Laparoscopic stapler with automatic rotating actuator

Abstract

The present invention relates to the technical field of electric staplers, and discloses a laparoscopic stapler with an actuator that can rotate automatically, including an execution end and a loading unit, wherein the loading unit includes a driving assembly for driving the execution end. The driving gear rod is moved under the action of the driving assembly, and when the limit sleeve is moved, the driving gear rod moves backward, and the limit driving teeth on the driving gear rod drive the transmission gear on the loading tube to rotate. When the transmission gear rotates, the limit sleeve is driven to approach the execution end through the passive teeth on the inner wall of the connecting end, until the limit sleeve is sleeved on the execution end, and the execution end is fixed in a limited position; when the execution end is released from the limited position, the driving gear rod moves forward, and through the cooperation between the transmission gear and the passive teeth, the limit sleeve is moved backward until it is away from the execution end, so as to avoid the execution end of the stapler from contacting the human body due to the field of vision after entering the human body, thereby causing the execution end to deflect, or even damage to the steering structure.

Description

Technical Field

[0001] The present invention relates to the technical field of electric staplers, and in particular to a laparoscope stapler with an actuator capable of automatically rotating. Background Art

[0002] Laparoscopic anastomosis is one of the most common operations in abdominal surgery and is also the most basic surgical operation that general surgeons must master. Surgeons have been using surgical instruments to suture tissues for nearly 200 years. As one of the most successful surgical instruments, staplers have been widely used in modern surgery. All manual sutures in gastrointestinal surgery can be performed with staplers. Gastrointestinal staplers are considered to be the most important development in the field of surgical instruments in the second half of the 20th century. More and more surgeons are willing to use staplers when performing esophageal intestinal anastomosis, anal preservation for low rectal cancer, and laparoscopic surgery.

[0003] Most of the existing staplers are divided into two types: manual drive and electric drive. In order to facilitate medical staff to operate the stapler to perform surgery on patients, staplers with electric drive actuators are the first choice of medical staff. Since staplers are generally disposable medical devices, electric driven staplers are staplers that are driven by electricity. Generally, only the driving part is driven by electricity, and the transmission structure of the actuator is used to realize the functional operation of the entire stapler. When the manual stapler is used for surgery, the doctor can judge whether the internal transmission is normal when the stapler is driven by hand. However, when the electric stapler is working, it is electrically driven and cannot understand the transmission status inside the actuator. If the internal transmission fails and causes the machine to jam, the electric drive will still operate. Continuous jamming and power output will further cause transmission collapse, instrument damage, and even cause certain harm to the patient. Due to the complex internal structure of the human body, even compared with the normal human body structure, most people have the same internal structure, but abnormal internal structure caused by lesions cannot be ruled out. After the stapler execution end enters the human body, even if the execution end is in slight contact with the internal tissue of the human body, it will cause the rotating execution end to shake or even shift. The doctor also needs to further determine whether the execution end located inside the human body is in a normal state, which affects the progress of the operation. Summary of the invention

[0004] (I) Technical solution

[0005] In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a laparoscopic stapler with an automatically rotatable actuator, comprising an actuator end and a loading unit, wherein the loading unit comprises a driving assembly for driving the actuator end, wherein the actuator end and the loading unit can swing relative to each other, and a limiting sleeve is provided for sliding cooperation at the end of the loading unit; the driving assembly drives the limiting sleeve to move via a transmission mechanism; after the limiting sleeve moves to between the actuator end and the loading unit, the swing of the actuator end is limited; the driving assembly comprises a compression mechanism, wherein the compression mechanism is located between the driving assembly and the transmission mechanism, and after the compression mechanism is compressed to a trigger position, the power output of the driving assembly is terminated.

[0006] Preferably, the loading unit also includes a loading tube, a connecting tube is provided at the rear end of the loading tube, the rear end of the connecting tube is connected to the execution end, a shaping groove is provided at the rear end of the loading tube, a spherical groove is provided on the outer surface of the loading tube at the rear end of the shaping groove, a spherical protrusion is provided on the inner wall of the front end of the connecting tube, and the spherical groove and the spherical protrusion can be snap-fitted.

[0007] Preferably, a steering shaft is arranged between the loading unit and the execution end, shaft rods are arranged on both sides of the steering shaft, a steering gear is arranged on the other side of each shaft rod, the steering gear is driven by the transmission mechanism, and a flexible tube is arranged on the outside of the steering shaft.

[0008] Preferably, the driving assembly further comprises a first driving rod and a second driving rod, the first driving rod being used to drive the execution end to achieve cutting and anastomosis, and the second driving rod driving the steering shaft to steer through a transmission mechanism; the first driving rod and the second driving rod are located in the connecting tube, and a support member is provided between the first driving rod and the second driving rod and the connecting tube, and the support member can rotate relative to the connecting tube, and the tails of the first driving rod and the second driving rod are respectively connected to the compression mechanism; a driving ring is fixedly provided at the front end of the second driving rod, and a driving round rod is fixedly provided at the front end of the first driving rod, the driving ring is coaxially provided with the connecting tube, and the driving round rod is coaxially provided with the driving ring.

[0009] Preferably, the limiting sleeve includes a ferrule end and a connecting end, the ferrule end is located outside the tail of the steering shaft, the connecting end is sleeved on the end of the loading tube and is slidably connected to the loading tube, and the inner wall of the connecting end is provided with passive teeth.

[0010] Preferably, the transmission mechanism includes a transmission gear, which is located at one side of the end of the loading tube, and the transmission gear is rotatably connected to the side wall of the loading tube through a rotating rod. An opening is provided on one side of the loading tube, and one side of the transmission gear extends outside the opening and meshes with the passive teeth on the inner wall of the connecting end. A driving gear rod is provided on the other side of the transmission gear, and a limited driving tooth is provided on one side of the driving gear rod, and a steering driving tooth is provided on the other side of the driving gear rod. The driving gear rod rotates relative to the driving ring, and the driving ring drives the driving gear rod to move.

[0011] Preferably, the driving component also includes a pushing mechanism, which includes a driving motor, a connecting shaft is provided at the output end of the driving motor, a driving screw is connected to the end of the connecting shaft, a first pushing rod and a second pushing rod are respectively provided above and below the driving screw, and the front ends of the first pushing rod and the second pushing rod are respectively connected to the first driving rod and the second driving rod through the compression mechanism.

[0012] Preferably, the compression mechanism includes two groups of compression springs, one end of the compression spring is respectively connected to the first push rod and the second push rod, and the other end of the compression spring is respectively connected to the first driving rod and the second driving rod, and probes are provided on the first pushing rod and the second pushing rod. The probes adopt a contact-disconnection method. When the compression spring is compressed until the probe contacts any one of the first driving rod and the second driving rod, the driving motor stops power output.

[0013] Preferably, it also includes a driving handle, the pushing mechanism is located inside the driving handle, the upper surface of the first pushing rod is provided with teeth, the lower surface of the second pushing rod is provided with teeth, the first pushing rod and the second pushing rod are provided with push plates, and the driving handle is provided with limiting grooves, the limiting grooves are respectively provided corresponding to the push plates, and the push plates cooperate with the limiting grooves to control the first pushing rod and the second pushing rod to engage with the driving screw.

[0014] (II) Beneficial effects

[0015] Compared with the prior art, the present invention provides a laparoscopic stapler with an actuator capable of automatically rotating, which has the following beneficial effects:

[0016] 1. The actuator can automatically rotate the laparoscopic stapler, which moves under the action of the driving assembly by driving the gear rod. When the limit sleeve is moved, the driving gear rod moves backward, and the limit driving teeth on the driving gear rod drive the transmission gear on the loading tube to rotate. When the transmission gear rotates, the passive teeth on the inner wall of the connecting end drive the limit sleeve toward the execution end until the limit sleeve is sleeved on the execution end, thereby limiting and fixing the execution end. When the limit fixation of the execution end is released, the driving gear rod moves forward, and the cooperation between the transmission gear and the passive teeth causes the limit sleeve to move backward until it is away from the execution end, so as to avoid the execution end of the stapler from coming into contact with the human body due to the field of vision, thereby causing the execution end to deflect or even damage the steering structure.

[0017] 2. The actuator can automatically rotate the laparoscopic stapler, and the first driving rod and the second driving rod are relatively fixed to the connecting tube by the support member, so that when the connecting tube outside the first driving rod and the second driving rod rotates, the first driving rod and the second driving rod form a whole, and through the rotational cooperation between the support member and the connecting tube, the first driving rod and the second driving rod will not rotate along with the rotation of the connecting tube; wherein, since the driving ring and the driving round rod provided at the ends of the first driving rod and the second driving rod are coaxially rotated with the connecting tube, when the connecting tube rotates, the internal instrument of the loading tube at the front end of the connecting tube rotates along with the connecting tube, and its rotation mode rotates around the driving ring and the driving round rod; wherein it should be noted that: in actual use, the tail of the driving gear rod can be engaged with the inner wall of the driving ring at the front end of the second driving rod in a convex point engagement mode, and the tail of the driving gear rod can be arranged around the arc groove provided on the inner wall of the driving ring, so that when the entire loading tube and the connecting tube rotate, the driving gear rod and other components rotate along with the loading tube while being always connected to the driving ring.

[0018] 3. The actuator of the laparoscopic stapler can automatically rotate, and the compression spring in the compression mechanism is located between the first push rod and the first driving rod. When the first push rod moves forward, the compression spring is compressed first. When the transmission mechanism operates normally, the compression spring is compressed to a certain extent, and the first driving rod moves with the first push rod; when the transmission mechanism operates abnormally, the compression spring is compressed to a certain extent, and the first driving rod cannot move, causing the compression spring to continue to be compressed until the probe contacts the end of the first push rod, and the contact disconnection is triggered. The principle of the contact breaker is used to cut off the power to the drive motor and stop working, so as to avoid the transmission mechanism from getting stuck. Under the continuous power output, it will further cause the transmission collapse, the instrument damage, and even cause certain harm to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the explosion structure of the internal part of the loading unit of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the internal structure of the loading tube of the present invention;

[0022] Figure 4 For the present invention Figure 3 A local enlarged structural schematic diagram;

[0023] Figure 5 It is a schematic diagram of the internal structure of the loading unit of the present invention;

[0024] Figure 6 It is a schematic diagram of the planar structure of the connecting tube and the internal part of the driving handle of the present invention;

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of the inner part of the connecting tube and the driving handle of the present invention;

[0026] Figure 8 It is a schematic diagram of the structure of the driving component of the present invention;

[0027] Fig. 9 For the present invention Figure 8 Schematic diagram of the local enlarged structure at point B.

[0028] In the figure: 1, execution end; 2, loading unit; 21, loading tube; 211, shaping groove; 212, spherical groove; 213, opening; 22, connecting tube; 221, spherical bump; 3, driving assembly; 31, first driving rod; 311, driving round rod; 32, second driving rod; 321, driving ring; 33, supporting member; 34, driving motor; 35, connecting shaft; 36, driving screw rod; 37, first push rod; 3 8. Second push rod; 381. Push plate; 4. Limit sleeve; 41. Cardan end; 42. Connecting end; 43. Passive tooth; 5. Compression mechanism; 51. Compression spring; 52. Probe; 6. Steering shaft; 61. Shaft; 62. Steering gear; 63. Flexible tube; 7. Transmission gear; 71. Rotating rod; 72. Driving gear rod; 721. Limit driving tooth; 722. Steering driving tooth; 8. Driving handle; 81. Limit groove. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-9A laparoscopic stapler with an automatically rotatable actuator comprises an actuator end 1 and a loading unit 2, wherein the loading unit 2 comprises a driving assembly 3 for driving the actuator end 1, the actuator end 1 and the loading unit 2 can swing relative to each other, and a limiting sleeve 4 is provided at the end of the loading unit 2 for sliding cooperation; the driving assembly 3 drives the limiting sleeve 4 to move through a transmission mechanism; after the limiting sleeve 4 moves to between the actuator end 1 and the loading unit 2, the swing of the actuator end 1 is limited; the driving assembly 3 comprises a compression mechanism 5, which is located between the driving assembly 3 and the transmission mechanism, and after the compression mechanism 5 is compressed to a trigger position, the power output of the driving assembly 3 is terminated.

[0031] Furthermore, the loading unit 2 also includes a loading tube 21, a connecting tube 22 is provided at the tail of the loading tube 21, the tail end of the connecting tube 22 is connected to the execution end 1, a shaping groove 211 is provided at the tail end of the loading tube 21, a spherical groove 212 is provided on the outer surface of the loading tube 21 at the tail of the shaping groove 211, a spherical protrusion 221 is provided on the inner wall of the front end of the connecting tube 22, and the spherical groove 212 and the spherical protrusion 221 can be snap-fitted. By utilizing the cooperation between the loading tube 21 and the connecting tube 22, the installation between the execution end 1 and the driving end can be conveniently and quickly realized. Through the shaping groove 211 provided at the tail end of the connecting tube 22, when the tail end of the connecting tube 22 is inserted into the loading tube 21, under the action of the shaping groove 211, the tail end of the connecting tube 22 is gathered, and when inserted, it is rotated left and right so that the spherical groove 212 of the loading tube 21 enters the spherical protrusion 221 provided on the connecting tube 22, thereby realizing the snap-fit ​​cooperation between the loading tube 21 and the connecting tube 22.

[0032] Furthermore, a steering shaft 6 is arranged between the loading unit 2 and the execution end 1, and shafts 61 are respectively arranged on both sides of the steering shaft 6. A steering gear 62 is arranged on the other side of each shaft 61. The steering gear 62 is driven by a transmission mechanism. A flexible tube 63 is arranged on the outer side of the steering shaft 6. The transmission mechanism is used to drive the steering gear 62 to rotate, and then the execution end 1 can swing around the steering shaft 6 to realize the deflection of the execution end 1.

[0033] Furthermore, the driving assembly 3 also includes a first driving rod 31 and a second driving rod 32, the first driving rod 31 is used to drive the execution end 1 to achieve cutting and anastomosis, and the second driving rod 32 drives the steering shaft 6 to turn through a transmission mechanism; the first driving rod 31 and the second driving rod 32 are located in the connecting tube 22, and a support member 33 is provided between the first driving rod 31 and the second driving rod 32 and the connecting tube 22, and the support member 33 can rotate relative to the connecting tube 22, and the tails of the first driving rod 31 and the second driving rod 32 are respectively connected to the compression mechanism 5; a driving ring 321 is fixedly provided at the front end of the second driving rod 32, and a driving round rod 311 is fixedly provided at the front end of the first driving rod 31, and the driving ring 321 is coaxially arranged with the connecting tube 22, and the driving round rod 311 is coaxially arranged with the driving ring 321, and the supporting member 33 is used to rotate relative to the connecting tube 22. The support member 33 relatively fixes the first drive rod 31, the second drive rod 32 and the connecting tube 22, so that when the connecting tube 22 outside the first drive rod 31 and the second drive rod 32 rotates, the first drive rod 31 and the second drive rod 32 form a whole, and through the rotational cooperation between the support member 33 and the connecting tube 22, the first drive rod 31 and the second drive rod 32 will not rotate along with the rotation of the connecting tube 22; wherein, since the drive ring 321 and the drive round rod 311 provided at the ends of the first drive rod 31 and the second drive rod 32 are coaxially rotated with the connecting tube 22, when the connecting tube 22 rotates, the internal device of the loading tube 21 at the front end of the connecting tube 22 rotates along with the connecting tube 22, and its rotation mode rotates around the drive ring 321 and the drive round rod 311.

[0034] Furthermore, the limiting sleeve 4 includes a sleeve end 41 and a connecting end 42, the sleeve end 41 is located on the outer side of the tail of the steering shaft 6, the connecting end 42 is sleeved on the end of the loading tube 21 and is slidably connected with the loading tube 21, and a passive tooth 43 is arranged on the inner wall of the connecting end 42, and the sleeve end 41 in the limiting sleeve 4 is moved toward the execution end 1, and when it is sleeved on the execution end 1, the execution end 1 is fixed, so that the execution end 1 and the loading tube 21 are in the same plane, so as to avoid that after the stapler execution end 1 enters the human body, it contacts the human body due to the field of vision, thereby causing the execution end 1 to deflect, or even damage the steering structure; when the sleeve end 41 in the limiting sleeve 4 is away from the execution end 1, the execution end 1 is unlocked; wherein the passive tooth 43 arranged on the inner wall of the connecting end 42 is driven by the transmission mechanism, so that the limiting sleeve 4 can move between the execution end 1 and the loading tube 21.

[0035] Further, the transmission mechanism includes a transmission gear 7, which is located at one side of the end of the loading tube 21, and the transmission gear 7 is rotatably connected to the side wall of the loading tube 21 through a rotating rod 71. An opening 213 is provided on one side of the loading tube 21, and one side of the transmission gear 7 extends outside the opening 213 and meshes with the passive teeth 43 on the inner wall of the connecting end 42. A driving gear rod 72 is provided on the other side of the transmission gear 7, and a limited driving tooth 721 is provided on one side of the driving gear rod 72, and a steering driving tooth 722 is provided on the other side of the driving gear rod 72. The driving gear rod 72 rotates relative to the driving ring 321, and the driving ring 321 drives the driving gear rod 72 to move. The driving gear rod 72 is moved under the action of the driving assembly 3. When the limiting sleeve 4 is moved, the driving gear rod 72 moves backward, and the loading tube 21 is driven by the limited driving tooth 721 on the driving gear rod 72. The transmission gear 7 on the drive gear 7 rotates, and when the transmission gear 7 rotates, the passive tooth 43 on the inner wall of the connecting end 42 drives the limiting sleeve 4 to approach the executing end 1 until the limiting sleeve 4 is sleeved on the executing end 1, and the executing end 1 is limited and fixed; when the limiting fixation of the executing end 1 is released, the driving gear rod 72 moves forward, and through the cooperation between the transmission gear 7 and the passive tooth 43, the limiting sleeve 4 moves backward until it is away from the executing end 1; in actual use, the tail of the driving gear rod 72 can be engaged with the inner wall of the driving ring 321 at the front end of the second driving rod 32 in a convex point engagement manner, and the tail of the driving gear rod 72 can be an arc groove set around the inner wall of the driving ring 321, so that when the entire loading tube 21 and the connecting tube 22 rotate, the driving gear rod 72 and other components follow the rotation of the loading tube 21 and are always connected to the driving ring 321.

[0036] Furthermore, the driving component 3 also includes a pushing mechanism, which includes a driving motor 34, a connecting shaft 35 is provided at the output end of the driving motor 34, a driving screw 36 is connected to the end of the connecting shaft 35, and a first pushing rod 37 and a second pushing rod 38 are respectively provided above and below the driving screw 36. The front ends of the first pushing rod 37 and the second pushing rod 38 are respectively connected to the first driving rod 31 and the second driving rod 32 through the compression mechanism 5. When the first pushing rod 37 and the second pushing rod 38 are separately cooperated with the driving screw 36, they serve as the driving source of the first driving rod 31 and the second driving rod 32 respectively. When driving, the connecting shaft 35 is driven to rotate by the driving motor 34, and then the driving screw 36 at the end of the connecting shaft 35 is rotated, and cooperates with the first pushing rod 37 or the second pushing rod 38 to realize driving. When driving, the compression mechanism 5 is used to determine whether the transmission mechanism can operate normally.

[0037] Furthermore, the compression mechanism 5 includes two groups of compression springs 51, one end of the compression spring 51 is connected to the first push rod 37 and the second push rod 38 respectively, and the other end of the compression spring 51 is connected to the first drive rod 31 and the second drive rod 32 respectively. The first push rod 37 and the second push rod 38 are provided with probes 52, and the probes 52 adopt a contact-disconnection mode. When the compression spring 51 is compressed until the probe 52 contacts any one of the first drive rod 31 and the second drive rod 32, the drive motor 34 stops power output, and the compression spring 51 in the compression mechanism 5 is located between the first push rod 37 and the first drive rod 32. Between the driving rods 31, when the first push rod 37 moves forward, the compression spring 51 is first compressed. When the transmission mechanism operates normally, after the compression spring 51 is compressed to a certain extent, the first driving rod 31 moves with the first pushing rod 37; when the transmission mechanism operates abnormally, after the compression spring 51 is compressed to a certain extent, the first driving rod 31 cannot move, causing the compression spring 51 to continue to be compressed until the probe 52 contacts the end of the first pushing rod 37, and the contact disconnection is triggered, causing the driving motor 34 to stop working; the contact breaker method can be implemented using the principle of a contact breaker.

[0038] Furthermore, it also includes a driving handle 8, the pushing mechanism is located in the driving handle 8, the upper surface of the first pushing rod 37 is provided with teeth, the lower surface of the second pushing rod 38 is provided with teeth, the first pushing rod 37 and the second pushing rod 38 are provided with push plates 381, and a limiting groove 81 is provided on the driving handle 8, and the limiting grooves 81 are respectively corresponding to the push plates 381. The push plates 381 cooperate with the limiting grooves 81 to control the first pushing rod 37 and the second pushing rod 38 to engage with the driving screw 36, and the driving action is completed by using the teeth on the first pushing rod 37 and the second pushing rod 38 to cooperate with the driving screw 36 separately, wherein the first pushing rod 37 and the second pushing rod 38 are respectively provided with teeth on the first pushing rod 37 and the second pushing rod 38. The push plate 381 arranged at the tail of the second push rod 38 can realize the engagement of the first push rod 37 and the second push rod 38 with the driving screw 36 respectively under the action of the limiting groove 81. When the push plate 381 stands up in the limiting groove 81, the push plate 381 pushes the first push rod 37 or the second push rod 38 and approaches the driving screw 36, so that the first push rod 37 or the second push rod 38 contacts the driving screw 36; when the push plate 381 lies flat in the limiting groove 81, the push plate 381 drives the first push rod 37 or the second push rod 38 and moves away from the driving screw 36, so that the first push rod 37 or the second push rod 38 is separated from the driving screw 36.

[0039] Working principle: When in use, first install the execution end 1 and the connecting tube 22, and the loading tube 21 and the connecting tube 22 cooperate with each other, so that the execution end 1 and the driving end can be installed conveniently and quickly. Through the shaping groove 211 set at the tail end of the connecting tube 22, when the tail end of the connecting tube 22 is inserted into the loading tube 21, under the action of the shaping groove 211, the tail end of the connecting tube 22 is gathered together, and when inserted, the spherical groove 212 of the loading tube 21 is rotated left and right, so that the spherical groove 212 of the loading tube 21 enters the spherical protrusion 221 set on the connecting tube 22, so as to realize the snap-fit ​​between the loading tube 21 and the connecting tube 22;

[0040] Then, during the process of the execution end 1 entering the human body, in order to ensure that the execution end 1 does not touch and bend after entering the human body, the sleeve end 41 in the limiting sleeve 4 moves toward the execution end 1, and when it is sleeved on the execution end 1, the execution end 1 is fixed, so that the execution end 1 and the loading tube 21 are in the same plane, so as to avoid the execution end 1 of the stapler from contacting the human body due to the field of vision after entering the human body, thereby preventing the execution end 1 from deflecting or even damaging the steering structure; when the sleeve end 41 in the limiting sleeve 4 is away from the execution end 1, the execution end 1 is unlocked; wherein the passive teeth 43 arranged on the inner wall of the connecting end 42 are driven by the transmission mechanism to realize the limiting sleeve 4 at the execution end 1 and the loading tube 21; wherein, the driving gear rod 72 moves under the action of the driving assembly 3, and when the limiting sleeve 4 is moved, the driving gear rod 72 moves backward, and the transmission gear 7 on the loading tube 21 is driven to rotate through the limiting driving teeth 721 on the driving gear rod 72, and when the transmission gear 7 rotates, the limiting sleeve 4 is driven to approach the execution end 1 through the passive teeth 43 on the inner wall of the connecting end 42, until the limiting sleeve 4 is sleeved on the execution end 1, and the execution end 1 is fixed in a limited position; when the limiting fixation of the execution end 1 is released, the driving gear rod 72 moves forward, and through the cooperation between the transmission gear 7 and the passive teeth 43, the limiting sleeve 4 is moved backward until it is away from the execution end 1;

[0041] When the driving assembly 3 is in operation, the support member 33 relatively fixes the first driving rod 31 and the second driving rod 32 and the connecting tube 22, so that when the connecting tube 22 outside the first driving rod 31 and the second driving rod 32 rotates, the first driving rod 31 and the second driving rod 32 form a whole, and through the rotational cooperation between the support member 33 and the connecting tube 22, the first driving rod 31 and the second driving rod 32 will not rotate with the rotation of the connecting tube 22; wherein, since the driving ring 321 and the driving round rod 311 provided at the ends of the first driving rod 31 and the second driving rod 32 rotate coaxially with the connecting tube 22, When the connecting tube 22 rotates, the internal device of the loading tube 21 at the front end of the connecting tube 22 rotates along with the connecting tube 22, and the rotation mode thereof rotates around the driving ring 321 and the driving round rod 311. It should be noted that: in actual use, the tail of the driving gear rod 72 can be engaged with the inner wall of the driving ring 321 at the front end of the second driving rod 32 in a convex point engagement mode, and the tail of the driving gear rod 72 can be arranged around the arc groove provided on the inner wall of the driving ring 321, so that when the entire loading tube 21 and the connecting tube 22 rotate, the driving gear rod 72 and other components rotate along with the loading tube 21, and are always connected to the driving ring 321.

[0042] When the driving assembly 3 is driven, the first push rod 37 and the second push rod 38 cooperate with the driving screw rod 36 separately, and serve as the driving source of the first driving rod 31 and the second driving rod 32 respectively. When driving, the connecting shaft 35 is driven to rotate by the driving motor 34, and then the driving screw rod 36 at the end of the connecting shaft 35 is rotated, and cooperates with the first push rod 37 or the second push rod 38 to realize driving;

[0043] Before the drive assembly 3 drives the stapler to work, the compression spring 51 in the compression mechanism 5 is located between the first push rod 37 and the first drive rod 31. When the first push rod 37 moves forward, the compression spring 51 is first compressed. When the transmission mechanism operates normally, the compression spring 51 is compressed to a certain extent, and the first drive rod 31 moves with the first push rod 37; when the transmission mechanism operates abnormally, the compression spring 51 is compressed to a certain extent, and the first drive rod 31 cannot move, causing the compression spring 51 to continue to be compressed until the probe 52 contacts the end of the first push rod 37, and the contact disconnection is triggered, so that the drive motor 34 stops working; wherein the contact disconnector method can be implemented using the principle of a contact disconnector;

[0044] When the first and second drive rods 31 and 32 are in the process of driving and switching between the first and second drive rods 31 and 32, the teeth on the first push rod 37 and the second push rod 38 respectively cooperate with the driving screw 36 to complete the driving action, wherein the push plate 381 arranged at the tail of the first and second push rods 37 and 38 can realize the engagement of the first and second push rods 37 and 38 with the driving screw 36 respectively under the action of the limiting groove 81; wherein, when the push plate 381 lies flat in the limiting groove 81, the push plate 381 drives the first push rod 37 or the second push rod 38 and moves away from the driving screw 36, so that the first push rod 37 or the second push rod 38 is separated from the driving screw 36; when the push plate 381 stands up in the limiting groove 81, the push plate 381 pushes the first push rod 37 or the second push rod 38 and approaches the driving screw 36, so that the first push rod 37 or the second push rod 38 contacts with the driving screw 36, and the driving action can be realized.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laparoscopic stapler with an actuator capable of automatically rotating, comprising an actuator end (1) and a loading unit (2), wherein the loading unit (2) comprises a driving assembly (3) for driving the actuator end (1), characterized in that: The execution end (1) and the loading unit (2) are capable of swinging relative to each other, and a limit sleeve (4) is provided at the end of the loading unit (2) in a sliding manner; the driving component (3) drives the limit sleeve (4) to move via a transmission mechanism; after the limit sleeve (4) moves to between the execution end (1) and the loading unit (2), the swinging of the execution end (1) is limited; the driving component (3) comprises a compression mechanism (5), and the compression mechanism (5) is located between the driving component (3) and the transmission mechanism; after the compression mechanism (5) is compressed to a trigger position, the power output of the driving component (3) is stopped; A steering shaft (6) is provided between the loading unit (2) and the execution end (1), and the driving assembly (3) further comprises a first driving rod (31) and a second driving rod (32), wherein the first driving rod (31) is used to drive the execution end (1) to achieve cutting and anastomosis, and the second driving rod (32) drives the steering shaft (6) to turn through a transmission mechanism; The driving assembly (3) further comprises a pushing mechanism, wherein the pushing mechanism comprises a driving motor (34), wherein a connecting shaft (35) is provided at an output end of the driving motor (34), wherein an end of the connecting shaft (35) is connected to a driving screw rod (36), wherein a first pushing rod (37) and a second pushing rod (38) are respectively provided above and below the driving screw rod (36), wherein front ends of the first pushing rod (37) and the second pushing rod (38) are respectively connected to the first driving rod (31) and the second driving rod (32) through the compression mechanism (5); The compression mechanism (5) comprises two groups of compression springs (51), one end of each compression spring (51) is connected to the first push rod (37) and the second push rod (38), respectively, and the other end of each compression spring (51) is connected to the first drive rod (31) and the second drive rod (32), respectively. The first push rod (37) and the second push rod (38) are provided with probes (52), and the probes (52) are in a contact-disconnection mode. When the compression spring (51) is compressed until the probes (52) contact any one of the first drive rod (31) and the second drive rod (32), the drive motor (34) stops outputting power.

2. The laparoscopic stapler with an actuator capable of automatically rotating according to claim 1, characterized in that: The loading unit (2) further comprises a loading tube (21), a connecting tube (22) being arranged at the rear of the loading tube (21), the rear end of the connecting tube (22) being connected to the execution end (1), a shaping groove (211) being arranged at the rear end of the loading tube (21), a spherical groove (212) being arranged on the outer surface of the loading tube (21) at the rear of the shaping groove (211), a spherical protrusion (221) being arranged on the inner wall of the front end of the connecting tube (22), and the spherical groove (212) and the spherical protrusion (221) being capable of being snap-fitted.

3. The laparoscopic stapler with an actuator capable of automatically rotating according to claim 2, characterized in that: Axle rods (61) are respectively arranged on both sides of the interior of the steering shaft (6), a steering gear (62) is arranged on the other side of each of the axle rods (61), the steering gear (62) is driven by the transmission mechanism, and a flexible tube (63) is arranged on the outside of the steering shaft (6).

4. The laparoscopic stapler with an actuator capable of automatically rotating according to claim 3, characterized in that: The first driving rod (31) and the second driving rod (32) are located in the connecting tube (22); a support member (33) is provided between the first driving rod (31), the second driving rod (32) and the connecting tube (22); the support member (33) is rotatable relative to the connecting tube (22); the tails of the first driving rod (31) and the second driving rod (32) are respectively connected to the compression mechanism (5); a driving ring (321) is fixedly provided at the front end of the second driving rod (32); a driving round rod (311) is fixedly provided at the front end of the first driving rod (31); the driving ring (321) is coaxially provided with the connecting tube (22); and the driving round rod (311) is coaxially provided with the driving ring (321).

5. The laparoscopic stapler with an actuator capable of automatically rotating according to claim 4, characterized in that: The limiting sleeve (4) comprises a sleeve end (41) and a connecting end (42), wherein the sleeve end (41) is located outside the rear end of the steering shaft (6), and the connecting end (42) is sleeved on the end of the loading tube (21) and is slidably connected to the loading tube (21), and the inner wall of the connecting end (42) is provided with passive teeth (43).

6. The laparoscopic stapler with an actuator capable of automatically rotating according to claim 5, characterized in that: The transmission mechanism comprises a transmission gear (7), the transmission gear (7) being located at one side of the end of the loading tube (21), the transmission gear (7) being rotatably connected to the side wall of the loading tube (21) via a rotating rod (71), one side of the loading tube (21) being provided with an opening (213), one side of the transmission gear (7) extending outside the opening (213) and meshing with the passive teeth (43) on the inner wall of the connecting end (42), the other side of the transmission gear (7) being provided with a driving gear rod (72), one side of the driving gear rod (72) being provided with a limited driving tooth (721), the other side of the driving gear rod (72) being provided with a steering driving tooth (722), the driving gear rod (72) being rotated relative to the driving ring (321), and the driving ring (321) driving the driving gear rod (72) to move.

7. The laparoscopic stapler with an actuator capable of automatically rotating according to claim 1, characterized in that: It also includes a driving handle (8), the pushing mechanism is located inside the driving handle (8), the upper surface of the first pushing rod (37) is provided with teeth, the lower surface of the second pushing rod (38) is provided with teeth, the first pushing rod (37) and the second pushing rod (38) are provided with push plates (381), and the driving handle (8) is provided with limiting grooves (81), the limiting grooves (81) are respectively provided corresponding to the push plates (381), and the push plates (381) cooperate with the limiting grooves (81) to control the first pushing rod (37) and the second pushing rod (38) to engage with the driving screw rod (36).

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