Prostate stapler device

Abstract

The present invention relates to a prostate stapler device, comprising an implantation mechanism and an operating mechanism. The implantation mechanism includes a puncture needle assembly and a staple line assembly. The operating mechanism includes: a first drive assembly, which includes a first motor, a first gear and a first rack that mesh with each other; an actuator assembly, which includes a puncture needle actuator, a staple line actuator, and a first elastic member. When performing a puncture, the first rack provides a linear driving force to trigger the actuator assembly to move from an initial position along a first direction to a puncture completion position to perform the puncture. When retracting the puncture, the first rack drives the puncture needle actuator to move the puncture needle assembly along a second direction to complete the puncture. 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 stapler device of the present invention is simpler to operate, can improve stapler efficiency, reduce vibration and noise generated during the puncture process, and has a long service life.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a prostate stapler 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] Currently, minimally invasive treatments such as transurethral resection, enucleation, and various laser surgeries dominate. These methods reduce or eliminate the enlarged prostate gland within the capsule, minimizing compression or mechanical obstruction of the prostatic urethra and relieving urethral obstruction. However, these minimally invasive treatments disrupt the prostate's structural structure, leading to a high incidence of surgical complications.

[0004] Prostate bundle nail implantation is an extremely minimally invasive surgical method. By implanting a bundle nail in the blocked prostate urethra, it tightens the enlarged prostate tissue, relieves the pressure on the urethra, and restores urination. Compared with traditional electrocautery and enucleation, prostate bundle nail implantation is not only less invasive 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. The device provides mechanical driving force through the cooperation of components such as a handle trigger assembly, a drive 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. Most of the transmission components such as the drive gear and cam are injection molded parts and have 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] In view of 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, thereby simplifying operation, improving stapling efficiency, reducing vibration and noise generated during stapling, and extending service life.

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

[0008] The present invention provides a prostate stapler device, which includes an implantation mechanism and an operating mechanism. The implantation mechanism includes a puncture needle assembly and a stapler wire assembly. The operating mechanism includes:

[0009] a first drive assembly comprising a first motor, a first gear and a first rack meshing 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 in transmission connection with the puncture needle assembly; and the staple line actuating member is in transmission connection with the staple line assembly;

[0011] 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 and the second direction are opposite.

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

[0014] When the actuating assembly is in an initial state, the first trigger switch is operated once to trigger the prostate puncture device to perform needle insertion, and then the first trigger switch is operated again to trigger the prostate puncture 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 a puncture is performed, the first rack provides power to unlock the puncture needle actuator;

[0016] And / or, when the puncture needle assembly completes the puncture or starts to retract the needle, the staple line actuator is locked; when the needle is retracted, 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 is capable of preventing the puncture needle actuator from moving in a first direction; when a puncture is performed, the first rack provides power to cause the first locking structure to give way and unlock, thereby allowing the puncture needle actuator to move in the first direction under the elastic force of the second elastic member;

[0024] When the puncture needle assembly completes the puncture or starts to retract the needle, the second locking structure can prevent the staple line actuator from moving in the second direction; when the needle is retracted, 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, wherein 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 withdrawn, 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 includes a first connecting arm, a first stop portion and a first extension arm, one end of the first connecting arm is a free end, and the first stop portion and the first extension 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 actuator at least partially abuts against the first stop portion in the first direction and is locked; when the puncture needle is performed, during the movement of the unlocking member in 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 unlock;

[0030] And / or, the second locking structure includes a second connecting arm, a second stop portion and a second extension arm, one end of the second connecting arm is a free end, and the second stop portion 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 unlock.

[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 implant 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 implant mechanism;

[0033] The first mounting member is provided with a first through hole extending in a first direction, the puncture needle actuator includes a first protrusion, and the staple line actuator includes a second protrusion, the first protrusion is provided with a first convex portion, and the second protrusion 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 the 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 and 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 protrusion 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 implant 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 implant 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 distance 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 completion position;

[0041] When the needle is punctured, 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 in driving connection with the staple line assembly;

[0046] And / or, the implantation 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, the distal anchor stretches and squeezes the distal side of the prostate under the pull of the stabbing line.

[0049] Optionally, the operating mechanism further comprises a second driving assembly comprising a second motor, a second gear and a second rack meshing with each other; the implantation mechanism further comprises a clamping and cutting assembly comprising 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 includes 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 actuator 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 includes a second trigger switch. When the prostate beam tack device is in an off state, the second trigger switch is operated once to start the prostate beam tack device and automatically calibrate the prostate beam tack 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 provided on the front side of the handle, and the second trigger switch is provided 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 push button switch, and the second trigger switch is a rocker switch;

[0067] And / or, the second rack is movable along a third direction, the third direction being 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 includes an indicator light, which is used to indicate the current state of the prostate stapler device, including the state of automatic calibration completion, needle insertion completion, needle and thread retraction completion, and clamping and cutting completion.

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

[0071] The present invention provides a prostate stapling device. A first motor, a first gear, and a first rack work together to directly provide a linear driving force to trigger the insertion, retraction, and thread retraction of the needles. The first motor and an automatic control program enable intelligent stapling operations. Compared to the prior art CN114980823A solution that uses a gear and cam, this solution features an adjustable linear motion stroke of the first rack. A single movement of the first rack in a second direction driven by the first motor sequentially triggers the needle retraction and thread retraction, simplifying operation and improving stapling efficiency. Furthermore, the first drive assembly has a simple and stable structure, operates smoothly, reduces vibration and noise generated during stapling, 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 This is 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 This is a diagram showing the assembly structure relationship of the first drive assembly, the unlocking member, the first optical coupler, the second optical coupler, and the third optical coupler when the actuating assembly is in the initial state of the present invention. Figure 1 ;

[0075] Figure 4 This is a diagram showing the assembly structure relationship of the first drive assembly, the unlocking member, the first optical coupler, the second optical coupler, and the third optical coupler when the actuating assembly is in the initial state of the present invention. Figure 2 ;

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

[0077] Figure 6 An exploded view of a local structure of the actuating assembly of the present invention;

[0078] Figure 7 is a schematic diagram of a partial three-dimensional structure 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] Figure 9 It is an enlarged view of the local structure of the first mounting member of the present invention;

[0081] Figure 10 FIG1 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] Figure 11 A partial structural front view of the operating mechanism of the present invention when the actuating assembly is in an initial state;

[0083] Figure 12 A partial structural front view of the operating mechanism of the present invention when the needle is completed;

[0084] Figure 13 A partial structural front view of the operating body of the present invention when the wire slide is locked;

[0085] Figure 14 It is a front view of the partial structure of the operating mechanism during the needle retraction process of the present invention;

[0086] Figure 15 A front view of a 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] Figure 16 This is a diagram showing the assembly structure relationship of the second drive assembly, 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;

[0088] Figure 17 An exploded view of the implant mechanism of the present invention;

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

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

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

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

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

[0094] Figure 23 An exploded view of the local structure of the clamping and cutting assembly of the present invention;

[0095] Figure 24 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. Nail harness assembly; 121. Nail harness connector; 1211. Fourth plug-in portion; 122. Nail harness; 123. Nail harness guide tube; 124. Nail harness support tube;

[0101] 13. Clamping and cutting assembly; 131. Proximal anchor member; 132. Cutter; 133. Proximal anchor member actuator; 1331. First engaging groove; 134. Cutter actuator; 1341. Second abutting portion; 135. Third elastic member; 136. First locking member; 1361. First engaging 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 piece; 15. Gun head welding assembly; 16. Outer cover; 17. Base; 18. Locking knob;

[0103] 2. Operating mechanism;

[0104] 21. First drive 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 raised portion; 221111, first abutting surface; 221112, second inclined surface; 2212, third protrusion; 2213, first mounting post; 2214, first plug-in portion; 2215, hook portion; 2216, second clamping portion;

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

[0108] 223, 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 extending arm; 2243, second locking structure; 22431, second connecting arm; 22432, second stop portion; 224321, second stop surface; 224322, third inclined surface; 22433, second extending arm; 2244, first through hole; 2245, second through hole; 2246, second mounting post; 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 drive assembly; 241. Second motor; 2411. Second output shaft; 242. Second gear; 243. Second rack; 244. Guide rod;

[0114] 25. Trigger; 251. Trigger 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] 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 expressly defined, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplifying the description of the present invention, and do not indicate that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and should not be understood as a limitation to the present invention.

[0121] In this disclosure, the terms "first" and "second" are used solely for descriptive clarity and should not be construed as indicating the relative importance of the features indicated or the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, and "several" means at least one, unless expressly specified otherwise.

[0122] In the present invention, unless otherwise expressly defined, the terms "installed," "connected," "connect," "fixed," and "disposed" should be understood broadly. For example, "connection" can mean fixed connection, removable connection, or integral molding; it can be mechanical or electrical; it can be direct or indirect through an intermediary; it can also refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0123] In the present invention, unless otherwise clearly defined, when a first feature is “on,” “above,” “above,” “above,” “below,” “below,” or “below” a second feature, the first feature and the second feature may be in direct contact, or the first feature and the second feature may be in indirect contact via an intermediate medium. Moreover, when a first feature is “on,” “above,” or “above” a second feature, it 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. When a first feature is “below,” “below,” or “below” a second feature, it 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] The following is based on Figures 1 to 24 The prostate tackling device of the present invention will be described in detail.

[0125] In this embodiment, if Figure 1 、 Figure 17 、 Figure 18 、 Figure 21 and Figure 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 drive assembly 21 and an actuating assembly 22. The first drive 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 the first output shaft 2111 of the first motor 211. The actuating assembly 22 includes a puncture needle actuator 221, a staple line actuator 222, and a first elastic member 223. The first elastic member 223 is connected to the puncture needle actuator 221 and the staple line actuator 222, respectively. The puncture needle actuator 221 is in transmission connection with the puncture needle assembly 11, and the staple line actuator 222 is in transmission connection with the staple line assembly 12.

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

[0128] Specifically, if Figure 2 、 Figure 3 、 Figure 5 、 Figure 11 and Figure 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 、 Figure 12 and Figure 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 remains 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. Figure 14 and Figure 15 As shown, the staple line actuator 222 moves in the second direction b under the elastic force of the first elastic member 223 to tighten the staple line assembly 12, thereby achieving line retraction. By tightening the staple line 122, the distal end stretches and compresses the distal side of the prostate. The first direction a and the second direction b are opposite.

[0130] By adopting the above-described technical solution, the prostate stapling device 100 is equipped with a first drive assembly 21. Through the cooperation of a first motor 211, a first gear 212, and a first rack 213, a linear driving force is directly provided to trigger the needle insertion, needle retraction, and thread retraction, thus achieving intelligent stapling operation. Furthermore, compared to the prior art CN114980823A, which utilizes a gear and cam combination, the linear motion stroke length of the first rack 213 in this solution is adjustable. A single movement of the first rack 213 in the second direction b driven by the first motor 211 can sequentially trigger the needle retraction and thread retraction, simplifying operation and improving stapling efficiency. Furthermore, the first drive assembly 21 offers smooth operation and a stable structure. Compared to the prior art gear and cam combination, it reduces vibration and noise generated during stapling, is less susceptible to damage, 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 adjacent to the urethra, and the distal end of the prostate refers to the portion of the prostate tissue farther away.

[0132] It should be understood that when the prostate tack device 100 is in normal use, the front end of the prostate tack 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 Figure 1 、 Figure 2 、 Figure 3 、 Figure 9 and Figure 11 The marking in the “third direction c” shall prevail. Figure 1 、 Figure 2and Figure 11 The markings in the table shall prevail.

[0133] It should be understood that "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 Figure 24 As shown, the operating mechanism 2 also includes a first trigger switch 23, which is used to trigger the operation of the first drive assembly 21. When the actuation assembly 22 is in the initial state, the first trigger switch 23 is operated once to trigger the prostate stapling device 100 to perform acupuncture. Subsequently, the first trigger switch 23 is operated again to trigger the prostate stapling device 100 to perform needle removal and thread retraction. In this solution, the user only needs to operate the first trigger switch 23 twice to control the prostate stapling device 100 to perform acupuncture, needle removal, and thread retraction. Compared to the prior art solution CN114980823A, which requires three manual operations to achieve acupuncture, needle removal, and thread retraction, this solution eliminates one operation, reducing the difficulty and time of stapling operation and improving stapling efficiency.

[0135] In one embodiment, when the actuation assembly 22 is in the initial state, the puncture needle actuator 221 is locked. When a puncture 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 assembly 11 begins to withdraw, the first motor 211 rotates in reverse. 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. The first rack 213 drives the needle slider 221 and the unlocking element 226 to move in the second direction b. The staple line actuator 222 moves slightly in the second direction b before being locked by the second locking structure 2243. In other words, the staple line actuator 222 is locked during the initial stage of needle withdrawal. Alternatively, the staple line actuator 222 can be locked simultaneously with the puncture. This approach places strict demands on the assembly tolerances of the components. Therefore, preferably, the staple line actuator 222 is locked during the initial stage of needle withdrawal. For ease of explanation, the following description will use the example of "the staple line actuator 222 being locked during 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 、 Figure 12 and Figure 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. Figure 14 and Figure 15 As shown, the staple line actuator 222 can move along the second direction b under the elastic force of the first elastic member 223 to achieve needle and thread retraction.

[0138] In one embodiment, if Figure 5 As shown, the actuating 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 actuating member 221 and the staple line actuating member 222 are 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 actuating member 221. Figure 2 and Figure 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 a stored energy state. During the puncture, the first rack 213 provides power to unlock the puncture needle actuator 221 during the linear motion of the first rack 213. After the puncture needle actuator 221 is unlocked, the second elastic member 225 can release its 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, second elastic member 225 is a tension spring, first mounting member 224 is provided with second mounting post 2246, and puncture needle actuator 221 is provided with hook portion 2215. Hook portion 2215 and second mounting post 2246 are spaced apart along first direction a. One end of second elastic member 225 is hooked on second mounting post 2246, and the other end is hooked on hook portion 2215. When actuation assembly 22 is in the initial position, second elastic member 225 is stretched. When puncture needle actuator 221 is unlocked, second elastic member 225 rebounds to pull puncture needle actuator 221 to move along 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, and 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 is clamped to the clamping structure 2222. Figure 14 As shown, 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. Figure 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 an initial state, the first locking structure 2242 is at least partially located along the path of the puncture needle actuator 221 in the first direction a. Thus, the first locking structure 2242 can prevent the puncture needle actuator 221 from moving in the first direction a, thereby achieving locking. During a puncture, 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. The first locking structure 2242 gives way, thereby unlocking the puncture needle actuator 221, thereby allowing the puncture needle actuator 221 to move in 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 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 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 in the second direction b and is then locked by the second locking structure 2243. When the locking structure 2243 is locked, the staple line actuator 222 cannot continue to move along with the puncture needle actuator 221 in the second direction b, so that the needle can be withdrawn first, and the puncture needle 112 can be retracted from the prostate. After the puncture needle 112 is retracted from the prostate, the first rack 213 provides power to cause the second locking structure 2243 to give way and unlock, thereby allowing the staple line actuator 222 to move in the second direction b under the elastic force of the first elastic member 223 to achieve the staple line retraction. Preferably, when the puncture needle assembly 11 completes the puncture, the gap between the second locking structure 2243 and the locked portion of the staple line actuator 222 is configured to be 1 mm to 2 mm, leaving a gap for the assembly process. At the same time, the staple line actuator 222 can be locked at the moment of starting the needle retraction.

[0144] In one embodiment, if Figure 3 、 Figure 8 and Figure 10 As shown, the actuator assembly 22 also includes an unlocking member 226 connected to the first rack 213. The unlocking member 226 is provided with a first unlocking structure 2261 and a second unlocking structure 2262, which are sequentially arranged along a first direction a. During acupuncture, the first rack 213 drives the unlocking member 226 to move along the first direction a, unlocking the first locking structure 2242 by driving the first unlocking structure 2261 to move. During needle collection, the first rack 213 drives the unlocking member 226 to move along the second direction b, unlocking the second locking structure 2243 by driving the second unlocking structure 2262 to move. In this embodiment, the separate provision of the unlocking member 226 reduces the manufacturing difficulty of the first rack 213, thereby reducing manufacturing costs, compared to directly forming 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, first locking structure 2242 includes a first connecting arm 22421, a first stop 22422, and a first extending arm 22423. One end of first connecting arm 22421 is free, and the other end is fixed to the body of first mounting member 224. First stop 22422 and first extending arm 22423 are respectively connected to the free end of first connecting arm 22421. When actuating assembly 22 is in an initial state, puncture needle actuator 221 is locked by at least partially abutting first stop 22422 along first direction a. First extending arm 22423 is at least partially located along the path of first unlocking structure 2261 in the first direction a. It should be understood that, at this point, the force exerted by second elastic member 225 on puncture needle actuator 221 is insufficient to enable puncture needle actuator 221 to overcome the blocking force of first stop 22422, thereby ensuring locking stability. During a puncture, as the unlocking member 226 moves along the first direction a, the first unlocking structure 2261 moves into contact with and compresses the first extension arm 22423, deforming the first connecting arm 22421. This in turn causes the first stop 22422 to shift and disengage from the puncture needle actuator 221, thereby achieving unlocking. Furthermore, the puncture needle actuator 221 is provided with a first protrusion 22111, which abuts against the first stop 22422 along the first direction a, thereby locking the actuator.

[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. Figure 13 and Figure 14 As shown, in the initial stage of needle retraction, the staple line actuator 222 is at least partially abutted against the second stop portion 22432 along the second direction b and is 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 、 Figure 10 、 Figure 14 and Figure 15 As shown, during the process of continuing to retract 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 and squeeze the second extension arm 22433, so that the second connecting arm 22431 is deformed, and then the second stopper 22432 is displaced and disengaged from the staple line actuator 222, thereby achieving unlocking. After being unlocked, the staple line actuator 222 moves along the second direction b to retract the needle. Figure 8 and Figure 14 As shown, the staple line actuator 222 is provided with a second protrusion 22211 , and the second protrusion 22211 abuts against the second stop portion 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, which are sequentially distributed along a first direction a. The first hollow portion 22471 and the second hollow portion 22472 are connected by a connecting portion 22473. A first connecting arm 22421 is located in the first hollow portion 22471 and its fixed end is connected to the connecting portion 22473. A first extending arm 22423 extends toward the unlocking member 226 and extends out of the first hollow portion 22471. A second connecting arm 22431 is located in the second hollow portion 22472 and its fixed end is connected to the connecting portion 22473. A second extending arm 22433 extends toward the unlocking member 226 and extends out of the second hollow portion 22472. In this embodiment, the first locking structure 2242 and the second locking structure 2243 are compactly arranged and both are connected to the main body of the first mounting member 224 via the connecting portion 22473, resulting in a simple structure and easy processing.

[0148] In one embodiment, if Figure 5and Figure 23 As shown, when the actuator 22 moves to the full needle insertion position, the thread slider 222 abuts against the second mounting post 2246, stopping the actuator 22. In other words, the second mounting post 2246 also serves to limit the movement limit of the actuator 22 in the first direction a. When the actuator 22 is in the full needle insertion position, the second protrusion 22211 of the staple thread actuator 222 and the second stop 22432 of the second locking structure 2243 are sequentially arranged along the second direction b, with a spacing of 1 mm to 2 mm between them.

[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, and the second protrusion 22211 is provided on the top wall of the staple line actuator 222. The first stop 22422 and the first protrusion 22111 are positioned opposite each other in the first direction a, and the second stop 22432 and the second protrusion 22211 are positioned opposite each other in the second direction b. The first locking structure 2242 and the second locking structure 2243 are arranged axially symmetrically, which facilitates a simplified structural design.

[0150] Furthermore, if Figure 8 and Figure 9 As shown, the first stop portion 22422 includes a first stop surface 224221 and a first inclined surface 224222, and the first protrusion 22111 includes a first abutting surface 221111 and a second inclined surface 221112. The first stop 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 away from the puncture needle actuator 221. When the actuator assembly 22 is in the initial state, the first stop 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, so that the second protrusion 22211 does 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 over 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 abutting surface 222111 and a fourth inclined surface 222112, the second stop surface 224321 and the second abutting 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 needle is punctured, the staple line actuator 222 moves along with the puncture needle actuator 221 along the first direction a until the fourth inclined surface 222112 and the third inclined surface 224322 are in contact. 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 stop portion 22432 and continues to move along the first direction a. Moreover, when the actuator assembly 22 reaches the needle 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, there are two first protrusions 22111 and two second protrusions 22211. 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, to ensure the stability of the corresponding locking functions. It should be understood that when the first unlocking structure 2261 forces the first connecting arm 22421 to deform, both first protrusions 22111 can smoothly pass over the first stop 22422; and when the second unlocking structure 2262 forces the second connecting arm 22431 to deform, both second protrusions 22211 can smoothly pass over the second stop 22432.

[0153] In one embodiment, if Figure 1 、 Figure 5 and Figure 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 in a 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 abut against the first locking structure 2242 in the first direction a, thereby locking the first protrusion. The second protrusion 2221 is movably inserted into the first through-hole 2244, so that the second protrusion 22211 can abut against the second locking structure 2243 in the second direction b, thereby locking the second protrusion. In this embodiment, the components of the actuator assembly 22 are arranged rationally and compactly, facilitating the miniaturization of the operating mechanism 2.

[0154] Furthermore, in order to facilitate the thin design of the first mounting member 224, as shown in FIG. 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 respectively abut 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 defines 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 Figure 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. In this way, 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 will not 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 there is a gap between the boss 2131 and the third protrusion 2212 in the second direction b, for example, a gap of 1mm-2mm to reserve a gap for the assembly process. 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 in 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 and the first guide rail 2241 are slidably matched. The various 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 bent portion 22241, the bent portion 22241 abuts against the side wall of the first mounting member 224 away from the implant 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 Figure 18 As shown, the puncture needle actuator 221 has 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 to achieve a transmission connection between the puncture needle actuator 221 and the puncture needle assembly 11. The staple line actuator 222 has 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 to achieve a transmission connection between the staple line actuator 222 and the staple line assembly 12. In one 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. The snap-in and snap-in protrusions are plugged together to achieve detachable assembly.

[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 several uses, 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 drive assembly 21 includes a second guide rail 214 and a slider 215 that are slidably matched, and the operating mechanism 2 also includes a shell 27. The second guide rail 214 is installed on the inner wall of the shell 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 misalignment between the first output shaft 2111 and 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. Figure 10 and Figure 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 needle is punctured, the first rack 213 drives the unlocking member 226 to move along the first direction a to the position of unlocking the puncture needle actuator 221. At this time, the unlocking member 226 is in the first unlocking member position. The unlocking member 226 continues to move to release the puncture needle actuator 221 from the lock, and then continues to move along the first direction a to the first limit position and stops. Figure 12 As shown, after the puncture needle actuator 221 is released from the lock, 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, 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 drive 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 FIG. Figure 15 As shown, the unlocking member 226 moves along the second direction b with the first rack 213 to the second extreme position. Figure 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 spaced apart along a 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 spaced apart along the first direction a. When the unlocking member 226 is in the initial unlocking position, the second blocking piece 2264 and the second optical coupler 283 cooperate to obtain 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 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 position information of the unlocking member 226.

[0167] In one embodiment, if Figure 1 、 Figure 2 and Figure 16 As shown, the operating mechanism 2 further includes a second drive assembly 24, which includes a second motor 241, a second gear 242 and a second rack 243 that mesh with each other, and the second gear 242 is coaxially connected to the second output shaft 2411 of the second motor 241. Figure 18 As shown, the implant mechanism 1 further includes a clamping and cutting component 13, as shown in FIG. Figure 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 accidental triggering of the clamping and cutting operations. When clamping and cutting are performed, the second motor 241 is turned on, and the second rack 243 provides power by linear movement. This 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. 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 widening the urethra.

[0168] Furthermore, if Figure 2 and Figure 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 toward the clamping and cutting assembly 13, so that the trigger member 25 moves into contact with the clamping and cutting assembly 13. In this way, the clamping and cutting assembly 13 is unlocked under the push of the trigger member 25.

[0169] Furthermore, if Figure 17and Figure 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 movement 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 Figure 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. Figure 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, and 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 Figure 18 and Figure 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 card groove 1331, the two sides of the first locking member 136 are respectively provided with a first card 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 its initial state, the first engaging protrusion 1361 engages upwardly within the first engaging groove 1331 to restrict movement of the proximal anchor actuator 133 in the first direction a. The pushing portion 1362 is positioned below the pushed portion 1371 with a gap therebetween. The first abutting portion 1372 abuts upwardly along the first direction a against the second abutting portion 1341 to restrict 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 and disengages 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 and disengages from the second abutting portion 1341, and the cutter actuator 134 is unlocked.

[0175] In one embodiment, if Figure 2 and Figure 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 Figure 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. 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. The detected end 252 is at least partially located in the handle 271 and is used to connect to 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 initial position and the unlocking position. Figure 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 25 is in the initial position of the trigger, and the first travel switch 285 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger 25; when the trigger 25 moves to the position of unlocking the first locking member 136, the trigger 25 is in the trigger 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 25.

[0178] In one embodiment, if Figure 16 As shown, the second drive assembly 24 includes a guide rod 244 mounted on the inner wall of the housing 27. The second rack 243 is movably connected to the guide rod 244. A gap is left between the guide rod 244 and the inner wall of the housing 27. The second gear 242 is located in the space between the guide rod 244 and the inner wall of the housing 27, fully utilizing the lateral space within the housing 27.

[0179] The second gear 242 is provided with a second mounting hole (not shown in the figure), such as Figure 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 Figure 24 As shown, the operating mechanism 2 also includes a second trigger switch 23. When the prostate styling device 100 is in the off state, a single operation of the second trigger switch 23 activates the prostate styling device 100 and automatically calibrates the prostate styling device 100 to its initial state, ensuring the accuracy of the prostate styling device 100 during long-term use. After automatic calibration, the needle insertion, needle and thread retraction, clamping, and cutting operations are then performed. Of course, the prostate styling device 100 can also be equipped with no automatic calibration function, and the accuracy of the prostate styling device 100 during its use cycle can be ensured by limiting the number of uses. It should be understood that after a single operation of the second trigger switch 23 to activate the prostate styling device 100, multiple stapling operations can be performed continuously without the need for 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 runs 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, completing the automatic calibration.

[0182] In one embodiment, if Figure 1 and Figure 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, preventing the user from accidentally triggering clamping and cutting due to operational errors. Specifically, after the prostate stapler device 100 is activated, the first trigger switch 23 is operated once to trigger the needle insertion, then again to trigger the needle and thread retraction, and then again to trigger clamping and cutting. In other words, the first trigger switch 23 can be operated three times to sequentially control the execution of the needle insertion, needle and thread retraction, clamping, and cutting.

[0183] Furthermore, if Figure 1 and Figure 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 Figure 24 As shown, the first trigger switch 23 is a push button switch, which is more convenient to use and less likely to be accidentally triggered than the plate switch in the prior art CN114980823A. The second trigger switch 26 is a rocker switch, which has a different structure from the first trigger switch 23 and serves as a difference indicator 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. 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. The first shell 273 and the second shell 274 together enclose 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 Figure 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 together clamp the second mounting member 14. The locking knob 18 is provided on the outer cover 16. The implant mechanism 1 is detachably mounted on the first housing 273 and locked by the locking knob 18. 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 stapler 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 in the housing 27 and mounted on the first mounting member 224 , and the other end of which extends to the outside of the housing 27 .

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

[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, Figure 24 As shown, the number of indicator lights 293 can be four, and the four aforementioned states can be indicated by the lighting or extinguishing of four differently positioned indicator lights 293. For example, the four indicator lights 293 are spaced apart along a first direction a. When the prostate styling device 100 completes automatic calibration, the first indicator light 293 located in the first direction a illuminates; when the prostate styling device 100 completes needle insertion, the second indicator light 293 located in the first direction a illuminates; when the prostate styling device 100 completes needle and thread retraction, the third indicator light 293 located in the first direction a illuminates; and when the prostate styling device 100 completes clamping and cutting, the fourth indicator light 293 located in the first direction a illuminates. The prompts provided by the indicator lights 293 facilitate human-computer interaction, make the styling operation process clearer, and enhance safety.

[0191] In one embodiment, if Figures 18 to 21As shown, the puncture needle assembly 11 also includes a connected puncture needle connector 111 and a puncture needle guide tube 114. The puncture needle connector 111 has a second plug-in portion 1111, which plugs into 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 has a fourth plug-in portion 1211, which plugs into 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 all have 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 and the two are clearance-fitted. 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 、 Figure 22 As shown, the clamping and cutting assembly 13 further includes a push rod 138 and a pull rod 139. The pull rod 139 has 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. This end abuts 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 in the first direction a, and the cutter actuator 134 moves in the second direction b. In this way, the push rod 138 pushes the proximal anchor 131 away from the first direction a, and the pull rod 139 pulls the cutter 132 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 be referred to the principle and structure of any existing staple bundle device.

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

[0194] Specifically, the steps for 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 stabbing device 100, and the prostate stabbing device 100 performs automatic calibration, so that the prostate stabbing device 100 is in the 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. 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, thereby causing the first stop portion 22422 to disengage from the first protrusion 22111, and the puncture needle actuator 221 is unlocked. Then, the second elastic member 225 rebounds instantaneously to push the puncture needle actuator 221. 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, and 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, completing the puncture. At this time, the second protrusion 22211 of the staple line actuator 222 and the second locking structure 2243 are distributed sequentially along the second direction b and are 2 mm apart.

[0199] Then, the first rack 213 drives the unlocking member 226 to move along the second direction b to the initial position of the unlocking member. Since there is a certain distance between the boss 2131 of the first rack 213 and the third protrusion 2212 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 in the second direction b are 2 mm apart.

[0200] (3) Needle and thread closing

[0201] The user operates the first trigger switch 23 for the second time, and the first motor 211 reverses, driving 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. 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, continuing 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 remains on the distal side of the prostate, thereby achieving 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 the second extension arm 22433 and squeezes the second extension arm 22433, the second connecting arm 22431 is deformed, thereby causing the second stop portion 22432 to disengage from the staple line actuator 222, and the staple line actuator 222 is unlocked. Then, the first elastic member 223 retracts instantaneously to pull the staple line actuator 222 to move along the second direction b until it contacts the puncture needle actuator 221 again, and, at the first elastic member 223, the second stop portion 22432 is disengaged from the staple line actuator 222. Under the pull of the member 223 and the drive 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. By tightening the staple line 122 so that the distal end stretches and squeezes the distal side of the prostate, at this time, the first protrusion 22111 of the puncture needle actuator 221 and the first stop portion 22422 of the first locking structure 2242 are distributed in sequence along the first direction a and the gap between the two is 2 mm, which is the reserved assembly process gap.

[0203] Then, the first rack 213 drives the unlocking member 226 to move 2 mm in the first direction a. The puncture needle actuator 221 and the staple line actuator 222, pulled by the second elastic member 225, simultaneously move 2 mm in the first direction a, causing the first protrusion 22111 to abut against the first stop 22422. The puncture needle actuator 221 is then locked again by the first locking structure 2242. The first rack 213 continues to drive the unlocking member 226 in the first direction a to its initial unlocking position, and the first motor 211 stops.

[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 switch 23 for the third time, and the second motor 241 runs, driving 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, the prostate tissue rebounds, and the proximal anchor 131 and the distal anchor 113 are tensioned 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 encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope of this disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments merely illustrate several implementations of the present invention and do not limit the scope of protection of the patent of this 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 drive 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 in transmission connection with the puncture needle assembly (11); and the staple line actuating member (222) is in transmission connection with 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 acupuncture the prostate; When the needle is 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) is pulled by the puncture needle actuator (221) to store energy, 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; The operating mechanism (2) further includes a first trigger switch (23) for triggering the operation of the first drive component (21); When the actuating assembly (22) is in an initial state, the first trigger switch (23) is operated once, which can trigger the prostate puncture device (100) to perform acupuncture, and then, the first trigger switch (23) is operated again once, which can trigger the prostate puncture device (100) to perform needle and thread retraction; 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); When the puncture needle assembly (11) completes the puncture or begins to retract the needle, the staple line actuator (222) is locked; when the needle is retracted, in 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).

2. The prostate stapler device according to claim 1, characterized in that: The actuating assembly (22) further comprises: a first mounting member (224) provided with a first guide rail (2241), the puncture needle actuator (221) and the staple line actuator (222) being 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 puncturing, during the linear motion 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).

3. The prostate stapler device according to claim 2, characterized in that: The first mounting member (224) is provided with a first locking structure (2242) and a second locking structure (2243) distributed in sequence along the first direction (a); When the actuating assembly (22) is in an initial state, the first locking structure (2242) is capable of preventing the puncture needle actuating member (221) from moving along the first direction (a); when acupuncture is performed, the first rack (213) provides power to cause the first locking structure (2242) to 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 the 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 the needle is retracted, 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.

4. The prostate stapler device according to claim 3, characterized in that: The actuating assembly (22) further comprises an unlocking member (226) connected to the first rack (213), the unlocking member (226) being 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), unlocking the first locking structure (2242) through the first unlocking structure (2261); 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) through the second unlocking structure (2262).

5. The prostate stapler device according to claim 4, characterized in that: The first locking structure (2242) comprises a first connecting arm (22421), a first stop portion (22422) and a first extension arm (22423); one end of the first connecting arm (22421) is a free end; the first stop portion (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 a puncture 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), causing the first connecting arm (22421) to deform, 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 stopping portion (22432) and a second extension arm (22433), one end of the second connecting arm (22431) is a free end, and the second stopping portion (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 begins 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.

6. The prostate stapler device according to claim 4, characterized in that: 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 both located on the side of the first mounting member (224) facing away from the implant 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) includes a first protrusion (2211); the staple line actuator (222) includes a second protrusion (2221); the first protrusion (2211) is provided with a first protruding portion (22111); and the second protrusion (2221) is provided with a second protruding portion (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 abut against the second locking structure (2243) along the second direction (b) and be locked.

7. The prostate stapler device according to claim 4, 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 bulge (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.

8. The prostate stapler device according to claim 7, characterized in that: 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 both located on the side of the first mounting member (224) facing away from the implant 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 distance 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 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).

9. The prostate stapler device according to claim 1, wherein: 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); 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 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), 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 to 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) includes 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 transmission-connected to the staple line assembly (12); And / or, the implant mechanism (1) and the operating mechanism (2) are detachably connected.

10. The prostate stapler device according to claim 1, wherein: The puncture needle assembly (11) includes 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) includes a staple line (122), wherein one end of the staple line (122) is connected to the distal anchor (113); When acupuncture is performed, the puncture needle (112) together with the distal anchor (113) passes through the prostate; when the needle is withdrawn, the puncture needle (112) is withdrawn and separated from the prostate, and the distal anchor (113) remains on the distal side of the prostate; when the line is withdrawn, under the pulling of the staple line (122), the distal anchor (113) stretches and squeezes the distal side of the prostate.

11. The prostate stapler device according to claim 10, characterized in that: 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) that mesh with each other; the implantation mechanism (1) further includes a clamping and cutting assembly (13), which includes 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) remains and squeezes the proximal side of the prostate.

12. The prostate stapler device according to claim 11, characterized in that: The operating mechanism (2) further includes 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.

13. The prostate stapler device according to claim 12, wherein: The implant mechanism (1) includes a second mounting member (14), and the clamping and cutting assembly (13) includes: a proximal anchor actuator (133) movably mounted on the second mounting member (14); a cutter actuator (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.

14. The prostate stapler device according to claim 11, wherein: 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, thereby starting the prostate beam nailing device (100) and automatically calibrating the prostate beam nailing device (100) to an initial state.

15. The prostate stapler device according to claim 14, characterized in that: The operating mechanism (2) further comprises a first trigger switch (23), and the first trigger switch (23) is operated once to trigger the second drive assembly (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 provided on the front side of the handle (271), and the second trigger switch (26) is provided on the rear side of the housing (27) and is located above the handle (271); And / or, the operating mechanism (2) includes 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) is movable along a third direction (c), the third direction (c) being perpendicular to the first direction (a); And / or, 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); the trigger member (25) of the operating mechanism (2) 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 to the travel switch trigger element (281); And / or, the implantation mechanism (1) further comprises an indicator light (293), the indicator light (293) being used to indicate the current state of the prostate stapler device (100), the current state comprising 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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