Automatic nail loading device for nail bin of anastomat

Abstract

The invention discloses a full-automatic nail loading device for a nail bin of an anastomat. The device comprises a mounting seat, a nail feeding mechanism and a detection mechanism, the mounting seat is configured to place at least one staple cartridge; the nail feeding mechanism is configured to sequentially separate a plurality of anastomosis nails from a nail row and respectively install the anastomosis nails into a plurality of nail cavities of the nail bin, and the nail row is constructed to be a separable combination of at least two anastomosis nails in an arrangement direction; the detection mechanism is configured to detect the anastomosis nails in the nail cavities respectively. According to the full-automatic nail loading device, the anastomosis nails can be automatically assembled and detected in the nail bin.

Description

Technical Field

[0001] The invention relates to the technical field of automated industrial robots, and in particular to an automatic stapling device for a stapler cartridge. Background Art

[0002] Endocavity cutting stapler is a medical device used in surgical operations.

[0003] At present, intracavitary cutting staplers are widely used in clinical medicine. They are very popular among medical institutions and patients due to their convenient and fast suturing, few side effects and surgical complications.

[0004] The intracavitary cutting stapler mainly uses multiple staples to sew the treatment position in the human body to form a complete suture surface. Due to the small size of a single stapler, the automated assembly of staples in the intracavitary cutting stapler has always been a problem that needs to be solved in the industry.

[0005] Patent 1 with publication number CN110181243A proposes a stapler stapling system, which utilizes a stapling robot to replace manual clamping of staples and feeds them into a stapler.

[0006] Although Patent 1 can automate the assembly process of staples, Patent 1 essentially only uses a robot to simulate manual actions. Its efficiency in reciprocatingly clamping staples is low, and the action of clamping and feeding a single staple into the staple magazine requires very high control accuracy of the robot. Summary of the invention

[0007] In view of this, a first aspect of the present invention discloses a fully automatic stapling device for a stapler staple cartridge.

[0008] The device comprises a mounting seat, a nailing mechanism and a detection mechanism;

[0009] The mounting seat is configured to accommodate at least one nail magazine;

[0010] The staple loading mechanism is configured to sequentially separate a plurality of staples from a staple row and install the plurality of staples into a plurality of staple cavities of the staple cartridge, wherein the staple row is configured as a separable combination of at least two staples along an arrangement direction;

[0011] The detection mechanism is configured to respectively detect the anastomotic staples in each staple cavity.

[0012] In some embodiments disclosed in the present invention,

[0013] The mounting seat includes a seat body and a nail magazine fixing structure;

[0014] The nail magazine fixing structure limits the position of the nail magazine placed on the seat body.

[0015] In some embodiments disclosed in the present invention,

[0016] The nailing mechanism comprises a first driving assembly and a first nailing assembly;

[0017] The first driving assembly drives the first nail assembly to move above the mounting seat;

[0018] The first nail assembly is configured to place the nail row, sequentially separate the anastomotic staples currently arranged at the front of the nail row, and sequentially push the separated plurality of anastomotic staples into each of the nail cavities.

[0019] In some embodiments disclosed in the present invention,

[0020] The first nailing assembly includes a nail box, a pushing member and a pressing member;

[0021] The nail box is configured to receive the nail row along an arrangement direction, and is configured with a bottom opening at one end of the nail row in the arrangement direction, wherein the bottom opening is configured to allow only one staple to pass downward;

[0022] The pushing member is configured to push the row of nails in the nail box toward the bottom opening;

[0023] The pressing member is configured to push the anastomotic staple currently arranged at the front in the staple row out of the bottom opening.

[0024] In some embodiments disclosed in the present invention,

[0025] The pushing member is configured as a compression elastic member;

[0026] The compression elastic member is installed in the nail box at the other end opposite to the bottom opening.

[0027] In some embodiments disclosed in the present invention,

[0028] The nailing mechanism includes a second driving assembly and at least two second nailing assemblies;

[0029] The second driving assembly drives the at least two first nailing assemblies to move in a straight line above the mounting seat;

[0030] The second nailing assembly is configured to place the nail row, sequentially separate the anastomosis staples currently arranged at the front of the nail row, and sequentially push the separated multiple anastomosis staples into each of the nail cavities that are moved through.

[0031] In some embodiments disclosed in the present invention,

[0032] The detection mechanism includes a detection circuit and detection elements having the same number as the nail cavities;

[0033] The detection element is mounted on the mounting seat and forms a conducting circuit with the two nail feet of the stapler in the corresponding nail cavity in electrical contact;

[0034] The detection circuit indicates whether the anastomotic staple in the corresponding staple cavity is in place or not in place according to the conductive loop indication.

[0035] In some embodiments disclosed in the present invention,

[0036] The detection mechanism includes a detection plate;

[0037] The portion of the mounting seat opposite to each of the nail cavities of the nail magazine is configured with a hollow groove;

[0038] The detection plate is detachably connected to the mounting seat and covers the hollow groove;

[0039] The detection element is mounted on the detection plate, and detects the anastomotic staples in the staple cavity after the detection plate is connected to the mounting seat.

[0040] In some embodiments disclosed in the present invention,

[0041] The staple loading mechanism is configured to sequentially separate a plurality of staples from a staple row, and install the plurality of staples into a plurality of staple cavities of the staple magazine with the staple feet facing upward.

[0042] In some embodiments disclosed in the present invention,

[0043] The device comprises a loading and unloading mechanism;

[0044] The loading and unloading mechanism is configured to transfer a nail magazine before stapling into the mounting seat, or to transfer a nail magazine after stapling out of the mounting seat.

[0045] A second aspect of the present invention discloses an automatic stapling device for a stapler cartridge.

[0046] The device comprises a mounting seat and a nailing mechanism;

[0047] The mounting seat is configured to accommodate at least one nail magazine;

[0048] The staple loading mechanism is configured to sequentially separate a plurality of staples from a staple row and install the plurality of staples into a plurality of staple cavities of the staple magazine, wherein the staple row is constructed as a separable combination of at least two staples along an arrangement direction.

[0049] The fully automatic stapling device of the stapler stapler of the present invention is different from the prior art which uses a robot to simply replace manual labor. The fully automatic stapling device uses the staple row as the assembly material, combines the action of separating the staples in the staple row with the action of assembling the staples in the stapler, thereby realizing an automated, efficient and reliable staple assembly operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative work.

[0051] Figure 1 It is a structural schematic diagram of the fully automatic stapling device of the stapler cartridge of the present embodiment;

[0052] Figure 2 This is a schematic diagram of the structure of the mounting base of this embodiment;

[0053] Figure 3 This is a schematic diagram of the structure of the clamping assembly, the mounting base and the nail magazine in this embodiment;

[0054] Figure 4 This is a schematic structural diagram of the nailing mechanism of this embodiment;

[0055] Figure 5 This is a schematic structural diagram of the first nailing assembly of this embodiment;

[0056] Figure 6 is a cross-sectional view of the nail box of this embodiment;

[0057] Figure 7 This is a schematic diagram of the structure of the pressing kit in this embodiment;

[0058] Figure 8 Schematic diagram of the principle of the detection mechanism of this embodiment.

[0059] Figures are marked: 10, bracket; 11, industrial platform; 20, mounting seat; 21, seat body; 22, head protrusion; 23, middle baffle; 24, side baffle; 25, hollow groove; 26, nail magazine; 30, feeding mechanism; 31, feeding and unloading conveyor belt; 32, three-axis translation assembly; 33, clamping assembly; 40, nailing mechanism; 41, first nailing assembly; 42, first driving assembly; 411, shell; 412, nail box; 4121, Bottom opening; 4122, feed opening; 413, pressing kit; 51, driving motor; 52, gear set; 521, first gear; 522, second gear; 523, third gear; 524, fourth gear; 60, linear reciprocating assembly; 61, rotating disk; 62, transmission rod; 63, connecting rod shaft; 64, lifting block; 65, pressing block; 70, detection mechanism; 71, detection board; 72, detection circuit; 73, detection element. DETAILED DESCRIPTION

[0060] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] The embodiment of the present invention discloses a fully automatic stapling device for a stapler staple cartridge, which is used to realize automatic stapling assembly and detection of staplers in a stapler staple cartridge.

[0062] Figure 1 It is a schematic plan view of the fully automatic stapling device of the stapler magazine of this embodiment.

[0063] Figure 1 The fully automatic stapling device is shown to include an industrial platform 11 and a mounting base 20 mounted on the industrial platform 11 , a feeding mechanism 30 , a stapling mechanism 40 and a detection mechanism 70 .

[0064] The industrial platform 11 includes a bracket 10 and an industrial plane formed on the bracket 10. The bracket 10 can be installed with structures such as industrial computers and electrical cabinets. The mounting seat 20, the feeding mechanism 30, the nailing mechanism 40 and the detection mechanism 70 are installed on the industrial plane.

[0065] The mounting seat 20 can place a staple cartridge 26 for staples and limit the position of the staples after placement, wherein the position limitation of the staples includes preventing the staple cartridge 26 from actively shifting and preventing the staple cartridge 26 from passively shaking when the staples are assembled.

[0066] The loading mechanism 30 transfers a pre-stapling staple cartridge 26 into the mounting seat 20 , and transfers a staple cartridge 26 out of the mounting seat 20 .

[0067] The staple loading mechanism 40 can sequentially separate multiple staples from a staple row, and install the multiple staples into multiple staple cavities of the staple cartridge 26. The staple row includes multiple staples, and the multiple staples are formed into a separable combination along an arrangement direction. In the separable combination, adjacent staples can be bonded by glue, or in the separable combination, adjacent staples are integrally formed, but a weak cut that can be easily separated when a shear force is applied from the outside is formed between adjacent staples, such as a breaking structure line.

[0068] The detection mechanism 70 can detect whether there is an anastomosis staple in each staple cavity of the staple cartridge 26 .

[0069] Therefore, the fully automatic stapling device of this embodiment uses a loading mechanism to move the row of nails to be assembled to the mounting seat. The loading mechanism is pre-assembled with a row of nails and sequentially separates the staples in the row of nails and presses them into the corresponding nail cavities. The loading mechanism is then used to move the assembled nail magazine from the mounting seat to the outside. The fully automatic stapling device is different from the prior art that uses a manipulator to replace manual operation. The fully automatic stapling device uses the row of nails as the original material for assembly, combines the action of separating the staples in the row of nails with the assembly of the staples in the staple magazine, and creatively applies the staple removal method of general stapling equipment to the automated assembly of the staples in the staple magazine, thus realizing a simple, efficient, and reliable automated staple assembly operation. In addition, the fully automatic stapling device uses a detection mechanism to detect the staples in the nail cavity, ensuring the assembly success rate and avoiding the problems of low efficiency and unsuccessful assembly when a single staple is assembled manually or by a manipulator instead of manually.

[0070] Furthermore, the fully automatic stapling device also includes a length detection mechanism. The length detection mechanism can be used to detect the current length of the nail row. Then, when the detection mechanism detects that there are staples in the nail cavity and the length detection mechanism detects that the current length of the nail row is synchronously reduced, it can be reliably determined that there are staples placed in the current nail cavity in a double detection and mutual verification manner.

[0071] Figure 2 Schematic diagram of the structure of the mounting base of this embodiment.

[0072] Figure 2 The mounting seat 20 is shown to include a seat body 21 and a nail magazine 26 fixing structure.

[0073] The base body 21 is constructed as a rectangular bottom plate. The nail magazine 26 fixing structure includes a head protrusion 22 formed at one end of the base body 21, side baffles 24 located on both sides of the base body 21, and an intermediate baffle 23 located in the middle of the base body 21. One side of the head protrusion 22 is triangular stepped to fit the triangular head of the nail magazine 26. The intermediate baffle 23 and the side baffles 24 are both arranged along the length direction of the base body 21. The two side baffles 24 can fit the width of the nail magazine 26, and the intermediate baffle 23 fits the width of the push knife slot of the nail magazine 26.

[0074] Therefore, the mounting seat of this embodiment adopts a fixed structure design for the nail magazine, which can achieve effective fixation of the nail magazine.

[0075] Figure 1 The loading mechanism 30 of this embodiment is shown to include a loading and unloading conveyor belt 31 , a three-axis translation assembly 32 and a clamping assembly 33 .

[0076] The loading and unloading conveyor belt 31 is installed on the industrial plane, and transfers the external nail magazine 26 to be assembled into the working range of the three-axis translation assembly 32. The three-axis translation assembly 32 is installed on the industrial plane, and controls the clamping assembly 33 to shift between the loading and unloading conveyor belt 31 and the mounting seat 20. The clamping assembly 33 clamps and takes out the nail magazine 26 located on the loading and unloading conveyor belt 31 and transfers it to the mounting seat 20, and clamps and takes out the assembled nail magazine 26 on the mounting seat 20 and transfers it to the loading and unloading conveyor belt 31.

[0077] Furthermore, the clamping assembly 33 can be adapted to the seat body 21 and the nail magazine 26 fixing structure. The clamping assembly 33 is constructed with at least two clamping positions. When the nail magazine 26 is transferred to the mounting seat 20, the first clamping position of the clamping assembly 33 first releases the tail end of the nail magazine 26 downward, so that the middle baffle 23 can be embedded in the push knife groove of the nail magazine 26, and then the second clamping position of the clamping assembly 33 releases the head end of the nail magazine 26 downward, so that the middle baffle 23 can abut against the innermost part of the push knife groove, and at this time, the head end of the nail magazine 26 is contacted and supported by the head protrusion 22.

[0078] Figure 3 It is a schematic structural diagram of the clamping assembly, mounting base and nail magazine of this embodiment.

[0079] Figure 3 The clamping assembly 33 is shown to include a mobile end and two clamping manipulators (331, 332) mounted on the mobile end. The two clamping manipulators (331, 332) are spaced a certain distance apart to achieve a first clamping position for clamping the tail end of the nail magazine 26 and a second clamping position for clamping the head end of the nail magazine 26.

[0080] Therefore, the cooperation between the two clamping manipulators of the clamping assembly of this embodiment and the mounting seat can simply and effectively fix the nail magazine to the mounting seat, or remove the nail magazine from the mounting seat.

[0081] Figure 4 It is a structural schematic diagram of the nailing mechanism of this embodiment.

[0082] Figure 4 The nailing mechanism 40 is shown to include a first driving assembly 42 and a first nailing assembly 41 .

[0083] The first driving assembly 42 drives the first nail assembly 41 to move in multiple horizontal directions above the mounting seat 20 .

[0084] Specifically, the first driving assembly 42 is a horizontal two-axis translation assembly. The first driving assembly 42 is a horizontal two-axis translation assembly that can drive the first nail assembly 41 to move horizontally in the X direction and the Y direction.

[0085] The first upper nail assembly 41 can place a nail row, and can sequentially separate a staple currently arranged at the front end of the nail row, and push the separated staples into different nail cavities sequentially under the movement control of the first driving assembly 42.

[0086] Therefore, the first upper staple assembly of the present embodiment can push down a plurality of staples from above the staple magazine into different staple cavities.

[0087] Figure 5 It is a schematic structural diagram of the first nail assembly of this embodiment. Figure 6 is a cross-sectional view of the nail box of this embodiment;

[0088] Figure 5 The first nailing assembly 41 is shown to include a housing 411 , a nail box 412 , a pushing member (not shown in the figure) and a pressing kit 413 . Figure 6 It is shown that one end of the nail box 412 is configured with a bottom opening 4121, and the other end is configured with a feed opening 4122 for allowing the nail row to enter.

[0089] The first upper nail assembly 41 is fixedly connected to the housing 411, and the first upper nail assembly 41 drives the housing 411 to move horizontally. The nail box 412 is installed in the housing 411. The nail row is stored in the nail box 412 along an arrangement direction, and the length and width of the bottom opening 4121 can only allow the frontmost staple in the nail row to pass downward. The pusher is installed in the nail box 412 so that after a staple passes downward through the bottom opening 4121, another staple currently arranged in the front of the nail row is pushed to the top of the bottom opening 4121. The pressing kit 413 can be controlled to perform a pressing or lifting operation. When the pressing kit 413 is pressed down, a staple located above the bottom opening 4121 is separated from the nail row, and the separated staple is pushed out of the bottom opening 4121.

[0090] Figure 7Schematic diagram of the structure of the pressing kit 413 of this embodiment.

[0091] Figure 7 The pressing assembly 413 is shown to include a driving motor 51 , a gear set 52 , a linear reciprocating assembly 60 and a pressing block 65 .

[0092] The driving motor 51 is fixedly connected to the housing 411. The driving motor drives the linear reciprocating assembly 60 through the gear set 52. The linear reciprocating assembly 60 makes the lower pressing block 65 reciprocate in the vertical direction. During the downward movement of the lower pressing block 65, it will contact and separate the staples located above the bottom opening 4121. During the upward movement of the lower pressing block 65, the space above the bottom opening 4121 will be vacated, so that the pusher pushes the frontmost staples of the current staple row to the top of the bottom opening 4121.

[0093] Further, the gear set 52 includes a first gear 521, a second gear 522, a third gear 523 and a fourth gear 524 fixedly connected to the housing 411. The driving motor 51 is meshed with the first gear 521 to transmit power. The second gear 522 and the third gear 523 are small-diameter gears, and the first gear 521 is meshed with the second gear 522, and the second gear 522 is meshed with the third gear 523 to increase torque. The third gear 523 is meshed with the fourth gear 524.

[0094] The linear reciprocating assembly 60 is constructed as a crank lever assembly. The crank lever assembly includes a rotating disk 61, a transmission rod 62, a connecting rod shaft 62, and a lifting block 64. The rotating disk 61 rotates coaxially with the fourth gear 524. The rotating disk 61 is configured with a transmission shaft at a position away from the center. One end of the transmission rod 62 is configured as an arc groove, and a movable groove is configured in the center. The other end is rotatably connected to the upper end of the lifting block 64. The transmission shaft is sleeved in the arc groove, and the connecting rod shaft 62 is sleeved in the movable groove. The lifting block 64 is restricted by the shell 411 to rise and fall in the vertical direction, and the lower end of the lifting block 64 is fixedly connected to the lower pressing block 65.

[0095] Therefore, this embodiment controls the driving motor so that the driving motor controls the lowering or raising of the pressing block through the gear set and the linear reciprocating assembly, thereby effectively controlling the pressing block to separate the anastomotic staples arranged in front of the staple row and push them downward into the staple cavity.

[0096] Furthermore, the pressing block 65 presses down the back of the staples, that is, the staples are pressed into the non-nail-exiting surface of the staple cartridge 26 in a manner that the staple legs face downward.

[0097] In some embodiments, the pressing block 65 is used to press down the legs of the staples, that is, the staples are pressed into the staple surface of the staple cartridge 26 with the legs facing upward.

[0098] Further, the pusher is constructed as a passive pusher, such as a compression spring. The compression spring is installed in the nail box 412 at the other end relative to the bottom opening 4121 to always push the nail row.

[0099] Preferably, the pusher is configured as an active pusher, such as a linear drive cylinder. The linear drive cylinder extends from the feed opening 4122 at the other end of the nail box 412 relative to the bottom opening 4121 to push the nail row in the nail box 412 toward the bottom opening 4121 according to the number of remaining staples in the nail row. The nail row can be loaded from the feed opening 4122.

[0100] In some embodiments, the nailing mechanism 40 includes a second driving assembly and a plurality of second nailing assemblies.

[0101] The second driving assembly drives the plurality of second nail assemblies to move synchronously in a horizontal direction above the mounting seat 20 .

[0102] Specifically, the first drive assembly 42 is a linear translation assembly. The second drive assembly is a linear translation assembly that can simultaneously drive multiple second nailing assemblies to move horizontally in the Y direction. Each second nailing assembly fills the staples of multiple staple cavities along the staple magazine 26 in the Y direction. In some embodiments, the nailing mechanism 40 composed of the second drive assembly and multiple second nailing assemblies has better efficiency in the assembly of staples.

[0103] Figure 8 Schematic diagram of the principle of the detection mechanism of this embodiment.

[0104] Figure 8 The detection mechanism 70 is shown to include a detection board 71, a detection circuit 72 installed on the detection board 71, and a plurality of detection elements 73 (a single detection element 73 is shown in the figure).

[0105] The detection plate 71 cooperates with the seat body 21 of the mounting seat 20. The seat body 21 is constructed with a through hollow groove 25 in the area of ​​each nail cavity relative to the nail magazine 26. The detection plate 71 can be embedded in the hollow groove 25 to completely cover the detection plate 71. The detection circuit 72 is arranged on the back side of the detection plate 71 relative to the nail magazine 26. A plurality of detection elements 73 are arranged on the front side of the detection plate 71 relative to the nail magazine 26, and correspond one by one to the plurality of nail cavities in the nail magazine 26. Each detection element 73 includes two detection contacts that can extend into the nail cavity. After the detection plate 71 is embedded in the mounting seat 20, the two detection contacts can contact with the two nail feet of the staple in the staple cavity and form a conductive loop. The detection circuit 72 indicates that the staple is assembled in place after each detection element 73 forms a conductive loop with the corresponding staple.

[0106] Therefore, the detection mechanism of this embodiment uses two detection contacts of the detection element to contact the two nail legs of the staple in the staple cavity respectively to form a conducting loop. The detection circuit can detect the staple in the staple cavity through the effective signal generated by the conducting loop.

[0107] Preferably, the detection circuit, the detection element, and the staples form a conductive loop. The detection element includes two resistors. One resistor in the conductive loop is grounded, and the other resistor is connected to the detection circuit after passing through the staples. The detection element can determine whether the staples are in electrical contact with the resistors by detecting whether there is current in the conductive loop.

[0108] Based on this, the fully automatic stapling device of the stapler staple magazine of this embodiment is different from the prior art which uses a robot to simply replace manual labor. The fully automatic stapling device uses the staple row as the assembly material, and combines the action of separating the staples in the staple row with the action of assembling the staples in the staple magazine, thereby realizing an automated, efficient and reliable staple assembly operation.

[0109] In addition, this embodiment discloses an automatic stapling device for the stapler cartridge 26 .

[0110] The automatic stapling device comprises the aforementioned mounting seat 20 and stapling mechanism 40. The mounting seat 20 is configured to accommodate at least one staple cartridge 26; the stapling mechanism 40 is configured to sequentially separate a plurality of staples from a staple row and install the plurality of staples into a plurality of staple cavities of the staple cartridge 26 respectively.

[0111] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic stapling device for a stapler cartridge, characterized in that: The device comprises a mounting seat, a nailing mechanism and a detection mechanism; The mounting seat is configured to accommodate at least one nail magazine; The staple loading mechanism is configured to sequentially separate a plurality of staples from a staple row and install the plurality of staples into a plurality of staple cavities of the staple cartridge, wherein the staple row is configured as a separable combination of at least two staples along an arrangement direction; The detection mechanism is configured to respectively detect the anastomotic staples in each staple cavity.

2. The fully automatic stapling device for a stapler cartridge according to claim 1, characterized in that: The mounting seat includes a seat body and a nail magazine fixing structure; The nail magazine fixing structure limits the position of the nail magazine placed on the seat body.

3. The fully automatic stapling device for a stapler cartridge according to claim 1, characterized in that: The nailing mechanism comprises a first driving assembly and a first nailing assembly; The first driving assembly drives the first nail assembly to move above the mounting seat; The first nail assembly is configured to place the nail row, sequentially separate the anastomotic staples currently arranged at the front of the nail row, and sequentially push the separated plurality of anastomotic staples into each of the nail cavities.

4. The fully automatic stapling device for a stapler cartridge according to claim 3, characterized in that: The first nailing assembly includes a nail box, a pushing member and a pressing member; The nail box is configured to receive the nail row along an arrangement direction, and is configured with a bottom opening at one end of the nail row in the arrangement direction, wherein the bottom opening is configured to allow only one staple to pass downward; The pushing member is configured to push the row of nails in the nail box toward the bottom opening; The pressing member is configured to push the anastomotic staple currently arranged at the front in the staple row out of the bottom opening.

5. The fully automatic stapling device for a stapler cartridge according to claim 4, characterized in that: The pushing member is configured as a compression elastic member; The compression elastic member is installed in the nail box at the other end opposite to the bottom opening.

6. The fully automatic stapling device for a stapler cartridge according to claim 1, characterized in that: The nailing mechanism includes a second driving assembly and at least two second nailing assemblies; The second driving assembly drives the at least two first nailing assemblies to move in a straight line above the mounting seat; The second nailing assembly is configured to place the nail row, sequentially separate the anastomosis staples currently arranged at the front of the nail row, and sequentially push the separated multiple anastomosis staples into each of the nail cavities that are moved through.

7. The fully automatic stapling device for a stapler cartridge according to claim 1, characterized in that: The detection mechanism includes a detection circuit and detection elements having the same number as the nail cavities; The detection element is mounted on the mounting seat and forms a conducting circuit with the two nail feet of the stapler in the corresponding nail cavity in electrical contact; The detection circuit indicates whether the anastomotic staple in the corresponding staple cavity is in place or not in place according to the conductive loop indication.

8. The fully automatic stapling device for a stapler cartridge according to claim 7, characterized in that: The detection mechanism includes a detection plate; The portion of the mounting seat opposite to each of the nail cavities of the nail magazine is configured with a hollow groove; The detection plate is detachably connected to the mounting seat and covers the hollow groove; The detection element is mounted on the detection plate, and detects the anastomotic staples in the staple cavity after the detection plate is connected to the mounting seat.

9. The fully automatic stapling device for a stapler cartridge according to claim 1, characterized in that: The staple loading mechanism is configured to sequentially separate a plurality of staples from a staple row, and install the plurality of staples into a plurality of staple cavities of the staple magazine with the staple feet facing upward.

10. The fully automatic stapling device for a stapler cartridge according to claim 1, characterized in that: The device comprises a loading and unloading mechanism; The loading and unloading mechanism is configured to transfer a nail magazine before stapling into the mounting seat, or to transfer a nail magazine after stapling out of the mounting seat.

11. An automatic stapling device for a stapler cartridge, characterized in that: The device comprises a mounting seat and a nailing mechanism; The mounting seat is configured to accommodate at least one nail magazine; The staple loading mechanism is configured to sequentially separate a plurality of staples from a staple row and install the plurality of staples into a plurality of staple cavities of the staple magazine, wherein the staple row is constructed as a separable combination of at least two staples along an arrangement direction.

Images