Cutting anastomat for surgical robot

Abstract

A cutting anastomat for a surgical robot comprises a base, an anastomosis assembly, a nail pushing driving assembly and a head swinging assembly, the anastomosis assembly comprises a jaw assembly, and the jaw assembly comprises a nail abutting seat, a nail box base, a nail bin and an I-shaped beam; the head swinging assembly is used for driving the jaw assembly to bend, and the nail pushing driving assembly is used for pushing the nail box base to be closed and simultaneously triggering the nail bin and pulling the nail box base to be opened; the nail pushing driving assembly comprises a nail pushing gear assembly, a nail pushing screw rod and a push-pull rod; the nail pushing gear assembly is matched with one end of the nail pushing screw rod to drive the nail pushing screw rod to move axially, the other end of the nail pushing screw rod is connected with one end of the nail pushing push-pull rod, and the other end of the nail pushing push-pull rod is connected with the I-shaped beam; the swing head assembly comprises a first pull rope, a second pull rope, a swing head reel, a sliding block, a pulley and a swing head chuck, the swing head reel is fixed to the swing head chuck, the pulley is located on the rear portion of the sliding block, one end of the second pull rope is fixed to the sliding block, the other end of the second pull rope is wound around the swing head chuck, and one end of the first pull rope is fixed to the sliding block. The other end of the rotating shaft bypasses the pulley, penetrates through the sliding block and then is wound on the swinging head reel; wherein the winding directions of the first pull rope and the second pull rope are opposite. According to the cutting anastomat, the surgical accuracy, the surgical efficiency and the surgical quality can be improved.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a cutting stapler for a surgical robot. Background Art

[0002] Minimally invasive surgical robots are increasingly being used in minimally invasive surgeries in major hospitals at home and abroad due to their many advantages, such as small surgical incisions and flexible and precise operations. Among them, the wide variety of surgical instruments is also a major advantage. The appropriate instruments can be selected according to different parts of the body, and various surgical operations can be easily completed. Cutting staplers are a large category of surgical instruments. Due to their advantages such as simple operation, saving surgical time, and one-time use to avoid cross infection, they have been widely used in various thoracic and abdominal surgical operations.

[0003] In current robotic surgery, the bedside doctor usually holds a laparoscopic cutting stapler to perform anastomosis. The disadvantage of this method is that the anastomosis site of the bedside doctor may deviate from the intended anastomosis site of the surgeon, and the surgical operation is not precise enough. In addition, due to the instability of human hands, the jaws of the stapler will swing slightly during the anastomosis process, causing problems such as slight deviation of the staple line at the anastomosis. Summary of the invention

[0004] In order to solve the above technical problems, the technical solutions provided by the present invention are as follows:

[0005] A cutting stapler for a surgical robot comprises: a base, a stapler assembly, a staple pusher drive assembly, and a swing head assembly. The stapler assembly comprises a jaw assembly, and the jaw assembly comprises: a staple support, a staple magazine base, a staple magazine, and an I-beam; the swing head assembly is used to drive the jaw assembly to bend, and the staple pusher drive assembly is used to push the staple magazine base to close and simultaneously fire the staple magazine and pull the staple magazine base to open; the staple pusher drive assembly comprises: a staple pusher gear assembly, a staple pusher screw, and a push-pull rod; the staple pusher gear assembly cooperates with one end of the staple pusher screw to drive the staple pusher screw to move axially The other end of the push-nail screw is connected to one end of the push-nail push-pull rod, and the other end of the push-nail push-pull rod is connected to the I-beam; the swing head assembly includes: a first pull rope, a second pull rope, a swing head reel, a slider, a pulley, and a swing head chuck. The swing head reel is fixed on the swing head chuck, and the pulley is located at the rear of the slider. One end of the second pull rope is fixed on the slider, and the other end is wound around the swing head chuck. One end of the first pull rope is fixed on the slider, and the other end passes around the pulley and then passes through the slider and is wound around the swing head reel; wherein, the winding directions of the first pull rope and the second pull rope are opposite.

[0006] Furthermore, the pin pushing gear assembly includes a pin pushing driving gear and a pin pushing passive gear meshing with the pin pushing driving gear. The pin pushing driving gear is connected to the first input part. A driving nut is fixedly installed at the center of the pin pushing passive gear, and the driving nut cooperates with the pin pushing screw.

[0007] Furthermore, a middle-layer bracket is provided in the base, and the first input part is a nail pushing chuck, which cooperates with the nail pushing driving gear. The nail pushing chuck passes through the bearings of the base and the middle-layer bracket and is axially limited by a first retaining ring, and the nail pushing driving gear is arranged on the nail pushing chuck and is axially limited by a second retaining ring.

[0008] Furthermore, the stapler assembly includes two upper and lower fixed connecting plates, and the jaw assembly is provided with two upper and lower fixed pins, and the fixed connecting plate and the jaw assembly are riveted through the fixed pins.

[0009] Furthermore, the stapler assembly also includes a swing head connecting piece and a connecting rod pin. The swing head connecting piece and the jaw assembly are connected by the connecting rod pin, so that the jaw assembly can rotate around the fixed pin when the swing head connecting piece is pushed or pulled.

[0010] Furthermore, the swing head assembly also includes a first push-pull rod and a swing head push-pull rod, one end of the first push-pull rod is fixedly connected to the slider, and the other end is fixedly connected to one end of the swing head push-pull rod, and the other end of the swing head push-pull rod is buckled with the swing head connecting plate.

[0011] Furthermore, one end of the swing head push-pull rod includes a bent portion, and the bent portion is provided with a through hole for the push screw to pass through.

[0012] Furthermore, the swing head assembly also includes a wire guide, and the first pull rope and the second pull rope pass through the wire guide and are then respectively wound around the swing head reel and the swing head chuck.

[0013] The cutting stapler of the present invention uses a screw nut structure as the main transmission mechanism for realizing closing and cutting actions, can realize automatic closing of the stapler magazine assembly, and can swing the stapler magazine assembly left and right through the swing head assembly, so that the entire surgical process is completely controlled by the surgeon; the cutting stapler of the present invention can improve surgical accuracy, surgical efficiency and surgical quality, and has a simple structure, good effect, low cost and easy process implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0015] Figure 1 This is a schematic diagram of the overall structure of the cutting stapler for the surgical robot of the present invention;

[0016] Figure 2 This is a schematic diagram of the internal structure of the cutting stapler base for the surgical robot of the present invention;

[0017] Figure 3 This is a schematic diagram of the installation of the jaw assembly of the present invention;

[0018] Figure 4It is a schematic cross-sectional view of the structure of a cutting stapler for a surgical robot according to the present invention;

[0019] Figure 5 It is a schematic diagram of the structure of the swing head assembly of the present invention;

[0020] Figure 6 It is a partial structural schematic diagram of the anastomosis assembly of the present invention.

[0021] 1 and 2. In the accompanying drawings, numerals are shown: 10, base; 11, middle bracket; 12, top bracket; 20, instrument rod; 21, first internal firmware; 311, driving gear for pushing nail; 312, passive gear for pushing nail; 32, screw rod for pushing nail; 33, driving nut; 35, first retaining ring; 36, second retaining ring; 41, first pull rope; 42, second pull rope; 43, swing head reel; 44, slider; 45, pulley; 46, first push-pull rod; 47, swing head push-pull rod; 48, guide; 50, anastomosis assembly; 511, nail support; 512, nail magazine base; 513, nail magazine; 514, I-beam; 515, nail pushing slider; 52, assembly outer tube; 531, internal firmware of the first assembly outer tube; 532, internal firmware of the second assembly outer tube; 54, fixed connecting plate; 55, fixed pin; 56, swing head connecting plate; 57, connecting rod pin; 61, nail pushing chuck; 62, swing head chuck. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in 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.

[0023] In this document, “upper”, “lower”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0024] In the following, the end of each component close to the operator is defined as the proximal end, and the end away from the operator is defined as the distal end. The expressions of the proximal end and the distal end are only used to make the description simple and clear, and should not be understood as any limitation to the present invention.

[0025] See attached Figure 1-6A cutting stapler for a surgical robot includes: a base 10, a stapler assembly, a stapler driving assembly, and a swing head assembly. The stapler assembly 50 includes a jaw assembly, and the jaw assembly includes: a stapler seat 511, a stapler magazine base 512, a stapler magazine 513, and an I-beam 514; the swing head assembly is used to drive the jaw assembly to bend, and the stapler driving assembly is used to push the stapler magazine base 512 to close and simultaneously fire the stapler magazine 513 and pull the stapler magazine base 512 to open; the stapler driving assembly includes: a stapler pushing gear assembly and a stapler pushing screw 32; the stapler pushing gear assembly cooperates with one end of the stapler pushing screw 32 to drive the stapler pushing screw 32 to move axially The other end of the push screw 32 is connected to the end of the anastomosis assembly 50; the swing head assembly includes: a first pull rope 41, a second pull rope 42, a swing head reel 43, a slider 44, a pulley 45, and a swing head chuck 62, wherein the swing head reel 43 is fixed to the swing head chuck 62, the pulley 45 is located at the rear of the slider 44, one end of the second pull rope 42 is fixed to the slider 44, and the other end is wound around the swing head chuck 62, one end of the first pull rope 41 is fixed to the slider 44, and the other end passes around the pulley 45 and then passes through the slider 44 and then is wound around the swing head reel 43; wherein the winding directions of the first pull rope 41 and the second pull rope 42 are opposite.

[0026] The nail pushing gear assembly includes a nail pushing active gear 311 and a nail pushing passive gear 312 meshing with the nail pushing active gear 311. The nail pushing active gear 311 is connected to the nail pushing chuck 61. A driving nut 33 is fixedly installed at the center of the nail pushing passive gear 312. The driving nut 33 cooperates with the nail pushing screw 32. The nail pushing chuck 61 drives the nail pushing active gear 311 to rotate. The rotation of the nail pushing active gear 311 drives the nail pushing passive gear 312 to rotate. The nail pushing passive gear 312 drives the nail pushing screw 32 to move axially through the driving nut 33. Preferably, a hexagonal hole groove is provided at the center of the nail pushing passive gear 312. The driving nut 33 is tightly fitted in the hexagonal hole groove. The other end of the nail pushing screw 32 is connected to the end of the anastomosis assembly 50. The nail pushing chuck 61 rotates under the drive of the motor of the medical robot. The motor drives the nail pushing chuck 61 to rotate, thereby driving the nail pushing active gear 311 to rotate, and then driving the passive gear 312 to rotate. The passive gear rotates to drive the nail pushing screw 32 to move axially forward or backward. When the nail pushing screw 32 moves axially forward or backward, it pushes or pulls the I-beam 514. When pushing the I-beam 514, it pushes the nail pushing slider 515, pushing the nail magazine base 512 to close and fire the nail magazine 513 at the same time. When pulling the I-beam 514, the nail magazine base 512 is pulled to open.

[0027] A middle bracket 11 and a top bracket 12 are provided in the base 10. The pin pusher chuck 61 serves as an input shaft, passes through the bearings of the base 10 and the middle bracket 11 and is axially limited by the first retaining ring 35. The pin pusher chuck 61 is installed in cooperation with the pin pusher active gear 311. The pin pusher active gear 311 is arranged on the pin pusher chuck 61 and is axially limited by the second retaining ring 36. The D15 bearing is installed on the top bracket 12, and the pin pusher passive gear 312 is installed in cooperation with the inner ring of the D15 bearing.

[0028] The stapler assembly includes two upper and lower fixed connecting pieces 54, and the jaw assembly is provided with two upper and lower fixed pins 55. The fixed connecting piece 54 and the jaw assembly are riveted through the fixed pins 55, and the jaw assembly can rotate around the fixed pins 55. The stapler assembly also includes an assembly outer tube 52, a first assembly outer tube internal fastener 531, and a second assembly outer tube internal fastener 532. The two fixed connecting pieces 54 are fixed through the assembly outer tube 52 and the first assembly outer tube internal fastener 531 and the second assembly outer tube internal fastener 532. The stapler assembly also includes a swing head connecting piece 56 and a connecting rod pin 57. The swing head connecting piece 56 and the jaw assembly are connected through the connecting rod pin 57, so that the jaw assembly can rotate around the fixed pin 55 when the swing head connecting piece 56 is pushed or pulled.

[0029] The swing head assembly also includes a first push-pull rod 46 and a swing head push-pull rod 47. One end of the first push-pull rod 46 is fixedly connected to the slider 44, and the other end is fixedly connected to one end of the swing head push-pull rod 47. The other end of the swing head push-pull rod is buckled with the swing head connecting piece 56. Preferably, one end of the first push-pull rod 46 is fixedly connected to the slider 44 by threaded fastening, and the other end of the first push-pull rod 46 passes through the round hole of the swing head push-pull rod 47 and is welded firmly. One end of the swing head push-pull rod 47 includes a bent portion, and a through hole is provided on the bent portion for the push screw 32 to pass through, and the round hole is also located on the bent portion.

[0030] The cutting stapler includes an instrument rod 20, which is a hollow structure for protecting the internal components. One end of the instrument rod 20 is located in the base 10. The instrument rod 20 is also provided with a first inner fixture 211 and a second inner fixture (the structure is similar to the first inner fixture, not shown in the figure), and the slider 44 is installed in the slide groove of the first inner fixture 211 and the second inner fixture. The swing head assembly also includes a wire guide 48. The first pull rope 41 and the second pull rope are respectively passed through the wire guide and then wound on the swing head reel 43 and the swing head chuck 62. Specifically, one end of the second pull rope 42 is fixed to the slider 44, and the other end is led out from the hole corresponding to the wire guide 48, and then wound in the wire groove of the swing head chuck 62. One end of the first pull rope is fixed to the slider 44, and the other end is wound around the pulley and then passed through the slider to pass through the hole corresponding to the wire guide 48, and then wound in the wire groove of the swing head reel 43. The swing head reel 43 is fixed to the swing head chuck 62 by a hexagonal screw. The winding directions of the first pull rope 41 and the second pull rope 42 are opposite, for example, the first pull rope 41 is wound clockwise, and the second pull rope 42 is wound counterclockwise. When the swing head chuck 62 rotates counterclockwise, the swing head reel 43 is driven to rotate synchronously, at which time the second pull rope 42 is tightened and the first pull rope 41 is loosened, and the slider 44 is pulled to drive the first push-pull rod 46 to move toward the proximal end, so that the swing head push-pull rod 47 and the swing head connecting piece 56 also move toward the proximal end, thereby driving the jaw assembly to bend to the left; when the swing head chuck 62 rotates clockwise, the swing head reel 43 is driven to rotate synchronously, at which time the first pull rope 41 is tightened and the second pull rope 42 is loosened, and the slider 44 is pulled to drive the first push-pull rod 46 to move toward the distal end, so that the swing head push-pull rod 47 and the swing head connecting piece 56 also move toward the distal end, thereby driving the jaw assembly to bend to the right.

[0031] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the invention disclosed in the specification and examples. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in the present invention. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present invention are indicated by the claims.

[0032] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A cutting stapler for a surgical robot, comprising: The base, the anastomosis assembly, the nail pushing drive assembly, and the swing head assembly, the anastomosis assembly includes a jaw assembly, and the jaw assembly includes: a nail support, a nail magazine base, a nail magazine, and an I-beam; the swing head assembly is used to drive the jaw assembly to bend, and the nail pushing drive assembly is used to push the nail magazine base to close and simultaneously fire the nail magazine and pull the nail magazine base to open; The nail pushing driving assembly includes: a nail pushing gear assembly, a nail pushing screw rod, and a push-pull rod; the nail pushing gear assembly cooperates with one end of the nail pushing screw rod to drive the nail pushing screw rod to move axially, the other end of the nail pushing screw rod is connected to one end of the nail pushing push-pull rod, and the other end of the nail pushing push-pull rod is connected to the I-beam; The swing head assembly includes: a first pull rope, a second pull rope, a swing head reel, a slider, a pulley, and a swing head chuck. The swing head reel is fixed on the swing head chuck, and the pulley is located at the rear of the slider. One end of the second pull rope is fixed on the slider, and the other end is wound around the swing head chuck. One end of the first pull rope is fixed on the slider, and the other end passes around the pulley and then passes through the slider and then is wound around the swing head reel; wherein, the winding directions of the first pull rope and the second pull rope are opposite.

2. The cutting stapler for a surgical robot according to claim 1, characterized in that: The push pin gear assembly includes a push pin driving gear and a push pin passive gear meshing with the push pin driving gear. The push pin driving gear is connected to the first input part. A driving nut is fixedly installed at the center of the push pin passive gear, and the driving nut cooperates with the push pin screw.

3. The cutting stapler for a surgical robot according to claim 2, characterized in that: A middle-layer bracket is provided in the base, and the first input part is a pin push chuck, which cooperates with a pin push driving gear. The pin push chuck passes through the bearings of the base and the middle-layer bracket and is axially limited by a first retaining ring. The pin push driving gear is arranged on the pin push chuck and is axially limited by a second retaining ring.

4. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized in that: The stapler assembly comprises two upper and lower fixed connecting pieces, and the jaw assembly is provided with two upper and lower fixed pins, and the fixed connecting piece and the jaw assembly are riveted via the fixed pins.

5. The cutting stapler for a surgical robot according to claim 4, characterized in that: The stapler assembly also includes a swing head connecting piece and a connecting rod pin. The swing head connecting piece and the jaw assembly are connected by the connecting rod pin, so that the jaw assembly can rotate around the fixed pin when the swing head connecting piece is pushed or pulled.

6. The cutting stapler for a surgical robot according to claim 5, characterized in that: The swing head assembly also includes a first push-pull rod and a swing head push-pull rod. One end of the first push-pull rod is fixedly connected to the slider, and the other end is fixedly connected to one end of the swing head push-pull rod. The other end of the swing head push-pull rod is buckled with the swing head connecting piece.

7. The cutting stapler for a surgical robot as described in claim 6, wherein one end of the swing head push-pull rod includes a bent portion, and the bent portion is provided with a through hole for the push screw to pass through.

8. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized in that: The swing head assembly also includes a wire guide, and the first pull rope and the second pull rope are respectively passed through the wire guide and then respectively wound on the swing head reel and the swing head chuck.

Images