CN112617939B

CN112617939B - Cutting knife guard plate assembly, anastomat and steering control method

Info

Publication number: CN112617939B
Application number: CN202110254129.5A
Authority: CN
Inventors: 姚建清; 史金虎
Original assignee: Yabo Precision Medical Device Suzhou Co ltd; Jiaoying Medical Equipment Shanghai Co ltd
Current assignee: Yabo Precision Medical Device Suzhou Co ltd; Jiaoying Medical Equipment Shanghai Co ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-06-04
Anticipated expiration: 2041-03-09
Also published as: CN112617939A

Abstract

The invention discloses a cutting knife guard plate assembly, an anastomat and a steering control method, wherein the cutting knife guard plate assembly comprises the following components: the two cutting knife guard plates are positioned on two sides of the central axis and are of two opposite arc structures, and the inner surfaces of the two cutting knife guard plates are recessed to form a space for the knife handle of the cutting knife assembly to move along the central axis and/or deflect relative to the central axis; one of the two cutting knife guard plates moves towards the near end of the anastomat, and when the other one moves towards the far end of the anastomat, the two cutting knife guard plates deflect relative to the central axis respectively, the knife handle is bent, and the part of the knife handle protruding towards one side is attached to the inner surface of the cutting knife guard plate on the corresponding side due to bending. Compared with the existing anastomat, the anastomat provided by the invention has larger rotation angle and is more stable in deflection.

Description

Cutting knife guard plate assembly, anastomat and steering control method

Technical Field

The invention relates to an anastomat, in particular to a cutting knife guard plate assembly, an anastomat and a steering control method.

Background

Staplers are devices used in medicine instead of manual suturing. The anastomat generally comprises an actuator, a cutting knife and the like. In operation, a tissue to be anastomosed is clamped and occluded in an actuator (comprising a nail bin assembly and a nail anvil assembly), a handle of an instrument gun is pressed down to drive a cutting knife to break the tissue, and anastomotic nails arranged in the nail bin assembly are pushed out to anastomose the tissue.

Staplers are commonly used in endoscopic surgery. The endoscopic surgery is to transmit images of various organs in the abdominal cavity shot by a camera inserted into the abdominal cavity to a screen through a small incision on the abdomen or the chest, and a doctor operates in vitro through a channel established on the abdominal/chest wall by observing the images and using surgical instruments. One of the surgical instruments for performing extracorporeal procedures is a stapler.

Because linear staplers are not effective in holding, cutting and stapling the tissue at the surgical site, limited by the intra-abdominal or intra-thoracic space, staplers have been developed in which the actuator is deflectable relative to the body of the instrument, under the control of a steering mechanism.

At present, the mainstream anastomat steering mechanisms in the anastomat industry have three types:

(1) steering mechanism capable of bidirectionally rotating by 45 degrees and manually operating and steering in vitro

As shown in fig. 29, the operator rotates the knob E along the rotation axis C (fixed to the instrument) in the direction of the right arrow, and the rotation axis D on the knob E slides in the lumbar hole of the link F, thereby moving the link F left and right. The left and right movement of the connecting rod F pulls the rotating shaft B on the jaw M of the instrument to move. Since the rotation axis a is fixed relative to the instrument, the movement of the rotation axis B causes the instrument jaw M to swing in the direction indicated by the left arrow. The actual angle of such mechanisms is typically small (< 45). In clinic, when the anastomat comprising the steering mechanism is used for low-position rectal surgery, the anastomat is difficult to break off the rectum at one time due to the limitation of the angle, and two or more times of cutting are needed, so that the surgery cost is increased, and the anastomotic stoma has the risk of secondary damage. In the use process, the steering angle of the actuator can be changed under the influence of the deformation of the steering guard plate after being stressed. If human tissue is clamped, the back-and-forth swinging of the angle brings the risk of pulling and tearing to the clamped tissue. This kind of steering mechanism is comparatively single thin because of the backplate that turns to of cutting knife both sides, and in the anastomat use, the cutting knife has the risk of extruding from here deformation, and deflection angle is big more, and the cutting knife is easy more to be out of shape and is extruded. Once the cutting knife is squeezed out, the anastomosis process is declared to fail, and the anastomosis needs to be replaced laterally, and if the space does not allow, the anastomosis needs to be converted into open surgery manual suturing.

(2) Steering mechanism capable of bidirectionally rotating by 45 degrees and capable of steering by touching in vivo

As shown in fig. 30, the operator pulls the knob (not shown) provided on the rotating block H to the right, the limiting thimble G moves rightward along with the knob, and the limiting thimble G is separated from the tooth socket corresponding to the right end of the instrument jaw M, and then the instrument jaw M is in a state of being capable of swinging left and right. When the front end of the instrument jaw M touches an object, the instrument jaw M swings along the rotation axis a by a corresponding angle in the direction indicated by the left arrow. When the angle reaches a proper position, the knob is loosened, the rotating block H rebounds to the far end of the instrument body J under the action of the spring I, the limiting ejector pin G enters the tooth socket at the right end of the jaw M of the instrument again, and the jaw M of the instrument is turned. Although the actual angle of the mechanism can be kept at 45 degrees in the clinical use process, the steering angle is small, and the secondary injury risk of the anastomotic stoma exists. Its two side cutting knife backplate formula rigidity backplate as an organic whole, at the cutting knife withdrawal in-process, because of the backplate is the angle radius that the rigid body can not adjust the cutting knife crooked along with the change of its angle, consequently the cutting knife forms the deformation of small angle easily, has increased the strength of its withdrawal. Therefore, the smooth sliding between the cutting knife and the guard plate under the condition of different steering angles cannot be ensured, and the withdrawing force is larger particularly in the withdrawing process of the cutting knife. In addition, the length of the actuator of the anastomat comprising the steering mechanism is long, so that the anastomat is inconvenient to use at the narrow part of the human body.

(3) Steering mechanism capable of bidirectional 60-degree rotation and capable of realizing external manual steering

As shown in fig. 31, the operator rotates the knob E along the rotation axis C (fixed to the instrument) in the direction of the right arrow, and the rotation axis D on the knob E slides in the lumbar hole of the link F, thereby moving the link F left and right. The left and right movement of the connecting rod pulls the flexible guard plate K to move left and right. The advance of the flexible guard plates K on the two sides is restrained by the gear N, so that the flexible guard plates K on the two sides form a push-pull operation mode. At this point the joint L starts to rotate along a rotation axis B fixed relative to the instrument, while the actuator M rotates along the rotation axis a, since the rotation axis a is fixed relative to the joint L. Therefore, the rotation of the rotating shaft B drives the jaw M of the instrument to swing according to the direction indicated by the arrow on the left side, and the jaw M of the instrument is further turned. This steering mechanism turns to backplate is the flexbile plate, can take place flexible deformation when turning to the backplate atress, and then has changed and has turned to the angle. The steering mechanism achieves the purpose of large turning angle by arranging the double joints, the unilateral steering of the steering angle can reach 60 degrees, but the double joints increase the distance from the joints to the tail end of the anastomotic stoma, and the operation in a narrow space is not facilitated.

The cutting knife guard plate of the steering mechanism is a flexible guard plate, and when an actuator part receives large resistance in the process of triggering an instrument, large reaction force is generated on the cutting knife handle, and the flexible guard plate can elastically deform under the action of the reaction force, so that the corner of the actuator swings. The back and forth swinging of the angle brings the risk of pulling and tearing to the clamped tissue.

Disclosure of Invention

The invention aims to provide a cutting knife guard plate assembly, an anastomat and a steering control method.

In order to achieve the above object, the present invention provides a cutting knife guard assembly for use in a stapler, the cutting knife guard assembly comprising:

the two cutting knife guard plates are positioned on two sides of the central axis and are of two opposite arc structures, and the inner surfaces of the two cutting knife guard plates are recessed to form a space for the knife handle of the cutting knife assembly to move along the central axis and/or deflect relative to the central axis; the inner surface is a surface close to the central axis;

one of the two cutting knife guard plates moves towards the near end of the anastomat, and when the other one moves towards the far end of the anastomat, the two cutting knife guard plates deflect relative to the central axis respectively, the knife handle is bent, and the part of the knife handle protruding towards one side is attached to the inner surface of the cutting knife guard plate on the corresponding side due to bending.

Preferably, the cutting blade guard is a rigid structure.

Preferably, the cutting knife guard plate assembly comprises two cutting knife guard plate linings which are respectively connected to the inner sides of the cutting knife guard plates, and the cutting knife guard plate linings are tightly attached to the side faces of the knife handle.

Preferably, the cutting blade guard plate lining is an elastic sheet.

Preferably, the inner side of the cutting knife guard plate is provided with a cutting knife guard plate groove, and the inner lining of the cutting knife guard plate is at least partially embedded into the cutting knife guard plate groove.

Preferably, when the cutter handle is not bent, the inner lining of the cutting knife guard plate is provided with two embedded parts which are correspondingly embedded into the far end and the near end of the groove of the cutting knife guard plate, and the inner lining of the cutting knife guard plate between the two embedded parts is suspended.

Preferably, when the tool shank is bent, the two cutting knife guard plate linings deform along with the bending of the tool shank; one cutting knife guard plate lining is pushed by the convex part of the knife handle and is embedded into a cutting knife guard plate groove corresponding to the convex direction; the inner lining of the other cutting knife guard plate is tightly attached to the concave part of the knife handle.

Preferably, the cutting knife backplate inside lining further is equipped with the extension behind the embedding portion of near-end, and two embedding portions and the cutting knife backplate inside lining between them warp along with the handle of a knife between the cutting knife backplate, and the extension does not take place deformation and hug closely the handle of a knife surface that does not reach the cutting knife backplate.

Preferably, the cutting knife guard plate groove on each side comprises a plurality of groove sections which are mutually separated, and the inner lining of the cutting knife guard plate on the same side is provided with a plurality of separated inner lining sections which are matched with the inner lining; the convex part of the knife handle due to bending pushes the lining section on the side corresponding to the convex direction into the corresponding groove section, and the convex part of the knife handle is at least attached to the inner surface of the cutting knife guard plate between the groove sections to realize smooth turning.

Preferably, the cutting knife guard plate is rotatably connected to the first side and the second side of the fixed block and used for driving the fixed block to deflect; the first side and the second side are positioned on two sides of the central axis of the instrument and respectively correspond to the deflection directions;

one of the cutting knife guard plates moves towards the near end of the anastomat, and when the other cutting knife guard plate moves towards the far end of the anastomat, the two cutting knife guard plates drive the fixing block to deflect; the fixing block is connected to the near end of the actuator and can drive the actuator to deflect, the actuator is used for clamping tissues to be anastomosed, and a through groove is formed in the actuator and used for enabling the cutting knife assembly to move.

Preferably, the far end of the cutting knife guard plate is provided with a columnar cutting knife guard plate rotating shaft, and the cutting knife guard plate rotating shaft is connected with the mounting groove shaft holes on two sides of the fixing block, so that the cutting knife guard plate can rotate relative to the fixing block.

Preferably, the two cutting knife guard plate rotating shafts deflect at the same angle relative to the fixing block.

Preferably, the fixed block is deflected by an angle of 0 to 90 ° with respect to the central axis.

Preferably, the fixed block is deflected by an angle of 0 to 67.5 ° with respect to the central axis.

The present invention also provides an anastomat, comprising: the cutting knife guard plate assembly, the fixing block, the cutting knife assembly, the driving connecting piece, the steering mechanism and the actuator are arranged on the cutting knife;

the cutting knife guard plate is rotatably connected to the first side and the second side of the fixing block and used for driving the fixing block to deflect; the first side and the second side are positioned on two sides of the central axis of the instrument and respectively correspond to the deflection directions;

one of the cutting knife guard plates moves towards the near end of the anastomat, and when the other cutting knife guard plate moves towards the far end of the anastomat, the two cutting knife guard plates drive the fixing block to deflect; the fixing block is connected to the near end of the actuator and can drive the actuator to deflect, and the actuator is used for clamping tissues to be anastomosed, moving the cutting knife assembly and forming anastomotic nails in the actuator;

the near ends of the two cutting knife guard plates are respectively and rotatably connected with the far ends of the two driving connecting pieces; one driving connecting piece drives the corresponding cutting knife protecting plate to move towards the near end of the anastomat, and the other driving connecting piece drives the corresponding cutting knife protecting plate to move towards the far end of the anastomat, so that the two cutting knife protecting plates deflect relative to the central axis of the instrument; the near ends of the two driving connecting pieces are respectively connected with a steering mechanism; under the drive of the steering mechanism, the cutting knife guard plate, the fixed block and the actuator are driven by the driving connecting piece to rotate around the central axis of the instrument and/or deflect relative to the central axis of the instrument.

Preferably, the steering mechanism comprises a steering button, a rotating shaft and a steering connecting piece;

the far ends of the two steering connecting pieces are respectively and correspondingly connected with the near ends of the two driving connecting pieces; the steering button drives the rotating shaft to rotate along the axis of the rotating shaft, the rotating shaft drives the steering connecting pieces to move, one steering connecting piece drives the corresponding driving connecting piece to move towards the near end of the anastomat, and the other steering connecting piece drives the corresponding driving connecting piece to move towards the far end of the anastomat.

Preferably, the steering mechanism further comprises a positioning collision ball and a rotating block;

the rotating block is of a shell structure, a steering button is arranged on the outer side of the rotating block, and a steering connecting piece arranged in the rotating block is driven to move by a rotating shaft penetrating through the rotating block;

one end of the positioning contact bead is connected to the steering button, the other end of the positioning contact bead falls into one of the positioning contact bead grooves on the surface of the rotating block along with the rotation of the steering button, and the plurality of positioning contact bead grooves are arranged along an arc line.

Preferably, the positioning collision bead comprises a bead body and a spring, one end of the spring is connected with the steering button, and the other end of the spring is connected with the bead body; the spring is stretched to the process of being compressed and then stretched, and the corresponding bead body falls into the other positioning bead groove from one positioning bead groove.

Preferably, the positioning collision bead grooves comprise a 0-degree positioning collision bead groove arranged on a straight line where the central shaft is located and other positioning collision bead grooves distributed on two sides of the positioning collision bead groove;

the process that the positioning collision bead rotates from the 0-degree positioning collision bead groove to the outermost positioning collision bead groove corresponds to the process that the actuator deflects from the central shaft to the maximum deflection angle set for the actuator.

Preferably, the maximum deflection angle set for the actuator is at least 67.5 °.

Preferably, the rotating block comprises an arc-shaped groove which is concave towards the inner part of the shell structure, and one side surface of the arc-shaped groove is provided with a clamping convex block groove; the clamping convex block groove is arranged corresponding to the positioning collision bead groove;

the steering mechanism is provided with a clamping convex block; the positioning collision beads are switched in the positioning collision bead grooves, and the clamping lugs are switched in the clamping lug grooves;

the clamping convex block is arranged on an outer cylinder of the positioning collision bead, and the outer cylinder contains the bead body and the spring; or the clamping convex block is arranged on an extending part of the steering button, and the extending part extends towards the direction of the rotating block.

Preferably, said rotating block comprises an arc-shaped slot recessed towards the inside of the shell structure; a clamping convex block groove is formed in one side face of the arc-shaped groove; a blocking plate is arranged at one end, far away from the central axis, of the clamping convex block groove;

the steering mechanism is provided with a clamping convex block; the positioning collision beads are switched in the positioning collision bead grooves, and the clamping convex blocks move in the clamping convex block grooves; the blocking plate is used for limiting the steering knob to be away from the rotating block;

Preferably, the positioning collision bead grooves are distributed on the surface of the rotating block exposed in the arc-shaped groove; or the arc line where the positioning collision bead groove is located is not in the range of the arc-shaped groove.

Preferably, the extension part and the outer cylinder are arranged at different positions on the surface of the steering knob facing the rotating block; or the extension part is simultaneously used as the outer cylinder, and a bead and a spring are contained in the extension part; alternatively, the extension portion contains the outer barrel therein.

Preferably, when the rotating shaft is closer to the far end of the rotating block than the position of the positioning collision bead, the opening of the arc line of the groove of the positioning collision bead points to the far end;

or when the rotating shaft is closer to the proximal end of the rotating block than the position of the positioning collision bead, the opening of the arc line where the groove of the positioning collision bead is positioned points to the proximal end.

Preferably, the drive connection member of each side is one piece or comprises several connection segments connected in series.

Preferably, the anastomat comprises a guide part, wherein the guide part comprises two guide plates which are respectively positioned on the third side and the fourth side of the central axis of the instrument, and a guide sleeve connected to the proximal ends of the two guide plates; the third side and the fourth side are not in the deflection direction of the cutting knife protection plate relative to the central axis of the instrument;

the two driving connecting pieces are respectively positioned on the first side and the second side corresponding to the deflection direction, are respectively provided with a connecting rod and a steering pull rod which are connected, and are connected with a bogie of the steering mechanism through the steering pull rod;

the connecting rods of the two driving connecting pieces are respectively arranged between the two guide plates; the two steering pull rods are respectively arranged outside the first side and the second side of the guide sleeve and extend to the outside of the position where the guide plate is connected with the guide sleeve; an outer tube is sleeved outside the guide part.

Preferably, the stapler comprises two connecting and fixing plates respectively positioned on the third side and the fourth side of the central axis of the instrument;

the two connecting and fixing plates are respectively connected between the near ends of the fixing blocks and the far ends of the two guide plates, and when the fixing blocks deflect relative to the connecting and fixing plates, the connecting and fixing plates do not deflect relative to the central axis of the instrument.

Preferably, the anastomat comprises a limiting ejector rod; the limiting ejector rod moves towards the far end of the anastomat, is embedded into a fixed block groove corresponding to the current deflection angle at the fixed block, and locks the deflection angle of the fixed block so as to lock the deflection angle of the actuator;

the limit ejector rod moves towards the near end of the anastomat, when the limit ejector rod exits from the embedded groove of the fixed block, the locking is released, and the fixed block can deflect again.

Preferably, the device comprises a firing assembly, wherein the firing assembly is provided with a propelling rack, a swinging block connecting rod, a middle driving part and a limiting ejector rod;

the swinging block can rotate around a rotating shaft under the driving of the pushing rack;

the near end and the far end of the swinging block connecting rod are respectively hinged with the swinging block and the near end of the middle driving part;

the far end of the middle driving part is connected with a limiting ejector rod;

when the swing block rotates in the first direction, the middle driving part and the limiting ejector rod are driven by the swing block connecting rod to move towards the far end of the anastomat, and the deflection angle of the actuator is locked by the limiting ejector rod.

Preferably, the swing block connecting rod and the instrument central axis of the anastomat form a first included angle; the opening of the first included angle faces to the proximal end of the anastomat; the pushing rack moves towards the near end or the far end of the anastomat along the central axis of the anastomat and drives the swinging block to rotate, and the angle of the first included angle is increased or decreased.

Preferably, a second included angle is formed between the swing block and the swing block connecting rod; a connecting line from the hinged position of the swing block and the swing block connecting rod to the rotating shaft forms an included angle with the swing block connecting rod, and the included angle is the second included angle;

and when the pushing rack moves towards the near end or the far end of the anastomat and drives the swinging block to rotate, the angle of the second included angle is reduced or enlarged.

Preferably, when the deflection angle of the actuator is not locked by the limit ejector rod, the second included angle is an acute angle of the opening towards the distal end of the anastomat; in the process that the deflection angle of the actuator is locked by the limiting ejector rod, the second included angle is adjusted to be an obtuse angle with an opening facing to the far end of the anastomat; continuously impel the propulsion rack drives the pendulum piece and continuously rotates, makes the second contained angle from the opening towards the obtuse angle of anastomat distal end, adjusts to the straight angle to the second contained angle, and the second contained angle adjustment is the obtuse angle of opening towards the anastomat near-end again, and the pendulum piece connecting rod contacts the limit point that sets up in the firing subassembly shell this moment, with the rotation locking of pendulum piece, forms the dead state of lock.

Preferably, after the deflection angle of the actuator is locked by the limit ejector rod, the reaction force from the front part of the middle driving part is transmitted to the swing block through the swing block connecting rod, the angle of the current second included angle and the opening direction of the swing block are kept, and the limit ejector rod is locked, so that the deflection direction is continuously locked.

Preferably, the anastomat is provided with a firing rod, the firing rod is connected between the far end of the propelling rack and the near end of the cutter handle of the cutting knife assembly, and can move along the central axis of the instrument under the driving of the propelling rack; the firing rod is also connected with the middle driving part;

the pushing rack moves towards the far end of the anastomat and drives the swinging block to rotate around the rotating shaft in the first direction, and the limiting ejector rod moves to a set position to lock the deflection angle of the actuator;

the pushing rack moves towards the near end of the anastomat, when the swinging block is driven to rotate around the rotating shaft in the second direction, the limiting and locking state is released, and meanwhile, the swinging block connecting rod moves towards the near end of the anastomat; the pushing rack also drives the firing rod to move towards the near end of the anastomat, the firing rod drives the limit ejector rod to move towards the near end of the anastomat through the middle driving part, so that the limit ejector rod moves away from the set position, the locking of the deflection angle of the actuator is released, and the actuator can continuously deflect;

the first direction is clockwise and the second direction is counterclockwise; alternatively, the first direction is counterclockwise and the second direction is clockwise.

Preferably, the swing block rotates around the rotating shaft in the first direction, and does not rotate around the rotating shaft any more after being blocked by a limiting component arranged on the anastomat; at this point, the pusher rack can continue to move distally of the stapler without rotating the pendulum mass.

Preferably, when the swinging block rotates to the maximum swinging angle around the rotating shaft in the first direction, the swinging block is blocked by a bevel surface arranged in a shell of a firing assembly of the anastomat, and the continuous rotation is stopped.

Preferably, the pushing rack is provided with a section of first rack arranged along a straight line; the straight line is parallel to the instrument central axis of the anastomat; the swing block is provided with a section of gear structure arranged along an arc shape;

the gear structure is meshed with or separated from the first rack along with the pushing rack moving along the central axis of the instrument; when the gear structure is meshed with the first rack, the swinging block rotates around the rotating shaft under the driving of the pushing rack.

Preferably, the first rack is positioned at the upper part of the pushing rack and protrudes out of the upper surface of the pushing rack; the swinging block is arranged above the pushing rack, and the gear structure is positioned on the arc-shaped lower surface of the swinging block;

when the pushing rack drives the swinging block to rotate, the teeth which are currently meshed with the first rack in the gear structure of the swinging block are switched.

Preferably, the process from the process that the pushing rack drives the swinging block to rotate around the rotating shaft in the first direction corresponds to the process from the engagement of the tooth at the farthest end of the gear structure with the tooth socket at the farthest end of the first rack to the engagement of the tooth socket at the nearest end of the gear structure with the tooth at the nearest end of the first rack;

and the process from the process that the pushing rack drives the swinging block to rotate around the rotating shaft in the second direction corresponds to the process from the meshing of the tooth socket at the most proximal end of the gear structure and the tooth socket at the most proximal end of the first rack to the process from the meshing of the tooth socket at the most distal end of the gear structure and the tooth socket at the most distal end of the first rack.

Preferably, the pushing rack moves towards the far end of the anastomat, and when the gear structure of the swing block is disengaged from the first rack, the limiting ejector rod moves to a set position to lock the deflection angle of the actuator; when the pushing rack continues to move towards the far end of the anastomat, the swinging block is not driven to rotate any more; the deflection angle of the actuator is continuously locked by the limit mandril.

Preferably, the pushing rack is provided with a section of second rack and a section of idle-stroke groove, the second rack and the idle-stroke groove are positioned on the same surface of the pushing rack, and the idle-stroke groove is closer to the far end of the pushing rack than the second rack;

a pushing block is arranged at the handle of the anastomat and rotates along with the rotation of the handle;

the tilting end of the pushing block is moved to a tooth groove at the farthest end of the second rack from the idle-stroke groove by operating the handle, the pushing rack moves to the far end of the anastomat and drives the swinging block to rotate to the limit position of the swinging block around the rotating shaft in the first direction; at the moment, the limiting ejector rod moves to a set position to lock the deflection angle of the actuator;

and then, the tooth groove of the second rack, which is currently entered by the tilting end of the pushing block, is switched by controlling the handle each time to push the pushing rack to continuously move to the far end of the anastomat, and the pushing rack does not drive the swinging block to rotate any more.

Preferably, the middle driving part comprises a prepressing ejector rod, a prepressing insertion piece, a trigger rod sleeve, a sleeve and a swinging block push rod which are arranged in sequence, can transmit acting force from the swinging block connecting rod, moves towards the far end or the near end of the anastomat along the central axis of the instrument, and drives the limiting ejector rod to move towards the far end or the near end of the anastomat;

the near end of the pendulum block push rod parallel to the central axis of the instrument is hinged with the far end of the pendulum block connecting rod; the sleeve is allowed to rotate around the central axis of the instrument relative to the swing block push rod between the proximal end of the sleeve and the distal end of the swing block push rod; the sleeve is provided with a through hole along the central axis of the instrument, and the near end of the firing rod sleeve is connected to the far end of the through hole of the sleeve; the far end of the trigger rod sleeve is connected with the near end of the prepressing ejector rod through a prepressing insertion piece; the far end of the prepressing ejector rod is connected with the near end of the limiting ejector rod.

Preferably, the limiting ejector rod is at least connected with a prepressing ejector rod; at least one prepressing insert is connected between the two prepressing ejector rods; a firing rod penetrates through the firing rod sleeve, is connected between the far end of the propelling rack and the near end of the cutter handle of the cutter assembly and can move along the central axis of the instrument under the driving of the propelling rack; when the trigger rod sleeve and the trigger rod move, the two prepressing ejector rods are driven to move by the prepressing insertion pieces; the prepressing insertion piece is embedded in the circumferential surface of the trigger rod sleeve; the circumference surface of firing bar is provided with the step, and the near-end of step and the distal end contact of pre-compaction inserted sheet drive the pre-compaction inserted sheet and remove to the near-end of anastomat when the firing bar withdraws.

Preferably, the anastomat is provided with a pre-pressing sleeve, the limiting ejector rod is arranged in a groove of the pre-pressing sleeve, and the pre-pressing ejector rod can drive the pre-pressing sleeve to move;

the anastomat is provided with a reset assembly for driving the pushing rack to move towards the near end of the anastomat to realize retraction; and the pushing block is separated from the surface of the pushing rack by withdrawing, the pushing rack can drive the swinging block again, the swinging block rotates around the rotating shaft in a second direction from the limited position of the swinging block, meanwhile, the pushing rack drives the trigger rod to withdraw, the step near end of the trigger rod is contacted with the far end of the prepressing insertion piece to drive the prepressing insertion piece to move towards the near end of the anastomat, the prepressing sleeve is pulled to move towards the near end by the prepressing ejection rod, the limit ejection rod is pulled by the far end point of the groove of the prepressing sleeve, so that the limit ejection rod can be moved away from the set position, and the locking of the deflection angle of the executor is released.

Preferably, the stapler is provided with a safety block which prevents the pushing rack from moving to the distal end or the proximal end of the stapler when entering the locking groove of the pushing rack; the safety block can be separated from the locking groove by operating the safety button; the safety block has an initial position outside the range of the pushing rack;

when the pushing block is driven to move the pushing rack to the far end of the anastomat by operating the handle, the safety block enters a locking groove within the range of the pushing rack from the initial position; at the moment, the swing block is driven by the pushing rack to rotate to the limit position of the swing block around the rotating shaft in the first direction, and the limit ejector rod moves to the set position to lock the deflection angle of the actuator.

Preferably, the reset component is operated to drive the pushing rack to move towards the proximal end of the anastomat, and when the withdrawing is carried out, the safety block returns to the initial position outside the range of the pushing rack from the locking groove; at the moment, the pushing rack can drive the swing block again, the swing block rotates around the rotating shaft in the second direction from the limited position of the swing block, the pushing rack drives the trigger rod to retract, the limit ejector rod is driven to move through the trigger rod, the pre-pressing insertion piece, the pre-pressing ejector rod and the pre-pressing sleeve pipe, the limit ejector rod can move away from the set position, and the locking of the deflection angle of the actuator is released.

Preferably, a connecting rod connecting piece is arranged at the position of the swinging block and is parallel to the rotating shaft of the swinging block; the connecting rod connecting piece penetrates through a waist-shaped hole at the near end of the swinging block connecting rod, so that the swinging block is hinged with the near end of the swinging block connecting rod.

Preferably, the actuator of the anastomat is driven by a fixing block connected with the proximal end of the anastomat to deflect relative to the central axis of the instrument; the middle driving part comprises a prepressing ejector rod connected with the limiting ejector rod, and the prepressing ejector rod is also used for driving the limiting ejector rod to move towards the far end of the anastomat until the limiting ejector rod is inserted into a groove corresponding to the current deflection angle at the fixed block, so that the deflection angle is locked; the fixing block is provided with a plurality of grooves corresponding to different deflection angles.

Preferably, the device comprises a prepressing sleeve for switching a jaw of the actuator between closing and opening, wherein the prepressing ejector rod is embedded on the prepressing sleeve and can transmit acting force from the swinging block connecting rod to drive the prepressing sleeve to move towards the far end or the near end of the anastomat;

the prepressing sleeve is provided with a limiting groove, and the limiting ejector rod can move in the limiting groove; when the prepressing sleeve is driven by the prepressing ejector rod to move towards the near end of the anastomat, the far end point of the limiting groove is abutted to the limiting ejector rod, and the limiting ejector rod is moved away from the set position.

Preferably, when the limiting ejector rod is inserted into a groove corresponding to the current deflection angle at the fixed block, the pre-pressing sleeve reaches a specified position of the pre-pressing sleeve outside the near end of the actuator, and the jaw of the actuator is closed; when the limiting ejector rod is withdrawn from the groove of the fixed block, the pre-pressing sleeve leaves the designated position, and the jaw of the actuator is opened.

Preferably, the pushing rack is driven by the motor to move towards the proximal end or the distal end of the anastomat.

The invention also provides a steering control method of the anastomat, which is used for controlling the anastomat, and the rotation of the executor around the central axis of the instrument and/or the deflection of the executor relative to the central axis of the instrument are realized by controlling the steering mechanism of the anastomat;

the steering mechanism comprises a rotating block, a steering button, a rotating shaft, a steering connecting piece and a positioning collision bead; the rotating block is of a shell structure, the steering button is arranged on the outer side of the rotating block, the rotating shaft penetrates through the shell structure, one end of the rotating shaft is connected with the steering button, and the other end of the rotating shaft is respectively connected with two steering connecting pieces; the far ends of the two steering connecting pieces are respectively and correspondingly connected with the near ends of the two driving connecting pieces; one end of the positioning collision bead is connected to the steering button, the other end of the positioning collision bead falls into one positioning collision bead groove on the surface of the rotating block along with the rotation of the steering button, and the plurality of positioning collision bead grooves are arranged along an arc line;

the steering button is rotated to drive the rotating shaft to rotate along the axis of the rotating shaft, the rotating shaft drives the steering connecting pieces to move, one steering connecting piece drives the driving connecting piece and the cutting knife guard plate corresponding to the steering connecting piece to move towards the near end of the anastomat, the other steering connecting piece drives the driving connecting piece and the cutting knife guard plate corresponding to the steering connecting piece to move towards the far end of the anastomat, the two cutting knife guard plates drive the fixed block to deflect, and the fixed block can drive the actuator to deflect;

meanwhile, the positioning collision beads are converted in the positioning collision bead grooves.

Preferably, a part for locking the deflection angle is arranged at the steering mechanism; the rotating block comprises an arc-shaped groove which is sunken towards the inner part of the shell structure, and one side surface of the arc-shaped groove is provided with a clamping convex block groove; the clamping convex block groove is arranged corresponding to the positioning collision bead groove;

Preferably, the anastomat is provided with a middle driving part and a limiting ejector rod connected with the far end of the middle driving part, the steering mechanism drives the middle driving part, and the limiting ejector rod is inserted into a groove corresponding to the current deflection angle at the fixed block along with the movement of the middle driving part to lock the deflection angle; the fixing block is provided with a plurality of grooves corresponding to different deflection angles.

Preferably, the process of operating the same handle to push the pushing rack to move towards the distal end of the stapler by a pushing block connected with the handle comprises the following steps:

in the first propulsion stage, a handle is controlled, a propulsion rack is driven by a propulsion block to move a first distance to the far end of the anastomat, the propulsion rack drives a swing block to rotate around a rotating shaft in a first direction to a limited position, a swing block connecting rod and an intermediate driving part drive a limiting ejector rod to move to the far end of the anastomat, so that the limiting ejector rod reaches a set position, and the deflection angle of an actuator is locked;

in the second propulsion stage, the same handle is operated, the propulsion rack is driven by the propulsion block to continuously move towards the far end of the anastomat, the swing block stops rotating in the process, the deflection angle of the executor is continuously locked by the limit ejector rod, and the propulsion rack drives the cutter assembly to move towards the far end of the executor through the firing rod.

the control method further comprises a withdrawing phase; through the reset assembly of operation anastomat, drive and impel the rack and remove to the near-end of anastomat, realize withdrawing, make and impel the rack and can drive the pendulum piece again, from the limited position of pendulum piece with the second direction around the rotation of axes rotation, at this moment, impel the rack and still drive the firing bar withdrawal, the distal end of step near-end contact pre-compaction inserted sheet through firing bar circumference surface drives the pre-compaction inserted sheet and removes to the near-end of anastomat, and then through the pre-compaction ejector pin pulling pre-compaction sleeve pipe that is connected with the pre-compaction inserted sheet, through the distal end extreme point pulling spacing ejector pin of the groove of pre-compaction sleeve pipe, make spacing ejector pin can remove from the settlement position, the locking of executor deflection.

Preferably, after the first propulsion stage is finished, the limiting ejector rod is moved away from the set position through retraction, and the locking of the deflection angle is released;

and after the deflection angle is adjusted, executing the first propulsion stage again, enabling the limiting ejector rod to reach the set position, and locking the adjusted deflection angle.

Preferably, the first advancing stage is a process of operating the handle for the first time to rotate the handle;

the second propulsion stage is a process of operating the handle to rotate for a plurality of times after the first time;

the rotation angle of the handle in the first rotation is larger than or equal to the rotation angle of the handle in each rotation after the first rotation.

Preferably, in the first advancing stage, the first distance for the advancing rack to move towards the distal end of the anastomat corresponds to the distance for the tilting end of the advancing block to move from the idle running groove of the advancing rack to one tooth groove at the farthest end of the second rack; the lost motion slot is closer to the distal end of the push rack than the second rack;

in the second propelling stage, the tilting end of the propelling block is in the range of the second rack, and the tooth groove into which the tilting end enters is switched; in the withdrawing stage, the tilting end of the pushing block leaves the surface of the pushing rack and is not in contact with the pushing rack.

Preferably, the safety block of the stapler, when entering the locking slot of the pushing rack, can prevent the pushing rack from moving towards the far end or the near end of the stapler; the safety block has an initial position outside the range of the pushing rack;

in the first pushing stage, when the pushing block is driven to move the pushing rack to the far end of the anastomat by controlling the handle, the safety block enters a locking groove in the range of the pushing rack from the initial position;

operating the safety button to make the safety block leave the locking groove;

in the withdrawing stage, the reset rod drives the pushing rack and the reset sheet on the side surface of the pushing rack to withdraw, and the reset rod simultaneously drives the reset sheet to move relative to the pushing rack so as to push the safety block through the reset sheet and separate the safety block from the pushing rack; when the pushing rack returns to the proximal end of the anastomat, the reset rod is released, the reset sheet resets, and the safety block returns to the initial position.

Compared with the prior art, the cutting knife guard plate assembly, the anastomat and the steering control method have the following advantages that: the arc-shaped cutting knife guard plate provided by the invention provides a larger turning radius for the cutting knife, and the deflection angle of the actuator is larger through the matching of the cutting knife guard plate and the fixed block. The cutting knife backplate is rigid structure, can not appear warping because of the influence that the cutting knife backplate received cutting knife thrust, makes the pivot angle more stable. The invention is also provided with the inner lining of the cutting knife guard plate, so that the risk that the knife handle is scattered or extruded from the cutting knife guard plate due to deviation can be reduced, and the direction of the cutting knife can be guided.

Drawings

Fig. 1 is a schematic view of a stapler according to the present invention.

Fig. 2 is an exploded view of a stapler according to the present invention.

Fig. 3 is a schematic view of a cutting blade guard plate provided by the present invention.

Fig. 4 is a top view of a cutting blade guard and a cutting blade guard liner provided by the present invention.

FIG. 5a is a top view of an actuator of a stapler according to the present invention in an initial state.

FIG. 5b is a top view of an actuator of the stapler of the present invention shown deflected to the right.

Fig. 6 is a top view of the pre-pressing sleeve provided by the present invention.

Fig. 7 is a schematic structural diagram of a fixing block of the stapler provided by the present invention.

Fig. 8 is a schematic view of the lower pre-pressing ejector rod of the pre-pressing sleeve provided by the invention.

Fig. 9 is a schematic view of the limiting push rod provided by the invention.

Fig. 10 is an exploded view of an embodiment of a steering mechanism of the stapler according to the present invention.

FIG. 11 is a left side view of an embodiment of a steering mechanism of the stapler provided by the present invention.

Fig. 12 is a schematic view illustrating a rotation principle of a positioning ball of the stapler according to the present invention.

Fig. 13 is a schematic view of another embodiment of a steering mechanism of the stapler provided by the present invention.

FIG. 14 is a top view of another embodiment of a steering mechanism of the stapler provided in accordance with the present invention.

FIG. 15 is a schematic view of a firing assembly of the stapler provided by the present invention.

FIG. 16 is a schematic view of a firing bar and cutting knife assembly of the stapler provided by the present invention.

Fig. 17 is an exploded view of the handle of the stapler provided by the present invention.

Fig. 18 is an exploded view of the pusher rack of the stapler provided by the present invention.

Fig. 19 is a schematic view of a sector shaped swing block and a first rack of the stapler provided by the present invention.

Fig. 20 is a schematic view of a safety button of the stapler according to the present invention.

Fig. 21 is a schematic view of a safety block of the stapler according to the present invention.

FIG. 22 is a schematic view of a handle of the stapler provided in accordance with the present invention.

FIG. 23 is a schematic view of a firing assembly attachment configuration of a stapler provided in accordance with the present invention.

Fig. 24 is a top view of a pusher rack of a stapler provided in accordance with the present invention.

FIG. 25 is a bottom view of a center tube assembly provided by the present invention.

FIG. 26 is a left side view of a center tube assembly provided by the present invention.

FIG. 27 is a schematic view of a stepped configuration of a firing bar of a stapler provided by the present invention.

FIG. 28 is a partial schematic structural view of a firing assembly of the stapler provided by the present invention.

Fig. 29, 30 and 31 are schematic views of three kinds of conventional staplers, respectively.

In the figures, 1-actuator, 11-cartridge assembly, 12-anvil assembly, 2-steering mechanism, 21-steering button, 210-steering button extension, 22-positioning catch, 221-barrel housing, 222-bead body, 223-positioning catch spring, 23-rotation block, 231-upper rotation block, 232-lower rotation block, 2310-rotation block through hole, 2311-detent projection groove, 2312-arc groove, 2313-extension groove, 232-positioning catch recess, 24-rotation shaft, 25-steering connection block, 26-steering rack, 27-detent projection, 31-cutter guard, 310-cutter guard through hole, 311-cutter guard recess, 312-cutter guard steering shaft, 313-inner wall of cutter guard, 32-fixed block, 320-fixed block body, 3200-fixed block through groove, 321-fixed block connecting piece, 3211-fixed block upper connecting piece, 3212-fixed block lower connecting piece, 32120-fixed block tooth groove, 322-fixed block groove, 33-connecting rod, 34-steering pull rod, 35-pin, 36-cutting knife guard plate lining, 37-connecting fixed plate, 4-cutting knife component, 41-knife head, 42-knife handle, 5-prepressing component, 51-prepressing sleeve, 511-front prepressing sleeve, 5110-front prepressing sleeve body, 5111-front prepressing sleeve connecting part, 512-rear prepressing sleeve, 5120-rear prepressing sleeve body, 5121-rear prepressing sleeve connecting part, 513-prepressing sleeve connecting part, 514-limiting groove, 52-prepressing ejector rod, 521-lower prepressing ejector rod, 522-upper prepressing ejector rod, 53-limiting ejector rod, 531-limiting block, 54-prepressing insert, 6-firing component, 60-position retainer, 600-position retainer spring, 601-safety button, 6010-safety button lug, 602-third spring, 603-safety block, 6030-safety block lug, 60300-safety block first groove, 60301-safety block left groove, 60302-safety block right groove, 604-fourth spring, 61-handle, 610-handle connecting piece, 611-first spring, 612-handle spring, 613-handle upper part, 614-handle lower part, 62-propelling block, 620-propelling block connecting piece, 621-second spring, 622-tilting structure, 63-a push rack, 630-a locking slot, 631-a push rack second recess, 632-a push rack tooth, 633-a push rack first recess, 634-a first rack, 635-a reset bar first through hole, 636-a push rack third recess, 635-a push rack fourth recess, 64-a sector pendulum block, 640-a sector pendulum block rotating shaft, 641-a pendulum block link connector, 65-a pendulum block link, 66-a pendulum block push rod, 67-a sleeve, 68-a firing bar sleeve, 69-a firing bar, 691-a step structure, 7-a center tube assembly, 71-an outer tube, 72-a cutting knife guide plate, 81-a reset bar, 810-a reset bar channel, 82-a reset plate, 820-a reset bevel hole, 821-a reset bar second through hole, 83-reset pin, 84-reset button, 85-reset hook, 86-reset spring, 9-central shaft, A, B, C, D-rotating shaft, E-knob, F-connecting rod, G-limit thimble, H-rotating block, I-spring, J-body, K-flexible guard plate, L-joint, M-instrument jaw and N-gear.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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.

Herein, "rear end" refers to the end closer to the operator, and "front end" refers to the end farther from the operator. The directions of "up, down, top, bottom, left and right" are all expressed by the positions shown in the corresponding drawings (as shown in fig. 2), and the directions of the components of the stapler during actual use are not limited, and the positions of "up, down, top, bottom, left and right" correspond to the directions shown in fig. 2. For ease of description, the anterior-posterior direction, e.g., the axis of the instrument central shaft 9 (which is a straight line without a solid body that extends between the proximal and distal ends of the stapler), corresponds to the X-direction; the left and right directions, such as two sides of the axis of the instrument central shaft 9, correspond to the Y direction; the vertical direction, such as the axis of the rotary shaft 24 of the steering mechanism 2, corresponds to the Z direction. The "initial state" or "initial position" described herein refers to a state or position in which the respective components are each located when the pre-pressing operation is not performed by the pre-pressing sleeve 51 and the fixed block 32 is not angularly deflected (corresponding to the central shaft 9).

As shown in FIG. 1, the stapler with a large rotation angle disclosed by the invention comprises an actuator 1 (comprising a nail anvil assembly 12 and a nail bin assembly 11), a steering mechanism 2, a driving assembly, a cutting knife assembly 4 (shown in FIG. 2), a prepressing assembly 5, a firing assembly 6 and a central tube assembly 7. The actuator 1, the central tube assembly 7, the steering mechanism 2 and the firing assembly 6 are sequentially connected from the front end to the rear end. When not turning, the cutting knife assembly 4 is arranged on the central shaft 9 of the anastomat. The firing assembly 6 can be used as an input end for operations such as prepressing, limiting, cutting anastomosis and withdrawing, and transmits actions to the prepressing assembly 5, the driving assembly 3, the cutting knife assembly 4, the actuator 1 and the like to control respective motions of the prepressing assembly, the driving assembly 3, the cutting knife assembly 4 and the actuator 1. The steering mechanism 2 can be used as an input end of steering operation, and transmits motion to the driving assembly 3, the actuator 1 and the like to realize deflection and/or rotation; by rotation is meant herein a rotation of a part or assembly around a central axis 9 within 360. Deflection in this context means that a component or assembly can swing in a plane around a point (physical or virtual) in a straight line direction, such that a reference line (e.g. axis, center line, etc.) of the component or assembly forms an angle with respect to the straight line direction; wherein the plane defining the range of oscillation will rotate as the part or assembly rotates about the central axis 9. The aforementioned "limit" means to lock the deflected angle. In the following embodiment, for convenience of description, the deflection is performed by swinging the fingers in the left-right direction on the plane formed by the X-axis and the Y-axis in fig. 2. After the steering operation is finished, the anastomat can further clamp, cut and anastomose the tissues; the nail bin assembly 11 and the nail anvil assembly 12 of the actuator 1 can clamp tissues between the nail bin assembly 11 and the nail anvil assembly 12, the cutting knife assembly 4 is driven to advance to break the tissues, simultaneously, anastomotic nails arranged at the nail bin assembly 11 can be pushed out, the anastomotic nails are formed under the cooperation of the nail anvil assembly 12, and the tissues are anastomosed.

As shown in fig. 2, the steering mechanism 2 includes a steering knob 21, a rotating block 23, a positioning ball 22, a rotating shaft 24, a steering connecting block 25 and a steering frame 26. The rotating block 23 comprises an upper rotating block 231 and a lower rotating block 232 which are connected to form a shell structure, can fix and limit internal parts, and forms a part capable of operating the rotating block 23 at the rear end, so that the rotating block 23 can drive parts in front of the rotating block, such as a driving assembly 3, a pre-pressing assembly 5, a fixed block 32, an actuator 1 and the like, to rotate around the X-direction instrument central shaft 9. The turn knob 21 is provided on the upper rotation block 231. The upper rotary block 231 is provided with a rotary block through hole 2310 (as shown in fig. 10); the rotating shaft 24, which is located in the housing structure, is arranged in the Z direction, and has an upper end passing through the rotating block through hole 2310 to be connected to the steering knob 21 and a lower end connected to the steering connecting block 25. Two steering link blocks 25 are provided, arranged in the X direction, on the left and right sides of the rotary shaft 24. The turning knob 21 is turned to drive the rotation shaft 24 to rotate around the Z direction, so that the turning connecting blocks 25 on the left side and the right side are staggered front and back. Preferably, the steering connecting block 25 is provided with a convex block, and the rotating shaft 24 is provided with a left through hole and a right through hole at a position extending in the X direction, which can be aligned and matched with the convex block on the steering connecting block 25, so as to realize the connection between the rotating shaft 24 and the steering connecting block 25. The through hole can also be replaced by a groove, and the convex block can be connected with the groove in a buckling mode. The positions of the convex blocks and the through holes (or the grooves) can be interchanged. Alternatively, the rotating shaft 24 and the steering connecting block 25 may be integrally formed. The bogie 26 is arranged in the X direction, and the rear end of the bogie 26 is connected to the rear end of the steering connecting block 25.

The driving assembly comprises a driving connecting piece, a cutting knife protecting plate 31 and a fixing block 32. The fixing block 32, the cutting knife guard plate 31 and the driving connecting piece are sequentially connected from the front end to the rear end. The left and right sides of the instrument central shaft 9 are respectively provided with a driving connecting piece, and the rear end of the driving connecting piece is connected with a bogie 26 of the steering mechanism 2. The driving connecting member on each side may be an integrally formed structure (substantially rod-shaped, plate-shaped or column-shaped, but not limited thereto), or may be formed by connecting a plurality of connecting sections in sequence (the adjacent connecting sections may have the same or different structures). When the driving connecting piece is arranged into a plurality of connecting sections which are connected in sequence, on one hand, the length of each connecting section is shorter, the processing process is simpler, and the strength of the instrument can be improved; on the other hand, different connecting sections can be selected to be combined and connected according to different use scenes of the anastomat, so that the anastomats with different lengths can be obtained.

In this example, the driving link at each side includes a connecting rod 33 and a steering rod 34, which are connected in sequence from the front end to the rear end, the rear end of the steering rod 34 is connected to the bogie 26 and can be driven by the steering mechanism 2, and when the bogies 26 at the left and right sides are staggered back and forth, the driving link moves forward or backward along with the bogie 26 at the corresponding side, so that the driving links at the left and right sides are also staggered back and forth.

As shown in fig. 2 and 3, the cutter guard plate 31 has two left and right ends, and the rear ends thereof are connected to the front ends of the drive link (in this case, the front ends of the link rods 33). Preferably, the driving assembly 3 further comprises two pins 35, the rear end of the cutting blade guard 31 is provided with a cutting blade guard through hole 310, and the front end of the driving connecting member is provided with a driving connecting member through hole, in this case, the driving connecting member through hole is arranged at the foremost end of the connecting rod 33. After the cutting knife guard plate through hole 310 and the driving connecting piece through hole which are communicated in the Z direction are aligned and matched, the pin 35 penetrates through the cutting knife guard plate through hole 310 and the driving connecting piece through hole, so that the cutting knife guard plate 31 is connected with the driving connecting piece. The front ends of the two cutting blade guards 31 can be fixedly connected to the left and right sides of the fixing block 32, respectively. Preferably, the left side and the right side of the fixing block 32 are provided with fixing block grooves 322 (as shown in fig. 7), the front end of the cutting knife guard plate 31 can be inserted into the fixing block grooves 322 and connected with the shaft hole of the fixing block 32, the front end of the cutting knife guard plate 31 comprises a columnar cutting knife guard plate steering shaft 312, so that after the cutting knife guard plate 31 is connected with the fixing block 32, the cutting knife guard plate 31 can rotate relative to the fixing block 32 by using the cutting knife guard plate steering shaft 312 as the shaft center and drive the fixing block 32 to deflect.

In this example, in a top view of the stapler, when the steering button 21 rotates clockwise (around the Z direction) around the straight line of the rotation shaft 24, that is, the front end of the steering button 21 is deviated to the right from the central instrument shaft 9, and the rear end of the steering button 21 is deviated to the left from the central instrument shaft 9, so as to drive the rotation shaft 24 to rotate clockwise along the Z direction. Driven by the steering mechanism 2, the driving connecting piece on the left side and the driving connecting piece on the right side are staggered front and back. Specifically, the rotating shaft 24 drives the left steering connecting block to move towards the front end, and further sequentially pushes the left steering frame, the left steering pull rod and the left connecting rod to move towards the front end; meanwhile, the rotating shaft 24 drives the right steering connecting block to move to the rear end, and then sequentially pulls the right bogie, the right steering linkage and the right connecting rod to move to the rear end. The drive connecting piece can drive the motion of cutting knife backplate 31, makes cutting knife backplate 31 drive fixed block 32 and rotates, and fixed block 32 deflects simultaneously. Specifically, the left driving connecting piece pushes the left cutting knife protection plate to rotate by taking the insertion part at the front end of the left cutting knife protection plate as a shaft; meanwhile, the driving connecting piece on the right side pulls the right cutting knife protection plate to rotate by taking the insertion part at the front end of the right cutting knife protection plate as an axis. Through the rotation of left cutting knife backplate and right cutting knife backplate, drive fixed block 32 and deflect certain angle to the right side. The steering knob 21 is rotated counterclockwise in the Z direction similarly, and the fixing block 32 is driven to be shifted to the left by a certain angle. Preferably, the angle formed by the rotation of the turning knob 21 and the central shaft 9 is the same as the angle formed by the offset of the fixing block 32 and the central shaft 9.

The cutting knife assembly 4 comprises a knife head 41 and a knife handle 42 connected to the rear end of the knife head 41, wherein the knife handle 42 comprises a plurality of flexible sheets which are overlapped. Preferably, the material of the flexible sheet is medical grade stainless steel. The fixing block 32 is provided with an X-direction fixing block through groove 3200 (as shown in fig. 7), and a space is left between the two cutting knife protection plates 31. The tool bit 41 is positioned at the front end of the fixing block 32, and the tool shank 42 passes through the fixing block through groove 3200 and the space between the two cutting knife protection plates 31; when undeflected, tool tip 41 and tool shank 42 are both located on stapler central axis 9. After the fixing block 32 and the cutting knife protection plate 31 are deflected, the knife handles 42 located between the through grooves 3200 of the fixing block deflect at the same angle along with the fixing block 32, and the knife heads 41 also deflect accordingly (the knife handles 42 which do not reach the through grooves of the fixing block do not deflect). Then, the driving firing component 6 pushes the cutting knife component 4 to cut the tissue, and the cutting knife component 4 always moves towards the front end under the deflection angle. The cutter head 41 moves forward and drives the nail pusher in the nail bin assembly 11 to move forward, so that the anastomotic nails are sequentially pushed out.

In some embodiments, the cutting blade guard 31 is a rigid structure. Preferably, the cutting blade guard 31 is made of medical grade stainless steel. The rigid cutting knife protection plate 31 can enable the rotation angle of the fixing block 32 to be more stable; when the flexible sheet (handle 42) moves between the rigid cutting knife guard plate 31, the cutting knife guard plate 31 can not deform due to the influence of the thrust of the flexible sheet, and the rigid cutting knife guard plate 31 can also reduce the risk that the flexible sheet is separated from or broken due to the stress in the firing process and is extruded from the cutting knife guard plate 31.

Preferably, the cutter guard plate 31 has an arc-shaped structure. In this example, the radius of the arc is 10 mm. The left cutting knife guard plate and the right cutting knife guard plate are opposite and are respectively concave at the inner side and convex at the outer side. When the handle 42 of the cutting knife assembly 4 passes between the two cutting knife guard plates 31, smooth turning can be realized by means of the arc-shaped structures of the cutting knife guard plates 31, and the flexible sheet cannot be rebounded due to plastic deformation caused by the dead angle folding phenomenon.

As shown in fig. 4, since the cutting blade guards 31 are arc-shaped guards, there is a gap with the holder 42 between the cutting blade guards 31. Preferably, the driving assembly 3 further comprises two cutting knife guard plate linings 36 respectively disposed inside the two cutting knife guard plates 31, and the cutting knife guard plate linings 36 are always tightly attached to two sides of the knife handle 42. Preferably, the material of the cutting blade guard plate lining 36 is medical grade stainless steel, and the thickness is designed to have certain elastic deformation capacity. The side (inner surface) of the cutting knife guard plate 31 near the central shaft 9 is provided with a cutting knife guard plate groove 311 (as shown in fig. 3) matching with the cutting knife guard plate lining 36. When not deflected, the cutting blade guard liner 36 is connected to the cutting blade guard 31 but is not disposed in the cutting blade guard recess 311 (or is not fully disposed in the cutting blade guard recess 311).

For example, when the cutting blade guard plate liner 36 is in the initial state, the portion corresponding to the cutting blade guard plate 31 is substantially a plane structure (such as a plate shape), and there are two corresponding portions embedded into the front and rear ends of the cutting blade guard plate recess 311, and the liner portion between the two portions is suspended and does not contact with the cutting blade guard plate or the recess thereof. In this example, the cutting knife guard groove 311 is through from front to back, and the cutting knife guard lining 36 is of a U-shaped structure; when the tool shank 42 is not turned, the two support legs of the U-shaped structure are in front and embedded into the front end of the groove; the middle of the U-shaped structure is embedded at the rear end of the groove; the portion of the liner between the middle and the front end is suspended with respect to the cutter guard recess 311; the middle to the rear end of the U-shaped structure extends to the rear of the guard plate and the groove thereof and is tightly attached to a section of the surface of the tool shank which does not reach the cutting knife guard plate 31. After the U-shaped structure extends backward for a section (the maximum distance does not exceed the tail end of the cutter handle 42), the U-shaped structure is further bent outward at the rear end and embedded into the cutter guide plate to be fixed. In the U-shaped structure of the embodiment, the front sections of the two support legs are narrower, and the rear sections of the two support legs are wider; most of the width of the U-shaped opening is basically consistent with the width of the Y-direction through hole at the position of the cutter handle 42; the cutting blade guard plate recess 311 is also correspondingly provided with two groove sections of different widths, corresponding to the width variations of the front and rear sections of the foot.

During the movement of the cutting knife assembly 4, the cutting knife guard liner 36 can tightly attach to the shank 42 (entering the guard and entering the guard in the front section), which can reduce the risk of the shank 42 being scattered or extruded out of the cutting knife guard 31 due to deflection. In the initial state, the fixed block 32 is not deflected, and the cutting blade guard liner 36 between the cutting blade guards 31 is mostly suspended relative to the cutting blade guard recess 311 when the cutting blade assembly 4 moves back and forth along the instrument center axis 9. When the fixing block 32 deflects to the right (or left), the left cutting blade guard plate lining (or the right cutting blade guard plate lining) is completely embedded into the cutting blade guard plate groove 311 on the corresponding side. As shown in fig. 5a and 5b, taking the right deflection of the fixing block 32 as an example, the left cutting blade guard plate lining is completely embedded into the left cutting blade guard plate groove, the shank is bent to the right, and the part between the cutting blade guard plate linings 36 protrudes to the left, so that the left side surface of the shank 42 is tightly attached to the left cutting blade guard plate lining; the right cutting knife backplate inside lining protrudes to the left, hugs closely the right flank of handle of a knife, and the front end and the rear end of right cutting knife backplate inside lining still imbed in the cutting knife backplate recess on right side simultaneously, so 4 motion in-process of cutting knife subassembly, handle of a knife 42 still can slide along the arc inner wall of left cutting knife backplate 31 to receive the constraint of two cutting knife backplate inside linings 36, can not scatter or extrude from cutting knife backplate 31. In this example, the cutting blade guard recess 311 on each side comprises two recess sections corresponding to the two legs; the protruding portion of the handle 42 due to deflection not only directly contacts the inner wall 313 of the guard plate between the two groove sections, but also pushes the support leg of the corresponding side liner into the groove section to contact the inner surface of the liner, and the liner can transmit the acting force between the guard plate and the handle.

For filling the clearance that cutting knife subassembly 4 and cutting knife backplate 31 exist, prevent that the parallel thin wall of a plurality of flexible pieces from scattering the problem of deformation because of the pressurized buckling, preferably, cutting knife backplate inside lining 36 is the elastic sheet, when the flexible piece scatters the deformation, the flexible piece extrudes cutting knife backplate inside lining 36 to left side and/or right side, corresponding elastic cutting knife backplate inside lining 36 of taking this moment can wholly imbed in cutting knife backplate recess 311. Because the cutting knife guard plate 31 is a rigid guard plate, the cutting knife guard plate lining 36 and the flexible sheet cannot be extruded from the inner force of the cutting knife guard plate 31 under the constraint of the rigid guard plate. The cutter guard liner 36 is deflected by the cutter guard 31, thereby acting to guide the direction of the shank 42.

The prepressing assembly 5 serves as an executing end of the prepressing operation and is used for switching the opening or closing state of the jaws between the cartridge assembly 11 and the anvil assembly 12. For example, after the actuator 1 is steered to the appropriate angle, the jaws between the cartridge assembly 11 and the anvil assembly 12 are closed to facilitate a subsequent cutting and stapling operation. As shown in fig. 2, the pre-pressing assembly 5 includes a pre-pressing sleeve 51, and the pre-pressing operation is mainly performed through the pre-pressing sleeve 51. The pre-pressing sleeve 51 can be sleeved at the tail end of the actuator 1, i.e. at the joint of the nail cartridge component 11 and the nail anvil component 12, and the fixing block 32 can be completely sleeved therein. The pre-pressing sleeve 51 in this example is a cylindrical structure that can move back and forth under the action of the firing assembly 6. When the pre-pressing operation is not carried out, the front end of the pre-pressing sleeve 51 is not contacted with the actuator 1; or only against the actuator 1, but without yet exerting pressure on the actuator 1; the actuator 1 is in an open state (the jaws between the cartridge assembly 11 and the anvil assembly 12 are open). When the prepressing operation is implemented, the firing assembly 6 is operated to push the prepressing assembly 5 to move forwards, the front end of the prepressing sleeve 51 is contacted with the actuator 1 and then continues to move forwards, the rear part of the actuator 1 is pressed down and sleeved by the advancing prepressing sleeve 51, and the jaw is changed from an opening state to a closing state. In the process of cutting anastomosis, the jaw of the actuator 1 is always in a closed state under the action of the pre-pressing sleeve 51. When the cutting anastomosis is finished, the firing assembly 6 is operated again to pull the pre-pressing sleeve 51 backwards, the jaws return to the opening state, and the pre-pressing sleeve 51 returns to the initial position.

In this example, the actuator 1 is provided with a step as a blocking mechanism, and the maximum radial dimension of the actuator 1 part behind the step is smaller than the inner diameter of the pre-pressing sleeve 51; and the minimum radial dimension of the actuator 1 at least at the position of the step is larger than the inner diameter of the pre-pressing sleeve 51 to prevent the pre-pressing sleeve 51 from further advancing (the radial direction refers to the direction perpendicular to the central axis 9). The size of the position of the actuator 1 before the step is not limited, and can be determined according to the actual application requirement. The step can be provided at the anvil assembly 12 and or cartridge assembly 11 of the effector 1.

In some examples, the end face of the tail end of a specific component on the actuator 1 may be used as a blocking mechanism: for example, the anvil assembly 12 includes an anvil upper cover for covering a through slot at the anvil for the movement of the stapler head 41; the end face of the tail end of the upper cover of the anvil is located in front of the end face of the tail end of the whole anvil assembly 12, and the end face of the tail end of the upper cover of the anvil can be used as a blocking mechanism, and when the pre-pressing sleeve 51 moves to the position, the jaw of the actuator 1 is closed. None of the above examples serve as limitations on the structure or placement position of the blocking mechanism, and other structures or components may be used to extend the radial dimension somewhere on the actuator 1 for blocking the pre-compression sleeve 51.

Preferably, as shown in fig. 6, the pre-pressing sleeve 51 includes a front pre-pressing sleeve 511 and a rear pre-pressing sleeve 512. The front pre-pressing sleeve 511 and the rear pre-pressing sleeve 512 move as a whole, specifically, the rear pre-pressing sleeve 512 drives the front pre-pressing sleeve 511 under the driving of the firing assembly 6, and the front pre-pressing sleeve 511 performs the pre-pressing function on the actuator 1. The maximum extent of forward movement of the front pre-stressing sleeve 511 does not exceed the blocking mechanism. A certain spacing distance is kept between the front pre-pressing sleeve 511 and the rear pre-pressing sleeve 512, and a space is reserved for the left and right deflection of the fixing block 32 and the cutting knife guard plate 31; the front pre-pressing sleeve 511 and the rear pre-pressing sleeve 512 are hinged through a pre-pressing sleeve connecting piece 513, so that the front pre-pressing sleeve 511 can rotate left and right relative to the rear pre-pressing sleeve 512; the front pre-pressing sleeve 511 can further rotate left and right relative to the front end node connected with the pre-pressing sleeve connecting piece 513; the pre-stressed casing connector 513 may be rotated left and right with respect to its rear end node to which the rear pre-stressed casing 512 is connected.

In some embodiments, the pre-pressing sleeve includes a pre-pressing sleeve main body and a pre-pressing sleeve connection portion, the pre-pressing sleeve main body is a cylindrical structure, a rear end of the front pre-pressing sleeve main body 5110 protrudes backward along the X direction to form the front pre-pressing sleeve connection portion 5111, and a front end of the rear pre-pressing sleeve main body 5120 protrudes forward along the X direction to form the rear pre-pressing sleeve connection portion 5121; a prepressing sleeve through hole is arranged on the prepressing sleeve connecting part; the pre-pressing assembly 5 further comprises a pre-pressing sleeve connecting piece 513, the pre-pressing sleeve connecting piece 513 comprises two convex blocks, and the pre-pressing sleeve through holes are respectively matched with the convex blocks in an alignment mode and connect the front pre-pressing sleeve 511 with the rear pre-pressing sleeve 512. The positions of the through hole of the pre-pressing sleeve and the lug can be interchanged. Preferably, two pre-pressing sleeve connectors 513 are provided, respectively disposed at the upper and lower sides of the central shaft 9, and the front pre-pressing sleeve 511 and the rear pre-pressing sleeve 512 are also provided with two upper and lower pre-pressing sleeve connectors, respectively.

In the initial state, the front pre-pressing sleeve 511 is sleeved outside the fixed block 32 (or partially sleeved outside the actuator 1 in front of the fixed block 32). The position where the driving connecting piece is connected with the cutting knife guard plate 31 is between the front prepressing sleeve main body 5110 and the rear prepressing sleeve main body 5120, and because the front prepressing sleeve 511 and the rear prepressing sleeve 512 are hinged, the steering of the fixing block 32 is not limited by the front/rear prepressing sleeves in this state. When the steering mechanism 2 drives the driving assembly 3 to move and further deflect the fixing block 32, the front pre-pressing sleeve 511 can deflect along with the fixing block 32, and the position of the rear pre-pressing sleeve 512 is not changed. As the pre-compression sleeve 51 moves forward, the front pre-compression sleeve 511 depresses the actuator 1 to close. For example, when the pre-pressing sleeve 51 advances to the farthest distance allowing the movement thereof, the foremost end of the rear pre-pressing sleeve body 5120 does not exceed the position where the fixing block 32 is connected with the cutting knife guard plate 31, and the fixing block 32 is not completely sleeved therein, so that the rear pre-pressing sleeve 512 can only move back and forth along the X direction on the central shaft 9 all the time.

As shown in fig. 7, in some embodiments, the driving assembly 3 further includes two connecting fixing plates 37 (shown in fig. 9) to stabilize the fixing block 32 during steering. Two connection fixing plates 37 are connected to the upper and lower sides of the fixing block 32, respectively. The fixing block 32 includes a fixing block main body 320 and a fixing block connector 321, and the fixing block connector 321 includes a fixing block upper connector 3211 and a fixing block lower connector 3212. The fixed block upper connecting member 3211 and the fixed block lower connecting member 3212 are plate-shaped structures protruding rearward. Preferably, the upper surface of the fixing block upper connecting member 3211 and the lower surface of the fixing block lower connecting member 3212 are respectively provided with a fixing block protrusion, the connecting and fixing plate 37 is provided with a fixing plate through hole, and the connecting and fixing plate 37 is connected to the fixing plate through hole via the fixing block protrusion, so that the fixing block 32 can rotate relative to the connecting and fixing plate 37. The fixing plate 37 is used to keep the fixing block 32 stable, and when the fixing block 32 is deflected to the left and right, the fixing plate 37 is not rotated, and the fixing plate 37 is always kept on the central axis 9 of the instrument. The fixing block 32 is deflected left and right about a line on which the fixing block projection is located in the Z direction. Taking the right deflection of the fixed block 32 as an example, the angle of the left cutting blade guard plate steering shaft rotating clockwise (from the perspective of looking down the stapler) relative to the fixed block protrusion is the same as the angle of the right cutting blade guard plate steering shaft rotating clockwise (from the perspective of looking down the stapler) relative to the fixed block protrusion. The distance that left side drive connecting piece and left cutting knife backplate go forward in X is less than the distance that right side drive connecting piece and right cutting knife backplate upwards moved back in X.

As shown in fig. 6, 8 and 9, the pre-pressing assembly 5 further includes a pre-pressing post rod 52 and a limiting post rod 53. The front end of the pre-pressing ejector rod 52 is of a T-shaped structure, and the T-shaped structure is embedded in a T-shaped groove correspondingly arranged at the rear end of the rear pre-pressing sleeve 512; through the cooperation of T type structure and T type groove, conveniently push through pre-compaction ejector pin 52 pre-compaction sleeve pipe 51 forward motion to and be difficult to throw off when firing mechanism withdraws back pre-compaction sleeve pipe 512 pulls backward through pre-compaction ejector pin 52. The pre-pressing ejector rods 52 comprise an upper pre-pressing ejector rod 522 and a lower pre-pressing ejector rod 521, which are respectively positioned at the upper side and the lower side of the rear pre-pressing sleeve 512 (at least one pre-pressing ejector rod 52 has a T-shaped structure and is embedded in the T-shaped groove).

The limit ejector rod 53 is used as an execution end of the limit operation, and after the actuator 1 is driven by the fixed block 32 to deflect, the actuator 1 and the fixed block 32 are stably kept at the deflection angle, so that the deflection angle is not slightly changed due to the touch or other disturbance of the tissue structure. The limiting mandril 53 is arranged at the front end of the lower prepressing mandril 521 (the two can be fixedly connected, or only can be butted without connection to ensure the structural strength), and is positioned in the tube cavity of the rear prepressing sleeve 512. Therefore, the movement of the stopper pin 53 is driven by operating the lower preload pin 521. The lower pre-pressing ejector rod 521 has a certain thickness in the Z direction, and the front end of the lower pre-pressing ejector rod 521 simultaneously contacts the rear end of the limiting ejector rod 53 and the T-shaped groove of the rear pre-pressing sleeve 512. The prepressing ejector rod 52 can simultaneously drive the prepressing sleeve 51 and the limiting ejector rod 53 to move forwards or backwards.

A fixed block tooth socket 32120 (as shown in fig. 7) is arranged on the fixed block lower connecting piece 3212, when the fixed block 32 rotates to a proper angle, the firing assembly 6 is operated to control the pre-pressing ejector rod 52 to move forward, the pre-pressing ejector rod 52 pushes the pre-pressing sleeve 51 to move forward until the pre-pressing sleeve 511 reaches the position of the blocking mechanism, pre-pressing operation is completed, and the limiting ejector rod 53 is pushed to move forward, so that the front end of the limiting ejector rod is inserted into the fixed block tooth socket 32120 to complete limiting operation. A limiting groove 514 is arranged at the front end of the T-shaped groove corresponding to the rear pre-pressing sleeve 512 along the X direction; the lower surface of the rear end of the limiting ejector rod 53 extends downwards along the Z direction and is close to the lower prepressing ejector rod 521 to form a limiting block 531 along the X direction. The shape of the limiting block 531 is matched with that of the limiting groove 514, and the length of the limiting block 531 in the X direction is shorter than that of the limiting groove 514; the limiting groove 514 is penetrated in the Z direction or at least the upper surface is recessed, so that a limiting block 531 protruding in the Z direction is embedded into the limiting groove; the limiting block 531 can slide in the limiting groove 514 along the X direction, and plays a role in limiting the movement range and the movement direction of the limiting push rod 53.

When the lower pre-pressing ejector rod 521 is controlled to move forwards, the lower pre-pressing ejector rod 521 simultaneously pushes the rear pre-pressing sleeve 512 and the limiting ejector rod 53 to move forwards until the front end of the limiting ejector rod 53 enters the fixed block tooth groove 32120 to complete limiting operation, and at this time, the limiting block 531 is allowed not to move to the foremost end of the limiting groove 514; the front pre-pressing sleeve 511 is restricted by the blocking mechanism, and the actuator 1 is closed to complete the pre-pressing operation. Preferably, during the advancing process, the moving distances of the pre-pressing ejector rod 52, the pre-pressing sleeve 51 and the limiting ejector rod 53 are the same. When the prepressing operation and the limiting operation are released, the prepressing ejector rod 52 is controlled to move backwards, the prepressing ejector rod 52 is pulled firstly, then the prepressing sleeve 512 moves backwards, and the jaw of the actuator 1 is changed from being closed to being opened; the rear pre-pressing sleeve 512 continues to move backwards, that is, the distance between the foremost end of the limiting groove 514 and the foremost end of the limiting block 531 is gradually shortened until the limiting block 531 is embedded into the foremost end of the limiting groove 514, and the rear pre-pressing sleeve 512 drives the limiting block 531 through the limiting groove 514, and pulls the limiting ejector rod 53 backwards to enable the limiting ejector rod to withdraw from the fixed block tooth groove 32120. The fixed block 32 can now be steered again by the steering mechanism 2.

In this example, one limiting ejector 53 is provided corresponding to the lower pre-pressing ejector 521. It is understood that in other embodiments, there may be two limiting push rods 53, including an upper limiting push rod and a lower limiting push rod, which correspond to the upper pre-pressing push rod 522 and the lower pre-pressing push rod 521, respectively, and the two pre-pressing push rods 52 are arranged and controlled in the same manner as in this embodiment. In the embodiment with two limit push rods 53, the fixing block upper connecting 3211 piece and the fixing block lower connecting piece 3212 are correspondingly provided with fixing block grooves.

In some examples, the pre-pressing operation and the limiting operation are not completed simultaneously. For example, when the pre-pressing sleeve 51 reaches the set position to complete the pre-pressing operation and close the actuator 1, the limit mandril 53 may not reach the position of the fixed block tooth socket 32120, and the deflection of the actuator 1 is allowed to be adjusted by the steering mechanism 2; after the adjustment is completed, the limiting push rod 53 is pushed forward (for example, along the inner cavity of the rear pre-pressing sleeve 512 or along the groove of the inner wall of the rear pre-pressing sleeve 512) until the fixing block tooth groove 32120 is inserted to fix the deflection angle, so as to realize the limiting operation. Or the limit ejector rod 53 is inserted into the fixed block tooth groove 32120, so that the deflection angle of the fixed block 32 and the front part thereof is fixed, and the limit operation is realized; while the pre-pressing sleeve 51 is allowed to reach the set position for closing the actuator 1 at this point, so that the pre-pressing sleeve 51 can be pushed forward further until the pre-pressing operation is completed. Corresponding to the example of the present segment, the structural design at the position of the rear pre-pressing sleeve 512 needs to leave a space for the limiting ejector rod 53 to move back and forth relative to the rear pre-pressing sleeve 512; the lower pre-pressing ejector rod 521 is connected to the limiting ejector rod 53 and the rear pre-pressing sleeve 512 respectively, and the lower pre-pressing ejector rod 521 and the rear pre-pressing sleeve are driven to move in the front and rear directions and synchronously reach respective specified positions. Or, independent different parts can be used for driving the limiting mandril 53 and the pre-pressing sleeve 51 to move respectively. The structural design of asynchronous driving is not expanded in the text.

As shown in fig. 10 to 14, the steering mechanism 2 is operated by turning a steering knob 21 of the steering mechanism 2 when controlling other components or assemblies to perform deflection as an operation input terminal for steering operation. A positioning ball 22 is attached to the steering button 21. The positioning collision bead 22 is fixedly connected or detachably connected with the steering button 21. The upper rotary block 231 is provided with a plurality of positioning ball grooves 232, and the positioning ball 22 is placed in a selected one of the positioning ball grooves 232. A plurality of positioning ball-contacting grooves 232 are uniformly formed on the upper surface of the upper rotating block 231 along an arc line, which protrudes rearward. The number of the positioning collision bead grooves 232 is odd, the positioning collision bead grooves comprise 0-degree positioning collision bead grooves corresponding to the central shaft 9, and when the positioning collision beads 22 are arranged in the 0-degree positioning collision bead grooves, the steering angle of the fixing block 32 is 0 degree; the other positioning collision bead grooves are uniformly and symmetrically arranged at the left side and the right side of the 0-degree positioning collision bead groove.

In this example, the positioning ball 22 includes a barrel-shaped housing 221 and a ball body 222 (in this example, a steel ball). The barrel-shaped shell 221 is sleeved outside a positioning ball spring 223 (as shown in fig. 12), the upper end of the barrel-shaped shell 221 is connected with the steering button 21, and the ball body 222 can be a spherical or hemispherical structure and is connected to one end of the positioning ball spring 223. When the bead body 222 falls into the positioning bead groove 232, the positioning bead spring 223 is expanded, so that the bead body 222 can be positioned at the positioning bead groove 232; the other end of the positioning ball spring 223 is connected with the bottom of the turning button 21, when the positioning ball 22 is driven by the turning button 21 to turn, the ball body 222 is pressed upwards, the positioning ball spring 223 is compressed, the ball body 222 is moved into another positioning ball groove from one positioning ball groove, and then the groove changing of the ball body 222 is realized.

Preferably, as shown in fig. 12, the surface of the ball 222 is spherical, and when the ball 222 falls into the positioning collision bead groove 232, a gap is left between the lowest point of the bottom of the ball 222 and the most concave part of the positioning collision bead groove 232. The shape of the positioning ball-contacting groove 232 is not limited, and when the steering button 21 drives the ball body 222 to rotate left and right, the contact portion between the ball body 222 and the positioning ball-contacting groove 232 will receive the reaction force of the positioning ball-contacting groove 232, so that the ball body 222 moves upward and pops out from the positioning ball-contacting groove 232.

Theoretically, the central angle of the arc on which the positioning collision bead groove 232 is located may be set to 180 ° at the maximum. When the steering knob 21 is rotated to stagger the driving connection members forward and backward and to steer the fixed block 32 left and right, the angle ranges of the fixed block 32 rotated left or right along the central axis 9 can reach 0 to 90 degrees, respectively. However, the handle 42 of the cutting knife assembly 4 comprises a plurality of flexible sheets, when the cutting knife assembly turns, the flexible sheets are not synchronized in dislocation and bending, the flexible turning radius of the handle 42 is limited by design, if the turning radius is too large, namely, the angle of the fixed block 32 rotating leftwards or rightwards is too large, the handle 42 fails due to the buckling effect. Therefore, in practice, the central angle of the arc in which the positioning ball groove 232 is located is generally less than 180 °.

The preferred maximum value of the central angle is set to 135 degrees in this example, namely the actuator 1 of the stapler of this example can reach a swing angle of 67.5 degrees to the left or right. In the embodiment shown in fig. 10, there are 7 positioning ball grooves 232, and the arc lines corresponding to the central angle are 135 °, so that the swing angles of the stapler, which are 22.5 °, 45 °, 67.5 ° and 0 °, to the left or right can be realized. The number of the positioning collision bead grooves 232 is adapted to the adjustable swing angle gear positions, and the adjustable swing angle degree of each gear is determined to a certain extent; of course, the number of the positioning collision bead recesses 232 also needs to be considered in consideration of the arrangement position at the upper rotary block 231.

In some embodiments, as shown in fig. 7, the fixing block teeth 32120 are gear structures, the gear structures are uniformly arranged along an arc line, the arc line where the gear structure of the fixing block teeth 32120 is located is the same as the arc line where the positioning collision bead groove 232 of the upper rotating block 231 is located, the lengths of the two arc lines are the same or are enlarged or reduced in equal proportion, the teeth of the fixing block teeth 32120 are open backwards, and the teeth are the same as and correspond to the positioning collision bead grooves 232 of the upper rotating block 231 in number one to one. When the steering button 21 drives the ball of the positioning ball 22 to fall into the positioning ball groove 232, the fixing block 32 deflects by a corresponding angle, so that the tooth socket corresponding to the positioning ball groove 232 is aligned with the central shaft 9.

In this example, as shown in fig. 10 and 11, a locking protrusion 27 is further disposed on a side surface of the barrel-shaped housing 221; the top of the upper rotary block 231 is provided with an arc-shaped groove 2312, and the positioning collision bead grooves 232 are distributed on the top surface of the arc-shaped groove 2312; the locking protrusion groove 2311 is a through groove formed in the side surface of the arc groove 2312, and the locking protrusion 27 is located in the locking protrusion groove 2311. When the ball body 222 is transposed in the different positioning ball-touching grooves 232, the blocking-out bump 27 can correspondingly move left and right in the blocking-out bump groove 2311. When the steering button 21 is pulled upwards, a top plate extending transversely is arranged above the clamping lug groove 2311 and at the upper part of the side surface corresponding to the arc-shaped groove 2312, so that the clamping lug 27 can be limited from moving upwards, and the steering button 21 can be prevented from being separated from the upper rotating block 231. In this example, the positioning ball groove 232 is lower than the locking protrusion groove 2311. The catching protrusion groove 2311 of this example is provided on the front side surface of the arc-shaped groove 2312, and the positioning collision bead recesses 232 are arranged behind them; in other examples, the locking protrusion 2311 may be disposed on the rear side of the arc groove 2312, such that each positioning collision bead groove 232 is disposed in front of the positioning collision bead groove, and the protruding direction of the locking protrusion 27 needs to be adjusted accordingly. The position-limiting convex block 27 does not limit the steering button 21 to drive the ball body 222 to move left and right between the different positioning ball-touching grooves 232; when the steering button 21 is pulled upward, the detent projection 27 can be restricted by the top plate, thereby restricting the steering button 21 from being disengaged from the upper rotation block 231.

In the embodiment shown in fig. 13, the barrel-shaped housing 221 is not provided with the detent bump 27, or the barrel-shaped housing 221 may not be provided, so that the detent ball spring 223 of the connection ball 222 can be completely disposed in the predetermined space inside the steering button 21 when being expanded. Meanwhile, the lower surface of the steering knob 21 has a downward steering knob extension 210, the upper surface of the upper rotary block is provided with an extension groove 2313, and the extension groove 2313 is a through groove, and the steering knob extension 210 is disposed in the extension groove 2313. The catching protrusion 27 is provided at the side of the steering button extension 210, and the catching protrusion groove 2311 is provided in the extension groove 2313. The order of arrangement of the rotation shaft 24, the positioning striking ball 22 and the steering knob extension 210 on the lower surface of the steering knob 21 is not limited, but the arrangement of the rotation shaft 24, the positioning striking ball 22 and the steering knob extension 210 corresponds to the arrangement of the rotation block through hole 2310, the positioning striking ball groove 232 and the extension groove 2313, respectively.

In the embodiment shown in fig. 13 and 14, the rotation shaft 24, the positioning striking ball 22 and the steering knob extension 210 are sequentially connected to the lower portion of the steering knob 21 from the front to the rear. The detent projection 27 is provided on the front side of the lower end of the steering knob extension 210. The upper rotary block 231 is not provided with an arc-shaped groove 2312, and positioning ball-contacting grooves 232 for bearing the positioning ball bodies 222 are distributed on the top surface of the upper rotary block 231 at intervals and are distributed in an arc line; the plurality of locking protrusion grooves 2311 are formed at the rear of the positioning ball grooves 232 and are the same as the positioning ball grooves 232 in number. The arc line where the extension part groove 2313 is located and the arc line where the positioning collision bead groove 232 is located correspond to the same circle center, and the corresponding circle center angle degrees of the two arc lines are the same; because of the rearward position, extension groove 2313 is in an arc that is longer than the arc in which detent ball groove 232 is located. The extension groove 2313 of this example is lower than the positioning ball groove 232. When the positioning collision bead 22 falls into the positioning collision bead groove 232, the turning knob extension 210 falls into the extension groove 2313. When the positioning latch 22 is shifted in the positioning latch grooves 232 under the driving of the steering button 21, the steering button extension 210 moves left and right in the extension groove 2313, and the locking protrusion 27 can also move in the locking protrusion groove 2311 corresponding to the positioning latch groove 232 into which the positioning latch 22 falls under the driving of the steering button extension 210. Optionally, a top plate extending laterally is provided above the detent protrusion groove 2311 to limit the detent protrusion 27 from being pulled upward and prevent the steering knob 21 from being disengaged from the upper rotation block 231.

If the locking protrusion 27 is tightly inserted into the locking protrusion groove 2311 and is not easily pulled out upward, a top plate extending in the transverse direction may not be additionally disposed above the locking protrusion groove 2311. In other examples, the protrusion direction of the catching protrusion 27 may be adjusted accordingly by providing the corresponding catching protrusion groove 2311 at the rear side of the extension part groove 2313.

In the embodiment shown in fig. 13 and 14, when the locking protrusion 2311 is not a through groove, but a plurality of grooves corresponding to the positioning collision bead grooves 232, the locking protrusion 27 is inserted into the locking protrusion 2311 to lock the rotation angle, and the fixing block teeth 32120 of the position-limiting push rod 53 inserted into the fixing block 32 to lock the rotation angle may be provided at the same time or only one of them. The cooperation of screens lug 27 and screens lug groove 2311 can guarantee that turn to the button 21 when receiving ascending pulling force, is difficult to break away from the upper surface of last turning block 231 to can make the location touch pearl 22 arrange in the location touch pearl recess 232 all the time when turning to the button 21 and receiving the slight touch of left and right direction. The steering knob 21 is not slightly disturbed in the left-right direction due to the catching projection 27, and the rotary shaft 24, the steering link block 25, the bogie 26, the driving link, the cutter guard plate 31 and the fixing block 32, which are connected to the steering knob 21 in this order, are not slightly disturbed in the left-right direction. Therefore, after the actuator 1 is driven by the fixing block 32 to deflect to a certain angle, even if the left side and the right side of the actuator 1 touch human tissues or organs, the deflection angle of the actuator 1 cannot be changed. Meanwhile, when the operator rotates the steering button 21, the locking protrusion 27 and the locking protrusion groove 2311 are designed to be matched, so that the steering is not hindered due to too tight matching.

Although the locking protrusion groove 2311 is a through groove in the embodiment shown in fig. 10 as described above, and the locking protrusion 27 is engaged with the locking protrusion groove 2311 to limit the upward movement of the steering button 21 from the surface of the upper rotating block 231, it is understood that the locking protrusion groove 2311 may be provided with a plurality of grooves as shown in fig. 14 to replace the stopper 53.

In addition, although the structure of fig. 10 and 13 is taken as an example, the arc lines (the arc-shaped grooves 2312) of the positioning collision bead recesses 232 are recessed from the front side and protruded from the rear side, and are located behind the rotating shaft 24, so that when the front end of the turning knob 21 is pulled to the left or right, the shifting direction of the bead body 222 is reversed, i.e., the positioning collision bead recesses 232 to the right or left are shifted. However, it is understood that in other embodiments, the arc line (the arc groove 2312) of the positioning collision bead groove 232 may be reversed to protrude forward and be recessed backward, and be located in front of the rotation shaft 24, and the position of the positioning collision bead 22 is adjusted accordingly, so that when the front end of the steering button 21 is pulled leftward or rightward, the shifting direction of the bead body 222 may be consistent, and the positioning collision bead groove 232 may be shifted to the left or right.

The firing assembly 6 is also used as an action input end of prepressing operation, limiting operation, cutting anastomosis operation and withdrawing operation, and drives other corresponding assemblies to execute corresponding operations. As seen in fig. 15, 16, the firing assembly 6 includes a firing assembly housing, a handle 61, a pusher block 62, and a pusher rack 63. The firing assembly housing is located behind the rotating block 23. The shell of the firing assembly is of a shell structure and can fix and limit internal parts. One end of the handle 61 is connected to the inside of the firing assembly shell, and the other end is arranged outside the firing assembly shell and used as a part for the operator to hold and operate. The upper end of the handle 61 is connected with a pushing block 62, and a pushing rack 63 is positioned above the pushing block 62. The control handle 61 drives the pushing block 62, the pushing block 62 is used for pushing the pushing rack 63, the pushing rack 63 pushes the corresponding component, the action is firstly transmitted to the pre-pressing component 5, and pre-pressing operation and limiting operation are executed; then the action is transmitted to the cutter assembly 4 to execute the cutting and anastomosis operation. As shown in fig. 18, the lower surface of the push rack 63 is provided with a locking groove 630, a push rack second groove 631, and push rack teeth 632 (described in detail below) in order from the front end to the rear end, and the upper surface of the push rack 63 is provided with a push rack first groove 633.

In this example, the handle 61 has a hollow ring structure, so that the handle can be pushed through the ring structure to press the handle 61. Preferably, the firing assembly housing is shaped to approximate a magazine, and in an initial state, the hand-held portion forms an angle with the firing assembly housing.

As shown in FIGS. 17 and 22, a fixedly attached handle link 610 is provided within the firing assembly housing for connecting the handle 61 to the firing assembly 6. Preferably, the handle link 610 is a cylindrical structure (e.g., arranged in a left-right direction) within the firing assembly housing, and the handle 61 is hingedly attached to the handle link 610. The handle connector 610 is provided with a first spring 611 (preferably a torsion spring), the first spring 611 is arranged in the handle 61, a first section extending from the body of the first spring 611 is connected or contacted with the handle 61, and a second section of the first spring 611 is connected or contacted with a pushing block 62. Pressing the handle 61, the first spring 611 is pressed, the handle 61 moves counterclockwise (to face the direction of fig. 15) with the handle connector as the axis, the first section of the spring is pressed, and the first spring 611 stores the force; the handle 61 is released, and the handle 61 is restored by the elastic force of the first spring 611.

Disposed within the firing assembly housing is a pusher block 62 and a pusher block linkage 620. The pusher block coupling 620 is disposed at the uppermost end of the handle 61 and preferably has a cylindrical configuration for coupling the handle 61 to the pusher block 62 and for coupling the pusher block 62 to the firing assembly housing. The pushing block connecting piece 620 is fixedly connected with the handle 61 and the pushing block 62 respectively. The pusher block connector 620 further comprises a second spring 621 (preferably another torsion spring) fixed to the pusher block connector 620, wherein a first section extending from the second spring 621 is located inside the pusher block 62 and abuts against the inside of the upper surface of the pusher block 62. The firing assembly includes a push rack 63, and a section of push rack teeth 632 is disposed on the lower surface of the push rack 63. The pushing rack 63 is arranged above the pushing block 62, and the front end of the pushing block 62 comprises an upward tilting structure 622; under the action of the first section of the second spring 621, the propelling block 62 has a tendency of tilting upwards, a reinforcing rib is arranged at a proper position in the housing of the firing assembly, the rotation of the propelling block 62 is limited at the rear end thereof, and the propelling block 62 has a tendency of pressing downwards; in the initial state, the second spring 621 has accumulated power, and the tilting structure 622 of the pushing block 62 is maintained at a position not contacting the pushing rack 63.

The second section extending from the second spring body is located inside the handle 61 and abuts against the inside of the front side of the handle 61. When the handle 61 is pressed down, the handle 61 drives the pushing block connecting piece 620 to move counterclockwise (in the direction facing to fig. 15) by taking the handle 61 as an axis, at this time, the handle 61 presses down the second section of the second spring 621 to enable the second spring 621 to release the stored force, the pushing block 62 is pushed by the first section of the second spring 621, the pushing block 62 moves clockwise (in the direction facing to fig. 15) around the pushing block connecting piece 620, the tilting structure 622 of the pushing block 62 is pushed into the position contacting with the tooth socket of the pushing rack 63, and the pushing rack 63 moves forward.

The handle 61 is released, and the handle 61 returns to the original position under the action of the first spring 611; the pusher block 62 rotates clockwise until it is stopped by the rear stiffener and pressed down, and then moves counterclockwise (in the direction facing fig. 15) about the pusher block connector 620, returning the pusher block 62 to its original position and exiting the current tooth slot; because the front side of the pushing rack teeth 632 is an inclined surface, when the pushing block 62 rotates counterclockwise, the tilting structure 622 cannot drive the pushing rack 63, and at this time, the pushing rack 63 is not moved. As handle 61 is operated, kickup structure 622 of pusher block 62 sequentially falls into the respective gullets of pusher rack teeth 632 ranging from the forwardmost gullet to the rearwardmost gullet. Each time the handle 61 is pressed down, the tilting structure 622 pulls the pushing rack 63 forward once and disengages from the current tooth socket; the handle 61 is released and the cocking structure 622 enters a tooth slot in the rear end so that the advance rack 63 is pushed forward a distance (corresponding to one or more tooth slots) each time the handle 61 is depressed and released.

As shown in fig. 18 and fig. 19 (one side of fig. 19 is a cross section), the upper surface of the pushing rack 63 has a pushing rack first groove 633, the pushing rack first groove 633 includes a section of first rack 634, and the tooth space of the first rack 634 faces upward. A sector-shaped swing block 64 is arranged above the first rack 634, the arc-shaped surface of the sector-shaped swing block 64 is in a gear structure, and the gear teeth of the sector-shaped swing block face downwards to be meshed with the tooth grooves of the first rack 634. The firing assembly housing includes a sector shaped pendulum rotation axis 640 (e.g., disposed in a left-right orientation) for coupling the sector shaped pendulum 64 within the firing assembly housing and rotating the sector shaped pendulum 64 about the sector shaped pendulum rotation axis 640. The sector pendulum block rotating shaft 640 is fixedly connected in the firing assembly housing.

As shown in fig. 15, 18 and 19, a swing block connecting member 641 is respectively provided at the left and right sides of the sector swing block 64 and hinged to the sector swing block 64 itself or the sector swing block rotating shaft 640, and the other end of the swing block connecting member 641 is respectively hinged to a swing block connecting rod 65. Preferably, the swing block connecting rod connecting member 641 and the fan-shaped swing block rotating shaft 640 are connected through a shaft hole, a Y-protruding shaft is disposed on the swing block connecting member 641 and penetrates into a hole at the rear end of the swing block connecting rod 65 to realize hinging, and the hole is a waist-shaped hole to provide a section of moving space for the swing block connecting rod connecting member 641. The swing block connecting rods 65 are arranged on the left side and the right side of the pushing rack 63, and the front ends of the swing block connecting rods 65 are respectively hinged with a swing block push rod 66. In the initial state, the swing block connecting rod 65 forms a first included angle a with the instrument central shaft 9, and the opening direction of the first included angle a points to the rear end; the pendulum push rod 66 is always parallel to the instrument central axis 9. The number of teeth on the sector-shaped swinging block 64 does not exceed the number of tooth grooves of the first rack 634. In the initial state, the teeth (or tooth grooves) at the foremost end of the sector-shaped swing block 64 are engaged with the teeth (or tooth grooves) at the foremost end of the first rack 634. When the pushing rack 63 is pushed forward, the first rack 634 in the first groove 633 of the pushing rack moves forward, and the sector-shaped swing block 64 engaged with the first rack 634 is driven to rotate clockwise (in the direction facing fig. 15) around the sector-shaped swing block rotating shaft 640, and simultaneously drives the sector-shaped swing block rotating shaft 640 and the swing block connecting rod 641 to rotate clockwise (in the direction facing fig. 15). In this example, the sector shaped swing block 64, the sector shaped swing block rotation shaft 640, and the swing block link connection member 641 are integrally formed. The swing block connecting rod connecting part 641 drives the swing block push rod 66 to move forwards through the swing block connecting rod 65. As the push rack 63 continues to be pushed forward, the angle between the rocker link 65 and the instrument central shaft 9 gradually decreases. The firing assembly 6 further includes a sleeve 67 and a firing bar sleeve 68. The swing block push rod 66, the sleeve 67 and the firing rod sleeve 68 are sequentially connected from back to front, the firing rod sleeve 68 is connected with the pre-pressing insertion piece 54 at the rear end of the pre-pressing ejector rod 52, the sleeve 67 is pushed forwards through the swing block push rod 66, and then the firing rod sleeve 68, the pre-pressing ejector rod 52 and the limiting ejector rod 53 are driven to advance.

After the pushing rack 63 advances to a tooth (or tooth socket) in the first rack 634 to engage with a tooth socket (or tooth socket) at the rearmost end of the fan-shaped swing block 64, the pushing rack 63 is pushed forward continuously, the fan-shaped swing block 64 is separated from the first rack 634, and at this time, the included angle between the swing block connecting rod 65 and the instrument central shaft 9 is minimum. The pre-pressing sleeve 51 is pushed to the blocking mechanism to complete the pre-pressing operation, and the actuator 1 is opened to be completely closed; the limit post 53 is inserted into the fixed block tooth groove 32120 of the fixed block 32, completing the limit operation. Then the pushing rack 63 is pushed again, and the components which are connected with the sector-shaped swinging block 64 in sequence and can be driven by the sector-shaped swinging block 64 do not move forward any more.

Preferably, after the sector-shaped swing block 64 is separated from the first rack 634, some parts connected with or driven by the sector-shaped swing block 64, such as the swing block connecting rod 65 or the swing block push rod 66, will be in a tightened state, and slightly deform, so that the linear swing block connecting rod 65 or the swing block push rod 66 is moderately bent, so that the pushed pre-pressing ejector rod 52 and the limit ejector rod 53 are in a tightened state under the action of the swing block connecting rod 65 or the swing block push rod 66, and the risk that the jaw of the actuator 1 is opened due to the backward movement of the pre-pressing sleeve 51 and the fixed block 32 moves left and right due to the backward movement of the limit ejector rod 53 in the operation is reduced.

Preferably, a second included angle b is formed between the sector-shaped swing block 64 and the swing block connecting rod 65; a connecting line from the hinged position of the sector swing block 64 and the swing block connecting rod 65 to the sector swing block rotating shaft 640, and an included angle formed between the sector swing block 64 and the swing block connecting rod 65 is the second included angle b; when the pushing rack moves towards the proximal end or the distal end of the anastomat and drives the sector-shaped swinging block 64 to rotate, the angle of the second included angle b is reduced or enlarged. When the pre-pressing and limiting operations are not completed, the second included angle is an acute angle with the opening facing forwards (currently shown in fig. 28); in the process of pre-pressing and limiting, the second included angle is adjusted to be an obtuse angle with a forward opening; continuously impel rack 63 drives fan-shaped pendulum block 64 and continuously rotates, makes the second contained angle from the forward obtuse angle of opening, adjusts to the straight angle to the second contained angle, and the second contained angle adjustment is the rearward obtuse angle of opening again, and pendulum block connecting rod 65 contacts the limit point that sets up in the firing subassembly shell this moment, with fan-shaped pendulum block 64's rotation locking, forms the dead state of lock. The sector shaped rocker 64, when rotated to the maximum allowable swing angle, is stopped from further rotation by a ramp provided in the firing assembly housing. Thereafter, the push rack 63 is not affected and can continue to move forward without the sector shaped swing block 64 rotating therewith.

In this example, the firing bar sleeve 68 and the pre-loaded push rod 52 are connected by a pair of pre-loaded tabs 54 (shown in FIG. 25). The pre-pressing insertion piece 54 is a sheet structure, and is partially or completely embedded into the left and right sides of the firing bar sleeve 68, near the front end of the firing bar sleeve 68. The upper end and the lower end of each prepressing insert 54 are respectively connected to the rear ends of the same side (left side or right side) of the two prepressing push rods 52. Firing bar sleeve 68 is driven through pre-compression tab 54 to pre-compression ram 52.

As shown in FIG. 16, the firing assembly 6 further includes a firing bar 69, which may be formed of a single piece or may be assembled in multiple pieces. The front end of the firing rod 69 is connected with the cutting knife component 4, and the rear end is connected with the pushing rack 63. The firing bar 69 is disposed in the sleeve 67 and the firing bar sleeve 68, and when the firing bar sleeve 68 rotates along with the sleeve 67, the firing bar 69 and the cutting knife assembly 4 are driven to rotate around the central shaft 9. When the sector-shaped rocker 64 is disengaged from the first rack 634, the handle 61 is again depressed and released, the pushing rack 63 continues to move forward, which in turn pushes the firing bar 69 and the cutting blade assembly 4 forward, and the cutting head 41 begins to cut the tissue held in the effector 1. When the cutting head 41 of the cutting knife assembly 4 is run to the foremost end of the actuator 1, the cutting of the tissue is completed.

As shown in fig. 17, 20, 21, the firing assembly 6 further includes a safety button 601, a third spring 602 (preferably a compression spring), and a safety block 603. The safety button 601 is a cylindrical structure disposed within the firing assembly housing (e.g., in a side-to-side arrangement) and is at least partially exposed outside of the firing assembly housing. In this example, the left and right ends of the safety button 601 each include a section that is exposed outside of the firing assembly housing. The safety block 603 is provided on the front side of the safety button 601. The lower end of the safety block 603 extends backwards to form a safety block bump 6030; the front end of the safety button 601 extends forward to form a safety button projection 6010. The safety button projection 6010 is located above the safety block projection 6030. The upper surface of the safety block protruding block 6030 is provided with a first safety block groove 60300, a left safety block groove 60301 and a right safety block groove 60302 which are respectively located on the left side and the right side of the first safety block groove 60300. The lower end of the safety button projection 6010 protrudes downward, and in this example, the section of the safety button projection 6010 on the plane formed by the Y axis and the Z axis is a diamond shape. The protruding shape of the lower end of the safety button projection 6010 is matched with the first safety block groove 60300, the left safety block groove 60301 and the right safety block groove 60302. The third spring 602 fits over the cylindrical safety button 601 and is located within the firing assembly housing. In this example, the third spring 602 includes two segments, which are respectively disposed on the left and right sides of the safety button 601. The upper surface of the safety block 603 is an inclined surface extending backward from the upper end to the lower end, and in the initial state, the inclined surface abuts against the top edge connecting the front side surface and the lower surface of the push rack 63, and the protrusion of the lower end of the safety button projection 6010 corresponds to the first groove 60300 of the safety block, but is isolated from the first groove 60300 of the safety block. Grasping the handle 61 advances the pusher rack 63 and the safety block 603 is depressed in the Y direction. The lower surface of the push rack 63 is provided with a locking groove 630, and the locking groove 630 is located in front of the teeth of the lower surface of the push rack 63. The shape of the locking groove 630 is adapted to the shape of the upper end of the safety block 603. In this example, the upper surface of the safety block 603 is a slope inclined toward the rear end, so the locking groove 630 also includes a slope inclined toward the rear. The handle 61 is held, the rack 63 is pushed forward, and the position of the safety block 603 in the X direction is kept unchanged; when the handle 61 is released, the upper end of the safety block 603 is inserted into the locking groove 630, and the instrument is in a locking state, namely, the pushing rack 63 cannot be pushed forwards by holding the handle 61 again, and the handle 61 has great resistance and is difficult to pull. When the upper end of the safety block 603 is embedded into the locking groove 630, the safety block 603 moves upward along the Z direction relative to the initial position, so that the lower end of the safety button projection 6010 falls into the first groove 60300 of the safety block, correspondingly, the sector-shaped swing block 64 is separated from the first rack 634, the swing angle of the sector-shaped swing block 64 is maximized, and the pre-pressing operation and the limiting operation are both completed. At this time, the operator can check whether the angle of the actuator 1 is appropriate. If the angle is proper, the pre-pressing sleeve 51 and the limiting ejector rod 53 are accurately in place, the actuator 1 is closed, unlocking operation is carried out, and the safety button 601 is pushed inwards along the Y direction to be exposed at the left side (or the right side) of the excitation shell.

Taking the example of pushing the safety button 601 to the right, the lower end of the safety button projection 6010 is disengaged from the safety block first recess 60300 and falls into the safety block right recess 60302, and the right third spring 602 is compressed; the lowest point of the right safety block groove 60302 is higher in the Z direction than the lowest point of the first safety block groove 60300, after the safety button projection 6010 moves, the safety block 603 is pressed in the Z direction, the upper end of the safety block 603 at least partially escapes from the locking groove 630, the safety block 603 no longer limits the forward movement of the pushing rack 63, and the instrument is unlocked. Then, the handle 61 is pressed and loosened again, the pushing rack 63 moves forward, the upper end of the safety block 603 is pressed downwards by the top edge formed by the rear side surface of the locking groove 630 and the lower surface of the pushing rack 63, the safety block 603 moves downwards, the right groove 60302 of the safety block is separated from the lower end of the safety button projection 6010, the safety button 601 moves leftwards under the elastic force of the third spring 602 on the right side, the initial position is returned, and the lower end of the safety button projection 6010 corresponds to the first groove 60300 of the safety block. Preferably, the upper end of the safety block 603 is shaped to correspond to the tooth space of the pushing rack teeth 632 behind the locking groove 630, and the depth of the tooth space of the pushing rack teeth 632 does not allow the inclined surface of the upper end of the safety block 603 to be completely inserted into the tooth space, so that the safety block 603 is in contact with the pushing rack 63 and does not prevent the forward movement of the cutting blade assembly 4 when the locking state is released and the pushing rack 63 pushes the cutting blade assembly 4 forward.

A fourth spring 604 (preferably a torsion spring) having one extension attached to the upper portion of the safety block 603 and the other extension secured to a suitable location within the firing assembly housing is released when the safety block 603 moves downward out of contact with the push rack 63 and releases the safety button 601 when it is not in contact with the locking block, allowing the upper end of the safety block 603 to continue to contact the push rack 63 by restoring the safety block 603 to its original position with the force of the spring.

As shown in fig. 18, a position between the locking groove 630 and the pushing rack teeth 632 on the lower surface of the pushing rack 63 includes a pushing rack second groove 631 (idle groove). In the initial state, the tilting structure 622 of the push block 62 corresponds to the push rack second groove 631. The swing angle from the first time of holding the handle 61 to the handle 61 is the largest, i.e. holding the handle 61 to the handle 61 butts against the front side of the magazine structure, the second groove 631 of the push rack is pushed fully to the front of the push block 62. When the handle 61 is released, the tilted structure of the pushing block 62 enters the first tooth groove at the foremost end of the pushing rack teeth 632.

As previously described, the operator first grasps the handle 61 and reaches it all at once until the handle 61 is restrained by the magazine structure when using the stapler of the present invention. After the handle 61 is loosened, the upper end of the safety block 603 enters the locking groove 630, the tilting structure 622 enters the tooth groove at the foremost end of the pushing rack teeth 632, and the fan-shaped swing block 64 is separated from the first rack 634; the sector swing block 64 sequentially pushes the swing block connecting rod connecting piece 641, the swing block connecting rod 65, the swing block push rod 66, the sleeve 67, the firing rod sleeve 68, the pre-pressing ejector rod 52 and the limiting ejector rod 53 to move; the pre-pressing sleeve 51 is limited by the blocking mechanism, the actuator 1 is closed, and the tissue is pre-pressed before the cutting anastomosis is finished; the limit post 53 is inserted into the fixing block tooth groove 32120 of the fixing block 32 to limit the fixing block 32. From the second grasping of the handle 61, each time the handle 61 is grasped, the pushing block 62 pushes the pushing rack 63 forward, and the cutter head 41 cuts the tissue while the tissue is stapled by the staples.

The firing assembly 6 further includes a reset assembly that includes a reset rod 81, a reset plate 82, and a reset pin 83. The reset rod 81 is a pull rod for retracting the pushing rack 63, and the reset rod 81 is arranged in the firing assembly housing (for example, arranged in the left-right direction) and at least partially exposed outside the firing assembly housing; preferably, the portion of the reset lever 81 exposed outside of the firing assembly housing is sleeved with a reset button 84 (shown in FIG. 1), and the retraction operation is performed by pulling on the reset button 84.

The firing assembly housing is provided with a reset rod channel 810 (shown in fig. 1) for the reset rod 81 to move back and forth, and the reset rod channel 810 is arranged along the X direction and is parallel to the pushing rack 63. During the forward movement of the push rack 63, the reset lever 81 moves forward along the reset lever passage 810. The length of the reset lever channel 810 is longer than or equal to the total length of the pushing rack second groove 631 and the pushing rack teeth 632 such that the length of the reset lever channel 810 does not limit the range of motion of the pushing rack 63.

The reset plate 82 is connected to the side of the push rack 63 by a reset pin 83. The foremost end of the reset piece 82 exceeds the position of the locking groove 630, and the reset piece 82 is provided with a notch with the shape approximately the same as that of the locking groove 630 corresponding to the position of the locking groove 630 of the pushing rack 63, so that after the safety block 603 enters the locking groove 630, the reset piece 82 does not generate downward pressure on the safety block 603. The reset sheet 82 is provided with a reset inclined hole 820 inclined backward, and the upper end of the reset inclined hole 820 points to the front and the lower end points to the back. In the initial state, the lower end of the reset plate 82 is not lower than the lower surface of the push rack 63, and the reset pin 83 fixed to the push rack 63 is disposed at the lower end of the reset inclined hole 820 (i.e., the lowest point of the reset inclined hole 820).

The reset lever 81 passes through the reset plate 82 and the rear end of the push rack 63 in turn. The pushing rack 63 is provided with a first through hole 635 for the reset rod 81 to pass through, and the first through hole 635 has a certain length in the X direction. Reset plate 82 is provided with a second reset rod through hole 821 for reset rod 81 to pass through, and reset rod second through hole 821 has a certain length in the Z direction. In the initial state, the reset lever 81 is disposed at the foremost end of the reset lever first through hole 635 and at the lowermost end of the reset lever second through hole 821.

After the handle 61 is pressed and loosened for the first time, if the angle of the actuator 1 is not proper, or the pre-pressing sleeve 51 and the limiting ejector rod 53 are not accurately in place, or the actuator 1 is not completely closed, the retracting operation is performed. At this time, the upper end of the safety block 603 is fitted into the locking groove 630, and the safety block 603 is wider than the locking groove 630 in the Y direction, that is, the safety block 603 protrudes right and left in the Y direction with respect to the push rack 63 including the reset piece 82. The reset rod 81 is pulled backwards, and because the reset rod 81 is arranged at the foremost end of the first through hole 635 of the reset rod, the reset rod 81 moves in the space in the X direction along the first through hole 635 of the reset rod, so that the reset rod 81 drives the reset piece 82 to move, and does not drive the push rack 63 to move. The reset pin 83 fixed to the push rack 63 does not move. The direction of movement of the reset plate 82 is limited by the reset pin 83 and the reset ramp hole 820. The reset plate 82 moves relative to the reset pin 83, and the reset pin 83 contacts the lower end of the reset inclined hole 820, and then the reset pin 83 contacts the upper end of the reset inclined hole 820, which corresponds to the reset inclined hole 820 of the reset plate 82 moving downward and backward along the reset pin 83. The direction of movement of the reset plate 82 can be broken down into a downward movement and a rearward movement. The reset plate 82 moves downward until the lower end thereof touches the upper end of the safety block 603; the reset plate 82 continues to move downwards, the lower end of the reset plate presses the safety block 603 downwards, the safety block 603 is separated from the pushing rack 63, the reset plate 82 moves downwards to drive the second reset rod through hole 821 on the reset plate 82 to move downwards, the reset rod 81 moving backwards is driven, the reset plate 82 moves upwards relatively, and the reset rod 81 moves to the uppermost end from the lowest end of the second reset rod through hole 821. The reset lever 81 moves backward until the reset lever 81 contacts the rearmost end of the reset lever first through hole 635, the safety block 603 is completely pressed down, is released from the locking groove 630, and the locking state is released; the reset rod 81 continues to move backward, and can simultaneously drive the reset piece 82 and the push rack 63 to move backward until the initial state is reached. After the retraction operation is completed, all the structures of the instrument are fully returned to the initial position. The steering knob 21 can now be operated again to adjust the instrument angle.

After the first depression-release of the handle 61 to move the instrument to the proper position, continued depression-release of the handle 61 causes movement of the cutting blade assembly 4, primarily through the firing assembly 6. Thereafter, each time the handle 61 is pressed and released, the push rack 63 is pushed forward by the push block 62 for a distance. The distance that the push rack 63 moves forward can be controlled by the range of movement of the handle 61 after the handle 61 is pressed. For example, by pressing down on the handle 61, the handle 61 is rotated counterclockwise by a small angle, and the pushing rack 63 is pushed forward by the pushing block 62 by a distance of the tooth gap of the pushing rack teeth 632; the handle 61 is loosened, and the tilting structure of the pushing block 62 enters the tooth groove of the next pushing rack tooth 632; or, the handle 61 is pressed down, so that the handle 61 rotates counterclockwise by a larger angle, and the pushing rack 63 is pushed forward by the pushing block 62 by the distance of at least two tooth grooves of the pushing rack teeth 632; by releasing the handle 61, the tilted structure of the pushing block 62 enters the tooth grooves of at least two pushing rack teeth 632 backward. However, the maximum distance that the pushing rack 63 moves forward once is not more than the distance that the pushing rack 63 moves forward when the handle 61 is pressed for the first time, i.e., when the pre-pressing operation and the limiting operation are performed by the firing assembly 6. Preferably, the shape of the tooth slot of the driving rack teeth 632 is adapted to the shape of the upper end of the safety block 603, so that the tilting structure of the driving block 62 enters a certain tooth slot, and simultaneously the upper end of the safety block 603 enters the tooth slot located in front of the tooth slot.

In some embodiments, such as when the cutting-head 41 is blocked by a foreign object in the tissue during the advancement, a greater grip must be provided to continue advancing the cutting-head 41, but an excessive grip may cause damage to the stapler, and thus, in order to prevent the handle 61 from receiving an excessive grip, the firing assembly 6 may be provided with an overload protection function. As shown in fig. 22, the handle 61 is provided in two segments, including a handle upper portion 613 and a handle lower portion 614, which are hinged at their rear ends and connected at their front ends by a handle spring 612; preferably, the handle spring 612 is provided inside the handle 61. In the initial state, the lower end of the handle upper portion 613 and the upper end of the handle lower portion 614 are in contact with each other. The upper end of the upper handle portion 613 is connected to the pusher block 62 and the lower handle portion 614 comprises a ring-shaped structure for the operator to hold. When the handle is pressed in the counterclockwise direction, the holding force is transmitted from the lower handle portion 614, the handle spring 612 to the upper handle portion 613, which is not enough to make the handle spring 612 to stretch and accumulate the force, so the lower handle portion 614 drives the upper handle portion 613 to rotate counterclockwise through the handle spring 612, so that the upper handle portion 613 and the lower handle portion 614 are kept stationary during the movement, which is similar to the movement when the handle is made into an integral structure. When the grip is too large, the grip is transmitted from the lower handle portion 614 to the handle spring 612, and the handle spring 612 is stretched and accumulated under the effect of the too large grip, so that the portion of the grip capable of being transmitted to the upper handle portion 613 is not enough to drive the pushing block 62 to push the pushing rack 63 to advance, and the stapler is in a force unloading state. After the cutter assembly 4 is retracted to a proper position by performing a retracting operation (described in detail below) when entering the force-releasing state, the cutting and stapling operation is performed again. Preferably, a mechanical sensor may be installed at a connection between the upper handle portion 613 and the lower handle portion 614, when the lower handle portion 614 is held, a mechanical signal is transmitted to the processing unit, the processing unit determines whether the grip strength value exceeds a set range, and when the grip strength is too large, the operator is reminded of the grip strength by emitting a prompt sound or blinking a prompt light within a visual range of the operator.

As shown in fig. 18 and 23, the cutting process is ended when the cutting blade assembly 4 is moved to the foremost end within its range of motion. The reset rod 81 is retracted to the rear end along the reset rod channel 810, the reset sheet 82 is driven to move towards the rear lower side, and the reset sheet 82 presses the safety block 603 down to enable the uppermost end of the safety block 603 to be far away from the lower surface of the pushing rack 63. The pushing rack 63 is driven to move to the rear end, and the firing rod 69 and the cutting knife assembly 4 are driven to move backwards together. The withdrawing is continued until the teeth (or the tooth grooves) of the rearmost end of the sector-shaped swing block 64 are re-engaged with the tooth grooves (or the teeth) of the first rack 634 of the upper surface of the push rack 63, and since the safety block 603 has been pressed down by the reset piece 82, the safety block 603 is not inserted into the locking groove 630 any more, and the withdrawing of the push rack 63 is not restricted. Continuing to pull the reset rod 81, pushing the rack 63 to sequentially drive the first rack 634 and the sector swing block 64, and further sequentially driving the swing block connecting rod 65, the swing block push rod 66, the sleeve 67, the trigger rod sleeve 68, the pre-pressing insertion piece 54, the pre-pressing ejector rod 52 and the limiting ejector rod 53 to move backwards, so that the limiting ejector rod 53 is separated from the groove structure of the fixed block 32; when the pre-pressing push rod 52 moves backward, the pre-pressing sleeve 51 is driven to move backward integrally, so that the pre-pressing sleeve 51 returns to the initial position, and the jaw of the actuator 1 is opened again. In the process of withdrawing, the tilting structure 622 of the pushing block 62 is not in contact with the pushing rack 63, because when the handle 61 is completely reset, the rear end of the pushing block 62 is in contact with the end surfaces of the two reinforcing ribs at corresponding positions in the housing of the firing assembly, due to the effect of the first spring 611, the pushing block 62 is pressed by the reinforcing ribs and can rotate relative to the pushing block 62, and the tilting structure 622 can be completely separated from the pushing rack 63.

In other embodiments, the pendulum push rod 66 only contacts, but is not connected to, the rear end of the sleeve 67. The pendulum push rod 66 can only push the sleeve 67 to move towards the front end to complete the pre-pressing operation and the limiting operation, and can not pull the sleeve 67 to move backwards to withdraw the pre-pressing assembly and the limiting mandril 53 to the back end to the initial state. The firing rod 69 is arranged in the sleeve 67 and the firing rod sleeve 68, two sides of the firing rod 69 are provided with a step structure 691 (a section of the firing rod 69 behind the step structure 691 is provided with a left plane and a right plane, as shown in fig. 27), and the front end of the pre-pressing insertion sheet 54 can be contacted with the rear end face of the step structure 691. In the process that the reset rod 81 pulls the pushing rack 63 to retreat, the pushing rack 63 drives the fan-shaped swing block 64 to rotate anticlockwise (facing to the direction of fig. 15) around the rotating shaft so as to release the pre-pressing locking state, and meanwhile, the swing block connecting rod 65 and the swing block push rod 66 move backwards; the pushing rack 63 also pulls the firing rod 69 to retreat, pushes the pre-pressing insertion sheet 54 backwards through a step structure 691 of the firing rod 69, and utilizes the pre-pressing insertion sheet 54 to pull other pre-pressing components directly or indirectly connected with the pre-pressing insertion sheet 54 backwards to move towards the rear end, so as to drive the pre-pressing sleeve 51 to retreat, and open the jaw of the actuator 1; the pre-pressing insertion piece 54 moves backwards and also drives the firing rod sleeve 68 to sequentially push the sleeve 67, the swing block push rod 66, the swing block connecting rod 65 and the sector swing block 64 backwards (or swing).

As shown in fig. 18 and 24, the return assembly further includes a return hook 85 and a return spring 86. The return hook 85 has a rear end connected to the return lever 81 and a front end connected to the return spring 86. The front end of the return hook 85 is tilted upward, facilitating better hooking of the return spring 86. A third groove 636 of the pushing rack is arranged on the upper surface of the pushing rack 63. The return hook 85 and the return spring 86 are disposed in the third groove 636 of the push rack. The front end of the return spring 86 is fixedly attached to the front side of the interior of the third recess 636 of the push rack. When the reset rod 81 is pulled backwards, a process of moving in the X-direction reset rod first through hole 635 is involved, at this time, the push rack 63 does not move, but the reset rod 81 can sequentially pull the reset hook 85 and the reset spring 86 which are arranged in the push rack third groove 636, and the reset spring 86 stores power. The reset rod 81 is released after the push rack 63 is pulled back to the initial position by the reset rod 81, the reset hook 85 and the reset rod 81 can be sequentially driven to return to the initial position by the reset spring 86, meanwhile, the reset sheet 82 moves upwards and forwards along the reset pin 83 through the reset inclined hole 820, and finally, the reset rod 81, the reset hook 85, the reset sheet 82 and the reset spring 86 all return to the initial position.

As shown in fig. 18 and 23, a stopper 60 fixed in the firing assembly 6 is provided above the push rack 63, a fourth push rack recess 637 recessed toward the central axis 9 is provided on a side surface of the push rack 63, and a lower end of the stopper 60 extends into the fourth push rack recess 637 and abuts against a rear side surface of the fourth push rack recess 637 in an initial state. The screens 60 are connected with the screens springs 600, the screens springs 600 provide elastic force for the screens 60, the lower ends of the screens 60 provide backward acting force for the pushing racks 63, the pushing racks 63 can be set relatively stably in the initial state, the handle 61 is prevented from being slightly disturbed, the handle 61 is pressed down in the non-operation state, and the pushing racks 63 are driven to push the pre-pressing assembly 5 to perform pre-pressing operation and limiting operation. During normal use of the stapler, the handle 61 is pressed down, overcoming the elastic force of the detent spring 600, to push the rack 63 forward. The rear side of fourth push rack recess 637 pushes detent 60 forward, causing detent 60 to rotate clockwise (to face in the direction of fig. 17), and the lower end of detent 60 disengages from fourth push rack recess 637, but the lower end of detent 60 still abuts against the upper surface of push rack 63. In the process of withdrawing the push rack 63, when the lower end of the detent device 60 contacts the rear side of the fourth recess 637 of the push rack again, the detent device 60 rotates counterclockwise by the elastic force of the detent spring 600, and the lower end of the detent device 60 pulls the push rack 63 to continue to provide a backward acting force to the push rack 63.

The range of motion of the cutting knife is limited by the length of the pushing rack teeth 632 and the length of the through slot in the cartridge assembly 11 for movement of the cutting knife. In some embodiments, different lengths of the cartridge assembly 11 may be selected depending on the surgical needs, and the length of the channel through which the cutting knife moves may vary. In general, in the cartridge assembly 11, the longest arrangement length of the staples is 60mm, that is, the length of the through slot for the movement of the cutting knife is 60 mm; therefore, the entire length of the pushing rack teeth 632 should be set to at least 60 mm.

In the embodiment as described above, the present invention provides the stapler capable of performing actions including a turning operation, a preloading operation and a restraining operation, wherein the turning operation includes a deflecting operation and a rotating operation. In the embodiment in which the actuator 1 is subjected to the yaw operation, that is, the actuator 1 is deflected at an angle to the left or right with respect to the central axis 9, it is preferable that the yaw operation be performed on the premise that the rotation operation is completed, and the limit operation be performed on the premise that the steering operation is completed. In the embodiment that the deflection operation is not performed on the actuator 1, that is, the actuator 1 is always positioned on the central shaft 9 during the cutting process, only the execution sequence of the limiting operation is limited, and the execution of the limiting operation is based on the premise that the deflection operation is completed; the order of execution of the other executable actions is not limited. From the perspective of the instrument design alone, whether the jaws of actuator 1 are open or closed, it is possible to deflect actuator 1, which is connected to anchor block 32, to the appropriate angle with anchor block 32 by means of a steering operation. In practical application, the locking (limiting operation) of the adjusted angle and the closing of the actuator 1 through the pre-pressing operation can be completed simultaneously according to requirements; alternatively, the two operations are performed asynchronously, for example, the angle is adjusted and then the actuator 1 is closed, or the angle is adjusted and then the actuator 1 is closed. And after the steering operation, the pre-pressing operation and the limiting operation are all completed, the cutting and anastomosis operation is carried out.

In some embodiments, the firing assembly 6 includes a motor that is electrically driven to move the advancing rack 63. And a button for turning on or off the motor is arranged outside the anastomat. In embodiments provided with a motor, the handle 61 may not be provided, with electric drive as the only way to drive the movement of the pushing rack 63; a handle 61 may also be provided, and both manual actuation of the handle 61 and electrical actuation of the motor may be used as a means of driving the movement of the pushing rack 63. In embodiments involving electrical actuation, when the advancement of cutting head 41 is blocked by a tissue anomaly, the motor can be controlled by the processing unit to turn on and off by providing a mechanical sensor to transmit a mechanical signal to the processing unit.

In some embodiments, a reminding device is provided to remind the operator whether the pre-pressing operation and the limiting operation are in place, and the moving distance of the cutter head of the cutter assembly 4. The following reminding means includes, but is not limited to, sounding a warning sound or flashing a warning light in the visual range of the operator. And after the cutting anastomosis operation is finished, performing withdrawal operation, and resetting and clearing the signal of the sensor when the structure provided with the reminding device is restored to the corresponding initial position.

In the embodiment of setting a reminding device to remind an operator whether the pre-pressing operation is in place, the reminding device may be a sensor, the sensor is arranged on the pre-pressing sleeve 51 or the actuator 1, and when the front end of the pre-pressing sleeve 51 contacts with the blocking mechanism of the actuator 1, the reminding device reminds the operator that the pre-pressing operation is in place; the sensor can also be a distance sensor arranged on the pre-pressing sleeve 51, and reminds an operator of the pre-pressing operation to be in place after the forward movement distance of the pre-pressing sleeve 51 reaches the maximum movement distance designed for the pre-pressing sleeve 51; or the sensor is arranged on the nail bin component 11 and the nail anvil component 12, and after the jaw formed by the nail bin component 11 and the nail anvil component 12 is closed and the nail bin component 11 and the nail anvil component 12 are contacted, an operator is reminded of pre-pressing operation in place.

In the embodiment of arranging the reminding device to remind the operator whether the limiting operation is in place, the reminding device can be a sensor, and the sensor is arranged on the groove structure of the fixed block 32 or the limiting ejector rod 53; when the front end of the limit post rod 53 is inserted into a certain tooth groove of the fixed block tooth groove 32120, or the forward movement distance of the limit post rod 53 reaches the maximum movement distance designed for the limit post rod 53, an operator is reminded of the limit operation in place.

In embodiments where a reminder is provided to alert the operator of the distance the tool bit has moved, the reminder can be a graduated line on the housing of the firing assembly at the reset rod channel 810. When the safety block 603 enters the locking groove 630, the corresponding position of the reset rod 81 in the reset rod channel 810 is marked as the position 0, and the upper side or the lower side of the reset rod channel 810 is marked with 0 graduation line on the housing of the firing assembly; the longest arrangement length of the anastomotic nails in the nail bin assembly 11 is 60mm, namely the movable range of the cutter assembly 4 is 60 mm; therefore, 0 scale mark is used as an initial position, the front end is arranged along the X direction, and a plurality of scale marks with corresponding distances are arranged on the shell of the firing assembly; the scale marks at least comprise 30mm scale marks and 45mm scale marks, and the total length of the scale marks is at least 60 mm. Graduation marks may also be marked on the advance rack 63 when the reset rod channel 810 has a width in the Z direction that exposes the advance rack 63 inside the firing assembly 6. The reminding device can be an acousto-optic reminding device comprising a sensor, the position of the sensor is not limited, and the reminding device can be arranged at the position of a cutter head or a cutter handle of the cutting knife assembly 4 or on the pushing rack 63; at least when the cutting knife assembly 4 moves forward 30mm, 45mm and 60mm, a warning is given to the operator. The reminding device can be a number counter, for example, arranged on the pushing rack 63, when the pushing rack 63 is pushed forward to a unit length, the rotating wheel of the number counter is shifted once, and the number counter counts once; meanwhile, a display screen can be arranged on the shell of the firing assembly, and the number recorded by the frequency counter is fed back to the display screen through the processing unit and displayed to an operator; but at least once when the advancing rack 63 advances the cutting blade assembly 4 by 30mm, 45mm and/or 60 mm.

As shown in fig. 1, 25 and 26, the large-angle stapler disclosed by the present invention further includes a central tube assembly 7, and the central tube assembly 7 is used for transmitting the motion of each assembly at the input end to each assembly at the execution end, or for stabilizing, protecting or connecting other structures of the stapler. The center tube assembly 7 includes an outer tube 71 and a center tube connector. The outer tube 71 is sleeved on the outermost side of the part between the tail end of the pre-pressing sleeve 51 and the front end of the steering mechanism 2, specifically, the rear part of the pre-pressing sleeve 51 is sleeved in the outer tube 71, the rear part of the outer tube 71 is sleeved in the front end of the shell structure formed by the upper rotating block 231 and the lower rotating block 232, the cutting knife assembly 4, the driving connecting piece and the other structures of the central tube assembly 7 are all arranged in the outer tube 71, and the outer tube 71 plays a role in fixing and limiting sleeved structures in the outer tube 71 and provides a moving space for the structures. The central tube connecting pieces are arranged at the upper side and the lower side of the instrument central shaft 9 and are respectively positioned at the rear ends of the fixing block upper connecting piece 3211 and the fixing block lower connecting piece 3212, and the rear end of the connecting and fixing plate 37 is embedded at the front end of the central tube assembly 7. The rear end of the center tube assembly 7 is connected to the steering mechanism 2. The central tube connector on each side may be an integrally formed structure (generally, rod-shaped, plate-shaped or column-shaped, but not limited thereto), or may be formed by connecting a plurality of connecting sections in sequence (the adjacent connecting sections may have the same or different structures). When the central pipe connecting piece is arranged into a plurality of connecting sections which are sequentially connected, on one hand, the length of each connecting section is shorter, the processing process is simpler, and meanwhile, the strength of the instrument can be improved; on the other hand, different connecting sections can be selected to be combined and connected according to different use scenes of the anastomat, so that the anastomats with different lengths can be obtained.

The drive connectors on the left and right sides of the instrument central shaft 9 are clamped between the upper and lower central tube connectors. The total length of the driving connecting piece and the central pipe connecting piece is approximately the same, and different connecting sections of the driving connecting piece and the central pipe connecting piece are selected and matched with each other to adjust the length of the anastomat. In principle, the upper and lower centre tube connectors are of an axisymmetrical configuration with respect to the central axis 9. However, in embodiments where only one restraining post 53 is provided, the configuration of the lower center tube connection needs to be adapted.

In this example, the connection section provided at the foremost end of the center tube connection member is a cutter guide plate 72. The cutter guide plate 72 includes an upper cutter guide plate and a lower cutter guide plate which can be aligned and fitted to each other and are respectively provided at the rear ends of the fixing block upper connector 3211 and the fixing block lower connector 3212. The cutting knife guide plate 72 can bear other parts connected with the cutting knife guide plate and has a limiting effect, so that the cutting knife guide plate can only move along the X direction; because the cutter assembly 4 is arranged in the space enclosed by the upper cutter guide plate and the lower cutter guide plate, the cutter guide plate 72 can also limit the running direction of the cutter assembly 4. The rear end of the connecting fixing plate 37 is embedded on the cutting knife guide plate 72, and the front end of the cutting knife guide plate 72 is correspondingly provided with a groove for embedding the connecting fixing plate 37. The front end of the lower pre-pressing ejector rod 521 is connected with the tail end of the limiting ejector rod 53, and the front end of the limiting ejector rod 53 is embedded into the tail end of the connecting and fixing plate 37 on the lower side; the rear section of the connecting fixing plate 37, the limiting ejector rod 53 and the prepressing ejector rod 52 are embedded into the lower cutting knife guide plate. The outer side of the cutting knife guide plate 72 comprises a protruding structure, a corresponding groove is formed in the outer tube 71, and the cutting knife guide plate 72 is embedded in the outer tube 71 through the protruding structure.

The rear end of the outer tube 71 is connected to the steering mechanism 2. The operator rotates the housing structure composed of the upper rotary block 231 and the lower rotary block 232 by 360 degrees with the central shaft 9 as the rotary shaft, and the housing structure can drive the positioning collision bead 22, the rotary shaft 24 and the steering knob 21 to rotate, which is the rotary operation in the steering operation. Preferably, the housing structure formed by the upper rotary block 231 and the lower rotary block 232 is provided with a concave-convex structure convenient for the operator to hold and rotate by hand. The shell structure drives the outer tube 71, the central tube connecting piece, the connecting fixing plate 37 and the fixing block 32 to rotate in sequence, and the fixing block 32 drives the actuator 1 to rotate. In this process, since the other components not mentioned above, including the pre-pressing component 5, the driving component 3 and the cutting knife component 4, are mutually connected or nested, when performing the rotation operation, except that the firing component 6 at the rear end of the steering mechanism 2 does not rotate, other structures can be driven by the steering mechanism 2 to rotate together by the same angle. The sleeve 67 is provided with a through hole which is communicated along the central shaft 9, the front ends of the left and right swing block push rods 66 are arranged at the rear end of the sleeve 67, and the sleeve 67 can rotate around the central shaft 9 relative to the swing block push rods 66, so as to drive the trigger rod sleeve 68, the pre-pressing push rod 52, the limiting push rod 53, the fixed block 32 and the actuator 1 to rotate together. The sleeve 67 is provided with a left and right symmetrical groove on the outer wall, the left and right bogies 26 can be respectively arranged in the groove to clamp the sleeve 67, and when the rotating block 23 is operated to rotate around the central shaft 9, the sleeve is driven to rotate around the central shaft 9 through the rotating shaft 24, the steering connecting block 25 and the bogies 26. The bogie 26 also drives the drive connection member, the cutting blade guard 31, the cutting blade guard liner 36 and the holding block 32 to rotate about the central axis 9.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims

1. A cutting knife guard plate component is used for an anastomat and is characterized in that,

the cutting knife backplate subassembly includes:

the two cutting knife guard plates are respectively and rotatably connected to the first side and the second side of the fixing block and used for driving the fixing block to deflect; the first side and the second side are positioned on two sides of the central axis and respectively correspond to the deflection directions;

the near ends of the two cutting knife guard plates are respectively and rotatably connected with the far ends of the two driving connecting pieces; the near ends of the two driving connecting pieces are respectively connected with a steering mechanism of the anastomat;

under the drive of the steering mechanism, one driving connecting piece drives the corresponding cutting knife protecting plate to move towards the near end of the anastomat, and the other driving connecting piece drives the corresponding cutting knife protecting plate to move towards the far end of the anastomat, so that the two cutting knife protecting plates deflect relative to the central axis of the instrument;

the cutter handle is bent, and the part of the cutter handle, which protrudes to one side due to bending, is attached to the inner surface of the cutting knife protection plate on the corresponding side; meanwhile, the fixing block is driven to deflect by the two cutting knife guard plates which respectively move towards the near end and the far end of the anastomat; the fixing block is connected to the near end of the actuator and can drive the actuator to deflect, the actuator is used for clamping tissues to be anastomosed, and a through groove is formed in the actuator and used for enabling the cutting knife assembly to move.

2. The cutting burr guard assembly of claim 1,

the cutting knife guard plate is of a rigid structure.

3. The cutting burr guard assembly of claim 1,

the cutting knife guard plate assembly comprises two cutting knife guard plate linings which are respectively connected to the inner sides of the cutting knife guard plates, and the cutting knife guard plate linings are tightly attached to the side faces of the knife handle.

4. The cutting burr guard assembly of claim 3,

the inner lining of the cutting knife guard plate is an elastic sheet.

5. The cutting burr guard assembly of claim 3,

the inner side of the cutting knife guard plate is provided with a cutting knife guard plate groove, and the inner lining of the cutting knife guard plate is at least partially embedded into the cutting knife guard plate groove.

6. The cutting burr guard assembly of claim 5,

when the cutter handle is not bent, the inner lining of the cutting knife guard plate is provided with two embedded parts which are correspondingly embedded into the far end and the near end of the groove of the cutting knife guard plate, and the inner lining of the cutting knife guard plate between the two embedded parts is suspended.

7. The cutting burr guard assembly of claim 5,

when the cutter handle is bent, the inner liners of the two cutting knife guard plates deform along with the bending of the cutter handle; one cutting knife guard plate lining is pushed by the convex part of the knife handle and is embedded into a cutting knife guard plate groove corresponding to the convex direction; the inner lining of the other cutting knife guard plate is tightly attached to the concave part of the knife handle.

8. The cutting burr guard assembly of claim 6,

the cutting knife backplate inside lining further is equipped with the extension behind the embedding portion of near-end, and two embedding portions and the cutting knife backplate inside lining between them are along with the handle of a knife bending between the cutting knife backplate and deformation, and the extension does not take place deformation and hug closely the handle of a knife surface that does not reach the cutting knife backplate.

9. The cutting burr guard assembly of claim 5,

the cutting knife guard plate groove on each side comprises a plurality of groove sections which are mutually separated, and the inner lining of the cutting knife guard plate on the same side is provided with a plurality of lining sections which are separated to match with the inner lining; the convex part of the knife handle due to bending pushes the lining section on the side corresponding to the convex direction into the corresponding groove section, and the convex part of the knife handle is at least attached to the inner surface of the cutting knife guard plate between the groove sections to realize smooth turning.

10. The cutting burr guard assembly of claim 1,

the far end of cutting knife backplate is equipped with columnar cutting knife backplate rotation axis, cutting knife backplate rotation axis with the mounting groove shaft hole of fixed block both sides is connected, makes cutting knife backplate relatively fixed block rotate.

11. The cutting burr guard assembly of claim 1,

the deflection angles of the rotating shafts of the two cutting knife protection plates relative to the fixed block are the same.

12. The cutting burr guard assembly of claim 1,

the deflection angle of the fixed block relative to the central shaft is 0-90 degrees.

13. The cutting burr guard assembly of claim 12,

the deflection angle of the fixed block relative to the central shaft is 0-67.5 degrees.

14. An anastomat is characterized in that a plurality of anastomats are arranged in a straight line,

the method comprises the following steps: the cutting burr guard assembly of any of claims 1-13, a mounting block, a cutting burr assembly, a drive linkage, a steering mechanism, and an actuator;

15. The stapler of claim 14,

the steering mechanism comprises a steering button, a rotating shaft and a steering connecting piece;

16. The stapler of claim 15,

the steering mechanism also comprises a positioning collision ball and a rotating block;

17. The stapler of claim 16,

the positioning collision bead comprises a bead body and a spring, one end of the spring is connected with the steering button, and the other end of the spring is connected with the bead body; the spring is stretched to the process of being compressed and then stretched, and the corresponding bead body falls into the other positioning bead groove from one positioning bead groove.

18. The stapler of claim 16,

the positioning collision bead groove comprises a 0-degree positioning collision bead groove arranged on a straight line where the central shaft is located and other positioning collision bead grooves distributed on two sides of the positioning collision bead groove;

19. The stapler of claim 18, wherein the maximum deflection angle set for the actuator is at least 67.5 °.

20. The stapler of claim 17,

the rotating block comprises an arc-shaped groove which is sunken towards the inner part of the shell structure, and one side surface of the arc-shaped groove is provided with a clamping convex block groove; the clamping convex block groove is arranged corresponding to the positioning collision bead groove;

21. The stapler of claim 17,

the rotating block comprises an arc-shaped groove which is sunken towards the inner part of the shell structure; a clamping convex block groove is formed in one side face of the arc-shaped groove; a blocking plate is arranged at one end, far away from the central axis, of the clamping convex block groove;

22. The stapler of claim 20 or 21,

the positioning collision bead grooves are distributed on the surfaces of the rotating blocks exposed in the arc-shaped grooves; or the arc line where the positioning collision bead groove is located is not in the range of the arc-shaped groove.

23. The stapler of claim 20 or 21,

the extension part and the outer cylinder are arranged at different positions on the surface of the steering knob facing the rotating block; or the extension part is simultaneously used as the outer cylinder, and a bead and a spring are contained in the extension part; alternatively, the extension portion contains the outer barrel therein.

24. The stapler of claim 16,

when the rotating shaft is closer to the far end of the rotating block than the position of the positioning collision bead, the opening of the arc line where the groove of the positioning collision bead is located points to the far end;

25. The stapler of claim 14,

the drive connection member on each side is a unitary body or comprises a plurality of connection sections connected in series.

26. The stapler of claim 14,

the anastomat comprises a guide part, wherein the guide part comprises two guide plates and a guide sleeve, the two guide plates are respectively positioned on the third side and the fourth side of the central axis of the instrument, and the guide sleeve is connected to the proximal ends of the two guide plates; the third side and the fourth side are not in the deflection direction of the cutting knife protection plate relative to the central axis of the instrument;

27. The stapler of claim 26,

the anastomat comprises two connecting and fixing plates which are respectively positioned on the third side and the fourth side of the central axis of the instrument;

28. The stapler of claim 14,

the anastomat comprises a limiting ejector rod; the limiting ejector rod moves towards the far end of the anastomat, is embedded into a fixed block groove corresponding to the current deflection angle at the fixed block, and locks the deflection angle of the fixed block so as to lock the deflection angle of the actuator;

29. The stapler of any one of claims 14-21, 24-28,

the device comprises a firing assembly, wherein the firing assembly is provided with a propelling rack, a swinging block connecting rod, a middle driving part and a limiting ejector rod;

30. The stapler of claim 29,

a first included angle is formed between the swing block connecting rod and the central axis of the anastomat; the opening of the first included angle faces to the proximal end of the anastomat; the pushing rack moves towards the near end or the far end of the anastomat along the central axis of the anastomat and drives the swinging block to rotate, and the angle of the first included angle is increased or decreased.

31. The stapler of claim 29,

a second included angle is formed between the swing block and the swing block connecting rod; a connecting line from the hinged position of the swing block and the swing block connecting rod to the rotating shaft forms an included angle with the swing block connecting rod, and the included angle is the second included angle;

32. The stapler of claim 31,

when the deflection angle of the actuator is not locked by the limit ejector rod, the second included angle is an acute angle with the opening facing to the distal end of the anastomat; in the process that the deflection angle of the actuator is locked by the limiting ejector rod, the second included angle is adjusted to be an obtuse angle with an opening facing to the far end of the anastomat; continuously impel the propulsion rack drives the pendulum piece and continuously rotates, makes the second contained angle from the opening towards the obtuse angle of anastomat distal end, adjusts to the straight angle to the second contained angle, and the second contained angle adjustment is the obtuse angle of opening towards the anastomat near-end again, and the pendulum piece connecting rod contacts the limit point that sets up in the firing subassembly shell this moment, with the rotation locking of pendulum piece, forms the dead state of lock.

33. The stapler of claim 32,

after the deflection angle of the actuator is locked by the limiting ejector rod, the reaction force from the front part of the middle driving part is transmitted to the swing block through the swing block connecting rod, the angle of the current second included angle of the swing block and the opening direction are kept, and the limiting ejector rod is locked, so that the deflection direction is continuously locked.

34. The stapler of claim 29,

the anastomat is provided with a firing rod, the firing rod is connected between the far end of the propelling rack and the near end of the cutter handle of the cutter assembly, and can move along the central axis of the instrument under the driving of the propelling rack; the firing rod is also connected with the middle driving part;

35. The stapler of claim 34,

the swinging block rotates around the rotating shaft in a first direction, and does not rotate around the rotating shaft any more after being blocked by a limiting component arranged on the anastomat; at this point, the pusher rack can continue to move distally of the stapler without rotating the pendulum mass.

36. The stapler of claim 35,

when the swinging block rotates around the rotating shaft in the first direction to the maximum swinging angle, the swinging block is blocked by an inclined plane arranged in a shell of a firing assembly of the anastomat, and the swinging block stops rotating continuously.

37. The stapler of claim 29,

the pushing rack is provided with a section of first racks which are arranged along a straight line; the straight line is parallel to the instrument central axis of the anastomat; the swing block is provided with a section of gear structure arranged along an arc shape;

38. The stapler of claim 37,

the first rack is positioned at the upper part of the pushing rack and protrudes out of the upper surface of the pushing rack; the swinging block is arranged above the pushing rack, and the gear structure is positioned on the arc-shaped lower surface of the swinging block;

39. The stapler of claim 37,

the process from the step that the push rack drives the swing block to rotate around the rotating shaft in the first direction corresponds to the process from the step that teeth at the farthest end of the gear structure are meshed with teeth grooves at the farthest end of the first rack to the step that teeth grooves at the nearest end of the gear structure are meshed with teeth at the nearest end of the first rack;

40. The stapler of claim 37,

the pushing rack moves towards the far end of the anastomat until the gear structure of the swinging block is disengaged from the first rack, the limiting ejector rod moves to a set position, and the deflection angle of the actuator is locked; when the pushing rack continues to move towards the far end of the anastomat, the swinging block is not driven to rotate any more; the deflection angle of the actuator is continuously locked by the limit mandril.

41. The stapler of claim 37,

the pushing rack is provided with a section of second rack and a section of idle stroke groove, the second rack and the idle stroke groove are positioned on the same surface of the pushing rack, and the idle stroke groove is closer to the far end of the pushing rack than the second rack;

42. The stapler of claim 29,

the middle driving part comprises a prepressing ejector rod, a prepressing insertion piece, a trigger rod sleeve, a sleeve and a swinging block push rod which are arranged in sequence, can transmit acting force from the swinging block connecting rod, moves towards the far end or the near end of the anastomat along the central axis of the instrument, and drives the limiting ejector rod to move towards the far end or the near end of the anastomat;

43. The stapler of claim 42,

the limiting ejector rod is connected with at least one prepressing ejector rod; at least one prepressing insert is connected between the two prepressing ejector rods; a firing rod penetrates through the firing rod sleeve, is connected between the far end of the propelling rack and the near end of the cutter handle of the cutter assembly and can move along the central axis of the instrument under the driving of the propelling rack; when the trigger rod sleeve and the trigger rod move, the two prepressing ejector rods are driven to move by the prepressing insertion pieces; the prepressing insertion piece is embedded in the circumferential surface of the trigger rod sleeve; the circumference surface of firing bar is provided with the step, and the near-end of step and the distal end contact of pre-compaction inserted sheet drive the pre-compaction inserted sheet and remove to the near-end of anastomat when the firing bar withdraws.

44. The stapler of claim 43,

the anastomat is provided with a pre-pressing sleeve, the limiting ejector rod is arranged in a groove of the pre-pressing sleeve, and the pre-pressing ejector rod can drive the pre-pressing sleeve to move;

45. The stapler of claim 44,

the anastomat is provided with a safety block which can prevent the pushing rack from moving to the far end or the near end of the anastomat when entering the locking groove of the pushing rack; the safety block can be separated from the locking groove by operating the safety button; the safety block has an initial position outside the range of the pushing rack;

46. The stapler of claim 45,

the pushing rack is driven to move towards the proximal end of the anastomat by operating the reset assembly, and when the withdrawing is implemented, the safety block returns to the initial position outside the range of the pushing rack from the locking groove; at the moment, the pushing rack can drive the swing block again, the swing block rotates around the rotating shaft in the second direction from the limited position of the swing block, the pushing rack drives the trigger rod to retract, the limit ejector rod is driven to move through the trigger rod, the pre-pressing insertion piece, the pre-pressing ejector rod and the pre-pressing sleeve pipe, the limit ejector rod can move away from the set position, and the locking of the deflection angle of the actuator is released.

47. The stapler of claim 29,

the swing block is provided with a connecting rod connecting piece which is parallel to the rotating shaft of the swing block; the connecting rod connecting piece penetrates through a waist-shaped hole at the near end of the swinging block connecting rod, so that the swinging block is hinged with the near end of the swinging block connecting rod.

48. The stapler of claim 29,

the actuator of the anastomat is driven by a fixing block connected with the near end of the anastomat to deflect relative to the central axis of the instrument; the middle driving part comprises a prepressing ejector rod connected with the limiting ejector rod, and the prepressing ejector rod is also used for driving the limiting ejector rod to move towards the far end of the anastomat until the limiting ejector rod is inserted into a groove corresponding to the current deflection angle at the fixed block, so that the deflection angle is locked; the fixing block is provided with a plurality of grooves corresponding to different deflection angles.

49. The stapler of claim 42,

the device comprises a prepressing sleeve for switching a jaw of an actuator between closing and opening, wherein a prepressing ejector rod is embedded on the prepressing sleeve and can transmit acting force from a swinging block connecting rod to drive the prepressing sleeve to move towards the far end or the near end of the anastomat;

50. The stapler of claim 49,

when the limiting ejector rod is inserted into a groove corresponding to the current deflection angle at the fixed block, the pre-pressing sleeve reaches a specified position of the pre-pressing sleeve outside the near end of the actuator, and the jaw of the actuator is closed; when the limiting ejector rod is withdrawn from the groove of the fixed block, the pre-pressing sleeve leaves the designated position, and the jaw of the actuator is opened.

51. The stapler of claim 37,

the pushing rack is driven by the motor to move towards the near end or the far end of the anastomat.

52. A steering control method of a stapler for controlling the stapler according to any one of claims 14 to 50,

the rotation of the executor around the central axis of the instrument and/or the deflection of the executor relative to the central axis of the instrument are realized by controlling a steering mechanism of the anastomat;

53. The steering control method according to claim 52,

a component for locking the deflection angle is arranged at the steering mechanism; the rotating block comprises an arc-shaped groove which is sunken towards the inner part of the shell structure, and one side surface of the arc-shaped groove is provided with a clamping convex block groove; the clamping convex block groove is arranged corresponding to the positioning collision bead groove;

54. The steering control method according to claim 52,

the anastomat is provided with a middle driving part and a limiting ejector rod connected with the far end of the middle driving part, the steering mechanism drives the middle driving part, and the limiting ejector rod is inserted into a groove corresponding to the current deflection angle at the fixed block along with the movement of the middle driving part to lock the deflection angle; the fixing block is provided with a plurality of grooves corresponding to different deflection angles.

55. The steering control method according to claim 54,

the process of operating the same handle and pushing the pushing rack to move to the far end of the anastomat through the pushing block connected with the handle comprises the following steps:

56. The steering control method according to claim 55,

the anastomat is provided with a pre-pressing sleeve, the limiting ejector rod is arranged in a groove of the pre-pressing sleeve, and the pre-pressing ejector rod of the middle driving part can drive the pre-pressing sleeve to move;

57. The steering control method according to claim 55 or 56,

after the first propulsion stage is finished, the limiting ejector rod is moved away from the set position through retraction, and the locking of the deflection angle is released;

58. The steering control method according to claim 55,

the first propulsion stage is a process of operating the handle for the first time to rotate the handle;

59. The steering control method according to claim 56,

in the first pushing stage, a first distance for the pushing rack to move to the far end of the anastomat corresponds to a distance for the tilting end of the pushing block to move from the idle-stroke groove of the pushing rack to one tooth groove at the far end of the second rack; the lost motion slot is closer to the distal end of the push rack than the second rack;

60. The steering control method according to claim 56,

the safety block of the anastomat can prevent the pushing rack from moving to the far end or the near end of the anastomat when entering the locking groove of the pushing rack; the safety block has an initial position outside the range of the pushing rack;

operating the safety button to make the safety block leave the locking groove;