Stapler power module, stapler and minimally invasive surgical robot

Abstract

A stapler power module, a stapler, and a minimally invasive surgical robot, which relate to the technical field of minimally invasive surgical robots and can integrate the power of the stapler to reduce the trouble of external connection wires. In the stapler power module of the present invention, the driving mechanism includes a first motor, a second motor, and a control circuit board. The control circuit board is equipped with a driver and an external interface, and can be used to realize the forward and reverse control of the first motor and the second motor through the input of an external program; the transmission mechanism includes a closing transmission group and a firing transmission group. The closing transmission group is connected to the first motor and is used to complete the closing action of the stapler. The firing transmission group is connected to the second motor and is used to complete the firing action of the stapler; the power identification mechanism includes an identification circuit board and an identification board connected to the identification circuit board, and the power identification mechanism can be used to judge whether the power module is correctly connected to the power supply and to judge whether there is a staple cartridge in the stapler.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive surgical robots, and more particularly, to a stapler power module, a stapler, and a minimally invasive surgical robot. Background Art

[0002] Due to its many advantages such as small surgical incisions and the ability to perform flexible and delicate operations, minimally invasive surgical robots are being increasingly widely used in minimally invasive surgical procedures in major hospitals at home and abroad.

[0003] Among them, the large variety of surgical instruments is also one of its major advantages. Suitable instruments can be selected according to different parts to easily complete various types of surgical procedures. The cutting stapler is a major category of surgical instruments. Due to its advantages such as simple operation, saving surgical time, and avoiding cross-infection by being disposable, it has been widely used in various thoracic and abdominal surgical procedures.

[0004] However, most of the existing staplers are mainly manually operated. Even for staplers used in surgical robots, actions that require large torques such as firing and closing are achieved through wiring and rely on external power connections.

[0005] Therefore, how to provide a stapler power module, a stapler, and a minimally invasive surgical robot that can integrate the stapler power and reduce the trouble of external wiring has become an urgent technical problem for those skilled in the art to solve. Summary of the Invention

[0006] The purpose of the present invention is to provide a stapler power module, a stapler, and a minimally invasive surgical robot that can integrate the stapler power and reduce the trouble of external wiring.

[0007] The present invention is implemented as follows:

[0008] A stapler power module includes: a driving mechanism, the driving mechanism includes a first motor, a second motor, and a control circuit board. The control circuit board is equipped with a driver and an external interface, and can be used to realize the forward and reverse control of the first motor and the second motor through the input of an external program;

[0009] a transmission mechanism, the transmission mechanism includes a closing transmission group and a firing transmission group. The closing transmission group is connected to the first motor and is used to complete the closing action of the stapler. The firing transmission group is connected to the second motor and is used to complete the firing action of the stapler;

[0010] a power identification mechanism, the power identification mechanism includes an identification circuit board and an identification plate connected to the identification circuit board, and the power identification mechanism can be used to judge whether the power module is correctly connected to the power supply and to judge whether there is a staple cartridge in the stapler.

[0011] In a preferred stapler power module of the present invention, the closing transmission group includes: a first gear connected to the motor shaft of the first motor, and a second gear meshing with the first gear, and the second gear is connected with a closing transmission shaft, and the closing transmission shaft is connected with a closing transmission pin; the transmission ratio of the first gear to the second gear is less than 1.

[0012] In a preferred stapler power module of the present invention, the firing transmission group includes: a third gear connected to the motor shaft of the second motor, and a fourth gear meshing with the third gear, and the fourth gear is connected with a firing transmission shaft, and the firing transmission shaft is connected with a firing transmission pin; the transmission ratio of the third gear to the fourth gear is greater than 1.

[0013] In a preferred stapler power module of the present invention, the transmission ratio of the first gear to the second gear is 2 / 3; the transmission ratio of the third gear to the fourth gear is 3 / 2.

[0014] In a preferred stapler power module of the present invention, the first motor and the second motor are both installed on the front surface of the first base plate, and the first gear, the second gear, the third gear and the fourth gear are all installed on the back surface of the first base plate; the first base plate is fixed with a second base plate through a column, and the first gear, the second gear, the third gear, the fourth gear, the closing transmission shaft and the firing transmission shaft are all fixed between the first base plate and the second base plate.

[0015] In a preferred stapler power module of the present invention, the first base plate is vertically connected with a circuit board support, and the control circuit board and the identification circuit board are both installed on the circuit board support and are distributed back to back.

[0016] In a preferred stapler power module of the present invention, it further includes: a housing, and the housing includes a first housing and a second housing arranged opposite to the first housing; the first housing has a positioning pin for preventing the power module from shaking on the stapler, and the first housing is provided with a power supply and communication circuit board for connecting the power supply and transmitting signals; the second housing is provided with a locking knob for fixing and disassembling the power module.

[0017] A stapler includes: an instrument seat, and a stapler power module as described in any one of the above connected to the instrument seat; and, the instrument seat has an instrument rod.

[0018] In a preferred stapler of the present invention, the instrument seat has a closing hole matching the closing transmission group, a firing hole matching the firing transmission group, and an identification spring pin for docking with the identification plate.

[0019] A minimally invasive surgical robot, comprising: a stapler power module as described in any one of the above; or, a stapler as described in any one of the above.

[0020] The beneficial effects of the present invention are as follows: Since the driving mechanism includes a first motor, a second motor and a control circuit board, and the control circuit board is equipped with a driver and an external interface, it can be used to realize the forward and reverse control of the first motor and the second motor through the input of an external program; the transmission mechanism includes a closing transmission group and a firing transmission group, and the closing transmission group is connected to the first motor and is used to complete the closing action of the stapler, and the firing transmission group is connected to the second motor and is used to complete the firing action of the stapler; the power identification mechanism includes an identification circuit board and an identification board connected to the identification circuit board, and the power identification mechanism can be used to judge whether the power module is correctly connected to the power supply and to judge whether there is a staple cartridge in the stapler. Therefore, the stapler power module, the stapler and the minimally invasive surgical robot provided by the present invention can realize the closing and firing actions of the stapler by driving the first motor and the second motor, thereby well helping to complete the operation; and, the power module can be conveniently loaded and unloaded on the stapler, providing the power required for the stapler to close and fire, making the stapler power integrated and reducing the trouble of external connection wires; in addition, the power module also has interchangeability and can be used multiple times. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a schematic structural diagram of the stapler power module provided by the embodiment of the present invention;

[0023] Figure 2 It is a first perspective exploded structural diagram of the stapler power module provided by the embodiment of the present invention;

[0024] Figure 3 It is a second perspective exploded structural diagram of the stapler power module provided by the embodiment of the present invention;

[0025] Figure 4 It is an exploded structural diagram of the closing transmission group in the stapler power module provided by the embodiment of the present invention;

[0026] Figure 5 It is an exploded structural diagram of the firing transmission group in the stapler power module provided by the embodiment of the present invention;

[0027] Figure 6 Structural schematic diagram of a stapler provided by an embodiment of the present invention;

[0028] Figure 7 Exploded structural schematic diagram of a stapler provided by an embodiment of the present invention.

[0029] In the figure:

[0030] 1 - Driving mechanism; 11 - First motor; 12 - Second motor; 10 - Motor shaft; 13 - Control circuit board; 131 - Driver; 132 - External interface;

[0031] 2 - Transmission mechanism; 21 - Closing transmission group; 211 - First gear; 212 - Second gear; 213 - Closing transmission shaft; 214 - Closing transmission pin; 22 - Firing transmission group; 221 - Third gear; 222 - Fourth gear; 223 - Firing transmission shaft; 224 - Firing transmission pin; 20 - Bush;

[0032] 3 - Power identification mechanism; 31 - Identification circuit board;

[0033] 41 - First base plate; 411 - Column; 42 - Second base plate; 43 - Circuit board bracket;

[0034] 5 - Outer shell; 51 - First housing; 511 - Positioning pin; 512 - Power supply; 513 - Communication circuit board; 514 - Guide groove; 515 - Clutch control pin; 52 - Second housing; 521 - Locking knob; 5211 - Locking pin; 5212 - Switch knob; 5213 - Tensile spring; 5214 - Spring hook; 5215 - Empty slot; 5216 - Spiral structure; 50 - Light bar;

[0035] 6 - Instrument seat; 61 - Closing hole; 62 - Firing hole; 63 - Identification firing pin; 64 - Positioning hole; 65 - Locking hole; 66 - Guide bar; 67 - Clutch hole; 68 - Release clip;

[0036] 7 - Instrument rod. Specific embodiments

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0038] Accordingly, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0039] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0041] In addition, the terms "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0042] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The following will describe in detail some embodiments of the present invention with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0044] Please refer to Figures 1 - 3As shown in the figure, this embodiment provides a stapler power module, which includes: a driving mechanism 1, the driving mechanism 1 includes a first motor 11, a second motor 12 and a control circuit board 13. The control circuit board 13 is equipped with a driver 131 and an external interface 132, and can be used to realize the forward and reverse control of the first motor 11 and the second motor 12 through the input of an external program;

[0045] A transmission mechanism 2, the transmission mechanism 2 includes a closing transmission group 21 and a firing transmission group 22. The closing transmission group 21 is connected to the first motor 11 and is used to complete the closing action of the stapler. The firing transmission group 22 is connected to the second motor 12 and is used to complete the firing action of the stapler;

[0046] A power identification mechanism 3, the power identification mechanism 3 includes an identification circuit board 31 and an identification board (not shown in the figure) connected to the identification circuit board 31, and the power identification mechanism 3 can be used to judge whether the power module is correctly connected to the power supply and to judge whether the stapler has a staple cartridge.

[0047] It should be supplemented and explained here that in the stapler power module provided by the embodiment of the present invention, the above control circuit board 13 can be equipped with two drivers 131 and four external interfaces 132, so as to realize the control and adjustment of the first motor 11 and the second motor 12 through the two drivers 131, and realize the input and output of signals through the four external interfaces 132.

[0048] In a preferred embodiment of the present invention, as Figure 4 shown, the above closing transmission group 21 may include: a first gear 211 connected to the motor shaft 10 of the first motor 11, and a second gear 212 meshing with the first gear 211, and the second gear 212 may be connected with a closing transmission shaft 213, and the closing transmission shaft 213 may be connected with a closing transmission pin 214. Thus, when the first motor 11 rotates, it drives the first gear 211 (small driving gear) to rotate. The first gear 211 (small driving gear) rotates to drive the second gear 212 (large driven gear) to rotate. The second gear 212 (large driven gear) rotates to drive the closing transmission shaft 213 to rotate, and further drives the closing transmission pin 214 to rotate, so as to provide power for the stapler to close; in addition, the transmission ratio of the first gear 211 to the second gear 212 may preferably be less than 1.

[0049] In a preferred embodiment of the present invention, as Figure 5As shown, the above-mentioned firing drive group 22 may include: a third gear 221 connected to the motor shaft 10 of the second motor 12, and a fourth gear 222 meshing with the third gear 221. The fourth gear 222 may be connected to a firing transmission shaft 223, and the firing transmission shaft 223 may be connected to a firing transmission pin 224. Thus, when the second motor 12 rotates, it drives the third gear 221 (large driving gear) to rotate. The rotation of the third gear 221 (large driving gear) drives the fourth gear 222 (small driven gear) to rotate. The rotation of the fourth gear 222 (small driven gear) drives the firing transmission shaft 223 to rotate, and further drives the firing transmission pin 224 to rotate, providing power for the stapler to fire. In addition, the transmission ratio of the above-mentioned third gear 221 to the fourth gear 222 may preferably be greater than 1 to effectively increase the speed during firing.

[0050] It should be supplemented and explained here that closing is to strongly close the jaws of the stapler head to grip the tissue tightly; firing is to push the blade in the cartridge forward and at the same time push out the titanium staples to achieve the function of cutting and suturing the tissue.

[0051] In a preferred embodiment of the present invention, the transmission ratio of the above-mentioned first gear 211 to the second gear 212 may preferably be 2 / 3; the transmission ratio of the above-mentioned third gear 221 to the fourth gear 222 may preferably be 3 / 2.

[0052] In addition, as Figure 4 and Figure 5 shown, the above-mentioned closing drive group 21 and firing drive group 22 may both be provided with a bushing 20. The bushing 20 is sleeved inside the first gear 211 and the third gear 221 and is connected to the motor shaft 10. Specifically, the first gear 211, the third gear 221 and the bushing 20 may be fixed to the motor shaft 10 by set screws, and the closing transmission shaft 213 and the firing transmission shaft 223 may be respectively connected to the closing hole 61 and the firing hole 62 of the stapler to respectively control the closing and firing actions of the stapler.

[0053] In a preferred embodiment of the present invention, as Figure 2 and Figure 3 shown, the above-mentioned first motor 11 and second motor 12 may both be installed on the front surface of the first base plate 41 by means of screw fixation. The above-mentioned first gear 211, second gear 212, third gear 221 and fourth gear 222 may all be installed on the back surface of the first base plate 41. In addition, the first base plate 41 may be fixed with a second base plate 42 through four columns 411, and the above-mentioned first gear 211, second gear 212, third gear 221, fourth gear 222, and the closing transmission shaft 213 and the firing transmission shaft 223 may all be fixed between the first base plate 41 and the second base plate 42.

[0054] In a preferred embodiment of the present invention, as Figure 2 andFigure 3 As shown, the first base plate 41 described above can be vertically connected with a circuit board bracket 43 by screws. The control circuit board 13 and the identification circuit board 31 can both be installed on the circuit board bracket 43 and are distributed back to back.

[0055] In a preferred embodiment of the present invention, as Figures 1 - 3 shown, the stapler power module may further include: a housing 5, and the housing 5 may include a first housing 51 and a second housing 52 disposed opposite to the first housing 51; specifically, the first housing 51 may have two positioning pins 511 for preventing the power module from shaking on the stapler, and the first housing 51 may be provided with a power supply 512 and a communication circuit board 513 for connecting the power supply and transmitting signals; the second housing 52 may be provided with a locking knob 521 for fixing and disassembling the power module.

[0056] It should be supplemented here that the above-mentioned housing 5 can be used to protect the internal structure of the power module and is positioned and connected with the stapler and the instrument driving device; in addition, light bars 50 connected to the status lights of the identification circuit board 31 can be respectively provided on both sides of the housing 5 for reflecting the working status of the power module.

[0057] A stapler, as Figure 6 combined with Figure 7 shown, may include: an instrument seat 6 and a stapler power module as described in any one of the above connected to the instrument seat 6; and the above-mentioned instrument seat 6 has an instrument rod 7.

[0058] In a preferred embodiment of the present invention, as Figure 7 shown, the above-mentioned instrument seat 6 may have a closing hole 61 matching the closing transmission group 21, a firing hole 62 matching the firing transmission group 22, and an identification spring pin 63 for docking with the identification plate.

[0059] In a preferred embodiment of the present invention, as Figure 7 shown, the above-mentioned instrument seat 6 may have a positioning hole 64 and a locking hole 65 respectively matching the positioning pin 511 and the locking knob 521 of the power module; the instrument seat 6 may have a guiding strip 66 matching the guiding groove 514 of the power module; in addition, the instrument seat 6 may further have a release clip 68 and a clutch hole 67 matching the clutch control pin 515 of the power module.

[0060] It should be supplemented here that, as Figure 3As shown in the figure, the locking knob 521 may include a locking pin 5211 and a switch knob 5212. The two ends of the locking pin 5211 respectively pass through the first base plate 41 and the second base plate 42, and the rear end passes through the second base plate 42 and is connected to the switch knob 5212 in a threaded fixing manner. The front end passes through the first base plate 41 and is inserted into the locking hole 65 of the stapler.

[0061] Specifically, as Figure 3 shown in the figure, there is a tension spring 5213 on the column 411 and a spring hook 5214 on the locking pin 5211. The two ends of the tension spring 5213 can be respectively hung on the column 411 and the spring hook 5214 of the locking pin 5211, so that the locking pin 5211 is always pulled. When the power module is installed on the stapler (there is a cylindrical pin in the locking hole 65), the locking pin 5211 will rotate due to the front-end spiral structure 5216. After installation, the cylindrical pin in the locking hole 65 is stuck into the empty slot 5215 of the locking pin 5211. Under the pulling force of the tension spring 5213, the locking pin 5211 will not rotate back, and the power module can be locked.

[0062] Furthermore, when disassembling the power module, rotate the switch knob 5212 counterclockwise, and then gently pull it out to remove the power module. When rotating the switch knob 5212 clockwise, it is possible to check whether the power module is locked.

[0063] In addition, when suturing is required (installing the cartridge), a large torque is required for the cartridge firing and the jaw closing, and this is where the power module comes in. For the power module to transmit motion, the functions at the rear end of the stapler are required. To achieve the subsequent actions, first, the rod in the clutch hole 67 needs to be pressed down so that the rods in the closing hole 61 and the firing hole 62 can rotate. When the rod in the closing hole 61 rotates, it can drive the jaws to close tightly. When the rod in the firing hole 62 rotates, it can push the blade on the cartridge forward and push up the titanium staple. The titanium staple is blocked by the tightly closed jaws and bends into a "B" shape, realizing the suturing of tissues, similar to the principle of a stapler.

[0064] A minimally invasive surgical robot, which includes: a stapler power module as described in any one of the above; or, a stapler as described in any one of the above.

[0065] The beneficial effects of the embodiments of the present invention are as follows: Since the driving mechanism 1 includes a first motor 11, a second motor 12 and a control circuit board 13, and the control circuit board 13 is equipped with a driver 131 and an external interface 132, it can be used to realize the forward and reverse control of the first motor 11 and the second motor 12 through the input of an external program; the transmission mechanism 2 includes a closed transmission group 21 and a firing transmission group 22, and the closed transmission group 21 is connected to the first motor 11 and is used to complete the closing action of the stapler, and the firing transmission group 22 is connected to the second motor 12 and is used to complete the firing action of the stapler; the power identification mechanism 3 includes an identification circuit board 31 and an identification board connected to the identification circuit board 31, and the power identification mechanism 3 can be used to judge whether the power module is correctly connected to the power supply and to judge whether there is a staple cartridge in the stapler. Therefore, the stapler power module, the stapler and the minimally invasive surgical robot provided by the embodiments of the present invention can realize the closing and firing actions of the stapler by driving the first motor 11 and the second motor 12, thereby well assisting in completing the operation; and, the power module can be conveniently loaded and unloaded on the stapler, providing the power required for the stapler to close and fire, making the stapler power integrated and reducing the trouble of external connection wires; in addition, the power module also has interchangeability and can be used multiple times.

[0066] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A stapler power module, characterized in that, include: A driving mechanism, the driving mechanism comprising a first motor, a second motor and a control circuit board, the control circuit board being equipped with a driver and an external interface, and capable of being used to implement forward and reverse control of the first motor and the second motor through the input of an external program; the drivers comprising two, the external interfaces comprising four, the control and regulation of the first motor and the second motor being implemented through the two drivers, and the input and output of signals being implemented through the four external interfaces; a transmission mechanism, the transmission mechanism comprising a closing transmission group and a firing transmission group, the closing transmission group being connected to the first motor and used to complete the closing action of the stapler, and the firing transmission group being connected to the second motor and used to complete the firing action of the stapler; A power identification mechanism, the power identification mechanism includes an identification circuit board and an identification plate connected to the identification circuit board, and the power identification mechanism can be used to determine whether the power module is correctly connected to the power supply and whether the stapler has a stapler; The closed transmission group includes: a first gear connected to the motor shaft of the first motor, and a second gear meshing with the first gear, and the second gear is connected to a closed transmission shaft, and the closed transmission shaft is connected to a closed transmission pin; A transmission ratio between the first gear and the second gear is less than 1.

2. The stapler power module according to claim 1, wherein The firing transmission group includes: a third gear connected to the motor shaft of the second motor, and a fourth gear meshing with the third gear, and the fourth gear is connected to a firing transmission shaft, and the firing transmission shaft is connected to a firing transmission pin; A transmission ratio between the third gear and the fourth gear is greater than 1.

3. The stapler power module according to claim 2, wherein, The transmission ratio between the first gear and the second gear is 2 / 3; The transmission ratio between the third gear and the fourth gear is 3 / 2.

4. The stapler power module according to claim 2, characterized in that, The first motor and the second motor are both mounted on the front side of the first bottom plate, and the first gear, the second gear, the third gear and the fourth gear are all mounted on the back side of the first bottom plate; The first base plate is fixed to the second base plate through a column, and the first gear, the second gear, the third gear, the fourth gear, the closing transmission shaft and the firing transmission shaft are all fixed between the first base plate and the second base plate.

5. The stapler power module according to claim 4, characterized in that, The first bottom plate is vertically connected with a circuit board bracket, and the control circuit board and the identification circuit board are both installed on the circuit board bracket and are arranged back to back.

6. The stapler power module according to claim 1, characterized in that, Also includes: A housing, wherein the housing comprises a first housing and a second housing disposed opposite to the first housing; The first housing has a positioning pin for preventing the power module from shaking on the stapler, and the first housing is provided with a power supply and a communication circuit board for connecting the power supply and transmitting the signal; The second housing is provided with a locking knob for fixing and removing the power module.

7. A stapler, characterized in that, include: An instrument seat, and a stapler power module as described in any one of claims 1 to 6 connected to the instrument seat; Furthermore, the instrument seat has an instrument rod.

8. The stapler according to claim 7, wherein, The instrument seat has a closing hole matched with the closing transmission group, a firing hole matched with the firing transmission group, and an identification spring pin connected with the identification plate.

9. A minimally invasive surgical robot, characterized in that, Comprising: A stapler power module as described in any one of the above claims 1-6; Or, a stapler as described in any one of the above claims 7 or 8.

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