Driving device and surgical instrument

Abstract

The utility model discloses a driving device and a surgical instrument, and relates to the technical field of surgical instruments. The device comprises a power mechanism, a driving mechanism and a transmission mechanism. The first transmission assembly and the first driving assembly are in transmission connection through tooth meshing, the first driving assembly and the second driving assembly slide relative to each other, and any one of the first driving assembly and the second driving assembly is provided with an electromagnetic device which is used for driving the first driving assembly to move when the movement stroke of the first driving assembly is a first movement stroke. A magnetic attraction force is generated between the first driving assembly and the second driving assembly, so that the second driving assembly is in transmission connection with the power mechanism; wherein the first movement stroke is the movement stroke of the first driving assembly when the end actuator is switched from opening to closing or from closing to opening. According to the surgical instrument and the surgical instrument, motion control over the end actuator and the cutting knife assembly can be achieved through the single motor, the structure is simple, and cost is low.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical instrument technical field, in particular to a drive device and surgical instrument. BACKGROUND

[0002] Anastomat is often used for endoscopic surgical instrument to replace the traditional open operation device, because smaller incision often shortens postoperative recovery time and reduces complications, therefore, a series of endoscopic surgical instruments suitable for accurately placing end effector through the sleeve of trocar in the desired operation site has been developed, and these end effectors enter the tissue in several methods to achieve diagnostic or therapeutic effect.

[0003] At present stage, anastomat includes trigger, motor assembly, end effector and cutting knife assembly. The trigger can be manipulated to open and close the end effector, and can also be manipulated to drive the cutting knife assembly to move forward and backward, and the anastomat includes two motor assemblies, and the end effector and the cutting knife assembly are controlled by different motor assemblies through two drive assemblies, the size is larger, the cost is higher, and the two-step control process cannot be realized by single motor, in addition, the two motor assemblies make the overall weight of the anastomat larger, and the flexibility of the doctor is poor during operation.

[0004] Although there is a scheme that single motor controls the movement of the end effector and the cutting knife assembly through a complex transmission mechanism in the prior art, but the gear machining is more complex, the structure is complex, and the manufacturing cost is high. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a drive device and surgical instrument, can realize the movement control of end effector and cutting knife assembly through single motor, simple structure, lower cost.

[0006] In order to solve the above technical problems, the utility model provides a drive device for surgical instrument, the surgical instrument includes end effector, and cutting knife assembly,

[0007] The drive device includes power mechanism, drive mechanism and transmission mechanism, the drive mechanism includes first drive assembly and second drive assembly, the transmission mechanism includes first transmission assembly and second transmission assembly, the first transmission assembly is passed through gear engagement with the first drive assembly to drive connection, to drive the end effector to open or close, the second drive assembly is transmission connection with the second transmission assembly, to drive the cutting knife assembly to move forward or backward;

[0008] The first driving assembly and the second driving assembly slide relative to each other, and any one of the first driving assembly and the second driving assembly is provided with an electromagnetic device, so that a magnetic attraction force is generated between the first driving assembly and the second driving assembly when a movement stroke of the first driving assembly is a first movement stroke, and the second driving assembly is in transmission connection with the power mechanism.

[0009] The first movement stroke is a stroke of the first driving assembly when the end effector is opened to closed or closed to opened.

[0010] Optionally, the electromagnetic device is arranged in the first transmission assembly and includes an electromagnetic coil and a wire, the wire is electrically connected with the electromagnetic coil, so that the electromagnetic coil generates a magnetic attraction force when energized; and the second driving assembly is made of a magnetic material as a whole or partially.

[0011] Optionally, the wire is switched on and off through a contact arranged on a side of the first transmission assembly, and a distance between the contact and a position of the first transmission assembly when the end effector is completely opened is a first movement stroke.

[0012] Optionally, the electromagnetic device further includes a control switch, a side of the first transmission assembly is provided with a position sensor, and when the position sensor detects that a movement distance of the first transmission assembly is a first movement stroke, the control switch controls the electromagnetic coil to be energized to generate a magnetic attraction force.

[0013] Optionally, the power mechanism includes a motor, a motor output gear and a first gear, the first driving assembly is provided with a first tooth feature and a first plane feature, a tooth surface height of the first tooth feature is higher than that of the first plane feature, and the first tooth feature is used for meshing with the first gear of the power mechanism; and when the second driving assembly is in transmission connection with the power mechanism, the first driving assembly is disconnected from the first gear through the first plane feature.

[0014] Optionally, the second driving assembly is provided with a second tooth feature and a second plane feature, and a tooth surface height of the second tooth feature is higher than that of the second plane feature.

[0015] When the movement stroke of the first driving assembly is less than the first movement stroke, the second plane feature is used for providing a clearance space for teeth of the first gear;

[0016] When the movement stroke of the first driving assembly is equal to the first movement stroke, the second tooth feature starts to mesh with the gear.

[0017] Optionally, the first driving assembly is further provided with a third tooth feature, and the first transmission assembly comprises a connecting rod gear, a sleeve push block, an outer sleeve and an articulation head which are sequentially connected in transmission; a side surface of the connecting rod gear is provided with a protruding cylinder, and the sleeve push block is provided with an extension arm which has an extension arm plane and an extension arm curved surface;

[0018] When the movement stroke of the first driving assembly is smaller than the first movement stroke, the connecting rod gear rotates, the protruding cylinder abuts against the extension arm plane and pushes the sleeve push block to move;

[0019] When the second driving assembly is connected in transmission with the power mechanism, the protruding cylinder abuts against the extension arm curved surface.

[0020] Optionally, a side surface of the connecting rod gear is provided with a protruding cylinder, the sleeve push block is connected in transmission with the connecting rod gear through a connecting rod, one end of the connecting rod is provided with a hole for accommodating the protruding cylinder, and the other end is hingedly connected with the sleeve push block.

[0021] When the movement stroke of the first driving assembly is smaller than the first movement stroke, the connecting rod gear is engaged with the third tooth feature to transmit the movement stroke of the first driving assembly to the sleeve push block, and then sequentially transmit the movement stroke to the outer sleeve and the articulation head and then to the end effector for driving the end effector to open or close.

[0022] When the second driving assembly is connected in transmission with the power mechanism, the connecting rod gear remains stationary so that the end effector remains closed.

[0023] Optionally, the first driving assembly and the second driving assembly are both long-stripe-shaped racks; the length of the second plane feature is not less than the length of the meshing region of the second driving assembly and the gear.

[0024] The second transmission assembly is a push rod, one end of the push rod is connected with the second driving assembly, and the other end is connected with the cutting knife assembly; the push rod is used for transmitting the movement stroke of the second driving assembly to the cutting knife assembly to push or pull back the cutting knife assembly.

[0025] The utility model also provides a surgical instrument, including handle component, end effector, cutting knife assembly, its characterized in be still including the drive device as mentioned before, the power mechanism of drive device is installed in handle component, the power mechanism adopts a motor, and the end effector is opened or closed through positive rotation or reverse rotation drive and drives the cutting knife assembly to move forward or backward.

[0026] The utility model provides a kind of surgical instrument and its driving device, its through first drive component and second drive component mutual sliding connection, when the movement stroke of first drive component is less than the first movement stroke, first drive component slides relative to the second drive component;When the movement stroke of first drive component is equal to the first transmission stroke, first drive component is contacted with the second drive component, make the second drive component with the power mechanism transmission connection;When the second drive component is connected with the power mechanism transmission, first drive component is disconnected with the power mechanism transmission, to realize power mechanism drive the end effector opening or closure, also can drive the cutting knife component forward or backward moves.

[0027] The utility model provides a kind of surgical instrument and its driving device, with Simple structure, low in cost, the advantage of transmission stability. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical scheme in the utility model embodiment, the drawings needed in the prior art and the embodiment will be simply introduced as follows, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.

[0029] Figure 1 It is the overall structure schematic view when the end effector of a kind of surgical instrument provided by the utility model is opened;

[0030] Figure 2 It is the structure schematic view of the driving mechanism of a kind of surgical instrument provided by the utility model;

[0031] Figure 3 It is the explosion schematic view of the overall structure of a kind of surgical instrument of the utility model;

[0032] Figure 4 It is the section schematic view of partial structure when the end effector of a kind of surgical instrument provided by the utility model is opened;

[0033] Figure 5 It is Figure 4 The structure schematic view of another back perspective;

[0034] Figure 6 It is the partial structure schematic view of the driving mechanism of a kind of surgical instrument of the utility model;

[0035] Figure 7 It is the structure schematic view of sleeve push block of a kind of surgical instrument of the utility model;

[0036] Figure 8This is a schematic diagram of the connecting gear structure of a surgical instrument according to the present invention;

[0037] Figure 9 This is a schematic diagram of the structure of the first drive assembly of a surgical instrument according to the present invention;

[0038] Figure 10 This is a schematic diagram of the structure of the second drive assembly of a surgical instrument according to the present invention;

[0039] Figure 11 An exploded view of the assembly of the first and second drive components of a surgical instrument according to this utility model.

[0040] Figure 12 This is a schematic diagram of the assembly of the first and second drive components of a surgical instrument according to the present invention.

[0041] Figure 13 for Figure 11 A structural schematic diagram from another perspective of the assembly of the first and second drive components;

[0042] Figure 14 A cross-sectional schematic diagram of a portion of the structure of a surgical instrument end effector when closed, provided by this utility model;

[0043] Figure 15 for Figure 14 An enlarged schematic diagram of part of the structure when the end effector is closed;

[0044] Figure 16 This is a schematic diagram of a portion of the structure of a surgical instrument actuator when it is opened, according to another embodiment of the present invention;

[0045] Figure 17 This is a schematic diagram of a portion of the structure of a surgical instrument actuator when closed, provided in another embodiment of the present invention.

[0046] Figure 18 This is a schematic diagram of the connecting rod of a surgical instrument provided in another embodiment of the present invention;

[0047] Figure 19 This is a schematic diagram of the structure of a cannula pusher of a surgical instrument provided in another embodiment of the present invention;

[0048] Figure 20 for Figure 17 An enlarged schematic diagram of part of the structure when the end effector is closed. Detailed Implementation

[0049] The utility model discloses a core provides a kind of drive device and surgical instrument for surgical instrument, can realize the movement control to end effector and cutting knife assembly by single motor, simple structure, lower cost, solve the problem of more complex gear machining, complex structure, high manufacturing cost in prior art.

[0050] To make the purpose, technical scheme and advantage of the utility model embodiment more clear, the technical scheme in the utility model embodiment will be clearly and completely described below in conjunction with the drawings in the utility model embodiment, obviously, the described embodiment is a part of the embodiment of the utility model, not all embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor are within the protection scope of the utility model.

[0051] Please refer to Figures 1-20 , Figures 1-3 The utility model provides a kind of schematic diagram of the overall structure of surgical instrument. The surgical instrument 100 provided by the utility model includes end effector 1, cutting knife assembly 2, power mechanism 3, drive mechanism 4, transmission mechanism 5 and handle assembly 6. Wherein power mechanism 3, drive mechanism 4 and transmission mechanism 5 are the drive device for the surgical instrument 100. One motor 31 is used in power mechanism 3, and end effector 1 is opened or closed by forward rotation or reverse rotation drive, can also drive cutting knife assembly 2 to move forward or backward. It utilizes single motor as output power, realizes the drive of two sets of actions with time sequence difference, i. e. first drive end effector 1 to open or close, then drive cutting knife assembly 2 to move forward or backward. Realize two sets of actions of first closing anvil and then driving cutting knife to cut and first driving cutting knife to retreat and then opening anvil.

[0052] The drive device thereof will be specifically introduced below.

[0053] As Figures 1-20As shown, the driving device comprises a power mechanism 3, a driving mechanism 4 and a transmission mechanism 5. The driving mechanism 4 comprises a first driving assembly 41 and a second driving assembly 42. The transmission mechanism 5 comprises a first transmission assembly 51 and a second transmission assembly 52. The first transmission assembly 51 is in transmission connection with the first driving assembly 41 through tooth engagement. The first transmission assembly 51 and the first driving assembly 41 are used to drive the end effector 1 to open or close. The second driving assembly 42 is in transmission connection with the second transmission assembly 52, which is used to drive the cutting knife assembly 2 to move forward or backward. The first driving assembly 41 and the second driving assembly 42 are in sliding connection with each other. The first driving assembly 41 has a first movement stroke d. When the movement stroke of the first driving assembly 41 is less than the first movement stroke d, the first driving assembly 41 slides relative to the second driving assembly 42; when the movement stroke of the first driving assembly 41 is equal to the first movement stroke d, the first driving assembly 41 abuts against the second driving assembly 42, so that the second driving assembly 42 starts to establish transmission connection with the power mechanism 3; after the second driving assembly 42 is in transmission connection with the power mechanism 3, the first driving assembly 41 is disconnected from the power mechanism 3, so that when the power mechanism 3 continues to provide power output, the first driving assembly 41 no longer moves, thereby avoiding that the end effector 1 still has power transmission output after completing closing or opening. The first movement stroke d is the stroke of the movement of the first driving assembly 41 when the end effector 1 is from opening to closing or from closing to opening.

[0054] In a specific embodiment, the first driving assembly 41 and the second driving assembly 42 are both long strip-shaped racks. The long strip-shaped rack has the advantages of simple processing, easy installation, high dimensional stability and high transmission precision. Figures 9-13 As shown, any one of the first driving assembly 41 and the second driving assembly 42 is provided with an electromagnetic device. When the movement stroke of the first driving assembly 41 is the first movement stroke d, the magnetic attraction force is generated between the first driving assembly 41 and the second driving assembly 42, so that the second driving assembly 42 establishes the meshing relationship in transmission connection with the power mechanism 3. It should be understood that the electromagnetic device can be arranged in the first driving assembly 41 or the second driving assembly 42, as long as one of them is installed to generate the magnetic attraction force to the other.

[0055] Hereinafter, the electromagnetic device arranged in the first transmission assembly 41 is taken as an example for description, as shown in the figure. Figures 9-13 As shown, the electromagnetic device comprises an electromagnetic coil 410 and a wire 414, and the wire 414 is electrically connected with the electromagnetic coil 410 to generate the magnetic attraction force by electrifying the electromagnetic coil 410. The whole or part of the second driving assembly 42 is made of magnetic material, so that the second driving assembly 42 can be attracted by the magnetic attraction force of the electromagnetic coil 410.

[0056] In one specific embodiment, the wire 414 is energized and de-energized through the contact 416 disposed on the side of the first transmission component 41. The distance between the contact 416 and the position of the first transmission component 41 when the end actuator 1 is fully open is the first movement stroke d. That is, during assembly, the first transmission component 41 has an initial position. In this initial position, the end actuator 1 is fully open, and the contact 416 is away from the electrode contact point on the housing (not shown in the figure), so that the wire 414 is disconnected and the electromagnetic coil 410 is not energized. When the first transmission component 41 moves the distance of the first movement stroke d, the contact 416 contacts the electrode contact point on the housing, so that the electromagnetic coil 410 is energized, generating a magnetic attraction force, which in turn causes the first transmission component 41 and the second drive component 42 to attract each other, so that the second drive component 42 can move with the first transmission component 41. In this way, the tooth structure of the second drive component 42 can mesh with the teeth of the power mechanism 3, thereby establishing a transmission connection between the second drive component 42 and the power mechanism 3. When the first transmission component 41 continues to move (the moving distance is the distance of 0-2 teeth, which is also the length of the electrode contact point on the housing), the contact 416 is disconnected, thereby preventing the electromagnetic coil 410 from being electrically conductive.

[0057] In another specific embodiment, the electromagnetic device further includes a control switch (not shown in the figure), and a position sensor (not shown in the figure) is disposed on the side of the first transmission component 41. When the position sensor detects that the first transmission component 41 has moved a distance equal to the first travel distance d, the control switch controls the electromagnetic coil 410 to be energized to generate a magnetic attraction force. The position sensor can be a distance sensor well known to those skilled in the art, such as an infrared light sensor, so that when the first transmission component 41 moves to a predetermined position or a predetermined distance, the control switch is triggered to start. It should be understood that the first travel distance d is the distance that the first drive component 41 moves when the aforementioned end actuator 1 moves from open to closed or from closed to open.

[0058] like Figure 11 As shown, a groove 417 is provided on the side of the first transmission component 41 adjacent to the second drive component 42. An electromagnetic coil 410 is disposed in the groove 417, and a wire 414 is connected to a contact 416. Preferably, a magnetizing block 415 is also disposed outside the electromagnetic coil 410. The magnetizing block 415 can amplify the magnetic attraction force it generates, so that the attraction between the first transmission component 41 and the second drive component 42 can be achieved with a smaller current. Through the electromagnetic coil 410 and the magnetizing block 415, a magnetic field can be quickly generated under the electromagnetic field of the energized coil 410, and demagnetization can be quickly achieved after the electromagnetic field disappears.

[0059] When the surgical instrument 100 is in the initial position (the initial position refers to the position of the end effector 1 when it is fully opened), after the first drive assembly 41 and the second drive assembly 42 are assembled, the wire 414 is disconnected, the electromagnetic coil 410 is not electrically conducted, and the first drive assembly 41 can move towards the end effector 1 under the action of the power mechanism 3. At this time, the second drive assembly 42 is in a disconnected engagement relationship with the power mechanism 3. Thus, when the switch is actuated, the power mechanism 3 provides power to drive the first drive assembly 41 to slide towards the end effector 1, and then the first drive assembly 41 pushes the end effector 1 to gradually close through the first transmission assembly 51, while the second drive assembly 42 remains stationary. When the end effector 1 is fully closed, the wire 414 is connected, the electromagnetic coil 410 is powered, and a magnetic attraction force is generated to make the second drive assembly 42 move a small distance (0-2 tooth movement distance) with the first drive assembly 41, and then the second drive assembly 42 begins to establish a transmission connection with the power mechanism 3. At this time, the teeth of the power mechanism 3 contact the first planar feature 412 of the first drive assembly 41, so that the power mechanism 3 is disconnected from the first drive assembly 41, and at the same time, the second drive assembly 42 establishes an engagement transmission connection with the power mechanism 3. The power mechanism 3 continues to output power, the wire 414 is disconnected, the electromagnetic coil 410 is not electrically conducted, and the second drive assembly 42 moves accordingly. The second drive assembly 42 pushes the cutting knife assembly 2 to move forward through the second transmission assembly 52, that is, the feed motion is realized, and the cutting operation on the tissue is completed. At the same time of feeding, the first drive assembly 41 does not move (during this process, the second drive assembly 42 still slides relative to the first drive assembly 41).

[0060] In another embodiment, when the end effector 1 is fully closed, the first drive assembly 41 slides a distance of the first movement stroke d, and there are 0-2 teeth of engagement between the teeth of the power mechanism 3 and the rack of the first drive assembly 41. At this time, the power mechanism 3 is in a state of simultaneously engaging with the first drive assembly 41 and the second drive assembly 42. At this time, the power mechanism 3 continues to output power, on the one hand, the first drive assembly 41 continues to move 0-2 teeth of the movement stroke; on the other hand, the power mechanism 3 establishes an engagement transmission connection with the second drive assembly 42, so that the second drive assembly 42 begins to move, that is, the feed motion is realized.

[0061] It is understood by those skilled in the art that the first driving assembly 41 and the second driving assembly 42 can also have other shapes, such as arc shape, wave shape, etc. The purpose is that the first driving assembly 41 and the second driving assembly 42 can slide relative to each other, and when the first driving assembly 41 slides close to or equal to or slightly greater than the first movement stroke d (where close to or slightly greater than the first movement stroke d means the stroke of the first driving assembly 41 moving through the meshing transmission of 0-2 teeth of the gear 32), it can abut against the second driving assembly 42, so that the second driving assembly 42 starts or is about to start meshing with the power mechanism 3, so that the power mechanism 3 can drive the second driving assembly 42 to move.

[0062] Specifically, the power mechanism 3 includes an electric motor 31. The electric motor 31 has a gear 32 for outputting power thereof. The gear 32 is used to transmit the power of the electric motor 31 to the first driving assembly 41 and / or the second driving assembly 42.

[0063] As shown in Figure 9 , the first driving assembly 41 is provided with a first tooth feature 411 and a first plane feature 412. The tooth surface height of the first tooth feature 411 is higher than that of the first plane feature 412. The first tooth feature 411 is used to mesh with the gear 32 of the power mechanism 3. When the second driving assembly 42 is in transmission connection with the power mechanism 3, at this time, since 1-2 teeth of the distal end (the end away from the end effector 1) of the first tooth feature 411 and 1-2 teeth of the proximal end (the end close to the end effector 1) of the second tooth feature 421 can be simultaneously meshed with the gear 32, after the common meshing process, the teeth of the gear 32 will be at the position of the first plane feature 412 of the first driving assembly 41 due to the movement of the first driving assembly 41, which is a position without tooth structure, so that the first driving assembly 41 is disconnected from the gear 32 through the first plane feature 412, and at the same time, the second driving assembly 42 establishes a meshing transmission connection relationship with the power mechanism 3.

[0064] As shown in Figures 3-5 , Figures 8-13As shown, a third tooth feature 413 is provided on the other side of the first drive assembly 41. The first transmission assembly 51 includes a connecting gear 510, a sleeve pusher 511, an outer sleeve 512, and a joint motion head 513 connected in sequence. When the travel of the first drive assembly 41 is less than the first travel d, the connecting gear 510 meshes with the third tooth feature 413 to transmit the travel of the first drive assembly 41 to the sleeve pusher 511, and then sequentially to the end actuator 1 via the outer sleeve 512 and the joint motion head 513, for driving the end actuator 1 to open or close. When the second drive assembly 42 is connected to the power mechanism 3, the connecting gear 510 disengages from the first drive assembly 41 through the third planar feature 413, and the connecting gear 510 remains stationary so that the end actuator 1 remains closed. Since the first drive assembly 41 will disconnect from the power mechanism 3, the first drive assembly 41 will remain stationary. Even if the connecting rod gear 510 is still engaged with the first drive assembly 41, it can still remain stationary, thereby keeping the end actuator 1 closed.

[0065] During assembly, the third tooth feature 413 is located on the lower side of the first drive assembly 41, and the connecting rod gear 510 is rotatably mounted on the housing via a pin, with its tooth structure meshing with the third tooth feature 413.

[0066] like Figure 8 As shown, two protruding cylinders 5101 are provided on opposite sides of the side of the connecting rod gear 510. The sleeve push block 511 is provided with an extension arm 5111, which has an extension arm plane 5112 and an extension arm curved surface 5113. An elastic element 5114 is provided between the sleeve push block 511 and the outer sleeve 512. The elastic element 5114 is used to provide a thrust to the sleeve push block 511 to return to the initial position. The initial position refers to the position of the sleeve push block 511 when the end actuator 1 is in the open state. After assembly, when the end actuator 1 is in the fully open state, the tooth structure of the connecting rod gear 510 is engaged with the third tooth feature 413, the protruding cylinders 5101 abut against the extension arm plane 5112, and at the same time, the gear 32 of the power mechanism 3 is engaged with the first drive assembly 41 in a transmission state.

[0067] The end effector 1 is opened to the closed process as follows: the surgical instrument 100 is in the initial state (that is, the end effector 1 is fully open), at this time, the first drive assembly 41 is engaged with the power mechanism 3, and the second drive assembly 42 is disengaged with the power mechanism 3. When the switch is actuated, the motor 31 starts to work, the gear 32 rotates, the first drive assembly 41 is driven to move, and then the movement of the first drive assembly 41 is transmitted to the rotation of the connecting rod gear 510 through the engagement of the tooth structure of the connecting rod gear 510 and the third tooth feature 413, and the convex cylinder 5101 rotates, that is, the sleeve push block 511 moves towards the end effector 1, and then the outer sleeve 512 and the articulation head 513 move forward, realizing the closing process of the end effector 1. The process of closing to opening of the end effector 1 is contrary to this, which will not be described here. Figure 4 and Figure 5 As shown in the figure, that is, when the end effector 1 of the surgical instrument 100 is in the initial state (that is, the end effector 1 is fully open), the assembly position and relationship of each component are shown.

[0068] As shown in the figure, that is, when the end effector 1 of the surgical instrument 100 is in the initial state (that is, the end effector 1 is fully open), the assembly position and relationship of each component are shown. Figure 14 and Figure 15 As shown in the figure, that is, when the end effector 1 of the surgical instrument 100 is in the initial state (that is, the end effector 1 is fully open), the assembly position and relationship of each component are shown. At this time, when the end effector 1 is fully closed, the first drive assembly 41 and the gear 32 complete the disengagement before the first drive assembly 41 moves to the distal end, but the sleeve push block 511 is static, at this time, the elastic element 5114 of the sleeve push block 511 is in the state of being extruded and deformed, the sleeve push block 511 is subjected to a spring force in the direction of the handle assembly 6, which is reflected in the extension arm curved surface 5113, that is, the extension arm curved surface 5113 extrudes the convex cylinder 5101, so that the convex cylinder 5101 is subjected to an action force F which is generally directed to and slightly deviates from the center of the pivot center hole of the connecting rod gear 510. The schematic of the action force F can be referred to Figure 15 Thus, the connecting rod gear 510 is prevented from rotating, so that the end effector 1 remains closed. Through the ingenious design of the inclined surface (or arc surface) of the extension arm curved surface 5113, the force direction of the convex cylinder 5101 is controlled when the end effector 1 is closed, the problem of unstable closing of the end effector 1 caused by the rotation of the connecting rod gear 510 is avoided, it is ensured that the first drive assembly 41 will not move to the proximal end, and it is ensured that the first drive assembly 41 will not move to the handle assembly 6 during the feeding process.

[0069] As shown in the figure, that is, when the end effector 1 of the surgical instrument 100 is in the initial state (that is, the end effector 1 is fully open), the assembly position and relationship of each component are shown. Figures 10-12As shown, the second driving assembly 42 is provided with a second tooth feature 421 and a second planar feature 422, the tooth surface height of the second tooth feature 421 is higher than that of the second planar feature 422. The length of the second planar feature 422 is not less than the length of the meshing area of the second driving assembly 42 and the gear 32. Optionally, the second planar feature 422 can be a plane or a concave notch feature. The second planar feature 422 is used to provide a clearance for the teeth of the gear 32 when the first driving assembly 41 meshes with the gear 32 (i.e. when the movement stroke of the first driving assembly 41 is less than the first movement stroke d), so as to avoid the meshing of the second driving assembly 42 and the gear 32, so that the second driving assembly 42 is at rest during this process.

[0070] When the movement stroke of the first driving assembly 41 approaches or equals the first transmission stroke d, the second tooth feature 421 meshes with the gear 32. Optionally, the first driving assembly 41 and the second driving assembly 42 are in an upper and lower assembly relationship, and the first tooth feature 411 and the second tooth feature 421 are located on the side of the same direction to facilitate meshing with the gear 32.

[0071] When the movement stroke of the first driving assembly 41 equals the first transmission stroke d, a magnetic attraction force is generated between the first driving assembly 41 and the second driving assembly 42, at this time, 1-2 teeth of the distal end (the end away from the end effector 1) of the first tooth feature 411 and 1-2 teeth of the proximal end (the end close to the end effector 1) of the second tooth feature 421 can simultaneously mesh with the gear 32, so that the gear 32 can be conveniently transitioned from meshing with the first driving assembly 41 to meshing between the second driving assembly 42.

[0072] As shown in Figure 5 , Figure 6 , the second transmission assembly 52 is a push rod. Optionally, the second transmission assembly 52 is a cylindrical push rod. One end of the push rod is connected with the second driving assembly 42, and the other end is connected with the cutting knife assembly 2. The push rod is used to transmit the movement stroke of the second driving assembly 42 to the cutting knife assembly 2 to push or pull back the cutting knife assembly 2.

[0073] As shown in Figure 12 , the second driving assembly 42 is further provided with an end first planar surface 423 and a transmission connection port 424. The end first planar surface 423 is used to abut with the end of the push rod to increase the contact area between the second driving assembly 42 and the push rod and improve the stability during transmission. The end of the push rod is provided with a corresponding clamping structure, and the transmission connection port 424 is used to clamp with one end of the push rod. The push rod moves inside the outer sleeve of the surgical instrument 100.

[0074] In one specific embodiment, the gear 32 comprises a motor output gear 321 and a first gear 322. The first gear 322 is in meshing transmission connection with the motor output gear 321. The first driving assembly 41 and the second driving assembly 42 are in meshing transmission connection with the first gear 322. As shown in Figures 16-20 In another embodiment of the utility model, the connecting rod gear 510 and the sleeve pushing block 511 are in transmission connection through a connecting rod 514. The structure of the connecting rod 514 is shown in Figure 18 Two protruding cylinders 5101 are oppositely arranged on two sides of the connecting rod gear 510. One end of the connecting rod 514 is provided with a hole 5142 for accommodating the two protruding cylinders 5101. The other end of the connecting rod 514 is provided with a hinged hole 5141 for installing a pin to be hinged with the sleeve pushing block 511. The structure of the sleeve pushing block 511 is shown in Figure 19 .

[0075] The end effector 1 is opened to closed as follows: when the surgical instrument 100 is in the initial state (i.e. the end effector 1 is fully opened), at this time, the first driving assembly 41 is in meshing transmission connection with the power mechanism 3, and the second driving assembly 42 is in disengaged meshing transmission connection with the power mechanism 3. When the switch is actuated, the motor 31 starts to work, the gear 32 rotates, the first driving assembly 41 is driven to move, and then the movement of the first driving assembly 41 is transmitted to the connecting rod gear 510 through the meshing transmission of the tooth structure of the connecting rod gear 510 and the third tooth feature 413, so that the connecting rod gear 510 starts to rotate, the protruding cylinder 5101 rotates, and the sleeve pushing block 511 is pushed by the connecting rod 514 to move towards the direction of the end effector 1, so as to push the outer sleeve 512 and the articulation head 513 to move forward, thereby realizing the closing process of the end effector 1. The process of the end effector 1 from closing to opening is opposite to the above, which is not described herein. As shown in Figure 16 , which is a schematic diagram of the assembly position and relationship of each component when the surgical instrument 100 is in the initial state (i.e. the end effector 1 is fully opened). As shown in Figure 17 , which is a schematic diagram of the assembly position and relationship of each component when the end effector 1 of the surgical instrument 100 is fully closed.

[0076] As shown in Figure 20 , which is a state when the first driving assembly 41 is disengaged from the gear 32, the gear 32 is in meshing transmission connection with the second driving assembly 42, and the second driving assembly 42 moves towards the end effector 1. At this time, there is no magnetic attraction force between the second driving assembly 42 and the first driving assembly 41, and the connecting line direction of the hinged hole 5141 and the hole 5142 of the connecting rod 514 is located on the lower side of the center of the pivot center hole of the connecting rod gear 510. As shown in Figure 20As shown, the vertical distance between the center of the pivot center hole of the connecting rod gear 510 and the line connecting the hinge hole 5141 and the hole 5142 is d1, and d1 is not less than 0. The utility model discloses the position of connecting rod 514 is designed to make the end effector 1 close, control the stress direction of connecting rod gear 510, avoid the problem that the rotation of connecting rod gear 510 leads to the instability of end effector 1 closing, ensure that the first drive assembly 41 will not produce the trend of moving to the handle assembly 6 direction, ensure that the first drive assembly 41 will not move to the direction of handle assembly 6 in the feed process.

[0077] The utility model provides a surgical instrument 100 and its drive arrangement, when the first drive assembly 41 moves the stroke approaches or equals the first movement stroke d, the first drive assembly 41 slides the distance of the first movement stroke d, and the magnetic attraction between the first drive assembly 41 and the second drive assembly 42 is generated, after that, the rack of power mechanism 3 and first drive assembly 41 are disconnected engagement, and the transmission connection of engagement with second drive assembly 42 is established simultaneously, power mechanism 3 continues to output power, and second drive assembly 42 moves along, and second drive assembly 42 promotes cutting knife assembly 2 to move forward through second transmission assembly 52, that is, the feed action can be realized, the function of cutting is realized, and the cutting operation to the tissue is completed, and the first drive assembly 41 does not move at this feed.

[0078] Second drive assembly 42, second transmission assembly 52, cutting knife assembly 2 exist transmission connection relationship between, and second drive assembly 42 moves to the distal end and can make cutting knife assembly 2 move to the distal end, realize the function of cutting, and second drive assembly 42 moves to the proximal end and can make cutting knife assembly 2 move to the proximal end, realize the function of retraction.

[0079] The utility model provides a surgical instrument 100 and its drive arrangement, utilize single motor 31 output power, realize the drive of two sets of action with movement time sequence difference. It utilizes motor 31 to drive the distance difference of first drive assembly 41 and second drive assembly 42 movement, sets up length and assembly position, realizes the movement of first drive assembly 41 and second drive assembly 42 in proper order, and simultaneously combine its connecting rod gear 510, has the advantages that the relative simple of spare part, easy to install, the dimensional stability is high, and the rotation precision is high.

[0080] It is to be noted that, in the present specification, the terms such as first and second, and the like, are used merely to distinguish one entity or action from another, and do not necessarily require or imply that there is any such actual relationship or order between such entities or actions. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0081] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A driving device for a surgical instrument, the surgical instrument comprising an end effector and a cutting knife assembly, characterized in that, the driving device comprises a power mechanism, a driving mechanism and a transmission mechanism, the driving mechanism comprises a first driving assembly and a second driving assembly, the transmission mechanism comprises a first transmission assembly and a second transmission assembly, the first transmission assembly is in transmission connection with the first driving assembly through tooth engagement for driving the end effector to open or close, the second driving assembly is in transmission connection with the second transmission assembly for driving the cutting knife assembly to move forward or backward; the first driving assembly and the second driving assembly slide relative to each other, and any one of the first driving assembly and the second driving assembly is provided with an electromagnetic device for generating magnetic attraction between the first driving assembly and the second driving assembly when a movement stroke of the first driving assembly is a first movement stroke, so that the second driving assembly is in transmission connection with the power mechanism; wherein the first movement stroke is a stroke of the first driving assembly when the end effector is opened or closed. 2.The driving device according to claim 1, characterized in that, the electromagnetic device is arranged in the first transmission assembly and comprises an electromagnetic coil and a wire, the wire is electrically connected with the electromagnetic coil for generating magnetic attraction when the electromagnetic coil is energized; and the second driving assembly is made of a magnetic material as a whole or partially. 3.The driving device according to claim 2, characterized in that, the wire is switched on or off through a contact arranged on a side of the first transmission assembly, and a distance between the contact and a position of the first transmission assembly when the end effector is completely opened is the first movement stroke. 4.The driving device according to claim 2, characterized in that, the electromagnetic device further comprises a control switch, and a side of the first transmission assembly is provided with a position sensor, when the position sensor monitors that the first transmission assembly moves a distance of the first movement stroke, the control switch controls the electromagnetic coil to be energized to generate magnetic attraction. 5.The driving device according to claim 3 or 4, characterized in that, the power mechanism comprises a motor, a motor output gear and a first gear, the first driving assembly is provided with a first tooth feature and a first plane feature, a tooth surface height of the first tooth feature is higher than that of the first plane feature, and the first tooth feature is used for engaging with the first gear of the power mechanism; when the second driving assembly is in transmission connection with the power mechanism, the first driving assembly is disconnected from the first gear through the first plane feature. 6.The driving device according to claim 5, characterized in that, the second driving assembly is provided with a second tooth feature and a second plane feature, and a tooth surface height of the second tooth feature is higher than that of the second plane feature; when a movement stroke of the first driving assembly is less than the first movement stroke, the second plane feature is used for providing a clearance space for teeth of the first gear. When the movement stroke of the first driving assembly is equal to the first transmission stroke, the second tooth feature begins to engage with the gear.

7. The driving device according to claim 6, wherein, The first driving assembly is further provided with a third tooth feature, and the first transmission assembly comprises a connecting rod gear, a sleeve push block, an outer sleeve and an articulation head which are sequentially connected in transmission; the side surface of the connecting rod gear is provided with a protruding cylinder, and the sleeve push block is provided with an extension arm which has an extension arm plane and an extension arm curved surface; When the movement stroke of the first driving assembly is less than the first movement stroke, the connecting rod gear rotates, the protruding cylinder abuts against the extension arm plane and pushes the sleeve push block to move; When the second driving assembly is connected in transmission with the power mechanism, the protruding cylinder abuts against the extension arm curved surface.

8. The driving device according to claim 7, wherein, The side surface of the connecting rod gear is provided with a protruding cylinder, and the sleeve push block is connected in transmission with the connecting rod gear through a connecting rod, one end of the connecting rod is provided with a hole for accommodating the protruding cylinder, and the other end is hingedly connected with the sleeve push block; When the movement stroke of the first driving assembly is less than the first movement stroke, the connecting rod gear engages with the third tooth feature to transmit the movement stroke of the first driving assembly to the sleeve push block, and then sequentially to the outer sleeve and the articulation head to the end effector for driving the end effector to open or close; When the second driving assembly is connected in transmission with the power mechanism, the connecting rod gear remains stationary so that the end effector remains closed.

9. The driving device according to claim 8, wherein, The first driving assembly and the second driving assembly are both long strip-shaped racks; the length of the second plane feature is not less than the length of the engagement region of the second driving assembly with the gear; The second transmission assembly is a push rod, one end of the push rod is connected with the second driving assembly, and the other end is connected with the cutting knife assembly, and the push rod is used to transmit the movement stroke of the second driving assembly to the cutting knife assembly to push or pull back the cutting knife assembly.

10. A surgical instrument comprising a handle assembly, an end effector, a cutting knife assembly, characterized in that, Further comprising the driving device according to any one of claims 1-9, wherein the power mechanism of the driving device is installed in the handle assembly, and the power mechanism adopts an electric motor which drives the end effector to open or close and drives the cutting knife assembly to move forward or backward through forward rotation or reverse rotation.

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