Control method of prostate beam nail device and prostate beam nail device

Abstract

The present invention relates to a control method and a prostate styling device, comprising: S1, in response to a single operation command inputted by a first switch, controlling a driving end of a first electric drive assembly to move in a first direction to disengage a first actuator, and then, under a mechanical external force, driving a second actuator in the first direction to perform a needle insertion; S2, in response to another operation command inputted by the first switch, controlling the driving end of the first electric drive assembly to move in a second direction to drive the first actuator to move in the second direction to perform a needle retraction; after the needle is retracted, controlling the driving end to continue moving in the second direction to disengage the second actuator, and then, under a mechanical external force, moving the second actuator in the second direction to perform a line retraction. With the control method of the present invention, a user only needs to operate the first switch twice to control the prostate styling device to perform a needle insertion, needle retraction, and line retraction, thereby reducing the difficulty and time of the stapling operation and improving the efficiency of the stapling operation.

Description

Technical Field

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

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

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

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention aims to provide a control method for a prostate stapling device, wherein the user only needs to operate a first switch twice to control the prostate stapling device to execute needle insertion, needle retraction, and thread retraction, thereby reducing the difficulty and operation time of stapling operation and improving 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 tackling device, the prostate tackling device comprising an implantation mechanism and an operating mechanism, the implantation mechanism comprising a needle assembly and a wire assembly, the operating mechanism comprising a first electric drive assembly, an actuator assembly, and a first switch, the actuator assembly comprising a first actuator and a second actuator; the first actuator being linked to the needle assembly, and the second actuator being linked to the wire assembly;

[0009] The control method includes:

[0010] S1. In response to a single operation command inputted by the first switch, the driving end of the first electric drive assembly is controlled to move in a first direction to provide a force so as to disengage the first actuator. Then, the first actuator drives the second actuator in the first direction under a mechanical external force to perform a puncture.

[0011] S2. In response to another operation instruction input by the first switch, controlling the driving end of the first electric drive assembly to move in the second direction to drive the first actuator to move in the second direction to perform stitch retraction; after stitch retraction, controlling the driving end to continue to move in the second direction to provide a force to disengage the second actuator, and then, the second actuator moves in the second direction under the mechanical external force to perform thread retraction;

[0012] Wherein, when the actuating assembly is in an initial state, the first actuating member is locked; when the needle is completed or in the initial stage of needle retraction, the second actuating member is locked; the first direction and the second direction are opposite.

[0013] Optionally, the implant mechanism further comprises a clamping and cutting assembly comprising 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 tackling 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 needle elastic member to perform the needle actuation.

[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 from the lock, 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 includes 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] Controlling the driving end of the first electric driving assembly to move along the first direction in step S1 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 includes a second motor, a second gear and a second rack that mesh with each other, and the second rack constitutes a driving end of the second electric drive assembly;

[0025] Controlling the driving end of the second electric driving assembly to move along the third direction in step S3 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 further 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 acupuncture, controlling the second indicator light to light up;

[0031] In response to completion of needle and thread narrowing, 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 further provides a prostate tackling device, comprising:

[0034] an implantation mechanism comprising 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 execute needle insertion, needle retraction, and line retraction, thereby reducing the difficulty and 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 An exploded view of the structure of the prostate stapler device of the present invention;

[0042] Figure 3 This is a partial three-dimensional structural diagram of the operating mechanism of the present invention when the actuating assembly is in the initial state. Figure 1 ;

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

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

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

[0046] Figure 7 An exploded view of a local structure of the actuating assembly of the present invention;

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

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

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

[0050] Figure 11 FIG1 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] Figure 12 A partial structural front view of the operating mechanism of the present invention when the actuating assembly is in an initial state;

[0052] Figure 13 A partial structural front view of the operating mechanism of the present invention when the needle is completed;

[0053] Figure 14 A partial structural front view of the operating body of the present invention when the wire slide is locked;

[0054] Figure 15 It is a front view of the partial structure of the operating mechanism during the needle retraction process of the present invention;

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

[0056] Figure 17 This is a diagram showing the assembly structure relationship 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;

[0057] Figure 18 An exploded view of the implant mechanism of the present invention;

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

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

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

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

[0062] Figure 23 A diagram showing the structural relationship between the second anchor and the cutter of the implant mechanism of the present invention;

[0063] Figure 24 An exploded view of the local structure of the clamping and cutting assembly of the present invention;

[0064] Figure 25 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. Wire assembly; 121. Nail wire connector; 1211. Fourth plug-in portion; 122. Nail wire; 123. Nail wire guide tube; 124. Nail wire support tube;

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

[0071] 14. Second mounting piece; 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 raised portion; 221111, first abutting surface; 221112, second inclined surface; 2212, third protrusion; 2213, first mounting post; 2214, first plug-in portion; 2215, hook portion; 2216, second clamping portion;

[0076] 222, second actuating member; 2221, second protrusion; 22211, second protruding portion; 222111, second abutting surface; 222112, fourth inclined surface; 2222, snap-fit 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 extending arm; 2243, second locking structure; 22431, second connecting arm; 22432, second stop portion; 224321, second stop surface; 224322, third inclined surface; 22433, second extending arm; 2244, first through hole; 2245, second through hole; 2246, second mounting post; 22471, first hollow portion; 22472, second hollow portion; 22473, connecting portion; 2248, groove; 2249, first clamping portion;

[0079] 225. Needle elastic member;

[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. Trigger; 251. Trigger 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 optocoupler; 283, second optocoupler; 284, third optocoupler; 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] 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 expressly defined, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplifying the description of the present invention, and do not indicate that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and should not be understood as a limitation to the present invention.

[0090] In this disclosure, the terms "first" and "second" are used solely for descriptive clarity and should not be construed as indicating the relative importance of the features indicated or the quantity of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, and "several" means at least one, unless expressly specified otherwise.

[0091] In the present invention, unless otherwise expressly defined, the terms "installed," "connected," "connect," "fixed," and "disposed" should be understood broadly. For example, "connection" can mean fixed connection, removable connection, or integral molding; it can be mechanical or electrical; it can be direct or indirect through an intermediary; it can also refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0092] In the present invention, unless otherwise clearly defined, when a first feature is “on,” “above,” “above,” “above,” “below,” “below,” or “below” a second feature, the first feature and the second feature may be in direct contact, or the first feature and the second feature may be in indirect contact via an intermediate medium. Moreover, when a first feature is “on,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0093] The following is based on Figures 2 to 25 The prostate tackling device of the present invention will be described in detail.

[0094] In this embodiment, if Figure 2 、 Figure 18 、 Figure 19 、 Figure 22 and Figure 25 As shown, the prostate stacking device 100 includes an implantation mechanism 1 and an operating mechanism 2. The implantation mechanism 1 comprises a needle assembly 11, a wire assembly 12, a memory, and a processor. The memory stores a computer program, and the processor executes the computer program to control the prostate stacking device 100 for stacking implantation. The needle assembly 11 includes a puncture needle 112 and a first anchor 113, which is pre-placed within the hollow puncture needle 112. The wire assembly 12 includes a stacking wire 122, one end of which 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 actuator 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 the first output shaft 2111 of the first motor 211. The actuator assembly 22 includes a first actuator 221, a second actuator 222, a thread take-up elastic member 223, and a needle elastic member 225. The thread take-up elastic member 223 is connected to the first actuator 221 and the second actuator 222, respectively. The needle elastic member 225 has one end fixed and the other end connected to the first actuator 221. The first actuator 221 is in driving connection with the needle assembly 11, and the second actuator 222 is in driving connection with the thread assembly 12.

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

[0097] Specifically, if Figure 9 and Figure 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 the 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 、 Figure 12 and Figure 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 move linearly 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 acupuncture 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 acupuncture 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 Figure 14 As shown, at the initial stage of needle insertion or needle retraction, 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 remains 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 during the process of retracting the puncture needle 112 from the prostate, and the first actuator 221 is pulled by the first actuator 221 to store energy during the process of moving along the second direction b. After the puncture needle 112 is retracted from the prostate, as shown in FIG. Figure 15 and Figure 16As shown, the second actuator 222 moves in the second direction b under the elastic force of the thread-retrieving elastic member 223 and abuts the first actuator 221 in the second direction b. The second actuator 222 moves to tighten the thread assembly 12, performing thread retraction. Under the continued drive of the first rack 213, the first actuator 221 continues to move in 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 and the second direction b are opposite.

[0101] By adopting the above-described technical solution, the prostate stapling device 100 is equipped with a first electric drive assembly 21. The first motor 211, first gear 212, and first rack 213 cooperate to directly provide a linear driving force to trigger the insertion, retraction, and thread retraction of the needles, thus achieving intelligent stapling operation. Furthermore, compared to the prior art CN114980823A, which utilizes a gear and cam combination, the linear motion stroke length of the first rack 213 in this solution is adjustable. A single movement of the first rack 213 in the second direction b driven by the first motor 211 can sequentially trigger the needle retraction and thread retraction, simplifying operation and improving stapling efficiency. Furthermore, the first electric drive assembly 21 offers smooth operation and a stable structure. Compared to the prior art gear and cam combination, it reduces vibration and noise generated during stapling, is less susceptible to damage, and has a long service life.

[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 adjacent to the urethra, and the distal end of the prostate refers to the portion of the prostate tissue farther away.

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

[0104] It should be understood that "needle retraction" herein refers to retracting the puncture needle 112 from the prostate. When the puncture needle 112 is retracted from the prostate, the thread can be retracted.

[0105] In one embodiment, if Figure 2 and Figure 25As shown, the operating mechanism 2 also includes a first switch 23, which is used to trigger the operation of the first electric drive assembly 21. When the actuator assembly 22 is in the initial state, the first switch 23 is operated once to trigger the prostate stapling device 100 to perform acupuncture. Subsequently, the first switch 23 is operated again to trigger the prostate stapling device 100 to perform needle removal and thread retraction. In this solution, the user only needs to operate the first switch 23 twice to control the prostate stapling device 100 to perform acupuncture, needle removal, and thread retraction. Compared to the prior art solution CN114980823A, which requires three manual operations to achieve acupuncture, needle removal, and thread retraction, this solution eliminates one operation, reducing the difficulty and time of stapling operation and improving stapling efficiency.

[0106] In one embodiment, when the needle assembly 11 completes a needle insertion, the second locking structure 2243 unlocks the second actuator 222. At the start of needle withdrawal, the first motor 211 rotates in reverse, and the first gear 212 drives the first rack 213 to move linearly in the second direction b. The first rack 213 then drives the needle slider 221 and the unlocking element 226 to move in the second direction b. The second actuator 222 then moves slightly in the second direction b before being locked by the second locking structure 2243. In other words, the second actuator 222 is locked during the initial stages of needle withdrawal. Alternatively, the second actuator 222 can be locked during the completion of a needle insertion, but this approach places strict demands on component assembly tolerances. Therefore, preferably, the second actuator 222 is locked during the initial stages of needle withdrawal. For ease of explanation, the following description uses the example of "the second actuator 222 being locked during the initial stages of needle withdrawal" 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 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 post 2246, and the first actuating member 221 is provided with a hook portion 2215. The hook portion 2215 and the second mounting post 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 post 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 is clamped to the clamping structure 2222. Figure 14 As shown, when the first actuating member 221 moves along the second direction b and the second actuating member 222 is locked, the take-up elastic member 223 is stretched, as shown in FIG. Figure 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 an initial state, the first locking structure 2242 is at least partially located along the path of the first actuating member 221 in the first direction a. Thus, the first locking structure 2242 can prevent the first actuating member 221 from moving in the first direction a, thereby achieving locking. During a puncture, the first rack 213 provides power to move the first locking structure 2242 away from the path of the first actuating member 221 in the first direction a. The first locking structure 2242 gives way to unlock the actuating member 221, thereby allowing the first actuating member 221 to move in the first direction a under the elastic force of the puncture elastic member 225.

[0112] During the acupuncture process, the second actuator 222 moves along the first direction a with the first actuator 221. When the needle assembly 11 completes the acupuncture, 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 is withdrawn, 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 with the first actuator 221, so that the needle can be withdrawn first and the puncture needle 112 can be withdrawn from the prostate. After the puncture needle 112 is withdrawn from the prostate, the first rack 213 provides power to make the second locking structure 2243 give way and unlock, so that the second actuator 222 moves along the second direction b under the elastic force of the take-up elastic member 223 to achieve take-up. Preferably, when the needle assembly 11 completes the needle insertion, 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 retracting the needle.

[0113] In one embodiment, if Figure 4、 Figure 9 and Figure 11 As shown, the actuator assembly 22 also includes an unlocking member 226 connected to the first rack 213. The unlocking member 226 is provided with a first unlocking structure 2261 and a second unlocking structure 2262, which are sequentially arranged along a first direction a. During acupuncture, the first rack 213 drives the unlocking member 226 to move along the first direction a, unlocking the first locking structure 2242 by driving the first unlocking structure 2261 to move. During needle collection, the first rack 213 drives the unlocking member 226 to move along the second direction b, unlocking the second locking structure 2243 by driving the second unlocking structure 2262 to move. In this embodiment, the separate provision of the unlocking member 226 reduces the manufacturing difficulty of the first rack 213, thereby reducing manufacturing costs, compared to directly forming the first unlocking structure 2261 and the second unlocking structure 2262 on the first rack 213.

[0114] Furthermore, if Figures 7 to 11 As shown, the first locking structure 2242 includes a first connecting arm 22421, a first stop 22422, and a first extending arm 22423. One end of the first connecting arm 22421 is free, and the other end is fixed to the body of the first mounting member 224. The first stop 22422 and the first extending 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 locked by at least partially abutting the first stop 22422 along the first direction a. The first extending arm 22423 is at least partially located along the travel path of the first unlocking structure 2261 in the first direction a. It should be understood that at this time, the force exerted by the needle elastic member 225 on the first actuating member 221 is insufficient for the first actuating member 221 to overcome the blocking force of the first stop 22422, thereby ensuring the stability of the locking. During acupuncture, as the unlocking member 226 moves along the first direction a, the first unlocking structure 2261 moves to contact and squeeze the first extension arm 22423, causing the first connecting arm 22421 to deform, thereby causing the first stop portion 22422 to shift and disengage from the first actuating member 221, thereby achieving unlocking. Furthermore, the first actuating member 221 is provided with a first protrusion 22111, which abuts against the first stop portion 22422 along the first direction a, thereby locking the first actuating member 221.

[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. Figure 13 and Figure 14As shown, in the initial stage of needle retraction, the second actuating member 222 is at least partially in contact with the second stop portion 22432 along the second direction b and is locked, and the second extension arm 22433 is at least partially located on the travel path of the second unlocking structure 2262 in the second direction b. It should be understood that at this time, the force exerted by the thread retraction elastic member 223 on the second actuating member 222 is insufficient to enable the second actuating member 222 to overcome the blocking force of the second stop portion 22432. Figure 9 、 Figure 11 、 Figures 14 to 16 As shown, during the process of continuing to close the needle, when the unlocking member 226 moves along the second direction b with the first rack 213, 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 stop portion 22432 is displaced and separated from the second actuating member 222, thereby achieving unlocking. After the second actuating member 222 is unlocked, it moves along the second direction b to close the needle. Figure 9 and Figure 15 As shown, the second actuating member 222 is provided with a second protrusion 22211 , and the second protrusion 22211 abuts against the second stopping portion 22432 along the second direction b and is 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, which are sequentially distributed along a first direction a. The first hollow portion 22471 and the second hollow portion 22472 are connected by a connecting portion 22473. A first connecting arm 22421 is located in the first hollow portion 22471 and its fixed end is connected to the connecting portion 22473. A first extending arm 22423 extends toward the unlocking member 226 and extends out of the first hollow portion 22471. A second connecting arm 22431 is located in the second hollow portion 22472 and its fixed end is connected to the connecting portion 22473. A second extending arm 22433 extends toward the unlocking member 226 and extends out of the second hollow portion 22472. In this embodiment, the first locking structure 2242 and the second locking structure 2243 are compactly arranged and both are connected to the main body of the first mounting member 224 via the connecting portion 22473, resulting in a simple structure and easy processing.

[0117] In one embodiment, if Figure 6 and Figure 24As shown, when the actuator 22 moves to the full needle-puncturing position, the thread slider 222 abuts against the second mounting post 2246, stopping the actuator 22. In other words, the second mounting post 2246 also serves to limit the movement limit of the actuator 22 in the first direction a. When the actuator 22 is in the full needle-puncturing position, the second protrusion 22211 of the second actuator 222 and the second stop 22432 of the second locking structure 2243 are sequentially arranged along the second direction b, with a spacing of 1 mm to 2 mm between them.

[0118] In one embodiment, if Figure 6 and Figure 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, and the second protrusion 22211 is provided on the top wall of the second actuator 222. The first stop 22422 and the first protrusion 22111 are positioned opposite each other in the first direction a, and the second stop 22432 and the second protrusion 22211 are positioned opposite each other in the second direction b. The first locking structure 2242 and the second locking structure 2243 are arranged axially symmetrically, which facilitates a simplified structural design.

[0119] Furthermore, if Figure 9 and Figure 10 As shown, the first stop portion 22422 includes a first stop surface 224221 and a first inclined surface 224222, and the first protrusion 22111 includes a first abutting surface 221111 and a second inclined surface 221112. The first stop surface 224221 and the first abutting surface 221111 are both perpendicular to the first direction a, and the first inclined surface 224222 extends obliquely in the first direction a away from the 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, so that the second protrusion 22211 does not interfere with the first locking structure 2242. When the needle is inserted, the first protrusion 22111 is located between the first locking structure 2242 and the second locking structure 2243. In this way, when the needle is retracted, the 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 over 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 acupuncture is performed, the second actuator 222 moves along with the first actuator 221 along the first direction a until the fourth inclined surface 222112 and the third inclined surface 224322 are against each other. Since the two are inclined surfaces, the rebound force of the acupuncture 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 acupuncture 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 Figure 9 As shown, there are two first protrusions 22111 and two second protrusions 22211. The two first protrusions 22111 are sequentially distributed along the first direction a, and the two second protrusions 22211 are sequentially distributed along the second direction b, to ensure the stability of the corresponding locking functions. It should be understood that when the first unlocking structure 2261 forces the first connecting arm 22421 to deform, both first protrusions 22111 can smoothly pass over the first stop 22422; and when the second unlocking structure 2262 forces the second connecting arm 22431 to deform, both second protrusions 22211 can smoothly pass over the second stop 22432.

[0122] In one embodiment, if Figure 2 、 Figure 6 and Figure 11 As shown, the first actuating member 221, the second actuating member 222 and the wire-winding 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 Figure 9As shown, the first mounting member 224 is provided with a first through-hole 2244 extending along a first direction a. The first actuator 221 includes a first protrusion 2211, and the second actuator 222 includes a second protrusion 2221. The first protrusion 2211 is provided with a first protruding portion 22111, and the second protrusion 2221 is provided with a second protruding portion 22211. The first protrusion 2211 is movably inserted into the first through-hole 2244, so that the first protruding portion 22111 can abut against the first locking structure 2242 along the first direction a, thereby being locked. The second protrusion 2221 is movably inserted into the first through-hole 2244, so that the second protruding portion 22211 can abut against the second locking structure 2243 along the second direction b, thereby being locked. In this embodiment, the components of the actuator assembly 22 are arranged rationally and compactly, which facilitates the miniaturization of the operating mechanism 2.

[0123] Furthermore, in order to facilitate the thin design of the first mounting member 224, as shown in FIG. Figure 8 and Figure 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 respectively abut 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 defines a second through hole 2245 extending along the first direction a. The third protrusion 2212 is movably inserted into the second through hole 2245 , and the third protrusion 2212 partially extends out of the second through hole 2245 .

[0125] Furthermore, if Figure 4 and Figure 11As shown, when the actuating assembly 22 is in the initial state, a gap is left between the boss 2131 and the third protrusion 2212 in the first direction a. In this way, when the actuating assembly 22 moves along the first direction a under the rebound force of the 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 needle is inserted, the first rack 213 drives the unlocking member 226 to move along the second direction b to the initial position of the unlocking member. At this time, the boss 2131 abuts against the third protrusion 2212 along the second direction b, or there is a gap between the boss 2131 and the third protrusion 2212 in the second direction b, for example, a gap of 1mm-2mm, to reserve a gap for the assembly process. In this way, when the needle needs to be retracted, the first rack 213 can immediately drive the first actuator 221 to move along the second direction b. At the same time, the unlocking member 226 located in its initial position also moves along the second direction b, so that after the puncture needle 112 is retracted from the prostate, the 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 are 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 bent portion 22241, the bent portion 22241 abuts against the side wall of the first mounting member 224 away from the implant mechanism 1, and, as shown Figure 9 As shown, the upper portion of the second actuating member 222 abuts against the side wall of the first mounting member 224 facing 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 the 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 Figure 19 As shown, the first actuator 221 has a first plug-in portion 2214, and the needle assembly 11 includes a second plug-in portion 1111. The first plug-in portion 2214 and the second plug-in portion 1111 are plugged together to achieve a driving connection between the first actuator 221 and the needle assembly 11. The second actuator 222 has a third plug-in portion 2223, and the cable assembly 12 includes a fourth plug-in portion 1211. The third plug-in portion 2223 and the fourth plug-in portion 1211 are plugged together to achieve a driving connection between the second actuator 222 and the cable assembly 12. In one embodiment, the first plug-in portion 2214 and the third plug-in portion 2223 are both slot structures, and the second plug-in portion 1111 and the fourth plug-in portion 1211 are both latching protrusions. The latching slots and the latching protrusions are plugged together to achieve detachable assembly.

[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 several uses, 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 shell 27. The second guide rail 214 is installed on the inner wall of the shell 27, and the first rack 213 and the unlocking member 226 are respectively connected to the slider 215.

[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 misalignment between the first output shaft 2111 and 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. Figure 11 and Figure 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 acupuncture is performed, 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 to release the first actuating member 221 from the lock, and then continues to move along the first direction a to the first limit position and stops. Figure 13 As shown, after the first actuating member 221 is released from the lock, the actuating mechanism 22 moves to the complete acupuncture position under the pull of the acupuncture elastic member 225. After the acupuncture 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 return to the initial position of the actuating assembly 22, as shown in FIG. Figure 16 As shown, the unlocking member 226 moves along the second direction b with the first rack 213 to the second extreme position. Figure 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 spaced apart along a first direction a, and the operating mechanism 2 includes a first optical coupler 282, a second optical coupler 283, and a third optical coupler 284 spaced apart along the first direction a. When the unlocking member 226 is in the initial unlocking position, the second blocking piece 2264 and the second optical coupler 283 cooperate to obtain position information of the unlocking member 226. When the unlocking member 226 is in the first extreme position, the second blocking piece 2264 and the third optical coupler 284 cooperate to obtain position information of the unlocking member 226. When the unlocking member 226 is in the second extreme position, the first blocking piece 2263 and the first optical coupler 282 cooperate to obtain position information of the unlocking member 226.

[0136] In one embodiment, if Figure 2 、 Figure 3 and Figure 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 that mesh with each other, and the second gear 242 is coaxially connected to the second output shaft 2411 of the second motor 241. Figure 19 As shown, the implant mechanism 1 further includes a clamping and cutting component 13, as shown in FIG. Figure 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 accidental triggering of the clamping and cutting operations. When clamping and cutting are performed, the second motor 241 is turned on, and the second rack 243 provides power by linear movement. This power can be used to unlock the clamping and cutting assembly 13. After the clamping and cutting assembly 13 is unlocked, the 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. 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 Figure 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 toward the clamping and cutting assembly 13, so that the trigger member 25 moves into contact with the clamping and cutting assembly 13. In this way, the clamping and cutting assembly 13 is unlocked under the push of the trigger member 25.

[0138] Furthermore, if Figure 18 and Figure 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, and both 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 needle insertion, needle retraction, and thread retraction processes of the prostate stapler device 100, the clamping and cutting assembly 13 remains in its 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 along the movement 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 Figure 17 As shown, under the drive of the second electric drive assembly 24, the trigger member 25 moves until the trigger member 25 is released from the first locking member 136. Then, under the push of the trigger member 25, as shown in FIG. Figure 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 disengages from the fourth actuating member 134 due to the rotation, 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 the speed 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 Figure 19 and Figure 24 As shown, the third actuating member 133, the second locking member 137 and the fourth actuating member 134 are distributed in sequence along the first direction a, the bottom of the third actuating member 133 is provided with a first card groove 1331, the two sides of the first locking member 136 are respectively provided with a first card protrusion 1361 and a pushing portion 1362, the two sides of the second locking member 137 are respectively provided with a pushed portion 1371 and a first abutting portion 1372, and the fourth actuating member 134 is provided with a second abutting portion 1341.

[0142] When the clamping and cutting assembly 13 is in its initial state, the first engaging protrusion 1361 engages upwardly within the first engaging groove 1331 to restrict movement of the third actuating member 133 in the first direction a. The pushing portion 1362 is positioned below the pushed portion 1371 with a gap therebetween. The first abutting portion 1372 abuts upwardly along the first direction a against the second abutting portion 1341 to restrict the third actuating member 133 and the fourth actuating member 134 from moving toward each other under the tension 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 and disengages 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 and disengages from the second abutting portion 1341, and the fourth actuating member 134 is unlocked.

[0144] In one embodiment, if Figure 3 and Figure 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 Figure 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. The trigger member 25 includes a trigger end 251 and a detected end 252. The trigger end 251 is located in the main body 272 and is used to unlock the clamping and cutting assembly 13. The detected end 252 is at least partially located in the handle 271 and is used to connect to the travel switch trigger element 281. The space in the handle 271 is used to accommodate the trigger member 25, and the structure is more compact.

[0146] During a complete use of the prostate stapler device 100, the trigger member 25 has two positions: the initial position and the unlocking position. Figure 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 25 is in the initial position of the trigger, and the first travel switch 285 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger 25; when the trigger 25 moves to the position of unlocking the first locking member 136, the trigger 25 is in the trigger trigger unlocking position, and the second travel switch 286 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger 25.

[0147] In one embodiment, if Figure 17 As shown, the second electric drive assembly 24 includes a guide rod 244 mounted on the inner wall of the housing 27. The second rack 243 is movably connected to the guide rod 244. A gap is left between the guide rod 244 and the inner wall of the housing 27. The second gear 242 is located in the space between the guide rod 244 and the inner wall of the housing 27, fully utilizing the lateral space within the housing 27.

[0148] The second gear 242 is provided with a second mounting hole (not shown in the figure), such as Figure 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 Figure 25 As shown, the first switch 23 is also used to trigger the second electric drive assembly 24. The first switch 23 controls the actuation of clamping and cutting, preventing the user from accidentally triggering clamping and cutting due to operational errors. The first switch 23 is operated three times to sequentially control the execution of needle insertion, needle and thread retraction, clamping, and cutting.

[0150] Furthermore, if Figure 2 and Figure 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 Figure 25 As shown, the first switch 23 is a push button switch, which is more convenient to use and less likely to be accidentally triggered than the plate switch in the prior art CN114980823A. The second switch 26 is a rocker switch, which has a different structure from the first switch 23 and serves as a difference indicator to prevent users from operating the wrong switch.

[0152] In one embodiment, if Figure 2 and Figure 25As shown, the operating mechanism 2 also includes a second switch 26. When the prostate styling device 100 is powered off, a single operation of the second switch 26 activates the prostate styling device 100 and automatically calibrates it to its initial state, ensuring the accuracy of the prostate styling device 100 during long-term use. After automatic calibration, the needle insertion, needle and thread retraction, clamping, and cutting operations can then be performed. Of course, the prostate styling device 100 can also be configured without an automatic calibration function, with the accuracy of the prostate styling device 100 being ensured throughout its useful life by limiting the number of uses. It should be understood that after a single operation of the second switch 26 to activate the prostate styling device 100, multiple stapling operations can be performed continuously without the need for automatic calibration again. Automatic calibration is only performed when the device is shut down and restarted.

[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, 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. 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. The first shell 273 and the second shell 274 together enclose a cavity, and the first electric drive component 21, the actuating component 22, the second electric drive component 24 and the trigger member 25 are all located in the cavity. Figure 2 and Figure 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 together clamp the second mounting member 14. The locking knob 18 is provided on the outer cover 16. The implant mechanism 1 is detachably mounted on the first housing 273 and locked by the locking knob 18. The first electric drive assembly 21 and the second electric drive assembly 24 are mounted on the inner wall of the second housing 274. The assembly of the implant mechanism 1 and the housing 27 can refer to the assembly structure and principle of any existing stapler binding device.

[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 in the housing 27 and mounted on the first mounting member 224 , and the other end of which extends to the outside of the housing 27 .

[0157] In one embodiment, if Figure 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, different flashing frequencies, or lighting up in a time sequence.

[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 prostate spiking device 100 completes automatic calibration, the first indicator light 2931 illuminates; when the prostate spiking device 100 completes needle insertion, the second indicator light 2932 illuminates; when the prostate spiking device 100 completes needle and thread retraction, the third indicator light 2933 illuminates; and when the prostate spiking device 100 completes clamping and cutting, the fourth indicator light 2934 illuminates. When all four indicator lights illuminate, the spiking operation is complete. The indicator lights facilitate human-computer interaction, making the spiking operation clearer and safer.

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

[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 has 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. This end abuts 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 in the first direction a, and the fourth actuator 134 moves in the second direction b. In this way, the push rod 138 pushes the second anchor 131 away from the first direction a, and the pull rod 139 pulls the cutter 132 in 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 be referred to the principle and structure of any existing staple binding device.

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

[0162] The following is based on Figures 1 to 25 The control method of the prostate tackling 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 single operation command inputted by the first switch 23, the driving end of the first electric driving assembly 21 is controlled to move in the first direction a to provide a force so that the first actuating member 221 is unlocked. Then, the first actuating member 221 drives the second actuating member 222 in the first direction a under the mechanical external force to perform acupuncture.

[0165] S2. In response to another operation command input by the first switch 23, the driving end of the first electric drive assembly 21 is controlled to move in the second direction b to drive the first actuator 221 to move in the second direction b to perform stitch retraction. After stitch retraction, the driving end is controlled to continue to move in the second direction b to provide a force to disengage the second actuator 222 from the lock. Then, the second actuator 222 moves in the second direction b under the mechanical external force to perform thread retraction.

[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 the stapling operation, and improves the stapling efficiency.

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

[0169] In response to another operating command inputted by the first switch 23, the driving end of the second electric drive assembly 24 is controlled to move in the third direction c, providing a force that disengages the clamping and cutting assembly 13. Then, under the mechanical force, the proximal anchor 131 and the cutter 132 are able to move toward each other 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 execute needle insertion, needle and thread retraction, clamping and cutting, simplifying operation and improving stapling efficiency.

[0170] Furthermore, if Figure 1 As shown, before step S1, step S0 is further included: in response to a single operation instruction input by the second switch 26, the prostate beam stabbing device 100 is controlled to start, and the actuating assembly 22 is controlled to automatically calibrate to the initial state to ensure the accuracy of the prostate beam stabbing device 100 during long-term use. In addition, the automatic calibration is completed at the moment of starting the prostate beam stabbing 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 needle elastic member 225 to perform needle insertion, and the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move to the first limit position and stop driving along the first direction a.

[0172] Furthermore, in step S1, controlling the driving end of the first electric drive 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 drive 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 boss 2131 and 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 is abutted 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 winding.

[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, causing the second connecting arm 22431 to deform, 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] Furthermore, when the unlocking member 226 is in 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 further 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 along the first direction a back to the unlocking member's initial position; at the same time, the first actuating member 221, pulled by the needle elastic member 225, drives the second actuating member 222 to move along the first direction a until the first actuating member 221 is locked again by the first locking structure 2242, at which point the actuating assembly 22 returns to its 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 movement of the trigger member 25 causes the clamping and cutting assembly 13 to be released from locking.

[0179] Furthermore, in step S3, the trigger member 25 moves to disengage the clamping and cutting assembly 13 from the lock, specifically including: the trigger member 25 moves, pushing the first locking member 136 to rotate and unlock 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 the lock.

[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 narrowing, 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 stabbing device 100, and the prostate stabbing device 100 performs automatic calibration, so that the prostate stabbing device 100 is in the initial state. At this time, the first protrusion 22111 of the first actuator 221 abuts against the first stop portion 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. Then, the user operates the first switch 23 for the first time, the first motor 211 rotates forward, and drives the unlocking member 226 to move along the first direction a through the first rack 213. When the unlocking member 226 moves to the first unlocking structure 2261 and contacts and squeezes the first extension arm 22423, the first connecting arm 22421 is deformed, thereby causing the first stop portion 22422 to disengage from the first protrusion 22111, and the first actuator 221 is unlocked. Then, the needle 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 transport 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 is connected to the first anchor 113, completing the puncture. At this time, the second protrusion 22211 of the second actuator 222 and the second locking structure 2243 are distributed sequentially 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 there is a certain distance between the boss 2131 of the first rack 213 and the third protrusion 2212 in the second direction b, the 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 2 mm apart in the second direction b.

[0192] (3) Needle and thread closing

[0193] The user operates the first switch 23 for the second time, the first motor 211 reverses, driving the first rack 213 and the unlocking member 226 to move along the second direction b, and the boss 2131 of the first rack 213 pushes the first actuator 221 to move along the second direction b. 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, continuing to drive the first rack 213 and the unlocking member 226 to move along the second direction b, and the boss 2131 of the first rack 213 pushes the 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 remains on the distal side of the prostate, thereby achieving 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-collecting process, when the unlocking member 226 moves to the second unlocking structure 2262 and contacts the second extension arm 22433 and squeezes the second extension arm 22433, the second connecting arm 22431 is deformed, thereby causing the second stop portion 22432 to disengage from the second actuating member 222, and the second actuating member 222 is unlocked. Then, the winding 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, during the winding 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 pull of the actuator 223 and the drive of the first rack 213, the second actuator 222 moves along the second direction b to the extreme position together with the first actuator 221 to complete the winding. By tightening the staple line 122 to stretch the distal end and squeeze the distal side of the prostate, 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 and the gap between the two is 2 mm, which is the reserved assembly process gap.

[0195] Then, the first rack 213 drives the unlocking member 226 to move 2 mm in the first direction a. The first actuating member 221 and the second actuating member 222 simultaneously move 2 mm in the first direction a under the pull of the needle elastic member 225, so that the first protrusion 22111 abuts the first stop 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 in the first direction a to the unlocking member initial position, and the first motor 211 stops.

[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, driving the trigger member 25 to move in the direction of the first locking member 136 of the clamping and cutting assembly 13. The trigger member 25 pushes the first locking member 136 to rotate and unlock the 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, the prostate tissue rebounds, and the second anchor 131 and the first anchor 113 are tensioned 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 encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope of this disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments merely illustrate several implementations of the present invention and do not limit the scope of protection of the patent of this invention.

Claims

1. A prostate stapler device, characterized in that: The prostate stapler device 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) comprising 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), wherein 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 thread assembly (12); the first electric drive assembly (21) comprises a first motor (211), a first gear (212) and a first rack (213) that mesh with each other, and the first rack (213) constitutes a driving end of the first electric drive assembly (21); a memory storing a computer program; A processor configured to execute the computer program to implement a control method for the prostate stabbing device; the control method comprising: S1, in response to a single operation instruction inputted 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 released from locking, 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 drive 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 retraction; after needle retraction, 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 disengaged from the lock, and then the second actuating member (222) moves along the second direction (b) under the mechanical external force to perform thread retraction; Wherein, the actuating assembly (22) comprises: a take-up elastic member (223), which is respectively connected to the first actuating member (221) and the second actuating member (222); A first mounting member (224) is provided with a first guide rail (2241), and the first actuating member (221) and the second actuating member (222) are respectively movably connected to the first guide rail (2241); A needle elastic member (225), one end of which is connected to the first mounting member (224) and the other end of which is connected to the first actuating member (221); The first mounting member (224) is provided with a first locking structure (2242) and a second locking structure (2243) distributed in sequence along the first direction (a); When the actuating assembly (22) is in an initial state, the first locking structure (2242) is capable of preventing the first actuating member (221) from moving along the first direction (a), and the puncture needle elastic member (225) is in an energy storage state; when puncture is performed, the first rack (213) provides power to cause the first locking structure (2242) to give way and unlock, thereby enabling the first actuating member (221) to move along the first direction (a) to a puncture completion position under the elastic force of the puncture needle elastic member (225); When the needle assembly (11) completes needle insertion or begins to retract the needle, the second locking structure (2243) can prevent the second actuator (222) from moving along the second direction (b); during the process of retracting the needle, the retracting elastic member (223) accumulates energy due to the pulling of the first actuator (221); after the needle is retracted, 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; the first direction (a) and the second direction (b) are opposite.

2. The prostate stapler device 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 instruction input by the first switch (23), 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 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 prostate stapler device according to claim 2, characterized in that: Before step S1, step S0 is also included: in response to a running instruction input by the second switch (26), the prostate beam nailing device (100) is controlled to start, and the actuating assembly (22) is controlled to automatically calibrate to an initial state.

4. The prostate stapler device according to claim 1, wherein: The operating mechanism (2) further includes an unlocking member (226), wherein the unlocking member (226) is connected to the driving end of the first electric drive 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), the unlocking member (226) moves to disengage the first actuating member (221), and then, the first actuating member (221) drives the second actuating member (222) along the first direction (a) under the action of the puncture needle elastic member (225) to perform puncture.

5. The prostate stapler device according to claim 1, characterized in that: The operating mechanism (2) further includes 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 prostate stapler device according to claim 1, characterized in that: In step S1, controlling the driving end of the first electric drive assembly (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 prostate stapler device 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 prostate stapler device according to claim 2, wherein: The operating mechanism (2) further includes 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 drive assembly (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 assembly (13) to be released from locking.

9. The prostate stapler device according to claim 3, characterized in that: 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 control method further includes: 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, controlling the second indicator light (2932) to light up; In response to the completion of needle and thread narrowing, 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.

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