Electric laparoscopic cutting stapler

Abstract

The present invention discloses an electric laparoscopic cutting stapler, comprising a body module, including: a bracket; a cutting drive mechanism for driving the cutting of the jaws, comprising a cutting drive motor, a planetary gear assembly connected to the cutting drive motor, and a cutting rack connected to the planetary gear assembly; a closing drive mechanism for driving the opening and closing of the jaws, comprising a closing rack, a closing connecting rod elastically crimped onto the closing rack, and a transmission gear assembly for connecting the closing rack to the planetary gear assembly; a locking pin mechanism, wherein when the locking pin mechanism is in a first locking position, the cutting rack is locked, and 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 connecting rod is locked, and the cutting rack is driven by the planetary gear assembly to advance or retract the cutting knife. The electric laparoscopic cutting stapler provided by the present invention has a simple structure, is easy to operate, and is 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 and 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 and a movable handle assembly to drive the opening and closing of the jaws. For example, Chinese patent CN221932042U discloses a closing assembly and an electric stapler. The opening and closing of the jaws and the 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 through the power source driving the cutting, thereby realizing the 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 present invention provides the following technical solutions:

[0006] An electric laparoscopic cutting and stapler includes a body module, wherein the body module includes:

[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, and includes a closing rack, a closing connecting rod elastically pressed onto the closing rack, and a transmission gear assembly for transmission connecting the closing rack to the planetary gear assembly;

[0010] A locking pin mechanism is installed on the bracket. When the locking pin mechanism is in the first locking position, it locks the cutting rack, and the closing rack is driven by the planetary gear assembly to close or open the jaws. When the locking pin mechanism is in the second locking position, it locks the closing link, and the cutting rack is driven by the planetary gear assembly to feed or retract the cutting knife.

[0011] In one embodiment, the closing link and the cutting rack are arranged parallel to each other vertically. The locking pin mechanism includes a locking pin disposed between the closing link and the cutting rack, a return link that is inserted through the locking pin and lapped on the bracket, and a return spring assembly that connects the return link and the bracket. A first positioning groove that cooperates with the lower end of the locking pin is provided at the upper end of the cutting rack, a second positioning groove that cooperates with the upper end of the locking pin is provided at the lower end of the closing link, and an adjustment groove for the return link to pass through is provided on the bracket.

[0012] When the locking pin is 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 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 provided on one side close to the transmission gear assembly. A limiting step that cooperates with the closing rack is provided at the proximal end of the closing link. The proximal end of the closing link is positioned on the closing rack through a connecting pin assembly. The connecting pin assembly includes a connecting pin inserted through the closing rack and the closing link, and a connecting return spring provided 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 embodiment, the transmission gear assembly includes a driving shaft rotatably provided on the bracket and a transmission gear fixed on the driving shaft. The transmission gear meshes with the closing rack and the planetary gear assembly respectively.

[0015] In one embodiment, the planetary gear assembly includes a positioning pin fixed on the bracket, a double gear rotatably provided on the positioning pin, a plurality of planetary gears meshing with the small gear of the double gear, a planetary carrier supporting the plurality of planetary gears, and an internal and external gear meshing with the plurality of planetary gears externally. The planetary carrier is rotatably provided on the positioning pin and is coaxially arranged with the double gear and the internal and external gear. An external gear that meshes with the transmission gear is provided on the planetary carrier. The large gear of the double gear is in transmission connection with the cutting drive motor, and the internal and external gear meshes with the cutting rack.

[0016] In one embodiment, it further includes a sleeve module. The sleeve module includes an outer sleeve, a steering sleeve hinged to the distal end of the outer sleeve, an inner sleeve disposed through the outer sleeve, a steering control mechanism disposed at the distal end of the inner sleeve and extending to the steering sleeve, a staple cartridge mechanism fixedly connected to the steering control mechanism, a firing rod disposed through 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 a closing component cooperating with the closing drive mechanism is provided on the outer sleeve.

[0017] In one embodiment, the closing component 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, it further includes a rotation module. The rotation module includes a rotation housing and a bending mechanism mounted on the rotation housing. A steering rod is provided between the outer sleeve and the inner sleeve. The proximal end of the steering rod is drivingly connected to the bending mechanism and the distal end is movably connected to the steering control mechanism;

[0019] The bending mechanism includes a bending drive slider axially slidably engaged with the outer sleeve, a bending drive motor, and a crank-link component 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-link component includes a first crank-link connected to the power output end of the bending drive motor and a drive stepped shaft connecting the first crank-link and the bending drive slider. One end of the drive stepped shaft extends through the bending drive slider and then into a bending chute on the first crank-link. The other end of the drive stepped shaft is slidably engaged with the rotation housing and a limiting spring is provided between the drive stepped shaft and the rotation housing.

[0021] In one embodiment, the crank-link component includes a second crank-link connected to the power output end of the bending drive motor and a link component. One end of the link component is rotationally pinned to the second crank-link and the other end is rotationally pinned to the bending drive slider.

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

[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 is 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 retract the cutting knife first 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, cutting drive mechanism and locking pin mechanism are compactly arranged on the bracket, eliminating the need for a movable handle assembly or other drive structures, making the structure of the body module simpler and lowering the cost.

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

[0027] 4. The closing link is elastically pressed against the closing rack. When the cutting drive motor fails, the manual operation cover on the housing can be removed to release the lock between the closing link and the closing rack, making it easier to manually rotate the drive shaft to reset the cutting blade 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 following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

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

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

[0032] Figure 3 for Figure 2 A partial enlarged view of point 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 6Partial structural schematic diagram of the bending drive structure in Embodiment 1 of the present invention;

[0036] Figure 7 Second internal structural schematic diagram of Embodiment 1 of the present invention;

[0037] Figure 8 For Figure 7 Local enlarged view at position J in

[0038] Figure 9 First structural schematic diagram of the bracket in Embodiment 1 of the present invention;

[0039] Figure 10 Second structural schematic diagram of the bracket in Embodiment 1 of the present invention;

[0040] Figure 11 Structural schematic diagram of the planetary gear assembly in Embodiment 1 of the present invention;

[0041] Figure 12 Structural schematic diagram of the closing rack in Embodiment 1 of the present invention;

[0042] Figure 13 Structural schematic diagram of the closing link in Embodiment 1 of the present invention;

[0043] Figure 14 Structural schematic diagram of the cutting rack in Embodiment 1 of the present invention;

[0044] Figure 15 Structural schematic diagram of the drive pin mechanism in the first locked position in Embodiment 1 of the present invention;

[0045] Figure 16 Structural schematic diagram of the drive pin mechanism in the second locked position in Embodiment 1 of the present invention;

[0046] Figure 17 Structural schematic diagram of the sleeve module in Embodiment 1 of the present invention;

[0047] Figure 18 For Figure 17 A-A sectional view schematic diagram of

[0048] Figure 19 Structural schematic diagram of the steering control mechanism in Embodiment 1 of the present invention;

[0049] Figure 20 Structural schematic diagram of the bending mechanism in Embodiment 1 of the present invention;

[0050] Figure 21 Structural schematic diagram of the bending mechanism in Embodiment 2 of the present invention;

[0051] Wherein:

[0052] 1. Body module; 11. Cutting drive motor; 12. Planetary gear assembly; 121. Positioning pin; 122. Planet carrier; 123. Internal and external gears; 1231. External teeth; 1232. Internal teeth; 124. Double gear; 1241. Large gear; 1242. Small gear; 1251. Planet gear; 1252. Planet 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 cavity; 137. Adjusting groove; 14. Closing drive mechanism; 141. Transmission gear; 142. Drive shaft; 143. Closing rack; 1431. First tooth part; 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 return spring; 15. Cutting rack; 151. Second tooth part; 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 sliding groove; 223. Driving step sliding shaft; 224. Bending drive slider; 2241. Traction part; 225. Limiting spring; 226. Second crank connecting rod; 227. Link component

[0054] 3. Sleeve module; 31. Steering rod; 321. Outer sleeve; 322. Connecting piece; 323. Steering sleeve; 331. Sleeve rear seat; 332. Reset component; 34. Inner sleeve; 351. Rivet base; 352. Staple cartridge seat; 361. Steering control seat; 3611. Steering drive pin; 3612. Shaft hole; 362. Steering fixed seat; 3621. Rotating shaft Detailed implementation manners

[0055] The above solution will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are for illustrating the present invention and not for limiting the scope of the present invention. The implementation conditions adopted in the embodiments can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are usually the conditions in conventional experiments

[0056] As Figure 1 、 Figure 2 、 Figure 7 shown, it is a structural schematic diagram of Embodiment 1 of the present invention, providing 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 mounted on the bracket 13 and is used to drive the cutting of the jaws. It includes a cutting drive motor 11, a planetary gear assembly 12 connected to the cutting drive motor 11, and a cutting rack 15 connected to the planetary gear assembly 12. The cutting drive motor 11 rotates, driving the planetary gear assembly 12 to rotate, thereby driving the cutting rack 15 to move, and then driving the jaws to cut.

[0059] like Figure 3 and Figure 11 As shown, the planetary gear assembly 12 includes a positioning pin 121 fixed to the bracket 13, a double gear 124 rotatably set on the positioning pin 121, a plurality of planetary gears 1251 meshing with the 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 externally 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 to the cutting drive motor 11, and the inner and outer gears 123 are meshed 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, and 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 back and forth.

[0060] like Figure 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 drive shaft 142 rotatably arranged in the drive shaft mounting hole 131 of the bracket 13 and a transmission gear 141 fixed on the drive shaft 142. The transmission gear 141 meshes with the first tooth portion 1431 of the closing rack 143 and the planetary gear assembly 12 respectively. An external gear meshing with the transmission gear 141 can be arranged on the planet carrier 122. When the internal and external gears 123 are restricted from rotating, the double-link gear 124 can drive the planet carrier 122 to rotate, so as to drive the transmission gear 141 to rotate, thereby driving the closing rack 143 to move back and forth, and further driving the closing link 144 to move back and forth 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 located at the first locking position, the cutting rack 15 is locked, and the closing rack 143 realizes the closing or opening of the jaws under the drive of the planetary gear assembly 12. When the locking pin mechanism is located at the second locking position, the closing link 144 is locked, and the cutting rack 15 realizes the feeding or retracting of the cutting tool under the drive of the planetary gear assembly 12.

[0064] As Figure 8 shown, the closing link 144 and the cutting rack 15 are arranged parallel to each other up and down. The locking pin mechanism includes a locking pin 161 arranged between the closing link 144 and the cutting rack 15, a return link 162 passing through the locking pin 161 and lapping on the bracket 13, and a return spring assembly 163 connecting the return link 162 and the bracket 13. A first positioning groove 152 (as Figure 14 shown) cooperating with the lower end of the locking pin 161 is provided on the cutting rack 15. A second positioning groove 1442 cooperating with the upper end of the locking pin 161 is provided at the lower end of the closing link 144. A locking pin hole 134 for the locking pin 161 to pass through is provided on the bracket 13. At the same time, a waist-shaped adjusting groove 137 for the return link 162 to pass through is provided on the side of the bracket 13. As Figure 15 shown, in the initial state, the locking pin 161 is located at the first locking position. The lower end of the locking pin 161 is located in the first positioning groove 152 and the upper end abuts against the lower surface of the closing link 144. At this time, the planet carrier 122 is driven to rotate by the cutting drive motor 11 through the double-link 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 return spring assembly 163. At this time, as Figure 16 shown, the locking pin 161 is located at 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 internal and external gears 123 to rotate through the double-link gear 124 to drive the cutting rack 15 to move to realize the feeding of the cutting tool. Driving the cutting drive motor 11 in the reverse direction can first realize the retracting of the cutting tool and then realize the closing of the jaws.

[0065] Among them, the reset spring assembly 163 includes two reset springs arranged at both ends in the length direction of the reset link 162. One end of the reset spring is fixed on the reset link 162 and the other end is fixed on the bracket 13. By connecting the bracket of the reset link 162 with two reset springs, the stability of the locking pin mechanism can be ensured.

[0066] In order to facilitate the positioning and fitting between the locking pin 161, the closing link 144, and the cutting rack 15, both the upper and lower ends of the locking pin 161 are set as frustum shapes, and at the same time, the first positioning groove 152 and the second positioning groove 1442 are set as inclined grooves matching the frustum.

[0067] As Figure 12 and Figure 13 shown, the closing rack 143 is L-shaped and a first tooth portion 1431 is provided on one side close to the transmission gear assembly. A limiting step 1443 matching the end face of the closing rack 143 is provided at the proximal end of the closing link 144, 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 the first through hole 1432 on the closing rack 143 and the 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. An abutting portion is provided at the upper end of the connecting pin 145. The upper end of the connecting reset spring 146 abuts against the abutting portion and the lower end abuts against the upper end face 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 main body. The pressing rib 171 on the manual operation cover 17 abuts against the abutting portion of the connecting pin 145 to position the closing link 144 on the closing rack 143.

[0069] When a fault occurs in the cutting drive motor 11 during the movement of the cutting rack 15, the manual operation cover 17 is removed. The connecting pin 145 moves upward under the action of the connecting reset spring 146 to release the locking between the closing link 144 and the closing rack 143. At this time, the locking pin 161 locks the closing link 144. The drive shaft 142 can be manually rotated to drive the planet 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 resets.

[0070] As Figure 17 and Figure 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 passed through 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 passed through 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 (as shown in FIG. Figure 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, and 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 Figure 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 axis 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 that cooperates with 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] As Figure 4 , Figure 6 and Figure 20 shown, the bending mechanism 22 includes a bending drive slider 224 axially slidably engaged with the outer sleeve 321, a bending drive motor 221, and a crank and connecting rod assembly connecting the bending drive slider 224 and the bending drive motor 221. The traction portion 2241 on the bending drive slider 224 is fixedly connected to the proximal end of the steering rod 31.

[0076] The crank and connecting rod assembly includes a first crank and connecting rod 222 connected to the output shaft 2211 of the bending drive motor 221 and a drive stepped sliding shaft 223 connecting the first crank and connecting rod 222 and the bending drive slider 224. One end of the drive stepped sliding shaft 223 passes through the bending drive slider 224 and extends into the waist-shaped bending sliding groove 2221 on the first crank and connecting rod 222. The other end of the drive stepped sliding shaft 223 is slidably engaged with the rotating housing 21 and a limiting spring 225 is provided between the drive stepped sliding shaft 223 and the rotating housing 21. The bending drive motor 221 drives the first crank and connecting rod 222 to rotate, and pushes the drive stepped sliding shaft 223 to slide on the rotating housing 21 through the waist-shaped bending sliding groove 2221, so as to push the bending drive slider 224 to move axially along the outer sleeve 321, and further push the steering rod 31 to move.

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

[0078] The process of jaw closing:

[0079] In the initial state, the electric kiss jaws 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 drive 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 meshes with the outer teeth 1231 of the internal and external gears 123, and the cutting rack 15 is limited, the internal and external gears 123 are limited. The double gear 124 drives the planet carrier 122 to rotate through multiple planet gears 1251. The planet carrier 122 drives the closing rack 143 and the closing link 144 to move through the transmission gear 141. The closing link 144 drives the sleeve rear seat 331 to move against the reset component 332, 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 staple cartridge seat cannot move. During the movement of the rotating sleeve 323, it pushes the anvil seat 351 to rotate, completing the closing of the electric kiss jaws. After the jaws are closed, the second positioning groove 1442 on the closing link 144 is located above the locking pin 161. After the electric kiss jaws are closed, the closing link 144 is positioned by the locking pin 161 and cannot move. After that, the cutting drive motor 11 continues to rotate. Since the internal teeth 1232 of the internal and external gears 123 mesh with multiple planet gears 1251, the double gear 124 drives the internal and external gears 123 to rotate through the planet gears 1251. The internal and external gears 123 drive the cutting rack 15 to move. The first positioning groove 152 on the cutting rack 15 drives the locking pin 161 to move upward against the action of the reset spring assembly 163. When the upper end of the locking pin 161 enters the second positioning groove 1442 on the closing link 144 and stops moving upward, after that, 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, thus realizing the process of first closing the jaws and then feeding the cutting knife. Driving the cutting drive motor 11 in reverse can realize the process of first retracting the cutting knife and then opening the jaws.

[0080] Cutting knife 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 tissue clamped in the jaws cannot be removed. When a fault occurs, the manual operation cover 17 is first manually removed. 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 drive shaft 142 is manually rotated, and the transmission gear 141 drives the closing rack 143 to move toward the proximal end. At the same time, the planetary carrier 122 rotates. 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 inner and outer gears 123 to rotate through the planetary carrier 122, 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 reset component 332, the drive 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 Figure 21 As shown, it is a structural 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 rotatably pinned to the second crank-connecting rod 226 and the other end is rotatably pinned 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. It 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 the purpose is to enable those skilled in this technology to understand the content of the present invention and implement it accordingly, and it 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 covered within the protection scope of the present invention.

Claims

1. An electric laparoscopic cutting and 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, and includes a closing rack, a closing connecting rod elastically pressed onto the closing rack, and a transmission gear assembly for transmission connecting the closing rack to the planetary gear assembly; a locking pin mechanism mounted on the bracket, wherein when the locking pin mechanism is in a first locking position, the cutting rack is locked, and the closing rack is driven by the planetary gear assembly to close or open the jaws; and when the locking pin mechanism is in a second locking position, the closing link is locked, and the cutting rack is driven by the planetary gear assembly to feed or retract the cutting knife; 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, the upper end of the cutting rack is provided with a first positioning groove that cooperates with the lower end of the locking pin, and the lower end of the closing link is provided with a second positioning groove that cooperates with the upper end of the locking pin; The closing rack is L-shaped and has a first tooth portion provided 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 return 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.

2. The electric laparoscopic cutting and stapler according to claim 1, characterized in that: The locking pin mechanism further includes a reset link that passes through the locking pin and overlaps the bracket, and a reset spring assembly that connects the reset link and the bracket, and the bracket is provided with an adjustment slot for the reset link to pass through; When the locking pin is 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 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 and 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 engaged with the closed rack and the planetary gear assembly.

4. The electric laparoscopic cutting and stapler according to claim 3, characterized in that: The planetary gear assembly includes a positioning pin fixed on the bracket, a duplex gear rotatably set on the positioning pin, a plurality of planetary gears meshing with the small gear of the duplex 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 duplex gear, internal and external gears. The planetary carrier is provided with an external gear meshing with the transmission gear. The large gear of the duplex gear is connected to the cutting drive motor for transmission, and the internal and external gears are meshed with the cutting rack.

5. The electric laparoscopic cutting and 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 passed through 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 passed through 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.

6. The electric laparoscopic cutting and stapler according to claim 5, characterized in that: 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.

7. The electric laparoscopic cutting and stapler according to claim 5, characterized in that: The invention also includes a rotation module, the rotation module including a rotation shell and a bending mechanism mounted on the rotation shell, a steering rod is provided between the outer sleeve and the inner sleeve, the proximal end of the steering rod is transmission-connected to the bending mechanism and the distal end is movably connected to 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.

8. The electric laparoscopic cutting and stapler according to claim 7, 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 engaged with the rotating outer shell and a limit spring is provided between the driving step slide shaft and the rotating outer shell.

9. The electric laparoscopic cutting and stapler according to claim 7, characterized in that: 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 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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