Electric pendulum mechanism and anastomat

Abstract

The application discloses an electric swing head mechanism and an anastomat, the electric swing head mechanism comprising a fixed part, a moving part, a first pull rope, a second pull rope and a swing motor for driving the moving part to generate axial movement, the first pull rope and the second pull rope being arranged in a sleeve, the distal ends of the two being respectively fixed to the opposite sides of the proximal end of an executor, the proximal ends of the two being respectively fixed to the moving part, and the length of the first pull rope being greater than that of the second pull rope, the first pull rope sliding through the fixed part, the fixed part being located on the proximal end side of the moving part and being fixedly arranged in a handle, so that the first pull rope and the second pull rope are kept in a taut state, the swing motor driving the moving part to reciprocate along the axial direction of the sleeve, thereby driving one of the first pull rope and the second pull rope to pull the proximal end of the executor, and the other one being only in a following relationship, so that the executor is deflected and swings relative to the axis of the sleeve. The scheme maximally simplifies the volume of the electric swing head mechanism and guarantees the infinitely flexible swing effect.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to an electric swing head mechanism and a stapler. Background Technology

[0002] A stapler is a medical device used as an alternative to manual suturing. Its main working principle is to use titanium staples to anastomose tissue. The stapler consists of a tube and jaws at the front end of the tube. The rear end of the tube connects to the stapler's main body for installation. For flexible use, a swing head assembly is included to control the stapler's left-right swinging motion for multi-angle operation.

[0003] Existing swing-head devices, such as Chinese Patent CN107970052A, include a swing-head center wheel, a pull rod, an elastic element, a locking element, and several slots that match the locking element. One end of the pull rod is movably connected to the jaws of the stapler, while the other end is eccentrically connected to the swing-head center wheel. The user rotates the swing-head center wheel to move the pull rod along the axis of the stapler, thereby causing the jaws of the stapler to swing. This type of swing-head assembly has a complex structure and large size, requiring a large installation space, resulting in an overall large stapler structure that is inconvenient to hold. Furthermore, most current stapler swing-head mechanisms are manual, requiring the user to operate with both hands, which is inconvenient. More importantly, due to the backlash of gears, manual swing-head mechanisms cannot swing at any angle, resulting in swing deviations and limited swing accuracy during actual use. In delicate minimally invasive surgeries, there is a risk of accidentally hitting tissue. Therefore, improving the flexibility and accuracy of swing staplers is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an electric swing head mechanism and a stapler.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An electric swing head mechanism is used in a stapler. The stapler includes a handle, a sleeve disposed at the distal end of the handle, and an actuator. The electric swing head mechanism includes a fixed member, a movable member, a first pull rope, a second pull rope, and a swing head motor for driving the movable member to generate axial movement. The first pull rope and the second pull rope are inserted into the sleeve, and their distal ends are respectively fixed to opposite sides of the proximal end of the actuator. Their proximal ends are respectively fixed to the movable member, and the length of the first pull rope is greater than that of the second pull rope. The first pull rope slides through the fixed member, which is located on one side of the proximal end of the movable member and fixed inside the handle, so that the first pull rope and the second pull rope remain taut. The swing head motor drives the movable member to reciprocate along the axial direction of the sleeve, thereby causing only one of the first pull rope and the second pull rope to pull the proximal end of the actuator, while the other is only in a follow-up relationship, causing the actuator to deflect and swing relative to the axis of the sleeve.

[0007] Preferably, the fixing member is coaxially arranged with the sleeve.

[0008] Preferably, the movable component and the fixed component are coaxially arranged with the sleeve. The first pull rope passes through one side of the movable component and the fixed component in sequence, and then passes through the other side of the fixed component and the movable component in sequence in reverse, so that the proximal end of the first pull rope is fixedly connected to the distal end face of the movable component, and the proximal end of the second pull rope passes through the movable component and is fixedly connected to the proximal end face of the movable component.

[0009] Preferably, a guide groove matching the first pull rope is provided on the proximal end face or inside of the fixing member, and the first pull rope slides through the guide groove.

[0010] Preferably, an annular groove is provided on the outer peripheral wall of the moving part, and a pull rod is fixedly connected to the far end of the motor shaft of the oscillating head motor. The far end of the pull rod has a protrusion, which is engaged in the annular groove so that the motor shaft of the oscillating head motor drives the moving part to move.

[0011] Preferably, the annular groove has a groove that matches 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.

[0012] Preferably, the motor shaft of the oscillating motor extends in the same direction as the sleeve, and a connecting block that moves along its axial direction is screwed onto the motor shaft. A pin is inserted between the connecting block and the proximal end of the pull rod to connect the two.

[0013] Preferably, a mounting bracket is provided inside the handle, and the fixing component and the oscillating motor are respectively fixed on the mounting bracket. The mounting bracket is provided with a guide groove that matches the moving component, and the moving component is movably disposed in the guide groove.

[0014] Preferably, both the fixing component and the moving component are hollow annular rings, and the inner peripheral walls of the shaft holes of the fixing component and the moving component are non-circular.

[0015] The stapler includes the electrically operated head mechanism as described above.

[0016] The beneficial effects of this invention are mainly reflected in:

[0017] 1. Using two pull ropes as the pulling mechanism to swing the actuator left and right minimizes the size of the pulling mechanism and simplifies the size of the electric swing head mechanism to facilitate the internal layout and installation of the stapler. The movement of the moving part is electrically controlled by the swing head motor to provide convenient and flexible use. The axial movement of the moving part drives the first and second pull ropes to move in opposite directions to achieve stepless adjustment within the swing range and swing at any angle within the swing range, maximizing the precision control of the swing.

[0018] 2. A fixing component is used to limit the total length of the first and second pull ropes to a constant value, thereby ensuring that the first and second pull ropes remain taut during movement to achieve a good pulling effect;

[0019] 3. The first and second pull ropes are combined with the moving part to form a loop with the actuator. Taking advantage of the difference in length between the first and second pull ropes, the axial movement of the moving part generates a reverse pulling force on the first and second pull ropes, thereby causing the first and second pull ropes to move synchronously in opposite directions, which pulls the actuator to produce a swing. Attached Figure Description

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 : A schematic diagram of the assembly of the first pull rope in an embodiment of the present invention;

[0022] Figure 2 : A schematic diagram of the assembly of the second pull rope in an embodiment of the present invention;

[0023] Figure 3 : A schematic diagram of the actuator not swinging in an embodiment of the present invention;

[0024] Figure 4 : A schematic diagram of the actuator swinging in an embodiment of the present invention;

[0025] Figure 5 : A schematic diagram of the swing mechanism mounted on the mounting bracket in an embodiment of the present invention. Detailed Implementation

[0026] The present invention will now be described in detail 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 included within the scope of protection of the present invention.

[0027] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Also, in the description of the solution, with the operator as a reference, the direction closer to the operator is the proximal end, and the direction farther from the operator is the distal end.

[0028] like Figures 1 to 5 As shown, this invention discloses an electric swing head mechanism applied to a stapler. The stapler includes a handle, a sleeve 100 disposed at the distal end of the handle, and an actuator 200. The electric swing head mechanism includes a fixing member 1, a moving member 2, a first pull rope 3, a second pull rope 4, and a swing head motor 5 for driving the moving member 2 to generate axial movement. The first pull rope 3 and the second pull rope 4 are inserted into the sleeve, with their distal ends fixed to opposite sides of the proximal end of the actuator 200, and their proximal ends fixed to the moving member 2. The first pull rope 3... The length of the first pull rope 3 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 moving member 2 and fixed in the handle so that the first pull rope 3 and the second pull rope 4 are kept taut. The oscillating motor 5 drives the moving member 2 to reciprocate along the axial direction of the sleeve, thereby causing only one of the first pull rope 3 and the second pull rope 4 to pull the proximal end of the actuator 200, while the other is only in a follower relationship, so that the actuator 200 deflects and oscillates relative to the axis of the sleeve 100.

[0029] This design employs two pull ropes (first pull rope 3 and second pull rope 4) as the pulling mechanism to drive the actuator 200 to swing approximately. This minimizes the size of the pulling mechanism, facilitating its internal layout and installation within the stapler. The design uses a swivel motor 5 to electrically control the movement of the moving part 2, providing ease of use and flexibility. The axial movement of the moving part 2 drives the first pull rope 3 and the second pull rope 4 to move synchronously in opposite directions, achieving stepless adjustment within the actuator's swing range and enabling swing at any angle within that range, maximizing the precision control of the actuator's swing.

[0030] The first pull rope 3 and the second pull rope 4 form a loop with the actuator 200 and the moving part 2. By utilizing the fixing characteristics of the fixing member 1 and the constant axial position of the actuator 200, the axial distance between the fixing member 1 and the actuator 200 remains constant. Therefore, the fixing member 1 can limit the total length of the first pull rope 3 and the second pull rope 4 to remain constant, thereby ensuring that the first pull rope 3 and the second pull rope 4 remain taut during movement, allowing the axial movement of the moving part 2 to proceed smoothly.

[0031] A good pulling action prevents the first pull rope 3 and the second pull rope 4 from becoming slack. The swing head motor 5 drives the moving part 2 to reciprocate along the axial direction of the sleeve, thereby...

[0032] Furthermore, since the first pull rope 3 and the second pull rope 4 are combined with the moving member 2 to form a loop with the actuator 200, the characteristic of the inconsistent lengths between the first pull rope 3 and the second pull rope 4 is utilized. Furthermore, the moving member 2 is positioned between the actuator 200 and the fixed member 1, so that the axial movement of the moving member 2 generates a reverse pulling force on the first pull rope 3 and the second pull rope 4. This causes only one of the first pull rope 3 and the second pull rope 4 to pull the proximal end of the actuator 200, while the other is merely a follower. This results in the first pull rope 3 and the second pull rope 4 moving synchronously in opposite directions, thereby achieving the purpose of pulling the actuator 200 to swing.

[0033] The fixing member 1 can be fixed in any position within the handle that keeps the first pull rope 3 and the second pull rope 4 taut. In the preferred embodiment shown in the figure, the fixing member 1 is preferably coaxially arranged with the sleeve 100. This arrangement minimizes the total length required to keep the first pull rope 3 and the second pull rope 4 taut, thus avoiding wasted space and materials.

[0034] Furthermore, the movable component 2 can also be positioned at any location that allows it to move axially, ensuring that it can pull the first pull rope 3 and the second pull rope 4 axially. In a preferred embodiment, both the movable component 2 and the fixed component 1 are coaxially arranged with the sleeve 100. This structural arrangement improves the smoothness of movement of the movable component 2 and the smoothness of pulling the first pull rope 3 and the second pull rope 4. On the other hand, it minimizes the total length required to keep the first pull rope 3 and the second pull rope 4 taut, thereby minimizing the overall size of the electric swing head mechanism and saving internal installation space of the handle.

[0035] Specific examples Figures 1-4 As 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. This structure allows the proximal ends of the first pull rope 3 and the second pull rope 4 to align, maximizing the symmetry between the first pull rope 3 and the second pull rope 4 on both sides of the fixed member 1 and the moving member 2. This improves the smoothness of the reverse movement of the first pull rope 3 and the second pull rope 4, and ensures that the first pull rope 3 and the second pull rope 4 exert axial tension only on both sides of the actuator 200. This balances the forces on both sides of the actuator 200, allowing the pivot connection between the proximal end of the actuator 200 and the distal end of the sleeve 100 to swing quickly and flexibly from side to side, while reducing radial tension on the actuator 200 and minimizing unnecessary wear between the proximal end of the actuator 200 and the distal end of the sleeve 100.

[0036] Since the first pull rope 3 needs to pass through the fixing member 1 and then loop back to be fixed to the moving member 2, in order to improve the moving stability of the first pull rope 3, a guide groove 101 matching the first pull rope 3 is provided on the near end face or inside of the fixing member 1, and the first pull rope 3 slides through the guide groove 101. The fixing member 1 has through holes on both sides for the first pull rope 3 to pass through, and the two ends of the guide groove 101 are connected to the two through holes to limit the moving direction of the first pull rope 3.

[0037] For ease of use, the electric oscillating head mechanism in this design is driven by the oscillating head motor 5. An annular groove 201 is provided on the outer peripheral wall of the moving part 2. A pull rod 501 is fixedly connected to the distal end of the motor shaft of the oscillating head motor 5. The distal end of the pull rod 501 has a protrusion 502, which engages within the annular groove 201, allowing the motor shaft of the oscillating head motor 5 to drive the moving part 2. The motor shaft of the oscillating head motor 5 extends in the same direction as the sleeve 100, and a connecting block 503 that moves axially is screwed onto the motor shaft. A pin 504 is inserted between the connecting block 503 and the proximal end of the pull rod 501 to connect the two.

[0038] 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 direction of the reverse movement of the first pull rope 3 and the second pull rope 4, and ensure that the pivot connection points between the first pull rope 3 and the second pull rope 4 and the actuator 200 and the sleeve 100 are located on the same plane.

[0039] For ease of installation, a mounting bracket 6 is provided inside the handle. The fixing component 1 and the oscillating motor 5 are respectively fixed on the mounting bracket 6. The mounting bracket 6 is provided with a guide groove 601 that matches the moving component 2. The moving component 2 is movably disposed in the guide groove 601.

[0040] In a preferred embodiment, a connecting rod is provided inside the sleeve 100, and both the fixing member 1 and the moving member 2 are hollow annular shapes, so that the fixing member 1 and the moving member 2 can be disposed on the connecting rod. Furthermore, the inner peripheral wall of the shaft hole of the fixing member 1 and the moving member 2 is non-circular, so as to form an anti-rotation structure with the connecting rod and prevent the fixing member 1 and the moving member 2 from rotating.

[0041] 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 4As shown, the distal end of the first pull rope 3 is fixed to the left proximal end of the actuator 200, and the distal end of the second pull rope 4 is fixed to the right proximal end of the actuator 200. The swing principle of the actuator 200 in this design is as follows: In the first state, when the moving member 2 moves towards the proximal end, it pulls the second pull rope 4 towards the proximal end, while simultaneously the first pull rope 3 moves towards the distal end. At this time, the actuator 200 pivots relative to the right side of the sleeve 100. In the second state, when the moving member 2 moves towards the distal end, it pulls the first pull rope 3 towards the proximal end, while simultaneously the second pull rope 4 moves towards the distal end. At this time, the actuator 200 pivots relative to the left side of the sleeve 100.

[0042] Furthermore, this solution also discloses an anastomosis device, including the electrically operated head-swinging mechanism described above.

[0043] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0044] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. An electric tilting 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 oscillating head mechanism includes a fixed component (1), a movable component (2), a first pull rope (3), a second pull rope (4), and an oscillating head motor (5) for driving the movable component (2) to generate axial movement. The first pull rope (3) and the second pull rope (4) are inserted into the sleeve, with their distal ends fixed to opposite sides of the proximal end of the actuator (200), and their proximal ends fixed to the movable component (2). The length of the first pull rope (3) is greater than that of the second pull rope (4). The first pull rope (3) slides through the fixed component (1), which is located on one side of the proximal end of the movable component (2) and fixed inside the handle, so that the first pull rope (3) and the second pull rope (4) remain taut. The oscillating motor (5) drives the moving part (2) to reciprocate along the axial direction of the sleeve, thereby causing only one of the first pull rope (3) and the second pull rope (4) to pull the proximal end of the actuator (200), while the other is only in a follower relationship, so that the actuator (200) deflects and swings relative to the axis of the sleeve (100). The first pull rope (3) passes through one side of the moving part (2) and the fixed part (1) in sequence, and then passes through the other side of the fixed part (1) and the moving part (2) in sequence, so that the proximal end of the first pull rope (3) is fixed to the distal end face of the moving part (2), and the proximal end of the second pull rope (4) passes through the moving part (2) and is fixed to the proximal end face of the moving part (2).

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

3. The electric swing head mechanism according to claim 2, characterized in that: The movable component (2) and the fixed component (1) are both coaxially arranged with the sleeve.

4. The electric swing head mechanism according to claim 3, characterized in that: The fastener (1) has a guide groove (101) on its near end face or inside that matches the first pull rope (3), and the first pull rope (3) slides through the guide groove (101).

5. The electric swing head mechanism according to claim 4, characterized in that: The outer peripheral wall of the moving part (2) is provided with an annular groove (201). A pull rod (501) is fixedly connected to the far end of the motor shaft of the oscillating motor (5). The far end of the pull rod (501) has a protrusion (502). The protrusion (502) is engaged in the annular groove (201) so that the motor shaft of the oscillating motor (5) drives the moving 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) that matches 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 swing head mechanism according to claim 5, characterized in that: The motor shaft of the oscillating motor (5) extends in the same direction as the sleeve, and a connecting block (503) that moves along its axial direction is screwed onto the motor shaft. 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 1-7, characterized in that: The handle is provided with a mounting bracket (6), the fixing member (1) and the oscillating motor (5) are respectively fixed on the mounting bracket (6), the mounting bracket (6) is provided with a guide groove (601) that matches the moving member (2), and the moving member (2) is movably disposed in the guide groove (601).

9. The electric swing head mechanism according to claim 8, characterized in that: Both the fixing member (1) and the moving member (2) are hollow rings with non-circular inner walls of the shaft holes of the fixing member (1) and the moving member (2).

10. A stapler, characterized in that: Includes the electric swing head mechanism as described in any one of claims 1-9.

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