Driving device for surgical instrument and surgical instrument

Abstract

The present invention discloses a driving device and a surgical instrument for a surgical instrument, and relates to the technical field of surgical instruments. It includes a power mechanism, a driving mechanism and a transmission mechanism. The first driving assembly is transmission-connected with the first transmission assembly, the first driving assembly and the second driving assembly are slidably connected with each other, the first driving assembly has a first motion stroke, when the motion stroke of the first driving assembly is less than the first motion stroke, the first driving assembly slides relative to the second driving assembly to drive the end actuator to open or close; when the motion stroke of the first driving assembly is close to or equal to the first transmission stroke, the first driving assembly contacts the second driving assembly, so that the second driving assembly is transmission-connected with the power mechanism to drive the cutting knife assembly to move forward or backward. The surgical instrument and the surgical instrument provided by the present invention can realize the motion control of the end actuator and the cutting knife assembly through a single motor, and have a simple structure and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a driving device for surgical instruments and the surgical instruments. Background Art

[0002] Staplers have been commonly used in endoscopic surgical instruments to replace traditional open surgical devices, because smaller incisions often shorten postoperative recovery time and reduce complications. Therefore, a series of endoscopic surgical instruments suitable for accurately placing the end effector through the cannula of the cannula needle at the desired surgical site have been developed. These end effectors enter the tissue in several ways to achieve diagnostic or therapeutic effects.

[0003] At present, the stapler includes a trigger, a motor assembly, an end actuator and a cutting knife assembly. The trigger can be manipulated to open and close the end actuator, and can also be manipulated to drive the cutting knife assembly to move forward and backward. The stapler includes two motor assemblies, and the end actuator and the cutting knife assembly are controlled by two drive assemblies respectively by different motor assemblies. The size is large and the cost is high, and it is impossible to achieve a two-step control process by a single motor. In addition, the two motor assemblies make the overall weight of the stapler larger, and the doctor's flexibility in operation is poor.

[0004] Although there are solutions in the prior art that a single motor controls the motion of the end actuator and the cutting knife assembly through a complex transmission mechanism, there are problems such as more complicated gear processing, complex structure and high manufacturing cost. Summary of the invention

[0005] The object of the present invention is to provide a driving device for a surgical instrument and a surgical instrument, which can realize motion control of an end actuator and a cutting knife assembly through a single motor, and has a simple structure and low cost.

[0006] In order to solve the above technical problems, the present invention provides a driving device for a surgical instrument, wherein the electric surgical instrument comprises an end effector and a cutting knife assembly, and the driving device comprises a power mechanism, a driving mechanism and a transmission mechanism.

[0007] The driving mechanism includes a first driving assembly and a second driving assembly, and the transmission mechanism includes a first transmission assembly and a second transmission assembly, the first driving assembly is transmission-connected with the first transmission assembly to drive the end actuator to open or close, and the second driving assembly is transmission-connected with the second transmission assembly to drive the cutting knife assembly to move forward or backward;

[0008] The first drive assembly and the second drive assembly are slidably connected to each other, and the first drive assembly has a first motion stroke. When the motion stroke of the first drive assembly is smaller than the first motion stroke, the first drive assembly slides relative to the second drive assembly; when the motion stroke of the first drive assembly is close to or equal to the first transmission stroke, the first drive assembly contacts the second drive assembly, so that the second drive assembly is transmission-connected to the power mechanism; after the second drive assembly is transmission-connected to the power mechanism, the first drive assembly is transmission-connected to the power mechanism.

[0009] The first movement stroke is the movement stroke of the first drive assembly when the end actuator moves from open to closed or from closed to open.

[0010] Optionally, a protruding guide rail is provided on one side of the first driving component, and a groove guide rail is correspondingly provided on the second driving component. The length of the groove guide rail is greater than the length of the protruding guide rail, so that the protruding guide rail can be slidably assembled in the groove guide rail.

[0011] Optionally, the power mechanism includes a motor and gears.

[0012] The first drive component is provided with a first tooth feature and a first plane feature, the tooth surface height of the first tooth feature is higher than the first plane feature, and the first tooth feature is used to engage with the gear of the power mechanism; when the second drive component is connected to the power mechanism in transmission, the first drive component is disconnected from the gear through the first plane feature.

[0013] Optionally, the second drive assembly is provided with a second tooth feature and a second plane feature, and the tooth surface height of the second tooth feature is higher than that of the second plane feature;

[0014] When the movement stroke of the first driving component is smaller than the first movement stroke, the second plane feature is used to provide an escape space for the teeth of the gear;

[0015] When the movement stroke of the first driving component is close to or equal to or slightly greater than the first transmission stroke, the second tooth feature meshes with the gear;

[0016] The term “close to or slightly greater than the first transmission stroke” refers to the stroke of movement of the first drive component and the gear through meshing transmission of 1 to 3 teeth.

[0017] Optionally, the first drive assembly and the second drive assembly are both long racks;

[0018] The length of the second planar feature is not less than the length of the meshing area between the second drive assembly and the gear.

[0019] Optionally, the second transmission assembly is a push rod, one end of which is connected to the second drive assembly, and the other end of which is connected to the cutting knife assembly, and the push rod is used to transmit the movement stroke of the second drive assembly to the cutting knife assembly to push or pull back the cutting knife assembly;

[0020] The second driving assembly is further provided with a first end plane and a transmission connection port, wherein the first end plane is used to abut against the push rod to increase the contact area between the second driving assembly and the push rod;

[0021] The transmission connection port is used for clamping with one end of the push rod.

[0022] Optionally, optionally, the second transmission assembly is a cylindrical push rod.

[0023] Optionally, the first transmission assembly includes a connecting rod assembly, a sleeve push block, an outer sleeve and a joint motion head which are sequentially connected in transmission.

[0024] One end of the connecting rod assembly is connected to the first driving assembly, and the other end is connected to the sleeve push block. The connecting rod assembly transmits the movement stroke of the first driving assembly to the sleeve push block, and then transmits it to the end actuator via the outer sleeve and the joint motion head in sequence, so as to drive the end actuator to open or close.

[0025] Optionally, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is hingedly connected to the sleeve push block through a pin, and the other end of the first connecting rod is hingedly connected to one end of the second connecting rod and the third connecting rod;

[0026] The other end of the second connecting rod is hingedly connected to the housing of the surgical instrument through a pin, and the other end of the third connecting rod is hingedly connected to the first driving assembly through a pin.

[0027] Optionally, the first drive assembly is further provided with a third tooth feature, and the first transmission assembly comprises a connecting rod gear, a sleeve push block, an outer sleeve and a joint motion head which are sequentially connected in transmission;

[0028] When the movement stroke of the first drive assembly is less than the first movement stroke, the connecting rod gear meshes with the third tooth feature to transmit the movement stroke of the first drive assembly to the sleeve push block, and then to the end actuator via the outer sleeve and the joint motion head in sequence, so as to drive the end actuator to open or close;

[0029] When the second driving assembly is connected to the power mechanism in transmission, the connecting rod gear remains stationary so that the end actuator remains closed.

[0030] Optionally, a protruding cylinder is provided on the side of the connecting rod gear, and the sleeve push block is provided with an extension arm, and the extension arm has an extension arm plane and an extension arm curved surface;

[0031] When the movement stroke of the first driving assembly is smaller than the first movement stroke, the connecting rod gear rotates, the protruding cylinder contacts the plane of the extension arm and pushes the sleeve push block to move;

[0032] When the second driving assembly is in transmission connection with the power mechanism, the raised cylinder abuts against the curved surface of the extension arm.

[0033] Optionally, a raised cylinder is provided on the side of the connecting rod gear, and the sleeve push block is connected to the connecting rod gear through a connecting rod transmission. One end of the connecting rod is provided with a hole for accommodating the raised cylinder, and the other end is hinged to the sleeve push block.

[0034] Optionally, an elastic member is provided between the sleeve push block and the outer sleeve to provide a thrust for the sleeve push block to return to an initial position; the initial position refers to the position of the sleeve push block when the end actuator is in an open state.

[0035] Optionally, the gear is a motor output gear, and the motor output gear is fixedly mounted on an output shaft of the motor;

[0036] The first drive assembly and the second drive assembly are meshed with the motor output gear.

[0037] Optionally, the gear includes a motor output gear and a first gear, and the first gear is meshingly transmission-connected with the motor output gear.

[0038] The power mechanism further comprises a manual knife retracting mechanism, which is connected to the first gear and is used to control the disconnection of the transmission connection between the first gear and the first drive assembly and / or the second drive assembly;

[0039] The first drive assembly and the second drive assembly are meshed with the first gear.

[0040] The present invention also provides a surgical instrument, comprising a handle assembly, an end actuator, a cutting knife assembly, and also comprising a driving device as described above, wherein a power mechanism of the driving device is installed in the handle assembly, and the power mechanism adopts a motor to drive the end actuator to open or close by forward or reverse rotation, and drive the cutting knife assembly to move forward or backward.

[0041] The present invention provides a surgical instrument and a driving device thereof, which are slidably connected to each other through a first driving component and a second driving component. When the movement stroke of the first driving component is smaller than the first movement stroke, the first driving component slides relative to the second driving component; when the movement stroke of the first driving component is close to or equal to the first transmission stroke, the first driving component contacts the second driving component, so that the second driving component is transmission-connected to the power mechanism; after the second driving component is transmission-connected to the power mechanism, the first driving component disconnects from the power mechanism, thereby realizing that the power mechanism drives the end actuator to open or close, and can also drive the cutting knife assembly to move forward or backward.

[0042] A surgical instrument and a driving device thereof provided by the present invention have the advantages of simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A schematic diagram of the overall structure of an end effector of a surgical instrument provided by the present invention when it is opened;

[0045] Figure 2 A schematic diagram of the overall structure of a surgical instrument end effector when closed provided by the present invention;

[0046] Figure 3 It is an exploded schematic diagram of the overall structure of a surgical instrument of the present invention;

[0047] Figure 4 A cross-sectional schematic diagram of a partial structure of an end effector of a surgical instrument provided by the present invention when it is opened;

[0048] Figure 5 for Figure 4 The structural schematic diagram of part A is shown;

[0049] Figure 6 A cross-sectional schematic diagram of a partial structure of an end effector of a surgical instrument provided by the present invention when it is opened;

[0050] Figure 7 It is a partial structural schematic diagram of a driving mechanism of a surgical instrument of the present invention;

[0051] Figure 8 It is a structural schematic diagram of a sleeve push block of a surgical instrument of the present invention;

[0052] Fig. 9 It is a structural schematic diagram of a second drive assembly of a surgical instrument of the present invention;

[0053] Fig.10 It is a structural schematic diagram of a first driving assembly of a surgical instrument of the present invention;

[0054] Fig.11 A cross-sectional schematic diagram of a partial structure of a surgical instrument end effector when closed provided by the present invention;

[0055] Fig.12 It is an exploded schematic diagram of the overall structure of a surgical instrument of the present invention;

[0056] Fig.13 A cross-sectional schematic diagram of a partial structure of an end effector of a surgical instrument provided by the present invention when it is opened;

[0057] Fig.14 for Fig.13 Another structural diagram from the back side;

[0058] Fig.15 It is a structural schematic diagram of a sleeve push block of a surgical instrument of the present invention;

[0059] Fig.16 It is a schematic structural diagram of a connecting rod gear of a surgical instrument of the present invention;

[0060] Fig.17 A cross-sectional schematic diagram of a partial structure of a surgical instrument end effector when closed provided by the present invention;

[0061] Fig.18 for Fig.17 An enlarged schematic diagram of a part of the structure when the end effector is closed;

[0062] Fig.19 A schematic diagram of a partial structure of an actuator of a surgical instrument provided in another embodiment of the present invention when it is opened;

[0063] Fig. 20 A schematic diagram of a partial structure of a surgical instrument actuator when closed provided in another embodiment of the present invention

[0064] Fig.21 A schematic structural diagram of a connecting rod of a surgical instrument provided in another embodiment of the present invention;

[0065] Fig. 22 It is a structural schematic diagram of a sleeve push block of a surgical instrument provided in another embodiment of the present invention;

[0066] Fig.23for Fig. 20 An enlarged schematic diagram of part of the structure when the end effector is closed. DETAILED DESCRIPTION

[0067] The core of the present invention is to provide a driving device and a surgical instrument for a surgical instrument, which can realize the motion control of the end actuator and the cutting knife assembly through a single motor, has a simple structure and low cost, and solves the problems in the prior art that gear processing is more complicated, the structure is complex, and the manufacturing cost is high.

[0068] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0069] Please refer to Figure 1-Figure 23 , Figure 1-Figure 3 The figure is a schematic diagram of the overall structure of a surgical instrument provided by the present invention. The present invention provides a surgical instrument 100, which includes an end actuator 1, a cutting knife assembly 2, a power mechanism 3, a driving mechanism 4, a transmission mechanism 5 and a handle assembly 6. The power mechanism 3, the driving mechanism 4 and the transmission mechanism 5 are driving devices for the surgical instrument 100. A motor 31 is used in the power mechanism 3, which drives the end actuator 1 to open or close by forward or reverse rotation, and can also drive the cutting knife assembly 2 to move forward or backward. It uses a single motor as the output power to realize the driving of two sets of actions with a timing difference in motion, that is, first driving the end actuator 1 to open or close, and then driving the cutting knife assembly 2 to move forward or backward. Two sets of actions are realized, namely, first closing the anvil and then driving the cutting knife to cut, and first driving the cutting knife to retract and then opening the anvil.

[0070] The driving device is described in detail below.

[0071] like Figure 1-Figure 11As shown, the drive device includes a power mechanism 3, a drive mechanism 4 and a transmission mechanism 5. The drive mechanism 4 includes a first drive assembly 41 and a second drive assembly 42. The transmission mechanism 5 includes a first transmission assembly 51 and a second transmission assembly 52. ​​The first drive assembly 41 is transmission-connected to the first transmission assembly 51 to drive the end actuator 1 to open or close. The second drive assembly 42 is transmission-connected to the second transmission assembly 52 to drive the cutting knife assembly 2 to move forward or backward. The first drive assembly 41 and the second drive assembly 42 are slidably connected to each other. The first drive assembly 41 has a first motion stroke d. When the movement stroke of the first drive assembly 41 is less than the first movement stroke d, the first drive assembly 41 slides relative to the second drive assembly 42; when the movement stroke of the first drive assembly 41 is close to or equal to the first transmission stroke d, the first drive assembly 41 contacts the second drive assembly 42, so that the second drive assembly 42 is in transmission connection with the power mechanism 3; after the second drive assembly 42 is in transmission connection with the power mechanism 3, the first drive assembly 41 is disconnected from the power mechanism 3, so that when the power mechanism 3 continues to provide power output, the first drive assembly 41 no longer moves, thereby avoiding the end effector 1 from still having power transmission output after the end effector 1 is closed or opened. Among them, the first movement stroke d is the movement stroke of the first drive assembly 41 when the end effector 1 changes from opening to closing or from closing to opening.

[0072] In a specific embodiment, the first drive assembly 41 and the second drive assembly 42 are both long strip-shaped racks. Long strip-shaped racks have the advantages of simple processing, easy installation, high dimensional stability, and high transmission accuracy. Fig. 9 and Fig.10As shown, a convex guide rail 410 is provided on one side of the first drive assembly 41, and a groove guide rail 420 is correspondingly provided on the second drive assembly 42. The length of the groove guide rail 420 is greater than the length of the convex guide rail 410, so that the convex guide rail 410 can be slidably assembled in the groove guide rail 420. When the surgical instrument 100 is in the initial position (the initial position refers to the position when the end effector 1 is fully opened), after the first drive assembly 41 and the second drive assembly 42 are assembled, the convex guide rail 410 is located inside the groove guide rail 420, and the convex guide rail 410 has a reserved distance from one end of the groove guide rail 420 (the end close to the end effector 1), and the reserved distance is approximately equal to the first motion stroke d. Therefore, when the switch is touched, the power mechanism 3 provides power to drive the first drive assembly 41 to slide along the groove guide rail 420, and at the same time, the first drive assembly 41 pushes the end effector 1 to gradually close through the first transmission assembly 51. When the end actuator 1 completes closing, the first drive component 41 slides along the groove guide rail 420 for a distance of the first movement stroke d and contacts the wall surface at the front end of the groove guide rail 420. At this point, the power mechanism 3 is disengaged from the rack of the first drive component 41, and at the same time establishes a meshing transmission connection with the second drive component 42; the power mechanism 3 continues to output power, and the second drive component 42 moves accordingly. The second drive component 42 pushes the cutting knife component 2 forward through the second transmission component 52, thereby realizing the cutting action and completing the cutting operation on the tissue. While the cutting is being advanced, the first drive component 41 remains in the groove guide rail 420 and does not move (during this process, the second drive component 42 still slides relative to the first drive component 41).

[0073] In another embodiment, when the end actuator 1 completes closing, the first drive component 41 slides along the groove guide rail 420 for a first movement stroke d and contacts the wall surface at the front end of the groove guide rail 420, and 1-3 teeth are still engaged between the teeth of the power mechanism 3 and the rack of the first drive component 41. At this time, the angle between the second connecting rod 5102 and the third connecting rod 5103 is an acute angle, that is, the power mechanism 3 is engaged with both the first drive component 41 and the second drive component 42 at the same time. At this time, the power mechanism 3 continues to output power. On the one hand, the first drive component 41 continues to move a movement stroke of 1-3 teeth, so that the angle between the second connecting rod 5102 and the third connecting rod 5103 changes from an acute angle to an obtuse angle. At this time, due to the characteristics of the connecting rod, in this short distance, the rotation of the third connecting rod 5103 does not cause obvious movement of the sleeve push block 511; on the other hand, the power mechanism 3 establishes a meshing transmission connection with the second drive component 42, so that the second drive component 42 starts to move accordingly, thereby realizing the feed action.

[0074] It should be understood by those skilled in the art that the first drive assembly 41 and the second drive assembly 42 may also be in other shapes, such as arc shape, wave shape, etc. The purpose is that the first drive assembly 41 and the second drive assembly 42 can slide relative to each other, and when the first drive assembly 41 slides close to or equal to or slightly greater than the first motion stroke d (where close to or slightly greater than the first transmission stroke d refers to the stroke of the first drive assembly 41 and the gear 32 through the meshing transmission of 1-3 teeth), it can resist the second drive assembly 42, so that the second drive assembly 42 starts or is about to start to mesh with the power mechanism 3, and then the power mechanism 3 can drive the second drive assembly 42 to move.

[0075] Specifically, the power mechanism 3 includes a motor 31. The motor 31 has a gear 32 for outputting its power. The gear 32 is used to transmit the power of the motor 31 to the first drive assembly 41 and / or the second drive assembly 42.

[0076] like Fig.10 As shown, the first drive assembly 41 is provided with a first tooth feature 411 and a first plane feature 412. The tooth surface height of the first tooth feature 411 is higher than that of the first plane feature 412. The first tooth feature 411 is used to mesh with the gear 32 of the power mechanism 3. When the second drive assembly 42 is connected to the power mechanism 3 in transmission (i.e., after the first drive assembly 41 slides along the groove guide rail 420 for a distance of the first movement stroke d), at this time, since 1-3 teeth at the distal end (the end away from the end effector 1) of the first tooth feature 411 and 1-3 teeth at the proximal end (the end close to the end effector 1) of the second tooth feature 421 can mesh with the gear 32 at the same time, after the common meshing process, the teeth of the gear 32 will be located at the position of the first plane feature 412 of the first drive assembly 41 due to the movement of the first drive assembly 41, and there is no tooth structure at this position, so that the first drive assembly 41 is disconnected from the meshing with the gear 32 through the first plane feature 412, and at the same time, the second drive assembly 42 establishes a meshing transmission connection relationship with the power mechanism 3.

[0077] like Fig.10 As shown, the second drive component 42 is provided with a second tooth feature 421 and a second plane feature 422, and the tooth surface height of the second tooth feature 421 is higher than the second plane feature 422. The length of the second plane feature 422 is not less than the length of the meshing area between the second drive component 42 and the gear 32. Optionally, the second plane feature 422 can be a plane or a concave cut-out feature. The function of the second plane feature 422 is to provide an avoidance space for the teeth of the gear 32 when the first drive component 41 is meshing with the gear 32 (that is, when the movement stroke of the first drive component 41 is less than the first movement stroke d) to avoid the meshing of the second drive component 42 with the gear 32, so that the second drive component 42 is stationary during this process.

[0078] When the movement stroke of the first driving component 41 is close to or equal to the first transmission stroke d, the second tooth feature 421 meshes with the gear 32. Optionally, the first driving component 41 and the second driving component 42 are in an upper-lower assembly relationship, and the first tooth feature 411 and the second tooth feature 421 are located on the side of the same direction to facilitate meshing with the gear 32.

[0079] When the movement stroke of the first drive component 41 is close to or equal to the first transmission stroke d, the front end of the raised guide rail 410 of the first drive component 41 contacts the wall surface of the front end of the groove guide rail 420. At this time, 1-3 teeth at the distal end (the end away from the end actuator 1) of the first tooth feature 411 and 1-3 teeth at the proximal end (the end close to the end actuator 1) of the second tooth feature 421 can engage with the gear 32 at the same time, so that the gear 32 can easily transition from engagement with the first drive component 41 to engagement with the second drive component 42.

[0080] like Fig. 9 As shown, the first driving assembly 41 is provided with a hinge hole 413 for hingedly connecting the first transmission assembly 51. Specifically, as Figure 3-Figure 6 , Figure 8 and Fig.11 As shown, the first transmission assembly 51 includes a connecting rod assembly 510, a sleeve push block 511, an outer sleeve 512 and a joint motion head 513 which are sequentially connected. One end of the connecting rod assembly 510 is connected to the first driving assembly 41, and the other end is connected to the sleeve push block 511. The connecting rod assembly 510 transmits the movement stroke of the first driving assembly 41 to the sleeve push block 511, and then transmits it to the end actuator 1 via the outer sleeve 512 and the joint motion head 513 in sequence, so as to drive the end actuator 1 to open or close. When the first driving assembly 41 moves in a direction close to the end actuator 1, it can sequentially push the connecting rod assembly 510, the sleeve push block 511, the outer sleeve 512 and the joint motion head 513 to move forward, thereby realizing the closing process of the end actuator 1. When the first driving assembly 41 moves in a direction away from the end actuator 1 , it can pull the connecting rod assembly 510 , the sleeve push block 511 , the outer sleeve 512 and the joint motion head 513 backward in sequence, thereby realizing the opening process of the end actuator 1 .

[0081] Specifically, the connecting rod assembly 510 includes a first connecting rod 5101, a second connecting rod 5102 and a third connecting rod 5103. One end of the first connecting rod 5101 is hinged to the sleeve push block 511 through a pin, and the other end of the first connecting rod 5101 is hinged to the second connecting rod 5102 and one end of the third connecting rod 5103. The other end of the second connecting rod 5102 is hinged to the housing of the surgical instrument 100 through a pin, and the other end of the third connecting rod 5103 is hinged to the hinge hole 413 of the first drive assembly 41 through a pin. The pin hinges at the ends of the first connecting rod 5101, the second connecting rod 5102 and the third connecting rod 5103 that are away from each other can form three vertices of a triangle. Figure 4-Figure 6 As shown, when the end effector 1 is in the open state, the first link 5101, the second link 5102 and the third link 5103 are assembled. At this time, the end points of the first link 5101, the second link 5102 and the third link 5103 that are far away from each other can form the three vertices of a triangle. Fig.11 As shown, when the first drive assembly 41 is disconnected from the power mechanism 3, the angle between the third connecting rod 5103 and the second connecting rod 5102 is an obtuse angle. That is, when the sleeve push block 511 is subjected to a combined external force in the proximal direction, the third connecting rod 5103 will generate a combined external force in the distal direction on the first drive assembly 41, ensuring that the first drive assembly 41 will not have a tendency to move in the proximal direction, and ensuring that the first drive assembly 41 will not move in the proximal direction during the cutting process.

[0082] like Figure 6 , Figure 7 As shown, the second transmission assembly 52 is a push rod. Optionally, the second transmission assembly 52 is a cylindrical push rod. One end of the push rod is connected to the second drive assembly 42, and the other end is connected to the cutting knife assembly 2. The push rod is used to transmit the motion stroke of the second drive assembly 42 to the cutting knife assembly 2 to push or pull back the cutting knife assembly 2.

[0083] like Fig. 9 As shown, the second drive assembly 42 is also provided with a first end plane 423 and a transmission connection port 424. The first end plane 423 is used to abut against the end of the push rod to increase the contact area between the second drive assembly 42 and the push rod and improve the stability during transmission. The end of the push rod is provided with a corresponding clamping structure, and the transmission connection port 424 is used to clamp with one end of the push rod. The push rod moves inside the outer sleeve of the surgical instrument 100.

[0084] In a specific embodiment, the gear 32 is a motor output gear 321. The motor output gear 321 is fixedly mounted on the output shaft of the motor 31. The first drive assembly 41 and the second drive assembly 42 can directly mesh with the motor output gear 321.

[0085] In another specific embodiment, the gear 32 includes a motor output gear 321 and a first gear 322. The first gear 322 is meshed and transmission-connected with the motor output gear 321. The first drive assembly 41 and the second drive assembly 42 are meshed with the first gear 322. The power mechanism 3 also includes a manual retracting mechanism (not shown). The manual retracting mechanism is connected to the first gear 322 to control the disconnection of the transmission connection between the first gear 322 and the first drive assembly 41 and / or the second drive assembly 42. When a jam occurs (such as the end effector 1 and / or the cutting knife assembly 2 is jammed and cannot be electrically controlled), the meshing between the first gear 322 and the first drive assembly 41 and / or the second drive assembly 42 can be disconnected by the manual retracting mechanism, thereby manually controlling the end effector 1 and / or the cutting knife assembly 2 to return to its original position.

[0086] The surgical instrument 100 and its driving device provided by the present invention, when working, the gear 32 of the power mechanism 3 can establish a meshing transmission connection with the first drive assembly 41 and the second drive assembly 42 or disconnect the meshing transmission connection, so that the power can be selectively transmitted. When the surgical instrument 100 is in the initial state (that is, when the end actuator 1 is fully opened), at this time, the first drive assembly 41 and the power mechanism 3 remain in a meshing state, and the second drive assembly 42 and the power mechanism 3 are in a disengaged state. When the switch is triggered, the motor 31 starts to work, the gear 32 rotates, and drives the first drive assembly 41 to move, and then through the first transmission assembly 51, that is, pushes the connecting rod assembly 510, the sleeve push block 511, the outer sleeve 512 and the joint motion head 513 forward in sequence. The first drive assembly 41, the third connecting rod 5103, the second connecting rod 5102 and the frame form a slider connecting rod mechanism. The movement of the first drive assembly 41 will drive the third connecting rod 5103 to swing counterclockwise, and the third connecting rod 5103 will swing counterclockwise. The needle swing rotation will simultaneously drive the second connecting rod 5102 to rotate counterclockwise around the pivot center. The second connecting rod 5102, the first connecting rod 5101, the sleeve push block 511 and the frame constitute a crank-connecting rod slider mechanism. The rotation of the second connecting rod 5102 can simultaneously drive the sleeve push block 511 to move. When the second connecting rod 5102 rotates counterclockwise, the sleeve push block 511 moves toward the distal end, thereby realizing the closing process of the end actuator 1; the process from closing to opening of the end actuator 1 is the opposite, and will not be repeated one by one.

[0087] When the movement stroke of the first drive component 41 is close to or equal to the first movement stroke d, the first drive component 41 slides along the groove guide rail 420 for the distance of the first movement stroke d and contacts the wall surface at the front end of the groove guide rail 420. At this point, the power mechanism 3 is disengaged from the rack of the first drive component 41 and establishes a meshing transmission connection with the second drive component 42. The power mechanism 3 continues to output power, and the second drive component 42 moves accordingly. The second drive component 42 pushes the cutting knife component 2 forward through the second transmission component 52, thereby realizing the cutting action and the cutting function, thereby completing the cutting operation on the tissue. During this cutting operation, the first drive component 41 remains in the groove guide rail 420 and does not move.

[0088] There is a transmission connection relationship between the second drive component 42, the second transmission component 52, and the cutting knife component 2. The second drive component 42 moving toward the distal end can make the cutting knife component 2 move toward the distal end to achieve the cutting function. The second drive component 42 moving toward the proximal end can make the cutting knife component 2 move toward the proximal end to achieve the retracting function.

[0089] In another embodiment, Figure 12-Figure 23 In the embodiment, the other side of the first drive assembly 41 is provided with a third tooth feature 413. The first transmission assembly 51 includes a connecting rod gear 510, a sleeve push block 511, an outer sleeve 512 and a joint motion head 513 which are sequentially connected in transmission. When the movement stroke of the first drive assembly 41 is less than the first movement stroke d, the connecting rod gear 510 meshes with the third tooth feature 413 to transmit the movement stroke of the first drive assembly 41 to the sleeve push block 511, and then sequentially transmits it to the end actuator 1 via the outer sleeve 512 and the joint motion head 513, so as to drive the end actuator 1 to open or close. When the second drive assembly 42 is connected in transmission with the power mechanism 3, the connecting rod gear 510 is disengaged from the first drive assembly 41 through the third plane feature 413, and the connecting rod gear 510 remains stationary, so that the end actuator 1 remains closed. Since the first drive assembly 41 will be disconnected from the power mechanism 3, the first drive assembly 41 remains stationary. At this time, even if the connecting rod gear 510 is still meshed with the first drive assembly 41, it can still remain stationary, thereby keeping the end actuator 1 closed.

[0090] During assembly, the third tooth feature 413 is located on the lower side of the first driving assembly 41 , and the connecting rod gear 510 is rotatably mounted on the housing via a pin, with its tooth structure meshing with the third tooth feature 413 .

[0091] like Fig.16As shown, two protruding cylinders 5101 are provided on opposite sides of the side of the connecting rod gear 510. The sleeve push block 511 is provided with an extension arm 5111, and the extension arm 5111 has an extension arm plane 5112 and an extension arm curved surface 5113. An elastic member 5114 is provided between the sleeve push block 511 and the outer sleeve 512. The elastic member 5114 is used to provide a thrust for the sleeve push block 511 to return to the initial position. The initial position refers to the position of the sleeve push block 511 when the end actuator 1 is in the open state. After assembly, when the end actuator 1 is in the fully open state, the tooth structure of the connecting rod gear 510 maintains a meshing state with the third tooth feature 413, the protruding cylinder 5101 conflicts with the extension arm plane 5112, and at the same time, the gear 32 of the power mechanism 3 maintains a meshing transmission state with the first drive assembly 41.

[0092] The process of the end effector 1 from opening to closing is as follows: when the surgical instrument 100 is in the initial state (i.e., when the end effector 1 is fully opened), at this time, the first drive component 41 maintains an engaged state with the power mechanism 3, and the second drive component 42 is disengaged from the power mechanism 3. When the switch is triggered, the motor 31 starts working, the gear 32 rotates, and drives the first drive component 41 to move, and then through the meshing transmission of the tooth structure of the connecting rod gear 510 and the third tooth feature 413, the movement of the first drive component 41 is transmitted to the rotation of the connecting rod gear 510, and the raised cylinder 5101 rotates accordingly, which can push the sleeve push block 511 to move toward the direction of the end effector 1, and then push the outer sleeve 512 and the joint motion head 513 to move forward, realizing the closing process of the end effector 1. The process of the end effector 1 from closing to opening is the opposite of this, and will not be repeated one by one. Fig.13 and Fig.14 , which is a schematic diagram of the assembly positions and relationships of the various components when the surgical instrument 100 is in an initial state (ie, when the end effector 1 is fully opened).

[0093] like Fig.17 and Fig.18 The figure shows the assembly position and relationship of the components when the end effector 1 of the surgical instrument 100 is in a closed state. At this time, when the end effector 1 is fully closed, the first drive assembly 41 moves toward the distal end before the first drive assembly 41 and the gear 32 are completely disengaged, but the sleeve push block 511 remains stationary. At this time, the elastic member 5114 of the sleeve push block 511 is in a squeezed and deformed state, and the sleeve push block 511 is subjected to an elastic force in the direction of the handle assembly 6, which is manifested at the extension arm curved surface 5113, that is, the extension arm curved surface 5113 squeezes the protruding cylinder 5101, so that the protruding cylinder 5101 is subjected to a force F that is roughly toward and slightly deviates from the center of the pivot center hole of the connecting rod gear 510. The schematic diagram of the force F can be referred to. Fig.18As shown, the connecting rod gear 510 is prevented from rotating, so that the end effector 1 remains closed. In this embodiment, the ingenious design of the inclined surface (or arc surface) of the extension arm curved surface 5113 controls the force direction of the protruding cylinder 5101 when the end effector 1 is closed, avoiding the problem of unstable closing of the end effector 1 caused by the rotation of the connecting rod gear 510, ensuring that the first drive assembly 41 will not have a tendency to move toward the proximal direction, and ensuring that the first drive assembly 41 will not move toward the direction of the handle assembly 6 during the cutting process.

[0094] like Figure 19-Figure 23 As shown, in another embodiment of the present invention, the connecting rod gear 510 and the sleeve push block 511 are connected to each other through a connecting rod 514. The structure of the connecting rod 514 is as follows: Fig.21 As shown. Two protruding cylinders 5101 are arranged opposite to each other on two sides of the connecting rod gear 510. A hole 5142 is arranged at one end of the connecting rod 514 to accommodate the two protruding cylinders 5101. A hinge hole 5141 is arranged at the other end of the connecting rod 514, and the hinge hole 5141 is used to install a pin to be hingedly connected with the sleeve push block 511. The structure of the sleeve push block 511 is as shown in FIG. Fig. 22 shown.

[0095] The process of the end effector 1 from opening to closing is as follows: when the surgical instrument 100 is in the initial state (i.e., when the end effector 1 is fully opened), at this time, the first drive component 41 maintains an engaged state with the power mechanism 3, and the second drive component 42 is disengaged from the power mechanism 3. When the switch is triggered, the motor 31 starts working, the gear 32 rotates, and drives the first drive component 41 to move, and then through the meshing transmission of the tooth structure of the connecting rod gear 510 and the third tooth feature 413, the movement of the first drive component 41 is transmitted to the connecting rod gear 510, so that the connecting rod gear 510 starts to rotate, and the raised cylinder 5101 rotates accordingly, and the sleeve push block 511 can be pushed toward the direction of the end effector 1 through the connecting rod 514, and then the outer sleeve 512 and the joint motion head 513 are pushed forward to realize the closing process of the end effector 1. The process of the end effector 1 from closing to opening is the opposite of this, and will not be repeated one by one. Fig.19 As shown, it is a schematic diagram of the assembly positions and relationships of the various components when the surgical instrument 100 is in the initial state (i.e., when the end effector 1 is fully opened). Fig. 20 As shown, it is a schematic diagram of the assembly positions and relationships of the various components when the end effector 1 of the surgical instrument 100 is fully closed.

[0096] like Fig.23As shown, the first drive assembly 41 is disengaged from the gear 32, the gear 32 is engaged with the second drive assembly 42, and the second drive assembly 42 moves toward the end effector 1. At this time, the end surface of the groove guide rail 420 of the second drive assembly 42 is disengaged from the end surface of the protruding guide rail 410 of the first drive assembly 41, that is, there is no contact. At this time, the connecting line direction of the hinge hole 5141 and the hole 5142 of the connecting rod 514 is located below the center of the pivot center hole of the connecting rod gear 510. Fig.23 As shown, the vertical distance between the center of the pivot center hole of the connecting rod gear 510 and the line connecting the hinge hole 5141 and the hole 5142 is d1, and d1 is not less than 0. In this embodiment, by designing the position of the connecting rod 514, when the end effector 1 is closed, the force direction of the connecting rod gear 510 is controlled to avoid the problem of unstable closing of the end effector 1 caused by the rotation of the connecting rod gear 510, and ensure that the first drive assembly 41 will not have a tendency to move in the direction of the handle assembly 6, and ensure that the first drive assembly 41 will not move in the direction of the handle assembly 6 during the feeding process.

[0097] The surgical instrument 100 and its driving device provided by the present invention use a single motor 31 to output power to achieve the driving of two sets of actions with a difference in motion timing. It uses the difference in the distances of the first driving assembly 41 and the second driving assembly 42 driven by the motor 31 to set the guide rail length and assembly position to achieve the first driving assembly 41 and the second driving assembly 42 to move in sequence. At the same time, combined with its connecting rod assembly 510, it has the advantages of relatively simple parts, easy installation, high dimensional stability, and high rotation accuracy.

[0098] It should be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0099] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A driving device for a surgical instrument, the electric surgical instrument comprising an end effector and a cutting knife assembly, characterized in that: Including power mechanism, drive mechanism and transmission mechanism, The driving mechanism includes a first driving assembly and a second driving assembly, and the transmission mechanism includes a first transmission assembly and a second transmission assembly. The first drive assembly is in driving connection with the first transmission assembly to drive the end actuator to open or close, and the second drive assembly is in driving connection with the second transmission assembly to drive the cutting knife assembly to move forward or backward; The first drive assembly and the second drive assembly are slidably connected to each other, the first drive assembly has a first motion stroke, and when the motion stroke of the first drive assembly is smaller than the first motion stroke, the power mechanism drives the first drive assembly to slide relative to the second drive assembly; When the movement stroke of the first drive component is close to or equal to the first movement stroke, the first drive component contacts the second drive component, so that the second drive component is connected to the power mechanism in transmission; when the second drive component is connected to the power mechanism in transmission, the first drive component is disconnected from the power mechanism in transmission. The first movement stroke is the movement stroke of the first drive assembly when the end actuator moves from open to closed or from closed to open.

2. The driving device for surgical instruments according to claim 1, characterized in that: A convex guide rail is disposed on one side of the first driving component, and a groove guide rail is correspondingly disposed on the second driving component. The length of the groove guide rail is greater than that of the convex guide rail, so that the convex guide rail can be slidably assembled in the groove guide rail.

3. The driving device for surgical instruments according to claim 1 or 2, characterized in that: The power mechanism comprises a motor and a gear, the first driving assembly is provided with a first tooth feature and a first plane feature, the tooth surface height of the first tooth feature is higher than the first plane feature, and the first tooth feature is used to mesh with the gear of the power mechanism; When the second driving assembly is in transmission connection with the power mechanism, the first driving assembly is disconnected from the gear through the first plane feature.

4. The driving device for surgical instruments according to claim 3, characterized in that: The second drive assembly is provided with a second tooth feature and a second plane feature, and the tooth surface height of the second tooth feature is higher than that of the second plane feature; When the movement stroke of the first driving component is smaller than the first movement stroke, the second plane feature is used to provide an escape space for the teeth of the gear; When the movement stroke of the first driving component is close to or equal to or slightly greater than the first movement stroke, the second tooth feature is meshed with the gear; The term “close to or slightly greater than the first movement stroke” refers to the movement stroke of the first drive component and the gear through meshing transmission of 1 to 3 teeth.

5. The driving device for surgical instruments according to claim 4, characterized in that: The first driving assembly and the second driving assembly are both long strip-shaped racks; The length of the second planar feature is not less than the length of the meshing area between the second drive assembly and the gear.

6. The driving device for surgical instruments according to claim 4, characterized in that: The second transmission assembly is a push rod, one end of which is connected to the second drive assembly, and the other end of which is connected to the cutting knife assembly. The push rod is used to transmit the movement stroke of the second drive assembly to the cutting knife assembly to push or pull back the cutting knife assembly. The second driving assembly is further provided with a first end plane and a transmission connection port, wherein the first end plane is used to abut against the push rod to increase the contact area between the second driving assembly and the push rod; The transmission connection port is used for clamping with one end of the push rod.

7. The driving device for surgical instruments according to claim 6, characterized in that: The second transmission component is a cylindrical push rod.

8. The driving device for surgical instruments according to claim 3, characterized in that: The first transmission assembly includes a connecting rod assembly, a sleeve push block, an outer sleeve and a joint motion head which are sequentially connected in transmission. One end of the connecting rod assembly is connected to the first driving assembly, and the other end is connected to the sleeve push block. The connecting rod assembly transmits the movement stroke of the first driving assembly to the sleeve push block, and then transmits it to the end actuator via the outer sleeve and the joint motion head in sequence, so as to drive the end actuator to open or close.

9. The driving device for surgical instruments according to claim 8, characterized in that: The connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is hingedly connected to the sleeve push block through a pin, and the other end of the first connecting rod is hingedly connected to one end of the second connecting rod and the third connecting rod; The other end of the second connecting rod is hingedly connected to the housing of the surgical instrument through a pin, and the other end of the third connecting rod is hingedly connected to the first driving assembly through a pin.

10. The driving device for surgical instruments according to claim 9, characterized in that: The pin hinges at the ends of the first link, the second link and the third link that are away from each other can form three vertices of a triangle; When the first driving assembly is disconnected from the power mechanism, the angle between the third connecting rod and the second connecting rod is an obtuse angle.

11. The driving device for surgical instruments according to claim 4, characterized in that: The first drive assembly is also provided with a third tooth feature, and the first transmission assembly comprises a connecting rod gear, a sleeve push block, an outer sleeve and a joint motion head which are sequentially connected in transmission; When the movement stroke of the first drive assembly is less than the first movement stroke, the connecting rod gear meshes with the third tooth feature to transmit the movement stroke of the first drive assembly to the sleeve push block, and then to the end actuator via the outer sleeve and the joint motion head in sequence, so as to drive the end actuator to open or close; When the second driving assembly is connected to the power mechanism in transmission, the connecting rod gear remains stationary so that the end actuator remains closed.

12. The driving device for surgical instruments according to claim 11, characterized in that: The side surface of the connecting rod gear is provided with a protruding cylinder, and the sleeve push block is provided with an extension arm, and the extension arm has an extension arm plane and an extension arm curved surface; When the movement stroke of the first driving assembly is smaller than the first movement stroke, the connecting rod gear rotates, the protruding cylinder contacts the plane of the extension arm and pushes the sleeve push block to move; When the second driving assembly is in transmission connection with the power mechanism, the raised cylinder abuts against the curved surface of the extension arm.

13. The driving device for surgical instruments according to claim 11, characterized in that: A protruding cylinder is arranged on the side of the connecting rod gear, and the sleeve push block is connected to the connecting rod gear through a connecting rod transmission. One end of the connecting rod is provided with a hole for accommodating the protruding cylinder, and the other end is hinged to the sleeve push block.

14. The driving device for surgical instruments according to claim 12 or 13, characterized in that: An elastic member is provided between the sleeve push block and the outer sleeve to provide a thrust for the sleeve push block to return to an initial position; the initial position refers to the position of the sleeve push block when the end actuator is in an open state.

15. The driving device for surgical instruments according to claim 3, characterized in that: The gear is a motor output gear, and the motor output gear is fixedly mounted on the output shaft of the motor; The first drive assembly and the second drive assembly are meshed with the motor output gear.

16. The driving device for surgical instruments according to claim 3, characterized in that: The gear comprises a motor output gear and a first gear, the first gear is meshed and transmission-connected with the motor output gear, The power mechanism further comprises a manual knife retracting mechanism, which is connected to the first gear and is used to control the disconnection of the transmission connection between the first gear and the first drive assembly and / or the second drive assembly; The first drive assembly and the second drive assembly may both mesh with the first gear.

17. A surgical instrument, comprising a handle assembly, an end effector, and a cutting knife assembly, characterized in that: It also includes a driving device as described in any one of claims 1-16, wherein a power mechanism of the driving device is installed in the handle assembly, and the power mechanism adopts a motor to drive the end actuator to open or close by forward or reverse rotation, and drives the cutting knife assembly to move forward or backward.

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