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发明授权
CN105007835B 具有多个自由度的旋转电动外科器械 有权

具有多个自由度的旋转电动外科器械
摘要：
本发明公开了一种外科器械，该外科器械包括被构造为能够用电力产生多个独立的旋转控制运动的驱动系统。在至少一个形式中，该外科器械可包括细长轴组件，该细长轴组件能够可操作地联接到驱动系统，以用于从其接收第一旋转控制运动，以使得细长轴组件围绕轴的轴线旋转。该细长轴组件还被构造为能够从驱动系统接收第二旋转控制运动并且将第二旋转控制运动传递到外科端部执行器，该外科端部执行器可操作地联接到细长轴组件，以使外科端部执行器相对于细长轴组件围绕轴的轴线旋转。细长轴组件还被构造为能够从驱动系统接收第三旋转控制运动并且将第三旋转控制运动传递到关节运动接头，该关节运动接头与细长轴组件和外科端部执行器连通，以使得外科端部执行器围绕基本上横向于轴的轴线的关节运动轴线进行关节运动。
摘要（英）：

An articulation joint for a surgical instrument. In at least one form, the articulation joint includes a proximal joint portion that is coupled to an elongate shaft assembly of the surgical instrument. A distal joint portion is movably coupled to the proximal joint portion and is configured to interface with a surgical end effector. A first gear train operably interfaces with a proximal firing shaft segment within the elongate shaft assembly and a distal firing shaft segment that is configured to operably interface with the surgical end effector for transmitting a rotary firing motion thereto from the proximal firing shaft segment to the surgical end effector. A second gear train operably interfaces with a proximal rotation shaft portion of the elongate shaft assembly for transmitting a distal rotational control motion to the surgical end effector to cause the surgical end effector to rotate relative to the elongate shaft assembly while facilitating articulation of the distal joint portion relative to the proximal joint portion.

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