CN115813471A

CN115813471A - Push-pull driving structure

Info

Publication number: CN115813471A
Application number: CN202211654269.2A
Authority: CN
Inventors: 何裕源; 请求不公布姓名; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2023-03-21

Abstract

The invention relates to a push-pull driving structure, wherein a transmission assembly comprises a first moving component, a second moving component and a transmission component, the first moving component and the second moving component are assembled through the transmission of the transmission component, any one of the first moving component and the second moving component is used for applying opposite force to the other through the transmission component to enable the first moving component and the second moving component to move towards opposite directions, the driving assembly comprises a driving component and a traction component, and the driving component is in driving connection with at least one of the first moving component and the second moving component through the traction component. The transmission component can form stable driving fit between the first moving component and the second moving component, so that the first moving component and the second moving component can move by means of the force of the opposite side, the operation rigidity can be greatly improved through the structural form of opposite driving between the first moving component and the second moving component, and the stable operation of the push broach assembly is ensured.

Description

Push-pull driving structure

Technical Field

The invention relates to the technical field of medical instruments, in particular to a push-pull driving structure.

Background

In recent years, with the application and development of related technologies of robots, the medical surgical robot has more and more important clinical effects, wherein the minimally invasive surgical robot system can reduce the physical labor of doctors in the surgical process in an interventional therapy mode, so that the purpose of precise surgery is achieved, and patients have small wound, less blood loss, less postoperative infection and quick postoperative recovery. The minimally invasive surgical robot system generally adopts various surgical instruments with different functions to implement specific surgical operations, so the design quality of the surgical instruments directly determines whether the minimally invasive surgical robot is successful or not. The anastomat is used as a common surgical instrument, push-pull action is required to be carried out to control the push broach to move forwards and backwards during surgical operation, various modes are adopted for carrying out push-pull control action in the existing anastomat, for example, a wire control mode is adopted, but the high transmission rigidity cannot be achieved when the push-pull control action of the anastomat is carried out in the existing anastomat by adopting the wire control mode.

Disclosure of Invention

In view of the above, it is necessary to provide a push-pull driving structure for solving the above-mentioned technical problems.

The application provides a push-and-pull drive structure, push-and-pull drive structure includes:

a transmission assembly comprising a first moving component, a second moving component and a transmission component, the first moving component and the second moving component being drivingly assembled by the transmission component, either of the first moving component and the second moving component being for applying opposing forces to the other through the transmission component, causing the first moving component and the second moving component to move in opposing directions;

a drive assembly including a drive member and a traction member, the drive member in driving connection with at least one of the first and second moving members through the traction member.

In one embodiment, the transmission assembly comprises:

and the first motion part and the second motion part are movably assembled on the base part along a linear motion track.

In one embodiment, the first moving part is provided with a first guide beam, the base part is provided with a first guide groove, and the first guide beam is in guide fit with the first guide groove; and/or the presence of a gas in the gas,

the second moving part is provided with a second guide beam, the base part is provided with a second guide groove, and the second guide beam is in guide assembly with the second guide groove.

In one embodiment, the first moving part is provided with a first balance beam, the first balance beam and the first guide beam are arranged on two sides of the first moving part, the base part is provided with a first balance groove, and the first balance beam and the first balance groove are mutually embedded; and/or the presence of a gas in the gas,

the second moving part is provided with a second balance beam, the second balance beam and the second guide beam are arranged on two sides of the second moving part, the base part is provided with a second balance groove, and the second balance beam and the second balance groove are mutually embedded.

In one embodiment, the transmission component is a transmission wheel, the first motion component is provided with a first transmission area, the second motion component is provided with a second transmission area, and the transmission wheel is in transmission fit with the first transmission area and the second transmission area.

In one embodiment, the transmission wheel is a transmission gear, the first transmission region has a first set of teeth, the second transmission region has a second set of teeth, and the transmission gear is in transmission engagement with the first set of teeth and the second set of teeth.

In one embodiment, the transmission gear has a first circumferential tooth and a second circumferential tooth, the first circumferential tooth and the second circumferential tooth being coaxial;

wherein the first and second circumferential teeth have different pitch circle diameters; and/or the first circumferential teeth and the second circumferential teeth have different gear modules.

In one embodiment, a first limit side beam is arranged on the first moving part and is in limit fit with the second moving part;

and/or a second limiting side beam is arranged on the second moving part and is in limiting fit with the first moving part.

In one embodiment, the driving part is a driving wire wheel, the traction part is a traction wire, and the driving wire wheel is in driving connection with the first moving part and the second moving part through the traction wire; alternatively, the first and second electrodes may be,

the driving part is a driving gear, the traction part is a traction rack, and the driving gear is in driving connection with the first moving part and the second moving part through the traction rack; alternatively, the first and second electrodes may be,

the driving part is a driving chain wheel, the traction part is a traction chain, a plurality of driving recesses are formed in the circumferential direction of the driving chain wheel, a plurality of driving single bodies are arranged on the traction chain, the driving single bodies are in driving embedding with the driving recesses, and the driving chain wheel is in driving connection with the first moving part and the second moving part through the traction chain; alternatively, the first and second electrodes may be,

the driving part is a driving belt wheel, the traction part is a traction belt, the driving belt wheel is assembled with the traction belt in a driving mode, and the driving belt wheel is in driving connection with the first moving part and the second moving part through the traction belt.

In one embodiment, the driving pulley comprises a first pulley body part and a second pulley body part, the first pulley body part and the second pulley body part are coaxially connected, the traction line comprises a first wire body and a second wire body, the first wire body is wound and connected onto the first pulley body part in a first rotation direction, the second wire body is wound and connected onto the second pulley body part in a second rotation direction, the first rotation direction and the second rotation direction are opposite, the first wire body is in driving connection with the first moving part, and the second wire body is in driving connection with the second moving part; alternatively, the first and second electrodes may be,

the traction rack comprises a first tooth condition and a second tooth condition, the first tooth condition and the second tooth condition are meshed and assembled on two symmetrical sides of the driving gear, the first tooth condition is in driving connection with the first moving component, and the second tooth condition is in driving connection with the second moving component; alternatively, the first and second electrodes may be,

two ends of the traction chain are respectively in driving connection with the first moving part and the second moving part; alternatively, the first and second liquid crystal display panels may be,

the driving belt wheel and the traction belt adopt any one of friction driving and tooth meshing driving, and two ends of the traction belt are respectively in driving connection with the first moving part and the second moving part.

In one embodiment, the first wheel body part is provided with a first circumferential groove, the second wheel body part is provided with a second circumferential groove, the first wire body is wound in the first circumferential groove, the second wire body is wound in the second circumferential groove, and the first circumferential groove and the second circumferential groove have different groove diameters; alternatively, the first and second electrodes may be,

at least a portion of the first and second tooth members are made of a flexible material.

In one embodiment, the drive assembly comprises:

an instrument base on which the drive component is mounted.

In one embodiment, the instrument base is provided with a curved receiving slot for receiving the traction member.

In one embodiment, the instrument base comprises a first base and a second base, the driving member being mounted on the second base, a tensioning assembly being provided between the second base and the first base, the tensioning assembly being for tensioning the traction member.

In one embodiment, the tension assembly includes an elastic member, and the second base is elastically mounted on the first base by the elastic member;

or, the tensioning assembly comprises a guide pushing block, the guide pushing block is movably assembled on the first base, the guide pushing block is provided with a first guide inclined plane, the second base is provided with a second guide inclined plane, and the first guide inclined plane is in guide contact with the second guide inclined plane.

In one embodiment, at least a portion of the drive member is made of a flexible material; and/or the presence of a gas in the gas,

the traction member is drivingly connected to at least one of the first and second moving members by a flexible traction body.

In the push-pull driving structure, the push-pull control action is realized based on the mutual motion fit among the first motion part, the second motion part and the transmission part, so that when synchronous opposite motion is implemented between the first motion part and the second motion part, the transmission part can form stable drive fit between the first motion part and the second motion part, the first motion part and the second motion part can realize self motion by means of opposite force, the operation rigidity can be greatly improved through the structural form of opposite drive between the first motion part and the second motion part, and then when the push-pull control action is implemented on the push-pull cutter assembly through the first motion part and the second motion part, higher transmission rigidity can be formed, and the stable operation of the push-pull cutter assembly is ensured.

Drawings

FIG. 1 is a schematic view of a surgical instrument according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a push-pull driving structure according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a push-pull drive configuration provided in the embodiment of FIG. 2;

FIG. 4 is a schematic diagram of a first motion unit according to one embodiment of the present invention;

FIG. 5 is a schematic diagram of a second motion member provided in accordance with one embodiment of the present invention;

FIG. 6 is a first perspective assembly diagram of the first moving component, the second moving component, and the transmission component provided in accordance with one embodiment of the present invention;

FIG. 7 is a second perspective assembly view of the first moving member, the second moving member, and the transmission member according to one embodiment of the present invention;

FIG. 8 is a schematic diagram of a first motion member according to another embodiment of the present invention;

FIG. 9 is a schematic diagram of a second motion member according to another embodiment of the present invention;

FIG. 10 is a schematic view of an assembled structure of a first moving part, a second moving part and a transmission part according to another embodiment of the present invention;

FIG. 11 is an enlarged partial schematic view of the push-pull drive configuration provided in the embodiment of FIG. 2;

FIG. 12 is a schematic view of an assembled structure of a driving member and a traction member provided in accordance with an embodiment of the present invention;

FIG. 13 is a schematic view of an assembled structure of the drive assembly, the transmission assembly and the push-knife assembly provided by an embodiment of the present invention;

FIG. 14 is an exploded schematic view of the drive assembly, transmission assembly and push-knife assembly provided in the embodiment shown in FIG. 13;

FIG. 15 is a schematic view of an assembled structure of a transmission assembly and a push-type broach assembly according to an embodiment of the present invention;

FIG. 16 is a schematic plan exploded view of the drive assembly and the push blade assembly provided in the embodiment shown in FIG. 15;

figures 17-19 are schematic views of the movement states of the push-pull driving structure according to an embodiment of the present invention;

FIG. 20 is a schematic view of an end clamp according to an embodiment of the present invention in an open position;

FIG. 21 is a schematic view of an end clamp according to one embodiment of the present invention in a closed position;

FIG. 22 is an enlarged view of an end-effector according to one embodiment of the present invention in an open position;

FIG. 23 is an enlarged schematic view of an end clamp according to one embodiment of the present invention in a closed position;

FIG. 24 is a schematic view of a cam guide surface of a second jaw provided in accordance with one embodiment of the present invention;

FIG. 25 is a schematic view of an anastomosis of end effectors provided in accordance with an embodiment of the present invention;

FIGS. 26 and 27 are schematic views illustrating an assembled state of the direction-changing guide wheel according to an embodiment of the present invention;

figures 28 and 29 are schematic views of the pitch circle diameter and wire groove diameter provided by one embodiment of the present invention;

FIG. 30 is a line drawing schematic of a push-type phase and a retract-type phase provided by one embodiment of the present invention;

FIGS. 31 and 32 are schematic illustrations of the spiral winding length and the filament length provided by one embodiment of the present invention;

FIG. 33 is a schematic view of the drive pulley and traction belt provided in accordance with one embodiment of the present invention;

fig. 34 to 36 are schematic structural views of a driving gear and a traction rack provided in one embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1 to 3, an embodiment of the present invention provides a push-pull driving structure, which includes a transmission assembly and a driving assembly, wherein the transmission assembly includes a first moving component 133, a second moving component 134 and a transmission component 135, the first moving component 133 and the second moving component 134 are assembled by the transmission component 135 in a transmission manner, and either one of the first moving component 133 and the second moving component 134 is used for applying an opposite force to the other through the transmission component 135, so as to urge the first moving component 133 and the second moving component 134 to move in opposite directions; the driving assembly comprises a driving part 12a and a traction part 12b, wherein the driving part 12a is in driving connection with at least one of the first moving part 133 and the second moving part 134 through the traction part 12 b.

The push-pull driving structure can be applied to various types of surgical instruments 1, and can provide push-pull control actions in various types of surgical instruments 1 based on the push-pull actions realized by the push-pull driving structure, for example, the push-pull driving structure can be applied to various types of surgical instruments 1 such as an anastomat which needs to realize the push-pull control actions, and referring to fig. 1, taking the anastomat as an example, the anastomat can comprise a snake bone joint 10, a tail end clamp 11, a driving box 12 and an instrument rod 13, wherein the tail end clamp 11 is provided with a nail bin assembly 2, the driving box 12 is in driving connection with the instrument rod 13, the instrument rod 13 can be selectively connected with the tail end clamp 11 through the snake bone joint 10, and the push-pull driving structure is integrated in the anastomat, and particularly can be integrated in the driving box 12 and the instrument rod 13 and forms control connection with the tail end clamp 11. The push-pull driving structure can be adapted to different surgical instruments 1 according to requirements by those skilled in the art, and is not limited herein.

With continued reference to fig. 2 and 3, the push-pull drive mechanism includes a drive assembly and a drive assembly, the drive assembly is contained in the drive box 12, the drive assembly is contained in the instrument rod 13, and the push-pull drive mechanism is integrated in the drive box 12 and the instrument rod 13. The first moving member 133, the second moving member 134, and the transmission member 135 of the transmission assembly may adopt various structural forms as long as synchronous and opposite motions between the first moving member 133 and the second moving member 134 can be achieved through the transmission member 135, for example, the first moving member 133 and the second moving member 134 adopt any structural form such as a block structure, a strip structure, a cylindrical structure, and the transmission member 135 adopts a structural form such as a wheel structure, and is not limited herein.

Referring to fig. 4 to 7, the first moving component 133 and the second moving component 134 are in a bar structure, the transmission component 135 is in a wheel structure, when the first moving component 133 and the second moving component 134 in the bar structure are movably assembled with each other along the length direction, the first moving component 133 and the second moving component 134 may be adapted to be accommodated in the instrument outer tube 131 of the instrument bar 13, the wheel structure of the transmission component 135 may be integrally assembled between the first moving component 133 and the second moving component 134, and the overall configuration is adapted to the instrument outer tube 131 of the instrument bar 13 and has a longer and thinner overall structure, for example, referring to fig. 1, the instrument outer tube 131 of the instrument bar 13 has an outer diameter D, and the first moving component 133 and the second moving component 134 may be assembled in the instrument outer tube 131 with the outer diameter D.

Based on the transmission assembly formed by the transmission component 135 between the first motion component 133 and the second motion component 134, when one of the first motion component 133 and the second motion component 134 is pulled, the transmission component 135 will transmit an opposite force to the other, and the first motion component 133 and the second motion component 134 will be driven to move synchronously in opposite directions by the opposite force, for example, as shown in fig. 2 and 3, when the first motion component 133 is pulled by the traction component 12b in the driving assembly, the first motion component 133 will move towards the proximal end based on the pulling force, and at the same time, the first motion component 133 will apply a force to the transmission component 135 and an opposite force to the second motion component 134 via the transmission component 135, wherein the opposite force is opposite to the pulling force applied to the first motion component 133, thus driving the second motion component 134 to move towards the distal end, which realizes that the second motion component 134 moves towards the opposite direction to the first motion component 133, and is equivalent to controlling the second motion component 134 to perform the pushing action.

With continued reference to fig. 2 and 3, when pulling the second moving member 134 by using the pulling member 12b of the driving assembly, the second moving member 134 will move towards the proximal end based on the pulling force, and at the same time, the second moving member 134 will apply a force to the transmission member 135, and an opposite force will be applied to the first moving member 133 through the transmission member 135, wherein the opposite force is opposite to the pulling force applied to the second moving member 134, so as to urge the first moving member 133 to move towards the distal end, which makes the first moving member 133 move towards the opposite direction to the second moving member 134, which is equivalent to controlling the second moving member 134 to perform the retracting action. Therefore, by the driving control between the driving assembly and the first and second moving

parts

133 and 134, the push-pull control action can be achieved.

Therefore, since the push-pull control action is realized based on the mutual motion coordination among the first motion member 133, the second motion member 134 and the transmission member 135, when the first motion member 133 and the second motion member 134 perform synchronous opposite motions, the transmission member 135 can form stable driving coordination between the first motion member 133 and the second motion member 134, so that the first motion member 133 and the second motion member 134 can both realize the motion thereof by means of the force of each other, the operation rigidity can be greatly improved by the structural form of opposite driving between the first motion member 133 and the second motion member 134, and further, when the push-pull control action is performed on the push-pull blade assembly by the first motion member 133 and the second motion member 134, higher transmission rigidity can be formed, and the stable operation of the push-pull blade assembly can be ensured.

When the first moving member 133 and the second moving member 134 move in opposite directions, the first moving member 133 and the second moving member 134 may directly form a motion guiding fit therebetween, so as to facilitate the first moving member 133 and the second moving member 134 to move synchronously in a strictly opposite motion towards the proximal end and the distal end, respectively, for example, there are guiding structures between the first moving member 133 and the second moving member 134, which move mutually along a predetermined motion track. Alternatively, in one embodiment, referring to fig. 2, the transmission assembly further includes a base member 132, and the first moving member 133 and the second moving member 134 may be movably mounted on the base member 132 along a predetermined movement track, so that when the first moving member 133 and the second moving member 134 move in opposite directions, the first moving member 133 and the second moving member 134 may respectively form a guiding fit with respect to the base member 132.

It should be noted that, whether the predetermined motion track between the first motion component 133 and the second motion component 134 or the predetermined motion track on the base component 132 can be designed into various track forms according to the requirement, for example, the predetermined motion track adopts a linear motion track, a curved motion track or other different motion tracks, and those skilled in the art can design different track forms according to the requirement of different types of surgical instruments 1, which is not limited herein.

With continued reference to fig. 3 to 7, in one embodiment, the first moving member 133 may be provided with a first guiding beam 133d, the base member 132 is provided with a first guiding groove 132a, the first guiding beam 133d and the first guiding groove 132a may adopt a linear structure or a curved structure extending towards the proximal and distal directions, and the guiding assembly of the first guiding beam 133d and the first guiding groove 132a realizes the guiding fit between the first moving member 133 and the base member 132, that is, the guiding assembly realizes the movement of the first guiding beam 133d according to the predetermined guiding direction of the first guiding groove 132a and further realizes the movement of the first guiding beam 133d according to the predetermined guiding direction of the first guiding groove 132 a.

Similarly, the second moving member 134 may also be provided with a second guiding beam 134d, and the base member 132 is provided with a second guiding groove (not shown), wherein the second guiding groove is formed on the base member 132 with reference to the arrangement of the first guiding groove 132a, the first guiding beam 133d and the first guiding groove 132a are matched on one side of the base member 132, the second guiding beam 134d and the second guiding groove are matched on the other side of the base member 132, the second guiding beam 134d and the second guiding groove may adopt a linear structure or a curved structure extending towards the proximal and distal directions, and the second guiding beam 134d and the second guiding groove are guided and assembled to realize guiding matching between the second moving member 134 and the base member 132, that is, the guiding assembly is to assemble the second guiding beam 134d according to the predetermined guiding direction of the second guiding groove, and further realize that the second guiding beam 134d moves according to the predetermined guiding direction of the second guiding groove.

Furthermore, the first guide beam 133d may be disposed at any position of the first moving member 133 according to the requirement, for example, the first guide beam 133d is disposed at a suitable position such as an upper surface side portion, an upper surface middle portion, and a side surface side portion or a side surface middle portion of the first moving member 133, and similarly, the second guide beam 134d may be disposed at any position of the second moving member 134 according to the requirement, for example, the second guide beam 134d is disposed at a suitable position such as an upper surface side portion, an upper surface middle portion, and a side surface side portion or a side surface middle portion of the second moving member 134, and a person skilled in the art may design the specific position of the first guide beam 133d or the second guide beam 134d according to the requirement as long as it is satisfied that the first moving member 133 and the second moving member 134 perform the movement strictly according to the predetermined movement locus, and is not limited herein.

In one embodiment, referring to fig. 4 and 5, the first moving member 133 may be provided with a first balance beam 133b, and at this time, the first balance beam 133b and the first guide beam 133d may be provided on both sides of the first moving member 133, so that when the first guide beam 133d is located on a side portion of the first moving member 133, the first balance beam 133b may form a balanced fit with the first guide beam 133d on an opposite side of the first moving member 133, so as to prevent the whole assembly structure from being severely deformed when a force is applied, which may result in that the first moving member 133 cannot normally transmit and cannot normally complete a linear motion, and the presence of the first balance beam 133b ensures the rigidity and stability of the structure, thereby ensuring a stable motion of the first moving member 133 relative to the base member 132, and ensuring smooth guidance of the first moving member 133 during a motion. The base member 132 is provided with a first balance groove, the first balance beam 133b is engaged with the first balance groove, and the first balance beam 133b and the first balance groove may have a straight line structure or a curved line structure extending in the proximal and distal directions, so that the first balance beam 133b and the first balance groove are structurally fitted with the first guide beam 133d and the first guide groove 132 a.

Similarly, as shown in fig. 4 and fig. 5, the second moving part 134 may also be provided with a second balance beam 134b, and in this case, the second balance beam 134b and the second guide beam 134d may also be provided on two sides of the second moving part 134, so that when the second guide beam 134d is located on a side portion of the second moving part 134, the second balance beam 134b may form a balanced fit with the second guide beam 134d on an opposite side of the second moving part 134, so as to prevent the entire assembly structure from being seriously deformed when a force is applied, which results in that the second moving part 134 cannot normally transmit and cannot normally complete a linear motion, and the second balance beam 134b ensures the rigidity and stability of the structure, thereby ensuring stable motion of the second moving part 134 relative to the base part 132, and ensuring smooth guiding when the second moving part 134 moves. The base member 132 is provided with a second balance groove, the second balance beam 134b is engaged with the second balance groove, and the second balance beam 134b and the second balance groove may be formed in a linear structure or a curved structure extending in the proximal and distal directions, so that the second balance beam 134b and the second balance groove are structurally fitted with the first guide beam 133d and the first guide groove 132 a. The first balance beam 133b and the second balance beam 134b can make the first moving part 133 and the second moving part 134 have good strength, and reduce structural deformation after being stressed.

Moreover, in one embodiment, the first moving member 133 may further include a first limiting side beam 133e, the first limiting side beam 133e is in limiting fit with the second moving member 134, when the first moving member 133 and the second moving member 134 are assembled with each other through the transmission member 135, the transmission member 135 is required to form a stable fit relationship with the first moving member 133 and the second moving member 134, so that the first limiting side beam 133e can limit the second moving member 134 in a lateral direction, thereby ensuring stable assembly between the first moving member 133 and the second moving member 134, and the first limiting side beam 133e can provide a reinforcing rib effect, thereby increasing a bending section coefficient of the first balance beam 133b, and the deformation resistance of a steel material with an irregular section such as an "L" shaped angle iron or a "T" shaped angle iron can be significantly higher than that of a flat steel section.

Similarly, the second moving member 134 may also be provided with a second limiting side beam 134e, the second limiting side beam 134e is in limiting fit with the first moving member 133, the second limiting side beam 134e can limit the first moving member 133 in the lateral direction, so as to ensure stable assembly between the first moving member 133 and the second moving member 134, and the second limiting side beam 134e can also provide a reinforcing rib effect, so as to improve the bending section coefficient of the second balance beam 134b, and the deformation resistance of the steel material with the special-shaped section, such as the similar L-shaped angle steel or the similar T-shaped angle steel, is obviously higher than that of the flat steel.

The first and second

limit side members

133e and 134e may have a plate-like structure, and the first and second

limit side members

133e and 134e may be selectively disposed at any one or both of them as required, which is not limited herein.

With continued reference to fig. 6, in one embodiment, the transmission component 135 may be a transmission wheel, the first motion component 133 is provided with a first transmission area 133a, the second motion component 134 is provided with a second transmission area 134a, and the transmission wheel is in transmission fit with the first transmission area 133a and the second transmission area 134 a. When the first motion member 133 is pulled by the traction member 12b in the driving assembly, the first motion member 133 moves towards the proximal end based on the pulling force, and at the same time, the first motion member 133 transmits the force with the transmission member 135 through the first transmission region 133a to apply the force to the transmission member 135, and the transmission member 135 continues to transmit the force with the second transmission region 134a of the second motion member 134 to apply the opposite force to the second motion member 134, so as to urge the second motion member 134 towards the distal end.

When the second motion member 134 is pulled by the traction member 12b of the driving assembly, the second motion member 134 moves towards the proximal end based on the pulling force, and at the same time, the second motion member 134 transmits the force with the transmission member 135 through the second transmission region 134a to apply the force to the transmission member 135, and the transmission member 135 transmits the force with the first transmission region 133a of the first motion member 133 to apply the opposite force to the first motion member 133, so as to urge the first motion member 133 to move towards the distal end.

The transmission manner between the transmission member 135 and the first transmission region 133a and the second transmission region 134a may adopt various force transmission forms, for example, in one embodiment, the transmission wheel may adopt a transmission gear, the first transmission region 133a has a first tooth group, the first tooth group may occupy a partial region or a whole region of the first transmission region 133a, the second transmission region 134a has a second tooth group, the second tooth group may occupy a partial region or a whole region of the second transmission region 134a, and the transmission gear is in transmission engagement with the first tooth group and the second tooth group, so that the transmission gear can smoothly realize the transmission of force between the first moving member 133 and the second moving member 134 by means of tooth engagement transmission. Besides, the transmission wheel can also adopt a transmission chain wheel, a ball gear and the like, and a person skilled in the art can select the specific type of the transmission wheel according to requirements, and the selection is not limited herein.

Continuing to refer to fig. 6, the thickness of the gear of the transmission gear is H, the tooth profile height of the first tooth group and the second tooth group is H, and H is limited to be greater than or equal to 0.5 × H, so that the meshing transmission between the transmission gear and the first tooth group and the second tooth group can be ensured to have good strength. Meanwhile, the overall assembly structure of the first and second moving

members

133 and 134 has a maximum width L, defined as L < D, that is, it suffices to assemble the first and second moving

members

133 and 134 within the instrument outer tube 131 having an outer diameter D. In order to ensure the diameter reduction of the instrument and minimize the trauma to the patient, the closer H is controlled, the better H is controlled, that is, the meshing width is as large as possible, so as to ensure that the single tooth has the bending section coefficient as high as possible, besides, the method for improving the bending section coefficient can also adopt the method of increasing the gear module and the material strength, etc., so as to make the gear or the rack not easy to deform under stress, in a specific embodiment, H is more than 0.8H, the gear module is large, and in addition, the material strength is maintained through heat treatment, so that the first motion component 133 and the second motion component 134 can bear the load of more than 800N to meet the use requirement of large load.

In addition, the transmission gear may also transmit force between the first motion member 133 and the second motion member 134 by means of friction transmission, for example, the transmission gear may also be a friction wheel, the first transmission region 133a and the second transmission region 134a have friction surfaces, and the friction wheel and the friction surfaces form friction transmission, that is, the transmission of force between the first motion member 133 and the second motion member 134 may be realized. The transmission of force between the first moving element 133 and the second moving element 134 by the transmission gear can be realized by selecting a suitable manner according to the requirement of the skilled person, and is not limited herein.

Referring to fig. 8 to 10, the first moving member 133 may further include a third guide groove 133f, the second moving member 134 may further include a fourth guide groove 134g, the first limiting side beam 133e may be matched with the fourth guide groove 134g to achieve smooth sliding, the second limiting side beam 134e may be matched with the third guide groove 133f to achieve smooth sliding, the third guide groove 133f (or the fourth guide groove 134 g) may limit the left and right displacement of the second limiting side beam 134e (or the first limiting side beam 133 e), and the first transmission region 133a and the second transmission region 134a are not easily deformed by force (the first moving member 133 and the second balance beam 134b may act together to resist deformation) during lifting, so as to improve the transmission motion reliability, and the existence of the third guide groove 133f and the fourth guide groove 134g may further improve the relative motion smoothness of the first moving member 133 and the second moving member 134, and the transmission precision. Further, the third guide groove 133f and the fourth guide groove 134g are preferably continuous, complete and uninterrupted, and have no step on the guide path, so as to avoid the step from affecting the smoothness of the guide.

The driving assembly may adopt any structural form, which means that the driving part 12a and the traction part 12b in the driving assembly may select any structural form according to requirements, and other matched components may be added in the driving assembly, as shown in fig. 11, the driving assembly may further be provided with components such as a transition gear 127, a power gear 128, a power shaft 129, and an instrument base, the instrument base may include a first base 121 and a second base 122, the second base 122 is mounted on the first base 121, the driving part 12a is mounted on the second base 122, the power shaft 129 is used to realize driving connection of the power gear 128 and a driving power source such as a driving motor, and further the power gear 128 is used to realize driving of the driving part 12a, wherein the transition gear 127 may also be used between the power gear 128 and the driving part 12a for power steering, which is not limited herein. At least a part of the driving member 12a may be made of a flexible material, so that the driving member 12a has a certain degree of deformation effect, for example, a circumference of the outer circumference of the driving member 12a is made of a flexible material, or the driving member 12a is made of a flexible material, so that at least a part of the portion of the driving member 12a, which is used for contacting with the traction member 12b, is made of a flexible material, and therefore, the driving member 12a can adaptively tension the traction member 12b according to the actual tension condition, and better transmission precision and rigidity are obtained.

With continued reference to fig. 11 and 14, in one embodiment, the driving member 12a may be a driving pulley, and the traction member 12b may be a traction wire, and the driving pulley is drivingly connected to the first moving member 133 and the second moving member 134 through the traction wire, where the driving pulley and the traction wire may be cooperatively formed in any structure and number, for example, the driving pulley includes a first pulley body 123 and a second pulley body 124, the first pulley body 123 and the second pulley body 124 are coaxially connected, the traction wire includes a first wire body 125 and a second wire body 126, the first wire body 125 is wound around and connected to the first pulley body 123 in a first rotation direction, the second wire body 126 is wound around and connected to the second pulley body 124 in a second rotation direction, the first rotation direction is opposite to the second rotation direction, the first wire body 125 is drivingly connected to the first moving member 133, and the second wire body 126 is drivingly connected to the second moving member 134.

The first rotation direction and the second rotation direction are two directions of positive and negative rotation of the driving pulley along the axis of the driving pulley, therefore, when the driving pulley rotates towards the first rotation direction, the first pulley body part 123 of the driving pulley winds the first wire body 125, which is equivalent to pulling the first wire body 125 in the winding process, the first wire body 125 is utilized to apply tension to the first moving component 133, and at the same time, the second pulley body part 124 of the driving pulley releases the winding of the second wire body 126 simultaneously, so that the second wire body 126 releases the acting force control on the second moving component 134, which can satisfy the requirements of pulling the first moving component 133, moving the first moving component 133 towards the near end, releasing the second moving component 134 and allowing the second moving component 134 to move towards the far end.

Similarly, when the driving pulley rotates towards the second rotation direction, the second pulley body 124 of the driving pulley winds the second wire body 126, which is equivalent to pulling the second wire body 126 in the winding process, and the second wire body 126 is used to apply a pulling force to the second moving part 134, and meanwhile, the first pulley body 123 of the driving pulley simultaneously releases the winding of the first wire body 125, so that the first wire body 125 releases the control of the acting force on the first moving part 133, which can satisfy the pulling of the second moving part 134, so that the second moving part 134 moves towards the near end, and the first moving part 133 is released, and the first moving part 133 is allowed to move towards the far end. Furthermore, as shown in fig. 12, the first wire body 125 and the second wire body 126 have good mutual winding effect, which can realize good twisting action in the anastomat.

As shown in fig. 4 and 5, the first moving component 133 may be provided with a first hanging portion 133c, and the second moving component 134 may be provided with a second hanging portion 134c, so that the first wire body 125 and the first moving component 133 may be connected by the first hanging portion 133c, the second wire body 126 and the second moving component 134 may be connected by the second hanging portion 134c, and the first hanging portion 133c and the second hanging portion 134c may be implemented by a groove structure, a hole structure, a buckle structure, and other structural forms, so as to satisfy any direction motion between the first wire body 125 and the first moving component 133, and satisfy any direction motion between the second wire body 126 and the second moving component 134, which is not limited herein.

Therefore, based on the cooperative control of the driving pulley and the pulling wire, the push-pull control action can be implemented, for example, in the stapler, the push-pull control of the push-pull assembly can be implemented by using the second moving member 134, as shown in fig. 14 and 19, in one embodiment, the push-pull driving structure includes the push-pull assembly, the first moving member 133 or the second moving member 134 is connected with the push-pull assembly, taking the example that the second moving member 134 is connected with the push-pull assembly, the push-pull assembly may include a push-pull rod 136 and a push-pull rack 137, the second moving member 134 may be in driving connection with the push-pull rod 136 through a connecting portion 134f, and the push-pull rack 137 is disposed on the push-pull rod 136.

As shown in fig. 17 and 19, when the driving pulley rotates in the first rotation direction, that is, clockwise as shown in fig. 17 to 19, the first pulley body 123 of the driving pulley winds the first wire body 125, which is equivalent to pulling the first wire body 125 in the winding process, and the first wire body 125 is utilized to apply a pulling force to the first moving member 133, so that the first moving member moves towards the proximal end, that is, upwards as shown in fig. 17 to 19, and at the same time, the first moving member applies an opposite force to the second moving member 134 through the transmission member 135, so as to cause the second moving member 134 to move towards the distal end, that is, downwards as shown in fig. 17 to 19, so as to achieve the pushing of the pushing bar 136 and the pushing bar 137. The first wire body 125 and the second wire body 126 can be wound around each other, so that the dead axle torsion of the push knife bar 136 and the push knife holder 137 is realized.

Similarly, when the driving pulley rotates in the second rotation direction, the second pulley body 124 of the driving pulley is wound around the second wire body 126, which is equivalent to pulling the second wire body 126 in the winding process, and the second wire body 126 is utilized to apply a pulling force to the second moving member 134, so that the second moving portion moves towards the proximal end, and meanwhile, the second moving portion applies an opposite force to the first moving member 133 through the transmission member 135, so that the first moving member 133 moves towards the distal end, and the retraction of the push knife bar 136 and the push knife holder 137 is realized.

Referring to fig. 20 to 25, the end forceps 11 has a first jaw 111 and a second jaw 112, the first jaw 111 and the second jaw 112 are relatively rotatable, and when the stapler has the serpentine joint 10, the first jaw 111 can form a fixed connection with the serpentine joint 10, wherein the second jaw 112 has a cam guide surface 112a, the knife pushing frame 137 is slidably engaged along the cam guide surface 112a, and during the movement of the knife pushing frame 137 in the proximal to distal direction, the knife pushing frame 137 is slidably moved along the cam guide surface 112a, and by means of the slope of the cam guide surface 112a, the sliding knife pushing frame 137 causes the second jaw 112 to close with respect to the first jaw 111, and after the second jaw 112 closes with respect to the first jaw 111, the knife pushing frame 137 continues to move in the proximal to distal direction, and pushes the cartridge assembly 2 installed in the second jaw 112. The nail cartridge assembly 2 may include a wedge block 201, a nail pushing block 202, staples 203, a nail cartridge base 204, and the like, the knife pushing frame 137 may push the wedge block 201 to move in the forward movement process, the wedge block 201 indirectly pushes the pushing block in the nail cartridge base 204, and the pushing block may extrude the staples 203 to deform the staples 203, thereby completing the anastomosis. Those skilled in the art can select the matched nail bin assembly 2 to cooperate with the pushing action of the push knife rack 137 according to the requirement, so as to complete the anastomosis action, which is not limited herein.

Referring to fig. 26 and 27, the driving assembly may further include direction-changing guide wheels 1220, the number of the direction-changing guide wheels 1220 may be one or more, when the number of the traction wires is one or more, the direction-changing guide wheels 1220 may be matched to an appropriate number, and form direction-changing guides for the traction wires at predetermined positions of the traction wires, and based on the direction-changing guides for the traction wires by the direction-changing guide wheels 1220, the direction-changing guide wheels 1220 may be capable of matching the bending apparatus having a bending structure by changing the direction of the traction wires. The number and the position of the direction-changing guide wheels 1220 can be selected by those skilled in the art according to the requirement, and are not limited herein.

Referring to fig. 28-30, in one embodiment, the drive gear has first and second circumferential teeth, and the first and second circumferential teeth are coaxial. Wherein the first circumferential teeth and the second circumferential teeth have different pitch circle diameters, and the first circumferential teeth and the second circumferential teeth have different gear modules. For example, the pitch circle diameter of the first circumferential tooth is d1, the pitch circle diameter of the second circumferential tooth is d2, d1 ≧ d2 is defined, and the gear module of the first circumferential tooth is m1, the gear module of the second circumferential tooth is m2, m1 ≧ m2 is defined.

Meanwhile, the first wire body 125 and the second wire body 126 can also be matched by the wire diameter and the size of the first circumferential tooth and the second circumferential tooth, in one embodiment, a first circumferential slot is provided on the first wheel body part 123, a second circumferential slot is provided on the second wheel body part 124, the first wire body 125 is wound in the first circumferential slot, the second wire body 126 is wound in the second circumferential slot, and the first circumferential slot and the second circumferential slot have different slot diameters, which is equivalent to defining that the first wire body 125 and the second wire body 126 have different wire diameters.

Here, it is considered that the diameter of the first circumferential groove is the same as the diameter of the first wire body 125, and the diameter of the second circumferential groove is the same as the diameter of the second wire body 126, that is, the diameter of the first circumferential groove and the diameter of the first wire body 125 are D1, and the diameter of the second circumferential groove and the diameter of the second wire body 126 are D2, so that D1/D2= D1/D2 is defined. Referring to fig. 30, the configuration enables the strength of the first circumferential teeth to be not lower than that of the second circumferential teeth, and when the driving pulley rotates, under the same output power, the requirements of large force and slow forward and small force and fast backward in the movement process of the push tool bar 136 and the push tool rack 137 can be met, the algorithm control flow is simplified, the load is reduced, the service life is prolonged, and the transmission safety and reliability are improved.

Referring to fig. 31 and 32, the first wire body 125 has a spiral winding length p1 and a wire length q1 when wound on the first reel body 123, and the second wire body 126 has a spiral winding length p2 and a wire length q2 when wound on the second reel body 124, so that when the first wire body 125 is wound on the first reel body 123, the difference of the spiral winding length p1 will determine the difference of the wire length q1, and when the second wire body 126 is wound on the second reel body 124, the difference of the spiral winding length p2 will determine the difference of the wire length q2, and a person skilled in the art can control the wire length q1 and the wire length q2 by adjusting the spiral winding length p1 and the spiral winding length p2, thereby ensuring the accuracy and flexibility of control, which is not limited herein.

Referring to fig. 33, in one embodiment, the driving member 12a may be a driving pulley 1215, the pulling member 12b may be a pulling belt 1216, the driving pulley 1215 is drivingly coupled to the pulling belt 1216, and the driving pulley 1215 is drivingly coupled to the first moving member 133 and the second moving member 134 via the pulling belt 1216. One or more drive pulleys 1215 may be used, and one or more traction belts 1216 may be used, the drive pulleys 1215 and traction belts 1216 being assembled in a manner that is referenced to the drive sheaves and the traction wires.

For example, one drive pulley 1215 may be used, one traction belt 1216 may be used, both ends of the traction belt 1216 may be drivingly connected to the first moving member 133 and the second moving member 134, and both ends of the traction belt 1216 may be drivingly connected to the first moving member 133 and the second moving member 134 by means of a hinge or the like, in order to facilitate the twisting of the first moving member 133 and the second moving member 134 relative to the drive member 12a or the instrument case 12. Any one of a friction drive and a tooth-meshing drive is adopted between the driving pulley 1215 and the traction belt 1216, which can be selected by those skilled in the art according to the requirement, and is not limited herein. Compared with the wire winding of the first wire body 125 and the second wire body 126 on the first wheel body 123 and the second wheel body 124, the driving pulley 1215 can drive the traction belt 1216 to drive after forming driving fit with the traction belt 1216, and the driving mode does not need to control the wire length q1 and the wire length q2 by adjusting the spiral winding length p1 and the spiral winding length p2, so that the assembly is simplified, and the driving precision is improved.

Referring to fig. 34 to 36, in one embodiment, the driving member 12a may be a driving gear 1218, the traction member 12b may be a traction rack 1219, and the driving gear 1218 is drivingly connected to the first moving member 133 and the second moving member 134 via the traction rack 1219. One or more drive gears 1218 may be used and one or more drag racks 1219 may be used, and the assembly of the drive gears 1218 and drag racks 1219 may be referred to as drive pulleys and drag wires. For example, the drag rack 1219 includes a first rack member 1221 and a second rack member 1222, the first rack member 1221 and the second rack member 1222 are engaged to be symmetrically mounted on both sides of the driving gear 1218, the first rack member 1221 is drivingly connected to the first moving member 133, the second rack member 1222 is drivingly connected to the second moving member 134, and the first rack member 1221 or the second rack member 1222 can be controlled to move proximally or distally when the driving gear 1218 rotates clockwise or counterclockwise, respectively. At least a portion of the first rack member 1221 and the second rack member 1222 is made of a flexible material, for example, a section near a distal end, a section near a proximal end, or a middle section of the first rack member 1221 and the second rack member 1222 is made of a flexible material, or the entire portion of the first rack member 1221 and the second rack member 1222 is made of a flexible material, so that the first rack member 1221 and the second rack member 1222 have a deformation effect to a certain extent, and can be adaptively formed in a tensioned state according to an actual tension condition, thereby obtaining better transmission precision and rigidity.

With continued reference to fig. 34, the driving gear 1218 and the traction rack 1219 are used for example, but not limited to, only the structure of the driving gear 1218 and the traction rack 1219, the traction member 12b may also be drivingly connected to at least one of the first motion member 133 and the second motion member 134 via a flexible traction body 1217, and the flexible traction body 1217 has a deformation effect, for example, the flexible traction body 1217 adopts an elastic structure, and the addition of the flexible traction body 1217 can effectively improve the flexibility of the dead-axis torsion of the pusher bar 136 and the pusher holder 137.

With continued reference to fig. 35 and 36, in one embodiment, the base of the instrument is provided with a curved receiving groove 1223, the curved receiving groove 1223 is used to receive the traction member 12b, the curved receiving groove 1223 may be constructed in various regular or irregular shapes according to the receiving requirement, and is not limited herein, so that when the traction member 12b is pulled, the portion of the traction member 12b moving towards the proximal end is received in the curved receiving groove 1223, for example, the flexible traction rack 1219 or the traction belt 1216 may be received by the curved receiving groove 1223, which may improve the space utilization, especially save the height space, achieve a miniaturized design, increase the bending radius, and improve the service life of the synchronous belt.

The application also provides a surgical instrument 1, the surgical instrument 1 comprises the push-pull driving structure, a driving box 12, an instrument rod 13, a terminal clamp 11, a nail cartridge component 2 and the like, at least one part of the driving component is assembled in the driving box 12, the instrument rod 13 is connected with the driving box 12, the instrument rod 13 comprises an outer instrument tube 131, a transmission component is assembled in the outer instrument tube 131, the terminal clamp 11 is connected with the instrument rod 13, and the nail cartridge component 2 is arranged on the terminal clamp 11. Since the detailed structure, functional principle and technical effect of the push-pull driving structure are described in detail in the foregoing, detailed description is omitted here, and any technical content related to the push-pull driving structure can refer to the above description.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A push-pull drive structure, comprising:

2. Push-pull drive according to claim 1, characterized in that the transmission assembly comprises:

3. The push-pull drive structure as claimed in claim 2, wherein the first moving member is provided with a first guide beam, the base member is provided with a first guide groove, and the first guide beam is guide-fitted with the first guide groove; and/or the presence of a gas in the gas,

4. A push-pull driving structure as claimed in claim 3, wherein the first moving member is provided with a first balance beam, the first balance beam and the first guide beam are provided on both sides of the first moving member, the base member is provided with a first balance groove, and the first balance beam and the first balance groove are engaged with each other; and/or the presence of a gas in the gas,

5. A push-pull drive configuration as claimed in claim 1 wherein the transmission member is a transmission wheel, the first motion member having a first transmission area and the second motion member having a second transmission area, the transmission wheel being in driving engagement with the first transmission area and the second transmission area.

6. A push-pull drive configuration as claimed in claim 5 wherein the drive wheels are drive gears, the first drive zone having a first set of teeth and the second drive zone having a second set of teeth, the drive gears being in driving engagement with the first and second sets of teeth.

7. Push-pull drive according to claim 6, characterized in that the transmission gear has a first and a second circumferential toothing, the first and the second circumferential toothing being coaxial;

8. The push-pull drive structure as claimed in claim 1, wherein the first moving member is provided with a first stopper side beam that is in stopper engagement with the second moving member;

9. The push-pull drive structure as claimed in claim 1, wherein the drive member is a drive pulley, the traction member is a traction wire, and the drive pulley is drivingly connected to the first moving member and the second moving member through the traction wire; alternatively, the first and second liquid crystal display panels may be,

the driving part is a driving gear, the traction part is a traction rack, and the driving gear is in driving connection with the first moving part and the second moving part through the traction rack; alternatively, the first and second liquid crystal display panels may be,

10. The push-pull driving structure according to claim 9, wherein the driving pulley comprises a first pulley body portion and a second pulley body portion, the first pulley body portion and the second pulley body portion are coaxially connected, the pulling line comprises a first wire body and a second wire body, the first wire body is wound around and connected to the first pulley body portion in a first rotating direction, the second wire body is wound around and connected to the second pulley body portion in a second rotating direction, the first rotating direction and the second rotating direction are opposite, the first wire body is in driving connection with the first moving member, and the second wire body is in driving connection with the second moving member; alternatively, the first and second electrodes may be,

two ends of the traction chain are respectively in driving connection with the first moving part and the second moving part; alternatively, the first and second electrodes may be,

11. A push-pull drive configuration as claimed in claim 10 wherein said first wheel body is provided with a first circumferential wire groove and said second wheel body is provided with a second circumferential wire groove, said first wire body being wound within said first circumferential wire groove and said second wire body being wound within said second circumferential wire groove, said first and second circumferential wire grooves having different wire groove diameters; alternatively, the first and second electrodes may be,

12. The push-pull drive configuration as claimed in claim 9, wherein the drive assembly comprises:

an instrument base on which the drive component is mounted.

13. The push-pull drive configuration as claimed in claim 12, wherein the instrument base is provided with a curved receiving slot for receiving the traction member; alternatively, the first and second electrodes may be,

the instrument base comprises a first base and a second base, the driving part is assembled on the second base, a tensioning assembly is arranged between the second base and the first base, and the tensioning assembly is used for tensioning the traction part.

14. The push-pull drive structure as claimed in claim 13, wherein the tension assembly includes an elastic member, the second base being elastically fitted on the first base by the elastic member;

15. A push-pull drive configuration according to claim 1 wherein at least a portion of the drive member is made of a flexible material; and/or the presence of a gas in the gas,