CN1939226A - 用于多击发外科固定器械的基于电活化聚合物的关节机构 - Google Patents

用于多击发外科固定器械的基于电活化聚合物的关节机构 Download PDF

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CN1939226A
CN1939226A CNA2006101447535A CN200610144753A CN1939226A CN 1939226 A CN1939226 A CN 1939226A CN A2006101447535 A CNA2006101447535 A CN A2006101447535A CN 200610144753 A CN200610144753 A CN 200610144753A CN 1939226 A CN1939226 A CN 1939226A
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end effector
electroactive polymer
slender axles
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马克·S·奥尔蒂斯
弗雷德里克·E·谢尔顿四世
约瑟夫·查尔斯·休伊尔
杰弗里·S·斯韦兹
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Ethicon Endo Surgery Inc
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/0682—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/10—Surgical instruments, devices or methods, e.g. tourniquets for applying or removing wound clamps, e.g. containing only one clamp or staple; Wound clamp magazines
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
    • A61B17/1285—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2946—Locking means

Abstract

本发明提供使多击发装置，如夹具施放器、疝气钉合器或皮肤缝合器致动和/或进行关节运动的方法和装置。在一个示范性实施例中，提供一种具有细长轴的外科固定器械，该细长轴具有联接至其上并适于向组织施加一个或多个外科固定器的端部执行器。可采用可电扩张和收缩致动器、如电活化聚合物致动器来驱动固定器推进组件或形成组件穿过细长轴，从而驱动外科固定器进入组织。在另一个实施例中，可采用可电扩张和收缩致动器、如电活化聚合物致动器来实现细长轴和端部执行器之间形成的关节运动接头的运动。

Description

用于多击发外科固定器械的基于 电活化聚合物的关节机构
相关申请的交互参考
本申请是于2005年3月17日提交的、发明名称为“SurgicalInstrument Incorporating an Electrically Actuated ArticulationMechanism”的美国专利申请No.11/082,495的部分继续申请，该美国专利申请要求于2004年7月28日提交的、发明名称为“SurgicalInstrument Incorporating an Electrically Actuated ArticulationMechnism”的美国临时申请No.60/591,694的优先权。这些申请的全部内容在此通过引用接合入本文。
技术领域
本发明广义上涉及外科装置，尤其涉及用于使外科固定器械(如夹具施放器、疝气钉合器或皮肤缝合器)上的端部执行器进行关节运动和/或致动端部执行器的方法和装置。
背景技术
外科固定器械携带多个外科固定器，所述外科固定器典型设置用于结扎血管、止血缝合和切割组织或者将假体连接到组织上。所有这些器械包括可在单次击发内或多次击发内设置的多个固定器。多击发器械(如夹具施放器和疝气钉合器)包括容纳在外科器械内的多个固定器，且这些固定器可一次施放。这些类型的器械可反复击发直到器械用完固定器或手术完成。
一种已知的多击发器械是夹具施放器，如由EthiconEndoEND-Surgery，Cincinnati，Ohio制造和销售的ER320 LIGACLIPTM多夹具施放器。夹具施放器用于在手术期间闭合或结扎血管，并常用于在去除胆囊期间结扎胆管和胆动脉。这些外科器械可包含多至二十个夹具并包含在器械内向远侧推动或进给夹具的送料履带片。具体地，在形成于该装置远端上的钳口上推进凸轮管，从而使钳口受凸轮带动闭合并将设置在其间的夹具夹扁。一些装置在凸轮管向前推进使进给棒重新定位以便推进下一个夹具时，还同时使进给棒缩回。一旦完全形成夹具，则使凸轮管缩回从而释放复位弹簧，该弹簧联接至进给棒并推进进给棒以将下一个夹具推进钳口。可采用类似的器械输送疝气钉合钉或皮肤缝合钉。
多击发装置存在的一个挑战是反复击发小冲程。必须控制该冲程以允许快速反复击发。当前的机构利用机械联接件完成此目的，然而，这种联接件在具有挠性轴的装置中很难采用。具体地，从具有挠性轴的装置的手柄向端部执行器传递力可干扰轴的弯曲取向，潜在地导致轴变直。
因此，需要用于使外科固定器械(如夹具施放器、疝气钉合器和皮肤缝合器)致动的方法和装置，尤其是需要以较小的力来实现致动的方法和装置。
发明内容
本发明提供使外科固定器械(如夹具施放器、疝气钉合器或皮肤缝合器)致动和/或进行关节运动的方法和装置。在一个示范性实施例中，提供一种外科固定器输送装置，该外科固定器输送装置具有外壳，该外壳具有从其上延伸出的细长轴，以及延伸穿过外壳和细长轴的固定器推进组件，且该固定器推进组件可动地按顺序推进多个夹具穿过细长轴。电活化聚合物致动器联接至固定器推进组件，从而向电活化聚合物致动器输送能量将实现固定器推进组件的运动以推进多个夹具穿过细长轴。
在一个实施例中，提供一种具有细长轴的外科固定器输送装置，端执行器通过关节运动接头可动地联接至细长轴。端部执行器可构造成向组织顺序地输送多个固定器。该装置还可包括电活化聚合物致动器，该电活化聚合物致动器联接至关节运动接头并适于当向该电活化聚合物致动器输送能量时使端部执行器绕关节运动接头相对于细长轴运动。
虽然可采用多种技术来运动关节运动接头，从而使用端部执行器，在一个实施例中，细长轴可包括延伸穿过其中并具有联接至关节运动接头的远端的滑棒。电活化聚合物致动器可设置成沿侧向运动滑棒以实现端部执行器的运动。例如，电活化聚合物致动器可包括设置在滑棒相对侧上的第一和第二电活化聚合物致动器，滑棒可包括在其远端上形成的并适于与在关节运动接头上形成的相应齿轮啮合的齿轮。在另一实施例中，关节运动接头可以是枢轴接头形式，且电活化聚合物致动器可包括在端部执行器的第一侧和细长轴的第一侧之间延伸的第一电活化聚合物致动器，以及在端部执行器的相对的第二侧和细长轴的相对的第二侧之间延伸的第二电活化聚合物致动器。在又一个实施例中，关节运动接头可以是在细长轴和端部执行器之间形成的挠性部分的形式。电活化聚合物致动器可包括在不同位置处联接至该挠性部分的多个电活化聚合物致动器，且每个电活化聚合物致动器可构造成当有选择地向其输送能量时改变取向，以使挠性部分挠曲。
本发明还提供一种固定组织的方法，且在一个实施例中，该方法可包括将固定器输送装置的细长轴插入体腔内以将可动地联接至细长轴远端的端部执行器定位在手术部位附近，向电活化聚合物致动器输送能量，以使端部执行器相对于细长轴成角度定位和按顺序致动该装置，从而向设置在端部执行器附近的组织顺序地输送多个固定器。向电活化聚合物致动器输送能量能够使电活化聚合物致动器径向扩张，以使滑棒沿侧向运动和从而实现端部执行器的枢转运动，所述滑棒延伸穿过细长轴并联接至形成于细长轴和端部执行器之间的关节运动接头。可选择地，向电活化聚合物致动器输送能量能够使电活化聚合物致动器轴向收缩，以使滑棒沿侧向运动并从而实现端部执行器的枢转运动，所述滑棒延伸穿过细长轴并联接至形成于细长轴和端部执行器之间的关节运动接头。在其它实施例中，向第一电活化聚合物致动器输送能量以使端部执行器沿第一方向运动，并向第二电活化聚合物致动器输送能量以使端部执行器沿相反的第二方向运动。向电活化聚合物致动器输送的能量大小可对应于端部执行器的运动程度。在又一个实施例中，向电活化聚合物致动器输送能量可通过使在细长轴和端部执行器之间延伸的挠性部分挠曲而使端部执行器相对于细长轴成角度地定位。
在又一个实施例中，电活化聚合物致动器可有效地致动固定器推进组件。虽然电活化聚合物致动器可利用多种技术实现固定器推进组件的运动，在一个实施例中，电活化聚合物致动器可设置在外壳内。例如，电活化聚合物致动器可联接至固定器推进组件的近侧部分。向电活化聚合物致动器输送能量可使电活化聚合物致动器向固定器推进组件施加力，以使固定器推进组件向远侧运动，从而推进多个固定器穿过细长轴。具体地，向电活化聚合物致动器输送能量可使电活化聚合物致动器沿轴向扩张，以使固定器推进组件从近侧位置向远侧位置运动。外壳可任选包括形成在其上并适于启动向电活化聚合物致动器输送电能量的致动机构，如触发器。触发器还可适于与电活化聚合物致动器一起推进固定器推进组件。
在另一个实施例中，电活化聚合物致动器设置在细长轴内。例如，当将能量输送到电活化聚合物致动器时，电活化聚合物致动器可适于向固定器推进组件的最远侧部分施加力，以将固定器组件的最远部分推向细长轴的远端。在一个示范性实施例中，其中固定器输送装置包括关节运动接头，该关节运动接头形成于细长轴上并设置成允许细长轴的远侧部分相对于细长轴的近侧部分成角度定位，电活化聚合物致动器可在关节运动接头远侧的位置处联接至固定器推进组件。
本发明还提供向组织输送固定器的示范性方法，且在又一个实施例中，该方法或包括将固定器输送装置细长轴的远端定位在待固定组织附近，以及向设置在固定器输送装置内的电活化聚合物致动器输送能量以推进固定器穿过细长轴，从而固定组织。向电活化聚合物致动器输送能量可使电活化聚合物致动器扩张，以使固定器推进组件运动穿过细长轴，从而使固定器推进组件按顺序推进多个固定器。在一个实施例中，电活化聚合物致动器可使电活化致动器向设置于固定器输送装置细长轴内的固定器推进组件的远侧部分施加力。可采用多种技术向电活化聚合物致动器输送能量，但在一个实施例中，可通过致动可动地联接至固定器推进组件的手柄外壳上的触发器来向电活化聚合物致动器输送能量。触发器还可适于与电活化聚合物致动器一起推进固定器推进组件。
更具体地说，本发明涉及如下内容：
(1)一种外科固定器输送装置，包括：
细长轴；
端部执行器，其通过关节运动接头可动地联接至细长轴，该端部执行器被构造成向组织顺序地输送多个固定器；和
电活化聚合物致动器，其联接至该关节运动接头并适于当向该电活化聚合物致动器输送能量时使端部执行器绕该关节运动接头相对于细长轴运动。
(2)如第(1)项所述的装置，其中，所述细长轴包括滑棒，该滑棒穿过细长轴延伸且具有联接至该关节运动接头的远端，电活化聚合物致动器被构造成使滑棒沿侧向运动以实现端部执行器的运动。
(3)如第(2)项所述的装置，其中，所述电活化聚合物致动器包括设置在滑棒的相对侧上的第一和第二电活化聚合物致动器。
(4)如第(2)项所述的装置，其中，所述滑棒包括形成于其远端且适于与在关节运动接头内形成的相应齿轮啮合的齿轮。
(5)如第(1)项所述的装置，其中，所述关节运动接头包括枢轴接头，且电活化聚合物致动器包括在端部执行器的第一侧和细长轴的第一侧之间延伸的第一电活化聚合物致动器，以及在端部执行器的相对的第二侧和细长轴的相对的第二侧之间延伸的第二电活化聚合物致动器。
(6)如第(1)项所述的装置，其中，所述关节运动接头包括在细长轴和端部执行器之间形成的挠性部分。
(7)如第(6)项所述的装置，其中，所述电活化聚合物致动器包括在不同位置处联接至该挠性部分的多个电活化聚合物致动器，所述多个电活化聚合物致动器的每一个被构造成当向其有选择地输送能量时改变取向，以使挠性部分挠曲。
(8)如第(1)项所述的装置，还包括固定器推进组件，该固定器推进组件设置成穿过细长轴并适于顺序地将多个固定器推入端部执行器内。
(9)如第(1)项所述的装置，其中，所述端部执行器包括适于在其间接收夹具形式的固定器的相对钳口。
(10)如第(1)项所述的装置，其中，所述端部执行器包括用于缝合组织的缝合机构。
(11)如第(1)项所述的装置，其中，所述端部执行器包括用于缝合组织的缝合机构。
(12)一种固定组织的方法，包括：
将固定器输送装置的细长轴插入体腔内以将可动地联接至细长轴远端的端部执行器定位在手术部位附近；
向电活化聚合物致动器输送能量以使端部执行器相对于细长轴成角度地定位；和
顺序地致动该装置以顺序地向位于端部执行器附近的组织输送多个固定器。
(13)如第(12)项所述的方法，其中，向电活化聚合物致动器输送能量使该电活化聚合物致动器沿径向扩张，以使滑棒沿侧向运动并由此实现端部执行器的枢转运动，所述滑棒延伸穿过细长轴并联接至在细长轴和端部执行器之间形成的关节运动接头上。
(14)如第(12)项所述的方法，其中，向电活化聚合物致动器输送能量使该电活化聚合物致动器沿轴向扩张，以使滑棒沿侧向运动并由此实现端部执行器的枢转运动，所述滑棒延伸穿过细长轴并联接至在细长轴和端部执行器之间形成的关节运动接头上。
(15)如第(12)项所述的方法，其中，输送能量包括向第一电活化聚合物致动器输送能量以使端部执行器沿第一方向运动，且向第二电活化聚合物致动器输送能量以使端部执行器沿相反的第二方向运动。
(16)如第(12)项所述的方法，其中，向电活化聚合物致动器输送的能量大小对应于端部执行器的运动程度。
(17)如第(12)项所述的方法，其中，向电活化聚合物致动器输送能量通过在细长轴和端行执行器之间延伸的挠性部分使端部执行器相对于细长轴成角度地定位。
(18)如第(12)项所述的方法，其中，顺序地致动该装置以顺序地向位于端部执行器附近的组织输送多个固定器包括致动固定器推进组件，以顺序地驱动多个固定器穿过细长轴。
(19)如第(12)项所述的方法，其中，顺序地致动该装置包括顺序地驱动多个钉进入组织。
(20)如第(12)项所述的方法，其中，顺序地致动该装置包括顺序地使围绕组织的多个夹具变形。
附图说明
本发明从下面结合附图进行的详细描述将获得更全面的理解，附图中：
图1A是现有技术的纤维束型EAP致动器的剖视图；
图1B是图1A中所示现有技术的致动器的径向剖视图；
图2A是具有多个EAP复合层的现有技术层压型EAP致动器的剖视图；
图2B是图2A所示现有技术致动器的一个复合层的透视图；
图3A是外科夹具施放器的一个实施例的透视图；
图3B是图3A所示外科夹具施放器的分解图；
图3C是图3A和3B所示外科夹具施放器的手柄外壳的剖视图；
图4A是皮肤缝合器的一个实施例的透视图；
图4B是图4A所示皮肤缝合器的分解图；
图4C是图4A和4B所示皮肤缝合器的固定器推进组件的远侧部分的透视图；
图5是根据另一个实施例的皮肤缝合器的部分手柄外壳的透视图；
图6A是固定器输送装置远侧部分的剖视图，示出处于未被致动结构的用于实现固定器输送装置的端部执行器的关节运动的EAP致动器；
图6B是图6A所示固定器输送装置的远侧部分的剖视图，示出其中一个EAP致动器被电致动，以使端部执行器进行关节运动；
图7A是端部执行器另一个实施例的部分分解透视图，该端部执行器可动地联接至固定器输送装置的细长轴的远侧部分，该附图示出了用于使端部执行器进行关节运动的EAP致动器；
图7B是图7A所示固定器输送装置的部分剖视图，示出其中一个EAP致动器被电致动，以使端部执行器进行关节运动；
图8是与固定器输送装置细长轴的远侧部分可动地联接的端部执行器的另一个实施例的部分剖视图，示出用于使端部执行器进行关节运动的EAP致动器；
图9A是与固定器输送装置细长轴的远侧部分可动地联接的端部执行器的另一个实施例的部分剖视图，示出用于使端部执行器进行关节运动的EAP致动器；
图9B是图9A所示固定器输送装置的部分剖视图，示出其中一个EAP致动器被电致动以使端部执行器进行关节运动；
图10A是与固定器输送装置细长轴的远侧部分可动地联接的端部执行器的又一个实施例的部分剖视图，示出用于使端部执行器进行关节运动的EAP致动器；
图10B是图10A所示固定器输送装置的部分剖视图，示出其中一个EAP致动器被电致动以使端部执行器进行关节运动；
图11是通过挠性部分与固定器输送装置细长轴的远侧部分可动地联接的端部执行器的又一个实施例的部分剖视图，示出用于使端部执行器进行关节运动的EAP致动器；
图12A是处于未受致动位置的用于锁定固定器输送装置的端部执行器和细长轴之间的可动接头的锁定机构的一个示范性实施例的透视图；
图12B是图12A的锁定机构受致动以将可动接头锁定在固定位置时的透视图。
具体实施方式
现在将描述一些示范性实施例，以提供在此公开的装置和方法的结构、功能、制造和使用的原则的全面理解。在附图中示出了这些实施例的一个或多个实例。本领域技术人员将会意识到，在此具体描述和在附图中示出的装置和方法是非限制性的示范性实施例，而本发明的范围仅由权利要求书限定。就一个示范性实施例示出或描述的特征可与其它实施例的特征相结合。这种修改和改变应包括在本发明的范围内。
本发明总的提供用于使多击发装置(如夹具施放器、疝气钉合器或皮肤缝合器)的一个或多个部件运动的方法和装置。在一个示范性实施例中，提供一种具有细长轴的外科固定器械，该细长轴具有联接至其上并适于向组织施放一个或多个手术固定器的端部执行器。可采用可电扩张和收缩致动器(如电活化聚合物致动器)来驱动固定器推进组件或固定器形成组件穿过细长细，从而驱动外科固定器进入组织。本领域技术人员将会意识到，该外科固定器械可具有多种结构，而且一个或多个电活化聚合物致动器可联接至外科固定器械的一个或多个部件以实现运动。
电活化聚合物
电活化聚合物(EAPs)(也称为人造肌肉)是响应电或机械场呈现压电、热电或电致伸缩特性的材料。具体地，EAPs是一组当施放电压时改变形状的导电掺杂质聚合物。该导电聚合物可与一些形式的离子流体或凝胶和电极配对，并且离子从流体/凝胶流入或流出导电聚合物可导致聚合物形状的变化。典型地，可基于具体所使用的聚合物和离子流体或凝胶使用范围在约1V至4kV的电势。重要的是要注意到，当受到激发时，EAPs不会改变体积，而是只在一个方向上扩张并且横向上收缩。
EAPs的一个主要优点是它们的性能和特性能够受电控制和微调。可通过穿过EAP施放外部电压来使EAPs反复变形，而且当反转所施放的电压极性时，EAPs能够快速恢复其原始结构。可选择特定的聚合物来形成不同种类的运动结构，包括扩张、线性运动和弯曲结构。EAPs还可与机械机构(如弹簧或挠性板)配对，以改变当施放电压时所导致的效果。
存在两种基本类型的EAPs并且每种类型具有多种结构。第一种类型是可由许多纤维绑束在一起协同工作而组成的纤维束。这些纤维典型地具有约30-50微米的尺寸。这些纤维可以类似编织品那样被编织成束，且其通常被称为EAP纱。使用时，EAP的机械结构决定EAP的致动器及其运动能力。例如，EAP可以形成长绞股并且缠绕在单个中央电极周围。挠性的外部护套将形成致动器的另一个电极，并且该护套用于容纳装置功能所必需的离子流。当向其施放电压时，EAP将胀大，导致绞股收缩或变短。这些纤维可有选择地构造成扩张或加长。可从商业渠道获得的纤维EAP材料的一个实例是由Santa Fe Scienceand Technology制造的，作为PANIONTM纤维出售，其在美国专利No.6,667,825中有所描述，该专利的全部内容通过引用结合入本文。
图1A-1B示出了由纤维束形成的EAP致动器100的一个示范性实施例。如所示，致动器100通常包括挠性导电外护套102，该外护套102成其上具有端盖102a、102b的细长圆筒件形式。然而，外护套102可基于不同的用途具有各种其它形状和尺寸。如所进一步示出的，外护套102联接到能量输送电极108a和回流电极108b。在所示出的实施例中，能量输送电极108a延伸穿过一个端盖(如端盖102a)，穿过导电外护套102的内腔并进入相对的端盖(例如端盖102b)。能量输送电极108a可以是例如铂阴极导线，并且其可以与外护套102的任何部分联接。导电外护套102还可包括设置在其内的离子流体或凝胶106，用于从能量输送电极108a向设置在外护套102内的EAP纤维104传送能量。具体地，数个EAP纤维104平行布置并在每个端盖102a、102b之间延伸且穿进每个端盖102a、102b。如上所述，纤维104可布置成不同取向以提供所需的结果，例如，径向扩张或收缩或者弯曲运动。使用时，通过有源能量输送电极106a向致动器100输送能量。该能量导致离子流体内的离子进入EAP纤维104，从而导致纤维104向一个方向(例如径向)扩张，从而每个纤维104的外径增加，并沿横向方向(例如轴向)收缩，从而纤维的长度减小。结果，端盖102a、102b将会被拉向彼此，从而使挠性外护套102的长度收缩和减小。
EAP的另一种类型是层压结构，其由一层或多层EAP组成，在每层EAP之间设置有一层离子凝胶或流体，并且将一个或多个挠性板连接到该结构上。当施加电压时，层压结构沿一个方向扩张并沿横向或垂直方向收缩，从而导致与其联接的挠性板变短或加长，或者弯曲或挠曲，这取决于EAP相对于挠性板的结构。可由商业渠道获得层压EAP材料的一个实例是由作为SRI Laboratories的一个部门的Artificial Muscle Inc制造的。板状EAP材料也可从日本的EAMEX获得，该材料被称为薄膜EAP。
图2A-2B示出由层压件形成的EAP致动器200的示范性结构。首先参见图2A，致动器200可包括多层(例如，所示出的五层210、210a、210b、210c、210d)层压EAP复合物，这些层通过设置在其间的粘合层103a、103b、103c、103d彼此粘合在一起。在图2B中更详细地示出所述层中的一层，即，层210，如所示，层210包括第一挠性导电板212a、EAP层214、离子凝胶层216和第二挠性导电板212b，所有这些层均彼此连接在一起形成层压复合物。该复合物还可包括与挠性导电板212a、212b联接的能量输送电极218a和回流电极218b，如图2B所进一步示出的。使用时，可通过有源能量输送电极218a向致动器200输送能量。该能量将导致离子凝胶层216内的离子进入EAP层214，从而导致层214沿一个方向扩张并沿横向方向收缩。结果，将迫使挠性板212a、212b挠曲或弯曲，或者随EAP层214改变形状。
EAP致动
如前所述，在一个示范性实施例中，提供利用可电扩张和收缩致动器(如EAP致动器)，以实现外科固定器械的多种部件的致动的方法和装置。在一个示范性实施例中，外科固定器械是一种多击发器械，其被构造成向靶标部位按顺序输送多个固定器。以非限制性实例的方式，示范性多击发器械包括夹具施放器、疝气钉合器和皮肤缝合器。本领域技术人员将会意识到，这些器械在实际上可具有任何结构，且在此所示出和描述的这些器械可仅依赖于所述电活化聚合物致动器的使用来实现致动。采用电活化聚合物致动器的致动机构可实际结合到现有技术中已知的任何外科固定器械内。EAP致动器还可具有多种结构，且这些致动器可以为层压型EAP或纤维束型EAP的形式。在一个示范性实施例中，EAP致动器是层压或复合物EAP形式，其被构造成沿所需运动方向(例如沿该装置的纵向轴线方向)扩张。
图3A示出夹具施放器300形式的外科固定装置的一个示范性实施例。如所示，夹具施放器300通常包括手柄外壳302，手柄外壳302具有从其向远侧延伸的细长轴304。一对相对的钳口306形成在细长轴304的远端，且它们适于在其间接纳夹具并使夹具变形以接合组织。所示出的装置300还包括联接至其上的第一触发器308a和第二触发器308b，并且第一触发器308a和第二触发器308b可从张开位置向闭合位置运动以推进多个夹具穿过细长轴，从而将夹具定位在钳口内，并且闭合钳口306以使在位于相对钳口306之间的组织周围的夹具变形。虽然示出为两个触发器308a、308b，本领域技术人员将会意识到，装置300可包括任何数目的触发器，或者可选择地或额外地，其可包括其它致动机构，如旋钮、拨盘、杠杆等。
图3B示出图3A所示夹具施放器300的内部部件。通常，夹具施放器300包括用于推进夹具穿过细长轴304的夹具推进组件，以及用于闭合钳口306以使设置在其间的夹具变形的夹具闭合组件。虽然夹具推进组件和夹具闭合组件均可具有多种结构，在图3B所示实施例中，每个组件包括连接在一起且当闭合触发器308a、308b时可在近侧位置和远侧位置之间运动的几个部件。具体地，夹具推进组件包括设置在手柄外壳(示出为两个外壳半部302a、302b)内且在其近端处通过一对近侧杠杆臂312a、312b联接至触发器308a、308b的夹具进给板310。当闭合触发器308a、308b时，杠杆臂312a、312b有效地使夹具进给板310和夹具推进组件的其它部件向近侧运动。夹具进给板310的远端联接至进给棒314，该进给棒314具有适于将夹具推进钳口306的远端。夹具闭合组件包括夹具闭合板316，该夹具闭合板316设置在外壳中并与凸轮通道318在远端连接，所述凸轮通道318适于闭合钳口306。夹具闭合组件还包括可电扩张和收缩致动器，如将下面更详细描述的EAP致动器320，其构造成向夹具闭合板316施加力以向远侧驱动夹具闭合板316和凸轮通道318，从而闭合钳口306以使设置在其间的夹具变形。装置300还可包括有利于夹具推进和夹具闭合的其它元件。通过非限制性实例的形式，其它示范性部件公开在1993年4月29日提交的、发明名称为“Clip Applier”的美国专利No.5,431,668和1991年4月4日提交的、发明名称为“EndoscopicMultiple Ligating Clip”的美国专利No.5,171,249中。Ethicon，Inc.为这些专利的受让者，文献的全部内部通过引用结合入本申请中。
在图3C中更详细地示出EAP致动器，且如所示，EAP致动器320位于夹具闭合板310的最近端和外壳302的最远侧壁之间。虽然未示出，EAP致动器320可包括电极，该电极从其延伸出并联接至设置在外壳302内的电源(如电池)，或者电极可构造成通过电线联接至外部电源，如电源插座。可采用形成于手柄外壳302上的机构(如触发器、按钮、杆、滑钮、旋转拨盘等)来启动向EAP致动器320的能量输送。例如，触发器308a、308b可构造成通过在每个触发器308a、308b和EAP致动器320之间建立电连接点来启动能量输送。本领域技术人员将会意识到，可采用本领域中已知的多种技术来启动向EAP致动器320的能量输送。
当向EAP致动器320输送能量时，致动器320将向远侧方向扩张(沿相反方向收缩)。结果，EAP致动器320将向夹具闭合板310施加朝向远侧的力，向远侧推进夹具闭合板310，从而向远侧推进联接至夹具闭合板310的凸轮通道318，以使凸轮通道318闭合钳口306并使设置在其间的夹具变形。当终止能量输送时，EAP致动器320返回其初始结构，如图3C所示，允许夹具闭合板310和凸轮通道318返回其近侧位置。为有利于当终止向EAP致动器320输送能量时夹具闭合板310向近侧运动，偏压元件(如弹簧)可联接至夹具闭合板310以将板310偏压向近侧位置。
虽然未示出，可额外地或可选择地采用EAP致动器运动夹具推进组件以将夹具推进钳口306。例如，可将EAP致动器设置在手柄外壳302内的这样一个位置，在该位置EAP致动器有效地向夹具进给板310施加向远侧方向的力，从而向远侧推进夹具进给板310和夹具进给棒314，以将夹具推进钳口。可改变向联接至夹具推进组件和夹具闭合组件输送电能的时间。例如，触发器308a、308b或一些其它致动机构的运动可有效地首先向联接至夹具推进组件的EAP致动器输送能量以将夹具推进到钳口中。输送到夹具推进组件的能量可然后被终止，并且将能量输送到联接至夹具闭合组件的EAP致动器，以闭合钳口，从而使夹具变形。或者可同时发生能量输送。在其它实施例中，EAP致动器可构造成向夹具推进组件和/或夹具闭合组件施加向近侧方向的力。例如，可将夹具推进组件偏压向近侧位置，且向EAP致动器输送能量以使夹具推进组件向近侧位置运动，其中夹具推进组件位于待推进的下一个夹具的后面。一旦终止能量输送，夹具推进组件可返回其远侧位置，从而将夹具推进钳口。本领域技术人员将会意识到，可采用EAP致动器实现外科固定器械多种部件的运动。
虽然图3C示出EAP致动器的一个实施例，该EAP致动器设置在手柄外壳内用于驱动外科固定器输送装置的夹具推进组件和/或夹具闭合组件的近侧部分，在其它实施例中，一个或多个EAP致动器可设置在外科固定装置的细长轴内。这种结构所具有的特殊优点在于其允许细长轴挠曲或在其上形成关节运动接头。EAP致动器可设置在挠性部分或关节运动接头的远侧，从而其不会干扰端部执行器相对于细长轴的运动。
通过非限制性实例的形式，图4A-4B示出具有设置在细长轴内用于推进钉的EAP致动器420的皮肤缝合器400的一个实施例。通常，如图4A所示，皮肤缝合器400包括手柄外壳402，手柄外壳402具有从其向远侧延伸的细长轴404。手柄外壳402包括固定触发器406和可动地联接至手柄外壳402的触发器408。如前参照图3A的夹具施放器300所给出的解释，皮肤缝合器400可包括任何数目的触发器和/或其它致动机构，如旋钮、按钮、拨盘或杠杆。
皮肤缝合器400的内部部件在图4B中更详细地示出，且如所示，装置400通常包括单个钉推进/形成组件，该组件适于推进一系列钉穿过细长轴404，并使砧座周围的最远侧钉变形以缝合位于邻近细长轴远端的组织。具体地，钉推进/形成组件包括设置在手柄外壳(示出为两个外壳半部402a、402b)内的驱动块410，联接至驱动块410远端的驱动连杆412，以及联接至驱动连杆412的远端并延伸穿过细长轴(示出为两个轴壳半部404a、404b)的钉形成器414。在钉形成器414上形成将在下面更详细讨论的EAP致动器420，且该EAP致动器420构造成向钉形成器414施加力以向远铡朝砧座418推进钉形成器414的至少一部分，从而使砧座418周围的钉变形。皮肤缝合器400还可包括有利于钉推进和形成的其它元件。通过非限制性实例形式，在1993年5月14日提交的、发明名称为“Rotating Head Skin Stapler”的美国专利No.5,330,087中公开了其它示范性部件，该专利被转让给Ethicon，Inc.，文献的全部内容通过引用结合入本申请中。
在图4C中更详细地示出了EAP致动器420，且如所示，EAP致动器420形成钉形成器414的近侧部分414a和钉形成器414的远侧部分414b之间的联接件。具体地，延伸穿过细长轴404的钉形成器414由两个独立件形成，即，近侧部分414a和远侧部分414b。EAP致动器420联接至近侧部分414a和远侧部分414b并在其间延伸，以使近侧部分414a和远侧部分414b彼此相连。结果，当向EAP致动器420输送能量时，EAP致动器420将沿使钉形成器414的远侧部分414b相对于钉形成器414的近侧部分414a向远侧方向运动的方向扩张。远侧部分414b进而将推进钉以使钉抵住砧座418变形，从而缝合位于细长轴402远端附近的组织。本领域技术人员将会意识到，EAP致动器可有选择地设置在固定构件(如细长轴402的一部分)与钉形成器414之间，而不是设置在钉形成器414的近侧部分414a和远侧部分414b之间。EAP致动器还可具有允许其实现钉形成器414向远侧运动的多种其它结构。虽然未示出，装置400还可包括关节运动接头，其示范性实施例将在下面进行更详细的描述。当提供关节运动接头以允许端部执行器或轴404的远侧部分相对于轴404成角度取向时，EAP致动器优选位于关节运动接头的远侧，从而致动不会干扰端部执行器的关节运动。
虽然图3C和4C示出代替用于驱动固定器形成和/或推进组件的机械致动器的EAP致动器的实施例，在其它实施例中，可采用一个或多个EAP致动器与机械致动器协同作用，以减少实现致动所需的力量，即，EAP致动器可辅助机械驱动机构。通过非限制性实例的形式，图5示出类似于图4A-4B所示的皮肤缝合器400的皮肤缝合器400’的手柄外壳402’，但其包括与触发器协同作用以输送固定器的EAP致动器。具体地，EAP致动器420’设置在从外壳(只示出外壳半部402’)伸出的固定壁或突起422’与驱动块418’上形成的壁或突起422’之间。向EAP致动器420’输送能量导致EAP致动器420’扩张，从而向远侧推进驱动块418’以及驱动连杆和钉形成器(未示出)，以推进钉并使砧座周围的钉变形。如图5所进一步示出的，可动触发器408’被构造成当触发器408’枢转至闭合位置时与驱动块418’接合并向远侧驱动驱动块418’。这样，当向EAP致动器420’输送能量时，EAP致动器420’将辅助触发器408’向远侧驱动驱动块418’、向远侧驱动连杆和钉形成器，以使砧座周围的钉变形。
在一个示范性实施例中，可在触发器408’和驱动块418’之间的触点426’处建立电连接，从而当触发器408’与驱动块418’接触时，将启动向EAP致动器420’输送能量。结果，当触发器408’闭合时，仅向EAP致动器420’输送能量以向远侧驱动驱动块418’、驱动连杆和钉形成器，从而在钳口周围形成钉。当释放触发器408’使其返回其张开位置是时，终止向EAP致动器420’的能量输送，从而EAP致动器420’将收缩以允许驱动块418’返回其最近侧位置。本领域技术人员将会意识到，EAP致动器可定位于多种其它位置处，且触发器可有选择地为按钮、杠杆、旋钮、拨盘等形式。
使用时，每个上述装置可例如借助插管或套管针通过腔输送，以定位在该装置的邻近组织的远端。而后可启动设置在手柄外壳上的触发器和/或其它致动器以向EAP致动器输送能量。可从内部能量源(如电池)或从外部能量源(如外部电池或通过电源插座)提供能量。能量可基于EAP致动器的位置通过如前所述的电极输送至EAP致动器，该电极延伸穿过手柄外壳和有选择地穿过细长轴。一旦向EAP致动器输送能量，EAP致动器将沿一个方向扩张(和沿横向方向收缩)，这将会向固定器推进组件和/或形成组件施加力以使组件相对于细长轴运动。在一个示范性实施例中，EAP致动器向远侧驱动固定器闭合组件，从而驱动一个或多个固定器穿过轴，并将最远侧的固定器推进组织(例如缝合组织)，或使其在组织周围变形以与组织接合(例如，夹钳组织)。当该装置包括独立的固定器推进组件时，EAP致动器或独立的EAP致动器可使固定器推进组件与固定器闭合组件一起向远侧方向驱动，或者可选择地向近侧方向驱动以将固定器推进组件定位在待推进的下一个夹具的近侧，如前所述。终止向EAP致动器输送能量将会导致EAP致动器返回其静止结构，从而使固定器推进和/或形成组件沿相反方向运动。可采用一个或多个偏压元件(例如弹簧)来有利于固定器推进和/或形成元件向其初始静止位置运动。
关节运动
如前所述，本发明还提供使外科固定器械进行关节运动的示范性方法和装置。图6A-12B示出实现关节运动的关节运动接头和电活化聚合物致动器的多种示范性实施例。这些关节运动接头可结合到任何外科固定器械内，包括上面描述的那些示范性的现有技术器械。
首先参见图6A-6B，细长轴612的远端612b示出为通过枢轴接头616联接到端部执行器611的近端，从而端部执行器611可绕枢轴接头616相对于轴612枢转。该装置还包括滑棒624，滑棒624延伸穿过细长轴612并具有远端624d，远端624d具有在其上形成的轮齿624t，轮齿624t适于与在端部执行器611上形成的相应轮齿616t啮合。该装置还包括一个或多个可电扩张和收缩致动器，如EAP致动器，其用于运动滑棒624以使滑棒624上的轮齿624t带动端部执行器611上的轮齿624t，从而使端部执行器611相对于细长轴612枢转。虽然EAP致动器可采用多种技术实现滑棒624的运动，在一个示范性实施例中，EAP致动器可设置成使滑棒624沿侧向运动。具体地，第一EAP致动器626a可延伸穿过细长轴612邻近滑棒624第一侧面的至少一部分，而第二EAP致动器626b可延伸穿过细长轴612邻近滑棒624的相对的第二侧面的至少一部分，如图6A-6B所示。可以采用任何一种类型的EAP致动器，但在一个示范性实施例中，EAP致动器626a、626b是层压型的EAP致动器，当向该EAP致动器输送能量时，其适于沿侧向扩张。图6A示出两个EAP致动器626a、626b均处于未扩张未受致动的结构，此时不向任何一个致动器626a、626b输送能量。图6B示出第一EAP致动器626a沿侧向扩张以使滑棒624沿侧向第二EAP致动器626b运动，从而导致滑棒624使端部执行器611沿与滑棒624运动方向相反的方向枢转。可通过电极向致动器626a、626b输送能量，所述电极延伸穿过轴612并联接至设置在该装置的手柄内或联接至该装置的手柄的能量源，例如电池电源或电源插座或其它能量源。手柄还可包括与其联接并适于控制向每个致动器626a、626b输送的能量大小的控制机构，如滑杆、旋钮或拨盘。向每个致动器626a、626b输送的能量大小由致动器626a、626b的扩张量决定，从而允许有选择地调整端部执行器611的枢转运动量。
本领域技术人员将会意识到，虽然图6A-6B示出了带有侧向扩张EAP致动器626a、626b的侧向运动滑棒624，滑棒624和致动器626a、626b可具有多种其它结构。例如，纤维束形式的多个EAP致动器可在细长轴612的内表面和滑棒624之间侧向延伸。当向致动器输送能量时，致动器的长度可收缩或缩短，以将滑棒624拉向细长轴612，从而使滑棒624沿侧向运动。可选择地，滑棒624可设置成沿纵向运动以实现端部执行器611的运动，并且可采用EAP来实现滑棒624的纵向运动。在其它实施例中，滑棒自身或至少滑棒的一部分可由EAP致动器形成，该EAP致动器适于沿所需的方沿轴向扩张以使滑棒沿侧向运动。
图7A-7B示出用于使外科固定器械进行关节运动的技术的另一个实施例。在该实施例中，端部执行器711通过联接至细长轴712的相对侧的第一和第二相对臂790a、790b枢转地联接至细长轴712。第一和第三EAP致动器726a、726c联接到第一臂790a的终端的相对侧并从该相对侧延伸出，且第二和第四EAP致动器726b、726d联接到第二臂790b终端的相对侧并从该相对侧延伸出。每个EAP致动器726a-d的远端在连接点(示出了第一、第二和第三连接点792a、792b、792c)处联接至细长轴712的内侧壁上。结果，第一和第二致动器726a、726b连接到细长轴712的一侧上，而第三和第四致动器726c和726d连接到细长轴712的相对侧。使用时，向第一和第二EAP致动器726a、726b输送能量以使致动器726a、726b沿轴向收缩或缩短，从而将第一和第二臂790a、790b沿侧向方向拉向第一和第二连接点792a、792b。结果，端部执行器711沿第一方向枢转。当终止能量输送时，第一和第二致动器726a、726b将轴向扩张，返回其初始结构，从而使端部执行器711运动回其初始位置，在该初始位置处，端部执行器711与细长轴712对准。可向第三和第四致动器726c、726d输送能量以类似地使端部执行器711沿相反方向运动。如前面所讨论的，可控制所输送能量的大小以控制端部执行器711的枢转运动量。如图7B所示，该装置还可包括围绕在枢轴框架组件757的至少一部分上以向其提供支撑的覆盖件799。
图8示出用于使外科固定器械进行关节运动的技术的又一个实施例。在该实施例中，一个或多个致动件结合到作为枢转框架组件857一部分的滑轮898内。滑轮898可整个由EAP致动器制成，或者可选择地，EAP致动器可连接到滑轮898的近端和远端。在所示出的实施例中，第一和第二EAP致动器826a、826b连接到滑轮898的近端和远端。EAP致动器826a、826b锚固至细长轴812上以推或拉动端部执行器811来实现关节运动。具体地，向其中一个EAP致动器(例如第一EAP致动器826a)输送能量，使得第一EAP致动器826a沿轴向收缩或缩短，以使滑轮898沿第一方向运动，从而使端部执行器811沿第一方向枢转。相反地，向第二EAP致动器826b输送能量使得第二EAP致动器沿轴向收缩或缩短，以使滑轮898沿相反的第二方向运动，从而使端部执行器811沿相反的第二方向枢转。再一次，可控制能量输送以控制端部执行器811的运动量。
图9A-9B示出用于使端部执行器相对于外科固定器械的细长轴关节运动的技术的另一个实施例。在该实施例中，细长轴912包括延伸穿过其中的滑棒924，且滑棒924具有在其远端上形成的球924t，并且该球924容纳于在端部执行器911近端上形成的相应凹槽916s内。滑棒924还包括在其上形成的凸轮表面925a、925b，其优选位于邻近细长轴912的远端处。凸轮表面925a、925b可具有多种形状和尺寸，但在一个示范性实施例中，如所示，凸轮表面925a、925b从滑棒924的相对侧向外伸出且其为宽度向从近到远方向逐渐增加的楔状件。该装置还包括第一和第二致动件926a、926b，其延伸穿过细长轴912且位于滑棒924的相对侧上。每个致动件926a、926b包括形成在其上的凸轮表面927a、927b，该凸轮表面927a、927b适于抵接在滑棒924上形成的凸轮表面925a、925b上。结果，第一致动件926a向远侧的运动将会导致形成于其上的凸轮表面927a滑动抵住在滑棒924上形成的凸轮表面925a，从而使滑棒924沿侧向从第一致动件926a移开。滑棒924侧向运动的结果是，球924t将会使端部执行器911相对于细长轴912枢转。相反地，第二致动件926b向远侧的运动将会导致形成于其上的凸轮表面927b滑动抵住在滑棒924上形成的凸轮表面925b，从而使滑棒924沿侧向从第二致动件926b移开，因而使端部执行器911向相反的方向枢转。可在滑棒924的每一侧上设置偏压元件(未示出)，如弹簧，以将滑棒924偏压至如图9A所示的中央静止位置，从而当致动件926a、926b向近侧运动时允许滑棒924返回到静止位置。
在一个示范性实施例中，每个致动件926a、926b的运动可采用联接到其上的EAP致动器来实现。如图9A和9B所示，优选为纤维束型致动器形式的EAP致动器绳索926a’、926b’在每个致动件926a、926b的远端和轴912的远端之间延伸。当有选择地向EAP致动绳索中的一个(如第一致动绳索926a’)输送能量时，绳索926a’将会轴向收缩或缩短，如图9B所示，从而将联接至受致动的EAP绳索926a’的致动件926a沿远侧方向拉动。致动件926a上的凸轮表面927a将抵接滑棒924上的凸轮表面925a，以使滑棒924向第二致动件926b沿侧向运动。结果，滑棒924远端上的球924t将使端部执行器911进行关节运动或绕其枢转。
本领域技术人员将会意识到，EAP致动器可具有多种其它结构，且它们可采用多种其它技术实现滑棒的运动。例如，当向EAP致动绳索926a’，926b’输送能量时，不是向远侧拉动滑棒924，而是可使EAP致动器联接至滑棒924的近端且它们可适于向远端推动滑棒924。在其它实施例中，在每个致动件926a、926b上形成的凸轮表面927a、927b可由EAP致动器形成，从而输送到凸轮表面927a、927b的能量使凸轮表面927a、927b向滑棒924扩张，由此使滑棒924沿所需的方向运动以使端部执行器911关节运动。每个致动件926a、926b的运动量以及端部执行器911的关节运动量还可通过控制输送到每个EAP致动器的能量大小来进行控制。
图10A-10B示出用于使外科固定器的端部执行器1012进行关节运动的技术的又一个实施例。在该实施例中，不是采用滑棒来使端部执行器1012枢转，而是使两个致动件1026a、1026b直接联接至端部执行器1012的相对侧以推或拉动端部执行器1012来实现关节运动。具体地，每个致动件1026a、1026b的远端通过枢轴接头联接至端部执行器1012的近端，从而第一致动件1026a向近侧的运动使端部执行器1012绕第二致动件1026b枢转，并且第二致动件1026b向近侧的运动使端部执行器1012绕第一致动件1026a枢转。可采用多种技术使致动件1026a、1026b运动。例如，每个致动件1026a、1026b的全部或部分可由适于轴向扩张的EAP形成，或者致动件1026a、1026b可联接至EAP致动器以使致动件1026a、1026b向近侧和远侧运动，从而使端部执行器1012进行关节运动。
图11示出使外科固定器械的端部执行器进行关节运动的技术的另一个实施例。在该实施例中，细长轴1120包括由在细长轴1120的相对侧上形成的多个切除部分1122、1124、1126、1128、1130、1132、1134、1136、1138、1140、1142(此后写为1122-1142)而形成的挠性部分。所述切除部分允许细长轴1120绕其挠曲。一个或多个EAP致动器可相对于切除部分定位以实现端部执行器(未示出)相对于细长轴1120的枢转或弯曲运动。图11示出了多个EAP致动器索1144、1146、1148、1150、1152、1154(此后写为1144-1154)，它们沿向纵向延伸穿过其上形成有切除部分的细长轴1120。EAP致动器绳索1144-1154彼此平行地纵向延伸，且它们在正好最接近切除部分1122-1142的第一端处和在正好最远离切除部分1122-1142的第二端处联接至细长轴1120。使用时，可有选择地向EAP致动器绳索1144-1154的任何一个或任何组合输送能量以使切除部分1122-1142挠曲，从而使端部执行器沿所需方向进行关节运动。例如，可向第一EAP致动器绳索1144输送能量，以使第一致动器绳索1144沿轴向收缩或缩短，从而将绳索1144的相对端拉向彼此。由于第一致动器绳索1144的两端在切除部分的相对端处连接到细长轴1120，而且由于第一EAP致动器绳索1144偏离细长轴1120的中心轴线，第一EAP致动器绳索1144将会使细长轴1120沿第一方向弯曲。因此，可有选择地致动一个或多个致动器绳索1144-1154，即，可有选择地向其输送能量，以实现端部执行器沿所需方向的运动。本领域技术人员将会意识到，可采用多种其它技术使切除部分弯曲。
在其它实施例中，一个或多个EAP致动器可在多种位置处定位在细长轴的挠性部分内、之上或围绕其定位，且EAP致动器可设置成当向致动器输送能量时使挠性部分挠曲，从而使端部执行器进行关节运动。例如，多个EAP致动器可沿细长轴挠性部分的不同部分沿轴向延伸，或者它们可定位于挠性部分外周周围多种其它位置处。使用时，例如，向第一致动器输送能量可使第一致动器轴向收缩，从而使挠性部分的一部分弯曲。用户从而可有选择地向一个或多个致动器输送能量，以使端部执行器按照需要进行关节运动和定位。
本领域技术人员将会意识到，任何上述实施例可包括当终止向EAP致动器输送能量时允许该装置保持其关节运动位置的锁定元件。具体地，当终止能量输送时，EAP致动器沿轴向扩张以使端部执行器返回其初始位置，在该位置处，端部执行器与细长轴纵向对准。因而在终止向EAP致动器能量输送前可采用锁定机构将端部执行器锁定在所需的关节运动位置。
虽然锁定机构可具有多种结构，图12A-12B示出了结合在枢转关节运动接头1262内的关节运动锁1270的一个示范性实施例。如所示，关节运动接头1262包括旋转结构1272，旋转结构1272具有多个适于接纳撞针以防止关节运动接头1262进行旋转运动的孔1264a、1264b、1264c、1264d、1264e。在该装置的细长轴内形成一止动件且该止动件位于旋转结构1272的近侧，该止动件在一实施例中可以是弹簧加载撞针1266。撞针1266还联接至EAP致动器(未示出)，当受能量致动时，该EAP致动器实现活塞1266的运动，从而允许关节运动接头1262运动。具体地，如图12A所示，当该装置处于未致动位置时，撞针66静止在旋转结构1272的一个孔内(如所示出的孔64e)，从而使端部执行器保持在固定位置。如图12B所示，向EAP致动器的能量输送将会将撞针1266从孔1264e中拉出以允许关节运动接头1262向所需的方向运动。可采用前面描述的多种技术来使端部执行器关节运动。一旦端部执行器向所需的关节运动位置运动，就可使EAP致动器解除致动，即，可终止能量输送，允许弹簧将撞针1266偏压进旋转结构1272的一个孔内。由此使端部执行器再次保持在固定位置。本领域技术人员将会意识到，多种其它的锁定机构可结合到关节运动接头内，如棘轮和轮齿系统。
本领域技术人员将会意识到，EAP致动器可具有多种其它结构来实现活塞的运动。例如，在另一实施例中，EAP致动器可代替活塞并可直接连接到驱动器上以使驱动器穿过细长轴向远侧运动。基于上述实施例，本领域技术人员将会意识到本发明的进一步的特征和优点。因此，本发明不应受到已具体示出和描述的内容的限制，除非由附加权利要求书所指明的。在此引证的公开内容和参考内容全部清楚地通过引用接合入本文。

Claims (10)

1.一种外科固定器输送装置，包括：
细长轴；
端部执行器，其通过关节运动接头可动地联接至细长轴，该端部执行器被构造成向组织顺序地输送多个固定器；和
电活化聚合物致动器，其联接至该关节运动接头并适于当向该电活化聚合物致动器输送能量时使端部执行器绕该关节运动接头相对于细长轴运动。
2.根据权利要求1所述的装置，其中，所述细长轴包括滑棒，该滑棒穿过细长轴延伸且具有联接至该关节运动接头的远端，电活化聚合物致动器被构造成使滑棒沿侧向运动以实现端部执行器的运动。
3.根据权利要求2所述的装置，其中，所述电活化聚合物致动器包括设置在滑棒的相对侧上的第一和第二电活化聚合物致动器。
4.根据权利要求2所述的装置，其中，所述滑棒包括形成于其远端且适于与在关节运动接头内形成的相应齿轮啮合的齿轮。
5.根据权利要求1所述的装置，其中，所述关节运动接头包括枢轴接头，且电活化聚合物致动器包括在端部执行器的第一侧和细长轴的第一侧之间延伸的第一电活化聚合物致动器，以及在端部执行器的相对的第二侧和细长轴的相对的第二侧之间延伸的第二电活化聚合物致动器。
6.根据权利要求1所述的装置，其中，所述关节运动接头包括在细长轴和端部执行器之间形成的挠性部分。
7.根据权利要求6所述的装置，其中，所述电活化聚合物致动器包括在不同位置处联接至该挠性部分的多个电活化聚合物致动器，所述多个电活化聚合物致动器的每一个被构造成当向其有选择地输送能量时改变取向，以使挠性部分挠曲。
8.根据权利要求1所述的装置，还包括固定器推进组件，该固定器推进组件设置成穿过细长轴并适于顺序地将多个固定器推入端部执行器内。
9.根据权利要求1所述的装置，其中，所述端部执行器包括适于在其间接收夹具形式的固定器的相对钳口。
10.根据权利要求1所述的装置，其中，所述端部执行器包括用于缝合组织的缝合机构。
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AU2006222752B2 (en) 2012-04-19
AU2006222752A1 (en) 2007-04-19
CN1939226B (zh) 2010-12-15
CN1939227B (zh) 2010-10-13
JP5188691B2 (ja) 2013-04-24
JP2007117729A (ja) 2007-05-17
BRPI0604002A (pt) 2007-09-04
EP1769752B1 (en) 2011-08-10
US7914551B2 (en) 2011-03-29
CA2561543C (en) 2015-05-05
DE602006016204D1 (de) 2010-09-30
AU2006222762B2 (en) 2012-03-22
ATE519435T1 (de) 2011-08-15
CA2561472A1 (en) 2007-03-30
US20060047305A1 (en) 2006-03-02
EP1769752A1 (en) 2007-04-04
CN1939227A (zh) 2007-04-04
AU2006222762A1 (en) 2007-04-19
CA2561543A1 (en) 2007-03-30
US7407074B2 (en) 2008-08-05
EP1769751A1 (en) 2007-04-04

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