Control method of prostate binding nail device and prostate binding nail device

Abstract

The invention relates to a control method of a prostate binding nail device and the prostate binding nail device.The control method comprises the steps that S1, in response to a primary operation instruction input by a first switch, the driving end of a first electric driving assembly is controlled to move in the first direction so that a first actuating piece can be unlocked, and then the first actuating piece is driven to move in the second direction; the first actuating piece drives the second actuating piece to execute pricking along a first direction under the action of mechanical external force; s2, in response to another operation instruction input by the first switch, controlling the driving end of the first electric driving assembly to move along a second direction so as to drive the first actuating piece to move along the second direction to execute needle closing; after needle collection, the driving end is controlled to continue to move in the second direction, so that the second actuating piece is disengaged from locking, and then the second actuating piece moves in the second direction under the mechanical external force to execute thread collection. According to the control method, a user only needs to operate the first switch twice to control the prostate binding nail device to execute pricking, narrowing and take-up, the binding nail operation difficulty is lowered, the binding nail operation time is shortened, and the binding nail efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control method of a prostate stapler and a prostate stapler. Background Art

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

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

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

[0005] CN114980823A provides a device for preventing instrument deployment failure, which provides mechanical driving force through the cooperation of components such as a handle trigger assembly, a driving gear and a cam to drive the needle slider to drive the needle connector assembly and the suture needle assembly to move to achieve needle insertion, needle retraction and thread retraction. In this solution, since the single rotation angle of the cam is small and the driving stroke is limited, the user can only trigger one action each time he operates the handle trigger assembly. That is, in the entire process of completing a staple binding, 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, which is cumbersome to operate. Summary of the invention

[0006] Based on the above-mentioned defects in the prior art, the purpose of the present invention is to provide a control method for a prostate stapling device, whereby the user only needs to operate the first switch twice to control the prostate stapling device to perform needle insertion, needle retraction and line retraction, thereby reducing the difficulty and operation time of stapling operation and improving the stapling efficiency.

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

[0008] The present invention provides a control method for a prostate stapler device, wherein the prostate stapler device comprises an implantation mechanism and an operation mechanism, wherein the implantation mechanism comprises a needle assembly and a wire assembly, wherein the operation mechanism comprises a first electric drive assembly, an actuation assembly and a first switch, wherein the actuation assembly comprises a first actuation member and a second actuation member; wherein the first actuation member is linked to the needle assembly, and the second actuation member is linked to the wire assembly;

[0009] The control method comprises:

[0010] S1, in response to a running instruction input by the first switch, controlling the driving end of the first electric driving assembly to move in a first direction to provide a force so that the first actuator is unlocked, and then the first actuator drives the second actuator in the first direction under a mechanical external force to perform acupuncture;

[0011] S2, in response to another operation instruction input by the first switch, controlling the driving end of the first electric driving assembly to move in the second direction to drive the first actuating member to move in the second direction to perform needle closing; after needle closing, controlling the driving end to continue to move in the second direction to provide a force so that the second actuating member is unlocked, and then the second actuating member moves in the second direction under the mechanical external force to perform thread closing;

[0012] Wherein, when the actuating assembly is in an initial state, the first actuating member is locked; at the initial stage of needle insertion or needle withdrawal, the second actuating member is locked; and the first direction is opposite to the second direction.

[0013] Optionally, the implant mechanism further comprises a clamping and cutting assembly, which comprises a proximal anchor and a cutter; when the clamping and cutting assembly is in an initial state, it is locked; the operating mechanism comprises a second electric drive assembly;

[0014] After step S2, the method further includes step S3:

[0015] In response to another operation instruction input by the first switch, the driving end of the second electric drive assembly is controlled to move along the third direction to provide a force so that the clamping and cutting assembly is disengaged from the lock, and then the proximal anchor and the cutter can move toward each other under mechanical external force to perform clamping and cutting.

[0016] Optionally, the operating mechanism includes a second switch;

[0017] Before step S1, the method further includes step S0: in response to a running instruction input by the second switch, controlling the prostate stapler device to start, and controlling the actuating assembly to automatically calibrate to an initial state.

[0018] Optionally, the operating mechanism further comprises a needle elastic member and an unlocking member, and the unlocking member is connected to the driving end of the first electric drive assembly;

[0019] Step S1 also includes: the driving end of the first electric drive assembly drives the unlocking member to move along the first direction, the unlocking member moves to disengage the first actuating member from the lock, and then, the first actuating member drives the second actuating member along the first direction under the action of the puncture needle elastic member to perform the puncture needle.

[0020] Optionally, the operating mechanism further includes a wire-reeling elastic member and an unlocking member;

[0021] Step S2 also includes: the driving end of the first electric drive assembly drives the unlocking member to move in the second direction, the unlocking member moves to disengage the second actuating member, and then the second actuating member moves in the second direction under the action of the winding elastic member to perform winding.

[0022] Optionally, the first electric drive assembly comprises a first motor, a first gear and a first rack meshing with each other, and the first rack constitutes a driving end of the first electric drive assembly;

[0023] In step S1, controlling the driving end of the first electric driving assembly to move along a first direction specifically includes: controlling the first motor to rotate forward so that the first rack moves along the first direction.

[0024] Optionally, the second electric drive assembly comprises a second motor, a second gear and a second rack meshing with each other, and the second rack constitutes a driving end of the second electric drive assembly;

[0025] In step S3, controlling the driving end of the second electric driving assembly to move along the third direction specifically includes: controlling the second motor to rotate forward so that the second rack moves along the third direction.

[0026] Optionally, the operating mechanism further comprises a trigger member connected to the driving end of the second electric drive assembly;

[0027] Step S3 also includes: the driving end of the second electric driving assembly drives the trigger member to move along the third direction, and the movement of the trigger member causes the clamping and cutting assembly to be released from locking.

[0028] Optionally, the implant mechanism further includes a first indicator light, a second indicator light, a third indicator light and a fourth indicator light; and the control method further includes:

[0029] In response to completion of the automatic calibration, controlling the first indicator light to light up;

[0030] In response to the completion of the needle insertion, controlling the second indicator light to light up;

[0031] In response to completion of needle and thread closing, controlling the third indicator light to light up;

[0032] In response to completion of clamping and cutting, the fourth indicator light is controlled to light up.

[0033] The present invention also provides a prostate beam nailing device, the prostate beam nailing device comprising:

[0034] an implantation mechanism, which includes a needle assembly, a wire assembly, and a clamping and cutting assembly;

[0035] An operating mechanism, comprising a first electric drive assembly, an actuating assembly, a first switch, a second electric drive assembly and a second switch, wherein the actuating assembly comprises a first actuating member and a second actuating member; the first actuating member is linked to the needle assembly, and the second actuating member is linked to the wire assembly;

[0036] a memory storing a computer program;

[0037] A processor is used to execute the computer program to implement the control method as described above.

[0038] The present invention has the following technical effects:

[0039] The present invention provides a control method for a prostate stapling device. The user only needs to operate a first switch twice to control the prostate stapling device to perform needle insertion, needle retraction and line retraction, thereby reducing the difficulty and operation time of stapling operation and improving stapling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flowchart of the steps of the control method of the prostate stapler device of the present invention;

[0041] Figure 2 It is an exploded view of the structure of the prostate stapler device of the present invention;

[0042] Figure 3 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 ;

[0043] Figure 4 The assembly structure relationship diagram of the first electric drive assembly, the unlocking member, the first optical coupler, the second optical coupler and the third optical coupler of the present invention when the actuating assembly is in the initial state Figure 1 ;

[0044] Figure 5 The assembly structure relationship diagram of the first electric drive assembly, the unlocking member, the first optical coupler, the second optical coupler and the third optical coupler of the present invention when the actuating assembly is in the initial state Figure 2 ;

[0045] Figure 6 It is a three-dimensional structural schematic diagram of the actuating assembly of the present invention when the actuating assembly is in an initial state;

[0046] Figure 7 It is a partial structural exploded diagram of the actuating assembly of the present invention;

[0047] Figure 8 It is a partial three-dimensional structural schematic diagram of the actuating assembly of the present invention when the actuating assembly is in an initial state;

[0048] Fig. 9 for Figure 8 Enlarged view of point A in the middle;

[0049] Fig.10 It is an enlarged view of the local structure of the first mounting member of the present invention;

[0050] Fig.11 It is a diagram showing the assembly structure relationship between the actuating assembly and the first electric drive assembly when the actuating assembly is in an initial state of the present invention;

[0051] Fig.12 It is a partial structural front view of the operating mechanism of the present invention when the actuating assembly is in an initial state;

[0052] Fig.13 It is a partial structural front view of the operating mechanism of the present invention when the needle is completed;

[0053] Fig.14 It is a partial structural front view of the operating body of the present invention when the wire slide is locked;

[0054] Fig.15 It is a partial structural front view of the operating mechanism of the present invention during the needle closing process;

[0055] Fig.16 It is a front view of the partial structure of the operating mechanism of the present invention when the actuating assembly is reset to the initial position and the unlocking member is not reset;

[0056] Fig.17 It is an assembly structure relationship diagram of the second electric 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 in the present invention;

[0057] Fig.18 It is a structural exploded diagram of the implant mechanism of the present invention;

[0058] Fig.19 It is a partial structural schematic diagram of the implant mechanism of the present invention;

[0059] Fig. 20It is a partial structural cross-sectional view of the implant mechanism of the present invention;

[0060] Fig.21 for Fig. 20 Enlarged view of point B in the middle;

[0061] Fig. 22 A structural relationship diagram of the staple line and the first anchor of the implant mechanism of the present invention;

[0062] Fig.23 A structural relationship diagram of the second anchor and the cutter of the implant mechanism of the present invention;

[0063] Fig.24 It is a partial structural exploded view of the clamping and cutting assembly of the present invention;

[0064] Fig.25 It is a schematic diagram of the three-dimensional structure of the prostate stapler device of the present invention.

[0065] Description of Reference Numerals

[0066] 100. Prostate stapler device;

[0067] 1. Implantation mechanism;

[0068] 11. needle assembly; 111. puncture needle connector; 1111. second plug-in portion; 112. puncture needle; 113. first anchoring member; 114. puncture needle guide tube;

[0069] 12. Line assembly; 121. Nail-binding line connector; 1211. Fourth plug-in portion; 122. Nail-binding line; 123. Nail-binding line guide tube; 124. Nail-binding line support tube;

[0070] 13. Clamping and cutting assembly; 131. Second anchoring member; 132. Cutter; 133. Third actuating member; 1331. First clamping groove; 134. Fourth actuating member; 1341. Second abutting portion; 135. Spring; 136. First locking member; 1361. First clamping protrusion; 1362. Pushing portion; 137. Second locking member; 1371. Pushed portion; 1372. First abutting portion; 138. Push rod; 139. Pull rod;

[0071] 14. Second mounting part; 15. Gun head welding assembly; 16. Outer cover; 17. Base; 18. Locking knob;

[0072] 2. Operating mechanism;

[0073] 21. first electric drive assembly; 211. first motor; 2111. first output shaft; 212. first gear; 213. first rack; 2131. boss; 214. second guide rail; 215. slider;

[0074] 22. Actuating assembly;

[0075] 221, first actuating member; 2211, first protrusion; 22111, first protruding portion; 221111, first abutting surface; 221112, second inclined surface; 2212, third protrusion; 2213, first mounting column; 2214, first plug-in portion; 2215, hook portion; 2216, second clamping portion;

[0076] 222, second actuating member; 2221, second protrusion; 22211, second protrusion; 222111, second abutment surface; 222112, fourth inclined surface; 2222, clamping structure; 2223, third plug-in portion; 2224, fourth protrusion; 22241, bending portion;

[0077] 223, take-up elastic member;

[0078] 224, first mounting member; 2241, first guide rail; 2242, first locking structure; 22421, first connecting arm; 22422, first stop portion; 224221, first stop surface; 224222, first inclined surface; 22423, first extension arm; 2243, second locking structure; 22431, second connecting arm; 22432, second stop portion; 224321, second stop surface; 224322, third inclined surface; 22433, second extension arm; 2244, first through hole; 2245, second through hole; 2246, second mounting column; 22471, first hollow portion; 22472, second hollow portion; 22473, connecting portion; 2248, groove; 2249, first clamping portion;

[0079] 225. Elastic parts for needles;

[0080] 226, unlocking member; 2261, first unlocking structure; 2262, second unlocking structure; 2263, first blocking piece; 2264, second blocking piece;

[0081] 23. First switch;

[0082] 24, second electric drive assembly; 241, second motor; 2411, second output shaft; 242, second gear; 243, second rack; 244, guide rod;

[0083] 25, triggering element; 251, triggering end; 252, detected end;

[0084] 26. Second switch;

[0085] 27. housing; 271. handle; 272. main body; 273. first housing; 274. second housing;

[0086] 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;

[0087] 291. Endoscope sheath; 292. Battery; 2931. First indicator light; 2932. Second indicator light; 2933. Third indicator light; 2934. Fourth indicator light. DETAILED DESCRIPTION

[0088] In order to make the technical solutions and beneficial effects of the present invention more clearly understood, the following is a detailed description by listing specific embodiments. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0089] In the description of the present invention, unless otherwise explicitly defined, terms such as “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “height”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplified description of the present invention, and do not indicate that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and should not be understood as a limitation on the present invention.

[0090] In the present invention, the terms "first" and "second" are only used for the purpose of clear description and cannot be understood as the relative importance of the indicated features or the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly include at least one of the features. In the description of the present invention, "multiple" means at least two; "several" means at least one, unless otherwise clearly defined.

[0091] In the present invention, unless otherwise clearly defined, the terms "install", "connect", "connect", "fix", "set", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral molding; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] In the present invention, unless otherwise clearly defined, a first feature being “on”, “above”, “above”, “below”, “below”, “below” or “below” a second feature may mean that the first feature is in direct contact with the second feature, or the first feature and the second feature are in indirect contact with each other through an intermediate medium. Moreover, a first feature being “on”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0093] According to the following Figures 2 to 25 The prostate stabbing device of the present invention will be described in detail.

[0094] In this embodiment, if Figure 2 , Fig.18 , Fig.19 , Fig. 22 and Fig.25 As shown, the prostate stapler device 100 includes an implantation mechanism 1 and an operation mechanism 2. The implantation mechanism 1 includes a needle assembly 11, a wire assembly 12, a memory and a processor. The memory stores a computer program, and the processor is used to execute the computer program to control the prostate stapler device 100 to perform stapler implantation. The needle assembly 11 includes a puncture needle 112 and a first anchor 113. The first anchor 113 is pre-placed in the puncture needle 112 with a hollow structure. The wire assembly 12 includes a stapler wire 122. One end of the stapler wire 122 is connected to the first anchor 113.

[0095] like Figures 2 to 7 As shown, the operating mechanism 2 includes a first electric drive assembly 21 and an actuating assembly 22. The first electric 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 a first output shaft 2111 of the first motor 211. The actuating assembly 22 includes a first actuating member 221, a second actuating member 222, a thread-receiving elastic member 223 and a needle elastic member 225. The thread-receiving elastic member 223 is connected to the first actuating member 221 and the second actuating member 222, respectively. One end of the needle elastic member 225 is fixed and the other end is connected to the first actuating member 221. The first actuating member 221 is in transmission connection with the needle assembly 11, and the second actuating member 222 is in transmission connection with the thread assembly 12.

[0096] When using the prostate beam nail device 100, the implantation end of the implantation mechanism 1 is first inserted into the proximal side of the prostate beam, and then the user controls the implantation mechanism 1 through the operating mechanism 2 to perform needle insertion, needle retraction, and thread retraction.

[0097] Specifically, Fig. 9 and Fig.12 As shown, when the actuating assembly 22 is in the initial state, the first actuating member 221 is locked and the needle elastic member 225 is in an energy storage state, and, under the pulling of the take-up elastic member 223, the second actuating member 222 abuts against the first actuating member 221 along the second direction b.

[0098] like Figure 3 , Figure 4 , Figure 6 , Fig.12 and Fig.13 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 along the first direction a, and the linear driving force provided by the first rack 213 causes the first actuator 221 to be unlocked, and then, under the rebound force of the puncture needle elastic member 225, the first actuator 221 drives the second actuator 222 to move from the initial position along the first direction a to the puncture completion position, wherein the first actuator 221 drives the needle assembly 11 to move, and the second actuator 222 drives the wire assembly 12 to move, thereby achieving acupuncture of the prostate. At this time, the puncture needle 112 together with the first anchor 113 passes through the prostate, that is, the first anchor 113 and the staple line 122 are transported to the distal side of the prostate by the puncture needle 112.

[0099] like Fig.14 As shown, at the completion of the puncture or the initial stage of needle withdrawal, the second actuating member 222 is locked.

[0100] like Figure 3 , Figure 4 , Figure 6 , Figures 13 to 15 As shown, when the needle is retracted, the first motor 211 reverses, the first gear 212 drives the first rack 213 to perform linear motion along the second direction b, and the first rack 213 drives the first actuator 221 to drive the needle assembly 11 to move along the second direction b. At this time, the puncture needle 112 is retracted from the prostate, the first anchor 113 is retained on the distal side of the prostate, and one end of the staple line 122 passes through the prostate to connect with the first anchor 113. Since the second actuator 222 is locked, the second actuator 222 is fixed in the process of retracting the puncture needle 112 from the prostate, and the first actuator 221 moves along the second direction b. The retracting elastic member 223 is pulled by the first actuator 221 to store energy. After the puncture needle 112 is retracted from the prostate, as shown in FIG. Fig.15 and Fig.16As shown, the second actuating member 222 moves along the second direction b under the elastic force of the thread-retracting elastic member 223 and abuts against the first actuating member 221 along the second direction b. The second actuating member 222 moves to tighten the thread assembly 12 to perform thread retraction. Under the continuous drive of the first rack 213, the first actuating member 221 continues to move along the second direction b to drive the needle assembly 11 to return to its initial position, completing needle and thread retraction. The first direction a is opposite to the second direction b.

[0101] By adopting the above technical solution, the prostate nailing device 100 is equipped with a first electric drive assembly 21, and the first motor 211, the first gear 212 and the first rack 213 cooperate to directly provide a linear driving force to trigger the execution of needle insertion, needle withdrawal and thread collection, so as to realize intelligent nailing operation. Moreover, compared with the solution of using gears and cams in the prior art CN114980823A, the linear motion stroke length of the first rack 213 of this solution is adjustable, and the first motor 211 drives the first rack 213 to perform a movement along the second direction b once, which can successively trigger needle withdrawal and thread collection, making the operation easier and improving the nailing efficiency. In addition, the first electric drive assembly 21 runs smoothly and has a stable structure. Compared with the solution of using gears and cams in the prior art, it can reduce the vibration and noise generated during the nailing process, is not easy to be damaged, and has a long service life.

[0102] It should be understood that, herein, "proximal" and "distal" are relative positions, wherein the proximal end of the prostate refers to the portion of the prostate tissue that is adjacent to the urethra, and the distal end of the prostate refers to the portion of the prostate tissue that is farther away.

[0103] It should be understood that when the prostate stapler device 100 is in normal use, the front end of the prostate stapler device 100 faces the patient. In this document, the direction from back to front is referred to as the "first direction a", the direction from front to back is referred to as the "second direction b", and the direction from bottom to top is referred to as the "third direction c". The "first direction a" and "second direction b" mentioned in this document are both referred to as Figure 2 , Figure 3 , Figure 4 , Fig.10 and Fig.12 The indication in the “third direction c” shall prevail. Figure 2 , Figure 3 and Fig.12 The markings in shall prevail.

[0104] It should be understood that "needle retraction" in this article 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.

[0105] In one embodiment, if Figure 2 and Fig.25As shown, the operating mechanism 2 also includes a first switch 23, and the first switch 23 is used to trigger the operation of the first electric drive assembly 21. When the actuating assembly 22 is in the initial state, the first switch 23 is operated once, which can trigger the prostate stapler device 100 to perform acupuncture, and then the first switch 23 is operated again, which can trigger the prostate stapler device 100 to perform needle withdrawal and thread collection. In this solution, the user only needs to operate the first switch 23 twice to control the prostate stapler device 100 to perform acupuncture, needle withdrawal and thread collection. Compared with the solution in the prior art CN114980823A that requires three manual operations to achieve acupuncture, needle withdrawal and thread collection, this solution saves one operation, reduces the difficulty and operation time of the stapler operation, and improves the stapler efficiency.

[0106] In one embodiment, when the needle assembly 11 completes the needle insertion, the second locking structure 2243 does not lock the second actuator 222. When the needle assembly 11 starts to withdraw the needle, the first motor 211 reverses, the first gear 212 drives the first rack 213 to move linearly along the second direction b, the first rack 213 drives the needle slider 221 and the unlocking element 226 to move along the second direction b, and the second actuator 222 is locked by the second locking structure 2243 after a slight movement along the second direction b, that is, the second actuator 222 is locked in the initial stage of withdrawing the needle. Of course, the second actuator 222 can also be locked while the needle insertion is completed. This solution has strict requirements on the assembly tolerance of parts. Therefore, preferably, the second actuator 222 is locked in the initial stage of withdrawing the needle. For the sake of convenience in description, the following description is specifically described by taking "the second actuator 222 is locked in the initial stage of withdrawing the needle" as an example.

[0107] In one embodiment, if Figure 6 As shown, the actuating assembly 22 further includes a first mounting member 224 , which is provided with a first guide rail 2241 , to which the first actuating member 221 and the second actuating member 222 are movably connected respectively, and one end of the puncture needle elastic member 225 is connected to the first mounting member 224 .

[0108] In one embodiment, if Figure 6 As shown, the puncture needle elastic member 225 is a tension spring, the first mounting member 224 is provided with a second mounting column 2246, and the first actuating member 221 is provided with a hook portion 2215. The hook portion 2215 and the second mounting column 2246 are spaced apart and distributed along the first direction a. One end of the puncture needle elastic member 225 is hung on the second mounting column 2246, and the other end is hung on the hook portion 2215. When the actuating assembly 22 is in the initial position, the puncture needle elastic member 225 is stretched.

[0109] In one embodiment, if Figure 6 and Figure 7As shown, the take-up elastic member 223 is a coil spring, the first actuating member 221 is provided with a first mounting post 2213, the second actuating member 222 is provided with a clamping structure 2222, one end of the take-up elastic member 223 is wound around the first mounting post 2213 and the other end thereof is clamped to the clamping structure 2222. Fig.14 As shown, when the first actuating member 221 moves along the second direction b and the second actuating member 222 is locked, the wire-retracting elastic member 223 is stretched, as shown in FIG. Fig.15 As shown, when the second actuating member 222 is unlocked, the wire-retracting elastic member 223 retracts to drive the second actuating member 222 to move along the second direction b.

[0110] In one embodiment, if Figures 6 to 9 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.

[0111] When the actuating assembly 22 is in the initial state, the first locking structure 2242 is at least partially located on the path of the first actuating member 221 in the first direction a, so that the first locking structure 2242 can prevent the first actuating member 221 from moving along the first direction a, thereby achieving locking. When the needle is punctured, the first rack 213 provides power to move the first locking structure 2242 away from the path of the first actuating member 221 in the first direction a, and the first locking structure 2242 gives way to achieve unlocking, so that the first actuating member 221 can move along the first direction a under the elastic force of the needle elastic member 225.

[0112] During the puncture process, the second actuator 222 moves along the first direction a together with the first actuator 221. When the needle assembly 11 completes the puncture, the first actuator 221 and the second actuator 222 both stop moving. At this time, the second locking structure 2243 is at least partially located on the travel path of the second actuator 222 in the second direction b. In this way, when the needle starts to be retracted, the second actuator 222 moves slightly along the second direction b and is locked by the second locking structure 2243. The second actuator 222 cannot continue to move along the second direction b together with the first actuator 221, so that the needle can be retracted 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 make the second locking structure 2243 give way and unlock, so that the second actuator 222 moves along the second direction b under the elastic force of the retracting elastic member 223 to achieve retracting. Preferably, when the needle assembly 11 completes the puncture, the gap between the second locking structure 2243 and the locked portion of the second actuator 222 is configured to be 1mm-2mm, reserving a gap for the assembly process. At the same time, the second actuator 222 can also be locked at the moment of opening and closing the needle.

[0113] In one embodiment, if Figure 4, Fig. 9 and Fig.11 As shown, the actuating assembly 22 further includes an unlocking member 226, which is connected to the first rack 213. The unlocking member 226 is provided with a first unlocking structure 2261 and a second unlocking structure 2262 distributed in sequence along the first direction a. When the needle is pierced, the first rack 213 drives the unlocking member 226 to move along the first direction a, and unlocks the first locking structure 2242 by driving the first unlocking structure 2261 to move. When the needle is withdrawn, the first rack 213 drives the unlocking member 226 to move along the second direction b, and unlocks the second locking structure 2243 by driving the second unlocking structure 2262 to move. In this solution, the unlocking member 226 is separately provided, which can reduce the processing difficulty of the first rack 213 and save processing costs compared to directly molding the first unlocking structure 2261 and the second unlocking structure 2262 on the first rack 213.

[0114] Furthermore, if Figures 7 to 11 As shown, the first locking structure 2242 includes a first connecting arm 22421, a first stopper 22422 and a first extension arm 22423. One end of the first connecting arm 22421 is a free end and the other end thereof is fixed to the body of the first mounting member 224. The first stopper 22422 and the first extension arm 22423 are respectively connected to the free end of the first connecting arm 22421. When the actuating assembly 22 is in an initial state, the first actuating member 221 is at least partially abutted against the first stopper 22422 along the first direction a and is locked. The first extension arm 22423 is at least partially located on the travel path of the first unlocking structure 2261 in the first direction a. It should be understood that at this time, the force applied by the lancet elastic member 225 to the first actuating member 221 is insufficient to enable the first actuating member 221 to overcome the blocking force of the first stopper 22422, thereby ensuring the stability of the locking. When the needle is inserted, during the movement of the unlocking member 226 along the first direction a, the first unlocking structure 2261 moves to contact and squeeze the first extension arm 22423, so that the first connecting arm 22421 is deformed, and then the first stopper 22422 is displaced and separated from the first actuating member 221, thereby achieving unlocking. Further, the first actuating member 221 is provided with a first protruding portion 22111, and the first protruding portion 22111 abuts against the first stopper 22422 along the first direction a and is locked.

[0115] The second locking structure 2243 includes a second connecting arm 22431, a second stopper 22432 and a second extension arm 22433. One end of the second connecting arm 22431 is a free end and the other end is fixed to the body of the first mounting member 224. The second stopper 22432 and the second extension arm 22433 are respectively connected to the free end of the second connecting arm 22431. Fig.13 and Fig.14As shown, in the initial stage of needle collection, the second actuating member 222 is at least partially abutted against the second stop portion 22432 along the second direction b and locked, and the second extension arm 22433 is at least partially located on the travel path of the second unlocking structure 2262 in the second direction b. It should be understood that at this time, the force exerted by the thread collection elastic member 223 on the second actuating member 222 is not enough to enable the second actuating member 222 to overcome the blocking force of the second stop portion 22432. Fig. 9 , Fig.11 , Figures 14 to 16 As shown, in the process of continuing to close the needle, when the unlocking member 226 moves along with the first rack 213 in the second direction b, the second unlocking structure 2262 moves to contact 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 separated from the second actuating member 222, and the unlocking is realized. After the second actuating member 222 is unlocked, it moves along the second direction b to close the thread. Fig. 9 and Fig.15 As shown, the second actuating member 222 is provided with a second protruding portion 22211 , and the second protruding portion 22211 abuts against the second stopping portion 22432 along the second direction b to be locked.

[0116] Furthermore, if Figures 7 to 10 As shown, the first mounting member 224 is provided with a first hollow portion 22471 and a second hollow portion 22472 sequentially distributed along the first direction a, the first hollow portion 22471 and the second hollow portion 22472 are connected by a connecting portion 22473, the first connecting arm 22421 is located in the first hollow portion 22471 and its fixed end is connected to the connecting portion 22473, the first extending arm 22423 extends toward the unlocking member 226 and extends out of the first hollow portion 22471; the second connecting arm 22431 is located in the second hollow portion 22472 and its fixed end is connected to the connecting portion 22473, the second extending arm 22433 extends toward the unlocking member 226 and extends out of the second hollow portion 22472. In this solution, the first locking structure 2242 and the second locking structure 2243 are compactly arranged, and are both connected to the body of the first mounting member 224 through the connecting portion 22473, the structure is simple, and it is easy to process.

[0117] In one embodiment, if Figure 6 and Fig.24As shown, when the actuating mechanism 22 moves to the full needle-puncturing position, the wire slide 222 abuts against the second mounting post 2246, and the actuating mechanism 22 stops, that is, the second mounting post 2246 is also used to limit the movement limit position of the actuating mechanism 22 in the first direction a. When the actuating mechanism 22 is in the full needle-puncturing position, the second protrusion 22211 of the second actuating member 222 and the second stop 22432 of the second locking structure 2243 are sequentially distributed along the second direction b, and the spacing between the two is 1 mm-2 mm.

[0118] In one embodiment, if Figure 6 and Fig. 9 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 first actuator 221, the second protrusion 22211 is provided on the top wall of the second actuator 222, the first stopper 22422 and the first protrusion 22111 are opposite in the first direction a, and the second stopper 22432 and the second protrusion 22211 are opposite in the second direction b. The first locking structure 2242 and the second locking structure 2243 are arranged axially symmetrically, which is conducive to simplifying the structural design.

[0119] Furthermore, if Fig. 9 and Fig.10 As shown, the first stop portion 22422 includes a first stop surface 224221 and a first inclined surface 224222, the first protrusion 22111 includes a first abutting surface 221111 and a second inclined surface 221112, the first 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 in a direction away from the first actuating member 221. When the actuating assembly 22 is in an 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, and the second protrusion 22211 will not interfere with the first locking structure 2242. When the needle is inserted, the first protrusion 22111 is located between the first locking structure 2242 and the second locking structure 2243. In this way, when the needle is retracted, the first 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 first actuator 221 can smoothly overcome the obstruction of the first inclined surface 224222, and the first protrusion 22111 smoothly passes the first stop portion 22422 and is locked by the first stop portion 22422 again.

[0120] The second stop portion 22432 includes a second stop surface 224321 and a third inclined surface 224322, the second protrusion portion 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 second actuator 222. When the needle is needled, the second actuator 222 moves along with the first actuator 221 along the first direction a until the fourth inclined surface 222112 abuts against the third inclined surface 224322. Since the two are inclined surfaces, the rebound force of the needle elastic member 225 is sufficient to drive the second 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 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.

[0121] Furthermore, if Fig. 9 As shown, the number of the first protrusions 22111 is two, the number of the second protrusions 22211 is two, the two first protrusions 22111 are sequentially distributed along the first direction a, and the two second protrusions 22211 are sequentially distributed along the second direction b, so as to ensure the stability of the corresponding locking function. It should be understood that when the first unlocking structure 2261 forces the first connecting arm 22421 to deform, the two first protrusions 22111 can smoothly pass over the first stopper 22422; when the second unlocking structure 2262 forces the second connecting arm 22431 to deform, the two second protrusions 22211 can smoothly pass over the second stopper 22432.

[0122] In one embodiment, if Figure 2 , Figure 6 and Fig.11 As shown, the first actuating member 221, the second actuating member 222 and the wire-retracting elastic member 223 are all located on the side of the first mounting member 224 facing the implant mechanism 1, and the first electric 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 8 and Fig. 9As shown, the first mounting member 224 is provided with a first through hole 2244 extending along the first direction a, the first actuating member 221 includes a first protrusion 2211, the second actuating member 222 includes a second protrusion 2221, the first protrusion 2211 is provided with a first protrusion 22111, and the second protrusion 2221 is provided with a second protrusion 22211. The first protrusion 2211 is movably inserted into the first through hole 2244, so that the first protrusion 22111 can be abutted against the first locking structure 2242 along the first direction a and locked. The second protrusion 2221 is movably inserted into the first through hole 2244, so that the second protrusion 22211 can be abutted against the second locking structure 2243 along the second direction b and locked. In this solution, the components of the actuating assembly 22 are arranged reasonably and compactly, which is conducive to the miniaturized design of the operating mechanism 2.

[0123] Furthermore, in order to facilitate the thinning design of the first mounting member 224, as Figure 8 and Fig. 9 As shown, a groove 2248 is provided on the side of the first mounting member 224 facing away from the implant mechanism 1, and the groove 2248 is located above the first through hole 2244 and the two are connected, the first connecting arm 22421 and the second connecting arm 22431 are both located above the groove 2248, the first stop portion 22422 and the second stop portion 22432 extend into the groove 2248, the first protrusion 22111 and the second protrusion 22211 are located in the groove 2248, and the groove 2248 is used to accommodate part of the structure of the actuator assembly 22, and the first protrusion 2211 and the second protrusion 2221 are respectively abutted against the groove wall of the groove 2248, which can prevent the first actuator 221 and the second actuator 222 from detaching from the first guide rail 2241.

[0124] In one embodiment, if Figure 4 and Figure 8 As shown, the first actuator 221 includes a third protrusion 2212, and the first rack 213 is provided with a boss 2131. When the needle is closed, the boss 2131 can abut against the third protrusion 2212 along the second direction b, so that the first rack 213 drives the first actuator 221 to move along the second direction b to complete the needle closing. Figure 7 and Figure 8 As shown, the first mounting member 224 is provided with a second through hole 2245 extending along the first direction a, the third protrusion 2212 is movably inserted into the second through hole 2245 , and the third protrusion 2212 partially extends out of the second through hole 2245 .

[0125] Furthermore, if Figure 4 and Fig.11As shown, when the actuating assembly 22 is in the initial state, a spacing is left between the boss 2131 and the third protrusion 2212 in the first direction a, so that when the actuating assembly 22 moves along the first direction a under the rebound force of the puncture needle elastic member 225, the boss 2131 will not interfere with the movement of the third protrusion 2212, and hinder the first actuating member 221 from moving along the first direction a to the puncture needle completion position. In addition, when the puncture is completed, 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 an assembly process gap. In this way, when the needle needs to be retracted, the first rack 213 can immediately drive the first actuator 221 to move along the second direction b. At the same time, the unlocking member 226 located at its initial position also moves along the second direction b, so that after the puncture needle 112 is retracted from the prostate, the second actuator 222 is unlocked by the unlocking member 226.

[0126] In one embodiment, if Figures 6 to 8 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 first actuator 221 are respectively inserted into the first through hole 2244 and the second through hole 2245, so that the first actuator 221 and the first guide rail 2241 can be slidably matched. The components of the actuator assembly 22 are compactly arranged, which is conducive to the miniaturized design of the prostate staple device 100.

[0127] In one embodiment, if Figure 7 and Figure 8 As shown, the second actuator 222 is provided with a fourth protrusion 2224, the fourth protrusion 2224 is inserted into the second through hole 2245, and the outer end of the fourth protrusion 2224 forms a bending portion 22241, the bending portion 22241 abuts against the side wall of the first mounting member 224 away from the implant mechanism 1, and, as shown Fig. 9 As shown, the upper portion of the second actuating member 222 abuts against the side wall of the first mounting member 224 away from the implant mechanism 1 through the second protrusion 22211 , so that the second actuating member 222 can stably slide with the first guide rail 2241 .

[0128] In one embodiment, if Figure 6 and Figure 8As shown, the first mounting member 224 is provided with a first clamping portion 2249, and the bottom of the first actuator 221 is provided with a second clamping portion 2216. The top of the first actuator 221 is abutted against the groove wall of the groove 2248 through the first protrusion 2211, and the bottom of the first actuator 221 is movably clamped with the first clamping portion 2249 through the second clamping portion 2216, so that the first actuator 221 can stably slide with the first guide rail 2241.

[0129] In one embodiment, if Figure 6 As shown, the first actuating member 221 and the second actuating member 222 are distributed in sequence along the first direction a. When the actuating assembly 22 is in an initial state, under the action of the take-up elastic member 223, the second actuating member 222 abuts against the first actuating member 221 along the second direction b. In this way, when acupuncture is performed, the first actuating member 221 can drive the second actuating member 222 to move along the first direction a.

[0130] In one embodiment, if Figure 6 and Fig.19 As shown, the first actuating member 221 is provided with a first plug-in portion 2214, the 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 together, so that the first actuating member 221 is in driving connection with the needle assembly 11. The second actuating member 222 is provided with a third plug-in portion 2223, the 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 together, so that the second actuating member 222 is in driving connection with the line assembly 12. In a specific embodiment, the first plug-in portion 2214 and the third plug-in portion 2223 are both card slot structures, and the second plug-in portion 1111 and the fourth plug-in portion 1211 are both card protrusions, and the detachable assembly is achieved by plugging the card slot and the card protrusion.

[0131] In one embodiment, the implant mechanism 1 and the operating mechanism 2 are detachably connected, so that a new implant mechanism 1 can be replaced for different patients to ensure hygiene. Of course, for the same patient, the implant mechanism 1 can be replaced after being used several times, or a new implant mechanism 1 can be replaced each time.

[0132] In one embodiment, if Figure 4 and Figure 5 As shown, the first electric 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 housing 27. The second guide rail 214 is installed on the inner wall of the housing 27, and the first rack 213 and the unlocking member 226 are respectively connected to the slider 215.

[0133] In one embodiment, the first gear 212 is provided with a first mounting hole (not shown in the figure). Figure 4As shown, the first output shaft 2111 is installed in the first mounting hole, and the cross-section of the first output shaft 2111 is D-shaped. The cross-section of the first mounting hole is D-shaped. The D-shaped shape can prevent the first output shaft 2111 from being misaligned with the first mounting hole.

[0134] In one embodiment, during a complete use of the prostate stapler device 100, the unlocking member 226 has five state positions: an initial lock position, a first unlocking member position, a first limit position, a second unlocking member position, and a second limit position. Fig.11 and Fig.12 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 first actuating member 221. At this time, the unlocking member 226 is in the first unlocking member position. The unlocking member 226 continues to move so that the first actuating member 221 is unlocked, and then continues to move along the first direction a to the first limit position and stops. Fig.13 As shown, after the first actuating member 221 is unlocked, the actuating mechanism 22 moves to the complete pricking position under the pull of the pricking elastic member 225. After the pricking is completed, the unlocking member 226 returns to the initial unlocking position and stops. Figures 14 to 16 As shown, when the needle and thread are being 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 thread retracting elastic member 223, the second actuating member 222 moves along the second direction b until it abuts against the needle sliding member 221. Then, under the continued drive of the first electric drive assembly 21, the first actuating member 221 together with the second actuating member 222 returns to the initial position of the actuating assembly 22, as shown in FIG. Fig.16 As shown, the unlocking member 226 moves along with the first rack 213 along the second direction b to the second limit position. Fig.12 As shown, the unlocking member 226 moves along the first direction a to return to the unlocking member initial position.

[0135] like Figure 4As shown, the unlocking member 226 is provided with a first blocking piece 2263 and a second blocking piece 2264 arranged at intervals along the first direction a, and the operating mechanism 2 includes a first optical coupler 282, a second optical coupler 283 and a third optical coupler 284 arranged at intervals along the first direction a. When the unlocking member 226 is in the initial position of the unlocking member, the second blocking piece 2264 and the second optical coupler 283 cooperate to obtain the position information of the unlocking member 226. When the unlocking member 226 is in the first extreme position, the second blocking piece 2264 and the third optical coupler 284 cooperate to obtain the position information of the unlocking member 226. When the unlocking member 226 is in the second extreme position, the first blocking piece 2263 and the first optical coupler 282 cooperate to obtain the position information of the unlocking member 226.

[0136] In one embodiment, if Figure 2 , Figure 3 and Fig.17 As shown, the operating mechanism 2 further includes a second electric drive assembly 24, which includes a second motor 241, a second gear 242 and a second rack 243 meshing with each other, and the second gear 242 is coaxially connected to a second output shaft 2411 of the second motor 241. Fig.19 As shown, the implant mechanism 1 also includes a clamping and cutting component 13, such as Fig.23 As shown, the clamping and cutting assembly 13 includes a second anchor 131 and a cutter 132. When the clamping and cutting assembly 13 is in the initial state, the clamping and cutting assembly 13 is locked to prevent the clamping and cutting operations from being triggered by mistake. When clamping and cutting are performed, the second motor 241 is turned on, and the second rack 243 provides power by moving linearly, and the power can be used to unlock the clamping and cutting assembly 13. After the clamping and cutting assembly 13 is unlocked, the second anchor 131 and the cutter 132 can both move, that is, the second 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 second anchor 131 remains on the proximal side of the prostate, and under the tension of the staple line 122 retained in the prostate, the second anchor 131 squeezes the proximal side of the prostate, and the first anchor 113 squeezes the distal side of the prostate, thereby shrinking the prostate and expanding the urethra.

[0137] Furthermore, if Figure 3 and Fig.17 As shown, the operating mechanism 2 further includes a trigger member 25, which is connected to the second rack 243. When clamping and cutting are performed, the second motor 241 rotates forward, and the second rack 243 drives the trigger member 25 to move in a direction toward the clamping and cutting assembly 13, so that the trigger member 25 is driven to move to contact the clamping and cutting assembly 13, so that the clamping and cutting assembly 13 is unlocked under the push of the trigger member 25.

[0138] Furthermore, if Fig.18 and Fig.19 As shown, the implant mechanism 1 includes a second mounting member 14, and the clamping and cutting assembly 13 includes a third actuating member 133, a fourth actuating member 134, a spring 135, a first locking member 136 and a second locking member 137. The third actuating member 133 and the fourth actuating member 134 are respectively movably mounted on the second mounting member 14, two ends of the spring 135 are respectively connected to the third actuating member 133 and the fourth actuating member 134, and the first locking member 136 and the second locking member 137 are respectively rotatably connected to the second mounting member 14.

[0139] 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 third actuating member 133, the second locking member 137 locks the fourth actuating member 134, the spring 135 is in a tensioned state, and the first locking member 136 is at least partially located on the moving path of the trigger member 25.

[0140] After the prostate stapler 100 has completed the needle insertion, needle retraction and thread retraction, it begins to clamp and cut. Figure 3 and Fig.17 As shown, under the drive of the second electric drive assembly 24, the trigger member 25 moves, and the trigger member 25 moves to release the first locking member 136. Then, under the push of the trigger member 25, as shown in FIG. Fig.19 As shown, the first locking member 136 rotates and disengages from the third actuating member 133, so that the third actuating member 133 is unlocked. At the same time, the first locking member 136 contacts the second locking member 137 due to the rotation and pushes the second locking member 137 to rotate. The second locking member 137 rotates and disengages from the fourth actuating member 134, so that the fourth actuating member 134 is unlocked. Then, under the rebound force of the spring 135, the third actuating member 133 and the fourth actuating member 134 move toward each other, respectively driving the second anchor member 131 and the cutter 132 to move toward each other, and the movement speed of the third actuating member 133 is less than that of the fourth actuating member 134, so that the V-shaped bayonet of the second anchor member 131 first clamps the staple line 122, and then the cutter 132 cuts the staple line 122 to achieve clamping and cutting.

[0141] Furthermore, if Fig.19 and Fig.24 As shown, the third actuating member 133, the second locking member 137 and the fourth actuating member 134 are sequentially distributed along the first direction a, the third actuating member 133 has a first card slot 1331 at the bottom, the first locking member 136 has a first card protrusion 1361 and a pushing portion 1362 at both sides, the second locking member 137 has a pushed portion 1371 and a first abutting portion 1372 at both sides, and the fourth actuating member 134 has a second abutting portion 1341.

[0142] When the clamping and cutting assembly 13 is in the initial state, the first clamping protrusion 1361 is clamped upwardly in the first clamping groove 1331 to limit the third actuating member 133 from moving along the first direction a, and the pushing portion 1362 is located below the pushed portion 1371 with a gap between the two. The first abutting portion 1372 abuts against the second abutting portion 1341 upwardly and along the first direction a to limit the third actuating member 133 and the fourth actuating member 134 from moving toward each other under the pulling force of the spring 135.

[0143] When the trigger member 25 moves upward, the trigger member 25 pushes the first locking member 136 upward near the pushing portion 13621, causing the first locking member 136 to rotate, and the first locking protrusion 1361 rotates downward to disengage from the first locking groove 1331, the third actuating member 133 is unlocked, the pushing portion 1362 rotates upward and pushes the pushed portion 1371 upward, causing the second locking member 137 to rotate, the first abutting portion 1372 rotates downward to disengage from the second abutting portion 1341, and the fourth actuating member 134 is unlocked.

[0144] In one embodiment, if Figure 3 and Fig.17 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.

[0145] In one embodiment, if Figure 3 and Fig.25 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 electric drive assembly 21 and the second motor 241 are located in the main body 272, and the trigger member 25 includes a trigger end 251 and a detected end 252. The trigger end 251 is located in the main body 272 and is used to unlock the clamping and cutting assembly 13, and the detected end 252 is at least partially located in the handle 271 and is used to connect the travel switch trigger element 281. The space in the handle 271 is used to accommodate the trigger member 25, and the structure is more compact.

[0146] During a complete use of the prostate stapler device 100, the trigger member 25 has two positions: the trigger member initial position and the trigger member trigger unlocking position. Fig.17 As shown, the operating mechanism 2 also includes a first travel switch 285 and a second travel switch 286. When the clamping and cutting assembly 13 is in the initial state, the trigger member 25 is in the initial position of the trigger member, and the first travel switch 285 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger member 25; when the trigger member 25 moves to the position of unlocking the first locking member 136, the trigger member 25 is in the trigger member trigger unlocking position, and the second travel switch 286 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger member 25.

[0147] In one embodiment, if Fig.17 As shown, the second electric drive assembly 24 includes a guide rod 244, which is mounted on the inner wall of the housing 27, and the second rack 243 is movably sleeved on the guide rod 244. A gap is left between the guide rod 244 and the inner wall of the housing 27, and the second gear 242 is located in the space between the guide rod 244 and the inner wall of the housing 27, making full use of the lateral space in the housing 27.

[0148] The second gear 242 is provided with a second mounting hole (not shown in the figure), such as Fig.17 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.

[0149] In one embodiment, if Figure 2 and Fig.25 As shown, the first switch 23 is also used to trigger the operation of the second electric drive assembly 24. The actuation of clamping and cutting is controlled by the first switch 23 to prevent the user from accidentally triggering clamping and cutting due to operating errors. Through the three operations of the first switch 23, the execution of needle insertion, needle and thread collection, clamping and cutting are controlled in sequence.

[0150] Furthermore, if Figure 2 and Fig.25 As shown, the first switch 23 is arranged on the front side of the handle 271, and the second switch 26 is arranged on the rear side of the housing 27 and above the handle 271. The two switches are arranged in opposite positions, which can improve the safety of the operation of the two switches.

[0151] In one embodiment, if Fig.25 As shown, the first switch 23 is a button switch, which is more convenient to use and less prone to accidental triggering than the plate switch in the prior art CN114980823A. The second switch 26 is a boat-shaped switch, which has a different structure from the first switch 23 and serves as a difference reminder to prevent users from operating the wrong switch.

[0152] In one embodiment, if Figure 2 and Fig.25As shown, the operating mechanism 2 also includes a second switch 26. When the prostate tack beam device 100 is in the off state, the second switch 26 is operated once, which can start the prostate tack beam device 100 and the prostate tack beam device 100 is automatically calibrated to the initial state to ensure the accuracy of the prostate tack beam device 100 during long-term use. After the automatic calibration, the needle insertion, needle and wire collection, clamping and cutting operations are performed. Of course, the prostate tack beam device 100 may not be equipped with an automatic calibration function, and the accuracy of the prostate tack beam device 100 in the usable cycle is ensured by limiting the number of times it can be used. It should be understood that after operating the second switch 26 once to start the prostate tack beam device 100, multiple tack beam operations can be performed continuously without automatic calibration again. Automatic calibration is only performed when the device is shut down and restarted.

[0153] Specifically, if the first actuator 221 and the second actuator 222 are not in their initial positions, when automatic calibration is performed, the first motor 211 operates to drive the first actuator 221 and the second actuator 222 to move along the first direction a to restore to their initial positions, thereby completing the automatic calibration.

[0154] In one embodiment, if Figure 2 As shown, the prostate tack device 100 includes a battery 292 for powering the device, and the battery 292 is placed in the handle 271 of the housing 27 .

[0155] In one embodiment, if Figure 2 As shown, the housing 27 includes a first shell 273 and a second shell 274, which are enclosed together to form a cavity, and the first electric drive assembly 21, the actuating assembly 22, the second electric drive assembly 24 and the trigger member 25 are all located in the cavity. Figure 2 and Fig.18 As shown, the implant mechanism 1 includes an outer cover 16, a base 17 and a locking knob 18, the outer cover 16 and the base 17 are connected and both clamp the second mounting member 14, the locking knob 18 is arranged on the outer cover 16, the implant mechanism 1 is detachably mounted on the first housing 273 and locked by the locking knob 18, and the first electric drive assembly 21 and the second electric drive assembly 24 are mounted on the inner wall of the second housing 274. Among them, the assembly of the implant mechanism 1 and the housing 27 can refer to the assembly structure and principle of any existing nail-binding device.

[0156] In one embodiment, if Figure 2 As shown, the operating mechanism 2 further includes an endoscope sheath 291 , one end of which is located inside the housing 27 and mounted on the first mounting member 224 , and the other end of which extends out of the housing 27 .

[0157] In one embodiment, if Fig.25As shown, the implant mechanism 1 further includes a first indicator light 2931, a second indicator light 2932, a third indicator light 2933 and a fourth indicator light 2934. The first indicator light 2931 is used to indicate automatic. The first indicator light 2931, the second indicator light 2932, the third indicator light 2933 and the fourth indicator light 2934 can respectively indicate the above four states by displaying different colors or different flashing frequencies or a time sequence of lighting.

[0158] For example, the first indicator light 2931, the second indicator light 2932, the third indicator light 2933 and the fourth indicator light 2934 are spaced apart along the second direction b. When the automatic calibration of the prostate beam nail device 100 is completed, the first indicator light 2931 lights up; when the prostate beam nail device 100 has completed the needle insertion, the second indicator light 2932 lights up; when the prostate beam nail device 100 has completed the needle and thread collection, the third indicator light 2933 lights up; when the prostate beam nail device 100 has completed the clamping and cutting, the fourth indicator light 2934 lights up. When all four indicator lights are on, it means that a beam nail implantation operation is completed. The prompts of the indicator lights make human-computer interaction more convenient, the beam nail operation process clearer, and safer to use.

[0159] In one embodiment, if Figures 19 to 22 As shown, the needle assembly 11 also includes a puncture needle connector 111 and a puncture needle guide tube 114 connected to each other. The puncture needle connector 111 is provided with a second plug-in portion 1111, and the second plug-in portion 1111 is plugged with the first plug-in portion 2214 of the first actuator 221. The wire assembly 12 also includes a staple wire connector 121, a staple wire guide tube 123 and a staple wire support tube 124. The staple wire connector 121 is provided with a fourth plug-in portion 1211, and the fourth plug-in portion 1211 is plugged with the third plug-in portion 2223 of the second actuator 222. The puncture needle guide tube 114, the staple wire guide tube 123 and the staple wire support tube 124 are all hollow structures. One end of the puncture needle guide tube 114 is connected to the puncture needle connector 111, and one end of the puncture needle 112 is inserted into the puncture needle guide tube 114. The staple line guide tube 123 is located inside the puncture needle guide tube 114 with a clearance fit therebetween. One end of the staple line support tube 124 is inserted into the staple line guide tube 123 and connected to one end of the staple line 122 , and the other end is connected to the staple line connector 121 .

[0160] In one embodiment, if Figures 19 to 23As shown, the clamping and cutting assembly 13 further includes a push rod 138 and a pull rod 139. The pull rod 139 is a hollow structure. One end of the push rod 138 is connected to the third actuator 133, and the other end is movably inserted into the pull rod 139, and the end abuts against the second anchor 131 along the first direction a. One end of the pull rod 139 is connected to the fourth actuator 134, and the other end is connected to the cutter 132. When the third actuator 133 and the fourth actuator 134 move toward each other, the third actuator 133 moves along the first direction a, and the fourth actuator 134 moves along the second direction b. In this way, the push rod 138 pushes the second anchor 131 to move away from the first direction a, and the pull rod 139 pulls the cutter 132 to move along the second direction b, thereby achieving clamping and cutting. It should be understood that the specific details of the third actuating member 133 and the fourth actuating member 134 moving toward each other to achieve clamping and cutting can refer to the principle and structure of any existing nail binding device.

[0161] In one embodiment, the implantation mechanism 1 further includes a gun tip welding assembly 15, and its specific structure and principle can refer to any existing nail binding device.

[0162] According to the following Figures 1 to 25 The control method of the prostate stabbing device of the present invention is described in detail.

[0163] The control method provided by the present invention is as follows: Figure 1 As shown, the following steps are included:

[0164] S1, in response to a running instruction input by the first switch 23, the driving end of the first electric driving assembly 21 is controlled to move along the first direction a to provide a force so that the first actuating member 221 is unlocked, and then the first actuating member 221 drives the second actuating member 222 along the first direction a under the mechanical external force to perform acupuncture;

[0165] S2, in response to another operation instruction input by the first switch 23, the driving end of the first electric driving assembly 21 is controlled to move along the second direction b, so as to drive the first actuating member 221 to move along the second direction b to perform needle closing; after needle closing, the driving end is controlled to continue to move along the second direction b to provide a force so that the second actuating member 222 is unlocked, and then the second actuating member 222 moves along the second direction b under the mechanical external force to perform thread closing;

[0166] When the actuating assembly 22 is in the initial state, the first actuating member 221 is locked; and when the acupuncture is completed or the initial stage of needle withdrawal, the second actuating member 222 is locked.

[0167] In the above technical solution, the user only needs to operate the first switch 23 twice to control the prostate stapling device 100 to perform needle insertion, needle retraction and thread collection. Compared with the prior art CN114980823A which requires three manual operations to achieve needle insertion, needle retraction and thread collection, this solution saves one operation, reduces the difficulty and operation time of stapling operation, and improves the stapling efficiency.

[0168] In one embodiment, if Figure 1 As shown, after step S2, step S3 is also included:

[0169] In response to the first switch 23 inputting another operation instruction, the driving end of the second electric driving assembly 24 is controlled to move along the third direction c to provide a force, so that the clamping and cutting assembly 13 is unlocked, and then the proximal anchor 131 and the cutter 132 can move toward each other under the mechanical external force to perform clamping and cutting. In this solution, the user only needs to operate the first switch 23 three times to control the prostate stapling device 100 to perform needle insertion, needle and wire collection, clamping and cutting, which is easy to operate and improves the efficiency of stapling.

[0170] Furthermore, if Figure 1 As shown, before step S1, step S0 is also included: in response to a one-time operation instruction input by the second switch 26, the prostate beam nail device 100 is controlled to start, and the actuating assembly 22 is controlled to automatically calibrate to an initial state to ensure the accuracy of the prostate beam nail device 100 during long-term use, and the automatic calibration is completed at the moment of starting the prostate beam nail device 100, which is easy to operate.

[0171] In one embodiment, step S1 also includes: the driving end of the first electric drive assembly 21 drives the unlocking member 226 to move along the first direction a, the unlocking member 226 moves from the initial position of the unlocking member to the first unlocking position, the first unlocking structure 2261 of the unlocking member 226 contacts the first extension arm 22423 of the first locking structure 2242, and the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move and squeeze the first extension arm 22423, so that the first connecting arm 22421 is deformed, so that the first actuator 221 is disengaged from the lock of the first stop portion 22422, and then, the first actuator 221 drives the second actuator 222 along the first direction a under the action of the puncture needle elastic member 225 to perform the puncture, and the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move to the first extreme position and stops driving along the first direction a.

[0172] Further, in step S1 , controlling the driving end of the first electric driving component 21 to move along the first direction a specifically includes: controlling the first motor 211 to rotate forward so that the first rack 213 moves along the first direction a, wherein the first rack 213 constitutes the driving end of the first electric driving component 21 .

[0173] Furthermore, step S1 also includes: when the needle is inserted, the first rack 213 of the first electric drive assembly 21 drives the unlocking member 226 to move along the second direction b, so that the unlocking member 226 returns to the initial position of the unlocking member, and, at this time, the boss 2131 of the first rack 213 and the third protrusion 2212 of the first actuator 221 leave a gap in the second direction b, for example, a gap of 1mm-2mm.

[0174] In one embodiment, step S2 also includes: in response to another operating instruction input by the first switch 23, controlling the driving end of the first electric drive assembly 21 to drive the first rack 213 and the unlocking member 226 along the second direction b, when the first rack 213 moves to the point where the boss 2131 abuts against the third protrusion 2212, the boss 2131 pushes the first actuator 221 to move along the second direction b, and the second actuator 222 moves synchronously under the pull of the winding elastic member 223 until the second protrusion 22211 of the second actuator 222 abuts against the second stop portion 22432 of the second locking structure 2243 and is locked, and the first actuator 221 continues to move to execute needle closing.

[0175] In one embodiment, step S2 further includes: after the puncture needle 112 is retracted from the prostate, the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move along the second direction b, that is, the first electric drive assembly 21 continues to operate, so that the unlocking member 226 moves to the second unlocking position, the second unlocking structure 2262 of the unlocking member 226 contacts the second extension arm 22433 of the second locking structure 2243, and the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move and squeeze the second extension arm 22433, so that the second connecting arm 22431 is deformed, so that the second actuator 222 is disengaged from the lock of the second stop portion 22432, and then, the second actuator 222 moves along the second direction b under the action of the winding elastic member 223 to perform winding, and the driving end of the first electric drive component 21 continues to drive the unlocking member 226 and the first actuator 221 to move, and the second actuator 222 moves synchronously, and when the unlocking member 226 moves to the second extreme position, the first electric drive component 21 stops driving along the second direction b.

[0176] Further, when the unlocking member 226 is at the second extreme position, a gap of, for example, 1 mm to 2 mm is left between the first actuating member 221 and the first locking structure 2242. Step S2 also includes: when the unlocking member 226 moves to the second extreme position, controlling the first electric drive assembly 21 to drive the unlocking member 226 back to the initial position of the unlocking member along the first direction a, and at the same time, the first actuating member 221 drives the second actuating member 222 to move along the first direction a under the pull of the puncture needle elastic member 225, until the first actuating member 221 is locked by the first locking structure 2242 again, at which time, the actuating assembly 22 returns to the initial state.

[0177] In one embodiment, controlling the driving end of the second electric driving assembly 24 to move along the third direction c in step S3 specifically includes: controlling the second motor 241 to rotate forward so that the second rack 243 moves along the third direction c.

[0178] In one embodiment, step S3 further includes: the driving end of the second electric driving assembly 24 drives the trigger member 25 to move along the third direction c, and the trigger member 25 moves to release the clamping and cutting assembly 13 from locking.

[0179] Further, in step S3, the trigger member 25 moves to disengage the clamping and cutting assembly 13 from locking, specifically including: the trigger member 25 moves, pushing the first locking member 136 to rotate and unlocking the third actuating member 133, the first locking member 136 pushes the second locking member 137 to rotate and unlock the fourth actuating member 134, thereby disengaging the clamping and cutting assembly 13 from locking.

[0180] In one embodiment, the control method further includes:

[0181] In response to the completion of the automatic calibration, the first indicator light 2931 is controlled to light up;

[0182] In response to the completion of the acupuncture, the second indicator light 2932 is controlled to light up;

[0183] In response to the completion of needle and thread closing, the third indicator light 2933 is controlled to light up;

[0184] In response to completion of clamping and cutting, the fourth indicator light 2934 is controlled to light up.

[0185] Furthermore, the lighting modes of the first indicator light 2931 , the second indicator light 2932 , the third indicator light 2933 and the fourth indicator light 2934 include a constant lighting mode or a flashing mode, and the lighting colors of different indicator lights may be the same or different.

[0186] In one embodiment, the steps of a complete operation of the prostate stapler device 100 are as follows:

[0187] (1) Power on and automatic calibration

[0188] The user operates the second switch 26 once to turn on the prostate stapling device 100, and the prostate stapling device 100 performs automatic calibration so that the prostate stapling device 100 is in an initial state. At this time, the first protrusion 22111 of the first actuator 221 abuts against the first stopper 22422 along the first direction a and is locked, and the needle elastic member 225 is compressed.

[0189] (2) Needle

[0190] Before acupuncture, the user first moves the front end of the implant mechanism 1 to the proximal side of the prostate, and then the user operates the first switch 23 for the first time, the first motor 211 rotates forward, and the unlocking member 226 is driven to move along the first direction a through the first rack 213. When the unlocking member 226 moves to the first unlocking structure 2261 and contacts and squeezes the first extension arm 22423, the first connecting arm 22421 is deformed, and then the first stopper 22422 is separated from the first protruding portion 22111, and the first actuator 221 is unlocked. Then, the acupuncture elastic member 225 rebounds instantly to push the first actuator 221 moves together with the second actuator 222 along the first direction a, wherein the first actuator 221 drives the needle assembly 11 to move along the first direction a, and the second actuator 222 drives the wire assembly 12 to move along the first direction a, and the puncture needle 112 passes through the prostate to deliver the first anchor 113 located in the puncture needle 112 to the distal side of the prostate, and one end of the staple line 122 is located in the puncture needle 112 and connected to the first anchor 113 to complete the puncture. At this time, the second protrusion 22211 of the second actuator 222 and the second locking structure 2243 are distributed in sequence along the second direction b and are 2 mm apart.

[0191] Then, the first rack 213 drives the unlocking member 226 to move to the initial position of the unlocking member along the second direction b. Since the boss 2131 of the first rack 213 and the third protrusion 2212 have a certain distance in the second direction b, the first actuator 221 does not move under the constraint of the needle elastic member 225. When the unlocking member 226 moves to the initial position of the unlocking member, the first motor 211 stops running. At this time, the boss 2131 and the third protrusion 2212 are 2mm apart in the second direction b.

[0192] (3) Closing needles and thread

[0193] The user operates the first switch 23 for the second time, the first motor 211 reverses, drives the first rack 213 and the unlocking member 226 to move along the second direction b, the boss 2131 of the first rack 213 pushes the first actuator 221 to move along the second direction b, and under the pull of the take-up elastic member 223, the second actuator 222 moves along the second direction b with the first actuator 221. When it moves 2 mm, the second protrusion 222111 of the second actuator 222 abuts against the second stop portion 22432 and is locked.

[0194] The first motor 211 continues to reverse and continues to drive the first rack 213 and the unlocking member 226 to move along the second direction b. The boss 2131 of the first rack 213 pushes the first actuator 221 to move along the second direction b. In this way, the first actuator 221 drives the needle assembly 11 to move along the second direction b, so that the puncture needle 112 is retracted from the prostate, and the first anchoring member 113 is retained on the distal side of the prostate to achieve needle retraction. In addition, since the second actuator 222 is locked by the second stop portion 22432 on the first mounting member 224, the retraction elastic member 223 is stretched. During the needle closing process, when the unlocking member 226 moves to the second unlocking structure 2262 and contacts and squeezes the second extension arm 22433, the second connecting arm 22431 is deformed, so that the second stop portion 22432 is disengaged from the second actuating member 222, and the second actuating member 222 is unlocked. Then, the thread-collecting elastic member 223 retracts instantaneously to pull the second actuating member 222 to move along the second direction b until it contacts the first actuating member 221 again, and the thread-collecting elastic member 223 retracts instantaneously to pull the second actuating member 222 to move along the second direction b until it contacts the first actuating member 221 again. Under the pulling of the member 223 and the driving of the first rack 213, the second actuator 222 moves to the extreme position along the second direction b together with the first actuator 221 to complete the wire winding, and the distal end is stretched and squeezed by tightening the staple line 122. At this time, the first protrusion 22111 of the first actuator 221 and the first stop portion 22422 of the first locking structure 2242 are distributed in sequence along the first direction a with a gap of 2 mm, which is a reserved assembly process gap.

[0195] Then, the first rack 213 drives the unlocking member 226 to move 2 mm along the first direction a, and the first actuating member 221 and the second actuating member 222 simultaneously move 2 mm along the first direction a under the pull of the needle elastic member 225, so that the first protrusion 22111 abuts against the first stopper 22422, and the first actuating member 221 is locked again by the first locking structure 2242. The first rack 213 continues to drive the unlocking member 226 to move along the first direction a to the unlocking member initial position, and the first motor 211 stops running.

[0196] (4) Clamping and cutting

[0197] 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 operates the first switch 23 for the third time, and the second motor 241 runs to drive the trigger member 25 to move in the direction of the first locking member 136 of the clamping and cutting assembly 13. The trigger member 25 pushes the first locking member 136 to rotate and unlock the third actuator 133. The first locking member 136 pushes the second locking member 137 to rotate and unlock the fourth actuator 134. Then, under the rebound force of the spring 135, the third actuator 133 and the fourth actuator 134 move toward each other to achieve clamping and cutting.

[0198] Then, the user releases the prostate tissue, and the prostate tissue rebounds, tensioning the second anchor 131 and the first anchor 113 outward. The second anchor 131 and the first 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.

[0199] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present invention and do not limit the scope of protection of the patent of the present invention.

Claims

1. A method for controlling a prostate stapler, characterized in that: The prostate stapler device comprises an implantation mechanism (1) and an operating mechanism (2); the implantation mechanism (1) comprises a needle assembly (11) and a wire assembly (12); the operating mechanism (2) comprises a first electric drive assembly (21), an actuating assembly (22) and a first switch (23); the actuating assembly (22) comprises a first actuating member (221) and a second actuating member (222); the first actuating member (221) is linked to the needle assembly (11), and the second actuating member (222) is linked to the wire assembly (12); The control method comprises: S1, in response to a running instruction input by the first switch (23), controlling the driving end of the first electric drive assembly (21) to move along a first direction (a) to provide a force so that the first actuating member (221) is unlocked, and then the first actuating member (221) drives the second actuating member (222) along the first direction (a) under a mechanical external force to perform acupuncture; S2, in response to another operation instruction input by the first switch (23), controlling the driving end of the first electric driving assembly (21) to move along the second direction (b) to drive the first actuating member (221) to move along the second direction (b) to perform needle closing; after needle closing, controlling the driving end to continue to move along the second direction (b) to provide a force so that the second actuating member (222) is unlocked, and then the second actuating member (222) moves along the second direction (b) under the mechanical external force to perform thread closing; Wherein, when the actuating assembly (22) is in an initial state, the first actuating member (221) is locked; at the initial stage of needle insertion or needle withdrawal, the second actuating member (222) is locked; and the first direction (a) and the second direction (b) are opposite.

2. The control method of the prostate stapler according to claim 1, characterized in that: The implant mechanism (1) further comprises a clamping and cutting assembly (13), which comprises a proximal anchor (131) and a cutter (132); when the clamping and cutting assembly (13) is in an initial state, it is locked; the operating mechanism (2) comprises a second electric drive assembly (24); After step S2, the method further includes step S3: In response to another operation command input by the first switch (23), the driving end of the second electric drive component (24) is controlled to move along the third direction (c) to provide a force so that the clamping and cutting component (13) is disengaged from the lock, and then the proximal anchor (131) and the cutter (132) can move toward each other under the mechanical external force to perform clamping and cutting.

3. The control method of the prostate stapler according to claim 2, characterized in that: The operating mechanism (2) comprises a second switch (26); Before step S1, step S0 is also included: in response to a running instruction input by the second switch (26), the prostate stapler device (100) is controlled to start, and the actuating assembly (22) is controlled to automatically calibrate to an initial state.

4. The control method of the prostate stapler according to claim 1, characterized in that: The operating mechanism (2) further comprises a needle elastic member (225) and an unlocking member (226), wherein the unlocking member (226) is connected to the driving end of the first electric driving assembly (21); Step S1 also includes: the driving end of the first electric drive assembly (21) drives the unlocking member (226) to move along the first direction (a), and the unlocking member (226) moves to disengage the first actuating member (221) from the lock, and then, the first actuating member (221) drives the second actuating member (222) along the first direction (a) under the action of the puncture elastic member (225) to perform puncture.

5. The control method of the prostate stapler according to claim 1, characterized in that: The operating mechanism (2) further comprises a wire-retracting elastic member (223) and an unlocking member (226); Step S2 also includes: the driving end of the first electric drive component (21) drives the unlocking member (226) to move along the second direction (b), the unlocking member (226) moves to disengage the second actuating member (222), and then, the second actuating member (222) moves along the second direction (b) under the action of the winding elastic member (223) to perform winding.

6. The control method of the prostate stapler according to claim 1, characterized in that: The first electric drive assembly (21) comprises a first motor (211), a first gear (212) and a first rack (213) meshing with each other, and the first rack (213) constitutes a driving end of the first electric drive assembly (21); In step S1, controlling the driving end of the first electric driving component (21) to move along the first direction (a) specifically includes: controlling the first motor (211) to rotate forward so that the first rack (213) moves along the first direction (a).

7. The control method of the prostate stapler according to claim 2, characterized in that: The second electric drive assembly (24) comprises a second motor (241), a second gear (242) and a second rack (243) meshing with each other, and the second rack (243) constitutes a driving end of the second electric drive assembly (24); In step S3, controlling the driving end of the second electric drive assembly (24) to move along the third direction (c) specifically includes: controlling the second motor (241) to rotate forward so that the second rack (243) moves along the third direction (c).

8. The control method of the prostate stapler according to claim 2, characterized in that: The operating mechanism (2) further comprises a trigger member (25) connected to the driving end of the second electric drive assembly (24); Step S3 also includes: the driving end of the second electric driving component (24) drives the trigger member (25) to move along the third direction (c), and the movement of the trigger member (25) causes the clamping and cutting component (13) to be released from locking.

9. The control method of the prostate stapler according to claim 3, characterized in that: The implant mechanism (1) further comprises a first indicator light (2931), a second indicator light (2932), a third indicator light (2933) and a fourth indicator light (2934); the control method further comprises: In response to completion of the automatic calibration, controlling the first indicator light (2931) to light up; In response to the completion of the acupuncture, the second indicator light (2932) is controlled to light up; In response to completion of needle and thread closing, controlling the third indicator light (2933) to light up; In response to completion of clamping and cutting, the fourth indicator light (2934) is controlled to light up.

10. A prostate stapler device, characterized in that: The prostate stapler device comprises: An implantation mechanism (1) comprising a needle assembly (11), a wire assembly (12) and a clamping and cutting assembly (13); An operating mechanism (2) comprises a first electric drive assembly (21), an actuating assembly (22), a first switch (23), a second electric drive assembly (24) and a second switch (26); the actuating assembly (22) comprises a first actuating member (221) and a second actuating member (222); the first actuating member (221) is linked to the needle assembly (11), and the second actuating member (222) is linked to the wire assembly (12); a memory storing a computer program; A processor, used for executing the computer program to implement the control method according to any one of claims 1 to 9.

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