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 is in transmission connection with the first driving assembly through tooth meshing, the first driving assembly is in sliding connection with the second driving assembly, a protruding guide rail is arranged on one side face of the first driving assembly, and the second driving assembly is correspondingly provided with a groove guide rail. The length of the groove guide rail is larger than that of the protruding guide rail, so that the protruding guide rail is assembled in the groove guide rail in a sliding mode. In the assembling process, the distance between the end of the protruding guide rail and the end of the groove guide rail is a first movement stroke. 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] This utility model relates to the field of surgical instrument technology, and in particular to a driving device and a surgical instrument. Background Technology

[0002] Anastomosing devices are frequently used in endoscopic surgery as an alternative to traditional open surgical devices because smaller incisions often shorten postoperative recovery time and reduce complications. Therefore, a range of endoscopic surgical instruments have been developed to accurately place end effectors through the cannula of the cannula to the desired surgical site. These end effectors enter the tissue in several ways to achieve diagnostic or therapeutic effects.

[0003] Currently, the stapler consists of a trigger, a motor assembly, an end effector, and a cutting blade assembly. The trigger can be manipulated to open and close the end effector and can also be manipulated to drive the cutting blade assembly forward and backward. The stapler includes two motor assemblies, which control the end effector and cutting blade assembly separately via two drive assemblies. This results in a large size, high cost, and an inability to achieve two-step control with a single motor. In addition, the two motor assemblies make the stapler heavy overall, reducing the surgeon's dexterity.

[0004] While existing technologies also include solutions that use a single motor to control the motion of the end effector and cutting blade assembly via a complex transmission mechanism, these solutions suffer from problems such as more complex gear processing, more complex structure, and higher manufacturing costs. Utility Model Content

[0005] The purpose of this invention is to provide a drive device and surgical instrument that can achieve motion control of the end effector and cutting blade assembly through a single motor. It has a simple structure and low cost.

[0006] To address the aforementioned technical problems, this utility model provides a driving device for surgical instruments. The surgical instruments include an end effector and a cutting blade assembly. The driving device includes a power mechanism, a driving mechanism, and a transmission mechanism.

[0007] The driving mechanism includes a first driving component and a second driving component, and the transmission mechanism includes a first transmission component and a second transmission component. The first transmission component and the first driving component are connected by gear meshing for transmission, so as to drive the end effector to open or close. The second driving component is connected to the second transmission component for transmission, so as to drive the cutting blade assembly to move forward or backward.

[0008] The first driving component and the second driving component are slidably connected to each other. One side of the first driving component is provided with a raised guide rail, and the second driving component is provided with a corresponding grooved guide rail. The length of the grooved guide rail is greater than the length of the raised guide rail, so that the raised guide rail can be slidably assembled in the grooved guide rail.

[0009] During assembly, the distance between the end of the raised guide rail and the end of the grooved guide rail is the first travel distance; when the travel distance of the first drive component is less than the first travel distance, the first drive component slides relative to the second drive component; when the travel distance of the first drive component is equal to the first transmission travel distance, the first drive component abuts against the second drive component, causing the second drive component to be connected to the power mechanism; after the second drive component is connected to the power mechanism, the first drive component is disconnected from the power mechanism.

[0010] Optionally, the power mechanism includes a motor, a motor output gear, and a first gear. The first drive component is provided with a first tooth feature and a first planar feature. The tooth surface height of the first tooth feature is higher than that of the first planar feature. The first tooth feature is used to mesh with the first gear of the power mechanism. When the second drive component is connected to the power mechanism, the first drive component disconnects from the first gear through the first planar feature.

[0011] Optionally, the second drive component is provided with a second tooth feature and a second planar feature, wherein the tooth surface height of the second tooth feature is higher than that of the second planar feature;

[0012] When the travel distance of the first drive component is less than the first travel distance, the second planar feature is used to provide clearance space for the teeth of the first gear;

[0013] When the travel of the first drive component is equal to the first transmission travel, the second tooth feature begins to mesh with the gear.

[0014] Optionally, the first drive assembly is further provided with a third tooth feature, and the first transmission assembly includes a connecting rod gear, a sleeve push block, an outer sleeve and a joint motion head that are connected in sequence; the side of the connecting rod gear is provided with a protruding cylinder, the sleeve push block is provided with an extension arm, and the extension arm has an extension arm plane and an extension arm curved surface.

[0015] When the travel of the first drive component is less than the first travel, the connecting rod gear rotates, the protruding cylinder abuts against the plane of the extension arm and pushes the sleeve push block to move;

[0016] When the second drive component is connected to the power mechanism, the protruding cylinder abuts against the curved surface of the extension arm.

[0017] Optionally, the side of the connecting rod gear is provided with a protruding cylinder, and the sleeve push block is connected to the connecting rod gear through a connecting rod drive. One end of the connecting rod is provided with a hole to accommodate the protruding cylinder, and the other end is hinged to the sleeve push block.

[0018] When the travel of the first drive component is less than the first travel, the connecting gear meshes with the third tooth feature to transmit the travel of the first drive component to the sleeve push block, and then sequentially to the end effector via the outer sleeve and the joint motion head, so as to drive the end effector to open or close.

[0019] When the second drive component is connected to the power mechanism, the connecting rod gear remains stationary so that the end effector remains closed.

[0020] Optionally, an elastic element is provided between the sleeve push block and the outer sleeve to provide a thrust to return the sleeve push block to its initial position; the initial position refers to the position of the sleeve push block when the end effector is in the open state.

[0021] Optionally, both the first drive component and the second drive component are elongated racks; the length of the second planar feature is not less than the length of the meshing area between the second drive component and the gear.

[0022] Optionally, the second transmission component is a push rod, one end of which is connected to the second drive component and the other end of which is connected to the cutting blade component. The push rod is used to transmit the motion stroke of the second drive component to the cutting blade component to push or pull back the cutting blade component.

[0023] Optionally, the second drive assembly is further provided with an end first plane and a transmission connection port, the end first plane being used to abut against the push rod to increase the contact area between the second drive assembly and the push rod; the transmission connection port being used to engage with one end of the push rod.

[0024] This utility model also provides a surgical instrument, including a handle assembly, an end effector, and a cutting blade assembly. It is characterized by further including the aforementioned driving device, the power mechanism of which is installed within the handle assembly. The power mechanism employs a motor that drives the end effector to open or close by rotating forward or in reverse, and drives the cutting blade assembly to move forward or backward.

[0025] This utility model provides a surgical instrument and its driving device, which are slidably connected to each other by a first driving component and a second driving component. When the movement stroke of the first driving component is less than the first movement stroke, the first driving component slides relative to the second driving component. When the movement stroke of the first driving component is equal to the first transmission stroke, the first driving component abuts against the second driving component, so that the second driving component is connected to the power mechanism. When the second driving component is connected to the power mechanism, the first driving component is disconnected from the power mechanism, thereby enabling the power mechanism to drive the end effector to open or close, and also to drive the cutting blade assembly to move forward or backward.

[0026] The present invention provides a surgical instrument and its driving device, which have the advantages of simple structure, low cost and stable transmission. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the overall structure of a surgical instrument end effector when it is opened, provided by this utility model;

[0029] Figure 2 A schematic diagram of the overall structure of a surgical instrument end effector when closed, provided by this utility model;

[0030] Figure 3 This is an exploded view of the overall structure of a surgical instrument according to the present invention;

[0031] Figure 4 A cross-sectional schematic diagram of a portion of the structure of a surgical instrument end effector when it is opened, as provided in this utility model;

[0032] Figure 5 for Figure 4 Another structural diagram from the rear view;

[0033] Figure 6 This is a partial structural schematic diagram of the drive mechanism of a surgical instrument according to the present invention.

[0034] Figure 7 This is a schematic diagram of the structure of a cannula pusher of a surgical instrument according to the present invention.

[0035] Figure 8This is a schematic diagram of the connecting gear structure of a surgical instrument according to the present invention;

[0036] Figure 9 This is a schematic diagram of the structure of the first drive assembly of a surgical instrument according to the present invention;

[0037] Figure 10 This is a schematic diagram of the structure of the second drive assembly of a surgical instrument according to the present invention;

[0038] Figure 11 A cross-sectional schematic diagram of a portion of the structure of a surgical instrument end effector when closed, provided by this utility model;

[0039] Figure 12 for Figure 11 An enlarged schematic diagram of part of the structure when the end effector is closed;

[0040] Figure 13 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;

[0041] Figure 14 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;

[0042] Figure 15 This is a schematic diagram of the connecting rod of a surgical instrument provided in another embodiment of the present invention;

[0043] Figure 16 This is a schematic diagram of the structure of a cannula pusher of a surgical instrument provided in another embodiment of the present invention;

[0044] Figure 17 for Figure 14 An enlarged schematic diagram of part of the structure when the end effector is closed. Detailed Implementation

[0045] The core of this utility model is to provide a drive device and surgical instruments for surgical instruments, which can realize motion control of the end effector and cutting blade assembly through a single motor. It has a simple structure and low cost, and solves the problems of more complex gear processing, complex structure and high manufacturing cost in the prior art.

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0047] Please refer to Figures 1-17 , Figures 1-3 This is a schematic diagram of the overall structure of a surgical instrument provided by this utility model. The surgical instrument 100 provided by this utility model includes an end effector 1, a cutting blade assembly 2, a power mechanism 3, a drive mechanism 4, a transmission mechanism 5, and a handle assembly 6. The power mechanism 3, drive mechanism 4, and transmission mechanism 5 are the driving devices for the surgical instrument 100. The power mechanism 3 uses a single motor 31, which drives the end effector 1 to open or close by rotating forward or in reverse, and can also drive the cutting blade assembly 2 to move forward or backward. It utilizes a single motor as the output power to achieve two sets of actions with a time difference: first, the end effector 1 is driven to open or close, and then the cutting blade assembly 2 is driven to move forward or backward. This achieves two sets of actions: first closing the anvil and then driving the cutting blade to cut, and first driving the cutting blade to retract and then opening the anvil.

[0048] The driving mechanism is described in detail below.

[0049] like Figures 1-12As shown, the drive device includes a power mechanism 3, a drive mechanism 4, and a transmission mechanism 5. The drive mechanism 4 includes a first drive assembly 41 and a second drive assembly 42. The transmission mechanism 5 includes a first transmission assembly 51 and a second transmission assembly 52. ​​The first transmission assembly 51 is connected to the first drive assembly 41 via gear meshing. The first transmission assembly 51 and the first drive assembly 41 are used to drive the end actuator 1 to open or close. The second drive assembly 42 is connected to the second transmission assembly 52 to drive the cutting blade assembly 2 to move forward or backward. The first drive assembly 41 and the second drive assembly 42 are slidably connected to each other. The first drive assembly 41 has a first stroke d. When the travel distance of the first drive component 41 is less than the first travel distance d, the first drive component 41 slides relative to the second drive component 42. When the travel distance of the first drive component 41 is equal to the first transmission travel distance d, the first drive component 41 abuts against the second drive component 42, causing the second drive component 42 to establish a transmission connection with the power mechanism 3. After the second drive component 42 is connected to the power mechanism 3, the first drive component 41 disconnects from the power mechanism 3, so that when the power mechanism 3 continues to provide power output, the first drive component 41 no longer moves, thereby avoiding the existence of power transmission output to the end actuator 1 after the end actuator 1 has completed closing or opening. The first travel distance d is the travel distance of the first drive component 41 when the end actuator 1 moves from opening to closing or from closing to opening.

[0050] In one specific embodiment, both the first drive assembly 41 and the second drive assembly 42 are elongated racks. Elongated racks have advantages such as simple processing, easy installation, high dimensional stability, and high transmission accuracy. For example... Figure 9 and Figure 10As shown, a raised guide rail 410 is provided on one side of the first drive assembly 41, and a corresponding recessed guide rail 420 is provided on the second drive assembly 42. The length of the recessed guide rail 420 is greater than the length of the raised guide rail 410, allowing the raised guide rail 410 to be slidably fitted within the recessed guide rail 420. When the surgical instrument 100 is in the initial position (the initial position refers to the position where the end effector 1 is fully open), after the first drive assembly 41 and the second drive assembly 42 are assembled, the raised guide rail 410 is located inside the recessed guide rail 420, and the raised guide rail 410 has a reserved distance from one end of the recessed guide rail 420 (the end closer to the end effector 1), which is approximately equal to the first stroke d. Thus, when the switch is activated, the power mechanism 3 provides power to drive the first drive assembly 41 to slide along the recessed guide rail 420, while the first drive assembly 41 pushes the end effector 1 to gradually close via the first transmission assembly 51. When the end effector 1 completes the closing, the first drive assembly 41 slides along the grooved guide rail 420 for a distance of the first stroke d and abuts against the front wall of the grooved guide rail 420. At this point, the power mechanism 3 disengages from the rack of the first drive assembly 41 and establishes a transmission connection with the second drive assembly 42. The power mechanism 3 continues to output power, and the second drive assembly 42 moves accordingly. The second drive assembly 42 pushes the cutting blade assembly 2 forward through the second transmission assembly 52, thereby realizing the cutting action and completing the cutting operation on the tissue. During the cutting action, the first drive assembly 41 remains in the grooved guide rail 420 and does not move (during this process, the second drive assembly 42 still slides relative to the first drive assembly 41).

[0051] In another embodiment, when the end effector 1 completes its closure, the first drive assembly 41 slides along the grooved guide rail 420 for a distance of the first stroke d and abuts against the front wall of the grooved guide rail 420. At this time, 0-2 teeth remain engaged between the teeth of the power mechanism 3 and the rack of the first drive assembly 41. Simultaneously, the power mechanism 3 is engaged with both the first drive assembly 41 and the second drive assembly 42. The power mechanism 3 continues to output power, allowing the first drive assembly 41 to continue its 0-2 tooth stroke; simultaneously, the power mechanism 3 establishes a meshing transmission connection with the second drive assembly 42, causing the second drive assembly 42 to begin moving accordingly, thus realizing the feed action.

[0052] Those skilled in the art will understand that the first drive component 41 and the second drive component 42 can also be other shapes, such as arc-shaped, wave-shaped, etc. The purpose is to allow the first drive component 41 and the second drive component 42 to slide relative to each other, and when the first drive component 41 slides close to or equal to or slightly greater than the first motion stroke d (where close to or slightly greater than the first transmission stroke d refers to the stroke of the first drive component 41 and the gear 32 through the meshing transmission of 0-2 teeth), it can abut against the second drive component 42, so that the second drive component 42 begins or is about to begin meshing with the power mechanism 3, thereby enabling the power mechanism 3 to drive the second drive component 42 to move.

[0053] Specifically, the power mechanism 3 includes a motor 31. The motor 31 has a gear 32 for outputting its power. The gear 32 is used to transmit the power of the motor 31 to the first drive assembly 41 and / or the second drive assembly 42.

[0054] like Figure 9 As shown, the first drive assembly 41 is provided with a first tooth feature 411 and a first planar feature 412. The tooth surface height of the first tooth feature 411 is higher than that of the first planar feature 412. The first tooth feature 411 is used to mesh with the gear 32 of the power mechanism 3. When the second drive assembly 42 is connected to the power mechanism 3 (i.e., after the first drive assembly 41 slides along the groove guide rail 420 for a distance of the first stroke d), at this time, since the 0-2 teeth at the far end (the end away from the end actuator 1) of the first tooth feature 411 and the 1-2 teeth at the proximal end (the end near the end actuator 1) of the second tooth feature 421 can simultaneously mesh with the gear 32, after a common meshing process, the teeth of the gear 32 will be located at the position of the first planar feature 412 of the first drive assembly 41 due to the movement of the first drive assembly 41. There is no tooth structure at this position, so that the first drive assembly 41 disconnects from the gear 32 through the first planar feature 412. At the same time, the second drive assembly 42 establishes a meshing transmission connection with the power mechanism 3.

[0055] like Figures 3-5 , Figures 8-10As shown, the other side of the first drive assembly 41 is provided with a third tooth feature 413 and a third planar feature 414. 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. It should be understood that the third planar feature 414 is not necessary. 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.

[0056] During assembly, the third tooth feature 413 and the third planar feature 414 are 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.

[0057] like Figure 8 and Figure 9 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.

[0058] The process of opening and closing the end effector 1 is as follows: When the surgical instrument 100 is in its initial state (i.e., when the end effector 1 is fully open), the first drive assembly 41 is engaged with the power mechanism 3, while the second drive assembly 42 is disengaged from the power mechanism 3. When the switch is activated, the motor 31 starts working, the gear 32 rotates, driving the first drive assembly 41 to move. This movement is then transmitted through the meshing of the tooth structure of the connecting gear 510 and the third tooth feature 413, causing the connecting gear 510 to rotate. The protruding cylinder 5101 rotates accordingly, pushing the sleeve pusher 511 towards the end effector 1, which in turn pushes the outer sleeve 512 and the articulated head 513 forward, thus closing the end effector 1. The process of opening and closing the end effector 1 is the reverse of this, and will not be described in detail here. Figure 4 and Figure 5 The diagram shown illustrates the assembly positions and relationships of the components when the surgical instrument 100 is in its initial state (i.e., when the end effector 1 is fully open).

[0059] like Figure 11 and Figure 12 The diagram shows the assembly positions and relationships of the components when the end actuator 1 of the surgical instrument 100 is in the closed state. At this time, when the end actuator 1 is fully closed, before the first drive assembly 41 disengages from the gear 32, the first drive assembly 41 moves distally, but the cannula pusher 511 remains stationary. At this time, the elastic element 5114 of the cannula pusher 511 is in a state of compression deformation, and the cannula pusher 511 is subjected to a spring force in the direction of the handle assembly 6, manifested at the curved surface 5113 of the extension arm. Specifically, the curved surface 5113 of the extension arm compresses the protruding cylinder 5101, causing the protruding cylinder 5101 to be subjected to a force F generally oriented towards and slightly offset from the center of the pivot center hole of the connecting rod gear 510. A schematic diagram of the force F can be found in [reference needed]. Figure 12 As shown, this prevents the connecting rod gear 510 from rotating, thus keeping the end actuator 1 closed. Through the ingenious design of the inclined surface (or arc surface) of the extended arm curved surface 5113, this invention controls the direction of force on the protruding cylinder 5101 when the end actuator 1 is closed, avoiding the problem of unstable closure of the end actuator 1 caused by the rotation of the connecting rod gear 510. This ensures that the first drive assembly 41 will not tend to move towards the proximal end, and that during the feed process, the first drive assembly 41 will not move towards the handle assembly 6.

[0060] like Figure 10As shown, the second drive assembly 42 is provided with a second tooth feature 421 and a second planar feature 422, wherein 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 between the second drive assembly 42 and the gear 32. Optionally, the second planar feature 422 can be a plane, or it can be as shown in the figure. Figure 10 The concave, cut-like feature shown. The function of the second planar feature 422 is to provide clearance space for the teeth of the gear 32 when the first drive component 41 meshes with the gear 32 (i.e., when the travel of the first drive component 41 is less than the first travel d), so as to avoid the second drive component 42 meshing with the gear 32, so that the second drive component 42 is stationary during this process.

[0061] When the travel of the first drive assembly 41 is close to or equal to the first transmission travel d, the second tooth feature 421 meshes with the gear 32. Optionally, the first drive assembly 41 and the second drive assembly 42 are assembled in an up-down relationship, with their first tooth feature 411 and second tooth feature 421 located on the same side in the same direction to facilitate meshing with the gear 32.

[0062] When the travel of the first drive assembly 41 is close to or equal to the first transmission travel d, the front end of the protruding guide rail 410 of the first drive assembly 41 abuts against the wall of the front end of the groove guide rail 420. At this time, 1-2 teeth of the distal end (the end away from the end actuator 1) of the first tooth feature 411 and 1-2 teeth of the proximal end (the end close to the end actuator 1) of the second tooth feature 421 can simultaneously mesh with the gear 32, so that the gear 32 can easily transition from meshing with the first drive assembly 41 to meshing with the second drive assembly 42.

[0063] like Figure 5 , Figure 6 As shown, the second transmission component 52 is a push rod. Optionally, the second transmission component 52 is a cylindrical push rod. One end of the push rod is connected to the second drive component 42, and the other end is connected to the cutting blade assembly 2. The push rod is used to transmit the motion stroke of the second drive component 42 to the cutting blade assembly 2, so as to push or pull the cutting blade assembly 2.

[0064] like Figure 10 As shown, the second drive assembly 42 is further provided with an end first plane 423 and a transmission connection port 424. The end first plane 423 is used to abut against the end of the push rod to increase the contact area between the second drive assembly 42 and the push rod, thereby improving the stability during transmission. The end of the push rod is provided with a corresponding snap-fit ​​structure, and the transmission connection port 424 is used to snap into one end of the push rod. The push rod moves inside the outer sheath of the surgical instrument 100.

[0065] In one specific embodiment, gear 32 includes a motor output gear 321 and a first gear 322. The first gear 322 is meshed with the motor output gear 321 for transmission. The first drive assembly 41 and the second drive assembly 42 are meshed with the first gear 322. The power mechanism 3 also includes a manual retraction mechanism (not shown). The manual retraction mechanism is connected to the first gear 322 to control the disconnection of the transmission connection between the first gear 322 and the first drive assembly 41 and / or the second drive assembly 42. When jamming occurs (such as when the end effector 1 and / or the cutting blade assembly 2 jams and cannot be electrically controlled), the manual retraction mechanism can disconnect the meshing between the first gear 322 and the first drive assembly 41 and / or the second drive assembly 42, thereby manually controlling the end effector 1 and / or the cutting blade assembly 2 to return to their original position.

[0066] like Figures 13-17 As shown, in another embodiment of this utility model, the connecting rod gear 510 and the sleeve push block 511 are connected by a connecting rod 514. The structure of the connecting rod 514 is as follows: Figure 15 As shown. Two protruding cylinders 5101 are arranged opposite each other on two sides of the connecting rod gear 510. One end of the connecting rod 514 has a hole 5142 to accommodate the two protruding cylinders 5101. The other end of the connecting rod 514 has a hinge hole 5141 for installing a pin to hinge with the sleeve push block 511. The structure of the sleeve push block 511 is as follows... Figure 16 As shown.

[0067] The process of opening and closing the end effector 1 is as follows: When the surgical instrument 100 is in its initial state (i.e., when the end effector 1 is fully open), the first drive assembly 41 is engaged with the power mechanism 3, while the second drive assembly 42 is disengaged from the power mechanism 3. When the switch is activated, the motor 31 starts working, the gear 32 rotates, driving the first drive assembly 41 to move. This motion is then transmitted to the connecting gear 510 via the meshing of the tooth structure of the connecting gear 510 and the third tooth feature 413, causing the connecting gear 510 to rotate. The protruding cylinder 5101 rotates accordingly, which in turn pushes the sleeve pusher 511 towards the end effector 1 via the connecting rod 514. This, in turn, pushes the outer sleeve 512 and the articulated head 513 forward, thus closing the end effector 1. The process of opening and closing the end effector 1 is the reverse of this, and will not be described in detail here. Figure 13 The diagram shown illustrates the assembly positions and relationships of the components when the surgical instrument 100 is in its initial state (i.e., when the end effector 1 is fully open). Figure 14 The diagram shown illustrates the assembly positions and relationships of the components when the end effector 1 of the surgical instrument 100 is fully closed.

[0068] like Figure 17 As shown, this is the state after the first drive assembly 41 disengages from the gear 32, and the gear 32 engages with the second drive assembly 42, with the second drive assembly 42 moving towards the end actuator 1. At this time, the end face of the grooved guide rail 420 of the second drive assembly 42 has disengaged from the end face of the protruding guide rail 410 of the first drive assembly 41, i.e., there is no contact. At this time, the line connecting the hinge hole 5141 and the hole 5142 of the connecting rod 514 is located below the center of the pivot center hole of the connecting rod gear 510. Figure 17 As 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. This invention, through the design of the position of the connecting rod 514, controls the direction of force on the connecting rod gear 510 when the end actuator 1 is closed, avoiding the problem of unstable closure of the end actuator 1 due to the rotation of the connecting rod gear 510, ensuring that the first drive assembly 41 will not tend to move towards the handle assembly 6, and ensuring that the first drive assembly 41 will not move towards the handle assembly 6 during the feed process.

[0069] The surgical instrument 100 and its driving device provided by this utility model, when the first driving component 41 moves to a distance close to or equal to the first movement stroke d, slides along the grooved guide rail 420 for the distance of the first movement stroke d and abuts against the front wall of the grooved guide rail 420. At this point, the power mechanism 3 disengages from the rack of the first driving component 41 and simultaneously establishes a transmission connection with the second driving component 42. The power mechanism 3 continues to output power, and the second driving component 42 moves accordingly. The second driving component 42 pushes the cutting blade assembly 2 forward through the second transmission component 52, thereby realizing the cutting action and achieving the cutting function to complete the tissue cutting operation. During this cutting action, the first driving component 41 remains in the grooved guide rail 420 and does not move.

[0070] There is a transmission connection between the second drive assembly 42, the second transmission assembly 52, and the cutting blade assembly 2. When the second drive assembly 42 moves to the far end, it can move the cutting blade assembly 2 to the far end to achieve the cutting function. When the second drive assembly 42 moves to the near end, it can move the cutting blade assembly 2 to the near end to achieve the retraction function.

[0071] The surgical instrument 100 and its driving device provided by this utility model utilize a single motor 31 to output power and drive two sets of actions with a time difference. By using the difference in distance traveled by the motor 31 to move the first driving component 41 and the second driving component 42, the guide rail length and assembly position are set to achieve the sequential movement of the first driving component 41 and the second driving component 42. Combined with its connecting rod and gear 510, it has the advantages of relatively simple components, easy installation, high dimensional stability, and high rotational accuracy.

[0072] It should be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0073] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not 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 drive mechanism for a surgical instrument, the surgical instrument comprising an end effector and a cutting blade assembly, characterized in that, The drive unit includes a power mechanism, a drive mechanism, and a transmission mechanism. The driving mechanism includes a first driving component and a second driving component, and the transmission mechanism includes a first transmission component and a second transmission component. The first transmission component and the first driving component are connected by gear meshing for transmission, so as to drive the end effector to open or close. The second driving component is connected to the second transmission component for transmission, so as to drive the cutting blade assembly to move forward or backward. The first driving component and the second driving component are slidably connected to each other. One side of the first driving component is provided with a raised guide rail, and the second driving component is provided with a corresponding grooved guide rail. The length of the grooved guide rail is greater than the length of the raised guide rail, so that the raised guide rail can be slidably assembled in the grooved guide rail. During assembly, the distance between the end of the raised guide rail and the end of the grooved guide rail is the first movement stroke; when the movement stroke of the first drive component is less than the first movement stroke, the first drive component slides relative to the second drive component; When the travel of the first drive component is equal to the first transmission travel, the first drive component abuts against the second drive component, causing the second drive component to be connected to the power mechanism in a transmission connection; when the second drive component is connected to the power mechanism in a transmission connection, the first drive component is disconnected from the power mechanism in a transmission connection.

2. The driving device according to claim 1, characterized in that, The power mechanism includes a motor, a motor output gear, and a first gear. The first drive component is provided with a first tooth feature and a first planar feature. The tooth surface height of the first tooth feature is higher than that of the first planar feature. The first tooth feature is used to mesh with the first gear of the power mechanism. When the second drive component is connected to the power mechanism, the first drive component disconnects from the first gear through the first planar feature.

3. The driving device according to claim 2, characterized in that, The second drive component is provided with a second tooth feature and a second planar feature, wherein the tooth surface height of the second tooth feature is higher than that of the second planar feature; When the travel distance of the first drive component is less than the first travel distance, the second planar feature is used to provide clearance space for the teeth of the first gear; When the travel of the first drive component is equal to the first transmission travel, the second tooth feature begins to mesh with the gear.

4. The driving device according to any one of claims 1-3, characterized in that, The first drive assembly is further provided with a third tooth feature. The first transmission assembly includes a connecting rod gear, a sleeve push block, an outer sleeve, and a joint motion head that are connected in sequence. The side of the connecting rod gear is provided with a protruding cylinder. The sleeve push block is provided with an extension arm. The extension arm has an extension arm plane and an extension arm curved surface. When the travel of the first drive component is less than the first travel, the connecting rod gear rotates, the protruding cylinder abuts against the plane of the extension arm and pushes the sleeve push block to move; When the second drive component is connected to the power mechanism, the protruding cylinder abuts against the curved surface of the extension arm.

5. The driving device according to claim 4, characterized in that, The connecting rod gear has a protruding cylinder on its side. The sleeve push block and the connecting rod gear are connected by a connecting rod. One end of the connecting rod has a hole for accommodating the protruding cylinder, and the other end is hinged to the sleeve push block. When the travel of the first drive component is less than the first travel, the connecting gear meshes with the third tooth feature to transmit the travel of the first drive component to the sleeve push block, and then sequentially to the end effector via the outer sleeve and the joint motion head, so as to drive the end effector to open or close. When the second drive component is connected to the power mechanism, the connecting rod gear remains stationary so that the end effector remains closed.

6. The driving device according to claim 5, characterized in that, An elastic element is provided between the sleeve push block and the outer sleeve to provide a thrust to return the sleeve push block to its initial position; the initial position refers to the position of the sleeve push block when the end effector is in the open state.

7. The driving device according to claim 3, characterized in that, Both the first drive assembly and the second drive assembly are elongated racks; the length of the second planar feature is not less than the length of the meshing area between the second drive assembly and the gear.

8. The driving device according to claim 5 or 6, characterized in that, The second transmission component is a push rod, one end of which is connected to the second drive component and the other end of which is connected to the cutting blade component. The push rod is used to transmit the movement stroke of the second drive component to the cutting blade component to push or pull the cutting blade component back.

9. The driving device according to claim 8, characterized in that, The second drive assembly is further provided with an end first plane and a transmission connection port. The end first plane is used to abut against the push rod to increase the contact area between the second drive assembly and the push rod. The transmission connection port is used to engage with one end of the push rod.

10. A surgical instrument comprising a handle assembly, an end effector, and a cutting blade assembly, characterized in that, It also includes a drive device as described in any one of claims 1-9, wherein the power mechanism of the drive device is installed within the handle assembly, the power mechanism employing a motor to drive the end effector to open or close by rotating forward or in reverse, and to drive the cutting blade assembly to move forward or backward.

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