Cutting anastomat for surgical robot
By designing a cutting and anastomosis device for surgical robots, and adopting a lead screw and nut structure and a bending drive component, the automatic control of the jaw assembly is achieved, which solves the problems of anastomosis site deviation and jaw swing in minimally invasive surgery, and improves surgical precision and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU WEISENTE MEDICAL ROBOT CO LTD
- Filing Date
- 2024-12-27
- Publication Date
- 2026-04-10
AI Technical Summary
In minimally invasive surgery, the anastomosis operation performed by the bedside doctor may not be consistent with the surgeon's intention, resulting in deviation of the anastomosis site. In addition, the instability of the human hand may cause slight wobbling of the stapler jaws, resulting in problems such as suture skewing.
A surgical robot cutting and anastomosis device was designed. It adopts a screw and nut structure to realize the automatic closing and opening of the jaw assembly. Through the cooperation of the bending drive component and the bending component, the jaw assembly can swing in a 360-degree direction. It is completely controlled by the surgeon, which improves the accuracy and efficiency of the operation.
It improves the precision and efficiency of surgery, has a simple structure, low cost and is easy to implement, and avoids operational errors caused by the instability of human hands.
Smart Images
Figure CN224099388U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of medical apparatus and instruments, in particular to a cutting anastomat for surgical robot. BACKGROUND
[0002] The minimally invasive surgical robot is more and more widely applied in minimally invasive surgical operations in large hospitals at home and abroad due to its small surgical incision, flexible and fine operation and many other advantages. Among them, the types of surgical instruments are also a big advantage, and the instruments can be selected according to different parts to easily complete various surgical operations. The cutting anastomat is a large category of surgical instruments, which has been widely used in various thoracic and abdominal surgical operations due to its simple operation, time saving, cross infection prevention and other advantages.
[0003] In the current robot surgery, the bedside doctor usually holds the laparoscope cutting anastomat to realize anastomosis, and the disadvantage of this method is that the anastomosis site of the bedside doctor may deviate from the anastomosis site intended by the main surgeon, and the operation is not accurate enough. In addition, due to the instability of the human hand, the jaws of the anastomat will swing slightly during the anastomosis process, which will cause the staple line at the anastomosis site to be slightly skewed. SUMMARY
[0004] To solve the above technical problems, the technical scheme provided by the utility model is as follows:
[0005] A cutting anastomat for surgical robot, comprising: a base, an instrument rod, a jaw assembly, a push nail driving assembly, a bending driving assembly, a bending assembly, the jaw assembly comprising: a nail abutting seat, a nail box base, a nail cartridge, an I-beam; the instrument rod is a hollow structure, one end of the instrument rod is located in the base; the bending driving assembly can drive the jaw assembly to bend in any direction around the circumference through the bending assembly; the push nail driving assembly comprises a push nail gear assembly, a push nail screw rod and a push-pull rod; the push nail gear assembly cooperates with one end of the push nail screw rod, the other end of the push nail screw rod is connected with one end of the push-pull rod, and the other end of the push-pull rod is connected with the I-beam; the gear assembly can drive the push nail screw rod to move axially, the axial movement of the push nail screw rod drives the push-pull rod to move axially, and the axial movement of the push-pull rod drives the I-beam to move axially, so as to push the nail box base to close and fire the nail cartridge at the same time or pull the nail box base to open.
[0006] Further, the push nail gear assembly comprises a push nail driving gear and a push nail driven gear meshing with the push nail driving gear, the push nail driving gear is connected with the first input part, and a driving nut is fixedly installed at the center of the push nail driven gear, and the driving nut cooperates with the push nail screw rod.
[0007] Further, the base is provided with a middle layer support, the first input part is a push nail chuck, the push nail chuck is installed in cooperation with a push nail driving gear, the push nail chuck passes through the bearing of the base and the middle layer support and is axially limited by a first check ring, and the push nail driving gear is arranged on the push nail chuck and is axially limited by a second check ring.
[0008] Further, the front half of the push-pull rod is provided with uniformly arranged slot holes in the vertical direction.
[0009] Further, the bending assembly comprises a first bending accessory, a second bending accessory, a third bending accessory, a fourth bending accessory, a fifth bending accessory and an end bending pipe; the end bending pipe is arranged in the hole in the middle of the third bending accessory, the first bending accessory and the second bending accessory are assembled together and then arranged on the end bending pipe and can rotate in a first plane around the third bending accessory, the fourth bending accessory and the fifth bending accessory are assembled together and then arranged on the end bending pipe and can rotate in a second plane around the third bending accessory, and the first plane and the second plane are perpendicular to each other.
[0010] Further, the end bending pipe is provided with an oval limiting slot hole, and correspondingly, the first bending accessory and the second bending accessory are provided with a first limiting cylinder and a second limiting cylinder, respectively, and the first limiting cylinder and the second limiting cylinder are arranged in the limiting slot hole, so that the first bending accessory and the second bending accessory can move relatively with the end bending pipe and the distance of the relative movement is limited by the limiting slot hole, the first limiting cylinder and the second limiting cylinder.
[0011] Further, the bending driving assembly comprises a first rope winding rod, a second rope winding rod, a first pull rope, a second pull rope and a wire guide; the first rope winding rod and the second rope winding rod are fixedly connected with the first bending chuck and the second bending chuck, respectively; the middle part of the first pull rope is tied to the fourth bending accessory and pulled out of a first end and a second end, the middle part of the second pull rope is tied to the fifth bending accessory and pulled out of a third end and a fourth end, the first end is counterclockwise tied to the first rope winding rod, the second end is counterclockwise tied to the second rope winding rod, the third end is clockwise tied to the first rope winding rod, and the fourth end is clockwise tied to the second rope winding rod.
[0012] Further, the first end is pulled out from the right side of the fourth bending accessory, passes through the upper part of the third bending accessory, the upper part of the second bending accessory and the wire guide, and is counterclockwise tied to the first rope winding rod; the second end is pulled out from the left side of the fourth bending accessory, passes through the upper part of the third bending accessory, the upper part of the first bending accessory and the wire guide, and is counterclockwise tied to the second rope winding rod; the third end is pulled out from the left side of the fifth bending accessory, passes through the lower part of the third bending accessory, the lower part of the first bending accessory and the wire guide, and is clockwise tied to the first rope winding rod; and the fourth end is pulled out from the right side of the fifth bending accessory, passes through the lower part of the third bending accessory, the lower part of the second bending accessory and the wire guide, and is clockwise tied to the second rope winding rod.
[0013] Further, the inner firmware includes a first inner firmware component and a second inner firmware component, the first inner firmware component and the second inner firmware component are buckled together, and the inner firmware is provided with wire holes for the first end, the second end, the third end and the fourth end to pass through.
[0014] Further, the first rope winding rod and the second rope winding rod are respectively buckled in the first bending chuck and the second bending chuck, and the first fixed shaft is pressed into the corresponding hole of the first rope winding rod and the first bending chuck, and the second fixed shaft is pressed into the corresponding hole of the second rope winding rod and the second bending chuck.
[0015] Further, the first bending chuck and the second bending chuck circumscribe the motor of the medical robot, and the medical robot drives the first bending chuck and the second bending chuck to rotate individually or simultaneously through the motor.
[0016] The cutting anastomat of the utility model can improve the operation accuracy, operation efficiency and operation quality, and has simple structure, good effect, low cost and easy process implementation. BRIEF DESCRIPTION OF DRAWINGS
[0017] The above is only a summary of the technical scheme of the utility model, in order to make the technical means of the utility model more clearly understood, the utility model will be further described in detail in combination with the drawings and specific embodiments.
[0018] Figure 1 It is a whole structure schematic view of the cutting anastomat for surgical robot of the utility model;
[0019] Figure 2 It is an internal structure schematic view of the base of the cutting anastomat for surgical robot of the utility model;
[0020] Figure 3 It is a whole cross section schematic view of the cutting anastomat for surgical robot of the utility model;
[0021] Figure 4 It is a front half cross section schematic view of the push-pull rod of the utility model;
[0022] Figure 5 It is a top half cross section schematic view of the push-pull rod of the utility model;
[0023] Figure 6 It is a structure schematic view of the bending assembly of the utility model;
[0024] Figure 7 This is a schematic diagram of the cutting and anastomosis device for the surgical robot of this utility model;
[0025] Figure 8 This is a schematic diagram of the internal firmware structure of this utility model.
[0026] Reference numerals in the attached figures: 10 Base, 11 Middle layer support, 12 Top layer support, 20 Instrument rod, 21 First inner component assembly, 22 Second inner component assembly, 23 Sealing gasket, 311 Push pin drive gear, 312 Push pin driven gear, 32 Push pin screw, 321 Pin, 33 Drive nut, 34 Push-pull rod, 341 Slot, 35 First retaining ring, 36 Second retaining ring, 41 First bending accessory, 42 Second bending accessory, 421 First limiting cylinder, 43 Third bending accessory, 431 First steering column, 432 Second steering column, 433 Third steering column, 434 Fourth steering column 44 Fourth bending fitting, 441 First positioning post, 45 Fifth bending fitting, 451 First positioning hole, 452 Second turning hole, 453 Second fixing protrusion, 46 End bend, 465 Fixing slot, 466 Limiting slot, 51 Anchor seat, 52 Nail cartridge base, 53 Nail cartridge, 54 I-beam, 61 First end, 62 Second end, 63 Third end, 64 Fourth end, 71 First rope winding rod, 72 Second rope winding rod, 711 First fixed shaft, 721 Second fixed shaft, 73 Guide wire, 81 Nail pusher chuck, 82 First bending chuck, 83 Second bending chuck Detailed Implementation
[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0028] In this article, terms such as "upper" and "lower" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.
[0029] In the following description, the end of each component closer to the operator is defined as the proximal end, and the end farther from the operator is defined as the distal end. These terms "proximal end" and "distal end" are used only for simplicity and clarity and should not be construed as limiting the scope of this invention.
[0030] See appendix Figures 1-8The application discloses a cutting anastomat for a surgical robot, which comprises a base 10, an instrument rod 20, a jaw assembly, a push nail driving assembly, a bending driving assembly and a bending assembly. The jaw assembly comprises a nail abutting seat 51, a nail box base 52, a nail box 53 and an I-beam 54. The instrument rod 20 is a hollow structure, one end of the instrument rod is located in the base 10, and the instrument rod 20 is used for protecting the internal components. The bending driving assembly can drive the jaw assembly to bend in any direction of the circumference through the bending assembly. The push nail driving assembly comprises a push nail gear assembly, a push nail screw rod 32 and a push-pull rod 34. The push nail gear assembly is matched with one end of the push nail screw rod 32, the other end of the push nail screw rod 32 is connected with one end of the push-pull rod 34, and the other end of the push-pull rod 34 is connected with the I-beam 54. The gear assembly can drive the push nail screw rod 32 to move axially, the push nail screw rod 32 moves axially to drive the push-pull rod 34 to move axially, and the push-pull rod 34 moves axially to drive the I-beam 54 to move axially, so that the nail box base 52 is closed and the nail box 53 is fired at the same time or the nail box base 52 is pulled to be opened.
[0031] The push nail gear assembly comprises a push nail driving gear 311 and a push nail driven gear 312 meshed with the push nail driving gear 311. The push nail driving gear 311 is connected with a first input part, the push nail driven gear 312 is fixedly installed at the center of the push nail driven gear 312, a driving nut 33 is fixedly installed at the center of the push nail driven gear 312, and the driving nut 33 is matched with the push nail screw rod 32. The first input part drives the push nail driving gear 311 to rotate, the push nail driving gear 311 drives the push nail driven gear 312 to rotate, and the push nail driven gear 312 drives the push nail screw rod 32 to move axially through the driving nut 33. Preferably, the push nail driven gear 312 is provided with a hexagonal hole groove at the center, and the driving nut 33 is tightly fitted and installed in the hexagonal hole groove.
[0032] Preferably, the first input part is a push nail chuck 81, the push nail chuck 81 is connected with the push nail driving gear 311, and the push nail chuck 81 rotates under the driving of a motor. The motor drives the push nail chuck 81 to rotate, thereby driving the push nail driving gear 311 to rotate, and further driving the driven gear 312 to rotate. The other end of the push nail screw rod 32 is connected with one end of the push-pull rod 34 through a pin shaft 321, and the other end of the push-pull rod 34 is fixedly connected with the I-beam 54. Therefore, when the push nail screw rod 32 moves axially in different directions, the push-pull rod 34 is pushed or pulled, thereby pushing or pulling the I-beam 54. When the I-beam 54 is pushed, the nail box base 52 is closed and the nail box 53 is fired at the same time, and when the I-beam 54 is pulled, the nail box base 52 is opened. Preferably, the I-beam 54 is provided with a cylindrical hole, and the front section of the push-pull rod 34 is fitted into the cylindrical hole and welded.
[0033] The base 10 is provided with a middle layer support 11 and a top layer support 12, the push pin chuck 81 is an input shaft, passes through the bearing of the base 10 and the middle layer support 11 and is axially limited by the first stop ring 35, the push pin chuck 81 is cooperatively installed with the push pin driving gear 311, the push pin driving gear 311 is arranged on the push pin chuck 81 and is axially limited by the second stop ring 36, the D15 bearing is installed on the top layer support 12, and the push pin driven gear 312 is cooperatively installed with the inner ring of the D15 bearing.
[0034] The front half of the push-pull rod 34 is provided with uniformly arranged slot holes 341 in the vertical direction, preferably, the slot holes 341 are semicircular slot holes, the arrangement of the slot holes 341 can make the front half of the push-pull rod 34 have a certain flexibility, so that the front half of the push-pull rod 34 can realize universal bending. Preferably, an inner layer pipe 37 is further arranged, the front half of the push-pull rod 34 is arranged in the inner layer pipe 37 and is limited by the limiting part in the middle of the push-pull rod 34.
[0035] The bending assembly comprises a first bending accessory 41, a second bending accessory 42, a third bending accessory 43, a fourth bending accessory 44, a fifth bending accessory 45 and an end bending pipe 46; the end bending pipe 46 is arranged in the hole in the middle of the third bending accessory 43, the first bending accessory 41 and the second bending accessory 42 are assembled together and then installed on the end bending pipe 46 and can rotate in the first plane around the third bending accessory 43, the fourth bending accessory 44 and the fifth bending accessory 45 are assembled together and then installed on the end bending pipe 46 and can rotate in the second plane around the third bending accessory 43, wherein the first plane and the second plane are perpendicular to each other. Further, the fourth bending accessory 44 is provided with a first positioning column 441, the fifth bending accessory 45 is correspondingly provided with a first positioning hole 451, the fourth bending accessory 44 and the fifth bending accessory 45 are assembled together through the first positioning column 441 and the first positioning hole 451, preferably, the first positioning column 441 and the first positioning hole are respectively 4. The third bending accessory 43 is provided with a first turning column 431 and a second turning column 432, correspondingly, the fourth bending accessory 44 is provided with a first turning hole (not marked in the figure, the structure of which is similar to that of the second turning hole), the fifth bending accessory 45 is provided with a second turning hole 452, the first turning column 431 and the second turning column 432 are respectively matched with the first turning hole and the second turning hole 452, so that the fourth bending accessory 44 and the fifth bending accessory 45 can rotate around the first turning column 431 and the second turning column 432. The end bending pipe 46 is provided with a fixed slot hole 465, correspondingly, the fourth bending accessory 44 and the fifth bending accessory 45 are correspondingly provided with a first fixed protrusion (not marked in the figure, the structure of which is similar to that of the second fixed protrusion) and a second fixed protrusion 453, the first fixed protrusion and the second fixed protrusion are respectively installed in the fixed slot hole 465, so as to fixedly install the fourth bending accessory 44 and the fifth bending accessory 45 with the end bending pipe 46.
[0036] The first bending fitting 41 is provided with a second positioning column and / or a second positioning hole, and the second bending fitting 42 is correspondingly provided with a second positioning hole and / or a second positioning column, and the first bending fitting 41 and the second bending fitting 42 are assembled together through the second positioning column and the second positioning hole. The third bending fitting 43 is provided with a third turning column 433 and a fourth turning column 434, and the first bending fitting 41 is provided with a third turning hole and the second bending fitting 42 is provided with a fourth turning hole, the third turning column 433 and the fourth turning column 434 are matched with the third turning hole and the fourth turning hole respectively, and the first bending fitting 41 and the second bending fitting 42 can rotate around the third turning column 433 and the fourth turning column 434. The end bending pipe 46 is provided with an oval limiting groove hole 466, and the first bending fitting 41 and the second bending fitting 42 are correspondingly provided with a first limiting cylinder 421 and a second limiting cylinder (not shown in the figure, the structure is similar to that of the first limiting cylinder), and the first limiting cylinder and the second limiting cylinder are located in the limiting groove hole 466 respectively, so that the first bending fitting 41 and the second bending fitting 42 can move relatively with the end bending pipe 46, and the distance of relative movement is limited by the limiting groove hole 466 and the first limiting cylinder and the second limiting cylinder.
[0037] When the bending assembly is installed, the end bending pipe 46 is first installed in the center hole of the third bending fitting 43, then the fifth bending fitting 45 is installed in the third bending fitting 46, and the fixing groove hole 465 of the end bending pipe 46 is aligned with the second fixing protrusion 453 of the corresponding part of the fifth bending fitting 45 for installation, and the fourth bending fitting 44 is installed in the same way, and the fourth bending fitting 44 and the fifth bending fitting 45 are fixed through the first positioning column 441 and the first positioning hole 451. Then the second bending fitting 42 is installed in the third bending fitting 43, the first limiting cylinder of the second bending fitting 42 is buckled into the limiting groove hole 466 of the end bending pipe 46, and finally the first bending fitting 41 is installed in the same way, and the first bending fitting 41 and the second bending fitting 42 are fixed through the second positioning column and the second positioning hole. The limiting groove hole 466 is oval, and the end bending pipe 46 can move forward and backward in the groove hole direction, so as to ensure that the bending of the nail magazine assembly is not limited by the end bending pipe 46.
[0038] The bending driving assembly comprises a first winding rod 71, a second winding rod 72, a first pull rope, a second pull rope, a wire guide 73, the first winding rod 71 and the second winding rod 72 are fixedly connected with a first bending chuck 82 and a second bending chuck 83 respectively, wherein the first pull rope is bound to the fourth bending accessory 44 and pulled out of the first end 61 and the second end 62, the second pull rope is bound to the fifth bending accessory 45 and pulled out of the third end 63 and the fourth end 64, the first end 61 is counterclockwise bound to the first winding rod 71, the second end 62 is counterclockwise bound to the second winding rod 72, the third end 63 is clockwise bound to the first winding rod 71, and the fourth end is clockwise bound to the second winding rod 72.
[0039] Further, the middle part of the first pull rope is bound to the fourth bending accessory 44, the first end 61 is led out from the right side of the fourth bending accessory 44, passes through the upper part of the third bending accessory 43, the upper part of the second bending accessory 42 and the wire guide 73, and is counterclockwise bound at the first winding rod 71, and the second end 62 is led out from the left side of the fourth bending accessory 44, passes through the upper part of the third bending accessory 43, the upper part of the first bending accessory 41 and the wire guide 73, and is counterclockwise bound at the second winding rod 72; the second pull rope comprises a third end 63 and a fourth end 64, the middle part of the second pull rope is bound to the fifth bending accessory 45, the third end 63 is led out from the left side of the fifth bending accessory 45, passes through the lower part of the third bending accessory 43, the lower part of the first bending accessory 41 and the wire guide 73, and is clockwise bound at the first winding rod 71, and the fourth end 64 is led out from the right side of the fifth bending accessory 45, passes through the lower part of the third bending accessory 43, the lower part of the second bending accessory 42 and the wire guide 73, and is clockwise bound at the second winding rod 72.
[0040] Further, the first winding rod 71 and the second winding rod 72 are respectively buckled in the first bending chuck 82 and the second bending chuck 83, and the first fixed shaft 711 is pressed into the corresponding holes of the first winding rod 71 and the first bending chuck 82, and the second fixed shaft 721 is pressed into the corresponding holes of the second winding rod 72 and the second bending chuck 83.
[0041] The third bending accessory 43 is provided with a circular hole at each of the four corners, and the first bending accessory and the second bending accessory are respectively provided with circular holes at the upper part and the lower part, and from the proximal end to the distal end, the first end 61 passes through the right upper part circular hole of the third bending accessory 43 and the upper part circular hole of the second bending accessory 42, the second end 62 passes through the left upper part circular hole of the third bending accessory 43 and the upper part circular hole of the first bending accessory 41, the third end 63 passes through the left lower part circular hole of the third bending accessory 43 and the lower part circular hole of the first bending accessory 41, and the fourth end 64 passes through the right lower part circular hole of the third bending accessory 43 and the lower part circular hole of the second bending accessory 42.
[0042] The first bending chuck 82 and the second bending chuck 83 circumscribe the motors of the medical robot, the motors are driven by the medical robot, so that the medical robot drives the first bending chuck 82 and the second bending chuck 83 to rotate alone or simultaneously through the motors. When the first bending chuck 82 drives the first rope winding rod 71 to rotate counterclockwise, the first end portion 61 is tightened and the third end portion 63 is loosened, at this time, the nail cartridge assembly is driven to rotate upward to the right, when the first bending chuck drives the first rope winding rod 71 to rotate clockwise, the third end portion 63 is tightened and the first end portion 61 is loosened, at this time, the nail cartridge assembly is driven to rotate downward to the left; when the second bending chuck 83 drives the second rope winding rod 72 to rotate counterclockwise, the second end portion 62 is tightened and the fourth end portion 64 is loosened, at this time, the nail cartridge assembly is driven to rotate upward to the left, when the second bending chuck 83 drives the second rope winding rod 72 to rotate clockwise, the fourth end portion 64 is tightened and the second end portion 62 is loosened, at this time, the nail cartridge assembly is driven to rotate downward to the right. In addition, in addition to the first bending chuck 82 and the second bending chuck 83 rotating alone, the first bending chuck 82 and the second bending chuck 83 can also be driven to rotate simultaneously by setting the output of the medical robot, and the rotation angles of the two are set, so that the first rope winding rod 71 and the second rope winding rod 72 rotate by specific angles respectively, so that the first end portion, the second end portion, the third end portion and the fourth end portion work simultaneously, and the bending of the nail cartridge assembly in any direction of the circumference of 360 degrees can be realized.
[0043] In addition, the cutting anastomat further comprises an inner fastener for protecting the internal components of the instrument tube, the inner fastener comprises a first inner fastener assembly 21 and a second inner fastener assembly 22, the first inner fastener assembly 21 and the second inner fastener assembly 22 are buckled together, and the inner fastener is provided with wire guide holes for the first end portion, the second end portion, the third end portion and the fourth end portion to pass through. The instrument tube is further provided with a sealing gasket 23, and the sealing gasket 23 is provided with wire guide holes for the first end portion, the second end portion, the third end portion and the fourth end portion to pass through.
[0044] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.
[0045] It is to be understood that the application is not limited to the precise construction described and shown herein and that changes can be made in various details without departing from the scope of the application. The scope of the application is limited only by the claims appended hereto.
Claims
1. A cutting stapler for surgical robotics, comprising: The base, the instrument rod, the jaw assembly, the push nail driving assembly, the bending driving assembly, the bending assembly, the jaw assembly comprises: a nail abutting seat, a nail box base, a nail box, an I-beam; the instrument rod is a hollow structure, one end of the instrument rod is located in the base; the bending driving assembly can drive the jaw assembly to bend in any direction of the circumference through the bending assembly; the push nail driving assembly comprises a push nail gear assembly, a push nail screw rod and a push-pull rod; the push nail gear assembly cooperates with one end of the push nail screw rod, the other end of the push nail screw rod is connected with one end of the push-pull rod, and the other end of the push-pull rod is connected with the I-beam; the gear assembly can drive the push nail screw rod to move axially forward and backward, the axial movement of the push nail screw rod drives the push-pull rod to move axially, and the axial movement of the push-pull rod drives the I-beam to move axially, so as to push the nail box base to close and simultaneously fire the nail box or pull the nail box base to open.
2. The cutting stapler for a surgical robot according to claim 1, characterized by The push nail gear assembly comprises a push nail driving gear and a push nail driven gear meshing with the push nail driving gear, the push nail driving gear is connected with the first input part, and the push nail driven gear is fixedly provided with a driving nut at the center, and the driving nut cooperates with the push nail screw rod.
3. The cutting stapler for a surgical robot according to claim 2, characterized by The base is provided with a middle layer support, the first input part is a push nail chuck, the push nail chuck is cooperatively installed with the push nail driving gear, the push nail chuck passes through the bearing of the base and the middle layer support and is axially limited by the first check ring, and the push nail driving gear is arranged on the push nail chuck and is axially limited by the second check ring.
4. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized by, The front half of the push-pull rod is provided with uniformly arranged slot holes in the vertical direction.
5. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized by, The bending assembly comprises a first bending accessory, a second bending accessory, a third bending accessory, a fourth bending accessory, a fifth bending accessory and an end bending pipe; the end bending pipe is arranged in the hole in the middle of the third bending accessory, the first bending accessory and the second bending accessory are assembled together and arranged on the end bending pipe and can rotate in the first plane around the third bending accessory, the fourth bending accessory and the fifth bending accessory are assembled together and arranged on the end bending pipe and can rotate in the second plane around the third bending accessory, and the first plane and the second plane are perpendicular to each other.
6. The cutting stapler for a surgical robot according to claim 5, wherein The end bending pipe is provided with an oval limiting slot hole, and correspondingly, the first bending accessory and the second bending accessory are provided with a first limiting cylinder and a second limiting cylinder, respectively, the first limiting cylinder and the second limiting cylinder are arranged in the limiting slot hole, so that the first bending accessory and the second bending accessory can relatively move with the end bending pipe and the distance of the relative movement is limited by the limiting slot hole, the first limiting cylinder and the second limiting cylinder.
7. The cutting stapler for a surgical robot as set forth in claim 5, the deflection driving assembly comprising: The first winding rod, the second winding rod, the first pull rope, the second pull rope and the wire guide; the first winding rod and the second winding rod are fixedly connected with the first bending chuck and the second bending chuck, respectively; the middle part of the first pull rope is bound to the fourth bending accessory and pulled out of the first end and the second end, the middle part of the second pull rope is bound to the fifth bending accessory and pulled out of the third end and the fourth end, the first end is counterclockwise bound to the first winding rod, the second end is counterclockwise bound to the second winding rod, the third end is clockwise bound to the first winding rod, and the fourth end is clockwise bound to the second winding rod.
8. The cutting stapler for a surgical robot according to claim 7, characterized by The first end portion is led out from the right side of the fourth bending fitting, passes through the upper part of the third bending fitting, the upper part of the second bending fitting and the wire guide, and is pulled to the first rope winding rod to be bound counterclockwise; the second end portion is led out from the left side of the fourth bending fitting, passes through the upper part of the third bending fitting, the upper part of the first bending fitting and the wire guide, and is pulled to the second rope winding rod to be bound counterclockwise; the third end portion is led out from the left side of the fifth bending fitting, passes through the lower part of the third bending fitting, the lower part of the first bending fitting and the wire guide, and is pulled to the first rope winding rod to be bound clockwise; and the fourth end portion is led out from the right side of the fifth bending fitting, passes through the lower part of the third bending fitting, the lower part of the second bending fitting and the wire guide, and is pulled to the second rope winding rod to be bound clockwise.
9. The cutting stapler for a surgical robot according to claim 7 or 8, characterized by The inner fixture comprises a first inner fixture component and a second inner fixture component, the first inner fixture component and the second inner fixture component are buckled together, and the inner fixture is provided with wire holes for the first end portion, the second end portion, the third end portion and the fourth end portion to pass through.
10. The cutting stapler for a surgical robot according to claim 7, wherein The first bending chuck and the second bending chuck are circumscribed with motors of the medical robot, and the medical robot drives the first bending chuck and the second bending chuck to rotate individually or simultaneously through the motors.