Cutting anastomat for surgical robot

Abstract

A cutting anastomat for a surgical robot comprises a base, an instrument rod, a jaw assembly, a nail pushing driving assembly, a bending driving assembly and a bending assembly, and the jaw assembly comprises a nail abutting seat, a nail box base, a nail bin and an I-shaped beam; the instrument rod is of a hollow structure, and one end of the instrument rod is located in the base. The bending driving assembly can drive the jaw assembly to bend in any direction of the circumference through the bending assembly. 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 a nail pushing screw rod, the other end of the nail pushing screw rod is connected with one end of a push-pull rod, and the other end of the push-pull rod is connected with an I-shaped beam; the gear assembly can drive the nail pushing screw rod to axially move front and back, the nail pushing screw rod axially moves to drive the push-pull rod to axially move, the push-pull rod axially moves to drive the I-shaped beam to axially move, and therefore the nail box base is pushed to be closed, and meanwhile the nail bin is fired or the nail box base is pulled to be opened. 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, an instrument rod, a jaw assembly, a nail pushing drive assembly, a bending drive assembly, and a bending assembly, wherein the jaw assembly comprises: a nail support, a nail magazine base, a nail magazine, and an I-beam; the instrument rod is a hollow structure, and one end of the instrument rod is located in the base; the bending drive assembly can drive the jaw assembly to bend in any direction of the circumference through the bending assembly; the nail pushing drive assembly comprises a nail pushing gear assembly, a nail pushing screw, and a push-pull rod; the nail pushing gear assembly cooperates with one end of the nail pushing screw, the other end of the nail pushing screw is connected to one end of the push-pull rod, and the other end of the push-pull rod is connected to the I-beam; the gear assembly can drive the nail pushing screw to move axially forward and backward, the axial movement of the nail pushing screw drives the axial movement of the push-pull rod, and the axial movement of the push-pull rod drives the axial movement of the I-beam, thereby pushing the nail magazine base to close and simultaneously firing the nail magazine or pulling the nail magazine base to open.

[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 is installed in cooperation with a 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 front half of the push-pull rod is provided with evenly arranged slots in the vertical direction.

[0009] Furthermore, the bending assembly includes a first bending fitting, a second bending fitting, a third bending fitting, a fourth bending fitting, a fifth bending fitting and an end bending pipe; the end bending pipe is inserted into the hole in the middle of the third bending fitting, the first bending fitting and the second bending fitting are assembled together and installed on the end bending pipe, and can rotate around the third bending fitting in a first plane, the fourth bending fitting and the fifth bending fitting are assembled together and installed on the end bending pipe, and can rotate around the third bending fitting in a second plane, wherein the first plane and the second plane are perpendicular to each other.

[0010] Furthermore, an elliptical limiting slot is provided on the end bend pipe, and correspondingly, a first limiting cylinder and a second limiting cylinder are provided on the first bending fitting and the second bending fitting, respectively, and the first limiting cylinder and the second limiting cylinder are located in the limiting slot, so that the first bending fitting and the second bending fitting can move relative to the end bend pipe, and the relative movement distance is limited by the limiting slot and the first limiting cylinder and the second limiting cylinder.

[0011] Furthermore, the bending drive assembly includes: a first rope winding rod, a second rope winding rod, a first pull rope, a second pull rope, and a wire guide; the first rope winding rod and the second rope winding rod are fixedly connected to the first bending chuck and the second bending chuck respectively, wherein the middle part of the first pull rope is tied to the fourth bending accessory and the first end and the second end are pulled out, the middle part of the second pull rope is tied to the fifth bending accessory and the third end and the fourth end are pulled out, the first end is tied to the first rope winding rod counterclockwise, the second end is tied to the second rope winding rod counterclockwise, the third end is tied to the first rope winding rod clockwise, and the fourth end is tied to the second rope winding rod clockwise.

[0012] Furthermore, the first end is led out from the right side of the fourth bending fitting, through the upper part of the third bending fitting, the upper part of the second bending fitting and the wire guide, and is pulled to the first rope winding rod for counterclockwise binding, and the second end is led out from the left side of the fourth bending fitting, through the upper part of the third bending fitting, the upper part of the first bending fitting and the wire guide, and is pulled to the second rope winding rod for counterclockwise binding; the third end is led out from the left side of the fifth bending fitting, through the lower part of the third bending fitting, the lower part of the first bending fitting and the wire guide, and is pulled to the first rope winding rod for clockwise binding, and the fourth end is led out from the right side of the fifth bending fitting, through the lower part of the third bending fitting, the lower part of the second bending fitting and the wire guide, and is pulled to the second rope winding rod for clockwise binding.

[0013] Furthermore, it also includes an inner firmware, which includes a first inner firmware component and a second inner firmware component, the first inner firmware component and the second inner firmware component are buckled together, and the inner firmware is provided with wire holes for the first end, the second end, the third end and the fourth end to pass through.

[0014] Furthermore, the first rope winding rod and the second rope winding rod are respectively buckled in the first bending chuck and the second bending chuck, and the first fixed shaft is pressed into the corresponding holes of the first rope winding rod and the first bending chuck, and the second fixed shaft is pressed into the corresponding holes of the second rope winding rod and the second bending chuck.

[0015] Furthermore, the first bending chuck and the second bending chuck are externally connected to a motor of the medical robot, and the medical robot drives the first bending chuck and the second bending chuck to rotate individually or simultaneously through the motor.

[0016] The cutting stapler of the present invention uses a screw nut structure as the main transmission mechanism for realizing closing and cutting actions, and can realize automatic closing and opening of the jaw assembly, so that the entire surgical process is completely controlled by the surgeon; through the cooperation of the bending drive assembly and the bending assembly, the jaw assembly can swing in a 360-degree direction of the circumference. 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

[0017] 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.

[0018] Figure 1 This is a schematic diagram of the overall structure of the cutting stapler for the surgical robot of the present invention;

[0019] Figure 2 This is a schematic diagram of the internal structure of the cutting stapler base for the surgical robot of the present invention;

[0020] Figure 3 It is a schematic diagram of the overall cross-section of the cutting stapler for the surgical robot of the present invention;

[0021] Figure 4 It is a front half-section schematic diagram of the push-pull rod of the present invention;

[0022] Figure 5 A top view of a push-pull rod of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the bending assembly of the present invention;

[0024] Figure 7This is a partial structural schematic diagram of a cutting stapler for a surgical robot according to the present invention;

[0025] Figure 8 It is a schematic diagram of the firmware structure of the present invention.

[0026] Figure numerals, 10 base, 11 middle bracket, 12 top bracket, 20 instrument rod, 21 first internal fixing component, 22 second internal fixing component, 23 sealing gasket, 311 push pin active gear, 312 push pin passive gear, 32 push pin screw, 321 pin shaft, 33 drive nut, 34 push-pull rod, 341 slot, 35 first retaining ring, 36 second retaining ring, 41 first bending accessory, 42 second bending accessory, 421 first limiting cylinder, 43 third bending accessory, 431 first steering column, 432 second steering column, 433 third steering column, 434 fourth steering column , 44 fourth bending fitting, 441 first positioning column, 45 fifth bending fitting, 451 first positioning hole, 452 second steering hole, 453 second fixed protrusion, 46 end elbow, 465 fixed slot, 466 limit slot, 51 nail support, 52 nail magazine base, 53 nail magazine, 54 I-beam, 61 first end, 62 second end, 63 third end, 64 fourth end, 71 first rope winding rod, 72 second rope winding rod, 711 first fixed axis, 721 second fixed axis, 73 wire guide, 81 nail push chuck, 82 first bending chuck, 83 second bending chuck DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] See attached Figure 1-8A cutting stapler for a surgical robot includes: a base 10, an instrument rod 20, a jaw assembly, a nail pushing drive assembly, a bending drive assembly, and a bending assembly. The jaw assembly includes: a nail support 51, a nail magazine base 52, a nail magazine 53, and an I-beam 54; the instrument rod 20 is a hollow structure, one end of the instrument rod is located in the base 10, and the instrument rod 20 is used to protect its internal components; the bending drive assembly can drive the jaw assembly to bend in any direction of the circumference through the bending assembly; the nail pushing drive assembly includes nail pushing teeth Wheel assembly, nail pushing screw 32, push-pull rod 34; the nail pushing gear assembly cooperates with one end of the nail pushing screw 32, the other end of the nail pushing screw 32 is connected to one end of the push-pull rod 34, and the other end of the push-pull rod 34 is connected to the I-beam 54; the gear assembly can drive the nail pushing screw 32 to move axially, the axial movement of the nail pushing screw 32 drives the axial movement of the push-pull rod 34, and the axial movement of the push-pull rod 34 drives the axial movement of the I-beam 54, thereby pushing the nail magazine base 52 to close and simultaneously firing the nail magazine 53 or pulling the nail magazine base 52 to open.

[0031] The pin-pushing gear assembly includes a pin-pushing active gear 311 and a pin-pushing passive gear 312 meshing with the pin-pushing active gear 311. The pin-pushing active gear 311 is connected to the first input part, and a driving nut 33 is fixedly installed at the center of the pin-pushing passive gear 312, and the driving nut 33 is matched with the pin-pushing screw 32. The first input part drives the pin-pushing active gear 311 to rotate, and the rotation of the pin-pushing active gear 311 drives the pin-pushing passive gear 312 to rotate, and the pin-pushing passive gear 312 drives the pin-pushing screw 32 to move axially through the driving nut 33. Preferably, a hexagonal hole groove is provided at the center of the pin-pushing passive gear 312, and the driving nut 33 is tightly fitted and installed in the hexagonal hole groove.

[0032] Preferably, the first input part is a nail pushing chuck 81, which is connected to the nail pushing active gear 311, and the nail pushing chuck 81 rotates under the drive of the motor. The motor drives the nail pushing chuck 81 to rotate, thereby driving the nail pushing active gear 311 to rotate, and then driving the passive gear 312 to rotate. The other end of the nail pushing screw 32 is connected to one end of the push-pull rod 34 through a pin 321, and the other end of the push-pull rod 34 is fixedly connected to the I-beam 54. Therefore, when the nail pushing screw 32 moves axially in different directions, it will push or pull the push-pull rod 34, thereby pushing or pulling the I-beam 54. When the I-beam 54 is pushed, the nail magazine base 52 is pushed to close and the nail magazine 53 is fired at the same time. When the I-beam 54 is pulled, the nail magazine base 52 is pulled to open. Preferably, the I-beam 54 is provided with a cylindrical hole, and the front section of the push-pull rod 34 is installed in the cylindrical hole and welded.

[0033] A middle bracket 11 and a top bracket 12 are provided in the base 10. The pin pusher chuck 81 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 81 is installed in cooperation with a pin pusher active gear 311. The pin pusher active gear 311 is arranged on the pin pusher chuck 81 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.

[0034] The front half of the push-pull rod 34 has slots 341 evenly arranged in the vertical direction. Preferably, the slots 341 are semicircular slots. The arrangement of the slots 341 can make the front half of the push-pull rod 34 have a certain flexibility, so that the front half of the push-pull rod 34 can achieve universal bending. Preferably, an inner tube 37 is also provided, and the front half of the push-pull rod 34 is installed in the inner tube 37 and is limited by a limiting component in the middle of the push-pull rod 34.

[0035] The bending assembly includes a first bending fitting 41, a second bending fitting 42, a third bending fitting 43, a fourth bending fitting 44, a fifth bending fitting 45 and an end bend pipe 46; the end bend pipe 46 is installed in the middle hole of the third bending fitting 43, the first bending fitting 41 and the second bending fitting 42 are assembled together and installed on the end bend pipe 46, and can rotate around the third bending fitting 43 in a first plane, the fourth bending fitting 44 and the fifth bending fitting 45 are assembled together and installed on the end bend pipe 46, and can rotate around the third bending fitting 43 in a second plane, wherein the first plane and the second plane are perpendicular to each other. Further, the fourth bending fitting 44 is provided with a first positioning column 441, and the fifth bending fitting 45 is correspondingly provided with a first positioning hole 451, and the fourth bending fitting 44 and the fifth bending fitting 45 are assembled together through the first positioning column 441 and the first positioning hole 451, and preferably, the number of the first positioning column 441 and the number of the first positioning hole are 4, respectively. The third bending fitting 43 is provided with a first steering column 431 and a second steering column 432. Accordingly, the fourth bending fitting 44 is provided with a first steering hole (not shown in the figure, and its structure is similar to the second steering hole), and the fifth bending fitting 45 is provided with a second steering hole 452. The first steering column 431 and the second steering column 432 are respectively matched with the first steering hole and the second steering hole 452, so that the fourth bending fitting 44 and the fifth bending fitting 45 can rotate around the first steering column 431 and the second steering column 432. The end bend pipe 46 is provided with a fixing slot 465. Accordingly, the fourth bending fitting 44 and the fifth bending fitting 45 are correspondingly provided with a first fixing protrusion (not shown in the figure, and its structure is similar to the second fixing protrusion) and a second fixing protrusion 453. The first fixing protrusion and the second fixing protrusion are respectively installed in the fixing slot 465, so that the fourth bending fitting 44 and the fifth bending fitting 45 are fixedly installed with the end bend pipe 46.

[0036] The first bending accessory 41 is provided with a second positioning column and / or a second positioning hole, and the second bending accessory 42 is correspondingly provided with a second positioning hole and / or a second positioning column. The first bending accessory 41 and the second bending accessory 42 are assembled together through the second positioning column and the second positioning hole. The third bending accessory 43 is provided with a third steering column 433 and a fourth steering column 434. Correspondingly, the first bending accessory 41 is provided with a third steering hole, and the second bending accessory 42 is provided with a fourth steering hole. The third steering column 433 and the fourth steering column 434 are respectively matched with the third steering hole and the fourth steering hole, and the first bending accessory 41 and the second bending accessory 42 can rotate 434 around the third steering column 433 and the fourth steering column. An elliptical limiting slot 466 is provided on the end bend pipe 46, and correspondingly, a first limiting cylinder 421 and a second limiting cylinder (not shown in the figure, the structure is similar to the first limiting cylinder) are correspondingly provided on the first bending fitting 41 and the second bending fitting 42. The first limiting cylinder and the second limiting cylinder are respectively located in the limiting slot 466, so that the first bending fitting 41 and the second bending fitting 42 and the end bend pipe 46 can move relative to each other, and the relative movement distance is limited by the limiting slot 466 and the first limiting cylinder and the second limiting cylinder.

[0037] When installing the bending assembly, first install the end bend pipe 46 into the center hole of the third bending fitting 43, then install the fifth bending fitting 45 into the third bending fitting 46, and align the fixing slot 465 of the end bend pipe 46 with the second fixing protrusion 453 at the corresponding part of the fifth bending fitting 45, install the fourth bend fitting 44 in the same way, and fix the fourth bend fitting 44 and the fifth bend fitting 45 through the first positioning column 441 and the first positioning hole 451. Then install the second bend fitting 42 into the third bend fitting 43, buckle the first limiting cylinder of the second bend fitting 42 into the limiting slot 466 of the end bend pipe 46, and finally install the first bend fitting 41 in the same way, and fix the first bend fitting 41 and the second bend fitting 42 through the second positioning column and the second positioning hole. The limiting slot 466 is elliptical, and the end bend pipe 46 can move forward and backward in the slot direction, thereby ensuring that the bending of the nail magazine assembly is not restricted by the end bend pipe 46.

[0038] The bending drive assembly includes: a first rope winding rod 71, a second rope winding rod 72, a first pull rope, a second pull rope, and a wire guide 73. The first rope winding rod 71 and the second rope winding rod 72 are fixedly connected to the first bending chuck 82 and the second bending chuck 83 respectively, wherein the first pull rope is tied to the fourth bending accessory 44 and pulls out the first end 61 and the second end 62, the second pull rope is tied to the fifth bending accessory 45 and pulls out the third end 63 and the fourth end 64, the first end 61 is tied counterclockwise to the first rope winding rod 71, the second end 62 is tied counterclockwise to the second rope winding rod 72, the third end 63 is tied clockwise to the first rope winding rod 71, and the fourth end is tied clockwise to the second rope winding rod 72.

[0039] Further, the middle part of the first pull rope is tied to the fourth bending fitting 44, the first end 61 is led out from the right side of the fourth bending fitting 44, passes through the upper part of the third bending fitting 43, the upper part of the second bending fitting 42 and the wire guide 73, is pulled to the first rope winding rod 71 and is tied counterclockwise, and the second end 62 is led out from the left side of the fourth bending fitting 44, passes through the upper part of the third bending fitting 43, the upper part of the first bending fitting 41 and the wire guide 73, is pulled to the second rope winding rod 72 and is tied counterclockwise; the second pull rope includes the first and second ropes. The third end 63 and the fourth end 64, the middle part of the second pull rope is tied to the fifth bending fitting 45, the third end 63 is led out from the left side of the fifth bending fitting 45, passes through the lower part of the third bending fitting 43, the lower part of the first bending fitting 41 and the wire guide 73, is pulled to the first rope winding rod 71 and is tied clockwise, and the fourth end 64 is led out from the right side of the fifth bending fitting 45, passes through the lower part of the third bending fitting 43, the lower part of the second bending fitting 42 and the wire guide 73, is pulled to the second rope winding rod 72 and is tied clockwise.

[0040] Furthermore, the first rope winding rod 71 and the second rope winding rod 72 are respectively buckled into the first bending chuck 82 and the second bending chuck 83, and the first fixed shaft 711 is pressed into the corresponding holes of the first rope winding rod 71 and the first bending chuck 82, and the second fixed shaft 721 is pressed into the corresponding holes of the second rope winding rod 72 and the second bending chuck 83.

[0041] The third bending fitting 43 is provided with circular holes at the four corners respectively, and the first bending fitting and the second bending fitting are provided with circular holes at the upper and lower parts respectively. Looking from the proximal end to the distal end, the first end 61 passes through the upper right circular hole of the third bending fitting 43 and the upper circular hole of the second bending fitting 42, the second end 62 passes through the upper left circular hole of the third bending fitting 43 and the upper circular hole of the first bending fitting 41, the third end 63 passes through the lower left circular hole of the third bending fitting 43 and the lower circular hole of the first bending fitting 41, and the fourth end 64 passes through the lower right circular hole of the third bending fitting 43 and the lower circular hole of the second bending fitting 42.

[0042] The first bending chuck 82 and the second bending chuck 83 are externally connected to the motor of the medical robot, and the motor is driven by the medical robot, so that the medical robot drives the first bending chuck 82 and the second bending chuck 83 to rotate separately or simultaneously through the motor. When the first bending chuck 82 drives the first rope winding rod 71 to rotate counterclockwise, the first end 61 is tightened and the third end 63 is loosened, and the nail magazine assembly is driven to rotate to the upper right; when the first bending chuck drives the first rope winding rod 71 to rotate clockwise, the third end 63 is tightened and the first end 61 is loosened, and the nail magazine assembly is driven to rotate to the lower left; when the second bending chuck 83 drives the second rope winding rod 72 to rotate counterclockwise, the second end 62 is tightened and the fourth end 64 is loosened, and the nail magazine assembly is driven to rotate to the upper left; when the second bending chuck 83 drives the second rope winding rod 72 to rotate clockwise, the fourth end 64 is tightened and the second end 62 is loosened, and the nail magazine assembly is driven to rotate to the lower right. In addition, in addition to the independent rotation of the first bending chuck 82 and the second bending chuck 83, the output of the medical robot can be set to drive the first bending chuck 82 and the second bending chuck 83 to rotate simultaneously, and the rotation angles of the two can be set, so that the first rope winding rod 71 and the second rope winding rod 72 can rotate at specific angles respectively, so that the first end, the second end, the third end and the fourth end can work simultaneously, and the nail magazine assembly can be bent in any direction of 360 degrees in a circle.

[0043] In addition, the cutting stapler also includes an inner fastener for protecting the components inside the instrument tube, the inner fastener includes a first inner fastener component 21 and a second inner fastener component 22, the first inner fastener component 21 and the second inner fastener component 22 are buckled together, and the inner fastener is provided with a wire hole for the first end, the second end, the third end and the fourth end to pass through. A sealing gasket 23 is also provided inside the instrument tube, and a wire hole for the first end, the second end, the third end and the fourth end to pass through is provided on the sealing gasket 23.

[0044] 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.

[0045] 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 instrument rod, the jaw assembly, the nail pushing drive assembly, the bending drive assembly, the bending assembly, the jaw assembly includes: a nail support, a nail magazine base, a nail magazine, and an I-beam; the instrument rod is a hollow structure, and one end of the instrument rod is located in the base; the bending drive assembly can drive the jaw assembly to bend in any direction of the circumference through the bending assembly; the nail pushing drive assembly includes a nail pushing gear assembly, a nail pushing screw, and a push-pull rod; the nail pushing gear assembly cooperates with one end of the nail pushing screw, the other end of the nail pushing screw is connected to one end of the push-pull rod, and the other end of the push-pull rod is connected to the I-beam; the gear assembly can drive the nail pushing screw to move axially forward and backward, the axial movement of the nail pushing screw drives the axial movement of the push-pull rod, and the axial movement of the push-pull rod drives the axial movement of the I-beam, thereby pushing the base of the nail magazine to close and simultaneously firing the nail magazine or pulling the base of the nail magazine to open.

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 is installed in cooperation 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, and 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 front half of the push-pull rod is provided with evenly arranged slots in the vertical direction.

5. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized in that: The bending assembly includes a first bending fitting, a second bending fitting, a third bending fitting, a fourth bending fitting, a fifth bending fitting and an end bending pipe; the end bending pipe is inserted into the hole in the middle of the third bending fitting, the first bending fitting and the second bending fitting are assembled together and installed on the end bending pipe, and can rotate around the third bending fitting in a first plane, the fourth bending fitting and the fifth bending fitting are assembled together and installed on the end bending pipe, and can rotate around the third bending fitting in a second plane, wherein the first plane and the second plane are perpendicular to each other.

6. The cutting stapler for a surgical robot according to claim 5, characterized in that: An elliptical limiting slot is provided on the end bend pipe, and correspondingly, a first limiting cylinder and a second limiting cylinder are provided on the first bending fitting and the second bending fitting, respectively, and the first limiting cylinder and the second limiting cylinder are located in the limiting slot, so that the first bending fitting and the second bending fitting can move relative to the end bend pipe, and the relative movement distance is limited by the limiting slot and the first limiting cylinder and the second limiting cylinder.

7. The cutting stapler for a surgical robot as claimed in claim 5, wherein the bending drive assembly comprises: A first rope winding rod, a second rope winding rod, a first pull rope, a second pull rope, and a wire guide; the first rope winding rod and the second rope winding rod are fixedly connected to the first bending chuck and the second bending chuck respectively; wherein the middle part of the first pull rope is tied to the fourth bending accessory and the first end and the second end are pulled out, the middle part of the second pull rope is tied to the fifth bending accessory and the third end and the fourth end are pulled out, the first end is tied to the first rope winding rod counterclockwise, the second end is tied to the second rope winding rod counterclockwise, the third end is tied to the first rope winding rod clockwise, and the fourth end is tied to the second rope winding rod clockwise.

8. The cutting stapler for a surgical robot according to claim 7, characterized in that: The first end is led out from the right side of the fourth bending fitting, through the upper part of the third bending fitting, the upper part of the second bending fitting and the wire guide, and is pulled to the first rope winding rod for counterclockwise binding. The second end is led out from the left side of the fourth bending fitting, through the upper part of the third bending fitting, the upper part of the first bending fitting and the wire guide, and is pulled to the second rope winding rod for counterclockwise binding. The third end is led out from the left side of the fifth bending fitting, through the lower part of the third bending fitting, the lower part of the first bending fitting and the wire guide, and is pulled to the first rope winding rod for clockwise binding. The fourth end is led out from the right side of the fifth bending fitting, through the lower part of the third bending fitting, the lower part of the second bending fitting and the wire guide, and is pulled to the second rope winding rod for clockwise binding.

9. The cutting stapler for a surgical robot according to claim 7 or 8, characterized in that: It also includes an inner firmware, which includes a first inner firmware component and a second inner firmware component. The first inner firmware component and the second inner firmware component are buckled together, and the inner firmware is provided with wire holes for the first end, the second end, the third end and the fourth end to pass through.

10. The cutting stapler for a surgical robot according to claim 7, characterized in that: The first bending chuck and the second bending chuck are externally connected to the motor of the medical robot, and the medical robot drives the first bending chuck and the second bending chuck to rotate individually or simultaneously through the motor.

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