Retreating mechanism and cutting and suturing device

Abstract

The invention relates to a returning mechanism and a cutting and suturing device. The rollback mechanism comprises a support, a transmission part, a driving assembly and a rollback assembly. The transmission part is slidably connected to the support and comprises a plurality of transmission teeth. The driving assembly comprises a driven gear and a motor, and when the driven gear is located at the meshing position, the driven gear is meshed with the multiple transmission teeth; when the driven gear is in the disengagement position, the driven gear is in disengagement connection with the transmission teeth; the rollback assembly comprises a connecting piece and a rollback gear, the connecting piece is rotationally connected to the support, one end of the connecting piece is rotationally connected with the rollback gear, the other end of the connecting piece is rotationally connected with the driven gear, and the joint of the connecting piece and the support is located between the rollback gear and the driven gear; when the return gear is controlled to be switched from the first position to the second position through the connecting piece, the driven gear is switched from the meshing position to the disengagement position, and the return gear is meshed with the multiple transmission teeth. The rotation of the return gear is converted into the movement of the transmission part, so that the transmission part returns, and the return 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. Its core advantage of reducing accidental tissue damage caused by human factors during the operation has been widely recognized in the clinic. In the electric stapler, the motor is the most important driving device, and it is inevitable that there will be failures, as well as failures in some other special circumstances, resulting in the problem that the jaws cannot open and disengage from the clamped tissue. When the doctor encounters a malfunction during use, the stapler jaws may be clamping the tissue. At this time, it is necessary to drive the transmission member connected to the stapler jaws to retract, so that the clamp head drives the blade to retract, and the jaws open to release the tissue. However, most of the current electric staplers use an eccentric push rod to push the transmission member back, which makes the retraction efficiency low, affecting the rapidity and effectiveness of the forced retraction operation during surgery. Summary of the invention

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

[0004] A rollback mechanism, comprising:

[0005] Bracket,

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

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

[0008] A retraction assembly, comprising a connecting member and a retraction gear, wherein the connecting member is rotatably connected to the bracket, one end of the connecting member is rotatably connected to the retraction gear, and the other end of the connecting member is rotatably connected to the driven gear, and the connection between the connecting member and the bracket is located between the retraction gear and the driven gear;

[0009] The retraction gear has a first position and a second position, and the retraction gear is operably controlled to switch from the first position to the second position through the connecting member; when the retraction gear switches from the first position to the second position, the driven gear switches from the meshing position to the disengaging position, and the retraction gear meshes with the multiple transmission teeth.

[0010] In one embodiment, the retraction assembly also includes a cam, which is rotatably connected to the bracket and transmission-connected to the connecting member. The cam is configured to rotate around its own rotation center to drive the connecting member to rotate relative to the bracket so that the retraction gear switches from the first position to the second position.

[0011] In one embodiment, the wheel wall of the cam abuts against one end of the connecting member close to the driven gear, and the cam is used to push the connecting member to rotate. The retraction assembly also includes an elastic member, one end of which is connected to the bracket, and the other end is connected to a side of the connecting member close to the driven gear, and the elastic member is used to apply a thrust toward the transmission member to the end of the connecting member close to the driven gear.

[0012] In one of the embodiments, the wheel wall of the cam includes a driving section, and the distance between the driving section and the rotation center of the cam gradually increases along the direction in which the cam rotates relative to the bracket.

[0013] In one embodiment, the wheel wall of the cam also includes a locking segment, which is connected to an end of the driving segment away from the rotation center of the cam, and the locking segment is adapted to the outer wall of the connecting member. When the retraction gear is located in the second position, the locking segment is used to fit with the connecting member to lock the position of the connecting member.

[0014] In one of the embodiments, a first slot is provided on the rotation center of the cam, and the first slot is configured to cooperate with a first operating member so that the cam rotates under the drive of the first operating member.

[0015] In one embodiment, the retraction assembly also includes a rotating rod, and the retraction gear is rotatably connected to the connecting member via the rotating rod. A second slot is provided on the rotating rod, and the second slot is configured to cooperate with a second operating member so that the rotating rod drives the retraction gear to rotate under the drive of the second operating member.

[0016] In one embodiment, the driving assembly further includes a driving gear connected to the output end of the motor, the driving gear and the transmission member are located on the same side of the driven gear, when the driven gear is in the meshing position, the driving gear meshes with the driven gear, and when the driven gear is in the disengaging position, the driving gear is disengaged from the driven gear.

[0017] The present invention also provides a cutting and suturing device, which can solve at least one of the above technical problems.

[0018] A cutting and suturing device comprises an end actuator, a shell and the above-mentioned retraction mechanism, wherein the end actuator comprises a movable cutting member for cutting an object located in the end actuator, the cutting member is transmission-connected to the transmission member, the shell is connected to the bracket, the retraction mechanism is arranged in the shell, and an operating opening is provided on the shell so that the retraction mechanism can be operated through the operating opening.

[0019] In one embodiment, the cutting and suturing device further includes a cover plate, which has a first state and a second state. When the cover plate is in the first state, the cover plate is used to cover the operating opening. When the cover plate is in the second state, the cover plate is used to cooperate with the retraction gear to drive the retraction gear to rotate.

[0020] Beneficial effects:

[0021] The retraction mechanism provided by the embodiment of the present invention includes a bracket, a transmission member, a driving assembly and a retraction assembly; the transmission member is slidably connected to the bracket, and the transmission member includes a plurality of transmission teeth; the driving assembly includes a driven gear and a motor; the driven gear has an engaged position and a disengaged position, when the driven gear is in the engaged position, the driven gear is engaged with the plurality of transmission teeth and is transmission-connected to the motor; when the driven gear is in the disengaged position, the driven gear is disengaged from the plurality of transmission teeth and is disengaged from the motor; the retraction assembly includes a connecting member and a retraction gear, the connecting member is rotatably connected to the bracket, one end of the connecting member is rotatably connected to the retraction gear, and the other end of the connecting member is rotatably connected to the driven gear, and the connection between the connecting member and the bracket is located between the retraction gear and the driven gear; the retraction gear has a first position and a second position, and the retraction gear can be operably controlled to switch from the first position to the second position through the connecting member; when the retraction gear switches from the first position to the second position, the driven gear switches from the engaged position to the disengaged position, and the retraction gear is engaged with the plurality of transmission teeth. The connection between the connecting member and the bracket in the present application is located between the driven gear and the retraction gear. The connecting member rotates relative to the bracket, which can drive the retraction gear to switch from the first position to the second position, and drive the driven gear to switch from the meshing position to the disengaged position, that is, the driven gear is disconnected from the multiple transmission teeth and from the motor, thereby disconnecting the transmission of the driven gear and the transmission member. At the same time, the retraction gear is meshed with the multiple transmission teeth, so that the rotation of the retraction gear itself can be converted into the movement of the transmission member, so that the transmission member retracts, that is, every time the retraction gear rotates one circle, the transmission member can retract the circumference of the retraction gear, thereby greatly improving the retraction efficiency of the transmission member and achieving efficient retraction.

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

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

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

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

[0026] Figure 4 A top view of a retraction mechanism provided in one embodiment of the present invention Figure 1 .

[0027] Figure 5 A top view of a retraction mechanism provided in one embodiment of the present invention Figure 2 .

[0028] Figure 6 A schematic diagram of a cam in a retraction mechanism provided in an embodiment of the present invention.

[0029] Figure 7 An exploded view of a retraction component in a retraction mechanism provided in an embodiment of the present invention.

[0030] Figure 8 A schematic diagram of a cutting and suturing device provided in one embodiment of the present invention.

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

[0032] Figure numbers: 100- bracket; 200- transmission member; 210- transmission tooth; 300- driving assembly; 310- driven gear; 320- motor; 330- driving gear; 400- retraction assembly; 410- connecting member; 411- first abutment plate; 412- second abutment plate; 413- first end; 414- second end; 415- connecting rod; 416- fixing rod; 420- retraction gear; 430- cam; 431- driving section; 432- locking section; 433- first slot; 434- boss; 440- elastic member; 450- rotating rod; 451- second slot; 510- cover plate; 511- unlocking member; 520- shell; 600- end actuator. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 1 A first schematic diagram of a retraction mechanism provided by an embodiment of the present invention; Figure 2 A second schematic diagram of a retraction mechanism provided by an embodiment of the present invention; Figure 3 A partial exploded view of a retraction mechanism provided by an embodiment of the present invention; Figure 4 A top view of a retraction mechanism provided in one embodiment of the present invention Figure 1 ; Figure 5 A 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, which includes a bracket 100, a transmission member 200, a driving assembly 300 and a retraction assembly 400; the transmission member 200 is slidably connected to the bracket 100, and the transmission member 200 includes a plurality of transmission teeth 210; the driving assembly 300 includes a driven gear 310 and a motor 320, and the driven gear 310 has an engaged position and a disengaged position. When the driven gear 310 is in the engaged position, the driven gear 310 is engaged with the plurality of transmission teeth 210 and is transmission-connected to the motor 320; when the driven gear 310 is in the disengaged position, the driven gear 310 is disengaged from the plurality of transmission teeth 210 and is disengaged from the motor 320; the retraction assembly 400 includes The invention comprises a connecting member 410 and a retraction gear 420, wherein the connecting member 410 is rotatably connected to the bracket 100, one end of the connecting member 410 is rotatably connected to the retraction gear 420, and the other end of the connecting member 410 is rotatably connected to the driven gear 310, and the connection between the connecting member 410 and the bracket 100 is located between the retraction gear 420 and the driven gear 310; the retraction gear 420 has a first position and a second position, and the retraction gear 420 is operably controlled to switch from the first position to the second position through the connecting member 410; when the retraction gear 420 switches from the first position to the second position, the driven gear 310 switches from the meshing position to the disengaging position, and the retraction gear 420 meshes with a plurality of transmission teeth 210.

[0040] Specifically, in the present application, the connection between the connecting member 410 and the bracket 100 is located between the driven gear 310 and the retraction gear 420. The connecting member 410 rotates relative to the bracket 100, which can drive the retraction gear 420 to switch from the first position to the second position, and drive the driven gear 310 to switch from the meshing position to the disengaged position, that is, the driven gear 310 is disconnected from the multiple transmission teeth 210 and the motor 320, thereby disconnecting the driven gear 310 from the transmission member 200. At the same time, the retraction gear 420 is connected to the multiple transmission teeth 210, so that the rotation of the retraction gear 420 itself can be converted into the movement of the transmission member 200, so that the transmission member 200 retracts, that is, every time the retraction gear 420 rotates one circle, the transmission member 200 can retract the circumference of the retraction gear 420, thereby greatly improving the retraction efficiency of the transmission member 200 and achieving efficient retraction.

[0041] When the driven gear 310 is in the meshing position, the retracting gear 420 is in the first position (see the attached manual). Figure 4 As shown), the driven gear 310 is connected to the motor 320 and meshes with the multiple transmission teeth 210. At the same time, there is a gap between the retraction gear 420 and the transmission member 200. Therefore, when the driven gear 310 drives the transmission member 200 forward under the drive of the motor 320, the interference of the retraction component 400 on the transmission member 200 can be reduced, so that the driven gear 310 can stably drive the transmission member 200 forward, thereby improving the reliability of the retraction mechanism.

[0042] When the retracting gear 420 is in the second position, the driven gear 310 is in the disengaged position (see the attached manual). Figure 5 As shown in the figure, the driven gear 310 is disconnected from the multiple transmission teeth 210 and the motor 320. At the same time, the retraction gear 420 is meshed with the multiple transmission teeth 210 on the transmission member 200. As a result, in the process of the retraction gear 420 driving the transmission member 200 to retract through its own rotation, the interference of the driving component 300 on the transmission member 200 can be reduced, so that the retraction gear 420 can stably drive the transmission member 200 to retract, thereby improving the reliability of the retraction mechanism.

[0043] See also Figure 1 , Figure 4 , Figure 5 and Figure 6 , Figure 6 A schematic diagram of a cam in a retraction mechanism provided in one embodiment of the present invention. In one embodiment, the retraction assembly 400 further includes a cam 430, which is rotatably connected to the bracket 100 and is transmission-connected to the connecting member 410, and the cam 430 is configured to rotate around its own rotation center to drive the connecting member 410 to rotate relative to the bracket 100, so that the retraction gear 420 switches from the first position to the second position.

[0044] Specifically, the connecting member 410 is arranged on one side of the transmission member 200. The cam 430 can drive the connecting member 410 to rotate in the process of rotating around its own rotation center. Since the connection between the connecting member 410 and the bracket 100 is located between the retracting gear 420 and the driven gear 310, the retracting gear 420 and the driven gear 310 move in opposite directions during the rotation of the connecting member 410. In the initial state, the driven gear 310 is in the meshing position, and the retracting gear 420 is in the first position. When a fault occurs, the control cam 430 drives the connecting member 410 to rotate, and the driven gear 310 moves to the side away from the transmission member 200 to separate from the plurality of transmission teeth 210, thereby moving to the disengaged position, and the retracting gear 420 approaches the transmission member 200 and meshes with the plurality of transmission teeth 210, thereby moving to the second position.

[0045] For the convenience of description, the end of the connecting member 410 connected to the retracting gear 420 is defined as the first end 413 , and the end connected to the driven gear 310 is defined as the second end 414 .

[0046] See also Figure 1 and Figure 4 In one embodiment, the wheel wall of the cam 430 abuts against one end of the connecting member 410 close to the driven gear 310, and the cam 430 is used to push the connecting member 410 to rotate. The retraction assembly 400 also includes an elastic member 440, one end of the elastic member 440 is connected to the bracket 100, and the other end is connected to a side of the connecting member 410 close to the driven gear 310, and the elastic member 440 is used to apply a thrust toward the transmission member 200 to the end of the connecting member 410 close to the driven gear 310.

[0047] Specifically, the wheel wall of the cam 430 abuts against the second end 414, so that when the cam 430 rotates, the wheel wall of the cam 430 can push the second end 414 to rotate, thereby realizing the switching of the driven gear 310 between the meshing position and the disengaging position. The elastic member 440 applies a thrust toward the transmission member 200 to the second end 414, so that the driven gear 310 is stably meshed with the plurality of transmission teeth 210, thereby improving the stability of the retracting mechanism. Preferably, the elastic member 440 is a compression spring.

[0048] In another embodiment, a groove is provided on the cam 430, and the thickness direction of the groove is the same as the thickness direction of the cam 430. A matching block is provided on the connecting member 410, and the matching block is accommodated in the groove and abuts against the side wall of the groove, so that during the rotation of the cam 430, the connecting member 410 is driven by the side wall of the groove. It should be noted that when the driven gear 310 is in the meshing position and the retracting gear 420 is in the second position, the rotation of the cam 430 can be limited by other structures, so that the driven gear 310 is stably meshed in the meshing position.

[0049] See also Figure 1 , Figure 4 and Figure 6 In one embodiment, the wheel wall of the cam 430 includes a driving section 431, and the distance between the driving section 431 and the rotation center of the cam 430 gradually increases along the direction in which the cam 430 rotates relative to the bracket 100.

[0050] Specifically, the driving section 431 is arc-shaped. When the cam 430 rotates relative to the bracket 100, the distance between the driving section 431 and the rotation center of the cam 430 gradually increases, thereby pushing the second end 414 to rotate away from the transmission member 200, so that the driven gear 310 moves from the meshing position to the disengaged position.

[0051] See also Figure 1 , Figure 4 , Figure 5 and Figure 6 In one embodiment, the wheel wall of the cam 430 also includes a locking segment 432, which is connected to an end of the driving segment 431 away from the rotation center of the cam 430, and the locking segment 432 is adapted to the outer wall of the connecting member 410. When the retracting gear 420 is in the second position, the locking segment 432 is used to fit with the connecting member 410 to lock the position of the connecting member 410.

[0052] Specifically, when the retracting gear 420 is located at the second position, the locking section 432 fits with the connecting member 410 , thereby reducing stress concentration and increasing the service life of the cam 430 .

[0053] See also Figure 1 , Figure 4 , Figure 5 and Figure 6 In one embodiment, when the retraction gear 420 is located at the second position, the torque applied to the cam 430 is zero.

[0054] Specifically, the resultant force of the reaction force applied by the second end 414 to the cam 430 passes through the rotation center of the cam 430, so that the torque applied to the cam 430 is zero, so that the cam 430 is in a self-locking state and cannot rotate, thereby more stably limiting the rotation of the connecting member 410, so that the retraction gear 420 is stably located in the second position, thereby improving the stability of the retraction mechanism. Preferably, the locking section 432 is a plane, and the plane where the locking section 432 is located is perpendicular to the thrust direction applied by the elastic member 440 to the connecting member 410.

[0055] It should be noted that, in other embodiments, when the retracting gear 420 is located at the second position, the cam 430 may be restricted from rotating by other components to achieve locking of the cam 430 .

[0056] See also Figure 1 , Figure 2 and Figure 6 In one embodiment, a first slot 433 is provided at the rotation center of the cam 430 , and the first slot 433 is configured to cooperate with the first operating member so that the cam 430 rotates under the drive of the first operating member.

[0057] Specifically, the first operating member can be a common tool such as a wrench, which is adapted to the common tool such as a wrench through the first slot 433, that is, it can be inserted into the first slot 433 by a common tool such as a wrench, so that it can be rotated by the common tool such as the wrench to drive the cam 430 to rotate, thereby realizing the rotation of the connecting member 410.

[0058] See also Figure 1 , Figure 3 and Figure 7 , Figure 7 An exploded view of a retraction assembly in a retraction mechanism provided in one embodiment of the present invention. In one embodiment, the retraction assembly 400 further includes a rotating rod 450, which is connected to the retraction gear 420 and is rotatably connected to the connecting member 410. The connecting member 410 is provided with a second slot 451, which is configured to cooperate with the second operating member so that the rotating rod 450 drives the retraction gear 420 to rotate under the drive of the second operating member.

[0059] Specifically, the rotating rod 450 is passed through the first end 413 and is rotatably connected with the first end 413, and the retraction gear 420 is sleeved on one side of the rotating rod 450 passing through the first end 413. The second operating member can be a common tool such as a wrench, which is adapted to the common tool such as a wrench through the second slot 451, that is, it can be inserted into the second slot 451 by a common tool such as a wrench, so that the common tool such as the wrench can be rotated to drive the rotating rod 450 to drive the retraction gear 420 to rotate, so that when the retraction gear 420 is in the second position, the retraction gear 420 drives the transmission member 200 to move.

[0060] See also Figure 1 and Figure 7 In one embodiment, the connecting member 410 includes a connecting rod 415 and a fixing rod 416, the connecting rod 415 is rotatably connected to the frame, the fixing rod 416 is connected to the second end 414, and the driven gear 310 is sleeved on the fixing rod 416 and rotatably connected to the fixing rod 416.

[0061] Furthermore, the cam 430 is disposed on the side of the connecting rod 415 away from the fixed rod 416, and the side of the connecting rod 415 close to the cam 430 is provided with a first abutting plate 411 for abutting against the cam 430, so as to reduce the interference of the cam 430 on the retracting gear 420 and improve the stability of the retracting mechanism. The side of the connecting rod 415 away from the first abutting plate 411 is provided with a second abutting plate 412 for abutting against the elastic member 440, and the second abutting plate 412 extends toward the side of the driven gear 310, so that the force applied by the elastic member 440 to the connecting member 410 is closer to the center position of the driven gear 310, so that the retracting gear 420 can be more stably engaged with the plurality of transmission teeth 210 when in the meshing position.

[0062] See also Figure 3 , Figure 4 and Figure 5 In one embodiment, the driving assembly 300 further includes a driving gear 330, which is connected to the output end of the motor 320. The driving gear 330 and the transmission member 200 are located on the same side of the driven gear 310. When the driven gear 310 is in the meshing position, the driving gear 330 meshes with the driven gear 310. When the driven gear 310 is in the disengaged position, the driving gear 330 is disengaged from the driven gear 310.

[0063] In this embodiment, by providing a driving gear 330 , the motor 320 can mesh with the driven gear 310 through the driving gear 330 , so that the position of the motor 320 can remain unchanged, and the motor 320 can be stably arranged on the frame, thereby improving the stability of the retracting mechanism.

[0064] See also Figure 1 , Figure 2 and Figure 8 , Figure 8 Schematic diagram of a cutting and suturing device provided by an embodiment of the present invention. An embodiment of the present invention further provides a cutting and suturing device, comprising an end effector 600, a housing, and the above-mentioned retraction mechanism, wherein the end effector 600 comprises a movable cutting member for cutting an object located in the end effector 600, the cutting member is transmission-connected to the transmission member 200, the housing 520 is connected to the frame 100, the retraction mechanism is disposed in the housing 520, and an operating opening is provided on the housing 520, so as to operate the retraction mechanism through the operating opening.

[0065] Specifically, the arrangement inside the shell 520 protects the retracting mechanism, prevents the scratches of external components from affecting the operation of the retracting mechanism, and improves the reliability of the cutting and suturing device.

[0066] The connection between the connecting member 410 and the bracket 100 in the present application is located between the driven gear 310 and the retraction gear 420. The connecting member 410 rotates relative to the bracket 100, which can drive the retraction gear 420 to switch from the first position to the second position, and drive the driven gear 310 to switch from the meshing position to the disengaged position, that is, the driven gear 310 is disconnected from the plurality of transmission teeth 210 and the motor 320, thereby disconnecting the transmission of the driven gear 310 and the transmission member 200. At the same time, the retraction gear 420 is connected to the plurality of transmission teeth 210, so that the rotation of the retraction gear 420 itself can be converted into the movement of the transmission member 200, so that the transmission member 200 retracts, that is, every time the retraction gear 420 rotates one circle, the transmission member 200 can retract the circumference of the retraction gear 420, thereby greatly improving the retraction efficiency of the transmission member 200, achieving efficient retraction, and improving the adaptability of the cutting and suturing device.

[0067] See also Figure 2 and Fig. 9 , Fig. 9 A schematic diagram of a cover plate in a cutting and suturing device provided in one embodiment of the present invention. In one embodiment, the cutting and suturing device further includes a cover plate 510, and the cover plate 510 has a first state and a second state. When the cover plate 510 is in the first state, the cover plate 510 is used to cover the operation opening, and when the cover plate 510 is in the second state, the cover plate 510 is used to cooperate with the retracting gear 420 to drive the retracting gear 420 to rotate.

[0068] Specifically, the cover plate 510 is detachably connected to the housing 520. When the cover plate 510 is connected to the housing 520, the cover plate 510 is in the first state, and the cover plate 510 is used to cover the operation opening to prevent the retraction mechanism from being exposed to the outside and reduce interference with other components. When the cover plate 510 is separated from the housing 520, the cover plate 510 can cooperate with the retraction gear 420. When the retraction gear 420 is in the second position, the cover plate 510 is manually controlled to rotate to drive the retraction gear 420 to rotate, thereby driving the transmission member 200 to move.

[0069] Furthermore, the end of the cover plate 510 is provided with an unlocking member 511 adapted to the first slot 433. When it is necessary to control the transmission member 200 to retract, the cover plate 510 can be removed, and the unlocking member 511 on one side of the cover plate 510 is inserted into the first slot 433 to control the rotation of the cover plate 510 to realize the rotation of the cam 430, so that the retraction gear 420 switches to the second position, thereby facilitating the driving of the transmission member 200 to retract. Compared with finding other operating members such as a wrench to control the rotation of the cam 430, the efficiency of the retraction of the transmission member 200 is improved. Among them, the size of the cover plate 510 is larger than the size of the unlocking member 511, and the effect of labor saving can also be achieved. Among them, the first slot 433 can be a slotted hole or a hexagonal socket. In other embodiments, the rotation of the cam 430 can also be controlled by other operating members such as a wrench.

[0070] Furthermore, a first avoidance hole corresponding to the first slot 433 is provided on the shell 520, and a boss 434 is provided on the cam 430. The boss 434 is inserted into the first avoidance hole, and the side of the boss 434 away from the cam 430 is flush with the shell 520, and the first slot 433 is set on the boss 434.

[0071] In addition, the unlocking member 511 on one side of the cover plate 510 is also adapted to the second slot 451. When the unlocking member 511 is inserted into the first slot 433, the cover plate 510 can be manually rotated so that the cover plate 510 drives the cam 430 to rotate, so that the connecting member 410 drives the retraction gear 420 to move to the second position, the cover plate 510 is taken out, the unlocking member 511 on the cover plate 510 is inserted into the second slot 451, and the cover plate 510 is manually rotated again to drive the retraction gear 420 to rotate, so as to realize the retraction of the transmission member 200. Compared with finding other operating members such as a wrench to control the rotation of the retraction gear 420, the efficiency of the retraction of the transmission member 200 is improved. Among them, the second slot 451 can be a slotted slot or a hexagonal slot. In other embodiments, the rotation of the rotating rod 450 can also be controlled by other operating members such as a wrench.

[0072] Furthermore, a second avoidance hole corresponding to the second slot 451 is provided on the shell 520 , and the rotating rod 450 is partially accommodated in the second avoidance hole, and the side away from the retracting gear 420 is flush with the shell 520 .

[0073] 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.

[0074] 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: A bracket (100), A transmission member (200) is slidably connected to the bracket (100), and the transmission member (200) includes a plurality of transmission teeth (210); A driving assembly (300) comprises a driven gear (310) and a motor (320); the driven gear (310) has an engaged position and a disengaged position; when the driven gear (310) is in the engaged position, the driven gear (310) is engaged with the plurality of transmission teeth (210) and is in transmission connection with the motor (320); when the driven gear (310) is in the disengaged position, the driven gear (310) is disengaged from the plurality of transmission teeth (210) and is disengaged from the motor (320); and, A retraction assembly (400), comprising a connecting member (410) and a retraction gear (420), wherein the connecting member (410) is rotatably connected to the bracket (100), one end of the connecting member (410) is rotatably connected to the retraction gear (420), and the other end of the connecting member (410) is rotatably connected to the driven gear (310), and a connection point between the connecting member (410) and the bracket (100) is located between the retraction gear (420) and the driven gear (310); The retraction gear (420) has a first position and a second position, and the retraction gear (420) is operably controlled to switch from the first position to the second position through the connecting member (410); when the retraction gear (420) switches from the first position to the second position, the driven gear (310) switches from the meshing position to the disengaging position, and the retraction gear (420) meshes with the plurality of transmission teeth (210).

2. The retraction mechanism according to claim 1, characterized in that: The retraction assembly (400) further includes a cam (430), which is rotatably connected to the bracket (100) and transmission-connected to the connecting member (410). The cam (430) is configured to rotate around its own rotation center to drive the connecting member (410) to rotate relative to the bracket (100), so that the retraction gear (420) switches from the first position to the second position.

3. The retraction mechanism according to claim 2, characterized in that: The wheel wall of the cam (430) abuts against one end of the connecting member (410) close to the driven gear (310), and the cam (430) is used to push the connecting member (410) to rotate. The retraction component (400) also includes an elastic member (440), one end of which is connected to the bracket (100), and the other end is connected to a side of the connecting member (410) close to the driven gear (310), and the elastic member (440) is used to apply a thrust toward the transmission member (200) to the end of the connecting member (410) close to the driven gear (310).

4. The retraction mechanism according to claim 3, characterized in that: The wheel wall of the cam (430) includes a driving section (431), and in the direction of rotation of the cam (430) relative to the bracket (100), the distance between the driving section (431) and the rotation center of the cam (430) gradually increases.

5. The retraction mechanism according to claim 4, characterized in that: The wheel wall of the cam (430) further comprises a locking section (432), wherein the locking section (432) is connected to an end of the driving section (431) away from the rotation center of the cam (430), and the locking section (432) is adapted to the outer wall of the connecting member (410). When the retracting gear (420) is located at the second position, the locking section (432) is used to fit with the connecting member (410) to lock the position of the connecting member (410).

6. The retraction mechanism according to claim 2, characterized in that: A first slot (433) is provided on the rotation center of the cam (430), and the first slot (433) is configured to cooperate with a first operating member so that the cam (430) rotates under the drive of the first operating member.

7. The retraction mechanism according to any one of claims 1 to 6, characterized in that: The retraction assembly (400) further includes a rotating rod (450), and the retraction gear (420) is rotatably connected to the connecting member (410) via the rotating rod (450). A second slot (451) is provided on the rotating rod (450), and the second slot (451) is configured to cooperate with a second operating member so that the rotating rod (450) drives the retraction gear (420) to rotate under the drive of the second operating member.

8. The retraction mechanism according to any one of claims 1 to 6, characterized in that: The driving assembly (300) further comprises a driving gear (330), wherein the driving gear (330) is connected to the output end of the motor (320), and the driving gear (330) and the transmission member (200) are located on the same side of the driven gear (310). When the driven gear (310) is in the meshing position, the driving gear (330) meshes with the driven gear (310), and when the driven gear (310) is in the disengaging position, the driving gear (330) is disengaged from the driven gear (310).

9. A cutting and suturing device, characterized in that: It comprises an end actuator (600), a shell (520) and the retraction mechanism according to any one of claims 1 to 8, wherein the end actuator (600) comprises a movable cutting member for cutting an object located in the end actuator (600), the cutting member is transmission-connected to the transmission member (200), the shell (520) is connected to the bracket (100), the retraction mechanism is arranged in the shell (520), and an operating opening is provided on the shell (520) so as to operate the retraction mechanism through the operating opening.

10. The cutting and suturing device according to claim 9, characterized in that: The cutting and suturing device further comprises a cover plate (510), wherein the cover plate (510) has a first state and a second state. When the cover plate (510) is in the first state, the cover plate (510) is used to cover the operating opening. When the cover plate (510) is in the second state, the cover plate (510) is used to cooperate with the retracting gear (420) to drive the retracting gear (420) to rotate.

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