CN209899480U - End effector driving device for surgical instrument and surgical instrument - Google Patents

Abstract

The utility model discloses an end effector drive arrangement for surgical instrument, it includes drive mechanism, drive mechanism includes gear assembly and conveying subassembly, the gear assembly includes first gear, first gear meshing in conveying subassembly, conveying subassembly is by first gear drive, end effector drive arrangement still includes circuit board subassembly, trigger and motor element all with circuit board subassembly electric connection, motor element includes third gear and motor, the third gear is fixed in the output shaft of motor, the third gear meshes with first gear mutually. The utility model discloses an end effector drive arrangement includes trigger, circuit board subassembly and motor element, and the input signal that the trigger sent is received to the circuit board subassembly to control motor element function, consequently, trigger, circuit board subassembly and motor element cooperation can make the conveying subassembly move forward or move backward, thereby close smoothly or open end effector.

Description

End effector driving device for surgical instrument and surgical instrument

Technical Field

The utility model relates to a surgical instrument field.

Background

As is well known, the endocavity cutting stapler has been commonly used in the abdominal cavity and other intracavitary operations.

Existing endocutters generally include a handle assembly, a shaft assembly extending longitudinally from the handle assembly, and an end effector disposed at a distal end of the shaft assembly. The end effector includes a cartridge seat for operably supporting a staple cartridge therein and an anvil pivotally connected to the cartridge seat, the anvil being selectively movable between an open position and a closed position. The operating assembly comprises a body and a transmission mechanism arranged in the body. The pole body subassembly includes the sleeve pipe and sets up the firing bar in the sleeve pipe. One end of the sleeve is connected to the end effector, and the other end of the sleeve is connected to the transmission mechanism. A cutting knife is arranged in the end effector, one end of the firing rod is connected with the cutting knife, and the other end of the firing rod is connected with the transmission mechanism. The end effector must be closed to compress the tissue before the cutting blade cuts the tissue. In the process of closing the end effector, if the closing speed is not well controlled, the squeezing effect can be influenced, and the operation risk is further increased.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an end effector drive arrangement and surgical instrument for surgical instrument.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: an end effector drive for a surgical instrument comprising a drive mechanism, said drive mechanism comprising a gear assembly and a transmission assembly, said gear assembly comprising a first gear, said first gear being in meshing engagement with said transmission assembly, said transmission assembly being driven by said first gear, said end effector drive further comprising a circuit board assembly, a trigger, and a motor assembly, said trigger and said motor assembly both being electrically connected to said circuit board assembly, said motor assembly comprising a third gear and a motor, said third gear being fixed to an output shaft of said motor, said third gear being in meshing engagement with said first gear.

Furthermore, the circuit board assembly comprises a circuit board, a detection circuit unit, a processor and a control circuit unit, wherein the detection circuit unit, the processor and the control circuit unit are all mounted on the circuit board.

Further, the conveying assembly is a rack assembly, the rack assembly comprises a rack, and the first gear is meshed with the rack.

Further, the conveying assembly includes a screw, and the first gear is engaged with the screw.

Furthermore, the gear assembly comprises a first rod, and the first gear is sleeved on the first rod.

Furthermore, the end effector driving device further comprises a control mechanism, the control mechanism comprises a connecting piece sleeved on the first rod piece, the connecting piece abuts against one side of the first gear, the gear assembly further comprises a first spring sleeved on the first rod piece, and the first spring abuts against the other side of the first gear.

Further, the connecting piece includes first flat board portion, first flat board portion is equipped with first card and holds the hole, first member wears to locate first card is held the hole.

Further, the connecting piece further comprises a second flat plate part and a middle part connecting the first flat plate part and the second flat plate part, and the control mechanism further comprises a button, wherein the button is connected with the second flat plate part.

Further, the end effector drive device may further include a control mechanism including a knob assembly including a toothed member that engages the rack, or the toothed member may be controllably engaged with the rack.

Further, the knob assembly further comprises a handle portion, the toothed part is a second gear, the handle portion and the second gear rotate synchronously, and the second gear is meshed with the rack.

Further, the knob assembly further comprises a second rod, and the handle portion and the second gear are both mounted on the second rod.

Further, the knob assembly includes a scale bar, and the surgical instrument includes a body to which the scale bar is mounted.

Furthermore, the connecting piece further comprises a second flat plate part and a third flat plate part which is connected with the first flat plate part and the second flat plate part, the second flat plate part is provided with a second clamping hole, and the control mechanism further comprises a knob assembly, the knob assembly is provided with a convex column, and the convex column is clamped in the second clamping hole.

Further, the knob assembly further comprises a main body portion, and the toothed member is mounted on the main body portion.

Furthermore, the main body part is provided with an accommodating groove, and the knob assembly further comprises a stop pin partially accommodated in the accommodating groove.

Furthermore, the stop pin comprises a protruding part extending out of the accommodating groove, and the protruding part is provided with a first guide inclined surface.

Further, the main body portion includes a base portion and a first protrusion protruding from a side surface of the base portion, and the receiving groove is disposed on the first protrusion.

Further, the surgical instrument comprises a body, wherein the body is provided with an accommodating cavity, a first notch and a second notch are arranged at the edge of the accommodating cavity, the accommodating groove is accommodated in the accommodating cavity, and the first notch is provided with a second guide inclined plane.

Furthermore, the knob assembly further comprises a third spring sleeved on the stop pin, and the third spring is contained in the containing groove.

Furthermore, the main body part is provided with a through groove penetrating through the top surface and the bottom surface of the main body part, the through groove comprises two opposite side walls, the knob assembly further comprises a second rod piece located in the through groove, the toothed piece is provided with a through hole, and the second rod piece penetrates through the through hole.

Further, the toothed member includes a horizontal portion, an inclined portion extending obliquely downward from the horizontal portion, and a toothed portion extending downward from the inclined portion, and the through hole is located in the toothed portion.

Further, the surgical instrument includes a body provided with a through slot; the knob assembly rotates to rotate the toothed member to a position where the toothed member can pass through the through slot to abut and engage the rack.

Furthermore, the control mechanism further comprises a knob assembly, wherein the knob assembly comprises a convex column, and the convex column is movably connected with the connecting piece.

Further, the end effector comprises a staple cartridge seat and a staple abutting seat which is pivotally connected with the staple cartridge seat; the rack assembly further comprises a pressing ring arranged at one end of the rack, the surgical instrument comprises a sleeve, the pressing ring is connected to one end of the sleeve, and the other end of the sleeve is movably connected to the nail abutting seat; the surgical instrument further includes a body and a second spring disposed about the sleeve, at least a portion of the second spring being positioned between the compression ring and the body.

The utility model also provides a surgical instrument, it includes operating assembly, end effector and follows the pole body subassembly of operating assembly longitudinal extension, operating assembly include the body and install in the end effector drive arrangement of body, pole body subassembly includes that dabber and cover are located the sleeve pipe of dabber, sheathed tube one end movably connect in end effector, the sheathed tube other end connect in end effector drive arrangement, end effector drive arrangement is as above arbitrary one end effector drive arrangement.

The utility model has the advantages that: the utility model discloses an end effector drive arrangement includes trigger, circuit board subassembly and motor element, and the input signal that the trigger sent is received to the circuit board subassembly to control motor element function, consequently, trigger, circuit board subassembly and motor element cooperation can make the conveying subassembly move forward or move backward, thereby close smoothly or open end effector.

Drawings

Fig. 1 is a schematic structural view of an anastomat according to a first embodiment of the invention;

FIG. 2 is a schematic diagram of the circuit board assembly of FIG. 1;

FIG. 3 is a schematic view of a portion of the stapler of FIG. 1;

FIG. 4 is a partial schematic view of the stapler of FIG. 3;

FIG. 5 is a partial schematic view of the stapler of FIG. 3;

FIG. 6 is a partial schematic view of the stapler of FIG. 4;

FIG. 7 is a partial schematic view of the stapler of FIG. 6;

FIG. 8 is an exploded perspective view of a portion of the stapler shown in FIG. 7;

FIG. 9 is a schematic structural view of the connector shown in FIG. 8;

FIG. 10 is a schematic view of the button of FIG. 8;

FIG. 11 is a schematic structural view of another form of the transfer assembly shown in FIG. 7;

fig. 12 is a schematic structural view of a stapler according to a second embodiment of the invention;

FIG. 13 is a partial schematic view of the stapler of FIG. 12;

FIG. 14 is a partial schematic view of the stapler of FIG. 12;

FIG. 15 is a partial schematic view of the stapler of FIG. 13;

FIG. 16 is a partial schematic view of the stapler of FIG. 15;

FIG. 17 is a schematic structural view of the connector of FIG. 16;

FIG. 18 is a schematic structural view of the knob assembly shown in FIG. 16;

FIG. 19 is a schematic view of the knob assembly of FIG. 18 from another perspective;

FIG. 20 is a schematic view of the knob assembly shown in FIG. 19 from another perspective;

FIG. 21 is an exploded perspective view of the knob assembly shown in FIG. 20;

FIG. 22 is a schematic view of the toothed member of FIG. 21;

FIG. 23 is a partial, diagrammatic illustration of the stapler of FIG. 13;

FIG. 24 is a schematic structural view of another form of the transfer assembly shown in FIG. 15;

fig. 25 is a partial exploded perspective view of fig. 24.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. The meaning of "a number" is at least one.

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1 to 10, a stapler 100 according to a first embodiment of the present invention includes an operating member 10, a shaft member 60 longitudinally extending from the operating member 10, and an end effector 70 disposed at one end of the shaft member 60. The end effector 70 includes a cartridge seat 72 and an anvil seat 71 pivotally coupled to the cartridge seat 72, the cartridge seat 72 for operably supporting a staple cartridge (not shown) therein, the anvil seat 71 being selectively movable between an open position and a closed position. The operating assembly 10 includes a body 11 and an end effector drive mounted to the body 11. The end effector drive arrangement includes a transmission mechanism 20 and a control mechanism 30. The transmission mechanism 20 includes a rack assembly 21 and a gear assembly 24. The control mechanism 30 includes a knob assembly 50, a connector 40, and a button 36 connected to the connector 40. The end effector driving device further comprises a circuit board assembly 101, a trigger 90 and a motor assembly 80, wherein the trigger 90 and the motor assembly 80 are connected with the circuit board assembly 101 through conducting wires. The circuit board assembly 101 includes a circuit board 102, and a detection unit, a processor and a control circuit unit mounted on the circuit board 102. The motor assembly 80 includes a third gear 81 and a motor 82, the third gear 81 is fixed to an output shaft of the motor 82, and the third gear 81 is connected to the transmission mechanism 20. The trigger 90 is operable to open and close the end effector 70, the trigger 90 includes two buttons (not numbered), when an operator presses one of the buttons, the detection unit in the circuit board assembly 101 detects an input signal released by the button and inputs the input signal to the processor, the processor analyzes the input signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor 82, and the motor 82 controls the third gear 81 to rotate forward; when the operator presses another key, the detection unit in the circuit board assembly 101 detects the input signal and inputs the signal to the processor, the processor analyzes the signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor 82, and the motor 82 controls the third gear 81 to rotate reversely. The third gear 81 drives operation of the gear train 20, and the gear train 20 may advance or retract the shaft assembly 60, thereby causing the anvil 71 to pivot to close or open the end effector 70. An end effector 70 is attached to a distal end of the shaft assembly 60. The terms "proximal", "posterior", and "distal", "anterior" are used herein with respect to a clinician manipulating the operating assembly 10 of the stapler 100. The term "proximal" refers to a portion closer to the clinician, "posterior" refers to a direction closer to the clinician, the term "distal" refers to a portion further from the clinician, and "anterior" refers to a direction further from the clinician. That is, operating assembly 10 is proximal and end effector 70 is distal, as the proximal end of a component is shown relatively close to one end of operating assembly 10 and the distal end is shown relatively close to one end of end effector 70.

As shown in fig. 5 to 8, the rack assembly 21 includes a rack 22 and a pressing ring 23 disposed at one end of the rack 22. The rack 22 includes a first tooth portion 221 and a second tooth portion 222 which are disposed adjacently, and a plane of the first tooth portion 221 is perpendicular to a plane of the second tooth portion 222. The gear assembly 24 includes a first rod 25, a first gear 26 sleeved on the first rod 25, and a first spring 27, wherein the first spring 27 is abutted against one side of the first gear 26. The body 11 is provided with an upper supporting wall 14 and a lower supporting wall 15 which are oppositely arranged, two ends of the first rod 25 are respectively arranged on the upper supporting wall 14 and the lower supporting wall 15, one side of the first spring 27 is abutted against the lower supporting wall 15, the other side is abutted against the first gear 26, and the first gear 26 is meshed with the rack 22. The shaft assembly 60 includes a core 61 and a sleeve 62 disposed around the core 61, and the sleeve 62 includes a first end 63 connected to the rack assembly 21 and a second end 65 connected to the end effector 70. The outer wall of the first end 63 of the sleeve 62 is provided with a groove 64, the inner wall of the press ring 23 is provided with a rib 231, the groove 64 and the rib 231 are matched to assemble the sleeve 62 and the press ring 23 together, and the second end 65 of the sleeve 62 is movably connected to the nail abutting seat 71. The sleeve 62 is driven by the pressing ring 23 to move forward or backward, when the sleeve 62 moves forward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to achieve closing, so that the end effector 70 is in a closed state, and when the sleeve 62 moves backward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate upward to achieve opening, so that the end effector 70 is in an open state. The body 11 is provided with a first accommodating groove 111 for accommodating the first end portion 63 of the sleeve 62, the first accommodating groove 111 includes an insertion hole 121 penetrating through the front end wall 12, the first end portion 63 of the sleeve 62 is inserted into the first accommodating groove 111 from the insertion hole 121, the press ring 23 is sleeved on the first end portion 63, and the first end portion 63 and the press ring 23 are both accommodated in the first accommodating groove 111. The operating assembly 10 further includes a second spring 120 sleeved on the first end portion 63, one end of the second spring 120 abuts against the pressing ring 23, and the other end of the second spring 120 is clamped on the front end wall 12, i.e. a portion of the second spring 120 is accommodated in the first accommodating groove 111, and the other portion of the second spring passes through the insertion hole 121 and is exposed out of the first accommodating groove 111. When the end effector 70 is opened, one end of the pressing ring 23 abuts against the second spring 120, and the other end of the pressing ring 23 abuts against the rear end wall 13 of the first housing groove 111. The firing trigger 90 may operate the circuit board assembly 101 to operate the motor assembly 80, and the third gear 81 in the motor assembly 80 may drive the first gear 26 to rotate in a first direction or in a second direction, wherein the first direction is opposite to the second direction. When the first gear 26 rotates around the first direction, the first gear 26 drives the rack assembly 21 to move forward; when the first gear 26 rotates in a second direction opposite to the first direction, the rack assembly 21 is moved backward by the first gear 26. When the rack assembly 21 moves forward, the rack assembly 21 drives the sleeve 62 to move forward, and the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to realize closing, so that the end effector 70 is in a closed state. At this time, the press ring 23 has moved forward, one end of the press ring 23 is pressed against the second spring 120 to contract, and the other end of the press ring 23 is separated from the rear end wall 13 of the first housing groove 111 by a distance, that is, a stroke by which the press ring 23 and the sleeve 62 move forward. When the rack assembly 21 moves backward, the rack assembly 21 drives the sleeve 62 to move backward, and the second end portion 65 drives the nail abutting seat 71 to rotate upward to open, so that the end effector 70 is in an open state.

As shown in fig. 9 and 10, the connecting member 40 includes a first flat plate portion 41, a second flat plate portion 44, and a third flat plate portion 42 and a fourth flat plate portion 43 connecting the first flat plate portion 41 and the second flat plate portion 44. The first flat plate portion 41 extends in the horizontal direction, the third flat plate portion 42 is formed by bending downward from the right edge of the first flat plate portion 41, the fourth flat plate portion 43 is formed by bending rightward from the side edge of the third flat plate portion 42, and the second flat plate portion 44 is formed by bending from the side edge of the fourth flat plate portion 43. The horizontal, up, down, right, etc. directions are all based on fig. 1 and 3. The first plate portion 41 is provided with a first holding hole 410, the first rod 25 is inserted into the first holding hole 410, the first plate portion 41 is located between the first gear 26 and the upper support wall 14, and the first plate portion 41 abuts against the first gear 26. The button 36 is connected to the second flat plate portion 44, and specifically, the button 36 is provided with a mounting groove 360, and the second flat plate portion 44 is mounted in the mounting groove 360. When the button 36 is pressed downwards, the connecting member 40 can be driven to move downwards, so that the first flat plate portion 41 is pressed downwards to press the first gear 26, the first gear 26 is separated from the first tooth portion 221 of the rack 22, after the first gear 26 is separated from the first tooth portion 221 of the rack 22, the press ring 23 moves backwards under the driving of the elastic force of the second spring 120, the sleeve 62 moves backwards under the driving of the press ring 23, at this time, the nail abutting seat 71 rotates upwards, the end effector 70 is in an open state, that is, the rack assembly 21 drives the sleeve 62 to move backwards, and further drives the nail abutting seat 71 to rotate upwards to open, so that the end effector 70 is opened.

Referring to fig. 7, the knob assembly 50 includes a second rod 51, a second gear 52 mounted on the second rod 51, and a handle 53, the second gear 52 is mounted at one end of the second rod 51, the second gear 52 and the second rod 51 are in interference fit, the second gear 52 is engaged with the second tooth 222 of the rack 22, and the handle 53 is mounted at the other end of the second rod 51. Thus, the handle portion 53 rotates in synchronization with the second gear 52. The operator rotates the handle 53 to rotate the second rod 51, so as to rotate the second gear 52, thereby driving the rack 22 to move forward or backward. The knob assembly 50 further includes a bearing 54 sleeved on the second rod 51, the bearing 54 is located between the second gear 52 and the handle portion 53, and the bearing 54 is used for supporting the second rod 51, so that the second rod 51 can rotate smoothly under the driving of the handle portion 53 or the second gear 222. The knob assembly 50 further includes a scale bar 55 mounted on the body 11, the scale bar 55 is disposed corresponding to the handle portion 53, when the handle portion 53 rotates within a certain range, an intersection point always exists between the handle portion 53 and the scale bar 55, and the intersection point changes along with the rotation of the handle portion 53, that is, the change of the intersection point between the handle portion 53 and the scale bar 55 is used to indicate the moving distance of the rack assembly 21. When the trigger 90 and the motor assembly 80 drive the rack assembly 21 to move by driving the first gear 26 to rotate, the rack assembly 21 drives the second gear 52 to rotate, and the second gear 52 drives the handle portion 53 to rotate through the second rod 51. The operator can determine the distance the rack assembly 21 has moved by the change in the scale indicated on the scale bar 55 as the handle portion 53 is rotated, thereby determining the open or closed state of the end effector 70.

When the trigger 90, the circuit board assembly 101 and the motor assembly 80 cannot effectively drive the first gear 26 to rotate so as to open the end effector 70, an operator may press the button 36 downward, the button 36 drives the connecting member 40 to move downward, so that the first flat plate portion 41 presses the first gear 26 downward, the first gear 26 is separated from the rack 22, the rack assembly 21 moves backward under the driving of the second spring 120, the rack assembly 21 drives the sleeve 62 to move backward, at this time, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate upward, and the end effector 70 is in an open state. Meanwhile, the second tooth portion 222 of the rack 22 of the rack assembly 21 drives the second gear 52 to rotate, and the second gear 52 drives the handle portion 53 to rotate through the second rod 51. The operator can judge the distance the rack assembly 21 moves backward by the scale change indicated on the scale bar 55 when the handle portion 53 is rotated. If the backward movement distance of the rack assembly 21 does not meet the requirement, the operator can manually rotate the handle 53 to drive the second gear 52 to rotate, that is, the operator rotates the handle 53 clockwise, the handle 53 drives the second rod 51 to rotate clockwise, the second rod 51 drives the second gear 52 to rotate clockwise, and the second gear 52 drives the rack assembly 21 to continue moving backward. In this embodiment, the clockwise direction and the counterclockwise direction are based on fig. 1 and 3.

When the trigger 90, circuit board assembly 101, and motor assembly 80 are not effective to drive the rotation of the first gear 26 to close the end effector 70, the operator may manually close the end effector 70 by: when the button 36 is pressed downwards, the button 36 drives the connecting member 40 to move downwards, so that the first flat plate portion 41 presses the first gear 26 downwards, the first gear 26 is separated from the rack 22, at this time, an operator can manually rotate the handle portion 53 to drive the second gear 52 to rotate, that is, the operator rotates the handle portion 53 in the counterclockwise direction, the handle portion 53 drives the second rod 51 to rotate counterclockwise, the second rod 51 drives the second gear 52 to rotate counterclockwise, and the second gear 52 drives the rack assembly 21 to move forwards.

As shown in fig. 11, in this embodiment, the conveying assembly 21 may also be replaced by a screw assembly, the screw assembly includes a screw 22 and a pressing ring 23 extending from the screw 22, the first gear 26 and the second gear 52 are both engaged with the screw 22, and other technical features are not changed and are not described again here.

As shown in fig. 12 to 25, a stapler 100 according to a second embodiment of the present invention includes an operating member 10, a shaft member 60 longitudinally extending from the operating member 10, and an end effector 70 disposed at one end of the shaft member 60. The end effector 70 includes a cartridge seat 72 and an anvil seat 71 pivotally coupled to the cartridge seat 72, the cartridge seat 72 for operably supporting a staple cartridge (not shown) therein, the anvil seat 71 being selectively movable between an open position and a closed position. The operating assembly 10 includes a body 11 and an end effector drive mounted to the body 11. The end effector drive arrangement includes a transmission mechanism 20 and a control mechanism 30. The transmission mechanism 20 includes a rack assembly 21 and a gear assembly 24. The control mechanism 30 includes a knob assembly 50 and a link 40. The end effector drive further includes a circuit board assembly (not shown), a trigger (not shown), and a motor assembly 80, both the trigger and the motor assembly 80 being connected to the circuit board assembly via conductive traces. The circuit board assembly comprises a circuit board, a detection unit, a processor and a control circuit unit, wherein the detection unit, the processor and the control circuit unit are installed on the circuit board. The motor unit 80 includes a third gear 81 and a motor (not shown), the third gear 81 is fixed to an output shaft of the motor, and the third gear 81 is connected to the transmission mechanism 20. The trigger can be manipulated to open and close the end effector 70, the trigger includes two buttons, when an operator presses one of the buttons, the detection unit in the circuit board assembly detects an input signal released by the button and inputs the input signal to the processor, the processor analyzes the input signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor, and the motor controls the third gear 81 to rotate forward; when the operator presses another key, the detection unit in the circuit board assembly detects an input signal and inputs the input signal to the processor, the processor analyzes the input signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor, and the motor controls the third gear 81 to rotate reversely. The structures and the operating principles of the circuit board assembly, the trigger and the motor assembly are the same as those of the first embodiment. The third gear 81 drives operation of the gear train 20, and the gear train 20 may advance or retract the shaft assembly 60, thereby causing the anvil 71 to pivot to close or open the end effector 70. The operating assembly 10 further includes a knob housing 59 that houses the knob assembly 50, the knob assembly 50 being rotatable within the knob housing 59. An end effector 70 is attached to a distal end of the shaft assembly 60. The terms "proximal", "posterior", and "distal", "anterior" are used herein with respect to a clinician manipulating the operating assembly 10 of the stapler 100. The term "proximal" refers to a portion closer to the clinician, "posterior" refers to a direction closer to the clinician, the term "distal" refers to a portion further from the clinician, and "anterior" refers to a direction further from the clinician. That is, operating assembly 10 is proximal and end effector 70 is distal, as the proximal end of a component is shown relatively close to one end of operating assembly 10 and the distal end is shown relatively close to one end of end effector 70. In this embodiment, both the clockwise direction and the counterclockwise direction are based on fig. 12 and 13.

Referring to fig. 14 to 15, the rack assembly 21 includes a rack 22 and a pressing ring 23 disposed at one end of the rack 22. The gear assembly 24 includes a first rod 25, a first gear 26 sleeved on the first rod 25, and a first spring 27, wherein the first spring 27 is abutted against one side of the first gear 26. The body 11 is provided with an upper supporting wall 14 and a lower supporting wall 15 which are oppositely arranged, and two ends of the first rod 25 are respectively arranged on the upper supporting wall 14 and the lower supporting wall 15. The first spring 27 abuts on one side against the lower support wall 15 and on the other side against the first gear 26, the first gear 26 being engaged with the rack 22. The shaft assembly 60 comprises a core shaft 61 and a sleeve 62 sleeved outside the core shaft 61, the sleeve 62 comprises a first end 63 connected to the press ring 23 and a second end 65 connected to the end effector 70, a groove 64 is formed in the outer wall of the first end 63 of the sleeve 62, a rib 231 is formed in the inner wall of the press ring 23, the groove 64 and the rib 231 are matched to enable the sleeve 62 and the press ring 23 to be assembled together, and the second end 65 of the sleeve 62 is movably connected to the nail abutting seat 71. The sleeve 62 is driven by the pressing ring 23 to move forward or backward, when the sleeve 62 moves forward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to achieve closing, so that the end effector 70 is in a closed state, and when the sleeve 62 moves backward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate upward to achieve opening, so that the end effector 70 is in an open state. The body 11 is provided with a first accommodating groove 111 for accommodating the first end portion 63 of the sleeve 62, the first accommodating groove 111 includes an insertion hole 121 penetrating through the front end wall 12, the first end portion 63 of the sleeve 62 is inserted into the first accommodating groove 111 from the insertion hole 121, the press ring 23 is sleeved on the first end portion 63, and the first end portion 63 and the press ring 23 are both accommodated in the first accommodating groove 111. The operating assembly 10 further includes a second spring 120 sleeved on the first end portion 63, one end of the second spring 120 abuts against the pressing ring 23, and the other end of the second spring 120 is clamped on the front end wall 12, i.e. a portion of the second spring 120 is accommodated in the first accommodating groove 111, and the other portion of the second spring passes through the insertion hole 121 and is exposed out of the first accommodating groove 111. When the end effector 70 is opened, one end of the pressing ring 23 abuts against the second spring 120, and the other end of the pressing ring 23 abuts against the rear end wall 13 of the first housing groove 111. The firing trigger may operate the circuit board assembly to operate the motor assembly 80, and the third gear 81 in the motor assembly 80 may drive the first gear 26 to rotate in a first direction or in a second direction, wherein the first direction is opposite to the second direction. When the first gear 26 rotates around the first direction, the first gear 26 drives the rack assembly 21 to move forward; when the first gear 26 rotates in a second direction opposite to the first direction, the rack assembly 21 is moved backward by the first gear 26. When the rack assembly 21 moves forward, the rack assembly 21 drives the sleeve 62 to move forward, and the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to realize closing, so that the end effector 70 is in a closed state. At this time, the press ring 23 has moved forward, one end of the press ring 23 is pressed against the second spring 120 to contract, and the other end of the press ring 23 is separated from the rear end wall 13 of the first housing groove 111 by a distance, that is, a stroke by which the press ring 23 and the sleeve 62 move forward. When the rack assembly 21 moves backward, the rack assembly 21 drives the sleeve 62 to move backward, and the second end portion 65 drives the nail abutting seat 71 to rotate upward to open, so that the end effector 70 is in an open state.

As shown in fig. 16 to 23, the connecting member 40 includes a first flat plate portion 41, a second flat plate portion 43, and a third flat plate portion 45 connecting the first flat plate portion 41 and the second flat plate portion 43. The first flat plate portion 41 extends in the horizontal direction, the third flat plate portion 45 is formed by bending downward from the edge of the first flat plate portion 41, and the second flat plate portion 43 is formed by bending rightward from the side edge of the third flat plate portion 45. In this embodiment, the horizontal, up, down, right, etc. directions are based on fig. 12 and 13. The first plate portion 41 is provided with a first holding hole 42, the first rod 25 is inserted into the first holding hole 42, the first plate portion 41 is located between the first gear 26 and the upper support wall 14, and the first plate portion 41 abuts against the first gear 26. The second flat plate portion 43 is provided with a second holding hole 44, and the second holding hole 44 is a strip-shaped hole. The knob assembly 50 includes a main body 51 and a toothed member 58 mounted on the main body 51, the main body 51 has a protrusion 514, and the protrusion 514 is disposed through the second retaining hole 44. The main body 51 includes a base 511, a first protrusion 512 protruding from one side surface of the base 511, and a second protrusion 513 protruding from the other side surface of the base 511, and the first protrusion 512 is provided with a second receiving groove 52. The knob assembly 50 comprises a stop pin 56, and the stop pin 56 is partially accommodated in the second accommodating groove 52; the stop pin 56 further includes a protrusion 563 extending out of the second receiving groove 52, and the protrusion 563 is provided with a first guiding slope 564. The body 11 is provided with a receiving cavity 16 corresponding to the first protrusion 512, the first notch 17 and the second notch 18 are adjacently disposed at the edge of the receiving cavity 16, the protrusion 563 is located in the first notch 17, the first notch 17 is provided with a second guiding inclined plane 171 corresponding to the first guiding inclined plane 564, and the second guiding inclined plane 171 is disposed adjacent to the second notch 18. First guide ramp 564 cooperates with second guide ramp 171 to facilitate movement of tab 563 from within first notch 17 into second notch 18. When the knob assembly 50 rotates counterclockwise, the protruding portion 563 of the stop pin 56 rotates from the first notch 17 into the second notch 18, the protruding pillar 514 of the knob assembly 50 drives the second plate portion 43 to move downward, and the second plate portion 43 drives the first plate portion 41 to move downward. In this embodiment, the counterclockwise direction is based on fig. 12 and 13. The first flat plate portion 41 presses the first gear 26 downwards to separate the first gear 26 from the rack 22, after the first gear 26 is separated from the rack 22, the pressing ring 23 moves backwards under the driving of the elastic force of the second spring 120, the sleeve 62 moves backwards under the driving of the pressing ring 23, at this time, the nail abutting seat 71 rotates upwards, the end effector 70 is in an open state, that is, the rack assembly 21 drives the sleeve 62 to move backwards, and then drives the nail abutting seat 71 to rotate upwards to open, so that the end effector 70 is opened.

As shown in fig. 20 to 23, the knob assembly 50 further includes a third spring 57 sleeved on the stop pin 56. The second receiving cavity 52 includes a middle section 523, and a first section 521 and a second section 522 located at two ends of the middle section 523, wherein the width of the middle section 523 is greater than the widths of the first section 521 and the second section 522, and a first stopping wall 524 and a second stopping wall 525 are disposed at two ends of the middle section 523. The stop pin 56 includes an elongated body 561 and a stop 562 protruding from two lateral sides of the body 561, one side of the stop 562 abuts against the first stop wall 524, the other side of the stop 562 abuts against one end of the third spring 57, and the other end of the third spring 57 abuts against the second stop wall 525. The protrusion 563 of the stop pin 56 extends from the first segment 521 of the second receiving groove 52 under the action of the third spring 57, and when the knob assembly 50 rotates in the counterclockwise direction, the third spring 57 abuts against the stop 562 so that the protrusion 563 can move from the first notch 17 into the second notch 18. The body 51 has a through groove 53 that penetrates the base 511, the first protrusion 512, and the second protrusion 513, and the through groove 53 has opposite side walls 54. The knob assembly 50 further includes a second shaft 55 mounted in the through slot 53, a toothed member 58 mounted to the second shaft 55, the toothed member 58 being rotatable about the second shaft 55 within the through slot 53. The toothed member 58 includes a horizontal portion 581, a slope portion 582 extending obliquely downward from the horizontal portion 581, and a toothed portion 583 extending downward from the slope portion 582, the toothed portion 583 is provided with a through hole 584, and the second rod member 55 is inserted into the through hole 584 and has both ends attached to the opposite side walls 54 of the through groove 53. The body 11 is provided with a through slot 19 corresponding to the rack 22, and the tooth-shaped portion 583 can pass through the through slot 19 to abut against and mesh with the rack 22. When the knob assembly 50 is rotated counterclockwise, the toothed member 58 rotates counterclockwise with the knob assembly 50. When the protrusion 563 moves from within the first notch 17 into the second notch 18, the through slot 53 is aligned with the through slot 19, and the toothed element 58 is rotatable about the second rod 55 within the through slot 53 and the through slot 19, thereby effecting engagement of the toothed element 58 with the rack 22 under control of the knob assembly 50. The toothed member 58 rotates around the second rod 55 in the through groove 53 and the through groove 19 (the rotating direction is the direction in which the horizontal portion 581 is away from the second protrusion 513), the toothed portion 583 passes through the through groove 19 to abut against and engage with the rack 22, and at this time, if the toothed member 58 continues to rotate in the above direction, the rack assembly 21 moves forward under the driving of the toothed portion 583.

When the trigger 90, the circuit board assembly 101 and the motor assembly 80 cannot effectively drive the first gear 26 to rotate so as to open the end effector 70, the operator may rotate the knob assembly 50 counterclockwise, the protruding portion 563 of the stop pin 56 rotates into the second notch 18 from the first notch 17, the protruding pillar 514 of the knob assembly 50 drives the second flat plate portion 43 to move downward, the second flat plate portion 43 drives the first flat plate portion 41 to move downward, the first flat plate portion 41 presses the first gear 26 downward, so that the first gear 26 is separated from the rack 22, after the first gear 26 is separated from the rack 22, the press ring 23 moves backward under the driving of the elastic force of the second spring 120, the sleeve 62 moves backward under the driving of the press ring 23, at this time, the nail abutting seat 71 rotates upward, and the end effector 70 is in an open state.

When the trigger 90, the circuit board assembly 101 and the motor assembly 80 cannot effectively drive the first gear 26 to rotate so as to close the end effector 70, the operator may rotate the knob assembly 50 counterclockwise, the protruding portion 563 of the stop pin 56 rotates from the first notch 17 into the second notch 18, the protruding column 514 of the knob assembly 50 drives the second flat plate portion 43 to move downward, the second flat plate portion 43 drives the first flat plate portion 41 to move downward, and the first flat plate portion 41 presses the first gear 26 downward, so that the first gear 26 is separated from the rack 22; the toothed member 58 rotates counterclockwise with the knob assembly 50, when the protrusion 563 moves from the first notch 17 to the second notch 18, the through groove 53 is aligned with the through groove 19, the toothed member 58 rotates around the second rod 55 in the through groove 53 and the through groove 19 (the rotating direction is the direction in which the horizontal portion 581 is away from the second protrusion 513), the toothed portion 583 passes through the through groove 19 to abut against and engage with the rack 22, at this time, if the toothed member 58 continues to rotate in the above direction, the rack assembly 21 moves forward under the driving of the toothed portion 583, the sleeve 62 moves forward under the driving of the pressing ring 23 of the rack assembly 21, at this time, the nail abutting seat 71 rotates downward, and the end effector 70 is in a closed state.

As shown in fig. 24 to 25, in this embodiment, the conveying assembly 21 may also be replaced by a screw assembly, the screw assembly includes a screw 22 and a pressing ring 23 extending from the screw 22, the first gear 26 and the tooth portion 583 of the toothed member 58 are both engaged with the screw 22, and other technical features are not changed and are not repeated herein.

The utility model also provides an anastomat 100, it includes operation subassembly 10, end effector 70, and from operation subassembly 10 longitudinal extension's pole body subassembly 60, operation subassembly 10 includes body 11 and installs in the end effector drive arrangement of body 11, and pole body subassembly 60 includes that dabber 61 and cover locate the sleeve pipe 62 of dabber 61, and the one end movably of sleeve pipe 62 is connected in end effector 70, and the other end of sleeve pipe 62 is connected in end effector drive arrangement.

To sum up, the utility model discloses an end effector drive arrangement of anastomat 100 includes trigger 90, circuit board components 101 and motor element 80, and input signal that trigger 90 sent is received to circuit board components 101 to control motor element 80 functions, consequently, trigger 90, circuit board components 101 and motor element 80 cooperation can make rack assembly 21 move forward or backward, thereby close smoothly or open end effector 70.

Although the embodiment of the present invention has been shown and described, it is understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and variations to the above embodiment within the scope of the present invention, and all such changes, modifications, substitutions and variations are within the scope of the present invention.

Claims (25)

1. An end effector drive for a surgical instrument comprising a transmission mechanism including a gear assembly and a transmission assembly, the gear assembly including a first gear, the first gear engaged with the transmission assembly, the transmission assembly driven by the first gear, wherein: the end effector driving device further comprises a circuit board assembly, a trigger and a motor assembly, wherein the trigger and the motor assembly are electrically connected with the circuit board assembly, the motor assembly comprises a third gear and a motor, the third gear is fixed on an output shaft of the motor, and the third gear is meshed with the first gear.

2. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the circuit board assembly comprises a circuit board, a detection circuit unit, a processor and a control circuit unit, wherein the detection circuit unit, the processor and the control circuit unit are all arranged on the circuit board.

3. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the conveying assembly is a rack assembly, the rack assembly comprises a rack, and the first gear is meshed with the rack.

4. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the conveying assembly comprises a screw, and the first gear is meshed with the screw.

5. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the gear assembly comprises a first rod, and the first rod is sleeved with the first gear.

6. An end effector drive arrangement for a surgical instrument as recited in claim 5, wherein: the end effector driving device further comprises a control mechanism, the control mechanism comprises a connecting piece sleeved on the first rod piece, the connecting piece is abutted to one side of the first gear, the gear assembly further comprises a first spring sleeved on the first rod piece, and the first spring is abutted to the other side of the first gear.

7. An end effector drive arrangement for a surgical instrument as recited in claim 6, wherein: the connecting piece comprises a first flat plate part, the first flat plate part is provided with a first clamping hole, and the first rod piece penetrates through the first clamping hole.

8. An end effector drive arrangement for a surgical instrument as recited in claim 7, wherein: the connecting piece further comprises a second flat plate part and a middle part connecting the first flat plate part and the second flat plate part, and the control mechanism further comprises a button, and the button is connected with the second flat plate part.

9. An end effector drive arrangement for a surgical instrument as recited in claim 3, wherein: the end effector drive device further includes a control mechanism including a knob assembly including a toothed member that engages the rack, or the toothed member is controllably engaged with the rack.

10. An end effector drive arrangement for a surgical instrument as recited in claim 9, wherein: the knob assembly further comprises a handle portion, the toothed part is a second gear, the handle portion and the second gear rotate synchronously, and the second gear is meshed with the rack.

11. An end effector drive arrangement for a surgical instrument as recited in claim 10, wherein: the knob assembly further comprises a second rod, and the handle portion and the second gear are both mounted on the second rod.

12. An end effector drive arrangement for a surgical instrument as recited in claim 10, wherein: the knob assembly includes a scale bar, and the surgical instrument includes a body to which the scale bar is mounted.

13. An end effector drive arrangement for a surgical instrument as recited in claim 7, wherein: the connecting piece further comprises a second flat plate part and a third flat plate part which is connected with the first flat plate part and the second flat plate part, the second flat plate part is provided with a second clamping hole, the control mechanism further comprises a knob assembly, the knob assembly is provided with a convex column, and the convex column is clamped in the second clamping hole.

14. An end effector drive arrangement for a surgical instrument as recited in claim 9, wherein: the knob assembly further includes a body portion, and the toothed member is mounted to the body portion.

15. An end effector drive arrangement for a surgical instrument as recited in claim 14, wherein: the main body part is provided with an accommodating groove, and the knob assembly further comprises a stop pin partially accommodated in the accommodating groove.

16. An end effector drive arrangement for a surgical instrument as recited in claim 15, wherein: the stop pin comprises a protruding part extending out of the containing groove, and the protruding part is provided with a first guide inclined plane.

17. An end effector drive arrangement for a surgical instrument as recited in claim 16, wherein: the main body part comprises a base part and a first convex part protruding from one side surface of the base part, and the accommodating groove is formed in the first convex part.

18. An end effector drive arrangement for a surgical instrument as recited in claim 15, wherein: the surgical instrument comprises a body, wherein the body is provided with an accommodating cavity, a first notch and a second notch are arranged at the edge of the accommodating cavity, an accommodating groove is accommodated in the accommodating cavity, and the first notch is provided with a second guide inclined plane.

19. An end effector drive arrangement for a surgical instrument as recited in claim 15, wherein: the knob assembly further comprises a third spring sleeved on the stop pin, and the third spring is contained in the containing groove.

20. An end effector drive arrangement for a surgical instrument as recited in claim 14, wherein: the knob assembly comprises a knob assembly and a main body part, wherein the knob assembly comprises a knob body and a tooth part, the knob body is provided with a through groove penetrating through the top surface and the bottom surface of the main body part, the through groove comprises two opposite side walls, the knob assembly further comprises a second rod piece located in the through groove, the tooth part is provided with a through hole, and the second rod piece penetrates through the through hole.

21. An end effector drive arrangement for a surgical instrument as recited in claim 20, wherein: the toothed part comprises a horizontal part, an inclined part and a toothed part, wherein the inclined part extends downwards from the horizontal part in an inclined mode, the toothed part extends downwards from the inclined part, and the through hole is located in the toothed part.

22. An end effector drive arrangement for a surgical instrument as recited in claim 9, wherein: the surgical instrument includes a body provided with a through slot; the knob assembly rotates to rotate the toothed member to a position where the toothed member can pass through the through slot to abut and engage the rack.

23. An end effector drive arrangement for a surgical instrument as recited in claim 6, wherein: the control mechanism further comprises a knob assembly, wherein the knob assembly comprises a convex column, and the convex column is movably connected with the connecting piece.

24. An end effector drive arrangement for a surgical instrument as recited in claim 3, wherein: the end effector comprises a nail bin seat and a nail abutting seat which is pivotally connected with the nail bin seat; the rack assembly further comprises a pressing ring arranged at one end of the rack, the surgical instrument comprises a sleeve, the pressing ring is connected to one end of the sleeve, and the other end of the sleeve is movably connected to the nail abutting seat; the surgical instrument further includes a body and a second spring disposed about the sleeve, at least a portion of the second spring being positioned between the compression ring and the body.

25. A surgical instrument comprising a handle assembly, an end effector, and a shaft assembly extending longitudinally from the handle assembly, the handle assembly comprising a body and an end effector driver mounted to the body, the shaft assembly comprising a core shaft and a sleeve disposed about the core shaft, one end of the sleeve being movably coupled to the end effector and the other end of the sleeve being coupled to the end effector driver, the surgical instrument comprising: the end effector drive device of any one of claims 1-24.

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