WO2023208235A1 - Surgical instrument - Google Patents
Surgical instrument Download PDFInfo
- Publication number
- WO2023208235A1 WO2023208235A1 PCT/CN2023/091873 CN2023091873W WO2023208235A1 WO 2023208235 A1 WO2023208235 A1 WO 2023208235A1 CN 2023091873 W CN2023091873 W CN 2023091873W WO 2023208235 A1 WO2023208235 A1 WO 2023208235A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- initial position
- transmission member
- response
- transmission
- gear
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 182
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 230000004044 response Effects 0.000 claims abstract description 73
- 230000033001 locomotion Effects 0.000 claims description 90
- 230000004308 accommodation Effects 0.000 claims description 29
- 230000009471 action Effects 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000005291 magnetic effect Effects 0.000 claims description 20
- 238000000926 separation method Methods 0.000 claims 1
- 239000000126 substance Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 24
- 239000012636 effector Substances 0.000 description 20
- 238000000034 method Methods 0.000 description 5
- 230000007257 malfunction Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000003872 anastomosis Effects 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07257—Stapler heads characterised by its anvil
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07278—Stapler heads characterised by its sled or its staple holder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
Definitions
- This application relates to the technical field of medical devices, and in particular to a surgical instrument.
- a stapler suitable for surgical operations is a surgical cutting stapler that can remove excess tissue while suturing the patient's wound. It is widely used for tissue resection and tissue removal in minimally invasive surgeries such as abdominal surgery, gynecology, pediatrics, and thoracic surgery. consistent.
- the surgical cutting stapler is inserted into the patient's body through the cannula of the trocar precisely positioned at the surgical site, and then cuts and anastomoses the tissue by creating a longitudinal incision in the tissue and applying staples on the opposite side of the incision.
- the stapler includes a jaw assembly.
- the jaw assembly includes a nail bin seat and a staple base. The nail bin seat is used to receive the staple bin assembly.
- the staple bin assembly includes a staple bin body and a stapler disposed in the staple bin body.
- the cartridge body is provided with a number of staple cavities for accommodating staples.
- the staple cartridge body includes a top surface, and a nail outlet formed by the staple cavities penetrating the top surface is provided on the top surface.
- the surgical cutting stapler can be fired, severing and suturing the tissue.
- suturing the top surface is in contact with the sutured tissue, and the cutting component in the surgical cutting stapler pushes the wedge-shaped pusher in the staple bin to move, so that the staple driver drives the staples in the staple bin to move upward from the staple cavity.
- the target tissue is pierced and sutured (i.e. the staples are removed).
- the stapler has a first mechanism, the first mechanism drives the jaw assembly to open or close by driving the jaw transmission assembly, the first mechanism drives the cutting knife transmission assembly to move and then drives the cutting knife assembly to move within the jaw assembly, and it has A certain sequence of working methods, that is, the first mechanism first drives the jaw transmission assembly to close the jaw assembly, and then drives the transmission member of the cutting knife transmission assembly to move, so that the transmission member in the first initial position moves forward and drives the cutting knife assembly. Move forward to the distal position, then drive the transmission member to retreat to the first initial position, then drive the cutting knife assembly to return to the initial position, and finally drive the jaw transmission assembly to open the jaw assembly.
- the existing first mechanism drives the transmission member to move to the first initial position, it may fail to drive the transmission member back to the first initial position, which may lead to malfunctions such as failure of the surgical instrument. Therefore, improvements are necessary.
- this application aims to provide a surgical instrument.
- the surgical instrument includes a first mechanism, a transmission member and a second mechanism.
- the first mechanism includes a clutch assembly and an output member.
- the clutch assembly is engaged or coupled with the output member.
- the output member is connected to the transmission member.
- the transmission member has a first In the initial position, the output member has a second initial position. When the transmission member is in the first initial position, the output member is in the second initial position.
- the clutch assembly is engaged with the output member to drive the transmission member to move.
- the clutch assembly is coupled with the output member to enable the transmission.
- the member is disengaged from the drive of the clutch assembly, and in response to the clutch assembly being coupled with the output member, the second mechanism drives the transmission member back to the first initial position so that the transmission member drives the output member back to the second initial position; in response to the clutch assembly being driven and output The components are connected, and the output component in the second initial position is engaged with the clutch assembly.
- the second mechanism includes a reset element, a first element, a guide element, and a second element provided on the transmission element;
- the first member In response to the clutch mechanism being coupled with the output member, and in response to the first element cooperating with the second element under the action of the return member, the first member is driven by the return member to make a second movement to drive the second member, and then drive the transmission member back to first initial position;
- the guide member guides the first element to make a second movement along the first preset direction.
- the first element in response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the reset member to limit the transmission member to the first initial position;
- the first element In response to the transmission member being driven by the output member to depart from the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element;
- the guide member guides the first element to make a third movement along the second preset direction.
- the first element is a protrusion and the second element is a groove
- the return member drives the protrusion to make a second movement to drive the groove, thereby driving the transmission member Return to the first initial position
- the protrusion resists the groove under the action of the return member to limit the transmission member to the first initial position
- the protrusion In response to the transmission member being driven by the output member to depart from the first initial position, the protrusion is driven by the transmission member to make a third movement to separate the protrusion from the groove.
- the guide includes a receiving cavity in which the first element is at least partially movably arranged,
- the accommodating cavity guides the first component to perform a second movement along the first preset direction; the accommodating cavity guides the first component to perform a third movement along the second preset direction.
- the first preset direction is opposite to the second preset direction.
- the first preset direction intersects the movement direction of the transmission member.
- the transmission member is provided with a guide surface; after the output member drives the transmission member to move forward so that the transmission member is disengaged from the first element, in response to the transmission member being driven to move backward, the guide surface abuts against the first element. Connect and drive the movement of the first element;
- the first element In response to the coupling of the clutch assembly and the output member, the first element is driven by the reset member to make a second movement to drive the second member, thereby driving the transmission member back to the first initial position.
- the guide member in response to the transmission member being disengaged from the first element, stops the first member to prevent the first element from being disengaged from the guide member.
- the guide member includes a first limiting member, the first member includes a second limiting member, and the first limiting member cooperates with the second limiting member to stop the first member.
- the first limiting member includes a first abutting surface
- the second limiting member includes a second abutting surface
- the first abutting surface abuts against the second abutting surface to stop the first element.
- the first element has a preset position, and in response to the transmission member being driven by the output member to move forward to disengage from the first initial position, the first element is maintained at the preset position.
- the reset member is an elastic member, and the elastic member is connected to the first element
- the first element In response to the coupling of the clutch assembly and the output member, the first element is driven by the elastic member to make a second movement to drive the second element, thereby driving the transmission member back to the first initial position.
- the elastic member drives the first element to make the second movement to drive the second element to move, Then drive the transmission member back to the first initial position
- the first element resists the second element under the action of the elastic member to limit the transmission member to the first initial position
- the first element In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element.
- the second mechanism is a magnetic element, and the transmission member is made of magnetic material;
- the magnetic element drives the transmission member back to the first initial position.
- the magnetic element limits the transmission member to the first initial position. starting position.
- the beneficial effect of the present application is that the technical solution of the present application can ensure that the transmission member can return to the first initial position every time, thereby ensuring that the output member can return to the second initial position every time.
- the output in the second initial position When the component is connected to the clutch component again, it is engaged with the clutch component, thereby ensuring that the surgical instrument can be used normally and meet the surgical requirements.
- Figure 1 is a schematic structural diagram of the surgical instrument of the present application.
- Figure 2 is a schematic diagram of a partial internal structure of the surgical instrument shown in Figure 1;
- Figure 3 is a cross-sectional view of the surgical instrument in the embodiment
- Figure 4 is an enlarged view of A in Figure 3;
- Figure 5 is a schematic structural diagram of the second mechanism in the embodiment
- Figure 6 is a schematic structural diagram of the second mechanism in another embodiment
- Figure 7 is a cross-sectional view of the first mechanism in the embodiment.
- Figure 8 is a cross-sectional view of the first mechanism in another embodiment
- Figure 9 is an exploded view of a partial internal structure of the surgical instrument shown in Figure 1;
- Figure 10 is a schematic structural diagram of the first clutch member, the second clutch member and the intermediate member
- Figure 11 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed;
- Figure 12 is a state diagram of the output member, first clutch member and intermediate member in Figure 11;
- Figure 13 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are closed;
- Figure 14 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 12;
- Figure 15 shows the second mechanism and the first mechanism when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed, and the second effective rotation structure of the second clutch member is completely disengaged from the drive gear. and status diagrams of transmission components;
- Figure 16 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 15;
- Figure 17 shows the second mechanism, the first mechanism and the first effective conversion structure of the first clutch member when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed and the output member begins to engage.
- State diagram of transmission components
- Figure 18 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 15;
- Figure 19 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is separated from the first initial position;
- Figure 20 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 19;
- Figure 21 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the cutting knife feed is completed;
- Figure 22 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 21;
- Figure 23 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member moves to the first initial position and the output member meshes with the last tooth of the first effective rotation structure of the first clutch member;
- Figure 24 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 23;
- Figure 25 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the first mechanism and the transmission member begin to couple;
- Figure 26 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 25;
- Figure 27 is a cross-sectional view of Figure 25;
- Figure 28 is a schematic structural diagram of the output member again being connected to the toothed portion of the clutch assembly in the prior art
- Figure 29 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not opened;
- Figure 30 is a schematic structural diagram of the stapler and the reset limiting member.
- proximal refers to the portion closer to the clinician
- distal refers to the part far away from the clinician. That is, the handle is the proximal end
- distal refers to the part far away from the clinician. That is, the handle is the proximal end
- distal refers to the part far away from the clinician. That is, the handle is the proximal end
- the end effector 5 is the distal end.
- the proximal end of a component represents the end relatively close to the handle
- distal end represents the relatively Close to one end of the jaw assembly.
- the terms “upper” and “lower” are based on the relative positions of the nail base 52 and the nail bin base 51 of the jaw assembly. Specifically, the nail base 52 is on “upper” and the nail bin base 51 Under.
- staplers can be used in many orientations and positions, so these terms expressing relative positional relationships are not restrictive and absolute.
- first initial position used in this article is the position of the transmission member when the cutting knife is retracted to the position
- second initial position is the position of the output member when the transmission member is in the first initial position
- Selective connection refers to joining or coupling.
- Coupling refers to the termination of bonding due to changes in relative position or state between interacting components and the loss of the structure used for bonding.
- the idle range means that when the clutch assembly 22 is driven with motion input, the clutch assembly 22 has no motion output, that is, it does not drive the cutting blade transmission assembly or the jaw transmission assembly.
- the idle stroke structure refers to the structure of the components of the clutch assembly 22 that can realize the idle stroke.
- the effective rotation range means that when the clutch assembly 22 has a motion input, that is, it is driven, the clutch assembly 22 has a motion output, that is, it drives the cutting knife transmission assembly or the jaw transmission assembly.
- the effective rotation structure refers to the structure of the components of the clutch assembly 22 that can achieve effective rotation.
- the existing surgical instrument 1 includes a main body 13, a shaft assembly 4 extending from the main body 13 to the distal end, an end effector 5 provided at the distal end of the shaft assembly 4, and a cutting knife (not shown in the figure). Shows).
- the surgical instrument 1 also includes a first mechanism 2, a transmission assembly 3 and an electric module.
- the first mechanism 2 is located in the main body 13.
- a part of the transmission assembly 3 is located in the main body 13, a part is located in the shaft assembly 4, and a part is located in the end effector 5. inside; the cutting knife is located inside the end effector 5.
- Electric modules include electric motors.
- the first mechanism 2 drives the transmission component 3 to move.
- the transmission component 3 includes a transmission component.
- the first mechanism 2 includes an input component, a clutch component 22 connected to the input component, and an output component 26.
- the input component is connected to the motor, and the output component 26 includes an output component. and output components.
- the surgical instrument 1 also includes a second mechanism 11 .
- the first mechanism 2 includes a clutch assembly 22 and an output member.
- the clutch assembly 22 and the output member The transmission member is engaged or coupled, the output member is connected to the transmission member, the transmission member has a first initial position, and the output member has a second initial position.
- the transmission member is in the first initial position, the output member is in the second initial position, and the clutch assembly 22 and The output member is engaged to drive the transmission member to move, and the clutch assembly 22 is coupled with the output member so that the transmission member is disengaged from the driving of the clutch assembly 22.
- the second mechanism 11 drives the transmission member back to the first initial position. So that the transmission member drives the output member back to the second initial position, and in response to the clutch assembly 22 being driven to connect with the output member, the output member in the second initial position is engaged with the clutch assembly 22 .
- the second mechanism drives the transmission member back to the first initial position so that the output member returns to the second initial position, thereby enabling the output member to engage with the clutch assembly again, effectively preventing the first mechanism from being unable to drive the transmission member back to the first initial position.
- the first initial position which in turn causes the problem of surgical instrument failure, enables the surgical instrument to be used normally, increases the service life of the surgical instrument, makes the surgical instrument more stable, and reduces surgical risks.
- the transmission component is the rack 31 .
- the second mechanism 11 includes a reset member 111 , a first member 112 , a guide member 116 and a second member 114 provided on the transmission member.
- the first element 112 is driven by the reset member 111 to make a second movement to drive the second member 114, thereby driving the transmission member back to the first initial position;
- the guide 116 guides the first element 112 to make the second movement along the first preset direction.
- the reset member 111 is an elastic member, and one end of the elastic member is connected to the first element 112 .
- the elastic member drives the first member 112 to make a second movement to drive the second member. 114 moves, thereby driving the transmission member back to the first initial position.
- the first element 112 resists the second element 114 under the action of the elastic member to limit the transmission member to the first initial position.
- the transmission member drives the first element 112 to make a third movement to separate the first element 112 from the second element 114 .
- the guide 116 guides the first element 112 to make the first movement and the second movement along the first preset direction, and the guide 116 guides the first element 112 to make the third movement along the second preset direction.
- the first element 112 is a protrusion 119
- the second element 114 is a groove.
- the protrusion 119 resists the groove under the action of the reset member 111 to limit the transmission member to the first initial position.
- the protrusion 119 is driven by the transmission member to make a third movement to separate the protrusion 119 from the groove.
- the protrusion 119 includes a convex arc-shaped surface, and the groove may be an indented wedge-shaped body.
- the protrusions 119 include convex arcuate surfaces, and the grooves include concave arcuate surfaces.
- the guide 116 includes an accommodation cavity, the first element 112 is at least partially movably disposed in the accommodation cavity, and the accommodation cavity guides the first element 112 to perform a second movement along the first preset direction. and a third movement; the accommodation cavity guides the first element 112 to perform a third movement along the second preset direction.
- the inner wall surface of the accommodation cavity acts on the first element 112 to cause it to make a second movement along the first preset direction or a third movement along the second preset direction.
- the first element 112 is at least partially accommodated in the accommodation cavity.
- the accommodation space of the accommodation cavity is slightly larger than the first element 112 .
- the accommodation space of the accommodation cavity matches the shape of the first element 112 so that its inner wall surface can face the first element 112 It plays a guiding role to prevent the first element 112 from swinging back and forth significantly when performing the first movement, the second movement and the third movement, thereby affecting the movement of the driving rack 31 back to the first initial position and limiting the movement of the rack 31 bit effect.
- the first component 112 includes a main body 118 and a protrusion 119 .
- the guide 116 includes a cavity and a through hole. The cavity is located above and communicated with the through hole. The cavity is used to movably accommodate the main body 118 of the first element 112 .
- the through hole is used to movably accommodate the main body 118 of the first element 112 .
- At least part of the protrusion 119 of the first element 112 is disposed, and the first contact surface 117 is the bottom surface of the cavity.
- the accommodation cavity includes a first accommodation cavity and/or a second accommodation cavity. The first accommodation cavity is formed by setting the shape of the cavity to match the shape of the main body 118 of the first element 112 and setting the size of the cavity.
- the size of the main body 118 is slightly larger than that of the main body 118 to guide the movement of the main body 118.
- the second receiving cavity is formed by arranging the shape of the through hole to match the shape of the protrusion 119 of the first element 112.
- the size is set slightly larger than the size of the protrusion 119 to guide the movement of the protrusion 119, whereby the first accommodation cavity guides the movement of the main body 118 of the first element 112, and the second accommodation cavity guides the movement of the first element 112.
- the protrusion 119 moves, so that the receiving cavity guides the body portion 118 of the first element 112 and/or guides the movement of the protrusion 119 of the first element 112 .
- the first preset direction is opposite to the second preset direction.
- the first preset direction intersects the movement direction of the transmission member.
- the first preset direction is perpendicular to the movement direction of the transmission member.
- the "preset position" of the first element 112 in this article means that when the first element 112 is separated from the second element 114 and the first element 112 is at the rear side of the second element 114 and abuts against the transmission member, the The location of an element 112.
- the transmission member includes a guide surface 115, and the position where the first element 112 contacts the guide surface 115 is not the "preset position”. "set”.
- the protrusion 119 in response to the rack 31 being driven forward by the output member, the protrusion 119 is disengaged from the rack 31, so that the protrusion 119 no longer moves during the movement of the rack 31. It abuts against the rack 31 to eliminate the friction force exerted by the rack 31 .
- the rack 31 is also provided with a guide surface 115 . After the rack 31 moves forward for a certain distance, the rack 31 is disengaged from the protrusion 119. Then, in response to the rack 31 being operated to move backward, the guide surface 115 contacts the protrusion 119 and drives the protrusion 119 to move.
- the bar 31 moves further backward, in response to the clutch assembly 22 coupling with the output member, and in response to the reset member 111 driving the protrusion 119 to make the first movement part into the groove and abutting with the groove, the reset member 111 drives the protrusion 119 to do The second movement in turn drives the rack 31 back to the first initial position.
- the guide surface 115 can drive the protrusion 119 to move upward to prevent the protrusion 119 from connecting with the rack 31.
- the interference rack 31 moves backward.
- the rack 31 is driven by the output member to move forward so that after the first member 112 is separated from the second member 114 , the first member 112 is located behind the second member 114 and is connected to the transmission member. When abutting, the first element 112 remains in the preset position.
- the guide member 116 In response to the transmission member being disengaged from the first element 112 , the guide member 116 cooperates with the first member 112 to stop the first member 112 to prevent the first member 112 from being disengaged from the guide member 116 .
- the guide 116 also includes a first limiting member, and the first element 112 further includes a second limiting member.
- the reset member 111 drives the first member 112 to move in the first preset direction so that the second limiting member cooperates with the first limiting member to stop the first member 112. position, thereby preventing the first element 112 from disengaging from the guide 116 .
- the first limiting member includes a first abutting surface 117
- the second limiting member includes a second abutting surface 113
- the second contact surface 113 is provided on the main body portion 118 of the first element 112
- the protrusion 119 is provided on one surface of the main body portion 118
- the second contact surface 113 is provided on the periphery of the protrusion 119
- the guide member 116 also includes a through hole for movably receiving the protrusion 119 of the first limiting member and a first abutment surface 117 .
- the first contact surface 117 is the bottom surface of the cavity, and the through hole extends from the first contact surface 117 toward the outside of the cavity along the first preset direction.
- the reset member 111 drives the first member 112 to move in the first preset direction so that the second contact surface 113 of the first member 112 and the first contact surface of the guide member 116 117 abuts, thereby preventing the first element 112 from being separated from the guide 116 .
- first abutment surface 117 and the second abutment surface 113 effectively prevent the first element 112 from coming out of the guide 116 when the transmission member is disengaged from the first element 112, and then when the transmission member moves backward. Interfere with the movement of transmission parts.
- the main body part 118 and the protrusion 119 are spherical as a whole, and the accommodation space of the cavity is cylindrical.
- the main body part 118 is movably accommodated in the cavity, and the main body part 118 moves in the accommodation space of the cavity.
- the protrusion 119 is at least partially movably disposed in the through hole, and the protrusion 119 is at least partially capable of movement in the through hole.
- the size of the accommodation space is set slightly larger than the size of the main body part 118, so that the above-mentioned cavity becomes the first accommodation cavity, and the first accommodation cavity guides the movement of the main body part 118; the size of another accommodation space formed by the above-mentioned through hole is set must be slightly larger than the size of the protrusion 119, and the other accommodation space matches the shape of the protrusion 119 of the first element 112, so that the above-mentioned through hole becomes a second accommodation cavity, and the second accommodation cavity guides the movement of the protrusion 119.
- the accommodation space of the cavity may be in other shapes, and the shape of the main body part 118 may also be in other shapes.
- the protrusion 119 may have other shapes, and the through hole may also have a shape matching the shape of the protrusion 119 .
- the shaft assembly 4 includes a core shaft 41 and a sleeve 42 sleeved on the core shaft 41 .
- the core shaft 41 is connected to the rack 31 .
- the end effector 5 includes a jaw assembly and a nail cartridge assembly 53.
- the jaw assembly includes a nail cartridge seat 51 and a nail base 52 pivotably connected to the nail cartridge seat 51.
- the nail cartridge seat 51 is used to operably support the nail cartridge seat 51.
- the staple cartridge assembly 53 and the staple base 52 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge base 51 and the staple cartridge assembly 53 to loosen or clamp tissue.
- the cutting knife is located within the end effector 5.
- the nail cartridge assembly 53 is provided with a cutting groove for the movement of the cutting knife. The cutting knife cuts the tissue while moving distally in the cutting groove, and pushes the staples accommodated in the nail cartridge assembly 53 to extract the staples to the tissue. Perform anastomosis.
- the stapler also includes a first mechanism 2, a transmission assembly 3 and an electric module.
- the first mechanism 2 is located in the main body 13.
- a part of the transmission assembly 3 is located in the main body 13, a part is located in the shaft assembly 4, and a part is located in the end effector 5. .
- Electric modules include electric motors.
- the first mechanism 2 includes an input member, a clutch assembly 22 connected to the input member, and an output assembly 26 .
- the input part is the driving gear 21, and the input part is connected with the motor.
- the output assembly 26 includes an output member and an output element.
- the output member is the fourth gear 261 and the output element is the connecting rod 262 .
- the clutch assembly 22 includes a first clutch member, an intermediate member and a second clutch member.
- the first clutch member includes a first effective rotation structure and a first idle rotation structure.
- the intermediate piece includes a first clutch structure.
- the second clutch includes a second effective rotation structure and a second idle rotation structure, and the second clutch also includes a second clutch structure.
- the middle piece is connected to the first clutch piece and rotates synchronously, the driving gear 21 is connected to the middle piece, the driving gear is sleeved on the driving shaft 211, and the driving shaft 211 is connected to the motor.
- the clutch assembly 22 also includes a rotating shaft 27. Both the intermediate member and the second clutch member are rotatably sleeved on the rotating shaft 27.
- the intermediate member When the first clutch structure of the intermediate member is connected to the second clutch structure of the second clutch member, the intermediate member The second clutch member drives the second clutch member to move.
- the first clutch structure of the middle member is separated from the second clutch structure of the second clutch member, the second clutch member is separated from the driving force of the middle member.
- the first clutch member is the first gear 23.
- the first gear 23 has a first toothed portion 231 and a first toothless portion 232.
- the first toothed portion 231 is The first effective rotation structure
- the first toothless portion 232 is a first idle rotation structure.
- the second clutch member is the second gear 24.
- the second gear 24 has a second toothed portion 242 and a second toothless portion 243.
- the second toothed portion 242 is a second effective rotation structure
- the second toothless portion 243 is The second idle range structure.
- the middle piece is the third gear 25.
- the middle piece includes a first clutch structure.
- the first clutch structure is an arc groove 252.
- the arc groove 252 is disposed on the first end surface 251 of the third gear 25, and the third gear 25 is connected to the driving gear 21;
- the second gear 24 includes a second clutch structure, the second clutch structure is a convex block 244, and the convex block 244 is disposed on the second On the second end face 241 of the gear 24, the first end face 251 of the intermediate member is adjacent to the second end face 241 of the second clutch member.
- the protrusion 244 at least partially extends into the arc groove 252, and the center of the arc groove 252 is located therein.
- the bump 244 can slide in the arc groove 252 on the rotation axis of the component.
- the engagement of the bump 244 with the arc groove 252 can cause the third gear 25 and the second gear 24 to overlap; on the other hand, when the third gear 25 drives the fourth gear 261 through the first gear 23, the bump 244 can Sliding in the arc groove 252, the second gear 24 does not rotate with the third gear 25.
- the second toothless portion 243 is coupled with the driving gear 21, so that when the first mechanism 2 drives the cutting knife assembly to move, the second gear 24 does not rotate with the third gear 25. 24 will not drive the end effector 5 closed or open.
- the third gear 25 rotates so that the arc groove 252 rotates.
- the head end 253 drives the protrusion 244 in contact with it to rotate, thereby driving the second gear 24 to rotate, so that the second gear 24 and the driving gear 21 switch from the coupling state to the engagement state.
- the coupling state is the second toothless portion 243 and the driving gear 21 .
- the drive gear 21 is coupled, and in the engaged state, the second toothed portion 242 is engaged with the drive gear 21 .
- connection between the protrusion 119 and the arc groove 252 can convert the coupling of the driving gear 21 and the second toothless portion 243 into the engagement of the driving gear 21 and the second toothed portion 242 , thereby realizing the coupling of the second gear 24 to the connecting rod.
- 262 is converted from a non-driven state to a driven state.
- the third gear 25 drives the first gear 23 to rotate clockwise, and the first toothed portion 231 of the first gear 23 is in contact with the first gear 23.
- the fourth gear 261 is disengaged, and the fourth gear 261 is coupled with the first toothless portion 232 (see Figure 25).
- the third gear 25 continues to rotate one tooth under the drive of the driving gear 21, so that the bump 244 abuts the arc groove 252.
- the head end 253 of the second gear 24 (see Figure 29), thereby aligning the teeth of the second toothed portion 242 of the second gear 24 with the teeth of the third gear 25, but the second toothed portion 242 and the driving gear 21 have not yet meshed.
- the driving gear 21 continues to drive the third gear 25 to rotate.
- the head end 253 of the arc groove 252 drives the bump 244 to rotate synchronously, so that the second toothed portion 242 begins to rotate with the driving gear 21 Engage, so that the second gear 24 and the third gear 25 can be synchronously engaged with the driving gear 21 to ensure the subsequent smooth opening of the end effector 5 to release the tissue.
- the transmission assembly 3 includes a cutting knife transmission assembly and a jaw transmission assembly.
- the cutting knife transmission assembly is used to drive the cutting knife to move within the end effector 5.
- the jaw transmission assembly is used to drive the end effector 5. Opening or closing of the jaw assembly.
- the cutting blade transmission assembly includes a rack 31 and a mandrel 41 connected to the distal end of the rack 31.
- the distal end of the mandrel 41 is connected to the cutting blade.
- the mandrel 41 drives the cutting knife to move within the end effector 5; when the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the fourth gear 261 is disengaged from the drive.
- the rack 31 is coupled with the first mechanism 2 due to the drive of the moving gear 21 , and the rack 31 is separated from the drive of the first mechanism 2 .
- the jaw transmission assembly includes a slider 32 connected to a connecting rod 262 and a sleeve 42 connected to the slider 32.
- the connecting rod 262 is connected to the second gear 24.
- the driving gear 21 drives the second gear 24 to rotate
- the second gear 24 drives the connecting rod 262 to move
- the connecting rod 262 drives the slider 32 and the sleeve 42 to move
- the sleeve 42 drives the jaw assembly to open and close; when the When the second toothless portion 243 of the second gear 24 is coupled with the driving gear 21 , the second gear 24 is separated from the drive of the driving gear 21 , and the connecting rod 262 is coupled with the first mechanism 2 .
- One end of the connecting rod 262 is rotatably disposed on the second end surface 241 of the second gear 24.
- the second gear 24 drives the connecting rod 262 to move.
- the movement of the connecting rod 262 drives the jaw transmission assembly to move and thereby drives the jaw assembly to open or close.
- the position of the first gear 23 corresponds to the position of the fourth gear 261 so that the first gear 23 and the fourth gear 261 are selectively connected.
- the fourth gear 261 meshes with the rack 31.
- the rack 31 is in the first initial position
- the fourth gear 261 is in the second initial position
- the end effector 5 is in the open state
- the bump 244 is at the head end 253 of the arc groove 252 .
- the operator starts the motor, and the motor rotates forward, thereby driving the driving gear 21 to rotate clockwise.
- the driving gear 21 is connected with the first toothed portion 231 of the first gear 23, the second toothed portion 242 of the second gear 24, and the third gear.
- the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261
- the protrusion 244 of the second gear 24 is at the head end 253 of the arc groove 252 of the third gear 25, and the driving gear 21 drives the first
- the gear 23, the second gear 24 and the third gear 25 rotate counterclockwise synchronously, and the bump 244 is kept at the head end 253 of the arc groove 252.
- the second gear 24 rotates to drive the connecting rod 262 to move, and the connecting rod 262 in turn drives the slider. 32.
- the slider 32 drives the sleeve 42 to move forward, the sleeve 42 drives the jaw assembly of the end effector 5 to close, the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, and the fourth gear 261 Maintaining the second initial position, the rack 31 remains in the first initial position.
- the motor continues to rotate in the forward direction.
- the motor drives the driving gear 21 to rotate clockwise.
- the driving gear 21 drives the first gear 23 to rotate through the third gear 25, thereby causing the first toothed part of the first gear 23 to rotate.
- the portion 231 is engaged with the fourth gear 261 in the second initial position, and the fourth gear 261 starts to rotate from the second initial position to drive the rack 31 from the first The initial position moves forward.
- the rack 31 drives the protrusion 119 to make a third movement to separate the protrusion 119 from the groove, and guide the protrusion 119 along the third movement.
- the first toothed portion 231 of the first gear 23 is engaged with the fourth gear 261 in the second initial position
- the teeth 13 of the fourth gear 261 and thus the teeth 12 of the fourth gear 261 , enter between the teeth 6 and 5 of the first gear 23 , so that the first toothed portion 231 of the first gear 23 meshes with the fourth gear 261 .
- the rack 31 drives the spindle 41 to move and thereby drives the cutting knife to move in the end effector 5. Please refer to Figure 4, Figure 5 and Figure 21.
- the reset member 111 In response to the forward movement of the rack 31 and the disengagement of the protrusion 119, the reset member 111 The second element 114 is driven to move along the first preset direction, so that the second abutment surface 113 moves, and then the second abutment surface 113 moves to abut with the first abutment surface 117, thereby stopping the second element 114. Bit.
- FIG. 6 During the process of the rack 31 being driven by the first mechanism 2 , the first element 112 is maintained at the preset position.
- the state of the clutch assembly 22 at a certain moment when the cutting knife is moving forward the second toothless portion 243 is coupled with the driving gear 21, the second gear 24 does not rotate, and the driving gear 21 cannot drive the end portion.
- the actuator 5 moves, that is, the jaw assembly remains in a closed state.
- the first toothed portion 231 meshes with the fourth gear 261.
- the driving gear 21 drives the third gear 25 to rotate counterclockwise and then drives the first gear 23 to rotate.
- the first gear 23 drives the fourth gear 261 to rotate.
- the cutting knife completes tissue cutting.
- the operator operates the motor to rotate in the reverse direction.
- the motor drives the driving gear 21 to rotate counterclockwise.
- the driving gear 21 drives the first gear 23 and the third gear 25 to rotate clockwise.
- the first toothed portion 231 of the first gear 23 drives the third gear 23 to rotate clockwise.
- the fourth gear 261 rotates counterclockwise, and the fourth gear 261 drives the rack 31 to move toward the first initial position.
- the rack 31 is provided with a guide surface 115 .
- the rack 31 moves forward to disengage the rack 31 from the protrusion 119.
- the guide surface 115 abuts the protrusion 119 and drives the protrusion 119 to move so that the protrusion 119 reaches the preset position. Location.
- the transmission member continues to move toward the first initial position, and the output member engages with the last tooth 6 of the first toothed portion 231 of the first gear 23 .
- the reset member 111 drives the protrusion 119 in the preset position to make the first movement in the first preset direction. Movement, causing the protrusion 119 to partially enter the groove and abut against the groove.
- the reset member 111 drives the protrusion 119 at the preset position to make a first movement in the first preset direction, so that the protrusion 119 partially enters the groove and moves Butt against the groove.
- the guide 116 guides the protrusion 119 to make a first movement in the first preset direction, ensuring that the protrusion 119 partially enters the groove along the first preset direction and abuts against the groove, thereby ensuring that the subsequent protrusion 119 drives the groove.
- the first mechanism 2 and the rack 31 start to couple, and the fourth gear 261 does not return to the second initial position. If the fourth gear 261 remains in this position, when the first tooth 6 of the first toothed portion 231 of the first gear 23 is connected to the fourth gear 261 again, the first tooth 6 may be connected to the fourth gear 261 .
- the teeth 12 come into contact, causing the teeth to break, causing the first mechanism 2 to fail.
- the second toothless portion 243 is coupled with the driving gear 21, the second gear 24 does not rotate, and the driving gear 21 cannot drive the end effector 5 to move, that is, the jaw assembly remains in a closed state, and the first gear 23
- the arc groove 252 rotates along with the first gear 23 , thereby causing the bump 244 originally located at the end of the arc groove 252 to slide toward the head end 253 .
- the first movement is made under the action of the reset member 111 so that the protrusion 119 leaves the preset position and at least partially enters the groove, and in response to the first toothless portion 232 of the first gear 23 Coupled with the fourth gear 261, the reset member 111 drives the protrusion 119 to make a second movement to drive the groove movement, thereby driving the rack 31 to return to the first initial position.
- the inner wall surface of the accommodation cavity of the guide 116 acts on the protrusion 119 to cause it to make a second movement along the first preset direction, ensuring that the protrusion 119 can resist the inner wall surface of the groove and make the second movement to drive the groove. Move to the first initial position.
- the teeth 6 are in contact, which in turn causes the motor to be overloaded, causing the motor or circuit board to fail; or the teeth of the output part and/or the teeth of the clutch assembly are damaged, and the tooth chips fall off, causing the stapler to malfunction; or the teeth of the output part are damaged. And/or the teeth of the clutch assembly are damaged, resulting in missing teeth, which in turn shortens the rack stroke and the cutting knife cannot cut in place.
- the motor continues to reverse, and the third gear 25 continues to rotate, so that the protrusion 244 abuts the head end 253 of the arc groove 252, thereby causing the third
- the teeth of the second toothed portion 242 of the second gear 24 are aligned vertically with the teeth of the third gear 25, but the second toothed portion 242 and the driving gear 21 have not yet meshed.
- the motor rotates, and the driving gear 21 drives the third gear 25.
- the head end 253 of the arc groove 252 drives the bump 244 to rotate synchronously, so that the second toothed portion 242 begins to mesh with the driving gear 21, so that the second gear 24 and the third gear 25 can be synchronously rotated.
- the driving gear 21 is engaged, the driving gear 21 drives the second gear 24 to rotate, and the second gear 24 drives the end effector 5 to open.
- the second mechanism 11 is a magnetic element 12, and the transmission member is made of ferromagnetic material.
- the magnetic element 12 drives the transmission member back to the first initial position, and in response to the transmission member reaching the first initial position, the magnetic element 12 limits the transmission member in the first initial position.
- the first mechanism 2 drives the rack 31 to move toward the first initial position.
- the magnetic element 12 attracts the rack 31 back to the first initial position through magnetic force, thereby driving the rack 31
- the fourth gear 261 returns to the second initial position.
- the magnetic element 12 attracts the rack 31 through magnetic force to limit the rack 31 to the first initial position, thereby moving the fourth gear 261
- the limit is at the second initial position to ensure that the input member can be engaged when it is connected to the first toothed portion 231 of the first gear 23 again, preventing the input member from engaging with the first toothed portion 231 of the first gear 23 and causing the first Organization 2 failed.
- the magnetic element 12 is disposed at the proximal end of the first initial position.
- the transmission element is attracted by the magnetic force of the magnetic element 12 so that the transmission element and the magnetic element 12 are in contact.
- this application uses the second mechanism 11 to drive the transmission member back to the first initial position, and then drive the output member back to the second initial position, thereby ensuring that the next time the output member is connected to the first toothed portion 231 of the clutch assembly 22 It can engage with the first toothed portion 231 to prevent the output member that is not in the second initial position from contacting and hitting the teeth when connected to the first toothed portion 231, thereby causing the surgical instrument to fail.
- the second mechanism 11 of the present application has a simple structure and is easy to install.
- the reset member 111 drives the first element 112 to make the second movement, so that the first element 112 drives the second element 114, thereby driving the transmission member to move to the first initial position, and causing the first element 112 to contact the second element 114 to transmit the transmission.
- the output member is limited to the first initial position, thereby limiting the output member to the second initial position.
- the rack 31 moving to the first initial position drives the output member to move to the second initial position, and is limited to the first initial position.
- the transmission member is positioned to limit the output member to the second initial position, thereby preventing the output member from contacting and hitting the teeth when it is connected to the first effective rotation structure of the clutch assembly 22 again, thereby causing malfunctions such as failure of the surgical instrument.
- this embodiment uses a stapler as an example to illustrate the surgical instrument 1, the technical solution in this embodiment can be applied to components such as end effectors 5, cutting knives, transmission parts, and driving parts. other surgical instruments 1, and can drive the transmission member back to the first initial position and thereby stably limit the transmission member to the first initial position, so that the output member returns to and is limited to the second initial position, thereby ensuring that the output member It is again engaged with the effective switching structure of the clutch assembly 22 to prevent the output member from engaging with the clutch assembly 22, which may cause malfunctions such as failure of the surgical instrument.
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Abstract
A surgical instrument (1). The surgical instrument (1) comprises a first mechanism (2), a second mechanism (11) and a transmission member. The first mechanism (2) comprises a clutch assembly (22) and an output member. The output member is connected to the transmission member. The clutch assembly (22) is engaged with or coupled to the output member, in response to the first mechanism (2) being coupled to the transmission member, the second mechanism (11) drives the transmission member to return to a first initial position, and the transmission member drives the output member to return to a second initial position.
Description
相关申请的交叉引用Cross-references to related applications
本申请要求于2022年4月29日提交中国专利局,申请号为202210476340.6,申请名称为“一种外科器械”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application filed with the China Patent Office on April 29, 2022, with the application number 202210476340.6 and the application title "A Surgical Instrument", the entire content of which is incorporated into this application by reference.
本申请涉及医疗器械技术领域,特别是涉及一种外科器械。This application relates to the technical field of medical devices, and in particular to a surgical instrument.
适用于外科手术的吻合器是一种能在将患者伤口缝合的同时将多余组织切除的外科切割吻合器,被广泛应用于腹部外科、妇科、儿科及胸外科等微创手术中组织的切除和吻合。外科切割吻合器通过在手术部位精确定位的穿刺器的套管进入患者体内,继而在组织中制造纵向切口和在切口的相对侧施加吻合钉,从而对组织进行离断和吻合。吻合器包括钳口组件,钳口组件包括钉仓座和抵钉座,所述钉仓座用于接收钉仓组件;钉仓组件包括钉仓本体和设置在钉仓本体内的吻合钉,钉仓本体内设置有若干用于收纳吻合钉的缝钉腔,钉仓本体包括顶端面,顶端面上设有由所述缝钉腔贯穿顶端面形成的出钉口。A stapler suitable for surgical operations is a surgical cutting stapler that can remove excess tissue while suturing the patient's wound. It is widely used for tissue resection and tissue removal in minimally invasive surgeries such as abdominal surgery, gynecology, pediatrics, and thoracic surgery. consistent. The surgical cutting stapler is inserted into the patient's body through the cannula of the trocar precisely positioned at the surgical site, and then cuts and anastomoses the tissue by creating a longitudinal incision in the tissue and applying staples on the opposite side of the incision. The stapler includes a jaw assembly. The jaw assembly includes a nail bin seat and a staple base. The nail bin seat is used to receive the staple bin assembly. The staple bin assembly includes a staple bin body and a stapler disposed in the staple bin body. The cartridge body is provided with a number of staple cavities for accommodating staples. The staple cartridge body includes a top surface, and a nail outlet formed by the staple cavities penetrating the top surface is provided on the top surface.
一旦医生确定端部执行器夹持了目标组织,就可以击发外科切割吻合器,从而切断并缝合组织。缝合时,顶端面与被缝合组织接触,外科切割吻合器内的切割构件推动钉仓内的楔形推钉件运动,从而使吻合钉驱动器驱动钉仓内的吻合钉从缝钉腔内向上运动,刺穿并缝合目标组织(即吻合钉出钉)。Once the physician determines that the end effector is gripping the target tissue, the surgical cutting stapler can be fired, severing and suturing the tissue. When suturing, the top surface is in contact with the sutured tissue, and the cutting component in the surgical cutting stapler pushes the wedge-shaped pusher in the staple bin to move, so that the staple driver drives the staples in the staple bin to move upward from the staple cavity. The target tissue is pierced and sutured (i.e. the staples are removed).
吻合器具有第一机构,第一机构通过驱动钳口传动组件进而驱动钳口组件打开或闭合,第一机构通过驱动切割刀传动组件运动进而驱动切割刀组件在钳口组件内运动,且其具有一定顺序的工作方式,即第一机构先驱动钳口传动组件使得钳口组件闭合,再驱动切割刀传动组件的传动件运动,使得处于第一初始位置的传动件向前运动进而带动切割刀组件向前运动至远端位置,再驱动传动件后退至第一初始位置,进而驱动切割刀组件回到初始位置,最后驱动钳口传动组件使得钳口组件打开。然而现有的第一机构驱动传动件向第一初始位置运动时会出现无法驱动传动件回退至第一初始位置的情况,进而导致外科器械失效等故障。因此,有必要进行改进。
The stapler has a first mechanism, the first mechanism drives the jaw assembly to open or close by driving the jaw transmission assembly, the first mechanism drives the cutting knife transmission assembly to move and then drives the cutting knife assembly to move within the jaw assembly, and it has A certain sequence of working methods, that is, the first mechanism first drives the jaw transmission assembly to close the jaw assembly, and then drives the transmission member of the cutting knife transmission assembly to move, so that the transmission member in the first initial position moves forward and drives the cutting knife assembly. Move forward to the distal position, then drive the transmission member to retreat to the first initial position, then drive the cutting knife assembly to return to the initial position, and finally drive the jaw transmission assembly to open the jaw assembly. However, when the existing first mechanism drives the transmission member to move to the first initial position, it may fail to drive the transmission member back to the first initial position, which may lead to malfunctions such as failure of the surgical instrument. Therefore, improvements are necessary.
申请内容Application content
针对现有技术的不足,本申请旨在提供一种外科器械。In view of the shortcomings of the existing technology, this application aims to provide a surgical instrument.
本申请通过以下技术方案实现:This application is implemented through the following technical solutions:
一种外科器械,外科器械包括第一机构、传动件以及第二机构,第一机构包括离合组件和输出件,离合组件与输出件接合或耦合,输出件与传动件连接,传动件具有第一初始位置,输出件具有第二初始位置,当传动件处于第一初始位置时,输出件处于第二初始位置,离合组件与输出件接合以驱动传动件运动,离合组件与输出件耦合以使得传动件脱离离合组件的驱动,响应于离合组件与输出件耦合,第二机构驱动传动件回到第一初始位置以使得传动件驱动输出件回到第二初始位置;响应于离合组件被驱动与输出件连接,处于第二初始位置的输出件与离合组件接合。A surgical instrument. The surgical instrument includes a first mechanism, a transmission member and a second mechanism. The first mechanism includes a clutch assembly and an output member. The clutch assembly is engaged or coupled with the output member. The output member is connected to the transmission member. The transmission member has a first In the initial position, the output member has a second initial position. When the transmission member is in the first initial position, the output member is in the second initial position. The clutch assembly is engaged with the output member to drive the transmission member to move. The clutch assembly is coupled with the output member to enable the transmission. The member is disengaged from the drive of the clutch assembly, and in response to the clutch assembly being coupled with the output member, the second mechanism drives the transmission member back to the first initial position so that the transmission member drives the output member back to the second initial position; in response to the clutch assembly being driven and output The components are connected, and the output component in the second initial position is engaged with the clutch assembly.
在一个实施方式中,第二机构包括复位件、第一元件、引导件以及设置于传动件的第二元件;In one embodiment, the second mechanism includes a reset element, a first element, a guide element, and a second element provided on the transmission element;
响应于离合机构与输出件耦合,并且响应于第一元件在复位件的作用下与第二元件配合,第一元件被复位件驱动做第二运动以驱动第二元件,进而驱动传动件回到第一初始位置;In response to the clutch mechanism being coupled with the output member, and in response to the first element cooperating with the second element under the action of the return member, the first member is driven by the return member to make a second movement to drive the second member, and then drive the transmission member back to first initial position;
引导件引导第一元件沿第一预设方向做第二运动。The guide member guides the first element to make a second movement along the first preset direction.
在一个实施方式中,响应于传动件被第一元件驱动以到达第一初始位置,第一元件在复位件的作用下抵持于第二元件以将传动件限位在第一初始位置;In one embodiment, in response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the reset member to limit the transmission member to the first initial position;
响应于传动件被输出件驱动以脱离第一初始位置,第一元件被传动件驱动做第三运动以使得第一元件与第二元件分离;In response to the transmission member being driven by the output member to depart from the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element;
引导件引导第一元件沿第二预设方向做第三运动。The guide member guides the first element to make a third movement along the second preset direction.
在一个实施方式中,第一元件为凸起,第二元件为凹槽;In one embodiment, the first element is a protrusion and the second element is a groove;
响应于离合组件与输出件耦合,并且响应于第一元件在复位件的作用下部分进入凹槽并与凹槽抵接,复位件驱动凸起做第二运动以驱动凹槽,进而驱动传动件回到第一初始位置;In response to the coupling of the clutch assembly with the output member, and in response to the first element partially entering the groove and abutting against the groove under the action of the reset member, the return member drives the protrusion to make a second movement to drive the groove, thereby driving the transmission member Return to the first initial position;
响应于传动件被第一元件驱动以到达第一初始位置,凸起在复位件的作用下抵持于凹槽以将传动件限位在第一初始位置;In response to the transmission member being driven by the first element to reach the first initial position, the protrusion resists the groove under the action of the return member to limit the transmission member to the first initial position;
响应于传动件被输出件驱动以脱离第一初始位置,凸起在传动件的驱动下做第三运动以使得凸起与凹槽分离。In response to the transmission member being driven by the output member to depart from the first initial position, the protrusion is driven by the transmission member to make a third movement to separate the protrusion from the groove.
在一个实施方式中,引导件包括容纳腔,第一元件至少部分可运动地设置在容纳腔内,
容纳腔引导第一元件沿第一预设方向进行第二运动;容纳腔引导第一元件沿第二预设方向进行第三运动。In one embodiment, the guide includes a receiving cavity in which the first element is at least partially movably arranged, The accommodating cavity guides the first component to perform a second movement along the first preset direction; the accommodating cavity guides the first component to perform a third movement along the second preset direction.
在一个实施方式中,第一预设方向与第二预设方向相反。In one embodiment, the first preset direction is opposite to the second preset direction.
在一个实施方式中,第一预设方向与传动件的运动方向相交。In one embodiment, the first preset direction intersects the movement direction of the transmission member.
在一个实施方式中,传动件设置有导向面;输出件驱动传动件向前运动以使得传动件与第一元件脱开后,响应于传动件被驱动向后运动,导向面与第一元件抵接并驱动第一元件运动;In one embodiment, the transmission member is provided with a guide surface; after the output member drives the transmission member to move forward so that the transmission member is disengaged from the first element, in response to the transmission member being driven to move backward, the guide surface abuts against the first element. Connect and drive the movement of the first element;
响应于离合组件与输出件耦合,第一元件被复位件驱动做第二运动以驱动第二元件,进而驱动传动件回到第一初始位置。In response to the coupling of the clutch assembly and the output member, the first element is driven by the reset member to make a second movement to drive the second member, thereby driving the transmission member back to the first initial position.
在一个实施方式中,响应于传动件与第一元件脱开,引导件对第一元件进行止位以阻止第一元件脱离引导件。In one embodiment, in response to the transmission member being disengaged from the first element, the guide member stops the first member to prevent the first element from being disengaged from the guide member.
在一个实施方式中,引导件包括第一限位件,第一元件包括第二限位件,第一限位件与第二限位件相配合对第一元件进行止位。In one embodiment, the guide member includes a first limiting member, the first member includes a second limiting member, and the first limiting member cooperates with the second limiting member to stop the first member.
在一个实施方式中,第一限位件包括第一抵接面,第二限位件包括第二抵接面,第一抵接面与第二抵接面相抵接对第一元件进行止位。In one embodiment, the first limiting member includes a first abutting surface, the second limiting member includes a second abutting surface, and the first abutting surface abuts against the second abutting surface to stop the first element. .
在一个实施方式中,第一元件具有预设位置,响应于传动件被输出件驱动向前运动以脱离第一初始位置,第一元件保持于预设位置。In one embodiment, the first element has a preset position, and in response to the transmission member being driven by the output member to move forward to disengage from the first initial position, the first element is maintained at the preset position.
在一个实施方式中,复位件为弹性件,弹性件与第一元件连接;In one embodiment, the reset member is an elastic member, and the elastic member is connected to the first element;
响应于离合组件与输出件耦合,第一元件被弹性件驱动做第二运动以驱动第二元件,进而驱动传动件回到第一初始位置。In response to the coupling of the clutch assembly and the output member, the first element is driven by the elastic member to make a second movement to drive the second element, thereby driving the transmission member back to the first initial position.
在一个实施方式中,响应于离合组件与输出件耦合,并且响应于第一元件在弹性件的作用下与第二元件配合,弹性件驱动第一元件做第二运动以驱动第二元件运动,进而驱动传动件回到第一初始位置;In one embodiment, in response to the clutch assembly being coupled with the output member, and in response to the first element cooperating with the second element under the action of the elastic member, the elastic member drives the first element to make the second movement to drive the second element to move, Then drive the transmission member back to the first initial position;
响应于传动件被第一元件驱动以到达第一初始位置,第一元件在弹性件的作用下抵持于第二元件以将传动件限位在第一初始位置;In response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the elastic member to limit the transmission member to the first initial position;
响应于传动件被输出件驱动以脱离第一初始位置,第一元件被传动件驱动做第三运动以使得第一元件与第二元件分离。In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element.
在一个实施方式中,第二机构为磁性元件,传动件的材质为磁铁性物质;In one embodiment, the second mechanism is a magnetic element, and the transmission member is made of magnetic material;
响应于离合组件与输出件耦合,磁性元件驱动传动件回到第一初始位置。In response to the clutch assembly coupling with the output member, the magnetic element drives the transmission member back to the first initial position.
在一个实施方式中,响应于传动件达到第一初始位置,磁性元件将传动件限位在第一初
始位置。In one embodiment, in response to the transmission member reaching the first initial position, the magnetic element limits the transmission member to the first initial position. starting position.
本申请的有益效果在于:通过本申请的技术方案可以确保传动件每次都能够回到第一初始位置,进而确保输出件每次都能回到第二初始位置,处于第二初始位置的输出件再次与离合组件连接时与离合组件接合,从而确保外科器械能够正常使用,满足手术要求。The beneficial effect of the present application is that the technical solution of the present application can ensure that the transmission member can return to the first initial position every time, thereby ensuring that the output member can return to the second initial position every time. The output in the second initial position When the component is connected to the clutch component again, it is engaged with the clutch component, thereby ensuring that the surgical instrument can be used normally and meet the surgical requirements.
图1是本申请的外科器械的结构示意图;Figure 1 is a schematic structural diagram of the surgical instrument of the present application;
图2是图1所示的外科器械的局部内部结构的示意图;Figure 2 is a schematic diagram of a partial internal structure of the surgical instrument shown in Figure 1;
图3是实施例中外科器械的截面图;Figure 3 is a cross-sectional view of the surgical instrument in the embodiment;
图4是图3中A的放大图;Figure 4 is an enlarged view of A in Figure 3;
图5是实施例中的第二机构的结构示意图;Figure 5 is a schematic structural diagram of the second mechanism in the embodiment;
图6是另一实施例中的第二机构的结构示意图;Figure 6 is a schematic structural diagram of the second mechanism in another embodiment;
图7是实施例中第一机构的截面图;Figure 7 is a cross-sectional view of the first mechanism in the embodiment;
图8是另一实施例中第一机构的截面图;Figure 8 is a cross-sectional view of the first mechanism in another embodiment;
图9是图1所示的外科器械的局部内部结构的分解图;Figure 9 is an exploded view of a partial internal structure of the surgical instrument shown in Figure 1;
图10是第一离合件、第二离合件以及中间件的结构示意图;Figure 10 is a schematic structural diagram of the first clutch member, the second clutch member and the intermediate member;
图11是传动件处于第一初始位位置、输出件处于第二初始位置、钳口未闭合时第二机构、第一机构以及传动组件的状态图;Figure 11 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed;
图12是图11中输出件、第一离合件和中间件状态图;Figure 12 is a state diagram of the output member, first clutch member and intermediate member in Figure 11;
图13是传动件处于第一初始位位置、输出件处于第二初始位置、钳口闭合时第二机构、第一机构以及传动组件的状态图;Figure 13 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are closed;
图14是图12中输出件、第一离合件以及中间件的状态图;Figure 14 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 12;
图15是传动件处于第一初始位位置、输出件处于第二初始位置、钳口未闭合后第二离合件的第二有效转程结构与驱动齿轮完全脱开时第二机构、第一机构以及传动组件的状态图;Figure 15 shows the second mechanism and the first mechanism when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed, and the second effective rotation structure of the second clutch member is completely disengaged from the drive gear. and status diagrams of transmission components;
图16是图15中输出件、第一离合件以及中间件的状态图;Figure 16 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 15;
图17是传动件处于第一初始位位置、输出件处于第二初始位置、钳口未闭合后第一离合件的第一有效转成结构与输出件开始啮合时第二机构、第一机构以及传动组件的状态图;Figure 17 shows the second mechanism, the first mechanism and the first effective conversion structure of the first clutch member when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed and the output member begins to engage. State diagram of transmission components;
图18是图15中输出件、第一离合件以及中间件的状态图;Figure 18 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 15;
图19是传动件脱离第一初始位位置时第二机构、第一机构以及传动组件的状态图;
Figure 19 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is separated from the first initial position;
图20是图19中输出件、第一离合件以及中间件的状态图;Figure 20 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 19;
图21是切割刀进刀完成时第二机构、第一机构以及传动组件的状态图;Figure 21 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the cutting knife feed is completed;
图22是图21中输出件、第一离合件以及中间件的状态图;Figure 22 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 21;
图23是传动件向第一初始位置运动、输出件与第一离合件的第一有效转程结构的最后一个齿啮合时第二机构、第一机构以及传动组件的状态图;Figure 23 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member moves to the first initial position and the output member meshes with the last tooth of the first effective rotation structure of the first clutch member;
图24是图23中输出件、第一离合件以及中间件的状态图;Figure 24 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 23;
图25是第一机构与传动件开始耦合时第二机构、第一机构以及传动组件的状态图;Figure 25 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the first mechanism and the transmission member begin to couple;
图26是图25中输出件、第一离合件以及中间件的状态图;Figure 26 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 25;
图27是图25的截面图;Figure 27 is a cross-sectional view of Figure 25;
图28是现有技术中输出件再次与离合组件的有齿部连接的结构示意图;Figure 28 is a schematic structural diagram of the output member again being connected to the toothed portion of the clutch assembly in the prior art;
图29是传动件处于第一初始位位置、输出件处于第二初始位置、钳口未打开时第二机构、第一机构以及传动组件的状态图;Figure 29 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not opened;
图30是吻合器和复位限位件的结构示意图。Figure 30 is a schematic structural diagram of the stapler and the reset limiting member.
以上附图的附图标记:
1、外科器械;11、第二机构;111、复位件;112、第一元件;113、第二抵接面;
114、第二元件;115、导向面;116、引导件;117、第一抵接面;118、主体部;119、凸起;12、磁性元件;13、主体;2、第一机构;21、驱动齿轮;211、驱动轴;22、离合组件;23、第一齿轮;231、第一有齿部;232、第一无齿部;24、第二齿轮;241、第二端面;242、第二有齿部;243、第二无齿部;244、凸块;25、第三齿轮;251、第一端面;252、圆弧槽;253、首端;26、输出组件;261、第四齿轮;262、连杆;27、旋转轴;3、传动组件;31、齿条;32、滑块;4、杆身组件;41、芯轴;42、套管;5、端部执行器;51、钉仓座;52、抵钉座;53、钉仓组件。Reference signs for the above drawings:
1. Surgical instrument; 11. Second mechanism; 111. Restoring member; 112. First component; 113. Second contact surface;
114. Second component; 115. Guide surface; 116. Guide piece; 117. First contact surface; 118. Main body part; 119. Protrusion; 12. Magnetic component; 13. Main body; 2. First mechanism; 21 , drive gear; 211, drive shaft; 22, clutch assembly; 23, first gear; 231, first toothed portion; 232, first toothless portion; 24, second gear; 241, second end face; 242, The second toothed part; 243. The second toothless part; 244. Bump; 25. Third gear; 251. First end face; 252. Arc groove; 253. Head end; 26. Output component; 261. No. Four gears; 262, connecting rod; 27, rotating shaft; 3, transmission assembly; 31, rack; 32, slider; 4, shaft assembly; 41, mandrel; 42, casing; 5, end effector ; 51. Nail bin seat; 52. Nail counter seat; 53. Nail bin assembly.
1、外科器械;11、第二机构;111、复位件;112、第一元件;113、第二抵接面;
114、第二元件;115、导向面;116、引导件;117、第一抵接面;118、主体部;119、凸起;12、磁性元件;13、主体;2、第一机构;21、驱动齿轮;211、驱动轴;22、离合组件;23、第一齿轮;231、第一有齿部;232、第一无齿部;24、第二齿轮;241、第二端面;242、第二有齿部;243、第二无齿部;244、凸块;25、第三齿轮;251、第一端面;252、圆弧槽;253、首端;26、输出组件;261、第四齿轮;262、连杆;27、旋转轴;3、传动组件;31、齿条;32、滑块;4、杆身组件;41、芯轴;42、套管;5、端部执行器;51、钉仓座;52、抵钉座;53、钉仓组件。Reference signs for the above drawings:
1. Surgical instrument; 11. Second mechanism; 111. Restoring member; 112. First component; 113. Second contact surface;
114. Second component; 115. Guide surface; 116. Guide piece; 117. First contact surface; 118. Main body part; 119. Protrusion; 12. Magnetic component; 13. Main body; 2. First mechanism; 21 , drive gear; 211, drive shaft; 22, clutch assembly; 23, first gear; 231, first toothed portion; 232, first toothless portion; 24, second gear; 241, second end face; 242, The second toothed part; 243. The second toothless part; 244. Bump; 25. Third gear; 251. First end face; 252. Arc groove; 253. Head end; 26. Output component; 261. No. Four gears; 262, connecting rod; 27, rotating shaft; 3, transmission assembly; 31, rack; 32, slider; 4, shaft assembly; 41, mandrel; 42, casing; 5, end effector ; 51. Nail bin seat; 52. Nail counter seat; 53. Nail bin assembly.
为了使本申请的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本申请进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本申请,并不用于限定本申请。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.
需要理解的是,本文所用术语“近端”、“后”和“远端”、“前”是相对于操纵吻合器的手柄的临床医生而言的。术语“近端”和“后”是指靠近临床医生的部分,术语“远
端”和“前”则是指远离临床医生的部分。即手柄为近端,端部执行器5为远端,如某个零部件的近端表示相对靠近手柄的一端,远端则表示相对靠近钳口组件的一端。术语“上”“下”以钳口组件的抵钉座52和钉仓座51的相对位置为参考,具体的,抵钉座52在“上”,钉仓座51在“下”。然而,吻合器可以在许多方向和位置使用,因此这些表达相对位置关系的术语并不是受限和绝对的。It is to be understood that the terms "proximal", "posterior" and "distal", "anterior" as used herein are relative to the clinician manipulating the handle of the stapler. The terms "proximal" and "posterior" refer to the portion closer to the clinician, and the term "distal" "End" and "front" refer to the part far away from the clinician. That is, the handle is the proximal end, and the end effector 5 is the distal end. For example, the proximal end of a component represents the end relatively close to the handle, and the distal end represents the relatively Close to one end of the jaw assembly. The terms "upper" and "lower" are based on the relative positions of the nail base 52 and the nail bin base 51 of the jaw assembly. Specifically, the nail base 52 is on "upper" and the nail bin base 51 Under. However, staplers can be used in many orientations and positions, so these terms expressing relative positional relationships are not restrictive and absolute.
在本申请中,除非另有明确的规定和限定,“相连”、“连接”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸地连接,还可以是可运动地连接,或成一体;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系如抵接。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本申请中的具体含义。需要说明的是,在“相连”、“连接”前有限定语时,其具有相应限定语所限定的含义,只排除明显需要排除的情形,不排除其它可能的情形,如“可拆卸地连接”指的是可拆卸式的连接,不包括成一体,但可运动连接等并不排除在外。In this application, unless otherwise clearly stated and limited, terms such as "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or a movable connection. , or integrated into one; it can be directly connected, or it can be indirectly connected through an intermediary, it can be an internal connection between two elements or an interactive relationship between two elements such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. It should be noted that when there is a qualifier before "connect" or "connect", it has the meaning defined by the corresponding qualifier. Only situations that obviously need to be excluded are excluded, and other possible situations are not excluded, such as "detachably connected" It refers to detachable connections and does not include integration, but movable connections are not excluded.
以图11中处于第一初始位置的传动件和处于第二初始位置的输出件为参考,本文所用术语“第一初始位置”为切割刀退刀到位时传动件的位置,“第二初始位置”为传动件处于第一初始位置时,输出件所处的位置。Taking the transmission member in the first initial position and the output member in the second initial position in Figure 11 as a reference, the term "first initial position" used in this article is the position of the transmission member when the cutting knife is retracted to the position, and the "second initial position" ” is the position of the output member when the transmission member is in the first initial position.
选择性连接是指接合或者耦合。耦合,是指相互作用的部件之间由于相对位置或状态的变化,用于接合的结构缺失而使得接合终止。Selective connection refers to joining or coupling. Coupling refers to the termination of bonding due to changes in relative position or state between interacting components and the loss of the structure used for bonding.
在本文中,空转程是指离合组件22在具有运动输入即被驱动的情况下,离合组件22没有运动输出,即不驱动切割刀传动组件或钳口传动组件。空转程结构是指离合组件22的部件所具有的、可实现空转程的结构。有效转程是指离合组件22在具有运动输入即被驱动的情况下,离合组件22具有运动输出,即驱动切割刀传动组件或钳口传动组件。有效转程结构是指离合组件22的部件所具有的、可实现有效转程的结构。In this article, the idle range means that when the clutch assembly 22 is driven with motion input, the clutch assembly 22 has no motion output, that is, it does not drive the cutting blade transmission assembly or the jaw transmission assembly. The idle stroke structure refers to the structure of the components of the clutch assembly 22 that can realize the idle stroke. The effective rotation range means that when the clutch assembly 22 has a motion input, that is, it is driven, the clutch assembly 22 has a motion output, that is, it drives the cutting knife transmission assembly or the jaw transmission assembly. The effective rotation structure refers to the structure of the components of the clutch assembly 22 that can achieve effective rotation.
请参考图1,现有的外科器械1包括主体13、从主体13向远侧端延伸的杆身组件4、设置在杆身组件4远侧端的端部执行器5以及切割刀(图中未示出)。Please refer to Figure 1. The existing surgical instrument 1 includes a main body 13, a shaft assembly 4 extending from the main body 13 to the distal end, an end effector 5 provided at the distal end of the shaft assembly 4, and a cutting knife (not shown in the figure). Shows).
外科器械1还包括第一机构2、传动组件3以及电动模块,第一机构2位于主体13内,传动组件3一部分位于主体13内,一部分位于杆身组件4内,一部分位于端部执行器5内;切割刀位于端部执行器5内。电动模块包括电机。第一机构2驱动传动组件3运动,传动组件3包括传动件,第一机构2包括输入件、与输入件连接的离合组件22以及输出组件26,输入件与电机连接,输出组件26包括输出件和输出元件。The surgical instrument 1 also includes a first mechanism 2, a transmission assembly 3 and an electric module. The first mechanism 2 is located in the main body 13. A part of the transmission assembly 3 is located in the main body 13, a part is located in the shaft assembly 4, and a part is located in the end effector 5. inside; the cutting knife is located inside the end effector 5. Electric modules include electric motors. The first mechanism 2 drives the transmission component 3 to move. The transmission component 3 includes a transmission component. The first mechanism 2 includes an input component, a clutch component 22 connected to the input component, and an output component 26. The input component is connected to the motor, and the output component 26 includes an output component. and output components.
外科器械1还包括第二机构11。第一机构2包括离合组件22和输出件,离合组件22与输出
件接合或耦合,输出件与传动件连接,传动件具有第一初始位置,输出件具有第二初始位置,当传动件处于第一初始位置时,输出件处于第二初始位置,离合组件22与输出件接合以驱动传动件运动,离合组件22与输出件耦合以使得传动件脱离离合组件22的驱动,响应于离合组件22与输出件耦合,第二机构11驱动传动件回到第一初始位置以使得传动件驱动输出件回到第二初始位置,响应于离合组件22被驱动与输出件连接,处于第二初始位置的输出件与离合组件22接合。The surgical instrument 1 also includes a second mechanism 11 . The first mechanism 2 includes a clutch assembly 22 and an output member. The clutch assembly 22 and the output member The transmission member is engaged or coupled, the output member is connected to the transmission member, the transmission member has a first initial position, and the output member has a second initial position. When the transmission member is in the first initial position, the output member is in the second initial position, and the clutch assembly 22 and The output member is engaged to drive the transmission member to move, and the clutch assembly 22 is coupled with the output member so that the transmission member is disengaged from the driving of the clutch assembly 22. In response to the coupling of the clutch assembly 22 with the output member, the second mechanism 11 drives the transmission member back to the first initial position. So that the transmission member drives the output member back to the second initial position, and in response to the clutch assembly 22 being driven to connect with the output member, the output member in the second initial position is engaged with the clutch assembly 22 .
可以理解的是,第二机构通过驱动传动件回到第一初始位置使得输出件回到第二初始位置,进而使得输出件能够再次与离合组件接合,有效防止第一机构不能驱动传动件回到第一初始位置,进而导致外科器械失效的问题,使得外科器械能够正常使用,提高外科器械使用寿命,使得外科器械更加稳定,降低手术风险。It can be understood that the second mechanism drives the transmission member back to the first initial position so that the output member returns to the second initial position, thereby enabling the output member to engage with the clutch assembly again, effectively preventing the first mechanism from being unable to drive the transmission member back to the first initial position. The first initial position, which in turn causes the problem of surgical instrument failure, enables the surgical instrument to be used normally, increases the service life of the surgical instrument, makes the surgical instrument more stable, and reduces surgical risks.
以吻合器为例,对上述结构进行详细描述。具体的,传动件为齿条31。Taking the stapler as an example, the above structure will be described in detail. Specifically, the transmission component is the rack 31 .
在本实施例中,具体的,请参考图2至图8,第二机构11包括复位件111、第一元件112、引导件116以及设置于传动件的第二元件114。In this embodiment, specifically, please refer to FIGS. 2 to 8 . The second mechanism 11 includes a reset member 111 , a first member 112 , a guide member 116 and a second member 114 provided on the transmission member.
响应于离合组件22与输出件耦合,第一元件112被复位件111驱动做第二运动以驱动第二元件114,进而驱动传动件回到第一初始位置;In response to the coupling of the clutch assembly 22 with the output member, the first element 112 is driven by the reset member 111 to make a second movement to drive the second member 114, thereby driving the transmission member back to the first initial position;
引导件116引导第一元件112沿第一预设方向做第二运动。The guide 116 guides the first element 112 to make the second movement along the first preset direction.
具体的,复位件111为弹性件,弹性件的一端与第一元件112连接。Specifically, the reset member 111 is an elastic member, and one end of the elastic member is connected to the first element 112 .
响应于离合组件22与输出件耦合,并且响应于第一元件112在弹性件的作用下做第一运动与第二元件114配合,弹性件驱动第一元件112做第二运动以驱动第二元件114运动,进而驱动传动件回到第一初始位置。In response to the clutch assembly 22 being coupled with the output member, and in response to the first member 112 making a first movement under the action of the elastic member to cooperate with the second member 114, the elastic member drives the first member 112 to make a second movement to drive the second member. 114 moves, thereby driving the transmission member back to the first initial position.
响应于传动件到达第一初始位置,第一元件112在弹性件的作用下抵持于第二元件114以将传动件限位在第一初始位置。In response to the transmission member reaching the first initial position, the first element 112 resists the second element 114 under the action of the elastic member to limit the transmission member to the first initial position.
响应于传动件被输出件驱动以脱离第一初始位置,传动件驱动第一元件112做第三运动以使得第一元件112与第二元件114分离。In response to the transmission member being driven by the output member to leave the first initial position, the transmission member drives the first element 112 to make a third movement to separate the first element 112 from the second element 114 .
引导件116引导第一元件112沿第一预设方向做第一运动和第二运动,引导件116引导第一元件112沿第二预设方向做第三运动。The guide 116 guides the first element 112 to make the first movement and the second movement along the first preset direction, and the guide 116 guides the first element 112 to make the third movement along the second preset direction.
具体的,请参考图7和图8,在本实施例中,第一元件112为凸起119,第二元件114为凹槽。Specifically, please refer to Figures 7 and 8. In this embodiment, the first element 112 is a protrusion 119, and the second element 114 is a groove.
请参考图25至图27,响应于离合组件22与输出件耦合,并且响应于凸起119在复位件111的作用下做第一运动使得凸起119部分进入凹槽并与凹槽抵接,复位件111驱动凸起119做第
二运动以驱动凹槽运动,进而驱动传动件回到第一初始位置。Please refer to Figures 25 to 27, in response to the clutch assembly 22 being coupled with the output member, and in response to the protrusion 119 making a first movement under the action of the reset member 111 so that the protrusion 119 partially enters the groove and abuts against the groove, The reset member 111 drives the protrusion 119 to do the third The second movement drives the groove to move, thereby driving the transmission member to return to the first initial position.
请参考图29,响应于传动件被第一元件112驱动以到达第一初始位置,凸起119在复位件111的作用下抵持于凹槽以将传动件限位在第一初始位置。Referring to FIG. 29 , in response to the transmission member being driven by the first element 112 to reach the first initial position, the protrusion 119 resists the groove under the action of the reset member 111 to limit the transmission member to the first initial position.
请参考图19,响应于传动件被输出件驱动以脱离第一初始位置,凸起119在传动件的驱动下做第三运动以使得凸起119与凹槽分离。Referring to FIG. 19 , in response to the transmission member being driven by the output member to leave the first initial position, the protrusion 119 is driven by the transmission member to make a third movement to separate the protrusion 119 from the groove.
请参考图7,在本实施例中,凸起119包括外凸的弧形面,凹槽可以是内陷的楔形体。在其他实施例中,请参考图8,凸起119包括是外凸弧形面,凹槽包括内陷的弧形面。Please refer to Figure 7. In this embodiment, the protrusion 119 includes a convex arc-shaped surface, and the groove may be an indented wedge-shaped body. In other embodiments, please refer to FIG. 8 , the protrusions 119 include convex arcuate surfaces, and the grooves include concave arcuate surfaces.
在本实施例中,请参考图4,引导件116包括容纳腔,第一元件112至少部分可运动地设置在容纳腔内,容纳腔引导第一元件112沿第一预设方向进行第二运动和第三运动;容纳腔引导第一元件112沿第二预设方向进行第三运动。In this embodiment, please refer to FIG. 4 , the guide 116 includes an accommodation cavity, the first element 112 is at least partially movably disposed in the accommodation cavity, and the accommodation cavity guides the first element 112 to perform a second movement along the first preset direction. and a third movement; the accommodation cavity guides the first element 112 to perform a third movement along the second preset direction.
容纳腔的内壁面作用于第一元件112以使得其沿第一预设方向做第二运动或沿第二预设方向进行第三运动。第一元件112至少部分容置在容纳腔内,容纳腔的容纳空间略大于第一元件112,容纳腔的容纳空间与第一元件112的形状相匹配,使得其内壁面能够对第一元件112起到导向的作用,防止第一元件112在做第一运动、第二运动以及第三运动时大幅度前后摆动,从而影响驱动齿条31回到第一初始位置运动和对齿条31进行限位的效果。The inner wall surface of the accommodation cavity acts on the first element 112 to cause it to make a second movement along the first preset direction or a third movement along the second preset direction. The first element 112 is at least partially accommodated in the accommodation cavity. The accommodation space of the accommodation cavity is slightly larger than the first element 112 . The accommodation space of the accommodation cavity matches the shape of the first element 112 so that its inner wall surface can face the first element 112 It plays a guiding role to prevent the first element 112 from swinging back and forth significantly when performing the first movement, the second movement and the third movement, thereby affecting the movement of the driving rack 31 back to the first initial position and limiting the movement of the rack 31 bit effect.
具体的,第一元件112包括主体部118和凸起119。引导件116包括空腔和通孔,空腔位于通孔的上方并且与通孔相连通,空腔用于可运动地容置第一元件112的主体部118,通孔用于可运动地容置第一元件112的凸起119的至少一部分,第一抵接面117为空腔的底面。具体的,容纳腔包括第一容纳腔和/或第二容纳腔,第一容纳腔由将空腔的形状设置地与第一元件112的主体部118的形状相匹配、将空腔的尺寸设置得略大于主体部118的尺寸以对主体部118的运动进行引导而得到,第二容纳腔由将通孔的形状设置地与第一元件112的凸起119的形状相匹配、将通孔的尺寸设置得略大于凸起119的尺寸以对凸起119的运动进行引导而得到,由此,第一容纳腔引导第一元件112的主体部118运动,第二容纳腔引导第一元件112的凸起119运动,因此,容纳腔引导第一元件112的主体部118和/或引导第一元件112的凸起119运动。Specifically, the first component 112 includes a main body 118 and a protrusion 119 . The guide 116 includes a cavity and a through hole. The cavity is located above and communicated with the through hole. The cavity is used to movably accommodate the main body 118 of the first element 112 . The through hole is used to movably accommodate the main body 118 of the first element 112 . At least part of the protrusion 119 of the first element 112 is disposed, and the first contact surface 117 is the bottom surface of the cavity. Specifically, the accommodation cavity includes a first accommodation cavity and/or a second accommodation cavity. The first accommodation cavity is formed by setting the shape of the cavity to match the shape of the main body 118 of the first element 112 and setting the size of the cavity. The size of the main body 118 is slightly larger than that of the main body 118 to guide the movement of the main body 118. The second receiving cavity is formed by arranging the shape of the through hole to match the shape of the protrusion 119 of the first element 112. The size is set slightly larger than the size of the protrusion 119 to guide the movement of the protrusion 119, whereby the first accommodation cavity guides the movement of the main body 118 of the first element 112, and the second accommodation cavity guides the movement of the first element 112. The protrusion 119 moves, so that the receiving cavity guides the body portion 118 of the first element 112 and/or guides the movement of the protrusion 119 of the first element 112 .
第一预设方向与第二预设方向相反。第一预设方向与传动件的运动方向相交。在本实施例中,第一预设方向与传动件运动方向垂直。The first preset direction is opposite to the second preset direction. The first preset direction intersects the movement direction of the transmission member. In this embodiment, the first preset direction is perpendicular to the movement direction of the transmission member.
本文中的第一元件112的“预设位置”是指在第一元件112与第二元件114分离的情况下,第一元件112处于第二元件114后侧并且与传动件抵接时,第一元件112所处的位置。在其他实施例中,传动件包括导向面115,第一元件112与导向面115抵接的位置不是“预设位
置”。The "preset position" of the first element 112 in this article means that when the first element 112 is separated from the second element 114 and the first element 112 is at the rear side of the second element 114 and abuts against the transmission member, the The location of an element 112. In other embodiments, the transmission member includes a guide surface 115, and the position where the first element 112 contacts the guide surface 115 is not the "preset position". "set".
请参考图5和图21,在本实施例中,响应于齿条31被输出件驱动向前运动使得凸起119与齿条31脱开,使得凸起119在齿条31的运动过程不再与齿条31相抵接,以消除齿条31施加的摩擦力。齿条31还设置有导向面115。齿条31向前运动一定行程后,齿条31与凸起119脱开,随后,响应于齿条31***作向后运动,导向面115与凸起119抵接并驱动凸起119运动,齿条31进一步向后运动,响应于离合组件22与输出件耦合,并且响应于复位件111驱动凸起119做第一运动部分进入凹槽并与凹槽相抵接,复位件111驱动凸起119做第二运动进而驱动齿条31回到第一初始位置。Please refer to Figures 5 and 21. In this embodiment, in response to the rack 31 being driven forward by the output member, the protrusion 119 is disengaged from the rack 31, so that the protrusion 119 no longer moves during the movement of the rack 31. It abuts against the rack 31 to eliminate the friction force exerted by the rack 31 . The rack 31 is also provided with a guide surface 115 . After the rack 31 moves forward for a certain distance, the rack 31 is disengaged from the protrusion 119. Then, in response to the rack 31 being operated to move backward, the guide surface 115 contacts the protrusion 119 and drives the protrusion 119 to move. The bar 31 moves further backward, in response to the clutch assembly 22 coupling with the output member, and in response to the reset member 111 driving the protrusion 119 to make the first movement part into the groove and abutting with the groove, the reset member 111 drives the protrusion 119 to do The second movement in turn drives the rack 31 back to the first initial position.
可以理解的是,当凸起119与齿条31脱开后,齿条31向后运动与凸起119相接时,导向面115能够驱动凸起119向上运动,防止凸起119与齿条31抵接,干涉齿条31向后运动。It can be understood that when the protrusion 119 is disengaged from the rack 31 and the rack 31 moves backward to connect with the protrusion 119, the guide surface 115 can drive the protrusion 119 to move upward to prevent the protrusion 119 from connecting with the rack 31. When in contact, the interference rack 31 moves backward.
请参考图6,在其他实施例中,齿条31被输出件驱动向前运动以使得第一元件112与第二元件114分离后,第一元件112处于第二元件114后侧并且与传动件抵接时,第一元件112保持在预设位置。Please refer to FIG. 6 . In other embodiments, the rack 31 is driven by the output member to move forward so that after the first member 112 is separated from the second member 114 , the first member 112 is located behind the second member 114 and is connected to the transmission member. When abutting, the first element 112 remains in the preset position.
请参考图4和图21,响应于传动件与第一元件112脱开,引导件116与第一元件112配合对第一元件112进行止位以阻止第一元件112脱离引导件116。引导件116还包括第一限位件,第一元件112还包括第二限位件。响应于传动件与第一元件112脱开,复位件111驱动第一元件112沿第一预设方向运动以使得第二限位件与第一限位件相配合以对第一元件112进行止位,从而阻止第一元件112脱离引导件116。Please refer to FIGS. 4 and 21 . In response to the transmission member being disengaged from the first element 112 , the guide member 116 cooperates with the first member 112 to stop the first member 112 to prevent the first member 112 from being disengaged from the guide member 116 . The guide 116 also includes a first limiting member, and the first element 112 further includes a second limiting member. In response to the transmission member being disengaged from the first member 112, the reset member 111 drives the first member 112 to move in the first preset direction so that the second limiting member cooperates with the first limiting member to stop the first member 112. position, thereby preventing the first element 112 from disengaging from the guide 116 .
具体的,第一限位件包括第一抵接面117,第二限位件包括第二抵接面113。第二抵接面113设置在第一元件112的主体部118上,凸起119设置在主体部118的一个表面上,第二抵接面113设置于凸起119的周边。引导件116还包括可运动地容置第一限位件的凸起119的通孔和第一抵接面117。第一抵接面117为空腔的底面,通孔自第一抵接面117沿第一预设方向向空腔外部延伸。响应于传动件与第一元件112脱开,复位件111驱动第一元件112沿第一预设方向运动以使得第一元件112的第二抵接面113与引导件116的第一抵接面117相抵接,从而阻止第一元件112脱离引导件116。Specifically, the first limiting member includes a first abutting surface 117 , and the second limiting member includes a second abutting surface 113 . The second contact surface 113 is provided on the main body portion 118 of the first element 112 , the protrusion 119 is provided on one surface of the main body portion 118 , and the second contact surface 113 is provided on the periphery of the protrusion 119 . The guide member 116 also includes a through hole for movably receiving the protrusion 119 of the first limiting member and a first abutment surface 117 . The first contact surface 117 is the bottom surface of the cavity, and the through hole extends from the first contact surface 117 toward the outside of the cavity along the first preset direction. In response to the transmission member being disengaged from the first member 112 , the reset member 111 drives the first member 112 to move in the first preset direction so that the second contact surface 113 of the first member 112 and the first contact surface of the guide member 116 117 abuts, thereby preventing the first element 112 from being separated from the guide 116 .
可以理解的是,第一抵接面117和第二抵接面113有效防止传动件与第一元件112脱开时,第一元件112从引导件116内脱出,进而在传动件向后运动时干涉传动件运动。It can be understood that the first abutment surface 117 and the second abutment surface 113 effectively prevent the first element 112 from coming out of the guide 116 when the transmission member is disengaged from the first element 112, and then when the transmission member moves backward. Interfere with the movement of transmission parts.
在本实施例中,主体部118和凸起119整体为球体,空腔的容纳空间呈圆柱状,主体部118可运动地容置在空腔内,主体部118在空腔的容纳空间中运动,凸起119至少部分可运动地穿设在通孔内,凸起119至少部分能够在通孔内做运动。进一步地,通过将上述空腔形成
的容纳空间的尺寸设置得略大于主体部118的尺寸,以使得上述空腔成为第一容纳腔,第一容纳腔引导主体部118运动;通过将上述通孔形成的另一个容纳空间的尺寸设置得略大于凸起119的尺寸,并且该另一个容纳空间与第一元件112的凸起119的形状相匹配,以使得上述通孔成为第二容纳腔,第二容纳腔引导凸起119运动。In this embodiment, the main body part 118 and the protrusion 119 are spherical as a whole, and the accommodation space of the cavity is cylindrical. The main body part 118 is movably accommodated in the cavity, and the main body part 118 moves in the accommodation space of the cavity. , the protrusion 119 is at least partially movably disposed in the through hole, and the protrusion 119 is at least partially capable of movement in the through hole. Further, by forming the above cavity The size of the accommodation space is set slightly larger than the size of the main body part 118, so that the above-mentioned cavity becomes the first accommodation cavity, and the first accommodation cavity guides the movement of the main body part 118; the size of another accommodation space formed by the above-mentioned through hole is set must be slightly larger than the size of the protrusion 119, and the other accommodation space matches the shape of the protrusion 119 of the first element 112, so that the above-mentioned through hole becomes a second accommodation cavity, and the second accommodation cavity guides the movement of the protrusion 119.
可以理解的是,在其他实施例中,空腔的容纳空间可以是其他形状,主体部118的形状也可以是其它形状。凸起119可以是其它形状,通孔也可以是与凸起119的形状相匹配的形状。It can be understood that in other embodiments, the accommodation space of the cavity may be in other shapes, and the shape of the main body part 118 may also be in other shapes. The protrusion 119 may have other shapes, and the through hole may also have a shape matching the shape of the protrusion 119 .
杆身组件4包括芯轴41及套设于芯轴41的套管42,芯轴41与齿条31连接。端部执行器5包括钳口组件以及钉仓组件53,钳口组件包括钉仓座51和与钉仓座51可枢转连接的抵钉座52,钉仓座51用于可操作地支撑位于其中的钉仓组件53,抵钉座52可在打开位置和闭合位置之间选择性地运动,从而与钉仓座51和钉仓组件53配合松开或夹紧组织。切割刀位于端部执行器5内。钉仓组件53设有供切割刀运动的走刀槽,切割刀在走刀槽内朝向远侧运动过程中对组织进行切割,并且推动钉仓组件53中容置的吻合钉出钉以对组织进行吻合。The shaft assembly 4 includes a core shaft 41 and a sleeve 42 sleeved on the core shaft 41 . The core shaft 41 is connected to the rack 31 . The end effector 5 includes a jaw assembly and a nail cartridge assembly 53. The jaw assembly includes a nail cartridge seat 51 and a nail base 52 pivotably connected to the nail cartridge seat 51. The nail cartridge seat 51 is used to operably support the nail cartridge seat 51. The staple cartridge assembly 53 and the staple base 52 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge base 51 and the staple cartridge assembly 53 to loosen or clamp tissue. The cutting knife is located within the end effector 5. The nail cartridge assembly 53 is provided with a cutting groove for the movement of the cutting knife. The cutting knife cuts the tissue while moving distally in the cutting groove, and pushes the staples accommodated in the nail cartridge assembly 53 to extract the staples to the tissue. Perform anastomosis.
吻合器还包括第一机构2、传动组件3以及电动模块,第一机构2位于主体13内,传动组件3一部分位于主体13内,一部分位于杆身组件4内,一部分位于端部执行器5内。The stapler also includes a first mechanism 2, a transmission assembly 3 and an electric module. The first mechanism 2 is located in the main body 13. A part of the transmission assembly 3 is located in the main body 13, a part is located in the shaft assembly 4, and a part is located in the end effector 5. .
电动模块包括电机。第一机构2包括输入件、与输入件连接的离合组件22以及输出组件26。输入件为驱动齿轮21,输入件与电机连接。Electric modules include electric motors. The first mechanism 2 includes an input member, a clutch assembly 22 connected to the input member, and an output assembly 26 . The input part is the driving gear 21, and the input part is connected with the motor.
输出组件26包括输出件和输出元件,输出件为第四齿轮261,输出元件为连杆262。The output assembly 26 includes an output member and an output element. The output member is the fourth gear 261 and the output element is the connecting rod 262 .
离合组件22包括第一离合件、中间件以及第二离合件,第一离合件包括第一有效转程结构和第一空转程结构。中间件包括第一离合结构。第二离合件包括第二有效转程结构和第二空转程结构,第二离合件还包括第二离合结构。中间件与第一离合件连接并同步转动,驱动齿轮21与中间件连接,驱动齿轮套设在驱动轴211上,驱动轴211与电机连接。离合组件22还包括旋转轴27,中间件与第二离合件均可转动地套设于旋转轴27上,当中间件的第一离合结构与第二离合件的第二离合结构连接时,中间件驱动第二离合件运动,当中间件的第一离合结构与第二离合件的第二离合结构分离时,第二离合件脱离中间件的驱动。The clutch assembly 22 includes a first clutch member, an intermediate member and a second clutch member. The first clutch member includes a first effective rotation structure and a first idle rotation structure. The intermediate piece includes a first clutch structure. The second clutch includes a second effective rotation structure and a second idle rotation structure, and the second clutch also includes a second clutch structure. The middle piece is connected to the first clutch piece and rotates synchronously, the driving gear 21 is connected to the middle piece, the driving gear is sleeved on the driving shaft 211, and the driving shaft 211 is connected to the motor. The clutch assembly 22 also includes a rotating shaft 27. Both the intermediate member and the second clutch member are rotatably sleeved on the rotating shaft 27. When the first clutch structure of the intermediate member is connected to the second clutch structure of the second clutch member, the intermediate member The second clutch member drives the second clutch member to move. When the first clutch structure of the middle member is separated from the second clutch structure of the second clutch member, the second clutch member is separated from the driving force of the middle member.
在本实施例中,请参考图9和图10,第一离合件为第一齿轮23,第一齿轮23具有第一有齿部231和第一无齿部232,第一有齿部231为第一有效转程结构,第一无齿部232为第一空转程结构。第二离合件为第二齿轮24,第二齿轮24具有第二有齿部242和第二无齿部243,第二有齿部242为第二有效转程结构,第二无齿部243为第二空转程结构。In this embodiment, please refer to Figures 9 and 10. The first clutch member is the first gear 23. The first gear 23 has a first toothed portion 231 and a first toothless portion 232. The first toothed portion 231 is The first effective rotation structure, the first toothless portion 232 is a first idle rotation structure. The second clutch member is the second gear 24. The second gear 24 has a second toothed portion 242 and a second toothless portion 243. The second toothed portion 242 is a second effective rotation structure, and the second toothless portion 243 is The second idle range structure.
中间件为第三齿轮25,中间件包括第一离合结构,第一离合结构为圆弧槽252,圆弧槽
252设置在第三齿轮25的第一端面251上,第三齿轮25与驱动齿轮21连接;第二齿轮24包括第二离合结构,第二离合结构为凸块244,凸块244设置在第二齿轮24的第二端面241上,中间件的第一端面251与第二离合件的第二端面241相邻近,凸块244至少部分伸入圆弧槽252,圆弧槽252的圆心位于其所在部件的转动轴线上,凸块244可在圆弧槽252内滑动。The middle piece is the third gear 25. The middle piece includes a first clutch structure. The first clutch structure is an arc groove 252. The arc groove 252 is disposed on the first end surface 251 of the third gear 25, and the third gear 25 is connected to the driving gear 21; the second gear 24 includes a second clutch structure, the second clutch structure is a convex block 244, and the convex block 244 is disposed on the second On the second end face 241 of the gear 24, the first end face 251 of the intermediate member is adjacent to the second end face 241 of the second clutch member. The protrusion 244 at least partially extends into the arc groove 252, and the center of the arc groove 252 is located therein. The bump 244 can slide in the arc groove 252 on the rotation axis of the component.
一方面,凸块244与圆弧槽252接合可以使得第三齿轮25和第二齿轮24叠置;另一方面,第三齿轮25通过第一齿轮23驱动第四齿轮261时,凸块244可在圆弧槽252内滑动,第二齿轮24不随第三齿轮25转动,此时第二无齿部243与驱动齿轮21相耦合,从而在第一机构2驱动切割刀组件运动时,第二齿轮24不会驱动端部执行器5闭合或打开。On the one hand, the engagement of the bump 244 with the arc groove 252 can cause the third gear 25 and the second gear 24 to overlap; on the other hand, when the third gear 25 drives the fourth gear 261 through the first gear 23, the bump 244 can Sliding in the arc groove 252, the second gear 24 does not rotate with the third gear 25. At this time, the second toothless portion 243 is coupled with the driving gear 21, so that when the first mechanism 2 drives the cutting knife assembly to move, the second gear 24 does not rotate with the third gear 25. 24 will not drive the end effector 5 closed or open.
具体地,如图29所示,凸块244与圆弧槽252的首端253抵接时,随着驱动齿轮21驱动第三齿轮25顺时针转动,第三齿轮25转动使得圆弧槽252的首端253带动与其抵接的凸块244转动,从而带动第二齿轮24转动,使得第二齿轮24和驱动齿轮21之间从耦合状态切换至接合状态,耦合状态即第二无齿部243与驱动齿轮21耦合,接合状态即第二有齿部242与驱动齿轮21接合。也即,凸起119与圆弧槽252的连接能够使得驱动齿轮21与第二无齿部243耦合转换为驱动齿轮21与第二有齿部242接合,从而实现了第二齿轮24对连杆262由不驱动状态转换为驱动状态。Specifically, as shown in FIG. 29 , when the bump 244 abuts the head end 253 of the arc groove 252 , as the driving gear 21 drives the third gear 25 to rotate clockwise, the third gear 25 rotates so that the arc groove 252 rotates. The head end 253 drives the protrusion 244 in contact with it to rotate, thereby driving the second gear 24 to rotate, so that the second gear 24 and the driving gear 21 switch from the coupling state to the engagement state. The coupling state is the second toothless portion 243 and the driving gear 21 . The drive gear 21 is coupled, and in the engaged state, the second toothed portion 242 is engaged with the drive gear 21 . That is to say, the connection between the protrusion 119 and the arc groove 252 can convert the coupling of the driving gear 21 and the second toothless portion 243 into the engagement of the driving gear 21 and the second toothed portion 242 , thereby realizing the coupling of the second gear 24 to the connecting rod. 262 is converted from a non-driven state to a driven state.
具体地,请参考图23和图25,齿条31向第一初始位置运动的过程中,第三齿轮25带动第一齿轮23顺时针转动,第一齿轮23的第一有齿部231与第四齿轮261脱离,第四齿轮261与第一无齿部232耦合(见图25),第三齿轮25在驱动齿轮21的驱动下继续转动一个齿,使得凸块244抵接于圆弧槽252的首端253(见图29),进而使得第二齿轮24的第二有齿部242的齿与第三齿轮25的齿上下对齐,但第二有齿部242与驱动齿轮21尚未啮合,此时,如果电机转动,驱动齿轮21继续驱动第三齿轮25转动,第三齿轮25转动时圆弧槽252的首端253带动凸块244同步转动而使第二有齿部242开始与驱动齿轮21啮合,从而第二齿轮24和第三齿轮25可同步与驱动齿轮21啮合,以保证后续端部执行器5的顺利打开而松开组织。Specifically, please refer to Figures 23 and 25. During the movement of the rack 31 to the first initial position, the third gear 25 drives the first gear 23 to rotate clockwise, and the first toothed portion 231 of the first gear 23 is in contact with the first gear 23. The fourth gear 261 is disengaged, and the fourth gear 261 is coupled with the first toothless portion 232 (see Figure 25). The third gear 25 continues to rotate one tooth under the drive of the driving gear 21, so that the bump 244 abuts the arc groove 252. The head end 253 of the second gear 24 (see Figure 29), thereby aligning the teeth of the second toothed portion 242 of the second gear 24 with the teeth of the third gear 25, but the second toothed portion 242 and the driving gear 21 have not yet meshed. When the motor rotates, the driving gear 21 continues to drive the third gear 25 to rotate. When the third gear 25 rotates, the head end 253 of the arc groove 252 drives the bump 244 to rotate synchronously, so that the second toothed portion 242 begins to rotate with the driving gear 21 Engage, so that the second gear 24 and the third gear 25 can be synchronously engaged with the driving gear 21 to ensure the subsequent smooth opening of the end effector 5 to release the tissue.
请参考图2,传动组件3包括切割刀传动组件和钳口传动组件,切割刀传动组件用于驱动切割刀在端部执行器5内运动,钳口传动组件用于驱动端部执行器5的钳口组件的打开或闭合。Please refer to Figure 2. The transmission assembly 3 includes a cutting knife transmission assembly and a jaw transmission assembly. The cutting knife transmission assembly is used to drive the cutting knife to move within the end effector 5. The jaw transmission assembly is used to drive the end effector 5. Opening or closing of the jaw assembly.
切割刀传动组件包括齿条31和与齿条31的远侧端连接的芯轴41,芯轴41的远侧端与切割刀连接。当第一齿轮23的第一有齿部231与第四齿轮261接合时,第一齿轮23驱动第四齿轮261转动,第四齿轮261驱动齿条31运动,齿条31驱动芯轴41运动,芯轴41驱动切割刀在端部执行器5内运动;当第一齿轮23的第一无齿部232与第四齿轮261耦合时,第四齿轮261脱离驱
动齿轮21的驱动,齿条31与第一机构2耦合,齿条31脱离第一机构2的驱动。The cutting blade transmission assembly includes a rack 31 and a mandrel 41 connected to the distal end of the rack 31. The distal end of the mandrel 41 is connected to the cutting blade. When the first toothed portion 231 of the first gear 23 is engaged with the fourth gear 261, the first gear 23 drives the fourth gear 261 to rotate, the fourth gear 261 drives the rack 31 to move, and the rack 31 drives the core shaft 41 to move. The mandrel 41 drives the cutting knife to move within the end effector 5; when the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the fourth gear 261 is disengaged from the drive. The rack 31 is coupled with the first mechanism 2 due to the drive of the moving gear 21 , and the rack 31 is separated from the drive of the first mechanism 2 .
钳口传动组件包括与连杆262连接的滑块32、与滑块32连接的套管42,连杆262与第二齿轮24连接,当第二齿轮24的第二有齿部242与驱动齿轮21接合时,驱动齿轮21驱动第二齿轮24转动,第二齿轮24驱动连杆262运动,连杆262驱动滑块32和套管42运动,套管42驱动钳口组件打开和闭合;当第二齿轮24的第二无齿部243与驱动齿轮21耦合时,第二齿轮24脱离驱动齿轮21的驱动,连杆262与第一机构2耦合。The jaw transmission assembly includes a slider 32 connected to a connecting rod 262 and a sleeve 42 connected to the slider 32. The connecting rod 262 is connected to the second gear 24. When the second toothed portion 242 of the second gear 24 is connected to the driving gear When 21 is engaged, the driving gear 21 drives the second gear 24 to rotate, the second gear 24 drives the connecting rod 262 to move, the connecting rod 262 drives the slider 32 and the sleeve 42 to move, the sleeve 42 drives the jaw assembly to open and close; when the When the second toothless portion 243 of the second gear 24 is coupled with the driving gear 21 , the second gear 24 is separated from the drive of the driving gear 21 , and the connecting rod 262 is coupled with the first mechanism 2 .
连杆262的一端可转动地设置于第二齿轮24的第二端面241,第二齿轮24带动连杆262运动,连杆262运动带动钳口传动组件运动进而驱动钳口组件打开或闭合。第一齿轮23的位置与第四齿轮261的位置相对应以使得第一齿轮23与第四齿轮261选择性连接,第四齿轮261与齿条31啮合,当第一齿轮23的第一有齿部231与第四齿轮261接合时,第四齿轮261驱动齿条31前进或后退,齿条31通过芯轴41驱动切割刀前进或后退。One end of the connecting rod 262 is rotatably disposed on the second end surface 241 of the second gear 24. The second gear 24 drives the connecting rod 262 to move. The movement of the connecting rod 262 drives the jaw transmission assembly to move and thereby drives the jaw assembly to open or close. The position of the first gear 23 corresponds to the position of the fourth gear 261 so that the first gear 23 and the fourth gear 261 are selectively connected. The fourth gear 261 meshes with the rack 31. When the first toothed wheel of the first gear 23 When the portion 231 is engaged with the fourth gear 261, the fourth gear 261 drives the rack 31 forward or backward, and the rack 31 drives the cutting knife forward or backward through the mandrel 41.
下面详细介绍吻合器工作过程中的运动情况。The following describes the movement of the stapler during operation in detail.
请参考图11和图12,齿条31处于第一初始位置,第四齿轮261处于第二初始位置,端部执行器5处于打开状态,凸块244处于圆弧槽252的首端253。操作者启动电机,电机正向转动,进而驱动驱动齿轮21顺时针转动,驱动齿轮21与第一齿轮23的第一有齿部231、第二齿轮24的第二有齿部242以及第三齿轮25啮合,第一齿轮23的第一无齿部232与第四齿轮261耦合,第二齿轮24的凸块244处于第三齿轮25的圆弧槽252的首端253,驱动齿轮21驱动第一齿轮23、第二齿轮24以及第三齿轮25同步逆时针转动,凸块244保持在圆弧槽252的首端253,第二齿轮24转动以驱动连杆262运动,连杆262进而驱动滑块32,滑块32驱动套管42向前运动,套管42驱动端部执行器5的钳口组件闭合,第一齿轮23的第一无齿部232与第四齿轮261耦合,第四齿轮261保持在第二初始位置,齿条31保持在第一初始位置。Please refer to FIG. 11 and FIG. 12 , the rack 31 is in the first initial position, the fourth gear 261 is in the second initial position, the end effector 5 is in the open state, and the bump 244 is at the head end 253 of the arc groove 252 . The operator starts the motor, and the motor rotates forward, thereby driving the driving gear 21 to rotate clockwise. The driving gear 21 is connected with the first toothed portion 231 of the first gear 23, the second toothed portion 242 of the second gear 24, and the third gear. 25 mesh, the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the protrusion 244 of the second gear 24 is at the head end 253 of the arc groove 252 of the third gear 25, and the driving gear 21 drives the first The gear 23, the second gear 24 and the third gear 25 rotate counterclockwise synchronously, and the bump 244 is kept at the head end 253 of the arc groove 252. The second gear 24 rotates to drive the connecting rod 262 to move, and the connecting rod 262 in turn drives the slider. 32. The slider 32 drives the sleeve 42 to move forward, the sleeve 42 drives the jaw assembly of the end effector 5 to close, the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, and the fourth gear 261 Maintaining the second initial position, the rack 31 remains in the first initial position.
请参考图13和图14,钳口组件闭合到底,驱动齿轮21与第二齿轮24的第二有齿部242即将脱离啮合。Please refer to Figures 13 and 14. When the jaw assembly is closed to the bottom, the driving gear 21 and the second toothed portion 242 of the second gear 24 are about to be disengaged.
请参考图15和图16,驱动齿轮21与第二齿轮24的第二有齿部242完全脱离啮合,此时,第二无齿部243与驱动齿轮21耦合,驱动齿轮21与第三齿轮25保持啮合,第一齿轮23与第三齿轮25同步转动。响应于第二无齿部243与驱动齿轮21耦合,第三齿轮25继续转动,凸块244从圆弧槽252的首端253向末端滑动。Please refer to Figures 15 and 16. The driving gear 21 and the second toothed portion 242 of the second gear 24 are completely out of mesh. At this time, the second toothless portion 243 is coupled with the driving gear 21, and the driving gear 21 and the third gear 25 Maintaining meshing, the first gear 23 and the third gear 25 rotate synchronously. In response to the coupling of the second toothless portion 243 with the driving gear 21 , the third gear 25 continues to rotate, and the bump 244 slides from the head end 253 of the arc groove 252 toward the end.
请参考图15至图20,电机继续正向转动,电机驱动驱动齿轮21顺时针转动,驱动齿轮21驱动通过第三齿轮25驱动第一齿轮23转动,进而使得第一齿轮23的第一有齿部231与处于第二初始位置的第四齿轮261接合,第四齿轮261从第二初始位置开始转动以驱动齿条31从第一
初始位置向前移动,响应于齿条31***作向前运动以脱离第一初始位置,齿条31驱动凸起119做第三运动以使得凸起119和凹槽分离,引导凸起119沿第二预设方向做第三运动,进而确保凸起119解除对传动件的限位,防止凸起119在做第三运动时在齿条31摩擦力的作用下向前运动,从而无法快速准确的解除对传动件的限位,甚至干涉齿条31运动。容纳腔的内壁面作用于凸起119以使得其沿第二预设方向进行第三运动。Please refer to Figures 15 to 20. The motor continues to rotate in the forward direction. The motor drives the driving gear 21 to rotate clockwise. The driving gear 21 drives the first gear 23 to rotate through the third gear 25, thereby causing the first toothed part of the first gear 23 to rotate. The portion 231 is engaged with the fourth gear 261 in the second initial position, and the fourth gear 261 starts to rotate from the second initial position to drive the rack 31 from the first The initial position moves forward. In response to the rack 31 being operated to move forward to break away from the first initial position, the rack 31 drives the protrusion 119 to make a third movement to separate the protrusion 119 from the groove, and guide the protrusion 119 along the third movement. Make the third movement in the second preset direction, thereby ensuring that the protrusion 119 releases the limit on the transmission member, and prevents the protrusion 119 from moving forward under the action of the friction of the rack 31 when doing the third movement, so that it cannot be quickly and accurately The restriction on the transmission parts is released, and the movement of the rack 31 is even interfered with. The inner wall surface of the accommodation cavity acts on the protrusion 119 to cause it to perform a third movement along the second preset direction.
可以理解的是,请参考图15至图20,“第一齿轮23的第一有齿部231与处于第二初始位置的第四齿轮261接合”是指第一齿轮23的齿6抵推第四齿轮261的齿13,进而使得第四齿轮261的齿12进入第一齿轮23的齿6和齿5之间,使得第一齿轮23的第一有齿部231与第四齿轮261啮合。It can be understood that, please refer to FIGS. 15 to 20 , "the first toothed portion 231 of the first gear 23 is engaged with the fourth gear 261 in the second initial position" means that the teeth 6 of the first gear 23 push against the fourth gear 261 . The teeth 13 of the fourth gear 261 , and thus the teeth 12 of the fourth gear 261 , enter between the teeth 6 and 5 of the first gear 23 , so that the first toothed portion 231 of the first gear 23 meshes with the fourth gear 261 .
齿条31驱动芯轴41运动进而驱动切割刀在端部执行器5内运动,请参考图4、图5和图21,响应于齿条31向前运动与凸起119脱开,复位件111驱动第二元件114沿第一预设方向运动,使得第二抵接面113运动,进而使得第二抵接面113运动至与第一抵接面117相抵接,从而对第二元件114进行止位。The rack 31 drives the spindle 41 to move and thereby drives the cutting knife to move in the end effector 5. Please refer to Figure 4, Figure 5 and Figure 21. In response to the forward movement of the rack 31 and the disengagement of the protrusion 119, the reset member 111 The second element 114 is driven to move along the first preset direction, so that the second abutment surface 113 moves, and then the second abutment surface 113 moves to abut with the first abutment surface 117, thereby stopping the second element 114. Bit.
在其他实施例中,请参考图6,齿条31被第一机构2驱动运动的过程中,第一元件112保持于预设位置。In other embodiments, please refer to FIG. 6 . During the process of the rack 31 being driven by the first mechanism 2 , the first element 112 is maintained at the preset position.
如图19和图20显示的切割刀向前移动过程中某时刻的离合组件22的状态,第二无齿部243与驱动齿轮21耦合,第二齿轮24不转动,驱动齿轮21无法驱动端部执行器5运动,即钳口组件保持在闭合状态。第一有齿部231与第四齿轮261啮合,驱动齿轮21驱动第三齿轮25逆时针转动进而驱动第一齿轮23转动,第一齿轮23驱动第四齿轮261转动,第一齿轮23的圆弧槽252随第一齿轮23逆时针转动,进而使得原本处于圆弧槽252首端253的凸块244向末端滑动,直至到达图16所示的位置。此时,切割刀进刀过程完成。As shown in Figures 19 and 20, the state of the clutch assembly 22 at a certain moment when the cutting knife is moving forward, the second toothless portion 243 is coupled with the driving gear 21, the second gear 24 does not rotate, and the driving gear 21 cannot drive the end portion. The actuator 5 moves, that is, the jaw assembly remains in a closed state. The first toothed portion 231 meshes with the fourth gear 261. The driving gear 21 drives the third gear 25 to rotate counterclockwise and then drives the first gear 23 to rotate. The first gear 23 drives the fourth gear 261 to rotate. The arc of the first gear 23 The groove 252 rotates counterclockwise with the first gear 23, thereby causing the bump 244 originally located at the head end 253 of the arc groove 252 to slide toward the end until it reaches the position shown in Figure 16. At this point, the cutting knife feeding process is completed.
如图21和图22所示的位置,切割刀完成组织切割。此时,操作者操作电机反向转动,电机驱动驱动齿轮21逆时针转动,驱动齿轮21驱动第一齿轮23和第三齿轮25顺时针转动,第一齿轮23的第一有齿部231驱动第四齿轮261逆时针转动,第四齿轮261驱动齿条31向第一初始位置移动。In the position shown in Figure 21 and Figure 22, the cutting knife completes tissue cutting. At this time, the operator operates the motor to rotate in the reverse direction. The motor drives the driving gear 21 to rotate counterclockwise. The driving gear 21 drives the first gear 23 and the third gear 25 to rotate clockwise. The first toothed portion 231 of the first gear 23 drives the third gear 23 to rotate clockwise. The fourth gear 261 rotates counterclockwise, and the fourth gear 261 drives the rack 31 to move toward the first initial position.
在本实施例中,请参考图5、图21和图22,齿条31上设有导向面115。齿条31向前运动以使得齿条31与凸起119脱开,响应于齿条31向后运动,导向面115与凸起119抵接并驱动凸起119运动以使得凸起119到达预设位置。In this embodiment, please refer to FIG. 5 , FIG. 21 and FIG. 22 , the rack 31 is provided with a guide surface 115 . The rack 31 moves forward to disengage the rack 31 from the protrusion 119. In response to the backward movement of the rack 31, the guide surface 115 abuts the protrusion 119 and drives the protrusion 119 to move so that the protrusion 119 reaches the preset position. Location.
请参考图23,传动件继续向第一初始位置运动,输出件与第一齿轮23的第一有齿部231的最后一个齿6啮合。
Please refer to FIG. 23 , the transmission member continues to move toward the first initial position, and the output member engages with the last tooth 6 of the first toothed portion 231 of the first gear 23 .
请参考图25、图26和图29,在本实施例中,第一机构2与齿条31开始耦合前,复位件111驱动处于预设位置的凸起119沿第一预设方向做第一运动,使得凸起119部分进入凹槽并与凹槽抵接。Please refer to Figures 25, 26 and 29. In this embodiment, before the first mechanism 2 and the rack 31 start to couple, the reset member 111 drives the protrusion 119 in the preset position to make the first movement in the first preset direction. Movement, causing the protrusion 119 to partially enter the groove and abut against the groove.
在其他实施例中,第一机构2与齿条31开始耦合后,复位件111驱动处于预设位置的凸起119沿第一预设方向做第一运动,使得凸起119部分进入凹槽并与凹槽抵接。In other embodiments, after the first mechanism 2 and the rack 31 start to couple, the reset member 111 drives the protrusion 119 at the preset position to make a first movement in the first preset direction, so that the protrusion 119 partially enters the groove and moves Butt against the groove.
引导件116引导凸起119眼第一预设方向做第一运动,确保凸起119沿第一预设方向部分进入凹槽并与凹槽相抵接,进而确保后续凸起119驱动凹槽。The guide 116 guides the protrusion 119 to make a first movement in the first preset direction, ensuring that the protrusion 119 partially enters the groove along the first preset direction and abuts against the groove, thereby ensuring that the subsequent protrusion 119 drives the groove.
可以理解的是,请参考图25和图26,第一机构2与齿条31开始耦合,第四齿轮261没有回到第二初始位置。如果第四齿轮261保持在此位置,待第一齿轮23的第一有齿部231的第一个齿6再次与第四齿轮261连接时,第一个齿6可能会与第四齿轮261的齿12抵接,导致打齿,导致第一机构2失效。It can be understood that, please refer to FIG. 25 and FIG. 26 , the first mechanism 2 and the rack 31 start to couple, and the fourth gear 261 does not return to the second initial position. If the fourth gear 261 remains in this position, when the first tooth 6 of the first toothed portion 231 of the first gear 23 is connected to the fourth gear 261 again, the first tooth 6 may be connected to the fourth gear 261 . The teeth 12 come into contact, causing the teeth to break, causing the first mechanism 2 to fail.
在这个过程中,第二无齿部243与驱动齿轮21耦合,第二齿轮24不转动,驱动齿轮21无法驱动端部执行器5运动,即钳口组件保持在闭合状态,第一齿轮23的圆弧槽252随第一齿轮23顺转动,进而使得原本处于圆弧槽252末端的凸块244向首端253滑动。响应于处于预设位置的凸起119在复位件111的作用下做第一运动以使得凸起119离开预设位置至少部分进入凹槽,并且响应于第一齿轮23的第一无齿部232与第四齿轮261耦合,复位件111驱动凸起119做第二运动以驱动凹槽运动,进而驱动齿条31回到第一初始位置。引导件116的容纳腔的内壁面作用于凸起119以使得其沿第一预设方向进行第二运动,确保凸起119能够抵持在凹槽的内壁面上做第二运动进而驱动凹槽向第一初始位置移动。During this process, the second toothless portion 243 is coupled with the driving gear 21, the second gear 24 does not rotate, and the driving gear 21 cannot drive the end effector 5 to move, that is, the jaw assembly remains in a closed state, and the first gear 23 The arc groove 252 rotates along with the first gear 23 , thereby causing the bump 244 originally located at the end of the arc groove 252 to slide toward the head end 253 . In response to the protrusion 119 in the preset position, the first movement is made under the action of the reset member 111 so that the protrusion 119 leaves the preset position and at least partially enters the groove, and in response to the first toothless portion 232 of the first gear 23 Coupled with the fourth gear 261, the reset member 111 drives the protrusion 119 to make a second movement to drive the groove movement, thereby driving the rack 31 to return to the first initial position. The inner wall surface of the accommodation cavity of the guide 116 acts on the protrusion 119 to cause it to make a second movement along the first preset direction, ensuring that the protrusion 119 can resist the inner wall surface of the groove and make the second movement to drive the groove. Move to the first initial position.
请参考图25和图26,响应于第一齿轮23的第一无齿部232与第四齿轮261耦合,齿条31脱离第一机构2的驱动,至少部分处于凹槽内的凸起119在复位件111的作用下开始做第二运动以驱动凹槽向第一初始位置运动以使得齿条31向第一初始位置运动,向第一初始位置运动的齿条31驱动第四齿轮261向第二初始位置运动。Please refer to Figures 25 and 26. In response to the coupling of the first toothless portion 232 of the first gear 23 with the fourth gear 261, the rack 31 is separated from the drive of the first mechanism 2, and the protrusion 119 at least partially located in the groove is Under the action of the reset member 111, the second movement is started to drive the groove to move to the first initial position so that the rack 31 moves to the first initial position. The rack 31 moving to the first initial position drives the fourth gear 261 to move to the first initial position. 2. Initial position movement.
具体的,请参考图25至27,此时输出件与离合组件22开始耦合,如果不使用第二机构11驱动传动件回到第一初始位置,输出件无法回到第二初始位置,离合组件22继续转动,使得离合组件22的有齿部再次与输出件连接。请参考图28,离合组件22继续运动,直至离合组件的有齿部再次与输出件的齿连接,因输出件不处于第二初始位置,输出件的齿轮的齿6与离合组件22有齿部的齿6抵接,进而使得电机负载过重,导致电机或电路板失效;或者使得输出件的齿和/或离合组件的齿损伤,齿屑脱落,导致吻合器故障;或者使得输出件的齿和/或离合组件的齿损伤,导致缺齿,进而使得齿条行程缩短,切割刀切割不到位。
Specifically, please refer to Figures 25 to 27. At this time, the output member and the clutch assembly 22 begin to couple. If the second mechanism 11 is not used to drive the transmission member back to the first initial position, the output member cannot return to the second initial position, and the clutch assembly 22 continues to rotate so that the toothed portion of the clutch assembly 22 is connected to the output member again. Please refer to Figure 28. The clutch assembly 22 continues to move until the toothed portion of the clutch assembly is connected to the teeth of the output member again. Since the output member is not in the second initial position, the gear teeth 6 of the output member are connected to the toothed portion of the clutch assembly 22. The teeth 6 are in contact, which in turn causes the motor to be overloaded, causing the motor or circuit board to fail; or the teeth of the output part and/or the teeth of the clutch assembly are damaged, and the tooth chips fall off, causing the stapler to malfunction; or the teeth of the output part are damaged. And/or the teeth of the clutch assembly are damaged, resulting in missing teeth, which in turn shortens the rack stroke and the cutting knife cannot cut in place.
请参考图5和图29,响应于齿条31被驱动向后运动以到达第一初始位置,凸起119在复位件111的作用下与凹槽相抵接以将齿条31限位在第一初始位置,进而将第四齿轮261限位在第二初始位置,防止回到第一初始位置的齿条在重力作用下向前运动,进而带动第四齿轮261脱离第二初始位置,确保第四齿轮261在下一次与第一齿轮23连接时能够与第一有齿部231接合。Please refer to FIGS. 5 and 29 . In response to the rack 31 being driven to move backward to reach the first initial position, the protrusion 119 abuts the groove under the action of the reset member 111 to limit the rack 31 to the first initial position. initial position, thereby limiting the fourth gear 261 to the second initial position, preventing the rack returning to the first initial position from moving forward under the action of gravity, thereby driving the fourth gear 261 away from the second initial position, ensuring that the fourth The gear 261 can be engaged with the first toothed portion 231 the next time it is connected to the first gear 23 .
随着第一齿轮23的第一无齿部232与第四齿轮261耦合,电机继续反转,第三齿轮25继续转动,使得凸块244抵接圆弧槽252的首端253,进而使得第二齿轮24的第二有齿部242的齿与第三齿轮25的齿上下对齐,但第二有齿部242与驱动齿轮21尚未啮合,此时,电机转动,驱动齿轮21驱动第三齿轮25转动,第三齿轮25转动时圆弧槽252的首端253带动凸块244同步转动而使第二有齿部242开始与驱动齿轮21啮合,从而第二齿轮24和第三齿轮25可同步与驱动齿轮21啮合,驱动齿轮21驱动第二齿轮24转动,第二齿轮24驱动端部执行器5打开。As the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the motor continues to reverse, and the third gear 25 continues to rotate, so that the protrusion 244 abuts the head end 253 of the arc groove 252, thereby causing the third The teeth of the second toothed portion 242 of the second gear 24 are aligned vertically with the teeth of the third gear 25, but the second toothed portion 242 and the driving gear 21 have not yet meshed. At this time, the motor rotates, and the driving gear 21 drives the third gear 25. Rotate, when the third gear 25 rotates, the head end 253 of the arc groove 252 drives the bump 244 to rotate synchronously, so that the second toothed portion 242 begins to mesh with the driving gear 21, so that the second gear 24 and the third gear 25 can be synchronously rotated. The driving gear 21 is engaged, the driving gear 21 drives the second gear 24 to rotate, and the second gear 24 drives the end effector 5 to open.
在其他实施方式中,请参考图30,第二机构11为磁性元件12,传动件的材质为铁磁性物质。In other embodiments, please refer to Figure 30. The second mechanism 11 is a magnetic element 12, and the transmission member is made of ferromagnetic material.
响应于离合组件22与输出件耦合,磁性元件12驱动传动件回到第一初始位置,响应于传动件达到第一初始位置,磁性元件12将传动件限位在第一初始位置。In response to the clutch assembly 22 coupling with the output member, the magnetic element 12 drives the transmission member back to the first initial position, and in response to the transmission member reaching the first initial position, the magnetic element 12 limits the transmission member in the first initial position.
具体的,第一机构2驱动齿条31向第一初始位置方向运动,响应于离合组件22与输出件耦合,磁性元件12通过磁力吸引齿条31回到第一初始位置进而使得齿条31驱动第四齿轮261回到第二初始位置,响应于磁性元件12到达第一初始位置,磁性元件12通过磁力吸引齿条31以将齿条31限位在第一初始位置,进而将第四齿轮261限位在第二初始位置,确保输入件再次与第一齿轮23的第一有齿部231连接时能够接合,防止输入件与第一齿轮23的第一有齿部231打齿,导致第一机构2失效。Specifically, the first mechanism 2 drives the rack 31 to move toward the first initial position. In response to the coupling of the clutch assembly 22 with the output member, the magnetic element 12 attracts the rack 31 back to the first initial position through magnetic force, thereby driving the rack 31 The fourth gear 261 returns to the second initial position. In response to the magnetic element 12 reaching the first initial position, the magnetic element 12 attracts the rack 31 through magnetic force to limit the rack 31 to the first initial position, thereby moving the fourth gear 261 The limit is at the second initial position to ensure that the input member can be engaged when it is connected to the first toothed portion 231 of the first gear 23 again, preventing the input member from engaging with the first toothed portion 231 of the first gear 23 and causing the first Organization 2 failed.
在本实施例中,磁性元件12设置在第一初始位置的近侧端,当传动件处于第一初始位置时,传动件被磁性元件12的磁力吸引以使得传动件与磁性元件12相贴。In this embodiment, the magnetic element 12 is disposed at the proximal end of the first initial position. When the transmission element is in the first initial position, the transmission element is attracted by the magnetic force of the magnetic element 12 so that the transmission element and the magnetic element 12 are in contact.
综上,本申请利用第二机构11驱动传动件回到第一初始位置,进而驱动输出件回到第二初始位置,从而确保下一次输出件与离合组件22的第一有齿部231连接时能够与第一有齿部231接合,防止不处于第二初始位置的输出件与第一有齿部231连接时抵接打齿,进而导致外科器械失效。本申请的第二机构11的结构简单,安装便捷。复位件111驱动第一元件112做第二运动以使得第一元件112驱动第二元件114,进而驱动传动件向第一初始位置运动,并使得第一元件112与第二元件114抵接将传动件限位在第一初始位置,进而将输出件限位在第二初始位置。向第一初始位置运动的齿条31驱动输出件向第二初始位置运动,限位在第一初始位
置的传动件将输出件限位在第二初始位置,进而防止输出件再次与离合组件22的第一有效转程结构连接时抵接打齿,进而导致外科器械失效等故障。To sum up, this application uses the second mechanism 11 to drive the transmission member back to the first initial position, and then drive the output member back to the second initial position, thereby ensuring that the next time the output member is connected to the first toothed portion 231 of the clutch assembly 22 It can engage with the first toothed portion 231 to prevent the output member that is not in the second initial position from contacting and hitting the teeth when connected to the first toothed portion 231, thereby causing the surgical instrument to fail. The second mechanism 11 of the present application has a simple structure and is easy to install. The reset member 111 drives the first element 112 to make the second movement, so that the first element 112 drives the second element 114, thereby driving the transmission member to move to the first initial position, and causing the first element 112 to contact the second element 114 to transmit the transmission. The output member is limited to the first initial position, thereby limiting the output member to the second initial position. The rack 31 moving to the first initial position drives the output member to move to the second initial position, and is limited to the first initial position. The transmission member is positioned to limit the output member to the second initial position, thereby preventing the output member from contacting and hitting the teeth when it is connected to the first effective rotation structure of the clutch assembly 22 again, thereby causing malfunctions such as failure of the surgical instrument.
需要说明的是,虽然本实施例以吻合器为例对于外科器械1进行了说明,但本实施例中的技术方案可应用于具有端部执行器5、切割刀、传动件、驱动件等部件的其它外科器械1,并且能够驱动传动件回到第一初始位置进而将传动件稳定地限位于第一初始位置,以使得输出件回到并被限位在第二初始位置,从而确保输出件再次与离合组件22的有效转成结构接合,防止输出件与离合组件22打齿,进而导致外科器械失效等故障。It should be noted that although this embodiment uses a stapler as an example to illustrate the surgical instrument 1, the technical solution in this embodiment can be applied to components such as end effectors 5, cutting knives, transmission parts, and driving parts. other surgical instruments 1, and can drive the transmission member back to the first initial position and thereby stably limit the transmission member to the first initial position, so that the output member returns to and is limited to the second initial position, thereby ensuring that the output member It is again engaged with the effective switching structure of the clutch assembly 22 to prevent the output member from engaging with the clutch assembly 22, which may cause malfunctions such as failure of the surgical instrument.
应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施方式中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。It should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity. Persons skilled in the art should take the specification as a whole and understand each individual solution. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本申请的可行性实施方式的具体说明,它们并非用以限制本申请的保护范围,凡未脱离本申请技艺精神所作的等效实施方式或变更均应包含在本申请的保护范围之内。
The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present application. They are not intended to limit the protection scope of the present application. Any equivalent implementations or implementations that do not deviate from the technical spirit of the present application or All changes should be included in the protection scope of this application.
Claims (16)
- 一种外科器械,其特征在于,所述外科器械包括第一机构、传动件以及第二机构,所述第一机构包括离合组件和输出件,所述离合组件与所述输出件接合或耦合,所述输出件与所述传动件连接,所述传动件具有第一初始位置,所述输出件具有第二初始位置,当所述传动件处于所述第一初始位置时,所述输出件处于所述第二初始位置,所述离合组件与所述输出件接合以驱动所述传动件运动,所述离合组件与所述输出件耦合以使得所述传动件脱离所述离合组件的驱动,响应于所述离合组件与所述输出件耦合,所述第二机构驱动所述传动件回到所述第一初始位置以使得所述传动件驱动所述输出件回到所述第二初始位置;响应于所述离合组件被驱动与所述输出件连接,处于所述第二初始位置的所述输出件与所述离合组件接合。A surgical instrument, characterized in that the surgical instrument includes a first mechanism, a transmission member and a second mechanism, the first mechanism includes a clutch assembly and an output member, the clutch assembly is engaged or coupled with the output member, The output member is connected to the transmission member, the transmission member has a first initial position, and the output member has a second initial position. When the transmission member is in the first initial position, the output member is in In the second initial position, the clutch assembly is engaged with the output member to drive the transmission member to move, and the clutch assembly is coupled with the output member so that the transmission member is disengaged from the drive of the clutch assembly, in response to After the clutch assembly is coupled with the output member, the second mechanism drives the transmission member back to the first initial position so that the transmission member drives the output member back to the second initial position; In response to the clutch assembly being driven into connection with the output member, the output member in the second initial position engages the clutch assembly.
- 根据权利要求1所述的外科器械,其特征在于,所述第二机构包括复位件、第一元件、引导件以及设置于所述传动件的第二元件;The surgical instrument according to claim 1, wherein the second mechanism includes a reset member, a first member, a guide member, and a second member provided on the transmission member;响应于所述离合机构与所述输出件耦合,并且响应于所述第一元件在所述复位件的作用下与所述第二元件配合,所述第一元件被所述复位件驱动做第二运动以驱动所述第二元件,进而驱动所述传动件回到所述第一初始位置;In response to the clutch mechanism being coupled with the output member, and in response to the first element cooperating with the second element under the action of the return member, the first member is driven by the return member to do a third operation. two movements to drive the second element and thereby drive the transmission member back to the first initial position;所述引导件引导所述第一元件沿第一预设方向做所述第二运动。The guide guides the first element to make the second movement in a first preset direction.
- 根据权利要求2所述的外科器械,其特征在于,响应于所述传动件被所述第一元件驱动以到达所述第一初始位置,所述第一元件在所述复位件的作用下抵持于所述第二元件以将所述传动件限位在所述第一初始位置;The surgical instrument according to claim 2, wherein in response to the transmission member being driven by the first member to reach the first initial position, the first member resists under the action of the reset member. Holding on the second element to limit the transmission member in the first initial position;响应于所述传动件被所述输出件驱动以脱离所述第一初始位置,所述第一元件被所述传动件驱动做第三运动以使得所述第一元件与所述第二元件分离;In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element. ;所述引导件引导所述第一元件沿第二预设方向做所述第三运动。The guide guides the first element to make the third movement along the second preset direction.
- 根据权利要3所述的外科器械,其特征在于,所述第一元件为凸起,所述第二元件为凹槽;The surgical instrument according to claim 3, wherein the first element is a protrusion and the second element is a groove;响应于所述离合组件与所述输出件耦合,并且响应于所述第一元件在所述复位件的作用下部分进入所述凹槽并与所述凹槽抵接,所述复位件驱动所述凸起做所述第二运动以驱动所述凹槽,进而驱动所述传动件回到所述第一初始位置;In response to the clutch assembly being coupled to the output member, and in response to the first element partially entering the groove and abutting against the groove under the action of the return member, the return member drives the The protrusion makes the second movement to drive the groove, thereby driving the transmission member back to the first initial position;响应于所述传动件被所述第一元件驱动以到达所述第一初始位置,所述凸起在所述复位件的作用下抵持于所述凹槽以将所述传动件限位在所述第一初始位置;In response to the transmission member being driven by the first element to reach the first initial position, the protrusion resists the groove under the action of the return member to limit the transmission member in the the first initial position;响应于所述传动件被所述输出件驱动以脱离所述第一初始位置,所述凸起在所述传动件的驱动下做所述第三运动以使得所述凸起与所述凹槽分离。 In response to the transmission member being driven by the output member to depart from the first initial position, the protrusion is driven by the transmission member to make the third movement so that the protrusion is in contact with the groove. separation.
- 根据权利要3所述的外科器械,其特征在于,所述引导件包括容纳腔,所述第一元件至少部分可运动地设置在所述容纳腔内,所述容纳腔引导所述第一元件沿所述第一预设方向进行所述第二运动;所述容纳腔引导所述第一元件沿所述第二预设方向进行所述第三运动。The surgical instrument according to claim 3, wherein the guide member includes a receiving cavity, the first element is at least partially movably disposed in the receiving cavity, the receiving cavity guides the first element. The second movement is carried out along the first preset direction; the accommodation cavity guides the first element to carry out the third movement along the second preset direction.
- 根据权利要5所述的外科器械,其特征在于,所述第一预设方向与所述第二预设方向相反。The surgical instrument according to claim 5, wherein the first preset direction is opposite to the second preset direction.
- 根据权利要2所述的外科器械,其特征在于,所述第一预设方向与所述传动件的运动方向相交。The surgical instrument according to claim 2, wherein the first preset direction intersects the movement direction of the transmission member.
- 根据权利要求2所述的外科器械,其特征在于,所述传动件设置有导向面;The surgical instrument according to claim 2, wherein the transmission member is provided with a guide surface;所述输出件驱动所述传动件向前运动以使得所述传动件与所述第一元件脱开后,响应于所述传动件被驱动向后运动,所述导向面与所述第一元件抵接并驱动所述第一元件运动;After the output member drives the transmission member to move forward so that the transmission member is disengaged from the first element, in response to the transmission member being driven to move backward, the guide surface and the first element Contact and drive the first element to move;响应于所述离合组件与所述输出件耦合,所述第一元件被所述复位件驱动做所述第二运动以驱动所述第二元件,进而驱动所述传动件回到所述第一初始位置。In response to the coupling of the clutch assembly with the output member, the first element is driven by the return member to make the second movement to drive the second member, thereby driving the transmission member back to the first initial position.
- 根据权利要求8所述的外科器械,其特征在于,响应于所述传动件与所述第一元件脱开,所述引导件对所述第一元件进行止位以阻止所述第一元件脱离所述引导件。The surgical instrument according to claim 8, wherein in response to the transmission member being disengaged from the first member, the guide member stops the first member to prevent the first member from being disengaged. The guide.
- 根据权利要求9所述的外科器械,其特征在于,所述引导件包括第一限位件,所述第一元件包括第二限位件,所述第一限位件与所述第二限位件相配合对所述第一元件进行止位。The surgical instrument according to claim 9, wherein the guide member includes a first limiter, the first member includes a second limiter, and the first limiter and the second limiter are The positioning piece cooperates to stop the first component.
- 根据权利要求10所述的外科器械,其特征在于,所述第一限位件包括第一抵接面,所述第二限位件包括第二抵接面,所述第一抵接面与所述第二抵接面相抵接对所述第一元件进行止位。The surgical instrument according to claim 10, wherein the first limiting member includes a first contact surface, the second limiting member includes a second contact surface, and the first contact surface and The second contact surface abuts to stop the first element.
- 根据权利要求2所述的外科器械,其特征在于,所述第一元件具有预设位置,响应于所述传动件被所述输出件驱动向前运动以脱离所述第一初始位置,所述第一元件保持于所述预设位置。The surgical instrument according to claim 2, wherein the first element has a preset position, and in response to the transmission member being driven by the output member to move forward to disengage from the first initial position, the The first element remains in the preset position.
- 根据权利要求2所述的外科器械,其特征在于,所述复位件为弹性件,所述弹性件与所述第一元件连接;The surgical instrument according to claim 2, wherein the reset member is an elastic member, and the elastic member is connected to the first element;响应于所述离合组件与所述输出件耦合,所述第一元件被所述弹性件驱动做所述第二运动以驱动所述第二元件,进而驱动所述传动件回到所述第一初始位置。In response to the coupling of the clutch assembly with the output member, the first element is driven by the elastic member to make the second movement to drive the second element, thereby driving the transmission member back to the first initial position.
- 根据权利要求13所述的外科器械,其特征在于,响应于所述离合组件与所述输出件耦合,并且响应于所述第一元件在所述弹性件的作用下与所述第二元件配合,所述 弹性件驱动所述第一元件做所述第二运动以驱动所述第二元件运动,进而驱动所述传动件回到所述第一初始位置;The surgical instrument of claim 13, wherein in response to the clutch assembly being coupled to the output member, and in response to the first member engaging the second member under the action of the elastic member , described The elastic member drives the first element to make the second movement to drive the second element to move, and then drives the transmission member to return to the first initial position;响应于所述传动件被所述第一元件驱动以到达所述第一初始位置,所述第一元件在所述弹性件的作用下抵持于所述第二元件以将所述传动件限位在所述第一初始位置;In response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the elastic member to limit the transmission member. at the first initial position;响应于所述传动件被所述输出件驱动以脱离所述第一初始位置,所述第一元件被所述传动件驱动做第三运动以使得所述第一元件与所述第二元件分离。In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element. .
- 根据权利要求1所述的外科器械,其特征在于,所述第二机构为磁性元件,所述传动件的材质为磁铁性物质;The surgical instrument according to claim 1, characterized in that the second mechanism is a magnetic element, and the material of the transmission member is a magnetic substance;响应于所述离合组件与所述输出件耦合,所述磁性元件驱动所述传动件回到所述第一初始位置。In response to the clutch assembly coupling with the output member, the magnetic element drives the transmission member back to the first initial position.
- 根据权利要求15所述的外科器械,其特征在于,响应于所述传动件达到所述第一初始位置,所述磁性元件将所述传动件限位在所述第一初始位置。 The surgical instrument according to claim 15, wherein in response to the transmission member reaching the first initial position, the magnetic element limits the transmission member to the first initial position.
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CN202210476340.6A CN116999109A (en) | 2022-04-29 | 2022-04-29 | Surgical instrument |
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EP2944274A2 (en) * | 2014-05-16 | 2015-11-18 | Covidien LP | Apparatus for endoscopic procedures |
CN109498090A (en) * | 2018-12-29 | 2019-03-22 | 北京派尔特医疗科技股份有限公司 | A kind of electronic hysteroscope stapler resetting apparatus and electronic hysteroscope stapler |
CN111248962A (en) * | 2020-01-17 | 2020-06-09 | 盈甲医疗器械制造(上海)有限公司 | Automatic returning device for electric anastomat and electric anastomat thereof |
CN111904505A (en) * | 2019-05-10 | 2020-11-10 | 上海逸思医疗科技有限公司 | Medical instrument |
CN112773436A (en) * | 2021-01-27 | 2021-05-11 | 北京天助畅运医疗技术股份有限公司 | Endoscope anastomat and transmission mechanism thereof |
CN216060620U (en) * | 2021-09-30 | 2022-03-18 | 江苏风和医疗器材股份有限公司 | Motorized surgical instrument |
-
2022
- 2022-04-29 CN CN202210476340.6A patent/CN116999109A/en active Pending
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- 2023-04-28 WO PCT/CN2023/091873 patent/WO2023208235A1/en unknown
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EP2944274A2 (en) * | 2014-05-16 | 2015-11-18 | Covidien LP | Apparatus for endoscopic procedures |
CN109498090A (en) * | 2018-12-29 | 2019-03-22 | 北京派尔特医疗科技股份有限公司 | A kind of electronic hysteroscope stapler resetting apparatus and electronic hysteroscope stapler |
CN111904505A (en) * | 2019-05-10 | 2020-11-10 | 上海逸思医疗科技有限公司 | Medical instrument |
CN111248962A (en) * | 2020-01-17 | 2020-06-09 | 盈甲医疗器械制造(上海)有限公司 | Automatic returning device for electric anastomat and electric anastomat thereof |
CN112773436A (en) * | 2021-01-27 | 2021-05-11 | 北京天助畅运医疗技术股份有限公司 | Endoscope anastomat and transmission mechanism thereof |
CN216060620U (en) * | 2021-09-30 | 2022-03-18 | 江苏风和医疗器材股份有限公司 | Motorized surgical instrument |
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