CN211325285U - Head swinging mechanism and medical anastomat - Google Patents
Head swinging mechanism and medical anastomat Download PDFInfo
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- CN211325285U CN211325285U CN201922301107.0U CN201922301107U CN211325285U CN 211325285 U CN211325285 U CN 211325285U CN 201922301107 U CN201922301107 U CN 201922301107U CN 211325285 U CN211325285 U CN 211325285U
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Abstract
The utility model provides a head swinging mechanism and a medical anastomat, wherein the head swinging mechanism comprises a head swinging pull rod, a driving component and a shell, the driving component is matched with the head swinging pull rod, and the inner side wall of a driving component accommodating groove of the shell is provided with at least one notch; the driving assembly comprises a first driving piece, a second driving piece and a positioning piece arranged on the second driving piece; the opposite sides of the first driving piece and the positioning piece are respectively provided with a driving groove and a lug, and the lug at least partially enters the driving groove; when the first driving piece rotates from the initial first position to the second position along the first direction, the second driving piece does not rotate, and the lug is retracted inwards relative to the second driving piece under the guidance of the driving groove. The utility model discloses a setting element conveniently sets up the different swing angle of pin fin portion with the cooperation of the notch of casing, can avoid the swing of uncontrollable pin fin portion to through the cooperation of drive groove and setting element, when adjusting pin fin portion swing angle, the setting element can break away from the notch more smoothly.
Description
Technical Field
The utility model relates to the technical field of medical equipment, concretely relates to yaw mechanism and medical anastomat.
Background
A linear stapler generally comprises an instrument platform and a head mounted to the platform, which can be passed through a small incision in the body by a puncture instrument to access a surgical site to perform a procedure. Specifically, the instrument platform comprises a firing handle, the head comprises a nail box shell and a nail head part arranged on the far end side of the nail box shell, a firing assembly is arranged inside the nail box shell, and the nail head part is a part for implementing cutting and suturing actions. Under the drive of the firing handle, the firing assembly can drive the nail head to complete the suture and incision operation.
In order to realize the swinging of the nail head relative to the nail box shell, a swinging pull rod is arranged in the nail box shell, the near end side of the swinging pull rod is connected to a swinging driving piece, the far end side of the swinging pull rod is rotatably fixed on the near end side of the nail head, and when the swinging driving piece drives the swinging pull rod to move along the axial direction of the nail box shell, the far end side of the swinging pull rod drives the nail head to swing clockwise or anticlockwise relative to the nail box shell.
Among the current linear type anastomat, when the yaw was swung, be difficult to set up wobbling angle to in the use, uncontrollable swing phenomenon still can appear in the pin head, thereby causes the uncontrollable of pin head swing angle, leads to the unable accurate location of the pin head of anastomat, influences the operation effect.
The utility model discloses in, distal end side and near-end side are for the operator, and the one end that is nearer apart from the operator is near-end side, and the one end far away apart from the operator, the one end that is more close to the operation position promptly is the distal end side.
SUMMERY OF THE UTILITY MODEL
To the problem among the prior art, an object of the utility model is to provide a yaw mechanism and medical anastomat, through the cooperation of the notch of setting element and casing, make things convenient for the operator to set up the different swing angle of pin fin portion, can avoid uncontrollable pin fin portion swing to through the cooperation of drive groove and setting element, when adjustment pin fin portion swing angle, the setting element can break away from in the notch more smoothly.
The embodiment of the utility model provides a head swinging mechanism for a medical anastomat, which comprises a head swinging pull rod, a driving component and a shell, wherein the driving component is matched with the head swinging pull rod so as to drive the head swinging pull rod to move along the axial direction of the anastomat when the driving component rotates, the shell is provided with a driving component accommodating groove for accommodating the driving component, and the inner side wall of the driving component accommodating groove is provided with at least one notch;
the driving assembly comprises a first driving piece, a second driving piece and a positioning piece, and the positioning piece is arranged in the second driving piece and can extend outwards or retract inwards relative to the second driving piece; opposite sides of the first driving piece and the positioning piece are respectively provided with a driving groove and a lug, and the lug at least partially enters the driving groove;
in an initial state, the positioning element extends outwards relative to the second driving element and enters one of the notches, when the first driving element rotates to a second position from an initial first position along a first direction, the second driving element does not rotate, and the lug drives the positioning element to retract inwards relative to the second driving element under the guidance of the driving groove.
Optionally, when the first driving member continues to rotate in the first direction from the second position, the first driving member drives the second driving member to rotate.
Optionally, the first driving member is provided with a first matching portion, the second driving member is provided with a second matching portion, and when the first driving member rotates from the first position to the second position, the second matching portion does not interfere with the movement of the first matching portion;
when the first driving piece continues to rotate along the first direction from the second position, the first matching part and the second matching part form linkage.
Optionally, the first driving part includes a driving disc, the first mating portion and the second mating portion are disposed along a circumferential direction of the driving disc, the first mating portion is a first groove, the second mating portion is a first protrusion disposed on a side of the second driving part facing the first driving part, and a length of the first groove along the circumferential direction of the driving disc is greater than a length of the first protrusion along the circumferential direction of the driving disc; or
The second matching portion is a first groove, the first matching portion is a first protrusion arranged on one side, facing the second driving piece, of the first driving piece, and the length of the first groove in the circumferential direction of the driving disc is larger than that of the first protrusion in the circumferential direction of the driving disc.
Optionally, in an initial state, the first protrusion is located at a central position of the first groove.
Optionally, the first driving part includes a driving disc, the first fitting portion is a second protrusion disposed on one side of the first driving part facing the second driving part, the second fitting portion is a third protrusion disposed on one side of the second driving part facing the first driving part, the second protrusion and the third protrusion are distributed on the same circumference of the driving disc, and in an initial state, along the direction of the circumference, a space is formed between the second protrusion and the third protrusion.
Optionally, the driving slot comprises a central slot portion and a guide slot portion, a first end of the guide slot portion communicates with the central slot portion, and a second end of the guide slot portion is closer to the axial center of the first driving member relative to the first end of the guide slot portion;
in an initial state, the protrusion of the positioning element is located in the central slot portion, and when the first driving element rotates from the first position to the second position, the protrusion moves towards the second end of the guide slot portion along the extending direction of the guide slot portion.
Optionally, the driving groove includes a central groove portion, a first guiding groove portion and a second guiding groove portion, a first end of the first guiding groove portion and a first end of the second guiding groove portion are respectively communicated with the central groove portion, the central groove portion is far away from an axis of the first driving member relative to a second end of the first guiding groove portion and a second end of the second guiding groove portion, and the driving groove forms a V-shaped communicating groove with the central groove portion as a vertex.
Optionally, the notch comprises a holding part, and a first side wall and a second side wall are respectively formed between two sides of the holding part and a third side wall of the drive assembly accommodating groove, which is not provided with the notch;
in an initial state, the positioning element at least partially enters the holding portion, the positioning element is disengaged from the holding portion when the first driving element rotates from the first position to the second position, and the positioning element is pressed by the first sidewall and continuously retracts inwards relative to the second driving element when the first driving element continues to rotate in the first direction from the second position.
Optionally, an elastic member is disposed between the positioning member and the second driving member, and when the positioning member does not enter the notch, the positioning member retracts inward relative to the second driving member under the urging of the inner side wall of the driving assembly accommodating groove, and urges the elastic member to deform.
Optionally, the middle part of one side of the first driving member facing the second driving member is recessed towards a direction away from the second driving member, so as to form a step surface on the outer periphery of the second driving member, and the step surface is located on the outer side of the projection.
Optionally, the driving assembly further includes a third driving element, the third driving element is disposed on a side of the second driving element away from the first driving element, and the third driving element is matched with the second driving element, so that when the second driving element rotates, the third driving element is driven to rotate;
the third driving piece is matched with the swinging pull rod through a connecting part, so that when the third driving piece rotates, the swinging pull rod is driven to move along the axial direction of the anastomat through the connecting part.
Optionally, still include the swing button, first driving piece includes drive shaft and driving-disc, the drive shaft set up in the driving-disc deviates from one side of second driving piece, the swing button with the drive shaft cooperation, so that when the swing button is rotatory, drive through the drive shaft the driving-disc is rotatory.
The embodiment of the utility model provides a medical anastomat is still provided, include yaw mechanism.
The utility model provides a yaw mechanism and medical anastomat have following advantage:
the utility model provides a head swinging mechanism for a medical anastomat, which is convenient for an operator to set different swinging angles of a pin head part through the matching of a positioning part of a driving assembly and a notch of a shell, can accurately control the axial moving distance of a head swinging pull rod matched with the driving assembly, further accurately control the swinging angle of the pin head part, and when external force is not applied, the positioning part of the driving assembly and the notch of the shell form relatively stable matching, so that the swinging of the pin head part which cannot be controlled can be avoided; and the first driving piece and the positioning piece are mutually matched through the driving groove and the lug, and when the swing angle of the nail head is adjusted, the positioning piece can be more smoothly separated from the notch under the guidance of the driving groove, so that the swing operation is more smooth.
Drawings
Other features, objects and advantages of the invention will become more apparent from a reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a head swing mechanism according to a first embodiment of the present invention;
fig. 2 is a plan view of a head swing mechanism according to a first embodiment of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
figure 4 is a top plan view of the drive assembly and housing cooperation of the first embodiment of the present invention;
FIG. 5 is a top view of the positioning member and the housing of the first embodiment of the present invention;
fig. 6 is an exploded view of the drive assembly and coupling member of the first embodiment of the present invention in cooperation;
fig. 7 is an exploded view of the drive assembly and yaw tie rod combination of the first embodiment of the present invention;
figure 8 is a schematic view of the first and second driving members of the first embodiment of the invention in cooperation;
FIG. 9 is a cross-sectional view of FIG. 8;
fig. 10 is a perspective view of a first driving member of the first embodiment of the present invention;
fig. 11 is a schematic structural view of the first driving member and the positioning member according to the first embodiment of the present invention;
fig. 12 is a bottom view of the first driving member and the positioning member engaged in the first state according to the first embodiment of the present invention;
fig. 13 is a perspective view of a positioning member according to a first embodiment of the present invention;
figure 14 is a perspective view of a drive assembly of the first embodiment of the present invention;
fig. 15 is a schematic structural view of a third driving member according to the first embodiment of the present invention;
fig. 16 is a perspective view of the upper case of the first embodiment of the present invention;
fig. 17 is a plan view of the upper case of the first embodiment of the present invention;
figure 18 is a top plan view of the drive assembly and housing arrangement of the first embodiment of the present invention entering the second state;
figure 19 is a top plan view of the second driving member and housing in engagement with the first embodiment of the invention entering the second condition;
FIG. 20 is an enlarged view at the center of FIG. 19;
fig. 21 is a bottom view of the positioning member and the first driving member engaged with each other when the first embodiment of the present invention enters the second state;
figure 22 is a top plan view of the drive assembly and housing arrangement of the first embodiment of the present invention entering the third state;
figure 23 is a top plan view of the second driving member and housing arrangement of the first embodiment of the invention entering the third condition;
FIG. 24 is an enlarged view at the center of FIG. 23;
figure 25 is a top plan view of the second drive member and housing cooperation of the second embodiment of the invention;
figure 26 is a schematic view of the second drive member and the first drive member of the second embodiment of the invention in cooperation;
fig. 27 is a schematic view of the second driving member and the positioning member according to the second embodiment of the present invention;
figure 28 is a perspective view of a first drive member of a third embodiment of the present invention;
fig. 29 is a perspective view of a second driving member according to a third embodiment of the present invention.
Reference numerals:
1 first end of a rocking button 41 positioning member
2 second end of positioning member of first driving member 42
21 drive shaft 44 projection
211 connecting piece (pin shaft) 5 third driving piece
212 first mating hole 51 fourth mating portion (second recess)
22 Driving disk 53 fifth matching part (protruding shaft)
221 first groove (first mating portion) 6 end cap
222 second projection (first fitting part) 7 upper shell
23 step surface 71 drive assembly accommodating groove
24 drive slot 72 notch
241 first guide slot part 721 initial position notch
242 second guide groove portion 722 non-home notch
243 center groove portion 723 first side wall
3 second driving member 724 second side wall
31 first projection (second fitting part) 725 third side wall
32 positioning piece accommodating groove 726 holding part
33 third fitting part (fourth projection) 8 lower case
34 third projection (second fitting part) 91 connecting part
35 spring 911 sixth fitting part (waist-shaped hole)
36 mounting hole 912 connecting the distal sides of the components
37 lug guide way 92 swing pull rod
38 first half 921 of second drive member distal side of yaw tie rod
39 second drive member second half 922 swing link proximal side
4 positioning piece
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
The utility model provides a head swinging mechanism for a medical anastomat and the medical anastomat comprising the same. The anastomat comprises an instrument platform and a head, wherein the head comprises a nail box shell and a nail head, and the platform comprises a head swinging mechanism used for controlling the nail head to swing relative to the nail box shell. The head swinging mechanism comprises a shell, a driving component and a head swinging pull rod, wherein the shell is provided with a driving component accommodating groove for accommodating the driving component, the driving component is matched with the head swinging pull rod, so that the driving component is driven to move along the axial direction of the anastomat when rotating, therefore, the driving component can be operated to rotate when the nail head swings in need of control, the driving component drives the head swinging pull rod to move along the axial direction of the anastomat, drives the nail head to swing, and keeps in a required position.
In order to facilitate the switching of different swing angles of the nail head and the avoidance of uncontrollable swing of the nail head by an operator, the shell is provided with a driving assembly accommodating groove for accommodating the driving assembly, and the inner side wall of the driving assembly accommodating groove is provided with at least one notch. The driving assembly comprises a first driving piece, a second driving piece and a positioning piece, and the positioning piece is arranged in the second driving piece and can extend outwards or retract inwards relative to the second driving piece; the opposite sides of the first driving piece and the positioning piece are respectively provided with a driving groove and a lug, and the lug at least partially enters the driving groove. In an initial state, the positioning element extends outwards relative to the second driving element and enters one notch, when the first driving element rotates to a second position from an initial first position along a first direction, the second driving element does not rotate, the protruding block drives the positioning element to retract inwards relative to the second driving element under the guidance of the driving groove, and the positioning element is in a second state, namely at least part of the positioning element is separated from the notch. Under the second state, further drive the second driving piece rotatory, the second driving piece can drive the setting element rotatory, and break away from completely with the notch, continues to rotate, and the setting element can get into next notch, under the hindrance of notch, has certain resistance and card pause, no longer operates drive assembly this moment, and the setting element can keep in current notch. Since the position of the notch corresponds to the swing angle of the nail head, the rotation angle of the driving assembly can be set by setting the position of the notch, and thus different swing angles of the nail head can be set. In the operation process, a relatively stable matching relation can be formed through the matching of the positioning piece in the notch, and the nail head can keep a relatively stable state under the condition of not applying external force artificially, so that the uncontrollable swinging of the nail head is avoided.
The structure of the swing mechanism according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings, and it should be understood that the embodiments are not intended to limit the scope of the present invention.
As shown in fig. 1 to 17, the structure of the swing head mechanism in the initial state according to the first embodiment of the present invention is shown, where the initial state is defined as a first state, the first state is a state where the first driving member in the driving assembly is at an initial first position, and at this time, the positioning member in the driving assembly at least partially enters the recess in the inner side surface of the housing.
As shown in fig. 1 to 5, the head swing mechanism includes a head swing pull rod 92, a driving component and a housing, the driving component is matched with the head swing pull rod 92, so that when the driving component rotates, the head swing pull rod 92 is driven to move along an axial direction of the stapler, the housing is provided with a driving component accommodating groove 71 for accommodating the driving component, and an inner side wall of the driving component accommodating groove 71 is provided with at least one notch 72. The driving assembly comprises a first driving piece 2, a second driving piece 3 and a positioning piece 4, wherein the positioning piece 4 is arranged in the second driving piece 3 and can extend outwards or retract inwards relative to the second driving piece 3; opposite sides of the first driving member 2 and the positioning member 4 are respectively provided with a driving groove 24 and a projection 44, and the projection 44 at least partially enters the driving groove 24. In this embodiment, the housing includes an upper housing 7 and a lower housing 8, the upper housing 7 is provided with a driving assembly receiving groove 71 receiving the driving assembly, and an inner sidewall of the driving assembly receiving groove 71 is provided with at least one notch 72. In other alternative embodiments, the casing can also be a whole, or adopt other division modes, the drive assembly holding tank set up in the upper surface of casing can, all belong to within the scope of protection of the utility model.
The initial state is defined as a state when the nail head is not swung, and the nail head is in the axial direction of the stapler. In an initial state, the positioning element 4 extends outward relative to the second driving element 3 and enters one of the notches 72, when the first driving element 2 rotates from an initial first position to a second position along a first direction, the second driving element 3 does not rotate, and the protrusion 44 drives the positioning element 4 to retract inward relative to the second driving element 3 under the guidance of the driving groove 24, which is referred to as a second state, that is, the positioning element 4 at least partially disengages from the notch 72. In the second state, the second driving member 3 is further driven to rotate, the second driving member 3 can drive the positioning member 4 to rotate, and the positioning member 4 is completely separated from the notch 72 and continuously rotates, the positioning member 4 can enter the next notch 72, and under the obstruction of the notch 72, a certain resistance and jamming are generated, at this time, the driving assembly is not operated, and the positioning member 4 can be kept in the current notch 72. Since the position of the notch 72 corresponds to the swing angle of the stud, the rotation angle of the drive assembly can be set by setting the position of the notch 72, thereby setting different swing angles of the stud. During operation, a relatively stable matching relationship can be formed by matching the positioning piece 4 in the notch 72, and the nail head can be kept in a relatively stable state under the condition of not applying external force artificially, so that the uncontrollable swinging of the nail head is avoided.
The utility model discloses in, distal end side and near-end side are for the operator, and the one end that is nearer apart from the operator is near-end side, and the one end far away apart from the operator, the one end that is more close to the operation position promptly is the distal end side. For example, in the view of fig. 7, the right side of the yaw tie 92 is the distal end side 921 of the yaw tie 92, the distal end side 921 of the yaw tie 92 is connected to the nail head, the left side of the yaw tie 92 is the proximal end side 922 of the yaw tie 92, and the proximal end side 922 of the yaw tie 92 is connected to the distal end side 912 of the link member 91. Above and below refer to above and below in the perspective of fig. 3, that is, the upper surface of the drive assembly and the upper housing 7, shown in fig. 4, with the swing button 1 located above the first driver 2 and the second driver 3 located below the first driver 2, as shown in fig. 3. In the present invention, for a component, the inner side and the outer side are relative to the axis of the component, the side close to the axis is the inner side, and the side far away from the axis is the outer side.
In this embodiment, the first direction may be a clockwise direction or a counterclockwise direction, if the first direction is the clockwise direction, the first driving member 2 rotates clockwise from the first position to the second position and then continues to rotate clockwise to reach the third position, and if the first direction is the counterclockwise direction, the first driving member 2 rotates counterclockwise from the first position to the second position and then continues to rotate clockwise to reach the third position. I.e. the direction of rotation is unchanged when the first driver 2 is rotated from the first position to the second position and the third position in sequence.
Further, in this embodiment, the first driver 2 can be used not only as a driver for guiding the positioning member 4 to be partially disengaged from the notch 72, but also as a component for further driving the second driver 3 to rotate in the second state. That is, in the second state, when the first driving member 2 continues to rotate in the first direction from the second position, the first driving member 2 drives the second driving member 3 to rotate, thereby entering the third state. The third state 3 is defined as the positioning element 4 completely disengaging from the recess 72 and rotating to be opposite to the inner sidewall of the driving assembly receiving slot 71 where no recess is formed. In other alternative embodiments, the first driving element 2 may only serve as a driving element for guiding the positioning element 4 to partially disengage from the notch 72, that is, the driving element enters the second state from the first state, in the second state, another element may be used to drive the second driving element 3 to rotate, or the second driving element 3 may be directly driven to rotate, and the entering of the third state may also be achieved, which all fall within the protection scope of the present invention.
As shown in fig. 4 to 12, in this embodiment, the first driver 2 includes a drive shaft 21 and a drive plate 22, the drive shaft 21 being located on a side of the drive plate 22 facing away from the second driver 3, i.e., the drive shaft 21 is located above the drive plate 22 in the perspective of fig. 7. A swing button 1 is further arranged above the first driving member 2, and the swing button 1 is connected with the driving shaft 21 through a connecting piece 211. In this embodiment, the connecting member 211 is a pin shaft, and the driving shaft 21 is provided with a first fitting hole 212 for fitting the connecting member 211. The connecting member 211 is inserted into the first fitting hole 212, and two ends of the connecting member are fixed inside the swing button 1, so as to form a non-rotatable connection between the swing button 1 and the driving shaft 21. When an operator operates the head swinging mechanism to control the head swinging of the nail head, the swinging button 1 is rotated to rotate the first driving piece 2. An end cover 6 can be further arranged between the swing button 1 and the driving assembly, a limiting column is arranged on the lower surface of the end cover 6, and the end cover 6 limits the vertical movement of the driving assembly.
As shown in fig. 4 and 14, in this embodiment, the first driving member 2 is provided with a first engaging portion, and the second driving member 3 is provided with a second engaging portion, and the second engaging portion does not interfere with the movement of the first engaging portion when the first driving member 2 rotates from the first position to the second position, so that the second driving member 3 is not driven to rotate during the rotation of the first driving member 2 from the first position to the second position. In the second state, when the first driving element 2 continues to rotate from the second position along the first direction, the first matching portion and the second matching portion form linkage, and the second driving element 3 can be driven to rotate by the continuous rotation of the first driving element 2.
First cooperation portion with second cooperation portion follows the circumferential direction of driving-disc 22 sets up, first cooperation portion is first recess 221, second cooperation portion for set up in second driving piece 3 is towards the first arch 31 of one side of first driving piece 2, just first recess 221 is followed the length of the circumference of driving-disc 22 is greater than first arch 31 is followed the length of the circumference of driving-disc 22. Like this, when operating personnel drives first driving piece 2 rotatory through rotatory pendulum button 1, first recess 221 is rotatory, but because the end of first arch 31 does not contact with first recess 221 at first, the rotation of first recess 221 can not drive first bellied rotation, first driving piece 2 also can not drive second driving piece 3 rotatory, when rotatory end and the inside wall contact of first recess 221 of first arch 31, continue rotatory first driving piece 2, first driving piece 2 can drive second driving piece 3 rotatory. In the first state, when the first driving member 2 is located at the first position, the first protrusion 31 is preferably located at the center position, i.e., the middle portion, of the first groove 221, so that certain redundant spaces are reserved at both ends of the first groove 31, and the first driving member 2 can not rotate the second driving member 3 at the initial stage of rotation when rotating clockwise and counterclockwise.
In other alternative embodiments, the second matching portion may be a first groove, the first matching portion is a first protrusion, and the length of the first groove along the circumferential direction of the driving disc 22 is greater than the length of the first protrusion along the circumferential direction of the driving disc 22, similarly, when the first protrusion rotates, because the end of the first protrusion does not contact with the first groove at the beginning, the rotation of the first protrusion does not drive the rotation of the first groove, the first driving member 2 does not drive the second driving member 3 to rotate, and when the end of the first protrusion contacts with the inner side wall of the first groove, the first driving member 2 rotates again, and the first driving member 2 can drive the second driving member 3 to rotate. In the first state, when first driving piece 2 is located the first position, first arch is preferred to be located the central point of first recess puts, middle part promptly, all leaves certain redundant space at the both ends of first recess like this, makes things convenient for first driving piece 2 all can not just drive at rotatory initial stage when rotatory to clockwise and anticlockwise second driving piece 3 is rotatory.
As shown in fig. 9 to 12, in this embodiment, the driving groove 24 includes a central groove portion 243 and guide groove portions 241 and 242, first ends of the guide groove portions 241 and 242 communicate with the central groove portion 243, and second ends of the guide groove portions 241 and 242 are closer to the axial center of the first driver 2 than the first ends of the guide groove portions 241 and 242. The extending direction of the guide groove portions 241,242 has an inclination angle with respect to the radial direction D of the upper surface of the drive plate 22, that is, the guide groove portions 241,242 do not extend in the radial direction D of the upper surface of the drive plate 22.
As shown in fig. 12, in the initial state, the projection 44 of the positioning element 4 is located in the central groove portion 243, and at this time, the central groove portion 243 of the driving groove 24 and the positioning element 4 are both located in the stapler axial direction. When the first driver 2 is rotated from the first position to the second position, the cam 44 moves in the direction of extension of the guide groove 241,242 towards the second end of the guide groove.
As shown in fig. 12, in this embodiment, two guide groove portions are provided: a first guide groove portion 241 and a second guide groove portion 242, a first end of the first guide groove portion 241 and a first end of the second guide groove portion 242 respectively communicate with the center groove portion 243, the center groove portion 243 is away from the axis of the first driver 2 with respect to a second end of the first guide groove portion 241 and a second end of the second guide groove portion 242, and the driving groove 24 forms a V-shaped communicating groove with the center groove portion 243 as a vertex. Thus, when the first driver 2 rotates counterclockwise from the first position, the protrusion 44 of the positioning element 4 enters the second guiding groove 242 from the central groove 243 and moves along the second guiding groove 242 toward the second end thereof, and the positioning element 4 retracts inward relative to the second driver 3 under the guidance of the second guiding groove 242. Similarly, when the first driving element 2 rotates clockwise from the first position, the protrusion 44 of the positioning element 4 enters the first guiding groove portion 241 from the central groove portion 243, and the positioning element 4 retracts inward relative to the second driving element 3 under the guidance of the first guiding groove portion 241.
The head swing mechanism in this embodiment can realize that the nail head swings to both sides respectively relative to the initial position, that is, when the first driving element 2 rotates clockwise, the nail head can be driven to swing to the first side, and when the first driving element 2 rotates counterclockwise, the nail head can be driven to swing to the second side. In another alternative embodiment, if the head portion only needs to swing to one side, not to swing to both sides, in the initial state, the first protrusion 31 may not be located at the center of the first groove 221 but at one side of the first groove 221, and there is a certain redundant space with the end of the other side of the first groove 221. It is also possible to provide only one guide groove portion, i.e. the drive groove comprises only one central groove portion and one guide groove portion, the guide groove portions being arranged obliquely with respect to the radial direction D of the upper surface of the drive disc 22.
As shown in fig. 9, in this embodiment, the positioning element 4 is disposed in the positioning element accommodating groove 32 of the second driving element 3. An elastic member, such as a spring 35, may be further disposed in the positioning member receiving groove 32, when the positioning member 4 does not enter the notch 72, the positioning member 4 retracts into the positioning member receiving groove 32 under the urging of the inner side wall of the driving assembly receiving groove 71, and urges the elastic member to deform, when the positioning member 4 rotates to align with the notch 72, under the effect of the deformation restoring force of the spring 35, the first end 41 of the positioning member 4 extends outward and enters the notch 72 aligned at this time.
As shown in fig. 9 and 10, the middle of the lower surface of the driving disc 22 is recessed upward to form a step surface 23 on the periphery of the lower surface of the driving disc 22, the step surface 23 is located outside the second driving element 3, the lower surface of the driving disc 22 and the inner side surface of the positioning element accommodating groove 32 jointly define a space for accommodating the positioning element 4, which can block the upward movement of the positioning element 4, and maintain the stability of the positioning element 4 in the vertical direction and the stability of the first driving element 2 in the axial direction relative to the second driving element 3.
As shown in fig. 14 and 15, in this embodiment, the driving assembly further includes a third driving member 5, and the third driving member 5 is matched with the second driving member 3, so that when the second driving member 3 rotates, the third driving member 5 is driven to rotate. The third driving member 5 is matched with the swing rod 92 through a connecting member 91, so that when the third driving member 5 rotates, the swing rod 92 is driven to move along the axial direction of the anastomat through the connecting member 91. The third driving member 5 comprises a convex part and a disc part arranged below the convex part, a first mounting hole 36 is arranged in the second driving member 3, and the convex part of the third driving member 5 is inserted into the first mounting hole 36; the inner side surface of the first mounting hole 36 is provided with a third matching part 33, and the outer side surface of the convex part of the third driving member 5 is provided with a fourth matching part 51 matched with the third matching part 33. In one embodiment, the third driving member 5 may be a strong metal member, and the second driving member 3 may be a plastic member.
When the operator operates during the yaw mechanism, at first rotatory swing button 1, swing button 1 drives first driving piece 2 rotatory, first driving piece 2 drives second driving piece 3 rotatory through the cooperation of first cooperation portion 221 and second cooperation portion 31, and second driving piece 3 drives third driving piece 5 rotatory through the cooperation of third cooperation portion 33 and fourth cooperation portion 51, and third driving piece 5 drives yaw pull rod 92 through adapting unit 91 and follows the axial direction motion of anastomat to the swing of pin fin portion has been realized.
In another embodiment, the third driver 5 and the second driver 3 may be integrally provided. The second driving member 3 is matched with the swing rod 92 through a connecting member 91, so that when the second driving member 3 rotates, the swing rod 92 is driven to move along the axial direction of the anastomat through the connecting member 91. When the operator operates the yaw mechanism, at first rotatory swing button 1, swing button 1 drives first driving piece 2 rotatory, first driving piece 2 drives second driving piece 3 rotatory through the cooperation of first cooperation portion and second cooperation portion, and second driving piece 3 drives yaw pull rod 92 through adapting unit 91 and follows the axial direction motion of anastomat to the swing of pin fin portion has been realized.
The connecting component 91 is provided with a sixth matching part 911, the distal end side 912 of the connecting component 91 is connected with the proximal end side 922 of the swing pull rod 92, the lower surface of the third driving component 5 is provided with a fifth matching part 53, and the fifth matching part 53 is matched with the sixth matching part 911, so that the rotation motion of the third driving component 5 is converted into the linear motion of the connecting component 9 along the axial direction of the anastomat. In this embodiment, the fifth matching portion 53 is a protruding shaft, and the sixth matching portion 911 is a waist-shaped hole, but the present invention is not limited thereto, and the fifth matching portion 53 may be a waist-shaped hole, and the sixth matching portion 911 is a protruding shaft, or other matching structures are adopted, all falling within the protection scope of the present invention.
In this embodiment, the third matching portion 33 is a second protrusion, the fourth matching portion 51 is a second groove, and in other alternative embodiments, the third matching portion 33 may be a second groove, and the fourth matching portion 51 may be a second protrusion, etc.
In the third driving member 5 and the embodiment that the second driving member 3 is integrally provided, the fifth matching portion 53 is directly provided on the lower surface of the second driving member 3, and is directly matched with the connecting member 91 or the swing pull rod 92, and the portion of the first driving member 3 passing through the first mounting hole 36 of the second driving member 3 can be provided below the first driving member, and the portion passing through the lower side of the first driving member 3 is directly matched with the connecting member 91 or the swing pull rod 92, etc., which all fall within the protection scope of the present invention.
As shown in fig. 17, in this embodiment, each notch 72 may have a different depth. For example, the recesses 72 are divided into two types: an initial position notch 721 and a non-initial position notch 722, the initial position notch 721 having a depth greater than the non-initial position notch 722. The initial position notch 721 is located in the axial direction of the stapler. The home position notch 721 may be provided in one or more number, and the non-home position notch 722 may be provided in one or more number. When the nail head is at the initial position, the positioning member 4 is located in the initial position notch 721, and with the rotation of the first driving member 2 and the second driving member 3, the positioning member 4 rotates to enter the non-initial position notch 722, and for an operator, the position of the initial position notch 721 can be determined by sensing the difference of the resistance, so that the initial position of the nail head can be determined more accurately, and the accurate positioning of the initial position of the nail head can be realized.
The number of the home position notches 721 can be determined according to the number of the positioning members 4, for example, in this embodiment, the positioning member receiving slots 32 are two oppositely disposed along the same straight line, and accordingly, two positioning members 4 are provided, and two home position notches 721 can be correspondingly provided. However, the present invention is not limited thereto, and in other embodiments, the number of the positioning members 4 may be selected to be one or more as needed, and the number of the initial position notches 721 does not necessarily correspond to the number of the positioning members 4.
Fig. 18 to 21 show the structure of the swing head mechanism in the second state. The second state is defined herein as: the first driving member 2 rotates from the first position to the second position along the counterclockwise direction, but the first driving member 2 does not drive the second driving member 3 to rotate yet, and the positioning member 4 retracts inward under the pressure of the inner sidewall of the driving groove 24.
As shown in fig. 18, since the length of the first groove 221 in the circumferential direction of the drive disc 21 is greater than the length of the first protrusion 31 in the circumferential direction of the drive disc 21, the first groove 221 has a certain redundant space with respect to the first protrusion 31, when the first driving member 2 rotates counterclockwise to the second position, the inner sidewall of one end of the first groove 221 does not contact or just contact with the end of the first protrusion 31, and the first driving member 2 does not drive the second driving member 3 to rotate during the rotation of the first driving member 2 from the first position to the second position. At this time, as shown in fig. 21, since there is a relative rotation motion between the first driving element 2 and the second driving element 3, the protrusion 44 of the positioning element 4 moves towards the second end of the second guiding slot 242 along the extending direction of the second guiding slot 242, and in the movement of the positioning element 4 along with the protrusion 44, the inner sidewall of the second guiding slot 242 presses the positioning element 4 to retract inwards relative to the second driving element 3, such an arrangement can more conveniently drive the positioning element 4 to disengage from the notch 72 by the rotation of the second driving element 3 in the next step. It should be noted that, since fig. 21 is a bottom view, the direction in fig. 21 is opposite to the direction in fig. 18, and both the clockwise direction and the counterclockwise direction in the present invention are the clockwise direction and the counterclockwise direction in the top view of fig. 18 and 19. Similarly, when the first driving element 2 rotates clockwise from the first position, the protrusion 44 of the positioning element 4 first moves toward the second end of the first groove 241 along the extending direction of the first groove 241, and during the movement of the positioning element 4 along with the protrusion 44, the inner sidewall of the first groove 241 presses the positioning element 4 to retract inward relative to the second driving element 3. The inward retraction means that the positioning member 4 retracts toward the axial center of the second driving member 3 and compresses the spring 35 to deform.
In this embodiment, as shown in fig. 20, the recess 72 has a holding portion 726, i.e. the deepest position of the recess 72 has a holding portion 726 with a shape corresponding to the shape of the first end 41 of the positioning member 4, and when the swing head operation is not performed, the holding portion 726 can better hold the first end 41 of the positioning member 4 in the recess 72, and stabilize the head at the current swing angle. Furthermore, in order to make it smoother to disengage the positioning element 4 from the holding portion 726 during the swinging operation, there is provided a cooperation of the V-shaped driving groove 24 and the projection 44, and the first end of the positioning element 4 is disengaged from the holding portion 726 when the first driving element 2 is rotated counterclockwise from the first position to the second position.
Fig. 22 to 24 are schematic structural views of the swing head mechanism in the third state of the embodiment. The third state is defined as that the first driving element 2 continues to rotate from the second position to the third position in the counterclockwise direction, and the positioning element 4 continues to retract inward relative to the second driving element 3 under the pressure of the inner side wall of the recess 72.
As shown in fig. 22, in the process that the first driving member 2 continues to rotate from the second position to the third position in the counterclockwise direction, the first groove 221 drives the first protrusion 31 to rotate, i.e. drives the second driving member 3 to rotate, the second driving member 3 drives the positioning member 4 to rotate in the counterclockwise direction, and at this time, the protrusion 44 of the positioning member 4 is located in the second guiding slot 242. As shown in fig. 24, the recess 72 of the housing further includes a first sidewall 723 and a second sidewall 724 at the edge of the recess 72, the accommodating groove 71 further includes a third sidewall 725 outside the recess 72, and when the first driving member 2 continues to rotate, the first end 41 of the positioning member 4 continues to retract inward relative to the second driving member 3 under the urging of the first sidewall 723, so that the positioning member 4 can be completely disengaged from the recess 72, and the spring 35 further deforms and enters the third sidewall 725 portion of the driving assembly accommodating groove 71 until entering the next adjacent recess 72. At this time, since the positioning member 4 is already partially separated from the notch 72 by the urging of the driving groove 24 in the process of the transition from the first state to the second state, the separation of the positioning member 4 from the notch 72 is more smooth in the transition from the second state to the third state. The first driving member 2 continues to rotate, and the second driving member 3 drives the positioning member 4 to continue to rotate, so that the first end 41 of the positioning member 4 abuts against the third sidewall 725 of the driving component accommodating groove 71, which is not provided with the notch 72, and the deformation of the spring 35 is kept unchanged under the pressing of the third sidewall 725 of the driving component accommodating groove 71.
Similarly, after the first driving element 2 rotates clockwise from the first position until the protrusion 44 of the positioning element 4 at least partially enters the first guiding slot 241, and the first driving element 2 continues to rotate, the first end 41 of the positioning element 4 continues to retract inward relative to the second driving element 3 under the urging of the second side wall 724, so that the positioning element 4 can be completely disengaged from the notch 72, and the spring 35 further deforms, and the first end 41 of the positioning element 4 abuts against the third side wall 725 of the driving assembly accommodating slot 71, which is not provided with the notch 72, so as to keep the deformation of the spring 35 unchanged under the urging of the third side wall 725 of the driving assembly accommodating slot 71. The clockwise rotation and the anticlockwise rotation of the first driving piece 2 can respectively realize the swing of the nail head in different directions.
As shown in fig. 24, the first side wall 723 is a smooth transition arc with the third side wall 725 of the drive assembly receiving slot 71 not having the notch 72, so as to better guide the positioning member 4 to disengage from the notch 72 when rotating in the counterclockwise direction. Similarly, the second side wall 724 is a smooth curved surface with the third side wall 725, so as to better guide the positioning member 4 to disengage from the notch 72 when rotating in the clockwise direction.
In the third state shown in fig. 24, the first driving member 2 continues to rotate, which drives the positioning member 4 and the second driving member 3 to rotate continuously until the positioning member 4 is aligned with the next notch 72, and under the deformation restoring force of the spring 35, the positioning member 4 extends outward relative to the second driving member 3, so that the first end 41 of the positioning member 4 enters the currently aligned notch 72. At this time, when the operator releases the swing button 1, the inclined surface of the second guiding slot 242 guides the protrusion 44 of the positioning member 4 to move from the second guiding slot 242 to the central slot 243 again, and in the process, the first driving member 2 is driven to rotate clockwise relative to the second driving member 3 under the driving of the protrusion 44 of the positioning member 4, so that the first protrusion 31 returns to the central position of the first groove 221 again.
As shown in fig. 25 and 26, in order to show the structure of the driving assembly according to the second embodiment of the present invention, fig. 25 shows the engagement of the second driving member 3 with the upper housing 7, and fig. 26 shows the engagement of the first driving member 2 and the second driving member 3. This embodiment differs from the first embodiment in that the positioning member receiving groove is opened in the side surface of the second driving member 3 and is not communicated to the upper surface of the second driving member 3. The upper surface of the third driving member 3 only needs to be provided with a cam guiding groove 37 for the movement of the cam 44 of the positioning member 4. The retainer 4 can be inserted into the retainer receiving slot of the second driving member 3 from a side of the second driving member 3, and the retainer 4 is prevented from falling out of the second driving member 3 by the engagement between the projection 44 and the driving tooth 24. In addition, the positioning member 4 may also be configured as shown in fig. 14, and in this case, in order to facilitate the installation of the positioning member 4, the second driving member 3 may be divided into two halves 38,39 according to S-line in fig. 27, and the two halves 38,39 are connected by a fastener, or after the positioning member 4 is installed in the positioning member accommodating groove, the two halves 38,39 of the second driving member 3 are welded.
Fig. 28 and 29 are schematic structural views of a drive assembly according to a third embodiment of the present invention. Fig. 28 shows the structure of the first driver 2 of the third embodiment, and fig. 29 shows the structure of the second driver 3 of the third embodiment. This embodiment differs from the first embodiment in that the first fitting portion and the second fitting portion are different in structure. As shown in fig. 28, the first engaging portion is a second protrusion 222 disposed on a side of the first driving element 2 facing the second driving element 3, as shown in fig. 29, the second engaging portion is a third protrusion disposed on a side of the second driving element 3 facing the first driving element 2, the second protrusion 222 and the third protrusion are distributed on a same circumference of the driving disc 22, and in an initial state, a distance is formed between the second protrusion 222 and the third protrusion along the circumferential direction. Further preferably, for each second protrusion 222, two third protrusions 34 are provided on the second driving member 3, and the two third protrusions 34 are respectively located at two sides of the second protrusion 222. When the first driving member 2 is in the initial first position, the second protrusion 222 is located at the center of the two third protrusions 34. When the first driving member 2 rotates clockwise, the second protrusion 222 contacts and interlocks with the left third protrusion 34 after rotating through the gap between the second protrusion 222 and the left third protrusion 34, and when the first driving member 2 rotates counterclockwise, the second protrusion 222 contacts and interlocks with the third protrusion 34 after rotating through the gap between the second protrusion 222 and the right third protrusion 34.
The utility model provides a yaw mechanism and medical anastomat have following advantage:
the utility model provides a head swinging mechanism for a medical anastomat, which is convenient for an operator to set different swinging angles of a pin head part through the matching of a positioning part of a driving assembly and a notch of a shell, can accurately control the axial moving distance of a head swinging pull rod matched with the driving assembly, further accurately control the swinging angle of the pin head part, and when external force is not applied, the positioning part of the driving assembly and the notch of the shell form relatively stable matching, so that the swinging of the pin head part which cannot be controlled can be avoided; and the first driving piece and the positioning piece are mutually matched through the driving groove and the lug, and when the swing angle of the nail head is adjusted, the positioning piece can be more smoothly separated from the notch under the guidance of the driving groove, so that the swing operation is more smooth.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (14)
1. A head swinging mechanism is characterized by being used for a medical anastomat and comprising a head swinging pull rod, a driving assembly and a shell, wherein the driving assembly is matched with the head swinging pull rod so as to drive the head swinging pull rod to move along the axial direction of the anastomat when the driving assembly rotates, the shell is provided with a driving assembly accommodating groove for accommodating the driving assembly, and the inner side wall of the driving assembly accommodating groove is provided with at least one notch;
the driving assembly comprises a first driving piece, a second driving piece and a positioning piece, and the positioning piece is arranged in the second driving piece and can extend outwards or retract inwards relative to the second driving piece; opposite sides of the first driving piece and the positioning piece are respectively provided with a driving groove and a lug, and the lug at least partially enters the driving groove;
in an initial state, the positioning element extends outwards relative to the second driving element and enters one of the notches, when the first driving element rotates to a second position from an initial first position along a first direction, the second driving element does not rotate, and the lug drives the positioning element to retract inwards relative to the second driving element under the guidance of the driving groove.
2. The yaw mechanism of claim 1, wherein the first drive member rotates the second drive member as the first drive member continues to rotate in the first direction from the second position.
3. The yaw mechanism of claim 2, wherein the first drive member is provided with a first engagement portion and the second drive member is provided with a second engagement portion, the second engagement portion not interfering with movement of the first engagement portion when the first drive member is rotated from the first position to the second position;
when the first driving piece continues to rotate along the first direction from the second position, the first matching part and the second matching part form linkage.
4. The yaw mechanism of claim 3, wherein the first driving member includes a driving disk, the first engagement portion and the second engagement portion are disposed along a circumferential direction of the driving disk, the first engagement portion is a first groove, the second engagement portion is a first protrusion disposed on a side of the second driving member facing the first driving member, and a length of the first groove along the circumferential direction of the driving disk is greater than a length of the first protrusion along the circumferential direction of the driving disk; or
The second matching portion is a first groove, the first matching portion is a first protrusion arranged on one side, facing the second driving piece, of the first driving piece, and the length of the first groove in the circumferential direction of the driving disc is larger than that of the first protrusion in the circumferential direction of the driving disc.
5. The yaw mechanism of claim 4, wherein the first protrusion is located at a center of the first recess in an initial state.
6. The head swinging mechanism of claim 3, wherein the first driving member includes a driving disc, the first engaging portion is a second protrusion disposed on a side of the first driving member facing the second driving member, the second engaging portion is a third protrusion disposed on a side of the second driving member facing the first driving member, the second protrusion and the third protrusion are distributed on a same circumference of the driving disc, and in an initial state, a distance is formed between the second protrusion and the third protrusion along a direction of the circumference.
7. The yaw mechanism of claim 1, wherein the drive slot includes a central slot portion and a guide slot portion, a first end of the guide slot portion communicating with the central slot portion, a second end of the guide slot portion being closer to an axial center of the first drive member relative to the first end of the guide slot portion;
in an initial state, the protrusion of the positioning element is located in the central slot portion, and when the first driving element rotates from the first position to the second position, the protrusion moves towards the second end of the guide slot portion along the extending direction of the guide slot portion.
8. The yaw mechanism of claim 7, wherein the drive slot includes a center slot portion, a first guide slot portion and a second guide slot portion, a first end of the first guide slot portion and a first end of the second guide slot portion respectively communicate with the center slot portion, and the center slot portion is away from the axial center of the first drive member with respect to a second end of the first guide slot portion and a second end of the second guide slot portion, and the drive slot forms a V-shaped communicating slot having the center slot portion as an apex.
9. The yaw mechanism of claim 7, wherein the recess includes a retaining portion having first and second side walls formed on opposite sides thereof and a third side wall of the drive assembly receiving slot not provided with the recess;
in an initial state, the positioning element at least partially enters the holding portion, the positioning element is disengaged from the holding portion when the first driving element rotates from the first position to the second position, and the positioning element is pressed by the first sidewall and continuously retracts inwards relative to the second driving element when the first driving element continues to rotate in the first direction from the second position.
10. The wobble mechanism as claimed in claim 1, wherein an elastic member is disposed between the positioning member and the second driving member, and when the positioning member is not inserted into the recess, the positioning member is pressed by an inner sidewall of the accommodating slot of the driving assembly to retract inward relative to the second driving member, and the elastic member is pressed to deform.
11. The yaw mechanism of claim 1, wherein a middle portion of a side of the first driving member facing the second driving member is recessed away from the second driving member to form a stepped surface at an outer periphery of the second driving member, the stepped surface being located outside the projection.
12. The head swinging mechanism according to claim 1, wherein the driving assembly further comprises a third driving member disposed on a side of the second driving member facing away from the first driving member, the third driving member cooperating with the second driving member to rotate the third driving member when the second driving member rotates;
the third driving piece is matched with the swinging pull rod through a connecting part, so that when the third driving piece rotates, the swinging pull rod is driven to move along the axial direction of the anastomat through the connecting part.
13. The head swinging mechanism of claim 1, further comprising a swinging button, wherein the first driving member comprises a driving shaft and a driving plate, the driving shaft is disposed on a side of the driving plate facing away from the second driving member, and the swinging button is engaged with the driving shaft, so that when the swinging button rotates, the driving plate is driven to rotate by the driving shaft.
14. A medical stapler, characterized in that it comprises a head swinging mechanism according to any one of claims 1 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922301107.0U CN211325285U (en) | 2019-12-19 | 2019-12-19 | Head swinging mechanism and medical anastomat |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922301107.0U CN211325285U (en) | 2019-12-19 | 2019-12-19 | Head swinging mechanism and medical anastomat |
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| CN211325285U true CN211325285U (en) | 2020-08-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114469221A (en) * | 2020-11-12 | 2022-05-13 | 苏州英途康医疗科技有限公司 | Swing head mechanism of endoscope anastomat and adapter of endoscope anastomat |
| CN114469220A (en) * | 2020-11-12 | 2022-05-13 | 苏州英途康医疗科技有限公司 | Head swinging method of endoscopic stapler and endoscopic stapler |
-
2019
- 2019-12-19 CN CN201922301107.0U patent/CN211325285U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114469221A (en) * | 2020-11-12 | 2022-05-13 | 苏州英途康医疗科技有限公司 | Swing head mechanism of endoscope anastomat and adapter of endoscope anastomat |
| CN114469220A (en) * | 2020-11-12 | 2022-05-13 | 苏州英途康医疗科技有限公司 | Head swinging method of endoscopic stapler and endoscopic stapler |
| CN114469221B (en) * | 2020-11-12 | 2023-10-13 | 苏州英途康医疗科技有限公司 | Head swinging mechanism of endoscope anastomat and adapter of endoscope anastomat |
| CN114469220B (en) * | 2020-11-12 | 2023-12-26 | 苏州英途康医疗科技有限公司 | Head swinging method of endoscope anastomat and endoscope anastomat |
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