Driving device, surgical instrument, and operation method thereof

A driving device, a surgical instrument, and an operation method of the surgical instrument. The driving device is driven by a power assembly. The driving device comprises a first driving assembly and a first motion conversion assembly. The first driving assembly comprises a first effective stroke structure and a first idle stroke structure. The driving device has a first state and a second state. In the first state, the power assembly is engaged with the first effective stroke structure, and the first effective stroke structure drives the first motion conversion assembly; in the second state, the power assembly is coupled with the first idle stroke structure, and the first motion conversion assembly is disengaged from the driving of the power assembly.

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present disclosure is a national stage application of International Patent Application No. PCT/CN2020/088444, which is filed on Apr. 30, 2020, and claims priority to Chinese Patent Application No. 201910367363.1, filed on May 1, 2019, and claims priority to Chinese Patent Application No. 201910367362.7, filed on May 1, 2019.

TECHNICAL FIELD

The disclosure relates to a driving device, an end actuator driving device, a surgical instrument driving device, a surgical instrument and an operation method of the surgical instrument.

BACKGROUND

As is well known, an intracavitary cutting stapler has been commonly used in the abdominal cavity and other intracavitary operations.

An intracavitary cutting stapler known to inventors generally includes an operation assembly, a rod assembly extending longitudinally from the operation assembly, and an end effector disposed at a distal end of the rod assembly. The stapler further includes a trigger and a motor assembly. The trigger is manipulated to open and close the end effector. The stapler also includes a cutting knife assembly, and the trigger may also be manipulated to drive the cutting knife assembly to move forwards and backwards. The end effector includes a staple cartridge seat for operably supporting a staple cartridge therein and a staple abutting seat pivotally connected to the staple cartridge seat, the staple abutting seat is selectively movable between an open position and a closed position.

The operation assembly includes a body and a driving device mounted to the body for driving the end effector to be opened or closed. When the surgical instrument is used, the end effector is required to clamp tissue, in the process of clamping the tissue by the end effector, reverse force of the tissue to the end effector is transmitted to the driving device, and the reverse force may reduce the driving efficiency of the driving device.

SUMMARY

Some embodiments provide a driving device with higher driving efficiency.

In order to achieve the purpose, some embodiments of the disclosure are realized by the following technical solution.

A driving device is driven by a power assembly. The driving device includes a first driving assembly and a first motion conversion assembly. The first driving assembly includes a first effective stroke structure and a first idle stroke structure. The driving device has a first state and a second state. In the first state, the power assembly is engaged with the first effective stroke structure, and the first effective stroke structure drives the first motion conversion assembly; and in the second state, the power assembly is coupled with the first idle stroke structure, and the first motion conversion assembly is disengaged from the driving of the power assembly.

In some embodiments, the first motion conversion assembly includes a first transmission member and a first output member, and in the first state, the first transmission member drives the first output member to move; and in the second state, the first output member is not driven.

In some embodiments, the first driving assembly includes a first driving member and a rotating member, and in the first state, the first driving member and the rotating member are engaged with the power assembly; and in the second state, only the first driving member in the first driving member and the rotating member is engaged with the power assembly.

In some embodiments, the first motion conversion assembly includes a first transmission member and a first output member engaged with the first transmission member, and the first transmission member is disposed on the rotating member.

In some embodiments, the first effective stroke structure and the first idle stroke structure are both disposed on the rotating member, and in the first state, the first effective stroke structure and the first driving member both are engaged with the power assembly; and in the second state, the first idle stroke structure is coupled with the power assembly, and the first driving member is engaged with the power assembly.

In some embodiments, the first effective stroke structure is a toothed portion, the first idle stroke structure is a non-toothed portion, and the toothed portion and the non-toothed portion are disposed adjacently; and the first driving member is a first driving gear.

In some embodiments, the power assembly includes a motor and a front driving gear driven by the motor, and in the first state, the front driving gear is meshed with the toothed portion and the first driving gear simultaneously; and in the second state, the front driving gear is coupled with the non-toothed portion, and is meshed with the first driving gear.

In some embodiments, the first driving member and the rotating member are overlapped, one of the first driving member and the rotating member is provided with an arc groove, the other is provided with a protrusion extending into the arc groove, and the circle center of the arc groove is located on the rotation axis of the first driving member.

In some embodiments, the width of the protrusion is smaller than that of the arc groove.

In some embodiments, the protrusion abuts against the end portion of the arc groove so that the rotating member and the first driving member are switched from the second state to a ready position of the first state.

In some embodiments, the first motion conversion assembly includes a first groove and a protruding column, a radial distance between the first groove and the rotation center of the rotating member increases or decreases along the first groove, and the protruding column slides in the first groove to convert rotation of the rotating member into linear motion of the protruding column.

In some embodiments, the first groove is disposed on the rotating member.

An end effector driving device, including the driving device of any of the above, and the driving device is configured to drive an end effector to be opened or closed.

In some embodiments, the first effective stroke structure includes a first portion and a second portion which are disposed adjacently, the first portion drives the end effector to execute a first stage of closing to clamp tissue, and the second portion drives the end effector to execute a second stage of closing to press the tissue.

In some embodiments, the first motion conversion assembly includes a first transmission member and a first output member engaged with the first transmission member, and the first transmission member includes a first section and a second section which are disposed adjacently; the first portion is engaged with the power assembly, so that the first output member is engaged with the first section; and the second portion is engaged with the power assembly, so that the first output member is engaged with the second section.

In some embodiments, the first transmission member also includes a third section adjacent to the second section, and the second section is located between the first section and the third section.

A surgical instrument driving device, including the end effector driving device of any of the above.

In some embodiments, the surgical instrument driving device also includes a cutting knife assembly driving device, which drives a cutting knife assembly to move forwards or backwards.

In some embodiments, the cutting knife assembly driving device is driven by the power assembly.

In some embodiments, the cutting knife assembly driving device includes a second effective stroke structure and a second idle stroke structure, and the power assembly drives one of the first effective stroke structure and the second effective stroke structure.

In some embodiments, the cutting knife assembly driving device includes a second driving assembly and a second motion conversion assembly engaged with the second driving assembly. The second motion conversion assembly includes a second transmission member and a second output member. The second transmission member includes a second effective stroke structure and a second idle stroke structure. The cutting knife assembly driving device has a third state and a fourth state. In the third state, the second effective stroke structure is engaged with the second output member, and in the fourth state, the second idle stroke structure is coupled with the second output member.

In some embodiments, the second driving assembly includes a second driving member, the second driving member and the second transmission member move synchronously, and in the third state and the fourth state, the second transmission member is always engaged with the power assembly through the second driving member.

In some embodiments, the second effective stroke structure is a toothed portion disposed on the second transmission member, the second idle stroke structure is a non-toothed portion disposed on the second transmission member, and the second output member is a rack.

In some embodiments, the surgical instrument driving device has a first work state and a second work state, and in the first work state, the first state and the fourth state operate simultaneously; and in the second work state, the second state and the third state operate simultaneously.

A surgical instrument, including a transmission mechanism, an end effector driven by the transmission mechanism, and a cutting knife assembly, and the transmission mechanism includes the surgical instrument driving device of any of the above.

An operation method of a surgical instrument, the surgical instrument is the abovementioned surgical instrument, the surgical instrument includes a power assembly, the power assembly includes a motor, and the operation method includes the following steps.

In S1, an output shaft of the motor rotates in a first direction, and the motor drives the first effective stroke structure and is coupled with the second idle stroke structure.

In S2, the output shaft of the motor continues to rotate in the first direction, and the motor drives the second effective stroke structure and is coupled with the first idle stroke structure.

In S3, the output shaft of the motor rotates in a second direction, the second direction is opposite to the first direction, and the motor drives the second effective stroke structure and is coupled with the first idle stroke structure.

In S4, the output shaft of the motor continues to rotate in the second direction, and the motor drives the first effective stroke structure and is coupled with the second idle stroke structure.

In some embodiments, S1is executed so that the end effector is closed; S2is executed to enable the cutting knife assembly to advance; S3is executed to enable the cutting knife assembly to retract; and S4is executed to enable the end effector to be opened.

Some embodiments of the disclosure have the beneficial effects that in the second state, the first motion conversion assembly is disengaged from the driving of the power assembly, such that a reverse force received by the motion conversion assembly is not transmitted to the power assembly by the first driving assembly, thereby avoiding the impact thereof on the driving efficiency of the driving device.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In order to make the purpose, technical solutions and advantages of the disclosure clearer, the disclosure will be further described below in combination with the drawings and embodiments. It is to be understood that the specific embodiments described herein are for the purpose of explaining the disclosure only and are not intended to limit the disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the disclosure without creative efforts shall fall within the protection scope of the disclosure.

The terms “proximal,” “posterior,” and “distal,” “anterior” are used herein with reference to a clinician manipulating a surgical instrument. The terms “proximal” and “posterior” refer to portions relatively close to the clinician, and the terms “distal” and “anterior” refer to portions relatively far from the clinician. “Left” and “right” are referenced to the position of the surgical instrument as shown inFIG.1, e.g., an end effector is on the “left” and a sleeve is on the “right”. The terms “upper” and “lower” are referenced to the relative positions of a staple abutting seat and a staple cartridge seat of the end effector, specifically, the staple abutting seat is “upper”, and the staple cartridge seat is “lower”. It is to be understood that the orientation terms “proximal,” “posterior,” “distal,” “anterior,” “left,” “right,” “upper” and “lower” are defined for convenience of description, however, the surgical instrument may be used in many orientations and positions, and thus these terms expressing relative positional relationships are not intended to be limiting and absolute.

As shown inFIGS.1-14, a stapler100according to a first embodiment of the disclosure includes an operation assembly10, a rod assembly20extending longitudinally from the operation assembly and an end effector30disposed at one end of the rod assembly20. The end effector30includes a staple cartridge seat31and a staple abutting seat32pivotally connected to the staple cartridge seat31, the staple cartridge seat31is used for operably supporting the staple cartridge (not shown in the figure), the staple abutting seat32is selectively movable between an open position and a closed position. The operation assembly10includes a body (not shown in the figure) and a transmission mechanism11mounted on the body. The rod assembly20includes a mandrel21and a sleeve22sleeving the mandrel21, one end of the mandrel21is connected with a rack of a second driving device, and the other end of the mandrel21is located in the sleeve22; the sleeve22includes a first end portion23connected to a first driving device and a second end portion24connected to the staple abutting seat32of the end effector30, backward movement of the sleeve22enables the staple abutting seat32to pivot upwards so as to open the end effector30, and forward movement of the sleeve22enables the staple abutting seat32to pivot downwards to close the end effector30. Referring toFIGS.10and11, the staple abutting seat32is rotatably connected to the second end portion24of the sleeve22, i.e., the staple abutting seat32is connected to the second end portion24of the sleeve22and the staple abutting seat32is rotatable relative to the second end portion24of the sleeve22. It is to be noted that the staple abutting seat32is rotatably connected to the second end portion24of the sleeve22, so that forward and backward movement of the sleeve22drives the staple abutting seat32to pivot belongs to a relevant art.

Referring toFIGS.10-11and15-20, the second end portion24of the sleeve22is movably connected to the staple abutting seat32, and the staple abutting seat32is driven to pivot upwards to open the end effector30when the sleeve22moves towards a proximal end; and the staple abutting seat32is driven to pivot downwards to close the end effector30when the sleeve22moves towards a distal end.

In some embodiments, referring toFIGS.15and16, the sleeve22includes a body15and a driving tube29which are connected, and the driving tube29drives the staple abutting seat32to pivot upwards or downwards to open or close the end effector30. The body15and the driving tube29are connected by a hinge or may be integrally formed.

The driving tube29includes a first driving portion27for driving the staple abutting seat32to be opened and a second driving portion25for driving the staple abutting seat32to be closed. The first driving portion27is a protruding portion disposed on the driving tube29, and the protruding portion obliquely extends along a lower right part; and the second driving portion25is a driving face at a distal end of the driving tube29.

Correspondingly, the staple abutting seat32is provided with a first driven portion13capable of being cooperated with the first driving portion27and a second driven portion14capable of being cooperated with the second driving portion25. The first driven portion13is a protruding portion disposed on the staple abutting seat32, and the protruding portion extends upwards; and the second driven portion14is an abutting face at a proximal end of the staple abutting seat32.

Referring toFIGS.17and18, in some embodiments, a guide mechanism is further disposed between the staple abutting seat32and the staple cartridge seat31, the guide mechanism includes a pin19disposed on the staple abutting seat32and a kidney-shaped groove17formed in the staple cartridge seat31, and the kidney-shaped groove17obliquely extends upwards in a direction from the proximal end to the distal end.

Referring to state changes ofFIGS.19-20, when the end effector30needs to be opened, the body15of the sleeve22pulls the driving tube29to move towards the proximal end, the first driving portion27on the driving tube29abuts against the first driven portion13on the staple abutting seat32, the pin19moves from a distal upper end of the kidney-shaped groove17to a proximal lower end, the staple abutting seat32pivots upwards, and the end effector30is opened.

Referring to state changes ofFIGS.20-19, when the end effector needs to be closed, the body15of the sleeve22pushes the driving tube29to move towards the distal end, the second driving portion25on the driving tube29abuts against the second driven portion14on the staple abutting seat32, the pin19moves from the proximal lower end of the kidney-shaped groove17to the distal upper end, the staple abutting seat32pivots downwards, and the end effector30is closed.

The stapler100further includes a cutting knife assembly40, the cutting knife assembly40includes a cutting knife41disposed in the staple cartridge and a knife pushing member42detachably connected to the cutting knife41, a part of the knife pushing member42is located in the sleeve22and connected to the other end of the mandrel21, and the other part of the knife pushing member42extends into the end effector30and is detachably connected to the cutting knife41. Referring toFIGS.3and5, the knife pushing member42is provided with a recess (not labeled), the cutting knife41is provided with a protrusion (not labeled), and the recess and the protrusion cooperate to enable the knife pushing member42and the cutting knife41to be assembled together.

In some embodiments, the stapler100further includes a trigger60, a circuit board assembly50and a motor70. The trigger60and the motor70are electrically connected to the circuit board assembly50. The number of the motor70is one. The circuit board assembly50includes a circuit board51and a control module52electrically connected to the circuit board51. The stapler100further includes a pressing holding mechanism (not shown in the figure), which is operated by the clinician before the cutting knife assembly40is driven to move forwards, and after the pressing holding mechanism finishes working, the clinician may drive the cutting knife assembly40to move forwards.

As shown inFIG.12, in some embodiments, the control module52includes a detection unit53, a micro control unit54, a motor driving unit55, and a motor control unit56. The detecting unit53is configured to detect a trigger signal of the trigger60and transmit the signal to the micro control unit54, the micro control unit54analyzes and processes the signal and transmits the signal to the motor driving unit55, the motor driving unit55analyzes and processes the signal and transmits the signal to the motor control unit56, and the motor control unit56sends an operation instruction to the motor70according to a received signal.

The trigger60includes a first button61and a second button62. The first button61and the second button62are both electrically connected to the control module52.

The trigger60further includes a third button63and a fourth button64, the third button63and the fourth button64are symmetrically disposed, the third button63and the fourth button64are both electrically connected to the control module52, and a same function is achieved no matter which of the third button63and the fourth button64is pressed by the clinician. In some embodiments, the stapler100further includes an indication mechanism (not shown in the figure) electrically connected to the control module52, the indication mechanism includes five indication lamps, which are LED lamps. The third button63, the fourth button64, the control module52and the indication mechanism form the pressing holding mechanism together to improve the pressing effect. The clinician presses the third button63or the fourth button64and releases the same, the control module52receives a signal sent by the third button63or the fourth button64and instructs the indication mechanism to start working, one LED lamp is lighted every three seconds, when all the five LED lamps are in a lighting state, the indication mechanism finishes working, and at the moment, the clinician may operate the first button61to drive the cutting knife assembly40to move forwards. If the clinician wants to drive the cutting knife assembly40to move forwards before the indication mechanism finishes working, to save time, the following operation mode may be used: the third button63or the fourth button64is pressed and released, the third button63or the fourth button64is pressed and released again within 15 seconds, and at the moment, the clinician may operate the first button61to drive the cutting knife assembly40to move forwards. The pressing holding mechanism finishes operation includes: the third button63or the fourth button64is pressed and released instantly, and the indication mechanism starts to work until the work is finished. The operation of the press holding mechanism is terminated includes: the third button63or the fourth button64is pressed and released instantly, and the third button63or the fourth button64is pressed and released again instantly within 15 seconds.

In some embodiments, the trigger60further includes a first travel switch65, a second travel switch66, a third travel switch67, and a fourth travel switch68electrically connected to the control module52, the first travel switch65is configured to detect whether the cutting knife assembly40has moved forwards in place or not, the second travel switch66is configured to detect whether the cutting knife assembly40has moved backwards in place or not, the third travel switch67is configured to detect whether the end effector30has been closed in place or not, and the fourth travel switch68is configured to detect whether the end effector30has been opened in place or not.

The work process of the stapler100is as follows: (1) when the clinician presses the first button61and keeps a pressing state, the control module52receives a signal sent by pressing the first button61and then instruct the motor70to work, the motor70drives the transmission mechanism11to work, the transmission mechanism11drives the staple abutting seat32to pivot downwards so as to close the end effector30, when the transmission mechanism11triggers the third travel switch67, the control module52receives a signal and instructs the motor70to stop working, at the moment, the end effector30is closed in place, and the clinician releases the first button61; (2) the clinician operates the pressing holding mechanism; (3) when the pressing holding mechanism finishes operation or the operation of the press holding mechanism is terminated, the clinician presses the first button61and keeps a pressing state, the control module52receives a signal sent by pressing the first button61and then instructs the motor70to work, the motor70drives the transmission mechanism11to work, the transmission mechanism11drives the cutting knife assembly40to move forwards to cut tissue, when the transmission mechanism11triggers the first travel switch65, the control module52receives a signal and instructs the motor70to stop working, at the moment, the cutting knife assembly40moves forwards in place, and a process of cutting the tissue is finished; (4) the clinician releases the first button61, the control module52receives a signal sent by releasing the first button61and instructs the motor70to continue to work (retract), the motor70drives the transmission mechanism11to work, the transmission mechanism11drives the cutting knife assembly40to move backwards, when the transmission mechanism11triggers the second travel switch66, the control module52receives a signal and instructs the motor70to stop working, and at the moment, the cutting knife assembly40moves backwards in place; (5) the clinician presses the second button62and keeps a pressing state, the control module52receives a signal sent by pressing the second button62and then instructs the motor70to work, the motor70drives the transmission mechanism11to work, the transmission mechanism11drives the staple abutting seat32to pivot upwards so as to open the end effector30, when the transmission mechanism11triggers the fourth travel switch68, the control module52receives a signal and instructs the motor70to stop working, at the moment, the end effector30is opened in place, and the clinician releases the second button62.

The transmission mechanism11includes a driving device, the driving device includes a first driving device80, a second driving device90and a fifth gear71, and the fifth gear71is fixed to an output shaft of the motor70. Or, the fifth gear is fixed to an output shaft of a gearbox driven by the motor70, i.e., the fifth gear71is directly or indirectly connected with the output shaft of the motor70. The fifth gear71is a driving gear, or the fifth gear71is referred to as a front driving gear. The fifth gear71is always connected with the motor70and driven by the motor70to rotate, and the connection includes direct connection and indirect connection. In other words, during the work process of the stapler100, the fifth gear71is not disengaged from the motor70, and the fifth gear71is always connected with the motor70and driven by the motor70to rotate. The first driving device80is configured to drive the end effector30to be opened and closed, and the second driving device90is configured to drive the cutting knife assembly40to move forwards and backwards. The motor70drives the fifth gear71to rotate in a first direction or a second direction, and the first direction is opposite to the second direction. The first driving device80and the second driving device90are both meshed with the fifth gear71, and the fifth gear71rotates to enable the first driving device80or the second driving device90to work. When the first driving device80works, the first driving device80drives the sleeve22to move forwards and backwards, thereby pivoting the staple abutting seat32to close and open the end effector30; and when the second driving device90works, the second driving device90drives the mandrel21to move forwards and backwards, thereby enabling the cutting knife assembly40to move forwards and backwards. The driving device also includes a rod assembly20. In some embodiments, the driving device further includes a mandrel21. In some embodiments, the driving device further includes a sleeve22.

In some embodiments, the first driving device80includes a compression ring assembly81and a first gear assembly82, the compression ring assembly81includes a connecting member83and a compression ring84, the connecting member83includes a connecting rod85and a protruding column86disposed at one end of the connecting rod85, and the compression ring84is disposed at the other end of the connecting rod85. The first gear assembly82includes a first rod87and a first gear88sleeving the first rod87, the first rod87is fixed to a body (not shown in the figure) of the operation assembly10, and the first gear88rotates around the first rod87. The first gear88includes a cam89, when the first gear88rotates, the cam89rotates synchronously, and the first gear88is meshed with the fifth gear71. The cam89is provided with a groove890formed by sinking downward from a top surface thereof, and the protruding column86is located in the groove890. In some embodiments, the groove890includes an arc groove891and a straight groove892, two ends of the straight groove892are defined as a first end893and a second end894, respectively, two ends of the arc groove891are defined as a third end895and a fourth end896, respectively, and the second end894of the straight groove892communicates with the third end895of the arc groove891, that is, the second end894of the straight groove892is substantially the third end895of the arc groove891; ‘communicate’ means that a part of the groove890is through with another part of the groove890so that the protruding column86may move from a portion of the groove890to another portion of the groove890. Specifically, ‘communicate’ means that the arc groove891is through with the straight groove892so that the protruding column86may move from the arc groove891to the straight groove892, and the arc groove891communicates with the straight groove892to form a non-closed groove as shown inFIG.8, or a closed annular groove as shown inFIG.13. The first end portion23of the sleeve22is connected to the compression ring84, specifically, an outer wall of the first end portion23of the sleeve22is provided with a groove, an inner wall of the compression ring84is provided with a rib841, the groove and the rib841cooperate to assemble the sleeve22and the compression ring84together, and the second end portion24of the sleeve22is movably connected to the staple abutting seat32. When the motor70drives the fifth gear71to rotate in the first direction, the fifth gear71drives the first gear88to rotate in the second direction, the cam89also rotates synchronously in the second direction, during a rotation of the cam89, the protruding column86moves from the first end893of the straight groove892to the second end894of the straight groove892along the straight groove892, during the process, the compression ring assembly81moves forwards, the compression ring assembly81drives the sleeve22to move forwards, and when the sleeve22moves forwards, the second end portion24of the sleeve22drives the staple abutting seat32to rotate downwards for closing; when the motor70drives the fifth gear71to rotate in the second direction, the fifth gear71drives the first gear88to rotate in the first direction, the cam89also rotates synchronously in the first direction, during the rotation of the cam89, the protruding column86moves from the second end894of the straight groove892to the first end893of the straight groove892along the straight groove892, during the process, the compression ring assembly81moves backwards, the compression ring assembly81drives the sleeve22to move backwards, and when the sleeve22moves backwards, the second end portion24of the sleeve22drives the staple abutting seat32to rotate upwards to realize opening. The sleeve22is the output member of first gear88.

When the protruding column86is located in the arc groove891and moves back and forth along the arc groove891, since a radial distance from any point of the same inner wall of the arc groove891to the first rod87is not changed, therefore, when the cam89rotates, the distance of the protruding column86in a lengthwise direction with respect to the first rod87is not changed, that is, the rotation of the cam89does not drive the compression ring assembly81to move forwards and backwards. Since the radial distance from any point of the same inner wall of the straight groove892to the first rod87increases in a direction away from the first rod87(i.e., in a direction from the first end893to the second end894inFIG.8) and decreases in a direction closer to the first rod87(i.e., in a direction from the second end894to the first end893inFIG.8), therefore, the compression ring assembly81is driven to move forwards when the protruding column86moves in the straight groove892in the direction away from the first rod87, and the compression ring assembly81is driven to move backwards when the protruding column86moves in the straight groove892in the direction closer to the first rod87. As shown inFIG.13, the arc groove891communicates with the straight groove892to form the closed annular groove, and the portion that functions of the straight groove892occupies half of its length. It is to be noted that the movement of the protruding column86in the groove890is a relative movement, which is achieved by the rotation of the cam89.

In some embodiments, the second driving device90includes a rack91, a second gear assembly92, and a third gear assembly93. The second gear assembly92includes a second rod94and a second gear95sleeving the second rod94, the second rod94is fixed to the body of the operation assembly10, the second gear95rotates around the second rod94, and the second gear95is meshed with the fifth gear71; and the second gear95includes a first toothed portion951and a tooth-missing portion952that are disposed adjacently in a circumferential direction, the first toothed portion951and the tooth-missing portion952have a first boundary and a second boundary therebetween, and the tooth-missing portion952includes a non-toothed portion953and a second toothed portion954that are disposed adjacently in the vertical direction (i.e., the axial direction). The second gear95is always kept meshed with the fifth gear71by the first toothed portion951and the second toothed portion954. The third gear assembly93includes a third rod96, a third gear97and a fourth gear98sleeving the third rod96, the third rod96is fixed to the body of the operation assembly10, the third gear97and the fourth gear98rotate around the third rod96, the third gear97and the fourth gear98are integrally formed, the third gear97and the fourth gear98have different diameters, the third gear97is configured to be meshed with a portion, parallel to the non-toothed portion953, of the first toothed portion951of the second gear95, and the fourth gear98is meshed with the rack91. The rack91is the output member of the second gear95, and a diameter of the fourth gear98is greater than a diameter of the third gear97.

Since the fifth gear71connected to the output shaft of the motor70has a first rotation speed, but the movement of the rack91requires a second speed, in order to convert the first rotation speed of the fifth gear71into the second speed of the movement of the rack91, the third gear97and a fourth gear98need to be disposed between the fifth gear71and the rack91for adjustment. Since the diameters of the third gear97and the fourth gear98are different, linear speeds at which the third gear97and the fourth gear98rotate are also different, and thus, the third gear97and the fourth gear98may convert the first rotation speed of the fifth gear71into the second speed of the movement of the rack91.

The working process of the stapler100will be described in detail below.

An operator presses the first button61and keeps the pressing state, the control module52receives a signal generated by pressing the first button61and sends an operation instruction to the motor70, the motor70drives the fifth gear71to rotate in the first direction, the fifth gear71drives the first gear88to rotate in the second direction, the cam89also synchronously rotates in the second direction, during the rotation of the cam89, the protruding column86of the compression ring assembly81moves from the first end893of the straight groove892to the second end894of the straight groove892(i.e. the third end895of the arc groove891) along the straight groove892, so that the compression ring assembly81is driven to move forwards, the compression ring assembly81drives the sleeve22to move forwards, and at the moment, the sleeve22drives the staple abutting seat32to rotate downwards to further close the end effector30; on the other hand, during the process that the protruding column86moves from the first end893of the straight groove892to the second end894of the straight groove892along the straight groove892, the fifth gear71drives the second gear95to rotate in the second direction, during the process, an intersection position of the second gear95and the third gear97is at the non-toothed portion of the second gear95, so that the rotation of the second gear95does not drive the third gear97to rotate, thereby allowing the cutting knife41to remain stationary during the closing of the end effector30.

When the compression ring assembly81advances to a certain position, a first tab812on the compression ring assembly81triggers the third travel switch67at a front stop point of the forward movement of the compression ring assembly81, i.e., the end effector30is closed in place, and at the moment, the protruding column86is located at the second end894of the straight groove892(i.e., the third end895of the arc groove891). The control module52receives a signal sent by the third travel switch67and sends an instruction of stopping operation to the motor70, and the motor70stops rotating. The clinician does not hear a sound of the operation of the motor70and releases the first button61and operates the pressing holding mechanism.

After the pressing holding mechanism finishes working or the operation of the pressing holding mechanism is terminated, the clinician presses the first button61and keeps the pressing state, the control module52receives a signal generated by pressing the first button61and analyzes the signal, the control module52generates an operation instruction to the motor70according to the analyzed signal, the motor70drives the fifth gear71to continue to rotate in the first direction, the fifth gear71drives the second gear95to rotate in the second direction, the intersection position of the second gear95and the third gear97is rotated to the portion, parallel to the non-toothed portion953, of the first toothed portion951from the non-toothed portion953of the second gear95, the first toothed portion951of the second gear95is meshed with the third gear97and drives the third gear97to rotate in the first direction, the fourth gear98also rotates in the first direction due to the fact that the third gear97and the fourth gear98are integrally formed, the fourth gear98drives the rack91to move forwards, the rack91drives the mandrel21to move forwards, the mandrel21drives the knife pushing member42to move forwards, and the knife pushing member42drives the cutting knife41to move forwards to cut tissue; on the other hand, the fifth gear71drives the first gear88to rotate in the second direction, the protruding column86moves from the second end894of the straight groove892(i.e., the third end895of the arc groove891) to the fourth end896of the arc groove891along the arc groove891, at the moment, the rotation of the cam89does not drive the compression ring assembly81to move forwards and backwards, thereby allowing the end effector30to remain closed during the forward movement of the cutting knife41.

When the rack91advances to a certain position, the protruding portion99on the rack91contacts with the first travel switch65, a position of the first travel switch65is the front stop point of the forward movement of the cutting knife41, namely the position of cutting completion, and at the moment, the protruding column86is located at the fourth end896of the arc groove891; the meshing point of the second gear95and the third gear97is located close to the first boundary of the first toothed portion951and the tooth-missing portion952of the second gear95, that is, if the second gear95continues to rotate in the second direction, the first toothed portion951of the second gear95will be disengaged from the third gear97. The control module52receives a signal generated by the first travel switch65and sends an instruction of stopping operation to the motor70, the motor70stops rotating, the clinician releases the first button61, the control module receives a signal generated by releasing the first button61and sends an operation instruction to the motor70, the motor drives the fifth gear71to rotate in the second direction, the fifth gear71drives the second gear95to rotate in the first direction, the first toothed portion951of the second gear95drives the third gear97to rotate in the second direction, the fourth gear98also rotates in the second direction due to the fact that the third gear97and the fourth gear98are integrally formed, the fourth gear98drives the rack91to move backwards, the rack91drives the mandrel21to move backwards, the mandrel21drives the knife pushing member42to move backwards, and the knife pushing member42drives the cutting knife41to move backwards, so that retracting is realized; and on the other hand, the fifth gear71drives the first gear88to rotate in the first direction, the protruding column86moves from the fourth end896of the arc groove891to the third end895of the arc groove891(i.e., the second end894of the straight groove892) along the arc groove891, and at the moment, the rotation of the cam89does not drive the compression ring assembly81to move forwards and backwards, thereby allowing the end effector30to remain closed during the backward movement of the cutting knife41.

When the rack91moves backwards to a certain position, the protruding portion99on the rack91contacts with the second travel switch66, the position of the second travel switch66is a rear stop point of the backward movement of the cutting knife41, and at the moment, the protruding column86is located at the third end895of the arc groove891(i.e., the second end894of the straight groove892); and the meshing point of the second gear95and the third gear97is located close to the second boundary of the first toothed portion951and the tooth-missing portion952of the second gear95, that is, if the second gear95continues to rotate in the first direction, the first toothed portion951of the second gear95will be disengaged from the third gear97. The control module52receives a signal sent by the second travel switch66and sends an instruction of stopping operation to the motor70, at the moment, the motor70stops working, and retracting is finished. After retracting is finished, the clinician presses the second button62and keeps the pressing state, the control module52receives a signal generated by pressing the second button62and sends an operation instruction to the motor70, the motor70drives the fifth gear71to rotate in the second direction, the fifth gear71drives the first gear88to rotate in the first direction, the cam89also synchronously rotates in the first direction, during the rotation of the cam89, the protruding column86moves from the second end894of the straight groove892to the first end893of the straight groove892along the straight groove892, the compression ring assembly81moves backwards, the compression ring assembly81drives the sleeve22to move backwards, and at the moment, the sleeve22drives the staple abutting seat32to rotate upwards to further open the end effector30; and on the other hand, the fifth gear71drives the second gear95to rotate in the first direction, the first toothed portion951of the second gear95is disengaged from the third gear97, namely, in the process that the protruding column86moves from the second end894of the straight groove892to the first end893of the straight groove892along the straight groove892, the boundary of the second gear95and the third gear97is located at the non-toothed portion953of the second gear95, so that the rotation of the second gear95does not drive the third gear97to rotate, thereby allowing the cutting knife41to remain stationary during an opening process of the end effector30.

When the compression ring assembly81retreats to a certain position, a second tab813on the compression ring assembly81contacts with the fourth travel switch68at the rear stop point of the backward movement of the compression ring assembly81, i.e., the end effector30is opened in place, and at the moment, the protruding column86is located at the first end893of the straight groove892. The control module52receives a signal sent by the fourth travel switch68and sends an instruction of stopping operation to the motor70, and at the moment, the motor70stops working.

In the embodiment, the first tab812and the second tab813are disposed on the compression ring84, or disposed on the connecting rod85, as shown inFIG.7. In other embodiments, the first tab812and the second tab813may also be disposed on the first gear88, as shown inFIG.14.

In the embodiment, the first gear88includes an effective stroke structure and an idle stroke structure, the first gear88includes the arc groove891and the straight groove892, the straight groove892is the effective stroke structure, and the arc groove891is the idle stroke structure. When the protruding column86moves in the straight groove892, the first gear88drives the compression ring assembly81to move forwards; and when the protruding column86moves in the arc groove891, the first gear88does not drive the compression ring assembly81to move forwards. The second gear95includes an effective stroke structure and an idle stroke structure, the second gear95includes the first toothed portion951and the tooth-missing portion952, the tooth-missing portion952includes the second toothed portion954and the non-toothed portion953, the non-toothed portion953is the idle stroke structure, and a portion, parallel to the non-toothed portion953, of the first toothed portion951is the effective stroke structure. When the third gear97is meshed with the portion, parallel to the non-toothed portion953, of the first toothed portion951of the second gear95, the second gear95drives the third gear97to move; and when the third gear97is meshed with the non-toothed portion953of the second gear95, the second gear95does not drive the third gear97to move.

As can be seen, in the embodiment, the tooth-missing portion952includes the second toothed portion954and the non-toothed portion953which are disposed adjacently in a vertical direction (axial direction). Although the first toothed portion951is disposed integrally, the first toothed portion951includes a first tooth portion959and a second tooth portion957which are different in meshing targets in the vertical direction (axial direction): the first tooth portion959is always meshed with the fifth gear71, and the second tooth portion957is selectively meshed with the third gear97. The first tooth portion959and the second tooth portion957are disposed adjacently in the vertical direction, and the boundary of the first tooth portion959and the second tooth portion957is located at the same height as the boundary of the second toothed portion954and the non-toothed portion953.

The first tooth portion959and the second toothed portion954are disposed adjacently in the circumferential direction. The first tooth portion959and the second toothed portion954are equal in height. Atop surface (virtual surface) of the first tooth portion959is located at the same height as a top surface of the second toothed portion954. In the circumferential direction, the first tooth portion959and the second toothed portion954form a complete gear, which is named a sixth gear for convenience of description, and the sixth gear is always meshed with the fifth gear71and is driven to rotate by the fifth gear71. The second tooth portion957and the non-toothed portion953are disposed adjacently in the circumferential direction. The second toothed portion957and the non-toothed portion953are equal in height. A bottom surface (virtual surface, the same as the top surface of the first tooth portion959) of the second tooth portion957is located at the same height as a bottom surface (the same as the top surface of the second toothed portion954) of the non-toothed portion953. The second toothed portion957is an effective stroke structure, and the non-toothed portion953is an idle stroke structure. The sixth gear forms a driving gear of the second tooth portion957. The sixth gear is driven by the fifth gear71to rotate, when the sixth gear rotates to enable the second tooth portion957of the first toothed portion951to be meshed with the third gear97, the fifth gear71sequentially drives the second tooth portion957, the third gear97and the fourth gear98to rotate through the sixth gear, so that the rack91is driven to linearly move; and when the sixth gear rotates to couple the non-toothed portion953and the third gear97, the fifth gear71and the sixth gear may rotate under the driving of the motor70, but the third gear97and the fourth gear98do not rotate, and the rack91does not output linear movement. ‘Coupling’ means that a part of teeth of the third gear97is located in a spatial region where the non-toothed portion953is located without contacting with the non-toothed portion953, and the third gear97is not driven in the process of coupling with the non-toothed portion953since there is no contact with the non-toothed portion953(including not meshing due to fact that the non-toothed portion953has no teeth).

In some embodiments of the disclosure, the idle stroke means that the driving device has no motion output, i.e., does not drive the cutting knife or the end effector, when the driving device has motion input, i.e., is driven. The idle stroke structure is a structure that is included in a component of the driving device and that may realize the idle stroke. Effective stroke means that the driving device has motion output, i.e., drives the cutting knife or the end effector, when the driving device has motion input, i.e., is driven. The effective stroke structure is a structure that is included in a component of the driving device and that may realize the effective stroke.

The driving device includes a driving gear, in the embodiment, the fifth gear71is the driving gear, the driving gear is always connected with the motor70and is driven by the motor70, and the motor70drives the first driving device80and the second driving device90by the driving gear (the fifth gear71). Or the fifth gear is referred to as a front driving gear.

The first driving device80includes a first driving gear driven by the motor70. In some embodiments, the motor70drives the first driving gear by the front driving gear. In the embodiment, the first driving gear is the first gear88. The first driving device80further includes a first effective stroke structure (straight groove892) and a first idle stroke structure (arc groove891). In some embodiments, the first effective stroke structure (straight groove892) and the first idle stroke structure (arc groove891) are disposed on the end face of the first gear88. The first driving device80also includes a first output member, which in the embodiment is the sleeve22.

Thus, when the front driving gear drives the first effective stroke structure by the first driving gear of the first driving device80, the first output member is driven by the first effective stroke structure to move, and when the front driving gear drives the first idle stroke structure by the first driving gear of the first driving device80, the first output member is not driven by the first idle stroke structure and does not move. In some embodiments, when the fifth gear71drives the first effective stroke structure (straight groove892) by the first gear88of the first driving device80, the sleeve22is driven by the first effective stroke structure to move, and when the fifth gear71drives the first idle stroke structure (arc groove891) by the first gear88of the first driving device80, the sleeve22is not driven by the first idle stroke structure and does not move.

The second driving device90includes a second driving gear driven by the motor70. In some embodiments, the motor drives the second driving gear by the front driving gear. In the embodiment, the second driving gear is a sixth gear formed by the first tooth portion959and the second toothed portion954of the second gear95. The second driving device90further includes a second effective stoke structure (the second tooth portion957, disposed adjacent to the non-toothed portion953, of the first toothed portion951) and a second idle stoke structure (the non-toothed portion953). The second driving device90also includes a second output member, which in the embodiment is the rack91.

Thus, when the front driving gear drives the second effective stroke structure by the second driving gear of the second driving device90, the rack linearly moves, and when the front driving gear drives the second idle stroke structure by the second driving gear of the second driving device90, the rack91does not move. Specifically, when the fifth gear71drives the second tooth portion957by the sixth gear, the rack91linearly moves; and when the fifth gear71drives the non-toothed portion953by the sixth gear, the rack does not move.

That is, one driving gear (the fifth gear71) may drive the sleeve22to move through the first driving device80including the first effective stroke structure (the straight groove892), and also may drive the rack91to move through the second driving device90including the second effective stroke structure (the second tooth portion957), and the structural design is quite reasonable. In some embodiments, the movement of the sleeve22and the movement of the rack91are both linear movements.

The fifth gear71is always connected with the motor70and driven by the motor70, the fifth gear71rotates as long as the motor70is started to rotate a motor shaft, and the sleeve22is not driven by the first driving device80and the rack91is not driven by the second driving device90to move simultaneously in the rotation process of the fifth gear71, so that an incorrect use of the stapler may be avoided. In some embodiments, the motor70alternatively drives one of the first effective stroke structure and the second effective stroke structure. That is, during driving, the motor70may only drive one of the first effective stroke structure and the second effective stroke structure. Therefore, the motor70does not drive the rack91when driving the sleeve22, and does not drive the sleeve22when driving the rack91, so that the stapler works reasonably.

The driving device has two states: in the first state, the motor70drives the first effective stroke structure and the second idle stroke structure; and in the second state, the motor70drives the second effective stroke structure and first idle stroke structure.

That is, in the first state, the driving gear (the fifth gear71) drives the first effective stroke structure of the first driving device80and the second idle stroke structure of the second driving device90, so that the driving gear does not drive the rack91to move when driving the sleeve22to move, and the driving gear (the fifth gear71) does not drive the cutting knife assembly40to move while driving the end effector30to be opened or closed.

In the second state, the driving gear (the fifth gear71) drives the second effective stroke structure of the second driving device90and the first idle stroke structure of the first driving device80, so that the driving gear (the fifth gear71) does not drive the sleeve22to move when driving the cutting knife assembly40to move, and the driving gear (the fifth gear71) does not drive the end effector40to be opened or closed while driving the cutting knife assembly30to move.

It can be seen that the driving gear (the fifth gear71) may drive both the first driving device80and the second driving device90, but the driving gear does not drive both the first effective stroke structure of the first driving device80and the second effective stroke structure of the second driving device90, and the design is quite reasonable. Meanwhile, the two states of the driving device satisfy the logic of action of the end effector30and the cutting knife assembly40.

As can be seen, the groove890of the cam89includes the arc groove891and the straight groove892, the protruding column86is located in the groove890, so that the end effector30may be driven to be opened and closed, and meanwhile, the end effector30may remain closed during movement of the cutting knife assembly40. The second gear95includes the first toothed portion951and the tooth-missing portion952, the first toothed portion951includes the second tooth portion957, and the tooth-missing portion952includes the non-toothed portion953, thereby driving the cutting knife assembly40to move forwards and backwards and allowing the cutting knife assembly40to remain stationary during opening and closing of the end effector30. The stapler100of the disclosure is provided with one motor70that may drive the first driving work80to work, thereby driving the end effector30to be opened and closed, and also may drive the second driving device90to work, thereby driving the cutting knife assembly40to move forwards and backwards; and meanwhile, the logic of action between the end effector30and the cutting knife assembly40is satisfied. In some embodiments, in the process that the motor70drives the driving device to work, the effective stroke and the idle stroke are realized by the structure of the components of the driving device, a relative position between the components of the driving device for realizing the effective stroke and the idle stroke does not need to be changed, the relative position does not need to be changed, means that the protruding column is always located in the groove and there is no relative linear displacement between the second gear and the third gear, the structure and the interconnection relationship of the components are simple, the probability of generating assembly errors is small in the process of assembling the components, and the stapler100is not prone to malfunction in the working process.

In a second embodiment, the first gear may be replaced with a first gear as shown inFIG.13, the first gear88includes a cam89, the cam89is provided with a groove890formed by sinking downward from the top surface thereof, and the protruding column86of the connecting member83is located in the groove890. The groove890includes an arc groove891and a straight groove892, two ends of the arc groove891communicate through the straight groove892, that is, the straight groove892and the arc groove891form a closed ring together; ‘communicate’ means that a part of the groove890is through with another part of the groove890so that the protruding column86may move from a part of the groove890to another part of the groove890; and two ends of the straight groove892are defined as a first end893and a second end894, respectively, and the intermediate position between the first end893and the second end894is a middle. During the rotation of the cam89, the protruding column86moves from the middle of the straight groove892to the second end894of the straight groove892along the straight groove892, during the process, the compression ring assembly81moves forwards, the compression ring assembly81drives the sleeve22to move forwards, and when the sleeve22moves forwards, the second end portion24of the sleeve22drives the staple abutting seat32to rotate downwards for realizing closing; and during the rotation of the cam89, the protruding column86moves from the second end894of the straight groove892to the middle of the straight groove892along the straight groove892, during the process, the compression ring assembly81moves backwards, the compression ring assembly81drives the sleeve22to move backwards, and when the sleeve22moves backwards, the second end portion24of the sleeve22drives the staple abutting seat32to rotate upwards for realizing opening. When the protruding column86is located in the arc groove891and moves back and forth along the arc groove891, since the radial distance from any point of the same inner wall of the arc groove891to the first rod87is not changed, when the cam89rotates, the distance of the protruding column86in the lengthwise direction with respect to the first rod87is not changed, that is, the rotation of the cam89does not drive the compression ring assembly81to move forwards and backwards. In the embodiment, the protruding column86moves from the middle of straight groove892to the second end894(one end of the arc groove) of the straight groove892along the straight groove892, thereby realizing closing of the end effector30; the protruding column86then moves from the second end894of the straight groove892to the first end893of the straight groove892(the other end of the arc groove891) along the arc groove891, thereby allowing the end effector30to remain closed during the process of forward movement of the cutting knife41; and the protruding column86moves from the first end893of the straight groove892to the second end894of the straight groove892along the arc groove891, thereby allowing the end effector30to remain closed during the process of backward movement of the cutting knife41; and the protruding column86moves from second end894of the straight groove892to the middle of the straight groove892along the straight groove892, thereby allowing the end effector30to be opened.

FIGS.21-28illustrate a surgical instrument according to a third embodiment of the disclosure.

Referring toFIGS.21-23, the embodiment relates to a surgical instrument, in particular to a stapler, similar to the first embodiment.

Similar to the first embodiment, the surgical instrument includes a driving assembly (a motor70and a fifth gear71driven by the motor70), an end effector and a cutting knife assembly driven by the driving assembly through a driving device. The driving device includes a first driving device and a second driving device. The first driving device drives the end effector, and the second driving device drives the cutting knife assembly. Thus, the first driving device is referred to as the end effector driving device, and the second driving device is referred to as the cutting knife assembly driving device.

Similar to the first embodiment, the first driving device includes a first effective stroke structure and a first idle stroke structure. The second driving device includes a second effective stroke structure and a second idle stroke structure. The motor70alternatively drives one of the first effective stroke structure and the second effective stroke structure. That is, during use of the surgical instrument, the motor70either drives the first effective stroke structure, thereby driving the end effector to be opened or closed, or the second effective stroke structure, thereby driving the cutting knife assembly to move forwards (advance) or backwards (retract), and errors in the working process of the stapler are avoided.

In some embodiments, the driving device has two states: in a first work state, the motor70drives the first effective stroke structure and is coupled with the second idle stroke structure; and in a second work state, the motor70drives the second effective stroke structure and is coupled with the first idle stroke structure. That is, in the first work state, the motor70drives the end effector to be opened or closed without driving the cutting knife assembly, and in the second work state, the motor70drives the cutting knife assembly to advance or retract without driving the end effector. Coupling includes a direct coupling and also includes an indirect coupling. Similarly, driving includes a direct driving and also includes an indirect driving.

Similar to the first embodiment, the surgical instrument in operation is operated in the following steps during a normal use process.

In S1, an output shaft of the motor70rotates in a first direction, and the motor70drives the first effective stroke structure and is coupled with the second idle stroke structure.

In S2, the output shaft of the motor70continues to rotate in the first direction, and the motor70drives the second effective stroke structure and is coupled with the first idle stroke structure.

In S3, the output shaft of the motor70rotates in a second direction, the second direction is opposite to the first direction, and the motor70drives the second effective stroke structure and is coupled with the first idle stroke structure.

In S4, the motor70continues to rotate in the second direction, and the motor70drives the first effective stroke structure and is coupled with the second idle stroke structure.

Therefore, during a normal use process of the surgical instrument in operation, the output shaft of the motor70is reversed (rotates in the first direction and the second direction respectively), and in each rotation direction of the motor70, the first work state and the second work state are switched, so that the driving device is fully utilized, the structure of the driving device is simplified on the premise that the logic action relation between the end effector and the cutting knife assembly is satisfied, and the design is quite reasonable.

The surgical instrument performs step S1such that the driving device drives the end effector to be closed, thereby clamping tissue.

The surgical instrument performs step S2such that the driving device drives the cutting knife assembly to advance, thereby cutting the tissue.

The surgical instrument performs step S3such that the driving device drives the cutting knife assembly to retract, thereby resetting the cutting knife assembly.

The surgical instrument performs step S4such that the driving device drives the end effector to be opened, thereby releasing the tissue.

It can be seen that the driving device of the surgical instrument is quite reasonable in design, so that the driving device is fully utilized, and meanwhile, the functions required by the normal work of the surgical instrument are completely realized.

It is to be noted that the term “normal” work means that no other unexpected conditions, such as jamming of the cutting knife assembly, occur during the operation. The surgical instrument is deservedly designed with emergency devices to cope with unexpected conditions of the surgical instrument during the operation, but these emergency devices are not within the scope of the disclosure and not be described in detail.

Similar to the first embodiment, the driving device further includes a front driving gear, the front driving gear is always connected with the motor70and is driven by the motor70, and the front driving gear drives the first driving device and the second driving device. The front driving gear of the driving device is the fifth gear71. As long as the motor70is started such that its motor shaft rotates, the front driving gear (fifth gear71) may drive one of the first effective stroke structure and the second effective stroke structure without driving both structures simultaneously. The motor70and the front driving gear are referred to as a power assembly. Therefore, the driving device of the disclosure realizes switching between the first effective stroke structure and the second effective stroke structure without disposing an additional clutch device, thereby not only simplifying the structure of the driving device, but also avoiding the instability caused by clutch operation and greatly improving the safety of the surgical instrument.

The second driving device in the embodiment has the same structure as the second driving device of the first embodiment.

In some embodiments, referring back toFIG.9, the second driving device includes a second driving gear which is always meshed with the fifth gear71and is driven by the motor70through the fifth gear71. Thus, the second driving gear is always connected with the motor70indirectly and driven by the motor70. A sixth gear formed by a first tooth portion959of a first toothed portion951and a second toothed portion954forms a second driving gear, and the fifth gear71drives the second driving gear to rotate. The second driving device includes a second effective stoke structure and a second idle stoke structure, the second effective stoke structure is a second tooth portion957of the first toothed portion951, and the second idle stoke structure is a non-toothed portion953. The second driving device further includes a rack91driven by the second effective stoke structure. The details will not be elaborated herein.

It can be seen that the second driving device includes a second driving assembly, and a second motion conversion assembly engaged with the second driving assembly. In some embodiments, the second driving assembly includes a second driving member being a second driving gear, i.e., the sixth gear formed by the first tooth portion959of the first toothed portion951and the second toothed portion954. The second motion conversion assembly includes a second transmission member and a second output member. In some embodiments, the second transmission member includes the second tooth portion957and the non-toothed portion953, and the second output member includes the rack91. The second driving member and the second transmission member are integrally disposed, so that the second driving member and the second transmission member synchronously move.

The second tooth portion957is the effective stroke structure, the non-toothed portion953is the idle stroke structure, so that, in the second driving device, the second effective stroke structure and the second idle stroke structure are disposed on the second motion conversion assembly, and particularly on the second transmission member of the second motion conversion assembly. The second effective stroke structure is engaged with the second output member, which moves, and the second output member is not driven when the second idle stroke structure is coupled with the second output member. In some embodiments, when the second tooth portion957is engaged with the rack91, the second tooth portion957drives the rack91to move linearly; and when the non-toothed portion953is coupled with the rack91, the rack91is not driven. It can be seen that the second transmission member formed by the second tooth portion957and the non-toothed portion953is always engaged with the fifth gear71through the second driving gear, regardless of whether the second tooth portion957is engaged with the rack91or the non-toothed portion953is coupled with the rack.

It is to be noted that in some embodiments of the disclosure, coupling means that no motion is transmitted between two components; whereas engaging means that two components are connected and motion may be transmitted. It is to be noted that, in some embodiments of the disclosure, coupling includes the direct coupling and the indirect coupling, when a component A and a component B in a same driving “chain” are adjacent to each other and do not contact each other, so that no motion is transmitted, the component A and the component B are the direct coupling, other components directly or indirectly driving the component A in the same driving “chain” are indirectly coupled with the component B, and the component A is indirectly coupled with other components directly or indirectly driven by the component B in the same driving “chain”. Engaging includes a direct engaging and an indirect engaging, when a component C and a component D in the same driving “chain” are connected and motion may be transmitted, the component C and the component D are the direct engaging, other components directly or indirectly driving the component C in the same driving “chain” are indirectly engaged with the component D, and the component C is indirectly engaged with other components directly or indirectly driven by the component D in the same driving “chain”. For example, the motor, the front driving gear, the first driving gear, the first driving assembly and the first motion conversion assembly form a driving “chain”, and the motor, the front driving gear, the second driving gear, the second driving assembly and the second motion conversion assembly also form a driving “chain”.

Although a speed reduction assembly including a third gear97and a fourth gear98is further disposed between the second tooth portion957and the rack91, the speed reduction assembly only achieves speed reduction and does not affect the substantial operation principle of the second motion conversion assembly.

The first driving device in the embodiment is different in partial structure from the first embodiment.

As can be seen from the above description, in the first embodiment, the first driving device includes the first driving assembly and the first motion conversion assembly driven by the first driving assembly. The first motion conversion assembly includes a first transmission member and a first output member engaged with the first transmission member. In some embodiments, the first driving assembly includes the first gear88. The first transmission member includes a straight groove892and an arc groove891, and the first output member includes a protruding column96. The first output member may be a direct output member of the first motion conversion assembly, such as the protruding column96; and the first output member may also be an indirect output member of the first motion conversion assembly, such as a sleeve22or other subsequent output members.

In the first embodiment, the straight groove892is an effective stroke structure, the arc groove891is an idle stroke structure, that is, in the first embodiment, the effective stroke structure and the idle stroke structure are disposed on the motion conversion assembly. The motion conversion component realizes conversion of two different motion forms.

While in the embodiment, the first driving device is driven by the power assembly, and the first driving device includes the driving assembly and the motion conversion assembly driven by the first driving assembly. The motion conversion assembly includes a driving member and an output member. The driving assembly includes the first effective stroke structure and the first idle stroke structure. The first driving device has a first state and a second state. In the first state, when the power assembly is engaged with the first effective stroke structure, the driving assembly drives the motion conversion assembly, and the output member moves; and in the second state, the power assembly is coupled with the first idle stroke structure, the motion conversion assembly is disengaged from the driving of the power assembly, the driving assembly does not drive the motion conversion assembly, and the output member is not driven. That is, in the embodiment, the effective stroke structure and the idle stroke structure are disposed on the driving assembly. The driving assembly only transmits its previous form of motion without effecting the conversion of the form of motion.

For the first driving device of the embodiment, compared with the first embodiment, although in one embodiment, the effective stroke structure and the idle stroke structure are disposed on the driving assembly, in the other embodiment, the effective stroke structure and the idle stroke structure are disposed on the motion conversion assembly, there are some similarities between the disclosure conception of the embodiment and the first embodiment, i.e., the effective stroke structure and the idle stroke structure are disposed in a transmission chain of the driving device, so that the output member may also be driven or not driven as required even if the motor is driven.

In some embodiments, the driving assembly includes a first driving member and a rotating member720, the effective stoke structure and the idle stoke structure are disposed on the rotating member720, the first driving member and the rotating member720have two states, in a first state, the effective stoke structure of the rotating member720and the first driving member are synchronously driven by the motor70, the rotating member720drives the motion conversion assembly, and the output member moves; and in a second state, the motor70is coupled with the idle stoke structure, the motor drives the first driving member and does not drive the rotating member720, the rotating member720does not drive the motion conversion assembly, and the output member is not driven. When the motor70drives the first effective stroke structure, the motion conversion assembly converts rotation of the rotating member720into linear motion of the output member, and the linear motion of the output member further drives the end effector to be opened or closed. When the motor70is coupled with the first idle stoke structure, the motor70does not drive the sleeve to move.

In some embodiments, the first driving member is a first driving gear732which is always connected with the motor70and driven by the motor70. More specifically, the first driving gear732is always meshed with the fifth gear71, and the fifth gear71is always connected with the motor70and driven by the motor70, so that the first driving gear732is indirectly connected with the motor70and driven by the motor70.

The first effective stroke structure is a toothed portion724, and the first idle stroke structure is a non-toothed portion730. The toothed portion724and the non-toothed portion730are disposed on a circumferential face of the rotating member720. The toothed portion724and the non-toothed portion730are disposed adjacently. The outer diameter of the non-toothed portion730is smaller than the outer diameter of the toothed portion724, and the outer diameter of the toothed portion724includes the dimension, in a radial direction of the rotating member720, of teeth.

The motion conversion assembly includes a transmission member and the output member, and the transmission member is disposed on the rotating member720. The transmission member includes a first groove722, and the output member includes a protruding column86. A radial distance between the first groove722and a rotation center of the rotating member720increases or decreases along the first groove722, and the protruding column86slides in the first groove722to convert rotation of the rotating member720into linear motion of the protruding column86. The protruding column86is a direct output member. The protruding column86is connected with a connecting rod, a compression ring and the sleeve in sequence, which is the same as the first embodiment. The sequential connection means that: the connecting rod is connected with the protruding column86, the compression ring is connected with the connecting rod, and the sleeve is connected with the compression ring. The sleeve may drive the end effector to be opened or closed. The sleeve may be considered an indirect output member.

In the first state, the toothed portion724of the rotating member720and the first driving gear732are simultaneously meshed with the fifth gear71, the rotating member720and the first driving gear732are driven by the fifth gear71to synchronously rotate, the rotating member720is driven by the fifth gear71to rotate, i.e., the protruding column86may be driven to linearly move through the matching of the first groove722and the protruding column86, and finally, the end effector is driven to be closed or opened; in the second state, only the first driving gear732is meshed with the fifth gear71and driven by the motor70, while the non-toothed portion730of the rotating member720is coupled with the fifth gear71and indirectly coupled with the motor70, the non-toothed portion730of the rotating member720may not be meshed with the fifth gear71, and the rotating member720does not drive the end effector to be closed or opened. The meaning of coupling is consistent with the definition in the preceding text. It is also to be noted that, consistent with the foregoing description, coupling includes the direct coupling and the indirect coupling.

When the clinician uses the surgical instrument, the clinician typically operates a pressing holding mechanism to press the tissue after the end effector is closed and before the cutting knife assembly advances, during which the tissue is thinned and the end effector is further closed. To ensure that the driving gear always applies force to the end effector to keep the end effector in a closed state during a process of pressing tissue, referring toFIG.24, in the embodiment, the first effective stroke structure includes a first portion and a second portion which are adjacently disposed, the first portion drives the end effector to execute a first stage of closing to clamp the tissue, and the second portion drives the end effector to execute a second stage of closing to press the tissue. In some embodiments, the toothed portion724includes a stroke driving tooth portion726and a pressing holding tooth portion728which are disposed adjacently. When the front driving gear drives the stroke driving tooth portion726, the protruding column86slides in the first groove722to drive the end effector to be closed. The pressing holding tooth portion728is meshed with the front driving gear during pressing holding, so that the front driving gear always applies a certain action force on the end effector by the pressing holding tooth portion728during pressing holding, thereby avoiding an accidental release of the end effector. Since a closing stroke of the end effector is small during the process of pressing tissue, in the embodiment, the pressing holding tooth portion728includes one to two tooth portions.

The first groove722includes a first section and a second section communicated with the first section, corresponding to that “the first effective stroke structure includes the first portion and a second portion” disposed adjacently. The first portion is engaged with the power assembly, so that the first output member is engaged with the first section; and the second portion is engaged with the power assembly, so that the first output member is engaged with the second section. In some embodiments, the stroke driving tooth portion726is engaged with the fifth gear71and the motor70such that the protruding column86moves in in the first section, thereby driving the end effector to execute the first stage of closing; and the pressing holding tooth portion728is engaged with the fifth gear71and the motor70such that the protruding column86moves in the second section, thereby driving the end effector to execute the first stage of closing.

The end effector is driven to be closed for clamping tissue when the protruding column86moves in the first section, and is driven to be further closed to press the tissue when the protruding column86moves in the second section.

In some embodiments, the first groove722also includes a third section communicating with the second section, and the second section is located between the first section and the third section. The third section disposed may provide a certain margin for the sliding of the protruding column86in the first groove722, so as to avoid jamming.

The first driving gear732and the rotating member720are overlapped, In some embodiments, the first driving gear732and the rotating member720are overlapped in the axial direction. It is convenient to mesh the first driving gear732and the toothed portion724of the rotating member720with the fifth gear71at the same time.

A first end face of the first driving gear732is adjacent to a second end face of the rotating member720, one of the two end faces is provided with a second arc groove734, the other is provided with a protrusion736extending into the second arc groove734, and a circle center of the second arc groove734is located on the rotation axis of the first driving gear732. The protrusion736may slide in the second arc groove734. On one hand, the matching of the protrusion736with the second arc groove734may guarantee that the first driving gear732and the rotating member720are overlapped; on the other hand, the protrusion736may slide in the arc groove, so that in the second state, the rotating member720does not rotate with the first driving gear732, the operation of the first idle stroke is guaranteed, and therefore, the rotating member720does not drive the end effector to be closed or opened when the driving device drives the cutting knife assembly to move.

Returning toFIGS.7and8, in the first embodiment, the first gear88drives the sleeve to move linearly to drive the end effector to be opened or closed through sliding of the protruding column86in the straight groove892, so that the first gear88applies an action force to the sleeve and thus the end effector. As can be known from the principle of action force and reverse force, the end effector, in turn, indirectly applies a certain reverse force to the first gear88. When the cutting knife assembly cuts the tissue, the end effector clamps the tissue, and the clamping of the tissue is realized by the cooperation of the cutting knife assembly and the end effector in the cutting process. In some embodiments, the cutting knife assembly is provided with an upper lug portion, a lower lug portion and a connecting portion connected to the upper lug portion and the lower lug portion, and the upper lug portion, the lower lug portion and the connecting portion are fixedly connected or integrally formed. During cutting, the upper lug portion of the cutting knife assembly moves in the groove of a staple abutting seat of the end effector, and the lower lug portion moves in the groove of a staple cartridge seat. The upper lug portion has a traction effect on the staple abutting seat through the groove of the staple abutting seat, and the lower lug portion has a traction effect on the staple cartridge seat through the groove of the staple cartridge seat, so that mutual clamping of the staple abutting seat and the staple cartridge seat in the cutting process is realized. The reverse force of the tissue to the end effector is transmitted inversely through the first gear88to the fifth gear71and the motor70, which reduces the power transmitted by the fifth gear71through the second driving device to the cutting knife assembly, thereby affecting the cutting efficiency of the cutting knife assembly.

Referring toFIGS.21to23, in the embodiment, the protrusion736may freely slide in the second arc groove734. Thus, there is a loose fit between the first driving gear732and the rotating member720. Thus, even if the end effector clamps the tissue when the cutting knife assembly cuts the tissue, the reverse force applied by the end effector to the rotating member720is not transmitted to the fifth gear71or only a small portion of the reverse force is transmitted to the fifth gear71due to the loose fit between the rotating member720and the first driving gear732, thereby avoiding or reducing the influences on the cutting efficiency of the cutting knife assembly and improving the cutting efficiency of the cutting knife assembly.

The width of the protrusion736is smaller than a width of the second arc groove734. Thus, the protrusion736may slide in the second arc groove734, and the function of the second state is realized. Those skilled in the art may appreciate that the width of the protrusion736is equal to the width of the second arc groove734, and all the solutions similar to or the same as the present embodiments are covered within the protection scope of the disclosure.

When the driving device drives the second effective stroke structure, the protrusion736slides in the second arc groove734. In the embodiment, a circumferential extension length of the second arc groove734is greater than a circumferential extension length required by the second effective stroke. Margin is provided for movement of the projection736in the second arc groove734. Those skilled in the art may appreciate that the circumferential extension length of the second arc groove734is equal to the circumferential extension length of the second effective stroke, and all the solutions similar to or the same as the present embodiments are covered in the protection scope of the disclosure.

The protrusion736abuts against an end portion of the second arc groove734so that the rotating member720and the first driving gear732are switched from the second state to a ready position of the first state. In some embodiments, after retracting is completed, the protrusion736abuts against a head end742of the second arc groove734, so that the toothed portion724of the rotating member720and the teeth of the first driving gear732are aligned up and down, and at the moment, if the motor70rotates, the rotating member720and the first driving gear732are synchronously meshed with the front driving gear71, so as to ensure the subsequent smooth opening of the end effector to release the tissue.

Therefore, in the embodiment, the toothed portion724of the rotating member720is the first effective stroke structure, and the non-toothed portion730of the rotating member720is the first idle stroke structure. The first driving gear732is always meshed with the fifth gear71and is driven by the motor70, so that the effective stroke and the idle stroke are conveniently switched, and the structural design is reasonable.

The associated work process of the surgical instrument of the embodiment will now be described with reference toFIGS.24-27.

As shown inFIG.24, at the moment, the end effector is in an open state and the cutting knife assembly is in an initial position. In the first driving device, the protruding column86is located at a first end738of the first groove722, the protrusion736is located at a head end742of the second arc groove734, and the toothed portion724of the rotating member720and the first driving gear732are simultaneously meshed with the driving gear (the fifth gear71).

At the moment, if the clinician determines that the end effector has been aligned with the tissue to be cut, the clinician starts the motor70, the motor70rotates in the first direction to drive the driving gear (the fifth gear71) to rotate, the rotating member720and the first driving gear732are in a first state, and the driving gear (the fifth gear71) rotates to simultaneously drive the rotating member720and the first driving gear732to rotate. In the process, there is no relative rotation of the rotating member720and the first driving gear732, and thus, the protrusion736remains at the head end742of the second arc groove734; while rotation of the rotating member720drives the protruding column86to move in the first groove722from a first end738toward a second end740, the end effector is gradually closed, and the first driving device reaches the position shown inFIG.25.

At the position shown inFIG.25, the driving gear (the fifth gear71) is still meshed with the toothed portion724, in some embodiments, the driving gear (the fifth gear71) is still meshed with the pressing holding tooth portion728of the toothed portion724. At the moment, the clinician may operate the pressing holding mechanism, during which the driving gear (the fifth gear71) simultaneously drives the pressing holding tooth portion728and the first driving gear732, the protruding column86moves a short distance further toward the second end740, and the end effector is further closed to reach the position shown inFIG.26.

In the position shown inFIG.26, the end effector has pressed the tissue, the rotating member720and the first driving gear732are switched from the first state to the second state, the driving gear (the fifth gear71) is disengaged from the toothed portion724of the rotating member720, and the driving gear (the fifth gear71) is only meshed with the first driving gear732. At the moment, the clinician may operate the cutting knife assembly, the motor70continues to rotate in the first direction, the motor70drives the cutting knife assembly to advance through the same second driving device (only part of which is shown inFIG.26) as in the first embodiment, so that the cutting knife assembly moves from an initial position to a final position, during the process, the non-toothed portion730is coupled with the driving gear (the fifth gear71), the driving gear (the fifth gear71) does not drive the end effector to move through the non-toothed portion730, but the driving gear (the fifth gear71) drives the first driving gear732of the first driving device to rotate, and the protrusion736is driven to slide in the second arc groove734from a head end742toward a tail end744to reach the position shown inFIG.27.

At the position shown inFIG.27, the cutting assembly is at the final position and the tissue is cut. At the moment, the clinician may operate the motor70to rotate reversely, i.e., in the second direction opposite to the first direction, the motor70drives the cutting knife assembly to retract through the same second driving device (only part of which is shown inFIG.27) as in the first embodiment, so that the cutting knife assembly retracts to the initial position from the final position, during which the non-toothed portion730is coupled with the driving gear (the fifth gear71), the driving gear (the fifth gear71) does not drive the end effector to move through the non-toothed portion730, but the driving gear (the fifth gear71) drives the first driving gear732of the first driving device to rotate reversely, and the protrusion736is driven to slide in the second arc groove734towards the head end742, and when the protrusion736abuts against the head end742of the second arc groove734, the toothed portion724of the rotating member720and the tooth portion of the first driving gear732are aligned up and down, and the protrusion736reaches the position shown inFIG.28.

At the position shown inFIG.28, the clinician may operate the motor70such that the motor70continues to rotate reversely, the driving gear (the fifth gear71) begins to drive the rotating member720and the first driving gear732to simultaneously rotate reversely, the protrusion736remains at the head end742of the second arc groove734, and the protruding column86moves in the first groove722in a direction towards the first end738, thereby driving the end effector to be opened, returning to the state shown inFIG.24. Thus, a complete operation of the surgical instrument is realized, during which the surgical instrument sequentially realizes closing of the end effector for clamping the tissue, advancing of the cutting knife assembly for cutting the tissue, retracting of the cutting knife assembly, and opening of the end effector for loosening the tissue.

In the second to third embodiments, except for the technical features already described in the embodiments and the technical features that may be substituted with the above-described technical features, other technical features in the above-described embodiments are in the same part as in the first embodiment and are not repeated.

In summary, the stapler100of the disclosure is provided with one motor70that driving the first driving work80to work, thereby driving the end effector30to be opened and closed, and can also drive the second driving device90to work, thereby driving the cutting knife assembly40to move forwards and backwards. The stapler100of the disclosure is small in size and low in cost, and in addition, one motor70enables the stapler100to be small in overall weight and flexible to operate by the clinician. Single-motor driving is achieved by disposing the gear structure in the driving device, and the first driving device and the second driving device are simple in structure.

The embodiments of the disclosure have been shown or described above. However, it can be understood that the abovementioned embodiments are exemplary and should not be understood as limits to the disclosure, and those of ordinary skill in the art may make variations, modifications, replacements, transformations to the abovementioned embodiments within the scope of the disclosure, and the technical solutions after the variations, modifications, replacements, transformations are all within the protection scope of the disclosure.