WO2020151342A1

WO2020151342A1 - Stapler handle system and stapler

Info

Publication number: WO2020151342A1
Application number: PCT/CN2019/118713
Authority: WO
Inventors: 姜飞; 张翚; 杜运峰; 刘殿臣
Original assignee: 苏州英途康医疗科技有限公司
Priority date: 2019-01-24
Filing date: 2019-11-15
Publication date: 2020-07-30
Also published as: CN111466984B; CN111466984A

Abstract

A stapler handle system and a stapler. A brake element (42) is provided on a clamping rod (41); the brake element (42) comprises a telescoping element (422) and a sensor (421); as an end effector (2) clamps down on tissue during the clamping process, the force borne by the telescoping element (422) increases; once the force borne by the telescoping element (422) reaches a maximum limit value, the entire clamping rod (41) is prevented from moving; the sensor (421) emits a feedback signal causing the entire clamping rod (41) to be unable to move; it is then determined whether a firing recognition component is within a firing recognition area (14); by determining whether firing distance requirements are satisfied, it may be determined whether firing is complete. Thus, during the process of pressing tissue together, the stapler handle system and the stapler can simultaneously control the force used to press tissue together as well as the clamping distance. This avoids problems such as tissue damage and poor stapling effectiveness caused by uneven end effector (2) pressing force.

Description

Stapler handle system and stapler

This application claims the priority of the Chinese patent application whose application date is January 24, 2019 and the application number is 201910067895.3, the entire content of which is incorporated into this application by reference.

Technical field

The invention relates to a stapler handle system and a stapler, belonging to the field of medical equipment.

Background technique

The stapler is suitable for anastomosis of the middle esophagus, stomach, duodenum, small intestine, colon and rectum. It is especially suitable for esophagus, gastric anastomosis, and colorectal low end-to-end anastomosis after resection of middle rectal cancer, which is difficult to expose and operate. It is a surgical instrument commonly used in reconstructive surgery. The product adopts the principle of stapler, through two rows of staggered anastomotic needles along the periphery of the tube, the organs are anastomosed and docked during the operation. The stapler has the advantages of uniform anastomotic caliber, neat mucosal alignment, reliable anastomotic fastness, good hemostatic effect and blood supply maintenance, complete anastomosis resection at one time, and convenient operation. Not only can the operation time be greatly shortened, the amount of bleeding is reduced, the surgical trauma is light, the quality of the operation can be improved, and the complications of the operation can be reduced.

The working method of the existing stapler is to compress the tissue between the staple seat and the staple cartridge surface and properly maintain the pressure, and the suture staples distributed on the circumference are pushed out by the staple pusher at the same time, which will be between the jaws. The tissue sutures and cuts the tissue inside the intestine. However, in the process of squeezing tissues, the distance after squeezing is often controlled artificially or electrically. Because the current equipment only controls the distance after pressing, it may cause inconsistent pressing force for tissues of different thicknesses. It is possible that the squeezing force is too large and the tissue is crushed. It is also possible that the pressing force is insufficient, resulting in the displacement of the tissue during nail formation, and a good anastomosis effect cannot be finally achieved.

Summary of the invention

The purpose of the present invention is to provide a stapler handle system and stapler, which can simultaneously control the tissue squeezing force and closing distance during tissue squeezing, so as to avoid tissue damage and nailing effects caused by inconsistent end effector pressure Poor and other issues.

In order to achieve the above objective, the present invention provides the following technical solutions: a stapler handle system for connecting with an end effector, the stapler handle system includes a working head, arranged in the working head and used to drive the The firing assembly for firing the end effector, the closing assembly arranged in the working head and for driving the end effector to close, and the driving assembly connecting and driving the firing assembly and the closing assembly, the work The head includes opposite ends and a head end, the head end is provided with a mounting part for installing the end effector, the drive assembly is arranged at the end; the closing assembly includes a closing rod and a The stopper on the closing rod, the closing rod and the stopper are arranged in the working head, the stopper includes a telescopic part and an inductor arranged on the closing rod, and the drive assembly is connected to The closing rod is driven to move relative to the working head toward the end or the head end; when the closing rod moves toward the end, the force on the telescopic element increases, and when the force reaches the maximum, The sensor sends a feedback signal.

Further, the closing rod includes a first connecting rod for docking with the end effector and a second connecting rod for docking with the drive assembly, and the stopper connects the first connecting rod and the second connecting rod. Two connecting rods are arranged between the first connecting rod and the second connecting rod, and the telescopic member connects the first connecting rod and the second connecting rod.

Further, the stopper further includes a housing for accommodating the telescopic element, one end of the housing is arranged on the second connecting rod, and the telescopic element and the sensor are arranged in the housing .

Further, the sensor is a pressure sensor for detecting the squeezing force received by the tissue, and when the squeezing force reaches a maximum value, the pressure sensor sends a feedback signal.

Further, the sensor is a position sensor for detecting the position state of the telescopic element, the position sensor is arranged on one side of the telescopic element, and when the telescopic element reaches the maximum force, the telescopic element The piece is stretched and detected by the position sensor, so that the position sensor sends a feedback signal.

Further, the position sensor is fixed on the inner wall of the housing, and is arranged close to the head end relative to the telescopic element.

Further, a firing recognition area is provided in the working head, and a firing recognition part that cooperates with the firing recognition area is provided on the closing rod.

Further, the working head is also provided with an area sensor and a control circuit, the area sensor is arranged at the end of the working head, the area sensor has a recognition area, which is defined as the firing recognition area, When the firing identification part is in the firing identification zone, the area sensor transmits a signal to the control circuit.

Further, the working head is also provided with a fixed bracket, and the firing assembly and the closing assembly are arranged on the fixed bracket; the firing assembly includes a firing rod driven by the driving assembly and a screw with the firing rod. For the matched firing ring, the firing rods are respectively arranged on the fixing bracket.

The present invention also provides a stapler, which includes an end effector and the stapler handle system, the end effector includes a staple cartridge assembly and a staple seat, and the staple cartridge assembly is fixedly installed on the On the mounting part, a puncture shaft is provided on the first link, and the puncture shaft is connected to the nail abutment base so that the first link drives the nail abutment base to move relative to the staple cartridge assembly; The staple cartridge assembly includes a staple cartridge for accommodating suture nails and a nail pushing piece for pushing the nails, and the nail pushing piece is connected with the firing rod to push the suture nails toward the abutting seat.

Compared with the prior art, the beneficial effects of the present invention are: the stapler handle system and the stapler of the present invention are provided with a stopper on the closing rod, which includes a telescopic part and a sensor. During the closing process, the end performs After the device is clamped to the tissue, the force of the telescopic element will increase. When the telescopic element reaches the force limit value, the entire closing rod can no longer move. The sensor sends a feedback signal so that the entire closure rod can no longer move, and then judges the firing recognition part Whether it is in the firing recognition zone (that is, to determine whether the firing distance requirement is met) determines whether to complete the firing. Therefore, the stapler handle system and the stapler can simultaneously control the tissue squeezing force and the closing distance in the process of squeezing the tissue, and avoid problems such as tissue damage and poor nailing effect caused by inconsistent end effector squeezing force.

The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it in accordance with the content of the description, the preferred embodiments of the present invention are described in detail below with the accompanying drawings.

Description of the drawings

Figure 1 is a side cross-sectional view of the head portion of the stapler handle system according to an embodiment of the present invention;

Figure 2 is a top view of the stopper in the stapler handle system according to an embodiment of the present invention;

Figure 3 is a side cross-sectional view of the end portion of the stapler handle system according to an embodiment of the present invention;

4 is a schematic structural diagram of the area sensor in the stapler handle system according to an embodiment of the present invention;

Figure 5 is a schematic structural view of the head end of the stapler handle system according to an embodiment of the present invention;

Figure 6 is a schematic structural view of the end of the stapler handle system shown in an embodiment of the present invention;

Figure 7 is a schematic structural view of a stopper in the stapler handle system according to an embodiment of the present invention;

Figure 8 is a schematic structural diagram of a stopper in the stapler handle system shown in another embodiment of the present invention;

9 to 11 are schematic diagrams of the structure of the tubular stapler according to an embodiment of the present invention.

detailed description

The specific embodiments of the present invention will be described in further detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "axis direction", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, It is constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Please refer to Figures 1 to 6, the stapler handle system shown in an embodiment of the present invention, the stapler handle system is used to connect with the end effector 2, which includes a working head 1, arranged in the working head 1 and used The firing assembly 3 fired at the driving end effector 2, the closing assembly 4 arranged in the working head 1 and for driving the end effector 2 to close, and the driving assembly (not shown) that connects and drives the firing assembly 3 and the closing assembly 4 Icon). Specifically, the working head 1 includes an opposite end (in the direction indicated by arrow A in Fig. 1) and a head end (in the opposite direction to the direction indicated by arrow A in Fig. 1), and an end effector is provided at its head end. In the mounting part 101 of 2, the drive assembly is arranged at the end. The closing assembly 4 includes a closing rod 41 and a stopper 42 provided on the closing rod 41, wherein the closing rod 41 and the stopper 42 are provided in the working head 1, and the stopper 42 includes a telescopic part provided on the closing rod. 422 is connected with the sensor 421, and the driving assembly drives the closing rod 41 to move toward the end or the head end relative to the working head 1 (close to or away from the end effector 2). When the closing rod 41 moves toward the end direction, the force of the telescopic member 422 increases, and when the force reaches the maximum value, the sensor 421 sends a feedback signal.

In the present invention, the closing rod 41 includes a first connecting rod 411 for docking with the end effector 2 and a second connecting rod 412 for docking with the driving assembly. The stopper 42 connects the first connecting rod 411 and the second connecting rod 411. The connecting rod 412 is arranged between the two connecting rods. Specifically, the stopper 42 further includes a housing 420 for receiving the telescopic element 422 and the inductor 421. One end of the housing 420 is disposed on the second connecting rod 412. Preferably, the housing 420 and the second connecting rod 412 The housing 420 is integrally formed, and the housing 420 has a cylindrical structure. Of course, in other embodiments, the housing 420 and the second connecting rod 412 may be provided separately, and the shape of the housing 420 may be selected according to actual needs. The other end of the housing 420 is provided with an opening 11 for the first connecting rod 411 to pass through, and the first connecting rod 411 passes through the opening 11 to be connected to the telescopic member 422. Referring to FIG. 7, in this embodiment, the sensor 421 of the present invention is a conventional pressure sensor, and the pressure sensor 421 is connected to the telescopic member 422 (disposed on the side of the telescopic member 422, or on the telescopic member 422) ), and used to detect the force state of the telescopic member 422. When the telescopic member 422 reaches the maximum force, the pressure sensor 421 sends a feedback signal. Or, please refer to FIG. 8. In another embodiment, the sensor 421 is a conventional position sensor, and a position chip (not shown) is provided at the top end of the telescopic member 422 so that the position sensor 421 can detect The position state of the telescopic element 422 is fixedly arranged on the inner wall of the housing 420. Preferably, it is arranged close to the head end relative to the telescopic element 422, so that when the telescopic element 422 is stretched to reach the maximum force, it is fixed on the shell The position sensor 421 on the body 420 moves with the first link 411 to the head end of the telescopic member 422, detects the telescopic member 422, and sends a feedback signal.

In the present invention, the telescopic member 422 is an elastic member, preferably a spring. Of course, in other embodiments, the telescopic member 422 can also be made of other elastic materials. In the present invention, the feedback signal sent by the sensor 421 is an electrical signal, which transmits the signal to the control circuit 13 provided in the working head 1 through a conventional electrical connection. It is true that in other embodiments, the sensor 421 may also send a feedback signal by setting vibrations, prompt sounds, etc.

In the present invention, the firing assembly 3 includes at least two firing rods 31 driven by the driving assembly and a firing ring 32 that is screwed to the firing rod 31. The working head 1 is also provided with a fixing bracket 12, which is formed by two symmetrically arranged elbow brackets 121. The two firing rods 31 in the firing assembly 3 are respectively arranged on the upper and lower sides of the fixing bracket 12, and the closing assembly 4 It is set at the middle position of the fixed bracket 12, and the firing assembly 3 and the closing assembly 4 are mechanically connected with the fixed bracket 12. The firing rod 31 is snap-connected with a firing piece 311 at its end. The firing piece 311 and the second connecting rod 412 are arranged through the switching shaft 5, and the switching shaft 5 is inserted into the firing rod 31 and the second connecting rod 412 respectively. The shaft 51 and the closing shaft 52 are provided with a firing shaft sliding block 511 on the firing shaft 51, and the firing shaft 51 and the closing shaft 52 are fixed on a sliding rail 53 connected to the driving assembly. The switching shaft 5 also includes a bearing 54 connected with the firing shaft 51, a sleeve 55 connected with the closing shaft 52, and a shaft bracket 56 for fixing, which is an existing structure and will not be described here.

The stapler handle system of the present invention also includes an operation button 10 arranged on the outer surface of the working head 1 and a control circuit 13 arranged therein. The control circuit 13 is electrically connected to the stopper 42, the driving assembly and the operation button 10. A firing recognition area 14 is also provided inside the working head 1. The firing recognition area 14 is provided at the end of the second link 412, and the second connecting rod 412 is provided with a firing recognition portion (not shown) that cooperates with the firing recognition area 14 Label). Specifically, the working head 1 is provided with an area sensor 15 which is arranged at the end of the working head 1 and fixed on a support frame (not shown). The area sensor 15 has a recognition area, which is defined as the firing recognition area 14. In this embodiment, the area sensor 15 is a position sensor 151, specifically, a photoelectric sensor. The position sensor 151 has a recognition area, which is defined as the firing recognition area 14. When the firing recognition part is in the firing recognition area 14 , The area sensor 15 transmits a signal to the control circuit 13. It is true that in other embodiments, the firing recognition area 14 can be observed by setting a window on the working head 1, or by setting vibrations, prompt sounds, etc., so that the user knows that the second link 412 is in firing recognition. District 14.

The stapler handle system of the present invention is also provided with a driving assembly for providing driving force. The driving assembly is an existing conventional structure, which can be an electric drive assembly or a manual mechanical drive assembly, and the drive assembly and the closing rod 41 It is connected to the firing rod 31 through a transmission device (not shown), which is not described here, and is not described here.

In the present invention, the above-mentioned stapler handle system can be applied to various types of staplers, and a tubular stapler is taken as an example for description.

Referring to FIGS. 9 to 11, the tubular stapler shown in an embodiment of the present invention adopts the above-mentioned stapler handle system and is equipped with an end effector 2. Specifically, the end effector 2 includes a staple cartridge assembly 21 and a staple seat 22. The staple cartridge assembly 21 is fixedly installed on the mounting portion 101. The head end of the first link 411 is provided with a puncture shaft 413, which is connected to the puncture shaft 413. The nail abutment base 22 is driven by the first connecting rod 411 to move, so that the first link 411 drives the nail abutment base 22 to move relative to the staple cartridge assembly 21. The staple cartridge assembly 21 includes a staple cartridge 211 for accommodating staples and a staple pusher 212 for pushing the staples, and the staple cartridge 211 is recessed with a cavity 213 for accommodating tissue. The firing ring 32 is connected to the nail pusher 212 so that the firing rod 31 drives the nail pusher 212 to push the suture nails toward the nail seat 22.

The tubular stapler of the present invention mainly includes three systems: a closure system, a firing system and an end effector: a closure system: a puncture shaft 413, a closure rod 41 connected to the puncture shaft 413, a closure shaft 52 connected to the closure rod 41, and The driving assembly and the transmission device are composed; the firing system: consists of the firing ring 32, the firing rod 31 connected with the firing ring 32, the firing shaft 51 connected with the firing rod 31, and the driving assembly and the transmission device; the end effector: consists of a nail The seat 22 and the staple cartridge assembly 21 are composed.

When the sensor 421 is a pressure sensor, the working principle of the tubular stapler of the present invention is:

Initially, the end effector 2 is in an open state, and the staple holder 22 is separated from the staple cartridge assembly 21, and then the user manipulates the operating button 10 to cause the drive assembly to drive the closing rod 41 to drive the staple holder 22 to the end direction (stap cartridge assembly 21 direction) moves. During the closing process, the stopper 42 moves with the closing lever 41 at the same time. When the tissue is clamped, the force of the stopper 42 gradually increases. Under normal thickness tissue, before the force of the telescopic element (spring) 422 reaches the limit value, the end of the second link 412 will move to the firing recognition Zone 14. At this time, the control circuit 13 receives the signal of the zone sensor 15. After the force of the stopper 42 reaches the limit value, the pressure sensor 421 detects and sends a feedback signal to the control circuit 13 to limit the closing lever 41 to continue Move to the end, so that the end effector 2 cannot further compress the tissue, the closing rod 41 and the nail seat 22 stop moving, and the operator can complete the firing by manipulating the operation button 10. This design method can ensure the firm pressing of the tissue and avoid the occurrence of tissue displacement during nail formation and poor nail formation effect due to insufficient pressing force. When the pressed tissue has a certain thickness, compared with the normal thickness of the tissue, the length of the second link 412 in the firing identification zone 14 is shorter, but the firing can still be completed. When the squeezed tissue is thicker, the force of the telescopic member (spring) 422 reaches the maximum, and at the same time, the end of the second connecting rod 412 cannot reach the firing identification zone 14, so that the tubular stapler cannot be triggered. Play the role of protecting the organization.

If the sensor 421 is a position sensor, when the pressed tissue is thick, the driving assembly drives the second link 412 and drives the housing 420 to move toward the end. Because the tissue is thick, the telescopic element (spring) 422 cannot drive the A connecting rod 411 moves to the end, so the telescopic member 422 is gradually stretched. When the maximum force is reached, the position sensor 421 fixed on the housing 420 moves to the head end of the telescopic member 422 and detects the inside The position chip of the second link 412 sends a feedback signal to the control circuit 13 to restrict the closing rod 41 from continuing to move to the end, so that the end effector 2 cannot further suppress the tissue. At the same time, the end of the second link 412 cannot reach the firing recognition zone 14 , So that the tubular stapler can not be triggered and fired, so as to protect the tissue.

To sum up: the stapler handle system and the stapler of the present invention are provided with a stopper on the closing rod, which includes a telescopic member and a sensor. During the closing process, the end effector is clamped to the tissue after the telescopic member The force will increase. When the telescopic element reaches the force limit value, the entire closing rod can no longer move. The sensor sends a feedback signal so that the entire closing rod can no longer move, and then it is judged whether the firing recognition part is in the firing recognition area, (ie Determine whether the firing distance requirement is met) Determine whether to complete the firing. Therefore, the stapler handle system and the stapler can simultaneously control the tissue squeezing force and the closing distance in the process of squeezing the tissue, and avoid problems such as tissue damage and poor nailing effect caused by inconsistent end effector squeezing force.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

The above-mentioned embodiments only express several embodiments of the present invention, and the descriptions are more specific and detailed, but they should not be interpreted as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

A stapler handle system is used to connect with an end effector. The stapler handle system includes a working head, a firing component arranged in the working head and used to drive the end effector to fire, and A closing component in the working head and used to drive the end effector to close, and a driving component connecting and driving the firing component and the closing component, the working head includes opposite ends and head ends, the The head end is provided with a mounting part for installing the end effector, and the drive assembly is arranged at the end; it is characterized in that the closing assembly includes a closing rod and a stopper arranged on the closing rod, The closing rod and the stopper are arranged in the working head, the stopper includes a telescopic part and an inductor arranged on the closing rod, and the driving assembly connects and drives the closing rod relative to the The working head moves in the direction of the end or the head end; when the closing rod moves in the direction of the end, the force of the telescopic element increases, and when the maximum force is reached, the sensor sends a feedback signal.
The stapler handle system according to claim 1, wherein the closing rod comprises a first connecting rod for docking with the end effector and a second connecting rod for docking with the drive assembly, so The stopper connects the first connecting rod and the second connecting rod and is arranged between the first connecting rod and the second connecting rod, and the telescopic element connects the first connecting rod and the second connecting rod.
The stapler handle system according to claim 2, wherein the stopper further comprises a housing for accommodating the telescopic element, and one end of the housing is arranged on the second connecting rod, The telescopic element and the inductor are arranged in the housing.
The stapler handle system of claim 3, wherein the sensor is a pressure sensor for detecting the squeezing force of the tissue, and when the squeezing force reaches the maximum value, the pressure sensor emits Feedback signal.
The stapler handle system of claim 3, wherein the sensor is a position sensor for detecting the position and state of the telescopic member, and the position sensor is arranged on one side of the telescopic member. When the telescopic element reaches the maximum force, the telescopic element is stretched and detected by the position sensor, so that the position sensor sends a feedback signal.
5. The stapler handle system according to claim 5, wherein the position sensor is fixed on the inner wall of the housing and is arranged close to the head end relative to the telescopic member.
The stapler handle system according to any one of claims 1 to 6, wherein the working head is provided with a firing recognition area, and the closing rod is provided with a firing recognition that cooperates with the firing recognition area. unit.
The stapler handle system of claim 7, wherein the working head is further provided with an area sensor and a control circuit, the area sensor is arranged at the end of the working head, and the area sensor The device has a recognition area, which is defined as the firing recognition area. When the firing recognition part is in the firing recognition area, the area sensor transmits a signal to the control circuit.
The stapler handle system according to claim 1, wherein a fixed bracket is further provided in the working head, and the firing assembly and the closing assembly are arranged on the fixed bracket; the firing assembly includes A firing rod driven by the driving assembly and a firing ring spirally connected with the firing rod, the firing rods are respectively arranged on the fixing bracket.
A stapler, characterized by comprising an end effector and the stapler handle system according to any one of claims 1 to 9, the end effector comprising a staple cartridge assembly and a staple seat, the The staple cartridge assembly is fixedly installed on the mounting portion, the first connecting rod is provided with a puncture shaft, and the puncture shaft is connected to the nail abutment seat so that the first connecting rod drives the nail abutment seat to face each other Move in the staple cartridge assembly; the staple cartridge assembly includes a staple cartridge for accommodating suture nails and a nail pushing piece for pushing the nails, and the nail pushing piece is connected with the firing rod to orient the suture nails The nail seat is launched.