CN114931433A

Movatterモバイル変換

Info

Publication number: CN114931433A
Application number: CN202210504197.7A
Authority: CN
Inventors: 杨重光; 林永辉; W·L·W·郑
Original assignee: Bio Medical Engineering HK Ltd
Current assignee: Intelligent Microinvasive Medicine Hong Kong Co ltd
Priority date: 2016-11-01
Filing date: 2017-08-18
Publication date: 2022-08-23
Also published as: GB201901851D0; CN107616840A; SG10201808087SA; SG10201908000SA; WO2018082294A1; HK1250468A1; SG11201805715XA; CN107616840B; GB2568176A; GB2568176B

Abstract

Translated fromChinese

示例实施方案涉及具有端部执行器组件、第一臂组件和第二臂组件以及肘联接组件的外科系统。端部执行器组件包括器械组件和腕组件。器械组件包括第一器械。第一臂组件包括本体、第一器械驱动组件和第二器械驱动组件、腕驱动组件以及第一臂驱动组件。第一器械驱动组件可配置来相对于第一轴线运动第一器械。腕驱动组件可配置来相对于第二轴线运动器械组件。第一臂驱动组件可配置来相对于第三轴线旋转端部执行器组件。肘联接组件包括可配置来被驱动以相对于第四轴线运动第一臂组件的肘俯仰联接部分。肘联接组件还包括可配置来被驱动以相对于第五轴线运动第一臂组件的肘横摆联接部分。

Example embodiments relate to a surgical system having an end effector assembly, first and second arm assemblies, and an elbow coupling assembly. The end effector assembly includes an instrument assembly and a wrist assembly. The instrument assembly includes a first instrument. The first arm assembly includes a body, first and second instrument drive assemblies, a wrist drive assembly, and a first arm drive assembly. The first instrument drive assembly is configurable to move the first instrument relative to the first axis. The wrist drive assembly is configurable to move the instrument assembly relative to the second axis. The first arm drive assembly may be configured to rotate the end effector assembly relative to the third axis. The elbow linkage assembly includes an elbow pitch linkage portion configurable to be driven to move the first arm assembly relative to the fourth axis. The elbow link assembly also includes an elbow yaw link portion configurable to be driven to move the first arm assembly relative to the fifth axis.

Description

Translated fromChinese

用于执行体内外科手术的外科系统Surgical system for performing internal surgery

本申请是2017年8月18日递交的中国专利申请号为201710713638.3、发明名称为“用于执行体内外科手术的外科系统”的发明专利申请的分案申请。This application is a divisional application for an invention patent application filed on August 18, 2017 with the Chinese patent application number 201710713638.3 and the invention title "Surgical System for Performing Internal Surgery".

相关申请的交叉引用：本申请是美国申请No.15/340,660的部分继续申请(该美国申请No.15/340,660于2016年11月1日递交，是美国申请No.15/044,889的部分继续申请、美国申请No.15/044,895的部分继续申请以及美国申请No.14/693,207的部分继续申请)、美国申请No.15/340,678的部分继续申请(该美国申请No.15/340,678于2016年11月1日递交，是美国申请No.15/044,889的部分继续申请、美国申请No.15/044,895的部分继续申请以及美国申请No.14/693,207的部分继续申请)、美国申请No.15/340,699的部分继续申请(该美国申请No.15/340,699于2016年11月1日递交，是美国申请No.14/693,207的部分继续申请)、美国申请No.14/693,207的部分继续申请(该美国申请No.14/693,207于2015年4月22日递交，要求2014年4月22日递交的美国临时申请No.61/982,717的优先权)、美国申请No.15/044,895的部分继续申请(该美国申请No.15/044,895于2016年2月16日递交，是美国申请No.14/693,207的部分继续申请)以及美国申请No.15/044,889的部分继续申请(该美国申请No.15/044,889于2016年2月16日递交，是美国申请No.14/693,207的部分继续申请)，所有这些申请的内容特此整个地(包括其中所包含的任何参考文献的内容和教导)通过引用被明确地并入。CROSS-REFERENCE TO RELATED APPLICATIONS : This application is a continuation-in-part of US Application No. 15/340,660 (filed on November 1, 2016, which is a continuation-in-part of US Application No. 15/044,889 , a continuation-in-part of US Application No. 15/044,895 and a continuation-in-part of US Application No. 14/693,207), a continuation-in-part of US Application No. 15/340,678 (which US Application No. 15/340,678 filed on November 2016) Filed on May 1, it is a continuation-in-part of US Application No. 15/044,889, a continuation-in-part of US Application No. 15/044,895, and a continuation-in-part of US Application No. 14/693,207), US Application No. 15/340,699 continuation-in-part of US Application No. 15/340,699, filed on November 1, 2016, is a continuation-in-part of US Application No. 14/693,207, filed on April 22, 2015, claims priority to U.S. Provisional Application No. 61/982,717, filed April 22, 2014), a continuation-in-part of U.S. Application No. 15/044,895 (the US Application No. 15/044,895, filed February 16, 2016, is a continuation-in-part of US Application No. 14/693,207) and a continuation-in-part of US Application No. 15/044,889 (which US Application No. 15/044,889 filed February 16, 2016, a continuation-in-part of U.S. Application No. 14/693,207), the contents of all of these applications are hereby expressly incorporated by reference in their entirety (including the content and teachings of any references contained therein). Incorporated.

技术领域technical field

本公开一般地涉及系统、设备和方法，更具体地，涉及用于经由单个切口或自然腔道执行手术的系统、设备和方法。The present disclosure relates generally to systems, devices, and methods, and more particularly, to systems, devices, and methods for performing surgery via a single incision or natural orifice.

背景技术Background technique

常规的外科手术一般将需要给患者开一个或更多个大切口以便外科团队执行外科动作。随着医学科学和技术的发展，大多数常规的开口外科手术大部分已经被微创外科(MIS)手术取代。关于计算机辅助和/或机器人外科技术的最近发展促使MIS发展，包将外科医生的期望动作转化为机器人器械在患者的体腔内部的运动的能力。Conventional surgical procedures will generally require one or more large incisions to be made in the patient for the surgical team to perform the surgical action. With the development of medical science and technology, most conventional open surgical procedures have been largely replaced by minimally invasive surgical (MIS) procedures. Recent developments in computer-assisted and/or robotic surgical techniques have prompted the development of MIS, including the ability to translate the surgeon's desired movements into the motion of robotic instruments within a patient's body cavity.

发明内容SUMMARY OF THE INVENTION

尽管最近现代医学科学和技术有所发展，但是在本公开中认识到，在现代外科技术和方法中遇到一个或更多个问题。例如，典型的MIS手术需要给患者开多个切口，以便允许经由这些切口进入以用于将摄像头(camera)和各种其他的腹腔镜器械插入到患者的体腔中。Despite recent advances in modern medical science and technology, it is recognized in this disclosure that one or more problems are encountered in modern surgical techniques and methods. For example, typical MIS procedures require multiple incisions to be made in the patient to allow access through the incisions for insertion of cameras and various other laparoscopic instruments into the patient's body cavity.

作为另一示例，由于锚定力和/或反作用力不足以抵抗在外科动作期间期望或有必要施加的力而稳定，外科机器人设备时常在外科手术期间遇到困难。As another example, surgical robotic devices often encounter difficulties during surgical procedures due to insufficient anchoring and/or reaction forces to stabilize against forces that are desired or necessary to be applied during surgical maneuvers.

在本公开中还认识到，外科机器人系统面临着为器械(诸如附连到外科机器人臂的切割或抓握器械)提供进入到患者的腹腔的全部的或者甚至大多数的部分、区域和/或象限的进入通道的困难。也就是说，在外科机器人臂被插入到患者的腹腔中并且准备好执行外科动作之后，附连到外科机器人臂的端部的器械通常限于仅进入患者的腹腔的某些部分、区域和象限。It is also recognized in the present disclosure that surgical robotic systems are confronted with providing access to all or even most portions, regions and/or portions of a patient's abdominal cavity for an instrument, such as a cutting or grasping instrument attached to a surgical robotic arm. Difficulty entering the channel of the quadrant. That is, after the surgical robotic arm is inserted into the patient's abdominal cavity and ready to perform surgical action, instruments attached to the end of the surgical robotic arm are typically limited to access only certain portions, regions and quadrants of the patient's abdominal cavity.

在又一示例中，已知的外科机器人系统通常对于患者的每一进入通道或开口(诸如切口或自然腔道)仅提供一个到两个之间的外科机器人臂。就这一点而言，将摄像头和各种腹腔镜器械插入到患者的腹腔中将需要一个或更多个附加的切口。In yet another example, known surgical robotic systems typically provide between one and two surgical robotic arms for each access channel or opening (such as an incision or natural orifice) of a patient. In this regard, inserting the camera and various laparoscopic instruments into the patient's abdominal cavity will require one or more additional incisions.

作为另一示例，虽然已知的外科机器人系统已经被设计用于在患者的腹腔中执行方向向前的外科手术，但是这样的系统尚未被设计用于需要方向相反的外科手术的情况，并且当被应用于这些情况时可能会遇到问题。例如，这样的已知的外科机器人系统尚未被设计为通过自然腔道(诸如直肠或阴道)部署以供执行经自然腔道内窥镜外科手术(或NOTES)，诸如妇科盆腔和/或泌尿手术。这样的系统可能会遇到一个或更多个问题，诸如当插入到自然腔道中时不能进入某些器官、组织或其他外科手术部位。As another example, while known surgical robotic systems have been designed to perform forward-directed surgery in a patient's abdominal cavity, such systems have not been designed for situations requiring reverse-directed surgery, and when Problems may be encountered when applied to these situations. For example, such known surgical robotic systems have not been designed for deployment through a natural orifice, such as the rectum or vagina, for performing natural orifice endoscopic surgery (or NOTES), such as gynecological pelvic and/or urinary procedures. Such systems may suffer from one or more problems, such as inability to access certain organs, tissues, or other surgical sites when inserted into a natural orifice.

目前的示例实施方案一般地涉及用于解决外科机器人系统、设备和方法(包括以上和本文描述的那些)中的一个或更多个问题的系统、设备和方法。The present example embodiments generally relate to systems, devices, and methods for addressing one or more of the problems in surgical robotic systems, devices, and methods, including those described above and herein.

在示例性实施方案中，描述了一种用于执行体内外科手术的外科系统。所述系统可以包括端部执行器组件、第一臂组件以及第二臂组件。端部执行器组件可以被提供在外科系统的远端。端部执行器组件可以包括器械组件和腕组件的串联连接布置。器械组件可以包括用于执行外科动作的第一器械。第一臂组件可以在第一端部可固定到腕组件。第一臂组件可以包括细长的第一臂组件本体。第一臂组件还可以包括容纳在第一臂组件本体中的第一器械驱动组件。第一器械驱动组件可以包括可配置来相对于第一轴线枢转地运动第一器械的第一集成电机。第一臂组件还可以包括容纳在第一臂组件本体中的第二器械驱动组件。第一臂组件还可以包括容纳在第一臂组件本体中的腕驱动组件。腕驱动组件可以包括可配置来相对于第二轴线枢转地运动器械组件的第二集成电机。第二轴线可以不同于第一轴线。第一臂组件还可以包括容纳在第一臂组件本体中的第一臂组件驱动组件。第一臂组件驱动组件可以包括可配置来相对于第三轴线旋转至少端部执行器组件的第三集成电机。第三轴线可以由被绘制为穿过第一臂组件本体的中心线形成。肘联接(joint)组件可以被配置为将第一臂组件的第二端部固定到第二臂组件的第一端部。肘联接组件可以包括肘俯仰(pitch)联接部分和肘横摆(sway)联接部分的串联连接布置。肘俯仰联接部分可以可配置来被驱动以相对于第四轴线枢转地运动第一臂组件。肘横摆联接部分可以可配置来被驱动以相对于第五轴线枢转地运动第一臂组件。第五轴线可以不同于第四轴线。第二臂组件可以包括细长的第二臂组件本体。第二臂组件还可以包括容纳在第二臂组件本体中的肘俯仰驱动组件。肘俯仰驱动组件可以包括可配置来驱动肘俯仰联接部分以相对于第四轴线枢转地运动第一臂组件的第四集成电机。第二臂组件还可以包括容纳在第二臂组件本体中的肘横摆驱动组件。肘横摆驱动组件可以包括可配置来驱动肘横摆联接部分以相对于第五轴线枢转地运动第一臂组件的第五集成电机。In an exemplary embodiment, a surgical system for performing intracorporeal surgery is described. The system may include an end effector assembly, a first arm assembly, and a second arm assembly. An end effector assembly can be provided at the distal end of the surgical system. The end effector assembly may include a serially connected arrangement of the instrument assembly and the wrist assembly. The instrument assembly may include a first instrument for performing a surgical action. The first arm assembly may be fixable to the wrist assembly at the first end. The first arm assembly may include an elongated first arm assembly body. The first arm assembly may also include a first instrument drive assembly housed in the first arm assembly body. The first instrument drive assembly may include a first integrated motor configurable to pivotally move the first instrument relative to the first axis. The first arm assembly may also include a second instrument drive assembly housed in the first arm assembly body. The first arm assembly may also include a wrist drive assembly housed in the first arm assembly body. The wrist drive assembly may include a second integrated motor configurable to pivotally move the instrument assembly relative to the second axis. The second axis may be different from the first axis. The first arm assembly may also include a first arm assembly drive assembly housed in the first arm assembly body. The first arm assembly drive assembly may include a third integrated motor configurable to rotate at least the end effector assembly relative to the third axis. The third axis may be formed by a centerline drawn through the body of the first arm assembly. An elbow joint assembly may be configured to secure the second end of the first arm assembly to the first end of the second arm assembly. The elbow linkage assembly may include a series connected arrangement of elbow pitch and elbow sway linkage portions. The elbow pitch coupling portion may be configurable to be driven to pivotally move the first arm assembly relative to the fourth axis. The yaw coupling portion may be configurable to be driven to pivotally move the first arm assembly relative to the fifth axis. The fifth axis may be different from the fourth axis. The second arm assembly may include an elongated second arm assembly body. The second arm assembly may also include an elbow pitch drive assembly housed in the second arm assembly body. The elbow pitch drive assembly may include a fourth integrated motor configurable to drive the elbow pitch coupling portion to pivotally move the first arm assembly relative to the fourth axis. The second arm assembly may also include an elbow yaw drive assembly housed in the second arm assembly body. The yaw drive assembly may include a fifth integrated motor configurable to drive the yaw coupling portion to pivotally move the first arm assembly relative to the fifth axis.

在示例性实施方案中，描述了一种用于执行体内外科手术的外科系统。所述系统可以包括端部执行器组件、第一臂组件、肘俯仰联接部分、肘横摆联接部分以及第二臂组件。端部执行器组件可以被提供在外科系统的远端。端部执行器组件可以包括器械组件和腕组件的串联连接布置。器械组件可以包括用于执行外科动作的第一器械。第一臂组件可以在第一端部可固定到腕组件。第一臂组件可以包括细长的第一臂组件本体。第一臂组件还可以包括容纳在第一臂组件本体中的第一器械驱动组件。第一器械驱动组件可以包括可配置来相对于第一轴线枢转地运动第一器械的第一集成电机。第一臂组件还可以包括容纳在第一臂组件本体中的第二器械驱动组件。第一臂组件还可以包括容纳在第一臂组件本体中的腕驱动组件。腕驱动组件可以包括可配置来相对于第二轴线枢转地运动器械组件的第二集成电机。第二轴线可以不同于第一轴线。第一臂组件还可以包括容纳在第一臂组件本体中的第一臂组件驱动组件。第一臂组件驱动组件可以包括可配置来相对于第三轴线旋转至少端部执行器组件的第三集成电机。第三轴线可以由被绘制为穿过第一臂组件本体的中心线形成。肘俯仰联接部分可以被配置为将第一臂组件的第二端部固定到肘横摆联接部分。肘俯仰联接部分可以可配置来被驱动以相对于肘横摆联接部分枢转地运动第一臂组件。肘横摆联接部分可以被配置为将肘俯仰联接部分固定到第二臂组件的第一端部。肘横摆联接部分可以可配置来被驱动以相对于第二臂组件枢转地运动肘俯仰联接部分。In an exemplary embodiment, a surgical system for performing intracorporeal surgery is described. The system may include an end effector assembly, a first arm assembly, an elbow pitch coupling portion, an elbow yaw coupling portion, and a second arm assembly. An end effector assembly can be provided at the distal end of the surgical system. The end effector assembly may include a serially connected arrangement of the instrument assembly and the wrist assembly. The instrument assembly may include a first instrument for performing a surgical action. The first arm assembly may be fixable to the wrist assembly at the first end. The first arm assembly may include an elongated first arm assembly body. The first arm assembly may also include a first instrument drive assembly housed in the first arm assembly body. The first instrument drive assembly may include a first integrated motor configurable to pivotally move the first instrument relative to the first axis. The first arm assembly may also include a second instrument drive assembly housed in the first arm assembly body. The first arm assembly may also include a wrist drive assembly housed in the first arm assembly body. The wrist drive assembly may include a second integrated motor configurable to pivotally move the instrument assembly relative to the second axis. The second axis may be different from the first axis. The first arm assembly may also include a first arm assembly drive assembly housed in the first arm assembly body. The first arm assembly drive assembly may include a third integrated motor configurable to rotate at least the end effector assembly relative to the third axis. The third axis may be formed by a centerline drawn through the body of the first arm assembly. The elbow pitch coupling portion may be configured to secure the second end of the first arm assembly to the elbow yaw coupling portion. The elbow pitch coupling portion may be configurable to be actuated to pivotally move the first arm assembly relative to the elbow yaw coupling portion. The toggle coupling portion may be configured to secure the elbow pitch coupling portion to the first end of the second arm assembly. The elbow yaw coupling portion may be configurable to be actuated to pivotally move the elbow pitch coupling portion relative to the second arm assembly.

在示例性实施方案中，描述了一种用于执行体内外科手术的外科系统。所述系统可以包括端部执行器组件、第一臂组件、肘联接组件、第二臂组件以及肩联接组件。端部执行器组件可以被提供在外科系统的远端。端部执行器组件可以包括器械组件和腕组件的串联连接布置。器械组件可以包括用于执行外科动作的第一器械。第一臂组件可以在第一端部可固定到腕组件。第一臂组件可以包括细长的第一臂组件本体。第一臂组件还可以包括容纳在第一臂组件本体中的第一器械驱动组件。第一器械驱动组件可以包括可配置来相对于第一轴线枢转地运动第一器械的第一集成电机。第一臂组件还可以包括容纳在第一臂组件本体中的第二器械驱动组件。第一臂组件还可以包括容纳在第一臂组件本体中的腕驱动组件。腕驱动组件可以包括可配置来相对于第二轴线枢转地运动器械组件的第二集成电机。第二轴线可以不同于第一轴线。第一臂组件还可以包括容纳在第一臂组件本体中的第一臂组件驱动组件。第一臂组件驱动组件可以包括可配置来相对于第三轴线旋转至少端部执行器组件的第三集成电机。第三轴线可以由被绘制为穿过第一臂组件本体的中心线形成。肘联接组件可以被配置为将第一臂组件的第二端部固定到第二臂组件的第一端部。肘联接组件可以包括肘俯仰联接部分和肘横摆联接部分的串联连接布置。肘俯仰联接部分可以可配置来相对于第四轴线枢转地运动第一臂组件。肘横摆联接部分可以可配置来相对于第五轴线枢转地运动第一臂组件。第五轴线可以不同于第四轴线。第二臂组件可以包括细长的第二臂组件本体。第二臂组件还可以包括容纳在第二臂组件本体中的肘俯仰驱动组件。肘俯仰驱动组件可以包括可配置来驱动肘俯仰联接部分以相对于第四轴线枢转地运动第一臂组件的第四集成电机。第二臂组件还可以包括容纳在第二臂组件本体中的肘横摆驱动组件。肘横摆驱动组件可以包括可配置来驱动肘横摆联接部分以相对于第五轴线枢转地运动第一臂组件的第五集成电机。第二臂组件还可以包括容纳在第二臂组件本体中的肩俯仰驱动组件。肩俯仰驱动组件可以包括可配置来驱动肩俯仰联接部分以相对于第六轴线枢转地运动第二臂组件的第六集成电机。第二臂组件还可以包括容纳在第二臂组件本体中的肩横摆驱动组件。肩横摆驱动组件可以包括可配置来驱动肩横摆联接部分以相对于第七轴线枢转地运动第二臂组件的第七集成电机。第七轴线可以不同于第六轴线。肩联接组件可以被配置为将第二臂组件的第二端部固定到肩节段。肩联接组件可以包括肩俯仰联接部分和肩横摆联接部分的串联连接布置。肩俯仰联接部分可以可配置来相对于第六轴线枢转地运动第二臂组件。肩横摆联接部分可以可配置来相对于第七轴线枢转地运动第二臂组件。肩节段可以被提供在外科系统的近端。In an exemplary embodiment, a surgical system for performing intracorporeal surgery is described. The system may include an end effector assembly, a first arm assembly, an elbow coupling assembly, a second arm assembly, and a shoulder coupling assembly. An end effector assembly can be provided at the distal end of the surgical system. The end effector assembly may include a serially connected arrangement of the instrument assembly and the wrist assembly. The instrument assembly may include a first instrument for performing a surgical action. The first arm assembly may be fixable to the wrist assembly at the first end. The first arm assembly may include an elongated first arm assembly body. The first arm assembly may also include a first instrument drive assembly housed in the first arm assembly body. The first instrument drive assembly may include a first integrated motor configurable to pivotally move the first instrument relative to the first axis. The first arm assembly may also include a second instrument drive assembly housed in the first arm assembly body. The first arm assembly may also include a wrist drive assembly housed in the first arm assembly body. The wrist drive assembly may include a second integrated motor configurable to pivotally move the instrument assembly relative to the second axis. The second axis may be different from the first axis. The first arm assembly may also include a first arm assembly drive assembly housed in the first arm assembly body. The first arm assembly drive assembly may include a third integrated motor configurable to rotate at least the end effector assembly relative to the third axis. The third axis may be formed by a centerline drawn through the body of the first arm assembly. The elbow linkage assembly may be configured to secure the second end of the first arm assembly to the first end of the second arm assembly. The elbow linkage assembly may include a series connected arrangement of elbow pitch and yaw linkage portions. The elbow-pitch coupling portion may be configurable to pivotally move the first arm assembly relative to the fourth axis. The yaw coupling portion may be configurable to pivotally move the first arm assembly relative to the fifth axis. The fifth axis may be different from the fourth axis. The second arm assembly may include an elongated second arm assembly body. The second arm assembly may also include an elbow pitch drive assembly housed in the second arm assembly body. The elbow pitch drive assembly may include a fourth integrated motor configurable to drive the elbow pitch coupling portion to pivotally move the first arm assembly relative to the fourth axis. The second arm assembly may also include an elbow yaw drive assembly housed in the second arm assembly body. The yaw drive assembly may include a fifth integrated motor configurable to drive the yaw coupling portion to pivotally move the first arm assembly relative to the fifth axis. The second arm assembly may also include a shoulder pitch drive assembly housed in the second arm assembly body. The shoulder pitch drive assembly may include a sixth integrated motor configurable to drive the shoulder pitch coupling portion to pivotally move the second arm assembly relative to the sixth axis. The second arm assembly may also include a shoulder yaw drive assembly housed in the second arm assembly body. The shoulder yaw drive assembly may include a seventh integrated motor configurable to drive the shoulder yaw coupling portion to pivotally move the second arm assembly relative to the seventh axis. The seventh axis may be different from the sixth axis. The shoulder coupling assembly may be configured to secure the second end of the second arm assembly to the shoulder segment. The shoulder coupling assembly may include a serially connected arrangement of shoulder pitch coupling portions and shoulder yaw coupling portions. The shoulder pitch coupling portion may be configurable to pivotally move the second arm assembly relative to the sixth axis. The shoulder yaw coupling portion may be configurable to pivotally move the second arm assembly relative to the seventh axis. The shoulder segment can be provided at the proximal end of the surgical system.

附图说明Description of drawings

为了更完整地理解本公开、示例实施方案及其优点，现在参照结合附图进行的以下描述，在附图中，相似的标号指示相似的特征，并且：For a more complete understanding of the present disclosure, example embodiments, and advantages thereof, reference is now made to the following description taken in conjunction with the accompanying drawings, in which like numerals refer to like features, and:

图1A是外部锚定器的示例实施方案的透视图的图示；1A is an illustration of a perspective view of an example embodiment of an external anchor;

图1B是附连到端口组件的示例实施方案的外部锚定器的示例实施方案的透视图的另一图示；Figure IB is another illustration of a perspective view of an example embodiment of an external anchor attached to an example embodiment of a port assembly;

图2A是被配置在方向相反的位置上的外科设备的示例实施方案的透视图的图示；2A is an illustration of a perspective view of an example embodiment of a surgical device configured in a reversed position;

图2B是被配置在方向向前的位置上的外科设备的示例实施方案的透视图的图示；2B is an illustration of a perspective view of an example embodiment of a surgical device configured in a forward-oriented position;

图2C是被配置在方向相反的位置上的外科设备的示例实施方案的透视图的另一图示；2C is another illustration of a perspective view of an example embodiment of a surgical device configured in a reversed position;

图2D是被配置在方向向前的位置上的外科设备的示例实施方案的透视图的另一图示；2D is another illustration of a perspective view of an example embodiment of a surgical device configured in a forward-oriented position;

图3A是被配置在方向相反的位置上的外科设备的示例实施方案的透视图的另一图示；3A is another illustration of a perspective view of an example embodiment of a surgical device configured in a reversed position;

图3B是被配置在方向向前的位置上的外科设备的示例实施方案的透视图的另一图示；3B is another illustration of a perspective view of an example embodiment of a surgical device configured in a forward-oriented position;

图3C是被配置在方向相反的位置上的外科设备的示例实施方案的透视图的另一图示；3C is another illustration of a perspective view of an example embodiment of a surgical device configured in a reversed position;

图3D是被配置在方向向前的位置上的外科设备的示例实施方案的透视图的另一图示；3D is another illustration of a perspective view of an example embodiment of a surgical device configured in a forward-oriented position;

图4A是端口组件的示例实施方案的透视分解图的图示；4A is an illustration of a perspective exploded view of an example embodiment of a port assembly;

图4B是端口组件的示例实施方案的侧视图的图示；4B is an illustration of a side view of an example embodiment of a port assembly;

图4C是其中第一或第二闸组件在打开位置上的端口组件的示例实施方案的截面图的图示；4C is an illustration of a cross-sectional view of an example embodiment of a port assembly with the first or second gate assembly in an open position;

图4D是其中第一或第二闸组件在关闭位置上的端口组件的示例实施方案的截面图的图示；4D is an illustration of a cross-sectional view of an example embodiment of a port assembly with the first or second gate assembly in a closed position;

图5A是器械臂组件的示例实施方案的侧视图的图示；5A is an illustration of a side view of an example embodiment of an instrument arm assembly;

图5B是器械臂组件的示例实施方案的侧视图的另一图示；5B is another illustration of a side view of an example embodiment of an instrument arm assembly;

图5C是器械臂组件的示例实施方案的透视图的图示；5C is an illustration of a perspective view of an example embodiment of an instrument arm assembly;

图5D是固定到臂组件的端部执行器组件的示例实施方案的侧视图的图示；5D is an illustration of a side view of an example embodiment of an end effector assembly secured to an arm assembly;

图5E是固定到臂组件的端部执行器组件的示例实施方案的侧视截面图的图示；5E is an illustration of a side cross-sectional view of an example embodiment of an end effector assembly secured to an arm assembly;

图5F是从臂组件松开的端部执行器组件的示例实施方案的侧视图的图示；5F is an illustration of a side view of an example embodiment of an end effector assembly released from an arm assembly;

图5G是从臂组件松开的端部执行器组件的示例实施方案的侧视截面图的图示；5G is an illustration of a side cross-sectional view of an example embodiment of an end effector assembly released from an arm assembly;

图5H是端部执行器组件的示例实施方案的透视图的图示；5H is an illustration of a perspective view of an example embodiment of an end effector assembly;

图5I是具有绝缘部分的器械的示例实施方案的透视图的图示；5I is an illustration of a perspective view of an example embodiment of an instrument having an insulating portion;

图5J是臂组件的示例实施方案的顶视截面图的图示；5J is an illustration of a top cross-sectional view of an example embodiment of an arm assembly;

图5K是臂组件的示例实施方案的透视图的图示；5K is an illustration of a perspective view of an example embodiment of an arm assembly;

图5L是器械臂组件的示例实施方案的侧视图的图示；5L is an illustration of a side view of an example embodiment of an instrument arm assembly;

图5M是器械臂组件的示例实施方案的侧视截面图的图示；5M is an illustration of a side cross-sectional view of an example embodiment of an instrument arm assembly;

图5N是第二臂组件的示例实施方案的顶视截面图的图示；5N is an illustration of a top cross-sectional view of an example embodiment of a second arm assembly;

图5O是器械臂组件的示例实施方案的透明的部分透视图的图示；50 is an illustration of a transparent partial perspective view of an example embodiment of an instrument arm assembly;

图5P是器械臂组件的示例实施方案的侧视图的另一图示；5P is another illustration of a side view of an example embodiment of an instrument arm assembly;

图5Q是器械臂组件的示例实施方案的侧视图的另一图示；5Q is another illustration of a side view of an example embodiment of an instrument arm assembly;

图5R是器械臂组件的示例实施方案的透视图的另一图示；5R is another illustration of a perspective view of an example embodiment of an instrument arm assembly;

图5S是器械臂组件的示例实施方案的侧视图的另一图示；5S is another illustration of a side view of an example embodiment of an instrument arm assembly;

图5T是器械臂组件的示例实施方案的侧视截面图的另一图示；5T is another illustration of a side cross-sectional view of an example embodiment of an instrument arm assembly;

图5U是第二臂组件的示例实施方案的顶视截面图的另一图示；5U is another illustration of a top cross-sectional view of an example embodiment of a second arm assembly;

图5V是器械臂组件的示例实施方案的透明的部分透视图的另一图示；5V is another illustration of a transparent partial perspective view of an example embodiment of an instrument arm assembly;

图6A是图像捕捉组件的示例实施方案的透视图的图示；6A is an illustration of a perspective view of an example embodiment of an image capture assembly;

图6B是具有内部温度控制组件的图像捕捉组件的另一示例实施方案的截面图的图示；6B is an illustration of a cross-sectional view of another example embodiment of an image capture assembly with an internal temperature control assembly;

图6C是具有内部温度控制组件的图像捕捉组件的另一示例实施方案的透视图的图示；6C is an illustration of a perspective view of another example embodiment of an image capture assembly with an internal temperature control assembly;

图6D是包括第二图像捕捉组件的系统在患者的腔体中操作时的透视图的图示；6D is an illustration of a perspective view of a system including a second image capture assembly when operating in a cavity of a patient;

图7是用于配置外科设备的示例性方法的流程图；7 is a flowchart of an exemplary method for configuring a surgical device;

图8A-8E是将外科设备配置在方向向前的位置上的方法的示例实施方案的侧视图的图示；8A-8E are illustrations of side views of an example embodiment of a method of deploying a surgical device in a forward-oriented position;

图8F-8K是将外科设备配置在方向相反的位置上的方法的示例实施方案的侧视图的图示；8F-8K are illustrations of side views of an example embodiment of a method of deploying a surgical device in an opposing position;

图9A是外科设备系统的示例实施方案的透视图的图示；9A is an illustration of a perspective view of an example embodiment of a surgical device system;

图9B是外科设备系统的另一示例实施方案的透视图的图示；9B is an illustration of a perspective view of another example embodiment of a surgical device system;

图10A是外部锚定器的示例实施方案的透视图的图示；以及10A is an illustration of a perspective view of an example embodiment of an external anchor; and

图10B是外部锚定器的另一示例实施方案的透视图的图示。10B is an illustration of a perspective view of another example embodiment of an external anchor.

尽管为方便起见，类似的标号在附图中可以用于指代类似的元件，但是可以意识到，各种示例实施方案中的每个可以被认为是完全不同的变型。Although, for convenience, like numerals may be used in the drawings to refer to like elements, it will be appreciated that each of the various example embodiments may be considered to be a completely different variation.

具体实施方式Detailed ways

现在将参照附图来描述示例实施方案，附图形成本公开的一部分，并且图示说明可以实施的示例实施方案。如本公开和所附权利要求书中所使用的，术语“示例实施方案”、“示例性实施方案”和“本实施方案”不一定指的是单个实施方案，尽管它们可以，并且各种示例实施方案可以容易地组合和/或交换，而不脱离示例实施方案的范围或精神。此外，如本公开和所附权利要求书中所使用的术语仅仅是出于描述示例实施方案的目的，而非意图成为限制。在该方面，如本公开和所附权利要求书中所使用的，术语“在……中”可以包括“在……中”和“在……上”，并且术语“一(a，an)”和“所述”可以包括单数和复数指代。此外，如本公开和所附权利要求书中所使用的，术语“由”也可以意指“从”，这依上下文而定。此外，如本公开和所附权利要求书中所使用的，术语“如果”也可以意指“当……时”或“当一……时”，这依上下文而定。此外，如本公开和所附权利要求书中所使用的，词语“和/或”可以指代并且包含相关联的列出的项目中的一个或更多个的任何的和全部的可能组合。Example embodiments will now be described with reference to the accompanying drawings, which form a part of this disclosure and illustrate example embodiments that may be practiced. As used in this disclosure and the appended claims, the terms "example embodiment," "exemplary embodiment," and "present embodiment" do not necessarily refer to a single embodiment, although they may, and various examples Embodiments may be readily combined and/or interchanged without departing from the scope or spirit of example embodiments. Also, the terminology as used in this disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limiting. In this regard, as used in this disclosure and the appended claims, the term "in" may include "in" and "on", and the term "a (a, an) " and "the" can include both singular and plural referents. Furthermore, as used in this disclosure and the appended claims, the term "by" may also mean "from," depending on the context. Furthermore, as used in this disclosure and the appended claims, the term "if" may also mean "when" or "when a", as the context dictates. Furthermore, as used in this disclosure and the appended claims, the word "and/or" may refer to and include any and all possible combinations of one or more of the associated listed items.

在本公开中认识到，尽管最近现代医学科学和技术有所发展，但是在现代外科技术和方法(包括MIS)中遇到一个或更多个问题。例如，典型的MIS手术需要给患者开多个切口，以便允许经由这些切口进入以供将摄像头和各种其他的腹腔镜器械插入到患者的腹腔中。It is recognized in this disclosure that despite recent advances in modern medical science and technology, one or more problems are encountered in modern surgical techniques and methods, including MIS. For example, a typical MIS procedure requires multiple incisions to be made in the patient in order to allow access through the incisions for insertion of the camera and various other laparoscopic instruments into the patient's abdominal cavity.

除了前述与许多个相当大的切口相关的缺点之外，在本公开中认识到，被开发用于执行机器人辅助的MIS外科手术的、包括外科机器人臂(以及附连到它们的那些器械)的外科机器人系统也遭遇到一个或更多个问题。例如，在本文中认识到，外科机器人系统的主要技术挑战是，难以提供足以抵抗在外科动作期间期望和/或有必要由外科机器人系统施加于患者的力而稳定的锚定力和/或反作用力。就这一点而言，关于已知的外科机器人系统的某些外科动作可能需要极大的精力和时间，并且作为锚定力和/或反作用力不足的问题的结果，可能不能被适当地执行或者根本不能被执行。In addition to the aforementioned disadvantages associated with the many sizable incisions, it is recognized in this disclosure that surgical robotic arms (and those instruments attached to them) developed for performing robotic-assisted MIS surgery include surgical robotic arms (and those instruments attached to them). Surgical robotic systems also suffer from one or more problems. For example, recognized herein, a major technical challenge of surgical robotic systems is the difficulty of providing anchoring forces and/or reactions that are sufficiently stable against forces desired and/or necessary to be applied by the surgical robotic system to the patient during surgical maneuvers force. In this regard, certain surgical maneuvers with known surgical robotic systems may require significant effort and time, and may not be properly performed as a result of insufficient anchoring and/or reaction force problems or cannot be executed at all.

在本公开中被认识为外科机器人系统会遇到的问题的另一示例是，难以在外科机器人系统已经被设置(或安装)并且准备好执行外科手术之后，为器械(诸如附连到外科手术机器人臂的端部的切割和/或抓握器械)提供进入到患者的腹腔的全部的或者甚至大部分的部分、区域和象限的进入通道。也就是说，在系统的外科手术机器人臂已经被插入、附连并且适当地设置在患者的腹腔中并且准备好执行外科动作之后，附连到外科机器人臂的端部的器械通常限于仅进入患者的腹腔的某些部分、区域和象限。在本公开中认识到，这样的问题主要是由于已知的外科机器人系统和臂可以提供的可能的自由度的数量有限(更具体地说，已知的外科机器人系统和臂的体内自由度(即，在患者的腹腔内提供的自由度)的数量有限)而导致的。就这一点而言，外科机器人系统通常对于每个外科机器人臂仅提供2个到4个之间的体内自由度。Another example of a problem that is recognized in this disclosure as a surgical robotic system can be encountered is the difficulty of providing an instrument (such as attaching to a surgical procedure) after the surgical robotic system has been set up (or installed) and is ready to perform Cutting and/or grasping instruments at the ends of the robotic arms) provide access to all or even most parts, regions and quadrants of the abdominal cavity of the patient. That is, after the surgical robotic arm of the system has been inserted, attached, and properly positioned in the patient's abdominal cavity and is ready to perform surgical action, instruments attached to the end of the surgical robotic arm are typically limited to access only to the patient Certain parts, regions and quadrants of the abdominal cavity. It is recognized in this disclosure that such problems are primarily due to the limited number of possible degrees of freedom that known surgical robotic systems and arms can provide (more specifically, the in vivo degrees of freedom of known surgical robotic systems and arms ( That is, the limited number of degrees of freedom (DOF) afforded within the patient's abdominal cavity. In this regard, surgical robotic systems typically only provide between 2 and 4 degrees of freedom in the body per surgical robotic arm.

作为另一示例，虽然已知的外科机器人系统已经被设计用于在患者的腹腔中执行方向向前的外科手术，但是这样的系统尚未被设计用于需要方向相反的外科手术的情况，并且当被应用于这些情况时可能会遇到问题。例如，这样的已知的外科机器人系统尚未被设计为通过自然腔道(诸如直肠或阴道)部署以供执行经自然腔道内窥镜外科手术(或NOTES)，诸如女性的经阴道妇科手术以及男性的经直肠泌尿手术。这样的系统可能遇到会一个或更多个问题，诸如当插入到自然腔道中时不能进入某些器官、组织或其他外科手术部位。As another example, while known surgical robotic systems have been designed to perform forward-directed surgery in a patient's abdominal cavity, such systems have not been designed for situations requiring reverse-directed surgery, and when Problems may be encountered when applied to these situations. For example, such known surgical robotic systems have not been designed for deployment through a natural orifice, such as the rectum or vagina, for performing natural orifice endoscopic surgery (or NOTES), such as transvaginal gynecological procedures in women and men of transrectal urinary surgery. Such systems may encounter one or more problems, such as inability to access certain organs, tissues, or other surgical sites when inserted into a natural orifice.

在本公开中描述了用于解决已知的外科系统、设备和方法(包括在以上和在本公开中描述的那些)的一个或更多个问题的外科系统、设备和方法(包括用在MIS和经自然腔道内窥镜外科手术(或NOTES)中的那些)。要理解，在不脱离本公开的教导的情况下，本公开中描述的原理可以被应用于MIS和/或NOTES的上下文之外，诸如在人类不易于进入的环境中(包括在真空中、在外太空中、和/或在有毒的和/或危险的状况下)执行科学实验和/或手术。Described in this disclosure are surgical systems, devices and methods (including use in MIS) for addressing one or more of the problems of known surgical systems, devices and methods, including those described above and in this disclosure and those in natural orifice endoscopic surgery (or NOTES). It is to be understood that the principles described in this disclosure may be applied outside the context of MIS and/or NOTES, such as in environments not easily accessible to humans (including in a vacuum, outside the in space, and/or under toxic and/or dangerous conditions) to perform scientific experiments and/or surgery.

外科系统(例如，外科设备200)Surgical system (eg, surgical device 200)

图2A、图2B、图2C和图2D中描绘了可操作来通过单个进入通道或开口(例如，单个切口(诸如脐部区域中的或周围的切口))或者通过患者的自然腔道(诸如用于执行经自然腔道内窥镜外科手术(或NOTES)的直肠或阴道，下称为“开口”)而被插入到患者的腹腔中的外科设备或系统(例如，外科设备或系统200)的示例实施方案的图示。该外科设备然后可以被锚定，以便将外科设备200定位在开口中。外科设备200可以包括端口组件210和器械臂组件230。外科设备200还可以包括其他元件，诸如一个或更多个器械臂组件(例如，器械臂组件240)、一个或更多个图像捕捉组件、一个或更多个辅助臂组件等。Figures 2A, 2B, 2C and 2D depict operations operable to pass through a single access channel or opening (eg, a single incision such as in or around the umbilical region) or through a patient's natural orifice such as of a surgical device or system (eg, surgical device or system 200) for insertion into a patient's abdominal cavity for performing natural orifice endoscopic surgery (or NOTES) of the rectum or vagina, hereinafter "opening") Illustration of an example embodiment. The surgical device can then be anchored to position thesurgical device 200 in the opening.Surgical device 200 may includeport assembly 210 andinstrument arm assembly 230 .Surgical device 200 may also include other elements, such as one or more instrument arm assemblies (eg, instrument arm assembly 240), one or more image capture assemblies, one or more auxiliary arm assemblies, and the like.

如图1A和图1B所示，外科设备200可以设有可附连到端口组件210的外部锚定器1。外部锚定器1可以包括段2、6、10和14的可配置组件以及外部锚定器连接器16，段2、6、10和14经由联接部或连接部分4、8和12彼此连通。外部锚定器1可以可操作来将端口组件210的位置和/或方位(以下“位置”)牢固地固定在患者的单个开口中或周围，并且还可以可操作来提供足以抵抗在外科动作或手术期间期望或有必要由外科设备200(包括器械臂组件230)的至少一个或更多个器械施加的力而稳定的锚定力和/或反作用力。也可以为图10A和图10B中所示的可控回转组件1000的形式的外部锚定器1可以可操作来与端口组件210合作以提供一个或更多个体外自由度。例如，外部锚定器1可以可配置为提供3个体外自由度。在示例实施方案中，所述一个或更多个体外自由度可以包括端口组件210相对于外部锚定器1的扭转运动、枢转运动、伸缩运动和/或其他运动。例如，如图1B中的箭头A所示的端口组件210的扭转运动可以允许一个或更多个附连的器械(包括器械臂组件230)在外科手术期间(即，在设置或安装之后)重新定位以便进入患者的腹腔的其他部分、区域和/或所有的象限。作为另一示例，如图1B中的箭头B所示的端口组件210的枢转运动可以允许端口组件210定位为相对于患者的开口成多个角度之一，并且还可以允许附连的器械(包括器械臂组件230)在外科手术期间(即，在设置或安装之后)重新定位以便进入患者的腹腔的远侧区域。外部锚定器1的其他联接部分还可以可操作来协助和/或帮助端口组件210的期望运动。外部锚定器1可以锚定到一个或更多个静止的或固定定位的对象，诸如图1A所示的手术台/床的侧轨300。图10A和图10B图示说明经由外部锚定器(可控回转组件)1000的示例实施方案提供附加的体外自由度的其他示例运动。下面将至少在部分“(1)提供外部锚定器并且安装端口组件”中进一步描述可控回转组件1000。As shown in FIGS. 1A and 1B ,surgical device 200 may be provided with an external anchor 1 attachable toport assembly 210 . The outer anchor 1 may comprise a configurable assembly ofsegments 2, 6, 10 and 14 and an outer anchor connector 16, thesegments 2, 6, 10 and 14 being in communication with each other via coupling or connectingportions 4, 8 and 12. The external anchor 1 may be operable to securely fix the position and/or orientation (hereinafter "position") of theport assembly 210 in or around a single opening in a patient, and may also be operable to provide sufficient resistance to surgical action or Anchoring and/or reactive forces stabilized by forces applied by at least one or more instruments of surgical device 200 (including instrument arm assembly 230 ) are desired or necessary during surgery. External anchor 1, which may also be in the form ofcontrollable swivel assembly 1000 shown in Figures 10A and 10B, may be operable to cooperate withport assembly 210 to provide one or more extracorporeal degrees of freedom. For example, the external anchor 1 may be configurable to provide 3 external degrees of freedom. In example embodiments, the one or more extracorporeal degrees of freedom may include torsional, pivotal, telescoping, and/or other motion of theport assembly 210 relative to the external anchor 1 . For example, torsional motion ofport assembly 210 as shown by arrow A in FIG. IB may allow one or more attached instruments (including instrument arm assembly 230) to be repositioned during a surgical procedure (ie, after setup or installation). Positioned for access to other portions, regions, and/or all quadrants of the patient's abdominal cavity. As another example, pivotal movement of theport assembly 210 as shown by arrow B in FIG. 1B may allow theport assembly 210 to be positioned at one of a number of angles relative to the patient's opening, and may also allow an attached instrument ( The instrument arm assembly 230 (including the instrument arm assembly 230) is repositioned during surgery (ie, after setup or installation) for access to the distal region of the patient's abdominal cavity. Other coupling portions of the external anchor 1 may also be operable to assist and/or facilitate the desired movement of theport assembly 210 . The external anchor 1 may be anchored to one or more stationary or fixedly positioned objects, such as the side rails 300 of the operating table/bed shown in Figure 1A. 10A and 10B illustrate other example movements that provide additional extracorporeal degrees of freedom via an example embodiment of an external anchor (controllable swivel assembly) 1000 . Thecontrollable swivel assembly 1000 will be further described below at least in the section "(1) Provide External Anchors and Install Port Assembly".

外科设备200可以进一步包括可附连到端口组件210的一个或更多个附加的器械臂组件，诸如图3A、图3B、图3C和图3D中所示的第二器械臂组件240。包括第一器械臂组件230、第二器械臂组件240、第三器械臂组件(未示出)、第四器械臂组件(未示出)等的器械臂组件中的一个或更多个可以可附连到或可固定到端口组件210。这样的器械臂组件可以可操作来进入患者的腔体内的任何的和全部的部分、区域和/或象限并且在这些部分、区域和/或象限上执行一个或更多个外科动作。例如，外科设备200可以可配置为在向前方向(或“方向向前的位置”或“向前的位置”)上执行外科动作(例如，如图2B、图2D、图3B和图3D所示)。作为另一示例，外科设备200可以可配置为在相反方向(或“方向相反的位置”或“相反的位置”)上执行外科动作(例如，如图2A、图2C、图3A和图3C所示)。Surgical device 200 may further include one or more additional instrument arm assemblies attachable toport assembly 210, such as secondinstrument arm assembly 240 shown in FIGS. 3A, 3B, 3C, and 3D. One or more of the instrumentation arm assemblies, including the firstinstrumentation arm assembly 230, the secondinstrumentation arm assembly 240, the third instrumentation arm assembly (not shown), the fourth instrumentation arm assembly (not shown), etc., may be Attached to or fixable toport assembly 210 . Such an instrument arm assembly may be operable to access any and all portions, regions, and/or quadrants within a cavity of a patient and perform one or more surgical actions on those portions, regions, and/or quadrants. For example,surgical device 200 may be configurable to perform a surgical action in a forward direction (or "forward oriented position" or "forward position") (eg, as shown in Figures 2B, 2D, 3B, and 3D). Show). As another example,surgical device 200 may be configurable to perform surgical actions in opposite directions (or "opposite positions" or "opposite positions") (eg, as shown in Figures 2A, 2C, 3A, and 3C). Show).

外科设备200还可以包括一个或更多个图像捕捉组件，诸如图像捕捉组件220。外科设备200可以进一步包括一个或更多个辅助臂组件，诸如图2A、图2B、图3A和图3B所示的牵开器臂组件260。此外，外科设备200可以包括可以在执行外科动作或手术之前、期间和/或之后经由端口组件210插入到患者的开口中的一个或更多个其他的器械臂组件，诸如图2A、图2B、图3A和图3B所示的抽吸/冲洗组件250。在本公开中要理解，在不脱离本公开的教导的情况下，在示例实施方案中，外科设备200可以可被配置为多种配置和布置，包括具有多于或少于两个的器械臂组件(诸如第三、第四、第五等器械臂组件)、多于一个的图像捕捉组件(诸如第二、第三等图像捕捉组件)、多于或少于一个的辅助臂组件(诸如第二、第三等辅助臂组件)、和/或多于或少于一个的其他的腹腔镜工具。Surgical device 200 may also include one or more image capture components, such asimage capture component 220 .Surgical device 200 may further include one or more auxiliary arm assemblies, such asretractor arm assembly 260 shown in Figures 2A, 2B, 3A, and 3B. Additionally,surgical device 200 may include one or more other instrument arm assemblies, such as Figures 2A, 2B, Suction/irrigation assembly 250 shown in Figures 3A and 3B. It is to be understood in this disclosure that, in an example embodiment,surgical device 200 may be configured in a variety of configurations and arrangements, including having more or less than two instrument arms, without departing from the teachings of this disclosure assemblies (such as the third, fourth, fifth, etc. instrument arm assemblies), more than one image capture assembly (such as the second, third, etc. image capture assemblies), more or less than one auxiliary arm assembly (such as the first Second, third and other auxiliary arm assemblies), and/or more or less than one other laparoscopic tool.

端口组件(例如，端口组件210)Port assembly (eg, port assembly 210)

图2A-D、图3A-D、图4A、图4B、图4C和图4D中图示说明端口组件(例如，端口组件210)的示例实施方案。端口组件210可以可被配置为被插入到患者的单个开口(诸如单个切口或自然腔道)中或周围并且至少通过外部锚定器(诸如图1A和图1B中所示的外部锚定器1以及图10A和图10B中所示的可控回转组件1000)而被固定到位。Example implementations of port assemblies (eg, port assembly 210) are illustrated in FIGS. 2A-D, 3A-D, 4A, 4B, 4C, and4D. Port assembly 210 may be configured to be inserted into or around a single opening in a patient (such as a single incision or natural orifice) and through at least an external anchor (such as external anchor 1 shown in FIGS. 1A and 1B ) and thecontrollable swivel assembly 1000 shown in FIGS. 10A and 10B ) is secured in place.

端口组件210可以是具有中央进入通道210a的细长结构，中央进入通道210a被形成为通过端口组件210。中央进入通道210a可以用于插入和移除器械，诸如一个或更多个器械臂组件230、240、一个或更多个图像捕捉组件220、一个或更多个辅助臂组件250、260、等等。在示例实施方案中，端口组件210可以包括第一端部节段212和第二端部节段214。第一端部节段212和第二端部节段214可以彼此固定地附连或者形成为单一的物体。端口组件210还可以包括在第一端部节段212与第二端部节段214之间的中间节段213。第一端部节段212、第二端部节段214以及中间节段213可以如图4A和图4B所示那样彼此固定地附连，或者这些节段中的两个或更多个可以形成为单一的物体。在示例实施方案中，第一端部节段212可以是端口组件210的固定到外部锚定器1的部分，端口组件210可以被固定在相对于患者的单个开口成大约0度至+/-90度之间的角度θ的位置上。现在将在下面参照图2A-D、图3A-D和图4A-D来描述端口组件210的这些及其他元件。Port assembly 210 may be an elongated structure having acentral access channel 210a formed throughport assembly 210 .Central access channel 210a may be used to insert and remove instruments, such as one or moreinstrument arm assemblies 230, 240, one or moreimage capture assemblies 220, one or moreauxiliary arm assemblies 250, 260, etc. . In an example embodiment, theport assembly 210 may include afirst end segment 212 and asecond end segment 214 . Thefirst end segment 212 and thesecond end segment 214 may be fixedly attached to each other or formed as a single object. Theport assembly 210 may also include anintermediate segment 213 between thefirst end segment 212 and thesecond end segment 214 . Thefirst end segment 212, thesecond end segment 214, and theintermediate segment 213 may be fixedly attached to each other as shown in FIGS. 4A and 4B, or two or more of these segments may form for a single object. In an example embodiment, thefirst end segment 212 may be the portion of theport assembly 210 that is secured to the external anchor 1, and theport assembly 210 may be secured at approximately 0 degrees to +/- relative to the patient's single opening at an angle θ between 90 degrees. These and other elements ofport assembly 210 will now be described below with reference to FIGS. 2A-D, 3A-D, and 4A-D.

如至少图4A和图4B所示，端口组件210可以包括第一端部节段212。第一端部节段212可以具有被形成为通过第一端部节段212的第一端部通道212a。第一端部通道212a可以被认为是中央进入通道210a的一部分。第一端部节段212还可以包括可操作来被固定到外部锚定器1的部分，诸如第一端部节段212的外部部分。As shown at least in FIGS. 4A and 4B , theport assembly 210 may include afirst end segment 212 . Thefirst end segment 212 may have afirst end channel 212a formed through thefirst end segment 212 . Thefirst end channel 212a may be considered part of thecentral access channel 210a. Thefirst end segment 212 may also include a portion operable to be secured to the outer anchor 1 , such as the outer portion of thefirst end segment 212 .

如图4A、图4C和图4D所示，第一端部节段212还可以包括第一闸组件212b。第一闸组件212可以可配置为控制通过第一端部通道212a的进入。例如，第一闸组件212b可以可配置为如图4C所示那样在打开位置上，以便允许通过第一端部通道212a进入。第一闸组件212b还可以可配置为如图4D所示那样在关闭位置上，以便阻止或限制通过第一端部通道212a进入。第一闸组件212b还可以可配置为在部分关闭的(或部分打开的)位置(未示出)上。第一闸组件212b还可以可配置为在关闭位置和打开位置之间转变。As shown in Figures 4A, 4C, and 4D, thefirst end segment 212 may also include afirst gate assembly 212b. Thefirst gate assembly 212 may be configurable to control access through thefirst end channel 212a. For example, thefirst gate assembly 212b may be configured to be in an open position as shown in FIG. 4C to allow access through thefirst end channel 212a. Thefirst gate assembly 212b may also be configurable in a closed position as shown in FIG. 4D to prevent or restrict access through thefirst end channel 212a. Thefirst gate assembly 212b may also be configurable in a partially closed (or partially open) position (not shown). Thefirst gate assembly 212b may also be configurable to transition between a closed position and an open position.

在示例实施方案中，第一闸组件212b可以以这样的方式被提供在第一端部节段212内，即，当第一闸组件212b被配置为如图4C所示那样在打开位置上时，第一端部通道212a基本上或完全不被第一闸组件212b挡住。当外科医生期望经由第一端部通道212a(以及中央进入通道210a的其余部分)将器械插入到患者的腔体中(或者从患者的腔体中移出器械)时，第一闸组件212b可以被配置为在打开位置上。In an example embodiment, thefirst gate assembly 212b may be provided within thefirst end segment 212 in a manner when thefirst gate assembly 212b is configured in an open position as shown in FIG. 4C , thefirst end passage 212a is substantially or completely unobstructed by thefirst gate assembly 212b. When the surgeon desires to insert an instrument into (or remove an instrument from) the patient's cavity via thefirst end channel 212a (and the remainder of thecentral access channel 210a), thefirst gate assembly 212b can be Configured to be in the open position.

类似地，第一闸组件212b可以以这样的方式被提供在第一端部节段212内，即，当第一闸组件212b被配置为如图4D所示那样在关闭位置上时，第一端部通道212a基本上或完全被第一闸组件212b挡住。当外科医生期望保持患者的腔体的注气时，和/或当外科医生不需要经由第一端部通道212a将器械插入到患者的腔体中(或者从患者的腔体中移出器械)时，第一闸组件212b可以被配置为在关闭位置上。Similarly, thefirst gate assembly 212b may be provided within thefirst end segment 212 in such a manner that, when thefirst gate assembly 212b is configured in the closed position as shown in FIG. 4D, thefirst gate assembly 212b is Theend channel 212a is substantially or completely blocked by thefirst gate assembly 212b. When the surgeon desires to maintain insufflation of the patient's cavity, and/or when the surgeon does not need to insert (or remove) instruments into the patient's cavity via thefirst end channel 212a , thefirst gate assembly 212b may be configured in a closed position.

第一闸组件212b可以包括第一可展开部分212b，其可配置为如图4D所示那样当第一闸组件212b被配置到关闭位置时展开。当第一闸组件212b被配置到关闭位置时，除了其他操作之外，第一可展开部分212b可以可操作来基本上或完全阻挡气体介质(和/或其他介质)通过第一端部通道212a。例如，如果患者的腔体正使用气体(诸如二氧化碳(CO₂))被注气时，第一闸组件212b(即，第一可展开部分212b)可以可配置为基本上阻止二氧化碳气体通过第一端部通道212a离开患者的腔体。Thefirst gate assembly 212b can include a firstdeployable portion 212b that can be configured to deploy as shown in FIG. 4D when thefirst gate assembly 212b is configured to the closed position. When thefirst gate assembly 212b is configured to the closed position, the firstexpandable portion 212b may be operable, among other operations, to substantially or completely block the passage of gaseous media (and/or other media) through thefirst end channel 212a . For example, if the patient's cavity is being inflated with a gas, such as carbon dioxide (CO₂ ), thefirst gate assembly 212b (ie, the firstexpandable portion 212b ) may be configurable to substantially prevent carbon dioxide gas from passing through the first Theend channel 212a exits the patient's cavity.

第一可展开部分212b可以包括一个或更多个第一可展开构件。例如，如图4C和图4D所示，第一可展开部分212b可以包括六个可展开构件。要理解，在不脱离本公开的教导的情况下，第一可展开部分212b可以包括多于或少于六个的可展开构件。第一可展开构件中的一些或全部可以集成在一起和/或彼此连通，诸如以第一可展开构件中的一些或全部可操作来从共同的或相同的第一源212b’接收压力(即，气体介质)的方式。例如，当第一闸组件212b被配置到关闭位置时，第一源212b’可以可配置为提供正压力(即，供给气体)，以便使第一可展开构件中的一些或全部展开并且阻挡第一端部通道212a(例如，密封地阻挡第一端部通道212a)。类似地，当第一闸组件212b被配置到打开位置时，第一源212b’可以可配置为提供负压力(即，移除气体)，以便使第一可展开构件中的一个或更多个(或全部)不展开(和/或缩回)并且不阻挡第一端部通道212a。要理解，在不脱离本公开的教导的情况下，多于一个的第一源212b’可以向所述一个或更多个可展开构件提供正压力和负压力。The firstexpandable portion 212b may include one or more first expandable members. For example, as shown in Figures 4C and 4D, the firstexpandable portion 212b may include six expandable members. It is to be understood that the firstexpandable portion 212b may include more or less than six expandable members without departing from the teachings of the present disclosure. Some or all of the first deployable members may be integrated together and/or communicate with each other, such as with some or all of the first deployable members operable to receive pressure from a common or the samefirst source 212b' (ie, , gaseous medium). For example, when thefirst gate assembly 212b is configured to the closed position, thefirst source 212b' may be configured to provide positive pressure (ie, supply gas) to deploy some or all of the first deployable members and block the first deployable member Oneend channel 212a (eg, sealingly blocking thefirst end channel 212a). Similarly, when thefirst gate assembly 212b is configured to the open position, thefirst source 212b' may be configured to provide negative pressure (ie, remove gas) to cause one or more of the first deployable members (or at all) is not deployed (and/or retracted) and does not block thefirst end channel 212a. It is to be understood that more than one first source 212b' may provide positive and negative pressure to the one or more deployable members without departing from the teachings of the present disclosure.

在本公开中认识到，第一闸组件212b可以包括除了第一可展开部分212b之外或者代替第一可展开部分212b的阀(未示出)等。阀可以可配置为基本上执行如下的相同动作，即，当第一闸组件212b被配置到关闭位置时阻挡第一端部通道212a，当第一闸组件212b被配置到打开位置时不阻挡第一端部通道212a。阀可以是可配置为执行在以上和在本公开中描述的动作的任何类型的阀。阀可以包括但不限于球阀、闸式阀等，只要阀可配置为基本上阻挡/不阻挡第一端部通道212a并且阻止气体介质通过第一端部通道212a即可。It is recognized in this disclosure that thefirst gate assembly 212b may include a valve (not shown) or the like in addition to or in place of the firstdeployable portion 212b. The valve may be configured to perform substantially the same action of blocking thefirst end passage 212a when thefirst gate assembly 212b is configured to the closed position and not blocking thefirst gate assembly 212b when thefirst gate assembly 212b is configured to the open position. Oneend channel 212a. The valve may be any type of valve configurable to perform the actions described above and in this disclosure. Valves may include, but are not limited to, ball valves, gate valves, etc., as long as the valve can be configured to substantially block/unblockfirst end passage 212a and prevent gaseous media from passing throughfirst end passage 212a.

如至少图4A和图4B所示，端口组件210还可以包括第二端部节段214。第二端部节段214可以具有被形成为通过第二端部节段214的第二端部通道214a。第二端部通道214a可以基本上或完全与第一端部通道212a对齐。在示例实施方案中，第二端部通道214a以及第一端部通道212a可以被认为是中央进入通道210a的一部分。第二端部节段214还可以包括用于向患者的腔体提供注气的注气端口(未示出)。As shown at least in FIGS. 4A and 4B , theport assembly 210 may also include asecond end segment 214 . Thesecond end segment 214 may have asecond end channel 214a formed through thesecond end segment 214 . Thesecond end channel 214a may be substantially or completely aligned with thefirst end channel 212a. In an example embodiment, thesecond end channel 214a and thefirst end channel 212a may be considered part of thecentral access channel 210a. Thesecond end segment 214 may also include an insufflation port (not shown) for providing insufflation to the cavity of the patient.

如图4A、图4C和图4D所示，第二端部节段214还可以包括第二闸组件214b。第二闸组件214可以可配置为控制通过第二端部通道214a的进入。例如，第二闸组件214b可以可配置为如图4C所示那样在打开位置上，以便允许通过第二端部通道214a进入。第二闸组件214b还可以可配置为如图4D所示那样在关闭位置上，以便阻止或限制通过第二端部通道214a进入。第二闸组件214b还可以可配置为在部分关闭的(或部分打开的)位置(未示出)上。第二闸组件214b还可以可配置为在关闭位置和打开位置之间转变。As shown in Figures 4A, 4C, and 4D, thesecond end segment 214 may also include asecond gate assembly 214b. Thesecond gate assembly 214 may be configurable to control access through thesecond end channel 214a. For example, thesecond gate assembly 214b may be configurable in an open position as shown in FIG. 4C to allow access through thesecond end channel 214a. Thesecond gate assembly 214b may also be configurable in a closed position as shown in FIG. 4D to prevent or restrict access through thesecond end channel 214a. Thesecond gate assembly 214b may also be configurable in a partially closed (or partially open) position (not shown). Thesecond gate assembly 214b may also be configurable to transition between a closed position and an open position.

在示例实施方案中，第二闸组件214b可以以这样的方式被提供在第二端部节段212内，即，当第二闸组件214b被配置为如图4C所示那样在打开位置上时，第二端部通道214a基本上或完全不被第二闸组件214b挡住。当外科医生期望经由第二端部通道214a(以及中央进入通道210a的其余部分)将器械插入到患者的腔体中(或者从患者的腔体中移出器械)时，第二闸组件214b可以被配置为在打开位置上。In an example embodiment, thesecond gate assembly 214b may be provided within thesecond end segment 212 in a manner when thesecond gate assembly 214b is configured in the open position as shown in FIG. 4C , thesecond end passage 214a is substantially or completely unobstructed by thesecond gate assembly 214b. When the surgeon desires to insert an instrument into (or remove an instrument from) the patient's cavity via thesecond end channel 214a (and the remainder of thecentral access channel 210a), thesecond gate assembly 214b can be Configured to be in the open position.

类似地，第二闸组件214b可以以这样的方式被提供在第二端部节段214内，即，当第二闸组件214b被配置为如图4D所示那样在关闭位置上时，第二端部通道214a基本上或完全被第二闸组件214b挡住。当外科医生期望保持患者的腔体的注气时，和/或当外科医生不需要经由第二端部通道214a将器械插入到患者的腔体中(或者从患者的腔体中移出器械)时，第二闸组件214b可以被配置为在关闭位置上。Similarly, thesecond gate assembly 214b may be provided within thesecond end segment 214 in such a manner that when thesecond gate assembly 214b is configured in the closed position as shown in FIG. 4D, thesecond gate assembly 214b is Theend channel 214a is substantially or completely blocked by thesecond gate assembly 214b. When the surgeon desires to maintain insufflation of the patient's cavity, and/or when the surgeon does not need to insert (or remove) instruments into the patient's cavity via thesecond end channel 214a , thesecond gate assembly 214b may be configured in a closed position.

第二闸组件214b可以包括第二可展开部分214b，其可配置为如图4D所示那样当第二闸组件214b被配置到关闭位置时展开。当第二闸组件214b被配置到关闭位置时，除了其他操作之外，第二可展开部分214b可以可操作来基本上或完全阻挡气体介质(和/或其他介质)通过第二端部通道214a。例如，如果患者的腔体正使用气体(诸如二氧化碳(CO₂))被注气时，第二闸组件214b(即，第二可展开部分214b)可以可配置为基本上阻止二氧化碳气体通过第二端部通道214a离开患者的腔体。Thesecond gate assembly 214b can include a seconddeployable portion 214b that can be configured to deploy as shown in FIG. 4D when thesecond gate assembly 214b is configured to the closed position. When thesecond gate assembly 214b is configured to the closed position, among other operations, the secondexpandable portion 214b may be operable to substantially or completely block the passage of gaseous media (and/or other media) through thesecond end passage 214a . For example, if the patient's cavity is being inflated with a gas, such as carbon dioxide (CO₂ ), thesecond gate assembly 214b (ie, the secondexpandable portion 214b ) may be configurable to substantially prevent carbon dioxide gas from passing through the second Theend channel 214a exits the patient's cavity.

第二可展开部分214b可以包括一个或更多个第二可展开构件。例如，如图4C和图4D所示，第二可展开部分可以包括六个可展开构件。要理解，在不脱离本公开的教导的情况下，第二可展开部分214b可以包括多于或少于六个的可展开构件。第二可展开构件中的一些或全部可以集成在一起和/或彼此连通，诸如以第二可展开构件中的一些或全部可操作来从共同的或相同的第二源214b’接收压力(即，气体介质)的方式。例如，当第二闸组件214b被配置到关闭位置时，第二源214b’可以可配置为提供正压力(即，供给气体)，以便使第二可展开构件中的一些或全部展开并且阻挡第二端部通道214a(例如，密封地阻挡第二端部通道214a)。类似地，当第二闸组件214b被配置到打开位置时，第二源214b’可以可配置为提供负压力(即，移除气体)，以便使第二可展开构件中的一些或全部不展开(和/或缩回)并且不阻挡第二端部通道214a。要理解，在不脱离本公开的教导的情况下，多于一个的第二源214b’可以向所述一个或更多个可展开构件提供正压力和负压力。在本公开中还要理解，第一源212b’和第二源214b’中的一个或更多个可以是相同的或不同的源。The secondexpandable portion 214b may include one or more second expandable members. For example, as shown in Figures 4C and 4D, the second expandable portion may include six expandable members. It is to be understood that the secondexpandable portion 214b may include more or less than six expandable members without departing from the teachings of the present disclosure. Some or all of the second expandable members may be integrated together and/or communicate with each other, such as with some or all of the second expandable members operable to receive pressure from a common or the samesecond source 214b' (ie, , gaseous medium). For example, when thesecond gate assembly 214b is configured to the closed position, thesecond source 214b' may be configured to provide positive pressure (ie, supply gas) to deploy some or all of the second deployable members and block the first Twoend passages 214a (eg, sealingly blocking thesecond end passage 214a). Similarly, when thesecond gate assembly 214b is configured to the open position, thesecond source 214b' may be configured to provide negative pressure (ie, remove gas) such that some or all of the second deployable members do not deploy (and/or retract) and do not block thesecond end channel 214a. It is to be understood that more than one second source 214b' may provide positive and negative pressure to the one or more deployable members without departing from the teachings of the present disclosure. It is also understood in this disclosure that one or more of thefirst source 212b' and thesecond source 214b' may be the same or different sources.

在本公开中认识到，第二闸组件214b可以包括除了第二可展开部分214b之外或者代替第二可展开部分214b的阀(未示出)等。阀可以可配置为基本上执行如下的相同动作，即，当第二闸组件214b被配置到关闭位置时阻挡第二端部通道214a，当第二闸组件214b被配置到打开位置时不阻挡第二端部通道214a。阀可以是可配置为执行在以上和在本公开中描述的动作的任何类型的阀。阀可以包括但不限于球阀、闸式阀等，只要阀可配置为基本上阻挡/不阻挡第二端部通道214a并且阻止气体介质通过第二端部通道214a即可。It is recognized in this disclosure that thesecond gate assembly 214b may include a valve (not shown) or the like in addition to or in place of the secondexpandable portion 214b. The valve may be configured to perform substantially the same action of blocking thesecond end passage 214a when thesecond gate assembly 214b is configured to the closed position and not blocking thesecond gate assembly 214b when thesecond gate assembly 214b is configured to the open position. Twoend passages 214a. The valve may be any type of valve configurable to perform the actions described above and in this disclosure. The valve may include, but is not limited to, a ball valve, a gate valve, etc., as long as the valve can be configured to substantially block/unblock thesecond end passage 214a and prevent the gaseous medium from passing through thesecond end passage 214a.

如图4A和图4B所示，第二端部节段214还可以包括一个或更多个锚定器端口216。每个锚定器端口216可以可操作来使得器械臂组件230或240、图像捕捉组件220和/或辅助臂组件250或260能够被固定到端口组件210以及从端口组件210松开。每个锚定器端口216可以形成为多种形状、孔、狭槽、凹陷、突起、钩子、紧固件、磁体、带扣等中的任何一个或更多个，包括在以上和在本公开中描述的那些。例如，如图4A和图4B所示，锚定器端口216中的一个或更多个可以包括可操作来允许器械臂组件230或240的肩节段231被插入并且附连的一个或更多个狭槽等。As shown in FIGS. 4A and 4B , thesecond end segment 214 may also include one ormore anchor ports 216 . Eachanchor port 216 may be operable to enable theinstrument arm assembly 230 or 240 , theimage capture assembly 220 and/or theauxiliary arm assembly 250 or 260 to be secured to and released from theport assembly 210 . Eachanchor port 216 may be formed into any one or more of a variety of shapes, holes, slots, depressions, protrusions, hooks, fasteners, magnets, buckles, etc., including above and in this disclosure those described in. For example, as shown in FIGS. 4A and 4B, one or more of theanchor ports 216 may include one or more operable to allow theshoulder segment 231 of theinstrument arm assembly 230 or 240 to be inserted and attached slot etc.

在示例实施方案中，如至少图4A和图4B所示，端口组件210还可以包括中间节段213。中间节段213可以具有被形成为通过中间节段213的中间节段通道213a。中间节段通道213a可以基本上或完全与第一端部通道212a和/或第二端部通道214a对齐。就这一点来说，在示例实施方案中，中间节段通道213a以及第一端部通道212a和/或第二端部通道214a可以被认为是中央进入通道210a的一部分。中间节段213还可以包括除了第二端部节段214的注气端口(未示出)之外或者代替第二端部节段214的注气端口的注气端口(未示出)。在一些示例实施方案中，中间节段213还可以包括与在以上和在本公开中描述的第一闸组件212和第二闸组件214类似的中间节段闸组件(未示出)。In an example embodiment, as shown at least in FIGS. 4A and 4B , theport assembly 210 may also include anintermediate segment 213 . Theintermediate segment 213 may have anintermediate segment channel 213a formed through theintermediate segment 213 . Theintermediate segment channel 213a may be substantially or completely aligned with thefirst end channel 212a and/or thesecond end channel 214a. In this regard, in an example embodiment, themiddle segment channel 213a and thefirst end channel 212a and/or thesecond end channel 214a may be considered part of thecentral access channel 210a. Themiddle section 213 may also include a gas injection port (not shown) in addition to or in place of the gas injection port of thesecond end section 214 . In some example embodiments, theintermediate segment 213 may also include an intermediate segment gate assembly (not shown) similar to thefirst gate assembly 212 and thesecond gate assembly 214 described above and in this disclosure.

在示例实施方案中，中间节段通道213a可以可操作来与第一闸组件212b和第二闸组件214b合作以起用于器械(诸如器械臂组件230或240、图像捕捉组件220、辅助臂组件250或260等)的隔离室的作用。例如，当器械(诸如器械臂组件230)需要经由端口组件220(或中央进入通道210a)被插入到患者的腔体中并且患者的腔体的注气需要保持时，第一闸组件212b可以被配置到打开位置以允许器械被插入到中间节段通道213a。在器械(或者它的大部分)通过第一闸组件212b之后，第一闸组件212b可以被配置到关闭位置。第二闸组件214b然后可以被配置到打开位置以允许器械被进一步插入通过端口组件210。在器械(或者它的大部分)通过第二闸组件214b之后，第二闸组件214b可以被配置到关闭位置。In an example embodiment, theintermediate segment channel 213a may be operable to cooperate with thefirst gate assembly 212b and thesecond gate assembly 214b for use with an instrument (such as theinstrument arm assembly 230 or 240, theimage capture assembly 220, the auxiliary arm assembly 250). or 260, etc.) of the isolation room. For example, when an instrument, such asinstrument arm assembly 230, needs to be inserted into the patient's cavity via port assembly 220 (orcentral access channel 210a) and insufflation of the patient's cavity needs to be maintained,first gate assembly 212b may be The open position is configured to allow instruments to be inserted into theintermediate segment channel 213a. After the instrument (or most of it) has passed thefirst gate assembly 212b, thefirst gate assembly 212b may be configured to the closed position. Thesecond gate assembly 214b may then be configured to an open position to allow further insertion of instruments through theport assembly 210 . After the instrument (or most of it) has passed thesecond gate assembly 214b, thesecond gate assembly 214b may be configured to the closed position.

关于中央进入通道210a，中央进入通道210a可以包括第一端部通道212a、第二端部通道214a和/或中间节段通道213a，或者由第一端部通道212a、第二端部通道214a和/或中间节段通道213a形成。中央进入通道210a可以可操作来提供允许一个或更多个器械(诸如一个或更多个器械臂组件230或240、一个或更多个图像捕捉组件220、一个或更多个辅助臂组件250或250等)插入(或移除)的进入端口(即，通路或通道)。With respect to thecentral access channel 210a, thecentral access channel 210a may include afirst end channel 212a, asecond end channel 214a, and/or amid-section channel 213a, or may consist of afirst end channel 212a, asecond end channel 214a, and a middle section channel 213a. /orintermediate segment channels 213a are formed.Central access channel 210a may be operable to provide access to one or more instruments (such as one or moreinstrument arm assemblies 230 or 240, one or moreimage capture assemblies 220, one or moreassist arm assemblies 250 or 250, etc.) into (or removed) access ports (ie, passageways or channels).

在示例实施方案中，第一端部节段212、第二端部214和/或中间节段213可以是大致圆柱形形状。在不脱离本公开的教导的情况下，第一端部节段212、第二端部节段214和/或中间节段213也可以形成为多种其他形状、大小和/或尺寸中的任何一个。In an example embodiment, thefirst end section 212, thesecond end section 214, and/or theintermediate section 213 may be generally cylindrical in shape.First end segment 212,second end segment 214, and/orintermediate segment 213 may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure One.

在示例实施方案中，第一端部节段212、第二端部214和/或中间节段213的外径可以在大约28至35mm之间，第一端部节段212、第二端部214和/或中间节段213的内径(未被阻挡)可以在大约16至21mm之间。在示例实施方案中，第一端部节段212、第二端部214和/或中间节段213的外径可以约为33mm，第一端部节段212、第二端部214和/或中间节段213的内径(未被阻挡)可以约为19mm。第一端部节段212的长度可以在大约80至100mm之间，第二端部节段214的长度可以在大约80至200mm之间，中间节段213的长度可以在大约60至80mm之间。端口组件210的总长度可以在大约320至380mm之间。在本公开中要理解，以上尺寸仅仅是示例实施方案的例示说明，就这一点而论，在不脱离本公开的教导的情况下，这些尺寸可以小于或大于以上记载的那些尺寸。In an example embodiment, the outer diameter of thefirst end segment 212, thesecond end segment 214, and/or theintermediate segment 213 may be between about 28 to 35 mm, thefirst end segment 212, thesecond end segment 212, the second end segment The inner diameter (unblocked) of 214 and/orintermediate segment 213 may be between about 16 to 21 mm. In an example embodiment, the outer diameter of thefirst end section 212, thesecond end section 214 and/or themiddle section 213 may be approximately 33 mm, thefirst end section 212, thesecond end section 214 and/or The inner diameter (unblocked) of theintermediate segment 213 may be approximately 19 mm. The length of thefirst end segment 212 may be between about 80 and 100 mm, the length of thesecond end segment 214 may be between about 80 and 200 mm, and the length of theintermediate segment 213 may be between about 60 and 80 mm. . The overall length ofport assembly 210 may be between approximately 320 to 380 mm. It is to be understood in this disclosure that the above dimensions are merely illustrative of example embodiments, and in this regard, these dimensions may be smaller or larger than those recited above without departing from the teachings of the present disclosure.

端口组件210(包括第一端部节段212、第二端部节段214、中间节段213和/或锚定器端口216)可以使用多种材料中的任何一种或更多种形成，诸如外科级金属、高强度铝合金、不锈钢(诸如304/304L、316/316L和420)、纯钛、钛合金(诸如Ti6A14V、NiTi)以及钴铬合金。第一闸组件212b和第二闸组件214b可以使用多种材料中的任何一种或更多种形成，诸如生物相容材料(诸如硅橡胶和聚氨酯)。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。在本公开中要理解，以上材料仅仅是示例实施方案的例示说明，在不脱离本公开的教导的情况下，可以使用这些及其他材料和组成。Port assembly 210 (includingfirst end segment 212,second end segment 214,intermediate segment 213, and/or anchor port 216) may be formed using any one or more of a variety of materials, Such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L and 420), pure titanium, titanium alloys (such as Ti6A14V, NiTi) and cobalt chromium alloys. Thefirst gate assembly 212b and thesecond gate assembly 214b may be formed using any one or more of a variety of materials, such as biocompatible materials such as silicone rubber and polyurethane. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is to be understood in this disclosure that the above materials are merely illustrative of example embodiments, and that these and other materials and compositions may be used without departing from the teachings of this disclosure.

图像捕捉组件(例如，图像捕捉组件220)Image capture component (eg, image capture component 220)

在示例实施方案中，外科设备200可以包括可配置为被插入到端口组件210中并且附连到端口组件210的一个或更多个图像捕捉组件(例如，图像捕捉组件220)。图像捕捉组件220中的一个或更多个可以包括图像捕捉本体224、可多弯曲本体222以及锚定部分220a。In an example embodiment,surgical device 200 may include one or more image capture assemblies (eg, image capture assemblies 220 ) configurable to be inserted into and attached toport assembly 210 . One or more of theimage capture assemblies 220 may include animage capture body 224, amultibendable body 222, and ananchor portion 220a.

如图6A所示，图像捕捉本体224可以包括一个或更多个摄像头227。每个摄像头227可以包括标准和/或高清2维(2D)和/或3维(3D)摄像头，如在以上和在本公开中所述的，该摄像头可操作来捕捉成像，诸如2D和/或立体和/或自动立体3D成像(包括图像、视频和/或音频)，并且实时地经由有线和/或无线通信将捕捉的成像(包括图像、视频和/或音频)提供给一个或更多个位于附近的和/或远程的外科团队904的计算设备(或控制器或系统)。计算设备(或控制器或系统)可以包括一个或更多个处理器、一个或更多个人机接口、一个或更多个图形显示器(诸如计算机屏幕、电视屏幕、便携设备、可穿戴设备(诸如眼镜等))和/或其他设备和/或系统，这些的示例在图9A和图9B中被图示。所述一个或多个位于附近的和/或远程的外科团队904可以可操作来查看、倾听、感觉、分析和/或控制(诸如遥摄、缩放、处理、改动、标记、改变分辨率等)在一个或更多个标准和/或高清2D和/或3D图形显示器902(诸如图9A和图9B的图示中所示)和/或适于接收2D和/或3D成像的便携和/或可穿戴设备(未示出)上显示或表示的成像。图像捕捉本体224还可以包括一个或更多个照射源229，诸如LED等，这些照射源229可操作来照射或感觉患者的腔体的至少一个或更多个部分、节段和/或象限，包括在患者的腔体中提供的器械。图像捕捉本体224可以进一步包括一个或更多个内部温度控制组件，这些内部温度控制组件可操作来控制(诸如降低)图像捕捉本体224的一个或更多个部件的温度。As shown in FIG. 6A , theimage capture body 224 may include one ormore cameras 227 . Eachcamera 227 may comprise a standard and/or high definition 2-dimensional (2D) and/or 3-dimensional (3D) camera, as described above and in this disclosure, operable to capture imaging, such as 2D and/or or stereoscopic and/or autostereoscopic 3D imaging (including images, video, and/or audio), and provide captured imaging (including images, video, and/or audio) to one or more in real-time via wired and/or wireless communications A computing device (or controller or system) of thesurgical team 904 located nearby and/or remotely. A computing device (or controller or system) may include one or more processors, one or more human-machine interfaces, one or more graphical displays (such as computer screens, television screens, portable devices, wearable devices such as glasses, etc.)) and/or other devices and/or systems, examples of which are illustrated in Figures 9A and 9B. The one or more nearby and/or remotely locatedsurgical teams 904 may be operable to view, listen, feel, analyze, and/or control (such as panning, zooming, processing, altering, marking, changing resolution, etc.) on one or more standard and/or high definition 2D and/or 3D graphics displays 902 (such as shown in the illustrations of FIGS. 9A and 9B ) and/or portable and/or portable and/or suitable for receiving 2D and/or 3D imaging Imaging displayed or represented on a wearable device (not shown). Theimage capture body 224 may also include one ormore illumination sources 229, such as LEDs or the like, operable to illuminate or sense at least one or more portions, segments and/or quadrants of the patient's cavity, Includes instruments provided in a patient's cavity.Image capture body 224 may further include one or more internal temperature control components operable to control (such as reduce) the temperature of one or more components ofimage capture body 224 .

如图6A的示例实施方案所示，图像捕捉组件220中的一个或更多个可以包括附连到图像捕捉本体224的可多弯曲本体222。可多弯曲本体222可以是任何细长的可多弯曲、可多弓形、可多连接和/或蛇状(下称为“可多弯曲”)本体，除了其他方面之外，该本体可以被外科团队(诸如经由计算设备/控制器)控制/配置为在沿着可多弯曲本体222的多个位置中的一个或更多个位置处拉直和/或弯曲(并且保持这样的拉直和/或弯曲)、在多个弯曲部分中的一个或更多个弯曲部分中弯曲(并且保持这样的弯曲部分)、和/或在多个方向中的一个或更多个方向上拉直和/或弯曲(并且保持这样的拉直和/或弯曲)。例如，如图8H所示，可多弯曲本体222可以可被外科团队(诸如经由计算设备/控制器)控制/配置为在沿着可多弯曲本体222的两个不同的位置222a和222b处弯曲，并且这些曲线中的每个均可以包括在任何方向上的任何弯曲部分。要理解，在不脱离本公开的教导的情况下，可多弯曲本体222可以可配置为在沿着可多弯曲本体222的多于或少于两个的位置上弯曲。还要理解，当可多弯曲本体222被配置为在沿着可多弯曲本体222的任何位置处弯曲时，曲线可以被外科团队(诸如经由计算设备/控制器)保持和/或放开(或者被配置为不弯曲、较少弯曲或拉直)。As shown in the example embodiment of FIG. 6A , one or more of theimage capture assemblies 220 may include amulti-flexible body 222 attached to theimage capture body 224 . Thepolybendable body 222 may be any elongated polybendable, polyarcoid, polyconnectable, and/or serpentine (hereinafter "polybendable") body that, among other things, may be surgically The team (such as via a computing device/controller) controls/configures to straighten and/or bend (and maintain such straightening and/or bending) at one or more of a plurality of positions along thepolybendable body 222 or bend), bend in one or more of a plurality of bends (and maintain such bends), and/or straighten and/or in one or more of a plurality of directions Bend (and keep that straight and/or curved). For example, as shown in FIG. 8H , themultibendable body 222 can be controlled/configured by the surgical team (such as via a computing device/controller) to bend at twodifferent locations 222a and 222b along themultibendable body 222 , and each of these curves can include any curvature in any direction. It is to be understood that themultibendable body 222 may be configurable to bend at more or less than two locations along themultibendable body 222 without departing from the teachings of the present disclosure. It will also be appreciated that when themulti-flexible body 222 is configured to flex at any location along themulti-flexible body 222, the curve can be held and/or released (or released) by the surgical team (such as via a computing device/controller) are configured to have no bending, less bending or straightening).

可多弯曲本体222可以以本领域中已知的任何一种或更多种方式形成。例如，可多弯曲本体222可以包括多个段，每个段以该段可以被控制/配置为被枢转地定位在相对于相邻段的多个位置上的这样的方式链接到相邻的段。作为另一示例，可多弯曲本体222可以包括在整个可多弯曲本体222中以这样的方式分布的多个线、线缆等，即，线缆中的一个或它们的组合的拉动/释放、缩短/延长、拉紧/松开等使得能够在一个或更多个弯曲部分中以及在一个或更多个方向上实现可多弯曲本体222的一个或更多个位置的以上提及的弯曲。作为另一示例，可多弯曲本体222可以包括用于实现以上提及的弯曲的多个弹簧、齿轮、电机等。在本公开中要理解，可多弯曲本体222还可以包括以上提及的方法中的一个或更多个的组合。Thepolybendable body 222 may be formed in any one or more manners known in the art. For example, thepolybendable body 222 may include a plurality of segments, each segment linked to an adjacent segment in such a manner that the segment may be controlled/configured to be pivotally positioned in various positions relative to an adjacent segment part. As another example, themulti-flexible body 222 may include a plurality of wires, cables, etc. distributed throughout themulti-flexible body 222 in such a manner that a pull/release of one or a combination thereof, The shortening/lengthening, tensioning/releasing, etc. enables the above-mentioned bending of one or more locations of themultibendable body 222 in one or more bending portions and in one or more directions. As another example, themulti-bendable body 222 may include a plurality of springs, gears, motors, etc. for achieving the above-mentioned bending. It is understood in this disclosure that thepolybendable body 222 may also include a combination of one or more of the above-mentioned methods.

一个或更多个内部温度控制组件(未示出)可以针对每个图像捕捉组件220提供。每个内部温度控制组件可以可操作来控制(诸如降低)前述摄像头(一个或更多个)227、照射源(一个或更多个)229和/或可多弯曲本体222的温度和/或发热。在示例实施方案中，所述一个或更多个内部温度控制组件可以可操作来使用一种或更多种气体、液体和/或固体来执行这样的温度控制。例如，气体和/或液体可以使用外部源经由一个或更多个管等而被进给、维持和/或调节。在示例实施方案中，用于提供、调节和/或排放气体和/或液体的所述一个或更多个管可以具有大约0.5mm至3mm之间的直径，但是这样的管的尺寸也可以更大或更小。在本公开中要理解，所述一个或多个管(如果使用的话)以及任何固体(如果使用的话)可以被提供通过图像捕捉组件220的内部，而不增大图像捕捉组件220的尺寸(诸如直径)和/或影响可多弯曲本体222的可控性/可配置性。One or more internal temperature control components (not shown) may be provided for eachimage capture component 220 . Each internal temperature control assembly may be operable to control (such as reduce) the temperature and/or heat generation of the aforementioned camera(s) 227 , illumination source(s) 229 and/orpolybendable body 222 . In example embodiments, the one or more internal temperature control assemblies may be operable to perform such temperature control using one or more gases, liquids, and/or solids. For example, gases and/or liquids may be fed, maintained and/or conditioned using an external source via one or more tubes or the like. In an example embodiment, the one or more tubes for supplying, conditioning and/or venting gas and/or liquid may have a diameter of between about 0.5mm and 3mm, although such tubes may also be of larger size bigger or smaller. It is understood in this disclosure that the one or more tubes (if used) and any solids (if used) may be provided through the interior ofimage capture assembly 220 without increasing the size of image capture assembly 220 (such as diameter) and/or affect the controllability/configurability of thepolybendable body 222.

当内部温度控制组件利用气体等时，示例实施方案也可以可操作来经由一个或更多个管等向体腔提供这样的气体和/或在体腔的外部排放或回收利用这样的气体。在示例实施方案中，气体可以包括二氧化碳、氧气和/或其他气体。这样的气体可以进一步可操作来帮助在外科手术期间提供和/或保持患者的腔体的注气。当内部温度控制组件利用液体等时，示例实施方案可以可操作来在体腔的外部排放或回收利用这样的液体。当内部温度控制组件利用固体等时，这样的固体可以拥有下述性质，即，使得外科团队能够诸如通过施加电力或其他形式的能量来改变固体的温度，以便控制(诸如降低)图像捕捉组件220的一个或更多个组件的温度和/或发热。在示例实施方案中，在不脱离本公开的教导的情况下，内部温度控制组件可以利用气体、液体、固体等的组合。When the internal temperature control assembly utilizes gas or the like, example embodiments may also be operable to provide such gas to the body cavity via one or more tubes or the like and/or to vent or recycle such gas external to the body cavity. In example embodiments, the gas may include carbon dioxide, oxygen, and/or other gases. Such gas may be further operable to assist in providing and/or maintaining insufflation of the patient's cavity during surgery. When the internal temperature control assembly utilizes liquids or the like, example embodiments may be operable to drain or recycle such liquids outside the body cavity. When the internal temperature control assembly utilizes solids or the like, such solids may possess properties that enable the surgical team to change the temperature of the solid, such as by applying electricity or other forms of energy, in order to control (such as lower) theimage capture assembly 220 temperature and/or heat generation of one or more components. In example embodiments, the internal temperature control assembly may utilize a combination of gases, liquids, solids, and the like, without departing from the teachings of the present disclosure.

图像捕捉组件220可以被以多种方式中的一种或更多种方式固定到端口组件210，包括在以上和在本公开中针对器械臂组件230或240和/或辅助臂组件250或260描述的那些。例如，图像捕捉组件220还可以包括可操作来将图像捕捉组件220附连(或固定)到端口组件210的一个或更多个锚定器端口216的锚定部分220a(例如，类似于器械臂组件220的固定部分231a)。Image capture assembly 220 may be secured toport assembly 210 in one or more of a variety of ways, including those described above and in this disclosure forinstrument arm assembly 230 or 240 and/orauxiliary arm assembly 250 or 260 of those. For example,image capture assembly 220 may also include ananchor portion 220a (eg, similar to an instrument arm) operable to attach (or secure)image capture assembly 220 to one ormore anchor ports 216 ofport assembly 210Fixed portion 231a) ofassembly 220.

在示例实施方案中，图像捕捉本体224和可多弯曲本体222均可以是大致圆柱形形状。在不脱离本公开的教导的情况下，图像捕捉本体224和可多弯曲本体222也可以形成为多种其他形状、大小和/或尺寸中的任何一个。In an example embodiment, both theimage capture body 224 and theflexible body 222 may be substantially cylindrical in shape.Image capture body 224 andmulti-flexible body 222 may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure.

在示例实施方案中，可多弯曲本体222的长度可以在大约50至150mm之间。在示例实施方案中，可多弯曲本体222的长度也可以由外科团队904在将摄像头臂组件插入到患者的腔体中之前、期间和/或之后调整。可多弯曲本体222的外径可以在大约5至7mm之间。在本公开中要理解，以上尺寸仅仅是示例实施方案的例示说明，就这一点而论，在不脱离本公开的教导的情况下，这些尺寸可以小于或大于以上记载的那些尺寸。In an example embodiment, the length of themulti-bendable body 222 may be between about 50 and 150 mm. In example embodiments, the length of themulti-flexible body 222 may also be adjusted by thesurgical team 904 before, during, and/or after insertion of the camera arm assembly into the patient's cavity. The outer diameter of themulti-bendable body 222 may be between about 5 to 7 mm. It is to be understood in this disclosure that the above dimensions are merely illustrative of example embodiments, and in this regard, these dimensions may be smaller or larger than those recited above without departing from the teachings of the present disclosure.

可多弯曲本体222可以使用多种材料中的任何一种或更多种形成，诸如不锈钢等。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。在本公开中要理解，以上材料仅仅是示例实施方案的例示说明，在不脱离本公开的教导的情况下，可以使用这些及其他材料和组成。Thepolybendable body 222 may be formed using any one or more of a variety of materials, such as stainless steel and the like. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is to be understood in this disclosure that the above materials are merely illustrative of example embodiments, and that these and other materials and compositions may be used without departing from the teachings of this disclosure.

如图6B和图6C所示，图像捕捉组件220可以进一步包括位于摄像头227的一个或更多个透镜附近的气罩228。图像捕捉组件220可以进一步包括位于图像捕捉组件220提供的照射源229和/或任何其他传感器(诸如温度传感器、压力传感器、湿度传感器等)中的一个或更多个附近的气罩228。气罩228可以包括一个或更多个开口等、一个或更多个外部气体源228、以及在气罩228的所述一个或更多个外部气体源与所述一个或更多个开口之间的一个或更多个管、通道等。在操作中，气罩228可以可操作来经由气罩228的所述一个或更多个开口向摄像头227前面(以及照射源229和/或其他传感器前面)的区域提供加压的气体(和/或液体)，诸如二氧化碳、氧气、其他气体或液体、或它们的组合。As shown in FIGS. 6B and 6C , theimage capture assembly 220 may further include anair hood 228 located adjacent the one or more lenses of thecamera head 227 .Image capture assembly 220 may further include anair hood 228 located near one or more ofillumination sources 229 and/or any other sensors provided by image capture assembly 220 (such as temperature sensors, pressure sensors, humidity sensors, etc.). Thehood 228 may include one or more openings, etc., one or moreexternal gas sources 228, and between the one or more external gas sources and the one or more openings of thehood 228 one or more tubes, channels, etc. In operation, thegas hood 228 may be operable to provide pressurized gas (and/or in front of theillumination source 229 and/or other sensors) to an area in front of the camera 227 (and in front of theillumination source 229 and/or other sensors) via the one or more openings of thegas hood 228 or liquid), such as carbon dioxide, oxygen, other gases or liquids, or combinations thereof.

整个系统还可以包括一个或更多个单独的图像捕捉组件，诸如图6D中所示的单独的图像捕捉组件320。单独的图像捕捉组件320可以被磁性锚定器310磁性地锚定到患者的腔体的内壁，诸如经由永久磁体、电磁体等。在一些示例实施方案中，磁性锚定器310也可以经由外部锚定器(未示出)而被固定/保持到位。单独的图像捕捉组件320可以包括一个或更多个摄像头327，并且还可以包括一个或更多个照射源329。The overall system may also include one or more separate image capture components, such as the separateimage capture component 320 shown in Figure 6D. A separateimage capture assembly 320 may be magnetically anchored to the inner wall of the patient's cavity by themagnetic anchor 310, such as via a permanent magnet, electromagnet, or the like. In some example embodiments, themagnetic anchors 310 may also be secured/held in place via external anchors (not shown). A separateimage capture assembly 320 may include one ormore cameras 327 and may also include one ormore illumination sources 329 .

单独的图像捕捉组件320可以可操作来提供各种视图中的一个或更多个，包括但不限于患者的腔体的正常视图、缩放视图、广角视图和/或全景视图。单独的图像捕捉组件320可以被以向外科团队904提供患者的腔体内的感兴趣区域的无障碍视图的方式定位。关于将单独的图像捕捉组件320定位并且固定到位，如图6D所示，单独的图像捕捉组件320可以被以多种方式中的一种或更多种方式插入通过端口组件210的中央进入通道210a进入到患者的腔体的内壁的期望位置，包括使用外科工具(未示出)、将单独的图像捕捉组件320附连到与图像捕捉组件220的可多弯曲本体类似的可多弯曲本体(未示出)(如图2A、图2B、图3A、图3B和图6D所示)、等等。A separateimage capture component 320 may be operable to provide one or more of various views including, but not limited to, normal, zoomed, wide-angle, and/or panoramic views of the patient's cavity. A separateimage capture assembly 320 can be positioned in a manner that provides thesurgical team 904 with an unobstructed view of the region of interest within the patient's cavity. With regard to positioning and securing the separateimage capture assembly 320 in place, as shown in Figure 6D, the separateimage capture assembly 320 may be inserted through thecentral access channel 210a of theport assembly 210 in one or more of a variety of ways Access to the desired location of the inner wall of the patient's cavity, including using surgical tools (not shown), attaching a separateimage capture assembly 320 to a flexible body similar to that of image capture assembly 220 (not shown) shown) (as shown in FIGS. 2A, 2B, 3A, 3B, and 6D), and so on.

器械臂组件(例如，器械臂组件230、240)Instrument arm assemblies (eg,instrument arm assemblies 230, 240)

在示例实施方案中，外科设备200可以包括一个或更多个器械臂组件(例如，第一器械臂组件230、第二器械臂组件240、第三器械臂组件(未示出)、第四器械臂组件(未示出)等)，每个均可配置为附连到端口组件210。尽管本公开中提供的某些附图和/或描述可能是针对第一器械臂组件230及其元件，但是在本公开中要理解，这样的附图和/或描述也可以适用于其他器械臂组件，包括第二器械臂组件240、第三器械臂组件(未示出)、第四器械臂组件(未示出)等。In an example embodiment,surgical device 200 may include one or more instrument arm assemblies (eg, firstinstrument arm assembly 230, secondinstrument arm assembly 240, third instrument arm assembly (not shown), fourth instrument arm assemblies (not shown), etc.), each configurable to be attached toport assembly 210 . While some of the drawings and/or descriptions provided in this disclosure may be with respect to the firstinstrument arm assembly 230 and its elements, it is to be understood in this disclosure that such drawings and/or descriptions may apply to other instrument arms as well assemblies, including a secondinstrument arm assembly 240, a third instrument arm assembly (not shown), a fourth instrument arm assembly (not shown), and the like.

器械臂组件(诸如230、240)中的一个或更多个可以包括多个器械臂段(或臂组件，诸如至少图5C和图5R所示的第一臂组件330、第二臂组件360以及肩节段(例如，肩组件231))和多个联接部分(诸如至少图5L、图5M、图5S和图5T所示的肘联接组件234和肩联接组件232)的可配置的或被配置的串联(或线性)连接布置、以及集成到和/或连接到器械臂段和/或联接部分中的一个或更多个的端部执行器组件340(其至少具有腕组件和器械组件237，器械组件237包括具有器械342和/或器械344的器械(一个或更多个)239)。尽管本公开中的某些附图和描述可能是针对器械臂组件230、240的(器械臂组件230、240具有如下串联联接布置：在远端的端部执行器组件340，接着是第一臂组件330，接着是肘联接组件234(其具有肘俯仰联接部分350’，接着是肘横摆联接部分350)，接着是第二臂组件360，接着是肩联接组件232(其具有肩俯仰联接部分370，接着是肩横摆联接部分380)，再接着是在近端的肩节段231)，但是在本公开中要理解，器械臂组件230、240的串联连接布置也可以按其他顺序，并且包括(或不包括)其他元件。例如，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘俯仰联接部分350’，接着是肘横摆联接部分350，接着是第二臂组件360，接着是肩俯仰联接部分370，接着是肩横摆联接部分380，再接着是在近端的肩节段231。作为另一示例，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘横摆联接部分350，接着是肘俯仰联接部分350’，接着是第二臂组件360，接着是肩横摆联接部分380，接着是肩俯仰联接部分370，再接着是在近端的肩节段231。在又一示例中，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘俯仰联接部分350’，接着是肘横摆联接部分350，接着是第二臂组件360，接着是肩横摆联接部分380，接着是肩俯仰联接部分370，再接着是在近端的肩节段231。作为另一示例，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘俯仰联接部分350’，接着是肘横摆联接部分350，接着是第二臂组件360，接着是肩俯仰联接部分370，再接着是在近端的肩节段231。作为另一示例，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘俯仰联接部分350’，接着是肘横摆联接部分350，接着是第二臂组件360，接着是肩横摆联接部分380，再接着是在近端的肩节段231。作为另一示例，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘横摆联接部分350，接着是肘俯仰联接部分350’，接着是第二臂组件360，接着是肩俯仰联接部分370，再接着是在近端的肩节段231。作为另一示例，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘横摆联接部分350，接着是肘俯仰联接部分350’，接着是第二臂组件360，接着是肩横摆联接部分380，再接着是在近端的肩节段231。在又一示例中，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘横摆联接部分350，接着是第二臂组件360，接着是肩俯仰联接部分370，接着是肩横摆联接部分380，再接着是在近端的肩节段231。作为另一示例，所述串联连接布置可以包括在远端的端部执行器组件340，接着是第一臂组件330，接着是肘横摆联接部分350，接着是第二臂组件360，接着是肩横摆联接部分380，接着是肩俯仰联接部分370，再接着是在近端的肩节段231。在不脱离本公开的教导的情况下，具有更多的或更少的元件的其他串联连接布置也被设想。One or more of the instrument arm assemblies (such as 230, 240) may include a plurality of instrument arm segments (or arm assemblies, such as at least thefirst arm assembly 330, thesecond arm assembly 360, and Configurable or configured shoulder segment (eg, shoulder assembly 231 ) and multiple coupling portions (such as at leastelbow coupling assembly 234 andshoulder coupling assembly 232 shown in FIGS. 5L, 5M, 5S, and 5T ) and an end effector assembly 340 (which has at least a wrist assembly and an instrument assembly 237) integrated into and/or connected to one or more of the instrument arm segments and/or coupling portions,Instrument assembly 237 includes instrument(s) 239 ) havinginstrument 342 and/orinstrument 344 . Although some of the figures and descriptions in this disclosure may be directed to theinstrument arm assemblies 230, 240 (theinstrument arm assemblies 230, 240 have the following serial coupling arrangement: theend effector assembly 340 at the distal end, followed by thefirst arm Assembly 330, followed by elbow linkage assembly 234 (which has elbow-pitch linkage portion 350', followed by elbow-yaw linkage portion 350), followed bysecond arm assembly 360, followed by shoulder linkage assembly 232 (which has shoulder-pitch linkage portion 350) 370, followed by the shoulder yaw coupling portion 380), followed by the shoulder segment 231) at the proximal end, but it is understood in this disclosure that the serial connection arrangement of theinstrument arm assemblies 230, 240 may also be in other orders, and Include (or not include) other elements. For example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbow pitch coupling portion 350', followed by an elbowyaw coupling portion 350, followed by asecond Arm assembly 360, followed by shoulderpitch coupling portion 370, followed by shoulderyaw coupling portion 380, followed byshoulder segment 231 at the proximal end. As another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbowyaw coupling portion 350, followed by an elbow pitch coupling portion 350', followed by It is thesecond arm assembly 360, followed by the shoulderyaw coupling portion 380, followed by the shoulderpitch coupling portion 370, followed by theshoulder segment 231 at the proximal end. In yet another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbow pitch coupling portion 350', followed by an elbowyaw coupling portion 350, Next is thesecond arm assembly 360, then the shoulderyaw coupling portion 380, then the shoulderpitch coupling portion 370, and then theshoulder segment 231 at the proximal end. As another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbow pitch coupling portion 350', followed by an elbowyaw coupling portion 350, followed by There is thesecond arm assembly 360, followed by the shoulderpitch coupling portion 370, followed by theshoulder segment 231 at the proximal end. As another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbow pitch coupling portion 350', followed by an elbowyaw coupling portion 350, followed by This is thesecond arm assembly 360, followed by the shoulderyaw coupling portion 380, followed by theshoulder segment 231 at the proximal end. As another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbowyaw coupling portion 350, followed by an elbow pitch coupling portion 350', followed by There is thesecond arm assembly 360, followed by the shoulderpitch coupling portion 370, followed by theshoulder segment 231 at the proximal end. As another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbowyaw coupling portion 350, followed by an elbow pitch coupling portion 350', followed by This is thesecond arm assembly 360, followed by the shoulderyaw coupling portion 380, followed by theshoulder segment 231 at the proximal end. In yet another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbow-yaw coupling portion 350, followed by asecond arm assembly 360, followed by It is the shoulderpitch coupling portion 370, followed by the shoulderyaw coupling portion 380, followed by theshoulder segment 231 at the proximal end. As another example, the series connection arrangement may include anend effector assembly 340 at the distal end, followed by afirst arm assembly 330, followed by an elbow-yaw coupling portion 350, followed by asecond arm assembly 360, followed by Shoulderyaw coupling portion 380, followed by shoulderpitch coupling portion 370, followed byshoulder segment 231 at the proximal end. Other series connection arrangements with more or fewer elements are also contemplated without departing from the teachings of the present disclosure.

端部执行器或器械239、342、344可以是适合用于外科手术中的任何器械，诸如切割和/或抓握器械。器械臂组件(诸如230、240)中的一个或更多个还可以包括一个或更多个照射源(未示出)，诸如LED等，这些照射源可操作来照射端部执行器或器械239、342、344、器械臂组件的一个或更多个部分和/或患者的腹腔的部分、区段和/或象限。The end effector orinstrument 239, 342, 344 may be any instrument suitable for use in a surgical procedure, such as a cutting and/or grasping instrument. One or more of the instrument arm assemblies (such as 230 , 240 ) may also include one or more illumination sources (not shown), such as LEDs, etc., operable to illuminate the end effector orinstrument 239 , 342, 344, one or more portions of the instrument arm assembly and/or portions, segments and/or quadrants of the patient's abdominal cavity.

器械臂组件(诸如230、240)中的一个或更多个还可以包括一个或更多个集成电机(例如，至少图5E、图5G、图5J和图5K所示的集成电机332、334、336和/或339以及至少图5M、图5N、图5O、图5T、图5U和图5V所示的集成电机362、364、366和/或369)，每个集成电机可操作来为器械臂组件提供至少一个自由度。每个集成电机(例如，集成电机332、334、336、339、362、364、366和/或369)可以是完整地(除了例如可以经由端口组件馈送的电源和/或控制线缆之外)容纳在器械臂组件(或臂组件，诸如第一臂组件330、第二臂组件360和/或肩组件231)中、诸如容纳在壳体331和/或360’中的完全且独立地运行的电机。器械臂组件中的一个或更多个还可以包括集成的触觉和/或力反馈子系统(未示出)，该子系统与集成电机和/或其他传感器和/或器械中的一个或更多个进行通信，可操作来(诸如经由计算设备/控制器)向外科团队提供多个反馈响应和/或测量中的一个或更多个，包括与器械臂组件的、靠近和/或邻近器械臂组件的位置(包括方位)、施加的力、接近度、温度、压力、湿度等相关的那些。例如，外科团队904可以被提供具有操纵器等的主输入设备，这些操纵器等具有触觉和/或力反馈，并且被设计为以高精度、高灵巧性以及最小负担将外科团队904的微小的手指扭转、腕弯曲和/或其他臂/肩运动映射到器械臂(诸如230、240)的运动并且感觉这些运动，同时还提供接触电阻(诸如组织电阻)的反馈。One or more of the instrument arm assemblies (such as 230, 240) may also include one or more integrated motors (eg, at least theintegrated motors 332, 334, 336 and/or 339 and at least theintegrated motors 362, 364, 366 and/or 369 shown in FIGS. 5M, 5N, 5O, 5T, 5U and 5V), each of which is operable to provide an instrument arm Components provide at least one degree of freedom. Each integrated motor (eg,integrated motors 332, 334, 336, 339, 362, 364, 366, and/or 369) may be complete (except for power and/or control cables, which may be fed via port assemblies, for example) Fully and independently operating fully and independently housed in an instrument arm assembly (or arm assembly, such asfirst arm assembly 330,second arm assembly 360, and/or shoulder assembly 231), such as inhousing 331 and/or 360' motor. One or more of the instrument arm assemblies may also include an integrated haptic and/or force feedback subsystem (not shown) in conjunction with one or more of the integrated motors and/or other sensors and/or instruments one or more of a plurality of feedback responses and/or measurements, including with the instrument arm assembly, proximate and/or adjacent to the instrument arm, to the surgical team (such as via a computing device/controller) in communication Those related to the position of the component (including orientation), applied force, proximity, temperature, pressure, humidity, etc. For example, thesurgical team 904 may be provided with a primary input device with manipulators, etc., that have tactile and/or force feedback and are designed to connect the tinysurgical team 904 with high precision, dexterity and minimal burden. Finger twisting, wrist flexion, and/or other arm/shoulder movements map to and sense the movements of the instrument arms (such as 230, 240), while also providing feedback on contact resistance (such as tissue resistance).

当器械臂组件(诸如230、240)包括一个或更多个照射源、摄像头、触觉和/或力反馈器械和/或其他传感器和或器械时，如在以上和在本公开中所述的，器械臂组件还可以包括气罩，诸如以上关于图像捕捉组件220描述的气罩。器械臂组件(诸如230、240)中的一个或更多个可以进一步包括一个或更多个内部温度控制组件，这些内部温度控制组件可操作来控制(诸如降低或提高)器械臂组件的一个或更多个部件的温度。When an instrument arm assembly (such as 230, 240) includes one or more illumination sources, cameras, haptic and/or force feedback instruments, and/or other sensors and/or instruments, as described above and in this disclosure, The instrument arm assembly may also include an air hood, such as the air hood described above with respect to theimage capture assembly 220 . One or more of the instrument arm assemblies (such as 230, 240) may further include one or more internal temperature control assemblies operable to control (such as lower or raise) one or more of the instrument arm assemblies temperature of more components.

如图2A-D、图3A-D、图5A、图5B、图5P和图5Q的示例实施方案中所示，包括第一器械臂组件230的器械臂组件中的每个可以包括肩节段231、第二臂组件360、第一臂组件330以及端部执行器组件340。器械臂组件230还可以包括：肩联接组件232，其具有肩横摆联接节段380和/或肩俯仰联接节段370；肘联接组件234，其具有肘横摆联接节段350和/或肘俯仰联接节段350’；第三联接部分(或腕节段)236，其可相对于轴线B枢转地运动(如至少图5D-H所示)；以及端部执行器联接部分238，其可相对于轴线A枢转地运动(如至少图5D-H所示)。前述联接部分中的每个可以被手动地和/或经由计算设备(或系统)配置为当器械臂组件被提供在患者的腹腔中时为附连的器械臂段(以及端部执行器239、342、344)提供一个或更多个体内自由度。例如，肩联接组件232可以可操作来为第二臂组件360提供一个或更多个自由度(例如，与人类肩的一个或更多个自由度类似的一个或更多个自由度)。具体地说，肩联接组件232可以包括肩横摆联接节段380，其可操作来为第二臂组件360提供相对于轴线E的运动(例如，旋转或枢转运动)(如至少图5L、图5M、图5S和图5T所示)。肩联接组件232可以包括肩俯仰联接节段370，其可操作来为第二臂组件360提供相对于轴线D的运动(例如，旋转或枢转运动)(如至少图5L、图5M、图5S和图5T所示)。轴线E可以不同于轴线D(例如，轴线E可以基本上正交于轴线D)。作为另一示例，肘联接组件234可以可操作来为第一臂组件330提供一个或更多个自由度。具体地说，肘联接组件234可以包括肘横摆联接组件350，其可操作来为第一臂组件330提供相对于轴线C的运动(例如，旋转或枢转运动)(如至少图5L、图5M、图5S和图5T所示)。肘联接组件234可以包括肘俯仰联接节段350’，其可操作来为第一臂组件330提供相对于轴线C’的运动(例如，旋转或枢转运动)(如至少图5S和图5T所示)。轴线C可以不同于轴线C’(例如，轴线C可以基本上正交于轴线C’)。作为另一示例，第三联接部分(或腕节段)236可以可操作来为器械组件237提供与人类腕的一个或更多个自由度类似的一个或更多个自由度。具体地说，第三联接部分(或腕节段)236可以可操作来为器械组件237提供相对于轴线B的运动(例如，旋转或枢转运动)(如至少图5L、图5M、图5S和图5T所示)。作为另一示例，端部执行器联接部分238(如至少图5A-B、图5P-Q、图5H所示)可以可操作来为端部执行器或器械239、342、344提供一个或更多个自由度。具体地说，端部执行器联接部分238可以可操作来为端部执行器或器械239、342、344提供相对于轴线A的运动(例如，旋转或枢转运动)(如至少图5D-I、图5L-M、图5S-T所示)。轴线B可以不同于轴线A(例如，轴线B可以基本上正交于轴线A)。因此，器械臂组件中的一个或更多个可以被手动地和/或经由计算设备/控制器配置为提供七个或更多个体内自由度，并且与由端口组件210和可控回转组件1000(参见图10A和图10B))提供的至少一个到三个或更多个体外自由度一起，器械臂组件中的一个或更多个可以被手动地和/或经由计算设备/控制器配置为提供总共八个到十个或更多个自由度。在本文中认识到，用于器械臂组件的前述至少七个体内自由度使得至少外科医生的手臂的自然运动的整个范围能够(经由控制器/计算机-人类接口/操纵器/主输入设备，诸如图9A和图9B中所示的示例)被基本上直接映射和/或转化到器械臂组件。As shown in the example embodiments of FIGS. 2A-D, 3A-D, 5A, 5B, 5P, and 5Q, each of the instrument arm assemblies including the firstinstrument arm assembly 230 may include ashoulder segment 231 ,second arm assembly 360 ,first arm assembly 330 , and endeffector assembly 340 . Theinstrument arm assembly 230 may also include: ashoulder link assembly 232 having a shoulderyaw link section 380 and/or a shoulderpitch link section 370, and anelbow link assembly 234 having a elbowyaw link section 350 and/or elbow Pitch coupling segment 350'; third coupling portion (or wrist segment) 236, which is pivotally movable relative to axis B (as shown at least in Figures 5D-H); and endeffector coupling portion 238, which Pivotally movable relative to axis A (as shown at least in Figures 5D-H). Each of the aforementioned coupling portions may be configured manually and/or via a computing device (or system) as an attached instrument arm segment (andend effector 239, 342, 344) provide one or more degrees of freedom in vivo. For example, theshoulder linkage assembly 232 may be operable to provide thesecond arm assembly 360 with one or more degrees of freedom (eg, one or more degrees of freedom similar to one or more degrees of freedom of a human shoulder). Specifically, theshoulder link assembly 232 may include a shoulderyaw link segment 380 operable to provide movement (eg, rotational or pivotal movement) to thesecond arm assembly 360 relative to the axis E (eg, as in at least FIGS. 5M, 5S and 5T). Theshoulder linkage assembly 232 may include a shoulderpitch linkage segment 370 operable to provide movement (eg, rotational or pivotal movement) to thesecond arm assembly 360 relative to the axis D (eg, at least FIGS. 5L, 5M, 5S ). and shown in Figure 5T). Axis E may be different from axis D (eg, axis E may be substantially orthogonal to axis D). As another example, theelbow linkage assembly 234 may be operable to provide thefirst arm assembly 330 with one or more degrees of freedom. Specifically, theelbow link assembly 234 may include an elbowyaw link assembly 350 operable to provide movement (eg, rotational or pivotal movement) to thefirst arm assembly 330 relative to the axis C (eg, as in at least FIG. 5L, FIG. 5M, 5S and 5T). Theelbow link assembly 234 may include an elbow pitch link segment 350' operable to provide movement (eg, rotational or pivotal movement) for thefirst arm assembly 330 relative to the axis C' (as shown at least in FIGS. 5S and 5T ). Show). Axis C may be different from axis C' (eg, axis C may be substantially orthogonal to axis C'). As another example, the third coupling portion (or wrist segment) 236 may be operable to provide theinstrument assembly 237 with one or more degrees of freedom similar to one or more degrees of freedom of a human wrist. Specifically, the third coupling portion (or wrist segment) 236 may be operable to provide movement (eg, rotational or pivotal movement) to theinstrument assembly 237 relative to the axis B (eg, at least FIGS. 5L, 5M, 5S). and shown in Figure 5T). As another example, the end effector coupling portion 238 (as shown at least in FIGS. 5A-B , 5P-Q, 5H ) may be operable to provide one or more end effectors orinstruments 239 , 342 , 344 multiple degrees of freedom. In particular, the endeffector coupling portion 238 may be operable to provide movement (eg, rotational or pivotal movement) for the end effector orinstrument 239, 342, 344 relative to the axis A (eg, as at least in FIGS. 5D-I ). , Figure 5L-M, Figure 5S-T). Axis B may be different from axis A (eg, axis B may be substantially orthogonal to axis A). Accordingly, one or more of the instrument arm assemblies can be configured manually and/or via a computing device/controller to provide seven or more degrees of freedom in the body, and in combination with theport assembly 210 and the controllable rotation assembly 1000 (See Figures 10A and 10B)) together with at least one to three or more extracorporeal degrees of freedom provided, one or more of the instrument arm assemblies may be configured manually and/or via a computing device/controller to Provides a total of eight to ten or more degrees of freedom. It is recognized herein that the aforementioned at least seven in vivo degrees of freedom for the instrument arm assembly enable at least the full range of natural motion of the surgeon's arm (via a controller/computer-human interface/manipulator/main input device, such as 9A and 9B) are substantially directly mapped and/or translated to the instrument arm assembly.

在不脱离本公开的教导的情况下，包括联接部分232、370、380、234、350、350’、236和/或238的每个联接部分可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮配置。在示例实施方案中，每个器械臂组件还可以包括一个或更多个内部集成电机332、334、336、339、362、364、366、369等，这些内部集成电机等可操作来致动(例如，经由第一器械驱动部分332a、第二器械驱动部分334a、腕驱动部分336a、第一臂组件驱动组件339a(其可配置来相对于轴线F驱动第一臂组件330，如至少图5K所示)、肘横摆驱动部分362a、肘俯仰驱动部分362a’、肩俯仰驱动部分364a、肩横摆驱动部分366a)每个联接部分(例如，第一器械被驱动部分342a、第二器械被驱动部分344a、腕被驱动部分346a、第一臂组件被驱动组件347(其可配置来被第一臂组件驱动组件339a驱动以相对于轴线F驱动第一臂组件330，如至少图5K所示)、肘横摆被驱动部分352、肘俯仰被驱动部分352’、肩俯仰被驱动部分364b、肩横摆被驱动部分366b、366c(如果需要的话)、366d(如果需要的话))以及联接部分232、370、380、234、350、350’、236和238和/或段231、360、330和340的齿轮。就这一点而言，在示例实施方案中，在以上和本公开中描述的集成电机、联接部分和/或段中的每个可以可操作来经由有线和/或无线通信与一个或更多个位于附近的和/或远处的外科团队904的计算设备/控制器来回或单向进行通信，诸如接收控制命令和/或发送信息。此外，在示例实施方案中，在以上和在本公开中描述的集成电机、联接部分和/或器械臂段中的每个可以可操作来经由有线和/或无线传输从外部电源和/或计算设备/控制器接收功率和/或控制信号。Each coupling portion includingcoupling portion 232, 370, 380, 234, 350, 350', 236, and/or 238 may include any one of gears and/or gear assemblies or More configurations, including spur gears, planetary gears, bevel gears, helical bevel gears, hypoid gears, helical gears, worm gears, and/or any other gear configuration. In an example embodiment, each instrument arm assembly may also include one or more internally integratedmotors 332, 334, 336, 339, 362, 364, 366, 369, etc. operable to actuate ( For example, via firstinstrument drive portion 332a, secondinstrument drive portion 334a,wrist drive portion 336a, first armassembly drive assembly 339a (which may be configured to drivefirst arm assembly 330 relative to axis F, as shown at least in FIG. 5K shown), elbowyaw drive portion 362a, elbowpitch drive portion 362a', shoulderpitch drive portion 364a, shoulderyaw drive portion 366a) each coupling portion (eg, first instrument drivenportion 342a, second instrument drivenportion 342a)Portion 344a, wrist drivenportion 346a, first arm assembly driven assembly 347 (which is configurable to be driven by first armassembly drive assembly 339a to drivefirst arm assembly 330 relative to axis F, as shown at least in Figure 5K) , elbow yaw drivenportion 352, elbow pitch driven portion 352', shoulder pitch drivenportion 364b, shoulder yaw drivenportions 366b, 366c (if required), 366d (if required), andcoupling portion 232 , 370 , 380 , 234 , 350 , 350 ′, 236 and 238 and/or the gears ofsegments 231 , 360 , 330 and 340 . In this regard, in example embodiments, each of the integrated motors, coupling portions and/or segments described above and in this disclosure may be operable to communicate via wired and/or wireless communication with one or more The nearby and/or remotely located computing devices/controllers of thesurgical team 904 communicate back and forth or one-way, such as to receive control commands and/or to send information. Additionally, in example embodiments, each of the integrated motors, coupling portions, and/or instrument arm segments described above and in this disclosure may be operable to transfer from an external power source and/or computing via wired and/or wireless transmission The device/controller receives power and/or control signals.

端部执行器组件(例如，端部执行器组件340)An end effector assembly (eg, end effector assembly 340)

端部执行器组件(例如，端部执行器组件340)的示例实施方案可以包括器械组件237。端部执行器组件340还可以包括腕组件。器械组件237可以包括第一器械组件和第二器械组件。尽管附图图示说明具有第一器械和第二器械的端部执行器组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，端部执行器组件可以具有更多的其他的器械，或者可以仅具有第一器械或第二器械。腕组件可以包括腕联接部分236，并且还可以包括腕连接器348。Example embodiments of an end effector assembly (eg, end effector assembly 340 ) may includeinstrument assembly 237 . Theend effector assembly 340 may also include a wrist assembly.Instrument assembly 237 may include a first instrument assembly and a second instrument assembly. Although the figures illustrate an end effector assembly having a first instrument and a second instrument, it is understood in this disclosure that the end effector assembly may have many more without departing from the teachings of the present disclosure. Other instruments, or may have only the first instrument or the second instrument. The wrist assembly may includewrist coupling portion 236 and may also includewrist connector 348 .

(i)第一器械组件(i) First Instrument Assembly

第一器械组件的示例实施方案可以包括用于执行外科动作的第一器械(例如，第一器械342)。在不脱离本公开的教导的情况下，第一器械342可以是任何外科器械。Example embodiments of the first instrument assembly may include a first instrument (eg, first instrument 342) for performing a surgical action. Thefirst instrument 342 may be any surgical instrument without departing from the teachings of the present disclosure.

在示例实施方案中，第一器械342可以可配置来接收从第一能量源(未示出)施加的电流(例如，第一电流)以便执行电外科器械的动作。尽管第一器械可能在以上和在本公开中被描述为接收电流，但是要理解，在不脱离本公开的教导的情况下，第一器械也可以可配置来接收电压电位、热能、热量、冷温施加、辐射等来执行所述外科动作。In an example embodiment, thefirst instrument 342 may be configurable to receive an electrical current (eg, a first electrical current) applied from a first energy source (not shown) in order to perform the action of an electrosurgical instrument. Although the first instrument may be described above and in this disclosure as receiving electrical current, it is to be understood that the first instrument may also be configurable to receive voltage potential, thermal energy, heat, cold temperature without departing from the teachings of the present disclosure Apply, irradiate, etc. to perform the surgical action.

第一器械组件还可以包括第一器械被驱动部分(例如，第一器械被驱动部分342a)。第一器械被驱动部分342a可以可配置来被集成电机332的第一器械驱动部分332a驱动。第一器械被驱动部分342a可以被第一器械驱动部分332a以运动第一器械342的这样的方式驱动。例如，第一器械被驱动部分342a可以被驱动以相对于第一轴线(例如，轴线A)运动第一器械342。就这一点而言，第一器械342的这样的运动可以是第一器械342的远端相对于第一器械342的近端的旋转，并且这样的近端可以用作这样的运动的枢轴。The first instrument assembly may also include a first instrument driven portion (eg, first instrument drivenportion 342a). The first instrument drivenportion 342a may be configurable to be driven by the first instrument drivenportion 332a of theintegrated motor 332 . The first instrument drivenportion 342a may be driven by the firstinstrument driving portion 332a in such a manner that thefirst instrument 342 is moved. For example, the first instrument drivenportion 342a may be driven to move thefirst instrument 342 relative to a first axis (eg, axis A). In this regard, such movement of thefirst instrument 342 may be a rotation of the distal end of thefirst instrument 342 relative to the proximal end of thefirst instrument 342, and such a proximal end may serve as a pivot for such movement.

第一器械被驱动部分342a可以是可配置来被第一器械驱动部分332a驱动的任何机构、设备等。例如，在不脱离本公开的教导的情况下，第一器械被驱动部分342a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个第一器械被驱动部分的端部执行器组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，端部执行器组件可以具有多于一个的第一器械被驱动部分。The first instrument drivenportion 342a may be any mechanism, device, etc. that is configurable to be driven by the firstinstrument driving portion 332a. For example, without departing from the teachings of the present disclosure, the first instrument drivenportion 342a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration , helical bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the drawings illustrate an end effector assembly having one first instrument driven portion, it is understood in this disclosure that an end effector assembly may have more than one without departing from the teachings of this disclosure. The first instrument is driven part.

在其中端部执行器组件340可以从臂组件330拆卸(即，松开)的示例实施方案中，要理解，集成电机332的第一器械驱动部分332a可以可操作来当端部执行器组件340被固定(即，被附连)到臂组件330时驱动第一器械被驱动部分342a。具体地说，集成电机332的第一器械驱动部分332a可以可操作来当腕连接器部分338被固定(即，被附连)到端部执行器组件(以及更具体地说，端部执行器组件340的连接器348)的腕组件(在以下和在本公开中进一步描述)时驱动第一器械被驱动部分342a。In example embodiments in which theend effector assembly 340 can be detached (ie, loosened) from thearm assembly 330, it is to be understood that the firstinstrument drive portion 332a of theintegrated motor 332 can be operable to actuate theend effector assembly 340 The first instrument drivenportion 342a is actuated when secured (ie, attached) to thearm assembly 330 . Specifically, the firstinstrument drive portion 332a of theintegrated motor 332 may be operable to be operative when thewrist connector portion 338 is secured (ie, attached) to the end effector assembly (and more specifically, the end effector) The wrist assembly (described below and further in this disclosure) of theconnector 348 of theassembly 340 drives the first instrument drivenportion 342a.

在其中端部执行器组件340可以从臂组件330拆卸(即，松开)的示例实施方案中，要理解，一个或更多个可连接且可断开的电线、线缆等可被提供来使得第一器械342能够从能量源接收电流来执行电外科器械的动作。In example embodiments in which theend effector assembly 340 can be detached (ie, unclamped) from thearm assembly 330, it is to be understood that one or more connectable and disconnectable wires, cables, etc. can be provided to Thefirst instrument 342 is enabled to receive electrical current from an energy source to perform the action of an electrosurgical instrument.

第一器械组件还可以包括第一器械绝缘部分(例如，第一器械绝缘部分342b)。第一器械绝缘部分342b可以可提供在第一器械342和端部执行器组件340的一个或更多个部分之间以便使第一器械342与端部执行器组件340的所述一个或更多个部分电隔离(或电绝缘、热隔离、热绝缘等)。在示例实施方案中，第一器械绝缘部分342b可以可提供在第一器械342和第一器械被驱动部分342a之间以便使第一器械342与第一器械被驱动部分342a电隔离(或电绝缘、热隔离、热绝缘等)。这样的电隔离(或电绝缘、热隔离、热绝缘等)对于保护外科臂组件的电(或热)敏感部件/部分和/或还防止这样的电流(或电压电位、热能、热量、冷温施加、辐射等)不合需要地经由第一器械被驱动部分342a和/或外科臂组件的其他部件/部分通过到达第二器械344可能是可取的。The first instrument assembly may also include a first instrument insulating portion (eg, firstinstrument insulating portion 342b). A firstinstrument insulating portion 342b may be provided between thefirst instrument 342 and one or more portions of theend effector assembly 340 to separate thefirst instrument 342 from the one or more portions of theend effector assembly 340 Each part is electrically isolated (or electrically isolated, thermally isolated, thermally isolated, etc.). In an example embodiment, a firstinstrument insulating portion 342b may be provided between thefirst instrument 342 and the first instrument drivenportion 342a so as to electrically isolate (or electrically insulate thefirst instrument 342 from the first instrument drivenportion 342a) , thermal isolation, thermal insulation, etc.). Such electrical isolation (or electrical insulation, thermal isolation, thermal insulation, etc.) is useful for protecting electrically (or thermally) sensitive components/portions of the surgical arm assembly and/or also preventing such current (or voltage potential, thermal energy, heat, cold temperature application) , radiation, etc.) undesirably pass through to thesecond instrument 344 via the first instrument drivenportion 342a and/or other components/portions of the surgical arm assembly.

第一器械绝缘部分342b可以使用多种材料中的任何一种或更多种形成，诸如电绝缘材料、热绝缘材料、塑料、弹性体、陶瓷、玻璃以及矿物质。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。The firstinstrument insulating portion 342b may be formed using any one or more of a variety of materials, such as electrically insulating materials, thermal insulating materials, plastics, elastomers, ceramics, glass, and minerals. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

第一器械342可以使用多种材料中的任何一种或更多种形成，诸如外科级金属、高强度铝合金、不锈钢(诸如304/304L、316/316L和420)、纯钛、钛合金(诸如Ti6A14V、NiTi)、钴铬合金以及镁合金。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。此外，第一器械342可以包括用于接收并且容纳第一器械绝缘部分342b的至少一部分的开口等。在示例实施方案中，第一轴线(例如，轴线A)可以被形成为穿过第一器械342的开口的中心。尽管开口在附图中可以被描绘为形状为圆形并且第一器械绝缘部分342b的被容纳在开口中的对应外部部分可以在附图中被描绘为形状为圆形，但是在本公开中要理解，在不脱离本公开的教导的情况下，开口和这样的对应外部部分可以被形成为一种或更多种其他形状，包括但不限于正方形、矩形、椭圆形、五边形、六边形等。Thefirst instrument 342 may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steel (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys ( Such as Ti6A14V, NiTi), cobalt-chromium alloys and magnesium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. Additionally, thefirst instrument 342 may include an opening or the like for receiving and receiving at least a portion of the firstinstrument insulating portion 342b. In an example embodiment, the first axis (eg, axis A) may be formed through the center of the opening of thefirst instrument 342 . Although the opening may be depicted as being circular in shape in the drawings and the corresponding outer portion of the firstinstrument insulating portion 342b received in the opening may be depicted as being circular in shape, in the present disclosure It is understood that openings and such corresponding outer portions may be formed in one or more other shapes, including but not limited to squares, rectangles, ovals, pentagons, hexagons, without departing from the teachings of the present disclosure shape etc.

(ii)第二器械组件(ii) Second Instrument Assembly

第二器械组件的示例实施方案可以包括用于执行外科动作的第二器械(例如，第二器械344)。在不脱离本公开的教导的情况下，第二器械344可以是任何外科器械。Example embodiments of the second instrument assembly may include a second instrument (eg, second instrument 344) for performing a surgical action.Second instrument 344 may be any surgical instrument without departing from the teachings of the present disclosure.

在示例实施方案中，第二器械344可以可配置来接收从第二能量源(未示出)施加的电流(例如，第二电流)以便执行电外科器械的动作。尽管第二器械可能在以上和在本公开中被描述为接收电流，但是要理解，在不脱离本公开的教导的情况下，第二器械也可以可配置来接收电压电位、热能、热量、冷温施加、辐射等来执行所述外科动作。In an example embodiment, thesecond instrument 344 may be configurable to receive an electrical current (eg, a second electrical current) applied from a second energy source (not shown) in order to perform the action of an electrosurgical instrument. Although the second instrument may be described above and in this disclosure as receiving electrical current, it is to be understood that the second instrument may also be configurable to receive voltage potential, thermal energy, heat, cold temperature without departing from the teachings of the present disclosure Apply, irradiate, etc. to perform the surgical action.

第二器械组件还可以包括第二器械被驱动部分(例如，第二器械被驱动部分344a)。第二器械被驱动部分344a可以可配置来被集成电机334的第二器械驱动部分334a驱动。The second instrument assembly may also include a second instrument driven portion (eg, second instrument drivenportion 344a). The second instrument drivenportion 344a may be configurable to be driven by the second instrument drivenportion 334a of theintegrated motor 334 .

第二器械被驱动部分344a可以被第二器械驱动部分334a以运动第二器械344的这样的方式驱动。例如，第二器械被驱动部分344a可以被驱动以相对于第一轴线(例如，轴线A)运动第二器械344。就这一点而言，第二器械344的这样的运动可以是第二器械344的远端相对于第二器械344的近端的旋转，并且这样的近端可以用作这样的运动的枢轴。The second instrument drivenportion 344a may be driven by the secondinstrument driving portion 334a in such a manner as to move thesecond instrument 344 . For example, the second instrument drivenportion 344a may be driven to move thesecond instrument 344 relative to the first axis (eg, axis A). In this regard, such movement of thesecond instrument 344 may be a rotation of the distal end of thesecond instrument 344 relative to the proximal end of thesecond instrument 344, and such a proximal end may serve as a pivot for such movement.

第二器械被驱动部分344a可以是可配置来被第二器械驱动部分334a驱动的任何机构、设备等。例如，在不脱离本公开的教导的情况下，第二器械被驱动部分344a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个第二器械被驱动部分的端部执行器组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，端部执行器组件可以具有多于一个的第二器械被驱动部分。The second instrument drivenportion 344a may be any mechanism, device, etc. that is configurable to be driven by the second instrument drivenportion 334a. For example, without departing from the teachings of the present disclosure, the second instrument drivenportion 344a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration , helical bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate an end effector assembly having one second instrument driven portion, it is understood in this disclosure that an end effector assembly may have more than one without departing from the teachings of this disclosure. The second instrument is driven part.

在其中端部执行器组件340可以从臂组件330拆卸(即，松开)的示例实施方案中，要理解，集成电机334的第二器械驱动部分334a可以可操作来当端部执行器组件340被固定(即，被附连)到臂组件330时驱动第二器械被驱动部分344a。具体地说，集成电机334的第二器械驱动部分334a可以可操作来当腕连接器部分338被固定(即，被附连)到端部执行器组件(以及更具体地说，端部执行器组件340的连接器348)的腕组件(在以下和在本公开中进一步描述)时驱动第二器械被驱动部分344a。In example embodiments in which theend effector assembly 340 can be detached (ie, loosened) from thearm assembly 330, it is to be understood that the secondinstrument drive portion 334a of theintegrated motor 334 can be operable to actuate theend effector assembly 340 The second instrument drivenportion 344a is actuated when secured (ie, attached) to thearm assembly 330 . Specifically, the secondinstrument drive portion 334a of theintegrated motor 334 may be operable to operate when thewrist connector portion 338 is secured (ie, attached) to the end effector assembly (and more specifically, the end effector) The second instrument drivenportion 344a is actuated when the wrist assembly (described below and further in this disclosure) of theconnector 348 of theassembly 340.

在其中端部执行器组件340可以从臂组件330拆卸(即，松开)的示例实施方案中，要理解，一个或更多个可连接且可断开的电线、线缆等可被提供来使得第二器械344能够从能量源接收电流来执行电外科器械的动作。In example embodiments in which theend effector assembly 340 can be detached (ie, unclamped) from thearm assembly 330, it is to be understood that one or more connectable and disconnectable wires, cables, etc. can be provided to Thesecond instrument 344 is enabled to receive electrical current from the energy source to perform the action of the electrosurgical instrument.

第二器械组件还可以包括第二器械绝缘部分(例如，第二器械绝缘部分344b)。第二器械绝缘部分344b可以可提供在第二器械344和端部执行器组件340的一个或更多个部分之间以便使第二器械344与端部执行器组件340的所述一个或更多个部分电隔离(或电绝缘、热隔离、热绝缘等)。在示例实施方案中，第二器械绝缘部分344b可以可提供在第二器械344和第二器械被驱动部分344a之间以便使第二器械344与第二器械被驱动部分344a电隔离(或电绝缘、热隔离、热绝缘等)。这样的电隔离(或电绝缘、热隔离、热绝缘等)对于保护外科臂组件的电(或热)敏感部件/部分和/或还防止这样的电流(或电压电位、热能、热量、冷温施加、辐射等)不合需要地经由第二器械被驱动部分344a和/或外科臂组件的其他部件/部分通过到达第一器械342可能是可取的。The second instrument assembly may also include a second instrument insulating portion (eg, secondinstrument insulating portion 344b). A secondinstrument insulating portion 344b may be provided between thesecond instrument 344 and one or more portions of theend effector assembly 340 to insulate thesecond instrument 344 from the one or more portions of theend effector assembly 340 Each part is electrically isolated (or electrically isolated, thermally isolated, thermally isolated, etc.). In an example embodiment, a secondinstrument insulating portion 344b may be provided between thesecond instrument 344 and the second instrument drivenportion 344a so as to electrically isolate (or electrically insulate) thesecond instrument 344 from the second instrument drivenportion 344a , thermal isolation, thermal insulation, etc.). Such electrical isolation (or electrical insulation, thermal isolation, thermal insulation, etc.) is useful for protecting electrically (or thermally) sensitive components/portions of the surgical arm assembly and/or also preventing such current (or voltage potential, thermal energy, heat, cold temperature application) , radiation, etc.) undesirably pass through to thefirst instrument 342 via the second instrument drivenportion 344a and/or other components/portions of the surgical arm assembly.

第二器械绝缘部分344b可以使用多种材料中的任何一种或更多种形成，诸如电绝缘材料、热绝缘材料、塑料、弹性体、陶瓷、玻璃以及矿物质。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。The secondinstrument insulating portion 344b may be formed using any one or more of a variety of materials, such as electrically insulating materials, thermal insulating materials, plastics, elastomers, ceramics, glass, and minerals. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

第二器械344可以使用多种材料中的任何一种或更多种形成，诸如外科级金属、高强度铝合金、不锈钢(诸如304/304L、316/316L和420)、纯钛、钛合金(诸如Ti6A14V、NiTi)、钴铬合金以及镁合金。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。此外，第二器械344可以包括用于接收并且容纳第二器械绝缘部分344b的至少一部分的开口等。在示例实施方案中，第一轴线(例如，轴线A)可以被形成为穿过第二器械344的开口的中心。尽管开口在附图中可以被描绘为形状为圆形并且第二器械绝缘部分344b的被容纳在开口中的对应外部部分可以在附图中被描绘为形状为圆形，但是在本公开中要理解，在不脱离本公开的教导的情况下，开口和这样的对应外部部分可以被形成为一种或更多种其他形状，包括但不限于正方形、矩形、椭圆形、五边形、六边形等。Thesecond instrument 344 may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steel (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys ( Such as Ti6A14V, NiTi), cobalt-chromium alloys and magnesium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. Additionally, thesecond instrument 344 may include an opening or the like for receiving and receiving at least a portion of the secondinstrument insulating portion 344b. In an example embodiment, the first axis (eg, axis A) may be formed through the center of the opening of thesecond instrument 344 . Although the opening may be depicted in the drawings as circular in shape and the corresponding outer portion of the secondinstrument insulating portion 344b received in the opening may be depicted in the drawings as circular in shape, in the present disclosure it is It is understood that openings and such corresponding outer portions may be formed in one or more other shapes, including but not limited to squares, rectangles, ovals, pentagons, hexagons, without departing from the teachings of the present disclosure shape etc.

(iii)第一器械组件和第二器械组件的合作(iii) Cooperation of the First Device Assembly and the Second Device Assembly

在示例实施方案中，第一器械(例如，第一器械342)和第二器械(例如，第二器械344)可以可相互独立地选择性地运动/驱动。在示例实施方案中，第一器械342和第二器械344可以以类似的或相同的方式选择性地运动/驱动，诸如可同时运动/驱动、针对相同持续时间、针对相同距离和/或具有相同的输出能量。尽管附图图示说明具有第一器械和第二器械的端部执行器组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，端部执行器组件可以具有更多的其他的器械，或者可以仅具有第一器械或第二器械。例如，第一器械342和第二器械344可以合作形成抓握器。作为另一示例，第一器械342和第二器械344可以合作形成剪刀。作为另一示例，第一器械342和第二器械344可以合作形成Maryland抓握器。在不脱离本公开的教导的情况下，在本公开中除了在以上和在本文中描述的第一器械和/或第二器械之外还设想其他形式和类型的第一器械和/或第二器械，或者设想其他形式和类型的第一器械和/或第二器械来替代在以上和在本文中描述的第一器械和/或第二器械。In an example embodiment, a first instrument (eg, first instrument 342 ) and a second instrument (eg, second instrument 344 ) may be selectively moveable/driven independently of each other. In an example embodiment, thefirst instrument 342 and thesecond instrument 344 may be selectively moved/actuated in a similar or identical manner, such as may be moved/actuated simultaneously, for the same duration, for the same distance, and/or have the same output energy. Although the figures illustrate an end effector assembly having a first instrument and a second instrument, it is understood in this disclosure that the end effector assembly may have many more without departing from the teachings of the present disclosure. Other instruments, or may have only the first instrument or the second instrument. For example, thefirst instrument 342 and thesecond instrument 344 may cooperate to form a grasper. As another example, thefirst instrument 342 and thesecond instrument 344 may cooperate to form scissors. As another example, thefirst instrument 342 and thesecond instrument 344 may cooperate to form a Maryland grasper. Other forms and types of first and/or second instruments in addition to the first and/or second instruments described above and herein are contemplated in this disclosure without departing from the teachings of this disclosure instruments, or other forms and types of first and/or second instruments are envisaged in place of the first and/or second instruments described above and herein.

例如，如上所述，第一器械342可以可配置来接收从第一能量源(未示出)施加的电流(例如，第一电流)以便执行电外科器械的动作。除此之外或作为替代，第二器械344可以可配置来接收从第二能量源(未示出)施加的电流(例如，第二电流)。在示例实施方案中，第一电流可以在幅值上与第二电流相同，但是在方向上与第二电流相反，并且在示例实施方案中，第一能量源可以与第二能量源相同或不同。在第一器械和第二器械共同合作形成单极电外科器械等的这样的实施方案中，当团块(例如，组织团块)被提供在第一器械342和第二器械344之间并且电流被施加于第一器械342或第二器械344时，该团块将用于使得施加的电流能够通过并且帮助切割、凝固、干燥和/或电灼该团块。类似地，在第一器械和第二器械共同合作形成双极电外科器械等的实施方案中，当团块(例如，组织团块)被提供在第一器械342和第二器械344之间并且电流被施加于第一器械342和第二器械344时，该团块将用于使得施加的电流能够通过并且帮助执行外科动作，包括切割、凝固、干燥、烧灼和/或电灼该团块。尽管第一器械和/或第二器械可以在以上和在本公开中被描述为接收电流，但是要理解，在不脱离本公开的教导的情况下，第一器械和/或第二器械也可以可配置来接收电压电位、热能、热量、冷温施加、辐射等来执行所述外科动作。For example, as described above, thefirst instrument 342 may be configurable to receive an electrical current (eg, a first electrical current) applied from a first energy source (not shown) in order to perform the action of an electrosurgical instrument. Additionally or alternatively, thesecond instrument 344 may be configurable to receive an electrical current (eg, a second electrical current) applied from a second energy source (not shown). In example embodiments, the first current may be the same as the second current in magnitude but opposite in direction to the second current, and in example embodiments, the first energy source may be the same as or different from the second energy source . In such embodiments where the first instrument and the second instrument cooperate to form a monopolar electrosurgical instrument, etc., when a mass (eg, tissue mass) is provided between thefirst instrument 342 and thesecond instrument 344 and the current When applied to either thefirst instrument 342 or thesecond instrument 344, the mass will serve to allow the applied electrical current to pass and aid in cutting, coagulating, drying and/or cauterizing the mass. Similarly, in embodiments where the first instrument and the second instrument cooperate to form a bipolar electrosurgical instrument, etc., when a mass (eg, tissue mass) is provided between thefirst instrument 342 and thesecond instrument 344 and When electrical current is applied to thefirst instrument 342 and thesecond instrument 344, the mass will be used to allow the applied current to pass and assist in performing surgical actions, including cutting, coagulating, drying, cauterizing, and/or cauterizing the mass. Although the first instrument and/or the second instrument may be described above and in this disclosure as receiving electrical current, it is to be understood that the first instrument and/or the second instrument may also be without departing from the teachings of the present disclosure. It may be configured to receive a voltage potential, thermal energy, heat, application of cold or heat, radiation, etc. to perform the surgical action.

(iv)腕组件(iv) Wrist assembly

在示例实施方案中，腕组件可以可固定或被固定到器械组件237。腕组件可以包括腕被驱动部分(例如，腕被驱动部分346a)。腕组件可以进一步包括连接器(例如，连接器348)。In an example embodiment, the wrist assembly may be fixable or secured to theinstrument assembly 237 . The wrist assembly may include a wrist driven portion (eg, wrist drivenportion 346a). The wrist assembly may further include a connector (eg, connector 348).

腕被驱动部分346a可以可配置来经由集成电机336被腕驱动部分336a驱动。腕被驱动部分346a可以被腕驱动部分336a以运动器械组件237(包括第一器械342和/或第二器械344)的这样的方式驱动。例如，腕被驱动部分346a可以被驱动以相对于第二轴线(例如，轴线B)枢转地运动第一器械342。就这一点而言，第一器械342的这样的运动可以是第一器械342的远端相对于第二轴线(例如，轴线B)上的点的旋转(或枢转运动)，并且这样的点可以用作这样的运动的枢轴。除此之外或作为替代，腕被驱动部分346a可以被腕驱动部分336a以运动第二器械344的这样的方式驱动。例如，腕被驱动部分346a可以被驱动以相对于第二轴线(例如，轴线B)枢转地运动第二器械344。就这一点而言，第二器械344的这样的运动可以是第二器械344的远端相对于第二轴线(例如，轴线B)上的点的旋转(或枢转运动)，并且这样的点可以用作这样的运动的枢轴。在示例实施方案中，腕被驱动部分346a可以被腕驱动部分336a以共同运动第一器械342和第二器械344的这样的方式驱动。例如，腕被驱动部分346a可以被驱动以相对于第二轴线(例如，轴线B)共同运动第一器械342和第二器械344。就这一点而言，第一器械342和第二器械344的这样的运动可以是第一器械342的远端和第二器械344的远端相对于第二轴线(例如，轴线B)上的点的旋转(或枢转运动)，并且这样的点可以用作这样的运动的枢轴。轴线B可以不同于轴线A(例如，轴线B可以基本上正交于轴线A)。The wrist drivenportion 346a may be configurable to be driven by the wrist drivenportion 336a via theintegrated motor 336 . Wrist drivenportion 346a may be driven bywrist driving portion 336a in such a manner as to exercise machine assembly 237 (includingfirst machine 342 and/or second machine 344). For example, the wrist drivenportion 346a may be driven to pivotally move thefirst instrument 342 relative to a second axis (eg, axis B). In this regard, such movement of thefirst instrument 342 may be a rotational (or pivotal movement) of the distal end of thefirst instrument 342 relative to a point on the second axis (eg, axis B), and such a point Can be used as a pivot for such movements. Additionally or alternatively, the wrist drivenportion 346a may be driven by thewrist drive portion 336a in such a manner as to move thesecond instrument 344 . For example, the wrist drivenportion 346a may be driven to pivotally move thesecond instrument 344 relative to a second axis (eg, axis B). In this regard, such movement of thesecond instrument 344 may be a rotational (or pivotal movement) of the distal end of thesecond instrument 344 relative to a point on the second axis (eg, axis B), and such a point Can be used as a pivot for such movements. In an example embodiment, the wrist drivenportion 346a may be driven by thewrist driving portion 336a in such a manner as to move thefirst instrument 342 and thesecond instrument 344 together. For example, the wrist drivenportion 346a may be driven to collectively move thefirst instrument 342 and thesecond instrument 344 relative to a second axis (eg, axis B). In this regard, such movement of thefirst instrument 342 and thesecond instrument 344 may be a point on the distal end of thefirst instrument 342 and the distal end of thesecond instrument 344 relative to a second axis (eg, axis B) of rotation (or pivoting motion), and such a point can be used as a pivot for such motion. Axis B may be different from axis A (eg, axis B may be substantially orthogonal to axis A).

腕被驱动部分346a可以是可配置来将被腕驱动部分336a驱动的任何机构、设备等。例如，在不脱离本公开的教导的情况下，腕被驱动部分346a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个腕被驱动部分的端部执行器组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，端部执行器组件可以具有多于一个的腕被驱动部分。The wrist drivenportion 346a may be any mechanism, device, etc. that is configurable to be driven by the wrist drivenportion 336a. For example, wrist drivenportion 346a may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, helical gears, without departing from the teachings of the present disclosure. Bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate an end effector assembly having one wrist driven portion, it is understood in this disclosure that an end effector assembly may have more than one wrist without departing from the teachings of this disclosure driven part.

臂组件(例如，第一臂组件330、第二臂组件360)Arm assemblies (eg,first arm assembly 330, second arm assembly 360)

(i)第一臂组件(例如，第一臂组件330)(i) First arm assembly (eg, first arm assembly 330)

第一臂组件330的示例实施方案在至少图5A-C、图5L-M和图5S-T中被图示说明。臂组件330可以可固定到端部执行器组件340。在示例实施方案中，臂组件330可以可固定到端部执行器组件340并且可从端部执行器组件340松开(例如，拆卸)。如图5C和5J所示，臂组件330可以包括臂组件本体(例如，臂组件本体331)、第一端部330a(或近端)以及与第一端部330a相对的第二端部330b(或远端)。肘俯仰联接部分350’可以被固定到第一端部330a，并且端部执行器组件340可以被固定到第二端部330b。腕连接器部分338可以被提供在第二端部330b处。臂组件本体331可以牢固地容纳多个驱动组件中的一个或更多个。Example embodiments of thefirst arm assembly 330 are illustrated in at least FIGS. 5A-C, 5L-M, and 5S-T. Arm assembly 330 may be fixable to endeffector assembly 340 . In an example embodiment, thearm assembly 330 may be fixable to theend effector assembly 340 and releasable (eg, detachable) from theend effector assembly 340 . As shown in Figures 5C and 5J, thearm assembly 330 may include an arm assembly body (eg, arm assembly body 331), afirst end 330a (or proximal end), and asecond end 330b (or a proximal end) opposite thefirst end 330a ( or remote). The elbow pitch coupling portion 350' may be secured to thefirst end 330a and theend effector assembly 340 may be secured to thesecond end 330b. Awrist connector portion 338 may be provided at thesecond end 330b. Thearm assembly body 331 may securely accommodate one or more of the plurality of drive assemblies.

在示例实施方案中，臂组件本体331可以牢固地容纳第一器械驱动组件。第一器械驱动组件可以包括第一集成电机(例如，第一集成电机332)，并且还可以包括第一器械驱动部分(例如，第一器械驱动部分332a)。第一器械驱动部分332a可以被提供在臂组件本体331的第二端部330b处。第一器械驱动部分332a可以可由第一集成电机332控制以当腕连接器部分338被固定到腕组件时驱动第一器械被驱动部分342a。第一器械驱动部分332a可以是可配置来驱动第一器械被驱动部分342a的任何机构、设备等。例如，在不脱离本公开的教导的情况下，第一器械驱动部分332a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个第一器械驱动部分332a的臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，臂组件可以具有多于一个的第一器械驱动部分332a。In an example embodiment, thearm assembly body 331 can securely accommodate the first instrument drive assembly. The first instrument drive assembly may include a first integrated motor (eg, first integrated motor 332), and may also include a first instrument drive portion (eg, firstinstrument drive portion 332a). The firstinstrument drive portion 332a may be provided at thesecond end 330b of thearm assembly body 331 . The firstinstrument drive portion 332a may be controllable by the firstintegrated motor 332 to drive the first instrument drivenportion 342a when thewrist connector portion 338 is secured to the wrist assembly. The firstinstrument drive portion 332a may be any mechanism, device, etc. that is configurable to drive the first instrument drivenportion 342a. For example, without departing from the teachings of the present disclosure, firstinstrument drive portion 332a may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, Spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate an arm assembly having one firstinstrument drive portion 332a, it is understood in this disclosure that an arm assembly may have more than one first instrument drive portion without departing from the teachings of thisdisclosure 332a.

在示例实施方案中，臂组件本体331还可以牢固地容纳第二器械驱动组件。第二器械驱动组件可以包括第二集成电机(例如，第二集成电机334)，并且还可以包括第二器械驱动部分(例如，第二器械驱动部分334a)。第二器械驱动部分334a可以被提供在臂组件本体331的第二端部330b处。第二器械驱动部分334a可以可由第二集成电机334控制以当腕连接器部分338被固定到腕组件时驱动第二器械被驱动部分344a。第二器械驱动部分334a可以是可配置来驱动第二器械被驱动部分344a的任何机构、设备等。例如，在不脱离本公开的教导的情况下，第二器械驱动部分334a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个第二器械驱动部分334a的臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，臂组件可以具有多于一个的第二器械驱动部分334a。In an example embodiment, thearm assembly body 331 may also securely accommodate the second instrument drive assembly. The second instrument drive assembly may include a second integrated motor (eg, second integrated motor 334), and may also include a second instrument drive portion (eg, secondinstrument drive portion 334a). A secondinstrument drive portion 334a may be provided at thesecond end 330b of thearm assembly body 331 . The secondinstrument drive portion 334a may be controllable by the secondintegrated motor 334 to drive the second instrument drivenportion 344a when thewrist connector portion 338 is secured to the wrist assembly. The secondinstrument drive portion 334a may be any mechanism, device, etc. that is configurable to drive the second instrument drivenportion 344a. For example, without departing from the teachings of the present disclosure, secondinstrument drive portion 334a may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, Spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate an arm assembly having one secondinstrument drive portion 334a, it is understood in this disclosure that an arm assembly may have more than one second instrument drive portion without departing from the teachings of thisdisclosure 334a.

在示例实施方案中，臂组件本体331还可以牢固地容纳腕驱动组件。腕驱动组件可以包括第三集成电机(例如，第三集成电机336)，并且还可以包括腕驱动部分(例如，腕驱动部分336a)。腕驱动部分336a可以被提供在臂组件本体331的第二端部330b处。腕驱动部分336a可以可由第三集成电机336控制以当腕连接器部分338被固定到腕组件时驱动腕被驱动部分346a。腕驱动部分336a可以是可配置来驱动腕被驱动部分346a的任何机构、设备等。例如，在不脱离本公开的教导的情况下，腕驱动部分336a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个腕驱动部分336a的臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，臂组件可以具有多于一个的腕驱动部分336a。In an example embodiment, thearm assembly body 331 may also securely house the wrist drive assembly. The wrist drive assembly may include a third integrated motor (eg, third integrated motor 336), and may also include a wrist drive portion (eg,wrist drive portion 336a). Awrist drive portion 336a may be provided at thesecond end 330b of thearm assembly body 331 . Thewrist drive portion 336a may be controllable by the thirdintegrated motor 336 to drive the wrist drivenportion 346a when thewrist connector portion 338 is secured to the wrist assembly. Thewrist drive portion 336a may be any mechanism, device, etc. that is configurable to drive the wrist drivenportion 346a. For example,wrist drive portion 336a may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, spiral bevel gears, without departing from the teachings of the present disclosure Gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate an arm assembly having onewrist drive portion 336a, it is understood in this disclosure that an arm assembly may have more than onewrist drive portion 336a without departing from the teachings of this disclosure.

在示例实施方案中，臂组件本体331还可以牢固地容纳第一臂组件驱动组件。第一臂组件驱动组件可以包括第四集成电机(例如，第四集成电机339)，并且还可以包括第一臂组件驱动部分(例如，第一臂组件驱动部分339a)。第一臂组件驱动部分339a可以被提供在臂组件本体331的第一端部330a处。第一臂组件驱动部分339a可以可由第四集成电机339控制来驱动第一臂组件被驱动部分347以驱动第一臂组件本体331相对于轴线(例如，图5K所示的轴线F)运动。轴线F可以由第一臂组件330形成(例如，轴线F可以由被绘制为穿过第一臂组件本体331的中心线形成)。第一臂组件驱动部分339a可以是可配置来驱动第一臂组件本体331相对于第一臂组件联接部分350运动的任何机构、设备等。例如，在不脱离本公开的教导的情况下，第一臂组件驱动部分339a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个第一臂组件驱动部分339a的臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，臂组件可以具有多于一个的第一臂组件驱动部分339a。In an example embodiment, thearm assembly body 331 may also securely house the first arm assembly drive assembly. The first arm assembly drive assembly may include a fourth integrated motor (eg, fourth integrated motor 339), and may also include a first arm assembly drive portion (eg, first armassembly drive portion 339a). The first armassembly driving part 339 a may be provided at thefirst end 330 a of thearm assembly body 331 . The first armassembly driving portion 339a may be controlled by the fourthintegrated motor 339 to drive the first arm assembly drivenportion 347 to drive the firstarm assembly body 331 to move relative to an axis (eg, axis F shown in FIG. 5K ). Axis F may be formed by first arm assembly 330 (eg, axis F may be formed by a centerline drawn through first arm assembly body 331). The first armassembly drive portion 339a may be any mechanism, device, etc. that is configurable to drive movement of the firstarm assembly body 331 relative to the first armassembly coupling portion 350 . For example, the first armassembly drive portion 339a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, without departing from the teachings of the present disclosure , helical bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate an arm assembly having one first armassembly drive portion 339a, it is to be understood in this disclosure that an arm assembly may have more than one first arm assembly without departing from the teachings of thisdisclosure Drive portion 339a.

尽管附图图示说明具有第一集成电机332、第二集成电机334、第三集成电机336、第四集成电机339、第一器械驱动部分332a、第二器械驱动部分334a、腕驱动部分336a以及第一臂组件驱动部分339a的第一臂组件330，但是要理解，在不脱离本公开的教导的情况下，第一臂组件330可以(或者可以不)包括第一集成电机332、第二集成电机334、第三集成电机336、第四集成电机339、第一器械驱动部分332a、第二器械驱动部分334a、腕驱动部分336a和/或第一臂组件驱动部分339a，和/或可以还包括其他集成电机(一个或更多个)和/或其他驱动部分。还要理解，在不脱离本公开的教导的情况下，第一集成电机332、第二集成电机334、第三集成电机336、第四集成电机339、第一器械驱动部分332a、第二器械驱动部分334a、腕驱动部分336a和/或第一臂组件驱动部分339a可以被部分地或整个地安放在第一臂组件330、第二臂组件360和/或臂组件230的任何其他位置或元件中。Although the figures illustrate having a firstintegrated motor 332, a secondintegrated motor 334, a thirdintegrated motor 336, a fourthintegrated motor 339, a firstinstrument drive portion 332a, a secondinstrument drive portion 334a, awrist drive portion 336a, and Thefirst arm assembly 330 of the first armassembly drive portion 339a, but it is to be understood that thefirst arm assembly 330 may (or may not) include a firstintegrated motor 332, a second integrated motor without departing from the teachings of thepresent disclosure Motor 334, thirdintegrated motor 336, fourthintegrated motor 339, firstinstrument drive portion 332a, secondinstrument drive portion 334a,wrist drive portion 336a, and/or first armassembly drive portion 339a, and/or may further include Other integrated motor(s) and/or other drive parts. It is also to be understood that the firstintegrated motor 332, the secondintegrated motor 334, the thirdintegrated motor 336, the fourthintegrated motor 339, the firstinstrument drive portion 332a, thesecond Portion 334a,wrist drive portion 336a, and/or first armassembly drive portion 339a may be partially or fully seated in any other location or element offirst arm assembly 330,second arm assembly 360, and/orarm assembly 230 .

(ii)第二臂组件(例如，第二臂组件360)(ii) second arm assembly (eg, second arm assembly 360)

第二臂组件360的示例实施方案在至少图5A-C、图5L-M和图5S-T中被图示说明。第二臂组件360可以在一个端部(经由肘横摆联接部分350和/或肘俯仰联接部分350’)可固定到第一臂组件330，并且在另一个端部(经由肩横摆联接部分380和/或肩俯仰联接部分370)可固定到肩节段231。当被固定到肩节段231时，第二臂组件360可以可配置来相对于肩节段231以多种方式中的一种或更多种方式运动，包括但不限于相对于肩节段231俯仰、偏摇(yaw)和/或横摇(roll)。在示例实施方案中，第二臂组件360可以可固定到第一臂组件330并且可从第一臂组件330松开(例如，拆卸)。如至少图5L-N和5S-U所示，第二臂组件360可以包括第二臂组件本体或壳体(例如，第二臂组件本体360’)、第一端部360a(或近端)以及与第一端部360a相对的第二端部360b(或远端)。肘横摆联接部分350或肘俯仰联接部分350’可以被固定到第二端部360b。肩俯仰联接部分370或肩横摆联接部分380可以被固定到第一端部360a。如至少图5S和5T所示，在示例实施方案中，肘横摆联接部分350的端部(例如，近端)可以被固定到第二臂组件360(例如，远端，诸如第二端部360b)，肘横摆联接部分350的另一个端部(例如，远端)可以被固定到肘俯仰联接部分350’(例如，近端)，肘俯仰联接部分350’的端部(例如，远端)可以被固定到第一臂组件330(例如，近端，诸如第一端部330a)，肩俯仰联接部分370的端部(例如，远端)可以被固定到第二臂组件360(例如，近端，诸如第一端部360a)，肩俯仰联接部分370的另一个端部(例如，近端)可以被固定到肩横摆联接部分380(例如，远端)，并且肩横摆联接部分380的端部(例如，近端)可以被固定到肩节段231(例如，远端)。第二臂组件本体360’可以牢固地容纳多个驱动组件中的一个或更多个。Example embodiments of thesecond arm assembly 360 are illustrated in at least FIGS. 5A-C, 5L-M, and 5S-T. Thesecond arm assembly 360 may be fixable to thefirst arm assembly 330 at one end (via the elbowyaw coupling portion 350 and/or the elbow pitch coupling portion 350') and may be secured at the other end (via the shoulder yaw coupling portion 350') 380 and/or shoulder pitch coupling portion 370 ) may be secured toshoulder segment 231 . When secured to theshoulder segment 231 , thesecond arm assembly 360 may be configurable to move relative to theshoulder segment 231 in one or more of a variety of ways, including but not limited to relative to theshoulder segment 231 Pitch, yaw and/or roll. In an example embodiment, thesecond arm assembly 360 may be fixable to thefirst arm assembly 330 and releasable (eg, detachable) from thefirst arm assembly 330 . As shown at least in Figures 5L-N and 5S-U, thesecond arm assembly 360 may include a second arm assembly body or housing (eg, second arm assembly body 360'), afirst end 360a (or proximal end) and asecond end 360b (or distal end) opposite thefirst end 360a. Thetoggle coupling portion 350 or the elbow pitch coupling portion 350' may be secured to thesecond end 360b. The shoulderpitch coupling portion 370 or the shoulderyaw coupling portion 380 may be fixed to thefirst end 360a. As shown at least in Figures 5S and 5T, in an example embodiment, the end (eg, the proximal end) of thetoggle coupling portion 350 may be secured to the second arm assembly 360 (eg, the distal end, such as the second end) 360b), another end (eg, distal end) of elbow-yaw coupling portion 350 may be secured to elbow-pitch coupling portion 350' (eg, proximal end), an end (eg, distal end) of elbow-pitch coupling portion 350' end) can be secured to the first arm assembly 330 (eg, the proximal end, such as thefirst end 330a), and the end (eg, distal end) of the shoulderpitch coupling portion 370 can be secured to the second arm assembly 360 (eg, the distal end) , the proximal end, such as thefirst end 360a), the other end (eg, the proximal end) of the shoulderpitch coupling portion 370 may be secured to the shoulder yaw coupling portion 380 (eg, the distal end), and the shoulder yaw coupling portion 380 (eg, the distal end) An end (eg, proximal end) ofportion 380 may be secured to shoulder segment 231 (eg, distal end). The second arm assembly body 360' may securely accommodate one or more of the plurality of drive assemblies.

在示例实施方案中，第二臂组件本体360’可以牢固地容纳肘俯仰驱动组件。肘俯仰驱动组件可以包括第五集成电机(例如，第五集成电机362)，并且还可以包括肘俯仰驱动部分(例如，肘俯仰驱动部分362a’)。肘俯仰驱动部分362a’可以被提供在第二臂组件360的第二端部360b(例如，远端)处。肘俯仰驱动部分362a’可以可由第五集成电机362控制来驱动肘俯仰被驱动部分352’。肘俯仰驱动部分362a’可以是可配置来驱动肘俯仰被驱动部分352’的任何机构、设备等。在示例实施方案中，肘俯仰驱动部分362a’可以可配置来驱动肘俯仰被驱动部分352’以便使第一臂组件330相对于轴线(例如，轴线C’)枢转地运动或旋转。换句话说，第五集成电机362可以可配置来相对于第二臂组件360和/或肘横摆联接部分350(以及相对于轴线C’)枢转地运动或旋转第一臂组件330。例如，在不脱离本公开的教导的情况下，肘俯仰驱动部分362a’可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个肘俯仰驱动部分362a’的第二臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，第二臂组件可以具有多于一个的肘俯仰驱动部分362a。In an example embodiment, the second arm assembly body 360' may securely accommodate the elbow pitch drive assembly. The elbow pitch drive assembly may include a fifth integrated motor (e.g., fifth integrated motor 362), and may also include an elbow pitch drive portion (e.g., elbow pitch drive portion 362a'). An elbow pitch drive portion 362a' may be provided at thesecond end 360b (eg, distal end) of thesecond arm assembly 360. The elbowpitch driving portion 362a' may be controlled by the fifthintegrated motor 362 to drive the elbow pitch driven portion 352'. Elbow pitch drive portion 362a' may be any mechanism, device, etc. that is configurable to drive elbow pitch driven portion 352'. In an example embodiment, the elbowpitch drive portion 362a' may be configurable to drive the elbow pitch driven portion 352' to pivotally move or rotate thefirst arm assembly 330 relative to an axis (e.g., axis C'). In other words, the fifthintegrated motor 362 may be configurable to pivotally move or rotate thefirst arm assembly 330 relative to thesecond arm assembly 360 and/or the yaw coupling portion 350 (and relative to the axis C'). For example, without departing from the teachings of the present disclosure, elbowpitch drive portion 362a' may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, Spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate the second arm assembly having one elbowpitch drive portion 362a', it is to be understood in this disclosure that the second arm assembly may have more than one elbow without departing from the teachings of this disclosure Thepitch drive portion 362a.

第二臂组件本体360’还可以牢固地容纳肘横摆驱动组件。肘横摆驱动组件可以包括第六集成电机(例如，第六集成电机369)，并且还可以包括肘横摆驱动部分(例如，肘俯仰驱动部分362a)。肘横摆驱动部分362a可以被提供在第二臂组件360的第二端部360b(例如，远端)处。肘横摆驱动部分362a可以可由第六集成电机369控制来驱动肘俯仰被驱动部分352。肘横摆驱动部分362a可以是可配置来驱动肘横摆被驱动部分352的任何机构、设备等。在示例实施方案中，肘横摆驱动部分362a可以可配置来驱动肘横摆被驱动部分352以便使第一臂组件330相对于轴线(例如，轴线C)枢转地运动或旋转。换句话说，第六集成电机369可以可配置来相对于第二臂组件360(以及相对于轴线C)枢转地运动或旋转肘俯仰联接部分350’(因此，第一臂组件330)。轴线C可以不同于轴线C’。在示例实施方案中，轴线c可以基本上正交于轴线C’。在不脱离本公开的教导的情况下，肘横摆驱动部分362a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个肘横摆驱动部分362a的第二臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，第二臂组件可以具有多于一个的肘横摆驱动部分362a。The second arm assembly body 360' may also securely accommodate the toggle drive assembly. The elbow yaw drive assembly may include a sixth integrated motor (eg, sixth integrated motor 369 ), and may also include an elbow yaw drive portion (eg, elbowpitch drive portion 362a ). Ayaw drive portion 362a may be provided at thesecond end 360b (eg, distal end) of thesecond arm assembly 360 . The elbowyaw drive portion 362a may be controllable by the sixthintegrated motor 369 to drive the elbow pitch drivenportion 352 .Toggle drive portion 362a may be any mechanism, device, etc. that is configurable to drive toggle drivenportion 352 . In an example embodiment, the elbowyaw drive portion 362a may be configurable to drive the elbow yaw drivenportion 352 to pivotally move or rotate thefirst arm assembly 330 relative to an axis (eg, axis C). In other words, the sixthintegrated motor 369 may be configurable to pivotally move or rotate the elbow pitch coupling portion 350' (thus, the first arm assembly 330) relative to the second arm assembly 360 (and relative to the axis C). The axis C may be different from the axis C'. In example embodiments, axis c may be substantially orthogonal to axis C'. Without departing from the teachings of the present disclosure, the toggleyaw drive portion 362a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel configuration Gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate the second arm assembly having one elbowyaw drive portion 362a, it is understood in this disclosure that the second arm assembly may have more than one elbow without departing from the teachings of this disclosureYaw drive portion 362a.

在示例实施方案中，第二臂组件本体360’可以牢固地容纳肩俯仰驱动组件。肩俯仰驱动组件可以包括第七集成电机(例如，第七集成电机364)以及肩俯仰驱动部分(例如，肩俯仰驱动部分364a)。肩俯仰驱动部分364a可以被提供在第二臂组件360的第一端部360a(例如，近端)处。肩俯仰驱动部分364a可以可由第七集成电机364控制来驱动肩俯仰被驱动部分364b。肩俯仰驱动部分364a可以是可配置来驱动肘俯仰被驱动部分364b的任何机构、设备等。在示例实施方案中，肩俯仰驱动部分364a可以可配置来驱动肩俯仰被驱动部分364b以便使第二臂组件360相对于轴线(例如，轴线D)枢转地运动或旋转。换句话说，第七集成电机364可以可配置来相对于肩横摆联接部分380(和/或肩节段231)(以及相对于轴线D)枢转地运动或旋转第二臂组件360。例如，在不脱离本公开的教导的情况下，肩俯仰驱动部分364a可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个肩俯仰驱动部分364a的第二臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，第二臂组件可以具有多于一个的肩俯仰驱动部分364a。In an example embodiment, the second arm assembly body 360' may securely accommodate the shoulder pitch drive assembly. The shoulder pitch drive assembly may include a seventh integrated motor (eg, seventh integrated motor 364) and a shoulder pitch drive portion (eg, shoulderpitch drive portion 364a). A shoulderpitch drive portion 364a may be provided at thefirst end 360a (eg, proximal end) of thesecond arm assembly 360 . The shoulderpitch driving portion 364a may be controllable by the seventhintegrated motor 364 to drive the shoulder pitch drivenportion 364b. The shoulderpitch drive portion 364a may be any mechanism, device, etc. that is configurable to drive the elbow pitch drivenportion 364b. In an example embodiment, the shoulderpitch drive portion 364a may be configurable to drive the shoulder pitch drivenportion 364b to pivotally move or rotate thesecond arm assembly 360 relative to an axis (eg, axis D). In other words, seventhintegrated motor 364 may be configurable to pivotally move or rotatesecond arm assembly 360 relative to shoulder yaw coupling portion 380 (and/or shoulder segment 231 ) (and relative to axis D). For example, without departing from the teachings of the present disclosure, shoulderpitch drive portion 364a may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, helical gears Bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the figures illustrate the second arm assembly having one shoulderpitch drive portion 364a, it is understood in this disclosure that the second arm assembly may have more than one shoulder pitch without departing from the teachings of thisdisclosure Drive portion 364a.

在示例实施方案中，第二臂组件本体360’可以牢固地容纳肩横摆驱动组件。肩横摆驱动组件可以包括第八集成电机(例如，第八集成电机366)以及肩横摆驱动部分(例如，肩横摆驱动部分366a)。肩横摆驱动部分366a可以被提供在第二臂组件360的第一端部360a(例如，近端)处。肩横摆驱动部分366a可以可由第八集成电机366控制来驱动肩横摆被驱动部分366b、366c和/或366d。肩横摆驱动部分366a可以是可配置来驱动第一肩横摆被驱动部分366b的任何机构、设备等。在示例实施方案中，肩横摆驱动部分366a可以可配置来驱动肩横摆被驱动部分366b、366c和/或366d以便使第二臂组件360相对于轴线(例如，轴线E)枢转地运动或旋转。换句话说，第八集成电机366可以可配置来相对于肩节段231(以及相对于轴线E)枢转地运动或旋转肩俯仰联接部分370(和/或第二臂组件360)。轴线E可以不同于轴线D。在示例实施方案中，轴线E可以基本上正交于轴线D。在不脱离本公开的教导的情况下，肩横摆驱动部分366a、第一肩横摆被驱动部分366b、第二肩横摆被驱动部分366c以及第三肩横摆被驱动部分366d中的一个或更多个可以包括齿轮和/或齿轮组件的任何一种或更多种配置，包括直齿轮配置、行星齿轮配置、锥齿轮配置、螺旋伞齿轮配置、准双曲面齿轮配置、斜齿轮配置、蜗轮配置和/或任何其他齿轮和/或机械配置(比如拉线和滑轮)。尽管附图图示说明具有一个肩横摆驱动部分366a、一个第一肩横摆被驱动部分366b、一个第二肩横摆被驱动部分366c以及一个第三肩横摆被驱动部分366d的第二臂组件，但是在本公开中要理解，在不脱离本公开的教导的情况下，第二臂组件可以具有多于一个的肩横摆驱动部分366a、多于一个的第一肩横摆被驱动部分366b、多于一个的第二肩横摆被驱动部分366c和/或多于一个的第三肩横摆被驱动部分366d。此外，在本公开中要理解，在不脱离本公开的教导的情况下，第二臂组件可以具有或者可以不具有第二肩横摆被驱动部分366c，和/或可以具有或者可以不具有在肩横摆驱动部分366a和第三肩横摆被驱动部分366d之间的一个或更多个附加的或其他的中间肩横摆被驱动部分。In an example embodiment, the second arm assembly body 360' may securely accommodate the shoulder yaw drive assembly. The shoulder yaw drive assembly may include an eighth integrated motor (eg, eighth integrated motor 366) and a shoulder yaw drive portion (eg, shoulderyaw drive portion 366a). A shoulderyaw drive portion 366a may be provided at thefirst end 360a (eg, proximal end) of thesecond arm assembly 360 . The shoulderyaw driving portion 366a may be controllable by the eighthintegrated motor 366 to drive the shoulder yaw drivenportions 366b, 366c and/or 366d. The shoulderyaw drive portion 366a may be any mechanism, device, etc. that is configurable to drive the first shoulder yaw drivenportion 366b. In an example embodiment, shoulderyaw drive portion 366a may be configurable to drive shoulder yaw drivenportions 366b, 366c, and/or 366d to pivotally movesecond arm assembly 360 relative to an axis (eg, axis E) or rotate. In other words, the eighthintegrated motor 366 may be configurable to pivotally move or rotate the shoulder pitch coupling portion 370 (and/or the second arm assembly 360 ) relative to the shoulder segment 231 (and relative to the axis E). Axis E may be different from axis D. In example embodiments, axis E may be substantially orthogonal to axis D. One of shoulderyaw driving portion 366a, first shoulder yaw drivenportion 366b, second shoulder yaw drivenportion 366c, and third shoulder yaw drivenportion 366d without departing from the teachings of the present disclosure or more may include any one or more configurations of gears and/or gear assemblies, including spur gears, planetary gears, bevel gears, helical bevel gears, hypoid gears, helical gears, Worm gear configuration and/or any other gear and/or mechanical configuration (such as cables and pulleys). Although the drawings illustrate a second shoulder yaw drivenportion 366a, a first shoulder yaw drivenportion 366b, a second shoulder yaw drivenportion 366c, and a third shoulder yaw drivenportion 366d arm assembly, but it is understood in this disclosure that the second arm assembly may have more than one shoulderyaw drive portion 366a, more than one first shoulder yaw driven without departing from the teachings of thisdisclosure Portion 366b, more than one second shoulder yaw drivenportion 366c, and/or more than one third shoulder yaw drivenportion 366d. Furthermore, it is to be understood in this disclosure that the second arm assembly may or may not have the second shoulder yaw drivenportion 366c, and/or may or may not have the One or more additional or other intermediate shoulder yaw driven portions between the shoulderyaw drive portion 366a and the third shoulder yaw drivenportion 366d.

尽管附图图示说明具有第五集成电机362、第六集成电机369、第七集成电机364、第八集成电机366、肘俯仰驱动部分362a’、肘横摆驱动部分362a、肩俯仰驱动部分364a以及肩横摆驱动部分366a的第二臂组件360，但是要理解，在不脱离本公开的教导的情况下，第二臂组件360可以包括或者可以不包括第五集成电机362、第六集成电机369、第七集成电机364、第八集成电机366、肘俯仰驱动部分362a’、肘横摆驱动部分362a、肩俯仰驱动部分364a和/或肩横摆驱动部分366a，和/或还可以包括其他的集成电机(一个或更多个)和/或其他的驱动部分。还要理解，在不脱离本公开的教导的情况下，第五集成电机362、第六集成电机369、第七集成电机364、第八集成电机366、肘俯仰驱动部分362a’、肘横摆驱动部分362a、肩俯仰驱动部分364a以及肩横摆驱动部分366a可以被部分地或整个地安放在第一臂组件330、第二臂组件360和/或臂组件230的任何其他的位置或元件中。Although the figures illustrate a fifthintegrated motor 362, sixthintegrated motor 369, seventhintegrated motor 364, eighthintegrated motor 366, elbowpitch drive portion 362a', elbowyaw drive portion 362a, shoulderpitch drive portion 364a and thesecond arm assembly 360 of the shoulderyaw drive portion 366a, but it is to be understood that thesecond arm assembly 360 may or may not include a fifthintegrated motor 362, a sixth integrated motor without departing from the teachings of thepresent disclosure 369, seventhintegrated motor 364, eighthintegrated motor 366, elbowpitch drive portion 362a', elbowyaw drive portion 362a, shoulderpitch drive portion 364a and/or shoulderyaw drive portion 366a, and/or may also include others The integrated motor(s) and/or other drive parts. It is also to be understood that fifthintegrated motor 362, sixthintegrated motor 369, seventhintegrated motor 364, eighthintegrated motor 366, elbowpitch drive portion 362a', elbowyaw drive Portion 362a, shoulderpitch drive portion 364a, and shoulderyaw drive portion 366a may be partially or fully seated in any other location or element offirst arm assembly 330,second arm assembly 360, and/orarm assembly 230.

每个器械臂组件可以经由肩节段231的固定部分231a固定到端口组件210的锚定器端口216(以及从端口组件210的锚定器端口216松开)。在本公开中认识到，器械臂组件230、240可以被固定到端口组件210的锚定器端口216、方向向前的位置(例如，如图2B、图2D、图3B和图3D所示)和/或方向相反的位置(例如，如图2A、图2C、图3A和图3C所示)上。此外，在示例实施方案中，器械臂组件230、240可以或者可以不在方向向前的位置和方向相反的位置之间转变。在器械臂组件230、240可在方向向前的位置和方向相反的位置之间转变的示例实施方案中，这样的转变可以在将肩节段231固定到端口组件210的锚定器端口216之前、期间和/或之后执行。例如，在这样的实施方案中，固定部分231a相对于肩节段231的位置可以被可调整地改变，诸如从图5A和图5P中所示的方向向前的位置变为图5B和图5Q中所示的方向相反的位置，反之亦然。Each instrument arm assembly can be secured to (and released from) theanchor port 216 of theport assembly 210 via the securingportion 231a of theshoulder segment 231 . It is recognized in this disclosure that theinstrument arm assemblies 230, 240 may be secured to theanchor port 216 of theport assembly 210 in a forward-oriented position (eg, as shown in Figures 2B, 2D, 3B, and 3D) and/or in opposite directions (eg, as shown in Figures 2A, 2C, 3A, and 3C). Furthermore, in example embodiments, theinstrument arm assemblies 230, 240 may or may not transition between a forward-directed position and an opposite-direction position. In example embodiments where theinstrument arm assemblies 230 , 240 can be transitioned between an anteriorly oriented position and an oppositely oriented position, such transition can be prior to securing theshoulder segment 231 to theanchor port 216 of theport assembly 210 , during and/or after. For example, in such an embodiment, the position of thefixation portion 231a relative to theshoulder segment 231 may be adjustably changed, such as from the directional forward position shown in Figures 5A and 5P to Figures 5B and 5Q position shown in the opposite direction, and vice versa.

一个或更多个内部温度控制组件(未示出)可以针对所述一个或更多个器械臂组件230、240中的每个提供。每个内部温度控制组件可以可操作来控制(诸如降低)以上提及的齿轮和/或齿轮组件、电机、器械联接部分(诸如232、370、380、234、236和/或238)和/或器械臂段(诸如231、360、330和/或340)的温度和或发热。所述一个或更多个内部温度控制组件还可以可操作来控制(诸如升高或降低)端部执行器239、342、344的温度(当端部执行器239、342、344是切割工具等时，这可能是期望的)。在示例实施方案中，所述一个或更多个内部温度控制组件可以可操作来使用一种或更多种气体、液体和/或固体执行这样的温度控制。例如，所述气体和/或液体可以使用外部源经由一个或更多个管等被进给、维持和/或调节。在示例实施方案中，用于提供、调节和/或排放气体和/或液体的所述一个或更多个管可以具有大约0.5mm至3mm之间的直径，但是这样的管的直径也可以更大或更小。在本公开中要理解，可以通过器械臂组件的内部提供所述一个或更多个管(如果被使用)以及任何固体(如果被使用)，而不增大器械臂组件的尺寸(诸如直径)。One or more internal temperature control assemblies (not shown) may be provided for each of the one or moreinstrument arm assemblies 230 , 240 . Each internal temperature control assembly may be operable to control (such as lowering) the above-mentioned gears and/or gear assemblies, motors, instrument coupling portions (such as 232, 370, 380, 234, 236 and/or 238) and/or Temperature and/or heat generation of instrument arm segments such as 231, 360, 330 and/or 340. The one or more internal temperature control assemblies may also be operable to control (such as increase or decrease) the temperature of theend effectors 239, 342, 344 (when theend effectors 239, 342, 344 are cutting tools, etc.) , this may be expected). In example embodiments, the one or more internal temperature control assemblies may be operable to perform such temperature control using one or more gases, liquids, and/or solids. For example, the gas and/or liquid may be fed, maintained and/or conditioned using an external source via one or more tubes or the like. In an example embodiment, the one or more tubes for supplying, conditioning and/or venting gas and/or liquid may have a diameter of between about 0.5mm and 3mm, although such tubes may also have a larger diameter bigger or smaller. It is understood in this disclosure that the one or more tubes (if used) and any solids (if used) can be provided through the interior of the instrument arm assembly without increasing the size (such as diameter) of the instrument arm assembly .

当内部温度控制组件利用气体等时，示例实施方案还可以可操作来经由一个或更多个管等将这样的气体提供到体腔中和/或在体腔的外部排放或回收利用这样的气体。在示例实施方案中，所述气体可以包括二氧化碳、氧气和/或其他气体。这样的气体可以进一步可操作来帮助诸如经由开口(未示出)提供和/或维持体腔的注气。当内部温度控制组件利用液体等时，示例实施方案可以可操作来在体腔的外部排放或回收利用这样的液体。当内部温度控制组件利用固态等时，这样的固体可以拥有下述性质，即，使得外科团队能够诸如通过施加电能或其他形式的能量来改变固体的温度，以便控制(诸如降低)器械臂组件230、240的一个或更多个部件的温度和/或发热。When the internal temperature control assembly utilizes gas or the like, example embodiments may also be operable to provide such gas into the body cavity via one or more tubes or the like and/or to vent or recycle such gas external to the body cavity. In example embodiments, the gas may include carbon dioxide, oxygen, and/or other gases. Such gases may be further operable to assist in providing and/or maintaining insufflation of the body cavity, such as via openings (not shown). When the internal temperature control assembly utilizes liquids or the like, example embodiments may be operable to drain or recycle such liquids outside the body cavity. When the internal temperature control assembly utilizes a solid state or the like, such solid body may possess properties that enable the surgical team to alter the temperature of the solid body, such as by applying electrical or other forms of energy, in order to control (such as lower) theinstrument arm assembly 230 , the temperature and/or heat generation of one or more components of 240 .

在示例实施方案中，在不脱离本公开的教导的情况下，内部温度控制组件可以利用气体、液体、固体等的组合。In example embodiments, the internal temperature control assembly may utilize a combination of gases, liquids, solids, and the like, without departing from the teachings of the present disclosure.

在器械臂组件230、240已经被插入和附连(或固定)到端口组件210之后，端部执行器或器械239、342、344可以被手动地和/或经由计算设备(或系统)配置为当执行外科动作和手术(诸如裁剪和/或抓握动作)时经由集成电机332、334施加大约0至20N之间的力。此外，端部执行器或器械239、342、344可以被手动地和/或经由计算设备/控制器配置为当执行其他外科动作和手术(诸如平移、扭转、拉动和/或推动动作)时经由集成电机332、334、336、339施加大约0至10N之间的力。在本公开中要理解，以上的所施加的力的范围仅仅是示例实施方案的例示说明，就这一点而论，在不脱离本公开的教导的情况下，所施加的力的范围可以小于或大于以上记载的那些范围。After theinstrument arm assemblies 230, 240 have been inserted and attached (or secured) to theport assembly 210, the end effectors orinstruments 239, 342, 344 may be configured manually and/or via a computing device (or system) to Forces between approximately 0 and 20 N are applied via theintegrated motors 332, 334 when performing surgical actions and procedures, such as clipping and/or grasping actions. In addition, the end effectors orinstruments 239, 342, 344 may be configured manually and/or via the computing device/controller to perform other surgical actions and procedures, such as translating, twisting, pulling and/or pushing actions, via Theintegrated motors 332, 334, 336, 339 apply forces between approximately 0 and 10N. It is to be understood in this disclosure that the above ranges of applied forces are merely illustrative of example embodiments, and in this regard, the ranges of applied forces may be less than or greater than those ranges noted above.

在示例实施方案中，包括肩节段231、第二臂组件360、第一臂组件330和/或端部执行器组件340的器械臂段可以为大致圆柱形形状。在不脱离本公开的教导的情况下，包括肩节段231、第二臂组件360、第一臂组件330和/或端部执行器组件340的器械臂段也可以形成为多种其他形状、大小和/或尺寸中的任何一个。In an example embodiment, the instrument arm segment includingshoulder segment 231,second arm assembly 360,first arm assembly 330, and/or endeffector assembly 340 may be generally cylindrical in shape. Instrument arm segments includingshoulder segment 231,second arm assembly 360,first arm assembly 330, and/or endeffector assembly 340 may also be formed into a variety of other shapes, without departing from the teachings of the present disclosure. any of the size and/or dimensions.

如上所述，器械臂组件230、240还可以包括一个或更多个固定部分231a。固定部分231a可以可附连到或者被附连到第一器械臂段231、第一器械臂段231的一部分，和/或与第一器械臂段231一起形成单一的物体。这样的固定部分231a可以用于将器械臂组件230、240固定到锚定器端口216。在示例实施方案中，这样的固定部分231a也可以用于执行或帮助执行将器械臂组件230、240插入到并且固定到端口组件210中的处理。As mentioned above, theinstrument arm assemblies 230, 240 may also include one ormore securing portions 231a. Thefixation portion 231a may be attachable or attachable to the firstinstrument arm segment 231 , a portion of the firstinstrument arm segment 231 , and/or form a single object with the firstinstrument arm segment 231 . Such a securingportion 231a may be used to secure theinstrument arm assemblies 230 , 240 to theanchor port 216 . In an example embodiment, such asecuring portion 231a may also be used to perform or assist in performing the procedure of inserting and securing theinstrument arm assemblies 230 , 240 into theport assembly 210 .

在器械臂组件230被插入穿过端口组件210进入患者的腔体(诸如阴道或直肠)中之后，第一器械臂段(或肩节段)231的固定部分231a可以被端口组件210的锚定器端口216牢固地容纳。After theinstrument arm assembly 230 is inserted through theport assembly 210 into a cavity of the patient, such as the vagina or rectum, the fixedportion 231a of the first instrument arm segment (or shoulder segment) 231 may be anchored by theport assembly 210 Thedevice port 216 is securely received.

在示例实施方案中，固定部分231a的长度可以在大约350至450mm之间，肩节段231的长度可以在大约15至40mm之间，第二臂组件360的长度可以在大约80至105mm之间，第一臂组件330的长度可以在大约65至90mm之间，端部执行器组件340的长度可以在大约5至30mm之间，联合的器械臂的总长度可以在大约165至265mm之间。在示例实施方案中，固定部分231a的长度可以在大约340至400mm之间，肩节段231的长度可以在大约15至25mm之间，第二臂组件360的长度可以在大约90至100mm之间，第一臂组件330的长度可以在大约75至85mm之间，端部执行器组件340的长度可以在大约15至25mm之间，联合的器械臂的总长度可以在大约195至235mm之间。在示例实施方案中，器械臂段、固定部分231a和/或端部执行器或器械239、342、344中的一个或更多个的长度也可以由一个或更多个位于附近的和/或远处的外科团队904的计算设备(或系统)在将器械臂组件插入到患者的腔体中之前、期间和/或之后调整。器械臂段中的一个或更多个的外径可以约为10至16mm。在示例实施方案中，器械臂段中的一个或更多个的外径可以约为16mm。In an example embodiment, the length of the fixedportion 231a may be between about 350 to 450 mm, the length of theshoulder segment 231 may be between about 15 to 40 mm, and the length of thesecond arm assembly 360 may be between about 80 to 105 mm , the length of thefirst arm assembly 330 may be between about 65 to 90 mm, the length of theend effector assembly 340 may be between about 5 to 30 mm, and the total length of the combined instrument arms may be between about 165 to 265 mm. In an example embodiment, the length of the fixedportion 231a may be between about 340 to 400 mm, the length of theshoulder segment 231 may be between about 15 to 25 mm, and the length of thesecond arm assembly 360 may be between about 90 to 100 mm , the length of thefirst arm assembly 330 may be between about 75 to 85 mm, the length of theend effector assembly 340 may be between about 15 to 25 mm, and the total length of the combined instrument arms may be between about 195 to 235 mm. In an example embodiment, the length of one or more of the instrument arm segment,fixation portion 231a, and/or end effector orinstruments 239, 342, 344 may also be determined by one or more of the adjacent and/or The computing device (or system) of the remotesurgical team 904 is adjusted before, during, and/or after insertion of the instrument arm assembly into the patient's cavity. One or more of the instrument arm segments may have an outer diameter of approximately 10 to 16 mm. In an example embodiment, one or more of the instrument arm segments may have an outer diameter of about 16 mm.

包括固定部分231a、肩节段231、第二臂组件360、第一臂组件330、器械组件237、端部执行器或器械239、342、344、肩横摆联接部分380(或沿着轴线E的联接部分)、肩俯仰联接部分370(或沿着轴线D的联接部分)、肘俯仰联接部分350’(或沿着轴线C的联接部分)、肘横摆联接部分350(或沿着轴线C’的联接部分)、第三联接部分236(或沿着轴线B的联接部分)和/或器械联接部238(或沿着轴线A的联接部分)中的每个可以使用多种材料中的任何一种或更多种形成，诸如外科级金属、高强度铝合金、不锈钢(诸如304/304L、316/316L和420)、纯钛、钛合金(诸如Ti6A14V、NiTi)以及钴铬合金。在本公开中要理解，在不脱离本公开的教导的情况下，也可以使用其他材料。comprising a fixedportion 231a,shoulder segment 231,second arm assembly 360,first arm assembly 330,instrument assembly 237, end effector orinstrument 239, 342, 344, shoulder yaw coupling portion 380 (or along axis E coupling portion 370 (or coupling portion along axis D), elbow pitch coupling portion 350' (or coupling portion along axis C), yaw coupling portion 350 (or coupling portion along axis C) ' coupling portion), third coupling portion 236 (or coupling portion along axis B), and/or instrument coupling portion 238 (or coupling portion along axis A) may each use any of a variety of materials One or more formations such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6A14V, NiTi), and cobalt chromium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

辅助臂组件(例如，辅助臂组件250、260)Auxiliary arm assemblies (eg,auxiliary arm assemblies 250, 260)

在示例实施方案中，外科设备200可以包括一个或更多个辅助臂组件(例如，辅助臂组件250或260)，这些辅助臂组件可配置为被插入到并且被附连到端口组件210。如图2A、图2B、图3A和图3B所示，辅助臂组件中的一个或更多个可以是抽吸/冲洗组件250，或者诸如牵开器臂组件260的辅助器械臂组件，它们每个均可以分别包括可多弯曲本体252或262，并且分别包括锚定部分(例如，类似于可多弯曲本体222和图像捕捉组件220的锚定部分220a)。In an example embodiment,surgical device 200 may include one or more auxiliary arm assemblies (eg,auxiliary arm assemblies 250 or 260 ) that may be configured to be inserted into and attached toport assembly 210 . As shown in FIGS. 2A, 2B, 3A, and 3B, one or more of the assist arm assemblies may be suction/irrigation assemblies 250, or assist instrument arm assemblies such asretractor arm assemblies 260, each of which Each may include apolybendable body 252 or 262, respectively, and an anchor portion, respectively (eg, similar to thepolybendable body 222 and theanchor portion 220a of the image capture assembly 220).

如图2A、图2B、图3A和图3B所示，抽吸/冲洗组件250可以包括具有抽吸端口259的端部，抽吸端口259用于施加可以用于从患者的腔体移除液体(例如，血液等)的抽吸或负压力。关于辅助器械臂组件260，辅助器械臂组件260可以包括具有器械269(诸如抓握器、牵开器、切割器、针等)的端部，器械269可以用于帮助所述一个或更多个器械臂组件230和/或240执行外科动作。As shown in Figures 2A, 2B, 3A, and 3B, the suction/irrigation assembly 250 can include an end having asuction port 259 for applying a fluid that can be used to remove fluid from the patient's cavity (eg, blood, etc.) suction or negative pressure. With respect to the assistiveinstrument arm assembly 260, the assistiveinstrument arm assembly 260 may include an end having an instrument 269 (such as a grasper, retractor, cutter, needle, etc.) that may be used to assist the one or moreInstrument arm assemblies 230 and/or 240 perform surgical actions.

如图2A、图2B、图3A和图3B的示例实施方案中所示，辅助臂组件250和/或260可以分别包括附连到它们的端部(分别地，抽吸端口或器械)的可多弯曲本体252和/或262。可多弯曲本体252或262可以是与在以上和在本公开中描述的图像捕捉组件220的可多弯曲本体类似的任何细长的可多弯曲本体，其可以被外科团队904(诸如经由计算设备/控制器/操纵器/主输入设备)控制/配置为除了其他方面之外，在沿着可多弯曲本体252或262的多个位置中的一个或更多个位置处拉直和/或弯曲(并且保持这样的拉直和/或弯曲)、在多个弯曲部分中的一个或更多个弯曲部分中弯曲(并且保持这样的弯曲部分)、和/或在多个方向中的一个或更多个方向上拉直和/或弯曲(并且保持这样的拉直和/或弯曲)。要理解，当可多弯曲本体252或262被配置为在沿着可多弯曲本体252或262的任何位置处弯曲时，曲线可以被外科团队904(诸如经由计算设备/控制器/操纵器/主输入设备)保持和/或放开(或者被配置为不弯曲、较少弯曲或拉直)。As shown in the example embodiments of FIGS. 2A, 2B, 3A, and 3B,auxiliary arm assemblies 250 and/or 260, respectively, may include adjustable end portions (suction ports or instruments, respectively) attached to their ends.Multi-curved bodies 252 and/or 262. Theflexible body 252 or 262 can be any elongated flexible body similar to the flexible body of theimage capture assembly 220 described above and in this disclosure, which can be used by the surgical team 904 (such as via a computing device). /controller/manipulator/main input device) controls/configures, among other things, to straighten and/or bend at one or more of a plurality of locations along thepolybendable body 252 or 262 (and maintaining such straightening and/or bending), bending in one or more of a plurality of bending portions (and maintaining such bending portions), and/or in one or more of a plurality of directions Straightening and/or bending in multiple directions (and maintaining such straightening and/or bending). It is to be understood that when themultibendable body 252 or 262 is configured to bend at any location along themultibendable body 252 or 262, the curve can be input device) is held and/or released (or configured to be unbent, less bent, or straightened).

可多弯曲本体252或262可以以本领域中已知的任何一种或更多种方式形成。例如，可多弯曲本体252或262可以是具有多个线、线缆等的单一的或基本上单一的细长本体，所述多个线、线缆等在整个可多弯曲本体252或262中以这样的方式分布/延展，即，这样的线、线缆等中的一个或它们的组合的拉动/释放、缩短/延长、拉紧/松开等使得能够在一个或更多个弯曲部分中以及在一个或更多个方向上实现可多弯曲本体252或262的一个或更多个位置的以上提及的弯曲。作为另一示例，可多弯曲本体252或262可以包括多个段，每个段以该段可以被控制/配置为被枢转地定位在相对于相邻段的多个位置上的这样的方式链接到相邻的段。作为另一示例，可多弯曲本体252或262可以包括用于在一个或更多个弯曲部分中以及在一个或更多个方向上实现可多弯曲本体252或262的一个或更多个位置的以上提及的弯曲的多个弹簧、齿轮、电机等。在本公开中要理解，可多弯曲本体252或262还可以包括以上提及的方法中的一个或更多个的组合。Thepolybendable body 252 or 262 may be formed in any one or more manners known in the art. For example, thepolybendable body 252 or 262 may be a single or substantially unitary elongated body having a plurality of wires, cables, etc. throughout thepolybendable body 252 or 262 Distributed/stretched in such a way that pulling/releasing, shortening/extending, tightening/releasing, etc. of one or a combination of such wires, cables, etc. enables in one or more curved sections And to achieve the above-mentioned bending of one or more locations of themulti-bendable body 252 or 262 in one or more directions. As another example, thepolybendable body 252 or 262 may include multiple segments, each segment in such a manner that the segment may be controlled/configured to be pivotally positioned in multiple positions relative to adjacent segments Links to adjacent segments. As another example, themulti-bendable body 252 or 262 may include amulti-bendable body 252 or 262 for enabling one or more locations of themulti-bendable body 252 or 262 in one or more curved portions and in one or more directions. The above-mentioned curved multiple springs, gears, motors, etc. It is understood in this disclosure that thepolybendable body 252 or 262 may also include a combination of one or more of the above-mentioned methods.

辅助臂组件250或260可以被以多种方式中的一种或更多种固定到端口组件210，包括在以上以及在本公开中针对器械臂组件230、240和/或图像捕捉组件220描述的那些。例如，辅助臂组件250或260还可以分别包括锚定部分(例如，类似于图像捕捉组件220的锚定部分220和/或器械臂组件220的固定部分231a)，该锚定部分可操作来将辅助臂组件250或260附连(或固定)到端口组件210的一个或更多个锚定器端口216。Accessory arm assembly 250 or 260 may be secured toport assembly 210 in one or more of a variety of ways, including those described above and in this disclosure forinstrument arm assemblies 230 , 240 and/orimage capture assembly 220 Those ones. For example,auxiliary arm assembly 250 or 260 may also include an anchoring portion (eg, similar to anchoringportion 220 ofimage capture assembly 220 and/or fixedportion 231a of instrument arm assembly 220), respectively, that is operable to attachAuxiliary arm assemblies 250 or 260 are attached (or secured) to one ormore anchor ports 216 ofport assembly 210 .

在示例实施方案中，可多弯曲本体252或262每个均可以是大致圆柱形形状。在不脱离本公开的教导的情况下，可多弯曲本体252或262也可以形成为多种其他形状、大小和/或尺寸中的任何一个。In an example embodiment, themultibendable bodies 252 or 262 may each be substantially cylindrical in shape. Thepolybendable body 252 or 262 may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure.

在示例实施方案中，可多弯曲本体252或262的长度可以在大约170至270mm之间。在示例实施方案中，可多弯曲本体252或262的长度也可以由外科团队904在将摄像头臂组件插入到患者的腔体中之前、期间和/或之后调整。可多弯曲本体252或262的外径可以在大约5至7mm之间。在本公开中要理解，以上尺寸仅仅是示例实施方案的例示说明，就这一点而论，在不脱离本公开的教导的情况下，这些尺寸可以小于或大于以上记载的那些尺寸。In an example embodiment, the length of thepolybendable body 252 or 262 may be between about 170 to 270 mm. In example embodiments, the length of themulti-flexible body 252 or 262 may also be adjusted by thesurgical team 904 before, during, and/or after insertion of the camera arm assembly into the patient's cavity. The outer diameter of thepolybendable body 252 or 262 may be between about 5 to 7 mm. It is to be understood in this disclosure that the above dimensions are merely illustrative of example embodiments, and in this regard, these dimensions may be smaller or larger than those recited above without departing from the teachings of the present disclosure.

控制器controller

在示例实施方案中，外科系统可以包括控制器(或计算设备、操纵器和/或主输入设备)。控制器可以可配置为在外科系统200中以及在外科系统200上执行多个操作中的一个或更多个。例如，控制器可以可配置为与外科系统200的一个或更多个元件(诸如外部锚定器1或1000、端口组件210、器械臂组件230或240、图像捕捉组件220、和/或辅助臂组件250或260)进行通信和/或控制这些元件。控制器可以被外科团队904访问和/或控制，外科团队可以能够与外科系统200的一个或更多个元件进行通信和/或控制这些元件的配置和/或操作。例如，控制器可以可配置为控制器械臂组件230或240、第一闸组件212b、第二闸组件214b中的一些或全部部分的运动和动作、图像捕捉组件220的一些或全部部分的运动和动作(包括图像捕捉、温度控制等)、图像捕捉组件220的可多弯曲本体222的一些或全部部分的运动和动作、辅助臂组件的可多弯曲本体252或262的一些或全部部分的运动和动作、辅助臂组件250或260的一些或全部部分的运动和动作、等等。In an example embodiment, a surgical system may include a controller (or computing device, manipulator, and/or primary input device). The controller may be configurable to perform one or more of a number of operations in and on thesurgical system 200 . For example, the controller may be configurable to interact with one or more elements of thesurgical system 200, such as theexternal anchor 1 or 1000, theport assembly 210, theinstrument arm assembly 230 or 240, theimage capture assembly 220, and/or theauxiliary arm components 250 or 260) to communicate and/or control these elements. The controller may be accessed and/or controlled by thesurgical team 904, which may be able to communicate with and/or control the configuration and/or operation of one or more elements of thesurgical system 200. For example, the controller may be configurable to control the movement and motion of some or all portions of theinstrument arm assembly 230 or 240 , thefirst gate assembly 212b , thesecond gate assembly 214b , the motion and motion of some or all portions of theimage capture assembly 220 motion (including image capture, temperature control, etc.), motion and motion of some or all portions of themulti-flexible body 222 of theimage capture assembly 220, motion and motion of some or all portions of themulti-flexible body 252 or 262 of the auxiliary arm assembly Actions, movements and actions of some or all portions ofarm assembly 250 or 260, and the like.

将外科设备200设置在方向向前的位置上的方法(例如，方法700)Method of disposingsurgical device 200 in a forward-directed position (eg, method 700 )

如图7和图8A-8E所示，外科设备200的示例实施方案可以可配置为以多种方式之一执行方向向前的外科动作或手术。在示例实施方案中，外部锚定器1可以被提供并且被安装/锚定到静止对象。端口组件210可以被提供(例如，动作702)，并且器械臂组件可以被提供(例如，动作704)。第二器械臂组件可以被提供，以及所需的图像捕捉组件220和/或320和辅助臂组件250和/或260中的任何一个。端口组件210可以被插入(例如，动作706)到患者的开口(以及腔体)中，并且使用外部锚定器1而被锚定到位(例如，动作708)，并且腔体中的可工作体积/空间可以诸如经由使用CO₂和/或其他气体、真空抽吸工具和/或可回缩钩工具进行注气而形成。在示例实施方案中，也可以使用可控回转组件1000。例如，可以为患者提供高度约为10-12的可工作腹腔。其后，可以经由中央进入通道210a将一个或更多个图像捕捉组件220、一个或更多个辅助臂组件(例如，动作710)和/或一个或更多个辅助臂组件250或260(如果需要的话)插入到端口组件210中，固定到锚定器端口216，并且配置在患者的腔体中。然后可以使用外科设备200在患者的腔体的任何部分、区域和/或象限中执行外科动作或手术。现在将在下面参照至少图7、图8A-8E、图9B和图10B来描述这些处理。As shown in FIGS. 7 and 8A-8E, example embodiments ofsurgical device 200 may be configurable to perform forward-directed surgical actions or procedures in one of a variety of ways. In an example embodiment, an external anchor 1 may be provided and mounted/anchored to a stationary object.Port assembly 210 can be provided (eg, act 702), and an instrument arm assembly can be provided (eg, act 704). A second instrument arm assembly may be provided, along with any of the requiredimage capture assemblies 220 and/or 320 andauxiliary arm assemblies 250 and/or 260.Port assembly 210 can be inserted (eg, act 706 ) into the patient's opening (and cavity) and anchored in place using external anchor 1 (eg, act 708 ), and the workable volume in the lumen The space may be formed such as via insufflation using_CO2 and/or other gases, vacuum suction tools and/or retractable hook tools. In example embodiments, acontrollable swivel assembly 1000 may also be used. For example, a patient can be provided with a workable abdominal cavity of about 10-12 in height. Thereafter, one or moreimage capture assemblies 220, one or more auxiliary arm assemblies (eg, act 710), and/or one or moreauxiliary arm assemblies 250 or 260 (if If necessary) inserted intoport assembly 210, secured to anchorport 216, and deployed in the patient's cavity. Thesurgical device 200 may then be used to perform a surgical action or procedure in any portion, region, and/or quadrant of the patient's cavity. These processes will now be described below with reference to at least FIGS. 7, 8A-8E, 9B, and 10B.

(1)提供外部锚定器并且安装端口组件(1) Provide external anchors and install port assemblies

在示例实施方案中，如图1A和图1B所示，外部锚定器1可以被提供并且被安装/锚定到一个或更多个静止对象，诸如外科手术台/床的侧轨300。外部锚定器1的一个或更多个段2、6、10和14可以使用外部锚定器1的一个或更多个联接部4、8、12和16合作以将端口组件210的位置(包括方位)固定在患者的开口中或周围。In an example embodiment, as shown in FIGS. 1A and 1B , an external anchor 1 may be provided and mounted/anchored to one or more stationary objects, such as side rails 300 of a surgical table/bed. One ormore segments 2, 6, 10, and 14 of the outer anchor 1 may cooperate using one ormore couplings 4, 8, 12, and 16 of the outer anchor 1 to change the position of the port assembly 210 ( including orientation) is secured in or around the patient's opening.

在示例实施方案中，如图10A和图10B所示，外部锚定器1可以包括可操作来提供一个或更多个附加的体外自由度的可控回转组件1000，诸如经由第一回转部分1002、第二回转部分1004和/或第三回转部分1006。可控回转组件1000可以进一步包括用于第一回转部分1002的电机1002a、用于第二回转部分1004的电机1004a、用于第三回转部分1006的电机1006a、一个或更多个支撑臂1008以及一个或更多个锁1010。In an example embodiment, as shown in FIGS. 10A and 10B , the external anchor 1 may include acontrollable swivel assembly 1000 operable to provide one or more additional extracorporeal degrees of freedom, such as via a first swivel portion 1002 , the second swivel portion 1004 and/or the third swivel portion 1006 . Thecontrollable swing assembly 1000 may further include a motor 1002a for the first swing portion 1002, a motor 1004a for the second swing portion 1004, a motor 1006a for the third swing portion 1006, one ormore support arms 1008, and One ormore locks 1010.

第一回转部分1002可以可操作来提供作为体外自由度之一的、如箭头A所示的、端口组件210沿着由端口组件210的细长长度限定的轴的平移运动。在示例实施方案中，由第一回转部分1002提供的如箭头A所示的平移运动可以在大约0至50mm之间。The first swivel portion 1002 may be operable to provide translational movement of theport assembly 210 along an axis defined by the elongated length of theport assembly 210, as indicated by arrow A, as one of the extracorporeal degrees of freedom. In an example embodiment, the translational motion, as indicated by arrow A, provided by the first swivel portion 1002 may be between about 0 and 50 mm.

可控回转组件1000可以进一步包括第二回转部分1004，其可操作来提供作为体外自由度中的另一个的、端口组件210围绕轴Y所描绘的轴的扭转或旋转运动。在示例实施方案中，由第二回转部分1004提供的如箭头B所示的扭转或旋转运动可以在大约+/-180度之间。Thecontrollable swivel assembly 1000 may further include a second swivel portion 1004 operable to provide torsional or rotational motion of theport assembly 210 about an axis depicted by the axis Y as another of the extracorporeal degrees of freedom. In an example embodiment, the torsional or rotational motion provided by the second swivel portion 1004, as indicated by arrow B, may be between about +/- 180 degrees.

可控回转组件1000还可以包括第三回转部分1006，其可操作来提供作为体外自由度中的另一个的、端口组件210围绕垂直于Y轴的轴(诸如轴Z所描绘的轴(其离开页面))的枢转或旋转运动。在示例实施方案中，Z轴或旋转中心可以位于患者的开口周围，诸如在腹壁的中间点处。在示例实施方案中，由第三回转部分1006提供的如箭头C所示的枢转或旋转运动可以在大约+/-80度之间。Thecontrollable swivel assembly 1000 may also include a third swivel portion 1006 operable to provide, as another of the extracorporeal degrees of freedom, theport assembly 210 about an axis perpendicular to the Y-axis, such as the axis depicted by the axis Z (which leaves the page)) pivoting or rotational movement. In an example embodiment, the Z-axis or center of rotation may be located around the patient's opening, such as at the midpoint of the abdominal wall. In an example embodiment, the pivoting or rotational motion provided by the third swivel portion 1006, as indicated by arrow C, may be between about +/- 80 degrees.

在本公开中认识到，在示例实施方案中，可控回转组件1000可以包括第一回转部分1002、第二回转部分1004和/或第三回转部分1006。当期望和/或需要除了可由第一回转部分1002、第二回转部分1004和第三回转部分1006提供的那些自由度之外的多于三个的体外自由度和/或运动/旋转时，可控回转组件1000可以进一步包括其他回转部分(未示出)。It is recognized in this disclosure that, in example embodiments, thecontrollable swivel assembly 1000 may include a first swivel portion 1002 , a second swivel portion 1004 , and/or a third swivel portion 1006 . When more than three extracorporeal degrees of freedom and/or motion/rotation are desired and/or required in addition to those provided by the first swivel portion 1002, the second swivel portion 1004, and the third swivel portion 1006, theControl swivel assembly 1000 may further include other swivel portions (not shown).

包括第一回转部分1002、第二回转部分1004和/或第三回转部分1006的可控回转组件1000可以可由外科团队在本地或者远程控制。Thecontrollable swivel assembly 1000 including the first swivel portion 1002, the second swivel portion 1004, and/or the third swivel portion 1006 can be controlled locally or remotely by the surgical team.

在示例实施方案中，端口组件210可以被安装并且被固定到外部锚定器1或1000。如图8A-8E所示，端口组件210的第二端部214可以被插入到患者的开口中进入到患者的腔体中，并且端口组件210的第一端部212可以被固定到外部锚定器1或1000。其后，可以在患者的腔体中形成腔体中的可工作体积/空间，诸如经由使用CO₂和/或其他气体、真空抽吸工具和/或可回缩钩工具进行注气。通过这样做，第一闸组件212b和第二闸组件214b可以展开到关闭位置。腔体的注气可以以多种方式中的一种或更多种实现。例如，端口组件210的注气端口可以被用来提供所需的注气。In an example embodiment,port assembly 210 may be installed and secured toexternal anchor 1 or 1000 . As shown in Figures 8A-8E, thesecond end 214 of theport assembly 210 can be inserted into the patient's opening into the patient's cavity, and thefirst end 212 of theport assembly 210 can be secured to anexternal anchor 1 or 1000. Thereafter, a workable volume/space in the cavity can be formed in the cavity of the patient, such as via insufflation using_CO2 and/or other gases, vacuum suction tools and/or retractable hook tools. By doing so, thefirst gate assembly 212b and thesecond gate assembly 214b can be deployed to the closed position. Insufflation of the cavity can be accomplished in one or more of a variety of ways. For example, the insufflation port ofport assembly 210 may be used to provide the desired insufflation.

(2)插入并且附连图像捕捉组件(2) Insert and attach the image capture component

在腔体中的可工作体积/空间已经被形成并且端口组件210被固定到位之后，如图8A所示，图像捕捉组件220可以被插入通过中央进入通道210a，并且被固定到端口组件210的锚定器端口216。为了在保持可工作体积/空间的同时这样做，第一闸组件212b可以在第二闸组件214b被配置到关闭位置的同时被配置到打开位置。一旦第一闸组件212b在打开位置上，图像捕捉组件220就可以被插入到中间节段213中。第一闸组件212b然后可以在图像捕捉组件220通过第一闸组件212b之后被配置到关闭位置。第二闸组件214b然后可以被配置到打开位置。在本公开中认识到，腔体中的可工作体积/空间自从第一闸组件212b被配置到关闭位置以后经由注气得以维持。一旦第二闸组件214b在打开位置上，图像捕捉组件220就可以被插入到患者的腔体中，并且锚定器部分220a被固定到锚定器端口216。第二闸组件214b然后可以在图像捕捉组件220通过第二闸组件214b之后被配置到关闭位置。图像捕捉组件220的可多弯曲本体222然后可被配置/控制为在沿着可多弯曲本体222的一个或更多个位置上弯曲，以使得图像捕捉组件220可以朝向方向向前的位置(如图2B和图3B所示)。After the workable volume/space in the cavity has been created and theport assembly 210 is secured in place, as shown in FIG. 8A , theimage capture assembly 220 can be inserted through thecentral access channel 210a and secured to the anchors of theport assembly 210Fixed port 216. To do so while maintaining the workable volume/space, thefirst gate assembly 212b can be configured to the open position at the same time as thesecond gate assembly 214b is configured to the closed position. Once thefirst gate assembly 212b is in the open position, theimage capture assembly 220 can be inserted into theintermediate section 213. Thefirst gate assembly 212b may then be configured to the closed position after theimage capture assembly 220 passes thefirst gate assembly 212b. Thesecond gate assembly 214b can then be configured to the open position. It is recognized in this disclosure that the workable volume/space in the cavity is maintained via gas injection since thefirst gate assembly 212b was configured to the closed position. Once thesecond gate assembly 214b is in the open position, theimage capture assembly 220 can be inserted into the patient's cavity and theanchor portion 220a secured to theanchor port 216. Thesecond gate assembly 214b may then be configured to the closed position after theimage capture assembly 220 has passed thesecond gate assembly 214b. Theflexible body 222 of theimage capture assembly 220 can then be configured/controlled to flex at one or more locations along theflexible body 222 such that theimage capture assembly 220 can be oriented toward a forward-direction position (eg. 2B and 3B).

单独的图像捕捉组件320也可以被以与上述类似的方式插入通过端口组件210。一旦被插入通过端口组件210进入到患者的腔体中，单独的图像捕捉组件320然后可以经由磁性锚定器310被附连/固定到患者的腔体的内壁。A separateimage capture assembly 320 may also be inserted throughport assembly 210 in a similar manner as described above. Once inserted through theport assembly 210 into the patient's cavity, the separateimage capture assembly 320 may then be attached/fixed to the inner wall of the patient's cavity via themagnetic anchor 310 .

(3)插入并且附连第一器械臂组件(3) Insert and attach the first instrument arm assembly

器械臂组件230可以被插入通过中央进入通道210a，并且被固定到端口组件210的锚定器端口216。为了在维持可工作体积/空间的同时这样做，第一闸组件212b可以再次在第二闸组件214b被配置到关闭位置的同时被配置到打开位置。如图8B所示，一旦第一闸组件212b在打开位置上，器械臂组件230就可以被插入到中间节段213中。如图8C所示，第一闸组件212b然后可以在器械臂组件230通过第一闸组件212b进入到中间节段213中之后被配置到关闭位置。如图8D所示，第二闸组件214b然后可以被配置到打开位置。如图8E所示，一旦第二闸组件214b在打开位置上，器械臂组件230就可以被插入到患者的腔体中，并且固定部分231a被固定到锚定器端口216。第二闸组件214b然后可以在器械臂组件230通过第二闸组件214b之后被配置到关闭位置。Theinstrument arm assembly 230 can be inserted through thecentral access channel 210a and secured to theanchor port 216 of theport assembly 210. To do so while maintaining the workable volume/space, thefirst gate assembly 212b can again be configured to the open position at the same time thesecond gate assembly 214b is configured to the closed position. Once thefirst gate assembly 212b is in the open position, theinstrument arm assembly 230 may be inserted into theintermediate section 213 as shown in FIG. 8B. As shown in FIG. 8C , thefirst gate assembly 212b may then be deployed to the closed position after theinstrument arm assembly 230 has entered theintermediate section 213 through thefirst gate assembly 212b. As shown in Figure 8D, thesecond gate assembly 214b may then be configured to the open position. Once thesecond gate assembly 214b is in the open position, theinstrument arm assembly 230 can be inserted into the patient's cavity and the securingportion 231a secured to theanchor port 216, as shown in FIG. 8E. Thesecond gate assembly 214b may then be configured to the closed position after theinstrument arm assembly 230 has passed thesecond gate assembly 214b.

(5)插入并且附连一个或更多个附加的器械臂组件、一个或更多个辅助臂组件和/或一个或更多个附加的摄像头臂组件(5) Inserting and attaching one or more additional instrument arm assemblies, one or more auxiliary arm assemblies, and/or one or more additional camera arm assemblies

一个或更多个附加的器械臂组件240、一个或更多个辅助臂组件250或260和/或一个或更多个附加的图像捕捉组件(未示出)也可以被以与以上针对图像捕捉组件220和器械臂组件230描述的方式相同的方式经由中央进入通道210a插入到端口组件210中。One or more additionalinstrument arm assemblies 240, one or moreauxiliary arm assemblies 250 or 260, and/or one or more additional image capture assemblies (not shown) may also be used in conjunction with the above for image capture.Assembly 220 andinstrument arm assembly 230 are inserted intoport assembly 210 viacentral access channel 210a in the same manner as described.

(6)拆卸并且移除器械臂组件、图像捕捉组件以及辅助臂组件(6) Disassemble and remove the instrument arm assembly, the image capturing assembly and the auxiliary arm assembly

器械臂组件230、图像捕捉组件220、其他器械臂组件240(如果提供的话)、其他图像捕捉组件(如果提供的话)以及一个或更多个其他的辅助臂组件250或260(如果提供的话)可以被以与以上针对插入和附连描述的方式基本上相反的方式经由端口组件210的中央进入通道210a从锚定器端口216拆卸(或松开)并且从患者的腔体移除。Theinstrument arm assembly 230, theimage capture assembly 220, the other instrument arm assemblies 240 (if provided), the other image capture assemblies (if provided), and one or more of the otherauxiliary arm assemblies 250 or 260 (if provided) may be is detached (or loosened) from theanchor port 216 and removed from the patient's lumen via thecentral access channel 210a of theport assembly 210 in substantially the opposite manner as described above for insertion and attachment.

将外科设备200设置在方向相反的位置上的方法(例如，方法700)Method of disposingsurgical device 200 in an opposing position (eg, method 700 )

如图7和图8F-8K所示，外科设备200的示例实施方案可以可配置为以多种方式之一执行方向相反的外科动作或手术。在示例实施方案中，外部锚定器1可以被提供并且被以与在以上和在本公开中描述的方式类似的方式安装/锚定到静止对象。端口组件210可以被提供(例如，动作702)，并且器械臂组件可以被提供(例如，动作704)。第二器械臂组件可以被提供，以及所需的图像捕捉组件220和/或320和辅助臂组件250和/或260中的任何一个。端口组件210可以被插入(例如，动作706)到患者的开口(以及腔体)中，并且使用外部锚定器1而被锚定到位(例如，动作708)，并且腔体中的可工作体积/空间可以诸如经由使用CO₂和/或其他气体、真空抽吸工具和/或可回缩钩工具进行注气而形成。在示例实施方案中，也可以使用可控回转组件1000。例如，可以为患者提供高度约为10-12的可工作腹腔。其后，可以经由中央进入通道210a将一个或更多个图像捕捉组件220、一个或更多个辅助臂组件(例如，动作710)以及一个或更多个辅助臂组件250或260(如果需要的话)插入到端口组件210中，固定到锚定器端口216，并且配置在患者的腔体中。为了插入，图像捕捉组件220、器械臂组件230和/或240以及辅助臂组件250和/或260中的每个均被插入到与在以上和在本公开中描述的方向向前的位置相比相反的方位上。然后可以使用外科设备200在患者的腔体的任何部分、区域和/或象限中执行外科动作或手术。现在将在下面参照至少图7、图8F-8K、图9B和图10B来描述这些处理。As shown in FIGS. 7 and 8F-8K, example embodiments ofsurgical device 200 may be configurable to perform opposite surgical actions or procedures in one of a variety of ways. In an example embodiment, an external anchor 1 may be provided and mounted/anchored to a stationary object in a manner similar to that described above and in this disclosure.Port assembly 210 can be provided (eg, act 702), and an instrument arm assembly can be provided (eg, act 704). A second instrument arm assembly may be provided, along with any of the requiredimage capture assemblies 220 and/or 320 andauxiliary arm assemblies 250 and/or 260.Port assembly 210 can be inserted (eg, act 706 ) into the patient's opening (and cavity) and anchored in place using external anchor 1 (eg, act 708 ), and the workable volume in the lumen The space may be formed such as via insufflation using_CO2 and/or other gases, vacuum suction tools and/or retractable hook tools. In example embodiments, acontrollable swivel assembly 1000 may also be used. For example, a patient can be provided with a workable abdominal cavity of about 10-12 in height. Thereafter, one or moreimage capture assemblies 220, one or more auxiliary arm assemblies (eg, act 710), and one or moreauxiliary arm assemblies 250 or 260 (if desired) may be accessed via central access channel 210a. ) is inserted intoport assembly 210, secured to anchorport 216, and deployed in the patient's cavity. For insertion, each ofimage capture assembly 220,instrument arm assemblies 230 and/or 240, andauxiliary arm assemblies 250 and/or 260 are inserted to a forward position compared to the directions described above and in this disclosure in the opposite direction. Thesurgical device 200 may then be used to perform a surgical action or procedure in any portion, region, and/or quadrant of the patient's cavity. These processes will now be described below with reference to at least FIGS. 7, 8F-8K, 9B, and 10B.

在示例实施方案中，端口组件210可以被安装并且被固定到外部锚定器1或1000。如图8A-8E所示，端口组件210的第二端部214被插入到患者的开口中进入到患者的腔体中，并且端口组件210的第一端部212被固定到外部锚定器1或1000。其后，可以在患者的腔体中形成腔体中的可工作体积/空间，诸如经由使用CO₂和/或其他气体、真空抽吸工具和/或可回缩钩工具进行注气。通过这样做，第一闸组件212b和第二闸组件214b可以展开到关闭位置。腔体的注气可以以多种方式中的一种或更多种实现。例如，端口组件210的注气端口可以被用来提供所需的注气。In an example embodiment,port assembly 210 may be installed and secured toexternal anchor 1 or 1000 . 8A-8E, thesecond end 214 of theport assembly 210 is inserted into the patient's opening into the patient's cavity, and thefirst end 212 of theport assembly 210 is secured to theexternal anchor 1 or 1000. Thereafter, a workable volume/space in the cavity can be formed in the cavity of the patient, such as via insufflation using_CO2 and/or other gases, vacuum suction tools and/or retractable hook tools. By doing so, thefirst gate assembly 212b and thesecond gate assembly 214b can be deployed to the closed position. Insufflation of the cavity can be accomplished in one or more of a variety of ways. For example, the insufflation port ofport assembly 210 may be used to provide the desired insufflation.

在腔体中的可工作体积/空间已经被形成并且端口组件210被固定到位之后，如图8F所示，图像捕捉组件220可以被插入，其中图像捕捉本体224最后被插入通过中央进入通道210a并且被固定到端口组件210的锚定器端口216。为了在维持可工作体积/空间的同时这样做，第一闸组件212b可以在第二闸组件214b被配置到关闭位置的同时被配置到打开位置。一旦第一闸组件212b在打开位置上，图像捕捉组件220就可以被插入到中间节段213中。第一闸组件212b然后可以在图像捕捉组件220通过第一闸组件212b之后被配置到关闭位置。第二闸组件214b然后可以被配置到打开位置。在本公开中认识到，腔体中的可工作体积/空间自从第一闸组件212b被配置到关闭位置以后经由注气得以维持。一旦第二闸组件214b在打开位置上，图像捕捉组件220就可以被完全插入到患者的腔体中，此时图像捕捉本体224最靠近锚定器端口216。图像捕捉组件220的可多弯曲本体222然后可以被配置/控制为在沿着可多弯曲本体222的一个或更多个位置上弯曲，以使得图像捕捉组件220可以朝向挨着端口组件210的外表面的方向相反的位置(如图2A和图3A所示)。图像捕捉组件220然后可以邻近端口组件210的外表面提供，以使得图像捕捉组件220的锚定部分220a邻近锚定端口216。图像捕捉组件220的锚定部分220a然后可以被固定到锚定器端口216。第二闸组件214b可以在图像捕捉组件220通过第二闸组件214b之后被配置到关闭位置。After the workable volume/space in the cavity has been created and theport assembly 210 is secured in place, as shown in Figure 8F, theimage capture assembly 220 can be inserted with theimage capture body 224 finally inserted through thecentral access channel 210a andAnchor port 216 secured toport assembly 210 . To do so while maintaining the workable volume/space, thefirst gate assembly 212b can be configured to the open position at the same time thesecond gate assembly 214b is configured to the closed position. Once thefirst gate assembly 212b is in the open position, theimage capture assembly 220 can be inserted into theintermediate section 213. Thefirst gate assembly 212b may then be configured to the closed position after theimage capture assembly 220 passes thefirst gate assembly 212b. Thesecond gate assembly 214b can then be configured to the open position. It is recognized in this disclosure that the workable volume/space in the cavity is maintained via gas injection since thefirst gate assembly 212b was configured to the closed position. Once thesecond gate assembly 214b is in the open position, theimage capture assembly 220 can be fully inserted into the patient's cavity with theimage capture body 224 closest to theanchor port 216 . Theflexible body 222 of theimage capture assembly 220 can then be configured/controlled to flex at one or more locations along theflexible body 222 such that theimage capture assembly 220 can be oriented outward next to theport assembly 210. The opposite orientation of the surface (as shown in Figures 2A and 3A).Image capture assembly 220 may then be provided adjacent the outer surface ofport assembly 210 such that anchoringportion 220a ofimage capture assembly 220 isadjacent anchor port 216 . Anchoringportion 220a ofimage capture assembly 220 may then be secured to anchorport 216 . Thesecond gate assembly 214b may be configured to the closed position after theimage capture assembly 220 passes thesecond gate assembly 214b.

为了在维持可工作体积/空间的同时将器械臂组件230插入通过中央进入通道210a并且将它固定到端口组件210的锚定器端口216，第一闸组件212b可以再次在第二闸组件214b被配置到关闭位置的同时被配置到打开位置。如图8G所示，一旦第一闸组件212b在打开位置上，器械臂组件230就可以被插入，其中端部执行器239、342、344最后被插入到中间节段213中。如图8H所示，第一闸组件212b然后可以在器械臂组件230通过第一闸组件212b进入到中间节段213中之后被配置到关闭位置。如图8I所示，第二闸组件214b然后可以被配置到打开位置。如图8J所示，一旦第二闸组件214b在打开位置上，器械臂组件230就可以被完全插入到患者的腔体中，此时端部执行器239、342、344最靠近锚定器端口216。器械臂组件230然后可以被转动180度(如果需要的话)和/或被移动，以使得器械臂组件230可以挨着端口组件210的外表面。器械臂组件230然后可以被拉到邻近端口组件210的外表面，以使得器械臂组件230的肩节段231的固定部分231a邻近锚定器端口216。如图8K所示，器械臂组件230的固定部分231a然后可以被固定到锚定器端口216。第二闸组件214b可以在器械臂组件230的至少端部执行器230通过第二闸组件214b之后的任何时间被配置到关闭位置。In order to insert theinstrument arm assembly 230 through thecentral access channel 210a and secure it to theanchor port 216 of theport assembly 210 while maintaining the workable volume/space, thefirst gate assembly 212b can again be replaced by thesecond gate assembly 214b Configured to the closed position while being configured to the open position. As shown in FIG. 8G , once thefirst gate assembly 212b is in the open position, theinstrument arm assembly 230 can be inserted with theend effectors 239 , 342 , 344 finally inserted into theintermediate section 213 . As shown in FIG. 8H , thefirst gate assembly 212b may then be deployed to the closed position after theinstrument arm assembly 230 has entered theintermediate section 213 through thefirst gate assembly 212b. As shown in Figure 8I, thesecond gate assembly 214b can then be configured to the open position. As shown in Figure 8J, once thesecond gate assembly 214b is in the open position, theinstrument arm assembly 230 can be fully inserted into the patient's cavity with theend effectors 239, 342, 344 closest to theanchor ports 216. Theinstrument arm assembly 230 can then be turned 180 degrees (if desired) and/or moved so that theinstrument arm assembly 230 can abut the outer surface of theport assembly 210 . Theinstrument arm assembly 230 can then be drawn adjacent to the outer surface of theport assembly 210 such that the fixedportion 231a of theshoulder segment 231 of theinstrument arm assembly 230 is adjacent theanchor port 216 . The securingportion 231a of theinstrument arm assembly 230 may then be secured to theanchor port 216 as shown in FIG. 8K. Thesecond gate assembly 214b may be configured to the closed position at any time after at least theend effector 230 of theinstrument arm assembly 230 has passed thesecond gate assembly 214b.

一个或更多个附加的器械臂组件240、一个或更多个辅助臂组件250或260和/或一个或更多个附加的图像捕捉组件(未示出)也可以被以与以上针对图像捕捉组件220和器械臂组件230描述的方式相同的方式经由端口组件210的中央进入通道210a以方向相反的方式插入并且安装。One or more additionalinstrument arm assemblies 240, one or moreauxiliary arm assemblies 250 or 260, and/or one or more additional image capture assemblies (not shown) may also be used in conjunction with the above for image capture.Assembly 220 andinstrument arm assembly 230 are inserted and installed in opposite directions viacentral access channel 210a ofport assembly 210 in the same manner as described.

器械臂组件230、图像捕捉组件220、其他器械臂组件240(如果提供的话)、其他图像捕捉组件(如果提供的话)以及一个或更多个其他的辅助臂组件250或260(如果提供的话)可以被以与以上针对插入和附连描述的方式基本上相反的方式、以方向相反的方式经由端口组件210的中央进入通道210a从锚定器端口216拆卸(或松开)并且从患者的腔体移除。Theinstrument arm assembly 230, theimage capture assembly 220, the other instrument arm assemblies 240 (if provided), the other image capture assemblies (if provided), and one or more of the otherauxiliary arm assemblies 250 or 260 (if provided) may be is detached (or released) from theanchor port 216 via thecentral access channel 210a of theport assembly 210 and from the patient's lumen in substantially the opposite manner as described above for insertion and attachment remove.

尽管上面已经描述了根据所公开的原理的各种实施方案，应当理解的是，它们仅通过示例性的方式被呈现，而非限制性的。因此，本公开中所描述的示例实施方案的宽度和范围不应被任何上面描述的示意性实施方案所限，而是应当仅根据从本公开授权的权利要求及其等同形式来限定。此外，以上优点和特征在所描述的实施方案中被提供，但不应限制这样授权的权利要求应用于实现以上任一或全部优点的处理和结构。While various embodiments in accordance with the disclosed principles have been described above, it should be understood that they have been presented by way of example only, and not limitation. Thus, the breadth and scope of the example embodiments described in this disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the claims issued from this disclosure and their equivalents. Furthermore, the above advantages and features are provided in the described embodiments, but should not limit the application of the claims so issued to processes and structures that achieve any or all of the above advantages.

例如，“组件”、“装置”、“部分”、“段”、“构件”、“体”或其他类似的词语一般地应被广义地解释为包括一个部分或者附连或连接在一起的多于一个的部分。For example, "component," "means," "portion," "segment," "member," "body," or other similar words should generally be construed broadly to include a portion or multiple attached or connected together part of one.

本文所使用的各种术语具有本技术领域内的特定含义。具体术语是否应当被认为是这样的“技术术语”取决于该术语被用于的上下文。“连接的”、“连接”、“附连的”、“附连”、“锚定的”、“锚定”、“与……连通的”、“连通……”、“与……相关联的”、“与……相关联”或者其他类似的术语一般地应当被广义地认为是包括这样的情况的，其中附连、连接和锚定在引用的元件之间是直接的，或者在引用的元件之间是通过一个或更多个中间物的。这些和其他术语将根据在本公开中被用于的上下文来解释，并且将被解释为本领域普通技术人员在所公开的上下文下将会理解这些术语。上面的限定并不排除基于所公开的上下文可以被赋予那些术语的其他含义。Various terms used herein have their specific meanings in the art. Whether a particular term should be considered such a "technical term" depends on the context in which the term is used. "connected", "connected", "attached", "attached", "anchored", "anchored", "connected with", "connected with", "associated with" "Associated," "associated with," or other similar terms should generally be construed broadly to include situations where attachment, connection, and anchoring are direct between the referenced elements, or in The referenced elements are through one or more intermediaries. These and other terms are to be interpreted according to the context in which they are used in this disclosure, and are to be interpreted as those terms would be understood by those of ordinary skill in the art in the context of the disclosure. The above definitions do not preclude other meanings that may be assigned to those terms based on the context of the disclosure.

如本公开中所提及的，计算装置、处理器和/或系统可以为虚拟机器、计算机、节点、实例、主机和/或联网或非联网计算环境中的机器。联网计算环境可以是通过便利装置之间的通信并且允许装置共享资源的通信信道连接的装置的集。再如本公开中所提及的，计算装置可以是被部署来执行作为套接字监听程序(socket listener)操作的程序的装置，并且可以包括软件实例。As referred to in this disclosure, a computing device, processor, and/or system may be a virtual machine, computer, node, instance, host, and/or machine in a networked or non-networked computing environment. A networked computing environment may be a collection of devices connected by communication channels that facilitate communication between the devices and allow the devices to share resources. As also referred to in this disclosure, a computing device may be a device that is deployed to execute a program that operates as a socket listener, and may include software instances.

资源可以囊括用于运行实例的任何类型的资源，包括硬件(例如，服务器、客户端、大型计算机、网络、网络储存器、数据源、存储器、中央处理单元时间、科学仪器以及其他计算设备)和软件、软件许可、可用网络服务以及其他非硬件资源或其组合。Resources can encompass any type of resources used to run an instance, including hardware (eg, servers, clients, mainframe computers, networks, network storage, data sources, memory, central processing unit time, scientific instruments, and other computing devices) and Software, software licenses, available network services, and other non-hardware resources or combinations thereof.

联网计算环境可以包括，但不限于，计算网格系统(computing grid system)、分布式计算环境、云计算环境等。这样的联网计算环境包括硬件和软件基础架构，该硬件和软件基础架构被配置来形成包括多个资源的虚拟组织，该多个资源可以在地理上是分散在多个位置上的。Networked computing environments may include, but are not limited to, computing grid systems, distributed computing environments, cloud computing environments, and the like. Such a networked computing environment includes hardware and software infrastructure configured to form a virtual organization that includes multiple resources, which may be geographically dispersed in multiple locations.

此外，本申请和从本申请授权的任何专利的覆盖范围可以延伸到一个或更多个通信协议，包括TCP/IP。Furthermore, the scope of coverage of this application and any patents issued therefrom may extend to one or more communication protocols, including TCP/IP.

比较、度量和时间选择(timing)的词汇，例如“此时”、“等同形式”、“在……期间”、“完全”等，应当被理解为意指“基本上此时”、“基本上等同形式”、“基本上在……期间”、“基本上完全”等，其中“基本上”意指，对实现隐含地或明确地阐述的期望结果来讲，这样的比较、度量和时间选择是实际可行的。Words of comparison, measurement, and timing, such as "at this time," "equivalent," "during," "completely," etc., should be understood to mean "substantially at this time," "substantially "substantially during", "substantially completely", etc., where "substantially" means that such comparisons, measures, and Timing is practical.

此外，本文的段落标题是被提供来与37CFR 1.77的建议一致，或者用于提供本文的结构线索。这些标题不应限制或表征可以从该公开公布的任何权利要求中所阐述的一个或更多个发明。具体地并且作为示例，尽管标题指“技术领域”，但是权利要求书不应被该标题下所选择的语言限制为描述所谓的技术领域。进一步，“背景技术”中的技术的描述不是要被解读为承认该技术是该公开中的任意一个或更多个发明的现有技术。“发明内容”也不是要被认为是在公布的权利要求书中所阐述的一个或更多个发明的特征描述。另外，该公开中对单数的“发明”的任何引用不应被用于证明在该公开中仅有一个新颖点。根据从该公开公布的多个权利要求的限定，可以阐述多个发明，并且这些权利要求相应地定义了由其保护的一个或更多个发明，以及它们的等同形式。在所有示例中，这些权利要求的范围应根据该公开按照这些权利要求本身的实质来理解，而不应被本文的标题限制。In addition, paragraph headings in this document are provided to be consistent with the recommendations of 37 CFR 1.77, or to provide structural cues for this document. These headings shall not limit or characterize the invention or inventions that may be set forth in any claims issued from this publication. Specifically and by way of example, although the heading refers to "Technical Field," the claims should not be limited by the language chosen under this heading to describe the so-called technical field. Further, the description of technology in the "Background" is not to be construed as an admission that the technology is prior art to any one or more of the inventions in this disclosure. Nor is the "Summary" intended to be considered a characterization of one or more of the inventions set forth in the published claims. In addition, any reference in this disclosure to "invention" in the singular should not be used to demonstrate that there is only one point of novelty in this disclosure. Various inventions may be set forth in accordance with the definitions of the various claims issued from this disclosure, and such claims correspondingly define the invention or inventions protected by them, and their equivalents. In all instances, the scope of these claims should be construed in light of this disclosure in accordance with the spirit of the claims themselves, and should not be limited by the headings herein.