CN103156666B - 用于手术施夹器的钳夹闭合机构 - Google Patents
用于手术施夹器的钳夹闭合机构 Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2937—Transmission of forces to jaw members camming or guiding means with flexible part
Abstract
本发明提供了一种用于手术施夹器的钳夹闭合机构，所述手术施夹器具有第一钳夹和第二钳夹，所述第一钳夹和第二钳夹能够在隔开位置与接近位置之间相对于彼此运动从而使得手术夹子围绕组织成形。所述钳夹闭合机构包括：第一偏心轮和第二偏心轮，它们可旋转地联接到相应的所述第一钳夹和第二钳夹。每个偏心轮均包括中心和相对于所述中心偏移的枢转点。绳缆布置为围绕每个偏心轮。所述绳缆在第一接合点处与所述第一偏心轮接合并且在第二接合点处与所述第二偏心轮接合，使得当驱动力被施加到所述绳缆时，所述偏心轮相对于相应的所述钳夹从第一位置旋转并且移位到第二位置从而驱使所述钳夹从所述隔开位置运动到所述接近位置。
Description
相关申请的交叉引用
本申请主张于2011年12月19日提交的序列号为61/577,130的美国临时申请的权益和优先权，该申请的全部内容通过引用结合于此。
技术领域
本公开涉及手术器械。更特别地，本公开涉及一种用于手术施夹器的钳夹闭合机构。
背景技术
在现有技术中手术吻合器和施夹器是公知的并且被用于多种不同和有用的手术操作。在腹腔镜手术操作的情况下，小直径筒管或插管通过皮肤中的小的进入切口插入以实现进入腹部的内部。在体内的其它部位执行的微创操作通常被称为内窥镜操作。典型地，筒管或者插管装置通过进入切口延伸进入患者体内从而提供进入口。该进入口允许外科医生利用套针将多个不同的手术器械通过所述进入口插入并且允许远离切口执行手术操作。
在多数的这些手术中，外科医生必须经常使得血液或其它的液体通过一个或多个血管的流动终止。外科医生将经常将手术夹子施加到血管或另一根导管从而防止在操作期间体液流动通过所述血管或另一根导管。内窥镜施夹器在手术操作期间施加单个夹子或一系列夹子在本领域中是公知的。所述夹子典型地由生物适应性材料制成并且通常被压在血管上。一旦被施加在血管上，受压的夹子使得流体通过血管的流动终止。开放式手术施夹器以类似的方式操作。
在内窥镜或腹腔镜操作中在单次进入体腔时能够施加多个夹子的内窥镜施夹器在共同转让给格林（Green）等人的第5,084,057和5,100,420号美国专利中得到了描述，该两个专利的全部内容通过引用结合于此。另一种复合式内窥镜施夹器在由普拉特（Pratt）等人共同转让的第5,607,436号美国专利中被公开，该专利的全部内容也通过引用结合于此。这些装置典型地在单个手术操作中使用，但这不是必然的。序列号为08/515,341的美国专利申请而现为授权给皮埃尔（Pier）等人的第5,695,502号美国专利公开了一种可重复消毒的手术施夹器，该专利的公开通过引用结合于此。施夹器在单次插入到体腔中期间推进多个夹子并使其成形。该可重复消毒的施夹器被配置为接收可替换夹盒并与其协作以便在单次插入到体腔中期间推进多个夹子并使其成形。
在施夹器的制造中的一个重要的设计目标是提供这样的一种施夹器：使得施加给钳夹的钳夹闭合力最大化以助于确保夹子在体组织或血管上的完整且适当的形成，同时也使得由用户为致动钳夹而施加的驱动力最小化以便允许相对容易地致动钳夹并且抑制在手术操作过程中的疲劳。特别地，将期望提供一种具有被配置为使得钳夹闭合力与驱动力的比率最大化的钳夹闭合机构的施夹器。
发明内容
根据本公开，提供了一种用于具有第一钳夹和第二钳夹的手术施夹器的钳夹闭合机构，所述第一钳夹和第二钳夹能够在隔开位置与接近位置之间相对于彼此运动从而使手术夹子围绕组织成形。所述钳夹闭合机构包括：第一偏心轮和第二偏心轮以及布置为围绕所述第一偏心轮和第二偏心轮的绳缆。所述第一偏心轮和第二偏心轮可旋转地联接到相应的所述第一钳夹和第二钳夹。所述第一偏心轮和第二偏心轮中的每个均包括中心和相对于所述中心偏移的枢转点。绳缆布置为围绕所述第一偏心轮和第二偏心轮中的每个。更特别地，所述绳缆在第一接合点处与所述第一偏心轮接合并且在第二接合点处与所述第二偏心轮接合，使得当驱动力被施加到所述绳缆时，所述第一偏心轮和第二偏心轮相对于相应的所述第一钳夹和第二钳夹从第一位置旋转并且移位到第二位置，从而驱使所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置。
在所述第一位置处，所述第一偏心轮和第二偏心轮中的每个的所述中心、所述枢转点和所述接合点可以彼此轴向对准。
额外地或者可选择地，在所述第二位置处，所述第一偏心轮和第二偏心轮中的每个的所述中心、所述枢转点和所述接合点可以相对于彼此成角度。
在实施例中，所述钳夹闭合机构还包括驱动杆，所述驱动杆联接到所述绳缆并且被配置为将驱动力施加到所述绳缆。更特别地，所述驱动杆可以选择性地在较远侧位置与较近侧位置之间平移从而将驱动力施加到所述绳缆。
在实施例中，当所述驱动杆从所述较远侧位置平移到所述较近侧位置时，所述绳缆将斜力施加到所述第一偏心轮和第二偏心轮中的每个。进一步地，施加到所述第一偏心轮和第二偏心轮中的每个的所述斜力可以驱使所述第一偏心轮和第二偏心轮相对于相应的所述第一钳夹和第二钳夹移位和旋转，因此将钳夹闭合力施加到所述第一钳夹和第二钳夹从而使得所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置。
在实施例中，所述钳夹闭合力是所述驱动力与力转换系数的乘积。所述力转换系数和在所述斜力的方向与所述钳夹闭合力的方向之间限定的角度成反比例。
在实施例中，当所述第一偏心轮和第二偏心轮从所述第一位置转移到所述第二位置时，所述第一偏心轮和第二偏心轮的旋转和移位使得所述斜力的方向与所述钳夹闭合力的方向之间限定的所述角度最小化，因此使得所述力转换系数最大化。
在实施例中，所述钳夹闭合机构可释放地与所述第一钳夹和第二钳夹接合。
根据本公开还提供了一种手术施夹器。所述手术施夹器包括钳夹组件以及钳夹闭合机构。所述钳夹组件包括能够在隔开位置与接近位置之间运动从而将手术夹子施加到组织的第一钳夹和第二钳夹。所述钳夹闭合机构包括：第一偏心轮和第二偏心轮，它们可旋转地联接到相应的所述第一钳夹和第二钳夹；以及绳缆，其布置为围绕所述第一偏心轮和第二偏心轮中的每个。所述绳缆在第一接合点处与所述第一偏心轮接合并且在第二接合点处与所述第二偏心轮接合，使得当纵向驱动力被施加到所述绳缆时，所述绳缆将斜力施加到所述第一偏心轮和第二偏心轮中的每个从而使所述第一偏心轮和第二偏心轮旋转和移位，因此将横向钳夹闭合力施加到所述第一钳夹和第二钳夹从而驱使所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置。
在实施例中，所述手术施夹器还包括驱动组件，所述驱动组件具有联接到所述绳缆的驱动杆。所述驱动杆能够选择性地在较远侧位置与较近侧位置之间平移从而将所述纵向驱动力施加到所述绳缆。
在实施例中，所述手术施夹器还包括可操作地联接到所述驱动组件的扳机组件。所述扳机组件能够选择性地被致动从而使得所述驱动杆在所述较远侧位置与所述较近侧位置之间平移。
在实施例中，所述横向钳夹闭合力为所述纵向驱动力与力转换系数的乘积。所述力转换系数和在所述斜力的方向与所述横向钳夹闭合力的方向之间限定的角度成反比例。在所述实施例中，当驱使所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置时，所述第一偏心轮和第二偏心轮的旋转和移位可以被配置为使得在所述斜力的方向与所述横向钳夹闭合力的方向之间限定的所述角度最小化，因此使得所述力转换系数最大化。
在实施例中，所述钳夹闭合机构可释放地与所述钳夹组件接合。
根据本公开还提供了一种将具有第一钳夹和第二钳夹的手术施夹器中的纵向驱动力转换成横向钳夹闭合力的方法，所述第一钳夹和第二钳夹能够在隔开位置与接近位置之间相对于彼此运动从而使手术夹子围绕组织成形。所述方法包括：施加纵向驱动力；将所述纵向驱动力转换成横向钳夹闭合力；将所述横向钳夹闭合力施加到所述第一钳夹和第二钳夹从而使得所述第一钳夹和第二钳夹在所述隔开位置与所述接近位置之间相对于彼此运动从而使所述手术夹子围绕组织成形；以及当所述横向钳夹闭合力被施加到所述第一钳夹和第二钳夹时，使得在所述斜力的方向与所述横向钳夹闭合力的方向之间限定的角度最小化，因此使得钳夹闭合力与纵向驱动力的比率最大化。
附图说明
这里结合附图对本公开的各个实施例进行描述，其中：
图1是根据本公开的内窥镜手术施夹器的立体图；
图2是根据本公开的开放式手术施夹器的俯视立体图；
图3是被配置为与图1和图2的施夹器一起使用的钳夹组件的放大的立体图；
图4A是以第一位置示出的图3的钳夹组件的俯视图；
图4B是以第二位置示出的图3的钳夹组件的俯视图；
图5A是图3的钳夹组件的钳夹闭合机构的示意性图例，其中钳夹闭合机构处于第一位置；
图5B是图3的钳夹组件的钳夹闭合机构的示意性图例，其中钳夹闭合机构处于第二位置；以及
图6是现有技术的钳夹组件的示意性图例。
具体实施方式
现在将结合附图对根据本公开的用于手术施夹器的钳夹闭合机构的实施例进行详细描述，其中相同的附图标记表示相似或相同的结构元件。如图所示并且在下面的整个描述中，当涉及关于手术器械上的相对定位时，如通常所使用，术语“近侧”是指较接近用户的一端，而术语“远侧”是指较远离用户的一端。
简要地参见图1，内窥镜手术施夹器一般地由附图标记100表示。手术施夹器100一般地包括手柄组件102和包括轴组件104的内窥镜部，轴组件104自手柄组件102向远侧延伸并且在其远端处布置有钳夹组件120。手柄组件102还包括：旋转组件110，其能够在任意方向上旋转从而实现钳夹组件120的对应旋转；以及扳机组件108，其能够选择性地被挤压从而致动钳夹组件120以使手术夹子“C”（图4A和图4B）围绕组织成形。一堆手术夹子典型地以便于在轴组件104内滑动和/或沿轴组件104滑动的方式被装载和/或保存在轴组件104内，最终使得多个手术夹子“C”（图4A和图4B）可以被顺序提供给钳夹组件120以围绕组织成形。对手术施夹器100的内部工作和操作的完整的描述能够在于2008年3月26日提交的共同转让给惠特菲尔德（Whitfield）等人的序列号为12/055,446的美国专利申请（公开号为2008/0243145的美国专利申请）中找到，该申请的全部内容通过引用结合于此。
简要地参见图2，开放式手术施夹器一般地由附图标记200表示。手术施夹器200一般地包括：手柄组件202，手柄组件202包括壳体204；和轴组件208，其自壳体204向远侧延伸并且在其远端处包括钳夹组件220。壳体204还包括一对手柄206，所述一对手柄206枢转地联接到壳体204并且自壳体204向外延伸。手柄206可选择性地被挤压从而致动钳夹组件220以使手术夹子“C”（图4A和图4B）围绕组织成形。一堆手术夹子典型地以便于在轴组件208内滑动和/或沿轴组件208滑动的方式被装载和/或保存在轴组件208内，最终使得多个手术夹子“C”（图4A和图4B）可以被顺序提供给钳夹组件220以围绕组织成形。对手术施夹器200的内部工作和操作的完整的描述能够在于2009年8月13日提交的共同转让给策吉贝尔（Zergiebel）等人的序列号为12/540,475的美国专利申请（公开号为2010/0049216的美国专利申请）中找到，该申请的全部内容通过引用结合于此。
现在转到图3，手术施夹器100（图1）的钳夹组件120被示出，尽管钳夹组件120可以可选择地被配置为与手术施夹器200（图2）或者其它适当的手术施夹器一起使用。然而，为了简便和一致的目的，将仅结合手术施夹器100对钳夹组件120进行描述。
参见图3，结合图1，钳夹组件120安装在轴组件104的远端中以使得钳夹120a、120b相对于轴组件104纵向地静止。钳夹组件120的钳夹120a、120b在其内向表面上各自限定被配置为引导手术夹子“C”（图4A和图4B）通过的凹槽122a、122b。一旦手术夹子“C”（图4A和图4B）定位在钳夹120a、120b之间，扳机组件108可以被致动以使得钳夹120a、120b相对于彼此接近从而使手术夹子“C”（图4A和图4B）围绕组织成形。更特别地，钳夹闭合机构150联接到钳夹组件120的钳夹120a、120b中的每个并且联接到驱动杆140（图4A和图4B），使得当致动扳机组件108使驱动杆140（图4A和图4B）向近侧平移时，钳夹120a、120b从第一隔开位置（图4A）运动到第二接近位置（图4B）从而使布置在其间的手术夹子“C”（图4A和图4B）围绕组织成形。此外，钳夹120a、120b可以偏置于第一隔开位置（图4A），使得当释放扳机组件108时钳夹120a、120b返回到第一隔开位置（图4A）。下面将结合图4A至图5B对钳夹闭合机构150进行更加详细的描述。
现在转到图4A和图4B以及图5A和图5B，对钳夹闭合机构150进行描述。钳夹闭合机构150一般地包括一对盘状物或者轮状物152、154，该对盘状物或者轮状物152、154中的每个分别可旋转地安装在钳夹120a、120b中的一个上，并且带或绳缆156环绕在轮状物152、154两者上。更特别地，钳夹120a、120b各自包括枢转柱123a、123b，枢转柱123a、123b自钳夹120a、120b向上延伸并且分别被接收在限定为通过轮状物152、154的孔153、155内，从而分别将轮状物152、154可旋转地联接到钳夹120a、120b。然而，尽管所示出的枢转柱123a、123b从相应的钳夹120a、120b向上延伸，但是可以想到的是，枢转柱123a、123b可以定位为从钳夹120a、120b向下延伸，可以延伸通过在钳夹120a、120b内限定的腔，或者除此之外可以定位为在其上可旋转地支撑轮状物152、154。
继续参见图4A和图4B以及图5A和图5B，分别限定为通过轮状物152、154的孔153、155相对于轮状物152、154偏心定位。即，孔153、155没有分别限定为通过轮状物152、154的中心“X”，而是分别从轮状物152、154的中心“X”偏移距离“d1”。所述特征（将在下文描述）增加了钳夹闭合力（例如，垂直作用在钳夹120a、120b上的驱使钳夹120a、120b从第一隔开位置（图4A和图5A）运动到第二接近位置（图4B和图5B）的力）与驱动力（例如，作用在驱动杆140上的使得驱动杆140向近侧平移的力）的比率。
如上所述，绳缆156环绕在轮状物152、154两者上。更特别地，绳缆156环绕在轮状物152、154上并且分别在接合点“E1”、“E2”处与轮状物152，154中的每个的外周固定接合。绳缆156可以任何适当的方式与轮状物152、154接合，所述方式例如为箍缩、焊接、销孔接合等。进一步地，绳缆156可以由刚性的、半刚性的或者柔性材料形成。绳缆156也可以张紧的状态围绕轮状物152、154布置，使得绳缆156将钳夹120a、120b偏置于隔开位置。
如图4A和图4B最佳所示，绳缆156包括远侧段157和近侧段158，而绳缆156的剩余部分围绕轮状物152、154的任一个的一部分周向布置。绳缆156的远侧段157在轮状物152、154之间并且更特别地分别在轮状物152、154的接合点“E1”、“E2”之间朝向钳夹闭合机构150的远端延伸。能够领会的是，因为绳缆156固定在接合点“E1”和“E2”处，沿着绳缆156的在接合点“E1”和“E2”之间的距离是固定的距离“d2”。另一方面，绳缆156的近侧段158在轮状物152、154之间朝向钳夹闭合机构150的近端延伸。
驱动杆140以任何适当的方式与绳缆156的近侧段158接合，所述方式例如为箍缩、焊接、销孔接合等，并且驱动杆140自绳缆156的近侧段158延伸而最终联接到布置在手柄组件102（图1）内的驱动机构（未示出），当致动扳机组件108（图1）时，所述手柄组件102协作以使得驱动杆140相对于钳夹组件120向近侧平移从而使得钳夹120a、120b在第一隔开位置（图4A和图5A）与第二接近位置（图4B和图5B）之间运动。更特别地，正如将要在下面进行详细描述的，驱动杆140的近侧平移朝向近侧拉动绳缆156的近侧段158，使得轮状物152、154分别围绕枢转柱123a、123b旋转，并且，最终使得钳夹120a、120b彼此接近。
再次参见图4A和图4B以及图5A和图5B，对钳夹闭合机构150的使用和操作进行描述，其中包括对钳夹闭合机构150的工作部件的更加详细的描述。起初，如图4A和图5A所示，钳夹120a、120b以第一隔开位置布置。在钳夹120a、120b处于第一隔开位置的情况下，驱动杆140处于更远侧位置，并且因此，绳缆156以限定了大致椭圆形配置的静止位置布置，其中绳缆156的远侧段157和近侧段158在相对于钳夹120a、120b大致横向的方向上基本彼此平行。进一步地，在初始位置处，接合点“E1”和“E2”在远侧隔开并且与相应的轮状物152、154的中心“X”轴向地对准。钳夹120a、120b的枢转柱123a、123b分别延伸通过的孔153、155在近侧隔开并且与相应的轮状物152、154的中心“X”轴向地对准以及与相应的连结点“E1”、“E2”轴向地对准。
继续参见图4A和图5A，在该初始位置处，钳夹120a、120b隔开的最大距离“G”至少由绳缆156的长度、接合点“E1”与“E2”之间的距离“d2”以及轮状物152、154的直径决定。因此，绳缆156和轮状物152、154可以被配置为和/或定尺寸为限定其间的特定的最大距离“G”，该距离可以最终取决于待施加到组织的手术夹子“C”的类型、尺寸和/或形状，或者取决于其他的因素。为此，钳夹闭合机构150可以可释放地与钳夹组件120接合，例如，轮状物152、154可以分别联接到枢转柱123a、123b，使得适当配置的钳夹闭合机构150可以根据待施加的手术夹子“C”的特定的类型、尺寸和/或形状，或者根据其他的因素而被选择并且与钳夹组件120接合。
再次参见图4A和图4B以及图5A和图5B，当致动时，例如，当致动扳机组件108（图1）时，或者在此之前，例如，当在先前的致动之后释放扳机组件108（图1）时，手术夹子“C”被装载进入或者被推进到钳夹120a、120b之间。接下来，在手术夹子“C”布置在钳夹120a、120b之间的情况下，钳夹120a、120b可以相对于彼此接近从而使手术夹子“C”围绕组织（未示出）成形。为了使钳夹120a、120b接近，驱动组件（未示出）被激活，例如，经由扳机组件108（图1）的致动，使得驱动杆140相对于钳夹组件120向近侧平移或者向近侧拉动驱动杆140。当向近侧拉动驱动杆140时，绳缆156并且特别是绳缆156的近侧段158由于驱动杆140与绳缆156的近侧段158之间的接合也被向近侧拉动。
当向近侧拉动驱动杆140从而同样地向近侧拉动绳缆156的近侧段158时，由于绳缆156与轮状物152、154在相应的接合点“E1”和“E2”处的接合，轮状物152、154在箭头“R”的方向上分别围绕钳夹120a、120b的枢转柱123a、123b旋转。轮状物152、154在箭头“R”的方向上的旋转不仅使得轮状物152、154相对于钳夹120a、120b旋转，而且使得轮状物152、154相对于钳夹120a、120b移位。更特别地，由于孔153、155（例如，轮状物152、154的枢转点）相对于相应的轮状物152、154的中心“X”偏心定位，轮状物152、154围绕枢转柱123a、123b的旋转使轮状物152、154移位从而使得轮状物152、154的中心“X”相对于钳夹120a、120b沿近侧方向大致向外运动。轮状物152、154的该偏心旋转和对应的轮状物152、154的移位的结果是，钳夹120a、120b被驱使朝向彼此运动，例如，朝向接近位置运动，以保持沿着绳缆156在接合点“E1”与“E2”之间的固定的距离“d2”。
结合图4B和图5B，当向近侧进一步拉动驱动杆140时，轮状物152、154在箭头“R”的方向上进一步旋转并且沿近侧向外进一步移位，使得钳夹120a、120b最终运动到接近位置从而使布置在其间的手术夹子“C”围绕组织成形。在接近位置处，钳夹120a、120b限定了其间的最小间隙距离“g”。最小间隙距离“g”至少取决于绳缆156的长度、接合点“E1”与“E2”之间的距离“d2”、轮状物152、154的直径以及轮状物152、154的中心“X”与相应的轮状物152、154的枢转点例如孔153、155之间的距离“d1”。因此，适当配置的钳夹闭合机构150可以被选择用于实现在接近位置处的钳夹120a、120b之间的期望的最小间隙距离“g”。进一步地，在接近位置处，接合点“E1”和“E2”可以与相应的轮状物152、154的中心“X”纵向地对准并且横向地隔开。钳夹120a、120b的枢转柱123a、123b分别延伸通过的孔153、155可以与相应的轮状物152、154的中心“X”纵向地对准并横向地隔开且与接合点“E1”和“E2”纵向地对准。
再次参见图4A和图4B以及图5A和5B，一旦手术夹子“C”已经围绕组织成形，钳夹120a、120b可以返回到隔开位置，例如，经由扳机组件108（图1）的释放。更特别地，为了使钳夹120a、120b返回到隔开位置，驱动杆140向远侧平移以使得绳缆156同样向远侧平移（或者在偏置的情况下返回）从而允许轮状物152、154旋转（在与箭头“R”相反的方向上）并且运动回到如图4A和图5A所示的初始位置。当轮状物152、154旋转并且运动回到初始位置时，钳夹120a、120b被允许在偏置的情况下返回到图4A和图5A所示的隔开位置。此后，可以将钳夹组件120从手术部位移除或者重新定位到邻近的额外组织结构（一个或多个）以用于对其施加一个或多个手术夹子“C”。
现在转到图5A和图5B以及图6，结合图4A和图4B，对本公开的钳夹闭合机构150相比于现有技术的钳夹组件320的改进的机械优点进行描述。对于本公开的钳夹闭合机构150，如图5A和图5B示意性地示出，驱动杆140的近侧平移将近侧驱动力“FD”施加到绳缆156上，绳缆156转而将沿近侧大致向内的，即，斜力“FG”施加到绳缆156的近侧段158的在轮状物152、154中的每个与驱动杆140之间延伸的部分上。斜力“FG”施加到绳缆156上的结果是，轮状物152、154旋转并且移位，因此将钳夹闭合力“FC”施加到钳夹120a、120b（即，垂直于钳夹120a、120b的相对面的力）从而驱使钳夹120a、120b朝向接近位置运动。
能够领会的是，力向量“FD”和“FC”彼此垂直，即，在纵向方向上施加力向量“FD”并且在横向方向上施加力向量“FC”，而力向量“FC”和“FG”限定了其间的角度“α1”。因而，用于钳夹闭合机构150的驱动力“FD”与钳夹闭合力“FC”之间的关系式能够表示为：
上述等式1（EQ1）也能够通过根据力转换系数“T1”重写驱动力“FD”与钳夹闭合力“FC”之间的关系被简化为：
EQ2：FC=FD*T1
或者，作为选择，被简化为：
其中力转换系数“T1”为：
因此，力转换系数“T1”由力向量“FC”与“FG”之间的角度“α1”决定。能够领会的是，期望使得力转换系数“T1”最大化以使得相对于所施加的驱动力“FD”能够实现较大的钳夹闭合力“FC”，或者，换句话说，能够施加相对减小的驱动力“FD”从而实现期望的钳夹闭合力“FC”。
下面的表1表示了在各种不同的角度“α1”时的用于钳夹闭合机构150的力转换系数“T1”的近似值：
表1：
| 5 | 10 | 15 | 20 | |
| 11.45 | 5.71 | 3.79 | 2.83 |
进一步地，根据上述的等式4（EQ4）以及上述的示例性表1，使得角度“α1”最小化使力转换系数“T1”最大化。本公开的钳夹闭合机构150采用该关系式的优点在于，钳夹闭合机构150使得力向量“FC”与“FG”之间的角度“α1”最小化。更特别地，由于轮状物152、154的偏心特征，当将驱动力“FD”施加到绳缆156时，轮状物152、154相对于钳夹120a、120b旋转和移位，以使得随着轮状物152、154的旋转，角度“α1”被最小化。因此，轮状物152、154的偏心特征使得力转换系数“T1”最大化，并且因此，对于给定的驱动力“FD”允许较大的钳夹闭合力“FC”（见上述等式2（EQ2）），或者作为选择，允许施加减小的驱动力“FD”从而实现期望的钳夹闭合力“FC”（见上述等式3（EQ3））。
现在转到图6，所示出的现有技术的钳夹组件320一般包括第一钳夹320a和第二钳夹320b以及凸轮套筒340，凸轮套筒340可相对于钳夹320a、320b围绕其平移从而使得钳夹320a、320b在隔开位置（如图示）与接近位置（如虚线所示）之间运动。在该配置中，驱动力“FD”在纵向方向和远侧方向上施加而钳夹闭合力“FC”在横向方向上施加。进一步地，二分之一的驱动力“FD”被施加到钳夹320a、320b中的每个并且角度“α2”是这样的角度：该角度是力向量“FC”与垂直于钳夹320a、320b中的每个的在凸轮套筒340与钳夹320a、320b之间的相应接触点处的外表面的平面之间的角度。因此，用于钳夹组件320的驱动力“FD”和钳夹闭合力“FC”能够被表示为：
EQ5：FC’=FD'*T2
或者，作为选择，被表示为：
其中力转换系数“T2”为：
将上述的等式2和等式3（EQ2、EQ3）与上述的等式5和等式6（EQ5、EQ6）进行比较，所示出的是，与现有技术的钳夹组件320（图6）相比较，对于给定的驱动力，钳夹闭合机构150（图4A至图5B）提供了近似两倍的钳夹闭合力，或者，作为选择，仅需要一半的驱动力以实现给定的钳夹闭合力。
下面的表2表示了在各种不同的角度“α2”时的用于钳夹组件320的力转换系数“T2”的近似值：
表2：
| 5 | 10 | 15 | 20 | |
| 5.71 | 2.83 | 1.86 | 1.37 |
而且，如经由上述表1和表2的比较所示的，在角度的范围内，转换系数“T1”与“T2”的比率近似为2。
应当理解的是，上述的描述仅是本公开的阐释性说明。在不偏离本公开的情况下的各种选择和改进能够被本领域的技术人员想到。因此，本公开旨在包括所有所述的选择、改进和变型。结合附图所描述的实施例仅用于说明本公开的特定实例。与上述所描述无实质不同的和/或在附属权利要求中的其它元件、步骤、方法和技术也意图在本公开的范围内。
Claims (16)
1.一种用于手术施夹器的钳夹闭合机构，所述手术施夹器具有第一钳夹和第二钳夹，所述第一钳夹和第二钳夹能够在隔开位置与接近位置之间相对于彼此运动从而使手术夹子围绕组织成形，所述钳夹闭合机构包括：
第一偏心轮和第二偏心轮，它们可旋转地联接到相应的所述第一钳夹和第二钳夹，所述第一偏心轮和第二偏心轮中的每个均包括中心和相对于所述中心偏移的枢转点；以及
绳缆，其布置为围绕所述第一偏心轮和第二偏心轮中的每个，所述绳缆在第一接合点处与所述第一偏心轮接合并且在第二接合点处与所述第二偏心轮接合，使得当驱动力被施加到所述绳缆时，所述第一偏心轮和第二偏心轮相对于相应的所述第一钳夹和第二钳夹从第一位置旋转并且移位到第二位置，从而驱使所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置。
2.根据权利要求1所述的钳夹闭合机构，其中，在所述第一位置处，所述第一偏心轮和第二偏心轮中的每个的所述中心、所述枢转点和所述接合点彼此轴向对准。
3.根据权利要求1所述的钳夹闭合机构，其中，在所述第二位置处，所述第一偏心轮和第二偏心轮中的每个的所述中心、所述枢转点和所述接合点相对于彼此成角度。
4.根据权利要求1所述的钳夹闭合机构，还包括驱动杆，其联接到所述绳缆并且被配置为将驱动力施加到所述绳缆。
5.根据权利要求4所述的钳夹闭合机构，其中，所述驱动杆能够选择性地在较远侧位置与较近侧位置之间平移从而将驱动力施加到所述绳缆。
6.根据权利要求5所述的钳夹闭合机构，其中，当所述驱动杆从所述较远侧位置平移到所述较近侧位置时，所述绳缆将斜力施加到所述第一偏心轮和第二偏心轮中的每个。
7.根据权利要求6所述的钳夹闭合机构，其中，施加到所述第一偏心轮和第二偏心轮中的每个的所述斜力驱使所述第一偏心轮和第二偏心轮相对于相应的所述第一钳夹和第二钳夹移位和旋转，因此将钳夹闭合力施加到所述第一钳夹和第二钳夹从而使得所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置。
8.根据权利要求7所述的钳夹闭合机构，其中，所述钳夹闭合力是所述驱动力与力转换系数的乘积，所述力转换系数和在所述斜力的方向与所述钳夹闭合力的方向之间限定的角度成反比例。
9.根据权利要求8所述的钳夹闭合机构，其中，当所述第一偏心轮和第二偏心轮从所述第一位置转移到所述第二位置时，所述第一偏心轮和第二偏心轮的旋转和移位使得在所述斜力的方向与所述钳夹闭合力的方向之间限定的所述角度最小化，因此使得所述力转换系数最大化。
10.根据权利要求1所述的钳夹闭合机构，其中，所述钳夹闭合机构可释放地与所述第一钳夹和第二钳夹接合。
11.一种手术施夹器，包括：
钳夹组件，其具有能够在隔开位置与接近位置之间运动从而将手术夹子施加到组织的第一钳夹和第二钳夹；以及
钳夹闭合机构，所述钳夹闭合机构包括：
第一偏心轮和第二偏心轮，它们可旋转地联接到相应的所述第一钳夹和第二钳夹；以及
绳缆，其布置为围绕所述第一偏心轮和第二偏心轮中的每个，所述绳缆在第一接合点处与所述第一偏心轮接合并且在第二接合点处与所述第二偏心轮接合，使得当纵向驱动力被施加到所述绳缆时，所述绳缆将斜力施加到所述第一偏心轮和第二偏心轮中的每个从而使所述第一偏心轮和第二偏心轮旋转和移位，因此将横向钳夹闭合力施加到所述第一钳夹和第二钳夹从而驱使所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置。
12.根据权利要求11所述的手术施夹器，还包括驱动组件，所述驱动组件包括联接到所述绳缆的驱动杆，所述驱动杆能够选择性地在较远侧位置与较近侧位置之间平移从而将所述纵向驱动力施加到所述绳缆。
13.根据权利要求12所述的手术施夹器，还包括可操作地联接到所述驱动组件的扳机组件，所述扳机组件能够选择性地被致动从而使得所述驱动杆在所述较远侧位置与所述较近侧位置之间平移。
14.根据权利要求11所述的手术施夹器，其中，所述横向钳夹闭合力为所述纵向驱动力与力转换系数的乘积，所述力转换系数和在所述斜力的方向与所述横向钳夹闭合力的方向之间限定的角度成反比例。
15.根据权利要求14所述的手术施夹器，其中，当驱使所述第一钳夹和第二钳夹从所述隔开位置运动到所述接近位置时，所述第一偏心轮和第二偏心轮的旋转和移位使得在所述斜力的方向与所述横向钳夹闭合力的方向之间限定的所述角度最小化，因此使得所述力转换系数最大化。
16.根据权利要求11所述的手术施夹器，其中，所述钳夹闭合机构可释放地与所述钳夹组件接合。
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-
2012
- 2012-11-12 US US13/674,130 patent/US9364239B2/en active Active
- 2012-11-20 CA CA2796760A patent/CA2796760A1/en not_active Abandoned
- 2012-11-30 AU AU2012261484A patent/AU2012261484A1/en not_active Abandoned
- 2012-12-06 JP JP2012267101A patent/JP2013126534A/ja active Pending
- 2012-12-18 EP EP12197813.4A patent/EP2606835B1/en active Active
- 2012-12-19 CN CN201710103273.2A patent/CN106974689A/zh active Pending
- 2012-12-19 CN CN201210555570.8A patent/CN103156666B/zh active Active
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2016
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|---|---|
| EP2606835B1 (en) | 2019-04-03 |
| US20130310849A1 (en) | 2013-11-21 |
| CN103156666A (zh) | 2013-06-19 |
| CN106974689A (zh) | 2017-07-25 |
| JP2013126534A (ja) | 2013-06-27 |
| AU2012261484A1 (en) | 2013-07-04 |
| US20160249926A1 (en) | 2016-09-01 |
| CA2796760A1 (en) | 2013-06-19 |
| EP2606835A2 (en) | 2013-06-26 |
| US9855043B2 (en) | 2018-01-02 |
| US9364239B2 (en) | 2016-06-14 |
| EP2606835A3 (en) | 2016-04-06 |
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