公开(公告)号：WO2012061725A1

公开(公告)日：2012-05-10

申请号：PCT/US2011/059362

申请日：2011-11-04

Applicant: ETHICON ENDO-SURGERY, INC. ,  KIMBALL, Cory, G. ,  PRICE, Daniel, W. ,  STROBL, Geoffrey, S.

Inventor： KIMBALL, Cory, G. ,  PRICE, Daniel, W. ,  STROBL, Geoffrey, S.

IPC: A61B17/32 ,  A61B18/14

CPC classification number: A61B18/1442 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/2812 ,  A61B17/285 ,  A61B17/320068 ,  A61B17/320092 ,  A61B18/00 ,  A61B18/04 ,  A61B18/12 ,  A61B18/1206 ,  A61B18/1233 ,  A61B18/14 ,  A61B18/1445 ,  A61B34/25 ,  A61B46/10 ,  A61B90/08 ,  A61B90/40 ,  A61B2017/00084 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00734 ,  A61B2017/0084 ,  A61B2017/291 ,  A61B2017/2929 ,  A61B2017/293 ,  A61B2017/2931 ,  A61B2017/2933 ,  A61B2017/294 ,  A61B2018/00178 ,  A61B2018/0019 ,  A61B2018/00589 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/00607 ,  A61B2018/00791 ,  A61B2018/00988 ,  A61B2018/1226 ,  A61B2018/1412 ,  A61B2018/1455 ,  A61B2090/0803 ,  A61B2090/0813 ,  A61B2090/0814 ,  A61N7/00 ,  H01M2/10 ,  H01M2/1016 ,  H01M2/26 ,  H01M10/46 ,  H01M10/48 ,  H01M2220/30 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0047 ,  H02J7/025 ,  H02J2007/005 ,  Y10T29/49005 ,  Y10T29/49895 ,  Y10T29/53913

Abstract: A surgical instrument includes a handle assembly and a transmission assembly including an end effector. The end effector includes a visual indicator, such as dots disposed on a clamp arm, to emit light from at least one LED disposed between the clamp arm and a clamp pad. The LED is connectable to a power source. An outer sheath of the end effector is extruded to include a first set of electrical conduits. A distal assembly of the end effector includes the clamp arm, clamp pad, LED, and a second set of electrical conduits to mate with the first set of electrical conduits when the distal assembly is snap-fit into the extruded outer sheath. An ultrasonic surgical instrument includes an outer sheath configured to transmit light from an internally housed LED along portions of the outer sheath.

Abstract translation: 手术器械包括手柄组件和包括末端执行器的传动组件。 末端执行器包括视觉指示器，例如设置在夹持臂上的点，以从设置在夹紧臂和夹紧垫之间的至少一个LED发射光。 LED可连接到电源。 末端执行器的外护套被挤出以包括第一组电导管。 末端执行器的远端组件包括夹紧臂，夹紧垫，LED和第二组电导管，以在远端组件卡扣配合到挤出的外护套中时与第一组电导管匹配。 超声波手术器械包括外护套，其被配置为沿着外护套的部分透射来自内部容纳的LED的光。

公开(公告)号：WO2012040445A1

公开(公告)日：2012-03-29

申请号：PCT/US2011/052734

申请日：2011-09-22

Applicant: ETHICON ENDO-SURGERY, INC. ,  WORRELL, Barry, C. ,  BOURDREAUX, Chad, B. ,  CONLON, Sean, P. ,  KNIGHT, Gary ,  MILLER, Matthew, C. ,  SCHEIB, Charles, J. ,  SHELTON, Frederick, E. ,  STROBL, Geoffrey, S. ,  SWAYZE, Jeffrey, S. ,  TREES, Gregory, A. ,  VOEGELE, Aaron, C. ,  BLACK, Charles, S. ,  AVIMUKTA, Kreena, B.

Inventor： WORRELL, Barry, C. ,  BOURDREAUX, Chad, B. ,  CONLON, Sean, P. ,  KNIGHT, Gary ,  MILLER, Matthew, C. ,  SCHEIB, Charles, J. ,  SHELTON, Frederick, E. ,  STROBL, Geoffrey, S. ,  SWAYZE, Jeffrey, S. ,  TREES, Gregory, A. ,  VOEGELE, Aaron, C. ,  BLACK, Charles, S. ,  AVIMUKTA, Kreena, B.

IPC: A61B18/14

CPC classification number: A61B18/1447 ,  A61B18/1445 ,  A61B2017/00314 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2018/1455

Abstract: An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft extending between the body and the end effector. The end effector includes a pair of jaws and at least one electrode operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The articulation section may include beads, segments, asymmetric features, preformedly bent features, an integral hinge, a helical cutout or spring, clevis features, an angled joint, a beaded actuation linkage, and/or an offset pivot, among other things. The device may also include a crimped cutting member, a retroacting cutting member, dual pivoting jaws, and/or a wire tensioning assembly.

Abstract translation: 电外科装置包括主体，端部执行器，切割构件以及在主体和端部执行器之间延伸的轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 关节运动部分可以包括珠，段，不对称特征，预成型弯曲特征，整体铰链，螺旋切口或弹簧，U形夹特征，成角度接头，串珠致动连杆，和/或偏移枢轴等。 该装置还可以包括卷曲切割构件，追溯切割构件，双重枢转夹爪和/或线张紧组件。

公开(公告)号：WO2016053863A1

公开(公告)日：2016-04-07

申请号：PCT/US2015/052623

申请日：2015-09-28

Applicant: ETHICON ENDO-SURGERY, INC.

Inventor： HIBNER, John, A. ,  CORBETT, Catherine, A. ,  BINGHAM, Scott, R. ,  BOUDREAUX, Chad, P. ,  DRAGINOFF, Carl, J., Jr. ,  STROBL, Geoffrey, S. ,  JOHNSON, Eric, N.

IPC: A61B17/00 ,  A61B17/28 ,  A61B17/285 ,  A61B17/29 ,  A61B18/14

CPC classification number: A61B17/285 ,  A61B17/282 ,  A61B18/1445 ,  A61B2017/00039 ,  A61B2017/00075 ,  A61B2017/00398 ,  A61B2018/00428 ,  A61B2018/00607 ,  A61B2018/00642 ,  A61B2018/00702 ,  A61B2018/1455 ,  A61B2090/065

Abstract: Surgical devices are provided having power-assisted or fully powered jaw closure. The devices herein generally include a handle portion, an elongate shaft, and an effector having first and second jaws configured to engage tissue. A motor and one or more compression springs can be operatively coupled, and activation of the motor can compress the spring(s) to reduce the amount of user supplied force to compress tissue between the jaws. In some embodiments, the devices can be configured to regulate an amount of compression applied by the jaws prior to, during, and/or after cutting of the tissue to promote hemostasis. For example, the devices can include sensors, processors, and/or other components that analyze data indicative of tissue type and tissue load. Based on this feedback, the device can automatically adjust the amount of compression or energy applied to the tissue to seal the tissue.

Abstract translation: 提供具有动力辅助或完全动力的钳口的外科手术装置。 这里的装置通常包括手柄部分，细长轴和具有构造成接合组织的第一和第二钳口的效应器。 电动机和一个或多个压缩弹簧可以可操作地联接，并且电动机的启动可以压缩弹簧以减少用户提供的力来压缩钳口之间的组织。 在一些实施例中，装置可以构造成调节在组织切割之前，期间和/或之后由钳口施加的压缩量以促进止血。 例如，设备可以包括分析指示组织类型和组织负载的数据的传感器，处理器和/或其他组件。 基于该反馈，装置可以自动调节施加到组织上的压缩或能量的量以密封组织。

公开(公告)号：WO2012061739A9

公开(公告)日：2012-05-10

申请号：PCT/US2011/059381

申请日：2011-11-04

Applicant: ETHICON ENDO-SURGERY, INC. ,  HOUSER, Kevin, L. ,  STULEN, Foster, B. ,  DANNAHER, William, D. ,  SHELTON, Frederick, E. ,  STROBL, Geoffrey, S. ,  VOEGELE, Aaron, C. ,  LESSEK, Timothy, P. ,  MONSON, Gavin, M. ,  WORRELL, Barry, C. ,  JAIN, Hitesh

Inventor： HOUSER, Kevin, L. ,  STULEN, Foster, B. ,  DANNAHER, William, D. ,  SHELTON, Frederick, E. ,  STROBL, Geoffrey, S. ,  VOEGELE, Aaron, C. ,  LESSEK, Timothy, P. ,  MONSON, Gavin, M. ,  WORRELL, Barry, C. ,  JAIN, Hitesh

IPC: A61B18/14 ,  A61B17/32 ,  A61B17/00 ,  A61B19/00

Abstract: A surgical instrument includes a temperature sensor and a control unit that is operable to deactivate an end effector of the surgical instrument. In some versions the temperature sensor detects the temperature of a transducer, while in others the temperature sensor detects the temperature of the end effector. The surgical instrument may also include a trigger and a trigger position sensor. A force sensor or a position sensor may be included to determine the force and/or position of the transmission assembly. The end effector may also include a force sensor or a micro coil. A surgical instrument having a sensor may be included in a surgical system that includes a control unit and a remote controller. In some instances the remote controller may have one or more force-feedback components. In addition, a device interface and a surgeon interface may be included to remotely adjust the settings of the control unit.

公开(公告)号：WO2012040430A1

公开(公告)日：2012-03-29

申请号：PCT/US2011/052707

申请日：2011-09-22

Applicant: ETHICON ENDO-SURGERY, INC. ,  WORRELL, Barry, C. ,  HUANG, Zhifan, F. ,  LESKO, Jason, R. ,  MILLER, Matthew, C. ,  STROBL, Geoffrey, S. ,  TREES, Gregory, A. ,  BLACK, Charles, S. ,  CLEM, William, E. ,  HENRY, Emron ,  MONTGOMERY, Kevin, M.

Inventor： WORRELL, Barry, C. ,  HUANG, Zhifan, F. ,  LESKO, Jason, R. ,  MILLER, Matthew, C. ,  STROBL, Geoffrey, S. ,  TREES, Gregory, A. ,  BLACK, Charles, S. ,  CLEM, William, E. ,  HENRY, Emron ,  MONTGOMERY, Kevin, M.

IPC: A61B18/14 ,  A61B17/295

CPC classification number: A61B17/07207 ,  A61B2017/0038 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2946

Abstract: An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a rotary knob, a pivoting knob, or a pivoting fin, among other things. An electrical coupling may contact a conductive moving member along at least two axes. A resiliently biased lever may assist a trigger in returning from an actuated position to a home position.

Abstract translation: 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 身体包括可操作以选择性地致动关节运动部分的控制器。 控制器可以包括旋钮，旋转旋钮或枢转翅片等。 电耦合可以沿着至少两个轴接触导电移动构件。 弹性偏压杆可以帮助触发器从致动位置返回到原始位置。

公开(公告)号：WO2015069716A1

公开(公告)日：2015-05-14

申请号：PCT/US2014/064053

申请日：2014-11-05

Applicant: ETHICON ENDO-SURGERY, INC.

Inventor： STROBL, Geoffrey, S. ,  BOUDREAUX, Chad, P.

IPC: A61B17/29 ,  A61B18/14

CPC classification number: A61B18/1445 ,  A61B17/29 ,  A61B17/3205 ,  A61B18/1206 ,  A61B2017/2945 ,  A61B2018/00083 ,  A61B2018/00708 ,  A61B2018/00916 ,  A61B2018/00922 ,  A61B2018/1432 ,  A61B2018/1455 ,  A61N1/00 ,  A61N7/00

Abstract: In one embodiment, a surgical instrument comprises a handle assembly. The handle assembly comprises a closure trigger defining an energy button hole, an energy button located within the energy button hole, and a firing trigger. A shaft assembly is coupled to the handle assembly and comprises an outer tube, a closure actuator coupled to the closure trigger, and a firing actuator operatively coupled to the firing trigger. An end effector is coupled to a distal end of the shaft assembly. The end effector comprises a jaw assembly having a proximal end and a distal end. The jaw assembly comprises a first and a second jaw member. The first and second jaw members define a longitudinal slot. The closure actuator is coupled to the first jaw member to pivotally move the first jaw member from an open position to a closed position. A cutting member is deployable within the longitudinal slot.

Abstract translation: 在一个实施例中，外科器械包括手柄组件。 手柄组件包括限定能量按钮孔的闭合触发器，位于能量按钮孔内的能量按钮和触发触发器。 轴组件联接到手柄组件，并且包括外管，联接到闭合触发器的闭合致动器以及可操作地联接到击发扳机的击发致动器。 端部执行器联接到轴组件的远端。 末端执行器包括具有近端和远端的钳口组件。 钳口组件包括第一和第二钳口构件。 第一和第二钳口构件限定纵向槽。 闭合致动器联接到第一钳口构件以将第一钳口构件从打开位置枢转地移动到关闭位置。 切割构件可在纵向槽内展开。

公开(公告)号：WO2014158458A1

公开(公告)日：2014-10-02

申请号：PCT/US2014/016893

申请日：2014-02-18

Applicant: ETHICON ENDO-SURGERY, INC.

Inventor： VOEGELE, Aaron, C. ,  FRANER, Paul, T. ,  STROBL, Geoffrey, S. ,  CORBETT, Catherine, A.

IPC: A61B18/14 ,  A61B18/00 ,  A61B17/00

CPC classification number: A61B18/18 ,  A61B18/1442 ,  A61B18/1445 ,  A61B18/1447 ,  A61B2017/00862 ,  A61B2018/00059 ,  A61B2018/00607 ,  A61B2018/0063 ,  A61B2018/1455

Abstract: An end effector for operating on tissue comprises an upper jaw, a lower jaw, a flexible member, and a pair of conductive members. The upper jaw and the lower jaw are configured to receive tissue when in an open position and the upper jaw is movable toward the lower jaw. The flexible member is coupled to either the upper jaw or the lower jaw, and is configured to deform in response to compression of tissue between the jaws. One of the conductive members is associated with the flexible member and is configured to move with the flexible member in response to compression of tissue between the jaws. The end effector may be configured to manipulate the position of muscle within tissue in response to compression of tissue between the jaws.

Abstract translation: 用于在组织上操作的端部执行器包括上钳口，下钳口，柔性构件和一对导电构件。 上钳口和下钳口构造成在处于打开位置时接收组织，并且上钳口可向下钳口移动。 柔性构件联接到上钳口或下钳口，并且构造成响应于夹爪之间的组织的压缩而变形。 导电构件中的一个与柔性构件相关联并且构造成响应于夹爪之间的组织的压缩而与柔性构件一起移动。 末端执行器可以被配置为响应于钳口之间的组织的压缩来操纵组织内肌肉的位置。

公开(公告)号：WO2012061641A2

公开(公告)日：2012-05-10

申请号：PCT/US2011/059218

申请日：2011-11-03

Applicant: ETHICON ENDO-SURGERY, INC. ,  HOUSER, Kevin, L. ,  WEIZMAN, Patrick, A. ,  SHELTON, Frederick, E. ,  STROBL, Geoffrey, S.

Inventor： HOUSER, Kevin, L. ,  WEIZMAN, Patrick, A. ,  SHELTON, Frederick, E. ,  STROBL, Geoffrey, S.

IPC: A61B17/00

CPC classification number: A61B18/1442 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/2812 ,  A61B17/285 ,  A61B17/320068 ,  A61B17/320092 ,  A61B18/00 ,  A61B18/04 ,  A61B18/12 ,  A61B18/1206 ,  A61B18/1233 ,  A61B18/14 ,  A61B18/1445 ,  A61B34/25 ,  A61B46/10 ,  A61B90/08 ,  A61B90/40 ,  A61B2017/00084 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00734 ,  A61B2017/0084 ,  A61B2017/291 ,  A61B2017/2929 ,  A61B2017/293 ,  A61B2017/2931 ,  A61B2017/2933 ,  A61B2017/294 ,  A61B2018/00178 ,  A61B2018/0019 ,  A61B2018/00589 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/00607 ,  A61B2018/00791 ,  A61B2018/00988 ,  A61B2018/1226 ,  A61B2018/1412 ,  A61B2018/1455 ,  A61B2090/0803 ,  A61B2090/0813 ,  A61B2090/0814 ,  A61N7/00 ,  H01M2/10 ,  H01M2/1016 ,  H01M2/26 ,  H01M10/46 ,  H01M10/48 ,  H01M2220/30 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0047 ,  H02J7/025 ,  H02J2007/005 ,  Y10T29/49005 ,  Y10T29/49895 ,  Y10T29/53913

Abstract: An ultrasonic surgical instrument includes a reusable handle assembly and a removable and disposable shaft assembly. The handle assembly includes a trigger, a housing having a distal aperture formed in a distal end of the housing, and a drive member in communication with the trigger to actuate the drive member. The shaft assembly includes a proximal shaft portion, a rotator knob having a coupling feature, a transmission assembly extending distally from the proximal shaft portion, and an end effector coupled to the distal end of the transmission assembly. The drive member of the handle assembly is removably coupled to the proximal shaft portion of the shaft assembly. Another version includes a drive member of the handle assembly configured to removably engage a proximal shaft portion of the shaft assembly via a biasing member. Another version includes a waveguide of the transmission assembly non-threadably coupled to a transducer.

Abstract translation: 超声外科器械包括可重复使用的手柄组件和可移除的一次性轴组件。 手柄组件包括扳机，具有形成在壳体远端中的远侧孔的壳体以及与扳机连通以致动驱动构件的驱动构件。 该轴组件包括近侧轴部分，具有联接特征的转子旋钮，从近侧轴部分向远侧延伸的传动组件以及联接到传动组件的远侧端部的端部执行器。 手柄组件的驱动构件可移除地联接到轴组件的近侧轴部分。 另一种形式包括手柄组件的驱动构件，该驱动构件构造成经由偏置构件可移除地接合轴组件的近侧轴部分。 另一种版本包括传输组件的波导，其非螺纹耦合到换能器。

公开(公告)号：WO2012040438A1

公开(公告)日：2012-03-29

申请号：PCT/US2011/052723

申请日：2011-09-22

Applicant: ETHICON ENDO-SURGERY, INC. ,  WORRELL, Barry, C. ,  NORVELL, David, K. ,  SCHEIB, Charles, J. ,  SHELTON, Frederick, E., IV ,  STROBL, Geoffrey, S. ,  SWAYZE, Jeffrey, S. ,  TREES, Gregory, A. ,  ZERKLE, Jason, E. ,  MONTGOMERY, Kevin, M.

Inventor： WORRELL, Barry, C. ,  NORVELL, David, K. ,  SCHEIB, Charles, J. ,  SHELTON, Frederick, E., IV ,  STROBL, Geoffrey, S. ,  SWAYZE, Jeffrey, S. ,  TREES, Gregory, A. ,  ZERKLE, Jason, E. ,  MONTGOMERY, Kevin, M.

IPC: A61B18/14

CPC classification number: A61B18/1447 ,  A61B18/1445 ,  A61B2017/00314 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/126 ,  A61B2018/1455

Abstract: An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.

Abstract translation: 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作地切割夹在夹爪之间的组织。 轴在主体和端部执行器之间延伸。 轴包括铰接部分，其可操作以选择性地将末端执行器定位在相对于轴的纵向轴线的非平行位置。 一些版本包括在关节部分远端的旋转部分。 旋转部分可操作以使端部执行器相对于关节运动部分旋转。

公开(公告)号：WO2012040432A1

公开(公告)日：2012-03-29

申请号：PCT/US2011/052712

申请日：2011-09-22

Applicant: ETHICON ENDO-SURGERY, INC. ,  WORRELL, Barry, C. ,  BOURDREAUX, Chad, B. ,  MILLER, Matthew, C. ,  SCHEIB, Charles, J. ,  SHELTON, Frederick, E., IV ,  STROBL, Geoffrey, S. ,  STULEN, Foster, B. ,  TREES, Gregory, A. ,  VOEGELE, Aaron, C. ,  MADSEN, Steven, D. ,  HENRY, Emron ,  CLEM, William, E.

Inventor： WORRELL, Barry, C. ,  BOURDREAUX, Chad, B. ,  MILLER, Matthew, C. ,  SCHEIB, Charles, J. ,  SHELTON, Frederick, E., IV ,  STROBL, Geoffrey, S. ,  STULEN, Foster, B. ,  TREES, Gregory, A. ,  VOEGELE, Aaron, C. ,  MADSEN, Steven, D. ,  HENRY, Emron ,  CLEM, William, E.

IPC: A61B18/14 ,  A61B17/295

CPC classification number: A61B17/07207 ,  A61B2017/0038 ,  A61B2017/2908 ,  A61B2017/2927 ,  A61B2017/2946

Abstract: An electrosurgical device includes a body, an end effector, a cutting member, and a shaft. The end effector comprises a pair of jaws and at least one electrode that is operable to deliver RF energy to tissue clamped between the jaws. The cutting member is operable to cut tissue clamped between the jaws. The shaft includes an articulation section that is operable to selectively articulate the end effector relative to the shaft. The body includes a controller operable to selectively actuate the articulation section. The controller may include a trigger that also drives the cutting member, a rotator that also rotates the shaft and end effector, a wedge- shaped pivoting member, a pivotally coupled pair of housing portions, or a pivoting cam member, etc. A release member may selectively release the articulation section from the controller, allowing a resilient bias to return the end effector into alignment with the shaft.

Abstract translation: 电外科装置包括主体，端部执行器，切割构件和轴。 末端执行器包括一对钳口和至少一个电极，其可操作以将RF能量递送到钳夹在钳口之间的组织。 切割构件可操作以切割夹在夹爪之间的组织。 轴包括铰接部分，其可操作以相对于轴选择性地关闭端部执行器。 身体包括可操作以选择性地致动关节运动部分的控制器。 控制器可以包括还驱动切割构件的触发器，还使轴和端部执行器旋转的旋转器，楔形枢转构件，可枢转地联接的一对壳体部分或枢转凸轮构件等。释放构件 可以从控制器选择性地释放关节运动部分，允许弹性偏压使末端执行器与轴对准。