CN115886911A

CN115886911A - Motorized surgical instrument

Info

Publication number: CN115886911A
Application number: CN202111162105.3A
Authority: CN
Inventors: 李正治; 孙宝峰; 胡杰
Original assignee: Fengh Medical Co ltd
Current assignee: Fengh Medical Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2023-04-04

Abstract

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

Description

Motorized surgical instrument

Technical Field

The application belongs to the field of surgical instruments, and particularly relates to an electric surgical instrument.

Background

Surgical instruments are well known for their widespread use in laparoscopic and other intraluminal procedures.

Existing endocutters generally include a housing, a shaft assembly extending longitudinally (also referred to as lengthwise) from the housing, and an end effector disposed at a distal end of the shaft assembly, the end effector including a jaw assembly and a cartridge assembly, the jaw assembly including a cartridge mount for operably supporting the cartridge assembly therein and a staple anvil pivotally connected to the cartridge mount, the staple anvil being selectively movable between an open position and a closed position.

A motor, at least a part of cutting driving mechanism and a jaw driving mechanism which are driven by the motor are accommodated in the shell, the cutting driving mechanism drives the cutting knife assembly to feed or withdraw, and tissues can be cut and anastomosed when the cutting knife assembly feeds; the jaw drive mechanism drives the jaw assembly to close or open, the jaw assembly being capable of clamping tissue when closed and releasing tissue or aligning tissue to be clamped when open.

The jaw driving mechanism of the existing anastomat needs an additional or complex locking mechanism to keep the jaw assembly closed after the jaw assembly is driven to be closed so as to prevent the jaw assembly from being opened when the cutting knife assembly advances and retreats. However, the additional or complicated locking mechanism results in a complicated mechanism and lower reliability of the electric stapler, and improvement is necessary.

Disclosure of Invention

In view of the deficiencies of the prior art, the present application is directed to a powered surgical instrument that maintains a jaw assembly closed without the need for additional or complicated locking mechanisms to ensure that the jaw assembly does not open during feeding and retracting of the cutting blade assembly, thereby simplifying the device and improving reliability and safety.

The application is realized by the following technical scheme:

a powered surgical instrument comprising a jaw assembly, a cannula, a transmission mechanism, and a power module; the sleeve is connected to the proximal end of the jaw assembly; the power module is used for providing power for the transmission mechanism;

the transmission mechanism comprises a jaw driving mechanism, and the jaw driving mechanism comprises a jaw driving piece and a motion conversion piece which is rotatably connected to the jaw driving piece; the jaw driving piece and the sleeve are connected through the movement conversion piece, and the movement conversion piece drives the sleeve to move, so that the jaw assembly is driven to be opened or closed; the jaw driving piece, the motion conversion piece and the sleeve form a crank sliding block mechanism;

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

Preferably, the powered surgical instrument further comprises a blocking portion for limiting the movement converting member to the dead-center position.

the transmission mechanism comprises a jaw driving mechanism, and the jaw driving mechanism comprises a jaw driving piece and a motion conversion piece which is rotatably connected to the jaw driving piece; the jaw driving piece and the sleeve are connected through the movement conversion piece, and the movement conversion piece drives the sleeve to move, so that the jaw assembly is driven to be opened or closed; the jaw driving piece, the motion conversion piece and the sleeve form a crank-slider mechanism;

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

Preferably, the jaw driver comprises a first jaw drive gear comprising, in a circumferential direction of the first jaw drive gear, a meshing portion and a smooth portion, the meshing portion engaging the power module in the first state; in the second state, the smooth portion is coupled with the power module.

Preferably, the jaw driver further comprises a second jaw drive gear, the second jaw drive gear overlapping the first jaw drive gear; the second jaw drive gear is engaged with the power module in both the first state and the second state; when the smooth part is in a coupling state with the power module, the second jaw driving gear can drive the first jaw driving gear to move from the coupling state of the smooth part and the power module to the engagement state of the meshing part and the power module.

Preferably, the first jaw driving gear is provided with a first matching portion, the second jaw driving gear is provided with a second matching portion, and when the smooth portion is in a coupling state with the power module, the first matching portion and the second matching portion are matched with each other to drive the first jaw driving gear to move.

Preferably, the first matching part is arranged at the end of the groove of the first jaw driving gear, the second matching part is a bump, or the first matching part is a bump, and the second matching part is arranged at the end of the groove of the second jaw driving gear; the tab abuts the end such that the first jaw drive gear is switchable from a coupled condition with the power module to an engaged condition with the power module.

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

Preferably, an axis of the motor extends in a forward-rearward direction of the powered surgical instrument.

Preferably, the movement conversion member comprises a connecting rod, one end of the connecting rod is rotatably connected to the jaw driving member, and the other end of the connecting rod is rotatably connected to the sleeve.

Preferably, the movement conversion member comprises a connecting rod and a sliding block, one end of the connecting rod is rotatably connected to the jaw driving member, the other end of the connecting rod is rotatably connected to the sliding block, and the sliding block is fixedly connected to the sleeve.

Preferably, the blocking portion is located to one side of the axis of the sleeve; the blocking portion is fixedly mounted to or integrally formed with a housing of the powered surgical instrument.

Preferably, the jaw assembly is in a closed state when the jaw driver and the motion converter are in a dead center position of the slider-crank mechanism.

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

Preferably, in the first state, the distal end of the cutting drive is spaced from the proximal end of the mandrel assembly; in the second state, the distal end of the cutting drive member is coupled to the proximal end of the mandrel assembly to drive the mandrel assembly in a first direction to advance the cutting blade assembly.

Preferably, the cutting driving mechanism further comprises a conversion assembly, and the conversion assembly drives the mandrel assembly to move along a second direction under the action of the cutting driving member so as to drive the cutting knife assembly to retreat, wherein the second direction is opposite to the first direction.

Preferably, the conversion assembly comprises a moving piece and a moving guide, wherein the moving piece is connected with the mandrel assembly; under the action of the cutting driving piece, the moving piece is guided by the moving guide to move to be engaged with the cutting driving piece, so that the mandrel assembly is driven to move along a second direction.

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

Preferably, the mandrel assembly comprises a mandrel and a link connected to a proximal end of the mandrel, the pivot end being pivotally connected to the link; the first end is provided with an insertion portion, a distal end of the cutting driving member is provided with a coupling groove, and the insertion portion is inserted into the coupling groove to couple the moving member and the cutting driving member.

Preferably, the movement guide includes a recessed portion and guide surfaces on both sides of the recessed portion, the guide surfaces including a first guide surface and a second guide surface; the first end moves about the pivot end into engagement with the cutting drive by sliding contact with the first guide surface and the second end moves about the pivot end by sliding contact with the second guide surface to disengage the first end from the cutting drive.

Preferably, the conversion assembly comprises a moving member and a moving guide, the moving member being connected with the cutting drive; under the action of the cutting driving piece, the moving piece is guided by the moving guide to move to be engaged with the mandrel assembly, so that the mandrel assembly is driven to move along a second direction.

Preferably, the moving member includes a pivot end pivotally connected to the cutting drive, and first and second ends extending outwardly from the pivot end; the first end is moved into engagement with the mandrel assembly by the motion guide as the cutting drive moves in the first direction; when the cutting driving piece drives the moving piece to further drive the mandrel component to move along the second direction, the second end is moved by the action of the moving guide piece to separate the first end from the mandrel component.

Compared with the prior art, the beneficial effect of this application lies in: the crank block mechanism of the jaw driving mechanism can realize self-locking after the jaws are closed so as to ensure that the jaw assembly cannot be opened when the cutting knife assembly feeds or withdraws. According to the technical scheme, an additional or complex locking mechanism is not needed, the structure is simple, and the weight of the product is reduced, so that the operation of a doctor is facilitated; in addition, the reliability is improved, and the safety of the operation is ensured.

Drawings

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

Fig. 2 shows an angular internal structural view of the electric stapler according to the first embodiment of the present application.

Fig. 3 shows an enlarged view of a portion a in fig. 2.

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

Fig. 5 shows an enlarged view of portion B in fig. 4.

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

Fig. 7 shows a schematic view of a first jaw drive gear of a powered stapler according to a first embodiment of the present application.

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

Fig. 9 shows a top view of the jaw drive mechanism of the powered stapler with the jaws closed according to the first embodiment of the application.

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

Fig. 11 shows an exploded view of the cutting drive mechanism of the powered stapler in accordance with the first embodiment of the present application.

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

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

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

Fig. 15a to 15e are schematic views illustrating the structure and state change of a cutting driving mechanism of an electric stapler according to a first embodiment of the present application.

Fig. 16 shows an exploded view of a partial cut drive mechanism of a powered stapler according to a second embodiment of the present application.

Fig. 17 shows a schematic configuration diagram of a cutting driving mechanism of a motorized stapler according to a second embodiment of the present application.

Fig. 18 shows a schematic configuration of a connecting member of a cutting driving mechanism of a motorized stapler according to a second embodiment of the present application.

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

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

Fig. 21a to 21e are schematic views showing the structure and state change of a cutting driving mechanism of an electric stapler according to a second embodiment of the present application.

Description of the reference numerals

10 operating assembly 20 shaft assembly 201 mandrel 202 sleeve 30 end effector 31 magazine holder 32 against magazine holder 40 cutter assembly 401 knife bar 402 knife head 50 motor

1 jaw drive mechanism

11 Motor gear

12 first jaw drive gear 121 engagement portion 122 smooth portion 123 first mating portion 124 boss

13 second jaw drive gear 131 second mating portion

14 connecting rod

15 slide block

2 cutting driving mechanism

21 cutting driving piece 211 joint groove

22 motion guide 221 first ramp 222 second ramp 223 plane

23 link 231 contacts face 232 and third ramp 24 moves member 25 pin.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

It is to be understood that the terms "proximal", "posterior" and "distal", "anterior" are used herein with respect to the clinician manipulating the stapler. The terms "proximal" and "posterior" refer to portions that are relatively close to the clinician (or, alternatively, to the operating assembly 10 of the stapler, see FIG. 1), and the terms "distal" and "anterior" refer to portions that are relatively far from the clinician (or, alternatively, to the operating assembly 10 of the stapler, or, alternatively, to the end effector 30 of the stapler, see FIG. 1). The terms "upper" and "lower" are used with reference to the relative positions of the staple abutting seat and the magazine seat of the jaw assembly, specifically, the staple abutting seat is "upper" and the magazine seat is "lower". However, staplers can be used in many orientations and positions, and thus these terms of expressing relative positional relationships are not intended to be limiting and absolute.

In this application, unless expressly stated or limited otherwise, the terms "coupled" and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, a movable connection, or an integral part; either directly or indirectly through intervening media, either internally or in any other relationship, such as abutment. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be. It is to be noted that, when a definite term is used before "connected" or "connected", it has the meaning defined by the corresponding definite term, only excluding the case where it is obviously necessary to exclude, and not excluding other possible cases, for example, "detachably connected" means detachably connected, not integrally included, but movable connected, etc. are not excluded.

(first embodiment)

As shown in fig. 1 to 5, the electric stapler includes a handle assembly 10, a shaft assembly 20 extending forward from the handle assembly 10, an end effector 30 provided at a distal end (front end) of the shaft assembly 20, and a cutter assembly 40 for performing tissue cutting (see fig. 11).

The operating assembly 10 includes a housing, a power module disposed within the housing, and a power module disposed within the housing. The power module is used to provide the required power for the motor 50. The power module may include a motor 50 and a motor gear 11 connected to an output shaft of the motor 50. The axis of the motor 50 may extend in the forward and backward direction of the electric stapler.

The shaft assembly 20 includes a core shaft 201 and a sleeve 202 sleeved on the core shaft 201. The electric anastomat further comprises a transmission mechanism connected with an output shaft of the motor 50, and the transmission mechanism comprises a jaw driving mechanism 1 and a cutting driving mechanism 2. The sleeve 202 may be driven to move axially, i.e., forward or backward, by the jaw driving mechanism 1, the mandrel 201 may be driven to move axially by the cutting driving mechanism 2, and both the sleeve 202 and the mandrel 201 may be moved axially forward (first direction) or backward (second direction).

End effector 30 includes a jaw assembly and a cartridge assembly. The jaw assembly includes a cartridge seat 31 and an anvil seat 32 pivotally attached to the cartridge seat 31, the cartridge seat 31 being adapted to operably support the cartridge assembly therein. The anvil 32 is selectively movable between an open position and a closed position to switch between an open state and a closed state, such that the anvil 32 cooperates with the cartridge seat 31 and the cartridge assembly to clamp or unclamp tissue.

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

Referring to fig. 11, the cutting knife assembly 40 is coupled to the spindle assembly to be driven by the spindle assembly to perform a firing or retracting motion. Specifically, the cutting blade assembly 40 includes a blade bar 401, a cutting head 402 coupled to the blade bar 401. The mandrel assembly comprises a mandrel 201 and a connector 23 connected to the proximal end of the mandrel 201. The distal end of mandrel 201 is connected to the proximal end of knife bar 401.

The proximal (rear) end of the mandrel 201 is connected to the cutting drive mechanism 2 and the distal (front) end is located within the cannula 202. During cutting and stapling, knife head 402 is positioned within the space formed between cartridge seat 31 and anvil seat 32 of the jaw assembly. The cutting drive mechanism 2 can drive forward and backward movement of the mandrel 201. When the cartridge assembly is installed, forward movement of the mandrel 201 causes the cutting knife assembly 40 to move forward, cutting the tissue and pushing the staples of the cartridge assembly out of the staples to staple the tissue. The mandrel 201 moves backward to bring the cutter assembly 40 backward to restore to the original position.

The housing of the operating assembly 10 includes, in a positional relationship, a handle housing and a head housing connected to each other, the head housing accommodating the transmission mechanism, the handle housing being graspable by a user. Of course, in some embodiments, the handle housing may also house a portion of the transmission mechanism.

The process of cutting the sutured tissue by the electric anastomat comprises the following steps:

closing the jaw assembly: the motor 50 clamps the tissue by the jaw drive mechanism 1 closing the movable jaw assembly.

Firing of the cutter assembly 40: the motor 50 drives the cutter assembly 40 to advance via the cutting drive mechanism 2 to cut and staple tissue.

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

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

As shown in fig. 1 to 10f, the jaw driving mechanism 1 includes a jaw driver and a movement converting member rotatably connected to the jaw driver. The jaw drive and the sleeve 202 are coupled by a motion converter that drives the sleeve 202 to move, thereby driving the jaw assembly to open or close. The jaw driving member, the motion conversion member and the sleeve 202 constitute a slider-crank mechanism.

In one embodiment, the transmission mechanism has a first state and a second state, and the jaw driver is engaged with the power module when the transmission mechanism is in the first state; when the transmission mechanism is in the second state, the jaw driver is coupled with the power module, and the jaw driver and the motion converter cross the dead center position of the crank block mechanism. And joint and coupling, which jointly realize selective joint. Coupling, refers to the termination of engagement between mating parts due to a change in relative position or condition, the absence of structure for mating. Relative positional changes include, but are not limited to, the following: the parts rotate relatively. The electric stapler further comprises a blocking portion 17, the blocking portion 17 being located on one side of the axis of the sleeve 202; the blocking portion 17 serves to block the movement of the movement conversion member after the movement conversion member has passed the dead point position.

The blocking portion 17 prevents further movement of the jaw driver and the movement converter after they have passed the dead point of the slider-crank mechanism. The stop 17 angles the crank and the connecting rod of the slider-crank mechanism by, for example, 5 to 20 degrees when they are in the dead-center position of the slider-crank mechanism. It will of course be appreciated that the angle may be greater than 0 degrees and less than 5 degrees, so long as the jaw driver and motion conversion member are past the dead center position.

In the embodiment, the crank slider mechanism of the jaw driving mechanism can realize self-locking after the jaws are closed, so that the jaw assembly cannot be opened in the processes of feeding, cutting and retracting. According to the technical scheme, a complex locking mechanism is not needed, locking can be achieved only through a simple blocking piece, the overall structure is simple, and the weight of the product is reduced, so that the operation of a doctor is facilitated; in addition, the reliability is improved, and the safety of the operation is ensured.

This embodiment will be described in detail below.

The motor gear 11 is rotatably mounted to the housing, and the motor gear 11 may be driven by the motor 50, for example, the motor gear 11 may be driven by a bevel gear set such that the rotation axis of the motor gear 11 is perpendicular to the rotation axis of the motor 50. The motor gear 11 may be a spur gear, and the motor gear 11 serves as a jaw driving member for driving the jaw driving mechanism 1.

The jaw driver comprises a first jaw driving gear 12, the first jaw driving gear 12 comprises a meshing part 121 and a smooth part 122 in the circumferential direction of the first jaw driving gear 12, and the meshing part 121 is engaged with the power module in the first state; in the second state, the smooth portion 122 is coupled with the power module.

A gear shaft 16 may be mounted to the housing of the operating assembly 10, with the first jaw drive gear 12 rotatably mounted to the gear shaft 16. The diameter of the smoothing portion 122 is smaller than that of the meshing portion 121 so that the smoothing portion 122 does not interfere with the motor gear 11, for example, the diameter of the smoothing portion 122 is equal to the diameter of the root of the tooth of the meshing portion 121. The motor gear 11 is located in the spatial region where the smooth portion 122 is located without contacting the smooth portion 122, and since the smooth portion 122 has no teeth, the smooth portion 122 is not driven during the coupling with the motor gear 11.

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

The first jaw driving gear 12 is provided with a protruding pillar 124, the protruding pillar 124 protrudes out of the outer surface of the first jaw driving gear 12, and the protruding pillar 124 may be cylindrical. The link 14 is connected to the post 124 such that the link 14 can be rotatably connected to the first jaw drive gear 12 about the post 124.

The jaw driver further comprises a second jaw drive gear 13, the second jaw drive gear 13 being rotatably mounted to a gear shaft 16, the second jaw drive gear 13 and the first jaw drive gear 12 being coaxially arranged. The second jaw drive gear 13 overlaps the first jaw drive gear 12, and the diameters of the second jaw drive gear 13 and the first jaw drive gear 12 (more precisely, the meshing portion 121) are the same. In both the first and second states, the second jaw drive gear 13 is engaged with the power module; in the first state, the motor gear 11 is simultaneously meshed with the first jaw drive gear 12 and the second jaw drive gear 13; in the second state, the motor gear 11 is coupled with the first jaw drive gear 12 and is meshed with the second jaw drive gear 13. When the smooth portion 122 is in the power module coupling state, the second jaw driving gear 13 can drive the first jaw driving gear 12 to move from the power module coupling state of the smooth portion 122 to the power module engaging state of the engaging portion 121.

More specifically, the second jaw drive gear 13 may be disposed on the underside of the first jaw drive gear 12. The first jaw driving gear 12 is provided with a first matching portion 123, the second jaw driving gear 13 is provided with a second matching portion 131, and when the smooth portion 122 is in a coupling state with the power module, the first matching portion 123 and the second matching portion 131 are matched with each other to drive the first jaw driving gear 12 to move. The first fitting portion 123 and the second fitting portion 131 can be fitted separately. The first mating portion 123 is provided on a surface of the first jaw drive gear 12 facing the second jaw drive gear 13. For example, the first mating portion 123 may be an end surface of a groove, the groove may be a circular arc, and an axis of the groove may coincide with an axis of the first jaw drive gear 12. The second fitting part 131 may be a bump (e.g., a protruding cylinder). It is understood that the first mating portion 123 may be a protrusion and the second mating portion 131 is an end of a recess.

As the first and second jaw drive gears 12, 13 are relatively rotated, the first and

second mating portions

123, 131 can be disengaged or engaged (here, abutted). When the first matching portion 123 and the second matching portion 131 are matched, that is, when the protrusion abuts against the end surface of the groove, the protrusion pushes the end surface of the groove, and the second jaw driving gear 13 can drive the first jaw driving gear 12 to rotate together, so that the coupling state with the power module can be switched to the engagement state with the power module. When the first and second

fitting portions

123 and 131 are separated, i.e., the projections are out of the end faces of the grooves, the first and second jaw drive gears 12 and 13, respectively, can be rotated independently.

In one possible embodiment, the motion converter includes a link 14, one end of the link 14 being rotatably connected to the jaw driver and the other end of the link 14 being rotatably connected to the sleeve 202. The gear 12 is driven to rotate at the first jaw to move the link 14 to move the sleeve 202 to close or open the jaw assembly.

In another possible embodiment, the movement converter comprises a link 14 and a slider 15, one end of the link 14 is rotatably connected to the jaw driver, the other end of the link 14 is rotatably connected to the slider 15, and the slider 15 is fixedly connected to the sleeve 202. The slider 15 is slidably mounted in the front-rear direction with respect to the operating assembly 10. The first jaw drive gear 12, the link 14 and the slide 15 constitute a crank-slide mechanism. The slider 15 may move the sleeve 202 in a back and forth direction as the first jaw drive gear 12 rotates. When the slide block 15 drives the sleeve 202 forward, the jaw assembly is closed, and when the slide block 15 drives the sleeve 202 backward, the jaw assembly is opened. As shown in fig. 8, the housing of the operating member 10 is further provided with a stopper 17, and here, the stopper 17 may be fixedly mounted to the housing of the operating member 10 (housing of the electric stapler) or integrally formed with the housing of the operating member 10 (housing of the electric stapler). The blocking portion 17 is located on one side of the axis of the sleeve 202, and the blocking portion 17 can block the movement of the connecting rod 14. The first jaw drive gear 12 rotates in a counterclockwise direction from the initial state of FIG. 8 and the linkage 14 may move the slide 15 distally. When the extending direction of the link 14 is parallel to the front-rear direction (this position is called a dead point position), the slider 15 reaches the most distal limit position at which the link approaches the stopper 17.

As shown in FIG. 9, the first jaw drive gear 12 continues to rotate an angle, such as 5 degrees, in a counter-clockwise direction. The engaging portion 121 of the first jaw drive gear 12 is disengaged from the motor gear 11. That is, when the link 14 contacts the stopper 17, the meshing portion 121 of the motor gear 11 and the first jaw drive gear 12 just disengages. It will be appreciated that as the jaw assembly clamps tissue, the tissue also applies a force to the jaw assembly, tending to open the jaw assembly. This force is transmitted to the sleeve 202 and the slider 15, and the sleeve 202 and the slider 15 are subjected to a rearward force. In a state where the meshing portion 121 of the motor gear 11 and the first jaw drive gear 12 is disengaged, the link 14 has passed the dead point position. The slider 15 is now forced rearwardly which tends to cause the first jaw drive gear 12 to rotate in the original direction, but the blocking portion 17 can block the linkage 14, thereby preventing the first jaw drive gear 12 from continuing to rotate, preventing the slider 15 from moving rearwardly and preventing the jaw assembly from opening.

The motor gear 11 can drive the cutting driving mechanism 2 to control the cutter assembly 40 to execute a firing action or a cutter withdrawing action, the motor gear 11 drives the second jaw driving gear 13 to rotate, the first jaw driving gear 12 is not driven, the connecting rod 14 is blocked to move at a proper position through the blocking part 17, a complex locking mechanism is not needed, locking can be realized only by a simple blocking part, the whole structure is simple, and the jaw assembly can be kept in a closed state in the moving process of the cutter assembly 40.

It will be appreciated that the cutter assembly 40 can only be moved with the jaw assembly closed to clamp tissue, the jaw assembly closed to clamp tissue during movement of the cutter assembly 40, and the jaw assembly opened after retraction of the cutter assembly 40.

The operation of the jaw driving mechanism 1 in the process of cutting the stapled tissue by the electric stapler will be described with reference to fig. 8, 9, 10a to 10 f.

As shown in fig. 8 and 10a, the jaw assembly is open in the initial state, and the motor gear 11 simultaneously meshes with the first jaw drive gear 12 and the second jaw drive gear 13. During the progressive closing of the jaw assembly, the motor gear 11 rotates in a clockwise direction, driving the first jaw drive gear 12 and the second jaw drive gear 13 to rotate in a counterclockwise direction. The first jaw driving gear 12 drives the slide block 15 to move forward through the connecting rod 14, and the slide block 15 drives the sleeve 202 to move forward, so that the jaw assembly is gradually closed.

When the first jaw driving gear 12 and the second jaw driving gear 13 rotate together through a certain angle and the extending direction of the connecting rod 14 is parallel to the front-back direction, the crank-slider mechanism reaches a dead point position. In the dead point position, the first jaw driving gear 12 and the motor gear 11 are about to be disengaged, the connecting rod 14 is about to contact the blocking portion 17, the slide block 15 reaches the most forward limit position, and the jaw assembly is completely closed.

As shown in fig. 9 and 10b, the motor gear 11 continues to rotate a small angle in the clockwise direction, so that the crank-slider mechanism passes the dead-center position. At the moment, the elastic deformation of the sliding block and the connecting rod is released to a certain extent, and the sliding block cannot move backwards, so that the clamping of the jaw assembly on the tissue cannot be influenced. The link 14 contacts the blocking portion 17, the meshing portion 121 of the first jaw driving gear 12 is disengaged from the motor gear 11, and the motor gear 11 cannot drive the first jaw driving gear 12 to rotate but only drives the second jaw driving gear 13 to rotate. The blocking portion 17 blocks the linkage 14 from further rotation of the first jaw drive gear 12 under the force applied by the tissue to the jaw assembly, thereby maintaining the jaw assembly in a closed position at all times.

As shown in fig. 10c, the first jaw driving gear 12 is coupled to the motor gear 11, and when the motor gear 11 continues to rotate in the clockwise direction, the first jaw driving gear 12 remains stationary, and the motor gear 11 drives the second jaw driving gear 13 to rotate in the counterclockwise direction, so that the first mating portion 123 and the second mating portion 131 are separated. Meanwhile, the motor gear 11 drives the cutter assembly 40 to execute the firing through the cutting driving mechanism 2.

As shown in fig. 10d, after the firing is finished, the knife return motion is performed, the motor gear 11 rotates in the counterclockwise direction, and the motor gear 11 drives the cutter assembly 40 to perform the knife return motion through the cutting driving mechanism 2. At the same time, the motor gear 11 drives the second jaw driving gear 13 to rotate in the clockwise direction, and the first mating portion 123 and the second mating portion 131 gradually approach each other. At the end of the knife return, the first and

second mating portions

123, 131 re-engage, while the jaw assembly remains closed, as shown in fig. 10 e.

As shown in fig. 10f, the motor gear 11 continues to rotate in the counterclockwise direction, the motor gear 11 drives the second jaw driving gear 13 to rotate in the clockwise direction, and the second engaging portion 131 pushes the first engaging portion 123 such that the first jaw driving gear 12 also rotates in the clockwise direction with the second jaw driving gear 13. After the first jaw driving gear 12 rotates a certain angle, the meshing portion 121 of the first jaw driving gear 12 and the motor gear 11 mesh again, and then the motor gear 11 can drive the first jaw driving gear 12 to rotate clockwise, so that the jaw assembly of the electric anastomat is opened to return to the initial state.

In another embodiment, this embodiment differs from the previous embodiment in that when the transmission mechanism is in the second state, the jaw driver is coupled with the power module and the jaw driver and the motion translator are in a dead center position of the slider-crank mechanism. When the transmission mechanism is in the second state, the jaw driving piece and the movement conversion piece are positioned at the dead point position of the crank block mechanism. In the dead point position, a crank (a jaw driving piece) and a connecting rod (a motion conversion piece) of the crank slider mechanism are positioned at the same straight line position, namely, a connecting line of the axis of the jaw driving piece and the connecting position of the motion conversion piece is collinear with the motion conversion piece. In the present embodiment, when the motor drives the link 14 to its dead point position, the meshing portion 121 of the first jaw driving gear 12 is disengaged from the motor gear 11, and the jaw assembly is closed, so that the motor gear 11 cannot drive the first jaw driving gear 12 to rotate continuously because the meshing portion 121 of the first jaw driving gear 12 is disengaged from the motor gear 11. The motion conversion piece can not drive the jaw driving piece to move, and the crank-slider mechanism realizes self-locking to ensure that the jaw assembly can keep a closed state.

In this embodiment, the blocking portion 17 is not necessary, and in order to further increase the stability, optionally, the electric stapler further comprises a blocking portion 17, the blocking portion 17 being located on one side of the axis of said cannula 202; in the process that the motion conversion part drives the sleeve 202 to move forward, the blocking part 17 can contact the motion conversion part and block the motion conversion part, so that the motion conversion part is limited at the dead point position. The blocking portion 17 can keep the movement conversion member stably in the dead-center position, and thus the closed state of the jaw assembly can be kept stable.

Through the dead point characteristic of the crank slider mechanism of the jaw driving mechanism, when the connecting rod 14 is in the dead point position, self-locking can be realized, even if the sleeve 202 or the slider 15 connected with the sleeve 202 is subjected to the force of the jaw assembly, the sleeve 202 or the slider 15 connected with the sleeve 202 cannot drive the connecting rod 14 to rotate, therefore, the jaw driving mechanism or the jaw closing and maintaining structure is simplified, a separate locking mechanism is not required, the operation difficulty of a user is reduced, the number of parts is reduced, and the structure of the device is simplified.

As can be seen from the above description, the electric stapler further includes a cutter assembly 40 and a mandrel assembly connected to the cutter assembly 40; the transmission mechanism further comprises a cutting driving mechanism 2, and the cutting driving mechanism 2 drives the mandrel component to move so as to drive the cutting knife component 40 to move forwards or backwards; the cutting driving mechanism 2 comprises a cutting driving part 21, and in a first state, the cutting driving part 21 is separated from the mandrel component; in the second state, the cutting drive 21 engages the mandrel assembly to drive the mandrel assembly in motion, thereby driving the cutter assembly 40 forward or backward. The cutting driving mechanism has simple and reliable structure, reasonable arrangement and compact structure, and the size and the weight of the electric anastomat are smaller, thereby being suitable for doctors to use.

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

In this embodiment, in the first state, the distal end of the cutting drive 21 is spaced from the proximal end of the mandrel assembly; in the second state, the distal end of the cutting drive 21 is coupled to the proximal end of the spindle assembly to drive the spindle assembly in a first direction to advance the cutter assembly 40. The element A is matched with the element B, namely the element A is at least partially contacted with the element B, and the element A can drive the element B to move under the action of external force. That is, in the first state, there is a "lost motion" between the distal end of the cutting drive 21 and the proximal end of the mandrel assembly, and in the second state, the cutting drive 21 has moved through this "lost motion" to engage the mandrel assembly, thereby driving the mandrel assembly in a first direction. The technical scheme has simple and reliable structure and reasonable integral arrangement, has compact structure and smaller product size, can reduce the integral weight and is suitable for doctors to use.

As shown in fig. 1 to 5, 11 to 15e, the cutting drive mechanism 2 further includes a conversion assembly. In the second state, the switching assembly drives the mandrel assembly to move in a second direction under the action of the cutting driving member 21 so as to drive the cutting knife assembly 40 to retreat, wherein the second direction is opposite to the first direction. The existence of the conversion assembly enables the mandrel assembly to be driven to move along the second direction, and the cutting knife assembly 40 can retreat due to the connection of the mandrel assembly and the cutting knife assembly 40, so that the jaw assembly can be conveniently opened to meet the requirements of the operation. The conversion assembly comprises a moving piece 24 and a moving guide piece 22, wherein the moving piece 24 is connected with the mandrel assembly; under the action of the cutting drive 21, the moving member 24 is moved into engagement with the cutting drive 21 by the guide of the movement guide 22, thereby driving the spindle assembly in the second direction. More specifically, mover 24 includes a pivot end pivotally connected to the spindle assembly, and first and second ends extending outwardly from the pivot end. As the cutting drive 21 drives the mandrel assembly in a first direction, the first end is moved into engagement with the cutting drive 21 by the action of the motion guide 22. When the cutting drive 21 drives the movement member 24 and thus the mandrel assembly to move in the second direction, the second end is moved by the movement guide 22 to separate the first end from the cutting drive 21. The interaction of the mover 24 and the motion guide 22 of the conversion assembly enables the mandrel assembly to be retracted to the initial position. The whole structure of the conversion assembly is simple and compact, and the reliability is high.

More specifically, the spindle assembly includes a spindle 201 and a connecting member 23 to which the proximal end of the spindle 201 is connected, and the pivoting end of the mover 24 may be pivotably connected to the connecting member 23 by a pin 25. The distal end of the mandrel 201 is connected to the cutting knife assembly 40, and the mandrel 201 drives the cutting knife assembly 40 to move forward to execute a firing action or move backward to execute a knife withdrawing action. The first end of the mover 24 is provided with an insertion portion 241, the distal end of the cutting driver 21 is provided with a coupling groove, and the insertion portion 241 is inserted into the coupling groove to engage the mover 24 with the cutting driver 21 or is withdrawn from the coupling groove to separate the mover 24 from the cutting driver 21. When the insertion portion 241 is inserted into the coupling groove, the side wall of the engagement groove 211 may abut against the front end surface 242 of the insertion portion 241, so that the cutting driving member 21 and the connecting member 23 are engaged, thereby moving the moving member 24 and the connecting member 23 together rearward. The front end surface 242 of the insertion portion 241 may be a curved surface or a slope, and a radius of gyration of a portion of the front end surface 242 that enters the engagement groove 211 first is less than or equal to a radius of gyration of a portion that enters the engagement groove 211 later. When the cutter is withdrawn, the embedded portion 241 is easily withdrawn from the engaging groove 211, and the moving member 24 is prevented from being jammed.

The link 23 is provided with a contact surface 231 facing the cutting drive 21, the contact surface 231 may be the most proximal end surface of the link 23, and the link 23 may be pushed to move forward by the cutting drive 21 pushing against the contact surface 231. The cutting driving member 21 extends in the front-rear direction of the electric stapler, and the cutting driving member 21 and the connecting member 23 are connected to be relatively slidable in the front-rear direction, for example, the cutting driving member 21 may be provided with a slide groove, and the connecting member 23 may be provided with a sliding fit portion which is embedded in the slide groove. Thus, the movement of the cutting driving piece is smoother and smoother. The cutting driving member 21 is engaged with the motor gear 11, and the motor gear 11 can drive the cutting driving member 21 to move in the front-rear direction. The cutting driving member 21 is provided with an engagement groove 211, and the moving member 24 may be partially inserted into the engagement groove 211, so that the moving member 24 may move in the front and rear directions together with the cutting driving member 21. The mover 24 can engage the cutting driver 21 and the connector 23 to move the cutting driver 21 and the mandrel 201 together in the front-rear direction, and the mover 24 can disengage the cutting driver 21 and the connector 23 to allow the cutting driver 21 to move in the front-rear direction with respect to the mandrel 201.

In the present embodiment, the cutting driving member 21 is a rack, but it should be understood that the cutting driving member 21 may be other mechanisms capable of realizing linear motion, such as a screw nut.

The movement guide 22 may be fixedly connected to a housing of the operating assembly 10 (i.e., a housing of the electric stapler), or integrally formed with the housing of the operating assembly 10 (i.e., a housing of the electric stapler). The movement guide 22 includes a recessed portion and guide surfaces on both sides of the recessed portion, the guide surfaces including a first guide surface and a second guide surface; the first end of the moving member 24 is moved about its pivot end into engagement with the cutting drive 21 by being in sliding contact with the first guide surface, and the second end of the moving member 24 is moved about its pivot end by being in sliding contact with the second guide surface to separate the first end from the cutting drive 21. In the present embodiment, the first guide surface includes the first inclined surface 221 and the flat surface 223, and the second guide surface includes the second inclined surface 222, and the first inclined surface 221, the second inclined surface 222, and the flat surface 223 are directed toward the moving member 24. It will be understood that the first and second guide surfaces may be curved or the like.

The first inclined surface 221 may be located at a front side of the second inclined surface 222, and the first inclined surface 221 extends farther forward to a side (e.g., an upper side) where the mover 24 is located, and the second inclined surface 222 extends farther rearward to a side where the mover 24 is located. The flat surface 223 may be located at a front side of the first slope 221, and the flat surface 223 is parallel to the front-rear direction. When the mover 24 moves in the front-rear direction along with the link 23, the mover 24 can contact the first and

second slopes

221 and 222, thereby rotating the mover 24. The moving member 24 may maintain the contact plane 223 while the moving member 24 moves in the forward and backward directions along with the link member 23, so that the moving member 24 may be maintained not to rotate. When the cutter driver 21 moves forward and the mover 24 rotates in contact with the first inclined surface 221, the mover 24 engages the cutter driver 21 and the link 23, but the link 23 does not move forward due to the connection of the cutter driver 21 and the link 23, and the cutter driver 21 and the link 23 are connected so that the link 23 can move backward with the cutter driver 21. When the moving member 24 is rotated by contact with the second inclined surface 222 as the cutting driving member 21 moves backward, the moving member 24 separates the cutting driving member 21 from the link member 23, thereby allowing the cutting driving member 21 to move in the forward and backward directions with respect to the link member 23.

The operation of the cutting drive mechanism 2 in the process of cutting the stapled tissue by the electric stapler will be explained by referring to fig. 1 to 5 and fig. 15a to 15 e.

As shown in FIG. 15a, in the initial state the jaw assembly is open, the cutting blade assembly is at the proximal end, and the contact surfaces 231 of the cutting drive 21 and the coupling member 23 are spaced apart. The motor gear 11 rotates to close the jaw assembly by the jaw drive mechanism 1, and the motor gear 11 drives the cutting drive 21 to move forward for a certain distance. As shown in FIGS. 9 and 15b, when the jaw assembly is fully closed, i.e., the linkage 14 contacts the stop 17, the cutting drive 21 also abuts the contact surface 231 and continued forward movement of the cutting drive 21 causes the linkage 23 to advance the knife assembly 40 to effect a firing motion. As the link 23 moves forward, the first end of the mover 24 contacts the first slope 221.

As shown in fig. 15c, the cutting driving member 21 pushes the link 23 to move forward together, and after the first end of the moving member 24 contacts the first inclined surface 221, the moving member 24 rotates clockwise in fig. 15c by the first inclined surface 221, so that the fitting portion 241 is fitted into the coupling groove 211. As the link 23 continues to move forward, the bottom surface of the mover 24 is kept in contact with the flat surface 223. After the trigger action is finished, the knife withdrawing action is started, the motor gear 11 rotates reversely to drive the cutting driving piece 21 to move backwards, the side wall of the engaging groove 211 abuts against the embedded part 241, and the moving piece 24 and the connecting piece 23 can move backwards along with the cutting driving piece 21.

As shown in fig. 15d and 15e, after the second end of the moving member 24 contacts the second inclined surface 222 as the cutting driving member 21 moves backward, the moving member 24 rotates counterclockwise in fig. 15d by the second inclined surface 222, so that the insertion portion 241 is withdrawn from the engagement groove 211. After the insertion portion 241 is withdrawn from the engagement groove 211, the moving member 24 and the connecting member 23 connected thereto are no longer moved backward along with the cutting driving member 21, and the retracting operation is completed. The motor gear 11 drives the cutting drive 21 to continue its rearward movement back to the initial condition shown in figure 15 a.

(second embodiment)

The electric stapler of the second embodiment is similar to the electric stapler of the first embodiment as a whole, and the specific structure of the cutting driving mechanism is different, and the same reference numerals are given to the same or similar parts of the cutting driving mechanism of the second embodiment as those of the cutting driving mechanism of the first embodiment, and detailed descriptions of the same or similar parts are omitted. As shown in fig. 16 to 21e, the cutting drive mechanism 2 includes a cutting drive 21 and a conversion assembly. The conversion assembly comprises a moving piece 24 and a moving guide 22, wherein the moving piece 24 is connected with the cutting driving piece 21; under the action of the cutting drive 21, the moving member 24 is guided by the moving guide 22 to move into engagement with the spindle assembly, thereby driving the spindle assembly to move in the second direction. More specifically, the mover 24 includes a pivot end pivotally connected to the cutting drive 21, and first and second ends extending outwardly from the pivot end. As the cutting drive 21 moves in a first direction, the first end is moved into engagement with the spindle assembly by the action of the motion guide 22; when the cutting drive 21 drives the movement member 24 and thus the mandrel assembly to move in the second direction, the second end is moved by the movement guide 22 to separate the first end from the mandrel assembly. The interaction of the mover 24 and the motion guide 22 of the conversion assembly enables the mandrel assembly to be retracted to the initial position. The whole structure of the conversion assembly is simple and compact, and the reliability is high.

The movement guide 22 includes a recessed portion and guide surfaces on both sides of the recessed portion, the guide surfaces including a first guide surface and a second guide surface; the first end is moved about the pivot end into engagement with the spindle assembly by sliding contact with the first guide surface, and the second end is moved about the pivot end by sliding contact with the second guide surface to disengage the first end from the spindle assembly. In the present embodiment, the first guide surface includes the first inclined surface 221 and the flat surface 223, and the second guide surface includes the second inclined surface 222, and the first inclined surface 221, the second inclined surface 222, and the flat surface 223 are directed toward the moving member 24. It is of course understood that the first and second guide surfaces may be curved surfaces or other forms. The mandrel assembly comprises a mandrel 201 and a connecting piece 23 connected with the proximal end of the mandrel 201; the first end is provided with an insertion portion 241, the coupling member 23 is provided with a coupling groove, and the insertion portion 241 is inserted into the coupling groove to engage the mover 24 with the spindle assembly or is released from the coupling groove to disengage the mover from the spindle assembly.

The movement guide 22 further comprises a recess below the recess and/or the guide surface, in this embodiment a slot provided below the recess and the guide surface, the slot opening towards the proximal end surface of the movement guide 22, the movement guide 22 being made resilient by the provision of the slot. It is of course understood that the slot can be provided only below the guide surface, and that the hollow can also be a recess below the recess and/or the guide surface, as well as providing the movement guide 22 with elasticity. In other embodiments, the second slope 222 of the motion guide 22 itself has elasticity or includes an elastic portion such as a spring. The movement guide 22 has elasticity such that when the movement piece 24 moves backward with the cutting drive 21, the movement guide 22 can be compressed, preventing the movement piece 24 from being stuck.

The pivoting end of the mover 24 is pivotally connected to the front end of the cutting drive 21 by a pin 25. The moving member 24 is provided with an insertion portion 241, when the cutting driving member 21 retracts backward, a front end face 242 of the insertion portion 241 may abut against a sidewall of the engagement groove 211, thereby bringing the connecting member 23 to move backward together.

The link 23 is provided with an engagement groove 211, and the moving member 24 can be partially inserted into the engagement groove 211, so that the link 23 can move in the forward and backward directions together with the moving member 24 and the cutting driving member 21. The connector 23 is provided with a contact surface 231 and a third inclined surface 232, and the two contact surfaces 231 may sandwich one third inclined surface 232 in the left-right direction of the electric stapler. The third inclined surface 232 extends to an opening position of the engagement groove 211. The third inclined surface 232 may guide the insertion portion 241 to move to an opening position of the engagement groove 211.

The working of the second transmission structure 2 during the cutting of the stapled tissue by the electric stapler is illustrated by figures 1 to 5 and 21a to 21 e.

As shown in fig. 21a and 21b, in the initial state the jaw assembly is open, the cutting blade assembly is at the proximal end, and the front end of the cutting drive member 21 is spaced from the contact surface 231 of the coupling member 23. The cutting drive 21 does not push the link 23 and the link 23 remains stationary. The moving member 24 slides along the third inclined surface 232, so that the moving member 24 rotates about the pin shaft 25 in the counterclockwise direction of fig. 21a, and the third inclined surface 232 guides the insertion portion 241 to the opening position of the engagement groove 211.

As shown in fig. 21c, the cutting driving member 21 continues to move forward, the first end of the moving member 24 contacts the first inclined surface 221, the moving member 24 rotates clockwise in fig. 21c, the embedding portion 241 is embedded into the engaging groove 211, and the front end of the cutting driving member contacts the contact surface 231, so that the cutting driving member 21 can push the connecting member 23 to move forward together, and push the cutting knife assembly to execute the firing action. As the link 23 continues to move forward, the bottom surface of the mover 24 is kept in contact with the flat surface 223.

As shown in fig. 21d, when the trigger action is finished and the retracting action is started, the motor gear 11 rotates in the reverse direction to drive the cutting driving member 21 to move backward, the embedded portion 241 abuts against the sidewall of the engaging groove 211, and the embedded portion 241 hooks the link 23, so that the link 23 can move backward along with the cutting driving member 21.

As the cutting driving member 21 moves backward as shown in fig. 21e, after the second end of the moving member 24 contacts the second inclined surface 222, the moving member 24 rotates counterclockwise in fig. 21e by the second inclined surface 222, so that the insertion portion 241 is withdrawn from the engagement groove 211. After the insertion portion 241 is withdrawn from the engagement slot 211, the connecting member 23 no longer moves backward with the cutting driving member 21, and the cutting blade assembly no longer moves backward, so that the retracting operation is completed.

The motor gear 11 drives the cutting driving member 21 to continue the backward movement, and the moving member 24 is rotated in the clockwise direction of fig. 21e by the elastic action of the moving guide 22 and the third inclined surface 232, returning to the initial state as shown in fig. 21 a.

The powered surgical instrument of the present application is capable of simultaneously performing anastomosis and cutting and includes, among other things, an end effector, a jaw drive mechanism, a cutting drive mechanism, and a power module. Powered surgical instruments include, but are not limited to, powered staplers, stapling devices, surgical robots. Although the present application specifically describes a powered surgical instrument as an example of a powered stapler, the powered surgical instrument is not limited to powered staplers.

It will be appreciated that although a jaw drive mechanism and a cutting drive mechanism are described above. However, the jaw drive mechanism and the cutting drive mechanism of the present application need not occur simultaneously. For example, the jaw drive mechanism may be used in combination with any suitable conventional cutting drive mechanism to perform the various functions of the stapler, and likewise, the cutting drive mechanism may be used in combination with any suitable conventional jaw drive mechanism to perform the various functions of the stapler.

While the present application has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that the present application is not limited to the embodiments described in the present specification. The present application can be modified and implemented as a modified embodiment without departing from the spirit and scope of the present application defined by the claims. Therefore, the description in this specification is for illustrative purposes and does not have any limiting meaning for the present application.

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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