CN111884419A - Drive device - Google Patents
Drive device Download PDFInfo
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- CN111884419A CN111884419A CN202010365525.0A CN202010365525A CN111884419A CN 111884419 A CN111884419 A CN 111884419A CN 202010365525 A CN202010365525 A CN 202010365525A CN 111884419 A CN111884419 A CN 111884419A
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- gear
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- driving device
- motor
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- 230000003247 decreasing effect Effects 0.000 claims description 2
- 239000012636 effector Substances 0.000 description 45
- 230000007246 mechanism Effects 0.000 description 30
- 230000033001 locomotion Effects 0.000 description 20
- 230000005540 biological transmission Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 11
- 206010044048 Tooth missing Diseases 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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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
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- 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
- 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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a driving device, which is driven by a motor, wherein the number of the motor is one; the driving device comprises a first component and a second component, wherein the first component comprises an effective rotating range structure and an idle rotating range structure, the effective rotating range structure drives the second component to move, and the idle rotating range structure does not drive the second component. The driving device is provided with only one motor, the number of the motors is one, and in a first state, the effective rotating range structure drives the two components to move so as to realize required output; in the second state, the idle stroke structure does not drive the second part, so that misoperation is prevented, the design is very reasonable, and different output requirements of the driving device are met.
Description
Technical Field
The present invention relates to a drive device.
Background
As is well known, the endocavity cutting stapler has been commonly used in the abdominal cavity and other intracavitary operations.
Existing endocutters generally include a handle assembly, a shaft assembly extending longitudinally from the handle assembly, and an end effector disposed at a distal end of the shaft assembly. The stapler also includes a trigger and a motor assembly. The trigger can be manipulated to open and close the end effector. The stapler also includes a cutter assembly, and the trigger is further operable to drive the cutter assembly forward and backward. The end effector includes a cartridge seat for operably supporting a staple cartridge therein and an anvil pivotally connected to the cartridge seat, the anvil being selectively movable between an open position and a closed position. The operating assembly comprises a body, a first driving device and a second driving device, wherein the first driving device and the second driving device are used for installing the body, the first driving device is used for driving the end effector to be opened and closed, and the second driving device is used for driving the cutter assembly to move forwards and backwards. The motor assembly comprises a first motor assembly and a second motor assembly, the first motor assembly is used for driving the first driving device to work, and the second motor assembly is used for driving the second driving device to work. The anastomat comprises two motor assemblies, so that the size is large and the cost is high; in addition, the two motor assemblies make the whole anastomat heavier, and the flexibility of the operation of a doctor is poorer. The existing first driving device and the second driving device can only meet the action logic relation between the end effector and the cutter assembly by means of driving of different motor assemblies, and the first driving device and the second driving device cannot be driven by a single motor assembly.
Disclosure of Invention
The invention aims to provide a driving device with a reasonable structural design.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a driving device is driven by a motor, and the number of the motors is one; the driving device comprises a first component and a second component, wherein the first component comprises an effective rotating range structure and an idle rotating range structure, the effective rotating range structure drives the second component to move, and the idle rotating range structure does not drive the second component.
Further, the first component comprises a groove, the groove comprises a first groove and an arc groove, the first groove is of the effective rotating range structure, the arc groove is of the idle rotating range structure, and the radial distance between the first groove and the circle center of the arc groove is increased or decreased along the first groove; the second part comprises a convex column which is movably accommodated in the groove.
Further, the first groove is a linear groove.
Further, the first component is a gear.
Further, the driving device further includes a third member fixed to an output shaft of the motor, the third member being another gear engaged with the first member.
Further, the first part and the second part are both provided with teeth; the first component comprises a first toothed part and a tooth-lacking part, the tooth-lacking part comprises the idle running structure, and the first toothed part is the effective running structure; the effective rotational range structure enables the first member to engage with the second member, and the free rotational range structure enables the first member to disengage with the second member.
Further, the toothless part comprises a toothless part, and the toothless part is in the idle stroke structure.
Further, the toothless part also comprises a second toothed part.
Further, the first component is a gear.
Further, the second component is a rack.
Further, the driving device further comprises a third member fixed to an output shaft of the motor, the third member is engaged with the first member, and the third member is a gear.
Furthermore, the second part is a gear, the driving device further comprises a fourth part and a rack, the fourth part is a gear, the fourth part and the second part are integrally formed, the diameter of the fourth part is larger than that of the second part, and the fourth part is meshed with the rack.
Further, the driving device includes a first driving device and a second driving device, and the first driving device and the second driving device each include the first member and the second member.
The invention has the beneficial effects that: the driving device is provided with only one motor, the number of the motors is one, and in a first state, the effective rotating range structure drives the two components to move so as to realize required output; in the second state, the idle stroke structure does not drive the second part, so that misoperation is prevented, the design is very reasonable, and different output requirements of the driving device are met.
Drawings
FIG. 1 is a schematic diagram of a stapler according to a first embodiment of the invention;
FIG. 2 is an enlarged view of the circled portion shown in FIG. 1;
FIG. 3 is a partial, schematic structural view of the stapler of FIG. 1 from another perspective;
FIG. 4 is an enlarged view of circled portion A of FIG. 3;
FIG. 5 is an enlarged view of circled portion B shown in FIG. 3;
FIG. 6 is a partial schematic view of the stapler of FIG. 3;
figure 7 is a schematic view of the pressure ring assembly of figure 6;
FIG. 8 is a schematic view of the first gear of FIG. 6;
FIG. 9 is a schematic view of the second gear of FIG. 6;
FIG. 10 is an assembled view of the end effector and cannula of FIG. 1;
FIG. 11 is an enlarged view of the circled portion shown in FIG. 10;
FIG. 12 is a schematic diagram of the circuit board assembly of FIG. 1;
FIG. 13 is a schematic structural view of a first gear of the second embodiment;
fig. 14 is a schematic structural view of a first gear of another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention 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 invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "proximal", "posterior" and "distal", "anterior" are used herein with respect to the clinician manipulating the surgical instrument. The terms "proximal" and "posterior" refer to portions that are relatively close to the clinician, and the terms "distal" and "anterior" refer to portions that are relatively far from the clinician. "left" and "right" are referenced to the position of the surgical instrument shown in FIG. 1, e.g., with the end effector on the "left" and the cannula on the "right". The terms "upper" and "lower" are used with reference to the relative positions of the staple abutment and cartridge seat of the end effector shown in FIG. 1, specifically, the staple abutment is "upper" and the cartridge seat is "lower". It will be appreciated that the orientations of "proximal", "rear", "distal", "anterior", "left", "right", "up" and "down" are defined for convenience of description, however, surgical instruments may be used in many orientations and positions and thus these terms are not intended to be limiting and absolute.
As shown in fig. 1 to 14, a stapler 100 according to a first embodiment of the present invention includes a handle member 10, a shaft member 20 extending in a longitudinal direction from the handle member 10, and an end effector 30 disposed at one end of the shaft member 20. The end effector 30 includes a cartridge seat 31 and an anvil seat 32 pivotally connected to the cartridge seat 31, the cartridge seat 31 for operably supporting a staple cartridge (not shown) therein, the anvil seat 32 being selectively movable between an open position and a closed position. The operating assembly 10 includes a body (not shown) and a transmission mechanism 11 mounted to the body. The shaft component 20 comprises a mandrel 21 and a sleeve 22 sleeved on the mandrel 21, one end of the mandrel 21 is connected to the rack of the second driving device, and the other end is positioned in the sleeve 22; the sleeve 22 includes a first end 23 connected to the first drive means and a second end 24 connected to an anvil 32 of the end effector 30, with rearward movement of the sleeve 22 causing the anvil 32 to pivot upward to open the end effector 30 and forward movement of the sleeve 22 causing the anvil 32 to pivot downward to close the end effector 30. Referring to fig. 10 and 11, the nail abutment 32 is rotatably connected to the second end 24 of the sleeve 22, i.e., the nail abutment 32 is connected to the second end 24 of the sleeve 22 and the nail abutment 32 is rotatable relative to the second end 24 of the sleeve 22. It should be noted that the anvil 32 is rotatably connected to the second end 24 of the sleeve 22 such that the forward and backward movement of the sleeve 22 drives the anvil 32 to pivot as is known in the art.
The stapler 100 further includes a cutter assembly 40, wherein the cutter assembly 40 includes a cutter 41 disposed in the staple cartridge and a pusher 42 detachably connected to the cutter 41, a portion of the pusher 42 is disposed in the sleeve 22 and connected to the other end of the mandrel 21, and another portion of the pusher 42 extends into the end effector 30 and detachably connects to the cutter 41. Referring to fig. 3 and 5, the push blade 42 is provided with a recess (not numbered) and the cutting blade 41 is provided with a projection (not numbered), which are engaged with each other so that the push blade 42 and the cutting blade 41 are assembled together.
The stapler 100 further includes a trigger 60, a circuit board assembly 50 and a motor 70, wherein the trigger 60 and the motor 70 are both electrically connected to the circuit board assembly 50; the number of the motors 70 is one. The circuit board assembly 50 includes a circuit board 51 and a control module 52 electrically connected to the circuit board 51. The stapler 100 further includes a pressing and holding mechanism (not shown), which is operated by the clinician before the cutting knife assembly 40 is driven forward, and after the pressing and holding mechanism is completed, the clinician can drive the cutting knife assembly 40 forward.
As shown in fig. 12, the control module 52 includes a detection unit 53, a micro control unit 54, a motor driving unit 55, and a motor control unit 56. The detecting unit 53 is configured to detect a trigger signal of the trigger 60 and transmit the signal to the micro control unit 54, the micro control unit 54 analyzes and transmits the signal to the motor driving unit 55, the motor driving unit 55 analyzes and transmits the signal to the motor control unit 56, and the motor control unit 56 sends an operation instruction to the motor 70 according to the received signal.
The trigger 60 includes a first key 61 and a second key 62. The first button 61 and the second button 62 are electrically connected to the control module 52.
The trigger 60 further includes a third button 63 and a fourth button 64, the third button 63 and the fourth button 64 are symmetrically disposed, the third button 63 and the fourth button 64 are both electrically connected to the control module 52, and a clinician can perform the same function no matter which of the third button 63 and the fourth button 64 is pressed. The stapler 100 further includes an indicator mechanism (not shown) electrically connected to the control module 52, wherein the indicator mechanism includes five indicator lights, and the indicator lights are LED lights. The third button 63, the fourth button 64, the control module 52 and the indication mechanism together form the above-mentioned pressing holding mechanism to enhance the pressing effect. The clinician presses the third button 63 or the fourth button 64 and releases the same, the control module 52 receives a signal sent by the third button 63 or the fourth button 64 and instructs the indicating mechanism to start working, one LED lamp is turned on every three seconds, when all five LED lamps are in the turned-on state, the indicating mechanism finishes working, and at the moment, the clinician can operate the first button 61 to drive the cutting knife assembly 40 to move forwards. If the clinician wants to drive the cutter assembly 40 forward before the indicating mechanism is done to save time, the following operation may be used: the third button 63 or the fourth button 64 is pressed and released, and the third button 63 or the fourth button 64 is pressed again within 15 seconds and released, at which time, the clinician can operate the first button 61 to drive the cutting blade assembly 40 to move forward. The operation of the pressing holding mechanism is finished and comprises the following steps: pressing the third key 63 or the fourth key 64 and releasing it instantly indicates that the mechanism starts to work until the work is finished. The operation of the press holding mechanism being terminated includes: the third key 63 or the fourth key 64 is pressed and instantly released, and the third key 63 or the fourth key 64 is pressed again within 15 seconds and instantly released.
The trigger 60 further includes a first travel switch 65, a second travel switch 66, a third travel switch 67, and a fourth travel switch 68 electrically connected to the control module 52, the first travel switch 65 being configured to detect whether the cutter assembly 40 is moved forward in place, the second travel switch 66 being configured to detect whether the cutter assembly 40 is moved backward in place, the third travel switch 67 being configured to detect whether the end effector 30 is closed in place, and the fourth travel switch 68 being configured to detect whether the end effector 30 is open in place.
The operation of stapler 100 is as follows: (1) when the transmission mechanism 11 triggers the third travel switch 67, the control module 52 receives the signal and instructs the motor 70 to stop working, at this time, the end effector 30 is closed in place, and the clinician releases the first button 61; (2) the clinician operates the press retention mechanism; (3) when the operation of the squeezing and holding mechanism is finished or is terminated, a clinician presses the first key 61 and keeps a pressing state, the control module 52 receives a signal sent by pressing the first key 61 and then instructs the motor 70 to work, the motor 70 drives the transmission mechanism 11 to work, the transmission mechanism 11 drives the cutting knife assembly 40 to move forward to cut tissues, when the transmission mechanism 11 triggers the first travel switch 65, the control module 52 receives the signal and instructs the motor 70 to stop working, at the moment, the cutting knife assembly 40 moves forward to a position, and the tissue cutting is finished; (4) when the clinician releases the first key 61, the control module 52 receives a signal sent by releasing the first key 61 and instructs the motor 70 to continue to work (withdraw the cutter), the motor 70 drives the transmission mechanism 11 to work, the transmission mechanism 11 drives the cutter assembly 40 to move backwards, when the transmission mechanism 11 triggers the second travel switch 66, the control module 52 receives the signal and instructs the motor 70 to stop working, and at the moment, the cutter assembly 40 moves backwards; (5) the doctor presses the second button 62 and keeps a pressed state, the control module 52 receives a signal sent by pressing the second button 62 and then instructs the motor 70 to work, the motor 70 drives the transmission mechanism 11 to work, the transmission mechanism 11 drives the nail abutting seat 30 to pivot upwards so as to open the end effector 30, when the transmission mechanism 11 triggers the fourth travel switch 68, the control module 52 receives the signal and instructs the motor 70 to stop working, at this time, the end effector 30 is opened in place, and the clinician releases the second button 62.
The transmission mechanism 11 includes a driving device, the driving device includes a first driving device 80, a second driving device 90 and a fifth gear 71, and the fifth gear 71 is fixed to an output shaft of the motor 70. The first drive means 80 is used to drive the end effector 30 open and closed, and the second drive means 90 is used to drive the cutting blade assembly 40 forward and backward. The motor 70 drives the fifth gear 71 to rotate in a first direction or a second direction, and the rotation direction includes a first direction and a second direction, wherein the first direction is opposite to the second direction. The motor 70 rotates in a first direction to drive the end effector 30 closed or the cutter assembly 40 forward; the motor 70 rotates in a second direction to drive the cutter assembly 40 rearward or to drive the end effector 30 open. The first drive device 80 and the second drive device 90 are both engaged with the fifth gear 71, and the fifth gear 71 rotates to enable the first drive device 80 or the second drive device 90 to work. When the first drive device 80 is operated, the first drive device 80 drives the sleeve 22 to move forward and backward, thereby causing the anvil 32 to pivot to close and open the end effector 30; when the second driving means 90 is operated, the second driving means 90 drives the mandrel 21 to move forward and backward, thereby moving the cutter assembly 40 forward and backward. The drive means further comprise a spindle 21. The drive device also includes a shaft assembly 20. In particular, the driving means further comprise a spindle 21. In particular, the drive means further comprise a sleeve 22.
First drive arrangement 80 includes clamping ring subassembly 81 and first gear assembly 82, and clamping ring subassembly 81 includes connecting piece 83 and clamping ring 84, and connecting piece 83 includes connecting rod 85 and sets up in the projection 86 of the one end of connecting rod 85, and clamping ring 84 sets up in the other end of connecting rod 85. The first gear assembly 82 includes a first rod 87 and a first gear 88 sleeved on the first rod 87, the first rod 87 is fixed to a body (not shown) of the operating assembly 10, and the first gear 88 rotates around the first rod 87. The first gear 88 includes a cam 89, and when the first gear 88 rotates, the cam 89 also rotates in synchronization, and the first gear 88 is meshed with the fifth gear 71. The cam 89 is provided with a recess 890 formed by recessing downward from its top surface, and the post 86 is located within the recess 890. The recess 890 includes an arc groove 891 and a straight groove 892, where two ends of the straight groove 892 are defined as a first end 893 and a second end 894, two ends of the arc groove 891 are defined as a third end 895 and a fourth end 896, respectively, and the second end 894 of the straight groove 892 is communicated with the third end 895 of the arc groove 891, that is, the second end 894 of the straight groove 892 is substantially the third end 895 of the arc groove 891; by communication, it is meant that a portion of groove 890 communicates with another portion of groove 890 such that post 86 may move from one portion of groove 890 to another portion of groove 890. Specifically, the communication means that the arc groove 891 communicates with the linear groove 892 so that the stud 86 can move from the arc groove 891 to the linear groove 892, and the arc groove 891 communicates with the linear groove 892 to form a non-closed groove as shown in fig. 8, or a closed annular groove as shown in fig. 13. The first end 23 of the sleeve 22 is connected to the pressing ring 84, specifically, the outer wall of the first end 23 of the sleeve 22 is provided with a groove, the inner wall of the pressing ring 84 is provided with a rib 841, the groove and the rib 841 cooperate to assemble the sleeve 22 and the pressing ring 84 together, and the second end 24 of the sleeve 22 is movably connected to the nail abutting seat 32. When the motor 70 drives the fifth gear 71 to rotate in the first direction, the fifth gear 71 drives the first gear 88 to rotate in the second direction, the cam 89 also rotates synchronously in the second direction, during the rotation of the cam 89, the convex column 86 moves from the first end 893 of the linear slot 892 to the second end 894 of the linear slot 892 along the linear slot 892, during the process, the pressing ring assembly 81 moves forward, the pressing ring assembly 81 drives the sleeve 22 to move forward, and when the sleeve 22 moves forward, the second end 24 of the sleeve 22 drives the nail abutting seat 32 to rotate downward to realize closing; when the motor 70 drives the fifth gear 71 to rotate in the second direction, the fifth gear 71 drives the first gear 88 to rotate in the first direction, the cam 89 also rotates synchronously in the first direction, during the rotation of the cam 89, the convex pillar 86 moves from the second end 894 of the linear slot 892 to the first end 893 of the linear slot 892 along the linear slot 892, during the process, the pressing ring assembly 81 moves backwards, the pressing ring assembly 81 drives the sleeve 22 to move backwards, and when the sleeve 22 moves backwards, the second end 24 of the sleeve 22 drives the nail abutting seat 32 to rotate upwards to realize opening. Post 86 is the direct output of first gear 88 and sleeve 22 is the indirect output of first gear 88.
When the protruding pillar 86 is located in the arc groove 891 and moves back and forth along the arc groove 891, since the radial distance from any point on the same inner wall of the arc groove 891 to the first rod 87 is not changed, when the cam 89 rotates, the distance of the protruding pillar 86 in the longitudinal direction relative to the first rod 87 is not changed, that is, the rotation of the cam 89 does not drive the pressing ring assembly 81 to move forward and backward. Since the radial distance from any point of the same inner wall of the linear slot 892 to the first rod 87 increases in a direction away from the first rod 87 (i.e., in a direction from the first end 893 to the second end 894 in fig. 8) and decreases in a direction closer to the first rod 87 (i.e., in a direction from the second end 894 to the first end 893 in fig. 8), the pressing ring assembly 81 is driven to move forward when the stud 86 moves in the linear slot 892 in the direction away from the first rod 87, and the pressing ring assembly 81 is driven to move backward when the stud 86 moves in the linear slot 892 in the direction closer to the first rod 87. As shown in fig. 13, the circular arc groove 891 communicates with the linear groove 892 to form a closed annular groove, and the portion of the linear groove 892 that functions occupies half of its length. It should be noted that the movement of the stud 86 in the recess 890 is a relative movement, which is achieved by the rotation of the cam 89.
The second driving device 90 includes a rack 91, a second gear assembly 92, and a third gear assembly 93. The second gear assembly 92 includes a second rod 94 and a second gear 95 sleeved on the second rod 94, the second rod 94 is fixed to the body of the operating assembly 10, the second gear 95 rotates around the second rod 94, and the second gear 95 is engaged with the fifth gear 71; the second gear 95 includes a first toothed portion 951 and a second toothed portion 952 that are adjacent to each other in a circumferential direction, the first toothed portion 951 and the second toothed portion 952 have a first boundary and a second boundary therebetween, and the second toothed portion 952 includes a non-toothed portion 953 and a second toothed portion 954 that are adjacent to each other in a vertical direction (i.e., an axial direction). The second gear 95 is always kept in mesh with the fifth gear 71 by the first toothed portion 951 and the second toothed portion 954. The third gear assembly 93 includes a third rod 96, a third gear 97 and a fourth gear 98 sleeved on the third rod 96, the third rod 96 is fixed on the body of the operating assembly 10, the third gear 97 and the fourth gear 98 rotate around the third rod 96, the third gear 97 and the fourth gear 98 are integrally formed, the third gear 97 and the fourth gear 98 have different diameters, the third gear 97 is engaged with a portion of the second gear 95, which is parallel to the non-toothed portion 953 and has a first toothed portion 951, and the fourth gear 98 is engaged with the rack 91.
Since the fifth gear 71 connected to the output shaft of the motor 70 has a first rotation speed and the movement of the rack 91 requires a second speed, in order to convert the first rotation speed of the fifth gear 71 into the second speed at which the rack 91 moves, a third gear 97 and a fourth gear 98 are provided between the fifth gear 71 and the rack 91 for adjustment. Since the diameters of the third gear 97 and the fourth gear 98 are different, the linear velocities of the third gear 97 and the fourth gear 98 when rotating are also different, and therefore, the third gear 97 and the fourth gear 98 can convert the first rotational velocity of the fifth gear 71 into the second velocity at which the rack 91 moves.
The operation of stapler 100 is described in detail below:
when the operator presses the first button 61 and keeps the pressed state, the control module 52 receives a signal generated by pressing the first button 61 and generates an operation instruction to the motor 70, the motor 70 drives the fifth gear 71 to rotate in the first direction, the fifth gear 71 drives the first gear 88 to rotate in the second direction, the cam 89 also synchronously rotates in the second direction, and during the rotation of the cam 89, the convex post 86 of the pressing ring assembly 81 moves from the first end 893 of the linear groove 892 to the second end 894 of the linear groove 892 (i.e., the third end 895 of the arc groove 891) along the linear groove 892, so that the pressing ring assembly 81 is driven to move forward, the pressing ring assembly 81 drives the sleeve 22 to move forward, and at the same time, the sleeve 22 drives the nail abutting seat 32 to rotate downward and further close the end effector 30; on the other hand, in the process that the stud 86 moves from the first end 893 of the linear slot 892 to the second end 894 of the linear slot 892 along the linear slot 892, the fifth gear 71 drives the second gear 95 to rotate in the second direction, and in the process, the joint position of the second gear 95 and the third gear 97 is at the toothless part of the second gear 95, so that the second gear 95 does not rotate to drive the third gear 97 to rotate, and the cutting blade 41 is kept stationary during the closing process of the end effector 30.
When the pressure ring assembly 81 advances to a certain position, the third travel switch 67 is triggered by the first protrusion 812 of the pressure ring assembly 81, and the third travel switch 67 is located at the front dead center of the forward movement of the pressure ring assembly 81, that is, the end effector 30 is closed to a certain position, and at this time, the protruding pillar 86 is located at the second end 894 of the linear slot 892 (that is, the third end 895 of the circular slot 891). The control module 52 receives the signal from the third travel switch 67 and instructs the motor 70 to stop, and the motor 70 stops rotating. The clinician cannot hear the sound of the motor 70 running, releases the first button 61, and operates the press holding mechanism.
After the operation of the holding press mechanism is finished or the operation of the holding press mechanism is terminated, the clinician presses the first button 61 and keeps the pressed state, the control module 52 receives the signal sent by pressing the first button 61 and analyzes the signal, the control module 52 sends an operation instruction to the motor 70 according to the analyzed signal, the motor 70 drives the fifth gear 71 to continue to rotate along the first direction, the fifth gear 71 drives the second gear 95 to rotate along the second direction, the connecting position of the second gear 95 and the third gear 97 is rotated to the part of the first toothed part 951 parallel to the non-toothed part 953 from the non-toothed part 953 of the second gear 95, the first toothed part 951 of the second gear 95 is meshed with the third gear 97 and drives the third gear 97 to rotate along the first direction, and the fourth gear 98 also rotates along the first direction due to the fact that the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 drives the rack 91 to move forwards, the rack 91 drives the mandrel 21 to move forwards, the mandrel 21 drives the knife pushing element 42 to move forwards, and the knife pushing element 42 drives the cutting knife 41 to move forwards to cut the tissue; on the other hand, the fifth gear 71 rotates the first gear 88 in the second direction, and the protruding post 86 moves from the second end 894 of the linear slot 892 (i.e., the third end 895 of the circular slot 891) along the circular slot 891 to the fourth end 896 of the circular slot 891, at which time the rotation of the cam 89 does not move the pressing ring assembly 81 forward and backward, thereby keeping the end effector 30 closed during the forward movement of the cutting blade 41.
When the rack 91 advances to a certain position, the convex part 99 on the rack 91 contacts with the first travel switch 65, the position of the first travel switch 65 is the front dead center of the forward movement of the cutting knife 41, namely the cutting completion position, and at this time, the convex column 86 is located at the fourth end 896 of the arc groove 891; the meshing point of the second gear 95 and the third gear 97 is close to the first boundary of the first toothed portion 951 and the tooth-missing portion 952 of the second gear 95, that is, if the second gear 95 continues to rotate in the second direction, the first toothed portion 951 of the second gear 95 will be disengaged from the third gear 97. The control module 52 receives a signal sent by the first travel switch 65 and sends an instruction of stopping operation to the motor 70, the motor 70 stops rotating, the doctor releases the first button 61, the control module 52 receives a signal sent by releasing the first button 61 and sends an instruction of stopping operation to the motor 70, the motor 70 drives the fifth gear 71 to rotate along the second direction, the fifth gear 71 drives the second gear 95 to rotate along the first direction, the first toothed part 951 of the second gear 95 drives the third gear 97 to rotate along the second direction, because the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 also rotates along the second direction, the fourth gear 98 drives the rack 91 to move backwards, the rack 91 drives the mandrel 21 to move backwards, the mandrel 21 drives the push-out tool 42 to move backwards, and the push-out tool 42 drives the cutting tool 41 to move backwards, so that tool retracting is realized; on the other hand, the fifth gear 71 drives the first gear 88 to rotate in the first direction, and the protruding pillar 86 moves from the fourth end 896 of the circular arc groove 891 to the third end 895 of the circular arc groove 891 (i.e., the second end 894 of the linear groove 892) along the circular arc groove 891, at which time the rotation of the cam 89 does not drive the pressing ring assembly 81 to move forward and backward, so that the end effector 30 remains closed during the backward movement of the cutting blade 41.
When the rack 91 moves backwards to a certain position, the protrusion 99 on the rack 91 contacts with the second travel switch 66, the position of the second travel switch 66 is the rear dead point of the backward movement of the cutting blade 41, and at this time, the protruding pillar 86 is located at the third end 895 of the circular arc groove 891 (i.e., the second end 894 of the linear groove 892); the meshing point of the second gear 95 and the third gear 97 is close to the second boundary between the first toothed portion 951 and the tooth-missing portion 952 of the second gear 95, that is, if the second gear 95 continues to rotate in the first direction, the first toothed portion 951 of the second gear 95 will be disengaged from the third gear 97. The control module 52 receives the signal from the second travel switch 66 and sends a stop command to the motor 70, at which time the motor 70 stops working and the retracting is completed. After withdrawing the knife, the clinician presses the second button 62 and keeps the pressed state, the control module 52 receives the signal sent by pressing the second button 62 and sends an operation instruction to the motor 70, the motor 70 drives the fifth gear 71 to rotate along the second direction, the fifth gear 71 drives the first gear 88 to rotate along the first direction, the cam 89 also synchronously rotates along the first direction, in the process of rotating the cam 89, the convex column 86 moves from the second end 894 of the linear groove 892 to the first end 893 of the linear groove 892 along the linear groove 892, the pressing ring assembly 81 moves backwards, the pressing ring assembly 81 drives the sleeve 22 to move backwards, and at this time, the sleeve 22 drives the nail abutting seat 32 to rotate upwards to open the end effector 30; on the other hand, the fifth gear 71 drives the second gear 95 to rotate in the first direction, and the first toothed portion 951 of the second gear 95 is disengaged from the third gear 97, that is, during the process that the stud 86 moves from the second end 894 of the linear slot 892 to the first end 893 of the linear slot 892 along the linear slot 892, the connecting position of the second gear 95 and the third gear 97 is at the non-toothed portion 953 of the second gear 95, so that the second gear 95 rotates without rotating the third gear 97, thereby keeping the cutting blade 41 stationary during the process of opening the end effector 30.
When the pressing ring assembly 81 retracts to a certain position, the second protrusion 813 on the pressing ring assembly 81 contacts the fourth travel switch 68, and the position of the fourth travel switch 68 is the rear dead point of the backward movement of the pressing ring assembly 81, that is, the end effector 30 is opened to a proper position, and at this time, the protruding pillar 86 is located at the first end 893 of the linear groove 892. The control module 52 receives the signal from the fourth travel switch 68 and instructs the motor 70 to stop operation, at which time the motor 70 stops operating.
In this embodiment, the first protrusion 812 and the second protrusion 813 are disposed on the pressing ring 84, or may be disposed on the connecting rod 85, as shown in fig. 7. In other embodiments, the first protrusion 812 and the second protrusion 813 can also be disposed on the first gear 88, as shown in fig. 14.
In the present embodiment, the first gear 88 includes an effective rotation range structure and an idle rotation range structure, the first gear 88 includes an arc groove 891 and a linear groove 892, the linear groove 892 is the effective rotation range structure, and the arc groove 891 is the idle rotation range structure. As post 86 moves within linear slot 892, first gear 88 drives the drive ring assembly 81 to move; when post 86 moves within arc 891, first gear 88 does not drive the drive ring assembly 81. The second gear 95 includes an effective range structure and an idle range structure, the second gear 95 includes a first toothed portion 951 and a tooth-missing portion 952, the tooth-missing portion 952 includes a second toothed portion 954 and a tooth-free portion 953, the tooth-free portion 953 is an idle range structure, and a portion of the first toothed portion 951 parallel to the tooth-free portion 953 is the effective range structure. When the third gear 97 is meshed with the portion of the second gear 95 having the first toothed portion 951 parallel to the toothless portion 953, the second gear 95 drives the third gear 97 to move; when the third gear 97 is coupled with the toothless portion 953 of the second gear 95, the second gear 95 does not drive the third gear 97 to move. The coupling means that the third gear 97 is located in a space region where the toothless portion 953 is located without contacting the toothless portion 953, and the third gear 97 is not driven during the coupling with the toothless portion 953 since the toothless portion 953 has no teeth.
In the present invention, idle stroke means that the drive means, when having a motion input, i.e. being driven, has no motion output, i.e. does not drive the cutting blade or the end effector. The idle stroke structure is a structure that is included in a component of the drive device and that can realize an idle stroke. An active rotational travel is a drive device which, when having a motion input, i.e. being driven, has a motion output, i.e. drives a cutting blade or an end effector. The effective rotation range structure is a structure that the components of the driving device have and can realize effective rotation range.
Depending on the requirements of the procedure, the cutting blade assembly can only be moved with the end effector closed. The recess 890 of the cam 89 includes a circular slot 891 and a linear slot 892, and the post 86 is positioned within the recess 890, thereby driving the end effector 30 open and closed, as well as holding the end effector 30 closed during movement of the cutting knife assembly 40. The second gear 95 includes a first toothed portion 951 and a second toothed portion 952, and the second toothed portion 952 includes a non-toothed portion 953 and a second toothed portion 954, thereby driving the cutter assembly 40 forward and backward and holding the cutter assembly 40 stationary during opening and closing of the end effector 30. The stapler 100 of the present invention provides a single motor 70 that operates both the first drive mechanism 80 and, thus, the end effector 30; in turn, the second driving device 90 is driven to operate, thereby driving the cutter assembly 40 to move forward and backward; while satisfying the logic of action between the end effector 30 and the cutting knife assembly 40. In the invention, in the process of driving the driving device by the motor 70, the effective rotation and idle rotation can be realized by the structure of the components of the driving device, the relative position between the components of the driving device does not need to be changed, the relative position does not need to be changed, namely, the convex column is always positioned in the groove, and the gears do not have relative linear displacement with each other, the structure and the mutual connection relation of the components are simple, the probability of generating assembly errors is small in the process of assembling the components, and the anastomat 100 is not easy to break down in the working process.
In the second embodiment, the first gear may be replaced with a first gear as shown in fig. 13, the first gear 88 includes a cam 89, the cam 89 is provided with a recess 890 formed to be recessed downward from a top surface thereof, and the boss 86 of the connecting member 83 is located in the recess 890. The groove 890 comprises an arc groove 891 and a straight groove 892, wherein the straight groove 892 connects two ends of the arc groove 891, that is, the straight groove 892 and the arc groove 891 form a closed ring shape; by communication, it is meant that a portion of groove 890 communicates with another portion of groove 890 such that lug 86 may move from one portion of groove 890 to another portion of groove 890; the two ends defining the linear slot 892 are a first end 893 and a second end 894, respectively, and the middle position between the first end 893 and the second end 894 is a middle position. During the rotation of the cam 89, the convex column 86 moves from the middle of the linear slot 892 to the second end 894 of the linear slot 892 along the linear slot 892, during which the pressing ring assembly 81 moves forward, the pressing ring assembly 81 drives the sleeve 22 to move forward, and when the sleeve 22 moves forward, the second end 24 of the sleeve 22 drives the nail abutting seat 32 to rotate downward to realize closing; during the rotation of the cam 89, the protruding column 86 moves from the second end 894 of the linear slot 892 to the middle of the linear slot 892 along the linear slot 892, and during the movement, the pressing ring assembly 81 moves backward, the pressing ring assembly 81 drives the sleeve 22 to move backward, and when the sleeve 22 moves backward, the second end 24 of the sleeve 22 drives the nail abutting seat 32 to rotate upward to open. When the protruding pillar 86 is located in the arc groove 891 and moves back and forth along the arc groove 891, since the radial distance from any point on the same inner wall of the arc groove 891 to the first rod 87 is not changed, when the cam 89 rotates, the distance of the protruding pillar 86 in the longitudinal direction relative to the first rod 87 is not changed, that is, the rotation of the cam 89 does not drive the pressing ring assembly 81 to move forward or backward. In this embodiment, post 86 moves from the middle of linear slot 892 along linear slot 892 to a second end 894 (one end of the arc slot) of linear slot 892, thereby effecting closure of end effector 30; the post 86 is moved from the second end 894 of the linear slot 892 along the arcuate slot 891 to the first end 893 of the linear slot 892 (the other end of the arcuate slot 891), thereby enabling the end effector 30 to remain closed during forward movement of the cutting blade 41; the post 86 is moved from the first end 893 of the linear slot 892 along the arcuate slot 891 to the second end 894 of the linear slot 892, thereby enabling the end effector 30 to remain closed during the rearward movement of the cutting blade 41; post 86 moves from second end 894 of linear slot 892 along linear slot 892 to the middle of linear slot 892, thereby effecting opening of end effector 30.
In summary, the stapler 100 of the present invention is provided with only one motor 70, and the motor 70 can drive the first driving device 80 to operate, so as to drive the end effector 30 to open and close; and the second driving means 90 is driven to operate, thereby driving the cutter assembly 40 to move forward and backward, the stapler 100 of the present invention is small in size and low in cost, and in addition, one motor 70 makes the stapler 100 small in overall weight and flexible for a surgeon to operate. The single-motor driving is realized by arranging the structure of the gear in the driving device, the effective rotation range and the idle rotation range are realized to meet the action logic relation between the end effector and the cutting knife assembly, and the first driving device and the second driving device have simple structures.
Although the embodiment of the present invention has been shown and described, it is understood that the above embodiment is illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiment without departing from the scope of the present invention, and all such changes, modifications, substitutions and alterations are intended to be within the scope of the present invention.
Claims (13)
1. A driving device is driven by a motor, and is characterized in that: the number of the motors is one; the driving device comprises a first component and a second component, wherein the first component comprises an effective rotating range structure and an idle rotating range structure, the effective rotating range structure drives the second component to move, and the idle rotating range structure does not drive the second component.
2. The drive device according to claim 1, characterized in that: the first component comprises a groove, the groove comprises a first groove and an arc groove, the first groove is of the effective rotating range structure, the arc groove is of the idle rotating range structure, and the radial distance between the first groove and the circle center of the arc groove is increased or decreased along the first groove; the second part comprises a convex column which is movably accommodated in the groove.
3. The drive device according to claim 2, characterized in that: the first groove is a linear groove.
4. The drive device according to claim 2, characterized in that: the first component is a gear.
5. The drive device according to claim 4, characterized in that: the driving device further comprises a third component, the third component is fixed to an output shaft of the motor, the third component is another gear, and the another gear is meshed with the first component.
6. The drive device according to claim 1, characterized in that: the first part and the second part are both toothed parts; the first component comprises a first toothed part and a tooth-lacking part, the tooth-lacking part comprises the idle running structure, and the first toothed part is the effective running structure; the effective rotational range structure enables the first member to engage with the second member, and the free rotational range structure enables the first member to disengage with the second member.
7. The drive device according to claim 6, characterized in that: the toothless part comprises a toothless part which is the idle stroke structure.
8. The drive device according to claim 7, characterized in that: the toothless part further comprises a second toothed part.
9. The drive device according to claim 6, characterized in that: the first component is a gear.
10. The drive device according to claim 6, characterized in that: the second component is a rack.
11. The drive device according to claim 6, characterized in that: the driving device further comprises a third component fixed to an output shaft of the motor, the third component is meshed with the first component, and the third component is a gear.
12. The drive device according to claim 6, characterized in that: the second part is a gear, the driving device further comprises a fourth part and a rack, the fourth part is a gear, the fourth part and the second part are integrally formed, the diameter of the fourth part is larger than that of the second part, and the fourth part is meshed with the rack.
13. The drive device according to claim 1, characterized in that: the driving device comprises a first driving device and a second driving device, and the first driving device and the second driving device respectively comprise the first component and the second component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910367362 | 2019-05-01 | ||
| CN2019103673627 | 2019-05-01 |
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| CN111884419A true CN111884419A (en) | 2020-11-03 |
| CN111884419B CN111884419B (en) | 2024-01-16 |
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| CN202010365525.0A Active CN111884419B (en) | 2019-05-01 | 2020-04-30 | Driving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114617597A (en) * | 2020-12-11 | 2022-06-14 | 江苏风和医疗器材股份有限公司 | Surgical instrument |
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| CN111884419B (en) | 2024-01-16 |
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