Source: https://patents.google.com/patent/CN103747752B/en
Timestamp: 2019-12-12 16:47:53
Document Index: 440329868

Matched Legal Cases: ['in fine', 'art 40', 'art 30', 'art 30', 'art 800', 'art 800', 'art 800', 'art 900', 'art 900', 'art 900', 'art 900']

CN103747752B - Energy-based scissors device - Google Patents
Energy-based scissors device Download PDF
CN103747752B
CN103747752B CN201280025118.9A CN201280025118A CN103747752B CN 103747752 B CN103747752 B CN 103747752B CN 201280025118 A CN201280025118 A CN 201280025118A CN 103747752 B CN103747752 B CN 103747752B
CN201280025118.9A
CN103747752A (en
C·G·金博尔
N·I·克罗舍
2011-03-24 Priority to US201161467180P priority Critical
2011-03-24 Priority to US61/467,180 priority
2012-03-21 Application filed by 伊西康内外科公司 filed Critical 伊西康内外科公司
2012-03-21 Priority to PCT/US2012/029924 priority patent/WO2012129292A2/en
2014-04-23 Publication of CN103747752A publication Critical patent/CN103747752A/en
2017-04-26 Publication of CN103747752B publication Critical patent/CN103747752B/en
The invention provides an energy-based scissors device. The energy-based surgical instrument is configured to permit selective cutting, coagulation, and fine dissection required in fine and delicate surgical procedures. The scissors grip instrument provides for tube-in-tube construction (60, 70) so the device is useful for both open and minimally invasive procedures. The assembly includes a clamping mechanism, including a clamp arm and/or housing which are specifically configured to create a desired level of tissue clamping forces.
Scissors apparatus based on energy
Patent application claims were submitted on March 24th, 2011, entitled " Ultrasonic Device for The priority of the U.S. Provisional Patent Application Serial No. 61/467,180 of Cutting and Coagulating ".
The present invention relates generally to surgery system, more particularly, be related to optimize to allow surgeon in open hand The dress based on energy of cutting, solidification and tiny dissection required when tiny and delicate surgery is operated is carried out in art and Minimally Invasive Surgery Put.
Surgical instruments based on energy is increasingly obtained by unique Performance Characteristics of this apparatus in surgical operation It is widely applied.According to concrete apparatus configuration and operating parameter, the surgical instruments based on energy can be substantially same by solidification The cutting of Shi Jinhang tissues and hemostasis, so as to minimize advantageously patient trauma.Cutting action is generally by apparatus far-end End effector completing, ultrasonic energy or RF energy are transferred to the end effector group of contact end effector Knit.Apparatus with this property can be used in open surgical use, laparoscopic type or endoscopic surgical operations, including machine Device people's assisted surgery.
The surgical instruments based on energy including clamp mechanism has been developed, and tissue has been maintained in end effector, So that ultrasonic energy or RF energy to be connected to the tissue of patient.With regard to ultrasonic energy, this device（Sometimes referred to as solidify Device pincers are cut or ultrasonic cutter）Have disclosed in U.S. Patent number 5,322,055,5,873,873 and 6,325,811.Surgery Doctor start clamping limb, with by extruding handle or shank and press gripper pad against relative jaw or knife.
The novel feature of the present invention is especially illustrated in the dependent claims.However, quoting following description and with reference to attached Figure can be best understood the construction and method of operating of the present invention itself, in the drawings：
Figure 1A shows the end effector rotary components for the surgical instruments based on energy of the invention A kind of decomposition view of expression；
Figure 1B shows the decomposition view of the substituting tube-in-tube device of the surgical instruments of the invention of Figure 1A；
Fig. 2A is the side view when surgical instruments based on energy of the invention is in an open position；
The apparatus that Fig. 2 B depict Fig. 2A is in the close position；
Fig. 2 C are for the perspective view based on the rotary components of the scissors holder surgical instruments of energy, wherein the apparatus It is in the close position；
Fig. 2 D be Fig. 2 C apparatus it is in an open position when perspective view, wherein arrow indicate the direction of motion；
Fig. 3 A and 3B show the perspective view of replacement actuating component attachment means of the invention；
Fig. 4 A and 4B show the perspective view and side view of replacement actuating component attachment means of the invention；
Fig. 5 is the fragmentary, perspective view for clamping arm component；
Fig. 6 is the perspective view for substituting actuating component attachment means；
Fig. 7 is the side view of the embodiment of Fig. 6；
Fig. 8 A are the plans of scissors actuating component, and the scissors actuating component has the modified set of the power in first position Pipe；
Fig. 8 B depict the actuating component of Fig. 8 A, wherein the modified sleeve pipe of the power is in the second place；
Fig. 9 A are the side views based on the surgical instruments of energy, which depict the modified actuating component stop part of power and are in first Position；
Fig. 9 B depict the actuating component stop part of Fig. 9 A and are in the second place；
Figure 10 A-10D depict the side view and rearview based on the surgical instruments of energy, and the surgical instruments is changed using power Property component another kind of expression；
Figure 11 A-11C depict the plan of another kind of expression of the modified component of power；
Figure 12 A and 12B depict the side view of another kind of expression of the modified component of power；
Figure 13 A-13D depict another kind of expression of the modified component of actuating component power；
Figure 14 A are the plans based on the end effector of energy, and the end effector is using sliding channel come the end that is modified The chucking power of portion's actuator；
Figure 14 B depict the end effector of Figure 14 A and are in the first clip position；
Figure 14 C depict the end effector of Figure 14 A and are in the second clip position；With
Before the present invention is elaborated, it should be noted that the present invention application or using be not limited to accompanying drawing and The construction and arrangement of the part being shown specifically in specific embodiment.The exemplary embodiment of the present invention can be implemented or incorporated in In other embodiment, change and modification, it is possible to which various ways are practiced or carried out.Additionally, except as otherwise noted, it is used herein Term and expression are to describe the purpose of the exemplary embodiment of the present invention to reader for convenience and select, and are not intended to limit The system present invention.
Moreover, it will be appreciated that any one or more in the expression of following embodiments, embodiment, example etc. can with it is following Any one or more combinations in other embodiment, embodiment expression, example etc..
The invention particularly relates to the improved surgery clamped coagulation device equipment based on energy, its can in open operation and Surgical operation is carried out in Minimally Invasive Surgery（Including accurate surgical operation）Period carries out tissue cutting, solidification and/or clamps.Dissect It is selective use and RF energy or ultrasonic energy selectivity using being advantageously implemented multiple use.When the radio frequency of the equipment When component or ultrasonic assembly are inactive, can readily easily clamp and manipulating tissue, and not carry out tissue cutting or make Into infringement.When radio frequency component or ultrasonic assembly are separated or during unified activation, the equipment allows tissue to be used for and energy by grasping Connection, to carry out tissue coagulation, and applies increased pressure, so as to effectively carry out tissue cutting and solidification.If desired, can In the case where the clamp system of equipment is not used, ultrasonic energy is applied to into tissue by the appropriate ultrasound knife that manipulates.
Be evident that the clamped coagulation device equipment of the present invention is special due to its simple and clear construction from following description Being capable of single use.Make as such, it is possible to envision and the equipment is connected with the ultrasound and/or radio-frequency signal generator unit of surgery system With so as to provide desired actuating to the clamped coagulation device equipment of the present invention from the energy of generator unit.It should be appreciated that body The clamped coagulation device equipment of the principle of the existing present invention non-disposable use or can be used for multiple times, and with associated generator unit It is non-dismountable ground integrated.It should also be understood that the present invention can completely include battery and power generator with non-tethering mode, this is at this It is known in field and is understood that.2011/0015660 is disclosed referring to United States Patent (USP), the patent disclosure is drawing Mode is expressly incorporated herein.
According to the description below it is evident that, the present invention clamped coagulation device equipment provide using tube-in-tube construct Come against knife to open and close the alternate embodiment of clamping device.Disclosed in disclosing 2007/0191713 such as United States Patent (USP) In medical treatment device, existing scissors-type close mechanism can be replaced using this kind of embodiment, the United States Patent (USP) disclosure with The mode of reference is expressly incorporated herein.
Referring to Figure 1A, it illustrates based on the first expression of the surgical instruments 10 of energy.The cloth in scissor fashion of apparatus 10 Put, and including actuating component 15, the actuating component has the thumb rings 20 of the proximal end for being arranged on component 15.The distal end of component 15 Place is provided with pintle assembly.
Surgical instruments 10 based on energy includes multi-part shank assembly 50, the multi-part shank assembly by handle components or Shield 50A, 50B are constituted, in the situation of ultrasonic energy, the handle components or shield can by operator be likely located at it is outer Shell 50A, the isolating technique of the acoustic assembly in 50B.When apparatus 10 adopt RF energy when, shell 50 can by operator with it is outer Electrical connector isolation in shell.The shape of shank assembly 50 can be set to the conventional scissors device held for user, such as herein It is described.The near-end of shank 50 can accommodate sound transducer（It is not shown）Distal end.Alternatively or in combination, Shank 50 can be accommodated to the electrical connector of radio-frequency signal generator, or can keep generator and power supply, to realize non-fastening formula Ultrasound and/or radio frequency operation, this is well known in the art and is understood that.
Cutting assemblies described in Figure 1A and 1B（In particular to shank assembly 50, actuating component 15, thumb rings 20, refer to Ring 200 and knob 45）Can be by durable plastic material（Such as Merlon or liquid crystal polymer）Constitute.It can also be envisaged that cutting assemblies can be with Alternatively it is made up of the multiple material including other plastics, ceramics or metal.However, traditional is not filled by thermoplastic Property plastics have only be for about 0.20W/m ° of K（Watts/meter-° open）Thermal conductivity.To improve the thermal diffusivity of apparatus, shank assembly can It is made up of the thermoplastic of heat transfer, the resin liquid crystal polymer of such as high-fire resistance（LCP）, polyphenylene sulfide（PPS）, polyethers Ether ketone（PEEK）And polysulfones, the plastics are with the thermal conductivity in the range of 20-100W/m ° of K.PEEK is filled with non-conductive Aluminium nitride and boron nitride thermoplastic.Heat-conducting resin contributes to managing the heat in less apparatus.
The distal end of actuating component 15 includes pintle assembly 25, the ring 55A on the pintle assembly engagement side surface of shell 50, 55B, to allow actuating component 15 to realize scissor action.Although shown as single component 15,25, but it is contemplated that actuating component 15 with the construction that can be integrated of pintle assembly 25 or the section that may include different materials.The distal end of connector 30 is pivotally connected to To the inside of pintle assembly 25, to be conducive to transmitting power from actuating component.The near-end of connector 30 is also further pivotally connected to To yoke 35.Restriction axis 26 is pivotally connected between pintle assembly 25 and shell 50, actuating component 15 is around the axis rotation.
In operation, actuating component 15 is moved in the way of toward and away from shank 50 so that it surrounds axis 26 and pivots, Then connector 30 is made along the longitudinal direction of distally to nearside or nearside to distally（Depending on the direction of motion of actuating component 15）And transport It is dynamic.The lengthwise movement of connector 30 causes yoke 35 along the longitudinal translation of longitudinal axis 210 of shank 50, such as will retouch in more detail herein State.
In a kind of expression of apparatus 10, the circular in configuration of yoke 35, and it is additionally provided with intermediate surface groove 35A.In one kind In expression, yoke 35 partially around transmission connector 40 distal end, as shown in Figure 1A and 1B.The intermediate surface groove 35A of yoke 35 Can accommodate and engage the radially projecting guide rail 40A of transmission connector 40.Yoke 35 and guide rail 40A cooperate, to allow to pass Send connector 40 to rotate in yoke 35, also allow that transmission connector will be sent to by yoke 35 from the longitudinal force of connector 30 40。
Transmission connector 40 is additionally provided with longitudinal rail or spline 40B, and the guide rail or spline can be engaged in knob 45 Between surface longitudinal groove 45C（As shown in knob half 45A and 45B）.Guide rail 40B and knob groove 45C can allow for transmission and connect The axial translation in knob 45 of fitting 40, and allow for revolving force to be sent to transmission connector 40 from knob 45.To provide knob 45 are provided with nearside ring-shaped groove 45D with the stability for transmitting connector 40, knob 45 in the intermediate surface of knob 45.Groove 45D can rotatably engage shank flange 50C, so as to knob 45 is maintained at into fixed lengthwise position along longitudinal axis 210.
Referring also to Figure 1A, apparatus 10 is additionally provided with end effector shaft assembly 65.In this kind of expression, shaft assembly 65 includes outer Pipe 66 and inner tube 60, wherein allowing inner tube 60 relative to the longitudinal translation of outer tube 66.
Inner tube 60 and outer tube 66 are pivotally connected to the clamping limb of the far-end of inner tube 60 and outer tube 66（It is not shown）.Inner tube The 60 permission ultrasound waveguide that is sized to is passed through and passed through, or allows apparatus 10 wherein using the electricity of RF energy Pole conduit passes through.This kind of clamping limb activates tube-in-tube device and is disclosed in U.S. Patent number 5,944,737,5,954,736,5,980, 510 and 6, in 068,647, the full content of the patent is hereby incorporated herein by.
Inner tube 60 is provided with depression 75, and the depression can accommodate the inner surface of transmission connector 40（It is not shown）On centre dash forward Go out, so as to allow for axial-movement to be sent to inner tube 60 from transmission connector 40.Shaft assembly 65 is provided with pin 70, and the pin is extended through Hole in outer tube 66 and inner tube 60.In this kind of expression of apparatus 10, pin 70 is substantially perpendicular to the longitudinal axis of axle 65.To have Beneficial to inner tube 60 relative to outer tube 66 longitudinal translation, the pin-and-hole of inner tube 60 can be longitudinally elongated.When knob 45 rotates, pass Connector 40 is sent to rotate then, so as to rotating inner tube 60.Revolving force is sent to outer tube 66 via pin 70, to be conducive to knob 45th, transmit connector 40, inner tube 60 and outer tube 66 integratedly to rotate.
Referring now to Figure 1B, wherein showing second expression based on the surgical instruments 10 of energy.In this kind of expression, device Tool 10 can be used together with ultrasonic assembly 165.Similar to previous expression, apparatus 10 activates end using tube-in-tube construction Actuator, the end effector can be ultrasonic clamping limb.
In the expression of Figure 1B, chucking power moves to connector 30 and yoke 35 from pintle assembly 25.The longitudinal translation of yoke 35, from And make the lengthwise movement in the above described manner of transmission connector 40.As shown in Figure 1B, transmit connector 40 and be provided with hole 140A, the hole energy It is enough to align with the hole 170A in inner tube 170.Can be by pin（It is not shown）In being inserted into hole 170A and 140A, inner tube 170 is engaged To transmission connector 40.Alternatively, transmitting connector 40 can be provided with pit, on the pit and inner tube 170 Centre is prominent to be coordinated.Longitudinal force can be sent to and transmit connector 40 and reach inner tube 170 by this kind of engagement from yoke 35, so as to cause Dynamic end effector.
Outer tube 180 is provided with proximal flange 175A and 175B, in the middle of the distally of the proximal flange engagement transmission connector 40 Longitudinal groove on surface（It is not shown）.In the middle of distally groove be sized to allow transmission connector 40 along flange 175A and 175B longitudinal translations, and allow revolving force to be sent to outer tube 180 through transmission connector 40 from knob 45.
As shown in Figure 1B, acoustic assembly 165 can be provided with ring and the pin through ring.The length that is sized to of the pin is more than The diameter of the waveguide of acoustic assembly 165 so that end sections are present in the side of the side surface of acoustic assembly 165.The pin can also Enough it is seated in the passage in the intermediate surface of transmission connector 40, to allow simultaneously revolving force to be sent to into inner tube from knob 45 170th, outer tube 180 and acoustic assembly 165 so that be attached to the clamping limb of both inner tube 170 and outer tube 180（It is not shown）With ultrasound Knife 165A is rotated with fixed relative position.This kind of device is in U.S. Patent number.Have disclosed in 6,068,647, the patent Complete disclosure is herein incorporated by reference.
Fig. 2A and 2B depict how the scissors-type motion of finger ring 20 and 200 is converted into transmission connection by above-mentioned drive mechanism Along the lateral movement back and forth of longitudinal axis 210, the longitudinal axis limits part 40 by outer tube 66,180 and shell 50.This kind of lateral fortune It is dynamic transmission connector 40 is moved towards distally as shown in Figure 2 A, so that clamping limb is opened.Similarly, as shown in Figure 2 B closure is cut Knife can be such that transmission connector proximally translates along axis 210, so that end effector clamping limb closure.Fig. 2 C and 2D show The amplification isometric cut-away view that apparatus 10 is opened and closed.When actuating component 15 is moved away from shell 50（Identified by arrow 250）, The direct of travel of transmission connector 40, connector 30 and yoke 35 is represented by the arrow 260 in Fig. 2 D.
In use, surgeon or operator are placed on apparatus 10 in its palm.The size of apparatus 10 can be set to easypro Coordinate suitablely in the adult palm of sizes.Apparatus 10 can in the following manner be operated：Thumb is placed on into thumb In ring 20, and finger is made around shell 50 and/or relative with thumb through finger ring 200.Surgeon by being respectively further from and The opening and closure of apparatus 10 is realized towards apparatus work thumb rings.Apparatus 10 can also one-handed performance, in one-handed performance, Knob is placed with allows surgeon using the forefinger of the hand for gripping apparatus 10 come motion knob 45.When being gripped by surgeon When, the side of actuating component 15 of apparatus is referred to alternatively as the bottom of the top of apparatus, and shank 50 for apparatus.Shank 50 can be provided with by Button, to allow to be activated by firmly grasping the forefinger or middle finger of the hand of apparatus 10 energy of supply end effector.Button can be in handle Neighbouring knob 45 on the downside in portion 50（The part relative with actuating component 15 of shank 50 is identified as Ref. No. 220）, with Surgeon is allowed to start apparatus with forefinger or middle finger.This kind of embodiment allows to disclose 2007/0191713 in such as United States Patent (USP) Disclosed in this kind of medical treatment device in singlehanded rotation and actuating are carried out to the end effector of existing scissors-type close mechanism.
Another kind of expression of apparatus 10 is shown in Fig. 3 A and Fig. 3 B.In this kind of expression, pivot axis 300 are substantially worn Longitudinal axis 210 is crossed, and connector 30 is attached to the top section of actuating component 15 and is located at the distally of pivot axis 300.Figure The longitudinal direction that the opening of device and closure scissor motion are converted into inner tube using connector 30 and yoke 35 by the expression of 3A-3B is back and forth Motion.
Referring now to Fig. 4 A and Fig. 4 B, wherein depicting another kind of expression of power transfer assembly.In this kind of expression, connection Part 30 is placed on the downside of apparatus.Actuating component 15 causes the longitudinal translation yoke of connector 30 around the motion of pivot axis 400 35, so as to translate transmission connector 40（It is not shown）With inner tube 60 or 170, so as to move the folder being arranged at end effector Tool.In this kind of device, connector 30 is placed on the downside of shank 50（Towards the little finger of toe and the third finger of operator）, this can change Visuality of the kind operator to it.
Fig. 3 and connector component depicted in figure 4 make connection due to the relative position of pivot axis and connector 30 Part 30 and yoke 35 with Fig. 1-that shown in Figure 2 opposing longitudinal along moving.Fig. 5 depict for the mechanism one shown in Fig. 3-4 Act a kind of arrangement of the tube-in-tube/gripping arm device for using.As illustrated, clamping limb 510 is pivoted at Pivot joint 500 Be attached to outer tube 565.U-shaped bracket 520 is provided with its far-end with the inner tube of yoke 35 and the transmission mechanical communication of connector 40, should Bracket is pivotally connected to clamping limb 510 via connector 530.In this kind of device, longitudinal force passes through connector from bracket 520 530 and be sent to clamping limb 510 so that clamping limb 510 around pivot axis 500A rotate.It is known in the art and energy Enough it is understood by, by the orientation for changing clamping limb 510 and bracket 520, can be by shown in the clamping arm component of Fig. 5 and Fig. 1 and Fig. 2 The expression of apparatus 10 be used together.
Referring now to Fig. 6 and Fig. 7, which show another kind of expression of transmission coupling assembly.In the expression of Fig. 6, device Tool 10 is provided with two connectors 630A and 630B for being attached to yoke 635 on substantially opposite side external surface.In this kind of device In, connector 630A, 630B are pivoted on axis 600A around yoke 635, longitudinal axis 610 of the axis through apparatus 10.This Planting device can have to the desired effects of the applying turning moment of yoke 35, and this can allow more successfully to pass power from actuating component 15 It is sent to transmission connector 40 and inner tube 60,170.Although the expression of Fig. 6 depicts two connectors 630A and 630B, but can set Think that apparatus 10 can adopt only one connector 630A.
In above-mentioned expression, point of the actuating component 15 on shank 50 is pivoted.Can expect to be arranged on shell 50 Stop part or fulcrum, so that actuating component 50 is engaged when apparatus 10 is closed.In a kind of expression, the contact yoke 35 of actuating component 15 Flange 35B（Referring to Fig. 2 B）, to prevent thumb rings 20 from contacting or against to shank 50.When actuating component 15 is by rigid material system Cheng Shi, thumb rings 20 will apply more power towards the other depression of shell 50 by connector 30, yoke 35, transmission connector 40 And the clamping limb on the most end effector of Zhongdao apparatus 10, but thumb rings 20 may not be caused to abut on shank 50. Applying the ability of excessive clamp pressure at clamping limb can cause to produce undesirable group when apparatus 10 is utilized in operation technique Knit effect.When actuating component 15 is fabricated from a flexible material, with the after-applied more power in contact flange 35B, thumb rings 20 deflections bend and against shell 50.Be applied to clamping limb power size by fulcrum relative to actuating component-shank pivot The position of axle point and the composition of actuating component 15 and cross-section parts ground determine.
Referring to Fig. 8 A and Fig. 8 B, actuating component 15 shows narrow 800.In this kind of device, actuating component 15 can Apply less power at clamping limb, this is because part 800 can be less relative to the other parts of actuating component 15 due to it Cross section and compared with Smaller load bend or bend.When larger chucking power is needed, movable lining ring 810 carrys out covering part 800 and prevent from bending or bend, as shown in Figure 8 B.Lining ring 810 may be selected from compatiblely for the multiple material of surgery, and its chi It is very little to be set to the bending for substantially preventing actuating component 15 at part 800.It is contemplated that this kind of actuating component can be with institute above Any one expression for the apparatus 10 for showing is used together, and can be additionally used on any scissors-type apparatus.It is also contemplated that narrow 800 material may differ from the part of the neighbouring narrow 800 of actuating component 15.
Fig. 9 A and 9B show that the substitution tables for the chucking power applied by actuating component 15 that is modified reach.In this kind of expression In, apparatus 10 is provided with stop part 900, and the stop part can be along the longitudinal axis of shank 50.Stop part 900 can seat in shell Passage in 50（It is not shown）In, the passage has and the associated plurality of ratchet of known chucking power at end effector, Wherein each ratchet is placed on stop part 900 at the different longitudinal position relative to thumb rings 20.When stop part 900 is along near When the direction of side to distally is moved, the power that actuating component 15 is applied can increase, and wherein Fig. 9 B depict minimum grip power, and scheme 9A depicts thumb rings 20 against maximum grip power during shank 50.
Figure 10 A-10D are shown for another kind of expression with the modified mechanism of chucking power that scissors-type apparatus is used together. Apparatus 10 is provided with cam member 1000 in the proximal end of shell 50.Cam member 1000 is rotationally attached to shell 50, to select Property ground change thumb rings 20 against point, this can change the size of the chucking power that actuating component 15 can apply then.Cam member 1000 and shell 50 can be provided with ratchet so that ratchet is attached in a ring cam member 1000 fixed position, so that thumb Ring the known position being associated with known chucking power carry out against.Figure 12 B depict minimum grip power apparatus, and Figure 12 D Depict maximum grip power apparatus.It is contemplated that cam member 1000 can be provided with and thumb rings 20 on the side surface of cam 1000 Step or shelf that side surface coordinates, to allow preferably to be engaged between cam 1000 and thumb rings 20.
The substitution tables that the modified mechanism of chucking power is shown in Figure 11 A-11C reach.Latch 1100 is controlled by sliding cam 1110 System, so that latch 1100 is optionally with thumb rings 20 out of engagement with to increase or reduce the compression at end effector Power.Can be by being arranged through the orthogonal protuberance of shell 50 and projection（It is not shown）Manually to start sliding cam 1110.It is prominent Go out portion to seat in the slit in shell 50, the height of the ratchet using the ratchet joined with the height correlation of known pin 1100 Degree is also associated with known chucking power.Alternatively, can pass through provide by button or switch control rule motor and Gear assembly is automated making sliding cam 1110.Alternatively, sliding cam 1110 can have as shown in Figure 11 C More than one cam ramp, to provide variable compression stress at end effector.
In the another substitution tables of the modified mechanism of chucking power reach, Figure 12 A-12B show what is controlled by sliding cam 1210 Latch 1200, the sliding cam is biased by compression spring 1220.Sliding cam 1210 and spring 1220 are contained in shell 50 In passage 1230.In a first state, latch 1200 engages thumb rings 20 to limit the compression stress at end effector.If Surgeon continues to press down on latch 1200, then pin 1200 along cam ramp slide downward, and can force sliding cam 1210 proximally translate with compression spring 1220 in passage 1230.Pin 1230 is final against passage 1230, so as to anti-shotpin 1200 further motions, as shown in Figure 12 B.Using sliding cam 1210 and spring 1220, force feedback with thumb rings 20 by connecing Tactile pin 1200 and be directed to surgeon.Compressing the gradually increase of the power needed for spring 1220 can cause at end effector Compression stress changeably increase.
Thumb rings 20 can be provided with the latch of activity, to selectively change the chucking power at end effector, such as scheme Shown in 13A-D.Latch 1300 is slidably mounted to the downside of thumb rings 20.In operation, when latch 1300 is in During farthest side position（As shown in FIG. 13A）, surgeon may expect the chucking power bigger than available power.By optionally From the rotation of farthest side position or motion latch 1300（As shown in Figure 13 B and 13C）, thumb rings can be made to contact or be resisted against shank On 50, as illustrated in figure 13d.In a kind of expression, latch 1300 can be seated in the passage being located in the bottom of thumb rings 20（Not Illustrate）In.Although illustrated as substantial rectangular, but it is known in the art and, it is understood that latch 1300 Can be round to provide cam face, and thumb rings 20 can be provided with ratchet in the passage of latch 1300, to allow latch 1300 carry out selective motion, so as to further allow for being selectively engaged between its cam face and shank 50, so as to Incrementally change end effector chucking power.
In the another substitution tables of the modified mechanism of chucking power reach, Figure 14 A-14C show the pivot slot of amplification, thus cause Pivoting point on dynamic component can be increased or be shortened, to change the moment arm between actuating component and shank, and therefore change end Compression stress at portion's actuator.
In the expression of Figure 14, actuating component 1315 is provided with circular hole 1335 and 1340.As illustrated, hole 1335 and 1340 Radius is overlapped, so as to form the pivot slot 1345 of amplification in clamping limb 1315.Pin 1330 is oriented to be orthogonal to end Actuator axis 1300.The shape of pin 1330 is set to allow for the pivoting point of clamping limb 1315 and transports between hole 1335 and 1340 It is dynamic.As illustrated, pin 1330 is oval, but other shapes are dreamed up also dependent on the configuration of pivot slot 1345. In first position, actuating component moves to permission hole 1340 and engages pin 1330 and rotate around pin 1330, such as Figure 14 B institutes Show.This first position forms the first compression stress between end effector 1325 and fixture 1350.In the second position, clamping limb Move into permission pivot slot 1345 to translate relative to pin 1330, and also allow the engaging hole 1335 of pin 1330, so as at end The second power is formed between portion's actuator 1325 and clamping limb 1350, as shown in Figure 14 C.By adopting on the both sides of pintle assembly 25 With pivot slot 1345, and further on the side surface of shell 50 provide pin 1330 to engage pivot slot 1345, it is this kind of Device can be used together with aforementioned apparatus 10.
Although illustrating the present invention by describing some embodiments, applicant is not intended to claims The spirit and scope of book is defined or limited in these details.Without departing from the scope of, the skill of this area Art personnel can make various modifications, change and displacement.Additionally, alternatively, can will be related to the present invention every The structure of one element is described as the device for providing the function of being performed by the element.
Multiple embodiments and example of the present invention are had been shown and described, can be fitted by those of ordinary skill in the art Realize the further improvement of method described herein and equipment without deviating from the scope of the present invention when modification.If already mentioned above Such potential modification is done, and other modifications will be evident that for a person skilled in the art.For example, The concrete material of accompanying drawing, dimension and ratio will be appreciated that as non-limiting examples.It is also understood that various tables as herein described Up to being mutually combined, this is well known in the art and is understood that.Therefore, the scope of the present invention should be with following right Claim considers, and the details of structure, material or the operation for being interpreted as being not limited in specification and drawings illustrate and describe.
Hollow outer tube, the outer tube limits longitudinal axis；
Clamping limb, the clamping limb is pivotally connected to the outer tube；
Inner tube, said inner tube is substantially provided in the outer tube, and said inner tube is pivotally connected to the clamping limb and can Relative to the outer tube longitudinal sliding motion；
Shank, the shank has along longitudinal axis setting proximally and distally；
Actuating component, the actuating component is pivotally mounted to the shank；
Linking arm, the linking arm is attached pivotally to the actuating component；
Yoke, the yoke is attached pivotally to the linking arm；
Transmission connector, the transmission connector is arranged in the distal end of the shank around the longitudinal axis, the transmission Connector can engage relative to the shank longitudinal sliding motion and longitudinally the yoke, and the transmission connector is fixedly attached to institute State inner tube and be rotatably engaged the outer tube；And knob, the knob is rotatably engaged with the transmission connector so that The rotation of the knob causes the transmission connector to rotate, and the thus rotation of the transmission connector causes said inner tube to turn It is dynamic.
2. apparatus according to claim 1, wherein the transmission connector includes cylinder, the cylinder has annular Intermediate surface and annular side surface.
3. apparatus according to claim 2, is additionally included on the side surface of the transmission connector Longitudinal extending at least One guide rail.
4. apparatus according to claim 3, wherein, annular side table of the knob portion ground around the transmission connector Face is arranged, wherein the knob has at least one longitudinal intermediate groove, described at least one longitudinal intermediate groove and the biography At least one guide rail for sending connector coordinates.
5. apparatus according to claim 4, wherein the transmission connector is also included around the remote of the transmission connector The prominent guide rail that end is arranged in a ring.
6. apparatus according to claim 5, wherein the yoke has annular groove, the annular groove and the transmission connect The prominent guide rail for arranging in a ring of fitting coordinates.
7. apparatus according to claim 6, also including the finger ring of the proximal end for being arranged on the shank.
8. apparatus according to claim 7, also including the thumb rings of the proximal end for being arranged on the actuating component.
9. apparatus according to claim 8, wherein shell near-end is provided with the dress for being selectively engaged the thumb rings Put.
10. apparatus according to claim 8, also including latch, the latch is attached slidably to the thumb Ring, wherein the latch is selectively engaged the shank.
11. apparatuses according to claim 1, wherein, the shank has side surface and is arranged on the side surface Pin；And
The actuating component has the slit of the pin for being pivotally engaged the shank.
12. apparatuses according to claim 11, wherein the slit is made up of two circular holes with overlapping radius.
CN201280025118.9A 2011-03-24 2012-03-21 Energy-based scissors device CN103747752B (en)
US201161467180P true 2011-03-24 2011-03-24
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CN201280025118.9A CN103747752B (en) 2011-03-24 2012-03-21 Energy-based scissors device
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