Electric endoscope cutting anastomat

Abstract

The invention discloses an electric endoscopic cutting anastomat, which comprises an anastomat body module and an anastomat body module, the cutting driving mechanism is used for driving the jaw to cut and comprises a cutting driving motor, a planet wheel assembly in transmission connection with the cutting driving motor and a cutting rack in transmission connection with the planet wheel assembly; the closing driving mechanism is used for driving the jaw to be opened and closed and comprises a closing rack, a closing connecting rod elastically connected to the closing rack in a pressed mode and a transmission gear assembly used for enabling the closing rack to be in transmission connection with the planet wheel assembly. When the locking pin mechanism is located at the first locking position, the cutting rack is locked, the closing rack is driven by the planet wheel assembly to achieve closing or opening of the jaw, when the locking pin mechanism is located at the second locking position, the closing connecting rod is locked, and the cutting rack is driven by the planet wheel assembly to achieve feeding or retracting of the cutting knife. The electric endoscope cutting anastomat is simple in structure, convenient to operate and low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an electric laparoscope cutting stapler. Background Art

[0002] Electric laparoscopic cutting staplers have been widely praised in domestic and foreign markets in recent years due to their many advantages such as ease of use and good surgical treatment effects.

[0003] Traditional electric staplers use a motor to drive the cutting knife mechanism to move, and a movable handle assembly to drive the jaws to open and close. For example, Chinese patent CN221932042U discloses a closing assembly and an electric stapler, and the opening and closing of the jaws and cutting need to be operated separately, which is relatively cumbersome. Summary of the invention

[0004] Based on the above problems, the purpose of the present invention is to provide an electric laparoscopic cutting stapler, which can drive the jaws to open and close by driving the cutting power source, thereby realizing electric operation of the jaws opening and closing, with a simple structure and easy operation.

[0005] In order to overcome the deficiencies of the prior art, the technical solution provided by the present invention is:

[0006] An electric laparoscope cutting stapler comprises a body module, wherein the body module comprises:

[0007] Bracket;

[0008] A cutting drive mechanism, which is mounted on the bracket and is used to drive the jaws to cut, comprising a cutting drive motor, a planetary gear assembly drivingly connected to the cutting drive motor, and a cutting rack drivingly connected to the planetary gear assembly;

[0009] A closing drive mechanism, which is mounted on the bracket and is used to drive the jaws to open and close, comprises a closing rack, a closing connecting rod elastically crimped on the closing rack, and a transmission gear assembly for transmission-connecting the closing rack with the planetary gear assembly;

[0010] A locking pin mechanism is mounted on the bracket. When the locking pin mechanism is in a first locking position, the cutting rack is locked. The closing rack is driven by the planetary gear assembly to close or open the jaws. When the locking pin mechanism is in a second locking position, the closing link is locked. The cutting rack is driven by the planetary gear assembly to advance or retract the cutting knife.

[0011] In one embodiment, the closing link and the cutting rack are arranged in parallel up and down, the locking pin mechanism includes a locking pin arranged between the closing link and the cutting rack, a reset link inserted in the locking pin and overlapped on the bracket, and a reset spring assembly connecting the reset link and the bracket, the upper end of the cutting rack is provided with a first positioning groove matched with the lower end of the locking pin, the lower end of the closing link is provided with a second positioning groove matched with the upper end of the locking pin, and the bracket is provided with an adjustment groove for the reset link to pass through;

[0012] When the locking pin is located in the first locking position, the lower end of the locking pin is located in the first positioning groove and the upper end abuts against the lower surface of the closing link. When the locking pin is located in the second locking position, the upper end of the locking pin is located in the second positioning groove and the lower end abuts against the upper end surface of the cutting rack.

[0013] In one embodiment, the closing rack is L-shaped and a first tooth portion is arranged near one side of the transmission gear assembly, the proximal end of the closing link is provided with a limiting step that cooperates with the closing rack, and the proximal end of the closing link is positioned on the closing rack via a connecting pin assembly, the connecting pin assembly includes a connecting pin passed through the closing rack and the closing link, and a connecting reset spring arranged between the connecting pin and the closing link, a manual operation cover is provided on the outer shell of the body module, and the manual operation cover abuts against the connecting pin to position the closing link on the closing rack.

[0014] In one of the embodiments, the transmission gear assembly includes a driving shaft rotatably disposed on the bracket and a transmission gear fixed on the driving shaft, and the transmission gear is respectively meshed with the closed rack and the planetary gear assembly.

[0015] In one embodiment, the planetary gear assembly includes a positioning pin fixed on the bracket, a double gear rotatably set on the positioning pin, a plurality of planetary gears meshing with the pinion of the double gear, a planetary carrier supporting the plurality of planetary gears, and internal and external gears meshing with the plurality of planetary gears. The planetary carrier is rotatably set on the positioning pin and is coaxially arranged with the double gear and the internal and external gears. The planetary carrier is provided with an external gear meshing with the transmission gear. The large gear of the double gear is transmission-connected to the cutting drive motor, and the internal and external gears are meshed with the cutting rack.

[0016] In one embodiment, it also includes a sleeve module, which includes an outer sleeve, a steering sleeve hinged to the distal end of the outer sleeve, an inner sleeve inserted in the outer sleeve, a steering control mechanism arranged at the distal end of the inner sleeve and extending to the steering sleeve, a nail magazine mechanism fixedly connected to the steering control mechanism, a firing rod inserted in the inner sleeve and a cutting knife mechanism connected to the distal end of the firing rod and extending to the steering control mechanism, the proximal end of the firing rod is fixedly connected to the cutting rack, and the outer sleeve is provided with a closing component that cooperates with the closing drive mechanism.

[0017] In one embodiment, the closing assembly includes a sleeve rear seat fixed on the outer sleeve and connected to the closing link, and a reset component sleeved on the outer sleeve and located between the sleeve rear seat and the bracket.

[0018] In one embodiment, a rotating module is further included, the rotating module including a rotating shell and a bending mechanism installed on the rotating shell, a steering rod is provided between the outer sleeve and the inner sleeve, the proximal end of the steering rod is transmission-connected with the bending mechanism and the distal end is movably connected with the steering control mechanism;

[0019] The bending mechanism includes a bending drive slider that axially slides with the outer sleeve, a bending drive motor, and a crank-connecting rod assembly connecting the bending drive slider and the bending drive motor. The bending drive slider is fixedly connected to the proximal end of the steering rod.

[0020] In one embodiment, the crank-connecting rod assembly includes a first crank-connecting rod connected to the power output end of the bending drive motor and a driving step slide shaft connecting the first crank-connecting rod and the bending drive slider, one end of the driving step slide shaft passes through the bending drive slider and extends into the bending slide groove on the first crank-connecting rod, and the other end of the driving step slide shaft is slidably matched with the rotating outer shell and a limit spring is provided between the driving step slide shaft and the rotating outer shell.

[0021] In one embodiment, the crank-connecting rod assembly includes a second crank-connecting rod and a connecting rod component connected to the power output end of the bending drive motor, one end of the connecting rod component is connected to the second crank-connecting rod rotation pin and the other end is connected to the bending drive slider rotation pin.

[0022] In the above technical solution, the distal end refers to the end close to the patient during the operation, and the proximal end refers to the end far away from the patient during the operation.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] 1. The closing drive mechanism is connected to the cutting drive mechanism, and the cutting drive motor can be used to drive the jaws to cut and close. The jaws are closed first and then the cutting knife is fed. The cutting drive motor is driven in reverse to first retract the cutting knife and then open the jaws. The structure is simple, the operation is convenient, and the surgical efficiency is improved.

[0025] 2. The closing drive mechanism, the cutting drive mechanism and the locking pin mechanism are compactly arranged on the bracket, and there is no need to set a movable handle assembly or other drive structure, so that the structure of the body module is simpler and the cost is low;

[0026] 3. The structure of the locking pin mechanism is stable, which can realize the locking of the cutting rack and the closing connecting rod;

[0027] 4. The closing link is elastically pressed on the closing rack. When the cutting drive motor fails, the manual operation cover on the shell can be removed to release the lock between the closing link and the closing rack, so that the drive shaft can be manually rotated to reset the cutting knife and open the jaws, thereby improving the operating safety of the stapler.

[0028] 5. The bending mechanism has a simple structure. The bending drive motor drives the bending drive slider to slide axially on the outer sleeve through the crank connecting rod assembly to drive the steering rod forward or backward, thereby realizing the steering of the jaws. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0030] Figure 1 This is a schematic structural diagram of Embodiment 1 of an electric laparoscopic cutting stapler of the present invention;

[0031] Figure 2 This is one of the internal structure schematic diagrams in Example 1 of the present invention;

[0032] Figure 3 for Figure 2 A partial enlarged view of the H in the middle;

[0033] Figure 4 for Figure 2 A local enlarged view of location I;

[0034] Figure 5 Schematic diagram of the structure of the closing drive mechanism in Example 1 of the present invention;

[0035] Figure 6It is a partial structural schematic diagram of the bending drive structure in Embodiment 1 of the present invention;

[0036] Figure 7 This is the second schematic diagram of the internal structure of Embodiment 1 of the present invention;

[0037] Figure 8 for Figure 7 A partial enlarged view of the middle J;

[0038] Fig. 9 This is one of the structural schematic diagrams of the bracket in Example 1 of the present invention;

[0039] Fig.10 This is a second structural schematic diagram of the bracket in Example 1 of the present invention;

[0040] Fig.11 Schematic diagram of the structure of the planetary gear assembly in Example 1 of the present invention;

[0041] Fig.12 This is a schematic diagram of the structure of a closed rack in Example 1 of the present invention;

[0042] Fig.13 This is a schematic diagram of the structure of the closing connecting rod in Example 1 of the present invention;

[0043] Fig.14 This is a schematic diagram of the structure of the cutting rack in Example 1 of the present invention;

[0044] Fig.15 This is a schematic structural diagram of the driving pin mechanism in the first locking position in Embodiment 1 of the present invention;

[0045] Fig.16 It is a structural schematic diagram of the driving pin mechanism in the second locking position in the embodiment 1 of the present invention;

[0046] Fig.17 This is a schematic structural diagram of a sleeve module in Embodiment 1 of the present invention;

[0047] Fig.18 for Fig.17 AA cross-sectional diagram of ;

[0048] Fig.19 is a structural schematic diagram of a steering control mechanism in Embodiment 1 of the present invention;

[0049] Fig. 20 Schematic diagram of the structure of the bending mechanism in Example 1 of the present invention;

[0050] Fig.21 Schematic diagram of the structure of the bending mechanism in Embodiment 2 of the present invention;

[0051] in:

[0052] 1. Body module; 11. Cutting drive motor; 12. Planetary gear assembly; 121. Positioning pin; 122. Planetary carrier; 123. Inner and outer gears; 1231. Outer gears; 1232. Inner gears; 124. Double gears; 1241. Large gear; 1242. Small gear; 1251. Planetary gear; 1252. Planetary gear shaft; 13. Bracket; 131. Drive shaft mounting hole; 132. Positioning pin hole; 133. First mounting groove; 134. Locking pin hole; 135. Second mounting groove; 136. Accommodating inner cavity; 137. Adjustment groove; 14. Closing driving mechanism; 141, transmission gear; 142, driving shaft; 143, closing rack; 1431, first tooth portion; 1432, first through hole; 1433, end face; 144, closing connecting rod; 1441, second through hole; 1442, second positioning groove; 1443, limiting step; 145, connecting pin; 146, connecting reset spring; 15, cutting rack; 151, second tooth portion; 152, first positioning groove; 161, locking pin; 162, reset connecting rod; 163, reset spring assembly; 17, manual operation cover; 171, pressing rib;

[0053] 2. Rotating module; 21. Rotating housing; 22. Bending drive mechanism; 221. Bending drive motor; 2211. Output shaft; 222. First crank connecting rod; 2221. Bending slide groove; 223. Driving step slide shaft; 224. Bending drive slider; 2241. Traction part; 225. Limiting spring; 226. Second crank connecting rod; 227. Connecting rod component;

[0054] 3. Casing module; 31. Steering rod; 321. Outer sleeve; 322. Connecting piece; 323. Steering sleeve; 331. Casing rear seat; 332. Reset component; 34. Inner sleeve; 351. Pin support seat; 352. Pin magazine seat; 361. Steering control seat; 3611. Steering drive pin; 3612. Shaft hole; 362. Steering fixing seat; 3621. Rotating shaft. DETAILED DESCRIPTION

[0055] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present invention and are not limited to the scope of the present invention. The implementation conditions adopted in the examples can be further adjusted according to the conditions of the specific manufacturer, and the unspecified implementation conditions are usually the conditions in conventional experiments.

[0056] like Figure 1 , Figure 2 , Figure 7 As shown, it is a structural schematic diagram of Example 1 of the present invention, which provides an electric laparoscopic cutting stapler, including a body module 1, a rotating module 2 and a sleeve module 3 arranged in sequence.

[0057] The body module 1 includes a bracket 13, a cutting drive mechanism, a closing drive mechanism, a locking pin mechanism, and a shell covering the bracket 13, the cutting drive mechanism, the closing drive mechanism, and the locking pin mechanism.

[0058] The cutting drive mechanism is installed on the bracket 13 and is used to drive the cutting of the jaws. It includes a cutting drive motor 11, a planetary wheel assembly 12 that is transmission-connected to the cutting drive motor 11, and a cutting rack 15 that is transmission-connected to the planetary wheel assembly 12. The cutting drive motor 11 rotates to drive the planetary wheel assembly 12 to drive the cutting rack 15 to move, thereby driving the jaws to cut.

[0059] like Figure 3 and Fig.11 As shown, the planetary gear assembly 12 includes a positioning pin 121 fixed on the bracket 13, a double gear 124 rotatably set on the positioning pin 121, a plurality of planetary gears 1251 meshing with a small gear 1242 of the double gear 124, a planetary carrier 122 supporting the plurality of planetary gears 1251, and an inner and outer gear 123 meshing with the plurality of planetary gears 1251. The planetary carrier 122 is rotatably set on the positioning pin 121 and is coaxially arranged with the double gear 124 and the inner and outer gears 123. The large gear 1241 of the double gear 124 is transmission-connected with the cutting drive motor 11. The inner and outer gears 123 mesh with the second tooth portion 151 of the cutting rack 15. A plurality of planetary gear shafts 1252 are fixed on the planetary carrier 122. The planetary gears 1251 are rotatably set on the planetary gear shafts 1252. The double gear 124 is driven to rotate by the cutting drive motor 11 to drive the plurality of planetary gears 1251 to rotate, thereby driving the inner and outer gears 123 to rotate, and then driving the cutting rack 15 to move forward and backward.

[0060] like Fig. 9 As shown, in order to facilitate the installation of the cutting drive mechanism, a receiving cavity for accommodating the planetary gear assembly is provided on the bracket 13, and positioning pin holes 132 for the positioning pin 121 to pass through are respectively provided at the upper and lower ends of the receiving cavity to fix the positioning pin 121, and a second installation groove 135 extending in the horizontal direction is provided on the bracket 13 for the cutting rack 15 to pass through.

[0061] The closing drive mechanism is mounted on the bracket 13 and is used to drive the opening and closing of the jaws. Figure 5 As shown, it includes a closing rack 143, a closing link 144 elastically crimped on the closing rack 143, and a transmission gear assembly for connecting the closing rack 143 to the planetary gear assembly 12. A first mounting groove 133 extending in the horizontal direction is provided on the bracket 13 for the closing link 144 to pass through.

[0062] Specifically, the transmission gear assembly includes a driving shaft 142 rotatably arranged in the driving shaft mounting hole 131 of the bracket 13 and a transmission gear 141 fixed on the driving shaft 142. The transmission gear 141 is respectively meshed with the first tooth portion 1431 of the closing rack 143 and the planetary gear assembly 12. An external gear meshing with the transmission gear 141 can be arranged on the planetary carrier 122. When the rotation of the internal and external gears 123 is restricted, the double gear 124 can drive the planetary carrier 122 to rotate, so as to drive the transmission gear 141 to rotate, thereby driving the closing rack 143 to move forward and backward, and then driving the closing connecting rod 144 to move forward and backward to realize the opening and closing of the jaws.

[0063] The locking pin mechanism is installed on the bracket 13. When the locking pin 161 is in the first locking position, it locks the cutting rack 15, and the closing rack 143 is driven by the planetary gear assembly 12 to close or open the jaws. When the locking pin mechanism is in the second locking position, it locks the closing link 144, and the cutting rack 15 is driven by the planetary gear assembly 12 to feed or retract the cutting knife.

[0064] like Figure 8 As shown, the closing link 144 and the cutting rack 15 are arranged in parallel up and down, and the locking pin mechanism includes a locking pin 161 arranged between the closing link 144 and the cutting rack 15, a reset link 162 passing through the locking pin 161 and overlapped on the bracket 13, and a reset spring assembly 163 connecting the reset link 162 and the bracket 13. A first positioning groove 152 (as shown in FIG. 1 ) which cooperates with the lower end of the locking pin 161 is provided on the cutting rack 15. Fig.14 As shown), the lower end of the closing link 144 is provided with a second positioning groove 1442 that cooperates with the upper end of the locking pin 161, and the bracket 13 is provided with a locking pin hole 134 for the locking pin 161 to pass through, and the side of the bracket 13 is provided with a waist-shaped adjustment groove 137 for the reset link 162 to pass through, as shown in FIG. Fig.15 As shown, in the initial state, the locking pin 161 is located in the first locking position, the lower end of the locking pin 161 is located in the first positioning groove 152 and the upper end is in contact with the lower surface of the closing link 144. At this time, the planetary carrier 122 is driven to rotate by the cutting drive motor 11 through the double gear 124 to drive the closing rack 144 to move, so as to realize the closing of the jaws. After the jaws are closed, the second positioning groove 1442 on the closing link 144 is located above the locking pin 161, and the locking pin 161 moves upward under the action of the reset spring assembly 163. At this time, as shown in FIG. Fig.16 As shown, the locking pin 161 is located in the second locking position, the upper end of the locking pin 161 is located in the second positioning groove 1442 and the lower end abuts against the upper end surface of the cutting rack 15. At the same time, the cutting drive motor 11 drives the inner and outer gears 123 to rotate through the double gear 124 to drive the cutting rack 15 to move to realize the feeding of the cutting knife. The cutting drive motor 11 is driven in reverse to realize the retraction of the cutting knife and then the closing of the jaws.

[0065] Among them, the return spring assembly 163 includes two return springs arranged at both ends of the length direction of the return link 162, one end of the return spring is fixed on the return link 162 and the other end is fixed on the bracket 13. The bracket of the return link 162 is connected by two return springs to ensure the stability of the locking pin mechanism.

[0066] In order to facilitate the positioning and cooperation between the locking pin 161 and the closing link 144 and the cutting rack 15, the upper and lower ends of the locking pin 161 are both configured as a truncated cone, and the first positioning groove 152 and the second positioning groove 1442 are configured as inclined grooves matching the truncated cone.

[0067] like Fig.12 and Fig.13 As shown, the closing rack 143 is L-shaped and a first tooth portion 1431 is provided on a side close to the transmission gear assembly, and a limiting step 1443 is provided at the proximal end of the closing link 144 to cooperate with the end face of the closing rack 143, and the proximal end of the closing link 144 is positioned on the closing rack 143 via a connecting pin assembly.

[0068] Specifically, the connecting pin assembly includes a connecting pin 145 passing through a first through hole 1432 on the closing rack 143, a second through hole 1441 on the closing link 144, and a connecting reset spring 146 arranged between the connecting pin 145 and the closing link 144. The upper end of the connecting pin 145 is provided with an abutment portion, the upper end of the connecting reset spring 146 abuts against the abutment portion and the lower end abuts against the upper end surface of the closing link 144. At the same time, a manual operation cover 17 is provided on the outer shell of the body module 1. The manual operation cover 17 is detachably connected to the outer shell body, and the pressing rib 171 on the manual operation cover 17 abuts against the abutment portion of the connecting pin 145 to position the closing link 144 on the closing rack 143.

[0069] When the cutting drive motor 11 fails during the movement of the cutting rack 15, the manual operation cover 17 is removed, and the connecting pin 145 moves upward under the action of the connecting reset spring 146 to release the lock of the closing link 144 and the closing rack 143. At this time, the locking pin 161 locks the closing link 144, and the drive shaft 142 can be manually rotated to drive the planetary carrier 122 to rotate through the transmission gear 141, so as to drive the internal and external gears 123 to rotate, thereby driving the cutting rack 15 to reset. When the locking pin 161 locks the cutting rack 15, the closing link 144 is reset.

[0070] like Fig.17 and Fig.18As shown, the sleeve module 3 includes an outer sleeve 321, a steering sleeve 323 hinged to the outer sleeve 321, an inner sleeve 34 inserted in the outer sleeve 321, a steering control mechanism arranged at the distal end of the inner sleeve 34 and extending to the steering sleeve 323, a nail magazine mechanism fixedly connected to the steering control mechanism, a firing rod inserted in the inner sleeve 34 and a cutting knife mechanism connected to the distal end of the firing rod and extending to the steering control mechanism, the proximal end of the firing rod is fixedly connected to the cutting rack 15, and a closing component cooperating with the closing drive mechanism is provided on the outer sleeve 321, wherein the outer sleeve 321 is connected to the steering sleeve 323 via a connecting piece 322.

[0071] Specifically, the closing assembly includes a sleeve rear seat 331 fixed on the outer sleeve 321 and connected to the closing link 144, and a reset component 332 sleeved on the outer sleeve 321 and located between the sleeve rear seat 331 and the bracket 13. The sleeve rear seat 331 and the reset component 332 are accommodated in the accommodating cavity 136 on the bracket 13 (such as Fig.10 As shown), the reset component 332 can be a spring. When the closing link 144 moves forward and backward, it pushes the outer sleeve 321 to move forward and backward. The nail magazine mechanism is fixed on the steering control mechanism, and the jaws can be closed or opened through the steering sleeve 323.

[0072] like Fig.19 As shown, the steering control mechanism includes a steering fixing seat 362 fixedly connected to the inner sleeve 34, a steering control seat 361 rotatably matched with the steering fixing seat 362, and a cutting knife steering seat arranged on the steering control seat 361, the cutting knife mechanism is inserted into the cutting knife steering seat, a rotating shaft 3621 is provided on the steering fixing seat 362, and an axial hole 3612 for the rotating shaft 3621 to pass through is provided on the steering control seat 361.

[0073] The nail magazine mechanism includes a nail magazine seat 352 fixedly connected to the steering control seat 361, a nail support seat 351 hinged to the nail magazine seat 352, and a spring assembly arranged between the nail magazine seat 352 and the nail support seat 351, wherein the nail magazine seat 352 is fixed to the steering control seat 361 via fasteners.

[0074] The rotating module 2 includes a rotating shell 21 and a bending mechanism 22 installed on the rotating shell 21. A steering rod 31 is provided between the outer sleeve 321 and the inner sleeve 34. The proximal end of the steering rod 31 is transmission-connected with the bending mechanism 22 and the distal end is movably connected with the steering control seat 361. A steering drive pin 3611 is provided on the rotating control seat 361. At the same time, a steering waist-shaped hole matching the steering drive pin 3611 is provided on the steering rod 31. When the bending mechanism 22 drives the steering rod 31 to move axially along the outer sleeve 321, the steering drive pin 3611 can move in the steering waist-shaped hole. Through the action of the steering rod 31, the steering control seat 361 rotates around the steering fixed seat 362 to achieve left and right steering.

[0075] like Figure 4 , Figure 6 and Fig. 20 As shown, the bending mechanism 22 includes a bending drive slider 224 that axially slides with the outer sleeve 321, a bending drive motor 221, and a crank-connecting rod assembly connecting the bending drive slider 224 and the bending drive motor 221. The traction part 2241 on the bending drive slider 224 is fixedly connected to the proximal end of the steering rod 31.

[0076] The crank-connecting rod assembly includes a first crank-connecting rod 222 connected to the output shaft 2211 of the bending drive motor 221 and a driving step slide shaft 223 connecting the first crank-connecting rod 222 and the bending drive slider 224. One end of the driving step slide shaft 223 passes through the bending drive slider 224 and extends to the waist-shaped bending slide groove 2221 on the first crank-connecting rod 222. The other end of the driving step slide shaft 223 slides in sliding cooperation with the rotating outer shell 21 and a limiting spring 225 is provided between the driving step slide shaft 223 and the rotating outer shell 21. The bending drive motor 221 drives the first crank-connecting rod 222 to rotate, and pushes the driving step slide shaft 223 to slide on the rotating outer shell 21 through the waist-shaped bending slide groove 2221, thereby pushing the bending drive slider 224 to move axially along the outer sleeve 321, and then pushing the steering rod 31 to move.

[0077] The working principle of the present invention is:

[0078] Jaw closing process:

[0079] In the initial state, the jaws of the electric kiss are in an open state, the upper end of the locking pin 161 abuts against the lower surface of the closing link 144 and the lower end is located in the first positioning groove 152 on the cutting rack 15, that is, in the initial state, the cutting rack 15 is limited by the locking pin 161. When the cutting drive motor 11 is started, the driving gear at the power output end of the cutting drive motor 11 drives the large gear 1241 of the double gear 124 to rotate. Since the cutting rack 11 is meshed with the outer teeth 1231 of the inner and outer gears 123, and the cutting rack 15 is limited, the inner and outer gears 123 are limited, and the double gear 124 drives the planetary carrier 122 to rotate through multiple planetary gears 1251. The planetary carrier 122 drives the closing rack 143 and the closing connecting rod 144 to move through the transmission gear 141. The closing connecting rod 144 drives the sleeve rear seat 331 to overcome the reset component 332 to move, and the outer sleeve 321 moves synchronously, and drives the steering sleeve 323 to move synchronously. Since the inner sleeve 34 is limited by the bracket 13 and cannot move, the steering control mechanism and the nail magazine seat cannot move. During the movement of the rotating sleeve 323, the nail support seat 351 is pushed to rotate to complete the closure of the electric kiss jaws. After the jaws are completely closed, the second positioning groove 1442 on the closing link 144 is located above the locking pin 161. After the jaws of the electric kiss are completely closed, the closing link 144 is positioned by the locking pin 161 and cannot move. Thereafter, the cutting drive motor 11 continues to rotate. Since the inner teeth 1232 of the inner and outer gears 123 are meshed with the plurality of planetary gears 1251, the double gear 124 drives the inner and outer gears 123 to rotate through the planetary gears 1251, and the inner and outer gears 123 drive the cutting rack 15 to move. The first positioning groove 152 drives the locking pin 161 to overcome the action of the return spring assembly 163 and move upward. When the upper end of the locking pin 161 enters the second positioning groove 1442 on the closing link 144, it stops moving upward. Thereafter, the cutting rack 15 continues to move and the lower end of the locking pin 161 abuts against the upper end surface of the cutting rack 15, thereby completing the jaw closing process first and then the cutting knife feeding process. Reverse driving the cutting drive motor 11 can realize the cutting knife retracting process first and then the jaw opening process.

[0080] Cutter fault reset process:

[0081] After the jaws are closed, during the movement of the cutting rack 15, if the cutting drive motor 11 fails and cannot continue to rotate, since the driving gear of the cutting drive motor 11 cannot be manually rotated, the cutting rack 15 and the closing link 144 are locked and cannot continue to move, that is, the jaws of the electric kiss are always in a closed state, and the clamped tissue in the jaws cannot be removed. When a fault occurs, the manual operation cover 17 is manually removed first. Since there is no pressure rib 171 on the manual operation cover 17, the connecting pin 145 moves upward under the action of the connection reset spring 146, and finally contacts the connection between the closing rack 143 and the closing link 144. Thereafter, the driving shaft 142 is manually rotated, and the transmission gear 141 drives the closing rack 143 to move toward the proximal end, and the planetary carrier 122 rotates at the same time. At this time, the closing link 14 is limited by the locking pin 161, that is, the jaws of the electric kiss are in a closed state. In the closed state, the driving shaft 142 can only drive the internal and external gears 123 to rotate through the planetary carrier 122, thereby driving the cutting rack 15 to reset. When the cutting rack 15 is reset, the first positioning groove 152 on the cutting rack 15 is located below the locking pin 161, and the upper end of the locking pin 161 abuts against the lower surface of the closing link 144 to release the limiting effect on the closing link 144. In the subsequent process, under the action of the resetting component 332, the driving sleeve rear seat 331 and the closing link 14 are reset to complete the opening of the jaws.

[0082] Electric bending process of jaws:

[0083] Driven by the bending drive motor 11, the first crank connecting rod 222 rotates, and the bending slide groove 2221 on the first crank connecting rod 222 drives the driving step slide shaft 223 to move in a straight line on the rotating shell 21. The driving step slide shaft 223 drives the bending driving slider 224 to move axially along the outer sleeve 321 to drive the steering rod 31 to move, and the steering rod 31 drives the steering control seat 361 to rotate, thereby realizing the bending action of the jaws.

[0084] like Fig.21 As shown, it is a structural schematic diagram of the bending mechanism in Example 2 of the present invention. The rest is the same as Example 1, except that the structure of the crank-connecting rod assembly is different. The crank-connecting rod assembly includes a second crank-connecting rod 226 and a connecting rod component 227 connected to the power output shaft of the bending drive motor 11. One end of the connecting rod component 227 is rotationally pin-connected to the second crank-connecting rod 226 and the other end is rotationally pin-connected to the bending drive slider 224. The second crank-connecting rod 226 is driven to rotate by the cutting drive motor 11 to push the bending drive slider 224 to move axially along the outer sleeve 321.

[0085] In summary, the electric stapler first closes the jaws and then advances the cutting knife, reversely drives the cutting drive motor, first retracts the cutting knife and then opens the jaws, has a simple structure, is easy to operate, and improves surgical efficiency.

[0086] The above examples are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric laparoscopic cutting stapler, comprising a body module, characterized in that: The body module comprises: Bracket; A cutting drive mechanism, which is mounted on the bracket and is used to drive the jaws to cut, comprising a cutting drive motor, a planetary gear assembly drivingly connected to the cutting drive motor, and a cutting rack drivingly connected to the planetary gear assembly; A closing drive mechanism, which is mounted on the bracket and is used to drive the jaws to open and close, comprises a closing rack, a closing connecting rod elastically crimped on the closing rack, and a transmission gear assembly for transmission-connecting the closing rack with the planetary gear assembly; A locking pin mechanism is mounted on the bracket. When the locking pin mechanism is in a first locking position, the cutting rack is locked. The closing rack is driven by the planetary gear assembly to close or open the jaws. When the locking pin mechanism is in a second locking position, the closing link is locked. The cutting rack is driven by the planetary gear assembly to advance or retract the cutting knife.

2. The electric laparoscopic cutting stapler according to claim 1, characterized in that: The closing link and the cutting rack are arranged in parallel up and down, the locking pin mechanism comprises a locking pin arranged between the closing link and the cutting rack, a reset link inserted in the locking pin and overlapped on the bracket, and a reset spring assembly connecting the reset link and the bracket, the upper end of the cutting rack is provided with a first positioning groove matched with the lower end of the locking pin, the lower end of the closing link is provided with a second positioning groove matched with the upper end of the locking pin, and the bracket is provided with an adjustment groove for the reset link to pass through; When the locking pin is located in the first locking position, the lower end of the locking pin is located in the first positioning groove and the upper end abuts against the lower surface of the closing link. When the locking pin is located in the second locking position, the upper end of the locking pin is located in the second positioning groove and the lower end abuts against the upper end surface of the cutting rack.

3. The electric laparoscopic cutting stapler according to claim 1, characterized in that: The closing rack is L-shaped and has a first tooth portion disposed on one side close to the transmission gear assembly. The proximal end of the closing link is provided with a limiting step that cooperates with the closing rack. The proximal end of the closing link is positioned on the closing rack via a connecting pin assembly. The connecting pin assembly includes a connecting pin passed through the closing rack and the closing link, and a connecting reset spring arranged between the connecting pin and the closing link. A manual operation cover is provided on the outer shell of the body module, and the manual operation cover abuts against the connecting pin to position the closing link on the closing rack.

4. The electric laparoscopic cutting stapler according to claim 1, characterized in that: The transmission gear assembly includes a driving shaft rotatably arranged on the bracket and a transmission gear fixed on the driving shaft, and the transmission gear is respectively meshed with the closed rack and the planetary gear assembly.

5. The electric laparoscopic cutting stapler according to claim 4, characterized in that: The planetary gear assembly includes a positioning pin fixed on the bracket, a double gear rotatably set on the positioning pin, a plurality of planetary gears meshing with the pinion of the double gear, a planetary carrier supporting the plurality of planetary gears, and internal and external gears meshing with the plurality of planetary gears. The planetary carrier is rotatably set on the positioning pin and is coaxially arranged with the double gear and the internal and external gears. The planetary carrier is provided with an external gear meshing with the transmission gear. The large gear of the double gear is transmission-connected to the cutting drive motor, and the internal and external gears are meshed with the cutting rack.

6. The electric laparoscopic cutting stapler according to claim 1, characterized in that: It also includes a sleeve module, which includes an outer sleeve, a steering sleeve hinged to the distal end of the outer sleeve, an inner sleeve inserted in the outer sleeve, a steering control mechanism arranged at the distal end of the inner sleeve and extending to the steering sleeve, a nail magazine mechanism fixedly connected to the steering control mechanism, a firing rod inserted in the inner sleeve and a cutting knife mechanism connected to the distal end of the firing rod and extending to the steering control mechanism, the proximal end of the firing rod is fixedly connected to the cutting rack, and the outer sleeve is provided with a closing component that cooperates with the closing drive mechanism.

7. The electric laparoscopic cutting stapler according to claim 6, characterized in that: The closing assembly comprises a sleeve rear seat fixed on the outer sleeve and connected to the closing link, and a reset component sleeved on the outer sleeve and located between the sleeve rear seat and the bracket.

8. The electric laparoscopic cutting stapler according to claim 6, characterized in that: It also includes a rotating module, which includes a rotating shell and a bending mechanism installed on the rotating shell, a steering rod is provided between the outer sleeve and the inner sleeve, the proximal end of the steering rod is transmission-connected with the bending mechanism and the distal end is movably connected with the steering control mechanism; The bending mechanism includes a bending drive slider that axially slides with the outer sleeve, a bending drive motor, and a crank-connecting rod assembly connecting the bending drive slider and the bending drive motor. The bending drive slider is fixedly connected to the proximal end of the steering rod.

9. The electric laparoscopic cutting stapler according to claim 8, characterized in that: The crank-connecting rod assembly includes a first crank-connecting rod connected to the power output end of the bending drive motor and a driving step slide shaft connecting the first crank-connecting rod and the bending drive slider. One end of the driving step slide shaft passes through the bending drive slider and extends into the bending slide groove on the first crank-connecting rod. The other end of the driving step slide shaft is slidably matched with the rotating outer shell and a limit spring is provided between the driving step slide shaft and the rotating outer shell.

10. The electric laparoscopic cutting stapler according to claim 8, characterized in that: The crank-connecting rod assembly comprises a second crank-connecting rod and a connecting rod component connected to the power output end of the bending drive motor. One end of the connecting rod component is rotationally pin-connected to the second crank-connecting rod and the other end is rotationally pin-connected to the bending drive slider.

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