CN112971895B - Steering mechanism with self-locking function and anastomat - Google Patents

Steering mechanism with self-locking function and anastomat Download PDF

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Publication number
CN112971895B
CN112971895B CN202110403080.5A CN202110403080A CN112971895B CN 112971895 B CN112971895 B CN 112971895B CN 202110403080 A CN202110403080 A CN 202110403080A CN 112971895 B CN112971895 B CN 112971895B
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steering
block
elastic sheet
self
locking function
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CN112971895A (en
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姚建清
史金虎
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Yabo Precision Medical Device Suzhou Co ltd
Jiaoying Medical Equipment Shanghai Co ltd
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Yabo Precision Medical Device Suzhou Co ltd
Jiaoying Medical Equipment Shanghai Co ltd
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Publication of CN112971895A publication Critical patent/CN112971895A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Steering Controls (AREA)

Abstract

The invention discloses a steering mechanism with self-locking function and an anastomat, wherein the steering mechanism comprises: the steering device comprises a steering button, a rotating stop block, a rotating block and a steering rotating shaft; the rotation stopper includes: a stopper body; at least one blocking elastic sheet, at least one end of which is clamped in the groove; the steering button is further provided with at least one first push block, the first push block is adjacent to the blocking elastic sheet, when the steering button rotates, the first push block synchronously rotates to push the blocking elastic sheet to deform the blocking elastic sheet, and therefore the groove where the end is currently clamped is switched. The locking of the steering rotating shaft is realized through the clamping limit of the blocking elastic sheet and the upper rotating block groove, when the steering button rotates, the locking can be released and the clamping groove of the blocking elastic sheet can be switched through the pushing action of the first push block, when the steering operation is stopped, the blocking elastic sheet falls into the upper rotating block groove which is aligned at present, the steering rotating shaft is locked, and the angle of the steering button cannot be influenced by the resistance transmitted to the rotating shaft from the far end of the anastomat.

Description

Steering mechanism with self-locking function and anastomat
Technical Field
The invention belongs to the field of medical instruments, relates to a large-corner anastomat, and particularly relates to a steering mechanism with a self-locking function and an anastomat.
Background
Staplers are devices used in medicine instead of manual suturing. The stapler generally consists of an actuator, a cutting knife, an instrument gun and the like. The actuator is located at the front end of the instrument gun. In operation, the steering is required to be rotated according to specific conditions. Therefore, a steering mechanism is required in the stapler. Generally, such mechanisms are required to drive the instrument to a desired steering angle easily and smoothly, and to maintain the desired steering angle stably after the desired steering angle is reached. That is, by rotating a rotary knob to move a series of subsequent linkages possessed by the instrument, the other end (e.g., the actuator) of the instrument is driven to a desired deflection angle, and the deflection angle needs to be kept constant under the action of external force. Specific examples thereof include: after the jaws at the front end (operation end) of the minimally invasive surgical instrument enter the body (such as the thoracic cavity and the abdominal cavity) through a minimally invasive incision, the jaws need to reach the angle required by the operation end by rotating the rotating button at the external part (operation end) of the instrument, then the jaws clamp tissues/organs (such as lung lobes), and the angle is expected to be kept stable during the operation process of the jaws.
In order to ensure free rotation, the jaw of the clamp cannot reversely drive the rotary knob under the reaction force of a clamped object, and the rotary knob designed by the current market product usually provides proper damping through friction between the rotary knob and an adjacent device body. Often the optimum frictional damping is difficult to achieve, especially after multiple uses the damping is reduced due to wear of the friction surfaces. Therefore, friction force is increased on part of products, so that large torque force needs to be input when the knob is twisted, and bad experience feeling is brought to an operator.
Also disclosed in the prior art is a bending control mechanism, as shown in fig. 15, which includes: the wrench comprises a wrench 1 ', a central shaft 3', a lifting ring 8 ', a cam lock 9', an upper part 7 'of a rotating head and a pressure spring 10'; wherein the upper part 7' of the rotating head is provided with an opening 701 in which a series of positioning grooves are arranged; a central shaft 3 'provided with a gear 301 which is connected with the jaw of the anastomat through a connecting rack 5' and further through a connecting device arranged inside the tubular structure; a lifting ring 8 'arranged coaxially with the central shaft 3' and comprising a driving bevel 802; the cam lock 9 'is arranged coaxially with the central shaft 3', comprises a connecting boss 901, is connected with the central shaft 3 ', simultaneously comprises a driven inclined plane 904, is matched with a driving inclined plane 802 of the lifting ring 8', and also comprises a positioning tooth 902; the wrench 1 'is matched with the lifting ring 8' through a boss 105 and is connected with the central shaft 3 'through a pin 6'; a compression spring 10 ' is arranged between the wrench 1 ' and the lifting ring 8 '. The purpose of turning the jaw of the anastomat is achieved by wrenching the wrench, and the jaw of the anastomat is locked at a selected angle. It at least needs a wrench 1 ' forming a steering power input mechanism A, a lifting ring 8 ' rotating synchronously with the wrench, a central shaft 3 ' forming a steering transmission mechanism B, a cam lock 9 ' forming a locking mechanism C, a pressure spring 10 ' and a rotating head; the cam lock 9' is engaged with the steering transmission mechanism B to form a rack of the linear power output mechanism D. The mechanism is complex, can not realize self-locking and can not accurately control the rotation angle.
Disclosure of Invention
The invention aims to solve the problems that the existing steering mechanism cannot accurately position the rotating angle and the reaction force from a clamped object can reversely drive a steering button to rotate.
In order to achieve the above object, the present invention provides a steering mechanism with a self-locking function, comprising: the steering device comprises a steering button, a rotating stop block, a rotating block and a steering rotating shaft;
the rotating block is provided with a sleeve, and the inner wall of the sleeve is provided with a plurality of grooves at intervals in the circumferential direction;
the rotation stopper includes:
the check block body is positioned in the sleeve, so that the groove is surrounded on the periphery of the check block body; and a process for the preparation of a coating,
the blocking elastic sheet is arranged at the position of the stop block body, extends towards the direction of the groove and synchronously rotates with the stop block body; at least one end part of the blocking elastic sheet is clamped in the groove to prevent the rotation of the rotating stop block body and the steering rotating shaft;
the side, facing the rotating stop block, of the steering button is provided with at least one first push block, the first push block is adjacent to the blocking elastic sheet, when the steering button rotates, the first push block synchronously rotates to push the blocking elastic sheet in the same direction, so that the blocking elastic sheet deforms, and the current clamping groove at the end part of the blocking elastic sheet is switched.
Optionally, the first push block is matched with the contact surface of the blocking elastic sheet.
Optionally, the first push block and the blocking elastic sheet are always in a contact state.
Optionally, at least two first pushing blocks are provided, and the blocking elastic sheet is located between the two first pushing blocks: when the steering button rotates along a first direction, one first push block pushes the blocking elastic sheet along the first direction; when the steering button rotates along the second direction, the other first push block pushes the blocking elastic sheet along the second direction; the first direction is clockwise or anticlockwise, and the second direction is anticlockwise or clockwise.
Optionally, the rotation block is further provided with a pair of side wings respectively arranged at two sides of the block body, and the ends of the two side wings extend towards the opposite inner walls of the sleeve respectively.
Optionally, the extending direction of the side wing plate is perpendicular to the extending direction of the blocking elastic piece.
Optionally, at least two second pushing blocks are arranged on one surface of the steering button facing the rotating stop block; each side wing plate corresponds to two second pushing blocks positioned on two sides of the side wing plate: a second push block for pushing the side wing plate in the first direction when the steering knob is rotated in the first direction; and the other second pushing block pushes the side wing plate in the second direction when the steering knob rotates in the second direction.
Optionally, when the steering button is in a static state, a gap is formed between the second push block and the contact surface of the side wing plate.
Optionally, the first pushing block and the second pushing block are two ends of the same pushing block structure, or two independent pushing block structures.
Optionally, a steering button chassis is arranged on one surface of the steering button facing the rotating stop block, and a plurality of first push blocks and second push blocks are arranged on the steering button chassis at intervals; the steering button chassis is sleeved at the sleeve and can freely rotate on the sleeve.
Optionally, the second radial direction of the steering button chassis is coincident with the extending direction between the distal end and the proximal end of the steering button, and the first radial direction of the steering button chassis is perpendicular to the second radial direction; the second push blocks used for pushing the same side wing plate from different directions are symmetrically arranged along the second radial direction, and the first push blocks used for pushing the same blocking elastic piece from different directions are symmetrically arranged along the first radial direction.
Optionally, the rotary stopper includes a pair of blocking elastic pieces, the blocking elastic pieces are symmetrically arranged on two sides of the stopper body along the first radial direction, and two end portions of each blocking elastic piece are respectively matched with the grooves and are respectively clamped in the two grooves symmetrically arranged along the second radial direction.
Optionally, the blocking elastic sheet is fixedly connected to the block body, or integrally formed with the block body, or detachably connected to the block body.
Optionally, the blocking elastic sheet includes:
the first elastic sheet is fixedly arranged on the side part of the stop block body, and the extending direction of the first elastic sheet is vertical to the extending direction between the near end and the far end of the steering button; and a process for the preparation of a coating,
the second elastic sheet is attached to the side face, facing the first push block, of the first elastic sheet and located between the first elastic sheet and the first push block, and the steering button rotates to enable the first push block to push the second elastic sheet to drive the first elastic sheet.
Optionally, the second elastic sheet at least covers the end of the first elastic sheet.
Optionally, the second elastic sheet is a stainless steel sheet.
Optionally, the rotation stopper includes:
the pair of side wing plates are respectively arranged at two sides of the block body, and the end parts of the two side wing plates respectively extend towards the opposite inner walls of the sleeve;
the extending directions of the two first elastic sheets are vertical to the extending directions of the two side wing plates; and
the pair of second elastic sheets are respectively attached to the two first elastic sheets, and the end parts of the second elastic sheets are clamped in the aligned grooves of the second elastic sheets;
the end part of each second elastic sheet is exposed out of the side surface of the clamped groove and is contacted with a first push block.
Optionally, a second pushing block is disposed on each of two sides of each of the side wing plates.
Optionally, an installation slit is arranged between the side wing plate and the first elastic sheet and used for clamping the second elastic sheet to enable the second elastic sheet to be attached to the first elastic sheet.
Optionally, a spring plate bracket is further arranged on the side surface of the first spring plate facing the first push block, and is used for supporting the second spring plate; the elastic sheet brackets are positioned at two sides of the mounting slit.
Optionally, the outer edge of the end part of the side wing plate is arc-shaped, and the arc-shaped corresponds to the upper section of the inner wall of the sleeve; the end of the flank is located above the groove.
Optionally, the steering mechanism further comprises: and the check ring is clamped on the outer wall of the steering rotating shaft and is positioned between the rotating stop block and the steering button.
Optionally, the retainer ring is a U-ring or an O-ring.
Optionally, a clamping groove is formed in the steering rotating shaft and used for clamping the retainer ring.
Optionally, the included angle α between the two sidewalls of each groove is 90 °.
Optionally, an included angle β between every two adjacent grooves is 1-90 °.
Optionally, the included angle β between two adjacent grooves is 15 °.
Optionally, the side wall of the adjacent groove in the sleeve forms a rib, and the rib is an arc-shaped protrusion or a trapezoid boss.
Optionally, a rotating shaft sleeve is further disposed in the sleeve, and the rotating shaft sleeve is provided with a first through hole and is axially matched with the hole of the steering rotating shaft.
Optionally, the steering button is further provided with a fastener, which contacts a surface of the rotation stopper close to the rotation block, and is used for limiting the steering button to be disengaged from the steering rotation shaft.
Optionally, the rotating block is provided with a second through hole which is a waist-shaped hole, and the joint of the steering rotating shaft and the rotating block is provided with two planes matched with the waist-shaped hole, and the two planes are attached to the waist-shaped inner wall surface of the second through hole, so that the rotating block drives the steering rotating shaft to move synchronously.
Optionally, a hole cavity is further disposed on a surface of the steering button facing the rotation stopper, and the hole cavity is in clearance fit with the end of the steering rotation shaft.
The invention also provides a steering operation method of the anastomat, and the anastomat is provided with the steering mechanism with the self-locking function; the method comprises the following steps:
the first push block synchronously rotates by rotating the steering button to push the adjacent blocking elastic sheet to elastically deform, so that the end part of the blocking elastic sheet is separated from the currently clamped groove, and the locking state of the steering rotating shaft is released;
in the process that the rotating steering button drives the rotating stop block to rotate, the groove aligned with the end part of the blocking elastic sheet is switched;
the stop rotation turns to the button, first ejector pad stop rotation, block that the shell fragment loses external force, the reconversion, the tip card is established in its recess of aiming at present, turn to the locking.
Optionally, the steering button is rotated along the first direction or the second direction, the first push block arranged on the steering button is rotated along the first direction or the second direction to push the adjacent blocking elastic sheet to elastically deform, and the end part is separated from the current clamped groove.
Optionally, the steering button is rotated in a first direction or a second direction, and a second pushing block provided in the steering button is rotated in the first direction or the second direction to push the adjacent side wing plate.
Optionally, when the steering button is not rotated, two ends of the blocking elastic sheet are respectively clamped in the two oppositely arranged grooves to lock the steering rotating shaft;
when the steering button is rotated, one end of the blocking elastic sheet is elastically deformed under the pushing and pressing action of the first pushing block to be separated from the groove, and when the other end of the blocking elastic sheet crosses the convex ridge between the two adjacent grooves, the side wall of the next groove is knocked under the inertia of rotation to prompt that one groove is rotated.
The present invention also provides an anastomat, comprising: the device comprises an actuator, a cutting knife assembly, a fixed block, two cutting knife guard plates, two groups of driving connecting pieces and the steering mechanism with the self-locking function; the steering mechanism further comprises: two steering connecting blocks and two steering frames; the steering rotating shaft is hinged with the two steering frames through the two steering connecting blocks, and the two steering frames are connected with the near ends of the two groups of driving connecting pieces; the near end of the actuator is connected with a fixed block, and both sides of the fixed block are respectively connected with the far end of a cutting knife guard plate; the near end of each cutting knife guard plate is respectively connected with the far end of the driving connecting piece; when the steering rotating shaft rotates, the steering connecting block is driven to drive the bogie, the driving connecting piece and the cutting knife protecting plate on one side of the central shaft to move to the far end of the anastomat, meanwhile, the steering connecting block drives the bogie, the driving connecting piece and the cutting knife protecting plate on the other side of the central shaft to move to the near end of the anastomat, and the two cutting knife protecting plates respectively rotate relative to the fixed block to drive the fixed block to deflect relative to the central shaft, so that the fixed block drives the actuator to deflect relative to the central shaft; the handle of the cutter assembly passes through the arc-shaped inner walls of the two cutter guard plates and enters the through groove of the actuator through the through groove of the fixing block to be connected with the cutter head, the cutter head deflects along with the actuator, one part of the handle deflects along with the deflection of the cutter guard plates, the fixing block and the actuator, and the rest part of the handle, which does not enter the cutter guard plates, does not deflect.
The invention has the beneficial effects that:
1) the rotary stop block provided by the invention can lock the steering rotating shaft by blocking the clamping position of the elastic sheet and the groove of the upper rotating block, so that the rotating angle of the steering button is not influenced by the resistance transmitted from the clamped tissue by the end of the actuator; when the steering button rotates, the acting force of the first push block enables the blocking elastic sheet to deform, the blocking elastic sheet is separated from the groove of the upper rotating block, the locking state of the steering rotating shaft is released, the steering rotating shaft drives the steering connecting block, the steering frame and the driving connecting piece which are respectively positioned on two sides of the central shaft to move in a front-back staggered mode, and then the fixing block and the actuator are driven to deflect relative to the central shaft.
2) According to the steering structure, the steering button can rotate 360 degrees, but the swinging of the jaw of the front end actuator can reach a limit angle due to the control of the swinging angle of the jaw of the front end actuator.
3) The groove structure of the upper rotating block designed by the invention realizes the accurate control of the jaw rotating angle of the actuator through the arrangement of the included angle of the groove.
4) The blocking elastic sheet structure designed by the invention can give a prompt of crossing the groove after being separated from the upper rotating groove, so that a user can control the rotating angle accurately.
5) According to the rotary stop block structure, the steering rotary shaft can stably rotate by arranging the side wing plates;
6) the steering button push block designed by the invention can realize smooth rotation of the steering rotating shaft, has small friction resistance, is not easy to wear after being used for multiple times, and has long service life.
Drawings
Fig. 1 is an exploded view of a steering mechanism with a self-locking function according to the present invention.
Fig. 2 is a schematic structural diagram of a steering mechanism with a self-locking function according to the present invention.
Fig. 3 is a bottom view of the steering knob 21 of the present invention.
Fig. 4 is a plan view of the upper rotary block with the steering shaft, the rotary stopper, and the retainer ring attached thereto.
Fig. 5 is a schematic structural view of the rotation stopper 22 of the present invention.
Fig. 6 is a partially enlarged view of the groove of the upper rotary block.
Fig. 7 is a side view of the steering knob 21 of the present invention.
Fig. 8 is a Y-direction cross-sectional view of a steering mechanism with a self-locking function according to the present invention.
Fig. 9 is a cross-sectional view in the X direction of a steering mechanism with a self-locking function according to the present invention.
FIG. 10 is a schematic view of a stapler incorporating a steering mechanism of the present invention.
FIG. 11 is a partial exploded view of a stapler incorporating a steering mechanism with self-locking feature of the present invention.
Fig. 12 is a schematic view of a cutting blade guard plate provided by the present invention.
Fig. 13 is a top view of a cutting blade guard and a cutting blade guard liner provided by the present invention.
FIG. 14a is a top view of an actuator of a stapler according to the present invention in an initial state.
FIG. 14b is a top view of an actuator of a stapler according to the present invention shown deflected to the right.
Fig. 15 is a schematic structural diagram of a bending control mechanism in the prior art.
The attached drawings indicate the following:
actuator 1, steering mechanism 2, steering button 21, first push block 2111, second push block 2112, steering button chassis 212, bore 213, snap 214, rotation block 22, block body 221, recess 2211, block through hole 222, flank 223, first resilient tab 2241, second resilient tab 2242, mounting slot 225, resilient tab bracket 226, upper rotation block 231, upper rotation block sleeve 2311, upper rotation block through hole 2312, rotation sleeve 2313, upper rotation block recess 2314, ledge 2315, lower rotation block 241, steering rotation shaft 24, snap groove, rotation shaft base 242, pin hole 243, snap ring 25, steering connection block 26, bogie 27, cutting blade guard plate 31, cutting blade guard plate through hole 310, cutting blade guard plate recess 311, cutting blade guard plate steering shaft 312, guard plate inner wall 313, fixation block 32, connection rod 33, steering linkage 34, cutting blade lining guard plate 36, tool bit 41, tool shank 42, firing assembly 6, a centertube assembly 7, a central shaft 8.
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.
As shown in fig. 1, the steering mechanism 2 of the present invention includes a steering knob 21, a rotation stopper 22, a rotation block, and a steering rotation shaft 24. The rotation block includes an upper rotation block 231 and a lower rotation block 232. As shown in fig. 2, the steering mechanism 2 of the present invention is defined in a sleeve-like housing structure by an upper rotary block 231 and a lower rotary block 232 which are detachably assembled.
The upper rotation block 231 is provided with an upper rotation block sleeve 2311, and the center of the upper rotation block sleeve 2311 is provided with an upper rotation block through hole 2312 matched with the rotation shaft 24; the steering rotation shaft 24 can freely rotate in the upper rotation block through hole 2312 by an external force. The upper rotating block sleeve 2311 may be integrally formed with the upper rotating block 231, or may be detachably connected thereto. A plurality of upper rotation block grooves 2314 are uniformly formed in the inner wall of the upper rotation block sleeve 2311 along the circumferential direction, and the openings of the upper rotation block grooves 2314 face the axial center of the upper rotation block sleeve 2311. A rib 2315, which may be a rounded arc protrusion or a trapezoidal protrusion, is formed between the adjacent upper rotating block grooves 2314.
A stop through hole 222 is formed in the center of the rotation stop 22, the stop through hole 222 is a kidney-shaped hole in this example, two planes matched with the kidney-shaped stop through hole 222 are arranged at the joint of the steering rotation shaft 24 and the rotation stop 22, the two planes are attached to the kidney-shaped inner wall of the stop through hole 222, and the hole and the shaft are matched to enable the steering rotation shaft 24 and the rotation stop 22 to move synchronously.
The steering rotating shaft 24 passes through the stopper through hole 222 of the rotating stopper and the upper rotating block through hole 2312 of the upper rotating block to be in clearance fit with the steering knob 21; the turning rotating shaft 24 is driven by the turning stopper 22 to rotate synchronously, and the turning stopper 22 is driven by the turning knob 21 to rotate synchronously.
The rotation stopper 22 includes: the stopper body 221, which is disposed within the upper rotation block sleeve 2311, has the upper rotation block groove 2314 around the outer circumference of the stopper body 221. The rotation stopper 22 further includes: at least one blocking elastic piece 224 with an elastic structure, which is arranged at the chock body 221 and extends in the direction of the upper rotation chock groove 2314, and rotates synchronously with the chock body 221; at least one end of the blocking elastic sheet 224 is clamped in the upper rotation block groove 2314 to prevent the stopper body 221 and the rotation of the rotation shaft 24.
Further, the blocking elastic pieces 224 may also be fitted with the upper rotation block grooves 2314 at both ends. In some embodiments, the blocking spring 224 may be provided in plurality, and both ends or one end of each blocking spring 224 may be fitted into the upper rotation block grooves 2314. The blocking elastic piece 224 may be fixedly connected to the stopper body 221, or integrally formed with the stopper body 221, or detachably connected to the stopper body 221.
In order to keep the rotation stopper 22 and the steering rotation shaft 24 balanced and to make the rotation more stable, a pair of side wings 223 may be provided on both sides of the stopper body 221; the ends of the two side wings 223 extend toward the opposite inner walls of the upper swivel block sleeve 2311, respectively. The extending direction of the side wing plates 223 is not parallel to the extending direction of the blocking elastic sheet 224, and is preferably perpendicular to the extending direction. Preferably, the outer edges of the ends of the side wings 223 are curved, e.g., to conform to the curvature of the upper rotating block sleeve 2311 (i.e., they are concentric), so that the steering rotating shaft 24 rotates more smoothly. The arc corresponds to the upper section of the inner wall of upper swivel block sleeve 2311 and the end of the side wings 223 are located above the upper swivel block groove 2314.
As shown in fig. 3, one surface of the turning knob 21 facing the rotation stopper 22 is provided with at least one first push block 2111 adjacent to the blocking elastic sheet 224, when the turning knob 21 rotates, the first push block 2111 rotates synchronously to push the blocking elastic sheet 224 in the same direction, so that the blocking elastic sheet 224 deforms, and the blocking elastic sheet 224 is separated from the upper rotation block groove 2314 which is currently clamped at the end of the blocking elastic sheet 224 to perform switching. Specifically, when the steering button 21 rotates in the first direction or the second direction, the first push block 2111 rotates synchronously to press the blocking elastic piece 224, the blocking elastic piece 224 is subjected to the opposite resistance of the sidewall of the upper rotation block groove 2314 to be elastically deformed to be separated from the currently clamped upper rotation block groove 2314, the locking state of the steering rotation shaft 24 is released, and the steering rotation shaft 24 rotates synchronously in the first direction or the second direction under the driving of the rotation stopper 22. The blocking spring 224 slides through one or a consecutive plurality of upper swivel block grooves 2314 under the push of the first pusher 2111. When the turning knob 21 stops rotating, the first push block 2111 stops applying pressure, if the blocking elastic sheet 224 is currently aligned with an upper turning block groove 2314, the blocking elastic sheet recovers deformation and falls into the upper turning block groove 2314 aligned with the blocking elastic sheet, so that the upper turning block groove 2314 is switched; if the blocking elastic piece is currently aligned with the rib 2315, under the action of inertia, the blocking elastic piece 224 rotates into the next upper rotating block groove 2314 next to the rib 2315, restores deformation and falls into the upper rotating block groove 2314, so that the upper rotating block groove 2314 is switched; the first direction is clockwise or anticlockwise, and the second direction is anticlockwise or clockwise.
In order to achieve the above-mentioned pushing effect regardless of the direction (the first direction or the second direction) to which the steering knob 21 is turned, the steering mechanism of the present invention is provided with at least two first pushing blocks 2111, and each blocking elastic piece 224 corresponds to two first pushing blocks 2111 on both sides thereof: wherein, when the turning button 21 rotates along the first direction, one first push block 2111 pushes the blocking elastic sheet 224 along the first direction; the other first push block 2111 pushes the blocking spring 224 in the second direction when the turning knob 21 is turned in the second direction.
In order to facilitate the blocking spring 224 to switch the groove more easily, the steering mechanism is further provided with at least two second pushing blocks 2112 (see fig. 3), and each side wing 223 corresponds to two second pushing blocks 2112 on two sides thereof: a second push block 2112 for pushing the side wing 223 in the first direction when the turn knob 21 is turned in the first direction; the other second push block 2112 pushes the side wing 223 in the second direction when the steering knob 21 is rotated in the second direction. In some embodiments, in the static state, there is a gap between the second push block 2112 and the flank, and the gap is used for allowing the second push block 2112 to have an idle stroke with a certain angle, and the gap corresponds to a rotation angle corresponding to an idle stroke when the second push block 2112 rotates with the steering knob 21. Specifically, when the first push block 2111 presses the blocking spring 224, so that the end of the blocking spring 224 is disengaged from the upper rotation block groove 2314 where it is currently clamped, the second push block 2112 is idle, until the second push block 2112 contacts the side wing 223, and the second push block 2112 pushes the side wing 223 to rotate under the driving of the turning button 21. In a static state, the first push block 2111 is always in contact with the blocking elastic sheet 224, and on one hand, the first push block can act on the blocking elastic sheet 224 as soon as possible during operation; on the other hand, the blocking elastic sheet 224 can also prevent the first push block 2111 from drifting when no external force exists, and the turning knob 21 can be rotated. For example, if the force is large enough to deform the blocking spring 224 and the first push block 2111 moves, the first push block 2111 and the steering button 21 will not rotate in the absence of external force or general disturbance (e.g., resistance from the actuator). Therefore, in the steering mechanism of the present invention, the steering knob 21 is stationary in a state where it is not subjected to an external force.
In this example, the first push block 2111 and the second push block 2112 are both ends of the same push block structure. The pushing block structure is an arc-shaped protrusion, one end of the arc-shaped protrusion is a first pushing block 2111, the surface contacting with the side wall of the blocking elastic sheet 224 is an inclined surface, the other end of the arc-shaped protrusion is a second pushing block 2112, and the surface contacting with the side wall of the side wing plate 223 is a rectangular surface. One of ordinary skill in the art will readily recognize that the first and second pushers 2111, 2112 may be of two separate pusher configurations. The push block structure can also be designed into other structures, such as a cylinder, a square column, a triangular bulge and the like. Of course, the number, structure, and shape of the first and second pushers 2111, 2112 are not limited to the above. In the same steering mechanism, a push block structure may be provided between the side wing 223 and the blocking elastic sheet 224, the push block structure includes a first push block 2111 and a second push block 2112, and a plurality of independent push block structures may be provided between the side wing 223 and the blocking elastic sheet 224, and the independent push block structures correspond to the first push block 2111 and the second push block 2112, respectively.
In order to increase the contact area with the blocking elastic sheet 224, the contact surface of the first push block 2111 and the blocking elastic sheet 224 is completely matched, so that the contact area of the first push block 2111 and the blocking elastic sheet 224 is the largest, and the first push block 2111 and the blocking elastic sheet are not easy to separate or shake in the pushing process. If the contact surface is too small or sharp, it and the blocking spring may be damaged and fall off.
In some embodiments, a steering button chassis 212 is disposed on a side of the steering button 21 facing the rotation stopper 22, and a plurality of first push blocks 2111 and second push blocks 2112 are disposed on a side of the chassis facing the rotation stopper 22; the steering button chassis 212 is sleeved on the upper rotating block sleeve 2311 and can rotate freely on the upper rotating block sleeve 2311. A second radial direction of the steering button chassis 212 coincides with the direction of extension between the distal end and the proximal end of the steering button 21, the first radial direction of the steering button chassis 212 being perpendicular to said second radial direction; second push blocks 2112 for pushing the same flank 223 from different directions are symmetrically arranged along the second radial direction, and first push blocks 2111 for pushing the same blocking spring piece 224 from different directions are symmetrically arranged along the first radial direction. In the initial state of non-deflection, the extending direction of the steering button 21 is consistent with the axial direction of the central shaft 8 of the anastomat.
In some embodiments, as shown in fig. 4, the rotation stopper 22 comprises a pair of stopper springs 224 symmetrically disposed at two sides of the stopper body 221 along the first radial direction, and two ends of each stopper spring 224 are respectively engaged with the upper rotation block grooves 2314 and are respectively engaged with the two upper rotation block grooves 2314 symmetrically disposed along the second radial direction.
In this embodiment, the blocking resilient pieces 224 include a pair of first resilient pieces 2241 fixedly disposed on both sides of the stopper body 221, and extending in a direction perpendicular to the extending direction between the proximal end and the distal end of the turn button 21.
In order to improve the elastic strength and the surface rigidity of the first elastic sheet 2241, the blocking elastic sheet 224 may further include a pair of second elastic sheets 2242, which are attached to the side surface of the first elastic sheet 2241 facing the first push block 2111 and located between the first elastic sheet 2241 and the first push block 2111, and the turning button 21 rotates to make the first push block 2111 push the second elastic sheet 2242, so as to drive the first elastic sheet 2241. The second resilient plate 2242 may be a stainless steel plate, and the shape thereof may be completely the same as or similar to the shape of the first resilient plate 2241, so that the two can be tightly attached to each other. In order to ensure the close fitting between the first elastic sheet 2241 and the second elastic sheet 2242 and avoid the damage to the end of the first elastic sheet 2241, the second elastic sheet 2242 at least covers the end of the first elastic sheet 2241, for example, a bending structure or a buckle structure may be disposed at the end of the second elastic sheet 2242. The 4 ends of the pair of second resilient strips 2242 (covered with the ends of the first resilient strips 2241) are respectively clamped in the grooves 2314 of the upper rotating block.
In other embodiments, the blocking resilient piece 224 may only include the first resilient piece 2241 or only include the second resilient piece 2242. The second resilient strip 2242 may also be disposed on a side surface of the first resilient strip 2241 facing the stopper body 221.
The stopper body 221, the side wing plate 223 and the first elastic sheet 2241 may be integrally formed or fixedly connected. In some embodiments, as shown in fig. 5, a mounting slot 225 may be disposed between the side wing 223 and the first resilient sheet 2241 for engaging the second resilient sheet 2242, so that the second resilient sheet 2242 is disposed to fit closely to the first resilient sheet 2241.
In some embodiments, in order to keep the structure of the second elastic sheet 2242 stable and not easy to fall off or tilt, the side of the first elastic sheet 2241 facing the first push block 2111 is further provided with an elastic sheet bracket 226 for supporting the second elastic sheet 2242; the spring plate brackets 226 are located on both sides of the mounting slot 225. The elastic piece bracket 226 may be fixed to the stopper body 221 in parallel, or a platform extending from the bottom of the stopper body 221, or a platform or a bracket extending from the lower portion of the outer side of the first elastic piece 2241. The spring plate bracket 226 may be a single body or a plurality of independent brackets arranged at intervals.
In order to avoid the Z-direction displacement of the rotation stopper 22, the steering mechanism of the present invention may further include a retainer 25 which is engaged with the outer wall of the steering shaft 24 and is located between the rotation stopper 22 and the steering knob 21. The retainer ring 25 can be a U-shaped ring or an O-shaped ring. In this embodiment, the turning shaft 24 is provided with a locking groove 241 for locking the retaining ring 25.
As shown in fig. 6, the angle α between the two sidewalls of the upper rotation block groove 2314 is preferably 90 ° or close to 90 °, depending on the protruding direction of the end of the blocking elastic piece 224. When the end of the blocking elastic piece 224 is engaged with the upper rotation block groove 2314, it is preferable that the extending direction of the end of the blocking elastic piece 224 is perpendicular to the currently opposite side wall of the groove, and the side of the blocking elastic piece 224 facing the first push block 2111 is tightly attached to the other side wall of the currently engaged groove. The included angle beta between the adjacent grooves can be 1-90 degrees, such as 5 degrees, 10 degrees, 15 degrees or 30 degrees. However, if the angle is too small, the groove will be too shallow, and the blocking elastic sheet 224 will not be easily clamped; if the angle beta is designed to be too large, the uniform distribution quantity of the grooves in the circumferential direction of the inner wall of the sleeve is reduced, the swing angle gears of the front end actuator of the anastomat are relatively reduced, and the selectivity of an operator to the deflection angle is reduced. In the embodiment of the invention, the included angle beta between the adjacent upper rotating block grooves 2314 is 15 degrees, and the steering knob 21 can rotate according to a first gear of 15 degrees, so that an operator can conveniently and flexibly control the swinging angle of the actuator. The included angle beta is the included angle between the vertex of two adjacent grooves and the connecting line of the centers of the sleeves.
As shown in fig. 7, in some embodiments, the turning knob 21 is further provided with a turning knob latch 214 for limiting the axial displacement of the rotation stopper 22 along the turning rotation shaft 24 (i.e., preventing the displacement thereof in the Z direction). As shown in fig. 8, the turning button latch 214 is latched to the bottom of the rotation stopper 22, and the distance between the latches 214 located at both sides of the stopper body 221 is equal to or slightly greater than the outer diameter of the side wall of the stopper body, so that the rotation of the rotation stopper 22 is not hindered. The end of the turn button catch 214 may abut the bottom of the rotation stop 22 or may not contact it with a slight gap. When the turning knob 21 is displaced in the Z direction to disengage from the turning shaft 24, the turning knob locking member 214 is engaged with the bottom of the turning stopper 22, so that the turning knob 21 cannot be displaced any further. The two opposite side walls of the block body 221 may also be provided with recesses 2211 (see fig. 5) to facilitate the assembly of the steering button 21.
As shown in fig. 8 and 9, in some embodiments, the bottom of the steering button 21 is further provided with a hole 213 for accommodating the steering rotation shaft 24, the hole 213 is in clearance fit with the steering rotation shaft 24, the smaller the friction between the hole 213 and the steering rotation shaft 24, the better the steering button 21 rotates coaxially with the steering rotation shaft 24.
In order to rotate the rotation shaft 24 smoothly, the upper rotation block sleeve 2311 is further provided with a rotation shaft sleeve 2313, and the rotation shaft sleeve 2313 is provided with the upper rotation block through hole 2312. The rotating shaft sleeve 2313 is in shaft fit with and detachably connected with the hole of the rotating stopper 22, for example, the rotating stopper 22 can be sleeved on the outer wall of the rotating shaft sleeve 2313. Under the action of external force, the rotation stopper 22 can drive the steering rotation shaft 24 to rotate freely on the rotation shaft sleeve 2313.
In some embodiments, the turning knob 21 is a finger-operated protrusion. The turning knob 21 is detachably connected to the upper turning block 231, and the turning knob 21 can be turned on the upper turning block 231 by 360 degrees with the axis of the turning shaft 24 as a central axis.
In some embodiments, the outer edge of the bottom of the steering button 21 may be provided with angle scale marks along the circumference, so as to facilitate the observation of the rotation angle, such as the marks of 0 ° around the central axis of the instrument, every 5 ° or 10 ° or 15 °.
The steering mechanism of the present invention is applicable to a stapler, as shown in fig. 10, which comprises: the firing assembly 6, the steering mechanism 2 with the self-locking function, the central tube assembly 7 and the actuator 1 are sequentially arranged from the near end to the far end. As shown in fig. 11, inside the center tube assembly 7 are provided: the cutting knife assembly comprises a cutting knife component (comprising a cutting head 41 and a knife handle 42), a fixing block 32, two cutting knife protection plates 31 and two groups of driving connecting pieces. Wherein the cutting knife guard plate 31 and the fixing block 32 are arranged in front of the center tube assembly 7, and the driving connecting piece and the parts (not shown) for bearing and guiding the driving connecting piece are arranged inside the center tube assembly 7.
When the cutter assembly is not turned, the cutter assembly is arranged on the instrument central shaft of the anastomat. The firing assembly 6 can be used as an input end for limiting operation, cutting anastomosis operation and withdrawing operation, and transmits the action to the driving assembly (comprising a driving connecting piece, a cutting knife guard plate 31 and a fixed block 32), a cutting knife assembly, the executor 1 and the like to control the respective movement of the driving assembly and the cutting knife assembly. The steering mechanism 2 can be used as an input end of a steering operation, and transmits motion to the driving assembly, the actuator 1 and the like, so as to realize deflection relative to a central shaft and/or rotation around the central shaft.
The steering mechanism 2 further comprises: two steering connecting blocks 26, two bogies 27; the turning rotating shaft 24 is provided with a rotating shaft base 242 extending along the XY plane, and the rotating shaft base 242 is provided with two pin holes 243 for connecting with the turning connecting block 26 of the anastomat. The steering rotating shaft 24 is hinged with two bogies 27 through two steering connecting blocks 26, and the two bogies 27 are connected with the near ends of the driving connecting pieces; the near end of the actuator 1 is connected with a fixed block 32, and the two sides of the fixed block 32 are respectively connected with the far ends of a cutting knife guard plate 31; the near end of each cutting knife guard plate 31 is respectively connected with the far end of the driving connecting piece; when the steering rotating shaft 24 rotates, the steering connecting block 26 is driven to drive the bogie 27, the driving connecting piece and the cutting knife protecting plate 31 on one side of the central shaft 8 of the anastomat to move towards the far end of the anastomat, meanwhile, the steering connecting block 26 drives the bogie 27, the driving connecting piece and the cutting knife protecting plate 31 on the other side of the central shaft to move towards the near end of the anastomat, and the two cutting knife protecting plates 31 rotate relative to the fixed block 32 to drive the fixed block 32 to deflect relative to the central shaft 8, so that the fixed block 32 drives the actuator 1 to deflect relative to the central shaft 8; the tool shank 42 of the cutter assembly passes through the space between the arc-shaped inner walls of the two cutter guard plates 31 and enters the through groove of the actuator 1 through the through groove of the fixing block 32 to be connected with the tool bit 41, the tool bit 41 deflects along with the deflection of the actuator 1, one part of the tool shank 42 deflects along with the deflection of the cutter guard plates 31, the fixing block 32 and the actuator 1, and the rest part of the tool shank 42 which does not enter the cutter guard plates 31 does not deflect.
By rotating the steering button 21, the rotation stopper 22 can drive the steering rotation shaft 24 to rotate around the Z direction, so that the steering connection blocks 26 on the left side and the right side are staggered back and forth. Preferably, the steering connecting block 26 is provided with a protrusion which can be aligned with the pin hole 243 of the steering rotating shaft 24, so as to connect the steering rotating shaft 24 and the steering connecting block 26. The pin holes 243 may be replaced by grooves into which the lugs of the steering link 26 can snap fit. The positions of the projection and the pin hole 243 (or the groove) can be interchanged. Alternatively, the steering rotation shaft 24 and the steering connecting block 26 may be integrally formed or detachably connected. The bogies 27 are arranged in the X direction, and the proximal ends of the bogies 27 are connected to the distal ends of the steering connection blocks 26. The far end of the bogie 27 is connected to a drive connection.
The fixing block 32, the cutting knife guard plate 31 and the driving connecting piece are connected in sequence from the far end to the near end. The left and right sides of the instrument central shaft 8 are respectively provided with a driving connecting piece, and the near end of the driving connecting piece is connected with a bogie 27 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 comprises a connecting rod 33 and a steering rod 34, which are connected in sequence from the far end to the near end, the near end of the steering rod 34 is connected with the bogie 27 and can be driven by the steering mechanism 2, and when the bogies 27 at the left and right sides are staggered back and forth, the driving link moves forward or backward along with the bogie 27 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. 12, the cutting blade guard 31 has two left and right ends, and the proximal end thereof is connected to the distal end of the driving link (in this case, the distal end of the connecting rod 33). The proximal end of the cutting blade guard 31 is provided with a cutting blade guard through hole 310 and the distal end of the drive connection member is provided with a drive connection member through hole (not shown), in this case the drive connection member through hole is provided at the distal most 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, a pin can be adopted to penetrate 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 distal 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 (not shown), the distal end of the cutting knife guard plate 31 can be inserted into the fixing block grooves and is connected with the shaft hole of the fixing block 32, the distal 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 turning button 21 rotates clockwise (around the Z direction) around the straight line of the rotation shaft 24, that is, the distal end of the turning button 21 is deviated to the right from the central instrument axis 8, and the proximal end of the turning button 21 is deviated to the left from the central instrument axis 8, the rotation stopper 22 is driven 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 to the far end, and further sequentially pushes the left bogie, the left steering pull rod and the left connecting rod to move to the far end; meanwhile, the rotating shaft 24 drives the right steering connecting block to move towards the near end, and then the right bogie, the right steering pull rod and the right connecting rod are sequentially pulled to move towards the near 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 guard plate to rotate by taking the insertion part at the far end of the left cutting knife guard 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 of the far 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 8 is the same as the angle formed by the offset of the fixing block 32 and the central shaft 8.
The cutting assembly comprises a cutting head 41 and a shank 42 connected to the proximal end of the cutting head 41, said shank 42 comprising a number of flexible sheets stacked on top of each other. 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 (not shown), and a space is left between the two cutting knife guard plates 31. The cutter head 41 is positioned at the far end of the fixed block 32, and the cutter handle 42 penetrates through the through groove of the fixed block and the space between the two cutting knife guard plates 31; when undeflected, tool tip 41 and tool shank 42 are both located on stapler central axis 8. After the fixed block 32 and the cutting knife guard plate 31 are deflected, the knife handle 42 positioned between the through grooves of the fixed block is deflected by the same angle along with the fixed block 32, and the knife head 41 is also deflected (the knife handle 42 which does not reach the through groove of the fixed block is not deflected). Then, the driving firing assembly 6 pushes the cutting knife assembly 4 to cut the tissue, and the cutting knife assembly 4 moves towards the far end under the deflection angle all the time. 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 cutter assembly passes between the two cutter guard plates 31, smooth turning can be realized by means of the arc-shaped structures of the cutter 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. 13, since the cutting blade protector 31 is an arc protector, there is a gap from the shank 42 located between the cutting blade protectors 31. Preferably, two cutting knife guard plate linings 36 can be further arranged on the inner sides of the two cutting knife guard plates 31 respectively, 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 surfaces (inner surfaces) of the cutting knife guard plate 31 close to the side of the central shaft 8 are respectively provided with a cutting knife guard plate groove 311 (as shown in fig. 12) matched 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 far end of the groove; the middle of the U-shaped structure is embedded at the near end of the groove; the portion of the liner intermediate to the distal end is cantilevered with respect to the cutting blade guard recess 311; the middle to proximal end of the U-shaped structure extends to the rear of the guard and its recess, abutting a section of the shank surface short of the cutting guard 31. After the U-shaped structure extends backward for a certain distance (the maximum distance does not exceed the tail end of the knife handle 42), the U-shaped structure is further bent outward at the near end and embedded into the cutting knife 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 movement of the cutter assembly, the cutter guard liner 36 may abut the shank 42 (into the guard and into the section before the guard) to reduce the risk of the shank 42 unraveling or being dislodged from the cutter guard 31. In the initial state, the fixing 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 moves back and forth along the instrument center axis 8. 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. 14a and 14b, 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 distal end and the near-end of right cutting knife backplate inside lining still imbed in the cutting knife backplate recess on right side simultaneously, so in the cutting knife subassembly motion process, 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 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 steering operation method of the anastomat comprises the following steps:
the first push block 2111 synchronously rotating by the rotation steering button 21, 1 pushes the blocking elastic sheet 2111, so that the blocking elastic sheet 224 is elastically deformed, the end part of the blocking elastic sheet is separated from the currently clamped upper rotating block groove 2314, and the locking state of the rotating stop 22 to the steering rotating shaft 24 is released;
during the rotation of the rotation stopper 22 with the blocking elastic sheet 224, the upper rotation stopper groove 2314 aligned with the end of the blocking elastic sheet 224 is switched;
when the turning knob 21 stops rotating, the first push block 2111 stops pushing, the blocking elastic sheet 224 loses external force and recovers to the original state, and the end part is clamped in the upper turning block groove 2314 which is aligned with the end part currently, so that the turning locking is performed.
In one embodiment, when the steering button 21 is rotated in the first or second direction, the first push block 2111 of the steering button is rotated in the first or second direction to push the adjacent (contacting) blocking resilient tab 224 to deform elastically, and the end portion is disengaged from the currently engaged upper rotation block groove 2314.
In another embodiment, the turning knob 21 is rotated in the first or second direction, and the second push block 2112 provided on the turning knob is rotated in the first or second direction to push the adjacent side wing 223.
In a steering mechanism having both the first push block 2111 and the second push block 2112, when the steering button 21 is rotated in a certain direction, the first push block 2111 pushes the blocking elastic piece in the same direction, and the idle stroke is a certain distance, for example, when the blocking elastic piece is separated from the upper rotating block groove 2314 opposite to the end thereof, the second push block 2112 pushes the side wing 223 in the same direction.
Optionally, when the steering button is not rotated, two ends of the blocking elastic sheet 224 are respectively clamped in the two upper rotation block grooves 2314 arranged oppositely to lock the steering rotation shaft 24; when the steering knob 21 is rotated, one end of the blocking elastic piece 224 is elastically deformed by an external force (e.g., the pushing of the first push block 2111) to be separated from the currently engaged upper rotation block groove 2314, and when the other end of the blocking elastic piece 224 passes over the rib 2315 between two adjacent grooves, the other end of the blocking elastic piece is hit against the side wall of the next upper rotation block groove 2314 under the inertia of rotation, indicating that one groove is rotated.
According to the design structure of the invention, the steering button 21 can rotate 360 degrees, but is controlled by the swing angle of the jaw of the front actuator, and the swing of the jaw of the front actuator can reach a limit angle, such as 67.5 degrees.
The self-locking steering mechanism can also be applied to other minimally invasive surgical instruments, in particular to instruments which need to rotate in vitro to realize that the execution end in vivo reaches a preset angle.
As used herein, "proximal" and "posterior" refer to the end proximal to the operator, and "distal" and "anterior" refer to the end distal from the operator. The directions of "up, down, top, bottom, left, right, front and back" are all expressed by the positions shown in the corresponding drawings, and the directions of the components are not limited when the anastomat is actually used, and the positions of "up, down, top, bottom, left and right" correspond to the directions shown in fig. 11. For ease of description, the anterior-posterior direction, i.e., the axis of the central shaft 8 of the instrument, is a straight line without a solid body, extending between the proximal and distal ends of the stapler, corresponding to the X-direction; the left and right directions, such as two sides of the axis of the central shaft of the instrument, correspond to the Y direction; the up-down direction, such as the axis of the steering rotating shaft 24 of the steering mechanism 2, corresponds to the Z direction.
Rotation in this context means that the steering mechanism 2 rotates the component or assembly at its forward end 360 ° about the central axis of the instrument (i.e., about the X-direction). The deflection in this context means that the steering mechanism 2 drives a certain component or assembly to swing around a point (a physical or virtual point) in a straight line direction in a plane, so that a certain reference line (such as an axis, a center line and the like) of the component or assembly forms an included angle relative 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 of the instrument. Self-locking herein means that the angle after deflection is locked by the design of the steering mechanism 2. The yaw refers to a swing in the left-right direction on the plane formed by the X axis and the Y axis in fig. 11. The steering in this context means that the steering knob 21 performs a counterclockwise rotation or a clockwise rotation of 0 to 360 ° about the central axis of the steering rotation shaft 24.
The "initial state" mentioned herein refers to an undeflected initial state, in which the extending direction of the steering button 21 from the proximal end to the distal end is in the same direction as the instrument central axis (i.e., the X direction), and at this time, the steering button 21 is not deflected, the steering angle is 0 °, the extending direction of the side wing plate 223 coincides with the extending direction of the steering button 21, and the extending direction of the blocking spring is perpendicular to the extending direction of the steering button 21.
In summary, the steering mechanism designed by the present invention achieves locking of the steering rotation shaft by the engagement limit of the blocking elastic piece and the upper rotation block groove, when the steering operation of the steering knob is performed, the locking of the steering rotation shaft can be released and the groove engaged with the blocking elastic piece can be switched by the same-direction pushing action of the first push block rotating synchronously with the steering knob, when the steering operation is stopped, the blocking elastic piece falls into the upper rotation block groove which is currently aligned with the blocking elastic piece (i.e. completing the groove switching operation), the steering rotation shaft is locked, and the resistance transmitted from the actuator to the rotation shaft does not affect the angle of the steering knob.
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 (35)

1. A steering mechanism with a self-locking function, which is characterized in that,
the steering mechanism includes: the steering mechanism comprises a steering button, a rotating stop block, a rotating block, a steering rotating shaft, two steering connecting blocks and two steering frames;
the rotating block is provided with a sleeve, and the inner wall of the sleeve is provided with a plurality of grooves at intervals in the circumferential direction;
the rotation stopper includes:
the check block body is positioned in the sleeve, so that the groove is surrounded on the periphery of the check block body; the check block body is provided with a pair of side wing plates which are respectively arranged at two sides of the check block body, and the end parts of the two side wing plates respectively extend towards the opposite inner walls of the sleeve; and a process for the preparation of a coating,
the blocking elastic sheet is arranged at the position of the stop block body, extends towards the direction of the groove and synchronously rotates with the stop block body; at least one end part of the blocking elastic sheet is clamped in the groove to prevent the rotation of the rotating stop block body and the steering rotating shaft;
the side, facing the rotating stop block, of the steering button is provided with at least one first push block, the first push block is adjacent to the blocking elastic sheet, when the steering button rotates, the first push block synchronously rotates to push the blocking elastic sheet in the same direction, so that the blocking elastic sheet is deformed, and the current clamped groove at the end part of the blocking elastic sheet is switched; at least two second push blocks are arranged on one surface of the steering button facing the rotating stop block; each side wing plate corresponds to two second pushing blocks positioned on two sides of the side wing plate: a second push block for pushing the side wing plate in the first direction when the steering knob is rotated in the first direction; when the steering button rotates along the second direction, the other second push block pushes the side wing plate along the second direction; the rotating stop block is provided with a through hole, and the steering rotating shaft is matched with the through hole of the rotating stop block, so that the rotating stop block drives the steering rotating shaft to synchronously move;
the steering rotating shaft is hinged with the two bogies through the two steering connecting blocks; when the steering rotating shaft rotates, the steering connecting block is driven to drive the bogie on one side of the central shaft to move towards the far end, and simultaneously the steering connecting block drives the bogie on the other side of the central shaft to move towards the near end.
2. The steering mechanism with self-locking function according to claim 1,
the first push block is matched with the contact surface of the blocking elastic sheet.
3. The steering mechanism with self-locking function according to claim 1,
the first push block and the blocking elastic sheet are always in a contact state.
4. The steering mechanism with self-locking function according to claim 1,
at least, be provided with two first ejector pads, block the shell fragment and be located between two first ejector pads: when the steering button rotates along a first direction, one first push block pushes the blocking elastic sheet along the first direction; when the steering button rotates along the second direction, the other first push block pushes the blocking elastic sheet along the second direction; the first direction is clockwise or anticlockwise, and the second direction is anticlockwise or clockwise.
5. The steering mechanism with self-locking function according to claim 1,
the extending direction of the side wing plate is vertical to the extending direction of the blocking elastic sheet.
6. The steering mechanism with self-locking function according to claim 1,
when the steering button is in a static state, a gap is formed between the second push block and the contact surface of the side wing plate.
7. The steering mechanism with self-locking function according to claim 1,
the first push block and the second push block are two ends of the same push block structure, or two independent push block structures.
8. The steering mechanism with self-locking function according to claim 1,
a steering button chassis is arranged on one surface of the steering button facing the rotating stop block, and a plurality of first push blocks and second push blocks are arranged on the steering button chassis at intervals; the steering button chassis is sleeved at the sleeve and can freely rotate on the sleeve.
9. The steering mechanism with self-locking function according to claim 8,
the second radial direction of the steering button chassis is consistent with the extending direction between the far end and the near end of the steering button, and the first radial direction of the steering button chassis is vertical to the second radial direction; the second push blocks used for pushing the same side wing plate from different directions are symmetrically arranged along the second radial direction, and the first push blocks used for pushing the same blocking elastic piece from different directions are symmetrically arranged along the first radial direction.
10. The steering mechanism with self-locking function according to claim 9,
the rotary check block comprises a pair of blocking elastic sheets, the blocking elastic sheets are symmetrically arranged on two sides of the check block body along the first radial direction, and two end parts of each blocking elastic sheet are matched with the grooves and are respectively clamped in the two grooves symmetrically arranged along the second radial direction.
11. The steering mechanism with self-locking function according to claim 10,
the blocking elastic sheet is fixedly connected to the stopper body, or integrally formed with the stopper body, or detachably connected with the stopper body.
12. The steering mechanism with self-locking function according to claim 1,
the blocking elastic sheet comprises:
the first elastic sheet is fixedly arranged on the side part of the stop block body, and the extending direction of the first elastic sheet is vertical to the extending direction between the near end and the far end of the steering button; and a process for the preparation of a coating,
the second elastic sheet is attached to the side face, facing the first push block, of the first elastic sheet and located between the first elastic sheet and the first push block, and the steering button rotates to enable the first push block to push the second elastic sheet to drive the first elastic sheet.
13. The steering mechanism with self-locking function according to claim 12,
the second elastic sheet at least covers the end part of the first elastic sheet.
14. The steering mechanism with self-locking function according to claim 12,
the second elastic sheet is a stainless steel sheet.
15. The steering mechanism with self-locking function according to claim 12,
the rotation stopper includes:
the pair of side wing plates are respectively arranged at two sides of the block body, and the end parts of the two side wing plates respectively extend towards the opposite inner walls of the sleeve;
the extending directions of the two first elastic sheets are vertical to the extending directions of the two side wing plates; and
the pair of second elastic sheets are respectively attached to the two first elastic sheets, and the end parts of the second elastic sheets are clamped in the aligned grooves of the second elastic sheets;
the end part of each second elastic sheet is exposed out of the side surface of the clamped groove and is contacted with a first push block.
16. The steering mechanism with self-locking function according to claim 15,
and two sides of each side wing plate are respectively provided with a second push block.
17. The steering mechanism with self-locking function according to claim 15,
and an installation slit is arranged between the side wing plate and the first elastic sheet and used for clamping the second elastic sheet to ensure that the second elastic sheet is attached to the first elastic sheet.
18. The steering mechanism with self-locking function according to claim 17,
the side surface of the first elastic sheet facing the first push block is also provided with an elastic sheet bracket for supporting the second elastic sheet; the elastic sheet brackets are positioned at two sides of the mounting slit.
19. The steering mechanism with self-locking function according to claim 15,
the outer edge of the end part of the side wing plate is arc-shaped, and the arc corresponds to the upper section of the inner wall of the sleeve; the end of the flank is located above the groove.
20. The steering mechanism with self-locking function according to claim 1,
the steering mechanism further comprises: and the check ring is clamped on the outer wall of the steering rotating shaft and is positioned between the rotating stop block and the steering button.
21. The steering mechanism with self-locking function according to claim 20,
the retainer ring is a U-shaped ring or an O-shaped ring.
22. The steering mechanism with self-locking function according to claim 20,
the steering rotating shaft is provided with a clamping groove for clamping the check ring.
23. The steering mechanism with self-locking function according to claim 1,
the included angle alpha of the two side walls of each groove is 90 degrees.
24. The steering mechanism with self-locking function according to claim 21,
the included angle beta between two adjacent grooves is 1-90 degrees.
25. The steering mechanism with self-locking function according to claim 21,
the included angle beta between every two adjacent grooves is 15 degrees.
26. The steering mechanism with self-locking function according to claim 1,
the side walls of the grooves which are adjacently arranged in the sleeve form a convex rib which is an arc-shaped bulge or a trapezoidal boss.
27. The steering mechanism with self-locking function according to claim 1,
the sleeve is internally provided with a rotating shaft sleeve, and the rotating shaft sleeve is provided with a first through hole which is matched with the hole shaft of the steering rotating shaft.
28. The steering mechanism with self-locking function according to claim 1,
the steering button is also provided with a clamping piece which is contacted with one surface of the rotating stop block close to the rotating block and used for limiting the steering button to be separated from the steering rotating shaft.
29. The steering mechanism with self-locking function according to claim 1,
the through hole of the rotary stop block is a waist-shaped hole, two planes matched with the waist-shaped hole are arranged at the joint of the steering rotary shaft and the rotary stop block, and the two planes are attached to the waist-shaped inner wall surface of the through hole of the rotary stop block, so that the rotary stop block drives the steering rotary shaft to move synchronously.
30. The steering mechanism with self-locking function according to claim 1,
and one surface of the steering button facing the rotating stop block is also provided with a hole cavity which is in clearance fit with the end part of the steering rotating shaft.
31. A steering mechanism with a self-locking function according to any one of claims 1 to 30; it is characterized in that the preparation method is characterized in that,
when the steering button is rotated, the first push block synchronously rotates to push the adjacent blocking elastic sheet to generate elastic deformation, so that the end part of the blocking elastic sheet is separated from the currently clamped groove, and the locking state of the steering rotating shaft is released;
in the process that the rotating steering button drives the rotating stop block to rotate, the groove aligned with the end part of the blocking elastic sheet is switched;
when the rotation of the steering button is stopped, the first push block stops rotating, the blocking elastic sheet loses external force and recovers to the original state, and the end part is clamped in the groove aligned at present to perform steering locking.
32. The steering mechanism with self-locking function according to claim 31,
when the steering button is rotated along the first direction or the second direction, the first push block arranged on the steering button rotates along the first direction or the second direction to push the adjacent blocking elastic sheet to generate elastic deformation, and the end part is separated from the current clamping groove.
33. The steering mechanism with self-locking function according to claim 31,
when the steering button is rotated along the first direction or the second direction, the second push block arranged on the steering button rotates along the first direction or the second direction to push the adjacent side wing plates.
34. The steering mechanism with self-locking function according to claim 31,
when the steering button is not rotated, the two ends of the blocking elastic sheet are respectively clamped in the two oppositely arranged grooves to lock the steering rotating shaft;
when the steering button is rotated, one end of the blocking elastic sheet is elastically deformed under the pushing and pressing action of the first pushing block to be separated from the groove, and when the other end of the blocking elastic sheet crosses the convex ridge between the two adjacent grooves, the side wall of the next groove is knocked under the inertia of rotation to prompt that one groove is rotated.
35. An anastomat, comprising: the self-locking steering mechanism comprises an actuator, a cutter assembly, a fixed block, two cutter guard plates, two groups of driving connecting pieces and the self-locking steering mechanism as claimed in any one of claims 1 to 30; the two bogies are connected with the near ends of the two groups of driving connecting pieces; the near end of the actuator is connected with a fixed block, and both sides of the fixed block are respectively connected with the far end of a cutting knife guard plate; the near end of each cutting knife guard plate is respectively connected with the far end of the driving connecting piece;
when the steering rotating shaft rotates, the steering connecting block is driven to drive the bogie, the driving connecting piece and the cutting knife protecting plate on one side of the central shaft to move to the far end of the anastomat, meanwhile, the steering connecting block drives the bogie, the driving connecting piece and the cutting knife protecting plate on the other side of the central shaft to move to the near end of the anastomat, and the two cutting knife protecting plates respectively rotate relative to the fixed block to drive the fixed block to deflect relative to the central shaft, so that the fixed block drives the actuator to deflect relative to the central shaft;
the handle of the cutter assembly passes through the arc-shaped inner walls of the two cutter guard plates and enters the through groove of the actuator through the through groove of the fixing block to be connected with the cutter head, the cutter head deflects along with the actuator, one part of the handle deflects along with the deflection of the cutter guard plates, the fixing block and the actuator, and the rest part of the handle, which does not enter the cutter guard plates, does not deflect.
CN202110403080.5A 2021-04-15 2021-04-15 Steering mechanism with self-locking function and anastomat Active CN112971895B (en)

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CN113349861B (en) * 2021-06-30 2023-03-21 江苏伟康洁婧医疗器械股份有限公司 Knob swinging mechanism of endoscope anastomat
CN114715960B (en) * 2022-03-30 2024-07-23 重庆钢铁股份有限公司 Wastewater treatment device
CN116250881B (en) * 2023-02-08 2024-02-20 苏州勤灏精密机械有限公司 Endoscope anastomat with steering self-locking mechanism and working method thereof

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US9867615B2 (en) * 2013-02-28 2018-01-16 Ethicon Llc Surgical instrument with articulation lock having a detenting binary spring
CN105596049B (en) * 2016-02-25 2017-12-26 常州市康迪医用吻合器有限公司 A kind of hysteroscope Endo-GIA
CN212382674U (en) * 2020-04-13 2021-01-22 天臣国际医疗科技股份有限公司 Head swinging mechanism and medical anastomat
CN112617939B (en) * 2021-03-09 2021-06-04 骄英医疗器械(上海)有限公司 Cutting knife guard plate assembly, anastomat and steering control method

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