A clamping / firing conversion transmission assembly, handle and powered circular stapler

Abstract

The application provides a clamping / trigger conversion transmission assembly, a handle and an electric circular anastomat, the clamping / trigger conversion transmission assembly comprises a first screw transmission pair, a trigger push rod, a clamping push rod, a second screw transmission pair and an intermediate transmission assembly arranged in parallel, the intermediate transmission assembly is provided with a clutch, a rack, a compound gear and a bevel gear. The assembly realizes mode switching through clutch movement: when the clutch connects the rack, the motor driving force is transmitted to the clamping push rod through the first screw transmission pair, the clutch, the rack, the compound gear, the bevel gear and the second screw transmission pair; when the clutch connects the trigger push rod, the driving force is directly transmitted to the trigger push rod through the first screw transmission pair and the clutch. The application is compactly arranged through single motor driving and the clamping / trigger conversion transmission assembly, which is beneficial to the miniaturization of the handle, the switching operation is simple, the clutch and the rack or the trigger push rod always keep rigid linkage, and the clamping / trigger conversion transmission is reliable.

Description

Technical Field

[0001] This invention belongs to the field of anastomosis device technology, and particularly relates to a clamping / firing conversion transmission assembly, handle, and electric circular anastomosis device for an electric circular anastomosis device. Background Technology

[0002] The circular stapler is a key instrument in general surgery used to reconstruct the digestive tract after the removal of diseased tissue. Its main working principle is as follows: the tubular tissue to be anastomosed (such as the esophagus or intestine) is inserted between the anvil and the staple seat. A clamping action compresses the tissue to a suitable thickness. Then, a firing action drives the staple pusher, ejecting the staples from the staple cartridge and shaping them into the staple grooves on the anvil surface. Simultaneously, a circular cutter removes excess tissue inside the anastomosis, thus creating a well-vascularized, uniformly sized end-to-end, end-to-side, or side-to-side anastomosis.

[0003] Existing circular staplers are mainly divided into two categories: manual and electric. Manual staplers rely on the surgeon's hand strength to clamp and fire, which has problems such as laborious operation and difficulty in controlling the clamping and firing force. Electric staplers are driven by motors, solving the problem of operating force for manual staplers. However, traditional electric circular staplers usually adopt a dual-motor drive structure to achieve the switching between clamping and firing. This involves configuring two independent motors and two sets of transmission mechanisms to drive the clamping operation and the cutting and anastomosis operation respectively. Although the control logic is simple, it results in a large handle size, a large number of parts, high production costs, and is not conducive to one-handed operation during surgery.

[0004] Some existing electric circular staplers have improved the clamping / firing transmission component in the handle to accommodate a single motor, thereby reducing the handle's size. For example, patent CN117562625B uses an electromagnet to drive the clutch axially to select a meshing gear. This solution relies on electromagnetic force and spring reset, which is prone to disengagement or jamming under high loads, and the electromagnet and spring are at risk of fatigue failure. Patents CN209136736U and CN111466985A use a parallel shaft system and end-tooth clutch, requiring high end-tooth alignment accuracy; improper meshing can easily lead to tooth breakage. Patent CN111803164B switches by laterally moving the gear through an actuating component. Its actuating mechanism is complex, and the lateral movement of the gear can easily generate radial force, leading to unstable transmission.

[0005] In summary, existing electric circular staplers suffer from various problems in their transmission components, including large space requirements for the handle, susceptibility to disengagement and jamming, and insufficient transmission rigidity. Therefore, it is necessary to provide more compact, easy-to-use, reliable, and efficient clamping / firing conversion transmission components. Summary of the Invention

[0006] The purpose of this invention is to provide a clamping / firing conversion transmission assembly for an electric circular stapler, which has a compact structure, simple conversion operation, and can effectively reduce the risk of transmission failure caused by disengagement or jamming.

[0007] Another object of the present invention is to provide a handle and an electric circular stapler using the above-described clamping / firing conversion transmission assembly.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The first aspect of the present invention provides a clamping / firing conversion transmission assembly for an electric circular stapler, comprising a first screw drive pair, a firing push rod, a clamping push rod, and a second screw drive pair extending in the proximal and distal directions, respectively, and an intermediate transmission assembly disposed between the four. The first lead screw drive assembly includes a first lead screw that can rotate around its own axis under the drive of a motor and a first transmission nut that can move along the axial direction of the first lead screw; the second lead screw drive assembly includes a second lead screw that can rotate around its own axis and a second transmission nut that can move along the axial direction of the second lead screw, and the second transmission nut is drivenly connected to the clamping push rod; the intermediate transmission assembly includes a clutch, a rack, a compound gear, and a bevel gear, the clutch is movably disposed on the first transmission nut, and can be selectively connected to one of the rack and the firing push rod; the rack extends in the proximal direction and has a plurality of teeth distributed along its length; the compound gear includes a spur gear portion meshing with the rack and a bevel gear portion meshing with the bevel gear, the shafts of the spur gear portion and the bevel gear portion extending in the vertical direction respectively; the shaft of the bevel gear extends in the proximal direction, and the bevel gear is drivenly connected to the second lead screw.

[0009] The clamp / fire conversion transmission assembly is configured as follows: When the clutch is connected to the rack, the first transmission nut is linked with the rack, and the driving force of the motor is transmitted to the clamping push rod via the first lead screw transmission pair, the clutch, the rack, the compound gear, the bevel gear and the second lead screw transmission pair, so that the clamping push rod can move between its initial position and the clamping working position. When the clutch is connected to the firing push rod, the first transmission nut is linked with the firing push rod, and the driving force of the motor is transmitted to the firing push rod through the first lead screw transmission pair and the clutch, so that the firing push rod can move between its initial position and the firing working position.

[0010] The clamping / firing conversion transmission assembly of the present invention not only enables the clamping and firing operations of the electric circular stapler to share a single motor, but also features a compact layout among its components, facilitating the miniaturization of the electric circular stapler handle. The conversion operation of the clamping / firing conversion transmission assembly is simple, requiring only control of the clutch's movement. Based on the layout and connection relationships between the components, the clamping / firing conversion transmission assembly of the present invention boasts high conversion reliability and good transmission rigidity. The clutch remains connected to either the rack or the firing push rod, thereby ensuring that the first transmission nut is always linked to either the rack or the firing push rod, avoiding the risk of transmission failure due to disengagement or jamming.

[0011] In some embodiments, the clutch element is movably mounted on the first transmission nut in a vertical direction, having a first working position connected to the rack and a second working position connected to the firing push rod, and is configured to switch between the first and second working positions by vertical movement. The transmission can be switched simply by driving the clutch element to move vertically, making operation simple and efficient.

[0012] In some specific embodiments, the first lead screw drive pair, the firing push rod, the clamping push rod, and the second lead screw drive pair are distributed sequentially from top to bottom. The rack is located on one side of the first lead screw, and the first working position of the clutch is located above the second working position. This layout effectively avoids an increase in the radial thickness of the electric circular stapler, while also allowing for compression in height to prevent the handle from becoming too large.

[0013] In some embodiments, the connection between the clutch and the rack is located at the distal end of the rack, and the connection between the clutch and the firing push rod is located at the proximal end of the firing push rod. This arrangement not only further reduces the height of the space occupied, but also allows the driving force of the first transmission nut to act directly on the end of the rack or the firing push rod, resulting in good transmission rigidity.

[0014] In some embodiments, the clutch element straddles the first transmission nut and has a first limiting post and a second limiting post extending vertically and oppositely arranged, as well as a first connecting portion and a second connecting portion arranged oppositely. The first transmission nut has a first limiting groove for engaging with the first limiting post and a second limiting groove for engaging with the second limiting post. The upper distal end of the rack has a first engaging portion for engaging with the first connecting portion, and the upper distal end of the firing push rod has a second engaging portion for engaging with the second connecting portion. This structure is simple, compact, highly stable, and has a short transmission path.

[0015] Furthermore, the first limiting post and the second limiting post are located on opposite sides of the first lead screw, and the first connecting part and the second connecting part are located on opposite sides of the first lead screw.

[0016] In some specific embodiments, the clutch includes a first plane located above the first transmission nut, a first limiting post extending downward from the first plane, a second limiting post, a first connecting portion, and a second connecting portion. The first connecting portion is a protrusion, and the second connecting portion includes a second plane extending downward from the first plane and an upwardly bent hook portion disposed at the lower end of the second plane. The first mating portion is an upwardly facing groove disposed at the upper part of the distal end of the rack, and the second mating portion is a downwardly facing groove disposed at the upper part of the proximal end of the firing push rod. This ensures high connection stability between the clutch, the rack, and the firing push rod, while avoiding transmission backlash, resulting in high response accuracy of the clamping push rod and the firing push rod.

[0017] In some specific embodiments, the upper distal end of the rack is provided with two protrusions, and the first mating part is a groove between the two protrusions.

[0018] In some embodiments, the spur gear portion and the bevel gear portion of the compound gear are coaxial, and the bevel gear portion is disposed at the lower end of the spur gear portion.

[0019] In some embodiments, the bevel gear is coaxial with the second lead screw and is drivenly connected to the proximal end of the second drive lead screw.

[0020] The above arrangement allows the spur gear portion of the compound gear to be positioned in the gap between the rack and the first lead screw, while the bevel gear portion is located below the firing push rod and the rack. This achieves a more compact layout without causing interference, which not only improves the utilization of three-dimensional space but also shortens the transmission path.

[0021] In some embodiments, the number of teeth in the bevel gear portion is greater than the number of teeth in the bevel gear itself, making the transmission from the compound gear to the bevel gear a reduction transmission, significantly increasing the output torque of the second transmission screw to meet the driving force required for the anvil to clamp the tissue. Furthermore, the module and pressure angle of the bevel gear portion of the compound gear and the bevel gear are equal, and the sum of their pitch cone angles is 90°, ensuring that the shafts of the two gears intersect perpendicularly and their cone apexes coincide, achieving vertical reversible power transmission.

[0022] In some embodiments, the firing push rod is provided with a downward-facing arcuate groove, and the upper part of the clamping push rod is located in the arcuate groove to further improve compactness and reduce the height of the space occupied.

[0023] In some specific embodiments, the clamping / firing conversion transmission assembly is configured as follows: When the first lead screw rotates around its own axis in the first direction under the drive of the motor, it drives the first transmission nut to move the clutch to the proximal end. If the clutch is connected to the rack at this time, the clamping push rod can move from its initial position to the clamping working position. If the clutch is connected to the firing push rod at this time, the firing push rod can move from the firing working position to its initial position. When the first lead screw rotates around its own axis in the second direction under the drive of the motor, it drives the first transmission nut to move the clutch to the distal end. If the clutch is connected to the rack at this time, the clamping push rod can move from the clamping working position to its initial position. If the clutch is connected to the firing push rod at this time, the firing push rod can move from its initial position to the firing working position. One of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0024] A second aspect of the present invention provides a handle for an electric circular stapler, the handle comprising a housing, a motor disposed in the housing, a power supply electrically connected to the motor, a sensor for monitoring the position of the firing push rod and the clamping push rod, a control circuit board electrically connected to the sensor and the motor, the clamping / firing conversion transmission assembly described above, and an operating assembly disposed between the clutch and the housing for driving the clutch to move under external force, wherein the motor is a reversible motor capable of forward and reverse rotation, and the distal end of the output shaft of the motor is drively connected to the proximal end of the first lead screw.

[0025] The control circuit board is configured to control the motor to switch to a first operating mode in response to the sensor detecting that the firing push rod and the clamping push rod are respectively in their initial positions, and in response to the sensor detecting that the clamping push rod is in the clamping working position and the firing push rod is in the firing working position. In response to the sensor detecting that the firing push rod is in its initial position and the clamping push rod is in the clamping working position, the motor is controlled to switch to the second working mode. One of the first working modes and the second working mode is forward rotation of the motor, and the other is reverse rotation of the motor.

[0026] The rotation direction of the first lead screw is controlled by controlling the forward and reverse rotation of the motor.

[0027] In some specific embodiments, in the first operating mode, the first lead screw rotates about its own axis in a first direction, driving the first transmission nut to move the clutch member proximally. If the clutch member is connected to the rack at this time, the clamping push rod can move from its initial position proximally to the clamping working position; if the clutch member is connected to the firing push rod at this time, the firing push rod can move from the firing working position proximally to its initial position. In the second operating mode, the first lead screw rotates about its own axis in a second direction, driving the first transmission nut to move the clutch member distally. If the clutch member is connected to the rack at this time, the clamping push rod can move from the clamping working position distally to its initial position; if the clutch member is connected to the firing push rod at this time, the firing push rod can move from its initial position distally to the firing working position. One of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0028] The handle of this invention can switch the motor working mode in a timely manner according to the position of the clamping push rod and the firing push rod. In conjunction with the operation of the clutch in the clamping / firing conversion transmission assembly, a continuous working process of clamping-firing-firing reset-clamping reset can be realized, with no obvious time delay and effectively avoiding over-firing.

[0029] In specific embodiments, the specific structural form of the operating component is not limited, as long as it can cooperate with the anastomosis device handle housing and drive the clutch component to move, including but not limited to mechanical buttons, sliding knobs, etc.

[0030] In some specific embodiments, the operating component includes a first connecting rod extending in the proximal direction and connected to the clutch. A connecting portion is provided on the second plane of the clutch near the inner wall of the housing, and the connecting portion has a receiving cavity extending in the proximal direction. The first connecting rod is movably inserted into the receiving cavity. The operating component also includes a second connecting rod extending in the proximal direction, a connector for connecting the first and second connecting rods, and a sliding knob disposed on the second connecting rod. A corresponding groove extending in the vertical direction is formed on the housing, and the sliding knob can move up and down along the groove. The operator can control the vertical movement of the clutch by pushing the sliding knob up or down without interfering with the movement of the clutch in the proximal direction, thus achieving the switching of the clamping / firing conversion transmission component's working state. The positions of the first and second connecting rods relative to the housing are locked. Both the first and second connecting rods are parallel to the first lead screw, and the second connecting rod is located below the first connecting rod and closer to the housing, facilitating one-handed operation.

[0031] A third aspect of the present invention provides an electric circular stapler, comprising a handle as described above, a curved tube connected to the handle, an end actuator disposed at the distal end of the curved tube, and an elongated shaft assembly disposed within the curved tube. The end actuator includes an anvil and a staple seat, the staple seat having a pusher and an annular cutter. The elongated shaft assembly includes an anvil adjusting rod and a pusher rod. The proximal end of the anvil adjusting rod is connected to the distal end of the clamping pusher, and the distal end is connected to the anvil. The proximal end of the pusher rod is connected to the distal end of the firing pusher, and the distal end extends into the staple seat to drive the pusher and the annular cutter to fire.

[0032] In a specific embodiment, the movement of the anvil adjusting rod is synchronized with the movement of the clamping push rod. When the clamping push rod moves proximally, the anvil adjusting rod moves proximally as well, causing the anvil to move closer to the nail seat to clamp the target tissue. The movement of the push rod is synchronized with the movement of the firing push rod. When the firing push rod moves distally, the push rod moves distally as well, pushing the pusher plate and the annular cutting blade distally to cut and suture the target tissue.

[0033] Furthermore, a puncture cone is provided at the distal end of the anvil adjustment rod. The puncture cone moves axially synchronously with the anvil adjustment rod to guide tissue puncture and support the center positioning of the anvil.

[0034] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: The clamping / firing conversion transmission assembly of the present invention not only enables the clamping and firing operations of the electric circular stapler to share a single motor, but also features a compact layout among its components, facilitating the miniaturization of the electric circular stapler handle. The switching between clamping and firing modes can be intuitively completed by controlling the movement of the clutch, making operation simple. Based on the transmission connection between the clutch, located on the first transmission nut, and the rack or firing push rod, the accuracy of mode switching and transmission rigidity are ensured, effectively avoiding the risks of disengagement and jamming, and guaranteeing the reliability of the transmission. Attached Figure Description

[0035] Figure 1 This is a three-dimensional structural diagram of the electric circular stapler of Example 1 (in a fully clamped and unfired state) from a first-view perspective. Figure 2 This is a three-dimensional structural diagram of the electric circular stapler of Example 1 (in a fully clamped and unfired state) from a second perspective. Figure 3 This is a three-dimensional structural diagram of the electric circular stapler of Example 1 (in a fully clamped and unfired state) from a third-view perspective. Figure 4This is a three-dimensional structural diagram of the electric circular stapler of Example 1 (in a fully clamped and unfired state) from a fourth-angle perspective. Figure 5 This is an exploded view of the electric circular stapler of Example 1; Figure 6 This is a three-dimensional structural diagram of the first transmission nut in the electric circular stapler of Example 1; Figure 7 This is a three-dimensional structural diagram of the clutch component in the electric circular stapler of Example 1 from one perspective. Figure 8 This is a three-dimensional structural diagram of the clutch component in the electric circular stapler of Example 1 from another perspective. Figure 9 This is a three-dimensional structural diagram of the clutch component in the electric circular stapler of Example 1 from another perspective. Figure 10 This is a front view structural diagram of the clutch component in the electric circular stapler of Example 1; Figure 11 This is a schematic diagram of the rear structure of the clutch component in the electric circular stapler of Example 1; Figure 12 This is a side view of the clutch component in the electric circular stapler of Example 1 from one perspective. Figure 13 This is a side view of the clutch component in the electric circular stapler of Embodiment 1 from another perspective. Figure 14 This is a top view of the clutch component in the electric circular stapler of Example 1; Figure 15 This is a bottom view of the clutch component in the electric circular stapler of Example 1; Figure 16 This is a three-dimensional structural diagram of the rack in the electric circular stapler of Example 1; Figure 17 This is a three-dimensional structural diagram of the compound gear and bevel gear in the electric circular anastomosis device of Example 1; Figure 18 This is a three-dimensional structural diagram of the firing push rod in the electric circular anastomosis device of Example 1; Figure 19 This is a schematic diagram of the connection state of the components related to the clamping operation from one perspective when the clutch in the clamping / firing conversion transmission assembly is in the first working position connected to the rack in the fully clamped and unfired state of the electric circular stapler of Example 1. Figure 20This is a schematic diagram of the connection state of the components related to the clamping operation from another perspective when the clutch in the clamping / firing conversion transmission assembly is in the first working position connected to the rack in the fully clamped and unfired state of the electric circular stapler of Example 1. Figure 21 This is a schematic diagram of the connection state of the components related to the firing operation from one perspective when the clutch in the clamping / firing conversion transmission assembly is in the second working position connected to the firing push rod in the fully clamped and unfired state of the electric circular stapler of Example 1. Figure 22 This is a schematic diagram of the connection state of components related to the firing operation from another perspective when the clutch in the clamping / firing conversion transmission assembly is in the second working position connected to the firing push rod, for the electric circular stapler of Example 1 (fully clamped and not fired). In the above diagram, 1. Handle; 11. Motor; 12. Power supply; 13. Sensor; 14. Control circuit board; 151. First lead screw drive pair; 1511. First lead screw; 1512. First transmission nut; 15121. First limiting groove; 15122. Second limiting groove; 152. Firing push rod; 1521. Second mating part; 1522. Arc groove; 153. Clamping push rod; 154. Second lead screw drive pair; 1541. Second lead screw; 1542. Second transmission nut; 155. Intermediate transmission assembly; 1551. Clutch; 15511. First plane; 15512. First limiting post; 15513. Second limiting post; 15514, First connecting part; 15515, Second connecting part; 155151, Second plane; 155152, Hook; 15516, Connecting part; 1552, Rack; 15521, First mating part; 1553, Compound gear; 15531, Spur gear part; 15532, Bevel gear part; 1554, Bevel gear; 16, Operating component; 161, First connecting rod; 162, Second connecting rod; 163, Connector; 164, Sliding knob; 2, Bend; 3, End actuator; 31, Anvil seat; 32, Nail seat; 41, Anvil seat adjusting rod; 42, Push nail rod; 43, Piercing cone. Detailed Implementation

[0036] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the embodiments of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0037] In the description of this invention, it should be understood that the terms "upper," "lower," "far end," and "proximal end," etc., used herein are based on... Figure 1The description of the positional relationships observed by the user during use of the electric circular stapler is as follows. "Distal" and "proximal" are described from the operator's perspective; the end closer to the operator is the proximal end, and the end farther from the operator is the distal end, i.e., the end closer to the surgical site is the distal end. "Upper" refers to the side where the clutch 1551 is located, and "lower" refers to the side where the second drive screw is located. "Inner" and "outer" are positions defined relative to the center of the instrument or component, where "inner" is the position closer to the center of the instrument or component, and "outer" is the position farther from the center of the instrument or component. The above descriptions of directional terms are only for the convenience of describing embodiments of the present invention and for simplifying the description, and are not intended to 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 on the embodiments of the present invention.

[0038] In the description of the embodiments of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "fixed," etc., should be interpreted broadly. For example, they can refer to a direct fixed connection, an indirect fixed connection through intermediate components, a detachable connection, or an integral part. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention according to the specific circumstances.

[0040] As described below, various structures of the embodiments of the present invention can be implemented through many different implementation methods or examples. To simplify the disclosure of the embodiments of the present invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention.

[0041] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0042] Example 1 This embodiment provides an electric circular anastomosis device, which includes a handle 1, a curved tube 2 connected to the handle 1, an end effector 3 disposed at the distal end of the curved tube 2, and an elongated shaft assembly (such as...) disposed in the curved tube 2. Figures 1 to 5 (As shown).

[0043] Specifically, the handle 1 includes a housing (hidden in the figure), a reversible motor 11 installed in the housing, a power supply 12 (battery pack) electrically connected to the motor 11, a sensor 13 (hidden in the figure) for monitoring the position of the firing push rod 152 and the clamping push rod 153, a control circuit board 14 electrically connected to the sensor 13 and the motor 11, a clamping / firing conversion transmission assembly including the firing push rod 152, the clamping push rod 153 and the clutch 1551, and an operating component 16 installed between the clutch 1551 in the clamping / firing conversion transmission assembly and the housing for driving the clutch 1551 to move when subjected to external force.

[0044] The clamping / firing conversion transmission assembly includes a first lead screw transmission pair 151, a firing push rod 152, a clamping push rod 153, and a second lead screw transmission pair 154, which extend in the near and far directions respectively, and an intermediate transmission assembly 155 disposed between the four.

[0045] Specifically, the first lead screw drive pair 151 includes a first lead screw 1511 (with external threads, not shown in the figure) that can rotate about its own axis under the drive of the motor 11, and a first transmission nut 1512 that can move axially along the first lead screw 1511; the second lead screw drive pair 154 includes a second lead screw 1541 (with external threads, not shown in the figure) that can rotate about its own axis, and a second transmission nut 1542 that can move axially along the second lead screw 1541, the second transmission nut 1542 being connected to the clamping push rod 153; the intermediate transmission assembly 155 includes a clutch 1551, a rack 1552, a compound gear 1553, and a cone. Gear 1554 and clutch 1551 are movably mounted on the first transmission nut 1512 and can be selectively connected to one of rack 1552 and firing push rod 152; rack 1552 extends in the proximal direction and has a plurality of teeth distributed along its length; compound gear 1553 includes a spur gear portion 15531 meshing with rack 1552 and a bevel gear portion 15532 meshing with bevel gear 1554, the shafts of spur gear portion 15531 and bevel gear portion 15532 extending in the vertical direction respectively; the shaft of bevel gear 1554 extends in the proximal direction and bevel gear 1554 is connected to the second lead screw 1541 for transmission.

[0046] The clamp / fire conversion drive assembly is configured as follows: When the clutch 1551 is connected to the rack 1552, the first transmission nut 1512 is linked with the rack 1552. The driving force of the motor 11 is transmitted to the clamping push rod 153 through the first lead screw transmission pair 151, the clutch 1551, the rack 1552, the compound gear 1553, the bevel gear 1554, and the second lead screw transmission pair 154, so that the clamping push rod 153 can move between its initial position and the clamping working position. When the clutch 1551 is connected to the firing push rod 152, the first transmission nut 1512 is linked with the firing push rod 152, and the driving force of the motor 11 is transmitted to the firing push rod 152 through the first lead screw transmission pair 151 and the clutch 1551, so that the firing push rod 152 can move between its initial position and the firing working position.

[0047] In this embodiment, the first lead screw drive pair 151, the firing push rod 152, the clamping push rod 153, and the second lead screw drive pair 154 are distributed sequentially from top to bottom, with the rack 1552 located on one side of the first lead screw 1511. The clutch 1551 is movably mounted on the first transmission nut 1512 in the vertical direction, having a first working position connected to the rack 1552 and a second working position connected to the firing push rod 152. It is configured to switch between the first and second working positions by moving vertically, with the first working position located above the second working position. The connection between the clutch 1551 and the rack 1552 is located at the distal end of the rack 1552, and the connection between the clutch 1551 and the firing push rod 152 is located at the proximal end of the firing push rod 152. Specifically, the clutch 1551 is mounted across the first transmission nut 1512, and has a first limiting post 15512 and a second limiting post 15513 extending vertically and oppositely disposed, and a first connecting portion 15514 and a second connecting portion 15515 arranged oppositely. The first transmission nut 1512 has a first limiting groove 15121 for engaging and connecting the first limiting post 15512 and a second limiting groove 15122 for engaging and connecting the second limiting post 15513 (e.g., ...). Figure 6 As shown, the upper distal end of the rack 1552 is provided with a first mating part 15521 for engaging with the first connecting part 15514, and the upper distal end of the firing push rod 152 is provided with a second mating part 1521 for engaging with the second connecting part 15515. More specifically, the first limiting post 15512 and the second limiting post 15513 are located on opposite sides of the first lead screw 1511, and the first connecting part 15514 and the second connecting part 15515 are located on opposite sides of the first lead screw 1511. The clutch component 1551 includes a first plane 15511 located above the first transmission nut 1512, a first limiting post 15512 extending downward from the first plane 15511, a second limiting post 15513, a first connecting portion 15514, and a second connecting portion 15515. The first connecting portion 15514 is a protrusion. The second connecting portion 15515 includes a second plane 155151 extending downward from the first plane 15511 and an upwardly bent hook portion 155152 located at the lower end of the second plane 155151. The first mating portion 15521 is an upwardly facing groove located at the upper distal end of the rack 1552, and the second mating portion 1521 is a downwardly facing groove located at the upper proximal end of the firing push rod 152 (e.g., ...). Figures 7 to 15(As shown). The upper distal end of the rack 1552 has two protrusions, and the first mating part 15521 is a groove between the two protrusions (as shown). Figure 16 (As shown). More specifically, the spur gear portion 15531 and the bevel gear portion 15532 of the compound gear 1553 are coaxial, and the bevel gear portion 15532 is disposed at the lower end of the spur gear portion 15531 (as shown). Figure 17 (As shown). More specifically, the bevel gear 1554 is coaxial with the second lead screw 1541 and is drively connected to the proximal end of the second transmission lead screw. More specifically, the number of teeth of the bevel gear portion 15532 is greater than the number of teeth of the bevel gear 1554. More specifically, the firing push rod 152 is provided with a downward-opening arc-shaped groove 1522 (as shown). Figure 18 As shown), the upper part of the clamping push rod 153 is located in the arc-shaped groove 1522.

[0048] In this embodiment, the clamping / firing conversion transmission assembly allows the clamping operation and the firing operation to share a single motor 11 (e.g., Figures 19 to 22 As shown in the figure, the clamping and firing switching operation is simple, requiring only the control of the movement of the clutch 1551; the linear movement of the clutch 1551 enables convenient switching between clamping and firing modes; at the same time, based on the layout and connection relationship between the components, it has the advantages of compact structure, high switching reliability, and good transmission rigidity, which can avoid the risk of transmission failure caused by disengagement or jamming, and realize the miniaturization of the handle.

[0049] In this embodiment, the control circuit board 14 is configured to: in response to the sensor 13 detecting that the firing push rod 152 and the clamping push rod 153 are respectively in their initial positions, and in response to the sensor 13 detecting that the clamping push rod 153 is in the clamping working position and the firing push rod 152 is in the firing working position, control the motor 11 to switch to the first working mode. In response to sensor 13 detecting that the firing push rod 152 is in its initial position and the clamping push rod 153 is in the clamping working position, control motor 11 switches to the second working mode. In the first working mode and the second working mode, one is that motor 11 rotates forward and the other is that motor 11 rotates in reverse.

[0050] The rotation direction of the first lead screw 1511 is controlled by controlling the forward and reverse rotation of the motor 11.

[0051] In this embodiment, in the first working mode, the first lead screw 1511 rotates around its own axis in the first direction, driving the first transmission nut 1512 to move the clutch 1551 towards the proximal end. If the clutch 1551 is connected to the rack 1552 at this time, the clamping push rod 153 can move from its initial position to the proximal end to the clamping working position; if the clutch 1551 is connected to the firing push rod 152 at this time, the firing push rod 152 can move from the firing working position to the proximal end to its initial position; in the second working mode, the first The lead screw 1511 rotates around its own axis in the second direction, driving the first transmission nut 1512 to move the clutch 1551 to the far end. If the clutch 1551 is connected to the rack 1552 at this time, the clamping push rod 153 can move from the clamping working position to its initial position. If the clutch 1551 is connected to the firing push rod 152 at this time, the firing push rod 152 can move from its initial position to the firing working position. One of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0052] In this embodiment, the handle 1 can switch the operating mode of the motor 11 in a timely manner according to the positions of the clamping push rod 153 and the firing push rod 152. Combined with the operation of the clutch 1551 in the clamping / firing conversion transmission assembly, a continuous working process of clamping-firing-firing reset-clamping reset can be achieved without significant time delay and effectively avoids over-firing. The specific structural form of other components of the handle 1 in this embodiment, except for the clamping / firing conversion transmission assembly, is not limited; existing designs that can achieve the same function can be used, and will not be described further here. To facilitate one-handed operation and avoid interference with the movement of the clutch 1551 along the proximal-remote direction, the operating component 16 used in this embodiment includes a first connecting rod 161 extending along the proximal-remote direction and connected to the clutch 1551. A connecting portion 15516 is provided on the second plane 155151 of the clutch 1551 near the inner wall of the housing. The connecting portion 15516 has a receiving cavity extending along the proximal-remote direction, and the first connecting rod 161 is movably inserted into the receiving cavity. The operating component 16 also includes... The system includes a second connecting rod 162 extending in the near-far direction, a connector 163 for connecting the first connecting rod 161 and the second connecting rod 162, and a sliding knob 164 disposed on the second connecting rod 162. A corresponding groove extending in the vertical direction is provided on the housing. The sliding knob 164 can move up and down along the groove. The operator can control the vertical movement of the clutch 1551 by pushing the sliding knob 164 up or down without interfering with the movement of the clutch 1551 in the near-far direction, thus achieving the switching of the clamping / firing conversion transmission assembly's working state. The positions of the first connecting rod 161 and the second connecting rod 162 relative to the housing are locked. Both the first connecting rod 161 and the second connecting rod 162 are parallel to the first lead screw 1511, and the second connecting rod 162 is located below the first connecting rod 161 and closer to the housing.

[0053] In this embodiment, the end effector 3 includes an anvil 31 and a nail seat 32. The nail seat 32 is provided with a pusher and a ring-shaped cutting blade. The elongated shaft assembly includes an anvil adjusting rod 41 and a pusher rod 42. The proximal end of the anvil adjusting rod 41 is connected to the distal end of the clamping pusher 153, and the distal end is connected to the anvil 31. The proximal end of the pusher rod 42 is connected to the distal end of the firing pusher 152, and the distal end extends into the nail seat 32 to drive the pusher and the ring-shaped cutting blade to fire. A puncture cone 43 is provided at the distal end of the anvil adjusting rod 41. The puncture cone 43 moves axially synchronously with the anvil adjusting rod 41 to guide tissue puncture and support the center positioning of the anvil 31.

[0054] Specifically, the movement of the anvil adjustment rod 41 is synchronized with the clamping push rod 153. When the clamping push rod 153 moves proximally, the anvil adjustment rod 41 moves proximally as well, causing the anvil 31 to move closer to the nail seat 32 to clamp the target tissue. The movement of the push rod 42 is synchronized with the firing push rod 152. When the firing push rod 152 moves distally, the push rod 42 moves distally as well, pushing the pusher plate and the annular cutting blade distally to cut and anastomose the target tissue.

[0055] The present invention has been described in detail above, with the aim of enabling those skilled in the art to understand and implement the invention. However, this description should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be included within the scope of protection of the invention.

Claims

1. A clamping / firing conversion transmission assembly for an electric circular stapler, characterized in that, It includes: The first lead screw drive pair, the firing push rod, the clamping push rod, and the second lead screw drive pair, which extend in the near and far directions respectively, are connected by an intermediate transmission assembly. The first lead screw transmission pair includes a first lead screw that can rotate around its own axis under the drive of a motor and a first transmission nut that can move along the axial direction of the first lead screw; The second lead screw drive pair includes a second lead screw that can rotate about its own axis and a second drive nut that can move along the axial direction of the second lead screw. The second drive nut is connected to the clamping push rod in a drive connection. The intermediate transmission assembly includes a clutch, a rack, a compound gear, and a bevel gear. The clutch is movably mounted on the first transmission nut and can be selectively connected to one of the rack and the firing push rod; The rack extends in the proximal direction and has several teeth distributed along its length. The compound gear includes a spur gear section that meshes with the rack and a bevel gear section that meshes with the bevel gear, wherein the shafts of the spur gear section and the bevel gear section extend in the vertical direction, respectively. The shaft of the bevel gear extends in the proximal direction, and the bevel gear is connected to the second lead screw via a transmission. The clamp / fire conversion transmission assembly is configured as follows: When the clutch is connected to the rack, the driving force of the motor is transmitted to the clamping push rod via the first lead screw transmission pair, the clutch, the rack, the compound gear, the bevel gear and the second lead screw transmission pair, so that the clamping push rod can move between its initial position and the clamping working position. When the clutch is connected to the firing push rod, the driving force of the motor is transmitted to the firing push rod via the first lead screw transmission pair and the clutch, so that the firing push rod can move between its initial position and the firing working position.

2. The clamping / firing conversion transmission assembly according to claim 1, characterized in that, The clutch is movably mounted on the first transmission nut in the vertical direction, and has a first working position connected to the rack and a second working position connected to the firing push rod. It is configured to switch between the first working position and the second working position by moving in the vertical direction.

3. The clamping / firing conversion transmission assembly according to claim 2, characterized in that, The first lead screw drive pair, the firing push rod, the clamping push rod, and the second lead screw drive pair are distributed sequentially from top to bottom. The rack is located on one side of the first lead screw, and the first working position of the clutch is located above the second working position.

4. The clamping / firing conversion transmission assembly according to any one of claims 1 to 3, characterized in that, The connection between the clutch and the rack is located at the distal end of the rack, and the connection between the clutch and the firing push rod is located at the proximal end of the firing push rod.

5. The clamping / firing conversion transmission assembly according to claim 4, characterized in that, The clutch component straddles the first transmission nut and has a first limiting post and a second limiting post extending vertically and oppositely disposed, as well as a first connecting portion and a second connecting portion arranged oppositely. The first transmission nut has a first limiting groove for cooperating with the first limiting post and a second limiting groove for cooperating with the second limiting post. The upper part of the distal end of the rack is provided with a first mating part for cooperating with the first connecting part, and the upper part of the distal end of the firing push rod is provided with a second mating part for cooperating with the second connecting part.

6. The clamping / firing conversion transmission assembly according to claim 5, characterized in that, The first limiting post and the second limiting post are located on opposite sides of the first lead screw, and the first connecting part and the second connecting part are located on opposite sides of the first lead screw; And / or, the clutch component includes a first plane located above the first transmission nut, a first limiting post extending downward from the first plane, a second limiting post, a first connecting portion, and a second connecting portion, wherein the first connecting portion is a protrusion, and the second connecting portion includes a second plane extending downward from the first plane and an upwardly bent hook portion disposed at the lower end of the second plane. The first mating part is an upward-facing slot located at the upper distal end of the rack, and the second mating part is a downward-facing slot located at the upper proximal end of the firing push rod.

7. The clamping / firing conversion transmission assembly according to any one of claims 1 to 3, characterized in that, The spur gear portion and the bevel gear portion of the compound gear are coaxial, and the bevel gear portion is disposed at the lower end of the spur gear portion; And / or, the bevel gear is coaxial with the second lead screw and is drively connected to the proximal end of the second drive lead screw; And / or, the number of teeth in the bevel gear portion is greater than the number of teeth in the bevel gear; And / or, the firing push rod is provided with a downward-facing arc-shaped groove, and the upper part of the clamping push rod is located in the arc-shaped groove.

8. The clamping / firing conversion transmission assembly according to claim 1, characterized in that, The clamp / fire conversion transmission assembly is configured as follows: When the first lead screw rotates around its own axis in the first direction under the drive of the motor, it drives the first transmission nut to move the clutch to the proximal end. If the clutch is connected to the rack at this time, the clamping push rod can move from its initial position to the clamping working position. If the clutch is connected to the firing push rod at this time, the firing push rod can move from the firing working position to its initial position. When the first lead screw rotates around its own axis in the second direction under the drive of the motor, it drives the first transmission nut to move the clutch to the far end. If the clutch is connected to the rack at this time, the clamping push rod can move from the clamping working position to its initial position. If the clutch is connected to the firing push rod at this time, the firing push rod can move from its initial position to the firing position. One of the first direction and the second direction is clockwise, and the other is counterclockwise.

9. A handle for an electric circular stapler, characterized in that, The handle includes a housing, a motor disposed in the housing, a power supply electrically connected to the motor, a sensor for monitoring the positions of the firing push rod and the clamping push rod, a control circuit board electrically connected to the sensor and the motor, a clamping / firing conversion transmission assembly as described in any one of claims 1 to 8, and an operating assembly disposed between the clutch and the housing for driving the clutch to move when subjected to external force. The motor is a reversible motor capable of forward and reverse rotation, and the distal end of the motor's output shaft is connected to the proximal end of the first lead screw. The control circuit board is configured to control the motor to switch to a first operating mode in response to the sensor detecting that the firing push rod and the clamping push rod are respectively in their initial positions, and in response to the sensor detecting that the clamping push rod is in the clamping working position and the firing push rod is in the firing working position. In response to the sensor detecting that the firing push rod is in its initial position and the clamping push rod is in the clamping working position, the motor is controlled to switch to the second working mode. One of the first working modes and the second working mode is forward rotation of the motor, and the other is reverse rotation of the motor.

10. An electric circular stapler, characterized in that, It includes the handle as described in claim 9, a bent tube connected to the handle, an end effector disposed at the distal end of the bent tube, and an elongated shaft assembly disposed in the bent tube. The end effector includes a pin seat and a pin seat, wherein the pin seat is provided with a pin pusher and a ring-shaped cutting blade; The slender shaft assembly includes an anvil adjusting rod and a pusher rod. The proximal end of the anvil adjusting rod is connected to the distal end of the clamping push rod, and the distal end is connected to the anvil. The proximal end of the push rod is connected to the distal end of the firing push rod, with the distal end extending into the nail seat to drive the push rod plate and the annular cutting blade to perform firing.

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