Driving device of continuous clip applier

Abstract

The embodiment of the invention relates to a medical instrument, and discloses a driving device of a running clip applier, the running clip applier comprises a tissue clip pushing structure, and a supporting rod is of a hollow structure and is used for installing the tissue clip pushing structure; the supporting rod is sleeved with a first sliding adapter and a second sliding adapter, the first driving assembly comprises a first connecting rod, a first spiral gear shaft and a second spiral gear shaft, the first end of the first connecting rod is connected with the first sliding adapter, and the second end of the first connecting rod is provided with a first helical tooth part and a second helical tooth part; the first helical tooth part is meshed with the first helical gear shaft, and the second helical tooth part is meshed with the second helical gear shaft; the first spiral gear shaft and the second spiral gear shaft are arranged on the two sides of the supporting rod correspondingly and can rotate synchronously to drive the first connecting rod to move, and then the first sliding adapter is driven to reciprocate in the axial direction of the supporting rod. The second driving assembly is connected with the second sliding adapter and used for driving the second sliding adapter to reciprocate in the axial direction of the supporting rod.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a drive device for a continuous-fire clamp. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. A clip forceps is a surgical instrument used to clamp tissue clips during surgical procedures. Tissue clips are typically made of metal, such as titanium clips, but can also be made of other materials, such as plastic clips. When clamping a tissue clip, the clip must first be pushed out to the head of the clip forceps, and then the head of the forceps is used to close the clip to achieve a hold.

[0003] With the development and application of minimally invasive laparoscopic surgical robots, clamps are installed on the surgical robot. The clamps have become a front-end device of the minimally invasive surgical robot system. When in use, they are detachably connected to the minimally invasive surgical robot to form a front-end robotic arm for executing the doctor's operating instructions.

[0004] However, traditional continuous-fire clamps typically use a single drive mechanism to simultaneously control the opening and closing of the clamp head and the advance of the tissue clip. With this design, it's often difficult to achieve precise coordination between the clamp head's opening and closing and the tissue clip's delivery, resulting in the tissue clip not entering the clamp head precisely at the appropriate opening position during operation. Furthermore, the drive mechanism of traditional clamps is generally complex with numerous parts, making it prone to jamming and malfunction during surgery, which not only affects the surgical process but also poses certain safety hazards. Summary of the Invention

[0005] One object of this application is to provide a drive device for a rapid-fire clamp, which at least solves the above-mentioned problems.

[0006] To achieve the above objectives, some embodiments of this application provide a drive device for a rapid-fire clamp, comprising:

[0007] The support rod is a hollow structure used to install the tissue clip propulsion structure; a first sliding adapter and a second sliding adapter are fitted on the support rod. The first sliding adapter is used to connect the push rod of the tissue clip propulsion structure, and the second sliding adapter is used to connect the pull rod of the tissue clip propulsion structure.

[0008] The first drive assembly includes a first connecting rod, a first helical gear shaft, and a second helical gear shaft. The first end of the first connecting rod is connected to a first sliding adapter, and the second end of the first connecting rod is constructed with a first helical tooth portion and a second helical tooth portion that do not interfere with each other. The first helical tooth portion meshes with the first helical gear shaft, and the second helical tooth portion meshes with the second helical gear shaft. The first helical gear shaft and the second helical gear shaft are respectively located on both sides of the support rod and can rotate synchronously to drive the first connecting rod to move, thereby driving the first sliding adapter and the push rod connected thereto to reciprocate along the axial direction of the support rod.

[0009] The second drive assembly, connected to the second sliding adapter, is used to drive the pull rod to reciprocate along the axial direction of the support rod by driving the second sliding adapter.

[0010] Compared with related technologies, the solution provided in this application integrates a tissue clip propulsion structure through a hollow support rod to achieve the installation and bearing of the push rod and pull rod. Simultaneously, the push rod and pull rod are connected by first and second sliding adapters respectively, avoiding spatial interference between different components during installation and movement. Through the transmission structure design of a double helical gear shaft and a connecting rod with double helical teeth, the first and second helical gear shafts are respectively located on both sides of the support rod, and their synchronous rotation drives the movement of the first connecting rod. On the one hand, the symmetrical layout of the double helical gear shafts ensures balanced force on the first connecting rod, avoiding tilting or jamming caused by unilateral force, and ensuring the stability of power transmission. On the other hand, the first connecting rod meshes with the two helical gear shafts through the non-interfering first and second helical teeth respectively, forming a dual-drive input transmission path, which not only improves power transmission efficiency but also precisely controls the reciprocating movement trajectory of the first sliding adapter and the push rod along the axial direction of the support rod.

[0011] The independent connection between the second drive assembly and the second sliding adapter achieves complete separation of the drive paths for the push rod and the pull rod: the first drive assembly independently controls the reciprocating drive of the push rod, and the second drive assembly independently controls the reciprocating movement of the pull rod. Both can operate independently according to the actual operational needs of the rapid-fire clamp (such as pushing tissue clips and adjusting clamping force), without interdependence. This separate drive design avoids the potential for action delays or interference caused by a single drive assembly controlling multiple components simultaneously, and also reserves space for subsequent individual optimization of the motion parameters (such as speed and stroke) of the push rod and pull rod, further enhancing the flexibility and practicality of the rapid-fire clamp operation. Attached Figure Description

[0012] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0013] Figure 1 This is a schematic diagram of the structure of the rapid-fire clamp provided in the embodiments of this disclosure;

[0014] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0015] Figure 3 This is a schematic diagram of the structure of the rapid-fire clamp provided in an embodiment of this disclosure from another perspective;

[0016] Figure 4 yes Figure 3 Enlarged view of point B in the middle;

[0017] Figure 5 This is a schematic diagram of the drive device for the rapid-fire clamp provided in the embodiments of this disclosure;

[0018] Figure 6 This is a partial cross-sectional schematic diagram of the rapid-fire clamp provided in the embodiments of this disclosure;

[0019] Figure 7 This is a schematic diagram of the main framework provided in the embodiments of this disclosure;

[0020] Figure 8 This is a schematic diagram of the structure of the first link provided in an embodiment of this disclosure;

[0021] Figure 9 This is a schematic diagram of the support rod provided in an embodiment of this disclosure;

[0022] Figure 10 This is a partial schematic diagram of the tissue clip delivery structure provided in an embodiment of this disclosure;

[0023] Figure 11 yes Figure 10 A magnified view of a portion of point C in the middle;

[0024] Figure 12 yes Figure 10 A magnified view of a portion of point D in the middle;

[0025] Figure 13 This is another partial schematic diagram of the tissue clip delivery structure provided in an embodiment of this disclosure;

[0026] Figure 14 This is a partial cross-sectional schematic diagram of the tissue clip delivery structure provided in an embodiment of this disclosure.

[0027] Figure label:

[0028] 10: Support rod; 101: First guide groove; 102: Second guide groove; 103: Planar structure; 104: Positioning block; 105: First sliding adapter; 1052: First limiting groove; 1053: First positioning element; 106: Second sliding adapter; 1062: Second limiting groove; 1063: Second positioning element;

[0029] 201: First helical gear shaft; 202: Second helical gear shaft; 203: First connecting rod; 2031: First protrusion; 2032: First helical tooth portion; 2033: Second helical tooth portion;

[0030] 301: Gear shaft; 302: Third helical gear shaft; 303: Second connecting rod;

[0031] 40: Tissue clip propulsion structure; 401: Fingers head; 402: Clip storage compartment; 4021: Hollowed-out section; 4022: Baffle plate; 4023: Connecting rod; 4024: Positioning groove; 403: Push rod; 404: Pull rod; 4041: Stop structure; 405: Push clip plate; 4051: Stop block; 406: Spring piece; 407: Sliding sleeve;

[0032] 50: Main frame; 501: Connecting part; 5021: Base; 5022: First groove structure; 5023: Second groove structure; 5024: Support; 5025: Cover;

[0033] 60: Gear transmission mechanism; 601: Support gear; 602: Spur gear;

[0034] 70: Tissue clip. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0037] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0038] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0039] Unless otherwise stated, the term "multiple" means two or more.

[0040] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0041] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0043] Combination Figures 1 to 14As shown in the embodiment of this disclosure, a driving device for a rapid-fire clamp is provided. The rapid-fire clamp includes a tissue clip advancing structure 40, comprising a support rod 10, a first driving assembly, and a second driving assembly. The support rod 10 is a hollow structure used to mount the tissue clip advancing structure 40. A first sliding adapter 105 and a second sliding adapter 106 are sleeved on the support rod 10. The first sliding adapter 105 is used to connect the push rod 403 of the tissue clip advancing structure 40, and the second sliding adapter 106 is used to connect the pull rod 404 of the tissue clip advancing structure 40. The first driving assembly includes a first connecting rod 203, a first helical gear shaft 201, and a second helical gear shaft 202. The first end of the first connecting rod 203 is connected to the first sliding adapter 10. 5. The second end of the first connecting rod 203 is constructed with a first helical tooth portion 2032 and a second helical tooth portion 2033 that do not interfere with each other. The first helical tooth portion 2032 meshes with the first helical gear shaft 201, and the second helical tooth portion 2033 meshes with the second helical gear shaft 202. The first helical gear shaft 201 and the second helical gear shaft 202 are respectively located on both sides of the support rod 10 and can rotate synchronously to drive the first connecting rod 203 to move, thereby driving the first sliding adapter 105 and the push rod 403 connected thereto to reciprocate along the axial direction of the support rod 10.

[0044] The second drive assembly is connected to the second sliding adapter 106 and is used to drive the pull rod 404 to reciprocate along the axial direction of the support rod 10 by driving the second sliding adapter 106.

[0045] The drive device provided in this embodiment integrates a tissue clip propulsion structure 40 through a hollow support rod 10, enabling the installation and support of the push rod 403 and the pull rod 404. Simultaneously, the first and second sliding adapters 106 connect the push rod 403 and the pull rod 404 respectively, avoiding spatial interference between different components during installation and movement. Through a transmission structure design using a double helical gear shaft and a connecting rod with double helical teeth, the first helical gear shaft 201 and the second helical gear shaft 202 are respectively positioned on both sides of the support rod 10, and their synchronous rotation drives the first connecting rod 20. 3. Motion: On the one hand, the symmetrical layout of the double helical gear shafts can ensure that the first connecting rod 203 is subjected to balanced force, avoiding the tilting or jamming of the connecting rod caused by unilateral force, and ensuring the stability of power transmission; on the other hand, the first connecting rod 203 meshes with the first helical gear shaft 201 and the second helical gear shaft 202 through the non-interfering first helical tooth portion 2032 and the second helical tooth portion 2033 respectively, forming a transmission path with dual drive input, which not only improves the power transmission efficiency, but also accurately controls the reciprocating movement trajectory of the first sliding adapter 105 and the push rod 403 along the axis of the support rod 10.

[0046] The independent connection between the second drive assembly and the second sliding adapter 106 achieves complete separation of the drive paths of the push rod 403 and the pull rod 404: the first drive assembly independently controls the reciprocating drive of the push rod 403, and the second drive assembly independently controls the reciprocating movement of the pull rod 404. Both can operate independently according to the actual operational needs of the continuous-fire clamp (such as pushing the tissue clip 70, adjusting the clamping force, etc.), without mutual dependence. This separate drive design avoids the potential for action delays or interference caused by a single drive assembly controlling multiple components simultaneously, and also reserves space for subsequent individual optimization of the motion parameters (such as speed and stroke) of the push rod 403 and the pull rod 404, further enhancing the flexibility and practicality of the continuous-fire clamp operation.

[0047] In addition, the first helical tooth portion 2032 and the second helical tooth portion 2033 of the first connecting rod 203 are both fan-shaped. The fan-shaped first helical tooth portion 2032 and the second helical tooth portion 2033 can achieve meshing transmission within a limited angle, accurately control the reciprocating stroke of the push rod 403, avoid abnormal opening and closing of the caliper head 401 caused by excessive transmission, and reduce unnecessary tooth surface wear.

[0048] Optionally, the first connecting rod 203 is H-shaped, and its first end has a semi-enclosed structure. The semi-enclosed structure of the first connecting rod 203 is connected and engaged with the first sliding adapter 105. The first sliding adapter 105 can rotate relative to the first connecting rod 203 to adapt to the rotation of the support rod 10 and the tissue clip propulsion structure 40.

[0049] The semi-enclosed structure of the H-shaped first connecting rod 203 forms an adaptive connection with the first sliding adapter 105, increasing the contact area between the two, improving the connection firmness, and preventing the first sliding adapter 105 from detaching from the first connecting rod 203 during movement.

[0050] The first connecting rod 203 is H-shaped, so that the end of the first connecting rod 203 can be connected to the first sliding adapter 105 through two fixed points or contact points, which enhances the connection rigidity between the first connecting rod 203 and the first sliding adapter 105, avoids uneven force or swinging deviation that may occur with single-point connection, and improves transmission stability.

[0051] Optionally, the end of the first connecting rod 203 connected to the first sliding adapter 105 has a protruding first protrusion 2031. The first protrusion 2031 is embedded in the first limiting groove 1052 to further improve the connection between the first connecting rod 203 and the first sliding adapter 105, preventing the first connecting rod 203 from separating from the first sliding adapter 105. This further strengthens the mechanical connection between the first connecting rod 203 and the first sliding adapter 105, preventing them from separating during high-frequency reciprocating motion and improving the durability and reliability of the device.

[0052] Optionally, the first sliding adapter 105 is annular and has a first limiting groove 1052 on its outer circumferential surface; wherein, the first end of the first connecting rod 203 is embedded in the first limiting groove 1052.

[0053] The first limiting groove 1052 and the end of the first connecting rod 203 are engaged to limit the relative movement trajectory of the first connecting rod 203 and the first sliding adapter 105, so as to prevent the first connecting rod 203 from deviating during the transmission process and ensure the precise movement of the push rod 403 along the axis of the support rod 10.

[0054] In some embodiments, the first limiting groove 1052 has an annular structure. This reduces the limitation on the installation position when the end of the first connecting rod 203 abuts against the first limiting groove 1052. That is, it reduces the positional accuracy requirements when the end of the first connecting rod 203 is installed with the first limiting groove 1052, making the assembly process more convenient, while allowing the first connecting rod 203 to self-adjust within a certain range in the circumferential direction, reducing the risk of jamming caused by installation errors.

[0055] Optionally, the sidewall of the support rod 10 has a planar structure 103, and the inner annular surface of the first sliding adapter 105 has a first planar mating structure. This further ensures that the first sliding adapter 105 can move axially along the support rod 10.

[0056] Optionally, the support rod 10 has a hollow structure with open sidewalls. The push rod 403 is located inside the support rod 10. A first positioning element 1053 is provided on the inner ring surface of the first sliding adapter 105. The first positioning element 1053 is detachably connected to the inner ring surface of the first sliding adapter 105 and is embedded within the support rod 10. The first positioning element 1053 is detachably connected to the push rod 403. The first sliding adapter 105 moves axially along the support rod 10, causing the push rod 403 to move axially along the support rod 10.

[0057] By adding the first positioning element 1053, it not only facilitates the connection between the first sliding adapter 105 and the support rod 10 and the push rod 403, but also further defines the relative circumferential position of the first sliding adapter 105 and the support rod 10.

[0058] Optionally, the second drive assembly includes: a gear shaft 301, which is connected to the second sliding adapter 106 via a second connecting rod 303; and a third helical gear shaft 302, which meshes with the gear shaft 301, for driving the second sliding adapter 106 to reciprocate along the axial direction of the support rod 10 via the gear shaft 301.

[0059] The second drive assembly connects to the second sliding adapter 106 via the gear shaft 301 and the second connecting rod 303. It then engages with the third helical gear shaft 302, which meshes with the gear shaft 301, forming a simple transmission path, reducing the number of transmission components and lowering structural complexity. Through the meshing transmission between the third helical gear shaft 302 and the gear shaft 301, power can be stably transmitted to the second sliding adapter 106, ensuring that the second sliding adapter 106 drives the pull rod 404 to move precisely back and forth along the axis of the support rod 10, meeting the accuracy requirements of the pull rod 404's movement during the advancement of the tissue clip 70.

[0060] Optionally, the third helical gear shaft 302 is driven by a third motor.

[0061] Optionally, at least one end of the gear shaft 301 is provided with a second connecting rod 303, one end of which is movably connected to the second sliding adapter 106; wherein, the gear shaft 301 is a sector gear shaft 301.

[0062] At least one end of the gear shaft 301 is provided with a second connecting rod 303, which is movably connected to the second sliding adapter 106. The number of connection points can be increased according to the actual force requirements, thereby improving the stability of power transmission between the gear shaft 301 and the second sliding adapter 106 and avoiding damage to a single connection point due to excessive force.

[0063] The structural design of the sector gear shaft 301 can limit the rotation angle of the gear shaft 301, thereby controlling the travel of the second sliding adapter 106, so that the reciprocating range of the pull rod 404 can be precisely matched with the needs of the tissue clip 70, avoiding excessive movement of the pull rod 404 that could lead to device failure or operational errors.

[0064] In addition, the sector gear (which is helical) can achieve meshing transmission within a limited angle, precisely control the reciprocating stroke of the pull rod 404, avoid abnormal opening and closing of the caliper 401 caused by excessive transmission, and reduce unnecessary tooth surface wear.

[0065] Optionally, a second connecting rod 303 is provided at each end of the gear shaft 301. The two second connecting rods 303 are clamped together and movably connected to the second sliding adapter 106, so that the driving force on the second sliding adapter 106 is applied evenly from both sides, avoiding tilting or jamming of the second sliding adapter 106 due to force on one side, and ensuring the smooth movement of the pull rod 404. The clamping connection structure of the double second connecting rods 303 can enhance the connection strength between the gear shaft 301 and the second sliding adapter 106, reduce the shaking of the connection part 501 during movement, and further improve the reliability of power transmission.

[0066] In some embodiments, the second sliding adapter 106 is sleeved on the support rod 10 to prevent it from detaching from the support rod 10. The sidewall of the support rod 10 has a planar structure 103, and the inner annular surface of the second sliding adapter 106 has a second planar mating structure. This further ensures that the second sliding adapter 106 can move axially along the support rod 10.

[0067] Optionally, the support rod 10 has a hollow structure with open sidewalls. The pull rod 404 is located inside the support rod 10. A second positioning element 1063 is provided on the inner ring surface of the second sliding adapter 106. The second positioning element 1063 is detachably connected to the inner ring surface of the second sliding adapter 106 and is embedded within the support rod 10. The second positioning element 1063 is detachably connected to the pull rod 404. The second sliding adapter 106 moves axially along the support rod 10, causing the push rod 403 to move axially along the support rod 10.

[0068] By adding a second positioning element 1063, not only is it helpful to connect the second sliding adapter 106 with the support rod 10 and the pull rod 404, but it can also further define the relative circumferential position of the second sliding adapter 106 and the support rod 10.

[0069] In some embodiments, the outer peripheral surface of the second sliding adapter 106 is provided with a second limiting groove 1062, and the end of the second connecting rod 303 is inserted into or embedded in the second limiting groove 1062 so that the second connecting rod 303 moves with the second sliding adapter 106.

[0070] In addition, the cooperation between the second limiting groove 1062 and the end of the second connecting rod 303 limits the relative movement trajectory of the second connecting rod 303 and the second sliding adapter 106, preventing the second connecting rod 303 from deviating during transmission and ensuring the precise movement of the pull rod 404 along the axis of the support rod 10.

[0071] In some embodiments, the second limiting groove 1062 is annular. This reduces the limitations on the installation position when the end of the second connecting rod 303 abuts against the second limiting groove 1062. Specifically, it reduces the positional accuracy requirements when the end of the second connecting rod 303 is installed with the limiting groove, making the assembly process more convenient. Simultaneously, it allows the second connecting rod 303 to self-adjust within a certain circumferential range, reducing the risk of jamming due to installation errors.

[0072] Optionally, the end of the second connecting rod 303 connected to the second sliding adapter 106 has a second protrusion, which is embedded in the second limiting groove 1062 to further improve the connection between the second connecting rod 303 and the second sliding adapter 106, preventing them from separating and falling off. This further strengthens the mechanical connection between the second connecting rod 303 and the second sliding adapter 106, preventing them from separating and falling off during high-frequency reciprocating motion, and improving the durability and reliability of the mechanism.

[0073] Optionally, the end of the gear shaft 301 is provided with a mounting groove, and the end of the second connecting rod 303 is embedded in the groove structure and can be detachably connected by fasteners to realize the connection between the gear shaft 301 and the second connecting rod 303.

[0074] The mounting groove at the end of the gear shaft 301 engages with the end of the second connecting rod 303, and the two parts are detachably connected by fasteners. This allows for easy replacement of the second connecting rod 303 or gear shaft 301 with different specifications according to actual needs, increasing the versatility and replaceability of the device components. Furthermore, the dual fixing method of engagement and fastener connection ensures a tight connection between the gear shaft 301 and the second connecting rod 303, preventing loosening during operation and guaranteeing the stability and continuity of power transmission.

[0075] Optionally, the third helical gear shaft 302 is disposed between the first helical gear shaft 201 and the second helical gear shaft 202, and the axial height of the third helical gear shaft 302 is higher than the axial height of the first helical gear shaft 201 and the axial height of the second helical gear shaft 202.

[0076] By positioning the third helical gear shaft 302 between the first and second helical gear shafts 201 and increasing its axial height, the space on both sides of the support rod 10 can be fully utilized, preventing interference between the gear shafts 301 during installation and movement, and improving the utilization rate of the internal space of the device. Through the difference in axial height, the transmission action of the third helical gear shaft 302 is made independent of the transmission actions of the first and second helical gear shafts 201 and 202, reducing motion interference between different drive components and ensuring the stability of power transmission in each drive path.

[0077] Optionally, the third helical gear shaft 302 is located in the intermediate region between the first helical gear shaft 201 and the second helical gear shaft 202, and the outer periphery bottom surface of the third helical gear shaft 302 is higher than the outer periphery top surface of the first helical gear shaft 201 and the outer periphery top surface of the second helical gear shaft 202. This completely avoids contact between the outer peripheral components of each gear shaft 301 in the radial dimension, minimizing the risk of motion interference and ensuring the smooth rotation of each gear shaft 301. The reasonable placement of the third helical gear shaft 302 in the intermediate region, and the optimized layout through height differences, allows for the orderly arrangement of multiple helical gear shafts within a limited space, further improving the overall compactness of the device and facilitating the miniaturized design of the continuous-fire clamp.

[0078] Optionally, the circumferential length of the sector gear of the gear shaft 301 is adapted to the length of the helical teeth of the third helical gear shaft 302.

[0079] The circumferential length of the sector gear on gear shaft 301 is matched with the length of the helical teeth on the third helical gear shaft 302, ensuring effective contact between the two during meshing and transmission. This avoids transmission interruption or power loss due to length mismatch, guaranteeing the accuracy of the second drive assembly's transmission. Furthermore, the matching length design limits the maximum rotation angle of gear shaft 301, thereby precisely controlling the reciprocating stroke of the pull rod 404 driven by the second sliding adapter 106, ensuring that the movement of the pull rod 404 perfectly matches the rhythm of the tissue clip 70's advancement.

[0080] Optionally, the second sliding adapter 106 and the first sliding adapter 105 are located on both sides of the bracket 5024. The second sliding adapter 106 and the first sliding adapter 105 are located on both sides of the bracket 5024, which realizes complete spatial separation between the two, avoids collision or interference between the two during movement, and ensures the independence and smoothness of the driving action of the push rod 403 and the pull rod 404.

[0081] Optionally, the sidewall of the support rod 10 has a first guide groove 101 and a second guide groove 102 arranged sequentially along the axial direction; wherein, the first guide groove 101 is configured such that a push rod 403 is connected to a first sliding adapter 105 at the first guide groove 101 so as to slide along the first guide groove 101; the second guide groove 102 is configured such that a pull rod 404 is connected to a second sliding adapter 106 at the second guide groove 102 so as to slide along the second guide groove 102.

[0082] The first guide groove 101 and the second guide groove 102 provide clear motion guides for the push rod 403 and the pull rod 404, respectively, restricting their radial and circumferential degrees of freedom, ensuring that both move linearly along the axis of the support rod 10, and avoiding transmission errors or jamming caused by shaking.

[0083] The first positioning member 1053 of the first sliding adapter 105 is embedded in the first guide groove 101, and the reciprocating stroke of the first sliding adapter 105 is the axial length of the first guide groove 101. Similarly, the second positioning member 1063 of the second sliding adapter 106 is embedded in the second guide groove 102, and the reciprocating stroke of the second sliding adapter 106 is the axial length of the second guide groove 102.

[0084] Optionally, it also includes: a main frame 50, including a connecting part 501 and a bearing part located on one side of the connecting part 501, the bearing part including a base 5021 and a bracket 5024 disposed on the top of the base 5021; wherein, the support rod 10 passes through the connecting part 501 and the bracket 5024, and the axial direction of the support rod 10 is consistent with the length direction of the base 5021.

[0085] The main frame 50 is L-shaped, meaning the connecting part 501 and the supporting part located on one side of the connecting part 501 form an L-shape. The bracket 5024 and base 5021 of the supporting part provide stable support for the internal transmission components, improving the overall structural strength. Additionally, the support rod 10 passes through the connecting part 501 and the bracket 5024, and can rotate relative to the connecting part 501 and the bracket 5024. Preferably, a bearing structure is provided at the connection between the support rod 10 and the connecting part 501. Similarly, a bearing structure is provided at the connection between the support rod 10 and the bracket 5024.

[0086] Optionally, the base 5021 has a first groove structure 5022 and a second groove structure 5023 respectively constructed on both sides of its bottom; wherein, the first helical gear shaft 201 is disposed in the first groove structure 5022 and the second helical gear shaft 202 is disposed in the second groove structure 5023.

[0087] The slot structure provides installation and positioning space for the helical gear shaft, facilitating coaxial assembly of the motor and the helical gear shaft. The first helical gear shaft 201 can rotate within the first slot structure 5022. The second helical gear shaft 202 rotates within the second slot structure 5023.

[0088] Both the first groove structure 5022 and the second groove structure 5023 have openings at the top so that the first helical gear shaft 201 and the second helical gear shaft 202 can be connected to the first connecting rod 203.

[0089] In addition, the groove structure can also provide a certain degree of protection for the helical gear shaft, reducing the impact of external factors on the helical gear shaft, while enhancing the stability of the helical gear shaft after installation, preventing the helical gear shaft from shaking during rotation, and ensuring the transmission effect.

[0090] Optionally, both the first helical gear shaft 201 and the second helical gear shaft 202 pass through the connecting part 501, and the first helical gear shaft 201 and the second helical gear shaft 202 rotate synchronously.

[0091] The first helical gear shaft 201 is driven by a first motor, and the second helical gear shaft 202 is driven by a second motor. The first motor and the second motor are mounted on the connecting part 501.

[0092] The motor directly drives the helical gear shaft to rotate, resulting in a short transmission chain and high energy transfer efficiency. The installation at the connection part 501 concentrates the power source, facilitating circuit integration and docking with the robot control system, thus improving the ease of operation.

[0093] The first helical gear shaft 201 and the second helical gear shaft 202 rotate synchronously to ensure that the driving force on the first connecting rod 203 is balanced, and to avoid uneven force on the first connecting rod 203 due to the difference in rotation speed between the first helical gear shaft 201 and the second helical gear shaft 202. This ensures that the first sliding adapter 105 drives the push rod 403 to move smoothly back and forth, and improves the consistency of the driving action.

[0094] Optionally, the support unit further includes a cover 5025, disposed on top of the base 5021. The cover 5025 covers and supports the second drive assembly, providing effective protection for the second drive assembly and preventing dust and impurities from entering and affecting the movement of the component. It also provides support for the second drive assembly, enhancing the stability of the component after installation. The first connecting rod 203 spans the top of the cover 5025 and is rotatably connected, while the bracket 5024 is mounted on the top of the cover 5025. This helps to make the installation positions of the first connecting rod 203 and the bracket 5024 more reasonable, reducing interference with other components and improving the compactness of the connections between components.

[0095] Optionally, the first connecting rod 203 is H-shaped, spanning across the housing 5025 and hinged to it. This limits the displacement of the first connecting rod 203 in the width direction of the housing 5025. By limiting the width direction of the housing 5025, the lateral movement of the first connecting rod 203 is further constrained, ensuring that the first connecting rod 203 swings only in the axial direction, thereby driving the first sliding adapter 105 to move and enhancing its resistance to eccentric loads.

[0096] Optionally, the base 5021 has a support rib constructed between the first groove structure 5022 and the second groove structure 5023, which is perpendicular to the plane containing the axis of the first groove structure 5022 and the second groove structure 5023. The side of the support rib is connected to the connecting part 501, and the cover 5025 covers the top of the support rib, and the side wall of the cover 5025 is connected to the connecting part 501.

[0097] The supporting ribs on the base 5021 are perpendicular to the plane containing the axes of the first groove structure 5022 and the second groove structure 5023, and their sides are connected to the connecting part 501. This can enhance the connection strength between the base 5021 and the connecting part 501, improve the overall rigidity of the main frame 50, and prevent the frame from deforming during the operation of the device.

[0098] The cover 5025 covers the top of the support rib and its sidewalls are connected to the connection part 501, which further expands the protection range of the cover 5025 and enhances the connection stability between the cover 5025 and the main frame 50, ensuring that the cover 5025 remains fixed during the operation of the device and provides protection for the internal components.

[0099] Optionally, both ends of the gear shaft 301 extend through the side wall of the housing 5025, and the connection between the second connecting rod 303 and the gear shaft 301 is located on the outside of the housing 5025.

[0100] The gear shaft 301 extends through the side wall of the cover 5025 at both ends, and the connection between the second connecting rod 303 and the gear shaft 301 is located on the outside of the cover 5025. The connection part 501 can be installed, inspected and replaced without disassembling the cover 5025, which reduces the difficulty of maintenance operations and saves maintenance time.

[0101] Optionally, the two ends of the third helical gear shaft 302 are respectively inserted through the side walls of the connecting part 501 and the cover 5025.

[0102] The third helical gear shaft 302 is located inside the cover 5025, which can protect it from external factors affecting its rotation. At the same time, the connecting parts 501 at both ends pass through the side wall of the cover 5025, making the installation of the third helical gear shaft 302 more stable and reducing shaking during rotation.

[0103] Optionally, the top area of ​​the cover 5025 corresponding to the gear shaft 301 is a hollow structure to avoid interference with the gear shaft 301.

[0104] The area on the top of the cover 5025 corresponding to the gear shaft 301 is designed with a hollow structure. This directly prevents contact interference between the cover 5025 and the gear shaft 301 during rotation, ensuring that the gear shaft 301 can rotate freely without affecting the power transmission of the second drive component. While ensuring interference prevention, there is no need to make significant modifications to the overall structure of the cover 5025. The functional requirements can be met by simply hollowing out the area, balancing the protective function of the cover 5025 with the movement requirements of the gear shaft 301, thus improving the practicality of the structural design.

[0105] Optionally, the third helical gear shaft 302 is located directly above the support rib, which can make full use of the space above the support rib, making the internal component layout of the device more compact and avoiding space waste. At the same time, it forms a vertical correspondence with the support rib, enhancing the regularity of the overall structure of the device.

[0106] Optionally, it also includes: a gear transmission mechanism 60, connected to the support rod 10, for driving the support rod 10 to rotate; wherein the gear transmission mechanism 60 is provided at the connection part 501 of the main frame 50.

[0107] Optionally, the gear transmission mechanism 60 includes: a support gear 601 embedded in the connecting part 501 and sleeved on the outside of the support rod 10; a spur gear 602 meshing with the support gear 601 for transmission; and a transmission motor disposed in the connecting part 501 and drivingly connected to the spur gear 602 for driving the spur gear 602 to rotate.

[0108] The rotation function of the support rod 10 and the forceps head 401 is realized by gear transmission. The position of the forceps head 401 can be adjusted to adapt to different surgical angles, enhancing the flexibility of the instrument. The meshing transmission between the spur gear 602 and the support gear 601 has the characteristics of accurate transmission ratio and high efficiency, ensuring the precision and controllability of the rotation action.

[0109] Optionally, the tissue clip advancing structure 40 includes a clamp head 401, a push rod 403 for opening and closing the clamp head 401, and a pull rod 404 for moving the tissue clip 70 toward the clamp head 401. A first drive assembly drives the push rod 403 to move in a first direction, causing the clamp head 401 to open. A second drive assembly drives the pull rod 404 to move in the opposite direction in the first direction, pushing the tissue clip 70 toward the clamp head 401 so that the tissue clip 70 at the end enters the clamp head 401. When the first drive assembly drives the push rod 403 to move in the opposite direction in the first direction, it causes the clamp head 401 to close, so that the tissue clip 70 clamps the tissue.

[0110] The first and second drive components drive the push rod 403 and pull rod 404 to reciprocate, respectively. The two work together to achieve independent control of the opening and closing of the clamp head 401 and the advancement of the tissue clamp 70, completing the operation process of "opening the clamp head 401 - pushing the tissue clamp 70 - closing the clamp head 401 to clamp". The operation can be repeated continuously, meeting the needs of laparoscopic surgical robots for automated tissue clamping and improving surgical efficiency and operational accuracy.

[0111] Optionally, the push rod 403 and pull rod 404 are arranged axially parallel to the support rod 10. This simplifies the spatial layout of the overall structure, makes the axial movement path of the push rod 403 and pull rod 404 more direct, reduces energy loss during transmission, and improves movement stability. Optionally, the tissue clip propulsion structure 40 also includes: a storage compartment 402, one end of which is connected to the clamp head 401 to accommodate the tissue clip 70; multiple tissue clips 70 are arranged sequentially in the storage compartment 402, wherein the storage compartment 402 limits the tissue clips 70 in four directions. This not only prevents foreign objects from entering the storage compartment 402, but also ensures that the tissue clips 70 move forward along the storage compartment 402 according to a preset path. The other end of the storage compartment 402 is a connecting rod 4023, which is inserted into the support rod 10 and positioned to connect with the support rod 10 so that the storage compartment 402 rotates synchronously with the support rod 10.

[0112] When the forceps head 401 has finished using a tissue clip 70, the tissue clip 70 that is closest to the forceps head 401 moves forward to the forceps head 401 under the drive of the second drive mechanism, in preparation for the next use.

[0113] The storage compartment 402 has a long and narrow structure, which is not only suitable for various surgical distances, but also can store multiple tissue clips 70 at one time, so that the tissue clips 70 can be used continuously, or the amount used in a single operation can be met, thus avoiding delays in operation due to insufficient tissue clips 70.

[0114] In some embodiments, a pusher plate 405 is provided within the storage compartment 402, located away from the forceps head 401. The forceps head 401 is located at the first end of the storage compartment 402, while the pusher plate 405 is located in the area between the tissue clip 70 at the end of the storage compartment 402 away from the forceps head 401 and the second end of the storage compartment 402. This not only limits the last tissue clip 70, ensuring a compact arrangement of the tissue clips 70 within the storage compartment 402, but also, when the number of tissue clips 70 is insufficient to directly engage with the pull rod 404, the pusher plate 405 directly engages with the pull rod 404, indirectly pushing the tissue clips 70 continuously towards the forceps head 401.

[0115] In some embodiments, the bottom plate of the storage compartment 402 has a hollow portion 4021, a pull rod 404 is disposed at the bottom of the storage compartment 402, and a stop structure 4041 is constructed at the hollow portion 4021, wherein the stop structure 4041 passes through the hollow portion 4021 and is located in the space of the storage compartment 402 storing the tissue clip 70. In addition, when the pull rod 404 moves axially reciprocatingly, the stop portion is stopped by the front edge and the rear edge of the hollow portion 4021 in the axial direction, thereby limiting the travel range of the stop structure 4041.

[0116] When the lever 404 moves in the first direction, the stop structure 4041 moves along the first direction with the lever 404. The stop structure 4041 is pressed against the tissue clip 70 adjacent to the first direction side. Under the continuous pull of the lever 404, the stop structure 4041 moves downward and in the first direction until it passes under the tissue clip 70 adjacent to the first direction side, that is, moves from the first end of the tissue clip 70 to the opposite second end. At the second end of the tissue clip 70, the stop structure 4041 limits the tissue clip 70 to prevent it from moving in the first direction. Then the lever 404 moves in the opposite direction in the first direction, driving and pushing the tissue clip 70 towards the forceps head 401 through the stop structure 4041.

[0117] Similarly, the push clamp 405 is constructed with multiple stops 4051. When the push clamp 405 and the stop structure 4041 of the pull rod 404 cooperate to push, the stop structure 4041 presses against the stop 4051 of the push clamp 405 adjacent to the first direction side. Under the continuous pulling of the pull rod 404, the stop structure 4041 moves downward and in the first direction until it passes under the stop 4051 adjacent to the first direction side, that is, moves from the first end of the stop 4051 to the opposite second end. At the second end of the stop 4051, the stop structure 4041 limits the stop 4051 to prevent it from moving in the first direction. Then the pull rod 404 moves in the opposite direction in the first direction, driving and pushing the stop 4051 and the entire push clamp 405 towards the forceps head 401 through the stop structure 4041. Thus, the push clamp 405 pushes the tissue clip 70 in front towards the forceps head 401.

[0118] In practical applications, the lever 404 can drive the stop structure 4041 to pass under one tissue clip 70 / stop block 4051 and then push the tissue clip 70 / stop block 4051, or it can pass under several tissue clips 70 / stop blocks 4051 in succession and then push multiple tissue clips 70 / stop blocks 4051 towards the clamp head 401 at once. When pushing multiple tissue clips 70 / stop blocks 4051 at once, the time interval or total duration of firing the tissue clips 70 in succession can be shortened.

[0119] Optionally, the stop structure 4041 is block-shaped or plate-shaped, and includes an inclined guide surface and a limiting surface. The guide surface of the stop structure 4041 faces away from the direction of the forceps head 401, while the limiting surface faces the direction of the forceps head 401. Thus, when the stop structure 4041 moves downward from the adjacent tissue clip 70 on the first direction side under pressure, the guide surface of the stop structure 4041 abuts against the tissue clip 70. Then, guided by the guide surface, it smoothly passes under the tissue clip 70 to the second end of the tissue clip 70, and is limited by the limiting surface abutting against the second end of the tissue clip 70.

[0120] Optionally, the pull rod 404 has a plate-like structure at the hollow part 4021 to improve the elastic deformation of the stop structure 4041 when pressed down, and to ensure that the stop structure 4041 moves smoothly from under the tissue clip 70 / stop block 4051.

[0121] In some embodiments, the tissue clip advancing structure 40 further includes a spring piece 406 disposed below the pull rod 404 and corresponding to the cutout portion 4021, so that when the stop structure 4041 and the pull rod 404 portion thereon deform and move downward, the spring piece 406 supports the stop structure 4041 and the pull rod 404 portion thereon from below the pull rod 404 and helps the stop structure 4041 and the pull rod 404 portion thereon spring back and return to the initial state.

[0122] In some embodiments, the top plate of the storage compartment 402 is provided with a baffle 4022 above the hollow portion 4021, which is used in conjunction with the stop structure 4041. The baffle 4022 moves from the upper stop tissue clip 70 / stop block 4051 along a first direction.

[0123] The baffle 4022 is bent downwards and tilted, with its opening facing the forceps head 401. When the tissue clamp 70 / stop block 4051 moves toward the forceps head 401, the baffle 4022 moves upwards under the force of the tissue clamp 70 / stop block 4051. When the tissue clamp 70 / stop block 4051 separates from the baffle 4022, the baffle 4022 returns to its original position, that is, tilts downwards, so as to abut against the second end of the tissue clamp 70 / stop block 4051, thus preventing the tissue clamp 70 / stop block 4051 from moving away from the forceps head 401.

[0124] Optionally, there may be one or more baffles 4022. Multiple baffles 4022 are arranged sequentially along the axial direction, which helps to avoid losses due to the failure of some baffles 4022.

[0125] In some embodiments, the tissue clip advancement structure 40 further includes: a sliding sleeve 407, which is sleeved on the forceps head 401 and connected to the push rod 403; under the pushing and pulling action of the push rod 403, the end of the forceps head 401 is opened and closed.

[0126] The push rod 403 moves along the first direction, and the sliding sleeve 407 moves along the first direction with the push rod 403 (away from the forceps head 401). As the sliding sleeve 407 moves, its tightening force on the end of the forceps head 401 disappears, and the end of the forceps head 401 is released and opened so that the tissue clip 70 inside the forceps head 401 separates and falls off from the forceps head 401, and the subsequent tissue clip 70 enters the forceps head 401.

[0127] Under the pushing action of the lever 404, the new tissue clip 70 enters the forceps head 401. The push rod 403 moves in the opposite direction in the first direction, and the sliding sleeve 407 moves in the opposite direction in the first direction (towards the end of the forceps head 401) along with the push rod 403. As the sliding sleeve 407 moves, its tightening force on the end of the forceps head 401 gradually increases, the end of the forceps head 401 closes, and the tissue clip 70 inside the forceps head 401 clamps and fixes the tissue under the action of the forceps head 401, thus fulfilling the function of the tissue clip 70.

[0128] Optionally, it also includes: a positioning block 104 located inside the support rod 10 and rotatably connected to the support rod 10; wherein the connecting rod 4023 is configured with a positioning groove 4024, and when the positioning block 104 rotates and is embedded in the positioning groove 4024, the support rod 10 and the connecting rod 4023 are positioned and connected.

[0129] This enables the storage compartment 402 and the support rod 10 to rotate synchronously, ensuring that the tissue clip 70 is always aligned with the clamp head 401 during the pushing process; the cooperation between the positioning block 104 and the positioning groove 4024 provides reliable mechanical positioning, preventing the storage compartment 402 from circumferentially shifting during rotation, and ensuring the continuity and accuracy of the continuous clamping.

[0130] This disclosure also provides a rapid-fire clamp, including the driving device for the rapid-fire clamp provided in the above embodiments.

[0131] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. A driving device for a series-fire clamp, the series-fire clamp comprising a tissue clamp advancing structure, characterized in that, include: The support rod is a hollow structure used to install the tissue clip propulsion structure; The support rod is fitted with a first sliding adapter and a second sliding adapter. The first sliding adapter is used to connect the push rod of the tissue clip advancing structure, and the second sliding adapter is used to connect the pull rod of the tissue clip advancing structure. The first drive assembly includes a first connecting rod, a first helical gear shaft, and a second helical gear shaft. The first end of the first connecting rod is connected to a first sliding adapter, and the second end of the first connecting rod is constructed with a first helical tooth portion and a second helical tooth portion that do not interfere with each other. The first helical tooth portion meshes with the first helical gear shaft, and the second helical tooth portion meshes with the second helical gear shaft. The first helical gear shaft and the second helical gear shaft are respectively located on both sides of the support rod and can rotate synchronously to drive the first connecting rod to move, thereby driving the first sliding adapter and the push rod connected thereto to reciprocate along the axial direction of the support rod. The second drive assembly, connected to the second sliding adapter, is used to drive the pull rod to reciprocate along the axial direction of the support rod by driving the second sliding adapter.

2. The driving device according to claim 1, characterized in that, The first connecting rod is H-shaped, and its first end has a semi-enclosed structure. The semi-enclosed structure of the first connecting rod is connected to the first sliding adapter. The first sliding adapter can rotate relative to the first connecting rod to accommodate the rotation of the support rod and the tissue clip propulsion structure.

3. The driving device according to claim 1, characterized in that, The second drive component includes: The gear shaft is connected to the second sliding adapter via a second connecting rod; The third helical gear shaft meshes with the gear shaft and is used to drive the second sliding adapter to reciprocate along the axial direction of the support rod via the gear shaft.

4. The driving device according to claim 3, characterized in that, The third helical gear shaft is located between the first helical gear shaft and the second helical gear shaft, and the axis of the third helical gear shaft is higher than the axis of the first helical gear shaft and the axis of the second helical gear shaft.

5. The driving device according to claim 3, characterized in that, The gear shaft has at least one end provided with a second connecting rod, and one end of the second connecting rod is movably connected to the second sliding adapter; The gear shaft is a sector gear shaft.

6. The driving device according to any one of claims 1 to 5, characterized in that, Also includes: The main frame includes a connecting part and a load-bearing part located on one side of the connecting part. The load-bearing part includes a base and a bracket located on top of the base. The support rod passes through the connecting part and the bracket, and the axial direction of the support rod is consistent with the length direction of the base.

7. The driving device according to claim 6, characterized in that, The base has a first groove structure and a second groove structure on both sides at its bottom. The first helical gear shaft is located within the first groove structure, and the second helical gear shaft is located within the second groove structure.

8. The driving device according to claim 6, characterized in that, The support unit also includes: A housing is located on top of the base, and the housing is used to cover and support the second drive assembly; The first connecting rod is straddling the top of the cover and rotatably connected, and the bracket is installed on the top of the cover.

9. The driving device according to claim 8, characterized in that, The third helical gear shaft is located inside the casing, with its two ends passing through the connecting part and the side wall of the casing, respectively.

10. The driving device according to claim 6, characterized in that, Also includes: A gear transmission mechanism, connected to the support rod, is used to drive the support rod to rotate; The gear transmission mechanism is located at the connection part of the main frame.

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