Electric surgical stapler

Abstract

The present invention discloses an electric surgical stapler, comprising a handle (1), an instrument rod (2) and a jaw (comprising a stapler magazine and a staple anvil) (3), wherein the handle (1) is connected to the proximal end of the instrument rod (2), the jaw (3) is connected to the distal end of the instrument rod (2), the jaw (3) is provided with a knife head for cutting tissue, the knife head pushes a nail-pushing slider to slide from the proximal end to the distal end when cutting tissue, the nail-pushing slider pushes a nail-pushing sheet to make the staple pass through and suture the tissue, and the knife head is completely located in the jaw (3) and the jaw (3) has a track for the knife head to slide from the proximal end to the distal end, the knife head is fixed on a flexible driving line, the end of the flexible driving line is directly or indirectly connected to a motor, and the motor controls the knife head to slide on the track by controlling the flexible driving line. The present invention controls the knife head by the flexible driving line, and can realize the operation of advancing / retracting the cutting knife. Because there is no knife handle, there is no stress caused by the deformation of the knife handle during deflection, which is conducive to reducing the swing of the end of the jaw and realizing large-angle deflection.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, in particular to an electric surgical stapler. Background Art

[0002] Staplers are also called staplers in medicine. They are mostly used in gastrointestinal, weight loss, thoracic and hepatobiliary surgeries. Staplers are medical devices that replace traditional manual suturing. The main working principle is to use multiple rows of staples to staple the tissues. Its function is similar to that of a stapler. It is used clinically to replace sutures to close tissues. According to whether it has a cutting function, it can be divided into: closure device and cutting closure device; according to the applicable place, it can be divided into: laparotomy stapler and laparoscopic stapler; according to the appearance, it can be divided into: curved circular stapler, straight circular stapler, linear stapler.

[0003] With the development of medical technology, there will be more and more minimally invasive surgeries, and more surgical staplers will be used in minimally invasive surgeries. Therefore, in the future, there will be a greater demand for surgical staplers. Staplers are already common instruments in surgical operations. Currently, staplers have developed into electric and intelligent staplers (monitoring tissue anastomosis status, which can prompt doctors to use stapler magazines with appropriate anastomosis heights. When anastomosing, the knife can be pushed at a relatively fast speed when encountering thinner tissues, and at a relatively slow speed when encountering thicker tissues, according to the situation of the tissues. This ensures the stability and safety of the anastomosis, reduces the labor intensity of doctors, and standardizes operations, making the anastomosis effect stable and consistent.

[0004] With the development of staplers, laparoscopic staplers have entered the intelligent electric era from the manual era. Compared with manual staplers, electric staplers allow doctors to control the staplers more accurately, achieve one-handed operation and make the operation more stable, standardize the operation, obtain better clinical results and reduce the doctor's labor intensity. Another advantage of electric control is that combined with sensor signal feedback, it allows doctors to better understand the status of the instrument, assist doctors in judging the operation, and adjust the cutting speed according to the thickness of the anastomosed tissue and other conditions to achieve intelligent anastomosis.

[0005] At present, the propulsion device (knife head) of almost all laparoscopic stapler products is equipped with a handle. The handle of the handle is generally composed of 4-5 pieces of steel material and can be bent. However, due to this structure, most laparoscopic staplers can be deflected 45° to the left or right, and a few can be deflected 55° or a larger angle, but not more than 90°. In addition, because the stress generated by the bending of the knife handle when firing under deflection conditions can cause the end of the jaws to swing or shake, this poses a certain safety risk for clinical applications, and may over-twist and tear the tissue, causing anastomosis failure.

[0006] In order to solve the above problems, it is necessary to provide a novel electric surgical stapler. Summary of the invention:

[0007] At present, the clinical demand for staplers has not been fully met, and there is still a need for an intelligent, controllable, safe, reliable, and easy-to-operate electrically controlled stapler. This is also the goal of this invention project, a novel surgical stapler based on wire control technology. In order to achieve the purpose of the present invention, the following technical solutions are proposed:

[0008] The present invention relates to an electric surgical stapler, comprising a handle (1), an instrument rod (2) and a jaw (3) (including a staple cartridge and a staple anvil), wherein the handle (1) is connected to the proximal end of the instrument rod (2), the jaw (3) is connected to the distal end of the instrument rod (2), the jaw (3) is provided with a cutter head for cutting tissue, the cutter head pushes a nail-pushing slider to slide from the proximal end to the distal end when cutting tissue, the nail-pushing slider pushes a nail-pushing sheet to make the staple pass through and suture the tissue, and the feature is that the cutter head is completely located in the jaw (3) and the jaw (3) has a track for the cutter head to slide from the proximal end to the distal end, the cutter head is fixed on a flexible driving line, the end of the flexible driving line is directly or indirectly connected to a motor, and the motor controls the cutter head to slide on the track by controlling the flexible driving line. The present invention controls the advance of the cutter head by the flexible driving line, and can realize the operation of advancing / retracting the cutting knife, and there is no stress caused by the deformation of the knife handle, which is conducive to reducing the swing of the end of the jaw, and the swing of the end of the jaw can be no more than 4.0 mm.

[0009] In a preferred embodiment of the present invention, the number of the flexible driving wires is 1-16, preferably 2-4, and the connection method of the flexible driving wires to the cutter head is not particularly limited. Preferably, at least one of the flexible driving wires is fixed to the upper front end of the cutter head, and at least one is fixed to the upper rear end of the cutter head. In this way, the cutter head can be fixed more stably.

[0010] In a preferred embodiment of the present invention, at least two of the flexible drive lines are fixed to the upper front and rear ends of the cutter head, and at least two are fixed to the lower front and rear ends of the cutter head. In this way, the cutter head can be fixed more stably. Because multiple drive lines of the parallel wire control device can act on the same actuator at the same time, the actuator can be controlled to perform high-load and high-speed movements.

[0011] In a preferred embodiment of the present invention, the flexible driving wire passes through an inner sleeve, and there is an outer sleeve outside the inner sleeve. The flexible driving wire passes through the inner sleeve and the outer sleeve and is directly or indirectly connected to the motor. The inner sleeve is used to reduce friction, and the outer sleeve is used to transmit force; preferably, the inner sleeve is a PTFE tube, and the outer sleeve is a Bowden threaded steel tube.

[0012] In a preferred embodiment of the present invention, a tension sensor and / or a position sensor is provided on the flexible driving line, and the motor is coupled to the tension sensor to control the tension on the flexible driving line. Therefore, the clinical demand for intelligent control can be met, and the thickness and hardness of the clamped tissue can be understood through position feedback and force feedback, and the clamping condition of the tissue and the anastomosis advancement speed can be controlled, so that the pushing knife speed can be adjusted in real time according to the condition of the clamped tissue, or the doctor can be prompted to use a stapler with a suitable anastomosis height, and the doctor can be instructed if the tissue is too thick and cannot be anastomosed.

[0013] In a preferred embodiment of the present invention, the handle (1), instrument rod (2) and jaws (3) are disposable products, and the motor and control device are placed in the main unit for repeated use. In this preferred embodiment, the traditional stapler product is transformed into a stapler instrument plus a main unit, and components such as the power and control device and a display screen are installed on the main unit. The advantage of the instrument plus main unit approach is that the weight of the instrument can be reduced, making the operation easier; components such as the power and control device and the display screen are not limited by the size of the instrument itself; at the same time, after disconnection, the instrument part is used as a disposable product, and high-value components such as the power and control device are placed in the main unit for repeated use, thereby reducing the cost of each operation.

[0014] In a preferred embodiment of the present invention, the jaw (3) is deflectable relative to the instrument rod (2); preferably, the deflection angle of the jaw (3) relative to the instrument rod (2) is not less than 100°. Since the present invention uses a handleless cutter head and controls the movement of the cutter head through a flexible drive line, the jaw (3) can be operated to have a larger deflection angle relative to the instrument rod (2).

[0015] In a preferred embodiment of the present invention, the stapler of the present invention is provided with a reusable host, the host includes a motor and a control device, and the host is connected to the handle through a connecting tube. Therefore, the stapler of the present invention can be remotely controlled by connecting a remote control device to the host, and the stapler instrument part can be converted into a surgical robot stapler instrument to realize surgical robot control. In the form of instrument plus host, it can also be connected to the host through a 3D mouse or other remote control device, and the doctor controls the instrument by controlling the 3D mouse or remote control device. The 3D mouse or remote control device can be isolated by a sterile cover to keep the surgical area sterile. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 : The structural schematic diagram of the surgical stapler of the present invention.

[0017] Figure 2: Schematic diagram of the jaw structure, wherein the left figure is a schematic diagram of the jaw structure of a traditional stapler, and the right figure is a schematic diagram of the jaw structure of the stapler of the present invention.

[0018] Figure 3 : Schematic diagram of the connection between the flexible driving line and the cutter head.

[0019] Figure 4 : An example of a flexible drive line and a cutter head in the jaws. Except for the propulsion device movement area, which only uses PE braided line, other areas can use a PTFE inner sleeve to reduce friction, and add a Bowden cable as an outer sleeve to ensure force transmission.

[0020] Figure 5 : The jaws can be deflected relative to the instrument rod, and the deflection angle is not less than 100°. DETAILED DESCRIPTION

[0021] In order to further understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with 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.

[0022] Example 1

[0023] The present invention relates to an electric surgical stapler, comprising a handle (1), an instrument rod (2) and a jaw (3) (including a staple cartridge and a staple anvil), wherein the handle (1) is connected to the proximal end of the instrument rod (2), and the jaw (3) is connected to the distal end (such as the distal end) of the instrument rod (2). Figure 1 The jaw (3) has a cutting head for cutting tissue, and when cutting tissue, the cutting head pushes the nail-pushing slider to slide from the proximal end to the distal end, and the nail-pushing slider pushes the nail-pushing sheet to make the staples pass through and suture the tissue. The cutting head is characterized in that the cutting head is completely located in the jaw (3) and the jaw (3) has a track for the cutting head to slide from the proximal end to the distal end, and the cutting head is fixed on a flexible driving line, and the end of the flexible driving line is directly or indirectly connected to a motor, and the motor controls the sliding of the cutting head on the track by controlling the flexible driving line (as shown in FIG. Figure 2 shown).

[0024] In an embodiment of the present invention, the number of the flexible driving wires is 1-16, preferably 2-4, and the connection method between the flexible driving wire and the cutter head is not particularly limited. Preferably, at least one of the flexible driving wires is fixed to the upper front end of the cutter head, and at least one is fixed to the upper rear end of the cutter head. In this way, the cutter head (such as Figure 3 shown).

[0025] In a preferred embodiment of the present invention, the flexible drive line passes through an inner sleeve, and an outer sleeve is provided outside the inner sleeve. The flexible drive line passes through the inner sleeve and the outer sleeve and is directly or indirectly connected to the motor. The inner sleeve is used to reduce friction, and the outer sleeve is used to transmit force. Preferably, the inner sleeve is a PTFE tube, and the outer sleeve is a Bowden threaded steel tube (such as Figure 4 shown).

[0026] In a preferred embodiment of the present invention, the jaws (3) are deflectable relative to the instrument rod (2); preferably, the deflection angle of the jaws (3) relative to the instrument rod (2) is not less than 100° (e.g. Figure 5 shown).

[0027] In a preferred embodiment of the present invention, a tension sensor and / or a position sensor is provided on the flexible driving line, and the motor is coupled to the tension sensor to control the tension on the flexible driving line. Therefore, the clinical demand for intelligent control can be met, and the thickness and hardness of the clamped tissue can be understood through position feedback and force feedback, and the clamping condition of the tissue and the anastomosis advancement speed can be controlled, so that the pushing knife speed can be adjusted in real time according to the condition of the clamped tissue, or the doctor can be prompted to use a stapler with a suitable anastomosis height, and the doctor can be instructed if the tissue is too thick and cannot be anastomosed.

[0028] The above describes the preferred embodiments of the present invention, but it is not intended to limit the present invention. Those skilled in the art may make improvements and changes to the embodiments disclosed herein without departing from the scope and spirit of the present invention.

Claims

1. An electric surgical stapler, comprising a handle (1), an instrument rod (2) and a jaw (3), wherein the jaw comprises a staple cartridge and a staple anvil, the handle (1) being connected to the proximal end of the instrument rod (2), the jaw (3) being connected to the distal end of the instrument rod (2), the jaw (3) having a knife head for cutting tissue, the knife head pushing a staple pusher to slide from the proximal end to the distal end when cutting tissue, the staple pusher pushing a staple pusher to make the staple pass through and suture the tissue, characterized in that: The cutting head is completely located in the jaws (3) and the jaws (3) have a track for the cutting head to slide from the proximal end to the distal end. The cutting head is fixed on a flexible driving line, and the end of the flexible driving line is directly or indirectly connected to a motor. The motor controls the flexible driving line to control the sliding of the cutting head on the track.

2. According to the electric surgical stapler according to claim 1, the number of the flexible driving wires is 1-16, preferably 2-4.

3. According to the electric surgical stapler of claim 1, at least one of the flexible driving wires is fixed to the front end of the blade head, and at least one of the flexible driving wires is fixed to the rear end of the blade head.

4. According to the electric surgical stapler of claim 1, at least two of the flexible driving wires are fixed to the upper front and rear ends of the blade head, and at least two of the flexible driving wires are fixed to the lower front and rear ends of the blade head.

5. According to the electric surgical stapler of claim 1, the flexible driving wire passes through an inner sleeve, and there is an outer sleeve outside the inner sleeve. The flexible driving wire passes through the inner sleeve and the outer sleeve and is directly or indirectly connected to the motor. The inner sleeve is used to reduce friction, and the outer sleeve can bear the transmission of the force of the flexible driving wire.

6. According to the electric surgical stapler according to claim 1, the proximal end of the flexible driving wire can be connected and wound around a capstan, and coupled to the driving device through the capstan, each driving device includes a motor, a force feedback sensor and / or a position sensor, and the motor is coupled with the force feedback and / or position sensor to control the tension on the flexible driving wire.

7. According to the electric surgical stapler of claim 1, the handle (1), instrument rod (2) and jaws (3) are disposable instruments; if the motor and control device are placed in the handle, they are also disposable, and if placed in the main unit, they are reusable.

8. The electric surgical stapler according to claim 1, wherein the jaw (3) is deflectable relative to the instrument rod (2).

9. According to the electric surgical stapler of claim 8, the maximum deflection angle of the jaw (3) relative to the instrument rod (2) is not less than 100°.

10. According to any one of claims 1 to 9, the main unit comprises a motor and a control device, the main unit is connected to the stapler handle via a connecting tube, the flexible drive line is connected to and wound around a capstan in a coupling device at the end of the connecting tube, and is connected to the motor and control device components in the main unit via a coupling device, the motor and control device components are placed in the main unit and are reusable.

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