CN106580378A - Drive control system for endoscope stapler - Google Patents
Drive control system for endoscope stapler Download PDFInfo
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- CN106580378A CN106580378A CN201710034311.3A CN201710034311A CN106580378A CN 106580378 A CN106580378 A CN 106580378A CN 201710034311 A CN201710034311 A CN 201710034311A CN 106580378 A CN106580378 A CN 106580378A
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- Prior art keywords
- control
- switch
- groove
- gear
- transmission
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Classifications
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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
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00407—Ratchet means
Abstract
The invention discloses a drive control system for an endoscope stapler. The drive control system comprises a driving part, a drive transform part, a first driven assembly and a second driven assembly, wherein the drive transform part is an acting part and comprises a first drive component and a second drive component; the first drive component of the drive transform part is always connected with the driving part; the second drive component of the drive transform part is connected with the first driven assembly, and the second drive component drives the first driven assembly; the first driven assembly controls the first series of drive control actions of the endoscope stapler; and after the drive transform part makes an action A, the second drive component is connected with the second driven assembly and drives the second driven assembly, and the second driven assembly controls the second series of drive control actions of the endoscope stapler. The drive control defect of the existing stapler is overcome, multiple types of drive control can be realized by utilizing a motor, and multiple switching control requirements are met.
Description
Technical field
The present invention relates to surgical medical equipment field, more particularly to the driving control system of hysteroscope anastomat.
Background technology
Hysteroscope anastomat includes end effector and control system, right after the control system control end effector positioning
Tissue clamped, cut and stitching operation；The operating process of operation is：The end effector of anastomat is assembled into into apparatus
On handle, by the end effector under closure state through tissue is entered with the matching used perforator of anastomat, open
The nail bin and nail supporting base of nail bin groupware, then adjust the position of nail bin groupware, until after correct position, by tissue be clamped to nail bin with
In nail supporting base, then fire instrument handle and tissue cut and stitching, cutting, after the completion of stitching, open nail bin groupware with
Tissue is unclamped, is taken out by perforator after then nail bin groupware is closed again.
Existing hysteroscope anastomat, does not have additionaling power source, only fires manually by doctor, causes percussion force unstable, cuts
Cut uneven, make tissue burr occur, and then make discontinuity after engaging tissue, causing the elasticity of tissue itself becomes to differ
Sample, have impact on post-operative recovery effect.In order to solve the problem, the electronic anastomat with power source is occurred in that, but it is existing
Electronic hysteroscope anastomat one kind is half electronic hysteroscope anastomat, and part operation is manually to control, and part operation is logical
Cross motor and provide power and coincide；Another kind is all-electric intelligent hysteroscope anastomat, and all-electric intelligent hysteroscope anastomat is common
Be made up of accumulator, MCU control circuit system, motor, drive mechanism system, it is powerful by MCU intelligent control chips
Operation control function is in combination with motor, and complex structure, manufacturing cost is very high, and many operations are all single uses, or
Fewer number is reused, and increased patient burden, affects the wide popularization and application of product.
The content of the invention
It is an object of the present invention to provide a kind of driving control system of hysteroscope anastomat, overcomes the transmission control of existing anastomat
The defect of system, using a motor various transmission controls are achieved that, meet the requirement of various on-off control.
The present invention solves technical problem and adopts the following technical scheme that：A kind of driving control system of hysteroscope anastomat, including
Actuator, transmission, conversion part, the first driven subassembly and the second driven subassembly.
The transmission, conversion part is for movable workpiece and including the first drive disk assembly and the second drive disk assembly, the transmission, conversion
First drive disk assembly of part is connected all the time with actuator；Second drive disk assembly of the transmission, conversion part and the first driven subassembly connect
Connect and the second drive disk assembly drives the First Series of the first driven subassembly, the first driven subassembly control hysteroscope anastomat to pass
Dynamic control action；The transmission, conversion part carries out the second drive disk assembly after A actions and is connected with the second driven subassembly and the second biography
Dynamic component is driven to the second driven subassembly, the second series transmission control of the second driven subassembly control hysteroscope anastomat
Action.
Preferably, the transmission, conversion part includes the first travelling gear, the second travelling gear, connecting shaft and set axle, described
The lower end of set axle as the first travelling gear wheel shaft, the upper end of the set axle as the second travelling gear wheel shaft, the set
The slidable ring set of axle is arranged in the connecting shaft.
Preferably, the actuator is drive gear, and the drive gear is connected with motor shaft；The drive gear and institute
State the first travelling gear to be meshed, and the width that the facewidth of the drive gear has one fixed width, the facewidth causes the transmission
The first travelling gear is intermeshed all the time with drive gear when conversion member carries out A actions along facewidth direction.
Preferably, first driven subassembly include can be with the intermeshing tooth bar of the second travelling gear；Described second from
Dynamic component includes the first angular wheel, the second angular wheel and leading screw, the one of second travelling gear and the first angular wheel
End engagement, the other end of first angular wheel is engaged with one end of second angular wheel, second angular wheel
The other end engage with leading screw.
Preferably, also including control assembly, the control assembly controls the action of the transmission, conversion part so that transmission turns
Changing part carries out the stable position that the first driven subassembly is acted in the second drive disk assembly after A actions, or transmission, conversion part is carried out
Reversely stablize the position that the second driven subassembly is acted in the second drive disk assembly after A actions.
Preferably, the control assembly includes elastic force balance part and actuated piece, and the actuated piece includes first end and the
Two ends, the first end and the second end can simultaneously produce rightabout motion；The one of the elastic force balance part
Hold as fixing end, the other end of the elastic force balance part is fixed on the first end of the brake component；The second end extends
To between the first travelling gear and the second travelling gear, and can respectively to the first travelling gear upper surface or the second driving cog
The lower surface of wheel is abutted.
Preferably, the control assembly includes the first spring, the first swivel plate and the second swivel plate, first swivel plate
One end mutually fix with one end of the second swivel plate, and first swivel plate and second swivel plate form an angle distribution
Fixed, the other end of first swivel plate forms the first end, and the other end of second swivel plate forms described the
Two ends；One end of first spring is fixing end, and the other end of first spring is fixed on the first end.
Preferably, also including sloth wheel gear and rollback gear；Second travelling gear is by the sloth wheel gear and institute
State the engagement of the first angular wheel；The rollback gear is engaged with the tooth bar, and the wheel shaft upper end of the rollback gear is provided with
Hexagonal groove in one；The wheel shaft upper end of the sloth wheel gear is provided with hexagonal groove in second.
Preferably, also including circuit board and first driven subassembly include tooth bar；The circuit board is provided with braking and opens
Relation is united, and the actuating switching system includes first switch and second switch, and the first switch includes the first rolling member and the
One brake(-holder) block, the second switch includes the second rolling member and the second brake(-holder) block.
The first accommodating chamber and the second accommodating chamber are provided with the tooth bar；First accommodating chamber is provided with the first sub- shoulder
Portion, second accommodating chamber is provided with the second sub- shoulder.
One end of first brake(-holder) block is arranged in the first switch, and the other end of first brake(-holder) block is to extension
The first rolling member is stretched and is provided with, and first rolling member extends to the first receiving intracavity；First brake(-holder) block can control
The startup of first switch；One end of second brake(-holder) block is arranged on the second switch, second brake(-holder) block it is another
End stretches out and is provided with the second rolling member, and second rolling member extends to the second accommodating chamber；Second brake(-holder) block
The starting operation of controllable second switch.
The first sub- shoulder can carry out abutting so that first switch is moved to the first brake(-holder) block for being provided with the first rolling member
Make；The second sub- shoulder can carry out abutting so that second switch action to the second brake(-holder) block for being provided with the second rolling member.
Preferably, first accommodating chamber is first groove that opens up of the first plane of the tooth bar, the first sub- shoulder
Portion is the groove A1 shoulders of the first groove；Second accommodating chamber is the second groove that the first plane of the tooth bar is opened up, institute
State the groove B1 shoulders that the second sub- shoulder is the second groove.
Preferably, also including the 3rd switch, the 3rd switch includes control slide block and the 3rd control to the switching system
Piece.
Second plane of the tooth bar opens up fluted slideway, and the groove slideway has certain length, and described recessed
The two ends of groove slideway form respectively groove C1 shoulders and groove C2 shoulders.
The control slide block is slidably disposed on groove slideway, and the control slide block is provided near circuit board end face
3rd control sheet, controllable 3rd switch of the 3rd control sheet starts.
Preferably, the control slide block includes sub- slide block, gripper shoe and control station, and described sub- slide block one end extends to groove
In slideway and with its slidable connection, the sub- slide block other end mutually fixes with the lower end of the gripper shoe, the gripper shoe
Upper end and the control station lower end towards fixation, the upper surface of the control station is provided with the 3rd control sheet；Described 3rd
Control sheet can be to the 3rd switch motion.
Preferably, the 3rd control sheet includes the first sub- control sheet and the second sub- control sheet, the first sub- control sheet
End face be shaped as reclinate arc on sub- slide block movement direction, and the first sub- control sheet is in sliding process
Can be to the 3rd switch motion；The first sub- control sheet with described second son control chip architecture it is identical and and column distribution arrange
On control station upper surface, the second sub- control sheet is in sliding process to the 3rd switch motion.
The present invention has the advantages that：A kind of driving control system of hysteroscope anastomat is devised, one is only utilized
Actuator completes different drive actions, while greatling save on anastomat interior spatial structure, reduces cost, fits
In being generalized to more basic hospitals.
Description of the drawings
Fig. 1 is a kind of structural representation of transmission, conversion part structural implementation；
Fig. 2 is the structural implementation structural representation after Fig. 1 transmission, conversion part A actions；
Fig. 3 is the structural representation of the transmission, conversion part that can be slided in connecting shaft；
Fig. 4 is the structural representation that the second travelling gear drives the first driven subassembly；
Fig. 5 is the structural representation that the second travelling gear drives the second driven subassembly；
Fig. 6 be arrange I panels control assembly self-locking device, the structural representation when control assembly is not acted on；
The structural representation that Fig. 7 is engaged for the second travelling gear of Fig. 6 schematic constructions with the first driven subassembly；
The structural representation that Fig. 8 is engaged for the second travelling gear of Fig. 6 schematic constructions with the second driven subassembly；
Fig. 9 is that the second end of control assembly control abuts the structural representation that the first travelling gear provides abutting power downwards
Figure；
Figure 10 is the structural representation that the second end of control assembly control does not act on transmission, conversion part；
Figure 11 is that the second end of control assembly control abuts the structural representation that the second travelling gear provides abutting power upwards
Figure；
Figure 12 is the driving control system structure decomposition figure of hysteroscope anastomat；
Figure 12 A are the driving control system top view of hysteroscope anastomat；
Figure 13 be arrange the first accommodating chamber and the second accommodating chamber on-off control system tooth bar it is not operating when structural representation
Figure；
Figure 14 is structural representation when arranging the on-off control system tooth bar action of the first accommodating chamber and the second accommodating chamber；
Figure 15 is the structural representation of tooth bar；
Figure 16 is tooth bar and switching system setting structure schematic diagram；
The structural representation that Figure 17 bumps against for the sub- slide block of control slide block with groove C2 shoulders；
Figure 18 is the A-A sectional views of Figure 17.
Labelling is illustrated as in figure：1- actuators；2- transmission, conversion parts；The driven subassemblies of 3- first；The driven subassemblies of 4- second；
5-W1 gears；6-W2 gears；7-W wheel shafts；The travelling gears of 8- first；The travelling gears of 9- second；10- connecting shafts；11- covers axle；12-
The facewidth；13- drive gears；14- tooth bars；The angular wheels of 15- first；16- control assemblies；17- first ends；18- the second ends；
19-I panels；20- elastic force balance parts；The springs of 21- first；The swivel plates of 22- first；The swivel plates of 23- second；24- sloth wheel gears；
25- rollback gears；Hexagonal groove in 26- first；Hexagonal groove in 27- second；28- first switches；29- second switches；30-
One rolling member；The brake(-holder) blocks of 31- first；The rolling members of 32- second；The brake(-holder) blocks of 33- second；The accommodating chambers of 34- first；35- second is accommodated
Chamber；The sub- shoulders of 36- first；The sub- shoulders of 37- second；The planes of 38- first；The grooves of 39- first；40- groove A1 shoulders；41- second
Groove；42- groove B1 shoulders；The scroll wheels of 43- first；The scroll wheels of 44- second；45- the 3rd is switched；46- control slide blocks；47-
Three control sheets；The planes of 48- second；49- groove slideways；The planes of 50- the 3rd；51- groove C1 shoulders；52- groove C2 shoulders；53-
Sub- slide block；54- gripper shoes；55- control stations；The sub- control sheets of 56- first；The sub- control sheets of 57- second.
Specific embodiment
Technical scheme is further elaborated with reference to embodiment and Fig. 1 to Figure 18.
Embodiment 1
Present embodiments provide the driving control system of hysteroscope anastomat, including actuator 1, transmission, conversion part 2, first from
The driven subassembly 4 of dynamic component 3 and second；The transmission, conversion part 2 is movable workpiece and is driven including the first drive disk assembly and second
Part, the first drive disk assembly of the transmission, conversion part 2 is connected all the time with actuator 1；Second transmission of the transmission, conversion part 2
Part is connected with the first driven subassembly 3 and the second drive disk assembly drives the first driven subassembly 3, first driven subassembly 3 to control
The First Series transmission control action of hysteroscope anastomat processed；The transmission, conversion part 2 carries out the second drive disk assembly and after A actions
Two driven subassemblies 4 connect and the second drive disk assembly is driven to the second driven subassembly 4, and second driven subassembly 4 is controlled
The second series transmission control action of hysteroscope anastomat.
A kind of embodiment (as shown in Figure 1 to Figure 2), be as above-mentioned first using the closure of nail bin groupware and/or opening
Row action；It is second series action by the left rotation and right rotation control action for controlling nail bin groupware；In the process of operation hysteroscope anastomat
When, need to be adjusted the position of nail bin groupware into after tissue, that is to say, that position of the doctor according to nail bin groupware
Situation carries out left rotation and right rotation to nail bin groupware, i.e., second series action defined above；Treat that nail bin groupware is adjusted to suitable position
The closure and/or opening of nail bin groupware, i.e., above-mentioned First Series action can be controlled when putting；First biography of transmission, conversion part 2
Dynamic component can be the W1 gears 5 rotated with motor coaxle, and the second drive disk assembly can be and same wheel shaft (the W wheel shafts of W1 gears 5
7) W2 gears 6, the W wheel shafts 7 for now arranging W1 gears 5 and W2 gears 6 are scalable positioning wheel shaft, i.e., when needing control first
During action, motor drives W1 gears 5 to rotate, and now the telescopic of W wheel shafts 7 is positioned at 6 and first driven groups of W2 gears
The position of the interconnection function of part 3, under the drive of W1 gears 5, the actuation of W2 gears 6 is in the first driven subassembly 3 so that first from
The First Series transmission control action of the control hysteroscope anastomat of dynamic component 3；When needing control to carry out second series action, stretch
The length of adjustment W wheel shafts 7 so that W2 gears 6 connect effect with the second driven subassembly 4, under the drive of W1 gears 5, W2 gears 6
Actuation is in the second driven subassembly 4 so that the second series transmission control of the control hysteroscope anastomat of the second driven subassembly 4 is dynamic
Make, so that apparatus produces second series action.Here the W wheel shafts 7 for arranging are all in the backgear of stretching in order to ensure
To the stability of rotation, can be needed only to arrange the positioning of two or three sliding extensions according to the action of hysteroscope anastomat
Gear, it is ensured that safety；For example, it is above-mentioned to include two actions of First Series action and second series action, it is possible to set
Two positioning gears are put, if the action of hysteroscope anastomat needs 3 or more, 3 of corresponding numerical digit or more can be arranged
Many positioning gears, to drive different action components, realize different actions.
Transmission, conversion part 2 described here is not only to limit to above-mentioned technical proposal, such as a kind of embodiment, in hysteroscope kiss
Slidably track is set in clutch, and arranging transmission, conversion part 2 can move along sliding rail, i.e., above-mentioned A actions, and it is right to realize
The different driving transmission of the first driven subassembly and the second driven subassembly.Yet another embodiment, to transmission, conversion part 2
A actions can be mutually carried out between the different parts of body, such as the first drive disk assembly 5 and the second drive disk assembly 6 can be set, when
With during 1 phase separation of actuator, the second the first driven subassembly of drive disk assembly 6 pairs 3 carries out gearing to first drive disk assembly 5；At that time
First drive disk assembly 5 and the second drive disk assembly 6 are mutually mobile conversion position, and the second drive disk assembly 6 interacts with actuator 1,
First the second driven subassembly of drive disk assembly 5 pairs 4 carries out gearing；First drive disk assembly 5 described here and the second driving section
Part 6 is not necessarily toroidal gear, can be erose strip to meet needs, strip Different Plane according to
Transmission, conversion part 2 arranges the plane that tooth and tooth are located with the interaction situation of actuator 1 after A actions, to reach effect purpose.
Such as Fig. 3, a kind of preferred embodiment of the present embodiment, the transmission, conversion part 2 include the first travelling gear 8, the
Two travelling gears 9, connecting shaft 10 and set axle 11, it is described set axle 11 lower end as the first travelling gear 8 wheel shaft, the set axle
Used as the wheel shaft of the second travelling gear 9, the slidable ring set of the set axle 11 is arranged in the connecting shaft 10 for 11 upper end.This
In to arrange the first travelling gear 8 and the second travelling gear 9 be same wheel shaft (i.e. described set axle 11), the wheel shaft can be even
Slide in spindle 10, the first travelling gear 8 be set and engaged with actuator 1, the actuator 1 can drive the first travelling gear 8,
First travelling gear 8 drives the second travelling gear 9 to rotate coaxially, and the second travelling gear 9 now arranges the first driven subassembly 3 of driving
Carry out First Series transmission control action；When needing to carry out second series control action, control set axle 11 is in connecting shaft 10
Enter line slip, slide into the second travelling gear 9 and engage with the second driven subassembly 4, drive the second driven subassembly 4 to carry out second series
Transmission control action；Certainly during set axle 11 enters line slip, the first travelling gear 8 interacts all the time with actuator.
It is high that this transmission arranges stability.
The present embodiment is preferred, and the actuator 1 is drive gear 13, and the drive gear 13 is connected with motor shaft；Institute
State drive gear 13 to be meshed with first travelling gear 8, and the facewidth 12 of the drive gear 8 has one fixed width, tooth
When wide 12 width causes the transmission, conversion part 2 to carry out A actions along facewidth direction the first travelling gear 8 all the time with drive gear
13 intermeshings.Such as Fig. 4 to Fig. 5, the first travelling gear 8 of transmission, conversion part 2 is meshed with drive gear 13, in drive gear
On the width of 13 facewidth, the first travelling gear 8 is carried out into the first travelling gear 8 in A actions, i.e. figure and is moved up, it is mobile
After the distance of one end, the position of the second travelling gear 9 is changed, but the first travelling gear 8 still engages phase with drive gear 13
Interaction.This transmission arranges stability height, and the control to transmission, conversion part is also more convenient.
The present embodiment is preferred, and first driven subassembly 3 includes can be with the intermeshing tooth bar of the second travelling gear 9
14；Second driven subassembly 4 include the first angular wheel 15, the second angular wheel and leading screw, second travelling gear 9 with
One end engagement of the first angular wheel 15, the other end of first angular wheel 15 is nibbled with one end of second angular wheel
Close, the other end of second angular wheel is engaged with leading screw.
Arranging the first driven subassembly 3 includes tooth bar 14, and tooth bar 14 can be utilized to move forward and backward and promote pushing away inside anastomat
Nail piece etc. can be controlled to the opening of the nail bin groupware of hysteroscope anastomat or closure；Arranging the second driven subassembly 4 includes the
One angular wheel 15, the second angular wheel and leading screw, can be eventually converted into the motion that rotates in a circumferential direction of the first angular wheel directly
Line is moved, to control second series transmission control action.
The present embodiment is preferred, and also including control assembly 16, the control assembly 16 controls the dynamic of the transmission, conversion part 2
Make so that transmission, conversion part 2 carries out the stable position that the first driven subassembly 3 is acted in the second drive disk assembly after A actions, or
Transmission, conversion part 2 carries out the stable position that the second driven subassembly 4 is acted in the second drive disk assembly after reverse A sections are moved.Here
Described control assembly 16 is provided with several frame modes, such as, transmission, conversion part 2 starts control group after A actions are carried out
The position of 16 pairs of the second drive disk assemblies of part carries out the fixation in A direction of action so that the second drive disk assembly will not again produce shadow
Ring the action of transmission；When needing to be driven the second driven subassembly 4 so that transmission, conversion part 2 is eliminated above-mentioned fixes it
Carry out reverse A actions again afterwards, when action completes the second drive disk assembly the second transmission component 4 is driven, start control group
Part is fixed again to the existing position of the second transmission component, it is ensured that the second drive disk assembly will not be produced again affects the dynamic of transmission
Make, it is ensured that transmission is smoothed out；For another example, self-locking body is set after transmission, conversion part carries out A actions, self-locking body is to A actions
Transmission, conversion part afterwards carries out self-locking etc..
The present embodiment preferably discloses that a kind of transmission, conversion part that is directed to includes the first travelling gear, the second driving cog
Can automatically to carrying out the technical scheme of self-locking position, the control after A actions or after reverse A actions when wheel, connecting shaft and set axle
Component processed 16 includes elastic force balance part and actuated piece, and the actuated piece includes first end 17 and the second end 18, described first
End 17 and the second end 18 can simultaneously produce rightabout motion；One end of the elastic force balance part is fixing end, described
The other end of elastic force balance part is fixed on the brake component first end 17；The second end 18 extends to the first travelling gear
8 and second between travelling gear 9, and can respectively to the first travelling gear 8 upper surfaces or the second travelling gear 9 lower surface
Abutted.In the enterprising line slip of connecting shaft 10, therefore an abutment end can be set to first due to arranging set axle 11
When the relative end face of the travelling gear 9 of travelling gear 8 and second is abutted, it is possible to drive set axle 11 enterprising in connecting shaft 10
Line slip, to reach transmission, conversion part 2 purpose of A actions is carried out.Elastic force balance part and actuated piece are set here.Because of elastic force balance
Part one end is fixing end, when the other end is moved with the first end of the brake component, elastic force balance part stress deformation
While produce elastic pulling force to actuated piece to control the motion of actuated piece.Such as Fig. 6 to Fig. 8, actuated piece is rotatable fixation
I panels 19 in hysteroscope anastomat, what the center of I panels 19 can circumferentially rotate is fixed in hysteroscope anastomat, I controls
The two ends of plate 19 define first end 17 and the second end 18, and one end of elastic force balance part 20 is fixed on hysteroscope anastomat,
The other end interfixes with first end 17；The second end 18 is extended on the first travelling gear 8 and the second driving cog
Between wheel 9, and can respectively to the first travelling gear 8 upper surface or the lower surface of the second travelling gear 9 abut；As schemed
Shown, with the point of rotation of I panels 19 on the same line, such elastic force balance part exists the fixing end of the elastic force balance part 20
The second end 18 of I panels 19 is and elastic force balance part when will not produce elastic pulling force to I panels 19 under naturalness
The point of rotation of fixing end and I panels 19 is on the same line；Therefore the point of rotation of I panels 19 is set positioned at the first transmission
When in the same horizontal line in the centre position of the travelling gear 9 of gear 8 and second, when being rotated up first end 17, the second end
18 will move downward the first travelling gear 8 of abutting, and give its downward power, therefore can drive transmission, conversion part 2 along even
Spindle is moved downward, and sets range of movement, is reached the second travelling gear 9 and is engaged with the first driven subassembly 4, such as first driven group
When part 4 includes tooth bar 12, then the second travelling gear 9 will be engaged with tooth bar 12；Now because elastic force balance part is according to geometry stress
Relation, the bullet journey of elastic force balance part 20 reaches maximum magnitude, the first end 17 for being given elastic pulling force upwards, therefore for being given
The downward abutting power in two ends 18 is maximum, can remain stationary as the state that I panels 19 are controlled at this moment, to transmission, conversion part 2
Carry out the self-locking of position, it is ensured that transmission is stablized；It is contrary, when moving downward to the first end 17 of I panels 19, the second end
Portion 18 will upwards move the second travelling gear of abutting 9 to its power upwards, therefore can drive transmission, conversion part 2 along connection
Axle 10 is moved upwards, and (range of movement of I panels 19 can be by the baffle plate being fixedly installed in hysteroscope anastomat for setting range of movement
To limit), reach the second travelling gear 9 and act on the second driven subassembly 4, such as the second driven subassembly 4 includes the first conical tooth
When taking turns 15, the second travelling gear 9 is engaged with the first angular wheel 15, drives the second series transmission of hysteroscope anastomat dynamic
Make；Now the bullet journey of elastic force balance part equally reaches maximum, the downward elastic pulling force of the first end 17 for being given, because be given
The abutting power upwards of the second end 18, can remain stationary as the state that I panels 19 are controlled at this moment, and transmission, conversion part is carried out
The self-locking of position, it is ensured that transmission is stablized.
Such as Fig. 9 to Figure 11, a kind of preferred embodiment of the present embodiment is that the control assembly 16 includes the first spring
21st, the first swivel plate 22 and the second swivel plate 23, one end of the first swivel plate 22 is mutually fixed with one end of the second swivel plate 23, and
First swivel plate 22 and the second swivel plate 23 form an angle to be distributed and fix, and the other end of the first swivel plate 22 forms described first
End 17, the other end of the second swivel plate 23 forms the second end 18；One end of first spring 21 be fixing end, institute
The other end for stating the first spring 21 is fixed on first end 17.First swivel plate 22 forms an angle mutually solid with the second swivel plate 23
It is fixed, and it is rotatable point to arrange fixing point, the first swivel plate 22 and the second swivel plate 23 can be rotated by the center of circle of fixing point
Motion, according to geometry stress relation, is arranged when the second end 18 is located at the first travelling gear 8 and the interposition of the second travelling gear 9
When putting, the first spring 21 and the first swivel plate 22 are on the same line and the first spring 21 is naturalness；So in the first bullet
First swivel plate 22, rotation when will not produce elastic pulling force to the first swivel plate 22 and the second swivel plate 23 under the naturalness of spring 21
Point and the first spring 21 be in the same horizontal line, when being rotated up first end 17, the second end 18 will circumference it is downward
Motion abuts the first travelling gear 8 to its downward power, therefore transmission, conversion part 2 can be driven to transport downwards along connecting shaft 10
It is dynamic, range of movement is set, reach the second travelling gear 9 and engage with the first driven subassembly 3；First driven subassembly 3 includes tooth bar 14
When, then the second travelling gear 9 will be engaged with tooth bar 14, now due to the geometry stress relation of the first spring 21, the first spring 21
Play journey and reach maximum magnitude, the elastic pulling force upwards of the first end 17 for being given is maximum, thus the second end 18 for being given to
Under abutting power it is maximum, the state that the second swivel plate 23 is controlled at this moment can be remained stationary as, reach is carried out to transmission, conversion part 2
The purpose of position, it is ensured that the stable row of transmission；Contrary, to during the control motion downwards of first end 17, the second end 18 will
Motion upwards abuts the second travelling gear 9, gives its power upwards, thus can drive transmission, conversion part 2 along connecting shaft 10 to
Upper motion, sets range of movement, reaches the second travelling gear 9 and acts on the second driven subassembly 4, now the bullet journey of the first spring 21
Maximum is equally reached, the downward elastic pulling force of the first end 17 for providing, because the second end 18 for providing abutting power upwards
Maximum, can remain stationary as the state that the second end 18 is controlled at this moment, and to transmission, conversion part 2 self-locking of position is carried out, it is ensured that
What is be driven stablizes.
The present embodiment is preferred, also including sloth wheel gear 24 and rollback gear 25；Second travelling gear 9 is by described
Sloth wheel gear 24 is engaged with first angular wheel 15；The rollback gear 25 is engaged with the tooth bar 14, the rollback tooth
The wheel shaft upper end of wheel 25 is provided with hexagonal groove 26 in first；The wheel shaft upper end of the sloth wheel gear 24 is provided with hexagonal in second
Groove 27.Include to wrap with the intermeshing tooth bar 14 of the second travelling gear 9, the second driven subassembly 4 according to the first driven subassembly 3
The first angular wheel 15, the further setting of two technical schemes of the second angular wheel and leading screw are included, sloth wheel gear 24 is set, passed
Second travelling gear 9 of dynamic conversion member 2 is engaged by the sloth wheel gear 24 with first angular wheel 15, the inertia tooth
The wheel shaft upper end of wheel 24 is provided with hexagonal groove 27 in second can pass through inner hexagon spanner manual rotation sloth wheel gear 24, so as to
The first angular wheel 15 is driven to rotate, so that hysteroscope anastomat carries out the second series transmission of the control of the second driven subassembly 4
Control action；Rollback gear 25 is set, and rollback gear 25 is engaged with tooth bar 14, and the wheel shaft upper end of the rollback gear 25 is arranged
There are hexagonal groove 26 in first；Tooth can directly be driven by inner hexagon spanner manual rotation rollback gear 25, rollback gear 25
Bar 14 is moved, so that hysteroscope anastomat carries out the second series transmission control action of the control of the first driven subassembly 3.
Carry out the mode of control action above by sloth wheel gear 24 and rollback gear 25, be to ensure doctor in operation
During in the event of motor power-off or electronic failure, by the way, manual control First Series transmission control action and
Second series are driven control action, it is ensured that being normally carried out for operation, improve the safety of operation technique, and to apparatus one is provided
Plant exercisable second scheme.
The present embodiment is preferred, such as Figure 13 to Figure 14, also including circuit board and first driven subassembly 3 includes tooth bar
14；The circuit board is provided with brake switch system, and the actuating switching system includes first switch 28 and second switch 29, institute
First switch 28 is stated including the first rolling member 30 and the first brake(-holder) block 31, the second switch 29 includes the second rolling member 32 and the
Two brake(-holder) blocks 33.
The first accommodating chamber 34 and the second accommodating chamber 35 are provided with the tooth bar 14；First accommodating chamber 34 is provided with
One sub- shoulder 36, second accommodating chamber 35 is provided with the second sub- shoulder 37.
One end of first brake(-holder) block 31 is arranged in the first switch 28, the other end of first brake(-holder) block 31
Stretch out and be provided with the first rolling member 30, and first rolling member 30 is extended in the first accommodating chamber 34；Described first
Brake(-holder) block 31 can control the startup of first switch 28；One end of second brake(-holder) block 33 is arranged on the second switch 29,
The other end of second brake(-holder) block 33 stretches out and is provided with the second rolling member 32, and second rolling member 32 is extended to
Second accommodating chamber 35；Second brake(-holder) block 33 can control the starting operation of second switch 29.
The first sub- shoulder 36 can carry out abutting so that first to the first brake(-holder) block 31 for being provided with the first rolling member 30
Switch 28 actions；The second sub- shoulder 37 can be carried out abutting and cause the to the second brake(-holder) block 33 for being provided with the second rolling member 32
Two 29 actions of switch.
A kind of technical scheme for moving forward and backward the switch to control hysteroscope anastomat using tooth bar is this provided, certainly
One controlling switch and an accommodating chamber can be set, but in order to better illustrate this technical scheme, set with tooth bar 14 now
It is equipped with as a example by the first accommodating chamber 34 and the second accommodating chamber 35 and illustrates；The first rolling member 30 of first switch 28 is under normality
In first accommodating chamber 34, now the first brake(-holder) block 31 does not act on first switch 28, defines when tooth bar 14 is moved forward and backward
Relative first rolling member 30 of first accommodating chamber 34 is moved, and is abutted by the first sub- shoulder 36 until moving to the first rolling member 30, this
When the first sub- shoulder 36 first brake(-holder) block 31 can be abutted, first switch can be started by the first brake(-holder) block 31 after abutting action
28；Now the second rolling member 32 of the second switch 29 under original state in the second accommodating chamber 35 also can be made by the second sub- shoulder 37
With so as to act on the second brake(-holder) block 33, the second brake(-holder) block 33 starts second switch 29.Aforesaid way not only can control first and open
Close 28 and second switch 29 automatically turning on or closing, it is also possible to the position and distance arranged using the accommodating chamber of tooth bar 14 is set
The opening or closure of carrying out controlling switch and the time for controlling.
The present embodiment is preferred, and described first accommodates 34 the first grooves opened up for the first plane 38 of the tooth bar 14
39, the first sub- shoulder 36 is the groove A1 shoulders 40 of the first groove 39；Second accommodating chamber 35 is the tooth bar 14
The second groove 41 that first plane 38 is opened up, the second sub- shoulder 37 is the groove B1 shoulders 42 of the second groove 41.
Such as Figure 15 to Figure 16, closure in conjunction with the nail bin groupware of hysteroscope anastomat or open or the practical operation such as fire and be
Example is illustrated.The closure or opening of nail bin groupware are controlled by the advance or retrogressing of tooth bar 14, is needed end effector
Nail bin groupware is first closed could pass through perforator to enter tissue, and actuator drives tooth bar 14 to travel forward, the fortune forward of tooth bar 14
Dynamic that nail bin groupware is closed, now the first rolling member 30 and the second rolling member 32 all fall within the first groove 39 and the second groove
In 41, now first switch 28 and second switch 29 are not actuated；When actuator starts to drive tooth bar 17 to travel forward, first is made
The relative first switch 28 of 39 and second groove of groove 41 and second switch 29 travel forward, and arrange the first rolling of the first brake(-holder) block 31
Moving part 30 is the first scroll wheel 43, and the second rolling member 32 of the second brake(-holder) block 33 is the second scroll wheel 44, when tooth bar 14 is transported forward
When dynamic, the first scroll wheel 43 and the second scroll wheel 44 can backward be rolled with respect to the first groove 39 and the second groove 41, until first
When scroll wheel 43 is rolled to the groove A1 shoulders 40 of the first groove 39,40 pairs of the first brake(-holder) blocks 31 of groove A1 shoulders are abutted, and first
Brake(-holder) block 31 starts first switch 28, and the closure of the control nail bin groupware of first switch 28 stops；Now whole nail bin groupware is closed
Conjunction action is completed.Simultaneously in above process when the second scroll wheel 44 also can be with travelling forward for tooth bar 14 so that second is sub
37 pairs of the second scroll wheels 44 of shoulder are abutted, and when the nail bin groupware of closure needs to open, actuator drives the rollback of tooth bar 14,
When the first scroll wheel 43 and the second scroll wheel 44 after rollback respectively when being again introduced in the first groove 39 and the second groove 41,
Two sub- shoulders 37 no longer abut the second scroll wheel 44, i.e. the second brake(-holder) block 33 and no longer brake, and second switch 29 is opened, and now
Two switches 29 control tooth bars 14 and do not continue to rollback, the rollback of tooth bar 14 stops, that is, the opening action for controlling nail bin groupware stops
Only.This mode is spatially fully used, and a multiplex feature so that simplify the structure, apparatus is difficult
While producing mistake, the control of apparatus is greatly improved.
, using each plane of tooth bar, make tooth bar 14 complete while occupancy apparatus structure as few as possible in order to preferably
Into more function settings, a kind of technical scheme of a tooth bar multiple control modes is proposed hered, it is preferred that the switch
System also includes the 3rd switch 45, and the 3rd switch 45 includes the control sheet 47 of control slide block 46 and the 3rd；The tooth bar 14
Second plane 48 opens up fluted slideway 49, and second plane 48 is the opposite that the tooth bar 14 is toothed around the flank of tooth；Institute
Groove slideway 49 is stated with certain length, and the two ends of the groove slideway 49 form respectively groove C1 shoulders 51 and groove C2
Shoulder 52；The control slide block 49 is slidably disposed on groove slideway 49, and the control slide block 46 is near circuit board end face
The 3rd control sheet 47 is provided with, controllable 3rd switch 45 of the 3rd control sheet 47 starts.
Can be further provided with the basis of above-mentioned tooth bar 14 is provided with the first groove 39 and the second groove 41 recessed
Groove passage 49；Explanation is needed exist for, the restriction scope that tooth bar 14 is arranged is more than the first groove 39, the second groove 41 and recessed
The situation that groove passage 49 is equipped with, tooth bar 14 can be separately provided the first groove and/or the second groove and/or groove recess channels；
Merely just in order to preferably illustrate this embodiment, so as to be provided with the first groove 39 and the second groove 41 with reference to above-mentioned tooth bar 14
On the basis of can be further provided with recess channels 49；Such as Figure 15, tooth bar 14 has opened up the first groove in the first plane 38
39 and second groove 41, recess channels 49 have been opened up in the second plane 48, the gear teeth are provided with the 3rd plane 50, certainly
Can be that fourth plane arranges more associated components in the relative plane of the first plane 38, no longer illustrate one by one here；From
The first groove 39 and the insertion of the 3rd plane 50 that one plane 38 is opened up, the second groove 41 and the second plane that the first plane 38 is opened up
48 insertions, this set is in order to avoid producing impact mutually when first switch 28 and second switch 29 are in action, also to electricity
Road plate arrange the first brake(-holder) block 31 connect when preferably with the connection adjustment position relation of the second brake(-holder) block 33.In the second plane
48 length direction arranges recess channels 49, by the stop control of groove C1 shoulders 51 and groove C2 shoulders 52 to control slide block
System, realizes the startup or closing of the 3rd switch 45.
The present embodiment is preferred, and the control slide block includes sub- slide block 53, gripper shoe 54 and control station 55, the sub- slide block
53 one end extend in groove slideway 49 and with its slidable connection, the other end of sub- slide block 53 and the gripper shoe 54
Lower end is fixed, and the lower end of the upper end of the gripper shoe 54 and the control station 55 is towards fixation, the upper surface of the control station 55
It is provided with the 3rd control sheet 47；3rd control sheet 47 can be to the described 3rd 45 actions of switch.
Here is illustrated so that the 3rd control sheet 47 arranges two sub- control sheets as an example, and the 3rd control sheet 47 includes the
One sub- control sheet 56 and the second sub- control sheet 57, the end face of the first sub- control sheet 56 is reclinate arc, and described
First sub- control sheet 56 can be to the described 3rd 45 actions of switch in sliding process；The first sub- control sheet 56 and second is controlled
The structure of piece 57 it is identical and and column distribution be arranged on the upper surface of control station 55, the second sub- control sheet 57 is right in sliding process
3rd switch, 45 actions.
The rollback sutured after cutting and firing of tissue is carried out further in conjunction with the nail bin groupware of end effector
Illustrate.After nail bin groupware clamps tissue, need to carry out grasped tissue suture cutting, actuator continues to drive
Tooth bar 14 travels forward, such as Figure 17 to Figure 18, and the groove C2 shoulders on the sub- slide block 53 and tooth bar 14 of control slide block are moved to always
Portion 52 bumps against, and the groove C2 shoulders 52 for moving forward can travel forward with mover slide block 53, so as to drive on control station 55
The 3rd control sheet 47 travel forward, the 3rd control sheet 47 can start when travelling forward the 3rd switch 45, the 3rd switch 45 control
Suture and cutting of the nail bin groupware processed to tissue；This kind of percussion is cut in above-mentioned suture may be needed repeatedly, in the case where needing to carry out
Need first motor to be driven into rollback during secondary suture cutting, the antithetical phrase slide block of groove C1 shoulders 51 moved to always on tooth bar 14 is carried out
Clash into, so as to band mover slide block is return, so as to drive the 3rd control sheet 47 to move backward, so as to the 3rd switch 45 is no longer acted on,
This rollback of hour rack 14 stops；First sub- control sheet 56 and the second sub- control sheet 57 are set, the first sub- control sheet 56 can be set
The stopping of control forward motion, beginning of the control backward movement of the second sub- control sheet 57 etc., set-up mode is unrestricted.
The sequencing of above example only for ease of description, does not represent the quality of embodiment.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (13)
1. a kind of driving control system of hysteroscope anastomat, it is characterised in that including actuator, transmission, conversion part, first driven
Component and the second driven subassembly；
The transmission, conversion part is movable workpiece and including the first drive disk assembly and the second drive disk assembly, the transmission, conversion part
First drive disk assembly is connected all the time with actuator；Second drive disk assembly of the transmission, conversion part is connected simultaneously with the first driven subassembly
And second drive disk assembly drive the first driven subassembly, the First Series transmission control of first driven subassembly control hysteroscope anastomat
Braking is made；The transmission, conversion part carries out the second drive disk assembly after A actions and is connected with the second driven subassembly and the second driving section
Part is driven to the second driven subassembly, and the second series transmission control of the second driven subassembly control hysteroscope anastomat is dynamic
Make.
2. the driving control system of hysteroscope anastomat according to claim 1, it is characterised in that the transmission, conversion part bag
Include the first travelling gear, the second travelling gear, connecting shaft and set axle, the wheel of the lower end of the set axle as the first travelling gear
Axle, used as the wheel shaft of the second travelling gear, the slidable ring set of the set axle is arranged on the connecting shaft for the upper end of the set axle
On.
3. the driving control system of hysteroscope anastomat according to claim 2, it is characterised in that the actuator is to drive
Gear, the drive gear is connected with motor shaft；The drive gear is meshed with first travelling gear, and the driving
The facewidth of gear has one fixed width, first when the width of the facewidth causes the transmission, conversion part to carry out A actions along facewidth direction
Travelling gear is intermeshed all the time with drive gear.
4. the driving control system of hysteroscope anastomat according to claim 2, it is characterised in that first driven subassembly
Including can be with the intermeshing tooth bar of the second travelling gear；Second driven subassembly includes the first angular wheel, the second taper
Gear and leading screw, second travelling gear is engaged with one end of the first angular wheel, the other end of first angular wheel
Engage with one end of second angular wheel, the other end of second angular wheel is engaged with leading screw.
5. the driving control system of hysteroscope anastomat according to claim 4, it is characterised in that also including control assembly,
The control assembly controls the action of the transmission, conversion part so that transmission, conversion part carries out stable in the second transmission after A actions
Part acts on the position of the first driven subassembly, or transmission, conversion part carries out stablizing in the second drive disk assembly after reverse A actions
Act on the position of the second driven subassembly.
6. the driving control system of hysteroscope anastomat according to claim 5, it is characterised in that the control assembly includes
Elastic force balance part and actuated piece, the actuated piece includes first end and the second end, the first end and second end
Portion can simultaneously produce rightabout motion；One end of the elastic force balance part be fixing end, the elastic force balance part it is another
End is fixed on the first end of the brake component；The second end extend to the first travelling gear and the second travelling gear it
Between, and can respectively to the first travelling gear upper surface or the lower surface of the second travelling gear abut.
7. the driving control system of hysteroscope anastomat according to claim 6, it is characterised in that the control assembly includes
First spring, the first swivel plate and the second swivel plate, one end and one end of the second swivel plate of first swivel plate are mutually fixed,
And first swivel plate and second swivel plate form an angle to be distributed and fix, the other end of first swivel plate is formed
The first end, the other end of second swivel plate forms the second end；One end of first spring is fixation
End, the other end of first spring is fixed on the first end.
8. the driving control system of hysteroscope anastomat according to claim 7, it is characterised in that also including sloth wheel gear and
Rollback gear；Second travelling gear is engaged by the sloth wheel gear with first angular wheel；The rollback gear
Engage with the tooth bar, the wheel shaft upper end of the rollback gear is provided with hexagonal groove in first；The wheel shaft of the sloth wheel gear
Upper end is provided with hexagonal groove in second.
9. the driving control system of the hysteroscope anastomat according to Claims 1-4 any one, it is characterised in that also wrap
Include circuit board and first driven subassembly includes tooth bar；The circuit board is provided with brake switch system, the actuating switch
System includes first switch and second switch, and the first switch includes the first rolling member and the first brake(-holder) block, and described second opens
Pass includes the second rolling member and the second brake(-holder) block；
The first accommodating chamber and the second accommodating chamber are provided with the tooth bar；First accommodating chamber is provided with the first sub- shoulder, institute
State the second accommodating chamber and be provided with the second sub- shoulder；
One end of first brake(-holder) block is arranged in the first switch, the other end of first brake(-holder) block stretch out and
The first rolling member is provided with, and first rolling member extends to the first receiving intracavity；First brake(-holder) block controllable first
The startup of switch；One end of second brake(-holder) block is arranged on the second switch, the other end of second brake(-holder) block to
It is outer to extend and be provided with the second rolling member, and second rolling member extends to the second accommodating chamber；Second brake(-holder) block is controllable
The starting operation of second switch processed；
The first sub- shoulder can carry out abutting so that first switch action to the first brake(-holder) block for being provided with the first rolling member；Institute
State the second brake(-holder) block that the second sub- shoulder can be to being provided with the second rolling member and carry out abutting and cause second switch action.
10. the driving control system of hysteroscope anastomat according to claim 9, it is characterised in that first accommodating chamber
For the first groove that the first plane of the tooth bar is opened up, the first sub- shoulder is the groove A1 shoulders of the first groove；It is described
Second accommodating chamber is the second groove that the first plane of the tooth bar is opened up, and the second sub- shoulder is the groove B1 of the second groove
Shoulder.
The driving control system of 11. hysteroscope anastomats according to claim 9, it is characterised in that the switching system is also
Including the 3rd switch, the 3rd switch includes control slide block and the 3rd control sheet；
Second plane of the tooth bar opens up fluted slideway, and the groove slideway has certain length, and the groove is slided
The two ends in road form respectively groove C1 shoulders and groove C2 shoulders；
The control slide block is slidably disposed on groove slideway, and the control slide block is provided with the 3rd near circuit board end face
Control sheet, controllable 3rd switch of the 3rd control sheet starts.
The driving control system of 12. hysteroscope anastomats according to claim 11, it is characterised in that the control slide block bag
Enclosed tool slide block, gripper shoe and control station, described sub- slide block one end extend in groove slideway and with its slidable connection, it is described
The sub- slide block other end is mutually fixed with the lower end of the gripper shoe, and the lower end of the upper end of the gripper shoe and the control station is towards solid
Fixed, the upper surface of the control station is provided with the 3rd control sheet；3rd control sheet can be to the 3rd switch motion.
The driving control system of 13. hysteroscope anastomats according to claim 12, it is characterised in that the 3rd control sheet
Including the first sub- control sheet and the second sub- control sheet, the shape of the end face of the first sub- control sheet on sub- slide block movement direction
For reclinate arc, and the first sub- control sheet can be to the 3rd switch motion in sliding process；Described first
Sub- control sheet with described second son control chip architecture it is identical and and column distribution be arranged on control station upper surface, it is described second son control
Film-making is in sliding process to the 3rd switch motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034311.3A CN106580378B (en) | 2017-01-17 | 2017-01-17 | The driving control system of hysteroscope stapler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034311.3A CN106580378B (en) | 2017-01-17 | 2017-01-17 | The driving control system of hysteroscope stapler |
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| CN106580378A true CN106580378A (en) | 2017-04-26 |
| CN106580378B CN106580378B (en) | 2019-04-02 |
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| CN201710034311.3A Active CN106580378B (en) | 2017-01-17 | 2017-01-17 | The driving control system of hysteroscope stapler |
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| CN107951521A (en) * | 2017-11-30 | 2018-04-24 | 北京派尔特医疗科技股份有限公司 | A kind of electronic hysteroscope stapler and its clutch safeties |
| CN111248962A (en) * | 2020-01-17 | 2020-06-09 | 盈甲医疗器械制造（上海）有限公司 | Automatic returning device for electric anastomat and electric anastomat thereof |
| CN111884419A (en) * | 2019-05-01 | 2020-11-03 | 江苏风和医疗器材股份有限公司 | Drive device |
| US11819210B2 (en) | 2019-05-01 | 2023-11-21 | Fulbright Medical Inc. | Driving device, surgical instrument, and operation method thereof |
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| CN111248962A (en) * | 2020-01-17 | 2020-06-09 | 盈甲医疗器械制造（上海）有限公司 | Automatic returning device for electric anastomat and electric anastomat thereof |
| CN111248962B (en) * | 2020-01-17 | 2020-11-27 | 盈甲医疗器械制造（上海）有限公司 | Automatic returning device for electric anastomat and electric anastomat thereof |
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| CN106580378B (en) | 2019-04-02 |
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