Prostate binding nail device

Abstract

The invention relates to a prostate binding nail device which comprises an implanting mechanism and an operating mechanism, the implanting mechanism comprises a puncture needle assembly and a binding nail line assembly, and the operating mechanism comprises a first driving assembly, a second driving assembly and a third driving assembly, the actuating assembly comprises a puncture needle actuating piece, a binding nail line actuating piece and a first elastic piece; when pricking is carried out, the first rack provides linear driving force so as to trigger the actuating assembly to move to the pricking completion position from the initial position in the first direction, and pricking is carried out. When the needle is retracted, the first rack drives the puncture needle actuating piece to drive the puncture needle assembly to move in the second direction so as to finish needle retracting, and then the nail line binding actuating piece moves in the second direction under the elastic force of the first elastic piece so as to tension the nail line binding assembly, so that line retracting is achieved. The nail binding device is simpler and more convenient to operate, the nail binding efficiency can be improved, vibration and noise generated in the nail binding process are reduced, and the service life is long.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a prostate nailing device. Background Art

[0002] Benign prostatic hyperplasia is a common urological disease that is more common in elderly men. Its main clinical manifestations are progressive dysuria, frequent urination, and even urinary retention, which seriously affect the quality of life of elderly men.

[0003] At present, minimally invasive treatment methods such as transurethral electroresection and enucleation, and various laser surgeries are dominant. The methods are to reduce or remove the hyperplastic prostate glands in the capsule to reduce the squeezing or mechanical obstruction of the prostate urethra by the hyperplastic glands and relieve urethral obstruction. Since these minimally invasive treatment methods destroy the tissue structure of the prostate, they lead to more surgical complications.

[0004] Prostate nail implantation is an extremely minimally invasive surgical method. By implanting nails in the blocked prostate urethra, it tightens the enlarged prostate tissue, relieves the pressure on the urethra, and restores urination. Compared with traditional electroresection and enucleation, prostate nail implantation is not only less traumatic and safer, but also preserves the integrity of prostate function and avoids the complications that may be caused by traditional surgery.

[0005] CN114980823A provides a device for preventing instrument deployment failure, which provides mechanical driving force through the cooperation of parts such as a handle trigger assembly, a driving gear and a cam to drive the needle slider to drive the needle connector assembly and the suture needle assembly to move to achieve needle insertion, needle retraction and thread retraction. In this solution, since the single rotation angle of the cam is small and the driving stroke is limited, the user can only trigger one action each time he operates the handle trigger assembly. That is, in the entire process of completing a staple bundle, the user needs to manually operate the handle trigger assembly five times, corresponding to five steps: unlocking, needle insertion, needle retraction, thread retraction and clamping and cutting. The operation is cumbersome. In addition, the device is lightweight as a whole, and most of the transmission parts such as the driving gear and the cam are injection molded parts with special-shaped structures. The gear transmission is easily worn or damaged, which in turn affects the service life of the device. Summary of the invention

[0006] Based on the above-mentioned defects in the prior art, the purpose of the present invention is to provide a prostate stapling device, which directly provides a linear driving force through the cooperation of a first motor, a first gear and a first rack to trigger the execution of needle insertion, needle retraction and thread retraction, which is simpler to operate, can improve the stapling efficiency, reduce the vibration and noise generated during the stapling process, and has a long service life.

[0007] To this end, the present invention provides the following technical solutions.

[0008] The present invention provides a prostate stapler device, which comprises an implantation mechanism and an operation mechanism, wherein the implantation mechanism comprises a puncture needle assembly and a stapler wire assembly, and the operation mechanism comprises:

[0009] A first driving assembly includes a first motor, a first gear and a first rack that mesh with each other;

[0010] An actuating assembly, comprising a puncture needle actuating member, a staple line actuating member and a first elastic member, wherein the first elastic member is connected to the puncture needle actuating member and the staple line actuating member respectively, the puncture needle actuating member is transmission-connected to the puncture needle assembly, and the staple line actuating member is transmission-connected to the staple line assembly;

[0011] Wherein, when acupuncture is performed, the first rack provides a linear driving force to trigger the actuating assembly to move from an initial position along a first direction to a puncture completion position, and the puncture needle actuator drives the puncture needle assembly to move to acupuncture the prostate;

[0012] When the needle is retracted, the first rack drives the puncture needle actuator to drive the puncture needle assembly to move along the second direction to complete the needle retraction, and the first elastic member accumulates energy due to the pulling of the puncture needle actuator. Then, the staple line actuator moves along the second direction under the elastic force of the first elastic member to tighten the staple line assembly to achieve retraction; the first direction is opposite to the second direction.

[0013] Optionally, the operating mechanism further comprises a first trigger switch, which is used to trigger the operation of the first driving component;

[0014] When the actuating assembly is in the initial state, the first trigger switch is operated once to trigger the prostate stapler device to perform needle insertion, and then the first trigger switch is operated again to trigger the prostate stapler device to perform needle and line retraction.

[0015] Optionally, when the actuation assembly is in an initial state, the puncture needle actuator is locked; when puncture is performed, the first rack provides power to unlock the puncture needle actuator;

[0016] And / or, when the puncture needle assembly completes puncture or starts to retract the needle, the staple line actuator is locked; when retracting the needle, in the process of the first rack driving the puncture needle actuator to move in the second direction, the first rack provides power to unlock the staple line actuator, so that the staple line actuator can move in the second direction under the elastic force of the first elastic member.

[0017] Optionally, the actuating assembly further comprises:

[0018] A first mounting member, which is provided with a first guide rail, and the puncture needle actuator and the staple line actuator are respectively movably connected to the first guide rail;

[0019] A second elastic member, one end of which is connected to the first mounting member, and the other end of which is connected to the puncture needle actuator;

[0020] Wherein, when the actuating assembly is in the initial position, the puncture needle actuating member is locked and the second elastic member is in an energy storage state;

[0021] When puncturing, during the linear motion of the first rack, the first rack provides power to unlock the puncture needle actuator, and then the puncture needle actuator moves along the first direction to the puncture completion position under the elastic force of the second elastic member.

[0022] Optionally, the first mounting member is provided with a first locking structure and a second locking structure sequentially distributed along the first direction;

[0023] When the actuating assembly is in an initial state, the first locking structure can prevent the puncture needle actuator from moving in the first direction; when the puncture is performed, the first rack provides power to make the first locking structure give way and unlock, so that the puncture needle actuator can move in the first direction under the elastic force of the second elastic member;

[0024] When the puncture needle assembly completes puncture or starts to retract the needle, the second locking structure can prevent the staple line actuator from moving in the second direction; when retracting the needle, the first rack provides power to make the second locking structure give way and unlock, so that the staple line actuator moves in the second direction under the elastic force of the first elastic member to achieve retraction.

[0025] Optionally, the actuating assembly further comprises an unlocking member connected to the first rack, and the unlocking member is provided with a first unlocking structure and a second unlocking structure sequentially distributed along the first direction;

[0026] When acupuncture is performed, the first rack drives the unlocking member to move along the first direction, and the first locking structure is unlocked by the first unlocking structure;

[0027] When the needle is closed, the first rack drives the unlocking member to move along the second direction, and the second locking structure is unlocked by the second unlocking structure.

[0028] Optionally, the first locking structure comprises a first connecting arm, a first stopper and a first extending arm, one end of the first connecting arm is a free end, and the first stopper and the first extending arm are respectively connected to the free end of the first connecting arm;

[0029] When the actuating assembly is in an initial state, the puncture needle actuating member at least partially abuts against the first stop portion along the first direction and is locked; when the puncture needle is performed, during the movement of the unlocking member along the first direction, the first unlocking structure squeezes the first extension arm to deform the first connecting arm, thereby causing the first stop portion to shift and be unlocked;

[0030] And / or, the second locking structure comprises a second connecting arm, a second stopper and a second extension arm, one end of the second connecting arm is a free end, and the second stopper and the second extension arm are respectively connected to the free end of the second connecting arm;

[0031] When the puncture needle assembly completes the puncture or starts to retract the needle, the staple line actuator at least partially abuts against the second stop portion along the second direction and is locked; when the needle is retracted, during the movement of the unlocking member along the second direction, the second unlocking structure causes the second connecting arm to deform, thereby causing the second stop portion to shift and be unlocked.

[0032] Optionally, the puncture needle actuator, the staple line actuator and the first elastic member are all located on a side of the first mounting member facing the implantation mechanism, and the first drive assembly and the unlocking member are both located on a side of the first mounting member facing away from the implantation mechanism;

[0033] The first mounting member is provided with a first through hole extending in a first direction, the puncture needle actuator comprises a first convex block, the staple line actuator comprises a second convex block, the first convex block is provided with a first convex portion, and the second convex block is provided with a second convex portion;

[0034] The first protrusion is movably inserted into the first through hole, so that the first protrusion can abut against the first locking structure along a first direction and be locked;

[0035] The second protrusion is movably inserted into the first through hole, so that the second protrusion can abut against the second locking structure along the second direction to be locked.

[0036] Optionally, the puncture needle actuator includes a third protrusion, and the first rack is provided with a boss;

[0037] When the needle is withdrawn, the boss can abut against the third convex block along the second direction, so that the first rack drives the puncture needle actuator to move along the second direction to complete the needle withdrawal.

[0038] Optionally, the puncture needle actuator, the staple line actuator and the first elastic member are all located on a side of the first mounting member facing the implantation mechanism, and the first drive assembly and the unlocking member are both located on a side of the first mounting member facing away from the implantation mechanism;

[0039] The first mounting member is provided with a second through hole extending along the first direction, the third protrusion is movably inserted into the second through hole, and the third protrusion partially extends out of the second through hole;

[0040] and / or, when the actuating assembly is in the initial state, a spacing is left between the boss and the third protrusion in the first direction to prevent the boss from interfering with the movement of the puncture needle actuator 221 along the first direction to the puncture needle completion position;

[0041] When the needle is pierced, the first rack drives the unlocking member to move to the initial position of the unlocking member. At this time, the boss abuts against the third protrusion along the second direction, or a gap is left between the boss and the third protrusion.

[0042] Optionally, the first elastic member is a coil spring, the puncture needle actuator is provided with a first mounting post, the staple line actuator is provided with a clamping structure, one end of the first elastic member is wound around the first mounting post and the other end thereof is clamped to the clamping structure;

[0043] And / or, the puncture needle actuator and the staple line actuator are sequentially distributed along the first direction, and when the actuation assembly is in an initial state, under the action of the first elastic member, the staple line actuator abuts against the puncture needle actuator along the second direction, so that when the puncture is performed, the puncture needle actuator can drive the staple line actuator to move along the first direction;

[0044] And / or, the puncture needle actuator is provided with a first plug-in portion, the puncture needle assembly includes a second plug-in portion, and the first plug-in portion and the second plug-in portion are plugged into each other, so that the puncture needle actuator is in driving connection with the puncture needle assembly;

[0045] And / or, the staple line actuator is provided with a third plug-in portion, the staple line assembly includes a fourth plug-in portion, and the third plug-in portion and the fourth plug-in portion are plugged into each other, so that the staple line actuator is drivingly connected to the staple line assembly;

[0046] And / or, the implanting mechanism and the operating mechanism are detachably connected.

[0047] Optionally, the puncture needle assembly includes a puncture needle and a distal anchor, the distal anchor is pre-placed in the hollow puncture needle, and the staple line assembly includes a staple line, one end of which is connected to the distal anchor;

[0048] When the needle is inserted, the puncture needle and the distal anchor pass through the prostate; when the needle is withdrawn, the puncture needle is retracted and separated from the prostate, and the distal anchor remains on the distal side of the prostate; when the line is retracted, under the pulling of the suturing line, the distal anchor stretches and squeezes the distal side of the prostate.

[0049] Optionally, the operating mechanism further comprises a second driving assembly, which comprises a second motor, a second gear and a second rack meshing with each other; the implantation mechanism further comprises a clamping and cutting assembly, which comprises a proximal anchor and a cutter;

[0050] When the clamping and cutting assembly is in the initial state, it is locked;

[0051] When clamping and cutting are performed, the second rack provides power to unlock the clamping and cutting assembly, the proximal anchor clamps the staple line at the proximal end of the prostate, and then the cutter cuts the staple line so that the proximal anchor remains and squeezes the proximal side of the prostate.

[0052] Optionally, the operating mechanism further comprises a trigger member connected to the second rack;

[0053] When clamping and cutting are performed, the second rack drives the trigger member to move to contact the clamping and cutting assembly, and under the push of the trigger member, the clamping and cutting assembly is unlocked.

[0054] Optionally, the implant mechanism includes a second mounting member, and the clamping and cutting assembly includes:

[0055] a proximal anchor actuator movably mounted to the second mounting member;

[0056] a cutter actuating member movably mounted on the second mounting member;

[0057] a third elastic member, two ends of which are respectively connected to the proximal anchor member actuator and the cutter actuator;

[0058] a first locking member rotatably connected to the second mounting member;

[0059] a second locking member rotatably connected to the second mounting member;

[0060] When the clamping and cutting assembly is in an initial state, the first locking member locks the proximal anchor actuator, the second locking member locks the cutter actuator, and the third elastic member is in a tensioned state;

[0061] When clamping and cutting are performed, the trigger member moves under the drive of the second rack to push the first locking member to rotate and disengage from the proximal anchor member actuator. At the same time, the first locking member rotates to push the second locking member to rotate and disengage from the cutter actuator. Then, under the rebound force of the third elastic member, the proximal anchor member actuator and the cutter actuator move toward each other to achieve clamping and cutting.

[0062] Optionally, the operating mechanism further comprises a second trigger switch. When the prostate beam stabbing device is in a shutdown state, the second trigger switch is operated once to start the prostate beam stabbing device and automatically calibrate the prostate beam stabbing device to an initial state.

[0063] Optionally, the operating mechanism further comprises a first trigger switch, and the first trigger switch is operated once to trigger the second drive assembly to operate;

[0064] The operating mechanism further includes a housing and a first trigger switch, wherein the first trigger switch is used to trigger the operation of the first drive assembly and the second drive assembly, and the housing includes a handle;

[0065] The first trigger switch is disposed on the front side of the handle, and the second trigger switch is disposed on the rear side of the housing and above the handle;

[0066] And / or, the operating mechanism includes a first trigger switch, which is used to trigger the operation of the first drive assembly and the second drive assembly, the first trigger switch is a button switch, and the second trigger switch is a rocker switch;

[0067] And / or, the second rack can move along a third direction, and the third direction is perpendicular to the first direction;

[0068] And / or, the housing of the operating mechanism includes a main body and a handle connected to each other, the first drive assembly and the second motor are located in the main body; the trigger member of the operating mechanism includes a trigger end and a detected end, the trigger end is located in the main body and is used to unlock the clamping and cutting assembly, and the detected end is at least partially located in the handle and is used to connect to the travel switch trigger element;

[0069] And / or, the implantation mechanism further comprises an indicator light, which is used to indicate the current state of the prostate stapler device, wherein the current state comprises an automatic calibration completion state, a needle insertion completion state, a needle and thread retraction completion state, and a clamping and cutting completion state.

[0070] The present invention has the following technical effects:

[0071] The present invention provides a prostate nailing device, which directly provides a linear driving force through the cooperation of a first motor, a first gear and a first rack to trigger the execution of needle insertion, needle withdrawal and thread collection, and realizes intelligent nailing operation through the first motor and an automatic control program. In addition, compared with the solution of using gears and cams in the prior art CN114980823A, the linear motion stroke length of the first rack in this solution is adjustable, and the first motor drives the first rack to perform a movement in the second direction once, which can successively trigger needle withdrawal and thread collection, making the operation simpler and improving the nailing efficiency. In addition, the first drive component has a simple and stable structure and runs smoothly, which can reduce the vibration and noise generated during the nailing process and has a long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 An exploded view of the structure of the prostate stapler device of the present invention;

[0073] Figure 2 A partial three-dimensional structural diagram of the operating mechanism of the present invention when the actuating assembly is in the initial state Figure 1 ;

[0074] Figure 3 The assembly structure relationship diagram of the first driving component, the unlocking member, the first optical coupler, the second optical coupler and the third optical coupler of the present invention when the actuating component is in the initial state Figure 1 ;

[0075] Figure 4 The assembly structure relationship diagram of the first driving component, the unlocking member, the first optical coupler, the second optical coupler and the third optical coupler of the present invention when the actuating component is in the initial state Figure 2 ;

[0076] Figure 5 It is a three-dimensional structural schematic diagram of the actuating assembly of the present invention when the actuating assembly is in an initial state;

[0077] Figure 6 It is a partial structural exploded diagram of the actuating assembly of the present invention;

[0078] Figure 7 It is a partial three-dimensional structural schematic diagram of the actuating assembly of the present invention when the actuating assembly is in an initial state;

[0079] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0080] Fig. 9 It is an enlarged view of the local structure of the first mounting member of the present invention;

[0081] Fig.10 It is a diagram showing the assembly structure relationship between the actuating assembly and the first driving assembly when the actuating assembly is in an initial state of the present invention;

[0082] Fig.11 It is a partial structural front view of the operating mechanism of the present invention when the actuating assembly is in an initial state;

[0083] Fig.12 It is a partial structural front view of the operating mechanism of the present invention when the needle is completed;

[0084] Fig.13 It is a partial structural front view of the operating body of the present invention when the wire slide is locked;

[0085] Fig.14 It is a partial structural front view of the operating mechanism of the present invention during the needle closing process;

[0086] Fig.15 It is a front view of the partial structure of the operating mechanism of the present invention when the actuating assembly is reset to the initial position and the unlocking member is not reset;

[0087] Fig.16 It is an assembly structure relationship diagram of the second driving component, the trigger member, the travel switch trigger element, the first travel switch and the second travel switch when the clamping and cutting operations are not performed in the present invention;

[0088] Fig.17 It is a structural exploded diagram of the implant mechanism of the present invention;

[0089] Fig.18 It is a partial structural schematic diagram of the implant mechanism of the present invention;

[0090] Fig.19 It is a partial structural cross-sectional view of the implant mechanism of the present invention;

[0091] Fig. 20 for Fig.19 Enlarged view of point B in the middle;

[0092] Fig.21 A structural relationship diagram of the staple line and the distal anchor of the implant mechanism of the present invention;

[0093] Fig. 22 A structural relationship diagram of the proximal anchor and the cutter of the implant mechanism of the present invention;

[0094] Fig.23 It is a partial structural exploded view of the clamping and cutting assembly of the present invention;

[0095] Fig.24 It is a schematic diagram of the three-dimensional structure of the prostate stapler device of the present invention.

[0096] Description of Reference Numerals

[0097] 100. Prostate stapler device;

[0098] 1. Implantation mechanism;

[0099] 11. puncture needle assembly; 111. puncture needle connector; 1111. second plug-in portion; 112. puncture needle; 113. distal anchor; 114. puncture needle guide tube;

[0100] 12. staple line assembly; 121. staple line connector; 1211. fourth plug-in portion; 122. staple line; 123. staple line guide tube; 124. staple line support tube;

[0101] 13. Clamping and cutting assembly; 131. Proximal anchor; 132. Cutter; 133. Proximal anchor actuator; 1331. First clamping groove; 134. Cutter actuator; 1341. Second abutting portion; 135. Third elastic member; 136. First locking member; 1361. First clamping protrusion; 1362. Pushing portion; 137. Second locking member; 1371. Pushed portion; 1372. First abutting portion; 138. Push rod; 139. Pull rod;

[0102] 14. Second mounting part; 15. Gun head welding assembly; 16. Outer cover; 17. Base; 18. Locking knob;

[0103] 2. Operating mechanism;

[0104] 21, first driving assembly; 211, first motor; 2111, first output shaft; 212, first gear; 213, first rack; 2131, boss; 214, second guide rail; 215, slider;

[0105] 22. Actuating assembly;

[0106] 221, puncture needle actuator; 2211, first protrusion; 22111, first protrusion; 221111, first abutment surface; 221112, second inclined surface; 2212, third protrusion; 2213, first mounting column; 2214, first plug-in portion; 2215, hook portion; 2216, second clamping portion;

[0107] 222, staple line actuator; 2221, second protrusion; 22211, second protrusion; 222111, second abutment surface; 222112, fourth inclined surface; 2222, clamping structure; 2223, third plug-in portion; 2224, fourth protrusion; 22241, bending portion;

[0108] 223, a first elastic member;

[0109] 224, first mounting member; 2241, first guide rail; 2242, first locking structure; 22421, first connecting arm; 22422, first stop portion; 224221, first stop surface; 224222, first inclined surface; 22423, first extension arm; 2243, second locking structure; 22431, second connecting arm; 22432, second stop portion; 224321, second stop surface; 224322, third inclined surface; 22433, second extension arm; 2244, first through hole; 2245, second through hole; 2246, second mounting column; 22471, first hollow portion; 22472, second hollow portion; 22473, connecting portion; 2248, groove; 2249, first clamping portion;

[0110] 225, second elastic member;

[0111] 226, unlocking member; 2261, first unlocking structure; 2262, second unlocking structure; 2263, first blocking piece; 2264, second blocking piece;

[0112] 23. First trigger switch;

[0113] 24, second driving assembly; 241, second motor; 2411, second output shaft; 242, second gear; 243, second rack; 244, guide rod;

[0114] 25, triggering element; 251, triggering end; 252, detected end;

[0115] 26. Second trigger switch;

[0116] 27. housing; 271. handle; 272. main body; 273. first housing; 274. second housing;

[0117] 281, travel switch trigger element; 282, first optical coupler; 283, second optical coupler; 284, third optical coupler; 285, first travel switch; 286, second travel switch;

[0118] 291. Endoscope sheath; 292. Battery; 293. Indicator light. DETAILED DESCRIPTION

[0119] In order to make the technical solutions and beneficial effects of the present invention more clearly understood, the following is a detailed description by listing specific embodiments. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0120] In the description of the present invention, unless otherwise explicitly defined, terms such as “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “height”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplified description of the present invention, and do not indicate that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and should not be understood as a limitation on the present invention.

[0121] In the present invention, the terms "first" and "second" are only used for the purpose of clear description and cannot be understood as the relative importance of the indicated features or the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly include at least one of the features. In the description of the present invention, "multiple" means at least two; "several" means at least one, unless otherwise clearly defined.

[0122] In the present invention, unless otherwise clearly defined, the terms "install", "connect", "connect", "fix", "set", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral molding; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0123] In the present invention, unless otherwise clearly defined, a first feature being “on”, “above”, “above”, “below”, “below”, “below” or “below” a second feature may mean that the first feature is in direct contact with the second feature, or the first feature and the second feature are in indirect contact with each other through an intermediate medium. Moreover, a first feature being “on”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0124] According to the following Figures 1 to 24 The prostate stabbing device of the present invention is described in detail.

[0125] In this embodiment, if Figure 1 , Fig.17 , Fig.18 , Fig.21 and Fig.24 As shown, the prostate staple device 100 includes an implantation mechanism 1 and an operating mechanism 2. The implantation mechanism 1 includes a puncture needle assembly 11 and a staple line assembly 12. The puncture needle assembly 11 includes a puncture needle 112 and a distal anchor 113. The distal anchor 113 is pre-placed in the puncture needle 112 with a hollow structure. The staple line assembly 12 includes a staple line 122. One end of the staple line 122 is connected to the distal anchor 113.

[0126] like Figures 1 to 6 As shown, the operating mechanism 2 includes a first driving assembly 21 and an actuating assembly 22. The first driving assembly 21 includes a first motor 211, a first gear 212 and a first rack 213 that mesh with each other. The first gear 212 is coaxially connected to a first output shaft 2111 of the first motor 211. The actuating assembly 22 includes a puncture needle actuating member 221, a staple line actuating member 222 and a first elastic member 223. The first elastic member 223 is connected to the puncture needle actuating member 221 and the staple line actuating member 222 respectively. The puncture needle actuating member 221 is transmission-connected to the puncture needle assembly 11, and the staple line actuating member 222 is transmission-connected to the staple line assembly 12.

[0127] When using the prostate beam nail device 100, the implantation end of the implantation mechanism 1 is first inserted into the proximal side of the prostate beam, and then the user controls the implantation mechanism 1 through the operating mechanism 2 to perform needle insertion, needle retraction, and thread retraction.

[0128] Specifically, Figure 2 , Figure 3 , Figure 5 , Fig.11 and Fig.12 As shown, when acupuncture is performed, the first motor 211 rotates forward, and under the meshing transmission of the first gear 212 and the first rack 213, the first gear 212 drives the first rack 213 to perform linear motion, and the linear driving force provided by the first rack 213 triggers the actuator assembly 22 to move from the initial position along the first direction a to the acupuncture completion position, wherein the puncture needle actuator 221 drives the puncture needle assembly 11 to move, and the staple line actuator 222 drives the staple line assembly 12 to move, thereby achieving acupuncture of the prostate. At this time, the puncture needle 112 together with the distal anchor 113 passes through the prostate, that is, the distal anchor 113 and the staple line 122 are transported to the distal side of the prostate by the puncture needle 112.

[0129] like Figure 2 , Figure 3 , Figure 5 , Fig.12 and Fig.14As shown, when the needle is retracted, the first motor 211 is reversed, and under the meshing transmission of the first gear 212 and the first rack 213, the first gear 212 drives the first rack 213 to move linearly in the opposite direction, and the first rack 213 drives the puncture needle actuator 221 to drive the puncture needle assembly 11 to move along the second direction b. At this time, the puncture needle 112 is retracted from the prostate, and the distal anchor 113 is retained on the distal side of the prostate. One end of the staple line 122 passes through the prostate to connect with the distal anchor 113. In addition, since the first elastic member 223 is pulled by the puncture needle actuator 221 to store energy, after the puncture needle 112 is retracted from the prostate, as shown in FIG. Fig.14 and Fig.15 As shown, the staple line actuator 222 moves along the second direction b under the elastic force of the first elastic member 223 to tighten the staple line assembly 12 to achieve line collection, and the distal end is stretched and squeezed to the distal side of the prostate by tightening the staple line 122. The first direction a is opposite to the second direction b.

[0130] By adopting the above technical solution, the prostate nailing device 100 is equipped with a first driving component 21, and the first motor 211, the first gear 212 and the first rack 213 cooperate to directly provide a linear driving force to trigger the execution of needle insertion, needle withdrawal and thread collection, so as to realize intelligent nailing operation. Moreover, compared with the solution of using gears and cams in the prior art CN114980823A, the linear motion stroke length of the first rack 213 of this solution is adjustable, and the first motor 211 drives the first rack 213 to perform a movement along the second direction b once, which can successively trigger needle withdrawal and thread collection, making the operation easier and improving the nailing efficiency. In addition, the first driving component 21 runs smoothly and has a stable structure. Compared with the solution of using gears and cams in the prior art, it can reduce the vibration and noise generated during the nailing process, is not easy to be damaged, and has a long service life.

[0131] It should be understood that, herein, "proximal" and "distal" are relative positions, wherein the proximal end of the prostate refers to the portion of the prostate tissue that is adjacent to the urethra, and the distal end of the prostate refers to the portion of the prostate tissue that is farther away.

[0132] It should be understood that when the prostate stapler device 100 is in normal use, the front end of the prostate stapler device 100 faces the patient. In this document, the direction from back to front is referred to as the "first direction a", the direction from front to back is referred to as the "second direction b", and the direction from bottom to top is referred to as the "third direction c". The "first direction a" and "second direction b" mentioned in this document are both referred to as Figure 1 , Figure 2 , Figure 3 , Fig. 9 and Fig.11 The indication in the “third direction c” shall prevail. Figure 1 , Figure 2and Fig.11 The markings in shall prevail.

[0133] It should be understood that the "needle retraction" herein refers to retracting the puncture needle 112 from the prostate. When the puncture needle 112 is retracted from the prostate, the thread can be retracted.

[0134] In one embodiment, if Figure 1 and Fig.24 As shown, the operating mechanism 2 also includes a first trigger switch 23, and the first trigger switch 23 is used to trigger the operation of the first driving component 21. When the actuating component 22 is in the initial state, the first trigger switch 23 is operated once, which can trigger the prostate stapler device 100 to perform acupuncture, and then the first trigger switch 23 is operated again once, which can trigger the prostate stapler device 100 to perform needle withdrawal and thread collection. In this solution, the user only needs to operate the first trigger switch 23 twice to control the prostate stapler device 100 to perform acupuncture, needle withdrawal and thread collection. Compared with the solution in the prior art CN114980823A that requires three manual operations to achieve acupuncture, needle withdrawal and thread collection, this solution saves one operation, reduces the difficulty and operation time of the stapler operation, and improves the stapler efficiency.

[0135] In one embodiment, when the actuation assembly 22 is in the initial state, the puncture needle actuator 221 is locked. When the puncture needle is performed, the first rack 213 provides power to unlock the puncture needle actuator 221, thereby triggering the puncture needle actuator 221 to move along the first direction a.

[0136] In one embodiment, when the puncture needle assembly 11 completes the puncture, the second locking structure 2243 does not lock the staple line actuator 222. When the needle is withdrawn, the first motor 211 is reversed. Under the meshing transmission of the first gear 212 and the first rack 213, the first gear 212 drives the first rack 213 to move in the opposite direction. The first rack 213 drives the needle slider 221 and the unlocking element 226 to move along the second direction b. The staple line actuator 222 moves slightly along the second direction b and is locked by the second locking structure 2243. That is, in the initial stage of needle withdrawal, the staple line actuator 222 is locked. Of course, the staple line actuator 222 can also be locked while the puncture is completed. This solution has strict requirements on the assembly tolerance of parts. Therefore, preferably, the staple line actuator 222 is locked in the initial stage of needle withdrawal. For the sake of convenience, the following is a specific explanation based on the example of "the staple line actuator 222 is locked in the initial stage of needle withdrawal".

[0137] Then, the first rack 213 drives the unlocking member 226 to move along the second direction b to the unlocking member initial position. Figure 2 , Fig.12 and Fig.14As shown, when the puncture needle assembly 11 is retracting the needle, the first motor 211 drives the first rack 213 to perform linear motion, and the first rack 213 drives the puncture needle actuator 221 to move along the second direction b, and the puncture needle actuator 221 drives the puncture needle assembly 11 to move along the second direction b, so that the puncture needle 112 is retracted from the prostate. Moreover, since the staple line actuator 222 is locked, during the process of the puncture needle 112 being retracted from the prostate, the staple line actuator 222 is fixed. After the puncture needle 112 is retracted from the prostate, and during the process of the first rack 213 continuing to move linearly, the puncture needle actuator 221 continues to move along the second direction b to drive the puncture needle assembly 11 to return to its initial position, and the first rack 213 provides power to unlock the staple line actuator 222. After the staple line actuator 222 is unlocked, as shown in FIG. Fig.14 and Fig.15 As shown, the staple line actuating member 222 can move along the second direction b under the elastic force of the first elastic member 223 to achieve needle and line retraction.

[0138] In one embodiment, if Figure 5 As shown, the actuation assembly 22 further includes a first mounting member 224 and a second elastic member 225. The first mounting member 224 is provided with a first guide rail 2241. The puncture needle actuation member 221 and the staple line actuation member 222 are respectively movably connected to the first guide rail 2241. One end of the second elastic member 225 is connected to the first mounting member 224, and the other end is connected to the puncture needle actuation member 221. Figure 2 and Fig.11 As shown, when the actuation assembly 22 is in the initial position, the puncture needle actuator 221 is locked and the second elastic member 225 is in an energy storage state. When the puncture needle is performed, during the linear motion of the first rack 213, the first rack 213 provides power to unlock the puncture needle actuator 221. After the puncture needle actuator 221 is unlocked, the second elastic member 225 can release the elastic force, and the puncture needle actuator 221 moves along the first direction a to the puncture completion position under the elastic force of the second elastic member 225.

[0139] In one embodiment, if Figure 5 As shown, the second elastic member 225 is a tension spring, the first mounting member 224 is provided with a second mounting column 2246, and the puncture needle actuator 221 is provided with a hook portion 2215. The hook portion 2215 and the second mounting column 2246 are spaced apart and distributed along the first direction a, and one end of the second elastic member 225 is hung on the second mounting column 2246, and the other end is hung on the hook portion 2215. When the actuating assembly 22 is in the initial position, the second elastic member 225 is stretched, and when the puncture needle actuator 221 is unlocked, the second elastic member 225 rebounds to pull the puncture needle actuator 221 to move along the first direction a.

[0140] In one embodiment, if Figure 5 and Figure 6 As shown, the first elastic member 223 is a coil spring, the puncture needle actuator 221 is provided with a first mounting post 2213, the staple line actuator 222 is provided with a clamping structure 2222, one end of the first elastic member 223 is wound around the first mounting post 2213 and the other end thereof is clamped to the clamping structure 2222. Fig.14 As shown in FIG. 1 , when the puncture needle actuator 221 moves along the second direction b and the staple line actuator 222 is locked, the first elastic member 223 is stretched, as shown in FIG. Fig.15 As shown, when the staple line actuator 222 is unlocked, the first elastic member 223 retracts to drive the staple line actuator 222 to move along the second direction b.

[0141] In one embodiment, if Figures 5 to 8 As shown, the first mounting member 224 is provided with a first locking structure 2242 and a second locking structure 2243 sequentially distributed along the first direction a.

[0142] When the actuation assembly 22 is in the initial state, the first locking structure 2242 is at least partially located on the path of the puncture needle actuator 221 in the first direction a, so that the first locking structure 2242 can prevent the puncture needle actuator 221 from moving along the first direction a, thereby achieving locking. When the puncture needle is performed, the first rack 213 provides power to move the first locking structure 2242 away from the path of the puncture needle actuator 221 in the first direction a, and the first locking structure 2242 gives way to achieve unlocking, so that the puncture needle actuator 221 can move along the first direction a under the elastic force of the second elastic member 225.

[0143] During the puncture process, the staple line actuator 222 moves along the first direction a together with the puncture needle actuator 221. When the puncture needle assembly 11 completes the puncture, the puncture needle actuator 221 and the staple line actuator 222 both stop moving. At this time, the second locking structure 2243 is at least partially located on the travel path of the staple line actuator 222 in the second direction b. In this way, when the needle is started to be withdrawn, the staple line actuator 222 moves slightly along the second direction b and is then locked by the second locking structure 2243. The locking structure 2243 is locked, and the staple line actuator 222 cannot continue to move along the second direction b with the puncture needle actuator 221, so that the needle can be withdrawn first, and the puncture needle 112 can be withdrawn from the prostate. After the puncture needle 112 is withdrawn from the prostate, the first rack 213 provides power to make the second locking structure 2243 give way and unlock, so that the staple line actuator 222 moves along the second direction b under the elastic force of the first elastic member 223 to achieve the line withdrawal. Preferably, when the puncture needle assembly 11 completes the needle insertion, the gap between the second locking structure 2243 and the locked part of the staple line actuator 222 is configured to be 1mm-2mm, leaving a gap for the assembly process, and at the same time, the staple line actuator 222 can also be locked at the moment of starting the needle withdrawal.

[0144] In one embodiment, if Figure 3 , Figure 8 and Fig.10 As shown, the actuating assembly 22 further includes an unlocking member 226, which is connected to the first rack 213. The unlocking member 226 is provided with a first unlocking structure 2261 and a second unlocking structure 2262 distributed in sequence along the first direction a. When the needle is pierced, the first rack 213 drives the unlocking member 226 to move along the first direction a, and unlocks the first locking structure 2242 by driving the first unlocking structure 2261 to move. When the needle is withdrawn, the first rack 213 drives the unlocking member 226 to move along the second direction b, and unlocks the second locking structure 2243 by driving the second unlocking structure 2262 to move. In this solution, the unlocking member 226 is separately provided, which can reduce the processing difficulty of the first rack 213 and save processing costs compared to directly molding the first unlocking structure 2261 and the second unlocking structure 2262 on the first rack 213.

[0145] Furthermore, if Figures 6 to 10 As shown, the first locking structure 2242 includes a first connecting arm 22421, a first stopper 22422 and a first extension arm 22423. One end of the first connecting arm 22421 is a free end and the other end thereof is fixed to the body of the first mounting member 224. The first stopper 22422 and the first extension arm 22423 are respectively connected to the free end of the first connecting arm 22421. When the actuating assembly 22 is in the initial state, the puncture needle actuating member 221 is at least partially abutted against the first stopper 22422 along the first direction a and locked. The first extension arm 22423 is at least partially located on the travel path of the first unlocking structure 2261 in the first direction a. It should be understood that at this time, the force exerted by the second elastic member 225 on the puncture needle actuating member 221 is insufficient to enable the puncture needle actuating member 221 to overcome the blocking force of the first stopper 22422, thereby ensuring the stability of the locking. When the puncture needle is inserted, during the movement of the unlocking member 226 along the first direction a, the first unlocking structure 2261 moves to contact and squeeze the first extension arm 22423, so that the first connecting arm 22421 is deformed, and then the first stopper 22422 is displaced and separated from the puncture needle actuator 221, thereby achieving unlocking. Further, the puncture needle actuator 221 is provided with a first protrusion 22111, and the first protrusion 22111 abuts against the first stopper 22422 along the first direction a and is locked.

[0146] The second locking structure 2243 includes a second connecting arm 22431, a second stopper 22432 and a second extension arm 22433. One end of the second connecting arm 22431 is a free end and the other end is fixed to the body of the first mounting member 224. The second stopper 22432 and the second extension arm 22433 are respectively connected to the free end of the second connecting arm 22431. Fig.13 and Fig.14 As shown, in the initial stage of needle collection, the staple line actuator 222 is at least partially abutted against the second stop portion 22432 along the second direction b and locked, and the second extension arm 22433 is at least partially located on the travel path of the second unlocking structure 2262 in the second direction b. It should be understood that at this time, the force exerted by the first elastic member 223 on the staple line actuator 222 is not enough to enable the staple line actuator 222 to overcome the blocking force of the second stop portion 22432. Figure 8 , Fig.10 , Fig.14 and Fig.15 As shown, in the process of continuing to close the needle, when the unlocking member 226 moves along with the first rack 213 in the second direction b, the second unlocking structure 2262 moves to contact with the second extension arm 22433 and squeezes the second extension arm 22433, so that the second connecting arm 22431 is deformed, and then the second stopper 22432 is displaced and separated from the staple line actuator 222 to achieve unlocking. After the staple line actuator 222 is unlocked, it moves along the second direction b to close the line. Figure 8 and Fig.14 As shown, the staple line actuator 222 is provided with a second protrusion 22211 , and the second protrusion 22211 abuts against the second stopper 22432 along the second direction b and is locked.

[0147] Furthermore, if Figures 6 to 9 As shown, the first mounting member 224 is provided with a first hollow portion 22471 and a second hollow portion 22472 sequentially distributed along the first direction a, the first hollow portion 22471 and the second hollow portion 22472 are connected by a connecting portion 22473, the first connecting arm 22421 is located in the first hollow portion 22471 and its fixed end is connected to the connecting portion 22473, the first extending arm 22423 extends toward the unlocking member 226 and extends out of the first hollow portion 22471; the second connecting arm 22431 is located in the second hollow portion 22472 and its fixed end is connected to the connecting portion 22473, the second extending arm 22433 extends toward the unlocking member 226 and extends out of the second hollow portion 22472. In this solution, the first locking structure 2242 and the second locking structure 2243 are compactly arranged, and are both connected to the body of the first mounting member 224 through the connecting portion 22473, the structure is simple, and it is easy to process.

[0148] In one embodiment, if Figure 5and Fig.23 As shown, when the actuating mechanism 22 moves to the full pricking position, the wire slide 222 abuts against the second mounting post 2246, and the actuating mechanism 22 stops, that is, the second mounting post 2246 is also used to limit the movement limit position of the actuating mechanism 22 in the first direction a. When the actuating mechanism 22 is in the full pricking position, the second protrusion 22211 of the staple wire actuating member 222 and the second stop 22432 of the second locking structure 2243 are sequentially distributed along the second direction b, and the spacing between the two is 1 mm-2 mm.

[0149] In one embodiment, if Figure 5 and Figure 8 As shown, the first locking structure 2242 and the second locking structure 2243 are located above the first guide rail 2241, the first protrusion 22111 is provided on the top wall of the puncture needle actuator 221, the second protrusion 22211 is provided on the top wall of the staple line actuator 222, the first stopper 22422 and the first protrusion 22111 are opposite in the first direction a, and the second stopper 22432 and the second protrusion 22211 are opposite in the second direction b. The first locking structure 2242 and the second locking structure 2243 are arranged axially symmetrically, which is conducive to simplifying the structural design.

[0150] Furthermore, if Figure 8 and Fig. 9 As shown, the first stopper 22422 includes a first stopper surface 224221 and a first inclined surface 224222, the first protrusion 22111 includes a first abutting surface 221111 and a second inclined surface 221112, the first stopper surface 224221 and the first abutting surface 221111 are both perpendicular to the first direction a, and the first inclined surface 224222 extends obliquely in the first direction a in a direction away from the puncture needle actuator 221. When the actuator assembly 22 is in the initial state, the first stopper surface 224221 and the first abutting surface 221111 are stably abutted, and the second protrusion 22211 is located between the first locking structure 2242 and the second locking structure 2243, and the second protrusion 22211 will not interfere with the first locking structure 2242. When the needle is inserted, the first protrusion 22111 is located between the first locking structure 2242 and the second locking structure 2243. In this way, when the needle is retracted, the puncture needle actuator 221 moves along the second direction b to the second inclined surface 221112 and abuts against the first inclined surface 224222. Since the two are inclined surfaces, under the drive of the first rack 213, the puncture needle actuator 221 can smoothly overcome the obstruction of the first inclined surface 224222, and the first protrusion 22111 smoothly passes the first stop portion 22422 and is locked by the first stop portion 22422 again.

[0151] The second stop portion 22432 includes a second stop surface 224321 and a third inclined surface 224322, the second protrusion 22211 includes a second abutment surface 222111 and a fourth inclined surface 222112, the second stop surface 224321 and the second abutment surface 222111 are both perpendicular to the second direction b, and the third inclined surface 224322 extends obliquely in the second direction b in a direction away from the staple line actuator 222. When the puncture is performed, the staple line actuator 222 moves along with the puncture needle actuator 221 along the first direction a until the fourth inclined surface 222112 is against the third inclined surface 224322. Since the two are inclined surfaces, the rebound force of the second elastic member 225 is sufficient to drive the staple line actuator 222 to overcome the obstruction of the third inclined surface 224322. The second protrusion 22211 smoothly passes over the second stopper 22432 and continues to move along the first direction a. Moreover, when the actuator assembly 22 reaches the puncture completion position, the first protrusion 22111 is located between the first locking structure 2242 and the second locking structure 2243, and the first protrusion 22111 will not interfere with the second locking structure 2243.

[0152] Furthermore, if Figure 8 As shown, the number of the first protrusions 22111 is two, the number of the second protrusions 22211 is two, the two first protrusions 22111 are sequentially distributed along the first direction a, and the two second protrusions 22211 are sequentially distributed along the second direction b, so as to ensure the stability of the corresponding locking function. It should be understood that when the first unlocking structure 2261 forces the first connecting arm 22421 to deform, the two first protrusions 22111 can smoothly pass over the first stopper 22422; when the second unlocking structure 2262 forces the second connecting arm 22431 to deform, the two second protrusions 22211 can smoothly pass over the second stopper 22432.

[0153] In one embodiment, if Figure 1 , Figure 5 and Fig.10 As shown, the puncture needle actuator 221, the staple line actuator 222 and the first elastic member 223 are all located on the side of the first mounting member 224 facing the implant mechanism 1, and the first drive assembly 21 and the unlocking member 226 are all located on the side of the first mounting member 224 facing away from the implant mechanism 1. Figure 7 and Figure 8As shown, the first mounting member 224 is provided with a first through hole 2244 extending along the first direction a, the puncture needle actuator 221 includes a first protrusion 2211, and the staple line actuator 222 includes a second protrusion 2221, the first protrusion 2211 is provided with a first protrusion 22111, and the second protrusion 2221 is provided with a second protrusion 22211. The first protrusion 2211 is movably inserted into the first through hole 2244, so that the first protrusion 22111 can be abutted against the first locking structure 2242 along the first direction a and locked. The second protrusion 2221 is movably inserted into the first through hole 2244, so that the second protrusion 22211 can be abutted against the second locking structure 2243 along the second direction b and locked. In this solution, the components of the actuator assembly 22 are arranged reasonably and compactly, which is conducive to the miniaturized design of the operating mechanism 2.

[0154] Furthermore, in order to facilitate the thinning design of the first mounting member 224, as Figure 7 and Figure 8 As shown, a groove 2248 is provided on the side of the first mounting member 224 facing away from the implantation mechanism 1, and the groove 2248 is located above the first through hole 2244 and the two are connected, the first connecting arm 22421 and the second connecting arm 22431 are both located above the groove 2248, the first stop portion 22422 and the second stop portion 22432 extend into the groove 2248, the first protrusion 22111 and the second protrusion 22211 are located in the groove 2248, and the groove 2248 is used to accommodate part of the structure of the actuator assembly 22, and the first protrusion 2211 and the second protrusion 2221 are respectively abutted against the groove wall of the groove 2248, which can prevent the puncture needle actuator 221 and the staple line actuator 222 from detaching from the first guide rail 2241.

[0155] In one embodiment, if Figure 3 and Figure 7 As shown, the puncture needle actuator 221 includes a third protrusion 2212, and the first rack 213 is provided with a boss 2131. When the needle is withdrawn, the boss 2131 can abut against the third protrusion 2212 along the second direction b, so that the first rack 213 drives the puncture needle actuator 221 to move along the second direction b to complete the needle withdrawal. Figure 6 and Figure 7 As shown, the first mounting member 224 is provided with a second through hole 2245 extending along the first direction a, the third protrusion 2212 is movably inserted into the second through hole 2245 , and the third protrusion 2212 partially extends out of the second through hole 2245 .

[0156] Furthermore, if Figure 3 and Fig.10As shown, when the actuating assembly 22 is in the initial state, a gap is left between the boss 2131 and the third protrusion 2212 in the first direction a, so that when the actuating assembly 22 moves along the first direction a under the rebound force of the second elastic member 225, the boss 2131 will not interfere with the movement of the third protrusion 2212, and hinder the puncture needle actuating member 221 from moving along the first direction a to the puncture completion position. In addition, when the needle is inserted, the first rack 213 drives the unlocking member 226 to move along the second direction b to the initial position of the unlocking member. At this time, the boss 2131 abuts against the third protrusion 2212 along the second direction b, or the boss 2131 and the third protrusion 2212 leave a gap in the second direction b, for example, a gap of 1mm-2mm, to reserve an assembly process gap. In this way, when the needle needs to be retracted, the first rack 213 can immediately drive the puncture needle actuator 221 to move along the second direction b. At the same time, the unlocking member 226 located at its initial position also moves along the second direction b, so that after the puncture needle 112 is retracted from the prostate, the staple line actuator 222 is unlocked by the unlocking member 226.

[0157] In one embodiment, if Figures 5 to 7 As shown, a first guide rail 2241 is formed between the first through hole 2244 and the second through hole 2245, and the first protrusion 2211 and the third protrusion 2212 of the puncture needle actuator 221 are respectively inserted into the first through hole 2244 and the second through hole 2245, so that the puncture needle actuator 221 can slide with the first guide rail 2241. The components of the actuator assembly 22 are compactly arranged, which is conducive to the miniaturized design of the prostate staple device 100.

[0158] In one embodiment, if Figure 6 and Figure 7 As shown, the staple line actuator 222 is provided with a fourth protrusion 2224, the fourth protrusion 2224 is inserted into the second through hole 2245, and the outer end of the fourth protrusion 2224 forms a bending portion 22241, the bending portion 22241 abuts against the side wall of the first mounting member 224 away from the implantation mechanism 1, and, as shown Figure 8 As shown, the upper portion of the staple line actuator 222 abuts against the side wall of the first mounting member 224 away from the implantation mechanism 1 through the second protrusion 22211 , so that the staple line actuator 222 can stably slide with the first guide rail 2241 .

[0159] In one embodiment, if Figure 5 and Figure 7As shown, the first mounting member 224 is provided with a first clamping portion 2249, and the bottom of the puncture needle actuator 221 is provided with a second clamping portion 2216. The top of the puncture needle actuator 221 is abutted against the groove wall of the groove 2248 through the first protrusion 2211, and the bottom of the puncture needle actuator 221 is movably clamped with the first clamping portion 2249 through the second clamping portion 2216, so that the puncture needle actuator 221 can stably slide with the first guide rail 2241.

[0160] In one embodiment, if Figure 5 As shown, the puncture needle actuator 221 and the staple line actuator 222 are distributed in sequence along the first direction a. When the actuator assembly 22 is in the initial state, under the action of the first elastic member 223, the staple line actuator 222 abuts against the puncture needle actuator 221 along the second direction b. In this way, when the puncture is performed, the puncture needle actuator 221 can drive the staple line actuator 222 to move along the first direction a.

[0161] In one embodiment, if Figure 5 and Fig.18 As shown, the puncture needle actuator 221 is provided with a first plug-in portion 2214, and the puncture needle assembly 11 includes a second plug-in portion 1111. The first plug-in portion 2214 and the second plug-in portion 1111 are plugged together, so that the puncture needle actuator 221 is connected to the puncture needle assembly 11. The staple line actuator 222 is provided with a third plug-in portion 2223, and the staple line assembly 12 includes a fourth plug-in portion 1211. The third plug-in portion 2223 and the fourth plug-in portion 1211 are plugged together, so that the staple line actuator 222 is connected to the staple line assembly 12. In a specific embodiment, the first plug-in portion 2214 and the third plug-in portion 2223 are both slot structures, and the second plug-in portion 1111 and the fourth plug-in portion 1211 are both snap-in protrusions, and the detachable assembly is achieved by plugging the slot and the snap-in protrusion.

[0162] In one embodiment, the implant mechanism 1 and the operating mechanism 2 are detachably connected, so that a new implant mechanism 1 can be replaced for different patients to ensure hygiene. Of course, for the same patient, the implant mechanism 1 can be replaced after being used several times, or a new implant mechanism 1 can be replaced each time.

[0163] In one embodiment, if Figure 3 and Figure 4 As shown, the first driving assembly 21 includes a second guide rail 214 and a slider 215 that are slidably matched, and the operating mechanism 2 also includes a housing 27. The second guide rail 214 is installed on the inner wall of the housing 27, and the first rack 213 and the unlocking member 226 are respectively connected to the slider 215.

[0164] In one embodiment, the first gear 212 is provided with a first mounting hole (not shown in the figure). Figure 4As shown, the first output shaft 2111 is installed in the first mounting hole, and the cross-section of the first output shaft 2111 is D-shaped. The cross-section of the first mounting hole is D-shaped. The D-shaped shape can prevent the first output shaft 2111 from being misaligned with the first mounting hole.

[0165] In one embodiment, during a complete use of the prostate stapler device 100, the unlocking member 226 has five state positions: an initial lock position, a first unlocking member position, a first limit position, a second unlocking member position, and a second limit position. Fig.10 and Fig.11 As shown, when the actuating assembly 22 is in the initial state, the unlocking member 226 stops at the unlocking member initial position. When the puncture is performed, the first rack 213 drives the unlocking member 226 to move along the first direction a to the position of unlocking the puncture needle actuating member 221. At this time, the unlocking member 226 is in the first unlocking member position. The unlocking member 226 continues to move so that the puncture needle actuating member 221 is unlocked, and then continues to move along the first direction a to the first limit position and stops. Fig.12 As shown, after the puncture needle actuator 221 is unlocked, the actuator mechanism 22 moves to the complete puncture position under the pull of the second elastic member 225. After the puncture is completed, the unlocking member 226 returns to the initial unlocking position and stops. Figures 13 to 15 As shown in the figure, when the needle and thread are retracted, the first rack 213 drives the unlocking member 226 and the needle sliding member 221 to move along the second direction b. When the unlocking member 226 moves to the second unlocking position, the unlocking member 226 unlocks the second unlocking structure 2243. In this way, under the elastic force of the first elastic member 223, the staple line actuator 222 moves along the second direction b until it abuts against the needle sliding member 221. Then, under the continued driving of the first driving assembly 21, the puncture needle actuator 221 together with the staple line actuator 222 returns to the initial position of the actuating assembly 22, as shown in the figure. Fig.15 As shown, the unlocking member 226 moves along with the first rack 213 along the second direction b to the second limit position. Fig.11 As shown, the unlocking member 226 moves along the first direction a to return to the unlocking member initial position.

[0166] like Figure 3As shown, the unlocking member 226 is provided with a first blocking piece 2263 and a second blocking piece 2264 arranged at intervals along the first direction a, and the operating mechanism 2 includes a first optical coupler 282, a second optical coupler 283 and a third optical coupler 284 arranged at intervals along the first direction a. When the unlocking member 226 is in the initial position of the unlocking member, the second blocking piece 2264 and the second optical coupler 283 cooperate to obtain the position information of the unlocking member 226. When the unlocking member 226 is in the first extreme position, the second blocking piece 2264 and the third optical coupler 284 cooperate to obtain the position information of the unlocking member 226. When the unlocking member 226 is in the second extreme position, the first blocking piece 2263 and the first optical coupler 282 cooperate to obtain the position information of the unlocking member 226.

[0167] In one embodiment, if Figure 1 , Figure 2 and Fig.16 As shown, the operating mechanism 2 further includes a second driving assembly 24, which includes a second motor 241, a second gear 242 and a second rack 243 meshing with each other, and the second gear 242 is coaxially connected to a second output shaft 2411 of the second motor 241. Fig.18 As shown, the implant mechanism 1 also includes a clamping and cutting component 13, such as Fig. 22 As shown, the clamping and cutting assembly 13 includes a proximal anchor 131 and a cutter 132. When the clamping and cutting assembly 13 is in the initial state, the clamping and cutting assembly 13 is locked to prevent the clamping and cutting operations from being triggered by mistake. When clamping and cutting are performed, the second motor 241 is turned on, and the second rack 243 provides power by moving linearly, and the power can be used to unlock the clamping and cutting assembly 13. After the clamping and cutting assembly 13 is unlocked, the proximal anchor 131 and the cutter 132 can both move, that is, the proximal anchor 131 moves at the proximal end of the prostate to clamp the staple line 122, and then the cutter 132 moves to cut the staple line 122, so that the proximal anchor 131 remains on the proximal side of the prostate, and under the tension of the staple line 122 retained in the prostate, the proximal anchor 131 squeezes the proximal side of the prostate, and the distal anchor 113 squeezes the distal side of the prostate, thereby shrinking the prostate and expanding the urethra.

[0168] Furthermore, if Figure 2 and Fig.16 As shown, the operating mechanism 2 further includes a trigger member 25, which is connected to the second rack 243. When clamping and cutting are performed, the second motor 241 rotates forward, and the second rack 243 drives the trigger member 25 to move in a direction toward the clamping and cutting assembly 13, so that the trigger member 25 is driven to move to contact the clamping and cutting assembly 13, so that the clamping and cutting assembly 13 is unlocked under the push of the trigger member 25.

[0169] Furthermore, if Fig.17and Fig.18 As shown, the implant mechanism 1 includes a second mounting member 14, and the clamping and cutting assembly 13 includes a proximal anchor actuator 133, a cutter actuator 134, a third elastic member 135, a first locking member 136 and a second locking member 137. The proximal anchor actuator 133 and the cutter actuator 134 are respectively movably mounted on the second mounting member 14, and both ends of the third elastic member 135 are respectively connected to the proximal anchor actuator 133 and the cutter actuator 134, and the first locking member 136 and the second locking member 137 are respectively rotatably connected to the second mounting member 14.

[0170] During the process of needle insertion, needle retraction and thread retraction of the prostate staple device 100, the clamping and cutting assembly 13 is always in the initial state. In this state, the first locking member 136 locks the proximal anchor actuator 133, the second locking member 137 locks the cutter actuator 134, the third elastic member 135 is in a tensioned state, and the first locking member 136 is at least partially located on the moving path of the trigger member 25.

[0171] After the prostate stapler 100 has completed the needle insertion, needle retraction and thread retraction, it begins to clamp and cut. Figure 2 and Fig.16 As shown, under the drive of the second drive assembly 24, the trigger member 25 moves, and the trigger member 25 moves to release the first locking member 136. Then, under the push of the trigger member 25, as shown in FIG. Fig.18 As shown, the first locking member 136 rotates and disengages from the proximal anchor member actuator 133, so that the proximal anchor member actuator 133 is unlocked. At the same time, the first locking member 136 contacts the second locking member 137 due to the rotation and pushes the second locking member 137 to rotate. The second locking member 137 disengages from the cutter actuator 134 due to the rotation, so that the cutter actuator 134 is unlocked. Then, under the rebound force of the third elastic member 135, the proximal anchor member actuator 133 and the cutter actuator 134 move toward each other, respectively driving the proximal anchor member 131 and the cutter 132 to move toward each other, and the movement speed of the proximal anchor member actuator 133 is less than the speed of the cutter actuator 134, so that the V-shaped bayonet of the proximal anchor member 131 first clamps the staple line 122, and then the cutter 132 cuts the staple line 122 to achieve clamping and cutting.

[0172] Furthermore, if Fig.18 and Fig.23As shown, the proximal anchor actuator 133, the second locking member 137 and the cutter actuator 134 are distributed in sequence along the first direction a, the bottom of the proximal anchor actuator 133 is provided with a first clamping groove 1331, the two sides of the first locking member 136 are respectively provided with a first clamping protrusion 1361 and a pushing portion 1362, the two sides of the second locking member 137 are respectively provided with a pushed portion 1371 and a first abutting portion 1372, and the cutter actuator 134 is provided with a second abutting portion 1341.

[0173] When the clamping and cutting assembly 13 is in the initial state, the first engaging protrusion 1361 is upwardly engaged in the first engaging groove 1331 to limit the proximal anchor actuator 133 from moving along the first direction a, and the pushing portion 1362 is located below the pushed portion 1371 with a gap between the two. The first abutting portion 1372 abuts against the second abutting portion 1341 upwardly and along the first direction a to limit the proximal anchor actuator 133 and the cutter actuator 134 from moving toward each other under the pulling force of the third elastic member 135.

[0174] When the trigger member 25 moves upward, the trigger member 25 pushes the first locking member 136 upward near the pushing portion 13621, causing the first locking member 136 to rotate, and the first locking protrusion 1361 rotates downward to disengage from the first locking groove 1331, the proximal anchor actuator 133 is unlocked, the pushing portion 1362 rotates upward and pushes the pushed portion 1371 upward, causing the second locking member 137 to rotate, the first abutting portion 1372 rotates downward to disengage from the second abutting portion 1341, and the cutter actuator 134 is unlocked.

[0175] In one embodiment, if Figure 2 and Fig.16 As shown, the second rack 243 can move along the third direction c, the third direction c is perpendicular to the first direction a, and the output shafts of the first motor 211 and the second motor 241 are perpendicular to each other.

[0176] In one embodiment, if Figure 2 and Fig.24 As shown, the housing 27 of the operating mechanism 2 includes a main body 272 and a handle 271 connected to each other, the first drive assembly 21 and the second motor 241 are located in the main body 272, and the trigger member 25 includes a trigger end 251 and a detected end 252. The trigger end 251 is located in the main body 272 and is used to unlock the clamping and cutting assembly 13, and the detected end 252 is at least partially located in the handle 271 and is used to connect the travel switch trigger element 281. The space in the handle 271 is used to accommodate the trigger member 25, and the structure is more compact.

[0177] During a complete use of the prostate stapler device 100, the trigger member 25 has two positions: the trigger member initial position and the trigger member trigger unlocking position. Fig.16As shown, the operating mechanism 2 also includes a first travel switch 285 and a second travel switch 286. When the clamping and cutting assembly 13 is in the initial state, the trigger member 25 is in the initial position of the trigger member, and the first travel switch 285 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger member 25; when the trigger member 25 moves to the position of unlocking the first locking member 136, the trigger member 25 is in the trigger member trigger unlocking position, and the second travel switch 286 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger member 25.

[0178] In one embodiment, if Fig.16 As shown, the second driving assembly 24 includes a guide rod 244, which is mounted on the inner wall of the housing 27, and the second rack 243 is movably sleeved on the guide rod 244. A gap is left between the guide rod 244 and the inner wall of the housing 27, and the second gear 242 is located in the space between the guide rod 244 and the inner wall of the housing 27, making full use of the lateral space in the housing 27.

[0179] The second gear 242 is provided with a second mounting hole (not shown in the figure), such as Fig.16 As shown, the second output shaft 2411 is installed in the second mounting hole, and the cross-section of the second output shaft 2411 is D-shaped, and the cross-section of the second mounting hole is D-shaped. The D-shaped shape can prevent the second output shaft 2411 from being misaligned with the second mounting hole.

[0180] In one embodiment, if Figure 1 and Fig.24 As shown, the operating mechanism 2 also includes a second trigger switch 26. When the prostate tack device 100 is in the off state, the second trigger switch 23 is operated once, which can start the prostate tack device 100 and the prostate tack device 100 is automatically calibrated to the initial state to ensure the accuracy of the prostate tack device 100 during long-term use. After automatic calibration, the needle insertion, needle and wire collection, clamping and cutting operations are performed. Of course, the prostate tack device 100 can also be configured without an automatic calibration function. By limiting the number of times it can be used, the accuracy of the prostate tack device 100 in the usable cycle is ensured. It should be understood that after operating the second trigger switch 23 once to start the prostate tack device 100, multiple tack operations can be performed continuously without automatic calibration again. Automatic calibration is only performed when the device is shut down and restarted.

[0181] Specifically, if the puncture needle actuator 221 and the staple line actuator 222 are not in their initial positions, when automatic calibration is performed, the first motor 211 operates to drive the puncture needle actuator 221 and the staple line actuator 222 to move along the first direction a to restore to their initial positions to complete the automatic calibration.

[0182] In one embodiment, if Figure 1 and Fig.24 As shown, the first trigger switch 23 is also used to trigger the operation of the second drive assembly 24. The first trigger switch 23 controls the actuation of clamping and cutting to prevent the user from accidentally triggering clamping and cutting due to operating errors. Specifically, after the prostate stapler device 100 is started, the first trigger switch 23 is operated once to trigger the needle, and is operated again to trigger the needle and thread retraction, and is operated again to trigger clamping and cutting. That is, through the three operations of the first trigger switch 23, the execution of the needle, needle and thread retraction, clamping and cutting can be controlled in sequence.

[0183] Furthermore, if Figure 1 and Fig.24 As shown, the first trigger switch 23 is arranged on the front side of the handle 271, and the second trigger switch 26 is arranged on the rear side of the housing 27 and above the handle 271. The two trigger switches are arranged in opposite positions, which can improve the safety of the operation of the two trigger switches.

[0184] In one embodiment, if Fig.24 As shown, the first trigger switch 23 is a button switch, which is more convenient to use and less prone to accidental triggering than the plate switch in the prior art CN114980823A. The second trigger switch 26 is a boat-shaped switch, which has a different structure from the first trigger switch 23 and serves as a difference prompt to prevent users from operating the wrong switch.

[0185] In one embodiment, if Figure 1 As shown, the prostate tack device 100 includes a battery 292 for powering the device, and the battery 292 is placed in the handle 271 of the housing 27 .

[0186] In one embodiment, if Figure 1 As shown, the housing 27 includes a first shell 273 and a second shell 274, which are enclosed together to form a cavity, and the first drive assembly 21, the actuating assembly 22, the second drive assembly 24 and the trigger member 25 are all located in the cavity. Figure 1 and Fig.17 As shown, the implant mechanism 1 includes an outer cover 16, a base 17 and a locking knob 18, the outer cover 16 and the base 17 are connected and both clamp the second mounting member 14, the locking knob 18 is arranged on the outer cover 16, the implant mechanism 1 is detachably mounted on the first housing 273 and locked by the locking knob 18, and the first drive assembly 21 and the second drive assembly 24 are mounted on the inner wall of the second housing 274. The assembly of the implant mechanism 1 and the housing 27 can refer to the assembly structure and principle of any existing nail-binding device.

[0187] In one embodiment, if Figure 1As shown, the operating mechanism 2 further includes an endoscope sheath 291 , one end of which is located inside the housing 27 and mounted on the first mounting member 224 , and the other end of which extends out of the housing 27 .

[0188] In one embodiment, if Fig.24 As shown, the implant mechanism 1 also includes an indicator light 293, which is arranged on the housing 27. The indicator light 293 is used to indicate the current state of the prostate stapler device 100, including the automatic calibration completion state, the needle insertion completion state, the needle and thread retraction completion state, and the clamping and cutting completion state.

[0189] Furthermore, in one embodiment, the number of the indicator light 293 may be one, which indicates the above four states respectively by displaying lights of different colors or different flashing frequencies.

[0190] In another embodiment, Fig.24 As shown, the number of indicator lights 293 can be four, and the above four states are indicated by turning on or off the indicator lights 293 at different positions. For example, the four indicator lights 293 are spaced apart and distributed along the first direction a. When the automatic calibration of the prostate beam nail device 100 is completed, the first indicator light 293 located in the first direction a is turned on; when the prostate beam nail device 100 has completed the needle insertion, the second indicator light 293 located in the first direction a is turned on; when the prostate beam nail device 100 has completed the needle and thread collection, the third indicator light 293 located in the first direction a is turned on; when the prostate beam nail device 100 has completed the clamping and cutting, the fourth indicator light 293 located in the first direction a is turned on. The prompts of the indicator lights 293 make human-computer interaction more convenient, make the beam nail operation process clearer, and make it safer to use.

[0191] In one embodiment, if Figures 18 to 21As shown, the puncture needle assembly 11 also includes a puncture needle connector 111 and a puncture needle guide tube 114 connected to each other. The puncture needle connector 111 is provided with a second plug-in portion 1111, and the second plug-in portion 1111 is plugged with the first plug-in portion 2214 of the puncture needle actuator 221. The staple line assembly 12 also includes a staple line connector 121, a staple line guide tube 123 and a staple line support tube 124. The staple line connector 121 is provided with a fourth plug-in portion 1211, and the fourth plug-in portion 1211 is plugged with the third plug-in portion 2223 of the staple line actuator 222. The puncture needle guide tube 114, the staple line guide tube 123 and the staple line support tube 124 are all hollow structures. One end of the puncture needle guide tube 114 is connected to the puncture needle connector 111, and one end of the puncture needle 112 is inserted into the puncture needle guide tube 114. The staple line guide tube 123 is located inside the puncture needle guide tube 114 with a clearance fit therebetween. One end of the staple line support tube 124 is inserted into the staple line guide tube 123 and connected to one end of the staple line 122 , and the other end is connected to the staple line connector 121 .

[0192] In one embodiment, if Figures 18 to 20 , Fig. 22 As shown, the clamping and cutting assembly 13 further includes a push rod 138 and a pull rod 139. The pull rod 139 is a hollow structure. One end of the push rod 138 is connected to the proximal anchor actuator 133, and the other end is movably inserted into the pull rod 139, and the end abuts against the proximal anchor 131 along the first direction a. One end of the pull rod 139 is connected to the cutter actuator 134, and the other end is connected to the cutter 132. When the proximal anchor actuator 133 and the cutter actuator 134 move toward each other, the proximal anchor actuator 133 moves along the first direction a, and the cutter actuator 134 moves along the second direction b. In this way, the push rod 138 pushes the proximal anchor 131 to move away from the first direction a, and the pull rod 139 pulls the cutter 132 to move along the second direction b, thereby achieving clamping and cutting. It should be understood that the specific details of the proximal anchor actuator 133 and the cutter actuator 134 moving toward each other to achieve clamping and cutting can refer to the principle and structure of any existing staple binding device.

[0193] In one embodiment, the implantation mechanism 1 further includes a gun tip welding assembly 15, and its specific structure and principle can refer to any existing nail binding device.

[0194] Specifically, the steps of a complete operation of the prostate stapler device 100 of this solution are as follows:

[0195] (1) Power on and automatic calibration

[0196] The user operates the second trigger switch 26 once to turn on the prostate stapler device 100, and the prostate stapler device 100 performs automatic calibration so that the prostate stapler device 100 is in an initial state. At this time, the first protrusion 22111 of the puncture needle actuator 221 abuts against the first stop portion 22422 along the first direction a and is locked, and the second elastic member 225 is compressed.

[0197] (2) Needle

[0198] Before puncturing, the user first moves the front end of the implant mechanism 1 to the proximal side of the prostate, and then the user operates the first trigger switch 23 for the first time, the first motor 211 rotates forward, and drives the unlocking member 226 to move along the first direction a through the first rack 213. When the unlocking member 226 moves to the first unlocking structure 2261 and contacts and squeezes the first extension arm 22423, the first connecting arm 22421 is deformed, and the first stopper 22422 is separated from the first protruding portion 22111, the puncture needle actuator 221 is unlocked, and then the second elastic member 225 rebounds instantly to push the puncture needle actuator 22 1 together with the staple line actuator 222 moves along the first direction a, wherein the puncture needle actuator 221 drives the puncture needle assembly 11 to move along the first direction a, the staple line actuator 222 drives the staple line assembly 12 to move along the first direction a, the puncture needle 112 passes through the prostate to deliver the distal anchor 113 located in the puncture needle 112 to the distal side of the prostate, one end of the staple line 122 is located in the puncture needle 112 and connected to the distal anchor 113, and the puncture is completed. At this time, the second protrusion 22211 of the staple line actuator 222 and the second locking structure 2243 are sequentially distributed along the second direction b and the distance between the two is 2 mm.

[0199] Then, the first rack 213 drives the unlocking member 226 to move to the initial position of the unlocking member along the second direction b. Since the boss 2131 of the first rack 213 and the third protrusion 2212 have a certain distance in the second direction b, the puncture needle actuator 221 does not move under the constraint of the second elastic member 225. When the unlocking member 226 moves to the initial position of the unlocking member, the first motor 211 stops running. At this time, the boss 2131 and the third protrusion 2212 are 2mm apart in the second direction b.

[0200] (3) Closing needles and thread

[0201] The user operates the first trigger switch 23 for the second time, the first motor 211 reverses, drives the first rack 213 and the unlocking member 226 to move along the second direction b, and the boss 2131 of the first rack 213 pushes the puncture needle actuator 221 to move along the second direction b. Under the pull of the first elastic member 223, the staple line actuator 222 moves along with the puncture needle actuator 221 along the second direction b. When it moves 2 mm, the second protrusion 222111 of the staple line actuator 222 abuts against the second stop portion 22432 and is locked.

[0202] The first motor 211 continues to reverse and continues to drive the first rack 213 and the unlocking member 226 to move along the second direction b. The boss 2131 of the first rack 213 pushes the puncture needle actuator 221 to move along the second direction b. In this way, the puncture needle actuator 221 drives the puncture needle assembly 11 to move along the second direction b, so that the puncture needle 112 is retracted from the prostate, and the distal anchor 113 is retained on the distal side of the prostate to achieve needle retraction. In addition, since the staple line actuator 222 is locked by the second stop portion 22432 on the first mounting member 224, the first elastic member 223 is stretched. During the needle retraction process, when the unlocking member 226 moves to the second unlocking structure 2262 and contacts and squeezes the second extension arm 22433, the second connecting arm 22431 is deformed, so that the second stop portion 22432 is separated from the staple line actuator 222, and the staple line actuator 222 is unlocked. Then, the first elastic member 223 retracts instantly to pull the staple line actuator 222 to move along the second direction b until it contacts the puncture needle actuator 221 again, and in the first elastic member 223, the second stop portion 22432 is retracted. Under the pulling of the member 223 and the driving of the first rack 213, the staple line actuator 222 moves to the extreme position along the second direction b together with the puncture needle actuator 221 to complete the winding, and the distal end of the staple line 122 is stretched and squeezed to squeeze the distal side of the prostate. At this time, the first protrusion 22111 of the puncture needle actuator 221 and the first stopper 22422 of the first locking structure 2242 are distributed in sequence along the first direction a with a gap of 2 mm, which is a reserved assembly process gap.

[0203] Then, the first rack 213 drives the unlocking member 226 to move 2 mm along the first direction a, and the puncture needle actuator 221 and the staple line actuator 222 move 2 mm along the first direction a synchronously under the pull of the second elastic member 225, so that the first protrusion 22111 abuts against the first stopper 22422, and the puncture needle actuator 221 is locked again by the first locking structure 2242. The first rack 213 continues to drive the unlocking member 226 to move along the first direction a to the unlocking member initial position, and the first motor 211 stops running.

[0204] (4) Clamping and cutting

[0205] The user first adjusts the angle between the staple line 122 and the prostate through the endoscope of the prostate staple device 100, and compresses the prostate through the gun head welding assembly 15 of the implant mechanism 1 to shrink the prostate. Then, the user triggers the first switch 23 for the third time, and the second motor 241 runs to drive the trigger member 25 to move in the direction of the first locking member 136 of the clamping and cutting assembly 13. The trigger member 25 pushes the first locking member 136 to rotate and unlock the proximal anchor actuator 133. The first locking member 136 pushes the second locking member 137 to rotate and unlock the cutter actuator 134. Then, under the rebound force of the third elastic member 135, the proximal anchor actuator 133 and the cutter actuator 134 move toward each other to achieve clamping and cutting.

[0206] Then, the user releases the prostate tissue, and the prostate tissue rebounds, tensioning the proximal anchor 131 and the distal anchor 113 outward. The proximal anchor 131 and the distal anchor 113 compress the tissue from both ends of the prostate respectively, completing the pinning and withdrawing the implantation mechanism 1. After replacing the implantation mechanism 1, a new pinning implantation operation can be repeated.

[0207] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present invention and do not limit the scope of protection of the patent of the present invention.

Claims

1. A prostate stapler device, characterized in that: The prostate stapler device (100) comprises an implantation mechanism (1) and an operating mechanism (2), wherein the implantation mechanism (1) comprises a puncture needle assembly (11) and a stapler wire assembly (12), and the operating mechanism (2) comprises: A first driving assembly (21), comprising a first motor (211), a first gear (212) and a first rack (213) meshing with each other; An actuating assembly (22), comprising a puncture needle actuating member (221), a staple line actuating member (222) and a first elastic member (223), wherein the first elastic member (223) is connected to the puncture needle actuating member (221) and the staple line actuating member (222) respectively, the puncture needle actuating member (221) is transmission-connected to the puncture needle assembly (11), and the staple line actuating member (222) is transmission-connected to the staple line assembly (12); When acupuncture is performed, the first rack (213) provides a linear driving force to trigger the actuating assembly (22) to move from an initial position along a first direction (a) to a puncture completion position, and the puncture needle actuator (221) drives the puncture needle assembly (11) to move to perform acupuncture on the prostate; When the needle is being retracted, the first rack (213) drives the puncture needle actuator (221) to drive the puncture needle assembly (11) to move along the second direction (b) to complete the needle retraction, and the first elastic member (223) accumulates energy due to the pulling of the puncture needle actuator (221), and then, the staple line actuator (222) moves along the second direction (b) under the elastic force of the first elastic member (223) to tighten the staple line assembly (12) to achieve the retraction; the first direction (a) and the second direction (b) are opposite.

2. The prostate stapler device according to claim 1, characterized in that: The operating mechanism (2) further comprises a first trigger switch (23) for triggering the operation of the first driving component (21); When the actuating assembly (22) is in an initial state, the first trigger switch (23) is operated once to trigger the prostate stapler device (100) to perform acupuncture, and then the first trigger switch (23) is operated again to trigger the prostate stapler device (100) to perform needle and thread retraction.

3. The prostate stapler device according to claim 1, characterized in that: When the actuating assembly (22) is in an initial state, the puncture needle actuating member (221) is locked; when a puncture is performed, the first rack (213) provides power to unlock the puncture needle actuating member (221); And / or, when the puncture needle assembly (11) completes puncture or starts to retract the needle, the staple line actuator (222) is locked; when the needle is retracted, during the process of the first rack (213) driving the puncture needle actuator (221) to move along the second direction (b), the first rack (213) provides power to unlock the staple line actuator (222), so that the staple line actuator (222) can move along the second direction (b) under the elastic force of the first elastic member (223).

4. The prostate stapler device according to any one of claims 1 to 3, characterized in that: The actuating assembly (22) further comprises: A first mounting member (224) is provided with a first guide rail (2241), and the puncture needle actuator (221) and the staple line actuator (222) are respectively movably connected to the first guide rail (2241); A second elastic member (225), one end of which is connected to the first mounting member (224), and the other end of which is connected to the puncture needle actuator (221); Wherein, when the actuating assembly (22) is in the initial position, the puncture needle actuating member (221) is locked and the second elastic member (225) is in an energy storage state; When puncture is performed, during the linear movement of the first rack (213), the first rack (213) provides power to unlock the puncture needle actuator (221), and then the puncture needle actuator (221) moves along the first direction (a) to the puncture completion position under the elastic force of the second elastic member (225).

5. The prostate stapler device according to claim 4, characterized in that: The first mounting member (224) is provided with a first locking structure (2242) and a second locking structure (2243) which are sequentially distributed along the first direction (a); When the actuating assembly (22) is in an initial state, the first locking structure (2242) can prevent the puncture needle actuating member (221) from moving along the first direction (a); when acupuncture is performed, the first rack (213) provides power to make the first locking structure (2242) give way and unlock, thereby enabling the puncture needle actuating member (221) to move along the first direction (a) under the elastic force of the second elastic member (225); When the puncture needle assembly (11) completes puncture or begins to retract the needle, the second locking structure (2243) can prevent the staple line actuator (222) from moving along the second direction (b); when retracting the needle, the first rack (213) provides power to make the second locking structure (2243) give way and unlock, so that the staple line actuator moves along the second direction (b) under the elastic force of the first elastic member (223) to achieve retraction.

6. The prostate stapler device according to claim 5, characterized in that: The actuating assembly (22) further comprises an unlocking member (226) connected to the first rack (213), wherein the unlocking member (226) is provided with a first unlocking structure (2261) and a second unlocking structure (2262) sequentially distributed along the first direction (a); When acupuncture is performed, the first rack (213) drives the unlocking member (226) to move along the first direction (a), and unlocks the first locking structure (2242) through the first unlocking structure (2261); When the needle is closed, the first rack (213) drives the unlocking member (226) to move along the second direction (b), and unlocks the second locking structure (2243) through the second unlocking structure (2262).

7. The prostate stapler device according to claim 6, characterized in that: The first locking structure (2242) comprises a first connecting arm (22421), a first stopper (22422) and a first extension arm (22423), one end of the first connecting arm (22421) is a free end, and the first stopper (22422) and the first extension arm (22423) are respectively connected to the free end of the first connecting arm (22421); When the actuating assembly (22) is in an initial state, the puncture needle actuating member (221) at least partially abuts against the first stop portion (22422) along the first direction (a) and is locked; when the puncture needle is performed, during the movement of the unlocking member (226) along the first direction (a), the first unlocking structure (2261) squeezes the first extension arm (22423) to deform the first connecting arm (22421), thereby causing the first stop portion (22422) to shift and be unlocked; And / or, the second locking structure (2243) comprises a second connecting arm (22431), a second stopper (22432) and a second extension arm (22433), one end of the second connecting arm (22431) is a free end, and the second stopper (22432) and the second extension arm (22433) are respectively connected to the free end of the second connecting arm (22431); When the puncture needle assembly (11) completes the puncture or starts to retract the needle, the staple line actuator at least partially abuts against the second stop portion (22432) along the second direction (b) and is locked; when the needle is retracted, during the movement of the unlocking member (226) along the second direction (b), the second unlocking structure (2262) squeezes the second extension arm (22433) to cause the second connecting arm (22431) to deform, thereby causing the second stop portion (22432) to shift and be unlocked.

8. The prostate stapler device according to claim 6, characterized in that: The puncture needle actuator (221), the staple line actuator (222) and the first elastic member (223) are all located on a side of the first mounting member (224) facing the implantation mechanism (1), and the first drive assembly (21) and the unlocking member (226) are all located on a side of the first mounting member (224) facing away from the implantation mechanism (1); The first mounting member (224) is provided with a first through hole (2244) extending along a first direction (a); the puncture needle actuator (221) comprises a first protrusion (2211); the staple line actuator (222) comprises a second protrusion (2221); the first protrusion (2211) is provided with a first protrusion (22111); and the second protrusion (2221) is provided with a second protrusion (22211); The first protrusion (2211) is movably inserted into the first through hole (2244), so that the first protrusion (22111) can abut against the first locking structure (2242) along the first direction (a) and be locked; The second protrusion (2221) is movably inserted into the first through hole (2244), so that the second protrusion (22211) can be abutted against the second locking structure (2243) along the second direction (b) and locked.

9. The prostate stapler device according to claim 6, characterized in that: The puncture needle actuator (221) includes a third protrusion (2212), and the first rack (213) is provided with a boss (2131); When the needle is withdrawn, the boss (2131) can abut against the third convex block (2212) along the second direction (b), so that the first rack (213) drives the puncture needle actuator (221) to move along the second direction (b) to complete the needle withdrawal.

10. The prostate stapler device according to claim 9, characterized in that: The puncture needle actuator (221), the staple line actuator (222) and the first elastic member (223) are all located on a side of the first mounting member (224) facing the implantation mechanism (1), and the first drive assembly (21) and the unlocking member (226) are all located on a side of the first mounting member (224) facing away from the implantation mechanism (1); The first mounting member (224) is provided with a second through hole (2245) extending along the first direction (a), the third protrusion (2212) is movably inserted into the second through hole (2245), and the third protrusion (2212) partially extends out of the second through hole (2245); and / or, when the actuating assembly (22) is in an initial state, a spacing is left between the boss (2131) and the third protrusion (2212) in the first direction (a) to prevent the boss (2131) from interfering with the movement of the puncture needle actuating member 221 along the first direction (a) to the puncture needle completion position; When the needle is inserted, the first rack (213) drives the unlocking member (226) to move to the initial position of the unlocking member. At this time, the boss (2131) abuts against the third protrusion (2212) along the second direction (b), or a gap is left between the boss (2131) and the third protrusion (2212).

11. The prostate stapler device according to any one of claims 1 to 3, characterized in that: The first elastic member (223) is a coil spring, the puncture needle actuator (221) is provided with a first mounting column (2213), the staple line actuator (222) is provided with a clamping structure (2222), one end of the first elastic member (223) is wound around the first mounting column (2213) and the other end thereof is clamped to the clamping structure (2222); And / or, the puncture needle actuator (221) and the staple line actuator (222) are sequentially distributed along the first direction (a), and when the actuator assembly (22) is in an initial state, under the action of the first elastic member (223), the staple line actuator (222) abuts against the puncture needle actuator (221) along the second direction (b), so that when the puncture is performed, the puncture needle actuator (221) can drive the staple line actuator (222) to move along the first direction (a); And / or, the puncture needle actuator (221) is provided with a first plug-in portion (2214), the puncture needle assembly (11) includes a second plug-in portion (1111), and the first plug-in portion (2214) and the second plug-in portion (1111) are plugged into each other, so that the puncture needle actuator (221) is transmission-connected with the puncture needle assembly (11); And / or, the staple line actuator (222) is provided with a third plug-in portion (2223), the staple line assembly (12) comprises a fourth plug-in portion (1211), and the third plug-in portion (2223) and the fourth plug-in portion (1211) are plugged into each other, so that the staple line actuator (222) is drivingly connected to the staple line assembly (12); And / or, the implant mechanism (1) and the operating mechanism (2) are detachably connected.

12. The prostate stapler device according to any one of claims 1 to 3, characterized in that: The puncture needle assembly (11) comprises a puncture needle (112) and a distal anchor (113), wherein the distal anchor (113) is pre-placed in the hollow puncture needle (112), and the staple line assembly (12) comprises a staple line (122), wherein one end of the staple line (122) is connected to the distal anchor (113); When performing a puncture, the puncture needle (112) together with the distal anchor (113) passes through the prostate; when performing a needle retraction, the puncture needle (112) is retracted and separated from the prostate, and the distal anchor (113) remains on the distal side of the prostate; when performing a line retraction, under the pulling of the staple line (122), the distal anchor (113) stretches and squeezes the distal side of the prostate.

13. The prostate stapler device according to claim 12, characterized in that: The operating mechanism (2) further comprises a second driving assembly (24), which comprises a second motor (241), a second gear (242) and a second rack (243) meshing with each other; the implanting mechanism (1) further comprises a clamping and cutting assembly (13), which comprises a proximal anchor (131) and a cutter (132); When the clamping and cutting assembly (13) is in an initial state, it is locked; When clamping and cutting are performed, the second rack (243) provides power to unlock the clamping and cutting assembly (13), the proximal anchor (131) clamps the staple line (122) at the proximal end of the prostate, and then the cutter (132) cuts the staple line (122) so that the proximal anchor (131) retains and squeezes the proximal side of the prostate.

14. The prostate stapler device according to claim 13, characterized in that: The operating mechanism (2) further comprises a trigger member (25) connected to the second rack (243); When clamping and cutting are performed, the second rack (243) drives the trigger member (25) to move to contact the clamping and cutting assembly (13), and under the push of the trigger member (25), the clamping and cutting assembly (13) is unlocked.

15. The prostate stapler device according to claim 14, characterized in that: The implant mechanism (1) comprises a second mounting member (14), and the clamping and cutting assembly (13) comprises: a proximal anchor actuator (133) movably mounted on the second mounting member (14); a cutter actuating member (134) movably mounted on the second mounting member (14); A third elastic member (135), two ends of which are respectively connected to the proximal anchor member actuator (133) and the cutter actuator (134); a first locking member (136) rotatably connected to the second mounting member (14); A second locking member (137) rotatably connected to the second mounting member (14); When the clamping and cutting assembly (13) is in an initial state, the first locking member (136) locks the proximal anchor actuator (133), the second locking member (137) locks the cutter actuator (134), and the third elastic member (135) is in a tensioned state; When clamping and cutting are performed, the trigger member (25) moves under the drive of the second rack (243) to push the first locking member (136) to rotate and disengage from the proximal anchor member actuator (133). At the same time, the first locking member (136) rotates to push the second locking member (137) to rotate and disengage from the cutter actuator (134). Then, under the rebound force of the third elastic member (135), the proximal anchor member actuator (133) and the cutter actuator (134) move toward each other to achieve clamping and cutting.

16. The prostate stapler device according to claim 13, characterized in that: The operating mechanism (2) further comprises a second trigger switch (26). When the prostate beam nailing device (100) is in a shutdown state, the second trigger switch (26) is operated once, so that the prostate beam nailing device (100) can be started and the prostate beam nailing device (100) can be automatically calibrated to an initial state.

17. The prostate stapler device according to claim 16, characterized in that: The operating mechanism (2) further comprises a first trigger switch (23), and when the first trigger switch (23) is operated once, it can trigger the second driving component (24) to operate; And / or, the operating mechanism (2) further comprises a housing (27) and a first trigger switch (23), the first trigger switch (23) being used to trigger the operation of the first drive assembly (21) and the second drive assembly (24), and the housing (27) comprises a handle (271); The first trigger switch (23) is arranged on the front side of the handle (271), and the second trigger switch (26) is arranged on the rear side of the housing (27) and is located above the handle (271); And / or, the operating mechanism (2) comprises a first trigger switch (23) for triggering the operation of the first drive component (21) and the second drive component (24), the first trigger switch (23) being a push button switch, and the second trigger switch (26) being a rocker switch; And / or, the second rack (243) can move along a third direction (c), and the third direction (c) is perpendicular to the first direction (a); And / or, the housing (27) of the operating mechanism (2) comprises a main body (272) and a handle (271) connected to each other, the first drive assembly (21) and the second motor (241) are located in the main body (272); the trigger member (25) of the operating mechanism (2) comprises a trigger end (251) and a detected end (252), the trigger end (251) is located in the main body (272) and is used to unlock the clamping and cutting assembly (13), and the detected end (252) is at least partially located in the handle (271) and is used to connect to a travel switch trigger element (281); And / or, the implantation mechanism (1) further comprises an indicator light (293), wherein the indicator light (293) is used to indicate the current state of the prostate stapler device (100), wherein the current state comprises an automatic calibration completion state, a needle insertion completion state, a needle and thread retraction completion state, and a clamping and cutting completion state.

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