Patent Description:
The invention relates to the technical field of surgical instrument, particularly 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.

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.

Robotic endocutter drivertrain with bailout and manual opening is disclosed in <CIT>(D1).

Electrically self-powered surgical instrument with manual release is disclosed in <CIT> (D2).

Some embodiments provide a driving device with higher driving efficiency.

In order to achieve the purpose, some embodiments of the invention 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, S1 is executed so that the end effector is closed; S2 is executed to enable the cutting knife assembly to advance; S3 is executed to enable the cutting knife assembly to retract; and S4 is executed to enable the end effector to be opened.

Some embodiments of the invention 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.

In order to make the purpose, technical solutions and advantages of the invention clearer, the invention 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 invention only and are not intended to limit the invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the invention without creative efforts shall fall within the protection scope of the invention.

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 in <FIG>, 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 in <FIG>, a stapler <NUM> according to a first embodiment, which does not fall within the scope of protection, includes an operation assembly <NUM>, a rod assembly <NUM> extending longitudinally from the operation assembly and an end effector <NUM> disposed at one end of the rod assembly <NUM>. The end effector <NUM> includes a staple cartridge seat <NUM> and a staple abutting seat <NUM> pivotally connected to the staple cartridge seat <NUM>, the staple cartridge seat <NUM> is used for operably supporting the staple cartridge (not shown in the figure), the staple abutting seat <NUM> is selectively movable between an open position and a closed position. The operation assembly <NUM> includes a body (not shown in the figure) and a transmission mechanism <NUM> mounted on the body. The rod assembly <NUM> includes a mandrel <NUM> and a sleeve <NUM> sleeving the mandrel <NUM>, one end of the mandrel <NUM> is connected with a rack of a second driving device, and the other end of the mandrel <NUM> is located in the sleeve <NUM>; the sleeve <NUM> includes a first end portion <NUM> connected to a first driving device and a second end portion <NUM> connected to the staple abutting seat <NUM> of the end effector <NUM>, backward movement of the sleeve <NUM> enables the staple abutting seat <NUM> to pivot upwards so as to open the end effector <NUM>, and forward movement of the sleeve <NUM> enables the staple abutting seat <NUM> to pivot downwards to close the end effector <NUM>. Referring to <FIG>, the staple abutting seat <NUM> is rotatably connected to the second end portion <NUM> of the sleeve <NUM>, i.e., the staple abutting seat <NUM> is connected to the second end portion <NUM> of the sleeve <NUM> and the staple abutting seat <NUM> is rotatable relative to the second end portion <NUM> of the sleeve <NUM>. It is to be noted that the staple abutting seat <NUM> is rotatably connected to the second end portion <NUM> of the sleeve <NUM>, so that forward and backward movement of the sleeve <NUM> drives the staple abutting seat <NUM> to pivot belongs to a relevant art.

Referring to <FIG> and <FIG>, the second end portion <NUM> of the sleeve <NUM> is movably connected to the staple abutting seat <NUM>, and the staple abutting seat <NUM> is driven to pivot upwards to open the end effector <NUM> when the sleeve <NUM> moves towards a proximal end; and the staple abutting seat <NUM> is driven to pivot downwards to close the end effector <NUM> when the sleeve <NUM> moves towards a distal end.

In some embodiments, referring to <FIG>, the sleeve <NUM> includes a body <NUM> and a driving tube <NUM> which are connected, and the driving tube <NUM> drives the staple abutting seat <NUM> to pivot upwards or downwards to open or close the end effector <NUM>. The body <NUM> and the driving tube <NUM> are connected by a hinge or may be integrally formed.

The driving tube <NUM> includes a first driving portion <NUM> for driving the staple abutting seat <NUM> to be opened and a second driving portion <NUM> for driving the staple abutting seat <NUM> to be closed. The first driving portion <NUM> is a protruding portion disposed on the driving tube <NUM>, and the protruding portion obliquely extends along a lower right part; and the second driving portion <NUM> is a driving face at a distal end of the driving tube <NUM>.

Correspondingly, the staple abutting seat <NUM> is provided with a first driven portion13 capable of being cooperated with the first driving portion <NUM> and a second driven portion <NUM> capable of being cooperated with the second driving portion <NUM>. The first driven portion <NUM> is a protruding portion disposed on the staple abutting seat <NUM>, and the protruding portion extends upwards; and the second driven portion <NUM> is an abutting face at a proximal end of the staple abutting seat <NUM>.

Referring to <FIG>, in some embodiments, a guide mechanism is further disposed between the staple abutting seat <NUM> and the staple cartridge seat <NUM>, the guide mechanism includes a pin <NUM> disposed on the staple abutting seat <NUM> and a kidney-shaped groove <NUM> formed in the staple cartridge seat <NUM>, and the kidney-shaped groove <NUM> obliquely extends upwards in a direction from the proximal end to the distal end.

Referring to state changes of <FIG>, when the end effector <NUM> needs to be opened, the body <NUM> of the sleeve <NUM> pulls the driving tube <NUM> to move towards the proximal end, the first driving portion <NUM> on the driving tube <NUM> abuts against the first driven portion <NUM> on the staple abutting seat <NUM>, the pin <NUM> moves from a distal upper end of the kidney-shaped groove <NUM> to a proximal lower end, the staple abutting seat <NUM> pivots upwards, and the end effector <NUM> is opened.

Referring to state changes of Figs. <NUM>-<NUM>, when the end effector needs to be closed, the body <NUM> of the sleeve <NUM> pushes the driving tube <NUM> to move towards the distal end, the second driving portion <NUM> on the driving tube <NUM> abuts against the second driven portion <NUM> on the staple abutting seat <NUM>, the pin <NUM> moves from the proximal lower end of the kidney-shaped groove <NUM> to the distal upper end, the staple abutting seat <NUM> pivots downwards, and the end effector <NUM> is closed.

The stapler <NUM> further includes a cutting knife assembly <NUM>, the cutting knife assembly <NUM> includes a cutting knife <NUM> disposed in the staple cartridge and a knife pushing member <NUM> detachably connected to the cutting knife <NUM>, a part of the knife pushing member <NUM> is located in the sleeve <NUM> and connected to the other end of the mandrel <NUM>, and the other part of the knife pushing member <NUM> extends into the end effector <NUM> and is detachably connected to the cutting knife <NUM>. Referring to <FIG> and <FIG>, the knife pushing member <NUM> is provided with a recess (not labeled), the cutting knife <NUM> is provided with a protrusion (not labeled), and the recess and the protrusion cooperate to enable the knife pushing member <NUM> and the cutting knife <NUM> to be assembled together.

In some embodiments, the stapler <NUM> further includes a trigger <NUM>, a circuit board assembly <NUM> and a motor <NUM>. The trigger <NUM> and the motor <NUM> are electrically connected to the circuit board assembly <NUM>. The number of the motor <NUM> is one. The circuit board assembly <NUM> includes a circuit board <NUM> and a control module <NUM> electrically connected to the circuit board <NUM>. The stapler <NUM> further includes a pressing holding mechanism (not shown in the figure), which is operated by the clinician before the cutting knife assembly <NUM> is driven to move forwards, and after the pressing holding mechanism finishes working, the clinician may drive the cutting knife assembly <NUM> to move forwards.

As shown in <FIG>, in some embodiments, the control module <NUM> includes a detection unit <NUM>, a micro control unit <NUM>, a motor driving unit <NUM>, and a motor control unit <NUM>. The detecting unit <NUM> is configured to detect a trigger signal of the trigger <NUM> and transmit the signal to the micro control unit <NUM>, the micro control unit <NUM> analyzes and processes the signal and transmits the signal to the motor driving unit <NUM>, the motor driving unit <NUM> analyzes and processes the signal and transmits the signal to the motor control unit <NUM>, and the motor control unit <NUM> sends an operation instruction to the motor <NUM> according to a received signal.

The trigger <NUM> includes a first button <NUM> and a second button <NUM>. The first button <NUM> and the second button <NUM> are both electrically connected to the control module <NUM>.

The trigger <NUM> further includes a third button <NUM> and a fourth button <NUM>, the third button <NUM> and the fourth button <NUM> are symmetrically disposed, the third button <NUM> and the fourth button <NUM> are both electrically connected to the control module <NUM>, and a same function is achieved no matter which of the third button <NUM> and the fourth button <NUM> is pressed by the clinician. In some embodiments, the stapler <NUM> further includes an indication mechanism (not shown in the figure) electrically connected to the control module <NUM>, the indication mechanism includes five indication lamps, which are LED lamps. The third button <NUM>, the fourth button <NUM>, the control module <NUM> and the indication mechanism form the pressing holding mechanism together to improve the pressing effect. The clinician presses the third button <NUM> or the fourth button <NUM> and releases the same, the control module <NUM> receives a signal sent by the third button <NUM> or the fourth button <NUM> and 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 button <NUM> to drive the cutting knife assembly <NUM> to move forwards. If the clinician wants to drive the cutting knife assembly <NUM> to move forwards before the indication mechanism finishes working, to save time, the following operation mode may be used: the third button <NUM> or the fourth button <NUM> is pressed and released, the third button <NUM> or the fourth button <NUM> is pressed and released again within <NUM> seconds, and at the moment, the clinician may operate the first button <NUM> to drive the cutting knife assembly <NUM> to move forwards. The pressing holding mechanism finishes operation includes: the third button <NUM> or the fourth button <NUM> is 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 button <NUM> or the fourth button <NUM> is pressed and released instantly, and the third button <NUM> or the fourth button <NUM> is pressed and released again instantly within <NUM> seconds.

In some embodiments, the trigger <NUM> further includes a first travel switch <NUM>, a second travel switch <NUM>, a third travel switch <NUM>, and a fourth travel switch <NUM> electrically connected to the control module <NUM>, the first travel switch <NUM> is configured to detect whether the cutting knife assembly <NUM> has moved forwards in place or not, the second travel switch <NUM> is configured to detect whether the cutting knife assembly <NUM> has moved backwards in place or not, the third travel switch <NUM> is configured to detect whether the end effector <NUM> has been closed in place or not, and the fourth travel switch <NUM> is configured to detect whether the end effector <NUM> has been opened in place or not.

The work process of the stapler <NUM> is as follows: (<NUM>) when the clinician presses the first button <NUM> and keeps a pressing state, the control module <NUM> receives a signal sent by pressing the first button <NUM> and then instruct the motor <NUM> to work, the motor <NUM> drives the transmission mechanism <NUM> to work, the transmission mechanism <NUM> drives the staple abutting seat <NUM> to pivot downwards so as to close the end effector <NUM>, when the transmission mechanism <NUM> triggers the third travel switch <NUM>, the control module <NUM> receives a signal and instructs the motor <NUM> to stop working, at the moment, the end effector <NUM> is closed in place, and the clinician releases the first button <NUM>; (<NUM>) the clinician operates the pressing holding mechanism; (<NUM>) when the pressing holding mechanism finishes operation or the operation of the press holding mechanism is terminated, the clinician presses the first button <NUM> and keeps a pressing state, the control module <NUM> receives a signal sent by pressing the first button <NUM> and then instructs the motor <NUM> to work, the motor <NUM> drives the transmission mechanism <NUM> to work, the transmission mechanism <NUM> drives the cutting knife assembly <NUM> to move forwards to cut tissue, when the transmission mechanism <NUM> triggers the first travel switch <NUM>, the control module <NUM> receives a signal and instructs the motor <NUM> to stop working, at the moment, the cutting knife assembly <NUM> moves forwards in place, and a process of cutting the tissue is finished; (<NUM>) the clinician releases the first button <NUM>, the control module <NUM> receives a signal sent by releasing the first button <NUM> and instructs the motor <NUM> to continue to work (retract), the motor <NUM> drives the transmission mechanism <NUM> to work, the transmission mechanism <NUM> drives the cutting knife assembly <NUM> to move backwards, when the transmission mechanism <NUM> triggers the second travel switch <NUM>, the control module <NUM> receives a signal and instructs the motor <NUM> to stop working, and at the moment, the cutting knife assembly <NUM> moves backwards in place; (<NUM>) the clinician presses the second button <NUM> and keeps a pressing state, the control module <NUM> receives a signal sent by pressing the second button <NUM> and then instructs the motor <NUM> to work, the motor <NUM> drives the transmission mechanism <NUM> to work, the transmission mechanism <NUM> drives the staple abutting seat <NUM> to pivot upwards so as to open the end effector <NUM>, when the transmission mechanism <NUM> triggers the fourth travel switch <NUM>, the control module <NUM> receives a signal and instructs the motor <NUM> to stop working, at the moment, the end effector <NUM> is opened in place, and the clinician releases the second button <NUM>.

The transmission mechanism <NUM> includes a driving device, the driving device includes a first driving device <NUM>, a second driving device <NUM> and a fifth gear <NUM>, and the fifth gear <NUM> is fixed to an output shaft of the motor <NUM>. Or, the fifth gear is fixed to an output shaft of a gearbox driven by the motor <NUM>, i.e., the fifth gear <NUM> is directly or indirectly connected with the output shaft of the motor <NUM>. The fifth gear <NUM> is a driving gear, or the fifth gear <NUM> is referred to as a front driving gear. The fifth gear <NUM> is always connected with the motor <NUM> and driven by the motor <NUM> to rotate, and the connection includes direct connection and indirect connection. In other words, during the work process of the stapler <NUM>, the fifth gear <NUM> is not disengaged from the motor <NUM>, and the fifth gear <NUM> is always connected with the motor <NUM> and driven by the motor <NUM> to rotate. The first driving device <NUM> is configured to drive the end effector <NUM> to be opened and closed, and the second driving device <NUM> is configured to drive the cutting knife assembly <NUM> to move forwards and backwards. The motor <NUM> drives the fifth gear <NUM> to rotate in a first direction or a second direction, and the first direction is opposite to the second direction. The first driving device <NUM> and the second driving device <NUM> are both meshed with the fifth gear <NUM>, and the fifth gear <NUM> rotates to enable the first driving device <NUM> or the second driving device <NUM> to work. When the first driving device <NUM> works, the first driving device <NUM> drives the sleeve <NUM> to move forwards and backwards, thereby pivoting the staple abutting seat <NUM> to close and open the end effector <NUM>; and when the second driving device <NUM> works, the second driving device <NUM> drives the mandrel <NUM> to move forwards and backwards, thereby enabling the cutting knife assembly <NUM> to move forwards and backwards. The driving device also includes a rod assembly <NUM>. In some embodiments, the driving device further includes a mandrel <NUM>. In some embodiments, the driving device further includes a sleeve <NUM>.

In some embodiments, the first driving device <NUM> includes a compression ring assembly <NUM> and a first gear assembly <NUM>, the compression ring assembly <NUM> includes a connecting member <NUM> and a compression ring <NUM>, the connecting member <NUM> includes a connecting rod <NUM> and a protruding column <NUM> disposed at one end of the connecting rod <NUM>, and the compression ring <NUM> is disposed at the other end of the connecting rod <NUM>. The first gear assembly <NUM> includes a first rod <NUM> and a first gear <NUM> sleeving the first rod <NUM>, the first rod <NUM> is fixed to a body (not shown in the figure) of the operation assembly <NUM>, and the first gear <NUM> rotates around the first rod <NUM>. The first gear <NUM> includes a cam <NUM>, when the first gear <NUM> rotates, the cam <NUM> rotates synchronously, and the first gear <NUM> is meshed with the fifth gear <NUM>. The cam <NUM> is provided with a groove <NUM> formed by sinking downward from a top surface thereof, and the protruding column <NUM> is located in the groove <NUM>. In some embodiments, the groove <NUM> includes an arc groove <NUM> and a straight groove <NUM>, two ends of the straight groove <NUM> are defined as a first end <NUM> and a second end <NUM>, respectively, two ends of the arc groove <NUM> are defined as a third end <NUM> and a fourth end <NUM>, respectively, and the second end <NUM> of the straight groove <NUM> communicates with the third end <NUM> of the arc groove <NUM>, that is, the second end <NUM> of the straight groove <NUM> is substantially the third end <NUM> of the arc groove <NUM>; 'communicate' means that a part of the groove <NUM> is through with another part of the groove <NUM> so that the protruding column <NUM> may move from a portion of the groove <NUM> to another portion of the groove <NUM>. Specifically, 'communicate' means that the arc groove <NUM> is through with the straight groove <NUM> so that the protruding column <NUM> may move from the arc groove <NUM> to the straight groove <NUM>, and the arc groove <NUM> communicates with the straight groove <NUM> to form a non-closed groove as shown in <FIG>, or a closed annular groove as shown in <FIG>. The first end portion <NUM> of the sleeve <NUM> is connected to the compression ring <NUM>, specifically, an outer wall of the first end portion <NUM> of the sleeve <NUM> is provided with a groove, an inner wall of the compression ring <NUM> is provided with a rib <NUM>, the groove and the rib <NUM> cooperate to assemble the sleeve <NUM> and the compression ring <NUM> together, and the second end portion <NUM> of the sleeve <NUM> is movably connected to the staple abutting seat <NUM>. When the motor <NUM> drives the fifth gear <NUM> to rotate in the first direction, the fifth gear <NUM> drives the first gear <NUM> to rotate in the second direction, the cam <NUM> also rotates synchronously in the second direction, during a rotation of the cam <NUM>, the protruding column <NUM> moves from the first end <NUM> of the straight groove <NUM> to the second end <NUM> of the straight groove <NUM> along the straight groove <NUM>, during the process, the compression ring assembly <NUM> moves forwards, the compression ring assembly <NUM> drives the sleeve <NUM> to move forwards, and when the sleeve <NUM> moves forwards, the second end portion <NUM> of the sleeve <NUM> drives the staple abutting seat <NUM> to rotate downwards for closing; when the motor <NUM> drives the fifth gear <NUM> to rotate in the second direction, the fifth gear <NUM> drives the first gear <NUM> to rotate in the first direction, the cam <NUM> also rotates synchronously in the first direction, during the rotation of the cam <NUM>, the protruding column <NUM> moves from the second end <NUM> of the straight groove <NUM> to the first end <NUM> of the straight groove <NUM> along the straight groove <NUM>, during the process, the compression ring assembly <NUM> moves backwards, the compression ring assembly <NUM> drives the sleeve <NUM> to move backwards, and when the sleeve <NUM> moves backwards, the second end portion <NUM> of the sleeve <NUM> drives the staple abutting seat <NUM> to rotate upwards to realize opening. The sleeve <NUM> is the output member of first gear <NUM>.

When the protruding column <NUM> is located in the arc groove <NUM> and moves back and forth along the arc groove <NUM>, since a radial distance from any point of the same inner wall of the arc groove <NUM> to the first rod <NUM> is not changed, therefore, when the cam <NUM> rotates, the distance of the protruding column <NUM> in a lengthwise direction with respect to the first rod <NUM> is not changed, that is, the rotation of the cam <NUM> does not drive the compression ring assembly <NUM> to move forwards and backwards. Since the radial distance from any point of the same inner wall of the straight groove <NUM> to the first rod <NUM> increases in a direction away from the first rod <NUM> (i.e., in a direction from the first end <NUM> to the second end <NUM> in <FIG>) and decreases in a direction closer to the first rod <NUM> (i.e., in a direction from the second end <NUM> to the first end <NUM> in <FIG>), therefore, the compression ring assembly <NUM> is driven to move forwards when the protruding column <NUM> moves in the straight groove <NUM> in the direction away from the first rod <NUM>, and the compression ring assembly <NUM> is driven to move backwards when the protruding column <NUM> moves in the straight groove <NUM> in the direction closer to the first rod <NUM>. As shown in <FIG>, the arc groove <NUM> communicates with the straight groove <NUM> to form the closed annular groove, and the portion that functions of the straight groove <NUM> occupies half of its length. It is to be noted that the movement of the protruding column <NUM> in the groove <NUM> is a relative movement, which is achieved by the rotation of the cam <NUM>.

In some embodiments, the second driving device <NUM> includes a rack <NUM>, a second gear assembly <NUM>, and a third gear assembly <NUM>. The second gear assembly <NUM> includes a second rod <NUM> and a second gear <NUM> sleeving the second rod <NUM>, the second rod <NUM> is fixed to the body of the operation assembly <NUM>, the second gear <NUM> rotates around the second rod <NUM>, and the second gear <NUM> is meshed with the fifth gear <NUM>; and the second gear <NUM> includes a first toothed portion <NUM> and a tooth-missing portion <NUM> that are disposed adjacently in a circumferential direction, the first toothed portion <NUM> and the tooth-missing portion <NUM> have a first boundary and a second boundary therebetween, and the tooth-missing portion <NUM> includes a non-toothed portion <NUM> and a second toothed portion <NUM> that are disposed adjacently in the vertical direction (i.e., the axial direction). The second gear <NUM> is always kept meshed with the fifth gear <NUM> by the first toothed portion <NUM> and the second toothed portion <NUM>. The third gear assembly <NUM> includes a third rod <NUM>, a third gear <NUM> and a fourth gear <NUM> sleeving the third rod <NUM>, the third rod <NUM> is fixed to the body of the operation assembly <NUM>, the third gear <NUM> and the fourth gear <NUM> rotate around the third rod <NUM>, the third gear <NUM> and the fourth gear <NUM> are integrally formed, the third gear <NUM> and the fourth gear <NUM> have different diameters, the third gear <NUM> is configured to be meshed with a portion, parallel to the non-toothed portion <NUM>, of the first toothed portion <NUM> of the second gear <NUM>, and the fourth gear <NUM> is meshed with the rack <NUM>. The rack <NUM> is the output member of the second gear <NUM>, and a diameter of the fourth gear <NUM> is greater than a diameter of the third gear <NUM>.

Since the fifth gear <NUM> connected to the output shaft of the motor <NUM> has a first rotation speed, but the movement of the rack <NUM> requires a second speed, in order to convert the first rotation speed of the fifth gear <NUM> into the second speed of the movement of the rack <NUM>, the third gear <NUM> and a fourth gear <NUM> need to be disposed between the fifth gear <NUM> and the rack <NUM> for adjustment. Since the diameters of the third gear <NUM> and the fourth gear <NUM> are different, linear speeds at which the third gear <NUM> and the fourth gear <NUM> rotate are also different, and thus, the third gear <NUM> and the fourth gear <NUM> may convert the first rotation speed of the fifth gear <NUM> into the second speed of the movement of the rack <NUM>.

The working process of the stapler <NUM> will be described in detail below.

An operator presses the first button <NUM> and keeps the pressing state, the control module <NUM> receives a signal generated by pressing the first button <NUM> and sends an operation instruction to the motor <NUM>, the motor <NUM> drives the fifth gear <NUM> to rotate in the first direction, the fifth gear <NUM> drives the first gear <NUM> to rotate in the second direction, the cam <NUM> also synchronously rotates in the second direction, during the rotation of the cam <NUM>, the protruding column <NUM> of the compression ring assembly <NUM> moves from the first end <NUM> of the straight groove <NUM> to the second end <NUM> of the straight groove <NUM> (i.e. the third end <NUM> of the arc groove <NUM>) along the straight groove <NUM>, so that the compression ring assembly <NUM> is driven to move forwards, the compression ring assembly <NUM> drives the sleeve <NUM> to move forwards, and at the moment, the sleeve <NUM> drives the staple abutting seat <NUM> to rotate downwards to further close the end effector <NUM>; on the other hand, during the process that the protruding column <NUM> moves from the first end <NUM> of the straight groove <NUM> to the second end <NUM> of the straight groove <NUM> along the straight groove <NUM>, the fifth gear <NUM> drives the second gear <NUM> to rotate in the second direction, during the process, an intersection position of the second gear <NUM> and the third gear <NUM> is at the non-toothed portion of the second gear <NUM>, so that the rotation of the second gear <NUM> does not drive the third gear <NUM> to rotate, thereby allowing the cutting knife <NUM> to remain stationary during the closing of the end effector <NUM>.

When the compression ring assembly <NUM> advances to a certain position, a first tab <NUM> on the compression ring assembly <NUM> triggers the third travel switch <NUM> at a front stop point of the forward movement of the compression ring assembly <NUM>, i.e., the end effector <NUM> is closed in place, and at the moment, the protruding column <NUM> is located at the second end <NUM> of the straight groove <NUM> (i.e., the third end <NUM> of the arc groove <NUM>). The control module <NUM> receives a signal sent by the third travel switch <NUM> and sends an instruction of stopping operation to the motor <NUM>, and the motor <NUM> stops rotating. The clinician does not hear a sound of the operation of the motor <NUM> and releases the first button <NUM> and 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 button <NUM> and keeps the pressing state, the control module <NUM> receives a signal generated by pressing the first button <NUM> and analyzes the signal, the control module <NUM> generates an operation instruction to the motor <NUM> according to the analyzed signal, the motor <NUM> drives the fifth gear <NUM> to continue to rotate in the first direction, the fifth gear <NUM> drives the second gear <NUM> to rotate in the second direction, the intersection position of the second gear <NUM> and the third gear <NUM> is rotated to the portion, parallel to the non-toothed portion <NUM>, of the first toothed portion <NUM> from the non-toothed portion <NUM> of the second gear <NUM>, the first toothed portion <NUM> of the second gear <NUM> is meshed with the third gear <NUM> and drives the third gear <NUM> to rotate in the first direction, the fourth gear <NUM> also rotates in the first direction due to the fact that the third gear <NUM> and the fourth gear <NUM> are integrally formed, the fourth gear <NUM> drives the rack <NUM> to move forwards, the rack <NUM> drives the mandrel <NUM> to move forwards, the mandrel <NUM> drives the knife pushing member <NUM> to move forwards, and the knife pushing member <NUM> drives the cutting knife <NUM> to move forwards to cut tissue; on the other hand, the fifth gear <NUM> drives the first gear <NUM> to rotate in the second direction, the protruding column <NUM> moves from the second end <NUM> of the straight groove <NUM> (i.e., the third end <NUM> of the arc groove <NUM>) to the fourth end <NUM> of the arc groove <NUM> along the arc groove <NUM>, at the moment, the rotation of the cam <NUM> does not drive the compression ring assembly <NUM> to move forwards and backwards, thereby allowing the end effector <NUM> to remain closed during the forward movement of the cutting knife <NUM>.

When the rack <NUM> advances to a certain position, the protruding portion <NUM> on the rack <NUM> contacts with the first travel switch <NUM>, a position of the first travel switch <NUM> is the front stop point of the forward movement of the cutting knife <NUM>, namely the position of cutting completion, and at the moment, the protruding column <NUM> is located at the fourth end <NUM> of the arc groove <NUM>; the meshing point of the second gear <NUM> and the third gear <NUM> is located close to the first boundary of the first toothed portion <NUM> and the tooth-missing portion <NUM> of the second gear <NUM>, that is, if the second gear <NUM> continues to rotate in the second direction, the first toothed portion <NUM> of the second gear <NUM> will be disengaged from the third gear <NUM>. The control module <NUM> receives a signal generated by the first travel switch <NUM> and sends an instruction of stopping operation to the motor <NUM>, the motor <NUM> stops rotating, the clinician releases the first button <NUM>, the control module receives a signal generated by releasing the first button <NUM> and sends an operation instruction to the motor <NUM>, the motor drives the fifth gear <NUM> to rotate in the second direction, the fifth gear <NUM> drives the second gear <NUM> to rotate in the first direction, the first toothed portion <NUM> of the second gear <NUM> drives the third gear <NUM> to rotate in the second direction, the fourth gear <NUM> also rotates in the second direction due to the fact that the third gear <NUM> and the fourth gear <NUM> are integrally formed, the fourth gear <NUM> drives the rack <NUM> to move backwards, the rack <NUM> drives the mandrel <NUM> to move backwards, the mandrel <NUM> drives the knife pushing member <NUM> to move backwards, and the knife pushing member <NUM> drives the cutting knife <NUM> to move backwards, so that retracting is realized; and on the other hand, the fifth gear <NUM> drives the first gear <NUM> to rotate in the first direction, the protruding column <NUM> moves from the fourth end <NUM> of the arc groove <NUM> to the third end <NUM> of the arc groove <NUM> (i.e., the second end <NUM> of the straight groove <NUM>) along the arc groove <NUM>, and at the moment, the rotation of the cam <NUM> does not drive the compression ring assembly <NUM> to move forwards and backwards, thereby allowing the end effector <NUM> to remain closed during the backward movement of the cutting knife <NUM>.

When the rack <NUM> moves backwards to a certain position, the protruding portion <NUM> on the rack <NUM> contacts with the second travel switch <NUM>, the position of the second travel switch <NUM> is a rear stop point of the backward movement of the cutting knife <NUM>, and at the moment, the protruding column <NUM> is located at the third end <NUM> of the arc groove <NUM> (i.e., the second end <NUM> of the straight groove <NUM>); and the meshing point of the second gear <NUM> and the third gear <NUM> is located close to the second boundary of the first toothed portion <NUM> and the tooth-missing portion <NUM> of the second gear <NUM>, that is, if the second gear <NUM> continues to rotate in the first direction, the first toothed portion <NUM> of the second gear <NUM> will be disengaged from the third gear <NUM>. The control module <NUM> receives a signal sent by the second travel switch <NUM> and sends an instruction of stopping operation to the motor <NUM>, at the moment, the motor <NUM> stops working, and retracting is finished. After retracting is finished, the clinician presses the second button <NUM> and keeps the pressing state, the control module <NUM> receives a signal generated by pressing the second button <NUM> and sends an operation instruction to the motor <NUM>, the motor <NUM> drives the fifth gear <NUM> to rotate in the second direction, the fifth gear <NUM> drives the first gear <NUM> to rotate in the first direction, the cam <NUM> also synchronously rotates in the first direction, during the rotation of the cam <NUM>, the protruding column <NUM> moves from the second end <NUM> of the straight groove <NUM> to the first end <NUM> of the straight groove <NUM> along the straight groove <NUM>, the compression ring assembly <NUM> moves backwards, the compression ring assembly <NUM> drives the sleeve <NUM> to move backwards, and at the moment, the sleeve <NUM> drives the staple abutting seat <NUM> to rotate upwards to further open the end effector <NUM>; and on the other hand, the fifth gear <NUM> drives the second gear <NUM> to rotate in the first direction, the first toothed portion <NUM> of the second gear <NUM> is disengaged from the third gear <NUM>, namely, in the process that the protruding column <NUM> moves from the second end <NUM> of the straight groove <NUM> to the first end <NUM> of the straight groove <NUM> along the straight groove <NUM>, the boundary of the second gear <NUM> and the third gear <NUM> is located at the non-toothed portion <NUM> of the second gear <NUM>, so that the rotation of the second gear <NUM> does not drive the third gear <NUM> to rotate, thereby allowing the cutting knife <NUM> to remain stationary during an opening process of the end effector <NUM>.

When the compression ring assembly <NUM> retreats to a certain position, a second tab <NUM> on the compression ring assembly <NUM> contacts with the fourth travel switch <NUM> at the rear stop point of the backward movement of the compression ring assembly <NUM>, i.e., the end effector <NUM> is opened in place, and at the moment, the protruding column <NUM> is located at the first end <NUM> of the straight groove <NUM>. The control module <NUM> receives a signal sent by the fourth travel switch <NUM> and sends an instruction of stopping operation to the motor <NUM>, and at the moment, the motor <NUM> stops working.

In the embodiment, the first tab <NUM> and the second tab <NUM> are disposed on the compression ring <NUM>, or disposed on the connecting rod <NUM>, as shown in <FIG>. In other embodiments, the first tab <NUM> and the second tab <NUM> may also be disposed on the first gear <NUM>, as shown in <FIG>.

In the embodiment, the first gear <NUM> includes an effective stroke structure and an idle stroke structure, the first gear <NUM> includes the arc groove <NUM> and the straight groove <NUM>, the straight groove <NUM> is the effective stroke structure, and the arc groove <NUM> is the idle stroke structure. When the protruding column <NUM> moves in the straight groove <NUM>, the first gear <NUM> drives the compression ring assembly <NUM> to move forwards; and when the protruding column <NUM> moves in the arc groove <NUM>, the first gear <NUM> does not drive the compression ring assembly <NUM> to move forwards. The second gear <NUM> includes an effective stroke structure and an idle stroke structure, the second gear <NUM> includes the first toothed portion <NUM> and the tooth-missing portion <NUM>, the tooth-missing portion <NUM> includes the second toothed portion <NUM> and the non-toothed portion <NUM>, the non-toothed portion <NUM> is the idle stroke structure, and a portion, parallel to the non-toothed portion <NUM>, of the first toothed portion <NUM> is the effective stroke structure. When the third gear <NUM> is meshed with the portion, parallel to the non-toothed portion <NUM>, of the first toothed portion <NUM> of the second gear <NUM>, the second gear <NUM> drives the third gear <NUM> to move; and when the third gear <NUM> is meshed with the non-toothed portion <NUM> of the second gear <NUM>, the second gear <NUM> does not drive the third gear <NUM> to move.

As can be seen, in the embodiment, the tooth-missing portion <NUM> includes the second toothed portion <NUM> and the non-toothed portion <NUM> which are disposed adjacently in a vertical direction (axial direction). Although the first toothed portion <NUM> is disposed integrally, the first toothed portion <NUM> includes a first tooth portion <NUM> and a second tooth portion <NUM> which are different in meshing targets in the vertical direction (axial direction): the first tooth portion <NUM> is always meshed with the fifth gear <NUM>, and the second tooth portion <NUM> is selectively meshed with the third gear <NUM>. The first tooth portion <NUM> and the second tooth portion <NUM> are disposed adjacently in the vertical direction, and the boundary of the first tooth portion <NUM> and the second tooth portion <NUM> is located at the same height as the boundary of the second toothed portion <NUM> and the non-toothed portion <NUM>.

The first tooth portion <NUM> and the second toothed portion <NUM> are disposed adjacently in the circumferential direction. The first tooth portion <NUM> and the second toothed portion <NUM> are equal in height. A top surface (virtual surface) of the first tooth portion <NUM> is located at the same height as a top surface of the second toothed portion <NUM>. In the circumferential direction, the first tooth portion <NUM> and the second toothed portion <NUM> form a complete gear, which is named a sixth gear for convenience of description, and the sixth gear is always meshed with the fifth gear <NUM> and is driven to rotate by the fifth gear <NUM>. The second tooth portion <NUM> and the non-toothed portion <NUM> are disposed adjacently in the circumferential direction. The second toothed portion <NUM> and the non-toothed portion <NUM> are equal in height. A bottom surface (virtual surface, the same as the top surface of the first tooth portion <NUM>) of the second tooth portion <NUM> is located at the same height as a bottom surface (the same as the top surface of the second toothed portion <NUM>) of the non-toothed portion <NUM>. The second toothed portion <NUM> is an effective stroke structure, and the non-toothed portion <NUM> is an idle stroke structure. The sixth gear forms a driving gear of the second tooth portion <NUM>. The sixth gear is driven by the fifth gear <NUM> to rotate, when the sixth gear rotates to enable the second tooth portion <NUM> of the first toothed portion <NUM> to be meshed with the third gear <NUM>, the fifth gear <NUM> sequentially drives the second tooth portion <NUM>, the third gear <NUM> and the fourth gear <NUM> to rotate through the sixth gear, so that the rack <NUM> is driven to linearly move; and when the sixth gear rotates to couple the non-toothed portion <NUM> and the third gear <NUM>, the fifth gear <NUM> and the sixth gear may rotate under the driving of the motor <NUM>, but the third gear <NUM> and the fourth gear <NUM> do not rotate, and the rack <NUM> does not output linear movement. `Coupling' means that a part of teeth of the third gear <NUM> is located in a spatial region where the non-toothed portion <NUM> is located without contacting with the non-toothed portion <NUM>, and the third gear <NUM> is not driven in the process of coupling with the non-toothed portion <NUM> since there is no contact with the non-toothed portion <NUM> (including not meshing due to fact that the non-toothed portion <NUM> has no teeth).

In some embodiments of the invention, 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 gear <NUM> is the driving gear, the driving gear is always connected with the motor <NUM> and is driven by the motor <NUM>, and the motor <NUM> drives the first driving device <NUM> and the second driving device <NUM> by the driving gear (the fifth gear <NUM>). Or the fifth gear is referred to as a front driving gear.

The first driving device <NUM> includes a first driving gear driven by the motor <NUM>. In some embodiments, the motor <NUM> drives the first driving gear by the front driving gear. In the embodiment, the first driving gear is the first gear <NUM>. The first driving device <NUM> further includes a first effective stroke structure (straight groove <NUM>) and a first idle stroke structure (arc groove <NUM>). In some embodiments, the first effective stroke structure (straight groove <NUM>) and the first idle stroke structure (arc groove <NUM>) are disposed on the end face of the first gear <NUM>. The first driving device <NUM> also includes a first output member, which in the embodiment is the sleeve <NUM>.

Thus, when the front driving gear drives the first effective stroke structure by the first driving gear of the first driving device <NUM>, 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 device <NUM>, the first output member is not driven by the first idle stroke structure and does not move. In some embodiments, when the fifth gear <NUM> drives the first effective stroke structure (straight groove <NUM>) by the first gear <NUM> of the first driving device <NUM>, the sleeve <NUM> is driven by the first effective stroke structure to move, and when the fifth gear <NUM> drives the first idle stroke structure (arc groove <NUM>) by the first gear <NUM> of the first driving device <NUM>, the sleeve <NUM> is not driven by the first idle stroke structure and does not move.

The second driving device <NUM> includes a second driving gear driven by the motor <NUM>. 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 portion <NUM> and the second toothed portion <NUM> of the second gear <NUM>. The second driving device <NUM> further includes a second effective stoke structure (the second tooth portion <NUM>, disposed adjacent to the non-toothed portion <NUM>, of the first toothed portion <NUM>) and a second idle stoke structure (the non-toothed portion <NUM>). The second driving device <NUM> also includes a second output member, which in the embodiment is the rack <NUM>.

Thus, when the front driving gear drives the second effective stroke structure by the second driving gear of the second driving device <NUM>, 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 device <NUM>, the rack <NUM> does not move. Specifically, when the fifth gear <NUM> drives the second tooth portion <NUM> by the sixth gear, the rack <NUM> linearly moves; and when the fifth gear <NUM> drives the non-toothed portion <NUM> by the sixth gear, the rack does not move.

That is, one driving gear (the fifth gear <NUM>) may drive the sleeve <NUM> to move through the first driving device <NUM> including the first effective stroke structure (the straight groove <NUM>), and also may drive the rack <NUM> to move through the second driving device <NUM> including the second effective stroke structure (the second tooth portion <NUM>), and the structural design is quite reasonable. In some embodiments, the movement of the sleeve <NUM> and the movement of the rack <NUM> are both linear movements.

The fifth gear <NUM> is always connected with the motor <NUM> and driven by the motor <NUM>, the fifth gear <NUM> rotates as long as the motor <NUM> is started to rotate a motor shaft, and the sleeve <NUM> is not driven by the first driving device <NUM> and the rack <NUM> is not driven by the second driving device <NUM> to move simultaneously in the rotation process of the fifth gear <NUM>, so that an incorrect use of the stapler may be avoided. In some embodiments, the motor <NUM> alternatively drives one of the first effective stroke structure and the second effective stroke structure. That is, during driving, the motor <NUM> may only drive one of the first effective stroke structure and the second effective stroke structure. Therefore, the motor <NUM> does not drive the rack <NUM> when driving the sleeve <NUM>, and does not drive the sleeve <NUM> when driving the rack <NUM>, so that the stapler works reasonably.

The driving device has two states: in the first state, the motor <NUM> drives the first effective stroke structure and the second idle stroke structure; and in the second state, the motor <NUM> drives the second effective stroke structure and first idle stroke structure.

That is, in the first state, the driving gear (the fifth gear <NUM>) drives the first effective stroke structure of the first driving device <NUM> and the second idle stroke structure of the second driving device <NUM>, so that the driving gear does not drive the rack <NUM> to move when driving the sleeve <NUM> to move, and the driving gear (the fifth gear <NUM>) does not drive the cutting knife assembly <NUM> to move while driving the end effector <NUM> to be opened or closed.

In the second state, the driving gear (the fifth gear <NUM>) drives the second effective stroke structure of the second driving device <NUM> and the first idle stroke structure of the first driving device <NUM>, so that the driving gear (the fifth gear <NUM>) does not drive the sleeve <NUM> to move when driving the cutting knife assembly <NUM> to move, and the driving gear (the fifth gear <NUM>) does not drive the end effector <NUM> to be opened or closed while driving the cutting knife assembly <NUM> to move.

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

As can be seen, the groove <NUM> of the cam <NUM> includes the arc groove <NUM> and the straight groove <NUM>, the protruding column <NUM> is located in the groove <NUM>, so that the end effector <NUM> may be driven to be opened and closed, and meanwhile, the end effector <NUM> may remain closed during movement of the cutting knife assembly <NUM>. The second gear <NUM> includes the first toothed portion <NUM> and the tooth-missing portion <NUM>, the first toothed portion <NUM> includes the second tooth portion <NUM>, and the tooth-missing portion <NUM> includes the non-toothed portion <NUM>, thereby driving the cutting knife assembly <NUM> to move forwards and backwards and allowing the cutting knife assembly <NUM> to remain stationary during opening and closing of the end effector <NUM>. The stapler <NUM> of the invention is provided with one motor <NUM> that may drive the first driving work <NUM> to work, thereby driving the end effector <NUM> to be opened and closed, and also may drive the second driving device <NUM> to work, thereby driving the cutting knife assembly <NUM> to move forwards and backwards; and meanwhile, the logic of action between the end effector <NUM> and the cutting knife assembly <NUM> is satisfied. In some embodiments, in the process that the motor <NUM> drives 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 stapler <NUM> is not prone to malfunction in the working process.

In a second embodiment, which does not fall within the scope of protection, the first gear may be replaced with a first gear as shown in <FIG>, the first gear <NUM> includes a cam <NUM>, the cam <NUM> is provided with a groove <NUM> formed by sinking downward from the top surface thereof, and the protruding column <NUM> of the connecting member <NUM> is located in the groove <NUM>. The groove <NUM> includes an arc groove <NUM> and a straight groove <NUM>, two ends of the arc groove <NUM> communicate through the straight groove <NUM>, that is, the straight groove <NUM> and the arc groove <NUM> form a closed ring together; 'communicate' means that a part of the groove <NUM> is through with another part of the groove <NUM> so that the protruding column <NUM> may move from a part of the groove <NUM> to another part of the groove <NUM>; and two ends of the straight groove <NUM> are defined as a first end <NUM> and a second end <NUM>, respectively, and the intermediate position between the first end <NUM> and the second end <NUM> is a middle. During the rotation of the cam <NUM>, the protruding column <NUM> moves from the middle of the straight groove <NUM> to the second end <NUM> of the straight groove <NUM> along the straight groove <NUM>, during the process, the compression ring assembly <NUM> moves forwards, the compression ring assembly <NUM> drives the sleeve <NUM> to move forwards, and when the sleeve <NUM> moves forwards, the second end portion <NUM> of the sleeve <NUM> drives the staple abutting seat <NUM> to rotate downwards for realizing closing; and during the rotation of the cam <NUM>, the protruding column <NUM> moves from the second end <NUM> of the straight groove <NUM> to the middle of the straight groove <NUM> along the straight groove <NUM>, during the process, the compression ring assembly <NUM> moves backwards, the compression ring assembly <NUM> drives the sleeve <NUM> to move backwards, and when the sleeve <NUM> moves backwards, the second end portion <NUM> of the sleeve <NUM> drives the staple abutting seat <NUM> to rotate upwards for realizing opening. When the protruding column <NUM> is located in the arc groove <NUM> and moves back and forth along the arc groove <NUM>, since the radial distance from any point of the same inner wall of the arc groove <NUM> to the first rod <NUM> is not changed, when the cam <NUM> rotates, the distance of the protruding column <NUM> in the lengthwise direction with respect to the first rod <NUM> is not changed, that is, the rotation of the cam <NUM> does not drive the compression ring assembly <NUM> to move forwards and backwards. In the embodiment, the protruding column <NUM> moves from the middle of straight groove <NUM> to the second end <NUM> (one end of the arc groove ) of the straight groove <NUM> along the straight groove <NUM>, thereby realizing closing of the end effector <NUM>; the protruding column <NUM> then moves from the second end <NUM> of the straight groove <NUM> to the first end <NUM> of the straight groove <NUM> (the other end of the arc groove <NUM>) along the arc groove <NUM>, thereby allowing the end effector <NUM> to remain closed during the process of forward movement of the cutting knife <NUM>; and the protruding column <NUM> moves from the first end <NUM> of the straight groove <NUM> to the second end <NUM> of the straight groove <NUM> along the arc groove <NUM>, thereby allowing the end effector <NUM> to remain closed during the process of backward movement of the cutting knife <NUM>; and the protruding column <NUM> moves from second end <NUM> of the straight groove <NUM> to the middle of the straight groove <NUM> along the straight groove <NUM>, thereby allowing the end effector <NUM> to be opened.

<FIG> illustrate a surgical instrument according to a third embodiment of the invention.

Referring to <FIG>, the embodiment relates to a surgical instrument, in particular to a stapler, similar to the first embodiment.

In some embodiments, the surgical instrument is a surgical stapler, the surgical stapler includes a driving device driven by a power assembly. The driving device includes a first driving assembly and a first motion conversion assembly, wherein 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 a driving of the power assembly.

The first driving assembly comprises a first driving member and a rotating member <NUM>, the first effective stroke structure and the first idle stroke structure are both disposed on the rotating member <NUM>, and in the first state, the first driving member and the rotating member <NUM> are both engaged with the power assembly; and in the second state, only the first driving member in the first driving member and the rotating member <NUM> is engaged with the power assembly.

The first effective stroke structure is a toothed portion <NUM>, the first idle stroke structure is a non-toothed portion <NUM>, and the toothed portion <NUM> and the non-toothed portion <NUM> are disposed adjacently; and the first driving member is a first driving gear <NUM>.

The power assembly comprises 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 <NUM> and the first driving gear <NUM> simultaneously; and in the second state, the front driving gear is coupled with the non-toothed portion <NUM>, and is meshed with the first driving gear <NUM>.

In some embodiments, the surgical stapler includes a transmission mechanism, an end actuator driven by the transmission mechanism, and a cutting knife assembly, wherein the transmission mechanism comprises a surgical instrument driving device and a sleeve, a proximal end of the sleeve is connected with the surgical instrument driving device, a distal end of the sleeve is connected with the end actuator, the surgical instrument driving device includes an end actuator driving device, the end actuator driving device includes the above-mentioned driving device, in response to the motor rotating in a first direction, the driving device drives the sleeve to move forwards so as to drive the end actuator to be closed; in response to the motor rotating in the second direction, the drive device drives the sleeve to move backwards so as to drive the end actuator to be opened.

Similar to the first embodiment, the surgical instrument includes a driving assembly (a motor <NUM> and a fifth gear <NUM> driven by the motor <NUM>), 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 motor <NUM> alternatively drives one of the first effective stroke structure and the second effective stroke structure. That is, during use of the surgical instrument, the motor <NUM> either 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 motor <NUM> drives the first effective stroke structure and is coupled with the second idle stroke structure; and in a second work state, the motor <NUM> drives the second effective stroke structure and is coupled with the first idle stroke structure. That is, in the first work state, the motor <NUM> drives the end effector to be opened or closed without driving the cutting knife assembly, and in the second work state, the motor <NUM> drives 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 motor <NUM> rotates in a first direction, and the motor <NUM> drives the first effective stroke structure and is coupled with the second idle stroke structure.

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

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

In S4, the motor <NUM> continues to rotate in the second direction, and the motor <NUM> drives 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 motor <NUM> is reversed (rotates in the first direction and the second direction respectively), and in each rotation direction of the motor <NUM>, 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 S1 such that the driving device drives the end effector to be closed, thereby clamping tissue.

The surgical instrument performs step S2 such that the driving device drives the cutting knife assembly to advance, thereby cutting the tissue.

The surgical instrument performs step S3 such that the driving device drives the cutting knife assembly to retract, thereby resetting the cutting knife assembly.

The surgical instrument performs step S4 such 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 invention 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 motor <NUM> and is driven by the motor <NUM>, 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 gear <NUM>. As long as the motor <NUM> is started such that its motor shaft rotates, the front driving gear (fifth gear <NUM>) may drive one of the first effective stroke structure and the second effective stroke structure without driving both structures simultaneously. The motor <NUM> and the front driving gear are referred to as a power assembly. Therefore, the driving device of the invention 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 to <FIG>, the second driving device includes a second driving gear which is always meshed with the fifth gear <NUM> and is driven by the motor <NUM> through the fifth gear <NUM>. Thus, the second driving gear is always connected with the motor <NUM> indirectly and driven by the motor <NUM>. A sixth gear formed by a first tooth portion <NUM> of a first toothed portion <NUM> and a second toothed portion <NUM> forms a second driving gear, and the fifth gear <NUM> drives 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 portion <NUM> of the first toothed portion <NUM>, and the second idle stoke structure is a non-toothed portion <NUM>. The second driving device further includes a rack <NUM> driven 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 portion <NUM> of the first toothed portion <NUM> and the second toothed portion <NUM>. 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 portion <NUM> and the non-toothed portion <NUM>, and the second output member includes the rack <NUM>. 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 portion <NUM> is the effective stroke structure, the non-toothed portion <NUM> is 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 portion <NUM> is engaged with the rack <NUM>, the second tooth portion <NUM> drives the rack <NUM> to move linearly; and when the non-toothed portion <NUM> is coupled with the rack <NUM>, the rack <NUM> is not driven. It can be seen that the second transmission member formed by the second tooth portion <NUM> and the non-toothed portion <NUM> is always engaged with the fifth gear <NUM> through the second driving gear, regardless of whether the second tooth portion <NUM> is engaged with the rack <NUM> or the non-toothed portion <NUM> is coupled with the rack.

It is to be noted that in some embodiments of the invention, 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 invention, 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 ncluding a third gear <NUM> and a fourth gear <NUM> is further disposed between the second tooth portion <NUM> and the rack <NUM>, 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 gear <NUM>. The first transmission member includes a straight groove <NUM> and an arc groove <NUM>, and the first output member includes a protruding column <NUM>. The first output member may be a direct output member of the first motion conversion assembly, such as the protruding column <NUM>; and the first output member may also be an indirect output member of the first motion conversion assembly, such as a sleeve <NUM> or other subsequent output members.

In the first embodiment, the straight groove <NUM> is an effective stroke structure, the arc groove <NUM> is 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 invention 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 member <NUM>, the effective stoke structure and the idle stoke structure are disposed on the rotating member <NUM>, the first driving member and the rotating member <NUM> have two states, in a first state, the effective stoke structure of the rotating member <NUM> and the first driving member are synchronously driven by the motor <NUM>, the rotating member <NUM> drives the motion conversion assembly, and the output member moves; and in a second state, the motor <NUM> is coupled with the idle stoke structure, the motor drives the first driving member and does not drive the rotating member <NUM>, the rotating member <NUM> does not drive the motion conversion assembly, and the output member is not driven. When the motor <NUM> drives the first effective stroke structure, the motion conversion assembly converts rotation of the rotating member <NUM> into 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 motor <NUM> is coupled with the first idle stoke structure, the motor <NUM> does not drive the sleeve to move.

In some embodiments" the first driving member is a first driving gear <NUM> which is always connected with the motor <NUM> and driven by the motor <NUM>. More specifically, the first driving gear <NUM> is always meshed with the fifth gear <NUM>, and the fifth gear <NUM> is always connected with the motor <NUM> and driven by the motor <NUM>, so that the first driving gear <NUM> is indirectly connected with the motor <NUM> and driven by the motor <NUM>.

The first effective stroke structure is a toothed portion <NUM>, and the first idle stroke structure is a non-toothed portion <NUM>. The toothed portion <NUM> and the non-toothed portion <NUM> are disposed on a circumferential face of the rotating member <NUM>. The toothed portion <NUM> and the non-toothed portion <NUM> are disposed adjacently. The outer diameter of the non-toothed portion <NUM> is smaller than the outer diameter of the toothed portion <NUM>, and the outer diameter of the toothed portion <NUM> includes the dimension, in a radial direction of the rotating member <NUM>, of teeth.

The motion conversion assembly includes a transmission member and the output member, and the transmission member is disposed on the rotating member <NUM>. The transmission member includes a first groove <NUM>, and the output member includes a protruding column <NUM>. A radial distance between the first groove <NUM> and a rotation center of the rotating member <NUM> increases or decreases along the first groove <NUM>, and the protruding column <NUM> slides in the first groove <NUM> to convert rotation of the rotating member <NUM> into linear motion of the protruding column <NUM>. The protruding column <NUM> is a direct output member. The protruding column <NUM> is 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 column <NUM>, 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 portion <NUM> of the rotating member <NUM> and the first driving gear <NUM> are simultaneously meshed with the fifth gear <NUM>, the rotating member <NUM> and the first driving gear <NUM> are driven by the fifth gear <NUM> to synchronously rotate, the rotating member <NUM> is driven by the fifth gear <NUM> to rotate, i.e., the protruding column <NUM> may be driven to linearly move through the matching of the first groove <NUM> and the protruding column <NUM>, and finally, the end effector is driven to be closed or opened; in the second state, only the first driving gear <NUM> is meshed with the fifth gear <NUM> and driven by the motor <NUM>, while the non-toothed portion <NUM> of the rotating member <NUM> is coupled with the fifth gear <NUM> and indirectly coupled with the motor <NUM>, the non-toothed portion <NUM> of the rotating member <NUM> may not be meshed with the fifth gear <NUM>, and the rotating member <NUM> does 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 to <FIG>, 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 portion <NUM> includes a stroke driving tooth portion <NUM> and a pressing holding tooth portion <NUM> which are disposed adjacently. When the front driving gear drives the stroke driving tooth portion <NUM>, the protruding column <NUM> slides in the first groove <NUM> to drive the end effector to be closed. The pressing holding tooth portion <NUM> is 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 portion <NUM> during 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 portion <NUM> includes one to two tooth portions.

The first groove <NUM> includes 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 portion <NUM> is engaged with the fifth gear <NUM> and the motor <NUM> such that the protruding column <NUM> moves in in the first section, thereby driving the end effector to execute the first stage of closing; and the pressing holding tooth portion <NUM> is engaged with the fifth gear <NUM> and the motor <NUM> such that the protruding column <NUM> moves 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 column <NUM> moves in the first section, and is driven to be further closed to press the tissue when the protruding column <NUM> moves in the second section.

In some embodiments, the first groove <NUM> also 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 column <NUM> in the first groove <NUM>, so as to avoid jamming.

The first driving gear <NUM> and the rotating member <NUM> are overlapped, In some embodiments, the first driving gear <NUM> and the rotating member <NUM> are overlapped in the axial direction. It is convenient to mesh the first driving gear <NUM> and the toothed portion <NUM> of the rotating member <NUM> with the fifth gear <NUM> at the same time.

A first end face of the first driving gear <NUM> is adjacent to a second end face of the rotating member <NUM>, one of the two end faces is provided with a second arc groove <NUM>, the other is provided with a protrusion <NUM> extending into the second arc groove <NUM>, and a circle center of the second arc groove <NUM> is located on the rotation axis of the first driving gear <NUM>. The protrusion <NUM> may slide in the second arc groove <NUM>. On one hand, the matching of the protrusion <NUM> with the second arc groove <NUM> may guarantee that the first driving gear <NUM> and the rotating member <NUM> are overlapped; on the other hand, the protrusion <NUM> may slide in the arc groove, so that in the second state, the rotating member <NUM> does not rotate with the first driving gear <NUM>, the operation of the first idle stroke is guaranteed, and therefore, the rotating member <NUM> does not drive the end effector to be closed or opened when the driving device drives the cutting knife assembly to move.

Returning to <FIG> and <FIG>, in the first embodiment, the first gear <NUM> drives the sleeve to move linearly to drive the end effector to be opened or closed through sliding of the protruding column <NUM> in the straight groove <NUM>, so that the first gear <NUM> applies 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 gear <NUM>. 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 gear <NUM> to the fifth gear <NUM> and the motor <NUM>, which reduces the power transmitted by the fifth gear <NUM> through the second driving device to the cutting knife assembly, thereby affecting the cutting efficiency of the cutting knife assembly.

Referring to <FIG>, in the embodiment, the protrusion <NUM> may freely slide in the second arc groove <NUM>. Thus, there is a loose fit between the first driving gear <NUM> and the rotating member <NUM>. 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 member <NUM> is not transmitted to the fifth gear <NUM> or only a small portion of the reverse force is transmitted to the fifth gear <NUM> due to the loose fit between the rotating member <NUM> and the first driving gear <NUM>, 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 protrusion <NUM> is smaller than a width of the second arc groove <NUM>. Thus, the protrusion <NUM> may slide in the second arc groove <NUM>, and the function of the second state is realized. Those skilled in the art may appreciate that the width of the protrusion <NUM> is equal to the width of the second arc groove <NUM>, and all the solutions similar to or the same as the present embodiments are covered within the protection scope of the invention.

When the driving device drives the second effective stroke structure, the protrusion <NUM> slides in the second arc groove <NUM>. In the embodiment, a circumferential extension length of the second arc groove <NUM> is greater than a circumferential extension length required by the second effective stroke. Margin is provided for movement of the projection <NUM> in the second arc groove <NUM>. Those skilled in the art may appreciate that the circumferential extension length of the second arc groove <NUM> is 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 invention.

The protrusion <NUM> abuts against an end portion of the second arc groove <NUM> so that the rotating member <NUM> and the first driving gear <NUM> are switched from the second state to a ready position of the first state. In some embodiments, after retracting is completed, the protrusion <NUM> abuts against a head end <NUM> of the second arc groove <NUM>, so that the toothed portion <NUM> of the rotating member <NUM> and the teeth of the first driving gear <NUM> are aligned up and down, and at the moment, if the motor <NUM> rotates, the rotating member <NUM> and the first driving gear <NUM> are synchronously meshed with the front driving gear <NUM>, so as to ensure the subsequent smooth opening of the end effector to release the tissue.

Therefore, in the embodiment, the toothed portion <NUM> of the rotating member <NUM> is the first effective stroke structure, and the non-toothed portion <NUM> of the rotating member <NUM> is the first idle stroke structure. The first driving gear <NUM> is always meshed with the fifth gear <NUM> and is driven by the motor <NUM>, 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 to <FIG>.

As shown in <FIG>, 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 column <NUM> is located at a first end <NUM> of the first groove <NUM>, the protrusion <NUM> is located at a head end <NUM> of the second arc groove <NUM>, and the toothed portion <NUM> of the rotating member <NUM> and the first driving gear <NUM> are simultaneously meshed with the driving gear (the fifth gear <NUM>).

At the moment, if the clinician determines that the end effector has been aligned with the tissue to be cut, the clinician starts the motor <NUM>, the motor <NUM> rotates in the first direction to drive the driving gear (the fifth gear <NUM>) to rotate, the rotating member <NUM> and the first driving gear <NUM> are in a first state, and the driving gear (the fifth gear <NUM>) rotates to simultaneously drive the rotating member <NUM> and the first driving gear <NUM> to rotate. In the process, there is no relative rotation of the rotating member <NUM> and the first driving gear <NUM>, and thus, the protrusion <NUM> remains at the head end <NUM> of the second arc groove <NUM>; while rotation of the rotating member <NUM> drives the protruding column <NUM> to move in the first groove <NUM> from a first end <NUM> toward a second end <NUM>, the end effector is gradually closed, and the first driving device reaches the position shown in <FIG>.

At the position shown in <FIG>, the driving gear (the fifth gear <NUM>) is still meshed with the toothed portion <NUM>, in some embodiments, the driving gear (the fifth gear <NUM>) is still meshed with the pressing holding tooth portion <NUM> of the toothed portion <NUM>. At the moment, the clinician may operate the pressing holding mechanism, during which the driving gear (the fifth gear <NUM>) simultaneously drives the pressing holding tooth portion <NUM> and the first driving gear <NUM>, the protruding column <NUM> moves a short distance further toward the second end <NUM>, and the end effector is further closed to reach the position shown in <FIG>.

In the position shown in <FIG>, the end effector has pressed the tissue, the rotating member <NUM> and the first driving gear <NUM> are switched from the first state to the second state, the driving gear (the fifth gear <NUM>) is disengaged from the toothed portion <NUM> of the rotating member <NUM>, and the driving gear (the fifth gear <NUM>) is only meshed with the first driving gear <NUM>. At the moment, the clinician may operate the cutting knife assembly, the motor <NUM> continues to rotate in the first direction, the motor <NUM> drives the cutting knife assembly to advance through the same second driving device (only part of which is shown in <FIG>) 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 portion <NUM> is coupled with the driving gear (the fifth gear <NUM>), the driving gear (the fifth gear <NUM>) does not drive the end effector to move through the non-toothed portion <NUM>, but the driving gear (the fifth gear <NUM>) drives the first driving gear <NUM> of the first driving device to rotate, and the protrusion <NUM> is driven to slide in the second arc groove <NUM> from a head end <NUM> toward a tail end <NUM> to reach the position shown in <FIG>.

At the position shown in <FIG>, the cutting assembly is at the final position and the tissue is cut. At the moment, the clinician may operate the motor <NUM> to rotate reversely, i.e., in the second direction opposite to the first direction, the motor <NUM> drives the cutting knife assembly to retract through the same second driving device (only part of which is shown in <FIG>) 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 portion <NUM> is coupled with the driving gear (the fifth gear <NUM>), the driving gear (the fifth gear <NUM>) does not drive the end effector to move through the non-toothed portion <NUM>, but the driving gear (the fifth gear <NUM>) drives the first driving gear <NUM> of the first driving device to rotate reversely, and the protrusion <NUM> is driven to slide in the second arc groove <NUM> towards the head end <NUM>, and when the protrusion <NUM> abuts against the head end <NUM> of the second arc groove <NUM>, the toothed portion <NUM> of the rotating member <NUM> and the tooth portion of the first driving gear <NUM> are aligned up and down, and the protrusion <NUM> reaches the position shown in <FIG>.

At the position shown in <FIG>, the clinician may operate the motor <NUM> such that the motor <NUM> continues to rotate reversely, the driving gear (the fifth gear <NUM>) begins to drive the rotating member <NUM> and the first driving gear <NUM> to simultaneously rotate reversely, the protrusion <NUM> remains at the head end <NUM> of the second arc groove <NUM>, and the protruding column <NUM> moves in the first groove <NUM> in a direction towards the first end <NUM>, thereby driving the end effector to be opened, returning to the state shown in <FIG>. 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.

Claim 1:
A driving device, driven by a power assembly, the driving device comprising a first driving assembly and a first motion conversion assembly, wherein 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; 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 a driving of the power assembly, characterized in that:
the first driving assembly comprises a first driving member and a rotating member (<NUM>), the first effective stroke structure and the first idle stroke structure are both disposed on the rotating member (<NUM>), and in the first state, the first driving member and the rotating member (<NUM>) are both engaged with the power assembly; and in the second state, only the first driving member in the first driving member and the rotating member (<NUM>) is engaged with the power assembly;
wherein the first effective stroke structure is a toothed portion (<NUM>), the first idle stroke structure is a non-toothed portion (<NUM>), and the toothed portion (<NUM>) and the non-toothed portion (<NUM>) are disposed adjacently; and the first driving member is a first driving gear (<NUM>);
wherein the power assembly comprises 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 (<NUM>) and the first driving gear (<NUM>) simultaneously; and in the second state, the front driving gear is coupled with the non-toothed portion (<NUM>), and is meshed with the first driving gear (<NUM>).