WO2020221355A1 - 驱动装置、外科器械及其操作方法 - Google Patents

驱动装置、外科器械及其操作方法 Download PDF

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Publication number
WO2020221355A1
WO2020221355A1 PCT/CN2020/088444 CN2020088444W WO2020221355A1 WO 2020221355 A1 WO2020221355 A1 WO 2020221355A1 CN 2020088444 W CN2020088444 W CN 2020088444W WO 2020221355 A1 WO2020221355 A1 WO 2020221355A1
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WO
WIPO (PCT)
Prior art keywords
gear
assembly
driving
driving device
drive
Prior art date
Application number
PCT/CN2020/088444
Other languages
English (en)
French (fr)
Inventor
孙宝峰
张志星
Original Assignee
江苏风和医疗器材股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏风和医疗器材股份有限公司 filed Critical 江苏风和医疗器材股份有限公司
Priority to EP20798923.7A priority Critical patent/EP3964138A4/en
Priority to BR112021021929A priority patent/BR112021021929A2/pt
Priority to MX2021013362A priority patent/MX2021013362A/es
Priority to CA3138575A priority patent/CA3138575A1/en
Priority to KR1020217039431A priority patent/KR102678268B1/ko
Priority to JP2021564752A priority patent/JP7279198B2/ja
Priority to US17/607,905 priority patent/US11819210B2/en
Publication of WO2020221355A1 publication Critical patent/WO2020221355A1/zh
Priority to IL287713A priority patent/IL287713A/en
Priority to US18/379,205 priority patent/US20240032919A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3209—Incision instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07278—Stapler heads characterised by its sled or its staple holder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07285—Stapler heads characterised by its cutter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
    • A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument

Definitions

  • the invention relates to a driving device, an end effector driving device, a surgical instrument driving device, a surgical instrument and an operating method of the surgical instrument.
  • the intracavitary cutting stapler has been widely used in intracavitary surgery such as abdominal cavity.
  • the existing intracavitary cutting stapler generally includes an operating component, a shaft component extending longitudinally from the operating component, and an end effector disposed at the distal end of the shaft component.
  • the stapler also includes a trigger and a motor assembly.
  • the trigger can be manipulated to open and close the end effector.
  • the stapler also includes a cutter assembly, and the trigger can also be manipulated to drive the cutter assembly forward and backward.
  • the end effector includes a staple cartridge seat and a staple holder pivotally connected to the staple cartridge seat.
  • the staple cartridge holder is used to operably support the staple cartridge located therein, and the staple holder can be between an open position and a closed position Exercise selectively.
  • the operating assembly includes a main body and a driving device installed on the main body.
  • the driving device is used to drive the end effector to open or close.
  • the end effector is required to clamp the tissue.
  • the reaction force of the tissue to the end effector will be transmitted to the driving device, and the above reaction force will reduce the driving efficiency of the driving device .
  • the object of the present invention is to provide a driving device with higher driving efficiency.
  • a drive device is driven by a power assembly.
  • the drive device includes a first drive assembly and a first movement conversion assembly.
  • the first drive assembly includes a first effective rotation structure and a first idle rotation structure.
  • the drive device It has a first state and a second state. In the first state, the power component is engaged with the first effective rotation structure, and the first effective rotation structure drives the first motion conversion component; in the second state , The power assembly is coupled with the first idling structure, and the first motion conversion assembly is separated from the drive of the power assembly.
  • the first movement conversion assembly includes a first transmission member and a first output member. In the first state, the first transmission member drives the first output member to move; in the second state, The first output member is not driven.
  • the first driving assembly includes a first driving member and a rotating member. In the first state, the first driving member and the rotating member are both engaged with the power assembly; in the second state In the first driving member and the rotating member, only the first driving member is engaged with the power assembly.
  • the first movement conversion assembly includes a first transmission member and a first output member engaged with the first transmission member, and the first transmission member is disposed on the rotating member.
  • first effective rotation structure and the first idle rotation structure are both disposed on the rotating member, and in the first state, the first effective rotation structure and the first driving member are both Engaged with the power assembly; in the second state, the first idling structure is coupled with the power assembly, and the first driving member is engaged with the power assembly.
  • the first effective rotation structure is a toothed portion
  • the first idle rotation structure is a toothless portion
  • the toothed portion and the toothless portion are arranged adjacently
  • the first driving member is a first One drive gear
  • the power assembly includes a motor and a front drive gear driven by the motor.
  • the front drive gear meshes with the toothed portion and the first drive gear at the same time;
  • the front drive gear is coupled with the toothless part and meshes with the first drive gear.
  • first driving part and the rotating part are superimposed, one of the first driving part and the rotating part is provided with an arc groove, and the other is provided with a protrusion extending into the arc groove, so The center of the arc groove is located on the rotation axis of the first driving member.
  • the width of the protrusion is smaller than the width of the arc groove.
  • the protrusion abuts against the end of the arc groove so that the rotating member and the first driving member are switched from the second state to the preparation position of the first state.
  • the first movement conversion assembly includes a first groove and a boss, the radial distance between the first groove and the center of rotation of the rotating member increases or decreases along the first groove, the The convex post slides in the first groove to convert the rotation of the rotating member into the linear movement of the convex post.
  • the first groove is provided on the rotating member.
  • the end effector drive device includes any one of the above-mentioned drive devices, and the drive device is used to drive the end effector to open or close.
  • the first effective travel structure includes a first part and a second part that are adjacently disposed, the first part drives the end effector to perform a first stage of closing to clamp the tissue, and the second part drives The end effector performs the second stage of closing to squeeze tissue.
  • the first motion conversion assembly includes a first transmission member and a first output member engaged with the first transmission member, and the first transmission member includes a first section and a second section that are adjacently arranged; The first part is engaged with the power assembly so that the first output member is engaged with the first section; the second part is engaged with the power assembly so that the first output member is engaged with the second section Splice.
  • the first transmission member further includes a third section arranged adjacent to the second section, and the second section is located between the first section and the third section.
  • a surgical instrument drive device which includes the end effector drive device described in any one of the above.
  • the surgical instrument driving device further includes a cutting knife assembly driving device, and the cutting knife assembly driving device drives the cutting knife assembly to move forward or backward.
  • the cutting knife assembly driving device is driven by the power assembly.
  • the cutting knife assembly driving device includes a second effective rotation structure and a second idle rotation structure, and the power assembly drives one of the first effective rotation structure and the second effective rotation structure.
  • the cutting knife assembly drive device includes a second drive assembly, a second movement conversion assembly engaged with the second drive assembly, and the second movement conversion assembly includes a second transmission member and a second output member.
  • the second transmission member includes a second effective rotation structure and a second idle rotation structure.
  • the cutting knife assembly driving device has a third state and a fourth state. In the third state, the second effective rotation structure is The second output member is engaged; in the fourth state, the second idling structure is coupled with the second output member.
  • the second drive assembly includes a second drive member that moves synchronously with the second transmission member.
  • the second transmission member The second driving member is always engaged with the power assembly.
  • the second effective rotation structure is a toothed portion provided on the second transmission member
  • the second idle rotation structure is a toothless portion provided on the second transmission member
  • the second The output part is a rack.
  • the surgical instrument driving device has a first working state and a second working state.
  • the first working state In the first working state, the first state and the fourth state operate simultaneously; in the second working state , The second state and the third state run simultaneously.
  • a surgical instrument includes a transmission mechanism, an end effector and a cutting blade assembly driven by the transmission mechanism, and the transmission mechanism includes the surgical instrument driving device described in any one of the above.
  • a method of operating a surgical instrument including the surgical instrument described above, the surgical instrument including a power assembly, the power assembly including a motor, and the operation method including the following steps:
  • Step S1 The output shaft of the motor rotates in a first direction, and the motor drives the first effective rotation structure and is coupled with the second idle rotation structure;
  • Step S2 The output shaft of the motor continues to rotate in the first direction, and the motor drives the second effective rotation structure and is coupled with the first idle rotation structure;
  • Step S3 The output shaft of the motor rotates in a second direction, the second direction is opposite to the first direction, and the motor drives the second effective rotation structure and is coupled with the first idle rotation structure ;
  • Step S4 The output shaft of the motor continues to rotate in the second direction, and the motor drives the first effective rotation structure and is coupled with the second idle rotation structure.
  • step S1 to close the end effector; perform step S2 to cause the cutting knife assembly to advance; perform step S3 to cause the cutting knife assembly to retract; perform step S4 , The end effector is opened.
  • the beneficial effect of the present invention is that in the second state, the first motion conversion component is separated from the drive of the power component, and the reverse force received by the motion conversion component will not be transmitted to the power component through the first drive component, thereby avoiding the drive device Drive efficiency is affected.
  • Figure 1 is a schematic structural view of the stapler of the first embodiment of the present invention
  • Figure 2 is an enlarged view of the circled part shown in Figure 1;
  • Fig. 3 is a partial structural diagram of the stapler shown in Fig. 1 from another perspective;
  • Figure 4 is an enlarged view of the circled part A shown in Figure 3;
  • Figure 5 is an enlarged view of the circled part B shown in Figure 3;
  • Figure 6 is a partial structural diagram of the stapler shown in Figure 3.
  • Figure 7 is a schematic structural view of the pressure ring assembly shown in Figure 6;
  • FIG. 8 is a schematic structural diagram of the first gear shown in FIG. 6;
  • FIG. 9 is a schematic structural diagram of the second gear shown in FIG. 6;
  • Figure 10 is an assembly diagram of the end effector and sleeve shown in Figure 1;
  • Figure 11 is an enlarged view of the circled part shown in Figure 10;
  • Fig. 12 is a schematic diagram of the circuit board assembly shown in Fig. 1;
  • FIG. 13 is a schematic diagram of the structure of the first gear of the second embodiment
  • Figure 15 is a perspective view of the sleeve and end effector of the stapler shown in Figure 1;
  • Figure 16 is a cross-sectional view of the drive tube of the sleeve shown in Figure 15 along the A-A direction;
  • Fig. 17 is a perspective view of the staple seat of the surgical instrument shown in Fig. 15;
  • Figure 18 is a perspective view of the staple cartridge seat of the surgical instrument shown in Figure 15;
  • FIG. 19 is a schematic structural view of the closed state of the end effector of the surgical instrument shown in FIG. 15;
  • Fig. 20 is a structural schematic diagram of the open state of the end effector of the surgical instrument shown in Fig. 15.
  • Figure 21 is a partial structural diagram of the stapler of the third embodiment.
  • Figure 22 is a partial perspective exploded view of the stapler shown in Figure 21;
  • Figure 23 is a perspective view of the rotating member of the stapler shown in Figure 22;
  • 24 to 28 are schematic diagrams of state changes of the first driving device of the stapler shown in FIG. 21.
  • the terms “near”, “rear”, “distal” and “front” as used herein are relative to the clinician who manipulates surgical instruments.
  • the terms “near” and “rear” refer to the part relatively close to the clinician, and the terms “far” and “front” refer to the part relatively far away from the clinician.
  • “Left” and “Right” refer to the position of the surgical instrument shown in Figure 1, for example, the end effector is on the “left” and the sleeve is on the “right”.
  • the terms “upper” and “lower” refer to the relative positions of the nail abutment seat and the staple cartridge seat of the end effector. Specifically, the nail abutment seat is “up” and the nail cartridge seat is “down”.
  • a stapler 100 As shown in Figures 1 to 14, it is a stapler 100 according to the first embodiment of the present invention, which includes an operating assembly 10, a shaft assembly 20 extending from the operating assembly 10 in the longitudinal direction, and a shaft The end effector 30 at one end of the assembly 20.
  • the end effector 30 includes a staple cartridge seat 31 and a staple seat 32 pivotally connected to the staple cartridge seat 31.
  • the staple cartridge seat 31 is used to operably support a staple cartridge (not shown) located therein,
  • the seat 32 is selectively movable between an open position and a closed position.
  • the operating assembly 10 includes a main body (not shown) and a transmission mechanism 11 mounted on the main body.
  • the shaft assembly 20 includes a mandrel 21 and a sleeve 22 sleeved on the mandrel 21.
  • One end of the mandrel 21 is connected to the rack of the second driving device, and the other end is located in the sleeve 22;
  • the sleeve 22 includes a The first end 23 of a driving device and the second end 24 of the nail seat 32 connected to the end effector 30, the rearward movement of the sleeve 22 causes the nail seat 32 to pivot upward to open the end effector 30.
  • the forward movement of the sleeve 22 causes the abutment seat 32 to pivot downward to close the end effector 30.
  • the nail abutment seat 32 is rotatably connected to the second end 24 of the sleeve 22, that is, the nail abutment seat 32 is connected to the second end 24 of the sleeve 22 and the nail abutment seat 32 is relatively sleeved
  • the second end 24 of the tube 22 is rotatable.
  • the anchor seat 32 is rotatably connected to the second end 24 of the sleeve 22 so that the back and forth movement of the sleeve 22 drives the anchor seat 32 to pivot as a prior art.
  • the second end 24 of the sleeve 22 is movably connected to the nail seat 32, when the sleeve 22 moves toward the proximal end, the nail seat 32 is driven to pivot upward to open the end When the sleeve 22 moves toward the distal end, the drive pin holder 32 pivots downward to close the end effector 30.
  • the sleeve 22 includes a body 15 and a driving tube 29 connected to each other.
  • the driving tube 29 drives the abutment seat 32 to pivot upward or downward to open or close the end effector 30.
  • the main body 15 and the driving tube 29 are connected by a hinge, and can also be integrally formed.
  • the driving tube 29 includes a first driving portion 27 that drives the nail seat 32 to open, and a second drive portion 25 that drives the nail seat 32 to close.
  • the first driving part 27 is a protrusion provided on the driving tube 29, and the protrusion extends obliquely along the lower right; the second driving part 25 is a driving surface of the distal end of the driving tube 29.
  • the abutment base 32 has a first driven portion 13 that can be coupled to the first driving portion 27 and a second driven portion 14 that can be coupled to the second driving portion 25.
  • the first driven portion 13 is a convex portion provided on the nail abutment base 32, and the convex portion extends upward;
  • the second driven portion 14 is a contact surface of the proximal end of the abutment base 32.
  • a guide mechanism is also provided between the nail abutment seat 32 and the staple cartridge seat 31, and the guide mechanism includes a pin 19 provided on the nail abutment seat 32, and a waist shape provided on the nail cartridge seat 31
  • the groove 17 and the waist-shaped groove 17 extend obliquely upward in the direction from the proximal end to the distal end.
  • the stapler 100 further includes a cutting knife assembly 40.
  • the cutting knife assembly 40 includes a cutting knife 41 arranged in the staple cartridge and a knife pushing member 42 detachably connected to the cutting knife 41.
  • a part of the knife pushing member 42 is located in the sleeve 22 and Connected to the other end of the mandrel 21, another part of the blade pushing member 42 extends into the end effector 30 and is detachably connected to the cutting blade 41.
  • the pushing member 42 is provided with a recessed portion (not labeled)
  • the cutting knife 41 is provided with a protruding portion (not labeled)
  • the recessed portion and the protruding portion cooperate with each other so that the pushing member 42 and the cutting knife 41 assembled together.
  • the stapler 100 further includes a trigger 60, a circuit board assembly 50, and a motor 70.
  • the trigger 60 and the motor 70 are electrically connected to the circuit board assembly 50; the number of the motor 70 is one.
  • the circuit board assembly 50 includes a circuit board 51 and a control module 52 electrically connected to the circuit board 51.
  • the stapler 100 also includes a pressing and holding mechanism (not shown). The doctor needs to operate the pressing and holding mechanism before driving the cutting knife assembly 40 forward. After the pressing and holding mechanism is finished, the clinician can drive the cutting knife assembly 40 forward. mobile.
  • the control module 52 includes a detection unit 53, a micro-control unit 54, a motor drive unit 55 and a motor control unit 56.
  • the detection unit 53 is used to detect the trigger signal of the trigger 60 and transmit the signal to the micro control unit 54.
  • the micro control unit 54 transmits the signal to the motor drive unit 55 after analysis and processing, and the motor drive unit 55 transmits the signal after analysis and processing.
  • the motor control unit 56 issues an operation instruction to the motor 70 according to the received signal.
  • the trigger 60 includes a first button 61 and a second button 62. Both the first button 61 and the second button 62 are electrically connected to the control module 52.
  • the trigger 60 also includes a third button 63 and a fourth button 64.
  • the third button 63 and the fourth button 64 are arranged symmetrically.
  • the third button 63 and the fourth button 64 are electrically connected to the control module 52. Either the three buttons 63 and the fourth button 64 can perform the same function.
  • the stapler 100 also includes an indicating mechanism (not shown) electrically connected to the control module 52.
  • the indicating mechanism includes five indicator lights, which are LED lights.
  • the third button 63, the fourth button 64, the control module 52 and the indicating mechanism jointly form the above-mentioned squeeze holding mechanism to improve the squeezing effect. The clinician presses the third button 63 or the fourth button 64 and releases it.
  • the control module 52 receives the signal sent by the third button 63 or the fourth button 64 and instructs the mechanism to start working.
  • One LED light is on every three seconds. When all the lights are on, the indicating mechanism is finished.
  • the clinician can operate the first button 61 to drive the cutting knife assembly 40 to move forward. If the clinician wants to save time and wants to drive the cutting knife assembly 40 to move forward before the indicating mechanism is completed, the following operation method can also be adopted: press the third button 63 or the fourth button 64 and release, and press again within 15 seconds The third button 63 or the fourth button 64 is released and the clinician can operate the first button 61 to drive the cutting knife assembly 40 to move forward.
  • the completion of the operation of the squeezing holding mechanism includes: pressing the third button 63 or the fourth button 64 and releasing it immediately, indicating that the mechanism starts to work until the work is completed.
  • the operation of the squeezing holding mechanism is terminated including: pressing the third button 63 or the fourth button 64 and releasing it immediately, and pressing the third button 63 or the fourth button 64 again within 15 seconds and releasing it immediately.
  • the trigger 60 also includes a first travel switch 65, a second travel switch 66, a third travel switch 67, and a fourth travel switch 68 that are electrically connected to the control module 52.
  • the first travel switch 65 is used to detect whether the cutting knife assembly 40 is Move forward to the position
  • the second travel switch 66 is used to detect whether the cutting knife assembly 40 is moved back in place
  • the third travel switch 67 is used to detect whether the end effector 30 is closed in place
  • the fourth travel switch 68 is used to detect the end effector Whether 30 is in place.
  • the working process of the stapler 100 is as follows: (1) The clinician presses the first button 61 and keeps it pressed, the control module 52 receives the signal sent by pressing the first button 61 and then instructs the motor 70 to work, and the motor 70 drives the transmission mechanism 11 to work and transmit The mechanism 11 drives the abutment seat 32 to pivot downward to close the end effector 30. When the transmission mechanism 11 triggers the third travel switch 67, the control module 52 receives the signal and instructs the motor 70 to stop working.
  • the end effector 30 is closed in place, the clinician releases the first button 61; (2) The clinician operates the squeeze holding mechanism; (3) When the squeeze holding mechanism is completed or the operation of the squeeze holding mechanism is terminated, the clinician presses the first button 61 and holds In the pressed state, the control module 52 receives the signal sent by pressing the first button 61 and instructs the motor 70 to work, the motor 70 drives the transmission mechanism 11 to work, and the transmission mechanism 11 drives the cutting knife assembly 40 to move forward to cut the tissue. When the transmission mechanism 11 triggers the first When a travel switch 65 occurs, the control module 52 receives the signal and instructs the motor 70 to stop working.
  • the cutting knife assembly 40 moves forward to complete cutting the tissue; (4) The clinician releases the first button 61, and the control module 52 receives the release
  • the signal sent by the first button 61 instructs the motor 70 to continue to work (retract the knife), the motor 70 drives the transmission mechanism 11 to work, and the transmission mechanism 11 drives the cutting knife assembly 40 to move backward.
  • the control module 52 receives the signal and instructs the motor 70 to stop working.
  • the cutting knife assembly 40 moves back into position; (5) The doctor presses the second button 62 and keeps it pressed, and the control module 52 receives the signal sent by pressing the second button 62 Then the motor 70 is commanded to work, the motor 70 drives the transmission mechanism 11 to work, and the transmission mechanism 11 drives the abutment seat 30 to pivot upwards to open the end effector 30.
  • the control module 52 receives the signal The motor 70 is instructed to stop working. At this time, the end effector 30 is turned on and the clinician releases the second button 62.
  • the transmission mechanism 11 includes a driving device.
  • the driving device includes a first driving device 80, a second driving device 90 and a fifth gear 71.
  • the fifth gear 71 is fixed to the output shaft of the motor 70.
  • the fifth gear is fixed to the output shaft of a gear box driven by the motor 70, that is, the fifth gear 71 is directly or indirectly connected to the output shaft of the motor 71.
  • the fifth gear 71 is a drive gear, or the fifth gear 71 is called a front drive gear.
  • the fifth gear 71 is always connected with the motor 71 and driven to rotate by the motor 71, and the connection includes direct connection and indirect connection.
  • the fifth gear 71 will not be separated from the motor 70, and the fifth gear 71 is always connected to the motor 70 and driven by the motor 70 to rotate.
  • the first drive device 80 is used to drive the end effector 30 to open and close, and the second drive device 90 is used to drive the cutting knife assembly 40 to move forward and backward.
  • the motor 70 drives the fifth gear 71 to rotate in a first direction or a second direction, where the first direction is opposite to the second direction. Both the first driving device 80 and the second driving device 90 mesh with the fifth gear 71, and the rotation of the fifth gear 71 can make the first driving device 80 or the second driving device 90 work.
  • the first driving device 80 drives the sleeve 22 to move forward and backward, so that the abutment seat 32 pivots to close and open the end effector 30; when the second driving device 90 works At this time, the second driving device 90 drives the mandrel 21 to move forward and backward, so that the cutting knife assembly 40 moves forward and backward.
  • the driving device also includes a shaft assembly 20. Specifically, the driving device further includes a mandrel 21. Specifically, the driving device further includes a sleeve 22.
  • the first driving device 80 includes a pressing ring assembly 81 and a first gear assembly 82.
  • the pressing ring assembly 81 includes a connecting piece 83 and a pressing ring 84.
  • the connecting piece 83 includes a connecting rod 85 and a protruding post 86 provided at one end of the connecting rod 85,
  • the pressure ring 84 is provided at the other end of the connecting rod 85.
  • the first gear assembly 82 includes a first rod 87 and a first gear 88 sleeved on the first rod 87.
  • the first rod 87 is fixed to the body (not shown) of the operating assembly 10, and the first gear 88 surrounds The first rod 87 rotates.
  • the first gear 88 includes a cam 89.
  • the cam 89 When the first gear 88 rotates, the cam 89 also rotates synchronously, and the first gear 88 meshes with the fifth gear 71.
  • the cam 89 is provided with a groove 890 formed downwardly from its top surface, and the protrusion 86 is located in the groove 890.
  • the groove 890 includes a circular arc groove 891 and a linear groove 892.
  • the two ends defining the linear groove 892 are the first end 893 and the second end 894, respectively, and the two ends defining the circular arc groove 891 are the third end 895 and the second end, respectively.
  • the second end 894 of the linear groove 892 communicates with the third end 895 of the circular arc groove 891, that is, the second end 894 of the linear groove 892 is substantially the third end 895 of the circular arc groove 891;
  • the communication means A part of the groove 890 communicates with another part of the groove 890 so that the protrusion 86 can move from a part of the groove 890 to another part of the groove 890.
  • the communication means that the circular arc groove 891 communicates with the linear groove 892, so that the convex post 86 can move from the circular arc groove 891 to the linear groove 892, and the circular arc groove 891 and the linear groove 892 are connected to form a shape as shown in FIG.
  • the non-closed shape groove may also be formed as a closed annular groove as shown in FIG. 13.
  • the first end 23 of the sleeve 22 is connected to the pressure ring 84.
  • the outer wall of the first end 23 of the sleeve 22 is provided with a groove
  • the inner wall of the pressure ring 84 is provided with a rib 841.
  • the groove and the rib The 841 fits the sleeve 22 and the pressure ring 84 together, and the second end 24 of the sleeve 22 is movably connected to the nail seat 32.
  • the fifth gear 71 drives the first gear 88 to rotate in the second direction
  • the cam 89 also rotates synchronously in the second direction.
  • the boss 86 moves from the first end 893 of the linear groove 892 to the second end 894 of the linear groove 892 along the linear groove 892.
  • the pressure ring assembly 81 moves forward, and the pressure ring assembly 81 drives the sleeve 22 to move forward.
  • the second end 24 of the sleeve 22 drives the abutment base 32 to rotate downward to achieve closure;
  • the motor 70 drives the fifth gear 71 to rotate in the second direction, the fifth gear 71 drives The first gear 88 rotates in the first direction, and the cam 89 also rotates synchronously in the first direction.
  • the boss 86 moves from the second end 894 of the linear groove 892 to the linear groove 892 along the linear groove 892.
  • the pressure ring assembly 81 moves backward, and the pressure ring assembly 81 drives the sleeve 22 to move backward.
  • the second end 24 of the sleeve 22 drives The nail seat 32 rotates upward to achieve opening.
  • the sleeve 22 is the output of the first gear 88.
  • the second driving device 90 includes a rack 91, a second gear assembly 92 and a third gear assembly 93.
  • the second gear assembly 92 includes a second rod 94 and a second gear 95 sleeved on the second rod 94.
  • the second rod 94 is fixed to the body of the operating assembly 10, and the second gear 95 surrounds the second rod 94 Rotating, the second gear 95 meshes with the fifth gear 71;
  • the second gear 95 includes a first toothed part 951 and a toothless part 952 that are adjacently arranged in the circumferential direction, and there is a first toothed part 951 and the toothless part 952 therebetween.
  • the toothless part 952 includes a toothless part 953 and a second toothed part 954 that are adjacently arranged in a vertical direction (ie, axial direction).
  • the second gear 95 always keeps meshing with the fifth gear 71 through the first toothed portion 951 and the second toothed portion 954.
  • the third gear assembly 93 includes a third rod 96 and a third gear 97 and a fourth gear 98 sleeved on the third rod 96.
  • the third rod 96 is fixed to the body of the operating assembly 10.
  • the third gear 97 and the The four gears 98 rotate around the third rod 96.
  • the third gear 97 and the fourth gear 98 are integrally formed.
  • the third gear 97 and the fourth gear 98 have different diameters.
  • the third gear 97 is used to mesh with the second gear 95.
  • the part of the first toothed part 951 parallel to the toothless part 953, and the fourth gear 98 meshes with the rack 91.
  • the rack 91 is the output of the second gear 95, and the diameter of the fourth gear 98 is larger than the diameter of the third gear 97.
  • a third gear 97 and a fourth gear 98 need to be provided between the fifth gear 71 and the rack 91 for adjustment. Since the diameters of the third gear 97 and the fourth gear 98 are different, the linear velocities of the third gear 97 and the fourth gear 98 are also different when they rotate. Therefore, the third gear 97 and the fourth gear 98 can change the diameter of the fifth gear 71 The first rotation speed is converted into a second speed at which the rack 91 moves.
  • the control module 52 receives the signal sent by pressing the first button 61 and sends an operation command to the motor 70.
  • the motor 70 drives the fifth gear 71 to rotate in the first direction, and the fifth gear 71 drives The first gear 88 rotates in the second direction, and the cam 89 also rotates synchronously in the second direction.
  • the protrusion 86 of the pressure ring assembly 81 runs from the first end 893 of the linear groove 892 along the linear groove 892.
  • the first protrusion 812 on the pressing ring assembly 81 triggers the third travel switch 67, and the position of the third travel switch 67 is the front dead center of the pressing ring assembly 81 moving forward. That is, the end effector 30 is closed in place.
  • the boss 86 is located at the second end 894 of the linear groove 892 (ie, the third end 895 of the arc groove 891).
  • the control module 52 receives the signal sent by the third travel switch 67 and sends an instruction to stop the operation of the motor 70, and the motor 70 stops rotating. The clinician cannot hear the sound of the motor 70 running, and releases the first button 61 to operate the squeeze holding mechanism.
  • the control module 52 receives the signal sent by pressing the first button 61 and analyzes the signal.
  • the control module 52 The analyzed signal sends an operation command to the motor 70, the motor 70 drives the fifth gear 71 to continue to rotate in the first direction, the fifth gear 71 drives the second gear 95 to rotate in the second direction, the second gear 95 and the third gear 97
  • the transfer position of the second gear 95 is rotated from the toothless part 953 of the second gear 95 to the part of the first toothed part 951 parallel to the toothless part 953.
  • the first toothed part 951 of the second gear 95 meshes with and drives the third gear 97
  • the third gear 97 rotates in the first direction. Since the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 also rotates in the first direction.
  • the fourth gear 98 drives the rack 91 to move forward, and the rack 91
  • the drive spindle 21 moves forward
  • the spindle 21 drives the knife pushing member 42 to move forward
  • the knife pushing member 42 drives the cutting knife 41 to move forward to cut the tissue
  • the fifth gear 71 drives the first gear 88 along the first gear Rotating in two directions, the boss 86 moves from the second end 894 of the linear groove 892 (that is, the third end 895 of the arc groove 891) along the arc groove 891 to the fourth end 896 of the arc groove 891.
  • the cam The rotation of 89 will not drive the pressure ring assembly 81 to move forward and backward, so that the end effector 30 remains closed during the forward movement of the cutting knife 41.
  • the convex portion 99 on the rack 91 is in contact with the first travel switch 65, and the position of the first travel switch 65 is the front dead point of the cutting knife 41 moving forward, that is, the cut is completed Position, at this time, the boss 86 is located at the fourth end 896 of the arc groove 891; the meshing point of the second gear 95 and the third gear 97 is located close to the first toothed portion 951 and the missing tooth portion 952 of the second gear 95 The first junction, that is, if the second gear 95 continues to rotate in the second direction, the first toothed portion 951 of the second gear 95 will disengage from the third gear 97.
  • the control module 52 receives the signal from the first travel switch 65 and sends an instruction to stop the operation of the motor 70, the motor 70 stops rotating, the doctor releases the first button 61, and the control module 52 receives the signal from the first button 61 and sends it to the motor 70 issues an operating command, the motor 70 drives the fifth gear 71 to rotate in the second direction, the fifth gear 71 drives the second gear 95 to rotate in the first direction, and the first toothed portion 951 of the second gear 95 drives the third gear 97 to rotate along the Rotate in the second direction. Since the third gear 97 and the fourth gear 98 are integrally formed, the fourth gear 98 also rotates in the second direction.
  • the fourth gear 98 drives the rack 91 to move backward, and the rack 91 drives the spindle 21 to the
  • the mandrel 21 drives the pusher 42 to move backwards
  • the pusher 42 drives the cutting knife 41 to move backwards, so as to retract the knife
  • the fifth gear 71 drives the first gear 88 to rotate in the first direction
  • the convex column 86 moves from the fourth end 896 of the circular arc groove 891 to the third end 895 of the circular arc groove 891 (that is, the second end 894 of the linear groove 892).
  • the rotation of the cam 89 The pressure ring assembly 81 is not driven to move forward and backward, so that the end effector 30 remains closed during the backward movement of the cutting knife 41.
  • the convex portion 99 on the rack 91 contacts the second travel switch 66, and the position of the second travel switch 66 is the rear dead center of the cutting knife 41 moving backward.
  • the boss 86 is located at the third end 895 of the arc groove 891 (that is, the second end 894 of the linear groove 892); the meshing point of the second gear 95 and the third gear 97 is located close to the first toothed part of the second gear 95
  • the second junction between 951 and the missing tooth portion 952 that is, if the second gear 95 continues to rotate in the first direction, the first toothed portion 951 of the second gear 95 will disengage from the third gear 97.
  • the control module 52 receives the signal sent by the second travel switch 66 and sends an instruction to stop operation to the motor 70. At this time, the motor 70 stops working and the tool retraction is completed. After the knife is retracted, the clinician presses the second button 62 and keeps it pressed. The control module 52 receives the signal sent by pressing the second button 62 and sends an operation command to the motor 70.
  • the motor 70 drives the fifth gear 71 to rotate in the second direction.
  • the fifth gear 71 drives the first gear 88 to rotate in the first direction
  • the cam 89 also rotates synchronously in the first direction. During the rotation of the cam 89, the boss 86 moves from the second end 894 of the linear groove 892 along the linear groove.
  • the pressure ring assembly 81 moves backward, and the pressure ring assembly 81 drives the sleeve 22 to move backward.
  • the sleeve 22 drives the nail seat 32 to rotate upwards to open the end to execute
  • the fifth gear 71 drives the second gear 95 to rotate in the first direction, and the first toothed portion 951 of the second gear 95 is disengaged from the third gear 97, that is, the protrusion 86 from the straight groove
  • the intersection position of the second gear 95 and the third gear 97 is at the toothless part 953 of the second gear 95, therefore, The rotation of the second gear 95 will not drive the third gear 97 to rotate, so that the cutting knife 41 remains stationary during the opening process of the end effector 30.
  • the second protrusion 813 on the pressure ring assembly 81 contacts the fourth travel switch 68, and the position of the fourth travel switch 68 is the rear dead center of the pressure ring assembly 81 moving backward , That is, the end effector 30 is opened in place.
  • the boss 86 is located at the first end 893 of the linear groove 892.
  • the control module 52 receives the signal from the fourth travel switch 68 and sends an instruction to stop the operation of the motor 70. At this time, the motor 70 stops working.
  • first protrusion 812 and the second protrusion 813 are disposed on the pressing ring 84, and may also be disposed on the connecting rod 85, as shown in FIG. 7. In other embodiments, the first protrusion 812 and the second protrusion 813 may also be provided on the first gear 88, as shown in FIG. 14.
  • the first gear 88 includes an effective rotation structure and an idle rotation structure.
  • the first gear 88 includes a circular arc groove 891 and a linear groove 892.
  • the linear groove 892 is an effective rotation structure
  • the circular arc groove 891 is an idle rotation structure. structure.
  • the second gear 95 includes an effective rotation structure and an idle rotation structure.
  • the second gear 95 includes a first toothed part 951 and a toothless part 952.
  • the toothless part 952 includes a second toothed part 954 and a toothless part 953.
  • the portion 953 has an idle rotation structure, and the portion of the first toothed portion 951 parallel to the toothless portion 953 has an effective rotation structure.
  • the third gear 97 meshes with the part of the first toothed portion 951 of the second gear 95 that is parallel to the toothless portion 953, the second gear 95 drives the third gear 97 to move; when the third gear 97 meshes with the second gear
  • the toothed part 953 of the gear 95 is not provided, the second gear 95 does not drive the third gear 97 to move.
  • the toothless part 952 includes a second toothed part 954 and a toothless part 953 that are adjacently arranged in the vertical direction (axial direction).
  • the first toothed portion 951 is integrally provided, the first toothed portion 951 includes a first tooth 959 and a second tooth 957 with different meshing objects in the vertical direction (axial direction):
  • the fifth gear 71 meshes, and the second tooth portion 957 meshes with the third gear 97 selectively.
  • the first tooth portion 959 and the second tooth portion 957 are arranged adjacent to each other in the vertical direction, and the dividing line between the first tooth portion 959 and the second tooth portion 957 and the dividing line between the second toothed portion 954 and the non-toothed portion 953 are located At the same height.
  • the first tooth portion 959 and the second toothed portion 954 are arranged adjacent to each other in the circumferential direction.
  • the first tooth portion 959 and the second toothed portion 954 have the same height.
  • the top surface (virtual surface) of the first tooth portion 959 and the top surface of the second toothed portion 954 are located at the same height.
  • the gear is named the sixth gear.
  • the sixth gear always meshes with the fifth gear 71 and is composed of the fifth gear 71 Drive and rotate.
  • the second tooth portion 957 and the toothless portion 953 are arranged adjacent to each other in the circumferential direction.
  • the second tooth portion 957 and the non-tooth portion 953 have the same height.
  • the bottom surface of the second tooth portion 957 (the virtual surface is the same surface as the top surface of the first tooth portion 959) and the bottom surface of the non-toothed portion 953 (the same surface as the top surface of the second toothed portion 954) are located at the same height.
  • the second tooth portion 957 is an effective rotation structure, and the toothless portion 953 is an idle rotation structure.
  • the sixth gear forms the driving gear of the second tooth portion 957.
  • the sixth gear is driven by the fifth gear 71 to rotate. When the sixth gear rotates so that the second tooth portion 957 of the first toothed portion 951 meshes with the third gear 97, the fifth gear 71 sequentially drives the third gear through the sixth gear.
  • the second tooth portion 957, the third gear 97, and the fourth gear 98 rotate to drive the rack 91 to move linearly; when the sixth gear rotates so that the toothless portion 953 is coupled with the third gear 97, the fifth gear 71 and the sixth gear It can be driven by the motor 70 to rotate, but the third gear 97 and the fourth gear 98 do not rotate, and the rack 91 does not output linear movement.
  • Coupling means that part of the teeth of the third gear 97 is located in the space area where the toothless part 953 is located and has no contact with the toothless part 953 because there is no contact with the toothless part 953 (including because the toothless part 953 has no teeth and does not mesh with each other) Therefore, the third gear 97 is not driven during the coupling with the toothless part 953.
  • the idling range means that when the driving device is driven with a motion input, the driving device has no motion output, that is, it does not drive the cutting knife or the end effector.
  • the idling range structure refers to the structure of the components of the drive device that can realize the idling range.
  • Effective rotation means that when the driving device has a motion input that is driven, the driving device has a motion output, that is, it drives a cutting knife or an end effector.
  • the effective travel structure refers to the structure of the components of the drive device that can achieve effective travel.
  • the driving device includes a driving gear.
  • the fifth gear 71 is a driving gear.
  • the driving gear is always connected to and driven by the motor 70.
  • the motor 70 drives the first driving device 80 via the driving gear (the fifth gear 71).
  • the fifth gear can also be referred to as a front drive gear.
  • the first driving device 80 includes a first driving gear driven by a motor 70. Specifically, the motor 70 drives the first drive gear via the front drive gear. In this embodiment, the first drive gear is the first gear 88.
  • the first driving device 80 also includes a first effective rotation structure (linear groove 892) and a first idle rotation structure (circular arc groove 891). Specifically, the first effective rotation structure (linear groove 892) and the first idle rotation structure (circular arc groove 891) are provided on the end surface of the first gear 88.
  • the first driving device 80 also includes a first output member. In this embodiment, the first output member is the sleeve 22.
  • the front drive gear drives the first effective rotation structure via the first drive gear of the first drive device 80
  • the first output member is driven by the first effective rotation structure to move, and the front drive gear is driven by the first
  • the first driving gear of the device 80 drives the first idling structure
  • the first output member is not driven by the first idling structure and therefore does not move.
  • the fifth gear 71 drives the first effective rotation structure (linear groove 892) via the first gear 88 of the first driving device 80
  • the sleeve 22 is driven by the first effective rotation structure to move
  • the fifth gear 71 When the first idling structure (circular arc groove 891) is driven via the first gear 88 of the first driving device 80, the sleeve 22 is not driven by the first idling structure and does not move.
  • the second driving device 90 includes a second driving gear driven by a motor 70. Specifically, the motor drives the second drive gear via the front drive gear.
  • the second drive gear is a sixth gear formed by the first toothed portion 959 and the second toothed portion 954 of the second gear 95.
  • the second driving device 90 also includes a second effective rotation structure (a second tooth portion 957 disposed adjacent to the toothless portion 953 on the first toothed portion 951) and a second idle rotation structure (the toothless portion 953).
  • the second driving device 90 also includes a second output member, which is a rack 91 in this embodiment.
  • the rack 91 moves linearly, and the front drive gear drives the second drive gear via the second drive gear of the second drive device 90.
  • the rack 91 does not move.
  • the rack 91 moves linearly; when the fifth gear 71 drives the toothless portion 953 via the sixth gear, the rack does not move.
  • a driving gear (fifth gear 71) can drive the sleeve 22 to move through the first driving device 80 including the first effective rotation structure (linear groove 892), and it can also move by including the second effective rotation structure.
  • the second driving device 90 (second tooth portion 957) drives the rack 91 to move, and the structure design is very reasonable. Specifically, the movement of the sleeve 22 and the rack 91 are linear movements.
  • the fifth gear 71 is always connected to the motor 70 and is driven by the motor 70. As long as the motor 70 is started to rotate the motor shaft, the fifth gear 71 will rotate, and the fifth gear 71 will not be driven by the first driving device 80 at the same time during the rotation.
  • the sleeve 22 drives the rack 91 to move through the second driving device 90, so that incorrect use of the stapler can be avoided.
  • the motor 70 selectively drives one of the first effective rotation structure and the second effective rotation structure. In other words, during the driving process, the motor 70 can only drive one of the first effective rotation structure and the second effective rotation structure. Therefore, when the motor 70 drives the sleeve 22, the rack 91 is not driven, and when the rack 91 is driven, the sleeve 22 is not driven, so that the stapler works reasonably.
  • the driving device has two states: in the first state, the motor 70 drives the first effective rotation structure and the second idling structure; in the second state, the motor 70 drives the second effective rotation structure and the first idling structure.
  • the drive gear (fifth gear 71) drives the first effective rotation structure of the first drive device 80 and the second idle rotation structure of the second drive device 90, thereby driving the gear drive sleeve
  • the tube 22 does not drive the rack 91 to move when it moves, so the drive gear (fifth gear 71) does not drive the cutter assembly 40 to move when the end effector 30 is opened or closed.
  • the driving gear (fifth gear 71) drives the second effective rotation structure of the second driving device 90 and the first idle rotation structure of the first driving device 80, thereby driving the gear (fifth gear 71)
  • the sleeve 22 will not be driven to move, so that the driving gear (fifth gear 71) will not drive the end effector 30 to open or close when the cutting knife assembly 40 is driven to move.
  • the driving gear (fifth gear 71) can drive both the first driving device 80 and the second driving device 90, it will not simultaneously drive the first effective rotation structure and the first driving device 80.
  • the design of the second effective rotation structure of the second driving device 90 is very reasonable.
  • the two states of the driving device satisfy the action logic of the end effector 30 and the cutting knife assembly 40.
  • the groove 890 of the cam 89 includes a circular arc groove 891 and a linear groove 892, and the protrusion 86 is located in the groove 890, which can drive the end effector 30 to open and close, and can also move in the cutting knife assembly 40 Keep the end effector 30 closed during the process.
  • the second gear 95 includes a first toothed part 951 and a toothless part 952, the first toothed part 951 includes a second toothed part 957, and the toothless part 952 includes a toothless part 953, which can drive the cutter assembly 40 to Moving forward and backward can keep the cutter assembly 40 still during the opening and closing of the end effector 30.
  • the stapler 100 of the present invention is provided with a single motor 70, which can drive the first drive device 80 to work, thereby driving the end effector 30 to open and close, and can drive the second drive device 90 to work, thereby driving the cutting knife assembly 40 makes it move forward and backward; at the same time, the action logic between the end effector 30 and the cutting knife assembly 40 is satisfied.
  • the effective rotation and idling range can be realized by the structure of the component parts of the driving device.
  • the relative position does not need to be changed.
  • the relative position does not need to be changed. This means that the boss is always located in the groove and there is no relative linear displacement between the second gear and the third gear.
  • the structure and interconnection of each component are relatively simple. In the process of assembling each component, the probability of assembly error is small, and the stapler 100 is not prone to malfunction during the working process.
  • the first gear can be replaced with the first gear as shown in FIG. 13.
  • the first gear 88 includes a cam 89.
  • the cam 89 is provided with a groove 890 recessed downward from its top surface, and the connecting piece 83
  • the convex post 86 is located in the groove 890.
  • the groove 890 includes a circular arc groove 891 and a linear groove 892.
  • the linear groove 892 connects the two ends of the circular arc groove 891, that is, the linear groove 892 and the circular arc groove 891 together form a closed ring;
  • the communication is Means that a part of the groove 890 communicates with another part of the groove 890, so that the protruding column 86 can move from a part of the groove 890 to another part of the groove 890;
  • the two ends defining the linear groove 892 are the first end 893 and the first end 893, respectively.
  • the two ends 894 are located in the middle between the first end 893 and the second end 894.
  • the pressing ring assembly 81 moves forward, and the pressing ring assembly 81
  • the sleeve 22 is driven to move forward.
  • the second end 24 of the sleeve 22 drives the abutment seat 32 to rotate downward to realize the closing; during the rotation of the cam 89, the convex column 86 changes from a straight line
  • the second end 894 of the groove 892 moves along the linear groove 892 to the middle of the linear groove 892.
  • the pressure ring assembly 81 moves backward, and the pressure ring assembly 81 drives the sleeve 22 to move backward.
  • the second end 24 of the sleeve 22 drives the abutment seat 32 to rotate upward to open.
  • the boss 86 moves from the middle of the linear groove 892 along the linear groove 892 to the second end 894 (one end of the circular arc groove) of the linear groove 892, thereby achieving the closure of the end effector 30;
  • the post 86 then moves from the second end 894 of the linear groove 892 along the arc groove 891 to the first end 893 of the linear groove 892 (the other end of the arc groove 891), thereby realizing the process of moving the cutting knife 41 forward
  • the end effector 30 remains closed;
  • the boss 86 then moves from the first end 893 of the linear groove 892 along the arc groove 891 to the second end 894 of the linear groove 892, thereby moving the cutting knife 41 backward
  • the end effector 30 remains closed;
  • the boss 86 moves from the second end 894 of the linear groove 892 to the middle of the linear groove 892 along the linear groove 892, thereby realizing the opening of the end effector 30.
  • Figures 21 to 28 show a surgical instrument according to a third embodiment of the present invention
  • this embodiment relates to a surgical instrument, specifically a stapler.
  • the surgical instrument includes a drive assembly (a motor 70 and a fifth gear 71 driven by the motor 70), an end effector and a cutter assembly that are driven by the drive assembly through a drive device.
  • the driving device includes a first driving device and a second driving device. The first driving device drives the end effector, and the second driving device drives the cutter assembly. Therefore, the first drive device can be referred to as an end effector drive device, and the second drive device can be referred to as a cutter assembly drive device.
  • the first driving device includes a first effective rotation structure and a first idle rotation structure.
  • the second driving device includes a second effective rotation structure and a second idle rotation structure.
  • the motor 70 selectively drives one of the first effective rotation structure and the second effective rotation structure. In other words, during the use of the surgical instrument, the motor 70 either drives the first effective rotation structure, thereby driving the end effector to open or close; or drives the second effective rotation structure, thereby driving the cutting knife assembly to move forward (ie Enter the knife) or move backward (ie retract the knife) to avoid errors in the working process of the stapler.
  • the driving device has two states. In the first working state, the motor 70 drives the first effective rotation structure and is coupled with the second idle rotation structure; in the second working state, the motor 70 drives the second effective rotation structure And it is coupled with the first idling range structure. That is to say, in the first working state, the motor 70 drives the end effector to open or close without driving the cutting knife assembly, and in the second working state, the motor 70 drives the cutting knife assembly to advance or retract without driving the end actuator Device. Coupling includes direct coupling and indirect coupling. Similarly, driving includes direct driving and indirect driving.
  • the surgical instruments in operation are operated as follows during a normal use process:
  • the output shaft of the motor 70 will reverse (rotate in the first direction and the second direction respectively), and in each direction of rotation of the motor 70, there will be a first
  • the conversion between the working state and the second working state makes the best use of the drive device, simplifies the structure of the drive device on the premise that the logical relationship between the end effector and the cutting knife assembly is satisfied, and the design is very reasonable.
  • the surgical instrument performs step S1 so that the drive device drives the end effector to close, thereby clamping the tissue;
  • Step S2 is executed to enable the driving device to drive the cutting knife assembly to feed, thereby cutting the tissue
  • Step S3 is executed to enable the driving device to drive the cutting knife assembly to retract, thereby resetting the cutting knife assembly;
  • Step S4 is performed so that the driving device drives the end effector to open, thereby releasing the tissue.
  • the driving device further includes a front driving gear, which is always connected to and driven by the motor 70, and the front driving gear drives the first driving device and the second driving device.
  • the front driving gear of the driving device is the fifth gear 71.
  • the front drive gear (fifth gear 71) can drive one of the first effective rotation structure and the second effective rotation structure without simultaneously driving the first effective rotation structure Structure and second effective transfer structure.
  • the motor 70 and the front drive gear can be referred to as a power assembly.
  • the drive device of the present invention does not need to be provided with an additional clutch device to switch between the first effective travel structure and the second effective travel structure, which not only reduces the structure of the drive device, but also avoids instability caused by the clutch operation, The safety of surgical instruments can be greatly improved.
  • the second driving device in this embodiment has the same structure as the second driving device in the first embodiment.
  • the second driving device includes a second driving gear.
  • the second driving gear always meshes with the fifth gear 71 and is driven by the motor 70 through the fifth gear 71. Therefore, the second drive gear is always indirectly connected to and driven by the motor 70.
  • the sixth gear formed by the second toothed portion 954 and the first toothed portion 959 of the first toothed portion 951 constitutes a second drive gear, and the fifth gear 71 drives the second drive gear to rotate.
  • the second driving device includes a second effective rotation structure and a second idle rotation structure.
  • the second effective rotation structure is the second tooth portion 957 of the first toothed portion 951, and the second idle rotation structure is the toothless portion 953.
  • the second driving device also includes a rack 91 driven by the second effective rotation structure. No longer.
  • the second driving device includes a second driving component and a second movement conversion component engaged with the second driving component.
  • the second driving assembly includes a second driving member, and the second driving member is a second driving gear, that is, a sixth gear formed by the second toothed portion 954 and the first toothed portion 959 of the first toothed portion 951.
  • the second motion conversion assembly includes a second transmission member and a second output member.
  • the second transmission member includes a second tooth portion 957 and a toothless portion 953, and the second output member includes a rack 91.
  • the second driving part and the second transmission part are integrally arranged so that the second driving part and the second transmission part move synchronously.
  • the second tooth portion 957 is an effective rotation structure, and the toothless portion 953 is an idle rotation structure. Therefore, in the second driving device, the second effective rotation structure and the second idle rotation structure are provided in the second motion conversion assembly.
  • the second transmission member provided in the second motion conversion assembly.
  • the second effective rotation structure is engaged with the second output member, and the second output member moves.
  • the second idle rotation structure is coupled with the second output member, the second output member is not driven.
  • the second tooth portion 957 drives the rack 91 to move linearly; when the toothless portion 953 is coupled with the rack 91, the rack 91 is not driven.
  • coupling means that two components will not transmit motion; and coupling means that two components are connected and can transmit motion.
  • coupling includes direct coupling and indirect coupling.
  • Coupling, between other components that directly or indirectly drive component A and component B in the same drive "chain", and between component A and other components that are directly or indirectly driven by component B in the same drive "chain” are indirect couplings.
  • Engagement includes direct engagement and indirect engagement.
  • the motor, the front drive gear, the first drive gear, the first drive assembly, and the first motion conversion assembly constitute a drive "chain”.
  • the motor, the front drive gear, the second drive gear, the second drive assembly, and the second The motion conversion components also constitute a drive "chain”.
  • a reduction assembly including a third gear 97 and a fourth gear 98 is also provided between the second tooth portion 957 and the rack 91, the reduction assembly only achieves speed reduction and does not affect the actual working principle of the second motion conversion assembly .
  • the partial structure of the first driving device in this embodiment is different from the first embodiment.
  • the first driving device includes a first driving component and a first motion conversion component driven by the first driving component.
  • the first movement conversion assembly includes a first transmission member and a first output member that is coupled to the first transmission member.
  • the first drive assembly includes a first gear 88.
  • the first transmission member includes a linear groove 892 and a circular arc groove 891, and the first output member includes a boss 96.
  • the first output part may be the direct output part of the first motion conversion assembly, for example, the boss 96; the first output part may also be the indirect output part of the first motion conversion assembly, for example, the sleeve 22 or other subsequent output parts .
  • the linear groove 892 is an effective rotation structure
  • the circular arc groove 891 is an idle rotation structure, that is, in the first embodiment, the effective rotation structure and the idle rotation structure are provided in the motion conversion assembly.
  • the motion conversion component realizes the conversion of two different motion forms.
  • the first driving device is driven by a power assembly
  • the first driving device includes a driving assembly and a motion conversion assembly driven by the driving assembly.
  • the motion conversion assembly includes a driving part and an output part.
  • the driving assembly includes a first effective rotation structure and a first idle rotation structure.
  • the first driving device has a first state and a second state. In the first state, when the power assembly is engaged with the first effective rotation structure, the driving assembly drives movement In the second state, the power component is coupled with the first idling structure, the motion conversion component is separated from the drive of the power component, the driving component does not drive the motion conversion component, and the output component is not driven.
  • the effective travel structure and the idle travel structure are provided in the drive assembly.
  • the drive component only transmits its previous motion form without realizing the conversion of the motion form.
  • the first driving device of this embodiment has an effective travel structure and an idling travel structure in the drive assembly, and the other has an effective travel structure and an idling travel structure in the motion conversion assembly.
  • the inventive concept of this embodiment and the first embodiment also have the same place, that is, by arranging an effective travel structure and an idling travel structure in the transmission chain of the driving device, it is realized that even if the motor is driven, the output member can be driven as needed. Or not being driven.
  • the driving assembly includes a first driving member and a rotating member 720.
  • the effective rotation structure and the idle rotation structure are provided on the rotating member 720.
  • the first driving member and the rotating member 720 have two states. In the second state, the effective rotation structure of the rotating member 720 and the first driving member are synchronously driven by the motor 70, the rotating member 720 drives the motion conversion assembly, and the output member moves; in the second state, the motor 70 is coupled with the idling range structure, and the motor drives the first The driving member does not drive the rotating member 720, the rotating member 720 does not drive the motion conversion assembly, and the output member is not driven.
  • the motion conversion assembly converts the rotation of the rotating member 720 into linear motion of the output member, and the linear motion of the output member drives the end effector to open or close; when the motor 70 and the first idling When the process structure is coupled, the motor 70 cannot drive the casing to move.
  • the first driving member is a first driving gear 732, and the first driving gear 732 is always connected to and driven by the motor 70. More specifically, the first drive gear 732 always meshes with the fifth gear 71, and the fifth gear 71 is always connected to and driven by the motor 70, so that the first drive gear 732 is indirectly connected to and driven by the motor 70 .
  • the first effective rotation structure is the toothed portion 724
  • the first idle rotation structure is the toothless portion 730.
  • the toothed part 724 and the toothless part 730 are arranged on the circumferential surface of the rotating member 720.
  • the toothed part 724 and the toothless part 730 are arranged adjacently.
  • the outer diameter of the toothless part 730 is smaller than the outer diameter of the toothed part 724, and the outer diameter of the toothed part 724 includes the size of the teeth along the radial direction of the rotating member 720.
  • the motion conversion assembly includes a transmission member and an output member, and the transmission member is disposed on the rotating member 720.
  • the transmission member includes a first slot 722 and the output member includes a boss 86.
  • the radial distance between the first groove 722 and the rotation center of the rotating member 720 increases or decreases along the first groove 722, and the protrusion 86 slides in the first groove 722 to convert the rotation of the rotating member 720 into a straight line of the protrusion 86 movement.
  • the boss 86 is a direct output part. Similar to the first embodiment, the boss 86 is connected to the connecting rod, the pressure ring, and the sleeve in sequence.
  • the meaning of sequential connection is: the connecting rod is connected with the convex column 86, the pressure ring is connected with the connecting rod, and the sleeve is connected with the pressure ring.
  • the sleeve can drive the end effector to open or close.
  • the casing can be regarded as an indirect output.
  • the toothed portion 724 of the rotating member 720 and the first driving gear 732 mesh with the fifth gear 71 at the same time, the rotating member 720 and the first driving gear 732 are driven by the fifth gear 71 to rotate synchronously, and the rotating member 720 Driven by the fifth gear 71 to rotate, the convex column 86 can be driven to move linearly through the cooperation of the first groove 722 and the convex column 86, and finally the end effector is closed or opened; in the second state, only the first drive The gear 732 meshes with the fifth gear 71 and is driven by the motor 70, and the toothless part 730 of the rotating member 720 is coupled with the fifth gear 71 and indirectly coupled with the motor 70, and the toothless part 730 of the rotating member 720 cannot be connected to the fifth gear 71. Engaged, the rotating member 720 will not drive the end effector to close or open.
  • the meaning of coupling is consistent with the definition in the previous content. It should also be noted that, consistent with the foregoing description
  • the doctor When doctors use surgical instruments, after the end effector is closed and before the cutting blade assembly enters the knife, the doctor usually operates the squeeze holding mechanism to squeeze the tissue. In the process of squeezing the tissue, the tissue becomes thinner and the end effector will be further closed .
  • the drive gear In order to ensure that during the process of squeezing tissue, the drive gear always exerts force on the end effector so that the end effector is always in the closed state, please refer to Figure 24.
  • the first effective rotation structure includes the first part adjacently arranged And the second part, the first part drives the end effector to perform the first stage of closing to clamp the assembly, and the second part drives the end effector to perform the second stage of closing to press the tissue.
  • the toothed part 724 includes a rotational drive tooth part 726 and a press holding tooth part 728 that are adjacently arranged.
  • the front drive gear drives the rotation drive tooth 726
  • the boss 86 slides in the first groove 722 to drive the end effector to close.
  • the pressing holding tooth 728 meshes with the front drive gear, so that during the pressing holding process, the front driving gear always exerts a certain force on the end effector through the pressing holding tooth 728 to avoid the end effector.
  • the actuator loosened unexpectedly. Since the closing stroke of the end effector is relatively small during the tissue pressing process, in this embodiment, the pressing and holding tooth 728 includes one or two teeth.
  • the first effective transfer structure includes a first part and a second part that are adjacently disposed
  • the first groove 722 includes a first section and a second section that are connected, and the first section and the second section are adjacently disposed.
  • the first part is engaged with the power assembly so that the first output member is engaged with the first section; the second part is engaged with the power assembly so that the first output member is engaged with the second section.
  • the rotation driving tooth portion 726 is engaged with the fifth gear 71 and the motor 70, so that the boss 86 moves in the first section, thereby driving the end effector to perform the first stage of closing; the pressing and holding tooth portion 728 and The fifth gear 71 and the motor 70 are engaged, so that the boss 86 moves in the second section, thereby driving the end effector to perform the first stage of closing.
  • the end effector When the boss 86 moves in the first section, the end effector is driven to close to clamp the tissue, and when the boss 86 moves in the second section, the end effector is driven to further close to squeeze the tissue.
  • the first groove 722 may further include a third section communicating with the second section, and the second section is located between the first section and the third section.
  • the provision of the third section can provide a certain margin for the sliding of the protruding column 86 in the first groove 722 to avoid jamming.
  • the first driving gear 732 and the rotating member 720 are overlapped. Specifically, the first driving gear 732 and the rotating member 720 are overlapped in the axial direction. The first driving gear 732 and the toothed portion 724 of the rotating member 720 can be easily meshed with the fifth gear 71 at the same time.
  • the first end surface of the first drive gear 732 is adjacent to the second end surface of the rotating member 720, one of the two end surfaces is provided with a second arc groove 734, and the other is provided with a protrusion 736 extending into the second arc groove 734,
  • the center of the second arc groove 734 is located on the rotation axis of the first driving gear 732.
  • the protrusion 736 can slide in the second circular arc groove 734.
  • the protrusion 736 cooperates with the second circular arc groove 734 to ensure that the first driving gear 732 and the rotating member 720 overlap; on the other hand, the protrusion 736 can slide in the circular arc groove, so that in the second state, the rotating member The 720 does not rotate with the first driving gear 732 to ensure the operation of the first idling stroke, so that when the driving device drives the cutting knife assembly to move, the rotating member 720 does not drive the end effector to close or open.
  • the first gear 88 slides in the linear groove 892 through the boss 86 to drive the sleeve to move linearly and drive the end effector to open or close. Therefore, the first gear 88 Apply force to the sleeve and then to the end effector. According to the principle of acting force and reaction force, in turn, the end effector indirectly exerts a certain reaction force on the first gear 88.
  • the end effector clamps the tissue, and the clamping of the tissue is realized by the cooperation of the cutting knife assembly with the end effector during the cutting process.
  • the cutting blade assembly has an upper ear, a lower ear, and a connecting part connected to the upper ear and the lower ear, and the upper ear, the lower ear and the connecting part are fixedly connected or integrally formed.
  • the upper ear of the cutter assembly moves in the groove of the nail abutment seat of the end effector
  • the lower ear moves in the groove of the nail cartridge seat.
  • the upper ear part uses the groove of the nail holder to pull the nail holder
  • the lower ear uses the groove of the nail holder seat to pull the nail holder seat to achieve mutual clamping between the nail holder and the nail holder seat during the cutting process.
  • the reaction force of the tissue on the end effector is reversely transmitted to the fifth gear 71 and the motor 70 through the first gear 88. This reaction force will reduce the power transmitted from the fifth gear 71 to the cutting blade assembly through the second driving device, thereby affecting The cutting efficiency of the cutter assembly.
  • the protrusion 736 can slide freely in the second arc groove 734. Therefore, there is a loose fit between the first driving gear 732 and the rotating member 720. Therefore, when the cutting knife assembly cuts tissue, even if the end effector clamps the tissue, due to the loose fit between the rotating part 720 and the first drive gear 732, the end effector does not exert a reaction force on the rotating part 720. It can be transmitted to the fifth gear 71, or only a small part of the reaction force can be transmitted to the fifth gear 71, so as to avoid or reduce the impact on the cutting efficiency of the cutting knife assembly, thereby improving the cutting efficiency of the cutting knife assembly.
  • the width of the protrusion 736 is smaller than the width of the second arc groove 734. This allows the protrusion 736 to slide in the second arc groove 734 to achieve the function of the second state. Those skilled in the art can imagine that the width of the protrusion 736 may be equal to the width of the second arc groove 734, and any solution that is the same or similar to the present embodiment is covered by the protection scope of the present invention.
  • the protrusion 736 slides in the second arc groove 734.
  • the circumferential extension length of the second arc groove 734 is greater than the circumferential extension length required for the second effective rotation.
  • a margin is provided for the movement of the protrusion 736 in the second circular arc groove 734.
  • the circumferential extension length of the second arc groove 734 can be equal to the circumferential extension length of the second effective rotation. Any solution that is the same or similar to the present embodiment is covered by the present invention. Within the scope of protection.
  • the protrusion 736 abuts against the end of the second arc groove 734 to switch the rotating member 720 and the first driving gear 732 from the second state to the standby position of the first state. Specifically, in this embodiment, after the tool is retracted, the protrusion 736 abuts the first end 742 of the second arc groove 734, so that the toothed portion 724 of the rotating member 720 can be aligned with the teeth of the first drive gear 732 up and down. At this time, if the motor 70 rotates, the rotating member 720 and the first drive gear 732 can mesh with the front drive gear 71 synchronously, so as to ensure the smooth opening of the subsequent end effector to loosen the tissue.
  • the toothed portion 724 of the rotating member 720 is the first effective rotation structure
  • the toothless portion 730 of the rotating member 720 is the first idle rotation structure.
  • the first driving gear 732 always meshes with the fifth gear 71 and is driven by the motor 70, which conveniently realizes the effective rotation and idling range switching, and the structure design is reasonable.
  • the end effector is in the open state, and the cutting knife assembly is in the initial position.
  • the boss 86 is located at the first end 738 of the first groove 722
  • the protrusion 736 is located at the first end 742 of the second arc groove 734
  • the toothed portion 724 of the rotating member 720 and the first drive gear 732 are simultaneously
  • the driving gear (fifth gear 71) meshes.
  • the doctor activates the motor 70, which rotates in the first direction to drive the driving gear (fifth gear 71) to rotate, the rotating member 720 and the first driving gear 732 is in the first state, the driving gear (fifth gear 71) rotates while driving the rotating member 720 and the first driving gear 732 to rotate.
  • the rotating member 720 and the first driving gear 732 do not rotate relative to each other.
  • the protrusion 736 is held at the first end 742 of the second arc groove 734; and the rotation driving protrusion 86 of the rotating member 720 is in the first groove 722 Moving from the first end 738 to the second end 740, the end effector gradually closes, and the first driving device reaches the position shown in FIG. 25.
  • the drive gear (fifth gear 71) still meshes with the toothed portion 724, specifically, the drive gear (fifth gear 71) still meshes with the press holding tooth portion 728 of the toothed portion 724.
  • the doctor can operate the squeeze holding mechanism.
  • the drive gear (fifth gear 71) simultaneously drives the squeeze holding tooth portion 728 and the first drive gear 732, and the boss 86 further moves a short distance toward the second end 740 , The end effector is further closed to reach the position shown in Figure 26.
  • the end effector has squeezed the tissue, the rotating member 720 and the first drive gear 732 are switched from the first state to the second state, the drive gear (fifth gear 71) and the rotating member 720 The toothed portion 724 is out of mesh, and the driving gear (the fifth gear 71) only meshes with the first driving gear 732.
  • the doctor can operate the cutting knife assembly, and the motor 70 continues to rotate in the first direction.
  • the motor 70 drives the cutting knife assembly to advance through the second driving device (only part of which is shown in FIG. 26) as the first embodiment.
  • the knife assembly moves from the initial position to the end position.
  • the toothless part 730 is coupled with the driving gear (fifth gear 71), and the driving gear (fifth gear 71) cannot drive the end effector through the toothless part 730.
  • the driving gear (fifth gear 71) can drive the first driving gear 732 of the first driving device to rotate, and the driving protrusion 736 slides in the second arc groove 734 from the head end 742 to the end 744, reaching as shown in FIG. 27 s position.
  • the cutting knife assembly is at the end position, and the tissue cutting is completed.
  • the doctor can operate the motor 70 to rotate in the reverse direction, that is, to rotate in a second direction opposite to the first direction.
  • the motor 70 drives the cutting knife through the same second driving device as the first embodiment ( Figure 27 shows only part)
  • the component retreats the cutter assembly from the end position to the initial position.
  • the toothless part 730 is coupled with the driving gear (fifth gear 71), and the driving gear (fifth gear 71) cannot pass through the toothless part 730
  • the driving end effector moves, but the driving gear (fifth gear 71) can drive the first driving gear 732 of the first driving device to rotate in the reverse direction, and the driving protrusion 736 slides toward the head end 742 in the second arc groove 734, when When the protrusion 736 abuts the first end 742 of the second arc groove 734, the toothed part 724 of the rotating member 720 and the toothed part of the first driving gear 732 are aligned up and down, reaching the position shown in FIG. 28.
  • the doctor can operate the motor 70 to continue the reverse rotation of the motor 70, the driving gear (fifth gear 71) starts to simultaneously drive the rotating member 720 and the first driving gear 732 to reverse rotation, and the protrusion 736 remains at the first
  • the first end 742 of the two circular arc grooves 734 is located, and the protrusion 86 moves in the direction of the first end 738 in the first groove 722 to drive the end effector to open and return to the state shown in FIG. 24.
  • the surgical instrument realizes a complete operation. During this operation, the surgical instrument sequentially realizes the end effector closes and clamps the tissue, the cutting knife assembly advances and cuts the tissue, the cutting knife assembly retracts, and the end effector opens. Loosen the organization.
  • the stapler 100 of the present invention is provided with only one motor 70, which can drive the first driving device 80 to work, thereby driving the end effector 30 to open and close; it can also drive the second driving device. 90 work, thereby driving the cutting knife assembly 40 to move forward and backward.
  • the stapler 100 of the present invention is small in size and low in cost.
  • a motor 70 makes the overall weight of the stapler 100 smaller, which makes it easier for doctors to operate flexible.
  • the invention realizes single-motor drive by arranging the structure of the gear in the drive device, and the structure of the first drive device and the second drive device is simple.

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Abstract

一种驱动装置、外科器械及其操作方法，驱动装置由动力组件驱动，驱动装置包括第一驱动组件、第一运动转换组件，第一驱动组件包括第一有效转程结构和第一空转程结构，驱动装置具有第一状态和第二状态，在第一状态，动力组件与第一有效转程结构接合，第一有效转程结构驱动第一运动转换组件；在第二状态，动力组件与第一空转程结构耦合，第一运动转换组件脱离动力组件的驱动。在第二状态时，第一运动转换组件脱离动力组件的驱动，运动转换组件受到的反向作用力不会经由第一驱动组件传递至动力组件，从而避免驱动装置的驱动效率受到影响。

Description

驱动装置、外科器械及其操作方法 技术领域
本发明涉及一种驱动装置、端部执行器驱动装置、外科器械驱动装置、外科器械及外科器械的操作方法。
背景技术
众所周知，腔内切割吻合器已经普遍应用于腹腔等腔内手术中。
现有的腔内切割吻合器一般包括操作组件、从操作组件纵向延伸的杆身组件及设置于杆身组件远侧端的端部执行器。吻合器还包括触发器和电机组件。触发器可被操纵以打开和闭合端部执行器。吻合器还包括切割刀组件，触发器还可被操纵以驱动切割刀组件向前和向后移动。端部执行器包括钉仓座和可枢转地连接于钉仓座的抵钉座，钉仓座用于可操作地支撑位于其中的钉仓，抵钉座可在打开位置和闭合位置之间选择性地运动。
操作组件包括本体及安装于本体的驱动装置，驱动装置用于驱动端部执行器使其打开或闭合。外科器械使用时，需要端部执行器夹持组织，端部执行器夹持组织的过程中，组织对端部执行器的反作用力会传递至驱动装置，上述反作用力会降低驱动装置的驱动效率。
发明内容
本发明的目的在于提供一种驱动效率更高的驱动装置。
为了达到上述目的，本发明通过以下技术方案实现：
一种驱动装置，由动力组件驱动，所述驱动装置包括第一驱动组件、第一运动转换组件，所述第一驱动组件包括第一有效转程结构和第一空转程结构，所述驱动装置具有第一状态和第二状态，在第一状态，所述动力组件与所述第一有效转程结构接合，所述第一有效转程结构驱动所述第一运动转换组件；在第二状态，所述动力组件与所述第一空转程结构耦合，所述第一运动转换组件脱离所述动力组件的驱动。
进一步的，所述第一运动转换组件包括第一传动件和第一输出件，在所述第一状态，所述第一传动件驱动所述第一输出件运动；在所述第二状态，所述第一输出件未被驱动。
进一步的，所述第一驱动组件包括第一驱动件和转动件，在所述第一状态，所述第一驱动件和所述转动件均与所述动力组件接合；在所述第二状态，所述第一驱动件和所述转动件中仅所述第一驱动件与所述动力组件接合。
进一步的，所述第一运动转换组件包括第一传动件、与所述第一传动件接合的第一输出件，第一传动件设置于所述转动件。
进一步的，所述第一有效转程结构和所述第一空转程结构均设置于所述转动件，在所述第一状态，所述第一有效转程结构和所述第一驱动件均与所述动力组件接合；在所述第二状态，所述第一空转程结构与所述动力组件耦合，所述第一驱动件与所述动力组件接合。
进一步的，所述第一有效转程结构为有齿部，所述第一空转程结构为无齿部，所述有齿部和所述无齿部邻接设置；所述第一驱动件为第一驱动齿轮。
进一步的，所述动力组件包括电机及由所述电机驱动的前置驱动齿轮，在所述第一状态，所述前置驱动齿轮同时与所述有齿部和所述第一驱动齿轮啮合；在所述第二状态，所述前置驱动齿轮与所述无齿部耦合、与所述第一驱动齿轮啮合。
进一步的，所述第一驱动件和所述转动件叠置，所述第一驱动件与所述转动件中的一个设置圆弧槽，另一个设置伸入所述圆弧槽的突起，所述圆弧槽的圆心位于所述第一驱动件的转动轴线。
进一步的，所述突起的宽度小于所述圆弧槽的宽度。
进一步的，所述突起与所述圆弧槽的端部抵接使得所述转动件和所述第一驱动件从所述第二状态切换至所述第一状态的预备位置。
进一步的，所述第一运动转换组件包括第一槽和凸柱，所述第一槽与所述转动件的转动中心之间的径向距离沿所述第一槽增加或者减小，所述凸柱在所述第一槽内滑动将所述转动件的转动转换为所述凸柱的直线运动。
进一步的，所述第一槽设置于所述转动件。
一种端部执行器驱动装置，所述端部执行器驱动装置包括上述任一项所述的驱动装置，所述驱动装置用于驱动端部执行器打开或闭合。
进一步的，所述第一有效转程结构包括邻接设置的第一部分和第二部分，所述第一部分驱动所述端部执行器执行第一阶段的闭合而夹紧组织，所述第二部分驱动所述端部执行器执行第二阶段的闭合而压榨组织。
进一步的，所述第一运动转换组件包括第一传动件、与所述第一传动件接合的第一输出件，所述第一传动件包括邻接设置的第一段和第二段；所述第一部分与所述动力组件接合，使得所述第一输出件与所述第一段与接合；所述第二部分与所述动力组件接合，使得所述第一输出件与所述第二段接合。
进一步的，所述第一传动件还包括与所述第二段邻接设置的第三段，所述第二段位于所述第一段和所述第三段之间。
一种外科器械驱动装置，所述外科器械驱动装置包括上述任一项所述的端部执行器驱动装置。
进一步的，所述外科器械驱动装置还包括切割刀组件驱动装置，所述切割刀组件驱动装置驱动所述切割刀组件向前或向后移动。
进一步的，所述切割刀组件驱动装置由所述动力组件驱动。
进一步的，所述切割刀组件驱动装置包括第二有效转程结构和第二空转程结构，所述动力组件驱动所述第一有效转程结构和所述第二有效转程结构中的一个。
进一步的，所述切割刀组件驱动装置包括第二驱动组件、与所述第二驱动组件接合的第二运动转换组件，所述第二运动转换组件包括第二传动件和第二输出件，所述第二传动件包括第二有效转程结构和第二空转程结构，所述切割刀组件驱动装置具有第三状态和第四状态，在第三状态，所述第二有效转程结构与所述第二输出件接合；在第四状态，所述第二空转程结构与所述第二输出件耦合。
进一步的，所述第二驱动组件包括第二驱动件，所述第二驱动件与所述第二传动件同步运动，在所述第三状态和所述第四状态，所述第二传动件通过所述第二驱动件始终与所述动力组件接合。
进一步的，所述第二有效转程结构为设置于所述第二传动件的有齿部，所述第二空转程结构为设置于所述第二传动件的无齿部，所述第二输出件为齿条。
进一步的，所述外科器械驱动装置具有第一工作状态和第二工作状态，在所述第一工作状态下，所述第一状态和所述第四状态同时运行；在所述第二工作状态，所述第二状态和所述第三状态同时运行。
一种外科器械，包括传动机构、由所述传动机构驱动的端部执行器和切割刀组件，所述传动机构包括上述任一项所述的外科器械驱动装置。
一种外科器械的操作方法，所述外科器械为根据上面所述的外科器械，所述外科器械包括动力组件，所述动力组件包括电机，所述操作方法包括如下步骤：
步骤S1:所述电机的输出轴沿第一方向转动，所述电机驱动所述第一有效转程结构并与所述第二空转程结构耦合；
步骤S2:所述电机的输出轴继续沿所述第一方向转动，所述电机驱动所述第二有效转程结构并与所述第一空转程结构耦合；
步骤S3:所述电机的输出轴沿第二方向转动，所述第二方向与所述第一方向相反，所述电机驱动所述第二有效转程结构并与所述第一空转程结构耦合；
步骤S4:所述电机的输出轴继续沿所述第二方向转动，所述电机驱动所述第一有效转程结构并与所述第二空转程结构耦合。
进一步的，执行所述步骤S1使得所述端部执行器闭合；执行所述步骤S2使得所述切割刀组件进刀；执行所述步骤S3使得所述切割刀组件退刀；执行所述步骤S4时使得所述端部执行器打开。
本发明的有益效果是：在第二状态时，第一运动转换组件脱离动力组件的驱动，运动转换组件受到的反向作用力不会经由第一驱动组件传递至动力组件，从而避免驱动装置的驱动效率受到影响。
附图说明
图1是本发明第一实施例的吻合器的结构示意图；
图2是图1所示画圈部分的放大图；
图3是图1所示吻合器的另一视角的局部结构示意图；
图4是图3所示画圈部分A的放大图；
图5是图3所示画圈部分B的放大图；
图6是图3所示吻合器的局部结构示意图；
图7是图6所示压环组件的结构示意图；
图8是图6所示第一齿轮的结构示意图；
图9是图6所示第二齿轮的结构示意图；
图10是图1所示端部执行器与套管的组装图；
图11是图10所示画圈部分的放大图；
图12是图1所示电路板组件的示意图；
图13是第二实施例的第一齿轮的结构示意图；
图14是另一实施例的第一齿轮的结构示意图；
图15是图1所示的吻合器的套管及端部执行器的立体图；
图16是图15所示的套管的驱动管沿A-A方向的剖视图；
图17是图15所示的外科器械的抵钉座的立体图；
图18是图15所示的外科器械的钉仓座的立体图；
图19是图15所示的外科器械的端部执行器关闭状态的结构示意图；
图20是图15所示的外科器械的端部执行器打开状态的结构示意图。
图21是第三实施例的吻合器的部分结构示意图；
图22是图21所示的吻合器的部分立体分解图；
图23是图22所示的吻合器的转动件的立体图；
图24至图28是图21所示的吻合器第一驱动装置的状态变化示意图。
具体实施例
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本文所用术语“近”、“后”和“远”、“前”是相对于操纵外科器械的临床医生而言的。术语“近”、“后”是指相对靠近临床医生的部分，术语“远”、“前”则是指相对远离临床医生的部分。“左”“右”以图1所示的外科器械的位置为参考，例如，端部执行器在“左”，套管在“右”。术语“上”“下”以端部执行器的抵钉座和钉仓座的相对位置为参考，具体的，抵钉座在“上”，钉仓座在“下”。需要理解的是，“近”“后”“远”“前”“左”“右”“上”“下”这些方位是为了方便描述而进行的定义，然而，外科器械可以在许多方向和位置使用，因此这些表达相对位置关系的术语并不是受限和绝对的。
如图1至图14所示，为本发明第一实施例所述的一种吻合器100，其包括操作组件10、从操作组件10沿纵长方向延伸的杆身组件20及设置于杆身组件20一端的端部执行器30。端部执行器30包括钉仓座31和可枢转地连接于钉仓座31的抵钉座32，钉仓座31用于可操作地支撑位于其中的钉仓(未图示)，抵钉座32可在打开位置和闭合位置之间选择性地运动。操作组件10包括本体(未图示)及安装于本体的传动机构11。杆身组件20包括芯轴21及套设于芯轴21的套管22，芯轴21的一端连接于第二驱动装置的齿条，另一端位于套管22内；套管22包括连接于第一驱动装置的第一端部23和连接于端部执行器30的抵钉座32的第二端部24，套管22的向后移动使得抵钉座32向上枢转以打开端部执行器30，套管22的向前移动使得抵钉座32向下枢转以闭合端部执行器30。参见图10及图11，抵钉座32可转动地连接于套管22的第二端部24，即，抵钉座32连接于套管22的第二端部24且抵钉座32相对套管22的第二端部24可转动。需要说明的是，抵钉座32可转动地连接于套管22的第二端部24以使得套管22的前后移动驱动抵钉座32枢转为现有技术。
请结合图10至11、图15至20，套管22的第二端部24与抵钉座32活动地连接，套管22朝向近端移动时，驱动抵钉座32向上枢转而打开端部执行器30；套管22朝向远端运动时，驱动抵钉座32向下枢转而闭合端部执行器30。
具体的，请结合图15和图16，套管22包括相连的本体15和驱动管29，驱动管29驱动抵钉座32向上或向下枢转而打开或闭合端部执行器30。本体15和驱动管29通过铰链连接，也可一体成型。
驱动管29包括驱动抵钉座32打开的第一驱动部27、驱动抵钉座32关闭的第二驱动部 25。第一驱动部27为设置在驱动管29上的突部，突部沿右下方倾斜延伸；第二驱动部25为驱动管29远端的驱动面。
相应的，抵钉座32具有可与第一驱动部27配接的第一从动部13、可与第二驱动部25配接的第二从动部14。第一从动部13为设置在抵钉座32上的凸部，凸部朝上延伸；第二从动部14为抵钉座32近端的抵接面。
请结合图17和图18，抵钉座32和钉仓座31之间还设置有导向机构，导向机构包括设置在抵钉座32上的销子19，设置在钉仓座31上的腰形槽17，腰形槽17沿近端朝向远端的方向倾斜向上延伸。
请参见图19至图20的状态变化，需要打开端部执行器30时，套管22的本体15拉动驱动管29朝向近端运动，驱动管29上的第一驱动部27与抵钉座32上的第一从动部13抵接，销子19从腰形槽17的远上端移动至近下端，抵钉座32向上枢转，端部执行器30打开。
请参见图20至图19的状态变化，需要关闭端部执行器时，套管22的本体15推动驱动管29朝向远端运动，驱动管29上的第二驱动部25与抵钉座32上的第二从动部14抵接，销子19从腰形槽17的近下端移动至远上端，抵钉座32向下枢转，端部执行器30关闭。
吻合器100还包括切割刀组件40，切割刀组件40包括设置于钉仓的切割刀41及可分离地连接于切割刀41的推刀件42，推刀件42的一部分位于套管22内且与芯轴21的另一端连接，推刀件42的另一部分延伸进入端部执行器30且与切割刀41可分离地连接。参见图3及图5，推刀件42设置有凹陷部(未标号)，切割刀41设置有凸出部(未标号)，凹陷部和凸出部相互配合从而使得推刀件42和切割刀41组装在一起。
吻合器100还包括触发器60、电路板组件50及电机70，触发器60与电机70均电性连接于电路板组件50；电机70的数量为一个。电路板组件50包括电路板51及电性连接于电路板51的控制模块52。吻合器100还包括压榨保持机构(未图示)，医生在驱动切割刀组件40向前移动之前需先操作压榨保持机构，待压榨保持机构工作完毕后，临床医生才能驱动切割刀组件40向前移动。
结合图12所示，控制模块52包括检测单元53、微控制单元54、电机驱动单元55及电机控制单元56。检测单元53用于检测触发器60的触发信号并将信号传送至微控制单元54，微控制单元54经过分析处理后将信号传送至电机驱动单元55，电机驱动单元55经过分析处理后将信号传送至电机控制单元56，电机控制单元56根据接收到的信号向电机70发出运转指令。
触发器60包括第一按键61和第二按键62。第一按键61和第二按键62均电性连接于控制模块52。
触发器60还包括第三按键63和第四按键64，第三按键63与第四按键64对称设置，第三按键63和第四按键64均电性连接于控制模块52，临床医生无论按压第三按键63和第四按键64中的哪一个，都能起到相同的作用。吻合器100还包括电性连接于控制模块52的指示机构(未图示)，指示机构包括五个指示灯，指示灯为LED灯。第三按键63、第四按键64、控制模块52及指示机构共同形成上述压榨保持机构，以提升压榨效果。临床医生按压第三按键63或第四按键64并释放，控制模块52接收第三按键63或第四按键64发出的信号并指令指示机构开始工作，每三秒亮一个LED灯，当五个LED灯全部处于点亮状态时，指示机构工作完毕，此时，临床医生可以操作第一按键61以驱动切割刀组件40向前移动。若临床医生为节约时间，想在指示机构工作完毕之前就驱动切割刀组件40向前移动，也可以采用以下操作方式：按压第三按键63或第四按键64并释放，在15秒内再次按压第三按键63或第四按键64并释放，此时，临床医生就可以操作第一按键61以驱动切割刀组件40向前移动。压榨保持机构运行完毕包括：按压第三按键63或第四按键64并即刻释放，指示机构开始工作直至工作完毕。压榨保持机构运行被终止包括：按压第三按键63或第四按键64并即刻释放，在15秒内再次按压第三按键63或第四按键64并即刻释放。
触发器60还包括电性连接于控制模块52的第一行程开关65、第二行程开关66、第三行程开关67和第四行程开关68，第一行程开关65用于检测切割刀组件40是否前移到位，第二行程开关66用于检测切割刀组件40是否后移到位，第三行程开关67用于检测端部执行器30是否闭合到位，第四行程开关68用于检测端部执行器30是否开启到位。
吻合器100的工作过程如下：(1)临床医生按压第一按键61并保持按压状态，控制模块52接收按压第一按键61发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动抵钉座32向下枢转进而闭合端部执行器30，当传动机构11触发第三行程开关67时，控制模块52接收信号并指令电机70停止工作，此时，端部执行器30闭合到位，临床医生释放第一按键61；(2)临床医生操作压榨保持机构；(3)当压榨保持机构运行完毕后或压榨保持机构运行被终止后，临床医生按压第一按键61并保持按压状态，控制模块52接收按压第一按键61发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动切割刀组件40向前移动以切割组织，当传动机构11触发第一行程开关65时，控制模块52接收信号并指令电机70停止工作，此时，切割刀组件40前移到位，切割组织完毕；(4)临床医生释放第一按键61，控制模块52接收到释放第一按键61发出的信号并指令电机70继续开始工作(退刀)，电机70驱动传动机构11工作，传动机构11驱动切割刀组件40向后移动，当传动机构11触发第二行程开关66时，控制模块52接收信号并指令电机70停止工作，此时，切割刀组件40后移到位；(5)医生按压第二按键62 并保持按压状态，控制模块52接收按压第二按键62发出的信号后指令电机70工作，电机70驱动传动机构11工作，传动机构11驱动抵钉座30向上枢转进而打开端部执行器30，当传动机构11触发第四行程开关68时，控制模块52接收信号并指令电机70停止工作，此时，端部执行器30开启到位，临床医生释放第二按键62。
传动机构11包括驱动装置，驱动装置包括第一驱动装置80、第二驱动装置90及第五齿轮71，第五齿轮71固定于电机70的输出轴。或者，第五齿轮固定于由电机70驱动的齿轮箱的输出轴，即第五齿轮71与电机71的输出轴直接或间接地连接。第五齿轮71为驱动齿轮，或者将第五齿轮71称为前置驱动齿轮。第五齿轮71始终与电机71连接并由电机71驱动而转动，连接包括直接连接和间接连接。或者说，在吻合器100工作过程中，第五齿轮71不会与电机70分离，第五齿轮71始终与电机70连接并被电机70驱动而转动。第一驱动装置80用于驱动端部执行器30打开和闭合，第二驱动装置90用于驱动切割刀组件40向前和向后移动。电机70驱动第五齿轮71沿第一方向或第二方向转动，其中第一方向与第二方向相反。第一驱动装置80和第二驱动装置90均与第五齿轮71啮合，第五齿轮71转动可使得第一驱动装置80或第二驱动装置90工作。当第一驱动装置80工作时，第一驱动装置80驱动套管22向前和向后移动，从而使得抵钉座32枢转进而闭合和打开端部执行器30；当第二驱动装置90工作时，第二驱动装置90驱动芯轴21向前和向后移动，从而使得切割刀组件40向前和向后移动。驱动装置还包括杆身组件20。具体的，驱动装置还包括芯轴21。具体的，驱动装置还包括套管22。
第一驱动装置80包括压环组件81与第一齿轮组件82，压环组件81包括连接件83及压环84，连接件83包括连接杆85及设置于连接杆85的一端的凸柱86，压环84设置于连接杆85的另一端。第一齿轮组件82包括第一杆件87及套设于第一杆件87的第一齿轮88，第一杆件87固定于操作组件10的本体(未图示)，第一齿轮88绕着第一杆件87旋转。第一齿轮88包括凸轮89，当第一齿轮88转动的时候，凸轮89也同步转动，第一齿轮88啮合于第五齿轮71。凸轮89设有自其顶面向下凹陷形成的凹槽890，凸柱86位于凹槽890内。凹槽890包括一个圆弧槽891与一个直线槽892，定义直线槽892的两端分别为第一端893与第二端894，定义圆弧槽891的两端分别为第三端895与第四端896，直线槽892的第二端894与圆弧槽891的第三端895连通，即直线槽892的第二端894实质为圆弧槽891的第三端895；所述连通是指凹槽890的一部分与凹槽890的另一部分相通，使得凸柱86可以从凹槽890的一部分移动至凹槽890的另一部分。具体而言，连通是指圆弧槽891与直线槽892相通，使得凸柱86可以从圆弧槽891移动至直线槽892，圆弧槽891与直线槽892连通后形成如图8所示的非封闭形状槽，也可以形成如图13所示的封闭环形槽。套管22的第一端部23连接于压环84，具体地，套管22的第一端部23的外壁设有凹槽，压 环84的内壁设有凸肋841，凹槽与凸肋841配合使套管22与压环84组装在一起，套管22的第二端部24可活动地连接于抵钉座32。当电机70驱动第五齿轮71沿第一方向转动时，第五齿轮71驱动第一齿轮88沿第二方向转动，凸轮89也沿第二方向同步转动，在凸轮89转动的过程中，凸柱86由直线槽892的第一端893沿着直线槽892移动至直线槽892的第二端894，在此过程中，压环组件81向前移动，压环组件81带动套管22向前移动，当套管22向前移动时，套管22的第二端部24驱动抵钉座32向下转动实现闭合；当电机70驱动第五齿轮71沿第二方向转动时，第五齿轮71驱动第一齿轮88沿第一方向转动，凸轮89也沿第一方向同步转动，在凸轮89转动的过程中，凸柱86由直线槽892的第二端894沿着直线槽892移动至直线槽892的第一端893，在此过程中，压环组件81向后移动，压环组件81带动套管22向后移动，当套管22向后移动时，套管22的第二端部24驱动抵钉座32向上转动实现开启。套管22为第一齿轮88的输出件。
当凸柱86位于圆弧槽891内且沿着圆弧槽891来回移动时，由于圆弧槽891的同一内壁的任意一点至第一杆件87的径向距离不变，因此，当凸轮89转动时，凸柱86在纵长方向上相对于第一杆件87的距离不变，即，凸轮89的转动不会带动压环组件81向前和向后移动。由于直线槽892的同一内壁的任意一点至第一杆件87的径向距离沿远离第一杆件87的方向(即沿从图8中第一端893至第二端894的方向)增加，沿靠近第一杆件87的方向(即沿从图8中第二端894至第一端893的方向)减小，因此，当凸柱86在直线槽892内沿远离第一杆件87的方向移动时，压环组件81被驱动从而向前移动，当凸柱86在直线槽892内沿靠近第一杆件87的方向移动时，压环组件81被驱动从而向后移动。如图13中所示，圆弧槽891与直线槽892连通后形成封闭环形槽，直线槽892发挥作用的部分占其长度的一半。需要说明的是，凸柱86在凹槽890中的移动为相对移动，由凸轮89转动而实现。
第二驱动装置90包括齿条91、第二齿轮组件92及第三齿轮组件93。第二齿轮组件92包括第二杆件94及套设于第二杆件94的第二齿轮95，第二杆件94固定于操作组件10的本体，第二齿轮95绕着第二杆件94旋转，第二齿轮95啮合于第五齿轮71；第二齿轮95包括沿周向相邻设置的第一有齿部951与缺齿部952，第一有齿部951与缺齿部952之间具有第一交界处和第二交界处，缺齿部952包括沿竖直方向(即轴向)相邻设置的无齿部953与第二有齿部954。第二齿轮95通过第一有齿部951和第二有齿部954始终与第五齿轮71保持啮合。第三齿轮组件93包括第三杆件96及套设于第三杆件96的第三齿轮97与第四齿轮98，第三杆件96固定于操作组件10的本体，第三齿轮97与第四齿轮98绕着第三杆件96旋转，第三齿轮97与第四齿轮98一体成型，第三齿轮97与第四齿轮98的直径不同，第三齿轮97用于啮合于第二齿轮95的、与无齿部953平行的第一有齿部951的部 分，第四齿轮98啮合于齿条91。齿条91为第二齿轮95的输出件，第四齿轮98的直径大于第三齿轮97的直径。
由于连接于电机70的输出轴的第五齿轮71具有第一转速，而齿条91的移动则需要第二速度，为了使第五齿轮71的第一转速转换成齿条91移动的第二速度，需要在第五齿轮71与齿条91之间设置第三齿轮97与第四齿轮98来调节。由于第三齿轮97与第四齿轮98的直径不同，则第三齿轮97与第四齿轮98旋转时的线速度也不同，因此，第三齿轮97与第四齿轮98可以将第五齿轮71的第一转速转换成齿条91移动的第二速度。
下面详细介绍吻合器100的工作过程：
操作者按压第一按键61并保持按压状态，控制模块52接收按压第一按键61发出的信号并向电机70发出运转指令，电机70驱动第五齿轮71沿第一方向转动，第五齿轮71驱动第一齿轮88沿第二方向转动，凸轮89也沿第二方向同步转动，在凸轮89转动的过程中，压环组件81的凸柱86从直线槽892的第一端893沿着直线槽892移动至直线槽892的第二端894(即为圆弧槽891的第三端895)，由此驱动压环组件81向前移动，压环组件81驱动套管22向前移动，此时，套管22驱动抵钉座32向下转动进而闭合端部执行器30；另一方面，在凸柱86由直线槽892的第一端893沿着直线槽892移动至直线槽892的第二端894的过程中，第五齿轮71驱动第二齿轮95沿第二方向转动，在此过程中，第二齿轮95与第三齿轮97的交接位置处于第二齿轮95的无齿部，因此，第二齿轮95转动不会带动第三齿轮97转动，由此实现端部执行器30闭合的过程中，切割刀41保持不动。
当压环组件81前进至一定位置时，压环组件81上的第一凸块812触发第三行程开关67，第三行程开关67所在的位置为压环组件81向前移动的前止点，即端部执行器30闭合到位，此时，凸柱86位于直线槽892的第二端894(即圆弧槽891的第三端895)。控制模块52接收第三行程开关67发出的信号并向电机70发出停止运转的指令，电机70停止转动。临床医生听不到电机70运转的声音，释放第一按键61，操作压榨保持机构。
待压榨保持机构工作完毕或者压榨保持机构运行被终止后，临床医生按压第一按键61并保持按压状态，控制模块52接收按压第一按键61发出的信号并对信号进行分析处理，控制模块52根据分析处理后的信号向电机70发出运转指令，电机70驱动第五齿轮71继续沿第一方向转动，第五齿轮71驱动第二齿轮95沿第二方向转动，第二齿轮95与第三齿轮97的交接位置由第二齿轮95的无齿部953转动至与无齿部953平行的第一有齿部951的部分，第二齿轮95的第一有齿部951与第三齿轮97啮合并驱动第三齿轮97沿第一方向转动，由于第三齿轮97与第四齿轮98为一体成型，第四齿轮98也沿第一方向转动，第四齿轮98驱动齿条91向前移动，齿条91驱动芯轴21向前移动，芯轴21驱动推刀件42向前移动，推刀件42驱动切割刀41向前移动以切割组织；另一方面，第五齿轮71带动第一 齿轮88沿第二方向转动，凸柱86由直线槽892的第二端894(即圆弧槽891的第三端895)沿着圆弧槽891向圆弧槽891的第四端896移动，此时，凸轮89的转动不会带动压环组件81向前和向后移动，由此在切割刀41向前移动的过程中端部执行器30保持闭合。
当齿条91前进至一定位置时，齿条91上的凸部99与第一行程开关65接触，第一行程开关65所在的位置为切割刀41向前移动的前止点，即切割完毕的位置，此时，凸柱86位于圆弧槽891的第四端896；第二齿轮95与第三齿轮97的啮合点位于接近第二齿轮95的第一有齿部951与缺齿部952的第一交界处，即，若第二齿轮95继续沿第二方向转动，则第二齿轮95的第一有齿部951将会与第三齿轮97脱离啮合。控制模块52接收到第一行程开关65发出的信号并向电机70发出停止运转的指令，电机70停止转动，医生释放第一按键61，控制模块52接收释放第一按键61发出的信号并向电机70发出运转指令，电机70驱动第五齿轮71沿第二方向转动，第五齿轮71驱动第二齿轮95沿第一方向转动，第二齿轮95的第一有齿部951驱动第三齿轮97沿第二方向转动，由于第三齿轮97与第四齿轮98为一体成型，第四齿轮98也沿第二方向转动，第四齿轮98驱动齿条91向后移动，齿条91驱动芯轴21向后移动，芯轴21驱动推刀件42向后移动，推刀件42驱动切割刀41向后移动，从而实现退刀；另一方面，第五齿轮71驱动第一齿轮88沿第一方向转动，凸柱86由圆弧槽891的第四端896沿着圆弧槽891向圆弧槽891的第三端895(即直线槽892的第二端894)移动，此时，凸轮89的转动不会带动压环组件81向前和向后移动，由此在切割刀41向后移动的过程中端部执行器30保持闭合。
当齿条91向后移动至一定位置时，齿条91上的凸部99与第二行程开关66接触，第二行程开关66所在的位置为切割刀41向后移动的后止点，此时，凸柱86位于圆弧槽891的第三端895(即直线槽892的第二端894)；第二齿轮95与第三齿轮97的啮合点位于接近第二齿轮95的第一有齿部951与缺齿部952的第二交界处，即，若第二齿轮95继续沿第一方向转动，则第二齿轮95的第一有齿部951将会与第三齿轮97脱离啮合。控制模块52接收到第二行程开关66发出的信号并向电机70发出停止运转的指令，此时，电机70停止工作，退刀完毕。退刀完毕后，临床医生按压第二按键62并保持按压状态，控制模块52接收到按压第二按键62发出的信号并向电机70发出运转指令，电机70驱动第五齿轮71沿第二方向转动，第五齿轮71驱动第一齿轮88沿第一方向转动，凸轮89也沿第一方向同步转动，在凸轮89转动的过程中，凸柱86从直线槽892的第二端894沿着直线槽892移动至直线槽892的第一端893，压环组件81向后移动，压环组件81带动套管22向后移动，此时，套管22驱动抵钉座32向上转动进而打开端部执行器30；另一方面，第五齿轮71驱动第二齿轮95沿第一方向转动，第二齿轮95的第一有齿部951与第三齿轮97脱离啮合，即，在凸柱86从直线槽892的第二端894沿着直线槽892移动至直线槽892的第一 端893的过程中，第二齿轮95与第三齿轮97的交接位置处于第二齿轮95的无齿部953，因此，第二齿轮95转动不会带动第三齿轮97转动，由此实现端部执行器30打开的过程中，切割刀41保持不动。
当压环组件81后退至一定位置时，压环组件81上的第二凸块813与第四行程开关68接触，第四行程开关68所在的位置为压环组件81向后移动的后止点，即端部执行器30开启到位，此时，凸柱86位于直线槽892的第一端893。控制模块52接收到第四行程开关68发出的信号并向电机70发出停止运转的指令，此时，电机70停止工作。
在本实施例中，第一凸块812与第二凸块813设置于压环84，也可设置于连接杆85，如图7所示。在其它实施例中，第一凸块812与第二凸块813也可设置于第一齿轮88，如图14所示。
在本实施例中，第一齿轮88包括有效转程结构和空转程结构，第一齿轮88包括圆弧槽891和直线槽892，直线槽892为有效转程结构，圆弧槽891为空转程结构。当凸柱86在直线槽892内移动时，第一齿轮88驱动压环组件81向前移动；当凸柱86在圆弧槽891内移动时，第一齿轮88不驱动压环组件81向前移动。第二齿轮95包括有效转程结构和空转程结构，第二齿轮95包括第一有齿部951和缺齿部952，缺齿部952包括第二有齿部954和无齿部953，无齿部953为空转程结构，与无齿部953平行的第一有齿部951的部分为有效转程结构。当第三齿轮97啮合于第二齿轮95的、与无齿部953平行的第一有齿部951的部分时，第二齿轮95驱动第三齿轮97运动；当第三齿轮97啮合于第二齿轮95的无齿部953时，第二齿轮95不驱动第三齿轮97运动。
由此可以看出，本实施例中，缺齿部952沿竖直方向(轴向)包括相邻设置的第二有齿部954和无齿部953。第一有齿部951虽然一体设置，但第一有齿部951沿竖直方向(轴向)包括啮合对象不同的第一齿部959与第二齿部957：第一齿部959始终与第五齿轮71啮合、第二齿部957与第三齿轮97选择性啮合。第一齿部959和第二齿部957在竖直方向上相邻设置，第一齿部959和第二齿部957的分界线与第二有齿部954和无齿部953的分界线位于同一高度上。
第一齿部959与第二有齿部954在圆周方向上邻接设置。第一齿部959与第二有齿部954高度相等。第一齿部959的顶面(虚拟面)与第二有齿部954的顶面位于同一高度。在圆周方向，第一齿部959与第二有齿部954形成一个完整齿轮，为方便描述，将该齿轮命名为第六齿轮，第六齿轮始终与第五齿轮71啮合并由第五齿轮71驱动而转动。第二齿部957与无齿部953在圆周方向上邻接设置。第二齿部957与无齿部953高度相等。第二齿部957的底面(虚拟面，与第一齿部959的顶面为同一面)与无齿部953的底面(与第二有齿部954的顶面为同一面)位于同一高度。第二齿部957为有效转程结构，无齿部953 为空转程结构。第六齿轮形成第二齿部957的驱动齿轮。第六齿轮被第五齿轮71驱动而转动，当第六齿轮转动使得第一有齿部951的第二齿部957与第三齿轮97啮合时，第五齿轮71通过第六齿轮顺次驱动第二齿部957、第三齿轮97、第四齿轮98转动，进而驱动齿条91直线移动；当第六齿轮转动使得无齿部953与第三齿轮97耦合时，第五齿轮71、第六齿轮可以在电机70驱动下转动，但第三齿轮97、第四齿轮98不转动，齿条91亦不输出直线移动。耦合是指第三齿轮97的部分齿位于无齿部953所在的空间区域而与无齿部953没有接触，由于与无齿部953没有接触(包括由于无齿部953没有齿而不相互啮合)，因此第三齿轮97在与无齿部953耦合的过程中不被驱动。
在本发明中，空转程是指驱动装置在具有运动输入即被驱动的情况下，驱动装置没有运动输出，即不驱动切割刀或端部执行器。空转程结构是指驱动装置的部件所具有的、可实现空转程的结构。有效转程是指驱动装置在具有运动输入即被驱动的情况下，驱动装置具有运动输出，即驱动切割刀或端部执行器。有效转程结构是指驱动装置的部件所具有的、可实现有效转程的结构。
驱动装置包括驱动齿轮，在本实施例中，第五齿轮71为驱动齿轮，驱动齿轮始终与电机70连接并由电机70驱动，电机70经由驱动齿轮(第五齿轮71)驱动第一驱动装置80和第二驱动装置90。也可将第五齿轮称为前置驱动齿轮。
第一驱动装置80包括由电机70驱动的第一驱动齿轮。具体的，电机70经由前置驱动齿轮驱动第一驱动齿轮。在本实施例中，第一驱动齿轮为第一齿轮88。第一驱动装置80还包括第一有效转程结构(直线槽892)和第一空转程结构(圆弧槽891)。具体的，第一有效转程结构(直线槽892)和第一空转程结构(圆弧槽891)设置在第一齿轮88的端面。第一驱动装置80还包括第一输出件，在本实施例中，第一输出件为套管22。
由此，前置驱动齿轮经由第一驱动装置80的第一驱动齿轮驱动第一有效转程结构时，第一输出件被第一有效转程结构驱动从而运动，前置驱动齿轮经由第一驱动装置80的第一驱动齿轮驱动第一空转程结构时，第一输出件不被第一空转程结构驱动从而不运动。具体的，第五齿轮71经由第一驱动装置80的第一齿轮88驱动第一有效转程结构(直线槽892)时，套管22被第一有效转程结构驱动而移动，第五齿轮71经由第一驱动装置80的第一齿轮88驱动第一空转程结构(圆弧槽891)时，套管22不被第一空转程结构驱动从而不移动。
第二驱动装置90包括由电机70驱动的第二驱动齿轮。具体的，电机经由前置驱动齿轮驱动第二驱动齿轮。在本实施例中，第二驱动齿轮为第二齿轮95的第一齿部959与第二有齿部954形成的第六齿轮。第二驱动装置90还包括第二有效转程结构(第一有齿部951上与无齿部953邻接设置的第二齿部957)和第二空转程结构(无齿部953)。第二驱动装 置90还包括第二输出件，在本实施例中，第二输出件为齿条91。
由此，前置驱动齿轮经由第二驱动装置90的第二驱动齿轮驱动第二有效转程结构时，齿条91线性移动，前置驱动齿轮经由第二驱动装置90的第二驱动齿轮驱动第二空转程结构时，齿条91不移动。具体的，第五齿轮71经由第六齿轮驱动第二齿部957时，齿条91线性移动；第五齿轮71经由第六齿轮驱动无齿部953时，齿条不移动。
也就是说，一个驱动齿轮(第五齿轮71)既可以通过包括第一有效转程结构(直线槽892)的第一驱动装置80驱动套管22运动，又可以通过包括第二有效转程结构(第二齿部957)的第二驱动装置90驱动齿条91运动，结构设计十分合理。具体的，套管22和齿条91的运动均为直线移动。
第五齿轮71始终与电机70连接并由电机70驱动，只要电机70启动使得电机轴转动，第五齿轮71即会转动，而第五齿轮71转动过程中不会同时通过第一驱动装置80驱动套管22、通过第二驱动装置90驱动齿条91运动，从而可以避免吻合器不正确使用。具体的，电机70择一地驱动第一有效转程结构和第二有效转程结构中的一个。也就是说，在驱动的过程中，电机70只能驱动第一有效转程结构和第二有效转程结构中的一个。使得电机70驱动套管22时不会驱动齿条91，而驱动齿条91时不会驱动套管22，使吻合器合理工作。
驱动装置具有两个状态：在第一状态，电机70驱动第一有效转程结构及第二空转程结构；在第二状态，电机70驱动第二有效转程结构及第一空转程结构。
也就是说，在第一状态，驱动齿轮(第五齿轮71)驱动第一驱动装置80的第一有效转程结构及第二驱动装置90的第二空转程结构，由此，驱动齿轮驱动套管22运动时不会驱动齿条91运动，从而驱动齿轮(第五齿轮71)驱动端部执行器30打开或关闭时不会驱动切割刀组件40运动。
在第二状态，驱动齿轮(第五齿轮71)驱动第二驱动装置90的第二有效转程结构及第一驱动装置80的第一空转程结构，由此，驱动齿轮(第五齿轮71)驱动切割刀组件40运动时不会驱动套管22运动，从而驱动齿轮(第五齿轮71)驱动切割刀组件40运动时不会驱动端部执行器30打开或关闭。
可以看出，驱动齿轮(第五齿轮71)虽然既可驱动第一驱动装置80，又可驱动第二驱动装置90，但却不会同时驱动第一驱动装置80的第一有效转程结构及第二驱动装置90的第二有效转程结构，设计十分合理。而且驱动装置的两个状态，满足了端部执行器30与切割刀组件40的动作逻辑。
可见，凸轮89的凹槽890包括圆弧槽891和直线槽892，凸柱86位于凹槽890内，由此既可以驱动端部执行器30打开和闭合，又可以在切割刀组件40移动的过程中保持端部执行器30闭合。第二齿轮95包括第一有齿部951与缺齿部952，第一有齿部951包括第 二齿部957，缺齿部952包括无齿部953，由此既可以驱动切割刀组件40向前和向后移动，又可以在端部执行器30打开和闭合的过程中保持切割刀组件40不动。本发明的吻合器100设置了单个电机70，既可驱动第一驱动装置80工作，从而驱动端部执行器30使其开启和关闭；又可驱动第二驱动装置90工作，从而驱动切割刀组件40使其向前和向后移动；同时满足了端部执行器30和切割刀组件40之间的动作逻辑。进一步的，本发明中，在电机70驱动驱动装置工作的过程中，依靠驱动装置的组成部件本身的结构即可实现有效转程和空转程，驱动装置的实现有效转程和空转程的部件之间的相对位置无需发生改变，相对位置无需发生改变是指凸柱始终位于凹槽中、以及第二齿轮与第三齿轮之间没有相对直线位移，各部件的结构及相互连接关系较简单，在各部件组装的过程中，产生组装误差的概率较小，吻合器100在工作过程中也不易发生故障。
在第二实施例中，第一齿轮可替换成如图13所示的第一齿轮，第一齿轮88包括凸轮89，凸轮89设有自其顶面向下凹陷形成的凹槽890，连接件83的凸柱86位于凹槽890内。凹槽890包括一个圆弧槽891与一个直线槽892，直线槽892将圆弧槽891的两端连通起来，即，直线槽892与圆弧槽891共同形成一个封闭的环形；所述连通是指凹槽890的一部分与凹槽890的另一部分相通，使得凸柱86可以从凹槽890的一部分移动至凹槽890的另一部分；定义直线槽892的两端分别为第一端893与第二端894，位于第一端893与第二端894之间的中间位置为中部。在凸轮89转动的过程中，凸柱86由直线槽892的中部沿着直线槽892移动至直线槽892的第二端894，在此过程中，压环组件81向前移动，压环组件81带动套管22向前移动，当套管22向前移动时，套管22的第二端部24驱动抵钉座32向下转动实现闭合；在凸轮89转动的过程中，凸柱86由直线槽892的第二端894沿着直线槽892移动至直线槽892的中部，在此过程中，压环组件81向后移动，压环组件81带动套管22向后移动，当套管22向后移动时，套管22的第二端部24驱动抵钉座32向上转动实现开启。当凸柱86位于圆弧槽891内且沿着圆弧槽891来回移动时，由于圆弧槽891的同一内壁的任意一点至第一杆件87的径向距离不变，因此，当凸轮89转动时，凸柱86在纵长方向上相对于第一杆件87的距离不变，即，凸轮89的转动不会带动压环组件81向前或向后移动。在该实施例中，凸柱86由直线槽892的中部沿着直线槽892移动至直线槽892的第二端894(圆弧槽的一端)，由此实现端部执行器30的闭合；凸柱86再由直线槽892的第二端894沿着圆弧槽891移动至直线槽892的第一端893(圆弧槽891的另一端)，由此实现在切割刀41向前移动的过程中，端部执行器30保持闭合；凸柱86再由直线槽892的第一端893沿着圆弧槽891移动至直线槽892的第二端894，由此实现在切割刀41向后移动的过程中，端部执行器30保持闭合；凸柱86由直线槽892的第二端894沿着直线槽892移动至直线槽892的中部，由此实现端部执行器30的开启。
图21至图28示出了本发明第三实施例的外科器械
请结合图21至图23，与第一实施例相同，本实施例涉及一种外科器械，具体为一种吻合器。
与第一实施例相同，外科器械包括驱动组件(电机70及由电机70驱动的第五齿轮71)、由驱动组件通过驱动装置驱动的端部执行器和切割刀组件。驱动装置包括第一驱动装置及第二驱动装置。第一驱动装置驱动端部执行器，第二驱动装置驱动切割刀组件。因此，可将第一驱动装置称为端部执行器驱动装置，将第二驱动装置称为切割刀组件驱动装置。
与第一实施例相同，第一驱动装置包括第一有效转程结构和第一空转程结构。第二驱动装置包括第二有效转程结构和第二空转程结构。电机70择一地驱动第一有效转程结构和第二有效转程结构中的一个。也就是说，外科器械使用过程中，电机70要么驱动第一有效转程结构，从而驱动端部执行器打开或闭合；要么驱动第二有效转程结构，从而驱动切割刀组件向前移动(即进刀)或向后移动(即退刀)，避免吻合器工作过程中出错。
更具体的，驱动装置具有两个状态，在第一工作状态，电机70驱动第一有效转程结构并与第二空转程结构耦合；在第二工作状态，电机70驱动第二有效转程结构并与第一空转程结构耦合。也就是说，在第一工作状态，电机70驱动端部执行器打开或闭合而不驱动切割刀组件，在第二工作状态，电机70驱动切割刀组件进刀或退刀而不驱动端部执行器。耦合包括直接耦合，也包括间接耦合。同理，驱动包括直接驱动，亦包括间接驱动。
与第一实施例相同，手术中的外科器械在一次正常的使用过程中，按如下步骤操作：
S1:电机70的输出轴沿第一方向转动，电机70驱动第一有效转程结构并与第二空转程结构耦合；
S2:电机70的输出轴继续沿第一方向转动，电机70驱动第二有效转程结构并与第一空转程结构耦合；
S3:电机70的输出轴沿第二方向转动，第二方向与第一方向相反，电机70驱动第二有效转程结构并与第一空转程结构耦合；
S4:电机70继续沿第二方向转动，电机70驱动第一有效转程结构并与第二空转程结构耦合。
因此，手术中的外科器械在一次正常的使用过程中，电机70的输出轴会换向(分别沿第一方向、第二方向转动)，在电机70的每一个转动方向上，都会有第一工作状态和第二工作状态的转换，对驱动装置做到物尽其用，在满足端部执行器和切割刀组件之间的动作逻辑关系的前提下简化了驱动装置的结构，设计十分合理。
外科器械执行步骤S1使得驱动装置驱动端部执行器闭合，从而夹紧组织；
执行步骤S2使得驱动装置驱动切割刀组件进刀，从而切割组织；
执行步骤S3使得驱动装置驱动切割刀组件退刀，从而使切割刀组件复位；
执行步骤S4使得驱动装置驱动端部执行器打开，从而松开组织。
可以看出，本发明的外科器械的驱动装置设计十分合理，不仅物尽其用，而且完整实现外科器械正常工作所需的功能。
需要说明的是，所谓的“正常”工作是指手术中没有出现其它波折，例如切割刀组件卡住等意外情况。外科器械当然会设计应急装置，以应对外科器械在手术中出现的意外情况，但这些应急装置不在本发明涉及的范围内，不再赘述。
与第一实施例相同，驱动装置还包括前置驱动齿轮，前置驱动齿轮始终与电机70连接并由电机70驱动，前置驱动齿轮驱动第一驱动装置和第二驱动装置。驱动装置的前置驱动齿轮为第五齿轮71。只要电机70启动使得其电机轴转动，前置驱动齿轮(第五齿轮71)即可驱动第一有效转程结构和第二有效转程结构中的一个，而不会同时驱动第一有效转程结构和第二有效转程结构。可将电机70与前置驱动齿轮称为动力组件。因此，本发明的驱动装置无需设置额外的离合装置实现第一有效转程结构和第二有效转程结构的切换，不仅减化了驱动装置的结构，而且避免离合操作带来的不稳定性，可以大大提高外科器械的安全性。
本实施例中的第二驱动装置与第一实施例的第二驱动装置结构相同。
具体请返回图9，第二驱动装置包括第二驱动齿轮，第二驱动齿轮始终与第五齿轮71啮合并由电机70通过第五齿轮71驱动。因此，第二驱动齿轮间接始终与电机70连接并由电机70驱动。第二有齿部954和第一有齿部951的第一齿部959形成的第六齿轮构成第二驱动齿轮，第五齿轮71驱动第二驱动齿轮转动。第二驱动装置包括第二有效转程结构和第二空转程结构，第二有效转程结构为第一有齿部951的第二齿部957，第二空转程结构为无齿部953。第二驱动装置还包括由第二有效转程结构驱动的齿条91。不再赘述。
可以看出，第二驱动装置包括第二驱动组件、与第二驱动组件接合的第二运动转换组件。具体的，第二驱动组件包括第二驱动件，第二驱动件为第二驱动齿轮，即第二有齿部954和第一有齿部951的第一齿部959形成的第六齿轮。第二运动转换组件包括第二传动件和第二输出件。具体的，第二传动件包括第二齿部957、无齿部953，第二输出件包括齿条91。第二驱动件和第二传动件一体设置，使得第二驱动件和第二传动件同步运动。
第二齿部957为有效转程结构，无齿部953为空转程结构，因此，在第二驱动装置中，第二有效转程结构和第二空转程结构设置于第二运动转换组件，具体设置于第二运动转换组件的第二传动件。第二有效转程结构与第二输出件接合，第二输出件运动，第二空转程结构与第二输出件耦合时，第二输出件未被驱动。具体的，第二齿部957与齿条91接合时，第二齿部957驱动齿条91直线移动；无齿部953与齿条91耦合时，齿条91未被驱动。可 以看出，无论是第二齿部957与齿条91接合，还是无齿部953与齿条耦合，第二齿部957和无齿部953形成的第二传动件通过第二驱动齿轮始终与第五齿轮71接合。
需要说明的是，本申请中，耦合是指两个部件之间不会传递运动；而结合是指两个部件连接并可传递运动。需要说明的是，本申请中，耦合包括直接耦合和间接耦合，当位于同一驱动“链条”中的部件A与部件B邻近、不接触从而不传递运动，则部件A与部件B之间为直接耦合，同一驱动“链条”中直接或间接驱动部件A的其它部件与部件B之间、部件A与同一驱动“链条”中直接或间接被部件B驱动的其它部件之间均为间接耦合。接合包括直接接合和间接接合，当位于同一驱动“链条”中的部件C与部件D连接并可传递运动，则部件C与部件D之间为直接接合，同一驱动“链条”中直接或间接驱动部件C的其它部件与部件D之间、部件C与同一驱动“链条”中直接或间接被部件D驱动的其它部件之间均为间接接合。例如，电机、前置驱动齿轮、第一驱动齿轮、第一驱动组件、第一运动转换组件构成一个驱动“链条”，电机、前置驱动齿轮、第二驱动齿轮、第二驱动组件、第二运动转换组件也构成一个驱动“链条”。
虽然第二齿部957和齿条91之间还设置有包括第三齿轮97和第四齿轮98在内的减速组件，但减速组件只是实现减速，并不影响第二运动转换组件的实质工作原理。
本实施例中的第一驱动装置的部分结构与第一实施例不同。
从上文描述可以看出，第一实施例中，第一驱动装置包括第一驱动组件及由第一驱动组件驱动的第一运动转换组件。第一运动转换组件包括第一传动件、与第一传动件接合第一输出件。具体的，第一驱动组件包括第一齿轮88。第一传动件包括直线槽892和圆弧槽891，第一输出件包括凸柱96。第一输出件可以是第一运动转换组件的直接输出件，例如为凸柱96；第一输出件也可以是第一运动转换组件的间接输出件，例如为套管22或其它后续的输出件。
在第一实施例中，直线槽892为有效转程结构，圆弧槽891为空转程结构，也就是说，在第一实施例中，有效转程结构和空转程结构设置于运动转换组件。运动转换组件实现两种不同的运动形式的转换。
而本实施例中，第一驱动装置由动力组件驱动，第一驱动装置包括驱动组件、由驱动组件驱动的运动转换组件。运动转换组件包括驱动件和输出件。驱动组件包括第一有效转程结构和第一空转程结构，第一驱动装置具有第一状态和第二状态，在第一状态，动力组件与第一有效转程结构接合时，驱动组件驱动运动转换组件，输出件运动；在第二状态，动力组件与第一空转程结构耦合，运动转换组件脱离所述动力组件的驱动，驱动组件不驱动运动转换组件，输出件未被驱动。也就是说，本实施例中，有效转程结构和空转程结构设置于驱动组件。驱动组件只是传递其之前的运动形式而不会实现运动形式的转换。
本实施例的第一驱动装置和第一实施例相比，虽然一个将有效转程结构和空转程结构设置于驱动组件，另一个将有效转程结构和空转程结构设置于运动转换组件，但本实施例和第一实施例的发明构思也有相同的地方，即通过在驱动装置的传动链条中设置有效转程结构和空转程结构，从而实现即使电机被驱动，输出件亦可按需被驱动或不被驱动。
具体的，本实施例中，驱动组件包括第一驱动件和转动件720，有效转程结构和空转程结构设置于转动件720，第一驱动件和转动件720具有两种状态，在第一状态，转动件720的有效转程结构和第一驱动件由电机70同步驱动，转动件720驱动运动转换组件，输出件运动；在第二状态，电机70与空转程结构耦合，电机驱动第一驱动件而不驱动转动件720，转动件720不驱动运动转换组件，输出件未被驱动。当电机70驱动第一有效转程结构时，运动转换组件将转动件720的转动转换为输出件的直线运动，输出件直线运动进而驱动端部执行器打开或闭合；当电机70与第一空转程结构耦合时，电机70不能驱动套管运动。
具体的，第一驱动件为第一驱动齿轮732，第一驱动齿轮732始终与电机70连接并由电机70驱动。更具体的，第一驱动齿轮732始终与第五齿轮71啮合，而第五齿轮71始终与电机70连接并由电机70驱动，从而第一驱动齿轮732间接地与电机70连接并由电机70驱动。
第一有效转程结构为有齿部724，第一空转程结构为无齿部730。有齿部724和无齿部730设置在转动件720的周向面上。有齿部724和无齿部730邻接设置。无齿部730的外径小于有齿部724的外径，有齿部724的外径包含齿沿转动件720径向的尺寸。
运动转换组件包括传动件件和输出件，传动件设置于转动件720。传动件包括第一槽722，输出件包括凸柱86。第一槽722与转动件720的转动中心之间的径向距离沿第一槽722增加或者减小，凸柱86在第一槽722内滑动将转动件720的转动转换为凸柱86的直线运动。凸柱86为直接的输出件。与第一实施例相同，凸柱86与连接杆、压环、套管顺次连接。顺次连接的含义是：连接杆与凸柱86连接，压环与连接杆连接，套管与压环连接。套管可驱动端部执行器打开或闭合。可将套管视为间接的输出件。
在第一状态下，转动件720的有齿部724和第一驱动齿轮732同时与第五齿轮71啮合，转动件720和第一驱动齿轮732被第五齿轮71驱动而同步转动，转动件720被第五齿轮71驱动而转动，即可通过第一槽722与凸柱86的配合而驱动凸柱86直线运动，最终驱动端部执行器闭合或打开；在第二状态下，仅第一驱动齿轮732与第五齿轮71啮合而被电机70驱动，而转动件720的无齿部730与第五齿轮71耦合而间接与电机70耦合，转动件720的无齿部730无法与第五齿轮71啮合，转动件720不会驱动端部执行器闭合或打开。耦合的含义与在前内容中的限定一致。还需要说明的是，与前面的描述一致，耦合包括直接耦合和间接耦合。
医生在使用外科器械时，在端部执行器闭合后、切割刀组件进刀前，医生通常会操作压榨保持机构以压榨组织，在压榨组织过程中，组织变薄，端部执行器会进一步闭合。为了保证压榨组织过程中，驱动齿轮始终对端部执行器施力而使端部执行器始终位于闭合状态，请参见图24，本实施例中，第一有效转程结构包括邻接设置的第一部分和第二部分，第一部分驱动端部执行器执行第一阶段的闭合而夹紧组件，第二部分驱动端部执行器执行第二阶段的闭合而压榨组织。具体的，有齿部724包括邻接设置的转程驱动齿部726和压榨保持齿部728。前置驱动齿轮驱动转程驱动齿部726时，凸柱86在第一槽722内滑动而驱动端部执行器闭合。在压榨保持过程中，压榨保持齿部728与前置驱动齿轮啮合，从而在压榨保持过程中，前置驱动齿轮经由压榨保持齿部728始终对端部执行器施以一定的作用力，避免端部执行器意外松开。由于在组织压榨过程中，端部执行器的闭合行程较小，在本实施例中，压榨保持齿部728包括一到两个齿部。
与“第一有效转程结构包括邻接设置的第一部分和第二部分”相对应，第一槽722包括连通的第一段和第二段，第一段和第二段临接设置。第一部分与动力组件接合，使得第一输出件与第一段与接合；第二部分与动力组件接合，使得第一输出件与第二段接合。具体的，转程驱动齿部726与第五齿轮71及电机70接合，使得凸柱86在第一段内移动，从而驱动端部执行器执行第一阶段的闭合；压榨保持齿部728与与第五齿轮71及电机70接合，使得凸柱86在第二段内移动，从而驱动端部执行器执行第一阶段的闭合。
凸柱86在第一段内移动时，驱动端部执行器闭合以夹持组织，凸柱86在第二段内移动时，驱动端部执行器进一步闭合以压榨组织。
第一槽722还可包括与第二段连通的第三段，第二段位于第一段和第三段之间。设置第三段可为凸柱86在第一槽722内的滑动提供一定的余量，避免卡死。
第一驱动齿轮732和转动件720叠置，具体的，第一驱动齿轮732和转动件720在轴向上叠置。可以方便地使第一驱动齿轮732和转动件720的有齿部724同时与第五齿轮71啮合。
第一驱动齿轮732的第一端面与转动件720的第二端面相邻近，两个端面中的一个设置第二圆弧槽734，另一个设置有伸入第二圆弧槽734的突起736，第二圆弧槽734的圆心位于第一驱动齿轮732的转动轴线上。突起736可在第二圆弧槽734内滑动。一方面，突起736与第二圆弧槽734配合可以保证第一驱动齿轮732和转动件720叠置；另一方面，突起736可在圆弧槽内滑动，使得在第二状态下，转动件720不随第一驱动齿轮732转动，保证第一空转程的运行，从而在驱动装置驱动切割刀组件移动时，转动件720不会驱动端部执行器闭合或打开。
请返回图7和图8，第一实施例中，第一齿轮88通过凸柱86在直线槽892内滑动而驱 动套管直线移动进而驱动端部执行器打开或闭合，因此，第一齿轮88对套管进而对端部执行器施以作用力。根据作用力和反作用力的原理可知，反过来，端部执行器间接对第一齿轮88施以一定的反作用力。在切割刀组件切割组织时，端部执行器夹紧组织，夹紧组织由切割刀组件在切割过程中跟端部执行器的配合实现。具体而言，切割刀组件具有上耳部、下耳部和连接于上耳部和下耳部的连接部，上耳部、下耳部及连接部固定连接或一体成型。在切割过程中，切割刀组件的上耳部在端部执行器的抵钉座的槽中移动，下耳部在钉仓座的槽中移动。上耳部通过抵钉座的槽对抵钉座的牵拉作用，下耳部通过钉仓座的槽对钉仓座的牵拉作用实现切割过程中抵钉座跟钉仓座相互夹紧。组织对端部执行器的反作用力经由第一齿轮88反向传递至第五齿轮71及电机70，这个反作用力会减少第五齿轮71通过第二驱动装置传递至切割刀组件的动力，从而影响切割刀组件的切割效率。
请结合图21至图23，本实施例中，突起736可在第二圆弧槽734内自由滑动。因此，第一驱动齿轮732和转动件720之间为松配合。因此，在切割刀组件切割组织时，即使端部执行器夹紧组织，但由于转动件720和第一驱动齿轮732之间的松配合，端部执行器对转动件720施以的反作用力不会传递至第五齿轮71，或者仅有一小部分反作用力可以传递至第五齿轮71，避免或减少对切割刀组件的切割效率的影响，从而提高切割刀组件的切割效率。
突起736的宽度小于第二圆弧槽734的宽度。这使得突起736可在第二圆弧槽734内滑动，实现第二状态的功能。本领域技术人员可以想到，突起736的宽度与第二圆弧槽734的宽度相等亦可，凡采用与本实施例相同或类似的方案均涵盖在本发明的保护范围内。
驱动装置驱动第二有效转程结构时，突起736在第二圆弧槽734内滑动。本实施例中，第二圆弧槽734的周向延伸长度大于第二有效转程所需的周向延伸长度。为突起736在第二圆弧槽734内的运动提供余量。本领域技术人员可以想到，第二圆弧槽734的周向延伸长度与第二有效转程的周向延伸长度相等亦可，凡采用与本实施例相同或类似的方案均涵盖在本发明的保护范围内。
突起736与第二圆弧槽734的端部抵接使转动件720和第一驱动齿轮732从第二状态切换至第一状态的预备位置。具体的，本实施例中，退刀完毕后，突起736抵接第二圆弧槽734的首端742，可以使转动件720的有齿部724与第一驱动齿轮732的齿上下对齐，此时，如果电机70转动，转动件720和第一驱动齿轮732可同步与前置驱动齿轮71啮合，以保证后续端部执行器的顺利打开而松开组织。
由此，本实施例中，转动件720的有齿部724为第一有效转程结构，转动件720的无齿部730为第一空转程结构。而第一驱动齿轮732始终与第五齿轮71啮合并由电机70驱动，方便地实现了有效转程和空转程切换，结构设计合理。
下面结合图24至图27描述本实施例中外科器械的相关工作过程。
如图24所示，此时，端部执行器处于打开状态，切割刀组件位于初始位置。第一驱动装置中，凸柱86位于第一槽722的第一端738，突起736位于第二圆弧槽734的首端742，转动件720的有齿部724和第一驱动齿轮732同时与驱动齿轮(第五齿轮71)啮合。
此时，若医生确定端部执行器已对准需要切割的组织，医生启动电机70，电机70沿第一方向转动而驱动驱动齿轮(第五齿轮71)转动，转动件720和第一驱动齿轮732位于第一状态，驱动齿轮(第五齿轮71)转动同时驱动转动件720和第一驱动齿轮732转动。这个过程中，转动件720和第一驱动齿轮732无相对转动，因此，突起736保持在第二圆弧槽734的首端742；而转动件720的转动驱动凸柱86在第一槽722内从第一端738朝向第二端740移动，端部执行器逐渐闭合，第一驱动装置到达图25所示的位置。
在图25所示的位置，驱动齿轮(第五齿轮71)仍然与有齿部724啮合，具体的，驱动齿轮(第五齿轮71)仍然与有齿部724的压榨保持齿部728啮合。此时，医生可操作压榨保持机构，在这个过程中，驱动齿轮(第五齿轮71)同时驱动压榨保持齿部728和第一驱动齿轮732，凸柱86进一步朝向第二端740移动一小段距离，端部执行器进一步闭合达到图26所示的位置。
在图26所示的位置，端部执行器已将组织压榨完毕，转动件720和第一驱动齿轮732从第一状态切换到第二状态，驱动齿轮(第五齿轮71)与转动件720的有齿部724脱离啮合，驱动齿轮(第五齿轮71)仅与第一驱动齿轮732啮合。此时，医生可操作切割刀组件，电机70继续沿第一方向转动，电机70通过与第一实施例相同的第二驱动装置(图26仅示出部分)驱动切割刀组件进刀，使切割刀组件从初始位置运动至终止位置，在这个过程中，无齿部730与驱动齿轮(第五齿轮71)耦合，驱动齿轮(第五齿轮71)无法通过无齿部730驱动端部执行器运动，但驱动齿轮(第五齿轮71)可以驱动第一驱动装置的第一驱动齿轮732转动，而驱动突起736在第二圆弧槽734内从首端742朝向末端744滑动，到达图27所示的位置。
在图27所示的位置，切割刀组件位于终止位置，组织切割完毕。此时，医生可操作电机70反向转动，即沿与第一方向相反的第二方向转动，电机70通过与第一实施例相同的第二驱动装置(图27仅示出部分)驱动切割刀组件退刀，使切割刀组件从终止位置退回至初始位置，在这个过程中，无齿部730与驱动齿轮(第五齿轮71)耦合，驱动齿轮(第五齿轮71)无法通过无齿部730驱动端部执行器运动，但驱动齿轮(第五齿轮71)可驱动第一驱动装置的第一驱动齿轮732反向转动而驱动突起736在第二圆弧槽734内朝向首端742滑动，当突起736与第二圆弧槽734的首端742抵接时，转动件720的有齿部724和第一驱动齿轮732的齿部上下对齐，到达图28所示的位置。
在图28所示的位置，医生可操作电机70使电机70继续反向转动，驱动齿轮(第五齿轮71)开始同时驱动转动件720和第一驱动齿轮732反向转动，突起736保持在第二圆弧槽734的首端742位置，而凸柱86在第一槽722内沿朝向第一端738的方向移动，从而驱动端部执行器打开，回到图24所示的状态。由此，外科器械实现一次完整的操作，在这个操作过程中，外科器械依次实现端部执行器闭合夹持组织、切割刀组件进刀而切割组织、切割刀组件退刀、端部执行器打开松开组织。
在第二实施例至第三实施例中，除了在各实施例中已描述的技术特征以及可用上述已描述的技术特征替代的技术特征以外，上述各实施例中的其它技术特征与第一实施例相同的部分，不再赘述。
综上所述，本发明的吻合器100只设置一个电机70，此电机70既可驱动第一驱动装置80工作，从而驱动端部执行器30使其开启和关闭；又可驱动第二驱动装置90工作，从而驱动切割刀组件40使其向前和向后移动，本发明的吻合器100尺寸较小、成本较低，另外，一个电机70使得吻合器100整体重量较小，医生操作起来较灵活。本发明通过设置驱动装置中齿轮的结构来实现单电机驱动，第一驱动装置和第二驱动装置的结构简单。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，上述变化、修改、替换和变型后的技术方案均在本发明的保护范围内。

Claims (27)

  1. 一种驱动装置，由动力组件驱动，所述驱动装置包括第一驱动组件、第一运动转换组件，其特征在于：所述第一驱动组件包括第一有效转程结构和第一空转程结构，所述驱动装置具有第一状态和第二状态，在第一状态，所述动力组件与所述第一有效转程结构接合，所述第一有效转程结构驱动所述第一运动转换组件；在第二状态，所述动力组件与所述第一空转程结构耦合，所述第一运动转换组件脱离所述动力组件的驱动。
  2. 根据权利要求1所述的驱动装置，其特征在于：所述第一运动转换组件包括第一传动件和第一输出件，在所述第一状态，所述第一传动件驱动所述第一输出件运动；在所述第二状态，所述第一输出件未被驱动。
  3. 根据权利要求1所述的驱动装置，其特征在于：所述第一驱动组件包括第一驱动件和转动件，在所述第一状态，所述第一驱动件和所述转动件均与所述动力组件接合；在所述第二状态，所述第一驱动件和所述转动件中仅所述第一驱动件与所述动力组件接合。
  4. 根据权利要求1所述的驱动装置，其特征在于：所述第一运动转换组件包括第一传动件、与所述第一传动件接合的第一输出件，第一传动件设置于所述转动件。
  5. 根据权利要求3所述的驱动装置，其特征在于：所述第一有效转程结构和所述第一空转程结构均设置于所述转动件，在所述第一状态，所述第一有效转程结构和所述第一驱动件均与所述动力组件接合；在所述第二状态，所述第一空转程结构与所述动力组件耦合，所述第一驱动件与所述动力组件接合。
  6. 根据权利要求5所述的驱动装置，其特征在于：所述第一有效转程结构为有齿部，所述第一空转程结构为无齿部，所述有齿部和所述无齿部邻接设置；所述第一驱动件为第一驱动齿轮。
  7. 根据权利要求6所述的驱动装置，其特征在于：所述动力组件包括电机及由所述电机驱动的前置驱动齿轮，在所述第一状态，所述前置驱动齿轮同时与所述有齿部和所述第一驱动齿轮啮合；在所述第二状态，所述前置驱动齿轮与所述无齿部耦合、与所述第一驱动齿轮啮合。
  8. 根据权利要求3或5所述的驱动装置，其特征在于：所述第一驱动件和所述转动件叠置，所述第一驱动件与所述转动件中的一个设置圆弧槽，另一个设置伸入所述圆弧槽的突起，所述圆弧槽的圆心位于所述第一驱动件的转动轴线。
  9. 根据权利要求8所述的驱动装置，其特征在于：所述突起的宽度小于所述圆弧槽的宽度。
  10. 根据权利要求8所述的驱动装置，其特征在于：所述突起与所述圆弧槽的端 部抵接使得所述转动件和所述第一驱动件从所述第二状态切换至所述第一状态的预备位置。
  11. 根据权利要求5所述的驱动装置，其特征在于：所述第一运动转换组件包括第一槽和凸柱，所述第一槽与所述转动件的转动中心之间的径向距离沿所述第一槽增加或者减小，所述凸柱在所述第一槽内滑动将所述转动件的转动转换为所述凸柱的直线运动。
  12. 根据权利要求11所述的驱动装置，其特征在于：所述第一槽设置于所述转动件。
  13. 一种端部执行器驱动装置，其特征在于：所述端部执行器驱动装置包括权利要求1至12任一项所述的驱动装置，所述驱动装置用于驱动端部执行器打开或闭合。
  14. 根据权利要求13所述的端部执行器驱动装置，其特征在于：所述第一有效转程结构包括邻接设置的第一部分和第二部分，所述第一部分驱动所述端部执行器执行第一阶段的闭合而夹紧组织，所述第二部分驱动所述端部执行器执行第二阶段的闭合而压榨组织。
  15. 根据权利要求14所述的端部执行器驱动装置，其特征在于：所述第一运动转换组件包括第一传动件、与所述第一传动件接合的第一输出件，所述第一传动件包括邻接设置的第一段和第二段；所述第一部分与所述动力组件接合，使得所述第一输出件与所述第一段与接合；所述第二部分与所述动力组件接合，使得所述第一输出件与所述第二段接合。
  16. 根据权利要求15所述的端部执行器驱动装置，其特征在于：所述第一传动件还包括与所述第二段邻接设置的第三段，所述第二段位于所述第一段和所述第三段之间。
  17. 一种外科器械驱动装置，其特征在于：所述外科器械驱动装置包括权利要求13至16任一项所述的端部执行器驱动装置。
  18. 根据权利要求17所述的外科器械驱动装置，其特征在于：所述外科器械驱动装置还包括切割刀组件驱动装置，所述切割刀组件驱动装置驱动所述切割刀组件向前或向后移动。
  19. 根据权利要求18所述的外科器械驱动装置，其特征在于：所述切割刀组件驱动装置由所述动力组件驱动。
  20. 根据权利要求19所述的外科器械驱动装置，其特征在于：所述切割刀组件驱动装置包括第二有效转程结构和第二空转程结构，所述动力组件驱动所述第一有效转程结构和所述第二有效转程结构中的一个。
  21. 根据权利要求18所述的外科器械驱动装置，其特征在于：所述切割刀组件驱动装置包括第二驱动组件、与所述第二驱动组件接合的第二运动转换组件，所述第二运动转换组件包括第二传动件和第二输出件，所述第二传动件包括第二有效转程结构和第二空转程结构，所述切割刀组件驱动装置具有第三状态和第四状态，在第三状态，所述第二有效转程结构与所述第二输出件接合；在第四状态，所述第二空转程结构与所述第二输出件耦合。
  22. 根据权利要求21所述的外科器械驱动装置，其特征在于：所述第二驱动组件包括第二驱动件，所述第二驱动件与所述第二传动件同步运动，在所述第三状态和所述第四状态，所述第二传动件通过所述第二驱动件始终与所述动力组件接合。
  23. 根据权利要求21所述的外科器械驱动装置，其特征在于：所述第二有效转程结构为设置于所述第二传动件的有齿部，所述第二空转程结构为设置于所述第二传动件的无齿部，所述第二输出件为齿条。
  24. 根据权利要求21所述的外科器械驱动装置，其特征在于：所述外科器械驱动装置具有第一工作状态和第二工作状态，在所述第一工作状态下，所述第一状态和所述第四状态同时运行；在所述第二工作状态，所述第二状态和所述第三状态同时运行。
  25. 一种外科器械，包括传动机构、由所述传动机构驱动的端部执行器和切割刀组件，其特征在于：所述传动机构包括权利要求17至24任一项所述的外科器械驱动装置。
  26. 一种外科器械的操作方法，所述外科器械为根据权利要求25所述的外科器械，所述外科器械包括动力组件，所述动力组件包括电机，其特征在于：所述操作方法包括如下步骤：
    步骤S1:所述电机的输出轴沿第一方向转动，所述电机驱动所述第一有效转程结构并与所述第二空转程结构耦合；
    步骤S2:所述电机的输出轴继续沿所述第一方向转动，所述电机驱动所述第二有效转程结构并与所述第一空转程结构耦合；
    步骤S3:所述电机的输出轴沿第二方向转动，所述第二方向与所述第一方向相反，所述电机驱动所述第二有效转程结构并与所述第一空转程结构耦合；
    步骤S4:所述电机的输出轴继续沿所述第二方向转动，所述电机驱动所述第一有效转程结构并与所述第二空转程结构耦合。
  27. 根据权利要求26所述的外科器械的操作方法，其特征在于：执行所述步骤S1使得所述端部执行器闭合；执行所述步骤S2使得所述切割刀组件进刀；执行所述步骤S3使得所述切割刀组件退刀；执行所述步骤S4时使得所述端部执行器打开。
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