Electric head swinging mechanism and anastomat

Abstract

The electric head swinging mechanism comprises a fixed part, a movable part, a first pull rope, a second pull rope and a head swinging motor used for driving the movable part to generate axial movement, the first pull rope and the second pull rope are arranged in a sleeve in a penetrating mode, and the far ends of the first pull rope and the second pull rope are fixedly connected to the two opposite sides of the near end of an actuator respectively. The near ends of the first pull rope and the second pull rope are fixedly connected to the moving part, the length of the first pull rope is larger than that of the second pull rope, the first pull rope penetrates through the fixing part in a sliding mode, and the fixing part is located on one side of the near end of the moving part and fixedly arranged in the handle so that the first pull rope and the second pull rope can be kept in a tightened state. And then, only one of the first pull rope and the second pull rope is driven to pull the near end of the actuator, and the other pull rope is only in a follow-up relationship, so that the actuator deflects and swings relative to the axis of the sleeve. According to the scheme, the size of the electric head swinging mechanism is reduced to the maximum extent, and the stepless and flexible swinging effect is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an electric swing head mechanism and an anastomosis device. Background Art

[0002] A stapler is a medical device used to replace manual suturing. It primarily works by using titanium staples to staple tissues together. The stapler consists of a tubular body and jaws located at the front end of the body. The rear end of the tube connects to the stapler body for installation. For flexible use, a swing head assembly is required to control the stapler's left and right swing, enabling multi-angle operation.

[0003] Existing oscillating head devices, as shown in Chinese Patent CN107970052A, include a oscillating head center wheel, a pull rod, an elastic member, a retaining member, and several slots that mate with the retaining member. One end of the pull rod is movably connected to the jaws of the stapler, while the other end is eccentrically connected to the oscillating head center wheel. The user rotates the oscillating head center wheel to move the pull rod along the axial direction of the stapler, thereby causing the jaws of the stapler to oscillate. This oscillating head assembly is complex and bulky, requiring a large installation space. This results in the overall bulk of the stapler being unwieldy and difficult to hold. Furthermore, most current oscillating head mechanisms are manual, requiring the user to operate them with both hands, which is inconvenient. Furthermore, due to the backlash in the gears, manual oscillating heads cannot achieve arbitrary oscillation angles. Consequently, oscillation deviations occur during actual use, resulting in limited oscillation accuracy and the risk of tissue contact during delicate minimally invasive surgeries. Therefore, improving the flexibility and accuracy of oscillating staplers is an urgent issue. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide an electric swing head mechanism and an anastomosis device.

[0005] The purpose of the present invention is achieved through the following technical solutions: An electric swing head mechanism is applied to a stapler, which includes a handle, a sleeve arranged at the distal end of the handle, and an actuator. The electric swing head mechanism includes a fixed part, a movable part, a first pull rope, a second pull rope, and a swing head motor for driving the movable part to produce axial movement. The first pull rope and the second pull rope are passed through the sleeve, and the distal ends of the two are respectively fixed to the opposite sides of the proximal end of the actuator, and the proximal ends of the two are respectively fixed to the movable part, and the length of the first pull rope is greater than the second pull rope. The first pull rope slides through the fixed part, and the fixed part is located on the proximal side of the movable part and is fixed in the handle so that the first pull rope and the second pull rope remain in a taut state. The swing head motor drives the movable part to move back and forth in the axial direction of the sleeve, thereby driving the first pull rope and the second pull rope, and only one of them, to pull the proximal end of the actuator, and the other is only in a follow-up relationship, so that the actuator deflects and swings relative to the axis of the sleeve.

[0006] Preferably, the fixing member is coaxially arranged with the sleeve.

[0007] Preferably, the movable member and the fixed member are both coaxially arranged with the sleeve, and the first pull rope passes through one side of the movable member and the fixed member in turn, and then passes through the other side of the fixed member and the movable member in reverse order, so that the proximal end of the first pull rope is fixedly connected to the distal end face of the movable member, and the proximal end of the second pull rope passes through the movable member and is fixedly connected to the proximal end face of the movable member.

[0008] Preferably, a guide slot matching the first pull rope is provided on the proximal end surface of the fixing member or inside thereof, and the first pull rope is slidably inserted into the guide slot.

[0009] Preferably, an annular groove is provided on the outer peripheral wall of the movable part, a pull rod is fixedly connected to the distal end of the motor shaft of the swing head motor, and the distal end of the pull rod has a protrusion, and the protrusion is clamped in the annular groove to enable the motor shaft of the swing head motor to drive the movable part to move.

[0010] Preferably, the annular groove has a groove matching the first pull rope and the second pull rope, and the first pull rope and the second pull rope are slidably embedded in the groove.

[0011] Preferably, the motor shaft of the swing head motor extends in the same direction as the sleeve, and a connecting block is screwed onto the motor shaft and moves along its axial direction. A pin is inserted between the connecting block and the proximal end of the pull rod to connect the two.

[0012] Preferably, a mounting bracket is provided in the handle, the fixing part and the swing head motor are respectively fixed on the mounting bracket, and a guide groove matching the moving part is provided on the mounting bracket, and the moving part is movably provided in the guide groove.

[0013] Preferably, the fixed part and the movable part are both hollow-annular in the axis, and the inner peripheral wall of the axis hole of the fixed part and the movable part is non-circular.

[0014] The stapler comprises the electric swing head mechanism as described above.

[0015] The beneficial effects of the present invention are mainly reflected in: 1. Using two pull ropes as the pulling mechanism to pull the actuator to swing left and right can minimize the volume structure of the pulling mechanism and streamline the volume of the electric swing head mechanism to the greatest extent, thereby facilitating the internal layout and installation of the stapler. In addition, the swing head motor is used to electrically control the movement of the moving part, providing convenience and flexibility. The axial movement of the moving part is used to drive the first and second pull ropes to move in opposite directions, thereby achieving stepless adjustment within the swing range and achieving swing at any angle within the swing range, thereby maximizing the swing precision control. 2. Using a fixing member to limit the total length of the first and second pull ropes to remain unchanged, thereby ensuring that the first and second pull ropes remain taut during movement, thereby achieving a good pulling effect; 3. The first pull rope and the second pull rope are combined with the moving part to form a loop with the actuator, and the inconsistent length between the first pull rope and the second pull rope is utilized to make the axial movement of the moving part produce a reverse pulling force on the first pull rope and the second pull rope, thereby making the first pull rope and the second pull rope produce synchronous reverse movement to pull the actuator to swing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings: Figure 1 : Schematic diagram of the assembly of the first pull rope in an embodiment of the present invention; Figure 2 : Schematic diagram of the assembly of the second pull rope in an embodiment of the present invention; Figure 3 : Schematic diagram of the actuator not swinging in an embodiment of the present invention; Figure 4 : Schematic diagram of the actuator swing in an embodiment of the present invention; Figure 5 : Schematic diagram of the swing mechanism assembled on the mounting bracket in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0018] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0019] like Figures 1 to 5 As shown, the present invention discloses an electric swing head mechanism, which is applied to a stapler. The stapler includes a handle, a sleeve 100 arranged at the distal end of the handle, and an actuator 200. The electric swing head mechanism includes a fixed part 1, a moving part 2, a first pull rope 3, a second pull rope 4, and a swing head motor 5 for driving the moving part 2 to generate axial movement. The first pull rope 3 and the second pull rope 4 are passed through the sleeve, and the distal ends of the two are respectively fixed to the opposite sides of the proximal end of the actuator 200, and the proximal ends of the two are respectively fixed to the moving part 2, and the first pull rope 3 and the second pull rope 4 are respectively fixed to the proximal end of the actuator 200. The length is greater than that of the second pull rope 4, the first pull rope 3 slides through the fixing member 1, the fixing member 1 is located on the proximal side of the movable member 2 and is fixed in the handle, so that the first pull rope 3 and the second pull rope 4 remain in a taut state, and the swing head motor 5 drives the movable member 2 to move back and forth along the axial direction of the sleeve, thereby driving the first pull rope 3 and the second pull rope 4, and only one of them, to pull the proximal end of the actuator 200, and the other is only in a follow-up relationship, so that the actuator 200 deflects and swings relative to the axis of the sleeve 100.

[0020] This solution utilizes two pull cords (i.e., first pull cord 3 and second pull cord 4) as the pulling mechanism for oscillating the actuator 200. This minimizes the pull mechanism's volume and facilitates internal layout and installation of the stapler. This solution utilizes a swing motor 5 to electrically control the movement of the movable element 2, providing ease of use and flexibility. The axial movement of the movable element 2 drives the first and second pull cords 3 and 4 to move synchronously in opposite directions, enabling infinite adjustment within the actuator's swing range. This allows for arbitrary swing angles within the swing range, maximizing precision control of the actuator's swing.

[0021] The first pull rope 3 and the second pull rope 4 form a loop with the actuator 200 and the moving part 2. The fixed characteristic of the fixed part 1 and the constant axial position characteristic of the actuator 200 are used to keep the axial distance between the fixed part 1 and the actuator 200 constant. Therefore, the fixed part 1 can limit the total length of the first pull rope 3 and the second pull rope 4 to remain unchanged, thereby ensuring that the first pull rope 3 and the second pull rope 4 remain taut during the movement, so that the axial movement of the moving part 2 can be The good pulling effect can prevent the first pull rope 3 and the second pull rope 4 from being loose. The swing motor 5 drives the moving part 2 to move back and forth along the axial direction of the sleeve, thereby Furthermore, since the first pull rope 3 and the second pull rope 4 are combined with the movable part 2 to form a loop with the actuator 200, the inconsistent length characteristics between the first pull rope 3 and the second pull rope 4 are utilized, and the movable part 2 is set between the actuator 200 and the fixed part 1, the axial movement of the movable part 2 generates a reverse pulling force on the first pull rope 3 and the second pull rope 4, thereby driving the first pull rope 3 and the second pull rope 4, and only one of them, to pull the proximal end of the actuator 200, and the other is only in a follow-up relationship, so that the first pull rope 3 and the second pull rope 4 produce synchronous reverse movement, so as to achieve the purpose of pulling the actuator 200 to swing.

[0022] The fixing member 1 can be fixedly mounted at any position within the handle that can maintain the tension of the first and second drawstrings 3 and 4. In the preferred embodiment shown in the figures, the fixing member 1 is preferably coaxially disposed with the sleeve 100. This positioning minimizes the total length required to maintain the tension of the first and second drawstrings 3 and 4, thereby avoiding wasted space and material.

[0023] Furthermore, the movable member 2 can also be set at any position where it can move axially, so as to ensure that it can pull the first pull rope 3 and the second pull rope 4 to move axially. In a preferred embodiment, the movable member 2 and the fixed member 1 are both coaxially arranged with the sleeve 100. Such a structural arrangement can, on the one hand, improve the smoothness of movement of the movable member 2 and the smoothness of the movable member 2 pulling the first pull rope 3 and the second pull rope 4; on the other hand, it can minimize the total length required to keep the first pull rope 3 and the second pull rope 4 in a taut state, thereby minimizing the volume of the entire electric swing head mechanism and saving the internal installation space of the handle.

[0024] Specific examples Figure 1-Figure 4As shown, in a preferred embodiment, the first pull rope 3 passes through one side of the movable member 2 and the fixed member 1 in sequence, and then bends and passes through the other side of the fixed member 1 and the movable member 2 in reverse order, so that the proximal end of the first pull rope 3 is fixedly connected to the distal end face of the movable member 2, and the proximal end of the second pull rope 4 passes through the movable member 2 and is fixedly connected to the proximal end face of the movable member 2. Such a structure enables the proximal end of the first pull rope 3 and the proximal end of the second pull rope 4 to be docked, so as to form a symmetrical relationship between the first pull rope 3 and the second pull rope 4 on both sides of the fixed part 1 and the movable part 2 as much as possible, so as to improve the smoothness of the reverse movement of the first pull rope 3 and the second pull rope 4, and enable the first pull rope 3 and the second pull rope 4 to generate axial tension only on the two sides of the actuator 200 as much as possible, so that the forces on both sides of the actuator 200 are balanced, and the pivot connection between the proximal end of the actuator 200 and the distal end of the sleeve 100 can swing left and right quickly and flexibly, while reducing the radial tension on the actuator 200 and reducing unnecessary wear between the proximal end of the actuator 200 and the distal end of the sleeve 100.

[0025] Since the first pull cord 3 needs to pass through the fixed component 1 and then wrap around to be fixedly connected to the movable component 2, in order to improve the movement stability of the first pull cord 3, a guide slot 101 matching the first pull cord 3 is provided on or inside the proximal end surface of the fixed component 1. The first pull cord 3 slides through the guide slot 101. Through holes are provided on both sides of the fixed component 1 for the first pull cord 3 to pass through. The two ends of the guide slot 101 are connected to the two through holes to define the movement direction of the first pull cord 3.

[0026] For convenience and practicality, the electric swing mechanism in this solution is an electric mode driven by the swing motor 5. An annular groove 201 is provided on the outer peripheral wall of the movable part 2, and a pull rod 501 is fixedly connected to the distal end of the motor shaft of the swing motor 5. The distal end of the pull rod 501 has a protrusion 502, and the protrusion 502 is clamped in the annular groove 201 to enable the motor shaft of the swing motor 5 to drive the movable part 2 to move. The motor shaft of the swing motor 5 extends in the same direction as the sleeve 100, and a connecting block 503 that moves axially thereof is screwed on the motor shaft. A latch 504 is inserted between the connecting block 503 and the proximal end of the pull rod 501 to connect the two.

[0027] Furthermore, the annular groove 201 has a groove 202 that matches the first pull rope 3 and the second pull rope 4. The first pull rope 3 and the second pull rope 4 are slidably embedded in the groove 202 to further limit the reverse movement direction of the first pull rope 3 and the second pull rope 4, ensuring that the first pull rope 3, the second pull rope 4 and the pivot connection points between the actuator 200 and the sleeve 100 are located in the same plane.

[0028] For easy installation, a mounting bracket 6 is provided in the handle, and the fixing part 1 and the swing head motor 5 are respectively fixed on the mounting bracket 6. A guide groove 601 matching the moving part 2 is provided on the mounting bracket 6, and the moving part 2 is movably provided in the guide groove 601.

[0029] In a preferred embodiment, a connecting rod is provided in the sleeve 100, and the fixed part 1 and the movable part 2 are both hollow rings in the axis, so that the fixed part 1 and the movable part 2 can be set on the connecting rod, and the inner peripheral wall of the axial hole of the fixed part 1 and the movable part 2 is non-circular to form an anti-rotation structure with the connecting rod to prevent the fixed part 1 and the movable part 2 from rotating.

[0030] The actuator 200 is a component for anastomosing tissues, including jaws, anvils, and other structures. The actuator 200 is an existing structure and will not be described in detail here. Figure 3 and Figure 4 As shown, the distal end of the first pull rope 3 is fixed to the left side of the proximal end of the actuator 200, and the distal end of the second pull rope 4 is fixed to the right side of the proximal end of the actuator 200. The swing principle of the actuator 200 in this solution is as follows: in the first state, the moving member 2 moves toward the proximal end, which pulls the second pull rope 4 toward the proximal end, while the first pull rope 3 moves toward the distal end, and the actuator 200 pivots relative to the right side of the sleeve 100; in the second state, the moving member 2 moves toward the distal end, which pulls the first pull rope 3 toward the proximal end, while the second pull rope 3 moves toward the distal end, and the actuator 200 pivots relative to the left side of the sleeve 100.

[0031] Furthermore, the present solution also discloses a stapler comprising the electric swing head mechanism as described above.

[0032] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0033] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electric swing head mechanism, applied to a stapler, the stapler comprising a handle, a sleeve (100) disposed at the distal end of the handle, and an actuator (200), characterized in that: The electric swing head mechanism comprises a fixed part (1), a movable part (2), a first pull rope (3), a second pull rope (4) and a swing head motor (5) for driving the movable part (2) to generate axial movement, wherein the first pull rope (3) and the second pull rope (4) are passed through the sleeve, and the distal ends of the first pull rope and the second pull rope (4) are respectively fixed to the opposite sides of the proximal end of the actuator (200), and the proximal ends of the first pull rope and the second pull rope are respectively fixed to the movable part (2), and the length of the first pull rope (3) is greater than that of the second pull rope (4), and the first pull rope (3) slides through the fixed part. The fixing member (1) is located on the proximal side of the moving member (2) and is fixed in the handle so that the first pull rope (3) and the second pull rope (4) are kept in a taut state, and the swing head motor (5) drives the moving member (2) to move back and forth along the axial direction of the sleeve, thereby driving the first pull rope (3) and the second pull rope (4) to pull the proximal end of the actuator (200), and the other is only in a follow-up relationship, so that the actuator (200) deflects and swings relative to the axis of the sleeve (100).

2. The electric head swing mechanism according to claim 1, characterized in that: The fixing member (1) is coaxially arranged with the sleeve.

3. The electric swing head mechanism according to claim 2, characterized in that: The movable member (2) and the fixed member (1) are both coaxially arranged with the sleeve, and the first pull rope (3) passes through one side of the movable member (2) and the fixed member (1) in sequence, and then passes through the other side of the fixed member (1) and the movable member (2) in reverse order, so that the proximal end of the first pull rope (3) is fixedly connected to the distal end face of the movable member (2), and the proximal end of the second pull rope (4) passes through the movable member (2) and is fixedly connected to the proximal end face of the movable member (2).

4. The electric swing head mechanism according to claim 3, characterized in that: A guide slot (101) matching the first pull rope (3) is provided on the proximal end surface of the fixing member (1) or inside thereof, and the first pull rope (3) is slidably inserted into the guide slot (101).

5. The electric head swing mechanism according to claim 4, characterized in that: An annular groove (201) is provided on the outer peripheral wall of the movable part (2), a pull rod (501) is fixedly connected to the distal end of the motor shaft of the swing head motor (5), and a protrusion (502) is provided at the distal end of the pull rod (501), and the protrusion (502) is clamped in the annular groove (201) to enable the motor shaft of the swing head motor (5) to drive the movable part (2) to move.

6. The electric swing head mechanism according to claim 5, characterized in that: The annular groove (201) has a groove (202) matching the first pull rope (3) and the second pull rope (4), and the first pull rope (3) and the second pull rope (4) are slidably embedded in the groove (202).

7. The electric head swing mechanism according to claim 5, characterized in that: The motor shaft of the swing head motor (5) extends in the same direction as the sleeve, and a connecting block (503) is screwed onto the motor shaft and moves along its axial direction. A pin (504) is inserted between the connecting block (503) and the proximal end of the pull rod (501) to connect the two.

8. The electric swing head mechanism according to any one of claims 1 to 7, characterized in that: A mounting bracket (6) is provided in the handle, the fixing member (1) and the swing head motor (5) are respectively fixed on the mounting bracket (6), and a guide groove (601) matching the moving member (2) is provided on the mounting bracket (6), and the moving member (2) is movably provided in the guide groove (601).

9. The electric head swing mechanism according to claim 8, characterized in that: The fixed part (1) and the movable part (2) are both annular with a hollow axis, and the inner peripheral walls of the axis holes of the fixed part (1) and the movable part (2) are non-circular.

10. An anastomosis device, characterized in that: It comprises the electric swing head mechanism as described in any one of claims 1-9.

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