An electric purse-string forceps for laparoscopy based on motor-triggered speed change

Abstract

The application discloses a laparoscope electric charge pack clamp based on motor trigger variable speed, which is mainly composed of an electric charge pack clamp, a button, a motor with a power supply and a transmission rod in the handle of the electric charge pack clamp; a variable speed gear and a driving gear are arranged on the output shaft of the motor; a gear set is arranged in the handle and engaged with the small diameter gear of the variable speed gear; a passive gear is arranged in the handle and engaged with the driving gear, and a screw rod is threadedly connected to the middle part of the passive gear; a vertical hole is formed in the top of the screw rod, and a lower spring and a lower push tube are arranged in the vertical hole; a guide shaft is further arranged in the handle, a transmission gear is sleeved on the guide shaft, the transmission gear can be moved from a first position to a second position of the guide shaft, the transmission gear is engaged with the large diameter gear of the variable speed gear when being located at the first position, and the transmission gear is engaged with the gear set when being located at the second position. The application basically adopts a mechanical structure to realize the effect of single motor control electric charge pack clamp arm closing variable speed.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to an electric purse-string forceps for laparoscopy based on motor-triggered speed change. Background Technology

[0002] Purse-string forceps are surgical suturing instruments, used in surgical suturing procedures, similar to staplers. The difference lies in that staplers use staples for suturing, while purse-string forceps use purse-string sutures. Manual firing introduces instability, meaning the pressure applied cannot be controlled, resulting in inconsistent firing speeds. To ensure stability, most suturing instruments are now electrically operated. Pressing a handle activates a motor that closes the purse-string forceps. For example, CN219183919U discloses an electric surgical instrument that includes a purse-string forceps assembly and a suture forceps assembly in its end effector. The closing mechanism, under driving force, brings the two forceps arms closer together to clamp the target tissue.

[0003] However, a significant problem with electrically driven clamp arm closure is the surgeon's desire for a variable closure speed. Specifically, the clamp arm can close quickly in the initial stage, but slows down after contacting the tissue to prevent excessive clamping of tissue (especially in patients with thicker tissue), which could lead to tissue necrosis. To achieve this, foreign staplers primarily use a PLC board connected to the motor. By pre-programming the PLC, the motor can be decelerated after a certain time or rotation speed, thus achieving the speed transition during closure. Similar patents exist in China, such as CN214484554U, which discloses a variable firing speed control device for an electric laparoscopic stapler. This device adjusts the motor current through a built-in firing speed control circuit on a control circuit board, thereby controlling the motor speed and achieving a slow and stable forward movement of the cutting blade during firing and a rapid retraction during retrieval. Although CN214484554U controls the change in the travel speed of the cutting blade, the speed of closing can also be derived from the above patent by controlling the speed of the motor.

[0004] To circumvent the above solutions, most of the currently documented related technologies employ manual switching to achieve speed regulation. For example, CN 112240374 A discloses an electric stapler gearbox, which adjusts the speed by setting a speed-changing gear and switching the meshing relationship between the driven wheel and the speed-changing gear via a speed control knob. However, this design requires manual switching by the surgeon, increasing the surgeon's workload; furthermore, it requires the surgeon to master the switching time, necessitating a certain level of surgical experience, thus raising the surgical threshold.

[0005] Current research focuses on achieving speed switching electrically. Switching can be categorized into two types: a moving gear mechanism with a stationary rack and a stationary gear mechanism with a moving rack. Since the rack is connected to the clamp arm, a moving rack solution is impractical. Furthermore, CN117530737 A discloses a similar technology, but analysis reveals that this approach is not feasible. Therefore, a moving gear mechanism with a stationary rack is currently the only viable solution.

[0006] The transmission mechanism, with its moving rack and pinion mechanism remaining stationary, can be categorized into single-power and multi-power mechanisms. Multi-power mechanisms, however, result in an excessively cumbersome handle for the electric purse pliers. Therefore, providing a method that achieves plier arm closing speed change using a single-power mechanism is the core problem that needs to be solved. Summary of the Invention

[0007] The purpose of this invention is to provide an electric purse-string forceps for laparoscopy based on motor-triggered speed change, which achieves the effect of single motor control of the closing speed change of the electric purse-string forceps arm based on mechanical structure.

[0008] This invention is achieved through the following technical solution: an electric purse-string pliers for laparoscopy based on motor-triggered speed change, the main body of which is an electric purse-string pliers. The handle of the electric purse-string pliers is equipped with a button, a motor with power supply, and a transmission rod. The output shaft of the motor is equipped with a speed-changing gear and a driving gear. The handle is equipped with a gear set that meshes with a small-diameter gear of the speed-changing gear. A driven gear that meshes with the driving gear is rotatably provided in the handle. A lead screw is threadedly connected to the middle of the driven gear. A guide is provided on the side of the lead screw. The guide is slidably connected to a vertical groove provided inside the handle.

[0009] A vertical hole is provided at the top of the lead screw, and a lower spring and a lower push tube are provided inside the vertical hole. A lower rolling friction element is provided at the top of the lower push tube.

[0010] The handle also includes a guide shaft with a transmission gear mounted on it. The transmission gear can move from a first position to a second position on the guide shaft. When the transmission gear is in the first position, it meshes with the large-diameter gear of the transmission gear. When the transmission gear is in the second position, it meshes with the gear set. The transmission rod includes at least a rack that always meshes with the transmission gear. The top surface of the transmission gear is connected to an upper rolling friction member. An upper spring is provided between the top surface of the upper rolling friction member and the handle, and the upper spring is mounted on the guide shaft. A limiting member is also provided on the top surface of the upper rolling friction member.

[0011] The limiting component has an extended locking part on its side, and a lower locking part and an upper locking part are respectively provided inside the handle; the guide is provided with an upwardly extending trigger rod, and the trigger rod is provided with an upper trigger button to unlock the upper locking part and a lower trigger button to unlock the lower locking part.

[0012] Compared with previous technologies, the beneficial effects of the present invention are as follows:

[0013] 1. In this invention, the speed change process employs a non-gradual speed change method. The rotation of the motor stores energy in the lower spring, allowing it to continuously store energy on the transmission gear during motor rotation. After the transmission gear is released from its lock, the lower spring's push against the gear quickly displaces it, achieving speed switching. A reverse recovery mechanism is also included. Reversing the motor releases the lower spring's push on the transmission gear, causing the upper spring to store energy due to the gear's displacement. Upon releasing the lock on the transmission gear again, the upper spring pushes the gear downwards, returning it to its initial position. This spring-loaded push-and-switch mechanism effectively prevents the transmission gear from simultaneously jamming the large-diameter gear and the gear set, thus avoiding a jamming situation.

[0014] 2. The locking mechanism has been optimized. An electronically controlled lock has been adopted, solving the problem that the original mechanical lock could not lock during the displacement of the transmission gear. Specifically, it solves the problem that the locking mechanism used to lock the transmission gear cannot effectively secure the locked part after the transmission gear has been displaced. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention with a handle;

[0016] Figure 2 In order to be in Figure 1 A schematic diagram of the structure after removing the handle;

[0017] Figure 3 In order to be in Figure 2 A diagram showing the instantaneous state of contact between the lower rolling friction component and the transmission gear during the operation of the basic motor;

[0018] Figure 4 In order to be in Figure 3The basic trigger button contacts the lower locking component to realize the state diagram after the lower locking component and the locked component are unlocked;

[0019] Figure 5 exist Figure 4 The diagram shows the state after the motor continues to run until the clamp arm is fully closed.

[0020] Figure 6 In order to be in Figure 5 Based on this, the motor reverses until the upper trigger key and the upper locking component contact, realizing the state diagram after the upper locking component and the locked component are unlocked;

[0021] Figure 7 In order to be in Figure 5 The diagram shows the state of the motor reversing to its initial position.

[0022] Labeling Explanation: 1 Handle, 11 Motor, 12 Rack, 21 Transmission Gear, 22 Drive Gear, 23 Gear Set, 24 Third Plane Thrust Ball Bearing, 31 Driven Gear, 32 Lead Screw, 33 Guide Component, 34 Vertical Slot, 35 Vertical Hole, 36 Lower Spring, 37 Lower Push Tube, 38 Lower Rolling Friction Component, 41 Guide Shaft, 42 Transmission Gear, 43 Upper Rolling Friction Component, 44 Upper Spring, 45 Limiting Component, 51 Locked Component, 52 Lower Locking Component, 53 Upper Locking Component, 54 Trigger Rod, 55 Upper Trigger Key, 56 Lower Trigger Key. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings:

[0024] like Figure 1 , 2 As shown: A laparoscopic electric purse-string forceps based on motor-triggered speed change, the main body is an electric purse-string forceps, the handle 1 of the electric purse-string forceps is provided with a button, a motor 11 with power supply and a transmission rod; the characteristic is that: the output shaft of the motor 11 is provided with a speed change gear 21 and a driving gear 22; the handle 1 is provided with a gear set 23 that meshes with the small diameter gear of the speed change gear 21; a driven gear 31 that meshes with the driving gear 22 is rotatably provided in the handle 1, and a lead screw 32 is threadedly connected to the middle of the driven gear 31. The lead screw 32 is provided with a guide 33 on its side, and the guide 33 is slidably connected to a vertical groove 34 provided in the handle 1, so that the rotation of the driven gear 31 drives the lead screw 32 to move vertically;

[0025] A vertical hole 35 is provided at the top of the lead screw 32. A lower spring 36 and a lower push tube 37 are provided inside the vertical hole 35. A lower rolling friction element 38 is provided at the top of the lower push tube 37. The lower spring 36 and the lower push tube 37 are distributed from bottom to top.

[0026] A guide shaft 41 is also provided inside the handle 1, and a transmission gear 42 is sleeved on the guide shaft 41. The transmission gear 42 can move from a first position to a second position on the guide shaft 41. When the transmission gear 42 is in the first position, it meshes with the large diameter gear of the transmission gear 21. When the transmission gear 42 is in the second position, it meshes with the gear set 23. The transmission rod includes at least a rack 12 that always meshes with the transmission gear 42. The top surface of the transmission gear 42 is connected to an upper rolling friction member 43. An upper spring 44 is provided between the top surface of the upper rolling friction member 43 and the handle 1. The upper spring 44 is sleeved on the guide shaft 41. A limiting member 45 is also provided on the top surface of the upper rolling friction member 43.

[0027] Here, the transmission gear 42 meshes with the rack 12 in both the first and second positions. Furthermore, the aforementioned gear set 23 has two gears to ensure that the rotation direction of the transmission gear 42 does not change when it meshes with the gear set 23 in the second position. This illustration is simplified; in reality, the gear set 23 has two gears. The deceleration effect is also designed and adjusted through the gear ratio of the gears in the gear set 23, for example, by replacing one of the gears with a speed-changing gear. During the design process, it is sufficient to ensure that the rotational speed of the transmission gear 42 when meshing with the gear set 23 is slower than the rotational speed of the transmission gear 42 when meshing with the large-diameter gear. Since this is a common solution in the field of mechanical transmission systems, the specific structure of the gear set 23 will not be described in detail in this invention.

[0028] The limiting member 45 is a sleeve structure, and it is configured such that when the limiting member 45 contacts the handle 1, the transmission gear 42 is in the second position. To avoid excessive impact force from the limiting member 45 on the inner wall of the handle, a buffer pad can be placed at the corresponding position to mitigate the impact force of the limiting member 45.

[0029] The limiting member 45 has an extended locking member 51 on its side, and a lower locking member 52 and an upper locking member 53 are respectively provided inside the handle 1; the guide member 33 has an upwardly extending trigger rod 54, and the trigger rod 54 has an upper trigger button 55 for unlocking the upper locking member 53 and a lower trigger button 56 for unlocking the lower locking member 52. The upper trigger button 55 contacts the upper locking member 53 to unlock the upper locking member 53, and the lower trigger button 56 contacts the lower locking member 52 to unlock the lower locking member 52;

[0030] The lower locking member 52 and the upper locking member 53 are respectively set in the third position and the fourth position. The third position is set such that when the locked member 51 and the lower locking member 52 are locked together, the transmission gear 42 is located in the first position; and the fourth position is set such that when the locked member 51 and the upper locking member 53 are locked together, the transmission gear 42 is located in the second position.

[0031] To better illustrate the present invention, the present invention describes the changes in the positions of some structures, specifically using the Nth position to represent the specific position. In particular, the initial position of any structure is noted with odd numbers, such as the first position, the third position, etc., and the final position of any structure is noted with even numbers, such as the second position, the fourth position, etc.

[0032] The specific usage of this invention is as follows:

[0033] The principle of the clamp arm closing phase is as follows:

[0034] like Figure 2 As shown: In the initial state, the transmission gear 42 is in the first position. At this time, the transmission gear 42 meshes with the large diameter gear of the speed change gear 21 when it is in the first position. Since the transmission gear 42 meshes with the rack 12 when it is in the first or second position, the rotation of the motor 11 will drive the transmission gear 42 to transmit, thereby driving the rack to move forward.

[0035] like Figure 3 As shown, when the motor 11 rotates, the driving gear 22 rotates synchronously and drives the driven gear 31 to rotate. Since the guide member 33 on the lead screw 32 is limited by the vertical groove 34, and the driving gear 22 and the lead screw 32 are threadedly engaged, the rotation of the driven gear 31 will drive the lead screw 32 to move upward. This process will cause the upper rolling friction member 43 to approach and contact the transmission gear 42. Since the limiting member 45 of the transmission gear 42 is locked with the lower locking member 52 through the extended locking member 51, the upper rolling friction member 43 cannot move upward, and the corresponding transmission gear 42 cannot move upward.

[0036] like Figure 4As shown: As the lead screw 32 rises continuously, the lower spring is continuously compressed to store energy. This energy storage process continues until the lower trigger key 56 of the trigger lever 54 rises to contact the lower locking member 52, releasing the lock between the lower locking member 52 and the locked member 51. The stored energy from the lower spring releases its elastic force, pushing the transmission gear 42 upward. During this process, the transmission gear 42 overcomes the elastic force of the upper spring 44 until the limiting member 45 touches the top. At this point, the transmission gear 42 stops at the second position, and the corresponding locked member 51 cooperates with the upper locking member to lock the transmission gear 42 in the second position. Although the rotation of the motor 11 will drive the transmission gear 42 to rotate at this time, deceleration has already been achieved. It should be noted that during the rise of the lower trigger key 56, the upper trigger key 55 also rises synchronously, and at a certain time, the upper trigger key 55 will contact the lower locking member 52 and the upper locking member 53, unlocking them. However, after the upper trigger key 55 passes, the lower locking member 52 and the upper locking member 53 will relock. Although the locking element 52 is unlocked during this process, the transmission gear 42 does not experience any vertical displacement because it does not receive any vertical external force during this process.

[0037] As the motor rotates further, the rotation of the transmission gear 42 will drive the rack forward slowly, and the corresponding lead screw 32 will rise further, compressing the lower spring again. Since there is rolling friction between the transmission gear 42 and the lower push tube 37, the lower push tube 37 will not affect the rotation of the transmission gear 42. After a short period of operation, the motor 11 will stop running because the clamp arm has closed. This action can be stopped by pressure feedback or manual control, and then the operator can control the matching operation.

[0038] The principle behind the clamp arm opening phase is as follows:

[0039] like Figure 5 As shown: The operator controls the motor to reverse via a button, causing the clamp arms to open slowly, while the lead screw 32 and the trigger rod 54 both move downwards. As the lead screw descends, the lower spring gradually releases its elastic force. When the lead screw descends a certain distance, the lower rolling friction element 38 separates from the transmission gear 42, and the distance between them continues to increase.

[0040] like Figure 6 As shown: When the upper trigger key 55 of the trigger lever 54 descends to contact the upper locking member 53, thereby unlocking the upper locking member 53 and the locked member 51, the upper spring 44 releases its stored elastic force, pushing the transmission gear 42 downward. Since the elastic force stored in the upper spring 44 is relatively small, the downward-moving transmission gear 42 will remain in the first position because the locked member 51 and the lower locking member 52 are locked together. After the transmission gear 42 switches to the first position, the transmission gear 42 re-meshes with the large-diameter gear of the transmission gear 21, and the clamp arm opens quickly.

[0041] During the design process, the upper spring 44 extends into the sleeve structure and connects to the top surface of the upper rolling friction member 43. By extending into the sleeve structure and being fitted onto the guide shaft, the upper spring 44 achieves guided compression, preventing bending deformation during compression.

[0042] The upper rolling friction element 43 is an upper planar thrust ball bearing. The bottom surface of the upper planar thrust ball bearing is fixed to the top of the transmission gear 42, and the top surface of the upper planar thrust ball bearing is fixed to the bottom surface of the limiting member 45. The purpose of setting the upper rolling friction element 43 is that the transmission gear 42 must always rotate, while the limiting member does not need to rotate. Furthermore, after the limiting member touches the top, it will basically not rotate or its rotation requires overcoming a large frictional force. In order to ensure the rotation of the transmission gear 42, the upper rolling friction element 43 needs to be set between the transmission gear 42 and the limiting member 45.

[0043] The lower rolling friction element 38 is a lower planar thrust ball bearing, the bottom surface of which is fixed to the top of the lower push tube 37. The configuration of the lower planar thrust ball bearing is the same as that of the upper planar thrust ball bearing. However, it is also necessary to consider that due to the compression of the lower spring, the lower push tube 37 will also generate a large thrust on the transmission gear 42. Therefore, the lower planar thrust ball bearing, through rolling friction, effectively avoids the lower push tube 37 affecting the rotation of the transmission gear 42.

[0044] The upper locking member 53 is an upper electric lock, with an upper push switch on its side and an upper trigger key 55 being an upper protrusion on the trigger rod 54; the lower locking member 52 is a lower electric lock, with a lower push switch on its side and a lower trigger key 56 being a lower protrusion on the trigger rod 54; the locked member 51 includes an extension rod and an iron block located at the end of the extension rod; both the upper and lower electric locks are electrically connected to a power source.

[0045] Currently, many mechanical lock structures have been considered, but no suitable mechanical lock structure has been found. In particular, when the transmission gear 42 returns from the second position to the first position, the locked part 51 cannot lock into the lower locking part 52 because the lower locking element 52 is not triggered to open. Considering that this invention itself has its own power supply, an access control system was ultimately adopted, using an electronic lock system. That is, when the trigger key contacts the push switch, the power is cut off, causing the corresponding electronic lock to lose its magnetism.

[0046] The bottom surface of the driven gear 31 is fixed with a third plane thrust ball bearing 24, which is located inside the handle 1. The driven gear 31 must not be displaced, must be able to rotate, and has a through hole in the middle. After considering many options, it was determined that the third plane thrust ball bearing is the best choice, as the channel in the middle of the third plane thrust ball bearing can accommodate the lead screw to pass through.

[0047] The bottom end of the guide shaft 41 is provided with a limiting piece 46 to prevent the transmission gear 42 from sliding downwards. It should be noted that the outer diameter of the limiting piece 46 is larger than the diameter of the through hole in the middle of the transmission gear 42, but the outer diameter of the limiting piece 46 is smaller than the diameter of the through hole in the middle of the lower plane thrust ball bearing, so that the top surface of the upper plane thrust ball bearing can directly contact the bottom surface of the transmission gear 42.

[0048] The button is electrically connected to the motor 11. The motor 11 and the transmission rod work together to achieve the closing of the purse pliers arm. This is a conventional technique and will not be described in detail here.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A laparoscopic electric charge pack forceps based on motor trigger variable speed, the main body is an electric charge pack forceps, a button, a motor (11) with a power supply and a transmission rod are arranged in the handle (1) of the electric charge pack forceps; characterized in that: The output shaft of the motor (11) is provided with a variable speed gear (21) and a driving gear (22); the handle (1) is provided with a gear set (23) engaged with the small diameter gear of the variable speed gear (21); the handle (1) is rotatably provided with a driven gear (31) engaged with the driving gear (22), and a screw rod (32) is threadedly connected to the middle part of the driven gear (31); the side surface of the screw rod (32) is provided with a guide (33) which is slidingly connected with a vertical slot (34) provided in the handle (1); A vertical hole (35) is formed in the top of the screw rod (32), and a lower spring (36) and a lower push tube (37) are provided in the vertical hole (35); the top of the lower push tube (37) is provided with a lower rolling friction member (38); The handle (1) is further provided with a guide shaft (41), and a transmission gear (42) is sleeved on the guide shaft (41); the transmission gear (42) can be moved from a first position to a second position of the guide shaft (41); when the transmission gear (42) is located at the first position, it is engaged with the large diameter gear of the variable speed gear (21); when the transmission gear (42) is located at the second position, it is engaged with the gear set (23); the transmission rod member at least includes a rack (12) which is always engaged with the transmission gear (42); the top surface of the transmission gear (42) is connected with an upper rolling friction member (43); an upper spring (44) is provided between the top surface of the upper rolling friction member (43) and the handle (1), and the upper spring (44) is sleeved on the guide shaft (41); a limiting member (45) is further provided on the top surface of the upper rolling friction member (43); The limiting member (45) is provided with an outwardly extended locked member (51); a lower locked member (52) and an upper locked member (53) are respectively provided in the handle (1); the guide (33) is provided with an upwardly extending trigger rod member (54); the trigger rod member (54) is provided with an upper trigger key (55) for unlocking the upper locked member (53) and a lower trigger key (56) for unlocking the lower locked member (52); The limiting member (45) is a sleeve structure, and the limiting member (45) is arranged such that when the limiting member (45) is in contact with the handle (1), the transmission gear (42) is exactly located at the second position; The lower locked member (52) and the upper locked member (53) are respectively arranged at a third position and a fourth position; the third position is arranged such that when the locked member (51) is locked in cooperation with the lower locked member (52), the transmission gear (42) is located at the first position; the fourth position is arranged such that when the locked member (51) is locked in cooperation with the upper locked member (53), the transmission gear (42) is located at the second position; The keys are electrically connected with the motor (11); the motor (11) and the transmission rod member are in transmission cooperation; the movement of the transmission rod member realizes the closing of the arms of the pouch tongs.

2. The electric motor-driven charge pack forceps based on motor trigger variable speed for laparoscopy according to claim 1, characterized in that: The upper spring (44) extends into the sleeve structure and is connected with the top surface of the upper rolling friction member (43).

3. The electric motor-driven charge pack forceps based on motor trigger variable speed for laparoscopy according to claim 1, characterized in that: The upper rolling friction member (43) is an upper plane thrust ball bearing; the bottom surface of the upper plane thrust ball bearing is fixed to the top of the transmission gear (42); and the top surface of the upper plane thrust ball bearing is fixed to the bottom surface of the limiting member (45).

4. The electric motor-driven charge pack forceps based on motor trigger variable speed for laparoscopy according to claim 1, characterized in that: The lower rolling friction member (38) is a lower plane thrust ball bearing, and the bottom surface of the lower plane thrust ball bearing is fixed to the top of the lower push tube (37).

5. The electric motor-driven charge pack forceps based on motor trigger variable speed for laparoscopy of claim 1, wherein: The upper locking member (53) is an upper electric control lock, and the side surface of the upper electric control lock is provided with an upper pressing switch. The upper trigger key (55) is an upper protrusion provided on the trigger rod member (54). The lower locking member (52) is a lower electric control lock, and the side surface of the lower electric control lock is provided with a lower pressing switch. The lower trigger key (56) is a lower protrusion provided on the trigger rod member (54). The locked member (51) comprises an extension rod and an iron block at the end of the extension rod. The upper electric control lock and the lower electric control lock are electrically connected with the power supply.

6. The electric motor-driven charge bag forceps based on motor trigger variable speed for laparoscopy of claim 1, characterized in that: The bottom surface of the passive gear (31) is fixed with a third plane thrust ball bearing (24), and the third plane thrust ball bearing (24) is fixed in the handle (1).

7. The electric motor-driven charge pack forceps based on motor trigger variable speed for laparoscopy of claim 1, wherein: The bottom end of the guide shaft (41) is provided with a limiting piece (46) for preventing the transmission gear (42) from sliding downward.

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