An electric laparoscopic stapler

Abstract

This invention discloses an electric laparoscopic stapler, comprising a handle, an outer chamber, a jaw assembly, and mechanical components. The outer chamber has an end furthest from a first-direction adjustment knob. An angle sensor is located within the outer chamber to detect the jaw assembly's deviation from a first, second, or third direction. When the first, second, or third-direction angle sensor detects that the jaw assembly has deviated from a preset trajectory, the preset trajectory including a first trajectory and a second trajectory, the jaw assembly moves along the second trajectory. The second trajectory has n detection points P. An offset set M is set, and an offset value F is calculated. It is determined whether the offset value F is located within the offset set M. If the offset value F is located within the offset set M, the electric laparoscopic stapler is in a first state; otherwise, it is in a second state. This improves the surgical accuracy of the electric laparoscopic stapler and reduces surgical risks.

Description

Technical Field

[0001] This invention relates to surgical medical device technology, and more particularly to an electric laparoscopic stapler. Background Technology

[0002] Electric laparoscopic staplers are medical devices used for surgical suturing, and their quality greatly affects the surgical risk. Referring to CN115024777A, this patent discloses the specific structure of a conventional electric laparoscopic stapler.

[0003] Existing technology CN114098870A addresses the issue that during laparoscopic anastomosis, human tissue may not be accurately clamped and positioned, potentially causing secondary injury to the patient. This patent addresses this by using multi-functional angle adjustment and auxiliary clamping components on the stapling device to improve precision and enhance surgical quality.

[0004] Existing technology CN111202553A, this patent, points out that since the retraction mechanism of most electric laparoscopic cutting and anastomosis devices achieves instrument reset through motor drive and circuit logic control, in special circumstances, due to the failure of electronic components or motors, the instrument may fail to reset, which can lead to unpredictable and terrible consequences for the surgical procedure. Therefore, designing a safe and reliable manual retraction device is particularly necessary, allowing clinicians to manually reset the instrument in the event of a motor retraction failure, minimizing the harm caused by medical accidents.

[0005] In conclusion, electric laparoscopic staplers remain high-risk medical devices, and improving the surgical precision and reducing surgical risks of existing electric laparoscopic staplers has become a hot research topic. Summary of the Invention

[0006] Based on the above-mentioned technical problems, the present invention proposes an electric laparoscopic stapler, which can improve surgical precision and reduce surgical risks.

[0007] The technical solution of this invention is implemented as follows:

[0008] An electric laparoscopic stapler includes a handle and an outer chamber. The outer chamber has a first direction adjustment knob at one end, which is connected to a head at the other end. A second direction adjustment knob is located on one side of the head. A rod is located at one end of the head, and a coupling is located at one end of the rod. A jaw assembly is located at one end of the coupling.

[0009] The handle is equipped with a switch for controlling the opening and closing of the jaw components. A mechanical component is located at the end of the outer compartment away from the first direction adjustment knob. An angle sensor for detecting the first, second, or third direction of the jaw components is located inside the outer compartment.

[0010] When the first direction angle sensor, the second direction angle sensor, or the third direction angle sensor detects that the jaw component deviates from the preset trajectory, the state switches from the first state to the second state.

[0011] In this electric laparoscopic stapler of the present invention, the preset trajectory includes a first trajectory and a second trajectory. The jaw component moves along the first trajectory, and the movement trajectory of the jaw component is the second trajectory. The first direction is X, the second direction is Y, and the third direction is Z. The center of the first trajectory is O, where O = (x0, y0, z0). The second trajectory has n detection points P, where P = (x0, y0, z0). i y i , z i ), (x i -x0) 2 +(y i -y0) 2 +(z i -z0) 2 =R 2 R is the distance from the detection point P to the center O of the circle.

[0012] In this electrically driven laparoscopic anastomosis device of the present invention, an offset set M is defined, where F(n) = x i 2 +y i 2 +z i 2 -2(x i x0+ y i y0+ z i z0)+(x0 2 +y0 2 +z0 2 - R 2 Let F be the offset value. Determine whether the offset value F is located in the offset set M.

[0013] If the offset value F is located in the offset set M, the electric laparoscopic stapler is in the first state; otherwise, the electric laparoscopic stapler is in the second state.

[0014] In this electric endoscopic anastomosis device of the present invention, the coupling consists of a first clutch shaft and a second clutch shaft. The first clutch shaft is connected to one end of the rod body, and the second clutch shaft is rotatably connected to the first clutch shaft. A I-shaped knife holder is slidably mounted on the second clutch shaft. The I-shaped knife holder has an end head and a sliding part. The end head is a rigid part, and the sliding part is a flexible part.

[0015] In this electric laparoscopic stapler of the present invention, the jaw assembly consists of a staple cartridge seat, a staple seat, and a staple cartridge. The staple seat and the staple cartridge are both provided with guide grooves in the middle, and the I-shaped blade holder slides on the guide grooves. The staple cartridge is provided with several titanium staples on both sides. When the I-shaped blade holder slides along the guide grooves, the titanium staples move in the direction closer to the staple seat.

[0016] In this electric laparoscopic stapler of the present invention, a drive motor is provided inside the handle, and an electric retraction switch is provided on one side of the outer chamber. In the first state, the drive motor is used to drive the I-shaped blade holder to slide in the guide groove, and the electric retraction switch controls the start and stop of the drive motor. In the second state, the mechanical component controls the I-shaped blade holder to slide in the guide groove.

[0017] In this electric endoscopic stapler of the present invention, the mechanical component is rotatably connected to one side of the handle via a pin, and a limiting ring is provided at one end of the outer compartment near the mechanical component. The limiting ring is used to restrict the mechanical component from rotating along the pin in the first state.

[0018] In this electrically powered laparoscopic stapler of the present invention, the mechanical components include a first slide rod connected to the inside of the outer chamber via a return spring. One end of the first slide rod is connected to an I-shaped blade holder, and the other end is connected to a knob. A second slide rod is connected below the first slide rod.

[0019] In the first state, the second slide rod drives the drive I-shaped tool holder to slide within the guide groove via the drive motor; in the second state, the first slide rod drives the drive I-shaped tool holder to slide within the guide groove via the second slide rod.

[0020] In this electric laparoscopic anastomosis device of the present invention, the first slide bar is provided with a plurality of baffles, and the second slide bar is provided with a plurality of ratchet teeth. In a first state, the baffles are separated from the ratchet teeth, and in a second state, the baffles are engaged with the ratchet teeth.

[0021] In this electric endoscopic anastomosis device of the present invention, one end of the handle is provided with anti-slip teeth and the other end is provided with an arc-shaped plate. The outer chamber is provided with a knife retraction groove. In the second state, the movement stroke of the I-shaped knife holder can be observed through the knife retraction groove.

[0022] The electric laparoscopic stapler of this invention has the following beneficial effects: The electric laparoscopic stapler includes a handle, an outer chamber, a jaw assembly, and mechanical components. An angle sensor is provided inside the outer chamber to detect whether the jaw assembly deviates from a preset trajectory. The preset trajectory includes a first trajectory and a second trajectory. The second trajectory has n detection points P. An offset set M is set, and an offset value F is calculated. It is determined whether the offset value F is located within the offset set M. If the offset value F is located within the offset set M, the electric laparoscopic stapler is in a first state; otherwise, it is in a second state. This improves the surgical accuracy of the electric laparoscopic stapler and reduces surgical risks. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the electric laparoscopic anastomosis device of the present invention;

[0024] Figure 2 This is a three-dimensional structural diagram of the electric laparoscopic anastomosis device of the present invention;

[0025] Figure 3 This is a partial structural schematic diagram of the electric laparoscopic anastomosis device of the present invention;

[0026] Figure 4 This is a partial structural schematic diagram of the electric laparoscopic anastomosis device of the present invention;

[0027] Figure 5 for Figure 4 Partial sectional view, mainly showing the internal structure of the outer warehouse;

[0028] Figure 6 This is a schematic diagram of the installation of the first slide bar and the second slide bar of the present invention;

[0029] Figure 7 This is a schematic diagram of the preset trajectory of the electric laparoscopic anastomosis device of the present invention;

[0030] Figure 8 This is a schematic diagram of the actual trajectory of the electric laparoscopic anastomosis device of the present invention;

[0031] The reference numerals in the attached diagram are as follows: 1-Handle, 1'1-Anti-slip teeth, 1'2-Arc-shaped stacked blades, 2-Outer chamber, 2'1-Electric retraction switch, 2'2-Retraction groove, 3-First direction adjustment knob, 4-Cavity head, 5-Second direction adjustment knob, 6-Jaw closing switch, 7-Bar body, 8-Coupling, 8'1-First clutch shaft, 8'2-Second clutch shaft, 8'3-I-shaped tool holder, 9-Jaw assembly, 9'1-Spin cartridge seat, 9'2-Spin anchor seat, 9'3-Spin cartridge, 9'4-Titanium pin, 9'5-Guide groove, 10-Mechanical component, 10'1-Restriction ring, 10'2-First slide bar, 10'3-Return spring, 10'4-Knob, 10'5-Second slide bar, 10'6-Rack, 10'7-Ratchet, 10'8-Baffle. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0033] Referring to CN115024777A and CN114098870A, the aforementioned prior art documents disclose the specific structure of existing electric laparoscopic staplers and the multi-angle adjustment of the jaw position. This invention improves upon the aforementioned prior art documents to further enhance the accuracy of the electric laparoscopic stapler. Example 1

[0034] like Figures 1 to 8 As shown, this electric laparoscopic stapler of the present invention includes a handle 1 and an outer chamber 2, which are fixedly connected. One end of the outer chamber 2 is provided with a first direction adjustment knob 3, which is connected to a cavity head 4 at one end. A second direction adjustment knob 5 is provided on one side of the cavity head 4. One end of the cavity head 4 is provided with a rod body 7, and one end of the rod body 7 is provided with a coupling 8. One end of the coupling 8 is provided with a jaw component 9. The handle 1 is provided with a switch for controlling the opening and closing of the jaw component. Pressing the jaw closing switch 6 closes the jaw component 9, and releasing it opens it. The handle 1 contains a power supply for powering the entire electric laparoscopic stapler and a drive motor (not shown in the figure) for driving the jaw component 9 to deflect.

[0035] like Figure 2 As shown, the first direction is X, the second direction is Y, and the third direction is Z. The first direction adjustment knob 3 is used to adjust the rotation of the rod body 7 and its components along the second direction Y. Figure 3 As shown, the coupling 8 consists of a first clutch shaft 8'1 and a second clutch shaft 8'2. The first clutch shaft 8'1 is connected to one end of the rod body 7, and the second clutch shaft 8'2 is rotatably connected to the first clutch shaft 8'1 in the third direction Z. One end of the second clutch shaft 8'2 is connected to the jaw assembly 9. The second direction adjustment knob 5 is used to adjust the rotation of the jaw assembly 9 in the third direction Z.

[0036] In use, press and hold the jaw closing switch 6 to close the jaw component 9. Insert the jaw component 9 and the shaft 7 into the medical trocar, then release the jaw closing opening 6 to open the jaw component 9. Subsequently, adjust the jaw component 9 to the suture position using the first direction adjustment knob 3 and the second direction adjustment knob 5. Finally, complete the anastomosis using the jaw component 9.

[0037] In this embodiment, a mechanical component 10 is provided at the end of the outer compartment 2 away from the first direction adjustment knob 3. An angle sensor (not shown in the figure) is provided inside the outer compartment 2 to detect the jaw component in the first direction X, the second direction Y, or the third direction Z. This electric endoscopic stapler of the present invention has two states: a first state is electric mode, and a second state is manual mode. In the first state, the jaw component 9 is controlled by a drive motor. An electric retraction switch 2'1 is provided on one side of the outer compartment 2. In the first state, the electric retraction switch 2'1 controls the start and stop of the drive motor. In the second state, the jaw component 9 is controlled by the mechanical component 10.

[0038] When the first direction angle sensor, the second direction angle sensor, or the third direction angle sensor detects that the jaw component 9 deviates from the preset trajectory, the system switches from the first state to the second state. This avoids errors between various transmission components from affecting surgical accuracy and increasing surgical risks.

[0039] In this embodiment, when the jaw component 9 moves along the first trajectory, it needs to complete the matching operation. Taking the jaw component 9 subjected to the first direction X as an example, ideally, the angle sensor in the first direction X will display the displacement magnitude at a 1:1 ratio, while the displacement values ​​detected by the angle sensors in the other two directions should be 0. However, in actual operation tests, such as... Figure 8 As shown, not only is the displacement of the angle sensor in the first direction X inconsistent with the displacement of the detection point, but there are also certain displacement deviations in the second direction Y and the third direction Z. The displacement deviations in the second direction Y and the third direction Z are the coupling errors generated by the displacement in the first direction X. Therefore, when the displacement deviation is large, it is necessary to switch to manual mode and use the mechanical component 10 to control the jaw component 9 to prevent large errors in the electric mode, which would increase the surgical risk.

[0040] Furthermore, such as Figures 7 to 8 As shown, the preset trajectory includes a first trajectory and a second trajectory. The jaw component 9 moves along the first trajectory. In the first state, the jaw component 9 is controlled by the drive motor to move along the first trajectory. The movement trajectory of the jaw component 9 is the second trajectory, which changes as the jaw component 9 moves. The first trajectory is a preset trajectory, meaning the electric endoscopic stapler must move along this trajectory to perform the anastomosis.

[0041] In the first trajectory, the center is O, and the coordinates of the center O are set as O=(x0, y0, z0). The second trajectory has n detection points P, such as... Figures 7 to 8 As shown, there are five detection points: A, B, C, D, and E. The coordinates of detection point P are given by P = (x...). i y i , z i Without considering sensor error, the following calculation formula is derived: (x i -x0) 2 +(y i -y0) 2 +(z i -z0) 2 =R 2 R is the distance from the detection point P to the center O of the circle.

[0042] The electric endoscopic stapler of this invention also requires setting an offset set M and calculating an offset value F to determine whether the offset value F is located within the offset set M. Wherein, the offset value F(n) = x i 2 +y i 2 +z i 2 -2(x i x0+ y i y0+ z i z0)+(x0 2 +y0 2 +z0 2 - R 2 If the offset value F is located in the offset set M, the electric laparoscopic stapler is in the first state; otherwise, the electric laparoscopic stapler is in the second state. Example 2

[0043] Based on the above embodiments, this embodiment further discloses the specific structure of each component of the electric laparoscopic stapler. For example... Figure 4As shown, a I-shaped tool holder 8'3 is slidably mounted on the second clutch shaft 8'2. A drive motor is used to control the sliding of the I-shaped tool holder 8'3 on the second clutch shaft 8'2. The I-shaped tool holder 8'3 has an end head and a sliding part. The end head is a rigid component, and the sliding part is a flexible component. This allows the I-shaped tool holder 8'3 to still slide on the second clutch shaft 8'2 even if the second clutch shaft 8'2 and the first clutch shaft 8'1 are not on the same axis. The jaw assembly 9 consists of a staple cartridge seat 9'1, a staple abutment seat 9'2, and a staple cartridge 9'3. The staple cartridge seat 9'1 is connected to the second clutch shaft 8'2, and the staple abutment seat 9'2 is rotatably connected to the staple cartridge seat 9'1. The closing of the staple abutment seat 9'2 is controlled by the jaw closing / closing 6. The staple cartridge 9'3 is located inside the anvil seat 9'2. Both the anvil seat 9'2 and the staple cartridge 9'3 have guide grooves 9'5 in their middle sections. The I-shaped knife holder 8'3 slides along the first direction X on these guide grooves 9'5. Several titanium staples 9'4 are located on both sides of the staple cartridge 9'3. When the I-shaped knife holder 8'3 slides along the guide grooves 9'5, the end head on the I-shaped knife holder 8'3 pushes the titanium staples 9'4 to move in a direction closer to the anvil seat 9'2. After activation, the two legs of the titanium staples 9'4 close, thereby connecting the two segments of the intestine. Simultaneously, a ring of small blades between the two titanium staples 9'4 can cut the mucosa between the two titanium staples 9'4, thus completing the anastomosis.

[0044] like Figures 4 to 6 As shown, the mechanical component 10 is rotatably connected to one side of the handle 1 via a pin. A torsion spring for resetting the mechanical component 10 is also provided at this pin. A limiting ring 10'1 is provided at one end of the outer compartment 2 near the mechanical component 10. This limiting ring 10'1 is used to limit the rotation of the mechanical component 10 along the pin in the first state. In use, the limiting ring 10'1 is rotated clockwise (e.g., ...). Figure 4 (As shown) Hold one end of the mechanical component 10 to restrict the mechanical component 10 from rotating along the pin shaft, so as to prevent accidental contact from easily occurring in the first state.

[0045] like Figure 5 As shown, the mechanical component 10 includes a first slide rod 10'2, which is connected to the inside of the outer chamber 2 via a return spring 10'3. One end of the first slide rod 10'2 is connected to the I-shaped tool holder 8'3, and the other end is connected to a knob 10'4, which is connected to one end of the mechanical component 10. A second slide rod 10'5 is connected below the first slide rod 10'2, and the second slide rod 10'5 is connected to the I-shaped tool holder 8'3. When the second slide rod 10'5 moves along the first direction X, it will drive the I-shaped tool holder 8'3 to move along the first direction X.

[0046] Among them, such as Figure 6As shown, a rack 10'6 is provided on one side of the second slide rod 10'5. The drive motor uses a rack and pinion structure to drive the second slide rod 10'5 to reciprocate in the first direction X. Several ratchet teeth 10'7 are provided on the side of the second slide rod 10'5 away from the rack 10'6. Several baffles 10'8 are provided on the contact surface between the first slide rod 10'2 and the second slide rod 10'5. In the first state, the baffles 10'8 are separated from the ratchet teeth 10'7, and the second slide rod 10'5 slides along the first direction X without being affected by the first slide rod 10'2. The second slide rod 10'5 drives the I-shaped tool holder 8'3 to slide within the guide groove 9'5 via the drive motor. In the second state, the baffles 10'8 are engaged with the ratchet teeth 10'7. The first slide rod 10'2 can drive the second slide rod 10'5 to move along the first direction X through the engagement of the baffles 10'8 and the ratchet teeth 10'7. That is, the first slide rod 10'2 drives the I-shaped tool holder 8'3 to slide in the guide groove 9'5 via the second slide rod 10'5.

[0047] In this embodiment, if the offset value F measured in the above embodiment is not located in the offset set M, then the baffle 10'8 is engaged with the ratchet 10'7. A small capacitor can be provided between the baffle 10'8 and the first slide bar 10'2. In the first state, the capacitor is equivalent to an open circuit, and the baffle 10'8 is separated from the ratchet 10'7. In the second state, the small capacitor is energized to generate a magnetic field, which pushes the baffle 10'8 to move closer to the ratchet 10'7, thereby achieving engagement between the baffle 10'8 and the ratchet 10'7.

[0048] Furthermore, such as Figure 4 As shown. A blade retraction groove 2'2 is also provided on one side of the outer compartment 2. This groove 2'2 allows observation of the displacement of the first slide bar 10'2 or the second slide bar 10'5, thereby improving the accuracy of control in the second state. Anti-slip teeth 1'1 are provided at one end of the handle 1, and an arc-shaped overlapping plate 1'2 is provided at the other end. This design increases the friction between the handle and the hand, further improving the stability of the surgery in the second state.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An electric-powered endoscopic anastomat comprising a handle and an outer cartridge, characterized in that, One end of the outer warehouse is provided with a first direction adjusting knob, the first direction adjusting knob is connected with a cavity head at one end, one side of the cavity head is provided with a second direction adjusting knob, one end of the cavity head is provided with a rod body, one end of the rod body is provided with a connecting shaft, one end of the connecting shaft is provided with a jaw component, wherein, The handle is provided with a switch for controlling the opening and closing of the jaw component, and one end of the outer warehouse away from the first direction adjusting knob is provided with a mechanical component, and the outer warehouse is provided with an angle sensor for detecting the first direction, the second direction or the third direction of the jaw component, When the first direction angle sensor, the second direction angle sensor or the third direction angle sensor detects that the jaw component deviates from the preset track, the first state is switched to the second state, The preset trajectory comprises a first trajectory and a second trajectory, the jaw component moves along the first trajectory, and the movement trajectory of the jaw component is the second trajectory, wherein the first direction is X, the second direction is Y, and the third direction is Z, the center of the first trajectory is O, O=(x0, y0, z0), n detection points P are arranged on the second trajectory, P=(x i , y i , z i ), (x i -x0) 2 +(y i -y0) 2 +(z i -z0) 2 =R 2 , R is the distance from the detection point P to the center O, Set the offset set M, where F(n) = x i 2 + y i 2 + z i 2 - 2(x i x0+ y i y0+ z i z0) + (x0 2 + y0 2 + z0 2 - R 2 ), F is the offset value, and whether the offset value F is located in the offset set M is judged, If the deviation value F is located in the deviation set M, the electric endoscope anastomat is in the first state, otherwise, the electric endoscope anastomat is in the second state, The connecting shaft is composed of a first clutch shaft and a second clutch shaft, the first clutch shaft is connected with one end of the rod body, and the second clutch shaft is rotatably connected on the first clutch shaft, wherein a tool-shaped tool holder is slidably arranged on the second clutch shaft, the tool-shaped tool holder has an end head part and a sliding part, the end head part is a rigid part, and the sliding part is a flexible part, The jaw component is composed of a nail warehouse seat, a nail resisting seat and a nail warehouse, the middle parts of the nail resisting seat and the nail warehouse are provided with guide grooves, and the tool-shaped tool holder slides on the guide grooves, wherein a plurality of titanium nails are arranged on both sides of the nail warehouse, and when the tool-shaped tool holder slides along the guide groove, the titanium nails move in the direction close to the nail resisting seat, The handle is internally provided with a driving motor, and one side of the outer warehouse is provided with an electric tool withdrawal switch, wherein in the first state, the driving motor is used to drive the tool-shaped tool holder to slide in the guide groove, and the electric tool withdrawal switch controls the start and stop of the driving motor; in the second state, the mechanical component controls the tool-shaped tool holder to slide in the guide groove.

2. The electric-powered endoscopic anastomosis device according to claim 1, wherein The mechanical component is rotatably connected to one side of the handle through a pin shaft, one end of the outer warehouse close to the mechanical component is provided with a limiting ring, and the limiting ring is used to limit the rotation of the mechanical component along the pin shaft in the first state.

3. The motorized endoscopic anastomosis device according to claim 2, wherein, The mechanical component includes a first sliding rod, the first sliding rod is connected to the inside of the outer warehouse through a return spring, one end of the first sliding rod is connected with the tool-shaped tool holder, the other end is connected with a knob, and the lower side of the first sliding rod is connected with a second sliding rod, In the first state, the second sliding rod drives the tool-shaped tool holder to slide in the guide groove through the driving motor; in the second state, the first sliding rod drives the tool-shaped tool holder to slide in the guide groove through the second sliding rod.

4. The motorized endoscopic anastomosis device according to claim 3, wherein, The first sliding rod is provided with a plurality of baffles, and the second sliding rod is provided with a plurality of ratchet teeth, in the first state, the baffles are separated from the ratchet teeth, and in the second state, the baffles are engaged with the ratchet teeth.

5. The motorized endoscopic anastomosis device according to claim 1, wherein, One end of the handle is provided with anti-skid teeth, and the other end is provided with an arc-shaped laminated sheet, wherein the outer warehouse is provided with a tool withdrawal groove, and in the second state, the moving stroke of the tool-shaped tool holder is observed through the tool withdrawal groove.

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