A head swing mechanism and end actuator of anastomosis device

Abstract

The utility model relates to a swing head mechanism and an end actuator of an anastomosis device, the swing head mechanism comprises a fixed block, a sleeve and a push rod assembly, the fixed block has two driving parts, the push rod assembly comprises two push rods corresponding to the two driving parts, the two push rods are configured so that when one of them moves toward the distal end, the other moves in the opposite direction, in the initial state, the two push rods are in contact or not in contact with their corresponding driving parts, when one of the push rods moves toward the distal end, the distal end surface of the push rod conflicts with its corresponding driving part to drive the fixed block to rotate, the distal end surface of the other push rod is in contact or not in contact with its corresponding driving part, and the contact between the distal end surface of the push rod and the driving part is line-surface contact or point-surface contact. The utility model reduces the friction between the push rod and the driving part by making the contact between the push rod and the driving part line-surface contact or point-surface contact, and can avoid deformation and fracture caused by excessive force on the push rod.

Description

Technical Field

[0001] The utility model relates to the technical field of staplers, in particular to a head swing mechanism and an end actuator of a stapler. Background Art

[0002] Existing laparoscopic staplers mostly use the method of "direction control parts" pulling "pins" to drive the working head to rotate, so that the stapler can realize the head swinging function, such as patent CN 218899553 U. Due to space limitations, during the pulling process of the "direction control parts", there are small head swing angles and serious deformation of the "direction control parts". The main reasons are two points: first, the connection method of the "direction control parts" and the "pins" is limited by space, resulting in a small rotation angle; second, the connection method of the "direction control parts" and the "pins" is limited by space, resulting in a large force on the "direction control parts", thereby deforming and breaking. Utility Model Content

[0003] The utility model aims to provide a head swing mechanism of a stapler, which has a simpler structure and a larger swing angle, and can realize the swing of a working head by applying only a smaller force.

[0004] Another object of the utility model is to provide an end actuator of a stapler.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A head swing mechanism of a stapler, comprising:

[0007] A fixed block, the fixed block having two driving parts respectively arranged on the left and right sides;

[0008] A sleeve rotatably connected to the fixed block about a first rotation center line;

[0009] A push rod assembly, the push rod assembly includes two push rods arranged on the left and right sides and arranged one-to-one with the two driving parts, the push rods are arranged in the sleeve axially slidingly, the distal end surface of the push rod is a plane, and the two push rods are configured so that when one of them moves toward the distal end, the other moves in the opposite direction.

[0010] In the initial state, the two push rods are in contact or not in contact with their corresponding driving parts.

[0011] When one of the push rods moves toward the distal end, the distal end surface of the push rod conflicts with its corresponding driving portion to drive the fixed block to rotate, and the distal end surface of the other push rod contacts or does not contact its corresponding driving portion.

[0012] The contact between the distal end surface of the push rod and the driving part is line-surface contact or point-surface contact.

[0013] Preferably, the outer circumference of the proximal portion of the driving portion is arched outwards in an arc shape.

[0014] Further preferably, the outer circumference of the proximal portion of the driving portion is in a semicircular arc shape.

[0015] More preferably, the driving portion is a cylindrical pin extending in the up-down direction.

[0016] Preferably, the two driving parts are symmetrically arranged and are equidistant from the first rotation center line.

[0017] Preferably, the center lines of the two driving parts and the first rotation center line are located in the same plane.

[0018] Preferably, racks are respectively provided on the inner sides of the two push rods, and the swing head mechanism further comprises a gear meshed between the racks of the two push rods, and when one of the push rods moves, the gear rotates and drives the other push rod to move in the opposite direction.

[0019] Further preferably, the push rod includes a push rod body and a rack connected to the push rod body, the upper and lower sides of the rack each have a plurality of teeth evenly arranged along the axial direction of the sleeve, and the gear has two teeth corresponding to the upper and lower sides of the rack.

[0020] In some embodiments, one of the two push rods is connected to the drive assembly and can move toward the distal end or the proximal end under the control of the drive assembly.

[0021] Preferably, the fixing block comprises an upper fixing block and a lower fixing block connected to the upper fixing block, and a space is provided between the upper fixing block and the lower fixing block to allow the push rod to move.

[0022] The utility model also provides an end actuator, which includes the swing head mechanism as described above and a clamping assembly connected to the fixed block, wherein the clamping assembly includes a pair of clamping members that can be opened or closed relative to each other.

[0023] The utility model also provides a stapler, comprising the end actuator as described above.

[0024] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0025] The swing head mechanism provided by the utility model realizes the rotation of the fixed block by pushing the fixed block driving part through the movement of the push rod on one side, and can realize a larger rotation angle; further, by designing the push rod and the driving part, the contact between the two is made into line surface contact or point surface contact, which reduces the friction between the two, and can avoid deformation and fracture caused by excessive force on the push rod;

[0026] The swing head mechanism of the utility model has a simpler structure and wider applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the end effector in Example 1;

[0028] Figure 2 is an exploded schematic diagram of the end effector in Example 1;

[0029] Figure 3 It is a schematic diagram of the structure of the end effector in Example 1 rotating to the right (the sleeve is not shown);

[0030] Figure 4 It is a schematic structural diagram of the end effector in Example 1 rotated to the right by another angle (the sleeve and the rod are not shown);

[0031] Figure 5 It is a structural schematic diagram of the end effector in Example 1 rotating to the left (the sleeve is not shown);

[0032] Figure 6 It is a schematic diagram of the end effector in Example 1 rotated to the left by another angle (the sleeve and the rod are not shown);

[0033] Figure 7 It is a schematic diagram of the structure of the fixing block and the connecting piece in Example 1;

[0034] Figure 8 This is a schematic structural diagram of the fixing block and the connecting piece in Embodiment 1 from another angle;

[0035] Fig. 9 This is a schematic diagram of the structure of the first rack, the second rack and the gear in Example 1;

[0036] Wherein: 1, fixed block; 11, lower fixed block; 111, driving part; 12, upper fixed block;

[0037] 2. Casing;

[0038] 3. first push rod; 31. first push rod body; 311. distal end surface of first push rod body; 32. first rack; 321. first upper tooth;

[0039] 4. second push rod; 41. second push rod body; 411. distal end surface of second push rod body; 42. second rack; 421. second upper tooth;

[0040] 5. Gears;

[0041] 6. Rod; 61. Upper connecting rod; 62. Lower connecting rod;

[0042] 7. Connecting piece;

[0043] 8. Push knife assembly;

[0044] 9. Clamping assembly; 91. Nail magazine assembly; 92. Nail support seat. DETAILED DESCRIPTION

[0045] Some researchers have adopted a unilateral push method to replace the traditional method. For example, patent CN 116269577 A uses the left hook and the right hook to cooperate with the left groove and the right groove respectively, so that when the actuator seat swings from the center position to the left extreme position or the right extreme position, only a single push rod applies force to the actuator seat, avoiding the bending deformation of the extension tube caused by excessive force on the actuator seat at the left extreme position and the right extreme position. However, this method still requires a large force to be applied to the push rod to drive the actuator seat to swing, and the push rod still has the risk of deformation and fracture.

[0046] The inventor designs the push rod and the fixed block 1, sets the distal end surface of the push rod as a plane, and sets a cylindrical driving part 111 on the fixed block 1. The push rod on one side moves to push the driving part 111 of the fixed block 1, so as to realize the rotation of the fixed block 1. Since the contact between the push rod and the driving part 111 is line-surface contact, the friction between the two is smaller, and the deformation and fracture of the push rod caused by excessive force can be avoided. Further, by symmetrically arranging the two driving parts 111 and making their center lines and the rotation center line of the fixed block 1 in the same plane, the rotation force arm of the fixed block 1 is reduced, so that the torque of the fixed block 1 is smaller, and the rotation of the fixed block 1 can be realized by applying a smaller force to the push rod, which further reduces the risk of deformation and fracture of the push rod and improves operability.

[0047] The utility model is further described below in conjunction with the embodiments shown in the accompanying drawings.

[0048] Example 1

[0049] An end effector of a stapler, such as Figure 1 As shown, it includes a swing head mechanism and a clamping assembly 9. The clamping assembly 9 includes a pair of clamping members that can be opened or closed relative to each other, and the pair of clamping members are a nail magazine assembly 91 and a nail support seat 92, and the specific structure can refer to the prior art.

[0050] like Figures 2 to 9As shown, the swing head mechanism includes a fixed block 1 connected to a clamping assembly 9, a sleeve 2 rotatably connected to the fixed block 1 around a first rotation center line, and a push rod assembly. Among them, the fixed block 1 has two driving parts 111 respectively arranged on the left and right sides, and the push rod assembly includes two push rods (i.e., a first push rod 3 and a second push rod 4) respectively arranged on the left and right sides and corresponding to the two driving parts 111. The push rods are axially slidably arranged in the sleeve 2, and the two push rods are configured so that when one of them moves toward the distal end, the other moves in the opposite direction. In the initial state, the two push rods are in contact or not in contact with their corresponding driving parts 111, preferably in contact without abutment. When one of the push rods moves toward the distal end, the distal end surface of the push rod abuts against its corresponding driving part 111 to drive the fixed block 1 to rotate, thereby driving the clamping assembly 9 to rotate. The distal end surface of the other push rod is in contact or not in contact with its corresponding driving part 111, and the contact between the distal end surface of the push rod and the driving part 111 is line-surface contact or point-surface contact. By making the contact between the two be line-surface contact or point-surface contact, the friction between the two is reduced, and deformation and fracture of the push rod caused by excessive force can be avoided.

[0051] Furthermore, if Figure 8 , Fig. 9 As shown, the two driving parts 111 are symmetrically arranged and the sum of the distances from the two driving blocks to the first rotation center line (i.e., L1+L2) is equal to the distance between the two driving blocks (i.e., L), that is, the center lines of the two driving parts 111 and the first rotation center line are located in the same plane. In this way, the turning force arm of the fixed block 1 is reduced, so that the torque of the fixed block 1 is smaller, and the rotation of the fixed block 1 can be achieved by applying a smaller force to the push rod, which further reduces the risk of deformation and fracture of the push rod and improves operability.

[0052] In this embodiment, the contact between the distal end surface of the push rod and the corresponding driving portion 111 is line-surface contact.

[0053] Specifically, the outer circumference of the proximal portion of the driving portion 111 is arched outward in an arc shape, preferably in a semicircular arc shape. As an example, the driving portion 111 can be a cylindrical pin extending in the up-down direction. The distal end surface of the push rod is a plane, and the plane design makes it have less friction when it conflicts with the corresponding driving portion 111.

[0054] Furthermore, the two push rods are respectively a first push rod 3 and a second push rod 4, wherein the first push rod 3 includes a first push rod body 31, and the distal end surface 311 of the first push rod body is a plane; the second push rod 4 includes a second push rod body 41, and the distal end surface 411 of the second push rod body is a plane. The fixed block 1 includes a lower fixed block 11 and an upper fixed block 12 located on the upper side of the lower fixed block 11, and two driving parts 111 are arranged on the lower fixed block 11, and there is a space between the upper fixed block 12 and the lower fixed block 11 to allow the push rod to move.

[0055] The first push rod 3 further includes a first rack 32 connected to the first push rod body 31, and multiple teeth are symmetrically arranged on the upper and lower sides of the first rack 32, namely, a first upper tooth 321 and a first lower tooth (not shown in the figure), and the multiple teeth located on the upper side or the lower side of the first rack 32 are evenly arranged along the axial direction of the sleeve 2. The second push rod 4 further includes a second rack 42 connected to the second push rod body 41, and multiple teeth are also symmetrically arranged on the upper and lower sides of the second rack 42, namely, a second upper tooth 421 and a second lower tooth (not shown in the figure), and the multiple teeth located on the upper side or the lower side of the second rack 42 are evenly arranged along the axial direction of the sleeve 2. The first upper tooth 321 and the second upper tooth 421, the first lower tooth and the second lower tooth are arranged opposite to each other, and a gear 5 is arranged between the first upper tooth 321 and the second upper tooth 421 and between the first lower tooth and the second lower tooth, and the gear 5 rotates around the second rotation center line and meshes with the racks on both sides. One of the first push rod body 31 or the second push rod body 41 is connected to the driving mechanism and can move toward the distal end or the proximal end under the control of the driving assembly. When it moves toward the distal end, it drives the gear 5 to rotate, thereby driving the other to move in the opposite direction. By setting the gears 5 on the upper and lower sides, the force on the first push rod 3 and the second push rod 4 is more uniform and the stability is better.

[0056] The swing mechanism also includes a rod 6 disposed in the sleeve 2, a push knife assembly 8, and a connecting piece 7 connected between the fixed block 1 and the sleeve 2. The rod 6 includes an upper connecting rod 61 and a lower connecting rod 62 clamped on the upper connecting rod 61, and the first push rod 3, the second push rod 4, and the push knife assembly 8 are all movably arranged in the rod 6. The connecting piece 7 is fixedly connected to the sleeve 2 and its distal end is rotatably connected to the fixed block 1. The connecting piece 7 has two connecting pieces arranged at the upper and lower sides.

[0057] In the above, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0058] In the description of the embodiments of the present utility model, it is necessary to understand that the distal end refers to the end of the instrument or component away from the operator, and the proximal end refers to the end of the instrument or component close to the operator; the axial direction refers to the direction parallel to the line connecting the distal and proximal centers of the instrument or component; the inside and the outside are positions defined by the distance relative to the center of the instrument or component, where the inside is the position close to the center of the instrument or component, and the outside is the position away from the center of the instrument or component; the upper and the lower refer to the orientation of the instrument in actual use or working state. The description of the above-mentioned directional words is only for the convenience of describing the embodiments of the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present utility model.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0060] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] The disclosure above provides many different embodiments or examples for realizing different structures of the embodiments of the present utility model. In order to simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model can repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0062] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A head swing mechanism of a stapler, characterized in that: The swing mechanism includes a fixed block, and the fixed block has two driving parts respectively arranged on the left and right sides; A sleeve rotatably connected to the fixed block about a first rotation center line; A push rod assembly, the push rod assembly includes two push rods arranged on the left and right sides and arranged one-to-one with the two driving parts, the push rods are arranged in the sleeve axially slidingly, the distal end surface of the push rod is a plane, and the two push rods are configured so that when one of them moves toward the distal end, the other moves in the opposite direction. In the initial state, the two push rods are in contact or not in contact with their corresponding driving parts. When one of the push rods moves toward the distal end, the distal end surface of the push rod conflicts with its corresponding driving portion to drive the fixed block to rotate, and the distal end surface of the other push rod contacts or does not contact its corresponding driving portion. The contact between the distal end surface of the push rod and the driving part is line-surface contact or point-surface contact.

2. The head swing mechanism of the stapler according to claim 1, characterized in that: The outer circumference of the proximal end portion of the driving portion is arched outwards in an arc shape.

3. The head swing mechanism of the stapler according to claim 2, characterized in that: The outer circumference of the proximal end portion of the driving portion is in a semicircular arc shape.

4. The head swing mechanism of the stapler according to claim 3, characterized in that: The driving part is a cylindrical pin extending in the up-down direction.

5. The head swing mechanism of the stapler according to claim 1, characterized in that: The two driving parts are symmetrically arranged and are at equal distances from the first rotation center line; and / or, The center lines of the two driving parts and the first rotation center line are located in the same plane.

6. The head swing mechanism of the stapler according to claim 1, characterized in that: Racks are respectively arranged on the inner sides of the two push rods, and the swing head mechanism also includes a gear meshed between the racks of the two push rods. When one of the push rods moves, the gear rotates and drives the other push rod to move in the opposite direction.

7. The head swing mechanism of the stapler according to claim 6, characterized in that: The push rod includes a push rod body and a rack connected to the push rod body, the rack has a plurality of teeth evenly arranged along the axial direction of the sleeve on both upper and lower sides, and the gear has two teeth corresponding to the teeth on the upper and lower sides of the rack.

8. The head swing mechanism of the stapler according to claim 6, characterized in that: One of the two push rods is connected to the driving assembly and can move toward the distal end or the proximal end under the control of the driving assembly.

9. The head swing mechanism of the stapler according to claim 1, characterized in that: The fixing block comprises an upper fixing block and a lower fixing block connected to the upper fixing block, and a space is provided between the upper fixing block and the lower fixing block to allow the push rod to move.

10. An end effector, characterized in that: The end actuator comprises a swing head mechanism as described in any one of claims 1 to 9 and a clamping assembly connected to the fixed block, wherein the clamping assembly comprises a pair of clamping members that can be opened or closed relative to each other.

Images