CN115886911A - Motorized surgical instrument - Google Patents

Abstract

The present application provides a powered surgical instrument comprising a jaw assembly, a cannula, a transmission mechanism, and a power module; the transmission mechanism comprises a jaw driving mechanism, a jaw driving mechanism and a motion conversion part, wherein the jaw driving mechanism comprises a jaw driving piece and the motion conversion part is rotatably connected to the jaw driving piece; the jaw driving piece and the sleeve are connected through the motion conversion piece, and the motion conversion piece drives the sleeve to move, so that the jaw assembly is driven to be opened or closed; the jaw driving piece, the motion conversion piece and the sleeve form a crank-slider mechanism; the transmission mechanism has a first state and a second state, and in the first state, the jaw driving piece is engaged with the power module; in the second state, the jaw driver is coupled to the power module, and the jaw driver and the motion converter are in a dead-center position of the slider-crank mechanism. The jaw assembly can be kept closed without an additional or complex locking mechanism, so that the jaw assembly can not be opened when the cutter assembly feeds or withdraws.

Description

Electric Surgical Instruments

technical field

The present application belongs to the field of surgical instruments, in particular to an electric surgical instrument.

Background technique

As everyone knows, surgical instruments have been widely used in intracavitary operations such as the abdominal cavity.

Existing endoluminal cutting staplers generally include a housing, a shaft assembly extending longitudinally (also referred to as the longitudinal direction) from the housing, and an end effector disposed at the distal end of the shaft assembly. The end effector includes The jaw assembly and the staple cartridge assembly. The jaw assembly includes a staple cartridge seat and an abutment seat pivotally connected to the staple cartridge seat. The staple cartridge seat is used to operably support the nail cartridge assembly located therein. Selectively movable between an open position and a closed position.

The housing accommodates a motor and at least part of the cutting drive mechanism and the jaw drive mechanism driven by the motor. The cutting drive mechanism drives the cutting knife assembly to feed or withdraw the knife, and can cut and anastomose tissues when feeding; the jaw drive mechanism drives the jaws The assembly is closed or opened, the jaw assembly can clamp tissue when the jaw assembly is closed, and the tissue can be loosened or aligned to the tissue to be clamped when the jaw assembly is opened.

In the existing jaw driving mechanism of an anastomat, after the driving jaw assembly is closed, an additional or complex locking mechanism is required to keep the jaw assembly closed, so as to prevent the jaw assembly from opening when the cutting knife assembly advances and withdraws. However, additional or complex locking mechanisms lead to complex mechanisms of electric staplers and low reliability, so it is necessary to improve them.

Contents of the invention

Aiming at the deficiencies in the prior art, this application aims to propose an electric surgical instrument, which can keep the jaw assembly closed without additional or complicated locking mechanism, so as to ensure that the jaw assembly does not move when the cutting knife assembly advances and withdraws. will open, simplifying the installation and increasing reliability and safety.

The application is realized through the following technical solutions:

An electric surgical instrument, which includes a jaw assembly, a sleeve, a transmission mechanism and a power module; the sleeve is connected to the proximal end of the jaw assembly; the power module is used to provide power for the transmission mechanism;

The transmission mechanism includes a jaw driving mechanism, and the jaw driving mechanism includes a jaw driving member and a motion converting member rotatably connected to the jaw driving member; the jaw driving is connected through the motion converting member part and the sleeve, the motion conversion part drives the sleeve to move, thereby driving the jaw assembly to open or close; the jaw drive part, the motion conversion part and the sleeve constitute a crank slider block mechanism;

The transmission mechanism has a first state and a second state. In the first state, the jaw driving member is engaged with the power module; in the second state, the jaw driving member is engaged with the power module. The power module is coupled, and the jaw drive member and the motion conversion member are at the dead point of the slider crank mechanism.

Preferably, the electric surgical instrument further includes a blocking portion, and the blocking portion is used to limit the movement converting member at the dead center position.

An electric surgical instrument, which includes a jaw assembly, a sleeve, a transmission mechanism and a power module; the sleeve is connected to the proximal end of the jaw assembly; the power module is used to provide power for the transmission mechanism;

The transmission mechanism includes a jaw driving mechanism, and the jaw driving mechanism includes a jaw driving member and a motion converting member rotatably connected to the jaw driving member; the jaw driving is connected through the motion converting member part and the sleeve, the motion conversion part drives the sleeve to move, thereby driving the jaw assembly to open or close; the jaw drive part, the motion conversion part and the sleeve constitute a crank slider block mechanism;

The transmission mechanism has a first state and a second state. In the first state, the jaw driving member is engaged with the power module; in the second state, the jaw driving member is engaged with the power module. The power module is coupled, and the jaw driving part and the motion conversion part are over the dead center position of the slider crank mechanism; the electric surgical instrument also includes a blocking part, and the blocking part is used for The conversion member blocks the movement conversion member after it crosses the dead center position.

Preferably, the jaw driving member includes a first jaw driving gear, and in the circumferential direction of the first jaw driving gear, the first jaw driving gear includes an engaging portion and a smooth portion, and the first jaw driving gear includes a meshing portion and a smooth portion. In the first state, the engaging portion engages with the power module; in the second state, the smooth portion is coupled with the power module.

Preferably, the jaw driving member further includes a second jaw driving gear, and the second jaw driving gear overlaps with the first jaw driving gear; in the first state and the second state , the second jaw drive gears are engaged with the power module; when the smooth part is in the coupling state with the power module, the second jaw drive gear can drive the first jaw drive The gear moves from the coupling state of the smooth part and the power module to the engaged state of the meshing part and the power module.

Preferably, the first jaw driving gear is provided with a first matching portion, and the second jaw driving gear is provided with a second matching portion, and when the smooth portion is in a coupled state with the power module, the The first matching portion cooperates with the second matching portion to drive the first jaw driving gear to move.

Preferably, the first fitting portion is an end portion of a groove provided on the first jaw driving gear, the second fitting portion is a bump, or the first fitting portion is a bump, and the The second matching part is the end portion of the groove provided on the second jaw driving gear; the protrusion abuts against the end so that the first jaw driving gear can be coupled with the power module The state switches to an engaged state with the power module.

Preferably, the power module includes a motor and a motor gear connected to the output shaft of the motor, and in the first state, the motor gear is simultaneously connected with the first jaw drive gear and the second jaw drive gear. The jaw drive gear is engaged; in the second state, the motor gear is coupled with the first jaw drive gear and meshed with the second jaw drive gear.

Preferably, the axis of the motor extends in a front-back direction of the powered surgical instrument.

Preferably, the motion converting member includes a connecting rod, one end of the connecting rod is rotatably connected to the jaw driving member, and the other end of the connecting rod is rotatably connected to the sleeve.

Preferably, the motion converting member includes a connecting rod and a slider, one end of the connecting rod is rotatably connected to the jaw driving member, and the other end of the connecting rod is rotatably connected to the slider, The slider is fixedly connected to the casing.

Preferably, the blocking portion is located on one side of the axis of the sleeve; the blocking portion is fixedly mounted on the housing of the electric surgical instrument, or integrally formed on the housing of the electric surgical instrument.

Preferably, the jaw assembly is in a closed state when the jaw driving element and the motion conversion element are at the dead point of the slider crank mechanism.

Preferably, the electric surgical instrument also includes a cutter assembly and a mandrel assembly connected to the cutter assembly; the transmission mechanism also includes a cutting drive mechanism, and the cutting drive mechanism drives the mandrel assembly to move, thereby Drive the cutting knife assembly forward or backward; the cutting drive mechanism includes a cutting drive member, and in the first state, the cutting drive member is separated from the mandrel assembly; in the second state, the The cutting driving member engages with the mandrel assembly to drive the mandrel assembly to move, thereby driving the cutting knife assembly to move forward or backward.

Preferably, in the first state, the distal end of the cutting drive is spaced apart from the proximal end of the mandrel assembly; in the second state, the distal end of the cutting drive is spaced from the The proximal end of the mandrel assembly is adapted to drive movement of the mandrel assembly in a first direction, thereby driving the cutter assembly forward.

Preferably, the cutting drive mechanism further includes a conversion assembly, the conversion assembly drives the mandrel assembly to move in the second direction under the action of the cutting drive member to drive the cutting knife assembly back, and the first The second direction is opposite to the first direction.

Preferably, the conversion assembly includes a moving part and a moving guide, the moving part is connected to the mandrel assembly; under the action of the cutting drive part, the moving part is guided by the moving guide to engage the cutting drive to drive the spindle assembly to move in the second direction.

Preferably, the moving member includes a pivot end pivotally connected to the mandrel assembly, and a first end and a second end extending outward from the pivot end; when the cutting drive member drives the When the mandrel assembly moves along the first direction, the first end moves to engage with the cutting driving part under the action of the moving guide; when the cutting driving part drives the moving part and then drives the When the mandrel assembly moves along the second direction, the second end moves under the action of the motion guide to separate the first end from the cutting drive.

Preferably, the mandrel assembly includes a mandrel and a connecting piece connected to the proximal end of the mandrel, the pivot end is pivotally connected to the connecting piece; the first end is provided with an embedded portion, The distal end of the cutting driving part is provided with a combining groove, and the embedded part is inserted into the combining groove to make the moving part engage with the cutting driving part.

Preferably, the movement guide includes a concave portion and guiding surfaces located on both sides of the concave portion, the guiding surface includes a first guiding surface and a second guiding surface; the first end is connected with the first guiding surface surface is moved in sliding contact about the pivot end into engagement with the cutting drive, and the second end is moved about the pivot end by sliding contact with the second guide surface to cause the first One end is separate from the cutting drive.

Preferably, the conversion assembly includes a moving part and a moving guide, the moving part is connected to the cutting driving part; under the action of the cutting driving part, the moving part is guided by the moving guide to move to engage with the mandrel assembly, thereby driving the mandrel assembly to move in the second direction.

Preferably, the moving member includes a pivot end pivotally connected to the cutting drive, and a first end and a second end extending outward from the pivot end; when the cutting drive moves along the When moving in the first direction, the first end is moved to engage with the mandrel assembly under the action of the motion guide; when the cutting driving part drives the moving part and then drives the mandrel assembly along the When moving in the second direction, the second end moves under the action of the movement guide to separate the first end from the mandrel assembly.

Compared with the prior art, the beneficial effect of the present application is that the slider crank mechanism of the jaw drive mechanism can realize self-locking after the jaws are closed, so as to ensure that the jaw assembly does not Open. The technical solution adopted in this application does not require additional or complicated locking mechanisms, has a simple structure, and reduces the weight of the product, which is convenient for doctors to operate; in addition, the reliability is improved to ensure the safety of the operation.

Description of drawings

Fig. 1 shows a schematic structural diagram of an electric stapler according to a first embodiment of the present application.

Fig. 2 shows a schematic view of the internal structure of the electric stapler according to the first embodiment of the present application.

FIG. 3 shows an enlarged view of part A in FIG. 2 .

Fig. 4 shows a schematic view of the internal structure of the electric stapler according to the first embodiment of the present application from another angle.

FIG. 5 shows an enlarged view of part B in FIG. 4 .

Fig. 6 shows a schematic structural diagram of the motor gear, the first jaw driving gear and the second jaw driving gear of the electric stapler according to the first embodiment of the present application.

Fig. 7 shows a schematic structural diagram of the first jaw driving gear of the electric stapler according to the first embodiment of the present application.

Fig. 8 shows a top view of the jaw driving mechanism of the electric stapler in the jaw open state according to the first embodiment of the present application.

Fig. 9 shows a top view of the jaw driving mechanism of the electric stapler in the jaw closed state according to the first embodiment of the present application.

Fig. 10a to Fig. 10f show schematic diagrams of state changes of the jaw driving member of the electric stapler according to the first embodiment of the present application.

Fig. 11 shows an exploded view of the cutting drive mechanism of the electric stapler according to the first embodiment of the present application.

Fig. 12 shows a schematic structural view of the motion guide of the electric stapler according to the first embodiment of the present application.

Fig. 13 shows a schematic structural view of the moving parts of the electric stapler according to the first embodiment of the present application.

Fig. 14 shows a schematic structural view of the cutting drive member of the electric stapler according to the first embodiment of the present application.

Fig. 15a to Fig. 15e show the structure and state change diagrams of the cutting drive mechanism of the electric stapler according to the first embodiment of the present application.

Fig. 16 shows an exploded view of the partial cutting drive mechanism of the electric stapler according to the second embodiment of the present application.

Fig. 17 shows a schematic structural view of the cutting drive mechanism of the electric stapler according to the second embodiment of the present application.

Fig. 18 shows a schematic structural view of the connecting parts of the cutting drive mechanism of the electric stapler according to the second embodiment of the present application.

Fig. 19 shows a schematic structural view of the cutting drive member of the cutting drive mechanism of the electric stapler according to the second embodiment of the present application.

Fig. 20 shows a schematic structural view of the movement guide of the cutting drive mechanism of the electric stapler according to the second embodiment of the present application.

Fig. 21a to Fig. 21e show the structure and state change diagrams of the cutting drive mechanism of the electric stapler according to the second embodiment of the present application.

Explanation of reference signs

10 Operating component 20 Shaft component 201 Mandrel 202 Sleeve 30 End effector 31 Nail base 32 Nail support 40 Cutting knife component 401 Cutter rod 402 Cutter head 50 Motor

1 jaw driving mechanism

11 motor gear

12 first jaw driving gear 121 meshing part 122 smooth part 123 first mating part 124 boss

13 second jaw driving gear 131 second matching part

14 connecting rods

15 sliders

2 cutting drive mechanism

21 cutting driver 211 engagement groove

22 motion guide 221 first slope 222 second slope 223 plane

23 connecting piece 231 contact surface 232 third inclined plane 24 moving part 25 pin shaft.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

It should be understood that the terms "near", "rear" and "distal", "anterior" used herein are relative to the clinician manipulating the stapler. The terms "near" and "rear" refer to the part relatively close to the clinician (or in other words, relatively close to the operating assembly 10 of the stapler, see Fig. 1), and the terms "far" and "front" refer to the part relatively far away from the clinician ( In other words, the operating assembly 10 that is relatively far away from the stapler, or the end effector 30 that is relatively close to the stapler, see the part in FIG. 1 ). The terms "upper" and "lower" refer to the relative positions of the nail abutment seat and the staple cartridge seat of the jaw assembly, specifically, the nail anvil seat is "upper" and the staple cartridge seat is "lower". However, staplers can be used in many orientations and positions, so these terms expressing relative positional relationships are not limiting and absolute.

In this application, unless otherwise specified and limited, terms such as "connected" and "connected" should be interpreted in a broad sense, for example, it can be a fixed connection, a detachable connection, or a movable connection , or integrated; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two elements or the interaction relationship between two elements such as butting. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations. It should be noted that when there are qualifiers before "connected" and "connected", it has the meaning defined by the corresponding qualifiers, and only the situations that obviously need to be excluded are excluded, and other possible situations are not excluded, such as "detachably connected" Refers to the detachable connection, does not include integrated, but the movable connection is not excluded.

(first embodiment)

As shown in FIGS. 1 to 5 , the electric stapler includes an operating assembly 10, a shaft assembly 20 extending forward from the operating assembly 10, an end effector 30 disposed at the far end (front end) of the shaft assembly 20, and an end effector 30 for Cleaver assembly 40 (see FIG. 11 ) that performs a tissue cut.

The operation assembly 10 includes a housing, a power module disposed in the housing, and a power module disposed in the housing. The power supply module is used to provide the required electric energy for the motor 50 . The power module may include a motor 50 and a motor gear 11 connected to an output shaft of the motor 50 . The axis of the motor 50 may extend in the front-back direction of the electric stapler.

The shaft assembly 20 includes a core shaft 201 and a sleeve 202 sleeved on the core shaft 201 . The electric stapler also includes a transmission mechanism connected to the output shaft of the motor 50 , and the transmission mechanism includes a jaw driving mechanism 1 and a cutting driving mechanism 2 . The casing 202 can be driven by the jaw drive mechanism 1 to move axially, that is, move forward or backward, the mandrel 201 can be driven by the cutting drive mechanism 2 to move axially, and both the sleeve 202 and the mandrel 201 can move along the axial direction. Move forward (first direction) or backward (second direction).

End effector 30 includes a jaw assembly and a cartridge assembly. The jaw assembly includes a staple cartridge base 31 and an abutment base 32 pivotally connected to the staple cartridge base 31 , and the staple cartridge base 31 is used to operably support the staple cartridge assembly located therein. The nail anvil 32 can selectively move between the open position and the closed position, so as to switch between the open state and the closed state, so that the nail anvil 32 cooperates with the nail cartridge seat 31 and the nail cartridge assembly to clamp or loosen open organization.

One end (front end) of the sleeve 202 is connected to the nail anvil 32, and the other end (rear end) is connected to the jaw driving mechanism 1, and the jaw driving mechanism 1 can drive the sleeve 202 to move backward or forward. Rearward movement of the sleeve 202 may cause the anvil 32 to pivot upward to open the jaw assembly, and forward movement of the sleeve 202 may cause the anvil 32 to pivot downward to close the jaw assembly.

Referring to FIG. 11 , the cutting knife assembly 40 is connected to the mandrel assembly to be driven by the mandrel assembly to perform a firing action or a knife retracting action. Specifically, the cutting knife assembly 40 includes a knife bar 401 and a knife head 402 connected to the knife bar 401 . The mandrel assembly includes a mandrel 201 and a connector 23 connected to the proximal end of the mandrel 201 . The distal end of the mandrel 201 is connected with the proximal end of the knife rod 401 .

The proximal end (rear end) of the mandrel 201 is connected to the cutting drive mechanism 2 , and the distal end (front end) is located in the casing 202 . During the cutting and stapling process, the cutter head 402 is located in the space formed between the staple cartridge seat 31 and the staple abutment seat 32 of the jaw assembly. The cutting drive mechanism 2 can drive the forward and backward movement of the mandrel 201 . When the staple cartridge assembly is installed, the forward movement of the mandrel 201 can cause the cutter assembly 40 to move forward, cut the tissue and push the staples of the staple cartridge assembly out to staple the tissue. When the mandrel 201 moves backward, it drives the cutter assembly 40 to move backward, so as to return to the original position.

The housing of the operating assembly 10 includes a connected handle housing and a head housing according to the positional relationship. The head housing accommodates the transmission mechanism, and the handle housing can be held by the user. Of course, in some embodiments, the handle housing can also house part of the transmission mechanism at the same time.

The process of electric stapler cutting and suturing tissue includes:

Closing of the jaw assembly: the motor 50 first drives the jaw assembly to close through the jaw driving mechanism 1 to clamp the tissue.

Firing of the cutting knife assembly 40: the motor 50 drives the cutting knife assembly 40 forward through the cutting drive mechanism 2 to cut and suture the tissue.

Retraction of the cutter assembly 40: the motor 50 drives the cutter assembly 40 to retreat through the cutting drive mechanism 2 .

Opening of the jaw assembly: the motor 50 drives the jaw assembly to open through the jaw drive mechanism 1 to loosen the tissue, thereby realizing the functions of cutting and suturing of the stapler.

As shown in Figures 1 to 10f, the jaw driving mechanism 1 includes a jaw driving element and a motion converting element rotatably connected to the jaw driving element. The jaw driver is connected to the bushing 202 through the motion converting part, and the motion converting part drives the bushing 202 to move, thereby driving the jaw assembly to open or close. The jaw driving part, the motion conversion part and the sleeve 202 constitute a slider crank mechanism.

In one embodiment, the transmission mechanism has a first state and a second state. When the transmission mechanism is in the first state, the jaw driver is engaged with the power module; when the transmission mechanism is in the second state, the jaw driver is engaged with the power module. The modules are coupled, and the jaw drive and motion converter pass over the dead center position of the slider crank mechanism. Engagement and coupling together achieve selective engagement. Coupling refers to the termination of the joint due to the lack of the structure for cooperation between the parts that cooperate with each other due to the change of relative position or state. Relative position changes include, but are not limited to, the following situations: relative rotation between components. The electric stapler also includes a blocking portion 17, which is located on one side of the axis of the cannula 202; the blocking portion 17 is used to block the motion of the motion converting member after the motion converting member passes the dead center position.

After the jaw driving part and the motion conversion part crossed the dead center position of the slider crank mechanism, the blocking part 17 makes it unable to move further. The blocking portion 17 makes the crank and the connecting rod of the slider-crank mechanism form an included angle, for example, 5° to 20°, with respect to the dead center position of the slider-crank mechanism. Of course, it can be understood that as long as the jaw driving part and the motion conversion part cross the dead point, the included angle can be greater than 0 degrees and less than 5 degrees.

In this embodiment, the slider crank mechanism of the jaw drive mechanism can realize self-locking after the jaws are closed, so as to ensure that the jaw assembly will not be opened during the feeding, cutting and retracting processes. The technical solution adopted in this application does not require a complicated locking mechanism, and only needs a simple blocking member to realize locking. The overall structure is simple, and the product weight is reduced, which is convenient for doctors to operate; in addition, the reliability is improved to ensure the safety of the operation.

This embodiment will be described in detail below.

The motor gear 11 is rotatably mounted on the housing. The motor gear 11 can be driven by the motor 50 , for example, the motor gear 11 can be driven by a bevel gear set so that the rotation axis of the motor gear 11 is perpendicular to the rotation axis of the motor 50 . The motor gear 11 can be a spur gear, and the motor gear 11 drives the jaw driver of the jaw drive mechanism 1 as a driving gear.

The jaw driving member includes a first jaw driving gear 12. On the circumferential direction of the first jaw driving gear 12, the first jaw driving gear 12 includes an engaging portion 121 and a smooth portion 122. In the first state, the engaging portion 121 Engaged with the power module; in the second state, the smooth part 122 is coupled with the power module.

The gear shaft 16 can be mounted on the housing of the operation assembly 10 , and the first jaw driving gear 12 is rotatably mounted on the gear shaft 16 . The diameter of the smooth portion 122 is smaller than that of the meshing portion 121 so that the smooth portion 122 will not interfere with the motor gear 11 , for example, the diameter of the smooth portion 122 is equal to the diameter of the tooth root of the meshing portion 121 . The motor gear 11 is located in the space area where the smooth part 122 is located and has no contact with the smooth part 122 . Since the smooth part 122 has no teeth, the smooth part 122 is not driven during the coupling process with the motor gear 11 .

In this embodiment, the arc length corresponding to the engaging portion 121 may be smaller than the arc length corresponding to the smooth portion 122 . The meshing portion 121 of the first jaw driving gear 12 meshes with the motor gear 11, so that the motor gear 11 can drive the first jaw driving gear 12 to rotate at a certain angle. The angle through which the first jaw driving gear 12 is driven by the motor gear 11 is the same as the central angle corresponding to the meshing portion 121 .

The first jaw driving gear 12 is provided with a boss 124 protruding from the outer surface of the first jaw driving gear 12 , and the boss 124 may be cylindrical. The connecting rod 14 is connected to the protruding post 124 , so that the connecting rod 14 is connected to the first jaw driving gear 12 so that it can rotate around the protruding post 124 .

The jaw driving part further includes a second jaw driving gear 13 , the second jaw driving gear 13 is rotatably mounted on the gear shaft 16 , and the second jaw driving gear 13 and the first jaw driving gear 12 are arranged coaxially. The second jaw driving gear 13 is overlapped with the first jaw driving gear 12 , and the diameters of the second jaw driving gear 13 and the first jaw driving gear 12 (more precisely, the engaging portion 121 ) are the same. In the first state and the second state, the second jaw driving gear 13 is engaged with the power module; in the first state, the motor gear 11 meshes with the first jaw driving gear 12 and the second jaw driving gear 13 at the same time ; In the second state, the motor gear 11 is coupled with the first jaw drive gear 12 and meshed with the second jaw drive gear 13 . When the smooth part 122 is in the coupling state with the power module, the second jaw driving gear 13 can drive the first jaw driving gear 12 to move from the coupling state of the smooth part 122 and the power module to the engagement state of the meshing part 121 and the power module.

More specifically, the second jaw driving gear 13 may be disposed on the lower side of the first jaw driving gear 12 . The first jaw driving gear 12 is provided with a first matching portion 123, and the second jaw driving gear 13 is provided with a second matching portion 131. When the smooth portion 122 is in a coupled state with the power module, the first matching portion 123 and the second The matching parts 131 cooperate with each other to drive the first jaw driving gear 12 to move. The first fitting part 123 and the second fitting part 131 can be separably fitted. The first matching portion 123 is disposed on a surface of the first jaw driving gear 12 facing the second jaw driving gear 13 . For example, the first matching portion 123 may be an end surface of a groove, the groove may be arc-shaped, and the axis of the groove may coincide with the axis of the first jaw driving gear 12 . The second matching portion 131 may be a protrusion (for example, a protruding cylinder). It can be understood that the first fitting portion 123 may be a protrusion, and the second fitting portion 131 is an end portion of a groove.

As the first jaw driving gear 12 and the second jaw driving gear 13 rotate relative to each other, the first matching portion 123 and the second matching portion 131 can be separated or engaged (here, abutting). When the first fitting part 123 and the second fitting part 131 are mated, that is, when the bump is against the end face of the groove, the second jaw driving gear 13 can drive the first jaw to drive through the bump against the end face of the groove. The gear 12 rotates together, and can be switched from a coupled state with the power module to an engaged state with the power module. When the first matching portion 123 and the second matching portion 131 are separated, that is, when the protrusion leaves the end surface of the groove, the first jaw driving gear 12 and the second jaw driving gear 13 can rotate independently.

In a possible implementation manner, the motion conversion member includes a connecting rod 14 , one end of the connecting rod 14 is rotatably connected to the jaw driving member, and the other end of the connecting rod 14 is rotatably connected to the sleeve 202 . The first jaw drives the gear 12 to rotate to drive the connecting rod 14 to move to drive the casing 202 to close or open the jaw assembly.

In another possible implementation manner, the motion conversion member includes a connecting rod 14 and a slider 15, one end of the connecting rod 14 is rotatably connected to the jaw driver, and the other end of the connecting rod 14 is rotatably connected to the slider 15 , the slider 15 is fixedly connected to the bushing 202 . The slider 15 is mounted so as to be slidable in the front-rear direction with respect to the operation unit 10 . The first jaw drive gear 12, the connecting rod 14 and the slider 15 constitute a slider crank mechanism. When the first jaw driving gear 12 rotates, the slider 15 can drive the casing 202 to move in the forward and backward direction. When the slider 15 drives the casing 202 forward, the jaw assembly is closed, and when the slider 15 drives the sleeve 202 backward, the jaw assembly is opened. As shown in Figure 8, the housing of the operating assembly 10 is also provided with a blocking portion 17. Here, the blocking portion 17 can be fixedly installed on the housing of the operating assembly 10 (the housing of the electric stapler), or integrally formed on the operating assembly. 10 housing (the housing of the electric stapler). The blocking portion 17 is located on one side of the axis of the bushing 202 , and the blocking portion 17 can block the movement of the connecting rod 14 . The first jaw driving gear 12 rotates counterclockwise from the initial state shown in FIG. 8 , and the connecting rod 14 can drive the slider 15 to move distally. When the extension direction of the connecting rod 14 is parallel to the front-rear direction (this position is called the dead point position), the slider 15 reaches the farthest limit position, and the connecting rod is close to the blocking portion 17 at this moment.

As shown in FIG. 9 , the first jaw driving gear 12 continues to rotate an angle in the counterclockwise direction, for example, 5 degrees. The meshing portion 121 of the first jaw driving gear 12 is disengaged from the motor gear 11 . That is to say, when the connecting rod 14 contacts the blocking portion 17, the meshing portion 121 of the motor gear 11 and the first jaw driving gear 12 is just disengaged. It can be understood that when the jaw assembly clamps the tissue, the tissue also exerts force on the jaw assembly, so that the jaw assembly has a tendency to open. This force is transmitted to the bushing 202 and slider 15, which are forced backwards. In the state where the motor gear 11 is disengaged from the meshing portion 121 of the first jaw drive gear 12 , the connecting rod 14 has passed the dead center position. Now the slide block 15 is subject to the backward force and will cause the first jaw drive gear 12 to have a tendency to rotate in the original direction, but the blocking portion 17 can block the connecting rod 14, thereby preventing the first jaw drive gear 12 from continuing to rotate, preventing the first jaw drive gear 12 from continuing to rotate. Slide block 15 moves backward, prevents jaw assembly from opening.

The motor gear 11 can drive the cutting drive mechanism 2 to control the cutting knife assembly 40 to perform the firing action or the knife retracting action, and the motor gear 11 drives the second jaw driving gear 13 to rotate, and does not drive the first jaw driving gear 12, passing through the blocking part 17 Blocking the movement of the connecting rod 14 at a suitable position does not require a complicated locking mechanism, and only a simple blocking member is needed to realize the locking. The overall structure is simple, and the jaw assembly can be kept closed during the movement of the cutting knife assembly 40 .

It can be understood that only when the jaw assembly is closed and the tissue is clamped, the cutter assembly 40 can move. During the movement of the cutter assembly 40, the jaw assembly is closed to clamp the tissue, and the cutter assembly 40 After the knife is withdrawn, the jaw assembly can be opened.

8, 9, 10a to 10f illustrate the working state of the jaw driving mechanism 1 during the process of cutting and suturing tissue by the electric stapler.

As shown in FIG. 8 and FIG. 10 a , the jaw assembly is opened in the initial state, and the motor gear 11 meshes with the first jaw driving gear 12 and the second jaw driving gear 13 at the same time. During the gradual closing process of the jaw assembly, the motor gear 11 rotates clockwise, driving the first jaw driving gear 12 and the second jaw driving gear 13 to rotate counterclockwise. The first jaw driving gear 12 drives the slider 15 to move forward through the connecting rod 14, and the slider 15 drives the sleeve 202 to move forward, so that the jaw assembly is gradually closed.

The first jaw driving gear 12 and the second jaw driving gear 13 rotate through a certain angle together, and when the extending direction of the connecting rod 14 is parallel to the front and rear directions, the slider crank mechanism reaches the dead point position. At the dead point, the first jaw drive gear 12 is about to disengage from the motor gear 11, the connecting rod 14 is about to touch the blocking portion 17, the slider 15 reaches the extreme position of the front end, and the jaw assembly is completely closed.

As shown in FIG. 9 and FIG. 10 b , the motor gear 11 continues to rotate a small angle in the clockwise direction, so that the crank-slider mechanism crosses the dead center position. At this time, the elastic deformation of the slider and the connecting rod is released to a certain extent, and the slider will not move backward, so the clamping structure of the jaw assembly will not be affected. The connecting rod 14 contacts the blocking portion 17, and the meshing portion 121 of the first jaw driving gear 12 disengages from the motor gear 11. The motor gear 11 cannot drive the first jaw driving gear 12 to rotate, but only drives the second jaw driving gear 13 to rotate. The blocking portion 17 blocks the connecting rod 14 to prevent the first jaw driving gear 12 from continuing to rotate under the force exerted by the tissue on the jaw assembly, thereby keeping the jaw assembly in a closed state all the time.

As shown in Figure 10c, the first jaw drive gear 12 is coupled with the motor gear 11, and when the motor gear 11 continues to rotate clockwise, the first jaw drive gear 12 remains stationary, while the motor gear 11 drives the second jaw The driving gear 13 rotates counterclockwise, so that the first matching portion 123 and the second matching portion 131 are separated. At the same time, the motor gear 11 drives the cutting knife assembly 40 through the cutting drive mechanism 2 to perform firing.

As shown in FIG. 10 d , after the firing is completed, the knife return action is performed, the motor gear 11 rotates counterclockwise, and the motor gear 11 drives the cutting knife assembly 40 through the cutting drive mechanism 2 to perform the knife return action. At the same time, the motor gear 11 drives the second jaw driving gear 13 to rotate clockwise, and the first matching portion 123 and the second matching portion 131 are gradually approached. As shown in Fig. 10e, when the knife return is finished, the first matching portion 123 and the second matching portion 131 are engaged again, and the jaw assembly is still closed at this time.

As shown in Figure 10f, the motor gear 11 continues to rotate counterclockwise, the motor gear 11 drives the second jaw driving gear 13 to rotate clockwise, and the second matching part 131 pushes the first matching part 123 to make the first jaw The driving gear 12 also rotates clockwise with the second jaw driving gear 13 . After the first jaw driving gear 12 rotates a certain angle, the meshing portion 121 of the first jaw driving gear 12 meshes with the motor gear 11 again, and then the motor gear 11 can drive the first jaw driving gear 12 to rotate clockwise, so that The jaw assembly of the electric stapler is opened back to the initial state.

In another embodiment, the difference between this embodiment and the previous embodiment is that when the transmission mechanism is in the second state, the jaw driving part is coupled with the power module, and the jaw driving part and the motion conversion part are in the crank The dead center position of the slider mechanism. That is, when the transmission mechanism is in the second state, the jaw driving member and the motion conversion member are at the dead point of the slider crank mechanism. At the dead point, the crank (jaw driver) and connecting rod (motion converter) of the crank-slider mechanism are at the same straight line, that is, the connection line and motion between the axis of the jaw driver and the connection position of the motion converter Transitions are collinear. In this embodiment, when the motor drives the connecting rod 14 to its dead point position, the meshing portion 121 of the first jaw drive gear 12 is disengaged from the motor gear 11, and the jaw assembly is closed at this time, because the first jaw drive gear The meshing part 121 of 12 is disengaged from the motor gear 11, and the motor gear 11 cannot drive the first jaw driving gear 12 to continue to rotate. The motion converting part cannot drive the jaw driving part to move, and the crank slider mechanism realizes self-locking so that the jaw assembly can maintain a closed state.

In this embodiment, the blocking portion 17 is not necessary, in order to further increase the stability, optionally, the electric stapler also includes a blocking portion 17, and the blocking portion 17 is located on one side of the axis of the sleeve 202; During the forward movement of the casing 202 driven by the conversion part, the blocking part 17 can contact the motion conversion part and block the motion conversion part, so that the motion conversion part is limited at the dead point. The blocking portion 17 can keep the motion conversion member stably at the dead point, so that the closed state of the jaw assembly can be kept stable.

Through the dead point characteristic of the slider crank mechanism of the jaw drive mechanism, when the connecting rod 14 is at the dead point position, self-locking can be realized, even if the sleeve 202 or the slider 15 connected with the sleeve 202 is under the force of the jaw assembly , the sleeve 202 or the slider 15 connected with the sleeve 202 cannot drive the connecting rod 14 to rotate. Therefore, the jaw driving mechanism or the jaw closing and maintaining structure is simplified, and a separate locking mechanism may not be provided, which reduces the user's labor cost. The operation is difficult, the number of parts is reduced, and the structure of the device is simplified.

It can be seen from the above description that the electric stapler also includes a cutting knife assembly 40 and a mandrel assembly connected to the cutting knife assembly 40; the transmission mechanism also includes a cutting drive mechanism 2, which drives the mandrel assembly to move, thereby driving the cutting knife assembly 40 forward or backward; the cutting drive mechanism 2 includes a cutting drive member 21, and in the first state, the cutting drive member 21 is separated from the mandrel assembly; in the second state, the cutting drive member 21 is engaged with the mandrel assembly to drive the mandrel The assembly moves to drive the cutter assembly 40 forward or backward. The cutting driving mechanism has a simple and reliable structure, reasonable arrangement and compact structure, so that the size and weight of the electric stapler are small and suitable for use by doctors.

The jaw driving mechanism 1 and the cutting driving mechanism 2 of the transmission mechanism are interrelated, so that the opening and closing of the jaws and the forward and backward movement of the cutting knife can be carried out according to the process of cutting and suturing tissue by an electric stapler.

In this embodiment, in the first state, the distal end of the cutting driver 21 is spaced apart from the proximal end of the mandrel assembly; Then drive the mandrel assembly to move along the first direction, thereby driving the cutting knife assembly 40 to move forward. The coupling between component A and component B means that component A and component B are in at least partial contact, and component A can drive component B to move under the action of external force. That is to say, in the first state, there is an "idle stroke" between the distal end of the cutting drive member 21 and the proximal end of the mandrel assembly, and in the second state, the cutting drive member 21 has moved the "idle stroke" and Matched with the mandrel assembly, so as to drive the mandrel assembly to move along the first direction. The technical scheme has a simple and reliable structure, and the overall arrangement is reasonable, so that the structure is compact, the product size is small, the overall weight can be reduced, and it is suitable for doctors to use.

As shown in Fig. 1 to Fig. 5 and Fig. 11 to Fig. 15e, the cutting drive mechanism 2 further includes a conversion assembly. In the second state, under the action of the cutting driving member 21 , the conversion assembly drives the mandrel assembly to move in a second direction to drive the cutting knife assembly 40 backward, and the second direction is opposite to the first direction. The presence of the conversion assembly enables the mandrel assembly to be driven to move in the second direction. Since the mandrel assembly is connected to the cutting knife assembly 40, the cutting knife assembly 40 can retreat, thereby facilitating the opening of the jaw assembly to meet the requirements of the operation. . The conversion assembly includes a moving part 24 and a moving guide part 22, and the moving part 24 is connected with the mandrel assembly; under the action of the cutting drive part 21, the moving part 24 is guided by the moving guide part 22 to move to engage with the cutting drive part 21, thereby The drive spindle assembly moves in a second direction. More specifically, the moving member 24 includes a pivot end pivotally connected with the spindle assembly, and a first end and a second end extending outward from the pivot end. When the cutting driving member 21 drives the mandrel assembly to move along the first direction, the first end moves to engage with the cutting driving member 21 under the action of the moving guide 22 . When the cutting driving member 21 drives the moving member 24 to drive the mandrel assembly to move in the second direction, the second end is moved by the moving guide 22 so that the first end is separated from the cutting driving member 21 . The mutual cooperation between the moving part 24 of the conversion assembly and the moving guide part 22 enables the mandrel assembly to return to the initial position. The overall structure of the conversion assembly is simple and compact, and has high reliability.

More specifically, the mandrel assembly includes a mandrel 201 and a connecting member 23 connecting the proximal end of the mandrel 201 , and the pivoting end of the moving member 24 can be pivotally connected to the connecting member 23 through a pin 25 . The distal end of the mandrel 201 is connected to the cutting knife assembly 40, and the mandrel 201 drives the cutting knife assembly 40 to move forward to perform a firing action or to move backward to perform a knife retracting action. The first end of the movable part 24 is provided with an embedded part 241, and the distal end of the cutting driver 21 is provided with a coupling groove, and the embedded part 241 is embedded in the combined groove so that the movable part 24 and the cutting driver 21 are engaged, or disengaged from the combined groove to move Part 24 is separated from cutting drive part 21. When the embedded part 241 is inserted into the coupling groove, the side wall of the coupling groove 211 can abut against the front end surface 242 of the embedded part 241, so that the cutting driving part 21 and the connecting part 23 are engaged, thereby driving the moving part 24 and the connecting part 23 to move backward together. The front end surface 242 of the embedded part 241 can be an arc surface or an inclined surface, and the radius of gyration of the part of the front end surface 242 entering the engaging groove 211 first is smaller than or equal to the turning radius of the part entering the engaging groove 211 later. When the knife is withdrawn, the embedded part 241 is easily withdrawn from the engagement groove 211 to prevent the moving part 24 from being blocked.

The connecting part 23 is provided with a contact surface 231 facing the cutting drive part 21. The contact surface 231 may be the most proximal end face of the connecting part 23. When the cutting driving part 21 pushes against the contact surface 231, the connecting part 23 can be pushed to move forward. The cutting drive part 21 extends along the front and rear direction of the electric stapler, and the cutting drive part 21 and the connecting part 23 can be relatively slidably connected along the front and rear direction, for example, the cutting driving part 21 can be provided with a chute, and the connecting part 23 can be provided with a sliding fitting part , the sliding fit part is embedded in the chute. This results in smoother and more stable movement of the cutting drive. The cutting driving member 21 meshes with the motor gear 11, and the motor gear 11 can drive the cutting driving member 21 to move in the forward and backward direction. The cutting driving part 21 is provided with an engaging groove 211 , and the moving part 24 can be partially embedded in the engaging groove 211 , so that the moving part 24 can move along with the cutting driving part 21 in the forward and backward direction. The moving part 24 can engage the cutting drive part 21 and the connecting part 23 so that the cutting driving part 21 and the mandrel 201 move together in the forward and backward direction, and the moving part 24 can separate the cutting driving part 21 and the connecting part 23 to allow the cutting drive The member 21 moves in the forward and backward direction relative to the mandrel 201 .

In this embodiment, the cutting driving member 21 is a rack. Of course, it can be understood that the cutting driving member 21 may also be a screw nut or other mechanism capable of linear motion.

The motion guide 22 can be fixedly connected to the housing of the operating assembly 10 (ie, the housing of the electric stapler), or integrally formed with the housing of the operating assembly 10 (ie, the housing of the electric stapler). The motion guide 22 includes a concave portion and guiding surfaces positioned on both sides of the concave portion, the guiding surface includes a first guiding surface and a second guiding surface; the first end of the moving member 24 pivots around it by slidingly contacting the first guiding surface. The swivel end is moved into engagement with the cutting drive 21 and the second end of the moving member 24 is moved about its pivoted end to disengage the first end from the cutting drive 21 by slidingly contacting the second guide surface. In this embodiment, the first guiding surface includes a first inclined surface 221 and a flat surface 223 , the second guiding surface includes a second inclined surface 222 , and the first inclined surface 221 , the second inclined surface 222 and the flat surface 223 all face the moving member 24 . Of course, it can be understood that the first guiding surface and the second guiding surface may also be in other forms such as arc surfaces.

The first inclined surface 221 can be located on the front side of the second inclined surface 222, the first inclined surface 221 extends forward and gets closer to the side (such as the upper side) where the moving part 24 is located, and the second inclined surface 222 extends backward and gets closer to the moving part 24 side of where. The plane 223 may be located at the front side of the first slope 221, and the plane 223 is parallel to the front-rear direction. When the moving part 24 moves forward and backward along with the connecting part 23 , the moving part 24 can contact the first slope 221 and the second slope 222 , so that the moving part 24 can rotate. When the moving part 24 moves forward and backward along with the connecting part 23, the moving part 24 can keep in contact with the plane 223, so that the moving part 24 can keep not rotating. When the cutting drive 21 moves forward and the moving part 24 contacts the first inclined surface 221 to rotate, the moving part 24 engages the cutting driving part 21 and the connecting part 23, but the connecting part 23 is not due to the cutting driving part 21 and the connecting part 23. The cutting driving part 21 and the connecting part 23 are connected so that the connecting part 23 can move backward with the cutting driving part 21 . When the cutting driving part 21 moves backward and the moving part 24 is in contact with the second inclined surface 222 to rotate, the moving part 24 separates the cutting driving part 21 from the connecting part 23, thereby allowing the cutting driving part 21 to move forward and backward relative to the connecting part 23. sports.

1 to 5 and 15a to 15e illustrate the working state of the cutting drive mechanism 2 during the process of cutting and suturing tissue by the electric stapler.

As shown in FIG. 15 a , the jaw assembly is opened in the initial state, the cutting knife assembly is at the proximal end, and the contact surface 231 of the cutting driving member 21 and the connecting member 23 has a gap. The motor gear 11 rotates, and the jaw assembly is closed by the jaw drive mechanism 1, and at the same time, the motor gear 11 drives the cutting drive member 21 to move forward for a certain distance. As shown in Figures 9 and 15b, when the jaw assembly is fully closed, that is, when the connecting rod 14 touches the blocking portion 17, the cutting driver 21 just abuts against the contact surface 231, and the cutting driver 21 can continue to move forward. Make the connecting member 23 push the cutter assembly 40 forward to execute the firing action. As the connecting member 23 moves forward, the first end of the moving member 24 contacts the first inclined surface 221 .

As shown in 15c, the cutting driving part 21 pushes the connecting part 23 and moves forward together. After the first end of the moving part 24 touches the first inclined surface 221, the moving part 24 moves along the direction shown in FIG. 15c under the action of the first inclined surface 221. Rotate clockwise, so that the embedded portion 241 is inserted into the engagement groove 211 . As the connecting piece 23 continues to move forward, the bottom surface of the moving piece 24 keeps in contact with the plane 223 . After the firing action is completed, the knife retraction action is started, the motor gear 11 rotates in reverse, and the cutting driver 21 is driven to move backward, the side wall of the engagement groove 211 abuts against the embedded part 241, and the moving part 24 and the connecting part 23 can follow the cutting process. The driving member 21 moves backward.

As shown in Figure 15d and Figure 15e, as the cutting drive member 21 moves backward, after the second end of the movable member 24 touches the second inclined surface 222, the movable member 24 moves along the reverse direction of Figure 15d under the action of the second inclined surface 222. Turn clockwise, so that the embedded part 241 withdraws from the engagement groove 211 . After the embedding part 241 withdraws from the engagement groove 211, the moving part 24 and the connecting part 23 connected thereto no longer move backward with the cutting driving part 21, and at this moment the knife retracting action has been completed. The motor gear 11 drives the cutting drive member 21 to continue to move backward, returning to the initial state as shown in Figure 15a.

(second embodiment)

The electric stapler of the second embodiment is generally similar to the electric stapler of the first embodiment, and the specific structure of the cutting drive mechanism is different. The cutting drive mechanism of the second embodiment is the same as that of the first embodiment or Similar components are denoted by the same reference numerals, and detailed descriptions of these same or similar components are omitted. As shown in Fig. 16 to Fig. 21e, the cutting driving mechanism 2 includes a cutting driving member 21 and a conversion assembly. The conversion assembly includes a moving part 24 and a moving guide part 22, and the moving part 24 is connected with the cutting drive part 21; under the action of the cutting driving part 21, the moving part 24 is guided by the moving guide part 22 to move to engage with the mandrel assembly, thereby The drive spindle assembly moves in a second direction. More specifically, the moving member 24 includes a pivot end pivotally connected with the cutting drive member 21 , and a first end and a second end extending outward from the pivot end. When the cutting driver 21 moves along the first direction, the first end moves to engage with the mandrel assembly under the action of the motion guide 22; when the cutting driver 21 drives the moving part 24 and then drives the mandrel assembly to move along the second direction , the second end is moved by the motion guide 22 so that the first end is separated from the mandrel assembly. The mutual cooperation between the moving part 24 of the conversion assembly and the moving guide part 22 enables the mandrel assembly to return to the initial position. The overall structure of the conversion assembly is simple and compact, and has high reliability.

The motion guide 22 includes a concave portion and guiding surfaces on both sides of the concave portion, the guiding surface includes a first guiding surface and a second guiding surface; the first end moves around the pivoting end to be in contact with the first guiding surface by slidingly contacting the first guiding surface. The spindle assembly is engaged and the second end is moved about the pivot end to disengage the first end from the spindle assembly by slidingly contacting the second guide surface. In this embodiment, the first guiding surface includes a first inclined surface 221 and a flat surface 223 , the second guiding surface includes a second inclined surface 222 , and the first inclined surface 221 , the second inclined surface 222 and the flat surface 223 all face the moving member 24 . Of course, it can be understood that the first guiding surface and the second guiding surface may also be in other forms such as arc surfaces. The mandrel assembly includes a mandrel 201 and a connecting piece 23 connected to the proximal end of the mandrel 201; the first end is provided with an embedding portion 241, the connecting piece 23 is provided with a coupling groove, and the embedding portion 241 is embedded in the coupling groove so that the moving part 24 and The spindle assembly is engaged, or disengaged from the engagement groove to separate the moving member from the spindle assembly.

The motion guide 22 also includes a hollowed-out part, which is located below the recessed part and/or the guide surface. In this embodiment, the hollowed-out part is a slot arranged under the recessed part and the guide surface. The opening faces the proximal surface of the motion guide 22 , and the motion guide 22 is elastic by providing a slot. Of course, it can be understood that the slot can be only provided under the guide surface, and the hollowed out part can also be a groove located under the recessed part and/or the guide surface, which also makes the movement guide 22 elastic. In other embodiments, the second slope 222 of the movement guide 22 itself has elasticity or includes an elastic part such as a spring. The movement guide 22 has elasticity so that when the movement member 24 moves backward with the cutting drive member 21, the movement guide 22 can be compressed to prevent the movement member 24 from being stuck.

The pivoting end of the moving member 24 is pivotably connected to the front end of the cutting driving member 21 through a pin shaft 25 . The moving part 24 is provided with an embedded part 241 , and when the cutting driving part 21 retreats backward, the front end surface 242 of the embedded part 241 can abut against the sidewall of the engagement groove 211 , thereby driving the connecting part 23 to move backward together.

The connecting part 23 is provided with an engaging groove 211 , and the moving part 24 can be partially embedded in the engaging groove 211 , so that the connecting part 23 can move along the front and rear directions together with the moving part 24 and the cutting driving part 21 . The connecting piece 23 is provided with a contact surface 231 and a third inclined surface 232 , and in the left-right direction of the electric stapler, a third inclined surface 232 can be sandwiched between the two contact surfaces 231 . The third slope 232 extends to the opening of the engaging groove 211 . The third slope 232 can guide the embedding part 241 to move to the opening position of the engaging groove 211 .

1 to 5 and 21a to 21e illustrate the working state of the second transmission structure 2 during the process of cutting and suturing tissue by the electric stapler.

As shown in FIG. 21 a and FIG. 21 b , the jaw assembly is opened in the initial state, the cutting knife assembly is at the proximal end, and the front end of the cutting driving member 21 is spaced from the contact surface 231 of the connecting member 23 . The cutting driving part 21 does not push the connecting part 23, and the connecting part 23 remains still. The moving part 24 slides along the third slope 232 , so that the moving part 24 rotates counterclockwise around the pin 25 in the counterclockwise direction of FIG.

As shown in FIG. 21c, the cutting drive member 21 continues to move forward, and the first end of the moving member 24 touches the first inclined surface 221, so that the moving member 24 rotates clockwise in FIG. , and the front end of the cutting drive part contacts the contact surface 231, the cutting drive part 21 can push the connecting part 23 to move forward together, and push the cutting knife assembly to execute the firing action. As the connecting piece 23 continues to move forward, the bottom surface of the moving piece 24 keeps in contact with the plane 223 .

As shown in Figure 21d, after the firing action is completed, the knife retraction action is started, the motor gear 11 rotates in the opposite direction, and the cutting driver 21 is driven to move backward, the embedded part 241 abuts against the side wall of the engaging groove 211, and the embedded part 241 is hooked. The connecting piece 23 enables the connecting piece 23 to move backward along with the cutting drive 21 .

As shown in FIG. 21e, as the cutting driving member 21 moves backward, after the second end of the moving member 24 touches the second inclined surface 222, the moving member 24 rotates counterclockwise in the direction of FIG. 21e under the action of the second inclined surface 222. , so that the embedded portion 241 withdraws from the engagement groove 211 . After the embedded part 241 withdraws from the engaging groove 211, the connecting member 23 no longer moves backward along with the cutting driving member 21, and the cutting knife assembly no longer moves backward. At this time, the knife retracting action has been completed.

The motor gear 11 drives the cutting drive part 21 to continue to move backward, and the moving part 24 rotates clockwise in the clockwise direction of Fig. 21e under the elastic action of the moving guide part 22 and the action of the third inclined surface 232, and returns to the initial position as shown in Fig. 21a. state.

The electric surgical instrument in this application can complete anastomosis and cutting at the same time, and the electric surgical instrument includes an end effector, a jaw driving mechanism, a cutting driving mechanism, a power module, and the like. Electric surgical instruments include, but are not limited to, electric staplers, suturing equipment, and surgical robots. Although the present application uses an electric stapler as an example to describe the electric surgical instrument, the electric surgical instrument in the present application is not limited to the electric stapler.

It can be understood that although the jaw drive mechanism and the cutting drive mechanism have been described above. However, the jaw drive mechanism and cutting drive mechanism of the present application do not have to be present at the same time. For example, the jaw driving mechanism can be used in combination with any suitable existing cutting driving mechanism to realize various functions of the stapler, and similarly, the cutting driving mechanism can also be used in combination with any suitable existing jaw driving mechanism to realize Various functions of the stapler.

Although the present application has been described in detail using the above-mentioned embodiments, it is obvious to those skilled in the art that the present application is not limited to the embodiments described in this specification. The present application can be modified and implemented as modified embodiments without departing from the spirit and scope of the present application defined by the claims. Therefore, the description in this specification is for the purpose of illustration and does not have any restrictive meaning to this application.

Claims (22)

1. A powered surgical instrument comprising a jaw assembly, a cannula, a transmission mechanism, and a power module; the sleeve is connected to the proximal end of the jaw assembly; the power module is used for providing power for the transmission mechanism; it is characterized in that the preparation method is characterized in that,

the transmission mechanism comprises a jaw driving mechanism, and the jaw driving mechanism comprises a jaw driving piece and a motion conversion piece which is rotatably connected to the jaw driving piece; the jaw driving piece and the sleeve are connected through the motion conversion piece, and the motion conversion piece drives the sleeve to move so as to drive the jaw assembly to open or close; the jaw driving piece, the motion conversion piece and the sleeve form a crank-slider mechanism;

the transmission mechanism has a first state in which the jaw driver is engaged with the power module and a second state; in the second state, the jaw driver is coupled with the power module, and the jaw driver and the motion converter are in a dead-center position of the slider-crank mechanism.

2. The powered surgical instrument of claim 1, further comprising a stop for limiting the motion translator to the dead-center position.

3. A powered surgical instrument comprising a jaw assembly, a cannula, a transmission mechanism, and a power module; the sleeve is connected to the proximal end of the jaw assembly; the power module is used for providing power for the transmission mechanism; it is characterized in that the preparation method is characterized in that,

the transmission mechanism comprises a jaw driving mechanism, and the jaw driving mechanism comprises a jaw driving piece and a motion conversion piece which is rotatably connected to the jaw driving piece; the jaw driving piece and the sleeve are connected through the motion conversion piece, and the motion conversion piece drives the sleeve to move so as to drive the jaw assembly to open or close; the jaw driving piece, the motion conversion piece and the sleeve form a crank sliding block mechanism;

the transmission mechanism has a first state in which the jaw driver is engaged with the power module and a second state; in the second state, the jaw driver is coupled with the power module, and the jaw driver and the motion converter cross a dead center position of the slider-crank mechanism; the powered surgical instrument further includes a blocking portion for blocking the motion translating member after the motion translating member has passed the dead-center position.

4. The powered surgical instrument of claim 1 or 3, wherein the jaw driver comprises a first jaw drive gear comprising, in a circumferential direction of the first jaw drive gear, an engaging portion and a smooth portion, the engaging portion engaging the power module in the first state; in the second state, the smooth portion is coupled with the power module.

5. The powered surgical instrument of claim 4, wherein the jaw driver further comprises a second jaw drive gear that overlaps the first jaw drive gear; the second jaw drive gear is engaged with the power module in both the first state and the second state; when the smooth part is in a coupling state with the power module, the second jaw driving gear can drive the first jaw driving gear to move from the coupling state of the smooth part and the power module to the engagement state of the meshing part and the power module.

6. The powered surgical instrument of claim 5, wherein the first jaw drive gear is provided with a first mating portion and the second jaw drive gear is provided with a second mating portion that mate with each other to drive movement of the first jaw drive gear when the smooth portion is in a coupled condition with the power module.

7. The powered surgical instrument of claim 6, wherein the first mating portion is an end of a groove provided in the first jaw drive gear and the second mating portion is a tab, or the first mating portion is a tab and the second mating portion is an end of a groove provided in the second jaw drive gear; the tab abutting the end enables the first jaw drive gear to switch from being coupled to the power module to being engaged with the power module.

8. The powered surgical instrument of claim 5, wherein the power module comprises a motor and a motor gear connected to an output shaft of the motor, the motor gear simultaneously meshing with the first jaw drive gear and the second jaw drive gear in the first state; in the second state, the motor gear is coupled with the first jaw drive gear and is engaged with the second jaw drive gear.

9. The powered surgical instrument of claim 8, wherein an axis of the motor extends in a forward-to-rearward direction of the powered surgical instrument.

10. The powered surgical instrument of claim 1 or 3, wherein the motion converter comprises a link having one end rotatably connected to the jaw driver and another end rotatably connected to the sleeve.

11. The powered surgical instrument of claim 1 or 3, wherein the motion converter comprises a link and a slider, one end of the link being rotatably connected to the jaw driver and the other end of the link being rotatably connected to the slider, the slider being fixedly connected to the sleeve.

12. The powered surgical instrument of claim 2 or 3, wherein the blocking portion is located to one side of the axis of the cannula; the blocking portion is fixedly mounted to or integrally formed with a housing of the powered surgical instrument.

13. The powered surgical instrument of claim 1 or 3, wherein the jaw assembly is in a closed state when the jaw driver and the motion converter are in a dead center position of the slider-crank mechanism.

14. The powered surgical instrument of claim 1 or 3, further comprising a cutter assembly and a mandrel assembly connected to the cutter assembly; the transmission mechanism further comprises a cutting driving mechanism, and the cutting driving mechanism drives the mandrel component to move so as to drive the cutting knife component to advance or retreat; the cutting driving mechanism comprises a cutting driving piece, and the cutting driving piece is separated from the mandrel component in the first state; in the second state, the cutting drive is engaged with the mandrel assembly to drive the mandrel assembly to move, thereby driving the cutter assembly to advance or retreat.

15. The powered surgical instrument of claim 14, wherein in the first state, a distal end of the cutting drive is spaced apart from a proximal end of the mandrel assembly; in the second state, the distal end of the cutting drive member is coupled to the proximal end of the mandrel assembly to drive the mandrel assembly in a first direction to advance the cutting blade assembly.

16. The powered surgical instrument of claim 15, wherein the cutting drive mechanism further comprises a switch assembly that, in the second state, drives the mandrel assembly in a second direction opposite the first direction under the action of the cutting drive to drive the cutting knife assembly rearward.

17. The powered surgical instrument of claim 16, wherein the conversion assembly includes a motion member and a motion guide, the motion member coupled with the spindle assembly; under the action of the cutting driving piece, the moving piece is guided by the moving guide to move to be engaged with the cutting driving piece, so that the mandrel assembly is driven to move along the second direction.

18. The powered surgical instrument of claim 17, wherein the mover includes a pivot end pivotally connected to the spindle assembly, and first and second ends extending outwardly from the pivot end; the first end is moved into engagement with the cutting drive by the motion guide as the cutting drive drives the mandrel assembly in the first direction; when the cutting driving piece drives the moving piece and further drives the mandrel assembly to move along the second direction, the second end is moved by the action of the movement guide piece so that the first end is separated from the cutting driving piece.

19. The powered surgical instrument of claim 18, wherein the mandrel assembly comprises a mandrel and a link connected to a proximal end of the mandrel, the pivot end being pivotally connected to the link; the first end is provided with an embedding portion, the distal end of the cutting driving member is provided with a coupling groove, and the embedding portion is embedded in the coupling groove to engage the moving member with the cutting driving member.

20. The powered surgical instrument of claim 18, wherein the motion guide comprises a recessed portion and guide surfaces on either side of the recessed portion, the guide surfaces comprising a first guide surface and a second guide surface; the first end moves about the pivot end into engagement with the cutting drive by sliding contact with the first guide surface and the second end moves about the pivot end by sliding contact with the second guide surface to disengage the first end from the cutting drive.

21. The powered surgical instrument of claim 16, wherein the conversion assembly includes a motion member and a motion guide, the motion member coupled with the cutting drive; under the action of the cutting driving piece, the moving piece is guided by the moving guide to move to be engaged with the mandrel assembly, so that the mandrel assembly is driven to move along a second direction.

22. The powered surgical instrument of claim 21, wherein the motion member includes a pivot end pivotally connected to the cutting drive, and first and second ends extending outwardly from the pivot end; the first end is moved into engagement with the mandrel assembly by the motion guide as the cutting drive moves in the first direction; when the cutting driving piece drives the moving piece to drive the mandrel assembly to move along the second direction, the second end is moved by the action of the movement guide piece to separate the first end from the mandrel assembly.

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