Source: https://patents.google.com/patent/CN101516273B/en
Timestamp: 2019-04-25 14:38:45+00:00

Document:
A surgical instrument includes an instrument shaft having proximal and distal ends, a tool disposed from the distal end of the instrument shaft, a control handle coupled to the proximal end of the instrument shaft, a distal motion member for coupling the distal end of the instrument shaft to the tool, a proximal motion member for coupling the proximal end of the instrument shaft to the control handle, actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool and a locking mechanism for fixing the position of the tool at a selected position and having locked and unlocked states, wherein the locking mechanism includes a ball and socket arrangement disposed about the proximal motion member and a cinch member for locking the ball and socket arrangement, and the ball and socket arrangement comprise a ball member having a partially spherical portion that mates with a concave socket in the control handle.
 本发明总体上涉及医疗器械，更具体而言，涉及手动操作的外科器械，该器械旨在用于微创外科手术或其它形式的外科或内科程序。  The present invention relates generally to medical devices, and more particularly, to a manually operated surgical instrument, the instrument is intended for minimally invasive surgery or other forms of surgical or medical procedure. 文中所描述的器械主要是用于腹腔镜程序，然而，应当理解，本发明的器械能够用于很多种其它程序，包括管腔内程序。 The instrument described herein is primarily used for laparoscopic procedures, however, it should be understood that the apparatus of the invention can be used for many other applications, including intraluminal procedures.
 目前在市场上可获得的内窥镜和腹腔镜器械极难学会操作和使用，主要是因为在它们的使用中缺少灵巧性。  Currently available on the market in the endoscopic and laparoscopic instruments is extremely difficult to learn how to operate and use, mainly because of lack of dexterity in their use. 例如，在手术期间当使用典型的腹腔镜器械时，器械的工具的定向只受目标和切口的位置支配。 For example, when using a typical laparoscopic instrument during surgery, the orientation tool only by the instrument and the target position of the cutout disposal. 这些器械通常通过支点效应工作，使用患者自身的切口区域作为支点。 These devices typically work through the fulcrum effect, the cutout area of ​​a patient's own use as a fulcrum. 结果，普通任务例如缝合、打结和精细解剖对于医师来说变得复杂。 As a result, common tasks such as suturing, knotting and fine dissection for the physician becomes complicated. 数年来开发了各种一般通过提供额外的铰接装置而克服该缺陷的腹腔镜器械，所述铰接装置通常由单独设置的用于进行附加控制的控制元件进行控制。 Various general development years by providing additional hinge means to overcome this drawback and laparoscopic instrument, said articulation means is typically provided by a separate control element for controlling the additional control. 然而，即使如此，这些器械仍然不能提供足够的灵巧性以允许外科医生执行普通任务，例如缝合，特别是在任意选择的方位处。 However, even so, these devices still do not provide enough dexterity to allow the surgeon to perform common tasks such as suturing, particularly at the position of the arbitrarily selected. 同时，这种类型的现有器械并未提供有效方式以将器械保持在特定位置。 Meanwhile, conventional devices of this type do not provide an effective way to hold the instrument in a particular position. 而且，现有器械需要使用双手以有效地控制器械。 Moreover, conventional devices need to use both hands in order to effectively control the instrument.
 因此，本发明的一个目的是提供一种改进的腹腔镜或内窥镜外科器械，该器械允许外科医生以更大的灵巧性来操纵外科器械的工具端部。  It is therefore an object of the present invention to provide an improved laparoscopic or endoscopic surgical instrument that allows the surgeon greater dexterity to manipulate the tool end of the surgical instrument.
 本发明的另一个目的是提供一种改进的外科或医疗器械，该器械具有经切口、经自然身体孔口或经腔管的很各种应用。 Another object of the  present invention is to provide an improved surgical or medical instrument, the instrument having a through slit, through natural body orifice or lumen through the very wide range of applications.
 本发明的又一个目的是提供一种改进的医疗器械，其特征在于将器械锁定在预先选定的特定位置中的能力。 Still another object of the  present invention is to provide an improved medical instrument, wherein the instrument is locked in a specific position in the preselected capacity.
 本发明的再一个目的是提供一种锁定特征件，该特征件对于器械的其它控制来说起到重要的辅助作用，使得一旦器械处于期望位置时外科医生能够锁定该器械。  A further object of the present invention is to provide a locking feature, characterized in that the auxiliary element plays an important role in the control of other instruments, the surgeon so that the instrument can be locked in the desired position once the instrument. 这使得外科医生在此后能够更容易地执行外科程序，而不必同时将器械保持在特定的弯曲构形中。 This enables the surgeon to more easily surgical procedure performed thereafter, without at the same time keeps the instrument in a particular curved configuration.
 本发明还有一个目的是提供一种改进的医疗器械，该器械使用户能够以单手来进行有效控制。  Another object of the present invention to provide an improved medical instrument that enables users to be effectively controlled with one hand.
 为了实现本发明前述和其它目的、特征和优点，提供了一种外科器械，一种外科器械，包括：器械轴，其具有近端和远端；工具，其设置于所述器械轴的远端；控制手柄，其联接于所述器械轴的近端；远侧运动构件，其用于将所述器械轴的远端联接至所述工具；近侧运动构件，其用于将所述器械轴的近端联接至所述控制手柄；致动装置，其在所述远侧运动构件与所述近侧运动构件之间延伸，用于将所述近侧运动构件的运动联动至所述远侧运动构件以便控制所述工具的定位；以及锁定机构，其用于将所述工具的位置固定于选定位置并且具有锁定状态和解锁状态。  To achieve the foregoing and other objects, features and advantages of the present invention, there is provided a surgical instrument, a surgical instrument comprising: an instrument shaft having proximal and distal ends; tools, provided on the instrument shaft the distal end; a control handle coupled to the proximal end of the instrument shaft; distally means for coupling the distal end of the instrument shaft to said tool; proximal movement member for the the proximal end of said instrument shaft is coupled to the control handle; actuation means extending between the distal member and the proximal movement of the moving member, for movement of said linkage member to proximal movement of the said distal movement of said member for controlling the positioning of the tool; and a locking mechanism for fixing the position of the tool to a selected position and having a locked state and an unlocked state. 其中，所述锁定机构包括绕所述近侧运动构件设置的球窝装置以及包括用于锁定所述球窝装置的束带构件，并且，所述球窝装置包括球构件，所述球构件具有与所述控制手柄中的凹形承窝相匹配的局部球形部。 Wherein said locking mechanism comprises a ball and socket arrangement disposed about the proximal movement of the member and for locking said strap member includes a ball and socket means, and said ball and socket arrangement includes a ball member, said ball member having and the control part-spherical concave socket portion matches the handle.
 根据本发明的另一方面，所述外科器械可进一步包括：旋转装置，其设置为邻近所述控制手柄并且能够相对于所述控制手柄旋转以便导致所述器械轴和所述工具的相应旋转；至少所述近侧运动构件可包括近侧可弯曲构件，其中，所述旋转装置包括适于使所述工具绕远侧工具滚动轴线旋转的旋钮并且设置在所述控制手柄与所述近侧可弯曲构件之间； 所述控制手柄可包括手枪握把式手柄，所述手枪握把式手柄具有接合角状件从而有助于保持所述手柄；所述旋转装置可包括设置于所述手柄的远端处的旋钮，并且所述角状件设置为处于所述旋钮的近侧且位于所述手枪握把式手柄之上；优选地，所述外科器械还包括致动杆，其在所述手柄的近端的枢轴点处支撑于所述手枪握把式手柄；所述致动杆可具有带手指环的自由端部，所述手指环用于接纳用户手  According to another aspect of the present invention, the surgical instrument may further comprise: a rotating means, disposed adjacent to the control handle and the control handle relative to the instrument shaft to cause rotation of said tool and corresponding rotation; at least proximal movement of the proximal member may comprise a curved member, wherein said rotating means comprises means adapted to detour the side of the tool roll rotation axis of the control knob and the handle disposed near the between a side of the bendable member; the control handle may comprise a pistol-grip type handle, having a pistol grip type handle to facilitate retaining engagement of said horn handle; rotation means may comprise disposed on the a knob at the distal end of the handle, and the horn is disposed proximally to the knob and located on the pistol-grip type handle; preferably, the surgical instrument further includes an actuation lever, which the proximal end of the handle at a pivot point supported on the pistol-grip type handle; the actuating lever has a free end with a ring finger, the ring finger for receiving the user's hand 以控制所述杆；优选地，所述外科器械还包括工具致动缆线、滑动件和致动杆，所述工具致动缆线从所述工具延伸至所述手柄，所述滑动件用于抓持所述工具致动缆线的近端，并且所述致动杆支撑于所述手柄处以便控制所述滑动件的平移；优选地，所述外科器械还包括用于接纳所述滑动件的滑道、设置在所述滑动件中的一对弹簧以及设置在所述弹簧之间且用于保持所述工具致动缆线的近端的旋转筒体；所述球窝装置可包括球构件，所述球构件具有与所述手柄中的凹形承窝相匹配的局部球形部；所述手柄可具有所述承窝形成在其内表面上的远侧套环，并且所述束带构件可包括绕所述远侧套环设置的环形束带圈；优选地，所述外科器械还包括位于所述束带圈与所述套环之间的凸舌和沟槽互连装置，以便允许在所述束带圈与所述套环之间进行旋转同时阻 To control the lever; Preferably, the surgical instrument further comprising a tool actuation cable, slider and actuating lever, the tool actuation cable extending from the handle to the tool, with the slider to grip the proximal end of the holding tool actuation cable and the actuating rod is supported on the handle for controlling the translation of said slide member; preferably, the surgical instrument further includes means for slidably receiving the slide member is provided in the slide member of the pair and a spring disposed between said spring and said means for holding the proximal end of the actuator cable of the rotating cylinder; said ball and socket means may comprise ball member, said ball member having a part-spherical concave socket portion matches said handle; said handle having a distal collar at the socket is formed on its inner surface, and the beam band member may include a jacket around the distal annular band disposed rings; preferably, the surgical instrument further comprises a tongue and groove interconnection means between said ring and said collar band, so as to allow simultaneous rotation resistance between the ring and the collar band 止轴向移动；优选地，所述外科器械还包括位于所述束带圈上的、具有相对的锁定位置和解锁位置的枢转件；以及优选地，所述远侧套环具有一个或多个狭槽，使得在所述束带圈锁定时所述承窝能够绕所述球构件收缩。 Stop axial movement; Preferably, the surgical instrument further comprises a ring located on the band, has a pivot member opposite to the unlocking position and the locking position; and preferably, the collar having a distal or slots, such that when the cinch ring locking the socket around the ball member can be contracted.
 根据本发明的另一个特征，提供了一种外科器械，包括：器械轴，其具有近端和远端；工具，其设置于所述器械轴的远端；控制手柄，其设置于所述器械轴的近端；远侧运动构件，其用于将所述器械轴的远端联接至所述工具；近侧运动构件，其用于将所述器械轴的近端联接至所述手柄；致动装置，其在所述远侧运动构件与所述近侧运动构件之间延伸，用于将所述近侧运动构件的运动联动至所述远侧运动构件以便控制所述工具的定位；所述控制手柄包括手枪握把式手柄；致动杆，其用于控制所述工具并枢转地支撑于所述手柄；以及调节构件，其安装在所述杆上以便调节所述致动杆相对于所述手柄的中心平面的姿势或角度。  According to another feature of the present invention, there is provided a surgical instrument comprising: an instrument shaft having proximal and distal ends; tool provided at the distal end of the instrument shaft; control handle, which is disposed in the proximal end of the instrument shaft; distally means for coupling the distal end of the instrument shaft to said tool; proximal movement means for coupling the proximal end of the instrument shaft to the a handle; actuation means extending between the proximal member and the distal movement of the movement member for moving said moving member proximal to the distal linkage member for controlling movement of the tool positioning; the control handle comprises a pistol-grip type handle; actuation lever, and means for controlling said pivotally supported to the handle; and an adjusting member, mounted on the rod so as to adjust the actuator lever position or an angle with respect to the central plane of the handle.
 根据本发明的又一方面，提供了一种外科器械，其中，所述调节构件包括用于在正值与负值之间改变姿势或角度的调节杆；所述调节构件包括斜面垫圈装置；所述调节杆支撑于与用于所述致动杆的枢转支撑件相同的枢转支撑件；并且，所述外科器械进一步包括有助于保持所述手柄的接合角状件以及设置于所述手柄的远端处的旋钮，并且所述角状件设置成处于所述旋钮的近侧且位于所述手枪握把式手柄之上。  According to another aspect of the present invention, there is provided a surgical instrument, wherein the adjusting means comprises a lever for adjusting the position or changing the angle between positive and negative values; said regulating member comprises a bevel washer means; and the adjusting lever is supported on the pivot support member of the actuating rod for pivoting the same support; and, the surgical instrument further comprising a handle engagement helps maintain the horn and disposed the knob at the distal end of the handle, and the horn is disposed proximally to the knob and located on the pistol-grip type handle.  根据本发明的另一个特征，提供了一种医疗器械，其具有：近侧控制手柄和远侧工具，所述近侧控制手柄和所述远侧工具通过长形器械轴互相联接，所述器械轴用于穿过解剖体内部；近侧可移动构件和远侧可移动构件，所述近侧可移动构件和所述远侧可移动构件分别将所述近侧控制手柄和所述远侧工具与所述器械轴互相联接；缆线致动装置，其设置在所述可移动构件之间；所述控制手柄具有近端和远端；致动杆，其用于控制所述远侧工具；用于使所述致动杆在其一侧枢转地支撑于所述手柄的近端的装置；角状件以及用于使所述角状件在其相反侧固定地支撑于所述手柄的远端的装置。  According to another feature of the present invention, there is provided a medical device having: a proximal control handle and a distal tool, the proximal control handle and a distal tool through the elongate instrument shaft coupled to each other, the instrument shaft for passing through the interior anatomy; proximal and distal movable member movable member, the movable member proximal and distal, respectively, the movable member and the proximal control handle the instrument shaft distal tool coupled to each other; cable actuation means, which is disposed between the movable member; the control handle having proximal and distal ends; actuating lever, for controlling the far side of the tool; means for causing the rod at the proximal end thereof pivotally supported on one side of the actuating handle; for horn and the horn member on the opposite side to the fixedly supported the distal end of said handle means.
 根据本发明的其它方面，提供了一种医疗器械，其中，所述缆线致动装置包括一组致动缆线，所述缆线充分硬从而各条缆线在对所述工具的控制中能够进行拉拔动作或能够进行顶推动作；所述医疗器械还包括用于各条缆线的约束装置，以便在各条缆线在所述近侧可移动构件与所述远侧可移动构件之间延伸时大致地束缚各条缆线；并且，所述控制手柄包括手枪握把式手柄，并且所述致动杆包括安装在所述杆上的、用于调节所述致动杆相对于所述手柄的中心平面的姿势的调节构件。  According to another aspect of the present invention, there is provided a medical device, wherein said actuating means comprise a cable actuation cable set, the cable is sufficiently rigid so that the pieces of wire in the tool the control operation can be carried out or can be drawn for pushing the top; the medical device further comprises a restraining device each of cables, the cable so that the pieces of the proximal member and the distal movable in between the movable member substantially constrained pieces of cable extends; and, the control handle includes a pistol grip type handle, and mounting the actuating rod comprises in said rod, for adjusting the actuating regulating rod with respect to the posture of the handle member center plane.
 根据本发明的进一步特征，提供了一种医疗器械，该器械具有：近侧控制手柄和远侧工具，所述近侧控制手柄和所述远侧工具通过长形器械轴互相联接，所述器械轴用于穿过解剖体内部；近侧可移动构件和远侧可移动构件，所述近侧可移动构件和所述远侧可移动构件分别将所述近侧控制手柄和所述远侧工具与所述器械轴互相联接；缆线致动装置， 其设置在所述可移动构件之间，用于控制所述远侧工具的定位；以及用于沿其长度方向约束所述缆线装置使其能够进行拉拔动作和顶推动作的装置。  According to a further feature of the present invention, there is provided a medical instrument, the instrument comprising: a proximal control handle and a distal tool, the proximal control handle and a distal tool through the elongate instrument shaft coupled to each other, the instrument shaft for passing through the interior anatomy; proximal and distal movable member movable member, the movable member proximal and distal, respectively, the movable member and the proximal control handle the instrument shaft distal tool coupled to each other; cable actuation means, which is disposed between the movable member for controlling the positioning of the distal tool; and a direction along the length of the cable constraint It means that it can perform the line drawing operation, and means for pushing the top.
 根据本发明的进一步方面，提供了一种医疗器械，其中，所述缆线装置沿着其大致整个长度方向受约束；并且，所述约束装置包括绕所述缆线装置设置在所述器械轴中的轴填充件。  According to a further aspect of the present invention, there is provided a medical device, wherein said cable means constrained along substantially the entire longitudinal direction thereof; and wherein said restraining means comprises means disposed around the said cable said shaft member is filled in the instrument shaft.
 根据本发明的另一个特征，提供了一种医疗器械，该器械具有：近侧控制手柄和远侧工具，所述近侧控制手柄和所述远侧工具通过长形器械轴互相联接，所述器械轴用于穿过解剖体内部；近侧可移动构件和远侧可移动构件，所述近侧可移动构件和所述远侧可移动构件分别将所述近侧控制手柄和所述远侧工具与所述器械轴互相联接；缆线致动装置， 其设置在所述可移动构件之间，用于控制所述远侧工具的定位；以及具有锁定位置和解锁位置的锁定机构，其绕所述近侧可移动构件设置并且受到手动控制以便在其所述锁定位置中固定近侧可移动构件相对于所述手柄的位置。  According to another feature of the present invention, there is provided a medical instrument, the instrument comprising: a proximal control handle and a distal tool, the proximal control handle and a distal tool through the elongate instrument shaft coupled to each other the instrument shaft for passing through the interior anatomy; proximal and distal movable member movable member, the movable member proximal and distal, respectively, the movable member and the proximal control handle said distal tool with the instrument shaft is coupled to each other; cable actuation means, which is disposed between the movable member for controlling the positioning of the distal tool; and a locking mechanism having a locked position and an unlocked position , about which said movable member is disposed proximal and proximally by a manual control so as to fix said movable in its locked position relative to the position of the handle member.
 根据本发明的其它方面，提供了一种医疗器械，其中，所述锁定机构包括球构件以及限定承窝构件的可压缩毂；所述毂是拼合毂，并且所述锁定机构进一步包括绕所述拼合毂设置的束带圈以及安装在所述束带圈上的、用于使所述束带圈绕所述拼合毂闭合以将所述毂锁定在所述球构件上的锁定杆；当处于所述解锁位置时所述束带圈与所述毂互锁但是能够相对于所述毂旋转；并且，所述医疗器械还包括邻近所述近侧可移动构件、用于控制所述远侧可移动构件和所述工具的方位的旋转控制构件。  According to another aspect of the present invention, there is provided a medical device, wherein said locking mechanism includes a ball member and a socket member defining a hub of a compressible; split hub is the hub, and the locking mechanism further comprises the split ring band around a hub provided on the strap and the mounting ring, the cinch ring for the split hub about said hub close to the ball member is locked on the locking lever ; when in the unlocked position of the cinch ring with the hub but can interlock with respect to rotation of the hub; and wherein the medical device further comprises a movable member adjacent to the proximal, for controlling the rotation control member distal member and the orientation of the moving tool.
 图15是文中所示的器械的示意性立体图。  FIG. 15 is a schematic perspective view of the instrument shown herein.
 本发明的器械可用来执行微创程序。 Devices  The present invention may be used to perform minimally invasive procedures. 这里“微创程序”指的是外科医生经小缺口或切口来操作的外科程序，小切口用于进入到手术部位。 Here, "minimally invasive procedure" refers to a surgical procedure the surgeon through a small incision or notch operation, a small incision into the surgical site. 在一种实施方式中，切口长度范围从直径1毫米至20毫米，优选从直径5毫米至10毫米。 In one embodiment, the incision length ranging from 1 mm diameter to 20 mm, preferably from 5 to 10 mm in diameter. 这种程序与需要大缺口以进入到手术部位的那些程序形成对比。 This procedure requires a large gap with the routine proceeds to that in contrast to the surgical site. 所以，优选地使用挠性器械以便经这种小切口和/或经自然身体管腔或空腔插入，从而针对特定外科或医疗程序将器械定位在内部目标部位。 Therefore, preferably via a flexible instrument for such small incisions and / or body lumen or cavity inserted through natural, so for a particular surgical or medical procedure the instrument is positioned within the target site. 将外科器械引入解剖组织中也可通过经皮或外科进入管腔、脉管或空腔的方式进行，或者通过经解剖组织中的自然孔口引入的方式进行。 The surgical instrument may also be introduced into the anatomy of the vessel or cavity mode is performed by percutaneous or surgical access lumen, or by way of introduction through a natural orifice in the anatomy.
 除了用在腹腔镜程序中之外，本发明的器械可用在多种其它医疗或外科程序中， 包括但不局限于结肠镜、上胃肠道、关节镜、窦、胸腔、前列腺、经阴道、整形外科和心脏程序。  except that in addition to laparoscopic procedures, the instrument of the present invention can be used in various other medical or surgical procedure, including, but not limited to, colonoscopy, upper gastrointestinal tract, arthroscopic, sinus, chest, prostate, transvaginal, orthopedic and cardiac procedures. 取决于特定程序，器械轴可以是刚性的、半刚性的或挠性的。 Depending on the particular procedure, the instrument shaft may be rigid, semi-rigid or flexible.
 虽然这里参照的是“外科器械”，但是可以预期本发明的原理也适用于其它医疗器械，而不必用于外科，包括但不局限于诸如导管等其它器具以及诊断及治疗器械和器具。  Although reference is made herein "surgical instrument", it is contemplated that the principles of the present invention is also applicable to other medical devices, and not necessarily for surgery, including but not limited to, such as other appliances and instruments and appliances diagnosis and treatment of catheter .
 在本发明的器械中包括有许多独特特性。  In the device of the invention comprises a number of unique features. 例如，设有使用球窝装置来构造的锁定机构，该球窝装置绕进行弯曲动作的近侧运动构件设置，其中用环形束带圈将球窝装置夹持在固定的特定位置，从而也将近侧可弯曲构件和远侧可弯曲构件维持在特定的弯曲状态，或者换句话说，被锁定在该位置。 For example, using a ball and socket arrangement with a locking mechanism configured to, about the ball and socket arrangement for proximal movement of the bending operation member is provided, wherein the annular band with the ball and socket means for holding the ring in a fixed particular position, thus nearly side member and bendable distal bendable member is maintained at a certain bending state, or in other words, is locked in this position. 束带圈包括锁定杆，该锁定杆方便地邻近器械手柄定位，而且易于操纵以锁定和解锁束带圈，进而锁定和解锁末端执行器的位置。 The cinch ring includes a locking lever, the locking lever conveniently positioned adjacent the instrument stem, easy to handle and to lock and unlock the cinch ring, and further locked and unlocked positions of the end effector. 束带圈优选地还能够旋转以使得锁定杆能够方便定位或者能够在左手用户和右手用户之间切换（旋转）。 Preferably, the cinch ring can also be rotated so that the locking lever can be easily positioned or can be switched (rotated) between right-handed and left-handed users user. 该锁定控制允许外科医生执行有些任务时需关注的自由度少一个。 This lock control allows the surgeon to be concerned about the degree of freedom when performing some tasks a little. 通过在特定位置锁定可弯曲部分，这使得外科医生更能够腾出手来控制器械的其它自由度，诸如操纵旋钮进而控制末端执行器的方位。 By the locking portion may be bent at a specific location, which makes it possible to make the surgeon more freedom hand to control other instruments, such as the operating knob in turn controls the orientation of the end effector.
 本发明的另一个特征涉及进行弯曲的方式。  Another feature of the present invention relates to a curved manner. 过去，用较小直径的挠性缆线来控制近侧可弯曲构件与远侧可弯曲构件之间的弯曲。 In the past, flexible cable with a smaller diameter of the proximal bendable member to control the bend of between distal member. 然而，这会导致略微不均勻的控制，因为只有通过一条缆线来进行的“拉拔”动作，而同时相对的缆线会松弛。 However, this may result in a slightly uneven control, as "drawing" action is performed only by a cable, while the cable will be relatively relaxed. 本发明使用更具刚性的缆线装置，使得在“拉拔”动作和反向的“顶推”动作下都能够发生弯曲。 The present invention uses a stiffer cable means, so that in the "drawing" action and reverse "push" action can be bent. 为了做到这一点， 缆线的直径要较大并且有些刚性，但是还必须具备足够的挠性，使得它们易于弯曲。 To do this, the diameter of the cable to be large and somewhat rigid, but must also have sufficient flexibility, so that they are easy to bend. 同时， 缆线在沿其长度方向上受到约束以便防止缆线偏转或翘曲，尤其是在对缆线进行“顶推”阶段。 Meanwhile, in the cable being constrained along its length so as to prevent warping or deflection cables, especially cables where the "push" phase.
 还有一个特征是手枪握把式手柄装置和控制杆，该控制杆具有端部万向节结构， 该结构更精确地控制致动杆并提供末端执行器的相应致动。  wherein there is a pistol grip type handle means and a lever, the lever having an end portion of the gimbal structure, the structure is more precisely control the actuating rod and provide a corresponding end effector actuation. 同时根据本发明的控制杆设有对控制杆的姿势进行控制的装置以补偿不同的手部构形，尤其是补偿用户手指的不同长度。 While the device is provided with a lever for controlling the posture to compensate for different hand lever configurations according to the present invention, in particular different lengths to compensate the user's finger.
 图1是本发明的外科器械10的一种实施方式的立体图。  FIG. 1 is a perspective view of one embodiment of a surgical instrument 10 of the present invention. 在该外科器械中，工具和手柄运动构件或可弯曲构件都能够沿任意方向弯曲。 In the surgical instrument, movement of the handle member and the tool or the bending member can be bent in any direction. 它们经由缆线（优选为四个缆线）互相连接，使得近端构件处的弯曲动作提供了远端构件处的相关弯曲。 They cables (preferably four cables) connected to each other via a bending operation member such that the proximal end of the distal end member provided at the associated bend. 近侧弯曲由器械用户所进行的控制手柄的动作或偏转来控制。 A control handle proximal the bending performed by the action of a user or device to control yaw. 换句话说，外科医生握持手柄，一旦该器械就位， 手柄处的任何运动（偏转）就直接控制近侧可弯曲构件，近侧可弯曲构件进而经由缆线控制远侧可弯曲构件处的相应弯曲或偏转。 In other words, the surgeon holds the handle, once the instrument is in place, any movement (deflection) of the handle at the proximal bendable directly control member, the proximal bendable member in turn via a cable control member at the distal bendable respective bending or deflection. 该动作进而控制远侧工具的定位。 This operation in turn control the positioning of the distal tool.
 近端构件优选通常大于远端构件以便提供增强的人机控制。  The proximal end of the member is preferably generally larger than the distal member in order to provide enhanced ergonomics. 在所示实施方式中， 近侧可弯曲构件与远侧可弯曲构件的直径比可以在三比一左右。 In the illustrated embodiment, the proximal and distal bendable member diameter than the bendable member may be about three to one. 在根据本发明的一种方案中，可以提供远侧可弯曲构件沿与近侧可弯曲构件相同的方向弯曲的弯曲动作。 In one embodiment according to the present invention, the distal bendable member may be provided along the proximal bendable direction of the bending member of the same bending operation. 在可替代实施方式中，可弯曲、可转动或挠性构件可被布置为通过使致动缆线旋转达180度而沿相反方向弯曲，或者可被控制为沿实际上任意其它方向弯曲，取决于缆线的远端支撑点与近端支撑点之间的关系。 In an alternative embodiment, the bendable, flexible or rotatable member may be arranged by rotation of the actuation cable 180 is bent in the opposite direction, or may be controlled to be actually bent along any other direction, depending the relationship between the distal and proximal end of the anchor cable support point.
 如已指出的，产生于远侧弯曲构件处的弯曲动作量由近侧可弯曲构件的尺寸与远侧可弯曲构件的尺寸对比决定。  As already indicated, is generated in the bending action amount of the bending member at the proximal-distal dimension of the distal bendable member bendable member size comparison decision. 在所述实施方式中，近侧可弯曲构件通常大于远侧可弯曲构件，结果，在远侧可弯曲构件处产生的运动幅度大于近侧可弯曲构件处的运动幅度。 In the embodiment, the proximal bendable member is generally greater than the distal bendable member, results in the distal bendable member amplitude of motion generated at the amplitude is greater than the proximal member at a bending motion. 近侧可弯曲构件能够沿任意方向（大约360度）弯曲，从而控制远侧可弯曲构件以沿相同或相反方向但同时又在同一平面内弯曲。 The proximal member can be bendable (about 360 degrees) is bent in any direction, thereby controlling the distal bendable member in the same or opposite directions but at the same time in the same bending plane. 而且，如图1所示，外科医生能够仅仅通过绕旋转方向Rl滚动轴向旋钮而使器械的工具绕其纵向轴线T弯曲和滚动至任意方位。 Further, as shown, the surgeon can axially scroll knob Rl 1 only by the instrument about the tool rotation direction T about its longitudinal axis and bent scroll to an arbitrary position.
 在该描述中参照的是可弯曲构件。  In this description, reference is made bendable member. 这些构件也可称为可转动构件，可弯曲部分或挠性构件。 These components may also be referred to as a rotatable member, or the flexible member may be bent portion. 在文中所给出的该描述中，诸如“可弯曲部分”、“可弯曲节段”、“可弯曲构件”或“可转动构件”等术语指的是这样的器械元件，该元件与在接合点处枢转的元件对比能够以可控制方式弯曲。 The description herein given, such as "flexible portion", a "curved section", "flexible member" or "rotatable member" and the like terms refer to such a mechanical device, the elements in engagement Comparative pivot element at a point can be bent in a controlled manner. 术语“可移动构件”被当作可弯曲部分和接合点的总称。 The term "movable member" is used as a generic term and may be curved portion joining points. 本发明的可弯器元件使得能够制造出这样的器械，该器械能够沿任意方向弯曲而没有任何奇异性，该器械的特征还在于沿任意方向弯曲的备用能力，所有均优选地采用单一的一体或单体结构。 Bendable elements of the present invention makes it possible to manufacture such instruments, the instrument can be bent in any direction without any odd anisotropy, characterized in that the instrument is bent in any direction spare capacity, all of which are preferably a single integral or a monomer structure. “一体”或“单体”结构的定义是一仅仅由单一的整体构件构成的结构，而不是由多个组装或匹配部件形成的结构。 Definition of the structure of "one" or "monomer" is a configuration consisting only of a single integral member, rather than the structure formed by assembling a plurality of parts or matching.
 这些可弯曲构件的定义是——一种器械元件，其形成为控制装置或受控装置，也就是能够受到张力或压缩力的约束而从直线偏转至曲线构形而没有任何锐断点或奇异点。  These definitions are bendable member - one kind of mechanical device, which is formed as a control device or a controlled device that is capable of binding under tension or compression being deflected from a straight line to the curved configuration without any sharp break point or singular point. 可弯曲构件可以采用如文中图1和2所示的一体结构形式，可以由可接合盘等构成，可以包括波纹装置或可以包括可移动环组件。 Bendable member may take the form of integrated structure shown in FIG. 1 and FIG. 2 as described herein, may be constituted by a splice tray and the like, or may comprise a corrugated means may comprise a movable ring assembly. 对于其它形式的可弯曲构件请参照共同待审的2006年8月16日提交的序号为No. 11/505，003的申请和2006年9月19日提交的序号为No. 11/505,003的申请，在此这两个申请以引用方式全部并入本申请中。 Reference for other forms of bendable members refer to co-pending Serial No., filed August 16, 2006 to 2006, and Application No. 19 September 11 / 505,003 filed of application No. 11 / 505,003 of in this manner both applications fully incorporated by reference herein.
 图1示出了本发明的器械的优选实施方式。  FIG. 1 shows a preferred embodiment of the apparatus of the present invention. 在图2至15中示出了进一步细节。 In FIGS. 2 to 15 illustrate further details. 图1示出了就位的外科器械10，如同外科手术期间会发生的那样。 Figure 1 shows a surgical instrument 10 in place, as may occur during a surgical procedure that. 例如，器械可以经腹壁用于腹腔镜外科手术，该腹壁如图1中以附图标记4所示。 For example, the instrument can be used for laparoscopic surgery through the abdominal wall, abdominal wall as shown in the reference numerals 1 to 4 in FIG. 为此，设有插入部位，在该部位处设置有插管或套针6。 To this end, it provided with an insertion portion is provided with a cannula or trocar 6 at the site. 器械10的轴14适于穿过插管或套针6以便将器械的远端设置于手术部位。 Instrument 10 the shaft 14 is adapted to pass through a cannula or trocar 6 is provided to the distal end of the instrument in a surgical site. 在图1中出出末端执行器16处于这种手术部位，其中插管或套针6处于皮肤4上的切口点。 In Figure 1 an end effector 16 in such a surgical site, wherein the cannula or trocar incision 6 is 4 points on the skin. 图1中所示的器械的实施方式一般与护套98—起使用以阻止体液进入远侧弯曲构件20。 Embodiment 1 FIG instrument illustrated embodiment is generally used in the sheath to prevent fluid from entering the 98- distal member 20 is bent.
 对本发明的器械而言能够进行滚动运动。  The device of this invention, capable of rolling motion. 这能够依靠旋钮24相对于手柄12绕轴线T(参照图3)旋转而发生。 It is possible to rely on the knob 24 relative to handle 12 about the axis T (see FIG. 3) rotation occurs. 这在图1中由旋转箭头Rl表示。 This is indicated by rotation arrow Rl in Fig. 当旋钮24沿任一方向旋转时，这导致了器械轴14的相应旋转。 When the knob 24 in either direction of rotation, which results in a corresponding rotation of the instrument shaft 14. 这在图1中由旋转箭头R2示出。 This is shown by the rotational arrow R2 in FIG. 该相同的运动还导致远侧可弯曲构件和末端执行器16绕对应于器械尖端的轴线旋转，在图1和3中示出为绕着纵向尖端或工具轴线P。 The same movement also causes the distal bendable member and the end effector 16 about the axis of rotation corresponding to the tip of the instrument, in FIGS. 1 and 3 is shown to rotate about the longitudinal axis of the tool tip or P.
 在器械锁定时（或者解锁时）旋钮24的任何旋转都会使器械尖端维持于相同的角度位置，但是会使尖端（工具）的方位旋转。  When the device lock (or unlock) any rotation of the knob 24 will cause the instrument tip is maintained at the same angular position, but the orientation will tip (tool) to rotate. 对于尖端旋转特征的进一步说明请参照2005 年12月14日提交的共同待审的序号为No. 11/302，654的申请，尤其是图25-28，在此该申请以引用方式全部并入。 For further explanation of tip rotation feature, refer to co-pending Serial No., filed December 14, 2005 for Application No. 11 / 302,654, in particular 25-28, which application is herein incorporated by reference in its entirety .
 经由近侧可弯曲构件18，可以使手柄12相对于器械轴纵向中心轴线倾斜一定角度。  The curved member 18 via the proximal, handle 12 can be made with respect to the central longitudinal axis of the instrument shaft is inclined at an angle. 这种倾斜、偏转或弯曲可被当作是处在纸张的平面内。 This tilting, deflecting or bending may be used as is in the plane of the paper. 借助缆线装置，该动作会导致远侧可弯曲构件20相应地弯曲至一位置，在该位置中尖端定向为沿着轴线并与器械轴纵向中心轴线成相应角度。 By means of cable means, the action will result in the distal bendable member 20 corresponding to a bent position, the tip is oriented in this position the central longitudinal axis of the instrument shaft axis and along the respective angle. 近侧可弯曲构件18处的弯曲由外科医生借助手柄12通过沿基本上任意方向操纵手柄来进行控制，所述任意方向包括图1中的纸张平面之内和之外。 Curved bend 18 proximal member 12 in a substantially be controlled by the joystick in any direction by means of the handle by the surgeon, the arbitrary direction in FIG. 1 comprises an inner plane of the paper and outside. 该操纵直接控制近侧可弯曲构件处的弯曲。 The direct control manipulation member proximal bendable at bent. 参照图3，图中示出了对应于器械轴纵向轴线的轴线U。 Referring to Figure 3, there is shown a corresponding longitudinal axis of the instrument shaft axis U. 另外，参照轴线T与U之间的近侧弯曲角度Bl以及轴线U与P之间的相应的远侧弯曲角度Β2。 Further, referring to the proximal bend angle and the respective distal Bl Β2 bending angle between the axis between the axis P and U T and U.
 因此，手柄处的控制用来在近侧运动构件处弯曲器械，进而控制远侧运动构件和工具的定位。  Thus, in the control handle at the proximal movement member to bend at the instrument, and thus the control member and positioned distally of the tool. 工具的“位置”主要由这种弯曲或运动动作决定，而且可以被当作远侧运动构件的远端处的坐标位置。 "Position" is determined primarily by the tool or the bending movement of such actions, and can be used as a coordinate position at the distal movement of the distal end member. 实际上，可以考虑近侧运动构件和远侧运动构件处以及器械尖端处的坐标轴。 In fact, the movement may be considered a proximal member and a distal axis and the moving member at the tip of the instrument. 该定位处在三维空间。 The positioning in 3D space. 当然，器械定位还在一定程度上受到外科医生在切口点（套管6)处枢转器械的能力的控制。 Of course, the instrument is positioned by the surgeon also control the rotation of the pivot point of the instrument at the incision (sleeve 6) to some extent. 另一方面，工具的“方位”涉及工具借助近端旋转控制构件绕所示远端尖端或工具轴线P的旋转定位。 On the other hand, "position" relates to a tool by tool rotation control member shown around the proximal tip or the distal rotational axis P of the positioning tool.  在附图中，示出了一组钳口，然而，其它工具或器件可以容易地适于与本发明的器械一起使用。  In the drawings, there is shown a set of jaws, however, other tools or devices may be readily adapted for use with the device of the present invention. 这些其它工具或器件包括但不局限于摄像机、检测器、光学器件、观测装置、流体输送器件、注射器等。 These other tools or devices including, but not limited to, cameras, detectors, optics, observation apparatus, a fluid delivery device, a syringe or the like. 工具可包括诸如钳口、剪刀、握持器、持针器、微型解剖器、卡钉施用器、缝线器、抽吸冲洗工具和夹子施用器等多种铰接工具。 It may include a tool such as jaws, scissors grip, a needle, micro-dissectors, staple applicator, a suture, a suction irrigation tools, and clip applicator tools other hinge. 此外，工具可包括诸如切割刀片、 探针、冲洗器、导管或抽吸孔口等非铰接工具。 Moreover, such tools may include a cutting blade, probes, irrigators, catheters or suction orifices and other non-articulated tool.
 图1的外科器械示出了使用中的根据本发明的外科器械10的优选实施方式，该外科器械可以经插入部位处的穿过患者皮肤的插管插入。 The surgical instrument  FIG. 1 shows a preferred embodiment of the surgical instrument 10 of the invention in use, the surgical instrument through the cannula can be inserted through the patient's skin at the insertion site. 这里所示的许多部件，诸如器械轴14、末端执行器16、远侧弯曲构件20和近侧弯曲构件18等，可类似于在2005年7月20日提交的共同待审的序号为No. 11/185,911的美国申请中描述的器械部件，而且以与之相同的方式相互作用，在此该申请以引用方式全部并入本申请中。 Many of the components shown here, such as the instrument shaft 14, end effector 16, the distal bending the bending member 20 and a proximal member 18 and the like, may be similar in the number of co-pending, filed July 20, 2005 as No. U.S. instrument member application No. 11 / 185,911 is described in the same manner and to interact therewith, which application is herein incorporated by reference in its entirety herein. 文中所示的许多其它部件， 尤其是器械手柄端部处的部件，可类似于在2006年9月27日提交的共同待审的序号为No. 11/528，134的美国申请中描述的部件，在此该申请以引用方式全部并入本申请中。 Many other components shown herein, in particular a handle member at the end of the instrument, may be similar to member U.S. Application No. 11 / 528,134 described in co-pending serial number 2006, filed on September 27 , which application is herein incorporated by reference in its entirety herein. 同样以引用方式全部并入的还有2004年4月12日提交的序号为No. 10/822,081的美国申请； 2005年10月3日提交的序号为No. 11/242，642的美国申请和2005年12月14日提交的序号为No. 11/302,654的美国申请，所有这些申请共同归本受让人所有。 Also fully incorporated by reference as well as the serial number of 2004 April 12 filed US Application No. 10 / 822,081; and No. 2005, October 3 filed US Application No. 11 / 242,642 and No. 2005, December 14 filed US application No. 11 / 302,654, all of which apply jointly owned by the assignee.
 如图3-8所示，近侧可弯曲构件18与远侧可弯曲构件20之间的控制借助于弯曲控制缆线100来提供。  shown in Figure 3-8, the proximal and distal bendable member 18 may be bent between the control member 20 by means of the bending of the control cable 100 is provided. 在所示实施方式中，设置有四条这样的控制缆线100，以便提供期望的全方向弯曲。 In the illustrated embodiment, there are provided four such control cable 100, in order to provide desired bending omnidirectional. 然而，在本发明的其它实施方式中，可以使用更少或更小数量的弯曲控制缆线。 However, in other embodiments of the present invention may be fewer or smaller number of bending of the control cable. 弯曲控制缆线100延伸穿过器械轴14，并穿过近侧可弯曲构件和远侧可弯曲构件，如图3和4所示。 Bend control cable 100 extends through the instrument shaft 14, and through the proximal and distal bendable member bendable member, as shown in Figures 3 and 4. 弯曲控制缆线100沿着其大致整个长度方向受约束，以便有助于如下文进一步详细描述地进行如本发明一个方面所述的“顶推”和“拉拔”动作。 Bend control cable 100 which is constrained along substantially the entire longitudinal direction, as described in further detail to facilitate performed as described aspect of the invention is a "push" and "pull" action. 缆线100还在经过近侧可弯曲构件的锥形缆线引导部19以及穿过近侧可弯曲构件时受约束。 Cable 100 is also tapered cable guide portion through the proximal bendable member 19 and bound through the proximal bendable member. 例如，参照图7 禾口8。 For example, referring to FIG. 7 opening 8 Wo.
 本发明的锁定装置与新颖的球窝装置相互作用以对缆线的定位进行锁定和解锁， 缆线进而控制近侧弯曲构件的角度以及远侧可弯曲构件和末端执行器的角度。 Lock  The present invention is a novel apparatus and ball positioning means interact to lock and unlock the cable, the cable in turn controls the angle of the proximal member and the bending member and the distal end bending angle. 该锁定控制允许外科医生在执行某些任务时要关注的自由度少一个。 This lock control allows the surgeon the freedom to perform certain tasks to pay attention to a few. 通过将可弯曲部分锁定于特定位置，通过在特定位置锁定可弯曲部分，这使得外科医生能够腾出更多的手以便控制器械的其它自由度，比如旋钮24的操纵进而末端执行器的方位等。 By locking the bendable portion in a particular position, by the locking portion may be bent at a particular position, which enables the surgeon to make more of the other degrees of freedom to control the hand instrument, such as the orientation of the end effector further manipulation of the knob 24 and the like .
 图1中所示的器械是手枪握把式。 Instrument shown in  FIG. 1 is a pistol grip style. 然而，本发明的原理也可适用于其它形式的手柄，比如直线手柄等。 However, the principles of the present invention is also applicable to other forms of handles, such as handles and other straight. 在图3中，示出了钳口夹紧装置30，其主要包括杆22，该杆22具有用于控制该杆的单指孔，还包括由杆22而不是由单独的释放按钮直接控制的相关释放功能件。 In Figure 3, shows a jaw clamping means 30, which comprises a main lever 22, the lever 22 having a single finger hole for controlling the rod, further comprising not directly controlled by a rod 22 by a separate release button related to the release of functional parts. 释放功能件用来释放被致动或闭合的工具，并且下文将对其进行进一步详细讨论。 Release means for releasing the functional element is actuated or closed, and as will be discussed in further detail.
 在所示器械中，该器械的手柄端部可以沿任意方向偏斜，因为近侧可弯曲构件构造和布置为能够进行完全360度弯曲。  In the apparatus shown, the handle end of the instrument can be deflected in any direction, since the proximal bendable member constructed and arranged to be capable of a full 360-degree bend. 手柄相对于器械轴的这种移动使器械在近侧可弯曲构件18处弯曲。 This movement of the handle relative to the instrument shaft so that the instrument in the proximal bendable member 18 bends. 该动作进而经由弯曲控制缆线100而使远侧可弯曲构件沿相同方向弯曲。 This action in turn via a control cable 100 bending the distal bendable member is bent in the same direction. 如前所述，通过旋转或扭转控制缆线从其一端至另一端达180度，则能够利用相反方向的弯曲。 As described above, by rotating or twisting the control cable from one end to the other end 180 degrees, it is possible to use curved in the opposite direction. 参照图15的示意性立体图，可看到用在所示器械中的直线型缆线装置的图示。 Referring to a schematic perspective view of FIG. 15, for use in the device illustrated may be seen illustrated in linear cable arrangement.
 在文中所述实施方式中，手柄12采用手枪握把形式，且包括有助于在外科医生的手的动作与器械之间实现舒适接触的角状件13。  In the embodiment described herein, the pistol grip handle 12 using the form, and includes a horn contribute to the comfort of the contact 13 between the operation of the instrument the surgeon's hand. 图1-3中示出工具致动杆22枢转地附接于手柄基部。 1-3 is shown in FIG tool actuation lever 22 is pivotally attached to the handle base. 杆22致动滑动件28，该滑动件28控制从滑动件延伸至器械远端的工具致动缆线38。 The actuating lever 22 of the slider 28, the slider 28 extending from the slider control means to the distal end of the instrument's actuating cable 38. 该缆线38控制钳口的打开和闭合，并且杆的不同位置控制施加于钳口的力。 The cable 38 controls opening and closing of the jaws, and different positions of the control lever force applied to the jaws.
 手柄的形状允许如图1所示地对器械进行舒适且大致单手的操作。  FIG shape of the handle allows the instruments are generally comfortable one-handed operation of FIG. 1. 如图1所示， 外科医生可以将手柄12抓握在他的手掌与中指之间，同时角状件13搁置在其拇指与食指之间的虎口处。 As shown in FIG. 1, the surgeon can grip the handle 12 with his hand between the middle finger, while the horn member 13 rests at the web space between the thumb and index finger. 这使食指和拇指得以释放和定位，以利用手指锯齿部31转动旋钮24，该手指锯齿部31设置在旋钮的外周表面上，如图11所示。 This allows the index finger and the thumb is released and positioned to serration portion 31 with the finger knob 24 is rotated, the finger serration portion 31 disposed on the outer circumferential surface of the knob, as shown in FIG. 在器械的锁定位置和解锁位置中，旋钮都能够进行受控旋转以控制器械尖端处的绕远侧工具尖端轴线P的轴向旋转，如图1中由旋转箭头R3所示。 In the locked position and an unlocked position in the instrument, the knob can be rotated to control the controlled axial rotation axis P detour tool tip side at the tip of the instrument, as shown in FIG 1 by the rotation arrow R3.
 在所公开的实施方式中，在工具闭合杆22处万向球27中设有指尖接合凹部23。  In the embodiment disclosed, the tool 22 at the closing lever 27 is provided with a universal ball fingertip engagement recess 23. 杆22的自由端部支撑具有通孔或凹部23的万向球27，该通孔或凹部23接纳用户的一个手指。 The free end of the support rod 22 having a through-hole or recess 2723 of the ball joint, the through-hole or recess 23 to receive a user's finger. 球27自由地在杆端部的三维空间中至少部分地旋转。 Ball 27 is free to rotate in three dimensions of the rod end portion at least partially. 外科医生可以将手柄抓握在手掌、无名指和小指之间，同时角状件13搁置在其拇指与食指之间的虎口处，而后可以如先前所述地操作旋钮24。 The surgeon can grip the handle between the palms, ring and little fingers, while the horn member 13 rests at the web space between the thumb and index finger, and then can operate the knob 24 previously described as. 接着，外科医生可以用食指或中指操作钳口夹紧杆22。 Next, the surgeon may jaw clamp rod 22 with the index finger or middle finger.
 万向节采用处于承窝中的球的形式，其中球27在承窝中自由旋转，并且承窝限定在杆的自由端部中。  The universal joint is in the form of a ball socket in which the ball 27 is free to rotate within the socket, and the socket portion defined in the free end of the rod. 在该实施方式中，不是具有完全贯穿球的孔或凹部23，而是优选地在球中设有盲孔。 In this embodiment, instead of having holes or recesses 23 extending completely through the ball, but is preferably provided with a blind hole in the ball. 在图5和6中示出了该盲孔。 In FIGS. 5 and 6 show the blind bore. 球在杆端部中自由旋转，因而球还能够对应于右手用户（图5)或左手用户（图6)旋转至交替位置。 Ball freely rotatable in the rod end portion, and thus can correspond to the ball is also right-handed user (FIG. 5) or a left-handed user (FIG. 6) is rotated to alternate positions. 盲孔（与通孔对比）使得用户能够更牢固地抓握杆，因而能够增强对杆动作的控制。 Blind holes (through holes comparative) enables a user to more firmly grasp the grip, it is possible to enhance the operation of the control lever.
 下面参照图2-4。  Referring to Figure 2-4. 在该器械中，远侧可弯曲构件20示出为没有保护套，以便示出远侧可弯曲构件20的一些细节。 In this device, the distal bendable member 20 is shown without the protective sleeve, in order to show some details of the distal bendable member 20. 远侧可弯曲构件包括其间限定有间隔狭槽112的间隔盘110。 The distal bendable member comprises a spacing therebetween defining spaced slots 112 of the disc 110. 在相邻盘之间可以以类似于序号为No. 11/185,911的前述美国申请中所述的方式连接有肋111。 Between adjacent discs may be similar to the foregoing U.S. Serial No. manner as described in Application No. 11 / 185,911 is connected to a rib 111.
 下面还参照图4A-4D，可看到器械的工具端部的进一步细节。  Referring now also to FIGS. 4A-4D, may be seen further details of the tool end portion of the instrument. 图4A示出处于完全打开位置的钳口。 4A shows the jaws in a fully open position. 图4B示出握持针的钳口。 4B shows the needle gripping jaws. 图4C示出完全闭合的钳口。 Figure 4C shows the fully closed jaws. 图4D是沿着图4C的线4D-4D截取的截面图。 FIG 4D is a sectional view taken along the line 4D-4D of FIG. 4C taken. 末端执行器16包括一对钳口44和46。 The end effector 16 includes a pair of jaws 44 and 46. 钳口44和46可用来握持针45或如图3所示的其它物件。 Jaws 44 and 46 may be used to grip the needle other items shown in FIG. 3 or 45. 上钳口44装配在下钳口46中的槽道47内。 The jaw assembly 44 in the lower jaw 46 a channel 47. 在钳口之间使用枢销48来实现两者间的旋转。 Between the jaws used to effect rotation of the pivot pin 48 between the two. 平移销42延伸穿过钳口46的狭槽50和钳口44 的狭槽52，并与远端缆线末端连接件40中的孔相接合。 Translation pin 42 extends through the slot 52 of the slot 50 and the jaw 46 of the jaw 44, and is connected to the distal end of the cable in the bore 40 engages. 连接件40紧固到钳口致动缆线38 的极远端，并且定位在钳口44的槽道内。 Connecting member 40 is fastened to the distal end of the jaw actuation cable poles 38 and positioned within the channel 44 of the jaws. 当杆22处于休息位置时，如图2所示，钳口完全打开。 When the lever 22 is in the rest position, shown in Figure 2, the jaws fully open. 在该位置中，销42处于使钳口维持在打开位置的较远侧位置。 In this position, the pin 42 is maintained in a more distal position the jaws in the open position. 当拉拔缆线38时，如图3中近侧所示，则销42移动至狭槽50和52的右侧，造成钳口44和46朝向闭合位置枢转。 When pull cable 38 when, as shown in FIG. 3 proximally, the pin 42 moves to the right slot 50 and 52, causing the jaws 44 and 46 are pivoted toward the closed position.
 图4A-4D还示出了钳口46的端壁或端板54。  Figures 4A-4D also shows the jaws 46 of the end wall or end plate 54. 远侧可弯曲构件20的一端顶靠着该端壁54。 Distal end of the bending member 20 against the top end wall 54. 构件20可通过合适的装置紧固到壁54。 Member 20 may be secured to the wall 54 by suitable means. 在一种实施方式中，器械的缆线装置张力自身使构件保持在一起。 In one embodiment, the instrument tension cable device itself so that members are held together. 在端壁54上设置有一对用于柔性控制缆线100的锚固件56和58。 The end wall 54 is provided with a pair of flexible control cable anchor for the 56 100 and 58. 图4D示出四条这种缆线100。 4D shows four such cable 100. 远侧可弯曲构件20的远端可设有用于接纳锚固件56和58的凹穴。 The distal end of the distal bendable member 20 may be provided with recesses for receiving the anchors 56 and 58. 锚固件56和58坚固地附接到端壁54。 Anchors 56 and 58 rigidly attached to the end wall 54. 还参照图15，可看到各条缆线100的相反端部处的缆线连接和缆线布设的图示。 Referring also to FIG. 15, illustrating a cable connection and can be seen at the end of the cable opposite to the pieces of cable 100 laid.
 如前所示，旋钮24在其近侧形成有毂25，该毂25支撑在从旋钮24向后延伸至滑动件28的中新导线管64上。  As indicated earlier, knob 24 is formed with a hub 25 at its proximal, the hub 25 is supported on the knob 24 extends rearwardly from the new conductor to the slide member 28 of the tube 64. e型环65以相对于导管64的旋转关系夹持毂25。 e-ring 65 in rotational relationship relative to the catheter 64 of the hub 25 gripping. 导管64通过手柄12的内部装置支撑在固定位置。 Conduit 64 is supported in a fixed position inside the apparatus by the handle 12. 通过拼合毂202与手柄远端之间的间隙232能够容易地接近旋钮24。 Split by a gap between the hub 202 and distal end 232 of the handle knob 24 can be easily accessed. 在图7中可看到间隙232。 In Figure 7 the gap 232 can be seen. 旋钮24具有四个钥匙孔状狭槽103 (图11)， 所述狭槽103与终端线卷102A-102D相匹配，与缆线相对于旋钮处于弹簧加载式“拉拔”关系的过去方案对比，当使手柄相对于轴弯曲时，所述终端线卷102A-102D能够在缆线100上产生“推拉”作用。 Knob 24 has four keyhole-shaped slots 103 (FIG. 11), the slot 103 and the coil terminals 102A-102D to match, with respect to the knob is in contrast with the cable spring loaded "pull" relationship past programs when the handle is bent relative to the shaft, the terminal wire coil 102A-102D is capable of generating "push-pull" effect on the cable 100. 由于这种“推拉”动作，所以不使用与各条缆线相关联的偏置弹簧。 Because of this "push-pull" operation, bias spring is not used and the pieces of associated cables.
 如前所示，末端执行器或工具16借助于钳口致动机构或钳口夹紧装置30来致动， 钳口致动机构或钳口夹紧装置30主要包括长形杆22。  As previously indicated, the end effector or tool 16 by means of a jaw or jaw actuating mechanism to actuate the clamping device 30, jaw or jaw actuating mechanism comprises a clamping device 30 mainly elongated rod 22 . 该杆22在杆枢销72处支撑于外壳。 The rod 22 is supported in the housing 72 at the lever pivot pin. 参照图2和3，杆22相对于手柄12的闭合对滑动件28发生作用，该滑动件28用来抓持致动缆线38的极近端。 Referring to FIGS. 2 and 3, the rod 22 relative to the closure of the handle 12 takes place on the slider 28, the slider 28 is actuated to grip the proximal end 38 of the electrode cable. 当滑动件28处于图2中所示的位置时，可看到末端执行器的钳口完全打开。 When the slider 28 in the position shown in FIG. 2, the end effector can be seen that the jaws fully open. 在该位置中，滑动件28置于滑道84的较远端。 In this position, the slide member 28 is placed more distal chute 84. 滑道84是手柄12中的内部支撑装置的一部分。 84 is a part of the inner support slide means of a handle 12. 当滑动件28向近侧移动时，如图3所示，则钳口朝向握持针45的闭合位置移动。 When the slider 28 moves proximally, as shown in FIG. 3, the gripping jaws toward the closed position, the needle 45 moves.
 器械轴14包括可由轻质金属材料构成或可以是塑料材料的外轴管32。  The instrument shaft 14 may comprise a lightweight metal material or may be a plastic material outer shaft tube 32. 参见图9 中的穿过器械轴截取的截面图。 Referring to FIG. 9 a sectional view through the instrument shaft taken. 管32的近端由转接件26接纳，如图7和8所示。 The proximal end of tube 32 is received by the adapter 26, shown in Figures 7 and 8. 管32的远端紧固到远侧可弯曲构件20。 Tube 32 is secured to the distal end of the distal member 20 may be bent. 在外轴管32内设有优选由塑料材料构成的支撑管34。 The outer shaft tube 32 is preferably equipped with a support made of a plastics material pipe 34. 管34在远侧可弯曲或挠性构件20与近侧可弯曲或挠性构件18之间延伸。 Tube 34 may be curved or flexible distal member 20 and proximal bendable or flexible member 18 extends between. 钳口致动缆线38 在该支撑管34内延伸。 Jaw actuation cable 38 extends within the support tube 34.
 本发明的一个特征是缆线设计，该设计使用的是相对较硬而又能够弯曲的弯曲控制缆线。  One feature of the present invention is that the cable design that is used is relatively stiff yet bendable bend control cable. 较硬的缆线不仅允许其进行“拉拔”动作而且允许其进行“顶推”动作。 The harder the cable not only allow it to "pull" operation and allows it to "push" action. 这使得能够经由缆线装置而使控制得以增强，因为不仅在“拉拔”缆线时而且在“顶推”缆线时都可提供控制。 This makes it possible to control the apparatus via a cable be enhanced, since not only the "pull" and in the "push" cable can provide control cable. 这使得经由缆线而可实现更一致的控制。 This can be achieved via a cable so that more consistent control. 为了不仅能够进行“拉拔”动作而且能够进行“顶推”动作，缆线100支撑在相对较窄的管腔或通路中以防止在被顶推时发生翘曲。 In order not only to a "pulling" operation and can be "push" operation, the cable 100 is supported in a relatively narrow passage or lumen to prevent warping when being pushed. 除了其它因素以外，这方面通过设置轴填充件36来促成。 Among other factors, this connection is provided by the shaft member 36 to facilitate filling. 为使能够进行特别是“顶推” 动作，缆线被限制为使得其不会在器械自身内发生扭曲。 To make possible in particular the "pushing" operation, the cable is limited so that it does not occur to twist within the instrument itself.
 在管32与34之间设置有轴填充件36，轴填充件36用来在器械轴自身内将缆线保持就位。  34 between the tube 32 and the filler member 36 is provided with a shaft, the shaft member 36 to fill in the cable within the instrument shaft itself held in place. 如图9中可看到，轴填充件具有用于内轴支撑管34的中心管腔36A和容置缆线10且允许缆线100紧密滑动配合的四个纵向沟槽36B。 9 can be seen, the shaft member having a filler for the inner support shaft 36A and the central lumen 34 of the tube accommodating the cable 10 and the cable 100 allows the four longitudinal grooves in a close sliding fit 36B. 近侧弯曲构件18的锥形部19具有绕其外表面以90度间距设置的缆线引导沟槽106，引导沟槽106抓持与转接件26处于滑动关系的各条缆线。 The proximal tapered portion 19 has a curved member 18 about the outer surface 90 degree pitch cable guide groove 106, the guide groove 106 and the gripping member 26 is in the pieces of the adapter cable sliding relationship. 各个引导沟槽在锥形部19的单独的径向设置的翼状件108中形成。 Each guide groove formed in a separate wing members 108 disposed radially tapered portion 19. 转接件26还可设有用于缆线100的容置沟槽。 Adapter 26 may also be provided with a groove for receiving the cable 100. 还参照图10的截面图，可看到缆线引导和约束装置的图示。 Referring further cross-sectional view of FIG. 10, and illustrated can be seen that the guide cable restraint devices. 因而，缆线沿着其长度方向被约束在沟槽或通道中。 Thus, the cable is confined in a groove or channel along its length. 各条缆线优选仅仅短距离无支撑，比如图2和3中所示狭槽132的距离，或者如同远侧可弯曲构件处的狭槽。 Each of cables unsupported preferably only a short distance, such as from FIG. 2 and FIG. 3 in the slot 132, or as the distal member at the curved slot.
 钳口致动缆线38在末端执行器（连接件40)和旋转筒体66(见图3)处的其相应端部处终止。  jaw actuation cable 38 in the end effector (connecting member 40) and the rotating cylinder 66 (see FIG. 3) which terminates at the respective ends. 在各个可弯曲部分或可弯曲构件18和20内设有塑料管。 In each of the bendable portion 20 or 18 and equipped with a flexible plastic tube member. 这包括远端管60 和近端管62。 This tube includes a distal end 60 and proximal tube 62. 这些管均可以由诸如聚醚醚酮（PEEK)等塑料构成。 These tubes can be constituted by such as polyether ether ketone (PEEK) plastic. 管的材料充分硬以夹持缆线38，而又足够挠性从而其能够容易地与可弯曲构件18和20的弯曲一起弯曲。 Sufficiently hard material of the tube 38 to clamp the cable, but sufficiently flexible so that it can be easily bent together with the curved bendable member 18 and 20. 所述管具有充分的强度以接纳和引导缆线，而又足够挠性从而其不会纽结或扭曲，从而使缆线保持在启动的正确状态，同时还为缆线限定固定的长度。 The tube has a sufficient strength to receive and guide the cable, but sufficiently flexible so that it does not kink or distort, such that the cable is held in the correct starting state, but also to define a fixed cable length. 所述管在纵向具有刚性，而在侧向具有挠性。 Said tube having a longitudinal rigid, but laterally flexible.
 近侧可弯曲构件18，如同远侧可弯曲构件20，也可以构造为包括一组挠性盘130 的一体或单体开槽结构，在所述挠性盘130之间限定有狭槽132，如图2所示。  The proximal bendable member 18, as the distal bendable member 20 may be configured as a single or integral structure including a plurality of flexible slotted plate 130 defines a slot between the flexible disc 130 groove 132, as shown in FIG. “一体”或“单体”结构可以定义为一种构造为以单件使用且无需对零件进行组装的结构。 "Integral" or "monomer" is defined as a structure may be configured as a single piece without the need to use the parts assembling configuration. 连接肋131示出为在相邻盘130之间延伸。 It is shown extending ribs 131 between adjacent discs 130. 两种可弯曲构件均优选地具有这样的肋型式，即在该肋型式中， 肋设置为从一个肋至相邻肋以优选的60度错位。 Two kinds of each bendable member preferably has a rib pattern, i.e. the pattern of ribs, the ribs from one rib disposed adjacent to the ribs 60 of the preferred offset. 已发现这可提供改进的弯曲动作。 This has been found to provide improved bending operation. 还发现通过以其间小于90度的间距设置肋可以改进弯曲。 Also found that bending can be improved by providing a rib spacing therebetween of less than 90 degrees. 肋可以设置为从一个肋至相邻肋的间距在大约35度至大约75度之间。 The rib may be provided from one rib to the distance between adjacent ribs is about 35 degrees to about 75 degrees. 通过使用小于90度的间距，肋的分布将更均勻。 By using a spacing of less than 90 degrees, more uniform distribution of the ribs. 结果， 在任意方位上的弯曲运动更一致。 As a result, the bending movement in any position more consistent. 在本发明中，两种可弯曲构件都可以由诸如PEBAX (嵌段聚醚酰胺）等高弹性聚合物制成，但是也可由其它弹性和回弹性材料制成。 In the present invention, both bendable member can be made of such (polyether block amide) PEBAX, a highly elastic polymer, but may also be made of other elastic and resilient material.
 在图2中杆22示出为处于可视为“休息”位置的最低位置。  considered to be in a "rest" position of the lowest position of the rod 22 shown in FIG. 该位置也大致是图7 和12中所示的相同位置。 This position is also approximately the same position shown in FIGS. 7 and 12. 在某些器械中可通过滑动件28的钻孔80中的复位弹簧82的动作来获得该位置，或者在没有使用复位弹簧的器械的其它实施方式中可通过外科医生手动将杆移至该位置来获得该位置。 In some devices in this position may be obtained by the action of the slide member 28 of bore 80 of the return spring 82, or return spring is not used in another embodiment of the instrument may be moved to the position of the rod the surgeon manually to obtain this position.
 图2和3示出穿过手柄中的狭槽73且安装至枢销72的杆22。  FIGS. 2 and 3 show slots 73 through the handle and the lever 22 is mounted to the pivot pin 72. 杆22的臂70具有圆柱形头部71，该头部71与滑动件28的近端处的凸起部75中的凹部74相匹配。 70 of arm 22 has a cylindrical head portion 71, the concave portion 74 at the proximal end boss portion 71 of the head 75 of the sliding member 28 matches. 滑动件28坐落在滑道84中，而且响应于杆位置和/或复位弹簧动作而向近侧和向远侧移动。 Slider 28 is located in the slide 84, and in response to a lever position and / or the action of the return spring moves distally and proximally. 滑动件28承栽可旋转筒体66，该筒体66借助于调节螺钉67等而被夹紧至推/拉缆线38。 The sliding member 28 bearing plant rotatable cylinder 66, the cylinder 66 and the like by means of an adjusting screw 67 is clamped to the push / pull cable 38. 筒体66能够响应于器械轴和末端执行器的旋转而旋转。 The cylinder 66 in response to rotation of the end effector and the instrument shaft is rotated. 还参照图7，可看到滑动件机构的进一步细节。 Referring also to FIG. 7, can be seen further details of the slide mechanism. 筒体66坐落在狭槽68中，该狭槽68在一端处向邻接狭槽78开口并在其另一端处由壁69封闭。 Cylindrical body 66 is located in the slot 68, the slot 68 is open at one end to the adjacent slot 78 is closed by a wall 69 and at its other end. 壁69具有用作推/拉缆线38的引导件的通孔，该缆线38从筒体66的近端伸出，因而引导筒体动作本身。 Wall 69 as having a push / pull cable through-hole of the guide member 38, the cable 38 extends from the proximal end of the barrel 66, and thus the guide cylinder operation itself. 筒体66通过压缩弹簧76而顶靠着壁，该压缩弹簧76设置在狭槽78中。 Cylindrical body 66 by the compression spring 76 against the top wall, the compression spring 76 disposed in the slot 78. 如图2中所示，杆的位置使钳口也如图4A中所示地完全打开。 Position shown in Figure 2, the jaws of the rod as shown in FIG 4A in the fully open. 参照2006 年9月27日提交的共同待审的序号为No. 11/528，134的申请，可知杆和滑动件的操作的进一步细节。 Referring to co-pending Serial September 27, 2006 filed application No. 11 / 528,134, we can see further details of the operation lever and the slider.
 钳口夹紧杆22还能够调节成用于左手操作和右手操作以及从图5中的角度C至图6中的角度D的范围。  clamping jaw lever 22 can also be adjusted to a range of operation and right-handed operation and left in FIG. 5, the angle C to the angle D in FIG. 6. 这借助于手柄基部处的绕轴72旋转大概180度的凸轮杆240来实现，该轴72还支撑钳口夹紧杆22。 This is about the shaft 72 by means of the handle at the base of approximately 180 degrees rotation of cam rod 240 is achieved, the shaft 72 also supports a jaw clamp rod 22. 通过杆240进行的控制还可以通过达其它角度的旋转来进行。 It may also be performed by other angles of rotation by a control lever 240. 凸轮杆240基本上调节夹紧杆22相对于手柄的中心线或中心平面的姿势，中心线或中心平面在图5和6中由线或平面W表示，图5和6示出的是取决于杆240的位置的相反方向的姿势。 The cam lever 240 is substantially adjusting the posture of the clamp rod 22 with respect to the center line or center plane of the handle, the center line or center plane or a plane represented by the line W in FIG. 5 and 6, FIGS. 5 and 6 show that depends position in the opposite direction of the rod 240 position. 能够基于用户是右手还是左手来进行这种调节，或者能够基于用户的手的一些其它特征比如手指长度等来进行这种调节。 This adjustment can be performed based on the user is right-handed or left to adjust for this, or other features can be based on a user's hand such as a finger length.
 凸轮杆240包括带有截顶球244的楔形垫圈242，该截顶球244形成在垫圈部的内侧倾斜表面。  The cam lever 240 includes a wedge-shaped gasket 244 having a truncated sphere 242, 244 formed in the truncated sphere inclined surface of the inner portion of the washer. 球和垫圈具有通孔246，该通孔246配合在轴72上，并允许杆绕轴72从相对于手柄基部的前方位置向后方位置向上或向下枢转，如图5和6中所见。 Balls and a washer 246 having a through hole, the through hole 246 fitted on the shaft 72, about axis 72 and allows the rod upward or downward from the pivot, seen in Figure 5 and 6 position with respect to the rear base portion of the forward position of the handle . 球244具有在图6 中以248示出匹配特征件，并且所述特征件优选地采用与凸轮盘250上的两个凸耳相匹配的两个狭槽形式。 Having a ball 244 to 248 in FIG. 6 illustrates matching feature, and the feature are preferably employed in the form of two slots and two lugs 250 on the cam plate matches. 这些匹配特征件使杆240和凸轮盘250的旋转同步。 These features matching the lever 240 and the cam plate 250 rotates in synchronization. 凸轮盘250基本上也是带有通孔252的楔形垫圈，该通孔252允许凸轮盘250响应于凸轮杆240的旋转而绕轴72枢转。 The cam plate 250 with through holes 252 are substantially wedge-shaped washer, which allow the cam plate 252 through hole 250 in response to rotation of the cam lever 240 about the pivot axis 72. 在图6中将凸轮盘250示出为在其外面上具有两个制动凹槽254，所述两个制动凹槽254与狭槽73侧面上的两个突出部（未图示）相互作用，以优选地将其保持在图5 和6中所示的两个位置中的任一个中。 In view of the cam plate 250 is shown as 6 in the brake having two grooves on its outer surface 254, two projecting portions 73 on the two sides of the detent groove 254 with the slot (not shown) with each other action, to preferably be held in either of two positions as shown in FIGS. 5 and 6 in. 球244坐落在杆22的钻孔256中，并允许杆22响应于凸轮杆240的旋转以及盘242和250的倾斜面的相对位置而改变角度。 Ball 244 is located in bore 22 of 256, and allows the rod 22 and the relative position in response to rotation of the inclined surface 240 of the disc 242 and the cam lever 250 to change the angle.
 钳口夹紧装置30使用棘齿及释放机构，在图12-14中示出其一组位置。  clamping jaw 30 uses a ratchet device and release mechanism, shown in its set position 12-14 in FIG. 棘齿机构由带有倾斜端94的板簧92示出，当挤压杆22时，该倾斜端94接合滑动件28上的齿86。 92 shows the ratchet mechanism by a leaf spring having inclined end 94, when the pressing lever 22, the teeth 86 engage the inclined end 94 on the slider 28. 图12示出了处于初始位置的机构，比如图2中所示对应于钳口打开位置的位置。 FIG. 12 shows the mechanism in an initial position, such as to a position corresponding to the open position of the jaws shown in FIG. 图13示出了处于提升位置的夹紧杆，同时弹簧92的端部94接合滑动件28上的其中一个齿86。 Figure 13 shows the clamping lever is in the raised position, while the end portion 94 of spring 92 engages one of the teeth 86 on the slider 28. 为了释放钳口，将杆22 —直挤压至图14的位置，在该处，壁69接触闩部96，并使闩部96绕枢轴90逆时针旋转直到通过R部面96B接合弹簧92的下侧而使得弹簧92被提起成与齿86 的脱离接合。 To release the jaw, the rod 22 - to a position directly extruded FIG. 14, where the wall portion 69 contacting the latch 96, the latch portion 96 and rotated counterclockwise about pivot 90 until the engagement surface portion 96B by spring 92 R the lower side is lifted so that the spring 92 into engagement with the teeth 86 disengaged. 图14示出了板簧92被提起以便与棘齿86脱离接合。 Figure 14 shows a leaf spring 92 to be lifted out of engagement with ratchet teeth 86. 该动作使得滑动件28 自由移动至如图14中所见的左侧直到壁79接触闩部96并使其绕枢轴90顺时针旋转直到表面96A与弹簧的下侧对准，从而允许其降落到与滑动件28的端部相接合的位置中，正好至齿86的后部，如图12中所示的位置。 This action causes the slide member 28 is free to move to the left as seen in FIG. 14 until the latch portion 96 contacting wall 79 and allowed to rotate clockwise about the pivot 90 until the underside surface 96A of the spring is aligned so as to allow it to land to a position with the end of the slide member 28 engages, the teeth 86 just to the rear position shown in Figure 12.
 弹簧92和齿86形成棘齿装置，其中在闭合末端执行器并使末端执行器的钳口绕诸如针等物件紧夹中杆22可通过若干位置被卡夹住。 Jaw  The spring 92 and the ratchet teeth 86 forming apparatus, wherein in the closed end and the end effector about the object such as a needle or the like grip rod 22 can be clamped by a plurality of card position. 随着将杆22朝向手柄向内按压，板簧92的自由端部94与滑动件上的各个不同齿接合。 As the rod 22 is pressed inwardly toward the handle, the free end 94 of the leaf spring 92 engages with the teeth on the various slide. 通过各个相续的卡夹而紧夹钳口直到正被握持的物件被完全接合。 By successive individual card holder and jaws until the clip is being held object is fully engaged. 为了释放致动程序，并非使用单独的释放按扭，杆22简单地移动至其最内位置，如图14所示，在该位置中闩部96接合壁79。 To release actuating procedure, rather than using a separate release button, lever 22 is simply moved to its innermost position, as shown, in this position the latch 96 engages the wall portion 7914. 这使闩部枢转至其提起弹簧92的位置，因而使弹簧与滑动件上的齿脱离接合，并使得滑动件因此而能够在弹簧偏置力的作用下移动至其释放位置。 This allows the pivot to position the latch portion lift spring 92, and thus the teeth on the spring member out of engagement with the slide, and the slide member thus can be moved to its release position under the action of the spring biasing force.
 本发明的锁定机构或角度锁定装置140包括球窝装置，该球窝装置基本上设置在近侧可弯曲构件上并跟随近侧可弯曲构件处的弯曲。  The locking mechanism of the present invention or the angle of the locking means 140 comprises a ball and socket, the ball and socket arrangement disposed substantially in the proximal bendable member and the follower member proximal bendable at bent. 锁定机构具有锁定位置和解锁位置， 绕近侧可移动或可弯曲构件设置并被手动控制成使得在其锁定位置中固定近侧可移动构件相对于手柄的位置。 A locking mechanism having a locking position and an unlocking position around the proximal bendable or movable manual control member and is disposed so that the movable member is fixed in its proximal position relative to the locking position of the handle. 锁定机构包括球构件和限定承窝构件的可压缩毂。 A hub locking mechanism comprises a compressible member and a ball socket defining member. 在所公开的实施方式中，毂是拼合毂，并且锁定机构进一步包括束带圈和锁定杆，该束带圈绕拼合毂设置， 该锁定杆安装在束带圈上，用于绕毂闭合束带圈，从而使毂相对于球形球构件锁定。 In the disclosed embodiment, the hub is split hub, and the locking mechanism further comprises a lock lever and cinch ring, the cinch ring disposed about the split hub, the locking lever is mounted on the lap strap, the closure beam for rotation about the hub band ring so that the hub lock member with respect to the spherical ball. 束带圈与毂互锁，但是当处于解锁位置时能够相对于毂旋转。 The cinch ring interlocked with the hub, but when in an unlocked rotational position relative to the hub.
 “球”部分基本上由球构件120形成，而“承窝”部分则基本上由手柄延伸部即拼合毂202形成。  "ball" portion is substantially formed by a ball member 120, and "socket" is basically a handle portion extending hub portion 202 that is split is formed. 锁定机构将近侧可弯曲构件锁定在期望位置，并且通过这样做锁定机构也锁定了远侧可弯曲构件和工具的位置。 A locking mechanism to lock the proximal bendable member in a desired position, and by doing so locks the locking mechanism position and distal bending tool member. 尽管近侧弯曲构件18由球窝装置包围，但是它仍然允许器械轴14和近侧弯曲构件18连同缆线100自由旋转，同时也允许器械轴的轴线相对于手柄的轴线以自由或可替代的锁定模式倾斜。 Although the member 18 is surrounded by a curved proximal ball and socket arrangement, but it still allows the instrument shaft 14 and the proximal bending member 18 is free to rotate along with the cable 100 while also allowing the instrument shaft axis relative to the axis of the handle in a free or alternative tilt lock mode.
 为此参照在图5-8中进一步详细示出的球构件120。  Referring to the ball member further shown in detail in Figures 5-8 120 for this purpose. 球构件120包括远端颈部206，该远端颈部206与具有球形外表面204的不完全球形球端部邻接。 Ball member 120 includes a distal neck 206, the neck portion 206 and the distal end of the spherical end portion is not completely abut having a spherical outer surface 204. 颈部206基本上设置在近侧可弯曲构件18的锥形部19和转接件26上，而球部主要设置在于近侧可弯曲构件18的主要部分之上。 Neck portion 206 bent substantially disposed proximal the tapered portion 18 of the member 19 and the adapter member 26, while the main ball portion that is provided on the main portion of the proximal bendable member 18. 球构件120适于坐落于承窝内，该承窝以毂202形式形成在手柄中，通过径向压缩束带圈200会使该毂202绕球构件120坍缩。 Ball member 120 is located within the socket is adapted to the socket 202 is formed in the form of the handle hub by radial compression ring 200 causes strap 202 of the hub 120 about the ball member collapsed.
 球构件120以万向节方式接合在拼合毂202中，该拼合毂202包括四个扇形体202A-202D，这些扇形体202A-202D能够借助于束带圈200而被夹紧在球构件120的球形表面204上。  The ball joint member 120 in the hub 202 engage the split, the split hub 202 includes four quadrants 202A-202D, 202A-202D these segments by means of the cinch ring 200 is clamped in the ball spherical upper surface 204 of member 120. 参照图8。 Referring to FIG. 拼合毂202借助于三个支柱230支撑于手柄的远端，所述三个支柱230大概间隔开120度（见图11)。 Split hub 202 by means of three struts 230 supported at the distal end of the handle, the three struts 230 spaced about 120 degrees (see FIG. 11). 球构件120具有为近侧可弯曲构件18的远端提供支撑的颈部206。 A ball member 120 having a proximal neck portion of the distal end member 18 provides a curved support 206. 在这点上，在颈部206的近端与转接件26之间设置有支承表面208，如图7和8所示。 In this regard, between the neck and the proximal end 206 of the adapter member 26 is provided with a support surface 208, as shown in Figures 7 and 8. 这使得近侧可弯曲构件连同转接件26能够相对于球构件120自由旋转。 This allows the proximal bendable member 26 together with the adapter member 120 with respect to the free rotation of the ball member. 图7和8 还示出颈部206的极远端与外管32之间的支承面210。 7 and FIG. 8 also shows the support surface electrode 206 and the distal end of the neck portion 32 between the outer tube 210. 这些支承面208、210可以通过这些位置处的实际轴承来形成。 The bearing surfaces 208, 210 may be formed by the actual position of the bearings.
 图5-8示出了束带圈200。  Figures 5-8 illustrates a cinch ring 200. 还参照图2和3以看到束带圈200的图示。 Referring also to FIGS. 2 and 3 illustrates the band saw ring 200. 束带圈200 是具有内脊部或花键201的环形构件，该内脊部或花键201适于与拼合毂202的外表面上的通道或沟槽203相匹配。 Cinch ring 200 is an annular member having an inner ridges or splines 201 of the inner ridges or splines 201 of the hub 202 is adapted to split the channels or grooves 203 on the outer surface of the match. 通道和脊部的这种结合限制环形束带构件只能绕毂202旋转。 Such ridges restriction passage and the annular strap binding member 202 rotates about the hub only. 图8还示出了拼合毂的各个部分200A-200B经由相应的支柱230连接至器械手柄（也见图11)。 8 also shows the various parts of the split hub 200A-200B 230 is connected via a respective strut to the instrument handle (also see FIG. 11). 当束带圈200被闭合时，这进而闭合了开槽毂，并实质上将承窝（毂202)压缩在球构件120的球形表面204上。 When the cinch ring 200 is closed, which in turn closes the slot of the hub, and substantially the socket (hub 202) compressed in the spherical surface 120 of ball member 204. 因而球构件的锁定固定了近侧可弯曲构件的位置，进而固定了远侧可弯曲构件和工具的位置。 Thus the locking member fixes the position of the ball proximal bendable member, and further fixing the position of the distal member and the bending tools.
 借助于偏心锁定杆220对束带圈200进行操作，该锁定杆220分别借助于销222和224连接至束带圈200的端部200A和200B。  by means of a locking bar 220 pairs of eccentric ring 200 band operation, the locking lever 220 by means of pins 222 and 224 are respectively connected to the end portion 200A of the cinch ring 200 and 200B. 图5示出的是处于锁定位置的锁定杆220，而图6示出的是处于释放位置或解锁位置的锁定杆。 FIG. 5 shows a locking lever 220 in the locked position, and FIG. 6 shows a locking bar in the release position or unlocked position. 束带圈200的端部200A采用可拆卸钩子形式，当圈被锁定时，该钩子卡扣配合在销222上并坐落在杆220的狭槽226中。 Ring band end portion 200A 200 using removable hook form, when the ring is locked, the snap-fit ​​hook 222 and pin 226 is located in the slot 220. 束带圈200的另一端200B采用两个卡板形式，所述两个卡板卡扣配合在形成在杆220的侧面上的销224上。 Another end 200B of the cinch ring 200 employed in the form of two pallets, a snap-fit ​​of the two card boards 224 on a pin 220 formed on the side of the rod. 当借助于花键201释放杆220时，束带圈200可以环绕拼合毂202自由旋转，该花键201骑坐在拼合毂202圆周的沟槽203中。 When the release lever 201 by means of splines 220, band split ring 200 may encircle the hub 202 to rotate freely, the splines 201 ride on the split hub 202 in a circumferential groove 203. 这允许对器械进行左手操作或右手操作。 This allows the instruments are left-handed or right-handed operation. 图5示出了右手操作的设定状态，其中角度锁定杆220示出为处于锁定位置，图6示出了左手操作的设定状态，其中角度锁定杆220示出为处于解锁位置。 Figure 5 shows a right hand operation setting state, wherein the angle of the locking lever 220 is shown in a locked position, FIG. 6 shows a left hand operation setting state, wherein the angle of the locking lever 220 is shown in unlocked position.
 当锁定杆220移动至其锁定位置时，这压缩了束带圈200，从而使毂闭合在球构件120的球形外表面204。  When the lock lever 220 is moved to its locked position, which the band compression ring 200, the ball closure so that the hub member 120 of the spherical outer surface 204. 这将手柄锁定在球构件120上，从而当发生锁定时，使球构件保持在任何其所处的位置中。 This locks the handle on the ball member 120, so that when the lock occurs, the ball holding member in any of its positions located. 通过使球构件保持在固定位置，这同样地使近侧可弯曲构件保持在特定位置并固定在该位置。 By the ball member in a fixed position, in the same manner so that the proximal bendable member is held in a particular position and held in that position. 这进而使远侧可弯曲构件和工具维持在固定位置，但是能够经由对旋钮的控制而控制器械的方位，通过使远侧可弯曲构件和工具绕尖端轴线P旋转， 该旋钮控制了器械尖端的方位（见图3)。 Which in turn causes the distal bendable member and the tool is maintained in a fixed position, but the orientation of the device can be controlled via the control knob through the distal bendable member and the tip tool is rotated about the axis P, the control knob to the tip of the instrument orientation (see Figure 3).
 本发明的器械提供了一种改进的器械，尤其是站在外科医生易于使用的立场上。  The instrument of the present invention provides an improved apparatus, in particular standing on the surgeon's position and easy to use. 工具致动杆装置允许用户进行精确控制，尤其是使用具有凹入万向节的器械装置，在该万向节处用户的手指能够容易地与杆接合。 Tool actuation lever allows the user to precisely control means, in particular means having a recessed joint of the instrument can be easily engaged with the rod section of the user's finger joint. 这种装置还使得器械能够通过简单地在承窝中在相反位置之间旋转万向节而容易地适于进行右手控制或左手控制。 This also means that the instrument can be easily adapted for a right-handed or left-handed control by simply rotating joint between the opposite position in the socket. 同样优选的是万向节中的凹部由盲孔（带有底壁）形成，因为已经发现这样能够提供对杆定位的增强的手动控制。 Also preferred is a concave portion formed in a joint blind hole (with a bottom wall), such as it has been found possible to provide manual control of the positioning of the reinforcing rods.
 对本发明的器械的另一种改进涉及能够对工具进行容易地控制，包括对旋转构件的便利安置和对锁定装置的便利安置，其中用户拇指和食指能够容易地用于控制尖端旋转和锁定。  Another improvement relates to a tool for easily controlled, including facilities disposed on the rotary member and disposed to facilitate locking device, wherein the thumb and index finger the user can be easily used to control the rotation of the tip of the instrument of the invention and locking. 这些功能能够以单手来执行，而无需用户移动手的位置。 These functions can be performed with a single hand, without the position of the user's hand movement.
 现在已经描述了本发明的有限数目的实施方式，对于本领域普通技术人员而言显而易见的是，可以设想属于所附权利要求书限定的本发明的范围内的众多其它实施方式和改型。  Having now described a limited number of embodiments of the present invention, to those of ordinary skill in the art will be apparent that it is contemplated that the appended claims numerous other embodiments and modifications within the scope of the invention as defined in the book type. 例如，在本发明的另一种变型中，可以使用不同形式的器械尖端旋转装置，诸如用滑动机构来控制绕着工具尖端轴线的远端旋转。 Instrument tip rotating device, such as, in another variant of the present invention may be used in different forms, such as a slide mechanism for controlling the distal end of the tool tip about the axis of rotation. 甚至采用这种可替代装置，锁定工具仍然可以与器械相关联以提供锁定功能。 Even using such alternative means, the locking means may still be associated with the instrument to provide a locking function. 这里所描述的锁定装置描述为使用的是手枪握把式手柄，然而，这种锁定装置还可以设置于诸如2005年7月20日提交的序号为No. 11/185,911 的申请中所描述类型的直列式器械。 Locking means described herein are described as using a pistol grip type handle, however, such a locking means may also be provided in Serial No., filed July 20, 2005, such as Application No. 11 / 185,911 of the type described in-line instruments. 同样，在这里所描述的器械中，可移动构件已经描述为可弯曲部分，而且更具体而言是描述为一体可弯曲部分。 Also, in the device described here, the movable member has been described as a bent portion, and more specifically described as one of the bendable portion. 然而，可替代地，可移动构件可以是其它结构，包括但不局限于可接合盘、波纹装置、可移动圈装置或球窝构件。 However, alternatively, the movable member may be other configurations, including but not limited to be splice tray, corrugated means, movable retainer means or ball member. 其它形式的可弯曲构件参照2006年5月23日提交的共同待审的序号为No. 60/802, 885的临时申请和2006年6月5日提交的共同待审的序号为No. 60/811，046的临时申请，这两个申请以引用方式全部并入本申请。 No. copending other form bendable member with reference to co-pending May 23, 2006, filed provisional application Serial No. No. 2006 and June 5 60/802, 885, filed No. 60 / provisional application 811,046, both of which apply to all incorporated herein by reference. 同样，在这里所描述的器械中，球窝装置具有呈单独构件的球部分， 该单独构件与连接手柄的承窝相匹配。 Also, in the device described here, the ball and socket arrangement having a ball portion as a separate member, the separate member connecting the handle to the socket match. 在本发明的又一种实施方式中，球窝装置可包括单独的承窝构件，该承窝构件与手柄的突出球相匹配。 In a further embodiment of the invention, the ball and socket arrangement may include a separate socket member, the socket member and the handle projecting ball match.
1. 一种外科器械，包括：器械轴，其具有近端和远端；工具，其设置于所述器械轴的远端；控制手柄，其联接于所述器械轴的近端；远侧运动构件，其用于将所述器械轴的远端联接至所述工具；近侧运动构件，其用于将所述器械轴的近端联接至所述控制手柄；致动装置，其在所述远侧运动构件与所述近侧运动构件之间延伸，用于将所述近侧运动构件的运动联动至所述远侧运动构件以便控制所述工具的定位；以及锁定机构，其用于将所述工具的位置固定于选定位置并且具有锁定状态和解锁状态，其中，所述锁定机构包括绕所述近侧运动构件设置的球窝装置以及包括用于锁定所述球窝装置的束带构件，并且，所述球窝装置包括球构件，所述球构件具有与所述控制手柄中的凹形承窝相匹配的局部球形部。 1. A surgical instrument comprising: an instrument shaft having proximal and distal ends; distal tool provided on the instrument shaft; a control handle coupled to the proximal end of the instrument shaft; distal movement means for coupling the distal end of the instrument shaft to said tool; proximal movement means for the proximal end of the instrument shaft is coupled to the control handle; actuating means, which in the distally extending between the proximal member and the moving member, for movement of said moving member proximal to the distal movement of linkage member for controlling the positioning of the tool; and a locking mechanism for the the position of the tool is fixed to a selected position and having a locked state and an unlocked state, wherein said locking mechanism comprises a ball and socket arrangement about a proximal movement of said setting member and said strap comprises a ball and socket locking means member, and said ball and socket arrangement includes a ball member, said ball member having a part-spherical concave socket portion and said control handle matches.
2.如权利要求1所述的外科器械，进一步包括旋转装置，其设置为邻近所述控制手柄并且能够相对于所述控制手柄旋转以便导致所述器械轴和所述工具的相应旋转。 The surgical instrument according to claim 1, further comprising rotating means, disposed adjacent to the control handle and capable of rotating relative to the control handle to cause a corresponding rotation of the instrument shaft and the tool.
3.如权利要求2所述的外科器械，其中，至少所述近侧运动构件包括近侧可弯曲构件， 所述旋转装置包括适于使所述工具绕远侧工具滚动轴线旋转的旋钮，并且所述旋钮设置在所述控制手柄与所述近侧可弯曲构件之间。 The surgical instrument according to claim 2, wherein said at least proximal movement of the proximal member comprises a bendable member, the rotating means comprises means adapted to detour the side of the tool roll rotation axis of the knob, and the said knob is provided in the control handle and the proximal bendable member.
4.如权利要求2所述的外科器械，其中，所述控制手柄包括手枪握把式手柄，所述手枪握把式手柄具有接合角状件从而有助于保持所述控制手柄。 The surgical instrument according to claim 2, wherein the control handle comprises a pistol grip-type handle, having a pistol grip type handle maintaining engagement horn to facilitate the control handle.
5.如权利要求4所述的外科器械，其中，所述旋转装置包括设置于所述控制手柄的远端处的旋钮，并且所述接合角状件设置为处于所述旋钮的近侧且位于所述控制手柄之上。 The surgical instrument according to claim 4, wherein said rotating means comprises a control knob disposed at the distal end of the handle, and the engagement horn in a proximal to the knob and located the control over the handle.
6.如权利要求4所述的外科器械，包括致动杆，其在所述控制手柄的近端的枢轴点处支撑于所述控制手柄。 The surgical instrument according to claim 4, comprising an actuator lever, a pivot point at its proximal end in the control handle is supported on the control handle.
7.如权利要求6所述的外科器械，其中，所述致动杆具有带手指环的自由端部，所述手指环用于接纳用户手指以控制所述致动杆。 The surgical instrument according to claim 6, wherein said actuating lever having a free end with a ring finger, the finger ring for receiving a finger of the user to control the actuating rod.
8.如权利要求1所述的外科器械，包括工具致动缆线、滑动件和致动杆，所述工具致动缆线从所述工具延伸至所述控制手柄，所述滑动件用于抓持所述工具致动缆线的近端，并且所述致动杆支撑于所述控制手柄处以便控制所述滑动件的平移。 8. The surgical instrument according to claim 1, including a tool actuation cable, slider and actuating lever, the tool actuation cable extending from the control handle to said tool, said slide member for grasping the proximal end of the holding tool actuation cable and the actuating rod is supported on the control handle to control the translation of the slider.
9.如权利要求8所述的外科器械，包括用于接纳所述滑动件的滑道、设置在所述滑动件中的一对弹簧以及设置在所述弹簧之间且用于保持所述工具致动缆线的近端的旋转筒体。 And a pair of springs disposed 9. The surgical instrument according to claim 8, comprising a slideway for receiving the slider, the sliding member disposed between said spring and said means for maintaining actuating the rotating cylinder of the proximal end of the cable.
10.如权利要求1所述的外科器械，其中，所述控制手柄具有所述凹形承窝形成在其内表面上的远侧套环，并且所述束带构件包括绕所述远侧套环设置的环形束带圈。 10. A surgical instrument according to claim 1, wherein the control handle has a concave socket formed in said distal collar on the inner surface, and the strap around the distal member comprises a sleeve an annular ring disposed cinch ring.
11.如权利要求10所述的外科器械，包括位于所述环形束带圈与所述远侧套环之间的凸舌和沟槽互连装置，以便允许在所述环形束带圈与所述远侧套环之间进行旋转同时阻止轴向移动。 11. The surgical instrument according to claim 10, comprising an annular band located in the ring groove and tongue and interconnection means between said distal sleeve ring, so as to allow the annular ring and the band in rotation between said collar while preventing distal axial movement.
12.如权利要求11所述的外科器械，包括位于所述环形束带圈上的、具有相对的锁定位置和解锁位置的枢转件。 12. The surgical instrument according to claim 11, comprising a ring located in the annular band, and has a pivot member relative locking position and an unlocked position.
13.如权利要求10所述的外科器械，其中，所述远侧套环具有一个或多个狭槽，使得在所述环形束带圈锁定时所述凹形承窝能够绕所述球构件收缩。 13. The surgical instrument according to claim 10, wherein said distal collar having one or more slots, such that when the annular band of the concave socket locking ring rotatable about the ball member shrink.
14.如权利要求6所述的外科器械，包括调节构件，其安装在所述致动杆上以便调节所述致动杆相对于所述控制手柄的中心平面的姿势。 14. The surgical instrument according to claim 6, comprising a regulating member mounted on the actuating lever in order to adjust the posture of the actuator rod relative to the center plane of the control handle.
15.如权利要求6所述的外科器械，其中，所述致动装置是缆线致动装置。 15. The surgical instrument according to claim 6, wherein said actuating means is a cable actuation means.
16.如权利要求15所述的外科器械，其中，所述缆线致动装置包括一组致动缆线，所述致动缆线充分硬从而各条致动缆线在对所述工具的控制中能够进行拉拔动作或能够进行顶推动作。 16. The surgical instrument according to claim 15, wherein said actuating means comprise a cable actuation cable set, the cable is sufficiently rigid so that the actuating pieces of the actuation cable in the tool control operation can be drawn or can be driven as a top.
17.如权利要求16所述的外科器械，包括用于各条致动缆线的约束装置，以便在各条致动缆线在所述近侧运动构件与所述远侧运动构件之间延伸时大致地束缚各条致动缆线。 17. The surgical instrument according to claim 16, comprising pieces of actuation cable restraint means for, so as to extend between the proximal member and the distal movement of the moving member in the pieces of actuation cable when the pieces of substantially constrained actuation cable.
18.如权利要求17所述的外科器械，其中，所述约束装置包括绕所述致动缆线设置在所述器械轴中的轴填充件。 18. The surgical instrument according to claim 17, wherein said restraining means comprises a shaft about said actuator cable filler member disposed in said instrument shaft.

References: Application No. 19
 application No. 11
 Application No. 11
 application No. 11
 Application No. 11
 Application No. 10
 Application No. 11
 application No. 11
 Application No. 11
 application No. 11
 Application No. 11