WO2024017213A1 - Ensemble plateforme et agrafeuse - Google Patents

Ensemble plateforme et agrafeuse Download PDF

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Publication number
WO2024017213A1
WO2024017213A1 PCT/CN2023/107775 CN2023107775W WO2024017213A1 WO 2024017213 A1 WO2024017213 A1 WO 2024017213A1 CN 2023107775 W CN2023107775 W CN 2023107775W WO 2024017213 A1 WO2024017213 A1 WO 2024017213A1
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WO
WIPO (PCT)
Prior art keywords
trigger
engaging
moving
force
switching
Prior art date
Application number
PCT/CN2023/107775
Other languages
English (en)
Chinese (zh)
Inventor
史晓杰
Original Assignee
天臣国际医疗科技股份有限公司
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
Priority claimed from CN202221850659.2U external-priority patent/CN217907878U/zh
Priority claimed from CN202210840825.9A external-priority patent/CN117442273A/zh
Application filed by 天臣国际医疗科技股份有限公司 filed Critical 天臣国际医疗科技股份有限公司
Publication of WO2024017213A1 publication Critical patent/WO2024017213A1/fr

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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

Definitions

  • the present disclosure relates to the field of medical devices, and in particular, to a platform assembly suitable for a stapler and a stapler having the platform assembly.
  • the stapler is a device used clinically to replace traditional manual suturing. Compared with traditional manual suturing, staplers can increase the speed of tissue suturing and reduce trauma to patients. During the use of the stapler, there is a risk of misuse, which may lead to accidents. Therefore, there is a continuing need for staplers that reduce the risk of misuse.
  • the present disclosure provides a platform assembly suitable for a stapler and a stapler having the platform assembly to improve the safety of the stapler.
  • the present disclosure provides a platform assembly suitable for use with a stapler.
  • the platform assembly includes: a trigger; a switching member having a stop surface capable of moving between a first position and a second position; a firing mechanism including an engaging member and an actuating member having an engaging portion, wherein the engaging member is operated along with the trigger And movement; when the switching member is in the first position, as the trigger is operated, the meshing member and the meshing part remain separated; when the switching member is in the second position, as the trigger is operated, the meshing member engages the meshing part to push the actuating member, Thereby causing the tool assembly of the stapler to fire; and a closing mechanism including a first moving member, wherein as the first moving member moves from the third position to the fourth position, the closing mechanism causes the tool assembly to switch from open to closed; when the first moving member moves from the third position to the fourth position, the closing mechanism causes the tool assembly to switch from open to closed; When the moving part is in the third position, it can limit the movement of the meshing part to
  • the first moving member when the switching member is in the second position and the trigger is not operated, as the first moving member returns from the fourth position to the third position, the first moving member causes the engaging member to move to separate from the stop surface. .
  • the first moving part has a cam surface.
  • the cam surface engages The piece guides the engagement piece to separate from the stop surface.
  • the first moving member abuts against the engaging member to restrict the engaging member from engaging with the engaging portion.
  • the firing mechanism further includes a first force-applying member that applies a first force to the meshing member, wherein when the first moving member is in the third position, it moves against the meshing member. Limit bites The engaging part moves to abut against the stop surface under the first force; when the first moving part is in the fourth position, the engaging part can move to abut against the stop surface under the first force.
  • the platform assembly further includes a second force applying member, the second force applying member applies a second force to the switching member, wherein when the engaging member abuts the stop surface, the engaging member limits the switching member to Return to the first position from the second position under the second force.
  • the trigger is provided with a guide rail
  • the switching member is placed in the guide rail and can move between the first position and the second position along the guide rail
  • the switching member includes a first shoulder
  • the guide rail includes a second shoulder
  • the first shoulder and the second shoulder are arranged sequentially along the movement direction of the switching member from the first position to the second position.
  • the second force-applying member is a compression spring. One end of the compression spring is pressed against the first shoulder and the other end is pressed against the first shoulder. Lean on the second shoulder.
  • the firing mechanism further includes a first force-applying member that applies a first force to the engaging member, wherein when the switching member is in the first position and the trigger is operated, the switching member supports The meshing part enables the meshing part to overcome the first force and remain separated from the meshing part; when the switching part is in the second position and the trigger is operated, the meshing part engages with the meshing part under the first force.
  • the switching member also has a first step surface and a second step surface, the first step surface protrudes beyond the second step surface, and the stop surface is located between the first step surface and the second step surface,
  • the first step surface supports the meshing member;
  • the second step surface supports the meshing member.
  • the engaging member is pivotably supported by the trigger about the first axis, the first force is used to cause the engaging member to rotate about the first axis in the first direction, and the trigger is pivotable about the second axis.
  • the ground is supported, wherein as the trigger is operated, the trigger rotates about the second axis in a second direction opposite to the first direction from an initial position to an end position.
  • the first moving part is pivotably supported around the third axis at its first end
  • the closing mechanism further includes: a second moving part, the first end of which is connected to the second moving part of the first moving part.
  • the third moving member has a first end that is pivotally connected to the second end of the second moving member and is pivotably supported at its second end about a fourth axis; and a linkage member that is at least partially located The proximal side of the third moving part and against the third moving part, wherein as the first moving part rotates around the third axis from the third position to the fourth position, the third moving part rotates around the fourth axis and causes the linkage part to move along the axis The proximal movement causes the tool assembly to switch from open to closed.
  • the present disclosure also provides a stapler, which includes the platform assembly provided by the present disclosure.
  • the present disclosure also provides a tissue suturing method, which method includes: providing the stapler provided in the above aspect of the disclosure; and using the stapler to perform tissue suturing.
  • Figure 1 is a schematic structural diagram of a stapler according to an embodiment of the present disclosure.
  • FIGS. 2A to 2E are structural schematic diagrams showing the internal structure of the platform assembly of the stapler in FIG. 1 , where the platform assembly is in different states in FIGS. 2A to 2E .
  • 3A to 3D are schematic structural diagrams showing the cooperative relationship between the first moving part, the engaging part and the switching part of the stapler in FIG. 1 .
  • FIG. 4 is a schematic structural diagram of the switching member of the stapler in FIG. 1 .
  • FIG. 5 is a schematic structural diagram of a part of the trigger of the stapler in FIG. 1 .
  • 6A and 6B are schematic structural diagrams showing the mating relationship between the switching component and the engaging component of the stapler in FIG. 1 .
  • FIG. 7 is an exploded schematic view of a portion of the platform assembly of the stapler in FIG. 1 .
  • FIGS. 8A and 8B are schematic structural views of the tool assembly of the stapler in FIG. 1 , where the tool assembly is in different states in FIGS. 8A and 8B .
  • 9A to 9C are structural schematic diagrams illustrating the process of causing the first moving part to leave the fourth position of the stapler in FIG. 1 .
  • FIG. 10 is a schematic structural diagram showing the first moving part and the second moving part of the stapler in FIG. 1 .
  • staplers can increase the speed of tissue suturing and reduce trauma to patients, so they are widely used in surgical procedures.
  • a stapler includes a tool component and a platform component.
  • the tool assembly includes a pair of clamps, one of which can include a cutting board and the other of which can include a staple cartridge for receiving staples.
  • the platform assembly may include a trigger and firing mechanism.
  • the tool assembly can be switched from open to closed (ie, bringing a pair of clamps close to each other) to clamp the tissue between the pair of clamps.
  • the trigger can then be operated such that the firing mechanism causes the tool assembly to fire.
  • staples are ejected from the staple cartridge, thereby closing the tissue.
  • the tool assembly of some staplers also includes a cutter. When the tool assembly is fired, the cutter extends and staples are ejected from the staple cartridge, thereby simultaneously cutting and suturing tissue.
  • the firing mechanism of some staplers can be switched between a locked state and an unlocked state.
  • the firing mechanism When the firing mechanism is in the locked state, the firing mechanism does not cause the tool assembly to fire as the trigger is operated.
  • the firing mechanism When the firing mechanism is in the unlocked state and the trigger is operated, the firing The mechanism causes the tool assembly to fire.
  • misoperation may cause the firing mechanism to switch from the locked state to the unlocked state when the tool assembly is opened. If it is not discovered that the firing mechanism has been mistakenly switched to the unlocked state, subsequent operations may cause the tool assembly to be accidentally fired while being opened, which may lead to an accident.
  • the present disclosure provides a platform assembly and a stapler having the platform assembly.
  • Using the platform assembly provided by the present disclosure can reduce the risk of accidentally firing the tool assembly when it is opened due to misoperation.
  • the stapler 10 may be an endoscopic stapler.
  • the stapler 10 may be an endoscopic linear cutting stapler. It is understood that in other embodiments, the stapler according to the present disclosure may also be of other types.
  • stapler 10 includes tool assembly 11 and platform assembly 12 .
  • platform assembly 12 may include elongated body 13 .
  • the elongated body 13 may be tubular.
  • the elongated body 13 may extend distally from the body portion of the platform assembly 12 .
  • Tool assembly 11 may be attached to the distal end of elongate body 13 .
  • distal may refer to an end of the stapler that is far away from the doctor (or surgical robot).
  • proximal may refer to the end of the stapler that is close to the surgeon (or surgical robot).
  • Tool assembly 11 includes a pair of clamps 111,112.
  • the tool assembly 11 can be switched between open and closed.
  • a pair of clamps 111, 112 can clamp tissue therebetween.
  • a pair of jaws 111, 112 separate from each other to release tissue.
  • tool assembly 11 is in an open position.
  • the clamp 111 may include a cutting board, and the clamp 112 may include a staple cartridge for storing staples.
  • Platform assembly 12 also includes trigger 14 . By operating the trigger 14, the tool assembly 11 can be caused to fire. When the tool assembly 11 is fired, the staples are ejected from the staple cartridge to achieve tissue suturing.
  • the tool assembly 11 may also include a cutter (not shown in the figure). When the tool assembly 11 is fired, the cutter extends and the staples are ejected, thereby simultaneously cutting and suturing the tissue.
  • the trigger 14 When the trigger 14 is operated, the trigger 14 can move from one position to another.
  • the position when the trigger 14 is not operated is called the initial position
  • the position to which the trigger 14 moves when it is operated is called the end position.
  • the trigger 14 In Figures 2A, 2C and 2D, the trigger 14 is in the initial position.
  • the trigger 14 In Figures 2B and 2E, the trigger 14 is in the end position.
  • the platform assembly 12 also includes a firing mechanism and a switching member 15 .
  • the switching member 15 can move between two opposite positions, thereby switching the firing mechanism between a locked state and an unlocked state.
  • the position of the switching member 15 corresponding to the locked state of the firing mechanism is called the first position
  • the position of the switching member 15 corresponding to the unlocked state of the firing mechanism is called the second position.
  • the switching member 15 is in the first position.
  • Figures 2D and 2E the switching member 15 is in the second position.
  • the firing mechanism includes an engaging part 16 and an actuating part 17.
  • the actuating part 17 includes an engaging part 171, and the engaging part 171 is adapted to engage with the engaging part 16.
  • the engaging member 16 moves as the trigger 14 is operated.
  • the engaging member 16 may be supported by the trigger 14 so that the engaging member 16 can move as the trigger 14 is operated.
  • the actuating member 17 is axially slidably configured, and the actuating member 17 can move axially toward the distal direction (ie, the right side in FIGS. 2A to 2E ) to cause the tool assembly 11 to fire.
  • the axial direction may refer to the length direction of the stapler, or the axial direction may refer to the extension direction of the elongated body.
  • the actuating member is slidably sleeved on the elongated body, so as to be slidable in the axial direction.
  • the switching member 15 When the switching member 15 is in the second position, as shown in FIGS. 2D and 2E , as the trigger 14 is operated, that is, as the trigger 14 moves from the initial position to the end position, the engaging member 16 engages with the engaging portion 171 . During this process, since the engaging member 16 is engaged with the engaging portion 171 , the engaging member 16 will push the actuating member 17 to move axially in the distal direction, so that the actuating member 17 causes the tool assembly 11 to fire.
  • the platform assembly 12 also includes a closing mechanism including a first moving member 18 .
  • the closing mechanism causes the tool assembly 11 to switch from open to closed. That is to say, when the tool assembly 11 is opened, the first moving part 18 is located at one position; when the tool assembly 11 is closed, the first moving part 18 is located at another position.
  • the position of the first moving part 18 corresponding to the opening of the tool assembly 11 is called the third position, and the position of the first moving part 18 corresponding to the closing of the tool assembly 11 is called the fourth position.
  • the first moving part 18 is in the third position.
  • the first moving part 18 is in the fourth position.
  • the first moving part 18 is in the third position. In Figures 3C and 3D, the first moving part 18 is in the fourth position. In Figures 3A and 3C, the switching member 15 is in the first position. In Figures 3B and 3D, the switching member 15 is in the second position. In Figures 3A to 3D, the trigger 14 is at the initial starting position.
  • the switching member 15 has a stop surface 151 .
  • the engaging member 16 abuts against the stop surface 151 to prevent the switching member 15 from returning to the first position from the second position, thereby maintaining the switching member 15 in the second position.
  • the engaging member 16 may include a seat portion 161 , and the engaging member 16 may abut against the stop surface 151 of the switching member 15 through the seat portion 161 .
  • the first moving member 18 when the first moving member 18 is in the third position, the first moving member 18 abuts against the meshing member 16 to restrict the movement of the meshing member 16 to a position abutting against the stop surface 151 , thereby The movement of the switching member 15 from the second position back to the first position is not restricted.
  • the switching member 15 since there is no obstruction by the engaging member 16, after moving the switching member 15 from the first position in Fig. 3A to the second position in Fig. 3B, the switching member 15 will return to the second position from the second position in Fig. 3B.
  • the engaging member 16 may further include a protruding engaging portion 162 , and the engaging member 16 may abut against the first moving member through the engaging portion 162 .
  • the first moving member 18 when the first moving member 18 is located at the fourth position, the first moving member 18 does not restrict the movement of the engaging member 16 to a position abutting against the stop surface 151 of the switching member 15 .
  • the engaging member 16 moves to a position abutting against the stop surface 151 , so that the switching member 15 will be held in the second position. Two positions.
  • the first moving part in the third position will restrict the movement of the engaging part to a position that abuts the stop surface of the switching part.
  • the switching part will return to the first position. In this way, when the tool assembly is opened, the switching member will not be able to stop at the second position, so that the firing mechanism cannot be switched from the locked state to the unlocked state. Therefore, through this implementation, the risk of accidental firing of the tool assembly when opened due to misoperation can be reduced, thereby improving the safety of the stapler.
  • the tool assembly After completing the suturing (and cutting), the tool assembly needs to be switched from closed to open to release the tissue, and the switching member also needs to be reset from the second position to the first position to prevent the tool assembly from being accidentally fired.
  • the doctor or surgical robot
  • the doctor can cause the first moving member to move from the fourth position to the third position by operating one mechanism to switch the tool assembly from closed to open, and cause the switch by operating another mechanism.
  • the piece returns from the second position to the first position.
  • this implementation requires more components, which makes the structure of the stapler more complex, thereby increasing the manufacturing cost of the stapler and reducing the reliability of the stapler.
  • this implementation requires two steps to switch the tool assembly from closed to open and to reset the switching member from the second position to the first position, which is not conducive to the convenience of operating the stapler.
  • you forget to reset the switching member from the second position to the first position after releasing the tissue there will be a risk of accidental firing of the tool assembly during subsequent operations. Accidents may occur if the tool assembly is accidentally fired, especially if the tool assembly is open.
  • this implementation can reduce the number of components of the stapler and simplify the structure of the stapler. In addition, since no additional operation is required to reset the switch, the implementation of the present disclosure can improve the operating convenience of the stapler.
  • the switching member is automatically reset from the second position to the first position, thereby avoiding forgetting to reset the switching member after the tool assembly is opened. It can be seen that this implementation method can reduce the possibility of accidental firing of the tool assembly, especially when the tool assembly is opened. Therefore, this implementation can further improve the safety of the stapler.
  • only the first moving member can prevent the switching member from moving from the first position to the second position when the tool assembly is opened, and can also switch the tool assembly from closed to open. At the same time, the switching member is reset from the second position to the first position. It can be seen that in this way, the safety of the stapler can be improved while reducing the number of components of the stapler and simplifying the structure of the stapler.
  • the actuating member needs to be pulled back, that is, the actuating member needs to be pulled so that the actuating member moves axially toward the proximal direction.
  • the engaging member meshes with the actuating member, it will be difficult or impossible to pull the actuating member back.
  • the engaging member when the switching member is in the second position and the trigger is not operated, the engaging member will not engage with the engaging portion, thereby not preventing the actuating member from moving proximally in the axial direction.
  • the first moving member can reduce the risk of accidental firing of the tool assembly when it is opened, and on the other hand, it can simultaneously switch the switching member from the third to the open state when the tool assembly is switched from closed to open. The two positions are reset to the first position, and on the other hand, it can prevent the engaging member from blocking the axial movement of the actuating member in the proximal direction when the switching member is in the second position and the trigger is not operated.
  • Many of the above requirements can be met by only the first moving part. It can be seen that this implementation can reduce the number of components of the stapler and simplify the structure of the stapler.
  • the firing mechanism also includes a first force-applying member 19 , and the first force-applying member 19 applies a first force to the engaging member 16 .
  • the first moving member 18 when the first moving member 18 is in the third position, it abuts against the meshing member 16 and restricts the meshing member 16 from moving under the first force to abut against the stop surface 151 of the switching member 15 .
  • the first moving member 18 when the first moving member 18 is in the second position, it no longer restricts the movement of the engaging member 16 to abut against the stop surface 151 .
  • the engagement member 16 may be pivotally supported about the first axis a1 and the trigger 14 may to be pivotably supported about the second axis a2.
  • the first force-applying member 19 may exert a first force on the meshing member 16 to cause the meshing member 16 to rotate in the first direction about the first axis a1.
  • the first direction may be a counterclockwise direction when viewed from the view direction of FIGS. 3A to 3D .
  • the engaging member 16 can be pivotably supported by the trigger 14 around the first axis a1, and the first force-applying member 19 can be a tension spring 19, one end of which is connected to the trigger 14, and the other end of which is connected to the engaging member. 16, thereby exerting a first force on the meshing member that causes the meshing member 16 to rotate in the first direction around the first axis a1.
  • the first force-applying member may also be a torsion spring.
  • the tool assembly 12 also includes a second force applying member 20 .
  • the second force applying member 20 exerts a second force on the switching member 15, and is used to cause the switching member 15 to return to the first position from the second position.
  • the second force applying member 20 exerts a second force on the switching member 15 to cause the switching member 15 to return to the first position from the second position.
  • the trigger 14 is provided with a guide rail 141 , and the switching member 15 is placed in the guide rail 141 and can move between the first position and the second position along the guide rail 141 .
  • the switch 15 includes a first shoulder 152 .
  • Rail 141 includes a second shoulder 142 .
  • the first shoulder 152 and the second shoulder 142 are sequentially arranged along the movement direction of the switching member 15 from the first position to the second position.
  • the movement direction of the switching member 15 from the first position to the second position is from right to left.
  • the first shoulder 152 and the second shoulder 142 are arranged sequentially in the direction from right to left, that is, the first shoulder 152 is on the right side of the second shoulder 142 .
  • the second force-applying member 20 may be a compression spring 20 .
  • One end of the compression spring 20 is pressed against the first shoulder 152 , and the other end is pressed against the second shoulder 142 , thereby exerting a second force on the switching member 15 .
  • the compression spring 20 yields under pressure.
  • the elastic restoring force of the compression spring 20 drives the switching member 15 to return to the first position from the second position.
  • the guide rail 141 may further include a third shoulder 143 located on a side of the first shoulder 152 away from the second shoulder 142 .
  • the first shoulder 152 abuts against the third shoulder 143 , thereby blocking the switching member 15 from detaching from the guide rail 141 under the second force.
  • the switching member 15 may further include a pair of branch parts 155 .
  • the pair of branch parts 155 may extend along the movement direction of the switching member 15 from the first position to the second position, and the pair of branch parts 155 may be spaced apart in a direction perpendicular to the movement direction, thereby forming a space therebetween.
  • One end of the tension spring 19 ie, the first force-applying member 19
  • the other end is attached to the trigger 14 through the space 156 .
  • this implementation it is possible to prevent the switching member from being detached from the guide rail or flipping over during movement between the first position and the second position. Therefore, this implementation can improve the reliability of the stapler
  • FIG. 6A shows the cooperative relationship between the switching member 15 and the engaging member 16 during the movement of the trigger 14 from the initial position to the end position when the switching member 15 is in the first position.
  • FIG. 6B shows the cooperative relationship between the switching member 15 and the engaging member 16 during the movement of the trigger 14 from the initial position to the end position when the switching member 15 is in the second position.
  • the switching member 15 when the switching member 15 is in the first position, during the movement of the trigger 14 from the initial position to the end position, the switching member 15 supports the engaging member 16 so that the engaging member 16 overcomes the first force and engages with the engaging member 16 .
  • Part 171 remains separate. During this process, since the engaging member 16 remains separated from the engaging portion 171 , the engaging member 16 does not cause the actuating member 17 to move axially in the distal direction, and therefore the tool assembly 11 does not fire.
  • the switching member 15 when the switching member 15 is in the second position, during the movement of the trigger 14 from the initial position to the end position, the switching member 15 no longer provides the engaging member 16 with the engaging member 16 so that the engaging member 16 remains separated from the engaging portion 171 With the support, the engaging member 16 engages with the engaging portion 171 under the first force. During this process, the engaging member 16 pushes the actuating member 17 to move axially in the distal direction, thereby causing the tool assembly 11 to fire.
  • the switching member 15 also has a first step surface 153 and a second step surface 154 .
  • the first step surface 153 protrudes beyond the second step surface 154 .
  • the second step surface 154 and the first step surface 153 may be sequentially arranged along the direction of movement of the switching member 15 from the first position to the second position.
  • the stop surface 151 may be located between the first step surface 153 and the second step surface 154 .
  • the stop surface 151 may be configured such that the end connected to the first step surface 153 is not higher than the first step surface 153, and the end connected to the second step surface 154 is not lower than the second step surface 154, so that This method can avoid jamming when the switching member 15 and the meshing member 16 move relative to each other. More specifically, the stop surface 151 may gradually protrude as it approaches the first step surface 153, thereby further preventing the occurrence of jamming. More specifically, the stop surface 151 may be a smooth surface, thereby further preventing the occurrence of sticking.
  • the first step surface 153 supports the engaging member 16 so that the engaging member 16 overcomes the first action. Use force to keep it separated from the engaging portion 171 .
  • the engaging member 16 breaks away from the first step surface 153 and is supported by the second step surface 154 , thereby engaging.
  • the member 16 rotates along the first direction around the first axis a1 to engage with the engaging portion 171, thereby pushing the actuating member 17 to move distally along the axial direction, causing the tool assembly 11 to fire.
  • the first step surface protrudes beyond the second step surface, there is a height difference between the two, which provides a space for the engagement member to rotate after being separated from the first step surface, so that when the engagement member is supported by the second step surface, The engaging member can rotate to engage with the engaging portion of the actuating member under the action of the first force-applying member.
  • the second step surface provides support to prevent the meshing member from continuing to rotate in the first direction to separate from the meshing part under the action of the first force-applying member.
  • the actuating part exerts a reaction force on the engaging part causing it to continue to rotate in the first direction.
  • the second step surface can provide support for the meshing part to prevent it from continuing to rotate in the first direction under the reaction force, thereby preventing the meshing part from continuing to rotate in the first direction to separate from the meshing part under the reaction force.
  • the engaging member when the switching member is in the second position, during the movement of the trigger from the initial position to the end position, the engaging member may not be supported by the second step surface, but may be supported by other structures.
  • the second step surface may serve only to provide a height difference that allows the engagement member to rotate.
  • the switching member may not have the second step surface, and the stop surface may be configured to be connected to the first step surface and not higher than the first step surface.
  • the second step surface may also be part of the stop surface.
  • the space for the engagement element to rotate can be provided by the height difference between the supporting surface and the bottom surface of the guide rail.
  • the engaging member when the switching member is in the second position, during the movement of the trigger from the initial position to the end position, the engaging member can be separated from the supporting surface and supported by the bottom surface of the guide rail to prevent the engaging member from pushing the actuating member. , and under the first acting force and the reaction force from the actuator, continue to rotate in the first direction until it is separated from the meshing part.
  • the platform assembly 12 may further include an operating member 21 , and the operating member 21 may be used to operably move the switching member 15 from the first position to the second position.
  • the operating member 21 may be a button 21 .
  • the trigger 14 is not operated, that is, when the trigger 14 is in the initial position, the inner end of the button 21 faces one end of the switching member 15 .
  • the button 21 can be driven to move toward the switching member 15, so that the switching member 15 is pushed by the inner end of the button 21 to move proximally along the guide rail from the first position in Figure 2C to Figure 2D
  • the second position that is, when the trigger 14 is not operated, the first position is located in the distal direction of the second position.
  • the platform assembly 12 may further include a force applying member 22 that applies a force to the button 21 to cause it to reset.
  • the force applying member 22 may be a compression spring 22 sleeved on the button 21 .
  • the compression spring 22 yields under pressure.
  • the elastic restoring force of the compression spring 22 resets the button 21 .
  • the trigger 14 may include a pair of arms 144 , and each arm 144 may be provided with a through hole 145 .
  • the platform assembly 12 may also include a pin 23 that passes through the through hole 145 of each arm 144 .
  • the engaging member 16 is located between a pair of arms 144 and is pivotably sleeved on the pin 23 , so that the engaging member 16 is supported on the trigger 14 in a manner that is pivotable about the first axis a1.
  • the first axis a1 may be defined by the pin 23 , or the first axis a1 may be the axis of the pin 23 .
  • the engaging member may be supported in other ways.
  • the platform assembly may include an intermediate member secured to the trigger, with the engagement member pivotally supported by the intermediate member.
  • the platform assembly 12 may further include a housing 24 to which the trigger 14 may be pivotably supported about the second axis a2 .
  • the trigger 14 can move about the second axis a2 in a second direction opposite to the first direction from the initial position to the end position.
  • the housing 24 may define a handle 241 .
  • the trigger 14 When the trigger 14 is operated, the trigger 14 moves toward the handle 241 from the initial position to the end position.
  • the trigger 14 is released, the trigger 14 moves away from the handle 241 and returns to the initial position from the end position.
  • the platform assembly 12 may also include a force applying member 25 .
  • the force applying member 25 applies a force to the trigger 14 to return the trigger 14 to the initial position from the end position. In this way, when the trigger 14 is released, the trigger 14 can return to the initial position under the action of the force applying member 25 .
  • the force applying member 25 is a tension spring, and a boss 242 is provided on the inside of the housing 24 . One end of the force applying member 25 is attached to the boss 242, and the other end is attached to the trigger 14. It can be understood that the implementation of the force applying member 25 is not limited to this.
  • the force applying member 25 may also be a torsion spring.
  • the housing 24 may include a pair of removably connected shells 243 , 244 , each of which is provided with a hole 245 on its inner side and a pair of bosses 146 on opposite sides of the trigger 14 .
  • the trigger 14 is at least partially placed between a pair of housings 243, 244, and a pair of bosses 146 are pivotably inserted into the holes 245 of the housings 243, 244 respectively, thereby enabling the trigger 14 to be supported in a manner that can pivot around the second axis a2. on the housing 24.
  • the second axis a2 may be defined by the boss 146 , or in other words, the second axis a2 may be the axis of the boss 146 .
  • the trigger may be supported in other ways.
  • the platform assembly may include an intermediate member secured to the housing, with the trigger pivotally supported by the intermediate member.
  • the manner in which the actuating member causes the tool assembly to fire may refer to related technologies, and this disclosure does not specifically limit this.
  • the firing mechanism also includes a first control member 26 .
  • the first control member 26 may be an elongated push piece.
  • the first control member 26 extends between the actuator member 17 and the tool assembly 11 .
  • the proximal end of the first control member 26 cooperates with the actuating member 17, and the distal end cooperates with the tool assembly 11, so that as the actuating member 17 moves axially toward the distal direction, the first control member 26 moves axially toward the distal direction. Movement causes the tool assembly 11 to fire.
  • the proximal end of the first control member 26 may be provided with a hole 261
  • the tubular elongated body 13 may be provided with a pair of grooves 131 penetrating its interior and exterior.
  • the firing mechanism may also include a ring 27 and a pin 28 provided with a pair of holes 271 .
  • the first control member 26 is inserted into the elongated body 13
  • the ring 27 is sleeved on the elongated body 13
  • the pin 28 is inserted into the hole 261 , a pair of grooves 131 and a pair of holes 271 .
  • the actuating member 17 pushes the ring 27 so that the first control member 26 moves axially distally.
  • the push piece can follow the actuating member to move distally in the axial direction, and can also rotate relatively around the axis of the elongated body, which provides a basis for realizing the rotation of the tool assembly around the axis of the elongated body.
  • the actuator may be directly connected to the push blade.
  • the distal end of the first control member 26 can cooperate with the cutter of the tool assembly such that the first control member 26 can move axially in the distal direction to push the cutter in the distal direction. sports. As the cutter moves in the distal direction, the cutter cuts the tissue and pushes the firing block of the tool assembly 11 to move distally. The firing block can push the staples out of the staple bin during the movement, thereby achieving tissue suturing.
  • the first control member 26 may directly push the firing block so that the firing block moves distally to push the staples out of the staple cartridge.
  • the first moving member 18 is pivotably supported at its first end about the third axis a3.
  • the first moving part 18 may be pivotably supported by the housing 24 at its first end about the third axis a3.
  • the first moving part 18 moves between the third position and the fourth position in a rotational manner about the third axis a3.
  • the first moving member 18 can move from the third position to the fourth position in the second direction about the third axis a3, and can move from the fourth position to the third position in the first direction about the third axis a3.
  • the first moving member 18 may have a cam surface 181 .
  • the cam surface 181 abuts the meshing member 14 and pushes the meshing member 14 and the stop surface 151 separation.
  • the cam surface 181 is located on the first moving member 18 , and the distance from at least part of the cam surface 181 to the third axis a3 gradually increases along the second direction. In this way, as the rotation about the third axis a3 along the first direction from the fourth position to the third position, the cam surface 181 abuts the meshing member 16 and can push the meshing member 16 to rotate about the first axis a1 along the second direction until it abuts against the stop. Face 151 separated.
  • first moving part cooperates with the meshing part through the cam surface
  • first moving part can also cooperate with the meshing part in other ways.
  • both the first moving part and the meshing part may be provided with teeth, and the two may cooperate through the teeth.
  • the first moving part moves between the third position and the fourth position by rotating, in other embodiments, the first moving part can also slide between the two positions. movement between positions.
  • each of the shells 243 and 244 may also be provided with a hole 246
  • the opposite sides of the first moving part 18 may be provided with a pair of bosses 182 .
  • a pair of bosses 182 are pivotably inserted into the holes 246 of the shells 243 and 244 respectively, so that the first moving part 18 is supported by the shell 24 in a manner that can pivot about the third axis a3.
  • the third axis a3 may be defined by the boss 182 , or the third axis a3 may be the axis of the boss 182 .
  • first moving part is not limited to the above.
  • first moving part may also be pivotably supported by the intermediate member about a third axis.
  • the closing mechanism also includes a second moving part 29 , a third moving part 30 and a linkage part 31 .
  • the first moving part 18 is pivotably supported (by the housing 24 ) at its first end about the third axis a3 , and the second end of the first moving part 18 is pivotally connected to the first end of the second moving part 29 .
  • the second end of the second moving part 29 is pivotally connected to the first end of the third moving part 30, and the second end of the third moving part 30 is pivotably supported by (the housing 24) about the fourth axis a4.
  • the linkage 31 is slidably provided in the axial direction.
  • the linkage member 31 is slidably sleeved on the elongated member 13 so as to be slidable in the axial direction.
  • At least part of the linkage member 31 is located on the proximal side of the third moving member 30 and abuts against the third moving member 30 .
  • the third moving part 30 rotates around the fourth axis a4.
  • the third moving part 30 pushes the linkage part 31, so that the linkage part 31 moves proximally along the axial direction from the initial position shown in Figure 2A to the end position shown in Figures 2B to 2E, thereby causing the tool assembly to 11 Switch from open to closed.
  • the closing mechanism can convert the rotation of the first moving part into the sliding of the linkage part, thereby causing the tool assembly to switch from opening to closing.
  • the third moving part can function as a lever. Specifically, the first end of the third moving part can be regarded as the power point, the second end of the third moving part can be regarded as the fulcrum, and the position of the third moving part in contact with the linkage element can be regarded as the resistance point. It can be seen that this implementation method is relatively labor-saving, which can improve the use experience of the stapler.
  • each of the shells 243 and 244 may also be provided with a hole 247
  • the opposite sides of the second end of the third moving part 30 may be provided with a pair of bosses 301 .
  • a pair of bosses 301 are pivotably inserted into the holes 247 of the shells 243 and 244 respectively, so that the second end of the third moving part 30 is supported by the shell 24 in a manner that can pivot about the fourth axis a4.
  • the fourth axis a4 may be defined by the boss 301 , or the fourth axis a4 is the axis of the boss 301 .
  • the method of supporting the third moving part is not limited to the above.
  • the first moving member 18 may further include a pair of arm portions 183 provided at its second end, and each arm portion 183 is provided with a through hole 184 .
  • the first end of the second moving part 29 is provided with a through hole 291 .
  • Platform assembly 12 may also include pin 32 .
  • the first end of the second moving part 29 extends between the pair of arms 183 of the first moving part 18 , and the pin 32 passes through a pair of through holes 184 and 291 , thereby connecting the second part of the first moving part 18 The end is pivotally connected to the first end of the second moving member 29 .
  • the second end of the first moving part may be provided with a rotating shaft part
  • the first end of the second moving part may be provided with a hole adapted to the rotating shaft part
  • the rotating shaft part may be inserted into the hole, thereby achieving pivotal connection between the first moving part and the second moving part.
  • the third moving member 30 may further include a pair of arm portions 302 provided at its first end, and each arm portion 302 is provided with a through hole 303 .
  • the second end of the second moving part 29 is provided with a through hole 292 .
  • Platform assembly 12 may also include pin 33 .
  • the second end of the second moving part 29 extends between a pair of arms 302 of the third moving part 30 , and the pin 33 passes through a pair of through holes 303 and 292 , thereby connecting the second end of the second moving part 29 The end is pivotally connected to the first end of the third moving member 30 .
  • the second end of the second moving part may be provided with a rotating shaft part
  • the first end of the third moving part may be provided with a hole that matches the rotating shaft part, and the rotating shaft part may be inserted into In this hole, the second moving part and the third moving part can be pivotally connected.
  • the closing mechanism may also include a second control member 35 .
  • the second control member 35 may be an elongated pull tab.
  • the second control member 35 extends between the linkage 31 and the tool assembly 11 .
  • the proximal end of the second control member 35 cooperates with the linkage member 31
  • the distal end of the second control member 35 cooperates with the tool assembly 11 , so that as the linkage member 31 moves proximally along the axial direction, the second control member 35 moves toward the axial direction.
  • the proximal movement causes the tool assembly 11 to switch from open to closed.
  • the proximal end of the second control member 35 may be provided with a hole 351
  • the tubular elongated body 13 may be provided with a pair of grooves 132 penetrating its interior and exterior.
  • the closure mechanism may also include a ring 36 and a pin 37 provided with a pair of holes 361 .
  • the second control member 35 is inserted into the elongated body 13
  • the ring 36 is sleeved on the elongated body 13
  • the pin is inserted into the hole 351 , a pair of grooves 132 and a pair of holes 361 .
  • the linkage piece 31 is set on The ring 36 is provided with a shoulder on the inner circumferential side of the linkage 31 , which is located on the distal side of the ring 36 and abuts against the ring 36 .
  • the linkage member 31 moves proximally along the axial direction, the linkage member 31 pushes the ring 36, so that the second control member 35 moves proximally along the axial direction, causing the tool assembly 11 to switch from open to closed.
  • the second control member can follow the linkage member to move axially distally, and the second control member can rotate about the axis of the elongated body, which provides a means for realizing the rotation of the tool assembly about the axis of the elongated body. foundation.
  • the platform assembly 12 may also include a cap 38 and a compression spring 39 .
  • the cap 38 is provided with a through hole 381 , and the pin 37 also passes through the through hole 381 of the cap 38 .
  • Compression spring 39 is located on the proximal side of cap 38 .
  • the second control component can also cooperate with the linkage component in other ways.
  • the proximal end of the second control member may be directly fixedly connected to the linkage member.
  • the linkage piece can drive the second control member to move proximally along the axial direction, thereby causing the closing mechanism to switch from open to closed; as the linkage piece moves from the end position to the initial position , the linkage member can drive the second control member to move distally along the axial direction, thereby causing the closing mechanism to switch from closing to opening.
  • clamps 111 and 112 are pivotally connected by pins 113 .
  • the clamp 111 is provided with a guide groove 114, which extends toward the proximal direction and gradually toward the side where the clamp 112 is located.
  • the tool assembly 11 also includes a pin 115 attached to the distal end of the second control 35 .
  • the pin 115 also moves axially proximally from the position in Figure 8A to the position in Figure 8B.
  • the pin 115 cooperates with the guide groove 114, and the clamp 111 is driven to rotate around the pin axis 113 from the position in FIG. 8A to the position in FIG. 8B, thereby causing the tool assembly 11 to switch from open to closed.
  • the pin 115 moves axially distally from the position in Figure 8B to the position in Figure 8A.
  • the pin 115 cooperates with the guide groove 114, and the clamp 111 is driven to rotate around the pin shaft 113 from the position in FIG. 8B to the position in FIG. 8A, thereby causing the tool assembly 11 to switch from closed to open.
  • the first moving member 18 may be driven by the trigger 14 .
  • the trigger 14 As the trigger 14 is operated, that is, as the trigger 14 moves from the initial position in FIG. 2A to the end position in FIG. 2B , the first moving member 18 is driven by the trigger 14 and moves from the third position in FIG. 2A to FIG. 2B The fourth position in the.
  • the trigger 14 is used to actuate both the firing mechanism and The first moving part 18.
  • the platform assembly 12 may include two triggers, one for actuating the firing mechanism and another for actuating the first moving member.
  • the closure mechanism may also include a driver 40 and the platform assembly 12 may further include a guide rail 248 .
  • guide rails 248 may be formed on the inner wall of housing 14 . The first end of the driving member 40 is pivotally connected to the trigger 14, and the second end is guided by the guide rail 248.
  • the trigger 14 when the trigger 14 is released, the trigger 14 returns to the initial position from the end position under the action of the force applying member 25, and the driving member 40 is separated from the first moving member 18 driven by the trigger 14. , the first moving member 18 is maintained in the fourth position.
  • the first moving part can be driven to move from the third position to the fourth position by operating the trigger.
  • the first moving part will not return to the third position as the trigger returns to the initial position, thus achieving decoupling of the trigger and the first moving part.
  • the platform assembly 12 may also include a pin 41 .
  • the first end of the driving member 40 can be pivotally connected to the trigger 14 through the pin 41 .
  • the second end of the driving member 40 may be provided with a boss 401, and the boss 401 may be inserted into the guide rail 248.
  • the closing mechanism further includes a third force applying member 42 , which is used to apply a force on the third moving member 30 to cause the third moving member 30 to rotate from the end position to the initial position.
  • the third force-applying member 42 may be a compression spring, which is located proximal to the linkage member 31 and presses against the linkage member 31 .
  • the third force-applying member 42 can be sleeved on the elongated body 13 .
  • the third force-applying member can be implemented in various ways, and is not limited to the above-mentioned implementation ways.
  • the third force applying member may also be implemented as a torsion spring.
  • the first moving part 18 When the first moving part 18 is in the fourth position, as shown in FIGS. 2B to 2E , the first moving part 18 is located at a position that is substantially collinear with the second moving part 29 , that is, the first end of the first moving part 18 reaches The connection line between the second end and the connection line from the first end to the second end of the second moving part 29 are substantially co-linear.
  • the first moving member 18 when the first moving member 18 is located at the fourth position, the first moving member 16 is located at a position reached by passing through a collinear position with the second moving member 29 . That is to say, as the first moving part 18 moves from the third position to the fourth position, the first moving part 18 passes through a position that is collinear with the second moving part 29 .
  • the first moving part when the first moving part is located at the fourth position, the first moving part is located at a position that is substantially collinear with the second moving part (or the first moving part is located at a position that passes through a collinear position with the second moving part). And reach the position). At this time, the force exerted by the third force applying member on the third moving member will not cause the first moving member to return to the third position from the fourth position. In this way, after the trigger is released, the first moving member can be maintained in the fourth position, that is, the tool assembly can be maintained in a closed state.
  • the first moving part when it is necessary to switch the tool assembly from closed to open, it is only necessary to drive the first moving part out of the fourth position, that is, to drive the first moving part to reverse (i.e., rotate in the first direction) to no longer Then it is collinear with the second moving part (or passes through a position that is collinear with the second moving part), and then the first moving part can return to the third position under the action of the third force-applying part, thereby causing the tool assembly to switch from closed to open, and cause the switching member to move from the second position to the first position.
  • the first moving member 18 includes an extension portion 185 .
  • the extension 185 is located in the path of the axially proximal movement of the actuating part 17 .
  • the actuating part 17 may be pulled proximally along the axial direction. As shown in FIGS. 9A to 9C , as the actuator 17 moves proximally along the axial direction, the actuator 17 abuts against the extension part 185 and pushes the extension part 185 , so that the first moving part 18 rotates to be in contact with the second The moving parts 29 are no longer in a collinear position, and therefore the first moving part 18 can continue to rotate to the third position under the action of the third force-applying part 42 .
  • the first end of the second moving part 29 may be provided with a rotation stop 293 .
  • the anti-rotation part 293 abuts the first moving part 18 , thereby restricting the first moving part 18 from continuing to rotate after reaching the fourth position. In this way, the first moving part 18 can be stopped at the fourth position.
  • the first moving part can be stopped at the fourth position in other ways.
  • the first moving component may be provided with a rotation stop.
  • the first moving part can be blocked by a member fixed relative to the housing, thereby stopping the first moving part in the fourth position.
  • FIGS. 2A to 2E illustrate the operation process of the stapler 10 .
  • platform assembly 12 may be in the state in Figure 2A.
  • the trigger 14 is at the initial position
  • the switching member 15 is at the first position
  • the first moving member 18 is at the third position.
  • the tool assembly 11 is in an open state and the firing mechanism is in a locked state.
  • the platform assembly 12 switches from the state in Figure 2A to the state in Figure 2B.
  • the first moving part 18 moves from the third position to the fourth position, causing the tool assembly 11 to switch from open to closed.
  • the engaging member 16 also moves along with the movement of the trigger 14 . Since the switching member 15 is still in the first position, the firing mechanism is still in a locked state. Therefore, during this process, the meshing member 16 remains separated from the meshing portion 171, thereby not causing the work to be damaged. Tool assembly 11 is fired.
  • release trigger 14 After the trigger 14 is released, under the action of the force applying member 25, the trigger 14 returns to the initial position from the end position, and the stapler 10 switches from the state in Figure 2B to the state in Figure 2C. During this process, the first moving part 18 remains in the fourth position. As shown in Figure 2C, when the stapler 10 is in the state in Figure 2C, the first moving part 18 remains in the fourth position and the tool assembly 11 remains closed.
  • the operating member 21 is pressed. Pushed by the operating member 21, the switching member 15 moves along the guide rail from the first position to the second position. Since the first moving member 18 is in the fourth position at this time, the engaging member 16 can move to abut the stop surface 151 of the switching member 15 under the action of the first force-applying member 19 , thereby keeping the switching member 15 in the second position. Location. In this way, the firing mechanism switches from the locked state to the unlocked state, and the stapler 10 switches from the state in FIG. 2C to the state in FIG. 2D .
  • the trigger 14 can be released and the actuator 17 can be pulled back to switch the stapler 10 from the state in Figure 2E to the state in Figure 2D.
  • the trigger 14 is in the initial position
  • the first moving part 18 is in the fourth position
  • the switching part 15 is in the second position.
  • the first moving part or the second moving part may be driven so that the first moving part leaves the fourth position.
  • the first moving part 18 returns to the third position, and the stapler 10 switches from the state in FIG. 2D to the state in FIG. 2A.
  • the tool assembly 11 returns from closed to open.
  • the first moving part 18 pushes the meshing part 16 so that the meshing part 16 is separated from the stop surface of the switching part 15, and then under the action of the second force-applying part 20, the switching part 15 returns to the first position from the second position. position, thereby causing the firing mechanism to return from the unlocked state to the locked state.
  • tissue suturing method can be used to suture human or animal tissue.
  • this method can be used to suture the digestive tract of humans or animals.
  • the method includes: providing the stapler provided in the above embodiments of the present disclosure; and using the stapler to suture the tissue.
  • the platform assembly may include a carrier independent of the trigger, the engagement member may be supported by the carrier, and the switch may be positioned in a guide formed on the carrier.
  • the trigger can be transmission connected with the bearing member, so that the bearing member can move as the trigger is operated, thereby driving the engagement member to move.
  • first or second may be used to describe various elements (such as a first force applying member and a second force applying member) in this disclosure, these elements are not limited by these terms. , these terms are used only to distinguish one element from another.

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)
  • Portable Nailing Machines And Staplers (AREA)

Abstract

L'invention concerne un ensemble plateforme et une agrafeuse comprenant l'ensemble plateforme. L'ensemble plateforme comprend : un déclencheur ; un élément de commutation (15), qui comporte une surface d'arrêt ; un mécanisme de déclenchement, qui comprend un élément d'accouplement (16) et un élément d'actionnement (17) comprenant une partie d'accouplement, lorsque l'élément de commutation (15) se trouve dans une première position, il est manipulé conjointement avec le déclencheur, et l'élément d'accouplement (16) et la partie d'accouplement de l'élément d'actionnement (17) restent séparés ; et lorsque l'élément de commutation (15) se trouve dans une seconde position, il est manipulé conjointement avec le déclencheur, et l'élément d'accouplement (16) s'accouple avec la partie d'accouplement pour pousser l'élément d'actionnement (17), amenant ainsi un ensemble outil à se déclencher ; et un mécanisme de fermeture, qui comprend un premier élément mobile (18), qui suit le premier élément mobile (18) en se déplaçant d'une troisième position à une quatrième position, et le mécanisme de fermeture fait passer l'ensemble outil (11) d'une position ouverte à une position fermée ; lorsque le premier élément mobile (18) se trouve dans la troisième position, il peut, au moyen d'une butée contre l'élément d'accouplement (16), restreindre le déplacement de l'élément d'accouplement (16) et venir en butée contre la surface d'arrêt ; et lorsque le premier élément mobile (18) se trouve dans la quatrième position, l'élément d'accouplement (16) peut maintenir l'élément de commutation (15) dans la deuxième position en venant en butée contre la surface d'arrêt. Par le présent moyen, la sécurité de l'agrafeuse peut être améliorée.
PCT/CN2023/107775 2022-07-18 2023-07-17 Ensemble plateforme et agrafeuse WO2024017213A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202221850659.2 2022-07-18
CN202221850659.2U CN217907878U (zh) 2022-07-18 2022-07-18 平台组件及吻合器
CN202210840825.9 2022-07-18
CN202210840825.9A CN117442273A (zh) 2022-07-18 2022-07-18 平台组件及吻合器

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CN110099618A (zh) * 2016-12-21 2019-08-06 爱惜康有限责任公司 能够关节运动的外科缝合器械
CN113747842A (zh) * 2019-04-26 2021-12-03 西拉格国际有限公司 用于直角外科缝合器的基于夹持的闭锁机构
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CN217907878U (zh) * 2022-07-18 2022-11-29 天臣国际医疗科技股份有限公司 平台组件及吻合器
CN217960201U (zh) * 2022-07-18 2022-12-06 天臣国际医疗科技股份有限公司 击发机构及外科吻合器
CN218356278U (zh) * 2022-07-18 2023-01-24 天臣国际医疗科技股份有限公司 平台组件及吻合器
CN218528805U (zh) * 2022-07-18 2023-02-28 天臣国际医疗科技股份有限公司 平台组件及吻合器

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Publication number Priority date Publication date Assignee Title
US20120138660A1 (en) * 2005-08-31 2012-06-07 Ethicon Endo-Surgery, Inc. Robotically-controlled cable-based surgical end effectors
CN101273910A (zh) * 2007-03-28 2008-10-01 伊西康内外科公司 具有侧安装的回缩构件的外科缝合和切割器械
US20220218336A1 (en) * 2007-06-04 2022-07-14 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
CN101507643A (zh) * 2008-02-14 2009-08-19 伊西康内外科公司 带有可联锁击发系统的外科缝合器械
CN110099618A (zh) * 2016-12-21 2019-08-06 爱惜康有限责任公司 能够关节运动的外科缝合器械
CN113747842A (zh) * 2019-04-26 2021-12-03 西拉格国际有限公司 用于直角外科缝合器的基于夹持的闭锁机构
CN217907878U (zh) * 2022-07-18 2022-11-29 天臣国际医疗科技股份有限公司 平台组件及吻合器
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CN218356278U (zh) * 2022-07-18 2023-01-24 天臣国际医疗科技股份有限公司 平台组件及吻合器
CN218528805U (zh) * 2022-07-18 2023-02-28 天臣国际医疗科技股份有限公司 平台组件及吻合器

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