧段210a进行关节式运动。近侧段210a的锥形表面210x构造成接触远侧段210b的锥形表面以限制远侧段210b相对于近侧段210a的关节式运动(例如，限定在给定方向上的最大关节式运动)。
第一接头210的连杆210c、210d限定了近侧销孔210y和远侧销孔210z，其分别容纳近侧段210a的销210k和远侧段210b的销210r，以将第一接头210的近侧段210a和远侧段210b固定在一起并且使得远侧段210b相对于近侧段210a进行关节式运动。
腕组件206的第二接头212与腕组件206的第一接头210相同，但是相对于第一接头210有角度地移位设置(例如，成90度)，使得第一接头210和第二接头212可以相互连接并且相对于彼此进行关节式运动/枢转。具体地，第二接头212包括通过连杆212c、212d枢转地联接在一起的近侧段212a和远侧段212b，使得第二接头212的近侧段212a、远侧段212b和连杆212c、212d分别与第一接头210的近侧段210a、远侧段210b和连杆210c、210d相同。第二接头212的近侧段212a联接至第一接头210的远侧段210b，使得第二接头212的近侧段212a旋转地锁定至第一接头210的远侧段210b(例如，榫槽型互连)。以这种方式，第二接头212的近侧段212a和远侧段212b可相对于彼此进行关节式运动/枢转，同时第一接头210的远侧段210b相对于第一接头210的近侧段210a进行关节式运动/枢转。
腕组件206的第二接口214为管状接口的形式，并且限定了分别对应于彼此和/或彼此对准的近侧凹部214a和远侧凹部214b。第二接口214包括分别对应于彼此和/或彼此对准的近侧突出部214c和远侧突出部214d。第二接口214的近侧凹部214a和近侧突出部214c构造成接合第二接头212的向远侧延伸的突出部210u和凹部210t(例如，榫槽式连接)以将第二接口214旋转地锁定至第二接头212的远侧段210b。第二接口214还在第二接口214周围的周向间隔开的位置处限定线缆槽214e，线缆槽214e被定位成在其中容纳套圈205x和线缆205以将线缆205固定至第二接口214。第二接口214还限定中心孔214f，该中心孔214f构造为容纳穿过其中的驱动组件203的发射组件203b。第二接口214还限定对准孔214g，以利于腕组件206与机电手术器械200的末端执行器300对准和固定。
参考图7至图14，机电手术器械200的驱动组件203的发射组件203b为多级万向接头组件的形式，其包括驱动轴220、从驱动轴220向远侧延伸的球轴222、支撑在球轴222上以可旋转地支撑球轴222的第一轴承224、联接至球轴222的远侧部的第一球壳体226、联接至第一球壳体226并支撑可旋转地支撑第一双球轴228的第二轴承230的第一双球轴228、联接至第一双球轴228的远侧部的第二球壳体232、联接至第二球壳体232的远侧部并支撑可旋转地支撑第二双球轴234的第三轴承236的第二双球轴234，以及支撑在第二双球轴234的远侧部的驱动联接器238。
驱动组件203的发射组件203b的驱动轴220具有联接至驱动组件203的从动构件211(图15)的近侧端部，该驱动组件可操作地联接至机器人手术组件100的一个以上马达50(参见图1和图15)，以使驱动轴220能够如箭头“A”所示(图7)绕纵向轴线“L-L”旋转。驱动轴220延伸至带键的远侧部220a，该带键的远侧部220a配置为由球轴222的近侧部容纳。带键的远侧部220a被示出为具有矩形构造，但是可以具有任何合适的非圆形构造，例如三角形、正方形、星形等。带键的远侧部220a限定了销孔220c，该销孔220c构造成在其中容纳销220d。
发射组件203b的球轴222具有限定键孔222b(图10)的近侧部222a，该键孔222b构造成在其中容纳驱动轴220的带键的远侧部220a，以使球轴222能够与驱动轴220一起旋转。键孔222b可以具有任何合适的非圆形构造，并且可以被构造成与驱动轴220的带键的远侧部220a互补，以便于球轴222和驱动轴220之间的可旋转地锁定连接，使得球轴222和驱动轴220一起旋转。球轴222进一步限定了销孔222c，销孔222c在其中容纳销220d以将驱动轴220可旋转地联接至球轴222(参见图7和图11)。球轴222在其外表面中限定环形夹子通道222e。环形夹子通道222e构造成容纳夹子222f(例如，E形夹子)以阻止第一轴承224的轴向移动，以使发射组件203b的第一轴承224能够轴向保持固定在球轴222的轴承表面222g上。球轴222还包括支撑在球轴222的远侧端部上的球形构件222h。球轴222的球形构件222h限定穿过其中的横向开口222i，该横向开口222i构造成在其中容纳限定了销孔222k的球头销222j。球形构件222h进一步限定细长狭槽222m，该细长狭槽222m构造成与球头销222j的销孔222k对准。
驱动组件203的发射组件203b的第一球壳体226具有近侧壳226a，该近侧壳226a在其中限定了近侧孔226b，其可旋转地将球轴222的球形构件222h容纳在其中。近侧壳226a进一步限定了销通道226c，该销通道226c容纳穿过其中的销226d。销226d能被容纳到球轴222的球形构件222h的细长槽222m内，同时通过第一球壳体226的近侧壳226a被容纳，以将球轴222的球形构件222h可旋转地联接至第一球壳体226的近侧壳226a(参见图7和图8)以限定万向接头，并且当第一球壳体226绕球形构件222h进行关节式运动/枢转时(例如，参见图16中箭头“D”所指示的关节式运动/枢转)，使销226d能够移动通过球形构件222h的细长狭槽222m。
发射组件203b的第一球壳体226还包括构造成联接至第一双球轴228的远侧壳226i。远侧壳226i限定了远侧孔226j和穿过其中的销通道226k，该销通道226k在其中容纳销226m以可旋转地/可关节式运动地将第一双球轴228联接至远侧壳226i(例如，以限定另一个万向接头)。
发射组件203b的第一双球轴228包括从轴承支撑表面228b向近侧延伸的近侧球形构件228a和从轴承支撑表面228b向远侧延伸的远侧球形构件228c，轴承支撑表面228b可旋转地支撑第二轴承230。近侧球形构件228a和远侧球形构件228c分别限定了穿过其中的横向开口228d、228e以及穿过其中的细长狭槽228n、228p。近侧球形构件228a和远侧球形构件228c的横向开口228d、228e构造成分别在其中容纳球头销228j、228k。每个球头销228j、228k在其中限定销孔228m。球头销228k的销孔228m和球形构件228a的细长狭槽228n构造成容纳第一球壳体226的销226m，以将第一双球轴228可旋转地/可关节式运动地联接至第一球壳体226的远侧壳226i(例如，以限定万向接头)。
驱动组件203的发射组件203b的第二球壳体232与发射组件203b的第一球壳体226相同，并且包括近侧壳232a、从近侧壳232a向远侧延伸的远侧壳232b和分别被容纳在近侧壳232a和远侧壳232b内的销232c、232d。第二球壳体232的销232c、232d分别将第二球壳体232可旋转地联接至第一双球轴228和第二双球轴234的球形构件228c、234a(例如，以限定万向接头)，分别类似于上面描述的相对于第一球壳体226与球轴222和第一双球轴228的球形构件222h、228a的可旋转/可关节式运动的联接。
驱动组件203的发射组件203b的第二双球轴234与发射组件203b的第一双球轴228相似，并且包括从支撑第三轴承236的轴承支撑表面234b向近侧延伸的近侧球形构件234a以及从轴承支撑表面234b向远侧延伸的远侧球形构件234c。轴承支撑表面234b进一步限定环形夹子通道234d，该环形夹子通道234d构造成容纳夹子234e(例如，E形夹子)以阻止第三轴承236的轴向移动并将第三轴承236轴向支撑在第二双球轴234的轴承支撑表面234b上。第二双球轴234还包括球头销234f、234g。第二双球轴234的近侧球形构件234a可旋转地联接至第二球壳体232的远侧壳232b(例如，万向接头)，并且第二双球轴234的远侧球形构件234c将驱动联接器238可旋转地支撑在其上。
发射组件203b的驱动联接器238限定了可旋转地容纳第二双球轴234的远侧球形构件234c的近侧孔238a(图8)，以及构造成联接至机电手术器械200的末端执行器300的远侧孔238b。尽管示出了驱动联接器238的远侧孔238b包括非圆形构造，例如D形构造，但是远侧孔238b可以具有任何非圆形构造(例如，三角形、矩形、五边形等)以利于发射组件203b与末端执行器300之间的可旋转地锁定连接，使得末端执行器300或其部件可与驱动组件203的发射组件203b一起旋转。驱动联接器238进一步限定了容纳销238d的销孔238c，以将驱动联接器238可旋转地联接至第二双球轴234的远侧球形构件234c。
参考图3，机电手术器械200的末端执行器300包括在其近侧端部上的安装部302，以及联接至安装部302的第一钳夹构件304(例如，砧座)和第二钳夹构件306(例如，钉仓组件)。第一钳夹构件304和第二钳夹构件306定位成在打开位置(图3)和关闭位置(未示出)之间枢转运动。第一钳夹构件304和第二钳夹构件306支撑驱动组件308，该驱动组件308构造成发射支撑在第二钳夹构件306中的紧固件仓310。
如图4所示，末端执行器300的安装部302包括安装突出部302a，并限定了安装凹部302b，其与腕组件206的第二接口214的相应的远侧凹部214b和远侧突出部214d接合。安装部302还包括对准销302，其被容纳在腕组件206的第二接口214的对准孔214g中。安装部302进一步限定了中央开口302d，该中央开口302d被构造成容纳发射组件203b的驱动联接器238，以将驱动联接器238联接至末端执行器300的驱动组件308。
参考图10，末端执行器300的驱动组件308包括被容纳在驱动组件203的发射组件203b的驱动联接器238的远侧孔238b中的从动联接器308a。驱动组件308的从动联接器308a包括非圆形构造(例如，D形)，其被键接至发射组件203b的驱动联接器238的远侧孔238b，使得从动联接器308a和驱动联接器238相对于彼此可旋转地锁定，使得随着驱动联接器238旋转，从动联接器308a和驱动联接器238一起旋转。从动联接器308a被销连接至支撑驱动梁308c的丝杠308b，使得从动联接器308a的旋转引起丝杠308b旋转并沿丝杠308b轴向推进驱动梁308c。对于类似于末端执行器300的示例性末端执行器的部件的更详细描述，可以参考美国专利申请公开第2016/0242779和2015/0297199号，其每一个的全部公开内容通过引用合并于此。
在使用中，在如图1所示的机电手术器械200联接至机器人手术组件100上的情况下，器械驱动单元110的一个以上马达50能够致动以旋转机电手术器械200的一个以上从动构件209以推动和/或拉动机电手术器械200的驱动组件203的线缆驱动组件203a的一根以上线缆205。当线缆驱动组件203a的线缆205如箭头“B”所示(图9)轴向平移时，腕组件206的第一接头210和第二接头212中的一个或两个与驱动组件203的发射组件203b的第一球壳体226、第一双球轴228、第二球壳体232和/或第二双球轴234中的一个或多个，相对于纵向轴线“L-L”如箭头“C”和“D”所示(请参见图12至图16)旋转和/或进行关节式运动。第一接头210和第二接头212中的每一个可以被构造为通过最大70度的关节式运动角度进行关节式运动，使得第一接头210可以通过最大70度的关节式运动角度“α”进行关节式运动，而第二接头212可以通过最大70度的关节式运动角度“Θ”进行关节式运动，如图16所示。可以理解，当第一接头210和第二接头212枢转、旋转、和/或进行关节式运动时，发射组件203b的一个以上部件(例如，第一球壳体226、第一双球轴228、第二球壳体232和/或第二双球轴234等)枢转、旋转、和/或进行关节式运动。
当腕组件206的第一接头210和/或第二接头212设置在关节式运动位置(图12至图16)或非关节式运动位置(图2)时，响应于通过器械驱动单元110(图1)的一个以上马达50引起的从动构件211(图15)的旋转，发射组件203b可以如箭头“A”所示(参见图2和图7)绕纵向轴线“L-L”旋转。驱动组件203的发射组件203b的旋转使得发射组件203b的驱动联接器238使末端执行器300的丝杠308b绕其轴线(例如轴线“Z-Z”)旋转，如箭头“F”所示(图10)。末端执行器300的丝杠308b的旋转使末端执行器300的驱动梁308c沿丝杠308b如箭头“G”所示向远侧推进，以便末端执行器300的第一钳夹构件304和第二钳夹构件306从其打开或未接近位置(图3)移至其关闭或接近位置(未示出)。随着末端执行器300的驱动梁308c继续沿着第一钳夹构件304和第二钳夹构件306向远侧推进，驱动梁308c发射紧固件仓310(图3)以紧固和/或切断捕获在第一钳夹构件304和第二钳夹构件306之间的组织，类似于上面引用的美国专利申请公开第2015/0297199号中所描述的。
尽管本文结合机器人手术系统1描述了机电手术器械200，但是当前公开的机电手术器械200可以以手持机电器械的形式提供，该手持机电器械可以是手动驱动的和/或是电动的。例如，以上引用的美国专利申请公开第2015/0297199号描述了电动手持机电器械的一个示例，该电动手持机电器械的一个以上部件(例如，其手术装置或其手柄)可用于连接当前公开的手术器械200。
本领域技术人员将理解，本文中具体描述并在附图中示出的结构和方法是非限制性示例性实施例，并且描述、公开和附图应仅被解释为特定实施例的示例。因此，应理解，本公开不限于所描述的精确实施例，并且本领域的技术人员可以在不脱离本公开的范围或精神的情况下进行各种其他改变和修改。另外，在不脱离本公开的范围的情况下，结合某些实施例示出或描述的元件和特征可以与某些其他实施例的元件和特征组合，并且这样的修改和变型也包括在本公开的范围内。因此，本公开的主题不受已经具体示出和描述的内容的限制。

Claims (20)

1.一种机器人机电手术器械，包括：
壳体；
细长轴，其限定了纵向轴线并且从所述壳体向远侧延伸；
腕组件，其支撑在所述细长轴上并且包括联接至第二接头的第一接头；
末端执行器，其联接至腕组件；
万向接头组件，其支撑在所述腕组件内并且能旋转以致动所述末端执行器的功能；和
联接至所述腕组件的多个线缆，所述多个线缆能移动以操纵所述第一接头和所述第二接头，以使所述万向接头组件和所述腕组件能够相对于所述纵向轴线进行关节式运动。
2.根据权利要求1所述的机器人机电手术器械，其中，所述第一接头和所述第二接头绕所述纵向轴线相对于彼此成角度地移位设置。
3.根据权利要求1所述的机器人机电手术器械，其中，所述第一接头和所述第二接头中的每一个均具有近侧段和远侧段，所述近侧段和远侧段被支撑以相对于彼此运动，以利于所述腕组件相对于所述细长轴的所述纵向轴线的关节式运动。
4.根据权利要求3所述的机器人机电手术器械，其中，所述第一接头的所述近侧段和远侧段包括被支撑为彼此滚动接触的联接器。
5.根据权利要求4所述的机器人机电手术器械，其中，所述第二接头的所述近侧段和远侧段包括被支撑为彼此滚动接触的联接器。
6.根据权利要求3所述的机器人机电手术器械，其中，所述第一接头的所述近侧段和远侧段通过第一对连杆联接在一起，并且其中，所述第二接头的所述近侧段和远侧段通过第二对连杆联接在一起。
7.根据权利要求1所述的机器人机电手术器械，其中，所述腕组件的第一接头通过第一管状接口联接至所述细长轴，并且其中，所述腕组件的第二接头通过第二管状接口联接至所述末端执行器。
8.根据权利要求7所述的机器人机电手术器械，其中，所述第一接头被旋转地锁定至所述第一管状接口，并且其中，所述第二接头被旋转地锁定至所述第二管状接口。
9.根据权利要求1所述的机器人机电手术器械，其中，所述第一接头和第二接头限定穿过其中的中央开口，所述中央开口被定位成在其中容纳所述万向接头组件。
10.根据权利要求1所述的机器人机电手术器械，其中，所述万向接头组件包括多个万向接头，所述多个万向接头中的至少两个万向接头沿着所述万向接头组件定位在纵向间隔开的位置处。
11.一种机器人手术系统，包括：
机器人手术组件；和
机电手术器械，其选择性地安装至所述机器人手术器械，所述手术器械包括：
壳体；
细长轴，其限定了纵向轴线并且从所述壳体向远侧延伸至腕组件，所述腕组件包括联接至第二接头的第一接头；
发射组件，其延伸穿过所述腕组件并包括多个万向接头；
末端执行器，其支撑在所述腕组件上并固定至所述发射组件；和
线缆驱动组件，其能被所述机器人手术组件致动以操纵所述第一接头和所述第二接头，并使所述发射组件和所述腕组件能够相对于所述纵向轴线进行关节式运动。
12.根据权利要求11所述的机器人手术系统，其中，所述第一接头和所述第二接头绕所述纵向轴线相对于彼此成角度地移位设置。
13.根据权利要求11所述的机器人手术系统，其中，所述第一接头和所述第二接头中的每一个均具有近侧段和远侧段，所述近侧段和所述远侧段被支撑以相对于彼此运动，以利于所述腕组件相对于所述细长轴的所述纵向轴线的关节式运动。
14.根据权利要求13所述的机器人手术系统，其中，所述第一接头的所述近侧段和远侧段包括被支撑为彼此滚动接触的联接器。
15.根据权利要求14所述的机器人手术系统，其中，所述第二接头的所述近侧段和远侧段包括被支撑为彼此滚动接触的联接器。
16.根据权利要求13所述的机器人手术系统，其中，所述第一接头的所述近侧段和远侧段通过第一对连杆联接在一起，并且其中，所述第二接头的所述近侧段和远侧段通过第二对连杆联接在一起。
17.根据权利要求11所述的机器人手术系统，其中，所述腕组件的所述第一接头通过第一管状接口联接至所述细长轴，并且其中，所述腕组件的所述第二接头通过第二管状接口联接至所述末端执行器。
18.根据权利要求17所述的机器人手术系统，其中，所述第一接头被旋转地锁定至所述第一管状接口，并且其中，所述第二接头被旋转地锁定至所述第二管状接口。
19.根据权利要求11所述的机器人手术系统，其中，所述第一接头和第二接头限定穿过其中的中央开口，所述中央开口被定位成在其中容纳所述发射组件。
20.根据权利要求11所述的机器人手术系统，其中，所述多个万向接头中的至少两个万向接头沿着所述发射组件定位在纵向间隔开的位置处。
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