Retreating mechanism and cutting and suturing device

Abstract

The invention relates to a returning mechanism and a cutting and suturing device. The rollback mechanism comprises a support, a transmission part, a driving assembly and a rollback assembly. The transmission part is slidably connected to the support and comprises a plurality of transmission teeth. The driving assembly comprises a driven gear and a motor; when the driven gear is located at the meshing position, the driven gear is connected with the transmission teeth and is in transmission connection with the motor, and when the driven gear is located at the disengagement position, the driven gear is in disengagement connection with the transmission teeth. The rollback assembly comprises a driving wheel and an adapter, the driving wheel is rotatably connected to the support, the adapter is connected to the transmission part and is in transmission connection with the driving wheel, and when the driven gear is located at the disengagement position, the driving wheel is configured to rotate around the axis of the driving wheel so as to drive the transmission part to move through the adapter. Rotation of the driving wheel is converted into movement of the transmission part, that is, the transmission part can move the circumference length of the driving wheel every time the driving wheel rotates by a circle, and therefore the rollback efficiency of the transmission part is greatly improved, and efficient rollback is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a retracting mechanism and a cutting and suturing device. Background Art

[0002] The electric stapler is a combination of a DC motor, a circuit board and traditional mechanical components. It fully realizes all the action functions of the laparoscopic stapler under electric control. The operation method is simple. Its core advantage of reducing accidental tissue damage caused by human factors during the operation has been widely recognized in the clinic. In the electric stapler, the motor is the most important driving device, and it is inevitable that there will be failures, as well as failures in some other special circumstances, resulting in the problem that the jaws cannot open and disengage from the clamped tissue. When the doctor encounters a malfunction during use, the stapler jaws may be clamping the tissue. At this time, it is necessary to drive the transmission member connected to the stapler jaws to retract, so that the clamp head drives the blade to retract, and the jaws open to release the tissue. However, most of the current electric staplers use an eccentric push rod to push the transmission member back, which makes the retraction efficiency low, affecting the rapidity and effectiveness of the forced retraction operation during surgery. Summary of the invention

[0003] Based on this, it is necessary to provide a retraction mechanism to address the technical problem that most current electric staplers use an eccentric push rod to push the transmission part back, resulting in low retraction efficiency and affecting the rapidity and effectiveness of the forced retraction operation during surgery.

[0004] A rollback mechanism, comprising:

[0005] Bracket,

[0006] A transmission member, slidably connected to the bracket, the transmission member comprising a plurality of transmission teeth;

[0007] A driving assembly, comprising a driven gear and a motor; the driven gear has an engaged position and a disengaged position, when the driven gear is in the engaged position, the driven gear is connected to the plurality of transmission teeth and is in transmission connection with the motor, when the driven gear is in the disengaged position, the driven gear is disengaged from the plurality of transmission teeth and is disengaged from the motor; and,

[0008] The retraction assembly includes a driving wheel and an adapter, wherein the driving wheel is rotatably connected to the bracket, the adapter is connected to the transmission member, and is transmission-connected to the driving wheel. When the driven gear is in the disengaged position, the driving wheel is configured to rotate around its own axis to drive the transmission member to move through the adapter.

[0009] In one embodiment, the adapter is disposed around the outer circumference of the driving wheel, and two ends of the adapter are respectively connected to two ends of the transmission member.

[0010] In one of the embodiments, a guide groove is arranged around the outer circumference of the driving wheel, and the guide groove is used to accommodate the adapter.

[0011] In one embodiment, the adapter is connected to the driving wheel, and the length of the portion of the adapter wrapped around the driving wheel is a preset length, and the preset length is greater than the outer circumference of the driving wheel.

[0012] In one embodiment, the driving assembly further comprises a support frame, the support frame is rotatably connected to the bracket, and the driven gear is rotatably connected in the support frame;

[0013] A limit lock is provided on the bracket, and a connecting hook is provided on the support frame, and the limit lock is operably connected to the connecting hook; when the driven gear is in the meshing position, the limit lock is connected to the connecting hook to lock the driven gear in the meshing position, and when the driven gear is in the disengaged position, the limit lock is disengaged from the connecting hook to switch the driven gear from the meshing position to the disengaged position.

[0014] In one embodiment, the limit lock includes a knob portion and a lock hook portion that are connected to each other, the knob portion is rotatably connected to the bracket, and the lock hook portion is used to connect with the connecting hook. The knob portion is configured to rotate relative to the bracket when the lock hook portion is connected to the connecting hook, so as to drive the lock hook portion to rotate synchronously, so that the lock hook portion is disengaged from the connecting hook.

[0015] In one of the embodiments, a limiting protrusion is provided at one end of the knob portion away from the locking hook portion, the limiting protrusion extends out of the bracket, and a first slot is provided on the limiting protrusion.

[0016] In one embodiment, the limit lock further includes an elastic member, one end of the elastic member is connected to the knob portion, and the other end abuts against the bracket, and the elastic member is used to apply a force to the knob portion away from the connecting hook.

[0017] In one embodiment, the retraction assembly also includes a driving rod, which is rotatably connected to the bracket, and the driving wheel is sleeved on the driving rod and connected to the driving rod. A second slot is provided at one end of the driving rod and extends out of the bracket.

[0018] The present invention also provides a cutting and suturing device, which can solve at least one of the above technical problems.

[0019] A cutting and suturing device comprises an end actuator and the above-mentioned retraction mechanism, wherein the end actuator comprises a movable cutting member for cutting an object located in the end actuator, and the cutting member is transmission-connected to the transmission member.

[0020] Beneficial effects:

[0021] The retraction mechanism provided by the embodiment of the present invention includes a bracket, a transmission member, a driving assembly and a retraction assembly; the transmission member is slidably connected to the bracket, and the transmission member includes a plurality of transmission teeth; the driving assembly includes a driven gear and a motor; the driven gear has an engaged position and a disengaged position, when the driven gear is in the engaged position, the driven gear is connected to the plurality of transmission teeth and is transmission-connected to the motor, when the driven gear is in the disengaged position, the driven gear is disengaged from the plurality of transmission teeth and is disengaged from the motor; the retraction assembly includes a driving wheel and an adapter, the driving wheel is rotatably connected to the bracket, the adapter is connected to the transmission member, and is transmission-connected to the driving wheel, when the driven gear is in the disengaged position, the driving wheel is configured to rotate around its own axis to drive the transmission member to move through the adapter. In the present application, the driving wheel is rotatably connected to the bracket, and the rotating member is transmission-connected to the driving wheel. When the driven gear is in the disengaged position, the driving wheel can drive the transmission member to move through the adapter by rotating around its own axis, thereby converting the rotation of the driving wheel itself into the movement of the transmission member, so that the transmission member moves, that is, every time the driving wheel rotates one circle, the transmission member can move the circumference of the driving wheel, thereby greatly improving the retraction efficiency of the transmission member and achieving efficient retraction.

[0022] The present invention also provides a cutting and suturing device, comprising an end effector and the above-mentioned retraction mechanism, wherein the end effector comprises a movable cutting member for cutting an object located in the end effector, and the cutting member is transmission-connected to the transmission member. The cutting and suturing device can achieve at least one of the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A first schematic diagram of a retraction mechanism provided in one embodiment of the present invention.

[0024] Figure 2 A second schematic diagram of the retracting mechanism provided in one embodiment of the present invention.

[0025] Figure 3 A partial exploded view of a retraction mechanism provided in one embodiment of the present invention.

[0026] Figure 4 A partial schematic diagram of a retraction component in a retraction mechanism provided in an embodiment of the present invention.

[0027] Figure 5 A partial schematic diagram of a driving assembly in a retraction mechanism provided in an embodiment of the present invention.

[0028] Figure 6 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 1 .

[0029] Figure 7 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 2 .

[0030] Figure 8 A schematic diagram of a cover plate in a retracting mechanism provided in an embodiment of the present invention.

[0031] Fig. 9 A schematic diagram of a cutting and suturing device provided in one embodiment of the present invention.

[0032] Fig.10 This is a schematic diagram of a cutting and suturing device provided by an embodiment of the present invention without a housing.

[0033] Figure Number:

[0034] 100-transmission member; 110-transmission tooth; 120-first side; 130-second side; 140-mounting hole; 200-driving assembly; 210-driving gear; 220-motor; 230-support frame; 240-driven gear; 250-connecting hook; 251-connecting rod; 252-bending portion; 300-retraction assembly; 310-driving rod; 311-second slot; 320-driving wheel; 321-guide groove; 330-adapter; 400-bracket; 410-first mounting slot; 420-second mounting slot; 430-limiting channel; 440-limiting lock; 441-lock hook portion; 442-knob portion; 443-limiting convex; 444-first slot; 500-housing; 510-cover plate; 511-unlocking member; 600-end actuator. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0041] See also Figure 1 , Figure 2 and Figure 3 , Figure 1 A first schematic diagram of a retraction mechanism provided by an embodiment of the present invention; Figure 2 A second schematic diagram of a retraction mechanism provided by an embodiment of the present invention; Figure 3 A partial exploded view of a retraction mechanism provided by an embodiment of the present invention. The retraction mechanism provided by an embodiment of the present invention comprises a bracket 400, a transmission member 100, a drive assembly 200 and a retraction assembly 300; the transmission member 100 is slidably connected to the bracket 400, and the transmission member 100 comprises a plurality of transmission teeth 110; the drive assembly 200 comprises a driven gear 240 and a motor 220; the driven gear 240 has an engaged position and a disengaged position. When the driven gear 240 is in the engaged position, the driven gear 240 is connected to the plurality of transmission teeth 110 and is in transmission connection with the motor 220. When the driven gear 240 is in the engaged position, the driven gear 240 is connected to the plurality of transmission teeth 110 and is in transmission connection with the motor 220. When the driven gear 240 is in the disengaged position, the driven gear 240 is disconnected from the plurality of transmission teeth 110 and is disconnected from the motor 220; the retraction assembly 300 includes a driving wheel 320 and an adapter 330, the driving wheel 320 is rotatably connected to the bracket 400, the adapter 330 is connected to the transmission member 100, and is transmission-connected to the driving wheel 320. When the driven gear 240 is in the disengaged position, the driving wheel 320 is configured to rotate around its own axis to drive the transmission member 100 to move through the adapter 330.

[0042] Specifically, in the present application, the driving wheel 320 can be rotatably connected to the bracket 400, and the rotating member is transmission-connected to the driving wheel 320. When the driven gear 240 is in the disengaged position, the driving wheel 320 can drive the transmission member 100 to move through the adapter 330 by rotating around its own axis, thereby converting the rotation of the driving wheel 320 itself into the movement of the transmission member 100, so that the transmission member 100 moves, that is, every time the driving wheel 320 rotates one circle, the transmission member 100 can move the circumference of the driving wheel 320, thereby greatly improving the retraction efficiency of the transmission member 100 and achieving efficient retraction.

[0043] When the driven gear 240 is in the meshing position, the driven wheel drives the transmission member 100 to move under the drive of the motor 220, and the transmission member 100 drives the adapter 330 to move, thereby driving the driving wheel 320 to rotate. When the driven gear 240 is in the disengaged position, the driven gear 240 is disconnected from the transmission member 100, and when the driving wheel 320 rotates around its own axis to drive the transmission member 100 to move through the adapter 330, the interference of the driving assembly 200 on the transmission member 100 can be reduced, so that the driving wheel 320 can stably drive the transmission member 100 to retreat, thereby improving the reliability of the retreat mechanism.

[0044] See also Figure 1 , Figure 3 and Figure 4 , Figure 4 A partial schematic diagram of a retraction assembly in a retraction mechanism provided in one embodiment of the present invention. In one embodiment, the adapter 330 is disposed around the outer circumference of the driving wheel 320, and two ends of the adapter 330 are respectively connected to two ends of the transmission member 100.

[0045] Specifically, when the driving wheel 320 rotates, the driving wheel 320 can drive one side of the rotating member to move through the friction force, thereby pulling the transmission member 100 to move through the adapter 330. Figure 1 For example, when the driving wheel 320 rotates counterclockwise, under the action of friction, the adapter 330 located on the left side of the driving wheel 320 is subjected to a pulling force toward the driving wheel 320, thereby driving the adapter 330 to move to the right, so that the adapter 330 drives the transmission member 100 to move to the right, thereby realizing the retraction of the transmission member 100.

[0046] Further, the adapter 330 is a steel wire rope. In other embodiments, the adapter 330 can also be a belt.

[0047] Furthermore, the two ends of the adapter 330 extend from the side of the driving wheel 320 close to the transmission member 100, thereby reducing the angle between the two ends of the adapter 330 and the transmission member 100, so that the two ends of the adapter 330 can transmit a larger component force to the transmission member 100, thereby increasing the service life of the adapter 330.

[0048] In addition, the two ends of the adapter 330 are respectively connected to the two ends of the transmission member 100, thereby further reducing the angle between the two ends of the adapter 330 and the transmission member 100, so that the two ends of the adapter 330 can transmit a larger component force to the transmission member 100, thereby improving the service life of the adapter 330.

[0049] See also Figure 1 , Figure 3 and Figure 4In one embodiment, a guide groove 321 is provided around the outer circumference of the driving wheel 320, and the guide groove 321 is used to accommodate the adapter 330, so that when the driving wheel 320 drives the adapter 330 to move, the adapter 330 is always accommodated in the guide groove 321, so that the tightness of the adapter 330 is the same, so that the force applied to the transmission member 100 is always the same, thereby reducing the interference of the adapter 330 on the transmission member 100, making the movement of the transmission member 100 more stable, and improving the adaptability of the retracting mechanism.

[0050] See also Figure 1 , Figure 3 and Figure 4 In one embodiment, the adapter 330 is connected to the driving wheel 320 , and the length of the portion of the adapter 330 wrapped around the driving wheel 320 is a preset length, which is greater than the outer circumference of the driving wheel 320 .

[0051] Specifically, the adapter 330 is at least arranged around the driving wheel 320 for one circle, so that the adapter 330 and the driving wheel 320 can stably transmit. Part of the adapter 330 is fixedly connected to the driving wheel 320, so as to prevent the adapter 330 and the driving wheel 320 from slipping and causing transmission failure.

[0052] Furthermore, the preset length is greater than the maximum displacement of the transmission member 100, thereby reducing the restriction on the moving distance of the transmission member 100 when it moves forward and the restriction on the moving distance of the transmission member 100 when it moves backward, thereby improving the adaptability of the retraction mechanism.

[0053] See also Figure 1 and Figure 3 In one embodiment, the transmission member 100 includes a main body, the main body has a first side surface 120 and a second side surface 130, a plurality of transmission teeth 110 are arranged on the first side surface 120, two mounting holes 140 are respectively arranged at the two ends of the second side surface 130, and the two ends of the adapter 330 are respectively extended into the two mounting holes 140 and connected to the transmission member 100, so as to protect the connection between the adapter 330 and the transmission member 100 and improve the stability of the connection between the adapter 330 and the transmission member 100. In the present application, by placing the transmission teeth 110 and the mounting holes 140 on different sides, the interference with the meshing transmission of the driven wheel and the plurality of transmission teeth 110 can be reduced, and the adaptability of the retraction mechanism can be improved.

[0054] See also Figure 1 and Figure 3In one embodiment, the bracket 400 has a limiting channel 430, a first mounting groove 410 and a second mounting groove 420, and the first mounting groove 410 and the second mounting groove 420 are both connected to the limiting channel 430. The transmission member 100 is installed in the limiting channel 430 and abuts against a part of the side wall of the limiting channel 430, so that the transmission member 100 can stably move forward and backward under the transmission of the driving wheel 320 and the driven gear 240. The first mounting groove 410 is opposite to the first side surface 120 of the transmission member 100, and the support frame 230 is installed in the first mounting groove 410, so that the driven gear 240 installed on the support frame 230 is easy to mesh with the plurality of transmission teeth 110. The second mounting groove 420 is opposite to the second side surface 130 of the transmission member 100, and the driving wheel 320 is installed in the second mounting groove 420, so that the driving wheel 320 is easy to connect with the second side surface 130 through the adapter 330. The setting of the limiting channel 430, the first installation groove 410 and the second installation groove 420 enables the driving component 200, the retraction component 300, etc. to be stably connected to the bracket 400 while cooperating with the transmission member 100, thereby improving the adaptability of the retraction component 300.

[0055] See also Figure 1 , Figure 3 and Figure 5 , Figure 5 A partial schematic diagram of a drive assembly in a retraction mechanism provided in one embodiment of the present invention. In one embodiment, the drive assembly 200 further includes a support frame 230, the support frame 230 is rotatably connected to the support frame 400, and the driven gear 240 is rotatably connected to the support frame 230; a limit lock 440 is provided on the support frame 400, and the support frame 230 is provided with a connecting hook 250, and the limit lock 440 is operably connected to the connecting hook 250; when the driven gear 240 is in the meshing position, the limit lock 440 is connected to the connecting hook 250 to lock the driven gear 240 in the meshing position, and when the driven gear 240 is in the disengaged position, the limit lock 440 is disengaged from the connecting hook 250 to switch the driven gear 240 from the meshing position to the disengaged position.

[0056] Specifically, when the limit lock 440 is connected to the connecting hook 250, the limit lock 440 can apply a stable pulling force to the support frame 230 through the connecting hook 250, so that the driven gear 240 is stably engaged with the transmission member 100, thereby stably driving the transmission member 100 forward. When the limit lock 440 is disconnected from the connecting hook 250, the limit lock 440 can release the support frame 230, and in the process of the driving wheel 320 driving the transmission member 100 to move, the driven gear 240 will be subjected to the force of the plurality of transmission teeth 110, so that the support frame 230 rotates relative to the bracket 400, so that the driven gear 240 is separated from the transmission member 100, so that the driven gear 240 is disconnected from the transmission member 100, that is, the driven gear 240 is in the disengaged position.

[0057] Furthermore, the driving assembly 200 further includes a driving gear 210, which is connected to the output shaft of the motor 220, and the driving gear 210 and the transmission member 100 are located on the same side of the driven gear 240. The motor 220 is driven by the meshing transmission of the driving gear 210 and the driven gear 240, and when the support frame 230 drives the driven gear 240 to rotate relative to the support frame 400, the driven gear 240 is separated from the transmission member 100, that is, when the driven gear 240 is located in the disengaged position, the driven gear 240 is disengaged from the driving gear 210, that is, the transmission between the driven gear 240 and the motor 220 is interrupted.

[0058] See also Figure 3 , Figure 6 and Figure 7 , Figure 6 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 1 . Figure 7 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 2 In one embodiment, the limit lock 440 includes a knob portion 442 and a lock hook portion 441 connected to each other, the knob portion 442 is rotatably connected to the bracket 400, and the lock hook portion 441 is used to connect with the connecting hook 250. The knob portion 442 is configured to rotate relative to the bracket 400 when the lock hook portion 441 is connected to the connecting hook 250, so as to drive the lock hook portion 441 to rotate synchronously, so that the lock hook portion 441 is disengaged from the connecting hook 250.

[0059] Specifically, the connecting hook 250 partially abuts against the side of the locking hook portion 441 close to the rotating portion, so that the locking hook portion 441 applies a pulling force to the connecting hook 250 toward the knob portion 442, so that the driven gear 240 is stably meshed with the plurality of transmission teeth 110. When the knob portion 442 rotates relative to the bracket 400 to rotate the locking hook portion 441 away from the connecting hook 250, the locking hook portion 441 separates from the connecting hook 250, thereby releasing the restriction on the connecting hook 250, so that the support frame 230 can rotate relative to the bracket 400, so that the driven gear 240 is separated from the transmission member 100, that is, the driven gear 240 moves to the disengaged position.

[0060] Furthermore, the connecting hook 250 includes a connecting rod 251 and a bending portion 252, one end of the connecting rod 251 is connected to the support frame 230, and the other end is connected to the bending portion 252, and the bending portion 252 is used to hook with the connecting hook 250. The setting of the connecting rod 251 can reduce interference with other components and improve the adaptability of the retracting mechanism.

[0061] See also Figure 2 , Figure 3 , Figure 8 , Fig. 9 and Fig.10 , Figure 8 A schematic diagram of a cover plate in a retracting mechanism provided in an embodiment of the present invention. Fig. 9 A schematic diagram of a cutting and suturing device provided in one embodiment of the present invention. Fig.10 A schematic diagram of a cutting and suturing device provided in an embodiment of the present invention without a housing is shown. In one embodiment, a stopper 443 is provided at one end of the knob portion 442 away from the locking hook portion 441 , the stopper 443 extends out of the bracket 400 , and a first slot 444 is provided on the stopper 443 .

[0062] Specifically, the first slot 444 is adapted to common tools such as a wrench, that is, it can be inserted into the first slot 444 by a common tool such as a wrench, so that it can be rotated by the common tool such as the wrench to drive the knob part 442 to rotate, thereby achieving the disengagement of the lock hook part 441 from the connecting hook 250.

[0063] Furthermore, the retraction mechanism also includes a cover plate 510, and the cover plate 510 shell is detachably connected to the bracket 400. The end of the cover plate 510 is provided with an unlocking piece 511 adapted to the first slot 444. When it is necessary to control the transmission member 100 to retract, the cover plate 510 can be removed, and the unlocking piece 511 on one side of the cover plate 510 is inserted into the first slot 444 to control the rotation of the cover plate 510 to realize the rotation of the knob part 442, so that the retraction efficiency of the transmission member 100 is higher and more convenient. Among them, the size of the cover plate 510 is larger than the size of the unlocking piece 511, and it can also achieve the effect of saving effort. Among them, the first slot 444 can be a slotted hole or a hexagonal slot.

[0064] Furthermore, the retraction mechanism also includes a shell 500, which is connected to the bracket 400 and is used to cover the retraction component 300 and the driving component 200. The area on the shell 500 corresponding to the driving wheel 320 has an observation port, and the cover 510 is connected to the shell 500 and is used to cover the observation port.

[0065] See also Figure 2 , Figure 3 and Figure 6 In one embodiment, the limit lock 440 further includes an elastic member, one end of which is connected to the knob portion 442 and the other end of which is abutted against the bracket 400 , and the elastic member is used to apply a force to the knob portion 442 away from the connecting hook 250 .

[0066] Specifically, the elastic member is sleeved on the knob portion 442, and one end of the elastic member away from the lock hook portion 441 abuts against the limit protrusion 443, and the elastic member is in a compressed state. The elastic member applies a force away from the connecting hook 250 to the knob portion 442, so that when the driven gear 240 is in the meshing position, a certain pressure is formed between the driven gear 240 and the plurality of transmission teeth 110, so that when the driven gear 240 is overloaded, the driven gear 240 can move relative to the driving member, so that the transmission between the driven gear 240 and the transmission member 100 is interrupted, thereby forming an overload protection and improving the adaptability of the retracting mechanism.

[0067] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 In one embodiment, the retraction assembly 300 also includes a driving rod 310, which is rotatably connected to the bracket 400, and the driving wheel 320 is sleeved on the driving rod 310 and connected to the driving rod 310. One end of the driving rod 310 is provided with a second slot 311 and extends out of the bracket 400.

[0068] Specifically, the second slot 311 is located on the same side as the first slot 444, and the second slot 311 has the same shape and size as the first slot 444, so that the driving rod 310 can be controlled to rotate through the unlocking member 511 on the cover plate 510 to drive the driving wheel 320. In other embodiments, the driving rod 310 can also be controlled to rotate through other operating members such as a wrench.

[0069] See also Figure 1 , Figure 2 , Figure 3 , Fig. 9 and Fig.10 An embodiment of the present invention further provides a cutting and suturing device, including an end actuator 600 and the above-mentioned retraction mechanism, wherein the end actuator 600 includes a movable cutting component for cutting an object located in the end actuator 600, and the cutting component is transmission-connected to the transmission member 100.

[0070] In the present application, the driving wheel 320 is rotatably connected to the bracket 400, and the rotating member is transmission-connected to the driving wheel 320. When the driven gear 240 is in the disengaged position, the driving wheel 320 can drive the transmission member 100 to move through the adapter 330 by rotating around its own axis, thereby converting the rotation of the driving wheel 320 itself into the movement of the transmission member 100, so that the transmission member 100 moves, that is, every time the driving wheel 320 rotates one circle, the transmission member 100 can move the circumference of the driving wheel 320, thereby greatly improving the retraction efficiency of the transmission member 100, achieving efficient retraction, and improving the adaptability of the cutting and suturing device.

[0071] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A retraction mechanism, characterized in that: The rollback mechanism comprises: Bracket (400), A transmission member (100) is slidably connected to the bracket (400), and the transmission member (100) includes a plurality of transmission teeth (110); A driving assembly (200), comprising a driven gear (240) and a motor (220); the driven gear (240) having an engaged position and a disengaged position; when the driven gear (240) is in the engaged position, the driven gear (240) is connected to the plurality of transmission teeth (110) and is in transmission connection with the motor (220); when the driven gear (240) is in the disengaged position, the driven gear (240) is disengaged from the plurality of transmission teeth (110) and is disengaged from the motor (220); and, The retraction assembly (300) comprises a driving wheel (320) and an adapter (330), wherein the driving wheel (320) is rotatably connected to the bracket (400), and the adapter (330) is connected to the transmission member (100) and is transmission-connected to the driving wheel (320), and when the driven gear (240) is in the disengaged position, the driving wheel (320) is configured to rotate around its own axis to drive the transmission member (100) to move through the adapter (330).

2. The retraction mechanism according to claim 1, characterized in that: The adapter (330) is disposed around the outer circumference of the driving wheel (320), and two ends of the adapter (330) are respectively connected to two ends of the transmission member (100).

3. The retraction mechanism according to claim 2, characterized in that: A guide groove (321) is arranged around the outer circumference of the driving wheel (320), and the guide groove (321) is used to accommodate the adapter (330).

4. The retraction mechanism according to claim 2, characterized in that: The adapter (330) is connected to the driving wheel (320), and the length of the portion of the adapter (330) wound around the driving wheel (320) is a preset length, which is greater than the outer circumference of the driving wheel (320).

5. The retraction mechanism according to any one of claims 1 to 4, characterized in that: The driving assembly (200) further comprises a support frame (230), wherein the support frame (230) is rotatably connected to the bracket (400), and the driven gear (240) is rotatably connected inside the support frame (230); A limit lock (440) is provided on the bracket (400), and a connecting hook (250) is provided on the support frame (230), and the limit lock (440) is operably connected to the connecting hook (250); when the driven gear (240) is in the meshing position, the limit lock (440) is connected to the connecting hook (250) to lock the driven gear (240) in the meshing position; when the driven gear (240) is in the disengaged position, the limit lock (440) is disengaged from the connecting hook (250) to switch the driven gear (240) from the meshing position to the disengaged position.

6. The retraction mechanism according to claim 5, characterized in that: The limit lock (440) includes a knob portion (442) and a lock hook portion (441) which are connected to each other. The knob portion (442) is rotatably connected to the bracket (400), and the lock hook portion (441) is used to connect with the connecting hook (250). The knob portion (442) is configured to rotate relative to the bracket (400) when the lock hook portion (441) is connected to the connecting hook (250), so as to drive the lock hook portion (441) to rotate synchronously, so that the lock hook portion (441) is disengaged from the connecting hook (250).

7. The retraction mechanism according to claim 6, characterized in that: A limiting protrusion (443) is provided at one end of the knob portion (442) away from the locking hook portion (441), the limiting protrusion (443) extends out of the bracket (400), and a first slot (444) is provided on the limiting protrusion (443).

8. The retraction mechanism according to claim 6, characterized in that: The limit lock (440) further comprises an elastic member, one end of which is connected to the knob portion (442) and the other end of which is abutted against the bracket (400), and the elastic member is used to apply a force to the knob portion (442) away from the connecting hook (250).

9. The retraction mechanism according to any one of claims 1 to 4, characterized in that: The retraction assembly (300) further comprises a driving rod (310), wherein the driving rod (310) is rotatably connected to the bracket (400), the driving wheel (320) is sleeved on the driving rod (310) and connected to the driving rod (310), and a second slot (311) is provided at one end of the driving rod (310) and extends out of the bracket (400).

10. A cutting and suturing device, characterized in that: It comprises an end actuator (600) and the retraction mechanism described in any one of claims 1 to 9, wherein the end actuator (600) comprises a movable cutting member for cutting an object located in the end actuator (600), and the cutting member is transmission-connected to the transmission member (100).

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