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 first transmission teeth and a plurality of second transmission teeth. The driving assembly comprises a driven gear and a motor, and when the driven gear is in the meshing position, the driven gear is connected with the multiple first transmission teeth; when the driven gear is in the disengagement position, the driven gear is in disengagement connection with the first transmission teeth; the rollback assembly is in transmission connection with the driven gear and comprises a driving rod and a driving gear, the driving rod is rotatably connected to the support, and the driving gear is in transmission connection with the driving rod; when the driving gear is controlled by the driving rod to be switched from the first position to the second position, the driven gear is switched from the meshing position to the disengagement position, and the driving gear is connected with the multiple second transmission teeth. The rotation of the driving gear is converted into the movement of the transmission part, so that the transmission part retreats, and the retreating efficiency of the transmission part is improved.

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, and 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 a doctor encounters a failure during use, the jaws may be clamping the tissue. At this time, it is necessary to drive the transmission member connected to the jaws of the stapler to retract, so that the forceps 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 first transmission teeth and a plurality of second 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 first 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 first transmission teeth and is disengaged from the motor; and,

[0008] A retraction assembly is transmission-connected to the driven gear, the retraction assembly comprises a driving rod and a driving gear, the driving rod is rotatably connected to the bracket, and the driving gear is transmission-connected to the driving rod;

[0009] The driving gear has a first position and a second position, and the driving gear is operably controlled to switch from the first position to the second position by the driving rod; when the driving gear switches from the first position to the second position, the driven gear switches from the meshing position to the disengaging position, and the driving gear is connected to the plurality of second transmission teeth.

[0010] In one embodiment, a first thread is provided on the outer circumference of the driving rod, and the driving gear is sleeved on the driving rod and threadedly connected to the first thread;

[0011] The driving rod is configured to rotate around its own axis to drive the driving gear to move, so that the driving gear switches from the first position to the second position.

[0012] In one embodiment, the retraction assembly also includes at least one guide rod, each of which is parallel to the driving rod and spaced apart on the bracket, and each of the guide rods cooperates with the driving tooth to limit the rotation of the driving gear within a preset travel of the driving gear.

[0013] In one embodiment, the extension direction of the guide rod is perpendicular to the arrangement direction of the multiple second transmission teeth. In the extension direction of the guide rod, there is a preset gap between the guide rod and the multiple second transmission teeth, and the preset gap is greater than or equal to the thickness of the driving gear.

[0014] In one embodiment, a step wall is provided on the driving rod, and the step wall is used to abut against the driving gear to limit the movement of the driving gear relative to the driving rod.

[0015] In one embodiment, the driving assembly further comprises a support frame and a rotating shaft, one end of the support frame is rotatably connected to the support frame via the rotating shaft, and the other end is transmission-connected to the retracting assembly, the driven gear is rotatably connected to the support frame, and the motor is connected to the support frame;

[0016] When the driving gear switches from the first position to the second position, the support frame rotates relative to the bracket to drive the driven gear to switch from the meshing position to the disengaging position.

[0017] In one embodiment, the drive assembly further comprises:

[0018] A connecting member, one end of which is connected to the supporting frame, and the other end of which is in contact with the driving gear;

[0019] A first elastic member, wherein the first elastic member is used to apply a force to the support frame toward the transmission member.

[0020] In one embodiment, one end of the first elastic member is connected to the support frame, and the other end is connected to the bracket; or, the first elastic member is sleeved on the rotating shaft.

[0021] In one embodiment, the driving assembly further comprises a transmission block, the transmission block is transmission-connected to the support frame, and the outer periphery of the driving rod is provided with a second thread matched with the transmission block;

[0022] When the driving gear switches from the first position to the second position, the transmission block switches from being threadedly connected with the driving rod through the second thread to being rotationally connected with the driving rod, so that the threaded transmission of the transmission block and the driving rod is disconnected.

[0023] The present invention also provides a cutting and suturing device, which can solve at least one of the above technical problems.

[0024] 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.

[0025] Beneficial effects:

[0026] 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 first transmission teeth and a plurality of second transmission teeth; the driving assembly includes a driven gear and a motor, and 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 first 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 first transmission teeth and is disengaged from the motor; the retraction assembly is transmission-connected to the driven gear, and the retraction assembly includes a driving rod and a driving gear, the driving rod is rotatably connected to the bracket, and the driving gear is transmission-connected to the driving rod; the driving gear has a first position and a second position, and the driving gear can be operably controlled to switch from the first position to the second position through the driving rod; when the driving gear switches from the first position to the second position, the driven gear switches from the engaged position to the disengaged position, and the driving gear is connected to the plurality of second transmission teeth.

[0027] In the present application, the driving rod is rotatably connected to the bracket, and the driving gear is transmission-connected to the driving rod. The driving rod can operably control the driving gear to switch from the first position to the second position, so that the driven gear switches from the meshing position to the disengaged position, that is, the driven gear is disengaged from the multiple first transmission teeth and from the motor, thereby disconnecting the driven gear from the transmission member. At the same time, the driving gear is connected to the multiple second transmission teeth, so that the rotation of the driving gear itself can be converted into the movement of the transmission member, so that the transmission member can retract, that is, every time the driving gear rotates one circle, the transmission member can retract the circumference of the driving gear, thereby greatly improving the retraction efficiency of the transmission member and achieving efficient retraction.

[0028] 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

[0029] Figure 1 A schematic diagram of a retraction mechanism provided in one embodiment of the present invention.

[0030] Figure 2 A partial exploded view of a retraction mechanism provided in one embodiment of the present invention.

[0031] Figure 3 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 1 .

[0032] Figure 4 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 2 .

[0033] Figure 5 A schematic diagram of a retraction component in a retraction mechanism provided in an embodiment of the present invention.

[0034] Figure 6 A partial schematic diagram of a retraction mechanism provided in an embodiment of the present invention without the bracket.

[0035] Figure 7 A partial schematic diagram of a driving assembly in a retraction mechanism provided in an embodiment of the present invention.

[0036] Figure 8 A top view of the cooperation between the cover plate and the drive rod in the retraction mechanism provided in one embodiment of the present invention.

[0037] Fig. 9 A schematic diagram of a cover plate in a retracting mechanism provided in an embodiment of the present invention.

[0038] Fig.10A schematic diagram of a cutting and suturing device provided in one embodiment of the present invention.

[0039] Fig.11 This is a schematic diagram of a cutting and suturing device provided by an embodiment of the present invention without a housing.

[0040] Figure Number:

[0041] 100-transmission member; 110-first transmission tooth; 120-second transmission tooth; 130-limiting wall; 140-first side; 150-second side; 200-driving assembly; 210-driving gear; 220-motor; 230-support frame; 240-driven gear; 250-rotating shaft; 260-connecting member; 261-connecting rod; 262-first bending portion; 263-second bending portion; 300-retracting assembly; 310-driving rod; 311-first screw 312-step wall; 313-boss; 314-second thread; 315-avoidance section; 316-limiting convex; 320-driving gear; 321-guide hole; 330-guide rod; 340-transmission block; 350-second elastic member; 400-bracket; 410-first mounting groove; 420-second mounting groove; 430-limiting channel; 510-cover plate; 511-unlocking member; 520-housing; 530-first elastic member; 600-end actuator. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 A schematic diagram of a retraction mechanism provided in one embodiment of the present invention. Figure 2 A partial exploded view of a retraction mechanism provided in one embodiment of the present invention. Figure 3 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 1 . Figure 4 A partial top view of a retraction mechanism provided in one embodiment of the present invention Figure 2 An embodiment of the present invention provides a retraction mechanism, comprising a bracket 400, a transmission member 100, a driving 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 first transmission teeth 110 and a plurality of second transmission teeth 120; the driving assembly 200 comprises a driven gear 240 and a motor 220, and 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 first 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 connected to the plurality of first transmission teeth 110 and is in transmission connection with the motor 220; 10 is disengaged and is also disengaged from the motor 220; the retraction assembly 300 is transmission-connected to the driven gear 240, the retraction assembly 300 comprises a driving rod 310 and a driving gear 320, the driving rod 310 is rotatably connected to the bracket 400, and the driving gear 320 is transmission-connected to the driving rod 310; the driving gear 320 has a first position and a second position, and the driving gear 320 is operably controlled by the driving rod 310 to switch from the first position to the second position; when the driving gear 320 switches from the first position to the second position, the driven gear 240 switches from the meshing position to the disengaged position, and the driving gear 320 is connected to a plurality of second transmission teeth 120.

[0049] Specifically, in the present application, the driving rod 310 is rotatably connected to the bracket 400, and the driving gear 320 is transmission-connected to the driving rod 310. The driving rod 310 can operably control the driving gear 320 to switch from the first position to the second position, so that the driven gear 240 switches from the meshing position to the disengaged position, that is, the driven gear 240 is disengaged from the plurality of first transmission teeth 110 and from the motor 220, so that the driven gear 240 is disconnected from the transmission member 100. At the same time, the driving gear 320 is connected to the plurality of second transmission teeth 120, so that the rotation of the driving gear 320 itself can be converted into the movement of the transmission member 100, so that the transmission member 100 retreats, that is, every time the driving gear 320 rotates one circle, the transmission member 100 can retreat the circumference of the driving gear 320, thereby greatly improving the retreat efficiency of the transmission member 100 and achieving efficient retreat.

[0050] When the driving gear 320 is in the first position and the driven gear 240 is in the meshing position (as shown in the attached manual), Figure 3 ), the driven gear 240 is connected to the motor 220 and meshes with the plurality of first transmission teeth 110. At the same time, there is a gap between the driving gear 320 and the transmission member 100. Therefore, when the driven gear 240 drives the transmission member 100 forward under the drive of the motor 220, the interference of the retraction component 300 on the transmission member 100 can be reduced, so that the driven gear 240 can stably drive the transmission member 100 forward, thereby improving the reliability of the retraction mechanism.

[0051] When the driving gear 320 is in the second position and the driven gear 240 is in the disengaged position, the driven gear 240 is disconnected from the plurality of first transmission teeth 110 and the motor 220. At the same time, the driving gear 320 is meshed with the plurality of second transmission teeth 120 on the transmission member 100. Thus, when the driving rod 310 drives the driving gear 320 to move the transmission member 100 back, the interference of the driving assembly 200 on the transmission member 100 can be reduced, so that the driving gear 320 can stably drive the transmission member 100 to move back, thereby improving the reliability of the retraction mechanism.

[0052] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 In one embodiment, a first thread 311 is provided on the outer periphery of the driving rod 310, and the driving gear 320 is sleeved on the driving rod 310 and threadedly connected to the first thread 311; the driving rod 310 is configured to rotate around its own axis to drive the driving gear 320 to move, so that the driving gear 320 switches from the first position to the second position.

[0053] Specifically, when the driving gear 320 is in the first position, there is a certain gap between the driving gear 320 and the transmission member 100. The driving gear 320 and the driving rod 310 are threadedly transmitted through the first thread 311, so that the driving gear 320 moves along the extension direction of the driving rod 310 under the drive of the driving rod 310, so that the driving gear 320 approaches the transmission member 100, so that the driving gear 320 switches from the first position to the second position, thereby making the driving gear 320 mesh with the multiple second transmission teeth 120 on the transmission member 100.

[0054] See also Figure 3 and Figure 4 In one embodiment, the retraction assembly 300 also includes at least one guide rod 330, each guide rod 330 is parallel to the driving rod 310 and is arranged at intervals on the bracket 400, and each guide rod 330 cooperates with the driving gear 320 to limit the rotation of the driving gear 320 within a preset travel of the driving gear 320.

[0055] Specifically, at least one guide hole 321 is provided on the driving gear 320. When the driving gear 320 is located at the first position, each guide rod 330 can be inserted into the guide hole 321, thereby limiting the rotation of the driving gear 320. In the process of the driving rod 310 rotating relative to the bracket 400, the driving gear 320 does not rotate synchronously with the driving rod 310, so that the driving gear 320 stably approaches the transmission member 100 along the extension direction of the driving rod 310, thereby improving the stability of the retracting mechanism. The preset stroke refers to the distance that the driving gear 320 moves relative to the driving rod 310 when the driving gear 320 is located at the first position.

[0056] Furthermore, the guide rods 330 are arranged at intervals around the circumference of the driving gear 320, so as to provide a stable guiding force to the driving gear 320. Preferably, the number of the guide rods 330 is two.

[0057] See also Figure 3 and Figure 4 In one embodiment, the extension direction of the guide rod 330 is perpendicular to the arrangement direction of the plurality of second transmission teeth 120. In the extension direction of the guide rod 330, there is a preset gap between the guide rod 330 and the plurality of second transmission teeth 120, and the preset gap is greater than or equal to the thickness of the driving gear 320.

[0058] Specifically, since the preset gap is greater than or equal to the thickness of the driving gear 320, in the extension direction of the guide rod 330, when the driving gear 320 is infinitely close to the second transmission teeth 120, the guide rod 330 can release the restriction on the rotation of the driving gear 320, so that when the driving gear 320 slides into and starts to mesh with the plurality of second transmission teeth 120, it can be axially rotatable relative to the driving rod 310, so that the driving gear 320 can passively and adaptively rotate during the meshing process, so that part of the tooth grooves on the driving gear 320 can smoothly slide into the plurality of second transmission teeth 120, so that the driving gear 320 can smoothly mesh with the plurality of second transmission teeth 120, that is, it can ensure that when the transmission member 100 is in any position, the driving gear 320 can smoothly mesh with the plurality of second gears, thereby improving the reliability and adaptability of the retraction mechanism. Preferably, the preset gap is equal to the thickness of the driving gear 320.

[0059] Furthermore, a first introduction section with a partially enlarged diameter is provided at the edge of the driving gear 320, and / or a second introduction section with a partially enlarged diameter is provided on one side of the plurality of second transmission teeth 120 close to the driving gear 320, thereby facilitating the meshing of the driving gear 320 with the plurality of second transmission teeth 120 and providing a certain guiding effect to ensure smooth meshing.

[0060] See also Figure 3 and Figure 4In one embodiment, the retracting assembly 300 further includes a second elastic member 350, which is sleeved on the driving rod 310 and located on the side of the transmission gear away from the transmission member 100. One end of the first elastic member 530 is connected to the driving rod 310, and the other end is connected to the side of the driving gear 320 away from the transmission member 100. The first elastic member 530 is used to apply a thrust to the driving gear 320 toward the transmission member 100, so that the driving gear 320 can stably move relative to the driving rod 310 when in the first position.

[0061] See also Figure 3 and Figure 4 In one embodiment, when the driving gear 320 switches from the first position to the second position, the driving gear 320 moves to the end of the first thread 311, so that the thread transmission between the driving gear 320 and the driving rod 310 is interrupted, so that when the driving rod 310 is further rotated, the driving gear 320 and the driving rod 310 can rotate synchronously. Since the driving gear 320 is engaged with a plurality of second transmission gear wheels 120, the transmission member 100 can be driven to retreat by the driving gear 320.

[0062] See also Figure 3 , Figure 4 and Figure 5 , Figure 5 A schematic diagram of a retraction assembly in a retraction mechanism according to an embodiment of the present invention. In one embodiment, a step wall 312 is provided on the driving rod 310 , and the step wall 312 is used to abut against the driving gear 320 to limit the driving gear 320 from moving relative to the driving rod 310 .

[0063] Specifically, when the driving gear 320 is engaged with the plurality of second transmission teeth 120, that is, when the driving gear 320 is located at the second position, one side of the driving gear 320 abuts against the step wall 312, thereby restricting the movement of the driving gear 320 relative to the driving rod 310. Then, driven by the driving rod 310, the driving gear 320 and the driving rod 310 can rotate stably and synchronously, thereby stably driving the transmission member 100 to retreat, thereby improving the reliability of the retreat mechanism.

[0064] Furthermore, the retraction assembly 300 also includes a boss 313 on the driving rod 310 , the boss 313 is arranged around the circumference of the driving rod 310 and the entire circumference, and the boss 313 is close to one side of the driving gear 320 and is configured as a step wall 312 .

[0065] See also Figure 1 and Figure 2In one embodiment, the transmission member 100 includes a main body, the main body has an adjacent first side surface 140 and a second side surface 150, a plurality of first transmission teeth 110 are arranged on the first side surface 140, a plurality of second transmission teeth 120 are arranged on the second side surface 150, and the intersection line between the first side surface 140 and the second side surface 150 forms a limiting wall 130. When the driving gear 320 is located in the second position, the limiting wall 130 can abut against the driving gear 320 to limit the movement of the driving gear 320 relative to the driving rod 310.

[0066] Furthermore, the transmission member 100 includes a plurality of teeth, which are arranged at intervals along the extension direction of the transmission member 100. The portion of the tooth located on the first side surface 140 is configured as a first transmission tooth 110, and the portion of the tooth located on the second side surface 150 is configured as a second transmission tooth 120. The first transmission tooth 110 and the second transmission tooth 120 are arranged as one tooth, which reduces the size of the transmission member 100, simplifies the structure of the transmission member 100, and improves adaptability.

[0067] See also Figure 1 , Figure 6 and Figure 7 , Figure 6 A partial schematic diagram of a retraction mechanism provided in an embodiment of the present invention without the bracket. Figure 7 A partial schematic diagram of a driving assembly in a retraction mechanism provided in one embodiment of the present invention. In one embodiment, the driving assembly 200 further includes a support frame 230 and a rotating shaft 250, one end of the support frame 230 is rotatably connected to the support frame 400 through the rotating shaft 250, and the other end is transmission-connected to the retraction assembly 300, the driven gear 240 is rotatably connected to the support frame 230, and the motor 220 is connected to the support frame 400; when the driving gear 320 switches from the first position to the second position, the support frame 230 rotates relative to the support frame 400 to drive the driven gear 240 to switch from the meshing position to the disengaging position.

[0068] Specifically, the support frame 230 is connected to the retraction assembly 300 in a transmission connection. When the driving rod 310 rotates to switch the driving gear 320 from the first position to the second position, the retraction assembly 300 can drive the support frame 230 to rotate relative to the bracket 400, so that the support frame 230 drives the driven gear 240 to move relative to the transmission member 100, so that the driven gear 240 is separated from the motor 220 and the plurality of first transmission teeth 110, thereby disconnecting the transmission of the driven gear 240 with the motor 220 and the transmission member 100, that is, the driven gear 240 moves from the meshing position to the disengaged position.

[0069] Furthermore, the driving assembly 200 also includes a driving gear 210, 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 meshed with the driven gear 240 through the driving gear 210. When the driven gear 240 rotates relative to the bracket 400 under the transmission of the retraction assembly 300, the driven gear 240 can move away from the driving gear 210, thereby disengaging the driven gear 240 from the driving gear 210, so that the transmission between the driven gear 240 and the motor 220 is interrupted.

[0070] See also Figure 1 , Figure 3 and Figure 4 In one embodiment, the driving assembly 200 also includes a connecting member 260 and a first elastic member 530, one end of the connecting member 260 is connected to the support frame 230, and the other end abuts against the driving gear 320; the first elastic member 530 is used to apply a force to the support frame 230 toward the transmission member 100.

[0071] Specifically, the side of the connecting member 260 away from the support frame 230 abuts against the driving gear 320. When the driving rod 310 rotates relative to the support frame 400 to drive the driving gear 320 to move, so that the driving gear 320 switches from the first position to the second position, the driving gear 320 can push the support frame 230 through the connecting member 260, so that the support frame 230 rotates relative to the support frame 400, thereby allowing the support frame 230 to drive the driven gear 240 to move relative to the transmission member 100, so that the driven gear 240 is separated from the motor 220 and the plurality of first transmission teeth 110, thereby disconnecting the transmission of the driven gear 240 with the motor 220 and the transmission member 100, that is, the driven gear 240 moves from the meshing position to the disengaged position.

[0072] Among them, since the side of the connecting member 260 away from the support frame 230 abuts against the driving gear 320, when the driving gear 320 is in the second position and the driving gear 320 rotates under the drive of the driving rod 310, it does not cause interference to the connecting member 260, thereby improving the reliability of the retracting mechanism.

[0073] Furthermore, the connecting member 260 includes a connecting rod 261 and a first bending portion 262. One end of the connecting rod 261 is connected to the support frame 230, and the other end is connected to the first bending portion 262. The first bending portion 262 is arc-shaped on the side facing the driving gear 320. The first bending portion 262 is used to abut against the driving gear 320, thereby avoiding stress concentration and improving the reliability of the retraction mechanism in the process of the driving gear 320 pushing the connecting member 260 to move.

[0074] See also Figure 1 , Figure 3 and Figure 4In one embodiment, one end of the first elastic member 530 is connected to the support frame 230 , and the other end is connected to the bracket 400 .

[0075] Specifically, the first elastic member 530 is a spring, and the first elastic member 530 is in a compressed state, thereby applying a force toward the transmission member 100 to the support frame 230, so that when the driven gear 240 is in the meshing position, it can stably drive the transmission member 100 forward.

[0076] Furthermore, the connecting member 260 also includes a second bending portion 263, which is connected to one end of the connecting rod 261 away from the first bending portion 262 and extends to the side away from the support frame 230. One end of the spring away from the bracket 400 is connected to the second bending portion 263, thereby avoiding interference of the spring with the support frame 230 and improving the adaptability of the retraction mechanism.

[0077] See also Figure 1 and Figure 6 In one embodiment, the first elastic member 530 is sleeved on the rotating shaft 250. Specifically, the first spring is a torsion spring, one end of which is connected to the rotating shaft 250, and the other end is connected to the support frame 230, and the torsion spring is in a compressed state, thereby applying a stable force to the support frame 230 toward the transmission member 100.

[0078] See also Figure 4 , Figure 5 and Figure 6 In other embodiments, the driving assembly 200 also includes a transmission block 340, which is transmission-connected to the support frame 230, and the outer periphery of the driving rod 310 is provided with a second thread 314 that cooperates with the transmission block 340; when the driving gear 320 switches from the first position to the second position, the transmission block 340 switches from being threadedly connected to the driving rod 310 through the second thread 314 to being rotationally connected to the driving rod 310, so that the threaded transmission of the transmission block 340 and the driving rod 310 is disconnected.

[0079] Specifically, the transmission block 340 is sleeved on the driving rod 310. When the driving gear 320 is in the first position, the transmission block 340 is connected to the second thread 314. When the driving rod 310 rotates relative to the bracket 400 to drive the driving gear 320 to switch from the first position to the second position, the transmission block 340 moves along the extension direction of the driving rod 310 under the drive of the driving rod 310, thereby driving the support frame 230 to move so that the support frame 230 rotates relative to the bracket 400.

[0080] Among them, when the driving gear 320 moves to the second position, the driving rod 310 needs to be rotated to drive the driving gear 320 to rotate. Since the transmission block 340 is rotationally connected to the driving rod 310 at this time, the transmission block 340 will not rotate synchronously with the driving rod 310, and will not continue to push the support frame 230 to rotate relative to the bracket 400.

[0081] Furthermore, an avoidance section 315 is provided on the driving rod 310, and the avoidance section 315 is located on the side of the second thread 314 away from the step wall 312, and the diameter of the avoidance end is not larger than the inner diameter of the second thread 314, so that when the driving gear 320 switches from the first position to the second position, the transmission block 340 switches from being threadedly connected with the second thread 314 to being rotationally connected with the avoidance section 315.

[0082] Furthermore, a limiting protrusion 316 is provided at one end of the avoidance section 315 away from the second thread 314. The limiting protrusion 316 is arranged around the entire circumference of the driving rod 310. The limiting protrusion 316 is used to abut the transmission block 340 to limit the movement of the transmission block 340 relative to the driving rod 310 in the avoidance section 315, thereby improving the reliability of the retracting mechanism.

[0083] In addition, the driving assembly 200 also includes a mating piece (unmarked), one end of which is connected to the transmission block 340, and the other end is rotatably connected to the support frame 230, so as to enable stable transmission. At the same time, when the driven gear 240 is in the meshing position, it is connected to the transmission block 340 through the mating piece, so that the driven gear 240 can be stably meshed with the transmission member 100.

[0084] It should be noted that, in the present embodiment, the support frame 230 may be transmission-connected to the driving gear 320 , may be transmission-connected to the transmission block 340 , or may be transmission-connected to both the driving gear 320 and the transmission block 340 .

[0085] See also Figure 1 and Figure 2In 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 gear 320 and the driven gear 240. The first mounting groove 410 is opposite to the first side surface 140 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 first transmission teeth 110. The second mounting groove 420 is opposite to the second side surface 150 of the transmission member 100, and the driving gear 320 is installed in the second mounting groove 420, so that the driving gear 320 is easy to mesh with the plurality of second transmission teeth 120. 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.

[0086] See also Figure 8 , Fig. 9 , Fig.10 and Fig.11 , Figure 8 A top view of the cooperation between the cover plate and the drive rod in the retraction mechanism provided in one embodiment of the present invention. Fig. 9 A schematic diagram of a cover plate in a retracting mechanism provided in an embodiment of the present invention. Fig.10 A schematic diagram of a cutting and suturing device provided in one embodiment of the present invention. Fig.11 A schematic diagram of a cutting and suturing device provided in an embodiment of the present invention without a housing. In one embodiment, the retraction mechanism further includes a housing 520 and a cover plate 510, the housing 520 is connected to the bracket 400 and is used to cover the retraction assembly 300 and the driving assembly 200, the housing 520 has an observation port in an area corresponding to the driving gear 320, and the cover plate 510 is connected to the housing 520 and is used to cover the observation port.

[0087] Furthermore, a matching groove is provided on the side of the driving rod 310 away from the support frame 230, and an unlocking piece 511 is provided at one end of the cover plate 510. 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 matching groove on the driving rod 310 to control the rotation of the cover plate 510 to realize the rotation of the driving rod 310, 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, which can also achieve the effect of saving effort. Preferably, the matching groove is a straight mouth.

[0088] In other embodiments, the driving rod 310 may also be controlled to rotate by other operating members such as a wrench.

[0089] See also Figure 1 , Figure 2 , Fig. 9 and Fig.10 In one embodiment, an embodiment of the present invention further provides a cutting and suturing device, including an end actuator 600 and the above-mentioned retraction mechanism, 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.

[0090] Specifically, in the present application, the driving rod 310 is rotatably connected to the bracket 400, and the driving gear 320 is transmission-connected to the driving rod 310. The driving rod 310 can operably control the driving gear 320 to switch from the first position to the second position, so that the driven gear 240 switches from the meshing position to the disengaged position, that is, the driven gear 240 is disengaged from the plurality of first transmission teeth 110 and the motor 220, so that the driven gear 240 is disconnected from the transmission member 100. At the same time, the driving gear 320 is connected to the plurality of second transmission teeth 120, so that the rotation of the driving gear 320 itself can be converted into the movement of the transmission member 100, so that the transmission member 100 retreats, that is, every time the driving gear 320 rotates one circle, the transmission member 100 can retreat the circumference of the driving gear 320, thereby greatly improving the retreat efficiency of the transmission member 100, achieving efficient retreat, and improving the adaptability of the cutting and suturing device.

[0091] 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.

[0092] 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 first transmission teeth (110) and a plurality of second transmission teeth (120); 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, wherein when the driven gear (240) is in the engaged position, the driven gear (240) is connected to the plurality of first 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 first transmission teeth (110) and is disengaged from the motor (220); and, A retraction assembly (300) is transmission-connected to the driven gear (240), the retraction assembly (300) comprising a driving rod (310) and a driving gear (320), the driving rod (310) is rotatably connected to the bracket (400), and the driving gear (320) is transmission-connected to the driving rod (310); The driving gear (320) has a first position and a second position, and the driving gear (320) is operably controlled to switch from the first position to the second position through the driving rod (310); when the driving gear (320) switches from the first position to the second position, the driven gear (240) switches from the meshing position to the disengaging position, and the driving gear (320) is connected to the plurality of second transmission teeth (120).

2. The retraction mechanism according to claim 1, characterized in that: A first thread (311) is provided on the outer circumference of the driving rod (310); the driving gear (320) is sleeved on the driving rod (310) and is threadably connected to the first thread (311); The driving rod (310) is configured to rotate around its own axis to drive the driving gear (320) to move, so that the driving gear (320) switches from the first position to the second position.

3. The retraction mechanism according to claim 2, characterized in that: The retraction assembly (300) further includes at least one guide rod (330), each of the guide rods (330) being parallel to the drive rod (310) and spaced apart from each other on the bracket (400), and each of the guide rods (330) being cooperated with the drive gear (320) to limit the rotation of the drive gear (320) within a preset travel of the drive gear (320).

4. The retraction mechanism according to claim 3, characterized in that: The extension direction of the guide rod (330) is perpendicular to the arrangement direction of the plurality of second transmission teeth (120), and in the extension direction of the guide rod (330), there is a preset gap between the guide rod (330) and the plurality of second transmission teeth (120), and the preset gap is greater than or equal to the thickness of the driving gear (320).

5. The retraction mechanism according to claim 2, characterized in that: The driving rod (310) is provided with a step wall (312), and the step wall (312) is used to abut against the driving gear (320) to limit the movement of the driving gear (320) relative to the driving rod (310).

6. The retraction mechanism according to any one of claims 1 to 5, characterized in that: The driving assembly (200) further comprises a support frame (230) and a rotating shaft (250); one end of the support frame (230) is rotatably connected to the bracket (400) via the rotating shaft (250), and the other end is transmission-connected to the retracting assembly (300); the driven gear (240) is rotatably connected to the support frame (230), and the motor (220) is connected to the bracket (400); When the driving gear (320) switches from the first position to the second position, the support frame (230) rotates relative to the bracket (400) to drive the driven gear (240) to switch from the meshing position to the disengaging position.

7. The retraction mechanism according to claim 6, characterized in that: The drive assembly (200) further comprises: A connecting member (260), one end of the connecting member (260) is connected to the support frame (230), and the other end of the connecting member (260) is abutted against the driving gear (320); A first elastic member (530), wherein the first elastic member (530) is used to apply a force to the support frame (230) toward the transmission member (100).

8. The retraction mechanism according to claim 7, characterized in that: One end of the first elastic member (530) is connected to the support frame (230), and the other end is connected to the bracket (400); or, the first elastic member (530) is sleeved on the rotating shaft (250).

9. The retraction mechanism according to claim 6, characterized in that: The driving assembly (200) further comprises a transmission block (340), wherein the transmission block (340) is transmission-connected to the support frame (230), and the outer periphery of the driving rod (310) is provided with a second thread (314) that cooperates with the transmission block (340); When the driving gear (320) switches from the first position to the second position, the transmission block (340) switches from being threadedly connected to the driving rod (310) via the second thread (314) to being rotationally connected to the driving rod (310), so that the threaded transmission between the transmission block (340) and the driving rod (310) is disconnected.

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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