A gun type electric power tool

Abstract

The present application relates to surgical instrument technical field, especially a kind of gun type electric instrument, including driving end and execution end, the execution end includes shear execution module, pitch execution module and rotation execution module;The driving end includes installation shell, rotation drive module, pitch drive module, shear drive module and gun type control module;The present application is arranged by three degrees of freedom, decoupling mode and compact structure, can realize pitch, rotation and shear and other fine actions in limited incision, adapt to complex human body organization inside, rely on motor to provide millimeter level movement precision, reduce the shaking or deviation caused by fatigue of manual instrument, improve the precision of surgical operation;Adopt gun type holding mode, gun type grip, holding reliable in the operation process, and suitable for the clamping, pulling action of human body tissue, while retaining the setting of shear drive steel wire, i.e. retaining the feedback of execution end clamping force, further improve reliability.

Description

Technical Field

[0001] This invention relates to the field of surgical instrument technology, and in particular to a gun-type electric instrument. Background Technology

[0002] Minimally invasive surgery, with its advantages of less trauma, less pain, fewer complications, and faster recovery, has been widely applied in various fields such as general surgery, obstetrics and gynecology, urology, and thoracic surgery. Based on the evolution of surgical access methods, the development of minimally invasive surgical instruments has roughly gone through three stages: from the initial multi-port laparoscopic surgery, where instruments were inserted through multiple external incisions; to single-port laparoscopic surgery, where all instruments were inserted through a single incision; and now to the cutting-edge natural orifice surgery, where surgery is performed through the body's natural passages such as the mouth, urethra, and anus. Each advancement in surgery has placed higher demands on the instruments.

[0003] Early minimally invasive surgeries employed multi-port approaches, with instruments entering the body through different trocars, forming a reasonable operating triangle, and the problem of instrument cross-interference was not significant. With the deepening of the minimally invasive concept, single-port laparoscopic surgery has become increasingly popular due to its ability to further reduce abdominal wall trauma and improve cosmetic results. However, the extremely confined operating space caused by all instruments entering through a single port leads to cross-interference between instruments, creating the so-called "chopstick effect," which seriously affects surgical safety. To address this issue, surgical robotic systems (such as the da Vinci Surgical System) have been introduced into clinical practice. Their end effector can rotate 360 ​​degrees flexibly, offering significant advantages in single-port surgeries. However, these robotic systems have inherent drawbacks such as complex equipment, large size, high purchase and maintenance costs, and a lack of tactile feedback, making widespread adoption in medical institutions at all levels difficult.

[0004] Against this backdrop, handheld instruments, which combine the dexterity of robots with the convenience and economy of traditional instruments, have become an important development direction in the field of minimally invasive surgery in recent years. These instruments aim to fill the "missing link" between laparoscopic surgery and robotic surgery—allowing surgeons to directly manipulate articulated instruments without relying on large robotic systems.

[0005] Handheld electric surgical instruments are among the fastest-growing types of handheld devices in recent years. Their core feature is the addition of electrically driven joint movement capabilities to traditional laparoscopic instruments. Existing handheld electric surgical instruments allow surgeons to directly manipulate jointed devices without the need for large robotic systems, and possess multiple degrees of freedom to simulate the surgeon's hand movements. Clinical studies have shown that these instruments perform well in terms of safety and effectiveness. However, current handheld instruments, due to the multiple degrees of freedom at the actuator end, require transmission to the actuator end via a drive structure when the operator is operating at the drive end. This necessitates decoupling of each degree of freedom at the actuator end, inevitably increasing its size and reducing its flexibility. Furthermore, incorporating motors and other drive components at the actuator end also presents compactness issues. Therefore, improvements are needed. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of the aforementioned background technology by providing a surgical instrument with better decoupling of the various degrees of freedom at the execution end and higher operational precision.

[0007] To achieve the above objectives, the present invention provides a gun-type electric device, including a drive end and an actuation end; The actuator shown includes a shearing actuator module, a pitch actuator module, and a rotation actuator module; the drive end includes a mounting housing, a rotation drive module, a pitch drive module, a shear drive module, and a gun-type control module. The shearing execution module includes a shearing mounting base, shearing fingers, a shearing drive block, a first reset component, and a shearing drive wire. A pair of shearing fingers are provided and rotatably connected to the shearing mounting base. The shearing drive block is movably connected to the shearing mounting base and associated with the shearing fingers. When the shearing drive block moves, it can drive the shearing fingers to rotate. The shearing drive block is connected to the shearing drive wire, which is also connected to the shearing drive module. The first reset component is connected to both the shearing drive block and the shearing mounting base. The pitch execution module includes a pitch mounting base, a pitch seat, a pitch drive block, a pitch guide block, and a pitch drive rod. The shear mounting base is connected to the pitch seat, the pitch seat is rotatably connected to the pitch mounting base, the pitch guide block is movably connected to the pitch seat, and both ends of the pitch drive block are rotatably connected to the pitch guide block and the pitch seat, respectively. The pitch drive block and the pitch guide block are both rigid blocks. The pitch seat, the pitch mounting base, the pitch guide block, and the pitch drive rod are provided with a central hole for the shear drive rod to pass through. The rotation execution module includes a rotation connecting rod, the pitch mounting base is connected to the rotation connecting rod, the rotation connecting rod is rotatably connected to the mounting housing, and the rotation connecting rod is configured as a hollow rod structure for the pitch drive rod to pass through; The rotation drive module is driven by the rotation connecting rod, the pitch drive module is driven by the pitch drive rod, the shear drive module is driven by the shear drive wire, and the gun-type control module is connected to the mounting housing for gripping operations.

[0008] Furthermore, the shearing mounting base is provided with a first guide groove, the shearing driving block is movably disposed in the first guide groove, the shearing driving block is provided with a shearing driving lever, the shearing driving lever is located in a slot opened at the root of the shearing finger, the shearing driving block is also provided with an elongated hole, the end of the shearing connecting shaft passes through the elongated hole, and the first reset element is a reset spring, the reset spring is disposed in the first guide groove.

[0009] Furthermore, the pitch mounting base is provided with a second guide groove, and the pitch drive block and the pitch guide block are both disposed in the second guide groove, and the pitch guide block can slide along the second guide groove within a preset range.

[0010] Furthermore, the rotary actuation module also includes a first support bearing assembly and a first gear. The rotary connecting rod is rotatably connected to the mounting housing via the first support bearing assembly, and the first gear is connected to the rotary connecting rod to maintain synchronous rotation.

[0011] Furthermore, the drive end also includes a first angle module and a second angle module. The first angle module is used to output angle signals. The mounting housing is provided with a control motherboard and a battery board. The control motherboard is electrically connected to the rotation drive module, the pitch drive module, the first angle module, and the second angle module, as well as to the battery board.

[0012] Furthermore, the rotary drive module includes a rotary drive motor and a second gear, the second gear being connected to the output shaft of the rotary drive motor to maintain synchronous rotation.

[0013] Furthermore, the pitch drive module includes a pitch drive motor, a third gear, a fourth gear, a helical drive seat, a transmission screw, and a tie rod limiting seat. The helical drive seat has an internal thread at its center and is rotatably connected to the mounting housing. The third gear is connected to the helical drive seat and rotates synchronously. The fourth gear is connected to the output shaft of the pitch drive motor and rotates synchronously. The fourth gear meshes with the third gear. The transmission screw has an external thread and engages with the internal thread of the helical drive seat. The transmission screw is fixedly connected to the pitch drive rod through the tie rod limiting seat. The mounting housing has a limiting groove that extends axially along the pitch drive rod and can simultaneously limit the rotation of the tie rod limiting seat.

[0014] Furthermore, the shearing drive module includes a wire winding post and a winding guide wheel. Both the wire winding post and the winding guide wheel are rotatably connected to the mounting housing. The shearing drive wire passes over the corresponding winding guide wheel and is fixedly connected to the wire winding post. The wire winding post is connected to the gun-type control module. A reset torsion spring is sleeved on the wire winding post, and the two ends of the reset torsion spring are respectively connected to the wire winding post and the mounting housing.

[0015] Furthermore, the gun-type control module includes a grip handle and a shear drive handle. The grip handle is fixedly connected to the mounting housing, and the shear drive handle is connected to the shear drive module and is capable of rotating with the mounting housing.

[0016] Furthermore, both the first angle module and the second angle module include an encoder, an encoder mounting shaft, and a control roller. The control roller is connected to the encoder mounting shaft and rotates synchronously. The encoder mounting shaft is rotatably connected to the mounting housing. The encoder includes a movable part and a fixed part. The movable part of the encoder is connected to the encoder mounting shaft, and the fixed part of the encoder is connected to the grip handle. The encoder integrates a power-on reset and position synchronization mechanism.

[0017] The above-described solution of the present invention has the following beneficial effects: The gun-type electric instrument provided by this invention, through its three-degree-of-freedom configuration, decoupling method, and compact structural arrangement, can achieve precise movements such as pitching, rotation, and shearing within a limited incision, adapting to complex internal human tissues (such as narrow cavities or delicate tissue separation). Relying on the motor to provide millimeter-level motion accuracy, it reduces the shaking or deviation caused by fatigue of manual instruments, thus improving the precision of surgical operations. The gun-type grip ensures reliable holding during operation and is suitable for clamping and pulling movements of human tissues. At the same time, it retains the setting of the shearing drive wire, that is, it retains the feedback of the clamping force at the execution end, further improving reliability. Other beneficial effects of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the execution end of the present invention; Figure 3 This is a schematic diagram of the execution end (yaw) of the present invention; Figure 4 This is a schematic diagram of the internal structure of the execution end of the present invention; Figure 5 This is a cross-sectional view of the internal structure of the execution end of the present invention; Figure 6 This is a schematic diagram of the driving end of the present invention; Figure 7 This is another schematic diagram of the driving end of the present invention; Figure 8 This is a schematic diagram of the interior of the mounting housing of the present invention; Figure 9 This is a schematic diagram of the transmission structure of the rotation drive module and the pitch drive module of the present invention; Figure 10 This is a schematic diagram of the first angle module and the second angle module of the shearing drive module of the present invention.

[0019] [Explanation of Labels in the Attached Image] A - Actuating end; 10 - Shearing actuator module; 11 - Shearing mounting base; 12 - Shearing finger; 13 - Shearing connecting shaft; 14 - Shearing drive block; 15 - Return spring; 16 - Shearing drive wire; 17 - Shearing drive lever; 20 - Pitch actuator module; 21 - Pitch mounting base; 22 - Pitch seat; 23 - Support pin; 24 - Pitch drive block; 25 - Pitch guide block; 26 - Pitch drive rod; 27 - Mounting bolt; 30 - Rotation actuator module; 31 - Rotation connecting rod; 32 - First support bearing assembly; 33 - First gear; B - Driving end; 40 - Mounting housing; 41 - Control main board; 42 - Battery board; 50 - Rotation drive module; 51 - Rotation drive motor; 5 2-Second gear; 60-Pitch drive module; 61-Pitch drive motor; 62-Third gear; 63-Fourth gear; 64-Screw drive seat; 65-Transmission screw; 66-Pull rod limit seat; 67-Second support bearing assembly; 68-Locking bolt; 70-Shear drive module; 71-Wire winding post; 72-Wrapping guide wheel; 73-Reset torsion spring; 80-Pistol control module; 81-Holding handle; 82-Shear drive handle; 91-First encoder; 92-First encoder mounting shaft; 93-Third support bearing assembly; 94-Rotation control roller; 95-Second encoder; 96-Second encoder mounting shaft; 97-Fourth support bearing assembly; 98-Pitch control roller. Detailed Implementation

[0020] To make the technical problems, solutions, and advantages of this invention clearer, a detailed description will be provided below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the 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. Therefore, they should not be construed as limitations on the 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.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a locking connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a gun-type electric device, including a drive end B and an execution end A. The drive end B is for handheld operation by the operator and is equipped with multiple drive modules. Correspondingly, the execution end A is equipped with multiple execution modules. The drive modules and execution modules are connected by a transmission method. Therefore, when the operator holds the drive end B, they can simultaneously operate the drive modules to drive the execution modules in a preset manner. The execution end A does not need to directly accommodate motors, thus avoiding increasing its size and flexibility.

[0024] At the same time, such as Figures 2-5As shown, the execution module includes a shearing execution module 10, a pitching execution module 20, and a rotational execution module 30. The shearing execution module 10 includes a shearing mounting base 11, shearing fingers 12, a shearing connecting shaft 13, a shearing drive block 14, a return spring 15, and a shearing drive wire 16. The shearing mounting base 11 is connected to the pitching execution module 20. A pair of shearing fingers 12 are provided and rotatably connected to the shearing mounting base 11 via the shearing connecting shaft 13. The shearing mounting base 11 has a first guide groove, and the shearing drive block 14 is movably disposed within the first guide groove. The shearing drive block 14 has a shearing drive lever 17 located within a slot at the base of the shearing fingers 12. Therefore, when the shearing drive block 14 moves, it can drive the shearing fingers 12 to rotate around the shearing connecting shaft 13, allowing the symmetrically arranged shearing fingers 12 to complete the shearing and return actions. The shearing drive block 14 also has an elongated hole for the shearing connecting shaft 13 to pass through and avoid it. The shearing drive wire 16 is connected to the shearing drive block 14, and the return spring 15 is disposed in the first guide groove. Both ends of the return spring 15 contact the shearing drive block 14 and the shearing mounting base 11 (first guide groove), respectively. The shearing drive wire 16 passes through the center hole of the shearing mounting base 11 and also through the center of the return spring 15. When the shearing drive wire 16 pulls the shearing drive block 14 into the first guide groove, it drives the shearing finger 12 to complete the shearing action and compresses the return spring 15. When the shearing drive wire 16 relaxes, the return spring 15 releases its elastic potential energy, causing the shearing drive block 14 to move out of the first guide groove and driving the shearing finger 12 to complete the reset action. Therefore, during operation at the drive end, only the shearing drive wire 16 needs to be controlled.

[0025] As shown in the figure, the pitch execution module 20 includes a pitch mounting base 21, a pitch seat 22, a support pin 23, a pitch drive block 24, a pitch guide block 25, and a pitch drive rod 26. The pitch seat 22 is rotatably connected to the pitch mounting base 21 via the support pin 23. Therefore, the pitch seat 22 completes the pitch action when it rotates relative to the pitch mounting base 21. The pitch mounting base 21 is connected to the rotation execution module 30. Considering practical considerations, in this embodiment, the pitch angle range of the pitch seat 22 relative to the pitch mounting base 21 is set to 0~60°, meaning the pitch seat 22 can rotate in one direction relative to the pitch mounting base 21, which is sufficient to meet the needs of actual surgical operations. Based on this, in this embodiment, a second guide groove is provided within the pitch mounting base 21, and the pitch seat 22 is nested within the second guide groove. Simultaneously, both the pitch drive block 24 and the pitch guide block 25 are disposed within the second guide groove. The pitch guide block 25 can slide along the second guide groove. The two ends of the pitch drive block 24 are rotatably connected to the pitch guide block 25 and the pitch seat 22 respectively via support pins 23, and the connection positions of the pitch seat 22 with the pitch mounting base 21 and the pitch drive block 24 are different. Therefore, when the pitch guide block 25 moves to different positions within the second guide groove, the pitch seat 22 can be rotated relative to the pitch mounting base 21 to different angles via the pitch drive block 24, thereby adjusting the pitch angle. The pitch drive rod 26 is connected to the pitch guide block 25. When the pitch drive rod 26 moves relative to the pitch mounting base 21, it can drive and control the pitch guide block 25 to move to different positions within the second guide groove.

[0026] Meanwhile, the pitch seat 225, pitch mounting base 21, pitch guide block 25, and pitch drive rod 26 are also provided with center holes. The shearing drive wire 16 passes through the corresponding center holes, so its driving shearing action is not hindered by the pitch execution module 20. It is understandable that the length of the internal channel of the pitch seat 22 will change slightly when the pitch angle is relative to the pitch mounting base 21. However, for the shearing execution module 10, its shearing action is completed by pulling the shearing drive wire 16 until it can no longer be pulled, and the reset action is completed by fully releasing the elastic potential energy of the reset spring 15. Therefore, it will not affect the decoupling of the shearing degree of freedom. It is also worth mentioning that the pitch execution module 20 itself uses a combination of pitch drive rod 26, pitch guide block 25, and pitch drive block 24 to drive the rotation of the pitch seat 22 relative to the pitch mounting base 21. Compared with the method of driving by steel wire, the rigidity of the pitch guide block 25 and the pitch drive block 24 is greater than that of steel wire. Therefore, for driving the heavy pitch seat 22, especially when it is necessary to increase or decrease the pitch angle and maintain the position, the combination of pitch drive rod 26, pitch guide block 25, and pitch drive block 24 can drive more smoothly and reliably, including when it is stuck by human tissue, etc., the pitch angle adjustment can be completed smoothly. In one specific embodiment, the center of the pitch guide block 25 and the center of the pitch drive block 24 are connected by a mounting bolt 27, and the mounting bolt 27 is also a hollow bolt so that the shear drive steel wire 16 can pass through the center hole.

[0027] In this embodiment, the rotation execution module 30 includes a rotation connecting rod 31, a first support bearing assembly 32, and a first gear 33. The first end of the rotation connecting rod 31 is fixedly connected to the pitch mounting base 21, and the second end of the rotation connecting rod 31 is rotatably connected to the drive end via the first support bearing assembly 32. The first gear 33 is also located at the second end of the rotation connecting rod 31 to transmit the rotational output of the drive end to the rotation connecting rod 31. The rotation connecting rod 31 then drives the entire drive end B to rotate, adjusting the corresponding rotation angle. The rotation connecting rod 31 is designed with a relatively large length to ensure the entire instrument has a convenient length for operation, allowing it to smoothly enter human tissue for surgical procedures. The rotating connecting rod 31 is designed as a hollow rod structure, with the pitch drive rod 26 passing through its interior. The rotating connecting rod 31 and the pitch drive rod 26 maintain coaxiality because the second end of the rotating connecting rod 31 is rotatably supported by the first support bearing assembly 32, and the first end of the rotating connecting rod 31 is fixedly connected to the pitch mounting base 21. The first end of the pitch drive rod 26 moves with the pitch guide block 25 within the second guide groove of the pitch mounting base 21, while the second end can only move axially within the drive end B. Therefore, when adjusting the rotational degree of freedom, the rotation of the rotating connecting rod 31 is unaffected by the pitch drive rod 26 and can rotate freely. Conversely, when adjusting the pitch degree of freedom, the axial movement of the pitch drive rod 26 is also unaffected by the rotating connecting rod 31. Furthermore, in actual adjustment, operators typically adjust the pitch angle first, then the rotation angle, or vice versa, rather than simultaneously. This better avoids mutual interference and achieves decoupling of the pitch and rotational degrees of freedom.

[0028] At the same time, such as Figures 6-8 As shown, the drive end B includes a mounting housing 40, a rotation drive module 50, a pitch drive module 60, a shear drive module 70, a gun-type control module 80, a first angle module, and a second angle module. The mounting housing 40 is designed to be as small as possible to maintain structural compactness. Rotation drive motors 51 (with reducers) of the rotation drive module 50 and pitch drive motors 61 (with reducers) of the pitch drive module 60 are respectively arranged on the left and right sides of the mounting housing 40, with a certain gap between them to allow the first ends of the rotation connecting rod 31 and the pitch drive rod 26 to be positioned. Meanwhile, a control main board 41 and a battery board 42 are respectively provided on both sides of the mounting housing 40. The control main board 41 is electrically connected to the rotation drive motor 51, the pitch drive motor 61, the first angle module, and the second angle module, as well as to the battery board 42. Therefore, the output signals of the first angle module and the second angle module can be transmitted to the control main board 41, and then the control main board 41 sends control signals to the corresponding drive motors to adjust the rotation angle, pitch angle, etc.

[0029] At the same time, such as Figure 9 As shown, the rotary drive module 50 also includes a second gear 52, which meshes with the first gear 33 to control the angle of the rotary connecting rod 31 via gear transmission. For the pitch drive module 60, since the pitch drive rod 26 needs to be moved to control the pitch angle, the pitch drive module 60 also includes a third gear 62, a fourth gear 63, a screw drive seat 64, a transmission screw 65, and a pull rod limiting seat 66. The screw drive seat 64 has an internal thread at its center and is rotatably connected to the mounting housing 40 via a second support bearing assembly 67. The third gear 62 is fitted onto the screw drive seat 64 and rotates synchronously. The pitch drive motor 61 meshes with the third gear 62 via the fourth gear 63 to drive the screw drive seat 64 to rotate. The transmission screw 65 has an external thread that engages with the internal thread of the screw drive seat 64. Meanwhile, the transmission screw 65 is fixedly connected to the pitch drive rod 26 via the pull rod limiting seat 66. The mounting housing 40 is provided with a limiting groove that extends axially along the pitch drive rod 26 and has a square cross-section to limit the pull rod limiting seat 66, preventing the pull rod limiting seat 66, transmission screw 65, and pitch drive rod 26 from rotating relative to the mounting housing 40. Therefore, the pitch drive module 60 uses threaded transmission to convert rotational output into linear motion to control the position of the pitch drive rod 26. This method facilitates adjustment of the pitch angle; it only requires the control motherboard 41 to send corresponding control commands to the pitch drive motor 61.

[0030] In one specific embodiment, the pull rod limiting seat 66 is hollow and has a locking threaded hole into which a locking bolt 68 is inserted. The first end of the pitch drive rod 26 is located inside the pull rod limiting seat 66, and is locked by the locking bolt 68, allowing the pitch drive rod 26 and the pull rod limiting seat 66 to move synchronously (the transmission screw 65 in the figure is also hollow, allowing the first end of the pitch drive rod 26 to enter for easy installation). This method further improves the structural compactness and converts rotary output into linear motion.

[0031] At the same time, such as Figure 10As shown, the shearing drive module 70 includes a wire winding post 71 and a winding guide wheel 72. Both the wire winding post 71 and the winding guide wheel 72 are rotatably connected to the mounting housing 40. The second end of the shearing drive wire 16 passes over the corresponding winding guide wheel 72 and is fixedly connected to the wire winding post 71, while also being wound around the wire winding post 71 for a certain length. The rotation of the wire winding post 71 is associated with the gun-type control module 80, which controls the rotation angle of the wire winding post 71 to tighten the shearing drive wire 16, thereby generating a shearing action at the execution end A. Considering the length of the shearing drive wire 16, to further improve the smoothness of the reset, in this embodiment, a reset torsion spring 73 is sleeved on the wire winding post 71. The two ends of the reset torsion spring 73 are respectively connected to the wire winding post 71 and the mounting housing 40, so that the wire winding post 71 and the others can also be quickly reset.

[0032] In this embodiment, the gun-type control module 80 includes a grip handle 81 and a shearing drive handle 82. The grip handle 81 is fixedly connected to the mounting housing 40, and the shearing drive handle 82 is fixedly connected to the wire winding post 71, thus rotatably connecting to the mounting housing 40. Therefore, when the operator holds the instrument, they can directly grip the grip handle 81 and place their index finger on the shearing drive handle 82. When a shearing action is required, pressing the shearing drive handle 82 with the index finger causes the shearing drive handle 82 to rotate the wire winding post 71, thereby driving the shearing finger 12 to complete the shearing action via the shearing drive wire 16. After releasing, the wire winding post 71 and the shearing drive handle 82 will also return to their original positions under the action of the return spring 15 and the return torsion spring 73, further improving operational convenience.

[0033] In this embodiment, the first angle module and the second angle module acquire the operator's rotation and pitch operations, respectively, and output corresponding angle signals to the control mainboard for control. As shown in the figure, the first angle module includes a first encoder 91, a first encoder mounting shaft 92, a third support bearing assembly 93, and a rotation control roller 94. The rotation control roller 94 is connected to the first encoder mounting shaft 92 and rotates synchronously. The first encoder mounting shaft 92 is rotatably connected to the mounting housing 40 via the third support bearing assembly 93. The first encoder 91 includes a movable part and a fixed part. The movable part is connected to the first encoder mounting shaft 92, and the fixed part is connected to the handle 91. The rotation control roller 94 is located at the transition position between the handle 81 and the mounting housing 40, so the operator can operate the rotation control roller 94 with one hand to rotate the movable part of the first encoder 91 relative to the fixed part by a corresponding angle, outputting an angle signal to control the rotation angle of the actuator.

[0034] The second angle module is similar in structure to the first angle module, including a second encoder 95, a second encoder mounting shaft 96, a fourth support bearing assembly 97, and a pitch control roller 98. The pitch control roller 98 is connected to the second encoder mounting shaft 96 and rotates synchronously. The second encoder mounting shaft 96 is rotatably connected to the mounting housing 40 via the fourth support bearing assembly 97. The movable part of the second encoder 95 is connected to the second encoder mounting shaft 96, and the fixed part is fixedly connected to the mounting housing 40. The pitch control roller 98 is also located at the transition position between the handle 81 and the mounting housing 40, and is distributed on both sides opposite to the rotation control roller 94. Therefore, the operator can switch hands to operate the pitch control roller 98, causing the movable part of the second encoder 95 to rotate relative to the fixed part by a corresponding angle, and outputting an angle signal to control the pitch angle of the actuator A.

[0035] It is worth mentioning that, to further improve the structural compactness, in this embodiment, the second encoder mounting shaft 96 and the wire winding post 71 are coaxially arranged, and the wire winding post 71 is a hollow column. The second encoder mounting shaft 96 passes through the inside of the wire winding post 71. The two are set with different lengths and are supported by different support bearing groups, so they will not affect each other. Therefore, the transition position between the handle 81 and the mounting housing 40 can further reduce the volume and facilitate operation by the operator.

[0036] In this embodiment, both the first angle module and the second angle module use incremental encoders. Each time power is applied, the encoder's initial position is zero. However, the actual physical position of the corresponding execution module may not be zero at this time, thus the positional information between the driver B and the execution A will be completely lost. To solve this problem, this embodiment also incorporates a power-on reset and position synchronization mechanism to ensure the accuracy of the master-slave mapping.

[0037] First, both degrees of freedom are equipped with mechanical limits to define the physical boundaries of the motion range. For example, the pitch angle range is 0~60°, and the rotation angle range can be limited by limit levers or other means. Therefore, the power-on reset process is as follows: Initially, power is applied, each actuator is in an unknown position, and the encoder reading is initialized to 0; the motor control mode of each actuator is set to position mode, preparing for low-speed movement; the motor is controlled to rotate at a constant low speed in the positive direction. When the actuator moves to the positive mechanical limit, the motor torque output will suddenly increase, and a torque threshold is set. When the detected torque value exceeds Immediately stop the motor and record the current encoder position. The motor is controlled to rotate in the opposite direction at the same speed, and the torque value is monitored. When the actuator moves to the reverse mechanical limit, the torque value exceeds... When the motor stops, record the current encoder position. ; Calculate the range of motion; the range of motion corresponding to the degrees of freedom is... The location of the sports center is The motor is controlled to move to the center position, and the current position is set as the encoder zero point. This completes the homing process, and the movement range is now complete. Record and save; repeat the above steps until all pitch and rotation degrees of freedom have been returned to their original positions.

[0038] During normal power-down (such as a planned power-down operation), the two actuators are first moved to the zero position, and then the motor power is cut off. At this time, the physical position of the actuators is consistent with the encoder zero point, and they can be used directly after the next power-up. If a sudden power failure occurs, the actuators may remain in a non-zero position. In this case, the power-off protection function of the control motherboard 41 will be triggered immediately, saving the encoder position of each joint (i.e., the final position before the power failure) to non-volatile memory. After power-on, the encoder is initialized to 0, but at this time, the physical position of the actuators deviates from the encoder zero point. The control motherboard 41 reads the position value saved before the power failure from the non-volatile memory. And calculate the compensation value. Then, the compensation value The position offset register is written so that the encoder's displayed position 0 actually corresponds to the physical position before power failure. After compensation, the execution module restores its position state before power failure and can re-establish the correct mapping relationship with the drive module. Through this mechanism, the relative position relationship between the drive end B and the execution end A can be accurately determined after each power-on, ensuring the reliability and consistency of the mapping.

[0039] In summary, the pistol-type electric instrument provided in this embodiment, through its three-degree-of-freedom configuration, decoupling method, and compact structural arrangement, can achieve precise movements such as pitch, rotation, and shearing within limited incisions. It adapts to complex internal structures of human tissue (such as narrow cavities or delicate tissue separation), relying on a motor to provide millimeter-level motion accuracy, reducing the vibration or deviation caused by fatigue in manual instruments, and improving the precision of surgical operations. The pistol-type grip ensures reliable holding during operation and is suitable for clamping and pulling movements of human tissue. It also retains the shearing drive wire 16, thus preserving the feedback of the clamping force at the actuator end, further enhancing reliability.

[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A gun-type electric device, characterized in that, Including the driver and the execution end; The actuator shown includes a shearing actuator module, a pitch actuator module, and a rotation actuator module; the drive end includes a mounting housing, a rotation drive module, a pitch drive module, a shear drive module, and a gun-type control module. The shearing execution module includes a shearing mounting base, shearing fingers, a shearing drive block, a first reset component, and a shearing drive wire. A pair of shearing fingers are provided and rotatably connected to the shearing mounting base. The shearing drive block is movably connected to the shearing mounting base and associated with the shearing fingers. When the shearing drive block moves, it can drive the shearing fingers to rotate. The shearing drive block is connected to the shearing drive wire, which is also connected to the shearing drive module. The first reset component is connected to both the shearing drive block and the shearing mounting base. The pitch execution module includes a pitch mounting base, a pitch seat, a pitch drive block, a pitch guide block, and a pitch drive rod. The shear mounting base is connected to the pitch seat, the pitch seat is rotatably connected to the pitch mounting base, the pitch guide block is movably connected to the pitch seat, and both ends of the pitch drive block are rotatably connected to the pitch guide block and the pitch seat, respectively. The pitch drive block and the pitch guide block are both rigid blocks. The pitch seat, the pitch mounting base, the pitch guide block, and the pitch drive rod are provided with a central hole for the shear drive rod to pass through. The rotation execution module includes a rotation connecting rod, the pitch mounting base is connected to the rotation connecting rod, the rotation connecting rod is rotatably connected to the mounting housing, and the rotation connecting rod is configured as a hollow rod structure for the pitch drive rod to pass through; The rotation drive module is driven by the rotation connecting rod, the pitch drive module is driven by the pitch drive rod, the shear drive module is driven by the shear drive wire, and the gun-type control module is connected to the mounting housing for gripping operations.

2. The gun-type electric device according to claim 1, characterized in that, The shearing mounting base has a first guide groove, the shearing drive block is movably disposed in the first guide groove, the shearing drive block is provided with a shearing drive lever, the shearing drive lever is located in a slot opened at the root of the shearing finger, the shearing drive block is also provided with an elongated hole, the end of the shearing connecting shaft passes through the elongated hole, and the first reset element is a reset spring, the reset spring is disposed in the first guide groove.

3. The gun-type electric device according to claim 1, characterized in that, The pitch mounting base is provided with a second guide groove, and the pitch drive block and the pitch guide block are both disposed in the second guide groove, and the pitch guide block can slide along the second guide groove within a preset range.

4. The gun-type electric device according to claim 1, characterized in that, The rotary execution module further includes a first support bearing assembly and a first gear. The rotary connecting rod is rotatably connected to the mounting housing through the first support bearing assembly, and the first gear is connected to the rotary connecting rod to maintain synchronous rotation.

5. A gun-type electric device according to claim 1, characterized in that, The drive end also includes a first angle module and a second angle module. The first angle module is used to output angle signals. The mounting housing is provided with a control motherboard and a battery board. The control motherboard is electrically connected to the rotation drive module, the pitch drive module, the first angle module, and the second angle module, as well as to the battery board.

6. A gun-type electric device according to claim 1, characterized in that, The rotary drive module includes a rotary drive motor and a second gear, the second gear being connected to the output shaft of the rotary drive motor to maintain synchronous rotation.

7. A gun-type electric device according to claim 1, characterized in that, The pitch drive module includes a pitch drive motor, a third gear, a fourth gear, a helical drive seat, a transmission screw, and a tie rod limiting seat. The helical drive seat has an internal thread at its center and is rotatably connected to the mounting housing. The third gear is connected to the helical drive seat and rotates synchronously. The fourth gear is connected to the output shaft of the pitch drive motor and rotates synchronously, meshing with the third gear. The transmission screw has an external thread that engages with the internal thread of the helical drive seat. The transmission screw is fixedly connected to the pitch drive rod through the tie rod limiting seat. The mounting housing has a limiting groove that extends axially along the pitch drive rod and can simultaneously limit the rotation of the tie rod limiting seat.

8. A gun-type electric device according to claim 1, characterized in that, The shearing drive module includes a wire winding post and a winding guide wheel. Both the wire winding post and the winding guide wheel are rotatably connected to the mounting housing. The shearing drive wire passes over the corresponding winding guide wheel and is fixedly connected to the wire winding post. The wire winding post is connected to the gun-type control module. A return torsion spring is sleeved on the wire winding post, and the two ends of the return torsion spring are respectively connected to the wire winding post and the mounting housing.

9. A gun-type electric device according to claim 1, characterized in that, The gun-type control module includes a grip handle and a shear drive handle. The grip handle is fixedly connected to the mounting housing, and the shear drive handle is connected to the shear drive module and is capable of rotating with the mounting housing.

10. A gun-type electric device according to claim 5, characterized in that, Both the first angle module and the second angle module include an encoder, an encoder mounting shaft, and a control roller. The control roller is connected to the encoder mounting shaft and rotates synchronously. The encoder mounting shaft is rotatably connected to the mounting housing. The encoder includes a movable part and a fixed part. The movable part of the encoder is connected to the encoder mounting shaft, and the fixed part of the encoder is connected to the grip handle. The encoder integrates a power-on reset and position synchronization mechanism.

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