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 are in sliding connection with each other, the first driving assembly is provided with a first groove, and an elastic body and a push block are arranged in the groove; the second driving assembly is provided with a second groove, and when the push block slides into the second groove, the first driving assembly abuts against the second driving assembly when moving, so that the second driving assembly is in transmission connection with the power mechanism; and when the push block slides out of the second groove, the first driving assembly is in transmission connection with the power mechanism, and the second driving assembly is disconnected from the power mechanism. 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 traditional open surgery 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 desired surgical site has been developed, and these end effectors enter 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 two drive assemblies respectively through different motor 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 scheme has problems of more complex gear machining, complex structure and high manufacturing cost. 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, and 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 tooth engagement with the first drive assembly to drive connection, to be used for driving the end effector to open or close, the second drive assembly is transmission connection with the second transmission assembly, to be used for driving the cutting knife assembly to move forward or backward.

[0007] The first driving assembly and the second driving assembly are slidably connected to each other, the first driving assembly is provided with a first groove adjacent to the side of the second driving assembly, and an elastic body and a push block are arranged in the groove; the second driving assembly is provided with a second groove adjacent to the side of the first driving assembly, and the push block can slide into or out of the second groove when the first driving assembly and the second driving assembly slide relative to each other.

[0008] When the push block slides into the second groove, the movement of the first driving assembly abuts against the second driving assembly, so that the second driving assembly is in driving connection with the power mechanism.

[0009] When the push block slides out of the second groove, the first driving assembly is in driving connection with the power mechanism, and the second driving assembly is disconnected from the power mechanism.

[0010] Optionally, when assembled, the distance between one end of the push block close to the end effector and one end of the second groove close to the end effector is a first movement stroke,

[0011] When the one end of the push block close to the end effector abuts against the one end of the second groove close to the end effector, the second driving assembly starts to establish driving connection with the power mechanism.

[0012] Optionally, the wall surface of the second groove is a slope surface, which is used to press the push block when the first driving assembly and the second driving assembly slide relative to each other, so that the push block slides out of the second groove.

[0013] Optionally, the push block is rotatably installed in the first groove through a pin, the elastic body is a spring, one end of the spring is connected with the first driving assembly, and the other end of the spring is connected with the push block, so as to pop up the push block.

[0014] 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 to mesh with the first gear of the power mechanism; when the second driving assembly is in driving connection with the power mechanism, the first driving assembly is disconnected from the meshing with the first gear through the first plane feature.

[0015] 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.

[0016] When the movement stroke of the first driving assembly is smaller than the first movement stroke, the second plane feature is used to provide a clearance space for the teeth of the first gear.

[0017] 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.

[0018] 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;

[0019] 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;

[0020] When the second driving assembly is connected in transmission with the power mechanism, the protruding cylinder abuts against the extension arm curved surface.

[0021] Optionally, a 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.

[0022] 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 transmit to the outer sleeve and the articulation head to the end effector for driving the end effector to open or close.

[0023] 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.

[0024] Optionally, 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.

[0025] 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.

[0026] The utility model also provides a surgical instrument, including handle component, end effector, cutting knife subassembly, its characterized in be still including the drive arrangement as described before, the power mechanism of drive arrangement installs in handle component, the power mechanism adopts a motor, and the end effector is opened or closed through forward rotation or reverse rotation drive, and the cutting knife subassembly is driven to move forward or backward.

[0027] The utility model provides a surgical instrument and drive arrangement thereof, its through first drive subassembly and second drive subassembly mutual sliding connection, when the movement stroke of first drive subassembly is less than first movement stroke, first drive subassembly relative second drive subassembly slide, when the movement stroke of first drive subassembly is equal to first drive stroke, first drive subassembly and second drive subassembly make second drive subassembly and power mechanism transmission connection, when second drive subassembly and power mechanism transmission connection, first drive subassembly and power mechanism disconnect transmission connection, thereby realize power mechanism drive end effector open or close, also can drive cutting knife subassembly move forward or backward.

[0028] The utility model provides a surgical instrument and drive arrangement thereof, which has the advantages of simple structure, low cost and stable transmission. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical scheme in the utility model embodiment, the drawings needed to be used in the prior art and the embodiment will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 It is an overall structure schematic view of the end effector of the surgical instrument when it is opened.

[0031] Figure 2 It is a structure schematic view of the drive mechanism of the surgical instrument.

[0032] Figure 3 It is an explosion schematic view of the overall structure of the surgical instrument.

[0033] Figure 4 It is a cross-section schematic view of part of the structure of the surgical instrument when the end effector is opened.

[0034] Figure 5 It is Figure 4 Another structure schematic view of the back view.

[0035] Figure 6 Part structure schematic view of the driving mechanism of the surgical instrument of the utility model;

[0036] Figure 7 Structure schematic view of the sleeve push block of the surgical instrument of the utility model;

[0037] Figure 8 Structure schematic view of the connecting rod gear of the surgical instrument of the utility model;

[0038] Figure 9 Structure schematic view of the first driving assembly of the surgical instrument of the utility model;

[0039] Figure 10 Structure schematic view of the second driving assembly of the surgical instrument of the utility model;

[0040] Figure 11 Structure schematic view when the first driving assembly and the second driving assembly of the surgical instrument of the utility model are assembled;

[0041] Figure 12 It is Figure 11 Another side structure schematic view when the first driving assembly and the second driving assembly shown in the figure are assembled;

[0042] Figure 13 Structure schematic view when the push block of the first driving assembly and the second driving assembly of the surgical instrument of the utility model slides into the second groove;

[0043] Figure 14 Sectional view schematic view of part structure when the end effector of the surgical instrument provided by the utility model is closed;

[0044] Figure 15 It is Figure 14 Enlarged schematic view of part structure when the end effector in the figure is closed;

[0045] Figure 16 Schematic view of part structure when the end effector of the surgical instrument provided in another embodiment of the utility model is opened;

[0046] Figure 17 Schematic view of part structure when the end effector of the surgical instrument provided in another embodiment of the utility model is closed;

[0047] Figure 18 Structure schematic view of the connecting rod of the surgical instrument provided in another embodiment of the utility model;

[0048] Figure 19 Structure schematic view of the sleeve push block of the surgical instrument provided in another embodiment of the utility model;

[0049] Figure 20 For Figure 17 is an enlarged schematic view of part of the structure of the end effector when closed. DETAILED DESCRIPTION

[0050] The core of the utility model provides a drive arrangement for surgical instrument and surgical instrument can realize motion control to end effector and cutting knife assembly through single motor, simple structure, lower cost, solve the problem of more complex gear machining, complex structure, high manufacturing cost in prior art.

[0051] To make the purpose, technical scheme and advantages of the utility model embodiment clearer, the technical scheme in the utility model embodiment will be described clearly and completely in conjunction with the drawings in the utility model embodiment, obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0052] 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, it includes end effector 1, cutting knife component 2, power mechanism 3, drive mechanism 4, transmission mechanism 5 and handle component 6. Wherein power mechanism 3, drive mechanism 4 and transmission mechanism 5 are the drive arrangement for this surgical instrument 100. One motor 31 is used in power mechanism 3, end effector 1 is opened or closed by forward rotation or reverse rotation drive, cutting knife component 2 can also be driven to move forward or backward. It utilizes single motor as output power, realizes the drive of two sets of actions with motion time difference, i.e. first drive end effector 1 to open or close, then drive cutting knife component 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.

[0053] The drive arrangement thereof will be specifically introduced below.

[0054] As Figures 1-18As 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.

[0055] 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, the first driving assembly 41 is provided with a first groove 410 adjacent to the side surface of the second driving assembly 42, and the first groove 410 is provided with an elastic body 414 and a push block 415. The second driving assembly 42 is provided with a second groove 420 adjacent to the side surface of the first driving assembly 41. When the first driving assembly 41 and the second driving assembly 42 slide relative to each other, the push block 415 can slide into or out of the second groove 420. When the push block 415 slides into the second groove 420, the movement of the first driving assembly 41 abuts against the second driving assembly 42, so that the second driving assembly 42 establishes transmission connection with the power mechanism 3; when the push block 415 slides out of the second groove 420, the first driving assembly 41 is in transmission connection with the power mechanism 3, and the second driving assembly 42 is disconnected from the power mechanism 3.

[0056] As shown, Figure 11 and 13As shown, when assembled, the push block 415 is close to one end of the end effector 1, and the distance between the push block 415 and the second groove 420 close to one end of the end effector 1 is a first movement stroke d. The first movement stroke d is the stroke of the first drive assembly 41 when the end effector 1 is opened to closed or closed to opened. When the push block 415 close to one end of the end effector 1 abuts the second groove 420 close to one end of the end effector 1, the second drive assembly is pushed by the first drive assembly 41 under the action of the power mechanism 3, thereby establishing a transmission connection with the power mechanism 3.

[0057] 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 push block 415 is located in the first groove 410, 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 push block 415 of the first drive assembly 41 slides into the second groove 420, and the push block 415 of the first drive assembly 41 abuts the second groove 420 of the second drive assembly 42, so that the second drive assembly 42 begins to establish a transmission connection with the power mechanism 3, at this time the push block 415 moves a distance of the first movement stroke d; at this time, the power mechanism 3 is disconnected from the rack of the first drive assembly 41, and establishes an engagement transmission connection with the second drive assembly 42; the power mechanism 3 continues to output power, and the second drive assembly 42 moves accordingly, and 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, and at the same time the first drive assembly 41 does not move (in this process, the second drive assembly 42 still slides relative to the first drive assembly 41).

[0058] 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 the teeth of the power mechanism 3 and the rack of the first drive assembly 41 still have an engagement of 0-2 teeth at this time. At this time, the power mechanism 3 can simultaneously engage 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 a stroke of 0-2 teeth; 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] As shown in Figures 3-5 , Figures 8-13As shown, the other side of the first drive assembly 41 is provided with a third tooth feature 413. The first transmission assembly 51 comprises a link gear 510, a sleeve push block 511, an outer sleeve 512 and an articulation head 513 connected in sequence. When the movement stroke of the first drive assembly 41 is less than the first movement stroke d, the link gear 510 is engaged with the third tooth feature 413 to transmit the movement stroke of the first drive assembly 41 to the sleeve push block 511, and then to the outer sleeve 512 and the articulation head 513 in sequence to the end effector 1 for driving the end effector 1 to open or close. When the second drive assembly 42 is connected with the power mechanism 3, the link gear 510 is disengaged from the first drive assembly 41 through the third plane feature 413, and the link gear 510 remains stationary to keep the end effector 1 closed. Since the first drive assembly 41 is disconnected from the power mechanism 3, the first drive assembly 41 remains stationary, and at this time, even if the link gear 510 is still engaged with the first drive assembly 41, it can also remain stationary to keep the end effector 1 closed.

[0063] When assembled, the third tooth feature 413 is located on the lower side of the first drive assembly 41, and the link gear 510 is rotatably mounted on the housing through a pin, and the tooth structure thereof is engaged with the third tooth feature 413.

[0064] As shown in Figure 8 and Figure 9 , the opposite sides of the side surface of the link gear 510 are provided with two protruding cylinders 5101. The sleeve push block 511 is provided with an extension arm 5111 having an extension arm plane 5112 and an extension arm curved surface 5113. The sleeve push block 511 and the outer sleeve 512 are provided with an elastic member 5114. 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 link gear 510 remains engaged with the third tooth feature 413, 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 remains in the transmission state of engagement with the first drive assembly 41.

[0065] In a specific embodiment, as shown in Figures 9-13 , the wall surface of the second groove 420 is inclined to facilitate the sliding of the first drive assembly 41 and the second drive assembly 42 relative to each other, and the inclined surface can press the push block 415 to make the push block 415 more easily slide out of the second groove 420.

[0066] In another specific embodiment, as shown in Figure 11 and Figure 13As shown, the push block 415 is rotatably mounted in the first recess 410 by a pin. The side wall of the first recess 410 is provided with a pin hole 416. The push block 415 is mounted by the pin. The elastic body 414 is a spring. One end of the elastic body 414 is connected to the bottom of the first recess 410 of the first driving assembly 41, and the other end is connected to the push block 415, so as to pop up the push block 415. Preferably, the connection point of the elastic body 414 and the push block 415 is located between the pin mounting position of the push block 415 and the end of the push block 415 close to the end effector 1, so as to facilitate the elastic body 414 to pop up the push block 415 into the second recess 420 when the push block 415 moves to the second recess 420, and the elastic body 414 can also conveniently lift one end (close to the end effector 1) of the push block 415 when the end effector 1 is closed to open, so that the push block 415 is more easily slid out of the second recess 420.

[0067] The process of closing the end effector 1 from opening is as follows: when the surgical instrument 100 is in the initial state (i.e., when the end effector 1 is fully opened), at this time, the first driving assembly 41 is in engagement with the power mechanism 3, and the second driving assembly 42 is in disengagement with the power mechanism 3. When the switch is actuated, the motor 31 starts to work, the gear 32 rotates, and the first driving assembly 41 is driven to move, and then the movement of the first driving 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, i.e., the sleeve push block 511 is pushed to move towards 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 opening the end effector 1 from closing is opposite to the above, which is not described herein. As shown in Figure 4 and Figure 5 As shown, 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., when the end effector 1 is fully opened).

[0068] As shown, Figure 14 and Figure 15As 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, the first drive assembly 41 moves distally before disengaging from the gear 32 when the end effector 1 is fully closed. However, the sleeve push block 511 is stationary at this time. The elastic member 5114 of the sleeve push block 511 is in a 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. This is reflected in the extension arm curved surface 5113, that is, the extension arm curved surface 5113 extrudes the protruding cylindrical column 5101, so that the protruding cylindrical column 5101 is subjected to an action force F that 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 As shown, thereby preventing the connecting rod gear 510 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, when the end effector 1 is closed, the force direction of the protruding cylindrical column 5101 is controlled, avoiding the problem that the rotation of the connecting rod gear 510 leads to unstable closure of the end effector 1, ensuring that the first drive assembly 41 does not have a tendency to move proximally, and ensuring that the first drive assembly 41 does not move in the direction of the handle assembly 6 during the feeding process.

[0069] As shown, Figures 10-12 The second drive 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 drive 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 as follows: when the first drive assembly 41 is in meshing with the gear 32 (i.e., when the movement stroke of the first drive assembly 41 is less than the first movement stroke d), it provides a space for the teeth of the gear 32 to avoid the meshing of the second drive assembly 42 and the gear 32, so that the second drive assembly 42 is stationary during this process.

[0070] When the movement stroke of the first drive assembly 41 approaches or equals the first transmission stroke d, the second tooth feature 421 meshes with the gear 32. Optionally, the first drive assembly 41 and the second drive 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 same direction side, so as to mesh with the gear 32.

[0071] When the movement stroke of the first driving assembly 41 approaches or equals the first transmission stroke d, the push block 415 of the first driving assembly 41 abuts against the second groove 420, at this time, 1-2 teeth of the distal end (one end away from the end effector 1) of the first tooth feature 411 and 1-2 teeth of the proximal end (one end close to the end effector 1) of the second tooth feature 421 can be simultaneously engaged with the gear 32, so that the gear 32 can be conveniently transitioned from engagement with the first driving assembly 41 to engagement with the second driving assembly 42.

[0072] As shown in Figure 5 , Figure 6 , the second transmission assembly 52 is a push rod. Alternatively, 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 Figures 10-12 , the second driving 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 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 the 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 includes a motor output gear 321 and a first gear 322. The first gear 322 is engaged with the motor output gear 321 for transmission connection. The first driving assembly 41 and the second driving assembly 42 are engaged 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 push block 511 are transmission connected through a connecting rod 514. The structure of the connecting rod 514 is as shown in Figure 18 . Two protruding cylinders 5101 are oppositely arranged on the two side surfaces 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 push block 511. The structure of the sleeve push block 511 is as shown in Figure 19 .

[0075] 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 16 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 17 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.

[0076] like Figure 20 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 second groove 420 of the second drive assembly 42 has disengaged from the push block 415 of the first drive assembly 41, i.e., there is no contact. 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 20 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.

[0077] 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 the first driving component 41 a distance of the first movement stroke d and comes into contact with the second driving component 42. 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 does not move.

[0078] 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.

[0079] 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. It uses the difference in distance traveled by the motor 31 to move the first driving component 41 and the second driving component 42 to set the length and assembly position, thus achieving 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.

[0080] 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.

[0081] 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, wherein 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, the first driving assembly is provided with a first groove on the side surface adjacent to the second driving assembly, and an elastic body and a push block are arranged in the first groove; the second driving assembly is provided with a second groove on the side surface adjacent to the first driving assembly, and the push block can slide into or out of the second groove when the first driving assembly and the second driving assembly slide relative to each other; when the push block slides into the second groove, the movement of the first driving assembly abuts against the second driving assembly, so that the second driving assembly is in transmission connection with the power mechanism; when the push block slides out of the second groove, the first driving assembly is in transmission connection with the power mechanism, and the second driving assembly is disconnected from the power mechanism. 2.The driving device according to claim 1, wherein when assembled, the distance between the end of the push block close to the end effector and the end of the second groove close to the end effector is a first movement stroke, when the end of the push block close to the end effector abuts against the end of the second groove close to the end effector, the second driving assembly starts to establish transmission connection with the power mechanism. 3.The driving device according to claim 2, wherein the wall surface of the second groove is a slope surface for extruding the push block when the first driving assembly and the second driving assembly slide relative to each other, so that the push block slides out of the second groove. 4.The driving device according to claim 2 or 3, wherein the push block is rotatably installed in the first groove through a pin, and the elastic body is a spring, one end of the spring is connected with the first driving assembly, and the other end of the spring is connected with the push block for springing up the push block. 5.The driving device according to claim 4, wherein 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 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 engagement with the first gear through the first plane feature. 6.The driving device according to claim 5, wherein 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 the movement stroke of the first driving assembly is less than the first movement stroke, the second plane feature is used to provide a clearance for the teeth of the first gear; When the movement stroke of the first driving assembly is equal to the first movement stroke, the second tooth feature starts to engage with the gear.

7. The driving device according to claim 5 or 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; 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; 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 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; 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 drive 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 meshing area 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. 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. ​ ​ 10. A surgical instrument comprising a handle assembly, an end effector, a cutting knife assembly, characterized in that, ​

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