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, the first driving assembly is in sliding connection with the second driving assembly, and a check block is arranged at the end, away from the end actuator, of the first driving assembly. The end, away from the end actuator, of the second driving assembly is provided with a first end face, and during assembling, the distance between the first end face and the check block 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] 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, drive device includes power mechanism, drive mechanism and transmission mechanism,

[0007] 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 and is driven to be connected, to be used for driving the end effector opening or closing, the second drive assembly is driven to be connected with the second transmission assembly, to be used for driving the cutting knife assembly moves forward or backward;

[0008] The first driving assembly and the second driving assembly are slidably connected to each other, the first driving assembly is provided with a stop block away from one end of the end effector, the second driving assembly has a first end surface away from one end of the end effector, and the distance between the first end surface and the stop block is a first movement stroke during assembly; when the movement stroke of the first driving assembly is less than the first movement stroke, the first driving assembly slides relative to the second driving assembly; when the movement stroke of the first driving assembly is equal to the first movement stroke, the first end surface abuts against the stop block, so that the second driving assembly is in transmission connection with 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 power mechanism.

[0009] Optionally, 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, the 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; 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.

[0010] Optionally, the second driving assembly is provided with a second tooth feature and a second plane feature, and the tooth surface height of the second tooth feature is higher than that of the second plane feature.

[0011] 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 the teeth of the first gear;

[0012] 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.

[0013] 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 in transmission connection; a side surface 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.

[0014] 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;

[0015] When the second driving assembly is in transmission connection with the power mechanism, the protruding cylinder abuts against the extension arm curved surface.

[0016] Optionally, the side of the connecting rod gear is provided with a protruding cylinder, and a connecting rod is arranged between the sleeve push block and the connecting rod gear, 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.

[0017] When the movement stroke of the first driving assembly is less than the first movement stroke, the connecting rod gear is engaged with the third tooth feature to drive the movement stroke of the first driving assembly to the sleeve push block, and then to the outer sleeve and the articulation head in sequence to drive the end effector to open or close.

[0018] When the second driving assembly is in transmission connection with the power mechanism, the connecting rod gear remains stationary so that the end effector remains closed.

[0019] Optionally, an elastic member is arranged between the sleeve push block and the outer sleeve to provide a return force to the sleeve push block to return to an initial position.

[0020] Optionally, the first driving assembly and the second driving assembly are both long strip-shaped racks, and the length of the second planar feature is not less than the length of the meshing region of the second driving assembly and the gear.

[0021] Optionally, 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 drive the movement stroke of the second driving assembly to the cutting knife assembly to push or pull back the cutting knife assembly.

[0022] Optionally, the second driving assembly is further provided with an end first planar surface and a transmission connection port, the end first planar surface is used to abut against the push rod to increase the contact area between the second driving assembly and the push rod, and the transmission connection port is used to be clamped with one end of the push rod.

[0023] The utility model also provides a surgical instrument, including handle component, end effector, cutting knife assembly, its characterized in be further including as preceding drive arrangement, the power mechanism of drive arrangement is installed in handle component, the power mechanism adopts a motor, drives the end effector opening or closing through positive rotation or reverse rotation and drives the cutting knife assembly moves to front or rear.

[0024] 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, it can also drive the cutting knife component forward or backward moves.

[0025] 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

[0026] 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.

[0027] 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;

[0028] Figure 2 It is the structure schematic view of the driving mechanism of a kind of surgical instrument provided by the utility model;

[0029] Figure 3 It is the explosion schematic view of the overall structure of a kind of surgical instrument of the utility model;

[0030] 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;

[0031] Figure 5 It is Figure 4 The structure schematic view of another back perspective;

[0032] Figure 6 It is the partial structure schematic view of the driving mechanism of a kind of surgical instrument of the utility model;

[0033] Figure 7 It is the structure schematic view of the sleeve push block of a kind of surgical instrument of the utility model;

[0034] Figure 8A structure schematic view of a connecting rod gear of a surgical instrument of the utility model;

[0035] Figure 9 A structure schematic view of a first driving assembly and a second driving assembly of the utility model when assembling;

[0036] Figure 10 For Figure 9 A structure schematic view of another view angle when the first driving assembly and the second driving assembly are assembled;

[0037] Figure 11 A cross section schematic view of part of structure when an end effector of the utility model is closed;

[0038] Figure 12 For Figure 11 An enlarged schematic view of part of structure when the end effector is closed;

[0039] Figure 13 A schematic view of part of structure when an end effector of the utility model is opened in another embodiment of the utility model;

[0040] Figure 14 A schematic view of part of structure when an end effector of the utility model is closed in another embodiment of the utility model

[0041] Figure 15 A structure schematic view of a connecting rod of the utility model in another embodiment of the utility model;

[0042] Figure 16 A structure schematic view of a sleeve push block of the utility model in another embodiment of the utility model;

[0043] Figure 17 For Figure 14 An enlarged schematic view of part of structure when the end effector is closed. Specific embodiments

[0044] The core of the utility model is to provide a kind of driving device and surgical instrument for surgical instrument, can realize the movement control to end effector and cutting knife component by single motor, simple structure, lower cost.It solves the problems of more complex gear machining, complex structure and high manufacturing cost in prior art.

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without making creative labor belong to the protection scope of the utility model.

[0046] Please refer to Figures 1-17 , Figures 1-3 The utility model provides a kind of overall structure of surgical instrument's schematic diagram. The surgical instrument 100 provided by the utility model, it includes end effector 1, cutting knife assembly 2, power mechanism 3, driving mechanism 4, transmission mechanism 5 and handle assembly 6. Wherein power mechanism 3, driving mechanism 4 and transmission mechanism 5 are used for the driving device of this 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 driving, it can also drive cutting knife assembly 2 to move forward or backward. It utilizes single motor as output power, realizes the driving of two sets of actions with movement time sequence difference, i. e. first driving end effector 1 opens or closes, then driving cutting knife assembly 2 moves forward or backward. Realize the 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.

[0047] The driving device will be described in detail below.

[0048] As Figures 1-12As 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 is provided with a stop block 411 away from one end of the end effector 1. The second driving assembly 42 has a first end face 423 away from one end of the end effector 1. When assembled, the distance between the first end face 423 and the stop block 411 is 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 transmission stroke d, the first end face 423 abuts against the stop block 411, so that the second driving assembly moves towards the end effector 1, thereby being in 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 also the stroke of the first driving assembly 41 when the end effector 1 is opened to closed or closed to opened.

[0049] In one 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. For example, Figure 9 and Figure 10As shown, the first driving assembly 41 is arranged at the lower side of the second driving assembly 42 (or the upper side, left side or right side). 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), the first driving assembly 41 and the second driving assembly 42 are assembled, and the distance between the first end surface 423 and the stop block 411 is substantially the first movement stroke d. Thus, when the switch is actuated, the power mechanism 3 provides power to drive the first driving assembly 41 to slide relative to the second driving assembly 42, and at the same time, the first driving assembly 41 drives the end effector 1 to gradually close by the first transmission assembly 51. When the end effector 1 is fully closed, the first driving assembly 41 slides by the first movement stroke d, and the stop block 411 abuts against the first end surface 423. At this time, the power mechanism 3 is disconnected from the rack of the first driving assembly 41, and at the same time, the power mechanism 3 starts to establish a transmission connection with the second driving assembly 42. The power mechanism 3 continues to output power, and the second driving assembly 42 moves accordingly. The second driving assembly 42 drives the cutting knife assembly 2 to move forward by the second transmission assembly 52, that is, the cutting action is realized, and the cutting operation on the tissue is completed. At the same time of the cutting action, the first driving assembly 41 does not move (in this process, the second driving assembly 42 still slides relative to the first driving assembly 41).

[0050] In another embodiment, when the end effector 1 is fully closed, the first driving assembly 41 slides by the first movement stroke d and abuts against the wall surface of the first end surface 423. There is still 0-2 teeth of engagement between the teeth of the power mechanism 3 and the rack of the first driving assembly 41. At this time, the power mechanism 3 is in a state of being engaged with both the first driving assembly 41 and the second driving assembly 42. At this time, the power mechanism 3 continues to output power. On the one hand, the first driving assembly 41 continues to move by 0-2 teeth of movement stroke. On the other hand, the power mechanism 3 establishes a transmission connection with the second driving assembly 42, so that the second driving assembly 42 starts to move, that is, the cutting action is realized.

[0051] It needs to be 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 by the first movement stroke d or slightly more than the first movement stroke d (where slightly more than the first movement stroke d refers to the movement stroke of the first driving assembly 41 by 0-2 teeth of engagement transmission of the gear 32), the first driving assembly 41 can abut against the second driving assembly 42, so that the second driving assembly 42 starts or is about to start to be engaged with the power mechanism 3, and then the power mechanism 3 can drive the second driving assembly 42 to move.

[0052] Specifically, the power mechanism 3 comprises an electric motor 31. The electric motor 31 has a gear 32 for outputting power thereof. The gear 32 is used to transmit power of the electric motor 31 to the first driving assembly 41 and / or the second driving assembly 42.

[0053] As shown in Figure 9 and Figure 10 , the first driving assembly 41 is provided with a first tooth feature 413 and a first plane feature 412. The tooth surface height of the first tooth feature 413 is higher than that of the first plane feature 412. The first tooth feature 413 is used to engage with the gear 32 of the power mechanism 3. When the second driving assembly 42 is in driving connection with the power mechanism 3, at this time, since 0-2 teeth of the distal end (the end away from the end effector 1) of the first tooth feature 413 and 0-2 teeth of the proximal end (the end close to the end effector 1) of the second tooth feature 421 can be engaged with the gear 32 at the same time, after the common engagement 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 driving connection relationship with the power mechanism 3.

[0054] As shown in Figures 3-5 , Figures 8-10 , the other side of the first driving assembly 41 is provided with a third tooth feature 410. The first driving assembly 51 comprises a connecting rod gear 510, a sleeve push block 511, an outer sleeve 512 and an articulation head 513 which are sequentially driving connected. When the movement stroke of the first driving assembly 41 is less than the first movement stroke d, the connecting rod gear 510 is engaged with the third tooth feature 410 to transmit the movement stroke of the first driving assembly 41 to the sleeve push block 511, and then sequentially to the outer sleeve 512 and the articulation head 513 to drive the end effector 1 to open or close. When the second driving assembly 42 is in driving connection with the power mechanism 3, the connecting rod gear 510 is disconnected from the first driving assembly 41 through the third plane feature 410, and the connecting rod gear 510 remains stationary to keep the end effector 1 closed. Since the first driving assembly 41 is disconnected from the power mechanism 3, the first driving assembly 41 remains stationary, and at this time, even if the connecting rod gear 510 is still in engagement with the first driving assembly 41, it can also remain stationary to keep the end effector 1 closed.

[0055] During assembly, the third tooth feature 410 is located on the lower side of the first driving assembly 41, and the connecting rod gear 510 is rotatably installed on the housing through a pin, and the tooth structure thereof is engaged with the third tooth feature 410.

[0056] As shown in Figure 8As shown, the side of the connecting rod gear 510 is provided with two protruding cylinders 5101 on opposite sides. 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. The sleeve push block 511 is provided with an elastic member 5114 between the sleeve push block 511 and the outer sleeve 512. The elastic member 5114 is used to provide a return force 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 effector 1 is in the open state. After assembly, when the end effector 1 is in the fully open state, the tooth structure of the connecting rod gear 510 is in meshing state with the third tooth feature 410, the protruding cylinder 5101 is in contact with the extension arm plane 5112, and at the same time, the gear 32 of the power mechanism 3 is in meshing transmission state with the first drive assembly 41.

[0057] The process of opening the end effector 1 to the closed state is as follows: when the surgical instrument 100 is in the initial state (i.e., the end effector 1 is fully open), at this time, the first drive assembly 41 is in meshing state with the power mechanism 3, and the second drive assembly 42 is in disengaged state with the power mechanism 3. When the switch is actuated, the motor 31 starts to work, the gear 32 rotates, and 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 meshing transmission of the tooth structure of the connecting rod gear 510 and the third tooth feature 410, and the protruding cylinder 5101 rotates, i.e., the sleeve push block 511 is pushed to move towards the direction of the end effector 1, and then the outer sleeve 512 and the articulation head 513 are pushed to move forward, thereby realizing the closing process of the end effector 1. The process of closing the end effector 1 to the open state is opposite, which is not described in detail. As shown in Figure 4 and Figure 5 As shown, it 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 open).

[0058] As shown in Figure 11 and Figure 12 As shown, it is a schematic diagram of the assembly position and relationship of each component when the end effector 1 of the surgical instrument 100 is in the closed state. At this time, when the end effector 1 is fully closed, the first drive assembly 41 exists in the phenomenon of moving to the distal end before the gear 32 is disengaged, but the sleeve push block 511 is stationary. At this time, the elastic member 5114 of the sleeve push block 511 is in the state of being extruded and deformed, the sleeve push block 511 receives a spring force in the direction of the handle assembly 6, which is reflected on the extension arm curved surface 5113, i.e., the extension arm curved surface 5113 extrudes the protruding cylinder 5101, so that the protruding cylinder 5101 receives 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 12The extension arm curved surface 5113 is designed to control the force direction of the control convex cylinder 5101 when the end effector 1 is closed, so as to avoid the problem of unstable closure of the end effector 1 caused by the rotation of the connecting rod gear 510, and to ensure that the first driving assembly 41 does not have a tendency to move towards the proximal end, and to ensure that the first driving assembly 41 does not move towards the handle assembly 6 during the feeding process.

[0059] As shown in Figure 9 and Figure 10 The second driving assembly 42 is provided with a second tooth feature 421 and a second plane feature 422, and the tooth surface height of the second tooth feature 421 is higher than that of the second plane feature 422. The length of the second plane 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 plane feature 422 can be a plane or a concave notch feature. The second plane feature 422 functions to provide a clearance space 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, and to keep the second driving assembly 42 stationary during this process.

[0060] 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 413 and the second tooth feature 421 are located on the same direction side to facilitate the meshing with the gear 32.

[0061] When the movement stroke of the first driving assembly 41 approaches or equals the first transmission stroke d, the front end of the stop block 411 of the first driving assembly 41 abuts against the wall surface of the first end face 423, at this time, 1-2 teeth of the distal end (the end away from the end effector 1) of the first tooth feature 413 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 the meshing with the first driving assembly 41 to the meshing with the second driving assembly 42.

[0062] 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, so as to push or pull back the cutting knife assembly 2.

[0063] AsFigure 9 As shown, the second driving assembly 42 is further provided with an end first plane 425 and a transmission connection port 424. The end first plane 425 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.

[0064] In a 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 the figure, the first driving assembly 41 is in meshing transmission connection with the first gear 322 through a first transmission gear 411, and the second driving assembly 42 is in meshing transmission connection with the first gear 322 through a second transmission gear 421. Figures 13-17 As shown, in another embodiment of the utility model, the connecting rod gear 510 and the sleeve push block 511 are in transmission connection through a connecting rod 514. The structure of the connecting rod 514 is shown in the figure. The connecting rod gear 510 is provided with two protruding cylinders 5101 on the two opposite sides. Figure 15 As shown, the connecting rod gear 510 is provided with two protruding cylinders 5101 on the two opposite sides. 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 push block 511. The structure of the sleeve push block 511 is shown in the figure. Figure 16 As shown, the connecting rod gear 510 is provided with two protruding cylinders 5101 on the two opposite sides. 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 push block 511. The structure of the sleeve push block 511 is shown in the figure.

[0065] The end effector 1 is opened to closed by the following process: 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, drives the first driving assembly 41 to move, and then transmits the movement of the first driving assembly 41 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 410, so that the connecting rod gear 510 starts to rotate, the protruding cylinder 5101 rotates, and the sleeve push block 511 is pushed by the connecting rod 514 to move towards the direction of the end effector 1, thereby pushing the outer sleeve 512 and the articulation head 513 to move forward, and realizing the closing process of the end effector 1. The process of opening the end effector 1 from closed to open is contrary to the above, which is not described here. As shown in the figure, it is a schematic view 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). Figure 13 As shown, it is a schematic view of the assembly position and relationship of each component when the end effector 1 of the surgical instrument 100 is fully closed. Figure 14 As shown, it is a schematic view of the assembly position and relationship of each component when the end effector 1 of the surgical instrument 100 is fully closed.

[0066] As shown, it is a schematic view of the assembly position and relationship of each component when the end effector 1 of the surgical instrument 100 is fully closed. Figure 17As shown, after the first driving assembly 41 is disengaged from the gear 32, the gear 32 is engaged with the second driving assembly 42, and the second driving assembly 42 moves towards the end effector 1, at this time, the end surface of the first end surface 423 of the second driving assembly 42 is disengaged from the stopper 411 of the first driving assembly 41, that is, there is no contact, and the 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. Figure 17 As shown, the vertical distance between the center of the pivot center hole of the connecting rod gear 510 and the line between the hinged hole 5141 and the hole 5142 is d1, and d1 is not less than 0.

[0067] The surgical instrument 100 and the driving device thereof provided by the utility model realize the driving of two sets of actions with time sequence difference by using a single motor 31 to output power.

[0068] The second driving assembly 42, the second transmission assembly 52 and the cutting knife assembly 2 are in a transmission connection relationship, the second driving assembly 42 moves towards the distal end to make the cutting knife assembly 2 move towards the distal end to realize the cutting function, and the second driving assembly 42 moves towards the proximal end to make the cutting knife assembly 2 move towards the proximal end to realize the retraction function.

[0069] The surgical instrument 100 and the driving device thereof provided by the utility model realize the driving of two sets of actions with time sequence difference by using a single motor 31 to output power.

[0070] It should be noted that, in the specification, the terms "comprises", "comprising", or any other variations 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. An element proceeded by "comprises a", "comprising", or "comprises" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0071] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the 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 are in sliding connection with each other, one end of the first driving assembly away from the end effector is provided with a stop block, one end of the second driving assembly away from the end effector is provided with a first end face, when assembled, the distance between the first end face and the stop block is a first movement stroke; when the movement stroke of the first driving assembly is less than the first movement stroke, the first driving assembly slides relative to the second driving assembly; when the movement stroke of the first driving assembly is equal to the first transmission stroke, the first end face abuts against the stop block, so that the second driving assembly is in transmission connection with the power mechanism; after the second driving assembly is in transmission connection with the power mechanism, the first driving assembly is disconnected from the power mechanism. 2.The driving device according to claim 1, 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, the 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; after 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. 3.The driving device according to claim 2, characterized in that, the second driving assembly is provided with a second tooth feature and a second plane feature, the tooth surface height of the second tooth feature is higher than that of the second plane feature; 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 the 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 starts to engage with the gear. 4.The driving device according to any one of claims 1-3, characterized in that, the first driving assembly is further provided with a third tooth feature, the first transmission assembly comprises a connecting rod gear, a sleeve push block, an outer sleeve and an articulation head which are in transmission connection in sequence; the side surface 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; 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 in transmission connection with the power mechanism, the convex cylinder abuts against the curved surface of the extension arm.

5. The driving device according to claim 4, wherein, the side surface of the connecting rod gear is provided with a convex cylinder, a sleeve push block is in transmission connection with the connecting rod gear through a connecting rod, one end of the connecting rod is provided with a hole for accommodating the convex cylinder, and the other end is hingedly connected with the sleeve push block; when the movement stroke of the first driving assembly is smaller than the first movement stroke, the connecting rod gear is in meshing with the third tooth feature to transmit the movement stroke of the first driving assembly to the sleeve push block, and then to the outer sleeve and the articulation head in sequence to drive the end effector to open or close; when the second driving assembly is in transmission connection with the power mechanism, the connecting rod gear remains static so that the end effector remains closed.

6. The driving device according to claim 5, wherein, a resilient member is arranged between the sleeve push block and the outer sleeve to provide a returning force to the sleeve push block to the initial position of the sleeve push block when the end effector is in the open state.

7. The driving device according to claim 3, wherein, the first driving assembly and the second driving assembly are both long strip-shaped racks, and the length of the second planar feature is not less than the length of the meshing area of the second driving assembly and the gear.

8. The driving device according to claim 5 or 6, wherein, 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.

9. The driving device according to claim 8, wherein, the second driving assembly is further provided with an end first planar surface and a transmission connection port, the end first planar surface is used to abut against the push rod to increase the contact area between the second driving assembly and the push rod, and the transmission connection port is used to be clamped with one end of the push rod.

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 to drive the end effector to open or close and drive the cutting knife assembly to move forward or backward through forward rotation or reverse rotation.

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