A firing device for a surgical instrument

Abstract

The present invention belongs to the technical field of medical devices, and particularly relates to the field of surgical instruments. The firing device for the surgical instrument of the present invention includes a sleeve, a plurality of firing balls, a ball pushing member, and a blade. The sleeve includes a first pipe section and a second pipe section, and the first pipe section and the second pipe section are connected together in a relatively bendable manner. A strip-shaped groove extending along the axial direction of the sleeve is provided on the pipe wall of the first pipe section. The blade and the ball pushing member are respectively axially movably fixed in the first pipe section and the second pipe section, and the blade passes through the strip-shaped groove, and the cutting edge portion of the blade is located outside the first pipe section. The plurality of firing balls are arranged in the sleeve along the above-mentioned axial direction and are sandwiched between the blade and the ball pushing member. The present invention uses the firing balls instead of the steel belt as the transmitter of the firing force, reduces or even eliminates the deformation amount during the steel belt firing, thereby improving the cutting stroke accuracy of the blade, and further improving the surgical accuracy. Moreover, the firing device of the present invention can be applicable to the swing heads in various directions, and has stronger applicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to the field of surgical instruments. Background Art

[0002] In existing surgical instruments such as staplers, the firing device includes a firing connector and a firing rod. The distal end of the firing connector is connected to the proximal end of the firing rod, and a blade is provided at the distal end of the firing rod. The firing connector is connected to a trigger through a power transmission mechanism. The movement of the trigger drives the firing connector to move back and forth, and further drives the firing rod to move back and forth to cut the human tissue clamped by the end effector. Among them, the firing rod is a steel strip, and the thickness direction of the steel strip is the left-right direction so that the steel strip can be bent left and right when the end effector makes a left-right swinging movement.

[0003] The disadvantage of this prior art is that the steel strip is prone to deformation when encountering resistance during firing, which leads to inaccurate forward and backward movement strokes of the steel strip, thereby reducing the cutting stroke accuracy of the blade at the distal end of the steel strip. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] The purpose of the present invention is to solve the technical problem of how to improve the cutting stroke accuracy while ensuring that the firing device can swing its head.

[0006] (2) Technical Solutions

[0007] To achieve the above purpose, the main technical solutions adopted by the present invention include:

[0008] The present invention provides a firing device for a surgical instrument, including a sleeve, a plurality of firing balls, a ball pushing member, and a blade; the sleeve includes a first pipe section and a second pipe section, and the first pipe section and the second pipe section are connected together in a relatively bendable manner. A strip-shaped groove extending along the axial direction of the sleeve is provided on the pipe wall of the first pipe section; the blade and the ball pushing member are respectively axially movably fixed in the first pipe section and the second pipe section, and the blade passes through the strip-shaped groove, and the cutting edge portion of the blade is located outside the first pipe section; a plurality of firing balls are arranged axially in the sleeve and are clamped between the blade and the ball pushing member.

[0009] According to the present invention, the first pipe section and the second pipe section are circular pipes with equal inner diameters, and the firing balls are in contact with the inner wall of the circular pipe.

[0010] According to the present invention, it further includes a reset mechanism for driving the blade and the firing balls to move axially proximally.

[0011] According to the present invention, the reset mechanism is a pulling member located in the sleeve, and both ends of the pulling member are respectively connected to the ball pushing member and the blade; the pulling member passes through the firing balls.

[0012] According to the present invention, the reset mechanism includes a reset tube, a plurality of reset balls, and a reset ball pushing member; the reset tube is connected to the sleeve, the reset tube includes a straight tube section and a bent tube section connected together, the straight tube section is parallel to the sleeve, the straight tube section includes a first straight tube section and a second straight tube section connected together and bendable, and the connection between the first straight tube section and the second straight tube section is aligned with the connection between the first tube section and the second tube section, the bent tube section communicates with the distal end of the straight tube section and the distal end of the sleeve; the reset ball pushing member is movably fixed in the straight tube section along the axial direction of the straight tube section, and the reset ball pushing member is reversely linked with the ball pushing member; a plurality of reset balls are clamped between the blade and the reset ball pushing member.

[0013] According to the present invention, the reset mechanism includes a reset driving member, a reset rack, a reset gear, and a reset pushing block; the reset driving member is located outside the sleeve, the reset gear and the reset pushing block are located in the first tube section; the reset pushing block abuts against the distal end of the blade, both ends of the reset rack are respectively connected to the reset pushing block and the reset driving member, the reset gear is located on the far side of the reset pushing block, the reset rack meshes with the reset gear and bends proximally through the reset gear.

[0014] According to the present invention, the proximal end of the ball pushing member has a plugging structure, which can be plugged with the distal end of the driving rod of the surgical instrument, and drives the ball pushing member to move bidirectionally with the driving rod when the plugging is formed.

[0015] According to the present invention, it further includes a rotating shaft; the proximal end of the ball pushing member is screwed on the distal end of the rotating shaft, the proximal end of the rotating shaft has a plugging structure, which can be connected to the distal end of the rotating member of the surgical instrument, and drives the rotating shaft to rotate bidirectionally with the rotating member when the connection is formed.

[0016] According to the present invention, the first tube section and the second tube section are made of a hard material.

[0017] According to the present invention, the sleeve further includes a matching universal joint, the proximal end of the first tube section and the distal end of the second tube section are connected through the matching universal joint; or the sleeve further includes an elastic tube, the proximal end of the first tube section and the distal end of the second tube section are connected through the elastic tube; or the sleeve further includes an elastic tube and a bendable fixing component, the fixing component is sleeved outside the elastic tube, and both the elastic tube and the fixing component are connected between the first tube section and the second tube section.

[0018] (III) Beneficial effects

[0019] The beneficial effects of the present invention are:

[0020] For the firing device of the surgical instrument of the present invention, by using the firing ball instead of the steel belt as the transmitter of the firing force, on the one hand, the deformation amount during firing is reduced or even non-existent, thereby improving the cutting stroke accuracy of the blade, and further improving the surgical accuracy; on the other hand, it can be applicable to the swing heads in various directions, and has stronger applicability. Description of the drawings

[0021] Figure 1 A three-dimensional schematic diagram of the first embodiment of the firing device for a surgical instrument of the present invention;

[0022] Figure 2 is Figure 1 A longitudinal sectional view of the firing device for a surgical instrument of

[0023] Figure 3 is Figure 1 A longitudinal sectional view of the firing device for a surgical instrument of

[0024] Figure 4 A longitudinal sectional view of the second embodiment of the firing device for a surgical instrument of the present invention, wherein the firing device is in the initial state;

[0025] Figure 5 is Figure 4 A longitudinal sectional view of the firing device for a surgical instrument of

[0026] Figure 6 A longitudinal sectional view of the third embodiment of the firing device for a surgical instrument of the present invention, which shows the firing device in the initial state;

[0027] Figure 7 is Figure 6 A longitudinal sectional view of the firing device for a surgical instrument of

[0028] Figure 8 A longitudinal sectional view of the fourth embodiment of the firing device for a surgical instrument of the present invention, which shows the firing device in the initial state;

[0029] Figure 9 is Figure 8 A longitudinal sectional view of the firing device for a surgical instrument of

[0030] Figure 10 A longitudinal sectional view of the fifth embodiment of the firing device for a surgical instrument of the present invention, which shows the firing device in the initial state;

[0031] Figure 11 is Figure 10 Another longitudinal sectional view of the firing device for a surgical instrument of Figure 10 which shows the firing device in the initial state and is at a 90° angle to the cross-section shown in

[0032] Figure 12 is Figure 10Longitudinal sectional schematic view of a firing device for a surgical instrument, where the firing device is in the fired state;

[0033] Figure 13 Longitudinal sectional schematic view of Embodiment 6 of the firing device for a surgical instrument of the present invention, which shows the firing device in the initial state;

[0034] Figure 14 is Figure 13 Longitudinal sectional schematic view of a firing device for a surgical instrument, which shows the firing device in the fired state;

[0035] Figure 15 Longitudinal sectional schematic view of Embodiment 7 of the firing device for a surgical instrument of the present invention, which shows the firing device in the initial state;

[0036] Figure 16 is Figure 15 Longitudinal sectional schematic view of a firing device for a surgical instrument, which shows the firing device in the fired state;

[0037] Figure 17 Longitudinal sectional schematic view of Embodiment 8 of the firing device for a surgical instrument of the present invention, where the firing device is in the initial state, and the longitudinal section of this figure is the section intercepted from left to right.

[0038] Figure 18 Longitudinal sectional schematic view of Embodiment 9 of the firing device for a surgical instrument of the present invention, where the firing device is in the initial state, and the longitudinal section of this figure is the section intercepted from left to right.

[0039] Figures 2 to 18 It is only a schematic view, and some detailed structures (such as threads) are not shown.

[0040]

Explanation of Reference Numerals

[0041] 1: Sleeve; 2: Striking ball; 3: Ball pushing member; 4: Rotating shaft; 5: Blade; 6: First pipe section; 7: Second pipe section; 8: First universal joint; 9: Second universal joint; 10: Axial through hole; 11: Strip-shaped groove; 12: Base; 13: Blade edge part; 14: Base guide block; 15: First pipe section guide groove; 16: Ball pushing member guide block; 17: Second pipe section guide groove; 18: Rotating shaft insertion structure; 19: Ball pushing member insertion structure; 20: First annular member; 21: First ball head; 22: Second annular member; 23: Second ball head; 24: Transition annular member; 25: First recess; 26: Second recess; 27: Elastic tube; 28: Fixing assembly; 29: First fixing ring; 30: Second fixing ring; 31: Intermediate fixing ring; 32: Pin; 33: First support leg; 34: Second support leg; 35: Movable joint; 36: Ball head; 37: Intermediate connecting ring; 38: Ball groove; 39: Pull-back member; 40: Reset driving member; 41: Reset rack; 42: Reset gear; 43: Reset push block; 45: Reset ball; 46: Reset ball pushing member; 47: First straight pipe section; 48: Second straight pipe section; 49: Bent pipe section; 50: Bellows; 51: Reset rotating shaft; 52: Gear. Detailed implementation manners

[0042] For better explaining the present invention for easy understanding, the present invention will be described in detail below with reference to the accompanying drawings through specific implementation manners. In the following description, the end closer to the operator during use is defined as "near", and the end farther from the operator is defined as "far".

[0043] Embodiment 1

[0044] Referring to Figures 1 to 3 , this embodiment provides a firing device for a surgical instrument. The surgical instrument can be various instruments for clamping, cutting, and suturing human tissues including a stapler. And the firing device is a device for cutting the clamped tissues.

[0045] Specifically, the firing device of this embodiment includes a sleeve 1, a plurality of striking balls 2, a ball pushing member 3, a rotating shaft 4, and a blade 5.

[0046] The cannula 1 includes a first pipe section 6 and a second pipe section 7 which are coaxially arranged. The first pipe section 6 and the second pipe section 7 are circular pipes with equal inner diameters and are made of rigid materials. The rigid materials can be stainless steel, aluminum alloy, harder plastics, etc. At the same time, the first pipe section 6 and the second pipe section 7 can be made of the same material or different materials. The first pipe section 6 is located on the far side of the second pipe section 7 and is used to extend into the distal actuator of the surgical instrument, specifically, it can extend into the cartridge assembly of the distal actuator. The first pipe section 6 and the second pipe section 7 are connected together in a relatively bendable manner. The relative bending of the first pipe section 6 and the second pipe section 7 adapts to the swinging motion of the distal actuator. This bending is at least a left-right direction bending to adapt to the left-right swinging (wherein, the orientation of "left and right" is based on the position of the blade 5 described later. The left side of the blade 5 is the left, and the right side is the right). Preferably, the bending between the first pipe section 6 and the second pipe section 7 can be bent in at least four directions of up, down, left, and right. More preferably, and what this embodiment pursues, the bending between the first pipe section 6 and the second pipe section 7 is a bending in all directions, that is, a "universal" bending. In this way, it is beneficial to realize the multi-directional (even "universal") swinging of the distal actuator. Among them, the outer walls of the first pipe section 6 and the second pipe section 7 are fixed in the surgical instrument through fixing parts or fixing structures (not shown, which can be limiting convex-concave fits, buckles, etc.). Thus, during the firing process, the first pipe section 6 and the second pipe section 7 can only bend to adapt to the swinging and cannot move axially.

[0047] In this embodiment, the cannula 1 includes a matching universal joint. The proximal end of the first pipe section 6 and the distal end of the second pipe section 7 achieve the universal bending between the first pipe section 6 and the second pipe section 7 through the above-mentioned matching universal joint. The above-mentioned matching universal joint and the first pipe section 6 and the second pipe section 7 where it is located are integrally formed respectively, so it is also made of rigid materials. Specifically, the proximal end of the first pipe section 6 is connected to the first universal joint 8, and the distal end of the second pipe section 7 is connected to the second universal joint 9. One of the first universal joint 8 and the second universal joint 9 has a spherical groove, and the other is a spherical head. Figure 2 and Figure 3 Taking the first universal joint 8 having a spherical groove and the second universal joint 9 being a spherical head as an example. To form a passage for the firing ball 2 to pass through, the spherical head has an axial through hole 10. The inner diameter of the axial through hole 10 can be the same as the inner diameter of the pipe section where it is located. However, in some embodiments at this time, it may cause the firing ball 2 (discussed in detail below) to be blocked during subsequent firing. Therefore, a better way is to set the inner wall of the axial through hole 10 of the spherical head to be inclined outward from near to far in all or the distal part, so as to make the movement of the firing ball 2 smoother. Alternatively, the end of the spherical head can also be constructed as an elastic part, so as to make the movement of the firing ball 2 smoother. Of course, when the required swing angle is small or the firing force is sufficient, the above-mentioned inclination and elastic settings may not be made.

[0048] In this embodiment, the blade 5 is movably fixed along the axial direction of the sleeve 1 in the first pipe section 6, and a strip-shaped groove 11 extending along the axial direction of the sleeve 1 is provided on the pipe wall of the first pipe section 6. The blade 5 includes a bottom support 12 and a blade portion 13 connected together. The bottom support 12 is fixed in the first pipe section 6 so as to be axially movable in both directions along the sleeve 1. The blade 5 passes through the strip-shaped groove 11, and the blade portion 13 of the blade 5 is located outside the first pipe section 6. The distal side of the blade portion 13 is the blade edge for cutting tissue. The fixing manner of the blade 5 and the first pipe section 6 may be, but is not limited to, providing mutually matching axial guiding structures on the bottom support 12 and the first pipe section 6. For example, guiding grooves extending along the axial direction of the sleeve 1 are provided on the left and right sides of the bottom support 12, or guiding blocks (referred to as bottom support guiding blocks 14) are provided on the left and right sides of the bottom support 12. Guiding blocks matching with the bottom support 12 or guiding grooves extending along the axial direction of the sleeve 1 (referred to as first pipe section guiding grooves 15) are provided on the inner walls of the left and right sides of the first pipe section 6. In this way, the bottom support 12 can move along the axial direction of the sleeve 1 but will not fall out of the strip-shaped groove 11. Of course, the thickness of the bottom support 12 can also be set to be greater than the width of the strip-shaped groove 11 to prevent the blade 5 from falling out of the strip-shaped groove 11. Among them, the axial guiding structures on the bottom support 12 and the first pipe section 6 are not shown due to cross-sectional angle reasons in Figures 1 - 3 and can be referred to the same structure in Figure 11 .

[0049] In addition, in this embodiment, due to the limitation of the farthest position of the blade 5 by the reset mechanism (described in detail later), the distal end of the first pipe section 6 and the distal end of the strip-shaped groove 11 can be open or closed. If the reset mechanism is not provided in other embodiments, at least one of the distal end of the first pipe section 6 and the distal end of the strip-shaped groove 11 is closed to prevent the blade 5 from falling out of the first pipe section 6.

[0050] In this embodiment, the ball pushing member 3 is movably fixed along the axial direction of the sleeve 1 in the second pipe section 7. The fixing manner of the ball pushing member 3 and the second pipe section 7 may be, but is not limited to, providing mutually matching axial guiding structures on the ball pushing member 3 and the second pipe section 7. For example, guiding grooves extending along the axial direction of the sleeve 1 are provided on the left and right sides of the ball pushing member 3, or guiding blocks (referred to as ball pushing member guiding blocks 16) are provided on the left and right sides of the ball pushing member 3. Mutually matching guiding blocks or guiding grooves extending along the axial direction of the sleeve 1 (referred to as second pipe section guiding grooves 17) are provided on the inner walls of the left and right sides of the second pipe section 7. The rotating shaft 4 is rotatably fixed in the second pipe section 7 through a bearing and other supporting members (not shown). The ball pushing member 3 is a cylinder in this embodiment. The proximal end of the ball pushing member 3 has internal threads, and the rotating shaft 4 has external threads. The proximal end of the ball pushing member 3 is screwed onto the distal end of the rotating shaft 4. In this way, the ball pushing member 3 and the rotating shaft 4 form a lead screw nut mechanism, converting the bidirectional rotation of the rotating shaft 4 into the bidirectional axial movement of the ball pushing member 3.

[0051] Further, the proximal end of the rotating shaft 4 has a plug-in structure (referred to as the rotating shaft plug-in structure 18), and the rotating shaft plug-in structure 18 can be connected to the distal end of the rotating member of the surgical instrument, and drive the rotating shaft 4 to rotate bidirectionally with the rotating member when the connection is formed. The proximal end of the second pipe section 7 is open for the rotating member to extend into the second pipe section 7.

[0052] Among them, the involved rotating member can be but is not limited to the output shaft of the motor or the rotating rod connected to the output shaft of the motor (this method is more suitable for electric instruments), or the rotating rod connected to the knob receiving the rotational external force. And the involved rotating shaft plug-in structure 18 can be a commonly used pluggable and rotatable power-transmitting structure such as a snap connection, so that it can be adapted to the detachable connection structure between the handle and the part inserted into the human body in the surgical instrument. The plug-in structure shown in the figure is a groove, but it is only shown simply and can also be other structures.

[0053] In this embodiment, the diameter of the firing ball 2 is less than or equal to 1 cm. A plurality of firing balls 2 are arranged axially in the sleeve 1 and are sandwiched between the blade 5 and the ball pushing member 3, that is, there are firing balls 2 in both the first pipe section 6 and the second pipe section 7. Only as the firing ball 2 moves axially, the number of firing balls 2 in the first pipe section 6 and the second pipe section 7 will change. Preferably, the firing ball 2 abuts against the inner walls of the first pipe section 6 and the second pipe section 7 which are circular pipes. In this way, the firing ball 2 slides and rubs along the inner wall of the first pipe section 6 or the second pipe section 7 during the movement, ensuring that the center of the firing ball 2 is located on the axis of the sleeve 1, further improving the firing accuracy, and thus improving the cutting stroke accuracy. Moreover, the first pipe section 6 and the second pipe section 7 are made of hard materials and have smooth inner walls, and the firing ball 2 is a rigid ball and has a smooth outer wall to reduce the firing resistance.

[0054] Thus, when the firing device is in the initial state:

[0055] The ball pushing member 3 is located at the initial position of the ball pushing member, and the blade 5 is located at the initial position of the blade.

[0056] When firing is required:

[0057] The rotating shaft 4 rotates in the first direction, the ball pushing member 3 moves distally from the initial position of the ball pushing member, pushes the firing ball 2 to move distally, and the firing ball 2 at the most distal end pushes the blade 5 located at the initial position of the blade to move distally to the end position of the blade, completing the cutting. At this time, the position of the ball pushing member 3 is the end position of the ball pushing member. The firing device is in the firing state.

[0058] Further, the function of the reset mechanism is to drive the blade 5 and the ball striker 2 to move proximally along the axis, so that the blade 5 returns from the blade termination position to the blade initial position. In this embodiment, the reset mechanism is a pulling member 39 located in the sleeve 1, more specifically a pulling rope, to adapt to the "universal" swing of the head. Both ends of the pulling member 39 are respectively connected to the ball pushing member 3 and the base 12 of the blade 5, and pass through all the ball strikers 2 in the middle. Figure 2 and Figure 3 Only one pulling member 39 passing through the center of the ball striker 2 is shown in the figure. For stable pulling back, multiple pulling members 39 can also be provided. For example, three pulling members 39 are arranged in a triangle, or four pulling members 39 are arranged in a rectangle.

[0059] Thus, when the blade 5 needs to be reset:

[0060] The rotating shaft 4 rotates in the second direction, the ball pushing member 3 moves proximally from the ball pushing member termination position, drives the blade 5 to move from the blade termination position towards the blade initial position through the pulling member 39, and the blade 5 gives a thrust to the ball striker 2, so that the ball striker 2 also moves proximally. Finally, the blade 5 returns to the blade initial position, and the ball pushing member 3 returns to the ball pushing member initial position.

[0061] The important advantage of this embodiment is that by using the ball striker 2 instead of the steel belt as the transmitter of the striking force, the deformation during firing is reduced or even non-existent, thereby improving the cutting stroke accuracy of the blade 5 and further improving the surgical accuracy. Moreover, the steel belt in the prior art is only applicable to the left-right swing of the head, while the use of the ball striker 2 in this embodiment can be applicable to the swing of the head in various directions (whether it is a "universal" swing of the head, or a swing of the head in the four directions of up, down, left, and right, or a left-right swing of the head), with stronger applicability.

[0062] Embodiment Two

[0063] The difference between this embodiment and Embodiment One is that, referring to Figure 4 and Figure 5 , the ball pushing member 3 is a ball pushing block, and its proximal end has a plugging structure (referred to as the ball pushing member plugging structure 19). The ball pushing member plugging structure 19 can be plugged with the distal end of the driving rod of the surgical instrument (the driving rod is inserted into the second pipe section 7 from the rear end of the second pipe section 7), and drives the ball pushing member 3 to move bidirectionally with the driving rod when the plugging is formed. This method is mainly applicable to manual instruments. The involved ball pushing member plugging structure 19 is only simply shown in the figure, and it can be any existing structure such as clamping that can be plugged and unplugged and can transmit bidirectional movement during connection, so that it can be adapted to the detachable connection structure between the handle and the part inserted into the human body in the surgical instrument.

[0064] Thus, when firing is required, the driving rod is in a state of being inserted into the ball pushing member 3 located at the initial position of the ball pushing member. The driving rod moves distally, driving the ball pushing member 3 to move distally from the initial position of the ball pushing member. Further, the ball pushing member 3 pushes the firing ball 2 to move distally, and the firing ball 2 at the farthest end pushes the blade 5 to move distally until the blade 5 moves to the blade termination position, completing the cutting. When the blade 5 needs to be reset, the driving rod moves proximally, and the ball pushing member 3 follows the driving rod to move proximally. The blade 5 is driven to move towards the initial position of the blade by the pulling member 39. The blade 5 applies a thrust to the firing ball 2, causing the firing ball 2 to also move proximally until the blade 5 returns to the initial position of the blade.

[0065] Embodiment III

[0066] The difference between this embodiment and Embodiment I lies in the different structures of the relatively bendable connection between the first pipe section 6 and the second pipe section 7. This embodiment provides another structure of the universal joint.

[0067] See Figure 6 and Figure 7 , the proximal end of the first pipe section 6 is connected to the first universal joint 8, which includes a first annular member 20 and a first ball head 21. The first ball head 21 is sleeved outside the first annular member 20, and the diameter of the inner wall of the first annular member 20 is greater than the diameter of the inner wall of the first pipe section 6. The distal end of the second pipe section 7 is connected to the second universal joint 9, which includes a second annular member 22 and a second ball head 23. The second ball head 23 is sleeved outside the second annular member 22, and the diameter of the inner wall of the second annular member 22 is equal to the diameter of the inner wall of the second pipe section 7.

[0068] The sleeve further includes a transition annular member 24, which is sleeved between the first annular member 20 and the second annular member 22. The outer wall of the transition annular member 24 is provided with a first recess 25, and the inner wall is provided with a second recess 26, and the first recess 25 and the second recess 26 are axially offset. The first annular member 20 is sleeved outside the first recess 25 on the outer wall of the transition annular member 24, and the second recess 26 on the inner wall of the transition annular member 24 is sleeved outside the second annular member 22. Preferably, the minimum diameter of the inner wall of the transition annular member 24 is greater than the diameter of the first pipe section 6, so that the movement of the firing ball 2 is smoother when the two pipe sections are bent.

[0069] One of the first ball head 21 and the second ball head 23 is sleeved outside the other and can slide relative to each other.

[0070] Of course, the specific structures of the first universal joint 8 and the second universal joint 9 can be interchanged, which will not be elaborated here.

[0071] Embodiment IV

[0072] The difference between this embodiment and the first embodiment lies in the different structures of the first pipe section 6 and the second pipe section 7 that can be relatively bent and connected.

[0073] Referring to Figure 8 and Figure 9 , the sleeve 1 further includes an elastic tube 27, and the proximal end of the first pipe section 6 and the distal end of the second pipe section 7 are connected by the elastic tube 27. In this embodiment, the elastic tube 27 is a corrugated tube, that is, the elasticity is achieved due to the corrugated structure. To facilitate the smooth movement of the serving ball 2 in the case of head swing, the length of the elastic tube 27 is preferably less than the diameter of the serving ball 2.

[0074] The advantage of using the elastic tube 27 is that it can be bent in all directions, and thus can adapt to the "universal head swing".

[0075] Embodiment Five

[0076] The difference between this embodiment and the fourth embodiment is that on the basis that the proximal end of the first pipe section 6 and the distal end of the second pipe section 7 are connected by a corrugated tube to the elastic tube 27, the sleeve 1 further includes a bendable fixing component 28. The setting of the fixing component 28 is to make the movement of the elastic tube 27 such as the corrugated tube more stable.

[0077] Referring to Figures 10 to 12 , the fixing component 28 includes a first fixing ring 29, a second fixing ring 30 and an intermediate fixing ring 31 sleeved outside the elastic tube 27, and also includes a pin 32. The first fixing ring 29 is fixedly connected to the proximal end of the first pipe section 6, the second fixing ring 30 is fixedly connected to the distal end of the second pipe section 7, and the first fixing ring 29, the second fixing ring 30 and the intermediate fixing ring 31 are all made of hard materials, and can be integrally formed with the corresponding pipe sections. Thus, the fixing component 28 is connected between the first pipe section 6 and the second pipe section 7.

[0078] Among them, the first fixing ring 29 has two first feet 33 extending relatively at 180°, the second fixing ring 30 has two second feet 34 extending relatively at 180°, the first feet 33 and the second feet 34 are spaced 90°, a first fixing hole is provided on the first foot 33, and a second fixing hole is provided on the second foot 34. The intermediate fixing ring 31 is sleeved outside the first feet 33 and the second feet 34, and the intermediate fixing ring 31 has fixing holes corresponding to the first fixing hole and the second fixing hole, and the fixing holes on the intermediate fixing ring 31 are connected to the first fixing hole and the second fixing hole by the pin 32.

[0079] The above-mentioned bendable fixing component 28 can increase the strength of the corrugated tube, and cooperate with the fixing of the first pipe section 6 and the second pipe section 7 to ensure the axial position fixation of the entire sleeve 1.

[0080] Embodiment Six

[0081] The difference between this embodiment and Embodiment 5 lies in the different structures of the elastic tube 27 and the fixing component 28.

[0082] Referring to Figure 13 and Figure 14 In this embodiment, the elastic tube 27 is a circular tube with a constant diameter, and the elastic tube 27 realizes elasticity because it is made of an elastic material.

[0083] The fixing component 28 includes a first universal joint 8, a second universal joint 9 and a movable joint 35. The first universal joint 8 is connected to the proximal end of the first pipe section 6, and the second universal joint 9 is connected to the distal end of the second pipe section 7. The movable joint 35 includes a ball head 36, an intermediate connecting ring 37 and a ball groove 38, which are connected in sequence. The ball head 36 and the ball groove 38 of the movable joint 35 are sleeved with the first universal joint 8 and the second universal joint 9. In this embodiment, the first universal joint 8 has a spherical groove, and the ball head 36 is sleeved in the spherical groove of the first universal joint 8; the second universal joint 9 is a spherical head, and the ball groove 38 of the movable joint 35 is sleeved on the second universal joint 9. The first universal joint 8, the second universal joint 9 and the movable joint 35 are all made of hard materials.

[0084] The first universal joint 8, the second universal joint 9, the ball head 36, the intermediate connecting ring 37 and the ball groove 38 are all through, and they are connected to form a channel. The elastic tube 27 is sleeved in this channel, and both ends of the elastic tube 27 are fixedly connected to the first pipe section 6 and the second pipe section 7 respectively. The inner wall of the intermediate connecting ring 37 abuts against the outer wall of the elastic tube 27, and the inner wall of the elastic tube 27 is flush with and connected to the inner walls of the first pipe section 6 and the second pipe section 7.

[0085] In this way, the bending of the elastic tube 27 is stable, and the axial position of the sleeve 1 is stable. At the same time, the inner wall of the elastic tube 27 is smooth, which is beneficial to the smooth movement of the serving ball 2.

[0086] Of course, it may also include a plurality of movable joints 35. The plurality of movable joints 35 are arranged axially, and the ball heads 36 and ball grooves 38 of adjacent movable joints 35 are sleeved.

[0087] Embodiment 5 and Embodiment 6 illustrate the structures of two fixing components, but the present invention is not limited thereto. The bending of the fixing component is at least a left - right bending, and it can also be an up - down and left - right bending. Most preferably, it is a "universal" bending.

[0088] Embodiment 7

[0089] The difference between this embodiment and Embodiment 1 lies in, referring to Figure 15 and Figure 16, the sleeve 1 further includes a movable joint 35 which includes a ball head 36, an intermediate connecting ring 37 and a ball groove 38, and the three are connected in sequence. The ball head 36 and the ball groove 38 of the movable joint 35 are sleeved with the first universal joint 8 and the second universal joint 9. In this embodiment, the first universal joint 8 has a spherical groove, and the ball head 36 is sleeved in the spherical groove of the first universal joint 8; the second universal joint 9 is a spherical head, and the ball groove 38 of the movable joint 35 is sleeved on the second universal joint 9. The first universal joint 8, the second universal joint 9 and the movable joint 35 are all made of hard materials.

[0090] The first universal joint 8, the second universal joint 9, the ball head 36, the intermediate connecting ring 37 and the ball groove 38 are all through, and they are connected to form a channel. The inner wall of this channel is flush with and connected to the inner walls of the first pipe section 6 and the second pipe section 7.

[0091] Embodiment Eight

[0092] The difference between this embodiment and Embodiment One lies in the different structure of the reset mechanism.

[0093] Refer to Figure 17 , in this embodiment, the reset mechanism includes a reset driving member 40 which is located outside the sleeve 1 and can be a push button arranged on the housing of the surgical instrument and capable of moving in the axial direction.

[0094] The reset mechanism further includes a reset rack 41, a reset gear 42 and a reset push block 43. The reset gear 42 and the reset push block 43 are located in the first pipe section 6. The reset push block 43 abuts against the distal end of the blade 5. Both ends of the reset rack 41 are respectively connected to the reset push block 43 and the reset driving member 40. The reset gear 42 is located on the far side of the reset push block 43. The reset rack 41 can have teeth over its entire length or only a part of its distal end has teeth. The reset rack 41 meshes with the reset gear 42 and bends proximally through the reset gear 42. Most of the reset rack 41 is located outside the sleeve 1.

[0095] In this embodiment, the distal end of the first pipe section 6 is open, and the rack can enter the first sleeve 1 through this opening. Of course, in other embodiments, the distal end of the first pipe section 6 can be closed, and a hole for the rack to penetrate can be specially provided.

[0096] In the initial state:

[0097] The ball pushing member 3 is at the initial position of the ball pushing member, the blade 5 is at the initial position of the blade, the reset driving member 40 is at the initial position of the reset driving member, and the driving rod is in a state of being inserted into the ball pushing member 3 at the initial position of the ball pushing member.

[0098] When firing is required:

[0099] The rotating shaft 4 rotates in the first direction, driving the ball pushing member 3 to move distally from the initial position of the ball pushing member. Further, the ball pushing member 3 pushes the serving ball 2 to move distally. The serving ball 2 at the farthest end pushes the blade 5 to move distally, and the blade 5 pushes the reset pushing block 43 to move distally. The reset rack 41 drives the reset driving member 40 to move proximally until the reset driving member 40 moves to the termination position of the reset driving member, the blade 5 moves to the termination position of the blade, and the ball pushing member 3 moves to the termination position of the ball pushing member.

[0100] When the blade 5 needs to be reset:

[0101] The rotating shaft 4 rotates in the second direction. The ball pushing member 3 moves proximally from the termination position of the ball pushing member to the initial position of the ball pushing member, pushing the reset driving member 40 to move distally. The reset rack 41 drives the reset pushing block 43 to move proximally. The reset pushing block 43 pushes the blade 5 to move proximally. The blade 5 pushes the serving ball 2 to move proximally. The serving ball 2 pushes the ball pushing member 3 to move proximally. The ball pushing member 3 pushes the driving rod to move proximally. Until the reset driving member 40 moves to the initial position of the reset driving member, the blade 5 moves to the initial position of the blade, and the serving ball 2 remains clamped between the blade 5 and the ball pushing member 3.

[0102] Certainly, the reset mechanism of this embodiment can not only replace the reset mechanism of Embodiment 1, but also replace the reset mechanisms of Embodiments 2 to 7.

[0103] Moreover, in the embodiment where the ball pushing member 3 is connected to the driving rod, a connection mechanism can be provided between the reset driving member 40 and the ball pushing member 3 to drive the ball pushing member 3 and the reset driving member 40 in the reverse direction. That is, when the reset driving member 40 moves distally, it drives the ball pushing member 3 to move proximally. Conversely, when the ball pushing member 3 moves distally, it drives the reset driving member 40 to move proximally, thus reducing the firing and reset resistance of the serving ball 2 and the blade 5. The connection mechanism can be realized by a pulley and a rope.

[0104] Embodiment Nine

[0105] Referring to Figure 18 , on the basis of Embodiment 4, the structure of the reset mechanism in this embodiment is changed. Specifically, the reset mechanism of this embodiment includes a reset tube, a plurality of reset balls 45, and a reset ball pushing member 46. The reset tube is connected to the sleeve 1. The reset tube includes a straight tube section and a bent tube section 49 that are connected. The straight tube section is parallel to the sleeve, and the bent tube section 49 communicates with the distal end of the straight tube section and the distal end of the sleeve 1.

[0106] Among them, the straight pipe section includes a first straight pipe section 47 and a second straight pipe section 48 which are bendable and connected together. The first straight pipe section 47 is located on the far side of the second straight pipe section 48, and the connection between the first straight pipe section 47 and the second straight pipe section 48 is aligned with the connection between the first pipe section 6 and the second pipe section 7 to adapt to the swinging of the head. In this embodiment, the first straight pipe section 47 and the second straight pipe section 48 adopt a corrugated pipe 50 to adapt to the "universal" swinging of the head, but the present invention is not limited thereto. The bent connection between the first straight pipe section 47 and the second straight pipe section 48 can adopt any one of the bent connection structures of the first pipe section 6 and the second pipe section 7 in the above-mentioned Embodiments 1 to 8, or can be only a bent connection structure capable of swinging left and right, or a bent connection structure capable of swinging up, down, left and right.

[0107] In this embodiment, the reset ball pushing member 46 is movably fixed along the axial direction of the straight pipe section in the straight pipe section. The reset ball pushing member 46 is a cylinder in this embodiment, and the proximal end of the reset ball pushing member 46 has an internal thread. The reset mechanism further includes a reset rotating shaft 51. The reset rotating shaft 51 is rotatably fixed in the second straight pipe section 48 through a bearing and other supporting members (not shown). The reset rotating shaft 51 has an external thread, and the proximal end of the reset ball pushing member 46 is screwed onto the distal end of the reset rotating shaft 51. In this way, the reset ball pushing member 46 and the reset rotating shaft 51 form a lead screw nut mechanism, converting the bidirectional rotation of the reset rotating shaft 51 into the bidirectional axial movement of the reset ball pushing member 46. The reset mechanism further includes a gear 52. The gear 52 passes through the walls of the second pipe section and the second straight pipe section 48 and is connected to the rotating shaft and the reset rotating shaft 51 at the same time. In this way, the power of the rotating shaft can be transmitted to the reset rotating shaft 51, and the rotating directions of the rotating shaft and the reset rotating shaft 51 are opposite. Furthermore, the reverse linkage of the ball pushing member and the reset ball pushing member 46 can be realized, that is, when the ball pushing member moves distally, the reset ball pushing member 46 moves proximally, and vice versa. Of course, the way to realize the reverse linkage of the ball pushing member and the reset ball pushing member 46 is not limited thereto. On the basis of the ball pushing member structure in Embodiment 2, a lever and a spring can be set to realize the reverse pushing of the two ball pushing members.

[0108] In this embodiment, a plurality of reset balls 45 are sandwiched between the blade 5 and the reset ball pushing member 46 and are located in the sleeve and the reset pipe. In this way, there are balls on both the far side and the near side of the blade 5, and the moving force of the blade 5 is applied through the balls.

[0109] In this way, when the firing device is in the initial state:

[0110] The ball pushing member 3 is located at the initial position of the ball pushing member, the blade 5 is located at the initial position of the blade, and the reset ball pushing member 46 is located at the initial position of the reset ball pushing member.

[0111] When firing is required:

[0112] The rotating shaft 4 rotates in the first direction, the ball pushing member 3 moves distally from the initial position of the ball pushing member, pushing the serving ball 2 to move distally. At the same time, the reset rotating shaft 51 rotates in the second direction, and the reset ball pushing member 46 moves proximally from the initial position of the reset ball pushing member, and the serving ball 2 at the farthest end pushes the blade 5 at the initial position of the blade to move distally to the end position of the blade, completing the cutting. At this time, the position of the ball pushing member 3 is the end position of the ball pushing member. During the movement of the blade 5, the reset ball 45 is pushed to move, and the reset ball 45 at the nearest end always abuts against the reset ball pushing member 46. Finally, the reset ball pushing member 46 is located at the end position of the reset ball pushing member. The firing device is in the firing state.

[0113] When the blade 5 needs to be reset:

[0114] The rotating shaft 4 rotates in the second direction, the ball pushing member 3 moves proximally from the end position of the ball pushing member. At the same time, the reset rotating shaft 51 rotates in the first direction, and the reset ball pushing member 46 moves distally from the end position of the reset ball pushing member. The blade 5 is pushed to move from the end position of the blade towards the initial position of the blade through the reset ball 45. The blade 5 gives a thrust to the serving ball 2, causing the serving ball 2 to also move proximally. Finally, the blade 5 returns to the initial position of the blade, the ball pushing member 3 returns to the initial position of the ball pushing member, and the reset ball pushing member 46 returns to the initial position of the reset ball pushing member.

[0115] Of course, the present invention is not limited to the above embodiments, and the reset mechanism can also be cancelled, and the serving ball 2 and the blade 5 can be reset by erecting the surgical instrument.

[0116] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, combinations, and variations to the above embodiments within the scope of the present invention.

Claims

1. A firing device for a surgical instrument, characterized in that, It includes a sleeve (1), a plurality of firing balls (2), a ball pushing member (3) and a blade (5); The sleeve (1) includes a first pipe section (6) and a second pipe section (7), the first pipe section (6) and the second pipe section (7) are connected together in a relatively bendable manner, and a strip-shaped groove (11) extending along the axial direction of the sleeve (1) is provided on the pipe wall of the first pipe section (6); The blade (5) and the ball pushing member (3) are respectively movably fixed in the first pipe section (6) and the second pipe section (7) along the axial direction, and the blade (5) passes out of the strip-shaped groove (11), and the cutting edge portion (13) of the blade (5) is located outside the first pipe section (6); The plurality of firing balls (2) are arranged in the sleeve (1) along the axial direction and are sandwiched between the blade (5) and the ball pushing member (3); The first pipe section (6) and the second pipe section (7) are circular pipes with equal inner diameters, and the firing balls (2) are in contact with the inner wall of the circular pipes; The first pipe section (6) and the second pipe section (7) are made of hard materials.

2. The firing device for a surgical instrument according to claim 1, characterized in that, It further includes a reset mechanism for driving the blade (5) and the firing balls (2) to move proximally along the axial direction.

3. The firing device for a surgical instrument according to claim 2, characterized in that The reset mechanism is a pull-back member (39) located in the sleeve (1), and both ends of the pull-back member (39) are respectively connected to the ball pushing member (3) and the blade (5); The pull-back member (39) passes through the firing balls (2).

4. The firing device for a surgical instrument according to claim 2, characterized in that The reset mechanism includes a reset driving member (40), a reset rack (41), a reset gear (42) and a reset push block (43); The reset driving member (40) is located outside the sleeve (1), the reset gear (42) and the reset push block (43) are located in the first pipe section (6); The reset push block (43) abuts against the distal end of the blade (5), both ends of the reset rack (41) are respectively connected to the reset push block (43) and the reset driving member (40), the reset gear (42) is located on the distal side of the reset push block (43), and the reset rack (41) meshes with the reset gear (42) and is bent proximally through the reset gear (42).

5. The firing device for a surgical instrument according to claim 2, characterized in that The reset mechanism includes a reset pipe, a plurality of reset balls (45) and a reset ball pushing member (46); The reset pipe is connected to the sleeve (1), the reset pipe includes a straight pipe section and a bent pipe section (49) connected together, the straight pipe section is parallel to the sleeve (1), the straight pipe section includes a first straight pipe section (47) and a second straight pipe section (48) connected together in a bendable manner, and the connection part between the first straight pipe section (47) and the second straight pipe section (48) is aligned with the connection part between the first pipe section (6) and the second pipe section (7), and the bent pipe section (49) communicates the distal end of the straight pipe section and the distal end of the sleeve (1); The reset ball pushing member (46) is movably fixed in the straight pipe section along the axial direction of the straight pipe section, and the reset ball pushing member (46) is linked in reverse with the ball pushing member; The plurality of reset balls (45) are sandwiched between the blade (5) and the reset ball pushing member (46).

6. The firing device for a surgical instrument according to claim 1, wherein The proximal end of the ball pushing member (3) has a plugging structure, which can be plugged with the distal end of the drive rod of the surgical instrument, and drives the ball pushing member (3) to move bidirectionally with the drive rod when the plugging is formed.

7. The firing device for a surgical instrument according to claim 1, characterized in that, It further includes a rotating shaft; The proximal end of the ball pushing member (3) is screwed onto the distal end of the rotating shaft. The proximal end of the rotating shaft has a plugging structure, which can be connected to the distal end of the rotating member of the surgical instrument, and drives the rotating shaft to rotate bidirectionally with the rotating member when the connection is formed.

8. The firing device for a surgical instrument according to claim 1, wherein The sleeve (1) further includes a cooperating universal joint, and the proximal end of the first pipe section (6) and the distal end of the second pipe section (7) are connected through the cooperating universal joint; or The sleeve (1) further includes an elastic tube (27), and the proximal end of the first pipe section (6) and the distal end of the second pipe section (7) are connected through the elastic tube (27); or The sleeve (1) further includes an elastic tube (27) and a bendable fixing assembly (28). The fixing assembly (28) is sleeved outside the elastic tube (27), and both the elastic tube (27) and the fixing assembly (28) are connected between the first pipe section (6) and the second pipe section (7).

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