WO2016037529A1 - 末端执行器及其钉匣组件、外科手术器械 - Google Patents

末端执行器及其钉匣组件、外科手术器械 Download PDF

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Publication number
WO2016037529A1
WO2016037529A1 PCT/CN2015/088102 CN2015088102W WO2016037529A1 WO 2016037529 A1 WO2016037529 A1 WO 2016037529A1 CN 2015088102 W CN2015088102 W CN 2015088102W WO 2016037529 A1 WO2016037529 A1 WO 2016037529A1
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WO
WIPO (PCT)
Prior art keywords
cutting
staple cartridge
slider
pusher
assembly
Prior art date
Application number
PCT/CN2015/088102
Other languages
English (en)
French (fr)
Inventor
阎峥
方云才
汪炬
Original Assignee
瑞奇外科器械(中国)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201410461885.5A external-priority patent/CN105395229B/zh
Priority claimed from CN201420522487.5U external-priority patent/CN204106084U/zh
Application filed by 瑞奇外科器械(中国)有限公司 filed Critical 瑞奇外科器械(中国)有限公司
Publication of WO2016037529A1 publication Critical patent/WO2016037529A1/zh
Priority to US15/457,033 priority Critical patent/US9737299B2/en

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    • 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
    • A61B17/07207—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 the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0023—Surgical instruments, devices or methods, e.g. tourniquets disposable
    • 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
    • A61B2017/07285—Stapler heads characterised by its cutter

Definitions

  • the present invention relates to the field of medical device technology, and in particular to an end effector and a nail assembly thereof, a surgical instrument.
  • the surgical instruments under the endoscope have little trauma to the operation of the patient, and the surgical effect is good, which can greatly reduce the pain brought to the surgical patient.
  • the surgical instrument includes an operating handle and an end effector having a fixed handle for the operator to grip, the distal side of the operating handle (the side closer to the user when operating is proximal, and the side away from the user is far
  • the side is coupled to the end effector by an elongate body;
  • the end effector includes an anvil assembly and a magazine assembly, wherein the magazine assembly includes a staple cartridge for carrying the staple.
  • the surgical instrument is provided with a cutting knife for cutting human tissue at the surgical site, and the sharpness of the cutting knife is a key parameter for achieving cutting and suturing.
  • the nail cartridge assembly in the end effector uses the product once, but the cutter needs to be reused. Repeated use of the cutting knife can seriously affect the sharpness of the cutting edge, thereby reducing the quality of the operation, thereby increasing the medical risk.
  • the invention provides an end effector and a nail assembly thereof and a surgical instrument.
  • the nail assembly replaces the cutting knife while replacing the nail cartridge, improves the safety of the surgical instrument and reduces the medical risk. .
  • the present invention provides the following technical solutions:
  • a nail assembly for an end effector comprising a staple cartridge, a pusher slider and a cutting knife; wherein:
  • the pusher slider is slidably mounted on the staple cartridge along a proximal end of the staple cartridge toward a distal end;
  • the cutting blade is located in a cutting slot provided in the staple cartridge, and an end of the cutting blade facing away from the nail ejection surface of the staple cartridge is pivotally connected to the pusher slider through a pin, and the pin shaft
  • the axial line is perpendicular to the cutting sipe, the proximal end surface of the cutting knive is a pushing surface that abuts the pusher bar of the surgical instrument; between the cutting blade and the pusher slider Providing an elastic returning member, the blade portion of the cutting blade being received in the cutting slot of the staple cartridge under the force of the elastic returning member when the cutting blade is not subjected to the thrust of the pusher bar, and
  • the cutter blade is rotatable along the pin shaft to a cutting state when subjected to the thrust of the pusher bar.
  • the cutting blade is located in the cutting slot of the staple cartridge, and the end of the cutting blade facing away from the nail surface of the staple cartridge
  • the pin shaft is pivotally connected to the push pin slider, and the elastic return member is disposed between the cutter knife and the push pin slider.
  • the blade is received in the staple cartridge to prevent the cutter from injuring the operator when the nail assembly is installed; when the surgical instrument is performing the cutting and stitching, first, the anvil assembly of the end effector is driven by the corresponding drive assembly Closing the body assembly with the nail assembly, and then driving the pusher bar to move in the distal direction so that the distal end surface of the pusher bar abuts against the push surface of the cutter, and the cutter overcomes the elasticity under the push of the pusher bar
  • the restoring force of the resetting member rotates around the pin shaft between the cutting blade and the push pin slider to the cutting state, so that the blade portion of the cutting blade is screwed out of the staple cartridge; and the driving knife bar is continuously driven to move in the distal direction.
  • the cutting blade The thrust of the pusher bar is transmitted to the pusher slider, and the cutter communicates with the pusher slider to move in the distal direction to realize the cutting and suturing of the human tissue; after the cutting and suturing is completed, the pusher bar is driven by the corresponding drive component under The proximal direction moves and is reset.
  • the cutting knife rotates around the pin between the cutting blade and the pusher slider under the restoring force of the elastic returning member until the blade of the cutting blade is received into the staple cartridge to prevent the cutting blade from being cut. The blade damages the human tissue and prevents the operator from being injured when replacing the nail assembly.
  • the cutting knife can be replaced at the same time when the nail cartridge is replaced, and the cutting knife of each nail assembly is used only once, thereby ensuring the sharpness of the cutting blade portion during the surgical instrument operation, thereby improving The quality of surgery reduces the risk of medical care.
  • the end effector having the above-mentioned nail assembly can replace the staple cartridge and the cutting knife only by replacing the above-mentioned nail assembly, and the components of the end effector other than the nail assembly can be reused. . Therefore, the above-mentioned nail assembly can not only ensure the sharpness of the cutting blade, but also can reuse as many components as possible in the end effector, thereby saving product cost and improving utilization of components.
  • a proximal end of the staple cartridge and the pusher slider are engaged by a flexible limiting mechanism.
  • the flexible limiting mechanism comprises:
  • the limiting protrusion is disposed in the limiting slot of the pusher slider, and the flexible protrusion extends into the limiting slot to achieve a limit between the pusher slider and the staple cartridge.
  • the elastic returning member is a spring, one end of the spring is mounted on the pusher slider and the other end is mounted on the cutting blade.
  • the elastic returning member is a spring piece, and one elastic wall of the elastic piece is connected with the push pin slider, and the other elastic wall is connected with the cutting blade.
  • the present invention also provides an end effector comprising an anvil assembly, further comprising any of the staple cartridge assemblies provided in the above technical solution, the anvil assembly and the magazine assembly being disposed opposite each other.
  • the invention also provides a surgical instrument comprising an operating handle and an elongated body, a proximal end of the elongated body is mounted on the operating handle, the elongated body is provided with a pusher bar, and the above technology is further included
  • An end effector provided in the solution, in the end effector, a proximal end of the magazine assembly is mounted at a distal end of the elongated body, the anvil assembly A proximal end is mounted to the distal end of the elongate body.
  • the surgical instrument is a laparoscopic cutting stapler.
  • FIG. 1 is a schematic structural view of a nail cartridge assembly provided by the present invention
  • FIG. 2 is a schematic view showing a state in which a cutting blade in a nail assembly is received in a staple cartridge when the end effector is not cut in the surgical instrument provided in the embodiment of the present invention
  • FIG. 3 is a schematic view showing a state in which the end effector is not cut in the surgical instrument provided in the embodiment of the present invention, and the cutting blade in the nail assembly is rotated to the cutting state under the driving of the pusher bar;
  • FIG. 4 is a schematic view showing a state in which a cutting blade in a nail cartridge assembly is placed in a staple cartridge after cutting the end effector in the surgical instrument provided in the embodiment of the present invention
  • FIG. 5 is a schematic view showing a fitting structure between a pusher slider and a staple cartridge when the end effector is not cut in the surgical instrument provided in the embodiment of the present invention
  • FIG. 6 is a schematic structural view of a nail resetting assembly provided with a spring in a nail cartridge assembly according to an embodiment of the present invention
  • FIG. 7 is a schematic structural view of the elastic retaining member in the nail assembly provided as a spring piece according to an embodiment of the present invention.
  • the invention provides an end effector and a nail assembly thereof and a surgical instrument.
  • the end of the present invention introduces a pair of ends in the process of describing the nail assembly. Actuators and related concepts of surgical instruments, therefore, the working principles of end effectors having the above-described nail assembly and surgical instruments having the above-described end effectors are not separately described herein.
  • distal refers to the side from which the surgical instrument is operated away from the user
  • proximal refers to the side of the surgical instrument that is adjacent to the user when operated.
  • FIG. 1 is a schematic structural view of a nail cartridge assembly provided by the present invention.
  • the surgical instrument comprises an operating handle and an elongated body.
  • the proximal end of the elongated body is mounted on the operating handle, the elongated body is provided with a pusher bar, and the end effector, the end effector, the nail A proximal end of the ankle assembly is mounted to the distal end of the elongate body, and a proximal end of the anvil assembly is mounted to the distal end of the elongate body.
  • the end effector has an anvil assembly 2 and a nail assembly 1
  • the replacement of the magazine 14 and the cutting blade 11 can be realized when the nail assembly 1 is replaced in the end effector, so that the cutting is performed.
  • the knife 11 and the staple cartridge 14 are both disposable components, which ensure the sharpness of the blade of the cutting blade 11 when the surgical instrument is used for the operation, thereby improving the quality of the operation and reducing the medical risk.
  • FIG. 2 is a view showing the cutting knife in the nail assembly in the surgical instrument of the embodiment of the present invention when the end effector is not cut.
  • FIG. 3 is a schematic view showing a state in which the end effector is not cut in the surgical instrument provided in the embodiment of the present invention and the cutting blade in the nail assembly is rotated to the cutting state under the driving of the pusher bar;
  • FIG. 5 is a schematic view showing the state in which the cutting blade in the nail assembly is received in the staple cartridge after the end effector in the surgical instrument provided in the embodiment of the present invention;
  • FIG. 5 is the end of the surgical instrument provided in the embodiment of the present invention; Schematic diagram of the mating structure between the pusher slider and the staple cartridge when the actuator is not cut.
  • the pusher slider 12 is slidably mounted on the staple cartridge 14 along the proximal end of the staple cartridge 14 toward the distal end;
  • the cutting blade 11 is located in the cutting blade groove 141 provided in the staple cartridge 14, and the end of the cutting blade 11 facing away from the nail surface of the staple cartridge 14 is pivotally connected to the push pin slider 12 through the pin shaft 13. And the axial line of the pin 13 is perpendicular to the cutting sipe 141, and the proximal end surface of the cutting blade 11 is a pushing surface that abuts against the pusher bar 3 of the surgical instrument; between the cutting blade 11 and the pusher slider 12
  • the elastic returning member 15 is provided, and the cutting edge of the cutting blade is received in the cutting blade groove 141 of the staple cartridge 14 under the force of the elastic returning member 15 when the cutting blade 11 is not subjected to the thrust of the pushing blade 3, and the cutting blade 11 is When pressed by the thrust of the pusher bar 3, it can be rotated along the pin 13 to the cutting state.
  • the cutting blade 11 is located in the cutting blade groove 141 of the staple cartridge 14, and the end of the cutting blade 11 facing away from the nail surface of the staple cartridge 14 is pivotally connected to the push pin slider through the pin shaft 13. 12, an elastic return member 15 disposed between the cutting blade 11 and the push pin slider 12; as shown in FIG. 2, when the cutting blade 11 is pushed by the pusher bar 3 of the surgical instrument, the cutting blade 11 is in the elastic returning member
  • the blade portion is housed in the staple cartridge 14 under the action of 15 to prevent the cutter blade 11 from injuring the operator when the nail cartridge assembly 1 is installed; as shown in FIG.
  • the nail slider 12, the cutting blade 11 communicates with the pusher slider 12 to move in the distal direction to realize the cutting and sewing of the human tissue; as shown in FIG. 4, after the cutting and stitching is completed, the pusher bar 3 is in the corresponding driving component.
  • the drive is moved in the proximal direction and is reset.
  • the cutter 11 rotates around the pin 13 between the cutter 11 and the pusher slider 12 under the restoring force of the elastic return member 15 until the blade portion of the cutter 11 is received.
  • the blade portion of the cutter 11 is prevented from causing damage to human tissue, and at the same time, the operator is prevented from being injured when the nail cartridge assembly 1 is replaced.
  • the cutter blade 11 can be simultaneously replaced when the staple cartridge 14 is replaced, and the cutter blade 11 of each nail cartridge assembly 1 is used only once, thereby ensuring the blade portion of the cutter blade when the surgical instrument is operated.
  • the sharpness which improves the quality of surgery and reduces the risk of medical care.
  • the end effector having the above-described nail assembly 1 can replace the staple cartridge 14 and the cutting blade 11 only by replacing the above-described magazine assembly 1, and the end effector has the exception of the magazine assembly 1. Parts can be reused. Therefore, the above-mentioned nail assembly 1 can ensure the sharpness of the cutting blade 11, and can reuse as many components as possible in the end effector, thereby saving product cost and improving utilization of components.
  • the flexible limiting mechanism is arranged to enable the cutting blade 11 to be rotated to the cutting state without pushing the pusher slider 12 when it is just in contact with the pusher bar 3, and to push the knife when the cutting blade 11 is rotated to the cutting state.
  • the rod 3 continues to move in the distal direction, at which time the cutter 11 transmits the force of the pusher bar 3 to the pusher slider 12 until the pusher slide 12 is disengaged from the flexible stop mechanism against the pusher slider 12 and the staple cartridge 14 The limit between the pushes pushes the pusher slider 12 in the distal direction.
  • the flexible limiting mechanism comprises:
  • the limiting protrusion is disposed in the limiting slot of the push pin slider 12, and the flexible protrusion 142 extends into the limiting slot to achieve a limit between the push pin slider 12 and the staple cartridge 14.
  • the flexible limiting mechanism between the staple cartridge 14 and the push pin slider 12 can also be other structures, and details are not described herein again.
  • the elastic return member 15 between the cutter blade 11 and the pusher slider 12 can have various options:
  • the elastic returning member 15 may be a spring, one end of which is mounted on the pusher slider 12 and the other end is mounted on the cutting blade 11.
  • the elastic returning member 15 may also be a spring piece.
  • One elastic wall of the elastic piece is connected to the push pin slider 12, and the other elastic wall is connected to the cutting blade 11.

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Abstract

一种末段执行器及其钉匣组件、外科手术器械，钉匣组件（1）包括钉仓（14）、推钉滑块（12）和切割刀（11）；其中：推钉滑块（12）可滑动地安装于钉仓（14）上；切割刀（11）位于钉仓（14）设有的切割刀槽（141）内，且切割刀（11）背离钉仓（14）出钉面的一端通过销轴（13）枢接于推钉滑块（12），且销轴（13）的轴心线与切割刀槽（141）垂直，切割刀（11）朝向近侧的端面为与外科手术器械的推刀杆（3）相抵的推面；切割刀（11）与推钉滑块（12）之间设有弹性复位件（15），切割刀（11）的刃部在切割刀（11）不受推刀杆（3）的推力时在弹性复位件（15）作用力下收容于钉仓（14）的切割刀槽（141）内，且切割刀（11）在受推刀杆（3）的推力作用时可沿销轴（13）旋转至切割状态。上述钉匣组件（1）的切割刀（11）只使用一次，保证了外科手术器械手术时切割刀刃部的锋利度，从而提高手术质量，降低了医疗风险。

Description

末端执行器及其钉匣组件、外科手术器械 技术领域
本发明涉及医疗器械技术领域，特别涉及一种末端执行器及其钉匣组件、外科手术器械。
背景技术
腔镜下的外科手术器械对患者的操作创伤小，手术效果好，可大大减少给手术病人带来的痛苦。
外科手术器械包括操作手柄和末端执行器，操作手柄具有用于操作者握持的固定手柄，操作手柄的远侧(操作时靠近使用者的一侧为近侧，远离使用者的一侧为远侧)通过细长体与末端执行器连接；末端执行器包括钉砧组件和钉匣组件，其中，钉匣组件包括用于承载缝合钉的钉仓。
外科手术器械设有对手术部位的人体组织进行切割的切割刀，切割刀的锋利度是实现切割缝合的关键参数。
但是，现有技术中的外科手术器械中，末端执行器中的钉匣组件时一次性使用产品，但是切割刀需要重复使用。切割刀的重复使用会严重影响切割刀刃部的锋利度，从而降低手术质量，进而增加一定的医疗风险。
发明内容
本发明提供了一种末端执行器及其钉匣组件、外科手术器械，该钉匣组件中在对钉仓进行更换时同时对切割刀进行更换，提高外科手术器械使用的安全性，降低医疗风险。
为达到上述目的，本发明提供以下技术方案：
一种末端执行器的钉匣组件，包括钉仓、推钉滑块和切割刀；其中：
所述推钉滑块可沿所述钉仓近侧一端向远侧一端方向滑动地安装于所述钉仓上；
所述切割刀位于所述钉仓设有的切割刀槽内，且所述切割刀背离所述钉仓出钉面的一端通过销轴枢接于所述推钉滑块，且所述销轴的轴心线与所述切割刀槽垂直，所述切割刀朝向近侧的端面为与所述外科手术器械的推刀杆相抵的推面；所述切割刀与所述推钉滑块之间设有弹性复位件，所述切割刀的刃部在所述切割刀不受所述推刀杆的推力时在所述弹性复位件作用力下收容于所述钉仓的切割刀槽内，且所述切割刀在受所述推刀杆的推力作用时可沿所述销轴旋转至切割状态。
上述钉匣组件中，切割刀位于钉仓的切割刀槽中，且切割刀背离钉仓出钉面的一端通 过销轴枢接于推钉滑块，切割刀与推钉滑块之间设置的弹性复位件，切割刀在没有被外科手术器械的推刀杆推动时，切割刀在弹性复位件的作用下将其刃部收容在钉仓内，以防止切割刀在钉匣组件安装时伤害到操作者；当外科手术器械在进行切割缝合时，首先，通过相应的驱动组件驱动末端执行器的钉砧组件与钉匣组件闭合以将人体组织夹紧，然后，驱动推刀杆向远侧方向移动使推刀杆的远侧端面与切割刀的推面相抵，切割刀在推刀杆的推动下克服弹性复位件的复位力绕切割刀与推钉滑块之间的销轴旋转至切割状态，使切割刀的刃部旋出钉仓；继续驱动推刀杆向远侧方向移动，此时，切割刀将推刀杆的推力传递给推钉滑块，切割刀连通推钉滑块一起向远侧方向移动，以实现对人体组织的切割缝合；切割缝合完成后，推刀杆在相应驱动组件的驱动下向近侧方向移动并复位，同时，切割刀在弹性复位件的复位力下绕切割刀与推钉滑块之间的销轴旋转，直至切割刀的刃部收容至钉仓内，防止切割刀的刃部对人体组织造成损伤，同时，防止操作者在更换钉匣组件时受到伤害。
因此，上述钉匣组件中，对钉仓进行更换时能够同时对切割刀进行更换，每一个钉匣组件的切割刀只使用一次，保证了外科手术器械手术时切割刀刃部的锋利度，从而提高手术质量，降低了医疗风险。
同时，具有上述钉匣组件的末端执行器只需对上述钉匣组件进行更换即可实现对钉仓和切割刀进行更换，而末端执行器中除钉匣组件之外的其他零部件能够重复使用。因此，上述钉匣组件既能够保证切割刀的锋利度，又能使末端执行器中尽可能多的零部件重复使用，节约产品成本，提高零部件的利用率。
优选地，所述钉仓的近侧一端与所述推钉滑块之间通过柔性限位机构配合。
优选地，所述柔性限位机构包括：
设置于所述钉仓的切割刀槽内的柔性凸起；
设置于所述推钉滑块的限位槽，所述柔性凸起伸入所述限位槽内以实现所述推钉滑块与所述钉仓之间的限位。
优选地，所述弹性复位件为弹簧，所述弹簧的一端安装于所述推钉滑块上，另一端安装于所述切割刀。
优选地，所述弹性复位件为弹片，所述弹片的一个弹壁与所述推钉滑块连接，另一个弹壁与所述切割刀连接。
本发明还提供了一种末端执行器，包括钉砧组件，还包括上述技术方案中提供的任一种钉匣组件，所述钉砧组件和所述钉匣组件相对设置。
本发明还提供了一种外科手术器械，包括操作手柄和细长体，所述细长体的近侧一端安装于所述操作手柄，所述细长体内设有推刀杆，还包括上述技术方案中提供的末端执行器，所述末端执行器中，钉匣组件的近侧一端安装于所述细长体的远侧一端，钉砧组件的 近侧一端安装于所述细长体的远侧一端。
优选地，所述外科手术器械为腔镜切割缝合器。
附图说明
图1为本发明提供的钉匣组件的结构示意图；
图2为本发明实施例中提供的外科手术器械中末端执行器未进行切割时钉匣组件中的切割刀收容于钉仓中时的状态示意图；
图3为本发明实施例中提供的外科手术器械中末端执行器未进行切割且钉匣组件中切割刀在推刀杆的驱动下旋转至切割状态时的状态示意图；
图4为本发明实施例中提供的外科手术器械中末端执行器进行切割后钉匣组件中的切割刀收容于钉仓中时的状态示意图；
图5为本发明实施例中提供的外科手术器械中末端执行器未进行切割时推钉滑块与钉仓之间的配合结构示意图；
图6为本发明一种实施例中提供的钉匣组件中弹性复位件为弹簧时的结构示意图；
图7为本发明一种实施例中提供的钉匣组件中弹性复位件为弹片时的结构示意图。
附图标记：
1，钉匣组件               2，钉砧组件             3，推刀杆
11，切割刀                12，推钉滑块            13，销轴
14，钉仓                  15，弹性复位件          141，切割刀槽
142，柔性凸起
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
本发明提供了一种末端执行器及其钉匣组件、外科手术器械，为便于对钉匣组件的工作过程以及工作原理进行描述，本实施例中对钉匣组件描述的过程中引入了对末端执行器以及外科手术器械的相关概念，因此，文中不再单独对具有上述钉匣组件的末端执行器、以及具有上述末端执行器的外科手术器械的工作原理进行描述。
另外，在本发明各实施例中，“远侧”指该外科手术器械被操作时远离使用者的一侧，“近侧”则指该外科手术器械被操作时靠近使用者的一侧。
请参考图1，图1为本发明提供的钉匣组件的结构示意图。
本发明实施例提供的外科手术器械包括操作手柄和细长体，细长体的近侧一端安装于操作手柄，细长体内设有推刀杆，还包括末端执行器，末端执行器中，钉匣组件的近侧一端安装于细长体的远侧一端，钉砧组件的近侧一端安装于细长体的远侧一端。其中，如图1所示，其末端执行器具有钉砧组件2和钉匣组件1，末端执行器中对钉匣组件1进行更换时能够实现对钉仓14和切割刀11的更换，使切割刀11和钉仓14同为一次性使用零部件，保证了使用上述外科手术器械进行手术时切割刀11刃部的锋利度，从而提高手术质量，降低了医疗风险。
优选地，上述外科手术器械为腔镜切割缝合器。
请结合图1参考图2、图3、图4和图5，图2为本发明实施例中提供的外科手术器械中末端执行器未进行切割时钉匣组件中的切割刀收容于钉仓中时的状态示意图；图3为本发明实施例中提供的外科手术器械中末端执行器未进行切割且钉匣组件中切割刀在推刀杆的驱动下旋转至切割状态时的状态示意图；图4为本发明实施例中提供的外科手术器械中末端执行器进行切割后钉匣组件中的切割刀收容于钉仓中时的状态示意图；图5为本发明实施例中提供的外科手术器械中末端执行器未进行切割时推钉滑块与钉仓之间的配合结构示意图。
本发明实施例提供的末端执行器的钉匣组件中，如图1所示，上述钉匣组件1包括钉仓14、推钉滑块12和切割刀11；其中：
推钉滑块12可沿钉仓14近侧一端向远侧一端方向滑动地安装于钉仓14上；
如图2～图5所示，切割刀11位于钉仓14设有的切割刀槽141内，且切割刀11背离钉仓14出钉面的一端通过销轴13枢接于推钉滑块12，且销轴13的轴心线与切割刀槽141垂直，切割刀11朝向近侧的端面为与外科手术器械的推刀杆3相抵的推面；切割刀11与推钉滑块12之间设有弹性复位件15，切割刀的刃部在切割刀11不受推刀杆3的推力时在弹性复位件15作用力下收容于钉仓14的切割刀槽141内，且切割刀11在受推刀杆3的推力作用时可沿销轴13旋转至切割状态。
上述钉匣组件中，如图5所示，切割刀11位于钉仓14的切割刀槽141中，且切割刀11背离钉仓14出钉面的一端通过销轴13枢接于推钉滑块12，切割刀11与推钉滑块12之间设置的弹性复位件15；如图2所示，切割刀11在没有被外科手术器械的推刀杆3推动时，切割刀11在弹性复位件15的作用下将其刃部收容在钉仓14内，以防止切割刀11在钉匣组件1安装时伤害到操作者；如图3所示，当外科手术器械在进行切割缝合时，首先，通过相应的驱动组件驱动末端执行器的钉砧组件2与钉匣组件1闭合以将人体组织夹紧，然后，驱动推刀杆3向远侧方向移动以使推刀杆3的远侧端面与切割刀11的推面相抵，并且切割刀11在推刀杆3的推动下克服弹性复位件15的复位力绕切割刀11与钉仓14之 间的销轴13旋转至切割状态，使切割刀11的刃部旋出钉仓14；然后，驱动推刀杆3继续向远侧方向移动，切割刀11将推刀杆3的推力传递给推钉滑块12，切割刀11连通推钉滑块12一起向远侧方向移动，以实现对人体组织的切割缝合；如图4所示，切割缝合完成后，推刀杆3在相应驱动组件的驱动下向近侧方向移动并复位，同时，切割刀11在弹性复位件15的复位力下绕切割刀11与推钉滑块12之间的销轴13旋转，直至切割刀11的刃部收容至钉仓14内，防止切割刀11的刃部对人体组织造成损伤，同时，防止操作者在更换钉匣组件1时受到伤害。
因此，上述钉匣组件中，对钉仓14进行更换时能够同时对切割刀11进行更换，每一个钉匣组件1的切割刀11只使用一次，保证了外科手术器械手术时切割刀11刃部的锋利度，从而提高手术质量，降低了医疗风险。
同时，具有上述钉匣组件1的末端执行器只需对上述钉匣组件1进行更换即可实现对钉仓14和切割刀11进行更换，而末端执行器中除钉匣组件1之外的其他零部件能够重复使用。因此，上述钉匣组件1既能够保证切割刀11的锋利度，又能使末端执行器中尽可能多的零部件重复使用，节约产品成本，提高零部件的利用率。
一种优选实施方式中，钉仓14的近侧一端与推钉滑块12之间通过柔性限位机构配合。
柔性限位机构的设置，能够使切割刀11在刚刚与推刀杆3接触时能够在不推动推钉滑块12的前提下旋转至切割状态，当切割刀11旋转至切割状态后，推刀杆3继续向远侧方向移动，此时切割刀11将推刀杆3的力传递给推钉滑块12，直至推钉滑块12脱离柔性限位机构对推钉滑块12与钉仓14之间的限位，推动推钉滑块12向远侧方向移动。
优选地，如图5所示，上述柔性限位机构包括：
设置于钉仓14的切割刀槽141内的柔性凸起142；
设置于推钉滑块12的限位槽，柔性凸起142伸入限位槽内以实现推钉滑块12与钉仓14之间的限位。
当然，钉仓14与推钉滑块12之间的柔性限位机构还可以为其他结构，这里不再赘述。
在上述各实施方式的基础上，切割刀11与推钉滑块12之间的弹性复位件15可以有多种选择：
如图6所示，弹性复位件15可以为弹簧，弹簧的一端安装于推钉滑块12上，另一端安装于切割刀11。
如图7所示，弹性复位件15还可以为弹片，弹片的一个弹壁与推钉滑块12连接，另一个弹壁与切割刀11连接。
显然，本领域的技术人员可以对本发明实施例进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (8)

  1. 一种末端执行器的钉匣组件，其特征在于，包括钉仓、推钉滑块和切割刀；其中：
    所述推钉滑块可沿所述钉仓近侧一端向远侧一端方向滑动地安装于所述钉仓上；
    所述切割刀位于所述钉仓设有的切割刀槽内，且所述切割刀背离所述钉仓出钉面的一端通过销轴枢接于所述推钉滑块，且所述销轴的轴心线与所述切割刀槽垂直，所述切割刀朝向近侧的端面为与所述外科手术器械的推刀杆相抵的推面；所述切割刀与所述推钉滑块之间设有弹性复位件，所述切割刀的刃部在所述切割刀不受所述推刀杆的推力时在所述弹性复位件作用力下收容于所述钉仓的切割刀槽内，且所述切割刀在受所述推刀杆的推力作用时可沿所述销轴旋转至切割状态。
  2. 根据权利要求1所述的钉匣组件，其特征在于，所述钉仓的近侧一端与所述推钉滑块之间通过柔性限位机构配合。
  3. 根据权利要求2所述的钉匣组件，其特征在于，所述柔性限位机构包括：
    设置于所述钉仓的切割刀槽内的柔性凸起；
    设置于所述推钉滑块的限位槽，所述柔性凸起伸入所述限位槽内以实现所述推钉滑块与所述钉仓之间的限位。
  4. 根据权利要求1所述的钉匣组件，其特征在于，所述弹性复位件为弹簧，所述弹簧的一端安装于所述推钉滑块上，另一端安装于所述切割刀。
  5. 根据权利要求1所述的钉匣组件，其特征在于，所述弹性复位件为弹片，所述弹片的一个弹壁与所述推钉滑块连接，另一个弹壁与所述切割刀连接。
  6. 一种末端执行器，包括钉砧组件，其特征在于，还包括如权利要求1～5任一项所述的钉匣组件，所述钉砧组件和所述钉匣组件相对设置。
  7. 一种外科手术器械，包括操作手柄和细长体，所述细长体的近侧一端安装于所述操作手柄，所述细长体内设有推刀杆，其特征在于，还包括如权利要求6所述的末端执行器，所述末端执行器中，钉匣组件的近侧一端安装于所述细长体的远侧一端，钉砧组件的近侧一端安装于所述细长体的远侧一端。
  8. 根据权利要求7所述的外科手术器械，其特征在于，所述外科手术器械为腔镜切割缝合器。
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