Flexible rope transmission anastomat with jaw capable of swinging substantially

Abstract

The utility model relates to a flexible rope drive anastomat with a jaw swinging greatly, which comprises a clamping component and a guide component, the clamping component comprises a nail box, a nail anvil and a switching body, the nail anvil is connected with the switching body, the nail box is hinged with the switching body, the nail box and the nail anvil are arranged on one side of the switching body, and a turbine is arranged on the other side of the switching body; the guide assembly comprises a supporting rod and a sliding rod, the supporting rod is arranged on the outer side of the sliding rod in a sleeving mode, and one end of the supporting rod is hinged to the adapter body; a worm is arranged at the end, close to the switching body, of the sliding rod in a penetrating mode and engaged with the turbine. The jaw is driven to swing through the worm and gear structure, the swing amplitude of the jaw in the operation process is greatly increased, and the applicability of the operation is improved. And secondly, the turbine and worm structure has a self-locking effect, that is, the worm serves as a driving part to drive the turbine to rotate, and the turbine cannot serve as the driving part to drive the worm to rotate. According to the structure, the stability of the jaw is greatly improved, the jaw is prevented from shaking in the operation process, and the operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument manufacturing technical field especially is a kind of flexible rope transmission anastomat of jaw large amplitude swing. BACKGROUND

[0002] Anastomat is the medical instrument of alternative handwork suture in medicine. Generally by nail bin assembly, nail anvil, cutting knife and body structure composition. Nail bin assembly and nail anvil are located at the front end of body. In operation, the organization to be anastomosed is clamped and occluded between nail bin and nail anvil, and handle on the body is gripped to drive cutting knife to break off organization, and anastomotic nail arranged in nail bin is pushed out to anastomose organization. The jaw of anastomat, which is composed of nail bin assembly and nail anvil, can be adjusted in angle according to the direction of cutting and suture during use.

[0003] The products on the market currently realize the anastomosis of organization by pushing the tail of flexible cutting knife, and large jaw swing angle can easily cause cutting knife damage, thereby causing anastomat to be stuck in cutting process, and anastomosis process to fail. Therefore, the size of jaw angle adjustment has certain limitation, and generally below 45 ° on each side, which greatly limits the applicability of anastomat in operation. For example, low rectal operation, because of narrow pelvic cavity, anastomat with small jaw swing angle is difficult to reach the root of rectum, and operation for cancer occurring at the root of rectum has certain limitation. Secondly, because the jaw self-locking function is designed by using structure limiting mode, the jaw swings back and forth during cutting knife anastomosis process, which causes tearing problem to the organization being anastomosed. SUMMARY

[0004] Therefore, the utility model wants to overcome the defects of small swing range of anastomat jaw in prior art and poor stability.

[0005] To solve the above technical problem, the utility model provides a flexible rope transmission anastomat of jaw large amplitude swing, which comprises:

[0006] Clamping assembly, the clamping assembly includes nail box, nail anvil and adapter, one end of the nail anvil is connected with the adapter, one end of the nail box is hinged with the adapter, the nail box and nail anvil are arranged on one side of the adapter, and the other side of the adapter is provided with a turbine;

[0007] Guide assembly, the guide assembly includes support rod, sliding rod and worm, the support rod is sleeved on the outer side of the sliding rod, one end of the support rod is hinged with the adapter, the end of the sliding rod close to the adapter is provided with a worm, and the worm is engaged with the turbine.

[0008] In an embodiment of the utility model, still include handheld subassembly, the handheld subassembly includes handle shell and knob, the handle shell with the support rod far from the one end of adapter body is connected, the inside of handle shell one end is provided with first capstan, the knob passes through the handle shell with first capstan is connected, first rope is wound on first capstan, the both ends of first rope are wound on the both ends of worm.

[0009] In an embodiment of the utility model, still include transmission assembly, transmission assembly sets up in the inside of handle shell, transmission assembly includes drive gear, transmission gear, anastomosis gear and pre -press gear, drive gear includes big gear and pinion that coaxial arrangement and synchronous rotation, one side of anastomosis gear with transmission gear or big gear is engaged, the other side of anastomosis gear with pre -press gear is engaged, pinion with transmission gear is engaged, and the surface of pre -press gear is provided with tooth defect part.

[0010] In an embodiment of the utility model, transmission assembly still includes knob, one end of knob sets up in the inside of handle shell with drive gear synchronous connection, one side of knob is provided with fixed column, and first return spring is arranged between fixed column and handle shell.

[0011] In an embodiment of the utility model, the surface of big gear is provided with a plurality of reset holes circumferentially, the big gear is connected through gland between the big gear and the knob, the surface of the gland is provided with a plurality of one-way slope protrusions circumferentially, the one-way slope protrusions are connected through the knob and the reset holes, the pinion is engaged with the transmission gear, the handle shell is provided with an anti-reverse spring inside, and the anti-reverse spring abuts against the big gear.

[0012] In an embodiment of the utility model, the reversing shaft is arranged inside the anastomosis gear, the first spline and the second spline are arranged on the reversing shaft along the axial direction, and the anastomosis gear is provided with internal teeth engaged with the first spline and the second spline.

[0013] In an embodiment of the utility model, the cutting knife is arranged inside the slide rod, the surface of the cutting knife is provided with a tooth groove along the axial direction, the adapter body is provided with a pair of gear shafts inside, the pair of gear shafts are symmetrically arranged on both sides of the cutting knife, and the gear shafts are engaged with the tooth groove, the second capstan is arranged on the side of the reversing shaft close to the second spline, two second ropes are wound on the second capstan, and the other ends of the two second ropes are wound on the gear shafts, respectively.

[0014] In an embodiment of the utility model, the reversing rod is arranged inside the handle shell and penetrates through both sides of the handle shell, the shift fork is sleeved on the reversing rod, and the shift fork is connected with the anastomosis gear.

[0015] In one embodiment of the utility model, one side of pre -press gear is provided with third capstan, third rope is wound on third capstan, the other end of third rope is connected with nail box and nail anvil, two groups of recessed shafts are arranged on both sides of nail box, a plurality of connecting holes are set up on nail anvil, the end of third rope away from third capstan is connected with recessed shaft and connecting hole.

[0016] In one embodiment of the utility model, second reset spring is arranged between nail box and nail anvil.

[0017] The above technical scheme of the utility model has the following advantages compared with the prior art:

[0018] The flexible rope transmission anastomat with large-amplitude jaw oscillation of the utility model drives the jaw oscillation through the worm and gear structure, greatly increases the amplitude of the jaw oscillation during the operation process, and improves the applicability of the operation. Secondly, the structure of the worm and gear has a self-locking effect, that is, the worm can drive the turbine to rotate as a driving part, and the turbine cannot drive the worm to rotate as a driving part. This structure greatly improves the stability of the jaw, avoids the shaking of the jaw during the operation process, and improves the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the content of the utility model more easily understood clearly, the utility model is further explained in detail below according to the specific embodiments of the utility model and in combination with the drawings, wherein

[0020] Figure 1 It is the overall structure schematic diagram of the utility model;

[0021] Figure 2 For Figure 1 It is the structure schematic diagram of handheld assembly in the second embodiment;

[0022] Figure 3 For Figure 1 It is the structure schematic diagram of clamping assembly in the second embodiment;

[0023] Figure 4 For Figure 1 It is the structure schematic diagram of sliding assembly in the second embodiment;

[0024] Figure 5 For Figure 1 It is the structure schematic diagram of anastomosis gear and transmission gear meshing in transmission assembly in the second embodiment;

[0025] Figure 6 For Figure 1 It is the structure schematic diagram of anastomosis gear and large gear meshing in transmission assembly in the second embodiment;

[0026] Figure 7 For Figure 1Local internal structure schematic view at A in the middle;

[0027] Figure 8 For Figure 5 Large gear driving principle schematic view in the middle;

[0028] Figure 9 For Figure 5 Structure schematic view of anastomosis gear in the middle;

[0029] Figure 10 The structure schematic view of the jaw swing in the utility model;

[0030] Figure 11 Structure schematic view of the jaw pre-pressing action in the utility model;

[0031] Figure 12 For Figure 11 Structure schematic view of the nail box, nail anvil and pre-pressing gear in the middle;

[0032] Figure 13 Structure schematic view of the cutting knife firing action in the utility model;

[0033] Description of the drawings: 1, handheld assembly; 2, clamping assembly; 3, guide assembly; 4, transmission assembly; 11, handle shell; 12, knob; 13, first capstan; 14, first rope; 15, anti-reverse spring; 16, reversing lever; 17, shift fork; 21, nail box; 22, nail anvil; 23, adapter; 24, second return spring; 25, recessed shaft; 26, gear shaft; 31, support rod; 32, slide rod; 33, worm; 34, cutting knife; 41, large gear; 42, small gear; 43, transmission gear; 44, anastomosis gear; 45, pre-pressing gear; 46, handle; 47, gland; 48, reversing shaft; 221, connecting hole; 231, turbine; 341, tooth groove; 411, reset hole; 441, inner tooth; 451, toothless part; 452, third capstan; 453, third rope; 461, fixed column; 462, first return spring; 471, one-way slope protrusion; 481, first spline; 482, second spline; 483, second capstan; 484, second rope. DETAILED DESCRIPTION

[0034] The utility model will be further explained in connection with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the embodiment is not as the limitation of the utility model.

[0035] Referring to Figures 1-13 The utility model discloses a flexible rope transmission anastomat of jaw large amplitude swing, including:

[0036] Clamping assembly 2, the clamping assembly 2 includes nail box 21, anvil 22 and adapter 23, one end of the anvil 22 is connected with the adapter 23, one end of the nail box 21 is hinged with the adapter 23, the nail box 21 and the anvil 22 are arranged on one side of the adapter 23, and the other side of the adapter 23 is provided with a turbine 231;

[0037] Guide assembly 3, the guide assembly 3 includes support rod 31 and slide rod 32, the support rod 31 is sleeved on the outer side of the slide rod 32, one end of the support rod 31 is hinged with the adapter 23, one end of the slide rod 32 is provided with a worm 33, and the worm 32 is engaged with the turbine 231.

[0038] The anastomat structure in the utility model sets hand-held assembly 1 and clamping assembly 2 at both ends of guide assembly 3, specifically, nail box 21 and anvil 22 are connected with guide assembly 3 through adapter 23 as a whole, one end of anvil 22 is fixedly connected with adapter 23, nail box 21 is hinged with adapter 23 at the top of anvil 22, and the action of nail box 21 is combined with anvil 22 to clamp human tissue. Adapter 23 is used as an intermediate part, one end of adapter 23 connected with slide rod 32 is provided with turbine 231, the end of slide rod 32 is provided with worm 33, turbine 231 is engaged with worm 33, and the rotation of worm 33 can drive the rotation of turbine 231, so that the left and right swing of the whole clamping assembly 2 is realized.

[0039] The utility model discloses the swing of clamping assembly 2 is driven in the mode that turbine 231 worm 33 cooperates between the whole clamping assembly 2 and guide assembly 3.The swing angle of the whole clamping assembly 2 is greater than or equal to 90 DEG, which greatly increases the amplitude of the swing of the mouth of forceps during the operation, and improves the applicability of the operation.

[0040] Hand-held assembly 1, the hand-held assembly 1 includes handle housing 11 and knob 12, handle housing 11 is connected with the end of support rod 11 away from adapter 23, the inside of one end of handle housing 11 is provided with first winch 13, knob 12 is connected with first winch 13 through handle housing 11, and first rope 14 is wound on first winch 13.

[0041] The rotation of the worm 33 is realized by the handheld assembly 1, specifically, the handle housing 11 serves as a support, the knob 12 is installed on the handle housing 11, the operation end of the knob 12 is outside the handle housing 11, and the other end of the knob 12 is provided with the first winch 13 and arranged inside the handle housing 11. The first rope 14 is wound around the first winch 13, and the two ends of the first rope 14 are wound around the two ends of the worm 33. In actual operation, rotating the knob 12 drives the first rope 14 to move on the first winch 13, and the two ends of the first rope 14 drive the worm 33 to rotate, the worm 33 is engaged with the turbine 231 to drive the whole rotating body to move, and the rotating body drives the nail box 21 and the anvil 22 to swing. Finally, the supporting rod 31 is sleeved outside the sliding rod 32, and the supporting rod 31 is hinged with the adapter 23, which supports the rotation of the adapter 23 and limits the radial displacement of the adapter 23.

[0042] In the above structure, the distance between the first winch 13 and the worm 33 forms a pulley structure, which is far away from the jaw hinge and has a large force arm, so that a smaller pulling force can be used to achieve a larger clamping force effect, further improving the stability in the jaw operation.

[0043] As a preferred embodiment of the utility model, the driving of the worm 33 can also be realized by other drives, such as the forward and reverse rotation of a micro servo motor to realize the rotation of the worm 33, and then drive the rotation of the turbine 231, realizing the swing of the whole clamping assembly 2 with a larger angle. The selection of the driving source can also be changed in other different forms. Here, all the embodiments cannot be exhausted, and the obvious changes or changes derived therefrom are still within the protection scope of the utility model.

[0044] Further, the transmission assembly 4 is arranged inside the handle housing 11, the transmission assembly 4 comprises a driving gear, a transmission gear 43, an anastomosis gear 44 and a pre-pressing gear 45, the driving gear comprises a large gear 41 and a small gear 42 arranged coaxially and rotating synchronously, one side of the anastomosis gear 44 is engaged with the transmission gear 43 or the large gear 41, and the other side of the anastomosis gear 44 is engaged with the pre-pressing gear 45; the small gear 42 is engaged with the transmission gear 43; and the surface of the pre-pressing gear 45 is provided with a toothless part 451.

[0045] It can be seen that the entire transmission assembly 4 is composed of a plurality of gears meshing with each other, wherein the driving gear serves as the driving gear, and the large gear 41 and the small gear 42 in the driving gear are coaxially arranged and synchronously rotated. When the matching gear 44 meshes with the transmission gear 43: the small gear 42 rotates to drive the transmission gear 43 to rotate, the transmission gear 43 drives the matching gear 44 to rotate, and the matching gear 44 drives the pre-pressing gear 45 to rotate; when the matching gear 44 meshes with the large gear 41: the large gear 41 directly drives the matching gear 44 to flip, and the matching gear 44 drives the pre-pressing gear 45 to reverse. It should be noted that the surface of the pre-pressing gear 45 is provided with a part of the tooth missing part 451, and when the matching gear 44 and the pre-pressing gear 45 rotate to the tooth missing part 451, it will idle. Specifically, the overall thickness of the pre-pressing gear 45 is greater than the thickness of the matching gear 44, and the tooth missing part 451 is partially arranged in the axial direction (thickness direction) of the entire pre-pressing gear 45. If it needs to rotate again, move the matching gear 44 along the axial direction of the pre-pressing gear 45, and mesh with the full tooth part of the pre-pressing gear 45 again to rotate.

[0046] Specifically, the transmission assembly 4 further comprises a handle 46, one end of the handle 46 is arranged inside the handle housing 11 and is synchronously connected with the driving gear, one side of the handle 46 is provided with a fixed column 461, and the fixed column 461 and the handle housing 11 are provided with a first reset spring 462. The handle 46 realizes reciprocating motion under the tension of the first reset spring 462, pulling the handle 46 drives the driving gear to rotate, the first reset spring 462 contracts, and the handle 46 resets.

[0047] Further, the large gear 41 is circumferentially provided with a plurality of reset holes 411 on the surface, the large gear 41 and the handle 46 are connected through a gland 47, the surface of the gland 47 is circumferentially provided with a plurality of one-way slope protrusions 471, the one-way slope protrusions 471 pass through the handle 46 and are connected with the reset holes 411; the small gear 42 meshes with the transmission gear 43.

[0048] Specifically, the structure of the entire driving gear is divided into two parts, the large gear 41 and the small gear 42, and the driving large gear 41 rotates synchronously with the small gear 42. The handle 46 is connected with the large gear 41 through the gland 47, and the specific structure is connected through the one-way slope protrusion 471 on the gland 47. When the handle 46 is driven to move, the large gear 41 and the small gear 42 rotate in the same direction synchronously. When the handle 46 returns to the initial position under the action of the first reset spring 462, the large gear 41 will not rotate reversely due to the setting of the one-way slope protrusion 471. The plurality of one-way slope protrusions 471 arranged in the circumferential direction will switch the position in the reset hole 411 on the surface of the large gear 41, so as to ensure that the large gear 41 can only rotate in one direction. At the same time, in order to ensure the stability of the rotation of the large gear 41 and avoid the reverse rotation of the large gear 41 during the handle reset process, the handle housing 11 is internally provided with an anti-reverse spring 15 which abuts against the large gear 41 to form a ratchet structure.

[0049] Further, the anastomosis gear 44 is internally provided with a reversing shaft 48, the reversing shaft 48 is internally provided with a first spline 481 and a second spline 482 which are arranged at intervals along the axial direction, and the anastomosis gear 44 is internally provided with an inner tooth 441 which is engaged with the first spline 481 and the second spline 482. The slide rod 32 is internally provided with a cutting knife 34, the surface of the cutting knife 34 is provided with a tooth groove 341 along the axial direction, the adapter 23 is internally provided with a pair of gear shafts 26, the pair of gear shafts 26 are symmetrically arranged on both sides of the cutting knife 34, and the gear shaft 26 is engaged with the tooth groove 341; the side of the reversing shaft 48 close to the second spline 482 is provided with a second winch 483, two second ropes 484 are wound on the second winch 483, and the other ends of the two second ropes 484 are wound on the gear shaft 26 respectively; one side of the pre-pressing gear 45 is provided with a third winch 452, a third rope 453 is wound on the third winch 452, and the other end of the third rope 453 is connected with the nail box 21 and the anvil 22; the second reset spring 24 is arranged between the nail box 21 and the anvil 22; two groups of recessed shafts 25 are arranged on both sides of the nail box 21 respectively, a plurality of connecting holes 221 are formed on the anvil 22, and the end of the third rope 453 away from the third winch 452 is connected with the recessed shaft 25 and the connecting hole 221.

[0050] When the middle section of the reversing shaft 48 is not engaged with the internal teeth 441 of the pre-pressing gear 45, the pre-pressing action of the jaw is performed: at this time, the two sides of the anastomosis gear 44 are engaged with the transmission gear 43 and the pre-pressing gear 45, and the internal reversing shaft 48 does not rotate, the pre-pressing gear 45 drives the third winch 452 to rotate, and the third rope 453 is pulled to clamp the nail box 21 and the anvil 22, when the jaw is completely closed, the anastomosis gear 44 is rotated to the toothless part 451 of the pre-pressing gear 45, and the anastomosis gear 44 can only rotate idly by holding the handle 46, and the feedback information to the operator is the "click" sound of the size rebound, at this time, the pre-pressing action is completed.

[0051] When the first spline 481 of the reversing shaft 48 is engaged with the internal teeth 441 of the pre-pressing gear 45, the firing action of the cutting knife 34 is performed: at this time, one side of the anastomosis gear 44 is engaged with the transmission gear 43, and the other side is rotated to the toothless part 451 of the pre-pressing gear 45, the pre-pressing gear 45 does not rotate, the reversing shaft 48 rotates to drive the second winch 483 to rotate, and then the two second ropes 484 are pulled and loosened, driving the two gear shafts 26 to rotate, the gear shaft 26 is engaged with the tooth groove 341 on the surface of the cutting knife 34, and the cutting knife 34 is moved towards the nail box 21 and the anvil 22.

[0052] When the second spline 482 of the reversing shaft 48 is engaged with the internal teeth 441 of the pre-pressing gear 45, the withdrawal action is performed: at this time, one side of the anastomosis gear 44 is directly engaged with the large gear 41, and the other side is engaged with the pre-pressing gear 45 which is full of teeth. The large gear 41 rotates to drive the anastomosis gear 44 to reverse, and the internal reversing shaft 48 drives the second winch 483 to rotate reversely synchronously, the two second ropes 484 rotate reversely around the second winch 483, and the gear shaft 26 reverses to drive the cutting knife 34 to retract into the slide rod 32. While the pre-pressing gear 45 reverses, the third winch 452 reverses, the third rope 453 loosens, and the nail box 21 and the anvil 22 are opened under the action of the second return spring 24.

[0053] In the actual assembly process, two groups of groove shafts 25 are arranged on the two sides of the nail box 21 arranged at the top, and the anvil 22 at the bottom is provided with two rows of connecting holes 221 at the corresponding positions, each row of connecting holes 221 is provided with four, and the second rope 484 is sequentially wound up and down. The second rope 484 between the groove shaft 25 and the connecting hole 221 on the same side forms an "M" shape, and the second rope 484 is pulled to tighten and clamp the nail box 21 and the anvil 22.

[0054] Further, the handle housing 11 is internally provided with a reversing rod 16 penetrating through the two sides of the handle housing 11, the reversing rod 16 is sleeved with a shift fork 17, and the shift fork 17 is connected with the anastomosis gear 44.

[0055] Specifically, the fork 17 is clamped on the side wall of the anastomosis gear 44, the reversing rod 16 is arranged through the whole handle shell 11, and the two ends of the reversing rod 16 are pushed during use to drive the anastomosis gear 44 to move left and right along the reversing shaft 48.

[0056] The first rope 14, the second rope 484 and the third rope 453 all pass through the slide rod 32, in order to ensure the stable action of the ropes, as the preferred scheme of the utility model, a wire passing block is arranged at the position close to the knob 12 in the handle shell 11, the wire passing block is internally provided with a wire passing hole, and the first rope 14, the second rope 484 and the third rope 453 are arranged in the wire passing hole.

[0057] In conclusion, the utility model introduces a flexible rope transmission anastomat with large-amplitude jaw swing, and the specific operation steps are as follows: firstly, a pre-pressing action is performed, the reversing rod 16 is driven to make the anastomosis gear 44 between the first spline 481 and the second spline 482, the handle is driven to make the nail box 21 and the nail anvil 22 clamped, when the jaw is completely closed, the anastomosis gear 44 rotates to the toothless part 451 of the pre-pressing gear 45, the handle 46 is gripped to only make the anastomosis gear 44 idle, the information fed back to the operator is the "tata" sound of hearing the size rebound, and the pre-pressing action is completed at this time; then, a firing action is performed, the reversing rod 16 is driven to make the anastomosis gear 44 mesh with the first spline 481, the cutting knife 34 is moved to the direction of the nail box 21 and the nail anvil 22, and then the anastomosis of the instrument is realized; finally, a withdrawing action is performed, the reversing rod 16 is driven to make the anastomosis gear 44 mesh with the second spline 482, meanwhile, the anastomosis gear 44 meshes with the large gear 41, the anastomosis gear 44 reverses to drive the third winch 452 to reverse, the withdrawing action of the cutting knife 34 is realized; at this time, the anastomosis winch gear reverses to also drive the third winch 452 to reverse and then release the pre-pressing rope. The jaw of the anastomat is opened through the action of the second reset spring 24 between the nail box 21 and the nail anvil 22.

[0058] Obviously, the above embodiments are only examples for clearly illustrating, and are not limitation to the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments cannot be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A flexible rope-driven stapler with a large-amplitude jaw swing, characterized in that, include: A clamping assembly includes a nail cartridge, a nail anvil, and an adapter body. One end of the nail anvil is connected to the adapter body, and one end of the nail cartridge is hinged to the adapter body. The nail cartridge and the nail anvil are disposed on one side of the adapter body, and a turbine is disposed on the other side of the adapter body. A guide assembly includes a support rod, a slide rod, and a worm gear. The support rod is sleeved on the outside of the slide rod, and one end of the support rod is hinged to the adapter. The worm gear passes through the end of the slide rod near the adapter and meshes with the turbine.

2. The flexible rope-driven manipulator with large-amplitude jaw swing according to claim 1, characterized in that: It also includes a handheld assembly, which includes a handle housing and a knob. The handle housing is connected to the end of the support rod away from the adapter. A first winch is provided inside one end of the handle housing. The knob passes through the handle housing and is connected to the first winch. A first rope is wound on the first winch. The two ends of the first rope are wound around the two ends of the worm gear.

3. The flexible rope-driven manipulator with large-amplitude jaw swing according to claim 2, characterized in that: It also includes a transmission assembly disposed inside the handle housing. The transmission assembly includes a drive gear, a transmission gear, a meshing gear, and a preload gear. The drive gear includes a large gear and a small gear that are coaxially arranged and rotate synchronously. One side of the meshing gear meshes with the transmission gear or the large gear, and the other side of the meshing gear meshes with the preload gear. The small gear meshes with the transmission gear. The surface of the preload gear is provided with a missing tooth portion.

4. The flexible rope-driven manipulator with large jaw swing according to claim 3, characterized in that: The transmission assembly also includes a grip, one end of which is disposed inside the handle housing and synchronously connected to the drive gear. A fixing post is disposed on one side of the grip, and a first return spring is disposed between the fixing post and the handle housing.

5. The flexible rope-driven manipulator with large-amplitude jaw swing according to claim 4, characterized in that: The large gear has multiple reset holes circumferentially arranged on its surface. The large gear is connected to the handle via a pressure cap. The pressure cap has multiple unidirectional inclined protrusions circumferentially arranged on its surface. The unidirectional inclined protrusions pass through the handle and connect to the reset holes. The small gear meshes with the transmission gear. An anti-reverse spring is provided inside the handle housing, and the anti-reverse spring abuts against the large gear.

6. The flexible rope-driven manipulator with large jaw swing according to claim 3, characterized in that: The meshing gear has a reversing shaft inside, and the reversing shaft has a first spline and a second spline spaced apart along the axial direction. The meshing gear has internal teeth that mesh with the first spline and the second spline.

7. The flexible rope-driven manipulator with large-amplitude jaw swing according to claim 6, characterized in that: The slide bar is equipped with a cutting blade inside, and the surface of the cutting blade is provided with toothed grooves along the axial direction. The adapter is equipped with a pair of gear shafts inside, and the pair of gear shafts are symmetrically arranged on both sides of the cutting blade, and the gear shafts mesh with the toothed grooves. The reversing shaft is equipped with a second winch on the side near the second spline, and two second ropes are wound on the second winch. The other ends of the two second ropes are respectively wound on the gear shafts.

8. The flexible rope-driven manipulator with large jaw swing according to claim 3, characterized in that: The handle housing has a reversing rod that runs through both sides of the handle housing. A shift fork is fitted on the reversing rod and is connected to the meshing gear.

9. The flexible rope-driven manipulator with large-amplitude jaw swing according to claim 3, characterized in that: A third winch is provided on one side of the preload gear, and a third rope is wound on the third winch. The other end of the third rope is connected to the nail box and the nail anvil. Two sets of grooved shafts are provided on both sides of the nail box. Multiple connecting holes are provided on the nail anvil. The end of the third rope away from the third winch is connected to the grooved shaft and the connecting hole.

10. The flexible rope-driven manipulator with large-amplitude jaw swing according to claim 1, characterized in that: A second return spring is provided between the nail box and the anvil.

Images