Control method for prostate stapling device, and prostate stapling device

Abstract

The present invention relates to a control method for a prostate stapling device, and a prostate stapling device. The control method comprises: S1, in response to a single operation instruction input by a first switch, controlling a driving end of a first electric driving assembly to move in a first direction, such that a first actuating member is unlocked, and then, the first actuating member drives, under a mechanical external force, a second actuating member to move in the first direction, so as to execute needle insertion; S2, in response to another operation instruction input by the first switch, controlling the driving end of the first electric driving assembly to move in a second direction, so as to drive the first actuating member to move in the second direction to execute needle withdrawal; and after needle withdrawal, controlling the driving end to continue to move in the second direction, such that the second actuating member is unlocked, and then, the second actuating member moves in the second direction under a mechanical external force to execute suture withdrawal. In the control method of the present invention, a user only needs to operate the first switch twice to control the prostate stapling device to execute needle insertion, needle withdrawal and suture withdrawal, thereby reducing the operation difficulty of stapling, shortening the operation time of stapling and improving the stapling efficiency.

Description

Control method of prostate staple device and prostate staple device TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a control method of a prostate staple device and the prostate staple device. BACKGROUND

[0002] Benign prostatic hyperplasia is a common urological disease in men, which is prone to occur in elderly men. The main clinical manifestations are progressive dysuria, frequent urination, and even urinary retention, which seriously affects the quality of life of elderly men.

[0003] At present, minimally invasive treatment methods such as transurethral resection and enucleation, various laser surgeries, etc. are dominant. The means is to reduce or remove the hyperplastic prostate gland within the capsule to reduce the compression or mechanical obstruction of the hyperplastic gland to the prostatic urethra, thereby relieving urethral obstruction. Because these minimally invasive treatment methods destroy the tissue structure of the prostate, there are many surgical complications.

[0004] As a minimally invasive surgical method, prostate staple implantation surgery can implant staples in the obstructed prostatic urethra to tighten the enlarged prostate tissue and relieve the compression on the urethra, thereby restoring smooth urination. Compared with traditional resection and enucleation, prostate staple implantation surgery not only has less trauma and high safety, but also retains the integrity of the prostate function and avoids complications that may be caused by traditional surgery.

[0005] CN114980823A provides a device for preventing instrument deployment failure. The device provides mechanical driving force through handle trigger assembly, driving gear, cam and other components to drive the needle sliding member to move the needle joint assembly and suture needle assembly to achieve needle insertion, needle retraction and line retraction. In this scheme, because the single rotation angle of the cam is small, the driving stroke is limited, and therefore the user can only trigger one action by operating the handle trigger assembly once. That is, in the entire process of completing one staple, the user needs to manually operate the handle trigger assembly five times, corresponding to five steps: unlocking, needle insertion, needle retraction, line retraction and clamping and cutting. The operation is complicated. SUMMARY

[0006] Based on the above-mentioned defects in the prior art, the purpose of the present application is to provide a control method of a prostate staple device, which can control the prostate staple device to perform needle insertion, needle retraction and line retraction by operating the first switch twice, thereby reducing the difficulty and time of staple operation and improving the efficiency of the staple.

[0007] To this end, the present application provides the following technical solutions.

[0008] The application provides a control method of a prostate staple device, the prostate staple device comprising an implanting mechanism and an operating mechanism, the implanting mechanism comprising a needle assembly and a wire assembly, the operating mechanism comprising a first electric drive assembly, an actuating assembly and a first switch, the actuating assembly comprising a first actuating member and a second actuating member; the first actuating member is linked with the needle assembly, and the second actuating member is linked with the wire assembly.

[0009] The control method comprises the following steps.

[0010] S1, in response to a running instruction input by the first switch, controlling a driving end of the first electric drive assembly to move in a first direction to provide an acting force, so that the first actuating member is unlocked, and then the first actuating member drives the second actuating member to move in the first direction under mechanical external force to perform needle puncture.

[0011] S2, in response to another running instruction input by the first switch, controlling the driving end of the first electric drive assembly to move in a second direction to drive the first actuating member to move in the second direction to perform needle retraction, and after needle retraction, controlling the driving end to continue to move in the second direction to provide an acting force, so that the second actuating member is unlocked, and then the second actuating member moves in the second direction under mechanical external force to perform wire retraction.

[0012] Wherein, when the actuating assembly is in an initial state, the first actuating member is locked; when needle puncture is completed or in an initial stage of needle retraction, the second actuating member is locked; the first direction and the second direction are opposite.

[0013] Optionally, the implanting mechanism further comprises a clamping and cutting assembly comprising a proximal anchor and a cutting knife; when the clamping and cutting assembly is in an initial state, it is locked; the operating mechanism comprises a second electric drive assembly.

[0014] After step S2, step S3 is further included.

[0015] In response to a running instruction input by the first switch again, controlling a driving end of the second electric drive assembly to move in a third direction to provide an acting force, so that the clamping and cutting assembly is unlocked, and then the proximal anchor and the cutting knife can move towards each other under mechanical external force to perform clamping and cutting.

[0016] Optionally, the operating mechanism comprises a second switch.

[0017] Before step S1, step S0 is further included: in response to a running instruction input by the second switch, controlling the prostate staple device to start, and controlling the actuating assembly to automatically align to an initial state.

[0018] Optionally, the operating mechanism further comprises a needle elastic member and an unlocking member, the unlocking member being connected to the driving end of the first electric drive assembly;

[0019] Step S1 further comprises: the driving end of the first electric drive assembly drives the unlocking member to move in the first direction, the unlocking member moves to make the first actuating member disengage from the lock, and then the first actuating member drives the second actuating member in the first direction under the action of the needle elastic member to perform needle insertion.

[0020] Optionally, the operating mechanism further comprises a take-up elastic member and an unlocking member;

[0021] Step S2 further comprises: the driving end of the first electric drive assembly drives the unlocking member to move in the second direction, the unlocking member moves to make the second actuating member disengage from the lock, and then the second actuating member moves in the second direction under the action of the take-up elastic member to perform take-up.

[0022] Optionally, the first electric drive assembly comprises a first motor, a first gear and a first rack that are mutually engaged, the first rack constituting the driving end of the first electric drive assembly;

[0023] In step S1, the driving end of the first electric drive assembly is controlled to move in the first direction, specifically comprising: the first motor is controlled to rotate forward to make the first rack move in the first direction.

[0024] Optionally, the second electric drive assembly comprises a second motor, a second gear and a second rack that are mutually engaged, the second rack constituting the driving end of the second electric drive assembly;

[0025] In step S3, the driving end of the second electric drive assembly is controlled to move in the third direction, specifically comprising: the second motor is controlled to rotate forward to make the second rack move in the third direction.

[0026] Optionally, the operating mechanism further comprises a trigger member connected to the driving end of the second electric drive assembly;

[0027] Step S3 further comprises: the driving end of the second electric drive assembly drives the trigger member to move in the third direction, the trigger member moves to make the clamping and cutting assembly disengage from the lock.

[0028] Optionally, the implanting mechanism further comprises a first indicator light, a second indicator light, a third indicator light and a fourth indicator light; the control method further comprises:

[0029] In response to completion of automatic calibration, the first indicator light is controlled to be lighted up;

[0030] controlling the second indicator light to light up in response to completion of the needle insertion;

[0031] controlling the third indicator light to light up in response to completion of the needle and thread retraction;

[0032] controlling the fourth indicator light to light up in response to completion of the clamping and cutting.

[0033] The application also provides a prostate staple device, which comprises:

[0034] an implanting mechanism comprising a needle assembly, a thread assembly and a clamping and cutting assembly;

[0035] an operating mechanism comprising a first electric drive assembly, an actuating assembly, a first switch, a second electric drive assembly and a second switch, wherein the actuating assembly comprises a first actuating member and a second actuating member, the first actuating member is linked with the needle assembly, and the second actuating member is linked with the thread assembly;

[0036] a memory storing a computer program;

[0037] a processor configured to execute the computer program to realize the control method as described above.

[0038] The application has the following technical effects:

[0039] The application provides a control method of a prostate staple device, wherein a user only needs to operate the first switch twice to control the prostate staple device to perform needle insertion, needle and thread retraction, thereby reducing the difficulty and time of staple operation and improving the efficiency of staple operation. BRIEF DESCRIPTION OF DRAWINGS

[0040] Fig. 1 is a step flow chart of the control method of the prostate staple device according to the application;

[0041] Fig. 2 is an exploded view of the structure of the prostate staple device according to the application;

[0042] Fig. 3 is a partial perspective view of the operating mechanism of the prostate staple device according to the application when the actuating assembly is in an initial state;

[0043] Fig. 4 is an assembly relationship diagram of the first electric drive assembly, the unlocking member, the first optical coupler, the second optical coupler and the third optical coupler of the prostate staple device according to the application when the actuating assembly is in the initial state;

[0044] Fig. 5 is another assembly relationship diagram of the first electric drive assembly, the unlocking member, the first optical coupler, the second optical coupler and the third optical coupler of the prostate staple device according to the application when the actuating assembly is in the initial state;

[0045] Fig. 6 is a perspective view of the actuating assembly of the prostate staple device according to the application when the actuating assembly is in the initial state;

[0046] Figure 7 is a partial structural exploded view of the actuating assembly of the present application;

[0047] Figure 8 is a partial perspective view of the actuating assembly of the present application when the actuating assembly is in the initial state;

[0048] Figure 9 is an enlarged view of A in Figure 8;

[0049] Figure 10 is a partial structural enlarged view of the first mounting member of the present application;

[0050] Figure 11 is an assembled structural relationship view of the actuating assembly and the first electric drive assembly of the present application when the actuating assembly is in the initial state;

[0051] Figure 12 is a partial structural front view of the operating mechanism of the present application when the actuating assembly is in the initial state;

[0052] Figure 13 is a partial structural front view of the operating mechanism of the present application when the lancet is completed;

[0053] Figure 14 is a partial structural front view of the operating body of the present application when the wire slide member is locked;

[0054] Figure 15 is a partial structural front view of the operating mechanism of the present application during the needle retraction process;

[0055] Figure 16 is a partial structural front view of the operating mechanism of the present application when the actuating assembly is reset to the initial position and the unlocking member is not reset;

[0056] Figure 17 is an assembled structural relationship view of the second electric drive assembly, the trigger member, the travel switch trigger element, the first travel switch and the second travel switch of the present application when the clamping and cutting operation is not performed;

[0057] Figure 18 is a structural exploded view of the implanting mechanism of the present application;

[0058] Figure 19 is a partial structural view of the implanting mechanism of the present application;

[0059] Figure 20 is a partial structural sectional view of the implanting mechanism of the present application;

[0060] Figure 21 is an enlarged view of B in Figure 20;

[0061] Figure 22 is a structural relationship view of the staple wire and the first anchor member of the implanting mechanism of the present application;

[0062] Figure 23 is a structural relationship view of the second anchor member and the cutting knife of the implanting mechanism of the present application;

[0063] Figure 24 is a partial structural exploded view of the clamping and cutting assembly of the present application;

[0064] Figure 25 is a perspective structural view of the prostate staple device of the present application.

[0065] BRIEF DESCRIPTION OF DRAWINGS

[0066] 100, prostate staple device;

[0067] 1, implanting mechanism;

[0068] 11, needle assembly; 111, puncture needle connecting piece; 1111, second plug-in part; 112, puncture needle; 113, first anchor; 114, puncture needle guide tube;

[0069] 12, wire assembly; 121, staple wire connecting piece; 1211, fourth plug-in part; 122, staple wire; 123, staple wire guide tube; 124, staple wire support tube;

[0070] 13, clamping and cutting assembly; 131, second anchor; 132, cutter; 133, third actuating piece; 1331, first clamping groove; 134, fourth actuating piece; 1341, second abutting part; 135, spring; 136, first locking piece; 1361, first clamping protrusion; 1362, pushing part; 137, second locking piece; 1371, pushed part; 1372, first abutting part; 138, push rod; 139, pull rod;

[0071] 14, second mounting piece; 15, gun head welding assembly; 16, outer cover; 17, base body; 18, locking knob;

[0072] 2, operating mechanism;

[0073] 21, first electric drive assembly; 211, first motor; 2111, first output shaft; 212, first gear; 213, first rack; 2131, boss; 214, second guide rail; 215, sliding block;

[0074] 22, actuating assembly;

[0075] 221, first actuating piece; 2211, first protrusion; 22111, first protruding part; 221111, first abutting surface; 221112, second inclined surface; 2212, third protrusion; 2213, first mounting column; 2214, first plug-in part; 2215, hook part; 2216, second clamping part;

[0076] 222, second actuating piece; 2221, second protrusion; 22211, second protruding part; 222111, second abutting surface; 222112, fourth inclined surface; 2222, clamping structure; 2223, third plug-in part; 2224, fourth protrusion; 22241, bending part;

[0077] 223, wire winding elastic piece;

[0078] 224、first mounting member; 2241、first guide rail; 2242、first locking structure; 22421、first connecting arm; 22422、first stop portion; 224221、first stop surface; 224222、first inclined surface; 22423、first extension arm; 2243、second locking structure; 22431、second connecting arm; 22432、second stop portion; 224321、second stop surface; 224322、third inclined surface; 22433、second extension arm; 2244、first through hole; 2245、second through hole; 2246、second mounting column; 22471、first hollow portion; 22472、second hollow portion; 22473、connecting portion; 2248、groove; 2249、first clamping portion;

[0079] 225、needle elastic member;

[0080] 226、unlocking member; 2261、first unlocking structure; 2262、second unlocking structure; 2263、first blocking piece; 2264、second blocking piece;

[0081] 23、first switch;

[0082] 24、second electric drive assembly; 241、second motor; 2411、second output shaft; 242、second gear; 243、second rack; 244、guide rod;

[0083] 25、trigger member; 251、trigger end; 252、detected end;

[0084] 26、second switch;

[0085] 27、housing; 271、handle; 272、main body portion; 273、first shell; 274、second shell;

[0086] 281、travel switch trigger element; 282、first optocoupler; 283、second optocoupler; 284、third optocoupler; 285、first travel switch; 286、second travel switch;

[0087] 291、endoscope sheath; 292、battery; 2931、first indicator light; 2932、second indicator light; 2933、third indicator light; 2934、fourth indicator light. DETAILED DESCRIPTION

[0088] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following will be described in detail by way of listing specific embodiments. Unless otherwise defined, the technical and scientific terms used herein have the same meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0089] In the description of the present application, unless specifically defined otherwise, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of the simplified description of the present application, and do not indicate that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as limiting the present application.

[0090] In the present application, the terms "first", "second" are only used for the purpose of clear description, and cannot be understood as the relative importance of the indicated features or the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two; the meaning of "several" is at least one; except for explicit definition.

[0091] In the present application, unless specifically defined otherwise, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be broadly understood. For example, "connecting" can be fixed connection, detachable connection or integral molding; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can also be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0092] In the present application, unless specifically defined otherwise, the first feature "on", "over", "above" and "on", "below", "under", "below" or "below" the second feature can be direct contact between the first feature and the second feature, or indirect contact between the first feature and the second feature through intermediate medium. Moreover, the first feature "over", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than the horizontal height of the second feature. The first feature "under", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than the horizontal height of the second feature.

[0093] The prostate staple device of the present application will be described in detail below according to FIGS. 2 to 25.

[0094] In the embodiment, as shown in FIGS. 2, 18, 19, 22 and 25, the prostate staple device 100 comprises an implantation mechanism 1 and an operation mechanism 2, the implantation mechanism 1 comprises a needle assembly 11, a wire assembly 12, a memory and a processor, the memory stores a computer program, and the processor is used to execute the computer program to control the prostate staple device 100 to perform staple implantation. The needle assembly 11 comprises a puncture needle 112 and a first anchor 113, the first anchor 113 is pre-placed in the puncture needle 112 in a hollow structure, and the wire assembly 12 comprises a staple wire 122, one end of the staple wire 122 is connected with the first anchor 113.

[0095] As shown in FIGS. 2 to 7, the operation mechanism 2 comprises a first electric drive assembly 21 and an actuating assembly 22, the first electric drive assembly 21 comprises a first motor 211, a first gear 212 and a first rack 213 which are in mesh with each other, and the first gear 212 is coaxially connected with a first output shaft 2111 of the first motor 211. The actuating assembly 22 comprises a first actuating member 221, a second actuating member 222, a wire-retracting elastic member 223 and a needle-elastic member 225, the wire-retracting elastic member 223 is connected with the first actuating member 221 and the second actuating member 222 respectively, and the needle-elastic member 225 is fixed at one end and connected with the first actuating member 221 at the other end. The first actuating member 221 is in transmission connection with the needle assembly 11, and the second actuating member 222 is in transmission connection with the wire assembly 12.

[0096] In use of the prostate staple device 100, the implantation end of the implantation mechanism 1 is inserted into the proximal side of the prostate bundle, then the user controls the implantation mechanism 1 to perform needle puncture, needle retraction and wire retraction through the operation mechanism 2.

[0097] Specifically, as shown in FIGS. 9 and 12, when the actuating assembly 22 is in an initial state, the first actuating member 221 is locked and the needle-elastic member 225 is in an energy storage state, and under the pulling of the wire-retracting elastic member 223, the second actuating member 222 abuts against the first actuating member 221 in a second direction b.

[0098] As shown in FIG. 3, FIG. 4, FIG. 6, FIG. 12 and FIG. 13, when the needle is being inserted, the first motor 211 rotates forward, under the meshing transmission of the first gear 212 and the first rack 213, the first gear 212 drives the first rack 213 to move linearly in the first direction a, and the linear driving force provided by the first rack 213 causes the first actuating member 221 to be unlocked, then, under the rebound force of the needle insertion spring 225, the first actuating member 221 drives the second actuating member 222 to move from the initial position to the needle insertion completion position in the first direction a, wherein the first actuating member 221 drives the needle assembly 11 to move, and the second actuating member 222 drives the thread assembly 12 to move, so as to implement the needle insertion to the prostate, at this time, the puncture needle 112, together with the first anchor 113, penetrates the prostate, that is, the first anchor 113 and the staple thread 122 are delivered to the distal side of the prostate by the puncture needle 112.

[0099] As shown in FIG. 14, in the initial stage of the needle insertion completion or needle retraction, the second actuating member 222 is locked.

[0100] As shown in FIG. 3, FIG. 4, FIG. 6, FIG. 13 to FIG. 15, when the needle is being retracted, the first motor 211 reverses, the first gear 212 drives the first rack 213 to move linearly in the second direction b, the first rack 213 drives the first actuating member 221 to drive the needle assembly 11 to move in the second direction b, at this time, the puncture needle 112 is retracted from the prostate, the first anchor 113 remains on the distal side of the prostate, and one end of the staple thread 122 penetrates the prostate to be connected with the first anchor 113. Since the second actuating member 222 is locked, during the retraction of the puncture needle 112 from the prostate, the second actuating member 222 is fixed and does not move, and during the movement of the first actuating member 221 in the second direction b, the thread retraction spring 223 is pulled by the first actuating member 221 to store energy, after the puncture needle 112 is retracted from the prostate, as shown in FIG. 15 and FIG. 16, the second actuating member 222 moves in the second direction b under the elastic force of the thread retraction spring 223 and abuts against the first actuating member 221 in the second direction b, the second actuating member 222 moves to tighten the thread assembly 12, and performs the thread retraction, under the continuous driving of the first rack 213, the first actuating member 221 continues to move in the second direction b to drive the needle assembly 11 to reset to the initial position, and the needle retraction and thread retraction are completed. Wherein the first direction a and the second direction b are opposite.

[0101] By adopting the technical scheme, the prostate staple device 100 is configured with the first electric drive assembly 21, which directly provides linear driving force through cooperation of the first motor 211, the first gear 212 and the first rack 213 to trigger execution of the needle puncture, needle retraction and thread retraction, realize intelligent staple operation, and compared with the scheme of cooperation of the gear and the cam in the prior art CN114980823A, the linear motion stroke length of the first rack 213 in the scheme is adjustable, and the needle retraction and thread retraction can be triggered in sequence by driving the first rack 213 to perform motion in the second direction b once by the first motor 211, the operation is more convenient, and the staple efficiency can be improved. In addition, the first electric drive assembly 21 runs stably and has stable structure, compared with the scheme of cooperation of the gear and the cam in the prior art, vibration and noise generated in the staple process can be reduced, damage is not easy to occur, and the service life is long.

[0102] It should be understood that herein, "proximal" and "distal" are relative positions, wherein the proximal end of the prostate refers to the part of the prostate tissue close to the urethra, and the distal end of the prostate refers to the part of the prostate tissue far away.

[0103] It should be understood that in the normal use state of the prostate staple device 100, the front end of the prostate staple device 100 faces the patient, herein, the direction from back to front represents "first direction a", the direction from front to back represents "second direction b", and the direction from bottom to top represents "third direction c". The "first direction a" and "second direction b" mentioned herein are based on the indications in FIGS. 2, 3, 4, 10 and 12, and the "third direction c" is based on the indications in FIGS. 2, 3 and 12.

[0104] It should be understood that herein, "needle retraction" refers to retracting the puncture needle 112 from the prostate, and the thread retraction can be performed after the puncture needle 112 is retracted from the prostate.

[0105] In an embodiment, as shown in FIGS. 2 and 25, the operating mechanism 2 further comprises a first switch 23 for triggering the first electric drive assembly 21 to operate. When the actuating assembly 22 is in the initial state, the first switch 23 is operated once to trigger the prostate staple device 100 to perform needle puncture, and then the first switch 23 is operated again to trigger the prostate staple device 100 to perform needle retraction and thread retraction. In the scheme, the user only needs to operate the first switch 23 twice to control the prostate staple device 100 to perform needle puncture, needle retraction and thread retraction, compared with the scheme of manual operation three times to realize needle puncture, needle retraction and thread retraction in the prior art CN114980823A, the scheme saves one operation, reduces the difficulty and operation time of staple operation, and improves the staple efficiency.

[0106] In an embodiment, when the needle assembly 11 completes the lancing, the second locking structure 2243 does not lock the second actuating member 222, and when the needle retraction starts, the first motor 211 reverses, the first gear 212 drives the first rack 213 to move linearly in the second direction b, the first rack 213 drives the needle sliding member 221 and the unlocking element 226 to move in the second direction b, and the second actuating member 222 is slightly moved in the second direction b and then locked by the second locking structure 2243, i.e., in the initial stage of the needle retraction, the second actuating member 222 is locked. Of course, the second actuating member 222 can also be locked at the same time when the lancing is completed, but this scheme has strict requirements on the assembly tolerance of the parts. Therefore, preferably, the second actuating member 222 is locked in the initial stage of the needle retraction. Hereinafter, for the convenience of description, the second actuating member 222 is locked in the initial stage of the needle retraction is taken as an example for specific description.

[0107] In an embodiment, as shown in FIG. 6, the actuating assembly 22 further comprises a first mounting member 224, the first mounting member 224 is provided with a first guide rail 2241, the first actuating member 221 and the second actuating member 222 are movably connected to the first guide rail 2241 respectively, and one end of the needle elastic member 225 is connected to the first mounting member 224.

[0108] In an embodiment, as shown in FIG. 6, the needle elastic member 225 is a tension spring, the first mounting member 224 is provided with a second mounting column 2246, the first actuating member 221 is provided with a hook portion 2215, the hook portion 2215 and the second mounting column 2246 are distributed along the first direction a, one end of the needle elastic member 225 is hung on the second mounting column 2246, and the other end is hung on the hook portion 2215, and when the actuating assembly 22 is in the initial position, the needle elastic member 225 is stretched.

[0109] In an embodiment, as shown in FIG. 6 and FIG. 7, the take-up elastic member 223 is a coil spring, the first actuating member 221 is provided with a first mounting column 2213, the second actuating member 222 is provided with a clamping structure 2222, one end of the take-up elastic member 223 is wound around the first mounting column 2213, and the other end is clamped to the clamping structure 2222. As shown in FIG. 14, when the first actuating member 221 moves in the second direction b and the second actuating member 222 is locked, the take-up elastic member 223 is stretched, and as shown in FIG. 15, after the second actuating member 222 is unlocked, the take-up elastic member 223 is retracted to drive the second actuating member 222 to move in the second direction b.

[0110] In an embodiment, as shown in FIG. 6 to FIG. 9, the first mounting member 224 is provided with the first locking structure 2242 and the second locking structure 2243 which are distributed along the first direction a in sequence.

[0111] When the actuating assembly 22 is in the initial state, the first locking structure 2242 is at least partially located on the travel path of the first actuating member 221 in the first direction a, so that the first locking structure 2242 can prevent the first actuating member 221 from moving in the first direction a, achieving locking. When the needle is performed, the first rack 213 provides power to move the first locking structure 2242 away from the travel path of the first actuating member 221 in the first direction a, and the first locking structure 2242 is unlocked to allow the first actuating member 221 to move in the first direction a under the elastic force of the needle elastic member 225.

[0112] In the process of performing the needle, the second actuating member 222 moves along with the first actuating member 221 in the first direction a, and when the needle assembly 11 completes the needle, the first actuating member 221 and the second actuating member 222 both stop moving. At this time, the second locking structure 2243 is at least partially located on the travel path of the second actuating member 222 in the second direction b, so that when the needle is started, the second actuating member 222 is locked by the second locking structure 2243 after a slight movement in the second direction b, and the second actuating member 222 cannot continue to move along with the first actuating member 221 in the second direction b, so that the needle can be performed first, and the puncture needle 112 is withdrawn from the prostate. When the puncture needle 112 is withdrawn from the prostate, the first rack 213 provides power to unlock the second locking structure 2243 by allowing it to move, so that the second actuating member 222 moves in the second direction b under the elastic force of the line elastic member 223 to achieve the line. Preferably, the gap between the second locking structure 2243 and the locked part of the second actuating member 222 is configured to be 1 mm -2mm when the needle assembly 11 completes the needle, reserving the assembly process gap, while also locking the second actuating member 222 at the moment of starting the needle.

[0113] In an embodiment, as shown in FIGS. 4, 9 and 11, the actuating assembly 22 further comprises an unlocking member 226 connected to the first rack 213, and the unlocking member 226 is provided with a first unlocking structure 2261 and a second unlocking structure 2262 distributed in the first direction a in sequence. When the needle is performed, the first rack 213 drives the unlocking member 226 to move in the first direction a, and the first locking structure 2242 is unlocked by driving the first unlocking structure 2261 to move. When the needle is performed, the first rack 213 drives the unlocking member 226 to move in the second direction b, and the second locking structure 2243 is unlocked by driving the second unlocking structure 2262 to move. In this scheme, the unlocking member 226 is separately provided, which can reduce the processing difficulty of the first rack 213 and save the processing cost compared with directly forming the first unlocking structure 2261 and the second unlocking structure 2262 on the first rack 213.

[0114] Further, as shown in FIGS. 7-11, the first locking structure 2242 includes a first connecting arm 22421, a first stop 22422 and a first extension arm 22423, one end of the first connecting arm 22421 is a free end and the other end is fixed on the body of the first mounting member 224, the first stop 22422 and the first extension arm 22423 are connected to the free end of the first connecting arm 22421 respectively. When the actuating assembly 22 is in the initial state, the first actuating member 221 is at least partially locked against the first stop 22422 in the first direction a, and the first extension arm 22423 is at least partially located on the travel path of the first unlocking structure 2261 in the first direction a. It should be understood that at this time, the force exerted by the needle spring 225 on the first actuating member 221 is not enough to make the first actuating member 221 overcome the blocking force of the first stop 22422, thereby ensuring the stability of the lock. When the needle is performed, during the movement of the unlocking member 226 in the first direction a, the first unlocking structure 2261 moves to contact and press the first extension arm 22423, so that the first connecting arm 22421 deforms, thereby making the first stop 22422 displace and away from the first actuating member 221, achieving unlocking. Further, the first actuating member 221 is provided with a first protrusion 22111, which is locked against the first stop 22422 in the first direction a.

[0115] The second locking structure 2243 comprises a second connecting arm 22431, a second stop portion 22432 and a second extending arm 22433, one end of the second connecting arm 22431 is a free end and the other end is fixed to the body of the first mounting member 224, and the second stop portion 22432 and the second extending arm 22433 are connected to the free end of the second connecting arm 22431 respectively. As shown in FIG. 13 and FIG. 14, in the initial stage of the take-up process, the second actuating member 222 is at least partially locked against the second stop portion 22432 in the second direction b, and the second extending arm 22433 is at least partially located on the travel path of the second unlocking structure 2262 in the second direction b, and it should be understood that at this time, the force exerted by the take-up elastic member 223 on the second actuating member 222 is insufficient to make the second actuating member 222 overcome the blocking force of the second stop portion 22432. As shown in FIG. 9, FIG. 11, FIG. 14 to FIG. 16, in the process of continuing to take up the needle, in the process of moving the unlocking member 226 along with the first rack 213 in the second direction b, the second unlocking structure 2262 moves to contact and press the second extending arm 22433, so that the second connecting arm 22431 deforms, and then the second stop portion 22432 is displaced to disengage from the second actuating member 222, achieving unlocking, and the second actuating member 222 moves in the second direction b to take up the thread. Further, as shown in FIG. 9 and FIG. 15, the second actuating member 222 is provided with a second protruding portion 22211, which is locked against the second stop portion 22432 in the second direction b.

[0116] Further, as shown in FIG. 7 to FIG. 10, the first mounting member 224 is provided with a first hollow portion 22471 and a second hollow portion 22472 which are sequentially distributed in the first direction a, and the first hollow portion 22471 and the second hollow portion 22472 are connected by a connecting portion 22473, the first connecting arm 22421 is located in the first hollow portion 22471 and its fixed end is connected to the connecting portion 22473, and the first extending arm 22423 extends towards the unlocking member 226 and extends out of the first hollow portion 22471; the second connecting arm 22431 is located in the second hollow portion 22472 and its fixed end is connected to the connecting portion 22473, and the second extending arm 22433 extends towards the unlocking member 226 and extends out of the second hollow portion 22472. In this scheme, the first locking structure 2242 and the second locking structure 2243 are arranged compactly, and are both connected to the body of the first mounting member 224 through the connecting portion 22473, which is simple in structure and convenient for processing.

[0117] In an embodiment, as shown in FIG. 6 and FIG. 24, when the actuating mechanism 22 is moved to the full needle position, the wire sliding member 222 abuts against the second mounting post 2246, and the actuating mechanism 22 is stopped, that is, the second mounting post 2246 also serves to limit the movement of the actuating mechanism 22 in the first direction a. When the actuating mechanism 22 is in the full needle position, the second protruding portion 22211 of the second actuating member 222 and the second stop portion 22432 of the second locking structure 2243 are sequentially distributed along the second direction b, and the distance between them is 1mm-2mm.

[0118] In an embodiment, as shown in FIG. 6 and FIG. 9, the first locking structure 2242 and the second locking structure 2243 are located above the first guide rail 2241, the first protruding portion 22111 is arranged on the top wall of the first actuating member 221, the second protruding portion 22211 is arranged on the top wall of the second actuating member 222, the first stop portion 22422 and the first protruding portion 22111 are opposite in position along the first direction a, and the second stop portion 22432 and the second protruding portion 22211 are opposite in position along the second direction b. The first locking structure 2242 and the second locking structure 2243 are both arranged in axial symmetry, which is beneficial to simplify the structural design.

[0119] Further, as shown in FIG. 9 and FIG. 10, the first stop portion 22422 includes a first stop surface 224221 and a first inclined surface 224222, the first protruding portion 22111 includes a first abutting surface 221111 and a second inclined surface 221112, the first stop surface 224221 and the first abutting surface 221111 are both perpendicular to the first direction a, and the first inclined surface 224222 extends in a direction away from the first actuating member 221 along the first direction a. When the actuating assembly 22 is in the initial state, the first stop surface 224221 and the first abutting surface 221111 stably abut, and the second protruding portion 22211 is located between the first locking structure 2242 and the second locking structure 2243, so that the second protruding portion 22211 does not interfere with the first locking structure 2242. When the needle is completed, the first protruding portion 22111 is located between the first locking structure 2242 and the second locking structure 2243, so that when the needle is retracted, the first actuating member 221 moves along the second direction b to abut the second inclined surface 221112 against the first inclined surface 224222. Since the two are inclined surface matching, under the drive of the first rack 213, the first actuating member 221 can smoothly overcome the obstruction of the first inclined surface 224222, and the first protruding portion 22111 smoothly passes through the first stop portion 22422 and is then locked by the first stop portion 22422.

[0120] The second stop portion 22432 comprises a second stop surface 224321 and a third inclined surface 224322, and the second protruding portion 22211 comprises a second abutting surface 222111 and a fourth inclined surface 222112, the second stop surface 224321 and the second abutting surface 222111 are both perpendicular to the second direction b, and the third inclined surface 224322 extends in a direction away from the second actuating member 222 in the second direction b. When the lancet is performed, the second actuating member 222 moves along the first direction a to the fourth inclined surface 222112 abutting against the third inclined surface 224322 along with the first actuating member 221, and due to the inclined surface cooperation, the rebounding force of the lancet elastic member 225 is sufficient to drive the second actuating member 222 to overcome the resistance of the third inclined surface 224322, the second protruding portion 22211 smoothly passes through the second stop portion 22432, continues to move along the first direction a, and when the actuating assembly 22 reaches the lancet completion position, the first protruding portion 22111 is located between the first locking structure 2242 and the second locking structure 2243, and the first protruding portion 22111 does not interfere with the second locking structure 2243.

[0121] Further, as shown in FIG. 9, the number of the first protruding portions 22111 is two, and the number of the second protruding portions 22211 is two, the two first protruding portions 22111 are sequentially distributed along the first direction a, and the two second protruding portions 22211 are sequentially distributed along the second direction b, to ensure the stability of the corresponding locking function. It should be understood that in the process of the first unlocking structure 2261 forcing the first connecting arm 22421 to deform, the two first protruding portions 22111 can smoothly pass through the first stop portion 22422; in the process of the second unlocking structure 2262 forcing the second connecting arm 22431 to deform, the two second protruding portions 22211 can smoothly pass through the second stop portion 22432.

[0122] In an embodiment, as shown in FIG. 2, FIG. 6 and FIG. 11, the first actuating member 221, the second actuating member 222 and the take-up elastic member 223 are located on the side of the first mounting member 224 facing the implantation mechanism 1, and the first electrically driven assembly 21 and the unlocking member 226 are located on the side of the first mounting member 224 facing away from the implantation mechanism 1. As shown in FIG. 8 and FIG. 9, the first mounting member 224 is provided with a first through hole 2244 extending along the first direction a, the first actuating member 221 comprises a first protrusion 2211, the second actuating member 222 comprises a second protrusion 2221, the first protrusion 2211 is provided with a first protruding portion 22111, and the second protrusion 2221 is provided with a second protruding portion 22211. The first protrusion 2211 is movably inserted into the first through hole 2244, so that the first protruding portion 22111 can abut against the first locking structure 2242 along the first direction a and be locked. The second protrusion 2221 is movably inserted into the first through hole 2244, so that the second protruding portion 22211 can abut against the second locking structure 2243 along the second direction b and be locked. In this scheme, the components of the actuating assembly 22 are arranged reasonably and compactly, which is conducive to the miniaturization design of the operating mechanism 2.

[0123] Further, in order to facilitate the thin design of the first mounting member 224, as shown in FIG. 8 and FIG. 9, the side of the first mounting member 224 facing away from the implantation mechanism 1 is provided with a groove 2248 located above the first through hole 2244 and communicating with the first through hole 2244, the first connecting arm 22421 and the second connecting arm 22431 are located above the groove 2248, the first stop portion 22422 and the second stop portion 22432 extend into the groove 2248, the first protruding portion 22111 and the second protruding portion 22211 are located in the groove 2248, and the groove 2248 is used to accommodate part of the structure of the actuating assembly 22. In addition, the first protrusion 2211 and the second protrusion 2221 abut against the groove wall of the groove 2248 respectively, which can prevent the first actuating member 221 and the second actuating member 222 from being separated from the first guide rail 2241.

[0124] In an embodiment, as shown in FIG. 4 and FIG. 8, the first actuating member 221 comprises a third protrusion 2212, and the first rack 213 is provided with a boss 2131. When the needle is retracted, the boss 2131 can abut against the third protrusion 2212 along the second direction b, so that the first rack 213 drives the first actuating member 221 to move along the second direction b to complete the needle retraction. Further, as shown in FIG. 7 and FIG. 8, the first mounting member 224 is provided with a second through hole 2245 extending along the first direction a, and the third protrusion 2212 is movably inserted into the second through hole 2245, and the third protrusion 2212 partially extends out of the second through hole 2245.

[0125] Further, as shown in FIG. 4 and FIG. 11, when the actuating assembly 22 is in the initial state, the boss 2131 and the third protrusion 2212 are spaced apart in the first direction a, so that when the actuating assembly 22 is moved in the first direction a under the rebounding force of the needle spring 225, the boss 2131 does not interfere with the movement of the third protrusion 2212, and does not hinder the first actuating member 221 from moving to the needle completion position in the first direction a. In addition, when the needle is completed, the first rack 213 drives the unlocking member 226 to move to the unlocking member initial position in the second direction b, at this time, the boss 2131 abuts against the third protrusion 2212 in the second direction b, or the boss 2131 and the third protrusion 2212 are spaced apart in the second direction b, for example, by 1-2 mm, to reserve a gap for assembly process, so that when the needle needs to be retracted, the first rack 213 can immediately drive the first actuating member 221 to move in the second direction b, and at the same time, the unlocking member 226 in the initial position also moves in the second direction b, so that after the puncture needle 112 is retracted from the prostate, the second actuating member 222 is unlocked by the unlocking member 226.

[0126] In an embodiment, as shown in FIG. 6-8, the first guide rail 2241 is formed between the first through hole 2244 and the second through hole 2245, and the first protrusion 2211 and the third protrusion 2212 of the first actuating member 221 are respectively inserted into the first through hole 2244 and the second through hole 2245, so that the first actuating member 221 is in sliding fit with the first guide rail 2241, and the components of the actuating assembly 22 are arranged compactly, which is beneficial to the miniaturization design of the prostate staple device 100.

[0127] In an embodiment, as shown in FIG. 7 and FIG. 8, the second actuating member 222 is provided with a fourth protrusion 2224, the fourth protrusion 2224 is inserted into the second through hole 2245, and the outer end of the fourth protrusion 2224 is formed with a bent portion 22241, the bent portion 22241 abuts against the side wall of the first mounting member 224 away from the implant mechanism 1, and as shown in FIG. 9, the upper part of the second actuating member 222 abuts against the side wall of the first mounting member 224 away from the implant mechanism 1 through the second protrusion 22211, so that the second actuating member 222 is stably in sliding fit with the first guide rail 2241.

[0128] In an embodiment, as shown in FIG. 6 and FIG. 8, the first mounting member 224 is provided with a first clamping portion 2249, the bottom of the first actuating member 221 is provided with a second clamping portion 2216, the top of the first actuating member 221 abuts against the groove wall of the groove 2248 through the first protrusion 2211, and the bottom of the first actuating member 221 is movably clamped with the first clamping portion 2249 through the second clamping portion 2216, so that the first actuating member 221 is stably in sliding fit with the first guide rail 2241.

[0129] In an embodiment, as shown in FIG. 6, the first actuating member 221 and the second actuating member 222 are sequentially arranged along the first direction a, and when the actuating assembly 22 is in the initial state, the second actuating member 222 abuts against the first actuating member 221 along the second direction b under the action of the take-up elastic member 223, so that when the lancet is performed, the first actuating member 221 can drive the second actuating member 222 to move along the first direction a.

[0130] In an embodiment, as shown in FIG. 6 and FIG. 19, the first actuating member 221 is provided with a first plug-in part 2214, the needle assembly 11 includes a second plug-in part 1111, the first plug-in part 2214 and the second plug-in part 1111 are plugged in to drive connect the first actuating member 221 with the needle assembly 11. The second actuating member 222 is provided with a third plug-in part 2223, the wire assembly 12 includes a fourth plug-in part 1211, the third plug-in part 2223 and the fourth plug-in part 1211 are plugged in to drive connect the second actuating member 222 with the wire assembly 12. In a specific embodiment, the first plug-in part 2214 and the third plug-in part 2223 are both clamping groove structures, and the second plug-in part 1111 and the fourth plug-in part 1211 are both clamping protrusions, and the plug-in connection of the clamping groove and the clamping protrusion realizes detachable assembly.

[0131] In an embodiment, the implanting mechanism 1 and the operating mechanism 2 are detachably connected, so that for different patients, new implanting mechanisms 1 can be replaced to ensure hygiene, and of course, for the same patient, the implanting mechanism 1 can be replaced after being used for several times, or a new implanting mechanism 1 can be used every time.

[0132] In an embodiment, as shown in FIG. 4 and FIG. 5, the first electric drive assembly 21 includes a second guide rail 214 and a sliding block 215 in sliding fit, and the operating mechanism 2 further includes a housing 27, the second guide rail 214 is mounted to the inner wall of the housing 27, and the first rack 213 and the unlocking member 226 are respectively connected to the sliding block 215.

[0133] In an embodiment, the first gear 212 is provided with a first mounting hole (not shown in the figure), as shown in FIG. 4, the first output shaft 2111 is mounted to the first mounting hole, and the cross section of the first output shaft 2111 is in the shape of D, and the cross section of the first mounting hole is also in the shape of D, and the shape of D can prevent misalignment between the first output shaft 2111 and the first mounting hole.

[0134] In one embodiment, the unlocking member 226 has five state positions during a complete use of the prostate staple device 100: the initial position of the locking member, the first unlocking member position, the first limit position, the second unlocking member position, and the second limit position. As shown in FIGS. 11 and 12, when the actuating assembly 22 is in the initial state, the unlocking member 226 stops at the initial position of the unlocking member. When the needle is performed, the first rack 213 drives the unlocking member 226 to move in the first direction a to the position of unlocking the first actuating member 221, at which time the unlocking member 226 is in the first unlocking member position, and the unlocking member 226 continues to move so that the first actuating member 221 is unlocked and then continues to move in the first direction a to stop at the first limit position. As shown in FIG. 13, after the first actuating member 221 is unlocked, the actuating mechanism 22 moves to the full needle position under the pulling of the needle elastic member 225. After the needle is completed, the unlocking member 226 returns to the initial position of the unlocking member and stops. As shown in FIGS. 14 to 16, when the needle is retracted and the line is retracted, the first rack 213 drives the unlocking member 226 and the needle sliding member 221 to move in the second direction b, and when the unlocking member 226 moves to the second unlocking position, the unlocking member 226 unlocks the second unlocking structure 2243, so that the second actuating member 222 moves in the second direction b under the elastic force of the line elastic member 223 to abut against the needle sliding member 221, and then, under the continued driving of the first electric drive assembly 21, the first actuating member 221 together with the second actuating member 222 returns to the initial position of the actuating assembly 22, as shown in FIG. 16, the unlocking member 226 moves in the second direction b with the first rack 213 to the second limit position. After the needle is retracted and the line is retracted, as shown in FIG. 12, the unlocking member 226 moves in the first direction a to return to the initial position of the unlocking member.

[0135] As shown in FIG. 4, the unlocking member 226 is provided with the first blocking piece 2263 and the second blocking piece 2264 which are arranged at intervals in the first direction a, and the operating mechanism 2 includes the first optical coupler 282, the second optical coupler 283, and the third optical coupler 284 which are arranged at intervals in the first direction a. When the unlocking member 226 is in the initial position of the unlocking member, the second blocking piece 2264 and the second optical coupler 283 cooperate to obtain the position information of the unlocking member 226. When the unlocking member 226 is in the first limit position, the second blocking piece 2264 and the third optical coupler 284 cooperate to obtain the position information of the unlocking member 226. When the unlocking member 226 is in the second limit position, the first blocking piece 2263 and the first optical coupler 282 cooperate to obtain the position information of the unlocking member 226.

[0136] In an embodiment, as shown in FIG. 2, FIG. 3 and FIG. 17, the operating mechanism 2 further comprises a second electric drive assembly 24, which comprises a second motor 241, a second gear 242 coaxially connected with a second output shaft 2411 of the second motor 241 and a second rack 243. As shown in FIG. 19, the implanting mechanism 1 further comprises a clamping and cutting assembly 13, as shown in FIG. 23, the clamping and cutting assembly 13 comprises a second anchor 131 and a cutter 132. When the clamping and cutting assembly 13 is in an initial state, the clamping and cutting assembly 13 is locked to prevent accidental triggering of the clamping and cutting operation. When the clamping and cutting is performed, the second motor 241 is turned on, the second rack 243 moves linearly to provide power, which can be used to unlock the clamping and cutting assembly 13. After the clamping and cutting assembly 13 is unlocked, the second anchor 131 and the cutter 132 are both movable, i.e., the second anchor 131 moves to the proximal end of the prostate to clamp the staple line 122, and then the cutter 132 moves to cut the staple line 122, so that the second anchor 131 remains on the proximal side of the prostate, and under the tension of the staple line 122 retained in the prostate, the second anchor 131 presses the proximal side of the prostate, and the first anchor 113 presses the distal side of the prostate, thereby reducing the prostate and expanding the urethra.

[0137] Further, as shown in FIG. 3 and FIG. 17, the operating mechanism 2 further comprises a trigger 25 connected to the second rack 243. When the clamping and cutting is performed, the second motor 241 is turned on, the second rack 243 drives the trigger 25 to move in the direction towards the clamping and cutting assembly 13, so that the trigger 25 is driven to move into contact with the clamping and cutting assembly 13, so that under the pushing of the trigger 25, the clamping and cutting assembly 13 is unlocked.

[0138] Further, as shown in FIG. 18 and FIG. 19, the implanting mechanism 1 comprises a second mounting 14, and the clamping and cutting assembly 13 comprises a third actuator 133, a fourth actuator 134, a spring 135, a first locking member 136 and a second locking member 137, the third actuator 133 and the fourth actuator 134 are movably mounted on the second mounting 14, the two ends of the spring 135 are connected to the third actuator 133 and the fourth actuator 134 respectively, and the first locking member 136 and the second locking member 137 are rotatably connected to the second mounting 14 respectively.

[0139] During the process of the needle piercing, needle retracting and line retracting of the prostate staple device 100, the clamping and cutting assembly 13 is always in an initial state, in which the first locking member 136 locks the third actuator 133, the second locking member 137 locks the fourth actuator 134, the spring 135 is in a tensioned state, and the first locking member 136 is at least partially located on the moving route of the trigger 25.

[0140] After the current prostate staple device 100 completes the needle puncture, needle retraction and thread retraction, clamping and cutting are started. As shown in FIGS. 3 and 17, under the driving of the second electric drive assembly 24, the trigger 25 moves, the trigger 25 moves to release the first locking piece 136, and then, under the pushing of the trigger 25, as shown in FIG. 19, the first locking piece 136 rotates to disengage the third actuator 133, so that the third actuator 133 is unlocked, and at the same time, the first locking piece 136 rotates to contact and push the second locking piece 137 to rotate, the second locking piece 137 rotates to disengage the fourth actuator 134, so that the fourth actuator 134 is unlocked, and then, under the rebounding force of the spring 135, the third actuator 133 and the fourth actuator 134 move towards each other, respectively driving the second anchor 131 and the cutter 132 to move towards each other, and the movement speed of the third actuator 133 is less than that of the fourth actuator 134, so that the V-shaped clamping hole of the second anchor 131 clamps the staple thread 122 first, and then the cutter 132 cuts the staple thread 122, to realize clamping and cutting.

[0141] Further, as shown in FIGS. 19 and 24, the third actuator 133, the second locking piece 137 and the fourth actuator 134 are sequentially distributed along the first direction a, the bottom of the third actuator 133 is provided with a first clamping groove 1331, the two sides of the first locking piece 136 are respectively provided with a first clamping protrusion 1361 and a pushing part 1362, the two sides of the second locking piece 137 are respectively provided with a pushed part 1371 and a first abutting part 1372, and the fourth actuator 134 is provided with a second abutting part 1341.

[0142] When the clamping and cutting assembly 13 is in the initial state, the first clamping protrusion 1361 is clamped upwardly in the first clamping groove 1331 to limit the movement of the third actuator 133 along the first direction a, and the pushing part 1362 is located below the pushed part 1371 with a spacing therebetween. The first abutting part 1372 abuts upwardly and along the first direction a against the second abutting part 1341 to limit the movement of the third actuator 133 and the fourth actuator 134 towards each other under the pulling force of the spring 135.

[0143] When the trigger 25 moves upwardly, the trigger 25 pushes the first locking piece 136 upwardly to the position close to the pushing part 13621, so that the first locking piece 136 rotates, and the first clamping protrusion 1361 rotates downwardly to disengage the first clamping groove 1331, so that the third actuator 133 is unlocked, the pushing part 1362 rotates upwardly and pushes the pushed part 1371 upwardly, so that the second locking piece 137 rotates, and the first abutting part 1372 rotates downwardly to disengage the second abutting part 1341, so that the fourth actuator 134 is unlocked.

[0144] In an embodiment, as shown in FIG. 3 and FIG. 17, the second rack 243 is movable along a third direction c, which is perpendicular to the first direction a, and the output shafts of the first motor 211 and the second motor 241 are perpendicular to each other.

[0145] In an embodiment, as shown in FIG. 3 and FIG. 25, the housing 27 of the operating mechanism 2 comprises a main body 272 and a handle 271 connected to each other, the first motor-driven assembly 21 and the second motor 241 are located in the main body 272, the trigger 25 comprises a trigger end 251 and a detection end 252, the trigger end 251 is located in the main body 272 and is used to unlock the clamping and cutting assembly 13, and the detection end 252 is at least partially located in the handle 271 and is used to connect the travel switch trigger element 281. The space in the handle 271 is used to accommodate the trigger 25, and the structure is more compact.

[0146] In a complete use of the prostate staple device 100, the trigger 25 has two positions: a trigger initial position and a trigger trigger unlocking position. As shown in FIG. 17, the operating mechanism 2 further comprises a first travel switch 285 and a second travel switch 286. When the clamping and cutting assembly 13 is in an initial state, the trigger 25 is in the trigger initial position, and the first travel switch 285 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger 25. When the trigger 25 moves to a position for unlocking the first locking member 136, the trigger 25 is in the trigger trigger unlocking position, and the second travel switch 286 cooperates with the travel switch trigger element 281 to obtain the position information of the trigger 25.

[0147] In an embodiment, as shown in FIG. 17, the second motor-driven assembly 24 comprises a guide rod 244, which is installed on the inner wall of the housing 27, and the second rack 243 is movably sleeved on the guide rod 244. The guide rod 244 is spaced apart from the inner wall of the housing 27, and the second gear 242 is located in the space between the guide rod 244 and the inner wall of the housing 27, so as to fully utilize the transverse space in the housing 27.

[0148] The second gear 242 is provided with a second mounting hole (not shown in the figure), as shown in FIG. 17, the second output shaft 2411 is installed in the second mounting hole, and the cross section of the second output shaft 2411 is in the shape of a D, and the cross section of the second mounting hole is also in the shape of a D. The shape of the D can prevent misalignment between the second output shaft 2411 and the second mounting hole.

[0149] In an embodiment, as shown in FIG. 2 and FIG. 25, the first switch 23 is also used to trigger the second motor-driven assembly 24 to operate. By controlling the actuation of clamping and cutting through the first switch 23, the user can avoid mistakenly triggering clamping and cutting due to operation errors. Through three operations of the first switch 23, the execution of the needle, the needle and the wire, the clamping and the cutting is controlled in sequence.

[0150] Further, as shown in FIG. 2 and FIG. 25, the first switch 23 is arranged on the front side of the handle 271, and the second switch 26 is arranged on the rear side of the shell 27 and above the handle 271, the two switches are arranged in opposite positions, which can improve the safety of the operation of the two switches.

[0151] In an embodiment, as shown in FIG. 25, the first switch 23 is a button switch, which is more convenient to use and less likely to be triggered by mistake compared with the plate switch in the prior art CN114980823A. The second switch 26 is a boat-shaped switch, which has a different structure from the first switch 23 and serves as a differential prompt to avoid user operation errors.

[0152] In an embodiment, as shown in FIG. 2 and FIG. 25, the operating mechanism 2 further comprises a second switch 26, when the prostate staple device 100 is in the shutdown state, the second switch 26 is operated once, which can start the prostate staple device 100 and automatically calibrate the prostate staple device 100 to the initial state, to ensure the accuracy of the prostate staple device 100 during long-term use. After automatic calibration, the needle, needle retraction and wire collection, clamping and cutting operations are performed. Of course, the prostate staple device 100 can also not be configured with an automatic calibration function, and the accuracy of the prostate staple device 100 in the usable period can be ensured by limiting the number of uses. It should be understood that after the second switch 26 is operated once to start the prostate staple device 100, multiple staple operations can be continuously performed, and automatic calibration is not required again, only automatic calibration is required when the device is restarted.

[0153] Specifically, if the first actuating member 221 and the second actuating member 222 are not in their initial positions, when automatic calibration is performed, the first motor 211 operates to drive the first actuating member 221 and the second actuating member 222 to move in the first direction a to restore to their initial positions, completing the automatic calibration.

[0154] In an embodiment, as shown in FIG. 2, the prostate staple device 100 comprises a battery 292 for powering the device, and the battery 292 is arranged in the handle 271 of the shell 27.

[0155] In an embodiment, as shown in FIG. 2, the outer shell 27 comprises a first shell 273 and a second shell 274, which together enclose a cavity, and the first electric drive assembly 21, the actuating assembly 22, the second electric drive assembly 24 and the trigger 25 are located in the cavity. As shown in FIGS. 2 and 18, the implanting mechanism 1 comprises a cover 16, a base 17 and a locking knob 18, the cover 16 and the base 17 are connected and together sandwich the second mounting member 14, the locking knob 18 is arranged on the cover 16, the implanting mechanism 1 is detachably mounted on the first shell 273 and locked by the locking knob 18, and the first electric drive assembly 21 and the second electric drive assembly 24 are mounted on the inner wall of the second shell 274. The assembly of the implanting mechanism 1 and the outer shell 27 can refer to the assembly structure and principle of any existing staple device.

[0156] In an embodiment, as shown in FIG. 2, the operating mechanism 2 further comprises an endoscope sheath 291, one end of which is located in the outer shell 27 and mounted on the first mounting member 224, and the other end extends out of the outer shell 27.

[0157] In an embodiment, as shown in FIG. 25, the implanting mechanism 1 further comprises a first indicator light 2931, a second indicator light 2932, a third indicator light 2933 and a fourth indicator light 2934, the first indicator light 2931 is used to indicate the automatic. The first indicator light 2931, the second indicator light 2932, the third indicator light 2933 and the fourth indicator light 2934 can indicate the above four states by displaying different colors or different flashing frequencies or the order of lighting in time.

[0158] For example, the first indicator light 2931, the second indicator light 2932, the third indicator light 2933 and the fourth indicator light 2934 are distributed along the second direction b. When the prostate staple device 100 is automatically calibrated, the first indicator light 2931 is lit; when the needle of the prostate staple device 100 is completed, the second indicator light 2932 is lit; when the needle and thread of the prostate staple device 100 are retracted, the third indicator light 2933 is lit; when the prostate staple device 100 is clamped and cut off, the fourth indicator light 2934 is lit, and when all the four indicator lights are lit, it indicates that the staple implanting operation is completed. Through the prompt of the indicator light, the human-computer interaction is more convenient, the staple operation process is more clear, and the use is more safe.

[0159] In an embodiment, as shown in Figs. 19-22, the needle assembly 11 further comprises a piercing needle connecting member 111 and a piercing needle guide tube 114 connected thereto, the piercing needle connecting member 111 is provided with a second insertion part 1111 which is inserted with the first insertion part 2214 of the first actuating member 221. The wire assembly 12 further comprises a staple wire connecting member 121, a staple wire guide tube 123 and a staple wire support tube 124, the staple wire connecting member 121 is provided with a fourth insertion part 1211 which is inserted with the third insertion part 2223 of the second actuating member 222. The piercing needle guide tube 114, the staple wire guide tube 123 and the staple wire support tube 124 are all hollow structures, one end of the piercing needle guide tube 114 is connected with the piercing needle connecting member 111, and one end of the piercing needle 112 is inserted into the piercing needle guide tube 114. The staple wire guide tube 123 is located in the piercing needle guide tube 114 and is gap-fitted therebetween, one end of the staple wire support tube 124 is inserted into the staple wire guide tube 123 and is connected with one end of the staple wire 122, and the other end is connected with the staple wire connecting member 121.

[0160] In an embodiment, as shown in Figs. 19-23, the clamping and cutting assembly 13 further comprises a push rod 138 and a pull rod 139, the pull rod 139 is a hollow structure, one end of the push rod 138 is connected with the third actuating member 133, and the other end is movably inserted into the pull rod 139, and the end portion abuts against the second anchor 131 along the first direction a; one end of the pull rod 139 is connected with the fourth actuating member 134, and the other end is connected with the cutting knife 132. When the third actuating member 133 and the fourth actuating member 134 move towards each other, the third actuating member 133 moves along the first direction a, and the fourth actuating member 134 moves along the second direction b, so that the push rod 138 pushes the second anchor 131 to move away along the first direction a, and the pull rod 139 pulls the cutting knife 132 to move along the second direction b, thereby realizing clamping and cutting. It should be understood that the specific details of the movement of the third actuating member 133 and the fourth actuating member 134 to realize clamping and cutting can refer to the principles and structures of any existing staple device.

[0161] In an embodiment, the implanting mechanism 1 further comprises a gun head welding assembly 15, and the specific structure and principle thereof can refer to any existing staple device.

[0162] The control method of the prostate staple device of the present application will be described in detail below with reference to Figs. 1-25.

[0163] The control method provided by the present application, as shown in Fig. 1, comprises the following steps:

[0164] S1, in response to a first operation instruction input by the first switch 23, controlling the driving end of the first electric drive assembly 21 to move in a first direction a to provide a force to make the first actuating member 221 disengage from locking, and then the first actuating member 221 drives the second actuating member 222 to move in the first direction a under mechanical external force to perform needle insertion;

[0165] S2, in response to a second operation instruction input by the first switch 23, controlling the driving end of the first electric drive assembly 21 to move in a second direction b to drive the first actuating member 221 to move in the second direction b to perform needle retraction, and after needle retraction, controlling the driving end to continue moving in the second direction b to provide a force to make the second actuating member 222 disengage from locking, and then the second actuating member 222 moves in the second direction b under mechanical external force to perform thread retraction;

[0166] Wherein, the first actuating member 221 is locked when the actuating assembly 22 is in an initial state, and the second actuating member 222 is locked at the initial stage of needle insertion completion or needle retraction.

[0167] In the above technical solution, the user only needs to operate the first switch 23 twice to control the prostate staple device 100 to perform needle insertion, needle retraction and thread retraction, compared with the scheme in the prior art CN114980823A which needs to be manually operated three times to achieve needle insertion, needle retraction and thread retraction, the present scheme saves one operation, reduces the difficulty and operation time of staple operation, and improves the efficiency of staple.

[0168] In an embodiment, as shown in FIG. 1, after step S2, step S3 is further included:

[0169] In response to a third operation instruction input by the first switch 23, controlling the driving end of the second electric drive assembly 24 to move in a third direction c to provide a force to make the clamping and cutting assembly 13 disengage from locking, and then the proximal anchor 131 and the cutter 132 can move towards each other under mechanical external force to perform clamping and cutting. In the present scheme, the user only needs to operate the first switch 23 three times to control the prostate staple device 100 to perform needle insertion, needle retraction and thread retraction, clamping and cutting, which is simple to operate and improves the efficiency of staple.

[0170] Further, as shown in FIG. 1, before step S1, step S0 is further included: in response to a first operation instruction input by the second switch 26, controlling the prostate staple device 100 to start, and controlling the actuating assembly 22 to automatically align to the initial state to ensure the accuracy of the prostate staple device 100 during long-term use, and the automatic alignment is completed at the moment of starting the prostate staple device 100, which is simple to operate.

[0171] In an embodiment, step S1 further comprises: the driving end of the first electric drive assembly 21 drives the unlocking member 226 to move in the first direction a, the unlocking member 226 moves from the unlocking member initial position to the first unlocking position, the first unlocking structure 2261 of the unlocking member 226 contacts the first extension arm 22423 of the first locking structure 2242, the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move and press the first extension arm 22423, so that the first connecting arm 22421 is deformed to make the first actuating member 221 disengage from the locking of the first stop portion 22422, then the first actuating member 221 drives the second actuating member 222 to move in the first direction a under the action of the needle elastic member 225 to perform the needle, and the driving end of the first electric drive assembly 21 continues to drive the unlocking member 226 to move to the first limit position and stop driving in the first direction a.

[0172] Further, the step S1 of controlling the driving end of the first electric drive assembly 21 to move in the first direction a specifically comprises: controlling the first motor 211 to rotate forward to make the first rack 213 move in the first direction a, wherein the first rack 213 constitutes the driving end of the first electric drive assembly 21.

[0173] Further, the step S1 further comprises: when the needle is completed, the first rack 213 of the first electric drive assembly 21 drives the unlocking member 226 to move in the second direction b to make the unlocking member 226 return to the unlocking member initial position, and at this time, the boss 2131 of the first rack 213 and the third protrusion 2212 of the first actuating member 221 leave a gap in the second direction b, for example, the gap is 1mm-2mm.

[0174] In an embodiment, the step S2 further comprises: in response to the again operation instruction input by the first switch 23, controlling the driving end of the first electric drive assembly 21 to drive the first rack 213 and the unlocking member 226 to move in the second direction b, when the first rack 213 moves to the position where the boss 2131 abuts against the third protrusion 2212, the boss 2131 pushes the first actuating member 221 to move in the second direction b, the second actuating member 222 synchronously moves under the pulling of the take-up elastic member 223, until the second protruding portion 22211 of the second actuating member 222 abuts against the second stop portion 22432 of the second locking structure 2243 and is locked, and the first actuating member 221 continues to move to perform the needle taking.

[0175] In an embodiment, step S2 further comprises: after the puncture needle 112 is withdrawn from the prostate, the driving end of the first electric driving assembly 21 continues to drive the unlocking member 226 to move in the second direction b, i.e., the first electric driving assembly 21 continues to operate, so that the unlocking member 226 moves to the second unlocking position, the second unlocking structure 2262 of the unlocking member 226 contacts the second extension arm 22433 of the second locking structure 2243, the driving end of the first electric driving assembly 21 continues to drive the unlocking member 226 to move and press the second extension arm 22433, so that the second connecting arm 22431 is deformed to make the second actuating member 222 disengage from the locking of the second stop 22432, then the second actuating member 222 moves in the second direction b under the action of the take-up elastic member 223 to perform take-up, the driving end of the first electric driving assembly 21 continues to drive the unlocking member 226 and the first actuating member 221 to move, and the second actuating member 222 moves synchronously, when the unlocking member 226 moves to the second limit position, the first electric driving assembly 21 stops driving in the second direction b.

[0176] Further, when the unlocking member 226 is in the second limit position, there is a gap, for example, 1mm-2mm, between the first actuating member 221 and the first locking structure 2242. Step S2 further comprises: when the unlocking member 226 moves to the second limit position, the first electric driving assembly 21 is controlled to drive the unlocking member 226 to return to the initial position of the unlocking member in the first direction a, and at the same time, the first actuating member 221 drives the second actuating member 222 to move in the first direction a under the pulling of the puncture needle elastic member 225, until the first actuating member 221 is locked by the first locking structure 2242 again, at this time, the actuating assembly 22 returns to the initial state.

[0177] In an embodiment, step S3 of controlling the driving end of the second electric driving assembly 24 to move in the third direction c specifically comprises: the second motor 241 is controlled to rotate forward, so that the second rack 243 moves in the third direction c.

[0178] In an embodiment, step S3 further comprises: the driving end of the second electric driving assembly 24 drives the trigger member 25 to move in the third direction c, and the trigger member 25 moves to make the clamping and cutting assembly 13 disengage from the locking.

[0179] Further, in step S3, the step of moving the trigger member 25 to make the clamping and cutting assembly 13 disengage from the locking specifically comprises: the trigger member 25 moves to push the first locking member 136 to rotate and unlock the third actuating member 133, the first locking member 136 pushes the second locking member 137 to rotate and unlock the fourth actuating member 134, and then the clamping and cutting assembly 13 disengages from the locking.

[0180] In an embodiment, the control method further comprises:

[0181] In response to completing the automatic calibration, the first indicator light 2931 is controlled to be lighted up;

[0182] In response to completing the needle insertion, the second indicator light 2932 is controlled to be lighted up;

[0183] In response to completing the needle and thread collection, the third indicator light 2933 is controlled to be lighted up;

[0184] In response to completing the clamping and cutting, the fourth indicator light 2934 is controlled to be lighted up.

[0185] Further, the lighted-up modes of the first indicator light 2931, the second indicator light 2932, the third indicator light 2933 and the fourth indicator light 2934 include a constant light mode or a flashing light mode, and the colors of the lighted-up of different indicator lights can be the same or different.

[0186] In a specific embodiment, a complete operation step of the prostate staple device 100 is as follows:

[0187] (1) Starting and automatic calibration

[0188] The user operates the second switch 26 once to start the prostate staple device 100, and the prostate staple device 100 performs automatic calibration, so that the prostate staple device 100 is in an initial state, at this time, the first protruding part 22111 of the first actuating part 221 abuts against the first stop part 22422 in the first direction a and is locked, and the needle elastic part 225 is compressed.

[0189] (2) Needle insertion

[0190] Before the needle insertion, the user first sends the front end of the implanting mechanism 1 to the proximal side of the prostate, then the user operates the first first switch 23, the first motor 211 rotates in the positive direction, and drives the unlocking part 226 to move in the first direction a, when the unlocking part 226 moves to the first unlocking structure 2261 and contacts and presses the first extension arm 22423, the first connecting arm 22421 is deformed, and then the first stop part 22422 is separated from the first protruding part 22111, the first actuating part 221 is unlocked, then the needle elastic part 225 rebounds instantaneously to push the first actuating part 221 and the second actuating part 222 to move in the first direction a, wherein the first actuating part 221 drives the needle assembly 11 to move in the first direction a, and the second actuating part 222 drives the thread assembly 12 to move in the first direction a, the puncture needle 112 penetrates the prostate to deliver the first anchor 113 located in the puncture needle 112 to the distal side of the prostate, one end of the staple thread 122 is located in the puncture needle 112 and connected with the first anchor 113, and the needle insertion is completed, at this time, the second protruding part 22211 of the second actuating part 222 and the second locking structure 2243 are distributed in the second direction b in sequence and are 2 mm apart.

[0191] Then, the first rack 213 drives the unlocking piece 226 to move to the unlocking piece initial position along the second direction b. Since the boss 2131 of the first rack 213 leaves a certain interval with the third protrusion 2212 along the second direction b, the first actuating piece 221 does not move under the constraint of the needle elastic piece 225. When the unlocking piece 226 moves to the unlocking piece initial position, the first motor 211 stops running. At this time, the boss 2131 and the third protrusion 2212 have an interval of 2 mm along the second direction b.

[0192] (3) Needle retraction and thread retraction

[0193] The user operates the first switch 23 for the second time. The first motor 211 reverses to drive the first rack 213 and the unlocking piece 226 to move along the second direction b. The boss 2131 of the first rack 213 pushes the first actuating piece 221 to move along the second direction b. Under the pulling of the thread elastic piece 223, the second actuating piece 222 moves along the second direction b together with the first actuating piece 221. When the movement is 2 mm, the second protruding part 222111 of the second actuating piece 222 abuts against the second stop part 22432 and is locked.

[0194] The first motor 211 continues to reverse to continue driving the first rack 213 and the unlocking piece 226 to move along the second direction b. The boss 2131 of the first rack 213 pushes the first actuating piece 221 to move along the second direction b. In this way, the first actuating piece 221 drives the needle assembly 11 to move along the second direction b, so that the puncture needle 112 is retracted from the prostate, and the first anchor 113 remains on the distal side of the prostate, achieving needle retraction. Since the second actuating piece 222 is locked by the second stop part 22432 on the first mounting piece 224, the thread elastic piece 223 is stretched. In the process of needle retraction, when the unlocking piece 226 moves to the second unlocking structure 2262 and contacts and presses the second extension arm 22433, the second connecting arm 22431 is deformed, so that the second stop part 22432 is separated from the second actuating piece 222, and the second actuating piece 222 is unlocked. Then, the thread elastic piece 223 instantaneously retracts to pull the second actuating piece 222 to move along the second direction b until it abuts against the first actuating piece 221 again. Under the pulling of the thread elastic piece 223 and the driving of the first rack 213, the second actuating piece 222 moves along the second direction b together with the first actuating piece 221 to the limit position, completing thread retraction. By tightening the staple line 122, the distal end is stretched and pressed on the distal side of the prostate. At this time, the first protruding part 22111 of the first actuating piece 221 and the first stop part 22422 of the first locking structure 2242 are distributed along the first direction a in turn and have an interval of 2 mm. The interval is a reserved assembly process interval.

[0195] Then, the first rack 213 drives the unlocking piece 226 to move 2mm in the first direction a, the first actuating piece 221 and the second actuating piece 222 are synchronously moved 2mm in the first direction a under the pulling of the needle elastic piece 225, so that the first protruding part 22111 abuts against the first stop part 22422, and the first actuating piece 221 is locked by the first locking structure 2242 again. The first rack 213 continues to drive the unlocking piece 226 to move in the first direction a to the initial position of the unlocking piece, and the first motor 211 stops running.

[0196] (4) Clamping and cutting

[0197] The user first adjusts the angle between the bundle nail line 122 and the prostate through the endoscope of the prostate bundle nail device 100, and compresses the prostate through the gun head welding assembly 15 of the implanting mechanism 1, so that the prostate shrinks, then the user operates the first switch 23 for the third time, the second motor 241 runs, drives the trigger 25 to move in the direction of the first locking piece 136 of the clamping and cutting assembly 13, the trigger 25 pushes the first locking piece 136 to rotate to unlock the third actuating piece 133, the first locking piece 136 pushes the second locking piece 137 to rotate to unlock the fourth actuating piece 134, then under the rebounding force of the spring 135, the third actuating piece 133 and the fourth actuating piece 134 move towards each other to realize clamping and cutting.

[0198] Then, the user releases the precolic tissue, the prostate tissue rebounds, and the second anchor 131 and the first anchor 113 are tensioned outward, the second anchor 131 and the first anchor 113 respectively compress the tissue from both ends of the prostate, complete the bundle nail, and exit the implanting mechanism 1, and after replacing the implanting mechanism 1, a new bundle nail implantation operation can be repeated.

[0199] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes can also be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, any combination of the technical features of the above embodiments can also be made to form additional embodiments of the present application which can not be explicitly described. Therefore, the above embodiments only express several implementations of the present application, and do not limit the protection scope of the present application.

Claims

1. A prostate staple device, comprising: The prostate staple device comprises: an implanting mechanism (1) comprising a needle assembly (11), a thread assembly (12) and a clamping and cutting assembly (13); an operating mechanism (2) comprising a first electric drive assembly (21), an actuating assembly (22), a first switch (23), a second electric drive assembly (24) and a second switch (26), the actuating assembly (22) comprising a first actuating member (221) and a second actuating member (222), the first actuating member (221) being linked with the needle assembly (11) and the second actuating member (222) being linked with the thread assembly (12), the first electric drive assembly (21) comprising a first motor (211), a first gear (212) and a first rack (213) which are in mesh with each other, the first rack (213) constituting a driving end of the first electric drive assembly (21); a memory storing a computer program; a processor for executing the computer program to realize a control method of the prostate staple device, the control method comprising: S1, in response to a one-time operation instruction input by the first switch (23), controlling the driving end of the first electric drive assembly (21) to move in a first direction (a) to provide a force so that the first actuating member (221) is unlocked, and then the first actuating member (221) drives the second actuating member (222) to move in the first direction (a) under mechanical external force to perform needle puncture; S2, in response to another operation instruction input by the first switch (23), controlling the driving end of the first electric drive assembly (21) to move in a second direction (b) to drive the first actuating member (221) to move in the second direction (b) to perform needle retraction, and after needle retraction, controlling the driving end to continue moving in the second direction (b) to provide a force so that the second actuating member (222) is unlocked, and then the second actuating member (222) moves in the second direction (b) under mechanical external force to perform thread retraction; wherein the actuating assembly (22) comprises: a thread retraction elastic member (223) connected with the first actuating member (221) and the second actuating member (222) respectively; a first mounting member (224) provided with a first guide rail (2241), the first actuating member (221) and the second actuating member (222) being movably connected to the first guide rail (2241) respectively; a needle puncture elastic member (225) connected at one end to the first mounting member (224) and at the other end to the first actuating member (221); the first mounting member (224) being provided with a first locking structure (2242) and a second locking structure (2243) distributed in the first direction (a) in sequence; the first locking structure (2242) being connected with the first actuating member (221) and the second locking structure (2243) being connected with the second actuating member (222). When the actuating assembly (22) is in the initial state, the first locking structure (2242) can prevent the first actuating member (221) from moving in the first direction (a), and the lancet spring (225) is in the energy storage state; when the lancet is performed, the first rack (213) provides power to unlock the first locking structure (2242), so that the first actuating member (221) can move to the lancet completion position in the first direction (a) under the elastic force of the lancet spring (225); When the needle assembly (11) completes the lancet or starts to retract the needle, the second locking structure (2243) can prevent the second actuating member (222) from moving in the second direction (b); during the retraction of the needle, the take-up spring (223) is energized by the first actuating member (221); after the needle is retracted, the first rack (213) provides power to unlock the second locking structure (2243), so that the second actuating member (222) moves in the second direction (b) under the elastic force of the take-up spring (223) to achieve the take-up; the first direction (a) and the second direction (b) are opposite.

2. The prostate staple device according to claim 1, wherein, The implanting mechanism (1) further comprises a clamping and cutting assembly (13) comprising a proximal anchor (131) and a cutting knife (132); when the clamping and cutting assembly (13) is in the initial state, it is locked; the operating mechanism (2) comprises a second electric drive assembly (24); After step S2, step S3 is further included: In response to the once again operation instruction input by the first switch (23), the driving end of the second electric drive assembly (24) is controlled to move in the third direction (c) to provide a force, so that the clamping and cutting assembly (13) is unlocked, and then the proximal anchor (131) and the cutting knife (132) can move towards each other under the mechanical external force to perform clamping and cutting.

3. The prostate staple device according to claim 2, wherein, Before step S1, step S0 is further included: in response to the once operation instruction input by the second switch (26), the prostate staple device (100) is started, and the actuating assembly (22) is automatically calibrated to the initial state.

4. The prostate staple device according to claim 1, wherein, The operating mechanism (2) further comprises an unlocking member (226), and the unlocking member (226) is connected to the driving end of the first electric drive assembly (21); Step S1 further includes: the driving end of the first electric drive assembly (21) drives the unlocking member (226) to move in the first direction (a), the unlocking of the first actuating member (221) is released by the movement of the unlocking member (226), and then the first actuating member (221) drives the second actuating member (222) to move in the first direction (a) under the action of the lancet spring (225) to perform the lancet.

5. The prostate staple device according to claim 1, wherein, The operating mechanism (2) further comprises an unlocking member (226); The step S2 further comprises: the driving end of the first electric drive assembly (21) drives the unlocking piece (226) to move in the second direction (b), the unlocking piece (226) moves to make the second actuating piece (222) disengage from the locking, then the second actuating piece (222) moves in the second direction (b) under the action of the take-up elastic piece (223) to perform the take-up.

6. The prostate staple device according to claim 1, wherein, The step S1 of controlling the driving end of the first electric drive assembly (21) to move in the first direction (a) specifically comprises: controlling the first motor (211) to rotate forward to make the first rack (213) move in the first direction (a).

7. The prostate staple device according to claim 2, wherein, The second electric drive assembly (24) comprises a second motor (241), a second gear (242) and a second rack (243) which are mutually engaged, and the second rack (243) constitutes the driving end of the second electric drive assembly (24); The step S3 of controlling the driving end of the second electric drive assembly (24) to move in the third direction (c) specifically comprises: controlling the second motor (241) to rotate forward to make the second rack (243) move in the third direction (c).

8. The prostate staple device according to claim 2, wherein, The operating mechanism (2) further comprises a trigger piece (25) connected to the driving end of the second electric drive assembly (24); The step S3 further comprises: the driving end of the second electric drive assembly (24) drives the trigger piece (25) to move in the third direction (c), and the trigger piece (25) moves to make the clamping and cutting assembly (13) disengage from the locking.

9. The prostate staple device according to claim 3, wherein, The implanting mechanism (1) further comprises a first indicator light (2931), a second indicator light (2932), a third indicator light (2933) and a fourth indicator light (2934); and the control method further comprises: In response to completing the automatic calibration, controlling the first indicator light (2931) to light up; In response to completing the lancet, controlling the second indicator light (2932) to light up; In response to completing the needle and thread take-up, controlling the third indicator light (2933) to light up; In response to completing the clamping and cutting, controlling the fourth indicator light (2934) to light up.

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