WO2023109109A1 - 电动吻合器械 - Google Patents

电动吻合器械 Download PDF

Info

Publication number
WO2023109109A1
WO2023109109A1 PCT/CN2022/105177 CN2022105177W WO2023109109A1 WO 2023109109 A1 WO2023109109 A1 WO 2023109109A1 CN 2022105177 W CN2022105177 W CN 2022105177W WO 2023109109 A1 WO2023109109 A1 WO 2023109109A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
assembly
drive
rotate
move
Prior art date
Application number
PCT/CN2022/105177
Other languages
English (en)
French (fr)
Inventor
路少磊
张志星
Original Assignee
宁波海泰科迈医疗器械有限公司
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 宁波海泰科迈医疗器械有限公司 filed Critical 宁波海泰科迈医疗器械有限公司
Priority to EP22871146.1A priority Critical patent/EP4218612A4/en
Publication of WO2023109109A1 publication Critical patent/WO2023109109A1/zh

Links

Images

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
    • 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
    • A61B17/28—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

Definitions

  • the present invention relates to surgical instruments, and more particularly, relates to an electric stapling instrument.
  • Electric stapling instrument is a surgical instrument, which can be used to replace traditional manual suturing equipment, and has the advantages of fast suturing, easy operation, and few side effects and surgical complications.
  • Electric stapling instruments typically include an end effector that can be opened and closed and a knife assembly that can move in distal and proximal directions.
  • the existing electric anastomosis instruments have disadvantages such as unreasonable design of the driving device, large size and weight, and high cost. For this reason, the present invention proposes an electric stapling instrument with a novel driving device.
  • the invention provides an electric anastomosis instrument.
  • An electric stapling instrument is characterized in that it includes: a motor assembly, including an output shaft, the output shaft is configured to rotate in a first direction or a second direction; a transmission mechanism, including a driving gear and a first driving assembly, and the driving gear is installed on the motor On the output shaft of the assembly, the driving gear rotates with the output shaft, and the first driving assembly includes: a first gear, the first gear meshes with the driving gear and is configured to rotate with the driving gear, and a second gear, the second gear is the same as the first gear
  • the shaft is arranged, and the second gear is at least partially meshed with the driving gear and is configured to rotate with the driving gear, and a push rod, the push rod is movably connected with the second gear, and the push rod is configured to rotate in the proximal direction or along with the rotation of the second gear
  • the distal direction moves; the cannula assembly, whose proximal end is connected with the push rod, and is configured to move in the proximal or distal direction
  • a first driving assembly for driving the opening and closing of the anvil seat and/or the staple cartridge seat of the end effector.
  • the first driving assembly has a compact structure and a reasonable design, and can effectively drive the opening and closing of the nail abutment seat and/or the nail cartridge seat of the end effector.
  • the first gear can include a first post and the second gear can include a slot configured to receive the first post, wherein the first post is configured to be between a first position and a second position within the slot to move the push rod in the proximal direction or the distal direction with the rotation of the second gear.
  • the second gear can include a second post
  • the push rod can include an elongated hole configured to receive the second post, wherein the second post is configured in a third position within the elongated hole and Move between fourth positions.
  • the transmission mechanism may further include a second drive assembly
  • the second drive assembly includes: a third gear meshing with the driving gear and configured to rotate with the driving gear; a fourth gear meshing with the third gear and coordinating To rotate with the third gear; and the rack, meshed with the fourth gear and configured to move in the proximal direction or the distal direction with the rotation of the fourth gear;
  • the electric stapling instrument can also include a cutter assembly and a sleeve assembly
  • the shaft core in the shaft core, the proximal end of the shaft core is connected with the rack, and is configured to move with the rack in the proximal direction or the distal direction, and the proximal end of the cutter assembly is connected with the distal end of the shaft core, and is configured to move with the shaft core Move in proximal or distal direction.
  • a second driving assembly for driving the knife assembly to move in the proximal direction and the distal direction.
  • the second driving assembly has a compact structure and a reasonable design, and can effectively drive the movement of the knife assembly in the direction of the proximal end and the direction of the distal end.
  • the second driving assembly is driven by the same motor and driving gear as the first driving assembly, without additional motor and driving gear, so that the parts, volume and cost of the entire electric stapling instrument are reduced.
  • the anvil block and the staple cartridge seat can be respectively connected to the distal end of the sleeve assembly, and the nail anvil block and/or the staple cartridge seat can be configured to pivot between an open position and a closed position, when the sleeve When the tube assembly moves proximally, the nail anvil or the staple cartridge pivots toward the open position, and when the sleeve assembly moves distally, the nail anvil and/or the staple cartridge pivots toward the closed position.
  • the first gear and the second gear can both rotate in the second direction with the driving gear, so that the second cam
  • the column moves from the third position to the fourth position in the elongated hole, so that the push rod moves in the distal direction, and then the sleeve assembly moves in the distal direction, thereby causing the nail anvil and/or the nail cartridge seat to be opened from the open position. position pivots to the closed position.
  • the first gear and the second gear can both rotate in the first direction with the driving gear, so that the second cam
  • the post moves from the fourth position to the third position in the elongated hole, causing the push rod to move in the proximal direction, thereby causing the sleeve assembly to move in the proximal direction, thereby pivoting the anvil or the cartridge seat from the closed position. Go to open position.
  • the second gear can also include a toothless part and a toothed part
  • the distal end of the electric stapling instrument can also be provided with a knife assembly
  • the knife assembly is connected with the transmission mechanism and configured to move toward the proximal end or the distal end direction
  • the first drive assembly can also be configured such that: with the rotation of the first gear, the first boss moves from the first position to the second position in the slot position or move from the second position to the first position, so that the first gear idles relative to the second gear, so as not to drive the second gear to rotate;
  • the drive gear rotates, which in turn keeps the sleeve assembly stationary, thereby maintaining the anvil and/or the cartridge in the closed or open position.
  • an idle travel mechanism is set in the first driving assembly, so that during the movement of the knife assembly in the proximal direction or the distal direction, the first driving assembly does not drive the nail abutment, thereby making The anvil remains in the closed or open position.
  • the electric stapling instrument may further include a first travel switch arranged on the moving path of the cannula assembly. When the cannula assembly travels toward the distal end to contact and trigger the first travel switch, the motor assembly is configured to The rotation is stopped, and the anvil and/or the staple cartridge are in the closed position. In some embodiments, the electric stapling instrument may further include a second travel switch arranged on the moving path of the cannula assembly. When the cannula assembly travels toward the proximal end to contact and trigger the second travel switch, the motor assembly is configured to The rotation is stopped, and the anvil and/or the staple cartridge are in the open position.
  • a first travel switch arranged on the moving path of the cannula assembly. When the cannula assembly travels toward the distal end to contact and trigger the first travel switch, the motor assembly is configured to The rotation is stopped, and the anvil and/or the staple cartridge are in the closed position.
  • a first travel switch and a second travel switch are provided on the moving path of the sleeve assembly to indicate whether the nail anvil is pivoted to a position.
  • the trigger signals of the first limit switch and the second limit switch can be further transmitted to the control module of the electric stapling instrument to control the operation of the electric stapling instrument.
  • the electric stapling instrument may further include a third travel switch disposed on the moving path of the rack, and when the rack travels toward the distal end to touch and trigger the third travel switch, the motor assembly is configured to stop rotating , the knife assembly moves into position in the distal direction.
  • a third travel switch is provided on the moving path of the rack to indicate whether the knife assembly is moved to a certain position.
  • the trigger signal of the third limit switch can be further transmitted to the control module of the electric stapling instrument to control the operation of the electric stapling instrument.
  • FIG. 1 is a perspective view of an electric stapling instrument with parts removed to illustrate internal structures and components, showing an end effector, cannula assembly, and motor assembly, according to an exemplary embodiment
  • Fig. 2 is another perspective view of the electric stapling instrument according to the exemplary embodiment, further removing some components to show in detail the transmission mechanism and its first driving assembly and second driving assembly according to the exemplary embodiment; drive assembly, also showing the shaft core;
  • Fig. 3 is another perspective view of the electric stapling instrument according to the exemplary embodiment, in which the transmission mechanism and its first driving assembly and the second driving assembly according to the exemplary embodiment are shown in detail, and in particular further shown The structure and connection relationship of the third gear and the fourth gear are shown, and the cutter assembly is also shown;
  • FIG. 4 is an enlarged view of the circled portion in FIG. 1, showing an actuator and a third travel switch according to an exemplary embodiment
  • FIG. 5 is a perspective view of a first gear and a second gear combined together, showing a second post of the second gear, according to an exemplary embodiment
  • FIG. 6 is a perspective view of a first gear showing a first post of the first gear, according to an exemplary embodiment
  • FIG. 7 is a perspective view of a second gear showing toothed portions, non-toothed portions, and grooves of the second gear according to an exemplary embodiment
  • FIG. 8 is a perspective view of a push rod showing round and elongated holes of the push rod according to an exemplary embodiment
  • FIG. 9 is a perspective view of a third gear showing a first toothed portion, a second toothed portion, and a toothless portion of the third gear according to an exemplary embodiment.
  • proximal and distal are defined with respect to a clinician manipulating the handle portion of a surgical instrument.
  • proximal refers to the part of the referenced component or structure that is close to the clinician
  • distal refers to the part of the referenced part or structure that is remote from the clinician.
  • the existing electric anastomosis instruments have disadvantages such as unreasonable design of the driving device, large size and weight, and high cost. For this reason, the present invention proposes an electric stapling instrument with a novel driving device.
  • FIG. 1 is a perspective view of an electric stapling instrument 1 according to an exemplary embodiment, with some components of the electric stapling instrument 1 removed to illustrate internal structures and components.
  • an electric stapling instrument 1 includes an end effector 10 for stapling a patient or the like.
  • the end effector 10 includes a cartridge holder 110 for receiving staples and an anvil holder 120 pivotally connected to the cartridge holder 110 at one end.
  • Anvil 120 is pivotable at this end about cartridge holder 110 between a closed position and an open position, thereby closing and opening end effector 10 .
  • it may also be set that the staple cartridge base 110 pivots relative to the staple anvil 120 but in the following, for ease of description, only an embodiment in which the staple anvil 120 pivots relative to the staple cartridge 110 is described.
  • FIG. 1 also shows bushing assembly 20 .
  • the sleeve assembly 20 includes a tubular sleeve 210 and a sleeve holder 220 for driving the sleeve 210 to move in a proximal direction and a distal direction.
  • the distal portion 210A of the cannula 210 is connected to the end effector 10 , while its proximal end 210B is connected to the cannula holder 220 to be driven by the cannula holder 220 .
  • the distal portion 210A of the sleeve 210 will act on the nail anvil 120 to make the nail anvil Seat 120 pivots toward the closed position.
  • the sleeve assembly 20 moves in the proximal direction, that is, the sleeve fixing seat 220 drives the sleeve to move in the proximal direction, the distal portion 210A of the sleeve 210 leaves the nail abutment 120, so that the nail anvil 120 faces Pivot to open position.
  • the working principle of the movement of the drive sleeve assembly 20 in the proximal direction and the distal direction will be described in further detail below.
  • the motor assembly 50 of the electric stapling instrument 1 and the buttons 810 and 820 for operating the electric stapling instrument 1 are also shown on the right side of FIG. 1 .
  • the motor assembly 50 can rotate in a first direction (for example, clockwise based on the electric stapling instrument 1 shown in FIG. 1 in this embodiment) and in a second direction (counterclockwise) opposite to the first direction to provide power To realize the corresponding function of the electric anastomosis instrument.
  • the location and form of the motor assembly 50 and keys 810, 820 are not limited to the embodiment shown, and other alternative forms are contemplated.
  • the motor assembly 50 is arranged in other positions, or the buttons are replaced with switches in other forms such as triggers and knobs.
  • FIG. 2 is another perspective view of the electric stapling instrument 1 according to an exemplary embodiment.
  • the transmission mechanism 70 and the shaft core 30 are also shown in FIG. 2 .
  • the shaft core 30 is disposed within the cannula assembly 20, its proximal end is connected to the drive mechanism 70, and its distal end is connected to the knife assembly (to be described below).
  • the shaft core 30 can be driven by the transmission mechanism 70 to drive the movement of the knife assembly in the proximal direction and the distal direction.
  • the transmission mechanism 70 includes a driving gear 731 , a first driving assembly 710 and a second driving assembly 720 .
  • the driving gear 731 is fixed on the output shaft of the motor assembly 50, so the driving gear 731 can be driven by the output shaft of the motor assembly 50 to rotate in the first direction and the second direction.
  • the first driving assembly 710 is used to drive the opening and closing of the nail anvil 120 .
  • the second driving assembly 720 is used to drive the movement of the knife assembly in the proximal direction and the distal direction. The structure of the first driving assembly 710 and the second driving assembly 720 will be described in more detail below.
  • FIGS. 5-8 show further details of the components included in the first drive assembly 710 .
  • the first driving assembly 710 includes a first gear 711 , a second gear 712 and a push rod 713 .
  • the first gear 711 and the second gear 712 are arranged coaxially.
  • the first gear 711 is a full-toothed gear that is always in mesh with the drive gear 731 .
  • FIG. 6 also shows that the first gear 711 also includes a first protrusion 711A.
  • the second gear 712 is not a full-toothed gear, but includes a toothed portion 712A and a toothed portion 712D, so that the second gear 712 is turned on only when the toothed portion 712A is rotated into engagement with the drive gear 731.
  • FIG. 7 also shows that the second gear 712 also includes an arc-shaped groove 712B and a second protrusion 712C.
  • the first protrusion 711A of the first gear 711 can slide in the arc-shaped groove 712B of the second gear 712 between the C position (ie, the first position) and the D position (ie, the second position).
  • the first protrusion 711A of the first gear, the arc-shaped groove 712B and the toothless portion 712D of the second gear cooperate with each other to form an idle travel mechanism, the specific principle of which will be further described in detail below.
  • the push rod 713 includes a hole 713A.
  • One end of the push rod 713 has a circular hole 713B for fixing with the casing holder 220, and the other end has an elongated hole 713A, and the second protrusion 712C of the second gear 712 can be positioned at the A position and the B position in the elongated hole 713A. Swipe between locations.
  • the push rod 713 when the second protrusion 712C moves from position A to position B in the elongated hole 713A, the push rod 713 will drive the sleeve fixing seat 220 to move in the distal direction, thereby driving the sleeve 210 Moving in the distal direction, the distal portion 210A of the sleeve 210 drives the nail anvil 120 to pivot downward to achieve closure.
  • the push rod 713 will drive the casing fixing seat 220 to move closer. The end direction moves, thereby driving the sleeve 210 to move in the proximal direction, and the distal portion 210A of the sleeve 210 leaves the nail anvil 120 and pivots upward to realize opening.
  • the connecting rod When the elongated hole pushes the connecting rod to move, the connecting rod only moves forward and backward, that is, the Only one surface of the protruding post rubs against the elongated hole all the time, that is, sliding friction is formed; by setting the second protruding post 712C on the second gear 712, the elongated hole 713A is arranged on the push rod 713, and the second protruding post 712C With the rotation of the second gear 712, the push rod 713 is pushed to move. During this process, with the rotation of the second gear 712, the contact surface between the second boss 712C and the elongated hole 713A is constantly changing, that is, a rolling motion is formed.
  • Friction the friction force of rolling friction is significantly less than that of sliding friction. Therefore, the requirements on the surface roughness and strength of the second protrusion 712C and the elongated hole 713A can be reduced, thereby simplifying the production process and reducing the production cost. Similarly, during the above process, the force on the push rod 713 is also gradually reduced, so that the energy loss of the nail anvil 120 during closing is reduced, thereby improving efficiency. Further details about the above operations will be described in further detail below.
  • the second driving assembly 720 includes a rack 721 , a third gear 722 and a fourth gear 723 .
  • the third gear 723 includes a first toothed portion 722A disposed along its circumference, a second toothed portion 722B, and a non-toothed portion 722C adjoining the second toothed portion 722B up and down.
  • the third gear 722 always meshes with the drive gear 731 through the first toothed portion 722A and the second toothed portion 722B.
  • the first toothed portion 722A, the second toothed portion 722B and the non-toothed portion 722C cooperate with the fourth gear 723 to form an idle travel mechanism, the specific principle of which will be further described in detail below.
  • the fourth gear 723 includes a first sub-gear 723A and a second sub-gear 723B, both of which have different diameters.
  • the first sub-gear 723A and the second sub-gear 723B can rotate synchronously.
  • the first sub-gear 723A and the second sub-gear 723B can be integrally formed.
  • the first sub-gear 723A may sequentially engage the first toothed portion 722A and the toothless portion 722C of the third gear 722 as it rotates.
  • the second sub-gear 723B is used to engage the rack 721 .
  • the rack 721 meshes with the second sub-gear 723B, and one end thereof is connected to the shaft core 30 .
  • FIG. 3 also shows a knife assembly 40 for cutting tissue of the patient.
  • the knife assembly 40 includes a cutting knife 410 and a pushing knife rod 420 connected with the cutting knife 410 , a part of the pushing knife rod 420 is located in the sleeve 210 and connected with the distal end of the shaft core 30 .
  • Another portion of the pusher bar 420 extends into the end effector 10 and is connected to the cutting knife 410 .
  • the pusher bar 420 includes a recess to cooperate with the protrusion of the cutting knife 411 to assemble the pusher bar 420 and the cutting knife 411 together.
  • a protruding portion is provided on the pusher rod 420
  • a recessed portion is provided on the cutting knife 411 .
  • the shaft core 30 when the rack 721 moves in the proximal direction, the shaft core 30 will drive the cutter assembly 40 to move in the proximal direction, thereby realizing the retraction operation. Contrary to the above situation, when the rack 721 moves in the distal direction, the shaft core 30 will drive the knife assembly 40 to move in the distal direction, thereby realizing the knife-feeding operation. Further details about the above operations will be described in further detail below.
  • the control module of the electric stapling instrument receives the signal sent by pressing the first button 810 , and sends an operation command to the motor assembly 50 .
  • the motor assembly 50 drives the driving gear 731 to rotate in the first direction
  • the driving gear 731 drives the second gear 712 to rotate in the second direction
  • the first gear 711 also rotates in the second direction synchronously.
  • the second boss 712C of the second gear 712 moves from the A position to the B position in the hole 713A of the push rod 713, so that the sleeve tube fixing seat 220 moves far away, thereby driving the sleeve tube 210 to move far away.
  • the distal end 210A of the sleeve 210 drives the anvil 120 to pivot downward to close.
  • the driving gear 731 will also drive the third gear 722 to rotate along the second direction.
  • the toothless portion 722C of the third gear 722 is engaged with the first sub-gear 723A, therefore, the rotation of the third gear 722 will not drive the first sub-gear 723A to rotate, and the second sub-gear 723B will not rotate either.
  • the arbor 30 thus remains stationary, and thus the cutter assembly 40 remains stationary.
  • the idle run mechanism described above is implemented here.
  • the protrusion 810 shown in FIG. 3
  • the control module receives the signal from the first travel switch 610 and instructs the motor assembly 50 to stop moving.
  • the post 712C is located at the position B in the elongated hole 713A, the nail anvil 120 is closed in place, and the operator can release the first button 810 .
  • Knife assembly feed
  • the user presses the first button 810 , for example.
  • the control module receives a signal from pressing the first button 810 and sends a running instruction to the motor assembly 50 .
  • the motor assembly 50 continues to drive the driving gear 731 to rotate in the first direction, and the driving gear 731 drives the third gear 722 to rotate in the second direction.
  • the first toothed part 722A of the third gear 722 meshes with the first sub-gear 723A, thereby driving
  • the first sub-gear 723A rotates along the first direction, and drives the second sub-gear 723B to rotate along the first direction.
  • the second sub-gear 723B drives the rack 721 to move to the distal end
  • the rack 721 drives the shaft core 30 to move to the distal end
  • the shaft core 30 drives the push knife rod 420 to move to the distal end
  • the push knife rod 420 drives the cutting knife 410 to move to the distal end Movement enables infeed to cut tissue.
  • the driving gear 731 will drive the first gear 711 to rotate in the second direction, and the first protrusion 711A of the first gear 711 moves from position C to position C in the arc groove 712B of the second gear 712.
  • the D position makes the first gear 711 idle and does not drive the second gear 712 to rotate; meanwhile, the drive gear 731 engages with the toothless portion 712D of the second gear 712, and the drive gear 731 does not drive the second gear 712 to rotate. Therefore, the second gear 712 does not move, and thus does not drive the casing fixing seat 220 to move, so that the nail abutting seat remains closed during the knife feeding operation.
  • the idle run mechanism described above is implemented here.
  • the rack 721 When the rack 721 travels to a certain position distally on its path, the rack 721 pushes the actuator 90 into contact with the third travel switch 630 (both are shown in FIG. 4 ) and triggers the third travel switch 630 , the control module receives a signal from the third travel switch 630 and instructs the motor assembly 50 to stop running, the knife assembly (40) moves to a position in the direction of the distal end, and the tissue cutting is completed.
  • the control module receives the signal sent by pressing the second button 820 and instructs the motor assembly 50 to rotate in the second direction.
  • the motor assembly 50 drives the driving gear 731 to rotate in the second direction
  • the driving gear 731 drives the third gear 722 to rotate in the first direction
  • the first toothed part 722A of the third gear 722 drives the first sub-gear 723A to rotate in the second direction
  • the first sub-gear 723A drives the second sub-gear 723B to rotate in the second direction, thereby driving the rack 721 to move proximally
  • the rack 721 drives the shaft core 30 to move proximally
  • the shaft core 30 drives the pusher rod 420 to move proximally. end movement, the pusher rod 420 drives the cutting knife 410 to move proximally, thereby realizing the knife retraction.
  • the driving gear 731 will drive the first gear 711 to rotate in the first direction, and the first protrusion 711A of the first gear 711 moves from the position D to the position D in the arc groove 712B of the second gear 712.
  • Position C makes the first gear 711 idle and does not drive the second gear 712; meanwhile, since the toothless portion 712D of the second gear 712 engages with the driving gear 731, the driving gear 731 does not drive the second gear 712 to rotate. Therefore, the second gear 712 does not move, and does not drive the casing fixing seat 220 to move, thus during the retracting operation, the nail abutment seat remains closed.
  • the idle run mechanism described above is implemented here.
  • the rack 721 When the rack 721 advances to a certain position on its path, the rack 721 pushes the actuator 90 to disconnect from the third travel switch 630, which marks the completion of the knife retraction.
  • the motor assembly 50 may not stop working, but continue to drive the driving gear 731 to rotate in the second direction.
  • the driving gear 731 drives the first gear 711 to rotate in the first direction.
  • the first protrusion 711A of the first gear 711 The edge of the arc-shaped groove 712B against the second gear 712 drives the second gear 712 to rotate synchronously along the first direction, and makes the second gear 712 mesh with the driving gear 731 .
  • the second protrusion 712C moves from the B position in the hole 713A of the push rod 713 to the A position, so that the push rod 713 drives the sleeve fixing seat 220 to move proximally.
  • the nail anvil 220 pivots upward to realize opening.
  • the driving gear 731 will drive the third gear 722 to rotate in the first direction, and the first toothed portion 722A of the third gear 722 is disengaged from the first sub-gear 723A, that is, the third gear 722 There is no engagement between the tooth portion 722C and the third gear 722 , so the first sub-gear 723A will not be driven to rotate, and the second sub-gear 723B will not rotate, so the shaft core 30 remains stationary, so that the cutter assembly 40 remains stationary.
  • the idle run mechanism described above is implemented here.
  • the protrusion 810 triggers the second travel switch 620 , and the control module receives the signal from the second travel switch 620 and instructs the motor assembly 50 to stop moving.
  • the second protrusion 712C is located at the position A in the elongated hole 713A, and the nail anvil is opened to a proper position.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

一种电动吻合器械（1），包括：电机组件（50），包括配置为沿第一方向或第二方向转动的输出轴；传动机构（70），包括驱动齿轮（731）和第一驱动组件（710），驱动齿轮（731）安装在电机组件（50）的输出轴上，驱动齿轮（731）随输出轴转动，第一驱动组件（710）包括：第一齿轮（711），与驱动齿轮（731）啮合且配置为随驱动齿轮（731）转动，第二齿轮（712），与第一齿轮（711）同轴设置，并且与驱动齿轮（731）至少部分啮合且配置为随驱动齿轮（731）转动，以及推杆（713），与第二齿轮（712）活动连接，并且配置为随第二齿轮（712）的转动向近端方向或远端方向移动；套管组件（20），其近端（210B）与推杆（713）连接，且配置为随推杆（713）向近端（210B）方向或远端部（210A）方向移动；以及端部执行器（10），设置在套管组件（20）的远端，端部执行器（10）包括抵钉座（120）和钉仓座（110），抵钉座（120）和/或钉仓座（110）配置为在打开位置和闭合位置之间枢转。

Description

电动吻合器械 技术领域
本发明涉及外科手术器械，更具体地来说，涉及一种电动吻合器械。
背景技术
电动吻合器械是一种外科手术器械，其可用于替代传统的手工缝合设备，具有缝合快速、操作简便且很少有副作用和手术并发症等优点。电动吻合器械通常包括可以打开和闭合的端部执行器和可以在远端和近端方向上移动的刀具组件。现有的电动吻合器械存在驱动装置设计不合理、尺寸和重量较大、成本较高等缺点。为此，本发明提出了一种具有新型的驱动装置的电动吻合器械。
发明内容
本发明提出了一种电动吻合器械。
一种电动吻合器械，其特征在于，包括：电机组件，包括输出轴，输出轴配置为沿第一方向或第二方向转动；传动机构，包括驱动齿轮和第一驱动组件，驱动齿轮安装在电机组件的输出轴上，驱动齿轮随输出轴转动，第一驱动组件包括：第一齿轮，第一齿轮与驱动齿轮啮合且配置为随驱动齿轮转动，第二齿轮，第二齿轮与第一齿轮同轴设置，并且第二齿轮与驱动齿轮至少部分啮合且配置为随驱动齿轮转动，以及推杆，推杆与第二齿轮活动连接，并且推杆配置为随第二齿轮的转动向近端方向或远端方向移动；套管组件，其近端与推杆连接，且配置为随推杆向近端方向或远端方向移动；以及端部执行器，端部执行器设置在套管组件的远端，端部执行器包括抵钉座和钉仓座，抵钉座和/或钉仓座配置为在打开位置和闭合位置之间可枢转。
在根据本发明的电动吻合器械中，提供了用于驱动端部执行器的抵钉座和/或钉仓座的打开和闭合的第一驱动组件。该第一驱动组件结构紧凑、设计合理，能够有效地驱动端部执行器的抵钉座和/或钉仓座的打开和闭合。
在一些实施例中，第一齿轮可以包括第一凸柱，第二齿轮可以包括配置为接收第一凸柱的槽，其中第一凸柱配置为在槽内的第一位置和第二位置之间移动，以使所述推杆随所述第二齿轮的转动向近端方向或远端方向移动。
在一些实施例中，第二齿轮可以包括第二凸柱，且推杆可以包括配置为接收第二凸柱的长形孔，其中第二凸柱配置为在长形孔内的第三位置和第四位置之间移动。在根据本发明的电动吻合器械中，在第二凸柱从第三位置移动至第四位置期间，第二凸柱与长形孔之间的摩擦力逐渐减小。因此，对第二凸柱和长形孔的表面粗糙度和强度的要求可以降低，由此可以简化生产工艺、降低生产成本。同样，在上述过程期间，对推杆的作用力也逐渐减小，使得抵钉座在闭合期间的能量损失减小，由此可以提升效率。
在一些实施例中，传动机构还可以包括第二驱动组件，第二驱动组件包括：第三齿轮，与驱动齿轮啮合且配置为随驱动齿轮转动；第四齿轮，与第三齿轮啮合且配位置为随第三齿轮转动；以及齿条，与第四齿轮啮合且配置为随第四齿轮的转动向近端方向或远端方向移动；并且电动吻合器械还可以包括刀具组件和设置在套管组件中的轴芯，轴芯的近端与齿条连接，且配置为随齿条向近端方向或远端方向移动，刀具组件的近端与轴芯的远端连接，且配置为随轴芯向近端方向或远端方向移动。在根据本发明的电动吻合器械中，提供了用于驱动刀具组件在近端方向和远端方向上移动的第二驱动组件。该第二驱动组件结构紧凑、设计合理，能够有效地驱动刀具组件在近端方向和远端方向上的移动。该第二驱动组件与第一驱动组件由相同的电机和驱动齿轮进行驱动，而无需设置额外的电机和驱动齿轮，使得整个电动吻合器械的部件减少、体积减小、成本降低。
在一些实施例中，抵钉座和钉仓座可以分别与套管组件的远端连接，且抵钉座和/或钉仓座可以配置为在打开位置和闭合位置之间枢转，当套管组件向近端方向移动时，抵钉座或钉仓座向打开位置枢转，当套管组件向远端方向移动时，抵钉座和/或钉仓座向闭合位置枢转。
在一些实施例中，当电机组件的输出轴沿第一方向转动并驱动驱动齿轮沿第一方向转动时，第一齿轮和第二齿轮可以均随驱动齿轮沿第二方向转动，使得第二凸柱在长形孔内从第三位置移动到第四位置，使推杆向远端方向移动，进而使套管组件向远端方向移动，由此使抵钉座和/或钉仓座从打开位置枢转到闭合位置。在一些实施例中，当电机组件的输出轴沿第二方向转动并驱动驱动齿轮沿第二方向转动时，第一齿轮和第二齿轮可以均随驱动齿轮沿第一方向转动，使得第二凸柱在长形孔内从第四位置移动到第三位置，使推杆向近端方向移动，进而使得套管组件向近端方向移动，由此使抵钉座或钉 仓座从闭合位置枢转到打开位置。
在一些实施例中，第二齿轮还可以包括无齿部和有齿部，并且电动吻合器械的远端还可以设置有刀具组件，刀具组件与传动机构连接且配置为向近端方向或远端方向移动，并且当刀具组件向近端方向或远端方向移动时，第一驱动组件还可以配置为：随着第一齿轮的转动，第一凸柱在槽内从第一位置移动到第二位置或从第二位置移动到第一位置，使得第一齿轮相对于第二齿轮空转，从而不带动第二齿轮转动；并且，第二齿轮的无齿部与驱动齿轮接合，使得第二齿轮不随驱动齿轮转动，进而使得套管组件保持不动，由此使抵钉座/和钉仓座保持在闭合位置或打开位置。在根据本发明的电动吻合器械中，在第一驱动组件中设置空转程机制，使得在刀具组件在近端方向或远端方向上移动期间，第一驱动组件不驱动抵钉座，由此使得抵钉座保持在闭合位置或打开位置。
在一些实施例中，电动吻合器械还可以包括设置在套管组件的移动路径上的第一行程开关，当套管组件向远端方向行进至接触并触发第一行程开关时，电机组件配置为停止转动，抵钉座和/或钉仓座位于闭合位置。在一些实施例中，电动吻合器械还可以包括设置在套管组件的移动路径上的第二行程开关，当套管组件向近端方向行进至接触并触发第二行程开关时，电机组件配置为停止转动，抵钉座和/或钉仓座位于打开位置。在根据本发明的电动吻合器械中，在套管组件的移动路径上设置第一行程开关和第二行程开关，以指示抵钉座是否枢转到位。另外，第一行程开关和第二行程开关的触发信号可以进一步传递给电动吻合器械的控制模块，以控制电动吻合器械的操作。
在一些实施例中，电动吻合器械还可以包括设置在齿条的移动路径上的第三行程开关，当齿条向远端方向行进至接触并触发第三行程开关时，电机组件配置为停止转动，刀具组件在远端方向上移动到位。在根据本发明的电动吻合器械中，在齿条的移动路径上设置第三行程开关，以指示刀具组件是否移动到位。另外，第三行程开关的触发信号可以进一步传递给电动吻合器械的控制模块，以控制电动吻合器械的操作。
附图说明
以下参考附图以举例的方式来进一步说明本发明的实施例，附图构成本说明书的一部分，在附图中：
图1是根据示例性实施例的电动吻合器械的立体图，移除了一些部件以示出内部的结构和部件，示出了端部执行器、套管组件和电机组件；
图2是根据示例性实施例的电动吻合器械的另一立体图，进一步的移除了一些部件以在图中详细地示出了根据示例性实施例的传动机构及其第一驱动组件和第二驱动组件，还示出了轴芯；
图3是根据示例性实施例的电动吻合器械的又一立体图，在图中详细地示出了根据示例性实施例的传动机构及其第一驱动组件和第二驱动组件，特别地进一步示出了第三齿轮和第四齿轮的结构和连接关系，还示出了刀具组件；
图4是图1中的圆圈部分的放大图，示出了根据示例性实施例的促发器和第三行程开关；
图5是根据示例性实施例的组合在一起的第一齿轮和第二齿轮的立体图，示出了第二齿轮的第二凸柱；
图6是根据示例性实施例的第一齿轮的立体图，示出了第一齿轮的第一凸柱；
图7是根据示例性实施例的第二齿轮的立体图，示出了第二齿轮的有齿部、无齿部和凹槽；
图8是根据示例性实施例的推杆的立体图，示出了推杆的圆孔和长形孔；
图9是根据示例性实施例的第三齿轮的立体图，示出了第三齿轮的第一有齿部、第二有齿部和无齿部。
具体实施方式
通过下面结合附图和具体实施方式对本发明的实施例的进一步详细说明，本领域技术人员将更加清楚和透彻地了解本发明的进一步的特点、优点和效果。在以下描述中，可能使用“上”、“下”、“前”、“后”、“顶”、“底”“、垂直”和“水平”等空间和方位术语来描述本发明的实施例，但应当理解的是，这些术语仅是为了便于描述图中所示的实施例，而不要求实际的装置以特定的取向构造或操作。在以下描述中，诸如“连接”、“联接”、“固定”和“附接”等术语的使用，可以指两个元件或结构之间没有其他元件或结构而直接地连接，也可以指两个元件或结构通过中间元件或结构间接地连接，除非本文另中有明确地说明。诸如“第一”、“第二”等序数词的使用，仅是为 了将其引用的元件彼此区分开，并不具有顺序或优先级上的意义，除非本文中另有明确地说明。本文所用的术语“近端”和“远端”是相对于操纵外科手术器械的手柄部的临床医生而定义的。术语“近端”是指所涉及的部件或结构靠近临床医生的部分，“远端”是指所涉及的部件或结构远离临床医生的部分。
现有的电动吻合器械存在驱动装置设计不合理、尺寸和重量较大、成本较高等缺点。为此，本发明提出了一种具有新型的驱动装置的电动吻合器械。
1.电动吻合器械的示例性结构
首先参考附图对根据示例性实施例的电动吻合器械的结构进行说明。
图1是根据示例性实施例的电动吻合器械1的立体图，移除了电动吻合器械1的一些部件以示出内部的结构和部件。如图1所示，电动吻合器械1包括用于对患者进行吻合操作等的端部执行器10。端部执行器10包括用于容纳吻合钉的钉仓座110和在一端可枢转地连接到钉仓座110的抵钉座120。抵钉座120可在该端围绕钉仓座110在闭合位置和打开位置之间枢转，从而闭合和打开端部执行器10。在其他实施例中，也可设置为钉仓座110相对于抵钉座120枢转，但在下文中，为了便于描述，仅描述抵钉座120相对于钉仓座110枢转的实施例。
图1还示出了套管组件20。套管组件20包括管状的套管210和用于驱动套管210在近端方向和远端方向上移动的套管固定座220。套管210的远端部210A连接至端部执行器10，而其近端210B连接至套管固定座220以由套管固定座220进行驱动。当套管组件20在远端方向上移动时，即通过套管固定座220驱动套管210在远端方向上移动，套管210的远端部210A会作用于抵钉座120，使抵钉座120朝向闭合位置枢转。当套管组件20向近端方向上移动时，即通过套管固定座220驱动套管向近端方向上移动，套管210的远端部210A离开抵钉座120，使抵钉座120朝向打开位置枢转。关于驱动套管组件20在近端方向和远端方向上移动的工作原理，将在下文进一步详细描述。
另外，在图1的右侧还示出了电动吻合器械1的电机组件50和用于操作电动吻合器械1的按键810和820。电机组件50可沿第一方向(例如，本实施例中基于图1所示电动吻合器械1的顺时针方向)和沿与第一方向相反的第二方向(逆时针方向)转动，以提供动力来实现电动吻合器械的相应的 功能。应当注意的是，电机组件50和按键810、820的位置和形式不限于所示的实施例，而是可以设想其他可替代的形式。例如，将电机组件50设置在其他位置，或将按键替换为扳机、旋钮等其他形式开关。
现在请参考图2，图2是根据示例性实施例的电动吻合器械1的另一立体图。除了图1已经示出的端部执行器10和套管组件20以外，图2中还示出了传动机构70和轴芯30。轴芯30设置在套管组件20内，其近端连接至驱动机构70，其远端连接至刀具组件(将在下文描述)。轴芯30可由传动机构70驱动以驱动刀具组件在近端方向和远端方向上的移动。
传动机构70包括驱动齿轮731、第一驱动组件710和第二驱动组件720。驱动齿轮731固定在电机组件50的输出轴上，因此驱动齿轮731可由电机组件50的输出轴驱动以在第一方向和第二方向上转动。第一驱动组件710用于驱动抵钉座120的打开和闭合。第二驱动组件720用于驱动刀具组件在近端方向和远端方向上的移动。下面将更详细地描述第一驱动组件710和第二驱动组件720的结构。
现在请继续参考图2，并同时参考图5-8，图5至8示出了第一驱动组件710所包含的部件进一步的细节。第一驱动组件710包括第一齿轮711、第二齿轮712和推杆713。
如图2和图5所示，第一齿轮711和第二齿轮712同轴地设置。如图6最佳地所示，第一齿轮711是全齿齿轮，其始终与驱动齿轮731啮合。图6还示出了，第一齿轮711还包括第一凸柱711A。
如图7最佳地所示，第二齿轮712不是全齿齿轮，包括有齿部712A和无齿部712D，因此仅当有齿部712A转动成与驱动齿轮731啮合时，第二齿轮712才与驱动齿轮731啮合。图7还示出了，第二齿轮712还包括弧形凹槽712B和第二凸柱712C。第一齿轮711的第一凸柱711A可在第二齿轮712的弧形凹槽712B内在C位置(即第一位置)和D位置(即第二位置)之间滑动。第一齿轮的第一凸柱711A，以及第二齿轮的弧形凹槽712B和无齿部712D相互配合，形成空转程机制，其具体原理将在下文进一步详细描述。
如图8所示，推杆713包括孔713A。推杆713的一端具有用于与套管固定座220固定的圆形孔713B，另一端具有长形孔713A，第二齿轮712的第二凸柱712C可在长形孔713A内在A位置和B位置之间滑动。
在本发明的实施例中，在第二凸柱712C在长形孔713A内从A位置移 动到B位置期间，推杆713会带动套管固定座220向远端方向移动，从而带动套管210向远端方向移动，套管210的远端部210A驱动抵钉座120向下枢转实现闭合。与上述情形相反，在第二凸柱712C在长形孔713A内从B位置(即第四位置)移动到A位置(即第三位置)期间，推杆713会带动套管固定座220向近端方向移动，从而带动套管210向近端方向移动，套管210的远端部210A离开抵钉座120并使其向上枢转实现打开。
要注意的是，在闭合操作期间，即在第二凸柱712C从A位置移动至B位置期间，第二凸柱712C与长形孔713A之间的摩擦力会逐渐减小，其具体原理如下：在现有的驱动机构中，将凸柱设置在连杆上，将长形孔设置在齿轮中，在长形孔推动连杆运动的时候，连杆仅进行前后运动，即连杆上的凸柱始终只有一个面与长形孔进行摩擦，即形成滑动摩擦；通过将第二凸柱712C设置在第二齿轮712上，将长形孔713A设置在推杆713上，第二凸柱712C随着第二齿轮712的转动而推动推杆713运动，在此过程中，随着第二齿轮712的转动，第二凸柱712C与长形孔713A的接触面是不断变化的，即形成滚动摩擦，滚动摩擦的摩擦力显著小于滑动摩擦的摩擦力。因此，对第二凸柱712C和长形孔713A的表面粗糙度和强度的要求可以降低，由此可以简化生产工艺、降低生产成本。同样，在上述过程期间，对推杆713的作用力也逐渐减小，使得抵钉座120在闭合期间的能量损失减小，由此可以提升效率。关于上述操作的进一步细节，将在下文进一步详细描述。
现在参考图2、图3和图9，其中图3和图9更详细地示出了第二驱动组件720所包含的部件进一步的细节。第二驱动组件720包括齿条721、第三齿轮722和第四齿轮723。
如图9最佳地所示，第三齿轮723包括沿其周向设置的第一有齿部722A、第二有齿部722B和与第二有齿部722B上下邻接的无齿部722C。第三齿轮722通过第一有齿部722A和第二有齿部722B始终与驱动齿轮731啮合。第一有齿部722A、第二有齿部722B和无齿部722C与第四齿轮723配合，形成空转程机制，其具体原理将在下文进一步详细描述。
如图3所示，第四齿轮723包括第一子齿轮723A和第二子齿轮723B，两者的直径不同。第一子齿轮723A和第二子齿轮723B可同步地转动，在一些实施例中，第一子齿轮723A和第二子齿轮723B可以一体成型。第一子齿轮723A可随着转动依次接合第三齿轮722的第一有齿部722A和无齿 部722C。第二子齿轮723B用于啮合齿条721。齿条721与第二子齿轮723B啮合，且其一端与轴芯30连接。
图3还示出了用于切割患者的组织的刀具组件40。刀具组件40包括切割刀410和与切割刀410连接的推刀杆420，推刀杆420的一部分位于套管210内且与轴芯30的远端连接。推刀杆420的另一部分延伸进入端部执行器10，且与切割刀410连接。在所示的实施例中，推刀杆420包括凹陷部，以与切割刀411的凸出部相互配合，从而将推刀杆420与切割刀411组装在一起。当然也可以设想其他替代形式，例如，在推刀杆420上设置凸出部，而在切割刀411上设置凹陷部等。
在本发明的实施例中，当齿条721在近端方向上移动时，轴芯30会带动刀具组件40在近端方向上移动，从而实现退刀操作。与上述情形相反，当齿条721在远端方向上移动时，轴芯30会带动刀具组件40在远端方向上移动，从而实现进刀操作。关于上述操作的进一步细节，将在下文进一步详细描述。
2.电动吻合器械的示例性操作
上文已经描述了根据本发明的电动吻合器械的结构以及各个部件的基本功能，下面将进一步详细在电动吻合器械的相应操作中，这些部件的相互配合方式和工作原理。
2.1抵钉座闭合操作
2.1.1抵钉座闭合：
要进行抵钉座120闭合操作时，操作者例如按压第一按键810。电动吻合器械的控制模块接收到按压第一按键810发出的信号，并向电机组件50发出运转指令。电机组件50驱动驱动齿轮731沿第一方向转动，驱动齿轮731驱动第二齿轮712沿第二方向转动，第一齿轮711也沿第二方向同步地转动。在转动的过程中，第二齿轮712的第二凸柱712C在推杆713的孔713A内从A位置移动到B位置，使得套管固定座220向远端移动，从而带动套管210向远端移动，套管210的远端210A驱动抵钉座120向下枢转以闭合。
2.1.2抵钉座闭合期间刀具组件保持不动：
在抵钉座120闭合的同时，驱动齿轮731同时也会驱动第三齿轮722沿 第二方向转动。在此过程中，第三齿轮722的无齿部722C与第一子齿轮723A接合，因此，第三齿轮722的转动不会带动第一子齿轮723A转动，第二子齿轮723B也不会转动，从而轴芯30保持不动，由此刀具组件40保持不动。这里实现了上文所述的空转程机制。
2.1.3抵钉座闭合到位：
当套管固定座220在其行进路径(即移动路径)上向远端行进至一定位置时，套管固定座220上的凸块810(在图3中示出)触发第一行程开关610(也在图3中示出)，控制模块接收到第一行程开关610发出的信号，并指令电机组件50停止运动。此时，凸柱712C在长形孔713A内位于B位置，抵钉座120闭合到位，操作者可释放第一按键810。
2.2进刀操作
2.2.1.刀具组件进刀：
要进行进刀操作以切割患者的组织时，使用者例如按压第一按键810。控制模块接收到按压第一按键810发出的信号，并向电机组件50发出运转指令。电机组件50继续驱动驱动齿轮731沿第一方向转动，驱动齿轮731驱动第三齿轮722沿第二方向转动，第三齿轮722的第一有齿部722A与第一子齿轮723A啮合，由此驱动第一子齿轮723A沿第一方向转动，带动第二子齿轮723B沿第一方向转动。第二子齿轮723B驱动齿条721向远端移动，齿条721驱动轴芯30向远端移动，轴芯30驱动推刀杆420向远端移动，推刀杆420驱动切割刀410向远端移动实现进刀以切割组织。
2.2.2进刀操作期间抵钉座保持闭合：
在刀具组件进刀的同时，驱动齿轮731会驱动第一齿轮711向第二方向转动，第一齿轮711的第一凸柱711A在第二齿轮712的弧形凹槽712B内从C位置移动到D位置，使得第一齿轮711空转，不会带动第二齿轮712转动；同时，驱动齿轮731与第二齿轮712的无齿部712D接合，驱动齿轮731也不带动第二齿轮712转动。从而第二齿轮712不动，由此不会带动套管固定座220移动，使得在进刀操作期间，抵钉座保持闭合。这里实现了上文所述的空转程机制。
2.2.3进刀到位：
当齿条721在其路径上向远端行进至一定位置时，齿条721推动促发器 90与第三行程开关630(两者均在图4中示出)接触并触发第三行程开关630，控制模块接收到第三行程开关630发出的信号并指令电机组件50停止运转，所述刀具组件(40)在所述远端方向上移动到位，切割组织完毕。
2.3退刀操作
2.3.1.刀具组件退刀：
在切割组织完成，要进行退刀操作时，操作者例如按压第二按键810。控制模块接收到通过按压第二按键820发出的信号，并指令电机组件50向第二方向转动。电机组件50驱动驱动齿轮731沿第二方向转动，驱动齿轮731驱动第三齿轮722沿第一方向转动，第三齿轮722的第一有齿部722A驱动第一子齿轮723A沿第二方向转动，第一子齿轮723A带动第二子齿轮723B沿第二方向转动，由此驱动齿条721向近端运动，齿条721驱动轴芯30向近端运动，轴芯30驱动推刀杆420向近端运动，推刀杆420驱动切割刀410向近端运动，从而实现退刀。
2.3.2退刀操作期间抵钉座保持闭合：
在刀具组件退刀的同时，驱动齿轮731会驱动第一齿轮711沿第一方向转动，第一齿轮711的第一凸柱711A在第二齿轮712的弧形凹槽712B内从D位置移动到C位置，使得第一齿轮711空转，不带动第二齿轮712；同时，由于第二齿轮712的无齿部712D与驱动齿轮731接合，驱动齿轮731也不带动第二齿轮712转动。从而第二齿轮712不动，不会带动套管固定座220移动，由此在退刀操作期间，抵钉座保持闭合。这里实现了上文所述的空转程机制。
2.3.3退刀到位：
当齿条721在其路径上向近端行进至一定位置时，齿条721推动促发器90与第三行程开关630断开，标志着退刀完毕。
2.4抵钉座打开操作
2.4.1抵钉座打开：
退刀到位之后，电机组件50可以不停止工作，而是继续驱动驱动齿轮731沿第二方向转动，驱动齿轮731驱动第一齿轮711沿第一方向转动，第一齿轮711的第一凸柱711A抵靠第二齿轮712的弧形凹槽712B的边缘， 带动第二齿轮712也沿第一方向同步转动，并使第二齿轮712与驱动齿轮731开始啮合。在第二齿轮712的转动过程中，第二凸柱712C从推杆713的孔713A中的B位置移动到A位置，使得推杆713驱动套管固定座220向近端移动。在此过程中，抵钉座220向上枢转实现打开。
2.4.2抵钉座打开期间刀具组件保持不动：
在抵钉座打开的同时，驱动齿轮731会驱动第三齿轮722沿第一方向转动，第三齿轮722的第一有齿部722A与第一子齿轮723A脱离啮合，即第三齿轮722的的无齿部722C与第三齿轮722的接合，因此不会带动第一子齿轮723A转动，第二子齿轮723B也就不会转动，从而轴芯30保持不动，使得刀具组件40保持不动。这里实现了上文所述的空转程机制。
2.4.3抵钉座打开到位：
当套管固定座220后退至一定位置时，凸块810触发第二行程开关620，控制模块接收到第二行程开关620发出的信号，并指令电机组件50停止运动。此时，第二凸柱712C在长形孔713A内位于A位置，抵钉座打开到位。
应当理解的是，上述操作过程，特别是对按键的操作、控制模块的工作逻辑、行程开关的设置方式等，都仅是示例性的，而非对本发明的限制。本领域技术人员在根据本发明的电动吻合器械的结构和工作原理的基础上，可以设想其他等同的操作过程。
尽管已经参考上述实施例描述了本发明，但是本领域技术人员将会理解，在不脱离如所附的权利要求所限定的本发明的理念和范围的情况下，可以做出各种改变。虽然本说明书包含许多具体的实现方式的细节，但是这些不应该被解释为本发明要求保护的范围的限制，而是作为针对于特定实施例的特征的描述。本发明的范围由所附权利要求及其等同物来限定，而不限于前面描述的实施例。

Claims (10)

  1. 一种电动吻合器械，其特征在于，包括：
    电机组件，包括输出轴，所述输出轴配置为沿第一方向或第二方向转动；
    传动机构，包括驱动齿轮和第一驱动组件，所述驱动齿轮安装在所述电机组件的所述输出轴上，所述驱动齿轮随所述输出轴转动，其中，所述第一驱动组件包括：
    第一齿轮，所述第一齿轮与所述驱动齿轮啮合且配置为随所述驱动齿轮转动，
    第二齿轮，所述第二齿轮与所述第一齿轮同轴设置，并且所述第二齿轮与所述驱动齿轮至少部分啮合且配置为随所述驱动齿轮转动，和
    推杆，所述推杆与所述第二齿轮活动连接，并且所述推杆配置为随所述第二齿轮的转动向近端方向或远端方向移动；
    套管组件，其近端与所述推杆连接，且配置为随所述推杆向所述近端方向或所述远端方向移动；以及
    端部执行器，所述端部执行器设置在所述套管组件的远端，所述端部执行器包括抵钉座和钉仓座，所述抵钉座和/或所述钉仓座配置为在打开位置和闭合位置之间可枢转。
  2. 如权利要求1所述的电动吻合器械，其特征在于，所述第一齿轮包括第一凸柱，且所述第二齿轮包括配置为接收所述第一凸柱的槽，其中所述第一凸柱配置为在所述槽内的第一位置和第二位置之间移动。
  3. 如权利要求1所述的电动吻合器械，其特征在于，所述第二齿轮包括第二凸柱，所述推杆包括配置为接收所述第二凸柱的长形孔，其中所述第二凸柱配置为在所述长形孔内的第三位置和第四位置之间移动，以使所述推杆随所述第二齿轮的转动向近端方向或远端方向移动。
  4. 如权利要求1所述的电动吻合器械，其特征在于，所述传动机构还包括第二驱动组件，所述第二驱动组件包括：
    第三齿轮，与所述驱动齿轮啮合且配置为随所述驱动齿轮转动，
    第四齿轮，与所述第三齿轮啮合且配位置为随所述第三齿轮转动，以及
    齿条，与所述第四齿轮啮合且配置为随所述第四齿轮的转动向所述近端方向或所述远端方向移动；并且，
    所述电动吻合器械还包括刀具组件和设置在所述套管组件中的轴芯，所述轴芯的近端与所述齿条连接，且配置为随所述齿条向所述近端方向或所述远端方向移动，所述刀具组件的近端与所述轴芯的远端连接，且配置为随所述轴芯向所述近端方向或所述远端方向移动。
  5. 如权利要求1所述的电动吻合器械，其特征在于，所述抵钉座和所述钉仓座分别与所述套管组件的远端连接，且所述抵钉座或所述钉仓座配置为在打开位置和闭合位置之间枢转，当所述套管组件向所述近端方向移动时，所述抵钉座或所述钉仓座向所述打开位置枢转，当所述套管组件向所述远端方向移动时，所述抵钉座或所述钉仓座向所述闭合位置枢转。
  6. 如权利要求3所述的电动吻合器械，其特征在于，
    当所述电机组件的所述输出轴沿所述第一方向转动并驱动所述驱动齿轮沿所述第一方向转动时，所述第一齿轮和所述第二齿轮均随所述驱动齿轮沿所述第二方向转动，使得所述第二凸柱在所述长形孔内从所述第三位置移动到所述第四位置，使所述推杆向所述远端方向移动，进而使所述套管组件向所述远端方向移动，由此使所述抵钉座或所述钉仓座从所述打开位置枢转到所述闭合位置；
    当所述电机组件的所述输出轴沿所述第二方向转动并驱动所述驱动齿轮沿所述第二方向转动时，所述第一齿轮和所述第二齿轮均随所述驱动齿轮沿所述第一方向转动，使得所述第二凸柱在所述长形孔内从所述第四位置移动到所述第三位置，使所述推杆向所述近端方向移动，进而使得所述套管组件向所述近端方向移动，由此使所述抵钉座或所述钉仓座从所述闭合位置枢转到所述打开位置。
  7. 如权利要求2所述的电动吻合器械，其特征在于，所述第二齿轮还包括无齿部和有齿部，并且所述电动吻合器械的远端还设置有刀具组件，所述刀具组件与所述传动机构连接且配置为向所述近端方向或所述远端方向移动，并且
    当所述刀具组件向所述近端方向或所述远端方向移动时，所述第一驱动组件还配置为：
    随着所述第一齿轮的转动，所述第一凸柱在所述槽内从所述第一位置移动到所述第二位置或从所述第二位置移动到所述第一位置，使得所述第一齿轮相对于所述第二齿轮空转，从而不带动所述第二齿轮转动；并且，
    所述第二齿轮的无齿部与所述驱动齿轮接合，使得所述第二齿轮不随所述驱动齿轮转动，进而使得所述套管组件保持不动，由此使所述抵钉座和/或所述钉仓座保持在所述闭合位置或所述打开位置。
  8. 如权利要求1至7中任一项所述的电动吻合器械，其特征在于，所述电动吻合器械还包括设置在所述套管组件的移动路径上的第一行程开关，当所述套管组件向所述远端方向行进至接触并触发所述第一行程开关时，所述电机组件配置为停止转动，所述抵钉座和/或所述钉仓座位于所述闭合位置。
  9. 如权利要求1至7中任一项所述的电动吻合器械，其特征在于，所述电动吻合器械还包括设置在所述套管组件的移动路径上的第二行程开关，当所述套管组件向所述近端方向行进至接触并触发所述第二行程开关时，所述电机组件配置为停止转动，所述抵钉座和/或所述钉仓座位于所述打开位置。
  10. 如权利要求4所述的电动吻合器械，其特征在于，所述电动吻合器械还包括设置在所述齿条的移动路径上的第三行程开关，当所述齿条向所述远端方向行进至接触并触发所述第三行程开关时，所述电机组件配置为停止转动，所述刀具组件在所述远端方向上移动到位。
PCT/CN2022/105177 2021-12-15 2022-07-12 电动吻合器械 WO2023109109A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22871146.1A EP4218612A4 (en) 2021-12-15 2022-07-12 ELECTRIC ANASTOMOSIS DEVICE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111536645.3 2021-12-15
CN202111536645.3A CN116262062A (zh) 2021-12-15 2021-12-15 电动吻合器械

Publications (1)

Publication Number Publication Date
WO2023109109A1 true WO2023109109A1 (zh) 2023-06-22

Family

ID=86723677

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/105177 WO2023109109A1 (zh) 2021-12-15 2022-07-12 电动吻合器械

Country Status (3)

Country Link
EP (1) EP4218612A4 (zh)
CN (1) CN116262062A (zh)
WO (1) WO2023109109A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140014707A1 (en) * 2013-09-16 2014-01-16 Ethicon Endo-Surgery, Inc. Surgical Stapling Instrument Having An Improved Coating
US20180168677A1 (en) * 2016-12-20 2018-06-21 Ethicon Llc Robotic Endocutter Drivetrain with Bailout and Manual Opening
CN110840501A (zh) * 2019-12-03 2020-02-28 江苏风和医疗器材股份有限公司 用于外科器械的触发装置及外科器械
CN111803164A (zh) * 2020-08-27 2020-10-23 武汉智瓴医疗科技有限公司 用于击发吻合器的电动推击装置及电动吻合器
CN111870319A (zh) * 2019-05-01 2020-11-03 江苏风和医疗器材股份有限公司 驱动装置、外科器械及其操作方法
CN112472175A (zh) * 2019-09-11 2021-03-12 江苏风和医疗器材股份有限公司 外科器械
CN217162191U (zh) * 2021-12-15 2022-08-12 宁波海泰科迈医疗器械有限公司 电动吻合器械
CN217285915U (zh) * 2021-12-15 2022-08-26 常州同创医疗器械科技有限公司 一种电动吻合器械

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140014707A1 (en) * 2013-09-16 2014-01-16 Ethicon Endo-Surgery, Inc. Surgical Stapling Instrument Having An Improved Coating
US20180168677A1 (en) * 2016-12-20 2018-06-21 Ethicon Llc Robotic Endocutter Drivetrain with Bailout and Manual Opening
CN111870319A (zh) * 2019-05-01 2020-11-03 江苏风和医疗器材股份有限公司 驱动装置、外科器械及其操作方法
CN112472175A (zh) * 2019-09-11 2021-03-12 江苏风和医疗器材股份有限公司 外科器械
CN110840501A (zh) * 2019-12-03 2020-02-28 江苏风和医疗器材股份有限公司 用于外科器械的触发装置及外科器械
CN111803164A (zh) * 2020-08-27 2020-10-23 武汉智瓴医疗科技有限公司 用于击发吻合器的电动推击装置及电动吻合器
CN217162191U (zh) * 2021-12-15 2022-08-12 宁波海泰科迈医疗器械有限公司 电动吻合器械
CN217285915U (zh) * 2021-12-15 2022-08-26 常州同创医疗器械科技有限公司 一种电动吻合器械

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4218612A4 *

Also Published As

Publication number Publication date
CN116262062A (zh) 2023-06-16
EP4218612A4 (en) 2024-04-24
EP4218612A1 (en) 2023-08-02

Similar Documents

Publication Publication Date Title
CN106821441B (zh) 一种电动吻合器及其击发回退控制方法
WO2020221357A1 (zh) 驱动装置及外科器械
WO2021120448A1 (zh) 外科器械
JP2006015150A (ja) 回転伝動装置を備える不均一多行程型発火機構を装備した外科用ステープル留め器械
CN216060620U (zh) 电动外科器械
CN110604602B (zh) 推架及电动吻合器
CN217162191U (zh) 电动吻合器械
WO2023109109A1 (zh) 电动吻合器械
WO2021109547A1 (zh) 一种双动力腔内切割吻合器
CN114098866B (zh) 一种外科器械
WO2023143313A1 (zh) 外科器械
US9381017B2 (en) Linear surgical stapler with rotatable operation button
CN110604603B (zh) 驱动机构及电动吻合器
CN111884419B (zh) 驱动装置
CN115886911A (zh) 电动外科器械
CN111870320A (zh) 外科器械
CN115137426A (zh) 电动外科器械
CN110604601B (zh) 螺杆及电动吻合器
WO2023051269A1 (zh) 电动外科器械
WO2023125115A1 (zh) 用于外科器械的钳口组件驱动装置及外科器械
CN219461263U (zh) 一种可替换钳口组件的直线切割吻合器
CN211243533U (zh) 一种双动力腔内切割吻合器
CN219126502U (zh) 加长型电动切割吻合器
CN117100342A (zh) 外科器械
CN117481724A (zh) 外科器械

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2022871146

Country of ref document: EP

Effective date: 20230331