CN114569178A

Movatterモバイル変換

Info

Publication number: CN114569178A
Application number: CN202011381364.0A
Authority: CN
Inventors: 杜运峰
Original assignee: Suzhou IntoCare Medical Technology Co Ltd
Current assignee: Suzhou IntoCare Medical Technology Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-06-03
Anticipated expiration: 2040-11-30
Also published as: CN114569178B

Abstract

In the anastomat, an end effector comprises a nail bin assembly and a nail anvil, and the nail bin assembly is internally provided with anastomotic nails; the closing mechanism drives the end effector to close; the staple pushing assembly is configured to push out the staples from the staple cartridge assembly; the first driving mechanism is detachably connected with the closing mechanism in the closing stage so as to drive the closing mechanism to close the end effector, and the staple pushing stage after the closing stage is separated from the closing mechanism and drives the staple pushing assembly to push out the staples from the staple cartridge assembly so as to suture the target tissue; the front swing driving component and the rear swing driving component of the swing mechanism are configured to drive the end effector to swing; the end effector and the front swing driving component are positioned on the detachable part of the anastomat, and the first driving mechanism and the rear swing driving component of the swing mechanism are positioned on the main body part of the anastomat; the detachable portion is detachably connected with the main body portion to detachably connect the front swing driving assembly with the rear swing driving assembly.

Description

Anastomat

Technical Field

At least one embodiment of the present disclosure is directed to a stapler.

Background

In surgical treatment, various kinds of staplers are widely used, for example, a skin stapler, a circular stapler for digestive tracts (esophagus, stomach and intestine, etc.), a rectal stapler, a circular hemorrhoid stapler, a circumcision stapler, a blood vessel stapler, a hernia stapler, a lung cutting stapler, and the like. The anastomats are equipment used for replacing the traditional manual suture in medicine, and due to the development of modern science and technology and the improvement of manufacturing technology, various anastomats used clinically at present have the advantages of quick and accurate suture, simple and convenient operation, less bleeding, few side effects, few operation complications and the like, and sometimes, tumor operations which cannot be excised in the past can be excised at focuses, so the anastomats are favored and advocated by clinical surgeons at home and abroad.

Generally, staplers are sutured using staples made of materials such as medical stainless steel, titanium alloy, biodegradable magnesium alloy, and the like.

Disclosure of Invention

At least one embodiment of the present disclosure provides a stapler including an end effector, a closure mechanism, a staple pushing assembly, a first drive mechanism, and a swing mechanism. The end effector comprises a nail bin assembly and a nail anvil, and anastomotic nails are arranged in the nail bin assembly; a closure mechanism configured to drive the staple cartridge assembly and the anvil into apposition to close the end effector to clamp the target tissue; a staple pusher assembly configured to push said staples out of said cartridge assembly; the first drive mechanism is configured to: during a closing stage, the first driving mechanism is detachably connected with the closing mechanism to drive the closing mechanism to close the end effector; in a staple pushing stage following the closing stage, the first drive mechanism disengages from the closing mechanism and drives the staple pushing assembly to push the staples out of the cartridge assembly to staple the target tissue; the swing mechanism comprises a front swing driving component and a rear swing driving component, and the front swing driving component and the rear swing driving component are configured to drive the end effector to swing; the stapler comprises a main body part and a detachable part, wherein the detachable part is detachably connected with the main body part; the end effector and the front swing drive assembly are located on the detachable portion, and the first drive mechanism and the rear swing drive assembly are located on the main body portion; the detachable portion is detachably coupled with the main body portion to detachably couple the front swing drive assembly with the rear swing drive assembly.

For example, one embodiment of the present disclosure provides a stapler wherein the front swing drive assembly includes a front swing drive member coupled to the end effector; the rear swing driving assembly comprises a rear swing driving member, the rear swing driving member and the first driving mechanism extend in the same direction and are arranged side by side, and the detachable part is detachably connected with the main body part so that the front swing driving member is detachably connected with the rear swing driving member; the extending directions of the rear swing driving component and the first driving mechanism are axial; during the swinging of the end effector driven by the swinging mechanism, the front swing driving member and the rear swing driving member move towards the end effector along the axial direction to drive the end effector to swing towards a first swinging direction, or/and the front swing driving member and the rear swing driving member move away from the end effector along the axial direction to drive the end effector to swing towards a second swinging direction opposite to the first swinging direction.

For example, an embodiment of the present disclosure provides the stapler further including a second driving mechanism extending along the axial direction and located at the detachable portion, the detachable portion being connected to the main body portion to detachably connect the second driving mechanism to the first driving mechanism, wherein the second driving mechanism is configured to be detachably connected to the closing mechanism in the closing stage and move toward the end effector under the driving of the first driving mechanism to enable the closing mechanism to close the end effector; the second drive mechanism is further configured to disengage from the closure mechanism during the staple ejection stage and continue to move toward the second end of the end effector to drive the staple ejection assembly to eject the staples from the cartridge assembly under the drive of the first drive mechanism; the front swing driving assembly comprises a bendable region which is configured to bend towards the first swing direction or the second swing direction so as to enable the end effector to swing around the bendable region, the end effector comprises a first end close to the front swing driving assembly and a second end opposite to the first end, the first end of the end effector is connected with the front swing driving assembly, and the bendable region is located between a position where the front swing driving assembly is connected with the first end of the end effector and a position where the front swing driving assembly is connected with the rear swing driving assembly along the axial direction; the second driving mechanism comprises a transmission belt extending along the axial direction, the transmission belt enters the end effector through the bendable part to drive the staple pushing assembly to push the staples out of the cartridge assembly in the staple pushing stage, and a belt surface of the transmission belt is basically perpendicular to the swinging direction of the end effector.

For example, an embodiment of the present disclosure provides a stapler wherein the second driving mechanism further includes a connecting portion; and the connecting part is detachably connected with the closing mechanism and is positioned on one side of the transmission belt far away from the end effector, wherein one end of the connecting part close to the end effector is connected with one end of the transmission belt far away from the end effector, and the detachable part is connected with the main body part so that one end of the connecting part far away from the end effector is connected with the first driving mechanism.

For example, an embodiment of the present disclosure provides a stapler, wherein the second driving mechanism includes a plurality of the driving belts, the plurality of the driving belts are stacked in a direction perpendicular to the belt surface, and no gap exists between adjacent driving belts.

For example, an embodiment of the present disclosure provides a stapler, wherein the material of the driving belts is steel, the thickness of each driving belt in a direction perpendicular to the belt surface is 100 μm to 1000 μm, and the length of each driving belt in the axial direction is 10cm to 30 cm.

For example, an embodiment of the present disclosure provides a stapler, wherein the staple pushing assembly includes a staple pushing sheet, a staple pushing slider and a staple pushing driving mechanism. A staple pusher tab configured to apply pressure to the staples to push the staples out of the staple cartridge; the staple pushing slider is configured to apply pressure to the staple pushing sheet to drive the staple pushing sheet to apply pressure to the staples; the staple pushing driving mechanism is configured to move along the axial direction under the driving of the first driving structure and the second driving mechanism so as to drive the staple pushing slider to move along the axial direction, so that the staple pushing slider is contacted with the staple pushing sheet to apply the pressure to the staple pushing sheet; and under the condition that the second driving mechanism is connected with the first driving mechanism, one end of the transmission belt, which is far away from the first driving mechanism, is connected with the nail pushing driving mechanism.

For example, one embodiment of the present disclosure provides a stapler wherein a direction from a first end of the end effector to a second end of the end effector is a first direction; the nail bin comprises a nail bin bracket, the nail bin bracket comprises a first portion and a second portion which extend along the first direction, the first portion of the nail bin bracket and the second portion of the nail bin bracket respectively comprise a nail groove used for containing the anastomotic nails and limit a sliding groove which extends along the first direction, and in the process that the nail pushing driving mechanism drives the nail pushing sliding block to move, the cutting driving mechanism and the conveyor belt enter the sliding groove through the bendable part and slide in the sliding groove.

For example, an embodiment of the present disclosure provides a stapler, wherein the front swing driving assembly includes a transmission mechanism, the transmission mechanism is connected to the front swing driving member and configured to drive the end effector to swing around the bendable region under the driving of the front swing driving member.

For example, one embodiment of the present disclosure provides a stapler wherein the transmission mechanism includes a drive rack and a gear. The driving rack comprises driving teeth, extends along the axial direction and is connected with the front swing driving component to move along the axial direction under the driving of the front swing driving component; the gear is meshed with the driving teeth, and the driving rack moves along the axial direction to drive the gear to rotate; the front swing driving assembly further comprises a swing head connecting part, a first end, close to the end effector, of the swing head connecting part is connected with a first end of the end effector, a second end, far away from the end effector, of the swing head connecting part comprises a terminal tooth, the terminal tooth is meshed with the gear, so that the swing head connecting part and the end effector swing under the driving of the gear, and the position, meshed with the gear, of the terminal tooth is the bendable portion; the disc surface of the toothed disc of the gear is basically vertical to the belt surface of the transmission belt.

For example, an embodiment of the present disclosure provides a stapler, wherein the transmission mechanism includes a plurality of gears arranged along the axial direction, and adjacent gears of the plurality of gears are engaged with each other; a gear of the plurality of gears closest to the end effector engages a terminal tooth of the second end of the yaw linkage, and at least a gear of the plurality of gears furthest from the end effector engages a drive tooth of the drive rack.

For example, an embodiment of the present disclosure provides a stapler wherein a diameter of a tooth plate of a gear of the plurality of gears closest to the end effector is smaller than a diameter of a tooth plate of another gear of the plurality of gears.

For example, an embodiment of the present disclosure provides the stapler further including a stabilizing rack engaged with the gear, the driving rack being located on a first side of the gear, the stabilizing rack being located on a side of the gear opposite to the first side, the stabilizing rack being unconnected to the front swing driving member.

For example, in the stapler provided by an embodiment of the present disclosure, the closing mechanism is a sleeve sleeved outside the second driving mechanism and the transmission mechanism, the staple cartridge assembly includes a first end close to the sleeve, and the anvil includes a first end close to the sleeve; during the closing stage, the second drive mechanism is driven by the first drive mechanism to move towards the end effector to drive the sleeve to move towards the end effector so that the sleeve is sleeved on the first end of the staple cartridge assembly and the first end of the anvil to apply pressure to the first end of the staple cartridge assembly and the first end of the anvil to close the end effector; the sleeve includes a first portion proximal to the end effector and a second portion distal to the end effector; the stapler further includes a rotatable sleeve coupling element, the first portion of the sleeve coupled to the second portion of the sleeve via the rotatable sleeve coupling element, the rotatable sleeve coupling element positioned at the bendable region such that the first portion of the sleeve is swingable with the end effector.

For example, an embodiment of the present disclosure provides a stapler, further including a fixing bracket; the rotatable sleeve coupling part comprises a first hinge structure and a second hinge structure connected to each other, the first hinge structure being connected to a first part of the sleeve and the second hinge structure being connected to a second part of the sleeve.

For example, an embodiment of the present disclosure provides a stapler, wherein the rear swing driving assembly further includes a third swing driving mechanism; a third swing drive mechanism is configured to drive the front swing drive member and the rear swing drive member to move toward the end effector in the axial direction or away from the end effector in the axial direction during the swing mechanism driving the end effector to swing, and the third swing drive mechanism is configured to adjust a distance that the front swing drive member and the rear swing drive member move toward the end effector in the axial direction or away from the end effector in the axial direction, thereby adjusting an amplitude of the end effector swing.

For example, an embodiment of the present disclosure provides the stapler wherein the third swing driving mechanism includes a position adjusting switch configured to adjust a distance that the front swing driving member and the rear swing driving member move toward the end effector in the axial direction by stages or to adjust a distance that the front swing driving member and the rear swing driving member move away from the end effector in the axial direction by stages, so as to adjust an amplitude of the swing of the end effector by stages.

For example, an embodiment of the present disclosure provides a stapler wherein the front swing driving member and the rear swing driving member are each a single rod extending in the axial direction; the third swing driving mechanism is an electric driving mechanism or a manual adjusting driving mechanism.

For example, an embodiment of the present disclosure provides a stapler, wherein the electric driving mechanism includes an electric motor and a swing head control switch. An electric motor configured to rotate to drive the front and rear swing drive members to move in the axial direction toward or away from the end effector; the yaw control switch is configured to control the sending of the electrical signal to the electric motor to control the operation of the motor.

For example, an embodiment of the present disclosure provides the stapler, wherein the main body portion includes a handle, the swing head control switch is a dial switch, the dial switch includes a dial disposed on a surface of the handle, the dial is configured to be toggled toward a first toggle direction to drive the end effector to swing toward a first swing direction, and the dial is configured to be toggled toward a second toggle direction to drive the end effector to swing toward a second swing direction, and the first toggle direction is different from the second toggle direction.

For example, an embodiment of the present disclosure provides an anastomat, wherein the dial has a gear mark thereon; for each shift of one gear toward the first shift direction, the front and rear swing drive members move a distance of one gear toward the end effector in the axial direction to rotate the end effector an angle of one gear toward the first swing direction; alternatively, for each shift of one gear towards the second shift direction, the front and rear swing drive members move away from the end effector in the axial direction by a distance of one gear to rotate the end effector towards the second swing direction by an angle of one gear.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.

Fig. 1A is a schematic overall structure diagram of a stapler according to an embodiment of the present disclosure;

FIG. 1B is a top view of the stapler shown in FIG. 1A;

FIG. 2 is a schematic cross-sectional view taken generally along line B-B of FIG. 1B;

FIG. 3 is a schematic view of a portion of a stapler including an end effector and a closure mechanism according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a portion of a stapler including a first drive mechanism, a second drive mechanism, a closure mechanism, and an end effector according to one embodiment of the present disclosure;

FIG. 5A is a generally schematic view of a detachable portion of a stapler according to one embodiment of the present disclosure;

FIG. 5B is a schematic cross-sectional view of a main body portion of a stapler coupled to a detachable portion according to one embodiment of the disclosure;

FIG. 5C is a schematic view of an end of a main body portion of a stapler with a detachable portion attached thereto according to one embodiment of the present disclosure;

FIGS. 6A-6F are schematic illustrations of a detachable connection structure being connected to and disconnected from a closure mechanism during a closure procedure of a stapler according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of the releasable attachment structure of the embodiment shown in FIGS. 6A-6F;

FIG. 8 is a schematic view of a portion of a stapler including a first resilient member according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a body portion of a stapler including a first drive mechanism according to one embodiment of the present disclosure;

FIG. 10A is a structural diagram of the staple cartridge assembly and the staple pushing drive mechanism;

FIG. 10B is a top view of the stapler shown in FIG. 10A in the anvil orientation;

FIG. 10C is a top view of the stapler shown in FIG. 10A in a cartridge orientation;

FIG. 10D is a schematic sectional view taken along line J-J in FIG. 10C;

FIG. 10E is a schematic sectional view taken along line H-H in FIG. 10B;

11A-11B are schematic views of a staple driving mechanism and a staple pusher shoe not connected to each other;

FIG. 12A is a schematic structural view of a nail pushing slider with a cutting blade;

FIG. 12B is a schematic cross-sectional view of a staple pusher shoe carrying a cutting blade;

FIG. 12C is a schematic view of the end of the staple pusher shoe adjacent the cutting drive mechanism;

FIG. 12D is a schematic view of the cutting drive mechanism;

FIG. 12E is a schematic view of the cutting drive mechanism and staple pusher shoe coupled to one another;

FIG. 13A is a schematic illustration of a staple pushing process;

FIG. 13B is a schematic view of the cutting blade not in contact with the target tissue during the staple pushing stage;

FIG. 13C is a schematic view of the staple pusher shoe carrying the cutting blade moving from the first end of the end effector to the second end of the end effector;

FIG. 13D is a schematic view of the cutting blade moving into contact with the target tissue during the staple pushing stage;

FIG. 14A is a first schematic view of a front swing drive assembly of a stapler according to an embodiment of the present disclosure;

FIG. 14B is a second schematic view of a front swing drive assembly of a stapler according to an embodiment of the present disclosure;

FIGS. 15A-15B are schematic views of a front swing drive member of a stapler according to one embodiment of the present disclosure;

FIG. 16A is a partial schematic view of a rear swing drive assembly of a stapler according to one embodiment of the present disclosure;

FIG. 16B is a partial schematic view of a manually adjustable drive mechanism of a stapler according to one embodiment of the present disclosure;

FIG. 17 is a diagrammatic view of a staple pusher shoe positioned at a second end of an end effector prior to closure of the end effector in a stapler provided according to one embodiment of the present disclosure;

18A-18B are schematic views of a handle provided by an embodiment of the present disclosure;

FIG. 19 is an enlarged schematic view of the dial and bi-directional control button;

fig. 20 is a schematic view of a stapler body according to an embodiment of the disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The drawings in this disclosure are not necessarily to scale, nor are the number of staple pockets in the cartridge for receiving staples as shown, and the specific size and number of each feature may be determined based on actual needs. The drawings described in this disclosure are merely schematic structural illustrations.

At least one embodiment of the present disclosure provides a stapler including an end effector, a closure mechanism, a staple pushing assembly, and a first drive mechanism. The end effector comprises a nail bin assembly and a nail anvil, and an anastomosis nail is arranged in the nail bin assembly; the closure mechanism is configured to drive the cartridge assembly and the anvil into apposition to close the end effector; the staple pushing assembly is configured to push out the staples from the staple cartridge assembly; the first drive mechanism is configured to: in the closing stage, the first driving mechanism is detachably connected with the closing mechanism to drive the closing mechanism to close the end effector; in a staple ejection stage following the closure stage, the first drive mechanism is disengaged from the closure mechanism and drives the staple ejection assembly to eject staples from the cartridge assembly. The stapler can be applied in the medical field, for example as a surgical instrument in a surgical procedure. During operation of the stapler, the closing phase and the staple pushing phase are independent of each other and do not interfere with each other, and the first drive mechanism is configured to drive the implementation of the two phases.

At least one embodiment of the present disclosure provides a stapler including an end effector, a closure mechanism, a first drive mechanism, and a cutting device. The end effector comprises a nail bin assembly and a nail anvil, and an anastomosis nail is arranged in the nail bin assembly; the closing mechanism is configured to drive the cartridge component and the nail anvil to be closed to clamp the target tissue; the staple pushing assembly is configured to push staples from the cartridge assembly into the target tissue to staple the target tissue; the first drive mechanism is configured to: in the closing stage, the first driving mechanism is detachably connected with the closing mechanism to drive the closing mechanism to close the end effector; in a staple pushing stage after the closing stage, the first driving mechanism is separated from the closing mechanism and drives the staple pushing assembly to push out the anastomosis staples from the staple cartridge assembly; the cutting device is configured to cut the target tissue under the driving of the first driving mechanism in a cutting stage after the target tissue is entirely sutured.

At least one embodiment of the present disclosure provides a stapler including an end effector, a closure mechanism, a staple pushing assembly, and a locking mechanism. The end effector comprises a nail bin assembly and a nail anvil, and anastomotic nails are arranged in the nail bin assembly; in an initial state, the end effector is in an open state; in a closing stage, the closure mechanism is configured to drive the staple cartridge assembly and the anvil into apposition to close the end effector to clamp the target tissue; a staple pushing stage subsequent to the closing stage, the staple pushing assembly being configured to push the staples out of the cartridge assembly to staple the target tissue; a locking mechanism configured to define the closure mechanism in a first position to maintain the closure mechanism in a closed state of the end effector during the staple ejection phase and configured to define the closure mechanism in a second position to maintain the end effector in the open state in the initial state.

At least one embodiment of the present disclosure provides a stapler including an end effector, a closure mechanism, and a staple pushing assembly. The tail end executor comprises a nail bin assembly and a nail anvil, wherein anastomotic nails are arranged in the nail bin assembly; a closure mechanism configured to drive the staple cartridge assembly and the anvil into apposition during a closure phase to clamp a target tissue, the end effector having a first end proximal to the closure mechanism and a second end distal to the closure mechanism; a staple pusher assembly is configured to push the staples from the cartridge assembly into the target tissue from the second end to the first end and to staple the target tissue from the second end to the first end in a staple pushing phase subsequent to the closing phase.

At least one embodiment of the present disclosure provides a handle configured to be removably coupled to a removable portion comprising an end effector comprising a staple cartridge assembly and an anvil, wherein the handle comprises a dial switch comprising a dial disposed on a first surface of the handle, the dial configured to be toggled to rotate to control a direction and angle of oscillation of the end effector. The handle may be used in a stapler that may be used as a medical instrument, such as a surgical instrument, for holding and stapling and severing target tissue.

At least one embodiment of the present disclosure provides a stapler main body, which includes any one of the handles provided in the embodiments of the present disclosure, and a driving part connected to the handle; the extending direction of the whole driving part is an axial direction, and the axial direction is intersected with the extending direction of the handle; one end of the driving part, which is far away from the handle, is detachably connected with the detachable part and comprises an electric motor and a rear swing driving component; the electric motor is in signal connection with the dial switch, and the dial switch controls the work of the electric motor; the rear swing driving member is connected with the electric motor and extends along the axial direction, and the electric motor is configured to rotate under the control of the dial switch to drive the rear swing driving member to move along the axial direction to drive the end effector to swing.

At least one embodiment of the present disclosure provides a stapler including any one of the stapler bodies provided by the embodiments of the present disclosure, and the detachable portion. The detachable portion is detachably connected with the main body portion, and the detachable portion further comprises a front swing driving assembly; the front swing driving assembly is connected with the end effector, the detachable part is detachably connected with the anastomat body so that the front swing driving assembly is detachably connected with the rear swing driving member, and the front swing driving assembly drives the end effector to swing under the driving of the rear swing driving member.

Illustratively, fig. 1A is a schematic overall structural diagram of astapler 100 according to an embodiment of the present disclosure, fig. 1B is a top view of the stapler shown in fig. 1A, fig. 2 is a schematic overall sectional diagram taken along a line B-B in fig. 1B, fig. 3 is a schematic partial diagram of a stapler according to an embodiment of the present disclosure including an end effector and a closing mechanism, and fig. 4 is a schematic partial diagram of a stapler according to an embodiment of the present disclosure including a first driving mechanism, a second driving mechanism, a closing mechanism and an end effector. Thestapler 100 may be applied in the medical field, and the presently disclosed embodiments are described by way of example of thestapler 100 being used as a surgical instrument during a surgical procedure.

Referring to fig. 1-4, the stapler 100100 includes anend effector 11, aclosure mechanism 2, a staple pushing assembly, and a first drive mechanism 1010. Theend effector 11 includes acartridge assembly 11 and ananvil 12, and staples are disposed in thecartridge assembly 11. Theclosure mechanism 2 is configured to drive thecartridge assembly 11 andanvil 12 into apposition to close theend effector 11;staple pusher assembly 11 is configured to push staples out ofcartridge assembly 11. The first drive mechanism 1010 is configured to: in the closing stage, the first driving mechanism 1010 is detachably connected with theclosing mechanism 2 to drive theclosing mechanism 2 to close theend effector 11 to clamp the target tissue; in the staple pushing stage, which follows the closing stage, the first drive mechanism 1010 disengages from theclosing mechanism 2 and drives the staple pushing assembly to push out the staples from the cartridge assembly to drive the staples into the target tissue to staple the target tissue. The target tissue is, for example, a target tissue to be sutured and cut in an operation, for example, a human or animal tissue. In the operation process of the stapler 100100, the closing stage and the staple pushing stage are independent from each other and do not interfere with each other, and the first driving mechanism 1010 is configured to drive the two stages, which greatly simplifies the driving structure, thereby effectively simplifying the overall structure of thestapler 100, saving space, facilitating the reduction of the radial size of thestapler 100, and thus facilitating the entry of the surgical object, such as a human body, during the operation process, and reducing the damage to the surgical object; in addition, the simplification of the driving structure makes the operation process of thestapler 100 easier to be smoothly realized, which has a significant contribution to improving the operation reliability and also reduces the design difficulty of the control system for controlling the operation process of thestapler 100.

For example, thecartridge module 11 includes a first end proximate to the closure mechanism, theanvil 12 includes a first end proximate to the closure mechanism, and the first end of thecartridge module 11 is movably coupled to the first end of theanvil 12; the closure mechanism is configured to apply pressure to a first end of thecartridge assembly 11 and a first end of theanvil 12 to bring them into close apposition with each other. Theanvil 12 comprises a working surface facing thecartridge assembly 11, thecartridge assembly 11 comprises a staple ejection surface opposite the working surface, and theclosure mechanism 2 is configured to drive the working surface and the staple ejection surface towards each other for apposition.

In the embodiment illustrated in FIGS. 1-4, at least onestaple pocket 110 is provided on the staple cartridge, each staple pocket having an opening facing theanvil 12. In some examples, the opening of each staple pocket may be independently square, circular, triangular, etc. in shape and independently configured to: in the staple pushing phase, staples contained in the staple pockets are allowed to be ejected through the openings thereof. The embodiments of the present disclosure are not limited in this regard.

In some examples, the openings of the plurality of staple pockets may be arranged uniformly on the staple ejection face of the staple cartridge or in a patterned manner. For example, the openings of the plurality of staple channels may be arranged to form at least one line, rectangle, triangle, diamond, circle, etc. on the staple ejection face of the staple cartridge. Embodiments of the present disclosure are not limited in this regard.

In some examples, the staples may be formed of a material that is compatible with or at least not harmful to the human body. For example, the staple material may include medical grade stainless steel, titanium alloys, biodegradable magnesium alloys, and the like. Further, for example, at least a portion of the surface of the staple may have a passivation layer, plating or coating, or the like, that is compatible with or at least non-harmful to the human body. The embodiments of the present disclosure are not limited in this regard.

In some examples, theanvil 12 may be formed of a rigid material that is compatible with or at least harmless to the human body, for example. The material of theanvil 12 may include, for example, a metallic material such as medical stainless steel, titanium alloy, cobalt alloy, etc.; or non-metallic materials such as medical ceramics, hard plastics and the like. For example, at least a portion of the inner and/or outer surfaces of theanvil 12 may also have a passivation layer, plating, coating, or the like thereon that is compatible with or at least non-harmful to the human body. Embodiments of the present disclosure are not limited in this regard.

For example, as shown in fig. 2 and 4, thestapler 100 further comprises asecond driving mechanism 20, wherein thesecond driving mechanism 20 is connected with thefirst driving mechanism 10, is detachably connected with the closing mechanism in the closing stage and is configured to move towards theend effector 1 under the driving of thefirst driving mechanism 10 so as to enable the closing mechanism to be contacted with thecartridge component 11 and theanvil 12 and apply pressure to thecartridge component 11 and theanvil 12 to close theend effector 1; thesecond drive mechanism 20 is also configured to disengage from the closure mechanism during the staple ejection stage and drive the staple ejection assembly to eject the staples from thecartridge assembly 11 under the drive of thefirst drive mechanism 10.

Fig. 5A is an overall schematic view of a detachable portion 3 of astapler 100 according to an embodiment of the disclosure, and as shown in fig. 5A, thestapler 100 includes a main portion 4 and the detachable portion 3, and the detachable portion 3 is detachably connected to the main portion 4; thefirst drive mechanism 10 is located on the main body portion 4, and thesecond drive mechanism 20, the closure device, the staple pushing assembly, and theend effector 1 are located on the detachable portion 3, and the detachable portion 3 is connected to the main body portion 4 to detachably connect thesecond drive mechanism 20 to thefirst drive mechanism 10. The detachable part 3 is designed to be part of a surgical object, such as a human body, which is to be accessed during a surgical procedure, while the main part 4 does not need to be accessed inside the surgical object, and the detachable part 3 can be replaced, for example, by replacing one detachable part 3 per procedure without replacing the main part 4 with a hostile drive mechanism, which results in significant cost savings. Compared with a detachable structure which can be detached from the handle, the detachable part 3 reduces the structure and the volume of the detachable part, further reduces disposable parts, further reduces the cost and improves the reutilization rate of the main body part.

For example, during a closing phase in which thefirst drive mechanism 10 drives the closing mechanism to close theend effector 1 and a staple pushing phase in which the staple pushing assembly is driven to push staples out of thecartridge assembly 11, thefirst drive mechanism 10 is moved towards theend effector 1. For example, thesecond drive mechanism 20 is also configured to disengage from the closure mechanism during the staple ejection stage and drive the staple ejection assembly to eject the staples from thecartridge assembly 11 under the drive of thefirst drive mechanism 10. For example, in the closing stage and the staple pushing stage, thesecond drive mechanism 20 is also moved axially toward theend effector 1 by the drive of thefirst drive mechanism 10. For example, thefirst drive mechanism 10 and thesecond drive mechanism 20 both move substantially linearly in the axial direction during the closing phase and the staple pushing phase. For example, thefirst driving mechanism 10 is a single driving rod, so that the single driving rod moves along the axial direction to drive the completion of the closing stage and the nail pushing stage, thereby greatly simplifying the driving structure, effectively simplifying the overall structure of thestapler 100, saving space, being beneficial to reducing the size of thestapler 100, being easy to enter the surgical object such as a human body in the surgical process, and reducing the injury to the surgical object; in addition, the simplification of the driving structure makes the operation process of thestapler 100 easier to be smoothly realized, which has a significant contribution to improving the operation reliability and also reduces the design difficulty of the control system for controlling the operation process of thestapler 100.

For example,stapler 100 further includes separable connectingstructure 6, separable connectingstructure 6 being configured to connect with the closure mechanism andsecond drive mechanism 20 during the closure phase to move towardend effector 1 in response to movement ofsecond drive mechanism 20 to drive the closure mechanism towardend effector 1 to closeend effector 1, and separable connectingstructure 6 being configured to separate from the closure mechanism after the closure mechanism is closed. The extending directions of thefirst driving mechanism 10 and thesecond driving mechanism 20 are axial directions, the direction perpendicular to the axial directions is a longitudinal direction, and the separable connectingstructure 6 comprises a first end and a second end in the longitudinal direction; thesecond drive mechanism 20 comprises a first connection structure and theclosure mechanism 2 comprises a second connection structure.

For example, during the process in whichseparable coupling structure 6 drives the closure mechanism towardend effector 1, a first end ofseparable coupling structure 6 is coupled tosecond drive mechanism 20 via a first coupling structure, and a second end ofseparable coupling structure 6 is coupled to the closure mechanism via a second coupling structure; the separable connectingstructure 6 is configured to be longitudinally movable relative to the first and second connecting structures to separate the second end of the separable connectingstructure 6 from the closure mechanism or to separate the first end of the separable connectingstructure 6 from thesecond drive mechanism 20.

For example,stapler 100 further includes a decoupling drive mechanism configured to apply a driving force in the longitudinal direction to separable connectingstructure 6 afterend effector 1 is closed to cause separable connectingstructure 6 to move in the longitudinal direction under the driving force to decouple the second end of separable connectingstructure 6 from the closing mechanism or decouple the first end of separable connectingstructure 6 fromsecond drive mechanism 20.

Fig. 6A-6F are schematic views of astapler 100 according to an embodiment of the present disclosure, illustrating thedetachable connection structure 6 being connected to and disconnected from a closure mechanism during a closure process. Referring to fig. 6A to 6E, for example, the closing mechanism is asleeve 2 sleeved outside thesecond driving mechanism 20, the second connecting structure is a connectinghole 23 penetrating through a wall of thesleeve 2, and a second end of the separable connectingstructure 6 is detachably inserted into the connectinghole 23. Fig. 7 is a schematic diagram of thedetachable connection structure 6 in the embodiment shown in fig. 6A-6F, and as shown in fig. 7, in this embodiment, thedetachable connection structure 6 is a slider, and the first connection structure is agroove 203 disposed in thesecond driving mechanism 20. Of course, in other embodiments, the separable connectingstructure 6 may be of other types, and is not limited to the slider; the first connecting structure is not limited to the groove, and the second connecting structure is not limited to the connectinghole 23 penetrating the cylinder wall of thesleeve 2, as long as the above-described functions can be achieved. The closing mechanism is not limited to thesleeve 2, and may be any other mechanism that can drive theend effector 1 to close and open under the driving of thefirst driving mechanism 10.

Thesleeve 2 may be formed of a rigid material that is compatible with or at least not harmful to the human body, for example. For example, the material of thesleeve 2 may include, for example, a metallic material such as medical stainless steel, titanium, a titanium alloy, a cobalt alloy, or the like; or non-metallic materials such as medical ceramics, hard plastics and the like. Further, at least a portion of the inner and/or outer surface of thesleeve 2 may also have a passivation layer, plating or coating or the like thereon that is compatible with or at least not harmful to the human body. The embodiments of the present disclosure are not limited in this regard.

For example, thesleeve 2 is a hollow arc-shaped cylinder having a circular cross-section, so as to reduce contusion of the tissue of the surgical object when thesleeve 2 enters the surgical object, such as a human body, during surgery. Thesleeve 2 has a cylindrical wall and a cavity surrounded by the cylindrical wall, in which cavity the second drive means 20 etc. are located during the closing phase in order to minimize the structures located outside thesleeve 2 and to minimize contusion of the tissue of the surgical object when thesleeve 2 enters the body of the surgical object during the operation. The end of thesleeve 2 remote from theend effector 1 is closed and the other end close to theend effector 1 is open.

As shown in fig. 7, during the closing phase, a first end ofseparable coupling structure 6 is coupled tosecond drive mechanism 20 throughcoupling aperture 23 insleeve 2, and a second end ofseparable coupling structure 6 is coupled tosleeve 2 throughrecess 203 ofsecond drive mechanism 20, thereby coupling the closable mechanism tosecond drive mechanism 20 throughseparable coupling structure 6, such thatsleeve 2 moves towardend effector 1 with movement ofsecond drive mechanism 20 to drivesleeve 2 towardend effector 1. Referring to FIG. 3, thecartridge assembly 11 includes a first end adjacent thesleeve 2, and theanvil 12 includes a first end adjacent thesleeve 2; during the closing phase, thesecond driving mechanism 20 is driven by thefirst driving mechanism 10 to move toward theend effector 1 and thesleeve 2 is driven to move toward theend effector 1, so that thesleeve 2 is sleeved on the first end of thecartridge assembly 11 and the first end of theanvil 12 to apply pressure to the first end of thecartridge assembly 11 and the first end of theanvil 12 to close theend effector 1, and thus, theend effector 1 holds the target tissue.

Thedetachable connection 6 of fig. 6A-6F is detachably connected to thesecond drive mechanism 20 and to the closure mechanism. As shown in fig. 7, the separable connectingstructure 6 includes amain body portion 61 and afirst boss 611 protruding from a first surface of themain body portion 61, the first surface of themain body portion 61 facing therecess 203, thefirst boss 611 being located at a first end of the separable connectingstructure 6; thefirst boss 611 includes a firstinclined surface 6111, and the firstinclined surface 6111 intersects with the axial direction and the longitudinal direction. As shown in fig. 6E, theanastomat 100 further comprises a fixingbracket 8, the closing mechanism is arranged on the fixingbracket 8, and the fixingbracket 8 comprises a first slidinggroove 81 and a second slidinggroove 82; thefirst chute 81 extends in the axial direction; thesecond slide groove 82 extends in the axial direction, communicates with thefirst slide groove 81, is located on a side of thefirst slide groove 81 close to theend effector 1, and includes a first groove wall and a second groove wall that are opposed to each other in the lateral direction; the transverse direction is vertical to the axial direction and the longitudinal direction, and the first groove wall is used as the separation driving structure; the face of the first groove wall facing the separable connectingstructure 6 has afirst barrier slope 801, thefirst barrier slope 801 intersecting with the axial direction and the longitudinal direction.

As shown in fig. 6F, after the closing stage, at least a portion of thebody portion 61 of the separable connectingstructure 6 in the axial direction enters thesecond chute 82 to bring thefirst barrier ramp 801 into contact with thefirst ramp 6111. In this way, the limited space in thesleeve 2 is fully utilized to realize that the separable connectingstructure 6 is connected with thesecond driving mechanism 20 and thesleeve 2 in the closing stage and is separated from thesleeve 2 in the nail pushing stage after the closing stage, so that when thefirst driving mechanism 10 and thesecond driving mechanism 20 drive the nail pushing assembly to push nails in the nail pushing stage, thesleeve 2 does not move along with the axial movement of thesecond driving mechanism 20 any more, and the stability of theclosed end effector 1 is maintained.

For example, the thickness of thefirst boss 611 in the lateral direction is larger than the depth of thegroove 203 in the lateral direction, so that themain body portion 61 of the separable connectingstructure 6 is located outside thegroove 203, facilitating the entry of the main body portion of the separable connectingstructure 6 into thesecond chute 82.

For example, the firstinclined surface 6111 exceeds thegroove 203 in the longitudinal direction, i.e., the firstinclined surface 6111 is located outside thegroove 203 in the longitudinal direction, so as to ensure that the main body portion of the separable connectingstructure 6 can contact with the first barrier inclinedsurface 801 after entering the second slidinggroove 82, and ensure the reliability of the normal operation of thestapler 100 in the closing stage.

For example, in the embodiment shown in fig. 6A to 6F, the included angle between the firstinclined surface 6111 and the axial direction, which is close to theend effector 1, is an obtuse angle, and the included angle is the included angle between the firstinclined surface 6111 and the central axis of thesleeve 2. The separable connectingstructure 6 is moved away from the closing mechanism along the longitudinal direction under the action of the driving force along the longitudinal direction to be separated from the closing mechanism, so that in the nail pushing stage, the separable connectingstructure 6 is positioned in the cavity of thesleeve 2, and the obvious protruding structure outside thesleeve 2 is avoided, so that contusion of tissues of an operation object caused by the protruding structure outside thesleeve 2 when thesleeve 2 enters the operation object such as a human body in the operation is avoided or reduced.

Of course, in other embodiments, the firstinclined surface 6111 may be designed to have an acute angle with the axial direction, which is closer to theend effector 1, and theseparable connector 6 may be moved longitudinally closer to thesleeve 2 to separate from thesecond drive mechanism 20 by the driving force in the longitudinal direction, i.e., the driving force is in the opposite direction to the driving force in the embodiment shown in fig. 6A-6F, and theseparable connector 6 is moved in the opposite direction to theseparable connector 6 in the embodiment shown in fig. 6A-6F. In this case, theseparable coupling structure 6 is located on thesleeve 2 without moving with the movement of thesecond drive mechanism 20 in the staple pushing stage. That is, in other embodiments, the first end of theseparable connector 6 is disengaged from thesecond drive mechanism 20, and after thesleeve 2 drives theend effector 1 to close, theseparable connector 6 is disengaged from thesecond drive mechanism 20 to stop driving the closing mechanism to move.

In some embodiments, for example, as in fig. 7, the separable connectingstructure 6 further comprises asecond boss 612. Thesecond boss 612 protrudes from thesecond surface 05 of the main body portion and is located at the first end of the separable connectingstructure 6, and includes a secondinclined surface 6121 intersecting with the axial direction and the longitudinal direction, and thesecond surface 05 is opposite to thefirst surface 01; the second groove wall also serves as a separation driving structure, and includes asecond barrier slope 802 facing the separablejoint structure 6, thesecond barrier slope 802 being configured to contact with thesecond slope 6121 to apply a resistance force in the axial direction and a driving force in the longitudinal direction to thesecond slope 6121 and to be parallel to thesecond slope 6121; after the closing phase, at least part of the body portion of the separable connectingstructure 6 in the axial direction enters thesecond runner 82, and the first and

second bosses

611, 612 are blocked by the first and second groove walls outside thesecond runner 82 to bring thefirst barrier bevel 801 into contact with the firstinclined face 6111 and thesecond barrier bevel 802 into contact with the secondinclined face 6121. Thesecond boss 612 can increase the symmetry of the separable connectingstructure 6, improve the structural stability of the separable connectingstructure 6, increase the magnitude of the driving force, and be beneficial to ensuring the reliability of the separation of the separable connectingstructure 6 and thesleeve 2. For example,first barrier bevel 801 andfirst bevel 6111 complement each other upon contact; after the second barrier inclinedsurface 802 contacts with the secondinclined surface 6121, the two surfaces are complementary.

For example, as shown in fig. 7, thefirst boss 611 further includes a first platform having a firsthorizontal surface 6110, the firsthorizontal surface 6110 intersects and is connected to the firstinclined surface 6111, and the first platform can increase the mechanical strength of thefirst boss 611, so that thefirst boss 611 is more stable in structure and position when located in thegroove 203. Similarly, thesecond boss 612 further includes a second platform portion having a second horizontal plane intersecting and connected to the secondinclined surface 6121, which can increase the mechanical strength of thesecond boss 612, and in the case where thefirst boss 611 has the first platform portion, increase the symmetry of the separablejoint structure 6 to make the structure thereof more stable.

For example, the width of thefirst slide groove 81 in the lateral direction is larger than the width of thesecond slide groove 82 in the lateral direction, so that only the main body portion of the separable connectingstructure 6 can enter thesecond slide groove 82, and thefirst boss 611 and thesecond boss 612 cannot enter thesecond slide groove 82, thereby achieving the above-described driving of the separable connectingstructure 6 to be separated from thesleeve 2 in the longitudinal direction.

For example, in some embodiments, the width of the second slidingslot 82 in the transverse direction is larger than the width of the main body part and smaller than the sum of the width of thefirst boss 611, the width of the main body part and the width of thesecond boss 612, so as to minimize the width of the first slidingslot 81 while ensuring that sufficient space is left for thefirst boss 611 and thesecond boss 612 when the main body part of the separable connectingstructure 6 slides in the first slidingslot 81, which is beneficial for stabilizing the position of the main body part of the separable connectingstructure 6 when sliding in the first slidingslot 81, and is beneficial for improving the mechanical strength and the mechanical stability of the fixingbracket 8, thereby improving the stability of theentire stapler 100.

For example, in other embodiments, the width of the first slidinggroove 81 in the transverse direction is greater than the sum of the width of thefirst boss 611 in the transverse direction, the width of the main body portion in the transverse direction, and the width of thesecond boss 612 in the transverse direction, so as to ensure that when the main body portion of theseparable connector structure 6 slides in the first slidinggroove 81, sufficient space is left for thefirst boss 611 and thesecond boss 612, thereby ensuring that the main body portion of the subsequentseparable connector structure 6 smoothly enters the second slidinggroove 82.

For example, the length of the second slidingslot 82 in the axial direction is smaller than that of the first slidingslot 81 in the axial direction, so as to minimize the size of the slot on the fixingbracket 8, which is beneficial to improving the mechanical strength and the mechanical stability of the fixingbracket 8, and thus improving the stability of thewhole anastomat 100.

The above embodiments are exemplary, and in other embodiments, the separable connectingstructure 6 can also be fixedly connected with one of thesecond drive mechanism 20 and the closure mechanism, and detachably connected with the other of thesecond drive mechanism 20 and the closure mechanism.

As shown in fig. 3, for example, one end of theend effector 1 close to thesleeve 2 includes aguide slope 101, theguide slope 101 has an angle with the axial direction and the longitudinal direction, theguide slope 101 includes a first end close to thesleeve 2 in the axial direction and a second end far from thesleeve 2, and the first end is also closer to thesleeve 2 than the second end in the longitudinal direction. In the closing stage, thesleeve 2 contacts with the guidinginclined plane 101 before contacting with thecartridge component 11 and theanvil 12 and slides towards thecartridge component 11 and theanvil 12 along the guidinginclined plane 101, so that thesleeve 2 is sleeved on the first end of thecartridge component 11 and the first end of theanvil 12 to apply pressure to the first end of thecartridge component 11 and the first end of theanvil 12 to close theend effector 1, and the reliability of normal operation of the closing stage is increased.

For example, the wall of thecartridge 2 can include a curved surface, such as the curved surface described above, and as shown in FIG. 3, at least one of the first end of thecartridge assembly 11 and the first end of theanvil 12, such as the first end of theanvil 12, can include a curved force-bearingsurface 102, and the curved force-bearingsurface 102 can be configured to contact thecartridge 2 and bear the pressure applied by thecartridge 2, so as to increase the force-applying area of thecartridge 2 on theend effector 1 during the closing stage, facilitate driving theend effector 1 to close and stabilize theclosed end effector 1, and reduce the slippage of the target tissue. For example, thesleeve 2 comprises an inner surface in contact with the force-bearing surface, the inner surface being curved; the curvature of the stress surface is equal to that of the inner surface of thesleeve 2, so that the force application area of thesleeve 2 on theend effector 1 in the closing stage is further increased, theend effector 1 is driven to be closed, the stability after theend effector 1 is closed is facilitated, and the slippage of target tissues is reduced.

Fig. 13A is a schematic view of the staple pushing process. For example, referring to FIG. 13A, the staple pushing assembly includes astaple pusher shoe 700, astaple pusher shoe 60, and astaple driving mechanism 40.Pusher plate 700 is configured to apply pressure to the staples to push the staples out of the cartridge;staple pusher shoe 60 is configured to apply pressure tostaple pusher sheet 700 to drivestaple pusher sheet 700 to apply staple pushing pressure to the staples; thestaple driving mechanism 40 is configured to move in the axial direction under the driving of the first andsecond driving mechanisms 20 to drive thestaple sliders 60 to move in the axial direction, so that thestaple sliders 60 are in contact with thestaple pusher 700 to apply the staple pushing pressure to thestaple pusher 700.

For example, in some embodiments, before the staple pushing operation, thestaple driving mechanism 40 is connected to thesecond driving mechanism 20 and moves to contact with thestaple pushing slider 60 along with the movement of thesecond driving mechanism 20, which is more beneficial to the reliability of the subsequent driving operation of thestaple driving mechanism 40 by thesecond driving mechanism 20 and the operational stability of thestapler 100 during the staple pushing operation, and reduces the design difficulty.

For example, in other embodiments, thestaple driving mechanism 40 is spaced from thesecond driving mechanism 20 on a side of thesecond driving mechanism 20 adjacent to thestaple pushing slider 60 prior to staple pushing, i.e., when thestaple driving mechanism 40 is not coupled to thesecond driving mechanism 20, thesecond driving mechanism 20 is coupled to thestaple pushing slider 60 after moving axially toward theend effector 1 through the gap.

For example, after the staple ejection stage, thefirst drive mechanism 10 is also configured to drive the closure mechanism away from theend effector 1 to move thecartridge assembly 11 andanvil 12 away from each other to open theend effector 1. That is, a closure mechanism, such as asleeve 2, is moved away from theend effector 1 to release a first end of theanvil 12 and a first end of thecartridge assembly 11 to open theanvil 12 andcartridge assembly 11.

Fig. 8 is a schematic view of a portion of astapler 100 including a firstelastic member 71 according to an embodiment of the disclosure. For example, as shown in fig. 8, thestapler 100 further includes a firstelastic member 71, and the firstelastic member 71 is connected to the closing mechanism. In the closing phase, the closing mechanism is moved towards theend effector 1 to close theend effector 1 and elastically deform the firstelastic member 71; after the staple pushing stage, the closing mechanism is moved away from theend effector 1 by the elastically deformed firstelastic member 71 under its elastic restoring force.

The firstelastic member 71 is deformed by an external load, and the deformation is completely disappeared and the original shape and size are completely restored after the external load is removed. For example, the material of the firstelastic member 71 may include some resin or natural material with elastic compression deformation property, such as but not limited to thermoplastic elastomer (TPE), Thermoplastic Polyurethane (TPU), thermoplastic polyester elastomer (TPEE), and the like. The firstelastic member 71 may be formed as, for example, a block-shaped elastic member or a hollow cylindrical elastic member. As another example, the resiliently compressively deforming structure may include some structure having resiliently compressively deforming properties, such as a compression spring, a zigzag spring, an accordion-leaf spring, a lantern-skeleton spring, and the like. The resiliently compressively deforming structure may be formed of a material such as, but not limited to, metal, plastic, or ceramic. Embodiments of the present disclosure are not limited in this regard.

For example, in the embodiment shown in fig. 8, thesleeve 2 includes acatch structure 24 protruding from the inner wall of thesleeve 2 toward the inside, and the firstelastic member 71 is located at a side of thecatch structure 24 close to theend effector 1 to be configured to be compressed as the closing mechanism moves toward theend effector 1, so as to sufficiently utilize the limited space inside thesleeve 2 to achieve compression and spacing of the firstelastic member 71.

For example, in other embodiments, the firstelastic member 71 is located on the side of thecatch structure 24 close to theend effector 1 to be configured to be stretched as the closing mechanism moves toward theend effector 1, and thus, the same or similar technical effects as those of fig. 8 can be achieved.

For example,stapler 100 further includes a cutting device. Thecartridge component 11 and theanvil 12 are folded to clamp the target tissue; after the staple pushing assembly pushes out the staples from thestaple cartridge assembly 11, the staples enter target tissues to suture the target tissues; thefirst drive mechanism 10 is also configured to drive the cutting device to cut the target tissue. Namely, thefirst driving mechanism 10 is also configured to drive the cutting device to cut the target tissue, so as to further simplify the driving structure, save space, and reduce the volume of thestapler 100, thereby facilitating the entry into the surgical object, such as a human body, during the surgical procedure and reducing the damage to the surgical object; in addition, the simplification of the driving structure makes the operation process of thestapler 100 easier to be smoothly realized, which has a significant contribution to improving the operation reliability and also reduces the design difficulty of the control system for controlling the operation process of thestapler 100. For example, the target tissue is sutured after the entire target tissue is sutured. Of course, the target tissue may also be subjected to a side-stitching and side-cutting, i.e., for each portion of the target tissue, the portion is stitched first and then cut. The specific manner of suturing and cutting will be described hereinafter.

For example, thestapler 100 further includes a cutting drive mechanism configured to drive the cutting device to cut the target tissue under the drive of thefirst drive mechanism 10. For example, the staple pushingdrive mechanism 40 may be reused as a cutting drive mechanism to simplify construction and save space. Thesecond drive mechanism 20 is also configured to be coupled to the cutting drive mechanism to drive the cutting drive mechanism to move during the cutting phase, i.e., in the case where thestaple driving mechanism 40 is to be reused as the cutting drive mechanism, thesecond drive mechanism 20 is also configured to be coupled to thestaple driving mechanism 40 to drive thestaple driving mechanism 40 to move during the cutting phase.

For example, the cutting device includes a blade carrying member and acutting blade 605, thecutting blade 605 is movably connected to the blade carrying member, and the cutting driving mechanism is configured to drive the blade carrying member to move so as to move thecutting blade 605. For example, thestaple pusher shoe 60 reuses as a knife carrying component to further simplify the structure, save space, and facilitate the driving and control of the staple pushing and cutting stages.

The staple pushing and cutting stages of thestapler 100 will now be described by way of example in the case where the staple pushingdrive mechanism 40 is reused as the cutting drive mechanism.

During a closing phase in which thefirst driving mechanism 10 drives the closing mechanism to close theend effector 1 and a staple pushing phase in which the staple pushing assembly is driven to push staples out of thestaple cartridge assembly 11, thefirst driving mechanism 10 moves toward theend effector 1; for example, during the cutting phase, thefirst drive mechanism 10 is moved away from theend effector 1 to drive the cutting drive mechanism to move away from theend effector 1.

FIG. 10A is a structural diagram of thecartridge module 11 and the cutting drive mechanism. Referring to fig. 10A and 2, theend effector 1 includes a first end and a second end that are opposite to each other in the axial direction, the first end being close to the closing mechanism, i.e., thesleeve 2. Prior to the staple pushing stage, the cutting device is located at the first end; during the staple ejecting phase, thefirst driving mechanism 10 is moved axially towards theend effector 1 to drive the cutting driving mechanism to move towards theend effector 1 in synchronization with thestaple ejecting sled 60, the cutting driving mechanism driving the cutting device to move from the first end to the second end, but during the staple ejecting phase, thecutting blade 605 is at least partially located in thestaple ejecting sled 60, thecutting blade 605 being at a predetermined distance from the target tissue clamped between thecartridge assembly 11 and theanvil 12 such that thecutting blade 605 does not contact the target tissue. During the cutting phase, thefirst driving mechanism 10 moves away from theend effector 1 in the axial direction to drive the cutting driving mechanism to move away from theend effector 1, and the cutting driving mechanism drives the cutting device to move from the second end to the first end and cut the target tissue.

FIG. 10B is a top view ofstapler 100 of FIG. 10A in an anvil orientation; FIG. 10C is a top view of the cartridge orientation ofstapler 100 shown in FIG. 10A; FIG. 10D is a schematic sectional view taken along line J-J in FIG. 10C; FIG. 10E is a schematic sectional view taken along line H-H in FIG. 10B; FIGS. 12D-12E are schematic views of the cutting drive mechanism; FIG. 13C is a schematic view of thestaple pusher shoe 60 carrying thecutting blade 605 moving from the first end of theend effector 1 to the second end of theend effector 1. Referring to FIGS. 10B-10E, and 13C,cartridge assembly 11 includes acartridge 500 and anouter rack 400. Staples are placed in thestaple cartridge 500; theouter holder 400 is fixed to thecartridge 500, and has a first portion and a second portion opposite to each other; the first and second portions are located on a side of the cartridge remote from theanvil 12 and both extend axially, thefirst portion 401 of theouter rack 400 and thesecond portion 402 of theouter rack 400 are spaced from each other to define afirst slide slot 41 extending axially, the first portion of theouter rack 400 and the second portion of theouter rack 400 have an upper surface remote from thecartridge 500 and a lower surface opposite the upper surface, respectively. Thestaple driving mechanism 40 includes amain body portion 411 and afirst slide portion 412. During the movement of thestaple driving mechanism 40 driving thestaple slider 60, themain body 411 is configured to be connected to the knife carrying member, and a first end of themain body 411, which is far away from theanvil 12, slides in the first slidingslot 41. The first slidingportion 412 is connected to thebody portion 411, supported on the upper surface of the first portion of theexternal bracket 400 and the upper surface of the second portion of theexternal bracket 400, and configured to be slidable along the upper surface of the first portion of theexternal bracket 400 and the upper surface of the second portion of theexternal bracket 400. Thus, the arrangement of the staple pushingdriving mechanism 40 on the staple cartridge is realized, and theouter bracket 400 can ensure that the staple pushingdriving mechanism 40 stably moves in the staple pushing stage, so that in the staple pushing stage, the staple pushingdriving mechanism 40 can not be affected by the acting force of thestaple anvil 12, and the staple pushingdriving mechanism 40, that is, the cutting driving mechanism, can have a preset distance from the target tissue clamped between the staple cartridge and thestaple anvil 12, so that the cuttingknife 605 does not contact the target tissue.

For example, as shown in FIG. 13C, the staple cartridge comprises a cartridge support, the cartridge support comprises afirst portion 511 and asecond portion 512 extending along the axial direction, the first portion of the cartridge support and the second portion of the cartridge support each comprise a staple slot for receiving a staple and define a second slide slot 42 extending along the axial direction, the second slide slot 42 is opposite to thefirst slide slot 41, and the second end of themain body portion 411 of thestaple driving mechanism 40 close to theanvil 12 slides in the second slide slot 42 during the movement of thestaple driving mechanism 40 driving thestaple slider 60.

For example, the magazine has a staple ejection surface facing theanvil 12, and thebody 411 and thefirst slide portion 412 of thestaple driving mechanism 40 have a T-shaped cross section in a direction perpendicular to the staple ejection surface. Thus, different from the i-shaped staple pushing driving mechanism 40 (cutting driving mechanism), the T-shaped staple pushingdriving mechanism 40 is disposed on the staple cartridge, and the T-shaped staple pushing driving machine is close to one end of thestaple anvil 12, i.e. close to one end of the target tissue, and can be spaced apart from the target tissue by a preset distance in the staple pushing stage so as to prevent the cuttingknife 605 from contacting the target tissue, thereby achieving cutting of the target tissue after the whole target tissue is sutured, which is more beneficial to the smoothness and accuracy of the suturing of the target tissue and the accuracy of the cutting.

For example, thestaple driving mechanism 40 further includes a second slidingportion 413, and the second slidingportion 413 is connected to themain body portion 411, is located on a side of the first and second portions away from the first slidingportion 412, and is in contact with and configured to be slidable along the lower surfaces of the first and second portions.

Fig. 13A is a schematic view of the staple pushing process. As shown in fig. 12A and 13A,staple pusher sheets 700 are axially aligned and configured to apply pressure to the staples to push the staples out of the cartridge;staple pusher shoe 60 is configured to apply pressure tostaple pusher sheet 700 to drivestaple pusher sheet 700 to apply staple pushing pressure to the staples; thestaple driving mechanism 40 is configured to drive thestaple pushing slider 60 to move in the axial direction under the driving of thefirst driving mechanism 10 in the staple pushing stage, so that thestaple pushing slider 60 is in contact with thestaple pusher 700 in the axial direction to apply the staple pushing pressure to thestaple pusher 700.

As shown in fig. 12A, for example, thestaple pusher shoe 60 includes a main body portion and astaple chute 601. The staple-ejectingchute 601 is located on the main body portion of the staple-ejectingslider 60 and on a side of the main body portion of the staple-ejectingslider 60 facing theanvil 12, is configured to accommodate the staple-ejecting blade 700 during a staple-ejecting stage in which the staple-ejectingslider 60 moves in the axial direction, and includes a bottom surface facing theanvil 12, wherein the bottom surface is configured to apply a staple-ejecting pressure to the staple-ejecting blade 700 during the staple-ejecting stage.

FIG. 12A is a schematic view of the overall structure of the nail-pushingslider 60 carrying acutting blade 605; FIG. 12B is a cross-sectional view of thestaple pusher shoe 60 carrying acutting blade 605. As shown in fig. 12A-12B, for example, thestaple pusher shoe 60, i.e., the knife carrying member, includes a receivingcavity 600, a limiting structure, and aknife drive structure 602. Thecutting blade 605 is at least partially positioned within the receivingcavity 600 and includes acutting edge 6050; the limiting structure is configured to movably connect thecutting blade 605 to the nail-pushingslider 60; for example, the receivingcavity 600 has aninner wall 621/622 comprising intersectingwalls 621/622, thewalls 621/622 forming a restraining structure; in the nail pushing stage, the plurality of wall surfaces hold the cuttingknife 605 in a fixed position; the static friction force applied by the plurality of wall surfaces to thecutting blade 605 is balanced with the gravity of the cutting blade to achieve fixation of thecutting blade 605.

For example, the plurality of wall surfaces include afirst wall surface 621 and asecond wall surface 622 that are opposite to each other, thefirst wall surface 621 and thesecond wall surface 622 intersecting the opening and both intersecting the axial direction; under the first driving force, thecutter 605 slides along thefirst wall 621 and thesecond wall 622 to be exposed from the opening. Theejection drive structure 602 is configured to apply a first driving force to thecutting blade 605 to move thecutting edge 6050 toward the target tissue to contact the target tissue. The receivingcavity 600 includes an opening to the target tissue, and thecutting blade 605 is configured to be at least partially exposed from the opening under a first driving force to bring thecutting edge 6050 into contact with the target tissue.

For example, the first and second walls are perpendicular to the axial direction to facilitate sliding of thesubsequent cutting blade 605 along the first and second walls toward the target tissue.

11A-11B are schematic views of thestaple driving mechanism 40 and thestaple sled 60 not connected to each other. As shown in fig. 11A-11B, for example, prior to staple ejection, thestaple driving mechanism 40 is coupled to thesecond driving mechanism 20, moves into contact with thestaple pusher shoe 60 as thesecond driving mechanism 20 moves, and is coupled to thestaple pusher shoe 60. FIG. 12C is a schematic view of the end of thestaple pusher shoe 60 near the cutting drive mechanism; FIG. 12E is a schematic view of the cutting drive mechanism andstaple pusher shoe 60 connected to each other. Referring to fig. 12C-12E, thestaple pusher shoe 60, i.e., the blade carrying member, further includes a first connecting structure, and the main body portion of thestaple driving mechanism 40 includes a second connecting structure. In the nail pushing stage, the first connecting structure is not connected with the second connecting structure; after the staple pushing stage and before the cutting stage, the first connecting structure is connected with the second connecting structure. For example, the body portion of thestaple driving mechanism 40 further includes aforce applying surface 641 facing the blade carrying member, and thestaple sled 60 includes aforce receiving surface 642 facing the body portion. In the nail pushing stage, the cutting driving mechanism moves towards the cutter carrying component to enable the force application surface to be in contact with the force bearing surface, and the nail pushingdriving mechanism 40 applies a second driving force to the force bearing surface through the force application surface to drive the cutter carrying component to move.

For example, in the present embodiment, the first connecting structure is further used as a knife-outdriving structure 602, and the knife-outdriving structure 602 is at least partially located in theaccommodating cavity 600 and configured to be movable in the axial direction; thefeed drive structure 602 extends in an axial direction, including a first end axially adjacent the cutting drive mechanism and a second end opposite the first end; thenail pushing slider 60 comprises a throughhole 415 which penetrates through theforce bearing surface 414 and is communicated with theaccommodating cavity 600; in the nail pushing stage, a first end of thecutter driving structure 602 is located in theaccommodating cavity 600, a second end of thecutter driving structure 602 extends out of theaccommodating cavity 600, and thecutter driving structure 602 does not move relative to thecutter blade 605 in the axial direction. FIG. 13B is a schematic view of the cutting blade not in contact with the target tissue during the staple pushing stage; FIG. 13D is a schematic view of the cutting blade moving into contact with the target tissue during the staple pushing stage. With reference to fig. 12C-12E and fig. 13C, 13D, for example, the cartridge holder comprises aresistive surface 503, theresistive surface 503 facing the knife-outdriving structure 602, the knife-outdriving structure 602 being configured to strike theresistive surface 503 when the cutting device reaches the second end of theend effector 1 under the driving of the cutting driving mechanism, such that theresistive surface 503 applies a knife-out driving force to the knife-outdriving structure 602, the knife-outdriving structure 602 being configured to contact the cuttingknife 605 under the action of the knife-out driving force to apply a first driving force to the cuttingknife 605 to drive the cuttingknife 605 to move towards the target tissue. For example, as shown in fig. 13B, when the cutting device reaches the second end of theend effector 1, the second end of the cuttingdrive structure 602 strikes the resistingsurface 503, so that the resistingsurface 503 applies a cutting drive force to the cuttingdrive structure 602, the cuttingdrive structure 602 moves axially away from the second end of theend effector 1 under the action of the cutting drive force to contact with the cuttingknife 605 to apply a first drive force to the cuttingknife 605 to drive the cuttingknife 605 to move towards the target tissue, and the first end of the cuttingdrive structure 602 moves to the outside of theaccommodating cavity 600 through the throughhole 603 to be connected with the second connecting structure, that is, the state shown in fig. 13B is changed into the state shown in fig. 13D.

In the staple pushing stage, thecutting edge 6050 of the cuttingknife 605 faces the target tissue, the cuttingknife 605 further comprises afirst bevel 606 intersecting thecutting edge 6050, thedischarge drive structure 602 comprises asecond bevel 607, thesecond bevel 607 is located on a side of thefirst bevel 606 away from thecutting edge 6050 and is axially located on a side of thefirst bevel 606 close to the second end of theend effector 1 and is parallel to thefirst bevel 606, and both thefirst bevel 606 and thesecond bevel 607 intersect axially; when the second end of the cuttingdrive structure 602 impacts theresistive surface 503, the cuttingdrive structure 602 is configured to move axially away from the second end of theend effector 1 under the cutting drive force to bring thesecond bevel 607 into contact with thefirst bevel 606 of thecutting blade 605 to apply a first drive force to thecutting blade 605, thecutting blade 605 moving towards the target tissue and thefirst bevel 606 sliding relative to thesecond bevel 607 in a direction towards the target tissue while the cuttingdrive structure 602 moves axially away from the second end of theend effector 1. So, can guarantee thatsword drive structure 602 is connected with the second connection structure smoothly, guarantee the stability of operation, and make full use of the finite space that holdschamber 600, saved the space, do benefit to the miniaturization that realizesanastomat 100 to minimize anastomat 100's radial dimension, and easily get into the operation object at the operation in-process for example the human body in, reduce the injury of operation object.

For example, the secondinclined surface 607 forms an obtuse angle with the second end of the axial direction close to theend effector 1, so as to facilitate the sliding of the firstinclined surface 606 along the secondinclined surface 607.

As shown in fig. 12D to 12E, the main body of the cutting driving mechanism includes a hollow area, the hollow area penetrates through the force applying surface to form a via hole on the force applying surface, the second connecting structure is located in the hollow area, and the second end of the knife-outdriving structure 602 penetrates through the via hole to enter the hollow area to be connected with the second connecting structure.

With reference to fig. 12C-12E, for example, the second connecting structure includes an elastic connector protruding from an inner wall of the hollowed-out region facing the second end of the feed-outdriving structure 602; the second end of thefeed drive structure 602 has a nestedhole 604. The elastic connection member includes anelastic connection rod 610 and anend protrusion 611; the elastic connectingrod 610 protrudes from the inner wall of the hollow area facing the second end of thefeed driving structure 602 and extends in the axial direction; theend protrusion 611 is located at one end of theelastic connection rod 610 far from the inner wall and protrudes from theelastic connection rod 610 in a second direction perpendicular to the axial direction; theend protrusion 611 is nested within thenesting hole 604 to connect the second end of theknife drive structure 602 to the resilient connector.

As shown in fig. 12E, for example, the end surface of theend protrusion 611 protruding from the elastic connectingrod 610 is anarc surface 612, and theknife driving structure 602 and the elastic connecting member are configured as follows: when theknife driving structure 602 moves away from the second end of theend effector 1 in the axial direction and reaches theend protrusion 611 under the action of the knife driving force, the second end of theknife driving structure 602 abuts against the arc-shaped surface to elastically deform the elastic connectingrod 610 in the second direction, and when theknife driving structure 602 continues to move away from the second end of theend effector 1 in the axial direction and thenesting hole 604 is opposite to theend protrusion 611 under the action of the knife driving force, theend protrusion 611 moves towards thenesting hole 604 in the second direction and is embedded in thenesting hole 604 under the action of the elastic restoring force of the elastic connectingrod 610 to connect the nail driving mechanism 40 (i.e., the cutting driving mechanism) and the nail pushing slider 60 (i.e., the knife carrying member). This design can make full use of the part of the knife-outdriving structure 602, and when it is used to realize the exposure of thedriving cutting knife 605 to cut the target tissue, it can also be connected with the nail-pushingdriving mechanism 40 quickly to prepare for the cutting by driving the cuttingknife 605 to move in the next cutting stage, and the structure is simple, easy to realize, and space-saving.

For example, the arc-shaped surface is a spherical crown surface, and thenesting hole 604 is substantially circular, so that theend protrusion 611 can enter thenesting hole 604 more easily to connect the second end of theknife driving structure 602 with the elastic connector, and the reliability of the device is increased.

Of course, in other embodiments, the second end of the tool-dischargingdriving structure 602 may also be connected by other hooking forms, or by clamping, or by magnetic attraction, and the like.

In at least one embodiment of the present disclosure, in the initial state, theend effector 1 is in an open state; in the closing phase, the closing mechanism is configured to drive thecartridge assembly 11 and theanvil 12 into apposition to close theend effector 1 to clamp the target tissue; in the staple ejection stage, which follows the closure stage, the staple ejection assembly is configured to eject staples from thecartridge assembly 11 to staple the target tissue. For example, thestapler 100 further comprises alocking mechanism 5, wherein thelocking mechanism 5 is configured to limit the closing mechanism to a first position in the staple pushing stage so that the closing mechanism maintains the closing state of theend effector 1, and is configured to limit the closing mechanism to a second position in the initial state so that theend effector 1 is maintained in the opening state, so as to achieve the technical effect of bidirectional locking and prevent the tissue from sliding due to the movement of the closing mechanism after theend effector 1 is closed; and, theend effector 1 is prevented from being closed due to the movement of the closing mechanism in the initial state, thereby improving the operational stability and reliability of the closing mechanism.

Fig. 6A-6C illustrate, by way of example, the structure of thelocking mechanism 5 and the operation of thelocking mechanism 5 during the closing of theend effector 1 by the closing mechanism, according to an embodiment of the present disclosure. Referring to fig. 1 and 6A-6C, thelocking mechanism 5 includes a first stop structure and a second stop structure. The first limiting structure is configured to limit the closing mechanism at a first position in the nail pushing stage; the second limiting structure is configured to limit the closing mechanism to a second position in the initial state. The first limiting structure and the second limiting structure may be in any form as long as the above purpose can be achieved, and are not limited to the cases described in the above embodiments, and the disclosure does not limit this.

The first limit structure includes afirst limit groove 51 and a first locking member. Thefirst limit groove 51 has a first side wall, is located on the closing mechanism and is configured to move along with the movement of the closing mechanism; in the nail pushing stage, at least part of thefirst end portion 501 of the first locking member is retained in the first retaininggroove 51 and contacts with the first side wall to apply a fourth resistance to the first side wall, so that a second resistance is applied to the closing mechanism through the first retaininggroove 51, and the fourth resistance and the second resistance are equal in magnitude and same in direction. The second retention structure includes asecond retention slot 52 and a second locking member. Thesecond restraint slot 52 has a second sidewall that is positioned on the closure mechanism and is configured to move with movement of the closure mechanism. At an initial stage, at least part of thefirst end 501 of the second locking member is retained in thesecond retaining groove 52 and is configured to contact the second side wall to apply a fifth resistance to the second side wall, thereby applying a third resistance to the closing mechanism through thesecond retaining groove 52, the fifth resistance being equal in magnitude to the third resistance and both being in the same direction as the first resistance. For example, in the present embodiment, the closing mechanism is ahollow sleeve 2, and the first limitinggroove 51 and the second limitinggroove 52 penetrate through the wall of thesleeve 2. Thus, thelocking mechanism 5 does not protrude out of thesleeve 2, bidirectional locking of thesleeve 2 is achieved by using thesleeve 2 and the inner space of thesleeve 2, the limited space inside thesleeve 2 is fully utilized, and therefore an operation object such as a human body is prevented from being easily entered in an operation process, and bruise of the operation object is reduced.

As shown in fig. 6A-6C, for example, in some embodiments, the first locking member and the second locking member are the samecommon locking member 50. In the closed phase, the first and second retaining

grooves

51, 52 move relative to thecommon locking member 50 such that thecommon locking member 50 is configured to move from thesecond retaining groove 52 to the first retaininggroove 51; when thefirst end 501 of thecommon locking member 50 is at least partially retained in the first retaininggroove 51, thecommon locking member 50 and the first retaininggroove 51 constitute a first locking member; when thefirst end 501 of thecommon lock member 50 is at least partially retained in thesecond retaining groove 52, thecommon lock member 50 and thesecond retaining groove 52 constitute a second lock member. Thecommon locking member 50 simplifies the structure of thelocking mechanism 5, saves space, and facilitates miniaturization of thestapler 100.

For example, the moving direction of thesleeve 2, the first limitinggroove 51 and the second limitinggroove 52 is an axial direction, and the first limitinggroove 51 is located on one side of the second limitinggroove 52 away from theend effector 1 along the axial direction, so as to realize the above function of the first limitinggroove 51.

As shown in fig. 6A to 6C, thelock mechanism 5 further includes apassage groove 53, and thepassage groove 53 is located between thefirst stopper groove 51 and thesecond stopper groove 52 and communicates with thefirst stopper groove 51 and thesecond stopper groove 52. In the closed stage, thecommon locking member 50 is configured to move from thesecond stopper groove 52 to thefirst stopper groove 51 through thepassage groove 53. Thepassage groove 53 penetrates the cylindrical wall of thesleeve 2.

For example, thecommon locking member 50 further includes asecond end 502 opposite thefirst end 501, and aneck 503 connecting thefirst end 501 and thesecond end 502; thepassage slot 53 is configured to allow theneck 503 to pass through but not allow thefirst end 501 to pass through such that, in an initial stage, thefirst end 501 cannot pass through thepassage slot 53 and is at least partially retained in thesecond retaining slot 52, and in a nail pushing stage, thefirst end 501 cannot pass through thepassage slot 53 and is at least partially retained in thefirst retaining slot 51. The direction from thefirst end 501 to thesecond end 502 is a longitudinal direction, the longitudinal direction is perpendicular to the axial direction, and the direction perpendicular to the axial direction and the longitudinal direction is a transverse direction. For example, the width in the lateral direction of thepassage groove 53 is smaller than the width in the lateral direction of thefirst stopper groove 51 and smaller than the width in the lateral direction of thesecond stopper groove 52; the width of thefirst end portion 501 in the transverse direction is larger than the width of theneck portion 503 in the transverse direction and larger than the width of thechannel groove 53 in the transverse direction, so that thechannel groove 53 allows theneck portion 503 to pass through but not thefirst end portion 501, so that in the initial stage, thefirst end portion 501 cannot pass through thechannel groove 53 and is at least partially retained in thesecond retaining groove 52, and in the nail pushing stage, thefirst end portion 501 cannot pass through thechannel groove 53 and is at least partially retained in the first retaininggroove 51.

For example, in at least one embodiment of the present disclosure, the locking mechanism further comprises a locking drive structure. In a closing stage, the locking driving structure is configured to drive the common locking member to move along the longitudinal direction towards the direction far away from the second end part so that the first end part moves out of the second limiting groove, and along with the movement of the first limiting groove and the second limiting groove, the neck part is configured to move from the second limiting groove to the first limiting groove through the channel groove; after the end closure is closed, the lock drive structure is configured to drive the common lock member to move in a longitudinal direction toward a direction near the second end portion to move at least a portion of the first end portion into the first retention groove to be retained in the first retention groove, the at least a portion of the first end portion being in contact with the first sidewall to apply a fourth resistance to the first sidewall.

As shown in fig. 6A to 6C, for example, thestapler 100 includes a fixingbracket 8, thesleeve 2 is sleeved outside the fixingbracket 8, and the first limitinggroove 51, the second limitinggroove 52 and thepassage groove 53 expose the outer surface of the fixingbracket 8. The fixingbracket 8 includes a through hole penetrating through an outer surface, and at least a portion of theneck 503 and thesecond end 502 are located in the through hole when at least a portion of thefirst end 501 of thecommon lock mechanism 5 is caught in the first catchinggroove 51 or the second catchinggroove 52. For example, thefirst end portion 501 includes a lower surface facing the fixingbracket 8, and when at least a portion of thefirst end portion 501 of thecommon locking mechanism 5 is retained in the first retaininggroove 51 or thesecond retaining groove 52, an outer surface of the fixingbracket 8 directly contacts the lower surface of thefirst end portion 501 to support thefirst end portion 501. Thecommon locking member 50 and the through hole constitute a latch structure.

For example, at least a portion of thefirst end portion 501 has a length in the axial direction smaller than that of the first limitinggroove 51 to leave a margin, so that the first limitinggroove 51 allows at least a portion of thefirst end portion 501 to move in the first limitinggroove 51 within a range allowed by the margin to adjust the position, thereby playing a role of buffering when grasping the tissue in the closing stage.

For example, the first side wall has a first arc shape, the side surface of thefirst end portion 501, which is at least partially in contact with the first side wall, has a second arc shape, and the curvatures of the first arc shape and the second arc shape are the same, so that the stability and reliability of the locking member are improved.

For example, the planar shape of thepassage groove 53 is a straight bar shape to ensure that thecommon lock member 50 moves between thefirst stopper groove 51 and thesecond stopper groove 52 by smoothly passing through thepassage groove 53.

6A-6C, for example, the locking drive structure includes a bearing surface facing the common locking member 50; the bearing surface comprises a first surface 01, a first slope surface 02, a protruding surface 03, a second slope surface 04 and a second surface 05 which are sequentially arranged along the axial direction, the first slope surface 02 is connected with the first surface 01 and the protruding surface, the second slope surface 04 is connected with the protruding surface and the second surface 05, a first included angle is formed between the first slope surface 02 and the protruding surface, and a second included angle is formed between the second slope surface 04 and the protruding surface; in the longitudinal direction, the distance from the protruding surface to the second stopper groove 52 is smaller than the distance from the first surface 01 to the second stopper groove 52 and smaller than the distance from the second surface 05 to the second stopper groove 52, the distance from the protruding surface to the passage groove 53 is smaller than the distance from the first surface 01 to the passage groove 53 and smaller than the distance from the second surface 05 to the passage groove 53, and the distance from the protruding surface to the first stopper groove 51 is smaller than the distance from the first surface 01 to the first stopper groove 51 and smaller than the distance from the second surface 05 to the first stopper groove 51. As shown in fig. 6A, in the initial stage, thesecond end 502 is located on the side of thefirst slope surface 02 far from thesecond slope surface 04; in a closed stage, the lock driving structure is configured to move axially relative to thecommon locking member 50 to move thesecond end 502 along thefirst ramp 02 to the projecting surface to drive thecommon locking member 50 to move longitudinally away from thesecond end 502, which in turn moves thesecond end 502 along the projecting surface and thesecond ramp 04 to a side of thesecond ramp 04 away from thefirst ramp 02, fig. 6B, to move thecommon locking member 50 longitudinally towards thesecond end 502, fig. 6C. During the closing phase, the movement of the lock driving structure relative to thecommon locking member 50 is synchronized with the movement of the first and second retaining

grooves

51, 52 relative to thecommon locking member 50, so that during the movement of thesecond end 502 relative to the lock driving structure, theneck 503 moves from thesecond retaining groove 52 into the first retaininggroove 51 via thepassage groove 53, as shown in fig. 6C; at this time, at least a portion of thefirst end portion 501 is in contact with a first portion of the first sidewall near thepassage slot 53 to apply a fourth resistance to thefirst portion 511 of the first sidewall, thefirst portion 511 of the first sidewall facing away from theend effector 1.

For example, in the embodiment shown in fig. 6A-6C, the fixedbracket 8 and thecommon locking member 50 do not move in the axial direction, and the lock driving structure moves in the axial direction to ensure stability of the fixedbracket 8 and thecommon locking member 50.

Thefirst driving mechanism 10 of thestapler 100 is connected with thesecond driving mechanism 20 and configured to drive the second driving mechanism to move; in the closing phase, thesecond drive mechanism 20 is detachably connected to the closing mechanism and is configured to be moved towards theend effector 1 under the drive of thefirst drive mechanism 10 such that the closing mechanism is brought into contact with thecartridge assembly 11 and theanvil 12 and applies pressure to thecartridge assembly 11 and theanvil 12 to close theend effector 1. For example, the lock drive structure is provided on thesecond drive mechanism 20. For example, in the embodiment shown in FIGS. 6A-6C, a portion ofsecond drive mechanism 20 is reused as a locking drive mechanism to fully utilizesecond drive mechanism 20 and simplify the structure ofstapler 100.

In the staple ejection phase, thesecond drive mechanism 20 is disengaged from the closure mechanism and continues to move toward theend effector 1 to drive the staple ejection assembly to eject staples from thecartridge assembly 11. As shown in fig. 6C, thefirst surface 01 is located at one end of thesecond surface 05 close to theend effector 1, and during the closing stage, thefirst end portion 501 moves from the second limitinggroove 52 to the first limitinggroove 51 during the movement of thesecond end portion 502 relative to the locking driving structure; during the staple pushing stage and the cutting stage, thesecond end portion 502 moves above thesecond surface 05, and thesecond surface 05 is configured not to apply a force to thesecond end portion 502 to drive the common locking structure to move in the longitudinal direction, i.e. there is no boss or the like on thesecond surface 05 to drive the common locking structure to move upwards in the longitudinal direction, so that thesleeve 2 is kept locked during both the staple pushing stage and the cutting stage, the position of the target tissue is fixed, and the accuracy of suturing and cutting is guaranteed.

For example, as shown in fig. 6A-6C, thelocking mechanism 5 further includes a secondelastic member 72, and the secondelastic member 72 is configured to be compressed during the movement of thecommon locking member 50 in the longitudinal direction toward the direction away from thesecond end 502 and to be restored under the elastic restoring force thereof during the movement of thecommon locking member 50 in the longitudinal direction toward the direction close to thesecond end 502, so as to ensure that thecommon locking member 50 can be quickly moved back into the through hole in the longitudinal direction toward the direction close to thesecond end 502, thereby ensuring the reliability of the operation of thelocking mechanism 5.

The properties and materials of the secondelastic member 72 can be referred to the properties and materials of the firstelastic member 71 described above. For example, the secondelastic member 72 is a spring, for example, the secondelastic member 72 can be sleeved on theneck 503 and forced by the fixingbracket 8 to deform, for example, to be compressed to deform.

For example, as shown in fig. 6A-6C, thesecond end 502 of thecommon locking member 50 is tapered in shape longitudinally towards the bearing surface, such that when thesecond end 502 slides along thefirst ramp 02, the contact area of thesecond end 502 with thefirst ramp 02 is reduced, making it easier for thesecond end 502 to move to the protruding surface; moreover, when thesecond end portion 502 slides along the protruding surface, thesecond slope 04, and thesecond surface 05, the contact area of thesecond end portion 502 with the protruding surface, thesecond slope 04, and thesecond surface 05 is reduced, which is beneficial to smooth sliding.

For example, the first and second ramp surfaces 02, 04 are plane or curved, preferably planar, which makes it easier to achieve the above-mentioned movement, in particular to achieve that thesecond end 502 slides along thefirst ramp surface 02 to the protruding surface. Of course, the shape of thefirst slope surface 02 and thesecond slope surface 04 is not limited in the embodiments of the present disclosure.

For example, with regard tostapler 100 provided in accordance with at least one embodiment of the present disclosure, during the opening phase following the staple pushing phase,locking mechanism 5 is also configured to remove the definition of the position of the closing mechanism to allow opening ofend effector 1. For example, it may be achieved by a human control that the definition of the position of the closing mechanism is released at any time to open theend effector 1; for example, the opening phase requires opening theend effector 1 to adjust the position of the target tissue held prior to stapling, e.g., prior to stapling the tissue; it is also possible to open theend effector 1 after stapling and cutting, but also before cutting, as a matter of course, when some special circumstances arise that require theend effector 1 to be opened for adjustment before cutting.

In the opening phase following the staple ejection phase, the first limit structure is configured to eliminate the second resistive force, and the closure mechanism is moved away from theend effector 1 by the first resistive force to move thecartridge assembly 11 and theanvil 12 away from each other to open theend effector 1. In the opening stage, thecommon lock member 50 is configured to move from thefirst stopper groove 51 to thesecond stopper groove 52 to return to the initial state.

For example, in the embodiment shown in fig. 6A-6C, thecommon locking member 50 is configured to move from thefirst restraint slot 51 to thesecond restraint slot 52 via thechannel slot 53 during the opening stage. In the opening stage, the lock driving structure is further configured to drive thecommon locking member 50 to move in the longitudinal direction away from thesecond end 502 to move thefirst end 501 out of the first retaininggroove 51, and theneck 503 is configured to move from thesecond retaining groove 52 to the first retaininggroove 51 through thepassage groove 53 along with the movement of the first retaininggroove 51 and thesecond retaining groove 52.

In the embodiment shown in fig. 6A-6C, at the opening stage, the lock driving structure is configured to move axially relative to thecommon locking member 50 to move thesecond end 502 along thesecond ramp 04 to the protruding surface to drive thecommon locking member 50 to move longitudinally towards a direction away from thesecond end 502, and then to move thesecond end 502 sequentially along the protruding face and thefirst ramp 02 to a side of thefirst ramp 02 away from thesecond ramp 04 to move thecommon locking member 50 longitudinally towards a direction towards thesecond end 502; in the opening phase, the movement of the lock drive structure relative to thecommon lock member 50 is synchronized with the movement of the first and second retaining

grooves

51, 52 relative to thecommon lock member 50, so that during the movement of thesecond end 502 relative to the lock drive structure, theneck 503 moves from the first retaininggroove 51 into thesecond retaining groove 52 via thepassage groove 53.

For example, as shown in fig. 8, the firstelastic member 71 is located at an end of thelock mechanism 5 near theend effector 1 and is compressed as the closing mechanism moves toward theend effector 1; alternatively, in other embodiments, the firstresilient member 71 is located at an end of thelocking mechanism 5 distal from theend effector 1 and is stretched as the closure mechanism moves toward theend effector 1.

For example, as shown in fig. 6A to 6C, thefirst stopper groove 51, thesecond stopper groove 52, and thepassage groove 53 are disposed opposite to theconnection hole 23 to relatively uniformly and sufficiently utilize the space inside thesleeve 2.

Fig. 14A is a first schematic view of a front swing driving assembly of astapler 100 according to an embodiment of the present disclosure; fig. 14B is a second schematic diagram of a front swing driving assembly of thestapler 100 according to an embodiment of the disclosure. Referring to fig. 2 and 14A-14B, for example, at least one embodiment provides astapler 100 including anend effector 1, a closure mechanism, a staple pushing assembly, afirst drive mechanism 10, and a swing mechanism. Theend effector 1 comprises anail bin assembly 11 and anail anvil 12, wherein anastomosis nails are arranged in thenail bin assembly 11; the closure mechanism is configured to drive thecartridge assembly 11 andanvil 12 into apposition to close theend effector 1 to clamp the target tissue; the staple pushing assembly is configured to push staples out of thecartridge assembly 11; thefirst drive mechanism 10 is configured to: in the closing stage, thefirst driving mechanism 10 is detachably connected with the closing mechanism to drive the closing mechanism to close theend effector 1; in the staple ejection stage, which follows the closure stage, thefirst drive mechanism 10 disengages from the closure mechanism and drives the staple ejection assembly to eject the staples from thecartridge assembly 11 to staple the target tissue. The swing mechanism includes a front swing drive assembly and a rear swing drive assembly. The front swing drive assembly and the rear swing drive assembly are configured to drive theend effector 1 to swing. As shown in fig. 1A, thestapler 100 includes a main body portion 4 and a detachable portion 3, the detachable portion 3 being detachably connected to the main body portion 4; theend effector 1 and the front swing driving assembly are positioned on the detachable part 3, and thefirst driving mechanism 10 and the rear swing driving assembly are positioned on the main body part 4; as shown in fig. 1A and 15A, the detachable portion 3 is detachably connected with the main body portion 4 to detachably connect the front swing drive assembly with the rear swing drive assembly. In this manner, the space of the main body portion 4 is fully utilized to provide the swing mechanism, and in the case where the detachable portion 3 is detachable from the main body portion 4, detachable connection of the swing mechanism is achieved.

Fig. 15A-15B are schematic views of a front swing driving member of astapler 100 according to one embodiment of the present disclosure. With reference to fig. 5C and fig. 15A-15B, the front swing drive assembly includes a frontswing drive member 81, the frontswing drive member 81 being connected to theend effector 1; the rear swing driving assembly includes a rearswing driving member 82, the rearswing driving member 82 extends in the same direction as thefirst driving mechanism 10 and is disposed side by side, and the detachable portion 3 is detachably connected to the main body portion 4 so that the frontswing driving member 81 is detachably connected to the rearswing driving member 82, for example, both are hooked, plugged, and the like. The extending direction of the rearswing driving member 82 and thefirst driving mechanism 10 is axial; in the process of the swing mechanism driving theend effector 1 to swing, the frontswing driving member 81 and the rearswing driving member 82 move in the axial direction toward theend effector 1 to drive theend effector 1 to swing toward the first swing direction; for example, the frontswing drive member 81 and the rearswing drive member 82 may also be moved axially away from theend effector 1 to drive theend effector 1 to swing toward a second swing direction opposite to the first swing direction.

For example, as shown in fig. 15B, the frontswing driving member 81 includes afirst portion 8001 and asecond portion 8002 connected to each other for manufacturing convenience, and when the length of the frontswing driving member 81 in the axial direction is long, dividing the frontswing driving member 81 into two portions connected to each other facilitates buffering stress of the frontswing driving member 81 and also facilitates manufacturing and installation.

For example, with reference to fig. 2 and 14A-14B, the front swing drive assembly includes abendable region 80, thebendable region 80 configured to bend in a first swing direction or a second swing direction to cause theend effector 1 to swing around thebendable region 80; theend effector 1 comprises a first end close to the front swing driving assembly and a second end opposite to the first end, the first end of theend effector 1 is connected with the front swing driving assembly, and thebendable portion 80 is located between the position where the front swing driving assembly is connected with the first end of theend effector 1 and the position where the front swing driving assembly is connected with the rear swing driving assembly along the axial direction, so that theend effector 1 swings around thebendable portion 80. Thesecond driving mechanism 20 includes atransmission belt 201 extending along an axial direction, in the nail pushing stage, thetransmission belt 201 enters theend effector 1 through thebendable portion 80 to drive the nail pushing assembly to push out the staples from thecartridge assembly 11, and a belt surface of thetransmission belt 201 is substantially perpendicular to a swinging direction of theend effector 1 to increase flexibility of thesecond driving mechanism 20, and since thetransmission belt 201 passes through thebendable portion 80 in the nail pushing stage and the cutting stage, the scheme is beneficial to reducing swing resistance and avoiding breaking thesecond driving mechanism 20.

Referring to fig. 5B, for example, thesecond driving mechanism 20 further includes a connectingportion 202, and the connectingportion 202 is detachably connected to theclosing mechanism 2 and located on a side of thebelt 201 away from theend effector 1, wherein an end of the connectingportion 202 close to theend effector 1 is connected to an end of thebelt 201 away from theend effector 1, and the detachable portion 3 is connected to the main body portion 4 so that an end of the connectingportion 202 away from theend effector 1 is connected to thefirst driving mechanism 10, so that the breakage of thesecond driving mechanism 20 can be reduced by thebelt 201 when thebelt 201 swings in cooperation with theend effector 1, and multiple functions can be realized by the connectingportion 202. For example, a portion of the connectingportion 202 also serves as the above-described lock driving structure, and for example, the connectingportion 202 is also detachably connected to the detachable connectingstructure 6. Therefore, the same component is fully utilized to realize the multiple functions, the space is saved, and thestapler 100 has important significance for reducing the size.

For example, thesecond driving mechanism 20 includes a plurality ofbelts 201, the plurality ofbelts 201 are stacked in a direction perpendicular to the belt surface, and no gap exists betweenadjacent belts 201, so as to enhance the strength of thesecond driving mechanism 20 and ensure the reliability of driving thenail driving mechanism 40 to move in the axial direction.

For example, the material of thetransmission belts 201 is steel, the thickness of eachtransmission belt 201 in the direction perpendicular to the belt surface is 100 μm to 1000 μm, and the length of eachtransmission belt 201 in the axial direction is 10cm to 30cm, so as to ensure the strength required for driving thenail driving mechanism 40 to move in the axial direction. Of course, the size of the material can be designed according to actual needs, and the embodiment of the disclosure does not limit the material. The material of thebelt 201 is not limited to steel, and may be other metal materials or organic materials.

For example, referring to fig. 5B, in a state where thesecond driving mechanism 20 is connected to thefirst driving mechanism 10, one end of thebelt 201 away from thefirst driving mechanism 10 is connected to thenail driving mechanism 40, for example, welded to thenail driving mechanism 40, but other connection methods are also possible.

The direction from the first end of theend effector 1 to the second end of theend effector 1 is a first direction. As shown in fig. 11B and 13C, the cartridge holder of the cartridge includes afirst portion 511 and asecond portion 512 extending along a first direction, the first portion of the cartridge holder and the second portion of the cartridge holder each include a staple slot for receiving staples and define a slide slot extending along the first direction, and during the movement of thestaple pushing slider 60 driven by the staple pushingdriving mechanism 40, the cutting driving mechanism and the conveyor belt enter the slide slot through thebendable portion 80 and slide in the slide slot, so as to drive the cutting driving mechanism (i.e., the staple pushing driving mechanism 40) to move between the first end and the second end of theend effector 1.

For example, as shown in fig. 14A-14B, the front swing drive assembly includes a transmission mechanism connected to the frontswing drive member 81 and configured to drive theend effector 1 to swing around thebendable region 80 under the drive of the frontswing drive member 81. For example, the transmission mechanism includes driveteeth 821,bar 820, andgear 811/812/813. Drive

teeth

821 and 820 comprise driveteeth 821, extend in the axial direction, and are connected to frontswing drive member 81 to move in the axial direction under the drive of frontswing drive member 81; for example, drive

teeth

821 and 820 are integrally formed with frontswing drive member 81. Drive

teeth

821 and 820 include driveteeth 821 extending in an axial direction and coupled to forwardswing drive member 81 for axial movement driven by forwardswing drive member 81. Thegear 811/812/813 meshes with thedrive teeth 821, and thebars 820 move axially to drive theteeth 821 to rotate. The front swing driving assembly further comprises a swing head connecting part, a first end of the swing head connecting part, which is close to theend effector 1, is connected with a first end of theend effector 1, a second end of the swing head connecting part, which is far away from theend effector 1, comprises aterminal tooth 814, theterminal tooth 814 is meshed with thegear 811/812/813 so that the swing head connecting part and theend effector 1 swing under the driving of thegear 811/812/813, and the position where theterminal tooth 814 is meshed with thegear 811/812/813 is abendable part 80; the face of the toothed disc ofgear 811/812/813 is substantially perpendicular to the belt face ofbelt 201 such that the belt face ofbelt 201 is substantially perpendicular to the direction in whichend effector 1 oscillates.

For example, as shown in fig. 14A-14B, the transmission mechanism includes a plurality of gears arranged in the axial direction, adjacent gears of the plurality of gears 3 being meshed with each other; thegear 813 of the plurality ofgears 811/812/813 closest to theend effector 1 meshes with theterminal tooth 814 at the second end of the yaw linkage, and at least thegear 811 of the plurality ofgears 811/812/813 furthest from theend effector 1 meshes with thedrive tooth 821 of thedrive rack 820 to avoid reliance on a single gear and increase stability of operation of the transmission.

For example, as shown in fig. 14A-14B, the diameter of the toothed disc ofgear 813 closest to endeffector 1 ingear 811/812/813 is smaller than the diameter of the toothed discs of theother gears 812/813 ingear 811/812/813, so that the front swing drive mechanism coupled to the larger diameter gear moves a smaller distance in the axial direction, i.e., theterminal tooth 814 of the swing head coupling portion rotates a larger angle, i.e., theend effector 1 coupled to the swing head coupling portion rotates a larger angle, thereby facilitating a larger swing of theend effector 1 with a limited axial length.

For example, as shown in fig. 14A-14B,stapler 100 further includes a stabilizingrack 830, stabilizingrack 830 engaged withgear 811/812/813, drive

teeth

821 and 820 located on a first side ofgear 811/812/813, stabilizingrack 830 located on a side ofgear 811/812/813 opposite the first side, stabilizingrack 830 not connected to frontswing drive member 81. The stabilizingrack 830 can carry thegear 811/812/813, making the structure and operation of thegear 811/812/813 more stable.

For example, as shown in FIGS. 14A-14B, in the case where the closure mechanism is acartridge 2 that is disposed outside of thesecond drive mechanism 20 and the gear train, thecartridge assembly 11 includes a first end that is adjacent to thecartridge 2, and theanvil 12 includes a first end that is adjacent to thecartridge 2. In the closing stage, thesecond driving mechanism 20 is driven by thefirst driving mechanism 10 to move towards theend effector 1 and drive thesleeve 2 to move towards theend effector 1, so that thesleeve 2 is sleeved on the first end of thecartridge assembly 11 and the first end of theanvil 12 to apply pressure to the first end of thecartridge assembly 11 and the first end of theanvil 12 to close theend effector 1; thesleeve 2 comprises afirst portion 21 proximal to theend effector 1 and asecond portion 22 distal to theend effector 1;stapler 100 further includes arotatable sleeve coupling 25, whereinfirst portion 21 ofsleeve 2 is coupled tosecond portion 22 ofsleeve 2 byrotatable sleeve coupling 25, and whereinrotatable sleeve coupling 25 is positioned atbendable region 80 to allowfirst portion 21 ofsleeve 2 to swing withend effector 1, thereby adapting the closure mechanism to theend effector 1 swing design.

For example, as shown in fig. 14A-14B, therotatable sleeve 2 connection part comprises a first hinge structure and a second hinge structure connected to each other, the first hinge structure being connected to a first portion of thesleeve 2 and the second hinge structure being connected to a second portion of thesleeve 2.

FIG. 16A is a partial schematic view of a rear swing drive assembly of astapler 100 according to one embodiment of the present disclosure; FIG. 16B is a partial schematic view of a manual adjustment drive mechanism ofstapler 100 according to one embodiment of the present disclosure; with reference to fig. 9 and 16A-16B, the rear swing drive assembly further includes a third swing drive mechanism configured to drive the front and rear

swing drive members

81 and 82 to move axially toward theend effector 1 or axially away from theend effector 1 during the swing mechanism driving theend effector 1 to swing, and the third swing drive mechanism is configured to adjust the distance the front and rear

swing drive members

81 and 82 move axially toward theend effector 1 or axially away from theend effector 1, thereby adjusting the amplitude of the swing of theend effector 1.

18A-18B are schematic views of a handle provided in accordance with an embodiment of the present disclosure; as shown in fig. 16A to 16B and fig. 18A to 18B, the third swing drive mechanism includes a shiftposition adjusting switch 98, and the shiftposition adjusting switch 98 is configured to adjust the distance by which the frontswing drive member 81 and the rearswing drive member 82 move toward theend effector 1 in the axial direction, or to adjust the distance by which the frontswing drive member 81 and the rearswing drive member 82 move away from theend effector 1 in the axial direction, step by step, thereby adjusting the amplitude of the swing of theend effector 1 by step.

For example, the frontswing drive member 81 and the rearswing drive member 82 are each a single rod extending in the axial direction; the frontswing driving member 81 extends in the axial direction and is arranged side by side with thesecond driving mechanism 20 to make full use of the space inside theelongated sleeve 2; the rearswing drive member 82 extends axially alongside thefirst drive mechanism 10 to make full use of the space within theelongate sleeve 2.

As shown in fig. 15A to 15B, the detachable portion 3 is detachably connected with the main body portion 4 to detachably connect the frontswing driving member 81 with the rearswing driving member 82, thereby achieving detachable connection of the front swing driving assembly with the rear swing driving assembly.

For example, the frontswing drive member 81 includes a first portion as shown in fig. 15A-15B and a second portion detachably connected to the first portion, both the first portion and the second portion of the frontswing drive member 81 being located at the detachable portion 3 when the detachable portion 3 of thestapler 100 is not connected to the main body portion 4.

As shown in fig. 16A-16B, the third swing driving mechanism is a manual adjustment driving mechanism, by which the frontswing driving member 81 and the rearswing driving member 82 are axially moved toward theend effector 1 by a distance of one shift position for every shift of one shift position toward the first shift direction to rotate theend effector 1 by an angle of one shift position toward the first swing direction; alternatively, for every shift of one shift position toward the second shift direction, the frontswing driving member 81 and the rearswing driving member 82 are axially moved away from theend effector 1 by a distance of one shift position to rotate theend effector 1 by an angle of one shift position toward the second swing direction. For example, as shown in fig. 1, the manual adjustment drive mechanism includes amanual knob 96, and the shift positions of the frontswing drive member 81 and the rearswing drive member 82 that are moved toward theend effector 1 in the axial direction are controlled by manually operating themanual knob 96.

Alternatively, the third swing driving mechanism is an electric driving mechanism. For example, the electric drive mechanism comprises an electric motor and a yaw control switch; the electric motor is configured to rotate to drive the frontswing drive member 81 and the rearswing drive member 82 to move axially toward theend effector 1 or to move axially away from theend effector 1; the yaw control switch is configured to control the sending of an electrical signal to the electric motor to control the operation of the motor.

As shown in fig. 16A-16B and fig. 18A-18B, the body portion 4 includes ahandle 9, the yaw control switch is adial 93 switch, thedial 93 switch includes adial 93 disposed on a surface of thehandle 9, thedial 93 is configured to be toggled toward a first toggle direction to drive theend effector 1 to swing toward a first swing direction, and configured to be toggled toward a second toggle direction to drive theend effector 1 to swing toward a second swing direction, the first toggle direction and the second toggle direction being different.

For example, thedial 93 has gear position marks thereon. For each shift of one shift position toward the first shift direction, the frontswing driving member 81 and the rearswing driving member 82 are axially moved toward theend effector 1 by a distance of one shift position to rotate theend effector 1 by an angle of one shift position toward the first swing direction; alternatively, or in addition, for each shift of one shift position in the second shift direction, the frontswing driving member 81 and the rearswing driving member 82 are axially moved away from theend effector 1 by a distance of one shift position to rotate theend effector 1 by an angle of one shift position in the second swing direction.

Illustratively, fig. 17 is a first schematic view of astapler 100 according to an embodiment of the present disclosure, wherein thestaple pushing slider 60 is located at the second end of theend effector 1 before theend effector 1 is closed, as shown in fig. 17, and thestapler 100 includes theend effector 1, a closing mechanism and a staple pushing assembly. Theend effector 1 comprises anail bin assembly 11 and anail anvil 12, wherein anastomosis nails are arranged in thenail bin assembly 11; the closure mechanism is configured to drive thecartridge assembly 11 andanvil 12 into apposition during the closure phase to clamp the target tissue, and theend effector 1 has a first end proximal to the closure mechanism and a second end distal to the closure mechanism; the staple pusher assembly is configured to push staples from thecartridge assembly 11 into the target tissue from the second end to the first end and to staple the target tissue from the second end to the first end in a staple pushing phase following the closing phase. In the process of suturing the target tissue from the second end of theend effector 1 to the first end of theend effector 1, the target tissue is sutured with higher precision than when suturing the target tissue from the first end of theend effector 1 to the second end of theend effector 1.

The staple pushing assembly includes astaple pushing blade 700, astaple pushing slider 60 and astaple driving mechanism 40. Thepusher plates 700 are aligned in a direction from the second end to the first end and are configured to apply a pusher pressure to the staples to push the staples out of thecartridge assembly 11;staple pusher shoe 60 is configured to apply pressure tostaple pusher sheet 700 to drivestaple pusher sheet 700 to apply staple pushing pressure to the staples; thestaple driving mechanism 40 is configured to drive thestaple pusher shoe 60 to move in a direction from the second end to the first end during the staple pushing phase, such that thestaple pusher shoe 60 is sequentially in contact with thestaple pusher sheet 700 in the direction from the second end to the first end to apply the staple pushing pressure to thestaple pusher sheet 700.

For example, as shown in FIG. 17, prior to the staple ejection stage, thestaple pusher shoe 60 is located at the second end; in the staple pushing stage, thestaple pusher shoe 60 moves from the second end to the first end and sequentially pushes out the staples in thecartridge assembly 11 in the direction from the second end to the first end to staple the target tissue.

For example, as shown in FIG. 17,stapler 100 further includes a cutting device and a cutting drive mechanism. The cutting device is configured to cut the target tissue in a cutting stage after the target tissue is entirely sutured; the cutting drive mechanism is configured to drive the cutting device to cut the target tissue during a cutting phase in which the cutting device is moved from the first end to the second end to cut the target tissue in a direction from the first end to the second end.

For example, the cutting device includes a blade carrying member and acutting blade 605. Thestaple pusher shoe 60 serves as a knife carrier, i.e., the cutting device is located at the second end of theend effector 1 during the closing and staple pushing phases. The staple pushingdrive mechanism 40 is reused as a cutting drive mechanism; the cuttingknife 605 is movably connected with thenail pushing slider 60, and thenail pushing slider 60 moves to enable the cuttingknife 605 to move; in the staple pushing stage, thecutting blade 605 is at least partially positioned in thestaple pusher shoe 60, thecutting blade 605 moves with thestaple pusher shoe 60 in a direction from the second end to the first end, and thecutting blade 605 is spaced a predetermined distance from the target tissue clamped between thecartridge assembly 11 and theanvil 12 such that thecutting blade 605 does not contact the target tissue. Fig. 20 is a schematic view of thestaple pushing slider 60 at the first end of thestapler 100 according to an embodiment of the present disclosure. As shown in fig. 20, when the staple pushing phase is finished, thestaple pushing slider 60 reaches the first end of theend effector 1; during the cutting stage, thestaple driving mechanism 40 pushes thestaple slider 60 to move thecutting blade 605 with thestaple slider 60 in the direction from the first end to the second end, and thecutting blade 605 contacts the target tissue under the action of the blade-out driving force and cuts the target tissue in the direction from the first end to the second end. The cutting after the whole suturing of the target tissue is beneficial to improving the accuracy of the suturing and the cutting, and the nail pushing slidingblock 60 is reused as a knife carrying part, so that the structure can be simplified, and the space is saved. For example,stapler 100 includes aknife drive structure 602, the cartridge holder includes aresistive surface 503,resistive surface 503 facesknife drive structure 602,knife drive structure 602 is configured to strikeresistive surface 503 when the cutting device reaches the first end ofend effector 1 under drive of the cutting drive mechanism, such thatresistive surface 503 applies a knife drive force toknife drive structure 602, andknife drive structure 602 is configured to contact cuttingknife 605 under the action of the knife drive force to apply a first drive force toknife 605 to drive cuttingknife 605 toward the target tissue. Then, thestaple driving mechanism 40 pushes thestaple slider 60 to move the cuttingknife 605 along with thestaple slider 60 in the direction from the first end to the second end, and the cuttingknife 605 contacts the target tissue under the action of the knife-out driving force and cuts the target tissue in the direction from the first end to the second end, so that the structure can be simplified, the reciprocating motion of the cuttingknife 605 between the first end and the second end can be reduced, and the working efficiency of thestapler 100 can be improved.

Of course, in other embodiments, the staple pushing and cutting may be independent of each other, i.e., thestaple pusher shoe 60 may not be used as a knife carrying member. Namely, the cutting device comprises a blade carrying component and acutting blade 605; the cuttingknife 605 is movably connected with a knife carrying component, and the knife carrying component moves to enable the cuttingknife 605 to move; in the nail pushing stage, the cutting device and the cutting driving mechanism are positioned at the first end of theend effector 1; in the cutting stage, the cutting driving mechanism drives the cutting device to move from the first end to the second end to cut the target tissue in the direction from the first end to the second end, the knife carrying part and thestaple pushing slider 60 are independent of each other, and the cutting driving mechanism and the staple pushingdriving mechanism 40 are independent of each other.

In one example, as shown in fig. 17, for example, the staple pushingdrive mechanism 40 is configured to be uncoupled from thestaple pusher shoe 60 during the closing phase, to move toward the second end of theend effector 1 prior to the staple pushing phase to couple with thestaple pusher shoe 60, and to move in a direction from the second end to the first end during the staple pushing phase to drive thestaple pusher shoe 60 to move in a direction from the second end of theend effector 1 to the first end of theend effector 1.

In another example, thestaple driving mechanism 40 is configured to be located at the second end of theend effector 1 and connected to thestaple sled 60 during the closing phase, and to move in a direction from the second end of theend effector 1 to the first end of theend effector 1 during the staple stage to drive the staple sled to move in a direction from the second end of the end effector to the first end of the end effector, for example.

For example, in another embodiment, during the cutting stage, the cutting device is moved from the second end of the end effector to the first end of the end effector to cut the target tissue in a direction from the second end to the first end. For example, the staple pusher shoe may be reused as a knife carrier.

For example, in other embodiments, the cutting device comprises a knife carrying component and a cutting knife, the nail pushing slide block is used as the knife carrying component, and the nail pushing driving mechanism is used as the cutting driving mechanism; the cutting knife is movably connected with the nail pushing sliding block, and the nail pushing sliding block moves to enable the cutting knife to move. The staple pushing stage and the cutting stage are carried out simultaneously, the staple pushing slider moves along the direction from the second end to the first end to sequentially push out the anastomotic staples from the suturing target tissue, the cutting knife contacts the target tissue and moves along with the staple pushing slider to cut the target tissue along the direction from the second end to the first end, and the cutting knife and the staple pushing slider are configured to enable each part of the target tissue to be sutured sequentially along the direction from the second end to the first end to be cut by the cutting knife immediately after being sutured by the anastomotic staples. I.e., side-stitch and side-cut, the cut is delayed a little bit from the stitch for each portion of the target tissue to be stapled and cut.

For example, in the case of such a side seam edge cut, for example, during the movement of the cuttingknife 605 with thestaple pusher shoe 60 in the direction from the second end to the first end, the end of thestaple pusher shoe 60 near the first end of theend effector 1 pushes out the staples ahead of thestaple pusher shoe 700, and the cuttingknife 605 is located on the side of the end of thestaple pusher shoe 60 near the second end of theend effector 1 and spaced apart from the end of thestaple pusher shoe 60 by a preset distance. For example, the preset distance is the sum of the widths of 2-4 staples which are continuously arranged in the direction from the second end to the first end, so that the cutting is more suitable than the lagging degree of the sewing for each part of the target tissue to be sutured and cut, and the good suturing and cutting effect can be ensured.

For example, for the various embodiments described above in which stapling is performed along a path from the second end of theend effector 1 to the first end of theend effector 1, thestapler 100 further includes afirst drive mechanism 10, thefirst drive mechanism 10 being configured to: in the closing stage, thefirst driving mechanism 10 is detachably connected with the closing mechanism to drive the closing mechanism to close theend effector 1; during the staple ejection stage, thefirst drive mechanism 10 disengages from the closure mechanism and drives the staple ejection assembly to eject the staples from thecartridge assembly 11.Stapler 100 further comprises asecond drive mechanism 20,second drive mechanism 20 being detachably connected tofirst drive mechanism 10,second drive mechanism 20 being configured to be detachably connected to the closure mechanism during the closure phase and being configured to be moved towards the second end ofend effector 1 under the drive offirst drive mechanism 10 to bring the closure mechanism into contact withcartridge assembly 11 andanvil 12 and to apply pressure tocartridge assembly 11 andanvil 12 to closeend effector 1; thesecond driving mechanism 20 is also configured to be separated from the closing mechanism after theend effector 1 is closed, and continue to move towards the second end of theend effector 1 to be connected with the staple pushingdriving mechanism 40 under the driving of thefirst driving mechanism 10 and continue to move towards the second end of theend effector 1 to drive the staple pushingdriving mechanism 40 to reach the second end of theend effector 1 to be connected with thestaple pushing slider 60; thesecond drive mechanism 20 is further configured to drive the staple pushingdrive mechanism 40 to move in a direction from the second end to the first end to staple the target tissue during the staple pushing phase under the drive of thefirst drive mechanism 10. The structures of thefirst driving mechanism 10, thesecond driving mechanism 20, and the like can be referred to the description of the previous embodiments, and are not repeated here.

For example, for the various embodiments described above in which the stapling is performed along the path from the second end of theend effector 1 to the first end of theend effector 1, the cutting drive device is configured to drive the cutting device to cut the target tissue under the drive of thefirst drive mechanism 10.

For example, for the various embodiments described above in which stapling is performed along a path from the second end of theend effector 1 to the first end of theend effector 1, the closure mechanism is asleeve 2 that is sleeved outside thesecond drive mechanism 20, thecartridge assembly 11 includes a first end that is adjacent to thesleeve 2, and theanvil 12 includes a first end that is adjacent to thesleeve 2; in the closing stage, thesecond driving mechanism 20 is driven by thefirst driving mechanism 10 to move toward theend effector 1, so as to drive thesleeve 2 to move toward theend effector 1, so that thesleeve 2 is sleeved on the first end of thecartridge assembly 11 and the first end of theanvil 12 to apply pressure to the first end of thecartridge assembly 11 and the first end of theanvil 12 to close theend effector 1. For the detailed structure, reference is made to the previous description of thesleeve 2 closing theend effector 1. Features of various embodiments of the disclosure may be combined without conflict.

At least one embodiment of the present disclosure provides ahandle 9, thehandle 9 may be used with astapler 100, and thestapler 100 may be used as a medical instrument, such as a surgical instrument, for holding and stapling and cutting a target tissue. Thehandle 9 is configured to be detachably connected to the detachable portion 3 of thestapler 100, the detachable portion 3 comprising anend effector 1, saidend effector 1 comprising acartridge assembly 11 and ananvil 12.

Illustratively, fig. 18A-18B are schematic views of a handle provided in an embodiment of the present disclosure, and fig. 19 is an enlarged schematic view of a dial and a bi-directional control button. As shown in fig. 18A-18B and fig. 19, thehandle 9 includes adial 93 switch, thedial 93 switch includes adial 93 disposed on thefirst surface 01 of thehandle 9, thedial 93 is configured to be dialed and rotated to control the swing direction and the swing angle of theend effector 1, so as to control the swing direction and the swing angle of theend effector 1 by operating thedial 93, and the operation is convenient and easy to control during the operation.

For example, thedial 93 is configured to be toggled toward a first rotation direction to rotate toward the first rotation direction to drive theend effector 1 to swing toward a first swing direction, and configured to be toggled toward a second rotation direction to rotate toward the second rotation direction to drive theend effector 1 to swing toward a second swing direction, the first rotation direction is opposite to the second rotation direction, so that theend effector 1 is controlled to swing toward different directions by operating thedial 93, and the operation is convenient and easy to control during the operation.

For example, thedial 93 has gear position marks thereon; according to the gear mark, when the user operates thedial 93 to rotate towards the first rotating direction by one gear, theend effector 1 rotates towards the first swinging direction by an angle corresponding to one gear; and according to the gear mark, when the user operates thedial 93 to rotate one gear in the second rotation direction, theend effector 1 rotates by an angle corresponding to one gear in the second swing direction, so that the swing amplitude of theend effector 1 in different directions can be adjusted by operating thedial 93, and the operation is convenient and easy to control in the operation process.

For example, as shown in fig. 18A-18B and 19, the gear position indicia includes a plurality ofgear grooves 900 arranged in a first rotational direction and a second rotational direction, the plurality ofgear grooves 900 configured to: thedial 93 rotates through onegear slot 900 every time towards the first rotating direction, so that theend effector 1 rotates towards the first swinging direction by an angle corresponding to one gear; theend effector 1 rotates by an angle corresponding to one shift position toward the second swing direction every time thedial 93 rotates by oneshift position slot 900 toward the second rotation direction. In this way, the operator can adjust the number of thegear position slots 900 by the tactile sensation so as to control the gear position at which theswing end effector 1 swings.

For example, as shown in fig. 18A to 18B and fig. 19, the extending direction of theshift gate 900 coincides with the extending direction of thehandle 9, and the first and second rotating directions are substantially perpendicular to the extending direction of thehandle 9.

The detachable portion 3 further comprises a closing mechanism, a staple pushing assembly and a cutting device, which are specifically referred to the description of the previous embodiments. As shown in fig. 18A-18B, thehandle 9 further includes abi-directional control knob 94, thebi-directional control knob 94 including afirst end 941 and asecond end 942, thebi-directional control knob 94 configured to: the first end is pressed to control the closing stage, the nail pushing stage and the cutting stage to be sequentially carried out; in the closing stage, the closing mechanism closes thecartridge assembly 11 with theanvil 12 to close theend effector 1 to clamp the target tissue; in the staple pushing stage, the staple pushing assembly pushes out staples from thecartridge assembly 11 to suture target tissues; in the cutting stage, the cutting device cuts the target tissue; and, thebi-directional control button 94 is further configured to: the second end is depressed to control the closure mechanism from apposing thecartridge assembly 11 and theanvil 12, thecartridge assembly 11 and theanvil 12 being moved away from each other to open theend effector 1.

For example, as shown in fig. 18A-18B and 19, thebidirectional control button 94 is located on thefirst surface 01 of thehandle 9 adjacent to thedial 93 switch and aligned with thedial 93 switch in the extending direction of thehandle 9 to facilitate the operator's operation of thedial 93 and thebidirectional control button 94. For example, a first end of thebidirectional control knob 94 is opposite to a second end of thebidirectional control knob 94 in the extending direction of thehandle 9 to further facilitate the operation of the first and second ends 941 and 942 of thebidirectional control knob 94.

For example, as shown in fig. 18A-18B and fig. 19, thehandle 9 further includes asafety prompt button 95, thesafety prompt button 95 is configured to be in a normal closing prompt state after thefirst end 941 of the two-way control button 94 is pressed and after the closing stage is normally performed, so as to prompt the operator to continuously press thefirst end 941 of the two-way control button 94 to perform the staple pushing stage, and is configured to be in a normal suturing prompt state after the staple pushing stage is normally performed, so as to prompt the operator to continuously press thefirst end 941 of the two-way control button 94 to perform the cutting stage, and is configured to be in a normal cutting prompt state after the cutting stage is normally performed, so as to prompt the operator to press thesecond end 942 of the two-way control button 94 to open theend effector 1.

For example, in the normal closing prompting state, the normal suturing prompting state and the normal cutting prompting state, thesafety prompting button 95 protrudes from the surface of thehandle 9, otherwise, thesafety prompting button 95 is recessed from the surface of thehandle 9 or is substantially flush with the surface of thehandle 9, so that the operator can know whether each stage is normally performed or not by observing or touching thesafety prompting button 95 at each stage, and thus determine the next operation.

For example, as shown in fig. 18A-18B and 19, thehandle 9 also has asecond surface 05, thesecond surface 05 being adjacent to and intersecting thefirst surface 01, and thesafety reminder button 95 being located on thesecond surface 05 of thehandle 9.

At least one embodiment of the present disclosure provides a main body of astapler 100, and fig. 20 is a schematic view of the main body of thestapler 100 according to an embodiment of the present disclosure. As shown in fig. 20, the main body of thestapler 100 includes any one of thehandles 9 provided in the embodiments of the present disclosure, and a drivingpart 99 connected to thehandle 9. The overall extension direction of the drivingportion 99 is an axial direction, and the axial direction intersects with the extension direction of thehandle 9; the end of thedrive section 99 remote from thehandle 9 is detachably connected to the detachable portion 3 and comprises an electric motor and a rearswing drive member 82; the electric motor is in signal connection with adial 93 switch, and thedial 93 switch controls the work of the electric motor; the rearswing driving member 82 is connected to an electric motor extending in the axial direction, and the electric motor is configured to rotate under the on-off control of thedial 93 to drive the rearswing driving member 82 to move in the axial direction to drive theend effector 1 to swing, so that the operation of the electric motor can be controlled by operating thedial 93 on thehandle 9, and the movement of the rearswing driving member 82 can be controlled to control the swing angle of theend effector 1, and the operation is simple.

For example, the drivingportion 99 is detachably connected to thehandle 9, and the drivingportion 99 and the handle can be replaced for the main body of thestapler 100, which is advantageous for cost saving.

For example, when thedial 93 is configured to be rotatable in the first rotational direction or the second rotational direction by one shift position, the electric motor rotates forward by one shift position for every rotation of thedial 93 in the first dial direction by a distance of one shift position to drive the rearswing drive member 82 to move axially away from thehandle 9 by one shift position to rotate theend effector 1 by an angle of one shift position in the first swing direction; for every one gear ofdial 93 rotating towards the second dialing direction, the electric motor rotates reversely by one gear to drive the rearswing driving member 82 to move axially close to thehandle 9 by a distance of one gear to rotate theend effector 1 towards the second swing direction by an angle of one gear, so that the direction and gear of the electric motor rotation can be conveniently controlled by operating thedial 93 on thehandle 9, thereby controlling the movement of the rearswing driving member 82 to control the swing angle of theend effector 1, and the operation is simple.

For example, the drivingunit 99 further includes afirst driving mechanism 10, thefirst driving mechanism 10 and the rearswing driving member 82 extend in the same direction and are arranged side by side, and thefirst driving mechanism 10 is configured to: in the closing stage, thefirst driving mechanism 10 is detachably connected with the closing mechanism to drive the closing mechanism to close theend effector 1; in the staple pushing stage following the closing stage, thefirst driving mechanism 10 is separated from the closing mechanism and drives the staple pushing assembly to push out staples from thecartridge assembly 11 to suture the target tissue; in the cutting stage, thefirst driving mechanism 10 drives the cutting device to cut the target tissue. As to the specific features of thefirst driving mechanism 10, please refer to the description of the previous embodiment, which will not be repeated here.

For example, as shown in fig. 20, the drivingportion 99 is located on thefirst surface 01 of thehandle 9, axially intersecting thefirst surface 01; the drivingportion 99 includes afirst end 941 connected to thehandle 9 and asecond end 942 axially distant from thehandle 9, thefirst surface 01 faces thesecond end 942 of the drivingportion 99 to facilitate the operator to dial thedial 93 on thefirst surface 01, and thesecond surface 05 is adjacent to and intersects thefirst surface 01 to facilitate the operator to recognize the safety warning switch on thesecond surface 05.

At least one embodiment of the present disclosure provides astapler 100, and thestapler 100 includes a main body of any one of thestaplers 100 provided by the embodiments of the present disclosure, and a detachable portion 3. The detachable portion 3 of thestapler 100 is detachably connected to the main portion 4 of thestapler 100, the detachable portion 3 further includes a front swing driving assembly connected to theend effector 1, the detachable portion 3 is detachably connected to the main portion of thestapler 100 so that the front swing driving assembly is detachably connected to the rearswing driving member 82, and the front swing driving assembly drives theend effector 1 to swing under the driving of the rearswing driving member 82. The specific structure of the front swing driving assembly and the rear swing member refers to the description of the previous embodiment, and will not be repeated here.

For example, for astapler 100 including any of thestapler 100 bodies provided by the embodiments of the present disclosure, the detachable portion 3 further includes asecond driving mechanism 20 extending in the axial direction; the detachable portion 3 is connected to the main body of thestapler 100 to detachably connect thesecond driving mechanism 20 to thefirst driving mechanism 10; thesecond driving mechanism 20 is configured to be detachably connected with the closing mechanism in the closing stage and move towards theend effector 1 under the driving of thefirst driving mechanism 10 to enable the closing mechanism to close theend effector 1;second drive mechanism 20 is further configured to disengage from the closure mechanism during the staple ejection stage and continue to move towardsecond end 942 ofend effector 1 under the drive offirst drive mechanism 10 to drive the staple ejection assembly to eject staples fromcartridge assembly 11; thesecond drive mechanism 20 is further configured to: in the cutting stage, thesecond driving mechanism 20 drives the cutting device to cut the target tissue under the driving of thefirst driving mechanism 10. The specific structure of thesecond driving mechanism 20 and thefirst driving mechanism 10 refers to the description of the previous embodiment, and is not repeated here.

The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.

Claims

1. An stapler, comprising:

the end effector comprises a nail bin assembly and a nail anvil, wherein the nail bin assembly is internally provided with anastomotic nails;

a closure mechanism configured to drive the staple cartridge assembly and the anvil into apposition to close the end effector to clamp the target tissue;

a staple pushing assembly configured to push the staples out of the cartridge assembly;

a first drive mechanism, wherein the first drive mechanism is configured to: during a closing stage, the first driving mechanism is detachably connected with the closing mechanism to drive the closing mechanism to close the end effector; in a staple pushing stage following the closing stage, the first driving mechanism is separated from the closing mechanism and drives the staple pushing assembly to push the staples out of the cartridge assembly to staple the target tissue; and

a swing mechanism comprising a front swing drive assembly and a rear swing drive assembly, wherein the front swing drive assembly and the rear swing drive assembly are configured to drive the end effector to swing;

the stapler comprises a main body part and a detachable part, wherein the detachable part is detachably connected with the main body part; the end effector and the front swing drive assembly are located on the detachable portion, and the first drive mechanism and the rear swing drive assembly are located on the main body portion; the detachable portion is detachably coupled with the main body portion to detachably couple the front swing drive assembly with the rear swing drive assembly.

2. The stapler of claim 1,

the front swing drive assembly comprises a front swing drive member connected with the end effector;

the rear swing driving assembly comprises a rear swing driving member, the rear swing driving member and the first driving mechanism extend in the same direction and are arranged side by side, and the detachable part is detachably connected with the main body part so that the front swing driving member is detachably connected with the rear swing driving member;

the extending directions of the rear swing driving component and the first driving mechanism are axial; during the swinging of the end effector driven by the swinging mechanism, the front swing driving member and the rear swing driving member move towards the end effector along the axial direction to drive the end effector to swing towards a first swinging direction, or/and the front swing driving member and the rear swing driving member move away from the end effector along the axial direction to drive the end effector to swing towards a second swinging direction opposite to the first swinging direction.

3. The stapler of claim 2, further comprising:

a second drive mechanism extending along the axial direction and located at the detachable portion, wherein the detachable portion is connected to the main body portion to detachably connect the second drive mechanism to the first drive mechanism, wherein the second drive mechanism is configured to detachably connect to the closing mechanism in the closing stage and move toward the end effector under the driving of the first drive mechanism to enable the closing mechanism to close the end effector; the second drive mechanism is further configured to disengage from the closure mechanism during the staple ejection stage and continue to move toward the second end of the end effector to drive the staple ejection assembly to eject the staples from the cartridge assembly under the drive of the first drive mechanism;

the front swing driving assembly comprises a bendable region which is configured to bend towards the first swing direction or the second swing direction so as to enable the end effector to swing around the bendable region, the end effector comprises a first end close to the front swing driving assembly and a second end opposite to the first end, the first end of the end effector is connected with the front swing driving assembly, and the bendable region is located between a position where the front swing driving assembly is connected with the first end of the end effector and a position where the front swing driving assembly is connected with the rear swing driving assembly along the axial direction;

the second driving mechanism comprises a transmission belt extending along the axial direction, the transmission belt enters the end effector through the bendable part to drive the staple pushing assembly to push the staples out of the cartridge assembly in the staple pushing stage, and a belt surface of the transmission belt is basically perpendicular to the swinging direction of the end effector.

4. The stapler of claim 3, wherein the second drive mechanism further comprises:

and the connecting part is detachably connected with the closing mechanism and is positioned on the side of the transmission belt far away from the end effector, wherein one end of the connecting part close to the end effector is connected with one end of the transmission belt far away from the end effector, and the detachable part is connected with the main body part so that one end of the connecting part far away from the end effector is connected with the first driving mechanism.

5. The stapler of claim 3, wherein the second drive mechanism includes a plurality of the drive belts stacked in a direction perpendicular to the belt face without a gap between adjacent drive belts.

6. The stapler according to claim 5, wherein the material of the driving belts is steel, each of the driving belts has a thickness of 100 to 1000 μm in a direction perpendicular to the belt surface, and each of the driving belts has a length of 10 to 30cm in the axial direction.

7. The stapler of claim 3, wherein the staple pushing assembly comprises:

a staple pusher configured to apply pressure to the staples to push the staples out of the cartridge;

a staple pushing slider configured to apply pressure to the staple pushing sheet to drive the staple pushing sheet to apply pressure to the staples; and

a staple driving mechanism configured to move in the axial direction under the driving of the first driving mechanism and the second driving mechanism to drive the staple pushing slider to move in the axial direction so that the staple pushing slider contacts the staple pushing sheet to apply the pressure to the staple pushing sheet,

and under the condition that the second driving mechanism is connected with the first driving mechanism, one end of the transmission belt, which is far away from the first driving mechanism, is connected with the nail pushing driving mechanism.

8. The stapler of claim 7, wherein a direction from the first end of the end effector to the second end of the end effector is a first direction;

the nail bin comprises a nail bin bracket, the nail bin bracket comprises a first portion and a second portion which extend along the first direction, the first portion of the nail bin bracket and the second portion of the nail bin bracket respectively comprise a nail groove used for containing the anastomotic nails and limit a sliding groove which extends along the first direction, and in the process that the nail pushing driving mechanism drives the nail pushing sliding block to move, the cutting driving mechanism and the conveyor belt enter the sliding groove through the bendable part and slide in the sliding groove.

9. The stapler of claim 3, wherein the forward swing drive assembly comprises:

and the transmission mechanism is connected with the front swing driving component and is configured to drive the end effector to swing around the bendable part under the driving of the front swing driving component.

10. The stapler of claim 9, wherein the transmission mechanism comprises:

a drive rack comprising drive teeth extending in the axial direction and connected to the front swing drive member for movement in the axial direction under drive of the front swing drive member; and

the gear is meshed with the driving teeth, and the driving rack moves along the axial direction to drive the gear to rotate;

the front swing driving assembly further comprises a swing head connecting part, a first end, close to the end effector, of the swing head connecting part is connected with a first end of the end effector, a second end, far away from the end effector, of the swing head connecting part comprises a terminal tooth, the terminal tooth is meshed with the gear so that the swing head connecting part and the end effector swing under the driving of the gear, and the position, meshed with the gear, of the terminal tooth is the bendable part;

the disc surface of the toothed disc of the gear is basically vertical to the belt surface of the transmission belt.