Push-pull drive structure and surgical instruments

Abstract

This application relates to a push-pull drive structure. The instrument base has a circulating guide rail and a force transmission guide rail. The transmission chain includes multiple transmission units connected end-to-end. The transmission chain is movably mounted on the instrument base along the circulating guide rail. Force transmission rods are movably mounted on the instrument base along the force transmission guide rail. The transmission chain and force transmission rods are drivenly connected. A drive wheel is drivenly mounted on the transmission chain. The drive wheel can drive each connected transmission unit to move, thus driving the entire transmission chain along the circulating guide rail. The method of the drive wheel driving each transmission unit ensures high transmission stiffness, improving transmission stability compared to wire control. The relative angles between the multiple transmission units of the transmission chain can change. Compared to rack and pinion control, it is easier to store. Therefore, the assembly of the transmission chain on the instrument base can greatly reduce the overall structural size, facilitating the lightweighting of surgical instruments.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to push-pull drive structures and surgical instruments. Background Technology

[0002] In recent years, with the application and development of robotics-related technologies, the role of medical surgical robots in clinical practice has received increasing attention. Among them, minimally invasive surgical robot systems can reduce the physical labor of surgeons during operations through interventional treatment, achieving precise surgery and resulting in less trauma, less blood loss, fewer postoperative infections, and faster postoperative recovery for patients. Minimally invasive surgical robot systems typically employ various surgical instruments with different functions to perform specific surgical procedures; therefore, the quality of the surgical instrument design directly determines the success or failure of the minimally invasive surgical robot operation.

[0003] As a commonly used surgical instrument, the stapler requires pushing and pulling motions to control the advance and retreat of the scalpel during surgical procedures. Existing staplers employ various methods to implement these pushing and pulling controls. For example, wire control can be used, but this method cannot achieve high transmission rigidity. Another example is rack and pinion control, but this method cannot achieve proper rack retraction, and the overall size of the stapler becomes too large for long-stroke linear movements, which is detrimental to the lightweight design of surgical instruments. Summary of the Invention

[0004] Therefore, it is necessary to provide a push-pull drive structure and surgical instrument to address the aforementioned technical problem of the inability to balance excessive transmission stiffness and size.

[0005] A push-pull drive structure, the push-pull drive structure comprising:

[0006] The instrument base has a circulating guide rail and a force transmission guide rail;

[0007] A transmission chain, comprising multiple transmission unit bodies connected end to end, is movably mounted on the instrument base along the circulating guide track;

[0008] A force transmission rod is movably mounted on the instrument base along the force transmission guide track. The transmission chain is driven to connect with the force transmission rod and is used to drive the force transmission rod to reciprocate along the force transmission guide track.

[0009] A drive wheel is provided, which is driven to the transmission chain to drive the transmission chain to reciprocate along the cyclic guide track.

[0010] In one embodiment, an annular drive groove is formed on the drive wheel body, the annular drive groove including a plurality of drive unit grooves, the plurality of drive unit grooves rotating around the central axis of the drive wheel body, the drive unit grooves of the drive wheel body drivingly engaging with the transmission unit body of the transmission chain, so that the drive wheel body and the transmission chain are driven to reciprocate along the cyclic guide track; and / or, a helical drive groove is formed on the drive wheel body, the helical drive groove rotating around the central axis of the drive wheel body, the helical drive groove of the drive wheel body drivingly engaging with the transmission unit body of the transmission chain, so that the drive wheel body and the transmission chain are driven to reciprocate along the cyclic guide track.

[0011] In one embodiment, the push-pull drive structure includes:

[0012] A sliding shuttle is provided, wherein the transmission chain is driven to the force transmission rod via the sliding shuttle, and the force transmission rod is slidably assembled with the force transmission guide rail via the sliding shuttle.

[0013] In one embodiment, the sliding shuttle is disposed on the transmission chain, the sliding shuttle has a first shaft, the sliding shuttle is assembled and connected to the force transmission rod through the first shaft, and the sliding shuttle is slidably assembled to the force transmission guide rail through the first shaft; and / or,

[0014] The force transmission guide rail is a straight slot formed within the circulating guide rail.

[0015] In one embodiment, the transmission chain is a closed-loop chain, and the sliding shuttle is located between two of the transmission unit bodies of the transmission chain;

[0016] Alternatively, the transmission chain is a non-closed-loop chain, the sliding shuttle is located at one end of the transmission chain, and a pressure head component is provided at the other end of the transmission chain.

[0017] In one embodiment, at least a portion of the drive chain is constructed as an elastic segment; the portion of the drive chain is provided with an elastic member, the elastic member constituting the elastic segment of the drive chain.

[0018] In one embodiment, the transmission unit body has a traction through hole, and a traction wire is threaded through the traction through hole of multiple transmission units body, so that multiple transmission units body are connected end to end by the traction wire.

[0019] or,

[0020] The transmission unit includes a ball head and a rotating shaft connected to each other. The ball head has a rotating shaft hole, and the rotating shafts of adjacent transmission units are rotatably connected to the rotating shaft hole of the ball head, so that multiple transmission units are rotatably connected end to end. A shim is provided between adjacent transmission units. A guide is provided on the rotating shaft, and the transmission unit is slidably guided and assembled with the circulating guide rail through the guide. An clearance groove is provided on the ball head, which connects to the side of the rotating shaft hole, and the opening distance of the clearance groove is less than the diameter distance of the rotating shaft hole. A limiting groove is provided on the ball head, and the opening direction of the limiting groove is perpendicular to the axial direction of the rotating shaft hole.

[0021] In one embodiment, the device base includes:

[0022] A rod base, on which the main track section of the circulating guide track and the force transmission guide track are provided;

[0023] A guide base is connected to the rod base. A supplementary track section for the circulating guide track is formed on the guide base. The main track section and the supplementary track section constitute the complete circulating guide track. The drive wheel is rotatably mounted on the guide base. The guide base includes a first guide component, a second guide component, and a third guide component. The first guide component is located between the second guide component and the third guide component. The supplementary track section for the circulating guide track is formed between the first guide component and the second guide component, and between the first guide component and the third guide component.

[0024] A locking component is provided, wherein the first guide component, the second guide component, and the third guide component are locked relative to each other by the locking component, and the locking component has a drive assembly chamber, which is connected to the supplementary track section of the circulating guide track, and the drive wheel is rotatably assembled in the drive assembly chamber of the locking component.

[0025] In one embodiment, the push-pull drive structure includes:

[0026] A pusher rod, wherein the force transmission rod is drivenly connected to the pusher rod and is used to drive the pusher rod to reciprocate;

[0027] The adapter includes an adapter base and a rotating joint. The force transmission rod is connected to the adapter base, and the rotating joint is connected to the pusher rod. The adapter base has an adapter cavity, and the rotating joint is rotatably assembled in the adapter cavity of the adapter base, so that the pusher rod can rotate relative to the force transmission rod along its own central axis.

[0028] In one embodiment, the adapter is externally fitted with a protective sleeve; and / or,

[0029] The adapter base has a ball bearing installed in its inner cavity, and the rotary joint is rotatably assembled within the inner cavity of the adapter base via the ball bearing; and / or,

[0030] The adapter base includes a base body and a base cover, the base cover being mounted relative to the base body; and / or...

[0031] The instrument base has a pusher guide rail, and the adapter base has a second shaft. The adapter base is assembled and connected to the force transmission rod through the second shaft, and the adapter base is slidably assembled with the pusher guide rail through the second shaft.

[0032] A surgical instrument, the surgical instrument comprising:

[0033] The push-pull drive structure;

[0034] An instrument drive box is mounted on the instrument base of the push-pull drive structure and is drivenly connected to the drive wheel.

[0035] A clamp head assembly, on which a staple cartridge assembly is provided, and a push-pull drive structure is controlled to connect the clamp head assembly and the staple cartridge assembly.

[0036] In the aforementioned push-pull drive structure and surgical instruments, the transmission chain comprises multiple interconnected transmission units. These transmission units can be, for example, beaded or block structures. After the drive wheel is assembled with the transmission chain, the drive wheel can propel each connected transmission unit, thereby driving the entire transmission chain along a cyclic guide track. During the driving process, the way the drive wheel propels each transmission unit ensures high transmission stiffness, significantly improving transmission stability compared to wire control. Furthermore, the relative angles between the multiple transmission units of the transmission chain can change, making it easier to store compared to rack and pinion control. Therefore, the assembly of the transmission chain on the instrument base can be rationally structured, greatly reducing the overall structural size and facilitating lightweight design of the surgical instruments. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a push-pull drive structure provided in one embodiment of this application.

[0038] Figure 2 This is a schematic diagram of the assembly structure of the push-pull drive structure, the instrument drive box, and the clamp head assembly provided in one embodiment of this application.

[0039] Figure 3 This is a schematic diagram of the internal structure of the instrument drive box provided in one embodiment of this application.

[0040] Figure 4 This is a schematic diagram of the internal structure of a push-pull drive structure provided in one embodiment of this application.

[0041] Figure 5 This is an exploded structural diagram of a push-pull drive structure provided in one embodiment of this application.

[0042] Figure 6 This is a schematic diagram of the structure of the drive wheel provided in another embodiment of this application.

[0043] Figure 7 This is an exploded structural diagram of a drive wheel body provided in one embodiment of this application.

[0044] Figure 8 This is a schematic diagram of the assembly structure of the transmission chain, force transmission rod, and pusher rod provided in one embodiment of this application.

[0045] Figure 9 This is a schematic diagram of the assembly structure of the sliding shuttle provided in one embodiment of this application.

[0046] Figure 10 This is a schematic diagram of the assembly structure of the instrument base, transmission chain, and pusher rod provided in one embodiment of this application.

[0047] Figure 11 This is a schematic diagram of the structure of a non-closed-loop transmission chain provided in one embodiment of this application.

[0048] Figure 12 This is a schematic diagram of a non-closed-loop transmission chain with elastic sections provided in one embodiment of this application.

[0049] Figure 13 This is a schematic diagram of the assembly structure of a transmission chain provided in another embodiment of this application.

[0050] Figure 14 This is a schematic diagram of the cross-sectional structure of a transmission chain provided in another embodiment of this application.

[0051] Figure 15 This is a schematic diagram of the cross-sectional structure of a transmission chain with an elastic section provided in another embodiment of this application.

[0052] Figure 16 This is a schematic diagram of the transmission chain provided in another embodiment of this application.

[0053] Figure 17This is a schematic diagram of the assembly structure of the transmission chain provided in another embodiment of this application.

[0054] Figure 18 This is a schematic cross-sectional view of the transmission unit of the transmission chain provided in another embodiment of this application.

[0055] Figure 19 This is a schematic diagram of the planar structure of the transmission unit of the transmission chain provided in another embodiment of this application.

[0056] Figure 20 This is a schematic diagram showing the dimensions of the transmission unit of the transmission chain provided in another embodiment of this application.

[0057] Figure 21 This is an exploded structural diagram of the transmission unit of the transmission chain provided in another embodiment of this application.

[0058] Figure 22 This is a schematic diagram of the structure of a surgical instrument provided in one embodiment of this application.

[0059] Figure 23 This is a schematic diagram of the open state structure of the clamping head assembly provided in one embodiment of this application.

[0060] Figure 24 This is a schematic diagram of the closed state structure of the clamping head assembly provided in one embodiment of this application.

[0061] Figure 25 This is a schematic diagram of the operating state structure of the clamping head assembly provided in one embodiment of this application. Detailed Implementation

[0062] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0063] See Figures 1 to 5As shown in one embodiment of this application, a push-pull drive structure 1000 is provided. The push-pull drive structure 1000 includes a device base 1100, a transmission chain 1200, a force transmission rod 1300, and a drive wheel 1400. The device base 1100 has a circulating guide rail 1100a and a force transmission guide rail 1100b. The transmission chain 1200 includes a plurality of transmission unit bodies 1210 connected end to end. The transmission chain 1200 moves along the circulating guide rail 1100a. 0a is movably mounted on the instrument base 1100. The force transmission rod 1300 is movably mounted on the instrument base 1100 along the force transmission guide rail 1100b. The transmission chain 1200 is driven to connect with the force transmission rod 1300 and is used to drive the force transmission rod 1300 to reciprocate along the force transmission guide rail 1100b. The drive wheel 1400 is driven to connect with the transmission chain 1200 and is used to drive the transmission chain 1200 to reciprocate along the circulating guide rail 1100a.

[0064] The instrument base 1100 serves as the assembly foundation for the transmission chain 1200, the force transmission rod 1300, and the drive wheel 1400. The instrument base 1100 is equipped with an assembly structure that enables the transmission chain 1200, the force transmission rod 1300, and the drive wheel 1400 to be properly assembled and operate stably. For example, the circulating guide rail 1100a on the instrument base 1100 serves as the motion trajectory of the transmission chain 1200, and the force transmission guide rail 1100b serves as the motion trajectory of the force transmission rod 1300, so that the transmission chain 1200 and the force transmission rod 1300 can be stably assembled on the instrument base 1100 and operate on the instrument base 1100 in the expected manner.

[0065] The circulating guide rail 1100a and the force transmission guide rail 1100b on the instrument base 1100 can be constructed in various forms, see reference. Figure 1As shown, the circulating guide rail 1100a and the force transmission guide rail 1100b can be constructed inside the instrument base 1100, that is, a cavity-shaped rail is constructed inside the mechanical base for the transmission chain 1200 and the force transmission rod 1300 to be assembled inside the instrument base 1100. At this time, the instrument base 1100 can be constructed by assembling two or more unit bases. When a portion of the circulating guide rail 1100a and the force transmission guide rail 1100b are constructed on each of the two or more unit bases, once the two or more unit bases are assembled into the whole of the instrument base 1100, the transmission chain 1200 and the force transmission rod 1300 can be assembled inside the instrument base 1100. In addition, the circulating guide rail 1100a and the force transmission guide rail 1100b can also be constructed on the outside of the instrument base 1100, as long as the stable assembly and smooth operation of the transmission chain 1200 and the force transmission rod 1300 on the instrument base 1100 can be achieved. Those skilled in the art can choose a suitable method to assemble the transmission chain 1200 and the force transmission rod 1300 on the instrument base 1100, which is not limited here. Moreover, the circulating guide rail 1100a and the force transmission guide rail 1100b on the instrument base 1100 can be in the form of raised rails, grooved rails, or through-hole rails provided on the instrument base 1100, which is not limited here.

[0066] See Figure 2 and Figure 3 As shown, the driving force for the transmission chain 1200 and the force transmission rod 1300 on the instrument base 1100 is provided by the drive wheel 1400. That is, the rotation of the drive wheel 1400 drives the transmission chain 1200 to move along the circulating guide track 1100a. The transmission chain 1200, moving stably as expected, drives the force transmission rod 1300 to move along the force transmission guide track 1100b. As the transmission chain 1200 rotates clockwise or counterclockwise, it drives the force transmission rod 1300 to move towards... Figure 2 The movement is either distal or proximal, as shown in the diagram. The drive wheel 1400 is powered by a mechanical power box, which provides sufficient driving power to the transmission chain 1200 and the force transmission rod 1300. The force transmission guide rail 1100b is typically a linear track; therefore, the reciprocating motion of the force transmission rod 1300 is also a linear reciprocating motion, ultimately pushing and pulling the pusher rod 1500. Pushing refers to movement distally, and pulling refers to movement proximally. Alternatively, those skilled in the art can construct the force transmission guide rail 1100b of the force transmission rod 1300 as a non-linear track, such as an arc track, to achieve different pushing and pulling methods; this is not limited here.

[0067] It should be noted that the push-pull drive structure 1000 mainly utilizes the drive wheel 1400 to drive the transmission chain 1200, thereby driving the force transmission rod 1300. The transmission chain 1200 includes multiple transmission unit bodies 1210 connected end to end. The transmission unit bodies 1210 can adopt, for example, a ball structure or a block structure. After the drive wheel 1400 and the transmission chain 1200 are assembled, the drive wheel 1400 can drive each connected transmission unit body 1210 to move, thereby driving the entire transmission chain 1200 to move along the circulating guide track 1100a. During the driving process, the way the drive wheel 1400 drives each transmission unit body 1210 can ensure a large transmission stiffness, which undoubtedly improves the stability of the transmission compared to the wire control method. Meanwhile, the relative angles between the multiple transmission units 1210 of the transmission chain 1200 can change, which is obviously easier to store compared to the rack and pinion control method. Therefore, the assembly of the transmission chain 1200 on the instrument base 1100 can be reasonably constructed, greatly reducing the overall structural size and facilitating the lightweight design of surgical instruments. Moreover, when multiple transmission units 1210 are connected end to end to form a chain, each transmission unit 1210 in the transmission chain 1200 has a fixed spacing. With the help of the fixed spacing between adjacent transmission units 1210, the transmission chain 1200 can move precisely and stably in the circulating guide track 1100a with each fixed spacing as the motion standard. When the movement of the transmission chain 1200 becomes more precise and stable, the transmission chain 1200 can precisely and stably drive the force transmission rod 1300 to move along the force transmission guide track 1100b. A shim can be provided between adjacent transmission unit bodies 1210. The shim can improve the stress conditions of the transmission unit body 1210, thereby enabling it to bear a larger load.

[0068] Continue reading Figure 4 and Figure 5 As shown, in one embodiment, the instrument base 1100 includes a rod base 1110 and a guide base 1120. The rod base 1110 has a main track section 1100a1 of the circulating guide track 1100a and a force transmission guide track 1100b. The guide base 1120 is connected to the rod base 1110. The guide base 1120 has a supplementary track section 1100a2 of the circulating guide track 1100a. The main track section 1100a1 and the supplementary track section 1100a2 constitute a complete circulating guide track 1100a. The drive wheel 1400 is rotatably mounted on the guide base 1120.

[0069] In one embodiment, the guide base 1120 includes a first guide component 1120a, a second guide component 1120b, and a third guide component 1120c. The first guide component 1120a, the second guide component 1120b, and the third guide component 1120c can be constructed into different structural shapes according to assembly requirements, which are not limited here. The first guide component 1120a is located between the second guide component 1120b and the third guide component 1120c. A supplementary track section 1100a2 of the circulating guide track 1100a is jointly formed between the first guide component 1120a and the second guide component 1120b, and between the first guide component 1120a and the third guide component 1120c. (See also...) Figure 5 As shown, the opposing surfaces of the first guide component 1120a and the second guide component 1120b are constructed with corresponding groove structures. At the same time, the opposing surfaces of the first guide component 1120a and the third guide component 1120c are also constructed with corresponding groove structures. When the first guide component 1120a, the second guide component 1120b and the third guide component 1120c are assembled together, the corresponding groove structures can be assembled to form the supplementary track section 1100a2.

[0070] In one embodiment, the guide base 1120 includes a locking component 1120d. The first guide component 1120a, the second guide component 1120b, and the third guide component 1120c are locked relative to each other by the locking component 1120d. The locking component 1120d has a drive assembly chamber 1120d1, which is connected to the supplementary track section 1100a2 of the circulating guide track 1100a. The drive wheel 1400 is rotatably assembled in the drive assembly chamber 1120d1 of the locking component 1120d. Similarly, the opposing surfaces of the first guide component 1120a, the second guide component 1120b, the third guide component 1120c, and the locking component 1120d are also constructed with corresponding groove structures. When the first guide component 1120a, the second guide component 1120b, the third guide component 1120c, and the locking component 1120d are assembled together, the corresponding groove structures can be assembled to form the drive assembly chamber 1120d1.

[0071] The drive wheel 1400 can take various mechanical forms, for example, see [reference needed]. Figure 4 and Figure 5As shown, in one embodiment, an annular drive groove 1400a is formed on the drive wheel 1400. The annular drive groove 1400a includes a plurality of drive unit grooves 1400b. The plurality of drive unit grooves 1400b can be connected end to end to form a circle, or a certain distance can be formed between adjacent drive unit grooves 1400b. As long as each transmission unit 1210 on the transmission chain 1200 can be sequentially driven and engaged with each drive unit groove 1400b of the annular drive groove 1400a in a one-to-one manner, no limitation is made here. The drive wheel 1400 rotates in a fixed-axis rotation manner. The drive wheel 1400 has a central rotation axis. The drive wheel 1400 drives the transmission chain 1200 to rotate based on the fixed-axis rotation. Therefore, multiple drive unit slots 1400b surround the central rotation axis of the drive wheel 1400. The rotation direction of the drive wheel 1400 is the same as the rotation direction of the transmission chain 1200. The drive unit slots 1400b of the drive wheel 1400 are driven to engage with the transmission unit 1210 of the transmission chain 1200, so that the drive wheel 1400 and the transmission chain 1200 are driven to assemble and drive the transmission chain 1200 to reciprocate along the circulating guide track 1100a.

[0072] See Figure 6 and Figure 7 As shown, in one embodiment, a spiral drive groove 1400c is formed on the drive wheel 1400. The spiral drive groove 1400c is mainly spirally wound around the drive wheel 1400. The drive wheel 1400 rotates in a fixed-axis manner and has a central rotation axis. The spiral drive groove 1400c surrounds the central rotation axis of the drive wheel 1400. The rotation direction of the drive wheel 1400 is not the same as the rotation direction of the transmission chain 1200. The spiral drive groove 1400c of the drive wheel 1400 is driven to engage with the transmission unit 1210 of the transmission chain 1200, so that the drive wheel 1400 and the transmission chain 1200 are driven to assemble and drive the transmission chain 1200 to reciprocate along the circulating guide track 1100a. The movement of the transmission chain 1200 by the spiral drive groove 1400c can achieve a greater driving force.

[0073] The drive chain 1200 can be connected to the force transmission rod 1300 in various ways, for example, see [reference needed]. Figure 5 and Figure 8As shown, in one embodiment, the push-pull drive structure 1000 includes a sliding shuttle 1220, and the transmission chain 1200 is driven to connect with the force transmission rod 1300 through the sliding shuttle 1220. The sliding shuttle 1220 can be mounted on the transmission chain 1200 and connected to the force transmission rod 1300, or the sliding shuttle 1220 can also be mounted on the force transmission rod 1300 and connected to the transmission chain 1200, or the sliding shuttle 1220 can be detached from the transmission chain 1200 and the force transmission rod 1300, but it is connected to the transmission chain 1200 and the force transmission rod 1300 after assembly. This is not limited here. Furthermore, since the transmission chain 1200 and the force transmission rod 1300 have formed a driving connection through the sliding shuttle 1220, the sliding shuttle 1220 can move synchronously with the force transmission rod 1300. Therefore, the force transmission rod 1300 can not only be directly slidably assembled with the force transmission guide rail 1100b, but also indirectly slidably assembled with the force transmission guide rail 1100b through the sliding shuttle 1220. This is not limited here.

[0074] For example, see Figure 5 As shown, in one embodiment, a sliding shuttle 1220 is disposed on a transmission chain 1200. The sliding shuttle 1220 has a first shaft 1220a that extends relative to the sliding shuttle 1220. The force transmission rod 1300 may have a corresponding matching shaft hole. Therefore, the sliding shuttle 1220 can be assembled and connected to the force transmission rod 1300 through the first shaft 1220a. After the first shaft 1220a passes through the shaft hole on the force transmission rod 1300, it can further protrude relative to the shaft hole, thereby allowing the sliding shuttle 1220 to be slidably assembled with the force transmission guide rail 1100b through the first shaft 1220a.

[0075] Continue reading Figure 8 and Figure 9 As shown, the force transmission member 1300 can adopt various structural forms, such as a columnar member, a strip member, or something similar. Figure 8The rod-like structure with cavities formed by three plates is shown. In this case, the transmission chain 1200 can be accommodated in the cavity of the force transmission rod 1300. Therefore, the transmission chain 1200 and the force transmission rod 1300 can be assembled more tightly, and the transmission chain 1200 and the force transmission rod 1300 are basically in a straight line trajectory. Based on this tight assembly, the force transmission guide rail 1100b and the circulation guide rail 1100a can also be constructed more compactly, saving design space. For example, the force transmission guide rail 1100b can be a straight slot formed within the circulation guide rail 1100a. After the transmission chain 1200 is driven and assembled with the force transmission rod 1300 via the first shaft 1220a of the sliding shuttle 1220, the transmission chain 1200 is slidably assembled within the circulation guide rail 1100a. The first shaft 1220a of the sliding shuttle 1220 can also continue to be smoothly slidably assembled within the force transmission guide rail 1100b of the circulation guide rail 1100a, forming a tight and stable assembly structure. Those skilled in the art can choose other suitable assembly methods according to their needs, which are not limited here.

[0076] See Figure 10 As shown, in one embodiment, the push-pull drive structure 1000 includes a pusher rod 1500, and a force transmission rod 1300 is drivenly connected to the pusher rod 1500 to drive the pusher rod 1500 to reciprocate, thereby ultimately controlling the staple cartridge assembly 5000 using the pusher rod 1500. The distal end of the pusher rod 1500 is provided with a pusher component 1510, which can form a drive assembly with the staple cartridge assembly 5000. When the pusher component 1510 moves forward, it can form a drive engagement with the staple cartridge assembly 5000 to realize the stapler's ablation operation.

[0077] The push-pull drive structure 1000 may include a transition component 1600. The transition component 1600 can be used to connect the force transmission rod 1300 and the pusher rod 1500. The transition component 1600 can adopt various structural forms. In addition to connecting the force transmission rod 1300 and the pusher rod 1500, the transition component 1600 can also be used to realize the rotation between the force transmission rod 1300 and the pusher rod 1500. For example, see [continued for further details] Figure 5 and Figure 10As shown, the adapter component 1600 includes an adapter base 1610 and a rotary joint 1620. The force transmission rod 1300 is connected to the adapter base 1610, and the rotary joint 1620 is connected to the pusher rod 1500. The adapter base 1610 has an adapter cavity 1610a. The rotary joint 1620 is rotatably assembled in the adapter cavity 1610a of the adapter base 1610, so that the pusher rod 1500 can rotate relative to the force transmission rod 1300 along its own central axis. Therefore, in addition to being able to achieve reciprocating linear motion in the direction of the far end or the near end, the pusher rod 1500 can also achieve fixed-axis rotation as required.

[0078] Continue reading Figure 5 As shown, in order to ensure that the pusher rod 1500 moves stably on the instrument base 1100, a pusher guide rail 1100c can also be constructed on the instrument base 1100. The pusher guide rail 1100c is used as a guide for the pusher rod 1500. The pusher guide rail 1100c can be a raised rail, a grooved rail, or a through-hole rail set on the instrument base 1100. There is no limitation here. The pusher rod 1500 and the pusher guide rail 1100c can be guided and assembled in various ways. For example, the pusher rod 1500 and the pusher guide rail 1100c can be directly slidably assembled. Alternatively, since the force transmission rod 1300 and the pusher rod 1500 have formed a driving connection through the adapter 1600, the adapter 1600 can move synchronously with the pusher rod 1500. Therefore, a second shaft 1660 can be provided on the adapter 1600. For example, the second shaft 1660 is located on the adapter base 1610 or the rotary joint 1620. The adapter 1600 is assembled and connected to the force transmission rod 1300 through the second shaft 1660, and the pusher rod 1500 is indirectly slidably assembled with the pusher guide rail 1100c through the second shaft 1660 of the adapter 1600.

[0079] Continue reading Figure 5As shown, in one embodiment, a protective sleeve 1630 is provided on the outside of the adapter 1600. Since the protective sleeve 1630 needs to slide relative to the instrument base 1100, it can be made of a material with a low coefficient of friction. The rotary joint 1620 can be rotatably assembled in the adapter cavity 1610a of the adapter base 1610 in various ways, so that the pusher rod 1500 can rotate about its own central axis relative to the force transmission rod 1300. For example, a ball bearing 1640 is provided in the adapter cavity 1610a of the adapter base 1610, and the rotary joint 1620 is rotatably assembled in the adapter cavity 1610a of the adapter base 1610 via the ball bearing 1640. Alternatively, a bearing or other auxiliary rotation components can be provided in the adapter cavity 1610a of the adapter base 1610. This is not limited here. To facilitate the assembly of components such as the rotary joint 1620 and the ball bearing 1640 within the inner cavity 1610a of the adapter base 1610, the adapter base 1610 may include a base body 1650 and a base cover 1650a. When the base body 1650 and the base cover 1650a are separated, the internal space of the adapter base 1610 is exposed, which facilitates the assembly of components such as the rotary joint 1620 and the ball bearing 1640 within the inner cavity 1610a of the adapter base 1610. After assembly, the base cover 1650a is fitted over the base body 1650, thus completing the assembly of the adapter base 1610.

[0080] The function of the transmission chain 1200 is to drive the force transmission rod 1300 and the pusher rod 1500 to move as it slides within the circulating guide rail 1100a. Therefore, the transmission chain 1200 can be a closed-loop chain (a complete circular chain) or a non-closed-loop chain (a straight chain). For example, in one embodiment, the transmission chain 1200 is a closed-loop chain, in which case the sliding shuttle 1220 can be located between two transmission unit bodies 1210 of the transmission chain 1200, and the number of sliding shuttles 1220 can be one or more, which is not limited here. For another example, see [reference needed]. Figure 11 As shown, the transmission chain 1200 is a non-closed-loop chain. In this case, the sliding shuttle 1220 can be located between two transmission units 1210 of the transmission chain 1200, or it can be located at one end of the transmission chain 1200. Moreover, a pressure head component 1230 can be set at the other end of the transmission chain 1200. This assembly method can reduce the length of the chain, achieve lightweight design, and facilitate assembly.

[0081] In one embodiment, at least a portion of the transmission chain 1200 is constructed as an elastic segment 1240. The elastic segment 1240 has an elastic expansion and contraction effect, which can compensate for possible gaps between adjacent transmission units 1210 of the transmission chain 1200 and improve transmission accuracy. A portion of the transmission chain 1200 is provided with an elastic component. The elastic component can be a spring, an elastic material, or even a structure such as mutually repelling magnets; no limitation is made here. Therefore, the elastic segment 1240 of the transmission chain 1200 is constructed using an elastic component. There are various ways to assemble the elastic component, as long as the elastic segment 1240 can be constructed within a segment of the transmission chain 1200; no limitation is made here. For example, when the transmission chain 1200 is a closed-loop chain, an elastic element can be provided in the adjacent section of the sliding shuttle 1220. Moreover, the elastic element can be configured with different elastic coefficients according to actual needs. When the transmission chain 1200 is a non-closed-loop chain, an elastic element can be provided between the sliding shuttle 1220 and one end of the transmission chain 1200, and an elastic element can also be provided between the other end of the transmission chain 1200 and the pressure head component 1230. This can compensate for assembly gaps and improve transmission accuracy.

[0082] The multiple transmission units 1210 of the transmission chain 1200 can be connected end-to-end in various ways, see reference. Figure 13 and Figure 14 As shown, in one embodiment, the transmission unit 1210 has a traction through hole 1211, and a traction wire 1212 is threaded through the traction through holes 1211 of multiple transmission unit bodies 1210. When the traction wire 1212 connects multiple transmission unit bodies 1210 one after another, the multiple transmission unit bodies 1210 can be connected end to end through the traction wire 1212. (Continue reading) Figure 15 As shown, the transmission chain 1200 can be a non-closed-loop chain. In this case, the sliding shuttle 1220 can be located between two transmission unit bodies 1210 of the transmission chain 1200, or at one end of the transmission chain 1200. Furthermore, a pressure head component 1230 can be provided at the other end of the transmission chain 1200. This assembly method reduces the chain length, achieves lightweight design, and facilitates assembly. Elastic components can be provided in adjacent sections of the sliding shuttle 1220. For example, an elastic component can be provided between the sliding shuttle 1220 and one end of the transmission chain 1200, or between the other end of the transmission chain 1200 and the pressure head component 1230. Of course, the transmission chain 1200 can also be a closed-loop chain. In this case, the sliding shuttle 1220 can be located between two transmission unit bodies 1210 of the transmission chain 1200, and the number of sliding shuttles 1220 can be one or more, without limitation.

[0083] See Figures 16 to 21 As shown, the transmission unit 1210 also includes an interconnected ball head 1213 and a rotating shaft 1214. The ball head 1213 has a rotating shaft hole 1213a. The rotating shafts 1214 of adjacent transmission unit 1210 are rotatably connected to the rotating shaft holes 1213a of the ball head 1213, allowing multiple transmission unit 1210s to be rotatably connected end-to-end. The ball head 1213 can be constructed as a standard sphere. Therefore, assuming the unit distance from the center of the ball head 1213 to the center of the rotating shaft 1214 is t, the radius of the ball head 1213 is equal to this unit distance t. Alternatively, adjacent transmission unit 1210s can also be rotatably connected via other rotating shaft assemblies. Connecting adjacent transmission unit 1210s via rotating shaft assemblies offers good flexibility, high rigidity, and high precision, while simplifying assembly and improving space utilization.

[0084] Continue reading Figure 18 and Figure 21 As shown, a guide portion 1215 is provided on the rotating shaft portion 1214. The guide portion 1215 can be a protruding structure or a columnar structure, etc. The transmission unit 1210 can be slidably guided and assembled with the circulating guide rail 1100a through the guide portion 1215. A clearance slot 1213b can be opened on the ball head 1213, which connects to the side of the rotating shaft hole 1213a. (See reference...) Figure 20 As shown, the opening distance s of the clearance slot 1213b is less than the diameter distance d of the pivot hole 1213a. Therefore, when the pivot part 1214 is fixedly rotatably connected to the pivot hole 1213a of the ball head 1213, the pivot part 1214 can be stably confined within the pivot hole 1213a of the ball head 1213, preventing the transmission unit bodies 1210 connected end to end from slipping off each other, and also enabling the pivot part 1214 to be assembled and connected relative to the pivot hole 1213a of the ball head 1213 along the axial direction.

[0085] Continue reading Figure 18 and Figure 21 As shown, a limiting groove 1213c is provided on the ball head 1213. The opening direction of the limiting groove 1213c forms a certain angle with the axial direction of the rotating shaft hole 1213a. In particular, the opening direction of the limiting groove 1213c is perpendicular to the axial direction of the rotating shaft hole 1213a. Therefore, when the rotating shaft part 1214 of the adjacent transmission unit 1210 is rotatably connected to the rotating shaft hole 1213a of the ball head 1213, the limiting groove 1213c can allow the adjacent rotating shaft part 1214 to rotate a certain angle along the central axis of the rotating shaft hole 1213a of the ball head 1213, thereby improving the rotational flexibility of the transmission chain 1200.

[0086] See Figures 22 to 25As shown, this application provides a surgical instrument, which includes a push-pull drive structure 1000, an instrument drive box 2000, and a forceps assembly 3000. The instrument drive box 2000 is mounted on the instrument base 1100 of the push-pull drive structure 1000 and is drivenly connected to the drive wheel 1400. A staple cartridge assembly 5000 is provided on the forceps assembly 3000. The push-pull drive structure 1000 is controlled to be connected to the forceps assembly 3000 and the staple cartridge assembly 5000. When the push-pull drive structure 1000 applies a pushing force to the distal direction using a pusher rod, it can control the forceps assembly 3000 to close and control the staple cartridge assembly 5000 to perform anastomosis. A bending joint 4000 is also provided between the forceps assembly 3000 and the push-pull drive structure 1000. The bending joint 4000 can realize the bending rotation of the forceps assembly 3000 relative to the push-pull drive structure 1000, thereby improving flexibility. Those skilled in the art can set the specific structure of the surgical instrument according to their needs, which is not limited here. Since the specific structure, functional principle and technical effect of the push-pull drive structure 1000 have been described in detail above, they will not be repeated here. Any technical content related to the push-pull drive structure 1000 can be referred to the above description.

[0087] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A push-pull drive structure, characterized in that, The push-pull drive structure includes: The instrument base has a circulating guide rail and a force transmission guide rail, wherein the force transmission guide rail is a linear rail. A transmission chain comprising multiple interconnected transmission units forming a closed loop chain, the transmission chain being movably mounted on the instrument base along the circulating guide track; each transmission unit employs a bead structure, and each transmission unit has a traction through hole, through which a traction wire is threaded, allowing the multiple transmission units to be interconnected end-to-end via the traction wire; at least a portion of the transmission chain is constructed as an elastic section. A force transmission rod is movably mounted on the instrument base along the force transmission guide rail. The transmission chain is driven to connect with the force transmission rod and is used to drive the force transmission rod to reciprocate linearly along the force transmission guide rail. The force transmission rod is configured to connect to a pusher rod, thereby realizing the pushing and pulling of the pusher rod through linear reciprocating motion. A drive wheel is mounted on the instrument base on a fixed axis for rotation. The drive wheel is driven by the transmission chain and is used to drive the transmission chain to reciprocate along the cyclic guide track.

2. The push-pull drive structure according to claim 1, characterized in that, An annular drive groove is formed on the drive wheel body. The annular drive groove includes multiple drive unit grooves. The multiple drive unit grooves rotate around the central axis of the drive wheel body. The drive unit grooves of the drive wheel body drive and engage with the transmission unit body of the transmission chain, so that the drive wheel body and the transmission chain are driven to assemble and drive the transmission chain to reciprocate along the cyclic guide track. or, A spiral drive groove is formed on the drive wheel body. The spiral drive groove rotates around the central axis of the drive wheel body. The spiral drive groove of the drive wheel body is driven to engage with the transmission unit of the transmission chain, so that the drive wheel body and the transmission chain are driven to assemble and drive the transmission chain to reciprocate along the cyclic guide track.

3. The push-pull drive structure according to claim 1, characterized in that, The push-pull drive structure includes: A sliding shuttle is provided, wherein the transmission chain is driven to the force transmission rod via the sliding shuttle, and the force transmission rod is slidably assembled with the force transmission guide rail via the sliding shuttle.

4. The push-pull drive structure according to claim 3, characterized in that, The sliding shuttle is mounted on the transmission chain. The sliding shuttle has a first shaft. The sliding shuttle is assembled and connected to the force transmission rod through the first shaft. The sliding shuttle is also slidably assembled to the force transmission guide rail through the first shaft.

5. The push-pull drive structure according to claim 3, characterized in that, The force transmission guide rail is a straight slot formed within the circulating guide rail.

6. The push-pull drive structure according to claim 3, characterized in that, The sliding shuttle is located between two of the transmission units of the transmission chain.

7. The push-pull drive structure according to claim 1, characterized in that, A portion of the transmission chain is provided with elastic components, which constitute the elastic sections of the transmission chain.

8. The push-pull drive structure according to claim 1, characterized in that, The instrument base includes: A rod base, on which the main track section of the circulating guide track and the force transmission guide track are provided; A guide base is connected to the rod base. A supplementary track section for the circulating guide track is formed on the guide base. The main track section and the supplementary track section constitute the complete circulating guide track. The drive wheel is rotatably mounted on the guide base. The guide base includes a first guide component, a second guide component, and a third guide component. The first guide component is located between the second guide component and the third guide component. The supplementary track section for the circulating guide track is formed between the first guide component and the second guide component, and between the first guide component and the third guide component. A locking component is provided, wherein the first guide component, the second guide component, and the third guide component are locked relative to each other by the locking component, and the locking component has a drive assembly chamber, which is connected to the supplementary track section of the circulating guide track, and the drive wheel is rotatably assembled in the drive assembly chamber of the locking component.

9. The push-pull drive structure according to claim 1, characterized in that, The push-pull drive structure includes: A pusher rod, wherein the force transmission rod is drivenly connected to the pusher rod and is used to drive the pusher rod to reciprocate; The adapter includes an adapter base and a rotating joint. The force transmission rod is connected to the adapter base, and the rotating joint is connected to the pusher rod. The adapter base has an adapter cavity, and the rotating joint is rotatably assembled in the adapter cavity of the adapter base, so that the pusher rod can rotate relative to the force transmission rod along its own central axis.

10. The push-pull drive structure according to claim 9, characterized in that, The adapter component is provided with a protective cover. And / or, The adapter base has a ball bearing in its inner cavity, and the rotary joint is rotatably assembled in the inner cavity of the adapter base via the ball bearing. And / or, The adapter base includes a base body and a base cover, wherein the base cover is mounted relative to the base body. And / or, The instrument base has a pusher guide rail, and the adapter base has a second shaft. The adapter base is assembled and connected to the force transmission rod through the second shaft, and the adapter base is slidably assembled with the pusher guide rail through the second shaft.

11. A surgical instrument, characterized in that, The surgical instruments include: The push-pull drive structure as described in any one of claims 1-10; An instrument drive box is mounted on the instrument base of the push-pull drive structure and is drivenly connected to the drive wheel. A clamp head assembly, on which a staple cartridge assembly is provided, and a push-pull drive structure is controlled to connect the clamp head assembly and the staple cartridge assembly.

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