Cutting anastomat for surgical robot

Abstract

A cutting anastomat for a surgical robot comprises a base, an anastomosis assembly, a nail pushing assembly and a head swinging assembly, the anastomosis assembly comprises a jaw assembly, and the jaw assembly comprises a nail abutting seat, a nail box base, a nail bin and an I-shaped beam; the swing head assembly is used for driving the jaw assembly to bend; the nail pushing drive assembly comprises a pull rope, a thrust rope, a pull reel and a thrust reel, and the pull reel and the thrust reel can rotate synchronously; one end of the tension rope is wound in a groove of the tension reel, one end of the thrust rope is wound in a groove of the thrust reel, and the winding directions of the tension rope and the thrust rope are opposite; when the thrust rope is pulled, the nail box base is closed and simultaneously triggers the nail bin, and when the pull rope is pulled, the nail box base is opened. According to the cutting anastomat, the operation accuracy, the operation efficiency and the operation quality can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of medical apparatus and instruments, particularly relates to a cutting anastomat for surgical robot. BACKGROUND

[0002] The minimally invasive surgical robot is more and more widely applied in minimally invasive surgical operation in all large hospitals at home and abroad due to its small surgical incision, flexible and fine operation and many advantages. The surgical instruments are also a big advantage, and different instruments can be selected according to different parts to easily complete various surgical operations. The cutting anastomat is a large category of surgical instruments, and has been widely applied 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 operation, the bedside doctor usually holds the laparoscope cutting anastomat to realize anastomosis, and the anastomosis position of the bedside doctor may deviate from the anastomosis position of the main doctor, 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, and therefore how to realize the automatic operation of the cutting anastomat is a technical problem to be solved in the field. 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 anastomosis assembly, a push nail assembly, a head swinging assembly, the anastomosis assembly comprises a jaw assembly, the jaw assembly comprises: a nail abutting seat, a nail box base, a nail cartridge and an I-beam; the head swinging assembly is used for driving the jaw assembly to bend; the push nail driving assembly comprises: a tension rope, a push rope, a tension reel and a push reel, the tension reel and the push reel can rotate synchronously; one end of the tension rope is wound in the groove of the tension reel, one end of the push rope is wound in the groove of the push reel, and the winding directions of the tension rope and the push rope are opposite; when the push rope is pulled, the nail box base is closed while the nail cartridge is fired, and when the tension rope is pulled, the nail box base is opened.

[0006] Further, the push nail assembly further comprises: a push nail chuck, a push nail driving gear, a push nail driven gear, a large bevel gear and a limiting shaft, the lower part of the push nail driven gear comprises a bevel gear part, the push nail chuck is fixedly connected with the push nail driving gear, the push nail driving gear is engaged with the push nail driven gear, the bevel gear part of the push nail driven gear is engaged with the large bevel gear, and the large bevel gear is fixedly connected with the limiting shaft, and the tension reel and the push reel are fixed on the limiting shaft.

[0007] Further, the pusher assembly further comprises a first sliding block, a first pulley, and a pusher push-pull rod. The first pulley is located at the rear of the first sliding block. The other end of the push force rope is fixed on the first sliding block after passing through the first pulley. The other end of the pull force rope is directly fixed on the first sliding block. The first sliding block is connected with one end of the pusher push-pull rod. The other end of the pusher push-pull rod is connected with the end of the anastomat assembly.

[0008] Further, the swing head assembly comprises a first swing head pull rope, a second swing head pull rope, a swing head reel, a second sliding block, a second pulley, and a swing head chuck. The swing head reel is fixed on the swing head chuck. The second pulley is located at the rear of the sliding block. One end of the second swing head pull rope is fixed on the second sliding block. The other end of the second swing head pull rope is wound on the swing head reel. One end of the first swing head pull rope is fixed on the second sliding block. The other end of the first swing head pull rope is wound on the swing head reel after passing through the pulley and the second sliding block. The winding directions of the first swing head pull rope and the second swing head pull rope are opposite.

[0009] Further, the anastomat assembly comprises two upper and lower fixed connecting pieces. The jaw assembly is provided with two upper and lower fixed pins. The fixed connecting pieces and the jaw assembly are riveted through the fixed pins.

[0010] Further, the anastomat assembly further comprises a swing head connecting piece and a connecting rod pin. The swing head connecting piece and the jaw assembly are connected through the connecting rod pin. When the swing head connecting piece is pushed and pulled, the jaw assembly can rotate around the fixed pin.

[0011] Further, the swing head assembly further comprises a first push-pull rod and a swing head push-pull rod. One end of the first push-pull rod is fixedly connected with the sliding block. The other end of the first push-pull rod is fixedly connected with one end of the swing head push-pull rod. The other end of the swing head push-pull rod is buckled with the swing head connecting piece.

[0012] Further, the cutting anastomat further comprises a manual back-off assembly. The manual back-off assembly comprises a back-off knob, a ratchet wheel, and a back-off driving gear. The back-off driving gear is engaged with the pusher driving gear. When the back-off knob is rotated, the ratchet wheel is depressed. The ratchet wheel cooperates with the back-off driving gear. When the back-off knob is continuously rotated, the ratchet wheel drives the back-off driving gear to rotate, thereby driving the pusher driving gear to rotate.

[0013] Further, the manual back-off assembly is further provided with a ratchet wheel limiting block. The ratchet wheel limiting block cooperates with the ratchet wheel to limit the rotation direction of the ratchet wheel.

[0014] The cutting anastomat of the utility model discloses a screw nut structure as the main transmission mechanism for realizing closing and cutting actions, can realize automatic closing of the nail box assembly, and makes the nail box assembly swing left and right through the swing head assembly, so that the whole operation process is completely controlled by the main doctor; The cutting anastomat of the utility model can manually open the jaw assembly in the case of electrical failure, avoiding damage to the tissue. The cutting anastomat of the utility model can improve the operation accuracy, operation efficiency and operation quality, and has the advantages of simple structure, good effect, low cost and easy process implementation. BRIEF DESCRIPTION OF DRAWINGS

[0015] The above is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, the utility model will be further described in detail in combination with the drawings and specific embodiments.

[0016] Figure 1 It is whole structure schematic diagram of the utility model surgical robot cutting anastomat;

[0017] Figure 2 It is internal structure schematic diagram of the utility model surgical robot cutting anastomat base;

[0018] Figure 3 It is half cutaway structure schematic diagram of the utility model surgical robot cutting anastomat base;

[0019] Figure 4 It is installation schematic diagram of the utility model tension reel, thrust reel;

[0020] Figure 5 It is anastomosis component part structure schematic diagram of the utility model;

[0021] Figure 6 It is part structure cutaway schematic diagram of the utility model surgical robot cutting anastomat;

[0022] Figure 7 It is anastomosis assembly part cutaway view of the utility model;

[0023] Figure 8 It is anastomosis assembly installation schematic diagram of the utility model;

[0024] Figure 9 It is manual back-off assembly structure schematic diagram of the utility model.

[0025] 10 base, 11 gear base, 12 top bracket, 20 instrument rod, 211 first inner fastener, 212 second inner fastener, 311 tension rope, 312 thrust rope, 321 tension reel, 322 thrust reel, 323 reel fixing block, 331 push pin driving gear, 332 push pin driven gear, 333 large bevel gear, 334 limit shaft, 34 first sliding block, 35 first pulley, 351 pulley pin shaft, 352 pulley fixing piece, 36 push pin push-pull rod, 37 first wire guide, 38 wire tube, 41 first pull rope, 42 second pull rope, 43 swing head reel, 44 second sliding block, 45 second pulley, 46 first push-pull rod, 47 swing head push-pull rod, 48 second wire guide, 50 anastomosis assembly, 511 stopper seat, 512 nail box base, 513 nail magazine, 514 I-beam, 515 push nail sliding block, 52 assembly outer tube, 531 first assembly outer tube inner fastener, 532 second assembly outer tube inner fastener, 54 fixed connecting piece, 55 fixed pin shaft, 56 swing head connecting piece, 57 connecting rod pin shaft, 61 push nail chuck, 62 swing head chuck, 71 back-off knob, 72 ratchet wheel, 721 ratchet wheel limit block, 73 back-off driving gear, 74 back-off spring. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] In this document, "upper", "lower", and the like are used to indicate relative positional relationships between relevant parts, rather than to limit the absolute positions of the relevant parts.

[0028] The end of each component close to the operator is defined as the proximal end, and the end away from the operator is defined as the distal end. The expressions of the proximal end and the distal end are only used to make the description simple and clear, and should not be understood as any limitation on the present application.

[0029] Referring to the drawings Figures 1-9The application discloses a cutting anastomat for a surgical robot, which comprises a base 10, an anastomosis assembly, a push nail assembly and a swing head assembly. The anastomosis assembly 50 comprises a jaw assembly, and the jaw assembly comprises a nail abutting seat 511, a nail magazine base 512, a nail cartridge 513 and an I-beam 514. The swing head assembly is used for driving the jaw assembly to bend. The push nail driving assembly comprises a tension rope 311, a thrust rope 312, a tension reel 321 and a thrust reel 322. The tension reel 321 and the thrust reel 322 can rotate synchronously. One end of the tension rope 311 is wound in a groove of the tension reel 321, and one end of the thrust rope 312 is wound in a groove of the thrust reel 322. The winding directions of the tension rope 311 and the thrust rope 312 are opposite. When the thrust rope 312 is pulled, the nail magazine base 512 is closed while the nail cartridge 513 is fired. When the tension rope 311 is pulled, the nail magazine base 512 is opened.

[0030] The push nail assembly further comprises a push nail chuck 61, a push nail driving gear 331, a push nail driven gear 332, a bevel gear 333 and a limiting shaft 334. The lower part of the push nail driven gear 332 comprises a bevel gear part. The push nail chuck 61 is fixedly connected with the push nail driving gear 331. The push nail driving gear 331 is engaged with the push nail driven gear 332. The bevel gear part of the push nail driven gear 332 is engaged with the bevel gear 333. The bevel gear 333 is fixedly connected with the limiting shaft 334. The tension reel 321 and the thrust reel 322 are fixed on the limiting shaft 334. Specifically, the base 10 further comprises a gear base 11. The push nail chuck 61 serves as an input shaft, is fixed by a bearing radially passing through the base 10 and the gear base 11, and is axially limited by being buckled with the push nail driving gear 331 through a buckle on the top of the push nail chuck 61. The bevel gear 333 is mounted in cooperation with one end of the limiting shaft 334, and the other end of the limiting shaft 334 is arranged in a bearing. The limiting shaft 334 passes through a center hole of the tension reel 321 to fix the tension reel 321. The thrust reel 322 is fixed on the limiting shaft by a reel fixing block 323 through screw fastening. The center hole is non-circular, and the shape of the corresponding part of the limiting shaft corresponds to the center hole.

[0031] The pusher assembly further comprises a first sliding block 34, a first pulley 35, a pusher push-pull rod 36, the first pulley 35 is located at the rear of the first sliding block 34, the other end of the push force rope 312 is fixed on the first sliding block 34 after winding around the first pulley 35, and the other end of the pull force rope 311 is directly fixed on the first sliding block 34; the first sliding block 34 is connected with one end of the pusher push-pull rod 36, and the other end of the pusher push-pull rod 36 is connected with the end of the anastomosis assembly 50. Preferably, the first sliding block and the pusher push-pull rod are connected and fixed through a pin shaft; the first sliding block 34 is provided with a first slot hole and a second slot hole, and the push force rope 312 and the pull force rope 311 are respectively clamped in the first slot hole and the second slot hole. The pusher assembly further comprises a first wire guide 37 and a rope guide pipe 38, one end of the pull force rope 311 and the push force rope 312 respectively passes through the rope guide pipe 38 and the wire guide 37 and is wound around the pull force reel 321 and the push force reel 322.

[0032] The pusher chuck 61 is connected with a motor, the motor drives the pusher chuck 61 to rotate, thereby driving the pusher driving gear 331 to rotate, the pusher driving gear 331 drives the pusher driven gear 332 to rotate, the pusher driven gear 332 drives the large bevel gear 333 to rotate through the bevel gear part at the lower end, thereby synchronously driving the limiting shaft 334 to rotate, and the limiting shaft 334 drives the push force reel 322 and the pull force reel 321 to rotate. When the rotating direction of the limiting shaft 334 is the same as the winding direction of the push force rope 311, the push force rope 311 pulls the sliding block 34 to move towards the distal end, thereby driving the pusher push-pull rod 36 to move axially, which pushes the I-beam 514 assembly, and the I-beam 514 pushes the pusher sliding block 515 of the nail cartridge assembly forward, so that the nail magazine base 512 is closed and the nail cartridge 513 is fired; when the rotating direction of the limiting shaft 334 is the same as the winding direction of the pull force rope 311, the pull force rope 311 pulls the sliding block 34 to move towards the proximal end, thereby driving the pusher push-pull rod 36 to move axially, which pulls the I-beam 514, and the I-beam 514 moves backward to be opened.

[0033] The swing head assembly comprises a first swing head pull rope 41, a second swing head pull rope 42, a swing head reel 43, a second sliding block 44, a second pulley 45, and a swing head chuck 62, the swing head reel 43 is fixed on the swing head chuck 62, the second pulley 45 is located at the rear of the sliding block 44, one end of the second swing head pull rope 42 is fixed on the second sliding block 44, and the other end is wound on the swing head chuck 62, one end of the first swing head pull rope 41 is fixed on the second sliding block 44, the other end winds around the pulley 45 and then passes through the second sliding block 44 and is wound on the swing head reel 43; wherein the winding directions of the first swing head pull rope 41 and the second swing head pull rope 42 are opposite.

[0034] The anastomat assembly comprises two fixed connecting pieces 54, two fixed pin shafts 55 arranged on the jaw assembly, the fixed connecting pieces 54 and the jaw assembly are riveted through the fixed pin shafts 55, and the jaw assembly can rotate around the fixed pin shafts 55. The anastomat assembly further comprises an assembly outer tube 52, a first assembly outer tube inner fastener 531, and a second assembly outer tube inner fastener 532, and the two fixed connecting pieces 54 are fixed through the assembly outer tube 52 and the first assembly outer tube inner fastener 531 and the second assembly outer tube inner fastener 532. The anastomat assembly further comprises a swing head connecting piece 56 and a connecting rod pin shaft 57, and the swing head connecting piece 56 and the jaw assembly are connected through the connecting rod pin shaft 57, so that when the swing head connecting piece 56 is pushed and pulled, the jaw assembly can rotate around the fixed pin shafts 55.

[0035] The swing head assembly further comprises a first push-pull rod 46 and a swing head push-pull rod 47, one end of the first push-pull rod 46 is fixedly connected with the second sliding block 44, the other end is fixedly connected with one end of the swing head push-pull rod 47, and the other end of the swing head push-pull rod is buckled with the swing head connecting piece 56. Preferably, one end of the first push-pull rod 46 is fixedly connected with the sliding block 44 through a threaded fastening mode, and the other end of the first push-pull rod 46 penetrates through the round hole of the swing head push-pull rod 47 and is welded firmly. One end of the swing head push-pull rod 47 comprises a bending part, and a through hole is arranged on the bending part for the push nail screw rod 32 to penetrate through, and the round hole is also located on the bending part.

[0036] The swing head assembly further comprises a second wire guide 48, and the first swing head pull rope 41 and the second swing head pull rope 42 are respectively wound on the swing head spool 43 and the swing head chuck 62 after penetrating through the wire guide. Specifically, one end of the second pull rope 42 is fixed on the second sliding block 44, the other end is led out from the corresponding hole of the wire guide 48, and then is wound in the wire groove of the swing head chuck 62. One end of the first swing head pull rope 41 is fixed on the second sliding block 44, the other end is wound in the wire groove of the swing head spool 43 after penetrating through the second sliding block 44, the second pulley 45 and the corresponding hole of the second wire guide 48. The swing head spool 43 is fixed on the swing head chuck 62 through a hexagonal screw. Wherein, the winding directions of the first swing head pull rope 41 and the second swing head pull rope 42 are opposite, for example: the first swing head pull rope 41 is wound clockwise, and the second swing head pull rope 42 is wound counterclockwise. In this case, when the swing head chuck 62 rotates counterclockwise and drives the swing head spool 43 to rotate synchronously from the proximal end to the distal end, the second swing head pull rope 42 is tightened and the first swing head pull rope 41 is loosened, the second sliding block 44 is pulled to drive the first push-pull rod 46 to move to the proximal end, so that the swing head push-pull rod 47 and the swing head connecting piece 56 also move to the proximal end, thereby driving the jaw assembly to bend to the left side; when the swing head chuck 62 rotates clockwise and drives the swing head spool 43 to rotate synchronously, the first swing head pull rope 41 is tightened and the second swing head pull rope 42 is loosened, the second sliding block 44 is pulled to drive the first push-pull rod 46 to move to the distal end, so that the swing head push-pull rod 47 and the swing head connecting piece 56 also move to the distal end, thereby driving the jaw assembly to bend to the right side.

[0037] The cutting anastomat comprises an instrument rod 20, which is a hollow structure for protecting the internal components, one end of the instrument rod 20 being located in the base 10, and the instrument rod 20 further comprising a first inner fastener 211 and a second inner fastener 212, the first slider 34 and the second slider 44 being respectively arranged in the sliding grooves of the first inner fastener 211 and the second inner fastener 212; the first pulley 35 being fixed on the pulley fixing member 352 through the pulley pin shaft 351, the pulley fixing member 352 being positioned by the first inner fastener 211 and the second inner fastener 212 clamping grooves and being fixed by the instrument rod 20.

[0038] The cutting anastomat further comprises a manual back-off assembly, which comprises a back-off knob 71, a ratchet wheel 72, and a back-off driving gear 73, the back-off driving gear 73 being engaged with the pusher driving gear 331; when the back-off knob 71 is rotated, the ratchet wheel 72 can be depressed, the ratchet wheel 72 being matched with the back-off driving gear 73, the back-off knob 71 being continuously rotated, the ratchet wheel 72 being synchronously driven to rotate the back-off driving gear 73, thereby driving the pusher driving gear 331 to rotate. Further, the manual back-off assembly further comprises a ratchet wheel limiting block 721, the ratchet wheel limiting block 721 being matched with the ratchet wheel 72 to limit the ratchet wheel to rotate only in the direction of pulling the tension cord and not in the direction of pulling the thrust cord. For example, viewed from the proximal end to the distal end, the ratchet wheel can only rotate in the same direction as the winding direction of the tension cord, for example, when the tension cord 311 is wound counterclockwise, the back-off knob 71 is counterclockwise rotated, the matched ratchet wheel 72 is depressed (at this time, if the back-off knob 71 is clockwise rotated, the back-off knob cannot be rotated due to the limitation of the ratchet wheel limiting block), the tapered spline at the lower end of the ratchet wheel 72 is matched with the tapered spline at the top of the back-off driving gear 73, at this time, the ratchet wheel 72 can be synchronously rotated with the back-off driving gear 73; in addition, a back-off spring 74 is further arranged, when the back-off knob 71 is released, the ratchet wheel 72 will be disengaged from the back-off driving gear 73 under the action of the back-off spring 74. During the operation, if the electrical components fail after the jaw assembly is closed, the jaw assembly may not be automatically opened. At this time, the back-off knob 71 is rotated in the direction that can be rotated, the matched ratchet wheel 72 is depressed, the tapered spline at the lower end of the ratchet wheel 72 is matched with the tapered spline at the top of the back-off driving gear 73, the ratchet wheel 72 and the back-off driving gear 73 can be synchronously rotated, the manual back-off knob 71 is continuously rotated, the back-off driving gear 73 is rotated to drive the pusher driving gear 331 to rotate, the pusher driving gear 331 is rotated to drive the pusher driven gear 332 to rotate, the pusher driven gear 332 is rotated to drive the large bevel gear 333 to rotate through the tapered gear part at the lower end, synchronously driving the limiting shaft 334 to rotate, the limiting shaft 334 is rotated to drive the thrust reel 322 and the tension reel 321 to rotate, the tension cord 311 pulls the slider 34 to move towards the proximal end, driving the pusher push-pull rod 36 to move axially to pull the I-beam 514, and the I-beam 514 moves backward to make the nail magazine base 512 open.

[0039] 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 specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0040] It is to be understood that the application is not limited to the precise construction described in the specification and shown in the drawings, and that various modifications and changes can be effected therein by those skilled in the art without departing from the scope of the application. The scope of the application is to be limited only by the appended claims.

Claims

1. A cutting stapler for surgical robotics, comprising: The base, the anastomosis assembly, the pusher assembly, the swing head assembly, the anastomosis assembly comprises a jaw assembly, the jaw assembly comprises: a staple abutment, a cartridge base, a cartridge, and an I-beam; the swing head assembly is used for driving the jaw assembly to bend; the pusher assembly comprises: a tension cord, a push cord, a tension reel, and a push reel; the tension reel and the push reel can rotate synchronously; one end of the tension cord is wound in a groove of the tension reel, and one end of the push cord is wound in a groove of the push reel; the winding directions of the tension cord and the push cord are opposite; when the push cord is pulled, the cartridge base is closed while the cartridge is fired; when the tension cord is pulled, the cartridge base is opened.

2. The cutting stapler for a surgical robot according to claim 1, characterized by The pusher assembly further comprises: a pusher chuck, a pusher driving gear, a pusher driven gear, a bevel gear, and a limiting shaft; the lower part of the pusher driven gear comprises a bevel gear part; the pusher chuck is fixedly connected with the pusher driving gear; the pusher driving gear is engaged with the pusher driven gear; the bevel gear part of the pusher driven gear is engaged with the bevel gear; the bevel gear is fixedly connected with the limiting shaft; the tension reel and the push reel are fixed on the limiting shaft.

3. The cutting stapler for a surgical robot according to claim 2, characterized by The pusher assembly further comprises: a first sliding block, a first pulley, and a pusher push-pull rod; the first pulley is located at the rear part of the first sliding block; the other end of the push cord is fixed on the first sliding block after passing through the first pulley; the other end of the tension cord is directly fixed on the first sliding block; the first sliding block is connected with one end of the pusher push-pull rod; the other end of the pusher push-pull rod is connected with the end of the anastomosis assembly.

4. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized by, The base further comprises a gear base; the pusher chuck serves as an input shaft; the shaft passes through the bearing of the base and the gear base in the radial direction and is fixed; the pusher chuck is axially limited by the buckle on the top of the pusher chuck and the pusher driving gear.

5. The cutting stapler for a surgical robot according to any one of claims 1 to 3, characterized by, The swing head assembly comprises: a first swing head pull cord, a second swing head pull cord, a swing head reel, a second sliding block, a second pulley, and a swing head chuck; the swing head reel is fixed on the swing head chuck; the second pulley is located at the rear part of the sliding block; one end of the second swing head pull cord is fixed on the second sliding block, and the other end is wound on the swing head chuck; one end of the first swing head pull cord is fixed on the second sliding block, and the other end is wound on the swing head reel after passing through the pulley and the second sliding block; the winding directions of the first swing head pull cord and the second swing head pull cord are opposite.

6. The cutting stapler for a surgical robot according to claim 5, wherein The anastomosis assembly comprises two fixed connecting pieces; the jaw assembly is provided with two fixed pin shafts; the fixed connecting pieces and the jaw assembly are riveted through the fixed pin shafts.

7. The cutting stapler for a surgical robot according to claim 6, characterized by The anastomosis assembly further comprises a swing head connecting piece and a connecting rod pin shaft; the swing head connecting piece and the jaw assembly are connected through the connecting rod pin shaft; when the swing head connecting piece is pushed and pulled, the jaw assembly can rotate around the fixed pin shaft.

8. The cutting stapler for a surgical robot according to claim 7, characterized by The swing head assembly further comprises a first push-pull rod and a swing head push-pull rod; one end of the first push-pull rod is fixedly connected with the second sliding block, and the other end is fixedly connected with one end of the swing head push-pull rod; the other end of the swing head push-pull rod is buckled with the swing head connecting piece.

9. The cutting stapler for a surgical robot as set forth in claim 2 or 3, characterized by The cutting anastomosis device further comprises a manual back-off assembly; the manual back-off assembly comprises: a back-off knob, a ratchet, and a back-off driving gear; the back-off driving gear is engaged with the pusher driving gear; when the back-off knob is rotated, the ratchet can be depressed; the ratchet is matched with the back-off driving gear; when the back-off knob is continuously rotated, the ratchet drives the back-off driving gear to rotate, thereby driving the pusher driving gear to rotate.

10. The cutting stapler for a surgical robot according to claim 9, characterized by The manual back-off assembly is further provided with a ratchet limiting block, which cooperates with the ratchet to limit the ratchet to rotate only in the direction of pulling the pulling rope and not in the direction of pulling the pushing rope.

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